2-PHASE STEPPING SYSTEMS
Ver.1
English
1
Compliance with international standards
ThestandardspecificationSANMOTIONFseriessteppingdrivercomplieswithULandEN
safety standards.Stepping motors complying with UL and EN standards are available upon
request.
F series DRIVER
H series MOTOR
SH series MOTOR
FseriesDRIVER features
Low-vibration mode
1
0
200
400
600
800
1000
1200
1400
1600
0 100 200 300 400 500 600 700 800 900 1000
pulse/s
Low-Vibration Mode ON
Driver : US1D200P10
Motor : 103H7123-0410
Source voltage : DC24V
Wire current : 2.0A/phase
Division : 2
TG : 11TG（7V/1000rpm）
0
200
400
600
800
1000
1200
1400
1600
0100 200 300 400 500 600 700 800 900 1000
pulse/s
Low-Vibration Mode OFF
Speed variation（%）
Speed variation（%）
Driver : US1D200P10
Motor : 103H7123-0410
Source voltage : DC24V
Wire current : 2.0A/phase
Division : 2
TG : 11TG（7V/1000rpm）
DC input
DC input
Compact / Light weight
2
010050 150 200 250
2-phase bipolar
F series
2-phase bipolar
Current model
2-phase unipolar
F series
2-phase unipolar
Current model
MASS（g）
Light weight
0 50 100 150 200 250 300 350
2-phase bipolar
F series
2-phase bipolar
Current model
2-phase unipolar
F series
2-phase unipolar
Current model
Volume（cm3）
Compact
DC input
2-phase STEPPING SYSTEMS
2
Dimensions Stepping Motors with Internal driversStepping motor Set modelIC for stepping motor
Set model
DC input
Bipolar standard
（standard model）
ThestandardsetincludesaFseriesdriverandaHorSHseriesmotor.
Stepping motors with internal drivers
A driver incorporating a motion control function needed for
drivingamotoranda2-phasesteppingmotorwereintegratedintoasingleunit.
Unipolar standard
（standard model）
ThestandardsetincludesaFseriesdriverandaHorSHseriesmotor.
P. 4
P.13
P.14
Motor flange size
1.8
1
0.9
1
Reduction gear ratios
42 50 56 60
（□1.65inch）（□1.10inch）（
□1.97inch）（□2.20inch）（□2.36inch）
28
42
Motor flange size
（□1.65inch）（□2.36inch）
60
42 56
Motor flange size
1.8
1
0.9
1
Reduction gear ratios
28
（□1.65inch）（□1.10inch）（
□2.20inch）
3
Howdoyouwanttocontroltheequipment?
TheFseriesoffersthechoiceof3differentcontrolmethods
Control method
Program
command
control using
PLC I/O
Control using a
pulse generator
Network
control
using serial
communication
（RS-485）
DC input
bipolar standard
Motion is generated by pulse input
commands from an upper-level controller.
System configuration diagram P13 to 14
Setpartnumbernomenclature P16
Motor specifications P27 to 46
General specifications P47・48
Motordimensiondrawing P49to51
Driver dimension drawing P52
DC input
stepping motors with internal drivers
Startup via I/O :
Initiate program
containing speed,
acceleration/
deceleration, and travel
distance commands
stored in the driver via
the I/O.
Startup via serial
communication :
Control by sending data
for speed, acceleration/
deceleration, and travel
distance commands via
serial communication.
System configuration diagram P4
Specifications P6
Dimensions P5 to 6
DC input
unipolar standard
Drive
Specification
Control using a
pulse generator
Motion is generated by pulse input
commands from an upper-level controller.
System configuration diagram P13 to 14
Setpartnumbernomenclature P16
Motor specifications P27 to 46
General specifications P47・48
Motor dimension drawing P49 to 51
Driver dimension drawing P52
F series DRIVER
H series MOTOR
SH series MOTOR
4
Dimensions Stepping Motors with Internal driversStepping motor Set modelICforsteppingmotor
Single
phase
AC100 V
to
AC230 V
(t)
(r)
Controller
CanbeconnectedtoSANYODENKI or
third-party controllers.
DC
24 V
 Bundled cable for
input/output signal
（300 mm）
 Bundled cable for
DC power
（350 mm）
Noise filter
Filters out
incoming noise
from power line
Molded case
circuit breaker
Protects the power
line. Cuts off circuit
in the event of
overcurrent.
Electromagnetic
contactor
Switches driver
power on/off.
Use together with
asurgeprotector.
Switching power
supply
Converts AC power
to DC power
Setupsoftware:SFPAIW-02
Stepping Motors with Internal drivers
DC input
System configuration
5
Stepping motor
2-phase STEPPING SYSTEMS
Specifications
Stepping motors with internal drivers
Features
1.Driver and motor are now integrated into a single unit.
 A driver incorporating a motion control function needed
for driving a motor and a 2-phase stepping motor were
integrated into a single unit for enabling a more compact
installation space and less wiring.
2.Three types of operation modes can be selected to match
the specific application.
（1）Control by command pulses
（2）Program control by general-purpose I/O(Parallel)
（3）Compliant with RS-485, half-duplex asynchronous
communication
DB21M142S-01
E=DC24V
I=Rated current
JL=0.94×10
-4
kg・m
2
0.1
0.6
0.5
0.4
0.3
0.2
0
Torque (N-m)
0.1 1 10 100
DB22M162S-01
E=DC24V
I=Rated current
JL=0.94×10
-4
kg・m
2
Pulse rate（kpulse/s）Pulse rate（kpulse/s）
0.1 1 10 100
0.2
0.4
0.6
0.8
1.0
1.2
1.4
1.6
0
Torque(oz·in.)
70
80
0
60
50
40
30
20
10
Torque (kgf-cm)
Torque (N-m)
Torque(oz·in.)
Torque (kgf-cm)
1
2
3
4
5
6
0
140
160
180
200
220
0
120
100
80
60
40
20
2
4
6
8
10
12
14
16
0
Pulse rate-torque characteristics
Dimensions
［Unit : mm
（inch）］
1O
4
2
3
N
5
6
E
9
A
F
8
3
4
7
6
5
2
1
0
D
C
B
CN1:POWER
1・・・・19
2・・・・20
1
2
CN2:I/O
RSWPSW DSW
4.5
42±0.5（1.65±.02）
31±0.25（1.22±.01）
42±0.5（1.65±.02）
31±0.25（1.22±.01）
R3MIN.
70+2
0
1.5 ±0.76（.59±.03）
24±0.5（.94±.02）
φ5
0
-0.013
0.05
0.025
(EFFECTIVE
LENGTH)
Manufacturer：JST
CONNECTOR：S02B-PASK-2
CONNECTOR：SM20B-SHLDS-GW-TF
Manufacturer：JST ±0.15（1.18±.01）
NAME
TAP D EPT H 4（.16）MIN.
4-M3×0.5
PLATE
A
A
EARTH TERMINAL
M2.5X0.45X4L
Ｕｓｅ ｐｒｏｐｅｒ
アース線を接続せよ
必ず
ｔｅｃｈｎｉｑｕｅｓ．
ｇｒｏｕｎｄｉｎｇ
15
（）
（）
2.76
+.0 8
.00
（）
59 +.0 4
.00
φ.1968−+.0000
.0005
φ22 0
-0.05
（）
φ.87−+.00 0
.002
DC input
□42mm
（□1.65inch）□60mm
（□2.36inch）
□42mm
（□1.65inch）
6
Dimensions Stepping Motors with Internal driversStepping motor Set modelIC for stepping motor
Specifications
Basic
specifications
Part number
（Flange size）DB21M142S-01
（□42）DB22M162S-01
（□60）
Input source
（Note1）DC24 V ±10 ％
Getaway torque
（A）2MAX. 3MAX.
Environment
Protection class Class I
Operation environment Installation category
（over-voltage category）:II,pollutiondegree:2
Applied standards EN61010-1
Operating ambient temperature
（Note2）0to+40℃
Conservation temperature -20 to +60℃
Operating ambient humidity 35 to 85%RH
（no condensation）
Conservation humidity 10 to 90%RH
（no condensation）
Operation altitude 1000 m
（3280 feet）MAX. above sea level
Vibration resistance Testedunderthefollowingconditions;4.9m/s2,frequencyrange10to55Hz,directionalongX,Y
andZaxes,for2hourseach
Impact resistance Not influenced at NDS-C-0110 standard section 3.2.2 division “C”.
Withstand voltage Notinfluencedwhen1500VACisappliedbetweenpowerinputterminalandcabinetforone
minute.
Insulation resistance 10M ohm MIN. when measured with 500V DC megohmmeter between input terminal and cabinet.
Mass
（Weight）0.5kg
（1.10lbs）0.87kg
（1.92lbs）
Function
Protection function Against driver overheat
LED indicator Alarm monitor
I/O signals
Command pulse input signal
（Note3）Photo coupler input method, input resistance 220 Ω
Inputsignalvoltage:“H”=4.0to5.5V,“L”=0 to0.5V
Power down input signal
（PD）Photo coupler input method, input resistance 470 Ω
Inputsignalvoltage:“H”=4.0to5.5V,“L”=0 to0.5V
Step angle setting selection input
（EXT）Photo coupler input method, input resistance 470 Ω
Inputsignalvoltage:“H”=4.0to5.5V,“L”=0 to0.5V
FULL/HALFsettingselectioninput
（F/H）Photo coupler input method, input resistance 470 Ω
Inputsignalvoltage:“H”=4.0to5.5V,“L”=0to0.5V
EMG input signal Photo coupler input method, input resistance 470 Ω
Inputsignalvoltage:“H”=4.0to5.5V,“L”=0to0.5V
BUSY output signal Photo coupler input method, input resistance 220 Ω
Inputsignalvoltage:“H”=4.0to5.5V,“L”=0 to0.5V
Phaseoriginmonitoroutputsignal
（MON）Opencollectoroutputbyphotocoupler
Outputsignalstandard:Vceo=30VMAX.,Ic=20mAMAX.
Alarm output signal
（AL）Opencollectoroutputbyphotocoupler
Outputsignalstandard:Vceo=30VMAX.,Ic=20mAMAX.
※1Notethatthepowervoltagemustnotexceed24VDC+10%(26.4VDC).
※2Ifthedriverisplacedinabox,thetemperatureinsidetheboxmustnotexceedthisspecifiedrange.
※3Themaximuminputfrequencyis250kpulse/s.
6
7
A
9
8
B
C
D
E
0
1
2
5
4
3
F
N
O
3
2
1
6
5
4
1
R4MIN.
4−φ4.5 0
+0.5
4−φ.18 .0 0
+.02
(EFFECTIVE
LENGTH)
CONNECTOR：S02B-PASK-2
Manufacturer：JST
CN1:POWER
2
2・・・・20
1・・・・19
Manufacturer：JST
CONNECTOR：SM20B-SHLDS-GW-TF
CN2:I/O
RSWPS DS EARTH TERMINAL
M2.5X0.45X4L
NAME
A
0.075 A
A
0.1
0.025
PLATE
Ｕｓｅ ｐｒｏｐｅｒ
アース線を接続せよ
必ず
ｔｅｃｈｎｉｑｕｅｓ．
ｇｒｏｕｎｄｉｎｇ
88 +2
0
7±0.25（.27±.01）
φ38.1±0.25（φ1. 5±.01）
20.6±0.5（.81±.02）60±0.5（2.36±.02）
5.8±0.15（.23±.01）
47.1±0.13（1.8 5±.01）
60±0.5（2.36±.02）
47.1±0.13（1.85±.01）
1.5±0.25（.06±.01）
φ6.35 0
-0.013 φ.25 +.000
-.001
（ ）
（）
3.46
+.0 8
.00
15
+1
0
（）
.59
+.0 4
.00
（）
□60mm
（□1.65inch）
7
◎2-input mode（CW, CCW）
■Timing of the command pulse
Input circuit configuration
■Input interface
◎Input circuit configuration
■Input signal specifications
• The internal photo coupler turns ON within the ■and,
atitsfallingedgetoOFF,theinternalcircuit
（motor）is
activated.
• WhenapplyingthepulsetoCW,turnOFFtheCCWside
internal photo coupler.
• WhenapplyingthepulsetoCCW,turnOFFtheCWside
internal photo coupler.
•The“H”levelisinputfor■and,atitsrisingedgeto “H”
level, the internal circuit
（stepping motor）is activated.
•SwitchingtheinputsignalU/Dshouldbeperformed
whiletheinputlevelontheCKsideis “L”.
Specifications
2-phase STEPPING SYSTEMS
Input signal
220Ω
Rotation
to
to
to
to
Rotation
2μs MIN.
2μs MIN.
1μs MAX. 1μs MAX.
Approx. 15 mA
Pulse duty 50 % MAX.
Approx. 15mA
Pulse duty 50% MAX.
1μs MAX. 1μs MAX.
50μs MIN.
50μs MIN. 10μs MIN.
◎Pulse and direction mode（CK, U/D）
◎Negative logic
◎Positive logic
8
Dimensions Stepping Motors with Internal driversStepping motor Set modelIC for stepping motor
■Input circuit configuration
• Shadedareaindicatesinternalphotocoupler“ON”.
•EXTinputsignal
EXT photo coupler “ON”enables a function by external
F/H input signal.
EXT photo coupler “OFF”enables the setting of a
number of micro steps by main unit’srotaryswitchS.S.
•F/Hinputsignal
F/H photo coupler “ON”sets HALF step (2-division)
operation.
F/H photo coupler “OFF”sets FULL step (1-division)
operation.
• Refer to switching EXT and F/H input signal in the
[FULL/HALF input signal, command pulse, and step
angle select].
• When switching the step angle by EXT and F/H input
signal,thephaseoriginLCDmaynotturnONandthe
phaseoriginmonitoroutputmaynotoutputwhenstop.
RefertotheMONoutputinthe[OutputInterface].
■Output circuit configuration
（BUSY、
MON、
AL）
Output interface
■Mon output
• When the motor excitation phase is at the phase origin
(power ON status), the photo coupler is turned “ON”,
and the upper D.P of status LED turns on synchronously.
• Output from MON is set to on at every 7.2 degrees of
motor output shaft from phase origin.
Approx. 10mA
Input signal
Command pulse
100μs MIN. 10μs MIN.
◎Input circuit configuration（PD、
EXT、
F/H、
EMG）
◎Timing of command pulse, step angle selection, and
FULL/HALF selection input signal
Output signal
MAX. 20mA
MAX. 30V
Driver
CW pulse
CCW pulse
Mon output
Phase origin position Phase origin position
Motor shaft
Switching to FULL step
by external F/H
FULL step
HALF step
Stop position at
FULL step
◎When changing the division setting by F/H input signal.
• When changing the motor division setting by the
external input signal and the rotary switch as shown in
the example below, the motor cannot stop where MON
output signal can be output. Take this into consideration
when using the MON output signal.
9
WIRING
Specification
2-phase STEPPING SYSTEMS
Signal Reference
Designation
Pin
Number Function Summary
General-purpose
input common +COM 6 Input signal common of the 6 to 9 pins
DC 5V is input.
Alarm clear signal
（standard）
standard）） ALMC 6 Recoverable alarms are cleared.
Internal photo coupler off →on…Alarm clear
General-purpose
input 1 IN1 6
This is a general-purpose input signal that can be
used by program driving.
Internal photo coupler on…General purpose input 1 on
Internal photo coupler off …General purpose input 1 off
Emergency stop
input EMG 6
The emergency stop signal is input.
Internal photo coupler on…No emergency stop
Internal photo coupler of…Emergency stop
Origin signal ORG 6
The origin signal used for the return to origin
operation is input.
Internal photo coupler on…Origin signal on
Internal photo coupler off…Origin signal off
+ direction
overtravel signal +OT 7
An overtravel signal in the + direction is input.
Internal photo coupler on …+ direction overtravel not
arrived
Internal photo coupler off …+ direction overtravel
arrived
General-purpose
input 2 IN2 7
This is a general-purpose input signal that can be
used by program driving.
Internal photo coupler on…General purpose input 2 on
Internal photo coupler off …General purpose input 2 off
Emergency stop
input EMG 7
The emergency stop signal is input.
Internal photo coupler on…No emergency stop
Internal photo coupler off…Emergency stop
Origin signal ORG 7
The origin signal used for the return to origin
operation is input.
Internal photo coupler on…Origin signal on
Internal photo coupler off …Origin signal off
Alarm clear signal ALMC 7 Recoverable alarms are cleared.
Internal photo coupler off →on…Alarm clear
- direction
overtravel signal −OT 8
An overtravel signal in the - direction is input.
Internal photo coupler on …- direction overtravel not
arrived
Internal photo coupler off…- direction overtravel
arrived
General-purpose
input 3 IN3 8
This is a general-purpose input signal that can be
used by program driving.
Internal photo coupler on…General purpose input 3 on
Internal photo coupler off …General purpose input 3 off
Emergency stop
input EMG 8
emergency stop signal is input.
Internal photo coupler on…No emergency stop
Internal photo coupler off…Emergency stop
Origin signal ORG 8
The origin signal used for the return to origin
operation is input.
Internal photo coupler on…Origin signal on
Internal photo coupler off …Origin signal off
Alarm clear signal ALMC 8 Recoverable alarms are cleared.
Internal photo coupler off →on…Alarm clear
Signal Reference
Designation
Pin
Number Function Summary
Emergency stop
signal EMG 9
The emergency stop signal is input.
Internal photo coupler on…No emergency stop
Internal photo coupler off…Emergency stop
General-purpose
input 4c IN4 9
This is a general-purpose input signal that can be
used by program driving.
Internal photo coupler on…General purpose input 4 on
Internal photo coupler off …General purpose input 4 off
Origin signal ORG 9
The origin signal used for the return to origin
operation is input.
Internal photo coupler on…Origin signal on
Internal photo coupler off …Origin signal off
Alarm clear signal ALMC 9 alarms are cleared.
Internal photo coupler off →on…Alarm clear
During motor
operation BUSY 10
The operation status of the motor is output.
Internal photo coupler on…During motor operation
Internal photo coupler off…During motor stop
During program
execution PEND 10
The execution status of the program is output.
Internal photo coupler on…During program execution
Internal photo coupler off…Program execution
complete
Zone signal ZONE 10 on when the current position is inside the
coordinates that were set beforehand.
During program
execution PEND 11
The execution status of the program is output.
Internal photo coupler on…During program execution
Internal photo coupler off…Program execution
complete
During motor
operation BUSY 11
The operation status of the motor is output.
Internal photo coupler on…During motor operation
Internal photo coupler off…During motor stop
Zone signal ZONE 11 Turns on when the current position is inside the
coordinates that were set beforehand.
Alarm output ALM 12
When various alarm circuits operate in the driver, an
external signal is output.
At this time, the stepping motor becomes non excited
status.
Output signal
common OUT_COM 13 It is for the output signal common.
DATA+ DATA+ 14 It is for the serial signal.
DATA −DATA −15 It is for the serial signal.
■SpecificationSummaryofInput/OutputSignals(SerialI/Fmode)
■
SpecificationSummaryofInput/OutputSignals(PulsetrainI/Fmode)
Signal Reference
Designation
Pin
Number Function Summary
CW pulse input
（Standard）CW+
CW −1
2
When “2inputmode
”,
InputdrivepulserotatingCWdirection.
Pulse train input CK+
CK−1
2
When “1inputmode
”,
Inputdrivepulsetrainformotorrotation.
CCW pulse input
（Standard）CCW+
CCW −3
4
When “2inputmode
”,
InputdrivepulserotatingCCWdirection.
Rotational
direction input
U/D+
U/D −3
4
When “1 input mode”,
Input motor rotational direction signal.
Internal photo coupler ON …CW direction
Internal photo coupler OFF …CCW direction
General-purpose
input common +COM 6 Inputsignalcommonofthe6to9pins
DC5V is input.
Power down
input PD 6
InputtingPDsignalwillcutoff
（power off）
the current
flowing to the Motor
（With dip switch select, change to
thePowerlowfunctionispossible
）.
PDinputsignalon
（internal photo coupler on）
…PD function is valid.
PDinputsignaloff
（internal photo coupler off）
…PD function is invalid.
Step angle
select input EXT 7
FULL/HALF select input will become valid by inputting
EXT signal.
EXT input signal on
（internal photo coupler on）
…External input signal F/H is valid
EXT input signal off
（internal photo coupler off）
…MainbodyrotaryswitchS.Sisvalid
Signal Reference
Designation
Pin
Number Function Summary
FULL/HALF
select input F/H 8
When EXT input signal on
（internal photo coupler on）,
F/H input signal on
（internal photo coupler on）
…HALF step
F/H input signal off
（internal photo coupler off）
…FULL step
Emergency
stop EMG 9
The emergency stop signal is input.
Internal photo coupler on…No emergency stop
Internal photo coupler off…Emergency stop
During motor
operation BUSY 10
The operation status of the motor is output.
Internal photo coupler on
…During motor operation
Internal photo coupler off
…During motor stop
Phase origin
monitor output MON 11
When the excitation phase is at the origin
（in power on）
it
turns on.
When FULL step, ON once for 4 pulses, when HALF step,
ON once for 8 pulses.
Alarm output ALM 12
When alarm circuits actuated inside the Driver, outputs
signals to outside. Then the Stepping motor becomes
unexcited status.
Output signal
common OUT_COM 13 It is for the output signal common.
※As for the Motor rotational direction, CW direction is regard as the clockwise revolution by
viewingtheMotorfromoutputshaftside.
10
Dimensions Stepping Motors with Internal driversStepping motorIC for stepping motor Set model
Signal Reference
Designation
Pin
Number Function Summary
Program drive
Start/Stop
START+
START-
1
2
Commandsthestartandstopofprogramdriving.
Internal photo coupler on…Program driving start
Internal photo coupler off…Program driving stop
Program pause PAUSE+
PAUSE-
3
4
WhenSTARTsignalon,apauseinprogramdrivingis
commanded.
Internal photo coupler on…Program driving pause
Internal photo coupler off…Program driving pause
release
General-purpose
input common +COM 6 Inputsignalcommonofthe6to9pins
DC5V is input.
Alarm clear
signal
（standard）ALMC 6 Recoverablealarmsarecleared.
Internal photo coupler off →on…Alarm clear
General-purpose
input 1 IN1 6
Thisisageneral-purposeinputsignalthatcanbeused
by program driving.
Internal photo coupler on…General purpose input 1 on
Internal photo coupler off …Generalpurposeinput1off
Program number
selection bit 1 B1 6
Theprogramnumberisselectedalongwithotherbits.
（Subordinate bit）
Internal photo coupler on…Corresponding bit 1
Internal photo coupler off…Corresponding bit 0
Emergency stop
input EMG 6
The emergency stop signal is input.
Internal photo coupler on…NoemergencystopInternal
photo coupler off…Emergency stop
Origin signal ORG 6
Theoriginsignalusedforthereturntooriginoperation
is input.
Internal photo coupler on…Origin signal on
Internal photo coupler off …Origin signal off
+direction
overtravel signal +OT 7
An overtravel signal in the + direction is input. Internal
photo coupler on …+directionovertravelnotarrived
Internal photo coupler off …+directionovertravel
arrived
General-purpose
input 2 IN2 7
Thisisageneral-purposeinputsignalthatcanbeused
by program driving.
Internal photo coupler on…General purpose input 2 on
Internal photo coupler off …Generalpurposeinput2off
Program number
selection bit 2 B2 7
Theprogramnumberisselectedalongwithotherbits.
（Thesecondbitfromthesubordinate
）
Internal photo coupler on…Corresponding bit 1 Internal
photo coupler off…Corresponding bit 0
Emergency stop
input EMG 7
The emergency stop signal is input.
Internal photo coupler on…NoemergencystopInternal
photo coupler off…Emergency stop
Origin signal ORG 7
Theoriginsignalusedforthereturntooriginoperation
is input.
Internal photo coupler on…Origin signal on
Internal photo coupler off …Origin signal off
Alarm clear
signal ALMC 7 Recoverablealarmsarecleared.
Internal photo coupler off →on…Alarm clear
-direction
overtravel signal -OT 8
An overtravel signal in the - direction is input.
Internal photo coupler on …- direction overtravel not
arrived
Internal photo coupler off …-directionovertravel
arrived
General-purpose
input 3 IN3 8
Thisisageneral-purposeinputsignalthatcanbeused
by program driving.
Internal photo coupler on…General purpose input 3 on
Internal photo coupler off …Generalpurposeinput3off
Program number
selection bit 4 B4 8
Theprogramnumberisselectedalongwithotherbits.
（Thethirdbitfromthesubordinate
）
Internal photo coupler on…Corresponding bit 1
Internal photo coupler off…Corresponding bit 0
Emergency stop
input EMG 8
The emergency stop signal is input.
Internal photo coupler on…No emergency stop
Internal photo coupler off…Emergency stop
Origin signal ORG 8
Theoriginsignalusedforthereturntooriginoperation
is input.
Internal photo coupler on…Origin signal on
Internal photo coupler off …Origin signal off
Alarm clear
signal ALMC 8 Recoverablealarmsarecleared.
Internal photo coupler off →on…Alarm clear
Signal Reference
Designation
Pin
Number Function Summary
Emergency stop
signal EMG 9
The emergency stop signal is input.
Internal photo coupler on…No emergency stop
Internal photo coupler off…Emergency stop
General-purpose
input 4 IN4 9
This is a general-purpose input signal that can be used
by program driving.
Internal photo coupler on…General purpose input 4 on
Internal photo coupler off …General purpose input 4 off
Program number
selection bit 8 B8 9
The program number is selected along with other bits.
（Thefourthbitfromthesubordinate
）
Internal photo coupler on …Corresponding bit 1
Internal photo coupler off …Corresponding bit 0
Origin signal ORG 9
Theoriginsignalusedforthereturntooriginoperation
is input.
Internal photo coupler on…Origin signal on
Internal photo coupler off …Origin signal off
Alarm clear
signal ALMC 9 Recoverable alarms are cleared.
Internal photo coupler off →on…Alarm clear
During motor
operation BUSY 10
Theoperationstatusofthemotorisoutput.
Internal photo coupler on…During motor operation
Internal photo coupler off…During motor stop
During program
execution PEND 10
The execution status of the program is output. Internal
photo coupler on…During program execution
Internal photo coupler off…Program execution
complete
Zone signal ZONE 10 Turns on when the current position is inside the
coordinates that were set beforehand.
During program
execution PEND 11
The execution status of the program is output.
Internal photo coupler on…During program execution
Internal photo coupler off…Program execution
complete
During motor
operation BUSY 11
Theoperationstatusofthemotorisoutput.
Internal photo coupler on…During motor operation
Internal photo coupler off…During motor stop
Zone signal ZONE 11 Turns on when the current position is inside the
coordinates that were set beforehand.
