with encoder - · pdf filemotor flange size 60mm sq 56mm sq 42mm sq: set motor + encoder...

STEPPING MOTORWITH

ENCODER

STEPPING SYSTEMS

English

Content

Note : In this catalogue, all references are standard and kept in our stock in Europe. For any special requirement, please contact our sales network.

How to read part numbers 2

References available 2

Stepping Motors 3

Electrical specifications

Dynamic performances

General specifications

Encoder Type S 7

Type L

Type R

Dimensions and Connection Diagram 9

Accessories 14

STEPPING SYSTEMS

STEPPING MOTORWITH ENCODER

1

MO

TO

R F

LAN

GE

SIZ

E

60m

m s

q

56m

m s

q

42m

m s

q

: Set motor + encoder standard. : Set motor + encoder on demand.

2H 5654 B20 S 2 40Motor Technology2H : 2 phase High Torque2P : 2 phase 400 steps/rev5H : 5 phase High Torque

Motor dimension5654 = Flange 56x56mm Length 54mm

Current per phaseB20 = Bipolar 2.0A U12 = Unipolar 1.2AP15 = 1.5A 5 leads (5-phase)

Encoder Resolution20 : 200 CPR. 40 : 400 CPR.50 : 500 CPR.

OptionsØ : standard A Z : customized products

ENCODER RESOLUTION

200 CPR 400 CPR 500 CPR

R220 S240 S340 L240 S250 S350

Encoder familyType S, L or R

2 : 2 channels3 : 3 channels

On above table are introduced available combinations between stepping motors and encoders.

2H4233B05

2H4238B17

2H4241B05

2H4241U12

2H4248U12

2H5654U10

2H5654U20

2H5654B20

2H5676B20

2H6086U20

2H6086B40

5H6086P15

How to read part numbers

References available

φ

2

Electrical specifications

Stepping MotorsHybrid

2-phase and 5-phase motors

3

2H4233B05

2H4238B17

2H4241B05

2H4241U12

2H4248U12

2H5654U10

2H5654U20

2H5654B20

2H5676B20

2H6086U20

2H6086B40

5H6086P15

103H5205

103H5208

103H5209

103H5209

103H5210

103H7123

103H7123

103H7123

103H7126

103H7823

103H7823

103H7523

42

42

42

42

42

56

56

56

56

60

60

60

1.8

1.8

1.8

1.8

1.8

1.8

1.8

1.8

1.8

1.8

1.8

0.72

0.26

0.39

0.42

0.32

0.37

0.83

0.83

0.83

1.27

2.1

2.7

1.57

Bipol

Bipol

Bipol

Unipol

Unipol

Unipol

Unipol

Bipol

Bipol

Unipol

Bipol

Penta

0.48

1.7

0.5

1.2

1.2

1

2

2

2

2

4

1.5

14

1.3

18

3

3.3

6.7

1.6

0.8

1.05

2.7

0.65

1.4

27

3.4

42

3.9

3.4

15

3.8

3.8

4.5

5.6

2.4

5.4

0.036

0.056

0.062

0.062

0.074

0.21

0.21

0.21

0.36

0.84

0.84

0.423

0.23

0.29

0.31

0.31

0.37

0.65

0.65

0.65

0.98

1.34

1.34

1.1

200, 400

200, 400

400

400

200, 400

200, 400

400

400

400

500

500

500

P/N

Motor Base

Size

mm

Step Angle

°

Holding Torque

N.m.

Winding type

Currentper

phase

A

Resistanceper phase

Ω

Inductance

mH

RotorInertia

10-4

kg・m2

Weight

Kg

Encoderresolution

CPR

04

Dynamic performances

To

rqu

e (k

gf.

cm)

4

3

2

1

0

To

rqu

e (N

.m.) 0.3

0.4

0.1

0.2

00.1 1 10 100(Kpulses/s)

100 1000 2000 5000Speed (RPM)

Driver : PMM-BD-4502Power voltage : 36VDCCurrent : 0.48A/phase bipolarExcitation mode : Full step Pull-out torque [ JL2 = 0.94x10-4 kg.m2 ] Using rubber coupling Starting torque [ JL1 = 0.8x10-4 kg.m2 ]

4

Torq

ue

(kg

f.cm

) 3

2

1

0

Torq

ue

(N.m

.)

