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Stepping Motors
Introduction
C
C-2
AC Input
Introduction
AC Input
AS Series C-12
AS ASC
DC Input
DC Input
AC Input
5-Phase RK
5-Phase CRK
DC Input
2-Phase CMK
2-Phase CSK
C-188
C-242
Controllers
Controllers
C-248
Accessories
Accessories
C-252
Installation
Installation
C-272
C-1
Voltage
C-2
Stepping Motors
Features
b Accurate Positioning in Fine Steps
A stepping motor rotates in step angle, just like the second hand of a clock. This angle is called "basic step angle." Oriental Motor offers 5-phase stepping motors with a basic step angle of 0.72 and 2-phase stepping motors with a basic step angle of 1.8.
0.72
Stepping Motor
1 Pulse
1 Pulse
0.72
10 Pulses
7.2
: Rotation angle of the motor output shaft [deg] s : Step angle [deg/step] A : Pulse number [pulses]
90
500 Hz
60 r/min
1000 Hz
120 r/min
s 360
60
N : Speed of the motor output shaft [r/min] s : Step angle [deg/step] f : Pulse speed [Hz]
(Number of pulses input per second)
2000 Hz
Basic Step Angle 0.72/Step
240 r/min
Stepping Motors
Introduction
1.5 Torque [N m]
1.0
0.5
AC Input
0 0 0 10
AS
1000 20
2000 3000 Speed [r/min] 30 40 50 60 Pulse Speed [kHz] (Resolution Setting:1000 P/R)
4000
DC Input
ASC
External Force
AC Input
5-Phase RK
Coupling
Once the power is cut off, the self-holding torque of the motor is lost and the motor can no longer be held at the stopped position in vertical-drive operations or when an external force is applied. In lift and similar applications, use an electromagnetic brake type.
5-Phase CRK
DC Input
AS Series
Accessories
Driver
Current
Motor
Installation
C-3
C-4
Stepping Motors
Motor Types
Stepping motors come in different types including the standard type, electromagnetic brake type, and various geared types. The availability of such a wide selection means, that you can choose an optimal type according to the function and performance required in your specific application. Let's use the AS Series as an example to look at the different types of motors more closely. For details on the types available with other series, check the pages where each product is listed.
b Standard Type
A basic model that is easy to use and designed with a balanced set of functions and characteristics.
b Geared Type
These motors incorporate a dedicated position-control gearhead with reduced backlash to make the most of the high controllability of the motor. The gearhead ensures highly accurate, smooth operation even in applications where a large torque is received.
Gear Unit
Permissible Torque [N m] 12 37 37 37
b Values shown above are representative values. They vary depending on the products.
Stepping Motors
Introduction AS
C-5
Function
Line Up
C-6
Stepping Motors
b AC Input Type
Power Supply Input AC Input Single-Phase 200-230 VAC AS Series1 Built-In Controller (Stored Program) Package RK Series2
Series
Features
Closed loop control High response No hunting Low vibration Closed loop control High response No hunting Low vibration Space-saving, simple wiring Low vibration, low noise due to smooth drive function High-resolution control is possible by microstepping
Closed loop control stepping motors Closed loop control stepping motors 0.36(Resolution setting: 1000 P/R) Microstep 0.72, 0.36, 0.072, 0.036 0.36(Resolution setting: 1000 P/R) Microstep 0.72 0.036
3 3
Overcurrent/overheat overload/overvoltage
Overcurrent/overheat overload/overvoltage
Overheat output
1 For the single-phase 100-115 VAC models and three-phase 200-230 VAC models, please contact the nearest Oriental Motor sales office. 2 For the single-phase 100-115 VAC models, please contact the nearest Oriental Motor sales office. 3 Possible by assigning signals or setting commands.
b Stepping Motor
Wide-ranging motors ideal for different motor sizes and equipment specifications can be purchased individually.
2-phase stepping motors Page C-188, 5-phase stepping motors Page C-242
Stepping Motors
b DC Input Type
Power Supply Input DC Input 24 VDC ASC Series 24 VDC CRK Series 24 VDC CMK Series 24/36 VDC CSK Series
Introduction
Series
AC Input DC Input
AS ASC
Features
Closed loop control High response No hunting Low vibration Low vibration, low noise due to smooth drive function Wide variety of high-resolution types and geared motors 2-phase stepping motor and compact DC input driver in one package High-resolution control is possible by microstepping 2-phase stepping motor and compact DC input driver in one package Wide variety of frame sizes and types
AC Input
2-phase stepping motors 1.8, 0.9(High-resolution type) Microstep 1.8 0.1125(5 steps)
2-phase stepping motors 1.8, 0.9(High-resolution type) Full step/half step 1.8/0.9, 0.9/0.45(High-resolution type)
0.36(Resolution setting: 1000 P/R) 0.72, 0.36(High-resolution type) Microstep Microstep 0.72, 0.36, 0.072, 0.036 0.72 0.00288(25 steps)
DC Input
Function
Timing Output Built-In Controller Smooth Drive Electromagnetic Brake Switch (Energy-Saving Mode) Input Power Supply Voltage Switch Protective Function
Overload/ overvoltage
Safety Standards RoHS Compliant Standard Motor Line Up Standard Type IP65 Rated Motor Electromagnetic Brake Motor Geared Motor Pages
42, 60 28, 42, 60 Page C-58 20, 28, 42, 60 Page C-114 28, 42, 60 Page C-146 42, 60 28, 42, 60 20, 28, 42, 60 28, 35, 42, 50, 56.4, 60 42, 56.4, 60
Accessories Installation
Page C-170
C-7
Low backlash
Non-backlash
Sun Gear
Sun Gear
C-8
Stepping Motors
, Stepping Motors)
Principle and Structure
Tapered Gear Output Shaft
Type TH Geared
Series
Bearing
Bearing
Tapered Gear
In TH geared type, tapered gears are used for the spur gear's speed-reduction mechanism and the meshing gear. The tapered gear is produced through continuous profile shifting toward the shaft. The tapered gears are adjusted in the direction of the arrows, as shown in the figure, to reduce backlash.
PL Geared
Internal Gear
Sun gear: The center gear integrated with the input shaft. Planetary gears: The multiple gears rotating around the sun gear. Each planetary gear meshes with the carrier, which is affixed to the gear output shaft. Internal gear: The cylindrical gear with teeth on its interior, affixed to the gear case.
The planetary gear mechanism consists of three key parts: the sun gear, planetary gears and internal gear. The sun gear is installed on the center shaft (this gear is installed on the motor shaft in single-stage motors). Multiple planetary gears are positioned in a manner surrounding the sun gear and rotate around the center shaft by meshing with the internal gear. The rotations of the planetary gears turn the output shaft via the carrier.
PN Geared
The upper gear eliminates backlash in the clockwise direction.
ransmits torque in the clo ternal gear t ckwise pper in direct The u ion.
Upper Level
r transmits torque in the counterclockwise ernal gea directi wer int o n. The lo
Lower Level
Sun Gear
Upper Level
Upper Planetary Gear
The PN gear employs a planetary gear speed-reduction mechanism. The PN gear achieves the specified backlash of three arc minutes through the improved accuracy of its components and the backlash-elimination mechanism. That mechanism is comprised of two sets of internal and planetary gears on the upper and lower levels with the internal gear teeth twisted in the circumferential direction. The upper-level internal gears and planetary gears reduce clockwise backlash; the lower-level internal gears and planetary gear reduce counterclockwise backlash.
Lower Level
Stepping Motors
Series
Introduction
AC Input DC Input
AS
Flex Spline
ASC
Non-backlash
Combines three basic parts. The flex spline is bent into an oval shape by the wave generator. The teeth at the long axis of the oval mesh with the circular spline, while the teeth at the short axis of the oval are completely separate from it.
90
Rotating the wave generator (input) clockwise while keeping the circular spline fixed in position will subject the flex spline to elastic deformation, causing a gradual shift in the point of engagement between the circular spline and flex spline.
360
The harmonic gear offers unparalleled precision in positioning and features a simple construction utilizing the metal's elastomechanical property, comprising just three basic components: a wave generator, flex spline and circular spline.
AC Input DC Input
When the wave generator completes one revolution, the flex spline has rotated two fewer teeth than the circular spline has, resulting in the movement of flex spline for the difference in the tooth count (two teeth) in the opposite direction of the wave generator's rotation (i.e., counterclockwise). This movement translates into output, thereby reducing the speed. SH geared type is for stepping motors with spur gear's speed reduction mechanism. Backlash value is 1 to 2 . CMK Series CSK Series 2-Phase PK Series
SH Geared
C-9
Torque [N m]
Torque [N m]
Current [A]
C-10
Stepping Motors
RK566AMCE
Maximum Holding Torque Rotor Inertia Rated Current Basic Step Angle Gear Ratio Permissible Torque Maximum Torque Backlash Angular Transmission Error Permissible Speed Range Power Source Excitation Mode
Basic Step Angle The step angle is the angular distance (in degrees) that the motor moves at the input of one pulse from the driver. It differs depending on the motor structure and excitation system. Gear Ratio This is the ratio in rotation speed between the input speed from the motor and the speed of the gear output shaft. For example, the gear ratio 1:10 is that when the input speed from the motor is 10 r/min, the gear output shaft is 1 r/min. Permissible Torque The permissible torque represents the torque value limited by the mechanical strength of the gear when operated at a constant speed. For the types excluding PN and Harmonic geared type, the total torque including acceleration/deceleration torque should not exceed this value. Maximum Torque (PN Geared, Harmonic Geared Type Only) This is the maximum torque that can be used instantaneously (for a short time). During acceleration/deceleration, the motor can be operated up to this value. Backlash The play of gear output shaft when the motor shaft is fixed. When positioning in bi-direction, the positioning accuracy is affected.
3.5 7 2 (0.034 ) 5 (0.084 ) 0 600 50/60 Hz 3.5 A Microstep Active when power is off 24 VDC 0.25 0.8 20 30 Continuous 1.1 0.85 1.5
Dimension No.
m
2
Angular Transmission Error (PN Geared Type Only) Angular Transmission error is the difference between the theoretical angle of rotation of the output shaft, as calculated from the input pulse count, and actual angle of rotation. Permissible Speed Range This is the rotation speed that the motor can be operated at with the gear output shaft. Power Source The current value of the power input is the maximum input current value. (The input current varies according to the rotation speed.) Excitation Mode The driver has a function that can change the motor's step angle. Shown in the table is the step angle value at which the motor can be operated. (For the step angle value of microstep, see "Connection and Operation.") Static Friction Torque The electromagnetic brake specifications. This is the maximum holding torque at which the electromagnetic brake can hold the position.
Maximum Holding Torque The holding torque (5-phase: 5-phase excitation, 2-phase: 2-phase excitation) is the maximum holding power (torque) the stepping motor has when power (rated current) is being supplied but the motor is not rotating (with consideration given to the permissible strength of the gear when applicable). At motor standstill, the driver's "Automatic Current Cutback" function reduces the maximum holding torque by approximately 50% (approximately 40% for CMK and CSK Series). Rotor Inertia This refers to the inertia of rotor inside the motor. This is necessary when the required torque (acceleration torque) for the motor needs is calculated. Rated Current The rated current is determined by motor temperature rise. It is the current value that can flow to the motor coils continuously at motor standstill. As a general rule, the current must be set to the rated current.
qTH
The following figure shows the speed torque characteristics of the 5-phase stepping motor and driver package RK Series.
w
1.2
e fs Speed [r/min]
The speed torque characteristics are determined by the motor and driver, so they vary greatly based upon the type of the driver used.
Maximum Holding Torque The holding torque (5-phase: 5-phase excitation, 2-phase: 2-phase excitation) is the maximum holding power (torque) the stepping motor has when power is being supplied but the motor shaft is not rotating (rated current). At motor standstill, the driver's "Automatic Current Cutback" function reduces the maximum holding torque by approximately 50% (approximately 40% for CMK and CSK Series). Pullout Torque Pullout torque is the maximum torque that can be output at a given speed. When selecting a motor, be sure the required torque falls within this curve.
