CLOSED LOOP STEPPING SYSTEMS Model No.PB Ver. 3 English Hybrid system combining the ease-of-use of stepping motors with the reliability of servomotors. CLOSED LOOP STEPPING SYSTEMS MERIT Model No.PB Increased System Speed and Smaller System Size 1 High Speed Positioning Smaller System Size High torque performance in the low speed range delivers shorter positioning Smaller system size is achievable for low speed applications due to the availablity time for short stoke/high hit rate applications. of higher torque performance in the low speed range as compared to conventional servomotors. TorqueSpeed Curve Model No. PB CW 200 1.6 150 1.2 Flange size Torque(ozin) Settling time Speed 0 Droop pulse 100 Torque(Nm) SERVO MOTOR 76mm Servo motor (AC input) -300W 0.8 60mm Model No. PB (AC input) 50 0.4 0 0 Servo motor (AC input) - 100W 54mm CCW Time 0 1000 2000 3000 4000 5000 Speed(min-1) MERIT MERIT Stable Stand-Still 2 3 Stable Stand-Still High Resolution Energy-Saving Improved Efficiency from Current Control Complete stand-still motion is possible due The position resolution can be subdivided for Higher efficiency from low heat generation is to the availability of holding torque, a typical higher positioning precision. achieved by controlling the current flow to motor characteristic of stepping motors. according to motor load. ACmodel DCmodel DC Multi-axis Model Servo system Motor temperature rise Model No. PB system 60 Motor Speed 0 200 800 1600 3200 6400 12800 0 CCW +1 pulse Target position 500 1000 2000 4000 5000 10000 -1 pulse 4 Model No.PB 20 1500 1000 Speed (min-1) 2000 Simplified Control General Purpose I/O Input A C Type R D C Type M D Type Multi C R Axis Support For Various Operations A C System can be easily controlled by using the general purpose I/O to designate Comprehensive built-in amplifier preset point or program numbers (up to 256 points). functionality includes thrust control, point designation, programming, Upper-level PLC homing, holding brake control and Point 1 output sensor limit input. Point 1 Point 0 1 Competing products 40 0 500 Time MERIT Temp increase (K) CW Type R D C Type M D Type Multi C R Axis AC Power Input A C A C Type R General Purpose I/O Input Type (RS-485 + PIO) Type P MERIT 5 Pulse-Train Input Type DC Power Input D Type Multiple Input Type (General Purpose I/O Input + Pulse-Train Input) C M D Type Multi General Purpose I/O Input Type (RS-485 + PIO) C R Axis Reduced System Design Cost and Time Wide Availability of Optional Cables and Connectors Built-in Pulse Generation Function A C Type R D C Type M D Type Multi C R Axis Cables and connectors for controller/amplifier and amplifier/motor connection A built-in pulse generation function is included in the Model No. PB Types R are available for hassle-free setup. and M. The amplifier receives speed, acceleration/deceleration and distance as numeric data from the upper-level device, and automatically generates an optimal speed pattern according to the commands internally.Since no separate pulse generator is required, this contributes to lower system cost. Rotationsmin-1 4000 Speed pattern example 3000 Features and Functions 2000 1000 0 -1000 -2000 -3000 -4000 Type R PC Interface Time D Type Multi C R Axis Multi-Axis Type (DC Power Input) Multi-axis systems can be reduced in size and weight using the PB-R 4-axis done on a PC using the bundled setup software. type. Type P Parameter setting, data editing and monitoring of position and speed can be 1,2,3A can be selected using software switches. Converter PB-R(4-axismodel) Encoder Cable Type M PC Software for WindowsTM Motor Cable Type R Multi-Axis PC Motor1A Motor2A Motor 3A Motor3A Compliant General Specifications Complies with International Safety Standards Motor Dimensional Drawings 6 Options MERIT 2 Extensive Closed-Loop Stepping System Lineup CLOSED LOOP STEPPING SYSTEMS Model No.PB How do you want to control the equipment? The Model No. PB Series offers 3 types of control methods. Point Command Control using PLC I/O Network Control using Serial Communication (RS-485) Control using a Pulse Generator Power Source AC Power Source Power Source DC Power Source DC Power Source AC Power Source DC Power Source DC Power Source AC Power Source Type R Type R Multi-Axis Type M Type P Startup via I/O Startup via I/O Startup via I/O Startup preset points or programs in the amplifier memory using the I/O. Startup preset points or programs in the amplifier memory using the I/O. Startup preset points or programs in the amplifier memory using the I/O. Motion is generated by responding to pulse input commands from an upper-level controller. Startup via Serial Communication Startup via Serial Communication Startup via Serial Communication Control by transmitting speed, acceleration/deceleration and distance data via serial communication. Control by transmitting speed, acceleration/deceleration and distance data via serial communication. Control by transmitting speed, acceleration/deceleration and distance data via serial communication. Motion is generated by responding to pulse input commands from an upper-level controller. 3 AC Power Source Standard Model The standard model includes an amplifier and a motor Motor Flange Size AC DC 42 (1.65in) 86 60 (3.39in) (2.36in) 28 (1.10in) 42 (1.65in) R 60 P23 (2.36in) Low-backlash Gear Model Features and Functions This model includes a low-backlash gear that engages the final stage with a tapered gear. Motor Flange Size DC R E D U C T IO N GEAR R AT IO 42 (1.65in) 42 (1.65in) 1 3.6 60 (2.36in) 60 R P25 1 (2.36in) 1 7.2 10 1 20 1 30 Type R AC Spur Gear Model Type P This model utilizes a spur gear design for gear reduction. Motor Flange Size 28 P29 R 1 3.6 1 7.2 1 10 1 20 1 30 1 Type M R E D U C T IO N GEAR R AT IO (1.10in) 50 Type R Multi-Axis DC Harmonic Gear Model The harmonic gear provides high torque and eliminates backlash. Motor Flange Size 42 60 AC (2.36 ) DC R E D U C T IO N GEAR R AT IO 28 (1.10in) 1 30 in 42 (1.65in) 1 50 60 R P31 General Specifications (1.65in) (2.36in) 1 100 Motor Dimensional Drawings Electromagnetic Brake Model Motor Flange Size 42 60 AC (2.36 ) (1.65in) DC in R 28 (1.10in) Options This model uses a non-excitation electromagnetic brake, capable of maintaining positionand supporting a load in vertical operation, even when power is off 42 (1.65in) P33 60 (2.36in) 4 Model Nomenclature System Model Nomenclature PB A R 60 3 - C 3.6 B Motor Option 3: Holding Brake (B: included) Note1 Motor Option 2: Gear Ratio Note1 Motor Option 1: Gear Specifications Note1 Motor Length Motor Flange Size (in mm) Interface Type Power Input System Name R: RS-485+PIO P: Pulse Stream M: Multi A: AC Power Source D: DC Power Source PB: Model No.PB System Note 1: No symbol indicates no options. Note 2: Power(39.37inch) and I/O (39.37inch) cables are included in the set models. Amplifier Model Nomenclature PB3 D 003 R 1 00 Specification Identification 00: Standard Encoder Type 1: 200P/R INC 2500P/R INC Interface Type R: RS-485+PIO P: Pulse Stream M: Multi Motor Excitation Current Power Input Series Name 001: 1A 002: 2A 003: 3A A: AC Power Source D: DC Power Source PB : Model No.PB Amplifier Motor Model Nomenclature PBM 42 3 F X E 20 Specification Identification Encoder Type 20: Standard E : 500P/R with C-phase output A : 200P/R No C-phase output C : 200P/R with C-phase output Options DC (Multi-axis) only *Contact us for assistance X : without option C : 24V DC Break GA to GL : with Gear HJ to HM : with Harmonic Gear Power InputF: AC Power Source, DC Power Source (Single-axis) D: DC Power Source (Multi-axis) Motor Length Motor Flange Size (in mm) Series NamePBM: Model No.PB Motor Please enquire separately for the sizes of PBM503 and PBM565. * 5 Motor Option Combination Table Motor Option Combination Table Gear Box Harmonic Gear Electromagnetic Brake PBM282F E20 / PBM282D A20 PBM284F E20 / PBM284D A20 x x PBM423F E20 / PBM423D A20 PBM603F E20 / PBM603D A20 PBM604F E20 / PBM604D A20 x x Features and Functions Motor No. Motor Standard Specifications (common to all models) * Insulation resistance * Class B130 AC1500V 50 60Hz 1minute AC500V 50 60Hz 1minute DC500V 100M1MIN. Degrees of protection IP40 Vibration resistance 15 (Frequency range 10 to 70Hz amplitude 0.060inch 70 to 2000 acceleration 15G) Impact resistance 30G(half sine wave with 11 ms duration) The x, y and z are each tested three times for each direction for a total of 18 tests. Ambient temperature Ambient humidity Type P Withstand Voltage PBM282D, PBM282F, PBM284D, PBM284F, PBM423D, PBM603D, PBM604D Type R PBM423F, PBM603F, PBM604F, PBM861F, PBM862F Insulation class Type M Motor No. -10 to 40Harmonic Gear Model 0 to 40 20 to 90%RHNo Condensation Options Motor Dimensional Drawings General Specifications Type R Multi-Axis The user should not test the insulation resistance or insulation withstand voltage, because a * capacitor has been inserted between the encoder output groundline and the frame to prevent noise. 