SANMOTION MODEL No.PB Ethercat Interface - sanyo denki europe

CLOSED LOOP STEPPING SYSTEMS
With EtherCAT interface

Power voltageDC24 V / 48V
Driver
Dual axis driver with EtherCAT interface
Motor
Flange size
28mm sq. 42mm sq. 60mm sq.
Model
Standard ModelSpur Gear ModelLow-backlash Gear Model
Harmonic Gear ModelElectromagnetic Brake Model
2

High-Speed Field-Bus EtherCAT Interface
EtherCAT is a field-bus system that allows 100Mbps high-speed and highly reliable communication.
With this interface, response speed is boosted up, and takt time is greatly reduced.
Space-Saving
Now one driver can control 2 motors, installation space will be reduced by 30% when compared to the case
with controlling by our 2 conventional drivers*.
*SANMOTION Model No.PB DC power input type (Model No.PB3D003M20)
Also Ideally Suited for Equipment Requiring Synchronizing Operation
The driver can perform dual-axis synchronizing operation. (While in profile position mode)
Encoder Available According to Use
In addition to an incremental encoder, an absolute encoder is also available that does not require
zero-return/push operation when the power is turned on.
3

List of Driver/Motor Combinations and Option
Driver
Motor
Options
Flange size
28mm sq.
Flange size
42mm sq.
Flange size
60mm sq.
Model No. PB4D003E2D0 PB4D003EAD0
Interface type EtherCAT EtherCAT
Encoder type Incremental encoder 500P/R Absolute encoder (17bit + multiple rotation 16bit)
Standard
Spur gear
Harmonic gear
Electromagnetic brake
PBM282FXE50
PBM284FXE50
1/3.6 PBM282FGAE50
1/7.2 PBM282FGBE50
1/10 PBM282FGEE50
1/20 PBM282FGGE50
1/30 PBM282FGJE50
1/50 PBM282FGLE50
1/50 PBM282FHLE50
1/100 PBM282FHME50
PBM282FCE50
PBM284FCE50
Standard PBM423FXE50 PBM423FXS50
Low-backlash gear
Harmonic gear
1/3.6 PBM423FGAE50
1/7.2 PBM423FGBE50
1/10 PBM423FGEE50
1/20 PBM423FGGE50
1/30 PBM423FGJE50
1/30 PBM423FHJE50
1/50 PBM423FHLE50
1/100 PBM423FHME50
Electromagnetic brake PBM423FCE50
Standard
Low-backlash gear
Harmonic gear
Electromagnetic brake
PBM603FXE50
PBM604FXE50
1/3.6 PBM603FGAE50
1/7.2 PBM603FGBE50
1/10 PBM603FGEE50
1/20 PBM603FGGE50
1/30 PBM603FGJE50
1/50 PBM603FHLE50
1/100 PBM604FHME50
PBM603FCE50
PBM604FCE50
PBM603FXS50
PBM604FXS50
Power cable
PBC9P0020A
Motor ext. cable
PBC8M0030A
Encoder ext. cable PBC7E0030A PBC8E0030A
I/O cable
PBC1S0010A (un shielded)
PBC1S0010C (shield)
PC I/F software
SPBE1W-01
USB / RS-485 converter unit PBFM-U6
Regenerative resistor
PBFE-R1
Motor Standard Specifications
Motor type
DC model
Model No.
PBM282FE50, PBM284FE50 Flange size 28mm sq.
PBM423F50Flange size 42mm sq.,
PBM603F50, PBM604F50 Flange size 60mm sq.
Insulation class Class B (130°C)
Withstand voltage AC500V 50/60Hz 1minute AC1500V 50/60Hz 1minute
Insulation resistance DC500V 100 M MIN.
Degrees of protection IP40
Vibration resistance
Impact resistance
Ambient temperature
Ambient humidity
147m/s 2 (10 to 70Hz: amplitude 1.52mm, 70 to 2000Hz: 147m/s 2 of acceleration)
The x, y, and z are each tested 12 times with a sweep time of 15 minutes/cycle.
294m/s 2 (half sine wave with 11ms duration) The x, y and z are each tested three times for each direction for a total of 18 tests.
10°C to +40°C (harmonic gear model 0°C to +40°C)
20 to 90%RH (No condensation)
The user should not test the insulation resistance or insulation withstand voltage, because a capacitor has been inserted between the encoder output groundline and the frame to prevent
noise.
4

System Configuration
Motor (axis 2)
PC
PC I/F Software
Model No.: SPBE1W-01
Motor (axis 1)
USB/RS-485
converter unit
CN8
CN5
Motor ext. cable
Model No.: PBC8M0030A
CN4
Encoder ext. cable
Model No.: PBC7E0030A
PBC8E0030A
CN3
DC power
CN6
Power cable
Model No.: PBC9P0020A
CN2
EtherCAT
CN1
Host device
EtherCAT
CN0
External sensor I/O
I/O cable
Model No.: PBC1S0010A (un shielded)
PBC1S0010C (shielded)
To next driver
5

