Stepping
Steppi
Motors catalogue
Stepping
Motors catalogue
SANYO DENKI, established in 1927, began the development and production of stepping motors
in 1959. The experience and skills accumulated in more than 40 years of activity has today made
the company an international leader in this sector, both for design and development potential of
new high-performance products and for mass-production capability of the introduced technological
innovations.
Mass-production (several millions of units per year) is carried out making use of fully automated
lines. In this way, an excellent price/performance ratio is insured, in connection with constant quality
and a large repeatability of the characteristics of each item.
This range of motors proposed by R.T.A., selected from the more than 800 models in the SANYO
DENKI ‘s catalogue and supported by a very large stock of motors, always available at the
warehouse, allows to face and solve in the best way a great variety of automation problems.
The wide range of drives produced by R.T.A. (more than 30 standard models, equipped with a wide
series of accessories, interface cards and options) is the ideal complement to SANYO DENKI
stepping motors, permitting the optimization of their potential, whilst the experience in the design
of drives and the solution of practical problems, perfected in more than 20 years of activity, allows
the offering of sound support for the optimal solution of the customer’s requirements.
At present, both SANYO DENKI and R.T.A. have implemented Quality Assurance Systems certified
according to ISO 9001 (JQA - 2837 and TÜV - 50 100 2153, respectively), following the strategic
policy of improving the quality of the products and services offered to Customers.
1
STANDARD MOTORS
index
HOLDING TORQUE TECHNICAL DATA SPEED / TORQUE
(Ncm.)
(page)
CURVES (page)
SIZE 1.7"
103-546-55500
103-546-5342
103-547-52500
12.5
19
25
3
3
3
-13
13
62
62
60
109
4
4
4
5
13
13
13
13 - 14
170
170
275
345
510
510
510
6
6
7
7
8
9
10
14
14
14
14
15
---
1330
2060
11
11
15-16
16
37
18
28
38
68
19
19
28
28
110
110
110
110
165
165
165
165
20
20
20
20
21
21
21
22
28
-28
29
29
29
29
29
300
23
29
560
300
560
790
24
25
25
25
-29
30
30
1620
2460
26
26
30-31
31
SIZE 2.2"
103-770-6
103-770-1640
103-G770-2241
103-714-0150
SIZE 3.4"
103-807-6241
103-807-6341
103-810-6
103-814-6541
103-845-6741
103-845-67S1
103-845-67S41
SIZE 4.2"
103-8932-6451
103-8960-6551
H SERIES MOTORS
SIZE 1.7"
103-H548-04500
SIZE 50 mm.
103-H6701-0140
103-H6703-0440
SIZE 2.2"
103-H7123-0140
103-H7123-0440
103-H7123-0740
103-H7123-1740
103-H7126-0140
103-H7126-0740
103-H7126-1740
103-H7126-6640
SIZE 60 mm.
103-H7823-1741
SIZE 3.4"
103-H8222-63XE42
103-H8221-6241
103-H8222-6340
103-H8223-6540
SIZE 4.2"
103-H89222-6541
103-H89223-6641
For connection with R.T.A. drives, see pages 32 / 33. All indicated values are to be considered as typical.
Warning
The sole purpose of this catalogue is as a general introduction to our products, in order to allow an orientation as
well as a choice among them. Detailed information concerning limitations and installation/utilization procedures are
described in the manuals and/or technical sheets relating to each product. It is therefore essential to strictly refer
to these enclosed technical manuals for a correct use, in accordance with current standards.
All those products for which a specific obligation is required, as per law regulation in force in the European
Community countries, bear the EC marking stating they are in accordance with the related directives (depending
on the products, EEC directive 73/23 and/or 89/336 and subsequent modifications and integration).
All products are classed as components exclusively designed and sold for installation in machines or equipments
by a technically competent user, who will undertake the responsibility of safety and EMC requirements of the
complete system.
R.T.A. reserves the right to modify the products at any time and without prior notice (including, but not limited to,
characteristics, availability and prices).
2
103 - 54 SERIES
SANYO DENKI
C ± 0.5
A ± 0.5
1,5 ± 0.76
24 ± 0.5
5 min.
31 ± 0.25
0
ø 22 - 0,05
0
ø 5 - 0.013
4 - M3 x 0.5
MODEL
103 - 546 - 55500
103 - 546 - 5342
103 - 547 - 52500
103 - 547 - 52300
MOTOR CONNECTOR IS JST mod. EHR-4 /
EHR-6 A 4 / 6 POLES FEMALE.
FOR CONNECTION USE JST mod. B4B-EH-A /
B6B-EH-A MALE CONNECTOR.
A
32.5
32.5
36.5
36.5
C
15
MODEL
x
(Amp)
(Amp)
(Ohm)
(mH)
(Ncm)
(Ncm)
(Kgm 2 x 10 -7)
(rad x sec.-2)
(V/Krpm)
BASIC STEP ANGLE
BIPOLAR PARALLEL CURRENT
UNIPOLAR CURRENT
RESISTANCE
INDUCTANCE
BIPOLAR HOLDING TORQUE
UNIPOLAR HOLDING TORQUE
ROTOR INERTIA
THEORETICAL ACCELERATION
BACK E.M.F.
MASS
(Kg)
103 - 546 - 55500
103 - 546 - 5342
103 - 547 - 52500
(103 - 547 - 52300)
1.8° ± 0.09°
0.2
1,0
37.5
52
12.5
X
20
63000
47
0.2
1.8° ± 0.09°
1.8° ± 0,09°
X
V
LEADS CODE
( )
0.42 *
0.7 (*)
0.6
6.7
5.4
19
14.5
1.0
3.15
3
25
19
43
59000
14
0.24
X
30
63000
18
0.2
X
IV
IV
© RTA srl PAVIA - MC -04 - 04
CHARACTERISTICS
( )
Codes between brackets refer to double shaft model.
* Series connection
ORANGE
ORANGE
WHITE
RED
BLACK
YELLOW
IV
V
YELLOW
BLUE
BLUE
RED
42 ± 0.25
JST CONNECTOR
285 min.
5 max.
42 ± 0.25
31 ± 0.25
18 max.
3
103 - 770 SERIES
C ± 0.5
305 min.
56.4 ± 0.51
0
ø 6.35 - 0.013
0
ø 6.35 - 0.013
1.52 ± 0.25
ø 56.4 ± 0.51
47.14 ± 0.13
56.4 ± 0.51
47.14 ± 0.13
20.6 ± 0.5
A ± 0.8
4.83 ± 0.25
ø 38.1 ± 0.025
SANYO DENKI
+ 0.25
4 - ø 5.08 - 0.05
MODEL
103 - 770 - 6
103 - 770 - 61
103 - G770 - 2241
103 - G770 - 2221
103 - 770 - 1640
A
50.8
50.8
50.8
50.8
50.8
C
19.05
19.05
CHARACTERISTICS
x
(Amp)
(Amp)
(Ohm)
(mH)
(Ncm)
(Ncm)
(Kgm 2 x 10 -7)
(rad x sec.-2)
(V/Krpm)
103 - G770 - 2241
(103 - G770 - 2221)
1.8° ± 0,09°
1.8° ± 0.09°
1.41 (*)
2.82 (*)
1.0
5.1
9.0
62
49
105
59000
37
0.54
2.0
1.4
2.2
60
47
(Kg)
BLUE
II
RED
ORANGE
YELLOW
ORANGE
GRAY
BLUE
WHITE
BROWN
WHITE/BLUE
RED
WHITE/BLACK
WHITE/ORANGE
YELLOW
BLACK
WHITE/RED
WHITE/YELLOW
V
* Parallel connection.
BLACK
RED
4
105
59000
33
0.54
X
( )
Codes between brackets refer to double shaft model.
I
1.8° ± 0.09°
1.41
1,0
2.6
9.0
62
19
105
52000
17
0.54
X
I (II)
X
I
LEADS CODE
103 - 770 - 1640
V SEE NOTE PAGE 32
WHITE/RED
BASIC STEP ANGLE
BIPOLAR PARALLEL CURRENT
UNIPOLAR CURRENT
RESISTANCE
INDUCTANCE
BIPOLAR HOLDING TORQUE
UNIPOLAR HOLDING TORQUE
ROTOR INERTIA
THEORETICAL ACCELERATION
BACK E.M.F.
MASS
103 - 770 - 6
(103 - 770 - 61)
© RTA srl PAVIA - MC -04 - 04
MODEL
SANYO DENKI
103 - 714 SERIES
C ± 0.5
20.6 ± 0.5
4.83 ± 0.25
0
ø 6.35 - 0.013
0
ø 6.35 - 0.013
47.14 ± 0.13
ø 56.4 ± 0.51
47.14 ± 0.13
ø 38.1 ± 0.025
1.52 ± 0.25
305 min.
