STEPPING MOTOR ENCODER - sanyo denki europe

STEPPING SYSTEMS
STEPPING MOTOR
WITH
ENCODER
English

STEPPING SYSTEMS
STEPPING MOTOR
WITH ENCODER
Content
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
Note : In this catalogue, all references are standard and kept in our stock in Europe. For any special requirement, please contact our sales network.
1

How to read part numbers
Motor Technology
2H : 2 phase High Torque
2P : 2 phase 400 steps/rev
5H : 5 phase High Torque
Motor dimension
5654 =
Flange 56x56mm
Length 54mm
Current per phase
B20 = Bipolar 2.0A U12 = Unipolar 1.2A
P15 = 1.5A 5 leads (5-phase)
2H 5654 B20 S 2 40
Encoder family
Type S, L or R
2 : 2 channels
3 : 3 channels
Encoder Resolution
20 : 200 CPR. 40 : 400 CPR.
50 : 500 CPR.
Options
Ø : standard A Z : customized products
References available
On above table are introduced available combinations between stepping motors and encoders.
ENCODER RESOLUTION
200 CPR 400 CPR 500 CPR
R220 S240 S340 L240 S250 S350
2H4233B05
MOTOR FLANGE SIZE
60mm sq 56mm sq 42mm sq
2H4238B17
2H4241B05
2H4241U12
2H4248U12
2H5654U10
2H5654U20
2H5654B20
2H5676B20
2H6086U20
2H6086B40
5H6086P15
: Set motor + encoder standard.
: Set motor + encoder on demand.
2

Electrical specifications
Stepping Motors
Hybrid
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
Current
per
phase
A
Resistance
per phase
Inductance
mH
Rotor
Inertia
10 -4
kgm 2
Weight
Kg
Encoder
resolution
CPR

Dynamic performances
2H4233B05
2H4238B17
3
0.3
4
0.4
Torque (kgf.cm)
2
1
Torque (N.m.)
0.2
0.1
Torque (kgf.cm)
3
2
1
Torque (N.m.)
0.3
0.2
0.1
0 0
0.1
1 (Kpulses/s) 10
0
0
0.1 1 10 (Kpulses/s) 100
100 500 1000 2000
Speed (RPM)
Driver : PMM-BD-4502
Power voltage : 36VDC
Current : 0.48A/phase bipolar
Excitation mode : Full step
Pull-out torque [ JL2 = 0.94x10 -4 kg.m 2 ]
Using rubber coupling
Starting torque [ JL1 = 0.8x10 -4 kg.m 2 ]
100 1000 2000 5000
Speed (RPM)
Driver : PMM-BD-4502
Power voltage : 36VDC
Current : 1.7A/phase bipolar
Excitation mode : Full step
Pull-out torque [ JL2 = 0.94x10 -4 kg.m 2 ]
Using rubber coupling
Starting torque [ JL1 = 0.8x10 -4 kg.m 2 ]
2H4241U12
2H4241B05
4
0.4
5
0.5
Torque (kgf.cm)
3
2
1
Torque (N.m.)
0.3
0.2
0.1
Torque (kgf.cm)
4
3
2
1
Torque (N.m.)
0.4
0.3
0.2
0.1
0
0
0.1 1 10 100
(Kpulses/s)
100 1000 2000 5000
Speed (RPM)
Driver : PMM-MD-23221-21
Power voltage : 36VDC
Current : 1.2A/phase unipolar
Excitation mode : Full step
Pull-out torque [ JL2 = 0.94x10 -4 kg.m 2 ]
Using rubber coupling
Starting torque [ JL1 = 0.8x10 -4 kg.m 2 ]
0
0
0.1 1 (Kpulses/s) 10
100
500 1000
Speed (RPM)
Driver : PMM-BD-4502
Power voltage : 36VDC
Current : 0.5A/phase bipolar
Excitation mode : Full step
Pull-out torque [ JL2 = 0.94x10 -4 kg.m 2 ]
Using rubber coupling
Starting torque [ JL1 = 0.21x10 -4 kg.m 2 ]
2000
2H4248U12
2H5654U10
4
0.4
8
0.8
Torque (kgf.cm)
3
2
1
Torque (N.m.)
0.3
0.2
0.1
Torque (kgf.cm)
6
4
2
Torque (N.m.)
0.6
0.4
0.2
0
0
0.1 1 10 (Kpulses/s) 100
100 1000 2000 5000
Speed (RPM)
Driver : PMM-MD-23221-21
Power voltage : 36VDC
Current : 1.2A/phase
Excitation mode : Full step
Pull-out torque [ JL2 = 0.94x10 -4 kg.m 2 ]
Using rubber coupling
Starting torque [ JL1 = 0.8x10 -4 kg.m 2 ]
0
0
0.1 1 10 (Kpulses/s)100
100 1000 2000 5000
Speed (RPM)
Driver : PMM-MD-23221-10
Power voltage : 36VDC
Current : 1.0A/phase unipolar
Excitation mode : Full step
Pull-out torque [ JL2 = 0.94x10 -4 kg.m 2 ]
Using rubber coupling
Starting torque [ JL1 = 0.8x10 -4 kg.m 2 ]
04