Alarm output ALM 12
When various alarm circuits operate in the driver, an
external signal is output.
At this time, the stepping motor becomes non excited
status.
Output signal
common OUT_COM 13 Itisfortheoutputsignalcommon.
DATA+ DATA+ 14 It is for the serial signal.
DATA −DATA −15 It is for the serial signal.
■External Wiring Diagrams
DC＋24V
24G
＋24V
24G
5G
＋5V
RXD
TXD
DE
1
2
1
2
3
4
5
6
7
8
9
10
11
12
13
CN1
14
15
20
CN2
Driver
30V 20mA MAX.
2 Phase Stepping Motor
Power
Supply
Controller
DATA＋
DATA−
GND（−5G）
CW＋／START＋
CW−／START−
CCW＋／PAUSE＋
CCW−／PAUSE−
＋COM
PD／IN1／B1
EXT／IN2／B2
FH／IN3／B4
IN4／B8
BUSY／OUT1
MON／OUT2
ALM
OUT_COM
■Specification Summary of Input/Output Signals (Parallel I/F mode)
11
SET UP
■Function Select Dip Switch
◎For pulse stream I/F mode
Input mode select
（F/R）
Input pulse mode selection
This switch setting is only effective in pulse streamI/F
mode.
F/R Input pulse mode
ON 1 input mode
（CK,U/D）
OFF 2 input mode
（CW,CCW）
Low vibration mode select
（LV）
Low vibration and smooth operation is enabled even by the rough
resolution setting
（e.g. 1 division, 2 division）.
This switch setting is only effective in pulse streamI/F mode.
For parallel I/F mode and serial I/F mode, this is usually a low
vibration operation.
LV Operation
ON Low vibration operation
OFF Micro step operation
※When LV select is ON
（low vibration mode）,operationalprocessof
driving pulse will be carried out inside the Driver. Therefore, the Motor
movement delays for the timeof3.2ms pulse per input pulse. Note that
depending upon the combined Motor, load,driving profile and etc, it may
take a while until the shaft is adjusted when the Motor stops.
（In parallel
I/F mode and serial I/F mode there is no delay）
Power down select
（PD）
Select the Motor winding current value when inputting the power down
signal.This switch setting is only effective in pulse streamI/F mode.
PD Motor winding current
ON Current value by rotary switch STP
（Power Low）
OFF 0A
（Power OFF）
※PD function
（the setting selected by PD of the function select dip switch）
is enabled by PD input signal ON
（built-in photo coupler ON）
of Input/
Output signal connector
（CN2）.Powerdownsignalinputispriortoall
the other current settings except for alarms. The operational status may
not be maintained such as power swing due to output torque drop or
lower operation due to Motor current OFF
（unexcited Motor）.Payextra
attention to the input timing of the power down signal in addition that
the security device should be installed to the machine.
Excitation select
（EORG）
※By turning on the EORG, excitation phase when power OFF is saved.
,Operationmodeselection
（I.SEL, S.SEL）
The operation mode is selected.
I.SEL S.SEL Operation mode
OFF −Pulse streamI/F mode
ON OFF Parallel I/F mode
ON Serial I/F mode
※Change the operation mode selection switch after cutting off the driverʼ
spowersupply.
◎For parallel I/F mode or serial I/F mode
The communication speed of serial communication is
set.
Switch Set value Communication speed(bps)
9,600 19,200 38,400 115,200
F/R OFF ○○○○
ON
LV OFF ○○
ON ○○
PD OFF ○○
ON ○○
※The setting change after the power supply is turned on is invalid.
It does not function as a F/R, LV, and PD.
※The communication speed of pulse streamI/F mode is fixed at 9600bps.
Specification
2-phase STEPPING SYSTEMS
ThefunctionsaccordingtothespecificationcanbeselectedwiththisDipswitch.
Confirmtheex-factorysettingasfollows.
F/R
LV
PD
ＥＯＲＧ
I. SEL
S. SEL
OFF 2 input mode (CW/CCW pulse)
OFF Micro step operation
OFF Power OFF
OFF Phase origin excitation
OFF
OFF
Pulse streamI/F mode
OFF ON
1
2
3
4
5
6
1
2
3
4
5 6
12
Dimensions Stepping Motors with Internal driversStepping motor Set modelIC for stepping motor
■Rotaryswitch(RSW)andthemodechangeswitch(PSW)
When it selects the step angle, the driving current is selected, and stops the
current is selected, set by combining rotary switch (RSW) and mode change
switch (PSW).
1. Step angle select(S.S)
The divisions of the basic step angle (0.9°
/step) when micro step driving can
be set with this rotary switch.
Gradation01234567
Partition 1 2 2.5 4 5 8 10 20
Gradation 8 9 A B C D E F
Partition 25 40 50 80 100 125 200 250
Ex-factory setting is at 1 (division 2)
※The step angle select switch (S.S) and the number of partitions become invalid by EXT input signal ON
(built-in photo coupler ON) of Input/Output signal connector (CN2).
2. Driving current select(RUN)
The Motor operation current value can be selected with this rotary switch.
Gradation01234567
Motor
current (%)
100
(rated) 95 90 85 80 75 70 65
Gradation 8 9 A B C D E F
Motor
current
(%)）60 55 50 45 40 35 30 25
Ex-factory setting is at 0 (rated value).
※When there is a sufficient extra motor torque, lowering the operation current value will be effective in
the lower vibration. The Motor output torque is almost proportional to the current value. When adjusting
the operational torque, confirmthe sufficient operation margin and determine the Motor current value.
3. Current Select when Stop (STP)
The motor current value when stop and when power down input signal ON
(power low function is selected by dip switch) can be selected with this rotary
switch.
Gradation01234567
Motor
current (%)
100
(rated) 95 90 85 80 75 70 65
Gradation 8 9 A B C D E F
Motor
current (%) 60 55 50 45 40 35 30 25
Ex-factory setting is set at A (50%).
※The current setting when stop by STP becomes valid when the Motor stops (approximately 200msafter
the last pulse input) and when power down input signal
◎For pulse stream I/F mode
◎For parallel I/F mode and serial I/F mode
The slave bureau address of serial communications is set with this rotary
switch.
RSW Slave station address (HEX)
00
11
：：
EE
FF
Ex-factory setting is set at 0
※The slave station address of the pulse streamI/F mode is fixed at 0.
(t)
(r)
DC
24V/36V
 Motor cable
●
A
Motor
connector
I/O signal connector
I/O signal cable
DC power
connector
DC power cable
Controller
CanbeconnectedtoSANYODENKI or
third-party controllers.
Standard model :
Hseriesmotor,
SH series motor,
□28mm
（□1.10inch）
/
□42mm
（□1.6 5inch）
/
□56mm
（□2.20inch）
Single
phase
AC100V
to
AC230V
Noise filter
Filters out
incoming noise
frompower line
Molded case
circuit breaker
Protects the power
line.Cutsoffcircuit
in the event of
overcurrent.
Electromagnetic
contactor
Switches driver
power on/off.
Use together with
asurgeprotector.
Switching power
supply
Converts AC power
to DC power
●
AMotor cable
□42mm
（□1.65inch）
■Bundled cable(□42mm motors only)
Lead wire UL1430 AWG26
Housing HER-6 BLACK
（J.S.T Mfg.Co.,Ltd）
Pin SEH-001T-P0.6
（J.S.T Mfg.Co.,Ltd）
500（1.64 feet） MIN.
2
JST
3456
6
5
3
4
2
1
Pin No.
Black
Red
Blue
Yellow
Orange
White
Lead wire color
13
System configuration
DC input
2-phase STEPPING SYSTEMS
Unipolar standard
■Bundled cable(□42mm motors only)
6
5
3
4
2
1
Pin No.
−
−
Lead wire color
2
JST
3456
500（1.64 feet） MIN.
Red
Blue
Yellow
Orange
2
1
3
4
Pin No.
Blue
Orange
Red
Yellow
Lead wire color
500（1.64 feet） MIN.
□60mm
（□2.36inch）
(t)
(r)
Controller
Can be connected to SANYO DENKI or
third-party controllers.
DC
24V/36V
Single
phase
AC100V
to
AC230V
DC power cable
DC power
connector
Standard model :
Hseriesmotor,
SH series motor,
□28mm
（□1.10inch）
/
□42mm
（□1.6 5inch）
/
□50mm
（□1.97in c h）
/
□56mm
（□2.20inch）
/
□60mm
（□2.36inch）
 Motor cable
●
A
Motor
connector
I/O signal connector
I/O signal cable
Noise filter
Filters out
incoming noise
frompower line
Molded case
circuit breaker
Protects the power
line. Cuts off circuit
in the event of
overcurrent.
Electromagnetic
contactor
Switches driver
power on/off.
Use together with
asurgeprotector.
Switching power
supply
Converts AC power
to DC power
Lead wire UL1430 AWG26
Housing HER-6 BLACK
（J.S.T Mfg.Co.,Ltd）
Pin SEH-001T-P0.6
（J.S.T Mfg.Co.,Ltd）
Lead wire UL1430 AWG22
Housing VER-4N
（J.S.T Mfg.Co.,Ltd）
Pin SVH-21T-P1.1
（J.S.T Mfg.Co.,Ltd）
●
AMotor cable
□42mm
（□1.65inch）
14
Dimensions Stepping motorIC for stepping motor
Bipolar standard
DC input
System configuration
Set model Stepping Motors with Internal drivers
2-phase STEPPING SYSTEMS
15
The following set part number specifies a system with an F series unipolar driver（type code : US1D200P10）
and a single shaft H series motor（type code : 103H7121-0440）,□56 mm（□2.20 inch）square flange, and
41.8 mm（1.65 inch）motor length.
DC input
2-phase STEPPING SYSTEMS
Part numbering convention
DH71 1S
U61
Power specification
D:DC
Driver Specification
U : 2-phase unipolar B : 2-phase bipolar
Model
Rated current specification
4 : 1A/phase 5 : 1.2A/phase 6 : 2A/phase
Stepping motor total length
Stepping motor series name
H : H series
S : SH series
Stepping motor flange size
32 : □28mm（□1.10inch）71 : □56mm（□2.20inch）
52 : □42mm（□1.65inch）78 : □60mm（□2.36inch）
Stepping motor shaft spec
S : Single shaft
D : Double shaft
Code
Stepping motor flange size
□28mm
（□1.10inch）□42mm
（□1.65inch）□50mm
（□1.97inch）□56mm
（□2.20inch）□60mm
（□2.36inch）
Type
code
Motor length
:mm
（inch）Type
code
Motor length
:mm
（inch）Type
code
Motor length
:mm
（inch）Type
code
Motor length
:mm
（inch）Type
code
Motor length
:mm
（inch）
1320531
（1.25）5205 33
（1.30）6701 39.8
（1.57）7121 41.8
（1.65）7821 44.8
（1.76）
2520839
（1.54）6703 51.3
（2.02）7123 53.8
（2.12）7822 53.8
（2.12）
3712675.8
（2.89）7823 85.8
（3.38）
4521048
（1.89）
6321550.3
（1.98）
16
Dimensions Stepping motorIC for stepping motor Set model Stepping Motors with Internal drivers
Combinationlistof2-phaseunipolardriver
System type Motor flange size Basic
step angle
Setpartnumber Motor model number Rated current
Single shaft Double shaft Single shaft Double shaft
Standard
model
□28mm
（□1.10inch）1.8°DU14H321S DU14H321D 103H3205-5270 103H3205-5230 1A
1.8°DU14H326S DU14H326D 103H3215-5270 103H3215-5230 1A
□42mm
（□1.65inch）
1.8°DU15H521S DU15H521D 103H5205-0440 103H5205-0410 1.2A
1.8°DU15H522S DU15H522D 103H5208-0440 103H5208-0410 1.2A
1.8°DU15H524S DU15H524D 103H5210-0440 103H5210-0410 1.2A
0.9°DU15S141S DU15S141D SH1421-0441 SH1421-0411 1.2A
0.9°DU15S142S DU15S142D SH1422-0441 SH1422-0411 1.2A
0.9°DU15S144S DU15S144D SH1424-0441 SH1424-0411 1.2A
□56mm
（□2.20inch）1.8°DU16H711S DU16H711D 103H7121-0440 103H7121-0410 2A
1.8°DU16H713S DU16H713D 103H7123-0440 103H7123-0410 2A
1.8°DU16H716S DU16H716D 103H7126-0440 103H7126-0410 2A
Combinationlistof2-phasebipolardriver
System type Motor flange size Basic
step angle
Set part number Motor model number Rated current
Single shaft Double shaft Single shaft Double shaft
Standard
model
□28mm
（□1.10inch）1.8°DB14H321S DB14H321D 103H3205-5770 103H3205-5730 1A
1.8°DB14H326S DB14H326D 103H3215-5770 103H3215-5730 1A
□42mm
（□1.65inch）
1.8°DB14H521S DB14H521D 103H5205-5240 103H5205-5210 1A
1.8°DB14H522S DB14H522D 103H5208-5240 103H5208-5210 1A
1.8°DB14H524S DB14H524D 103H5210-5240 103H5210-5210 1A
0.9°DB16S141S DB16S141D SH1421-5241 SH1421-5211 2A
0.9°DB16S142S DB16S142D SH1422-5241 SH1422-5211 2A
0.9°DB16S144S DB16S144D SH1424-5241 SH1424-5211 2A
□50mm
（□1.97inch）1.8°DB16H671S DB16H671D 103H6701-5040 103H6701-5010 2A
1.8°DB16H672S DB16H672D 103H6703-5040 103H6703-5010 2A
□56mm
（□2.20inch）1.8°DB16H711S DB16H711D 103H7121-5740 103H7121-5710 2A
1.8°DB16H713S DB16H713D 103H7123-5740 103H7123-5710 2A
1.8°DB16H716S DB16H716D 103H7126-5740 103H7126-5710 2A
□60mm
（□2.36inch）
1.8°DB16H781S DB16H781D 103H7821-5740 103H7821-5710 2A
1.8°DB16H782S DB16H782D 103H7822-5740 103H7822-5710 2A
1.8°DB16H783S DB16H783D 103H7823-5740 103H7823-5710 2A
0.9°DB16S161S DB16S161D SH1601-5240 SH1601-5210 2A
0.9°DB16S162S DB16S162D SH1602-5240 SH1602-5210 2A
17
DC input
2-phase STEPPING SYSTEMS
Specifications
0
0.01
0.02
0.03
0.04
0.05
0.1 1 10 100
0
1
2
3
4
5
6
7
8
9
10
Torqu e（N・m）
fs
fs
7
0
6
5
4
3
2
1
0.5
0.4
0.3
0.2
0.1
0
Torqu e（kgf・cm）
Torqu e（oz・in）
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
5000
10 100
1000 2000 3000
100
1000 2000 3000 5 000
0.1 1 10 100
0
1
2
3
4
5
6
7
8
9
10
500
10 20 50 100 200
100
500030001000 2000
fs
fs
0
0.01
0.02
0.03
0.04
0.05
Torqu e（N・m）
7
0
6
5
4
3
2
1
0.5
0.4
0.3
0.2
0.1
0
Torqu e（kgf・cm）
Torqu e（oz・in）
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
Size Motor flange size □42mm
（1.65inch）
/0.9°□56mm（2.20inch）/1.8°
Motor length 48mm（1.89inch）41.8mm（1.65inch）53.8mm（2.12inch）75.8mm（2.98inch）
Set part
number
Single shaft DU15S144S DU16H711S DU16H713S DU16H716S
Double shaft DU15S144D DU16H711D DU16H713D DU16H716D
Holding torque
N
・
m
（
oz
・
in
）
0.39（55.23）0.39（55.23）0.83（117.5）1.27（179.8）
Rotor inertia
×
10
-4
kg
・
m
2
（
oz
・
in
2
）
0.089（0.487）0.1（0.55）0.21（1.15）0.36（1.97）
Mass
（Weight）kg
（lbs）0.38（0.84）0.47（1.04）0.63（1.39）0.98（2.16）
Allowable thrust load N（lbs）10（2.25）15（3.37）15（3.37）15（3.37）
Allowable radial load
（
Note1
）
N（lbs）30（6）71（15）71（15）71（15）
0.1 1 10 100
10
5000
100
1000 20003000
fs
100
1000 2000 3000 5000
fs
14
0
12
10
8
6
4
2
1.0
0.8
0.6
0.4
0.2
0
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.02
0.04
0.06
0.08
0.1
Tor q ue（kgf・cm）
Torq ue（oz・in）
Torq ue（N・m）
0
1
2
3
4
5
6
7
8
9
10
0.1 1 10 100
10
5000
100
1000 2000 3000
fs
100
1000 2000 3000 5000
fs
14
0
12
10
8
6
4
2
1.0
0.8
0.6
0.4
0.2
0
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.02
0.04
0.06
0.08
0.1
Tor q ue（kgf・cm）
Torq ue（oz・in）
Torq ue（N・m）
0
1
2
3
4
5
6
7
8
9
10
0.1 1 10 100
5000
10 100
1000 2000 3000
fs
100
2000 3000 50001000
fs
70
0
60
50
40
30
20
10
5
4
3
2
1
0
Torqu e（kgf・cm）
Torqu e（oz・in）
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.1
0.2
0.3
0.4
0.5
Torqu e（N・m）
0
1
2
3
4
5
6
7
8
9
10
0.1 1 10 100
2000 3000 5000
10 100
1000
fs
100
1000 2000 3000 5000
fs
70
0
60
50
40
30
20
10
5
4
3
2
1
0
Torqu e（kgf・cm）
Torqu e（oz・in）
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.1
0.2
0.3
0.4
0.5
Torqu e（N・m）
0
1
2
3
4
5
6
7
8
9
10
0.1 1 10 100
10
2000 3000 5000
100
1000
fs
100
fs
5000300020001000
70
0
60
50
40
30
20
10
5
4
3
2
1
0
Torqu e（kgf・cm）
Torqu e（oz・in）
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.1
0.2
0.3
0.4
0.5
Torqu e（N・m）
0
1
2
3
4
5
6
7
8
9
10
0.1 1 10 100
2000 3000 5000
10 100
1000
fs
100
fs
1000 2000 3000 5000
70
0
60
50
40
30
20
10
5
4
3
2
1
0
Torqu e（kgf・cm）
Torqu e（oz・in）
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.1
0.2
0.3
0.4
0.5
Torqu e（N・m）
0
1
2
3
4
5
6
7
8
9
10
0.1 1 10 100
10
30002000 5000
100
1000
fs
10 100
fs
1000 2000 3000 5000
140
0
120
100
80
60
40
20
10
8
6
4
2
0
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.2
0.4
0.6
0.8
1.0
Torqu e（kgf・cm）
Torqu e（oz・in）
Torqu e（N・m）
0
1
2
3
4
5
6
7
8
9
10
0.1 1 10 100
10
2000 50003000
100
1000
fs
10 100
1000 500030002000
fs
140
0
120
100
80
60
40
20
10
8
6
4
2
0
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.2
0.4
0.6
0.8
1.0
Torqu e（kgf・cm）
Torqu e（oz・in）
Torqu e（N・m）
0
1
2
3
4
5
6
7
8
9
10
0.1 1 10 100
10
5000300020001000
100
fs
100
2000 30001000 5000
280
0
240
200
160
120
80
40
20
16
12
8
4
0
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.4
0.8
1.2
1.6
2.0
Tor q ue（kgf・cm）
Torq ue（oz・in）
Torq ue（N・m）
0
1
2
3
4
5
6
7
8
9
10
0.1 1 10 100
10
500030002000
100
1000
fs
100
1000 30002000 5000
fs
280
0
240
200
160
120
80
40
20
16
12
8
4
0
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.4
0.8
1.2
1.6
2.0
Tor q ue（kgf・cm）
Torq ue（oz・in）
Torq ue（N・m）
0
1
2
3
4
5
6
7
8
9
10
DC24V
DC36V
DC24V
DC36V
Standard model
Fseriesdriver+HorSHseriesmotor
Unipolar
28 42 56
Motor flange size
（□1.65inch）（□1.10inch）（
□2.20inch）
（Note1）Whenloadisappliedat1/3lengthfromoutputshaftedge.
Size Motor flange size □28mm（1.10inch）/1.8°
Motor length 31mm（1.25inch）50.3mm（1.98inch）
Set part
number
Single shaft DU14H321S DU14H326S
Double shaft DU14H321D DU14H326D
Holding torque
N
・
m
（
oz
・
in
）
0.032（.53）0. 2（.）
Rotor inertia
×
10
-4
kg
・
m
2
（
oz
・
in
2
）
0.00 （0.05）0.01 （0.0 ）
Mass
（Weight）kg
（lbs）0.11（0.2 ）0.2（0. ）
Allowable thrust load N（lbs）3（0. ）3（0. ）
Allowable radial load
（
Note1
）
N（lbs）2（） 2（）
Pu ll -out torque
Source current (load applied)
Source current (no load)
Fs:
Maximumself-start
frequency when not loaded
1-division
2-division
1-division fs
2-division fs
Pu ll -out torque
Source current (load applied)
Source current (no load)
Fs:
Maximumself-start
frequency when not loaded
1- division
2-division
1-division fs
2-division fs
（Note1）Whenloadisappliedat1/3lengthfromoutputshaftedge.