56.4 ± 0.51
+ 0.25
4 - ø 5.08 - 0.05
MODEL
103 - 714 - 0150
103 - 714 - 0111
A
76.2
76.2
C
19.5
CHARACTERISTICS
BASIC STEP ANGLE
BIPOLAR PARALLEL CURRENT
UNIPOLAR CURRENT
RESISTANCE
INDUCTANCE
BIPOLAR HOLDING TORQUE
UNIPOLAR HOLDING TORQUE
x
(Amp)
(Amp)
(Ohm)
(mH)
(Ncm)
(Ncm)
(Kgm 2 x 10 -7)
(rad x sec.-2)
(V/Krpm)
ROTOR INERTIA
THEORETICAL ACCELERATION
BACK E.M.F.
MASS
(Kg)
1.8° ± 0.09°
2.55
1.8
2.6
4.9
109
88
210
51000
36
0.95
X
II
LEADS CODE
© RTA srl PAVIA - MC -04 - 04
103 - 714 - 0150
(103 - 714 - 0111)
MODEL
Codes between brackets refer to double shaft model.
BLACK
WHITE
BROWN
YELLOW
II
GRAY
BLUE
ORANGE
RED
56.4 ± 0.51
A ± 0.8
5
103 - 807 SERIES
C ± 0.5
305 min.
ø 82.55 ± 0.51
30.2 ± 0.5
1.52 ± 0.25
10
0
ø9.525-0.013
ø 85.85 ± 0.51
69.6 ± 0.13
82.55 ± 0.51
85.85 ± 0.51
69.6 ± 0.13
A ± 0.8
4.83 ± 0.25
T
ø 73.025 ± 0,025
ø 85.85 ± 0.51
0
ø9.525 - 0.013
SANYO DENKI
4 - ø 5.6 ± 0.25
MODEL
103 - 807 - 6241
103 - 807 - 6341
103 - 807 - 6311
WIRES ARE HOUSED IN A VINYL
TUBE.
T IS THE EARTH TERMINAL
A
61
61
61
C
32,5
14,5
28.5
MODEL
x
(Amp)
(Amp)
(Ohm)
(mH)
(Ncm)
(Ncm)
(Kgm 2 x 10 -7)
(rad x sec.-2)
(V/Krpm)
BASIC STEP ANGLE
BIPOLAR PARALLEL CURRENT
UNIPOLAR CURRENT
RESISTANCE
INDUCTANCE
BIPOLAR HOLDING TORQUE
UNIPOLAR HOLDING TORQUE
ROTOR INERTIA
THEORETICAL ACCELERATION
BACK E.M.F.
MASS
PROTECTION DEGREE
LEADS CODE
(Kg)
BLACK
WHITE
BROWN
YELLOW
GRAY
BLUE
RED
ORANGE
6
103 - 807 - 6341
(103 - 807 - 6311)
1.8° ± 0.09°
2.7
1.9
2.65
8.2
170
135
1.8° ± 0.09°
4.3
3.05
0.95
3.8
170
135
560
30000
53
1.4
560
30000
33
1.4
IP43
II
IP43
II
Codes between brackets refer to double shaft model.
II
103 - 807 - 6241
© RTA srl PAVIA - MC -04 - 04
CHARACTERISTICS
103 - 81 SERIES
SANYO DENKI
C ± 0.5
ø 85.85 ± 0.51
305 min.
69.6 ± 0.13
0
ø9.525 - 0.013
0
ø9.525-0.013
10
T
ø 73.025 ± 0.025
1.52 ± 0.25
ø 85.85 ± 0.51
69.6 ± 0.13
82.55 ± 0.51
B ± 0.5
4.83 ± 0.25
ø 82.55 ± 0.51
85.85 ± 0.51
A ± 0.8
4 - ø 5.6 ± 0.25
MODEL
103 - 810 - 6
103 - 814 - 6541
103 - 814 - 6511
WIRES ARE HOUSED IN A VINYL
TUBE.
T IS THE EARTH TERMINAL
A
93.5
91.0
91.0
B
31.8
30.2
30.2
C
32,5
14,5
30.2
CHARACTERISTICS
1.8° ± 0.09°
5.6
4.0
0.75
4.5
275
220
900
30000
41
2.2
x
(Amp)
(Amp)
(Ohm)
(mH)
(Ncm)
(Ncm)
(Kgm 2 x 10 -7)
(rad x sec.-2)
(V/Krpm)
BASIC STEP ANGLE
BIPOLAR PARALLEL CURRENT
UNIPOLAR CURRENT
RESISTANCE
INDUCTANCE
BIPOLAR HOLDING TORQUE
UNIPOLAR HOLDING TORQUE
ROTOR INERTIA
THEORETICAL ACCELERATION
BACK E.M.F.
MASS
PROTECTION DEGREE
LEADS CODE
(Kg)
X
I
103 - 814 - 6541
- 6542
(103 - 103
814 -- 815
6511)
1.8° ±1,8°
0.09°± 0,09°
6.5 6,5
4.6 4,6
0.55 0,55
2.7 2,5
345 345
275 275
1120 1120
30500 30500
44
44
2.5 2,5
IP43 IP43
II
II
© RTA srl PAVIA - MC -04 - 04
103 - 810 - 6
MODEL
Codes between brackets refer to double shaft model.
I
MOTOR 103 - 810 - 6 IS NOT AVAILABLE
WITH VINYL TUBE WIRES PROTECTION
AND T EARTH TERMINAL.
II
YELLOW
ORANGE
GRAY
BLUE
ORANGE
RED
WHITE
BROWN
YELLOW
WHITE/BLACK
WHITE/ORANGE
WHITE/RED
WHITE/YELLOW
BLACK
RED
BLACK
7
SANYO DENKI
103 - 845 SERIES
+ 0.6
22 - 0
T
ø 73.025 ± 0.025
10
0
ø9.525 - 0.013
1.52 ± 0.25
ø 9.525
ø 85.85 ± 0.51
69.6 ± 0.2
82.55 ± 0.51
69.6 ± 0.2
B ± 0.5
4.83 ± 0.5
305 ± 3
82.55 ± 0.51
85.85 ± 0.51
A ± 0.8
C ± 0.5
85.85 ± 0.51
22
3
3
WIRES ARE HOUSED IN A VINYL
TUBE.
T IS THE EARTH TERMINAL
0.004
3-0.029
4 - ø 5.6
+0.1
1.8-0
MODEL
103 - 845 - 6741
103 - 845 - 6711
A
130.0
130.0
B
30.2
30.2
C
32,5
25.4
CHARACTERISTICS
BASIC STEP ANGLE
BIPOLAR PARALLEL CURRENT
UNIPOLAR CURRENT
RESISTANCE
INDUCTANCE
BIPOLAR HOLDING TORQUE
UNIPOLAR HOLDING TORQUE
ROTOR INERTIA
THEORETICAL ACCELERATION
BACK E.M.F.
MASS
PROTECTION DEGREE
LEADS CODE
x
(Amp)
(Amp)
(Ohm)
(mH)
(Ncm)
(Ncm)
(Kgm 2 x 10 -7)
(rad x sec.-2)
(V/Krpm)
(Kg)
Codes between brackets refer to double shaft model.
BLACK
WHITE
BROWN
8
YELLOW
II
GRAY
BLUE
RED
ORANGE
1.8° ± 0.09°
9.5
6.7
0.45
2.0
510
410
1550
32900
46
3.6
IP43
II
© RTA srl PAVIA - MC -04 - 04
103 - 845 - 6741
(103 - 845 - 6711)
MODEL
SANYO DENKI
103 - 845 - 67S1
+1
133 - 2
85.85 ± 0.51
40 ± 0.5
4.83 ± 0.5
10
+ 0.6
22 - 0
ø 85.85 ± 0.51
69.6 ± 0.2
82.55 ± 0.51
T
22
3
3
WIRES ARE HOUSED IN A VINYL
TUBE.
T IS THE EARTH TERMINAL.
0.004
3-0.029
+ 0.5
4 - ø 5.35 0
+0.1
1.8-0
CHARACTERISTICS
MODEL
ROTOR INERTIA
THEORETICAL ACCELERATION
BACK E.M.F.
