Sanmotion PB e

CLOSED LOOP STEPPING SYSTEMS
11
Ver.
Type
Type
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-485+Paralle
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AC Inp
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Type P Pu
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DC In
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DC Input
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ulse train inp
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DC Input Drivers / M
Motors
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Typ E Multi-axis EtherCAT interface
pe
Contents
Features ･･･････････････････････････ p. 5
Lineup ･････････････････････････････ p. 6
How to Read Model Numbers ･･････ p. 12
AC Input Set Models
Type R ･････････････････････････････ p. 14
System Configuration Diagram ････････ p. 14
Set Model Configurations ･････････････ p. 15
Driver Dimensions ････････････････････ p. 16
Driver Specifications ･･････････････････ p. 16
Type P ･････････････････････････････ p. 20
Specifications ･･････････････････････ p. 26
Motor Dimensions ･････････････････ p. 31
Motor Specifications ･･･････････････ p. 33
DC Input Set Models
Type M ･････････････････････････････ p. 34
Specifications ･････････････････････････ p. 39
Motor Dimensions ････････････････････ p. 46
Motor Specifications ･･････････････････ p. 49
DC Input Drivers / Motors

Type P Multi-axis･･･････････････････ p. 50
Compatible Driver / Motor Combinations ･･･ p. 51
Type E Multi-axis (EtherCAT interface) ･･ p. 62

Compatible Driver / Motor Combinations ･･･ p. 63
Motor Dimensions ･････････････････ p. 78

Motor Specifications ･･･････････････ p. 84
Options ････････････････････････････ p. 85
Safety Precautions ･････････････････ p. 94
Safety Information ･････････････････ p. 94
The closed loop stepping system SANMOTION Model No.PB combines the ease of use of step-
ping motors and the reliability of servo motors. Closed loop control based on feedback is made
possible by the position-detecting encoder mounted on the stepping motor. This simple system
delivers more reliable and highly efficient drive than open loop stepping systems.
Host device
Open loop control while stopped

(Stepping motor control)
Command
Current control Motor Stopped Rotating Stopped
Feedback Closed loop control while rotating

Encoder
(Servo motor control)
Driver
Application Examples
This system can be used in a wide variety of applications utilizing features such as low vibration, low heat generation, and
stable stopping.
・Semiconductor manufacturing equipment, analytical and testing devices used in medical and environmental fields,
monitoring cameras, and searchlights, etc.
All the driver and motor products in this catalog̶produced in and after October 2012̶are compliant with the tolerances of
restricted substances (cadmium, lead, mercury, hexavalent chromium, PBB, and PBDE) included in appendix II of the EU RoHS
directive (2011/65/EU). Standard model drivers are compliant with CE (European Norm) , UKCA,* and UL standards. The DC input
Type P and Type E drivers also comply with the KC Mark standards.
The AC input model motors comply with CE (European Norm) , UKCA,*
DC input Type P and Type E
and UL standards. drivers only
* In compliance from July 2022 production onwards.
4
Features
Device reliability improved by eliminating step-out Reduces positioning time
Motors with an encoder provide closed loop control A high torque can be obtained in a low speed area, which
that eliminates step-out (displacement), a shortcom- makes this system suitable for applications where mov-
ing of stepping motors. Device reliability is improved ing a short distance with short quick steps is required.
because the motor moves to the target position with- (Short stroke, high hit rate)
out step-out even with an increased load. Motor torque can be utilized to the maximum when ac-
Also, the encoder constantly monitors the rotor po- celerating and decelerating, shortening positioning time.
sition and various alarms can be issued in case of an
error, providing the reliability of servo motors.
Torque (N∙m)
All motors are equipped Available torque for PB (small margin)
with an encoder
Available torque for open loop systems

There is no need to worry
(large margin)
about step-out even with
an increased load
Rotational speed (min-1)
Energy saving Low vibration

The current flowing to the motor is optimally con- Actual motor speed is monitored and controlled,
trolled for the device, for reduced heat generation and therefore fewer vibrations are produced compared
highly efficient operation. with open loop stepping systems.
Stable stop Device startup support and analysis function

This system stops in a stable manner without the hunt- Setup software (option) can be used to set parameters
ing (micro vibration) seen with servo motors thanks and monitor operation status from a PC.
to holding torque, a feature of stepping motors. ■ Examples of Monitor Functions
Positional information…Command position, actual position
Hunting Speed information…Command speed, actual speed
I/O signal…Dedicated input, general-purpose input
Motor Alarm information…Current alarm status, logs
Push operations
Replacement of pneumatic
systems is easy as pushing
loads can be controlled. It is
also suitable for mounters
and testers, where driving
in the z-axis is required.
5
Lineup
Lineup
AC Input
Type R Type P
RS-485+Parallel I/O type Pulse train input type
Series
Point command control with host

―
devices such as PLC
Network control with serial
―
communication (RS-485)
Control with pulse generator ―
Input power supply 100 to 115 VAC or 200 to 230 VAC 100 to 115 VAC or 200 to 230 VAC
Command resolution 500 to 32000 P/R (8 levels) 500 to 32000 P/R (8 levels)
Max. stall torque (standard model) 0.35 to 6.1 N・m 0.35 to 6.1 N・m
Standard model 42 mm sq./60 mm sq./86 mm sq. 42 mm sq./60 mm sq./86 mm sq.
Model types and Low-backlash gear 42 mm sq./60 mm sq. 42 mm sq./60 mm sq.
corresponding model (1:3.6/1:7.2/1:10/1:20/1:30) (1:3.6/1:7.2/1:10/1:20/1:30)
motor sizes (with Harmonic gear 42 mm sq. (1:30/1:50/1:100) 42 mm sq. (1:30/1:50/1:100)
gear ratios in model 60 mm sq. (1:50/1:100) 60 mm sq. (1:50/1:100)
parentheses) Electromagnetic
42 mm sq./60 mm sq. 42 mm sq./60 mm sq.
brake model
Set configuration items Driver, Motor, Power cable, I/O signal cable Driver, Motor, Power cable, I/O signal cable
Driver / Motor speci-
fications
pp. 16, 33 pp. 22, 33
Page
Specifications / Char-
acteristics diagram
pp. 26 to 30 pp. 26 to 30
Interface
Point command control with host devices such as PLC
Type R, Type M
Pushing operation, point designation, programming,
The system can be easily controlled by selecting pre- and homing mode functions are built in and can be
set point numbers or program numbers with the par- enabled by a single command from the host control-
allel I/O. ler. Complicated operations are easier to handle.
4000
Examples of
Point 1 output 3000 speed patterns
2000
Speed (min-1)
1000
Host device
0
Point 1
-1000
Point 0
-2000
-3000
-4000
→Time
6
DC Input
Type M Multi-input type Type P Multi-axis
(RS-485+Parallel I/O, Pulse train input type
Pulse train input selectable)
Series
Point command control with

―
host devices such as PLC
Network control with serial
―
communication (RS-485)
Control with pulse generator
24/48 VDC (Only 24 VDC is available for the following cases:

Input power supply when used with 28 mm sq. motors, and when single type driver is 24/48 VDC
used with EM brake model motors.)
Command resolution 500 to 10000 P/R (6 levels) 200 to 51200 P/R (16 levels)
Max. stall torque (standard model) 0.055 to 1.9 N·m 0.055 to 1.85 N·m
Standard model 28 mm sq./42 mm sq./60 mm sq. 28 mm sq./42 mm sq./60 mm sq.
Low-backlash 42 mm sq./60 mm sq. 42 mm sq./60 mm sq.
Model types and
gear model (1:3.6/1:7.2/1:10/1:20/1:30) (1:3.6/1:7.2/1:10/1:20/1:30)
corresponding
28 mm sq. (1:50/1:100) 28 mm sq. (1:50/1:100)
motor sizes (with Harmonic gear
42 mm sq. (1:30/1:50/1:100) 42 mm sq. (1:30/1:50/1:100)
gear ratios in model
60 mm sq. (1:50/1:100) 60 mm sq. (1:50/1:100)
parentheses)
Electromagnetic
28 mm sq./42 mm sq./60 mm sq. 28 mm sq./42 mm sq./60 mm sq.
brake model
Driver, Motor, Power cable,
Set configuration items No set models
I/O signal cable
Driver / Motor
specifications
pp. 36, 49 pp. 52, 84
Page Specifications /
Characteristics pp. 39 to 44 pp. 55 to 60
diagram
Network control with serial communication Control with pulse generator

(RS-485)
Type P, Type M
Type R, Type M
Operates in response to the pulse input command
Uses serial data transmission for speed, acceleration/ from the host device
deceleration speed, and displacement control
RS-485
Pulse train
USB
* Option
Communications
converter unit
7
Lineup
Compatible Driver / Motor / Option Combinations

PB4A002R300 PB4A002P300 PB3D003M200
Driver model number PB4D003P340
PB4A002R301 PB4A002P301 PB3D003M201
Number of control axes 1 axes 4 axes
Motor size RS-485+Parallel I/O RS-485+Parallel I/O,
Interface specifications Pulse train (Type P) Pulse train (Type P)
(Type R) Pulse train (Type M)
Encoder specifications Optical incremental
Encoder resolution 16000 P/R 16000 P/R 2000 P/R 16000/2000 P/R
– – PBM282FXE20 PBM281DXE50
Standard model
– – PBM284FXE20 PBM285DXE50
1:50 – – PBM282FHLE20 PBM281DHLE50
28 mm sq. Harmonic gear model
1:100 – – PBM282FHME20 PBM281DHME50
– – PBM282FCE20 PBM281DCE50
Electromagnetic brake model
– – PBM284FCE20 PBM285DCE50
Standard model PBM423FXK30-M PBM423FXE20 PBM423DXK50
1:3.6 PBM423FGAK30-M PBM423FGAE20 PBM423DGAK50
1:7.2 PBM423FGBK30-M PBM423FGBE20 PBM423DGBK50
Low-backlash gear
1:10 PBM423FGEK30-M PBM423FGEE20 PBM423DGEK50
model
1:20 PBM423FGGK30-M PBM423FGGE20 PBM423DGGK50
42 mm sq.
1:30 PBM423FGJK30-M PBM423FGJE20 PBM423DGJK50
1:30 PBM423FHJK30-M PBM423FHJE20 PBM423DHJK50
Harmonic gear model 1:50 PBM423FHLK30-M PBM423FHLE20 PBM423DHLK50
1:100 PBM423FHMK30-M PBM423FHME20 PBM423DHMK50
Electromagnetic brake model PBM423FCK30-M PBM423FCE20 PBM423DCK50
PBM603FXK30-M PBM603FXE20 PBM603DXK50
Standard model
PBM604FXK30-M PBM604FXE20 PBM604DXK50
1:3.6 PBM603FGAK30-M PBM603FGAE20 PBM603DGAK50
1:7.2 PBM603FGBK30-M PBM603FGBE20 PBM603DGBK50
Low-backlash gear
1:10 PBM603FGEK30-M PBM603FGEE20 PBM603DGEK50
model
60 mm sq. 1:20 PBM603FGGK30-M PBM603FGGE20 PBM603DGGK50
1:30 PBM603FGJK30-M PBM603FGJE20 PBM603DGJK50
1:50 PBM603FHLK30-M PBM603FHLE20 PBM603DHLK50
Harmonic gear model
1:100 PBM603FHMK30-M PBM603FHME20 PBM603DHMK50
PBM603FCK30-M PBM603FCE20 PBM603DCK50
PBM604FCK30-M PBM604FCE20 PBM604DCK50
PBM861FXK30-M – –
86 mm sq. Standard model
PBM862FXK30-M – –
PBC6P0010A
Power cable PBC8P0010A (Set configuration items) (Set configuration PBC10P00□0A
items)
Motor extension cable PBC7M0030A PBC6M0030A PBC8M00□0A
Encoder extension cable PBC7E0030A PBC6E0030A PBC7E00□0A
PBC5S0010A PBC5S0010A
(unshielded) PBC5S0010C (unshielded)
(Set configuration (shielded) PBC8S0010C
I/O signal cable PBC5S0010C
items) (Set configuration (shielded)
(shielded)
Options PBC5S0010C items) (Set configuration
(shielded) items)
Communication cable * PBC6C0003A – PBC6C0003A –
Limit input cable – PBC7S0010A – –
Power cable (between drivers) – – – PBC10P0002B
SANMOTION MOTOR
PC interface software SPBALL-01 SPBA1W-01
SETUP SOFTWARE
Communications converter unit PBFM-U6
Regenerative unit – – – PBFE-02
* Used when multiple-axis drivers are connected in a daisy chain configuration for communication.
8
MEMO
9
Lineup
Lineup
DC Input
Type E Multi-axis
EtherCAT integrated type
Series
Input power supply 24/48 VDC

Encoder specifications Optical incremental Battery-less optical absolute
Command resolution 50 to 1,500,000 P/R
Max. stall torque (standard model) 0.055 to 1.85 N･m 0.343 to 1.85 N･m
Standard model 28 mm sq./42 mm sq./60 mm sq. 42 mm sq./60 mm sq.
42 mm sq./60 mm sq. 42 mm sq./60 mm sq.
Model types and Low-backlash gear model
(1:3.6/1:7.2/1:10/1:20/1:30) (1:3.6/1:7.2/1:10/1:20/1:30)
corresponding motor
28 mm sq. (1:50/1:100)
sizes (with gear ratios 42 mm sq. (1:30/1:50/1:100)
Harmonic gear model 42 mm sq. (1:30/1:50/1:100)
in parentheses) 60 mm sq. (1:50/1:100)
60 mm sq. (1:50/1:100)
Electromagnetic brake model 28 mm sq./42 mm sq./60 mm sq. 42 mm sq./60 mm sq.
Set configuration items No set models
Driver / Motor specifications pp. 64, 84
Page Specifications / Characteristics
diagram
pp. 67 to 77
Interface
EtherCAT interface High-precision battery-less absolute encoder
EtherCAT is a 100 Mbps high-speed fieldbus system. It In addition to an incremental encoder, a battery-less
contributes to the takt time reduction. absolute encoder is also available.
This has shortened the communication cycle time by This encoder doesn’ t require a battery change, thus
4 times* or more that of our current model,** achiev- the maintenance of devices can be simplified.
ing finer and smoother motion of the embedded de-
vice. This highly versatile EtherCAT is compatible with
Ethernet, which makes it possible to build a system
that co-exists with various devices.
Also, the EtherCAT conformance
test certificate from a trusted third
party has been acquired.
* When compared with our current model: PB4D003E2D0
** Minimum communication cycle time: 0.25 ms (1 ms for the below current
model).
10
Compatible Driver / Motor / Option Combinations
Driver model number PB4D003E440
Number of control axes 4 axes
Interface specifications EtherCAT
Motor size
Encoder specifications Optical incremental Battery-less optical absolute
Single-turn resolution 17 bit
Encoder resolution 16000/2000 P/R
Multi-turn resolution 16 bit
PBM281DXE50 –
Standard model
PBM285DXE50 –
1:50 PBM281DHLE50 –
28 mm sq. Harmonic gear model
1:100 PBM281DHME50 –
PBM281DCE50 –
PBM285DCE50 –
Standard model PBM423DXK50 PBM423DXR60
1:3.6 PBM423DGAK50 PBM423DGAR60
1:7.2 PBM423DGBK50 PBM423DGBR60
Low-backlash gear
1:10 PBM423DGEK50 PBM423DGER60
model
1:20 PBM423DGGK50 PBM423DGGR60
42 mm sq.
1:30 PBM423DGJK50 PBM423DGJR60
1:30 PBM423DHJK50 PBM423DHJR60
Harmonic gear model 1:50 PBM423DHLK50 PBM423DHLR60
1:100 PBM423DHMK50 PBM423DHMR60
Electromagnetic brake model PBM423DCK50 PBM423DCR60
PBM603DXK50 PBM603DXR60
Standard model
PBM604DXK50 PBM604DXR60
1:3.6 PBM603DGAK50 PBM603DGAR60
1:7.2 PBM603DGBK50 PBM603DGBR60
Low-backlash gear
1:10 PBM603DGEK50 PBM603DGER60
model
60 mm sq. 1:20 PBM603DGGK50 PBM603DGGR60
1:30 PBM603DGJK50 PBM603DGJR60
1:50 PBM603DHLK50 PBM603DHLR60
Harmonic gear model
1:100 PBM603DHMK50 PBM603DHMR60
PBM603DCK50 PBM603DCR60
PBM604DCK50 PBM604DCR60
Power cable PBC10P00□0A
Connector set for power cable PBC10P0000A
Power cable (between drivers) PBC10P0002B
Motor extension cable PBC8M00□0A
Connector set for motor cable PBC8M0000A
Encoder extension cable PBC7E00□0A
Options Connector set for encoder
PBC7E0000A
cable
I/O signal cable PBC9S0010C
Connector set for I/O signal
PBC9S0000C
cable
PC communication cable AL-00896515-0□
PC interface software SANMOTION MOTOR SETUP SOFTWARE
Regenerative unit PBFE-02
11
Lineup
How to Read Model Numbers

Note that not all possible parameter combinations are valid.
See the Compatible Driver / Motor / Option Combinations for valid model numbers.
Set model number

● A power cable (1 m) and an I/O signal cable (1 m) are included with set models.
PB A1 R 60 3 - C 3.6 B * Blank if no options
Holding brake B: Equipped *

Gear ratio *
Gear specifications * C : Low-backlash gear
H : Harmonic gear
Motor length
Motor size
Interface specifications R: RS-485 + Parallel I/O P: Pulse train M: Multi
Power supply specifications A1: Single-phase 100 to 115 VAC
A2: Single-/3-phase 200/230 VAC
D: DC
Series name
Driver model number
PB4 A 002 R 3 00
Specification identification
Encoder type
Driver type Encoder type Encoder resolution
2 DC input Type M Optical incremental 2000 P/R
AC input Type R,
16000 P/R
Type P Optical incremental
3
DC input Type P 16000 P/R (Motor size: 42 mm sq. or more)
(multi-axis) Optical incremental 2000 P/R (Motor size: 28 mm sq.)
16000 P/R (Motor size: 42 mm sq. or more)
Optical incremental 2000 P/R (Motor size: 28 mm sq.)
DC input Type E
4
(multi-axis) Battery-less optical Single-turn resolution 17 bit
absolute Multi-turn resolution 16 bit
Interface type
E EtherCAT
R RS-485 + Parallel I/O
P Pulse train
M Multi (RS-485 + Parallel I/O, Pulse train)
Motor excitation current 002: 2 A 003: 3 A

Power supply specifications A: AC D: DC
Series name
12
Motor model number
PBM 60 3 F X K 30 - M
UL, CE and UKCA compliant
Specification identification 20, 30, 50, 60: Standard
Encoder type
R Battery-less optical absolute
K 16000 P/R with Z-phase output
E 2000 P/R with Z-phase output
Optical incremental
A 800 P/R without Z-phase output
C 800 P/R with Z-phase output
Option code X: Standard model (without options)
C: With 24 VDC brake
GA to GL: Low-backlash gear model
HJ to HM: Harmonic gear model
Power supply specifications F: AC, DC (Type M) D: DC (multi-axis)
Motor length
Motor size
Series name
Cable model number
PBC 6 P 0010 A
Specification identification
0000: Connector set
0003: Cable length: 30 cm
0010: Cable length: 1 m
0030: Cable length: 3 m
Cable type P: Power supply M: Motor E: Encoder
S: I/O signal C: Communications
Management number
Series name
13
AC Input Set Models Type R
AC Input Set Models

Type R RS-485+Parallel I/O type
■ Set configuration items RoHS
Motor
Motor size: 42 mm sq., 60 mm sq., 86 mm sq.
Driver
Model number: PB4A002R300
Input power supply: Single-phase 100 to 115 VAC
Model number: PB4A002R301
Input power supply: Single-/3-phase 200 to 230 VAC
Cable
For power supply (1 m) Model number: PBC8P0010A
I/O signal cable (1 m, unshielded) Model number: PBC5S0010A
Set Model Configurations▶p. 15 Driver Dimensions▶p. 16

Driver Specifications▶p. 16 Specifications / Characteristics Diagram▶pp. 26 to 30
Motor Dimensions▶pp. 31 to 32 Motor Specifications▶p. 33
System Configuration Diagram

Single-phase 100 VAC
or single-/3-phase 200 VAC
7
8 Circuit breaker
Protects the power
line. PC interface software * The converter is required
Cuts off circuit for USB/RS-485 conversion.
in the event
of overcurrent.
6 Communications
To another driver converter unit
Electromagnetic contactor
9 Switches driver 5 CN6
power on/off.
Use together with CN5
RS-485 (Half-duplex)
a surge protector. Communication cable
CN1
I/O signal cable
10 Noise filter 4
Host devices
Filters out
CN2
incoming noise Encoder extension cable
from power line.
3
2
CN4
CN3 Motor extension cable
1
Power cable
To be provided by the customer. 8 to 10
14
Set Model Configurations

Motor external Set configuration items Page
Max. stall torque
dimensions Allowable
Model
(allowable torque* Gear Backlash Driver power supply Power cable,

Flange size × speed Set model Motor model Driver model Motor
for models with ratio (deg.) specifications I/O signal Specifications
Motor length (min-1) number number dimensions
gear) (N·m) cable
(mm)
42×42×55.9 0.35 – – – Single-phase 100 to 115 VAC PBA1R423 PBM423FXK30-M PB4A002R300 p. 26 p. 31
42×42×55.9 0.35 – – – Single-/3-phase 200 to 230 VAC PBA2R423 PBM423FXK30-M PB4A002R301 p. 26 p. 31
Standard model
Power cable (1 m):

60×60×68.8 1.3 – – – Single-/3-phase 200 to 230 VAC PBA2R603 PBM603FXK30-M PB4A002R301 PBC8P0010A p. 26 p. 31
AC Input Set Models Type P

60×60×100.8 1.9 – – – Single-/3-phase 200 to 230 VAC PBA2R604 PBM604FXK30-M PB4A002R301 I/O signal cable p. 26 p. 31
86×86×79.5 3.1 – – – Single-phase 100 to 115 VAC PBA1R861 PBM861FXK30-M PB4A002R300 (1 m, unshielded): p. 26 p. 31
PBC5S0010A
86×86×79.5 3.1 – – – Single-/3-phase 200 to 230 VAC PBA2R861 PBM861FXK30-M PB4A002R301 p. 26 p. 31
86×86×110 6.1 – – – Single-phase 100 to 115 VAC PBA1R862 PBM862FXK30-M PB4A002R300 p. 26 p. 31
86×86×110 6.1 – – – Single-/3-phase 200 to 230 VAC PBA2R862 PBM862FXK30-M PB4A002R301 p. 26 p. 31
42×42×86.1 0.343 500 1:3.6 0.6 Single-phase 100 to 115 VAC PBA1R423-C3.6 PBM423FGAK30-M PB4A002R300 p. 27 p. 31
42×42×86.1 0.343 500 1:3.6 0.6 Single-/3-phase 200 to 230 VAC PBA2R423-C3.6 PBM423FGAK30-M PB4A002R301 p. 27 p. 31
42×42×86.1 0.686 250 1:7.2 0.4 Single-phase 100 to 115 VAC PBA1R423-C7.2 PBM423FGBK30-M PB4A002R300 p. 27 p. 31
42×42×86.1 0.686 250 1:7.2 0.4 Single-/3-phase 200 to 230 VAC PBA2R423-C7.2 PBM423FGBK30-M PB4A002R301 p. 27 p. 31
42×42×86.1 0.98 180 1:10 0.35 Single-phase 100 to 115 VAC PBA1R423-C10 PBM423FGEK30-M PB4A002R300 p. 27 p. 31
42×42×86.1 0.98 180 1:10 0.35 Single-/3-phase 200 to 230 VAC PBA2R423-C10 PBM423FGEK30-M PB4A002R301 p. 27 p. 31
Low-backlash gear model
42×42×86.1 1.47 90 1:20 0.25 Single-phase 100 to 115 VAC PBA1R423-C20 PBM423FGGK30-M PB4A002R300 p. 27 p. 31
DC Input Set Models Type M

42×42×86.1 1.47 90 1:20 0.25 Single-/3-phase 200 to 230 VAC PBA2R423-C20 PBM423FGGK30-M PB4A002R301 p. 27 p. 31
Power cable (1 m):
42×42×86.1 1.47 60 1:30 0.25 Single-phase 100 to 115 VAC PBA1R423-C30 PBM423FGJK30-M PB4A002R300 PBC8P0010A p. 27 p. 31
42×42×86.1 1.47 60 1:30 0.25 Single-/3-phase 200 to 230 VAC PBA2R423-C30 PBM423FGJK30-M PB4A002R301 p. 27 p. 31
60×60×114.3 1.25 500 1:3.6 0.55 Single-phase 100 to 115 VAC PBA1R603-C3.6 PBM603FGAK30-M PB4A002R300 I/O signal cable p. 28 p. 31
60×60×114.3 1.25 500 1:3.6 0.55 Single-/3-phase 200 to 230 VAC PBA2R603-C3.6 PBM603FGAK30-M PB4A002R301 (1 m, unshielded): p. 28 p. 31
PBC5S0010A
60×60×114.3 2.5 250 1:7.2 0.25 Single-phase 100 to 115 VAC PBA1R603-C7.2 PBM603FGBK30-M PB4A002R300 p. 28 p. 31
60×60×114.3 2.5 250 1:7.2 0.25 Single-/3-phase 200 to 230 VAC PBA2R603-C7.2 PBM603FGBK30-M PB4A002R301 p. 28 p. 31
60×60×114.3 3 180 1:10 0.25 Single-phase 100 to 115 VAC PBA1R603-C10 PBM603FGEK30-M PB4A002R300 p. 28 p. 31
60×60×114.3 3 180 1:10 0.25 Single-/3-phase 200 to 230 VAC PBA2R603-C10 PBM603FGEK30-M PB4A002R301 p. 28 p. 31
60×60×114.3 3.5 90 1:20 0.17 Single-phase 100 to 115 VAC PBA1R603-C20 PBM603FGGK30-M PB4A002R300 p. 28 p. 31
60×60×114.3 3.5 90 1:20 0.17 Single-/3-phase 200 to 230 VAC PBA2R603-C20 PBM603FGGK30-M PB4A002R301 p. 28 p. 31
60×60×114.3 4 60 1:30 0.17 Single-phase 100 to 115 VAC PBA1R603-C30 PBM603FGJK30-M PB4A002R300 p. 28 p. 31
Multi-axis
60×60×114.3 4 60 1:30 0.17 Single-/3-phase 200 to 230 VAC PBA2R603-C30 PBM603FGJK30-M PB4A002R301 p. 28 p. 31
42×42×95.1 2.2 (4.5) 116 1:30 – Single-phase 100 to 115 VAC PBA1R423-H30 PBM423FHJK30-M PB4A002R300 p. 29 p. 32
DC Input Drivers / Motors Type P