18
Dimensions Stepping motorIC for stepping motor Set model Stepping Motors with Internal drivers
□42mm
（1.65inch）/1.8°
33mm（1.30inch）39mm（1.54inch）48mm（1.89inch）
DU15H521S DU15H522S DU15H524S
DU15H521D DU15H522D DU15H524D
0.2（28.32）0.3（42.48）0.37（52.39）
0.036（0.20）0.056（0.31）0.072（0.34）
0.23（0.51）0.29（0.64）0.37（0.82）
10（2.25）10（2.25）10（2.25）
30（6）30（6）30（6）
0.1 1 10 100
5000
100
1000 2000 3000
fs
100
1000 2000 50003000
fs
70
0
60
50
40
30
20
10
5
4
3
2
1
0
Torqu e（kgf・cm）
Torqu e（oz・in）
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.1
0.2
0.3
0.4
0.5
Torqu e（N・m）
0
1
2
3
4
5
6
7
8
9
10
0.1 1 10 100
50003000
100
1000 2000
fs
100
1000 2000 3000 5000
fs
70
0
60
50
40
30
20
10
5
4
3
2
1
0
Torqu e（kgf・cm）
Torqu e（oz・in）
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.1
0.2
0.3
0.4
0.5
Torqu e（N・m）
0
1
2
3
4
5
6
7
8
9
10
0.1 1 10 100
5000
100
1000 2000 3000
fs
100
1000 2000 50003000
fs
70
0
60
50
40
30
20
10
5
4
3
2
1
0
Torqu e（kgf・cm）
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.1
0.2
0.3
0.4
0.5
Torqu e（N・m）
0
1
2
3
4
5
6
7
8
9
10
Torqu e（oz・in）
0.1 1 10 100
50003000
100
1000 2000
fs
100
1000 2000 50003000
fs
70
0
60
50
40
30
20
10
5
4
3
2
1
0
Torqu e（kgf・cm）
Torqu e（oz・in）
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.1
0.2
0.3
0.4
0.5
Torqu e（N・m）
0
1
2
3
4
5
6
7
8
9
10
0.1 1 10 100
50003000
100
1000 2000
fs
100
1000 2000 3000 5000
fs
70
0
60
50
40
30
20
10
5
4
3
2
1
0
Torqu e（kgf・cm）
Torqu e（oz・in）
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.1
0.2
0.3
0.4
0.5
Torqu e（N・m）
0
1
2
3
4
5
6
7
8
9
10
0.1 1 10 100
50003000
100
1000 2000
fs
100
1000 2000 3000 5000
fs
70
0
60
50
40
30
20
10
5
4
3
2
1
0
Torqu e（kgf・cm）
Torqu e（oz・in）
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.1
0.2
0.3
0.4
0.5
Torqu e（N・m）
0
1
2
3
4
5
6
7
8
9
10
0.1 1 10 100
10
5000
100
300020001000
fs
100
1000 30002000 5000
fs
70
0
60
50
40
30
20
10
5
4
3
2
1
0
Torqu e（kgf・cm）
Torqu e（oz・in）
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.1
0.2
0.3
0.4
0.5
Torqu e（N・m）
0
1
2
3
4
5
6
7
8
9
10
0.1 1 10 100
2000
10 100
1000 50003000
fs
100
1000 2000 3000 5000
fs
70
0
60
50
40
30
20
10
5
4
3
2
1
0
Torqu e（kgf・cm）
Torqu e（oz・in）
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.1
0.2
0.3
0.4
0.5
Torqu e（N・m）
0
1
2
3
4
5
6
7
8
9
10
0.1 1 10 100
5000
10 100
1000 30002000
fs
100
1000 500030002000
fs
70
0
60
50
40
30
20
10
5
4
3
2
1
0
Torqu e（kgf・cm）
Torqu e（oz・in）
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.1
0.2
0.3
0.4
0.5
Torqu e（N・m）
0
1
2
3
4
5
6
7
8
9
10
0.1 1 10 100
2000 50003000
10 100
1000
fs
100
1000 500030002000
fs
70
0
60
50
40
30
20
10
5
4
3
2
1
0
Torqu e（kgf・cm）
Torqu e（oz・in）
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.1
0.2
0.3
0.4
0.5
Torqu e（N・m）
0
1
2
3
4
5
6
7
8
9
10
□42mm
（1.65inch）/0.9°
33mm（1.30inch）39mm（1.54inch）
DU15S141S DU15S142S
DU15S141D DU15S142D
0.2（28.32）0.29（41.07）
0.044（0.24）0.066（0.361）
0.24（0.53）0.29（0.64）
10（2.25）10（2.25）
30（6）30（6）
19
DC input
2-phase STEPPING SYSTEMS
Specifications
0.1 1 10 100
10 500030002000
100
fs
1000
100
fs
1000 2000 3000 5000
14
0
12
10
8
6
4
2
1.0
0.8
0.6
0.4
0.2
0
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.02
0.04
0.06
0.08
0.1
Tor q ue（kgf・cm）
Tor q ue（oz・in）
Tor q ue（N・m）
0
1
2
3
4
5
6
7
8
9
10
0.1 1 10 100
10 500030002000
100
fs
1000
100
fs
1000 2000 3000 5000
14
0
12
10
8
6
4
2
1.0
0.8
0.6
0.4
0.2
0
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.02
0.04
0.06
0.08
0.1
Tor q ue（kgf・cm）
Tor q ue（oz・in）
Tor q ue（N・m）
0
1
2
3
4
5
6
7
8
9
10
Size Motor flange size □42mm
（1.65inch）
/0.9°□50mm（1.97inch）/1.8°□56mm
（2.20inch）
/1.8°
Motor length 48mm（1.89inch）39.8mm（1.57inch）51.3mm（2.02inch）41.8mm（1.65inch）
Set part
number
Single shaft DB16S144S DB16H671S DB16H672S DB16H711S
Double shaft DB16S144D DB16H671D DB16H672D DB16H711D
Holding torque
N
・
m
（
oz
・
in
）
0.48（67.97）0.28（39.6）0.49（69.4）0.39（55.2）
Rotor inertia
×
10
-4
kg
・
m
2
（
oz
・
in
2
）
0.089（0.487）0.057（0.31）0.118（0.65）0.1（0.55）
Mass
（Weight）kg
（lbs）0.38（0.84）0.35（0.77）0.5（1.10）0.47（1.04）
Allowable thrust load N（lbs）10（2.25）15（3.37）15（3.37）15（3.37）
Allowable radial load
（
Note1
）
N（lbs）30（6）99（22）99（22）71（15）
0.1 1 10 100
10 500030002000
100
fs
1000
100
fs
1000 2000 3000 5000
28
0
24
20
16
12
8
4
2.0
1.6
1.2
0.4
0
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.04
0.08
0.12
0.16
0.2
Tor q ue（kgf・cm）
Tor q ue（oz・in）
Tor q ue（N・m）
0
1
2
3
4
5
6
7
8
9
10
0.8
0.1 1 10 100
10 500030002000
100
fs
1000
100
fs
1000 2000 3000 5000
28
0
24
20
16
12
8
4
2.0
1.6
1.2
0.4
0
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.04
0.08
0.12
0.16
0.2
Tor q ue（kgf・cm）
Tor q ue（oz・in）
Tor q ue（N・m）
0
1
2
3
4
5
6
7
8
9
10
0.8
0.1 1 10 100
10 500030002000
100 1000
10 100 1000 20003000 5000
140
0
120
100
80
60
40
20
10
8
6
4
2
0
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.2
0.4
0.6
0.8
1.0
Torqu e（kgf・cm）
Torqu e（oz・in）
Torqu e（N・m）
0
1
2
3
4
5
6
7
8
9
10
0.1 1 10 100
10 500030002000
100 1000
10 100 1000 20003000 5000
140
0
120
100
80
60
40
20
10
8
6
4
2
0
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.2
0.4
0.6
0.8
1.0
Torqu e（kgf・cm）
Torqu e（oz・in）
Torqu e（N・m）
0
1
2
3
4
5
6
7
8
9
10
0.1 1 10 100
10 500030002000
100
fs
1000
fs
500030002000
100 1000
70
0
60
50
40
30
20
10
5
4
3
2
1
0
Torqu e（kgf・cm）
Torqu e（oz・in）
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.1
0.2
0.3
0.4
0.5
Torqu e（N・m）
0
1
2
3
4
5
6
7
8
9
10
0.1 1 10 100
10 500030002000
100
fs
1000
fs
500030002000
100 1000
70
0
60
50
40
30
20
10
5
4
3
2
1
0
Torqu e（kgf・cm）
Torqu e（oz・in）
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.1
0.2
0.3
0.4
0.5
Torqu e（N・m）
0
1
2
3
4
5
6
7
8
9
10
0.1 1 10 100
10 500030002000
100
fs
1000
fs
500030002000
10010 1000
140
0
120
100
80
60
40
20
10
8
6
4
2
0
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.2
0.4
0.6
0.8
1.0
Torqu e（kgf・cm）
Torqu e（oz・in）
Torqu e（N・m）
0
1
2
3
4
5
6
7
8
9
10
0.1 1 10 100
10 500030002000
100
fs
1000
fs
500030002000
10010 1000
140
0
120
100
80
60
40
20
10
8
6
4
2
0
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.2
0.4
0.6
0.8
1.0
Torqu e（kgf・cm）
Torqu e（oz・in）
Torqu e（N・m）
0
1
2
3
4
5
6
7
8
9
10
0.1 1 10 100
10 500030002000
100
fs
1000
fs
500030002000
10010 1000
140
0
120
100
80
60
40
20
10
8
6
4
2
0
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.2
0.4
0.6
0.8
1.0
Torqu e（kgf・cm）
Torqu e（oz・in）
Torqu e（N・m）
0
1
2
3
4
5
6
7
8
9
10
0.1 1 10 100
10 500030002000
100
fs
1000
fs
500030002000
10010 1000
140
0
120
100
80
60
40
20
10
8
6
4
2
0
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.2
0.4
0.6
0.8
1.0
Torqu e（kgf・cm）
Torqu e（oz・in）
Torqu e（N・m）
0
1
2
3
4
5
6
7
8
9
10
DC24V
DC36V
DC24V
DC36V
Standard model
Fseriesdriver+HorSHseriesmotor
Bipolar
28 42 50
Motor flange size
56 60
（□1.65inch）（
□1.97inch）（
□2.20inch）（
□2.36inch）（□1.10inch）
Pu ll -out torque
Source current (load applied)
Source current (no load)
Fs:
Maximumself-start
frequency when not loaded
1-division
2-division
1-division fs
2-division fs
Size Motor flange size □28mm（□1.10inch）/1.8°
Motor length 31mm（1.25inch）50.3mm（1.98inch）
Set part
number
Single shaft DB14H321S DB14H326S
Double shaft DB14H321D DB14H326D
Holding torque
N
・
m
（
oz
・
in
）
0.04 （6. 0）0.1（14.16）
Rotor inertia
×
10
-4
kg
・
m
2
（
oz
・
in
2
）
0.00 （0.05）0.016（0.0 ）
Mass
（Weight）kg
（lbs）0.11（0.24）0.2（0.44）
Allowable thrust load N（lbs）3（0.6 ）3（0.6 ）
Allowable radial load
（
Note1
）
N（lbs）42（） 42（）
（Note1）Whenloadisappliedat1/3lengthfromoutputshaftedge.
Pu ll -out torque
Source current (load applied)
Source current (no load)
Fs:
Maximumself-start
frequency when not loaded
1- division
2-division
1-division fs
2-division fs
（Note1）Whenloadisappliedat1/3lengthfromoutputshaftedge.
20
Dimensions Stepping motorIC for stepping motor Set model Stepping Motors with Internal drivers
□42mm（1.65inch）/1.8°
33mm（1.30inch）39mm（1.54inch）48mm（1.89inch）
DB14H521S DB14H522S DB14H524S
DB14H521D DB14H522D DB14H524D
0.265（37.53）0.39（55.23）0.51（72.22）
0.036（0.20）0.056（0.31）0.072（0.34）
0.23（0.51）0.29（0.64）0.37（0.82）
10（2.25）10（2.25）10（2.25）
30（6）30（6）30（6）
0.1 1 10 100
10 500030002000
100
fs
1000
100
fs
1000 2000 3000 5000
70
0
60
50
40
30
20
10
5
4
3
2
1
0
Torqu e（kgf・cm）
Torqu e（oz・in）
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.1
0.2
0.3
0.4
0.5
Torqu e（N・m）
0
1
2
3
4
5
6
7
8
9
10
0.1 1 10 100
10 500030002000
100
fs
1000
100
fs
1000 2000 3000 5000
70
0
60
50
40
30
20
10
5
4
3
2
1
0
Torqu e（kgf・cm）
Torqu e（oz・in）
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.1
0.2
0.3
0.4
0.5
Torqu e（N・m）
0
1
2
3
4
5
6
7
8
9
10
0.1 1 10 100
10 500030002000
100
fs
1000
100
fs
1000 2000 3000 5000
70
0
60
50
40
30
20
10
5
4
3
2
1
0
Torqu e（kgf・cm）
Torqu e（oz・in）
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.1
0.2
0.3
0.4
0.5
Torqu e（N・m）
0
1
2
3
4
5
6
7
8
9
10
0.1 1 10 100
10 500030002000
100
fs
1000
100
fs
1000 2000 3000 5000
70
0
60
50
40
30
20
10
5
4
3
2
1
0
Torqu e（kgf・cm）
Torqu e（oz・in）
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.1
0.2
0.3
0.4
0.5
Torqu e（N・m）
0
1
2
3
4
5
6
7
8
9
10
0.1 1 10 100
10 500030002000
100
fs
1000
fs
10 500030002000
100 1000
140
0
120
100
80
60
40
20
10
8
6
4
2
0
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.2
0.4
0.6
0.8
1.0
Torqu e（kgf・cm）
Torqu e（oz・in）
Torqu e（N・m）
0
1
2
3
4
5
6
7
8
9
10
0.1 1 10 100
10 500030002000
100
fs
1000
fs
10 500030002000
100 1000
140
0
120
100
80
60
40
20
10
8
6
4
2
0
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.2
0.4
0.6
0.8
1.0
Torqu e（kgf・cm）
Torqu e（oz・in）
Torqu e（N・m）
0
1
2
3
4
5
6
7
8
9
10
0.1 1 10 100
10 500030002000
100
fs
1000
fs
500030002000
100 1000
70
0
60
50
40
30
20
10
5
4
3
2
1
0
Torqu e（kgf・cm）
Torqu e（oz・in）
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.1
0.2
0.3
0.4
0.5
Torqu e（N・m）
0
1
2
3
4
5
6
7
8
9
10
0.1 1 10 100
10 500030002000
100
fs
1000
fs
500030002000
100 1000
70
0
60
50
40
30
20
10
5
4
3
2
1
0
Torqu e（kgf・cm）
Torqu e（oz・in）
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.1
0.2
0.3
0.4
0.5
Torqu e（N・m）
0
1
2
3
4
5
6
7
8
9
10
0.1 1 10 100
10 500030002000
100
fs
1000
fs
500030002000
100 1000
70
0
60
50
40
30
20
10
5
4
3
2
1
0
Torqu e（kgf・cm）
Torqu e（oz・in）
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.1
0.2
0.3
0.4
0.5
Torqu e（N・m）
0
1
2
3
4
5
6
7
8
9
10
0.1 1 10 100
10 500030002000
100
fs
1000
fs
500030002000
100 1000
70
0
60
50
40
30
20
10
5
4
3
2
1
0
Torqu e（kgf・cm）
Torqu e（oz・in）
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.1
0.2
0.3
0.4
0.5
Torqu e（N・m）
0
1
2
3
4
5
6
7
8
9
10
□56mm（2.20inch）/1.8°□60mm（2.36inch）/1.8°
53.8mm（2.12inch）75.8mm（2.98inch）44.8mm（1.76inch）53.8mm（2.12inch）85.8mm（3.38inch）
DB16H713S DB16H716S DB16H781S DB16H782S DB16H783S
DB16H713D DB16H716D DB16H781D DB16H782D DB16H783D
0.83（117.5）1.27（179.8）0.88（124.6）1.37（194.0）2.7（382.3）
0.21（1.15）0.36（1.97）0.275（1.50）0.4（2.19）0.84（4.59）
0.65（1.43）0.98（2.16）0.6（1.32）0.77（1.70）1.34（2.95）
15（3.37）15（3.37）15（3.37）15（3.37）15（3.37）
71（15）71（15）95（21）95（21）95（21）
0.1 1 10 100
10 500030002000
100
fs
1000
fs
500030002000
100 1000
280
0
240
200
160
120
80
40
20
16
12
8
4
0
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.4
0.8
1.2
1.6
2.0
Tor q ue（kgf・cm）
Tor q ue（oz・in）
Tor q ue（N・m）
0
1
2
3
4
5
6
7
8
9
10
0.1 1 10 100
10 500030002000
100
fs
1000
fs
500030002000
100 1000
280
0
240
200
160
120
80
40
20
16
12
8
4
0
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.4
0.8
1.2
1.6
2.0
Tor q ue（kgf・cm）
Tor q ue（oz・in）
Tor q ue（N・m）
0
1
2
3
4
5
6
7
8
9
10
0.1 1 10 100
10 500030002000
100
fs
1000
fs
500030002000
100 1000
280
0
240
200
160
120
80
40
20
16
12
8
4
0
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.4
0.8
1.2
1.6
2.0
Tor q ue（kgf・cm）
Tor q ue（oz・in）
Tor q ue（N・m）
0
1
2
3
4
5
6
7
8
9
10
0.1 1 10 100
10 500030002000
100
fs
1000
fs
500030002000
100 1000
280
0
240
200
160
120
80
40
20
16
12
8
4
0
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.4
0.8
1.2
1.6
2.0
Tor q ue（kgf・cm）
Tor q ue（oz・in）
Tor q ue（N・m）
0
1
2
3
4
5
6
7
8
9
10
0.1 1 10 100
10 500030002000
100
fs
1000
fs
500030002000
100 1000
280
0
240
200
160
120
80
40
20
16
12
8
4
0
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.4
0.8
1.2
1.6
2.0
Tor q ue（kgf・cm）
Tor q ue（oz・in）
Tor q ue（N・m）
0
1
2
3
4
5
6
7
8
9
10
0.1 1 10 100
10 500030002000
100
fs
1000
fs
500030002000
100 1000
280
0
240
200
160
120
80
40
20
16
12
8
4
0
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.4
0.8
1.2
1.6
2.0
Tor q ue（kgf・cm）
Tor q ue（oz・in）
Tor q ue（N・m）
0
1
2
3
4
5
6
7
8
9
10
0.1 1 10 100
10 500030002000
100
fs
1000
fs
500030002000
100 1000
280
0
240
200
160
120
80
40
20
16
12
8
4
0
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.4
0.8
1.2
1.6
2.0
Tor q ue（kgf・cm）
Tor q ue（oz・in）
Tor q ue（N・m）
0
1
2
3
4
5
6
7
8
9
10
0.1 1 10 100
10 500030002000
100
fs
1000
fs
500030002000
100 1000
280
0
240
200
160
120
80
40
20
16
12
8
4
0
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.4
0.8
1.2
1.6
2.0
Tor q ue（kgf・cm）
Tor q ue（oz・in）
Tor q ue（N・m）
0
1
2
3
4
5
6
7
8
9
10
0.1 1 10 100
10 500030002000
100
fs
1000
fs
500030002000
100 1000
700
0
600
500
400
300
200
100
50
40
30
20
10
0
Torqu e（kgf・cm）
Torqu e（oz・in）
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
1
2
3
4
5
Torqu e（N・m）
0
1
2
3
4
5
6
7
8
9
10
0.1 1 10 100
10 500030002000
100
fs
1000
fs
500030002000
100 1000
700
0
600
500
400
300
200
100
50
40
30
20
10
0
Torqu e（kgf・cm）
Torqu e（oz・in）
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
1
2
3
4
5
Torqu e（N・m）
0
1
2
3
4
5
6
7
8
9
10
□42mm（1.65inch）/0.9°
33mm（1.30inch）39mm（1.54inch）
DB16S141S DB16S142S
DB16S141D DB16S142D
0.23（32.57）0.34（48.15）
0.044（0.24）0.066（0.361）
0.24（0.53）0.29（0.64）
10（2.25）10（2.25）
30（6）30（6）
21
DC input
2-phase STEPPING SYSTEMS
Specifications
0.1 1 10 100
10 500030002000
100 1000
fs
10 100
fs
1000 20003000 5000
140
0
120
100
80
60
40
20
10
8
6
4
2
0
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.2
0.4
0.6
0.8
1.0
Torqu e（kgf・cm）
Torqu e（oz・in）
Torqu e（N・m）
0
1
2
3
4
5
6
7
8
9
10
0.1 1 10 100
10 500030002000
100 1000
fs
10 100 1000 20003000 5000
fs
140
0
120
100
80
60
40
20
10
8
6
4
2
0
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.2
0.4
0.6
0.8
1.0
Torqu e（kgf・cm）
Torqu e（oz・in）
Torqu e（N・m）
0
1
2
3
4
5
6
7
8
9
10
0.1 1 10 100
10 500030002000
100
fs
1000
10 100
fs
1000 20003000 5000
280
0
240
200
160
120
80
40
20
16
12
8
4
0
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.4
0.8
1.2
1.6
2.0
Tor q ue（kgf・cm）
Tor q ue（oz・in）
Tor q ue（N・m）
0
1
2
3
4
5
6
7
8
9
10
0.1 1 10 100
10 100
fs
1000 20003000 5000
500030002000
100
fs
1000
280
0
240
200
160
120
80
40
20
16
12
8
4
0
Source current（A）
Pulse rate（kpulse/s）
Number of rotations（min-1）
2-division
1-division
0
0.4
0.8
1.2
1.6
2.0
Tor q ue（kgf・cm）
Tor q ue（oz・in）
Tor q ue（N・m）
0
1
2
3
4
5
6
7
8
9
10
DC24V
DC36V
Pull-out torque
Source current (load applied)
Source current (no load)
Fs:
Maximum self-start
frequency when not loaded
1-division
2-division
1-division fs
2-division fs
Size Motor flange size □60mm（2.36inch）/0.9°
Motor length 42mm（16.54inch）54mm（21.26inch）
Set part
number
Single shaft DB16S161S DB16S162S
Double shaft DB16S161D DB16S162D
Holding torque
N
・
m
（
oz
・
in
）
0.69（97.71）1.28（181.26）
Rotor inertia
×
10
-4
kg
・
m
2
（
oz
・
in
2
）
0.24（1.312）0.4（2.187）
Mass
（Weight）kg
（lbs）0.55（1.21）0.8（1.76）
Allowable thrust load N（lbs）15（3.37）15（3.37）
Allowable radial load
（
Note1
）
N（lbs）79（18）79（18）
（Note1）Whenloadisappliedat1/3lengthfromoutputshaftedge.
22
Dimensions Stepping motorIC for stepping motor Set model Stepping Motors with Internal drivers
Specifications of Drivers
■Unipolar
■Bipolar
Model number US1D200P10
Basic
specifications
Input source DC24 V / 36 V ±10 ％
Source current 3A
Environment Protection class Class III
Operation environment Installation category（over-voltage category）: I, pollution degree : 2
Applied standards EN61010-1，UL508C
Ambient operation temperature 0to+50℃
Conservation temperature -20 to +70℃
Operating ambient humidity 35 to 85% RH（no condensation）
Conservation humidity 10 to 90% RH（no condensation）
Operation altitude 1000 m（3280 feet）or less above sea level
Vibration resistance Tested under the following conditions; 4.9 m/s2, frequency range 10 to 55Hz, direction along X, Y and Z
axes, for 2 hours each
Impact resistance Not influenced at NDS-C-0110 standard section 3.2.2 division “C”.
Withstand voltage Not influenced when 1500 V AC is applied between power input terminal and cabinet for one minute.
Insulation resistance 10 M ΩMIN. when measured with 500V DC megohmmeter between input terminal and cabinet.
Mass（Weight）0.08 kg（0.18 lbs）
Functions Selection functions Step angle, Pulse input mode, Step current, Operating current.
Protection functions Open phase protection
LED indication Power monitor, alarm
I/O signals Command pulse input signal Photo-coupler input system, input resistance : 220 Ω
input-signal “H”level : 4.0 to 5.5 V, input-signal “L”level : 0 to 0.5 V
Maximum input frequency : 35 kpulse/s
Poweer down input signal Photo-coupler input system, input resistance : 220 Ω
input-signal “H”level : 4.0 to 5.5V, input-signal “L”level : 0 to 0.5 V
Phase origin monitor output signal From the photo coupler by the open collector output
Output specification : Vceo = 40 V MAX., Ic = 10 mA MAX.
Rotation monitor output signal From the photo coupler by the open collector output
Output specification : Vceo = 40 V MAX., Ic = 10 mA MAX.
Model number BS1D200P10
Basic
specifications
Input source DC24 V / 36 V ±10 ％
Source current 3A
Environment Protection class Class III
Operation environment Installation category（over-voltage category）: I, pollution degree : 2
Applied standards EN61010-1，UL508C
Ambient operation temperature 0to+50℃
Conservation temperature -20 to +70℃
Operating ambient humidity 35 to 85% RH（no condensation）
Conservation humidity 10 to 90% RH（no condensation）
Operation altitude 1000 m（3280 feet）or less above sea level
Vibration resistance Tested under the following conditions; 4.9m/s2, frequency range 10 to 55Hz, direction along X, Y and Z
axes, for 2 hours each
Impact resistance Not influenced at NDS-C-0110 standard section 3.2.2 division “C”.
Withstand voltage Not influenced when 1500 V AC is applied between power input terminal and cabinet for one minute.
Insulation resistance 10 M ΩMIN. when measured with 500 V DC megohmmeter between input terminal and cabinet.
Mass（Weight）0.08 kg（0.18 lbs）
Functions Selection functions Step angle, Pulse input mode, Step current, Operating current.
Protection functions Open phase protection
LED indication Power monitor, alarm
I/O signals Command pulse input signal Photo-coupler input system, input resistance : 220 Ω
input-signal “H”level : 4.0 to 5.5 V, input-signal “L”level : 0 to 0.5 V
Maximum input frequency : 150 kpulse/s
Poweer down input signal Photo-coupler input system, input resistance : 220 Ω
input-signal “H”level : 4.0 to 5.5V, input-signal “L”level : 0 to 0.5 V
Phase origin monitor output signal From the photo coupler by the open collector output
Output specification : Vceo = 40 V MAX., Ic = 10 mA MAX.
Rotation monitor output signal From the photo coupler by the open collector output
Output specification : Vceo = 40 V MAX., Ic = 10 mA MAX.
2323
Operation, Connection, and Function
■Each section name of the drivers
Unipolar
1Power supply connector
（CN3）
Connectthemaincircuitpowersupply.
2I/O signal connector
（CN1）
ConnecttheI/Osignal.
3LEDforpowersupplymonitor
（POW）
Litupwhenthemaincircuitpowersupplyisconnected.
4Function selection DIP switchpack
Selectthefunctiondependingonyourspecification.
5Drivingcurrentselectionswitch
（RUN）
Youcanselectthevalueofthemotorcurrentwhendriving.
6LEDforalarmdisplay
（ALM）
Litwhenanalarmisgenerated.
7Motor connector
（CN2）
Connect the motorʼspowerline.
Bipolar
1Power supply connector
（CN3）
Connectthemaincircuitpowersupply.
2I/O signal connector
（CN1）
ConnecttheI/Osignal.
3LEDforpowersupplymonitor
（POW）
Litupwhenthemaincircuitpowersupplyisconnected.
4Function selection DIP switchpack
Selectthefunctiondependingonyourspecification.
5Drivingcurrentselectionswitch
（RUN）
Youcanselectthevalueofthemotorcurrentwhendriving.
6LEDforalarmdisplay
（ALM）
Litwhenanalarmisgenerated.
7Motor connector
（CN2）
Connect the motorʼspowerline.
12 6
3
5
7
4
2
3
7
4
6
5
1
Signal name CN1 Pin
number Function
CW pulse input
（standard）1
2
When using “2-input mode”
DrivepulsefortheCWdirectionrotationisinput.
Pulse column input 1
2
When using “Pulseanddirectionmode
”
Drivepulsetrainforthesteppingmotorrotationis
input.
CCW pulse input
（standard）3
4
When using “2-input mode”
Drive pulse for the CCW direction rotation is input.
Rotation direction
input
3
4
Therotationdirectionsignalofsteppingmotoris
input for the “Pulseanddirectionmode
”.
Internal photocoupler ON…CW direction
Internal photocoupler OFF…CCW direction
Power down input 5
6
InputtingthePDsignalcutsOFFthecurrentflowing
through the stepping motor.
IinternalphotocouplerON
…PD function enable
d
Iinternal photocoupler OFF
…
PD function disabled
Phase origin
monitor output
7
8
It is turned ON when the excitation phase is at the
origin
（in the state when the power is turned ON）
It is turned ON once per 10 pulses when setting to
HALF step.
It is turned ON once per 20 pulses when setting to
FULL step.
Alarm output 9
10
Thesignalisexternallyoutputwhenoneofseveral
alarmcircuitsoperatesinthePMdriver.Atthistime,
thesteppingmotorisintheunexcitedstate.
■SpecificationsummaryofCN1I/Osignal
TheCWrotationdirectionofsteppingmotormeanstheclockwisedirectionrotationas
viewedfromtheoutputshaftside
（flange side）.TheCCWrotationdirectionmeansthe
counterclockwisedirectionrotationasviewedfromtheoutputshaftside
（flange side）
.
DC input
2-phase STEPPING SYSTEMS
Specifications
24
Dimensions Stepping motorIC for stepping motor
24
Set model Stepping Motors with Internal drivers
Input circuit configuration（CW and CCW Pulse input）
EX1 EX2 EX3 Partition number
ON ON ON 1-division
OFF ON OFF 2-division
ON OFF OFF 4-division
OFF OFF OFF 8-division
OFF OFF ON 16-division
Step angle select
（EX1、EX2、EX3）
Select the partition number of the basic step angle.
Unipolar
External wiring diagram
Functions can be selected according to the specification with
the dip switch.
Check that the ex-factory settings are as follows.
EX1
EX2
EX3
F/R
ACD1
ACD2
LV
EORG
OFF
OFF Partition number: 8
OFF
OFF Input method 2 (CW/CCW pulse input)
OFF
Stopping current: 40% of driving current
OFF
OFF Micro step operation
OFF Phase origin
OFF ON
Bipolar
Part Wire size Allowable wire length
For power supply AWG22(0.3 mm2) 2mMAX.
For input/output
signal AWG24(0.2 mm2)toAWG22(0.3mm
2) 2mMAX.
For motor AWG22(0.3 mm2) 3mMAX.
■Applicable Wire Sizes
DC24G/36G
DC24V/36V
2
2
4
1
2
5
6
7
8
9
10
CN3
3M
6
5
4
3
1
CN1
1
CN2
11
DC24V/36V
DC24G/36G
3
4
2
4
CN3
10
9
8
7
6
5
2
1
3
2
CN2CN1
M
CW pulse input
CCW pulse input
Power down input
Phase origin monitor
output
Alarm output
CW pulse input
CCW pulse input
Power down input
Phase origin monitor
output
Alarm output
White
Black
Orange
Blue
Red
Yellow
Orange
Blue
Red
Yellow
F/R Inputpulse type
ON 1 input
（Pluse&direction）
OFF 2 input
（CW, CCW）
Input method select
（F/R）
Selects input pulse type
ACD2 ACD1 Current value of the motor
ON ON 100% of driving current
ON OFF 60% of driving current
OFF ON 50% of driving current
OFF OFF 40% of driving current
Current selection when stopping
（ACD1、
ACD2）
Select the current value of the motor when stopping.
LV Operation
ON Auto-micro function
OFF Micro-step
Low-vibration mode select
（LV）
Provides low-vibration, smooth operation even if
resolution is rough（1-division, 2-division, etc）
EORG Original excitation phase
ON Excitation phase at power shut off
OFF Phase origin
Excitation select
（EORG）
The excitation phase when the power supply is
turned on is selected.