6 Model No. PB Type R Single-Axis Type AC Power Input Type System Configuration Serial communication control parameter editing Single-phase AC100V to 230V Circuit Breaker Protects the power line; shuts off circuit Controller during an overflow PC PC I/F Software Communication Converter Unit A converter unit is required for * RS-232C/RS-485 conversion. of electric current. Control Device SANYO DENKI's Electromagnetic Contactor high level Switches amplifier devices permit power on and off. communication Installation of a with third-party surge protector is CN3 required. products PLC Motor Ext. Cable Noise Filter CN2 Encoder Ext. Cable Protects the power line from external noise, and from noise generated by the servo amplifie CN1 CN4 I/O Cable Power Cable CN5 CN6 Communication Cable To other slaves Options Standard Model NumberLength Connector Set Model Number Maximum Length Remarks Power Cable PBC7P0010A 1m39.37in PBC7P0000A 2m78.74 in - Motor Ext. Cable PBC6M0030A 3m118.11in PBC6M0000A 20m787.40 in Use when an extension of 50cm 19.69inor more is required. Encoder Ext. Cable PBC6E0030A 3m118.11in PBC6E0000A 20m787.40 in Use when an extension of 50cm 19.69inor more is required. I/O Cable (unshielded) PBC1S0010A 1m39.37in PBC1S0000A 2m78.74 in Communication Cable PBC6C0003A 30cm11.81in PBC6C0000A 100m3937.01 in Cable Type Communication Converter Unit PC I/F Software 7 PBFM-U5 SPBA1W-01 Main Body Model.No232485CFP01-01 Cable Model.NoPBC4T0005A - - - Use when multiple axes are connected in a daisy-chain configuration for communication. RS-232C RS-485 Converter Unit Converter unit and cable set model Software for operational check and parameter setting Optional Cable Power Cable L 50mm (L 1.97in) PIN No. LEAD COLR 1 Black 2 Black 3 4 5 3 4 5 Amp.side 1 2 Power Supply Connector Set : PBC7P0000A Manufacturer Type Housing : 1-178288-5 AMP Contact : 1-175218-5 AC1 AC2 Qty. 1 5 AWG16 Black UL1015 Motor Ext. Cable AMPLIFIER SIDE CONNECTOR HOUSING: 1-1318115-3 TERMINAL: 1318109-1 MANUFACTURER: AMP HOUSING: 1-1318119-3 TERMINAL: 1318105-1 MANUFACTURER: AMP 3000 50mm (118.11 1.97in) LEAD WIRE UL1430 AWG22 UL VINYLTUBE Connector Connection Of Motor Side PIN No. LEAD COLR A1 B1 A2 B2 A3 B3 Blue Orange Red Yellow White Black Motor Lead Wire Motor Lead Wire Motor Lead Wire Motor Lead Wire Brake Lead Wire Brake Lead Wire Connector Connection Of Amplifier Side PIN No. LEAD COLR Motor Lead Wire 1(A1) Blue 2(B1) Orange Motor Lead Wire Motor Lead Wire 3(A2) Red Motor Lead Wire 4(B2) Yellow 5(A3) White Brake Lead Wire 6(B3) Black Brake Lead Wire Connector Set : PBC6M0000A Manufacturer Type Housing : 1-1318115-3 Terminal1318109-1 AMP Housing : 1-1318119-3 Terminal1318105-1 Qty 1 6 1 6 Connector Connection Of Amplifier Side PIN No. LEAD COLR 1(A1) Blue CHANNEL A 2(B1) CHANNEL A Brown 3(A2) Green CHANNEL B 4(B2) CHANNEL B Purple 5(A3) White CHANNEL C 6(B3) CHANNEL C Yellow 7(A4) Red +5V 8(B4) 0V Black 9(A5) N.C. 10(B5) Orange OVER HEAT 11(A6) Black Shield 12(B6) N.C. Connector Set : PBC6E0000A Manufacturer Type Housing : 1-1318115-6 Terminal1318110-1 AMP Housing : 1-1318118-6 Terminal : 1-1318106-1 Qty 1 10 1 10 Cable Connection Cable 1 Cable 2 A1-No.1 B1-No.11 A2-No.2 B2-No.12 A3-No.3 B3-No.13 A4-No.4 B4-No.14 A5-No.5 B5-No.15 A6-No.6 B6-No.16 A7-No.7 B7-No.17 A8-No.8 B8-No.18 A9-No.9 B9-No.19 A10-No.10 B10-No.20 Connector Set : PBC1S0000A Manufacturer Type KEL CONNECTOR8822E-020-171D Features and Functions MOTOR SIDE CONNECTOR AMPLIFIER SIDE CONNECTOR HOUSING: 1-1318118-6 TERMINAL: 1318106-1 MANUFACTURER: AMP 3000 50mm (118.11 1.97in) LEAD WIRE AWG28 ENCODER CABLE UL20276 Connector Connection Of Motor Side PIN No. LEAD COLR A1 B1 A2 B2 A3 B3 A4 B4 A5 B5 A6 B6 Blue Brown Green Purple White Yellow Red Black N.C. Orange Black N.C. CHANNEL A CHANNEL A CHANNEL B CHANNEL B CHANNEL C CHANNEL C +5V 0V OVER HEAT Shield Type P MOTOR SIDE CONNECTOR HOUSING: 1-1318115-6 TERMINAL: 1318110-1 MANUFACTURER: AMP Type R Encoder Ext. Cable A1E A10 B1 Cable Mark B10 Flat cable UL2962 AWG28 Cable 1 Qty 1 Type R Multi-Axis L Type M I/O Cable (unshielded) General Specifications Cable 2 1mm MAX. .039inch MAX. 1 1 9 L 30mm (L 1.18in) 10 Connector relay cable Signal CNA Name Pin.No. A B Y Z GND Vcc 9 FG 2 1 2 3 4 5 6 7 8 9 10 CNB Signal Pin.No. Name Yellow Yellow White White Brown Brown Blue Black Blue Black Red Red Purple Purple Green Green Drain Drain 1 2 3 4 5 6 7 8 9 10 A B Y Z GND Vcc Connector Set : PBC6C0000A Manufacturer Type HousingPADP-10V-1-S JST ContactSPH-OO2T-P0.5L Qty 2 20 FG Options 9 Motor Dimensional Drawings Communication Cable 1 8 Model No. PB Type R Single-Axis Type AC Power Input Type General Specifications PB3A003R200 Amplifier Model Control Mode PWM Control SIN drive method Power Supply AC100V to 230V -15% +10%50 / 60Hz Single Power Ambient Operating 0 to 55 temp. Storage -20 to 70 Environment Operating/ Maximum 90% RHnon-condensing Storage Humidity 0.5Gtested with frequency range 10 to 55 Hz, X, Y, Z each direction 2H Vibration Resistance Structure Tray structure Rear mounting type Mass (Weight) / Dimensions Approx. 0.8kg28.22oz/ W45xH150xD120mmW1.77xH5.91xD4.72inch Rotation Speed 0 to 4500min-14000min-1 is used for an 86mm-square motor Resolution (P/R) 500, 1000, 2000, 4000, 5000, 10000 Regeneration Process Internalexternal regeneration available Functions Input/ Output Signals Protective Functions Encoder Disconnection, Encoder Counter Error, Power Voltage Error, Initialization Error, Position Deviation Error, Over-speed, Regeneration Voltage Error, Zero-return Error, Absolute position sign reversal, Deviation Counter Overflow, Motor Overheat, Amplifier Overheat, Internal voltage Error, Over-current, CPU Error LED Display Power status, Alarmflashing indicator Operation Functions Normal Driveincremental move command, absolute move command), Zero-return, Module Operation, Push Operation Switch DIP SW1: Transmission Speed Setting9600, 38400,115200,128000bpsDIP SW2: Terminating Resistor Setting RSWNode Adress Setting0 to F Input Signals Fixed function2:EXE, Point, ALMCLR, STOP Selectable5:Point, Pause, Interlock, SELECT, Generic Input, HOME, Hard Limit Output Signals CN1 Fixed function2:ALM, In-Position, Ack Selectable5:ZONE, END, Busy, HEND, SON MON, Generic Input, Input Monitor Communication RS-485 Standard Start-Stop Synchronization, Full Duplex Trans. Speed: 9600, 38400, 115200, 128000bps Specifications Amplifier Dimensional DrawingUnit : mminch 6.5(.26) 45(1.77) 7(.28) 120(4.72) 4(.16) 33(1.30) 5(.20) 10(.39) 2-5(2-.20) Mounting Direction CLOSED LOOP STEPPING SYSTEMS ALM POW M o d e l N o . P B 89A 67 012 EF D BC RSW1 5 34 SW1 CN3 C N 7 M o d e l N o . P B S W 2 CN4 150(5.91) 160(6.30) 170(6.69) CLOSED LOOP STEPPING SYSTEMS C N 2 C N 1 MADE IN JAPAN C N 5 9 5(.20) 10(.39) 5(.20) C N 6 00563491 External Wiring Diagram User Device Amplifier PB3A003R200 5 Input Power AC100V to 230V N.C N.C CN4 1 2 3 4 CN5,6 1 2 3 4 GND 5 N.C N.C N.C N.C 6 7 8 9 10 Vcc CN2 A A B B C C 5V 5G N.C O.H FG N.C CN3 GND +5 V A A B B BRK+ BRK- 1 2 3 4 5 6 7 8 9 10 11 12 OPTICAL ENCORDER TH 1 2 3 4 5 6 Holding Brake IN1(Point3) IN2(Point4) IN3(Point5) IN4 or SDN(Point6) STOP ALMCLR IN5(Point7) ACK In-Position ALM OUT1(ZONE) OUT2(END) OUT3(SON MON) OUT4 OUT5 - COM * 4 Twisted Pair Cable With External Shield Features and Functions Point2 3 5 6 7 CN7 8 9 10 Type R Point1 1 11 12 13 14 15 16 Type P Exe 17 18 19 20 2 Type M +COM(DC5V to 24V) Motor 24VDC CN1 P.E(M4) Type R Multi-Axis Note 1: The CN1 general-purpose input / output signal function is selected through communication. Please see the basic specifications for details. Input / Output Signals Circuit Input Voltage Specifications : DC5V to 24V10 Generic Output Output Current : 30mA MAX. General Specifications Generic Input MAX. 30mA DC Power Source Motor Dimensional Drawings +COM MAX. 30V +5V to 24V 2 - COM -COM SG Options 1 10 Model No. PB Type P AC Power Input Type System Configuration Single-phase AC100V to 230V parameter editing Circuit Breaker Protects the power line; shuts off circuit during an overflow Control Device PC of electric current. PLC/Pulse board PC I/F Software Controller Electromagnetic Contactor Switches amplifier power on and off. SANYO DENKI's high level devices permit Installation of a communication with third-party products. surge protector is CN3 required. Motor Ext. Cable Noise Filter CN2 Encoder Ext. Cable Protects the power line from external noise, and from noise generated by the servo amplifier. CN4 CN1 I/O Cable Power Cable CN5 Communication Cable Options Standard Model NumberLength Connector Set Model Number Maximum Length Remarks Power Cable PBC7P0010A 1m39.37in PBC7P0000A 2m78.74 in - Motor Ext. Cable PBC6M0030A 3m118.11in PBC6M0000A 20m787.40 in Use when an extension of 50cm 19.69in or more is required. Encoder Ext. Cable PBC6E0030A 3m118.11in PBC6E0000A 20m787.40 in Use when an extension of 50cm 19.69in or more is required. I/O Cable (shielded) PBC1S0010C 1m39.37in PBC1S0000A 2m78.74 in - Communication Cable (Dsub9pin) PBC5C0010A 1m39.37in - - Communication Converter Unit Not required - - PC I/F Software SPBA1W-01 - - Cable Type 11 Dedicated cable for RS-232C communications - Software for operational check and parameter setting Optional Cable Power Cable L 50mm (L 1.97in) PIN No. LEAD COLR 1 Black 2 Black 3 4 5 3 4 5 Amp.side 1 2 Power Supply Connector Set : PBC7P0000A Manufacturer Type Housing1-178288-5 AMP Contact1-175218-5 AC1 AC2 Qty. 1 5 AWG16 Black UL1015 Motor Ext. Cable AMPLIFIER SIDE CONNECTOR HOUSING: 1-1318115-3 TERMINAL: 1318109-1 MANUFACTURER: AMP HOUSING: 1-1318119-3 TERMINAL: 1318105-1 MANUFACTURER: AMP 3000 50mm (118.11 1.97in) LEAD WIRE UL1430 AWG22 UL VINYLTUBE Connector Connection Of Motor Side PIN No. LEAD COLR Blue Motor Lead Wire A1 Orange Motor Lead Wire B1 Red Motor Lead Wire A2 Yellow Motor Lead Wire B2 White Brake Lead Wire A3 Black Brake Lead Wire B3 Connector Connection Of Amplifier Side PIN No. LEAD COLR Motor Lead Wire 1(A1) Blue 2(B1) Orange Motor Lead Wire Motor Lead Wire 3(A2) Red Motor Lead Wire 4(B2) Yellow 5(A3) White Brake Lead Wire 6(B3) Black Brake Lead Wire Connector Set : PBC6M0000A Manufacturer Type Housing : 1-1318115-3 Terminal1318109-1 AMP Housing : 1-1318119-3 Terminal1318105-1 Qty. 1 6 1 6 Connector Connection Of Motor Side PIN No. LEAD COLR A1 Blue CHANNEL A B1 Brown CHANNEL A A2 Green CHANNEL B B2 Purple CHANNEL B A3 White CHANNEL C B3 Yellow CHANNEL C A4 Red +5V 0V B4 Black A5 N.C. B5 Orange OVER HEAT A6 Black Shield B6 N.C. Connector Connection Of Amplifier Side PIN No. LEAD COLR 1(A1) Blue CHANNEL A 2(B1) CHANNEL A Brown 3(A2) Green CHANNEL B 4(B2) CHANNEL B Purple 5(A3) White CHANNEL C 6(B3) CHANNEL C Yellow 7(A4) Red +5V 8(B4) 0V Black 9(A5) N.C. 10(B5) Orange OVER HEAT 11(A6) Black Shield 12(B6) N.C. Connector Set : PBC6E0000A Manufacturer Type Housing1-1318115-6 Terminal1318110-1 AMP Housing1-1318118-6 Terminal : 1-1318106-1 Qty. 1 10 1 10 Features and Functions MOTOR SIDE CONNECTOR AMPLIFIER SIDE CONNECTOR HOUSING: 1-1318118-6 TERMINAL: 1318106-1 MANUFACTURER: AMP 3000 50mm (118.11 1.97in) LEAD WIRE AWG28 ENCODER CABLE UL20276 Type P MOTOR SIDE CONNECTOR HOUSING: 1-1318115-6 TERMINAL: 1318110-1 MANUFACTURER: AMP Type R Encoder Ext. Cable A10 B10 A1 A2 A3 A4 A5 A6 A7 A8 A9 A10 CN1 PIN No. B1 B2 B3 B4 B5 B6 B7 B8 B9 B10 Connector relay cable Amp.side 6 LINE COLR Red Orange Black Red Gray Black Red White Black Red Yellow Black Red Pink Black Communication CableDsub 9Pin L 50mm (L 1.97in) PC side 9 Mark 5 1 1 9 2 PC Side Pin.No. Signal Name Amp.Side Pin.No Signal Name 1 N.C 1 RXD 2 RXD 2 TXD 3 TXD 3 4 N.C 4 N.C 5 GND 5 GND 6 N.C 6 N.C 7 N.C 7 N.C 8 N.C 8 9 N.C 9 N.C 10 Shield (RS-232C D-Sub 9Pin) Mark Display Mark LINE COLR Red Orange Black Red Gray Black Red White Black Red Yellow Black Red Pink Black Connector Set : PBC1S0000A Manufacturer Type Qty. 1 Connector8822E-020-171D Crimp ContactV1.25-M4 KEL Drain Wire UL1007 20AWG CableUL20276-28AWG Type R Multi-Axis B1 150 10mm (5.91 .39in) A1g Mark Display General Specifications CN1 PIN No. *Without connector set Motor Dimensional Drawings CN1 Wiring N.C N.C Options L 50mm (L 1.97in) Type M I/O Cable (shielded) 12 Model No. PB Type P AC Power Input Type General Specifications PB3A003P201, PB3A003P202 Amplifier Model Control Mode PWM Control SIN drive method Power Supply Single Power AC100V to 230V -15% +10%50 / 60Hz Operating 0 to 55 Storage -20 to 70 Ambient temp. Environment Operating/ Storage Humidity Maximum 90% RHnon-condensing Vibration Resistance 0.5Gtested with frequency range 10 to 55 Hz, X, Y, Z each direction 2H Structure Tray structure Mass (Weight/ Dimensions Approx. 