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SteppingMotors
Steppicatalogue
SteppingMotors catalogue
1
SANYO DENKI, established in 1927, began the development and production of stepping motorsin 1959. The experience and skills accumulated in more than 40 years of activity has today madethe company an international leader in this sector, both for design and development potential ofnew high-performance products and for mass-production capability of the introduced technologicalinnovations.
Mass-production (several millions of units per year) is carried out making use of fully automatedlines. In this way, an excellent price/performance ratio is insured, in connection with constant qualityand a large repeatability of the characteristics of each item.
This range of motors proposed by R.T.A., selected from the more than 800 models in the SANYODENKI ‘s catalogue and supported by a very large stock of motors, always available at thewarehouse, allows to face and solve in the best way a great variety of automation problems.
The wide range of drives produced by R.T.A. (more than 30 standard models, equipped with a wideseries of accessories, interface cards and options) is the ideal complement to SANYO DENKIstepping motors, permitting the optimization of their potential, whilst the experience in the designof drives and the solution of practical problems, perfected in more than 20 years of activity, allowsthe offering of sound support for the optimal solution of the customer’s requirements.
At present, both SANYO DENKI and R.T.A. have implemented Quality Assurance Systems certifiedaccording to ISO 9001 (JQA - 2837 and TÜV - 50 100 2153, respectively), following the strategicpolicy of improving the quality of the products and services offered to Customers.
2
indexSTANDARD MOTORS HOLDING TORQUE
(Ncm.)TECHNICAL DATA
(page)SPEED / TORQUE
CURVES (page)
103-8932-6451103-8960-6551
SIZE 4.2"
13302060
1111
15-1616
103-807-6241103-807-6341103-810-6103-814-6541103-845-6741103-845-67S1103-845-67S41
SIZE 3.4"
170170275345510510510
667789
10
1414141415----
103-546-55500103-546-5342103-547-52500
12.51925
333
--1313
SIZE 1.7"
H SERIES MOTORS
SIZE 2.2"
103-770-6103-770-1640103-G770-2241103-714-0150
626260
109
4445
131313
13 - 14
For connection with R.T.A. drives, see pages 32 / 33. All indicated values are to be considered as typical.
24252525
--293030
103-H8222-63XE42103-H8221-6241103-H8222-6340103-H8223-6540
560300560790
37 18 28103-H548-04500
SIZE 1.7"
2020202021212122
28--282929292929
103-H7123-0140103-H7123-0440103-H7123-0740103-H7123-1740103-H7126-0140103-H7126-0740103-H7126-1740103-H7126-6640
SIZE 2.2"
110110110110165165165165
SIZE 3.4"
16202460
2626
30-3131
103-H89222-6541103-H89223-6641
SIZE 4.2"
SIZE 50 mm.
3868
1919
2828
103-H6701-0140103-H6703-0440
SIZE 60 mm.
300 23 29103-H7823-1741
WarningThe sole purpose of this catalogue is as a general introduction to our products, in order to allow an orientation aswell as a choice among them. Detailed information concerning limitations and installation/utilization procedures aredescribed in the manuals and/or technical sheets relating to each product. It is therefore essential to strictly referto these enclosed technical manuals for a correct use, in accordance with current standards.All those products for which a specific obligation is required, as per law regulation in force in the EuropeanCommunity countries, bear the EC marking stating they are in accordance with the related directives (dependingon the products, EEC directive 73/23 and/or 89/336 and subsequent modifications and integration).All products are classed as components exclusively designed and sold for installation in machines or equipmentsby a technically competent user, who will undertake the responsibility of safety and EMC requirements of thecomplete system.R.T.A. reserves the right to modify the products at any time and without prior notice (including, but not limited to,characteristics, availability and prices).
YE
LLO
W
ORANGE
BLUE
Codes between brackets refer to double shaft model.
A32.532.536.536.5
C
15
MODEL103 - 546 - 55500103 - 546 - 5342103 - 547 - 52500103 - 547 - 52300
ORANGE
WHITE
BLUE
RE
D
BLA
CK
YE
LLO
W
1.8° ± 0.09°0.2
1,0
37.5
52
12.5
X
20
63000
47
0.2
X
V
1.8° ± 0,09°0.7 (*)
1.03.15
3
25
19
43
59000
14
0.24
X
IV
x
(Amp)
(Amp)
(Ohm)
(mH)
(Ncm)
(Ncm)
(Kgm 2 x 10 -7)
(rad x sec.-2)
(V/Krpm)
(Kg)
103 - 547 - 52500(103 - 547 - 52300)MODEL 103 - 546 - 5342
1.8° ± 0.09°0.42 (*)
0.6
6.7
5.4
19
14.5
30
63000
18
0.2
X
IV
103 - 546 - 55500
CHARACTERISTICS
© R
TA s
rl PA
VIA
- M
C -0
4 - 0
4
(*) Series connection
3
BASIC STEP ANGLE
BIPOLAR PARALLEL CURRENT
UNIPOLAR CURRENT
RESISTANCE
INDUCTANCE
BIPOLAR HOLDING TORQUE
UNIPOLAR HOLDING TORQUE
ROTOR INERTIA
THEORETICAL ACCELERATION
BACK E.M.F.
MASS
LEADS CODE
RE
D
JST CONNECTOR
4 - M3 x 0.5
42 ± 0.2531 ± 0.25
42 ±
0.2
5
31 ±
0.2
5
18 max.
5 m
ax.
1,5 ± 0.76
0ø
22 -
0,05
24 ± 0.5
0ø
5 - 0
.013
A ± 0.5C ± 0.5
5 min.
285
min
.
MOTOR CONNECTOR IS JST mod. EHR-4 /EHR-6 A 4 / 6 POLES FEMALE.FOR CONNECTION USE JST mod. B4B-EH-A /B6B-EH-A MALE CONNECTOR.
SANYO DENKI 103 - 54 SERIES
IV V
4.83 ± 0.25
1.52 ± 0.25
0ø
6.35
- 0.
013
ø 38
.1 ±
0.0
25
20.6 ± 0.5
ø 56
.4 ±
0.5
130
5 m
in.
0ø
6.35
- 0.
013
A ± 0.8C ± 0.5
56.4 ± 0.51
47.14 ± 0.13
56.4
± 0
.51
47.1
4 ±
0.13
+ 0.254 - ø 5.08 - 0.05
SANYO DENKI
Codes between brackets refer to double shaft model.
I
A50.850.850.850.850.8
19.05
19.05
MODEL103 - 770 - 6103 - 770 - 61103 - G770 - 2241103 - G770 - 2221103 - 770 - 1640
RE
D
WH
ITE
/RE
DW
HIT
E/Y
ELL
OW
YE
LLO
W
WHITE/ORANGE
ORANGE
BLACK
WHITE/BLACK
1.8° ± 0,09°1.41 (*)
1.0
5.1
9.0
62
49
105
59000
37
0.54
X
I
1.8° ± 0.09°1.41
1,0
2.6
9.0
62
19
105
59000
33
0.54
X
V
x
(Amp)
(Amp)
(Ohm)
(mH)
(Ncm)
(Ncm)
(Kgm 2 x 10 -7)
(rad x sec.-2)
(V/Krpm)
(Kg)
103 - G770 - 2241(103 - G770 - 2221)MODEL 103 - 770 - 1640
1.8° ± 0.09°2.82 (*)
2.0
1.4
2.2
60
47
105
52000
17
0.54
X
I (II)
103 - 770 - 6(103 - 770 - 61)
CHARACTERISTICS
II
RE
D
GR
AYB
LUE
YE
LLO
W
BLACK
WHITEBROWN
ORANGE
V
RE
D
WH
ITE
/RE
D
WHITE/BLUE
BLUE
© R
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rl PA
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- M
C -0
4 - 0
4
(*) Parallel connection.
4
SEE NOTE PAGE 32
103 - 770 SERIES
C
BASIC STEP ANGLE
BIPOLAR PARALLEL CURRENT
UNIPOLAR CURRENT
RESISTANCE
INDUCTANCE
BIPOLAR HOLDING TORQUE
UNIPOLAR HOLDING TORQUE
ROTOR INERTIA
THEORETICAL ACCELERATION
BACK E.M.F.
MASS
LEADS CODE
4.83 ± 0.25
1.52 ± 0.25
0ø
6.35
- 0.
013
ø 38
.1 ±
0.0
25
20.6 ± 0.5
ø 56
.4 ±
0.5
130
5 m
in.
0
ø 6 .
35 -
0.01
3
A ± 0.8C ± 0.5
56.4 ± 0.51
47.14 ± 0.13
56.4
± 0
.51
47.1
4 ±
0.13
+ 0.254 - ø 5.08 - 0.05
SANYO DENKI
II
BLACK
WHITEBROWN
ORANGE
RE
D
GR
AYB
LUE
YE
LLO
W
Codes between brackets refer to double shaft model.
