STEPPING MOTOR

WITH
ENCODER

Ver.3
STEPPING MOTOR
WITH ENCODER

Standard Models

Quick Customization Service

Contents

Features . . . . . . . . . . . . . . . . . . . p. 4
Application examples . . . . . . . . p. 5
Stepping motors lineup . . . . . . p. 5
Encoder selection guide . . . . . p. 5
How to read part numbers . . . p. 6
Part numbers available . . . . . . . p. 7

Standard Models
35mm. sq models . . . . . . . . . . . p. 8
42mm. sq models . . . . . . . . . . . p. 10
56mm. sq models . . . . . . . . . . . p. 15
60mm. sq models . . . . . . . . . . . p. 18
86mm. sq models . . . . . . . . . . . p. 20
Encoder specifications . . . . . . . p. 22
Type R . . . . . . . . . . . . . . . . . . p. 22
Type S . . . . . . . . . . . . . . . . . . p. 23
Type M. . . . . . . . . . . . . . . . . . p. 24
Type L . . . . . . . . . . . . . . . . . . p. 25
General specifications . . . . . . . p. 26
Wiring and rotation direction . . . . p. 27

Quick Customization Service

Easy customization . . . . . . . . . . p. 28
Quick customization . . . . . . . . . p. 29
Customization examples . . . . . p. 29
Inquiry Check Sheet . . . . . . . . . p. 30

3
STEPPING MOTOR
WITH ENCODER

When open-loop control is not enough

Stepping systems provide precise positioning with easy control.
By adding an encoder to a stepping motor, the controller can monitor the actual position directly,
closing the feedback loop and improving the safety and reliability.

Host devices Driver Motor

PLC

Various types
of encoders

Pulse signal
Encoder

Encoder output signal

Stepping Motor with Encoder: Features

Safety: Position verification Close-loop control with stepper benefit

Adding an encoder is an ideal and easy High-end close loop control can be achieved while
solution for safety-sensitive applications, requiring keeping the advantages of stepping motors: stable
position verification and position maintenance, such stop without hunting, higher torque than DC servo
as medical instrumentation. motor at low speed over the same size, eliminating
the need of gearboxes.

Reliability: Stall Detection Accurate Homing

Device reliability is improved with possible detec- Encoder with index pulse option can be used to
tion and reporting of stalls. achieve precise homing.

We also provide quick customization service to meet your particular need.

Contact our sales office for information.
Quick Customization Service ►p. 28
Inquiry Check Sheet ►p. 30

4
Application Examples

Blood Analyser Mammograph 3D Printing Industrial machine

Stepping Motors: Lineup RoHS

Holding torque Basic step Model

Motor size Page
[Nm min.] angle number

35 mm sq. 0.195 to 0.23 1.8° 2H35o p. 8

42 mm sq. 0.29 to 0.8 1.8° 2F42o p. 10

0.26 to 0.42 1.8° 2H42o

42 mm sq. 0.23 0.9° 2P42o
p. 12

56 mm sq. 0.83 to 2 1.8° 2H56o p. 15

60 mm sq. 0.88 to 2.7 1.8° 2H60o p. 18

86 mm sq. 3.3 to 9 1.8° 2H86o p. 20

Encoder Selection Guide RoHS

4 types of encoder can be selected. They are two and three channels optical incremental encoders and
emphasize high reliability and high resolution.

Counts Per
Differential
line driver

Revolution [CPR] Pulse

Single
ended

Encoder
index Key points
type
200 400 1000 1024 option

Compact size
R type n n Simple interface
Cost effective
Medium resolution
S type n n n Pulse index option
Simple interface
High resolution
M type n n n n Pulse index option
Simple interface
Noise immunity
L type n n Transmitting encoder signal
over a long distance
Encoder specifications ►p. 22 to 25
Please consult us for higher resolution encoder
5
How to Read Part Numbers
Note that not every combination of the following codes or characters is available. Check the part numbers available on the following or contact us.

Example: This is a standard model number for a stepping motor and encoder. The motor specifications are 2-phase
stepping motor, motor size: 56mm sq., motor length: 54mm, bipolar winding, 2A/phase, S type encoder,
2 channels, 400 CPR.

2H 5654 B 20 S 2 40

Options
A Z : customized products

Encoder resolution
20 : 200CPR 10 : 1000CPR
40 : 400CPR 11 : 1024CPR

2 : 2 channels
3 : 3 channels

Encoder family
Type R, S, M or L

Current per phase

05 = 0.5 or 0.48A
10 = 1A
12 = 1.2A
17 = 1.7A
20 = 2A
60 = 6A

Winding type
B: Bipolar
U: Unipolar

Motor dimensions
(mm)
Code Flange Length
3537 35x35 37
3552 35x35 52
4233 42x42 33
4238 42x42 39
4239 42x42 39
4241 42x42 41
4248 42x42 48
4259 42x42 59.5
5654 56x56 53.8
5676 56x56 75.8
5695 56x56 94.8
6043 60x60 43.5
6052 60x60 52.5
6084 60x60 84.5
8666 86x86 66
8696 86x86 96.5
86127 86x86 127

Motor technology
2F: 2-phase, high torque, high efficiency, 1.8°/step
2H: 2-phase, 1.8°/step
2P: 2-phase, high resolution, 0.9°/step

6
Part Numbers Available
On below table are introduced available combinations between stepping motors and encoders.

n : Standard combinations, available from stock

: On demand

Encoder type
R type S type M type L type
Motor size Based motor 2 channels 2 channels 3 channels 2 channels 3 channels 2 channels Page
200CPR 400CPR 400CPR 1000CPR 1024CPR 1000CPR 400CPR
R220 S240 S340 M210 M211 M310 L240
2H3537B12 n n n n n n p. 8
35 mm sq.
2H3552U12 n n n n n n p. 8