MASS
PROTECTION DEGREE
LEADS CODE
(Kg)
1.8° ± 0.09°
9.5
6.7
0.45
2.0
510
410
1550
32900
46
3.6
IP55
II
© RTA srl PAVIA - MC - 04 - 04
103 - 845 - 67S1
x
(Amp)
(Amp)
(Ohm)
(mH)
(Ncm)
(Ncm)
(Kgm 2 x 10 -7)
(rad x sec.-2)
(V/Krpm)
BASIC STEP ANGLE
BIPOLAR PARALLEL CURRENT
UNIPOLAR CURRENT
RESISTANCE
INDUCTANCE
BIPOLAR HOLDING TORQUE
UNIPOLAR HOLDING TORQUE
BLACK
WHITE
BROWN
YELLOW
II
GRAY
BLUE
ORANGE
RED
85.85 ± 0.51
8.5 ± 0.5
ø 73.025 ± 0.025
69.6 ± 0.2
0
ø9.525 - 0.013
1.52 ± 0.25
305 ± 3
82.55 ± 0.51
9
SANYO DENKI
103 - 845 - 67S41 SERIES
85.85 ± 0.51
153.0 ± 0.8
82.55 ± 0.51
25
1.52 ± 0.25
ø 73.025 ± 0.025
+ 0.6
22 - 0
0
ø9.525 - 0.013
28
8.5 ± 0.5
ø 85.85 ± 0.51
69.6 ± 0.2
82.55 ± 0.51
69.6 ± 0.2
85.85 ± 0.51
40.2 ± 0.8
4.83 ± 0.5
3
3
22
0.004
3-0.029
4 - ø 5.6
+0.1
1.8-0
CHARACTERISTICS
BASIC STEP ANGLE
BIPOLAR PARALLEL CURRENT
UNIPOLAR CURRENT
RESISTANCE
INDUCTANCE
BIPOLAR HOLDING TORQUE
UNIPOLAR HOLDING TORQUE
ROTOR INERTIA
THEORETICAL ACCELERATION
BACK E.M.F.
MASS
PROTECTION DEGREE
LEADS CODE
x
(Amp)
x
(Amp)
(Amp)
(OHM)
(Amp)
(mH)
(Ohm)
(Ncm)
(mH)
(Ncm)
2
(Ncm)
x 10 -7)
(Kgm
(Ncm)
(Kg)
(Kgm 2Xx 10 -7)
-2 )
(rad x sec.-2
)
(V/Krpm)
103 - 845 - 67S41
1.8° ± 0.09°
9.5
6.7
0.45
2.0
510
410
1550
32900
46
(Kg)
3,9
IP55
VI
T = earth terminal
M3 screws
1
Shorting Bars
6
5
B=3
2
3
VI
10
© RTA srl PAVIA - MC - 04 - 04
MODEL
8 7
4
T = earth terminal
M3 screws
Shorting Bars
T
1=A
B=3
7
5
7
8
6
8
-B=4
-
2=A
Terminal box
Parallel connection
T
1=A
5
6
-B=4
-
2=A
Terminal box
Series connection
SANYO DENKI
103 - 89 SERIES
C±1
A±1
35 ± 0.51
8.6 ± 0.25
106.4
1.52 ± 0.25
D
+ 0.1
4 - ø 6.88 - 0
ø 106.4
ø 55.524 ± 0.051
0
ø 15.875 - 0.013
T
88.9
D
5
T IS THE EARTH TERMINAL .
+0
5-0.03
2.5
5
MODEL
103 - 8932 - 6451
103 - 8932 - 6421
103 - 8960 - 6551
+0.1
3-0
A
186.9
186.9
245
C
30,2
30.8
D
32
32
28
CHARACTERISTICS
MODEL
103 - 8932 - 6451
(103 - 8932 - 6421)
103 - 8960 - 6551
1.8° ± 0.09°
12.7
9.0
0.28
2.4
1.8° ± 0.09°
14.1
10.0
0.28
3.0
1330
1020
8000
16500
85
7
2060
1580
x
(Amp)
(Amp)
(Ohm)
(mH)
(Ncm)
(Ncm)
(Kgm 2 x 10 -7)
BASIC STEP ANGLE
BIPOLAR PARALLEL CURRENT
UNIPOLAR CURRENT
RESISTANCE
INDUCTANCE
BIPOLAR HOLDING TORQUE
UNIPOLAR HOLDING TORQUE
ROTOR INERTIA
THEORETICAL ACCELERATION
BACK E.M.F.
MASS
PROTECTION DEGREE
LEADS CODE
(rad x sec.-2)
(V/Krpm)
(Kg)
IP43
III
11500
17900
120
10.5
IP43
III
© RTA srl PAVIA - MC - 04 - 04
106.4
0
ø 12.7 - 0.013
88.9
Codes between brackets refer to double shaft model.
Terminal box - internal view
1
6
5
3
2
87
3
4
6
8
5
7
1
2
4
III
11
The correct dimensioning of a stepping motor system requires a deep knowledge of the two following
essential parameters:
Mechanical features of the application, as for example inertia of masses in motion,
transmission kinematics, speed, acceleration, time required to perform the motion, duty cycle
etc.
Performances of the motor-drive unit, mainly in terms of torque-speed curves.
The torque is not only a feature of the sole motor, but is strongly affected by the drive used with it. The
same motor can be used with various drive types in order to obtain different performances in different
applications.
Herafter are reported a selection table and some typical Torque-Speed diagrams obtained with different
couplings between RTA drives and SANYO motors. For a correct interpretation of these information,
the following considerations apply:
All reported curves are “pull-out curves”
Couplings indicated in the selection table take into account only the compatibility between
the motor and the power output characteristics of the drive. The effective choice must be
made only knowing all requirements of the application like resolution, type of supply,
mechanical format etc. (for more information about drive characteristics see also
Drive manual)
At very low speed (<30 RPM) resonance and vibration, strongly dependent by load, could
appear with “non ministep-drives” (HGD, GMD, GAC, BCW). This phenomenon is much less
critical with “ministep drives” (SDC, SAC, GMH, MIND)
As the majority of the stepping motor systems, most of the indicated couplings exhibit duty
cycle limitations in order to avoid motor overheating. Accessories like motor heatsinks and/or
fans are available in case of need
In the selection table, “YT” means that, for this coupling the specific torque-speed diagram
is present; “Y” means that the coupling is rated but the specific torque-speed diagram is not
present. For a specific motor, the use of the same background colour in different couplings
with different drives means that all those couplings exhibit similar torque-speed
characteristics. This means that, when you have a motor with one coupling marked “YT” and
three couplings marked “Y” with the same background colour, you can use the torque-speed
diagram shown for “YT” also for the other three.
SELECTION TABLE FOR COUPLING BETWEEN STANDARD MOTORS AND DRIVES
MOTOR MODELS
AND CONNECTIONS
546-5342
547-52500
547-52500
770-1640
G770-2241
G770-2241
714-0150
807-6241
807-6341
807-6341
810-6
814-6541
814-6541
845-6741
845-6741
8932-6451
8932-6451
8960-6551
8960-6551
12
DRIVE
VE
MODELS
LS
Parallel*
Parallel*
Series
HGD
04 06
SDC/SAC
04 05 06
YT
YT
YT
Y
Y
Y
Y
Parallel
Series
Parallel
Parallel
Parallel
Series
Parallel
Series
Parallel
Series
Y
05
Y
Y
Y
Y
Y
Y
Y
Y
GMH
06 07
09
YT
YT
YT
YT
YT
YT
YT
YT
YT
YT
YT
Y
Y
Y
Y
Y
Y
Y
Y
Y
Parallel
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
YT
Series
Parallel
YT
Series
Parallel
* 6-wires motor. For Parallel connection see page 32.