Dynamic performances
2H5654U20
2H5654B20
8
0.8
8
0.8
Torque (kgf.cm)
6
4
2
Torque (N.m.)
0.6
0.4
0.2
Torque (kgf.cm)
6
4
2
Torque (N.m.)
0.6
0.4
0.2
0
0
0.1 1 10 (Kpulses/s) 100
0
0
0.1 1 10 (Kpulses/s)100
100
1000 2000 5000
Speed (RPM)
Driver : PMM-MD-23221-10
Power voltage : 36VDC
Current : 2.0A/phase unipolar
Excitation mode : Full step
Pull-out torque [ JL2 = 0.94x10 -4 kg.m 2 ]
Using rubber coupling
Starting torque [ JL1 = 0.8x10 -4 kg.m 2 ]
100
1000 2000 5000
Speed (RPM)
Driver : PMM-BD-4502
Power voltage : 36VDC
Current : 2.0A/phase bipolar
Excitation mode : Full step
Pull-out torque [ JL2 = 0.94x10 -4 kg.m 2 ]
Using rubber coupling
Starting torque [ JL1 = 0.21x10 -4 kg.m 2 ]
2H5676B20
2H6086U20
15
1.5
20
2
Torque (kgf.cm)
12
9
6
3
Torque (N.m.)
1.2
0.9
0.6
0.3
Torque (kgf.cm)
15
10
5
Torque (N.m.)
1.5
1
0.5
0
0
0.1 1 10 (Kpulses/s) 100
0
0
0.1 1 10 (Kpulses/s)100
100 1000 2000 5000
Speed (RPM)
Driver : PMM-BD-4502
Power voltage : 36VDC
Current : 2.0A/phase bipolar
Excitation mode : Full step
Pull-out torque [ JL2 = 2.6x10 -4 kg.m 2 ]
Using rubber coupling
Starting torque [ JL1 = 2.6x10 -4 kg.m 2 ]
100 1000 2000 5000
Speed (RPM)
Driver : PMM-MD-23221-10
Power voltage : 36VDC
Current : 2.0A/phase unipolar
Excitation mode : Full step
Pull-out torque [ JL2 = 7.4x10 -4 kg.m 2 ]
Using rubber coupling
Starting torque [ JL1 = 7.4x10 -4 kg.m 2 ]
2H6086B40
5H6086P15
24
2.4
20
2
Torque (kgf.cm)
18
12
6
Torque (N.m.)
1.8
1.2
0.6
Torque (kgf.cm)
16
12
8
4
To r que (N.m.)
1.6
1.2
0.8
0.4
0
0
0.1 1 10 (Kpulses/s) 100
100 1000 2000 5000
Speed (RPM)
Driver : PMM-BA-4804
Power voltage : 100VAC
Current : 4.0A/phase bipolar
Excitation mode : Full step
Pull-out torque [ JL2 = 7.4x10 -4 kg.m 2 ]
Using rubber coupling
Starting torque [ JL1 = 7.4x10 -4 kg.m 2 ]
0
0
0.1 1 10 (Kpulses/s) 100
100 1000 2000 5000
Speed (RPM)
Driver : PMM-BA-5604
Power voltage : 36VDC
Current : 1,5A/phase
Excitation mode :
Pull-out torque [ JL2 = 7.4x10 -4 kg.m 2 ]
Using rubber coupling
Starting torque [ JL1 = 7.4x10 -4 kg.m 2 ]
5

General specifications
2H42 2H56 2H60 5H60
Insulation class
Insulation resistance
Withstand voltage
Operating environment
Winding temperature rise
Standing angle error
Classe B / 130°C
100M or more when measured with a DC500V megohmeter between the motor wiring
and 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)
80 K
0.09° 0.054° 0.09°
Axial play
0.075 mm
(load 4.4 N)
0.75 mm (load 9 N)
Radial play (1)
Shaft run outs
Concentricity of
mounting spigot relative
to shaft
Perpendicularity of
mounting surface relative
to shaft
Allowable thrust load
Allowable radial load (1)
0.025 mm (load 4.4 N)
0.025 mm
0.05 mm
0.075 mm
0.1 mm
0.075 mm
10N 15N 20N 15N
28N 75N 80N 115N
Note 1 : load point is the position 1/3 from the output shaft end.
06