0

0.1

0.2

0.3

0.4

0.1 1 10 100

100 1000 2000 5000Speed (RPM)

(Kpulses/s)

5

4

3

2

1

0

Torq

ue

(kg

f.cm

)

Torq

ue

(N.m

.)

0

0.1

0.2

0.3

0.4

0.5

0.1 1 (Kpulses/s) 10

20001000500 100 Speed (RPM)

4

3

2

1

0

Torq

ue

(kg

f.cm

)

Torq

ue

(N.m

.)

0

0.1

0.2

0.3

0.4

0.1 1 10 100(Kpulses/s)

100 1000 2000 5000Speed (RPM)

Torq

ue

(N.m

.)

Torq

ue

(kg

f.cm

)

1

2

3

0 0

0.3

0.2

0.1

1 (Kpulses/s) 10

100 500 1000 2000Speed (RPM)

0.1

Torq

ue

(kg

f.cm

)

8

6

4

2

0

Torq

ue

(N.m

.)

0

0.2

0.4

0.6

0.8

0.1 1 10 (Kpulses/s)100

100 1000 2000 5000Speed (RPM)

Driver : PMM-MD-23221-10Power voltage : 36VDCCurrent : 1.0A/phase unipolarExcitation mode : Full step

Pull-out torque [ JL2 = 0.94x10-4 kg.m2 ]Using rubber couplingStarting torque [ JL1 = 0.8x10-4 kg.m2 ]



Driver : PMM-MD-23221-21Power voltage : 36VDCCurrent : 1.2A/phase unipolarExcitation mode : Full step Pull-out torque [ JL2 = 0.94x10-4 kg.m2 ] Using rubber coupling Starting torque [ JL1 = 0.8x10-4 kg.m2 ]

Driver : PMM-MD-23221-21Power voltage : 36VDCCurrent : 1.2A/phaseExcitation mode : Full step


2H4233B05 2H4238B17

2H4241B052H4241U12

2H5654U102H4248U12

5

Dynamic performancesTo

rqu

e (k

gf.

cm)

8

6

4

2

0

Torq

ue

(N.m

.)

0

0.2

0.4

0.6

0.8

0.1 1 10 (Kpulses/s) 100

100 Speed (RPM)1000 2000 5000



8

6

4

2

0

Torq

ue

(kg

f.cm

)

Torq

ue

(N.m

.)

0

0.2

0.4

0.6

0.8

0.1 1 10 (Kpulses/s)100

Speed (RPM)1000 2000 5000100

Driver : PMM-BD-4502Power voltage : 36VDCCurrent : 2.0A/phase bipolarExcitation mode : Full step


15

12

9

Torq

ue

(kg

f.cm

)

6

3

0

Torq

ue

(N.m

.)

0

0.3

0.6

0.9

1.2

1.5

0.1 1 10 (Kpulses/s) 100

100 1000 2000 5000

Speed (RPM)

Driver : PMM-BD-4502Power voltage : 36VDCCurrent : 2.0A/phase bipolarExcitation mode : Full step


Torq

ue

(kg

f.cm

)

20

15

10

5

0

Torq

ue

(N.m

.)

0

0.5

1

1.5

2

0.1 1 10 (Kpulses/s)100

100 1000 2000 5000Speed (RPM)



Torq

ue

(kg

f.cm

)

24

18

12

6

0

Torq

ue

(N.m

.)