02
YT
GMD
03 04
06
GAC
03 04
...3
MIND
BCW
...4 ...5 02
Y
Y YT
Y
YT YT YT
YT
YT YT
YT
YT YT
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
YT
Y
Y
YT
Y
Y
Y
SANYO DENKI
SPEED/TORQUE CURVES
SANYO 103 546 5342 - parallel bipolar connection
RTA HGD04 drive
torque
power
SANYO 103 547 52500 - parallel bipolar connection
RTA HGD04 drive
torque
power
0.25
50
0.25
50
0.20
40
0.20
40
0.15
Nm
30
0.15
Nm
30
0.10
20
0.10
20
0.05
10
0.05
10
Watt
0
0
0
2
.3
4
.6
6
.9
8
1.2
10
1.5
12
1.8
14
2.1
16
2.4
0
18 KHz. (1/2 step)
2.7
Krpm
SANYO 103 547 52500 - series bipolar connection
RTA HGD04 drive
Watt
0
0
0
2
.3
4
.6
6
.9
8
1.2
10
1.5
12
1.8
14
2.1
16
2.4
0
18 KHz. (1/2 step)
2.7
Krpm
torque
power
SANYO 103 770 6
24 Volt, 1 Amp. unipolar connection
torque
power
0.25
50
1
20
0.20
40
0.8
16
0.15
Nm
30
0.10
0.05
0.6
12
20
Nm
0.4
8
10
0.2
4
Watt
0
0
0
1
.15
2
.30
3
.45
4
.60
5
.75
6
.90
7
1.05
8
1.20
0
9 KHz. (1/2 step)
1.35
Krpm
SANYO 103 770 1640 - parallel bipolar connection
RTA GMD02 drive
Watt
0
0
0
torque
power
1
.15
2
.30
3
.45
4
.60
5
.75
6
.90
7
1.05
8
1.20
0
9 KHz. (1/2 step)
1.35
Krpm
SANYO 103 G770 2241 - series bipolar connection
RTA GMD02 drive
torque
power
1
50
1
50
0.8
40
0.8
40
0.6
30
0.6
Nm
30
Watt
Nm
0.4
20
0.4
20
0.2
10
0.2
10
Watt
0
0
0
2
.3
4
.6
6
.9
8
1.2
10
1.5
12
1.8
14
2.1
16
2.4
0
18 KHz. (1/2 step)
2.7
Krpm
SANYO 103 G770 2241 parallel bipolar connection
RTA GMD02 drive
0
0
0
torque
power
2
.3
4
.6
6
.9
8
1.2
10
1.5
12
1.8
14
2.1
16
2.4
0
18 KHz. (1/2 step)
2.7
Krpm
torque
power
SANYO 103 714 0150
24 Volt, 1.8 Amp. unipolar connection
100
1.5
100
0.8
80
1.2
80
0.6
60
0.9
60
1
Nm
Watt
Nm
0.4
40
0.6
40
0.2
20
0.3
20
Watt
0
0
0
2
.3
4
.6
6
.9
8
1.2
10
1.5
12
1.8
14
2.1
16
2.4
0
18 KHz. (1/2 step)
2.7
Krpm
0
0
0
1
.15
2
.30
3
.45
4
.60
5
.75
6
.90
7
1.05
8
1.20
0
9 KHz. (1/2 step)
1.35
Krpm
13
SANYO DENKI
SPEED/TORQUE CURVES
SANYO 103 714 0150 - parallel bipolar connection
RTA GMD02 drive
SANYO 103 807 6241 - parallel bipolar connection
RTA GMD02 drive
torque
power
1.5
100
1.5
100
1.2
80
1.2
80
0.9
60
0.9
Nm
60
Watt
Nm
0.6
40
0.6
40
0.3
20
0.3
20
Watt
0
0
0
2
.3
4
.6
6
.9
8
1.2
10
1.5
12
1.8
14
2.1
0
18 KHz. (1/2step)
2.7
Krpm
16
2.4
0
0
0
torque
power
SANYO 103 807 6341 - series bipolar connection
RTA GMD02 drive
1
.15
2
.30
3
.45
4
.60
5
.75
6
.90
7
1.05
8
1.20
0
9 KHz. (1/2 step)
1.35
Krpm
SANYO 103 807 6341 - parallel bipolar connection
RTA GMD02 drive
torque
power
1.5
150
1.5
150
1.2
120
1.2
120
0.9
90
Nm
0.6
0.3
0.9
90
60
Nm
0.6
60
30
0.3
30
Watt
0
0
0
1
.15
2
.30
3
.45
4
.60
5
.75
6
.90
7
1.05
8
1.20
0
9 KHz. (1/2 step)
1.35
Krpm
Watt
0
0
0
torque
power
SANYO 103 810 6 - parallel bipolar connection
RTA GMD02 drive
2
.3
4
.6
6
.9
8
1.2
10
1.5
12
1.8
14
2.1
0
18 KHz. (1/2 step)
2.7
Krpm
16
2.4
SANYO 103 814 6541 - series bipolar connection
RTA GMD02 drive
torque
power
4
250
4
250
3.2
200
3.2
200
2.4
150
2.4
150
Nm
1.6
Watt
100
50
0.8
0
0
0
2
.3
4
.6
6
.9
8
1.2
10
1.5
12
1.8
14
2.1
16
2.4
0
18 KHz. (1/2 step)
2.7
Krpm
SANYO 103 814 6541 - parallel bipolar connection
RTA GMD03 drive
Nm
1.6
Watt
100
50
0.8
0
0
0
torque
power
1
.15
2
.30
3
.45
4
.60
5
.75
6
.90
7
1.05
8
1.20
0
9 KHz. (1/2step)
1.35
Krpm
SANYO 103 814 6541 - parallel bipolar connection
RTA GMD04 drive
torque
power
4
250
4
500
3.2
200
3.2
400
2.4
150
2.4
300
Nm
1.6
Watt
100
50
0.8
0
0
0
14
torque
power
2
.3
4
.6
6
.9
8
1.2
10
1.5
12
1.8
14
2.1
16
2.4
0
18 KHz. (1/2 step)
2.7
Krpm
Nm
1.6
Watt
200
100
0.8
0
0
0
2
.3
4
.6
6
.9
8
1.2
10
1.5
12
1.8
14
2.1
16
2.4
0
18 KHz. (1/2 step)
2.7
Krpm
SANYO DENKI
SPEED/TORQUE CURVES
SANYO 103 845 6741 - series bipolar connection
RTA GMD02 drive
torque
power
SANYO 103 845 6741 - parallel bipolar connection
RTA GMD03 drive
torque
power
5
250
5
500
4
200
4
400
3
150
3
300
Nm
2
Watt
100
50
1
0
0
0
1
.15
2
.30
3
.45
4
.60
5
.75
6
.90
7
1.05
8
1.20
0
9 KHz. (1/2 step)
1.35
Krpm
SANYO 103 845 6741 - parallel bipolar connection
RTA GMD04 drive
Nm
2
Watt
200
100
1
0
0
0
torque
power
2
.3
4
.6
6
.9
8
1.2
10
1.5
12
1.8
14
2.1
16
2.4
0
18 KHz. (1/2 step)
2.7
Krpm
SANYO 103 845 6741 - parallel bipolar connection
RTA GMD06 drive
torque
power
5
500
5
1000
4
400
4
800
3
300
3
600
Nm
2
Watt
200
100
1
0
0
0
2
.3
4
.6
6
.9
8
1.2
10
1.5
12
1.8
14
2.1
16
2.4
0
18 KHz. (1/2 step)
2.7
Krpm
SANYO 103 8932 6451 - parallel bipolar connection
RTA GMD03 drive
Watt
400
Nm
2
1
200
0
0
0
torque
power
2
.3
4
.6
6
.9
8
1.2
10
1.5
12
1.8
14
2.1
16
2.4
0
18 KHz. (1/2 step)
2.7
Krpm
SANYO 103 8932 6451 - series bipolar connection
RTA GMD04 drive
torque
power
15
1000
15
500
12
800
12
400
9
600
9
300
Nm
6
Watt
400
3
200
0
0
0
1
.15
2
.30
3
.45
4
.60
5
.75
6
.90
7
1.05
8
1.20
0
9 KHz. (1/2 step)
1.35
Krpm
SANYO 103 8932 6451 - parallel bipolar connection
RTA GMD04 drive
Nm
6
Watt
200
100
3
0
0
0
torque
power
1
.15
2
.30
3
.45
4
.60
5
.75
6
.90
7
1.05
8
1.20
0
9 KHz. (1/2 step)
1.35
Krpm
SANYO 103 8932 6451 - parallel bipolar connection
RTA GMD06 drive
torque
power
15
1000
15
1500
12
800
12
1200
9
600
9
900
Watt
400
Nm
6
3
200
0
0
0
2
.3
4
.6
6
.9
8
1.2
10
1.5
12
1.8
14
2.1
16
2.4
0
18 KHz. (1/2 step)
2.7
Krpm
Nm
6
Watt
600
3
300
0
0
0
2
.3
4
.6
6
.9
8
1.2
10
1.5
12
1.8
14
2.1
16
2.4
0
18 KHz. (1/2 step)
2.7
Krpm
15
SANYO DENKI
SPEED/TORQUE CURVES
SANYO 103 8932 6451 - parallel bipolar connection
RTA BCW02 drive
torque
power
15
1500
15
1000
12
1200
12
800
9
900
9
600
Watt
600
Nm
6
300
3
0
0
0
2
.3
4
.6
6
.9
8
1.2
10
1.5
12
1.8
14
2.1
16
2.4
0
18 KHz. (1/2 step)
2.7
Krpm
SANYO 103 8960 6551 - series bipolar connection
RTA GMD04 drive
Watt
400
Nm
6
3
200
0
0
0
torque
power
1
.15
2
.30
3
.45
4
.60
5
.75
6
.90
7
1.05
8
1.20
0
9 KHz. (1/2 step)
1.35
Krpm
SANYO 103 8960 6551 - parallel bipolar connection
RTA GMD04 drive
torque
power
15
500
15
1000
12
400
12
800
9
300
9
600
Watt
200
Nm
6
100
3
0
0
0
1
.15
2
.30
3
.45
4
.60
5
.75
6
.90
7
1.05
8
1.20
0
9 KHz. (1/2 step)
1.35
Krpm
SANYO 103 8960 6551 - parallel bipolar connection
RTA GMD06 drive
Watt
400
Nm
6
3
200
0
0
0
torque
power
2
.3
4
.6
6
.9
8
1.2
10
1.5
12
1.8
14
2.1
16
2.4
0
18 KHz. (1/2 step)
2.7
Krpm
SANYO 103 8960 6551 - parallel bipolar connection
RTA BCW02 drive
torque
power
15
1500
15
1500
12
1200
12
1200
9
900
9
900
Nm
6
Watt
600
3
300
0
0
0
16
SANYO 103 8960 6551 - parallel bipolar connection
RTA GMD03 drive
torque
power
2
.3
4
.6
6
.9
8
1.2
10
1.5
12
1.8
14
2.1
16
2.4
0
18 KHz. (1/2 step)
2.7
Krpm
Nm
6
Watt
600
3
300
0
0
0
2
.3
4
.6
6
.9
8
1.2
10
1.5
12
1.8
14
2.1
16
2.4
0
18 KHz. (1/2 step)
2.7
Krpm
stepping motors,
H Series
Better torque, small size, high efficiency!