Driver Specifications
General Specifications
Driver model PB4D003E2D0 PB4D003EAD0
Encoder specification Optical incremental (500P/R) Absolute (17 bit + multiple rotation 16 bit)
Applicable motor model No. PBM282, PBM284, PBM423, PBM603, PBM604 PBM423, PBM603, PBM604
Power source
Control mode
Environment
Structure
Mass
Dimensions
Functions
Interface
Input/
Output
signals
Ambient
temp.
Operating 0 to 55°C
Storage 20 to 65°C
Main power supply DC24/48V 105A
Control power supply DC24V100.5A
PWM control SIN drive method
Operating/
90%RH (non-condensing)
Storage humidity
Vibration resistance 0.5G (tested with frequency range 10 to 55 Hz, X, Y, Z each direction 2H)
Impact resistance 5G
Elevation
Maximum 2000m above sea level
Tray structure rear mounting type
Approx. 0.5kg
W45H160D95mm
Rotation speed 0 to 4500min -1
Resolution (P/R) 10000 32768
Regeneration Process Regenerative resistor (Option)
Holding brake control
function
Internal
Protective functions
Display
Digital operator
Power voltage error, Regeneration voltage error, Over-speed, Sensor error, Wrap around, CPU error, Overload
stop, Zero-return error, Nonvolatile memory error, Deviation counter overflow, Initialization error, Over-current,
Amplifier overheat, Servo error, Push abnormality, Communications abnormality, etc
7SEG LED display (2 pieces)
Related motor (Absolute encoder is automatically recognized), Jog driving, Node address, Holding brake control
Physical layer / Protocol 100BASE-TX / IEEE802.3 compliant ethernet
Transmission speed 100Mbit/sFull duplex
Communication port / Topology 2 ports (RJ45) / Daisy-chain (Max. 65535 nodes)
Device profile
CoEIEC61800-7-201, FoE (ASCII code access)
Synchronization
Input
signals
Output
signals
Functions
Electric
Functions
Electric
SM2 event synchronization, DC synchronization (SYNC0 / SYNC1), asynchronous
0x1C32,0x05: Shortest cycle time = 1ms
Interactive input photo coupler DC5V to 24V
Positive & negative direction limit, HOME input: each axis
Open collector, DC30V/15mA max
2 general purpose outputs (each axis), hardware gate OFF input
Driver Dimensions (Unit : mm)
5
45
20
12.5
4.5
95
Direction of
installation
Up
150
140
160
(5)
10
5
(10)
6

External Wiring Diagram
Driver Model No.: PB4D003E2D0
Main power supply DC24/48V
Control power supply DC24V
PCIF
User unit
FG
N.C
N.C
GND
N.C
COM
Preliminary
Axis 1 Touch probe input
Axis 2 Touch probe input
CN6
1
2
3
4
5
CN8
1
2
3
N.C
4
N.C
5,10
GND
6 to 9
CN7
1
2
3
4
Driver
PB4D003E2D0
CN2,3
1
A
2
A
3
B
B 4
C 5
C 6
5V 7
5G 8
N.C 9 10
FG 11
N.C 12
CN4,5
1
A
2
A
3
B
B 4
5
BRK+
BRK- 6
Holding brake
Optical
incremental
encorder
Motor
Axis 1 Positive direction limit input
5
Axis 1 Negative direction limit input
Axis 1 Home input
Axis 2 Positive direction limit input
Axis 2 Negative direction limit input
Axis 2 Home input
Gate OFF input
General-purpose output 1
General-purpose output 2
Gate OFF monitor
6
7
8
9
10
11
12
13
14
15
16
17
18
19
N.C 20
FG
75
1M
CN0,1
1
4
5
2
3
7
8
6
TX
TX
RX
RX
Twisted pair cable
with external shield
Driver Model No.: PB4D003EAD0
Main power supply DC24/48V
Control power supply DC24V
PCIF
User unit
FG
N.C
N.C
GND
N.C
COM
Preliminary
Axis 1 Touch probe input
1
2
3
4
5
CN8
1
2
3
N.C
4
N.C
5,10
GND
6 to 9
1
2
3
CN6
CN7
Driver
PB4D003EAD0
CN2,3
ES+
1
ES-
2
N.C
3
N.C 4
N.C 5
N.C 6
5V 7
5G 8
BAT+ 9
BAT- 10
FG 11
N.C 12
CN4,5
1
A
2
A
3
B
B 4
5
BRK+
BRK- 6
Holding brake
Absolute
encoder
Motor
Axis 2 Touch probe input
4
Axis 1 Positive direction limit input
5
Axis 1 Negative direction limit input
Axis 1 Home input
Axis 2 Positive direction limit input
Axis 2 Negative direction limit input
6
7
8
9
CN0,1
1
4
5
2
3
7
8
6
TX+
TX-
RX+
RX-
Axis 2 Home input
Gate OFF input
10
11
13
General-purpose output 1
14
15
General-purpose output 2 16
17
Gate OFF monitor
18
12
75
1M
Twisted pair cable
with external shield
BAT
19
20
FG
BAT+
BAT-
7