MODEL A76.276.2 19.5
103 - 714 - 0150103 - 714 - 0111
1.8° ± 0.09°2.55
1.8
2.6
4.9
109
88
210
51000
36
0.95
X
II
x
(Amp)
(Amp)
(Ohm)
(mH)
(Ncm)
(Ncm)
(Kgm 2 x 10 -7)
(rad x sec.-2)
(V/Krpm)
(Kg)
MODEL 103 - 714 - 0150(103 - 714 - 0111)
CHARACTERISTICS
103 - 714 SERIES
© R
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rl PA
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- M
C -0
4 - 0
4
5
C
BASIC STEP ANGLE
BIPOLAR PARALLEL CURRENT
UNIPOLAR CURRENT
RESISTANCE
INDUCTANCE
BIPOLAR HOLDING TORQUE
UNIPOLAR HOLDING TORQUE
ROTOR INERTIA
THEORETICAL ACCELERATION
BACK E.M.F.
MASS
LEADS CODE
SANYO DENKI
4.83 ± 0.25
1.52 ± 0.25
0ø9
.525
- 0.
013
ø 73
.025
± 0
,025
30.2 ± 0.5
ø 85
.85
± 0.
5130
5 m
in.
C ± 0.5
0
ø9.5
25-0
.013
A ± 0.8ø 85.85 ± 0.51
ø 82.55 ± 0.51
69.6 ± 0.13
82.5
5 ±
0.51
69.6
± 0
.13
4 - ø 5.6 ± 0.25
85.8
5 ±
0.51
T
10
Codes between brackets refer to double shaft model.
MODEL A616161
C32,514,528.5
103 - 807 - 6241103 - 807 - 6341103 - 807 - 6311
1.8° ± 0.09°2.7
1.9
2.65
8.2
170
135
560
30000
53
1.4
IP43
II
x
(Amp)
(Amp)
(Ohm)
(mH)
(Ncm)
(Ncm)
(Kgm 2 x 10 -7)
(rad x sec.-2)
(V/Krpm)
(Kg)
MODEL 103 - 807 - 6341(103 - 807 - 6311)
1.8° ± 0.09°4.3
3.05
0.95
3.8
170
135
560
30000
33
1.4
IP43
II
103 - 807 - 6241
CHARACTERISTICS
103 - 807 SERIES
© R
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rl PA
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- M
C -0
4 - 0
4
6
II
BLACK
WHITEBROWN
ORANGE
RE
D
GR
AYB
LUE
YE
LLO
W
WIRES ARE HOUSED IN A VINYLTUBE.T IS THE EARTH TERMINAL
BASIC STEP ANGLE
BIPOLAR PARALLEL CURRENT
UNIPOLAR CURRENT
RESISTANCE
INDUCTANCE
BIPOLAR HOLDING TORQUE
UNIPOLAR HOLDING TORQUE
ROTOR INERTIA
THEORETICAL ACCELERATION
BACK E.M.F.
MASS
PROTECTION DEGREE
LEADS CODE
SANYO DENKI
1,8° ± 0,09°6,5
4,6
0,55
2,5
345
275
1120
30500
44
2,5
IP43
II
103 - 815 - 6542
Codes between brackets refer to double shaft model.
MODEL B31.830.230.2
C32,514,530.2
103 - 810 - 6103 - 814 - 6541103 - 814 - 6511
A93.591.091.0
x
(Amp)
(Amp)
(Ohm)
(mH)
(Ncm)
(Ncm)
(Kgm 2 x 10 -7)
(rad x sec.-2)
(V/Krpm)
(Kg)
MODEL 103 - 814 - 6541(103 - 814 - 6511)
1.8° ± 0.09°6.5
4.6
0.55
2.7
345
275
1120
30500
44
2.5
IP43
II
CHARACTERISTICS
103 - 81 SERIES
© R
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rl PA
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- M
C -0
4 - 0
4
7
I
WHITE/ORANGE
ORANGE
BLACK
WHITE/BLACK
RE
D
WH
ITE
/RE
DW
HIT
E/Y
ELL
OW
YE
LLO
W
II
BROWN
ORANGE
BLACK
WHITE
RE
D
GR
AYB
LUE
YE
LLO
W
MOTOR 103 - 810 - 6 IS NOT AVAILABLEWITH VINYL TUBE WIRES PROTECTIONAND T EARTH TERMINAL.
1.8° ± 0.09°5.6
4.0
0.75
4.5
275
220
900
30000
41
2.2
X
I
103 - 810 - 6
BASIC STEP ANGLE
BIPOLAR PARALLEL CURRENT
UNIPOLAR CURRENT
RESISTANCE
INDUCTANCE
BIPOLAR HOLDING TORQUE
UNIPOLAR HOLDING TORQUE
ROTOR INERTIA
THEORETICAL ACCELERATION
BACK E.M.F.
MASS
PROTECTION DEGREE
LEADS CODE
WIRES ARE HOUSED IN A VINYLTUBE.T IS THE EARTH TERMINAL
A ± 0.84.83 ± 0.25
1.52 ± 0.25
0ø9
.525
- 0.
013
ø 73
.025
± 0
.025
B ± 0.5
ø 85
.85
± 0.
5130
5 m
in.
C ± 0.5
0
ø9.5
25-0
.013
ø 85.85 ± 0.51
ø 82.55 ± 0.51
69.6 ± 0.13
82.5
5 ±
0.51
69.6
± 0
.13
4 - ø 5.6 ± 0.25
85.8
5 ±
0.51
T
10
85.8
5 ±
0.51
85.85 ± 0.51
82.55 ± 0.51
69.6 ± 0.2
82.5
5 ±
0.51
69.6
± 0
.2
4 - ø 5.6
A ± 0.84.83 ± 0.5
+ 0.622 - 0
1.52 ± 0.25
ø 85
.85
± 0.
5130
5 ±
3
ø9.5
25 -
0.01
3
ø 73
.025
± 0
.025
B ± 0.5C ± 0.5
ø 9.
525
T
10
0
3
22 3
0.00
43-
0.02
9
+0.11.8-0
Codes between brackets refer to double shaft model.
II
BROWN
ORANGE
BLACK
WHITE
RE
D
GR
AYB
LUE
YE
LLO
W
x
(Amp)
(Amp)
(Ohm)
(mH)
(Ncm)
(Ncm)
(Kgm 2 x 10 -7)
(rad x sec.-2)
(V/Krpm)
(Kg)
MODEL 103 - 845 - 6741(103 - 845 - 6711)
CHARACTERISTICS
© R
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rl PA
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- M
C -0
4 - 0
4
8
MODEL B30.230.2
C32,525.4
103 - 845 - 6741103 - 845 - 6711
A130.0130.0
1.8° ± 0.09°9.5
6.7
0.45
2.0
510
410
1550
32900
46
3.6
IP43
II
WIRES ARE HOUSED IN A VINYLTUBE.T IS THE EARTH TERMINAL
SANYO DENKI 103 - 845 SERIES
BASIC STEP ANGLE
BIPOLAR PARALLEL CURRENT
UNIPOLAR CURRENT
RESISTANCE
INDUCTANCE
BIPOLAR HOLDING TORQUE
UNIPOLAR HOLDING TORQUE
ROTOR INERTIA
THEORETICAL ACCELERATION
BACK E.M.F.
MASS
PROTECTION DEGREE
LEADS CODE
85.8
5 ±
0.51
85.85 ± 0.51
82.55 ± 0.51
69.6 ± 0.2
82.5
5 ±
0.51
69.6
± 0
.2
3
22 3
0.00
43-
0.02
9
+0.11.8-0
4.83 ± 0.5
+ 0.622 - 0
1.52 ± 0.25
ø 85
.85
± 0.
5130
5 ±
3
ø 73
.025
± 0
.025
40 ± 0.5
T
10
ø9.5
25 -
0.01
30
8.5 ± 0.5
II
BROWN
ORANGE
BLACK
WHITE
RE
D
GR
AYB
LUE
YE
LLO
W
1.8° ± 0.09°9.5
6.7
0.45
2.0
510
410
1550
32900
46
3.6
IP55
II
103 - 845 - 67S1
x
(Amp)
(Amp)
(Ohm)
(mH)
(Ncm)
(Ncm)
(Kgm 2 x 10 -7)
(rad x sec.-2)
(V/Krpm)
(Kg)
MODEL
CHARACTERISTICS
© R
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rl PA
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- M
C -
04 -
04
WIRES ARE HOUSED IN A VINYLTUBE.T IS THE EARTH TERMINAL.
