CLOSED LOOP STEPPING SYSTEMS. Ver.9

Transcription

1 CLOSED LOOP STEPPING SYSTEMS Ver.

2 CLOSED LOOP STEPPING SYSTEMS AC Input Set Models Type R RS-+Parallel I/O type Type P Pulse train input type DC Input Set Models Type M Multi-input type DC Input Drivers / Motors DC Input Drivers / Motors Type P Multi-axis pulse train input type Type E Multi-axis EtherCAT interface

3 Contents Features p. Lineup p. How to Read Model Numbers p. AC Input Set Models Type R p. System Configuration Diagram p. Set Model Configurations p. Driver Dimensions p. Driver Specifications p. Type P p. System Configuration Diagram p. Set Model Configurations p. Driver Dimensions p. Driver Specifications p. Specifications p. Motor Dimensions p. Motor Specifications p. DC Input Set Models Type M p. System Configuration Diagram p. Set Model Configurations p. Driver Dimensions p. Driver Specifications p. Specifications p. Motor Dimensions p. Motor Specifications p. DC Input Drivers / Motors Type P Multi-axis p. System Configuration Diagram p. Compatible Driver / Motor Combinations p. Driver Dimensions p. Driver Specifications p. Specifications p. Type E Multi-axis (EtherCAT interface) p. System Configuration Diagram p. Compatible Driver / Motor Combinations p. Driver Dimensions p. Driver Specifications p. Specifications p. Motor Dimensions p. Motor Specifications p. Type R Multi-axis p. Options p. Safety Precautions p. Safety Information p.

4 The closed loop stepping system SANMOTION Model No.PB combines the ease-of use of stepping motors and the reliability of servo motors. Closed loop control based on feedback is made possible by the position-detecting encoder mounted on the stepping motor. This simple system delivers more reliable and highly efficient drive than open loop stepping systems. Host device Open loop control while stopped (Control for stepping motors) Command Motor Stopped Rotating Stopped Driver Feedback Encoder Closed loop control while rotating (Control for servo motors) Application Examples This system can be used in a wide variety of applications utilizing features such as low vibration, low heat generation, and stable stopping. Semiconductor manufacturing equipment, analytical and testing devices used in medical and environmental fields, monitoring cameras, and searchlights, etc. Semiconductor manufacturing equipment Reliable system achieved by eliminating step-out Embroidery machines Reduced positioning time in short stroke movement Monitoring cameras Utilizes the stable stopping feature for camera oscillations Crystal blank testing devices A reliable low heat generating motor for the conveying mechanism All the driver and motor products in this catalog produced in and after October are compliant with the tolerances of restricted substances (cadmium, lead, mercury, hexavalent chromium, PBB, and PBDE) included in appendix II of the EU RoHS directive (//EU). Standard model drivers are compliant with CE (European Norm) and UL standards. The DC input Type P and Type E drivers also comply with the KC Mark standards. The AC input model motors comply with CE (European Norm) and UL standards. DC input Type P and Type E drivers only

5 Features Device reliability improved by eliminating step-out Motors with an encoder provide closed loop control that eliminates step-out (displacement), a shortcoming of stepping motors. Device reliability is improved because the motor moves to the target position without step-out even with an increased load. Also, the encoder constantly monitors the rotor position and various alarms can be issued in case of an error, providing the reliability of servo motors. Reduces positioning time A high torque can be obtained in a low speed area, which makes this system suitable for applications where moving a short distance with short quick steps is required. (Short stroke, high hit rate) Motor torque can be utilized to the maximum when accelerating and decelerating, shortening positioning time. All motors are equipped with an encoder Torque (N m) Available torque for PB (small margin) There is no need to worry about step-out even with an increased load Available torque for open loop systems (large margin) Rotational speed (min - ) Energy saving The current flowing to the motor is optimally controlled for the device, for reduced heat generation and highly efficient operation. Low vibration Actual motor speed is monitored and controlled, therefore fewer vibrations are produced compared with open loop stepping systems. Stable stop This system stops in a stable manner without the hunting (micro vibration) seen with servo motors thanks to holding torque, a feature of stepping motors. Hunting Motor Device startup support and analysis function Setup software (option) can be used to set parameters and monitor operation status from a PC. Examples of Monitor Functions Positional information Command position, actual position Speed information Command speed, actual speed I/O signal Dedicated input, general-purpose input Alarm information Current alarm status, logs Push operations Replacement of pneumatic systems is easy as pushing loads can be controlled. It is also suitable for mounters and testers, where driving in the z-axis is required.

6 Lineup Lineup AC Input Type R RS-+Parallel I/O type Type P Pulse train input type Series Point command control with host devices such as PLC Network control with serial communication (RS-) Control with pulse generator Input power supply to VAC or to VAC to VAC or to VAC Command resolution to P/R ( levels) to P/R ( levels) Max. stall torque (standard model). to. N m. to. N m Standard model mm sq./ mm sq./ mm sq. mm sq./ mm sq./ mm sq. Model types and corresponding motor sizes (with gear ratios in parentheses) Low-backlash gear model mm sq./ mm sq. (:./:./:/:/:) mm sq./ mm sq. (:./:./:/:/:) Spur gear model Harmonic gear model Electromagnetic brake model mm sq. (:/:/:) mm sq. (:/:) mm sq. (:/:/:) mm sq. (:/:) mm sq./ mm sq. mm sq./ mm sq. Set configuration items Driver, Motor, Power cable, I/O signal cable Driver, Motor, Power cable, I/O signal cable Driver / Motor specifications pp., pp., Page Specifications / Characteristics pp. to pp. to diagram Interface Point command control with host devices such as PLC Type R, Type M The system can be easily controlled by selecting preset point numbers or program numbers with the parallel I/O. Pushing operation, point designation, programming, and homing mode functions are built in and can be enabled by a single command from the host controller. Complicated operations are easier to handle. Point output Examples of speed patterns Host device Point Point Speed (min - ) Time

7 DC Input Type M Multi-input type (RS-+Parallel I/O, Pulse train input selectable) Type P Multi-axis Pulse train input type Type R Multi-axis RS-+Parallel I/O type Series Point command control with host devices such as PLC Network control with serial communication (RS-) Control with pulse generator Input power supply / VDC (Only VDC is available for the following cases: when used with mm sq. motors, and when single type driver is used with EM brake model motors.) / VDC / VDC Command resolution to P/R ( levels) to P/R ( levels) to P/R ( levels) Max. stall torque (standard model). to. N m. to. N m. to. N m Standard model mm sq./ mm sq./ mm sq. mm sq./ mm sq./ mm sq. mm sq./ mm sq./ mm sq. Model types and corresponding motor sizes (with gear ratios in parentheses) Low-backlash gear model Spur gear model Harmonic gear model Electromagnetic brake model Set configuration items Page Driver / Motor specifications Specifications / Characteristics diagram mm sq./ mm sq. (:./:./:/:/:) mm sq. (:./:./:/:/:/:) mm sq. (:/:) mm sq. (:/:/:) mm sq. (:/:) mm sq./ mm sq. (:./:./:/:/:) mm sq. (:./:./:/:/:/:) mm sq. (:/:) mm sq. (:/:/:) mm sq. (:/:) mm sq./ mm sq. (:./:./:/:/:) mm sq. (:./:./:/:/:/:) mm sq. (:/:) mm sq. (:/:/:) mm sq. (:/:) mm sq./ mm sq./ mm sq. mm sq./ mm sq./ mm sq. mm sq./ mm sq./ mm sq. Driver, Motor, Power cable, I/O signal cable No set models pp., pp., p. pp. to pp. to No set models Network control with serial communication (RS-) Type R, Type M Uses serial data transmission for speed, acceleration/ deceleration speed, and displacement control Control with pulse generator Type P, Type M Operates in response to the pulse input command from the host device RS- Pulse train USB * Option Communications converter unit

8 Lineup Compatible Driver / Motor / Option Combinations Motor size Driver model number PBAR PBAR PBAP PBAP PBDM PBDM Number of control axes axes axes Interface specifications RS-+Parallel I/O (Type R) Optical incremental Pulse train (Type P) RS-+Parallel I/O, Pulse train (Type M) PBDP Pulse train (Type P) Encoder specifications Encoder resolution P/R P/R P/R / P/R Standard model PBMFXE PBMDXE PBMFXE PBMDXE :. PBMFGAE PBMDGAE :. PBMFGBE PBMDGBE : PBMFGEE PBMDGEE Spur gear model : PBMFGGE PBMDGGE mm sq. : PBMFGJE PBMDGJE : PBMFGLE PBMDGLE Harmonic gear model : PBMFHLE PBMDHLE : PBMFHME PBMDHME Electromagnetic brake model PBMFCE PBMDCE PBMFCE PBMDCE Standard model PBMFXK-M PBMFXE PBMDXK :. PBMFGAK-M PBMFGAE PBMDGAK :. PBMFGBK-M PBMFGBE PBMDGBK Low-backlash gear model : PBMFGEK-M PBMFGEE PBMDGEK mm sq. : PBMFGGK-M PBMFGGE PBMDGGK : PBMFGJK-M PBMFGJE PBMDGJK : PBMFHJK-M PBMFHJE PBMDHJK Harmonic gear model : PBMFHLK-M PBMFHLE PBMDHLK : PBMFHMK-M PBMFHME PBMDHMK Electromagnetic brake model PBMFCK-M PBMFCE PBMDCK Standard model PBMFXK-M PBMFXE PBMDXK PBMFXK-M PBMFXE PBMDXK :. PBMFGAK-M PBMFGAE PBMDGAK :. PBMFGBK-M PBMFGBE PBMDGBK Low-backlash gear model : PBMFGEK-M PBMFGEE PBMDGEK mm sq. : PBMFGGK-M PBMFGGE PBMDGGK : PBMFGJK-M PBMFGJE PBMDGJK Harmonic gear model : PBMFHLK-M PBMFHLE PBMDHLK : PBMFHMK-M PBMFHME PBMDHMK Electromagnetic brake model PBMFCK-M PBMFCE PBMDCK PBMFCK-M PBMFCE PBMDCK mm sq. Standard model PBMFXK-M PBMFXK-M Options Power cable PBCPA (Set configuration items) PBCPA (Set configuration PBCPA items) Motor extension cable PBCMA PBCMA PBCMA Encoder extension cable PBCEA PBCEA PBCEA I/O signal cable PBCSA (unshielded) (Type R set configuration items) PBCSC (shielded) (Type P set configuration items) PBCSA (unshielded) PBCSC (shielded) (Set configuration items) PBCSC (shielded) Communication cable * PBCCA PBCCA PC interface software SPBALL- SPBAW- SANMOTION MOTOR SETUP SOFTWARE Communications converter unit PBFM-U Regenerative unit PBFE- * Used when multiple-axis drivers are connected in a daisy chain configuration for communication.

9 Motor size mm sq. mm sq. mm sq. Options PBDRU Driver model number PBDRU PBDRU PBDRU Number of control axes axes Interface specifications RS-+Parallel I/O (Type R) Encoder specifications Optical incremental Encoder resolution P/R Standard model PBMDXA PBMDXA :. PBMDGAA :. PBMDGBA Spur gear model : PBMDGEA : PBMDGGA : PBMDGJA : PBMDGLA Harmonic gear model : PBMDHLA : PBMDHMA Electromagnetic brake model PBMDCA PBMDCA Standard model PBMDXA :. PBMDGAA :. PBMDGBA Low-backlash gear model : PBMDGEA : PBMDGGA : PBMDGJA : PBMDHJA Harmonic gear model : PBMDHLA : PBMDHMA Electromagnetic brake model PBMDCA Standard model PBMDXA PBMDXA :. PBMDGAA :. PBMDGBA Low-backlash gear model : PBMDGEA : PBMDGGA : PBMDGJA Harmonic gear model : PBMDHLA : PBMDHMA Electromagnetic brake model PBMDCA PBMDCA Power cable PBCPA Motor extension cable PBCMA Encoder extension cable PBCEA PBCEC I/O signal cable PBCSA Communication cable PBCCA Communications converter unit PBFM-U PC interface software SPBDW- Regenerative unit PBFE-

10 Lineup Lineup DC Input Type E Multi-axis EtherCAT integrated type Series Input power supply / VDC Encoder specifications Optical incremental Battery-less optical absolute Command resolution to,, P/R Max. stall torque (standard model). to. N m. to. N m Standard model mm sq./ mm sq./ mm sq. mm sq./ mm sq. Model types and corresponding motor sizes (with gear ratios in parentheses) Low-backlash gear model Spur gear model Harmonic gear model mm sq./ mm sq. (:./:./:/:/:) mm sq. (:./:./:/:/:/:) mm sq. (:/:) mm sq. (:/:/:) mm sq. (:/:) mm sq./ mm sq. (:./:./:/:/:) mm sq. (:/:/:) mm sq. (:/:) Electromagnetic brake model mm sq./ mm sq./ mm sq. mm sq./ mm sq. Set configuration items No set models Driver / Motor specifications pp., Page Specifications / Characteristics diagram pp. to Interface EtherCAT interface EtherCAT is a Mbps high-speed fieldbus system. It contributes to the takt time reduction. This has shortened the communication cycle time by times* or more that of our current model**, achieving finer and smoother motion of the embedded device. This highly versatile EtherCAT is compatible with Ethernet, which makes it possible to build a system that co-exists with various devices. Also, the EtherCAT conformance test certificate from a trusted third party has been acquired. High-precision battery-less absolute encoder In addition to an incremental encoder, a battery-less absolute encoder (Model no. HA) is also available. This encoder doesn t require a battery change, thus the maintenance of devices can be simplified. * When compared with our current model: PBDED ** Minimum communication cycle time:. ms ( ms for the below current model).

11 Compatible Driver / Motor / Option Combinations Motor size mm sq. mm sq. mm sq. Options Driver model number PBDE Number of control axes axes Interface specifications EtherCAT Encoder specifications Optical incremental Battery-less optical absolute Encoder resolution / P/R Single-turn resolution bit Multi-turn resolution bit Standard model PBMDXE PBMDXE :. PBMDGAE :. PBMDGBE Spur gear model : PBMDGEE : PBMDGGE : PBMDGJE : PBMDGLE Harmonic gear model : PBMDHLE : PBMDHME Electromagnetic brake model PBMDCE PBMDCE Standard model PBMDXK PBMDXR :. PBMDGAK PBMDGAR :. PBMDGBK PBMDGBR Low-backlash gear model : PBMDGEK PBMDGER : PBMDGGK PBMDGGR : PBMDGJK PBMDGJR : PBMDHJK PBMDHJR Harmonic gear model : PBMDHLK PBMDHLR : PBMDHMK PBMDHMR Electromagnetic brake model PBMDCK PBMDCR Standard model PBMDXK PBMDXR PBMDXK PBMDXR :. PBMDGAK PBMDGAR :. PBMDGBK PBMDGBR Low-backlash gear model : PBMDGEK PBMDGER : PBMDGGK PBMDGGR : PBMDGJK PBMDGJR Harmonic gear model : PBMDHLK PBMDHLR : PBMDHMK PBMDHMR Electromagnetic brake model PBMDCK PBMDCR PBMDCK PBMDCR Power cable PBCPA Connector set for power cable PBCPA Motor extension cable PBCM A Connector set for motor cable PBCMA Encoder extension cable PBCE A Connector set for encoder cable PBCEA I/O signal cable PBCSC Connector set for I/O signal cable PBCSC PC communication cable AL- PC interface software SANMOTION MOTOR SETUP SOFTWARE Regenerative unit PBFE-

12 Lineup How to Read Model Numbers Note that not every combination of the following codes and characters is available. Set model number PB A R - C. B A power cable ( m) and an I/O signal cable ( m) are included with set models. * No symbol for models without options Holding brake B: Equipped * Gear ratio * Gear specifications * C : Low-backlash gear G : Spur gear H : Harmonic gear Motor length Motor size Interface specifications R: RS-+Parallel I/O P: Pulse train M: Multi Power supply specifications A: Single-phase / VAC A: Single-/-phase / VAC D: DC Series name Driver model number PB D M Specification identification Encoder type Optical incremental, Battery-less optical absolute P/R Optical incremental P/R P/R Interface type E EtherCAT R RS-+Parallel I/O P Pulse train M RS-+Parallel I/O, Pulse train Motor excitation current : A : A : A Power supply specifications A: AC D: DC Series name Motor model number PBM F X K - M UL and CE compliant Specification identification,, : Standard Encoder type R Battery-less optical absolute (Model no. HA) K P/R with Z-phase output E P/R with Z-phase output Optical incremental A P/R without Z-phase output C P/R with Z-phase output Option code X: Standard model (without options) C: With VDC brake GA to GL: Spur gear model / Low-backlash gear model HJ to HM: Harmonic gear model Power supply specifications F: AC, DC (Type M) D: DC (multi-axis) Motor length Motor size Series name

13 Cable model number PBC P A Specification identification : Connector set : Cable length: cm : Cable length: m : Cable length: m Cable type P: Power supply M: Motor E: Encoder S: I/O signal C: Communications Management number Series name

14 AC Input Set Models Type R AC Input Set Models Type R RS-+Parallel I/O type Set configuration items RoHS Motor Motor size: mm sq., mm sq., mm sq. Driver Model number: PBAR Input power supply: Single-phase to VAC Model number: PBAR Input power supply: Single-/-phase to VAC Cable For power supply ( m) Model number: PBCPA I/O signal cable ( m, unshielded) Model number: PBCSA Set Model Configurations p. Driver Dimensions p. Driver Specifications p. Specifications / Characteristics Diagram pp. to Motor Dimensions pp. to Motor Specifications p. System Configuration Diagram Single-phase VAC or single-/-phase VAC Circuit breaker Protects the power line. Cuts off circuit in the event of overcurrent. To another driver PC interface software * The converter is required for USB/RS- conversion. Communications converter unit Electromagnetic contactor Switches driver power on/off. Use together with a surge protector. CN Communication cable CN RS- (Half-duplex) Noise filter Filters out incoming noise from power line. CN CN I/O signal cable Encoder extension cable Host devices Power cable CN CN Motor extension cable To be provided by the customer. to