0.8kg28.22oz/ W45xH150xD120mmW1.77xH5.91xD4.72inch Functions Input/ Output Signals Rear mounting type Rotation Speed 0 to 4500min-14000min-1 is used for an 86mm-square motor Resolution (P/R) 500, 1000, 2000, 4000, 5000, 10000 Regeneration Process Internalexternal regeneration available Protective Functions Encoder Disconnection, Encoder Counter Error, Power Voltage Error, Initialization Error, Position Deviation Error, Over-speed,Regeneration Voltage Error, Zero-return Error, Absolute position sign reversal, Deviation Counter Overflow, Motor Overheat, Amplifier Overheat, Internal voltage Error, Over-current, CPU Error LED Display Power status, Alarmflashing indicator Functions Normal Drive, Zero-return, S-shape Acceleration / Deceleration Drive Switch DIP SW1: Pulse Input Type SelectON: 2 Input OFF: 1 Input DIP SW2, 3: Resolution Selection500, 1000, 5000, 10000P/R 2000 and 4000 division resolution modes are selected via communication DIP SW 4 to 6: Motor Select RSW1: Normalize velocity loop gain setting RSW2: S-Shape filter potentiometer setting Input Signals Pulse, Deviation Clear, HOME, Hard.Limit, STOP, ALMCLR Output Signals SON Monitor, ALM, Zero-return completion,In-Position, Encoder Signal Output Communication Specifications RS-232CFor parameter setting Trans. Speed9600bps Amplifier Dimensional DrawingUnit : mminch 45(1.77) 7(.28) 6.5(.26) 120(4.72) 4(.16) 33(1.30) 10(.39) 5(.20) 2-5(2-.20) Mounting Direction CLOSED LOOP STEPPING SYSTEMS ALM POW RSW2 345 6 78 9A D F0 12 6 RSW1 345 BC E CN3 D F0 12 SW1 BC E 78 9A M o d e l N o . P B C N 7 M o d e l N o . P B CN4 150(5.91) 160(6.30) 170(6.69) CLOSED LOOP STEPPING SYSTEMS C N 2 C N 1 MADE IN JAPAN 00563491 13 5(.20) 10(.39) 5(.20) C N 6 C N 5 External Wiring Diagram Amplifier PB3A003P201 User Device 5 CN4 N.C 1 2 3 4 Input Power AC100V to 230V N.C TXD RXD NC NC GND 1 2 NC NC NC NC 6 7 8 9 10 3 4 5 CN2 1 A 2 A 3 B 4 B 5 C 6 C 7 5V 5G 8 OH 10 FG 11 AC1 AC2 P N CN5 CN3 A A B B BRK+ BRK- GND Vcc OPTICAL ENCORDER EN 1 2 3 4 5 6 MO BRK Holding Brake Motor 24VDC CN1 CCW Pulse+/Pulse+ CCW Pulse- /Pulse- 3 4 CW Pulse+/DIR+ CW Pulse- /DIR- 5 6 14 1 7 -COM +COM(DC5V to 24V) STOP ALMCLR 8 IN1 (Deviation Clear) 9 IN2 (Gain Select) * Twisted Pair Cable With External Shield CN7 11 CN6 12 1 2 3 4 5 6 7 8 9 10 13 SON Monitor 15 16 17 18 19 20 ENA+ ENAENB+ ENBENC+ ENC- Negative direction Limit(SDN) Without allocation function Without allocation function NC NC Note 1: The CN1 general-purpose input/output signal function is selected through communication. Please see the basic specifications for details. Note 2: Pulse input and encoder output signal circuitry are line receiver type.Linedriver type is also available as amplifier model PB3A003P202. 2 -COM Positive direction Limit (SDN) P.E(M4) Type R Im-Position Features and Functions 10 PB3A003P201 PB3A003P202 PB3A003P201/202 Pulse Input Pulse Input Generic Input Limit Input Input Voltage Specifications : DC5V10 Pulse Input : 250kpps MAX. Input Voltage Specifications : DC5V to 24V10 Type M Type P Input / Output Signals Circuit +5V +5V 3, 5 3, 5 DC Power Source +5V to 24V Type R Multi-Axis DC Power Source 4, 6 14 4, 6 SG SG SG Encoder Signal Output Collector Voltage: DC30V MAX. Output Current : 30mA MAX. Collector Voltage: DC30V MAX. Output Current : 30mA MAX. 15, 17, 19 MAX. 30mA 151719 Generic Output Motor Dimensional Drawings Encoder Signal Output General Specifications In case the voltage is at 5V MIN. Insert a resistor "R" which satisfies " Input Voltage-1V270 10 mA Line driver input permitted MAX. 30mA MAX. 30V MAX. 30V 214161820 16, 18, 20 2 -COM -COM Options 14 -COM SG 14 Model No. PB Type M DC Power Input Type System Configuration Serial communication control parameter editing Circuit Breaker Protects the power line; shuts off circuit during an overflow Controller of electric current. PC PC I/F Software Communication Converter Unit A * converter unit is required for RS-232C/RS-485 conversion. Electromagnetic Contactor Switches amplifier power on and off. Installation of a surge protector is required. CN6 Noise Filter Communication Cable To other slaves Protects the CN5 power line from external noise, Control Device and from noise CN1 generated by the servo amplifier. SANYO DENKI's high level I/O Cable devices permit communication Power Supply Switch with third-party CN2 Converts power PLCI/O products Encoder Ext. Cable supply from AC to DC power. CN3 Motor Ext. Cable CN4 Power Cable Options Standard Model NumberLength Connector Set Model Number Maximum Length Remarks Power Cable PBC6P0010A 1m39.37in PBC6P0000A 2m78.74 in - Motor Ext. Cable PBC6M0030A 3m118.11in PBC6M0000A 20m787.40 in Use when an extension of 50cm 19.69inor more is required. Encoder Ext. Cable PBC6E0030A 3m118.11in PBC6E0000A 20m787.40 in Use when an extension of 50cm 19.69inor more is required. I/O Cable (unshielded) PBC5S0010A 1m39.37in PBC5S0000A 2m78.74 in I/O Cable (shielded) PBC5S0010C 1m39.37in PBC5S0000A 2m78.74 in Cable Type Communication Cable (to Amp.) Communication Converter Unit PC I/F Software 15 PBC6C0003A 30cm11.81in PBFM-U5 SPBAIW01 PBC6C0000A Use for pulse input Use when multiple axes are connected in a daisy-chain 100m3937.01 in configuration for communication. Main Body Model.No232485CFP01-01 Cable Model.NoPBC4T0005A - - - RS-232C RS-485 Converter Unit Converter unit and cable set model Software for operational check and parameter setting Optional Cable Power Cable UL1430 AWG18(21/0.18) 300V , 105 Connector Connection Of Amplifier Side PIN No. LEAD COLR Signal Name Red 1 DC+24/48V Blue 2 GND Yellow 3 Green 4 FG Connector Set : PBC6P0000A Manufacturer Type ConnectorVHR-4N JST ContactSVH-21T-P1.1 Connector Connection Of Motor Side PIN No. LEAD COLR Blue Motor Lead Wire A1 Orange Motor Lead Wire B1 Red Motor Lead Wire A2 Yellow Motor Lead Wire B2 White Brake Lead Wire A3 Black Brake Lead Wire B3 Connector Connection Of Amplifier Side PIN No. LEAD COLR Blue Motor Lead Wire 1(A1) Orange Motor Lead Wire 2(B1) Red Motor Lead Wire 3(A2) Yellow Motor Lead Wire 4(B2) White Brake Lead Wire 5(A3) Black Brake Lead Wire 6(B3) Connector Set : PBC6M0000A Manufacturer Type Housing : 1-1318115-3 Terminal1318109-1 AMP Housing : 1-1318119-3 Terminal1318105-1 Connector Connection Of Motor Side PIN No. LEAD COLR Blue A1 CHANNEL A Brown B1 CHANNEL A Green A2 CHANNEL B Purple B2 CHANNEL B White A3 CHANNEL C Yellow B3 CHANNEL C Red A4 +5V Black 0V B4 A5 N.C. Orange B5 OVER HEAT Black A6 Shield B6 N.C. Connector Connection Of Amplifier Side PIN No. LEAD COLR Blue 1(A1) CHANNEL A Brown 2(B1) CHANNEL A Green 3(A2) CHANNEL B Purple 4(B2) CHANNEL B White 5(A3) CHANNEL C Yellow 6(B3) CHANNEL C Red 7(A4) +5V Black 0V 8(B4) 9(A5) N.C. Orange 10(B5) OVER HEAT Black 11(A6) Shield 12(B6) N.C. Connector Set : PBC6E0000A Manufacturer Type Housing1-1318115-6 Terminal1318110-1 AMP Housing1-1318118-6 Terminal : 1318106-1 Cable Connection Cable 1 A1-No.1 A2-No.2 A3-No.3 A4-No.4 A5-No.5 A6-No.6 A7-No.7 A8-No.8 A9-No.9 A10-No.10 A11-No.11 A12-No.12 A13-No.13 Connector Set : PBC5S0000A Manufacturer Type Connector8822E-026-171D KEL 4321 L 50mm (L 1.97in) Appropriate electric wireAWG#22-18 Qty. 1 4 Motor Ext. Cable MOTOR SIDE CONNECTOR AMPLIFIER SIDE CONNECTOR HOUSING: 1-1318115-3 TERMINAL: 1318109-1 MANUFACTURER: AMP HOUSING: 1-1318119-3 TERMINAL: 1318105-1 MANUFACTURER: AMP 3000 50mm (118.11 1.97in) LEAD WIRE UL1430 AWG22 UL VINYLTUBE Qty. 1 6 1 6 Encoder Ext. Cable 3000 50mm (118.11 1.97in) LEAD WIRE AWG28 ENCODER CABLE UL20276 Qty. 1 10 1 Features and Functions AMPLIFIER SIDE CONNECTOR HOUSING: 1-1318118-6 TERMINAL: 1318106-1 MANUFACTURER: AMP 10 Type R MOTOR SIDE CONNECTOR HOUSING: 1-1318115-6 TERMINAL: 1318110-1 MANUFACTURER: AMP I/O Cable (unshielded) A13 B1 Cable Mark B13 Flat cable UL2962 AWG28 Cable 1 Cable 2 Qty. 1 Type P A1E Cable 2 B1-No.14 B2-No.15 B3-No.16 B4-No.17 B5-No.18 B6-No.19 B7-No.20 B8-No.21 B9-No.22 B10-No.23 B11-No.24 B12-No.25 B13-No.26 Type M L Type R Multi-Axis 1mm MAX. .039inch MAX. I/O Cable (shielded) CN Wiring A13 A1 A2 A3 A4 A5 A6 A7 A8 A9 A10 A11 A12 A13 B1 B13 150 10mm (5.91 .39in) A1E Signal Name Mark Red Black Red Black Red Black Red Black Red Black Red Black Red LINE COLR CN1 Pin.No. Signal Name B1 B2 B3 B4 B5 B6 B7 B8 B9 B10 B11 B12 B13 Orange Gray White Yellow Pink Orange Gray Mark LINE COLR Black Gray Red Black Red Black White Red Black Red Black Orange Gray Black Pink Red Qty. 1 Yellow Black Red Connector Set : PBC5S0000A Manufacturer Type Connector8822E-026-171D Crimp ContactV1.25-M4 KEL Drain WireUL1007 20AWG CableUL20276-28AWG General Specifications CN1 Pin.No. Motor Dimensional Drawings L 50mm (L 1.97in) White Communication CableDsub 9 Pin 1 1 9 L 30mm (L 1.18in) 10 Signal CNA Name Pin.No. A B Y Z GND Vcc 9 FG 2 1 2 3 4 5 6 7 8 9 10 CNB Signal Pin.No. Name Yellow Yellow White White Brown Brown Blue Black Blue Black Red Red Purple Purple Green Green Drain Drain 1 2 3 4 5 6 7 8 9 10 A B Y Z GND Vcc Connector Set : PBC6C0000A Manufacturer Type HousingPADP-10V-1-S JST ContactSPH-OO2T-P0.5L Qty. 2 20 Options Connector relay cable 9 FG 1 16 Model No. PB Type M DC Power Input Type General Specifications PB3D003M200 Interface Generic InputSW1=ON Control Mode PWM Control SIN drive method Power Single Power Supply DC24V / 48V10% 28mm [ 1.10inch] Motor is only available as 24V. Environment Amplifier Model Pulse Train InputSW1 OFF Operating 0 to 55 Ambient temp. Storage -20 to 70 Operating/ Maximum 90% RHnon-condensing) Storage Humidity 0.5Gtested with frequency range 10 to 55 Hz, X, Y, Z each direction 2H Vibration Resistance Input/ Output Signals Functions Mass (Weight) / Dimensions Approx. 