2F4233B10 n n n n n p. 10

2F4239B10 n n n n n p. 10

2F4248B10 n n n n n p. 10

2F4259B10 n n n n n p. 10

2H4233B05 n p. 12
42 mm sq.
2H4238B17 n p. 12

2H4241B05 p. 12

2H4241U12 p. 12

2H4248U12 n p. 12

2P4233B10 n n n n n p. 12

2H5654U10 n n n n n n p. 15

2H5654U20 n n n n n n p. 15

56 mm sq. 2H5654B20 n n n n n p. 15

2H5676B20 n n n n n p. 15

2H5695B20 n n n n n n p. 15

2H6043B20 n n n n n n p. 18

60 mm sq. 2H6052B20 n n n n n n p. 18

2H6084B20 n n n n n n p. 18

2H8666B60 n n n n n n p. 20

86 mm sq. 2H8696B60 n n n n n n p. 20

2H86127B60 n n n n n n p. 20

Optional Cables
Motor cables Encoder cables

Motor size Based motor Cable P/N Encoder Motor type Cable P/N
2F42xxBxx 4835775-1 2H35, 2H42 CRP12500
R220
42 mm sq. 2H42xxBxx 4835728-1 2H56, 2H60, 2H86 CRS22500

2H42xxUxx 4835710-1 Sxxx

all CS3500
Mxxx

7
 Stepping Motors

35 mm sq.
1.8° /step RoHS
Unipolar and Bipolar winding
Lead wire type

Holding torque at Step Rated Wiring Winding Rotor Weight Optional

2-phase energization angle Winding current resistance inductance Inertia
Based motor motor
type
[N.m min.] ° A/phase Ω /phase mH/phase [x 10-4 kg.m2] kg cable
2H3537B12 0.195 1.8 Bipolar 1.2 2.6 3.88 0.025 0.2 -
2H3552U12 0.23 1.8 Unipolar 1.2 3.4 2.8 0.043 0.3 -

Dynamic performances
Driver: BS1D200P10 Driver: US1D200P10
2H3537B12 2H3552U12
Power supply: 36V 24V Power supply: 36V 24V
Current: 1.2A/phase bipolar Current: 1.2A/phase unipolar
Excitation mode: Full-step Excitation mode: Full-step
Load inertia JL = 0.94x10-4kg.m2 (rubber coupling) Load inertia JL = 0.94x10-4kg.m2 (rubber coupling)

0.25 0.25

0.20 0.20
Torque (N.m)

Torque (N.m)

0.15 0.15

0.10 0.10

0.05 0.05

0 0
0.1 1 10 100 0.1 1 10 100
Pulse rate (kpulses/s) Pulse rate (kpulses/s)

100 1000 2000 5000 100 1000 2000 5000

Number of rotations (min-1) Number of rotations (min-1)

Dimensions [Unit: mm]

2H3537B12R220

2H3537B12Sxxx
2H3537B12Mxxx

8
2H3552U12R220

35mm sq.
42mm sq.
2H3552U12Sxxx
2H3552U12Mxxx

56mm sq.
60mm sq.
Internal wiring
Unipolar winding Bipolar winding

Orange Orange
General Specification ►p. 26
White
Rotation Direction ►p. 27
Blue Blue

Red Yellow
Red Yellow

86mm sq.
Black

Encoder cables
R220 Encoder, Cable P/N: CRP12500
Manufacturer: MOLEX
Housing: 51021-0500

Specifications
Terminal: 50079-8000 or 8100
500 min.

Encoder
Pin No. Lead wire color
5 Black
4 -
3 Yellow
2 Red
1 Green

Lead wire: UL1569 AWG26

Sxxx, Mxxx Encoder, Cable P/N: CS3500

Manufacturer: MOLEX
Housing: 22-01-2055
Customization

or 22-01-3057 500 min.

Lead wire color (3)
Service

Green
Red
Yellow
White
Black
Cut but not stripped

Lead wire: UL1007 AWG24

9
 Stepping Motors

42 mm sq.
1.8° /step RoHS
Bipolar winding
Connector type

Holding torque at Step Rated Wiring Winding Rotor Weight Optional

2-phase energization angle Winding current resistance inductance Inertia
Based motor motor
type
[N.m min.] ° A/phase Ω /phase mH/phase [x 10-4 kg.m2] kg cable
2F4233B10 0.29 1.8 Bipolar 1 3.6 7 0.031 0.23 4835775-1
2F4239B10 0.43 1.8 Bipolar 1 4.6 9.6 0.046 0.30 4835775-1
2F4248B10 0.56 1.8 Bipolar 1 5.3 12.5 0.063 0.38 4835775-1
2F4259B10 0.8 1.8 Bipolar 1 6.5 16 0.094 0.51 4835775-1

• For quantities higher than 104 pcs/lot, the encoder is directly mounted on the motor.
• For quantities equal or less than 104 pcs/lot an adaptation plate is used for the encoder mounting.
The part numbers of motors with adaptation plate end with A and dimensions differ.

Dynamic performances
Driver: BS1D200P10 Driver: BS1D200P10
2F4233B10 2F4239B10
Power supply: 36V 24V Power supply: 36V 24V
Current: 1A/phase unipolar Current: 1A/phase unipolar
Excitation mode: Full-step Excitation mode: Full-step
Load inertia JL = 0.94x10-4Kg.m2 (rubber coupling) Load inertia JL = 0.94x10-4Kg.m2 (rubber coupling)

2.5 0.5 2.5 0.5

2 0.4 2 0.4
Torque (kgf.cm)

Torque (kgf.cm)
Torque (N.m)

Torque (N.m)

1.5 0.3 1.5 0.3

1 0.2 1 0.2

0.5 0.1 0.5 0.1

0 0 0 0
0.1 1 10 100 0.1 1 10 100
(Kpulses/s) (Kpulses/s)
100 1000 2000 5000 100 1000 2000 5000
Speed (RPM) Speed (RPM)

Driver: BS1D200P10 Driver: BS1D200P10

2F4248B10 2F4259B10
Power supply: 36V 24V Power supply: 36V 24V
Current: 1A/phase unipolar Current: 1A/phase unipolar
Excitation mode: Full-step Excitation mode: Full-step
Load inertia JL = 0.94x10-4Kg.m2 (rubber coupling) Load inertia JL = 2.6x10-4Kg.m2 (rubber coupling)

3.5 0.7
5 1.0
3 0.6

2.5 4 0.8
0.5
Torque (kgf.cm)

Torque (N.m)

Torque (kgf.cm)

Torque (N.m)

