SANMOTION PB User Manual

CLOSED LOOP STEPPING SYSTEMS

English

Model No.PB

Ver.3

1

CLOSED LOOP STEPPING SYSTEMS

Model No.PB

Hybrid system combining the ease-of-use of stepping motors with the reliability of servomotors.

Increased System Speed and Smaller System Size

MERIT

1

Stable Stand-Still

MERIT

2

Simplified Control

MERIT

4

High Speed Positioning Smaller System Size

Stable Stand-Still

General Purpose I/O Input Support For Various Operations

High Resolution

Improved Efficiency from Current Control

A
C

Ty p e

R

D
C

Ty p e

M

D
C

Ty p e

R

A
C

Ty p e

R

D
C

Ty p e

M

D
C

MERIT

3

High torque performance in the low speed range delivers shorter positioning

time for short stoke/high hit rate applications.

Smaller system size is achievable for low speed applications due to the availablity

of higher torque performance in the low speed range as compared to conventional

servomotors.

Complete stand-still motion is possible due

to the availability of holding torque, a typical

characteristic of stepping motors.

The position resolution can be subdivided for

higher positioning precision.

Higher efficiency from low heat generation is

achieved by controlling the current flow to motor

according to motor load.

ACmodel DCmodel

DC Multi-axis Model

System can be easily controlled by using the general purpose I/O to designate

preset point or program numbers (up to 256 points).

Comprehensive built-in amplifier

functionality includes thrust control,

point designation, programming,

homing, holding brake control and

sensor limit input.

Point 1 output

Upper-level PLC

Point 1

Point 0

Energy-Saving

Ty p e

R

Multi
Axis

Ty p e

R

Multi
Axis

Model No. PB

CW

Speed 0

Droop pulse

CCW

SERVO MOTOR

Settling time

Time

200

150

100

Torque(oz・in)

50

0

Torque・Speed Curve

1.6

1.2

Servo motor (AC input)

0.8

Model No. PB (AC input)Model No. PB (AC input)

Torque(N・m)

Servo motor (AC input) – 100WServo motor (AC input) – 100W

0.4

0

0 1000 2000 3000 4000 5000

–300WServo motor (AC input) –300W

Speed(min-1)

Flange size

76mm

60mm

54mm

CW

Motor
Speed

Servo system

0

CCW

+1 pulse

Target
position

-1 pulse

Model No. PB system

0

Tim e

800

200

4000

5000

10000

1000

2000

500

6400

12800

1600

3200

Motor temperature rise

60

40

20

Temp increase (K)

0
500 1000

Competing products

Model No.PB

1500 2000

Speed (min

-

1

)

AC Power Input DC Power Input

Ty p e

A

General Purpose I/O Input Type (RS-485 + PIO)

C

R

Ty p e

A

Pulse-Train Input Type

C

P

MERIT

Reduced System Design Cost and Time

5

Ty p e

D

Multiple Input Type

C

M

Ty p e

D

Multi

General Purpose I/O Input Type (RS-485 + PIO)

C

Axis

R

(General Purpose I/O Input + Pulse-Train Input)

Wide Availability of Optional Cables and Connectors

Cables and connectors for controller/amplifier and amplifier/motor connection

are available for hassle-free setup.

Built-in Pulse Generation Function

A built-in pulse generation function is included in the Model No. PB Types R

and M. The amplifier receives speed, acceleration/deceleration and distance

as numeric data from the upper-level device, and automatically generates an

optimal speed pattern according to the commands internally.Since no separate

pulse generator is required, this contributes to lower system cost.

4000

）

-1

3000

2000

1000

Rotations（min

0

→

-1000

-2000

-3000

-4000

PC Interface Multi-Axis Type (DC Power Input)

Parameter setting, data editing and monitoring of position and speed can be

done on a PC using the bundled setup software.

PC

PC Software
for Windows

TM

Multi-axis systems can be reduced in size and weight using the PB-R 4-axis

type.

1,2,3A can be selected using software switches.