42×42×95.1 2.2 (4.5) 116 1:30 – Single-/3-phase 200 to 230 VAC PBA2R423-H30 PBM423FHJK30-M PB4A002R301 p. 29 p. 32
Harmonic gear model
42×42×95.1 3.5 (8.3) 70 1:50 – Single-phase 100 to 115 VAC PBA1R423-H50 PBM423FHLK30-M PB4A002R300 p. 29 p. 32
Power cable (1 m):
42×42×95.1 3.5 (8.3) 70 1:50 – Single-/3-phase 200 to 230 VAC PBA2R423-H50 PBM423FHLK30-M PB4A002R301 PBC8P0010A p. 29 p. 32
42×42×95.1 5 (11) 35 1:100 – Single-phase 100 to 115 VAC PBA1R423-H100 PBM423FHMK30-M PB4A002R300 p. 29 p. 32
42×42×95.1 5 (11) 35 1:100 – Single-/3-phase 200 to 230 VAC PBA2R423-H100 PBM423FHMK30-M PB4A002R301 I/O signal cable p. 29 p. 32
60×60×135.8 5.5 (14) 70 1:50 – Single-phase 100 to 115 VAC PBA1R603-H50 PBM603FHLK30-M PB4A002R300 (1 m, unshielded): p. 29 p. 32
PBC5S0010A
60×60×135.8 5.5 (14) 70 1:50 – Single-/3-phase 200 to 230 VAC PBA2R603-H50 PBM603FHLK30-M PB4A002R301 p. 29 p. 32
60×60×135.8 8 (20) 35 1:100 – Single-phase 100 to 115 VAC PBA1R603-H100 PBM603FHMK30-M PB4A002R300 p. 29 p. 32
60×60×135.8 8 (20) 35 1:100 – Single-/3-phase 200 to 230 VAC PBA2R603-H100 PBM603FHMK30-M PB4A002R301 p. 29 p. 32
42×42×88.3 0.35 – – – Single-phase 100 to 115 VAC PBA1R423-B PBM423FCK30-M PB4A002R300 p. 30 p. 32

Power cable (1 m):
42×42×88.3 0.35 – – – Single-/3-phase 200 to 230 VAC PBA2R423-B PBM423FCK30-M PB4A002R301 p. 30 p. 32
PBC8P0010A
I/O signal cable
DC Input Drivers / Motors Type E Multi-axis

(1 m, unshielded):
PBC5S0010A
* Numbers in parenthesis following allowable torques indicate allowable instantaneous torques.
Options and Peripherals

Standard model Connector set Extendable
Product names Remarks Page
number (length) model number max. length
1 Power cable PBC8P0010A (1 m) PBC8P0000A 3m – p. 87
An extension cable is required when the
2 Motor extension cable PBC7M0030A (3 m) PBC7M0000A 20 m distance between the motor and driver p. 87
exceeds 50 cm.
3 Encoder extension cable PBC7E0030A (3 m) PBC7E0000A 20 m distance between the motor and driver p. 87
Options
exceeds 50 cm.
Select the cable depending on peripheral
4 I/O signal cable (unshielded) PBC5S0010A (1 m) PBC5S0000A 2m p. 87
noise.
4 I/O signal cable (shielded) PBC5S0010C (1 m) PBC5S0000A 2m p. 88
noise.
Used when multiple axes are connected
5 Communication cable PBC6C0003A (30 cm) PBC6C0000A 100 m in a daisy chain configuration p. 88
(between drivers) for communication.
A set of a converter (USB/RS-485) and
6 Communications converter unit PBFM-U6 – –
a cable
p. 86
Software for checking operation and
7 PC interface software SPBALL-01 – – p. 86
parameter setting
15
Driver Dimensions Unit: mm
789
AB E
3 4 56
CD
2
F0 1
42
33 4.5 120
4.5
ø5
10
SW MODE
Model No.PB
DATA
CN6
CN5
160
150
170
MADE IN JAPAN 00******
CN1
Electric shock cautions.
Do not touch drive unit or terminal cover during power

on or within 10MIN after power off.
Be sure that the charge lamp is off at the time of

maintenance and check.
CN2
Equipment may be damaged if mistaken connection is made.
Fear of a burn! Do not touch a heat sink.
CN3 Connect earth terminal against electric shock.
CN4
(10)
(5)
Driver Specifications
■ General specifications
Model number PB4A002R300 PB4A002R301
Interface RS-485+Parallel I/O
Input power supply Single-phase 100 to 115 VAC (-15%, +10%) 50/60 Hz Single-phase 200 to 230 VAC (-15%, +10%) 50/60 Hz 3-phase 200 to 230 VAC (-15%, +10%) 50/60 Hz
Control method PWM control: Sinusoidal drive method
Power supply current 6A 4.5 A 2.5 A
Protection class Class I
Basic specifications
Operation environment Installation category (overvoltage category): II, Pollution degree: 2

Operating ambient
0 to +55°C
temperature
Storage temperature -20 to +65°C
Operating ambient
90% RH max. (non-condensing)
humidity
Environment
Storage humidity 90% RH max. (non-condensing)
Operation altitude 1000 m or less above sea level
Tested under the following conditions: Acceleration: 5 m/s2, Frequency range: 10 to 55 Hz, Axes of
Vibration resistance
vibration: X, Y, Z (2 hours each)
Impact resistance 20 m/s2
Dielectric strength 1500 VAC for one minute (between power input terminal and frame)
Insulation resistance 10 MΩ or more at 500 VDC (between power input terminal and frame)
Mass 0.65 kg
Rotational speed 0 to 4500 min-1 (0 to 4000 min-1 for 86 mm sq. motors)
Command resolution (P/R) 500, 1000, 2000, 4000, 5000, 10000, 16000, 32000 Can be set in fine steps in the range of 100 to 32000 with an electronic gear*.
Holding brake control function Built in
Power voltage error, regenerative voltage error, driver overheat, motor overheat, overload stop, over-
Protection functions speed, servo error, homing mode error, deviation counter overflow, wrap around, push operation
Functions
error, encoder disconnection, initialization error, overcurrent, nonvolatile memory error, CPU error
Display / Indication 7-segment LED display (2)
Resolution, applicable motor, forward direction definition, gain, Jog speed, Jog operation, node
Digital operator
address, baud rate, holding brake control, teaching
Auto homing mode operation / Push (current control) operation / Relative motion command /
Operating functions
Absolute motion command Module function, Jog operation
Communications RS-485 Start / stop synchronization, half-duplex communication Baud rate: 9600, 38400, 115200,
Communication
with controller 307200 bps
specifications
PC interface RS-485 Start / stop synchronization, half-duplex communication Baud rate: 115200 bps
ALMCLR
Input Function General-purpose input×8 (select from Point, STOP, EXE, SELECT, HOME sensor, Limit, Deviation clear,
I/O signal
signal Pause, Jog, and Inter lock)

Electrical specifications General-purpose input: Bidirectional input photocoupler 5 to 24 VDC
ALMCLR
Output Function General-purpose output×7 (select from Point No, Ack, Busy, HOME END, Push END, ZONE, Input
signal monitor, In-Position, and Bit Out)
Electrical specifications General-purpose output: Open collector 30 VDC, 15 mA or less
* A function that finely adjusts the unit step angle per pulse parameters. Setup software is required.
■ Safety standards
Directives Standards
CE marking in Europe Low-voltage directives EN 61800-5-1
EMC directives EN 61800-3, EN 61000-6-2
UKCA marking in Great Britain Electrical Equipment (Safety) Regulations 2016 EN 61800-5-1
In compliance from July 2022 production onwards. Electromagnetic Compatibility Regulations 2016 EN 61800-3, EN 61000-6-2
RoHS
RoHS Directive 2011/65/EU EN 63000:2018
Classification Standards File no.
UL UL
UL 508C E179775
16 UL for Canada (cUL)
External Wiring Diagram

■ Single-phase 100 to 115 VAC Driver model number: PB4A002R300
User device Driver
PB4A002R300
CN4 CN2
1
A
Input power supply 2 A 2
1 ø 100 to 115 VAC 4 B 3 Encoder
N.C 6 B 4
1 Z 5
N.C
3 Z 6
N.C
9V 7
8

9G
CN5,6 9
COM1 N.C
1 10
O.H TH
Host 2 11
FG
controller 3 12
N.C N.C N.C
4
N.C N.C
5 CN3
GND
GND 1
A
6 +5V 2
COM2 N.C A
7 3
B
8 B 4
PCIF 9 5
N.C N.C BRK+
10 BRK- 6
N.C N.C
Holding brake Motor

CN1
COM 1
ALMCLR 2
＊）

IN1 (STOP) 3
Shielded twisted-pair cable
IN2 (EXE) 4
IN3 (Point0) 5
IN4 (Point1) 6
IN5 (Point2) 7
IN6 (Point3) 8
■ Single-/3-phase 200 to 230 VAC
IN7 (Point4) 9
Driver model number: PB4A002R301
Multi-axis
IN8 (Point5) 10 User device Driver
11
ALM 12
PB4A002R301
CN4 CN2
13 1

A
OUT1 (In-position) 14 R 2 A 2
15 Input power supply S 4 B 3 Encoder
OUT2 (Ack) 16 * 1 ø/3 ø 200 to 230 VAC T 6 4
B
17 1 Z 5
N.C
OUT3 (PEND0) 18 3 Z 6
N.C
19 9V 7
OUT4 (PEND1) 20 8
9G
21 CN5,6 9
COM1 N.C
OUT5 (PEND2) 22 1 10
O.H TH
23 Host 2 11
FG
OUT6 (PEND3) 24 controller 3 12
N.C N.C N.C
25 4
N.C N.C
OUT7 (PEND4) 26
5 CN3
P.E(M4) GND
GND 1
A
6 +5V 2
COM2 N.C A
7 3
B
8 B 4
PCIF 9 5
N.C N.C BRK+

10 BRK- 6
N.C N.C
Holding brake Motor

CN1
COM 1
ALMCLR 2
＊）
IN1 (STOP) 3
Shielded twisted-pair cable
IN2 (EXE) 4
IN3 (Point0) 5
IN4 (Point1) 6
IN5 (Point2) 7
IN6 (Point3) 8
IN7 (Point4) 9
Options
IN8 (Point5) 10
11
ALM 12
13
OUT1 (In-position) 14
15
OUT2 (Ack) 16
17
OUT3 (PEND0) 18
19
OUT4 (PEND1) 20
21
OUT5 (PEND2) 22
23
OUT6 (PEND3) 24
25
OUT7 (PEND4) 26
● ( ) indicates factory settings. P.E(M4)
* When using with single-phase power supply, wire to pins 2 and 4.
17
Wiring
■ Connector Models and Compatible Cables
Maximum
Connector Manufacturer model
Application Description Compatible cables extension Manufacturer
no. number
length
Plug
8830E-026-170LD-F
I/O signals CN1 (driver side) AWG28 (7/0.127) 2m KEL CORPORATION
Receptacle 8822E-026-171D
Tab header
1-1827876-6
(driver side)
Receptacle
1-1827864-6
housing AWG22 to 28
Receptacle 1827569-2 (AWG28 to 30) Shielded twisted pair
Tyco Electronics
Encoder CN2 contact *The contact model number 20 m
1827570-2 (AWG22 to 28) Japan G.K.
varies with diameter over
Tab housing outer shield.
1-1903130-6
(for relay)
Tab contact 1903111-2 (AWG28 to 30)
(for relay) 1903112-2 (AWG22 to 28)
Tab header
1-1827876-3
(driver side)
Receptacle
1-1827864-3
housing AWG18 to 22
Receptacle 1827570-2 (AWG22 to 28) Discrete line
Tyco Electronics
Motor CN3 contact *The contact model number 20 m
1827572-2 (AWG18 to 22) Japan G.K.
1-1903130-3
(for relay)
(for relay) 1903114-2 (AWG18 to 22)
Tab header
1376136-1
(driver side)
Receptacle AWG18 Tyco Electronics
Power supply CN4 1-1318119-3 2m
housing Discrete line Japan G.K.
Receptacle 1318107-1 (single)
contact 1318105-1 (linked)
Post with base
S10B-PADSS-1GW
CN5 (driver side) AWG28 to 24
Communications 100 m J.S.T.
CN6 Housing PADP-10V-1-S Shielded twisted pair
Contact SPH-002T-P0.5L
● Refer to the manufacturer’s catalog for detailed connector specifications.
● If the maximum extended length is exceeded, take necessary countermeasures to prevent malfunctions due to line noise.
● The relay connector is used to connect to the motor or encoder side connector when creating an extension cable.
18
Driver Components and functions

SW1: Mode button
SW2: Data button 1 Digital operator
SW3: Write button MODE: Mode display LED
DATA: Data display LED

■ Functions
Multi-axis
1 Digital operator
Used to set parameters and perform Jog operations. MODE Functions
Data range
SW2 Functions SW3 Functions
(DATA display)

0 Driver status display (See table 1.) Disabled Disabled
■ Display Confirms at the
1 Point teaching 0 to F (Point no.) Selects point no.
current position
• MODE (Mode display LED) 2 Motor selection 0 to 6 (See table 2.) Switches set values Writes set values
Displays the current mode number. 3 Resolution selection 0 to 7 (See table 3.) Switches set values Writes set values
Forward direction 0 = CW is forward,
4 Switches set values Writes set values
setting 1 = CCW is forward
• DATA (Data display LED) 5 Speed loop gain setting 0 to F Switches set values Writes set values
6 Holding brake operation 0 = Release; 1 = Hold Switches set values Writes set values
Displays monitor and parameter setting values. 7 Node address setting 0 to F Switches set values Writes set values
Blinks when the displayed parameter setting value is different 8 Jog operation speed 1 to F (100 min-1/LSB) Switches set values Writes set values
from the current setting value. Forward direction Reverse direction
9 Jog operation –
operation operation
0 = 9600 bps,
1 = 38400 bps,
■ Button A Baud rate Switches set values Writes set values

2 =115200 bps,
• SW1 (Mode button) 3 = 307200 bps
Mode numbers switch sequentially each time the button is ・ Changed values for modes 2 to 4 are enabled upon restart.
pressed. ・ Changed values for modes 1, 5 to 8, and A are enabled immediately.
However, the mode number 9 is only displayed when the servo Table 1 Driver status and corresponding DATA parameters
is ON. when MODE parameter is 0.
Displayed Displayed
Driver status Driver status
data data
• SW2 (Data button)
0 Servo OFF 9 Homing mode error
The function varies with mode number. Figure-8
Servo ON A Deviation counter overflow
pattern
Overcurrent
• SW3 (Write button) 1 Low voltage error b
(motor winding detection)
The function varies with mode number. 2 Overvoltage error C Wrap around
3 Regenerative voltage error d Push operation error
Encoder disconnection
4 Driver overheat error E
error
5 Motor overheat error F Initialization error
Overcurrent
Options
6 Overload stop error H

(bus current detection)
7 Overspeed L Nonvolatile memory error
8 Servo error
Table 2 Motor selection

Set value Motor model number Set value Motor model number
0 PBM423 4 PBM604
1 PBM503 5 PBM861
2 PBM565 6 PBM862
3 PBM603
Table 3 Resolution selection (P/R)

Set value Resolution Set value Resolution
0 500 4 5000
1 1000 5 10000
2 2000 6 16000
3 4000 7 32000
19
AC Input Set Models

Type P Pulse Train Input type
Motor
Driver
Model number: PB4A002P300
Input power supply: Single-phase 100 to 115 VAC
Model number: PB4A002P301
Input power supply: Single-/3-phase 200 to 230 VAC
Cable
For power supply (1 m) Model number: PBC8P0010A
I/O signal cable (1 m, shielded) Model number: PBC5S0010C


Single-phase 100 VAC
or single-/3-phase 200 VAC
7
8 Circuit breaker
Protects the power
line. PC interface software
* The converter is required
Cuts off circuit for USB/RS-485 conversion.
in the event
of overcurrent.
6 Communications converter unit
To the external limit sensor
Host devices
9
Switches driver 5 CN6 PLC pulse board
power on/off.
CN5
Use together with RS-485 (Half-duplex)
Limit input cable
a surge protector.
CN1
I/O signal cable
10 Noise filter 4
Filters out
CN2
incoming noise Encoder extension cable
from power line.
3
2
CN4
CN3 Motor extension cable
1
Power cable
20

Max. stall torque
Model
(allowable torque* Gear Backlash Driver power supply Power cable,

Flange size × speed Set model Motor model Driver model Motor
for models with ratio (deg.) specifications I/O signal Specifications
Motor length (min-1) number number dimensions
gear) (N·m) cable
(mm)
42×42×55.9 0.35 – – – Single-phase 100 to 115 VAC PBA1P423 PBM423FXK30-M PB4A002P300 p. 26 p. 31
42×42×55.9 0.35 – – – Single-/3-phase 200 to 230 VAC PBA2P423 PBM423FXK30-M PB4A002P301 p. 26 p. 31
Standard model
Power cable (1 m):

60×60×68.8 1.3 – – – Single-/3-phase 200 to 230 VAC PBA2P603 PBM603FXK30-M PB4A002P301 PBC8P0010A p. 26 p. 31

60×60×100.8 1.9 – – – Single-/3-phase 200 to 230 VAC PBA2P604 PBM604FXK30-M PB4A002P301 I/O Signal Cable p. 26 p. 31
86×86×79.5 3.1 – – – Single-phase 100 to 115 VAC PBA1P861 PBM861FXK30-M PB4A002P300 (1 m, shielded): p. 26 p. 31
PBC5S0010C
86×86×79.5 3.1 – – – Single-/3-phase 200 to 230 VAC PBA2P861 PBM861FXK30-M PB4A002P301 p. 26 p. 31
86×86×110 6.1 – – – Single-phase 100 to 115 VAC PBA1P862 PBM862FXK30-M PB4A002P300 p. 26 p. 31
86×86×110 6.1 – – – Single-/3-phase 200 to 230 VAC PBA2P862 PBM862FXK30-M PB4A002P301 p. 26 p. 31
42×42×86.1 0.343 500 1:3.6 0.6 Single-phase 100 to 115 VAC PBA1P423-C3.6 PBM423FGAK30-M PB4A002P300 p. 27 p. 31
42×42×86.1 0.343 500 1:3.6 0.6 Single-/3-phase 200 to 230 VAC PBA2P423-C3.6 PBM423FGAK30-M PB4A002P301 p. 27 p. 31
42×42×86.1 0.686 250 1:7.2 0.4 Single-phase 100 to 115 VAC PBA1P423-C7.2 PBM423FGBK30-M PB4A002P300 p. 27 p. 31
42×42×86.1 0.686 250 1:7.2 0.4 Single-/3-phase 200 to 230 VAC PBA2P423-C7.2 PBM423FGBK30-M PB4A002P301 p. 27 p. 31
42×42×86.1 0.98 180 1:10 0.35 Single-phase 100 to 115 VAC PBA1P423-C10 PBM423FGEK30-M PB4A002P300 p. 27 p. 31
42×42×86.1 0.98 180 1:10 0.35 Single-/3-phase 200 to 230 VAC PBA2P423-C10 PBM423FGEK30-M PB4A002P301 p. 27 p. 31
42×42×86.1 1.47 90 1:20 0.25 Single-phase 100 to 115 VAC PBA1P423-C20 PBM423FGGK30-M PB4A002P300 p. 27 p. 31

42×42×86.1 1.47 90 1:20 0.25 Single-/3-phase 200 to 230 VAC PBA2P423-C20 PBM423FGGK30-M PB4A002P301 p. 27 p. 31
Power cable (1 m):
42×42×86.1 1.47 60 1:30 0.25 Single-phase 100 to 115 VAC PBA1P423-C30 PBM423FGJK30-M PB4A002P300 PBC8P0010A p. 27 p. 31
42×42×86.1 1.47 60 1:30 0.25 Single-/3-phase 200 to 230 VAC PBA2P423-C30 PBM423FGJK30-M PB4A002P301 p. 27 p. 31
60×60×114.3 1.25 500 1:3.6 0.55 Single-phase 100 to 115 VAC PBA1P603-C3.6 PBM603FGAK30-M PB4A002P300 I/O Signal Cable p. 28 p. 31
60×60×114.3 1.25 500 1:3.6 0.55 Single-/3-phase 200 to 230 VAC PBA2P603-C3.6 PBM603FGAK30-M PB4A002P301 (1 m, shielded): p. 28 p. 31
PBC5S0010C
60×60×114.3 2.5 250 1:7.2 0.25 Single-phase 100 to 115 VAC PBA1P603-C7.2 PBM603FGBK30-M PB4A002P300 p. 28 p. 31
60×60×114.3 2.5 250 1:7.2 0.25 Single-/3-phase 200 to 230 VAC PBA2P603-C7.2 PBM603FGBK30-M PB4A002P301 p. 28 p. 31
60×60×114.3 3 180 1:10 0.25 Single-phase 100 to 115 VAC PBA1P603-C10 PBM603FGEK30-M PB4A002P300 p. 28 p. 31
60×60×114.3 3 180 1:10 0.25 Single-/3-phase 200 to 230 VAC PBA2P603-C10 PBM603FGEK30-M PB4A002P301 p. 28 p. 31
60×60×114.3 3.5 90 1:20 0.17 Single-phase 100 to 115 VAC PBA1P603-C20 PBM603FGGK30-M PB4A002P300 p. 28 p. 31
60×60×114.3 3.5 90 1:20 0.17 Single-/3-phase 200 to 230 VAC PBA2P603-C20 PBM603FGGK30-M PB4A002P301 p. 28 p. 31
60×60×114.3 4 60 1:30 0.17 Single-phase 100 to 115 VAC PBA1P603-C30 PBM603FGJK30-M PB4A002P300 p. 28 p. 31
Multi-axis
60×60×114.3 4 60 1:30 0.17 Single-/3-phase 200 to 230 VAC PBA2P603-C30 PBM603FGJK30-M PB4A002P301 p. 28 p. 31
42×42×95.1 2.2 (4.5) 116 1:30 – Single-phase 100 to 115 VAC PBA1P423-H30 PBM423FHJK30-M PB4A002P300 p. 29 p. 32

42×42×95.1 2.2 (4.5) 116 1:30 – Single-/3-phase 200 to 230 VAC PBA2P423-H30 PBM423FHJK30-M PB4A002P301 p. 29 p. 32
Harmonic gear model
42×42×95.1 3.5 (8.3) 70 1:50 – Single-phase 100 to 115 VAC PBA1P423-H50 PBM423FHLK30-M PB4A002P300 p. 29 p. 32
Power cable (1 m):
42×42×95.1 3.5 (8.3) 70 1:50 – Single-/3-phase 200 to 230 VAC PBA2P423-H50 PBM423FHLK30-M PB4A002P301 PBC8P0010A p. 29 p. 32
42×42×95.1 5 (11) 35 1:100 – Single-phase 100 to 115 VAC PBA1P423-H100 PBM423FHMK30-M PB4A002P300 p. 29 p. 32
42×42×95.1 5 (11) 35 1:100 – Single-/3-phase 200 to 230 VAC PBA2P423-H100 PBM423FHMK30-M PB4A002P301 I/O Signal Cable p. 29 p. 32
60×60×135.8 5.5 (14) 70 1:50 – Single-phase 100 to 115 VAC PBA1P603-H50 PBM603FHLK30-M PB4A002P300 (1 m, shielded): p. 29 p. 32
PBC5S0010C
60×60×135.8 5.5 (14) 70 1:50 – Single-/3-phase 200 to 230 VAC PBA2P603-H50 PBM603FHLK30-M PB4A002P301 p. 29 p. 32
60×60×135.8 8 (20) 35 1:100 – Single-phase 100 to 115 VAC PBA1P603-H100 PBM603FHMK30-M PB4A002P300 p. 29 p. 32
60×60×135.8 8 (20) 35 1:100 – Single-/3-phase 200 to 230 VAC PBA2P603-H100 PBM603FHMK30-M PB4A002P301 p. 29 p. 32
42×42×88.3 0.35 – – – Single-phase 100 to 115 VAC PBA1P423-B PBM423FCK30-M PB4A002P300 p. 30 p. 32

Power cable (1 m):
42×42×88.3 0.35 – – – Single-/3-phase 200 to 230 VAC PBA2P423-B PBM423FCK30-M PB4A002P301 p. 30 p. 32
PBC8P0010A
I/O Signal Cable

(1 m, shielded):
PBC5S0010C

exceeds 50 cm.
Options
exceeds 50 cm.
4 I/O signal cable (shielded) PBC5S0010C (1 m) PBC5S0000A 2m – p. 88
5 Limit input cable PBC7S0010A (1 m) PBC7S0000A 2m External limit sensor input p. 88
a cable
p. 86
7 PC interface software SPBALL-01 – – p. 86
parameter setting
21
42 120
33 4.5 4.5
ø5
10
SW MODE
Model No.PB
DATA CLOSED LOOP STEPPING SYSTEMS
CN6
CN5
160
150
170
MADE IN JAPAN 00******
CN1 Electric shock cautions.
Do not touch drive unit or terminal cover during power

on or within 10MIN after power off.
Be sure that the charge lamp is off at the time of

maintenance and check.
CN2
Equipment may be damaged if mistaken connection is made.
Fear of a burn! Do not touch a heat sink.
CN3 Connect earth terminal against electric shock.
CN4
(10)
(5)
Model number PB4A002P300 PB4A002P301
Interface Pulse train input
Input power supply Single-phase 100 to 115 VAC (-15%, +10%) 50/60 Hz Single-phase 200 to 230 VAC (-15%, +10%) 50/60 Hz 3-phase 200 to 230 VAC (-15%, +10%) 50/60 Hz
Power supply current 6A 4.5 A 2.5 A
Protection class Class I
Operation environment Installation category (overvoltage category): II, Pollution degree: 2

Operating ambient temperature 0 to +55°C
Environment
Operating ambient humidity 90% RH max. (non-condensing)

Tested under the following conditions: Acceleration: 5 m/s2, Frequency range: 10 to 55 Hz,
Axes of vibration: X, Y, Z (2 hours each)
Mass 0.65 kg
Rotational speed 0 to 4500 min-1 (0 to 4000 min-1 for 86 mm sq. motors)
500, 1000, 2000, 4000, 5000, 10000, 16000, 32000
Command resolution (P/R)
Can be set in fine steps in the range of 100 to 32000 with an electronic gear*.
Functions
Power voltage error, regenerative voltage error, driver overheat, motor overheat, overload stop,
Protection functions positional deviation error, servo error, homing mode error, command pulse error, overcurrent, wrap
around, push operation error, encoder disconnection, initialization error, nonvolatile memory error
Resolution, pulse input type, applicable motor, forward direction definition, gain, FF gain,
Digital operator
S-shape filter, Jog operation
Operating functions Auto homing mode operation / Push (current control) operation / S-shape operation function
Pulse input, STOP, ALMCLR
Input signal Output signal
Function
General-purpose input×2 (select from Deviation clear, HOME, Push, Brake control, and Counter reset)
I/O signal
Pulse input: Line receiver 1 or 2 input type

Electrical specifications
General-purpose input: Bidirectional input photocoupler 5 to 24 VDC
Encoder signal (A/B/Z) ALM, In-Position
Function
General-purpose output×2 (select from HOME END, Push END, ZONE, and input monitor)
Pulse signal output: Line driver 4000 P/R * Z-phase / phase origin signal is only output at 200 mm-1 or less.
General-purpose output: Open collector 30 VDC, 15 mA or less
* A function that finely adjusts the unit step angle per pulse parameters. Setup software is required.
EMC directives EN 61800-3, EN 61000-6-2
In compliance from July 2022 production onwards. Electromagnetic Compatibility Regulations 2016 EN 61800-3, EN 61000-6-2
RoHS
UL UL
UL 508C E179775
UL for Canada (cUL)
22

■ Single-phase 100 to 115 VAC Driver model number: PB4A002P300
User device Driver
PB4A002P300
CN4 CN2
1
A
2 A 2
Input power supply
1 ø 100 to 115 VAC 4
B 3 Encoder
6 B 4
N.C
1 Z 5
N.C
N.C 3 Z 6
N.C 5 9V 7