General Specifications
Driver + Standard Model
Motor flange size
28mm sq., 42mm sq., 60mm sq.
Size Motor flange size 28mm sq. 42mm sq. 60mm sq.
Motor model (Incremental encoder) PBM282FXE50 PBM284FXE50 PBM423FXE50 PBM603FXE50 PBM604FXE50
Motor length 58.5 77.8 55.9 68.8 100.8
Motor mass kg 0.16 0.23 0.35 0.85 1.42
Related driver model no.
PB4D003E2D0
Motor model (Absolute encoder) PBM423FXS50 PBM603FXS50 PBM604FXS50
Motor length 80.4 93.3 125.3
Motor mass kg 0.43 0.89 1.46
Related driver model no. PB4D003EAD0
Max. stall torque Nm 0.055 0.115 0.39 1.3 1.9
Rotor inertia 10 -4 kgm 2 0.008 0.016 0.056 0.4 0.84
Allowable thrust load N 9.8 9.8 14.7
Allowable radial
load Note 1 N 33 49 167
Motor characteristics chart
Motor Characteristics Chart
TorqueDC24V DC48V Power consumptionDC24V DC48V
Motor modelPBM282FXE50
Motor modelPBM423FX50
Motor modelPBM604FX50
Torque (kgf ·cm)
0.8
0.6
0.4
0.2
0
Torque (N·m)
0.08
0.07
0.06
0.05
0.04
0.03
0.02
0.01
0
0
0
500 1000 1500 2000 2500 3000 3500 4000 4500
Rotations (min -1 )
3
2.5
2
1.5
1
0.5
Power consumption (A)
Torque (kgf ·cm)
4.5
4
3.5
3
2.5
2
1.5
1
0.5
0
Torque (N·m)
0.45
0.4
0.35
0.3
0.25
0.2
0.15
0.1
0.05
0
0
0
500 1000 1500 2000 2500 3000 3500 4000 4500
Rotations (min -1 )
4
3.5
3
2.5
2
1.5
1
0.5
Power consumption (A)
25
15
10
Torque (kgf ·cm)20
5
0
Torque (N·m)
2.5
2.25
2
1.75
1.5
1.25
1
0.75
0.5
0.25
0
0
500
0
1000 1500 2000 2500 3000
Rotations (min -1 )
4
3.5
3
2.5
2
1.5
1
0.5
Power consumption (A)
Motor modelPBM284FXE50
Motor modelPBM603FX50
Torque (kgf ·cm)
1.4
1.2
1
0.8
0.6
0.4
0.2
0
Torque (N·m)
0.14
0.12
0.1
0.08
0.06
0.04
0.02
0
0
0
500 1000 1500 2000 2500 3000 3500 4000 4500
Rotations (min -1 )
3
2.5
2
1.5
1
0.5
Power consumption (A)
Torque (kgf ·cm)
14
12
10
8
6
4
2
0
Torque (N·m)
1.4
1.2
1
0.8
0.6
0.4
0.2
0
0
500
3.5
3
2.5
2
1.5
1
0
1000 1500 2000 2500 3000
Rotations (min -1 )
4
0.5
Power consumption (A)
Maintain motor case temperature at a point below 85°C.
Note1: The load point is determined at a position 14mm from the mounting surface.
8

General Specifications
Driver + Spur Gear Model
Motor flange size
28mm sq.
Size
Motor flange size
Motor length
+ Gear length
28mm sq.
Motor model (Incremental encoder) PBM282FGAE50 PBM282FGBE50 PBM282FGEE50 PBM282FGGE50 PBM282FGJE50 PBM282FGLE50
Related driver model No.
PB4D003E2D0
Allowable torque Nm 0.1 0.15 0.2 0.35 0.5
Rotor inertia 10 -4 kgm 2 0.009
Reduction gear ratio 1:3.6 1:7.2 1:10 1:20 1:30 1:50
Backlash DEG 2 1.5
Allowable rotations min -1 800 400 300 150 100 60
Rotation direction
Rel. to command
dir.
Forward Reverse Forward
Allowable thrust load N 10
Allowable radial
load Note1 N 15
Motor mass kg 0.22
Motor characteristics chart
87.8mm
Motor Characteristics Chart
Allowable torqueDC24V DC48V DC24V/48V
Motor model PBM282FGAE50
Motor model PBM282FGEE50
Motor model PBM282FGJE50
2
0.2
5
0.5
10
1
Torque (kgf·cm)
1.6
1.2
0.8
Torque (N·m)
0.16
0.12
0.08
Torque (kgf·cm)
4
3
2
Torque (N·m)
0.4
0.3
0.2
Torque (kgf·cm)
8
6
4
Torque (N·m)
0.8
0.6
0.4
0.4
0.04
1
0.1
2
0.2
0
0
0
200 400 600 800 1000 1200
Output rotations (min -1 )
0 0
0
50 100 150 200 250 300 350 400 450
Output rotations (min -1 )
0 0
0
20
40 60 80 100 120 140
Output rotations (min -1 )
0 500 1000 1500 2000 2500 3000 3500 4000 4500
Input rotations (min -1 )
0 500 1000 1500 2000 2500 3000 3500 4000 4500
Input rotations (min -1 )
0 500 1000 1500 2000 2500 3000 3500 4000 4500
Input rotations (min -1 )
Motor model PBM282FGBE50
Motor model PBM282FGGE50
Motor model PBM282FGLE50
2
0.2
5
0.5
10
1
Torque (kgf·cm)
1.6
1.2
0.8
Torque (N·m)
0.16
0.12
0.08
Torque (kgf·cm)
4
3
2
Torque (N·m)
0.4
0.3
0.2
Torque (kgf·cm)
8
6
4
Torque (N·m)
0.8
0.6
0.4
0.4
0.04
1
0.1
2
0.2
0 0
0
100 200 300 400 500 600
Output rotations (min -1 )
0 0
0
50 100 150 200
Output rotations (min -1 )
0 0
0
10
20 30 40 50 60 70 80 90
Output rotations (min -1 )
0 500 1000 1500 2000 2500 3000 3500 4000 4500
Input rotations (min -1 )
0 500 1000 1500 2000 2500 3000 3500 4000 4500
Input rotations (min -1 )
0 500 1000 1500 2000 2500 3000 3500 4000 4500
Input rotations (min -1 )
Maintain motor case temperature at a point below 85°C.
Note1: The load point is determined at a position 1/3 of the length from the output shaft.
9