The remarkable commitment of resources invested by SANYO DENKI in the research
and development of new technologies and products has allowed it to propose this new
range of stepping motors, which go alongside the widest range of standard models.
The innovative design of SANYO DENKI H series stepping motors presents the
following advantages, compared with conventional stepping motors:
Better performance in terms of torque and power, though maintaining
conventional standard dimensions (NEMA).
Lower noise at the same power.
Less vibrations generated by the motor body.
Optimized construction for a better exploitation of any advantages in terms
of precision and noiselessness offered by high step-fractioning drives.
Higher efficiency with consequential reduction of losses at the same supplied
mechanical power.
The better performance and lower noise make SANYO DENKI H series stepping
motors the optimum choice for powerful, precise and reliable positioning systems
allowing their use in new fields and applications.
17
SANYO DENKI
103 - H548 - 04500 SERIES
5 max
31 ± 0.25
0
ø 22 - 0.05
0
ø 5 - 0.013
4 - M 3 x 0.5
42 ± 0.25
JST CONNECTOR
300 ± 15
5 max
24 ± 0.5
41 max
1.7 ± 0.76
42 ± 0.25
31 ± 0.25
18 max.
42 ± 0.25
MOTOR CONNECTOR IS JST mod.EHR-6 A 6
POLES FEMALE.
FOR CONNECTION USE JST mod. B6B-EH-A
MALE CONNECTOR.
CHARACTERISTICS
MODEL
103 - H548 - 04500
BIPOLAR HOLDING TORQUE
UNIPOLAR HOLDING TORQUE
ROTOR INERTIA
THEORETICAL ACCELERATION
BACK E.M.F.
MASS
(Kg)
LEADS CODE
1.8° ± 0.09°
0.9 (*)
1.2
3
4.3
37
27
53
66000
17
0.28
X
IV
( )
* Series bipolar connection.
ORANGE
WHITE
18
YELLOW
IV
BLACK
RED
BLUE
© RTA srl PAVIA - MC - 04 - 04
x
(Amp)
(Amp)
(Ohm)
(mH)
(Ncm)
(Ncm)
(Kgm 2 x 10 -7)
(rad x sec.-2)
(V/Krpm)
BASIC STEP ANGLE
BIPOLAR CURRENT
UNIPOLAR CURRENT
RESISTANCE
INDUCTANCE
103 - H67 SERIES
5 ± 0.25
0
ø 6.35 - 0.013
41 ± 0.13
B ± 0.5
0
ø 6.35 - 0.013
6 max
8 max
4 - ø 4.5
50 ± 0.5
MODEL
103 - H6701 - 0140
103 - H6701 - 0113
103 - H6703 - 0440
B
20.6
28
20.6
A
39.8
39.8
51.3
C
32,5
15.5
CHARACTERISTICS
x
(Amp)
(Amp)
(Ohm)
(mH)
(Ncm)
(Ncm)
(Kgm 2 x 10 -7)
(rad x sec.-2)
BASIC STEP ANGLE
BIPOLAR CURRENT
UNIPOLAR CURRENT
RESISTANCE
INDUCTANCE
BIPOLAR HOLDING TORQUE
UNIPOLAR HOLDING TORQUE
ROTOR INERTIA
THEORETICAL ACCELERATION
BACK E.M.F.
MASS
(V/Krpm)
(Kg)
LEADS CODE
103 - H6701 - 0140
(103 - H6701 - 0113)
103 - H6703 - 0440
1.8° ± 0.09°
1.8° ± 0.09°
0.7(*)
1.0
4.3
6.8
38
28
1.4 (*)
2.0
1.6
3.2
68
49
118
58000
17.5
0.5
57
66000
20
0.35
X
X
IV
IV
Codes between brackets refer to double shaft model.
© RTA srl PAVIA - MC - 04 - 04
MODEL
( )
* Series bipolar connection.
ORANGE
WHITE
YELLOW
IV
BLACK
BLUE
RED
50 ± 0.5
A
1.5 ± 0.25
300 ± 15
C
50 ± 0.5
41 ± 0.13
25 max.
0
ø 36 - 0.039
SANYO DENKI
19
103 - H7123 SERIES
SANYO DENKI
15.5 ± 1
20.6 ± 0.5
53.8 ± 0.8
5 ± 0.25
305 L min.
1.5 ± 0.25
ø 38.1 ± 0.025
0
ø 6.35 - 0.013
0
ø 6.35
6,35 - 0.013
0,013
8 max
47.14 ± 0.13
56 ± 0.5
56 ± 0.5
47.14 ± 0.13
26 max
21 max
39 ± 0.5
56 ± 0.5
+ 0.5
4 - ø 4.5 0
CHARACTERISTICS
BASIC STEP ANGLE
BIPOLAR CURRENT
UNIPOLAR CURRENT
RESISTANCE
INDUCTANCE
BIPOLAR HOLDING TORQUE
UNIPOLAR HOLDING TORQUE
ROTOR INERTIA
THEORETICAL ACCELERATION
BACK E.M.F.
MASS
x
(Amp)
(Amp)
(Ohm)
(mH)
(Ncm)
(Ncm)
(Kgm 2 x 10 -7)
(rad x sec.-2)
(V/Krpm)
(Kg)
LEADS CODE
1.8° ± 0.09°
1.8° ± 0.09°
( )
( )
0.7 *
1
6.7
1.5 *
2
1.6
15
110
85
210
50000
60
0.65
3.8
110
85
210
50000
31
0.65
X
IV
X
IV
ORANGE
WHITE
RED
BLACK
YELLOW
V
YELLOW
BLUE
BLUE
RED
2.2 *
3
0.77
1.6
110
85
210
50000
20
0.65
X
IV
V
* Series bipolar connection.
ORANGE
20
( )
( )
Codes between brackets refer to double shaft model.
IV
1,8° ± 0,09°
4
1,0
0,41
1,6
110
19
210
50000
20
0,65
X
1.8° ± 0.09°
© RTA srl PAVIA - MC - 04 - 04
103-H7123-0740 103-H7123-1740
103-H7123-0140 103-H7123-0440 (103-H7123-0710) (103-H7123-1710)
MODEL
103 - H7126 SERIES
SANYO DENKI
15.5 ± 1
20.6 ± 0.5
75.8 ± 0.8
5 ± 0.25
305 L min.
1.5 ± 0.25
ø 38.1 ± 0.025
0
ø 6.35 - 0.013
0
ø 6.35 - 0.013
8 max
47.14 ± 0.13
39 ± 0.5
56 ± 0.5
+ 0.5
4 - ø 4.5 0
CHARACTERISTICS
x
(Amp)
(Amp)
(Ohm)
(mH)
(Ncm)
(Ncm)
(Kgm 2 x 10 -7)
(rad x sec.-2)
BASIC STEP ANGLE
BIPOLAR CURRENT
UNIPOLAR CURRENT
RESISTANCE
INDUCTANCE
BIPOLAR HOLDING TORQUE
UNIPOLAR HOLDING TORQUE
ROTOR INERTIA
THEORETICAL ACCELERATION
BACK E.M.F.
MASS
1.8° ± 0.09°
1.8° ± 0.09°
0.75 (*)
1
8.6
2.2 (*)
3
0.9
2.2
165
130
19
165
130
360
45800
92
1
(V/Krpm)
(Kg)
360
45800
31
1
X
360
45800
31
1
X
IV
X
IV
LEADS CODE
1.8° ± 0.09°
4
1,0
0.48
2.2
165
19
V
© RTA srl PAVIA - MC - 04 - 04
103 - H7126 - 0740 103 - H7126 - 1740
103 - H7126 - 0140 (103 - H7126 - 0710) (103 - H7126 - 1712)
MODEL
( )
Codes between brackets refer to double shaft model.
* Series bipolar connection.
ORANGE
ORANGE
WHITE
RED
BLACK
YELLOW
IV
V
YELLOW
BLUE
BLUE
RED
56 ± 0.5
56 ± 0.5
47.14 ± 0.13
26 max
21 max
21
103 - H7126 - 66 SERIES
SANYO DENKI
15.5 ± 1
20.6 ± 0.5
75.8 ± 0.8
5 ± 0.25
T
305 L min.
ø 38.1 ± 0.025
0
ø 6.35
6,35 - 0.013
0,013
0
ø 6.35 - 0.013
1.5 ± 0.25
47.14 ± 0.13
56 ± 0.5
56 ± 0.5
47,14 ± 0.13
39 ± 0.5
T
39 ± 0.5
56 ± 0.5
+ 0.5
4 - ø 4.5 0
T IS THE EARTH TERMINAL.