9G 8
CN5 9
N.C
1 10
O.H TH
2 11
FG
PCIF 3 12
N.C N.C N.C
4
N.C N.C
5 CN3
GND
GND 1
+5V A
6 2
N.C A
B 3
CN6 B 4
BRK+ 5
1 6
N.C N.C BRK-
2
N.C N.C
3 Holding brake Motor
Pos. Limit 4
5
Neg. Limit
6
＊）

CN1
1
Pos. Pulse/Pulse 2 Shielded twisted-pair cable
3
Neg. Pulse/Direction 4
14
COM
STOP 5
ALMCLR 6
IN1 (Deviation clear 1) 7 ■ Single-/3-phase 200 to 230 VAC

IN2 (HOME) 8 Driver model number: PB4A002P301
GND 13
9 User device Driver
Multi-axis
ALM 10 PB4A002P301
11 CN4 CN2
ENC 12 1
A
15 R 2 2

A
In-position 16 Input power supply S 4
B 3 Encoder
17 * 1 ø/3 ø 200 to 230 VAC T 6 4
B
SON 18 1 Z 5
N.C
19 N.C 3 Z 6
OUT1 (HOME END) 20 N.C 5 9V 7
21 9G 8
OUT2 (Push END) 22 CN5 9
N.C
23 1 10
O.H TH
ENA 24 2 11
PCIF FG
25 3 12
N.C N.C N.C
ENB 26 4
N.C N.C
P.E(M4) 5 CN3
GND
GND 1
+5V A
6 2
N.C A
B 3
CN6 B 4
BRK+ 5
1 6
N.C N.C BRK-

2
N.C N.C
Pos. Limit 4
5
Neg. Limit
6
＊）
CN1
1
Pos. Pulse/Pulse 2 Shielded twisted-pair cable
3
Neg. Pulse/Direction 4
COM 14
STOP 5
ALMCLR 6
IN1 (Deviation clear 1) 7
IN2 (HOME) 8
GND 13
9
Options
ALM 10
11
ENC 12
15
In-position 16
17
SON 18
19
OUT1 (HOME END) 20
21
OUT2 (Push END) 22
23
ENA 24
25
ENB 26
P.E(M4)
● Functions for IN1, IN2, OUT1, and OUT2 are assigned with PC interface.
* When using with single-phase power supply, wire to pins 2 and 4.
23
Wiring
Maximum
no. number
length
Plug
8830E-026-170LD-F
I/O signals CN1 (driver side) AWG28 (7/0.127) 2m KEL CORPORATION
Tab header
1-1827876-6
(driver side)
Receptacle
1-1827864-6
housing AWG22 to 28
Receptacle 1827569-2 (AWG28 to 30) Shielded twisted pair
Tyco Electronics
Encoder CN2 contact *The contact model number 20 m
1827570-2 (AWG22 to 28) Japan G.K.
1-1903130-6
(for relay)
(for relay) 1903112-2 (AWG22 to 28)
Tab header
1-1827876-3
(driver side)
Receptacle
1-1827864-3
housing AWG18 to 22
Receptacle 1827570-2 (AWG22 to 28) Discrete line
Tyco Electronics
Motor CN3 contact *The contact model number 20 m
1827572-2 (AWG18 to 22) Japan G.K.
1-1903130-3
(for relay)
(for relay) 1903114-2 (AWG18 to 22)
Tab header
1376136-1
(driver side)
Receptacle AWG18 Tyco Electronics
Power supply CN4 1-1318119-3 2m
housing Discrete line Japan G.K.
Receptacle 1318107-1 (single)
contact 1318105-1 (linked)
Post with base
S10B-PADSS-1GW
(driver side) AWG28 to 24
Communications CN5 2m J.S.T.
Housing PADP-10V-1-S Shielded twisted pair
Pin header DF11-10DP-2DS (52)
Limit signal input CN6 Socket DF11-10DS-2C AWG22 2m Hirose Electric
Contact DF11-22SCA (loose)
24
Driver Components and Functions

SW1: Mode button
SW2: Data button 1 Digital operator
SW3: Write button MODE: Mode display LED
DATA: Data display LED

1 Digital operator ■ Functions
Multi-axis
Used to set parameters and perform Jog operations. MODE Functions
Data range
SW2 Functions SW3 Functions
(DATA display)
0 Driver status display (See table 1.) Disabled Disabled

■ Display Pulse input method 0 = 2 input type,
setting 1 = 1 input type
• MODE (Mode display LED) 2 Motor selection 0 to 6 (See table 2.) Switches set values Writes set values
Displays the current mode number. 3 Resolution selection 0 to 7 (See table 3.) Switches set values Writes set values
Forward direction 0 = CW is forward,
setting 1 = CCW is forward
• DATA (Data display LED) 5
Speed loop gain
0 to F Switches set values Writes set values
setting
Displays monitor and parameter setting values. Feed forward gain
6 0 to F (10 h/LSB) Switches set values Writes set values
Blinks when the displayed parameter setting value is different setting
7 S-shape filter setting 0 to F Switches set values Writes set values
from the current setting value.
8 Jog operation speed 1 to F (100 min-1/LSB) Switches set values Writes set values
Forward direction Reverse direction
9 Jog operation –
operation operation
■ Button
・ Changed values for modes 1 to 4 are enabled upon restart.
• SW1 (Mode button)

・ Changed values for modes 5 to 8 are enabled immediately.
Mode numbers switch sequentially each time the button is ・ The mode number switches to 9 only when the servo is ON.
pressed.
However, the mode number 9 is only displayed when the servo Table 1 Driver status and corresponding DATA parameters
is ON. when MODE parameter is 0.
Displayed Displayed
Driver status Driver status
data data
• SW2 (Data button) 0 Servo OFF 9 Homing mode error
The function varies with mode number. Figure-8
Servo ON A Command pulse error
pattern
Overcurrent
1 Low voltage error b
• SW3 (Write button) (motor winding detection)
2 Overvoltage error C Wrap around
The function varies with mode number. 3 Regenerative voltage error d Push operation error
Encoder disconnection
4 Driver overheat error E
error
5 Motor overheat error F Initialization error
Overcurrent
6 Overload stop error H
(bus current detection)
7 Positional deviation error L Nonvolatile memory error
Options
8 Servo error
Table 2 Motor selection

Set value Motor model number Set value Motor model number
0 PBM423 4 PBM604
1 PBM503 5 PBM861
2 PBM565 6 PBM862
3 PBM603
Table 3 Resolution selection (P/R)

Set value Resolution Set value Resolution
0 500 4 5000
1 1000 5 10000
2 2000 6 16000
3 4000 7 32000
・ Electronic gear ratios are set automatically.
25
AC Input Set Models Type R / Type P
Standard model RoHS
Motor size 42 mm sq. 60 mm sq. 86 mm sq.

Size
Motor length 55.9 mm 68.8 mm 100.8 mm 79.5 mm 110 mm
Motor model number PBM423FXK30-M PBM603FXK30-M PBM604FXK30-M PBM861FXK30-M PBM862FXK30-M
Type R set model number PBA1R423 PBA1R603 PBA1R604 PBA1R861 PBA1R862
Compatible driver model number PB4A002R300 PB4A002R300 PB4A002R300 PB4A002R300 PB4A002R300
Type R set model number PBA2R423 PBA2R603 PBA2R604 PBA2R861 PBA2R862
Type P set model number PBA1P423 PBA1P603 PBA1P604 PBA1P861 PBA1P862
Compatible driver model number PB4A002P300 PB4A002P300 PB4A002P300 PB4A002P300 PB4A002P300
Type P set model number PBA2P423 PBA2P603 PBA2P604 PBA2P861 PBA2P862
Max. stall torque N·m 0.35 1.3 1.9 3.1 6.1
Rotor inertia ×10-4kg·m2 0.056 0.4 0.84 1.48 3
Allowable thrust load N 9.8 14.7 14.7 60 60
Allowable radial load * N 47 190 190 200 200
Motor mass kg 0.35 0.85 1.42 1.9 3.1
Characteristics diagram ① ② ③ ④ ⑤
● Maintain motor surface temperature at 85°
C or lower while in use.
* The load point is at the end of the output shaft.
■ Characteristics diagram
Torque 100 VAC/200 VAC Power supply current Single-phase 100 VAC Single-phase 200 VAC 3-phase 200 VAC
① Motor model number PBM423FXK30-M ② Motor model number PBM603FXK30-M ③ Motor model number PBM604FXK30-M
0.5 6 2.0 10 3.0 12

Power supply current (A)

5 8 2.5 10
0.4 1.6
Torque (N・m)
Torque (N・m)
Torque (N・m)
4 2.0 8
0.3 1.2 6
3 1.5 6
0.2 0.8 4
2 1.0 4
0.1 1 0.4 2 2
0.5
0 0 0 0 0 0
0 500 1000 1500 2000 2500 3000 3500 4000 4500 0 500 1000 1500 2000 2500 3000 3500 4000 4500 0 500 1000 1500 2000 2500 3000 3500 4000 4500
Speed (min−1) Speed (min−1) Speed (min−1)
④ Motor model number PBM861FXK30-M ⑤ Motor model number PBM862FXK30-M
3.0 12 7 14
2.5 10 6 12
5 10
Torque (N・m)
Torque (N・m)
2.0 8
4 8
1.5 6
3 6
1.0 4
2 4
0.5 2 2
1
0 0 0 0
0 500 1000 1500 2000 2500 3000 3500 4000 4500 0 500 1000 1500 2000 2500 3000 3500 4000 4500
Speed (min−1) Speed (min−1)
System Configuration Diagram▶pp. 14, 20 Set Model Configurations▶pp. 15, 21 Driver Dimensions▶pp. 16, 22 Motor Dimensions▶pp. 31 to 32
●Data for the above characteristics is based on SANYO DENKI’
s internal measurement conditions. Depending on conditions such as machine precision, driving torque may vary as well.
26
Low-backlash gear model RoHS
Motor size 42 mm sq.

Size
Motor + gear length 86.1 mm
Motor model number PBM423FGAK30-M PBM423FGBK30-M PBM423FGEK30-M PBM423FGGK30-M PBM423FGJK30-M
Type R set model number PBA1R423-C3.6 PBA1R423-C7.2 PBA1R423-C10 PBA1R423-C20 PBA1R423-C30

Type P set model number PBA1P423-C3.6 PBA1P423-C7.2 PBA1P423-C10 PBA1P423-C20 PBA1P423-C30
Allowable torque N·m 0.343 0.686 0.98 1.47 1.47
Rotor inertia ×10-4kg·m2 0.056 0.056 0.056 0.056 0.056
Gear ratio ̶ 1:3.6 1:7.2 1:10 1:20 1:30
Backlash deg. or less 0.6 0.4 0.35 0.25 0.25
Allowable speed min-1 500 250 180 90 60

Relative to
Rotation direction
command direction Forward Forward Forward Reverse Reverse
Allowable thrust load N 15 15 15 15 15
Motor mass kg 0.48 0.48 0.48 0.48 0.48
* When load is applied at 1/3 length from output shaft end.
Multi-axis

Allowable torque 100 VAC/200 VAC Power supply current Single-phase 100 VAC Single-phase 200 VAC 3-phase 200 VAC
① Motor model number PBM423FGAK30-M ② Motor model number PBM423FGBK30-M ③ Motor model number PBM423FGEK30-M
0.5 6 1.0 6 2.0 6


5 5 5
0.4 0.8 1.6
Torque (N・m)
Torque (N・m)
Torque (N・m)
4 4 4
0.3 0.6 1.2
3 3 3
0.2 0.4 0.8

2 2 2
0.1 1 0.2 1 0.4 1
0 0 0 0 0 0
0 100 200 300 400 500 0 50 100 150 200 250 0 20 40 60 80 100 120 140 160 180 200
Output speed (min ) −1
Output speed (min−1)
0 500 1000 1500 2000 0 500 1000 1500 2000 0 500 1000 1500 2000
Input speed (min−1) Input speed (min−1) Input speed (min−1)
④ Motor model number PBM423FGGK30-M ⑤ Motor model number PBM423FGJK30-M
2.0 6 2.0 6
5 5
1.6 1.6
Torque (N・m)
Torque (N・m)
4 4
Options
1.2 1.2
3 3
0.8 0.8
2 2
0.4 1 0.4 1
0 0 0 0
0 10 20 30 40 50 60 70 80 90 100 0 10 20 30 40 50 60
Output speed (min−1) Output speed (min−1)
0 500 1000 1500 2000 0 500 1000 1500 2000

Input speed (min−1) Input speed (min−1)
When using a motor with low-backlash gear, exceeding the allowable torque might damage the gear. Carefully select products so that the configured system can operate within the specified limit value.
27

Size
Motor model number PBM603FGAK30-M PBM603FGBK30-M PBM603FGEK30-M PBM603FGGK30-M PBM603FGJK30-M
Allowable torque N·m 1.25 2.5 3 3.5 4
Gear ratio ̶ 1:3.6 1:7.2 1:10 1:20 1:30
Relative to
Rotation direction
command direction Forward Forward Reverse Reverse Reverse
Motor mass kg 1.22 1.22 1.22 1.22 1.22
Allowable torque 100 VAC/200 VAC Power supply current Single-phase 100 VAC Single-phase 200 VAC 3-phase 200 VAC
① Motor model number PBM603FGAK30-M ② Motor model number PBM603FGBK30-M ③ Motor model number PBM603FGEK30-M
2.0 10 5 10 5 10

1.6 8 4 8 4 8
Torque (N・m)
Torque (N・m)
Torque (N・m)
1.2 6 3 6 3 6
0.8 4 2 4 2 4
0.4 2 1 2 1 2
0 0 0 0 0 0
0 100 200 300 400 500 0 50 100 150 200 250 0 20 40 60 80 100 120 140 160 180 200
0 500 1000 1500 2000 0 500 1000 1500 2000 0 500 1000 1500 2000
④ Motor model number PBM603FGGK30-M ⑤ Motor model number PBM603FGJK30-M
5 10 5 10
4 8 4 8
Torque (N・m)
Torque (N・m)
3 6 3 6
2 4 2 4
1 2 1 2
0 0 0 0
0 10 20 30 40 50 60 70 80 90 100 0 10 20 30 40 50 60
0 500 1000 1500 2000 0 500 1000 1500 2000

28
Harmonic gear model RoHS
Motor size 42 mm sq. 60 mm sq.

Size
Motor + gear length 95.1 mm 135.8 mm
Motor model number PBM423FHJK30-M PBM423FHLK30-M PBM423FHMK30-M PBM603FHLK30-M PBM603FHMK30-M
Type R set model number PBA1R423-H30 PBA1R423-H50 PBA1R423-H100 PBA1R603-H50 PBA1R603-H100
Type R set model number PBA2R423-H30 PBA2R423-H50 PBA2R423-H100 PBA2R603-H50 PBA2R603-H100

Type P set model number PBA1P423-H30 PBA1P423-H50 PBA1P423-H100 PBA1P603-H50 PBA1P603-H100
Type P set model number PBA2P423-H30 PBA2P423-H50 PBA2P423-H100 PBA2P603-H50 PBA2P603-H100
Allowable
instantaneous N·m 4.5 8.3 11 14 20
torque
Gear ratio ̶ 1:30 1:50 1:100 1:50 1:100

Hysteresis loss Arc min or less 3.6 2.4 2.4 ― ―
Lost motion Arc min ― ― ― 0.4 to 3 0.4 to 1.5

(at ±0.28 N·m) (at ±0.4 N·m)
Relative to
Rotation direction
command direction Reverse Reverse Reverse Reverse Reverse
Motor mass kg 0.54 0.54 0.54 1.45 1.45
Multi-axis

Allowable torque Single-phase 100 VAC, Single/3-phase 200 VAC Allowable instantaneous torque Single-phase 100 VAC, Single/3-phase 200 VAC
Power supply current Single-phase 100 VAC Single-phase 200 VAC 3-phase 200 VAC
① Motor model number PBM423FHJK30-M ② Motor model number PBM423FHLK30-M ③ Motor model number PBM423FHMK30-M
10 6 10 6 20 6

5 5 5
8 8 16
Torque (N・m)
Torque (N・m)
Torque (N・m)
4 4 4
6 6 12

3 3 3
4 4 8
2 2 2
2 1 2 1 4 1
0 0 0 0 0 0
0 20 40 60 80 100 120 140 0 10 20 30 40 50 60 70 80 90 0 5 10 15 20 25 30 35 40 45
Output speed (min−1) Output speed (min−1) Output speed (min−1)
0 500 1000 1500 2000 2500 3000 3500 4000 4500 0 500 1000 1500 2000 2500 3000 3500 4000 4500 0 500 1000 1500 2000 2500 3000 3500 4000 4500
④ Motor model number PBM603FHLK30-M ⑤ Motor model number PBM603FHMK30-M
20 10 50 10
16 8 40 8
Torque (N・m)
Torque (N・m)
Options
12 6 30 6
8 4 20 4
4 2 10 2
0 0 0 0
0 10 20 30 40 50 60 70 80 90 0 5 10 15 20 25 30 35 40 45
0 500 1000 1500 2000 2500 3000 3500 4000 4500 0 500 1000 1500 2000 2500 3000 3500 4000 4500
When using a motor with harmonic gear, exceeding the allowable instantaneous torque might damage the gear. Carefully select products so that the configured system can operate within the specified limit value.
29
Electromagnetic brake model RoHS

Size
Motor + brake length 88.3 mm 108.1 mm 140.1 mm
Motor model number PBM423FCK30-M PBM603FCK30-M PBM604FCK30-M
Type R set model number PBA1R423-B PBA1R603-B PBA1R604-B
Compatible driver model number PB4A002R300 PB4A002R300 PB4A002R300
Type R set model number PBA2R423-B PBA2R603-B PBA2R604-B
Compatible driver model number PB4A002R301 PB4A002R301 PB4A002R301
Type P set model number PBA1P423-B PBA1P603-B PBA1P604-B
Compatible driver model number PB4A002P300 PB4A002P300 PB4A002P300
Type P set model number PBA2P423-B PBA2P603-B PBA2P604-B
Compatible driver model number PB4A002P301 PB4A002P301 PB4A002P301
Max. stall torque N·m 0.35 1.3 1.9
Rotor inertia ×10-4kg·m2 0.071 0.559 1.0
Allowable thrust load N 9.8 14.7 14.7
Allowable radial load * N 47 190 190
Motor mass kg 0.5 1.19 1.76
Brake type ̶ No excitation No excitation No excitation
actuating type actuating type actuating type
Electromagnetic brake
Power supply voltage V 24 VDC±5% 24 VDC±5% 24 VDC±5%

Excitation current A 0.1 0.25 0.25
Power consumption W 2.4 (at 75°C) 6 (at 75°C) 6 (at 75°C)
Static friction torque N・m or over 0.3 0.8 0.8
Brake operating time ms or less 20 20 20
Brake release time ms or less 30 30 30
Characteristics diagram ① ② ③
Torque 100 VAC/200 VAC Power supply current Single-phase 100 VAC Single-phase 200 VAC 3-phase 200 VAC
① Motor model number PBM423FCK30-M ② Motor model number PBM603FCK30-M ③ Motor model number PBM604FCK30-M
0.5 6 2.0 10 3.0 12

5 2.5 10 Power supply current (A)

0.4 1.6 8
Torque (N・m)
Torque (N・m)
Torque (N・m)
4 2.0 8
0.3 1.2 6
3 1.5 6
0.2 0.8 4
2 1.0 4
0.1 1 0.4 2 2
0.5
0 0 0 0 0 0
0 500 1000 1500 2000 2500 3000 3500 4000 4500 0 500 1000 1500 2000 2500 3000 3500 4000 4500 0 500 1000 1500 2000 2500 3000 3500 4000 4500
Speed (min ) −1
Speed (min ) −1
Speed (min−1)
The electromagnetic brake only works when the motor is stopped, and cannot be used for braking.
30
Motor Dimensions

Unit: mm
■ Standard model
42 mm sq.
Encoder connector Motor connector
Motor lead wire
Encoder cable UL 3266 AWG24
500±20
500±20
1.5 max.
Ground terminal M2.5 UL vinyl tube

1.7±0.25
ø22 -0.05
ø6 -0.013
4-R5.5
0
0
+1

15 0
31±0.25
42±0.25
5.5±0.2
55.9±1 20.6±0.5 4-M3×0.5
31±0.25
42±0.25 Tapping depth:
4 min.
60 mm sq.
Motor lead wire
500±20
500±20
UL vinyl tube
ø10-0.015
1.5 max.
7±0.25 1.5±0.25
0
+1
15 0

ø36-0.039
41.7±0.5
50±0.13
Ground terminal M2.5
60±0.5
0
Motor model number Motor length (L)
PBM603FXK30-M 68.8
L±1 20.6±0.5 9±0.2 +0.5
41.7±0.5 4-ø4.5 0
50±0.13 PBM604FXK30-M 100.8
60±0.5
86 mm sq.
Motor connector
Encoder connector
500±20
Motor cable
Encoder cable
500±20
8±0.5 1.5±0.25
41.7±0.5 1.5 max.
+1
ø14-0.018
ø73.025±0.025
13±0.15
25 0
Multi-axis
0
69.6±0.25
Ground terminal M4
85.5±0.5

PBM861FXK30-M 79.5
L±1 30±1 13±0.15 4-ø5.6±0.2
41.7±0.5
69.6±0.25 Tapping depth:
8 min. PBM862FXK30-M 110
85.5±0.5
■ Low-backlash gear model
42 mm sq.
Motor lead wire
500±20
500±20
1.5 max.
Ground terminal M2.5 UL vinyl tube

3±0.5
4-R5.5
ø18 -0.25
ø6 -0.012
0
+1
0
8±0.5
12 0
+0.5
31±0.2
42 - 1.5
5.5±0.5
86.1±1.5 20±0.5 31±0.2 4-M3×0.5
+0.05 Tapping depth:
42 -0.012 8 min.
60 mm sq.
Motor connector
Encoder connector
Motor lead wire
500±20
500±20
UL vinyl tube
1.5 max.
3±0.5
ø24-0.025
ø8-0.015
10±0.5
0
Hexagon socket head bolt +1

0
12 0
49.5±0.2
41.7±0.5
4-M4
+0.5
60-2
Options
7±0.15
41.7±0.5 114.3±1.5 32±0.5 4-M4×0.7
49.5±0.2
+0.5 Tapping depth:
60-2 8 min.
31
Motor Dimensions Unit: mm
■ Harmonic gear model
42 mm sq.
+0
18- 0.18 0
3-0.025
Motor connector
(1.2)
3-0.025
90°
Encoder connector Motor lead wire
Key specifications
0
UL 3266 AWG24
Encoder cable UL vinyl tube
500±20
500±20
1.5 max.
ø10-0.009
6-M3×0.5
ø4 Tapping depth:
0
7±0.2 2±0.2 8±
4-R5.5 0.5 5 min.
(18)
ø37.6-0.025
42±0.5
0
ø12
-0.004
±0 3-0.029
22.5
+0.1
.5
4-ø4.5
95.1±1.5 25±1 1.8 0
.5
42±0.5
0
ø2
60 mm sq.
0 0
20-0.21 4-0.03
1.6
90°
Motor connector
Encoder connector
4-0.03
Key specifications Motor lead wire
500±20
500±20
UL vinyl tube
1.5 max.
10 2.5 ø7
Key 0 ±0
.5
(20)
Hexagon socket head bolt
41.7±0.5
ø54-0.03
4-M4
60±0.7
0
9.5-0.1
0
4-ø5.5
ø12-0.011
41.7±0.5 135.8±1.5 28±0.5

60±0.7
0
■ Electromagnetic brake model
42 mm sq.
Motor connector
Encoder connector
Motor lead wire
UL 3266 AWG24
Encoder cable Brake lead wire Ground terminal M2.5 UL vinyl tube
500±20
500±20
1.5 max.
UL 3266 AWG26
1.7±0.25
ø6-0.013
4-R5.5 +1
0
15 0
42±0.25
31±0.25
ø22-0.05
0
5.5±0.2 4-M3×0.5
88.3±1.5 20.6±0.5 31±0.25 Tapping depth:
42±0.25 4 min.
60 mm sq.
Motor lead wire
Brake lead wire UL 3266 AWG22
Encoder cable
500±20
UL 3266 AWG22 UL vinyl tube

500±20
ø10-0.015
1.5 max.
7±0.25 1.5±0.25
0
+1
15 0
ø36-0.039
41.7±0.5
50±0.13
60±0.5
0

PBM603FCK30-M 108.1
9±0.2 +0.5
L±1.5 20.6±0.5 4-ø4.5 0
50±0.13
60±0.5
PBM604FCK30-M 140.1
Connector specifications
Housing: 1827864-6 Housing: 1827864-3
Terminal: 1827569-2 Terminal: 1827570-2
Manufacturer: Tyco Electronics Japan G.K. Manufacturer: Tyco Electronics Japan G.K.
32
Motor Specifications

Motor model number PBM423F□K PBM60□F□K PBM86□F□K
Type S1 (continuous operation)
Operating ambient temperature -10 to +40°C (0 to +40°C for harmonic gear model)
Storage ambient temperature -20 to +60°C
Operating ambient humidity 95% RH max.: Under 40°C
95% RH max.: Under 40°C,

Storage ambient humidity 57% RH max.: Under 50°C,
35% RH max.: Under 60°C (non-condensing)
Tested with frequency 10 to 500 Hz, total amplitude 1.52 mm (10 to 70 Hz),
acceleration 150 m/s2 (70 to 500 Hz), sweep time 15 min/cycle, 12 sweeps in each X, Y and Z direction.
Tested with 500 m/s2 of acceleration for 11 ms with half-sine wave applying three times for X, Y and Z
Impact resistance
axes each, 18 times in total.
Thermal class B (+130°C) (UL: A) F (+155°C)
Dielectric strength 1500 VAC for one minute (between motor winding and frame)
Insulation resistance 100 MΩ or more at 500 VDC (between motor winding and frame)
Protection grade IP40

Thrust play * 0.075 mm max. (load: 5 N) 0.075 mm max. (load: 10 N)
Radial play ** 0.025 mm max. (load: 5 N)
Shaft runout 0.025 mm
Concentricity of mounting pilot
ø0.075 mm
relative to shaft
Perpendicularity of mounting
0.1 mm 0.15 mm
surface relative to shaft
Motor mounting orientation Can be mounted vertically or horizontally
Resolution 4000×4=16000 P/R
Multi-axis
Number of channels 3 CH ***
Output method Line driver (C-MOS)
Encoder

Max. response frequency 300 kHz
Power supply voltage 8 to 10 VDC
Current consumption 70 mA max.
● The user should not test the insulation resistance or insulation withstand voltage because capacitors are inserted into the encoder output ground line and the frame line
to prevent noise.
● Take radiation and drive conditions into consideration to maintain motor surface temperature at 85° C or lower while in use.
* Thrust play: Displacement in shaft position in the axial direction when a load is applied to the motor shaft in the axial direction.
** Radial play: Displacement in shaft position in the radial direction when a load is applied in the vertical direction to the mounting surface of shaft at point 1/3 the shaft
length from the end of the motor shaft.
*** The Z channel outputs 51 pulses. It is designed for use with drivers listed in this catalog.