※

PB-R(4-axismodel)

Ty p e

A
C

R

Speed pattern
example

D
C

→Time

Ty p e

M

Ty p e

D

Multi

C

Axis

R

Functions

Features and

Ty p e

D

Multi

C

Axis

R

Typ e RTyp e PTyp e MType R Multi-Axis

Converter

MERIT

Complies with International Safety Standards

6

Encoder Cable

Motor（1A）Motor（2A）Motor（3A）Motor（3A

Motor

Cable

）

Compliant

General

Specifications

Drawings

Motor Dimensional

Options

2

Extensive Closed-Loop Stepping System Lineup

CLOSED LOOP STEPPING SYSTEMS

How do you want to control the equipment?

The Model No. PB Series offers 3 types of control methods.

Point Command

Control using PLC I/O

Network Control using Serial

Communication (RS-485)

Power Source

AC Power Source DC Power Source

Model No.PB

Control using a Pulse

Generator

Power Source

DC Power

Source

AC Power

Source

AC Power Source

Type R

Startup via I/O

●

Startup preset points or programs
in the amplifier me mory using
the I/O.

Startup via Serial

●

Communication

Control by transmitting speed,
acceleration/deceleration and
distance data via serial
communication.

DC Power Source

Type R Multi-Axis

Startup via I/O

●

Startup preset points or programs
in the amplifier me mory using
the I/O.

Startup via Serial

●

Communication

Control by transmitting speed,
acceleration/deceleration and
distance data via serial
communication.

DC Power Source

Ty p e M

Startup via I/O

●

Startup preset points or programs
in the amplifier me mory using
the I/O.

Startup via Serial

●

Communication

Control by transmitting speed,
acceleration/deceleration and
distance data via serial
communication.

Motion is generated

●

by responding to pulse
input commands from an
upper-level controller.

AC Power Source

Type P

Motion is generated

●

by responding to pulse
input commands from an
upper-level controller.

3

Standard Model

The standard model includes an amplifier and a motor

Motor Flange Size

□

AC

DC

□

42



(1.65in)

□

28



(1.10in)



□



60

86

(2.36in)

(3.39in)

R

□

(1.65in)

□

42

60



(2.36in)

P23

Low-backlash Gear Model

This model includes a low-backlash gear that engages the final stage with a tapered gear.

Motor Flange Size





□

□

42

AC

DC

REDUCTION

GEAR
RATIO




(1.65in)

□

(1.65in)

1

42

3.6

60

(2.36in)

R

□



(2.36in)



P25

60

1

1

1



7. 2

10

1





20

30

Spur Gear Model

This model utilizes a spur gear design for gear reduction.

Functions

Features and

Typ e RTyp e PTyp e MType R Multi-Axis

Motor Flange Size

DC

REDUCTION

GEAR
RATIO

R

P29

1

1

1

1

1







3.6

7. 2



10

20

1





30

50

□

28

(1.10in)



Harmonic Gear Model

The harmonic gear provides high torque and eliminates backlash.

Motor Flange Size





□

□

42

AC

DC

REDUCTION

GEAR
RATIO




60

in

)

(1.65

(2.36in)

□

□

28

42



in

)

(1.10

(1.65in)

1

1



30

R

P31

□

60



in

(2.36

)

1



50

100

Electromagnetic Brake Model

This model uses a non-excitation electromagnetic brake, capable of maintaining
positionand supporting a load in vertical operation, even when power is off

Motor Flange Size



AC



DC

□

(1.65

□

(1.10in)

□

42

60



in

)

in

)

(2.36

□

28

42

(1.65in)

R

□



(2.36

P33

60

in

)

General

Specifications

Drawings

Motor Dimensional

Options

4

5

Model Nomenclature

`

System Model Nomenclature

Note 1: No symbol indicates no options.

Note 2: Power(39.37inch) and I/O (39.37inch) cables are included in the set models.