2 0.4 3 0.6
1.5 0.3
2 0.4
1 0.2

0.5 0.1 1 0.2

0 0
0.1 1 10 100 0 0
(Kpulses/s) 0.1 1 10 100
(Kpulses/s)
100 1000 2000 5000
100 1000 2000 5000
Speed (RPM)
Speed (RPM)

10
 Dimensions with direct mounting [Unit: mm]

35mm sq.
2F42xxxxxSx40
2F42xxxxxMx1x
30 18.3 A ± 0.5 24 ± 0.5 42 ± 0.5
31 ± 0.25
5 ... 1 6 MAX 23 MIN.
5.2

27 MAX
+1

5 -0.012
1.5 ± 0.2 15 0

0
EFFECTIVE
LENGTH

42mm sq.
Motor A
41.1 Length [mm]
2F4233 33

22 -0.021

31 ± 0.25

42 ± 0.5
0
2F4239 39

4.5 ± 0.15
2F4248 48
2F4259 59.5
4 - M3 X 0.5
5

TAP DEPTH 4 MIN

R1

56mm sq.
Dimensions with adaptation plate [Unit: mm]

2F42xxxxxSx40A
2F42xxxxxMx1xA

30
10°
18.3 A ± 0.5 24 ± 0.5 42 ± 0.5

1.5 31 ± 0.25

60mm sq.
+1
7

6 MAX 23 MIN. 15 0
5 ... 1
1.5 ± 0.2
5 -0.012

Motor A
0

Length [mm]
2F4233 33
43.1

22 -0.021

31 ± 0.25

42 ± 0.5
0

2F4239 39
4.5 ± 0.15

2F4248 48

86mm sq.
2F4259 59.5

4 - M3 X 0.5
TAP DEPTH 4 MIN

Internal wiring
( ) connector pin number

Specifications
Bipolar winding

Encoder
(9)
General Specification ►p. 26
Rotation Direction ►p. 27
(7)

(3) (5)
Customization

Motor cable Encoder cables

Service

Cable P/N: 4835775-1 Sxxx, Mxxx Encoder, Cable P/N: CS3500

Manufacturer: MOLEX
Manufacturer: J.S.T. Housing: 22-01-2055
Housing: PHR-11 or 22-01-3057 500 min.
Pin: SPH-002T-P0.5S Lead wire color (3)
500 min. Green
Red
Pin No. Lead wire color
Yellow
9 Orange White
7 Blue Black
Cut but not stripped
5 Yellow
3 Red
Lead wire: UL1007 AWG26 Lead wire: UL1007 AWG24

11
 Stepping Motors

42 mm sq.
0.9° - 1.8° /step RoHS
Unipolar and Bipolar winding
Lead wire and Connector type

Holding torque at Step Rated Wiring Winding Rotor Weight Optional

2-phase energization angle Winding current resistance inductance Inertia
Based motor motor
type
[N.m min.] ° A/phase Ω /phase mH/phase [x 10-4 kg.m2] kg cable
2P4233B10 0.23 0.9 Bipolar 1 3.3 8.0 0.044 0.24 -
2H4233B05 0.26 1.8 Bipolar 0.48 14 27 0.036 0.23 4835728-1
2H4238B17 0.39 1.8 Bipolar 1.7 1.3 3.4 0.056 0.29 4835728-1
2H4241B05 0.42 1.8 Bipolar 0.5 18 42 0.062 0.31 4835728-1
2H4241U12 0.32 1.8 Unipolar 1.2 3 3.9 0.062 0.31 4835710-1
2H4248U12 0.37 1.8 Unipolar 1.2 3.3 3.4 0.074 0.37 4835710-1

Dynamic performances
Driver: Internal circuit Driver: Internal circuit
2P4233B10 2H4233B05
Power supply: 36V 24V Power supply: 36V 24V
Current: 1A/phase bipolar Current: 0.48A/phase bipolar
Excitation mode: Full-step Excitation mode: Full-step
Load inertia JL = 0.94x10-4kg.m2 (rubber coupling) Load inertia JL = 0.94x10-4kg.m2 (rubber coupling)

0.5
0.30

0.4 0.25
Torque (N.m)

0.20
Torque (N.m)

0.3

0.15
0.2
0.10
0.1
0.05
0
0.1 1 10 100 0
0.1 1 10 100
Pulse rate (kpulses/s)
Pulse rate (kpulses/s)
100 1000 2000 5000
100 1000 2000 5000
Number of rotations (min-1)
Number of rotations (min-1)

Driver: BS1D200P10 Driver: Internal circuit

2H4238B17 2H4241B05
Power supply: 36VDC 24VDC Power supply: 36V 24V
Current: 1.7A/phase bipolar Current: 0.5A/phase bipolar
Excitation mode: Full-step Excitation mode: Full-step
Load inertia JL = 0.94x10-4kg.m2 (rubber coupling) Load inertia JL = 0.94x10-4kg.m2 (rubber coupling)

0.45
0.5
0.40
0.35
0.4
0.30
Torque (N.m)

Torque (N.m)

0.25 0.3
0.20
0.15 0.2

0.10
0.1
0.05
0
0.1 1 10 100 0
Pulse rate (kpulses/s) 0.1 1 10 100
Pulse rate (kpulses/s)
100 1000 2000 5000
Number of rotations (min-1) 100 1000 2000 5000
Number of rotations (min-1)

12
 Driver: US1D200P10 Driver: US1D200P10
2H4241U12 2H4248U12
Power supply: 36V 24V Power supply: 36V 24V

35mm sq.
Current: 1.2A/phase unipolar Current: 1.2A/phase unipolar
Excitation mode: Full-step Excitation mode: Full-step
Load inertia JL = 0.94x10-4kg.m2 (rubber coupling) Load inertia JL = 0.94x10-4kg.m2 (rubber coupling)

0.35 0.5

0.30
0.4
0.25
Torque (N.m)

Torque (N.m)
0.20 0.3

42mm sq.
0.15 0.2
0.01
0.1
0.05

0 0
0.1 1 10 100 0.1 1 10 100
Pulse rate (kpulses/s) Pulse rate (kpulses/s)
100 1000 2000 5000 100 1000 2000 5000
Number of rotations (min-1) Number of rotations (min-1)