General Specifications
Driver + Low-backlash Gear Model
Motor flange size
42mm sq., 60mm sq.
Motor flange size
42mm sq.
Size
Motor length +
Gear length
86.1mm
Motor model (Incremental encoder) PBM423FGAE50 PBM423FGBE50 PBM423FGEE50 PBM423FGGE50 PBM423FGJE50
Related driver model No.
PB4D003E2D0
Allowable torque Nm 0.343 0.686 0.98 1.47
Rotor inertia 10 -4 kgm 2 0.056
Reduction gear ratio 1:3.6 1:7.2 1:10 1:20 1:30
Backlash DEG 0.6 0.4 0.35 0.25 0.25
Allowable rotations min -1 500 250 180 90 60
Rotation direction
Rel. to
command dir.
Forward
Reverse
Allowable thrust load N 15
Allowable radial
load Note1 N 20
Motor mass kg 0.48
Motor characteristics chart
Motor Characteristics Chart
Allowable torqueDC24V DC48V DC24V/48V
Motor model PBM423FGAE50
Motor model PBM423FGEE50
Motor model PBM423FGJE50
5
0.5
20
2
20
2
Torque (kgf·cm)
4
3
2
Torque (N·m)
0.4
0.3
0.2
Torque (kgf·cm)
16
12
8
Torque (N·m)
1.6
1.2
0.8
Torque (kgf·cm)
16
12
8
Torque (N·m)
1.6
1.2
0.8
1
0.1
4
0.4
4
0.4
0 0
0
100 200 300 400 500
Output rotations (min -1 )
0 0
0
20 40 60 80 100 120 140 160 180 200
Output rotations (min -1 )
0 0
0
10
20 30 40 50 60
Output rotations (min -1 )
0 500 1000 1500 2000
Input rotations (min -1 )
0 500 1000 1500 2000
Input rotations (min -1 )
0 500 1000 1500 2000
Input rotations (min -1 )
Motor model PBM423FGBE50
Motor model PBM423FGGE50
10
1
20
2
Torque (kgf·cm)
8
6
4
Torque (N·m)
0.8
0.6
0.4
Torque (kgf·cm)
16
12
8
Torque (N·m)
1.6
1.2
0.8
2
0.2
4
0.4
0
0
0 50 100 150 200 250
Output rotations (min -1 )
0
0
0 10 20 30 40 50 60 70 80 90 100
Output rotations (min -1 )
0 500 1000 1500 2000
Input rotations (min -1 )
0 500 1000 1500 2000
Input rotations (min -1 )
Maintain motor case temperature at a point below 85°C.
Note1: The load point is determined at a position 1/3 of the length from the output shaft.
10

Motor flange size
60mm sq.
Size
Motor length +
Gear length
114.3mm
Motor model (Incremental encoder) PBM603FGAE50 PBM603FGBE50 PBM603FGEE50 PBM603FGGE50 PBM603FGJE50
Related driver model No.
PB4D003E2D0
Allowable torque Nm 1.25 2.5 3 3.5 4
Rotor inertia 10 -4 kgm 2 0.4
Reduction gear ratio 1:3.6 1:7.2 1:10 1:20 1:30
Backlash DEG 0.55 0.25 0.17
Allowable rotations min -1 500 250 180 90 60
Rotation direction
Rel. to
command dir.
Forward
Reverse
Allowable thrust load N 30
Allowable radial
load Note1 N 100
Motor mass kg 1.22
Motor characteristics chart
Motor model PBM603FGAE50
Motor model PBM603FGEE50
Motor model PBM603FGJE50
20
2
50
5
50
5
Torque (kgf·cm)
16
12
8
Torque (N·m)
1.6
1.2
0.8
Torque (kgf·cm)
40
30
20
Torque (N·m)
4
3
2
Torque (kgf·cm)
40
30
20
Torque (N·m)
4
3
2
4
0.4
10
1
10
1
0 0
0
100 200 300 400 500
Output rotations (min -1 )
0 0
0
20 40 60 80 100 120 140 160 180 200
Output rotations (min -1 )
0 0
0
10 20 30 40 50 60
Output rotations (min -1 )
0 500 1000 1500 2000
Input rotations (min -1 )
0 500 1000 1500 2000
Input rotations (min -1 )
0 500 1000 1500 2000
Input rotations (min -1 )
Motor model PBM603FGBE50
Motor model PBM603FGGE50
50
5
50
5
Torque (kgf·cm)
40
30
20
Torque (N·m)
4
3
2
Torque (kgf·cm)
40
30
20
Torque (N·m)
4
3
2
10
1
10
1
0 0
0
50 100 150 200 250
Output rotations (min -1 )
0 0
0
10 20 30 40 50 60 70 80 90 100
Output rotations (min -1 )
0 500 1000 1500 2000
Input rotations (min -1 )
0 500 1000 1500 2000
Input rotations (min -1 )
11