Motor Option 3: Holding Brake (B: included)

Note

1

Motor Option 2: Gear Ratio

Note

1

Motor Option 1: Gear Specifications

Note

1

Motor Length

Motor Flange Size (in mm)

Interface Type R: RS-485+PIO P: Pulse Stream M: Multi

Power Input A: AC Power Source D: DC Power Source

System Name PB: Model No.PB System

PB A R 60 3-C 3.6 B

`

Amplifier Model Nomenclature

Specification Identification 00: Standard

Encoder Type 1: 200P/R INC 2：500P/R INC

Interface Type R: RS-485+PIO P: Pulse Stream M: Multi

Motor Excitation Current 001: 1A 002: 2A 003: 3A

Power Input A: AC Power Source D: DC Power Source

Series Name PB□: Model No.PB Amplifier

PB3 D 003 R 1 00

`

Motor Model Nomenclature

PBM 42 3 F X E 20

DC (Multi-axis)
only

Specification Identification 20: Standard

Encoder Type

E

: 500P/R with C-phase output

A

: 200P/R No C-phase output

C

: 200P/R with C-phase output

Options

*

Contact us for assistance

X : without option

C : 24V DC Break

GA to GL : with Gear

HJ to HM : with Harmonic Gear

Power Input F: AC Power Source

,

DC Power Source

(Single-axis)

D: DC Power Source (Multi-axis)

Motor Length

Motor Flange Size (in mm)

Series Name PBM: Model No.PB Motor

Please enquire separately for the sizes of PBM503 and PBM565.

*

Motor Option CombinationTable

Motor Option Combination Table

Motor No. Gear Box Harmonic Gear

PBM

PBM

PBM

PBM

PBM

282

F□E20/PBM

284

F□E20/PBM

423

F□E20/PBM

603

F□E20/PBM

604

F□E20/PBM

282

284

423

603

604

D□A

D□A

D□A

D□A

D□A

20

20

20

20

20

○○△
××△
○○○
○○○
××○

Electromagnetic Brake

Motor Standard Specifications (common to all models)

Motor No.

Insulation
class

Withstand
Voltage

Insulation
resistance

Degrees of
protection

Vibration
resistance

Impact
resistance

Ambient
temperature

Ambient
humidity

*

*
*

The user should not test the insulation resistance or insulation withstand voltage, because a

capacitor has been inserted between the encoder output groundline and the frame to prevent noise.

PBM

423

603

F, P B M

AC1500V 50／60Hz 1minute AC500V 50／60Hz 1minute

604

F, P B M

15Ｇ(Frequency range 10 to 70Hz amplitude 0.060inch 70 to 2000 acceleration 15G)

The x, y and z are each tested three times for each direction for a total of 18 tests.

F, P B M

861

862

F, PBM

-10℃ to＋ 40℃（Harmonic Gear Model 0℃to＋ 40

FPBM

30G(half sine wave with 11 ms duration)

20 to 90%RH（No Condensation

282

D, PBM

Class B（130

DC500V 100M1MIN.

40

IP

℃）

282

F, P B M

Functions

Features and

284

）

D, PBM

℃）

284

F, P B M

423

D, PBM

603

D, PBM

604

D

Type RType PType MType R Multi-Axis

General

Specifications

6

Drawings

Motor Dimensional

Options

Model No. PBType R Single-Axis Type

AC Power Input Type

System Configuration

Serial communication control

Single-phase AC100V to 230V

Circuit Breaker

parameter editing

Protects the power

line; shuts off circuit

during an overflow

of electric current.

Electromagnetic Contactor

Switches amplifier

power on and off.

Installation of a

surge protector is

required.

Noise Filter

Protects the power

line from external

noise, and from

noise generated by

the servo amplifie

Power Cable

①

Controller

PC

PC I/F Software

⑦

CN4

Communication

⑥

Converter Unit

CN3

CN2

CN1

CN5

CN6

A converter unit is required for

*

RS-232C/RS-485 conversion.

Motor Ext. Cable

②

Encoder Ext. Cable

③

I/O Cable

④

Communication Cable

⑤

Control Device

PLC

SANYO DENKI's

high level

devices permit

communication

with third-party

products

Options

Cable Type

Power Cable

①

Motor Ext. Cable

②

Encoder Ext. Cable

③

I/O Cable (unshielded)

④

Communication Cable

⑤

Communication Converter Unit

⑥

PC I/F Software

⑦

7

Standard Model

Number（Length

PBC7P0010A
1m（39.37in

PBC6M0030A

3m（118.11in

PBC6E0030A

3m（118.11in

PBC1S0010A

1m（39.37in

PBC6C0003A

30cm（11.81in

PBFM-U5

SPBA1W-01

Connector Set Model

）

）

）

）

）

）

Number

PBC7P0000A

PBC6M0000A

PBC6E0000A

PBC1S0000A

PBC6C0000A

Main Body Model.No：232485CFP01-01

Cable Model.No：PBC4T0005A

−−

To other slaves

Maximum Length Remarks

2m（78.74 in

20m（787.40 in

20m（787.40 in

2m（78.74 in

100m（3937.01 in

）−

Use when an extension of 50cm（19.69in） or more is required.