4
2 7
ByturningontheEORG,excitationphasewhenpowerOFFwillbe
saved.Therefore,therewillbenoshaftdisplacementwhenturning
the power ON.
ByturningontheEORG,excitationphasewhenpowerOFFwillbe
saved.Therefore,therewillbenoshaftdisplacementwhenturning
the power ON.
2525
2-input mode（CW, CCW）
■Timing of the command pulse
Input circuit configuration of CW（CK）, CCW（U/D）
•Pulseduty50%MAX.
• Maximum input frequency:150kpulse/s
•Whenthecrestvalueoftheinputsignalexceeds5V,
usetheexternallimitresistanceRtolimittheinput
current to approximately 15mA.
■Inputsignalspecifications
1μs MAX.
3μs MIN.
1μs MAX.
90%
4.0 to 5.5V
0 to 0.5V
Rotation
50%
10%
Photo coupler type
50μs.MIN.
ON
OFF
ON
OFF
1 input type（CW, CCW）
50μs.MIN. 10μs .MIN.
ON
OFF
ON
OFF
• Shaded area indicates internal photo coupler “ON”. Internal circuit
（motor）
starts operating at leading edge of the photo coupler “ON”.
• To apply pulse to CW, set CCW side internal photo coupler to “OFF”.
• To apply pulse to CCW, set CW side internal photo coupler to “OFF”.
• Shaded area indicates internal photo coupler “ON”. Internal circuit
（motor）
starts operating at leading edge of CK side photo coupler “ON”.
• Switching of U/D input signal must be done while CK side internal photo
coupler is “OFF”.
+5V 1(3)
2(4)
R
220Ω
1000pF
Input signal
Driver
Specifications
2-phase STEPPING SYSTEMS
26
Dimensions Stepping Motors with Internal driversStepping motorIC for stepping motor
26
MON output
Set model
Input circuit configuration of PD
+5V 5
6
R
220Ω
1000pF
Input signal
Driver
• When the crest value of the input signal exceeds 5V,
usetheexternallimitresistanceRtolimittheinput
current to approximately 15mA.
Output signal configuration of MON, AL
Driver
7(9)
8(10)
MAX. 10 mA
MAX. 40 V
CW pulse
CCW pulse
Mon output
• Photo coupler at phase origin of motor excitation is set
to “ON”.（setting when number of divisions is 2）
• Output from MON is set to on at every 7.2 degrees of
motor output shaft from phase origin.
27
Stepping motor
2-phase STEPPING SYSTEMS
Specifications
2-phasesteppingmotor
42mm sq.
（1.65inch sq.）
SH142□
0.9°/step
Sanyo constant current circuit
Sourcevoltage:DC24V
・
operatingcurrent:1.2A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
0.94x10
-4
kg
・
m
2
（
5.14 oz
・
in
2
）
Use the rubber coupling
］
●SH1421-04 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
70
0
60
50
40
30
20
10
Torqu e（kgf・cm）
Torqu e（oz・in）
Torqu e（N・m）
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Pull-out torque at J
L1
■Pulse rate-torque characteristics
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
70
0
60
50
40
30
20
10
Torqu e（kgf・cm）
Torqu e（oz・in）
Torqu e（N・m）
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Pull-out torque at J
L1
●SH1422-04 □□ ● SH1424-04 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
70
0
60
50
40
30
20
10
Torqu e（kgf・cm）
Torqu e（oz・in）
Torqu e（N・m）
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Pull-out torque at J
L1
Unipolar winding
Model Holding torque at 2-phase
energization Rated current Wiring resistance Winding inductance Rotor inertia Mass（Weight）
Single shaft Double shafts [N・m
（oz・in）MIN.] A/phase Ω
/phase mH/phase [×10 -4kg
・m2
（oz
・in2）
][kg
（Ibs）
]
SH1421-0441 -0411 0.20（28.32）1.2 2.7 3.2 0.044（0.241）0.24（0.53）
SH1422-0441 -0411 0.29（41.07）1.2 3.1 5.3 0.066（0.361）0.29（0.64）
SH1424-0441 -0411 0.39（55.23）1.2 3.5 5.3 0.089（0.487）0.38（0.84）
Sanyo constant current circuit
Source voltage : DC24V
・
operating current : 1.2A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
0.94x10
-4
kg
・
m
2
（
5.14 oz
・
in
2
）
Use the rubber coupling
］
Sanyo constant current circuit
Sourcevoltage:DC24V
・
operatingcurrent:1.2A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
0.94x10
-4
kg
・
m
2
（
5.14 oz
・
in
2
）
Use the rubber coupling
］
28
Dimensions Stepping Motors with Internal driversStepping motor Set modelIC for stepping motor
2-phasesteppingmotor
60mm sq.
（2.36inch sq.）
SH160 □
0.9°/step
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L1
280
0
240
200
160
120
80
40
20
16
12
8
4
0 0
0.4
0.8
1.2
1.6
2.0
Torqu e（kgf・cm）
Torqu e（oz・in）
Torqu e（N・m）
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L1
560
0
480
400
320
240
160
80
40
32
24
16
8
0 0
0.8
1.6
2.4
3.2
4.0
Torqu e（kgf・cm）
Torqu e（oz・in）
Torqu e（N・m）
■Pulse rate-torque characteristics
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L1
140
0
120
100
80
60
40
20
10
8
6
4
2
0 0
0.2
0.4
0.6
0.8
1.0
Torqu e（kgf・cm）
Torqu e（oz・in）
Torqu e（N・m）
●SH1601-04 □□ ● SH1602-04 □□ ● SH1603-04 □□
Unipolar winding
Model Holding torque at 2-phase
energization Rated current Wiring resistance Winding inductance Rotor inertia Mass（Weight）
Single shaft Double shafts [N・m
（oz・in）MIN.] A/phase Ω
/phase mH/phase [×10 -4kg
・m2
（oz
・in2）
][kg
（Ibs）
]
SH1601-0440 -0410 0.69（97.71）21.2 3.5 0.24（1.312）0.55（1.21）
SH1602-0440 -0410 1.28（181.26）21.65 6.1 0.4（2.187）0.8（1.76）
SH1603-0440 -0410 2.15（304.47）22.3 8.8 0.75（4.101）1.2（2.64）
Sanyo constant current circuit
Sourcevoltage:DC24V
・
operatingcurrent:2A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
0.94x10
-4
kg
・
m
2
（
5.14 oz
・
in
2
）
use the rubber coupling
］
Sanyo constant current circuit
Source voltage : DC24V
・
operatingcurrent:2A/phase,
2-phase energization
（
full-step
）
J
L2
=
［
2.6x10
-4
kg
・
m
2
（
14.22 oz
・
in
2
）
use the rubber coupling
］
Sanyo constant current circuit
Source voltage : DC24V
・
operating current : 2A/phase,
2-phase energization
（
full-step
）
J
L3
=
［
7.2x10
-4
kg
・
m
2
（
39.37 oz
・
in
2
）
use the rubber coupling
］
29
Stepping motor
2-phase STEPPING SYSTEMS
Specifications
●103H3205-50 □□ ● 103H3205-51 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min-1）
7
0
6
5
4
3
2
1
Torque（kgf・cm）
Tor que（oz・in）
Torque（N・m）
0.1
0.2
0.3
0.4
0.5
0
0.01
0.02
0.03
0.04
0.05
0
Pull-out torque at J
L1
Starting
torque at J
L2
●103H3215-51 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min-1）
Starting
torque at J
L2
Pull-out torque at J
L1
14
0
12
10
8
6
4
2
0
0.02
0.04
0.06
0.08
0.1
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
1.0
0.8
0.6
0.4
0.2
0
2-phasesteppingmotor
28mmsq.
（1.10inch sq.）
103H32 □□
1.8°/step
■Pulse rate-torque characteristics
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min-1）
7
0
6
5
4
3
2
1
Tor que（kgf・cm）
Torque（oz・in）
Tor que（N・m）
0.1
0.2
0.3
0.4
0.5
0
0.01
0.02
0.03
0.04
0.05
0
Starting
torque at J
L2
Pull-out torque at J
L1
Unipolar winding・connector type
Model Holding torque at 2-phase
energization Rated current Wiring resistance Winding inductance Rotor inertia Mass（Weight）
Single shaft Double shafts [N・m
（oz・in）MIN.] A/phase Ω
/phase mH/phase [×10 -4kg
・m2
（oz
・in2）
][kg
（Ibs）
]
103H3205-5040 -5010 00.32（4.53）0.25 40 9.1 0.009（0.05）0.11（0.24）
103H3205-5140 -5110 00.32（4.53）0.5 9.4 2.4 0.009（0.05）0.11（0.24）
103H3215-5140 -5110 00.62（8.78）0.5 11 3.1 0.016（0.09）0.2（0.44）
103H3215-5240 -5210 00.62（8.78）12.6 0.8 0.016（0.09）0.2（0.44）
Unipolar winding・lead wire type
Model Holding torque at 2-phase
energization Rated current Wiring resistance Winding inductance Rotor inertia Mass（Weight）
Single shaft Double shafts [N・m
（oz・in）MIN.] A/phase Ω
/phase mH/phase [×10 -4kg
・m2
（oz
・in2）
][kg
（Ibs）
]
103H3205-5070 -5030 00.32（4.53）0.25 40 9.1 0.009（0.05）0.11（0.24）
103H3205-5170 -5130 00.32（4.53）0.5 9.4 2.4 0.009（0.05）0.11（0.24）
103H3215-5170 -5130 00.62（8.78）0.5 11 3.1 0.016（0.09）0.2（0.44）
103H3215-5270 -5230 00.62（8.78）12.6 0.8 0.016（0.09）0.2（0.44）
Bipolar winding
Model Holding torque at 2-phase
energization Rated current Wiring resistance Winding inductance Rotor inertia Mass（Weight）
Single shaft Double shafts [N・m
（oz・in）MIN.] A/phase Ω
/phase mH/phase [×10 -4kg
・m2
（oz
・in2）
][kg
（Ibs）
]
103H3205-5570 -5530 0.048（6.80）0.25 38.3 19.5 0.009（0.05）0.11（0.24）
103H3205-5670 -5630 0.051（7.22）0.5 10.4 6.2 0.009（0.05）0.11（0.24）
103H3205-5770 -5730 0.051（7.22）12.5 1.6 0.009（0.05）0.11（0.24）
103H3215-5570 -5530 0.09（12.74）0.25 51.8 30.7 0.016（0.09）0.2（0.44）
103H3215-5670 -5630 0.09（12.74）0.5 12.5 8 0.016（0.09）0.2（0.44）
103H3215-5770 -5730 0.1（14.16）13.5 2.3 0.016（0.09）0.2（0.44）
Sanyo constant current circuit
Source voltage : DC24V
・
operating current : 0.5A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
0.01x10
-4
kg
・
m
2
（
0.05 oz
・
in
2
）
pulley balancer method
］
J
L2
=
［
0.01x10
-4
kg
・
m
2
（
0.05 oz
・
in
2
）
pulley balancer method
］
Sanyo constant current circuit
Sourcevoltage:DC24V
・
operatingcurrent:0.25A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
0.01x10
-4
kg
・
m
2
（
0.05 oz
・
in
2
）
pulley balancer method
］
J
L2
=
［
0.01x10
-4
kg
・
m
2
（
0.05 oz
・
in
2
）
pulley balancer method
］
Sanyo constant current circuit
Sourcevoltage:DC24V
・
operatingcurrent:0.5A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
0.01x10
-4
kg
・
m
2
（
0.05 oz
・
in
2
）
pulley balancer method
］
J
L2
=
［
0.01x10
-4
kg
・
m
2
（
0.05 oz
・
in
2
）
pulley balancer method
］
30
Dimensions Stepping Motors with Internal driversStepping motor Set modelIC for stepping motor
●103H3215-57 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min-1）
Starting
torque at J
L2
Pull-out torque at J
L1
14
0
12
10
8
6
4
2
0
0.02
0.04
0.06
0.08
0.1
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
1.0
0.8
0.6
0.4
0.2
0
●103H3205-57 □□ ● 103H3215-55 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min-1）
Starting
torque at J
L2
Pull-out torque at J
L1
14
0
12
10
8
6
4
2
0
0.02
0.04
0.06
0.08
0.1
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
1.0
0.8
0.6
0.4
0.2
0
■103-H3215-56 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min-1）
Starting
torque at J
L2
Pull-out torque at J
L1
14
0
12
10
8
6
4
2
0
0.02
0.04
0.06
0.08
0.1
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
1.0
0.8
0.6
0.4
0.2
0
●103H3215-52 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min-1）
Starting
torque at J
L2
Pull-out torque at J
L1
14
0
12
10
8
6
4
2
0
0.02
0.04
0.06
0.08
0.1
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
1.0
0.8
0.6
0.4
0.2
0
●103H3205-55 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min-1）
Starting
torque at J
L2
Pull-out torque at J
L1
14
0
12
10
8
6
4
2
0
0.02
0.04
0.06
0.08
0.1
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
1.0
0.8
0.6
0.4
0.2
0
●103H3205-56 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min-1）
Starting
torque at J
L2
Pull-out torque at J
L1
14
0
12
10
8
6
4
2
0
0.02
0.04
0.06
0.08
0.1
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
1.0
0.8
0.6
0.4
0.2
0
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min-1）
Starting
torque at J
L2
Pull-out torque at J
L1
14
0
12
10
8
6
4
2
0
0.02
0.04
0.06
0.08
0.1
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
1.0
0.8
0.6
0.4
0.2
0
Sanyo constant current circuit
Source voltage : DC24V
・
operatingcurrent:0.25A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
0.01x10
-4
kg
・
m
2
（
0.05 oz
・
in
2
）
pulley balancer method
］
J
L2
=
［
0.01x10
-4
kg
・
m
2
（
0.05 oz
・
in
2
）
pulley balancer method
］
Sanyo constant current circuit
Source voltage : DC24V
・
operatingcurrent:0.25A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
0.01x10
-4
kg
・
m
2
（
0.05 oz
・
in
2
）
pulley balancer method
］
J
L2
=
［
0.01x10
-4
kg
・
m
2
（
0.05 oz
・
in
2
）
pulley balancer method
］
Sanyo constant current circuit
Source voltage : DC24V
・
operating current : 0.5A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
0.01x10
-4
kg
・
m
2
（
0.05 oz
・
in
2
）
pulley balancer method
］
J
L2
=
［
0.01x10
-4
kg
・
m
2
（
0.05 oz
・
in
2
）
pulley balancer method
］
Sanyo constant current circuit
Source voltage : DC24V
・
operating current : 0.5A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
0.01x10
-4
kg
・
m
2
（
0.05 oz
・
in
2
）
pulley balancer method
］
J
L2
=
［
0.01x10
-4
kg
・
m
2
（
0.05 oz
・
in
2
）
pulley balancer method
］
Sanyo constant current circuit
Sourcevoltage:DC24V
・
operatingcurrent:1A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
0.01x10
-4
kg
・
m
2
（
0.05 oz
・
in
2
）
pulley balancer method
］
J
L2
=
［
0.01x10
-4
kg
・
m
2
（
0.05 oz
・
in
2
）
pulley balancer method
］
Sanyo constant current circuit
Sourcevoltage:DC24V
・
operatingcurrent:1A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
0.01x10
-4
kg
・
m
2
（
0.05 oz
・
in
2
）
pulley balancer method
］
J
L2
=
［
0.01x10
-4
kg
・
m
2
（
0.05 oz
・
in
2
）
pulley balancer method
］
Sanyo constant current circuit
Sourcevoltage:DC24V
・
operatingcurrent:1A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
0.01x10
-4
kg
・
m
2
（
0.05 oz
・
in
2
）
pulley balancer method
］
J
L2
=
［
0.01x10
-4
kg
・
m
2
（
0.05 oz
・
in
2
）
pulley balancer method
］
31
Stepping motor
2-phase STEPPING SYSTEMS
Specifications
2-phasesteppingmotor
42mm sq.
（1.65inch sq.）
103H52 □□
1.8°/step
●103H5205-04 □□ ● 103H5208-04 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
70
0
60
50
40
30
20
10
Tor que（kgf・cm）
Tor que（oz・in）
Tor que（N・m）
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Pull-out torque at J
L1
Starting torque
at J
L2
●103H5209-04 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
70
0
60
50
40
30
20
10
Tor que（kgf・cm）
Tor que（oz・in）
Tor que（N・m）
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Pull-out torque at J
L1
Starting torque
at J
L2
●103H5210-04 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
70
0
60
50
40
30
20
10
Tor que（kgf・cm）
Tor que（oz・in）
Tor que（N・m）
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Pull-out torque at J
L1
Starting torque
at J
L2
■Pulse rate-torque characteristics
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
70
0
60
50
40
30
20
10
Tor que（kgf・cm）
Tor que（oz・in）
Tor que（N・m）
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Pull-out torque at J
L1
Starting torque
at J
L2
Unipolar winding
Model Holding torque at 2-phase
energization Rated current Wiring resistance Winding inductance Rotor inertia Mass（Weight）
Single shaft Double shafts [N・m
（oz・in）MIN.] A/phase Ω
/phase mH/phase [×10 -4kg
・m2
（oz
・in2）
][kg
（Ibs）
]
103H5205-0440 -0410 0.2（28.32）1.2 2.4 2.3 0.036（0.20）0.23（0.51）
103H5208-0440 -0410 0.3（42.48）1.2 2.9 3.4 0.056（0.31）0.29（0.64）
103H5209-0440 -0410 0.32（45.31）1.2 3 3.9 0.062（0.34）0.31（0.68）
103H5210-0440 -0410 0.37（52.39）1.2 3.3 3.4 0.074（0.40）0.37（0.82）
Bipolar winding
Model Holding torque at 2-phase
energization Rated current Wiring resistance Winding inductance Rotor inertia Mass（Weight）
Single shaft Double shafts [N・m
（oz・in）MIN.] A/phase Ω
/phase mH/phase [×10 -4kg
・m2
（oz
・in2）
][kg
（Ibs）
]
103H5205-5040 -5010 0.23（32.57）0.25 54 78 0.036（0.20）0.23（0.51）
103H5205-5140 -5110 0.25（35.40）0.5 13.4 23.4 0.036（0.20）0.23（0.51）
103H5205-5240 -5210 0.265（37.53）13.4 6.5 0.036（0.20）0.23（0.51）
103H5208-5040 -5010 0.35（49.56）0.25 66 116 0.056（0.31）0.3（0.66）
103H5208-5140 -5110 0.38（53.81）0.5 16.5 34 0.056（0.31）0.3（0.66）
103H5208-5240 -5210 0.39（55.23）14.1 9.5 0.056（0.31）0.3（0.66）
103H5209-5040 -5010 0.38（53.81）0.25 71.4 132 0.062（0.34）0.31（0.68）
103H5209-5140 -5110 0.41（58.06）0.5 18.2 39 0.062（0.34）0.31（0.68）
103H5209-5240 -5210 0.425（60.18）14.4 11 0.062（0.34）0.31（0.68）
103H5210-5040 -5010 0.465（65.85）0.25 80 123.3 0.074（0.40）0.37（0.82）
103H5210-5140 -5110 0.49（69.39）0.5 20 35 0.074（0.40）0.37（0.82）
103H5210-5240 -5210 0.51（72.22）14.8 9.5 0.074（0.40）0.37（0.82）
Sanyoconstantcurrentcircuit
Source voltage : DC24V
・
operating current : 1.2A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
0.94x10
-4
kg
・
m
2
（
5.14 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
0.8x10
-4
kg
・
m
2
（
4.37 oz
・
in
2
）
use the direct coupling
］
Sanyo constant current circuit
Source voltage : DC24V
・
operating current : 1.2A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
0.94x10
-4
kg
・
m
2
（
5.14 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
0.8x10
-4
kg
・
m
2
（
4.37 oz
・
in
2
）
use the direct coupling
］
Sanyo constant current circuit
Source voltage : DC24V
・
operating current : 1.2A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
0.94x10
-4
kg
・
m
2
（
5.14 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
0.8x10
-4
kg
・
m
2
（
4.37 oz
・
in
2
）
use the direct coupling
］
Sanyo constant current circuit
Source voltage : DC24V
・
operating current : 1.2A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
0.94x10
-4
kg
・
m
2
（
5.14 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
0.8x10
-4
kg
・
m
2
（
4.37 oz
・
in
2
）
use the direct coupling
］
32
Dimensions Stepping Motors with Internal driversStepping motor Set modelIC for stepping motor
●103H5208-50 □□
Sanyoconstantcurrentcircuit
Source voltage : DC24V
・
operatingcurrent:0.5A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
0.94x10
-4
kg
・
m
2
（
5.14 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
0.8x10
-4
kg
・
m
2
（
4.37 oz
・
in
2
）
use the direct coupling
］
●103H5208-51 □□
Sanyo constant current circuit
Source voltage : DC24V
・
operating current : 1A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
0.94x10
-4
kg
・
m
2
（
5.14 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
0.8x10
-4
kg
・
m
2
（
4.37 oz
・
in
2
）
use the direct coupling
］
●103H5208-52 □□
●103H5209-50 □□
Sanyoconstantcurrentcircuit
Source voltage : DC24V
・
operatingcurrent:0.5A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
0.94x10
-4
kg
・
m
2
（
5.14 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
0.8x10
-4
kg
・
m
2
（
4.37 oz
・
in
2
）
use the direct coupling
］
●103H5209-51 □□
Sanyo constant current circuit
Source voltage : DC24V
・
operating current : 1A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
0.94x10
-4
kg
・
m
2
（
5.14 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
0.8x10
-4
kg
・
m
2
（
4.37 oz
・
in
2
）
use the direct coupling
］
●103H5209-52 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
70
0
60
50
40
30
20
10
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Starting
torque at
J
L2
Pull-out torque at J
L1
●103H5210-50 □□
Sanyoconstantcurrentcircuit
Source voltage : DC24V
・
operatingcurrent:0.5A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
0.94x10
-4
kg
・
m
2
（
5.14 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
0.8x10
-4
kg
・
m
2
（
4.37 oz
・
in
2
）
use the direct coupling
］
●103H5210-51 □□
Sanyo constant current circuit
Source voltage : DC24V
・
operating current : 1A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
0.94x10
-4
kg
・
m
2
（
5.14 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
0.8x10
-4
kg
・
m
2
（
4.37 oz
・
in
2
）
use the direct coupling
］
●103H5210-52 □□
●103H5205-50 □□
Sanyoconstantcurrentcircuit
Source voltage : DC24V
・
operatingcurrent:0.5A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
0.94x10
-4
kg
・
m
2
（
5.14 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
0.8x10
-4
kg
・
m
2
（
4.37 oz
・
in
2
）
use the direct coupling
］
●103H5205-51 □□
Sanyo constant current circuit
Source voltage : DC24V
・
operating current : 1A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
0.94x10
-4
kg
・
m
2
（
5.14 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
0.8x10
-4
kg
・
m
2
（
4.37 oz
・
in
2
）
use the direct coupling
］
●103H5205-52 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
70
0
60
50
40
30
20
10
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Starting
torque at
J
L2
Pull-out torque at J
L1
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
70
0
60
50
40
30
20
10
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Starting
torque at
J
L2
Pull-out torque at J
L1
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
70
0
60
50
40
30
20
10
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Starting
torque at
J
L2
Pull-out torque at J
L1
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
70
0
60
50
40
30
20
10
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Starting
torque at
J
L2
Pull-out torque at J
L1
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
70
0
60
50
40
30
20
10
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Starting
torque at
J
L2
Pull-out torque at J
L1
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
70
0
60
50
40
30
20
10
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Starting
torque at
J
L2
Pull-out torque at J
L1
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
70
0
60
50
40
30
20
10
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Starting
torque at
J
L2
Pull-out torque at J
L1
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
70
0
60
50
40
30
20
10
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Starting
torque at
J
L2
Pull-out torque at J
L1
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
70
0
60
50
40
30
20
10
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Starting
torque at
J
L2
Pull-out torque at J
L1
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
70
0
60
50
40
30
20
10
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Pull-out torque at J
L1
Starting
torque at
J
L2
Sanyo constant current circuit
Source voltage : DC24V
・
operating current : 0.25A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
0.94x10
-4
kg
・
m
2
（
5.14 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
0.8x10
-4
kg
・
m
2
（
4.37 oz
・
in
2
）
use the direct coupling
］
Sanyo constant current circuit
Source voltage : DC24V
・
operating current : 0.25A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
0.94x10
-4
kg
・
m
2
（
5.14 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
0.8x10
-4
kg
・
m
2
（
4.37 oz
・
in
2
）
use the direct coupling
］
Sanyo constant current circuit
Source voltage : DC24V
・
operating current : 0.25A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
0.94x10
-4
kg
・
m
2
（
5.14 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
0.8x10
-4
kg
・
m
2
（
4.37 oz
・
in
2
）
use the direct coupling
］
Sanyo constant current circuit
Source voltage : DC24V
・
operating current : 0.25A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
0.94x10
-4
kg
・
m
2
（
5.14 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
0.8x10
-4
kg
・
m
2
（
4.37 oz
・
in
2
）
use the direct coupling
］
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
70
0
60
50
40
30
20
10
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Starting
torque at
J
L2
Pull-out torque at J
L1
33
Stepping motor
2-phase STEPPING SYSTEMS
Specifications
●103H6701-01 □□
●103H6703-01 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
70
0
60
50
40
30
20
10
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Pull-out torque at J
L1
Starting
torque at
J
L2
●103H6701-04 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
70
0
60
50
40
30
20
10
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Pull-out torque at J
L1
Starting torque
at J
L2
●103H6703-04 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
70
0
60
50
40
30
20
10
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Pull-out torque at J
L1
Starting torque
at J
L2
●103H6701-07 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
70
0
60
50
40
30
20
10
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Pull-out torque at J
L1
Starting torque
at J
L2
●103H6703-07 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
70
0
60
50
40
30
20
10
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Pull-out torque at J
L1
Starting torque
at J
L2
2-phasesteppingmotor
50mm sq.