CHARACTERISTICS
x
(Amp)
(Ohm)
(mH)
(Ncm)
(Kgm 2 x 10 -7)
(rad x sec.-2)
(V/Krpm)
BASIC STEP ANGLE
BIPOLAR CURRENT
RESISTANCE
INDUCTANCE
BIPOLAR HOLDING TORQUE
ROTOR INERTIA
THEORETICAL ACCELERATION
BACK E.M.F.
MASS
PROTECTION DEGREE
(Kg)
V
LEADS CODE
Codes between brackets refer to double shaft model.
ORANGE
22
YELLOW
RED
BLUE
V
1.8° ± 0.09°
5.6
0.3
0.85
165
360
45800
23
1
IP43
X
© RTA srl PAVIA - MC - 04 - 04
103 - H7126 - 6640
(103 - H7126 - 6610)
MODEL
SANYO DENKI
103 - H7823 SERIES
60 ± 0.5
50 ± 0.13
33 max
15.5 ± 1
20.6 ± 0.5
85.8 ± 0.8
7 ± 0.25
1.5 ± 0.25
11 max
33 max
7.5 ± 0.01
ø 36 ± 0.039
50 ± 0.13
F
+ 0.5
4 - ø 4.5 0
60 ± 0.5
MOTOR CONNECTOR IS JST mod. B4PVH 4 POLES MALE.
FOR CONNECTION USE JST mod. VHR4N FEMALE CONNECTOR AND mod.
SVH-21T-P1.1 CONTACTS.
FOR F THREADED HOLE USE 3 x 6 mm
SCREWS.
CHARACTERISTICS
103 - H7823 - 1741
(103 - H7823 - 1711)
MODEL
x
(Amp)
(Ohm)
(mH)
(Ncm)
(Kgm 2 x 10 -7)
(rad x sec.-2)
(V/Krpm)
BASIC STEP ANGLE
BIPOLAR CURRENT
RESISTANCE
INDUCTANCE
BIPOLAR HOLDING TORQUE
ROTOR INERTIA
THEORETICAL ACCELERATION
BACK E.M.F.
MASS
(Kg)
1.8° ± 0.09°
4.0
0.65
2.4
300
840
35700
75
1.4
0000
X
V
LEADS CODE
© RTA srl PAVIA - MC - 04 - 04
60 ± 0.5
0
ø 8 - 0.015
0
ø 8 - 0.015
12 3 4
Codes between brackets refer to double shaft model.
1
2
3
4
V
23
SANYO DENKI
103 - H8222 - 63XE42 SERIES
127.2 ±1
85.85 ± 0.51
305 L min
10
+ 0.6
25 - 0
T
ø 73.025 ± 0.025
1.52 ± 0.25
69.6 ± 0.2
82.55 ± 0.51
69.6 ± 0.2
ø12 +0 -0.018
82.55 ± 0.51
85.85 ± 0.51
30 ± 0.5
4.83 ± 0.5
25
4
+0.1
2.5-0
4
WIRES ARE HOUSED IN A VINYL
TUBE.
T IS THE EARTH TERMINAL
0
4-0.03
+0.5
4 - ø 5.35 0
CHARACTERISTICS
MODEL
103 - H8222 - 63XE42
ROTOR INERTIA
THEORETICAL ACCELERATION
BACK E.M.F.
MASS
PROTECTION DEGREE
ENCODER CHARACTERISTICS
0.35
2.7
560
2900
19300
(rad x sec.-2)
(V/Krpm)
93
2.8
IP40
Line Driver 5 Vdc 200 step/rev.
(Kg)
LEADS CODE
V
Codes between brackets refer to double shaft model.
ENCODER OUTPUT WAVEFORM
ORANGE
V
24
YELLOW
RED
BLUE
LEADS
COLOR
BLUE
BROWN
GREEN
PURPLE
WHITE
YELLOW
RED
BLACK
BLACK
ENCODER
CHANNEL A
CHANNEL A
CHANNEL B
CHANNEL B
CHANNEL C
CHANNEL C
±5Volt
OVolt
FG (SHIELD)
T0
1/2T0
1/4T0
CHANNEL A
CHANNEL A
CHANNEL B
CHANNEL B
CHANNEL C
CHANNEL C
With this waveform the shaft rotation is counterclockwise
when view from mounting surface side. F max 100 KHz.
© RTA srl PAVIA - MC - 04 - 04
1.8° ± 0.09°
6
x
(Amp)
(Ohm)
(mH)
(Ncm)
(Kgm 2 x 10 -7)
BASIC STEP ANGLE
BIPOLAR CURRENT
RESISTANCE
INDUCTANCE
BIPOLAR HOLDING TORQUE
SANYO DENKI
103 - H82 SERIES
85.85 ± 0.51
4.83 ± 0.5
305 L min
ø 9.5
10
+ 0.6
B-0
T
ø 73.025 ± 0.025
1.52 ± 0.25
ø 85.85 ± 0.51
69.6 ± 0.2
82.55 ± 0.51
69.6 ± 0.2
ø D +0 -0.018
82.55 ± 0.51
85.85 ± 0.51
30 ± 0.5
A
C
+0.5
4 - ø 5.35 0
MODEL
103 - H8221 - 6241
103 - H8221 - 6211
103 - H8222 - 6340
103 - H8222 - 6310
103 - H8223 - 6540
103 - H8223 - 6510
WIRES ARE HOUSED IN A VINYL
TUBE.
T IS THE EARTH TERMINAL
A
62
62
92.2
92.2
125.9
125.9
B
22
22
25
25
25
25
C
25.4 ± 0,5
28 ±1
28 ±1
D
9.525
9.525
12
12
12
12
CHARACTERISTICS
BASIC STEP ANGLE
BIPOLAR CURRENT
RESISTANCE
INDUCTANCE
BIPOLAR HOLDING TORQUE
ROTOR INERTIA
THEORETICAL ACCELERATION
x
(Amp)
(Ohm)
(mH)
(Ncm)
(Kgm 2 x 10 -7)
(rad x sec.-2)
(V/Krpm)
BACK E.M.F.
MASS
PROTECTION DEGREE
1,8° ± 0,09°
6
1.8° ± 0.09°
6
0.3
1.65
300
1450
20600
0.35
2.7
560
2900
19300
50
1.5
IP43
93
2.5
IP43
1.8° ± 0.09°
9
0.2
1.4
790
4350
18200
88
3.5
IP43
V
V
V
(Kg)
LEADS CODE
© RTA srl PAVIA - MC - 04 - 04
103 - H8221 - 6241 103 - H8222 - 6340 103 - H8223 - 6540
(103 - H8221 - 6211) (103 - H8222 - 6310) (103 - H8223 - 6510)
MODEL
Codes between brackets refer to double shaft model.
4
+0.1
2.5-0
3
YELLOW
RED
+0.1
1.8-0
V
25
0
4-0.03
3
BLUE
4
22
SHAFT 103 - H8222
103 - H8223
0.004
3-0.0029
SHAFT 103 - H8221
ORANGE
25
SANYO DENKI
103 - H89 SERIES
C±1
305 L min
+ 0.6
28 - 0
T
ø 55.524 ± 0.05
10
0
ø16 - 0.018
1.52 ± 0.25
0
ø12.7 - 0.018
ø 106.4 ± 1
88.9 ± 0.25
88.9 ± 0.25
106.4 ± 0.5
35 ± 0.5
A
8.6 ± 0.5
106.4 ± 0.5
28
5
5
WIRES ARE HOUSED IN A VINYL
TUBE.
T IS THE EARTH TERMINAL
0
5-0.03
+0.5
4 - ø 6.9 0
A
163
221
221
MODEL
103 - H89222 - 6541
103 - H89223 - 6641
103 - H89223 - 6611
+0.1
3-0
C
28
MODEL
BASIC STEP ANGLE
BIPOLAR CURRENT
RESISTANCE
INDUCTANCE
BIPOLAR HOLDING TORQUE
ROTOR INERTIA
THEORETICAL ACCELERATION
BACK E.M.F.
MASS
PROTECTION DEGREE
(rad(Kg)
x sec.-2)
(V/Krpm)
LEADS CODE
Codes between brackets refer to double shaft model.