）

Use when an extension of 50cm（19.69in） or more is required.

）

）−

Use when multiple axes are connected in a daisy-chain

）

configuration for communication.

RS-232C／RS-485 Converter Unit
Converter unit and cable set model

Software for operational check and parameter setting

Optional Cable

①

Power Cable

Amp.side

12 34 5

②

Motor Ext. Cable

MOTOR SIDE CONNECTOR

③

Encoder Ext. Cable

MOTOR SIDE CONNECTOR

1318115-3

HOUSING:1-

1318109-1

TERMINAL:
MANUFACTURER: AMP

3000±50

LEADWIRE UL

1318115-6

HOUSING:1-

1318110-1

TERMINAL:
MANUFACTURER:AMP

3000±50

LEADWIRE AWG

AWG16 Black UL1015

AMPLIFIER SIDE CONNECTOR

HOUSING:1­TERMINAL:
MANUFACTURER: AMP

118.11±1.97

mm (

1430

22

AWG

ULVINYL TUBE

AMPLIFIER SIDE CONNECTOR
HOUSING:1-

TERMINAL:
MANUFACTURER:AMP

118.11±1.97

mm (

in)

28

ENCODER CABLE

20276

UL

in)

1318106-1

±

L

1318119-3

1318105-1

1318118-6

±

50

1.97

mm (L

Connector Connection Of Motor Side

PIN No.

A1Blue
B1Orange
A2Red
B2Yellow
A3White Brake Lead Wire
B3Black Brake Lead Wire

Connector Connection Of Motor Side

PIN No.

A1Blue CHANNEL A
B1Brown
A2Green CHANNEL B
B2Purple
A3White CHANNEL C
B3Yellow
A4Red +5V
B4Black
A5N.C.
B5Orange OVER HEAT
A6Black Shield
B6N.C.

in)

LEAD COLR

LEAD COLR

Motor Lead Wire

Motor Lead Wire

Motor Lead Wire

Motor Lead Wire

CHANNEL A

CHANNEL B

CHANNEL C

0

V

―

―

PIN No.

LEAD COLR
1
2
3
4

Power
Supply

5

Connector Connection Of Amplifier Side

PIN No.

LEAD COLR

1(A1

) Blue

2(B1

) Orange

3(A2

)Red

4(B2

)Yellow

5(A3

) White Brake LeadWire

6(B3

) Black Brake Lead Wire

Connector Connection Of Amplifier Side

PIN No.

LEAD COLR

1(A1

) Blue CHANNEL A

2(B1

)Brown

3(A2

) Green CHANNEL B

4(B2

) Purple

5(A3

) White CHANNEL C

6(B3

)Yellow

7(A4

)Red +5V

8(B4

)Black0V

9(A5

) N.C.

10(B5

) Orange OVER HEAT

11(A6

)Black Shield

12(B6

) N.C.

1

Black AC

2

Black AC

――
――
――

Motor Lead Wire

Motor Lead Wire

Motor Lead Wire

Motor Lead Wire

CHANNEL A

CHANNEL B

CHANNEL C

Connector Set : PBC7P
Manufacturer

AMP

Connector Set : PBC6M
Manufacturer

AMP

Connector Set : PBC6E
Manufacturer

AMP

―

―

0000

Typ e Qt y.

Housing :1-

175218-55

Contact :1-

0000

Typ e Qt y

Housing :1-

：

1318109-16

Ter m i na l
Housing :1-

：

1318105-16

Ter m i na l

0000

Typ e Qt y

Housing :1-

：

1318110-110

Ter m i na l
Housing :1­Ter m i na l :1-

A

178288-51

A

1318115-31

1318119-31

A

1318115-61

1318118-61
1318106-110

Functions

Features and

Typ e RTyp e PTyp e MType R Multi-Axis

④

I/O Cable (unshielded)

1

B

E

1

A

10

A

10

B

Flat cable UL

1

mm MAX.