8 4 0
Stepping Motors
Introduction
Stepping Motors
AC Input
AC Input AS Series
AS ASC
DC Input
AC Input DC Input
5-Phase RK 5-Phase CRK 2-Phase CMK 2-Phase CSK 2-Phase Stepping Motors 5-Phase Stepping Motors Controllers Accessories Installation
Page
C-11
Input Counter
Output Element
Torque
Signal Level
C-12
Stepping Motors
AS Series
The is an innovative stepping motor and driver package that adopts a closed loop control to eliminate misstep. In the , the user friendliness of a stepping motor is combined with a range of new functions for improved reliability of your equipment.
bAdditional Informationb Technical reference Page F-1 Safety standards Page G-2
b List of safety standard approved products (Model, Standards, File No., Certification Body) Page G-10
Features
b Thanks to Closed Loop Control, There is No Loss of Synchronism
does not lose synchronism even when subjected to abrupt load fluctuation or acceleration. A newly developed rotor position detection sensor constantly monitors the motor movement. If synchronism is about to be lost, closed loop control is activated, so there is no need to worry about loss of steps. When the successive overload is given, outputs the alarm signal. The reliability of is as high as that of a servo motor.
is designed as a "package" consisting of a motor and a driver.
Control Diagram
Input Pulse
Deviation Counter
Motor Sensor
1.8)
Motor runs in open loop mode like a stepping motor. If Motor Missteps (Positioning Deviation is 1.8 or more) Control switches to closed loop mode to prevent loss of synchronism.
Angle-Torque Characteristics
Stepping Motor wClosed Loop Mode qOpen Loop Mode
wClosed Loop Mode -7.2 -5.4 -3.6 -1.8 0 1.8 Position 3.6 5.4 7.2
qIf the positioning deviation is less than 1.8, the motor runs in open loop mode like a stepping motor. wIf the positioning deviation is 1.8 or more, the motor runs in closed loop mode and the position is corrected by exciting the motor windings to generate maximum torque based on the rotor position.
Features
bThis structure can be made small and thin, so the overall size of the motor can be reduced. bHigh resolution bThis structure does not use electronic parts, so it is not affected by heat or vibration.
1.25 1 0.5 0 -0.5 -1
60
120
180
240
300 A-Phase
360 B-Phase
Stepping Motors
b High Response
Like conventional stepping motors, operates in synchronism with command pulses. This makes it suitable for short stroke positioning.
Motor Movement
b A Full Lineup Including Geared Types and IP65 Rated Motor Type
The geared types enable driving of large inertial loads, and a high positioning accuracy, while the IP65 rated motor type provides ingress protection against dust and water. The offers a wide range of models meeting the needs of various applications.
Introduction
b No Gain Tuning
Gain tuning for servo motors is critical, troublesome and timeconsuming. Since the operates like a stepping motor, there are no gain tuning requirements. Low rigidity applications, such as a belt and pulley system, are ideal for .
AC Input DC Input
AS
ASC
AC Input
5-Phase RK
The AS Series is recognized with the UL/CSA Standards and conforms to EN Standard. The CE Marking certifies compliance with the EMC and Low Voltage Directives.
5-Phase CRK
b No Hunting
Since is a stepping motor, it has no hunting problem. Therefore, when it stops, its position is completely stable and does not fluctuate. is ideal for applications in which vibration would be a problem.
Complete Stop Hunting
2-Phase CMK
b
Servo Motor
RoHS-Compliant
The conforms to the RoHS Directive that prohibits the use of six chemical substances including lead and cadmium.
Details of RoHS Directive Page G-23
5-Phase Stepping Motors
Controllers Accessories
Installation
High Speed
is well-suited to applications where smooth movement or stability is required, such as where a camera is used to monitor the quality of a product.
Specifications, Characteristics C-27 / Dimensions C-39 / Connection and Operation C-45 / Motor and Driver Combinations C-56
C-13
Low backlash
Non-backlash
C-14
Stepping Motors
A Full Lineup of
You are sure to find a unit that perfectly matches the needs of your specific application.
PL Geared Type
Select an optimal motor based on the required torque, resolution, etc. Each "package" consists of a motor and a driver.
TH Geared Type
Standard Type
AC Input Pulse Input A dedicated cable (sold separately) is needed to connect the motor and driver.
Features
0.36
4000
The IP65 rated motor offering ingress protection against dust and water.
0.36
4000
TH Geared
(Parallel Shaft)
A wide variety of low gear ratios, high-speed operations Gear ratio: 1:3.6, 1:7.2, 1:10, 1:20, 1:30
12
45
0.012
500
PL Geared
(Planetary)
High permissible torque A Wide variety of gear ratios for selecting the desired step angle. (resolution) Centered output shaft Gear ratio: 1:5, 1:7.2, 1:10, 1:25, 1:36, 1:50
37 20 0.0072 360
PN Geared
(Planetary)
High speed (low gear ratio), high positioning precision High permissible/maximum torque A Wide variety of gear ratios for selecting the desired step angle. (resolution) Centered output shaft Gear ratio: 1:5, 1:7.2, 1:10, 1:25, 1:36, 1:50 High positioning precision High permissible/maximum torque High gear ratio, high resolution Centered output shaft Gear ratio: 1:50, 1:100
Permissible Torque
37
Maximum Torque
60 3 0.0072 600
Harmonic Geared
(Harmonic Drive)
Permissible Torque
37
Maximum Torque
55 0 0.0036 70
Note: b The values shown above must be used as reference. These values vary depending on the frame size and gear ratio.
Stepping Motors
b Each series offers various motor frame sizes in accordance with the motor type and power supply voltage, as shown below.
( 60: indicates a motor frame size of 60 mm.)
Standard Type
TH Geared Type
PL Geared Type
PN Geared Type
60 85
60 85
60 90
60 90
60 90
60 90
AC Input
AS
Built-In Controller (Stored Program) Package DC Input ASC Series Pulse Input Package
b
DC Input
ASC
24 VDC
28 42 60
28 42 60
28 42 60
28 42 60
AC Input
5-Phase RK
: A pulse input package and a built-in controller (stored program) package are available. White background: A pulse input package is available. b All the packages can be available motor with electromagnetic brake. (Except for the standard type IP65 rated motor and ASC Series with a motor frame size of 28 mm.) b For the single-phase 100-115 VAC models and three-phase 200-230 VAC models, please contact the nearest Oriental Motor sales office.
5-Phase CRK
AC Input
DC Input
Pulse Input
Various motor controls can be performed using a pulse generator provided by the user.
Motor Driver Pulse Generator Programmable Controller
DC Input
Motor
5-Phase Stepping Motors
Driver
Specifications, Characteristics C-27 / Dimensions C-39 / Connection and Operation C-45 / Motor and Driver Combinations C-56
C-15
Speed
C-16
Stepping Motors
b Operating Modes
Positioning Continuous
4 Operating Modes
b Linked Motion Capability
Mechanical Home
Electrical Home
b Alarm Functions
The driver can flash LEDs to indicate which alarm has occured.
No. 2
No. 0 No. 1
No. 2
Single Motion
Linked Motion When a START signal is received motions 0, 1 and 2 are executed without stopping between each one.
The driver can notify the host controller which alarm has occurred.
Motor Driver
PLC
b Daisy Chain
10000 Hz
4000 Hz 2000 Hz
PC
Time
The running speed of the motor can be changed while the motor is in motion.
Stepping Motors
b Position Control
bIncremental mode (relative distance specification) /Absolute mode (absolute position specification) bLinked operation (a maximum of four motion profiles may be linked) bData range (in pulses): 8 388 608 to 8 388 607 bOperating speed: 10 Hz to 500 kHz (set in 1 Hz increments)
b General Inputs/Outputs
b8 Programmable inputs b8 Programmable outputs
Using Windows HyperTerminal, programming the built-in controller (stored program) driver is a simple task.
AC Input
AS
Example: "PROGRAM1"
DC Input
ASC
b Communication
bASCII based commands bConforms to RS-232C communication specifications bStart-stop asynchronous transmission method bTransmission speed: 9600 bps bData length: 8 bits, 1 stop bit, no parity Protocol: TTY (CR LF) bModular 4-pin connector
ALPHA STEP PLUS DRIVER >EDIT PROGRAM1
AC Input
5-Phase RK
b Program Memory
bMaximum number of programs: 14 (including STARTUP) bMaximum lines per program: 64 bCommands per line: 1 bProgram variables: 26 (A to Z)
Program Name : PROGRAM1 ( 1) VR 20000 ( 2) DIS 1200 ( 3) MI ( 4) CALL WAITEND ( 5) OUT1 1 ( 6) MGHP ( 7) END >> COMMAND : _
5-Phase CRK
DC Input
2-Phase CMK
PROGRAM1 Definition
bOperating speed: 20000 Hz bMove distance: 1200 pulses bCall a subroutine that waits for the motor to stop before moving on to the next command bTurn on output #1 bSeek the mechanical home position in the positive direction bEnd of program
b Built-In Functions
bSelectable motor-resolution bRun and stop current values bSpeed-filter set value bMotor rotation direction bExternal stop bSensor logic bOvertravel limits bSoftware overtravel bAlarm history bSyntax checking bDisplay values bIncremental moves bI/O status
2-Phase CSK 2-Phase Stepping Motors 5-Phase Stepping Motors Controllers Accessories Installation
Specifications, Characteristics C-27 / Dimensions C-39 / Connection and Operation C-45 / Motor and Driver Combinations C-56
C-17
C-18
Stepping Motors
System Configuration
b Pulse Input Package Standard Type
An example of a single-axis system configuration with the SG8030JY controller. Controller (Sold separately) Controller
( Page C-248)
Programmable Controller
(Not supplied)
AS Series (Body)
Motor Driver
Flexible Couplings
( Page C-258)
Extension Cables
( Page C-253)
No.
Product Name
Controller Motor Mounting Brackets Flexible Couplings Extension Cables Flexible Extension Cables DIN Rail Mounting Plate Driver Cables General-Purpose Type Connector -- Terminal Block Conversion Unit
Overview
This controller outputs pulse commands that determine the rotating amount and rotating speed. Dedicated mounting bracket for the motor. Coupling that connects the motor shaft to the driven shaft. Cable for extending the wiring distance between the motor and driver (1 to 20 m). Cable offering flexibility, used to extend the wiring distance between the motor and driver (1 to 10 m). Use this plate when installing the driver to a DIN rail. General-purpose cable for connecting the driver and controller (1 m, 2 m). Set of terminal block and cable for connecting the driver and controller (1 m).
Page
C-248 C-266 C-258 C-253 C-270 C-256 C-256
AS Series
AS66ACE
Motor Flexible DIN Rail Connector -- Terminal Block Extension Cable Mounting Bracket Coupling Mounting Plate Conversion Unit (1 m) (3 m) SG8030JY-U PAL2P-5 MCS300808 PADP01 CC36T1 CC03AIP Controller
bThe system configuration shown above is an example. Other combinations are available.
Stepping Motors
System Configuration
b Pulse Input Package Standard Type with Electromagnetic Brake
An example of a single-axis system configuration with the SG8030JY controller. Required Products (Sold separately) Controller (Sold separately) Controller
( Page C-248)
Introduction
Programmable Controller
(Not supplied)
AC Input
AS
AS Series (Body)
DC Input
ASC
Motor
Driver
AC Input
5-Phase RK
5-Phase CRK
DC Input
2-Phase CMK
Flexible Couplings
( Page C-258)
No.
Product Name
Extension Cables for Electromagnetic Brake Motor Flexible Extension Cables for Electromagnetic Brake Motor Controller Motor Mounting Brackets Flexible Couplings DIN Rail Mounting Plate Driver Cables General-Purpose Type Connector -- Terminal Block Conversion Unit
Overview
Dedicated cable for connecting the electromagnetic brake motor and driver (1 to 20 m). Be sure to purchase this cable. Dedicated cable offering flexibility, used to connect the electromagnetic brake motor and driver (1 to 10 m). Be sure to purchase this cable. This controller outputs pulse commands that determine the rotating amount and rotating speed. Dedicated mounting bracket for the motor. Coupling that connects the motor shaft to the driven shaft. Use this plate when installing the driver to a DIN rail. General-purpose cable for connecting the driver and controller (1 m, 2 m). Set of terminal block and cable for connecting the driver and controller (1 m).
Page
C-253
Controllers
Accessories
Installation
AS Series
AS66MCE
CC03AIPM
Motor Flexible DIN Rail Connector -- Terminal Block Mounting Bracket Coupling Mounting Plate Conversion Unit (1 m) SG8030JY-U PAL2P-5 MCS300808 PADP01 CC36T1 Controller
bThe system configuration shown above is an example. Other combinations are available.