9
SANYO DENKI 103 - 845 - 67S1
BASIC STEP ANGLE
BIPOLAR PARALLEL CURRENT
UNIPOLAR CURRENT
RESISTANCE
INDUCTANCE
BIPOLAR HOLDING TORQUE
UNIPOLAR HOLDING TORQUE
ROTOR INERTIA
THEORETICAL ACCELERATION
BACK E.M.F.
MASS
PROTECTION DEGREE
LEADS CODE
+1133 - 2
+ 0.54 - ø 5.35 0
SANYO DENKI85
.85
± 0.
51
85.85 ± 0.51
82.55 ± 0.51
69.6 ± 0.2
82.5
5 ±
0.51
69.6
± 0
.2
4 - ø 5.6
3
22 3
0.00
43-
0.02
9
+0.11.8-0
25
153.0 ± 0.84.83 ± 0.5
+ 0.622 - 0
1.52 ± 0.25
ø 85
.85
± 0.
51
ø 73
.025
± 0
.025
40.2 ± 0.8
ø9.5
25 -
0.01
30
8.5 ± 0.5
28
x
(Amp)
(Amp)
(OHM)
(mH)
(Ncm)
(Ncm)
(Kgm 2 x 10 -7)
(Kg)
X
(rad x sec.-2)
(V/Krpm)
MODEL 103 - 845 - 67S41
CHARACTERISTICS
103 - 845 - 67S41 SERIES
1.8° ± 0.09°9.5
6.7
0.45
2.0
510
410
1550
32900
46
3,9
IP55
VI
VI
1
65
2
3 8 7 4
Shorting Bars
Terminal boxSeries connection
Terminal boxParallel connection
T = earth terminal
M3 screws
T 1=A
5
6
2=A-
T 1=A
5
6
2=A-
B=3
7
8
B=4-
Shorting Bars
B=3
7
8
B=4-
T = earth terminal
M3 screws
10
x
(Amp)
(Amp)
(Ohm)
(mH)
(Ncm)
(Ncm)
(Kgm 2 x 10 -7)
(rad x sec.-2)
(V/Krpm)
(Kg)
BASIC STEP ANGLE
BIPOLAR PARALLEL CURRENT
UNIPOLAR CURRENT
RESISTANCE
INDUCTANCE
BIPOLAR HOLDING TORQUE
UNIPOLAR HOLDING TORQUE
ROTOR INERTIA
THEORETICAL ACCELERATION
BACK E.M.F.
MASS
PROTECTION DEGREE
LEADS CODE © R
TA s
rl PA
VIA
- M
C -
04 -
04
8.6 ± 0.25
1.52 ± 0.25
ø 55
.524
± 0
.051
35 ± 0.51
0ø
12.7
- 0.
013
ø 10
6.4
D
0
ø 15
.875
- 0.
013
2.5
C ± 1 A ± 1
106.4
88.9
106.
4
88.9
+ 0.14 - ø 6.88 - 0
T
5
D 5 + 0
5-0.
03
+0.13-0
SANYO DENKI
Codes between brackets refer to double shaft model.
III
3
6
5
1
4
8
7
2
1
65
3
2 8 7 4
1.8° ± 0.09°12.7
9.0
0.28
2.4
1330
1020
8000
16500
85
7
IP43
III
x
(Amp)
(Amp)
(Ohm)
(mH)
(Ncm)
(Ncm)
(Kgm 2 x 10 -7)
(rad x sec.-2)
(V/Krpm)
(Kg)
MODEL 103 - 8960 - 6551
1.8° ± 0.09°14.1
10.0
0.28
3.0
2060
1580
11500
17900
120
10.5
IP43
III
103 - 8932 - 6451(103 - 8932 - 6421)
CHARACTERISTICS
103 - 89 SERIES
© R
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rl PA
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- M
C -
04 -
04
T IS THE EARTH TERMINAL . MODEL C30,230.8
103 - 8932 - 6451103 - 8932 - 6421103 - 8960 - 6551
A186.9186.9245
D323228
11
BASIC STEP ANGLE
BIPOLAR PARALLEL CURRENT
UNIPOLAR CURRENT
RESISTANCE
INDUCTANCE
BIPOLAR HOLDING TORQUE
UNIPOLAR HOLDING TORQUE
ROTOR INERTIA
THEORETICAL ACCELERATION
BACK E.M.F.
MASS
PROTECTION DEGREE
LEADS CODE
Terminal box - internal view
HGD SDC/SAC GMH GMD GAC MIND
Parallel
Series
Series
Series
546-5342
547-52500
547-52500
770-1640
G770-2241
G770-2241
714-0150
807-6241
807-6341
807-6341
810-6
814-6541
814-6541
845-6741845-6741
8932-6451
8932-6451
8960-6551
8960-6551
Parallel
Parallel
Parallel
Parallel
Parallel
Parallel
Parallel
Parallel
Series
Series
Series
Series
MOTOR MODELSAND CONNECTIONS
* 6-wires motor. For Parallel connection see page 32.
Parallel*
Parallel*
...403
Y
YY
Y
04
Y
Y
Y
YY
...3
Y
Y
Y
...5
Y
Y
Y
BCW
02
YT
YT
02
YTYTYTYTYTYTYTYTYTYTYT
03
YT
YY
04
YTYT
YTYTYT
YT
06
YT
YT
YT
09
YT
YT
YT
04
YTYTYT
Y
Y
06
YYYYYYY
Y
Y
04
YY
Y
05
Y
YY
Y
Y
06
Y
YYYY
05
Y
YY
Y
Y
06
YYYY
Y
07
Y
SELECTION TABLE FOR COUPLING BETWEEN STANDARD MOTORS AND DRIVES
DRIVEMODELS
VELS
Y
Y
Y
Y12
The correct dimensioning of a stepping motor system requires a deep knowledge of the two followingessential parameters:
Mechanical features of the application, as for example inertia of masses in motion,transmission kinematics, speed, acceleration, time required to perform the motion, duty cycleetc.
Performances of the motor-drive unit, mainly in terms of torque-speed curves.
The torque is not only a feature of the sole motor, but is strongly affected by the drive used with it. Thesame motor can be used with various drive types in order to obtain different performances in differentapplications.Herafter are reported a selection table and some typical Torque-Speed diagrams obtained with differentcouplings between RTA drives and SANYO motors. For a correct interpretation of these information,the following considerations apply:
All reported curves are “pull-out curves”
Couplings indicated in the selection table take into account only the compatibility betweenthe motor and the power output characteristics of the drive. The effective choice must bemade only knowing all requirements of the application like resolution, type of supply,mechanical format etc. (for more information about drive characteristics see alsoDrive manual)
At very low speed (<30 RPM) resonance and vibration, strongly dependent by load, couldappear with “non ministep-drives” (HGD, GMD, GAC, BCW). This phenomenon is much lesscritical with “ministep drives” (SDC, SAC, GMH, MIND)
As the majority of the stepping motor systems, most of the indicated couplings exhibit dutycycle limitations in order to avoid motor overheating. Accessories like motor heatsinks and/orfans are available in case of need
In the selection table, “YT” means that, for this coupling the specific torque-speed diagramis present; “Y” means that the coupling is rated but the specific torque-speed diagram is notpresent. For a specific motor, the use of the same background colour in different couplingswith different drives means that all those couplings exhibit similar torque-speedcharacteristics. This means that, when you have a motor with one coupling marked “YT” andthree couplings marked “Y” with the same background colour, you can use the torque-speeddiagram shown for “YT” also for the other three.