039

.

inch MAX.

⑤

Communication Cable

9

1

10

9

2

1

2962

±

L

L

AWG

30

28

mm (L

Cable Mark

Cable

Cable

±

1.18

in)

CONNECTOR

0000

A

Typ e Qt y

：

8822E-020-171D1

Cable Connection

Cable1Cable
A1-No.1B1-No.
A2-No.2B2-No.
A3-No.3B3-No.
A4-No.4B4-No.
A5-No.5B5-No.
A6-No.6B6-No.
A7-No.7B7-No.
A8-No.8B8-No.
A9-No.9B9-No.

1

A10-No.10B10-No.

2
11
12
13
14
15
16
17
18
19

20

Connector Set : PBC1S
Manufacturer

KEL

2

General

Specifications

Housing
Contact

0000

A

Typ e Q ty

：

PAD P-10V-1-S

：

SPH-OO2T- P0.5L

2

20

Drawings

Motor Dimensional

Connector relay cable

1

CNA

Signal
Name

Pin.No.

A

1

9

B

2

（Y）

3

）

（

Z

4

GND

5

Vcc

6
7
8
9

FG

10

Yellow

White

Brown

Blue

Black

Purple

Green

Drain

Connector Set : PBC6C

CNB

Pin.No.

Yellow

White

Brown

Blue

Black

Red

Red

Purple

Green

Drain

Manufacturer

Signal
Name

A

1
2
3
4
5
6
7
8
9

10

（Y）
（

GND

JST

B

）

Z

Vcc

FG

Options

8

9

General Specifications

Model No. PBType R Single-Axis Type

AC Power Input Type

Amplifier Model

PB3A

003R200

Control Mode PWM Control SIN drive method

Power Supply

Single Power AC100V to 230V −15% +10%  50/60Hz

Environment

Ambient
temp.

Operating

0 to 55

℃

Storage −20 to 70

℃

Operating/
Storage Humidity

Maximum 90% RH（non-condensing

）

Vibration Resistance

0.5G（tested with frequency range 10 to 55 Hz, X, Y, Z each direction 2H

）

Structure Tray structure Rear mounting type

Mass

(

Weight)/ Dimensions Approx. 0.8kg（28.22oz

）

/

W45×H150×D120mm（W1.77×H5.91×D4.72inch

）

Functions

Rotation Speed 0 to 4500min

-1

（

4000min

-1

is used for an 86mm-square motor

）

Resolution

(

P/R)500, 1000, 2000, 4000, 5000, 10000

Regeneration Process

Internal（external regeneration available

）

Protective Functions

Encoder Disconnection, Encoder Counter Error, Power Voltage Error, Initialization Error, Position Deviation Error, Over-speed,
Regeneration Voltage Error, Zero-return Error, Absolute position sign reversal, Deviation Counter Overflow, Motor Overheat,
Amplifier Overheat, Internal voltage Error, Over-current, CPU Error

LED Display Power status, Alarm（flashing indicator

）

Operation Functions

Normal Drive（incremental move command, absolute move command), Zero-return, Module Operation, Push Operation

Switch

DIP SW1: Transmission Speed Setting（9600, 38400,115200,128000bps） DIP SW2: Terminating Resistor Setting
RSW：Node Adress Setting（0 to F

）

Input/
Output
Signals

Input Signals

Fixed function（2）: EXE

,

Point,ALMCLR,STOP

Selectable（5）: Point

,

Pause,Interlock,SELECT,Generic Input,HOME,Hard Limit

Output Signals

CN1 Fixed function（2）: ALM, In-Position, Ack
Selectable（5）: ZONE, END, Busy, HEND, SON MON, Generic Input, Input Monitor

Communication
Specifications

RS-485 Standard Start-Stop Synchronization, Full Duplex
Trans. Speed

:

9600,38400,115200,128000bps

Amplifier Dimensional Drawing［Unit : mm （inch

）］

Mounting Direction

10(.39)

150(5.91)

6.5(.26)

CLOSED LOOP STEPPING SYSTEMS

MADE IN JAPAN

170(6.69)