56mm sq.
Dimensions [Unit: mm]
2P4233B10Sx40
2P4233B10Mx1x

60mm sq.
86mm sq.
Specifications
2H42xxxxxR220

Encoder
A

Customization
Service

Motor A
Length [mm]
2H4233 33
2H4238 39
2H4248 48

13
 2H42xxxxxSx40
2H42xxxxxMx1x
A

Motor A
Length [mm]
2H4233 33
2H4238 39
2H4241 41
2H4248 48

Internal wiring
( ) connector pin number

Unipolar winding Bipolar winding

(2) (3)
General Specification ►p. 26
(1)
Rotation Direction ►p. 27
(3) (1)

(5) (6) (4) (6) (4)

Motor cables Encoder cables

Unipolar winding, Cable P/N: 4835710-1 R220 Encoder, Cable P/N: CRP12500
Manufacturer: MOLEX
Manufacturer: J.S.T. Mfg. Co., Ltd. Housing: 51021-0500
Housing: EHR-6 Black Terminal: 50079-8000 or 8100
Pin: SEH-001T-P0.6 500 min. 500 min.
Pin No. Lead wire color
Pin No. Lead wire color
5 Black
6 Black 4 -
5 Red 3 Yellow
2 Red
4 Yellow 1 Green
3 Blue
2 Orange Lead wire: UL1569 AWG26
1 White

Lead wire: UL1430 AWG26

Sxxx, Mxxx Encoder, Cable P/N: CS3500
Manufacturer: MOLEX
Housing: 22-01-2055
or 22-01-3057 500 min.
Lead wire color (3)
Green
Red
Yellow
White
Black
Bipolar winding, Cable P/N: 4835728-1 Cut but not stripped

Lead wire: UL1007 AWG24

Manufacturer: J.S.T. Mfg. Co., Ltd.
Housing: EHR-6 Black
Pin: SEH-001T-P0.6 500 min.
Pin No. Lead wire color
6 Red
5 NC
4 Yellow
3 Orange
2 NC
1 Blue

Lead wire: UL1430 AWG26

14
Stepping Motors

56 mm sq.

35mm sq.
1.8° /step RoHS
Unipolar and Bipolar winding
Lead wire type

42mm sq.
Holding torque at Step Rated Wiring Winding Rotor Weight Optional
2-phase energization angle Winding current resistance inductance Inertia
Based motor motor
type
[N.m min.] ° A/phase Ω /phase mH/phase [x 10-4 kg.m2] kg cable
2H5654U10 0.83 1.8 Unipolar 1 6.7 15 0.21 0.65 -
2H5654U20 0.83 1.8 Unipolar 2 1.6 3.8 0.21 0.65 -

56mm sq.
2H5654B20 0.83 1.8 Bipolar 2 0.8 3.8 0.21 0.65 -
2H5676B20 1.27 1.8 Bipolar 2 1.05 4.5 0.36 0.98 -
2H5695B20 2 1.8 Bipolar 2 2.3 10.4 0.49 1.3 -

60mm sq.
Dynamic performances
Driver: Internal circuit Driver: US1D200P10
2H5654U10 2H5654U20
Power supply: 36V 24V Power supply: 36V 24V
Current: 1A/phase unipolar Current: 2A/phase bipolar
Excitation mode: Full-step Excitation mode: Full-step
Load inertia JL = 2.6x10-4kg.m2 (rubber coupling) Load inertia JL = 0.94x10-4kg.m2 (rubber coupling)

0.9 1.0
0.8

86mm sq.
0.7 0.8

0.6
Torque (N.m)

Torque (N.m)

0.6
0.5
0.4
0.4
0.3
0.2 0.2
0.1

Specifications
0 0
0.1 1 10 100 0.1 1 10 100

Encoder
Pulse rate (kpulses/s) Pulse rate (kpulses/s)
100 1000 2000 5000 100 1000 2000 5000
Number of rotations (min-1) Number of rotations (min-1)

Driver: BS1D200P10 Driver: BS1D200P10

2H5654B20 2H5676B20
Power supply: 36VDC 24VDC Power supply: 36VDC 24VDC
Current: 2A/phase bipolar Current: 2A/phase bipolar
Excitation mode: Full-step Excitation mode: Full-step
Load inertia JL = 2.6x10-4kg.m2 (rubber coupling) Load inertia JL = 2.6x10-4kg.m2 (rubber coupling)
Customization
Service

1.2 2.0

1.0
1.6
0.8
Torque (N.m)

Torque (N.m)

1.2
0.6
0.8
0.4

0.2 0.4

0 0
0.1 1 10 100 0.1 1 10 100
Pulse rate (kpulses/s) Pulse rate (kpulses/s)
100 1000 2000 5000 100 1000 2000 5000
Number of rotations (min-1) Number of rotations (min-1)

15
 Driver: Internal circuit
2H5695B20
Power supply: 36V 24V
Current: 2A/phase bipolar
Excitation mode: Full-step
Load inertia JL = 7.4x10-4kg.m2 (rubber coupling)

2.5

2.0
Torque (N.m)

1.5

1.0

0.5

0
0.1 1 10 100
Pulse rate (kpulses/s)
100 1000 2000 5000
Number of rotations (min-1)

Dimensions [Unit: mm]

2H5654xxxR220

2H5695B20R220

2H56xxxxxSx40
2H56xxxxxM21x
A

Motor A
Length [mm]
2H5654 53.8
2H5676 75.8

Note: bipolar models have 4 wires

16
2H5695B20Sx40

35mm sq.
2H5695B20M21x

42mm sq.
2H56xxxxxL240 A

56mm sq.
Motor A
Length [mm]
2H5654 53.8
2H5676 75.8

Note: bipolar models have 4 wires

60mm sq.
2H5695B20L240

86mm sq.
Internal wiring

Specifications
Unipolar winding Bipolar winding

Encoder
Orange Orange
White
General Specification ►p. 26
Blue Blue Rotation Direction ►p. 27