Specifications, Characteristics C-27 / Dimensions C-39 / Connection and Operation C-45 / Motor and Driver Combinations C-56
C-19
C-20
Stepping Motors
System Configuration
b Built-In Controller (Stored Program) Package Standard Type
Required Products (Sold separately) Communication Cable
( Page C-257)
Computer
(Not supplied)
AS Series (Body)
Motor Driver Programmable Controller
(Not supplied)
Flexible Couplings
( Page C-258)
Extension Cables
( Page C-253)
No.
Product Name
Communication Cable Motor Mounting Brackets Flexible Couplings Extension Cables Flexible Extension Cables DIN Rail Mounting Plate Driver Cables General-Purpose Type Connector -- Terminal Block Conversion Unit
Overview
Cable for connecting the computer and driver (5 m). Dedicated mounting bracket for the motor. Coupling that connects the motor shaft to the driven shaft. Cable for extending the wiring distance between the motor and driver (1 to 20 m). Cable offering flexibility, used to extend the wiring distance between the motor and driver (1 to 10 m). Use this plate when installing the driver to a DIN rail. General-purpose cable for connecting the driver and controller (1 m, 2 m). Set of terminal block and cable for connecting the driver and host controller (1 m).
Page
C-257 C-266 C-258 C-253 C-270 C-256 C-256
AS Series
AS66ACEP
Motor Flexible DIN Rail Connector -- Terminal Block Conversion Unit (1 m) Extension Cable Mounting Bracket Coupling Mounting Plate For Sensor Input For Control I/0 (3 m) CC03AIP PAL2P-5 MCS300808 PADP01 CC20T1 CC36T1
bThe system configuration shown above is an example. Other combinations are available.
Stepping Motors
System Configuration
b Built-In Controller (Stored Program) Package Standard Type with Electromagnetic Brake
Required Products (Sold separately) Computer Extension Cables for Electromagnetic Brake Motor ( Page C-253) Communication Cable
( Page C-257)
(Not supplied)
Introduction
AC Input DC Input
AS
AS Series (Body)
Motor Driver Programmable Controller
(Not supplied)
ASC 5-Phase RK
AC Input
2-Phase CMK
Flexible Couplings
( Page C-258)
No.
Product Name
Extension Cables for Electromagnetic Brake Motor Flexible Extension Cables for Electromagnetic Brake Motor Communication Cable Motor Mounting Brackets Flexible Couplings DIN Rail Mounting Plate Driver Cables General-Purpose Type Connector -- Terminal Block Conversion Unit
Overview
Dedicated cable for connecting the electromagnetic brake motor and driver (1 to 20 m). Be sure to purchase this cable. Dedicated cable offering flexibility, used to connect the electromagnetic brake motor and driver (1 to 10 m). Be sure to purchase this cable. Cable for connecting the computer and driver (5 m). Dedicated mounting bracket for the motor. Coupling that connects the motor shaft to the driven shaft. Use this plate when installing the driver to a DIN rail. General-purpose cable for connecting the driver and controller (1 m, 2 m). Set of terminal block and cable for connecting the driver and host controller (1 m).
Page
C-253
Controllers
Accessories Installation
AS Series
AS66MCEP
CC03AIPM
Motor Flexible DIN Rail Connector -- Terminal Block Conversion Unit (1 m) Mounting Bracket Coupling Mounting Plate For Sensor Input For Control I/0 PAL2P-5 MCS300808 PADP01 CC20T1 CC36T1
bThe system configuration shown above is an example. Other combinations are available.
Specifications, Characteristics C-27 / Dimensions C-39 / Connection and Operation C-45 / Motor and Driver Combinations C-56
C-21
C-22
Stepping Motors
AS 6 6 A C E P
Series AS: AS Series Motor Frame Size 6: 60 mm 9: 85 mm Motor Case Length Motor Type A: Standard (Single Shaft) M: Electromagnetic Brake Type Power Supply Voltage A: Single-Phase 100-115 VAC C: Single-Phase 200-230 VAC S: Three-Phase 200-230 VAC Motor Classification Driver Type P: Built-In Controller (Stored Program) Package Blank: Pulse Input Package
AS 6 6 A C T P
Series AS: AS Series Motor Frame Size 6: 60 mm 9: 85 mm Motor Case Length Motor Shaft Type A: Single Shaft Power Supply Voltage A: Single-Phase 100-115 VAC C: Single-Phase 200-230 VAC S: Three-Phase 200-230 VAC Motor Classification Driver Type P: Built-In Controller (Stored Program) Package Blank: Pulse Input Package
b Geared Type
AS 6 6 A C E P - N 50
Series AS: AS Series Motor Frame Size 6: 60 mm 9: 90 mm Motor Case Length Motor Type A: Standard (Single Shaft) M: Electromagnetic Brake Type Power Supply Voltage A: Single-Phase 100-115 VAC C: Single-Phase 200-230 VAC S: Three-Phase 200-230 VAC Motor Classification Driver Type P: Built-In Controller (Stored Program) Package Blank: Pulse Input Package Gearhead Type T: TH Geared Type P: PL Geared Type N: PN Geared Type H: Harmonic Geared Type Gear Ratio
Product Line
The product names below are all for single shaft types, but there are also double shaft models available for all products except for those with electromagnetic brakes or IP65 rated motor. Please contact the nearest Oriental Motor sales office for further information on the double shaft models.
For the single-phase 100-115 VAC models and three-phase 200-230 VAC models, please contact the nearest Oriental Motor sales office.
For the single-phase 100-115 VAC models and three-phase 200-230 VAC models, please contact the nearest Oriental Motor sales office. Extension cables for electromagnetic brake motor Page C-253
For the single-phase 100-115 VAC models and three-phase 200-230 VAC models, please contact the nearest Oriental Motor sales office. Motor cables for IP65 rated motor Page C-254
The following items are included in each product. Motor, Parallel Key1, Surge Suppressor2, Driver, Connector for Input/Output Signal, Mounting Bracket for Driver (with screws), Operating Manual 1 Only for the products with a key slot on the output shaft 2 Only for electromagnetic brake type
Stepping Motors
TH Geared Type
Power Supply Voltage Model (Single Shaft) AS66AAE-T3.6 AS66AAE-T7.2 AS66AAE-T10 AS66AAE-T20 AS66AAE-T30 AS98AAE-T3.6 AS98AAE-T7.2 AS98AAE-T10 AS98AAE-T20 AS98AAE-T30 AS66ACE-T3.6 AS66ACE-T7.2 AS66ACE-T10 AS66ACE-T20 AS66ACE-T30 AS98ACE-T3.6 AS98ACE-T7.2 AS98ACE-T10 AS98ACE-T20 AS98ACE-T30 AS66ASE-T3.6 AS66ASE-T7.2 AS66ASE-T10 AS66ASE-T20 AS66ASE-T30 AS98ASE-T3.6 AS98ASE-T7.2 AS98ASE-T10 AS98ASE-T20 AS98ASE-T30 Page
Introduction
C-29 AC Input
AS
C-30
DC Input
ASC
AC Input
5-Phase RK
For the single-phase 100-115 VAC models and three-phase 200-230 VAC models, please contact the nearest Oriental Motor sales office.
For the single-phase 100-115 VAC models and three-phase 200-230 VAC models, please contact the nearest Oriental Motor sales office. Extension cables for electromagnetic brake motor Page C-253
5-Phase CRK
PL Geared Type
Power Supply Voltage Model (Single Shaft) AS66AAE-P5 AS66AAE-P7.2 AS66AAE-P10 AS66AAE-P25 AS66AAE-P36 AS66AAE-P50 AS98AAE-P5 AS98AAE-P7.2 AS98AAE-P10 AS98AAE-P25 AS98AAE-P36 AS98AAE-P50 AS66ACE-P5 AS66ACE-P7.2 AS66ACE-P10 AS66ACE-P25 AS66ACE-P36 AS66ACE-P50 AS98ACE-P5 AS98ACE-P7.2 AS98ACE-P10 AS98ACE-P25 AS98ACE-P36 AS98ACE-P50 AS66ASE-P5 AS66ASE-P7.2 AS66ASE-P10 AS66ASE-P25 AS66ASE-P36 AS66ASE-P50 AS98ASE-P5 AS98ASE-P7.2 AS98ASE-P10 AS98ASE-P25 AS98ASE-P36 AS98ASE-P50 Page
2-Phase CSK
C-31
C-31
5-Phase Stepping Motors
C-32
C-32
Controllers Accessories
Installation
For the single-phase 100-115 VAC models and three-phase 200-230 VAC models, please contact the nearest Oriental Motor sales office.
For the single-phase 100-115 VAC models and three-phase 200-230 VAC models, please contact the nearest Oriental Motor sales office. Extension cables for electromagnetic brake motor Page C-253
Specifications, Characteristics C-27 / Dimensions C-39 / Connection and Operation C-45 / Motor and Driver Combinations C-56
C-23
C-24
Stepping Motors
PN Geared Type
Power Supply Voltage Model (Single Shaft) AS66AAE-N5 AS66AAE-N7.2 AS66AAE-N10 AS66AAE-N25 AS66AAE-N36 AS66AAE-N50 AS98AAE-N5 AS98AAE-N7.2 AS98AAE-N10 AS98AAE-N25 AS98AAE-N36 AS98AAE-N50 AS66ACE-N5 AS66ACE-N7.2 AS66ACE-N10 AS66ACE-N25 AS66ACE-N36 AS66ACE-N50 AS98ACE-N5 AS98ACE-N7.2 AS98ACE-N10 AS98ACE-N25 AS98ACE-N36 AS98ACE-N50 AS66ASE-N5 AS66ASE-N7.2 AS66ASE-N10 AS66ASE-N25 AS66ASE-N36 AS66ASE-N50 AS98ASE-N5 AS98ASE-N7.2 AS98ASE-N10 AS98ASE-N25 AS98ASE-N36 AS98ASE-N50 Page
C-33
C-33
C-34
C-34
For the single-phase 100-115 VAC models and three-phase 200-230 VAC models, please contact the nearest Oriental Motor sales office.
For the single-phase 100-115 VAC models and three-phase 200-230 VAC models, please contact the nearest Oriental Motor sales office. Extension cables for electromagnetic brake motor Page C-253
For the single-phase 100-115 VAC models and three-phase 200-230 VAC models, please contact the nearest Oriental Motor sales office.
For the single-phase 100-115 VAC models and three-phase 200-230 VAC models, please contact the nearest Oriental Motor sales office. Extension cables for electromagnetic brake motor Page C-253
bElectromagnetic brake models must use an extension cable or flexible extension cable for an electromagnetic brake motor.
Stepping Motors
Introduction
For the single-phase 100-115 VAC models and three-phase 200-230 VAC models, please contact the nearest Oriental Motor sales office. Extension cables for electromagnetic brake motor Page C-253
For the single-phase 100-115 VAC models and three-phase 200-230 VAC models, please contact the nearest Oriental Motor sales office.
AC Input
AS
DC Input AC Input
ASC 5-Phase RK
For the single-phase 100-115 VAC models and three-phase 200-230 VAC models, please contact the nearest Oriental Motor sales office. Motor cables for IP65 rated motor Page C-254
DC Input
2-Phase CMK
TH Geared Type
Power Supply Voltage Model (Single Shaft) AS66AAEP-T3.6 AS66AAEP-T7.2 AS66AAEP-T10 AS66AAEP-T20 AS66AAEP-T30 AS98AAEP-T3.6 AS98AAEP-T7.2 AS98AAEP-T10 AS98AAEP-T20 AS98AAEP-T30 AS66ACEP-T3.6 AS66ACEP-T7.2 AS66ACEP-T10 AS66ACEP-T20 AS66ACEP-T30 AS98ACEP-T3.6 AS98ACEP-T7.2 AS98ACEP-T10 AS98ACEP-T20 AS98ACEP-T30 AS66ASEP-T3.6 AS66ASEP-T7.2 AS66ASEP-T10 AS66ASEP-T20 AS66ASEP-T30 AS98ASEP-T3.6 AS98ASEP-T7.2 AS98ASEP-T10 AS98ASEP-T20 AS98ASEP-T30 Page
2-Phase CSK
C-29
C-30
Controllers
Accessories
Installation
For the single-phase 100-115 VAC models and three-phase 200-230 VAC models, please contact the nearest Oriental Motor sales office.