15 Set Model Configurations Motor external Set configuration items Page Max. stall torque dimensions Allowable (allowable torque* Gear Backlash Driver power supply Flange size speed Set model Power cable, for models with ratio (deg.) specifications Motor model Driver model Motor length (min gear) (N m) ) I/O signal Specifications Motor number number dimensions (mm) cable.. Single-phase to VAC PBAR PBMFXK-M PBAR p. p... Single-/-phase to VAC PBAR PBMFXK-M PBAR p. p... Single-phase to VAC PBAR PBMFXK-M PBAR p. p. Power cable ( m):.. Single-/-phase to VAC PBAR PBMFXK-M PBAR PBCPA p. p... Single-phase to VAC PBAR PBMFXK-M PBAR p. p... Single-/-phase to VAC PBAR PBMFXK-M PBAR I/O signal cable p. p... Single-phase to VAC PBAR PBMFXK-M PBAR ( m, unshielded): p. p. PBCSA.. Single-/-phase to VAC PBAR PBMFXK-M PBAR p. p.. Single-phase to VAC PBAR PBMFXK-M PBAR p. p.. Single-/-phase to VAC PBAR PBMFXK-M PBAR p. p... :.. Single-phase to VAC PBAR-C. PBMFGAK-M PBAR p. p... :.. Single-/-phase to VAC PBAR-C. PBMFGAK-M PBAR p. p... :.. Single-phase to VAC PBAR-C. PBMFGBK-M PBAR p. p... :.. Single-/-phase to VAC PBAR-C. PBMFGBK-M PBAR p. p... :. Single-phase to VAC PBAR-C PBMFGEK-M PBAR p. p... :. Single-/-phase to VAC PBAR-C PBMFGEK-M PBAR p. p... :. Single-phase to VAC PBAR-C PBMFGGK-M PBAR p. p... :. Single-/-phase to VAC PBAR-C PBMFGGK-M PBAR p. p. Power cable ( m):.. :. Single-phase to VAC PBAR-C PBMFGJK-M PBAR PBCPA p. p... :. Single-/-phase to VAC PBAR-C PBMFGJK-M PBAR p. p... :.. Single-phase to VAC PBAR-C. PBMFGAK-M PBAR I/O signal cable p. p... :.. Single-/-phase to VAC PBAR-C. PBMFGAK-M PBAR ( m, unshielded): p. p. PBCSA.. :.. Single-phase to VAC PBAR-C. PBMFGBK-M PBAR p. p... :.. Single-/-phase to VAC PBAR-C. PBMFGBK-M PBAR p. p.. :. Single-phase to VAC PBAR-C PBMFGEK-M PBAR p. p.. :. Single-/-phase to VAC PBAR-C PBMFGEK-M PBAR p. p... :. Single-phase to VAC PBAR-C PBMFGGK-M PBAR p. p... :. Single-/-phase to VAC PBAR-C PBMFGGK-M PBAR p. p.. :. Single-phase to VAC PBAR-C PBMFGJK-M PBAR p. p.. :. Single-/-phase to VAC PBAR-C PBMFGJK-M PBAR p. p... (.) : Single-phase to VAC PBAR-H PBMFHJK-M PBAR p. p... (.) : Single-/-phase to VAC PBAR-H PBMFHJK-M PBAR p. p... (.) : Single-phase to VAC PBAR-H PBMFHLK-M PBAR p. p. Power cable ( m):.. (.) : Single-/-phase to VAC PBAR-H PBMFHLK-M PBAR PBCPA p. p.. () : Single-phase to VAC PBAR-H PBMFHMK-M PBAR p. p.. () : Single-/-phase to VAC PBAR-H PBMFHMK-M PBAR I/O signal cable p. p... () : Single-phase to VAC PBAR-H PBMFHLK-M PBAR ( m, unshielded): p. p. PBCSA.. () : Single-/-phase to VAC PBAR-H PBMFHLK-M PBAR p. p.. () : Single-phase to VAC PBAR-H PBMFHMK-M PBAR p. p.. () : Single-/-phase to VAC PBAR-H PBMFHMK-M PBAR p. p... Single-phase to VAC PBAR-B PBMFCK-M PBAR p. p. Power cable ( m):.. Single-/-phase to VAC PBAR-B PBMFCK-M PBAR p. p. PBCPA.. Single-phase to VAC PBAR-B PBMFCK-M PBAR p. p... Single-/-phase to VAC PBAR-B PBMFCK-M PBAR I/O signal cable p. p. ( m, unshielded):.. Single-phase to VAC PBAR-B PBMFCK-M PBAR p. p. PBCSA.. Single-/-phase to VAC PBAR-B PBMFCK-M PBAR p. p. * Numbers in parenthesis following allowable torques indicate allowable instantaneous torques. Model Standard model Low-backlash gear model Harmonic gear model Electromagnetic brake model Options and Peripherals Product names Standard model Connector set Extendable number (length) model number max. length Remarks Page Power cable PBCPA ( m) PBCPA m p. Motor extension cable PBCMA ( m) PBCMA m An extension cable is required when the distance between the motor and driver p. exceeds cm. Encoder extension cable PBCEA ( m) PBCEA m An extension cable is required when the distance between the motor and driver p. exceeds cm. I/O signal cable (unshielded) PBCSA ( m) PBCSA m Select the cable depending on peripheral noise. p. I/O signal cable (shielded) PBCSC ( m) PBCSA m Select the cable depending on peripheral noise. p. Communication cable (between drivers) PBCCA ( cm) PBCCA m Communications converter unit PBFM-U PC interface software SPBALL- Used when multiple axes are connected in a daisy chain configuration for communication. A set of a converter (USB/RS-) and a cable Software for checking operation and parameter setting p. p. p. AC Input Set Models Type R Options DC Input Drivers / Motors DC Input Drivers / Motors DC Input Drivers / Motors DC Input Set Models AC Input Set Models Type R Multi-axis Type E Multi-axis EtherCAT interface Type P Multi-axis Type M Type P

16 CLOSED LOOP STEPPING SYSTEMS Electric shock cautions. MADE IN JAPAN ****** Do not touch drive unit or terminal cover during power on or within MIN after power off. Be sure that the charge lamp is off at the time of maintenance and check. Equipment may be damaged if mistaken connection is made. Fear of a burn! Do not touch a heat sink. Connect earth terminal against electric shock. BCDEF A AC Input Set Models Type R Driver Dimensions Unit: mm ø.. () CN CN CN CN CN CN SW MODE DATA () Model No.PB Driver Specifications General specifications Basic specifications Functions I/O signal Model number PBAR PBAR Interface RS-+Parallel I/O Input power supply Single-phase to VAC (-%, +%) / Hz Single-phase to VAC (-%, +%) / Hz -phase to VAC (-%, +%) / Hz Control method PWM control: Sinusoidal drive method Power supply current A. A. A Protection class Class I Operation environment Installation category (overvoltage category): II, Pollution degree: Operating ambient temperature to + C Storage temperature - to + C Operating ambient % RH max. (non-condensing) humidity Environment Storage humidity % RH max. (non-condensing) Operation altitude m or less above sea level Vibration resistance Tested under the following conditions: Acceleration: m/s, Frequency range: to Hz, Axes of vibration: X, Y, Z ( hours each) Impact resistance m/s Dielectric strength No error observed when. kvac is applied between power input terminal and frame for one minute. Insulation resistance MΩ min. when measured with a VDC megohmmeter between input terminal and frame. Mass. kg Rotational speed to min - ( to min - for mm sq. motors) Command resolution (P/R),,,,,,, Can be set in fine steps in the range of to with an electronic gear*. Holding brake control function Built in Power voltage error, regenerative voltage error, driver overheat, motor overheat, overload stop, overspeed, Protection functions servo error, homing mode error, deviation counter overflow, wrap around, push operation error, encoder disconnection, initialization error, overcurrent, nonvolatile memory error, CPU error Display / Indication -segment LED display () Digital operator Resolution, applicable motor, forward direction definition, gain, Jog speed, Jog operation, node address, baud rate, holding brake control, teaching Auto homing mode operation / Push (current control) operation / Relative motion command / Operating functions Absolute motion command Module function, Jog operation Communications RS- Start / stop synchronization, half-duplex communication Baud rate:,,, Communication with controller bps specifications PC interface RS- Start / stop synchronization, half-duplex communication Baud rate: bps ALMCLR Input Function General-purpose input (select from Point, STOP, EXE, SELECT, HOME sensor, Limit, Deviation clear, signal Pause, Jog, and Inter lock) Output signal Electrical specifications Function General-purpose input: Bidirectional input photocoupler to VDC ALMCLR General-purpose output (select from Point No, Ack, Busy, HOME END, Push END, ZONE, Input monitor, In-Position, and Bit Out) Electrical specifications General-purpose output: Open collector VDC, ma or less * A function that finely adjusts the unit step angle per pulse parameters. Setup software is required. Safety standards CE (TÜV) UL Directives Standard Low-voltage directives EN -- EMC directives EN - EN -- Acquired standards Applicable standard File no. UL cul UL C E

17 External Wiring Diagram Single-phase to VAC Host controller PCIF User device Input power supply ø to VAC COM COM GND COM ALMCLR IN (STOP) IN (EXE) IN (Point) IN (Point) IN (Point) IN (Point) IN (Point) IN (Point) ALM OUT (In-position) OUT (Ack) OUT (PEND) OUT (PEND) OUT (PEND) OUT (PEND) OUT (PEND) P.E(M) ( ) indicates factory settings. * When using with single-phase power supply, wire to pins and. CN CN, GND +V CN Driver PBAR Driver model number: PBAR CN A A B B Z Z V G O.H FG CN A A B B BRK+ BRK- Holding brake Encoder TH Motor Shielded twisted-pair cable Single-/-phase to VAC Driver model number: PBAR Input power supply * ø/ ø to VAC Host controller PCIF User device COM COM GND COM ALMCLR IN (STOP) IN (EXE) IN (Point) IN (Point) IN (Point) IN (Point) IN (Point) IN (Point) ALM OUT (In-position) OUT (Ack) OUT (PEND) OUT (PEND) OUT (PEND) OUT (PEND) OUT (PEND) R S T CN, GND +V CN CN P.E(M) Driver PBAR CN A A B B Z Z V G O.H FG CN A A B B BRK+ BRK- Holding brake Encoder TH Motor Shielded twisted-pair cable AC Input Set Models Type R Options DC Input Drivers / Motors DC Input Drivers / Motors DC Input Drivers / Motors DC Input Set Models AC Input Set Models Type R Multi-axis Type E Multi-axis EtherCAT interface Type P Multi-axis Type M Type P

18 AC Input Set Models Type R Wiring Connector Models and Compatible Cables Application I/O signals Encoder Motor Power supply Communications Connector no. CN CN CN CN CN CN Description Plug (driver side) Receptacle Tab header (driver side) Receptacle housing Receptacle contact Tab housing (for relay) Tab contact (for relay) Tab header (driver side) Receptacle housing Receptacle contact Tab housing (for relay) Tab contact (for relay) Tab header (driver side) Receptacle housing Receptacle contact Post with base (driver side) Housing Contact Manufacturer model number E--LD-F E--D (AWG to ) - (AWG to ) -- - (AWG to ) - (AWG to ) (AWG to ) - (AWG to ) -- - (AWG to ) - (AWG to ) (single) - (linked) SB-PADSS-GW PADP-V--S SPH-T-P.L Compatible cables Maximum extension length Manufacturer AWG (/.) m KEL CORPORATION AWG to Shielded twisted pair * The contact model number varies with diameter over outer shield. AWG to Discrete line * The contact model number varies with diameter over outer shield. AWG Discrete line AWG to Shielded twisted pair Refer to the manufacturer s catalog for detailed connector specifications. If the maximum extended length is exceeded, take necessary countermeasures to prevent malfunctions due to line noise. The relay connector is used to connect to the motor or encoder side connector when creating an extension cable. m m m Tyco Electronics Japan G.K. Tyco Electronics Japan G.K. Tyco Electronics Japan G.K. m J.S.T. Mfg. Co.,Ltd.

19 Driver Components and functions SW: Mode button SW: Data button SW: Write button Digital operator MODE: Mode display LED DATA: Data display LED AC Input Set Models Type R Digital operator Used to set parameters and perform Jog operations. Display MODE (Mode display LED) Displays the current mode number. DATA (Data display LED) Displays monitor and parameter setting values. Blinks when the displayed parameter setting value is different from the current setting value. Button SW (Mode button) Mode numbers switch sequentially each time the button is pressed. However, the mode number is only displayed when the servo is ON. SW (Data button) The function varies with mode number. SW (Write button) The function varies with mode number. Functions MODE Functions Data range (DATA display) SW Functions SW Functions Driver status display (See table.) Disabled Disabled Point teaching to F (Point no.) Selects point no. Confirms at the current position Motor selection to (See table.) Switches set values Writes set values Resolution selection to (See table.) Switches set values Writes set values Forward direction = CW is forward, setting = CCW is forward Switches set values Writes set values Speed loop gain setting to F Switches set values Writes set values Holding brake operation = Release; = Hold Switches set values Writes set values Node address setting to F Switches set values Writes set values Jog operation speed to F ( min - /LSB) Switches set values Writes set values Jog operation Forward direction Reverse direction operation operation = bps, A Baud rate = bps, = bps, = bps Switches set values Writes set values Changed values for modes to are enabled upon restart. Changed values for modes, to, and A are enabled immediately. Table Driver status and corresponding DATA parameters when MODE parameter is. Displayed Displayed Driver status data data Driver status Servo OFF Homing mode error Figure- pattern Servo ON A Deviation counter overflow Low voltage error b Overcurrent (motor winding detection) Overvoltage error C Wrap around Regenerative voltage error d Push operation error Driver overheat error E Encoder disconnection error Motor overheat error F Initialization error Overload stop error H Overcurrent (bus current detection) Overspeed L Nonvolatile memory error Servo error Table Motor selection Set value Motor model number Set value Motor model number PBM PBM PBM PBM PBM PBM PBM Table Resolution selection (P/R) Set value Resolution Set value Resolution Options DC Input Drivers / Motors DC Input Drivers / Motors DC Input Drivers / Motors DC Input Set Models AC Input Set Models Type R Multi-axis Type E Multi-axis EtherCAT interface Type P Multi-axis Type M Type P

20 AC Input Set Models Type P AC Input Set Models Type P Pulse Train Input type Set configuration items RoHS Motor Motor size: mm sq., mm sq., mm sq. Driver Model number: PBAP Input power supply: Single-phase to VAC Model number: PBAP Input power supply: Single-/-phase to VAC Cable For power supply ( m) Model number: PBCPA I/O signal cable ( m, shielded) Model number: PBCSC Set Model Configurations p. Driver Dimensions p. Driver Specifications p. Specifications / Characteristics Diagram pp. to Motor Dimensions pp. to Motor Specifications p. System Configuration Diagram Single-phase VAC or single-/-phase VAC Circuit breaker Protects the power line. Cuts off circuit in the event of overcurrent. To the external limit sensor PC interface software * The converter is required for USB/RS- conversion. Communications converter unit Electromagnetic contactor Switches driver power on/off. Use together with a surge protector. Limit input cable CN CN RS- (Half-duplex) Host devices PLC pulse board Noise filter CN I/O signal cable Filters out incoming noise from power line. CN Encoder extension cable Power cable CN CN Motor extension cable To be provided by the customer. to

21 Set Model Configurations Motor external Set configuration items Page Max. stall torque dimensions Allowable (allowable torque* Gear Backlash Driver power supply Flange size speed Set model Power cable, for models with ratio (deg.) specifications Motor model Driver model Motor length (min gear) (N m) ) I/O signal Specifications Motor number number dimensions (mm) cable.. Single-phase to VAC PBAP PBMFXK-M PBAP p. p... Single-/-phase to VAC PBAP PBMFXK-M PBAP p. p... Single-phase to VAC PBAP PBMFXK-M PBAP p. p. Power cable ( m):.. Single-/-phase to VAC PBAP PBMFXK-M PBAP PBCPA p. p... Single-phase to VAC PBAP PBMFXK-M PBAP p. p... Single-/-phase to VAC PBAP PBMFXK-M PBAP I/O Signal Cable p. p... Single-phase to VAC PBAP PBMFXK-M PBAP ( m, shielded): p. p. PBCSC.. Single-/-phase to VAC PBAP PBMFXK-M PBAP p. p.. Single-phase to VAC PBAP PBMFXK-M PBAP p. p.. Single-/-phase to VAC PBAP PBMFXK-M PBAP p. p... :.. Single-phase to VAC PBAP-C. PBMFGAK-M PBAP p. p... :.. Single-/-phase to VAC PBAP-C. PBMFGAK-M PBAP p. p... :.. Single-phase to VAC PBAP-C. PBMFGBK-M PBAP p. p... :.. Single-/-phase to VAC PBAP-C. PBMFGBK-M PBAP p. p... :. Single-phase to VAC PBAP-C PBMFGEK-M PBAP p. p... :. Single-/-phase to VAC PBAP-C PBMFGEK-M PBAP p. p... :. Single-phase to VAC PBAP-C PBMFGGK-M PBAP p. p... :. Single-/-phase to VAC PBAP-C PBMFGGK-M PBAP p. p. Power cable ( m):.. :. Single-phase to VAC PBAP-C PBMFGJK-M PBAP PBCPA p. p... :. Single-/-phase to VAC PBAP-C PBMFGJK-M PBAP p. p... :.. Single-phase to VAC PBAP-C. PBMFGAK-M PBAP I/O Signal Cable p. p... :.. Single-/-phase to VAC PBAP-C. PBMFGAK-M PBAP ( m, shielded): p. p. PBCSC.. :.. Single-phase to VAC PBAP-C. PBMFGBK-M PBAP p. p... :.. Single-/-phase to VAC PBAP-C. PBMFGBK-M PBAP p. p.. :. Single-phase to VAC PBAP-C PBMFGEK-M PBAP p. p.. :. Single-/-phase to VAC PBAP-C PBMFGEK-M PBAP p. p... :. Single-phase to VAC PBAP-C PBMFGGK-M PBAP p. p... :. Single-/-phase to VAC PBAP-C PBMFGGK-M PBAP p. p.. :. Single-phase to VAC PBAP-C PBMFGJK-M PBAP p. p.. :. Single-/-phase to VAC PBAP-C PBMFGJK-M PBAP p. p... (.) : Single-phase to VAC PBAP-H PBMFHJK-M PBAP p. p... (.) : Single-/-phase to VAC PBAP-H PBMFHJK-M PBAP p. p... (.) : Single-phase to VAC PBAP-H PBMFHLK-M PBAP p. p. Power cable ( m):.. (.) : Single-/-phase to VAC PBAP-H PBMFHLK-M PBAP PBCPA p. p.. () : Single-phase to VAC PBAP-H PBMFHMK-M PBAP p. p.. () : Single-/-phase to VAC PBAP-H PBMFHMK-M PBAP I/O Signal Cable p. p... () : Single-phase to VAC PBAP-H PBMFHLK-M PBAP ( m, shielded): p. p. PBCSC.. () : Single-/-phase to VAC PBAP-H PBMFHLK-M PBAP p. p.. () : Single-phase to VAC PBAP-H PBMFHMK-M PBAP p. p.. () : Single-/-phase to VAC PBAP-H PBMFHMK-M PBAP p. p... Single-phase to VAC PBAP-B PBMFCK-M PBAP p. p. Power cable ( m):.. Single-/-phase to VAC PBAP-B PBMFCK-M PBAP p. p. PBCPA.. Single-phase to VAC PBAP-B PBMFCK-M PBAP p. p... Single-/-phase to VAC PBAP-B PBMFCK-M PBAP I/O Signal Cable p. p. ( m, shielded):.. Single-phase to VAC PBAP-B PBMFCK-M PBAP p. p. PBCSC.. Single-/-phase to VAC PBAP-B PBMFCK-M PBAP p. p. * Numbers in parenthesis following allowable torques indicate allowable instantaneous torques. Model Standard model Low-backlash gear model Harmonic gear model Electromagnetic brake model Options and Peripherals Product names Standard model Connector set Extendable number (length) model number max. length Remarks Page Power cable PBCPA ( m) PBCPA m p. Motor extension cable PBCMA ( m) PBCMA m An extension cable is required when the distance between the motor and driver p. exceeds cm. Encoder extension cable PBCEA ( m) PBCEA m An extension cable is required when the distance between the motor and driver p. exceeds cm. I/O signal cable (shielded) PBCSC ( m) PBCSA m p. Limit input cable PBCSA ( m) PBCSA m External limit sensor input p. Communications converter unit PBFM-U A set of a converter (USB/RS-) and a cable p. PC interface software SPBALL- Software for checking operation and parameter setting p. AC Input Set Models Type R Options DC Input Drivers / Motors DC Input Drivers / Motors DC Input Drivers / Motors DC Input Set Models AC Input Set Models Type R Multi-axis Type E Multi-axis EtherCAT interface Type P Multi-axis Type M Type P

22 CLOSED LOOP STEPPING SYSTEMS Electric shock cautions. MADE IN JAPAN ****** Do not touch drive unit or terminal cover during power on or within MIN after power off. Be sure that the charge lamp is off at the time of maintenance and check. Equipment may be damaged if mistaken connection is made. Fear of a burn! Do not touch a heat sink. Connect earth terminal against electric shock. AC Input Set Models Type P Driver Dimensions Unit: mm ø.. () SW MODE DATA CN CN CN CN CN CN () Model No.PB Driver Specifications General specifications Model number PBAP PBAP Interface Pulse train input Pulse train input Input power supply Single-phase to VAC (-%, +%) / Hz Single-phase to VAC (-%, +%) / Hz -phase to VAC (-%, +%) / Hz Control method PWM control: Sinusoidal drive method Power supply current A. A. A Protection class Class I Operation environment Installation category (overvoltage category): II, Pollution degree: Operating ambient temperature to + C Storage temperature - to + C Operating ambient humidity % RH max. (non-condensing) Storage humidity % RH max. (non-condensing) Operation altitude m or less above sea level Vibration resistance Tested under the following conditions: Acceleration: m/s, Frequency range: to Hz, Axes of vibration: X, Y, Z ( hours each) Impact resistance m/s Dielectric strength No error observed when. kvac is applied between power input terminal and frame for one minute. Insulation resistance MΩ min. when measured with a VDC megohmmeter between input terminal and frame. Mass. kg Rotational speed to min - ( to min - for mm sq. motors) Command resolution (P/R),,,,,,, Can be set in fine steps in the range of to with an electronic gear*. Holding brake control function Built in Power voltage error, regenerative voltage error, driver overheat, motor overheat, overload stop, Protection functions positional deviation error, servo error, homing mode error, command pulse error, overcurrent, wrap around, push operation error, encoder disconnection, initialization error, nonvolatile memory error Display / Indication -segment LED display () Digital operator Resolution, pulse input type, applicable motor, forward direction definition, gain, FF gain, S-shape filter, Jog operation Operating functions Auto homing mode operation / Push (current control) operation / S-shape operation function PC interface RS- Start / stop synchronization, half-duplex communication Baud rate: bps Pulse input, STOP, ALMCLR Function General-purpose input (select from Deviation clear, HOME, Push, Brake control, and Counter reset) Electrical specifications Pulse input: Line receiver or input type General-purpose input: Bidirectional input photocoupler to VDC Function Encoder signal (A/B/Z) ALM, In-Position General-purpose output (select from HOME END, Push END, ZONE, and input monitor) Pulse signal output: Line driver P/R * Z-phase / phase origin signal is only output at mm - Electrical specifications or less. General-purpose output: Open collector VDC, ma or less * A function that finely adjusts the unit step angle per pulse parameters. Setup software is required. Basic specifications Functions I/O signal Environment Input signal Output signal Safety standards CE (TÜV) UL Directives Standard Low-voltage directives EN -- EMC directives EN - EN -- Acquired standards Applicable standard File no. UL cul UL C E

23 External Wiring Diagram Single-phase to VAC PCIF User device Input power supply ø to VAC GND Pos. Limit Neg. Limit Pos. Pulse/Pulse Neg. Pulse/Direction COM STOP ALMCLR IN (Deviation clear ) IN (HOME) GND ALM ENC In-position SON OUT (HOME END) OUT (Push END) ENA ENB CN GND +V CN CN CN P.E(M) Driver PBAP Driver model number: PBAP CN A A B B Z Z V G O.H FG CN A A B B BRK+ BRK- Holding brake Encoder TH Motor Shielded twisted-pair cable Single-/-phase to VAC Driver model number: PBAP Input power supply * ø/ ø to VAC PCIF User device GND Pos. Limit Neg. Limit CN Pos. Pulse/Pulse Neg. Pulse/Direction COM STOP ALMCLR IN (Deviation clear ) IN (HOME) GND ALM ENC In-position SON OUT (HOME END) OUT (Push END) ENA ENB R S T CN CN A A B B Z Z V G CN O.H FG CN GND +V A A B CN B BRK+ BRK- Holding brake P.E(M) Driver PBAP Encoder TH Motor Shielded twisted-pair cable AC Input Set Models Type R Options DC Input Drivers / Motors DC Input Drivers / Motors DC Input Drivers / Motors DC Input Set Models AC Input Set Models Type R Multi-axis Type E Multi-axis EtherCAT interface Type P Multi-axis Type M Type P Functions for IN, IN, OUT, and OUT are assigned with PC interface. * When using with single-phase power supply, wire to pins and.

