Catalogue No.T12-1313N25 STEP MOTORS HB TYPE2PHASE 23 17
2PHASE STEP MOTORS 1 INDEX 2 WHAT IS STEP MOTOR? 2 SPECIAL FEATURES OF STEP MOTORS 35 APPLICATIONS 6 KINDS OF STEP MOTORS 79 DEFINITIONS OF TERMS FOR STEP MOTORS 1 DRIVING SYSTEM 11 DRIVING CIRCUIT (Serge absobing circuit) 12 CHARACTERISITICS IMPROVEMENT FOR MOTORS 1314 A TABLE MAJOR OF SPECIFICATIONS 1519 SELECTION (Torque, Moment of inertia, and an Example) 2 CAUTIONS FOR HANDLING INDIVIDUAL SPECIFICATION SIZE 11 1.8 2122 SIZE 14 1.8 2324 SIZE 16.45/.9/1.8 2526 SIZE 17 1.8 2728 SIZE 18.9/1.8 293 SIZE 23.9/1.8 3132 SIZE 23 1.8/ 3334 SIZE 34 1.8 3536 SIZE 34 1.8/ 3738 SIZE 42 1.8 394 4142 2, 5 PHASE STEP MOTOR ENCODERS 2 PHASE STEP MOTOR DRIVERS AU911DC24V 4344 2 PHASE STEP DRIVER AU91141/8,1/16 4546 2 PHASE MICRO STEP DRIVER
WHAT IS STEP MOTOR? 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. 2
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APPLICATIONS Printer for feeding paper and moving head Data input Data control circuit Control circuit Driving circuit Freeding paper control circuit Moving head control circuit Driving circuit Timing pulse generating circuit Clock pulse generating circuit Feeding defined material in a press machine Timing signal Counting number Presetter Feeding volume Driving device 4
APPLICATIONS Application to a facsimile Transmitting side Receiving side Original paper a roller for feeding paper Recording device(main scanning) Step motor(vice scanning) Data Processing Recording device(main scanning) Step motor(vice scanning) Data Processing Telephone network Other applications Paper tape readers Tape trace checkers Application to solar energy : heliostat driving Position setting of a platform for scientific investigation with a spaceship exploring planet. Card feeding for a card machine. Defined volume pumps Display devices 5
VRPMHB VR PM Detent Torque HB VRPM Detent Torque KINDS OF STEP MOTORS There are many kinds of Step Motors. Only rotating types are listed in this catalogue. VR,PM,and HB types are widely used. 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 of the 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 premanent 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 case of no power 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 power excitation. HB HB Type 2.45,.9, 1.8 2 phsaes / Step Angle Rotating Type PM PM Type 2 2phases 4 4phases 2, 4, 45, 9 2, 4, Multi-poles / Step Angle STEP MOTOR Linear Type VR VR Type VR Distribution Type 3 4, 1.8, 7.5, 15 3 phases 4phases / Step Angle Multi-Stack Type HB HB Type 6
JEM-TR-157-1996 DEFINITIONS OF TERMS FOR STEP MOTORS Extracted from JEM-TR157-1996 1 R Ω 2 L mh 3 JM kg m 2 GD JM 2 4 4 Td N m 6 θ a 7 θ f VR 36 θ f m Z PMHB 36 θ f 2m Z m : z: 8 IR A 9 VR V 1 Th N m VRR IR 11 fp pulse/s pulse per secondpulse/s pps 12 pulse/s 13 fm pulse/s 14 Ts N m 15 Ts (fp) N m 17 To N m 18 To (fp) N m 7
19 2 21 f SL (JL) pulse / s 22 T ( f p) N m fsl JL 1 fsl : (pulse/s) : (pulse/s) JL : (kg m 2 ) JM : (kg m 2 ) T (N m) JM Th Tsm Ts To fp (pps) 23 Positional accuracy Step position error 36 24 ε p % θ i θ j ε p 1(%) 2θ s ε p : θ i : (θ iiθ s) θ j : (θ jjθ s) θ s : 8
24 ε p % θ θ θ i θ j 36 25 ε s % θ i ε s 1(%) θ s θ j ε s 1(%) θ s ε s : θ i : ( θ iθ i1θ s) θ j : ( θ jθ j1θ s) θ s : 26 θ h Microstep drive Slow-up, Slow-down 1Slow-up 2Slow-down Resonance Closed loop control 9
S1 COM S3 DRIVING SYSTEM M 1. UNIPOLAR S2 COM S4 1.1 One phase driving Insert voltage into a single phase coil regularly. Step S1 ON ON S2 ON S3 ON S4 ON 1.2 Two phase driving Insert voltage into two phase coil regularly. Step S1 ON ON ON S2 ON ON ON S3 ON ON S4 ON ON 1.3 One-two phase driving Insert voltage into one phase or two phases alternately. Step S1 ON ON ON ON S2 ON ON ON S3 ON ON ON S4 ON ON ON 2. BIPOLAR The voltage with different polarity to be inserted to the two phase coil shall be changed alternately in turn. A M Step 1 A 2 3 B B 1