0

0.6

1.2

1.8

2.4

0.1 1 10 (Kpulses/s) 100

Speed (RPM)100 1000 2000 5000

Driver : PMM-BA-4804Power voltage : 100VACCurrent : 4.0A/phase bipolarExcitation mode : Full step


16

12

8

4

20

0

Torq

ue

(kg

f.cm

)

Toq

ue

(N.m

.)r

0

0.4

0.8

1.2

1.6

2

0.1 1 10 100(Kpulses/s)

Speed (RPM)

100 1000 2000 5000

Driver : PMM-BA-5604Power voltage : 36VDCCurrent : 1,5A/phaseExcitation mode :


2H5654U20 2H5654B20

2H5676B20 2H6086U20

2H6086B40 5H6086P15

06

General specifications

2H42□□ 2H56□□ 2H60□□ 5H60□□

10N 15N 20N 15N

28N 75N 80N 115N

Insulation class

Insulation resistance

Withstand voltage

Operating environment

Winding temperature rise

Standing angle error

Axial play

Radial play (1)

Shaft run outs

Concentricity ofmounting spigot relativeto shaft

Perpendicularity ofmounting surface relativeto shaft

Allowable thrust load

Allowable radial load (1)

100M or more when measured with a DC500V megohmeter between the motor wiringand the frame at normal temperature and humidity

Not influenced when applied 1kVA (0.5kVA for 2H42), 50/60Hz between the motor wound wire and the frame for 1 minute (leak current 1mA) at room temperature and humidity

Ambient temperature : -10°C to +50°C

Ambient humidity : 20 to 90% (no condensation)

Note 1 : load point is the position 1/3 from the output shaft end.

Classe B / 130°C

80 K

0.075 mm(load 4.4 N)

0.75 mm (load 9 N)

0.025 mm (load 4.4 N)

0.025 mm

0.1 mm

0.09° 0.054° 0.09°

0.05 mm

0.075 mm

0.075 mm

Optical incremental encoder TTL compatible

Operating Voltage : 4.5 to 5.5 VDC

Counts per Revolution : 400, 500

Max. Reply Frequency : 100 kHz

Encoder Type S

7

Optical incremental encoder Line Driver

Operating Voltage : 4.5 to 5.5VDC

Counts per Revolution : 400


Encoder Type L

Diagram

Diagram

Connection

Waveforms

Waveforms

Standard P/N

S240 : 2 channels, 400 CPRS340 : 3 channels, 400 CPRS250 : 2 channels, 500 CPRS350 : 3 channels, 500 CPR

Connection

Standard P/N

L240 : 2 channels, 400 CPR

Channels A, B, IVH = 2.4 VDCVL = 0.4 VDC

AM

PLI

TU

DE

A

B

I

ROTATION

T0

1/2 T0

1/4 T0

AM

PLI

TU

DE

ROTATION

T0

1/2 T0

1/4 T0

B

B

A

A

Channels A, A, B, BVH = 2.4 VDCVL = 0.4 VDC

Suitable connectorMolex 2695-05, 2759AMP 103686-4, 640442-5BERG 65039-032, 4825X-000