24 AC Input Set Models Type P Wiring Connector Models and Compatible Cables Application I/O signals Encoder Motor Power supply Communications Limit signal input Connector no. CN CN CN CN CN CN Description Plug (driver side) Receptacle Tab header (driver side) Receptacle housing Receptacle contact Tab housing (for relay) Tab contact (for relay) Tab header (driver side) Receptacle housing Receptacle contact Tab housing (for relay) Tab contact (for relay) Tab header (driver side) Receptacle housing Receptacle contact Post with base (driver side) Housing Contact Manufacturer model number E--LD-F E--D (AWG to ) - (AWG to ) -- - (AWG to ) - (AWG to ) (AWG to ) - (AWG to ) -- - (AWG to ) - (AWG to ) (single) - (linked) SB-PADSS-GW PADP-V--S SPH-T-P.L Pin header DF-DP-DS () Socket DF-DS-C Contact DF-SCA (loose) Compatible cables Maximum extension length Manufacturer AWG (/.) m KEL CORPORATION AWG to Shielded twisted pair * The contact model number varies with diameter over outer shield. AWG to Discrete line * The contact model number varies with diameter over outer shield. AWG Discrete line AWG to Shielded twisted pair Refer to the manufacturer s catalog for detailed connector specifications. If the maximum extended length is exceeded, take necessary countermeasures to prevent malfunctions due to line noise. The relay connector is used to connect to the motor or encoder side connector when creating an extension cable. m m m Tyco Electronics Japan G.K. Tyco Electronics Japan G.K. Tyco Electronics Japan G.K. m J.S.T. Mfg. Co., Ltd. AWG m Hirose Electric

25 Driver Components and Functions SW: Mode button SW: Data button SW: Write button Digital operator MODE: Mode display LED DATA: Data display LED AC Input Set Models Type R Digital operator Used to set parameters and perform Jog operations. Display MODE (Mode display LED) Displays the current mode number. DATA (Data display LED) Displays monitor and parameter setting values. Blinks when the displayed parameter setting value is different from the current setting value. Button SW (Mode button) Mode numbers switch sequentially each time the button is pressed. However, the mode number is only displayed when the servo is ON. SW (Data button) The function varies with mode number. SW (Write button) The function varies with mode number. Functions MODE Functions Data range (DATA display) SW Functions SW Functions Driver status display (See table.) Disabled Disabled Pulse input method = input type, setting = input type Switches set values Writes set values Motor selection to (See table.) Switches set values Writes set values Resolution selection to (See table.) Switches set values Writes set values Forward direction = CW is forward, setting = CCW is forward Switches set values Writes set values Speed loop gain setting to F Switches set values Writes set values Feed forward gain setting to F ( h/lsb) Switches set values Writes set values S-shape filter setting to F Switches set values Writes set values Jog operation speed to F ( min - /LSB) Switches set values Writes set values Jog operation Forward direction Reverse direction operation operation Changed values for modes to are enabled upon restart. Changed values for modes to are enabled immediately. The mode number switches to only when the servo is ON. Table Driver status and corresponding DATA parameters when MODE parameter is. Displayed Displayed Driver status data data Driver status Servo OFF Homing mode error Figure- pattern Servo ON A Command pulse error Low voltage error b Overcurrent (motor winding detection) Overvoltage error C Wrap around Regenerative voltage error d Push operation error Driver overheat error E Encoder disconnection error Motor overheat error F Initialization error Overload stop error H Overcurrent (bus current detection) Positional deviation error L Nonvolatile memory error Servo error Table Motor selection Set value Motor model number Set value Motor model number PBM PBM PBM PBM PBM PBM PBM Table Resolution selection (P/R) Set value Resolution Set value Resolution Electronic gear ratios are set automatically. Options DC Input Drivers / Motors DC Input Drivers / Motors DC Input Drivers / Motors DC Input Set Models AC Input Set Models Type R Multi-axis Type E Multi-axis EtherCAT interface Type P Multi-axis Type M Type P

26 AC Input Set Models Type R / Type P Standard model RoHS Size Motor size mm sq. mm sq. mm sq. Motor length. mm. mm. mm. mm mm Motor model number PBMFXK-M PBMFXK-M PBMFXK-M PBMFXK-M PBMFXK-M Type R set model number PBAR PBAR PBAR PBAR PBAR Compatible driver model number PBAR PBAR PBAR PBAR PBAR Type R set model number PBAR PBAR PBAR PBAR PBAR Compatible driver model number PBAR PBAR PBAR PBAR PBAR Type P set model number PBAP PBAP PBAP PBAP PBAP Compatible driver model number PBAP PBAP PBAP PBAP PBAP Type P set model number PBAP PBAP PBAP PBAP PBAP Compatible driver model number PBAP PBAP PBAP PBAP PBAP Max. stall torque N m..... Rotor inertia - kg m.... Allowable thrust load N... Allowable radial load * N Motor mass kg..... Characteristics diagram Maintain motor surface temperature at C or lower while in use. * The load point is at the end of the output shaft. Characteristics diagram Torque VAC/ VAC Power supply current Single-phase VAC Single-phase VAC -phase VAC Motor model number PBMFXK-M Motor model number PBMFXK-M Motor model number PBMFXK-M Speed (min - ).... Speed (min - )..... Speed (min - ) Motor model number PBMFXK-M Motor model number PBMFXK-M Speed (min - ) Speed (min - ) System Configuration Diagram pp., Set Model Configurations pp., Driver Dimensions pp., Motor Dimensions pp. to Data for the above characteristics is based on SANYO DENKI s internal measurement conditions. Depending on conditions such as machine precision, driving torque may vary as well.

27 Size Low-backlash gear model Motor size Motor + gear length mm sq.. mm Motor model number PBMFGAK-M PBMFGBK-M PBMFGEK-M PBMFGGK-M PBMFGJK-M Type R set model number PBAR-C. PBAR-C. PBAR-C PBAR-C PBAR-C Compatible driver model number PBAR PBAR PBAR PBAR PBAR Type R set model number PBAR-C. PBAR-C. PBAR-C PBAR-C PBAR-C Compatible driver model number PBAR PBAR PBAR PBAR PBAR Type P set model number PBAP-C. PBAP-C. PBAP-C PBAP-C PBAP-C Compatible driver model number PBAP PBAP PBAP PBAP PBAP Type P set model number PBAP-C. PBAP-C. PBAP-C PBAP-C PBAP-C Compatible driver model number PBAP PBAP PBAP PBAP PBAP Allowable torque N m..... Rotor inertia - kg m..... Gear ratio :. :. : : : Backlash deg. or less..... Allowable speed min - Rotation direction Relative to command direction Forward Forward Forward Reverse Reverse Allowable thrust load N Allowable radial load * N Motor mass kg..... Characteristics diagram Maintain motor surface temperature at C or lower while in use. * When load is applied at / length from output shaft end. Characteristics diagram Allowable torque VAC/ VAC Power supply current Single-phase VAC Single-phase VAC Motor model number PBMFGAK-M Output speed (min - ) Input speed (min - ) Motor model number PBMFGGK-M Output speed (min - ) Input speed (min - ) Motor model number PBMFGBK-M Output speed (min - ) Input speed (min - ) Motor model number PBMFGJK-M Output speed (min - ) Input speed (min - ) phase VAC RoHS Motor model number PBMFGEK-M Output speed (min - ) Input speed (min - ) System Configuration Diagram pp., Set Model Configurations pp., Driver Dimensions pp., Motor Dimensions pp. to When using a motor with low-backlash gear, exceeding the allowable torque might damage the gear. Carefully select products so that the configured system can operate within the specified limit value. Data for the above characteristics is based on SANYO DENKI s internal measurement conditions. Depending on conditions such as machine precision, driving torque may vary as well. AC Input Set Models Type R Options DC Input Drivers / Motors DC Input Drivers / Motors DC Input Drivers / Motors DC Input Set Models AC Input Set Models Type R Multi-axis Type E Multi-axis EtherCAT interface Type P Multi-axis Type M Type P

28 AC Input Set Models Type R / Type P Low-backlash gear model RoHS Size Motor size Motor + gear length mm sq.. mm Motor model number PBMFGAK-M PBMFGBK-M PBMFGEK-M PBMFGGK-M PBMFGJK-M Type R set model number PBAR-C. PBAR-C. PBAR-C PBAR-C PBAR-C Compatible driver model number PBAR PBAR PBAR PBAR PBAR Type R set model number PBAR-C. PBAR-C. PBAR-C PBAR-C PBAR-C Compatible driver model number PBAR PBAR PBAR PBAR PBAR Type P set model number PBAP-C. PBAP-C. PBAP-C PBAP-C PBAP-C Compatible driver model number PBAP PBAP PBAP PBAP PBAP Type P set model number PBAP-C. PBAP-C. PBAP-C PBAP-C PBAP-C Compatible driver model number PBAP PBAP PBAP PBAP PBAP Allowable torque N m... Rotor inertia - kg m..... Gear ratio :. :. : : : Backlash deg. or less..... Allowable speed min - Rotation direction Relative to command direction Forward Forward Reverse Reverse Reverse Allowable thrust load N Allowable radial load * N Motor mass kg..... Characteristics diagram Maintain motor surface temperature at C or lower while in use. * When load is applied at / length from output shaft end. Characteristics diagram Allowable torque VAC/ VAC Power supply current Single-phase VAC Single-phase VAC -phase VAC Motor model number PBMFGAK-M Motor model number PBMFGBK-M Motor model number PBMFGEK-M..... Output speed (min - ) Output speed (min - ) Output speed (min - ) Input speed (min - ) Input speed (min - ) Input speed (min - ) Motor model number PBMFGGK-M Motor model number PBMFGJK-M Output speed (min - ) Output speed (min - ) Input speed (min - ) Input speed (min - ) System Configuration Diagram pp., Set Model Configurations pp., Driver Dimensions pp., Motor Dimensions pp. to When using a motor with low-backlash gear, exceeding the allowable torque might damage the gear. Carefully select products so that the configured system can operate within the specified limit value. Data for the above characteristics is based on SANYO DENKI s internal measurement conditions. Depending on conditions such as machine precision, driving torque may vary as well.

29 Size Harmonic gear model Motor size mm sq. mm sq. Motor + gear length. mm. mm Motor model number PBMFHJK-M PBMFHLK-M PBMFHMK-M PBMFHLK-M PBMFHMK-M Type R set model number PBAR-H PBAR-H PBAR-H PBAR-H PBAR-H Compatible driver model number PBAR PBAR PBAR PBAR PBAR Type R set model number PBAR-H PBAR-H PBAR-H PBAR-H PBAR-H Compatible driver model number PBAR PBAR PBAR PBAR PBAR Type P set model number PBAP-H PBAP-H PBAP-H PBAP-H PBAP-H Compatible driver model number PBAP PBAP PBAP PBAP PBAP Type P set model number PBAP-H PBAP-H PBAP-H PBAP-H PBAP-H Compatible driver model number PBAP PBAP PBAP PBAP PBAP Allowable torque N m... Allowable instantaneous N m.. torque Rotor inertia - kg m..... Gear ratio : : : : : Hysteresis loss Arc min or less... Lost motion Arc min. to (at ±. N m) RoHS. to. (at ±. N m) Allowable speed min - Rotation direction Relative to command direction Reverse Reverse Reverse Reverse Reverse Allowable thrust load N Allowable radial load * N Motor mass kg..... Characteristics diagram Maintain motor surface temperature at C or lower while in use. * When load is applied at / length from output shaft end. Characteristics diagram Allowable torque Single-phase VAC, Single/-phase VAC Allowable instantaneous torque Single-phase VAC, Single/-phase VAC Power supply current Single-phase VAC Single-phase VAC Motor model number PBMFHJK-M Output speed (min - ) Input speed (min - ) Motor model number PBMFHLK-M Output speed (min - ) Input speed (min - ) Output speed (min - ) -phase VAC Motor model number PBMFHLK-M Input speed (min - ) Output speed (min - ) Input speed (min - ) Motor model number PBMFHMK-M Motor model number PBMFHMK-M Output speed (min - ) Input speed (min - ) System Configuration Diagram pp., Set Model Configurations pp., Driver Dimensions pp., Motor Dimensions pp. to When using a motor with harmonic gear, exceeding the allowable instantaneous torque might damage the gear. Carefully select products so that the configured system can operate within the specified limit value. Data for the above characteristics is based on SANYO DENKI s internal measurement conditions. Depending on conditions such as machine precision, driving torque may vary as well. AC Input Set Models Type R Options DC Input Drivers / Motors DC Input Drivers / Motors DC Input Drivers / Motors DC Input Set Models AC Input Set Models Type R Multi-axis Type E Multi-axis EtherCAT interface Type P Multi-axis Type M Type P

30 AC Input Set Models Type R / Type P Electromagnetic brake model RoHS Size Motor size mm sq. mm sq. Motor + brake length. mm. mm. mm Motor model number PBMFCK-M PBMFCK-M PBMFCK-M Type R set model number PBAR-B PBAR-B PBAR-B Compatible driver model number PBAR PBAR PBAR Type R set model number PBAR-B PBAR-B PBAR-B Compatible driver model number PBAR PBAR PBAR Type P set model number PBAP-B PBAP-B PBAP-B Compatible driver model number PBAP PBAP PBAP Type P set model number PBAP-B PBAP-B PBAP-B Compatible driver model number PBAP PBAP PBAP Max. stall torque N m... Rotor inertia - kg m... Allowable thrust load N... Allowable radial load * N Motor mass kg... Electromagnetic brake Brake type No excitation actuating type No excitation actuating type No excitation actuating type Power supply voltage V VDC±% VDC±% VDC±% Excitation current A... Power consumption W. (at C) (at C) (at C) Static friction torque N m or over... Brake operating time ms or less Brake release time ms or less Characteristics diagram Maintain motor surface temperature at C or lower while in use. * The load point is at the end of the output shaft. Characteristics diagram Torque VAC/ VAC Power supply current Single-phase VAC Single-phase VAC -phase VAC Motor model number PBMFCK-M Motor model number PBMFCK-M Motor model number PBMFCK-M Speed (min - ).... Speed (min - )..... Speed (min - ) System Configuration Diagram pp., Set Model Configurations pp., Driver Dimensions pp., Motor Dimensions pp. to The electromagnetic brake only works when the motor is stopped, and cannot be used for braking. Data for the above characteristics is based on SANYO DENKI s internal measurement conditions. Depending on conditions such as machine precision, driving torque may vary as well.

31 Motor Dimensions Unit: mm Standard model mm sq. mm sq. Ground terminal M. mm sq. ±. max. ± ± Ground terminal M Encoder connector Encoder cable -R. Encoder connector Encoder cable. max..±..± Ground terminal M..±. +.±. ±..±. +.±. L±.±..±. Encoder connector Encoder cable.±.. max. Low-backlash gear model mm sq. mm sq. ±. max. ± Hexagon socket head bolt -M Ground terminal M..±. Encoder connector Encoder cable -R. Encoder connector Encoder cable. max..±. ± Motor cable ±..±. ø-. Motor connector + ø-. ø.±. ø -. ø-. ø -. ±.±. ±. ± ±. ±. ±. ±. Motor connector Motor lead wire UL AWG UL vinyl tube ±. ±. -M. Tapping depth: min. Motor connector Motor lead wire UL AWG UL vinyl tube ±. ±. -ø. +. ±..±..±. L± ± ±. -ø.±..±. Tapping depth:.±. min. Ground terminal M. ±..±. + ø -. ø -. ± ±. Motor connector Motor lead wire UL AWG UL vinyl tube ± ±. ±. ±. -M. +. Tapping depth: -. min. ±. +.±. ±. ø-. ø-. ±. ±. ±.± Motor connector Motor lead wire UL AWG UL vinyl tube.± M. Tapping depth: min. Motor model number Motor length (L) PBMFXK-M. PBMFXK-M. Motor model number Motor length (L) PBMFXK-M. PBMFXK-M AC Input Set Models Type R Options DC Input Drivers / Motors DC Input Drivers / Motors DC Input Drivers / Motors DC Input Set Models AC Input Set Models Type R Multi-axis Type E Multi-axis EtherCAT interface Type P Multi-axis Type M Type P

32 AC Input Set Models Type R / Type P Motor Dimensions Unit: mm Harmonic gear model mm sq. ±. max. Encoder connector Encoder cable -R. ±. (.) Ground terminal M Key specifications ±. ø-. -. ø±. ± Motor connector Motor lead wire UL AWG UL vinyl tube -M. Tapping depth: min..±. (). ± ø ø ø.±. +.. ±. ±. -ø. mm sq. ± Hexagon socket head bolt -M Ground terminal M. Encoder connector Encoder cable.±.. max. Key specifications () -. ø-. Key ø±..-. ± Motor connector Motor lead wire UL AWG UL vinyl tube ±..±..±. ±. ø-. ±. -ø. Electromagnetic brake model mm sq. ±. max. Encoder connector Encoder cable -R. Brake lead wire UL AWG Ground terminal M..±. + ø-. ± Motor connector Motor lead wire UL AWG UL vinyl tube ø-. ±. ±..±..±..±. ±. ±. -M. Tapping depth: min. mm sq. ± Encoder connector Encoder cable. max. Brake lead wire UL AWG ±..±. + ø-. ± Motor connector Motor lead wire UL AWG UL vinyl tube Ground terminal M..±. ø-. ±. ±. Motor model number Motor length (L) L±..±. ±. ±. ±. +. -ø. PBMFCK-M. PBMFCK-M. Connector specifications Encoder connector Housing: - Terminal: - Manufacturer: Tyco Electronics Japan G.K. Motor connector Housing: - Terminal: - Manufacturer: Tyco Electronics Japan G.K.