E L DRIVING CIRCUIT (Serge absorbing circuit) 1. Absorbing circuit with a diode R E 2. Absorbing circuit with a zener diode L R 3. There are cases where the characteristics of a step motor may be affected by a driver. R E L SW SW L A step motor shall be equated as illustrated on the above. Now we think about the state in which the energy transiently accumulated in the L shall be maintained when the SW opens from the closed state. A high voltage inserted into both ends of coils at this time may sometimes break a power transistor because the high voltage is added to a collector and an emitter of the transistor. So circuits absorbing the high voltage are studied extensively. Items 1 and 2 above are simple examples. 11
I CHARACTERISTICS IMPROVEMENT FOR MOTORS The output torque of a step motor shall be decreased when a pulse rate goes up. Torque shall decrease because the current can not flow up to the rated current in case of high frequency owing to coil inductance. So there are following methods so as to improve this high frequency characteristic. I E R I E (1) R t t R L 1. The usage of Series resistance Lessen Time Constant by connecting Series resistance to a coil in series. LM RMR1 Time Constant τ LM LM=Motor lnductance RM=Motor DC Resistance R1=Series Resistance RMR1 Driving Circuit E R1 RM M Torque R1=2RM R1=RM R1= R1 Winding example Pulse Rate 2. Two power supply driving This is a driving system to change into a low voltage automatically after adding a high voltage only to a rising part during one pulse. 3. Chopper driving with Constant Current This is a system to control the voltage higher than the rating of a step motor by chopper, and excite the step motor. 4. Over Voltage Driving This is a driving system to increase an excitation voltage when a pulse rate goes up from a low rate to a high. 12
HB A TABLE MAJOR OF SPECIFICATIONS HYBRID TYPE Size Step Angle Model Number Rated Rated Holding Body Voltage Current Torque Size Details Deg. V / Phase A / Phase N m (kgf cm) mm in Page 11 14 1.8 TS3641N1E1,N11E1 1.5 1.5.5 (.5) 2833.5 1.8 TS3641N2E3,N12E3 1.4 1.4.9 (.9) 2847.5 1.8 TS3214N12 4.3 1..18 (1.8) 354. 1.8 TS3214N13 12..19.6 (.6) 3525.4 1.8 TS3214N15 24..19.12 (1.2) 354. 1.8 TS3214N16 3.2.35.6 (.6) 3525.4.45 TS3216 9..24.35 (.35) 3927..45 TS3216N1 12..3.33 (.33) 3922. 22 23, 24.9 TS3166 12..32.5 (.5) 3922. 16.9 TS3166N17 6..3.5 (.5) 3925.5.9 TS3166N18 1..8.5 (.5) 3925.5 25, 26.9 TS3166N2 8.8.35.8 (.8) 3932. 1.8 TS3139N11 12..32.85 (.85) 3932. 1.8 TS3139N13 12..4.2 (2.) 3937. 1.8 TS3617N1E1,N11E1 4..95.16 (1.6) 4233 1.8 TS3617N1E2,N11E2 9.6.4.16 (1.6) 4233 1.8 TS3617N1E3,N11E3 12..3.16 (1.6) 4233 1.8 TS3617N2E4,N12E4 4. 1.2.26 (2.6) 4239 17 1.8 TS3617N2E5,N12E5 6.4.8.26 (2.6) 4239 1.8 TS3617N2E6,N12E6 12..4.26 (2.6) 4239 27, 28 1.8 TS3617N2E7,N12E7 24..2.26 (2.6) 4239 1.8 TS3617N3E8,N13E8 4. 1.2.32 (3.2) 4247 1.8 TS3617N3E9,N13E9 7.2.8.32 (3.2) 4247 1.8 TS3617N3E1,N13E1 12..4.32 (3.2) 4247 18.9 TS3218 5..25.5 (.5) 4613..9 TS3218N5 12..75.45 (.45) 4613. 29, 3 1.8 TS3118N35 12..165.35 (.35) 4613. 13