For the single-phase 100-115 VAC models and three-phase 200-230 VAC models, please contact the nearest Oriental Motor sales office. Extension cables for electromagnetic brake motor Page C-253
Specifications, Characteristics C-27 / Dimensions C-39 / Connection and Operation C-45 / Motor and Driver Combinations C-56
C-25
C-26
Stepping Motors
PN Geared Type
Power Supply Voltage Model (Single Shaft) AS66AAEP-N5 AS66AAEP-N7.2 AS66AAEP-N10 AS66AAEP-N25 AS66AAEP-N36 AS66AAEP-N50 AS98AAEP-N5 AS98AAEP-N7.2 AS98AAEP-N10 AS98AAEP-N25 AS98AAEP-N36 AS98AAEP-N50 AS66ACEP-N5 AS66ACEP-N7.2 AS66ACEP-N10 AS66ACEP-N25 AS66ACEP-N36 AS66ACEP-N50 AS98ACEP-N5 AS98ACEP-N7.2 AS98ACEP-N10 AS98ACEP-N25 AS98ACEP-N36 AS98ACEP-N50 AS66ASEP-N5 AS66ASEP-N7.2 AS66ASEP-N10 AS66ASEP-N25 AS66ASEP-N36 AS66ASEP-N50 AS98ASEP-N5 AS98ASEP-N7.2 AS98ASEP-N10 AS98ASEP-N25 AS98ASEP-N36 AS98ASEP-N50 Page
C-33
C-33
C-34
C-34
For the single-phase 100-115 VAC models and three-phase 200-230 VAC models, please contact the nearest Oriental Motor sales office.
For the single-phase 100-115 VAC models and three-phase 200-230 VAC models, please contact the nearest Oriental Motor sales office. Extension cables for electromagnetic brake motor Page C-253
For the single-phase 100-115 VAC models and three-phase 200-230 VAC models, please contact the nearest Oriental Motor sales office.
For the single-phase 100-115 VAC models and three-phase 200-230 VAC models, please contact the nearest Oriental Motor sales office. Extension cables for electromagnetic brake motor Page C-253
Communication Cable
This cable is used to connect personal computer and built-in controller (stored program) driver through an RS-232C connection.
Model FC04W5
(Cable length: 5 m)
Stepping Motors
Standard Type
Specifications
Pulse Input Package
Standard Electromagnetic Brake Built-In Controller (Stored Standard Program) Package Electromagnetic Brake Maximum Holding Torque Nm Rotor Inertia J: kg m2 Resolution2 Resolution Setting: 1000 P/R Voltage/Frequency Power Source Maximum Input Current A Type Power Supply Input Electromagnetic Brake3 Power Consumption W Excitation Current A Static Friction Torque Nm Motor kg Mass Driver kg Motor Dimension Pulse Input No. Driver Built-In Controller (Stored Program) Model
2 802 10-7 [961 10-7]1 1400 10-7 [1560 10-7]1 0.36/Pulse 15 10% 50/60 Hz Single-Phase 200-230 VAC 3.9 3.5 Active when power is off 24 VDC 5% 6 0.25 1 1.4 [1.65]1 1.8 [2.2]1 0.8 2 13 14
4.5 AC Input
AS
3 DC Input
ASC
How to read specifications table Page C-10 Extension cables for electromagnetic brake motor Page C-253 1 The values inside the brackets [ ] represent the specification for the electromagnetic brake type. 2 Pulse Input Package: The resolution can be set to any one of 500 P/R, 1000 P/R, 5000 P/R, or 10000 P/R with the resolution select switch or resolution select switching signals. Resolution select switch Page C-45 Built-In Controller (Stored Program) Package: The resolution can be set from 500 P/R to 10000 P/R by setting parameters. 3 The electromagnetic brakes are for holding the position when the power is off. They cannot be used for braking. Also, a separate 24 VDC 5%, 0.3 A minimum power supply is required for the electromagnetic brakes. b For the single-phase 100-115 VAC models and three-phase 200-230 VAC models, please contact the nearest Oriental Motor sales office.
AC Input
DC Input
2-Phase CMK
1.5
Torque [N m]
Torque [N m]
Torque [N m]
2-Phase CSK
1.0
0.5
0 0 0 10
1000 20
4000
0 0 0 10
1000 20
4000
0 0 0 10
1000 20
4000
AS911ACE/AS911ACEP
5
Torque [N m]
3 2
Controllers
1 0 0 0 10
1000 20
4000
Accessories
b Enter A (standard) or M (electromagnetic brake) in the box ( ) within the model name. Notes: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C. (Under 75C is required to comply with UL or CSA Standards as the motor is recognized as insulation class A.) b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 50%.
Installation
Specifications, Characteristics C-27 / Dimensions C-39 / Connection and Operation C-45 / Motor and Driver Combinations C-56
C-27
Torque [N m]
1.0
Torque [N m]
Torque [N m]
Torque [N m]
C-28
Stepping Motors
Maximum Holding Torque Nm Rotor Inertia J: kg m2 Resolution1 Resolution Setting: 1000 P/R Voltage/Frequency Power Source Maximum Input Current A Degree of Protection Motor kg Mass Driver kg Motor Dimension Pulse Input No. Driver Built-In Controller (Stored Program)
802 10-7
3 1 3
0.36/Pulse 15 10% 50/60 Hz Single-Phase 200-230 VAC 3.9 3.5 Motor: IP652 Driver: IP10 1.5 2.2 0.8 4 13 14
4.5 3.3
How to read specifications table Page C-10 1 Pulse Input Package: The resolution can be set to any one of 500 P/R, 1000 P/R, 5000 P/R, or 10000 P/R with the resolution select switch or resolution select switching signals. Resolution select switch Page C-45 Built-In Controller (Stored Program) Package: The resolution can be set from 500 P/R to 10000 P/R by setting parameters. 2 Excluding the gap between the shaft and the flange. b Always use the motor cable for IP65 rated motor (sold separately) for connection between the IP65 rated motor and the driver. Page C-254 b For the single-phase 100-115 VAC models and three-phase 200-230 VAC models, please contact the nearest Oriental Motor sales office.
AS69ACT/AS69ACTP
3
0.5
0 0 0 10
1000 20
4000
0 0 0 10
1000 20
4000
AS98ACT/AS98ACTP
3
AS911ACT/AS911ACTP
5 4
3 2 1
0 0 0 10
1000 20
4000
0 0 0 10
1000 20
4000
Notes: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C. (Under 75C is required to comply with UL or CSA Standards as the motor is recognized as insulation class A.) b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 50%.
Requirement for Motor Cables for IP65 Rated Motor (Sold separately)
Always use the motor cable for IP65 rated motor (sold separately) for connection between the IP65 rated motor and the driver. The IP65 rated motor cannot be driven unless the dedicated motor cable is used. Motor Cable for IP65 Rated Motor (Sold separately)
( Page C-254)
Motor
Driver
AS Series
Stepping Motors
TH Geared Type
Specifications
Model Pulse Input Package Built-In Controller (Stored Program) Package Standard Electromagnetic Brake Standard Electromagnetic Brake Nm J: kg m2 arc minute (degrees) r/min
Maximum Holding Torque Rotor Inertia Backlash Permissible Speed Range Gear Ratio Resolution2 Resolution Setting: 1000 P/R Permissible Torque Nm Voltage/Frequency Power Source Maximum Input Current A Type Power Supply Input Electromagnetic Brake3 Power Consumption W Excitation Current A Static Friction Torque Nm Motor kg Mass Driver kg Motor Dimension Pulse Input No. Driver Built-In Controller (Stored Program)
AS66ACE-T3.6 AS66MCE-T3.6 AS66ACEP-T3.6 AS66MCEP-T3.6 1.25 35 (0.584) 0 500 1: 3.6 0.1/Pulse 1.25
0.62
AS66ACE-T10 AS66ACE-T20 AS66ACE-T30 AS66MCE-T10 AS66MCE-T20 AS66MCE-T30 AS66ACEP-T10 AS66ACEP-T20 AS66ACEP-T30 AS66MCEP-T10 AS66MCEP-T20 AS66MCEP-T30 3 3.5 4 405 10-7 [564 10-7]1 15 (0.25) 10 (0.167) 0 250 0 180 0 90 0 60 1: 7.2 1: 10 1: 20 1: 30 0.05/Pulse 0.036/Pulse 0.018/Pulse 0.012/Pulse 2.5 3 3.5 4 15 10% 50/60 Hz Single-Phase 200-230 VAC 3 Active when power is off 24 VDC 5% 6 0.25 1.25 1.5 1.75 2 1.25 [1.5]1 0.8 5 13 14
Introduction
AS ASC 5-Phase RK
How to read specifications table Page C-10 Extension cables for electromagnetic brake motor Page C-253 b For the single-phase 100-115 VAC models and three-phase 200-230 VAC models, please contact the nearest Oriental Motor sales office. 1 The values inside the brackets [ ] represent the specification for the electromagnetic brake type. 2 Pulse Input Package: The resolution can be set to any one of 500 P/R, 1000 P/R, 5000 P/R, or 10000 P/R with the resolution select switch or resolution select switching signals. Resolution select switch Page C-45 Built-In Controller (Stored Program) Package: The resolution can be set from 500 P/R to 10000 P/R by setting parameters. 3 The electromagnetic brakes are for holding the position when the power is off. They cannot be used for braking. Also, a separate 24 VDC 5%, 0.3 A minimum power supply is required for the electromagnetic brakes. Note: b Direction of rotation of the motor and that of the gear output shaft are the same for the gear ratios 1: 3.6, 1: 7.2 and 1: 10. It is opposite for 1: 20 and 1: 30 gear ratios.
5-Phase CRK
DC Input
2-Phase CMK
Permissible Torque
Torque [N m]
Torque [N m]
Permissible Torque
Torque [N m]
1.0
Permissible Torque 3 2 1 0 0 0 5
0.5
0 0
100 5 10
200
500 30
600 35
0 0
50 5 10
100
250 30
300 35
40 10
160 30
200
Controllers
Permissible Torque
Torque [N m]
3 2 1 0 0 0 5
Accessories
2 1 0
20 10
80 30
100
0 0
10 5
20 10
30 40 Speed [r/min]
50
60 30
70
Installation
35
b Enter A (standard) or M (electromagnetic brake) in the box ( ) within the model name. Notes: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C. (Under 75C is required to comply with UL or CSA Standards as the motor is recognized as insulation class A.) b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 50%.
Specifications, Characteristics C-27 / Dimensions C-39 / Connection and Operation C-45 / Motor and Driver Combinations C-56
C-29
Torque [N m]
Torque [N m]
Torque [N m]
Torque [N m]
Torque [N m]
C-30
Stepping Motors
TH Geared Type
Specifications
Model Pulse Input Package Built-In Controller (Stored Program) Package Standard Electromagnetic Brake Standard Electromagnetic Brake Nm J: kg m2 arc minute (degrees) r/min
Maximum Holding Torque Rotor Inertia Backlash Permissible Speed Range Gear Ratio Resolution2 Resolution Setting: 1000 P/R Permissible Torque Nm Voltage/Frequency Power Source Maximum Input Current A Type Power Supply Input Electromagnetic Brake3 Power Consumption W Excitation Current A Static Friction Torque Nm Motor kg Mass Driver kg Motor Dimension Pulse Input No. Driver Built-In Controller (Stored Program)
AS98ACE-T3.6 AS98MCE-T3.6 AS98ACEP-T3.6 AS98MCEP-T3.6 4.5 25 (0.417) 0 500 1: 3.6 0.1/Pulse 4.5
2.25
9 12 1400 10-7 [1560 10-7]1 15 (0.25) 10 (0.167) 0 250 0 180 0 90 0 60 1: 7.2 1: 10 1: 20 1: 30 0.05/Pulse 0.036/Pulse 0.018/Pulse 0.012/Pulse 9 12 15 10% 50/60 Hz Single-Phase 200-230 VAC 3.5 Active when power is off 24 VDC 5% 6 0.25 4.5 6 3 [3.4]1 0.8 6 13 14
How to read specifications table Page C-10 Extension cables for electromagnetic brake motor Page C-253 b For the single-phase 100-115 VAC models and three-phase 200-230 VAC models, please contact the nearest Oriental Motor sales office. 1 The values inside the brackets [ ] represent the specification for the electromagnetic brake type. 2 Pulse Input Package: The resolution can be set to any one of 500 P/R, 1000 P/R, 5000 P/R, or 10000 P/R with the resolution select switch or resolution select switching signals. Resolution select switch Page C-45 Built-In Controller (Stored Program) Package: The resolution can be set from 500 P/R to 10000 P/R by setting parameters. 3 The electromagnetic brakes are for holding the position when the power is off. They cannot be used for braking. Also, a separate 24 VDC 5%, 0.3 A minimum power supply is required for the electromagnetic brakes. Note: b Direction of rotation of the motor and that of the gear output shaft are the same for the gear ratios 1: 3.6, 1: 7.2 and 1: 10. It is opposite for 1: 20 and 1: 30 gear ratios.