0.36kg12.70oz/ W32xH160xD95mmW1.26xH6.30xD3.74inch Rotation Speed 0 to 4500min-1 Resolution (P/R) 500, 1000, 2000, 4000, 5000, 10000 Regeneration Process Built-in Protective Functions Power Voltage Error, Regeneration Voltage Error, Over-speed, Encoder Disconnection, CPU Error, Overload Stop, Excessive Position Deviation, Zero-return Error, Nonvolatile Memory Error, Initialization ErrorPower Line Disconnection Display 7SEGLED Display Normal Drive, Zero-return Functions Normal Driveincremental move , absolute move, Zero-return, Module Operation, Push Operation, Teaching Functions Point Functions: 128Point Program Functions: 1PRGx1024Line32PRGx32Line128PRGx8Line Normalize velocity loop gain setting Rotary Switch Node Adress Setting0 to F DIP-Switches SW1Interface SelectionOn: RS-485, OFF: PulseSW2Terminating Resistor SettingOn: with terminating resistance Input Signals (Normal Mode) STOP, EXE, POINT, HOME, JOG, SELECT, Pause, Interlock, Generic Input, MODE SELECT, Hard Limit, ALM CLR (Teaching Mode) STOP, JOG, Point, PWR Output Signals Normal ModeAck, PEND, END, Busy, Zone, Mode MON, STOP MON, In-Position, Homing complete, Generic Output, Encoder Output, Input MonitorTeaching ModePEND, HEND, In-Position, Mode MON, SON MON Communication Specifications RS-485 Standard Trans. Speed Pulse, STOP, ALMCLR, Gain Setting, Deviation Clear, HOME ALM, STOP MON, In-Position, Homing complete, Encoder Output, SON MON, STOP MON Start-Stop Synchronization, Full Duplex 9600, 38400, 115200, 128000bps 9600bps External Wiring Diagram Generic InputDIP Switch SW1:ON Input Power DC24V/48V N.C CTXD RTXD NC GND STOP Nomal (initial value)/ Teaching Preliminary Preliminary -COM +COM(+5V to 24V) IN1(EXE)/PWR IN2(Point0)/Point0 IN3(Point1)/Point1 IN4(Point2)/Point2 IN5(Point3)/Point3 IN6(Point4)/Point4 IN7(HOME)/Jog+ IN8(STOP)/STOP ALMCLR/JogALM/ALM OUT1(PEND0)/PEND0 OUT2(PEND1)/PEND1 OUT3(PEND2)/PEND2 OUT4(PEND3)/PEND3 OUT5(PEND4)/PEND4 OUT6(HEND)/HEND OUT7(In-Position)/In-Position OUT8(MODE MON)/MODE MON OUT9(SON MON)/SON MON -COM Pulse Stream InputDIP Switch SW1:OFF Amplifier User Device User Device 4 CN4 PB3D003M200 CN2 1 A 2 A 3 Pow 1 B 4 B 2 C 5 3 GND C 6 5V 7 5G 8 CN5,6 NC 9 1 CTXD NC 10 2 FG 11 Vcc CRXD NC 12 6 Terminating 5 resistance 7 DIP SW-2 CN3 10 GND 1 A 2 A CN1 B 3 B 4 1 BRK+ 5 2 BRK- 6 3 4 14 25 5 6 7 8 9 10 11 12 13 15 16 17 18 19 20 21 22 23 24 26 Holding Brake OPTICAL ENCORDER 2 3 GND CN5,6 1 2 Vcc 6 5 7 10 GND CTXD RTXD NC GND STOP CN1 Positive direction Pulse+ /Pulse+ Positive direction Pulse- /Pulse- Motor 24VDC * Input Power DC24V/48V N.C Amplifier 4 CN4 PB3D003M200 CN2 1 A 2 A 3 Pow 1 Twisted Pair Cable With External Shield Negative direction Pulse+/ Rotation direction + Negative direction Pulse+/ Rotation direction -COM +COM(+5V to 24VDC) Positive direction Limit Negative direction Limit IN1 (HOME) IN2 (Deviation CLR) IN3 (Gain SEL1) IN4 (Gain SEL2) IN5Current limit STOP ALMCLR ALM HEND SON MON STOP MON Reserved Reserved In-Position ENC / Phase origin ENA ENB -COM 1 2 3 4 14 25 CTXD CRXD Terminating resistance DIP SW-2 B 4 B C 5 C 6 5V 7 5G 8 NC 9 NC 10 FG 11 NC 12 CN3 1 A 2 A B 3 B 4 BRK+ 5 BRK- 6 Holding Brake Motor 24VDC * 5 6 7 8 9 10 11 12 13 15 16 17 18 19 20 21 22 23 24 26 Note 1: The CN1 general-purpose input / output signal function is selected through communication. Please see the basic specifications for details. 17 OPTICAL ENCORDER Twisted Pair Cable With External Shield Amplifier Dimensional DrawingUnit : mminch 6(.24) 32(1.26) 20(.79) 30MAX. (1.18MAX.) 95(3.74) 4(.16) 10 (.39) 5(.20) 2-o5(2-o.20) CLOSED LOOP STEPPING SYSTEMS M o d e l N o . P B RSW Mounting Direction CN6 140(5.51) CN1 Features and Functions 150(6.30) 160(6.69) CN5 CN2 CN3 Type R 5(.20) CN4 5 (.20) CN1- Pin. No.1,2 / No.3,4 Generic Input (CN1- Pin.5 to No.13) Input Voltage Specifications : DC3V to 5V10 Pulse Input : 250kpps MAX. Input Voltage Specifications : DC5V to 24V10 +COM Type M 25 Type P Input/ Output Signals Circuit DC Power Source DC Power Source Type R Multi-Axis +5V to 24V General Specifications In case the voltage is at 5V MIN. Insert a resistor "R" which satisfies "Input Voltage-1V/270 10 mA Generic Output Motor Dimensional Drawings Collector Voltage : DC30V MAX. Output Current : 30mA MAX. MAX. 30mA MAX. 30V 26 -COM Options -COM 18 Model No. PB Type RMulti-Axis Type DC Power Input Type System Configuration Single-phase AC100V to 230V Circuit Breaker Protects the power line; shuts off circuit during an overflow of electric current. Electromagnetic Contactor Controller Switches amplifier PC PC I/F Software power on and off. Communication Converter Unit * A converter unit is required for RS-232C/RS-485 conversion. Installation of a surge protector is Control Device required. Noise Filter Protects the power line from external noise, and from noise generated by the servo amplifier. Power Supply Switch PLCI/O SANYO DENKI's high level devices permit communication with third-party products Power Cable Converts power Communication Cable supply from AC To other slaves to DC power. I/O Cable Encoder Ext. Cable Motor Ext. Cable Options Cable Type Connector Set Model Number Maximum Length Remarks - Power Cable PBC6P0010A 1m39.37in PBC6P0000A 2m78.74 in Motor Cable PBC4M0030A 3m118.11in PBC4M0000A 20m787.40 in An extension cable is required. Encoder Cable PBC5E0030A 3m118.11in PBC5E0000A 20m787.40 in An extension cable is required. Encoder Cable (with limit sensor input) PBC5E0030C 3m118.11in PBC5E0000A 20m787.40 in Please specify when using an external limit sensor. I/O Cable PBC4S0010A 1m39.37in PBC4S0000A 2m78.74 in Communication Cable PBC4C0003A 30cm11.81in PBC4C0000A 100m3937.01 in Use when multiple axes are connected in a daisy-chain configuration for communication. Communication Converter Unit PC I/F Software Regenerative Unit 19 Standard Model NumberLength PBFM-U5 - Main Body Model.No232485CFP01-01 RS-232C RS-485 Converter Unit Cable Model.NoPBC4T0005A Converter unit and cable set model SPBR1W-01 - - Software for operational check and parameter setting PBFE-01 - - Required if regeneration voltage is more than 40V Optional Cable Power Cable UL1430 AWG18(21/0.18) 300V , 105 Connector Connection Of Amplifier Side PIN No. LEAD COLR Signal Name Red 1 DC+24/48V Blue 2 GND Yellow 3 DC+24V*1 Green 4 FG *Connect only for amplifiers with part numbers ending with "1" or "2" Connector Set : PBC6P0000A Manufacturer Type Connector Connection Of Motor Side PIN No. LEAD COLR Blue Motor Lead Wire A1 Orange Motor Lead Wire B1 Red Motor Lead Wire A2 Yellow Motor Lead Wire B2 White Brake Lead Wire A3 Black Brake Lead Wire B3 Connector Connection Of Amplifier Side PIN No. LEAD COLR Blue Motor Lead Wire 1(A1) Orange Motor Lead Wire 2(B1) Red Motor Lead Wire 3(A2) Yellow Motor Lead Wire 4(B2) White Brake Lead Wire 5(A3) Black Brake Lead Wire 6(B3) Connector Set :PBC4M0000A Manufacturer Type Housing51112-0610 Terminal50398-8000 MOLEX Housing51103-0600 Terminal50351-8000 Connector Connection Of Motor Side PIN No. LEAD COLR Blue 1 CHANNEL A Brown 2 CHANNEL A Green 3 CHANNEL B Purple 4 CHANNEL B White 5 CHANNEL C Yellow 6 CHANNEL C Red 7 +5V Black 0V 8 Black 9 Shield Connector Connection Of Amplifier Side PIN No. LEAD COLR Blue 1 CHANNEL A Brown 2 CHANNEL A Green 3 CHANNEL B Purple 4 CHANNEL B White 5 CHANNEL C Yellow 6 CHANNEL C Red 7 +5V Black 0V 8 Black 9 Shield 10 N.C. 11 N.C. 12 N.C. 13 N.C. 14 N.C. 15 N.C. 16 N.C. Connector Set :PBC5E0000A Manufacturer Type Housing51029-0910 MOLEX Terminal50087-8030 HousingPADP-16V-1-S JST TerminalSPH-002GW-P0.5S Qty. 1 9 1 15 Connector Connection Of Motor Side PIN No. LEAD COLR Blue 1 CHANNEL A Brown 2 CHANNEL A Green 3 CHANNEL B Purple 4 CHANNEL B White 5 CHANNEL C Yellow 6 CHANNEL C Red 7 +5V Black 0V 8 Black 9 Shield Connector Connection Of Amplifier Side PIN No. LEAD COLR Blue 1 CHANNEL A Brown 2 CHANNEL A Green 3 CHANNEL B Purple 4 CHANNEL B White 5 CHANNEL C Yellow 6 CHANNEL C Red 7 +5V Black 0V 8 Black 9 Shield 10 N.C. Blue 11 SDN Black 12 GND Yellow 13 LIMIT Black 14 GND Red 15 Vcc Red 16 Vcc Connector Set :PBC4S0000A Manufacturer Type KEL Connector8822E-032-171D Qty. 1 4321 L 50mm (L 1.97in) Qty. 1 4 ConnectorVHR-4N JST ContactSVH-21T-P1.1 Appropriate electric wireAWG#22-18 Motor Cable MOTOR SIDE CONNECTOR HOUSING: 51112-0610 TERMINAL: 50398-8000 MANUFACTURER: MOLEX AMPLIFIER SIDE CONNECTOR HOUSING: 51103-0600 TERMINAL: 50351-8000 MANUFACTURER: MOLEX 3000 50mm (118.11 1.97in) LEAD WIRE UL1430 AWG22 UL VINYLTUBE Qty. 1 6 1 6 MOTOR SIDE CONNECTOR HOUSING: 51029-0910 TERMINAL: 50087-8030 MANUFACTURER: MOLEX AMPLIFIER SIDE CONNECTOR HOUSING: PADP-16V-1-S TERMINAL: SPH-002GW-P0.5S MANUFACTURER: JST 3000 50mm (118.11 1.97in) LEAD WIRE AWG24 ENCODER CABLE UL20276 LEAD WIRE UL1430 AWG24 I/O Cable (unshielded) L 30mm (L 1.18in) A1E A16 B1 Cable Connection Cable 1 A1-No.1 A2-No.2 A3-No.3 A4-No.4 A5-No.5 Cable 2 B1-No.17 B2-No.18 B3-No.19 B4-No.20 B5-No.21 B16 Flat cable UL2962 AWG28 Cable Mark Cable 1 Cable 2 Type R Encoder Cable (with limit sensor input) Type P ENCODER CABLE UL20276 Type M LEAD WIRE AWG24 Type R Multi-Axis 3000 50mm (118.11 1.97in) General Specifications AMPLIFIER SIDE CONNECTOR HOUSING: PADP-16V-1-S TERMINAL: SPH-002GW-P0.5S MANUFACTURER: JST A13-No.13 A14-No.14 A15-No.15 A16-No.16 B13-No.29 B14-No.30 B15-No.31 B16-No.32 Motor Dimensional Drawings MOTOR SIDE CONNECTOR HOUSING: 51029-0910 TERMINAL: 50087-8030 MANUFACTURER: MOLEX Features and Functions Encoder Cable 1mm MAX. .039inchMAX. Communication Cable 1 1 9 L 30mm (L 1.18in) 10 2 9 Connector relay cable Signal CNA Name Pin.No. A B Y Z GND Vcc STOP FG 1 2 3 4 5 6 7 8 9 10 CNB Signal Pin.No. Name Yellow Yellow White White Brown Brown Blue Black Blue Black Red Red Purple Purple Green Drain Green Drain 1 2 3 4 5 6 7 8 9 10 A B Y Z GND Vcc STOP FG Connector Set :PBC4C0000A Manufacturer Type HousingPADP-10V-1-S JST ContactSPH-OO2T-P0.5L Qty. 2 20 Options 9 1 20 Model No. PB Type RMulti-Axis Type DC Power Input Type General Specifications Amplifier Model PB2D003R1U Control Mode PWM ControlTrapezoidal drive method Environment Power Supply Main Power Supply DC24V/36V10 Control Power Supply DC24V10 only for part numbers ending with "1" or "3" Ambient temp. Operating 0 to 55 Storage -20 to 70 Operating/ Storage Humidity Maximum 90% RHnon-condensing Vibration Resistance 0.5Gtested with frequency range 10 to 55 Hz, X, Y, Z each direction 2H Structure Open Frame Mass (Weight) / Dimensions Approx. 