ORANGE
26
YELLOW
RED
BLUE
V
x
(Amp)
x
(Amp)
(Amp)
(OHM)
(Ohm)
(mH)
(mH)
(Ncm)
(Ncm)
-7 )
(Kgm
)
(Kgm 22 x 10 -7
(rad (Kg)
x sec.-2)
(V/Krpm)
X
103 - H89222 - 6541
103 - H89223 - 6641
(103 - H89223 - 6611)
1.8° ± 0.09°
10
0.16
1.9
1.8° ± 0.09°
12
0.16
2
1620
14650
11100
162
7
IP43
2460
22000
11100
205
10
IP43
X
V
X
V
© RTA srl PAVIA - MC - 04 - 04
CHARACTERISTICS
The correct dimensioning of a stepping motor system requires a deep knowledge of the two following
essential parameters:
Mechanical features of the application, as for example inertia of masses in motion,
transmission kinematics, speed, acceleration, time required to perform the motion, duty cycle
etc.
Performances of the motor-drive unit, mainly in terms of torque-speed curves.
The torque is not only a feature of the sole motor, but is strongly affected by the drive used with it. The
same motor can be used with various drive types in order to obtain different performances in different
applications.
Herafter are reported a selection table and some typical Torque-Speed diagrams obtained with different
couplings between RTA drives and SANYO motors. For a correct interpretation of these information,
the following considerations apply:
All reported curves are “pull-out curves”
Couplings indicated in the selection table take into account only the compatibility between
the motor and the power output characteristics of the drive. The effective choice must be
made only knowing all requirements of the application like resolution, type of supply,
mechanical format etc. (for more information about drive characteristics see also
Drive manual)
At very low speed (<30 RPM) resonance and vibration, strongly dependent by load, could
appear with “non ministep-drives” (HGD, GMD, GAC, BCW). This phenomenon is much less
critical with “ministep drives” (SDC, SAC, GMH, MIND)
As the majority of the stepping motor systems, most of the indicated couplings exhibit duty
cycle limitations in order to avoid motor overheating. Accessories like motor heatsinks and/or
fans are available in case of need
In the selection table, “YT” means that, for this coupling the specific torque-speed diagram
is present; “Y” means that the coupling is rated but the specific torque-speed diagram is not
present. For a specific motor, the use of the same background colour in different couplings
with different drives means that all those couplings exhibit similar torque-speed
characteristics. This means that, when you have a motor with one coupling marked “YT” and
three couplings marked “Y” with the same background colour, you can use the torque-speed
diagram shown for “YT” also for the other three.
SELECTION TABLE FOR COUPLING BETWEEN STANDARD MOTORS AND DRIVES
MOTOR MODELS
AND CONNECTIONS
H548-04500
H548-04500
H6701-0140
H6701-0140
H6703-0440
H6703-0440
H7123-0740
H7123-1740
H7126-0740
H7126-1740
H7126-6640
H7823-1741
H8221-6241
H8222-6340
H8223-6540
H89222-6541
H89223-6641
DRIVE
VE
MODELS
LS
Parallel*
Series
Parallel*
Series
Parallel*
Series
Series
Series
HGD
04 06
SDC/SAC
04 05 06
YT
YT
YT
YT
YT
YT
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
* 6-wires motor. For Parallel connection see page 32.
Y
05
GMH
06 07
09
YT
YT
YT
YT
YT
YT
YT
YT
Y
Y
Y
Y
Y
Y
Y
Y
Y
02
Y
Y
Y
Y
Y
Y
Y
Y
YT
YT
YT
GMD
03 04
06
YT
YT
YT YT YT
YT YT YT
YT YT YT
GAC
03 04
...3
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
MIND
BCW
...4 ...5 02
Y
Y
Y
Y
Y
Y
Y
Y
YT
YT
27
SANYO DENKI
SPEED/TORQUE CURVES
torque
power
SANYO 103 H548 04500 - parallel bipolar
connection - RTA HGD04 drive
0.5
50
0.5
50
0.4
40
0.4
40
0.3
30
Watt
Nm
0.3
30
20
10
0.2
20
Nm
0.2
0.1
10
0.1
0
0
0
2
.3
4
.6
6
.9
8
1.2
10
1.5
12
1.8
14
2.1
16
2.4
0
18 KHz. (1/2 step)
2.7
Krpm
SANYO 103 H6701 0140 - parallel bipolar connection
RTA HGD04 drive
Watt
0
0
0
1
.15
2
.3
3
.45
4
.6
5
.75
6
.9
7
1.05
8
1.2
0
9 KHz. (1/2 step)
Krpm
1.35
SANYO 103 H6701 0140 - series bipolar connection
RTA HGD04 drive
torque
power
torque
power
0.5
50
0.5
50
0.4
40
0.4
40
0.3
30
0.3
30
Watt
Nm
Watt
Nm
0.2
20
0.2
20
0.1
10
0.1
10
0
0
0
2
.3
4
.6
6
.9
8
1.2
10
1.5
12
1.8
14
2.1
16
2.4
0
18 KHz. (1/2 step)
2.7
Krpm
SANYO 103 H6703 0440 - parallel bipolar connection
RTA HGD04 drive
1
0
0
0
100
0.8
80
0.6
60
Watt
1
.15
2
.3
3
.45
4
.6
5
.75
6
.9
7
1.05
8
1.2
0
9 KHz. (1/2 step)
Krpm
1.35
SANYO 103 H6703 0440 - series bipolar connection
RTA HGD04 drive
torque
power
Nm
torque
power
1
50
0.8
40
0.6
30
Watt
Nm
0.4
40
0.4
20
0.2
20
0.2
10
0
0
0
2
.3
4
.6
6
.9
8
1.2
10
1.5
12
1.8
14
2.1
16
2.4
0
18 KHz. (1/2 step)
2.7
Krpm
0
0
0
torque
power
103 H7123 0140
24 Volt, 1 Amp. unipolar connection
1
.15
2
.3
3
.45
4
.6
5
.75
6
.9
7
1.05
8
1.2
0
9 KHz. (1/2 step)
Krpm
1.35
SANYO 103 H7123 0740 - series bipolar connection
RTA GMD02 drive
torque
power
1
20
1
0.8
16
0.8
80
0.6
12
Nm
0.4
0.2
0
0
1
.15
2
.3
3
.45
4
.6
5
.75
6
.9
7
1.05
8
1.2
100
0.6
60
8
Nm
0.4
40
4
0.2
20
Watt
0
28
torque
power
SANYO 103 H548 04500 - series bipolar
connection - RTA HGD04 drive
0
9 KHz. (1/2 step)
Krpm
1.35
Watt
0
0
0
2
.3
4
.6
6
.9
8
1.2
10
1.5
12
1.8
14
2.1
16
2.4
0
18 KHz. (1/2 step)
2.7
Krpm
SANYO DENKI
SPEED/TORQUE CURVES
torque
power
SANYO 103 H7123 1740 - bipolar connection
RTA GMD02 drive
torque
power
SANYO 103 H7126 0140
24 Volt, 1 Amp. unipolar connection
1
200
1
20
0.8
160
0.8
16
0.6
120
Nm
0.4
0.2
0.6
12
80
Nm
0.4
8
40
0.2
4
Watt
0
0
0
2
.3
4
.6
6
.9
8
1.2
10
1.5
12
1.8
14
2.1
16
2.4
0
18 KHz. (1/2 step)
2.7
Krpm
SANYO 103 H7126 0740 - series bipolar connection
RTA GMD02 drive
2
0
0
0
torque
power
100
1.6
80
1.2
60
8
1.2
10
1.5
12
1.8
14
2.1
16
2.4
SANYO 103 H7126 6640 - bipolar connection