Leadwire output : 480mm - AWG28Fitted with connector BERG HE10

2 Channel Encoder 3 Channel Encoder

Pin 1 GND

Pin 2 NC Channel I

Pin 3 Channel A

Pin 4 5 VDC

Pin 5 Channel B

NC

+5 VDC

GND

NC

/A

Pin 1

Pin 2

Pin 3

Pin 4

Pin 5

A

/B

B

NC

NC

Pin 6

Pin 7

Pin 8

Pin 9

Pin 10

8

Optical incremental encoder

Operating Voltage : 4.5 to 5.5 VDC

Counts per Revolution : 200


Encoder Type R

Diagram

Waveforms

Radial Output for 42mmflange motor

Axial Output for 56mmflange motor

Suitable connector Molex 51021-0500

Standard P/N

R220 : 2 channels, 200 CPR

Connection

Pin 1

Pin 2

Pin 3

Pin 4

Pin 5

GND

NC

Channel A

5 VDC

Channel B

Channels A, BVH = 2.4 VDCVL = 0.4 VDC

AM

PLI

TU

DE

ROTATION

T0

1/2 T0

1/4 T0

A

B

Dimensions and Connection Diagram

9

R220 S240 S340 L240 S250 S350

2H4233B05

2H4238B17

2H4241B05

2H4241U12

2H4248U12

2H5654U10

2H5654U20

2H5654B20

2H5676B20

2H6086U20

2H6086B40

5H6086P15

A1

A1

A4

B1

A2

A2

A2

A3

A3

B2

B2

B4

B4

A2

A2

A2

A3

A3

B2

B2

B4

B4

B3

B3

B5

B5

C1

C2

D1

C1

C2

D1

DIAGRAM A1

(4)YELLOW

(6)RED

R220

Pin 1 GND

Pin 2 NC

Pin 3 Ch A

Pin 4 5VDC

Pin 5 Ch B

Motor Length

2H4233B05- 33

2H4238B17- 38

27MAX.

11.7

4-M3 0.5

11MAX.14

ORANGE(3)

BLUE(1)

7MA

X.

R11

.51.

..5

A

1.5 0.76

42 0.25

42

0.25

31 0.25

31

0.25

24

0φ

5-0.

013

0φ

22-0

.05

4 MIN.DP.

Encoder

DIAGRAM A2

S240 S340

Pin 1 GND

Pin 2 NC ChI

Pin 3 Ch A

Pin 4 5 VDC

Pin 5 Ch B

A (mm)

2H4233B05- 33

2H4238B17- 38

2H4241B05- 41

(4)YELLOW

(6)RED

Motor Length

27MAX.

30

5...1 11MAX.

ORANGE(3)

BLUE(1)

7MA

X.

R15

A

1.5 0.76

24 0.518.3

41.1

42 0.25

31 0.25

42

0.25

31

0.25

0φ

5-0.

013

0φ

22-0

.05

4-M3×0.54 MIN.DP.

Encoder

A (mm)

Unit : mm

Unit : mm

10

1...5

R220

Pin 1 GND

Pin 2 NC

Pin 3 Ch A

Pin 4 5VDC

Pin 5 Ch B

Encoder

(4)YELLOW

(5)RED

(6)BLACK

18.3

41.1

11MAX.

ORANGE(2)

WHITE(1)

BLUE(3)

(4)YELLOW

(5)RED

(6)BLACK

ORANGE(2)

WHITE(1)

BLUE(3)

27MAX.

30

5...1

7MA

X.

R15

27MAX.

7MA

X.

R11.

5

A

11.7

14

24

11MAX.

48

1.5 0.76

1.5 0.76

24 0.5

42

0.25

31

0.25

42

0.25

31

0.25

0φ

5-0.

013

0φ

22-0

.05

0φ

5-0.

013

0φ

22-0

.05

42 0.25

31 0.25

4-M3×0.54 MIN.DP.

42 0.25

31 0.25

4-M3×0.54 MIN.DP.

DIAGRAM A3

S240 S340

Pin 1 GND

Pin 2 NC ChI

Pin 3 Ch A

Pin 4 5 VDC

Pin 5 Ch B

A (mm) Motor LengthEncoder

DIAGRAM A4 – MOTOR 2H4248U12

Unit : mm

Unit : mm

2H4241U12- 41

2H4248B12- 48

11


DIAGRAM B1 – MOTOR 2H5654U10

DIAGRAM B2 – MOTOR 2H5654U10 – 2H5654U20

DIAGRAM B3 – MOTOR 2H5654U10 – 2H5654U20

ORANGE

WHITE

BLUE

RED BLACK YELLOW

Unit : mm

Unit : mm

Unit : mm

ORANGE

WHITE

BLUE

RED BLACK YELLOW

ORANGE

WHITE

BLUE

RED BLACK YELLOW

L240

Pin 1 NC Pin 6 A

Pin 2 +5VDC Pin 7 /B

Pin 3 GND Pin 8 B

Pin 4 NC Pin 9 NC

Pin 5 /A Pin10 NC

305M

IN. 53.8 0.8

1.5 0.255 0.25

20.6 0.5

R11.5

5...1

305M

IN.