0 0 0 5
20
80 30
100
0 0
10 5
20
30 40 Speed [r/min]
50
60 30
70 35
b Enter A (standard) or M (electromagnetic brake) in the box ( ) within the model name. Notes: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C. (Under 75C is required to comply with UL or CSA Standards as the motor is recognized as insulation class A.) b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 50%.
Stepping Motors
PL Geared Type
Specifications
Model Pulse Input Package Maximum Holding Torque Rotor Inertia Backlash Permissible Speed Range Gear Ratio Resolution2 Resolution Setting: 1000 P/R Permissible Torque Nm Voltage/Frequency Power Source Maximum Input Current A Type Power Supply Input Electromagnetic Brake3 Power Consumption W Excitation Current A Static Friction Torque Nm Motor kg Mass Driver kg Motor Dimension No. Driver Pulse Input Standard Electromagnetic Brake Nm J: kg m2 arc minute (degrees) r/min
AS66ACE-P5 AS66ACE-P7.2 AS66ACE-P10 AS66ACE-P25 AS66ACE-P36 AS66ACE-P50 AS66MCE-P5 AS66MCE-P7.2 AS66MCE-P10 AS66MCE-P25 AS66MCE-P36 AS66MCE-P50 3.5 4 5 8 405 10-7 [564 10-7]1 20 (0.33) 0 360 0 250 0 180 0 72 0 50 0 36 1: 5 1: 7.2 1: 10 1: 25 1: 36 1: 50 0.072/Pulse 0.05/Pulse 0.036/Pulse 0.0144/Pulse 0.01/Pulse 0.0072/Pulse 3.5 4 5 8 15 10% 50/60 Hz Single-Phase 200-230 VAC 3 Active when power is off 24 VDC 5% 6 0.25 1.75 2 2.5 4 1.55 [1.8]1 1.25 [1.5]1 0.8 7 13
Introduction
AS ASC
How to read specifications table Page C-10 Extension cables for electromagnetic brake motor Page C-253 b For the single-phase 100-115 VAC models and three-phase 200-230 VAC models, please contact the nearest Oriental Motor sales office. 1 The values inside the brackets [ ] represent the specification for the electromagnetic brake type. 2 Pulse Input Package: The resolution can be set to any one of 500 P/R, 1000 P/R, 5000 P/R, or 10000 P/R with the resolution select switch or resolution select switching signals. Resolution select switch Page C-45 3 The electromagnetic brakes are for holding the position when the power is off. They cannot be used for braking. Also, a separate 24 VDC 5%, 0.3 A minimum power supply is required for the electromagnetic brakes. Note: b Direction of rotation of the motor shaft and that of the gear output shaft are the same.
DC Input
2-Phase CMK
AS66 CE-P7.2
5 4 Permissible Torque
Torque [N m]
AS66 CE-P10
8
Permissible Torque
6
Torque [N m]
Permissible Torque
2-Phase CSK
3 2 1 0
3 2 1 0
0 0 5
100
300 30
400
0 0
50 5
100
250 30
300 35
0 0 5
50
150 30
200
AS66 CE-P25
12 10
AS66 CE-P36
12 10
AS66 CE-P50
12 10
Torque [N m]
Torque [N m]
Torque [N m]
8 6 4 2 0 0 0 5
Permissible Torque
8 6 4 2
Permissible Torque
Permissible Torque 8
Controllers
6 4 2
20 10
40 Speed [r/min]
60 30
80
0 0
10 5
20
30 40 Speed [r/min]
50 30
60 35
0 0 0 5
10 10
20 Speed [r/min]
30 30
40
Accessories
b Enter A (standard) or M (electromagnetic brake) in the box ( ) within the model name. Notes: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C. (Under 75C is required to comply with UL or CSA Standards as the motor is recognized as insulation class A.) b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 50%.
Installation
Specifications, Characteristics C-27 / Dimensions C-39 / Connection and Operation C-45 / Motor and Driver Combinations C-56
C-31
Torque [N m]
Torque [N m]
Torque [N m]
Torque [N m]
Torque [N m]
30 20 10 0 0 0 5
30 20 10 0
Torque [N m]
C-32
Stepping Motors
PL Geared Type
Specifications
Model Pulse Input Package Maximum Holding Torque Rotor Inertia Backlash Permissible Speed Range Gear Ratio Resolution2 Resolution Setting: 1000 P/R Permissible Torque Nm Voltage/Frequency Power Source Maximum Input Current A Type Power Supply Input Electromagnetic Brake3 Power Consumption W Excitation Current A Static Friction Torque Nm Motor kg Mass Driver kg Motor Dimension No. Driver Pulse Input Standard Electromagnetic Brake Nm J: kg m2 arc minute (degrees) r/min
AS98ACE-P5 AS98ACE-P7.2 AS98ACE-P10 AS98ACE-P25 AS98ACE-P36 AS98ACE-P50 AS98MCE-P5 AS98MCE-P7.2 AS98MCE-P10 AS98MCE-P25 AS98MCE-P36 AS98MCE-P50 9 12.9 18 37 1400 10-7 [1560 10-7]1 15 (0.25) 0 360 0 250 0 180 0 72 0 50 0 36 1: 5 1: 7.2 1: 10 1: 25 1: 36 1: 50 0.072/Pulse 0.05/Pulse 0.036/Pulse 0.0144/Pulse 0.01/Pulse 0.0072/Pulse 9 12.9 18 37 15 10% 50/60 Hz Single-Phase 200-230 VAC 3.5 Active when power is off 24 VDC 5% 6 0.25 4.5 6.45 9 18.5 4 [4.4]1 3.2 [3.6]1 0.8 8 13
How to read specifications table Page C-10 Extension cables for electromagnetic brake motor Page C-253 b For the single-phase 100-115 VAC models and three-phase 200-230 VAC models, please contact the nearest Oriental Motor sales office. 1 The values inside the brackets [ ] represent the specification for the electromagnetic brake type. 2 Pulse Input Package: The resolution can be set to any one of 500 P/R, 1000 P/R, 5000 P/R, or 10000 P/R with the resolution select switch or resolution select switching signals. Resolution select switch Page C-45 3 The electromagnetic brakes are for holding the position when the power is off. They cannot be used for braking. Also, a separate 24 VDC 5%, 0.3 A minimum power supply is required for the electromagnetic brakes. Note: b Direction of rotation of the motor shaft and that of the gear output shaft are the same.
AS98 CE-P7.2
AS98 CE-P10
25 20
15 10 Permissible Torque
Permissible Torque
Permissible Torque
15 10 5 0
10
0 0 5
100
300 30
400
0 0
50 5
100
250 30
300 35
0 0 5
50
150 30
200
AS98 CE-P25
50 40 Permissible Torque
AS98 CE-P36
50 40 Permissible Torque
AS98 CE-P50
50 40 30 20 10 0 0 0 5 Permissible Torque
20 10
40 Speed [r/min]
60 30
80
0 0
10 5
20
30 40 Speed [r/min]
50 30
60 35
10 10
20 Speed [r/min]
30 30
40
b Enter A (standard) or M (electromagnetic brake) in the box ( ) within the model name. Notes: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C. (Under 75C is required to comply with UL or CSA Standards as the motor is recognized as insulation class A.) b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 50%.
Stepping Motors
PN Geared Type
Specifications
Model Pulse Input Package
Standard AS66ACE-N5 AS66ACE-N7.2 AS66ACE-N10 AS66ACE-N25 AS66ACE-N36 AS66ACE-N50 Electromagnetic Brake AS66MCE-N5 AS66MCE-N7.2 AS66MCE-N10 AS66MCE-N25 AS66MCE-N36 AS66MCE-N50 AS66ACEP-N5 AS66ACEP-N7.2 AS66ACEP-N10 AS66ACEP-N25 AS66ACEP-N36 AS66ACEP-N50 Built-In Controller (Stored Standard Program) Package Electromagnetic Brake AS66MCEP-N5 AS66MCEP-N7.2 AS66MCEP-N10 AS66MCEP-N25 AS66MCEP-N36 AS66MCEP-N50 Maximum Holding Torque Nm 3.5 4 5 8 Rotor Inertia J: kg m2 405 10-7 [564 10-7]1 Backlash arc minute (degrees) 2 (0.034) 3 (0.05) Angular Transmission Error arc minute (degrees) 5 (0.084) Permissible Speed Range r/min 0 600 0 416 0 300 0 120 0 83 0 60 Gear Ratio 1: 5 1: 7.2 1: 10 1: 25 1: 36 1: 50 Resolution Setting: 1000 P/R 0.072/Pulse 0.05/Pulse 0.036/Pulse 0.0144/Pulse 0.01/Pulse 0.0072/Pulse Resolution2 Permissible Torque Nm 3.5 4 5 8 Nm 7 9 11 16 20 Maximum Torque3 15 10% 50/60 Hz Voltage/Frequency Single-Phase 200-230 VAC Power Source Maximum Input Current A 3 Type Active when power is off Power Supply Input 24 VDC 5% Electromagnetic Brake4 Power Consumption W 6 Excitation Current A 0.25 Static Friction Torque Nm 1.75 2 2.5 4 Motor kg 1.5 [1.75]1 1.7 [1.95]1 Mass Driver kg 0.8 9 Motor Dimension 13 Pulse Input No. Driver Built-In Controller (Stored Program) 14
How to read specifications table Page C-10 Extension cables for electromagnetic brake motor Page C-253 b For the single-phase 100-115 VAC models and three-phase 200-230 VAC models, please contact the nearest Oriental Motor sales office. 1 The values inside the brackets [ ] represent the specification for the electromagnetic brake type. 2 Pulse Input Package: The resolution can be set to any one of 500 P/R, 1000 P/R, 5000 P/R, or 10000 P/R with the resolution select switch or resolution select switching signals. Resolution select switch Page C-45 Built-In Controller (Stored Program) Package: The resolution can be set from 500 P/R to 10000 P/R by setting parameters. 3 The value of maximum torque is for gear. For output torque for geared motor, refer to the speed torque characteristics. 4 The electromagnetic brakes are for holding the position when the power is off. They cannot be used for braking. Also, a separate 24 VDC 5%, 0.3 A minimum power supply is required for the electromagnetic brakes. Note: b Direction of rotation of the motor shaft and that of the gear output shaft are the same.
Introduction
6
Torque [N m]
Maximum Torque
Torque [N m]
4 Permissible Torque 2
5 Permissible Torque
Torque [N m]
10
5 Permissible Torque
0 0 10
200
600 50
0 0
100 10
200 300 Speed [r/min] 20 30 40 Pulse Speed [kHz] (Resolution Setting: 1000 P/R)
400 50
0 0 10
100
300 50
Controllers
Accessories
15
Torque [N m]
Torque [N m]
15 10 5 0 Permissible Torque
15 10 5 0 Permissible Torque
10 Permissible Torque 5
Installation
0 0 10
50 Speed [r/min]
100
150 60
0 0
20 10
80 50
100
0 0
10 10
20
30 40 Speed [r/min]
50
60 50
70
b Enter A (standard) or M (electromagnetic brake) in the box ( ) within the model name. Notes: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C. (Under 75C is required to comply with UL or CSA Standards as the motor is recognized as insulation class A.) b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 50%.