Size Step Angle Model Number Rated Rated Holding Body Voltage Current Torque Size Details Deg. V / Phase A / Phase N m (kgf cm) mm in Page.9 TS39N14 12..2.18 (1.8) 56.438.1 23.9 TS39N6 4. 1.1.18 (1.8) 56.438.1 1.8 TS313N2E9 6. 1..25 (2.5) 56.438.1 1.8 TS313N1E13 5.1 1..4 (4.) 56.45.8 1.8 TS313N255 24..3.65 (6.5) 56.45.8 1.8 TS313N4 6. 1.2.5 (5.) 56.457. 31, 32 1.8 TS313N3E1 1.7 4.7.72 (7.2) 56.476.2 1.8 TS313N3E2 4.7 1.8.72 (7.2) 56.476.2 1.8 TS313N29 2.2 2.5.85 (8.5) 56.476.2 1.8 TS313N4E11 2.5 4.6 1.8 (1.8) 56.411.6 1.8 TS313N4E12 3.4 2.9 1.8 (1.8) 56.411.6 1.8 TS3653N1E1,N11E1 5.2 1..39 (3.9) 56.439 1.8 TS3653N1E2,N11E2 2.8 2..39 (3.9) 56.439 1.8 TS3653N1E3,N11E3 1.9 3..39 (3.9) 56.439 23 Hi Torque 34 1.8 TS3653N2E4,N12E4 7.2 1..9 (9.) 56.454 1.8 TS3653N2E5,N12E5 3.6 2..9 (9.) 56.454 1.8 TS3653N2E6,N12E6 2.3 3..9 (9.) 56.454 1.8 TS3653N3E7,N13E7 8.2 1. 1.35 (13.5) 56.476 1.8 TS3653N3E8,N13E8 4.5 2. 1.35 (13.5) 56.476 1.8 TS3653N3E9,N13E9 3. 3. 1.35 (13.5) 56.476 1.8 TS3653N4E12,N14E12 2.2 5. 2 (2.) 56.484 1.8 TS3134N316 1.9 4.2 1.35 (13.5) 82.662. 1.8 TS3134N52 5.8 1.6 1.35 (13.5) 82.662. 1.8 TS3134N317 3. 4. 2.3 (23.) 82.694. 1.8 TS3134N1E2 2.5 4.6 2.3 (23.) 82.694. 1.8 TS3134N319 4.2 3.5 4 (4.) 82.6129. 33, 34 35, 36 34 Hi Torqoe 42 1.8 TS3134N2E8 2.5 7. 4 (4.) 82.6129. 1.8 4.5 2.45 (25.) 1.8 TS3684N1E3,N11E3 1.28 6.4 3.43 (35.) 8679 2.56 3.2 3.43 (35.) 2.8 4.5 5.39 (55.) 1.8 TS3684N2E6,N12E6 1.98 6.4 7.65 (78.) 86117.5 37, 38 3.97 3.2 7.65 (78.) 3.36 4. 7.35 (75.) 1.8 TS3684N3E8,N13E8 2.39 5.7 1.39 (16.) 86156 4.7 2.8 1.39 (16.) 1.8 TS3242N1 7.2 4. 8.1 (81.) 14148. 1.8 TS3242N1 5. 5. 5 (5.) 1497. 39, 4 1.8 TS3242N11 3.84 3.4 11 (11.) 14148. 14
SELECTION PROCEDURES FOR STEP MOTOR NG OK θ ν ν J1 J3 πθ πθ π θ ν ν πθ J2 J2 J5 θ θ J1 J4 J3 θ ν θ 15
θ θ θ τ τν τ ν τ W µ πη π FA αµα φ D µ π π FA W µ FA W F φ D FA W F π πη η φ D αµα φ D FB µ η µ α 16
D1 x π ρ y Ò x D1 D2 y Ò π ρ C x Ò y A Òxxcm x B A x B ρ y C ρ ν ω π ρ ρ ρ ρ ρ π θ π θ θ θ 17
TM TL 471mm/sec f2 [pps] ρ µ η (PPS) f2 t1 P t (S) 18
µ η π θ π π ρ TS313N3E2AU911 (1).8(8).6(6) (TM=.4).4(4).2(2) 1 2 1 3 (f2=21 3 ) 1 4 19
CAUTIONS FOR HANDLING 9 OFF 2
SIZE 1.8 11 HB TYPE 4-M2.6 3Min DEPTH L L2Min 22.25 5.12 23.2 1.5 28.5 2.5 L 1 1 1 L Type number Step Angle Rated Rated Winding lnductance Holding Motor Rotor Mass Voltage Current Resistance Torque Length Inertia Single Shaft Dual Shaft Deg. V/Phase A/Phase Ω/Phase mh/phase N m(gf cm) mm x1 7 kg m 2 g TS3641N1E1 TS3641N11E1 1.8 1.5 1.5.7.3.5 (5) 33.5 8 15 TS3641N1E2 TS3641N11E2 1.8 2.6.95 2.7 1.2.6 (6) 33.5 8 15 TS3641N2E3 TS3641N12E3 1.8 1.4 1.4 1..55.9 (9) 47.5 18 25 25 Operating temperature range 1MMinat DC5V Insulation resistance AC 5V1min Dielectric strength.75mm Max. at the load End play 4.9N(.5kgf) 19.6N(2.kgf) Overhang load 4.9N(.5kgf) Allowable thrsut load.25mm Max. at the load Radial play 4.9N(.5kgf) 8 deg MaxResistance method Permissible temperature rise 9 NOTEDo not allow the surface temperature of the motor case to rise above 9 during operation. 21
WIRING DIAGRAM UNIPOLAR CW CW rotation mounting end. Black Yellow Green Red PM White Blue Step Black Red Green Blue Yellow White ON ON COM COM 1 ON ON COM COM 2 ON ON COM COM 3 ON ON COM COM ON ON COM COM PULSE RATE VS TORQUE CHARACTERISTICSPull-out Torque TS3641N1E1 DC24V 1.5A/ Torque N m (gf cm) Constant Current Driver DC24V 1.5A/Phase.5(5).4(4).3(3).2(2).1(1) 1 1 1 2 1 3 1 4 TS3641N1E2 DC24V.95A/ Torque N m (gf cm) Constant Current Driver DC24V.95A/Phase.6(6).5(5).4(4).3(3).2(2).1(1) 1 1 1 2 1 3 1 4 TS3641N2E3 DC24V 1.4A/ Torque N m (gf cm) Constant Current Driver DC24V 1.4A/Phase.8(8).6(6).4(4).2(2) 1 1 1 2 1 3 1 4 22
SIZE 1.8 14 HB TYPE 35.3 26.25 13(2) 18.5 (L3) 24.5 (L3) Ò L 6 1.5 26.25 35.3 22.25 5.12 2-M3 Ò2 Min L Type Step Angle Rated Rated Winding lnductance Holding Motor Rotor Mass Winding number Voltage Current Resistance Torque Length Inertia Type Deg. V/Phase A/Phase Ω/Phase mh/phase N m(gf cm) mm x1 7 kg m 2 g TS3214N12 1.8 4.3 1. 4.3 5.5.18(18) 4. 2. 25 1 TS3214N13 1.8 12..19 63. 27..6(6) 25.4 7.5 17 2 TS3214N15 1.8 24..19 125 7..12(12) 4. 2. 25 2 TS3214N16 1.8 3.2.35 8.5 8..6(6) 25.4 7.5 17 1 25 Operating temperature range 1MMinat DC5V Insulation resistance AC 5V1min Dielectric strength 19.6N(2.kgf)18mm Overhang load 4.9N(.5kgf) Allowable thrsut load.2mm Max. at the load End play 8.8N(9gf).2mm Max. at the load Radial play 4.9N(5gf) 8 deg Max.Resistance method Permissible temperature rise 9 NOTEDo not allow the surface temperature of the motor case to rise above 9 during operation. 23