Red Yellow
Black Red Yellow

Encoder cables
Customization

R220 Encoder, Cable P/N: CRS22500 Sxxx, Mxxx Encoder, Cable P/N: CS3500
Service

Manufacturer: MOLEX Manufacturer: MOLEX

Housing: 51021-0500 Housing: 22-01-2055
Terminal: 50079-8000 or 8100 or 22-01-3057 500 min.
500 min.
Lead wire color (3)
Pin No. Lead wire color
5 Green Green
4 Red Red
3 Yellow Yellow
2 - White
1 Black Black
Cut but not stripped
Lead wire: UL1569 AWG26
Lead wire: UL1007 AWG24

17
 Stepping Motors

60 mm sq.
1.8° /step RoHS
Bipolar winding
Lead wire type

Holding torque at Step Rated Wiring Winding Rotor Weight Optional

2-phase energization angle Winding current resistance inductance Inertia
Based motor motor
type
[N.m min.] ° A/phase Ω /phase mH/phase [x 10-4 kg.m2] kg cable
2H6043B20 0.88 1.8 Bipolar 2 1.27 3.3 0.275 0.6 -
2H6052B20 1.37 1.8 Bipolar 2 1.55 5.5 0.4 0.77 -
2H6084B20 2.7 1.8 Bipolar 2 2.4 9.5 0.84 1.34 -

Dynamic performances
Driver: BS1D200P10 Driver: BS1D200P10
2H6043B20 2H6052B20
Power supply: 36V 24V Power supply: 36V 24V
Current: 2A/phase bipolar Current: 2A/phase bipolar
Excitation mode: Full-step Excitation mode: Full-step
Load inertia JL = 7.4x10-4kg.m2 (rubber coupling) Load inertia JL = 7.4x10-4kg.m2 (rubber coupling)

2.0 2.0

2.6 2.6
Torque (N.m)

Torque (N.m)

1.2 1.2

0.8 0.8

0.4 0.4

0 0
0.1 1 10 100 0.1 1 10 100
Pulse rate (kpulses/s) Pulse rate (kpulses/s)
100 1000 2000 5000 100 1000 2000 5000
Number of rotations (min-1) Number of rotations (min-1)

Driver: BS1D200P10
2H6084B20
Power supply: 36V 24V
Current: 2A/phase bipolar
Excitation mode: Full-step
Load inertia JL = 7.4x10-4kg.m2 (rubber coupling)

3.0

2.5

2.0
Torque (N.m)

1.5

1.0

0.5

0
0.1 1 10 100
Pulse rate (kpulses/s)
100 1000 2000 5000
Number of rotations (min-1)

18
 Dimensions [Unit: mm]

35mm sq.
2H60xxB20R220 A

Motor A
Length [mm]
2H6043 43.5

42mm sq.
2H6052 52.5
2H6084 84.5

2H60xxB20Sx40 A
2H60xxB20M21x

56mm sq.
Motor A
Length [mm]
2H6043 43.5
2H6052 52.5
2H6084 84.5

60mm sq.
2H60xxB20L240 A

Motor A
Length [mm]

86mm sq.
2H6043 43.5
2H6052 52.5
2H6084 84.5

Internal wiring

Specifications
Bipolar winding

Encoder
Orange
General Specification ►p. 26
Blue Rotation Direction ►p. 27

Red Yellow

Encoder cables
Customization

R220 Encoder, Cable P/N: CRS22500 Sxxx, Mxxx Encoder, Cable P/N: CS3500
Service

Manufacturer: MOLEX Manufacturer: MOLEX

Housing: 51021-0500 Housing: 22-01-2055
Terminal: 50079-8000 or 8100 or 22-01-3057 500 min.
500 min.
Lead wire color (3)
Pin No. Lead wire color
5 Green Green
4 Red Red
3 Yellow Yellow
2 - White
1 Black Black
Cut but not stripped
Lead wire: UL1569 AWG26
Lead wire: UL1007 AWG24

19
 Stepping Motors

86 mm sq.
1.8° /step RoHS
Bipolar winding
Lead wire type

Holding torque at Step Rated Wiring Winding Rotor Weight Optional

2-phase energization angle Winding current resistance inductance Inertia
Based motor motor
type
[N.m min.] ° A/phase Ω /phase mH/phase [x 10-4 kg.m2] kg cable
2H8666B60 3.3 1.8 Bipolar 6 0.29 1.7 1.48 1.75 -
2H8696B60 6.4 1.8 Bipolar 6 0.36 2.8 3 2.9 -
2H86127B60 9.0 1.8 Bipolar 6 0.46 3.8 4.5 4.0 -

Dynamic performances
Driver: Internal circuit Driver: Internal circuit
2H8666B60 2H8696B60
Power supply: 100VAC Power supply: 100VAC
Current: 6A/phase bipolar Current: 6A/phase bipolar
Excitation mode: Full-step Excitation mode: Full-step
Load inertia JL = 15.3x10-4kg.m2 (rubber coupling) Load inertia JL = 15.3x10-4kg.m2 (rubber coupling)

5 10

4 8
Torque (N.m)

Torque (N.m)

3 6

2 4

1 2

0 0
0.1 1 10 100 0.1 1 10 100
Pulse rate (kpulses/s) Pulse rate (kpulses/s)
100 1000 2000 5000 100 1000 2000 5000
Number of rotations (min-1) Number of rotations (min-1)

Driver: Internal circuit

2H86127B60
Power supply: 100VAC
Current: 6A/phase bipolar
Excitation mode: Full-step
Load inertia JL = 44x10-4Kg.m2 (rubber coupling)

10

8
Torque (N.m)

0
0.1 1 10 100
Pulse rate (kpulses/s)
100 1000 2000 5000
Number of rotations (min-1)

20
 Dimensions [Unit: mm]

35mm sq.
2H86xxB60R220 A
2H86xxxB60R220

Motor A
Length [mm]