0.8kg28.22oz/ W120xH55xD80W1.77xH5.91xD4.72inch 0 to 4500min-1 Input/ Output Signals Functions Rotation Speed Resolution (P/R) 200, 800, 1600, 3200, 6400, 12800 Regeneration Process Not availableExternal regenerative unit is optional Protective Functions Over-voltage, Regenerated voltage overload, Over-speed, Encoder disconnection, Reset error, CPU error, Overload stop, Soft Servo Error, Amplifier Overheat Display Power status, Alarm (flashing indicator Functions Operation FunctionsNormal Drive(incremental move , absolute move ), Zero-return, push operation Point Function256Point Program Function256PRGx16Line 8PRGx512LINE Switch DIP SW1,2Transmission Speed Setting DIP SW3 to 6Axis valid / invalidOn: Activate DIP SW7 to 10Terminating Resistor SettingOn: with terminating resistance Rotary SWNode Adress Setting0 to E Input Signals CN1 Fixed function4: EXE, Point, SELECT, STOP, ALMCLR CN1 Selectable4: Generic Input, Point, Pause, Interlock CN4 to CN7 Allocation Function2 X 4-axis Hard.LimitSDNSignal Output Signals CN1 Fixed function In-Position, Ack, Busy, ALM CN1Selectable8 Generic Output, Motor Stop, H.Limit Monitor, ZONE, Zero-return completion, END, STOP Monitor, SDN Monitor Start-Stop Synchronization, Half DuplexPart numbers ending with "0" or "1" Start-Stop Synchronization, Full DuplexPart numbers ending with "2" or "3" RS-485 Standard Communication Specifications RS-485 Standard Amplifier Dimensional DrawingUnit : mminch 3.5(.14) 80(3.15) 4.5(.18) 49(1.93) Amplifier Model Number Nomenclature PB2D003R1U 4.5(.18) 0 DSW1 CN2 1 CN3 2 120(4.72) CN5 113(4.45) CN4 3 CN7 55(2.17) 22(.87) 70(2.76) CN9 o4 6) 2- .1 -o (2 3.5(.14) RSW LED2 4.5(.18) CN6 CN8 LED1 21 Communication Specifications Power Input Start-Stop Synchronization, Half Duplex Single Pwr. Start-Stop Synchronization, Full Duplex Single Pwr. Separate Separate External Wiring Diagram PB2D003R1U FG CN2,3 CTXD *2 RTXD GND N.C EXE2 FG N.C N.C 1 2 3 4 5 6 Vcc 7 EXE2 8 9 10 Vcc GND Vcc GND Limit2 GND Vcc EXE1 Point1 Point2 Point3 Point4 IN1 IN2 IN3 IN4 SELECT STOP ALMCLR IN-POS1 IN-POS2 IN-POS3 IN-POS4 ACK BUSY ALM OUT1 OUT2 OUT3 OUT4 OUT5 OUT6 OUT7 OUT8 N.C +COM -COM 1 x4 MOTOR 2 3 4 BRAKE 5 Features and Functions -COM N.C CN11 to 14 (Axis1 to 4) 1 A 2 A 3 B 4 B BRK+ 5 BRK- 6 CN1 +COM FG Limit1 Vcc GND Vcc x4 OPTICAL ENCORDER 6 7 8 9 10 11 CN9 12 A1 B1 C1 A2 B2 C2 A3 B3 C3 A4 B4 C4 13 14 15 16 17 18 19 20 Vcc 21 GND 22 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 Ach(Axis1) Bch(Axis1) Cch(Axis1) Ach(Axis2) Bch(Axis2) Cch(Axis2) Ach(Axis3) Bch(Axis3) Cch(Axis3) Ach(Axis4) Bch(Axis4) Cch(Axis4) Type R A B Y Z 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 Type P Control Power Supply DC24V 10% CN4 to 7(Axis1 to 4) A A B B C C Vcc GND 23 24 25 26 Type M Main Power Supply DC24V/36V 10% 27 28 1 * Connect control circuit to power source only for models with part numbers ending with "1" or "3". 2 Please check individual specifications for each part number, as * communication specifications differ according to amplifier model. Note 1: The CN1 general-purpose input/output signal function is selected through communication. Please see the basic specifications for details. 29 30 N.C 31 32 Type R Multi-Axis *1 CN10 1 Pow 2 GND 3 4 FG Generic Output Generic Output 30 MAX. MAX. 30mA 1, 31 +COM MAX. 30V DC Power Source +5V to 24V 15, 16 CN4 to 7 * 5V 5V 11, 13 232 - COM -COM Hard Limit (SDN) Not insulated Motor Dimensional Drawings Input Voltage SpecificationsDC5V to 24V10 SG 12, 14 Options Generic Input General Specifications Input/ Output Signals Circuit 22 General Specifications Standard Model Motor Flange Size AC DC 42 (1.65in) 60 (2.36in) 28 (1.10in) 86 (3.39in) 42 (1.65in) 60 (2.36in) Motor Flange Size 28mm 1.10in 42mm 1.65in Motor Length 58.5mm2.30in 77.8mm3.06in Unit Type R Set Model No. Related Amplifier Model No Type P Set Model No. Related Amplifier Model No Motor Model ( D C ) Type M Set Model No. PBM282FXE20 PBDM282 PBM284FXE20 PBDM284 PB3D003M200 PBM284DXA20 PB2D003R1U 0.115(16.28) 0.016(0.087) 9.8 33 0.23(8.11) Related Amplifier Model No PBM282DXA20 Motor Model ( D C ) Type R Multi-axis Model No. x 10-4kgm2 (ozin2) 0.055(7.79) 0.008(0.044) N N kg (oz) 9.8 33 0.16(5.64) Nm (ozin) MAX. Stall Torque Rotor Inertia Allowable Thrust Load Allowable Radial Load Note 1) Motor Mass (Weight) Type R A C 0.39(55.23) 0.056(0.306) 9.8 49 0.35(12.35) Type P 70 Torque AC100V/200V Power Consumption 60 50 40 30 0.5 10 0.4 8 0.3 6 0.2 4 20 10 0 0.1 2 0 0 500 1000 1500 2000 2500 3000 3500 4000 4500 -1 Rotations ( min ) 0 AC100V AC200V Type 0.02 2 0 0 500 1000 1500 2000 2500 3000 3500 4000 4500 -1 Rotations ( min ) 3.5 Power Consumption 0 0 DC24V DC48V 14 7 0 0.06 0.04 21 14 DC24V DC36V 2 0 0 500 1000 1500 2000 2500 3000 3500 4000 4500 -1 Rotations ( min ) 0 0 0 500 1000 1500 2000 2500 3000 3500 4000 4500 Rotations ( min-1 ) 60 50 40 30 10 0 70 60 0.08 10 0.4 8 0.3 6 0.2 4 0.1 2 0 0 500 1000 1500 2000 2500 3000 3500 4000 4500 -1 Rotations ( min ) 0 0.2 0.12 0.5 20 0.16 50 40 30 0.5 0.4 0.3 0.2 20 0.04 *Maintain motor case temperature at a point below 85 . Note 1) The load point is determined at a position 14mm from the mounting surface. 23 0.04 7 0.02 0 4 28 0.08 3.5 Torque 0.08 0 0.1 Torque ( Nm ) 10.5 6 7 Torque ( ozin ) D Type Multi C R Axis Torque ( ozin ) Motor Characteristics Chart 14 0.12 70 Torque ( Nm ) 4 8 Torque ( Nm ) 0.04 21 10 Torque ( ozin ) 6 0.2 0.16 Torque ( ozin ) 0.06 28 Power Consumption ( A ) 7 8 Torque ( Nm ) DC24V DC48V 10.5 10 Torque ( Nm ) Torque 0.1 0.08 Torque ( ozin ) 14 Power Consumption ( A ) M Torque ( Nm ) D C Torque (ozin ) Motor Characteristics Chart Power ConsumptionA ) A C PBM423DXA20 Torque ( ozin ) Motor Characteristics Chart 57.6mm2.27in PBM423FXE20 PBAR423 PB3A003R200 PBAP423 PB3A003P200 PBM423FXE20 PBDM423 Power Consumption ( A ) Motor Model ( A C ) Torque ( Nm ) Size 10 0 0 500 1000 1500 2000 2500 3000 3500 4000 4500 -1 Rotations ( min ) 0 0.1 0 0 500 1000 1500 2000 2500 3000 3500 4000 4500 -1 Rotations ( min ) 60mm 2.36in 86mm 3.39in 70.3mm2.77in PBM603FXE20 PBAR603 102.3mm4.03in PBM604FXE20 PBAR604 PBAP603 PBAP604 85.5mm3.37in PBM861FXE20 PBAR861 116mm4.57in PBM862FXE20 PBAR862 PBAP861 PBAP862 PB3A003R200 PBM604DXA20 PB2D003R1U 1.9(269.05) 0.84(4.593) 3.3(467.30) 1.48(8.092) 6.4(906.28) 3(16.402) 1.42(50.09) 60 200 1.9(67.02) 60 200 3.1(109.35) 14.7 167 4 0.4 2 0 0 500 1000 1500 2000 2500 3000 3500 4000 4500 Rotations ( min-1 ) 70 0 1.2 6 0.8 4 0.4 2 0 0 500 1000 1500 2000 2500 3000 3500 4000 4500 Rotations ( min-1 ) 70 0 0 600 500 400 300 5 10 4 8 3 6 2 4 1 2 0 0 500 1000 1500 2000 2500 3000 3500 4000 4500 Rotations ( min-1 ) 200 100 0 0 1400 1050 700 10 10 8 8 6 6 4 4 350 0 2 2 0 0 500 1000 1500 2000 2500 3000 3500 4000 4500 Rotations ( min-1 ) 0 Type P 0 140 8 Torque ( ozin ) 0.8 210 700 10 1.6 Power Consumption ( A ) 6 Torque( ozin ) 1.2 Power Consumption ( A ) TorqueNm Torqueozin 140 8 2 280 10 1.6 Torque( Nm ) 2 280 210 Torque ( Nm ) 0.85(29.98) Torque ( Nm ) 1.3(184.09) 0.4(2.187) Torque ( kgfcm ) PBM603DXA20 Type R PB3D003M200 Power Consumption ( A ) PBM604FXE20 PBDM604 Power Consumption ( A ) PBM603FXE20 PBDM603 Features and Functions PB3A003P200 2 0 0 500 1000 1500 2000 2500 3000 3500 4000 4500 Rotations ( min-1 ) 0 0 500 1000 1500 2000 2500 3000 3500 4000 4500 Rotations ( min-1 ) 2 280 1.6 1.2 0.8 210 140 1.6 1.2 0.8 70 70 0.4 0 500 1000 1500 2000 2500 3000 3500 4000 4500 Rotations ( min-1 ) 0 0 500 1000 1500 2000 2500 3000 3500 4000 4500 -1 Rotations ( min ) Motor Dimensional Drawings 0 0 Options 0.4 0 2 0 0 Torque ( ozin ) 140 Torque ( Nm ) Torque ( ozin ) 210 0.4 0 2 280 4 70 Torque ( Nm ) 0 6 0.8 Type M 0.4 70 140 Type R Multi-Axis 4 8 1.2 General Specifications 0.8 210 10 1.6 Power Consumption ( A ) 6 Torque ( ozin ) 140 1.2 Power Consumption ( A ) Torque ( Nm ) Torque ( ozin ) 210 8 2 280 10 1.6 Torque ( Nm ) 2 280 24 General Specifications Low-backlash Gear Model Motor Flange Size 42 60 (1.65in) (2.36in) 42 (1.65in) 60 (2.36in) Motor Flange Size Motor Length +Gear Length 87.9mm3.46in Type R Set Model No. PBM423FGBE20 PBAR423-C7.2 PB3A003R200 PBAP423-C7.2 PB3A003P200 PBM423FGBE20 PBDM423-C7.2 PB3D003M200 PBM423DGBA20 PB2D003R1U 0.686(97.14) 0.06(7.93) 1:7.2 0.4 250 Forward 15 20 0.48(16.93) Related Amplifier Model No PBAP423-C3.6 Type P Set Model No. Related Amplifier Model No PBM423FGAE20 PBDM423-C3.6 Motor Model ( D C ) Type M Set Model No. Related Amplifier Model No PBM423DGAA20 Type R Multi-axis Model No. 0.343(48.57) Nm (ozin) MAX. Stall Torque x 10-4kgm2 (ozin2) Rotor Inertia 1:3.6 0.6 500 Reduction Gear Ratio Backlash DEG min-1 Allowable Rotations Rel. to command dir. Motor Characteristics Chart A C Type R A C Type P 2 280 210 140 1.2 0.8 70 210 140 0 Allowable Torque AC100V/200V 500 1000 1500 Input Rotations ( min-1 ) 2000 1.2 0.8 100 200 300 400 Output Rotations ( min-1 ) 500 1000 1500 -1 Input Rotations ( min ) 0 1.2 0.8 210 140 100 150 200 Output Rotations ( min-1 ) 500 1000 1500 -1 Input Rotations ( min ) 0 0 100 200 300 400 Output Rotations ( min-1 ) 500 1000 1500 Input Rotations ( min-1 ) *Maintain motor case temperature at a point below 85 . Note 1) The load point is determined at a position 1/3 of the length from the output shaft. 