WIRING DIAGRAM TYPE 1 BIPOLAR Blue PM CW CW rotation mounting end. Step Blue White Red Yellow Red 1 White Yellow 2 3 TYPE 2 UNIPOLAR Blue Black PM Step Blue Yellow Red Green Black White ON ON COM COM 1 ON ON COM COM Red 2 ON ON COM COM 3 ON ON COM COM ON ON COM COM Yellow White Green PULSE RATE VS TORQUE CHARACTERISTICSPull-out Torque TS3214N12.15(1.5).1(1).5(.5) Constant Current Driver DC24V 1.A/ DC24V 1.A/Phase TS3214N13 Torque N m (gf cm).5(5).4(4).3(3).2(2).1(1) Constant Current Driver DC24V.19A/ DC24V.19A/Phase 1 2 1 3 1 4 1 2 1 3 1 4 TS3214N15 Torque N m (gf cm) Constant Voltage Driver DC24V.19A/ DC24V.19A/Phase TS3214N16 Torque N m (gf cm) Constant Current Driver DC24V.35A/ DC24V.35A/Phase.1(1).5(5).8(8).4(4).6(6).3(3).4(4).2(2).2(2).1(1) 1 2 1 3 1 4 1 2 1 3 1 4 24
16 SIZE.45.9 1.8 HB TYPE 18.5 (L3) 24.5 (L3) 39.3 31.25 15.5(2) 2-M3 Ò 6 2 L 31.25 39.3 22.25 5.12 Ò2 Min L Type Step Angle Rated Rated Winding lnductance Holding Motor Rotor Mass Winding number Voltage Current Resistance Torque Length Inertia Type Deg. V/Phase A/Phase Ω/Phase mh/phase N m(gf cm) mm x1 7 kg m 2 g TS33216.45 9..24 37.5 23..35 (35) 27. 12 15 1 TS3216N1.45 12..3 4. 13..33 (33) 22. 1 12 2 TS3166.9 12..32 38. 22..5 (5) 22. 1 12 1 TS3166N17.9 6..3 2. 5..5 (5) 25.5 12 15 1 TS3166N18.9 1..8 1.4.6.5 (5) 25.5 12 15 1 TS3166N2.9 8.8.35 25. 7..8 (8) 32. 15 18 2 TS3139N11 1.8 12..32 37.5 2..85 (85) 32. 15 18 2 TS3139N13 1.8 12..4 3. 3..2 (2) 37. 25 22 1 25 Operating temperature range 1MMinat DC5V Insulation resistance AC 5V1min Dielectric strength 19.6N(2.kgf)18mm Overhang load 9.8N(1.kgf) Allowable thrsut load.2mm Max. at the load End play 8.8N(9gf).2mm Max. at the load Radial play 8.8N(9gf) 8 deg Max.Resistance method Permissible temperature rise 9 NOTEDo not allow the surface temperature of the motor case to rise above 9 during operation. 25
WIRING DIAGRAM TYPE 1 BIPOLAR Blue PM CW CW rotation mounting end. Step Blue White Red Yellow Red 1 2 White Yellow 3 TYPE 2 UNIPOLAR Blue Black PM Step Blue Yellow Red Green Black White ON ON COM COM 1 ON ON COM COM Red 2 ON ON COM COM 3 ON ON COM COM Yellow White Green ON ON COM COM PULSE RATE VS TORQUE CHARACTERISTICSPull-out Torque TS3216N1 Torque N m (gf cm).25(25).2(2).15(15).1(1).5(5) DC12V Constant Voltage Driver DC12V TS3166N18 Torque N m (gf cm).4(4).3(3).2(2).1(1) Constant Current Driver DC35V.8A/ DC35V.8A/Phase 1 2 1 3 1 4 2k 1 2 1 3 1 4 TS3166N2 Torque N m (gf cm) Constant Voltage Driver DC8.8V DC8.8V TS3139N13 Torque N m (gf cm) Constant Current Driver DC3V.4A/ DC3V.4A/Phase.6(6).5(5).2(2.).4(4).3(3).1(1.).2(2).1(1) 1 2 1 3 1 4 1 2 1 3 1 4 26
SIZE 1.8 17 HB TYPE 42.3 31.25 4.5.2 2.5 L 1 15 1 2.5 15.5 15 42.3 31.25 15.5(2) 22.25 5.12 DEPTH 4-M3 4.5 Min Ò2 Min L Type number Step Angle Rated Rated Winding lnductance Holding Motor Rotor Mass Voltage Current Resistance Torque Length Inertia Single Shaft Dual Shaft Deg. V/Phase A/Phase Ω/Phase mh/phase N m(kgf cm) mm x1 7 kg m 2 g TS3617N1E1 TS3617N11E1 1.8 4..95 4.2 2.8.16 (1.6) 33 35 2 TS3617N1E2 TS3617N11E2 1.8 9.6.4 24 15.16 (1.6) 33 35 2 TS3617N1E3 TS3617N11E3 1.8 12..3 4 22.16 (1.6) 33 35 2 TS3617N2E4 TS3617N12E4 1.8 4. 