CE marking in Europe Low Voltage Directive 2014/35/EU IEC 60034-1, IEC60034-5
RoHS Directive 2011/65/EU EN IEC 63000：2018
Electrical Equipment (Safety) Regulations 2016 IEC 60034-1, IEC60034-5
UKCA marking in Great Britain
In compliance from July 2022 production onwards.
RoHS Regulations 2012 EN IEC 63000：2018

UL UL UL 1004-1, UL 1004-6 E179832 (PRHZ2)
cUL CSA C22.2 No. 100 E179832 (PRHZ8)
Options
33
DC Input Set Models

Type M Multi-input type (RS-485+Parallel I/O, Pulse Train Input selectable)
Motor
Driver / Cable
Driver / cable set model number: PB3D003M200-S□
Set Model Configuration
Driver Model number: PB3D003M200-□
Power cable (1 m) Model number: PBC6P0010A
● DIP switches are used to select between RS-485+Parallel I/O and pulse train (Type M).


24/48 VDC
8 Circuit breaker 7
Protects the power Host devices
line. PLC pulse board
Cuts off circuit
in the event
of overcurrent. PC interface software Communications
converter unit
6
* The converter is required
for USB/RS-485 conversion.
9 Switches driver
power on/off.
Use together with CN6
a surge protector. To another driver
5
(When using with
RS-485 (Half-duplex) Communication cable RS-485+Parallel I/O)
10 Noise filter CN5

I/O signal cable
Filters out
incoming noise 4
from power line.
CN1
CN2 Encoder extension cable
3
CN3
Switching power supply
2
11 Converts power
CN4
Motor extension cable
supply from AC 1
to DC power.
Power cable
34

Max. stall torque
Model
(Allowable torque* Backlash Driver / cable set model

Flange size × speed Gear ratio Set model Motor model Motor
for models with gear) (deg.) number Specifications
Motor length (min-1) number A driver, power cable, and I / dimensions
(N·m)
(mm) O signal cable are included.
Standard model
28×28×58.5 0.055 – – – PBDM282 PBM282FXE20 PB3D003M200-S0 p. 39 p. 46


42×42×87.9 0.343 500 1:3.6 0.6 PBDM423-C3.6 PBM423FGAE20 PB3D003M200-S2 p. 40 p. 46
42×42×87.9 0.686 250 1:7.2 0.4 PBDM423-C7.2 PBM423FGBE20 PB3D003M200-S2 p. 40 p. 46
42×42×87.9 0.98 180 1:10 0.35 PBDM423-C10 PBM423FGEE20 PB3D003M200-S2 p. 40 p. 46

42×42×87.9 1.47 90 1:20 0.25 PBDM423-C20 PBM423FGGE20 PB3D003M200-S2 p. 40 p. 46
42×42×87.9 1.47 60 1:30 0.25 PBDM423-C30 PBM423FGJE20 PB3D003M200-S2 p. 40 p. 46
60×60×115.8 1.25 500 1:3.6 0.55 PBDM603-C3.6 PBM603FGAE20 PB3D003M200-S3 p. 41 p. 46
60×60×115.8 2.5 250 1:7.2 0.25 PBDM603-C7.2 PBM603FGBE20 PB3D003M200-S3 p. 41 p. 46
60×60×115.8 3 180 1:10 0.25 PBDM603-C10 PBM603FGEE20 PB3D003M200-S3 p. 41 p. 46

60×60×115.8 3.5 90 1:20 0.17 PBDM603-C20 PBM603FGGE20 PB3D003M200-S3 p. 41 p. 46
60×60×115.8 4 60 1:30 0.17 PBDM603-C30 PBM603FGJE20 PB3D003M200-S3 p. 41 p. 46
28×28×97 1.5 (2.7) 70 1:50 – PBDM282-H50 PBM282FHLE20 PB3D003M200-S0 p. 42 p. 47
Harmonic gear model
28×28×97 2 (3.6) 35 1:100 – PBDM282-H100 PBM282FHME20 PB3D003M200-S0 p. 42 p. 47

42×42×97 2.2 (4.5) 116 1:30 – PBDM423-H30 PBM423FHJE20 PB3D003M200-S2 p. 42 p. 47
42×42×97 3.5 (8.3) 70 1:50 – PBDM423-H50 PBM423FHLE20 PB3D003M200-S2 p. 42 p. 47
42×42×97 5 (11) 35 1:100 – PBDM423-H100 PBM423FHME20 PB3D003M200-S2 p. 42 p. 47
60×60×137.3 5.5 (14) 70 1:50 – PBDM603-H50 PBM603FHLE20 PB3D003M200-S3 p. 43 p. 47
60×60×137.3 8 (20) 35 1:100 – PBDM603-H100 PBM603FHME20 PB3D003M200-S3 p. 43 p. 47
Electromagnetic
28×28×97.8 0.055 – – – PBDM282-B PBM282FCE20 PB3D003M200-S0 p. 44 p. 48

brake model
Multi-axis
42×42×90 0.39 – – – PBDM423-B PBM423FCE20 PB3D003M200-S2 p. 44 p. 48

● The following items are included in the driver / cable set models.
Driver Model number: PB3D003M200-□
Power cable (1 m) Model number: PBC6P0010A

exceeds 50 cm.
exceeds 50 cm.
4 I/O signal cable (unshielded) PBC5S0010A (1 m) PBC5S0000A 2m p. 89
noise.
4 I/O signal cable (shielded) PBC5S0010C (1 m) PBC5S0000A 2m Used for pulse input p. 90
5 Communication cable in a daisy chain configuration for
PBC6C0003A (30 cm) PBC6C0000A 100 m p. 90
(between drivers) communication. Not for use with pulse
train input.
Options

a cable
p. 86

7 PC interface software SPBA1W-01 – – p. 86
parameter setting
35
Driver Dimensions Unit: mm ■ Driver types and main circuit power voltage variation
In addition to the set model driver PB3D003M200, the“dual power supply type”
driver PB3D003M201–has two separated power supplies in main and control circuits–
is also available for sale individually.
32 30 max. 95
6 20 4
Note that 48 VDC main circuit supply are not available for some driver and motor
ø5
5
10
Model No. PB
combinations as in the table below.
RSW
CN6
PB3D003M200 PB3D003M201
(Single power supply type) (Dual power supply type)
CN5
160
150
140
CN1
Sold either in a set model or individually Sold individually
CN2 28 mm sq. sized [Main circuit power supply] [Main circuit power supply]
CN3
motor (of all models) Only 24 VDC power supply can be used Only 24 VDC power supply can be used
CN4
Electromagnetic (EM) [Main circuit power supply] [Main circuit power supply]
5 brake model motor Only 24 VDC power supply can be used Either 24 or 48 VDC power supply can be used
(5)
Model number PB3D003M200 (Single power supply type), PB3D003M201 (Dual power supply type)
Interface RS-485+Parallel I/O (DIP switch SW1＝ON) Pulse train input (DIP switch SW1=OFF)
Main circuit Single power supply type: 24/48 VDC ±10%
(28 mm sq. motors and EM brake model motors can only be used with 24 VDC main circuit power supply. To power EM brake model
Input power power supply motors by 48 VDC, please purchase dual power type driver.)
supply Control circuit Dual power supply type: (Main circuit power supply) 24/48 VDC ±10% (Only 24 VDC available when used with 28 mm sq. motors)
power supply (Control circuit power supply) 24 VDC ±10%
Main circuit input current: 3 A

Power supply current
Control circuit input current: 0.5 A (for EM brake model motors), 0.2 A (for the rest)
Protection class Class III
Operation environment Pollution degree: 2
Environment
Storage temperature –20 to +70°C

Vibration resistance Tested under the following conditions: Acceleration: 5 m/s2, Frequency range: 10 to 55 Hz, Axes of vibration: X, Y, Z (2 hours each)
Mass 0.35 kg
Rotational speed 0 to 4500 min-1
Command resolution (P/R) 500, 1000, 2000, 4000, 5000, 10000
Holding brake control function Built in (however, can not be used for the single power supply type with 48 VDC input)
Power voltage error, regenerative voltage error, overspeed, encoder disconnection, CPU error, overload stop, excessive
Protection functions
positional deviation, homing mode error, nonvolatile memory error, initialization error (power line disconnection)
Functions

Normal drive (relative motion, absolute motion), Homing mode
operation, module operation, push operation, teaching function
Operating functions Point function: 128 Point Normal drive, Homing mode operation
Program function: 1 PRG×1024 Line 32 PRG×32 Line
128 PRG×8 Line
Rotary switch Node address setting (0 to F) Gain setting
DIP switch SW1: Interface selection (ON=RS-485, OFF=Pulse) SW2: Terminating resistor setting (ON=with terminating resistor)
(Normal Mode) ALMCLR
Input signal
Pulse input, STOP, ALMCLR, Limit

General-purpose input×8 (select from Point, SELECT,
Function General-purpose input×5 (select from Gain selection,
EXE, ST, HOME, Limit, Pause, Inter Lock, Jog, and STOP.)
Deviation clear, HOME, Brake release, and Current limitation)
(Teaching Mode) STOP, JOG, Point, PWR
Pulse input: Photocoupler 3 to 5 VDC (input resistance 270 Ω)
Electrical specifications Input signal: 5 to 24 VDC
Input signal: 5 to 24 VDC
I/O signal
(Normal Mode) ALM

Output signal
General-purpose output×9 (select from END, Ack, Busy, STEND,

ALM, In-Position, Homing mode operation complete,
Function END, HEND, SON monitor, ZONE, MSTOP, Input monitor, Encoder
Encoder output, SON monitor, STOP monitor
output, In-Position, MODE monitor)
(Teaching Mode) PEND, HEND, Jog MON, Mode MON, SON MON
Output signal: Open collector 5 to 24 VDC, 30 mA or less Output signal: Open collector 5 to 24 VDC, 30 mA or less
* The encoder Z-phase signal is only output at 200 min-1 or less. * The encoder Z-phase signal is only output at 200 min-1 or less.
Communication specifications RS-485 Start / stop synchronization, half-duplex communication
Baud rate 9600, 38400, 115200, 128000 bps 9600 bps
CE marking in Europe Low-voltage directives EN 61010-1
EMC directives EN 55011, EN 61000-6-2, EN 61000-6-4
In compliance from July 2022 production onwards. Electromagnetic Compatibility Regulations 2016 EN 61800-3, EN 61000-6-2, EN 61000-6-4
RoHS
UL UL
UL 508C E179775
UL for Canada (cUL)
36

■ RS-485+Parallel I/O DIP switch SW1=ON
User device Driver
4 CN4 CN2
PB3D003M20□ A 1
Pow A 2
1 B 3 Encoder
Main circuit power supply 4
B
24/48 VDC 2 Z 5
3 6
* Control circuit power supply 24 VDC GND Z
5V 7
5G 8
CN5,6 NC 9

1 NC 10
2 FG 11
Host controller/PCIF NC 12
3
NC 4 Terminating resistor
NC 5 DIP SW-2
GND CN3
6 GND A 1
NC A 2
Vcc B 3
7 4
MODE B
BRK+ 5
8 BRK- 6
Brake 9
NC
(24 V)
CN1
1
Spare 2 ＊）

3
Normal Teaching Spare 4 Shielded twisted-pair cable
Mode Mode
Terminal function Terminal function +COM 25
IN1(EXE) / PWR 5
IN2(Point0) / Point0 6
IN7(HOME) / Jog+ 11
■ Pulse train input DIP switch SW1=OFF
IN8(STOP) / STOP 12
ALMCLR / Jog- 13 User device Driver

4 CN4 CN2
15 PB3D003M20□ A 1
Multi-axis
ALM / ALM 2
Pow A
OUT1(PEND0) / PEND0 16
Main circuit power supply
1 B 3 Encoder
B 4
OUT2(PEND1) / PEND1 17 24/48 VDC 2 Z 5
* Control circuit power supply 3 GND Z 6

OUT3(PEND2) / PEND2 18 24 VDC 5V 7
5G 8
OUT4(PEND3) / PEND3 19 CN5,6 NC 9
1 NC 10
OUT5(PEND4) / PEND4 20 2 FG 11
PCIF NC 12
OUT6(HOME END) / HOME END 21 3
NC Terminating resistor
NC 4
OUT7(In-position) / Jog MON 22 5 DIP SW-2
GND CN3
OUT8(MODE MON) / MODE MON 23 6 GND A 1
NC A 2
OUT9(SON MON) / SON MON 24 Vcc B 3
Reserved 7 4
B
-COM 26 BRK+ 5
Reserved 8 BRK- 6
-COM 14 9
NC
(24 V)
CN1

1
CCW Pulse/Pulse 2 ＊）
3
CW Pulse/Direction 4 Shielded twisted-pair
+COM 25 cable
CCW Limit 5
CW Limit 6
IN1(HOME) 7
IN2(Deviation CLR) 8
IN3(Gain Select1) 9
IN4（Gain Select2） 10
IN5(Powe Limit) 11
STOP 12
ALMCLR 13
15
ALM
16
HOME END
17
SON MON
Options
18
STOP MON
19
Reserved
20
Reserved
21
In-Position
ENC/Phase origin 22
23
ENA
ENB 24
-COM 26
-COM 14
* Only with driver model PB3D003M201 (dual power type), connect to 24 VDC control circuit supply connector.
37
Wiring
Maximum
no. number
length
Plug (driver side) 8830E-026-170LD
I/O signals CN1 AWG28 (7/0.127) 2m KEL CORPORATION
Tab header
1376020-1
(driver side)
Receptacle housing 1-1318118-6
1318108-1 (single)
Receptacle contact AWG24, 26 Tyco Electronics
Encoder CN2 1318106-1 (linked) 20 m
Shielded twisted pair Japan G.K.
Tab housing
1-1318115-6
(for relay)
Tab contact 1318112-1 (single)
(for relay) 1318110-1 (linked)
Tab header
1376136-1
(driver side)
1318107-1 (single)
Receptacle contact AWG18 to 22 Tyco Electronics
Motor CN3 1318105-1 (linked) 20 m
Discrete line Japan G.K.
Tab housing
1-1318115-3
(for relay)
Tab contact 1318111-1 (single)
(for relay) 1318109-1 (linked)
Tab header
B4PS-VH
(driver side) AWG16 to 18
Power supply CN4 2m J.S.T.
Receptacle housing VHR-4N Discrete line
Receptacle contact SVH-21T-P1.1
Post with base
S10B-PADSS-1GW
CN5 (driver side) AWG28 to 24
Communications 100 m J.S.T.
CN6 Housing PADP-10V-1-S Shielded twisted pair

1 DIP switches 1 DIP switches
Switches for two functions: for selecting interface type, and for
setting terminating resistor status.
Change switch settings while the power supply is off.
Settings cannot be changed while the power is on.
2 Rotary switch
O
N
1
2
Factory
DSW No Function ON OFF
setting
Pulse train
1 ON Interface type RS-485+Parallel I/O
input
No
Terminating resistor With terminating
2 ON terminating
setting resistor
resistor
・ When the DSW1 is ON (RS-485+Parallel I/O is selected) and you want to connect
multiple nodes in daisy chain configuration, set ON only for the endpoint node
and OFF for the rest. (When the pulse train input is selected, set all the nodes
to ON.)
2 Rotary switch
Two types of parameters can be set, where the types depend on
DSW1 setting (interface types).
DSW1 Setting Rotary switch Function
Node address setting (setting range: 0 to F)
ON (RS-485+Parallel I/O)
* Sets the node address for when multiple axes are connected.
OFF (pulse train input) Speed loop gain setting (setting range: 0 to F)
38 ・ The factory setting is 0.

Standard model RoHS

Size
Motor length 58.5 mm 77.8 mm 57.6 mm 70.3 mm 102.3 mm
Motor model number PBM282FXE20 PBM284FXE20 PBM423FXE20 PBM603FXE20 PBM604FXE20
Set model number PBDM282 PBDM284 PBDM423 PBDM603 PBDM604
Compatible driver model number PB3D003M200 PB3D003M200 PB3D003M200 PB3D003M200 PB3D003M200

Allowable thrust load N 9.8 9.8 9.8 14.7 14.7
Motor mass kg 0.16 0.23 0.35 0.85 1.42

Torque 24 VDC 48 VDC Power supply current 24 VDC 48 VDC
① Motor model number PBM282FXE20 ② Motor model number PBM284FXE20 ③ Motor model number PBM423FXE20
0.10 10 0.20 10 0.5 10


0.08 8 0.16 8 0.4 8
Torque (N・m)
Torque (N・m)
Torque (N・m)
0.06 6 0.12 6 0.3 6
Multi-axis
0.04 4 0.08 4 0.2 4
0.02 2 0.04 2 0.1 2

0 0 0 0 0 0
0 500 1000 1500 2000 2500 3000 3500 4000 4500 0 500 1000 1500 2000 2500 3000 3500 4000 4500 0 500 1000 1500 2000 2500 3000 3500 4000 4500
Speed (min ) −1
Speed (min ) −1
Speed (min−1)
④ Motor model number PBM603FXE20 ⑤ Motor model number PBM604FXE20
2.0 10 2.0 10
1.6 8 1.6 8
Torque (N・m)
Torque (N・m)

1.2 6 1.2 6
0.8 4 0.8 4
0.4 2 0.4 2
0 0 0 0
0 500 1000 1500 2000 2500 3000 3500 4000 4500 0 500 1000 1500 2000 2500 3000 3500 4000 4500
Options
System Configuration Diagram▶p. 34 Set Model Configurations▶p. 35 Driver Dimensions▶p. 36 Motor Dimensions▶pp. 46 to 48
39

Size
Motor model number PBM423FGAE20 PBM423FGBE20 PBM423FGEE20 PBM423FGGE20 PBM423FGJE20
Set model number PBDM423-C3.6 PBDM423-C7.2 PBDM423-C10 PBDM423-C20 PBDM423-C30
Gear ratio ̶ 1:3.6 1:7.2 1:10 1:20 1:30
Relative to
Rotation direction
Motor mass kg 0.48 0.48 0.48 0.48 0.48
Allowable torque 24 VDC 48 VDC 24 VDC/48 VDC Power supply current 24 VDC 48 VDC
① Motor model number PBM423FGAE20 ② Motor model number PBM423FGBE20 ③ Motor model number PBM423FGEE20
0.5 10 1.0 10 2.0 10


0.4 8 0.8 8 1.6 8
Torque (N・m)
Torque (N・m)
Torque (N・m)
0.3 6 0.6 6 1.2 6
0.2 4 0.4 4 0.8 4
0.1 2 0.2 2 0.4 2
0 0 0 0 0 0
0 100 200 300 400 500 0 50 100 150 200 250 0 20 40 60 80 100 120 140 160 180 200
0 500 1000 1500 2000 0 500 1000 1500 2000 0 500 1000 1500 2000
④ Motor model number PBM423FGGE20 ⑤ Motor model number PBM423FGJE20
2.0 10 2.0 10
1.6 8 1.6 8
Torque (N・m)
Torque (N・m)
1.2 6 1.2 6
0.8 4 0.8 4
0.4 2 0.4 2
0 0 0 0
0 10 20 30 40 50 60 70 80 90 100 0 10 20 30 40 50 60
0 500 1000 1500 2000 0 500 1000 1500 2000
40

Size
Motor model number PBM603FGAE20 PBM603FGBE20 PBM603FGEE20 PBM603FGGE20 PBM603FGJE20
Set model number PBDM603-C3.6 PBDM603-C7.2 PBDM603-C10 PBDM603-C20 PBDM603-C30

Gear ratio ̶ 1:3.6 1:7.2 1:10 1:20 1:30
Relative to
Rotation direction
Motor mass kg 1.22 1.22 1.22 1.22 1.22

① Motor model number PBM603FGAE20 ② Motor model number PBM603FGBE20 ③ Motor model number PBM603FGEE20
Multi-axis
2.0 10 5 10 5 10

1.6 8 4 8 4 8

Torque (N・m)
Torque (N・m)
Torque (N・m)
1.2 6 3 6 3 6
0.8 4 2 4 2 4
0.4 2 1 2 1 2
0 0 0 0 0 0
0 100 200 300 400 500 0 50 100 150 200 250 0 20 40 60 80 100 120 140 160 180 200
0 500 1000 1500 2000 0 500 1000 1500 2000 0 500 1000 1500 2000

④ Motor model number PBM603FGGE20 ⑤ Motor model number PBM603FGJE20
5 10 5 10
4 8 4 8
Torque (N・m)
Torque (N・m)
3 6 3 6
2 4 2 4
1 2 1 2
0 0 0 0
0 10 20 30 40 50 60 70 80 90 100 0 10 20 30 40 50 60
Options
0 500 1000 1500 2000 0 500 1000 1500 2000

41
Motor size 28 mm sq. (angular dimension 33 mm sq.) 42 mm sq.

Size
Motor + gear length 97 mm 97 mm
Motor model number PBM282FHLE20 PBM282FHME20 PBM423FHJE20 PBM423FHLE20 PBM423FHME20
Set model number PBDM282-H50 PBDM282-H100 PBDM423-H30 PBDM423-H50 PBDM423-H100
Allowable torque N·m 1.5 2 2.2 3.5 5
Allowable
instantaneous N·m 2.7 3.6 4.5 8.3 11
torque
Gear ratio ̶ 1:50 1:100 1:30 1:50 1:100
Hysteresis loss Arc min or less ― ― 3.6 2.4 2.4
Lost motion Arc min 0.4 to 3 0.4 to 3 ― ― ―
(at ±0.06 N·m) (at ±0.08 N·m)
Allowable speed min -1
70 35 116 70 35
Relative to
Rotation direction
Motor mass kg 0.27 0.27 0.54 0.54 0.54
Allowable torque 24 VDC 48 VDC 24 VDC/48 VDC
Allowable instantaneous torque 24 VDC 48 VDC 24 VDC/48 VDC Power supply current 24 VDC 48 VDC
① Motor model number PBM282FHLE20 ② Motor model number PBM282FHME20 ③ Motor model number PBM423FHJE20
5 10 5 10 10 10

4 8 4 8 8 8
Torque (N・m)
Torque (N・m)
Torque (N・m)
3 6 3 6 6 6
2 4 2 4 4 4
1 2 1 2 2 2
0 0 0 0 0 0
0 10 20 30 40 50 60 70 80 90 0 5 10 15 20 25 30 35 40 45 0 20 40 60 80 100 120 140
0 500 1000 1500 2000 2500 3000 3500 4000 4500 0 500 1000 1500 2000 2500 3000 3500 4000 4500 0 500 1000 1500 2000 2500 3000 3500 4000 4500
④ Motor model number PBM423FHLE20 ⑤ Motor model number PBM423FHME20
10 10 20 10
8 8 16 8
Torque (N・m)
Torque (N・m)
6 6 12 6
4 4 8 4
2 2 4 2
0 0 0 0
0 10 20 30 40 50 60 70 80 90 0 5 10 15 20 25 30 35 40 45
0 500 1000 1500 2000 2500 3000 3500 4000 4500 0 500 1000 1500 2000 2500 3000 3500 4000 4500
When using a motor with harmonic gear, exceeding the allowable instantaneous torque might damage the gear. Carefully select products so that the configured system can operate within the
specified limit value.
42

Size
Motor model number PBM603FHLE20 PBM603FHME20
Set model number PBDM603-H50 PBDM603-H100
Compatible driver model number PB3D003M200 PB3D003M200
Allowable torque N·m 5.5 8
Allowable

instantaneous N·m 14 20
torque
Rotor inertia ×10-4kg·m2 0.435 0.435
Gear ratio ̶ 1:50 1:100
Hysteresis loss Arc min or less ― ―
Lost motion Arc min 0.4 to 3 0.4 to 1.5

(at ±0.28 N·m) (at ±0.4 N·m)
Allowable speed min-1 70 35
Relative to
Rotation direction
command direction Reverse Reverse
Allowable thrust load N 400 400

Allowable radial load * N 360 360
Motor mass kg 1.45 1.45
Characteristics diagram ① ②
Multi-axis
① Motor model number PBM603FHLE20 ② Motor model number PBM603FHME20

20 10 20 10
16 8 16 8
Torque (N・m)
Torque (N・m)
12 6 12 6
8 4 8 4
4 2 4 2
0 0 0 0
0 10 20 30 40 50 60 70 80 90 0 5 10 15 20 25 30 35 40 45

0 500 1000 1500 2000 2500 3000 3500 4000 4500 0 500 1000 1500 2000 2500 3000 3500 4000 4500
Options
43

Size
Motor + brake length 97.8 mm 117.1 mm 90 mm 113.6 mm 145.6 mm
Motor model number PBM282FCE20 PBM284FCE20 PBM423FCE20 PBM603FCE20 PBM604FCE20
Set model number PBDM282-B PBDM284-B PBDM423-B PBDM603-B PBDM604-B
Motor mass kg 0.28 0.35 0.5 1.19 1.76
Brake type ̶ No excitation No excitation No excitation No excitation No excitation
actuating type actuating type actuating type actuating type actuating type
Power supply voltage V 24 VDC±5% 24 VDC±5% 24 VDC±5% 24 VDC±5% 24 VDC±5%

Excitation current A 0.15 0.15 0.1 0.25 0.25
Power consumption W 3.6 3.6 2.4 6 6
Static friction torque N·m or over 0.049 0.049 0.3 0.78 0.78
Brake operating time ms or less 20 20 20 20 20
Brake release time ms or less 20 20 30 30 30
Set model motors (of EM brake model) can’
t be powered by 48 VDC main circuit power supply. If you would like, please purchase“dual power supply type”driver
PB3D003M201, instead.
● Maintain motor surface temperature at 85° C or lower while in use.
Torque 24 VDC Power supply current 24 VDC
① Motor model number PBM282FCE20 ② Motor model number PBM284FCE20 ③ Motor model number PBM423FCE20
0.10 10 0.20 10 0.5 10


0.08 8 0.16 8 0.4 8

Torque (N・m)
Torque (N・m)
Torque (N・m)
0.06 6 0.12 6 0.3 6
0.04 4 0.08 4 0.2 4
0.02 2 0.04 2 0.1 2
0 0 0 0 0 0
0 500 1000 1500 2000 2500 3000 3500 4000 4500 0 500 1000 1500 2000 2500 3000 3500 4000 4500 0 500 1000 1500 2000 2500 3000 3500 4000 4500
④ Motor model number PBM603FCE20 ⑤ Motor model number PBM604FCE20
2.0 10 2.0 10
1.6 8 1.6 8
Torque (N・m)
Torque (N・m)
1.2 6 1.2 6
0.8 4 0.8 4
0.4 2 0.4 2
0 0 0 0
0 500 1000 1500 2000 2500 3000 3500 4000 4500 0 500 1000 1500 2000 2500 3000 3500 4000 4500
44
MEMO
45
Options DC Input Drivers / Motors Type E Multi-axis DC Input Drivers / Motors Type P Multi-axis DC Input Set Models Type M AC Input Set Models Type P AC Input Set Models Type R
■ Standard model
28 mm sq.
Motor connector
Encoder connector Brake lead wire
UL 1430 AWG26
UL vinyl tube
500±20
500±20
Encoder cable
2±0.25
ø5-0.013
0
+1
15 0
ø22-0.05
23±0.5
28±0.5
0
L±1 20±0.5 4.5±0.2

PBM282FXE20 58.5
2-M2.5×0.45 23±0.5
Tapping depth: 3.2 min. 28±0.5 PBM284FXE20 77.8
42 mm sq.
Motor connector
UL 3266 AWG24
UL vinyl tube
500±20
Encoder cable
500±20
28.5 max.
1.7±0.25
ø22 -0.05
16 max.
ø6 -0.013
4-R5.5 32 max.
+1
0
15 0
31±0.25
42±0.25
5.5±0.2
57.6±1 20.6±0.5 4-M3×0.5
42±0.25
4 min.
60 mm sq.
11 max.
Motor connector
Encoder connector
Motor lead wire
25.5 max.
500±20
UL vinyl tube
500±20
ø10-0.015
7±0.25 1.5±0.25
0
+1
15 0
ø36-0.039
50±0.13
4-32.4±0.5
60±0.5
0
PBM603FXE20 70.3
9±0.2 +0.5
51 max. L±1 20.6±0.5 4-ø4.5 0
50±0.13 PBM604FXE20 102.3
60±0.5
42 mm sq.
Motor connector
UL 3266 AWG24
UL vinyl tube
500±20
Encoder cable
500±20
28.5 max.
3±0.5
16 max.
4-R5.5 32 max.
ø18 -0.025
ø6 -0.012
+1
8±0.5
0
0
12 0
31±0.2
+0.5
42 -1.5
5.5±0.2
87.9±1.5 20±0.5 4-M4×0.7
31±0.2
+0.5 Tapping depth:
42 -1.5 8 min.
60 mm sq.
Motor connector
11 max.
Encoder connector
Encoder cable Motor lead wire
UL 3266 AWG22
500±20
25.5 max. UL vinyl tube

500±20
4-32.4±0.5
3±0.5
ø24-0.025
4-M4
ø8-0.015
10±0.5
0
+1
0
12 0
49.5±0.2
+0.5
60-2
7±0.15
51 max. 115.8±1.5 32±0.5
49.5±0.2 4-M4×0.7
+0.5 Tapping depth:
60-2
8 min.
46
28 mm sq.
Motor connector
Encoder connector
Motor lead wire
UL 1430 AWG26
500±20
500±20
ø8-0.009
UL vinyl tube

Encoder cable 6±0.5 1.5±0.5
7.5±0.15
21
ø28.4-0.021
28±0.5
33±0.5
0
ø12
3
0.
+1 8±
28±0.5 16 0 ø3 4-ø3.5±0.2
97±1.5 23±1 7.5±0.15
33±0.5
42 mm sq.
0
18-0.18 0
3-0.025 Motor connector
Motor lead wire
(1.2)
90°
UL 3266 AWG24
3-0.025
Encoder connector

Key specifications UL vinyl tube
500±20
Encoder cable
500±20
28.5 max. 6-M3×0.5

Tapping depth:
ø 10-0.009
5 min.
ø4
16 max.
7±0.2 2±0.2 8± 32 max.
4-R5.5 0.
5
(18)
ø37.6-0.025
42±0.5
ø12
0
-0.004
5± 3-0.029
22.5
+0.1 4-ø4.5
5
0.
97±1.5 25±1 1.8 0
0.
42±0.5
ø2
Multi-axis
60 mm sq.
0 0
20-0.21 4-0.03
1.6
90°
11 max.