33 Motor Specifications General specifications Motor model number PBMF K PBM F K PBM F K Type Operating ambient temperature Storage ambient temperature Operating ambient humidity Storage ambient humidity Operation altitude Vibration resistance Impact resistance S (continuous operation) - to + C ( to C for harmonic gear model) - to + C % RH max.: Under C % RH max.: Under C, % RH max.: Under C, % RH max.: Under C (non-condensing) m or less above sea level Tested with frequency to Hz, total amplitude. mm ( to Hz), acceleration m/s ( to Hz), sweep time min/cycle, sweeps in each X, Y and Z direction. Tested with m/s of acceleration for ms with half-sine wave applying three times for X, Y and Z axes each, times in total. Thermal class B (+ C) (UL: A) B (+ C) (UL: A) F (+ C) Dielectric strength At normal temperature and humidity, no failure with VAC at / Hz applied for one minute between motor winding and frame. Insulation resistance At normal temperature and humidity, not less than MΩ when measured with a VDC megohmmeter between motor winding and frame. Protection grade IP Thrust play *. mm max. (load: N). mm max. (load: N) Radial play **. mm max. (load: N) Shaft runout. mm Concentricity of mounting pilot relative to shaft ø. mm Perpendicularity of mounting surface relative to shaft. mm. mm Motor mounting orientation Can be mounted vertically or horizontally Resolution Number of channels CH *** Output method Encoder Max. response frequency Power supply voltage Current consumption = P/R Line driver (C-MOS) khz to VDC ma max. The user should not test the insulation resistance or insulation withstand voltage because capacitors are inserted into the encoder output ground line and the frame line to prevent noise. Take radiation and drive conditions into consideration to maintain motor surface temperature at C or lower while in use. * Thrust play: Displacement in shaft position in the axial direction when a load is applied to the motor shaft in the axial direction. ** Radial play: Displacement in shaft position in the radial direction when a load is applied in the vertical direction to the mounting surface of shaft at point / the shaft length from the end of the motor shaft. *** The Z channel outputs pulses. It is designed for use with drivers listed in this catalog. Safety standards CE (TÜV) UL Directives Applicable standard Low-voltage directives (//EC) EN -, EN - Acquired standards Applicable standard File no. UL UL -, UL - E (PRHZ) cul CSA C. No. E (PRHZ) AC Input Set Models Type R Options DC Input Drivers / Motors DC Input Drivers / Motors DC Input Drivers / Motors DC Input Set Models AC Input Set Models Type R Multi-axis Type E Multi-axis EtherCAT interface Type P Multi-axis Type M Type P

34 DC Input Set Models Type M DC Input Set Models Type M Multi-input type (RS-+Parallel I/O, Pulse Train Input selectable) Set configuration items RoHS Motor Motor size: mm sq., mm sq., mm sq. Driver / Cable Driver / cable set model number: PBDM-S Set Model Configuration Driver Model number: PBDM- Power cable ( m) Model number: PBCPA I/O signal cable ( m, shielded) Model number: PBCSC DIP switches are used to select between RS-+Parallel I/O and pulse train (Type M). Set Model Configurations p. Driver Dimensions p. Driver Specifications p. Specifications / Characteristics Diagram pp. to Motor Dimensions pp. to Motor Specifications p. System Configuration Diagram Circuit breaker Protects the power line. Cuts off circuit in the event of overcurrent. PC interface software Communications converter unit Host devices PLC pulse board Electromagnetic contactor Switches driver power on/off. Use together with a surge protector. * The converter is required for USB/RS- conversion. CN RS- (Half-duplex) Communication cable To another driver (When using with RS-+Parallel I/O) Noise filter Filters out incoming noise from power line. CN CN CN I/O signal cable Encoder extension cable Switching power supply Converts power supply from AC to DC power. Power cable CN CN Motor extension cable To be provided by the customer. to

35 Set Model Configurations Model Standard model Low-backlash gear model Spur gear model Harmonic gear model Electromagnetic brake model Motor external dimensions Flange size Motor length (mm) Max. stall torque (Allowable torque* for models with gear) (N m) Allowable speed (min - ) Gear ratio Backlash (deg.) Set model Set configuration items Motor model number Page Driver / cable set model number Specifications Motor A driver, power cable, and I / dimensions O signal cable are included... PBDM PBMFXE PBDM-S p. p... PBDM PBMFXE PBDM-S p. p... PBDM PBMFXE PBDM-S p. p... PBDM PBMFXE PBDM-S p. p... PBDM PBMFXE PBDM-S p. p... :.. PBDM-C. PBMFGAE PBDM-S p. p... :.. PBDM-C. PBMFGBE PBDM-S p. p... :. PBDM-C PBMFGEE PBDM-S p. p... :. PBDM-C PBMFGGE PBDM-S p. p... :. PBDM-C PBMFGJE PBDM-S p. p... :.. PBDM-C. PBMFGAE PBDM-S p. p... :.. PBDM-C. PBMFGBE PBDM-S p. p.. :. PBDM-C PBMFGEE PBDM-S p. p... :. PBDM-C PBMFGGE PBDM-S p. p.. :. PBDM-C PBMFGJE PBDM-S p. p... :. PBDM-G. PBMFGAE PBDM-S p. p... :. PBDM-G. PBMFGBE PBDM-S p. p... : PBDM-G PBMFGEE PBDM-S p. p... :. PBDM-G PBMFGGE PBDM-S p. p... :. PBDM-G PBMFGJE PBDM-S p. p... :. PBDM-G PBMFGLE PBDM-S p. p.. (.) : PBDM-H PBMFHLE PBDM-S p. p. (.) : PBDM-H PBMFHME PBDM-S p. p.. (.) : PBDM-H PBMFHJE PBDM-S p. p.. (.) : PBDM-H PBMFHLE PBDM-S p. p. () : PBDM-H PBMFHME PBDM-S p. p... () : PBDM-H PBMFHLE PBDM-S p. p.. () : PBDM-H PBMFHME PBDM-S p. p... PBDM-B PBMFCE PBDM-S p. p... PBDM-B PBMFCE PBDM-S p. p.. PBDM-B PBMFCE PBDM-S p. p... PBDM-B PBMFCE PBDM-S p. p... PBDM-B PBMFCE PBDM-S p. p. The following items are included in the driver / cable set models. Driver Model number: PBDM- Power cable ( m) Model number: PBCPA I/O signal cable ( m, shielded) Model number: PBCSC * Numbers in parenthesis following allowable torques indicate allowable instantaneous torques. Options and Peripherals Product names Standard model number (length) Connector set model number Extendable max. length Remarks Power cable PBCPA ( m) PBCPA m p. Motor extension cable PBCMA ( m) PBCMA m An extension cable is required when the distance between the motor and driver p. exceeds cm. Encoder extension cable PBCEA ( m) PBCEA m An extension cable is required when the distance between the motor and driver p. exceeds cm. I/O signal cable (unshielded) PBCSA ( m) PBCSA m Select the cable depending on peripheral noise. p. I/O signal cable (shielded) PBCSC ( m) PBCSA m Used for pulse input p. Communication cable (between drivers) PBCCA ( cm) PBCCA m Communications converter unit PBFM-U PC interface software SPBAW- Used when multiple axes are connected in a daisy chain configuration for communication. Not for use with pulse train input. A set of a converter (USB/RS-) and a cable Software for checking operation and parameter setting Page p. p. p. Options DC Input Drivers / Motors DC Input Drivers / Motors DC Input Drivers / Motors DC Input Set Models AC Input Set Models AC Input Set Models Type R Multi-axis Type E Multi-axis EtherCAT interface Type P Multi-axis Type M Type P Type R

36 CLOSED LOOP STEPPING SYSTEMS Model No. PB DC Input Set Models Type M Driver Dimensions Unit: mm Driver types and main circuit power voltage variation In addition to the set model driver PBDM, the dual power supply type driver PBDM has two separated power supplies in main and control circuits is also available for sale individually. ø max. Note that VDC main circuit supply are not available for some driver and motor combinations as in the table below. () RSW CN CN CN CN CN CN mm sq. sized motor (of all models) Electromagnetic (EM) brake model motor PBDM (Single power supply type) Sold either in a set model or individually [Main circuit power supply] Only VDC power supply can be used [Main circuit power supply] Only VDC power supply can be used PBDM (Dual power supply type) Sold individually [Main circuit power supply] Only VDC power supply can be used [Main circuit power supply] Either or VDC power supply can be used Driver Specifications General specifications Basic specifications Functions I/O signal Model number PBDM (Single power supply type), PBDM (Dual power supply type) Interface RS-+Parallel I/O (DIP switch SW ON) Pulse train input (DIP switch SW=OFF) Single power supply type: / VDC ±% ( mm sq. motors and EM brake model motors can only be used with VDC main circuit power supply. To power EM brake model Input power supply motors by VDC, please purchase dual power type driver.) Dual power supply type: (Main circuit power supply) / VDC ±% (Only VDC available when used with mm sq. motors) (Control circuit power supply) VDC ±% Control method PWM control: Sinusoidal drive method Power supply current Main circuit input current: A Control circuit input current:. A (for EM brake model motors),. A (for the rest) Protection class Class III Operation environment Pollution degree: Operating ambient temperature to + C Storage temperature to + C Operating ambient humidity % RH max. (non-condensing) Storage humidity % RH max. (non-condensing) Operation altitude m or less above sea level Vibration resistance Tested under the following conditions: Acceleration: m/s, Frequency range: to Hz, Axes of vibration: X, Y, Z ( hours each) Impact resistance m/s Dielectric strength No error observed when. kvac is applied between power input terminal and frame for one minute. Insulation resistance MΩ min. when measured with a VDC megohmmeter between input terminal and frame. Mass. kg Rotational speed to min - Command resolution (P/R),,,,, Holding brake control function Built in (however, can not be used for the single power supply type with VDC input) Protection functions Power voltage error, regenerative voltage error, overspeed, encoder disconnection, CPU error, overload stop, excessive positional deviation, homing mode error, nonvolatile memory error, initialization error (power line disconnection) Display / Indication -segment LED display () Normal drive (relative motion, absolute motion), Homing mode operation, module operation, Operating functions push operation, teaching function Point function: Point Normal drive, Homing mode operation Program function: PRG Line PRG Line PRG Line Rotary switch Node address setting ( to F) Gain setting DIP switch SW: Interface selection (ON=RS-, OFF=Pulse) SW: Terminating resistor setting (ON=with terminating resistor) Function (Normal Mode) ALMCLR Pulse input, STOP, ALMCLR, Limit General-purpose input (select from Point, SELECT, General-purpose input (select from Gain selection, EXE, ST, HOME, Limit, Pause, Inter Lock, Jog, and Deviation clear, HOME, Brake release, and Current STOP.) limitation) (Teaching Mode) STOP, JOG, Point, PWR Environment Input signal Output signal Electrical specifications Function Input signal: to VDC (Normal Mode) ALM General-purpose output (select from END, Ack, Busy, STEND, END, HEND, SON monitor, ZONE, MSTOP, Input monitor, Encoder output, In-Position, MODE monitor) (Teaching Mode) PEND, HEND, Jog MON, Mode MON, SON MON Pulse input: Photocoupler to VDC (input resistance Ω) Input signal: to VDC ALM, In-Position, Homing mode operation complete, Encoder output, SON monitor, STOP monitor Electrical specifications Output signal: Open collector to VDC, ma or less Output signal: Open collector to VDC, ma or less * The encoder Z-phase signal is only output at min - or less. * The encoder Z-phase signal is only output at min - or less. Communication specifications RS- Start / stop synchronization, half-duplex communication Baud rate,,, bps bps Safety standards CE (TÜV) UL Directives Standard Low-voltage directives EN - EMC directives EN, EN --, EN -- Acquired standards Applicable standard File no. UL cul UL C E

37 External Wiring Diagram RS-+Parallel I/O Main circuit power supply / VDC * Control circuit power supply VDC Host controller/pcif NC NC GND Normal Teaching Spare Mode Mode Terminal function Terminal function +COM IN(EXE) / PWR IN(Point) / Point IN(Point) / Point IN(Point) / Point IN(Point) / Point IN(Point) / Point IN(HOME) / Jog+ IN(STOP) / STOP ALM / ALM NC MODE Brake NC OUT(PEND) / PEND OUT(PEND) / PEND OUT(PEND) / PEND OUT(PEND) / PEND OUT(PEND) / PEND OUT(HOME END) / HOME END OUT(In-position) / Jog MON OUT(MODE MON) / MODE MON OUT(SON MON) / SON MON User device Spare -COM -COM DIP switch SW=ON CN CN, GND Vcc CN Driver PBDM Pow GND CN A A B B Z Z V G NC NC FG NC Holding brake ( V) Encoder Motor Shielded twisted-pair cable Pulse train input DIP switch SW=OFF User device Main circuit power supply / VDC * Control circuit power supply VDC PCIF NC NC GND NC Reserved Reserved NC CCW Pulse/Pulse CW Pulse/Direction +COM CCW Limit CW Limit IN(HOME) IN(Deviation CLR) IN(Gain Select) IN Gain Select IN(Powe Limit) STOP ALMCLR ALM HOME END SON MON STOP MON Reserved Reserved In-Position ENC/Phase origin ENA ENB -COM -COM CN CN, GND Vcc CN Driver PBDM Pow GND CN A A B B Z Z V G NC NC FG NC ALMCLR / Jog- Terminating resistor DIP SW- CN A A BB BRK+ BRK- Terminating resistor DIP SW- CN A A B B BRK+ BRK- Holding brake ( V) Encoder Motor Shielded twisted-pair cable Options DC Input Drivers / Motors DC Input Drivers / Motors DC Input Drivers / Motors DC Input Set Models AC Input Set Models AC Input Set Models Type R Multi-axis Type E Multi-axis EtherCAT interface Type P Multi-axis Type M Type P Type R * Only with driver model PBDM (dual power type), connect to VDC control circuit supply connector.

38 DC Input Set Models Type M Wiring Connector Models and Compatible Cables Application I/O signals Encoder Motor Power supply Communications Connector no. CN CN CN CN CN CN Description Manufacturer model number Plug (driver side) E--LD Receptacle E--D Tab header (driver side) - Receptacle housing -- Receptacle contact - (single) - (linked) Tab housing (for relay) -- Tab contact - (single) (for relay) - (linked) Tab header (driver side) - Receptacle housing -- Receptacle contact - (single) - (linked) Tab housing (for relay) -- Tab contact - (single) (for relay) - (linked) Tab header (driver side) BPS-VH Receptacle housing VHR-N Receptacle contact SVH-T-P. Post with base (driver side) SB-PADSS-GW Housing PADP-V--S Contact SPH-T-P.L Compatible cables Maximum extension length Manufacturer AWG (/.) m KEL CORPORATION AWG, Shielded twisted pair AWG to Discrete line AWG to Discrete line AWG to Shielded twisted pair Refer to the manufacturer s catalog for detailed connector specifications. If the maximum extended length is exceeded, take necessary countermeasures to prevent malfunctions due to line noise. The relay connector is used to connect to the motor or encoder side connector when creating an extension cable. m m Tyco Electronics Japan G.K. Tyco Electronics Japan G.K. m J.S.T. Mfg. Co.,Ltd. m J.S.T. Mfg. Co.,Ltd. Driver Components and Functions DIP switches DIP switches Switches for two functions: for selecting interface type, and for setting terminating resistor status. Change switch settings while the power supply is off. Settings cannot be changed while the power is on. Rotary switch O N DSW No Factory setting Function ON OFF ON Interface type RS-+Parallel I/O ON Terminating resistor setting With terminating resistor Pulse train input No terminating resistor When the DSW is ON (RS-+Parallel I/O is selected) and you want to connect multiple nodes in daisy chain configuration, set ON only for the endpoint node and OFF for the rest. (When the pulse train input is selected, set all the nodes to ON.) Rotary switch Two types of parameters can be set, where the types depend on DSW setting (interface types). DSW Setting Rotary switch Function ON (RS-+Parallel I/O) Node address setting (setting range: to F) * Sets the node address for when multiple axes are connected. OFF (pulse train input) Speed loop gain setting (setting range: to F) The factory setting is.

39 Size Standard model Motor size mm sq. mm sq. mm sq. Motor length. mm. mm. mm. mm. mm Motor model number PBMFXE PBMFXE PBMFXE PBMFXE PBMFXE Set model number PBDM PBDM PBDM PBDM PBDM Compatible driver model number PBDM PBDM PBDM PBDM PBDM Max. stall torque N m..... Rotor inertia - kg m..... Allowable thrust load N..... Allowable radial load * N Motor mass kg..... Characteristics diagram Maintain motor surface temperature at C or lower while in use. * When load is applied at / length from output shaft end. Characteristics diagram Torque VDC VDC Power supply current VDC Motor model number PBMFXE..... Speed (min - ) Motor model number PBMFXE..... Speed (min - ) VDC Motor model number PBMFXE..... Speed (min - ) Motor model number PBMFXE..... Speed (min - ) RoHS Motor model number PBMFXE..... Speed (min - ) Options DC Input Drivers / Motors DC Input Drivers / Motors DC Input Drivers / Motors DC Input Set Models AC Input Set Models AC Input Set Models Type R Multi-axis Type E Multi-axis EtherCAT interface Type P Multi-axis Type M Type P Type R System Configuration Diagram p. Set Model Configurations p. Driver Dimensions p. Motor Dimensions pp. to Data for the above characteristics is based on SANYO DENKI s internal measurement conditions. Depending on conditions such as machine precision, driving torque may vary as well.

40 DC Input Set Models Type M Low-backlash gear model RoHS Size Motor size Motor + gear length mm sq.. mm Motor model number PBMFGAE PBMFGBE PBMFGEE PBMFGGE PBMFGJE Set model number PBDM-C. PBDM-C. PBDM-C PBDM-C PBDM-C Compatible driver model number PBDM PBDM PBDM PBDM PBDM Allowable torque N m..... Rotor inertia - kg m..... Gear ratio :. :. : : : Backlash deg. or less..... Allowable speed min - Rotation direction Relative to command direction Forward Forward Forward Reverse Reverse Allowable thrust load N Allowable radial load * N Motor mass kg..... Characteristics diagram Maintain motor surface temperature at C or lower while in use. * When load is applied at / length from output shaft end. Characteristics diagram Allowable torque VDC VDC VDC/ VDC Power supply current VDC VDC Motor model number PBMFGAE Motor model number PBMFGBE Motor model number PBMFGEE Output speed (min - ).... Output speed (min - ).... Output speed (min - ) Input speed (min - ) Input speed (min - ) Input speed (min - ) Motor model number PBMFGGE Motor model number PBMFGJE..... Output speed (min - )..... Output speed (min - ) Input speed (min - ) Input speed (min - ) System Configuration Diagram p. Set Model Configurations p. Driver Dimensions p. Motor Dimensions pp. to When using a motor with low-backlash gear, exceeding the allowable torque might damage the gear. Carefully select products so that the configured system can operate within the specified limit value. Data for the above characteristics is based on SANYO DENKI s internal measurement conditions. Depending on conditions such as machine precision, driving torque may vary as well.

41 Size Low-backlash gear model Motor size Motor + gear length mm sq.. mm Motor model number PBMFGAE PBMFGBE PBMFGEE PBMFGGE PBMFGJE Set model number PBDM-C. PBDM-C. PBDM-C PBDM-C PBDM-C Compatible driver model number PBDM PBDM PBDM PBDM PBDM Allowable torque N m... Rotor inertia - kg m..... Gear ratio :. :. : : : Backlash deg. or less..... Allowable speed min - Rotation direction Relative to command direction Forward Forward Reverse Reverse Reverse Allowable thrust load N Allowable radial load * N Motor mass kg..... Characteristics diagram Maintain motor surface temperature at C or lower while in use. * When load is applied at / length from output shaft end. Characteristics diagram Allowable torque VDC VDC VDC/ VDC Power supply current VDC Motor model number PBMFGAE..... Output speed (min - ) Input speed (min - ) Motor model number PBMFGGE Output speed (min - ) Input speed (min - ) Motor model number PBMFGBE Output speed (min - ) Input speed (min - ) Motor model number PBMFGJE Output speed (min - ) Input speed (min - ) VDC RoHS Motor model number PBMFGEE Output speed (min - ) Input speed (min - ) Options DC Input Drivers / Motors DC Input Drivers / Motors DC Input Drivers / Motors DC Input Set Models AC Input Set Models AC Input Set Models Type R Multi-axis Type E Multi-axis EtherCAT interface Type P Multi-axis Type M Type P Type R System Configuration Diagram p. Set Model Configurations p. Driver Dimensions p. Motor Dimensions pp. to When using a motor with low-backlash gear, exceeding the allowable torque might damage the gear. Carefully select products so that the configured system can operate within the specified limit value. Data for the above characteristics is based on SANYO DENKI s internal measurement conditions. Depending on conditions such as machine precision, driving torque may vary as well.