1.2 3.3 3.6.26 (2.6) 39 54 24 TS3617N2E5 TS3617N12E5 1.8 6.4.8 8 7.6.26 (2.6) 39 54 24 TS3617N2E6 TS3617N12E6 1.8 12.4 3 3.26 (2.6) 39 54 24 TS3617N2E7 TS3617N12E7 1.8 24.2 12 16.26 (2.6) 39 54 24 TS3617N3E8 TS3617N13E8 1.8 4. 1.2 3.3 3.32 (3.2) 47 68 31 TS3617N3E9 TS3617N13E9 1.8 7.2.8 9 9.5.32 (3.2) 47 68 31 TS3617N3E1 TS3617N13E1 1.8 12.4 3 29.32 (3.2) 47 68 31 25 Operating temperature range 1MMinat DC5V Insulation resistance AC 5V1min Dielectric strength 19.6N(2.kgf) Overhang load 9.8N(1.kgf) Allowable thrsut load.75mm Max. at the load End play 9.8N(1kgf).25mm Max. at the load Radial play 4.9N(5gf) 8 deg Max.Resistance method Permissible temperature rise 9 NOTEDo not allow the surface temperature of the motor case to rise above 9 during operation. WIRING DIAGRAM UNIPOLAR Black Yellow Green PM CW CW rotation mounting end. Step Black Red Green Blue Yellow White ON ON COM COM 1 ON ON COM COM 2 ON ON COM COM 27 Red White Blue 3 ON ON COM COM ON ON COM COM
PULSE RATE VS TORQUE CHARACTERISTICSPull-out Torque TS3617N1E1,N11E1 Constant Current Driver DC24V.95A/ DC24V.95A/Phase TS3617N1E2,N11E2 Constant Current Driver DC24V.4A/ DC24V.4A/Phase.2(2).2(2).1(1).1(1) 1 2 1 3 TS3617N1E3,N11E3 1 4 DC12V/ Constant Voltage Driver DC12V/Phase 1 2 1 3 1 4 TS3617N2E4,N12E4 DC24V 1.2A/ Constant Current Driver DC24V 1.2A/Phase.2(2).2(2).1(1).1(1).5k 1k 1.5k 2k TS3617N2E5,N12E5 DC24V.8A/ Constant Current Driver DC24V.8A/Phase.2(2).1(1) 1 2 1 3 1 4 TS3617N2E7,N12E7 DC24V/ Constat Voltage Driver DC24V/Phase 1 2 1 3 1 4 TS3617N2E6,N12E6 DC12V/ Constant Voltage Driver DC12V/Phase.2(2).1(1).5k 1k 1.5k 2k TS3617N3E8,N13E8 DC24V 1.2A/ Constant Current Driver DC24V 1.2A/Phase.2(2).4(4).1(1).3(3).2(2).5k 1k 1.5k 2k TS3617N3E9,N13E9 DC24V.8A/ Constant Current Driver DC24V.8A/Phase.1(1) 1 2 1 3 1 4 TS3617N3E1,N13E1 DC12V/ Constant Voltage Driver DC12V/Phase.4(4).2(2).3(3).2(2).1(1).1(1) 1 2 1 3 1 4.5k 1k 1.5k 2k 28
18 SIZE.9 1.8 HB TYPE L 12.5.5 1.8 4.6.25 4.12 46 17.12 2 - M2.6 1.6 (2 - M2.6 DEPTH 1.6) 22.5 Ò2 Min 4 - (4 - PUNCHING DENTS) L Type Step Angle Rated Rated Winding lnductance Holding Motor Rotor Mass Winding number Voltage Current Resistance Torque Length Inertia Type Deg. V/Phase A/Phase Ω/Phase mh/phase N m(gf cm) mm x1 7 kg m 2 g TS3218.9 5..25 2 16.5.5 (5) 13 5 1 1 TS3218N5.9 12..75 16 155.45 (45) 13 5 1 1 TS3118N35 1.8 12..165 75 3..35 (35) 13 5 1 2 25 Operating temperature range 1MMinat DC5V Insulation resistance AC 5V1min Dielectric strength.2mm Max. at the load End play 2.5N(25gf).2mm Max. at the load Radial play 2.5N(25gf) 8 deg Max.Resistance method Permissible temperature rise 9 NOTEDo not allow the surface temperature of the motor case to rise above 9 during operation. 29
WIRING DIAGRAM TYPE 1 BIPOLAR Blue Red PM CW CW rotation mounting end. Step Blue White Red Yellow 1 2 White Yellow 3 TYPE 2 UNIPOLAR Blue Black PM Step Blue Yellow Red Green Black White ON ON COM COM 1 ON ON COM COM Red 2 ON ON COM COM 3 ON ON COM COM ON ON COM COM Yellow White Green PULSE RATE VS TORQUE CHARACTERISTICSPull-out Torque TS3218 Torque N m (gf cm) (5).4(4).3(3).2(2) Constant Current Driver DC24V.25A/ DC24V.25A/Phase TS3218N5 Torque N m (gf cm).2(2).1(1) Constant Voltage Driver DC12V DC12V.1(1) 1 2 1 3 1 4 1 2 1 3 1 4 TS3118N35 Torque N m (gf cm).3(3) DC12V Constant Voltage Driver DC12V.2(2).1(1) 1 2 1 3 1 4 3