RTA GMD02 drive
0
18 KHz. (1/2 step)
2.7
Krpm
6
.90
7
1.05
8
1.20
0
9 KHz. (1/2 step)
1.35
Krpm
torque
power
1.2
150
0.4
6
.9
5
.75
200
20
4
.6
4
.60
1.6
0.4
2
.3
3
.45
250
40
0
0
2
.30
2
Nm
0.8
Watt
1
.15
SANYO 103 H7126 1740 - bipolar connection
RTA - GMD02 drive
Nm
0.8
0
Watt
Watt
100
50
0
0
0
torque
power
2
.3
4
.6
6
.9
8
1.2
10
1.5
12
1.8
14
2.1
16
2.4
SANYO 103 H7823 1741 - bipolar connection
RTA GMD02 drive
0
18 KHz. (1/2 step)
2.7
Krpm
torque
power
2
250
5
250
1.6
200
4
200
1.2
150
3
150
Nm
0.8
Watt
100
50
0.4
0
0
0
4
.6
8
1.2
12
1.8
16
2.4
20
3
24
3.6
28
4.2
32
4.8
SANYO 103 H8221 6241 - bipolar connection
RTA GMD02 drive
0
36 KHz. (1/2 step)
5.4
Krpm
Watt
100
Nm
2
50
1
0
0
0
2
.3
4
.6
6
.9
8
1.2
10
1.5
12
1.8
14
2.1
16
2.4
SANYO 103 H8221 6241 - bipolar connection
RTA GMD04 drive
torque
power
0
18 KHz. (1/2 step)
2.7
Krpm
torque
power
5
250
5
500
4
200
4
400
3
150
3
300
Watt
100
Nm
2
50
1
0
0
0
2
.3
4
.6
6
.9
8
1.2
10
1.5
12
1.8
14
2.1
16
2.4
0
18 KHz. (1/2 step)
Krpm
2.7
Nm
2
Watt
200
100
1
0
0
0
2
.3
4
.6
6
.9
8
1.2
10
1.5
12
1.8
14
2.1
16
2.4
0
18 KHz. (1/2 step)
2.7
Krpm
29
SANYO DENKI
SPEED/TORQUE CURVES
SANYO 103 H8222 6340 - bipolar connection
RTA GMD02 drive
SANYO 103 H8222 6340 - bipolar connection
RTA GMD04 drive
torque
power
5
250
5
500
4
200
4
400
3
150
3
300
Watt
100
Nm
2
50
1
0
0
0
2
.3
4
.6
6
.9
8
1.2
10
1.5
12
1.8
14
2.1
16
2.4
SANYO 103 H8223 6540 - bipolar connection
RTA GMD03 drive
0
18 KHz. (1/2 step)
2.7
Krpm
Nm
2
Watt
200
100
1
0
0
0
torque
power
2
.3
4
.6
6
.9
8
1.2
10
1.5
12
1.8
14
2.1
16
2.4
SANYO 103 H8223 6540 - bipolar connection
RTA GMD04 drive
0
18 KHz. (1/2 step)
2.7
Krpm
torque
power
10
500
10
1500
8
400
8
1200
6
300
6
900
Nm
4
Watt
200
2
100
0
0
0
2
.3
4
.6
6
.9
8
1.2
10
1.5
12
1.8
14
2.1
16
2.4
SANYO 103 H8223 6540 - bipolar connection
RTA GMD06 drive
0
18 KHz. (1/2 step)
2.7
Krpm
Nm
4
Watt
600
300
2
0
0
0
torque
power
2
.3
4
.6
6
.9
8
1.2
10
1.5
12
1.8
14
2.1
16
2.4
SANYO 103 H89222 6541 - bipolar connection
RTA GMD03 drive
0
18 KHz. (1/2 step)
2.7
Krpm
torque
power
10
1500
15
1500
8
1200
12
1200
6
900
9
900
Nm
4
Watt
600
300
2
0
0
0
2
.3
4
.6
6
.9
8
1.2
10
1.5
12
1.8
14
2.1
16
2.4
SANYO 103 H89222 6541 - bipolar connection
RTA GMD04 drive
0
18 KHz. (1/2 step)
2.7
Krpm
Nm
6
Watt
600
3
300
0
0
0
torque
power
1
.15
2
.3
3
.45
4
.6
5
.75
6
.9
7
1.05
8
1.2
SANYO 103 H89222 6541 - bipolar connection
RTA GMD06 drive
0
9 KHz. (1/2 step)
1.35
Krpm
torque
power
15
1500
15
1500
12
1200
12
1200
9
900
9
900
Nm
6
Watt
600
300
3
0
0
0
30
torque
power
2
.3
4
.6
6
.9
8
1.2
10
1.5
12
1.8
14
2.1
16
2.4
0
18 KHz. (1/2 step)
2.7
Krpm
Watt
600
Nm
6
300
3
0
0
0
2
.3
4
.6
6
.9
8
1.2
10
1.5
12
1.8
14
2.1
16
2.4
0
18 KHz. (1/2step)
Krpm
2.7
SANYO DENKI
SPEED/TORQUE CURVES
SANYO 103 H89222 6541 - bipolar connection
RTA BCW02 drive
torque
power
SANYO 103 H89223 6641 - bipolar connection
RTA GMD03 drive
torque
power
15
2000
25
1500
12
1600
20
1200
9
1200
15
900
Nm
6
Watt
800
400
3
0
0
0
2
.3
4
.6
6
.9
8
1.2
10
1.5
12
1.8
14
2.1
16
2.4
SANYO 103 H89223 6641 - bipolar connection
RTA GMD04 drive
0
18 KHz. (1/2 step)
2.7
Krpm
Watt
600
Nm
10
300
5
0
0
0
1
.15
2
.3
3
.45
4
.6
5
.75
6
.9
7
1.05
8
1.2
SANYO 103 H89223 6641 - bipolar connection
RTA GMD06 drive
torque
power
0
9 KHz. (1/2step)
1.35
Krpm
torque
power
25
1500
25
2000
20
1200
20
1600
15
900
15
1200
Watt
600
Nm
10
5
300
0
0
0
1
.15
2
.3
3
.45
4
.6
5
.75
6
.9
7
1.05
8
1.2
SANYO 103 H89223 6641 - bipolar connection
RTA BCW02 drive
0
9 KHz. (1/2 step)
1.35
Krpm
torque
power
Nm
10
Watt
800
400
5
0
0
0
2
.3
2500
LENGTH
20
2000
MASS
15
1500
500
0
0
0
0
2
.3
4
.6
6
.9
8
1.2
10
1.5
12
1.8
14
2.1
16
2.4
8
1.2
10
1.5
12
1.8
14
2.1
16
2.4
0
18 KHz. (1/2 step)
2.7
Krpm
1 mm = 3.937 x 10
-2
inch
1 Kg = 2.205 x lb force
INERTIA
10 7 g cm 2 = 1 Kg m 2 = 5.467 x 10 4 oz in 2 = 3.417 x 10 3 lb in 2
TORQUE
1 Nm = 1.416 x 10 2 oz in = 0.738 ft lb = 8.85 in lb
1 Ncm = 1.416 oz in = 7.38 x 10 -3 ft lb = 8.85 x 10 -2 in lb
POWER
1 KW = 1.34 hp
1 W = 1.34 x 10 -3 hp
Watt
1000
5
6
.9
CONVERSION FACTORS
25
Nm
10
4
.6
18 KHz. (1/2 step)
2.7
Krpm
31
CONNECTION SCHEMATICS
OF RTA DRIVES WITH SANYO MOTORS
WHITE/BLACK
WHITE/BLACK
WHITE/ORANGE
WHITE/ORANGE
WHITE/ORANGE
BROWN
BROWN
BROWN
B
1
B
3
2
4
B
ORANGE
7
B
A
WHITE
8
2
4
B
ORANGE
HVDC +
A
B
B
YELLOW
NOT CONNECTED
BLACK
RED
B
A
BLUE
NOT CONNECTED
A
8
YELLOW
YELLOW
4
7
B
B
ORANGE
WHITE
NOT CONNECTED
NOT CONNECTED
WHITE/YELLOW
3
B
BLUE
HVDC + B
YELLOW
7
5
A
RED
8
B
6
5
3
B
1
A
6
A
BLUE
RED
HVDC +
B
B
ORANGE
YELLOW
BLUE
GRAY
RED
YELLOW
BLUE
RED
GRAY
B
A
2
32
A
ORANGE
5
IV
YELLOW
WHITE
6
A
WHITE/YELLOW
WHITE
A
B
BLACK
A
WHITE
1
A
ORANGE
HVDC +
B
BLACK
A
B
A
WHITE/RED
B
ORANGE
A
RED
YELLOW
WHITE/YELLOW
B
BLACK
A
A
ORANGE
RED
A
ORANGE
RED
A
A
III
BLACK
A
WHITE/BLACK
B
II
BLACK
A
RED
I
UNIPOLAR
CONNECTION
WHITE/RED
BLACK
A
SERIES BIPOLAR
CONNECTION
GRAY
PARALLEL BIPOLAR
CONNECTION
WHITE/RED
LEADS
CODE
BLACK
SANYO DENKI
B
CONNECTION SCHEMATICS
OF RTA DRIVES WITH SANYO MOTORS
SANYO DENKI
PARALLEL BIPOLAR
CONNECTION
A
A
2
BLUE
4
3
B
A
NOTE: FOR 103-770-1640 MOTOR
WHITE/BLUE = ORANGE
WHITE/RED = YELLOW
B
1
A
6
VI
1
6
5
A
UNIPOLAR
CONNECTION
1 ORANGE
RED
V
SERIES BIPOLAR
CONNECTION
YELLOW
LEADS
CODE
5
A
2
3
B
8
7
4
B
2
3
B
8
7
4
B
33
Stepping
Motors catalogue
MC - 06 - 04
R.T.A. s.r.l. - Via Enrico Mattei
Frazione Divisa - 27020 MARCIGNAGO (PV) Italy
Tel. +39.0382.929.855 - Fax +39.0382.929.150
www.rta.it - e-mail: info@rta.it
R.T.A. Deutschland GmbH - Bublitzer Straße 34
40599 DÜSSELDORF (Germany)
Tel. +49.211.749.668.60 - Fax +49.211.749.668.66
www.rta-deutschland.de
e-mail: info@rta-deutschland.de