Motor connector
Encoder connector
4-0.03
Key specifications Motor lead wire

0

500±20
25.5 max.
500±20
UL vinyl tube
4-32.4±0.5
ø7
10 2.5 0±
Hexagon socket head bolt Key 0.
5
4-M4
(20)
ø54-0.03
60±0.7
0
9.5-0.1
0
137.3±1.5 28±0.5
ø12-0.011
51 max. 4-ø5.5
60±0.7
0

Options
47
28 mm sq.
Motor connector
Motor lead wire
UL 1430 AWG26
UL vinyl tube
500±20
Encoder cable
Brake lead wire 2±0.25
ø5-0.013
Encoder connector UL 1332 AWG26 +1
0
15 0
ø22-0.05
23±0.5
28±0.5
0
500±20
4.5±0.2 PBM282FCE20 97.8
L±1.5 20±0.5
23±0.5
2-M2.5×0.45
28±0.5 PBM284FCE20 117.1
Tapping depth: 3.2 min.
42 mm sq.
Motor connector
UL 3266 AWG24
500±20
28.5 max.
515±20
Brake lead wire
UL 3266 AWG26
1.7±0.25
16 max.
ø6-0.013
4-R5.5 32 max.
+1
0
15 0
31±0.25
42±0.25
ø22-0.05
0
5.5±0.2 4-M3×0.5
90±1.5 20.6±0.5 31±0.25 Tapping depth:
42±0.25 4 min.
60 mm sq.
11 max.
Motor connector
Encoder connector
Brake lead wire Motor lead wire
UL 3266 AWG22
500±20
25.5 max. UL vinyl tube

500±20
4-32.4±0.5
ø10-0.015
7±0.25 1.5±0.25
0
+1
15 0
ø36-0.039
50±0.13
60±0.5
0
PBM603FCE20 113.6
9±0.2 +0.5
51 max. L±1.5 20.6±0.5 4-ø4.5 0
50±0.13
PBM604FCE20 145.6
60±0.5
Housing: 1-1318118-6 Housing: 1-1318119-3
Connections of encoder side connectors Connections of motor side connectors

Pin no. Lead wire color Signal name Standard model, Low-backlash gear model, Harmonic gear model
A1 Blue CHANNEL A Pin no. Lead wire color Signal name
B1 Brown CHANNEL A A1 Blue Motor lead wire
A2 Green CHANNEL B B1 Orange Motor lead wire
B2 Purple CHANNEL B A2 Red Motor lead wire
A3 White CHANNEL Z B2 Yellow Motor lead wire
B3 Yellow CHANNEL Z A3 N.C. ―
A4 Red +5 V B3 N.C. ―
B4 Black 0V
A5 N.C. ― Electromagnetic brake model
B5 Orange OVER HEAT Pin no. Lead wire color Signal name
A6 Black Shielded A1 Blue Motor lead wire
B6 N.C. ― B1 Orange Motor lead wire
Encoder cable: UL20276 A2 Red Motor lead wire
B2 Yellow Motor lead wire
28 mm sq.: Brown
A3 42 mm sq.: Brown Brake lead wire
60 mm sq.: White
28 mm sq.: Brown
B3 42 mm sq.: White Brake lead wire
60 mm sq.: Black
48

Motor model number PBM28□F□E PBM423F□E PBM60□F□E
Operating ambient humidity 20 to 90% RH
Storage ambient humidity 5 to 95% RH

Tested with frequency 10 to 500 Hz, total amplitude 1.52 mm (10 to 70 Hz), acceleration 150 m/s2 (70 to
500 Hz), sweep time 15 min/cycle, 12 sweeps in each X, Y and Z direction.
Impact resistance
Thermal class B (+130°C)
500 VAC for one minute (between
motor winding and frame)
Protection grade IP40

0.075 mm max. 0.075 mm max. 0.075 mm max.
Thrust play *
(load: 1.5 N) (load: 5 N) (load: 10 N)
ø0.075 mm
relative to shaft
0.1 mm
Motor mounting orientation Can be freely mounted vertically or horizontally
Resolution 500×4=2000 P/R
Multi-axis
Number of channels 3 CH ***
Output method Line driver
Encoder

Max. response frequency 37.5 kHz
Power supply voltage 5 VDC ±5%
Current consumption 140 mA max.
to prevent noise.

Options
49
DC Input Drivers / Motors Type P Multi-axis

Type P Multi-axis Pulse Train Input type
■ Lineup RoHS
Motor
Driver
Model number: PB4D003P340 Input power supply: 24/48 VDC
Number of control axes: 4
Compatible Driver / Motor Combinations▶p. 51 Driver Dimensions▶p. 52


24/48 VDC
Circuit breaker Electromagnetic contactor Noise filter Switching power supply
Setup software
9 10 11 12
7
Regenerative unit*
Protects the power line. Switches driver power Filters out incoming Converts power
Cuts off circuit in the on/off. noise from power line. supply from AC to DC 8
event of overcurrent. Use together with a power.
surge protector.
6 Communications converter unit
CN12
I/O signal cable

CN11 5
Host devices
3 CN10
CN9
Encoder extension cable
CN8 CN6 4
CN7
CN5
Power cable
To another 2 CN2
driver
CN4
Power cable
1 CN1
CN3
Motor (axis 1) Motor (axis 2) Motor (axis 3) Motor (axis 4)

* Connect the regenerative unit when a 60 mm sq. motor is used. Check the voltage while in operation.
50
Compatible Driver / Motor Combinations

No set models are available with this driver. Since this driver is capable of controlling multiple axes, order the necessary number of motors.
Motor external Max. stall torque Page
Allowable
Model
dimensions (allowable torque* Backlash

speed Gear ratio Motor model number Driver model number Motor
Flange size × Motor for models with gear) (deg.) Specifications
(min–1) dimensions
length (mm) (N·m)
28×28×59.2 0.055 – – – PBM281DXE50 PB4D003P340 p. 55 p. 78
Standard
28×28×78.5 0.115 – – – PBM285DXE50 PB4D003P340 p. 55 p. 78

model
42×42×55.9 0.39 – – – PBM423DXK50 PB4D003P340 p. 55 p. 78

60×60×68.8 1.05 – – – PBM603DXK50 PB4D003P340 p. 55 p. 78
60×60×100.8 1.85 – – – PBM604DXK50 PB4D003P340 p. 55 p. 78
42×42×86.1 0.343 500 1:3.6 0.6 PBM423DGAK50 PB4D003P340 p. 56 p. 78
42×42×86.1 0.686 250 1:7.2 0.4 PBM423DGBK50 PB4D003P340 p. 56 p. 78
42×42×86.1 0.98 180 1:10 0.35 PBM423DGEK50 PB4D003P340 p. 56 p. 78

42×42×86.1 1.47 90 1:20 0.25 PBM423DGGK50 PB4D003P340 p. 56 p. 78
42×42×86.1 1.47 60 1:30 0.25 PBM423DGJK50 PB4D003P340 p. 56 p. 78
60×60×114.3 1.25 500 1:3.6 0.55 PBM603DGAK50 PB4D003P340 p. 57 p. 78
60×60×114.3 2.5 250 1:7.2 0.25 PBM603DGBK50 PB4D003P340 p. 57 p. 78
60×60×114.3 3 180 1:10 0.25 PBM603DGEK50 PB4D003P340 p. 57 p. 78

60×60×114.3 3.5 90 1:20 0.17 PBM603DGGK50 PB4D003P340 p. 57 p. 78
60×60×114.3 4 60 1:30 0.17 PBM603DGJK50 PB4D003P340 p. 57 p. 78
28×28×97.7 1.5 (2.6) 70 1:50 – PBM281DHLE50 PB4D003P340 p. 59 p. 79
Harmonic gear model
28×28×97.7 2 (3.6) 35 1:100 – PBM281DHME50 PB4D003P340 p. 59 p. 79

42×42×95.1 2.2 (4.5) 116 1:30 – PBM423DHJK50 PB4D003P340 p. 59 p. 79
42×42×95.1 3.5 (8.3) 70 1:50 – PBM423DHLK50 PB4D003P340 p. 59 p. 79
42×42×95.1 5 (11) 35 1:100 – PBM423DHMK50 PB4D003P340 p. 59 p. 79
60×60×135.8 5.5 (14) 70 1:50 – PBM603DHLK50 PB4D003P340 p. 60 p. 79
60×60×135.8 8 (20) 35 1:100 – PBM603DHMK50 PB4D003P340 p. 60 p. 79
28×28×98.5 0.055 – – – PBM281DCE50 PB4D003P340 p. 61 p. 80
Multi-axis
Electromagnetic
brake model
28×28×117.8 0.115 – – – PBM285DCE50 PB4D003P340 p. 61 p. 80

42×42×88.3 0.39 – – – PBM423DCK50 PB4D003P340 p. 61 p. 80

60×60×108.1 1.05 – – – PBM603DCK50 PB4D003P340 p. 61 p. 80
60×60×140.1 1.85 – – – PBM604DCK50 PB4D003P340 p. 61 p. 80

PBC10P0010A (1 m)
1 Power cable PBC10P0000A 2 m ** – p. 90

PBC10P0020A (2 m)
2 Power cable (between drivers) PBC10P0002B (0.2 m) PBC10P0000A 2 m ** in a daisy chain configuration for p. 90
communication.
PBC8M0010A (1 m)
exceeds 50 cm.
PBC8M0050A (5 m)
PBC7E0010A (1 m)
exceeds 50 cm.
PBC7E0050A (5 m)
5 I/O signal cable PBC8S0010C (1 m) PBC8S0000C 2m – p. 92
a cable
p. 86
Options
SANMOTION MOTOR Software for checking operation and

7 Setup software – – p. 85
SETUP SOFTWARE parameter setting
8 Regenerative unit PBFE-02 – – – p. 92
** The total extended length to the furthest driver from the power supply should not exceed this length.
51
60 (70) 95
6.5 ø5
5
150
160
(5)
Model number PB4D003P340
Interface Pulse train input
Input power supply Main circuit power supply: 24/48 VDC ±10% Control circuit power supply: 24 VDC ±10%
Power supply current 14 A
Protection class Class III
Operation environment Pollution degree: 2

Environment

Tested under the following conditions: Acceleration: 5 m/s2, Frequency range: 10 to 55 Hz,
Axes of vibration: X, Y, Z (2 hours each)
Mass 0.7 kg
Max. rotational speed 4500 min-1, 3000 min-1 for 60 mm sq. motors
200, 400, 800, 1000, 1600, 2000, 3200, 5000, 6400, 10000, 12800, 20000, 25000, 25600, 50000, 51200
Command resolution (P/R)
Can be used together with electronic gear function*
Functions
Main circuit overcurrent, overload error, initialization error, driver overheat, main circuit overvoltage,
Protection functions regeneration error, main circuit low voltage, control circuit low voltage, encoder disconnection,
overspeed error, position deviation error, wrap around, memory error, CPU peripheral circuit error
Display / Indication LED Indicators
Operating functions Auto homing mode operation / Push (current control) operation / S-shape operation function
DIP switch SW1: Setting of 1 and 2 motor axes SW2: Setting of 3 and 4 motor axes
Photocoupler input method, input resistance: 200 Ω
Pulse input signal Input signal voltage:“H” : 3.0 to 5.5 VDC;“L”: 0 to 0.5 VDC
Maximum input frequency: 400 kpulse/s
I/O signal
Photocoupler input method, input resistance: 2.2 kΩ

Input signal Input signal voltage:“H” : 4.0 to 26.4 VDC;“L” : 0 to 1.0 VDC
Number of inputs: 13
Open collector output by photocoupler Output signal standard: Vceo=4.75 to 26.4 V, Ic=10 mA max.
Output signal
Number of outputs: 13
*A function that finely adjusts the unit step angle per pulse parameters. Setup software is required.
EMC directives EN 61800-3, EN 61000-6-2, EN 61000-6-4
RoHS
UL UL
UL 508C E179775
52 UL for Canada (cUL)

Driver
CN1 PB4D003P34□ CN3~6
A 1
4,8 2
A
* Main circuit power supply 24/48 VDC 3,7
6 B 3 Encoder
B 4
Control circuit power supply 24 VDC 2 Z 5
1,5 6
FG Z
5V 7
CN2 5G 8
4,8 N.C 9
3,7 N.C 10
6 FG 11
To the next driver power supply 2 N.C 12
1,5
CN7~10
A 1
CN12 2

A 3
1 B 4
2 B
PCIF N.C 3
N.C 4
5 BRK+ 5
6
GND GND BRK-
N.C 6 +5V
N.C 7
8
Holding brake Motor
N.C 9
N.C 10
N.C
CN11 CN11
1 26
AX1 Pos.Pulse/Pulse 2 27 AX3 Pos.Pulse/Pulse
3 28
AX1 Neg.Pulse/Direction 4 29 AX3 Neg.Pulse/Direction
5 30
AX2 Pos.Pulse/Pulse 6 31 AX4 Pos.Pulse/Pulse
7 32
AX2 Neg.Pulse/Direction 8 33 AX4 Neg.Pulse/Direction

COM1 9
10 34
IN1(AX1 STOP) OUT1(AX1 ALM)
11 35
IN2(AX1 Pos.Limit) OUT2(AX1 In-position)
12 36
IN3(Neg.Limit) OUT3(AX1 SON)
13 37
14 38
15 39
IN6(AX2 Neg.Limit) OUT6(AX2 SON)
16 40
17 41
18 42
Multi-axis
19 43
20 44
21 45

22 46
IN13(All Ax ALMCLR) 49 OUT13(N/A)
50 COMO
23 N.C
24 N.C
25 N.C
47 N.C
* Keep the max. extended length to 2 m or less and the max. current 48 N.C ＊） Shielded twisted-pair cable
consumption to 14 A or less (7 A for normal operation) while in use.
Wiring

Maximum
Connector Compatible
Application Description Manufacturer model number extension Manufacturer
no. cables
length
Header (driver side) 5569-08A2
Housing 5557-08R-210
CN1 5556T3 (AWG16 linked) AWG16 to 24 Molex Japan Co.,
Power supply 2m
CN2 5556T3L (AWG16 single) Discrete line Ltd.
Terminal
5556T (AWG18 to 24 linked)
5556TL (AWG18 to 24 single)
Tab header (driver side) 2-1827876-3
CN7 to AWG18 to 22 Tyco Electronics
Motor Receptacle contact 1827572-2 (AWG18 to 22) 20 m
CN10 Discrete line Japan G.K.
Tab housing (for relay) 2-1903130-3
Tab contact (for relay) 1903114-2 (AWG18 to 22)
Tab header (driver side) 1-1827876-6
Receptacle housing 1-1827864-6 AWG22 to 28
CN3 to Tyco Electronics
Encoder Receptacle contact 1827570-2 (AWG22 to 28) Shielded 20 m
Options
CN6 Japan G.K.

Tab housing (for relay) 1-1903130-6 twisted pair
Japan Aviation
Receptacle (driver side) DF02R050NA1 AWG24 to 30 Electronics
I/O signals CN11 Shielded 2m Industry, Ltd.
Shell kit 10350-52A0-008 discrete line
3M Japan Limited
Plug 10150-3000PE
Post with base (driver side) S10B-PADSS-1GW AWG24 to 28
Communications CN12 Housing PADP-10V-1-S Shielded 2m J.S.T.
Contact SPH-002GW-P0.5S twisted pair
53

(Driver upper section)
1 DIP switch (SW1) 2 DIP switch (SW2)
1 DIP switch (SW1)

Allows motors to be used for the 1st and 2nd axes.
SW No. 1 2 3 4 5 6 7 8
Code M.SEL1-1 M.SEL1-2 M.SEL1-3 M.SEL1-4 M.SEL2-1 M.SEL2-2 M.SEL2-3 M.SEL2-4
Function Allows motors to be used for the 1st axis. Allows motors to be used for the 2nd axis.
2 DIP switch (SW2)

Allows motors to be used for the 3rd and 4th axes.
SW No. 1 2 3 4 5 6 7 8
Code M.SEL3-1 M.SEL3-2 M.SEL3-3 M.SEL3-4 M.SEL4-1 M.SEL4-2 M.SEL4-3 M.SEL4-4
Function Allows motors to be used for the 3rd axis. Allows motors to be used for the 4th axis.
Switch ON/OFF combinations for each motor model

M.SELx-1 M.SELx-2 M.SELx-3 M.SELx-4 Motor model number
OFF OFF OFF OFF PBM281DXE50
ON OFF OFF OFF PBM285DXE50
OFF ON OFF OFF Setting prohibited
ON ON OFF OFF Reserved
OFF OFF ON OFF Setting prohibited
ON OFF ON OFF Setting prohibited
OFF ON ON OFF Reserved
ON ON ON OFF Reserved
OFF OFF OFF ON Setting prohibited
ON OFF OFF ON Setting prohibited
OFF ON OFF ON Setting prohibited
ON ON OFF ON PBM423DXK50
OFF OFF ON ON Setting prohibited
ON OFF ON ON Setting prohibited
OFF ON ON ON PBM603DXK50
ON ON ON ON PBM604DXK50
・ The factory settings are OFF for all switches. (Setting for PBM281DXE50)
・ Change switch settings while the power supply is off.
Settings cannot be changed while the power is on.
OFF
↑
↓
ON
54
Standard model RoHS

Size
Motor model number PBM281DXE50 PBM285DXE50 PBM423DXK50 PBM603DXK50 PBM604DXK50
Compatible driver model number PB4D003P340 PB4D003P340 PB4D003P340 PB4D003P340 PB4D003P340
Allowable thrust load N 10 10 9.8 14.7 14.7

Motor mass kg 0.16 0.26 0.35 0.85 1.42

① Motor model number PBM281DXE50 ② Motor model number PBM285DXE50 ③ Motor model number PBM423DXK50
0.10 10 0.20 10 0.5 10

9 9 9

0.08 8 0.16 8 0.4 8
7 7 7
Torque (N·m)
Torque (N·m)
Torque (N·m)
0.06 6 0.12 6 0.3 6
5 5 5
0.04 4 0.08 4 0.2 4
Multi-axis
3 3 3
0.02 2 0.04 2 0.1 2
1 1 1
0 0

0 0 0 0
0 500 1000 1500 2000 2500 3000 3500 4000 4500 0 500 1000 1500 2000 2500 3000 3500 4000 4500 0 500 1000 1500 2000 2500 3000 3500 4000 4500
Speed (min ) −1
Speed (min ) −1
Speed (min−1)
④ Motor model number PBM603DXK50 ⑤ Motor model number PBM604DXK50
2.0 10 2.0 10
9 9
1.6 8 1.6 8
7 7
Torque (N·m)
Torque (N·m)
1.2 6 1.2 6
5 5

0.8 4 0.8 4
3 3
0.4 2 0.4 2
1 1
0 0 0 0
0 500 1000 1500 2000 2500 3000 0 500 1000 1500 2000 2500 3000
Speed (min ) −1
Speed (min−1)
Options
System Configuration Diagram▶p. 50 Compatible Driver / Motor Combinations▶p. 51 Driver Dimensions▶p. 52 Motor Dimensions▶pp. 78 to 80
55

Size
Motor model number PBM423DGAK50 PBM423DGBK50 PBM423DGEK50 PBM423DGGK50 PBM423DGJK50
Gear ratio ― 1:3.6 1:7.2 1:10 1:20 1:30
Relative to
Rotation direction
Motor mass kg 0.48 0.48 0.48 0.48 0.48
① Motor model number PBM423DGAK50 ② Motor model number PBM423DGBK50 ③ Motor model number PBM423DGEK50
0.5 10 1.0 10 2.0 10

9 9 9

0.4 8 0.8 8 1.6 8

7 7 7
Torque (N·m)
Torque (N·m)
Torque (N·m)
0.3 6 0.6 6 1.2 6

5 5 5
0.2 4 0.4 4 0.8 4
3 3 3
0.1 2 0.2 2 0.4 2
1 1 1
0 0 0 0 0 0
0 100 200 300 400 500 0 50 100 150 200 250 0 50 100 150 200
Output speed (min−1) Output speed (min ) −1 Output speed (min−1)
0 500 1000 1500 2000 0 500 1000 1500 2000 0 500 1000 1500 2000
④ Motor model number PBM423DGGK50 ⑤ Motor model number PBM423DGJK50
2.0 10 2.0 10
9 9
1.6 8 1.6 8
7 7
Torque (N·m)
Torque (N·m)
1.2 6 1.2 6
5 5
0.8 4 0.8 4
3 3
0.4 2 0.4 2
1 1
0 0 0 0
0 20 40 60 80 100 0 10 20 30 40 50 60
0 500 1000 1500 2000 0 500 1000 1500 2000

56

Size
Gear ratio ― 1:3.6 1:7.2 1:10 1:20 1:30

Relative to
Rotation direction
Motor mass kg 1.22 1.22 1.22 1.22 1.22

2.0 10 5 10 5 10
9
Multi-axis
9 9

1.6 8 4 8 4 8
7 7 7
Torque (N·m)
Torque (N·m)
Torque (N·m)

1.2 6 3 6 3 6
5 5 5
0.8 4 2 4 2 4
3 3 3
0.4 2 1 2 1 2
1 1 1
0 0 0 0 0 0
0 100 200 300 400 500 0 50 100 150 200 250 0 50 100 150 200
0 500 1000 1500 2000 0 500 1000 1500 2000 0 500 1000 1500 2000

5 10 5 10
9 9
4 8 4 8
7 7
Torque (N·m)
Torque (N·m)
3 6 3 6
5 5
2 4 2 4
3 3
1 2 1 2
1 1
0 0 0 0
0 20 40 60 80 100 0 10 20 30 40 50 60
Output speed (min ) −1 Output speed (min−1)
0 500 1000 1500 2000 0 500 1000 1500 2000

Options
57

Size
Motor model number PBM281DHLE50 PBM281DHME50 PBM423DHJK50 PBM423DHLK50 PBM423DHMK50
Allowable
instantaneous torque
N·m 2.6 3.6 4.5 8.3 11
Rotor inertia ×10 kg·m
-4 2
0.013 0.013 0.068 0.068 0.068
Gear ratio ― 1:50 1:100 1:30 1:50 1:100
(at ±0.06 N·m) (at ±0.08 N·m)
70 35 116 70 35
Relative to
Rotation direction
Motor mass kg 0.27 0.27 0.54 0.54 0.54
① Motor model number PBM281DHLE50 ② Motor model number PBM281DHME50 ③ Motor model number PBM423DHJK50
5 10 5 10 10 10
9 9 9

4 8 4 8 8 8
7 7 7
Torque (N·m)
Torque (N·m)
Torque (N·m)
3 6 3 6 6 6
5 5 5
2 4 2 4 4 4
3 3 3
1 2 1 2 2 2
1 1 1
0 0 0 0 0 0
0 10 20 30 40 50 60 70 80 90 0 5 10 15 20 25 30 35 40 45 0 20 40 60 80 100 120 140
0 1000 2000 3000 4000 0 1000 2000 3000 4000 0 1000 2000 3000 4000
④ Motor model number PBM423DHLK50 ⑤ Motor model number PBM423DHMK50
10 10 20 10
9 9
8 8 16 8
7 7
Torque (N·m)
Torque (N·m)
6 6 12 6
5 5
4 4 8 4
3 3
2 2 4 2
1 1
0 0 0 0
0 10 20 30 40 50 60 70 80 90 0 5 10 15 20 25 30 35 40 45
0 1000 2000 3000 4000 0 1000 2000 3000 4000

58

Size
Motor model number PBM603DHLK50 PBM603DHMK50
Compatible driver model number PB4D003P340 PB4D003P340
Allowable
N·m 14 20

-4 2
0.435 0.435
Gear ratio ― 1:50 1:100

(at ±0.28 N·m) (at ±0.4 N·m)
Relative to
Rotation direction

Multi-axis
① Motor model number PBM603DHLK50 ② Motor model number PBM603DHMK50

20 10 50 10
9 9
16 8 40 8
7 7
Torque (N·m)
Torque (N·m)
12 6 30 6
5 5
8 4 20 4
3 3
4 2 10 2
1 1
0 0 0 0
0 10 20 30 40 50 60 70 80 90 0 5 10 15 20 25 30 35 40 45

0 1000 2000 3000 4000 0 1000 2000 3000 4000
Options
59

Size
Motor + brake length 98.5 mm 117.8 mm 88.3 mm 108.1 mm 140.1 mm
Motor model number PBM281DCE50 PBM285DCE50 PBM423DCK50 PBM603DCK50 PBM604DCK50
Motor mass kg 0.28 0.35 0.5 1.19 1.76
Brake type No excitation No excitation No excitation No excitation No excitation
̶
Power consumption W 3.6 (at 20°C) 3.6 (at 20°C) 2.4 (at 75°C) 6 (at 75°C) 6 (at 75°C)
① Motor model number PBM281DCE50 ② Motor model number PBM285DCE50 ③ Motor model number PBM423DCK50
0.10 10 0.20 10 0.5 10

9 9 9

0.08 8 0.16 8 0.4 8
7 7 7
Torque (N·m)
Torque (N·m)
Torque (N·m)
0.06 6 0.12 6 0.3 6