23 HB TYPE SIZE.9 1.8 4-5.8 Ò2 Min 56.4.3 47.14.2 38.1.3 6.35.12 56.4 47.14.2 23.57(2) 1.6 4.83 56.4.3 2.6 1 L 1 L Type Step Angle Rated Rated Winding lnductance Holding Motor Rotor Mass Winding number Voltage Current Resistance Torque Length Inertia Type Deg. V/Phase A/Phase Ω/Phase mh/phase N m(kgf cm) mm x1 7 kg m 2 kg TS39N14.9 12..2 6. 45..18 (1.8) 38.1 57.35 1 TS39N6.9 4. 1.1 3.6 2..18 (1.8) 38.1 57.35 2 TS313N2E9 1.8 6. 1. 6. 5..25 (2.5) 38.1 57.35 2 TS313N1E13 1.8 5.1 1. 5.1 9..4 (4.) 5.8 1.55 2 TS313N255 1.8 24..3 8. 145..65 (6.5) 5.8 1.55 2 TS313N4 1.8 6. 1.2 5. 12..5 (5.) 57. 14.65 2 TS313N3E1 1.8 1.7 4.7.37.6.72 (7.2) 76.2 23 1. 2 TS313N3E2 1.8 4.7 1.8 2.6 5..72 (7.2) 76.2 23 1. 2 TS313N29 1.8 2.2 2.5.88 2.5.85 (8.5) 76.2 23 1. 1 TS313N4E11 1.8 2.5 4.6.54.8 1.8 (1.8) 11.6 32 1.2 2 TS313N4E12 1.8 3.4 2.9 1.24 2.3 1.8 (1.8) 11.6 32 1.2 2 25 Operating temperature range 1MMinat DC5V Insulation resistance AC 5V1min Dielectric strength.75mm Max. at the load End play 9.8N(1.kgf).2mm Max. at the load Radial play 4.9N(5gf) 8 deg Max.Resistance method Permissible temperature rise 9 NOTEDo not allow the surface temperature of the motor case to rise above 9 during operation. 31
WIRING DIAGRAM TYPE 1 BIPOLAR Blue Red PM CW CW rotation mounting end. Step Blue White Red Yellow 1 2 TYPE 2 UNIPOLAR Red/White Black Red White PM Yellow 3 Step Red Green Red/White Green/White Black White ON ON COM COM 1 ON ON COM COM 2 ON ON COM COM Green/White White Green 3 ON ON COM COM ON ON COM COM PULSE RATE VS TORQUE CHARACTERISTICSPull-out Torque TS39N6.2(2.).1(1.) TS313N1E13.6(6).5(5).4(4) Constant Current Driver AC1V 1.1A/ AC1V 1.1A/Phase 1 2 1 3 1 4 Constant Current Driver DC35V 1.A/ DC35V 1.A/Phase TS313N2E9.4(4.).3(3.).2(2.).1(1.) TS313N4 1(1) Constant Current Driver DC35V1.A/ DC35V 1.A/Phase 1 2 1 3 1 4 Constant Current Driver DC36V 1.2A/ DC36V 1.2A/Phase.3(3).2(2).5(5).1(1) TS313N3E2 (1) 1 2 1 3 1 4 Constant Current Driver DC35V 1.8A/ DC35V 1.8A/Phase TS313N4E12 1.5(15) 1 2 1 3 1 4 Constant Current Driver DC35V 2.9A/ DC35V 2.9A/Phase.8(8).6(6) 1(1).4(4).5(5).2(2) 1 2 1 3 1 4 1 2 1 3 1 4 32
23 SIZE HB TYPE 1.8 High torque Low vibration 56.4.2 47.14.2 2 1 L 1 16 1 1.6 5 5.8.15 56.4.2 47.14.2 23.57(2) 4-4.5 38.1.3 6.35.12 15.25 15.25 6.35.12 L2 Min L Type number Step Angle Rated Rated Winding lnductance Holding Motor Rotor Mass Winding Voltage Current Resistance Torque Length Inertia Type Single Shaft Dual Shaft Deg. V/Phase A/Phase Ω/Phase mh/phase N m(kgf cm) mm x1 7 kg m 2 kg TS3653N1E1 TS3653N11E1 1.8 5.2 1 5.2 5.4.39 (3.9) 39 12.45 2 TS3653N1E2 TS3653N11E2 1.8 2.8 2 1.4 1.4.39 (3.9) 39 12.45 2 TS3653N1E3 TS3653N11E3 1.8 1.9 3.63.6.39 (3.9) 39 12.45 2 TS3653N2E4 TS3653N12E4 1.8 7.2 1 7.2 11.9 (9) 54 26.7 2 TS3653N2E5 TS3653N12E5 1.8 3.6 2 1.8 2.5.9 (9) 54 26.7 2 TS3653N2E6 TS3653N12E6 1.8 2.3 3.75 1.2.9 (9) 54 26.7 2 TS3653N3E7 TS3653N13E7 1.8 8.2 1 8.2 14 1.35 (13.5) 76 43 1 2 TS3653N3E8 TS3653N13E8 1.8 4.5 2 2.25 3.6 1.35 (13.5) 76 43 1 2 TS3653N3E9 TS3653N13E9 1.8 3 3 1 1.6 1.35 (13.5) 76 43 1 2 TS3653N4E12 TS3653N14E12 1.8 2.2 5.44 1.4 2 (2) 84 52 1.3 1 25 Operating temperature range 1MMinat DC5V Insulation resistance AC 5V1min Dielectric strength 52.9N(5.4kgf) Overhang load 19.6N(2.kgf) Allowable thrsut load WIRING DIAGRAM TYPE 1 BIPOLAR Blue Red White PM Yellow.75mm Max. at the load End play 9.8N(1kgf).25mm Max. at the load Radial play 4.9N(5gf) 8 deg MaxResistance method Permissible temperature rise 9 NOTEDo not allow the surface temperature of the motor case to rise above 9 during operation. CW CW rotation mounting end. Step Blue White Red Yellow 1 2 3 TYPE 2 UNIPOLAR Black Yellow Green PM CW CW rotation mounting end. Step Black Red Green Blue Yellow White ON ON COM COM 1 ON ON COM COM 2 ON ON COM COM 33 Red White Blue 3 ON ON COM COM ON ON COM COM