Specifications, Characteristics C-27 / Dimensions C-39 / Connection and Operation C-45 / Motor and Driver Combinations C-56
C-33
Torque [N m]
Torque [N m]
Torque [N m]
Torque [N m]
Permissible Torque
Torque [N m]
40 Permissible Torque 20
Torque [N m]
C-34
Stepping Motors
PN Geared Type
Specifications
Model Pulse Input Package
Standard AS98ACE-N5 AS98ACE-N7.2 AS98ACE-N10 AS98ACE-N25 AS98ACE-N36 AS98ACE-N50 Electromagnetic Brake AS98MCE-N5 AS98MCE-N7.2 AS98MCE-N10 AS98MCE-N25 AS98MCE-N36 AS98MCE-N50 AS98ACEP-N5 AS98ACEP-N7.2 AS98ACEP-N10 AS98ACEP-N25 AS98ACEP-N36 AS98ACEP-N50 Built-In Controller (Stored Standard Program) Package Electromagnetic Brake AS98MCEP-N5 AS98MCEP-N7.2 AS98MCEP-N10 AS98MCEP-N25 AS98MCEP-N36 AS98MCEP-N50 Maximum Holding Torque Nm 10 14 20 37 Rotor Inertia J: kg m2 1400 10-7 [1560 10-7]1 Backlash arc minute (degrees) 2 (0.034) 3 (0.05) Angular Transmission Error arc minute (degrees) 4 (0.067) Permissible Speed Range r/min 0 600 0 416 0 300 0 120 0 83 0 60 Gear Ratio 1: 5 1: 7.2 1: 10 1: 25 1: 36 1: 50 Resolution Setting: 1000 P/R 0.072/Pulse 0.05/Pulse 0.036/Pulse 0.0144/Pulse 0.01/Pulse 0.0072/Pulse Resolution2 Permissible Torque Nm 10 14 20 37 Nm 28 35 56 60 Maximum Torque3 15 10% 50/60 Hz Voltage/Frequency Single-Phase 200-230 VAC Power Source Maximum Input Current A 3.5 Type Active when power is off Power Supply Input 24 VDC 5% Electromagnetic Brake4 Power Consumption W 6 Excitation Current A 0.25 Static Friction Torque Nm 4.5 6.45 9 18.5 Motor kg 4 [4.4]1 4.7 [5.1]1 Mass Driver kg 0.8 10 Motor Dimension 13 Pulse Input No. Driver Built-In Controller (Stored Program) 14
How to read specifications table Page C-10 Extension cables for electromagnetic brake motor Page C-253 b For the single-phase 100-115 VAC models and three-phase 200-230 VAC models, please contact the nearest Oriental Motor sales office. 1 The values inside the brackets [ ] represent the specification for the electromagnetic brake type. 2 Pulse Input Package: The resolution can be set to any one of 500 P/R, 1000 P/R, 5000 P/R, or 10000 P/R with the resolution select switch or resolution select switching signals. Resolution select switch Page C-45 Built-In Controller (Stored Program) Package: The resolution can be set from 500 P/R to 10000 P/R by setting parameters. 3 The value of maximum torque is for gear. For output torque for geared motor, refer to the speed torque characteristics. 4 The electromagnetic brakes are for holding the position when the power is off. They cannot be used for braking. Also, a separate 24 VDC 5%, 0.3 A minimum power supply is required for the electromagnetic brakes. Note: b Direction of rotation of the motor shaft and that of the gear output shaft are the same.
10
0 0
100 10
200
500
600 50
0 0
100 10
200 300 Speed [r/min] 20 30 40 Pulse Speed [kHz] (Resolution Setting: 1000 P/R)
400 50
0 0 10
100
300 50
40
40 Permissible Torque 20
20
0 0 10
50 Speed [r/min]
100
150 60
0 0 0
10
20 10
30
40 50 60 Speed [r/min]
70
80 50
90
0 0
10 10
20
30 40 Speed [r/min]
50
60 50
70
b Enter A (standard) or M (electromagnetic brake) in the box ( ) within the model name. Notes: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C. (Under 75C is required to comply with UL or CSA Standards as the motor is recognized as insulation class A.) b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 50%.
Stepping Motors
Maximum Holding Torque Rotor Inertia Permissible Speed Range Gear Ratio Resolution2 Permissible Torque Maximum Torque Lost Motion (Load Torque) Power Source
AS66ACE-H50 AS66MCE-H50 AS66ACEP-H50 AS66MCEP-H50 5.5 440 10-7 [599 0 70 1: 50 0.0072/Pulse 5.5 18 0.7 max. ( 0.28 N m) 3
AS66ACE-H100 AS66MCE-H100 AS66ACEP-H100 AS66MCEP-H100 8 10-7]1 0 35 1: 100 0.0036/Pulse 8 28 0.7 max. ( 0.39 N m) Single-Phase 200-230 VAC
AS98ACE-H50 AS98ACE-H100 AS98MCE-H50 AS98MCE-H100 AS98ACEP-H50 AS98ACEP-H100 AS98MCEP-H50 AS98MCEP-H100 25 37 1600 10-7 [1759 10-7]1 0 70 0 35 1: 50 1: 100 0.0072/Pulse 0.0036/Pulse 25 37 35 55 1.5 max. ( 1.2 N m) 15 10% 50/60 Hz 3.5
Introduction
AC Input
AS
Voltage/Frequency Maximum Input Current A Type Power Supply Input Electromagnetic Brake3 Power Consumption W Excitation Current A Static Friction Torque Nm Motor kg Mass Driver kg Motor Pulse Input Dimension No. Driver Built-In Controller (Stored Program)
DC Input
Active when power is off 24 VDC 5% 6 0.25 2.75 1.4 [1.65]1 0.8 11 13 14 12 4 12.5 3.9 [4.3]1 18.5
ASC 5-Phase RK
AC Input DC Input
How to read specifications table Page C-10 Extension cables for electromagnetic brake motor Page C-253 b For the single-phase 100-115 VAC models and three-phase 200-230 VAC models, please contact the nearest Oriental Motor sales office. 1 The values inside the brackets [ ] represent the specification for the electromagnetic brake type. 2 Pulse Input Package: The resolution can be set to any one of 500 P/R, 1000 P/R, 5000 P/R, or 10000 P/R with the resolution select switch or resolution select switching signals. Resolution select switch Page C-45 Built-In Controller (Stored Program) Package: The resolution can be set from 500 P/R to 10000 P/R by setting parameters. 3 The electromagnetic brakes are for holding the position when the power is off. They cannot be used for braking. Also, a separate 24 VDC 5%, 0.3 A minimum power supply is required for the electromagnetic brakes. Note: b The inertia represents a sum of the inertia of the harmonic gear converted to a motor shaft value, and the rotor inertia. Direction of rotation of the motor shaft and that of the gear output shaft are the opposite.
0 0 10
20
40 Speed [r/min]
60 60
80
0 0 10
20
40 Speed [r/min]
60 60
80
Controllers
Accessories
30 Torque [N m]
60 Torque [N m]
20 Permissible Torque 10
40 Permissible Torque 20
Installation
0 0 10
10
20 Speed [r/min]
30 60
40
0 0 10
10
20 Speed [r/min]
30 60
40
b Enter A (standard) or M (electromagnetic brake) in the box ( ) within the model name. Notes: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C. (Under 75C is required to comply with UL or CSA Standards as the motor is recognized as insulation class A.) b In order to prevent fatigue of the gear grease in the harmonic gear, keep the temperature of the gear case under 70C. b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 50%.
Specifications, Characteristics C-27 / Dimensions C-39 / Connection and Operation C-45 / Motor and Driver Combinations C-56
C-35
C-36
Stepping Motors
Driver Specifications
Speed and Positioning Control Command Maximum Input Pulse Frequency Pulse Input Package Built-In Controller (Stored Program) Package Pulse input Stored program 250 kHz (When the pulse duty is 50%) When the protective functions are activated, an alarm signal is output and the motor stops automatically. Stack overflow, Memory read error, Program reference error, Compilation error, Operation result overflow, Parameter out-of-range error, Divide by zero, General I/O definition error, PC command execution error, Overheat, Overload, Overheat, Overload, Overvoltage, Speeed error, Overcurrent, Overspeed, Overspeed error, Overvoltage, Excessive position deviation, Overcurrent, EEPROM data error, Sensor error, System error External stop, Incorrect limit-sensor logic, Reverse limit-sensor connection, Mechanical home seeking error, Overtravel, Software overtravel, Invalid operation data, Resolver sensor error, Initial rotor revolution error, NVRAM error, System error Photocoupler input, Input resistance: 220 , Input current: 7 20 mA [Pulse, Rotation direction (Negative logic pulse input), CW pulse, CCW pulse (Negative logic pulse input), All windings off, Alarm clear, Resolution select] Photocoupler, Open-collector output External use condition: 30 VDC maximum, 15 mA maximum (Positioning completion signal, Alarm signal) Transistor, Open-collector output External use condition: 30 VDC maximum, 15 mA maximum (Timing signal, Quadrature ASG/BSG signal) Line driver output: Equivalent of 26C31 (Timing signal, Quadrature ASG/BSG signal) Photocoupler input, Control input: 24 VDC, Input resistance: 4.7 k (X0 X7, START, E-STOP, HOMELS, LS, LS, SENSOR)
Protective Functions
Input Signals
Output Signals
Photocoupler, Open-collector output External use condition: 30 VDC maximum, 4 8 mA (Y0 Y7, ALM) Line driver output: Equivalent of 26C31 (ASG/BSG signal)
User Program
Maximum number of programs: 14 programs (Including STARTUP program) Maximum lines per program: 64 lines Maximum commands per 1 line: 1 command (Single state) Maximum program variables: 26 variables (A Z) Incremental (relative distance specification) mode/Absolute (absolute position specification) mode One-shot operation/Linked operation (A maximum of 4 profiles can be linked) Maximum operating ranges 8 388 607 (1 each) Steps: 8 388 608 Operating speed: 10 Hz 500 000 Hz (500 kHz) Acceleration/Deceleration rate: 10 50 000 msec Positioning operation (Indexing) Continuous operation (Scan) Linked profile Return to electrical home position (Return) Return to mechanical home position (Home operation) Return to home operation is performed from the entire range using mechanical position detection signals ( LS, LS, HOMELS) Speed-filter value setting function Current setting function Electric gear function Setting function for direction of motor rotation External stop function Overtravel function Software overtravel function Alarm trace-back function Daisy chain connections Connection standard: RS-232C conformity Transfer system: Asynchronous communication, NRZ (Non return to zero), Full duplex Data length: 8 bits, 1 stop bit, No parity Transmit speed: 9600 bps Connector specification: Modular (4 wires, 4 pins) Pin arrangement: RS-232C Compatible Protocol: TTY (CR LF)
Positioning Control
Operating Method
Other Functions
Terminal Emulation
Stepping Motors
General Specifications
Specifications Motor Insulation Class Insulation Resistance Motor Class B (130C) [UL/CSA: Recognized as class A (105C) ] 100 M or more when 500 VDC megger is applied between the following places: Case Windings Case Electromagnetic brake windings Sufficient to withstand the following for 1 minute: Case Windings 1.5 kV 50 Hz or 60 Hz Case Electromagnetic brake windings 1.0 kV 50 Hz or 60 Hz
This is the value after rated operation at normal ambient temperature and humidity.
Driver 100 M or more when 500 VDC megger is applied between the following places: Case Power supply input terminal I/O Power supply input terminal Sufficient to withstand the following for 1 minute: Case Power supply input terminal 1.5 kV 50 Hz or 60 Hz I/O Power supply input terminal 3.0 kV 50 Hz or 60 Hz: Pulse input package 1.8 kV 50 Hz or 60 Hz: Built-in controller (stored program) package 0 50C (non-freezing) : Pulse input package 40C (non-freezing) : Built-in controller (stored program) package 0 AC Input
Dielectric Strength
Introduction
Ambient Temperature
0 0
50C (non-freezing) : Standard Type TH, PL, PN Geared Type 40C (non-freezing) : Harmonic Geared Type
Ambient Humidity Atmosphere Stop Position Accuracy Shaft Runout Concentricity Perpendicularity
85% or less (non-condensing) No corrosive gases, dust, water or oil (Standard IP65 rated motor: No corrosive gases) 5 arc minutes 0.05 T.I.R. (mm) 0.075 T.I.R. (mm) 0.075 T.I.R. (mm)
AS ASC
DC Input
T.I.R. (Total Indicator Reading): The total dial gauge reading when the measurement section is rotated one revolution centered on the reference axis center. Note: b Do not measure insulation resistance or perform the dielectric strength test while the motor and driver are connected.