5 5 5
0.04 4 0.08 4 0.2 4
3 3 3
0.02 2 0.04 2 0.1 2
1 1 1
0 0 0 0 0 0
0 500 1000 1500 2000 2500 3000 3500 4000 4500 0 500 1000 1500 2000 2500 3000 3500 4000 4500 0 500 1000 1500 2000 2500 3000 3500 4000 4500
④ Motor model number PBM603DCK50 ⑤ Motor model number PBM604DCK50
2.0 10 2.0 10
9 9
1.6 8 1.6 8
7 7
Torque (N·m)
Torque (N·m)
1.2 6 1.2 6
5 5
0.8 4 0.8 4
3 3
0.4 2 0.4 2
1 1
0 0 0 0
0 500 1000 1500 2000 2500 3000 0 500 1000 1500 2000 2500 3000
60
MEMO
61

Type E Multi-axis EtherCAT interface
■ Lineup RoHS
Motor
Driver
Model number: PB4D003E440
Input power supply: 24/48 VDC
Number of control axes: 4
Compatible Driver / Motor Combinations▶p. 63 Driver Dimensions▶p. 64


24/48 VDC
Circuit breaker Electromagnetic contactor Noise filter Switching power supply
Setup software
9 10 11 12
7
Regenerative unit*
Protects the power line. Switches driver power Filters out incoming Converts power
Cuts off circuit in the on/off. noise from power line. supply from AC to DC 8
event of overcurrent. Use together with a power.
surge protector.
6 PC communication cable
PC
IN OUT To the next EtherCAT driver
Host devices I/O signal cable

CN11 5
3 CN10
CN9
Encoder extension cable
CN8 CN6 4
CN7
CN5
Power cable
To another 2 CN2
driver
CN4
Power cable
1 CN1
CN3
Motor (axis 1) Motor (axis 2) Motor (axis 3) Motor (axis 4)

* Connect the regenerative unit when a 60 mm sq. motor is used. Check the voltage while in operation.
62
Compatible Driver / Motor Combinations

No set models are available with this driver. Since this driver is capable of controlling multiple axes, order the necessary number of motors.
Motor external dimensions Max. stall torque Motor model number Page
Flange size × Motor length (mm) (allowable Allowable
Model
Gear Backlash Driver model

Optical Battery-less torque* for speed Optical Battery-less
ratio (deg.) number Motor
incremental optical absolute models with (min–1) incremental optical absolute Specifications
gear) (N·m) dimensions
encoder encoder encoder encoder
28×28×59.2 ̶ 0.055 ̶ ̶ ̶ PBM281DXE50 ̶ p. 67 p. 78
Standard
28×28×78.5 ̶ 0.115 ̶ ̶ ̶ PBM285DXE50 ̶ p. 67 p. 78

model

42×42×55.9 42×42×74.7 0.39 ̶ ̶ ̶ PBM423DXK50 PBM423DXR60 pp. 67, 73 pp. 78, 82
42×42×86.1 42×42×104.9 0.343 500 1:3.6 0.6 PBM423DGAK50 PBM423DGAR60 pp. 68, 74 pp. 78, 82
42×42×86.1 42×42×104.9 0.686 250 1:7.2 0.4 PBM423DGBK50 PBM423DGBR60 pp. 68, 74 pp. 78, 82
42×42×86.1 42×42×104.9 0.98 180 1:10 0.35 PBM423DGEK50 PBM423DGER60 pp. 68, 74 pp. 78, 82
42×42×86.1 42×42×104.9 1.47 90 1:20 0.25 PBM423DGGK50 PBM423DGGR60 pp. 68, 74 pp. 78, 82
42×42×86.1 42×42×104.9 1.47 60 1:30 0.25 PBM423DGJK50 PBM423DGJR60 pp. 68, 74 pp. 78, 82
60×60×114.3 60×60×133.1 1.25 500 1:3.6 0.55 PBM603DGAK50 PBM603DGAR60 pp. 69, 75 pp. 78, 82
60×60×114.3 60×60×133.1 2.5 250 1:7.2 0.25 PBM603DGBK50 PBM603DGBR60 pp. 69, 75 pp. 78, 82

60×60×114.3 60×60×133.1 3 180 1:10 0.25 PBM603DGEK50 PBM603DGER60 pp. 69, 75 pp. 78, 82
60×60×114.3 60×60×133.1 3.5 90 1:20 0.17 PBM603DGGK50 PBM603DGGR60 PB4D003E440 pp. 69, 75 pp. 78, 82
60×60×114.3 60×60×133.1 4 60 1:30 0.17 PBM603DGJK50 PBM603DGJR60 pp. 69, 75 pp. 78, 82
28×28×97.7 ̶ 1.5 (2.6) 70 1:50 ̶ PBM281DHLE50 ̶ p. 70 p. 79
Harmonic gear model
28×28×97.7 ̶ 2 (3.6) 35 1:100 ̶ PBM281DHME50 ̶ p. 70 p. 79

42×42×95.1 42×42×113.9 2.2 (4.5) 116 1:30 ̶ PBM423DHJK50 PBM423DHJR60 pp. 70, 76 pp. 79, 82
42×42×95.1 42×42×113.9 3.5 (8.3) 70 1:50 ̶ PBM423DHLK50 PBM423DHLR60 pp. 70, 76 pp. 79, 82
42×42×95.1 42×42×113.9 5 (11) 35 1:100 ̶ PBM423DHMK50 PBM423DHMR60 pp. 70, 76 pp. 79, 82
60×60×135.8 60×60×154.6 5.5 (14) 70 1:50 ̶ PBM603DHLK50 PBM603DHLR60 pp. 71, 76 pp. 79, 83
60×60×135.8 60×60×154.6 8 (20) 35 1:100 ̶ PBM603DHMK50 PBM603DHMR60 pp. 71, 76 pp. 79, 83
Multi-axis
28×28×98.5 ̶ 0.055 ̶ ̶ ̶ PBM281DCE50 ̶ p. 72 p. 80
Electromagnetic
brake model
28×28×117.8 ̶ 0.115 ̶ ̶ ̶ PBM285DCE50 ̶ p. 72 p. 80

42×42×88.3 42×42×107.4 0.39 ̶ ̶ ̶ PBM423DCK50 PBM423DCR60 pp. 72, 77 pp. 80, 83


PBC10P0010A (1 m)
1 Power cable PBC10P0000A 2 m ** ̶ p. 90
PBC10P0020A (2 m)
2 Power cable (between drivers) PBC10P0002B (0.2 m) PBC10P0000A 2 m ** in a daisy chain configuration for p. 90
communication.
PBC8M0010A (1 m) An extension cable is required when the
PBC8M0050A (5 m) exceeds 50 cm.
PBC7E0010A (1 m) An extension cable is required when the

PBC7E0050A (5 m) exceeds 50 cm.
5 I/O signal cable PBC9S0010C (1 m) PBC9S0000C 2m ̶ p. 93

AL-00896515-01 (1 m) PC communication cable for setup
6 PC communication cable ̶ ̶ p. 93
software
Options
AL-00896515-02 (2 m)
SANMOTION MOTOR Software for checking operation and
7 Setup software ̶ ̶ p. 85
SETUP SOFTWARE parameter setting
8 Regenerative unit PBFE-02 ̶ ̶ ̶ p. 92
** The total extended length to the furthest driver from the power supply should not exceed this length.
63
60 (70) 95
6.5
ø5
5
150
160
(5)
Model number PB4D003E440
Interface EtherCAT communication
Main circuit
24/48 VDC ±10% 14A
Input power power supply
supply Control circuit
Basic 24 VDC ±10% 1.5A
power supply
specifications
Protection rating Class III
Environment Operating
Installation category (overvoltage category): I, Pollution degree: 2
environment
Mass 0.7 kg
Max. motor speed 4500 min-1，(3000 min-1 for 60 mm sq. motor)
Main circuit overcurrent, overload error, initialization error, driver overheat, main circuit
overvoltage, regeneration error, main circuit undervoltage, control circuit undervoltage,
Protection functions
Functions encoder disconnection, overspeed error, position deviation error, wrap around, memory
error, CPU peripheral circuit error, communication error
LED indicators Power, Status, Alarm
Rotary switch Station alias setting
Computer port USB 2.0
Physical layer / protocol 100BASE-TX / IEEE802.3 Fast Ethernet
Bit rate 100 Mbit/s (Full duplex)
Communication port / Topology RJ45 connector (2 ports) / Daisy chain (max. 65535 nodes)
EtherCAT
interface Device profile Device profile: CoE (IEC 61800-7-201), FoE (ASCII code access)
SM2 event synchronization, DC synchronization (SYNC0/SYNC1), non-synchronized
Synchronization mode (asynchronous FreeRun mode)
Minimum cycle time: 0.25 ms
Photocoupler input method. Input resistance: 2.2 kΩ
Input signal Input signal voltage: High-level: 4.0 to 26.4 VDC; Low-level: 0 to 1.0 VDC, Number of
I/O signal inputs: 16
Open collector output by photocoupler. Output signal standard: Vceo=4.75 to 26.4 V,
Output signal
Ic=50 mA max. Number of outputs: 12
Directive Standards
CE marking in Europe Low-voltage directive EN 61800-5-1
EMC directive EN 61800-3, EN 61000-6-2, EN 61000-6-4
Directive Standards
Directive Standards
RoHS
Classification Standards File No.
UL UL
UL 508C E179775
UL for Canada (cUL)
64

Driver
CN1 PB4D003E44□ CN3∼6
A/ES+ 1
* Main circuit power supply 24/48 VDC
4,8
3,7 A/ES- 2
3
Encoder
B
6 B 4
Control circuit power supply 24 VDC 2 Z 5
1,5 Z 6
FG 5V 7
5G 8
CN2 N.C 9
N.C 10
4,8 FG 11
3,7 N.C 12
To the next driver power supply 6
2 CN7∼10
1,5 1

A
2
A 3
B
4
IN,OUT B
TX+ 1
4 BRK+ 5
5 BRK- 6
EtherCAT TX- 2
RX+ 3
7
Holding brake Motor
8 PC
RX- 6 1
2
3 PCIF
4 (USB)
5
CN11 CN11
COMI 1,2 26 OUT1

3 27 OUT1G
IN1(NLMT1) 28 OUT2
29 OUT2G
IN2(PLMT1) 4 30 OUT3
31

OUT3G
5 32 OUT4
IN3(HOME1) 33 OUT4G
34 OUT5
6 35 OUT5G
IN4(TPRB1) 36 OUT6
37 OUT6G
IN5(NLMT2) 7 38 OUT7
39 OUT7G
8 40 OUT8
IN6(PLMT2) 41 OUT8G
42 OUT9
IN7(HOME2) 9 43 OUT9G
44 OUT10
10 45 OUT10G
IN8(TPRB2) 46 OUT11
47 OUT11G
IN9(NLMT3) 11 48 OUT12
49 OUT12G
50 N.C
IN10(PLMT3) 12
IN11(HOME3) 13
IN12(TPRB3) 14
Multi-axis
IN13(NLMT4) 15
IN14(PLMT4) 16

IN15(HOME4) 17
IN16(TPRB4) 18
19
∼
N.C. 25
＊） Shielded twisted-pair cable
* Keep the max. extended length to 2 m or less and the max. current consumption
to 14 A or less (7 A for normal operation) while in use.

Options
65
Wiring
Maximum
Connector
Application Description Manufacturer model number Compatible cables extension Manufacturer
no.
length
Header (Driver side) 5569-08A2
Housing 5557-08R-210
CN1 5556T3 (AWG16 linked) AWG16 to 24 Molex Japan Co.,
Power supply 2m
CN2 5556T3L (AWG16 single) Discrete line Ltd.
Terminal
5556T (AWG18 to 24 linked)
5556TL (AWG18 to 24 single)
Tab header (Driver side) 2-1827876-3
CN7 to AWG18 to 22 Tyco Electronics
Power Receptacle contact 1827572-2 (AWG18 to 22) 20 m
CN10 Discrete line Japan G.K.
Tab housing (for relay) 2-1903130-3
Tab header (Driver side) 1-1827876-6
Receptacle housing 1-1827864-6 AWG22 to 28
CN3 to Tyco Electronics
Encoder Receptacle contact 1827570-2 (AWG22 to 28) Shielded twisted 20 m
CN6 Japan G.K.
Tab housing (for relay) 1-1903130-6 pair
Connector (driver side) HDR-EC50LFDT-SLD+ AWG30 (IDC (insula-
Plastic case HDR-50LPH tion displacement
HDR-E50MAG1+ contact) type)
HONDA TSUSHIN
I/O signals CN11 (IDC (insulation displacement AWG28 (Soldering 2m
KOGYO CO., LTD.
Connector contact) type) type)
HDR-E50MSG1+ Shielded discrete
(Soldering type) line
Please connect to a host device and another driver via IN and OUT connectors,
respectively.
Please use a shielded twisted-pair (STP) cable in category 5e or better. Depends
EtherCAT IN, OUT As the ports support auto-crossover function called“auto MDI/MID-X” ,a on the −
feature that automatically detects the required cable connection type and cable.
configures the connection appropriately, either straight-through or crossover
cable can be used.
Commercially available USB cables (mini-B connector on driver side) can be
USB PC 5m −
used.
● Refer to the manufacturer’ s catalog for detailed connector specifications.
● When daisy-chaining a driver to another driver via CN1 and CN2 ports, please pay attention to the total current from the power supply. Keep it below 7 A when normally
operating, and ensure it doesn’ t exceed 14 A even at peak time such as acceleration.
Also, the total extended cable length from a power supply to the furthest driver should not exceed the above length.
66
Standard model Optical incremental encoder type RoHS

Size
Motor model number PBM281DXE50 PBM285DXE50 PBM423DXK50 PBM603DXK50 PBM604DXK50
Compatible driver model number PB4D003E440 PB4D003E440 PB4D003E440 PB4D003E440 PB4D003E440
Allowable thrust load N 10 10 9.8 14.7 14.7

Motor mass kg 0.16 0.26 0.35 0.85 1.42

① Motor model number PBM281DXE50 ② Motor model number PBM285DXE50 ③ Motor model number PBM423DXK50
0.10 10 0.20 10 0.5 10

9 9 9

0.08 8 0.16 8 0.4 8
7 7 7
Torque (N·m)
Torque (N·m)
Torque (N·m)
0.06 6 0.12 6 0.3 6
5 5 5
0.04 4 0.08 4 0.2 4
Multi-axis
3 3 3
0.02 2 0.04 2 0.1 2
1 1 1
0 0

0 0 0 0
0 500 1000 1500 2000 2500 3000 3500 4000 4500 0 500 1000 1500 2000 2500 3000 3500 4000 4500 0 500 1000 1500 2000 2500 3000 3500 4000 4500
Speed (min ) −1
Speed (min ) −1
Speed (min−1)
④ Motor model number PBM603DXK50 ⑤ Motor model number PBM604DXK50
2.0 10 2.0 10
9 9
1.6 8 1.6 8
7 7
Torque (N·m)
Torque (N·m)
1.2 6 1.2 6
5 5

0.8 4 0.8 4
3 3
0.4 2 0.4 2
1 1
0 0 0 0
0 500 1000 1500 2000 2500 3000 0 500 1000 1500 2000 2500 3000
Speed (min ) −1
Speed (min−1)
Options
67
Low-backlash gear model Optical incremental encoder type RoHS

Size
Gear ratio ― 1:3.6 1:7.2 1:10 1:20 1:30
Relative to
Rotation direction
Motor mass kg 0.48 0.48 0.48 0.48 0.48
0.5 10 1.0 10 2.0 10

9 9 9

0.4 8 0.8 8 1.6 8

7 7 7
Torque (N·m)
Torque (N·m)
Torque (N·m)
0.3 6 0.6 6 1.2 6

5 5 5
0.2 4 0.4 4 0.8 4
3 3 3
0.1 2 0.2 2 0.4 2
1 1 1
0 0 0 0 0 0
0 100 200 300 400 500 0 50 100 150 200 250 0 50 100 150 200
Output speed (min−1) Output speed (min ) −1 Output speed (min−1)
0 500 1000 1500 2000 0 500 1000 1500 2000 0 500 1000 1500 2000
2.0 10 2.0 10
9 9
1.6 8 1.6 8
7 7
Torque (N·m)
Torque (N·m)
1.2 6 1.2 6
5 5
0.8 4 0.8 4
3 3
0.4 2 0.4 2
1 1
0 0 0 0
0 20 40 60 80 100 0 10 20 30 40 50 60
0 500 1000 1500 2000 0 500 1000 1500 2000

68
Low-backlash gear model Optical incremental encoder type RoHS

Size
Gear ratio ― 1:3.6 1:7.2 1:10 1:20 1:30

Relative to
Rotation direction
Motor mass kg 1.22 1.22 1.22 1.22 1.22

2.0 10 5 10 5 10
9
Multi-axis
9 9

1.6 8 4 8 4 8
7 7 7
Torque (N·m)
Torque (N·m)
Torque (N·m)

1.2 6 3 6 3 6
5 5 5
0.8 4 2 4 2 4
3 3 3
0.4 2 1 2 1 2
1 1 1
0 0 0 0 0 0
0 100 200 300 400 500 0 50 100 150 200 250 0 50 100 150 200
0 500 1000 1500 2000 0 500 1000 1500 2000 0 500 1000 1500 2000

5 10 5 10
9 9
4 8 4 8
7 7
Torque (N·m)
Torque (N·m)
3 6 3 6
5 5
2 4 2 4
3 3
1 2 1 2
1 1
0 0 0 0
0 20 40 60 80 100 0 10 20 30 40 50 60
Output speed (min ) −1 Output speed (min−1)
0 500 1000 1500 2000 0 500 1000 1500 2000

Options
69
Harmonic gear model Optical incremental encoder type RoHS
Motor size 28 mm sq. (angular dimension 33 mm sq.) 42 mm sq.

Size
Motor model number PBM281DHLE50 PBM281DHME50 PBM423DHJK50 PBM423DHLK50 PBM423DHMK50
Allowable
N·m 2.6 3.6 4.5 8.3 11
-4 2
0.013 0.013 0.068 0.068 0.068
Gear ratio ― 1:50 1:100 1:30 1:50 1:100
(at ±0.06 N·m) (at ±0.08 N·m)
70 35 116 70 35
Relative to
Rotation direction
Motor mass kg 0.27 0.27 0.54 0.54 0.54
① Motor model number PBM281DHLE50 ② Motor model number PBM281DHME50 ③ Motor model number PBM423DHJK50
5 10 5 10 10 10
9 9 9

4 8 4 8 8 8
7 7 7
Torque (N·m)
Torque (N·m)
Torque (N·m)
3 6 3 6 6 6
5 5 5
2 4 2 4 4 4
3 3 3
1 2 1 2 2 2
1 1 1
0 0 0 0 0 0
0 10 20 30 40 50 60 70 80 90 0 5 10 15 20 25 30 35 40 45 0 20 40 60 80 100 120 140
0 1000 2000 3000 4000 0 1000 2000 3000 4000 0 1000 2000 3000 4000
④ Motor model number PBM423DHLK50 ⑤ Motor model number PBM423DHMK50
10 10 20 10
9 9
8 8 16 8
7 7
Torque (N·m)
Torque (N·m)
6 6 12 6
5 5
4 4 8 4
3 3
2 2 4 2
1 1
0 0 0 0
0 10 20 30 40 50 60 70 80 90 0 5 10 15 20 25 30 35 40 45
0 1000 2000 3000 4000 0 1000 2000 3000 4000

70
Harmonic gear model Optical incremental encoder type RoHS

Size
Motor model number PBM603DHLK50 PBM603DHMK50
Compatible driver model number PB4D003E440 PB4D003E440
Allowable
N·m 14 20

-4 2
0.435 0.435
Gear ratio ― 1:50 1:100

(at ±0.28 N·m) (at ±0.4 N·m)
Relative to
Rotation direction

Multi-axis
① Motor model number PBM603DHLK50 ② Motor model number PBM603DHMK50

20 10 50 10
9 9
16 8 40 8
7 7
Torque (N·m)
Torque (N·m)
12 6 30 6
5 5
8 4 20 4
3 3
4 2 10 2
1 1
0 0 0 0
0 10 20 30 40 50 60 70 80 90 0 5 10 15 20 25 30 35 40 45

0 1000 2000 3000 4000 0 1000 2000 3000 4000
Options
71
Electromagnetic brake model Optical incremental encoder type RoHS

Size
Motor + brake length 98.5 mm 117.8 mm 88.3 mm 108.1 mm 140.1 mm
Motor model number PBM281DCE50 PBM285DCE50 PBM423DCK50 PBM603DCK50 PBM604DCK50
Motor mass kg 0.28 0.35 0.5 1.19 1.76
Brake type No excitation No excitation No excitation No excitation No excitation
̶
Power consumption W 3.6 (at 20°C) 3.6 (at 20°C) 2.4 (at 75°C) 6 (at 75°C) 6 (at 75°C)
① Motor model number PBM281DCE50 ② Motor model number PBM285DCE50 ③ Motor model number PBM423DCK50
0.10 10 0.20 10 0.5 10

9 9 9

0.08 8 0.16 8 0.4 8
7 7 7
Torque (N·m)
Torque (N·m)
Torque (N·m)
0.06 6 0.12 6 0.3 6

5 5 5
0.04 4 0.08 4 0.2 4
3 3 3
0.02 2 0.04 2 0.1 2
1 1 1
0 0 0 0 0 0
0 500 1000 1500 2000 2500 3000 3500 4000 4500 0 500 1000 1500 2000 2500 3000 3500 4000 4500 0 500 1000 1500 2000 2500 3000 3500 4000 4500
④ Motor model number PBM603DCK50 ⑤ Motor model number PBM604DCK50
2.0 10 2.0 10
9 9
1.6 8 1.6 8
7 7
Torque (N·m)
Torque (N·m)
1.2 6 1.2 6
5 5
0.8 4 0.8 4
3 3
0.4 2 0.4 2
1 1
0 0 0 0
0 500 1000 1500 2000 2500 3000 0 500 1000 1500 2000 2500 3000
72
Standard model Battery-less optical absolute encoder type RoHS

Size
Motor length 74.7 mm 87.6 mm 119.6 mm
Motor model number PBM423DXR60 PBM603DXR60 PBM604DXR60
Compatible driver model number PB4D003E440 PB4D003E440 PB4D003E440
Rotor inertia ×10-4kg·m2 0.056 0.4 0.84

Motor mass kg 0.42 0.88 1.45

① Motor model number PBM423DXR60 ② Motor model number PBM603DXR60 ③ Motor model number PBM604DXR60
0.5 10 2.0 10 2.0 10


9 9 9

0.4 8 1.6 8 1.6 8
7 7 7
Torque (N·m)
Torque (N·m)
Torque (N·m)
0.3 6 1.2 6 1.2 6

5 5 5
0.2 4 0.8 4 0.8 4
Multi-axis
3 3 3
0.1 2 0.4 2 0.4 2
1 1 1

0 0 0 0 0 0
0 500 1000 1500 2000 2500 3000 3500 4000 4500 0 500 1000 1500 2000 2500 3000 0 500 1000 1500 2000 2500 3000
Speed (min ) −1
Speed (min ) −1 Speed (min−1)

Options
73
Low-backlash gear model Battery-less optical absolute encoder type RoHS

Size
Motor model number PBM423DGAR60 PBM423DGBR60 PBM423DGER60 PBM423DGGR60 PBM423DGJR60
Gear ratio ― 1:3.6 1:7.2 1:10 1:20 1:30
Relative to
Rotation direction
Motor mass kg 0.54 0.54 0.54 0.54 0.54
① Motor model number PBM423DGAR60 ② Motor model number PBM423DGBR60 ③ Motor model number PBM423DGER60
0.5 10 1.0 10 2.0 10

9 9 9

0.4 8 0.8 8 1.6 8
7 7 7
Torque (N·m)
Torque (N·m)
Torque (N·m)
0.3 6 0.6 6 1.2 6

5 5 5
0.2 4 0.4 4 0.8 4
3 3 3
0.1 2 0.2 2 0.4 2
1 1 1
0 0 0 0 0 0
0 100 200 300 400 500 0 50 100 150 200 250 0 50 100 150 200
0 500 1000 1500 2000 0 500 1000 1500 2000 0 500 1000 1500 2000
④ Motor model number PBM423DGGR60 ⑤ Motor model number PBM423DGJR60
2.0 10 2.0 10
9 9
1.6 8 1.6 8
7 7
Torque (N·m)
Torque (N·m)
1.2 6 1.2 6
5 5
0.8 4 0.8 4
3 3
0.4 2 0.4 2
1 1
0 0 0 0
0 20 40 60 80 100 0 10 20 30 40 50 60
0 500 1000 1500 2000 0 500 1000 1500 2000
74
Low-backlash gear model Battery-less optical absolute encoder type RoHS

Size
Motor model number PBM603DGAR60 PBM603DGBR60 PBM603DGER60 PBM603DGGR60 PBM603DGJR60
Gear ratio ― 1:3.6 1:7.2 1:10 1:20 1:30

Relative to
Rotation direction
Motor mass kg 1.28 1.28 1.28 1.28 1.28

① Motor model number PBM603DGAR60 ② Motor model number PBM603DGBR60 ③ Motor model number PBM603DGER60
2.0 10 5 10 5 10
Multi-axis
9 9 9

1.6 8 4 8 4 8
7 7 7
Torque (N·m)
Torque (N·m)
Torque (N·m)

1.2 6 3 6 3 6
5 5 5
0.8 4 2 4 2 4
3 3 3
0.4 2 1 2 1 2
1 1 1
0 0 0 0 0 0
0 100 200 300 400 500 0 50 100 150 200 250 0 50 100 150 200
0 500 1000 1500 2000 0 500 1000 1500 2000 0 500 1000 1500 2000

④ Motor model number PBM603DGGR60 ⑤ Motor model number PBM603DGJR60
5 10 5 10
9 9
4 8 4 8
7 7
Torque (N·m)
Torque (N·m)
3 6 3 6
5 5
2 4 2 4
3 3
1 2 1 2
1 1
0 0 0 0
0 20 40 60 80 100 0 10 20 30 40 50 60
0 500 1000 1500 2000 0 500 1000 1500 2000
Options
75
Harmonic gear model Battery-less optical absolute encoder type RoHS

Size
Motor model number PBM423DHJR60 PBM423DHLR60 PBM423DHMR60 PBM603DHLR60 PBM603DHMR60
Allowable
N·m 4.5 8.3 11 14 20
Rotor inertia ×10 kg·m-4 2
0.068 0.068 0.068 0.435 0.435
Gear ratio ― 1:30 1:50 1:100 1:50 1:100
Hysteresis loss Arc min or less 3.6 2.4 2.4 ― ―
Lost motion Arc min ― ― ― 0.4 to 3 0.4 to 1.5

(at ±0.28 N·m) (at ±0.4 N·m)
116 70 35 70 35
Relative to
Rotation direction
Motor mass kg 0.6 0.6 0.6 1.5 1.5
① Motor model number PBM423DHJR60 ② Motor model number PBM423DHLR60 ③ Motor model number PBM423DHMR60
10 10 10 10 20 10
9 9 9