42mm sq.
2H8666 66
2H8696 96.5
2H86127 127

2H86xxB60Sx40 A
2H86xxxB60Sx40
2H86xxB60M21x

56mm sq.
2H86xxxB60M21x

Motor A
Length [mm]
2H8666 66
2H8696 96.5
2H86127 127

60mm sq.
2H86xxB60L240 A
2H86xxxB60L240

Motor A

86mm sq.
Length [mm]
2H8666 66
2H8696 96.5
2H86127 127

Internal wiring

Specifications
Bipolar winding

Encoder
Orange
General Specification ►p. 26
Blue Rotation Direction ►p. 27

Red Yellow

Encoder cables
Customization

R220 Encoder, Cable P/N: CRS22500 Sxxx, Mxxx Encoder, Cable P/N: CS3500
Service

Manufacturer: MOLEX Manufacturer: MOLEX

Housing: 51021-0500 Housing: 22-01-2055
Terminal: 50079-8000 or 8100 or 22-01-3057 500 min.
500 min.
Lead wire color (3)
Pin No. Lead wire color
5 Green Green
4 Red Red
3 Yellow Yellow
2 - White
1 Black Black
Cut but not stripped
Lead wire: UL1569 AWG26
Lead wire: UL1007 AWG24

21
 R type Encoder
• Two channel quadrature outputs
RoHS

• Resolution 200 counts per revolution

• TTL compatible
• Single 5VDC supply
• HEDR serie encoders from Broadcom Limited

Encoder features Encoder pin-outs Encoder P/N

R220 R220 R220: 2 channels, 200CPR
Parameter R220 Pins
35, 42mm sq. 56, 60, 86mm sq.
Supply voltage [VDC] 5 ± 0.5 Pin 1 Channel B GND
Max. Supply current [mA] 33 Pin 2 5 VDC NC
Output voltage [VDC] VOH = 2.4 min, VOL = 0.4 max Pin 3 Channel A Channel A
Output channels 2 (A, B) Pin 4 NC 5 VDC
Maximum frequency [kHz] 16 Pin 5 GND Channel B

Output waveforms Encoding characteristics

R220
Parameter Symbol
Typ.* Max.
C Pulse width error [°e] ΔP 7 75
P Logic width error [°e] ΔS 15 60

Phase error [°e] ΔØ 15 60

A Position error [arcmin.] ΔΘ 50 120
Amplitude

Ø
S1 S2 S3 S4 Cycle error [°e] ΔC 10 45

*Typical values specified at supply voltage = 5.0 V and 25°C

Rotation

Electrical interface Encoder cables

R220 Encoder, 35 & 42mm flange Motor, Cable P/N: CRP12500

Manufacturer: MOLEX
Housing: 51021-0500
Terminal: 50079-8000 or 8100
500 min.
Pin No. Lead wire color
5 Black
4 -
Radial ouput for 35mm Axial ouput for 56, 60 3 Yellow
and 42mm flange motor and 86mm flange motor 2 Red
1 Green

Lead wire: UL1569 AWG26

Pull-up resistors on output pins have already been integrated.
Each of the three encoder outputs can drive a single TTL load in
this configuration.

R220 Encoder, 56, 60 & 86mm flange Motor, Cable P/N: CRS22500
Suitable connectors
Manufacturer: MOLEX
Housing: 51021-0500
Part number
Manufacturer Terminal: 50079-8000 or 8100
500 min.
Housing Contact Pin No. Lead wire color
5 Green
Molex 51021-0500 50079-8000 4 Red
3 Yellow
2 -
1 Black

Lead wire: UL1569 AWG26

22
 S type Encoder

35mm sq.
RoHS

• Two channel quadrature outputs with optional index pulse

• Resolution 400 or 500 counts per revolution
• Single ended output signals, TTL compatible
• Single 5VDC supply
• HEDS serie encoders from Broadcom Limited

42mm sq.
Encoder features Encoder pin-outs Encoder P/N
S240: 2 channels, 400CPR
Parameter S240 S340 Pins S240 S340
S340: 3 channels, 400CPR
Supply voltage [VDC] 5 ± 0.5 Pin 1 GND
Max. Supply current [mA] 40 85 Pin 2 NC Channel I
Output voltage [VDC] VOH = 2.4 min, VOL = 0.4 max Pin 3 Channel A

56mm sq.
Output channels 2 (A, B) 3 (A, B, I) Pin 4 5 VDC
Maximum frequency [kHz] 100 Pin 5 Channel B

Output waveforms Encoding characteristics

S240 S340
Parameter Symbol
C Min. Typ.* Max. Min. Typ.* Max.

60mm sq.
P
Pulse width error [°e] ΔP 7 45 5 45
2.4 V
Logic width error [°e] ΔS 5 45 5 35
A 0.4 V
Ø Phase error [°e] ΔØ 2 20 2 15

S1 S2 S3 S4 Position error [arcmin.] ΔΘ 10 40 10 40

Amplitude

2.4 V
Cycle error [°e] ΔC 3 5.5 3 5.5
B 0.4 V
Index pulse width [°e] P0 55 90 125

86mm sq.
t1 t2 CH.I rise after
2.4 V CH.A or CH.B fall [ns] t1 -300 100 250
I -40°C to +100°C
0.4 V
CH.I fall after
CH.A or CH.B rise [ns] t2 70 150 1000
P0
-40°C to +100°C

Rotation *Typical values specified at supply voltage = 5.0 VDC and 25°C

Specifications
Encoder
Electrical interface Encoder cables
+5 V R=2.7kΩ

R R R S240, S340 Encoder, Cable P/N: CS3500

5 CH. B Manufacturer: MOLEX
4
3 CH. A Housing: 22-01-2055
2
CH. I or 22-01-3057 500 min.
1 Lead wire color (3)
Green
Red
Customization

S340 encoders require 2.7kΩ (±10%) pull-up resistors on output Yellow

White
Service

pins 2,3 and 5 (Channels I, A and B). These pull-up resistors should Black
Cut but not stripped
be located as close to the encoder as possible.
Lead wire: UL1007 AWG24
S240 encoders do not normally require pull-up resistors. However,
3.2kΩ pull-up resistors on output pins 3 and 5 (Channels A and B)
are recommended.