PULSE RATE VS TORQUE CHARACTERISTICSPull-out Torque TS3653N1E1,N11E1 DC24V 1A/ Constant Current Driver DC24V 1A/Phase TS3653N1E2,N11E2 DC24V 2A/ Constant Current Driver DC24V 2A/Phase (5) (5).4(4).4(4).3(3).3(3).2(2).2(2).1(1).1(1) 1 2 1 3 1 4 TS3653N1E3,N11E3 DC24V 3A/ 1 2 1 3 1 4 Constant Current Driver DC24V 3A/Phase TS3653N2E4,N12E4 DC24V 1A/ Constant Current Driver DC24V 1A/Phase (5) 1(1).4(4).3(3).2(2).5(5).1(1) 1 2 1 3 1 4 TS3653N2E5,N12E5 DC24V 2A/ Constant Current Driver DC24V 2A/Phase 1(1).5(5) 1 2 1 3 1 4 TS3653N3E7,N13E7 DC24V 1A/ Constant Current Driver DC24V 1A/Phase 1 2 1 3 1 4 TS3653N2E6,N12E6 DC24V 3A/ Constant Current Driver DC24V 3A/Phase 1(1).5(5) 1 2 1 3 1 4 TS3653N3E8,N13E8 DC24V 2A/ Constant Current Driver DC24V 2A/Phase 1(1) 1(1).5(5).5(5) 1 2 1 3 1 4 TS3653N3E9,N13E9 DC24V 3A/ Constant Current Driver DC24V 3A/Phase 1 2 1 3 1 4 TS3653N4E12,N14E12 DC4V 5A/ Bipolar Driver DC4V 5A/Phase 1(1) 2(2).5(5) 1(1) 1 2 1 3 1 4 1 2 1 3 1 4 34
SIZE 1.8 34 HB TYPE 82.6.2 69.6.2 Ò2 Min. 18.5 69.6.2 73.2.5 9.525.13 86 5.5 3.2 1 4.8 1.6 L 1 L Type Step Angle Rated Rated Winding lnductance Holding Motor Rotor Mass Winding number Voltage Current Resistance Torque Length Inertia Type Deg. V/Phase A/Phase Ω/Phase mh/phase N m(kgf cm) mm x1 4 kg m 2 kg TS3134N316 1.8 1.9 4.2.46 1.6 1.35 (13.5) 62.67 1.48 2 TS3134N52 1.8 5.8 1.6 3.6 11.5 1.35 (13.5) 62.67 1.48 2 TS3134N317 1.8 3. 4..75 3.2 2.3 (23.) 94 1.23 2.5 2 TS3134N1E2 1.8 2.5 4.6.55 2.76 2.3 (23.) 94 1.23 2.5 2 TS3134N319 1.8 4.2 3.5 1.2 6. 4 (4) 129 1.87 3.52 2 TS3134N2E8 1.8 2.5 7..35 1.7 4 (4) 129 1.87 3.52 2 25 Operating temperature range 1MMinat DC5V Insulation resistance AC 5V1min Dielectric strength.25mm Max. at the load End play 67N(6.8kgf).2mm Max. at the load Radial play 4.4N(.45kgf) 8 deg Max.Resistance method Permissible temperature rise 9 NOTEDo not allow the surface temperature of the motor case to rise above 9 during operation. 35
WIRING DIAGRAM TYPE 1 BIPOLAR Blue Red PM CW CW rotation mounting end. Step Blue White Red Yellow 1 White Yellow 2 3 TYPE 2 UNIPOLAR Green/White White PM Step Red Green Red/White Green/White White Black ON ON COM COM Green 1 ON ON COM COM 2 ON ON COM COM 3 ON ON COM COM Red Black Red/White ON ON COM COM PULSE RATE VS TORQUE CHARACTERISTICSPull-out Torque TS3134N316 3(3) 2(2) 1(1) Constant Current Driver DC3V 5.9A/ DC3V 5.9A/Phase TS3134N317 3(3) 2(2) 1(1) Constant Current Driver DC3V 5.6A/ DC3V 5.6A/Phase 1 2 1 3 1 4 1 2 1 3 1 4 3(3) TS3134N319 Constant Current Driver DC3V 5.A/ DC3V 5.A/Phase 2(2) 1(1) 1 2 1 3 1 4 36
SIZE 1.8 34 HB TYPE 2 Min. 45.5 13.15 25.25 13.15 73.2.5 14.18 25.25 14.18 69.6.2 86.3 1.52.3 8.5 37 1 L 1 34 1 L Type Step Angle Winding Rated Rated Winding lnductance Holding Motor Rotor Mass number Type Voltage Current Resistance Torque Length Inertia Deg. V/Phase A/Phase Ω/Phase mh/phase N m(kgf cm) mm x1 4 kg m 2 kg 1.8 1 1.8 4.5.4 1.75 2.45 (25) TS3684N1E3 TS3684N11E3 1.8 2 1.28 6.4.2 1.75 3.43 (35) 79 1.6 2.5 1.8 3 2.56 3.2.8 7 3.43 (35) 1.8 1 2.8 4.5.62 3.1 5.39 (55) TS3684N2E6 TS3684N12E6 1.8 2 1.98 6.4.31 3.1 7.65 (78) 117.5 3.2 3.5 1.8 3 3.97 3.2 1.24 12.4 7.65 (78) 1.8 1 3.36 4..84 4.7 7.35 (75) TS3684N13E8TS3684N13E8 1.8 2 2.39 5.7.42 4.7 1.39 (16) 156 4.8 5. 1.8 3 4.7 2.8 1.68 18.8 1.39 (16) 25 Operating temperature range 1MMinat DC5V Insulation resistance AC 5V1min Dielectric strength.75mm Max. at the load End play 67N(6.8kgf).25mm Max. at the load Radial play 4.4N(.45kgf) 8 deg Max.Resistance method Permissible temperature rise 9 NOTEDo not allow the surface temperature of the motor case to rise above 9 during operation. 37
WIRING DIAGRAM TYPE 1 UNIPOLAR CW Step COM Black Red Orange Yellow ON ON +V 1 ON ON +V Black Black/White Orange/White Orange Red PM Yellow Red/White Yellow/White TYPE 2 BIPOLAR 2 ON +V 3 ON ON +V 4 ON ON ON +V Step Black&Orange/White Red&Yellow/White Orange&Black/White Yellow&Red/White 1 2 3 4 TYPE 3 BIPOLAR SERIES Step Black Red Orange Yellow 1 2 3 4 PULSE RATE VS TORQUE CHARACTERISTICSPull-out Torque TS3684N1E3 (TYPE2) 4(4) 3(3) Constant Current Driver DC8V 6.4A/ DC8V 6.4A/Phase 4(4) 3(3) TS3684N2E6 (TYPE2) Constant Current Driver DC8V 6.4A/ DC8V 6.4A/Phase 2(2) 2(2) 1(1) 1(1) 8(8) 1 1 1 2 1 3 1 4 TS3684N3E8 (TYPE2) Constant Current Driver DC8V 5.7A/ DC8V 5.7A/Phase 1 1 1 2 1 3 1 4 6(6) 4(4) 2(2) 1 1 1 2 1 3 1 4 38