torquepower
SANYO 103 770 624 Volt, 1 Amp. unipolar connection
1
0.8
0.6
0.4
0.2
0
20
16
12
8
4
01
WattNm
2 3 4 5 6 7 8 9.15 .30 .45 .60 .75 .90 1.05 1.20 1.35
00
KHz. (1/2 step)Krpm
torquepower
SANYO 103 G770 2241 parallel bipolar connectionRTA GMD02 drive
1
0.8
0.6
0.4
0.2
0
100
80
60
40
20
02
WattNm
4 6 8 10 12 14 16 18.3 .6 .9 1.2 1.5 1.8 2.1 2.4 2.7
00
KHz. (1/2 step)Krpm
torquepower
SANYO 103 770 1640 - parallel bipolar connectionRTA GMD02 drive
1
0.8
0.6
0.4
0.2
0
50
40
30
20
10
02
WattNm
4 6 8 10 12 14 16 18.3 .6 .9 1.2 1.5 1.8 2.1 2.4 2.7
00
KHz. (1/2 step)Krpm
2 4 6 8 10 12 14 16 18.3 .6 .9 1.2 1.5 1.8 2.1 2.4 2.7
00
KHz. (1/2 step)Krpm
2 4 6 8 10 12 14 16 18.3 .6 .9 1.2 1.5 1.8 2.1 2.4 2.7
00
KHz. (1/2 step)Krpm
2 4 6 8 10 12 14 16 18.3 .6 .9 1.2 1.5 1.8 2.1 2.4 2.7
00
KHz. (1/2 step)Krpm
1 2 3 4 5 6 7 8 9.15 .30 .45 .60 .75 .90 1.05 1.20 1.35
00
KHz. (1/2 step)Krpm
torquepower
SANYO 103 714 015024 Volt, 1.8 Amp. unipolar connection
1.5
1.2
0.9
0.6
0.3
0
100
80
60
40
20
01
WattNm
2 3 4 5 6 7 8 9.15 .30 .45 .60 .75 .90 1.05 1.20 1.35
00
KHz. (1/2 step)Krpm
13
torquepower
SANYO 103 546 5342 - parallel bipolar connectionRTA HGD04 drive
torquepower
SANYO 103 547 52500 - parallel bipolar connectionRTA HGD04 drive
SANYO DENKI SPEED/TORQUE CURVES
0.25
0.20
0.15
0.10
0.05
0
50
40
30
20
10
0
WattNm
0.25
0.20
0.15
0.10
0.05
0
50
40
30
20
10
0
WattNm
torquepower
SANYO 103 547 52500 - series bipolar connectionRTA HGD04 drive
0.25
0.20
0.15
0.10
0.05
0
50
40
30
20
10
0
WattNm
torquepower
SANYO 103 G770 2241 - series bipolar connectionRTA GMD02 drive
1
0.8
0.6
0.4
0.2
0
50
40
30
20
10
0
WattNm
torquepower
SANYO 103 810 6 - parallel bipolar connectionRTA GMD02 drive
4
3.2
2.4
1.6
0.8
0
250
200
150
100
50
02
WattNm
4 6 8 10 12 14 16 18.3 .6 .9 1.2 1.5 1.8 2.1 2.4 2.7
00
KHz. (1/2 step)Krpm
torquepower
SANYO 103 814 6541 - series bipolar connectionRTA GMD02 drive
4
3.2
2.4
1.6
0.8
0
250
200
150
100
50
01
WattNm
2 3 4 5 6 7 8 9.15 .30 .45 .60 .75 .90 1.05 1.20 1.35
00
KHz. (1/2step)Krpm
torquepower
SANYO 103 814 6541 - parallel bipolar connectionRTA GMD04 drive
4
3.2
2.4
1.6
0.8
0
500
400
300
200
100
02
WattNm
4 6 8 10 12 14 16 18.3 .6 .9 1.2 1.5 1.8 2.1 2.4 2.7
00
torquepower
SANYO 103 814 6541 - parallel bipolar connectionRTA GMD03 drive
4
3.2
2.4
1.6
0.8
0
250
200
150
100
50
02
WattNm
4 6 8 10 12 14 16 18.3 .6 .9 1.2 1.5 1.8 2.1 2.4 2.7
00
KHz. (1/2 step)Krpm
KHz. (1/2 step)Krpm
torquepower
SANYO 103 714 0150 - parallel bipolar connectionRTA GMD02 drive
1.5
1.2
0.9
0.6
0.3
0
100
80
60
40
20
02
Nm
4 6 8 10 12 14 16 18.3 .6 .9 1.2 1.5 1.8 2.1 2.4 2.7
00
Watt
KHz. (1/2step)Krpm
1 2 3 4 5 6 7 8 9.15 .30 .45 .60 .75 .90 1.05 1.20 1.35
00
KHz. (1/2 step)Krpm
torquepower
SANYO 103 807 6241 - parallel bipolar connectionRTA GMD02 drive
1.5
1.2
0.9
0.6
0.3
0
100
80
60
40
20
0
WattNm
SANYO DENKI
14
torquepower
SANYO 103 807 6341 - parallel bipolar connectionRTA GMD02 drive
1.5
1.2
0.9
0.6
0.3
0
150
120
90
60
30
02
WattNm
4 6 8 10 12 14 16 18.3 .6 .9 1.2 1.5 1.8 2.1 2.4 2.7
00
KHz. (1/2 step)Krpm
torquepower
SANYO 103 807 6341 - series bipolar connectionRTA GMD02 drive
1.5
1.2
0.9
0.6
0.3
0
150
120
90
60
30
01
WattNm
2 3 4 5 6 7 8 9.15 .30 .45 .60 .75 .90 1.05 1.20 1.35
00
KHz. (1/2 step)Krpm
SPEED/TORQUE CURVES
torquepower
SANYO 103 845 6741 - parallel bipolar connectionRTA GMD06 drive
5
4
3
2
1
0
1000
800
600
400
200
02
WattNm
4 6 8 10 12 14 16 18.3 .6 .9 1.2 1.5 1.8 2.1 2.4 2.7
00
torquepower
SANYO 103 845 6741 - parallel bipolar connectionRTA GMD04 drive
5
4
3
2
1
0
500
400
300
200
100
02
WattNm
4 6 8 10 12 14 16 18.3 .6 .9 1.2 1.5 1.8 2.1 2.4 2.7
00
torquepower
SANYO 103 845 6741 - series bipolar connectionRTA GMD02 drive
5
4
3
2
1
0
250
200
150
100
50
01
WattNm
2 3 4 5 6 7 8 9.15 .30 .45 .60 .75 .90 1.05 1.20 1.35
00
torquepower
SANYO 103 845 6741 - parallel bipolar connectionRTA GMD03 drive
5
4
3
2
1
0
500
400
300
200
100
02
WattNm
4 6 8 10 12 14 16 18.3 .6 .9 1.2 1.5 1.8 2.1 2.4 2.7
00
KHz. (1/2 step)Krpm
KHz. (1/2 step)Krpm
KHz. (1/2 step)Krpm
KHz. (1/2 step)Krpm
torquepower
SANYO 103 8932 6451 - series bipolar connectionRTA GMD04 drive
15
12
9
6
3
0
500
400
300
200
100
01
WattNm
2 3 4 5 6 7 8 9.15 .30 .45 .60 .75 .90 1.05 1.20 1.35
00
KHz. (1/2 step)Krpm
torquepower
SANYO 103 8932 6451 - parallel bipolar connectionRTA GMD04 drive
15
12
9
6
3
0
1000
800
600
400
200
02
WattNm
4 6 8 10 12 14 16 18.3 .6 .9 1.2 1.5 1.8 2.1 2.4 2.7
00
KHz. (1/2 step)Krpm
1000
800
600
400
200
0
SANYO DENKI
15
torquepower
SANYO 103 8932 6451 - parallel bipolar connectionRTA GMD03 drive
15
12
9
6
3
01
WattNm
2 3 4 5 6 7 8 9.15 .30 .45 .60 .75 .90 1.05 1.20 1.35
00
KHz. (1/2 step)Krpm
torquepower
SANYO 103 8932 6451 - parallel bipolar connectionRTA GMD06 drive
15
12
9
6
3
0
1500
1200
900
600
300
02
WattNm
4 6 8 10 12 14 16 18.3 .6 .9 1.2 1.5 1.8 2.1 2.4 2.7
00
KHz. (1/2 step)Krpm
SPEED/TORQUE CURVES
16
SANYO DENKI
torquepower
SANYO 103 8932 6451 - parallel bipolar connectionRTA BCW02 drive
15
12
9
6
3
0
1500
1200
900
600
300
02
WattNm
4 6 8 10 12 14 16 18.3 .6 .9 1.2 1.5 1.8 2.1 2.4 2.7
00
KHz. (1/2 step)Krpm
torquepower
SANYO 103 8960 6551 - series bipolar connectionRTA GMD04 drive
15
12
9
6
3
0
500
400
300
200
100
01
WattNm
2 3 4 5 6 7 8 9.15 .30 .45 .60 .75 .90 1.05 1.20 1.35
00
torquepower
SANYO 103 8960 6551 - parallel bipolar connectionRTA GMD06 drive
15
12
9
6
3
0
1500
1200
900
600
300
02
WattNm
4 6 8 10 12 14 16 18.3 .6 .9 1.2 1.5 1.8 2.1 2.4 2.7
00
torquepower
SANYO 103 8960 6551 - parallel bipolar connectionRTA BCW02 drive
15
12
9
6
3
0
1500
1200
900
600
300
02
WattNm
4 6 8 10 12 14 16 18.3 .6 .9 1.2 1.5 1.8 2.1 2.4 2.7
00
torquepower
SANYO 103 8960 6551 - parallel bipolar connectionRTA GMD04 drive
15
12
9
6
3
0
1000
800
600
400
200
02
WattNm
4 6 8 10 12 14 16 18.3 .6 .9 1.2 1.5 1.8 2.1 2.4 2.7
00
KHz. (1/2 step)Krpm
KHz. (1/2 step)Krpm
KHz. (1/2 step)Krpm
KHz. (1/2 step)Krpm
1000
800
600
400
200
0
torquepower
SANYO 103 8960 6551 - parallel bipolar connectionRTA GMD03 drive
15
12
9
6
3
01
WattNm
2 3 4 5 6 7 8 9.15 .30 .45 .60 .75 .90 1.05 1.20 1.35
00
KHz. (1/2 step)Krpm
SPEED/TORQUE CURVES
Better torque, small size, high efficiency!stepping motors, H Series
The remarkable commitment of resources invested by SANYO DENKI in the researchand development of new technologies and products has allowed it to propose this newrange of stepping motors, which go alongside the widest range of standard models.