42 DC Input Set Models Type M Spur gear model RoHS Size Motor size Motor + gear length mm sq.. mm Motor model number PBMFGAE PBMFGBE PBMFGEE PBMFGGE PBMFGJE PBMFGLE Set model number PBDM-G. PBDM-G. PBDM-G PBDM-G PBDM-G PBDM-G Compatible driver model number PBDM PBDM PBDM PBDM PBDM PBDM Allowable torque N m Rotor inertia - kg m Gear ratio :. :. : : : : Backlash deg. or less... Allowable speed min - Rotation direction Relative to command direction Forward Forward Reverse Forward Forward Forward Allowable thrust load N Allowable radial load * N Motor mass kg Characteristics diagram Maintain motor surface temperature at C or lower while in use. * When load is applied at / length from output shaft end. Characteristics diagram Allowable torque VDC VDC VDC/ VDC Power supply current VDC VDC Motor model number PBMFGAE Motor model number PBMFGBE Motor model number PBMFGEE Output speed (min - ).... Output speed (min - ).... Output speed (min - ) Input speed (min - ) Input speed (min - ) Input speed (min - ) Motor model number PBMFGGE Motor model number PBMFGJE Motor model number PBMFGLE Output speed (min - ).... Output speed (min - ).... Output speed (min - ) Input speed (min - ) Input speed (min - ) Input speed (min - ) System Configuration Diagram p. Set Model Configurations p. Driver Dimensions p. Motor Dimensions pp. to When using a motor with spur gear, exceeding the allowable torque might damage the gear. Carefully select products so that the configured system can operate within the specified limit value. Data for the above characteristics is based on SANYO DENKI s internal measurement conditions. Depending on conditions such as machine precision, driving torque may vary as well.

43 Size Harmonic gear model Motor size mm sq. (angular dimension mm sq.) mm sq. Motor + gear length mm mm Motor model number PBMFHLE PBMFHME PBMFHJE PBMFHLE PBMFHME Set model number PBDM-H PBDM-H PBDM-H PBDM-H PBDM-H Compatible driver model number PBDM PBDM PBDM PBDM PBDM Allowable torque N m... Allowable instantaneous N m.... torque Rotor inertia - kg m..... Gear ratio : : : : : Hysteresis loss Arc min or less... Lost motion Arc min. to (at ±. N m). to (at ±. N m) Allowable speed min - Rotation direction Relative to command direction Reverse Reverse Reverse Reverse Reverse Allowable thrust load N Allowable radial load * N Motor mass kg..... Characteristics diagram Maintain motor surface temperature at C or lower while in use. * When load is applied at / length from output shaft end. Characteristics diagram Allowable torque VDC VDC VDC/ VDC Allowable instantaneous torque VDC VDC VDC/ VDC Power supply current VDC VDC Motor model number PBMFHLE Output speed (min - ) Input speed (min - ) Motor model number PBMFHLE Output speed (min - ) Input speed (min - ) Motor model number PBMFHME Output speed (min - ) Input speed (min - ) Motor model number PBMFHME Output speed (min - ) Input speed (min - ) Output speed (min - ) RoHS Motor model number PBMFHJE Input speed (min - ) Options DC Input Drivers / Motors DC Input Drivers / Motors DC Input Drivers / Motors DC Input Set Models AC Input Set Models AC Input Set Models Type R Multi-axis Type E Multi-axis EtherCAT interface Type P Multi-axis Type M Type P Type R System Configuration Diagram p. Set Model Configurations p. Driver Dimensions p. Motor Dimensions pp. to When using a motor with harmonic gear, exceeding the allowable instantaneous torque might damage the gear. Carefully select products so that the configured system can operate within the specified limit value. Data for the above characteristics is based on SANYO DENKI s internal measurement conditions. Depending on conditions such as machine precision, driving torque may vary as well.

44 DC Input Set Models Type M Harmonic gear model RoHS Size Motor size Motor + gear length mm sq.. mm Motor model number PBMFHLE PBMFHME Set model number PBDM-H PBDM-H Compatible driver model number PBDM PBDM Allowable torque N m. Allowable instantaneous N m torque Rotor inertia - kg m.. Gear ratio : : Hysteresis loss Arc min or less Lost motion Arc min. to (at ±. N m). to. (at ±. N m) Allowable speed min - Rotation direction Relative to command direction Reverse Reverse Allowable thrust load N Allowable radial load * N Motor mass kg.. Characteristics diagram Maintain motor surface temperature at C or lower while in use. * When load is applied at / length from output shaft end. Characteristics diagram Allowable torque VDC VDC VDC/ VDC Allowable instantaneous torque VDC VDC VDC/ VDC Power supply current VDC VDC Motor model number PBMFHLE Motor model number PBMFHME Output speed (min - ) Output speed (min - ) Input speed (min - ) Input speed (min - ) System Configuration Diagram p. Set Model Configurations p. Driver Dimensions p. Motor Dimensions pp. to When using a motor with harmonic gear, exceeding the allowable instantaneous torque might damage the gear. Carefully select products so that the configured system can operate within the specified limit value. Data for the above characteristics is based on SANYO DENKI s internal measurement conditions. Depending on conditions such as machine precision, driving torque may vary as well.

45 Size Electromagnetic brake model Motor size mm sq. mm sq. mm sq. Motor + brake length. mm. mm mm. mm. mm Motor model number PBMFCE PBMFCE PBMFCE PBMFCE PBMFCE Set model number PBDM-B PBDM-B PBDM-B PBDM-B PBDM-B Compatible driver model number PBDM PBDM PBDM PBDM PBDM Max. stall torque N m..... Rotor inertia - kg m..... Allowable thrust load N..... Allowable radial load * N Motor mass kg..... Electromagnetic brake Brake type No excitation actuating type No excitation actuating type No excitation actuating type No excitation actuating type RoHS No excitation actuating type Power supply voltage V VDC±% VDC±% VDC±% VDC±% VDC±% Excitation current A..... Power consumption W... Static friction torque N m or over..... Brake operating time ms or less Brake release time ms or less Characteristics diagram Set model motors (of EM brake model) can t be powered by VDC main circuit power supply. If you would like, please purchase dual power supply type driver PBDM, instead. Maintain motor surface temperature at C or lower while in use. * When load is applied at / length from output shaft end. Characteristics diagram Torque VDC Power supply current VDC Motor model number PBMFCE..... Speed (min - ) Motor model number PBMFCE..... Speed (min - ) Motor model number PBMFCE..... Speed (min - ) Motor model number PBMFCE..... Speed (min - ) Motor model number PBMFCE..... Speed (min - ) Options DC Input Drivers / Motors DC Input Drivers / Motors DC Input Drivers / Motors DC Input Set Models AC Input Set Models AC Input Set Models Type R Multi-axis Type E Multi-axis EtherCAT interface Type P Multi-axis Type M Type P Type R System Configuration Diagram p. Set Model Configurations p. Driver Dimensions p. Motor Dimensions pp. to The electromagnetic brake only works when the motor is stopped, and cannot be used for braking. Data for the above characteristics is based on SANYO DENKI s internal measurement conditions. Depending on conditions such as machine precision, driving torque may vary as well.

46 DC Input Set Models Type M Motor Dimensions Unit: mm Standard model mm sq. Encoder connector Motor connector Brake lead wire UL AWG ± Encoder cable UL vinyl tube ± ±. + ø-. ø-. ±. ±. Motor model number Motor length (L) L± ±. -M.. Tapping depth:. min. ±. ±..±. PBMFXE. PBMFXE. mm sq. ± Encoder connector Encoder cable. max. ± Motor connector Motor lead wire UL AWG UL vinyl tube -R..±. + ø-. ø-. max. max. ±. ±..±.±..±. ±. ±. -M. Tapping depth: min. mm sq. ± Encoder connector Encoder cable. max. ±..±. + ø-. ± max. Motor connector Motor lead wire UL AWG UL vinyl tube max. -.±. L±.±. ø-. ±. ±. ±. ±. ±. -ø. +. Motor model number Motor length (L) PBMFXE. PBMFXE. Low-backlash gear model mm sq. ± Encoder connector Encoder cable -R.. max. ±. + ø -. ø -. ±. ± Motor connector Motor lead wire UL AWG UL vinyl tube max. ±. max ±. ±..±. ± M. Tapping depth: min. mm sq. Hexagon socket head bolt -M ± Encoder connector Encoder cable -.±.. max. ±. + ø-. ø-. ±. ± max. Motor connector Motor lead wire UL AWG UL vinyl tube.± max..±. ±. ±..±. -M Tapping depth: min.

47 Spur gear model mm sq. ± Encoder connector Encoder cable Harmonic gear model mm sq. mm sq. mm sq. Hexagon socket head bolt -M ± ± ± ±. max. Encoder cable ±. Motor connector Motor lead wire UL AWG UL vinyl tube Motor connector Encoder connector Motor lead wire UL AWG UL vinyl tube Encoder connector Encoder cable -R. Encoder connector Encoder cable -.±.. max. ±. max. ± + ±..±. ± ±..±. ø-. + ±. ± ±. ±. -. (.) Key specifications ±. (). ± Key specifications ø-. -. ø-. -. ø ø-. ø ø ().±. ±. -. ø-. ø-. ø.-. Key ±..±..±. ø±..±. ø± ± ø.±. ø±..-. ± max. ±. ±. ±. +.. ±. ±. ±. ±. -M.. Tapping depth:. min. ±. -ø.±. Motor connector Motor lead wire UL AWG UL vinyl tube -M. Tapping depth: min. max. ±. max. -ø. Motor connector Motor lead wire UL AWG UL vinyl tube ±. -ø. Options DC Input Drivers / Motors DC Input Drivers / Motors DC Input Drivers / Motors DC Input Set Models AC Input Set Models AC Input Set Models Type R Multi-axis Type E Multi-axis EtherCAT interface Type P Multi-axis Type M Type P Type R

48 DC Input Set Models Type M Motor Dimensions Unit: mm Electromagnetic brake model mm sq. Motor connector Motor lead wire UL AWG Encoder cable Encoder connector UL vinyl tube Brake lead wire UL AWG ± ±. + ø-. ± L±. ø-. ±. -M.. Tapping depth:. min. ±. ±. ±. ±..±. Motor model number Motor length (L) PBMFCE. PBMFCE. mm sq. ± Encoder connector Encoder cable -R.. max. Brake lead wire UL AWG.±. + ø-. ± Motor connector Motor lead wire UL AWG UL vinyl tube max. max. ø-. ±. ±. ±..±..±. ±. ±. -M. Tapping depth: min. mm sq. ± Encoder connector Encoder cable -.±.. max. Brake lead wire UL AWG ±..±. + ø-. ± max. Motor connector Motor lead wire UL AWG UL vinyl tube ø-. ±. ±. Motor model number Motor length (L) max. L±..±. ±. ±. ±. +. -ø. PBMFCE. PBMFCE. Connector specifications Encoder connector Housing: -- Terminal: - Manufacturer: Tyco Electronics Japan G.K. Connections of encoder side connectors Pin no. Lead wire color Signal name A Blue CHANNEL A B Brown CHANNEL A A Green CHANNEL B B Purple CHANNEL B A White CHANNEL Z B Yellow CHANNEL Z A Red + V B Black V A. B Orange OVER HEAT A Black Shielded B. Encoder cable: UL Motor connector Housing: -- Terminal: - Manufacturer: Tyco Electronics Japan G.K. Connections of motor side connectors Standard model, Low-backlash gear model, Spur gear model, Harmonic gear model Pin no. Lead wire color Signal name A Blue Motor lead wire B Orange Motor lead wire A Red Motor lead wire B Yellow Motor lead wire A. B. Electromagnetic brake model Pin no. Lead wire color Signal name A Blue Motor lead wire B Orange Motor lead wire A Red Motor lead wire B Yellow Motor lead wire A mm sq.: Brown mm sq.: Brown Brake lead wire mm sq.: White B mm sq.: Brown mm sq.: White mm sq.: Black Brake lead wire

49 Motor Specifications General specifications Motor model number PBM F E PBMF E PBM F E PBM F E Type Operating ambient temperature Storage ambient temperature Operating ambient humidity Storage ambient humidity Operation altitude Vibration resistance Impact resistance Thermal class Dielectric strength Insulation resistance Protection grade Thrust play * S (continuous operation) - to + C ( to + C for harmonic gear model) - to + C to % RH to % RH m or less above sea level Tested with frequency to Hz, total amplitude. mm ( to Hz), acceleration m/s ( to Hz), sweep time min/cycle, sweeps in each X, Y and Z direction. Tested with m/s of acceleration for ms with half-sine wave applying three times for X, Y and Z axes each, times in total. B (+ C) At normal temperature and humidity, no failure with VAC at / Hz applied for one minute between motor winding and frame. At normal temperature and humidity, no failure with VAC at / Hz applied for one minute between motor winding and frame. At normal temperature and humidity, not less than MΩ when measured with a VDC megohmmeter between motor winding and frame. IP. mm max. (load:. N). mm max. (load: N). mm max. (load: N) Radial play **. mm max. (load: N) Shaft runout. mm Concentricity of mounting pilot relative to shaft ø. mm Perpendicularity of mounting surface relative to shaft. mm. mm Motor mounting orientation Can be freely mounted vertically or horizontally Encoder Resolution = P/R Number of channels CH *** Output method Max. response frequency Power supply voltage Current consumption Line driver. khz VDC ±% ma max. The user should not test the insulation resistance or insulation withstand voltage because capacitors are inserted into the encoder output ground line and the frame line to prevent noise. Take radiation and drive conditions into consideration to maintain motor surface temperature at C or lower while in use. * Thrust play: Displacement in shaft position in the axial direction when a load is applied to the motor shaft in the axial direction. ** Radial play: Displacement in shaft position in the radial direction when a load is applied in the vertical direction to the mounting surface of shaft at point / the shaft length from the end of the motor shaft. *** The Z channel outputs pulses. It is designed for use with drivers listed in this catalog. Options DC Input Drivers / Motors DC Input Drivers / Motors DC Input Drivers / Motors DC Input Set Models AC Input Set Models AC Input Set Models Type R Multi-axis Type E Multi-axis EtherCAT interface Type P Multi-axis Type M Type P Type R

50 DC Input Drivers / Motors Type P Multi-axis DC Input Drivers / Motors Type P Multi-axis Pulse Train Input type Lineup RoHS Motor Motor size: mm sq., mm sq., mm sq. Driver Model number: PBDP Input power supply: / VDC Number of control axes: System Configuration Diagram Compatible Driver / Motor Combinations p. Driver Dimensions p. Driver Specifications p. Specifications / Characteristics Diagram pp. to Motor Dimensions pp. to Motor Specifications p. Circuit breaker Electromagnetic contactor Noise filter Switching power supply Setup software Protects the power line. Cuts off circuit in the event of overcurrent. Switches driver power on/off. Use together with a surge protector. Filters out incoming noise from power line. Converts power supply from AC to DC power. Regenerative unit* Communications converter unit CN Motor extension cable CN CN I/O signal cable Host devices CN Encoder extension cable CN CN To another driver Power cable Power cable CN CN CN CN CN CN Motor (axis ) Motor (axis ) Motor (axis ) Motor (axis ) * Connect the regenerative unit when a mm sq. motor is used. Check the voltage while in operation. To be provided by the customer. to

51 Compatible Driver / Motor Combinations No set models are available with this driver. Since this driver is capable of controlling multiple axes, order the necessary number of motors. Model Standard model Low-backlash gear model Spur gear model Harmonic gear model Electromagnetic brake model Motor external dimensions Flange size Motor length (mm) Max. stall torque (allowable torque* for models with gear) (N m) Allowable speed (min ) Gear ratio Backlash (deg.) Motor model number Driver model number Page Specifications Motor dimensions.. PBMDXE PBDP p. p... PBMDXE PBDP p. p... PBMDXK PBDP p. p... PBMDXK PBDP p. p... PBMDXK PBDP p. p... :.. PBMDGAK PBDP p. p... :.. PBMDGBK PBDP p. p... :. PBMDGEK PBDP p. p... :. PBMDGGK PBDP p. p... :. PBMDGJK PBDP p. p... :.. PBMDGAK PBDP p. p... :.. PBMDGBK PBDP p. p.. :. PBMDGEK PBDP p. p... :. PBMDGGK PBDP p. p.. :. PBMDGJK PBDP p. p... :. PBMDGAE PBDP p. p... :. PBMDGBE PBDP p. p... : PBMDGEE PBDP p. p... :. PBMDGGE PBDP p. p... :. PBMDGJE PBDP p. p... :. PBMDGLE PBDP p. p... (.) : PBMDHLE PBDP p. p.. (.) : PBMDHME PBDP p. p... (.) : PBMDHJK PBDP p. p... (.) : PBMDHLK PBDP p. p.. () : PBMDHMK PBDP p. p... () : PBMDHLK PBDP p. p.. () : PBMDHMK PBDP p. p... PBMDCE PBDP p. p... PBMDCE PBDP p. p... PBMDCK PBDP p. p... PBMDCK PBDP p. p... PBMDCK PBDP p. p. * Numbers in parenthesis following allowable torques indicate allowable instantaneous torques. Options and Peripherals Product names Standard model number (length) Connector set model number Extendable max. length Remarks Power cable PBCPA ( m) PBCPA m ** p. Power cable (between drivers) PBCPB (. m) PBCPA m ** Used when multiple axes are connected in a daisy chain configuration for p. communication. Motor extension cable PBCMA ( m) PBCMA m An extension cable is required when the distance between the motor and driver p. exceeds cm. Encoder extension cable PBCEA ( m) PBCEA m An extension cable is required when the distance between the motor and driver p. exceeds cm. I/O signal cable PBCSC ( m) PBCSC m p. Communications converter unit PBFM-U A set of a converter (USB/RS-) and a cable p. Setup software SANMOTION MOTOR SETUP SOFTWARE Software for checking operation and parameter setting Regenerative unit PBFE- p. ** The total extended length to the furthest driver from the power supply should not exceed this length. Page p. Options DC Input Drivers / Motors DC Input Drivers / Motors DC Input Drivers / Motors DC Input Set Models AC Input Set Models AC Input Set Models Type R Multi-axis Type E Multi-axis EtherCAT interface Type P Multi-axis Type M Type P Type R

52 DC Input Drivers / Motors Type P Multi-axis Driver Dimensions Unit: mm (). ø Driver Specifications General specifications Model number PBDP Interface Pulse train input Input power supply Main circuit power supply: / VDC ±% Control circuit power supply: VDC ±% Number of control axes axes Power supply current A Protection class Class III Operation environment Pollution degree: Operating ambient temperature to + C Storage temperature - to + C Operating ambient humidity % RH max. (non-condensing) Storage humidity % RH max. (non-condensing) Operation altitude m or less above sea level Vibration resistance Tested under the following conditions: Acceleration: m/s, Frequency range: to Hz, Axes of vibration: X, Y, Z ( hours each) Impact resistance m/s Dielectric strength No error observed when. kvac is applied between power input terminal and frame for one minute. Insulation resistance MΩ min. when measured with a VDC megohmmeter between input terminal and frame. Mass. kg Max. rotational speed min -, min - for mm sq. motors Command resolution (P/R),,,,,,,,,,,,,,, Can be used together with electronic gear function* Holding brake control function Built in Main circuit overcurrent, overload error, initialization error, driver overheat, main circuit overvoltage, Protection functions regeneration error, main circuit low voltage, control circuit low voltage, encoder disconnection, overspeed error, position deviation error, wrap around, memory error, CPU peripheral circuit error Display / Indication LED Indicators Operating functions Auto homing mode operation / Push (current control) operation / S-shape operation function DIP switch SW: Setting of and motor axes SW: Setting of and motor axes PC interface RS- Start / stop synchronization, half-duplex communication Baud rate: bps Photocoupler input method, input resistance: Ω Pulse input signal Input signal voltage: H :. to. VDC; L : to. VDC Maximum input frequency: kpulse/s Photocoupler input method, input resistance:. kω Input signal Input signal voltage: H :. to. VDC; L : to. VDC Number of inputs: Output signal Open collector output by photocoupler Output signal standard: Vceo=. to. V, Ic= ma max. Number of outputs: *A function that finely adjusts the unit step angle per pulse parameters. Setup software is required. Basic specifications Functions I/O signal Environment () Safety standards CE (TÜV) UL KC Mark (Korea Certification Mark) Directives Standard Low-voltage directives EN -- EMC directives EN --, EN -, EN -- Acquired standards Applicable standard File no. UL cul UL C E Standard KN --, KN --