500 0 1.2 0.8 20 0 210 140 40 60 80 100 120 140 160 180 200 Output Rotations ( min-1 ) 500 1000 1500 -1 Input Rotations ( min ) 2000 2 280 1.6 1.6 1.2 0.8 70 0.4 0 0 0 2000 0.8 2000 0.4 0 1.2 0 70 0 2000 1.6 250 2 Torque ( Nm ) Torque ( ozin ) 0.8 210 60 80 100 120 140 160 180 200 Output Rotations ( min-1 ) 500 1000 1500 -1 Input Rotations ( min ) 0.4 50 0 140 40 2 0 0 280 1.2 20 0 70 2000 0.4 0 0 280 0 1.6 0.8 2000 1.6 500 2 Torque ( Nm ) Torque ( ozin ) 210 500 1000 1500 -1 Input Rotations ( min ) 2 0 0 0 Allowable Torque 25 140 1.2 250 0.4 70 DC24V DC36V DC24V/36V 210 1.6 0.4 100 150 200 Output Rotations ( min-1 ) 70 280 210 140 0 50 0 280 1.6 0 140 0.8 0 0.4 0 D Type Multi C R Axis 1.2 0 70 DC24V DC48V DC24V/48V 2 280 1.6 500 Torque ( ozin ) 140 Torque ( Nm ) Torque ( ozin ) 210 200 300 400 Output Rotations ( min-1 ) 2 280 Allowable Torque Motor Characteristics Chart 100 0 Type 1:10 0.35 180 70 0 0 M 0.98(138.77) 0.4 Torque ( Nm ) 0 D C PBM423DGEA20 70 0.4 Motor Characteristics Chart PBM423FGEE20 PBDM423-C10 2 280 1.6 Torque ( Nm ) Motor Mass (Weight) N N kg (oz) Torque ( ozin ) Allowable Radial Load Note 1) Torque ( Nm ) Allowable Thrust Load Torque ( ozin ) Rotation Direction PBAP423-C10 Torque ( Nm ) Motor Model ( D C ) PBM423FGEE20 PBAR423-C10 Torque ( Nm ) PBM423FGAE20 PBAR423-C3.6 Unit Torque ( Nm ) Motor Model ( A C ) 42mm 1.65in Torque ( ozin ) Size Torque ( ozin ) DC Torque ( ozin ) AC 0 50 100 150 200 Output Rotations ( min-1 ) 500 1000 1500 Input Rotations ( min-1 ) 250 0 0 2000 0 20 40 60 80 100 120 140 160 180 200 Output Rotations ( min-1 ) 500 1000 1500 Input Rotations ( min-1 ) 2000 42mm 1.65in 87.9mm3.46in PBM423FGGE20 PBAR423-C20 PBM423FGJE20 PBAR423-C30 PB3A003R200 PBAP423-C20 PBAP423-C30 PB3A003P200 PBM423FGGE20 PBDM423-C20 PBM423FGJE20 PBDM423-C30 Features and Functions PB3D003M200 PBM423DGGA20 PBM423DGJA20 PB2D003R1U 1.47(208.16) 0.06(7.93) 1:20 1:30 0.25 60 Type R 90 Reverse 15 20 0.48(16.93) 2 1.6 1.2 0.8 Torque ( Nm ) 280 Torque ( ozin ) 210 140 70 0.4 0 30 40 50 60 70 80 -1 Output Rotations ( min ) 500 1000 1500 Input Rotations ( min-1 ) 90 0 2000 0 1.6 1.2 0.8 210 140 70 2000 1.2 0.8 0.4 0 20 30 40 50 60 70 80 -1 Output Rotations ( min ) 500 1000 1500 Input Rotations ( min-1 ) 0 2000 0 2 1.6 1.2 0.8 70 210 140 10 20 30 40 50 -1 Output Rotations ( min ) 60 500 1000 1500 Input Rotations ( min-1 ) 2000 2 280 Torque ( ozin ) Torque ( Nm ) 280 0 90 100 General Specifications 10 1.6 Motor Dimensional Drawings 0 Torque ( ozin ) 60 1.6 0 0 Torque ( Nm ) 0 1.2 0.8 70 0.4 0 20 30 40 50 -1 Output Rotations ( min ) 500 1000 1500 Input Rotations ( min- ) 70 0.4 210 10 2 280 Torque ( ozin ) Torque ( Nm ) 0 100 2 280 Torque ( ozin ) 20 Type M 10 Type R Multi-Axis 0 140 0.8 0 0 Torque ( Nm ) 0 140 1.2 70 0.4 210 1.6 0.4 0 0 0 0 10 20 30 40 50 60 70 80 -1 Output Rotations ( min ) 500 1000 1500 Input Rotations ( min-1 ) 0 90 100 0 2000 0 10 20 30 40 50 -1 Output Rotations ( min ) 500 1000 1500 Input Rotations ( min-1 ) 60 2000 Options 140 Torque ( Nm ) Torque ( ozin ) 210 Type P 2 280 26 General Specifications Low-backlash Gear Model Motor Flange Size 42 60 (1.65in) (2.36in) 42 (1.65in) 60 (2.36in) Motor Flange Size Motor Length +Gear Length 115.8mm4.56in PBM603FGAE20 PBAR603-C3.6 Unit Type R Set Model No. PBM603FGBE20 PBAR603-C7.2 PB3A003R200 PBAP603-C7.2 PB3A003P200 PBM603FGBE20 PBDM603-C7.2 PB3D003M200 PBM603DGBA20 PB2D003R1U 2.5(354.02) 0.4(2.19) 1:7.2 Related Amplifier Model No PBAP603-C3.6 Type P Set Model No. Related Amplifier Model No PBM603FGAE20 PBDM603-C3.6 Motor Model ( D C ) Type M Set Model No. Related Amplifier Model No PBM603DGAA20 Motor Model ( D C ) Type R Multi-axis Model No. 1.25(177.01) Nm (ozin) x 10-4kgm2 (ozin2) 1:3.6 0.55 500 Reduction Gear Ratio Backlash DEG min-1 Allowable Rotations R A C Type P 5 700 600 500 400 300 3 2 AC100V/200V 100 0 Type 500 1000 1500 Input Rotations ( min-1 ) 3 2 400 300 100 200 300 400 500 OutputRotationsmin-1 0 500 1000 1500 InputRotationsmin-1 DC24V DC36V DC24V/36V 100 0 3 2 500 400 300 100 0 0 0 0 100 200 300 400 -1 Output Rotations ( min ) 500 1000 1500 Input Rotations ( min-1 ) 500 0 0 2 20 0 600 500 400 300 40 60 80 100 120 140 160 180 200 Output Rotations ( min-1 ) 500 1000 1500 Input Rotations ( min-1 ) 2000 5 4 3 2 200 1 100 0 0 0 50 100 150 200 Output Rotations ( min-1 ) 250 500 1000 1500 Input Rotations ( min-1 ) 0 2000 3 2 600 500 400 300 40 60 80 100 120 140 160 180 200 Output Rotations ( min-1 ) 500 1000 1500 Input Rotations ( min-1 ) 2000 5 700 4 20 0 5 4 3 2 200 1 100 0 0 0 2000 2 1 700 0 600 3 2000 200 1 *Maintain motor case temperature at a point below 85 . Note 1) The load point is determined at a position 1/3 of the length from the output shaft. 27 500 1000 1500 Input Rotations ( min-1 ) 1 700 4 300 4 250 3 2000 200 Allowable Torque 300 100 150 200 Output Rotations ( min-1 ) 4 0 Torque ( ozin ) 500 400 0 0 5 700 600 50 5 100 0 Torque ( Nm ) D Type Multi C R Axis 500 400 0 0 600 500 100 0 700 4 600 200 1 200 0 Torque ( ozin ) Motor Characteristics Chart 2 2000 1 100 DC24V DC48V DC24V/48V 3 0 200 Allowable Torque 300 5 700 4 500 Torque ( ozin ) 300 Torque ( Nm ) Torque ( ozin ) 400 200 300 400 Output Rotations ( min-1 ) 5 700 500 400 0 0 Allowable Torque 600 500 100 0 0 M 600 200 1 100 D C 5 700 4 200 Motor Characteristics Chart 180 Reverse Torque ( ozin ) Type Torque ( Nm ) A C Torque ( Nm ) Motor Characteristics Chart 1:10 30 100 1.22(43.03) N N kg (oz) Torque ( Nm ) Motor Mass (Weight) 3(424.82) 250 Torque ( ozin ) Allowable Radial Load Note 1) PBM603DGEA20 Forward Torque ( Nm ) Allowable Thrust Load PBM603FGEE20 PBDM603-C10 0.25 Rel. to command dir. Torque ( ozin ) Rotation Direction PBAP603-C10 Torque ( ozin ) MAX. Stall Torque Rotor Inertia PBM603FGEE20 PBAR603-C10 Torque ( Nm ) Motor Model ( A C ) 60mm 2.36in Torque ( ozin ) Size Torque ( Nm ) DC Torque ( Nm ) AC 0 50 100 150 200 -1 Output Rotations ( min ) 500 1000 1500 Input Rotations ( min-1 ) 1 0 0 250 2000 0 20 40 60 80 100 120 140 160 180 200 -1 Output Rotations ( min ) 500 1000 1500 Input Rotations ( min-1 ) 2000 60mm 2.36in 115.8mm4.56in PBM603FGGE20 PBAR603-C20 PBM603FGJE20 PBAR603-C30 PB3A003R200 PBAP603-C20 PBAP603-C30 PB3A003P200 PBM603FGGE20 PBDM603-C20 PBM603FGJE20 PBDM603-C30 PB3D003M200 PBM603DGJA20 Features and Functions PBM603DGGA20 PB2D003R1U 3.5(495.62) 4(566.43) 0.4(2.19) 1:20 1:30 0.17 60 Type R 90 Reverse 30 100 1.22(43.03) 2 0 500 1000 1500 Input Rotations ( min-1 ) 0 2000 0 Torque ( ozin ) Torque ( Nm ) 3 2 1 10 0 400 300 30 40 50 60 70 80 Output Rotations ( min-1 ) 500 1000 1500 Input Rotations ( min-1 ) 90 0 1 0 2 1 600 500 400 300 0 0 10 20 30 40 50 60 70 80 -1 Output Rotations ( min ) 500 1000 1500 Input Rotations ( min-1 ) 20 30 40 50 Output Rotations ( min-1 ) 60 500 1000 1500 Input Rotations ( min-1 ) 2000 4 3 2 200 100 0 10 5 700 0 2 0 3 2000 200 0 4 60 3 2000 200 100 300 20 30 40 50 Output Rotations ( min-1 ) 500 1000 1500 Input Rotations ( min-1 ) 4 100 Torque ( ozin ) 500 20 5 Torque ( Nm ) Torque ( ozin ) 600 400 0 0 700 500 100 0 0 600 10 5 700 4 200 100 0 100 Type M 90 Type R Multi-Axis 30 40 50 60 70 80 Output Rotations ( min-1 ) 5 700 Torque ( ozin ) 20 General Specifications 10 0 300 2 Motor Dimensional Drawings 0 400 3 1 100 0 0 500 300 4 200 1 100 600 400 1 0 90 100 0 2000 0 10 20 30 40 50 -1 Output Rotations ( min ) 500 1000 1500 Input Rotations ( min-1 ) 60 2000 Options 200 500 Torque ( Nm ) 3 600 Torque ( Nm ) 300 4 Torque ( Nm ) 400 5 700 Torque ( ozin ) 500 Torque ( Nm ) Torque ( ozin ) 600 Type P 5 700 28 General Specifications Spur Gear Model Motor Flange Size 28 (1.10in) Motor Flange Size Motor Length +Gear Length 88.5mm3.48in PBM282FGAE20 PBDM282-G3.6 Unit Type M Set Model No. PBM282FGBE20 PBDM282-G7.2 PB3D003M200 PBM282DGBA20 PB2D003R1U 0.15(21.24) 0.02(0.09) 1:7.2 2 400 Related Amplifier Model No PBM282DGAA20 Motor Model ( D C ) Type R Multi-axis Model No. 0.1(14.16) Nm (ozin) x 10-4kgm2 (ozin2) 1:3.6 Reduction Gear Ratio Backlash DEG Allowable Rotations min-1 Type M 1 140 Torque (ozin ) D C 105 70 0.6 0.4 35 0 400 600 800 1000 Output Rotations ( min-1 ) 0.6 0 0.4 105 70 100 200 300 400 500 Output Rotations ( min-1 ) 0 0 0 200 400 600 800 1000 -1 Output Rotations ( min ) 1200 500 1000 1500 2000 2500 3000 3500 4000 4500 Input Rotations ( min-1 ) 0.4 0 500 1000 1500 2000 2500 3000 3500 4000 4500 Input Rotations ( min-1 ) 1 0.6 0.4 105 70 0 50 100 150 200 250 300 350 400 450 Output Rotations ( min-1 ) 0 500 1000 1500 2000 2500 3000 3500 4000 4500 Input Rotations ( min-1 ) 1 140 0.8 0.8 0.6 0.4 35 0.2 0 0.6 600 35 0.2 0.8 0.2 0 140 0.8 *Maintain motor case temperature at a point below 85 . Note 1) The load point is determined at a position 1/3 of the length from the output shaft. 29 70 0 0 500 1000 1500 2000 2500 3000 3500 4000 4500 Input Rotations ( min-1 ) 35 0 0.4 1200 Torque ( ozin ) 70 200 1 Torque ( Nm ) Torque ( ozin ) 105 0.6 105 35 0 0 140 1 140 0.8 0.2 0 0 Allowable Torque DC24V DC36V DC24V/36V 70 0.2 DC24V DC48V DC24V/48V D Type Multi C R Axis 105 35 Allowable Torque Motor Characteristics Chart 300 Reverse 1 140 0.8 Torque ( Nm ) Motor Mass (Weight) 1:10 10 15 0.22(7.76) N N kg (oz) Torque ( Nm ) Allowable Radial Load Note 1) 0.2(28.32) Forward Torque ( ozin ) Allowable Thrust Load Motor Characteristics Chart 800 Rel. to command dir. Torque ( Nm ) Rotation Direction PBM282DGEA20 Torque ( Nm ) MAX. Stall Torque Rotor Inertia PBM282FGEE20 PBDM282-G10 Torque ( ozin ) Motor Model ( D C ) 28mm 1.10in Torque ( ozin ) Size Torque ( Nm ) DC 0.2 0 0 0 0 100 200 300 400 500 -1 Output Rotations ( min ) 600 500 1000 1500 2000 2500 3000 3500 4000 4500 Input Rotations ( min-1 ) 0 0 50 100 150 200 250 300 350 400 450 -1 Output Rotations ( min ) 0 500 1000 1500 2000 2500 3000 3500 4000 4500 Input Rotations ( min-1 ) 28mm 1.10in 88.5mm3.48in PBM282FGGE20 PBDM282-G20 PBM282FGJE20 PBDD282-G30 PB3D003M200 PBM282DGJA20 PB2D003R1U PBM282DGGA20 0.5(70.80) 0.02(0.09) 1:30 1.5 100 Forward 10 15 0.22(7.76) 150 0 70 80 90 0 500 1000 1500 2000 2500 3000 3500 4000 4500 Input Rotations ( min-1 ) 0.8 0.6 0.4 0.2 0 0 0 50 100 150 200 Output Rotations ( min-1 ) 0 0 500 1000 1500 2000 2500 3000 3500 4000 4500 -1 Input Rotations ( min ) 0 20 40 60 80 100 120 Output Rotations ( min-1 ) 140 500 1000 1500 2000 2500 3000 3500 4000 4500 -1 Input Rotations ( min ) 0 0 10 0 500 1000 1500 2000 2500 3000 3500 4000 4500 -1 Input Rotations ( min ) 20 30 40 50 60 70 Output Rotations ( min-1 ) 80 90 Type R Multi-Axis 0 20 30 40 50 60 70 Output Rotations ( min-1 ) 35 0.2 0 Torque ( Nm ) 0.4 35 0.2 0 0.6 105 10 1 140 0.8 0 General Specifications 35 70 500 1000 1500 2000 2500 3000 3500 4000 4500 Input Rotations ( min-1 ) Torque ( ozin ) 0.4 0 140 1 Torque ( Nm ) 0.6 105 40 60 80 100 120 Output Rotations ( min-1 ) Type P 500 1000 1500 2000 2500 3000 3500 4000 4500 Input Rotations ( min-1 ) 20 Type M 0 Torque ( ozin ) 70 0 140 0.4 35 0 50 100 150 200 Output Rotations ( min-1 ) 0.8 0.6 0.2 0 0 0 1 Torque ( Nm ) Torque ( ozin ) 105 70 0.2 0 140 0.4 35 0.2 0 0.6 0.8 Motor Dimensional Drawings 35 70 105 Options 0.4 1 140 0.8 Torque ( Nm ) 0.6 105 Torque ( Nm ) Torque ( ozin ) 70 1 140 0.8 60 Torque ( ozin ) 1 Torque ( Nm ) Torque ( ozin ) 105 1:50 Type R 1:20 140 PBM282DGLA20 Features and Functions 0.35(49.56) PBM282FGLE20 PBDD282-G50 30 General Specifications Harmonic Gear Model Motor Flange Size DC 42 (1.65in) 60 (2.36in) 28 (1.10in) 42 (1.65in) 60 (2.36in) Motor Flange Size Motor Length +Gear Length Size 28mm 1.10in 42mm 