General Specifications
Driver + Harmonic Gear Model
Motor flange size
28mm sq., 42mm sq., 60mm sq.
Motor flange size 28mm sq. 42mm sq.
Size
Motor length +
Gear length
97mm
95.1mm
Motor model (Incremental encoder) PBM282FHLE50 PBM282FHME50 PBM423FHJE50 PBM423FHLE50 PBM423FHME50
Related driver model No.
PB4D003E2D0
Allowable torque Nm 1.5 2 2.2 3.5 5
Allow. instantaneous
torque
Nm 2.7 3.6 4.5 8.3 11
Rotor inertia 10 -4 kgm 2 0.012 0.068
Reduction gear ratio 1:50 1:100 1:30 1:50 1:100
Lost motion min 0.4 to 30.06Nm 0.4 to 30.08Nm
Hysteresis loss min 3.6 2.4
Allowable rotations min -1 70 35 116 70 35
Allowable thrust load N 100 1150
Allowable radial
load Note1 N 160 209
Motor mass kg 0.27 0.54
Motor characteristics chart
Motor Characteristics Chart
Allowable torqueDC24V DC48V DC24V/48V Allow. instantaneous torqueDC24V DC48V DC24V/48V
Motor model PBM282FHLE50
Motor model PBM423FHJE50
Motor model PBM423FHME50
50
5
100
10
200
20
Torque (kgf·cm)
40
30
20
Torque (N·m)
4
3
2
Torque (kgf·cm)
80
60
40
Torque (N·m)
8
6
4
Torque (kgf·cm)
160
120
80
Torque (N·m)
16
12
8
10
1
20
2
40
4
0 0
0
10
20 30 40 50 60 70 80 90
Output rotations (min -1 )
0 0
0
20 40 60 80 100 120 140
Output rotations (min -1 )
0 0
0
5 10 15 20 25 30 35 40 45
Output rotations (min -1 )
0 500 1000 1500 2000 2500 3000 3500 4000 4500
Input rotations (min -1 )
0 500 1000 1500 2000 2500 3000 3500 4000 4500
Input rotations (min -1 )
0 500 1000 1500 2000 2500 3000 3500 4000 4500
Input rotations (min -1 )
Motor model PBM282FHME50
Motor model PBM423FHLE50
50
5
100
10
Torque (kgf·cm)
40
30
20
Torque (N·m)
4
3
2
Torque (kgf·cm)
80
60
40
Torque (N·m)
8
6
4
10
1
20
2
0 0
0
5
10 15 20 25 30 35 40 45
Output rotations (min -1 )
0 0
0
10
20 30 40 50 60 70 80 90
Output rotations (min -1 )
0 500 1000 1500 2000 2500 3000 3500 4000 4500
Input rotations (min -1 )
0 500 1000 1500 2000 2500 3000 3500 4000 4500
Input rotations (min -1 )
Maintain motor case temperature at a point below 85°C.
The gear output shaft rotates in the opposite direction.
Note1: The load point is determined at a position 1/3 of the length from the output shaft.
12

Motor flange size
60mm sq.
Size
Motor length +
Gear length
135.8mm
Motor model (Incremental encoder) PBM603FHLE50 PBM604FHME50
Related driver model No.
PB4D003E2D0
Allowable torque Nm 5.5 8
Allow. instantaneous
torque
Nm 14 20
Rotor inertia 10 -4 kgm 2 0.435
Reduction gear ratio 1:50 1:100
Lost motion min 0.4 to 30.28Nm 0.4 to 30.4Nm
Hysteresis loss min
Allowable rotations min -1 70 35
Allowable thrust load N 400
Allowable radial
load Note1 N 360
Motor mass kg 1.45
Motor characteristics chart
Motor model PBM603FHLE50
200
20
Torque (kgf·cm)
160
120
80
Torque (N·m)
16
12
8
40
4
0 0
0
10
20 30 40 50 60 70 80 90
Output rotations (min -1 )
0 500 1000 1500 2000 2500 3000 3500 4000 4500
Input rotations (min -1 )
Motor model PBM604FHME50
500
50
Torque (kgf·cm)
400
300
200
Torque (N·m)
40
30
20
100
10
0 0
0
5
10 15 20 25 30 35 40 45
Output rotations (min -1 )
0 500 1000 1500 2000 2500 3000 3500 4000 4500
Input rotations (min -1 )
13