The innovative design of SANYO DENKI H series stepping motors presents thefollowing advantages, compared with conventional stepping motors:
Better performance in terms of torque and power, though maintainingconventional standard dimensions (NEMA).
Lower noise at the same power.
Less vibrations generated by the motor body.
Optimized construction for a better exploitation of any advantages in termsof precision and noiselessness offered by high step-fractioning drives.
Higher efficiency with consequential reduction of losses at the same suppliedmechanical power.
The better performance and lower noise make SANYO DENKI H series steppingmotors the optimum choice for powerful, precise and reliable positioning systemsallowing their use in new fields and applications.
17
42 ± 0.2531 ± 0.25
42 ±
0.2
5
31 ±
0.2
5
18 max.
5 m
ax
1.7 ± 0.76
0ø
22 -
0.05
24 ± 0.5
0ø
5 - 0
.013
41 max
5 max
300
± 15
42 ± 0.25
JST CONNECTOR
4 - M 3 x 0.5
ORANGE
WHITE
BLUE
RE
D
BLA
CK
YE
LLO
W
x
(Amp)
(Amp)
(Ohm)
(mH)
(Ncm)
(Ncm)
(Kgm 2 x 10 -7)
(rad x sec.-2)
(V/Krpm)
(Kg)
MODEL 103 - H548 - 04500
1.8° ± 0.09°0.9 (*)
1.2
3
4.3
37
27
53
66000
17
0.28
X
IV
CHARACTERISTICS
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04 -
04
(*) Series bipolar connection.
18
103 - H548 - 04500 SERIES
IV
MOTOR CONNECTOR IS JST mod.EHR-6 A 6POLES FEMALE.FOR CONNECTION USE JST mod. B6B-EH-AMALE CONNECTOR.
BASIC STEP ANGLE
BIPOLAR CURRENT
UNIPOLAR CURRENT
RESISTANCE
INDUCTANCE
BIPOLAR HOLDING TORQUE
UNIPOLAR HOLDING TORQUE
ROTOR INERTIA
THEORETICAL ACCELERATION
BACK E.M.F.
MASS
LEADS CODE
SANYO DENKI
50 ± 0.541 ± 0.13
50 ±
0.5
41 ±
0.1
3
25 max.
6 m
ax
1.5 ± 0.25
ø 36
- 0.
039
B ± 0.5
ø 6.
35 -
0.01
3
A
8 max
300
± 15
50 ± 0.5
0
0
ø 6.
35 -
0.01
30
C
5 ± 0.25
4 - ø 4.5
3.2
68
49
118
58000
17.5
0.5
X
IV
103 - H6703 - 0440
1.8° ± 0.09°1.4 (*)
2.0
1.6
1.8° ± 0.09°0.7(*)
1.0
4.3
6.8
38
28
57
66000
20
0.35
X
IV
103 - H6701 - 0140(103 - H6701 - 0113)
x
(Amp)
(Amp)
(Ohm)
(mH)
(Ncm)
(Ncm)
(Kgm 2 x 10 -7)
(rad x sec.-2)
(V/Krpm)
(Kg)
MODEL
CHARACTERISTICS
© R
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C -
04 -
04
(*) Series bipolar connection.
19
IV
ORANGE
WHITE
BLUE
RE
D
BLA
CK
YE
LLO
W
SANYO DENKI 103 - H67 SERIES
A39.839.851.3
B20.628
20.6
MODEL103 - H6701 - 0140103 - H6701 - 0113103 - H6703 - 0440
C32,515.5
Codes between brackets refer to double shaft model.
BASIC STEP ANGLE
BIPOLAR CURRENT
UNIPOLAR CURRENT
RESISTANCE
INDUCTANCE
BIPOLAR HOLDING TORQUE
UNIPOLAR HOLDING TORQUE
ROTOR INERTIA
THEORETICAL ACCELERATION
BACK E.M.F.
MASS
LEADS CODE
56 ± 0.547.14 ± 0.13
56 ±
0.5
47.1
4 ±
0.13
+ 0.54 - ø 4.5 0
26 max
21 max
39 ± 0.5
56 ± 0.5
305
L m
in.
5 ± 0.25
1.5 ± 0.25
0ø
6,35
- 0,
013
ø 38
.1 ±
0.0
25
20.6 ± 0.5
0ø
6.35
- 0.
013
53.8 ± 0.815.5 ± 1
0ø
6.35
- 0.
013
15
110
85
210
50000
60
0.65
X
IV
1,8° ± 0,09°4
1,0
0,41
1,6
110
19
210
50000
20
0,65
X
V
x
(Amp)
(Amp)
(Ohm)
(mH)
(Ncm)
(Ncm)
(Kgm 2 x 10 -7)
(rad x sec.-2)
(V/Krpm)
(Kg)
103-H7123-1740(103-H7123-1710)MODEL 103-H7123-0740
(103-H7123-0710)1.8° ± 0.09°
2.2 (*)
3
0.77
1.6
110
85
210
50000
20
0.65
X
IV
CHARACTERISTICS
V
RE
D
YE
LLO
W
ORANGE
BLUE
© R
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C -
04 -
04
(*) Series bipolar connection.
20
IV
ORANGE
WHITE
BLUE
RE
D
BLA
CK
YE
LLO
W
103-H7123-0140
1.8° ± 0.09°0.7 (*)
1
6.7
SANYO DENKI 103 - H7123 SERIES
Codes between brackets refer to double shaft model.
BASIC STEP ANGLE
BIPOLAR CURRENT
UNIPOLAR CURRENT
RESISTANCE
INDUCTANCE
BIPOLAR HOLDING TORQUE
UNIPOLAR HOLDING TORQUE
ROTOR INERTIA
THEORETICAL ACCELERATION
BACK E.M.F.
MASS
LEADS CODE
103-H7123-0440
3.8
110
85
210
50000
31
0.65
X
IV
1.8° ± 0.09°1.5 (*)
2
1.6
8 max
56 ± 0.547.14 ± 0.13
56 ±
0.5
47.1
4 ±
0.13
+ 0.54 - ø 4.5 0
26 max
21 max
39 ± 0.5
56 ± 0.5
305
L m
in.
5 ± 0.25
1.5 ± 0.25
ø 38
.1 ±
0.0
25
20.6 ± 0.5
0ø
6.35
- 0.
013
75.8 ± 0.815.5 ± 1
0ø
6.35
- 0.
013
8 max
21
19
165
130
360
45800
92
1
X
IV
1.8° ± 0.09°4
1,0
0.48
2.2
165
19
360
45800
31
1
X
V
x
(Amp)
(Amp)
(Ohm)
(mH)
(Ncm)
(Ncm)
(Kgm 2 x 10 -7)
(rad x sec.-2)
(V/Krpm)
(Kg)
103 - H7126 - 1740(103 - H7126 - 1712)MODEL
1.8° ± 0.09°2.2 (*)
3
0.9
2.2
165
130
360
45800
31
1
X
IV
CHARACTERISTICS
V
RE
D
YE
LLO
W
ORANGE
BLUE
© R
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C -
04 -
04
(*) Series bipolar connection.
IV
ORANGE
WHITE
BLUE
RE
D
BLA
CK
YE
LLO
W
103 - H7126 - 0140
1.8° ± 0.09°0.75 (*)
1
8.6
103 - H7126 - 0740(103 - H7126 - 0710)
SANYO DENKI 103 - H7126 SERIES
Codes between brackets refer to double shaft model.
BASIC STEP ANGLE
BIPOLAR CURRENT
UNIPOLAR CURRENT
RESISTANCE
INDUCTANCE
BIPOLAR HOLDING TORQUE
UNIPOLAR HOLDING TORQUE
ROTOR INERTIA
THEORETICAL ACCELERATION
BACK E.M.F.