（1.97inch sq.）
103H670 □
1.8°/step
■Pulse rate-torque characteristics
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
70
0
60
50
40
30
20
10
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Pull-out torque at J
L1
Starting torque
at J
L2
Unipolar winding
Model Holding torque at 2-phase
energization Rated current Wiring resistance Winding inductance Rotor inertia Mass（Weight）
Single shaft Double shafts [N・m
（oz・in）MIN.] A/phase Ω
/phase mH/phase [×10 -4kg
・m2
（oz
・in2）
][kg
（Ibs）
]
103H6701-0140 -0110 0.28（39.6）14.3 6.8 0.057（0.31）0.35（0.77）
103H6701-0440 -0410 0.28（39.6）21.1 1.6 0.057（0.31）0.35（0.77）
103H6701-0740 -0710 0.28（39.6）30.6 0.7 0.057（0.31）0.35（0.77）
103H6703-0140 -0110 0.49（69.4）16 13 0.118（0.65）0.5（1.10）
103H6703-0440 -0410 0.49（69.4）21.6 3.2 0.118（0.65）0.5（1.10）
103H6703-0740 -0710 0.49（69.4）30.83 1.4 0.118（0.65）0.5（1.10）
103H6704-0140 -0110 0.53（75.1）16.5 16.5 0.14（0.77）0.55（1.21）
103H6704-0440 -0410 0.52（73.6）21.7 3.8 0.14（0.77）0.55（1.21）
103H6704-0740 -0710 0.53（75.1）30.9 1.7 0.14（0.77）0.55（1.21）
Bipolar winding
Model Holding torque at 2-phase
energization Rated current Wiring resistance Winding inductance Rotor inertia Mass（Weight）
Single shaft Double shafts [N・m
（oz・in）MIN.] A/phase Ω
/phase mH/phase [×10 -4kg
・m2
（oz
・in2）
][kg
（Ibs）
]
103H6704-5040 -5010 0.52（73.6）2 0.9 3.8 0.14（0.77）0.55（1.21）
Sanyoconstantcurrentcircuit
Source voltage : DC24V
・
operating current : 1A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
0.94x10
-4
kg
・
m
2
（
5.14 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
0.8x10
-4
kg
・
m
2
（
4.37 oz
・
in
2
）
use the direct coupling
］
Sanyoconstantcurrentcircuit
Source voltage : DC24V
・
operating current : 1A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
0.94x10
-4
kg
・
m
2
（
5.14 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
0.8x10
-4
kg
・
m
2
（
4.37 oz
・
in
2
）
use the direct coupling
］
Sanyoconstantcurrentcircuit
Sourcevoltage:DC24V
・
operatingcurrent:2A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
0.94x10
-4
kg
・
m
2
（
5.14 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
0.8x10
-4
kg
・
m
2
（
4.37 oz
・
in
2
）
use the direct coupling
］
Sanyoconstantcurrentcircuit
Sourcevoltage:DC24V
・
operatingcurrent:2A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
0.94x10
-4
kg
・
m
2
（
5.14 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
0.8x10
-4
kg
・
m
2
（
4.37 oz
・
in
2
）
use the direct coupling
］
Sanyoconstantcurrentcircuit
Source voltage : DC24V
・
operating current : 3A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
0.94x10
-4
kg
・
m
2
（
5.14 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
0.8x10
-4
kg
・
m
2
（
4.37 oz
・
in
2
）
use the direct coupling
］
Sanyoconstantcurrentcircuit
Source voltage : DC24V
・
operating current : 3A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
0.94x10
-4
kg
・
m
2
（
5.14 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
0.8x10
-4
kg
・
m
2
（
4.37 oz
・
in
2
）
use the direct coupling
］
34
Dimensions Stepping Motors with Internal driversStepping motor Set modelIC for stepping motor
●103H6704-01 □□
●103H6704-50 □□
0.1 1 10 100
1000 2000 3000 5000100
Starting
torque at
J
L2
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L1
140
0
120
100
80
60
40
20
10
8
6
4
2
0 0
0.2
0.4
0.6
0.8
1.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
●103H6704-04 □□
0.1 1 10 100
1000 2000 3000 5000100
Starting
torque at
J
L2
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L1
140
0
120
100
80
60
40
20
10
8
6
4
2
0 0
0.2
0.4
0.6
0.8
1.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
●103H6704-07 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L1
Starting
torque at
J
L2
140
0
120
100
80
60
40
20
10
8
6
4
2
0 0
0.2
0.4
0.6
0.8
1.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
Sanyo constant current circuit
Source voltage : DC24V
・
operating current : 1A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
0.94x10
-4
kg
・
m
2
（
5.14 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
0.8x10
-4
kg
・
m
2
（
4.37 oz
・
in
2
）
use the direct coupling
］
Sanyoconstantcurrentcircuit
Source voltage : DC24V
・
operatingcurrent:2A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
0.94x10
-4
kg
・
m
2
（
5.14 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
0.8x10
-4
kg
・
m
2
（
4.37 oz
・
in
2
）
use the direct coupling
］
Sanyo constant current circuit
Source voltage : DC24V
・
operating current : 3A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
0.94x10
-4
kg
・
m
2
（
5.14 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
0.8x10
-4
kg
・
m
2
（
4.37 oz
・
in
2
）
use the direct coupling
］
Sanyo constant current circuit
Source voltage : DC24V
・
operating current : 2A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
0.94x10
-4
kg
・
m
2
（
5.14 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
0.14x10
-4
kg
・
m
2
（
0.77 oz
・
in
2
）
pulley balancer method
］
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Starting torque
at J
L2
Pull-out torque at J
L1
140
0
120
100
80
60
40
20
10
8
6
4
2
0 0
0.2
0.4
0.6
0.8
1.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
35
Stepping motor
2-phase STEPPING SYSTEMS
Specifications
2-phasesteppingmotor
56mm sq.
（2.20inch sq.）
103H712 □
1.8°/step
Unipolar winding
Model Holding torque at 2-phase
energization Rated current Wiring resistance Winding inductance Rotor inertia Mass（Weight）
Single shaft Double shafts [N・m
（oz・in）MIN.] A/phase Ω
/phase mH/phase [×10 -4kg
・m2
（oz
・in2）
][kg
（Ibs）
]
103H7121-0140 -0110 0.39（55.2）14.8 8 0.1（0.55）0.47（1.04）
103H7121-0440 -0410 0.39（55.2）21.25 1.9 0.1（0.55）0.47（1.04）
103H7121-0740 -0710 0.39（55.2）30.6 0.8 0.1（0.55）0.47（1.04）
103H7123-0140 -0110 0.83（117.）16.7 15 0.21（1.15）0.65（1.43）
103H7123-0440 -0410 0.83（117.5）21.6 3.8 0.21（1.15）0.65（1.43）
103H7123-0740 -0710 0.78（110.5）30.77 1.58 0.21（1.15）0.65（1.43）
103H7124-0140 -0110 0.98（138.8）17 12.5 0.245（1.34）0.8（1.76）
103H7124-0440 -0410 0.98（138.8）21.7 3.1 0.245（1.34）0.8（1.76）
103H7124-0740 -0710 0.98（138.8）30.74 1.4 0.245（1.34）0.8（1.76）
103H7126-0140 -0110 1.27（179.8）18.6 19 0.36（1.97）0.98（2.16）
103H7126-0440 -0410 1.27（179.8）22 4.5 0.36（1.97）0.98（2.16）
103H7126-0740 -0710 1.27（179.8）30.9 2.2 0.36（1.97）0.98（2.16）
Bipolar winding
Model Holding torque at 2-phase
energization Rated current Wiring resistance Winding inductance Rotor inertia Mass（Weight）
Single shaft Double shafts [N・m
（oz・in）MIN.] A/phase Ω
/phase mH/phase [×10 -4kg
・m2
（oz
・in2）
][kg
（Ibs）
]
103H7121-5640 -5610 0.55（77.9）14.3 14.5 0.1（0.55）0.47（1.04）
103H7121-5740 -5710 0.55（77.9）21.1 3.7 0.1（0.55）0.47（1.04）
103H7121-5840 -5810 0.55（77.9）30.54 1.74 0.1（0.55）0.47（1.04）
103H7123-5640 -5610 1.0（141.6）15.7 29.4 0.21（1.15）0.65（1.43）
103H7123-5740 -5710 1.0（141.6）21.5 7.5 0.21（1.15）0.65（1.43）
103H7123-5840 -5810 1.0（141.6）30.7 3.5 0.21（1.15）0.65（1.43）
103H7126-5640 -5610 1.6（226.6）17.7 34.6 0.36（1.97）0.98（2.16）
103H7126-5740 -5710 1.6（226.6）22 9.1 0.36（1.97）0.98（2.16）
103H7126-5840 -5810 1.6（226.6）30.94 4 0.36（1.97）0.98（2.16）
103H7128-5640 -5610 2（283.2）18.9 40.1 0.49（2.68）1.3（2.87）
103H7128-5740 -5710 2（283.2）22.3 10.4 0.49（2.68）1.3（2.87）
103H7128-5840 -5810 2（283.2）31.03 4.3 0.49（2.68）1.3（2.87）
36
Dimensions Stepping Motors with Internal driversStepping motor Set modelIC for stepping motor
■Pulse rate-torque characteristics
●103H7123-04 □□
●103H7121-07 □□
●103H7123-07 □□
●103H7124-01 □□ ● 103H7124-04 □□
●103H7121-01 □□
●103H7123-01 □□
●103H7121-04 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
70
0
60
50
40
30
20
10
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Pull-out torque at J
L1
Starting torque
at J
L2
0.1 1 10 100
1000 2000 3000 5000100
Starting
torque at
J
L2
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L1
140
0
120
100
80
60
40
20
10
8
6
4
2
0 0
0.2
0.4
0.6
0.8
1.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
70
0
60
50
40
30
20
10
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Pull-out torque at J
L1
Starting torque
at J
L2
0.1 1 10 100
1000 2000 3000 5000100
Starting
torque at
J
L2
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L1
140
0
120
100
80
60
40
20
10
8
6
4
2
0 0
0.2
0.4
0.6
0.8
1.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
70
0
60
50
40
30
20
10
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Pull-out torque at J
L1
Starting torque
at J
L2
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Starting torque
at J
L2
Pull-out torque at J
L1
140
0
120
100
80
60
40
20
10
8
6
4
2
0 0
0.2
0.4
0.6
0.8
1.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
0.1 1 10 100
1000 2000 3000 5000100
Starting
torque at
J
L2
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L1
140
0
120
100
80
60
40
20
10
8
6
4
2
0 0
0.2
0.4
0.6
0.8
1.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Starting torque
at J
L2
Pull-out torque at J
L1
140
0
120
100
80
60
40
20
10
8
6
4
2
0 0
0.2
0.4
0.6
0.8
1.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
●103H7124-07 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Starting torque
at J
L2
Pull-out torque at J
L1
140
0
120
100
80
60
40
20
10
8
6
4
2
0 0
0.2
0.4
0.6
0.8
1.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
Sanyo constant current circuit
Source voltage : DC24V
・
operating current : 1A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
0.94x10
-4
kg
・
m
2
（
5.14 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
0.8x10
-4
kg
・
m
2
（
4.37 oz
・
in
2
）
use the direct coupling
］
Sanyo constant current circuit
Source voltage : DC24V
・
operating current : 1A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
0.94x10
-4
kg
・
m
2
（
5.14 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
0.8x10
-4
kg
・
m
2
（
4.37 oz
・
in
2
）
use the direct coupling
］
Sanyoconstantcurrentcircuit
Source voltage : DC24V
・
operatingcurrent:2A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
0.94x10
-4
kg
・
m
2
（
5.14 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
0.8x10
-4
kg
・
m
2
（
4.37 oz
・
in
2
）
use the direct coupling
］
Sanyoconstantcurrentcircuit
Source voltage : DC24V
・
operatingcurrent:2A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
0.94x10
-4
kg
・
m
2
（
5.14 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
0.8x10
-4
kg
・
m
2
（
4.37 oz
・
in
2
）
use the direct coupling
］
Sanyo constant current circuit
Source voltage : DC24V
・
operating current : 3A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
0.94x10
-4
kg
・
m
2
（
5.14 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
0.8x10
-4
kg
・
m
2
（
4.37 oz
・
in
2
）
use the direct coupling
］
Sanyo constant current circuit
Source voltage : DC24V
・
operating current : 3A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
0.94x10
-4
kg
・
m
2
（
5.14 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
0.8x10
-4
kg
・
m
2
（
4.37 oz
・
in
2
）
use the direct coupling
］
Sanyo constant current circuit
Source voltage : DC24V
・
operating current : 1A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
2.6x10
-4
kg
・
m
2
（
14.22 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
2.6x10
-4
kg
・
m
2
（
14.22 oz
・
in
2
）
use the direct coupling
］
Sanyoconstantcurrentcircuit
Source voltage : DC24V
・
operatingcurrent:2A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
2.6x10
-4
kg
・
m
2
（
14.22 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
2.6x10
-4
kg
・
m
2
（
14.22 oz
・
in
2
）
use the direct coupling
］
Sanyo constant current circuit
Source voltage : DC24V
・
operating current : 3A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
2.6x10
-4
kg
・
m
2
（
14.22 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
2.6x10
-4
kg
・
m
2
（
14.22 oz
・
in
2
）
use the direct coupling
］
37
Stepping motor
2-phase STEPPING SYSTEMS
Specifications
■Pulse rate-torque characteristics
2-phasesteppingmotor
56mm sq.
（2.20inch sq.）
●103H7121-58 □□●103H7121-56 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Starting torque
at J
L2
Pull-out torque at J
L1
140
0
120
100
80
60
40
20
10
8
6
4
2
0 0
0.2
0.4
0.6
0.8
1.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L1
Starting
torque at
J
L2
140
0
120
100
80
60
40
20
10
8
6
4
2
0 0
0.2
0.4
0.6
0.8
1.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
●103H7121-57 □□
0.1 1 10 100
1000 2000 3000 5000100
Starting
torque at
J
L2
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L1
140
0
120
100
80
60
40
20
10
8
6
4
2
0 0
0.2
0.4
0.6
0.8
1.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
●103H7126-04 □□ ● 103H7126-07 □□
0.1 1 10 100
1000 2000 3000 5000100
Starting
torque at
J
L2
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L1
280
0
240
200
160
120
80
40
20
16
12
8
4
0 0
0.4
0.8
1.2
1.6
2.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Starting torque
at J
L2
Pull-out torque at J
L1
280
0
240
200
160
120
80
40
20
16
12
8
4
0 0
0.4
0.8
1.2
1.6
2.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
●103H7126-01 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L1
Starting
torque at
J
L2
280
0
240
200
160
120
80
40
20
16
12
8
4
0 0
0.4
0.8
1.2
1.6
2.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
Sanyoconstantcurrentcircuit
Source voltage : DC24V
・
operating current : 1A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
0.94x10
-4
kg
・
m
2
（
5.14 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
0.8x10
-4
kg
・
m
2
（
4.37 oz
・
in
2
）
use the direct coupling
］
Sanyoconstantcurrentcircuit
Sourcevoltage:DC24V
・
operatingcurrent:2A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
0.94x10
-4
kg
・
m
2
（
5.14 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
0.8x10
-4
kg
・
m
2
（
4.37 oz
・
in
2
）
use the direct coupling
］
Sanyoconstantcurrentcircuit
Source voltage : DC24V
・
operating current : 3A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
0.94x10
-4
kg
・
m
2
（
5.14 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
0.8x10
-4
kg
・
m
2
（
4.37 oz
・
in
2
）
use the direct coupling
］
Sanyoconstantcurrentcircuit
Source voltage : DC24V
・
operating current : 1A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
2.6x10
-4
kg
・
m
2
（
14.22 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
2.6x10
-4
kg
・
m
2
（
14.22 oz
・
in
2
）
use the direct coupling
］
Sanyoconstantcurrentcircuit
Sourcevoltage:DC24V
・
operatingcurrent:2A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
2.6x10
-4
kg
・
m
2
（
14.22 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
2.6x10
-4
kg
・
m
2
（
14.22 oz
・
in
2
）
use the direct coupling
］
Sanyoconstantcurrentcircuit
Source voltage : DC24V
・
operating current : 3A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
2.6x10
-4
kg
・
m
2
（
14.22 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
2.6x10
-4
kg
・
m
2
（
14.22 oz
・
in
2
）
use the direct coupling
］
38
Dimensions Stepping Motors with Internal driversStepping motor Set modelIC for stepping motor
●103H7123-58 □□
0.1 1 10 100
1000 2000 3000 5000100
Starting
torque at
J
L2
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L1
280
0
240
200
160
120
80
40
20
16
12
8
4
0 0
0.4
0.8
1.2
1.6
2.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
●103H7123-56 □□ ● 103H7123-57 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L1
Starting
torque at
J
L2
280
0
240
200
160
120
80
40
20
16
12
8
4
0 0
0.4
0.8
1.2
1.6
2.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
0.1 1 10 100
1000 2000 3000 5000100
Starting
torque at
J
L2
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L1
280
0
240
200
160
120
80
40
20
16
12
8
4
0 0
0.4
0.8
1.2
1.6
2.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
●103H7126-58 □□●103H7126-56 □□ ● 103H7126-57 □□
0.1 1 10 100
1000 2000 3000 5000100
Starting
torque at
J
L2
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L1
280
0
240
200
160
120
80
40
20
16
12
8
4
0 0
0.4
0.8
1.2
1.6
2.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
0.1 1 10 100
1000 2000 3000 5000100
Starting
torque at
J
L2
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L1
280
0
240
200
160
120
80
40
20
16
12
8
4
0 0
0.4
0.8
1.2
1.6
2.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
0.1 1 10 100
1000 2000 3000 5000100
Starting
torque at
J
L2
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L1
280
0
240
200
160
120
80
40
20
16
12
8
4
0 0
0.4
0.8
1.2
1.6
2.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
●103H7128-56 □□ ● 103H7128-57 □□ ● 103H7128-58 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
Pull-out torque at J
L1
Starting
torque at
J
L2
700
0
600
500
400
300
200
100
10
20
30
40
50
0
1.0
2.0
3.0
4.0
5.0
0
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
Pull-out torque at J
L1
Starting
torque at
J
L2
700
0
600
500
400
300
200
100
10
20
30
40
50
0
1.0
2.0
3.0
4.0
5.0
0
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
Pull-out torque at J
L1
Starting
torque at
J
L2
700
0
600
500
400
300
200
100
10
20
30
40
50
0
1.0
2.0
3.0
4.0
5.0
0
Sanyo constant current circuit
Source voltage : DC24V
・
operating current : 1A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
2.6x10
-4
kg
・
m
2
（
14.22 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
2.6x10
-4
kg
・
m
2
（
14.22 oz
・
in
2
）
use the direct coupling
］
Sanyoconstantcurrentcircuit
Source voltage : DC24V
・
operatingcurrent:2A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
2.6x10
-4
kg
・
m
2
（
14.22 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
2.6x10
-4
kg
・
m
2
（
14.22 oz
・
in
2
）
use the direct coupling
］
Sanyo constant current circuit
Source voltage : DC24V
・
operating current : 3A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
2.6x10
-4
kg
・
m
2
（
14.22 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
2.6x10
-4
kg
・
m
2
（
14.22 oz
・
in
2
）
use the direct coupling
］
Sanyo constant current circuit
Source voltage : DC24V
・
operating current : 1A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
2.6x10
-4
kg
・
m
2
（
14.22 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
2.6x10
-4
kg
・
m
2
（
14.22 oz
・
in
2
）
use the direct coupling
］
Sanyoconstantcurrentcircuit
Source voltage : DC24V
・
operatingcurrent:2A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
2.6x10
-4
kg
・
m
2
（
14.22 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
2.6x10
-4
kg
・
m
2
（
14.22 oz
・
in
2
）
use the direct coupling
］
Sanyo constant current circuit
Source voltage : DC24V
・
operating current : 3A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
2.6x10
-4
kg
・
m
2
（
14.22 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
2.6x10
-4
kg
・
m
2
（
14.22 oz
・
in
2
）
use the direct coupling
］
Sanyo constant current circuit
Source voltage : DC24V
・
operating current : 1A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
7.4x10
-4
kg
・
m
2
（
40.46 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
7.4x10
-4
kg
・
m
2
（
40.46 oz
・
in
2
）
use the direct coupling
］
Sanyoconstantcurrentcircuit
Source voltage : DC24V
・
operatingcurrent:2A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
7.4x10
-4
kg
・
m
2
（
40.46 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
7.4x10
-4
kg
・
m
2
（
40.46 oz
・
in
2
）
use the direct coupling
］
Sanyo constant current circuit
Source voltage : DC24V
・
operating current : 3A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
7.4x10
-4
kg
・
m
2
（
40.46 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
7.4x10
-4
kg
・
m
2
（
40.46 oz
・
in
2
）
use the direct coupling
］
39
Stepping motor
2-phase STEPPING SYSTEMS
Specifications
●103H7821-01 □□ ● 103H7821-04 □□ ● 103H7821-07 □□
■Pulse rate-torque characteristics
2-phasesteppingmotor
60mm sq.
（2.36inch sq.）
103H782 □
1.8°/step
0.1 1 10 100
1000 2000 3000 5000100
Starting
torque at
J
L2
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L1
140
0
120
100
80
60
40
20
10
8
6
4
2
0 0
0.2
0.4
0.6
0.8
1.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Starting torque
at J
L2
Pull-out torque at J
L1
140
0
120
100
80
60
40
20
10
8
6
4
2
0 0
0.2
0.4
0.6
0.8
1.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Starting torque
at J
L2
Pull-out torque at J
L1
140
0
120
100
80
60
40
20
10
8
6
4
2
0 0
0.2
0.4
0.6
0.8
1.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
Unipolar winding
Model Holding torque at 2-phase
energization Rated current Wiring resistance Winding inductance Rotor inertia Mass（Weight）
Single shaft Double shafts [N・m
（oz・in）MIN.] A/phase Ω
/phase mH/phase [×10 -4kg
・m2
（oz
・in2）
][kg
（Ibs）
]
103H7821-0140 -0110 0.78（110.5）15.7 8.3 0.275（1.50）0.6（1.32）
103H7821-0440 -0410 0.78（110.5）21.5 2 0.275（1.50）0.6（1.32）
103H7821-0740 -0710 0.78（110.5）30.68 0.8 0.275（1.50）0.6（1.32）
103H7822-0140 -0110 1.17（165.7）16.9 14 0.4（2.19）0.77（1.70）
103H7822-0440 -0410 1.17（165.7）21.8 3.6 0.4（2.19）0.77（1.70）
103H7822-0740 -0710 1.17（165.7）30.8 1.38 0.4（2.19）0.77（1.70）
103H7823-0140 -0110 2.1（297.4）110 21.7 0.84（4.59）1.34（2.95）
103H7823-0440 -0410 2.1（297.4）22.7 5.6 0.84（4.59）1.34（2.95）
103H7823-0740 -0710 2.1（297.4）31.25 2.4 0.84（4.59）1.34（2.95）
Bipolar winding
Model Holding torque at 2-phase
energization Rated current Wiring resistance Winding inductance Rotor inertia Mass（Weight）
Single shaft Double shafts [N・m
（oz・in）MIN.] A/phase Ω
/phase mH/phase [×10 -4kg
・m2
（oz
・in2）
][kg
（Ibs）
]
103H7821-1740 -1710 0.88（124.6）40.35 0.8 0.275（1.50）0.6（1.32）
103H7822-1740 -1710 1.37（194.0）40.43 1.38 0.4（2.19）0.77（1.70）
103H7823-1740 -1710 2.7（382.3）40.65 2.4 0.84（4.59）1.34（2.95）
Sanyoconstantcurrentcircuit
Source voltage : DC24V
・
operating current : 1A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
0.94x10
-4
kg
・
m
2
（
5.14 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
0.8x10
-4
kg
・
m
2
（
4.37 oz
・
in
2
）
use the direct coupling
］
Sanyoconstantcurrentcircuit
Sourcevoltage:DC24V
・
operatingcurrent:2A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
0.94x10
-4
kg
・
m
2
（
5.14 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
0.8x10
-4
kg
・
m
2
（
4.37 oz
・
in
2
）
use the direct coupling
］
Sanyoconstantcurrentcircuit
Source voltage : DC24V
・
operating current : 3A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
0.94x10
-4
kg
・
m
2
（
5.14 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
0.8x10
-4
kg
・
m
2
（
4.37 oz
・
in
2
）
use the direct coupling
］
40
Dimensions Stepping Motors with Internal driversStepping motor Set modelIC for stepping motor
●103H7822-01 □□ ● 103H7822-04 □□ ● 103H7822-07 □□
●103H7822-17 □□
●103H7823-07 □□
●103H7823-17 □□
●103H7823-01 □□
●103H7821-17 □□
●103H7823-04 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L1
Starting
torque at
J
L2
280
0
240
200
160
120
80
40
20
16
12
8
4
0 0
0.4
0.8
1.2
1.6
2.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
0.1 1 10 100
1000 2000 3000 5000100
Starting
torque at
J
L2
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L1
280
0
240
200
160
120
80
40
20
16
12
8
4
0 0
0.4
0.8
1.2
1.6
2.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Starting torque
at J
L2
Pull-out torque at J
L1
280
0
240
200
160
120
80
40
20
16
12
8
4
0 0
0.4
0.8
1.2
1.6
2.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L1
Starting
torque at
J
L2
280
0
240
200
160
120
80
40
20
16
12
8
4
0 0
0.4
0.8
1.2
1.6
2.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L1
140
0
120
100
80
60
40
20
10
8
6
4
2
0 0
0.2
0.4
0.6
0.8
1.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
0.1 1 10 100
1000 2000 3000 5000100
Starting
torque at
J
L2
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L1
280
0
240
200
160
120
80
40
20
16
12
8
4
0 0
0.4
0.8
1.2
1.6
2.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L1
280
0
240
200
160
120
80
40
20
16
12
8
4
0 0
0.4
0.8
1.2
1.6
2.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Starting torque
at J
L2
Pull-out torque at J
L1
280
0
240
200
160
120
80
40
20
16
12
8
4
0 0
0.4
0.8
1.2
1.6
2.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
Pull-out torque at J
L1
700
0
600
500
400
300
200
100
10
20
30
40
50
0
1.0
2.0
3.0
4.0
5.0
0
Sanyo constant current circuit
Source voltage : DC24V
・
operating current : 1A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
7.4x10
-4
kg
・
m
2
（
40.46 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
7.4x10
-4
kg
・
m
2
（
40.46 oz
・
in
2
）
use the direct coupling
］
Sanyoconstantcurrentcircuit
Source voltage : DC24V
・
operatingcurrent:2A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
7.4x10
-4
kg
・
m
2
（
40.46 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
7.4x10
-4
kg
・
m
2
（
40.46 oz
・
in
2
）
use the direct coupling
］
Sanyo constant current circuit
Source voltage : DC24V
・
operating current : 3A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
7.4x10
-4
kg
・
m
2
（
40.46 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
7.4x10
-4
kg
・
m
2
（
40.46 oz
・
in
2
）
use the direct coupling
］
Sanyo constant current circuit
Source voltage : DC24V
・
operating current : 1A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
7.4x10
-4
kg
・
m
2
（
40.46 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
7.4x10
-4
kg
・
m
2
（
40.46 oz
・
in
2
）
use the direct coupling
］
Sanyoconstantcurrentcircuit
Source voltage : DC24V
・
operatingcurrent:2A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
7.4x10
-4
kg
・
m
2
（
40.46 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
7.4x10
-4
kg
・
m
2
（
40.46 oz
・
in
2
）
use the direct coupling
］
Sanyo constant current circuit
Source voltage : DC24V
・
operating current : 3A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
7.4x10
-4
kg
・
m
2
（
40.46 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
7.4x10
-4
kg
・
m
2
（
40.46 oz
・
in
2
）
use the direct coupling
］
Sanyo constant current circuit
Source voltage : AC100V
・
operatingcurrent:4A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
2.6x10
-4
kg
・
m
2
（
14.22 oz
・
in
2
）
use the rubber coupling
］
Sanyo constant current circuit
Source voltage : AC100V
・
operating current : 4A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
7.4x10
-4
kg
・
m
2
（
40.46 oz
・
in
2
）
use the rubber coupling
］
Sanyoconstantcurrentcircuit
Source voltage : AC100V
・
operating current : 4A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
2.6x10
-4
kg
・
m
2
（
14.22 oz
・
in
2
）
use the rubber coupling
］
41
Stepping motor
2-phase STEPPING SYSTEMS
Specifications
2-phasesteppingmotor
86mm sq.