53 External Wiring Diagram Wiring Connector Models and Compatible Cables Application Power supply Motor Encoder Connector no. CN CN CN to CN CN to CN * Main circuit power supply / VDC Control circuit power supply VDC FG To the next driver power supply AX Pos.Pulse/Pulse AX Neg.Pulse/Direction AX Pos.Pulse/Pulse AX Neg.Pulse/Direction Description COM IN(AX STOP) IN(AX Pos.Limit) IN(Neg.Limit) IN(AX STOP) IN(AX Pos.Limit) IN(AX Neg.Limit) IN(AX STOP) IN(AX Pos.Limit) IN(AX Neg.Limit) IN(AX STOP) IN(AX Pos.Limit) IN(AX Neg.Limit) IN(All Ax ALMCLR) CN,,, CN,,, Driver PBDP CN~ A A B B Z Z V G FG CN~ A A B B Manufacturer model number Header (driver side) -A Housing -R- T (AWG linked) Terminal TL (AWG single) T (AWG to linked) TL (AWG to single) Tab header (driver side) -- Receptacle housing -- Receptacle contact - (AWG to ) Tab housing (for relay) -- Tab contact (for relay) - (AWG to ) Tab header (driver side) -- Receptacle housing -- Receptacle contact - (AWG to ) Tab housing (for relay) -- Tab contact (for relay) - (AWG to ) Compatible cables AWG to Discrete line AWG to Discrete line AWG to Shielded twisted pair Receptacle (driver side) DFRNA AWG to I/O signals CN Shielded Shell kit -A- discrete line Plug -PE Post with base (driver side) SB-PADSS-GW AWG to Communications CN Housing PADP-V--S Shielded Contact SPH-GW-P.S twisted pair Refer to the manufacturer s catalog for detailed connector specifications. If the maximum extended length is exceeded, take necessary countermeasures to prevent malfunctions due to line noise. The relay connector is used to connect to the motor or encoder side connector when creating an extension cable. GND * Keep the max. extended length to m or less and the max. current consumption to A or less ( A for normal operation) while in use. PCIF CN GND +V CN BRK+ BRK- Holding brake CN Encoder Motor AX Pos.Pulse/Pulse AX Neg.Pulse/Direction AX Pos.Pulse/Pulse AX Neg.Pulse/Direction OUT(AX ALM) OUT(AX In-position) OUT(AX SON) OUT(AX ALM) OUT(AX In-position) OUT(AX SON) OUT(AX ALM) OUT(AX In-position) OUT(AX SON) OUT(AX ALM) OUT(AX In-position) OUT(AX SON) OUT(N/A) COMO Maximum extension length m m m m Shielded twisted-pair cable Manufacturer Molex Japan Co., Ltd. Tyco Electronics Japan G.K. Tyco Electronics Japan G.K. Japan Aviation Electronics Industry, Ltd. M Japan Limited m J.S.T. Mfg. Co., Ltd. Options DC Input Drivers / Motors DC Input Drivers / Motors DC Input Drivers / Motors DC Input Set Models AC Input Set Models AC Input Set Models Type R Multi-axis Type E Multi-axis EtherCAT interface Type P Multi-axis Type M Type P Type R

54 DC Input Drivers / Motors Type P Multi-axis Driver Components and Functions (Driver upper section) DIP switch (SW) DIP switch (SW) DIP switch (SW) Allows motors to be used for the st and nd axes. SW No. Code M.SEL- M.SEL- M.SEL- M.SEL- M.SEL- M.SEL- M.SEL- M.SEL- Function Allows motors to be used for the st axis. Allows motors to be used for the nd axis. DIP switch (SW) Allows motors to be used for the rd and th axes. SW No. Code M.SEL- M.SEL- M.SEL- M.SEL- M.SEL- M.SEL- M.SEL- M.SEL- Function Allows motors to be used for the rd axis. Allows motors to be used for the th axis. Switch ON/OFF combinations for each motor model M.SELx- M.SELx- M.SELx- M.SELx- Motor model number OFF OFF OFF OFF PBMDXE ON OFF OFF OFF PBMDXE OFF ON OFF OFF Setting prohibited ON ON OFF OFF Reserved OFF OFF ON OFF Setting prohibited ON OFF ON OFF Setting prohibited OFF ON ON OFF Reserved ON ON ON OFF Reserved OFF OFF OFF ON Setting prohibited ON OFF OFF ON Setting prohibited OFF ON OFF ON Setting prohibited ON ON OFF ON PBMDXK OFF OFF ON ON Setting prohibited ON OFF ON ON Setting prohibited OFF ON ON ON PBMDXK ON ON ON ON PBMDXK The factory settings are OFF for all switches. (Setting for PBMDXE) Change switch settings while the power supply is off. Settings cannot be changed while the power is on. OFF ON

55 Size Standard model Motor size mm sq. mm sq. mm sq. Motor length. mm. mm. mm. mm. mm Motor model number PBMDXE PBMDXE PBMDXK PBMDXK PBMDXK Compatible driver model number PBDP PBDP PBDP PBDP PBDP Max. stall torque N m..... Rotor inertia - kg m..... Allowable thrust load N... Allowable radial load * N Motor mass kg..... Characteristics diagram Maintain motor surface temperature at C or lower while in use. * The load point is at the end of the output shaft. Characteristics diagram Torque VDC VDC Power supply current VDC Motor model number PBMDXE..... Speed (min ) Motor model number PBMDXK..... Speed (min ) VDC Motor model number PBMDXE..... Speed (min ) Motor model number PBMDXK..... Speed (min ) RoHS Motor model number PBMDXK..... Speed (min ) Options DC Input Drivers / Motors DC Input Drivers / Motors DC Input Drivers / Motors DC Input Set Models AC Input Set Models AC Input Set Models Type R Multi-axis Type E Multi-axis EtherCAT interface Type P Multi-axis Type M Type P Type R System Configuration Diagram p. Compatible Driver / Motor Combinations p. Driver Dimensions p. Motor Dimensions pp. to Data for the above characteristics is based on SANYO DENKI s internal measurement conditions. Depending on conditions such as machine precision, driving torque may vary as well.

56 DC Input Drivers / Motors Type P Multi-axis Low-backlash gear model RoHS Size Motor size Motor + gear length mm sq.. mm Motor model number PBMDGAK PBMDGBK PBMDGEK PBMDGGK PBMDGJK Compatible driver model number PBDP PBDP PBDP PBDP PBDP Allowable torque N m..... Rotor inertia - kg m..... Gear ratio :. :. : : : Backlash deg. or less..... Allowable speed min - Rotation direction Relative to command direction Forward Forward Forward Reverse Reverse Allowable thrust load N Allowable radial load * N Motor mass kg..... Characteristics diagram Maintain motor surface temperature at C or lower while in use. * When load is applied at / length from output shaft end. Characteristics diagram Allowable torque VDC VDC VDC/ VDC Power supply current VDC VDC Motor model number PBMDGAK..... Output speed (min ) Input speed (min ) Motor model number PBMDGBK..... Output speed (min ) Input speed (min ) Motor model number PBMDGEK..... Output speed (min ) Input speed (min ) Motor model number PBMDGGK Motor model number PBMDGJK..... Output speed (min )..... Output speed (min ) Input speed (min ) Input speed (min ) System Configuration Diagram p. Compatible Driver / Motor Combinations p. Driver Dimensions p. Motor Dimensions pp. to When using a motor with low-backlash gear, exceeding the allowable torque might damage the gear. Carefully select products so that the configured system can operate within the specified limit value. Data for the above characteristics is based on SANYO DENKI s internal measurement conditions. Depending on conditions such as machine precision, driving torque may vary as well.

57 Size Low-backlash gear model Motor size Motor + gear length mm sq.. mm Motor model number PBMDGAK PBMDGBK PBMDGEK PBMDGGK PBMDGJK Compatible driver model number PBDP PBDP PBDP PBDP PBDP Allowable torque N m... Rotor inertia - kg m..... Gear ratio :. :. : : : Backlash deg. or less..... Allowable speed min - Rotation direction Relative to command direction Forward Forward Reverse Reverse Reverse Allowable thrust load N Allowable radial load * N Motor mass kg..... Characteristics diagram Maintain motor surface temperature at C or lower while in use. * When load is applied at / length from output shaft end. Characteristics diagram Allowable torque VDC VDC VDC/ VDC Power supply current VDC Motor model number PBMDGAK..... Output speed (min ) Input speed (min ) Motor model number PBMDGGK Output speed (min ) Input speed (min ) Motor model number PBMDGBK Output speed (min ) Input speed (min ) Output speed (min ) Input speed (min ) Motor model number PBMDGJK VDC RoHS Motor model number PBMDGEK Output speed (min ) Input speed (min ) Options DC Input Drivers / Motors DC Input Drivers / Motors DC Input Drivers / Motors DC Input Set Models AC Input Set Models AC Input Set Models Type R Multi-axis Type E Multi-axis EtherCAT interface Type P Multi-axis Type M Type P Type R System Configuration Diagram p. Compatible Driver / Motor Combinations p. Driver Dimensions p. Motor Dimensions pp. to When using a motor with low-backlash gear, exceeding the allowable torque might damage the gear. Carefully select products so that the configured system can operate within the specified limit value. Data for the above characteristics is based on SANYO DENKI s internal measurement conditions. Depending on conditions such as machine precision, driving torque may vary as well.

58 DC Input Drivers / Motors Type P Multi-axis Spur gear model RoHS Size Motor size Motor + gear length mm sq.. mm Motor model number PBMDGAE PBMDGBE PBMDGEE PBMDGGE PBMDGJE PBMDGLE Compatible driver model number PBDP PBDP PBDP PBDP PBDP PBDP Allowable torque N m Rotor inertia - kg m Gear ratio :. :. : : : : Backlash deg. or less... Allowable speed min - Rotation direction Relative to command direction Forward Forward Reverse Forward Forward Forward Allowable thrust load N Allowable radial load * N Motor mass kg Characteristics diagram Maintain motor surface temperature at C or lower while in use. * When load is applied at / length from output shaft end. Characteristics diagram Allowable torque VDC/ VDC Power supply current VDC VDC Motor model number PBMDGAE..... Output speed (min ) Input speed (min ) Motor model number PBMDGBE..... Output speed (min ) Input speed (min ) Motor model number PBMDGEE..... Output speed (min ) Input speed (min ) Motor model number PBMDGGE Motor model number PBMDGJE Motor model number PBMDGLE..... Output speed (min )..... Output speed (min )..... Output speed (min ) Input speed (min ) Input speed (min ) Input speed (min ) System Configuration Diagram p. Compatible Driver / Motor Combinations p. Driver Dimensions p. Motor Dimensions pp. to When using a motor with spur gear, exceeding the allowable torque might damage the gear. Carefully select products so that the configured system can operate within the specified limit value. Data for the above characteristics is based on SANYO DENKI s internal measurement conditions. Depending on conditions such as machine precision, driving torque may vary as well.

59 Size Harmonic gear model Motor size mm sq. mm sq. Motor + gear length. mm. mm Motor model number PBMDHLE PBMDHME PBMDHJK PBMDHLK PBMDHMK Compatible driver model number PBDP PBDP PBDP PBDP PBDP Allowable torque N m... Allowable instantaneous torque N m.... Rotor inertia - kg m..... Gear ratio : : : : : Hysteresis loss Arc min or less... Lost motion Arc min. to (at ±. N m). to (at ±. N m) Allowable speed min - Rotation direction Relative to command direction Reverse Reverse Reverse Reverse Reverse Allowable thrust load N Allowable radial load * N Motor mass kg..... Characteristics diagram Maintain motor surface temperature at C or lower while in use. * When load is applied at / length from output shaft end. Characteristics diagram Allowable torque VDC VDC VDC/ VDC Allowable instantaneous torque VDC VDC VDC/ VDC Power supply current VDC VDC Motor model number PBMDHLE Output speed (min ) Input speed (min ) Motor model number PBMDHLK Output speed (min ) Input speed (min ) Motor model number PBMDHME Output speed (min ) Input speed (min ) Motor model number PBMDHMK Output speed (min ) Input speed (min ) Output speed (min ) Input speed (min ) RoHS Motor model number PBMDHJK Options DC Input Drivers / Motors DC Input Drivers / Motors DC Input Drivers / Motors DC Input Set Models AC Input Set Models AC Input Set Models Type R Multi-axis Type E Multi-axis EtherCAT interface Type P Multi-axis Type M Type P Type R System Configuration Diagram p. Compatible Driver / Motor Combinations p. Driver Dimensions p. Motor Dimensions pp. to When using a motor with harmonic gear, exceeding the allowable instantaneous torque might damage the gear. Carefully select products so that the configured system can operate within the specified limit value. Data for the above characteristics is based on SANYO DENKI s internal measurement conditions. Depending on conditions such as machine precision, driving torque may vary as well.

60 DC Input Drivers / Motors Type P Multi-axis Harmonic gear model RoHS Size Motor size Motor + gear length mm sq.. mm Motor model number PBMDHLK PBMDHMK Compatible driver model number PBDP PBDP Allowable torque N m. Allowable instantaneous torque N m Rotor inertia - kg m.. Gear ratio : : Hysteresis loss Arc min or less Lost motion Arc min. to (at ±. N m). to. (at ±. N m) Allowable speed min - Rotation direction Relative to command direction Reverse Reverse Allowable thrust load N Allowable radial load * N Motor mass kg.. Characteristics diagram Maintain motor surface temperature at C or lower while in use. * When load is applied at / length from output shaft end. Characteristics diagram Allowable torque VDC VDC VDC/ VDC Allowable instantaneous torque VDC VDC VDC/ VDC Power supply current VDC VDC Motor model number PBMDHLK Motor model number PBMDHMK Output speed (min ) Output speed (min ) Input speed (min ) Input speed (min ) System Configuration Diagram p. Compatible Driver / Motor Combinations p. Driver Dimensions p. Motor Dimensions pp. to When using a motor with harmonic gear, exceeding the allowable instantaneous torque might damage the gear. Carefully select products so that the configured system can operate within the specified limit value. Data for the above characteristics is based on SANYO DENKI s internal measurement conditions. Depending on conditions such as machine precision, driving torque may vary as well.

61 Size Electromagnetic brake model Motor size mm sq. mm sq. mm sq. Motor + brake length. mm. mm. mm. mm. mm Motor model number PBMDCE PBMDCE PBMDCK PBMDCK PBMDCK Compatible driver model number PBDP PBDP PBDP PBDP PBDP Max. stall torque N m..... Rotor inertia - kg m..... Allowable thrust load N..... Allowable radial load * N Motor mass kg..... Electromagnetic brake Brake type No excitation actuating type No excitation actuating type No excitation actuating type No excitation actuating type RoHS No excitation actuating type Power supply voltage V VDC±% VDC±% VDC±% VDC±% VDC±% Power consumption W. (at C). (at C). (at C) (at C) (at C) Static friction torque N m or over..... Brake operating time ms or less Brake release time ms or less Characteristics diagram Maintain motor surface temperature at C or lower while in use. * The load point is at the end of the output shaft. Characteristics diagram Torque VDC VDC Power supply current VDC Motor model number PBMDCE..... Speed (min ) Motor model number PBMDCK..... Speed (min ) VDC Motor model number PBMDCE..... Speed (min ) Motor model number PBMDCK..... Speed (min ) Motor model number PBMDCK..... Speed (min ) Options DC Input Drivers / Motors DC Input Drivers / Motors DC Input Drivers / Motors DC Input Set Models AC Input Set Models AC Input Set Models Type R Multi-axis Type E Multi-axis EtherCAT interface Type P Multi-axis Type M Type P Type R System Configuration Diagram p. Compatible Driver / Motor Combinations p. Driver Dimensions p. Motor Dimensions pp. to The electromagnetic brake only works when the motor is stopped, and cannot be used for braking. Data for the above characteristics is based on SANYO DENKI s internal measurement conditions. Depending on conditions such as machine precision, driving torque may vary as well.

62 DC Input Drivers / Motors Type E Multi-axis DC Input Drivers / Motors Type E Multi-axis EtherCAT interface Lineup RoHS Motor Motor size: mm sq., mm sq., mm sq. Driver Model number: PBDE Input power supply: / VDC Number of control axes: System Configuration Diagram Compatible Driver / Motor Combinations p. Driver Dimensions p. Driver Specifications p. Specifications / Characteristics Diagram pp. to Motor Dimensions pp. to Motor Specifications p. Circuit breaker Electromagnetic contactor Noise filter Switching power supply Setup software Protects the power line. Cuts off circuit in the event of overcurrent. Switches driver power on/off. Use together with a surge protector. Filters out incoming noise from power line. Converts power supply from AC to DC power. Regenerative unit* PC communication cable PC IN OUT To the next EtherCAT driver Host devices Motor extension cable CN CN I/O signal cable CN Encoder extension cable CN CN To another driver Power cable Power cable CN CN CN CN CN CN Motor (axis ) Motor (axis ) Motor (axis ) Motor (axis ) * Connect the regenerative unit when a mm sq. motor is used. Check the voltage while in operation. To be provided by the customer. to

63 Compatible Driver / Motor Combinations No set models are available with this driver. Since this driver is capable of controlling multiple axes, order the necessary number of motors. Model Standard model Low-backlash gear model Spur gear model Harmonic gear model Electromagnetic brake model Motor external dimensions Flange size Motor length (mm) Optical incremental encoder Battery-less optical absolute encoder Max. stall torque (allowable torque* for models with gear) (N m) Allowable speed (min ) Gear ratio Backlash (deg.) Motor model number Optical incremental encoder Battery-less optical absolute encoder Page Driver model number Specifications Motor dimensions.. PBMDXE p. p... PBMDXE p. p.... PBMDXK PBMDXR pp., pp.,... PBMDXK PBMDXR pp., pp.,... PBMDXK PBMDXR pp., pp.,... :.. PBMDGAK PBMDGAR pp., pp.,... :.. PBMDGBK PBMDGBR pp., pp.,... :. PBMDGEK PBMDGER pp., pp.,... :. PBMDGGK PBMDGGR pp., pp.,... :. PBMDGJK PBMDGJR pp., pp.,... :.. PBMDGAK PBMDGAR pp., pp.,... :.. PBMDGBK PBMDGBR pp., pp.,.. :. PBMDGEK PBMDGER pp., pp.,... :. PBMDGGK PBMDGGR pp., pp.,.. :. PBMDGJK PBMDGJR pp., pp.,.. :. PBMDGAE p. p... :. PBMDGBE PBDE p. p... : PBMDGEE p. p... :. PBMDGGE p. p... :. PBMDGJE p. p.... PBMDGLE p. p... (.) : PBMDHLE p. p.. (.) : PBMDHME p. p.... (.) : PBMDHJK PBMDHJR pp., pp.,... (.) : PBMDHLK PBMDHLR pp., pp.,.. () : PBMDHMK PBMDHMR pp., pp.,... () : PBMDHLK PBMDHLR pp., pp.,.. () : PBMDHMK PBMDHMR pp., pp.,.. PBMDCE p. p... PBMDCE p. p.... PBMDCK PBMDCR pp., pp.,... PBMDCK PBMDCR pp., pp.,... PBMDCK PBMDCR pp., pp., * Numbers in parenthesis following allowable torques indicate allowable instantaneous torques. Options and Peripherals Product names Power cable Standard model number (length) PBCPA ( m) PBCPA ( m) Connector set model number Extendable max. length Remarks Page PBCPA m ** p. Power cable (between drivers) PBCPB (. m) PBCPA m ** Used when multiple axes are connected in a daisy chain configuration for p. communication. PBCMA ( m) An extension cable is required when the Motor extension cable PBCMA ( m) PBCMA ( m) PBCMA m distance between the motor and driver exceeds cm. p. PBCEA ( m) An extension cable is required when the Encoder extension cable PBCEA ( m) PBCEA ( m) PBCEA m distance between the motor and driver exceeds cm. p. I/O signal cable PBCSC PBCSC m p. PC communication cable AL-- ( m) PC communication cable for setup AL-- ( m) software p. Setup software SANMOTION MOTOR SETUP SOFTWARE Software for checking operation and parameter setting Regenerative unit PBFE- p. ** The total extended length to the furthest driver from the power supply should not exceed this length. p. Options DC Input Drivers / Motors DC Input Drivers / Motors DC Input Drivers / Motors DC Input Set Models AC Input Set Models AC Input Set Models Type R Multi-axis Type E Multi-axis EtherCAT interface Type P Multi-axis Type M Type P Type R

64 DC Input Drivers / Motors Type E Multi-axis Driver Dimensions Unit: mm. ø () () Driver Specifications General specifications Basic specifications Functions EtherCAT interface I/O signal Model number Interface Main circuit Input power power supply supply Control circuit power supply Number of control axes Protection rating Environment Operating environment PBDE EtherCAT communication / VDC ±% A VDC ±%.A axes Class III Installation category (overvoltage category): I, Pollution degree: Mass. kg Max. motor speed min - ( min - for mm sq. motor) Holding brake control function Built in Main circuit overcurrent, overload error, initialization error, driver overheat, main circuit Protection functions overvoltage, regeneration error, main circuit undervoltage, control circuit undervoltage, encoder disconnection, overspeed error, position deviation error, wrap around, memory error, CPU peripheral circuit error, communication error LED indicators Power, Status, Alarm Rotary switch Station alias setting Computer port USB. Physical layer / protocol BASE-TX / IEEE. Fast Ethernet Bit rate Mbit/s (Full duplex) Communication port / Topology RJ connector ( ports) / Daisy chain (max. nodes) Device profile Device profile: CoE (IEC --), FoE (ASCII code access) SM event synchronization, DC synchronization (SYNC/SYNC), non-synchronized Synchronization mode (asynchronous FreeRun mode) Minimum cycle time:. ms Photocoupler input method. Input resistance:. kω Input signal Input signal voltage: High-level:. to. VDC; Low-level: to. VDC, Number of inputs: Output signal Open collector output by photocoupler. Output signal standard: Vceo=. to. V, Ic= ma max. Number of outputs: Safety standards CE (TÜV) UL KC Mark (Korea Certification Mark) Directive Standard Low-voltage directive EN -- EMC directive EN --, EN --, EN - Acquired standards Applicable standard File No. UL cul (UL for Canada) UL C E Standard KN --, KN --