8 8 8 8 16 8
7 7 7
Torque (N·m)
Torque (N·m)
Torque (N·m)
6 6 6 6 12 6
5 5 5
4 4 4 4 8 4
3 3 3
2 2 2 2 4 2
1 1 1
0 0 0 0 0 0
0 20 40 60 80 100 120 140 0 10 20 30 40 50 60 70 80 90 0 5 10 15 20 25 30 35 40 45
0 1000 2000 3000 4000 0 1000 2000 3000 4000 0 1000 2000 3000 4000
④ Motor model number PBM603DHLR60 ⑤ Motor model number PBM603DHMR60
20 10 50 10
9 9
16 8 40 8
7 7
Torque (N·m)
Torque (N·m)
12 6 30 6
5 5
8 4 20 4
3 3
4 2 10 2
1 1
0 0 0 0
0 10 20 30 40 50 60 70 80 90 0 5 10 15 20 25 30 35 40 45
0 1000 2000 3000 4000 0 1000 2000 3000 4000
76
Electromagnetic brake model Battery-less optical absolute encoder type RoHS

Size
Motor + brake length 107.4 mm 126.9 mm 158.9 mm
Motor model number PBM423DCR60 PBM603DCR60 PBM604DCR60
Compatible driver model number PB4D003E440 PB4D003E440 PB4D003E440
Rotor inertia ×10-4kg·m2 0.071 0.559 1

Motor mass kg 0.56 1.25 1.82
Brake type No excitation No excitation No excitation
̶
actuating type actuating type actuating type
Power supply voltage V 24 VDC±5% 24 VDC±5% 24 VDC±5%
Power consumption W 2.4 (at 75°C) 6 (at 75°C) 6 (at 75°C)
Static friction torque N·m or over 0.3 0.8 0.8
Brake operating time ms or less 20 20 20
Brake release time ms or less 30 30 30

Multi-axis
① Motor model number PBM423DCR60 ② Motor model number PBM603DCR60 ③ Motor model number PBM604DCR60

0.5 10 2.0 10 2.0 10

9 9 9
0.4 8 1.6 8 1.6 8

7 7 7
Torque (N·m)
Torque (N·m)
Torque (N·m)
0.3 6 1.2 6 1.2 6

5 5 5
0.2 4 0.8 4 0.8 4
3 3 3
0.1 2 0.4 2 0.4 2
1 1 1
0 0 0 0 0 0
0 500 1000 1500 2000 2500 3000 3500 4000 4500 0 500 1000 1500 2000 2500 3000 0 500 1000 1500 2000 2500 3000

Speed (min−1) Speed (min ) −1 Speed (min−1)
Options
77
Motor Dimensions Unit: mm Optical incremental encoder type
■ Standard model
28 mm sq.
Motor lead wire
PBM281DXE50 59.2 UL 3265 AWG28
500±20
500±20
Encoder cable
UL vinyl tube 1.5±0.25
ø5 -0.013
PBM285DXE50 78.5
0
+1
10 0
ø22 -0.05
23±0.5
28±0.5
0
L±1 15±0.5 4.5±0.2
2-M2.5×0.45 23±0.5
Tapping depth: 3.2 min. 28±0.5
42 mm sq.
Motor connector
Motor model number Encoder connector Motor lead wire
PBM423DXK50 UL 3266 AWG24
500±20
500±20
1.5 max.
1.7±0.25
ø6 -0.013
+1
0
15 0
31±0.25
42±0.25
ø22 -0.05
0
5.5±0.2
4-M3×0.5
55.9±1 20.6±0.5 31±0.25 Tapping depth:
42±0.25 4 min.
60 mm sq.
Motor connector
PBM603DXK50 68.8 UL 3266 AWG22
Encoder cable
500±20
UL vinyl tube
500±20
ø10 -0.015
41.7±0.5 1.5 max.
PBM604DXK50 100.8 7±0.25 1.5±0.25
0
+1
15 0
ø36 -0.039
50±0.13
60±0.5
0
41.7±0.5 L±1 20.6±0.5 9±0.2 +0.5

4-ø4.5 0
50±0.13
60±0.5

42 mm sq.
Motor connector
Motor model number
PBM423DG□K50 UL 3266 AWG24
500±20
500±20
1.5 max.
3±0.5
ø18 -0.025
ø6 -0.012
0
8±0.5
+1
0
12 0
31±0.2
+0.5
42 -1.5
5.5±0.2 4-M4×0.7
86.1±1.5 20±0.5 31±0.2 Tapping depth:
+0.5 8 min.
42 -1.5
60 mm sq.
Motor connector
Motor model number
PBM603DG□K50 UL 3266 AWG22
Encoder cable
500±20
500±20
UL vinyl tube
1.5 max.
3±0.5
ø24 -0.025
ø8 -0.015
4-M4
10±0.5
0
+1
0
12 0
49.5±0.2
41.7±0.5
+0.5
60 -2
7±0.15
41.7±0.5 114.3±1.5 32±0.5 4-M4×0.7
49.5±0.2
+0.5 Tapping depth:
60-2 8 min.
78
Optical incremental encoder type

28 mm sq.
Motor connector
Motor model number
Encoder connector
PBM281DH□E50 Motor lead wire
UL 3265 AWG28
500±20
500±20
ø8 -0.009
UL vinyl tube
6±0.5 1.5±0.5
0
Encoder cable
7.5±0.15

21
ø28.4 -0.021
28±0.5
33±0.5
0
ø12
+1
16 0
.3
8 ±0
28±0.5 97.7±1.5 23±1 ø3 4-ø3.5±0.2
7.5±0.15
33±0.5
42 mm sq.
0
18 -0.18 0
Motor model number 3 -0.025
Motor connector
PBM423DH□K50 Encoder connector (1.2) Motor lead wire
3 -0.025
90°
UL 3266 AWG24
0
Key specifications

500±20
500±20
1.5 max.
ø10 -0.009
6-M3×0.5
ø4
7±0.2 2±0.2 8± Tapping depth:
0
0.5
5 min.
18
ø37.6 -0.025
42±0.5
ø12
0
-0.004
5± 3 -0.029
22.5
5
+0.1
0.
95.1±1.5 25±1 1.8 0 4-ø4.5
0.
42±0.5
ø2
60 mm sq.
0 0
20 -0.21 4 -0.03
Motor model number
Multi-axis
1.6
90°
PBM603DH□K50
4 -0.03
Motor connector
0

Key specifications
UL 3266 AWG22
Encoder cable
500±20
500±20
ø12 -0.011
UL vinyl tube
ø7
41.7±0.5 1.5 max.
10 2.5
0
0±
Hexagon socket head bolt 0.
5
4-M4 (20)
Key
ø54 -0.03
60±0.7
0
9.5 -0.1
0
41.7±0.5 135.8±1.5 28±0.5 4-ø5.5

60±0.7

Options
79
DC Input Drivers / Motors Type P / Type E Multi-axis
Optical incremental encoder type

28 mm sq.
Motor connector
Motor lead wire
PBM281DCE50 98.5 UL 3265 AWG28
UL vinyl tube
500±20
PBM285DCE50 117.8 Encoder cable
ø5 -0.013
Brake lead wire
Encoder connector
UL 1332 AWG26 1.5±0.25
0
+1
ø22 -0.05
10 0
23±0.5
28±0.5
0
500±20
L±1.5 15±0.5 4.5±0.2
23±0.5
2-M2.5×0.45
28±0.5
Tapping depth: 3.2 min.
42 mm sq.
Motor connector
Motor model number Encoder connector Motor lead wire
PBM423DCK50 UL 3266 AWG24
Encoder cable Brake lead wire UL vinyl tube
500±20
500±20
1.5 max.
UL 3266 AWG26
1.7±0.25
ø6 -0.013
+1
0
15 0
31±0.25
42±0.25
ø22 -0.05
0
5.5±0.2 4-M3×0.5
88.3±1.5 20.6±0.5 31±0.25 Tapping depth:
42±0.25 4 min.
60 mm sq.
Motor connector
PBM603DCK50 108.1 Brake lead wire UL 3266 AWG22
500±20
UL vinyl tube
500±20
41.7±0.5 1.5 max.
ø10 -0.015
PBM604DCK50 140.1 7±0.25 1.5±0.25
0
+1
15 0
ø36 -0.039
50±0.13
60±0.5
0
L±1.5 20.6±0.5 9±0.2 +0.5

4-ø4.5 0
50±0.13
60±0.5
Housing: 1-1827864-6 Housing: 2-1827864-3
Terminal: 1827569-2 Terminal: 1827569-2 for 28 mm sq., 1827570-2 for 42/60 mm sq.

A1 Blue CHANNEL A Pin no. Lead wire color Signal name
B1 Brown CHANNEL A A1 Blue Motor lead wire
B1 Orange Motor lead wire
A2 Green CHANNEL B
A2 Red Motor lead wire
B2 Purple CHANNEL B
A3 White CHANNEL Z A3 N.C. ―
B3 Yellow CHANNEL Z B3 N.C. ―
A4 Red +5 V
B4 Black 0V Electromagnetic brake model
A5 N.C. ― Pin no. Lead wire color Signal name
B5 N.C. ― A1 Blue Motor lead wire
A6 Black Shielded
B6 N.C. ―
Encoder cable: UL 20276 28 mm sq.: Brown
Brake lead wire
A3 42 mm sq.: Brown
Polarity: +
60 mm sq.: White
28 mm sq.: Brown
Brake lead wire
B3 42 mm sq.: White
Polarity: -
60 mm sq.: Black
80
MEMO
81
Motor Dimensions Unit: mm Battery-less optical absolute encoder type
■ Standard model
42 mm sq.
Encoder connector
Motor model number Motor connector
PBM423DXR60 Shielded cable (fixed)
(22.5) Lead wire
500±20
UL 3266 AWG24
500±20
(14.5) (ø5) 20.6±1
(14) 1.7±0.25
+1
15 0
ø6-0.013
UL vinyl tube
0
(30.3)
31±0.25
42±0.25
ø22-0.05
0
5.5±0.2 4-M3×0.5
74.7±1
42±0.25 4 min.
60 mm sq.
Shielded cable (fixed) Lead wire
PBM603DXR60 87.6
(22.5) UL 3266 AWG22
500±20
(30.3) 500±20
7±0.25 20.6±1
(ø5)
ø10-0.015
PBM604DXR60 119.6 (14.5)
(14) 1.5±0.25 +1 UL vinyl tube
0
15 0
50±0.13
ø36-0.039
60±0.5
0
+0.5
4-ø4.5 0 9±0.2
L ±1
50±0.13
60±0.5

42 mm sq.
Encoder connector
PBM423DG□R60 Shielded cable (fixed)

Lead wire
(22.5)
500±20
UL 3266 AWG24
500±20
(14.5) (ø5)
(14) 20±0.5
3±0.5 +1
UL vinyl tube
12 0
(30.3)
Effective 8±0.5
length
31±0.2
+0.5
42 -1.5
ø6-0.012
ø18-0.025
5.5±0.2 4-M4×0.7
104.9±1.5
0

+0.5 8 min.
42 -1.5
60 mm sq.
Motor model number
PBM603DG□R60 UL 3266 AWG22
(22.5)
500±20
(30.3) 500±20
32±0.5
(14.5) (ø5) +1
3±0.5 12 0 UL vinyl tube
(14)
ø8-0.015
0
49.5±0.2
+0.5
60 -2
10±0.5
ø24-0.025
133.1±1.5 7±0.15 4-M4×0.7

0
Hexagon socket head bolt 49.5±0.2 Tapping depth:

4-M4 +0.5
60 -2 8 min.

42 mm sq.
0
18-0.18 0
Motor model number 3-0.025
Encoder connector
PBM423DH□R60 Motor connector
(1.2)
3-0.025
90°
Lead wire
Shielded cable (fixed) Key specifications UL 3266 AWG24
(22.5)
500±20
500±20
(14.5) (ø5) (40) 25±1

(14) UL vinyl tube
7±0.2 2±0.2
4-ø4.5±0.2
22.5±0.2
6-M3×0.5
(30.3)
-0.004
3-0.029
(18) Tapping depth:

ø37.6-0.025
□42±0.5
5 min.
0
ø10-0.009
113.9±1.5 +0.1
ø2
0.5
1.8 0
0.
0
8±
5±
ø4
0.
5
82
Battery-less optical absolute encoder type

60 mm sq.
0 0
20-0.21 4-0.03
Motor model number Encoder connector
1.6 Motor connector
90°
PBM603DH□R60
4-0.03
Shielded cable (fixed) Key specifications Lead wire
0
UL 3266 AWG22
500±20
(22.5)
(30.3) 500±20
(14.5) (ø5) 10±0.4 2.5±0.2
(14) (20) UL vinyl tube

Key
ø54-0.03
60±0.7
0
0. 9.5-0.1
0
4-ø5.5±0.2
ø12-0.011
5
Hexagon socket head bolt 154.6±2 28±1 60±0.7
0±
4-M4
ø7
42 mm sq.
Encoder connector
PBM423DCR60 Shielded cable (fixed)

(22.5) Lead wire
500±20 Brake lead wire UL 3266 AWG24
500±20
(14.5) (ø5)
UL 3266 AWG26
(14) 20.6±1
UL vinyl tube
ø6-0.013
1.7±0.25
+1
0
(30.3)
15 0
31±0.25
42±0.25
ø22-0.05
0
5.5±0.2
107.4±1.5 4-M3×0.5
42±0.25 4 min.
60 mm sq.
Multi-axis
PBM603DCR60 126.9

(22.5) UL 3266 AWG22
500±20
(30.3) 500±20
Brake lead wire 7±0.25 20.6±1

(ø5) UL 3266 AWG22
ø10-0.015
PBM604DCR60 158.9 (14.5)
(14) 1.5±0.25 UL vinyl tube
0
+1
15 0
ø36-0.039
50±0.13
60±0.5
0
+0.5
L±1.5 4-ø4.5 0 9±0.2
50±0.13
60±0.5

Housing: 1-1827864-6 Housing: 2-1827864-3

A1 Brown ES+ Pin no. Lead wire color Signal name
B1 Blue ES- A1 Blue Motor lead wire
A2 N.C. ―
B2 N.C. ―
A3 N.C. ― A3 N.C. ―
B3 N.C. ― B3 N.C. ―
Options
A4 Red +5 V
B4 Black 0V Electromagnetic brake model
A5 N.C. ― Pin no. Lead wire color Signal name
B5 N.C. ― A1 Blue Motor lead wire
A6 Black Shielded
B6 N.C. ―
42 mm sq.: Brown Brake lead wire
A3
60 mm sq.: White Polarity: +
42 mm sq.: White Brake lead wire
B3
60 mm sq.: Black Polarity: -
83
DC Input Drivers / Motors Type P / Type E Multi-axis
Motor model number PBM28□D□E PBM423D□K PBM423D□R PBM60□D□K PBM60□D□R
Operating ambient humidity 20 to 90% RH
Storage ambient humidity 5 to 95% RH
Tested with frequency 10 to 500 Hz, total amplitude 1.52 mm (10 to 70 Hz), acceleration 150 m/s2 (70 to
500 Hz), sweep time 15 min/cycle, 12 sweeps in each X, Y and Z direction.
Impact resistance
Thermal class B (+130°C)
500 VAC for one
minute (between
motor winding and
frame)
Protection grade IP30 IP40
Thrust play * 0.075 mm max. (load: 1.5 N)
ø0.075 mm
relative to shaft
0.1 mm
Motor mounting orientation Can be freely mounted vertically or horizontally
Battery-less optical Battery-less optical
Specification Optical incremental Optical incremental Optical incremental
absolute absolute
Resolution 500×4=2000 P/R 4000×4=16000 P/R 17 bit (131,072 P/R) 4000×4=16000 P/R 17 bit (131,072 P/R)
Number of channels 3 CH *** ̶ 3 CH *** ̶
Line driver Line driver
Encoder Output method Line driver ̶ ̶
(C-MOS) (C-MOS)
Max. response
37.5 kHz 300 kHz ̶ 300 kHz ̶
frequency
Power supply voltage 5 VDC ±5% 5 VDC ±10% 5 VDC ±5% 5 VDC ±10%
Current consumption 140 mA max. 100 mA max. ̶ 100 mA max. ̶
to prevent noise.
84
Options
PC interface software

This software allows you to set parameters from a PC for closed loop stepping systems.
It facilitates system startup and running tests.
The software can be downloaded from Product Information on our website.
https://www.sanyodenki.com
■ Setup software title:

SANMOTION MOTOR SETUP SOFTWARE
Compatible driver: DC Input Type P (Multi-axis), Type E (Multi-axis)
■ Main functions
Parameter settings (settings by group)
Diagnosis (alarm display, warning display, alarm cancellation)
Test run execution (speed JOG, positioning operation, motor home position search, serial encoder clearance)
Operating waveform display
For PC-driver communication, the Type P requires an interface converter and the Type E requires a USB cable, respectively.

■ Supported OS
Windows ® 10
* See our website for details on supported OS versions.
Main Screen

Type P Multi-axis
Main Screen Parameter Setting Screen Alarm Log Screen
Type E Multi-axis EtherCAT interface

Parameters can be set, saved, and read from a PC. Current and 15 past alarm events can be
viewed.
Test run Measurement
Options
Operation trace
Motor speed, torque, and internal status are displayed in graphics.
Motor can be test run easily by inputting speed
commands and position commands from a PC.
(The screen shows a case of a positioning operation)
85
Options
PC interface software
■ Setup software title:
SANMOTION Model No. PB Setup software
■ Model no.: SPBALL-01 ■ Model no.: SPBA1W-01

Compatible driver: AC Input Type P, Type R Compatible driver: DC Input Type M
Supported OS：Windows ® 10／ Windows ® 11 Supported OS: Windows ® Vista / Windows ® 7 (runs in Windows XP compatibility mode)
* See our website for details on supported OS versions.
■ Main functions
Direct command capability
Point data editing / execution
Program data editing / execution
Current position / Alarm / Driver status monitoring
Operation waveform tracing, Off-line editing, Teaching function, etc.
For PC-driver communication, an interface converter is required.
1: Parameter Setting Screen 2: Point/Program Input Screen 3: Operation Waveform Monitor

(*SPBALL-01 and SPBA1W-01 are supported)
Communications converter unit

■ Model no.: PBFM-U6
Description Manufacturer model number Quantity
USB/RS-485 converter Uport 1130 (manufactured by MOXA) 1
Cable PBC6T0005A (0.5 m) 1

Refer to the manufacturer’
s website for instructions on installing the Uport 1130 driver or details on its use.
86
Options

Unit in figures: mm
■ For AC input (Type R, Type P)
Power cable Model no.: PBC8P0010A

Driver side Connector connection Connector set: PBC8P0000A
1000±50 Pin no. Lead wire color Signal name Manufacturer model no. Quantity
5 (A3) 6 (B3)
A1 – – Housing: 1-1318119-3 1
B1 Black R Contact: 1318107-1 6
A2 – – Manufacturer: Tyco Electronics Japan G.K.

Power supply B2 Black S
1 (A1) 2 (B1) UL 1430 AWG18 A3 – –
B3 Black T
Motor extension cable Model no.: PBC7M0030A

Motor side connector Driver side connector Connections of motor side connectors Connections of driver side connectors
Housing: 1-1903130-3 Housing: 1-1827864-3 Pin no. Lead wire color Signal name Pin no. Lead wire color Signal name
Terminal: 1903112-2 Terminal: 1827570-2 A1 Blue Motor lead wire 1 (A1) Blue Motor lead wire
Manufacturer: Tyco Electronics Japan Manufacturer: Tyco Electronics Japan B1 Orange Motor lead wire 2 (B1) Orange Motor lead wire
3000±50 A2 Red Motor lead wire 3 (A2) Red Motor lead wire
B2 Yellow Motor lead wire 4 (B2) Yellow Motor lead wire
Lead wire AWG22 Motor cable

UL 2517 A3 White Brake lead wire 5 (A3) White Brake lead wire
B3 Black Brake lead wire 6 (B3) Black Brake lead wire
Connector set: PBC7M0000A

Manufacturer model no. Quantity
Housing: 1-1903130-3 1
Terminal: 1903112-2 6
Housing: 1-1827864-3 1
Terminal: 1827570-2 6
Manufacturer: Tyco Electronics Japan G.K.
Encoder extension cable Model no.: PBC7E0030A
Multi-axis

Terminal: 1903111-2 Terminal: 1827569-2 A1 Blue CHANNEL A A1 Blue CHANNEL A
Manufacturer: Tyco Electronics Japan Manufacturer: Tyco Electronics Japan B1 Brown CHANNEL A B1 Brown CHANNEL A
3000±50 A2 Green CHANNEL B A2 Green CHANNEL B
B2 Purple CHANNEL B B2 Purple CHANNEL B
Lead wire AWG28 Encoder cable
A3 White CHANNEL Z A3 White CHANNEL Z
UL 20276
B3 Yellow CHANNEL Z B3 Yellow CHANNEL Z
A4 Red +5 V A4 Red +5 V
B4 Black 0V B4 Black 0V
A5 N.C. – A5 N.C. –
B5 Orange OVER HEAT B5 Orange OVER HEAT
A6 Black Shield A6 Black Shield
B6 N.C. – B6 N.C. –
Connector set: PBC7E0000A

Housing: 1-1903130-6 1
Terminal: 1903112-2 10
Housing: 1-1827864-6 1
Terminal: 1827569-2 10
I/O signal cable (unshielded) Model no.: PBC5S0010A（Type R only）

1000 Cable connection Connector set: PBC5S0000A
Cable 1 Cable 2 Manufacturer model no. Quantity
B1 A1-No. 1 B1-No. 14 Connector: 8822E-026-171D-F 1
A1▷ A2-No. 2 B2-No. 15 Manufacturer: KEL CORPORATION
A3-No. 3 B3-No. 16
A4-No. 4 B4-No. 17
A5-No. 5 B5-No. 18
A6-No. 6 B6-No. 19
A13 A7-No. 7 B7-No. 20
Options
B13 Cable mark A8-No. 8 B8-No. 21

A9-No. 9 B9-No. 22
Flat cable UL 2962 AWG28 A10-No. 10 B10-No. 23
Cable 1 A11-No. 11 B11-No. 24
A12-No. 12 B12-No. 25
A13-No. 13 B13-No. 26
Cable 2
1 mm max.
87
Options
Options Unit in figures: mm
■ For AC input (Type R, Type P)
I/O signal cable (shielded) Model no.: PBC5S0010C

1000±50 CN wiring
CN1 pin no. Mark indication Mark Wire color CN1 pin no. Mark indication Mark Wire color
A1 Red B1 Black Gray
A1▷ B1 Orange
A2 Black B2 Red
White
A3 Red B3 Black
Gray
A4 Black B4 ｜ Red
Yellow
A5 Red B5 ｜ Black
｜ White
A13 B13 A6 Black B6 Red
Pink
A7 Red B7 Black
Yellow
A8 Black B8 Red
150±10
Orange
A9 Red B9 Black
Pink ｜
A10 Black B10 Red
｜ Gray
A11 Red B11 ｜
Black
｜ Orange
A12 Black B12 Red
｜ White
A13 Red Gray B13 Black
Connector set: PBC5S0000A

Connector: 8822E-026-171D-F 1
Manufacturer: KEL CORPORATION
Communication Cable (between drivers) Model no.: PBC6C0003A（Type R only）

10 9 Wiring between connectors Connector set: PBC6C0000A
1 Signal CNA CNB Signal Manufacturer model no. Quantity
name pin no. pin no. name
Yellow Yellow Housing: PADP-10V-1-S 1
A 1 1 A
White White Contact: SPH-002T-P0.5L 10
9 B 2 2 B
Brown Brown Manufacturer: J.S.T.
300±30 (Y) 3 3 (Y)
2 1 Blue Blue
(Z) 4 4 (Z)
Black Black
GND 5 5 GND
Vcc 6 6 Vcc
Purple Purple
PCA 7 7 PCA
Green Green
PCB 8 8 PCB
24V 9 9 24 V
Drain Drain
GND 10 10 GND
Limit Input Cable Model no.: PBC7S0010A（Type P only）

Housing: DF11-10DS-2C Connections of driver side connectors Connector set: PBC7S0000A
Contact: DF11-22SCA
Pin no. Lead wire color Signal name Manufacturer model no. Quantity
Manufacturer: HIROSE ELECTRIC
1 Red – Housing: DF11-10DS-2C 1
AWG22 Stranded wire UL 3266 2 Blue – Contact: DF11-2428SCA 10
3 Black Forward direction limit Manufacturer: HIROSE ELECTRIC CO., LTD.
4 Black Forward direction limit
10 9
5 Black Reverse direction limit
6 Black Reverse direction limit
7 N.C. –
8 N.C. –
9 N.C. –
2 1
1000±30 10 N.C. –
88
■ For DC input (Type M)
Power cable Model no.: PBC6P0010A

UL 1430 AWG18 (34/0.18) Connections of driver side connectors Connector set: PBC6P0000A
300 V, 105°C
1000±50 Pin no. Lead wire color Signal name Manufacturer model no. Quantity
1 Red DC+24/48 V Connector: VHR-4N 1
2 Blue GND Contact: SVH-41T-P1.1 4
4321
3 Yellow (24 VDC) * Manufacturer: J.S.T.