MASS
LEADS CODE
56 ± 0.547,14 ± 0.13
56 ±
0.5
47.1
4 ±
0.13
+ 0.54 - ø 4.5 0
39 ± 0.5
56 ± 0.5
305
L m
in.
5 ± 0.25
1.5 ± 0.25
0ø
6,35
- 0,
013
ø 38
.1 ±
0.0
25
20.6 ± 0.5
0ø
6.35
- 0.
013
75.8 ± 0.815.5 ± 1
0ø
6.35
- 0.
013
39 ± 0.5
T
T
x
(Amp)
(Ohm)
(mH)
(Ncm)
(Kgm 2 x 10 -7)
(rad x sec.-2)
(V/Krpm)
(Kg)
MODEL
CHARACTERISTICS
© R
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C -
04 -
04
V
RE
D
YE
LLO
W
ORANGE
BLUE
22
1.8° ± 0.09°5.6
0.3
0.85
165
360
45800
23
1
IP43
X
V
103 - H7126 - 6640(103 - H7126 - 6610)
SANYO DENKI 103 - H7126 - 66 SERIES
T IS THE EARTH TERMINAL.
Codes between brackets refer to double shaft model.
BASIC STEP ANGLE
BIPOLAR CURRENT
RESISTANCE
INDUCTANCE
BIPOLAR HOLDING TORQUE
ROTOR INERTIA
THEORETICAL ACCELERATION
BACK E.M.F.
MASS
PROTECTION DEGREE
LEADS CODE
60 ± 0.5
33 max
F
60 ± 0.550 ± 0.13
60 ±
0.5
50 ±
0.1
3
+ 0.54 - ø 4.5 0
33 max
1 2 3 4
7 ± 0.25
1.5 ± 0.25
ø 36
± 0
.039
20.6 ± 0.585.8 ± 0.8
11 max
0ø
8 - 0
.015
7.5
± 0.
01
0ø
8 - 0
.015
15.5 ± 1
300
840
35700
75
1.4
0000
X
V
x
(Amp)
(Ohm)
(mH)
(Ncm)
(Kgm 2 x 10 -7)
(rad x sec.-2)
(V/Krpm)
(Kg)
MODEL
CHARACTERISTICS
© R
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C -
04 -
04
23
1.8° ± 0.09°4.0
0.65
2.4
V
1
2
SANYO DENKI 103 - H7823 SERIES
3 4
MOTOR CONNECTOR IS JST mod. B4P-VH 4 POLES MALE.FOR CONNECTION USE JST mod. VHR-4N FEMALE CONNECTOR AND mod.SVH-21T-P1.1 CONTACTS. FOR F THREADED HOLE USE 3 x 6 mm
SCREWS.
103 - H7823 - 1741(103 - H7823 - 1711)
BASIC STEP ANGLE
BIPOLAR CURRENT
RESISTANCE
INDUCTANCE
BIPOLAR HOLDING TORQUE
ROTOR INERTIA
THEORETICAL ACCELERATION
BACK E.M.F.
MASS
LEADS CODE
Codes between brackets refer to double shaft model.
4.83 ± 0.5
1.52 ± 0.25
305
L m
in
ø 73
.025
± 0
.025
85.85 ± 0.51
82.55 ± 0.51
69.6 ± 0.2
82.5
5 ±
0.51
69.6
± 0
.2
+0.54 - ø 5.35 0
24
10
SANYO DENKI 103 - H8222 - 63XE42 SERIES
30 ± 0.5
103 - H8222 - 63XE42
85.8
5 ±
0.51
1.8° ± 0.09°6
0.35
2.7
560
2900
19300
93
2.8
IP40
Line Driver 5 Vdc 200 step/rev.
V
LEADSCOLORBLUEBROWNGREENPURPLEWHITEYELLOWREDBLACKBLACK
CHANNEL ACHANNEL ACHANNEL BCHANNEL BCHANNEL CCHANNEL C±5VoltOVoltFG (SHIELD)
127.2 ±1
T
25 4
04-
0.03
+0.12.5-0
4
V
RE
D
YE
LLO
W
ORANGE
BLUE
MODEL
CHARACTERISTICS
© R
TA s
rl PA
VIA
- M
C -
04 -
04
WIRES ARE HOUSED IN A VINYLTUBE.T IS THE EARTH TERMINAL
x
(Amp)
(Ohm)
(mH)
(Ncm)
(Kgm 2 x 10 -7)
(rad x sec.-2)
(V/Krpm)
(Kg)
Codes between brackets refer to double shaft model.
BASIC STEP ANGLE
BIPOLAR CURRENT
RESISTANCE
INDUCTANCE
BIPOLAR HOLDING TORQUE
ROTOR INERTIA
THEORETICAL ACCELERATION
BACK E.M.F.
MASS
PROTECTION DEGREE
ENCODER CHARACTERISTICS
LEADS CODE
ENCODERENCODER OUTPUT WAVEFORM
With this waveform the shaft rotation is counterclockwisewhen view from mounting surface side. F max 100 KHz.
CHANNEL ACHANNEL ACHANNEL B
CHANNEL BCHANNEL CCHANNEL C
+ 0.625 - 0
ø12
+0 -0
.018
1/2T01/4T0
T0
1.8° ± 0.09°9
0.2
1.4
790
4350
18200
88
3.5
IP43
V
x
(Amp)
(Ohm)
(mH)
(Ncm)
(Kgm 2 x 10 -7)
(rad x sec.-2)
(V/Krpm)
(Kg)
103 - H8223 - 6540(103 - H8223 - 6510)MODEL
1,8° ± 0,09°6
0.3
1.65
300
1450
20600
50
1.5
IP43
V
CHARACTERISTICS
© R
TA s
rl PA
VIA
- M
C -
04 -
04
25
103 - H8221 - 6241(103 - H8221 - 6211)
SANYO DENKI 103 - H82 SERIES
Codes between brackets refer to double shaft model.
25 4
04-
0.03
+0.12.5-0
4
22 3
0.00
43-
0.00
29
+0.11.8-0
3
SHAFT 103 - H8221 SHAFT 103 - H8222
103 - H8223
6262
92.292.2
125.9125.9
MODEL103 - H8221 - 6241103 - H8221 - 6211103 - H8222 - 6340103 - H8222 - 6310103 - H8223 - 6540103 - H8223 - 6510
A B C D222225252525
25.4±0,5
28±1
28±1
9.5259.525
12121212
1.8° ± 0.09°6
0.35
2.7
560
2900
19300
93
2.5
IP43
V
103 - H8222 - 6340(103 - H8222 - 6310)
A4.83 ± 0.5
+ 0.6B - 0
1.52 ± 0.25
ø 85
.85
± 0.
5130
5 L
min
ø D
+0
-0.0
18
ø 73
.025
± 0
.025
C
ø 9.
5
85.85 ± 0.51
82.55 ± 0.51
69.6 ± 0.2
82.5
5 ±
0.51
69.6
± 0
.2
+0.54 - ø 5.35 0
T
10
30 ± 0.5
85.8
5 ±
0.51
V
RE
D
YE
LLO
W
ORANGE
BLUE
WIRES ARE HOUSED IN A VINYLTUBE.T IS THE EARTH TERMINAL
BASIC STEP ANGLE
BIPOLAR CURRENT
RESISTANCE
INDUCTANCE
BIPOLAR HOLDING TORQUE
ROTOR INERTIA
THEORETICAL ACCELERATION
BACK E.M.F.
MASS
PROTECTION DEGREE
LEADS CODE
28 5
05-
0.03
+0.13-0
A8.6 ± 0.5
+ 0.628 - 0
1.52 ± 0.25
ø 10
6.4
± 1
305
L m
in
ø16
- 0.0
18
ø 55
.524
± 0
.05
35 ± 0.5
106.4 ± 0.5
88.9 ± 0.25
106.
4 ±
0.5
88.9
± 0
.25
+0.54 - ø 6.9 0
T
5
10
0
C ± 1
ø12.
7 - 0
.018
0
x
(Amp)
(Amp)
(OHM)
(mH)
(Ncm)
(Ncm)
(Kgm 2 x 10 -7)
(Kg)
X
(rad x sec.-2)
(V/Krpm)
MODEL
CHARACTERISTICS
1620
14650
11100
162
7
IP43
X
V
x
(Amp)
(Ohm)
(mH)
(Ncm)
(Kgm 2 x 10 -7)
(rad x sec.-2)
(V/Krpm)
(Kg)
© R
TA s
rl PA
VIA
- M
C -
04 -
04
26
103 - H89222 - 6541
1.8° ± 0.09°10
0.16
1.9
V
RE
D
YE
LLO
W
ORANGE
BLUE
2460
22000
11100
205
10
IP43
X
V
103 - H89223 - 6641(103 - H89223 - 6611)
1.8° ± 0.09°12
0.16
2
A163221
MODEL103 - H89222 - 6541103 - H89223 - 6641
C
103 - H89223 - 6611 221 28
SANYO DENKI 103 - H89 SERIES
Codes between brackets refer to double shaft model.