Encoder Type S
Optical incremental encoder TTL compatible
Operating Voltage : 4.5 to 5.5 VDC
Counts per Revolution : 400, 500
Max. Reply Frequency : 100 kHz
Diagram
Connection
2 Channel Encoder 3 Channel Encoder
Pin 1
GND
Pin 2 NC Channel I
Waveforms
AMPLITUDE
T0
1/2 T0
1/4 T0
Channels A, B, I
VH = 2.4 VDC
VL = 0.4 VDC
A
B
I
Pin 3
Pin 4
Pin 5
Standard P/N
Channel A
5 VDC
Channel B
S240 : 2 channels, 400 CPR
S340 : 3 channels, 400 CPR
S250 : 2 channels, 500 CPR
S350 : 3 channels, 500 CPR
Suitable connector
Molex 2695-05, 2759
AMP 103686-4, 640442-5
BERG 65039-032, 4825X-000
ROTATION
Encoder Type L
Optical incremental encoder Line Driver
Operating Voltage : 4.5 to 5.5VDC
Counts per Revolution : 400
Max. Reply Frequency : 100 kHz
Diagram
Connection
Pin 1
NC
Pin 6
A
Pin 2
+5 VDC
Pin 7
/B
Pin 3
GND
Pin 8
B
Pin 4
Pin 5
NC
/A
Pin 9
Pin 10
NC
NC
Leadwire output : 480mm - AWG28
Fitted with connector BERG HE10
Waveforms
AMPLITUDE
T0
1/2 T0
1/4 T0
Channels A, A, B, B
VH = 2.4 VDC
VL = 0.4 VDC
A
A
B
Standard P/N
L240 : 2 channels, 400 CPR
B
ROTATION
7

Encoder Type R
Optical incremental encoder
Operating Voltage : 4.5 to 5.5 VDC
Counts per Revolution : 200
Max. Reply Frequency : 16 kHz
Diagram
Radial Output for 42mm
flange motor
AMPLITUDE
Waveforms
T0
1/2 T0
1/4 T0
Axial Output for 56mm
flange motor
Channels A, B
VH = 2.4 VDC
VL = 0.4 VDC
A
B
Connection
Pin 1 GND
Pin 2 NC
Pin 3 Channel A
Pin 4 5 VDC
Pin 5 Channel B
Suitable connector Molex 51021-0500
Standard P/N
R220 : 2 channels, 200 CPR
ROTATION
8

Dimensions and Connection Diagram
R220 S240 S340 L240 S250 S350
2H4233B05
A1
A2
A2
2H4238B17
A1
A2
A2
2H4241B05
A2
A2
2H4241U12
A3
A3
2H4248U12
A4
A3
A3
2H5654U10
B1
B2
B2
B3
2H5654U20
B2
B2
B3
2H5654B20
B4
B4
B5
2H5676B20
B4
B4
B5
2H6086U20
C1
C1
2H6086B40
C2
C2
5H6086P15
D1
D1
DIAGRAM A1
7MAX.
27MAX.
11.7
14
11MAX.
A
1.5 0.76
24
0
5-0.013
4-M3 0.5
4 MIN.DP.
42 0.25
31 0.25
1...5
0
22-0.05
31 0.25
42 0.25
R11.5
ORANGE(3)
BLUE(1)
Encoder
Pin 1
Pin 2
R220
GND
NC
Motor Length A (mm)
2H4233B05- 33
2H4238B17- 38
(6)
RED
(4)
YELLOW
Pin 3
Pin 4
Pin 5
Ch A
5VDC
Ch B
DIAGRAM A2
7MAX.
30
27MAX.
18.3
A
5...1 11MAX.
1.5 0.76
24 0.5
0
5-0.013
4-M30.5
4 MIN.DP.
42 0.25
31 0.25
41.1
0
22-0.05
31 0.25
42 0.25
R15
ORANGE(3)
BLUE(1)
(6)
RED
(4)
YELLOW
Encoder S240 S340
Pin 1 GND
Pin 2 NC ChI
Pin 3
Ch A
Pin 4 5 VDC
Pin 5
Ch B
Motor Length A (mm)
2H4233B05- 33
2H4238B17- 38
2H4241B05- 41
9