65 External Wiring Diagram * Main circuit power supply / VDC Control circuit power supply VDC To the next driver power supply CN,,, IN,OUT Driver PBDE * Keep the max. extended length to m or less and the max. current consumption to A or less ( A for normal operation) while in use. FG COMI IN(NLMT) TX+ IN(PLMT) IN(HOME) IN(TPRB) IN(NLMT) IN(PLMT) IN(HOME) IN(TPRB) IN(NLMT) IN(PLMT) IN(HOME) IN(TPRB) IN(NLMT) IN(PLMT) IN(HOME) IN(TPRB). EtherCAT TX- RX+ RX-,,,, CN CN CN A/ES+ A/ES- B B Z Z V G FG CN A A B B BRK+ BRK- PC CN Holding brake Encoder Motor PCIF (USB) OUT OUTG OUT OUTG OUT OUTG OUT OUTG OUT OUTG OUT OUTG OUT OUTG OUT OUTG OUT OUTG OUT OUTG OUT OUTG OUT OUTG Shielded twisted-pair cable Options DC Input Drivers / Motors DC Input Drivers / Motors DC Input Drivers / Motors DC Input Set Models AC Input Set Models AC Input Set Models Type R Multi-axis Type E Multi-axis EtherCAT interface Type P Multi-axis Type M Type P Type R

66 DC Input Drivers / Motors Type E Multi-axis Wiring Connector Models and Compatible Cables Application Power supply Power Encoder I/O signals EtherCAT USB Connector no. CN CN CN to CN CN to CN CN IN, OUT PC Description Manufacturer model number Compatible cables Header (Driver side) -A Housing -R- T (AWG linked) AWG to Terminal TL (AWG single) Discrete line T (AWG to linked) TL (AWG to single) Tab header (Driver side) -- Receptacle housing -- AWG to Receptacle contact - (AWG to ) Discrete line Tab housing (for relay) -- Tab contact (for relay) - (AWG to ) Tab header (Driver side) -- Receptacle housing -- AWG to Receptacle contact - (AWG to ) Shielded twisted Tab housing (for relay) -- pair Tab contact (for relay) - (AWG to ) Connector (driver side) HDR-ECLFDT-SLD+ AWG (IDC (insulation Plastic case HDR-LPH displacement HDR-EMAG+ contact) type) (IDC (insulation displacement AWG (Soldering Connector contact) type) type) HDR-EMSG+ Shielded discrete (Soldering type) line Please connect to a host device and another driver via IN and OUT connectors, respectively. Please use a shielded twisted-pair (STP) cable in category e or better. As the ports support auto-crossover function called auto MDI/MID-X, a feature that automatically detects the required cable connection type and configures the connection appropriately, either straight-through or crossover cable can be used. Commercially available USB cables (mini-b connector on driver side) can be used. Maximum extension length m m m m Depends on the cable. Manufacturer Molex Japan Co., Ltd. Tyco Electronics Japan G.K. Tyco Electronics Japan G.K. HONDA TSUSHIN KOGYO CO., LTD. m Refer to the manufacturer s catalog for detailed connector specifications. If the maximum extended length is exceeded, take necessary countermeasures to prevent malfunctions due to line noise. When daisy-chaining a driver to another driver via CN and CN ports, please pay attention to the total current from the power supply. Keep it below A when normally operating, and ensure it doesn t exceed A even at peak time such as acceleration. Also, the total extended cable length from a power supply to the furthest driver should not exceed the above length.

67 Size Standard model Optical incremental encoder type Motor size mm sq. mm sq. mm sq. Motor length. mm. mm. mm. mm. mm Motor model number PBMDXE PBMDXE PBMDXK PBMDXK PBMDXK Compatible driver model number PBDE PBDE PBDE PBDE PBDE Max. stall torque N m..... Rotor inertia - kg m..... Allowable thrust load N... Allowable radial load * N Motor mass kg..... Characteristics diagram Maintain motor surface temperature at C or lower while in use. * The load point is at the end of the output shaft. Characteristics diagram Torque VDC VDC Power supply current VDC Motor model number PBMDXE..... Speed (min ) Motor model number PBMDXK..... Speed (min ) VDC Motor model number PBMDXE..... Speed (min ) Motor model number PBMDXK..... Speed (min ) RoHS Motor model number PBMDXK..... Speed (min ) Options DC Input Drivers / Motors DC Input Drivers / Motors DC Input Drivers / Motors DC Input Set Models AC Input Set Models AC Input Set Models Type R Multi-axis Type E Multi-axis EtherCAT interface Type P Multi-axis Type M Type P Type R System Configuration Diagram p. Compatible Driver / Motor Combinations p. Driver Dimensions p. Motor Dimensions pp. to Data for the above characteristics is based on SANYO DENKI s internal measurement conditions. Depending on conditions such as machine precision, driving torque may vary as well.

68 DC Input Drivers / Motors Type E Multi-axis Low-backlash gear model Optical incremental encoder type RoHS Size Motor size Motor + gear length mm sq.. mm Motor model number PBMDGAK PBMDGBK PBMDGEK PBMDGGK PBMDGJK Compatible driver model number PBDE PBDE PBDE PBDE PBDE Allowable torque N m..... Rotor inertia - kg m..... Gear ratio :. :. : : : Backlash deg. or less..... Allowable speed min - Rotation direction Relative to command direction Forward Forward Forward Reverse Reverse Allowable thrust load N Allowable radial load * N Motor mass kg..... Characteristics diagram Maintain motor surface temperature at C or lower while in use. * When load is applied at / length from output shaft end. Characteristics diagram Allowable torque VDC VDC VDC/ VDC Power supply current VDC VDC Motor model number PBMDGAK..... Output speed (min ) Input speed (min ) Motor model number PBMDGBK..... Output speed (min ) Input speed (min ) Motor model number PBMDGEK..... Output speed (min ) Input speed (min ) Motor model number PBMDGGK Motor model number PBMDGJK..... Output speed (min )..... Output speed (min ) Input speed (min ) Input speed (min ) System Configuration Diagram p. Compatible Driver / Motor Combinations p. Driver Dimensions p. Motor Dimensions pp. to When using a motor with low-backlash gear, exceeding the allowable torque might damage the gear. Carefully select products so that the configured system can operate within the specified limit value. Data for the above characteristics is based on SANYO DENKI s internal measurement conditions. Depending on conditions such as machine precision, driving torque may vary as well.

69 Size Low-backlash gear model Optical incremental encoder type Motor size Motor + gear length mm sq.. mm Motor model number PBMDGAK PBMDGBK PBMDGEK PBMDGGK PBMDGJK Compatible driver model number PBDE PBDE PBDE PBDE PBDE Allowable torque N m... Rotor inertia - kg m..... Gear ratio :. :. : : : Backlash deg. or less..... Allowable speed min - Rotation direction Relative to command direction Forward Forward Reverse Reverse Reverse Allowable thrust load N Allowable radial load * N Motor mass kg..... Characteristics diagram Maintain motor surface temperature at C or lower while in use. * When load is applied at / length from output shaft end. Characteristics diagram Allowable torque VDC VDC VDC/ VDC Power supply current VDC Motor model number PBMDGAK..... Output speed (min ) Input speed (min ) Motor model number PBMDGGK Output speed (min ) Input speed (min ) Motor model number PBMDGBK Output speed (min ) Input speed (min ) Output speed (min ) Input speed (min ) Motor model number PBMDGJK VDC RoHS Motor model number PBMDGEK Output speed (min ) Input speed (min ) Options DC Input Drivers / Motors DC Input Drivers / Motors DC Input Drivers / Motors DC Input Set Models AC Input Set Models AC Input Set Models Type R Multi-axis Type E Multi-axis EtherCAT interface Type P Multi-axis Type M Type P Type R System Configuration Diagram p. Compatible Driver / Motor Combinations p. Driver Dimensions p. Motor Dimensions pp. to When using a motor with low-backlash gear, exceeding the allowable torque might damage the gear. Carefully select products so that the configured system can operate within the specified limit value. Data for the above characteristics is based on SANYO DENKI s internal measurement conditions. Depending on conditions such as machine precision, driving torque may vary as well.

70 DC Input Drivers / Motors Type E Multi-axis Spur gear model Optical incremental encoder type RoHS Size Motor size Motor + gear length mm sq.. mm Motor model number PBMDGAE PBMDGBE PBMDGEE PBMDGGE PBMDGJE PBMDGLE Compatible driver model number PBDE PBDE PBDE PBDE PBDE PBDE Allowable torque N m Rotor inertia - kg m Gear ratio :. :. : : : : Backlash deg. or less... Allowable speed min - Rotation direction Relative to command direction Forward Forward Reverse Forward Forward Forward Allowable thrust load N Allowable radial load * N Motor mass kg Characteristics diagram Maintain motor surface temperature at C or lower while in use. * When load is applied at / length from output shaft end. Characteristics diagram Allowable torque VDC/ VDC Power supply current VDC VDC Motor model number PBMDGAE..... Output speed (min ) Input speed (min ) Motor model number PBMDGBE..... Output speed (min ) Input speed (min ) Motor model number PBMDGEE..... Output speed (min ) Input speed (min ) Motor model number PBMDGGE Motor model number PBMDGJE Motor model number PBMDGLE..... Output speed (min )..... Output speed (min )..... Output speed (min ) Input speed (min ) Input speed (min ) Input speed (min ) System Configuration Diagram p. Compatible Driver / Motor Combinations p. Driver Dimensions p. Motor Dimensions pp. to When using a motor with spur gear, exceeding the allowable torque might damage the gear. Carefully select products so that the configured system can operate within the specified limit value. Data for the above characteristics is based on SANYO DENKI s internal measurement conditions. Depending on conditions such as machine precision, driving torque may vary as well.

71 Size Harmonic gear model Optical incremental encoder type Motor size mm sq. (angular dimension mm sq.) mm sq. Motor + gear length. mm. mm Motor model number PBMDHLE PBMDHME PBMDHJK PBMDHLK PBMDHMK Compatible driver model number PBDE PBDE PBDE PBDE PBDE Allowable torque N m... Allowable instantaneous torque N m.... Rotor inertia - kg m..... Gear ratio : : : : : Hysteresis loss Arc min or less... Lost motion Arc min. to (at ±. N m). to (at ±. N m) Allowable speed min - Rotation direction Relative to command direction Reverse Reverse Reverse Reverse Reverse Allowable thrust load N Allowable radial load * N Motor mass kg..... Characteristics diagram Maintain motor surface temperature at C or lower while in use. * When load is applied at / length from output shaft end. Characteristics diagram Allowable torque VDC VDC VDC/ VDC Allowable instantaneous torque VDC VDC VDC/ VDC Power supply current VDC VDC Motor model number PBMDHLE Output speed (min ) Input speed (min ) Motor model number PBMDHLK Output speed (min ) Input speed (min ) Motor model number PBMDHME Output speed (min ) Input speed (min ) Motor model number PBMDHMK Output speed (min ) Input speed (min ) Output speed (min ) Input speed (min ) RoHS Motor model number PBMDHJK Options DC Input Drivers / Motors DC Input Drivers / Motors DC Input Drivers / Motors DC Input Set Models AC Input Set Models AC Input Set Models Type R Multi-axis Type E Multi-axis EtherCAT interface Type P Multi-axis Type M Type P Type R System Configuration Diagram p. Compatible Driver / Motor Combinations p. Driver Dimensions p. Motor Dimensions pp. to When using a motor with harmonic gear, exceeding the allowable instantaneous torque might damage the gear. Carefully select products so that the configured system can operate within the specified limit value. Data for the above characteristics is based on SANYO DENKI s internal measurement conditions. Depending on conditions such as machine precision, driving torque may vary as well.

72 DC Input Drivers / Motors Type E Multi-axis Harmonic gear model Optical incremental encoder type RoHS Size Motor size Motor + gear length mm sq.. mm Motor model number PBMDHLK PBMDHMK Compatible driver model number PBDE PBDE Allowable torque N m. Allowable instantaneous torque N m Rotor inertia - kg m.. Gear ratio : : Hysteresis loss Arc min or less Lost motion Arc min. to (at ±. N m). to. (at ±. N m) Allowable speed min - Rotation direction Relative to command direction Reverse Reverse Allowable thrust load N Allowable radial load * N Motor mass kg.. Characteristics diagram Maintain motor surface temperature at C or lower while in use. * When load is applied at / length from output shaft end. Characteristics diagram Allowable torque VDC VDC VDC/ VDC Allowable instantaneous torque VDC VDC VDC/ VDC Power supply current VDC VDC Motor model number PBMDHLK Motor model number PBMDHMK Output speed (min ) Output speed (min ) Input speed (min ) Input speed (min ) System Configuration Diagram p. Compatible Driver / Motor Combinations p. Driver Dimensions p. Motor Dimensions pp. to When using a motor with harmonic gear, exceeding the allowable instantaneous torque might damage the gear. Carefully select products so that the configured system can operate within the specified limit value. Data for the above characteristics is based on SANYO DENKI s internal measurement conditions. Depending on conditions such as machine precision, driving torque may vary as well.

73 Size Electromagnetic brake model Optical incremental encoder type Motor size mm sq. mm sq. mm sq. Motor + brake length. mm. mm. mm. mm. mm Motor model number PBMDCE PBMDCE PBMDCK PBMDCK PBMDCK Compatible driver model number PBDE PBDE PBDE PBDE PBDE Max. stall torque N m..... Rotor inertia - kg m..... Allowable thrust load N..... Allowable radial load * N Motor mass kg..... Electromagnetic brake Brake type No excitation actuating type No excitation actuating type No excitation actuating type No excitation actuating type RoHS No excitation actuating type Power supply voltage V VDC±% VDC±% VDC±% VDC±% VDC±% Power consumption W. (at C). (at C). (at C) (at C) (at C) Static friction torque N m or over..... Brake operating time ms or less Brake release time ms or less Characteristics diagram Maintain motor surface temperature at C or lower while in use. * The load point is at the end of the output shaft. Characteristics diagram Torque VDC VDC Power supply current VDC Motor model number PBMDCE..... Speed (min ) Motor model number PBMDCK..... Speed (min ) VDC Motor model number PBMDCE..... Speed (min ) Motor model number PBMDCK..... Speed (min ) Motor model number PBMDCK..... Speed (min ) Options DC Input Drivers / Motors DC Input Drivers / Motors DC Input Drivers / Motors DC Input Set Models AC Input Set Models AC Input Set Models Type R Multi-axis Type E Multi-axis EtherCAT interface Type P Multi-axis Type M Type P Type R System Configuration Diagram p. Compatible Driver / Motor Combinations p. Driver Dimensions p. Motor Dimensions pp. to The electromagnetic brake only works when the motor is stopped, and cannot be used for braking. Data for the above characteristics is based on SANYO DENKI s internal measurement conditions. Depending on conditions such as machine precision, driving torque may vary as well.

74 DC Input Drivers / Motors Type E Multi-axis Standard model Battery-less optical absolute encoder type RoHS Size Motor size mm sq. mm sq. Motor length. mm. mm. mm Motor model number PBMDXR PBMDXR PBMDXR Compatible driver model number PBDE PBDE PBDE Max. stall torque N m... Rotor inertia - kg m... Allowable thrust load N... Allowable radial load * N Motor mass kg... Characteristics diagram Maintain motor surface temperature at C or lower while in use. * The load point is at the end of the output shaft. Characteristics diagram Torque VDC VDC Power supply current VDC VDC Motor model number PBMDXR..... Speed (min ) Motor model number PBMDXR..... Speed (min ) Motor model number PBMDXR..... Speed (min ) System Configuration Diagram p. Compatible Driver / Motor Combinations p. Driver Dimensions p. Motor Dimensions pp. to Data for the above characteristics is based on SANYO DENKI s internal measurement conditions. Depending on conditions such as machine precision, driving torque may vary as well.

75 Size Low-backlash gear model Battery-less optical absolute encoder type Motor size Motor + gear length mm sq.. mm Motor model number PBMDGAR PBMDGBR PBMDGER PBMDGGR PBMDGJR Compatible driver model number PBDE PBDE PBDE PBDE PBDE Allowable torque N m..... Rotor inertia - kg m..... Gear ratio :. :. : : : Backlash deg. or less..... Allowable speed min - Rotation direction Relative to command direction Forward Forward Forward Reverse Reverse Allowable thrust load N Allowable radial load * N Motor mass kg..... Characteristics diagram Maintain motor surface temperature at C or lower while in use. * When load is applied at / length from output shaft end. Characteristics diagram Allowable torque VDC VDC VDC/ VDC Power supply current VDC Motor model number PBMDGAR..... Output speed (min ) Input speed (min ) Motor model number PBMDGGR..... Output speed (min ) Input speed (min ) Motor model number PBMDGBR..... Output speed (min ) Input speed (min ) Motor model number PBMDGJR..... Output speed (min ) Input speed (min ) VDC RoHS Motor model number PBMDGER..... Output speed (min ) Input speed (min ) Options DC Input Drivers / Motors DC Input Drivers / Motors DC Input Drivers / Motors DC Input Set Models AC Input Set Models AC Input Set Models Type R Multi-axis Type E Multi-axis EtherCAT interface Type P Multi-axis Type M Type P Type R System Configuration Diagram p. Compatible Driver / Motor Combinations p. Driver Dimensions p. Motor Dimensions pp. to When using a motor with low-backlash gear, exceeding the allowable torque might damage the gear. Carefully select products so that the configured system can operate within the specified limit value. Data for the above characteristics is based on SANYO DENKI s internal measurement conditions. Depending on conditions such as machine precision, driving torque may vary as well.

76 DC Input Drivers / Motors Type E Multi-axis Low-backlash gear model Battery-less optical absolute encoder type RoHS Size Motor size Motor + gear length mm sq.. mm Motor model number PBMDGAR PBMDGBR PBMDGER PBMDGGR PBMDGJR Compatible driver model number PBDE PBDE PBDE PBDE PBDE Allowable torque N m... Rotor inertia - kg m..... Gear ratio :. :. : : : Backlash deg. or less..... Allowable speed min - Rotation direction Relative to command direction Forward Forward Reverse Reverse Reverse Allowable thrust load N Allowable radial load * N Motor mass kg..... Characteristics diagram Maintain motor surface temperature at C or lower while in use. * When load is applied at / length from output shaft end. Characteristics diagram Allowable torque VDC VDC VDC/ VDC Power supply current VDC VDC Motor model number PBMDGAR Motor model number PBMDGBR Motor model number PBMDGER..... Output speed (min ) Output speed (min ) Output speed (min ) Input speed (min ) Input speed (min ) Input speed (min ) Motor model number PBMDGGR Motor model number PBMDGJR Output speed (min ) Output speed (min ) Input speed (min ) Input speed (min ) System Configuration Diagram p. Compatible Driver / Motor Combinations p. Driver Dimensions p. Motor Dimensions pp. to When using a motor with low-backlash gear, exceeding the allowable torque might damage the gear. Carefully select products so that the configured system can operate within the specified limit value. Data for the above characteristics is based on SANYO DENKI s internal measurement conditions. Depending on conditions such as machine precision, driving torque may vary as well.

77 Size Harmonic gear model Battery-less optical absolute encoder type Motor size mm sq. mm sq. Motor + gear length. mm. mm Motor model number PBMDHJR PBMDHLR PBMDHMR PBMDHLR PBMDHMR Compatible driver model number PBDE PBDE PBDE PBDE PBDE Allowable torque N m... Allowable instantaneous torque N m.. Rotor inertia - kg m..... Gear ratio : : : : : Hysteresis loss Arc min or less... Lost motion Arc min. to (at ±. N m) RoHS. to. (at ±. N m) Allowable speed min - Rotation direction Relative to command direction Reverse Reverse Reverse Reverse Reverse Allowable thrust load N Allowable radial load * N Motor mass kg..... Characteristics diagram Maintain motor surface temperature at C or lower while in use. * When load is applied at / length from output shaft end. Characteristics diagram Allowable torque VDC VDC VDC/ VDC Allowable instantaneous torque VDC VDC VDC/ VDC Power supply current VDC VDC Motor model number PBMDHJR Output speed (min ) Input speed (min ) Motor model number PBMDHLR Output speed (min ) Input speed (min ) Motor model number PBMDHLR Output speed (min ) Input speed (min ) Motor model number PBMDHMR Output speed (min ) Input speed (min ) Motor model number PBMDHMR Output speed (min ) Input speed (min ) Options DC Input Drivers / Motors DC Input Drivers / Motors DC Input Drivers / Motors DC Input Set Models AC Input Set Models AC Input Set Models Type R Multi-axis Type E Multi-axis EtherCAT interface Type P Multi-axis Type M Type P Type R System Configuration Diagram p. Compatible Driver / Motor Combinations p. Driver Dimensions p. Motor Dimensions pp. to When using a motor with harmonic gear, exceeding the allowable instantaneous torque might damage the gear. Carefully select products so that the configured system can operate within the specified limit value. Data for the above characteristics is based on SANYO DENKI s internal measurement conditions. Depending on conditions such as machine precision, driving torque may vary as well.