BASIC STEP ANGLE
BIPOLAR CURRENT
RESISTANCE
INDUCTANCE
BIPOLAR HOLDING TORQUE
ROTOR INERTIA
THEORETICAL ACCELERATION
BACK E.M.F.
MASS
PROTECTION DEGREE
LEADS CODE
WIRES ARE HOUSED IN A VINYLTUBE.T IS THE EARTH TERMINAL
The correct dimensioning of a stepping motor system requires a deep knowledge of the two followingessential parameters:
Mechanical features of the application, as for example inertia of masses in motion,transmission kinematics, speed, acceleration, time required to perform the motion, duty cycleetc.
Performances of the motor-drive unit, mainly in terms of torque-speed curves.
The torque is not only a feature of the sole motor, but is strongly affected by the drive used with it. Thesame motor can be used with various drive types in order to obtain different performances in differentapplications.Herafter are reported a selection table and some typical Torque-Speed diagrams obtained with differentcouplings between RTA drives and SANYO motors. For a correct interpretation of these information,the following considerations apply:
All reported curves are “pull-out curves”
Couplings indicated in the selection table take into account only the compatibility betweenthe motor and the power output characteristics of the drive. The effective choice must bemade only knowing all requirements of the application like resolution, type of supply,mechanical format etc. (for more information about drive characteristics see alsoDrive manual)
At very low speed (<30 RPM) resonance and vibration, strongly dependent by load, couldappear with “non ministep-drives” (HGD, GMD, GAC, BCW). This phenomenon is much lesscritical with “ministep drives” (SDC, SAC, GMH, MIND)
As the majority of the stepping motor systems, most of the indicated couplings exhibit dutycycle limitations in order to avoid motor overheating. Accessories like motor heatsinks and/orfans are available in case of need
In the selection table, “YT” means that, for this coupling the specific torque-speed diagramis present; “Y” means that the coupling is rated but the specific torque-speed diagram is notpresent. For a specific motor, the use of the same background colour in different couplingswith different drives means that all those couplings exhibit similar torque-speedcharacteristics. This means that, when you have a motor with one coupling marked “YT” andthree couplings marked “Y” with the same background colour, you can use the torque-speeddiagram shown for “YT” also for the other three.
YT
YYY
YYY
Y
YYY
YYYYY
H548-04500
H548-04500
H6701-0140
H6701-0140
H6703-0440
H6703-0440
H7123-0740
H7123-1740
H7126-0740
H7126-1740
H7126-6640
H7823-1741
H8221-6241
H8222-6340
H8223-6540
H89222-6541
H89223-6641
YY
Y
SELECTION TABLE FOR COUPLING BETWEEN STANDARD MOTORS AND DRIVES
Series
Series
Series
Series
Series
YTYTYTYTYT
YTYYYYYYY
YYYYYY
Y
YYYYY
YY
YY
YYYY
Y
YYY
YTYTYTYTYTYTYTYT
YTYTYT
YTYTYTYTYT
YTYTYT
GAC
03 04
HGD
04 06
SDC/SAC
04 05 06
GMH
05 06 07
GMD
02 03 04 06
MIND
...3 ...5
YYY
YTYT
BCW
02
* 6-wires motor. For Parallel connection see page 32.
Parallel*
Parallel*
Parallel*
...409
YTYTYT
MOTOR MODELSAND CONNECTIONS
DRIVEMODELS
VELS
YYYYY
27
torquepower
SANYO 103 H7123 0740 - series bipolar connectionRTA GMD02 drive
1
0.8
0.6
0.4
0.2
0
100
80
60
40
20
02
WattNm
4 6 8 10 12 14 16 18.3 .6 .9 1.2 1.5 1.8 2.1 2.4 2.7
00
KHz. (1/2 step)Krpm
2 4 6 8 10 12 14 16 18.3 .6 .9 1.2 1.5 1.8 2.1 2.4 2.7
00
KHz. (1/2 step)Krpm
0.5
0.4
0.3
0.2
0.1
0
50
40
30
20
10
0
WattNm
1 2 3 4 5 6 7 8 9.15 .3 .45 .6 .75 .9 1.05 1.2 1.35
00
KHz. (1/2 step)Krpm
2 4 6 8 10 12 14 16 18.3 .6 .9 1.2 1.5 1.8 2.1 2.4 2.7
00
KHz. (1/2 step)Krpm
1 2 3 4 5 6 7 8 9.15 .3 .45 .6 .75 .9 1.05 1.2 1.35
00
KHz. (1/2 step)Krpm
2 4 6 8 10 12 14 16 18.3 .6 .9 1.2 1.5 1.8 2.1 2.4 2.7
00
KHz. (1/2 step)Krpm
1 2 3 4 5 6 7 8 9.15 .3 .45 .6 .75 .9 1.05 1.2 1.35
00
KHz. (1/2 step)Krpm
torquepower
SANYO 103 H548 04500 - parallel bipolarconnection - RTA HGD04 drive
28
SANYO DENKI SPEED/TORQUE CURVEStorquepower
SANYO 103 H548 04500 - series bipolarconnection - RTA HGD04 drive
torquepower
SANYO 103 H6701 0140 - series bipolar connectionRTA HGD04 drive
torquepower
SANYO 103 H6701 0140 - parallel bipolar connectionRTA HGD04 drive
0.5
0.4
0.3
0.2
0.1
0
50
40
30
20
10
0
WattNm
0.5
0.4
0.3
0.2
0.1
0
50
40
30
20
10
0
Nm
torquepower
SANYO 103 H6703 0440 - parallel bipolar connectionRTA HGD04 drive
torquepower
SANYO 103 H6703 0440 - series bipolar connectionRTA HGD04 drive
1
0.8
0.6
0.4
0.2
0
100
80
60
40
20
0
WattNm
1
0.8
0.6
0.4
0.2
0
50
40
30
20
10
0
WattNm
Watt
0.5
0.4
0.3
0.2
0.1
0
50
40
30
20
10
0
WattNm
torquepower
103 H7123 014024 Volt, 1 Amp. unipolar connection
1
0.8
0.6
0.4
0.2
0
20
16
12
8
4
01
WattNm
2 3 4 5 6 7 8 9.15 .3 .45 .6 .75 .9 1.05 1.2 1.35
00
KHz. (1/2 step)Krpm
torquepower
SANYO 103 H7123 1740 - bipolar connectionRTA GMD02 drive
1
0.8
0.6
0.4
0.2
0
200
160
120
80
40
02
WattNm
4 6 8 10 12 14 16 18.3 .6 .9 1.2 1.5 1.8 2.1 2.4 2.7
00
KHz. (1/2 step)Krpm
torquepower
SANYO 103 H7126 014024 Volt, 1 Amp. unipolar connection
1
0.8
0.6
0.4
0.2
0
20
16
12
8
4
01
WattNm
2 3 4 5 6 7 8 9.15 .30 .45 .60 .75 .90 1.05 1.20 1.35
00
KHz. (1/2 step)Krpm
torquepower
SANYO 103 H7126 0740 - series bipolar connectionRTA GMD02 drive
2
1.6
1.2
0.8
0.4
0
100
80
60
40
20
02
WattNm
4 6 8 10 12 14 16 18.3 .6 .9 1.2 1.5 1.8 2.1 2.4 2.7
00
KHz. (1/2 step)Krpm
torquepower