DIAGRAM A3
7MAX.
30
27MAX.
5...1
18.3
A
11MAX.
1.5 0.76
24 0.5
0
5-0.013
4-M30.5
4 MIN.DP.
42 0.25
31 0.25
41.1
31 0.25
42 0.25
R15
ORANGE(2)
WHITE(1)
BLUE(3)
(5) (6) (4)
RED BLACK YELLOW
7MAX.
27MAX.
11.7
14
11MAX.
48
24
1.5 0.76
1...5
0
22-0.05
31 0.25
42 0.25
0
5-0.013
0
22-0.05
Encoder S240 S340
Pin 1 GND
Pin 2 NC ChI
Pin 3 Ch A
Pin 4 5 VDC
Pin 5 Ch B
Motor Length A (mm)
2H4241U12- 41
2H4248B12- 48
DIAGRAM A4 – MOTOR 2H4248U12
42 0.25
31 0.25
4-M30.5
4 MIN.DP.
R11.5
ORANGE(2)
WHITE(1)
BLUE(3)
(5) (6) (4)
RED BLACK YELLOW
Encoder
Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
R220
GND
NC
Ch A
5VDC
Ch B
10

Dimensions and Connection Diagram
DIAGRAM B1 – MOTOR 2H5654U10
R11.5
305MIN.
5...1
8MAX.
15.2
17.9
53.8 0.8
1.5 0.25
5 0.25
20.6 0.5
0
6.35 0.013
38.1 0.025
56 0.5
47.14 0.13
26MAX.
8MAX.
47.14 0.13
56 0.5
4 4.5 0 0.5
ORANGE
WHITE
BLUE
Encoder
Pin 1
Pin 2
R220
GND
NC
RED BLACK YELLOW
Pin 3
Pin 4
Pin 5
Ch A
5VDC
Ch B
DIAGRAM B2 – MOTOR 2H5654U10 – 2H5654U20
R15
305MIN.
LEAD WIRE
UL1430CSA
AWG22
5...1
30
18.3
8MAX.
53.8
1.5 0.25
5 0.25
20.6 0.5
0
6.35 0.013
38.1 0.025
56 0.5
47.14 0.13
26MAX.
8MAX.
47.14 0.13
56 0.5
41.2
4 4.5 0 0.5
ORANGE
WHITE
BLUE
RED BLACK YELLOW
Encoder S240 S340
Pin 1 GND
Pin 2 NC Ch I
Pin 3 Ch A
Pin 4 5 VDC
Pin 5 Ch B
DIAGRAM B3 – MOTOR 2H5654U10 – 2H5654U20
R15
305MIN.
LEAD WIRE
UL1430CSA
AWG22
30
470MIN.
18.3
8MAX.
53.8 0.8
1.5 0.25
5 0.25
20.6 0.5
0
6.35 0.013
38.1 0.025
56 0.5
47.14 0.13
26MAX.
8MAX.
47.14 0.13
56 0.5
41.2
4 4.5 0 0.5
ORANGE
WHITE
BLUE
Encoder
L240
Pin 1 NC Pin 6 A
+5
Pin 2 VDC Pin 7 /B
Pin 3 GND Pin 8 B
RED BLACK YELLOW
Pin 4 NC Pin 9 NC
Pin 5 /A Pin10 NC
11

DIAGRAM B4
56 0.5
R15
305MIN.
LEAD WIRE
UL1430CSA
AWG22
5...1
30
18.3
8MAX.
A
1.5 0.25
5 0.25
20.6 0.5
0
6.35 0.013
38.1 0.025
47.14 0.13
26MAX.
8MAX.
47.14 0.13
56 0.5
41.2
4 4.5 0 0.5
ORANGE
BLUE
RED
YELLOW
Encoder S240 S340
Pin 1 GND
Pin 2 NC Ch I
Pin 3
Ch A
Pin 4 5 VDC
Pin 5
Ch B
Motor length A (mm)
2H5654B20- 53.8
2H5676B20- 76
DIAGRAM B5
R15
305MIN.
LEAD WIRE
UL1430CSA
AWG22
30
470MIN.
18.3
8MAX.
A
1.5 0.25
5 0.25
20.6 0.5
0
6.35 0.013
38.1 0.025
56 0.5
47.14 0.13
26MAX.
8MAX.
47.14 0.13
56 0.5
41.2
4 4.5 0 0.5
ORANGE
Encoder
L240
Motor length
A (mm)
BLUE
Pin 1 NC Pin 6 A
Pin 2
+5
VDC Pin 7 /B
Pin 3 GND Pin 8 B
2H5654B20- 53.8
2H5676B20- 76
Pin 4 NC Pin 9 NC
RED
YELLOW
Pin 5 /A Pin 10 NC
12