1.65in 97mm3.82in Type R Set Model No. Related Amplifier Model No Type P Set Model No. Related Amplifier Model No PBM282FHLE20 PBDM282-H50 PBM282FHME20 PBDM282-H100 PB3D003M200 PBM282DHMA20 PB2D003R1U 2(283.21) 3.6(509.79) Motor Model ( A C ) Unit Motor Model ( D C ) Type M Set Model No. Related Amplifier Model No PBM282DHLA20 Motor Model ( D C ) Type R Multi-axis Model No. Allowable Torque Allow. Instantaneous Torque Rotor Inertia 1.5(212.41) 2.7(382.34) Nm (ozin) Nm (ozin) x 10-4kgm2 (ozin2) Allowable Rotations Allowable Thrust Load Allowable Radial Load Note 1) Motor Mass (Weight) Motor Characteristics Chart A C Type R min min min-1 N N kg (oz) A C 2.2(311.54) 4.5(637.23) 1:50 0.4 to 3 8.50ozin 1:100 0.4 to 3 11.33ozin 70 0.372 1:30 3.6 116 1150 209 0.54(19.05) 35 100 160 0.27(9.52) Type 20 2800 P Torque ( ozin ) Hysteresis Loss PBM423DHJA20 0.01(0.066) Reduction Gear Ratio Lost Motion PBM423FHJE20 PBAR423-H30 PB3A003R200 PBAP423-H30 PB3A003P200 PBM423FHJE20 PBDM423-H30 2100 1400 Torque ( Nm ) AC 16 12 8 700 4 Allowable Torque AC100V/200V 0 0 0 20 Allow. Instantaneous Torque AC100V/200V 700 Allow. Instantaneous Torque DC24V DC36V DC24V/36V 20 30 40 50 60 70 80 Output Rotationsmin-1 90 0 500 1000 1500 2000 2500 3000 3500 4000 4500 -1 Input Rotationsmin 0 0 3 2 700 2100 1400 0 0 0 10 20 30 40 50 60 70 80 -1 Output Rotationsmin 90 0 500 1000 1500 2000 2500 3000 3500 4000 4500 Input Rotationsmin-1 8 45 0 500 1000 1500 2000 2500 3000 3500 4000 4500 -1 Input Rotationsmin 0 3 2 2100 1400 20 40 60 80 100 120 Output Rotationsmin-1 140 500 1000 1500 2000 2500 3000 3500 4000 4500 -1 Input Rotationsmin 20 2800 4 16 12 8 700 1 *Maintain motor case temperature at a point below 85 . **The gear output shaft rotates in the opposite direction. Note 1) The load point is determined at a position 1/3 of the length from the output shaft. 31 10 15 20 25 30 35 40 Output Rotationsmin-1 700 1 0 5 5 2800 4 12 0 0 Torque ( Nm ) 10 16 4 0 Torque ( Nm ) 1400 0 Torque ( ozin ) 2100 Torque ( Nm ) DC24V DC36V DC24V+36V Torque ( ozin ) Allowable Torque 1400 140 700 0 5 2800 2100 1 0 0 DC24V DC48V DC24V/48V D Type Multi C R Axis 2 700 1 Allow. Instantaneous Torque Motor Characteristics Chart 1400 3 Torque ( Nm ) 2 2100 Torque ( ozin ) 1400 3 40 60 80 100 120 -1 Output Rotationsmin 500 1000 1500 2000 2500 3000 3500 4000 4500 Input Rotationsmin-1 20 2800 4 Torque ( ozin ) 2100 5 2800 4 Torque ( Nm ) DC24V DC48V DC24V/48V 5 2800 Torque ( ozin ) Type M Torque ( Nm ) D C Torque ( ozin ) Motor Characteristics Chart 0 4 0 0 0 0 5 10 15 20 25 30 35 40 -1 Output Rotationsmin 45 500 1000 1500 2000 2500 3000 3500 4000 4500 Input Rotationsmin-1 0 0 0 20 40 60 80 100 120 -1 Output Rotationsmin 140 500 1000 1500 2000 2500 3000 3500 4000 4500 Input Rotationsmin-1 42mm 1.65in 60mm 2.36in 97mm3.82in 137.3mm5.41in PBM423FHLE20 PBAR423-H50 PBM424FHME20 PBAR423-H100 PBM603FHLE20 PBAR603-H50 PBM603FHME20 PBAR603-H100 PBAP423-H50 PBAP423-H100 PBAP603-H50 PBAP603-H100 PBM603FHLE20 PBDM603-H50 PBM603FHME20 PBDM603-H100 PBM603DHLA20 PBM603DHMA20 5(708.03) 11(1557.68) 5.5(778.84) 14(1982.50) 8(1132.86) 20(2832.14) 1:50 1:100 1:50 0.4 to 3 39.65ozin 2.4 70 2.4 35 70 35 PB3A003R200 PB3A003P200 PBM423FHLE20 PBDM423-H50 PBM423FHME20 PBDM423-H100 PBM423DHLA20 PBM423DHMA20 Features and Functions PB3D003M200 PB2D003R1U 3.5(495.62) 8.3(1175.34) 0.44(2.38) 12 8 700 2100 1400 Torque( Nm ) Torque ( ozin ) Torque ( Nm ) 20 2800 16 10 20 30 40 50 60 70 80 Output Rotationsmin-1 90 0 500 1000 1500 2000 2500 3000 3500 4000 4500 -1 Input Rotationsmin 0 8 700 2100 1400 5 10 15 20 25 30 35 40 Output Rotationsmin-1 6000 12 8 4 0 0 0 10 20 30 40 50 60 70 80 Output Rotationsmin-1 90 0 500 1000 1500 2000 2500 3000 3500 4000 4500 Input Rotationsmin-1 5000 4000 3000 0 0 0 0 5 10 15 20 25 30 35 40 Output Rotationsmin-1 45 500 1000 1500 2000 2500 3000 3500 4000 4500 Input Rotationsmin-1 20 10 5000 4000 3000 20 30 40 50 60 70 80 Output Rotationsmin-1 0 500 1000 1500 2000 2500 3000 3500 4000 4500 -1 Input Rotationsmin 20 10 5000 4000 3000 0 0 10 90 0 500 1000 1500 2000 2500 3000 3500 4000 4500 Input Rotationsmin-1 5 10 15 20 25 30 35 40 Output Rotationsmin-1 45 500 1000 1500 2000 2500 3000 3500 4000 4500 -1 Input Rotationsmin 50 40 30 20 2000 0 0 Type M 20 0 1000 20 30 40 50 60 70 80 Output Rotationsmin-1 30 0 6000 30 500 1000 1500 2000 2500 3000 3500 4000 4500 -1 Input Rotationsmin 10 7000 40 45 40 90 50 10 15 20 25 30 35 40 Output Rotationsmin-1 2000 0 10 5 50 1000 0 0 Type P Torque ( Nm ) Torque ( Nm ) Torque ( ozin ) 0 6000 2000 1000 0 7000 2000 7000 16 500 1000 1500 2000 2500 3000 3500 4000 4500 -1 Input Rotationsmin 30 500 1000 1500 2000 2500 3000 3500 4000 4500 -1 Input Rotationsmin 700 4 3000 0 0 90 40 45 20 Torque( Nm ) 12 4000 0 0 2800 16 5000 1000 Torque ( ozin ) 0 Torque ( ozin ) Torque( Nm ) Torque ( ozin ) 8 0 0 20 2800 0 12 4 0 0 1400 6000 20 30 40 50 60 70 80 Output Rotationsmin-1 50 7000 16 700 4 2100 500 1000 1500 2000 2500 3000 3500 4000 4500 -1 Input Rotationsmin 10 20 10 0 0 30 2000 1000 0 45 3000 Type R Multi-Axis 0 10 15 20 25 30 35 40 Output Rotationsmin-1 4000 40 General Specifications 500 1000 1500 2000 2500 3000 3500 4000 4500 -1 Input Rotationsmin 10 5000 Motor Dimensional Drawings 0 5 20 2000 0 0 30 Torque( Nm ) 90 4000 3000 6000 Torque( Nm ) 20 30 40 50 60 70 80 Output Rotationsmin-1 Torque ( ozin ) 10 5000 1000 0 0 0 20 2800 Torque ( ozin ) 4 0 0 1400 8 700 4 2100 12 50 7000 40 Torque ( ozin ) 700 1400 6000 Torque( Nm ) 8 50 7000 16 Torque( Nm ) 12 2100 Torque ( Nm ) 16 Torque ( ozin ) 20 2800 Torque ( ozin ) 1400 Torque ( Nm ) Torque ( ozin ) 2100 Torque ( ozin ) 20 2800 400 360 1.45(51.15) 10 0 0 0 5 10 15 20 25 30 35 40 Output Rotationsmin-1 45 500 1000 1500 2000 2500 3000 3500 4000 4500 Input Rotationsmin-1 Options 1150 209 0.54(19.05) 1:100 0.4 to 3 56.64ozin Type R 0.07(0.372) 32 General Specifications Electromagnetic Brake Model Motor Flange Size AC DC 42 (1.65in) 60 (2.36in) 28 (1.10in) 42 (1.65in) 60 (2.36in) Motor Flange Size Motor Length +Brake Length 97.8mm3.85in 117.1mm4.61in 90mm3.54in Unit Type R Set Model No. Related Amplifier Model No Type P Set Model No. Related Amplifier Model No PBM282FCE20 PBDM282-B PBM284FCE20 PBDM284-B PB3D003M200 PBM284DCA20 PB2D003R1U 0.12(16.28) 0.02(0.09) 9.8 33 0.35(12.35) No excitation actuating type DC24V 5% PBM423FCE20 PBAR423-B PB3A003R200 PBAP423-B PB3A003P200 PBM423FCE20 PBDM423-B Motor Model ( D C ) Type M Set Model No. Related Amplifier Model No PBM282DCA20 Motor Model ( D C ) Type R Multi-axis Model No. x 10-4kgm2 (ozin2) 0.06(7.79) 0.01(0.04) N N kg (oz) 9.8 33 0.28(9.88) Nm (ozin) MAX. Stall Torque Rotor Inertia Allowable Thrust Load Allowable Radial Load Note 1) Operation Method V A Power Consumption W Friction Torque Nm (ozin) Brake Engage Time ms Brake Release Time ms Power Voltage R A C 9.8 49 0.5(17.64) 0.08 2 0.22(31.15) 20 20 30 Type P 70 Torque ( ozin ) Torque AC100V/200V Power Consumption 60 50 40 30 10 4 2 0 0 500 1000 1500 2000 2500 3000 3500 4000 4500 Rotations ( min-1 ) Type 0.04 4 0.02 2 0 0 500 1000 1500 2000 2500 3000 3500 4000 4500 Rotations ( min-1 ) 3.5 0 10.5 7 0 0.06 0.04 21 14 0.08 4 0.04 2 0 0 500 1000 1500 2000 2500 3000 3500 4000 4500 Rotations ( min-1 ) 70 0 0 500 1000 1500 2000 2500 3000 3500 4000 4500 -1 Rotations ( min ) 50 40 30 10 0 60 0.08 10 0.4 8 0.3 6 0.2 4 0.1 2 0 0 500 1000 1500 2000 2500 3000 3500 4000 4500 Rotations ( min-1 ) 0 70 0.12 0.5 20 0.2 50 40 30 0.5 0.4 0.3 0.2 20 0.04 0 60 0.16 7 0.02 0 6 28 0.08 3.5 Torque 0.12 0 0.1 Torque ( Nm ) Torque ( ozin ) 14 8 7 Torque ( ozin ) D Type Multi C R Axis 10 Torque ( Nm ) 0 DC24V DC48V 14 0.2 0.16 Torque ( Nm ) 6 21 Torque ( ozin ) 0.06 28 Torque ( ozin ) 8 Power Consumption ( A ) 10 Torque ( Nm ) 0.1 0.08 Torque ( ozin ) 7 Torque ( Nm ) 14 10.5 Power Consumption ( A ) M Torque (ozin ) D C Power Consumption 10 0 0 500 1000 1500 2000 2500 3000 3500 4000 4500 Rotations ( min-1 ) *Maintain motor case temperature at a point below 85 . Note 1) The load point is determined at a position 1/3 of the length from the output shaft. 33 6 0.2 0 DC24V DC48V DC24V DC36V 8 0.3 0.1 0 Torque Motor Characteristics Chart 10 0.4 20 AC100V AC200V Motor Characteristics Chart 0.5 Power ConsumptionA ) A C Type 0.39(55.23) 0.06(0.31) 0.15 3.6 0.05(6.94) Excitation Current Motor Characteristics Chart PBM423DCA20 Torque ( Nm ) Electromagnetic Brake Motor Mass (Weight) 42mm 1.65in Power Consumption ( A ) Motor Model ( A C ) 28mm 1.10in Torque ( Nm ) Size 0 0.1 0 0 500 1000 1500 2000 2500 3000 3500 4000 4500 Rotations ( min-1 ) 60mm 2.36in 113.6mm4.47in 145.6mm5.73in PBM603FCE20 PBAR603-B PBM604FCE20 PBAR604-B PB3A003R200 PBAP603-B PBAP604-B PB3A003P200 PBM603FCE20 PBDM603-B PBM604FCE20 PBDM604-B PB3D003M200 PBM604DCA20 Features and Functions PBM603DCA20 PB2D003R1U 1.3(184.09) 0.4(2.19) 1.9(269.05) 0.84(4.59) 14.7 167 1.76(62.08) Type R 1.19(41.98) 2 140 8 1.2 6 0.8 4 0.4 2 0 0 500 1000 1500 2000 2500 3000 3500 4000 4500 -1 Rotations ( min ) 70 0 0 210 140 1.2 0.8 70 6 0.8 4 0.4 2 0 0 500 1000 1500 2000 2500 3000 3500 4000 4500 -1 Rotations ( min ) 0 0 210 140 Type M 2 1.6 1.2 0.8 70 0.4 0 8 1.2 280 1.6 10 1.6 70 Torque ( ozin ) Torque ( Nm ) Torque ( ozin ) 140 2 280 2 280 210 0 10 1.6 0 500 1000 1500 2000 2500 3000 3500 4000 4500 Rotations ( min-1 ) 0.4 0 0 0 500 1000 1500 2000 2500 3000 3500 4000 4500 Rotations ( min-1 ) 0 0 500 1000 1500 2000 2500 3000 3500 4000 4500 Rotations ( min-1 ) Options Torque ( Nm ) Torque ( ozin ) 280 210 2 0 0 Type R Multi-Axis 0 500 1000 1500 2000 2500 3000 3500 4000 4500 Rotations ( min-1 ) 0 0.4 Torque ( Nm ) 0 4 70 Torque ( ozin ) 0 6 0.8 General Specifications 2 8 1.2 Motor Dimensional Drawings 0.4 70 140 10 1.6 Power Consumption ( A ) 4 210 Power Consumption ( A ) 0.8 Torque( Nm ) 6 Torque( ozin ) 1.2 2 280 Power Consumption ( A ) 8 Power Consumption ( A ) TorqueNm Torqueozin 140 10 1.6 Torque ( Nm ) 2 280 210 Type P No excitation actuating type DC24V 5% 0.25 6 0.78(110.45) 20 30 34 Motor Dimensional DrawingsUnit : inch 28mm1.10inch, 42mm1.65inch, 60mm2.36inch 28mm1.10inch Standard Model PBM282FXE20 D C PBM284FXE20 D C .79.020 .079.010 0000 o.197-.0005 UL VINYL TUBE .18.0079 .039 .59 .000 11.81.79 .091MAX. .63MAX. MOTOR LEAD WIRE UL1430 AWG26 2-M2.5x0.45 12.99.79 2-M2.5x0.45 UL VINYL TUBE MOTOR CONNECTOR MOTOR LEAD WIRE UL1430 AWG26 MODEL PBM282 PBM284 ENCODER CONNECTOR MOTOR CONNECTOR Spur Gear Model PBM282FG E20 DC 