（3.39inch sq.）
SH286□/SM286 □
1.8°/step
Bipolar winding
Model Holding torque at 2-phase
energization Rated current Wiring resistance Winding inductance Rotor inertia Mass（Weight）
Single shaft Double shafts [N・m
（oz・in）MIN.] A/phase Ω
/phase mH/phase [×10 -4kg
・m2
（oz
・in2）
][kg
（Ibs）
]
SM2861-5051 -5021 3.3（467.3）22.2 15 1.48（8.09）1.75（3.92）
SM2861-5151 -5121 3.3（467.3）40.56 3.7 1.48（8.09）1.75（3.92）
SM2861-5251 -5221 3.3（467.3）60.29 1.7 1.48（8.09）1.75（3.92）
SM2862-5051 -5021 6.4（906.3）23.2 25 3（16.4）2.9（6.5）
SM2862-5151 -5121 6.4（906.3）40.83 6.4 3（16.4）2.9（6.5）
SM2862-5251 -5221 6.4（906.3）60.36 2.8 3（16.4）2.9（6.5）
SM2863-5051 -5021 9（1274.4）24 32 4.5（24.6）4（8.96）
SM2863-5151 -5121 9（1274.4）41 7.9 4.5（24.6）4（8.96）
SM2863-5251 -5221 9（1274.4）60.46 3.8 4.5（24.6）4（8.96）
Unipolar winding
Model Holding torque at 2-phase
energization Rated current Wiring resistance Winding inductance Rotor inertia Mass（Weight）
Single shaft Double shafts [N・m
（oz・in）MIN.] A/phase Ω
/phase mH/phase [×10 -4kg
・m2
（oz
・in2）
][kg
（Ibs）
]
SH2861-0441 -0411 2.5（354）22.3 8.0 1.48（8.09）1.75（3.92）
SH2862-0441 -0911 4.8（679.7）23.2 13.0 3（16.4）2.9（6.5）
SH2863-0441 -0411 6.6（934.6）24.0 16.6 4.5（24.6）4.0（8.96）
42
Dimensions Stepping Motors with Internal driversStepping motor Set modelIC for stepping motor
■SM2861-50 □□   ■ SM2861-51 □□ ■ SM2861-52 □□
■SH2861-04□□ ■ SH2862-04□□ ■ SH2863-04□□
fs
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L1
280
0
240
200
160
120
80
40
20
16
12
8
4
0 0
0.4
0.8
1.2
1.6
2.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
0.1 1 10 100
1000 2000 3000 5000100
fs
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
Pull-out torque at J
L1
700
0
600
500
400
300
200
100
10
20
30
40
50
0
1.0
2.0
3.0
4.0
5.0
0
0.1 1 10 100
1000 2000 3000 5000100
fs
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
Pull-out torque at J
L1
700
0
600
500
400
300
200
100
10
20
30
40
50
0
1.0
2.0
3.0
4.0
5.0
0
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Starting torque
at J
L2
Pull-out torque at J
L1
560
0
480
400
320
240
160
80
40
32
24
16
8
0 0
0.8
1.6
2.4
3.2
4.0
Tor que（kgf・cm）
Tor que（oz・in）
Tor que（N・m）
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L1
560
0
480
400
320
240
160
80
40
32
24
16
8
0 0
0.8
1.6
2.4
3.2
4.0
Tor que（kgf・cm）
Tor que（oz・in）
Tor que（N・m）
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L1
560
0
480
400
320
240
160
80
40
32
24
16
8
0 0
0.8
1.6
2.4
3.2
4.0
Tor que（kgf・cm）
Tor que（oz・in）
Tor que（N・m）
■Pulse rate-torque characteristics
■SM2862-50 □□ ■ SM2862-51 □□
Sanyo constant current circuit
Source voltage : DC100V
・
operating current : 6A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
15.3x10
-4
kg
・
m
2
（
83.65 oz
・
in
2
）
use the rubber coupling
］
■SM2862-52 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L1
1400
0
1200
1000
800
600
400
200
100
80
60
40
20
0 0
2
4
6
8
10
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L1
1400
0
1200
1000
800
600
400
200
100
80
60
40
20
0 0
2
4
6
8
10
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L1
1400
0
1200
1000
800
600
400
200
100
80
60
40
20
0 0
2
4
6
8
10
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
■SM2863-50 □□ ■ SM2863-51 □□
Sanyo constant current circuit
Source voltage : DC100V
・
operating current : 6A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
15.3x10
-4
kg
・
m
2
（
83.65 oz
・
in
2
）
use the rubber coupling
］
■SM2863-52 □□
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L1
1400
0
1200
1000
800
600
400
200
100
80
60
40
20
0 0
2
4
6
8
10
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L1
1400
0
1200
1000
800
600
400
200
100
80
60
40
20
0 0
2
4
6
8
10
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L1
1400
0
1200
1000
800
600
400
200
100
80
60
40
20
0 0
2
4
6
8
10
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
Sanyo constant current circuit
Sourcevoltage:DC100V
・
operatingcurrent:4A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
15.3x10
-4
kg
・
m
2
（
83.65 oz
・
in
2
）
use the rubber coupling
］
Sanyo constant current circuit
Source voltage : DC100V
・
operating current : 2A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
15.3x10
-4
kg
・
m
2
（
83.65 oz
・
in
2
）
use the rubber coupling
］
Sanyo constant current circuit
Source voltage : DC100V
・
operating current : 4A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
15.3x10
-4
kg
・
m
2
（
83.65 oz
・
in
2
）
use the rubber coupling
］
Sanyo constant current circuit
Sourcevoltage:DC100V
・
operatingcurrent:2A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
7.4x10
-4
kg
・
m
2
（
40.46 oz
・
in
2
）
use the rubber coupling
］
Sanyo constant current circuit
Sourcevoltage:DC100V
・
operatingcurrent:2A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
7.4x10
-4
kg
・
m
2
（
40.46 oz
・
in
2
）
use the rubber coupling
］
Sanyo constant current circuit
Sourcevoltage:DC100V
・
operatingcurrent:2A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
7.4x10
-4
kg
・
m
2
（
40.46 oz
・
in
2
）
use the rubber coupling
］
Sanyo constant current circuit
Source voltage : DC100V
・
operating current : 4A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
7.4x10
-4
kg
・
m
2
（
40.46 oz
・
in
2
）
use the rubber coupling
］
Sanyo constant current circuit
Source voltage : DC100V
・
operating current : 4A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
7.4x10
-4
kg
・
m
2
（
40.46 oz
・
in
2
）
use the rubber coupling
］
Sanyo constant current circuit
Source voltage : DC100V
・
operating current : 4A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
7.4x10
-4
kg
・
m
2
（
40.46 oz
・
in
2
）
use the rubber coupling
］
Sanyo constant current circuit
Source voltage : DC100V
・
operating current : 6A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
15.3x10
-4
kg
・
m
2
（
83.65 oz
・
in
2
）
use the rubber coupling
］
43
Stepping motor
2-phase STEPPING SYSTEMS
Specifications
●103H89222-52 □□
●103H89223-52 □□
●103H89222-09 □□ ● 103H89223-09 □□
2-phasesteppingmotor
106mm cir.
（4.17inch cir.）
103H8922 □
1.8°/step
0.1 1 10 100
1000 2000 3000 5000100
Torque（kgf・cm）
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L1
2800
0
2400
2000
1600
1200
800
400
200
160
120
80
40
0 0
4
8
12
16
20
Torque（oz・in）
Torque（N・m）
Starting
torque at
J
L2
0.1 1 10 100
1000 2000 3000 5000100
Torque（kgf・cm）
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L1
2800
0
2400
2000
1600
1200
800
400
200
160
120
80
40
0 0
4
8
12
16
20
Torque（oz・in）
Torque（N・m）
Starting
torque at
J
L2
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L1
1400
0
1200
1000
800
600
400
200
100
80
60
40
20
0 0
2
4
6
8
10
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
0.1 1 10 100
1000 2000 3000 5000100
Torque（kgf・cm）
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L1
2800
0
2400
2000
1600
1200
800
400
200
160
120
80
40
0 0
4
8
12
16
20
Torque（oz・in）
Torque（N・m）
Unipolar winding
Model Holding torque at 2-phase
energization Rated current Wiring resistance Winding inductance Rotor inertia Mass（Weight）
Single shaft Double shafts [N・m
（oz・in）MIN.] A/phase Ω
/phase mH/phase [×10 -4kg
・m2
（oz
・in2）
][kg
（Ibs）
]
103H89222-0941 -0911 10.8（1529.4）40.98 6.3 14.6（79.83）7.5（16.53）
103H89223-0941 -0911 15.5（2194.9）41.4 9.7 22（120.28）10.5（23.15）
Bipolar winding
Model Holding torque at 2-phase
energization Rated current Wiring resistance Winding inductance Rotor inertia Mass（Weight）
Single shaft Double shafts [N・m
（oz・in）MIN.] A/phase Ω
/phase mH/phase [×10 -4kg
・m2
（oz
・in2）
][kg
（Ibs）
]
103H89222-5241 -5211 13.2（1869.2）60.45 5.4 14.6（79.83）7.5（16.53）
103H89223-5241 -5211 19（2690.5）60.63 8 22（120.28）10.5（23.15）
Sanyoconstantcurrentcircuit
Source voltage : AC100V
・
operatingcurrent:4A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
43x10
-4
kg
・
m
2
（
235.10 oz
・
in
2
）
use the rubber coupling
］
Sanyoconstantcurrentcircuit
Sourcevoltage:AC100V
・
operating current : 4A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
43x10
-4
kg
・
m
2
（
235.10 oz
・
in
2
）
use the rubber coupling
］
Sanyoconstantcurrentcircuit
Source voltage : AC100V
・
operatingcurrent:6A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
43x10
-4
kg
・
m
2
（
235.10 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
43x10
-4
kg
・
m
2
（
235.10 oz
・
in
2
）
use the rubber coupling
］
Sanyoconstantcurrentcircuit
Source voltage : AC100V
・
operating current : 6A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
43x10
-4
kg
・
m
2
（
235.10 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
43x10
-4
kg
・
m
2
（
235.10 oz
・
in
2
）
use the rubber coupling
］
■Pulse rate-torque characteristics
44
Dimensions Stepping Motors with Internal driversStepping motor Set modelIC for stepping motor
●103H7121-61 □□ ● 103H7121-67 □□ ● 103H7123-61 □□
●103H7123-67 □□ ● 103H7126-61 □□ ● 103H7126-67 □□
2-phasesteppingmotor
56mm sq.
（2.20inch sq.）
103H712 □
Conforming to the CE marking
1.8°/step
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
70
0
60
50
40
30
20
10
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Pull-out torque at J
L1
Starting torque
at J
L2
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
70
0
60
50
40
30
20
10
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
1
2
3
4
5
0
0.1
0.2
0.3
0.4
0.5
0
Pull-out torque at J
L1
Starting torque
at J
L2
0.1 1 10 100
1000 2000 3000 5000100
Starting
torque at
J
L2
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L1
140
0
120
100
80
60
40
20
10
8
6
4
2
0 0
0.2
0.4
0.6
0.8
1.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Starting torque
at J
L2
Pull-out torque at J
L1
140
0
120
100
80
60
40
20
10
8
6
4
2
0 0
0.2
0.4
0.6
0.8
1.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L1
280
0
240
200
160
120
80
40
20
16
12
8
4
0 0
0.4
0.8
1.2
1.6
2.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
Starting
torque at
J
L2
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Starting torque
at J
L2
Pull-out torque at J
L1
280
0
240
200
160
120
80
40
20
16
12
8
4
0 0
0.4
0.8
1.2
1.6
2.0
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
Unipolar winding
Model Holding torque at 2-phase
energization Rated current Wiring resistance Winding inductance Rotor inertia Mass（Weight）
Single shaft Double shafts [N・m
（oz・in）MIN.] A/phase Ω
/phase mH/phase [×10 -4kg
・m2
（oz
・in2）
][kg
（Ibs）
]
103H7121-6140 -6110 0.39（55.2）14.8 8 0.1（0.55）0.47（1.04）
103H7121-6740 -6710 0.39（55.2）30.6 0.8 0.1（0.55）0.47（1.04）
103H7123-6140 -6110 0.83（117.5）16.7 15 0.21（1.15）0.65（1.43）
103H7123-6740 -6710 0.78（110.5）30.77 1.58 0.21（1.15）0.65（1.43）
103H7126-6140 -6110 1.27（179.8）18.6 19 0.36（1.97）0.98（2.16）
103H7126-6740 -6710 1.27（179.8）30.9 2.2 0.36（1.97）0.98（2.16）
Sanyo constant current circuit
Source voltage : DC24V
・
operating current : 1A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
0.94x10
-4
kg
・
m
2
（
5.14 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
0.8x10
-4
kg
・
m
2
（
4.37 oz
・
in
2
）
use the direct coupling
］
Sanyoconstantcurrentcircuit
Source voltage : DC24V
・
operatingcurrent:3A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
0.94x10
-4
kg
・
m
2
（
5.14 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
0.8x10
-4
kg
・
m
2
（
4.37 oz
・
in
2
）
use the direct coupling
］
Sanyoconstantcurrentcircuit
Source voltage : DC24V
・
operatingcurrent:1A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
2.6x10
-4
kg
・
m
2
（
14.22 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
2.6x10
-4
kg
・
m
2
（
14.22 oz
・
in
2
）
use the direct coupling
］
Sanyo constant current circuit
Source voltage : DC24V
・
operating current : 3A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
2.6x10
-4
kg
・
m
2
（
14.22 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
2.6x10
-4
kg
・
m
2
（
14.22 oz
・
in
2
）
use the direct coupling
］
Sanyo constant current circuit
Source voltage : DC24V
・
operating current : 1A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
0.94x10
-4
kg
・
m
2
（
5.14 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
0.8x10
-4
kg
・
m
2
（
4.37 oz
・
in
2
）
use the direct coupling
］
Sanyo constant current circuit
Source voltage : DC24V
・
operating current : 3A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
0.94x10
-4
kg
・
m
2
（
5.14 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
0.8x10
-4
kg
・
m
2
（
4.37 oz
・
in
2
）
use the direct coupling
］
■Pulse rate-torque characteristics
45
Stepping motor
2-phase STEPPING SYSTEMS
Specifications
●103H8221-62 □□ ● 103H8222-63 □□ ● 103H8223-63 □□
2-phasesteppingmotor
86mm cir.
（3.39inch cir.）
103H822 □
Conforming to the CE marking
1.8°/step
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
Pull-out torque at J
L1
Starting torque
at J
L2
700
0
600
500
400
300
200
100
10
20
30
40
50
0
1.0
2.0
3.0
4.0
5.0
0
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
Pull-out torque at J
L1
Starting torque
at J
L2
700
0
600
500
400
300
200
100
10
20
30
40
50
0
1.0
2.0
3.0
4.0
5.0
0
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Starting torque
at J
L2
Pull-out torque at J
L1
1400
0
1200
1000
800
600
400
200
100
80
60
40
20
0 0
2
4
6
8
10
Torque（kgf・cm）
Torque（oz・in）
Torque（N・m）
Bipolar winding
Model Holding torque at 2-phase
energization Rated current Wiring resistance Winding inductance Rotor inertia Mass（Weight）
Single shaft Double shafts [N・m
（oz・in）MIN.] A/phase Ω
/phase mH/phase [×10 -4kg
・m2
（oz
・in2）
][kg
（Ibs）
]
103H8221-6240 -6210 2.74（388.0）60.3 1.65 1.45（7.93）1.5（3.31）
103H8222-6340 -6310 5.09（720.8）60.35 2.7 2.9（15.86）2.5（5.51）
103H8223-6340 -6310 7.44（1053.6）60.45 3.4 4.4（24.06）3.5（7.72）
Sanyoconstantcurrentcircuit
Source voltage : AC100V
・
operatingcurrent:6A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
7.4x10
-4
kg
・
m
2
（
40.46 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
7.4x10
-4
kg
・
m
2
（
40.46 oz
・
in
2
）
use the direct coupling
］
Sanyo constant current circuit
Source voltage : AC100V
・
operating current : 6A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
15.3x10
-4
kg
・
m
2
（
83.65 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
15.3x10
-4
kg
・
m
2
（
83.65 oz
・
in
2
）
use the direct coupling
］
Sanyo constant current circuit
Source voltage : AC100V
・
operatingcurrent:6A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
43x10
-4
kg
・
m
2
（
235.10 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
43x10
-4
kg
・
m
2
（
235.10 oz
・
in
2
）
use the direct coupling
］
■Pulse rate-torque characteristics
46
Dimensions Stepping Motors with Internal driversStepping motor Set modelIC for stepping motor
●103H89222-63 □□ ● 103H89223-63 □□
2-phasesteppingmotor
106mm cir.
（4.17inch cir.）
103H8922 □
Conforming to the CE marking
1.8°/step
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Starting torque
at J
L2
Pull-out torque at J
L1
2800
0
2400
2000
1600
1200
800
400
200
160
120
80
40
0 0
4
8
12
16
20
Tor que（kgf・cm）
Tor que（oz・in）
Tor que（N・m）
0.1 1 10 100
1000 2000 3000 5000100
Pulse rate（kpulse/s）
Number of rotations（min
-1
）
Pull-out torque at J
L1
2800
0
2400
2000
1600
1200
800
400
200
160
120
80
40
0 0
4
8
12
16
20
Tor que（kgf・cm）
Tor que（oz・in）
Tor que（N・m）
Starting
torque at
J
L2
Bipolar winding
Model Holding torque at 2-phase
energization Rated current Wiring resistance Winding inductance Rotor inertia Mass（Weight）
Single shaft Double shafts [N・m
（oz・in）MIN.] A/phase Ω
/phase mH/phase [×10 -4kg
・m2
（oz
・in2）
][kg
（Ibs）
]
103H89222-6341 -6311 13.2（1869.2）60.45 5.4 14.6（79.83）7.5（16.53）
103H89223-6341 -6311 19（2690.5）60.63 8 22（120.28）10.5（23.15）
Sanyo constant current circuit
Source voltage : AC100V
・
operating current : 6A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
43x10
-4
kg
・
m
2
（
235.10 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
43x10
-4
kg
・
m
2
（
235.10 oz
・
in
2
）
use the direct coupling
］
Sanyo constant current circuit
Source voltage : AC100V
・
operating current : 6A/phase,
2-phase energization
（
full-step
）
J
L1
=
［
43x10
-4
kg
・
m
2
（
235.10 oz
・
in
2
）
use the rubber coupling
］
J
L2
=
［
43x10
-4
kg
・
m
2
（
235.10 oz
・
in
2
）
use the direct coupling
］
■Pulse rate-torque characteristics
47
Stepping motor
2-phase STEPPING SYSTEMS
Specifications
Model Number 103H712 □103H822 □／ 103H8922 □
Rated voltage 12-200VDC 12-300VDC 
Applied standards
（Low voltage
diretive）EN60034-1,IEC34-5(EN60034-5),EN60204-1,EN60950,EN61010-1
Operation type S1
（continuous rating）
Protection grade IP43
Device category Class I
Operationenvironment Pollutiondegree2
Insulation classI Class B
（130℃）
Insulationresistance Notlessthan100MΩbetween winding and frame by DC500V megger or normal temperture and humidity.
Withstand voltage Withoutabnormalitywhenapplying50/60Hz,1600VAC
（1500V AC for 103H712 □）
for 1minute
（leakage current 10mA）between
winding and frame at nomal temperature and humidity.
Ambient operation temperature -10to+50
°
C
Ambientoperationhumidity 90%MAX.atlessthan40
°
C,57%MAX.atlessthan50
°
C,35%MAX.at60
°
C
（no condensation）
Windingtemperaturerise 80KMAX.
（BasedonSanyoDenkistandard
）
（Note 1）When load is applied at 1/3 length from output shaft edge.
CE marked models
Standard models
Motor type H series motor
Model number 103H32 □□ /103H52 □□ /103H67 □□ /103H71 □□
Insulation class Class B
（130℃）
Withstand voltage □28
（□1.10inch）・□42
（□1.65inch）：AC500V 50/60Hz for 1 minute, □50
（□1.97inch）・□56
（□2.20inch）・□60
（□2.36inch）：AC1000V
50/60Hz for 1 minute
Insulation resistance 100M ohm MIN. against DC500V
Vibration resistance Amplitude : 1.52mm
（p-p）,147m/s
2,frequencyrange:10to55Hz,sweeptime:5minutes,numberofsweepis12timeseachin
theX,YandZdirections.
Impact resistance Acceleration : 98m/s2,holdingtime:11ms,half-wavesinewave3timesineachdirectionofX,Y,andZaxes,18timesintotal.
Operating ambient temperature -10℃to 50℃
Operating ambient humidity 90%MAX. : 40℃MAX.,57%MAX.:50
℃MAX., 35%MAX. : 60℃MAX.
（no condensation）
Motor type SH series motor
Motor model number SH353 □□ ,SH142□□ ,SH160□□ ,SH286□,
Insulation class Class B
（130℃）
Withstand voltage □35
（□1.38inch）・□42
（□1.65inch）：AC500V 50/60Hz for 1 minute, □60
（□2.36inch）：AC1000V 50/60Hz for 1 minute
Insulation resistance 100M ohm MIN. against DC500V
Vibration resistance Amplitude : 1.52mm
（p-p）,147m/s
2,frequencyrange:10to55Hz,sweeptime:5minutes,numberofsweepis12timeseachin
theX,YandZdirections.
Impact resistance Acceleration : 98m/s2,holdingtime:11ms,half-wavesinewave3timesineachdirectionofX,Y,andZaxes,18timesintotal.
Operating ambient temperature -10℃to 50℃
Operating ambient humidity 90%MAX. : 40℃MAX.,57%MAX.:50
℃MAX.,35%MAX.:60
℃MAX.
（no condensation）
Motortype SMseriesmotor
Model number SM286□
Type S1
（continuous operation）
Insulation class Class F
（+155°
C）
Operation altitude 1000m
（3280 feet）MAX above sea level
Withstand voltage □86mm（□3.39inch）
: AC1500V 50/60Hz for 1 minute
Insulation resistance 100M ohm MIN. against DC500V
Protection grade IP40
Vibration resistance
Amplitudeof1.52mm
（
0.06inch
）（
P-P
）
atfrequencyrange10to500Hzfor15minutessweeptimealongX,Y,andZaxesfor12times.
 
Impact resistance 490m/s2ofaccelerationfor11mswithhalf-sinewaveapplyingthreetimesforX,Y,andZaxeseach,18timesintotal.
Ambient operation temperature -10to+50
°
C
Ambientoperationhumidity 90%MAX.atlessthan40
°
C,57%MAX.atlessthan50
°
C,35%MAX.at60
°
C
（no condensation）
Radial load
Thrust load
Allowableradial/thrustload
Frange size Model number
Distance from end of shaft : mm（inch）Thrust load
N（Ibs）
05
（0.20）10（0.39）15（0.59）
Radial load : N（lbs）
□28mm（□1.10inch）103H32 □□ 30（6）39（8）53（11）84（18）3（0.67）
□35mm（□1.38inch）SH353 □40（8）50（11）67（15）98（22）10（2.25）
□42mm（□1.65inch）103H52 □□ 
103-59 □
SH142 □22（4）26（5）33（7）46（10）10（2.25）
□50mm（□1.97inch）103H670 □71（15）87（19）115（25）167（37）15（3.37）
□56mm（□2.20inch）103H712 □52（11）65（14）85（19）123（27）15（3.37）
103H7126 85（19）105（23）138（31）200（44）15（3.37）
φ56mm（φ 2.20inch）103-77 □□ 75（17）92（21）121（27）176（40）15（3.37）
□60mm（□2.36inch）103H782 □
SH160 □70（15）87（19）114（25）165（37）20（4.50）
□86mm（□3.39inch）SM286 □
SH286 □167（37）193（43）229（51）280（62）60（13.488）
φ86mm（φ 3.39inch）103H822 □167（37）193（43）229（51）280（62）60（13.488）
φ106mm（φ 4.17inch）103H8922 □321（72）357（80）401（90）458（102）100（22.48）
48
Dimensions Stepping Motors with Internal driversStepping motor Set modelIC for stepping motor
Direction of motor rotate
The output shaft shall rotate clockwise as seen from the shaft side,
when excited by DC in the following order.
Direction of motor rotate
The output shaft shall rotate clockwise as seen from the shaft side,
when excited by DC in the following order.
(4) Orange
(6) White
(2) Blue
Red Yellow
(5)
Black
(1) (3)
Internal wire connection
( ) connector pin number
Unipolarwinding
Bipolar winding
●103H32 □□
(2)
(1)
(3)
(5) (6) (4)
Internal wire connection
( ) connector pin number
●103H52 □□
(2)
(1)
(3)
(4) (6) (5)
Internal wire connection
( ) connector pin number
●103H782 □
Orange
White
Blue
Red YellowBlack
Internal wire connection
●Other than 103H32 □□、
103H52 □□、
103H782 □
Red Yellow
〈3〉(1)Orange
〈1〉(2)Blue
(3) (4)
〈6〉〈4〉
Internal wire connection
〈〉
,( )connectorpinnumber Direction of motor rotate
The output shaft shall rotate clockwise as seen from the shaft side,
when excited by DC in the following order.
Direction of motor rotate
The output shaft shall rotate clockwise as seen from the shaft side,
when excited by DC in the following order.