Dimensions and Connection Diagram
DIAGRAM C1 - MOTOR 2H6086U20
30
5 1
600
41.1
18.3
2.1
11MAX.
85.80
70.25
1.50.25
20.60.5
+1
15 0
(EFFECTIVE
LENGTH)
R4MIN.
0
ø8-0.015
0
ø36-0.039
0.1
600.5
500.13
33MAX.
1 6
500.13
600.5 12MAX.
R15
7.50.1 +0.5
4-ø4.5 0
ORANGE (2)
WHITE (1)
BLUE (3)
(5) (6)
RED BLACK (4)
YELLOW
Encoder
Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
S25040 S35040
GND
NC Ch I
Ch A
5 VDC
Ch B
DIAGRAM C2 - MOTOR 2H6086B40
30
5 1
60
41.1
18.3
85.80.8
11MAX. 1.50.25
70.25
20.60.5
+1
15 0
(EFFECTIVE
LENGTH)
0
ø8-0.015
0
ø36-0.039
0.1
600.5
500.13
33MAX.
1 4
500.13
600.5 12MAX.
R4MIN.
R15
7.50.1
+0.5
4-ø4.5 0
ORANGE (2)
BLUE (1)
RED (4)
(3) YELLOW
Encoder
Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
S250 S350
GND
NC Ch I
Ch A
5 VDC
Ch B
DIAGRAM D1 - MOTOR 5H6086P15
LEAD WIRE
UL1430 CSA
AWG24
30
5 1
8MAX.
18.3
305MIN.
85.80.8
1.50.25
50.25
20.60.5
0
ø8-0.015
600.5
500.13
28MAX.
+0.5
4-ø4.5 0
R7.5
ø600.5
41.1
0
ø36-0.039
+1
15 0
R0.2
S
90
7.50.15
500.13
600.5
R4MIN.
S
7.50.15
BLACK
BLUE
RED
YELLOW ORANGE
Encoder
Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
S250 S350
GND
NC Ch I
Ch A
5 VDC
Ch B
13

Accessories
Motor flange 42mm cable
Motor flange 60mm cable
500 MIN.
500 MIN.
1 JST
2
4
3
JST
3
3
4
3 4 5
2
2
1 1
P/N : C2H60B500
6
6
P/N : C2H42B500
Pin 1
Lead Color
BLUE
Lead Color
Pin 2
ORANGE
Pin 1
BLUE
Pin 3
YELLOW
Pin 2
NC
Pin 4
RED
Pin 3
ORANGE
Pin 4
YELLOW
Pin 5
NC
Pin 6
RED
500 MIN.
500 MIN.
1
2
3
4
5
6
JST
2 3 4 5 6
P/N : C2H42U500
6
5
4
3
2
1
JST
5
4
3
2
1
P/N : C2H60U500
Lead Color
Lead Color
Pin 1
WHITE
Pin 1
WHITE
Pin 2
ORANGE
Pin 2
ORANGE
Pin 3
BLUE
Pin 3
BLUE
Pin 4
YELLOW
Pin 4
YELLOW
Pin 5
RED
Pin 5
RED
Pin 6
BLACK
Pin 6
BLACK
2 Channel Type S encoder cable 3 Channel Type S encoder cable
500 MIN.
500 MIN.
5 4 3 2 1
5 4 3 2 1
P/N : CS2500
P/N : CS3500
Lead Color
Lead Color
Pin 1
BLACK
Pin 1
BLACK
Pin 2
NC
Pin 2
WHITE
Pin 3
YELLOW
Pin 3
YELLOW
Pin 4
RED
Pin 4
RED
Pin 5
GREEN
Pin 5
GREEN
R220 encoder Cable for 2H42 motors
500 MIN.
R220 encoder Cable for 2H56 motors
500 MIN.
5
4
3
2
1
5 4 3 2 1
5
4
3
2
1
5 4 3 2 1
P/N : CRP12500
P/N : CRS22500
Lead Color
Lead Color
Pin 1
GREEN
Pin 1
BLACK
Pin 2
RED
Pin 2
NC
Pin 3
YELLOW
Pin 3
YELLOW
Pin 4
NC
Pin 4
RED
Pin 5
BLACK
Pin 5
GREEN
14

Precautions For Adoption
Cautions
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.
For any question or inquiry regarding the above, contact our Sales Department.
P.A. PARIS NORD II 48 Allée des Erables-VILLEPINTE BP.50286 F-95958 ROISSY CDG CEDEX France
Remarks:Specifications Are Subject To Change Without Notice.
http://www.sanyodenki.eu
Phone:+33 1 48 63 26 61
06.0.0DN
06.12.N