1.10.020 .97.020 .039 .47 .000 3.46.059 .79.020 .079.010 19.69.79 UL VINYL TUBE 11.81.79 2-M2.5x0.45 .091MAX. .63MAX. MOTOR LEAD WIRE UL1430 AWG26 MOTOR LEAD WIRE UL1430 AWG26 UL VINYL TUBE MOTOR CONNECTOR MOTOR CONNECTOR Harmonic Gear Model PBM282FH E20 DC .0 11.81.79 4-o.138.0079 .63MAX. MOTOR LEAD WIRE UL1430 AWG26 ENCODER CONNECTOR .295.059 .63 12 .0 0 .5 o1 MOTOR LEAD WIRE UL1430 AWG26 4-o.138.0079 12.99.79 UL VINYL TUBE MOTOR CONNECTOR MOTOR CONNECTOR Electromagnetic Brake Model PBM282FCE20 D C PBM284FCE20 D C ENCODER CABLE L.059 MOTOR LEAD WIRE UL1332 AWG26 UL VINYL TUBE MOTOR LEAD WIRE UL1430 AWG26 MOTOR CONNECTOR 19.69.79 11.81.79 .39 .59 .000 1.10.020 .91.020 .18.0079 11.81.79 .63MAX. .091MAX. .91.020 1.10.020 .039 .59 .000 .18.0079 .0000 o.866-.0020 .79.020 .079.010 .0000 o.197-.0005 L.059 ENCODER CONNECTOR .79.020 .079.010 1.10.020 .91.020 .0000 o.197-.0005 Multi PBM282DCA20 DC Axis PBM284DCA20 DC Multi Axis ENCODER CONNECTOR ENCODER CABLE 1.30.020 .83 .091MAX. UL VINYL TUBE .91.039 .059.020 12 0 .5 o1 19.69.79 ENCODER CABLE .24.020 1.30.020 .63 .63MAX. 3.82.059 o.47 .0000 o1.12-.0008 o.47 .0000 o1.12-.0008 ENCODER CABLE ENCODER CONNECTOR .295.059 .295.059 .0000 o.315-.0004 1.30.020 .83 1.30.020 .91.039 .059.020 .295.059 .24.020 .0000 o.315-.0004 Multi PBM282DH A20 DC Axis 3.82.059 .091MAX. 2-M2.5x0.45 12.99.79 ENCODER CONNECTOR .0000 o.866-.0020 19.69.79 .91MAX. ENCODER CABLE 19.69.79 .091MAX. .18.0059 .039 .47 .000 .63MAX. 35 1.10.020 .91.020 .91.020 1.10.020 ENCODER CABLE ENCODER CONNECTOR .24.020 .18.0059 .0000 o.197-.0005 .0000 o.433-.0010 1.10.020 .91.020 .24.020 .79.020 .079.010 .0000 o.197-.0005 .0000 o.433-.0010 PBM282DG A20 DCMulti Axis 3.46.059 .63MAX. L 2.30 3.06 .91.020 1.10.020 19.69.79 .091MAX. ENCODER CABLE 19.69.79 .039 .59 .000 .63MAX. .18.0079 .91.020 1.10.020 .79.020 .79.010 0000 o.866-.0020 L.039 1.10.020 .91.020 .91.020 1.10.020 L.039 .0000 o.866-.0020 ENCODER CABLE ENCODER CONNECTOR 1.10.020 .91.020 .0000 o.197-.0005 PBM282DXA20 DCMulti Axis PBM284DXA20 DCMulti Axis MOTOR LEAD WIRE UL1430 AWG26 2-M2.5x0.45 12.99.79 UL VINYL TUBE 2-M2.5x0.45 MOTOR CONNECTOR BRAKE LEAD WIRE UL1332 AWG26 MODEL PBM282 PBM284 L 3.85 4.61 42mm1.65inch 60mm2.36inch Standard Model Multi PBM423FXE20 AC DC PBM423DXA20 DC Axis Standard Model Multi PBM603FXE20 AC DC PBM603DXA20 DC Axis Multi PBM604FXE20 AC DC PBM604DXA20 DC Axis MOTOR CONNECTOR MOTOR LEAD WIRE UL3266 AWG24 UL VINYL TUBE .0000 1.42 -.0015 1.22.010 1.65.010 .87 -.0020 UL VINYL TUBE 1.97.005 2.36.020 .59+.039 .000 .039MAX. .06.010 L1.79 .28.010 .0000 1.26 MAX. MOTOR LEAD WIRE UL3266 AWG22 1.00MAX .16-1.28.020 +.039 .000 .0000 .059 ENCODER CABLE .39 -.0006 .24 -.0005 .0000 .067.010 .16-R.217 MOTOR CONNECTOR ENCODER CONNECTOR L1.79 1.12MAX. .63MAX. L1.79 L1.79 ENCODER CONNECTOR ENCODER CABLE .22.0079 1.22.010 1.65.010 .81.020 2.01MAX. 4-M3X0.5 MODEL PBM423FXE20 PBM423DXA20 .35.0079 1.97.005 2.36.020 .81.020 L.039 L1 19.69 11.81 Low Backlash Gear Model Multi PBM423FG E20 AC DC PBM423DG A20 DC Axis MODEL PBM603FXE20 PBM604FXE20 PBM603DXA20 PBM604DXA20 4-.18 +.020 L 2.77 4.03 2.77 4.03 L1 19.69 19.69 11.81 11.81 Features and Functions 2.27.039 Low Backlash Gear Model Multi PBM603FG E20 AC DC PBM603DG A20 DC Axis MOTOR CONNECTOR MOTOR CONNECTOR ENCODER CONNECTOR .12.020 .0000 1.95.0079 2.36.0276 .31 -.0006 4.56.059 .39.020 .0000 2.01MAX 4-M4x0.7 +.039 .000 .94-.0010 1.22.0079 .28.0059 1.95.0079 2.36.0276 1.26.020 1.22.0079 1.65 +.020 -.059 4-M4x0.7 .0000 .0000 .47-.0004 .16-.0012 L1.79 MOTOR CONNECTOR .0000 2 .76 .0 20 2.36.0276 Electromagnetic Brake Model PBM603FCE20 AC DC PBM603DCA20 DCMulti Axis PBM604FCE20 AC DC PBM604DCA20 DCMulti Axis .0000 .39 -.0005 MOTOR LEAD WIRE UL3266 AWG22 UL VINYL TUBE .0000 1.42 -.0015 .16-1.28.020 .63MAX. 1.22.010 1.65.010 1.22.010 1.65.010 .06.010 .59+.039 .000 2.01MAX. .81.020 L1.79 .43 MAX. 1.00MAX. 1.97.0051 2.36.0200 L1.79 L1.79 1.26MAX. .22.0079 3.54.059 BRAKE LEAD WIRE UL3266 AWG22 ENCODER CABLE .28.010 .0000 .59+.039 .000 .24 -.0005 .07.010 .0000 .87 -.0020 L2.79 BRAKE LEAD WIRE UL3266 AWG22 .16-R.217 MOTOR CONNECTOR ENCODER CONNECTOR MOTOR CONNECTOR MOTOR LEAD WIRE UL3266 AWG24 UL VINYL TUBE 1.12MAX. General Specifications MODEL L1 PBM603FH E20 19.69 PBM603DH A20 11.81 Motor Dimensional Drawings Electromagnetic Brake Model Multi PBM423FCE20 A C DC PBM423DCA20 DC Axis ENCODER CABLE Type R Multi-Axis 2.36.0276 .0000 .37-.0039 4-.217 1.10.020 5.41.0591 4-.177 MODEL L1 PBM423FH E20 19.69 PBM423DH A20 11.81 ENCODER CONNECTOR MOTOR LEAD WIRE UL3266 AWG22 UL VINYL TUBE .0000 KEY 2.01MAX. .071 .0000 1.65.020 .98.039 .098 2.13-.0012 0 .0039 3.82.059 .16-.0012 (.79) 1.65.020 .0000 .47 .89 1.26MAX. .02 .39 .16-1.28.020 9 (.71) .0000 .79-.0083 .063 KEY SPECIFICATION .63MAX. .12 -.0010 1.8 -.0002 .16-R.217 ENCODER CABLE 1.00MAX. HEXAGON SOCKET HEAD BOLT 4-M4 .12-.0014 .079.0079 1.46 -.0010 .28.0079 .0000 KEY SPECIFICATION L1.79 .0000 90 (.047) 1.12MAX. MOTOR LEAD WIRE UL3266 AWG24 UL VINYL TUBE 90 .0000 .12 -.0010 .39 -.0004 L1.79 ENCODER CABLE ENCODER CONNECTOR MOTOR CONNECTOR .0000 .71 -.0071 ENCODER CONNECTOR Type M Harmonic Gear Model Multi PBM603FH E20 AC DC PBM603DH A20 DC Axis L1.79 .43MAX. Harmonic Gear Model Multi PBM423FH E20 AC DC PBM423DH A20 DC Axis MODEL L1 PBM603FG E20 19.69 PBM603DG A20 11.81 Type P MODEL L1 PBM423FG E20 19.69 PBM423DG A20 11.81 L.0591 .81.020 .35.0079 1.97.0051 2.36.0200 .020 4-.18-.000 4-M3X0.5 MODEL PBM423FCE20 PBM423DCA20 L1 L2 20.28 19.69 12.40 11.81 MODEL PBM603FCE20 PBM604FCE20 PBM603DCA20 PBM604DCA20 L 4.47 5.73 4.47 5.73 Options .31.020 .71 -.0010 .22.0079 .79.020 3.46.059 .47 .16-1.28.020 .0000 .24 -.0005 +.039 .000 .0000 .47 1.65 +.020 -.059 1.26MAX. .63MAX. HEXAGON SOCKET HEAD BOLT 4-M4 .12.020 .16-R2.17 MOTOR LEAD WIRE UL3266 AWG22 UL VINYL TUBE Type R 1.00MAX. .039MAX. ENCODER CABLE L1.79 1.12MAX. L1 1.79 ENCODER CABLE MOTOR LEAD WIRE UL3266 AWG24 UL VINYL TUBE L1.79 L1.79 ENCODER CONNECTOR L1 19.69 19.69 11.81 11.81 36 Motor Dimensional DrawingsUnit : inch 86mm3.39 inch 86mm3.39inch Standard Model PBM861FXE20 AC PBM862FXE20 AC MOTOR CONNECTOR MOTOR CABLE UL2517 L.039 .51.006 2.74.010 3.37.020 .98+.039 .000 .0000 -.0007 .314.019 .059.010 2.87.0010 19.69.79 19.69.79 ENCODER CONNECTOR ENCODER CABLE 1.18.019 .51.006 2.74.010 3.37.020 4-.22.008 MODEL L PBM861FXE20 3.37 PBM862FXE20 4.57 Connector Specification Of Motor Side AC DC DC Multi-axis Encoder Connector Housing51030-0930 Terminal50083-8070 ManufacturerMOLEX Motor Connector Housing5111-0610 Terminal50397-8000 ManufacturerMOLEX Connector Connection Of Motor Side Connector Connection Of Encoder Side Connector Connection Of Motor Side Standard Model, Low Backlash Gear Model, Harmonic Gear Model 2 Channel Standard Model, Low Backlash Gear Model, Harmonic Gear Model Encoder Connector Housing1-1318118-6 Terminal1318106-1 ManufacturerAMP Motor Connector Housing1-1318119-3 Terminal1318105-1 ManufacturerAMP Connector Connection Of Encoder Side PIN No. LEAD COLR A1 Blue CHANNEL A B1 Brown CHANNEL A A2 Green CHANNEL B B2 Purple CHANNEL B A3 White CHANNEL C B3 A4 B4 Yellow Red Black CHANNEL C +5V 0V PIN No. LEAD COLR A1 Blue Motor Lead Wire B1 Orange Motor Lead Wire A2 Red Motor Lead Wire B2 Yellow Motor Lead Wire A3 N.C. B3 N.C. LEAD COLR 1 Blue CHANNEL A 2 Brown CHANNEL A 3 Electromagnetic Brake Model A5 N.C. B5 Orange OVER HEAT PIN No. LEAD COLR A6 Black Shield A1 Blue Motor Lead Wire B6 N.C. B1 Orange Motor Lead Wire A2 Red Motor Lead Wire Encoder CableUL20276 PIN No. B2 Yellow Motor Lead Wire A3 Brake Brake Lead Wire B3 Brake - Brake Lead Wire Green CHANNEL B 4 Purple CHANNEL B 5 N.C. 6 N.C. 7 Red +5V 8 Black 0V 9 Black FGShield Encoder CableUL20121 3 Channel PIN No. LEAD COLR 1 Blue CHANNEL A 2 Brown CHANNEL A 3 Green CHANNEL B 4 Purple CHANNEL B 5 White CHANNEL C 6 Yellow CHANNEL C 7 Red +5V 8 Black 0V 9 Black FGShield Encoder CableUL20276 37 PIN No. LEAD COLR 1 Blue Motor Lead Wire 2 Orange Motor Lead Wire 3 Red Motor Lead Wire 4 Yellow Motor Lead Wire 5 N.C. 6 N.C. Electromagnetic Brake Model PIN No. LEAD COLR 1 Blue Motor Lead Wire 2 Orange Motor Lead Wire 3 Red Motor Lead Wire 4 Yellow Motor Lead Wire 5 Brake Brake Lead Wire 6 Brake - Brake Lead Wire Options PC Interface Description PC Interface Software Display Screens 1:Program Input Screen 2:Point Input Screen 3:Parameter Input Screen PB-R PC Interface Software Functions Point data editing/execution Program data editing/execution Current position/Alarm/Amplifier status monitoring Lead Pitch Conversion Off-line Editing Teaching Function, etc Functions Various branching conditions (Position, Input Port, Direct, Motor Stop) Timer Wait Subroutine Structure Loop Counter, etc. Features and Functions Program Direct command capability Type R Functions Regenerative UnitDC For Type R Multi-axisUnit:inch ModelPBFE-01 1.42 2-.157 2.80 .157 1.02 Type P .79.039 1 2 4 5 6 3.22 3.54 3 7 8 Type M 9 .118 Motor Dimensional Drawings General Specifications Type R Multi-Axis Note 1 : TB1-Connector block wiring screw M3 Tightening torque 0.6 Nm (84.96 ozin) Note 2 : The external regenerative resistor is mounted on the rear surface Options .118 Regenerative resistor (10) 38 Precautions For Adoption Cautions Failure to follow the precautions on the right may cause moderate injury and property damage, or in some circumstances,could lead to a serious accident. Always follow all listed precautions. For any question or inquiry regarding the above, contact our Sales Department. http://www.sanyodenki.com 1-15-1, Kita-Otsuka, Toshima-ku, Tokyo 170-8451, Japan Phone: +81 3 3917 5157 468 Amapola Avenue Torrance, CA 90501 U.S.A. Phone: +1 310 783 5400 P.A. Paris Nord II 48 Allee des Erables-VILLEPINTE BP.57286 F-95958 ROISSY CDG Cedex France Phone: +33 1 48 63 26 61 Frankfurter Strasse 63-69 65760 Eschborn Germany Phone: +49 6196 76113 0 9F 5-2, Sunwha-dong Jung-gu Seoul, 100-130, Korea Phone: +82 2 773 5623 Room 2116, Bldg B, FAR EAST INTERNATIONAL PLAZA, No.317 XianXia Rd., Shanghai 200051 China Phone: +86 21 6235 1107 Room 1208,12F, No.96 Chung Shan N, Rd., Sec.2, Taipei 104, Taiwan, R.O.C. Phone: +886 2 2511 3938 Room 2305, 23/F, South Tower, Concordia Plaza, 1 Science Museum Rd., TST East, Kowloon, Hong Kong Phone: +852 2312 6250 10 Hoe Chiang Road #14-03A/04 Keppel Towers Singapore 089315 Phone: +65 6223 1071 *Remarks : Specifications Are Subject To Change Without Notice. CATALOG NO. 845-1 '07.4.N