Lead wire color, connector type pin number
Connector type pin number
Exciting
order
White
& black
（1.6）
＋
＋
＋
＋
1
2
3
4
Red
（5）
−
−
Blue
（2）
−
−
Yel low
（3）
−
−
Orange
（4）
−
−
Lead wire
Connector
Exciting
order
（1.6）
＋
＋
＋
＋
1
2
3
4
（5）
−
−
（3）
−
−
（4）
−
−
（2）
−
−
Direction of motor rotate
The output shaft shall rotate clockwise as seen from the shaft side,
when excited by DC in the following order.
Exciting
order
（1.6）
＋
＋
＋
＋
1
2
3
4
（4）
−
−
（3）
−
−
（5）
−
−
（2）
−
−
Connector type pin number
Exciting
order
White
&black
＋
＋
＋
＋
1
2
3
4
Red
−
−
Blue
−
−
Yel low
−
−
Orange
−
−
Lead wire color
White
&black
–
+
+
–
（3）
1
2
3
4
103H782 □
Blue
–
–
+
+
（2）
Yellow
+
–
–
+
（4）
Orange
+
+
–
–
（1）
Lead wire color, connector type pin number
Lead wire
Connector Exciting order
Internal Wiring and Rotation Direction
49
Dimensions
2-phase STEPPING SYSTEMS
Effective tapping depth
3.2(.13)
MIN.
4-M2.6 x0.45
31±0.8 20±0.5 □28±0.5
(□1.10±.02)
4-23±0.25
(4-.91±.01)
18(.71)
MAX.
6.5(.26) MAX.
Pin No.
1. . 6
2
(.079)
10±1
19.5(.76)
MIN.
8.5(.33)
MAX.
(.39±.039) (1.25±.031) (.79±.02)
0.013
ø5-0.013
.00003
(
ø.1968-.0005
)
.00003
(
ø.1968-.0005
)
.0003
(
ø.87-.002
)
0.013
ø5-0.013
0.05
ø22-0.05
Motors［Unit: mm（inch）］
□28mm
（□1.10inch）
A
B
AB
Lead wire typeConnector type
Set part number Motor model number Motor length :
mm（inch）Cable type
Unipolar
DU14H321 △103H3205-52 △031
（1.25）Lead wire
DU14H326 △103H3215-52 △050.3
（1.98）Lead wire
ー103H3205-50 △031
（1.25）Lead wire
ー103H3205-51 △031
（1.25）Lead wire
ー103H3215-51 △050.3
（1.98）Lead wire
ー103H3215-52 △050.3
（1.98）Lead wire
ー103H3205-50 ▲031
（1.25）Connector
ー103H3205-51 ▲031
（1.25）Connector
ー103H3215-51 ▲050.3
（1.98）Connector
ー103H3215-52 ▲050.3
（1.98）Connector
Bipolar
DB14H321 △103H3205-57 △031
（1.25）Lead wire
DB14H326 △103H3215-57 △050.3
（1.98）Lead wire
ー103H3205-55 △031
（1.25）Lead wire
ー103H3205-56 △031
（1.25）Lead wire
ー103H3205-57 △031
（1.25）Lead wire
ー103H3215-55 △050.3
（1.98）Lead wire
ー103H3215-56 △050.3
（1.98）Lead wire
ー103H3215-57 △050.3
（1.98）Lead wire
□50mm
（□1.97inch）
Lead wire type
Set part number Motor model number Motor length :
mm（inch）Cable type
Unipolar
ー103H6701-01 △039.8
（1.57）Lead wire
ー103H6701-04 △039.8
（1.57）Lead wire
ー103H6701-07 △039.8
（1.57）Lead wire
ー103H6703-01 △051.3
（2.02）Lead wire
ー103H6703-04 △051.3
（2.02）Lead wire
ー103H6703-07 △051.3
（2.02）Lead wire
ー103H6704-01 △055.8
（2.20）Lead wire
ー103H6704-04 △055.8
（2.20）Lead wire
ー103H6704-07 △055.8
（2.20）Lead wire
Bipolar
DB16H671 △103H6701-50 △039.8
（1.57）Lead wire
DB15H672 △103H6703-50 △051.3
（2.02）Lead wire
ー103H6704-50 △055.8
（2.20）Lead wire
15.5±1
(.61±.04)(L±.03) (.81±.02)
L±0.8 20.6±0.5
□50±0.5
(□1.97±.02)
(4-1.61±.005)
4-41±0.13
Lead wire UL3266 AWG22
+0.5
4-ø4.5 0.5
+.02
(
4-ø.18 .00
)
6(.24)MAX.
25(.98)MAX.
305(12)
MIN.
1.5
(.06)
5
(.2)
0.000
ø6.35-0.013
.00000
(
ø.25-.0005
)
.00000
(
ø.25-.0005
)
.0000
(
ø1.42-.002
)
0.000
ø36-0.039
0.000
ø6.35-0.013
Effective tapping depth
depth 4(.16)
MIN.
4-M3 x0.5
L±0.5 24±0.5 □42±0.25
4-31±0.25
Pin No.
1 · · · 6
15±1
0.013
ø5-0.013
0.013
ø5-0.013
0.05
ø22-0.05
(.59
±.04
)
(L±.02) (.94±.02)
.00003
(
ø.1968-.0005
)
.00003
(
ø.1968-.0005
)
.0003
(
ø.87-.002
)
(□1.65±.01)
(4-1.22±.01)
27(1.06)
MAX.
7(.28) MAX.
1.5±0.76
(.59±.03)
28(1.1)
MIN.
11(.44)
MAX.
□42mm
（□1.65inch）
以下
()
1.5
(.06)
5
(.2)
A
B
AB
Lead wire typeConnector type
Set part number Motor model number Motor length :
mm（inch）Cable type
Unipolar
DU15H521 △103H5205-04 △033
（1.25）Connector
DU15H522 △103H5208-04 △039
（1.54）Connector
DU15H524 △103H5210-04 △048
（1.89）Connector
DU15S141 △SH1421-04 △133
（1.25）Lead wire
DU15S142 △SH1422-04 △139
（1.54）Lead wire
DU15S144 △SH1424-04 △148
（1.89）Lead wire
ー103H5209-04 △041
（1.61）Connector
Bipolar
DB14H521 △103H5205-52 △033
（1.25）Lead wire
DB14H522 △103H5208-52 △039
（1.54）Lead wire
DB14H524 △103H5210-52 △048
（1.89）Lead wire
DB16H141 △SH1421-52 △133
（1.25）Lead wire
DB15H142 △SH1422-52 △139
（1.54）Lead wire
DB15H144 △SH1424-52 △148
（1.89）Lead wire
ー103H5205-50 △033
（1.25）Lead wire
ー103H5205-51 △033
（1.25）Lead wire
ー103H5208-50 △039
（1.54）Lead wire
ー103H5208-51 △039
（1.54）Lead wire
ー103H5209-50 △041
（1.61）Lead wire
ー103H5209-51 △041
（1.61）Lead wire
ー103H5209-52 △041
（1.61）Lead wire
ー103H5210-50 △048
（1.89）Lead wire
ー103H5210-51 △048
（1.89）Lead wire
△：Motor shaft specification code
Motor shaft spec Set type code Motor type code
Single shaft S 7
Double shafts D 3
▲：Motor shaft specification code
Motor shaft spec Motor type code
Single shaft 4
Double shafts 1
50
Dimensions Stepping Motors with Internal driversStepping motor Set modelIC for stepping motor
+0.5
4-ø4.5 0.0
+.02
(
4-ø.18 .00
)
8(.31)MAX.
26(1.02) MAX.
Lead wire UL1430 AWG22
305(12)MIN.
15.5±1
(.61±.04)(L±.03)
(.81±.02)
L±0.8
20.6±0.5
□56±0.5
(□2.20±.02)
(4-1.86±.0005)
4-47.14±0.13
5
(.20)
(.06)
1.5
0.000
ø6.35-0.013
.00000
(
ø.25-.0005
)
.00000
(
ø.25-.0005
)
0.000
ø6.35-0.013
ø38.1±0.025
(ø1.50±.001)
Pin No.
1 · · · 6
(effective length)
(effective length)
S
S
S
S
0.000
ø8-0.015
.00000
(
ø.315-.0006
)
.00000
(
ø.315-.0006
)
.0000
(
ø1.42-.002
)
R4
MIN.
R4
MIN.
+1
15+0
+.04
(
.59+.00
)
+.04
(
.59+.00
)
15.5±1
(.61±.04)(L±.03) (.81±.02)
(R.157MIN.) (R.157MIN.)
L±0.8 20.6±0.5
7
(.28)
(.06)
1.5
+1
15+0
0.000
ø8-0.015
0.000
ø36-0.039
33(1.30)
MAX.
4-50±0.13
□60±0.5
(□2.36±.02)
(4-1.97±.005)
12(.47) MAX.
+0.5
4-ø4.5+0.0
+.02
(
4-ø.18+.00
)
.0
□60mm
（□2.36inch）
□56mm
（□2.20inch）
Lead wire type Connector type
Set part number Motor model number Motor length :
mm（inch）Cable type
Unipolar
DU16H711 △103H7121-04 △041.8
（1.65）Lead wire
DU16H713 △103H7123-04 △053.8
（2.12）Lead wire
DU16H716 △103H7126-04 △075.8
（2.98）Lead wire
ー103H7121-01 △041.8
（1.65）Lead wire
ー103H7121-07 △041.8
（1.65）Lead wire
ー103H7123-01 △053.8
（2.12）Lead wire
ー103H7123-07 △053.8
（2.12）Lead wire
ー103H7124-01 △053.8
（2.12）Lead wire
ー103H7124-04 △053.8
（2.12）Lead wire
ー103H7124-07 △053.8
（2.12）Lead wire
ー103H7126-01 △075.8
（2.98）Lead wire
ー103H7126-07 △075.8
（2.98）Lead wire
ー103H7121-61 △041.8
（1.65）
Lead wire
（
CE
）
ー103H7121-67 △041.8
（1.65）
Lead wire
（
CE
）
ー103H7123-61 △053.8
（2.12）
Lead wire
（
CE
）
ー103H7123-67 △053.8
（2.12）
Lead wire
（
CE
）
ー103H7126-61 △075.8
（2.98）
Lead wire
（
CE
）
ー103H7126-67 △075.8
（2.98）
Lead wire
（
CE
）
Bipolar
DB16H711 △103H7121-57 △041.8
（1.65）Lead wire
DB16H713 △103H7123-57 △053.8
（2.12）Lead wire
DB16H716 △103H7126-57 △075.8
（2.98）Lead wire
ー103H7121-56 △041.8
（1.65）Lead wire
ー103H7121-58 △041.8
（1.65）Lead wire
ー103H7123-56 △053.8
（2.12）Lead wire
ー103H7123-58 △053.8
（2.12）Lead wire
ー103H7126-56 △075.8
（2.98）Lead wire
ー103H7126-58 △075.8
（2.98）Lead wire
ー103H7128-56 △094.8
（3.73）Lead wire
ー103H7128-57 △094.8
（3.73）Lead wire
ー103H7128-58 △094.8
（3.73）Lead wire
Set part number Motor model number Motor length :
mm（inch）Cable type
Unipolar
ー103H7821-01 △044.8
（1.76）Lead wire
ー103H7821-04 △044.8
（1.76）Lead wire
ー103H7821-07 △044.8
（1.76）Lead wire
ー103H7822-01 △053.8
（2.12）Lead wire
ー103H7822-04 △053.8
（2.12）Lead wire
ー103H7822-07 △053.8
（2.12）Lead wire
ー103H7823-01 △085.8
（3.38）Lead wire
ー103H7823-04 △085.8
（3.38）Lead wire
ー103H7823-07 △085.8
（3.38）Lead wire
ーSH1601-04△044.8
（1.76）Lead wire
ーSH1602-04△053.8
（2.12）Lead wire
ーSH1603-04△085.8
（3.38）Lead wire
Bipolar
DB16H781 △103H7821-57 △044.8
（1.76）Lead wire
DB16H782 △103H7822-57 △053.8
（2.12）Lead wire
DB16H783 △103H7823-57 △085.8
（3.38）Lead wire
DB16S161 △SH1601-52 △044.8
（1.76）Lead wire
DB16S162 △SH1602-52 △053.8
（2.12）Lead wire
ー103H7821-17 △044.8
（1.76）Lead wire
ー103H7822-17 △053.8
（2.12）Lead wire
ー103H7823-17 △085.8
（3.38）Lead wire
△：Motor shaft specification code
Motor shaft spec Set type code Motor type code
Single shaft S 4
Double shafts D 1
A
B
Lead wire type
A
B
51
Motors［Unit: mm（inch）］
2-phase STEPPING SYSTEMS
Dimensions
□86mm
（□3.39inch）
Lead wire type
φ106mm
（φ4.17inch）
S
+0.5
4-ø6.9 0.0
+.02
(
4-ø.27 .00
)
Lead wire UL1430 AWG18
S
305(12)
MIN.
ø106.4±1
(ø4.2±.04)
(ø2.19±
.002
)
28±1
(1.10±.04)(L±.04) (1.38±.02)
L±135±0.5
8.6
(.34)
(.06)
1.52 +1
30.5 0
+.04
(
1.2 .00
)
0.000
ø12.7-0.018
.00000
(
ø.5-.0007
)
.00000
(
ø.63-.0007
)
ø55.524±
0.05
4-88.9±0.25
□106.4±0.5
(□4.2±.002)
(4-3.5±.001)
0.000
ø16-0.018
A(CE)(CE)
B(CE)(CE)
AB
Lead wire type CE type
φ86mm
（φ3.39inch）
Lead wire type
Set part number Motor model number Motor length :
mm（inch）Cable type
Unipolar ーSH2861-04 △166
（2.6）Lead wire
ーSH2862-04 △196.5
（3.8）Lead wire
ーSH2863-04 △1127
（5）Lead wire
Bipolar
ーSM2861-50 ◇166
（2.6）
Lead wire
（
CE
）
ーSM2861-51 ◇166
（2.6）
Lead wire
（
CE
）
ーSM2861-52 ◇166
（2.6）
Lead wire
（
CE
）
ーSM2862-50 ◇196.5
（3.8）
Lead wire
（
CE
）
ーSM2862-51 ◇196.5
（3.8）
Lead wire
（
CE
）
ーSM2862-52 ◇196.5
（3.8）
Lead wire
（
CE
）
ーSM2863-50 ◇1127
（5）
Lead wire
（
CE
）
ーSM2863-51 ◇1127
（5）
Lead wire
（
CE
）
ーSM2863-52 ◇1127
（5）
Lead wire
（
CE
）
Set part number Motor model number Motor length :
mm（inch）Cable type
Bipolar ー103H8221-62 △062
（3.31）
Lead wire
（
CE
）
ー103H8222-63 △092.2
（5.51）
Lead wire
（
CE
）
ー103H8223-63 △0125.9
（7.72）
Lead wire
（
CE
）
Set part number Motor model number Motor length :
mm（inch）Cable type
Unipolar ー103H89222-09 △1163.3
（6.4）Lead wire
ー103H89223-09 △1221.3
（8.7）Lead wire
Bipolar
ー103H89222-52 △1163.3
（6.4）Lead wire
ー103H89223-52 △1221.3
（8.7）
Lead wire
（
CE
）
ー103H89222-63 △1163.3
（6.4）
Lead wire
（
CE
）
ー103H89223-63 △1221.3
（8.7）Lead wire
S
Lead wire UL1430 AWG18UL vinyl tube
Grounding terminal
M4x0.7x6L
S
305(12)
MIN.
250±20
(9.8±.8)
ø86±0.5
(ø3.4±.02)
0.000
ø9.5-0.013
.00000
(
ø.374-.0005
)
.00000
(
ø.4724-.0007
)
0.000
ø12-0.018
ø73.025±0.025
(ø2.9±.001)
25
(.98)
27.5±0.5
4.83
1.52
30±0.5L±0.828±1
(1.10±
.04
)
(L±.03) (1.2±.02)
(1.08±.02)
(.06)
(.19)
+0.5
4-ø5.35+0.0
+.02
(
4-ø.2+.00
)
□82.55±0.5
(□3.25±.02)
4-69.6±0.2
(4-2.74±.008)
27(1.06)MAX.
12(.47)MAX.
69.6±0.25(2.74±0.1)
85.5±0.5(3.366±0.2)
69.6±0.25(2.74±0.1)
85.5±0.5 (3.366±0.2)
4-φ5.6±0.2
(4-φ.2205±.0079)
L±1(L±0.4)30±1(1.18±.04)
1.5±0.25（.06±0.1）
8±0.5(.31±0.1)
30±0.5(1.18±0.1)
S
S
S
S
13±0.15
(.5118±0.059)
90°
13±0.15
(.5118±0.059)
Grounding terminal
M4×0.7×6L
25 +0.4
0
+1
0(.91 )
R4(R.16)MIN. R4(R.16)MIN.
Lead wire:
UL3398 CSA AWG22
Cross section
S-S
(Effective length)
25 +0.4
0
+1
0(.91 )
(Effective length)
φ14
0
-0.018
(φ.55 )
0
-0.001
φ14
0
-0.018
(φ.55 )
0
-0.001
φ73.025±0.025
(φ2.875±0.001)
△：Motor shaft specification code
Motor shaft spec Motor type code
Single shaft 4
Double shafts 1
◇：Motor shaft specification code
Motor shaft spec Motor type code
Single shaft 5
Double shafts 2
A(CE)(CE)
B(CE)(CE)
CE type
A
B
52
Dimensions Stepping Motors with Internal driversStepping motor Set modelIC for stepping motor
Drivers（CE［TÜV］・UL）［Unit: mm（inch）］
■Safety standards
2-phase STEPPING SYSTEMS
Dimensions
SM series motor(UL/CE),H series motor(CE)
UL
Acquired standards File No.
UL E208878
UL for Canada
CE
Standard category Standard part
Low-voltage directives
EN-60034-1
IEC34-5
(EN-60034-5)
driver
UL
Acquired standards File No. Standard part
UL E179775 UL508C
UL for Canada
CE
（TÜV）
Directives Category Name Standard part
Low-voltage
directives −− EN50178
EMC
directives
Emission Terminal disturbance voltage EN55011-A
Electromagnetic radiation disturbance EN55011-A
Immunity
ESD
（Electrostatic discharge）EN61000-4-2
RS
（Radio-frequency amplitude
modulated electromagnetic field）EN61000-4-3
Fast transionts
EN61000-4-4
Surges EN61000-4-6
CS
（Radio-frequency common mode）EN61000-4-5
Voltage dips, Voltage interruptions EN61000-4-11
●EMCcharacteristicsmayvarydependingontheconfigurationoftheusers
ʼcontrol panel, which contains
thedriverorsteppingmotor,orthearrangementandwiringofotherelectricaldevices.
PartsforEMCnoisesuppressionlikenoisefiltersandtroidaltypeferritecoresmayberequireddepending
on circumstances.
●ValidationtestofFseriesdriverhasbeenperformedforlow-voltageEMCdirectivesatTÜV
（TÜV product
service）forself-declarationofCEmarking.
53
IC for stepping motor
2-phase STEPPING SYSTEMS
Specifications
■Characteristics
■Maximum Rating（Ta=25℃）
UniversalcontrollerICforthe2-phasesteppingmotordrive
PMM8713PT
Item Symbol Rating Unit
Source voltage VCC -0.3to7 V
Output
current φn“H”level IOH φ-35 mA
“L”level IOL φ35
Output
current CO,EM
“H”level IOH μA
“L”level IOL
Input voltage VIN -0.3toV
CC +0.3 V
Input current IIN ±10 mA
operating current Topr -20 to 85 ℃
Conservation temperature Tstg -40 to 125 ℃
Item Symbol Rating Unit
MIN. Standard MAX.
Source voltage VCC 4.5 −5.5 V
Output
current φn“H”level IOH φ-24 −−mA
“L”level IOL φ24 −−
Output
current CO,EM
“H”level IOH -2−−mA
“L”level IOL 2−−
Input voltage VIN 0−VCC V
■
Recommended Operating Conditions（
Ta=-20 to 85
℃）
Pin No. Name Function
1. CUInputpulseUPclockinput
2. CDInput pulse DOWN clock input
3. CKInput pulse clock input
4. U/D Rotation direction conversion
5. EAenergizationmodeswitching
input
6. EBenergizationmodeswitching
input
7. φCenergizationmodeswitching
input
8. VSS GND
9. R Reset input
10. φ4φ4output
11. φ3φ3output
12. φ2φ2output
13. φ1φ1output
14. EMenergization monitor output
15. COInputpulsemonitoroutput
16. VCC 4.5to5.5V
■Dimensions
［Unit : mm
（inch）］
6.6(.26)
4.45(.17)MAX.
6.2(.24)
7.62(.3)TYP
0~15˚
0.20(.008)
0.35(.014)
19.75(.78)MAX.
19.25±0.2
(.76±.008)
0.51(.02)MIN.
2.9(.11)MIN.
0.4(.016)
0.6(.024)
2.54(.1)TYP
1.53(.06)TYP
・Universalcontroller: Thefollowing3typesofenergizationmodecanbeselectedbyswitchingattheenergizationmodeswitching
terminal
1EX/1-2EX/2EX
・Source voltage : Vcc = 4.5 to 5.5V
・High output current : 24mA MIN.
（sink, source）
・Highnoisemargin: Schmitttriggercircuitisincorporatedfortheallinputterminals.
・2 types of pulse input : 2 input mode
（CW,CCWinputmode
）
Pulse and direction mode
（CK,U/Dinputmode
）
・Excited status
 verificationmonitor: Outputsthemonitorsignalofthecontrollerstatus.
54
Dimensions Stepping Motors with Internal driversStepping motor Set modelIC for stepping motor
■Electrical Characteristics
Direct current characteristics（Ta = -20 to 85℃）
Item
Symbol
Condition Standard value Unit
VCC[V] MIN.
Standard
MAX.
Input
voltage “H”level VIH 5−3.5 −−V
“L”level VIL 5−−−
1.5
Output
voltage
“H”level VOH 5VH=5V VL=0V 
IOH=0 4.9 −−V
“L”level VOL 5VH=5V VL=0V 
IOH=0 −−0.1
Output
current
φ1toφ4
“H”level IOH 5VH=5V VL=0V 
VOUT=2.4V -24 −−mA
“L”level IOL 5VH=5V VL=0V 
VOUT=0.4V 24 −−
Output
current
CO,E
M
“H”level IOH 5VH=5V VL=0V 
VOUT=2.4V -2−−mA
“L”level IOL 5VH=5V VL=0V 
VOUT=0.4V 2−−
Input current I 5 −−
10 −μ
A
Static current
consumption ICC 5V
H=5V VL=0V −1−mA
Switching characteristics（Ta = -20 to 85℃）
Item
Symbol
Condition Standard value Unit
VCC[V]a MIN.
Standard
MAX.
MAX. clock
frequency fMAX 5tr ＝tf ＝20ns,
CL＝50pF 1−−MHZ
MIN. width of clock
pulse
tWL,
tWH 5tr ＝tf ＝20ns,
CL＝50pF −−500 ns
MIN. width of reset
pulse tWR 5tr ＝tf ＝20ns,
CL＝50pF −−1000 ns
Time delay
（from clock input
to φoutput）tpd 5tr ＝tf ＝20ns,
CL＝50pF −−2000 ns
Set time tSET 5tr ＝tf ＝20ns,
CL＝50pF 0−−ns
Holding time tHOLD 5tr ＝tf ＝20ns,
CL＝50pF 250 −−ns
Energization modes
Excitation
mode
Input
REAEB
φC
1EX H H L H
1-2EX H H H H
2EX H L L H
Input modes and rotation direction 
Input mode Input Rotation
direction
CU CD CK U ／D
2inputmode
（CW,
CCW）
LLLCW
L LLCCW
Pulse and direction
mode
（CK, U/D）
LL HCW
LL LCCW
■Function Table
90% 90%
50% 50%
50%
50%
50%
10% 10%
90%
90%
10%
90%
50%
50%
10%10%
tHOLD
CK
CU
CD
CK
tf
tr or tf
tr
tr
tSET
tWL
tWH
tpd
U／D
1／f
φ1 to φ4
tf
Measured waveforms on switching time scale
55
24V
P.GND
5V
5V
Reset input
Driving input
Energization mode setting
1
2
3
4
5
6
7
9
10
11
12
13
15
14
816
GND
External output
PMM8713PT
5V
5V
GND
GND
PMM2101
21
22
6
24
3
25
4
91115198
10
12
14
18
5
23
13
72126
+
20
Stepping motor
GND
GND
+
1EX
Pulse 0
（
Reset
）
1234
Face
φ1 1 0001
φ2 0 1000
φ3 0 0100
φ4 0 0010
EM0 0000
UP
DOWN
2EX
Pulse 0
（
Reset
）
1234
Face
φ1 1 1001
φ2 0 1100
φ3 0 0110
φ4 1 0011
EM1 1111
UP
DOWN
1-2EX
Pulse 0
（
Reset
）
12345678
Face
φ1 1 11000001
φ2 0 01110000
φ3 0 00011100
φ4 1 00000111
EM1 01010101
UP
DOWN
･Reset after changing the energization mode.
Energization mode setting
Pin No. Terminal symbol Input level Motor operation
5,6 EA,E
B
H 1-2EX
L2EX
●ThenormalinitialresetmaynotbeperformedduringunstableVCCafterturningthepowerON.For
reliable resetting, hold the R terminal
（9-pin）at the “L”leveltilltheVCCbecomesstable.
■Energization Sequence
■Input Pulse Monitor
CU
CD
CK
CO
Input
Output
CV
4.5V
1.5V MAX.
Vcc (16-pin)
R (9-pin)
■Example of Application Circuit
（Bipolar wiring motor）
Combined with the power hybrid IC
●PowerhybridIC:Refertopage47forthePMM2101specifications.
●RefertothePMM8713PTOperationManualforotherapplicationcircuitexamples.
UniversalcontrollerICforthe2-phasesteppingmotordrive
PMM8713PT
IC for stepping motor
2-phase STEPPING SYSTEMS
Specifications
56
Dimensions Stepping Motors with Internal driversStepping motor Set modelIC for stepping motor
4±0.3
(.16±
.012
)
3.8±0.2
(.15±.008)
+0.2
0.6 –0.05
+.008
(
.02 –.002
)
26x1.27=33.02
(26
x
.05=1.3)
40±0.3
(1.57±.01)
25±0.2
(.98±
.008
)
ø3.3±0.2
(ø
.13±
.008)
1.27
(.05) 3.4
2.54
(.1) (.13)
0.25
(.01)
1.5±0.2
4.5±0.5
(.178±
.02
)
13±0.3(.51±.011)
9±0.2(.35±.008)
3.3±
0.2(
.13±
.008)
83.5
(.14)
(.31)
3±0.2
(.12±.008) (.06±.06)
1
(.04)(.04)
127
PMM2101
1
Control No.
and Lot No.