4 Green FG
* Connect control circuit power supply only for drivers
with model numbers ending with“1” .
Motor extension cable Model no.: PBC6M0030A
Terminal: 1318109-1 Terminal: 1318105-1 A1 Blue Motor lead wire 1 (A1) Blue Motor lead wire
Manufacturer: Tyco Electronics Japan Manufacturer: Tyco Electronics Japan B1 Orange Motor lead wire 2 (B1) Orange Motor lead wire
A2 Red Motor lead wire 3 (A2) Red Motor lead wire
3000±50

B2 Yellow Motor lead wire 4 (B2) Yellow Motor lead wire
A3 White Brake lead wire 5 (A3) White Brake lead wire
B3 Black Brake lead wire 6 (B3) Black Brake lead wire
Lead wire UL 1430 AWG22

Connector set: PBC6M0000A
UL Vinyl tube Manufacturer model no. Quantity
Housing: 1-1318115-3 1
Terminal: 1318109-1 6
Housing: 1-1318119-3 1
Terminal: 1318105-1 6
Encoder extension cable Model no.: PBC6E0030A
Multi-axis

Terminal: 1318110-1 Terminal: 1318106-1 A1 Blue CHANNEL A 1 (A1) Blue CHANNEL A
Manufacturer: Tyco Electronics Japan Manufacturer: Tyco Electronics Japan B1 Brown CHANNEL A 2 (B1) Brown CHANNEL A
A2 Green CHANNEL B 3 (A2) Green CHANNEL B
3000±50
B2 Purple CHANNEL B 4 (B2) Purple CHANNEL B
Lead wire AWG28 Encoder cable A3 White CHANNEL Z 5 (A3) White CHANNEL Z
UL 20276 B3 Yellow CHANNEL Z 6 (B3) Yellow CHANNEL Z
A4 Red +5 V 7 (A4) Red +5 V
B4 Black 0V 8 (B4) Black 0V
A5 N.C. – 9 (A5) N.C. –
B5 Orange OVER HEAT 10 (B5) Orange OVER HEAT
A6 Black Shield 11 (A6) Black Shield
B6 N.C. – 12 (B6) N.C. –

Housing: 1-1318115-6 1
Terminal: 1318110-1 10
Housing: 1-1318118-6 1
Terminal: 1318106-1 10
I/O signal cable (unshielded) Model no.: PBC5S0010A

1000 Cable connection Connector set: PBC5S0000A
Cable 1 Cable 2 Manufacturer model no. Quantity
B1 A1-No. 1 B1-No. 14 Connector: 8822E-026-171D-F 1
A1▷ A2-No. 2 B2-No. 15 Manufacturer: KEL CORPORATION
A3-No. 3 B3-No. 16
A4-No. 4 B4-No. 17
A5-No. 5 B5-No. 18
A6-No. 6 B6-No. 19
Options
A13 A7-No. 7 B7-No. 20

B13 Cable mark A8-No. 8 B8-No. 21
A9-No. 9 B9-No. 22
Flat cable UL 2962 AWG28 A10-No. 10 B10-No. 23
Cable 1 A11-No. 11 B11-No. 24
A12-No. 12 B12-No. 25
A13-No. 13 B13-No. 26
Cable 2
1 mm max.
89
Options
Options Unit in figures: mm
■ For DC input (Type M)
I/O signal cable (shielded) Model no.: PBC5S0010C

1000±50 CN wiring
CN1 pin no. Mark indication Mark Wire color CN1 pin no. Mark indication Mark Wire color
A1 Red B1 Black Gray
A1▷ B1 Orange
A2 Black B2 Red
White
A3 Red B3 Black
Gray
A4 Black B4 ｜ Red
Yellow
A5 Red B5 ｜ Black
｜ White
A13 B13 A6 Black B6 Red
Pink
A7 Red B7 Black
Yellow
A8 Black B8 Red
150±10
Orange
A9 Red B9 Black
Pink ｜
A10 Black B10 Red
｜ Gray
A11 Red B11 ｜
Black
｜ Orange
A12 Black B12 Red
｜ White
A13 Red Gray B13 Black
Connector set: PBC5S0000A

Connector: 8822E-026-171D-F 1
Manufacturer: KEL CORPORATION
Communication cable (between drivers) Model no.: PBC6C0003A

10 9 Wiring between connectors Connector set: PBC6C0000A
Signal CNA CNB Signal Manufacturer model no. Quantity
1 name pin no. pin no. name
Yellow Yellow Housing: PADP-10V-1-S 1
A 1 1 A
9 White White Contact: SPH-002T-P0.5L 10
B 2 2 B
Brown Brown Manufacturer: J.S.T.
(Y) 3 3 (Y)
2 1 300±30 Blue Blue
(Z) 4 4 (Z)
Black Black
GND 5 5 GND
Red Red
Vcc 6 6 Vcc
Purple Purple
7 7
Green Green
8 8
9 9
Drain Drain
FG 10 10 FG
■ For DC input (Type P Multi-axis, Type E Multi-axis)
Power cable Model no.: PBC10P0010A，PBC10P0020A

Driver side connector Connections of driver side connectors Connector set: PBC10P0000A
Housing: 5557-08R CN1, CN2 Lead wire Manufacturer model no. Quantity
Contact: 5556TL UL 1430 AWG18 (34/0.18) Name
pin no. color Connector: 5557-08R_NATURAL 1
Manufacturer: molex 300 V, 105°
C 1 FG Green Contact: 5556TL 8
L Control circuit power
2 Gray Manufacturer: Molex Japan Co., Ltd.
supply ground
Main circuit power
3 Blue
supply ground
Main circuit power
4 Red
supply 24/48 VDC
5 FG Green
Cable length: L (m) Model no. Control circuit power
6 Yellow
1.0 PBC10P0010A supply 24 VDC
2.0 PBC10P0020A Main circuit power
7 Blue
supply ground
Main circuit power
8 Red
supply 24/48 VDC
Power cable (between drivers) Model no.: PBC10P0002B

Driver side connector UL 1430 AWG18 (34/0.18) Connections of driver side connectors Connector set: PBC10P0000A
Housing: 5557-08R C
300 V, 105° CN1, CN2 Lead wire Manufacturer model no. Quantity
Contact: 5556TL Name
pin no. color Connector: 5557-08R_NATURAL 1
Manufacturer: molex
220±20 1 FG Green Contact: 5556TL 8
Control circuit power Manufacturer: Molex Japan Co., Ltd.
2 Gray
supply ground
Main circuit power
3 Blue
supply ground
Main circuit power
4 Red
supply 24/48 VDC
5 FG Green
Control circuit power
6 Yellow
supply 24 VDC
Main circuit power
7 Blue
supply ground
Main circuit power
8 Red
supply 24/48 VDC
90
Motor extension cable Model no.: PBC8M0010A，PBC8M0030A，PBC8M0050A

Motor side connector Driver side connector Connections of encoder side connectors Connections of driver side connectors
Housing: 2-1903130-3 Housing：2-1827864-3 Pin no. Lead wire color Signal name Pin no. Lead wire color Signal name
Terminal: 1903112-2 Terminal: 1827570-2 A1 Blue Motor lead wire A1 Blue Motor lead wire
Manufacturer: Tyco Electronics Japan Manufacturer: Tyco Electronics Japan
B1 Orange Motor lead wire B1 Orange Motor lead wire
L A2 Red Motor lead wire A2 Red Motor lead wire

B2 Yellow Motor lead wire B2 Yellow Motor lead wire
Lead wire AWG22
A3 White Brake lead wire A3 White Brake lead wire
B3 Black Brake lead wire B3 Black Brake lead wire
Encoder cable Connector set: PBC8M0000A

UL 2517 Manufacturer model no. Quantity
Housing: 2-1827864-3 1
Cable length: L (m) Model no. Terminal: 1827570-2 6
1.0 PBC8M0010A Housing: 2-1903130-3 1
3.0 PBC8M0030A Terminal: 1903112-2 6
5.0 PBC8M0050A Manufacturer: Tyco Electronics Japan G.K.
Encoder extension cable Model no.: PBC7E0010A，PBC7E0030A，PBC7E0050A

Motor side connector Driver side connector Connections of encoder side connectors
Housing: 1-1903130-6 Housing：1-1827864-6 Optical incremental Battery-less optical absolute
Terminal: 1903111-2 Terminal：1827569-2 Pin no. Lead wire color Signal name Signal name
Manufacturer: Tyco Electronics Japan Manufacturer：Tyco Electronics Japan
A1 Blue CHANNEL A ES+
L B1 Brown CHANNEL A ES-
Lead wire AWG28 Encoder cable A2 Green CHANNEL B –
UL 20276 B2 Purple CHANNEL B –
A3 White CHANNEL Z –
B3 Yellow CHANNEL Z –
A4 Red +5 V +5 V
B4 Black 0V 0V
Cable length: L (m) Model no. A5 N.C. – –
1.0 PBC7E0010A B5 Orange OVER HEAT –
Multi-axis
3.0 PBC7E0030A A6 Black Shield Shield
5.0 PBC7E0050A B6 N.C. – –

Connections of driver side connectors
Optical incremental Battery-less optical absolute
Pin no. Lead wire color Signal name Signal name
A1 Blue CHANNEL A ES+
B1 Brown CHANNEL A ES-
A2 Green CHANNEL B –
B2 Purple CHANNEL B –
A3 White CHANNEL Z –
B3 Yellow CHANNEL Z –
A4 Red +5 V +5 V
B4 Black 0V 0V
A5 N.C. – –
B5 Orange OVER HEAT –
A6 Black Shield Shield

B6 N.C. – –

Housing: 1-1827864-6 1
Terminal: 1827569-2 10
Housing: 1-1903130-6 1
Terminal: 1903111-2 10
Options
91
Options
Options Unit in figures: mm
I/O signal cable Model no.: PBC8S0010C（Type P Multi-axis only）

1020±20
10350
3M
Shielded wire
Shell: 10350-52A0-008
Plug: 10150-3000PE
Connector wiring: Terminal name Connector set: PBC8S0000C

Terminal Signal Insulator Print mark Print mark Terminal Signal Insulator Print mark Print mark Manufacturer model no. Quantity
number name color type color number name color type color Shell kit: 10350-52A0-008 1
1 CW1+ Orange 1 Red 26 CW3+ White 3 Black Plug: 10150-3000PE 1
2 CW1- Orange 1 Black 27 CW3- Yellow 3 Red Manufacturer: 3M Japan Limited
3 CCW1+ Gray 1 Red 28 CCW3+ Yellow 3 Black
4 CCW1- Gray 1 Black 29 CCW3- Pink 3 Red
5 CW2+ White 1 Red 30 CW4+ Pink 3 Black
6 CW2- White 1 Black 31 CW4- Orange 4 Red
7 CCW2+ Yellow 1 Red 32 CCW4+ Orange 4 Black
8 CCW2- Yellow 1 Black 33 CCW4- Gray 4 Red
9 COMI Pink 1 Red 34 01 Gray 4 Black
10 I1 Pink 1 Black 35 02 White 4 Red
11 I2 Orange 2 Red 36 03 White 4 Black
12 I3 Orange 2 Black 37 04 Yellow 4 Red
13 I4 Gray 2 Red 38 05 Yellow 4 Black
14 I5 Gray 2 Black 39 06 Pink 4 Red
15 I6 White 2 Red 40 07 Pink 4 Black
16 I7 White 2 Black 41 08 Orange 5 Red
17 I8 Yellow 2 Red 42 09 Orange 5 Black
18 I9 Yellow 2 Black 43 010 Gray 5 Red
19 I10 Pink 2 Red 44 011 Gray 5 Black
20 I11 Pink 2 Black 45 012 White 5 Red
21 I12 Orange 3 Red 46 013 White 5 Black
22 I13 Orange 3 Black 47 Yellow 5 Red
23 Gray 3 Red 48 Yellow 5 Black
24 Gray 3 Black 49 COMO Pink 5 Red
25 White 3 Red 50 COMO Pink 5 Black
Drain wire Shielding*
* Follow instructions on the diagram for shielding drain

wires.
Print mark type

Mark type Shape
No. 1
No. 2
No. 3
No. 4
No. 5
Regenerative unit (Unit: mm)

Model no.: PBFE-02
20±1 36 2-ø4 71
26
4
4
82
90
3
Regeneration resistor (10 Ω)
* TB1: Terminal block wiring screw M3

3
Tightening torque 0.6 N·m

** The external regenerative resistor is installed on the back side.
92
■ For DC input (Type E Multi-axis)
PC communication cable Model no.: AL-00896515-01

Model no.: AL-00896515-02
L Cable length: L (m) Model no.
1.0 AL-00896515-01
2.0 AL-00896515-02

PC side (Series A) Driver side (Series mini B)
I/O signal cable Model no.: PBC9S0010C

1020±20
Shielded wire
Shell: HDR-E50LPH
Plug: HDR-E50MAG1+

Connector wiring: Terminal name Connector set: PBC9S0000C
Terminal Signal Insulator Print mark Print mark Terminal Signal Insulator Print mark Print mark Manufacturer model no. Quantity
number name color type color number name color type color Shell kit: HDR-E50LPH 1
1 COMI Orange 1 Red 26 OUT1 Yellow 3 Red Plug: HDR-E50MAG1+ 1
2 COMI Orange 1 Black 27 OUT1G Yellow 3 Black Manufacturer: HONDA TSUSHIN KOGYO CO., LTD.
3 NLMT1 Gray 1 Red 28 OUT2 Pink 3 Red
4 PLMT1 Gray 1 Black 29 OUT2G Pink 3 Black
5 HOME1 White 1 Red 30 OUT3 Orange 4 Red
6 TPRB1 White 1 Black 31 OUT3G Orange 4 Black
7 NLMT2 Yellow 1 Red 32 OUT4 Gray 4 Red
8 PLMT2 Yellow 1 Black 33 OUT4G Gray 4 Black
Multi-axis
9 HOME2 Pink 1 Red 34 OUT5 White 4 Red
10 TPRB2 Pink 1 Black 35 OUT5G White 4 Black
11 NLMT3 Orange 2 Red 36 OUT6 Yellow 4 Red

12 PLMT3 Orange 2 Black 37 OUT6G Yellow 4 Black
13 HOME3 Gray 2 Red 38 OUT7 Pink 4 Red
14 TPRB3 Gray 2 Black 39 OUT7G Pink 4 Black
15 NLMT4 White 2 Red 40 OUT8 Orange 5 Red
16 PLMT4 White 2 Black 41 OUT8G Orange 5 Black
17 HOME4 Yellow 2 Red 42 OUT9 Gray 5 Red
18 TPRB4 Yellow 2 Black 43 OUT9G Gray 5 Black
19 N.C Pink 2 Red 44 OUT10 White 5 Red
20 N.C Pink 2 Black 45 OUT10G White 5 Black
21 N.C Orange 3 Red 46 OUT11 Yellow 5 Red
22 N.C Orange 3 Black 47 OUT11G Yellow 5 Black
23 N.C Gray 3 Red 48 OUT12 Pink 5 Red
24 N.C Gray 3 Black 49 OUT12G Pink 5 Black
25 N.C White 3 Red 50 N.C White 3 Black

Print mark type
Mark type Shape
No. 1
No. 2
No. 3
No. 4
No. 5 （連続）
Options
93
Safety Precautions
The products in this catalog are designed to be used with general industrial devices. When using, pay sufficient attention to the following:
・ Read the Instruction Manual carefully prior to installation, assembly, and/or operation for the correct usage of the product.
・ Never attempt to disassemble or alter the product in any way.
・ Contact us or your point of sale for installation or maintenance services of the product.
・ Regarding the following uses of the product, consult us in advance because special considerations are required for operation, maintenance,
and management such as dualization of systems, introduction of an emergency generator, and so forth.
❶ Use in medical equipment that may affect people’ s lives or cause bodily injury
❷ Use in transportation systems or transport-related equipment such as trains or elevators, that may affect people’
s lives or cause
bodily injury
❸ Use in computer systems that may have an impact on society or on the public
❹ Use in other devices that have a major impact on human safety or on maintaining public operations
・ In addition to the above, contact us or your point of sale for use in an environment where vibrations occur, such as in automobiles or
transportation systems.
・ For use in space, aviation, or nuclear power-related applications, contact us or your point of sale.
・ The products shown in this catalog are subject to Japanese Export Control Law. Diversion contrary to the law of exporting country is
prohibited.
Safety Information
Warning Labels on Products
Products bear the following Warning Labels to indicate precautions, depending on the model.
This label is attached to high voltage parts such as electrically charged or cover-protected parts,
indicating the risk of electric shock.
This label is attached to the GND terminals of a driver, recommending that the terminals should be well grounded.
This label is attached to certain areas of a driver where voltages exceeding specified limits are used,
drawing attention to the risk of electric shock.
Indicates that the motor may get hot, resulting in burns.
Indicates that the motor should be grounded.
Safety Alert Symbols

The following symbols are used in the manual to indicate potential hazardous situations and important actions.
Denotes immediate hazards that may cause severe bodily injury or death as a result of incorrect operation.
Denotes hazards that could cause bodily injury and product or property damage as a result of incorrect operation.
Even those hazards denoted by the symbol could lead to a serious accident.
Make sure to strictly follow these safety precautions.
Indicates actions that must not be allowed to occur (prohibited actions).
MANDATORY Indicates actions that must be carried out (mandatory actions).
94
4. Do not use a damaged driver or motor. Doing so may cause
injury, fire or the like.
5. Use the driver and motor in the designated combination. Using
General otherwise may cause fire or failure.
1. Do not use the product in an explosive, fl ammable or corrosive 6. The operating driver, motor, and peripheral devices become very
atmosphere, watery place or near a combustible material. hot. Be careful so as not to get burned.
Doing so may cause injury or fire. 7. Never disassemble, repair, modify, or remanufacture this prod-
2. Have a person with expert knowledge on hand for performing uct. Doing so may result in electric shock, injury, or fire.
the transportation, installation, wiring, operation, maintenance or 8. Do not remove the nameplate. Using this product with an incor-
inspection of the product. Without such knowledge, it may cause rect rating may result in fire.
an electric shock, injury or fire. 9. Be careful that this product does not fall or tip over when han-
3. Do not work on wiring, maintenance servicing or inspection dling, as this can be dangerous.
with the electric power on. Perform either of those five minutes
after turning the power off. Failure to do so may cause an electric Unpacking
shock. 10. Confirm that the bottom and top of the box are facing correctly
4. When the protective functions of the product is activated, turn while unpacking. Failure to do so may cause injury.
the power off immediately and eliminate the cause. If continuing 11. Confirm that the product is the one that you have ordered.
the operation without eliminating the cause, the product may op- Installing an incorrect product may cause a breakdown.
erate improperly and cause injury or a breakdown of the system Wiring
devices. 12. Do not measure the insulation resistance or dielectric voltage of
5. The motor may have step-out during operation or when it stops the product. Doing so may cause a breakdown. Contact us or your
depending on the magnitude of the load. Before using this prod- point of sale instead, if such a measurement is required.
uct, perform adequate trial operations under the maximum load 13. Perform wiring conforming to the technical standards of elec-
conditions to check that the product operates reliably. Failure to tric facility or the wiring rule. Doing otherwise may cause burn-
do so may cause a breakdown of the system. (When the product ing or fire.
is used to drive upward/downward, the load may fall off due to 14. Ensure that wiring are done correctly. Incorrect wiring may cause
step-out.) the motor to run out of control, resulting in injury.
6. Do not touch the internal parts of the driver. Doing so may cause 15. Make sure to insulate the included capacitor and terminals for ex-
an electric shock. ternal resistor connection. Failure to do so may cause an electric
Wiring shock.
7. Do not connect the motor directly to a commercial power out- Installation
let. Doing so may cause an electric shock, injury or fire. Power 16. Do not step on, or stack heavy items on the product. Doing so
should be supplied to the motor through the driving circuit. may cause injury.
8. Use an electric power source within the rated input voltage. 17. Make sure that the intake and exhaust ports are not blocked or
Using otherwise may cause fire or an electric shock. stuffed by foreign substances. Failure to do so may cause fire.
9. Connect the driver and motor to the ground. Using without 18. Make sure to follow the specified driver mounting orientation.
grounding may cause an electric shock. Failure to do so may cause failure.
10. Do not harm, forcibly put a stress, or load a heavy article on the 19. Keep a distance as instructed by the Instruction Manual for the
cable or get it caught between the articles. Doing so may cause driver from the inner surface of the control console or other devic-
an electric shock. es. Failure to do so may cause failure.
11. Perform wiring with the power cable as instructed by the wiring 20. Place the product with great care so as to prevent from danger
diagram or the Instruction Manual. Doing otherwise may cause an such as a tumble or a turnover.
electric shock or fire. 21. Mount the product on an incombustible material such as metal.
12. Do not move the motor cable, as it is not a movable cable. Doing Failure to do so may cause fire, injury, or damage to product.
so may result in electric shock, injury, or fire. 22. Do not place combustible material around this product. Failure
Operation to do so may result in fire or burns.
13. Do not touch the rotating part of the motor during its operation. 23. Be sure to provide an adequate ventilation path when installing
Touching it may cause injury. this product, and do not block the intake and exhaust ports. Failure
14. Do not reach or touch the electric terminals while electric power to do so may result in electric shock, fire, or device breakdown.
is on. Doing so may cause an electric shock. 24. Confirm the rotating direction before connecting with the
15. Never disconnect any of the connectors while electric power is mechanical device. Failure to do so may cause injury or a
on. Doing so may cause an electric shock and corruption. breakdown.
16. Do not operate this product with live parts exposed. Doing so may 25. Do not touch the motor output shaft (including the key slot and
result in electric shock. gears) with your bare hand. Doing so may cause injury.
17. If smoke, fire, unusual smells, or unusual sounds are produced 26. Make sure not to apply excessive force to the output shaft.
from the driver or motor, turn off the power and stop using this Operation
product immediately. Not doing so may result in electric shock, 27. The motor is not equipped with any protective device. Take pro-
injury, or fire. tective measures using an over-current protective relay, a ground
fault interrupter, a protective device from excess temperature,
and an emergency stopping device. Failure to do so may cause
injury or fire.
General 28. Do not touch the product while the power is on or for a while after
1. Prior to installation, operation, maintenance servicing or inspec- the power is turned off since the driver and motor remain very
tion, be sure to read the Instruction Manual and follow the instruc- hot. Doing so may cause burns. In particular, the temperature
tions to perform. Failure to follow the instructions may cause an of the motor may rise considerably depending on the operating
electric shock, injury or fire. conditions. Maintain motor surface temperature at 85°C or lower
2. Do not use the driver or the motor under conditions that exceed while in use.
the specification values. Doing so may cause an electric shock, 29. Stop operations immediately when an emergency occurs.
injury or fire. Failure to do so may cause an electric shock, injury, or fire.
3. Do not insert a fi nger or an object into the opening of the prod- 30. Do not change adjustment to an extreme, for such a change re-
uct. Doing so may cause an electric shock, injury or fire. sults in unstable operation and may cause injury.
95
31. When performing a trial operation, fasten the motor and discon- Transportation
nect it from the mechanical system. Check the operation, then 5. Excess loading of the product on the carrier may cause the load to
connect it to the machine. Failure to do so may cause injury. fall in pieces. Follow the instructions given outside the package.
32. When the alarm has been activated, eliminate the cause and
ensure safety before resuming operations. Failure to do so may
cause injury.
33. When the electric power recovers after a momentary interrup-
tion, do not approach the devices because the system may restart
operation by itself. (Set the system so as to secure the safety
even when it restarts on such occasions.) Failure to do so may
cause injury.
34. Confirm that the electric power supply properly conforms to the
product specifications. Failure to do so may cause failure.
35. The brake mechanism of the motor with the electromagnetic
brake is used to hold the movable section and the motor position.
Do not use it as a safety measure. Doing so may cause the break-
down of the system.
36. Firmly stabilize the key when operating the motor with the key
individually. Failure to do so may cause injury.
37. For use in applications where varying loads are applied to the
shaft, contact us in advance. Use in environments with varying
loads might result in equipment failure.
Maintenance
38. Driver and motor frames become very hot. Be careful when per-
forming maintenance or inspection. Failure to do so may cause
burns.
39. It is recommended to replace the electrolytic condenser of the
driver with a new one for securing the preventive measure after
using for 5 years (the expected life in an average operating envi-
ronment of 40°C). The expected life of the fuse is 10 years in an
average operating environment of 40°C. Thus, periodical replace-
ment is recommended.
40. Contact us or your point of sale for repair. If the product is disas-
sembled by the user, it may become inoperable.
Transportation
41. Handle the product with care during transportation so as to pre-
vent from dangers such as tumbling or overturning.
42. Do not hold with the cable or the motor spindle. Doing so may
cause trouble or injury.
Disposal
43. Dispose of stepping drivers and motors as industrial waste.
Storage
1. Avoid storing this product in places exposed to rain or water
drops, or in an environment with hazardous gas or liquid. Failure
to do so may cause trouble.
Maintenance
2. Do not disassemble or repair the product. Doing so may cause
fire or an electric shock.
General
3. Do not remove the nameplate. Using this product with an incor-
rect rating may result in fire.
MANDATORY
Storage
1. Store the product in a location that is not exposed to sunlight, at
a temperature and humidity within the product specifications.
2. If the driver has been stored for a long period (3 years or longer
as a general guide), contact us. The capacitance may have de-
creased with the electrolytic condenser due to the long period
storage, which may cause failure.
Operation
3. Install an external emergency stop circuit to turn the power off in
the event that operation must be instantly halted.
4. Operate products within the specifi ed ambient temperature
and humidity for each.
96
MEMO
97
MEMO
98
■Selection materials for each mechanism
The diagrams below depict representative mechanisms and the points used in their selection. Notify us of the information
shown here when requesting us to make a selection.
Ball screw Rack and pinion
Work External force Work External force
Table Rack
Pinion
D
M D
P
L
M
External force F N External force F N

Weight of work+table W kg Work+rack weight W kg
Ball screw diameter D m Pinion diameter D m
Ball screw length L m Pinion thickness L m
Ball screw lead P m Pinion material specific gravity ρ kg/m3
Ball screw material specific gravity ρ kg/m 3
Friction coefficient μ
Friction coefficient μ Gear ratio* G
Gear ratio* G Mechanical efficiency η
Mechanical efficiency η
Belt drive Roll feed

External L L
force
Work
F
D
Timing belt M
D
M
External force F N Sheet tension F N

Work+belt weight W kg Roll diameter D m
Pulley diameter D m Roll width L m
Pulley width L m Roll material specific gravity ρ kg/m3
Pulley material specific gravity ρ kg/m3 Roll moment of inertia J kg・m2
Pulley moment of inertia J kg・m 2
Gear ratio* G
Gear ratio* G Mechanical efficiency η
Mechanical efficiency η
Rotary table
Dt
Dh
*How to find the gear ratio (G)

Table weight W kg
G2 Ball screw
Table diameter Dt m
Table support diameter Dh m
Table moment of inertia J kg・m2 M
G1
Support area friction coefficient μ
Gear ratio* G Number of ball screw gears (G2)
G＝
Mechanical efficiency η Number of motor gears (G1)
99
■ ECO PRODUCTS
ECO PRODUCTS are designed to reduce the environmental impacts throughout the product's life cycle. Ranging from design to manufacturing stages,
the environmental impact of a product and its packaging materials is assessed against the eco-design requirements.
Those products that satisfy the requirements are accredited as ECO PRODUCTS.
3-33-1 Minami-Otsuka, Toshima-ku, Tokyo 170-8451, Japan TEL: +81 3 5927 1020 https://www.sanyodenki.com/
The names of companies and/or their products specified in this document are the trade names, and/or trademarks and/or registered trademarks of such respective companies.
San Ace, SANUPS, and SANMOTION are registered trademarks of SANYO DENKI CO., LTD.
Specifications are subject to change without notice.
CATALOG No. S0783B021 '22.8

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CLOSED LOOP STEPPING SYSTEMS

DC Input Drivers / Motors

Type E Multi-axis (EtherCAT interface) ･･ p. 62

Motor Dimensions ･････････････････ p. 78

Open loop control while stopped

Current control Motor Stopped Rotating Stopped

Feedback Closed loop control while rotating

* In compliance from July 2022 production onwards.

Available torque for open loop systems

Energy saving Low vibration

Stable stop Device startup support and analysis function

Point command control with host

Control with pulse generator ―

Point command control with

Control with pulse generator

24/48 VDC (Only 24 VDC is available for the following cases:

Network control with serial communication Control with pulse generator

Compatible Driver / Motor / Option Combinations

Input power supply 24/48 VDC

How to Read Model Numbers

Set model number

Holding brake B: Equipped *

Driver model number

Motor excitation current 002: 2 A 003: 3 A

Cable model number

AC Input Set Models

Set Model Configurations▶p. 15 Driver Dimensions▶p. 16

System Configuration Diagram

To be provided by the customer. 8 to 10

AC Input Set Models Type R

(allowable torque* Gear Backlash Driver power supply Power cable,

Power cable (1 m):

AC Input Set Models Type P

DC Input Set Models Type M

DC Input Drivers / Motors Type P

42×42×88.3 0.35 – – – Single-phase 100 to 115 VAC PBA1R423-B PBM423FCK30-M PB4A002R300 p. 30 p. 32

DC Input Drivers / Motors Type E Multi-axis

Options and Peripherals

Driver Dimensions Unit: mm

Do not touch drive unit or terminal cover during power

Be sure that the charge lamp is off at the time of

Fear of a burn! Do not touch a heat sink.

CN3 Connect earth terminal against electric shock.

Operation environment Installation category (overvoltage category): II, Pollution degree: 2

signal Pause, Jog, and Inter lock)

AC Input Set Models Type R

AC Input Set Models Type P

Holding brake Motor

DC Input Set Models Type M

DC Input Drivers / Motors Type P

DC Input Drivers / Motors Type E Multi-axis

Holding brake Motor

* When using with single-phase power supply, wire to pins 2 and 4.

AC Input Set Models Type R

AC Input Set Models Type P

DC Input Drivers / Motors Type P

DC Input Drivers / Motors Type E Multi-axis

6 Overload stop error H

Table 2 Motor selection