Suitable connectors
Part number
Manufacturer
Housing Contact
AMP 103686-4 640442-5
Molex 2695 series 2759 series
FCI 65039-032 4825X-000

23
 M type Encoder
•
RoHS

Two channel quadrature outputs with optional index pulse

• Resolution 1000 or 1024 counts per revolution
• Single ended output signals, TTL compatible
• Single 5VDC supply
• HEDM serie encoders from Broadcom Limited

Encoder features Encoder pin-outs Encoder P/N

M210: 2 channels, 1000CPR
Parameter M21x M310 Pins M21x M310
M211: 2 channels, 1024CPR
Supply voltage [VDC] 5 ± 0.5 Pin 1 GND M310: 3 channels, 1000CPR
Max. Supply current [mA] 85 Pin 2 NC Channel I
Output voltage [VDC] VOH = 2.4 min, VOL = 0.4 max Pin 3 Channel A
Output channels 2 (A, B) 3 (A, B, I) Pin 4 5 VDC
Maximum frequency [kHz] 100 Pin 5 Channel B

Output waveforms Encoding characteristics

M21x M310
Parameter Symbol
C Min. Typ.* Max. Min. Typ.* Max.
P
Pulse width error [°e] ΔP 10 45 5 45
2.4 V
Logic width error [°e] ΔS 10 45 5 35
A 0.4 V
Ø Phase error [°e] ΔØ 2 15 2 15

S1 S2 S3 S4 Position error [arcmin.] ΔΘ 10 40 10 40

Amplitude

2.4 V
Cycle error [°e] ΔC 3 7.5 6 12
B 0.4 V
Index pulse width [°e] P0 50 90 130
t1 t2 CH.I rise after
2.4 V CH.A or CH.B fall [ns] t1 200 1000 1500
I 0.4 V -40°C to +85°C
CH.I fall after
CH.A or CH.B rise [ns] t2 0 300 1500
P0
-40°C to +85°C

Rotation *Typical values specified at supply voltage = 5.0 VDC and 25°C

Electrical interface Encoder cables

+5 V R=2.7kΩ

R R R M21x, M310 Encoder, Cable P/N: CS3500

5 CH. B Manufacturer: MOLEX
4
3 CH. A Housing: 22-01-2055
2
CH. I or 22-01-3057 500 min.
1 Lead wire color (3)
Green
Red
M310 encoder requires 2.7kΩ (±10%) pull-up resistors on output Yellow
White
pins 2,3 and 5 (Channels I, A and B). These pull-up resistors should Black
Cut but not stripped
be located as close to the encoder as possible.
Lead wire: UL1007 AWG24
M21x encoders do not normally require pull-up resistors. However,
3.2kΩ pull-up resistors on output pins 3 and 5 (Channels A and B)
are recommended.

Suitable connectors
Part number
Manufacturer
Housing Contact
AMP 103686-4 640442-5
Molex 2695 series 2759 series
FCI 65039-032 4825X-000

24
 L type Encoder

35mm sq.
RoHS

• Two channel quadrature complementary outputs

• Resolution 400 counts per revolution
• Industry standard Line Driver IC
• Single 5VDC supply
• HEDL serie encoders from Broadcom Limited

42mm sq.
Encoder features Encoder P/N
L240: 2 channels, 400CPR
Parameter L240
Supply voltage [VDC] 5 ± 0.5
Max. Supply current [mA] 40
Output voltage [VDC] VOH = 2.4 min, VOL = 0.4 max

56mm sq.
Output channels 2 (A, B)
Maximum frequency [kHz] 100
Line driver IC * AM26C31Q

* Suggested line receivers are 26LS32 and 26LS33

Output waveforms Encoder pin-outs

60mm sq.
10 Position connector center
Pins L240 polarized BERG HE10
Pin 1 NC Pin 6 A
Pin 2 5VDC Pin 7 /B
Pin 3 GND Pin 8 B 1 9
A
Pin 4 NC Pin 9 NC 2 10

Pin 5 /A Pin 10 NC
Amplitude

86mm sq.
B 483 +- 13

Specifications
Encoder
Rotation
For additional information, please refer to S240 specifications.

Customization
Service

25
 General Specifications

Model number 2H35 2F42 2H42 2P42 2H56 2H60 2H86

Type - S1 (continous operation)
Operating ambient temperature -10°C to +50°C -10°C to +40°C
Storage temperature -20°C to +65°C -20°C to +60°C
Operating ambient humidity 20 to 90% RH (no condensation) 95% max: 40°C max
57% max: 50°C max
Storage humidity 5 to 95% RH (no condensation) 35% max: 60°C max
(no condensation)
Operation altitude 1000 m max. above sea level
Vibration frequency 10 to 500Hz, total amplitude 1.52 mm (10 to 70 Hz), vibration acceleration 150 m/s2 (70 to 500 Hz),
Vibration resistance
sweep time 15min/cycle, 12 sweeps in each X, Y and Z direction
Impact resistance 500 m/s2 of acceleration for 11 ms with half-sine wave applying three times for X, Y and Z axes each, 18 times in total
Insulation class Class B (+130°C) Class F (+155°C)
At normal temperature
At normal temperature and
and humidity, no failure
At normal temperature and humidity, no failure with 500 humidity, no failure with
with 1500 VAC @50/60 Hz
Withstandable voltage VAC @50/60 Hz applied for one minute between motor 1000 VAC @50/60 Hz applied
applied for one minute
winding and frame for one minute between
between motor winding
motor winding and frame
and frame
Insulation resistance At normal temperature and humidity, not less than 100 mΩ between winding and frame by 500 VDC megger
Protection grade - IP43
Winding temperature rise 80 K max. (based on Sanyo Denki standard)
Static angle error ± 0.09° ± 0.054° ± 0.09°
Thrust play (1) 0.075 mm max. (load: 5 N) 0.075 mm max. (load: 10 N)
Radial play (2) 0.025 mm max. (load: 5 N)
Shaft run outs 0.025mm
Concentricity of mounting
Ø 0.075mm Ø 0.05mm Ø 0.075mm
pilot relative to shaft
Squareness of mounting
0.1mm 0.075mm 0.15mm
surface relative to shaft
Direction of motor mounting Can be freely mounted vertically or horizontally

1) Thrust play: shaft displacement under axial load

2) Radial play: shaft displacement under radial load applied 1/3rd of the length from the end of the shaft

26
 35mm sq.
Internal Wiring and Rotation Direction

Unipolar winding
Connector type

Internal wire connection Direction of motor rotation

42mm sq.
( ) connector pin number, terminal block number When excited by a direct current in the order shown blow, the direction of
rotation is clockwise as viewed from the output shaft side.
(2)
(1) Connector pin number, terminal block number
(3) (1.6) (5) (3) (4) (2)
1 + - -
Exciting 2 + - -
(5) (6) (4) order 3 + - -
4 + - -