HICforthe2-phasesteppingmotor
PMM2101
FullStep/HalfStep
Bipolar
■Characteristics
■Maximum Rating（Tc=25℃） ■
Recommended Operating Conditions（
Tc=25
℃）
・Enableshighspeedandhightorqueoperationbyusingbipolarconstantcurrentswitchingmethod.
・Enablescompactdrivingcircuitconfigurationwithfewofexternallyattachedparts.
・Theoverheatprotectioncircuitisincorporatedtoassistthesafetydesign.
■Dimensions
［Unit : mm
（inch）］
Item Symbol Rated value Unit
Source voltage-1 VCC1 8to60 V
Source voltage-2 VCC2 0to7 V
Output current IO1.4 A
Allowable loss PT35
（Tc ＝25℃） W
Thermal
resistance θjc 3.57 ℃／ W
θja 25 ℃／ W
Junction
temperature Tjmax 150 ℃
Conservation
temperature Tstg -40 〜150 ℃
Item Symbol Rated value Unit
Source voltage-1 VCC1 10 to 50 V
Source voltage-2 VCC2 4.75 to 5.25 V
Output current IO1.0 A
Oscillator
frequency FC20 to 27 kHz
Operation
temperature TC-25 to 85 ℃
Pin No. Name Function
1. VCC2 Powerterminalforcontrollersection
2. ENA A Enable input terminal
3. φ1Armdriveinput
4. φ2Armdriveinput
5. CR A One shot time constant setting terminal
6. Vref A Motor current setting terminal
7. LG A GND
8. VCC1 AMotordriverpowerterminal
9. VSA Motor current detection terminal
10. M1 Motor output
11. RSA Detection resistor connecting terminal
12. M2 Motor output
13. PG P.GND
14. M3 Motor output
15. RSB Detection resistor connecting terminal
16. NC −
17. NC −
18. M4 Motor output
19. VSB Motor current detection terminal
20. VCC1 BMotordriverpowerterminal
21. LG B GND
22. Vref B Motor current setting terminal
23. CRB Oneshottimeconstantsettingterminal
24. φ3Armdriveinput
25. φ4Armdriveinput
26. ENA B Enable terminal
27. AL Overheat alarm output terminal
Operational truth value table
ENA A(ENA B) φ1( φ3) φ2( φ4) M1(M3) M2(M4)
LLLOFFOFF
LLHLH
LHLHL
LHHOFFOFF
H−−OFF OFF
ICforsteppingmotor
2-phase STEPPING SYSTEMS
57
24V
+
+
C2
C1
R2R1
R3 R4
R5
R6
R7
P.GND
D1~D4
Orange
Blue
Red
Yellow
Stepping motor
C3
R8
C4
C5
5V
5V
5V
5V
GND
GND
GND
GND
GND
PMM2101
PMM8713PT 21
13 20
91115198
10
12
14
18
5
23
721
22
6
24
3
25
4
26
1
2
3
4
5
6
7
9
10
11
12
13
15
14
816
Reset input
Driving input
External output
Energization mode setting
Item Symbol Condition Rating Unit
MIN. Standard MAX.
"H"level input voltage VIH VCC2 ＝5V 2.7 −VCC2 V
"L"level input voltage VIL VCC2 ＝5V 0 −1.0 V
"H"level input current IIH VCC2 ＝5V、VI＝5V −−10 μA
"L"level input current IIL VCC2 ＝5V、VI＝0V −−-50 μA
Reference voltage (Vref) input current Iref VCC2 ＝5V、Vref ＝0V −−-10 μA
Current detection (Vs) input current ISVCC2 ＝5V、VS＝0V −−-10 μA
ForwarddirectionvoltageofFETdiod V
FIF＝1A −1.3 1.5 V
High output saturating voltage Vce (sat)H IC＝1A −1.0 1.4 V
Low output saturating voltage Vce (sat)L IC＝1A −1.0 1.3 V
Low output saturating voltage IRVCC1 ＝60V、VOUT ＝0V −−10 μA
VOUT ＝60V、VRS ＝0V −−10 μA
Power current to controller section ICC2 VCC2 ＝=5V
（during circuit operation）− − 75 mA
Alarmterminalcurrent I
alm VCC2 ＝5V、Valm ＝0.5V −−2mA
Overheat alarm operating temperature −− − 125 −℃
Overheat protection stop temperature −− − 150 −℃
Applicable Constant Applicable Constant
R1,R2 5W 0.68 ΩC1, C2 1000pF
R3,R4 1 ／4W 3.9k ΩC3, C4 3300pF
R7,R8 1 ／4W 15k ΩC5 330 μF
■Electrical Characteristics（Ta=25）
■Overheat Alarm Output
Theoverheatprotectioncircuitoutputsanalarmsignalat+125
℃attheinternaljunctionintheIC,andactivates
（motor excitation OFF）
at +150℃.
■Example of Application Circuit
●Refertopage53forthePMM8713PTspecifications.
●Recommended circuit constants for PMM2101
●DetermineontheR5andR6constantsreferringtotheVref-
output current characteristics.
●DetermineonD1toD4.
Peak reverse voltage ≧100V
 Output current ≧1A
 Reverserecoverytime≦100ns
External pull-up resistor
Open collector output
(approximate 10kW)
27-pin
PMM2101
VCC2(+5V)
●TransistorONduringalarming
 Vce
（ON）:0.5VMAX.
 lalm : 2mA MAX.
●Thealarmingsignaloutputandoverheatprotectioncircuit
recover automatically when the temperature lowers.
Vref–Output current characteristics
Vref Voltage (V)
0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9
0.0
0.2
0.4
0.6
0.8
1.0
1.2
Output current (A)
HICforthe2-phasesteppingmotor
PMM2101 FullStep/HalfStep
IC for stepping motor
2-phase STEPPING SYSTEMS
Specifications
58
Dimensions Stepping Motors with Internal driversStepping motor Set modelIC for stepping motor
+0.2
0.4–0.05
+.008
(
.016–.002
)
+0.2
0.5–0.05
+.008
(
.02–.002
)
2.9
(.11)
25.5
(1.00)
16(.63)
5.6
(.22)
11(.43)
9
(.35)
4
(.16) (.04)
1
221
[9]
(.35)
67
(2.64)
60
(2.36)
21x2=42
(21x.08=1.68)
2–3.6
(2–.14)
PMM2301
HICforthe2-phasesteppingmotor
PMM2301
Micro Step
Unipolar
■Characteristics
■Maximum Rating（Tc=25℃） ■
Recommended Operating Conditions（
Ta=25
℃）
・Sinewavedrivenmicro-stepdriver.
・Thecurrentdetectionresistorisincorporated.
・MOSFET is used for the power driving circuit to reduce heating.
・Totallypackagedtoreducepartsfortheperipheralcircuit.
・Enablesselectionfromthe5variousexcitationmodesbytheexternalbitsignal.
■Dimensions
［unit: mm
（inch）］
Item Symbol Condition Rated value Unit
Source voltage-1 VCC1 MAX. VCC2 ＝0V 52 V
Source voltage-2 VCC2 MAX. Withnosignal 7 V
Input voltage Vin MAX. Logic input terminal 7 V
Phase current IOH MAX. 0.5sec, 1pulse,VCC1 applied 4 A
Operating
temperature on
PCB
TCMAX. −105 ℃
Junction
temperature TjMAX. −150 ℃
Conservation
temperature Tstg −-40 to 125 ℃
Item Symbol Condition Rated value Unit
Source voltage-1 VCC1 With signal 10 to 45 V
Source voltage-2 VCC2 With signal 5.0 ±5％V
Input voltage VIH −0toV
CC2 V
Phase current IOH Duty 50％3A
Clock frequency Clock −DC to 50 kHz
Withstand voltage of
phase driver VDSS −100 V
Pin No. Terminal name
12. VCC2
13. VCC2
14. Clock
15. CW ／CCW
16. Reset
17. Return
18. Enable
19. M0I
20. M01
21. M02
22. GND
Pin No. Terminal name
1. B
2. B
3. P.GND A
4. P.GND B
5. A
6. A
7. VCC2
8. Vref
9. Mode 1
10. Mode 2
11. Mode 3
Terminal name Function Functioning condition
Vref Motor current setting input −
Clock Motor driving pulse input Mode3= “H”level : Operates at rising edge
Mode3= “L”level : Operates at rising and falling edges
CW / CCW Motor rotation direction setting input “H”level = CW rotation
“L”level = CCW rotation
Reset System reset Reset ＝"L"
Return Forcedreturntophaseorigin ForcedshifttotheoriginofthepresentenergizationphasewithReturn= “H”
Enable Power OFF input Enable ＝"L"
M0I Phaseoriginmonitoroutput “L”leveloutputatthephaseorigin.
M01、M02 Monitoroutputonphaseenergizationstatus Outputslevelsignalonthepresentphaseenergizationstatus.
Phase
coordinate A phase B phase A phase B phase
M01HLLH
M02 L H L H
■Each Terminal Function
ICforsteppingmotor
2-phase STEPPING SYSTEMS
Specifications
59
P.GND
C1
GND
710 to 45 V
VCC2(5V)
Vref
VCC1
R2
R1
C2
+
Return
Clook
Energization mode setting
External output
Stepping motor
PMM2301
CW/CCW
Reset
Endde
+
White
Black
Orange
Blue
Red
Yellow
12
13
9
10
11
14
15
16
17
18
822
4
3
1
2
5
6
21
20
19
■Energization Mode Table
●ConditionedontheMode3=L,onepulseoperationisperformedateveryrisingandfallingedgeoftheclockpulse.Accordingly,the
operationbecomesunstableifthedrivingpulsedutyratiodeviatesfrom50%.
Input condition Energization
mode
1 step angle
（degree）Number of basic
angle division
Mode1 Mode2 Mode3
LLH2EX 1.8 1/1
HL H1-2EX 0.9 1/2
LHHW1-2EX0.45 1/4
HHH2W1-2EX0.225 1/8
HHL 4W1-2EX0.1125 1/16
■Electrical Characteristics（Tc=25℃、Vcc1=24V、Vcc2=5V）
Item Symbol Condition Rating Unit
MIN. Standard MAX.
VCC2 Power current ICCO Enable = “L” − 4.5 15 mA
Effective output current Ioave EachphaseR/L=3
.5 Ω/3.8mH, Vref = 0.6V 0.45 0.50 0.55 A
Forward direction voltage
of FET diode Vdf If＝1A −1.2 1.8 V
Output saturating voltage Vsat RL=7.5Ω（I≒3.0A）−
1.4 2.6 V
“H”level input voltage VIH 9to11,14to18pins 4.0 −−V
“L”level input voltage VIL 9to11,14to18pins −−1.0 V
Input current IIL 9to11,14to18pins=GNDlevel,Pull-upresistor20kΩ125 250 510 μA
Vref input voltage Vr8-pin 0−VCC2 ／2V
Vref input curren Ir8-pin −1−μ
A
“H”leveloutputvoltage
M0I、M01、M02 VOH 19to21pinsI=3mA,I=-3mA 2.4 −−V
“L”leveloutputvoltage
M0I、M01、M02 VOL 19to21pinsI=3mA,I=-3mA −−0.4 V
PWM frequency FC−37 47 57 kHz
■Example of Application Circuit
Recommended circuit constants
C1 C2
100 μForover 10μF
●DetermineontheR1andR2constantsbasedontheVrefvoltagecalculatedfromthefollowingformula.
Vref
（V）=Motorcurrentadjustedvalue
（A/phase）x0.6
HICforthe2-phasesteppingmotor
PMM2301 Micro Step
2-phase STEPPING SYSTEMS
IC for stepping motor
Specifications
60
Safety Consideration
The drivers and stepping motors are the products designed to be used for the general industrial devices.
When using those, pay enough attention to the following points.
・Read thoroughly the Operation Manual prior to placement, assembly and/or operation in order to use the product properly.
・Refrain from modifying or processing the product in any way.
・Consult with the distributor or professional experts for placement or maintenance services of the product.
・In case of the following uses of the product, contact with us for the special care required to the operation, maintenance and
management such as multiplexing the system, installing an emergency electric generator set, or so forth.
1Use for the medical devices concerned with a fatal accident.
2Use for trains, elevators, and so forth that are likely to cause an accident resulting in injury, damage or death.
3Use in the computer system highly influential to the social life or the public systems.
4Use in other devices highly influential to maintaining the human safety or the public functions.
In addition to the above, consult with us for use in such a vibration environment as automobile or transportation.
Read the Operation Manual thoroughly prior to the use (placement, operation, maintenance and inspection) to put the product
in use properly.
Make yourself knowledgeable and familiarize with the devices, safety issues and cautions before handling the product.
After reading the Operation Manual or the like, keep it in the place where the users can refer to whenever necessary.
This label is stuck near the high voltage part such as the electrically charged or cover-protected
section, warning that the place where it is likely to cause an electric shock.
This label is stuck on the place where the driver or stepping motor body should be easily
acknowledged, warning that it is likely to cause burns from high temperature.
This label is stuck near the GND terminals of the driver or stepping motor for which grounding is
required, suggesting that the terminals should be actually grounded.
This label is stuck for the driver or stepping motor to which the power source is applied in the voltage
exceeding the safety standard, drawing attention against the electric shock.
Indication by（Warning Label）on the product
Either or all of the following indications are given by the Warning Labels depending on the type of the driver or stepping motor.
Safety ranks of the cautions
Following four ranks are provided.
Use proper
grounding
techniques.
必ずアース線を
接続して下さい
危険
May Cause
感電注意
electric shock
WARNING
Improper operations or use is most likely to result in serious injury or death.
Improper operations or use is likely to result in average or minor injury, or in property damage.
Indicates what shall not be done.
Indicates what shall be done.
DANGER
CAUTION
PROHIBITED
COMPULSORY
In spite of the cautions with the CAUTION label, it may cause serious results. Either
the contents of the labels is describing important cautions to be followed inevitably.
CAUTION
61
18. Mount the product on an incombustible material such as metal. Doing
otherwise may cause fire.
19. Confirm the rotating direction before connecting with the mechanical
device. Failure to do so may cause injury or a breakdown.
20. Do not touch the motor output spindle (including the key slot and gears) with a bare
hand. Doing so may cause injury.
＜Operation＞
21. The stepping motor is not equipped with any protective device. Take
protective measures using an over-current protective relay, a ground fault
interrupter, a protective device fromexcess temperature, and an emergency
stopping device. Failure to do so may cause injury or fire.
22. Do not touch the product for a period after the power is on or has been turned
off, since the driver and stepping motor remain in the high temperature. Doing
so may cause burns. Especially the temperature rises considerably of the
stepping motor depending on the operating conditions. Use the motor on the
condition so that its surface temperature becomes 100°C or under.
23. Stop the operation immediately when an emergency occurs. Failure to do so may
cause an electric shock, injury or fire.
24. Do not change adjustment to an extreme, for such a change results in the unstable
operation. Doing so may cause injury.
25. When conducting the trial operation, make the stepping motor fixed firmly, and
confirm the operation by disconnecting with the mechanical system before
connecting with it. Failure to do so may cause injury.
26. When the alarm has been activated, eliminate the cause and ensure the
safety to resume operation. Failure to do so may cause injury.
27. When the electric power recovers after the momentary interruption, do not
approach the devices because the system may re-start operation by itself.
(Set the system so as to secure the safety even when it re-start on such
occasion.) Failure to do so may cause injury.
28. Confirm that the electric power supply is all proper conforming to the
specifications. Failure to do so may cause a trouble.
29. The brake mechanism of the motor with the electro-magnetic brake is to
hold the movable section and the motor position. Do not use it as a safety
measure, or doing so may cause the breakdown of the system.
30. Fix the key firmly when operating the motor with key individually. Failure to
do so may cause injury.
＜Maintenance services＞
31. Be careful when performing maintenance services or inspection about the
temperature which rises highly in the driver and stepping motor frame.
Failure to do so may cause burns.
32. It is recommended to replace the electrolytic condenser of the driver with a
new one for securing the preventive measure after using for 5 years, the
expected life in the average 40°C. The expected life of the fuse is 10 years
in the average 40°C. Thus, the periodical replacement is recommended.
33. Contact with us for repair. If the product is disassembled by the user, it may
put it out of action. ＜Transportation＞
34. Handle the product with care during transportation so as to prevent from the
danger such as a tumble or a turnover.
35. Do not hold with the cable or the motor spindle. Doing so may cause a
trouble or injury.
＜Retirement＞
36. When scrapping the driver or stepping motor, treat it for the general
industrial waste.
＜Storage＞
1. Avoid the place exposed to rain or water drops, or in an environment with
hazardous gas or liquid for storing the product. Failure to do so may cause a
trouble. ＜Maintenance services＞
2. Do not assemble or repair the product. Doing so may cause fire or an
electric shock.
＜General matters＞
3. Do not remove the rating plate.
＜Storage＞
1. Store the product within the specified conservation temperature and
humidity in the place not exposed to the sun beam.
2. If the driver has been stored for a long period (3 years or longer for a guide),
consult with us. The capacitance may have decreased with the electrolytic
condenser due to the long period storage, and it may cause a trouble.
＜Operation＞
3. Install an external emergency stop circuit to turn the power off for the
instant halt of operation.
4. Put the product into operation in the specified ambient temperature and
humidity.
＜Transportation＞
5. Excess loading of the product on the carrier may cause the load to fall in
pieces. Follow the instructions given outside the package.
＜General matters＞
1. Do not use the product in an explosive, flammable or corrosive atmosphere, watery
place or near a combustible material. Doing so may cause injury or fire.
2. Have a person with expert knowledge for performing the transportation,
placement, wiring, operation, maintenance or inspection of the product.
Without such knowledge, it may cause an electric shock, injury or fire.
3. Do not work for wiring, maintenance servicing or inspection with the electric
power on. Performeither of those five minutes after turning the power off,
or otherwise, it may cause an electric shock.
4. When the protective functions of the product is activated, turn the power off
immediately and eliminate the cause. If continuing the operation without
eliminating the cause, the product may operate improperly and cause injury
or a breakdown of the system devices.
5. Stepping motor may run out of order at the operating and stopping
occasions, depending on the magnitude of the load. Put the product into use
after confirming with the adequate trial test operation in the maximumload
conditions that the product performs reliable operation. Doing otherwise
may cause a breakdown of the system. (Should the product run out of order
in the use to drive upward/downward, it may cause a fall of the load.)
6. Do not touch the internal parts of the driver. Doing so may cause an electric
shock.
＜Wiring＞
7. Do not connect the stepping motor directly with the commercial power
outlet. Doing so may cause an electric shock, injury or fire. The power shall
be supplied to the stepping motor through the driving circuit.
8. Use the electric power source within the rated input voltage. Using
otherwise may cause fire or an electric shock.
9. Connect the driver and stepping motor to the ground. Using without
grounding may cause an electric shock.
10. Do not harm, forcibly put a stress, or load a heavy article on the cable or get
it caught between the articles. Doing so may cause an electric shock.
11. Performwiring with the power cable as instructed by the wiring diagramor
the Operation Manual. Doing otherwise may cause an electric shock or fire.
＜Operation＞
12. Be sure not to touch the rotating part of the stepping motor during its
operation. Touching it may cause injury.
13. Neither reach or touch the electric terminals while electric power is on.
Doing so may cause an electric shock.
14.
Never disconnect any of the connectors while electric power is on. Doing so may
cause an electric shock and corruption.
＜General matters＞
1. Prior to placement, operation, maintenance servicing or inspection, be sure
to read the Operation Manual and follow the instructions to performthose.
Failure to follow the instructions may cause an electric shock, injury or fire.
2. Do not use the driver or the stepping motor outside the specified conditions.
Doing so may cause an electric shock, injury or fire.
3. Do not insert a finger or a thing into the opening of the product. Doing so may cause
an electric shock, injury or fire.
4. Do not use the damaged driver or stepping motor. Doing so may cause
injury, fire or the like.
5. Use the driver and stepping motor in the designated combination. Using
otherwise may cause fire or a trouble.
6. Be careful that the temperature rises in the operating driver, stepping motor
or peripheral devices. Failure to be careful may cause a burn.
＜Unpacking＞
7. Unpack while confirming the ceiling. Failure to do so may cause injury.
8. Confirm if the product is the one having been ordered. Installing an incorrect
product may cause a breakdown.
＜Wiring＞
9. Do not perform measurement of the insulation resistance or withstand
insulation voltage of the product. Doing so may cause a breakdown. Instead,
contact with us for such inspection.
10. Performwiring conforming to the technical standards of electric facility or
the internal rule. Doing otherwise may cause burning or fire.
11. Ensure that wiring has been correctly done. Operating without correct
wiring may cause the stepping motor to run out of control and result in
injury.
12. Take insulation process for the attached condenser or the external resistance
connection terminals. Failure to do so may cause an electric shock.
＜Placement＞
13. Do not climb or attach a heavy article on the product. Doing so may cause
injury.
14. Neither block nor stuff the aspiration/exhaust vent with a foreign particle.
Doing so may cause fire.
15. Follow the instructions for the direction to place. Failure to do so may cause
a trouble.
16. Keep a distance as instructed by the Operation Manual for the driver from
the inner surface of the control console or other devices. Failure to do so
may cause a trouble.
17. Place the product with a great care so as to prevent fromthe danger such as
a tumble or a turnover.
DANGER CAUTION
PROHIBITED
COMPULSORY
62
Name of target equipment
Name of servo axis
Mechanical structure
Speed reducer
Sensor type
Input format
Estimated production
Development schedule
Various measures
Miscellaneous
(questions, pending problems,
unresolved issues, etc.)
Usage environment and other requirements
Upper-level equipment (controller)
Current condition of above axis
Positioning accuracy
Operation pattern
Mechanism
Equipment name, category (transport, processing, test, other)
Axis name, axial mechanism (horizontal/vertical), brake mechanism (yes/no)
Ball-screw/screw-rotation type (horizontal), ball-screw/nut-rotation type (horizontal),
rack and pinion (horizontal), belt/chain (horizontal), rotary table, roll feed, instability
Customer-provided ( / ); Sanyo standard (planet/spur/no-backlash-planet:: / ); other ( / )
Position , speed, torque, communications ( SERCOS / CAN / DeviceNet ) other ( )
Sequencer , laptop , customer-developed product , Sanyo-provided , other ( )
Cutting , clean-room use , anti-dust measures , other ( )
Single product: ( ) units/month ( ) units/year
Prototype period: ( )Year ( )Month Production period: ( )Year ( )Month
Related documentation ( already submitted ; send later by mail ) Visit/PR desired ( yes / no ) Meeting desired ( yes / no )
Sensor type specified ( yes / no )
Yes: ( incremental , optical absolute , optical absolute [resolver absolute with incremental function] )
Resolution ( )
WT (table mass) kg WL (work mass) kg WA (mass of other drive parts) kg
WR (rack mass) kg WB (belt/chain mass) kg WC (counterbalance mass) kg
Fa (external force in axial direction) N Fb (ball-screw preload) N T (roll pushing force) N
Dr1 (drive-side roll diameter) mm Dr2 (follower-side roll diameter) mm
Lr1 (drive-side roll length) mm Lr2 (follower-side roll length) mm G (reduction ratio)
JG (speed-reducer inertia) kg.m2JC (coupling inertia) kg.m2
JN (nut inertia) kg.m2JO
(other motor-axis conversion inertia)
kg.m
2
Db (ball-screw diameter) mm Lb (ball-screw axial length) mm Pb (ball-screw lead) mm
Dp (pinion/pulley diameter) mm Lp (pinion axial length) mm Tp (pulley thickness) mm
Dt (table diameter) mm Dh (table-support diameter) mm LW (load shift from axis) mm
Ds (table shaft diameter) mm Ls (table shaft length) mm
(specific gravity of ball-screw/pinion/pulley/table-shaft material) kg/cm
3
(friction coefficient between sheet and sliding-surface/support-section/roll)
1 (specific gravity of roll-1 material) kg/cm
3
2 (specific gravity of roll-2 material) kg/cm
3
(internal friction coefficient of preload nut)
(mechanical efficiency) JL (load inertia of motor-axis conversion) kg.m
2
TF (friction torque of motor axis conversion) N.m TU (imbalance torque of motor axis conversion) N.m
Moving Distance
Moving Distance
Acceleration
Feeding Speed V [m/s]
[m/s
2
]
[m/sec]
t1 t2 t3 Time[sec]
G
(Stroke)
Feeding Speed
Reference formula:
[1G=9.8,m/s
2
),1(m/s
2
)≒0.1G]
[ (m/s
2
)=V(m/sec) t1(sec)]
[D(m)=V(m/sec) (t1+t2)(sec)]
Inquiry Check Sheet
Please provide the following information when placing an order or making an inquiry.
Also feel free to include any questions that require our attention.
Company Name: Date:
Department: To contact us:
Telephone : Phone: +81 3 3917 5157
Fax: Fax: +81 3 3917 0643
1) Application:
2) Name of Machinery:
3) Number of Units:
CATALOG No. 832-2 ’07.3.C
＊For any question or inquiry regarding the above,contact our Sales Department.
Cautions
■Precautions For Adoption
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.
http://www.sanyodenki.com
Phone: +81 3 3917 5157
Phone: +49 6196 76113 0
Phone: +82 2 773 5623
Phone: +86 21 6235 1107
Phone: +1 310 783 5400
Phone: +33 1 48 63 26 61
Phone: +886 2 2511 3938
Phone: +852 2312 6250
Phone: +65 6223 1071
468 Amapola Avenue Torrance, CA 90501 U.S.A.
1-15-1, Kita-Otsuka, Toshima-ku, Tokyo 170-8451, Japan
P.A. Paris Nord ll 48 Allee des Erables-VILLEPINTE BP.57286 F-95958 ROISSY CDG Cedex France
Frankfurter Strasse 63-69 65760 Eschborn Germany
10 Hoe Chiang Road #14-03A/04 Keppel Towers Singapore 089315
Room 2116, Bldg B, FAR EAST INTERNATIONAL PLAZA, No.317 XianXia Rd., Shanghai 200051 China
Room 1208, 12F, No.96 Chung Shan N, Rd., Sec.2, Taipei 104, Taiwan, R.O.C.
Room 2305, 23/F, South Tower, Concordia Plaza, 1 Science Museum Rd., TST East, Kowloon, Hong Kong
9F 5-2, Sunwha-dong Jung-gu Seoul, 100-130, Korea
Cautions