5(.20)

160(6.30)

7(.28)

CLOSED LOOP STEPPING SYSTEMS

ModelNo.PB

SW1

CN3

CN4

45(1.77)

33(1.30)

2-φ5(2-φ.20)

ALM
POW

D

E

C

F

0

B

1

A

9

2

RSW1

8

3

7

4

5

6

C
N

7

C
N

2

S
W

2

C
N

1

C
N

5

C
N

6

120(4.72)

4(.16)

ModelNo.PB

00563491

5(.20)

5(.20)

10(.39)

External Wiring Diagram

Input Power

100

AC

+COM(DC

4

IN

or SDN(Point6)

OUT

User Device

230

Vto

GND

N.C
N.C
N.C
N.C

5

Vto24V)

Point

Point

IN1(Point3)

2

IN

(Point4)

3

IN

(Point5)

ALMCLR

5

IN

(Point7)

In-Position

1

OUT

(ZONE)

2

OUT

(END)

3

(SON MON)

−

V

Exe

STOP

ACK

ALM

OUT

OUT

COM

Amplifier

003R200

PB3A

4

CN

5

1
2

N.C
N.C

1

2

4

5

3
4

6

CN5,

1
2

Vcc

3
4

5

GND

5

V

+

6
7
8
9

10

1

CN

1

3

4

5

6

7

8

9

10

11

12

13

14

15

16

17

18

19

20

2

P. E ( M4)

CN

CN

BRK+
BRK-

CN

N.C

O.H

N.C

2

1

A

2

A

3

B

4

B

5

C

6

C

7

5

V

8

5

G

9
10
11

FG

12

3

1

A

2

A

3

B

4

B

5
6

7

Holding Brake

24VDC

（

）

 ）

*

OPTICAL
ENCORDER

TH

Motor

Twisted Pair
Cable With External Shield

Functions

Features and

Typ e RTyp e PType MType R Multi-Axis

Input / Output Signals Circuit

Generic Input

■

Input Voltage Specifications : DC5V to 24V±10

+COM

1

DC Power Source

+5Vto24V

Note 1: The CN1 general-purpose input / output signal function is selected through communication.

Please see the basic specifications for details.

Generic Output

■

％

Output Current : 30mA MAX.

MAX.

30

V

2

−

COM

-COM

MAX.

General

30

mA

Specifications

Drawings

SG

Motor Dimensional

Options

10

Model No. PBType P

AC Power Input Type

System Configuration

Single-phase AC100V to 230V

Circuit Breaker

Protects the power

line; shuts off circuit

during an overflow

of electric current.

Electromagnetic Contactor

Switches amplifier

power on and off.

Installation of a

surge protector is

required.

Noise Filter

Protects the power

line from external

noise, and from

noise generated by

the servo amplifier.

Power Cable

①

parameter editing

PC I/F Software

⑦

4

CN

PC

3

CN

CN

CN

2

1

Motor Ext. Cable

②

Encoder Ext. Cable

③

I/O Cable

④

Control Device

PLC/Pulse board Controller

SANYO DENKI's high level devices permit

communication with third-party products.

Options

Cable Type

Power Cable

①

Motor Ext. Cable

②

Encoder Ext. Cable

③

I/O Cable (shielded)

④

Communication Cable

⑤

(Dsub9pin)

Communication

⑥

Converter Unit

PC I/F Software

⑦

Standard Model

Number（Length

PBC7P0010A

1m（39.37in

PBC6M0030A
3m（118.11in

PBC6E0030A

3m（118.11in

PBC1S0010C

1m（39.37in

PBC5C0010A
1m（39.37in

Not required

SPBA1W-01

）

）

）

）

）

）

5

CN

Communication Cable

⑤

Connector Set

Model Number

PBC7P0000A

PBC6M0000A

PBC6E0000A

PBC1S0000A

−−

−− −

−−

Maximum Length Remarks

2m（78.74 in

20m（787.40 in

20m（787.40 in

2m（78.74 in

）−

Use when an extension of 50cm（19.69in

）

or more is required.

Use when an extension of 50cm（19.69in

）

or more is required.

）−

Dedicated cable for RS-232C
communications

Software for operational check and
parameter setting

）

）

11