0.075 A
AC Input
5-Phase RK
0.05
5-Phase CRK
0.075
DC Input
2-Phase CMK
2-Phase CSK
AS66
2.5 Driver Input Current [A] 2.0 1.5 1.0 0.5 0 500 r/min 1000 r/min 3000 r/min 2000 r/min
AS69
3.0 Driver Input Current [A] 2.5 2.0 1.5 1.0 0.5 0 3000 r/min 2000 r/min 1000 r/min
500 r/min
0.3
1.2
1.5
0.5
2.0
2.5
AS98
3.0 Driver Input Current [A] 2.5 2.0 1.5 1.0 0.5 0 0 0.5 1.0 1.5 Load Torque [N m] 2.0 2.5 3000 r/min 2000 r/min 1000 r/min
AS911
6 5
Accessories
500 r/min
4 3 2 1 0
in in /m r/m 0r 00 00 20 3
Installation
1.0
2.0
3.0
4.0
Load Torque [N m]
Specifications, Characteristics C-27 / Dimensions C-39 / Connection and Operation C-45 / Motor and Driver Combinations C-56
C-37
C-38
Stepping Motors
Unit
63
75
95
130
190 The permissible thrust load shall be no greater than the motor mass.
260
290
340
390
480
70 220 200 250 330 480 850 930 1050 200 250 330 480 480 850 930 1050 320
80 250 220 270 360 540 940 1030 1160 220 270 360 520 540 940 1030 1160 370 1150
100 300 250 300 400 600 1050 1150 1300 250 300 400 550 600 1050 1150 1300 440 1230
120 350 280 340 450 680 1190 1310 1480 280 340 450 580 680 1110 1220 1380 550 1310
40 100
TH Geared Type
100
300 1520 1710 320 390 520 620 790 1190 1300 1490 720 1410 450 1300 300 100
b Enter A (standard) or M (electromagnetic brake) in the box ( ) within the model name. Enter the gear ratio in the box ( ) within the model name.
Stepping Motors
L1 63.6
L2
AS
50 0.35 60
DC Input
ASC
20.5
400
36
15
AC Input
5-Phase RK
31.7
85 mm
5-Phase CRK
L1 80
L2
131 110
37
1
2.2 DC Input
2-Phase CMK
10
2-Phase CSK
70 0.35 85
14
20.5
400
31.7
15
60 mm
Model Motor Model ASM66ACT ASM69ACT L 98.7 129.7 Mass (kg) 1 1.5
Accessories
b Always use the motor cable for IP65 rated motor (sold separately) for connection between the IP65 rated motor and the driver.
L 39 7
24 2
20
0.25
60 50 0.35
4.5 Thru
Installation
10
10.3
RC-09P1N122300(CONINVERS)
Specifications, Characteristics C-27 / Dimensions C-39 / Connection and Operation C-45 / Motor and Driver Combinations C-56
36
M4
70.3 10.3
C-39
10.3
RC-09P1N122300(CONINVERS)
bThese dedicated cables are used for connection between the IP65 rated motor and the driver. The IP65 rated motor cannot be driven unless the dedicated motor cable is used.
Motor cable for IP65 rated motor Page C-254
14
60
95.3
7 0.15 0 0.015(h7)
10 0.5 0 0.021(h7)
70
0.5
23
400
31.7 5557-10R(MOLEX)
C-40
15
60
Stepping Motors
85 mm
Model Motor Model ASM98ACT ASM911ACT L 110 140 Mass (kg) 2.2 3.3
b Always use the motor cable for IP65 rated motor (sold separately) for connection between the IP65 rated motor and the driver.
L 40.6 10
37 2
85 70 0.35 25
0.25
6.5 Thru
11.6 14.5
51.1
26
Motor Side
TH Geared Type 5 60 mm
Model AS66ACE-T AS66ACEP-T AS66MCE-T AS66MCEP-T Motor Model ASM66ACE-T 3.6, 7.2, 10, 20, 30 ASM66MCE-T 143.6 1.5 Gear Ratio L1 108.6 L2 Mass (kg) 1.25
b Enter the gear ratio in the box ( ) within the model name.
L2 L1 3.5
32
12
4 M4 8 Deep 60
Stepping Motors
90 mm
Model Motor Model ASM98ACE-T 3.6, 7.2, 10, 20, 30 ASM98MCE-T 195.5 3.4 Gear Ratio L1 144.5 L2 Mass (kg) 3
b Enter the gear ratio in the box ( ) within the model name.
12 0.018(h7) 18 0.5
L2 L1 85
32 1 3.5 25
0 0.025(h7)
4 M8 15 Deep 90
Introduction
A 85 90 A
35
AC Input
AS
15
20.5
400
10
0 .5
0 0.03
Motor Cable 7
5557-10R(MOLEX)
0.2
2.5
31.7
0.1 0
DC Input
0 0.03
0 0.03
ASC
AA AC Input
5-Phase RK
PL Geared Type 7 60 mm
Model AS66ACE-P AS66MCE-P Motor Model ASM66ACE-P ASM66MCE-P Gear Ratio 5, 7.2, 10 25, 36, 50 5, 7.2, 10 25, 36, 50
38
1
L1 98.6 123.6
L2
133.6 158.6
5-Phase CRK
b Enter the gear ratio in the box ( ) within the model name.
L2 L1 10
25
4 M5 10 Deep 60
0 0.03
DC Input
2-Phase CMK
A
0 0.018(h7) 0 0.025(h7)
20.5
400
12
37
31.7
2-Phase Stepping Motors
90 mm
Model Motor Model ASM98ACE-P ASM98MCE-P Gear Ratio 5, 7.2, 10 25, 36, 50 5, 7.2, 10 25, 36, 50 L2 L1 14 85 26 25 4 M8 15 Deep 90 L1 127 163 L2 Mass (kg) 3.2 4 3.6 4.4
AS98ACE-P AS98MCE-P
15
70
0.5
60
0.2
2.5
25
0 0.03
0 0.03
0.1 0
2-Phase CSK
AA
178 214
47
b Enter the gear ratio in the box ( ) within the model name.
1
Controllers
25
0 0.03
0.2
0 0.03
0 0.03(h7)
Accessories
A 85 A
0 0.018(h7)
61
6
10 4
0.5
31.7
15
3.5
0 0.03
0.1 0
Installation
Specifications, Characteristics C-27 / Dimensions C-39 / Connection and Operation C-45 / Motor and Driver Combinations C-56
18
AA
C-41
0 0.03
A
0 0.018(h7) 0 0.025(h7)
20.5
400
12
37
31.7
10
90 mm
Model Motor Model ASM98ACE-N ASM98MCE-N Gear Ratio 5, 7.2, 10 25, 36, 50 5, 7.2, 10 25, 36, 50 L2 L1 85 6 25 L1 140 163 L2 Mass (kg) 4 4.7 4.4 5.1
191 214
b Enter the gear ratio in the box ( ) within the model name.
0 0.03
47
15
70
0. 5
60
25
0.2
AA
2.5
0 0.03
0 0.03
0.1 0
90
61
0 0.018(h7)
31.7
400
10
15
0.5
b Enter the gear ratio in the box ( ) within the model name.
L2 L1 2
28.5
1.5 20
4 M5 10 Deep 60 70
0 0.03(h7)
60
54
A 400
31.7
6 M4 6 Deep
The position of the output shaft relative to the screw holes on the rotating part is arbitrary.
C-42
15
90
1.6
0.2
AA
2.5
25.5
20
0 0.21
0 0.03
0 0.03
0 0.03
0.1 0
0.5
18
AA
3.5
0 0.03
0.1 0
Stepping Motors
PN Geared Type 9 60 mm
Model AS66ACE-N AS66ACEP-N AS66MCE-N AS66MCEP-N Motor Model ASM66ACE-N ASM66MCE-N Gear Ratio 5, 7.2, 10 25, 36, 50 5, 7.2, 10 25, 36, 50
38
1
L1 107.6 123.6
L2
142.6 158.6
b Enter the gear ratio in the box ( ) within the model name.
L2 L1 6
25
4 M5 10 Deep 60
4 M8 15 Deep 90
25
0.2
0 0.03
60
Stepping Motors
12
90 mm
Model Motor Model ASM98ACE-H 50, 100 ASM98MCE-H 214.5 4.3 Gear Ratio L1 163.5 L2 Mass (kg) 3.9
b Enter the gear ratio in the box ( ) within the model name.
0 0.03
25 L2 L1
0 0.018(h7)
0 0.21
3.5
0 0.03
0 0.03
0.1 0
Introduction
40
1.2
15 3 85 3.5 28 25
90
2.4
AA
18
AC Input
AS
A 85 22 50
0 0.035(h7)
A 15 400
83
90
DC Input
ASC
20.5
4 10
0.5
31.7
5557-10R(MOLEX)
AC Input
5-Phase RK
bElectromagnetic brake models must use an extension cable or flexible extension cable for an electromagnetic brake motor.
Extension cables for electromagnetic brake motor Page C-253
5-Phase CRK
2-Phase CMK
8 Electromagnetic Brake Leads 60 mm (Orange/Black, Gray AWG24) Motor Side Driver Side
22.2
2-Phase CSK
(30) 24.3
9.5 Electromagnetic Brake Leads 60 mm (Orange, Gray AWG22) Motor Side Driver Side
5-Phase Stepping Motors
22.2
Specifications, Characteristics C-27 / Dimensions C-39 / Connection and Operation C-45 / Motor and Driver Combinations C-56
C-43
134
(6)
89
M4
25
10
11
7 M3
17
5 max.
6.2 7.62
3 M3
25
4.5
Control I/O Connector Cover Assembly: 54331-1361 (MOLEX) Connector: 54306-3619 (MOLEX)
10
10
25 2 45 3.5 Countersink
43
23 9 9
120
41 max.
45 25 10
134
(6)
89
M4
25
17
10
5 max.
11 7 M3
3 M3
25
4.5
10
Control I/O Connector Cover Assembly: 54331-1361 (MOLEX) Connector: 54306-3619 (MOLEX) Sensor Input Connector Cover Assembly: 54331-1201 (MOLEX) Connector: 54306-2019 (MOLEX)
10
25 2 45 3.5 Countersink
43
C-44
6.2 7.62
Stepping Motors
b Driver
13 Pulse Input Package (Common to all types)
Mass: 0.8 kg
23 9 9
120
41 max.
45 25 10
Stepping Motors
Introduction
Motor Connector
x c
Alarm
Blink Count 1 2 3 4 5 6 7 8 Lights (No blinking) Function Overheat Overload Overvoltage Speed error Overcurrent Overspeed EEPROM data error Sensor error System error When Activated The temperature of the driver's internal heat sink rises to approximately 85C. The motor is operated continuously over five seconds under a load exceeding the maximum torque. The primary voltage of the driver's inverter exceeds the permissible value. The motor cannot accurately follow at the indicated pulse speed. An excessive current has flowed through the inverter power element inside the driver. The motor shaft velocity exceeds 5000 r/min. (Except geared type) A motor control parameter has been damaged. The power source turns on when the motor cable is not connected to the driver. The driver has fatal error.
Not used
AC Input
AS
DC Input
ASC
2 Function Switches
Indication Switch Name Function This function is for selecting the motor resolution. For each geared type, the resolution of gear output shaft is 1/gear ratio. "1000" " 1" 1000 Pulses (0.36/step) (Factory setting) "1000" " 10" 10000 Pulses (0.036/step) "500" " 1" 500 Pulses (0.72/step) "500" " 10" 5000 Pulses (0.072/step) The settings of this switch are compatible with the following two types of pulse input modes: "1P" for the 1-pulse input mode (Factory setting), "2P" for the 2-pulse input mode.
5 Input/Output Signals
Indication Input/Output Pin No. 1 External power 2 input 3 9 10 Input signal 11 12 13 14 15 16 Output signal 17 18 19 20 CN4 21 Input signal 22 23 24 25 26 Output signal 27 28 29 30 31 32 Input signal 33 34 Signal Vcc 5V GND Vcc 24V DIR. (CCW) DIR. (CCW) PLS (CW) PLS (CW) BSG1 GND ASG1 GND BSG2 BSG2 ASG2 ASG2 ACL ACL TIM.1 GND ALARM ALARM TIM.2 TIM.2 END END 10 10 C.OFF C.OFF Signal Name Power supply for signal control Rotation direction (CCW pulse) Pulse (CW pulse) B-phase pulse output (Open-collector) A-phase pulse output (Open-collector) B-phase pulse output (Line driver) A-phase pulse output (Line driver) Alarm clear Timing (Open-collector)
AC Input
5-Phase RK
1000/500 1/ 10
5-Phase CRK
1P/2P
DC Input
2-Phase CMK
Notes: b Always turn the power off before switching resolution or pulse input, and turn it on again after you have made the change. b If the resolution select switch is set to " 10," it cannot control the resolution selected by the input terminals. It will always be " 10."