SANYO 103 H7126 6640 - bipolar connectionRTA GMD02 drive
2
1.6
1.2
0.8
0.4
0
250
200
150
100
50
04 KHz. (1/2 step)
Krpm
WattNm
8 12 16 20 24 28 32 36.6 1.2 1.8 2.4 3 3.6 4.2 4.8 5.4
00
5
4
3
2
1
0
Nm
torquepower
SANYO 103 H7823 1741 - bipolar connectionRTA GMD02 drive
250
200
150
100
50
02
Watt
4 6 8 10 12 14 16 18.3 .6 .9 1.2 1.5 1.8 2.1 2.4 2.7
00
KHz. (1/2 step)Krpm
torquepower
SANYO 103 H8221 6241 - bipolar connectionRTA GMD02 drive
5
4
3
2
1
0
250
200
150
100
50
02
WattNm
4 6 8 10 12 14 16 18.3 .6 .9 1.2 1.5 1.8 2.1 2.4 2.7
00
KHz. (1/2 step)Krpm
torquepower
SANYO 103 H8221 6241 - bipolar connectionRTA GMD04 drive
5
4
3
2
1
0
500
400
300
200
100
02
WattNm
4 6 8 10 12 14 16 18.3 .6 .9 1.2 1.5 1.8 2.1 2.4 2.7
00
KHz. (1/2 step)Krpm
torquepower
SANYO 103 H7126 1740 - bipolar connectionRTA - GMD02 drive
2
1.6
1.2
0.8
0.4
0
250
200
150
100
50
02
WattNm
4 6 8 10 12 14 16 18.3 .6 .9 1.2 1.5 1.8 2.1 2.4 2.7
00
KHz. (1/2 step)Krpm
29
SANYO DENKI SPEED/TORQUE CURVES
torquepower
SANYO 103 H8222 6340 - bipolar connectionRTA GMD02 drive
5
4
3
2
1
0
250
200
150
100
50
02
WattNm
4 6 8 10 12 14 16 18.3 .6 .9 1.2 1.5 1.8 2.1 2.4 2.7
00
KHz. (1/2 step)Krpm
torquepower
SANYO 103 H8222 6340 - bipolar connectionRTA GMD04 drive
5
4
3
2
1
0
500
400
300
200
100
02
WattNm
4 6 8 10 12 14 16 18.3 .6 .9 1.2 1.5 1.8 2.1 2.4 2.7
00
KHz. (1/2 step)Krpm
torquepower
SANYO 103 H8223 6540 - bipolar connectionRTA GMD03 drive
10
8
6
4
2
0
500
400
300
200
100
02
WattNm
4 6 8 10 12 14 16 18.3 .6 .9 1.2 1.5 1.8 2.1 2.4 2.7
00
KHz. (1/2 step)Krpm
torquepower
SANYO 103 H8223 6540 - bipolar connectionRTA GMD04 drive
10
8
6
4
2
0
1500
1200
900
600
300
02
WattNm
4 6 8 10 12 14 16 18.3 .6 .9 1.2 1.5 1.8 2.1 2.4 2.7
00
KHz. (1/2 step)Krpm
torquepower
SANYO 103 H8223 6540 - bipolar connectionRTA GMD06 drive
10
8
6
4
2
0
1500
1200
900
600
300
02
WattNm
4 6 8 10 12 14 16 18.3 .6 .9 1.2 1.5 1.8 2.1 2.4 2.7
00
KHz. (1/2 step)Krpm
torquepower
SANYO 103 H89222 6541 - bipolar connectionRTA GMD03 drive
1500
1200
900
600
300
01 KHz. (1/2 step)
Krpm
WattNm
2 3 4 5 6 7 8 9.15 .3 .45 .6 .75 .9 1.05 1.2 1.35
00
15
12
9
6
3
0
torquepower
SANYO 103 H89222 6541 - bipolar connectionRTA GMD04 drive
15
12
9
6
3
0
1500
1200
900
600
300
02 KHz. (1/2 step)
Krpm
WattNm
4 6 8 10 12 14 16 18.3 .6 .9 1.2 1.5 1.8 2.1 2.4 2.7
00
torquepower
SANYO 103 H89222 6541 - bipolar connectionRTA GMD06 drive
15
12
9
6
3
0
1500
1200
900
600
300
02
WattNm
4 6 8 10 12 14 16 18.3 .6 .9 1.2 1.5 1.8 2.1 2.4 2.7
00
KHz. (1/2step)Krpm
30
SANYO DENKI SPEED/TORQUE CURVES
torquepower
SANYO 103 H89222 6541 - bipolar connectionRTA BCW02 drive
15
12
9
6
3
0
2000
1600
1200
800
400
02
WattNm
4 6 8 10 12 14 16 18.3 .6 .9 1.2 1.5 1.8 2.1 2.4 2.7
00
KHz. (1/2 step)Krpm
torquepower
SANYO 103 H89223 6641 - bipolar connectionRTA GMD03 drive
25
20
15
10
5
0
1500
1200
900
600
300
01
WattNm
2 3 4 5 6 7 8 9.15 .3 .45 .6 .75 .9 1.05 1.2 1.35
00
KHz. (1/2step)Krpm
torquepower
SANYO 103 H89223 6641 - bipolar connectionRTA GMD04 drive
25
20
15
10
5
01
WattNm
2 3 4 5 6 7 8 9.15 .3 .45 .6 .75 .9 1.05 1.2 1.35
00
KHz. (1/2 step)Krpm
1500
1200
900
600
300
0
torquepower
SANYO 103 H89223 6641 - bipolar connectionRTA GMD06 drive
25
20
15
10
5
0
2000
1600
1200
800
400
02
WattNm
4 6 8 10 12 14 16 18.3 .6 .9 1.2 1.5 1.8 2.1 2.4 2.7
00
KHz. (1/2 step)Krpm
torquepower
SANYO 103 H89223 6641 - bipolar connectionRTA BCW02 drive
25
20
15
10
5
0
2500
2000
1500
1000
500
02
WattNm
4 6 8 10 12 14 16 18.3 .6 .9 1.2 1.5 1.8 2.1 2.4 2.7
00
KHz. (1/2 step)Krpm
CONVERSION FACTORS
LENGTH 1 mm = 3.937 x 10 -2 inch
MASS 1 Kg = 2.205 x lb force
INERTIA 107 g cm2 = 1 Kg m2 = 5.467 x 104 oz in 2 = 3.417 x 103 lb in 2
TORQUE 1 Nm = 1.416 x 102 oz in = 0.738 ft lb = 8.85 in lb1 Ncm = 1.416 oz in = 7.38 x 10 -3 ft lb = 8.85 x 10 -2 in lb
POWER 1 KW = 1.34 hp1 W = 1.34 x 10 -3 hp
31
SANYO DENKI SPEED/TORQUE CURVES
32
CONNECTION SCHEMATICSOF RTA DRIVES WITH SANYO MOTORS
PARALLEL BIPOLARCONNECTION
SERIES BIPOLARCONNECTION
UNIPOLARCONNECTION
LEADSCODE
SANYO DENKI
A
RE
D
A
BLACK
WHITE/BLACK
ORANGE
WHI
TE/Y
ELLO
W
YE
LLO
W
BHVDC + B
WHITE/ORANGE
WHI
TE/R
ED
A
RE
D
BLACK
WHITE/BLACK
WHITE/ORANGE
ORANGE
B B
WHI
TE/R
ED
WHI
TE/Y
ELLO
W
YE
LLO
W
A
A
RE
D
A
BLACK
ORANGE
B B
YE
LLO
W
WHITE/ORANGE
WHITE/BLACK
WHI
TE/R
ED
WHI
TE/Y
ELLO
WI
A
RE
D
A
BLACK
WHITE
BROWN
ORANGE
GR
AY
BLU
E
YE
LLO
W
BHVDC + B
AR
ED
BLACK
WHITE
BROWN
ORANGE
B B
GR
AY
BLU
E
YE
LLO
WA
A
RE
D
A
BLACK
WHITE
BROWN
ORANGE
B B
GR
AY
BLU
E
YE
LLO
W
II
A
2
A
1
6
5
3
8 7 4
BHVDC + B
A
2
A
1
6
5
3
8 7 4
B B
A
2
A
1
6
5
3
8 7 4
B B
III
BHVDC + B
RE
D
BLA
CK
YE
LLO
W
A ORANGE
WHITE
BLUEA
B B
RE
D
NOT
CONN
ECTE
D
YE
LLO
W
A ORANGE
NOT CONNECTED
BLUEA
B
RE
D
NOT
CONN
ECTE
D
BLA
CK
A ORANGE
NOT CONNECTED
WHITEA
B
IV
PARALLEL BIPOLARCONNECTION
SERIES BIPOLARCONNECTION
UNIPOLARCONNECTION
LEADSCODE
33
CONNECTION SCHEMATICSOF RTA DRIVES WITH SANYO MOTORS
SANYO DENKI
A ORANGE
BLUEA
1
2
B B
RE
D
YE
LLO
W
3 4
VNOTE: FOR 103-770-1640 MOTORWHITE/BLUE = ORANGEWHITE/RED = YELLOW
6
A1
2
5
A
8
B
3 47
B
6
A1
2
5
A
8
B
3 47
B
VI
SteppingMotors catalogue
R.T.A. s.r.l. - Via Enrico MatteiFrazione Divisa - 27020 MARCIGNAGO (PV) Italy
Tel. +39.0382.929.855 - Fax +39.0382.929.150www.rta.it - e-mail: [email protected]
R.T.A. Deutschland GmbH - Bublitzer Straße 3440599 DÜSSELDORF (Germany)
Tel. +49.211.749.668.60 - Fax +49.211.749.668.66www.rta-deutschland.de
e-mail: [email protected]
MC
- 06
- 04