56mm sq.
Lead wire type

Internal wire connection Direction of motor rotation

When excited by a direct current in the order shown blow, the direction of
rotation is clockwise as viewed from the output shaft side.
Orange
White Lead wire color
Blue
White & black Red Blue Yellow Orange
1 + - -
+ - -

60mm sq.
Red Yellow Exciting 2
Black order 3 + - -
4 + - -

Bipolar winding

86mm sq.
Connector type model no.: 2F

Internal wire connection Direction of motor rotation

( ) connector pin number, terminal block number When excited by a direct current in the order shown blow, the direction of
rotation is clockwise as viewed from the output shaft side.
(9)
Connector pin number, terminal block number
(3) (7) (5) (9)
(7)
1 - - + +

Specifications
Exciting 2 + - - +
+ + - -

Encoder
order 3
(3) (5)
4 - + + -
Connector type model no.: 2H

Internal wire connection Direction of motor rotation

( ) connector pin number, terminal block number When excited by a direct current in the order shown blow, the direction of
rotation is clockwise as viewed from the output shaft side.
(3)
Connector pin number, terminal block number
(6) (1) (4) (3)
Customization

(1)
1 - - + +
Exciting 2 + - - +
Service

order 3 + + - -
(6) (4)
4 - + + -

Lead wire type

Internal wire connection Direction of motor rotation

When excited by a direct current in the order shown blow, the direction of
rotation is clockwise as viewed from the output shaft side.
Orange
Lead wire color
Blue Red Blue Yellow Orange
1 - - + +
Exciting 2 + - - +
Red Yellow order 3 + + - -
4 - + + -

27
 Quick Customization Service
Have you ever struggled to meet a particular need using off-the-shelf stepping motor only to realize that you
effectively have no solution space ? If so, you have a valuable partner in SANYO DENKI EUROPE.

In addition to standard models of stepping motors with encoders, we specialize in designing and building
custom solutions that meet the precise needs of our customers.

Easy customization

With our extensive experience in designing and manufacturing custom stepping motors with encoder
systems, our stepping motors can be easily customized to mount almost any types of encoders thanks to
specific adaption plates.

Adaptation
plate
86 mm sq.
Capacitive
Incremental,
4096PPR

Optical
Incremental
60 mm sq.
1000CPR
Single ended

Optical
Incremental
400CPR
56 mm sq.
Line driver

42 mm sq.
Optical
Incremental
10000CPR
Line driver

35 mm sq.
Optical
Absolute
17bit
SSI

28
 35mm sq.
Quick customization

With in-house CNC machining capabilities at Villepinte (FR) location, we are able to provide samples of
customized stepping with encoders at a cost effective price with minimal lead times.

42mm sq.
Customization examples

3D Printing Machine Medical Instrumentation

56mm sq.
42mm sq.
hollowshaft 35mm sq.

Non-captive Pinion gears

leadscrew attached

60mm sq.
PTFE coating Customized
harness
Anti-backlash Adaptation
nut plate
Incremental Incremental
hollowshaft encoder
encoder 400CPR 10.000CPR

86mm sq.
Easy integration and space saving Easy integration, quick sample delivery
PTFE coating for high efficiency and Complete solution
long life time High resolution encoder for accuracy and safety

Specifications
Encoder
Industrial Application Industrial Application

56mm sq. 56mm sq.

Customized Customized
Customization

harness harness
Service

Adaptation Direct
plate mounting
Ball bearing Ball bearing
encoder encoder
12 bit absolute 12 bit absolute
encoder encoder
BiSS interface SSI interface

Ball bearing encoder for robust design Ball bearing encoder for robust design
High resolution absolute encoder for accuracy High resolution absolute encoder for accuracy
High design flexibility: motors size, encoder protocols High design flexibility: motors size, encoder protocols

29
 For more information regarding any products or services described here in,
Inquiry Check Sheet please contact our sales office listed on the back of this catalogue.

To SANYO DENKI EUROPE SA. Date :

Company:
Department:
Name:
Tel: Fax:
E-mail:

Item Contents

1 Based motor P/N

2 Encoder type Incremental Absolute single turn Absolute multiturn

How many turns should be measured ?
3 Absolute turns N/A
( )
4 CPR Counts Per Revolution ( ) CPR

5 Channels 2 (A / B) Index pulse N/A

6 Maximum speed ( ) rpm

7 Maximum outer diameter ( ) mm

8 Temperature range ( )°C to ( )°C

Open collector SSI

Differential line driver BiSS
RS422 CANopen
9 Output type Push / pull EtherCAT
Push / pull complementary
Others, please specify Others, please specify
( ) ( )

Cable
Cable length ( ) mm
Cable with connector

10 Encoder Connection Cable length ( ) mm

Connector manufacturer ( )
Connector p/n ( )

No specific option
11 IP rating required IP level ( )

12 Safety standards Please specifiy if any ( )

Miscellaneous
15
(information questions, etc.)

30
MEMO

31
 Notes before Purchase
The products in this catalog are designed to be used with general industrial Do not use this product in an environment where vibration is present, such
devices. as in a moving vehicle or shipping vessel.
Always follow the following precautions. Do not perform any retrofitting, re-engineering, or modification to this
equipment.
Read the accompanying Instruction Manual carefully prior to using the The products presented in this catalog are meant to be used for general
product. industrial applications. If using for special applications related to aviation and
If applying to medical devices and other equipment affecting people’s lives, space, nuclear power, electric power, submarine repeaters, and the like,
please contact us beforehand and take appropriate safety measures. please contact us beforehand.
If applying to equipment that can have significant effects on society and the
general public, please contact us beforehand.

For any question or inquiry regarding the above, contact our Sales Department.

https://www.sanyodenki.com/europe/en/
11 rue Ferdinand de Lesseps, 95190 Goussainville, France TEL: + 33 1 48 63 26 61

The names of companies and/or their products specified in this catalog are the trade names, and/or trademarks and/or registered trademarks of such respective companies.
Specifications are subject to change without notice.
CATALOG 23.0427