General Specifications
Driver + Electromagnetic Brake Model
Motor flange size
28mm sq., 42mm sq., 60mm sq.
Size
Motor flange size 28mm sq. 42mm sq. 60mm sq.
Motor length +
90.8mm 117.1mm 88.3mm 108.1mm 140.1mm
Gear length
Motor model (Incremental encoder) PBM282FCE50 PBM284FCE50 PBM423FCE50 PBM603FCE50 PBM604FCE50
Related driver model No.
PB4D003E2D0
MAX. stall torque Nm 0.055 0.155 0.39 1.3 1.9
Rotor inertia 10 -4 kgm 2 0.0091 0.0171 0.07 0.559 1
Allowable thrust load N 9.8 14.7
Allowable radial
load Note1 N 33 49 167
Motor mass kg 0.28 0.35 0.5 1.19 1.76
Operation method
No excitation actuating type
Power voltage V DC24V5%
Excitation current A 0.15 0.08 0.25
Power consumption W 3.6 2 6
Friction torque Nm 0.049 0.3 0.78
Brake engage time ms 20
Brake release time ms 20 30
Motor characteristics chart
Electromagnetic brake
Motor Characteristics Chart
TorqueDC24V DC48V Power consumptionDC24V DC48V
Motor model PBM282FCE50
Motor model PBM423FCE50
Motor model PBM604FCE50
Torque (kgf ·cm)
0.8
0.6
0.4
0.2
0
Torque (N·m)
0.08
0.07
0.06
0.05
0.04
0.03
0.02
0.01
0
0
0
500 1000 1500 2000 2500 3000 3500 4000 4500
Rotations (min -1 )
3
2.5
2
1.5
1
0.5
Power consumption (A)
Torque (kgf ·cm)
4.5
4
3.5
3
2.5
2
1.5
1
0.5
0
Torque (N·m)
0.45
0.4
0.35
0.3
0.25
0.2
0.15
0.1
0.05
0
0
0
500 1000 1500 2000 2500 3000 3500 4000 4500
Rotations (min -1 )
4
3.5
3
2.5
2
1.5
1
0.5
Power consumption (A)
25
15
10
Torque (kgf ·cm)20
5
0
Torque (N·m)
2.5
2.25
2
1.75
1.5
1.25
1
0.75
0.5
0.25
0
0
500
0
1000 1500 2000 2500 3000
Rotations (min -1 )
4
3.5
3
2.5
2
1.5
1
0.5
Power consumption (A)
Motor model PBM284FCE50
Motor model PBM603FCE50
Torque (kgf ·cm)
1.4
1.2
1
0.8
0.6
0.4
0.2
0
Torque (N·m)
0.14
0.12
0.1
0.08
0.06
0.04
0.02
0
0
0
500 1000 1500 2000 2500 3000 3500 4000 4500
Rotations (min -1 )
3
2.5
2
1.5
1
0.5
Power consumption (A)
Torque (kgf ·cm)
14
12
10
8
6
4
2
0
Torque (N·m)
1.4
1.2
1
0.8
0.6
0.4
0.2
0
0
500
4
3.5
3
2.5
2
1.5
1
0.5
0
1000 1500 2000 2500 3000
Rotations (min -1 )
Power consumption (A)
Maintain motor case temperature at a point below 85°C.
Note1: The load point is determined at a position 1/3 of the length from the output shaft.
14

Motor Dimensions (Unit : mm)
28mm sq. (Incremental encoder)
Standard Model
PBM282FXE50
PBM284FXE50
L±1
20±0.5
2±0.25
0
5 -0.013
28±0.5
23±0.5
4.5±0.2
+1
15 0
0
22 -0.05
23±0.5
28±0.5
16 MAX.
500±20
2.3 MAX.
Encoder cable
Encoder connector
UL vinyl tube
Motor lead wire
UL1430 AWG26
Motor connector
500±20
Model L
PBM282FXE50 58.5
PBM284FXE50 77.8
2-M2.5×0.45
Spur Gear Model
PBM282FGE50
87.8±1.5
20±0.5
2±0.25
0
5 -0.012
0
11 -0.025
6±0.5
28±0.5
23±0.5
4.5±0.15
+1
12 0
23±0.5
28±0.5
500±20
2.3 MAX.
16 MAX.
Encoder cable
Encoder connector
UL vinyl tube
Motor lead wire
UL1430 AWG26
500±20
2-M2.5×0.45
Motor connector
Harmonic Gear Model
PBM282FHE50
500±20
2.3 MAX.
16 MAX.
Encoder cable
Encoder connector
UL vinyl tube
Motor lead wire
UL1430 AWG26
Motor connector
97±1.5
500±20
L±1.5
6±0.5
23±1
1.5±0.5
21
+1
16 0
20±0.5
2±0.25
0
5 -0.013
0
8 -0.009
12
0
28.4 -0.021
7.5±0.15
38±0.3
33±0.5
4-3.5±0.2
Electromagnetic Brake Model
PBM282FCE50
PBM284FCE50
28±0.5
23±0.5
7.5±0.15
33±0.5
4.5±0.2
+1
15 0
0
22 -0.05
23±0.5
28±0.5
16 MAX.
500±20
2.3 MAX.
Encoder cable
Encoder connector
Motor lead wire
UL1332 AWG26
UL vinyl tube
Motor lead wire
UL1430 AWG26
Motor connector
500±20
Model L
PBM282FCE50 90.8
PBM284FCE50 117.1
2-M2.5×0.45
15

Motor Dimensions (Unit : mm)
42mm sq. (Incremental encoder)
Standard Model
PBM423FXE50
500±20
1.5 MAX.
Encoder connector
Encoder cable
4-R5.5
Earth terminal M2.5
1.7±0.25
+1
15 0
0
6 -0.013
500±20
Motor connector
Motor lead wire
UL3266 AWG24
UL vinyl tube
0
22 -0.05
31±0.25
42±0.25
55.9±1 20.6±0.5
5.5±0.2
31±0.25
42±0.25
4-M3×0.5
Low-backlash Gear Model
PBM423FGE50
500±20
1.5 MAX.
500±20
1.5 MAX.
Encoder connector
Encoder cable
4-R5.5
Encoder connector
Encoder cable
4-R5.5
Earth terminal M2.5
86.1±1.5
Earth terminal M2.5
7±0.2
1.2
3±0.5
+1
12 0
20±0.5
0
18 -0.18
90°
0
6 -0.012
Key specification
2±0.2
0
10 -0.009
0
18 -0.025
8±0.5
500±20
5.5±0.2
0
3 -0.025
0
3 -0.025
48±0.5
500±20
31±0.2
+0.5
42 -1.5
Motor connector
Motor lead wire
UL3266 AWG24
UL vinyl tube
31±0.2
+0.5
42 -1.5
UL vinyl tube
4-M4×0.7
Harmonic Gear Model
PBM423FHE50
Motor connector
Motor lead wire
UL3266 AWG24
18
22.5
12
0
37.6 -0.025
-0.004
3 -0.029
42±0.5
95.1±1.5
25±1
+0.1
1.8 0
42±0.5
44.5
Electromagnetic Brake Model
PBM423FCE50
500±20
1.5 MAX.
Encoder connector
Encoder cable
4-R5.5
Brake lead wire
UL3266 AWG26
Earth terminal M2.5
1.7±0.25
+1
15 0
Motor connector
Motor lead wire
UL3266 AWG24
UL vinyl tube
31±0.25
42±0.25
0
6 -0.013
500±20
0
22 -0.05
88.3±1.5
20.6±0.5
5.5±0.2
31±0.25
42±0.25
4-M3×0.5
16