LEADUL1430CSAAWG22

WIRE

R15

5...1

30

41.2

305M

IN.

LEADUL1430CSAAWG22

WIRE

R15

30

41.2

470M

IN.

8MAX.

6.35

0.01

30

15.2

17.9

38.1

0.02

5

4.54 00.5

56 0.5

47.14 0.13

560.

5

47.1

40.

13

26MAX.

8MA

X.

4.54 00.5

56 0.5

47.14 0.13

560.

5

47.1

40.

13

26MAX.

8MA

X.

4.54 00.5

56 0.5

47.14 0.13

560.

5

47.1

40.

13

26MAX.

8MA

X.

53.8

1.5 0.255 0.25

20.6 0.5

8MAX.

6.35

0.01

30

18.3

38.1

0.02

5

1.5 0.25

53.8 0.8

5 0.25

20.6 0.5

8MAX.

6.35

0.01

30

18.3

38.1

0.02

5

Encoder

R220

Pin 1 GND

Pin 2 NC

Pin 3 Ch A

Pin 4 5VDC

Pin 5 Ch B

Encoder

S240 S340

Pin 1 GND

Pin 2 NC Ch I

Pin 3 Ch A

Pin 4 5 VDC

Pin 5 Ch B

Encoder

12

DIAGRAM B4

DIAGRAM B5

Unit : mm

Unit : mm

ORANGE

BLUE

RED YELLOW

ORANGE

BLUE

RED YELLOW

Motor length A (mm)

2H5654B20- 53.8

2H5676B20- 76

L240

Pin 1 NC Pin 6 A

Pin 2 Pin 7 /B

Pin 3 GND Pin 8 B

Pin 4 NC Pin 9 NC

Pin 5 /A Pin 10 NC

Motor length A (mm)

2H5654B20- 53.8

2H5676B20- 76 +5VDC

305M

IN.

LEADUL1430CSAAWG22

WIRE

5...1

3041

.2

A

1.5 0.255 0.25

20.6 0.5

8MAX.

6.35

0.01

30

18.3

38.1

0.02

5

A

1.5 0.255 0.25

20.6 0.5

8MAX.

6.35

0.01

30

18.3

38.1

0.02

5

4.54 00.5

56 0.5

47.14 0.13

560.

5

47.1

40.

13

26MAX.

8MA

X.

4.54 00.5

56 0.5

47.14 0.13

560.

5

47.1

40.

13

26MAX.

8MA

X.

305M

IN.

LEADUL1430CSAAWG22

WIRE

R15

30

41.2

470M

IN.

Encoder

S240 S340

Pin 1 GND

Pin 2 NC Ch I

Pin 3 Ch A

Pin 4 5 VDC

Pin 5 Ch B

Encoder

R15


13

DIAGRAM C1 - MOTOR 2H6086U20

DIAGRAM D1 - MOTOR 5H6086P15

DIAGRAM C2 - MOTOR 2H6086B40

S25040 S35040

GND

NC Ch I

Ch A

5 VDC

Encoder

Pin 1

Pin 2

Pin 3

Pin 4

Pin 5 Ch B

S250 S350

GND

NC Ch I

Ch A

5 VDC

Encoder

Pin 1

Pin 2

Pin 3

Pin 4

Pin 5 Ch B

S250 S350

GND

NC Ch I

Ch A

5 VDC

Encoder

Pin 1

Pin 2

Pin 3

Pin 4

Pin 5 Ch B

30

5

R15

1

60±

0 41.1

18.3

2.111MAX.

85.8±0

7±0.251.5±0.25

20.6±0.5

+115 0

(EFFECTIVELENGTH)

R4MIN.

0ø

8-0.

015

0ø

36-0

.039

60

41.1

18.311MAX.

85.8±0.8

1.5±0.25

7±0.25

20.6±0.5

+115 0

(EFFECTIVELENGTH)

R4MIN.

0ø

8-0.