SIZE 1.8 42 HB TYPE 112 14 89 32 1 1 L Ò2 Min 14 13.12 18 112 7 4-6.5 1 L Type Step Angle Rated Rated Winding lnductance Holding Motor Rotor Mass Winding number Voltage Current Resistance Torque Length Inertia Type Deg. V/Phase A/Phase Ω/Phase mh/phase N m(kgf cm) mm x1 4 kg m 2 kg TS3242N1 1.8 7.2 4. 1.8 12 8.1 (81) 148 8.5 7. 2 TS3242N1 1.8 5. 5. 1. 6 5 (5) 97 4. 4. 2 TS3242N11 1.8 3.84 3.4 1.1 17 11 (11) 148 8.5 7. 1 25 Operating temperature range 1MMinat DC5V Insulation resistance AC 5V1min Dielectric strength.2mm Max. at the load End play 49N(5kgf).2mm Max. at the load Radial play 2N(2kgf) 8 deg Max.Resistance method Permissible temperature rise 9 NOTEDo not allow the surface temperature of the motor case to rise above 9 during operation. 39
WIRING DIAGRAM TYPE 1 BIPOLAR Blue Red PM CW CW rotation mounting end. Step Blue White Red Yellow 1 White Yellow 2 3 TYPE 2 UNIPOLAR Green/White White PM Step Red Green Red/White Green/White White Black Green ON ON COM COM 1 ON ON COM COM 2 ON ON COM COM Red Black Red/White 3 ON ON COM COM ON ON COM COM PULSE RATE VS TORQUE CHARACTERISTICSPull-out Torque TS3242N1 (5) 4(4) 3(3) DC22V 5.A/ Rs3.Ω Constant Voltage Driver DC22V 5.A/Phase Rs3.Ω 2(2) 1(1) 1 2 1 3 1 4 4
11,14,17,23,34 SIZE 2, 5 PHASE STEP MOTOR ENCODERS A table of Step motor encoder C/T Size Phase Resolution Types of Step motor encoder Outline (Types of applied Step motor) 11 2 2 TS3658 1 TS3641 14 2 2 TS3665 1 TS3214 17 2 2 TS362 1 TS3617 17 5 5 TS3672 1 TS3667 23 2 2 TS3643 2 TS3653 23 5 5 TS3623 3 TS3624 34 2 2 TS3674 3 TS3134 34 2 2 TS3698 3 TS3684 34 5 5 TS3634 3 TS363 N.E 1A, B 2A, B 22C/T 55C/T 3A, B, Z 4A, B, Z 41
Outline (A section of an encoder) 4 3.5 3 182.7 2.52.7 56.6 56.6 32.3 3 17 3 Performance of an encoder Line driver 85 DC5V 5 4mA Max 1mA Max A, B 8kHz Max a.b.c.d 1/4P 1/8P 5 Form of output Open collector 3V 5mA x1 7 kgm 2 Max ENCODER ONLY AM26C31IDBT.I WHEN DC2.4V Min OUTPUT IS -H- WHEN DC.4V Max OUTPUT IS -L- 2mA Max 1sec Max 2SC1623 1.5 sec Max Specifications of an encoder A B A A B Phase Resolution Option 14, 1,C/T 2Z 3 a b c d P CW P a b c d B CW H L H L FMN1 47 5V OUTPUT Vcc A.B A.B FMP1 DC5V GND A B DC5V GND A A B B 42
HB TYPE 1.8 DC AU911 2 3 2 3 ON ON OFF OFF 2 3 ON OFF 2 1 2 1 1 ON OFF 1 ON OFF 43
CN2(B6B-XH-A : JST) 22Ω TLP521 6 5 4 3 2 1 B B A A COM2 COM1 CN1(B8B-XH-A : JST) 8 GND 7 DC+24V 6 5 + 4 PULSE 1CCW 2 3 PULSE+1CCW+2 2 DIR 1 CW 2 1 DIR+1 CW+2 ON OFF (6.5) IS GND CKO 123 2 1 64 54 ±.2 32 (3.5) 17.5 ±.2 (3) 1 8 1 6 65 ±.2 65 ±.2 6 φ 3.5 B6B-XH-A(JST) XHP-6(JST) B8B-XH-A(JST) XHP-8(JST) 3 3 72 ±.5 44
DC24V 1% 3A Max. 2A Max./ VR. L 1 2 3 H 1 2 3 H.1A/.51.A ON 1.2.A ON OFF OFF 8 1 2 3 16 1 2 3 ON ON 8 OFF OFF TLP253CW,CCW22Ω TLP181 22Ω 1 1 2 3 ON PULSE OFF DIR 2 1 2 3.CWCCW ON CW OFF.CCWCWOFF OFF CCW CW.CCW ON OFF 2 CKOUT 8KHz83,min1 (rpm)161,5min 1 (rpm) OFFON TLP127C-E LV5A/.HV2.5A/ 5.225V.11%L.H VR11%OFFON 1sec 4 C 9%RH 17 C 9%RH 45
CN1(B7B XH A) TLP253 CN2(B6B XH A) 1 22Ω 1 DC+5V CKOUT CKOUT 2 3 4 5 6 7 TLP253 TLP181 TLP181 TLP127 2 3 4 5 6 A COM 1 A CN3(B2B XH A) 1 GND 2 DC+24V B COM 2 PM B No. DIR CW PULSE CCW / DC+5V CKOUT CKOUT No. COM1 COM2 A A B B No. GND DC + 24V 72 ON OFF (6.5) GND 123 1 2 TP 54 ±.2 64 35 17.5 ±.2 (3) (3.5) 65 ±.2 1 1 7 1 6 CN3 CN1 CN2 65 ±.2 6 3.5 B6B XH A(JST) XHP 6(JST) B7B XH A(JST) XHP 7(JST) B2B XH A(JST) XHP 2(JST) ±.5 3 3 46
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