90
60mm sq. (Incremental encoder)
Standard Model
PBM603FXE50
PBM604FXE50
500±20
Encoder connector
Encoder cable
1.5 MAX.
Model L
PBM603FXE50 68.8
PBM604FXE50 100.8
7±0.25 1.5±0.25
+1
15 0
0
10-0.015
500±20
Motor connector
Motor lead wire
UL3266 AWG22
UL vinyl tube
Earth terminal M2.5
41.7±0.5
0
36 -0.039
50±0.13
60±0.5
41.7±0.5
L±1
20.6±0.5
9±0.2
50±0.13
60±0.5
+0.5
4-4.5 0
Low-backlash Gear Model
PBM603FGE50
Hexagon socket head bolt
4-M4
Earth terminal M2.5
Hexagon socket head bolt
4-M4
500±20
50020
Earth terminal M2.5
41.7±0.5
Encoder connector
Encoder cable
1.5 MAX.
41.7±0.5
Encoder connector
Encoder cable
1.5 MAX.
41.70.5
114.3±1.5
3±0.5
10 2.5
+1
12 0
32±0.5
0
20 -0.21
1.6
Key specification
20
Key
0
12-0.011
0
8-0.015
0
24 -0.025
0
4 -0.03
0
54 -0.03
10±0.5
700.5
500±20
50020
70.15
49.5±0.2
60±0.7
Motor connector
Motor lead wire
UL3266 AWG22
UL vinyl tube
49.5±0.2
60±0.7
4-M4×0.7
Harmonic Gear Model
PBM603FHE50
0
4 -0.03
Motor connector
Motor lead wire
UL3266 AWG22
UL vinyl tube
0
9.5 -0.1
600.7
41.70.5
135.81.5
280.5
4-5.5
600.7
Electromagnetic Brake Model
PBM603FCE50
PBM604FCE50
500±20
Encoder connector
Encoder cable
1.5 MAX.
Brake lead wire
UL3266 AWG22
Model L
PBM603FCE50 108.1
PBM604FCE50 140.1
7±0.25 1.5±0.25
+1
15 0
0
10-0.015
500±20
Motor connector
Motor lead wire
UL3266 AWG22
UL vinyl tube
Earth terminal M2.5
41.7±0.5
0
36 -0.039
50±0.13
60±0.5
L±1.5
20.6±0.5
9±0.2
50±0.13
60±0.5
+0.5
4-4.5 0
17

Motor Dimensions (Unit : mm)
42mm sq. (Absolute encoder)
Standard Model
PBM423FXS50
Earth terminal M2.5
20.6±0.5
1.7±0.25 +1
15 0
Motor connector
Motor lead wire
UL vinyl tube
31±0.25
42±0.25
500±20
Encoder connector
Heat-shrinkable tube
Encoder cable (Triple heavy-duty shielded)
0
6 -0.013
0
22 -0.05
500±20
460±10
(38)
80.4±1
(42.4)
5.5±0.2
31±0.25
42±0.25
4-M3×0.5
60mm sq. (Absolute encoder)
Standard Model
PBM603FXS50
PBM604FXS50
500±20
Encoder connector
Heat-shrinkable tube
Encoder cable (Triple heavy-duty shielded)
7±0.25 20.6±0.5
1.5±0.25 +1
15 0
0
10 -0.015
500±20
480±10
Motor connector
Motor lead wire
UL vinyl tube
Earth terminal M2.5
0
36 -0.039
50±0.13
60±0.5
(38)
L1±1
(L2) 0.5
4-4.5 0
9±0.2
50±0.13
60±0.5
Model L1 L2
PBM603FXS50 93.3 55.3
PBM604FXS50 125.3 87.3
Optional Accessories Dimensions (Unit : mm)
Power Cable
PBC9P0020A Cable with connectors
Red
Blue
Yellow
Gray
Green
1
2
3
4
5
2000
Connector Connection of Driver Side
Pin No. Lead color Signal name
1 Red Main power supplyDC24/48V
2 Blue GND
3 Yellow Control power supplyDC24V
4 Gray GND
5 Green FG
Connector Set Model No.: PBC9P0000A
Manufacturer Type Qty.
Contact: SVH-21T-P1.1 5
JST
Housing: VHR-5N 1
Set comprising of connectors only.
Motor Ext. Cable
PBC8M0030A Cable with connectors
Motor side connector
Housing: 2-1903130-3
Terminal: 1903112-2
Manufacturer: AMP
300050
Lead wire AWG22
Driver side connector
Housing: 2-1827864-3
Terminal: 1827570-2
Manufacturer: AMP
Motor cable UL2517
Connector Connection of Motor Side
Pin No. Lead color Signal name
A1 Blue Motor lead wire
B1 Orange Motor lead wire
A2 Red Motor lead wire
B2 Yellow Motor lead wire
A3 White Brake lead wire
B3 Black Brake lead wire
Connector Connection of Driver Side
Pin No. Lead color Signal name
A1 Blue Motor lead wire
B1 Orange Motor lead wire
A2 Red Motor lead wire
B2 Yellow Motor lead wire
A3 White Brake lead wire
B3 Black Brake lead wire
Connector Set Model No.: PBC8M0000A
Manufacturer Type Qty.
Housing: 2-1827864-3 1
AMP
Contact: 1827570-2 6
Housing: 2-1903130-3 1
Contact: 1903112-2 6
Set comprising of connectors only.
18