78 DC Input Drivers / Motors Type E Multi-axis Electromagnetic brake model Battery-less optical absolute encoder type RoHS Size Motor size mm sq. mm sq. Motor + brake length. mm. mm. mm Motor model number PBMDCR PBMDCR PBMDCR Compatible driver model number PBDE PBDE PBDE Max. stall torque N m... Rotor inertia - kg m.. Allowable thrust load N... Allowable radial load * N Motor mass kg... Electromagnetic brake Brake type No excitation actuating type No excitation actuating type No excitation actuating type Power supply voltage V VDC±% VDC±% VDC±% Power consumption W. (at C) (at C) (at C) Static friction torque N m or over... Brake operating time ms or less Brake release time ms or less Characteristics diagram Maintain motor surface temperature at C or lower while in use. * The load point is at the end of the output shaft. Characteristics diagram Torque VDC VDC Power supply current VDC VDC Motor model number PBMDCR Motor model number PBMDCR Motor model number PBMDCR..... Speed (min )..... Speed (min )..... Speed (min ) System Configuration Diagram p. Compatible Driver / Motor Combinations p. Driver Dimensions p. Motor Dimensions pp. to The electromagnetic brake only works when the motor is stopped, and cannot be used for braking. Data for the above characteristics is based on SANYO DENKI s internal measurement conditions. Depending on conditions such as machine precision, driving torque may vary as well.

79 Motor Dimensions Unit: mm Standard model mm sq. Motor model number PBMDXE. PBMDXE. mm sq. Motor model number PBMDXK mm sq. Low-backlash gear model mm sq. mm sq. Motor length (L) Motor model number Motor length (L) PBMDXK. PBMDXK. Motor model number PBMDG K Motor model number PBMDG K ± Hexagon socket head bolt -M. max. ± ±. max. ± ±.±..±. Encoder connector Encoder cable Encoder connector Encoder cable Encoder connector Encoder cable. max..±. Encoder connector Encoder cable Encoder connector Encoder cable.±.. max. Motor connector Motor lead wire UL AWG UL vinyl tube L± ± Optical incremental encoder type.±. + ±. ø -. ø -. -M.. Tapping depth:. min..±. + ø -. ø -. ±.±..±.±. ±. L±.±..±..±. + ±. ø -..±. ±. + ±. + ø -. ø -. ø -. ±. ± ±. ±.±. ±. ø -. ø -. ±. ±. ± ±. ±. ±. ±. ±. ±. ± ± ±. ±..±. Motor connector Motor lead wire UL AWG UL vinyl tube ±. ±. -M. Tapping depth: min. Motor connector Motor lead wire UL AWG UL vinyl tube ±. ±. +. -ø. Motor connector Motor lead wire UL AWG UL vinyl tube ± M. Tapping depth: min. Motor connector Motor lead wire UL AWG UL vinyl tube.± M. Tapping depth: min. Options DC Input Drivers / Motors DC Input Drivers / Motors DC Input Drivers / Motors DC Input Set Models AC Input Set Models AC Input Set Models Type R Multi-axis Type E Multi-axis EtherCAT interface Type P Multi-axis Type M Type P Type R

80 DC Input Drivers / Motors Type P / Type E Multi-axis Motor Dimensions Unit: mm Optical incremental encoder type Spur gear model mm sq. Motor model number Encoder connector Motor connector PBMDG E ± Encoder cable Motor lead wire UL AWG UL vinyl tube ± + ø -. ø -. ±. ±. ±..±. ±. ±.±. ±. ±. -M.. Tapping depth:. min. Harmonic gear model mm sq. Motor model number PBMDH E ± ±. Motor connector Encoder connector Motor lead wire UL AWG UL vinyl tube Encoder cable ±. ±.±. ±..±. + ± ø -. ø ø. -..±. ø±. ±. -ø.±..±. ±. mm sq. Motor model number PBMDH K ±. max. Encoder connector Encoder cable.±. -. (.) Key specifications ±. ±.. ø ø ø. -. ø± ± ±. +. ø.±. ±. Motor connector Motor lead wire UL AWG UL vinyl tube -M. Tapping depth: min. ±. -ø. mm sq. Motor model number PBMDH K Hexagon socket head bolt -M ±.±. Encoder connector Encoder cable.±.. max..±. Key specifications () Key ø ø -. ø±.. -. ± ±. ±. Motor connector Motor lead wire UL AWG UL vinyl tube ±. -ø.

81 Electromagnetic brake model mm sq. Motor model number PBMDCE. PBMDCE. mm sq. Motor model number PBMDCK mm sq. Motor length (L) Motor model number Motor length (L) PBMDCK. PBMDCK. Connector specifications Encoder connector Housing: -- Terminal: - Manufacturer: Tyco Electronics Japan G.K. Connections of encoder side connectors Pin no. Lead wire color Signal name A Blue CHANNEL A B Brown CHANNEL A A Green CHANNEL B B Purple CHANNEL B A White CHANNEL Z B Yellow CHANNEL Z A Red + V B Black V A. B. A Black Shielded B. Encoder cable: UL ±. max. ± Encoder cable Encoder connector ± Encoder connector Encoder cable Encoder connector Encoder cable.±.. max. Motor connector Motor lead wire UL AWG UL vinyl tube Brake lead wire UL AWG L±. ±.±. Brake lead wire UL AWG.±. Brake lead wire UL AWG L±. ±. ±. Optical incremental encoder type + ø -. ø -. -M.. Tapping depth:. min..±. +.±. + ø -. ø -. ±.±..±. ø -. ø -..±. ±. ± ±. ±. ±. ±. ±. ±. ±. ±..±. Motor connector Motor lead wire UL AWG UL vinyl tube ±. ±. -M. Tapping depth: min. Motor connector Motor lead wire UL AWG UL vinyl tube ±. ±. +. -ø. Motor connector Housing: -- Terminal: - for mm sq., - for / mm sq. Manufacturer: Tyco Electronics Japan G.K. Connections of motor side connectors Standard model, Low-backlash gear model, Spur gear model, Harmonic gear model Pin no. Lead wire color Signal name A Blue Motor lead wire B Orange Motor lead wire A Red Motor lead wire B Yellow Motor lead wire A. B. Electromagnetic brake model Pin no. Lead wire color Signal name A Blue Motor lead wire B Orange Motor lead wire A Red Motor lead wire B Yellow Motor lead wire A B mm sq.: Brown mm sq.: Brown mm sq.: White mm sq.: Brown mm sq.: White mm sq.: Black Brake lead wire Polarity: + Brake lead wire Polarity: - Options DC Input Drivers / Motors DC Input Drivers / Motors DC Input Drivers / Motors DC Input Set Models AC Input Set Models AC Input Set Models Type R Multi-axis Type E Multi-axis EtherCAT interface Type P Multi-axis Type M Type P Type R

82 DC Input Drivers / Motors Type E Multi-axis Motor Dimensions Unit: mm Battery-less optical absolute encoder type Standard model mm sq. Motor model number PBMDXR (.) (.) Lead wire AWG (/.) ø. ± (.) (ø) () Encoder connector Shielded cable (fixed).±.±. + ø-. ø-. ± Motor connector Lead wire UL AWG UL vinyl tube ±. ±..±.±. ±. ±. -M. Tapping depth: min. mm sq. Motor model number Motor length (L) PBMDXR. PBMDXR. (.) (.) Lead wire AWG (/.) ø. (.) ± (ø) () Encoder connector Shielded cable (fixed) ±..±.±. + ø-. ø-. ± Motor connector Lead wire UL AWG UL vinyl tube ±. ±. L± +. -ø. ±. ±. ±. Low-backlash gear model mm sq. Motor model number PBMDG R (.) (.) Lead wire AWG (/.) ø. (.) ± (ø) () Encoder connector Shielded cable (fixed) ±. ±. + Effective length ±. ± Motor connector Lead wire UL AWG UL vinyl tube ± ±. ø-. ø-..±. ± M. Tapping depth: min. mm sq. Motor model number PBMDG R (.) (.) Lead wire AWG (/.) ø. ± (ø) () Encoder connector Shielded cable (fixed) ±. + ±. ± Motor connector Lead wire UL AWG UL vinyl tube Hexagon socket head bolt -M (.).±. ø-. ø-. ±. ±..± ± M. Tapping depth: min. Harmonic gear model mm sq. Motor model number PBMDH R (.) (.) Lead wire AWG (/.) ø. ± (.) (ø) () Encoder connector Shielded cable (fixed) () ±. (.) -. ± ±..±. () Key specifications ø ± Motor connector Lead wire UL AWG UL vinyl tube -ø.±. -M. Tapping depth: min. ±..±. ø-. ø±. +.. ø.±.

83 Harmonic gear model mm sq. Motor model number PBMDH R (.) (.) Hexagon socket head bolt -M Electromagnetic brake model mm sq. Motor model number PBMDCR mm sq. Motor model number Motor length (L) PBMDCR. PBMDCR. Connector specifications Encoder connector Housing: -- Terminal: - Manufacturer: Tyco Electronics Japan G.K. Connections of encoder side connectors Pin no. Lead wire color Signal name A Brown ES+ B Blue ES- A. B. A. B. A Red + V B Black V A. B. A White / Black Shielded B. (.) (.) (.) (.) Lead wire AWG (/.) ø. ± (.) Lead wire AWG (/.) ø. ± (.) Lead wire AWG (/.) ø. (ø) () ± (.) Encoder connector Shielded cable (fixed) (ø) ().± Encoder connector Shielded cable (fixed) Battery-less optical absolute encoder type ±..±. () ± -.. Key specifications Key Brake lead wire UL AWG.±.±. +.±. Encoder connector Shielded cable (fixed) Brake lead wire ±..± (ø) UL AWG ().±. + L±. ø-. ø-. ø-. ø-. ø ø-. ±.-. ø±. ±.±. ± +. -ø. Motor connector Housing: -- Terminal: - Manufacturer: Tyco Electronics Japan G.K. ±. ±. ±. ±. ±. ±. Motor connector Lead wire UL AWG UL vinyl tube ±. -ø.±. Motor connector Lead wire UL AWG UL vinyl tube ±. ±. -M. Tapping depth: min. Motor connector Lead wire UL AWG UL vinyl tube ±. ±. Connections of motor side connectors Standard model, Low-backlash gear model, Harmonic gear model Pin no. Lead wire color Signal name A Blue Motor lead wire B Orange Motor lead wire A Red Motor lead wire B Yellow Motor lead wire A. B. Electromagnetic brake model Pin no. Lead wire color Signal name A Blue Motor lead wire B Orange Motor lead wire A Red Motor lead wire B Yellow Motor lead wire A B mm sq.: Brown mm sq.: White mm sq.: White mm sq.: Black Brake lead wire Polarity: + Brake lead wire Polarity: - Options DC Input Drivers / Motors DC Input Drivers / Motors DC Input Drivers / Motors DC Input Set Models AC Input Set Models AC Input Set Models Type R Multi-axis Type E Multi-axis EtherCAT interface Type P Multi-axis Type M Type P Type R

84 DC Input Drivers / Motors Type P / Type E Multi-axis Motor Specifications General specifications Motor model number PBM D E PBMD K PBMD R PBM D K PBM D R Type Operating ambient temperature Storage ambient temperature Operating ambient humidity Storage ambient humidity Operation altitude Vibration resistance Impact resistance Thermal class Dielectric strength S (continuous operation) - to + C ( to + C for harmonic gear model) - to + C to % RH to % RH m or less above sea level Tested with frequency to Hz, total amplitude. mm ( to Hz), acceleration m/s ( to Hz), sweep time min/cycle, sweeps in each X, Y and Z direction. Tested with m/s of acceleration for ms with half-sine wave applying three times for X, Y and Z axes each, times in total. B (+ C) At normal temperature and humidity, no failure with VAC at / Hz applied for one minute between motor winding and frame. At normal temperature and humidity, no failure with VAC at / Hz applied for one minute between motor winding and frame. Insulation resistance At normal temperature and humidity, not less than MΩ when measured with a VDC megohmmeter between motor winding and frame. Protection grade IP IP Thrust play *. mm max. (load:. N) Radial play **. mm max. (load: N) Shaft runout. mm Concentricity of mounting pilot relative to shaft ø. mm Perpendicularity of mounting surface relative to shaft. mm Motor mounting orientation Can be freely mounted vertically or horizontally Encoder Specification Optical incremental Optical incremental Battery-less optical absolute Optical incremental Battery-less optical absolute Resolution = P/R = P/R bit (, P/R) = P/R bit (, P/R) Number of channels CH *** CH *** Output method Line driver Line driver (C-MOS) Line driver (C-MOS) Max. response frequency. khz khz khz Power supply voltage VDC ±% VDC ±% VDC ±% VDC ±% Current consumption ma max. ma max. ma max. The user should not test the insulation resistance or insulation withstand voltage because capacitors are inserted into the encoder output ground line and the frame line to prevent noise. Take radiation and drive conditions into consideration to maintain motor surface temperature at C or lower while in use. * Thrust play: Displacement in shaft position in the axial direction when a load is applied to the motor shaft in the axial direction. ** Radial play: Displacement in shaft position in the radial direction when a load is applied in the vertical direction to the mounting surface of shaft at point / the shaft length from the end of the motor shaft. *** The Z channel outputs pulses. It is designed for use with drivers listed in this catalog.

85 DC Input Drivers / Motors Type R Multi-axis RS-+Parallel I/O type System Configuration Diagram Circuit breaker Protects the power line. Cuts off circuit in the event of overcurrent. Power cable To be provided by the customer. to Electromagnetic contactor Switches driver power on/off. Use together with a surge protector. CN CN CN CN CN Noise filter Filters out incoming noise from power line. CN Lineup RoHS Motor Motor size: mm sq., mm sq., mm sq. Driver Motor extension cable Model number: PBDRU Input power supply: / VDC Compatible Driver / Motor Combinations p. Driver Dimensions p. Driver Specifications p. Switching power supply Converts power supply from AC to DC power. CN CN CN CN CN CN Encoder extension cable Communication cable PC interface software Communications converter unit I/O signal cable Motor (axis ) Motor (axis ) Motor (axis ) Motor (axis ) Host devices To another driver Options DC Input Drivers/Motors DC Input Drivers / Motors DC Input Drivers/Motors DC Input Set Models AC Input Set Models AC Input Set Models Type R Multi-Axis Type E Multi-axis EtherCAT interface Type P Multi-Axis Type M Type P Type R

86 DC Input Drivers / Motors Type R Multi-axis Options and Peripherals Product names Standard model number (length) Connector set model number Extendable max. length Remarks Power cable PBCPA ( m) PBCPA m p. Motor extension cable PBCMA ( m) PBCMA m This extension cable must be used. Encoder extension cable PBCEA ( m) PBCEA m This extension cable must be used. Encoder extension cable (with connector for limit switch) PBCEC ( m) PBCEA m Necessary when using external limit switch. I/O signal cable PBCSA ( m) PBCSA m Communication cable PBCCA ( cm) PBCCA m Necessary when daisy-chainning multiple drivers in series for communication. Communications converter unit PBFM-U A set of a converter (USB/RS-) and a cable p. Regenerative unit PBFE- Required when regenerative voltage is greater than V. PC interface software SPBDW- Software for checking operation and parameter setting. p. Page Driver Dimensions Unit: mm... DSW CN CN CN CN CN CN LED LED RSW CN CN.. -ø

87 Driver Specifications General specifications Basic specifications Functions I/O signal Model number Control method Main circuit Input power power supply supply Control circuit power supply Number of control axes Operating ambient temperature Storage temperature Operating Environment ambient humidity PBDRU, PBDRU, PBDRU, PBDRU Square wave PWM drive / VDC ±% A VDC ±%. A (model number ending with or ) axes to + C - to + C % RH max. (non-condensing) Storage % RH max. (non-condensing) humidity Vibration. G (tested at frequency range from to Hz for hours in each of the X, Y, and Z resistance directions. Structure Open frame Mass Approx.. kg Rotational speed to min - Command resolution (P/R),,,,, Regenerative resistor None (External regenerative resistor is optional) Power supply voltage error, Regenerative voltage error, Overspeed, Encoder Protection functions disconnection, Reset error, CPU error, Overload stop, Push operation error, Driver overheat LED indicator Power status, alarm (based on number of blinks) Normal drive (relative motion command, absolute motion command), homing operation, module operation, continuous speed operation Operating functions Pointing function: points Program function: -line program / -line program Rotary switch Node address setting ( to E) SW, : Selection of communication speed DIP switch SW to : Activation/Deactivation setting of axes (ON=Activated) SW to : Terminating resistor setting (ON=With terminating resistor) Fixed functions for CN EXE, Point ( points), SELECT, STOP, ALMCLR Functions assignable to CN ( functions can be selected) General-purpose inputs, Point, Pause, Interlock Input signal Functions assignable to CN to CN functions for each of axes) Hard.Limit (SDN) signal Input signal: to VDC Limit switch (Pins no. and of CN to CN connectors): Internal V pull-up Fixed functions for CN In-Position, Ack, Busy, ALM Functions assignable to CN ( functions can be selected) Output signal General-purpose outputs, Motor stop, H.Limit monitor, ZONE, Homing complete, END, STOP monitor, SDN monitor Output signal: Open collector VDC, ma max. RS- Start / stop synchronization, half-duplex communication model number ending with or ) Communication specifications RS- Start / stop synchronization, full-duplex communication model number ending with or ) Options DC Input Drivers/Motors DC Input Drivers / Motors DC Input Drivers/Motors DC Input Set Models AC Input Set Models AC Input Set Models Type R Multi-Axis Type E Multi-axis EtherCAT interface Type P Multi-Axis Type M Type P Type R

88 Options PC interface software This software allows you to set parameters from a PC for closed loop stepping systems. It facilitates system startup and running tests. The software can be downloaded from Product Information on our website. Setup software title: SANMOTION MOTOR SETUP SOFTWARE Compatible driver: DC Input Type P (Multi-axis), Type E (Multi-axis) Main functions Parameter settings (settings by group) Diagnosis (alarm display, warning display, alarm cancellation) Test run execution (speed JOG, positioning operation, motor home position search, serial encoder clearance) Operating waveform display For PC-driver communication, the Type P requires an interface converter and the Type E requires a USB cable, respectively. Supported OS Windows Vista / Windows / Windows / Windows * See our website for details on supported OS versions. Main Screen Main Screen Parameter Setting Screen Alarm Log Screen Test run Parameters can be set, saved, and read from a PC. Measurement Current and past alarm events can be viewed. Motor can be test run easily by inputting speed commands and position commands from a PC. (The screen shows a case of a positioning operation) Operation trace Motor speed, torque, and internal status are displayed in graphics.

89 Setup software title: SANMOTION Model No. PB Setup software Model no.: SPBALL- Compatible driver: AC Input Type P, Type R Model no.: SPBAW- Compatible driver: DC Input Type M AC Input Set Models Type R Main functions Direct command capability Point data editing / execution Program data editing / execution Current position / Alarm / Driver status monitoring Operation waveform tracing, Off-line editing, Teaching function, etc. For PC-driver communication, an interface converter is required. Supported OS Windows Vista / Windows (runs in Windows XP compatibility mode) * See our website for details on supported OS versions. : Parameter Setting Screen : Point/Program Input Screen Communications converter unit : Operation Waveform Monitor (*SPBALL- and SPBAW- are supported) DC Input Drivers / Motors Type P Multi-axis Model no.: PBFM-U Description Manufacturer model number Quantity USB/RS- converter Uport (manufactured by MOXA) Cable PBCTA (. m) Refer to the included installation manual (CD-ROM) or the manufacturer s website for instructions on installing the Uport driver or details on its use. Options DC Input Drivers / Motors Type R Multi-axis DC Input Drivers / Motors Type E Multi-axis EtherCAT interface DC Input Set Models Type M AC Input Set Models Type P