015

0ø

36-0

.039

60±0.550±0.1333MAX.

1 6

7.5±0.1 +0.54-ø4.5 0

7.5±

0.1

50±

0.13

60±

0.5

12M

AX

.

60±0.5

50±0.13

33MAX.1 4

7.5±0.1+0.5

4-ø4.5 0

7.5±

0.1

50±

0.13

60±

0.5

12M

AX

.

ORANGE (2)

WHITE (1)

BLUE (3)

(5)RED

(6)BLACK

(4)YELLOW

30

5 1

R15

ORANGE (2)

BLUE (1)

RED (4) (3) YELLOW

BLACK

BLUE RED

YELLOW ORANGE

8MAX.

18.3

ø60±

0.5

41.1

305M

IN.

85.8±0.8

1.5±0.25

5±0.25

20.6±0.5

0ø

8-0.

015

0ø

36-0

.039

+115 0

S 90°

7.5±

0.15

7.5±0.15S

R0.2

R4MIN.

+0.54-ø4.5 060±0.5

50±0.13

28MAX.

60±

0.5

50±

0.13

30

5 1

R7.5

UL1430 CSALEAD WIRE

AWG24

Unit : mm

Unit : mm

Unit : mm

Accessories

14

2 Channel Type S encoder cable 3 Channel Type S encoder cable

R220 encoder Cable for 2H42 motors R220 encoder Cable for 2H56 motors

500 MIN.

1 JST

3

4

6

65

43

2

500 MIN.

1

2

3

4

5

6

JST

65

43

2

500 MIN.

54

32

1

500 MIN.

54

32

1

54321

54

32

1

54321

500 MIN.

54

32

1

500 MIN.

6

5

4

3

2

1

JST

500 MIN.

5

4

3

2

1

500 MIN.

4

3

2

1 1

2

3

JST

Motor flange 42mm cable Motor flange 60mm cable

Lead Color

BLUE

NC

ORANGE

YELLOW

NC

RED

Pin 1

Pin 2

Pin 3

Pin 4

Pin 5

Pin 6

P/N : C2H42B500Lead Color

BLUE

ORANGE

YELLOW

RED

Pin 1

Pin 2

Pin 3

Pin 4

P/N : C2H60B500

Lead Color

GREEN

RED

YELLOW

NC

BLACK

Pin 1

Pin 2

Pin 3

Pin 4

Pin 5

P/N : CRP12500Lead Color

BLACK

NC

YELLOW

RED

GREEN

Pin 1

Pin 2

Pin 3

Pin 4

Pin 5

P/N : CRS22500

Lead Color

WHITE

ORANGE

BLUE

YELLOW

RED

BLACK

Pin 1

Pin 2

Pin 3

Pin 4

Pin 5

Pin 6

P/N : C2H42U500Lead Color

WHITE

ORANGE

BLUE

YELLOW

RED

BLACK

Pin 1

Pin 2

Pin 3

Pin 4

Pin 5

Pin 6

P/N : C2H60U500

Lead Color

BLACK

NC

YELLOW

RED

GREEN

Pin 1

Pin 2

Pin 3

Pin 4

Pin 5

P/N : CS2500Lead Color

BLACK

WHITE

YELLOW

RED

GREEN

Pin 1

Pin 2

Pin 3

Pin 4

Pin 5

P/N : CS3500

＊For any question or inquiry regarding the above, contact our Sales Department.

Cautions

■ Precautions For Adoption

Failure to follow the precautions on theright may cause moderate injury and property damage, or in some circumstances, could lead to a serious accident.Always follow all listed precautions.

*Remarks:Specifications Are Subject To Change Without Notice. 06.0.0DN

Phone:+33 1 48 63 26 61

http://www.sanyodenki.eu

P.A. PARIS NORD II 48 Allée des Erables-VILLEPINTE BP.50286 F-95958 ROISSY CDG CEDEX France

06.12.N

with encoder - · pdf filemotor flange size 60mm sq 56mm sq 42mm sq: set motor + encoder...

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