Optional Accessories Dimensions (Unit : mm)
Encoder Ext. Cable (Incremental Encoder)
PBC7E0030A Cable with connectors
Motor side connector
Housing: 1-1903130-6
Terminal: 1903111-2
Manufacturer: AMP
Encoder Ext. Cable (Absolute Encoder)
PBC8E0030A Cable with connectors
Motor side connector Driver side connector
I/O Cable (unshielded)
PBC1S0010A
Lead wire AWG28
Housing: 2-1903130-6
Terminal: 1903111-2
Manufacturer: AMP
A1
A10
B1
B10
Lead wire AWG28
300050
300050
Driver side connector
Housing: 1-1827864-6
Terminal: 1827569-2
Manufacturer: AMP
Encoder cable
UL20276
Housing: 2-1827864-6
Terminal: 1827569-2
Manufacturer: AMP
Encoder cable
UL20276
1000
Cable Mark
Connector Connection of Motor Side
Pin No. Lead color Signal name
A1 Blue Channel A
B1 Brown Channel A
A2 Green Channel B
B2 Purple Channel B
A3 White Channel C
B3 Yellow Channel C
A4 Red +5V
B4 Black 0V
A5 N.C.
B5 Orange Over heat
A6 Black Shield
B6 N.C.
Connector Connection of Motor Side
Pin No. Lead color Signal name
A1 Brown ES
B1 Blue ES
A2 N.C.
B2 N.C.
A3 N.C.
B3 N.C.
A4 Red +5V
B4 Black 0V
A5 Pink BAT
B5 Purple BAT
A6 Black Shield
B6 N.C.
Cable Connection
Cable 1 Cable 2
A1-No.1
B1-No.1
A2-No.2
B2-No.2
A3-No.3
B3-No.3
A4-No.4
B4-No.4
A5-No.5
B5-No.5
Connector Connection of Driver Side
Pin No. Lead color Signal name
A1 Blue Channel A
B1 Brown Channel A
A2 Green Channel B
B2 Purple Channel B
A3 White Channel C
B3 Yellow Channel C
A4 Red +5V
B4 Black 0V
A5 N.C.
B5 Orange Over heat
A6 Black Shield
B6 N.C.
Connector Connection of Driver Side
Pin No. Lead color Signal name
A1 Brown ES
B1 Blue ES
A2 N.C.
B2 N.C.
A3 N.C.
B3 N.C.
A4 Red +5V
B4 Black 0V
A5 Pink BAT
B5 Purple BAT
A6 Black Shield
B6 N.C.
Connector Set Model No.: PBC7E0000A
Manufacturer Type Qty.
Housing: 1-1827864-6 1
AMP
Contact: 1827569-2 10
Housing: 1-1903130-6 1
Contact: 1903111-2 10
Set comprising of connectors only.
Connector Set Model No.: PBC8E0000A
Manufacturer Type Qty.
Housing: 2-1827864-6 1
AMP
Contact: 1827569-2 7
Housing: 2-1903130-6 1
Contact: 1903111-2 7
Set comprising of connectors only.
A9-No.9
A10-No.10
B9-No.9
B10-No.10
1mm MAX.
I/O Cable (shielded)
PBC1S0010C
35
1020
CN1
A1 B1
A10
B10
15010
1000
CN1 Wiring Chart
CN1 Pin.No. Mark display
A1
A2
A3
A4
A5
A6
A7
A8
A9
A10
Mark
Red
Black
Red
Black
Red
Black
Red
Black
Red
Black
Line color
Orange
Gray
White
Yellow
Pink
CN1 Pin.No. Mark display Mark Line color
B1
Red
B2
Black
Orange
B3
Red
B4
Black
Gray
B5
B7
B9
Red
Red
Red
B6
B8
B10
Black
Black
Black
White
Yellow
Pink
USB/RS-485 Converter Unit
PBFM-U6 Package Contents
Pin Arrangement of Connector Terminal
USB/RS-485 Adapter
Uport 1130 Adapter
CD-ROM
Manufacturer: MOXA
Connector terminal
Cable (between adapter and driver)
Adapter with USB cable
Documents and driver software for the adapter
Connects to cable (between adapter and driver)
Model No.: PBC6T0005A
Cable length: 50020mm
Connector attached on driver side
Signal
name
1
2
3 DATAA Yellow
4 DATAB White
5 GND Black
Pin No.
Cable (between adapter
and driver) lead colors
19

Precautions For Adoption
Cautions
Failure to follow the precautions on the right may cause
moderate injury and property damage, or in some
circumstances, could lead to a serious accident.
Always follow all listed precautions.
For any question or inquiry regarding the above, contact our Sales Department.
CATALOG No. S1003B002 ’11.11.IT