2-Phase CSK
Alarm Timing (Line driver) Positioning completion Resolution select All windings off
V.FIL
This switch is used to make adjustments when a smooth startstop or smooth motion at low speed is required.
Motor Speed
Set to "F"
Controllers
Time
Description of input/output signals Page C-47 Signal names in parentheses represent the setting in 2-pulse input mode. The factory setting is the 1-pulse input mode.
Accessories Installation
Specifications, Characteristics C-27 / Dimensions C-39 / Connection and Operation C-45 / Motor and Driver Combinations C-56
C-45
6.2 mm max.
6.2 mm max.
C-46
Stepping Motors
b Connection Diagrams
Controller
VO Twisted-Pair Wire Pulse Signal (CW Pulse Signal) R1 Rotation Direction Signal (CCW Pulse Signal) 0V 5 VDC R1 Protective Earth (P.E.) [Use wire of AWG18 (0.75 mm2) or thicker.] (Pin No.) CN4 Connector CN2
Input Signals
Notes on Wiring
Resolution Select Signal
All Windings Off Signal 0V Vcc 5 V GND Caution V0 ( 30 VDC max.) R2 Alarm Signal R2 Positioning Completion Signal 0V Vcc 24 V Terminal Block
L N
0V Output Signals
b Use multi-core, twisted-pair shielded wires of AWG28 (0.08 mm2) or thicker for the control I/O signal line (CN4), and keep wiring as short as possible (within 2 m). b Note that as the length of the pulse signal line increases, the maximum transmission frequency decreases. Technical reference Page F-46 b When it is necessary to have a connection more than 0.4 m between motor and driver, the accessory extension cable or flexible extension cable must be used. Electromagnetic brake motor models must use an electromagnetic brake extension cable or flexible extension cable (sold separately). Extension cables for electromagnetic brake motor Page C-253 Always use the motor cable for IP65 rated motor (sold separately) for connection between the IP65 rated motor and the driver. b Use a 3-core cable of AWG18 (0.75 mm2) or thicker for the power supply line. b Provide a minimum distance of 300 mm between the control I/O signal lines and power lines (AC lines, motor lines and other large-current circuits). Do not run the control I/O signal lines in the same duct as power lines or bundle them with power lines. b To ground the driver, lead the ground conductor from the protective earth terminal (M4) and connect the ground conductor to provide a common ground point. Caution: Connect the power supply for "Timing" signal output and "Pulse" signal output to 5 VDC. Pin No. of the CN4 should be grounded. Description of input/output signals Page C-47
Timing Signal
3.2 mm min.
3.2 mm min.
9 mm min.
9 mm min.
b Crimp terminals are not provided with the package. They must be purchased separately.
Surge Suppressor
AS Series Driver
Stepping Motors
All Windings Off (C.OFF) Input Signal Resolution Select ( 10) Input Signal Alarm Clear (ACL) Input Signal Input Circuit and Sample Connection
Controller Open-Collector Output 5 VDC
Driver
Introduction
7 20 mA Driver 0V AC Input
b The colored characters indicate signals under the 1-pulse input mode, while the black characters indicate signals under the 2-pulse input mode. Note: b The external resistor is not needed when Vo is 5 VDC. When the voltage exceeds 5 VDC, connect the external resistor R1 to keep input current at 20 mA or less. When a voltage exceeding 5 VDC is applied without the external resistor, the internal components may be damaged.
Motor
DIR. Input
b For pulse signals, use input pulse waveforms like those shown in the figure above.
Counterclockwise
Specifications, Characteristics C-27 / Dimensions C-39 / Connection and Operation C-45 / Motor and Driver Combinations C-56
W
DC Input AC Input DC Input
220
C-47
AS ASC 5-Phase RK 5-Phase CRK 2-Phase CMK 2-Phase CSK 2-Phase Stepping Motors 5-Phase Stepping Motors Controllers Accessories Installation
C-48
Stepping Motors
Positioning Completion (END) Output Signal Alarm (ALARM) Output Signal Output Circuit and Sample Connection
Controller V0 Driver
Timing (TIM.1, TIM.2) Output Signal Output Circuit and Sample Connection Open-Collector Output
Controller VO Driver VCC 5 V TIM1
30 VDC, 15 mA max. 0V
GND 0V
30 VDC 15 mA max.
0V
VCC 5 V
28
END
OFF
ON ON
2 0V 3
Note: b The END signal flashes during operation with a pulse input frequency of 500 Hz or less.
CCW
CW
ON Off
ON Off
Notes: b A precise "Timing" signal output cannot be obtained when the speed of the pulse input frequency is over 500 Hz. b When the "Timing" signal output is used, 5 VDC power supply is necessary.
Rotation
Natural Stop
Notes: b The "Alarm" output uses positive logic (normal close), all other outputs use negative logic (normal open). b The ALARM indicator lights (not blinks) when system error protective function has been activated.
Stepping Motors
Quadrature (ASG1/BSG1, ASG2/BSG2) Output Signal Output Circuit and Sample Connection Open-Collector Output
Controller VO Driver VCC 5 V BSG1
Introduction
GND ASG1
30 VDC 15 mA max.
GND
30 VDC 15 mA max.
AC Input
AS
0V
VCC 5 V
AC Input
5-Phase RK
18 20 2 0V 3 GND
Equivalent of 26C31
5-Phase CRK
DC Input
2-Phase CMK
Specifications, Characteristics C-27 / Dimensions C-39 / Connection and Operation C-45 / Motor and Driver Combinations C-56
C-49
C-50
Stepping Motors
Alarm
Blink Count Protective Function Stack overflow Memory read error Program reference error Compilation error 1 Operation result overflow Parameter out-of-range error Divide by zero General I/O definition error PC command execution error Overheat protection 2 Overload protection Overspeed error 3 Overvoltage protection When Activated Too many nested LOOP, ENDL, CALL, etc. The data stored in the memory is damaged. The called program does not exist. The executed program is not executable. The operation result exceeds the range of 8 388 608 to 8 388 607. The parameter exceeds its setting range. Divide by zero was executed. The signal assignment method for general I/O ports was not correct. A PC command was executed while the motor was operating or not energized. The temperature of the heat sink in the driver has reached approx. 85C. A load exceeding the maximum torque was applied to the motor for the duration set by the OLTIME command. The speed of the motor's output shaft has exceeded 5000 r/min. The driver's primary inverter voltage has exceeded the limit of tolerance. The position of the motor's output shaft has deviated from the position specified by the operation command, by at least the number of revolutions set by the OVERFLOW command. An excessive current has flowed into the power element of the driver's inverter section. An E-STOP signal has been input. Alarm Code Output 90h (Decimal: 144) 91h (Decimal: 145) 94h (Decimal: 148) 95h (Decimal: 149) 98h (Decimal: 152) 99h (Decimal: 153) 9Ah (Decimal: 154) 9Ch (Decimal: 156) 9Dh (Decimal: 157) 21h (Decimal: 33) 30h (Decimal: 48) 31h (Decimal: 49) 22h (Decimal: 34) 10h (Decimal: 16) 20h (Decimal: 32) 68h (Decimal: 104) 60h (Decimal: 96) 61h (Decimal: 97) 62h (Decimal: 98) 66h (Decimal: 102) 67h (Decimal: 103) 68h (Decimal: 104) 70h (Decimal: 112) 42h (Decimal: 66) 43h (Decimal: 67) 41h (Decimal: 65) F0h (Decimal: 240) Operation Reset
The program stops. The motor performs stop operation set by MSTOPACT.
Possible
Possible
The motor loses it's holding torque. The motor loses it's holding torque. The motor loses it's holding torque. The program stops. The motor loses it's holding torque (ESTOPACT 0).
Overcurrent protection
External stop
Incorrect limit-sensor logic Reverse limit-sensor connection Mechanical home seeking error
LS and
LS are ON simultaneously.
LS and
Mechanical home seeking could not be executed correctly. The motor has exceeded its hardware limit.
Overtravel
The program stops. The motor stops immediately (ESTOPACT 1). Decelerates to a stop. The motor stops immediately. Motion is stopped. The motor loses it's holding torque. The motor loses it's holding torque. The motor loses it's holding torque.
Possible
Software overtravel External stop Invalid operation data Resolver sensor error 8 Initial rotor revolution error 9 Stays ON. NVRAM error System error
The motor has exceeded its software limit. An E-STOP signal has been input. An inoperable operation pattern has been started. The motor cable has not been connected or a motor's error has occurred in a sensor. The driver's power was turned on while the motor's output shaft was turning by external force. Motor control parameters have been damaged. Driver failure has occurred.
Possible - The alarm can be cleared with the ALMCLR command or an ACL input. Impossible - The AC power must be cycled to clear these alarms.
Stepping Motors
Output Input
TX RX
Introduction
CN5
Input
Input
AC Input DC Input
AS
COM1 COM2
ASC
Output
DC Input
2-Phase CMK
Phase A pulse output (Line driver output) Phase B pulse output (Line driver output) START External stop Common terminal for input signal
2-Phase CSK
Input
CN4
Output
Alarm
Controllers
Input
Accessories
1 The following signals can be assigned arbitrarily via program settings. Additionally, the output logic of each signal can be switched. END output, RUN output, MOVE output, HOME-P output, TIM output, MBC output 2 The following signals can be assigned arbitrarily via program settings. Additionally, the input logic of each signal can be switched. ACL input, PAUSE input, MSTOP input, RESTART input
Installation
Specifications, Characteristics C-27 / Dimensions C-39 / Connection and Operation C-45 / Motor and Driver Combinations C-56
C-51
X7 Input
36 3 4 5 6 7 8 9 10 19 20 21 22 23 24 25 26 27 28
24 VDC
Y0 Output Y0 Output Y1 Output Y1 Output Y2 Output Y2 Output Y3 Output Y3 Output Y4 Output Y4 Output Y5 Output Y5 Output Y6 Output Y6 Output Y7 Output Y7 Output ALM Output ALM Output
6.2 mm max.
6.2 mm max.
C-52
Stepping Motors
b Connection Diagrams
Controller N24 OV 24 VDC COM1
2
17 (18)
Notes on Wiring
Driver CN4
b Use input signals at 24 VDC 10%. b Use output signals at 30 VDC or below and at 4 to 8 mA. b Use a shielded cable with a wire of a size ranging between AWG24 (0.2 mm2) and AWG22 (0.3 mm2) for the driver signal cable (I/O signals, limit sensors signals), and keep it as short as possible. b Keep the control I/O signal line at least 300 mm away from power lines (e.g. lines carrying large current, such as AC lines and motor lines). Also, do not run these lines through the same ducts or pipes as power lines. b Always use the accessory cable for IP65 rated motor (sold separately) for connection between the IP65 rated motor and the driver. b Use a 3-core cable of AWG18 (0.75 mm2) or thicker for the power supply line. Provide a minimum distance of 300 mm between the control I/O signal lines and power lines (AC lines, motor lines and other large-current circuits). b Do not guide the control I/O signal lines in the same duct as power lines or bundle them with power lines. b The power cable and control I/O signal cable are not supplied with the package and must be provided separately by the user. To ground the driver, lead the ground conductor from the protective earth terminal (M4) and connect the ground conductor to a cable of AWG18 (0.75 mm2) or thicker to provide a common ground point.
COM1 (CN5)
P24 START Input E-STOP Input X0 Input X1 Input X2 Input X3 Input X4 Input X5 Input X6 Input
1 15 16 29 30 31 32 33 34 35
9 mm min.
9 mm min.
b Crimp terminals are not provided with the package. They must be purchased separately.
OV
11 12 13 14
X0 to X7: General Input1 Y0 to Y7: General Output2 1 The following signals can be assigned arbitrarily via program settings. Additionally, the output logic of each signal can be switched. END output, RUN output, MOVE output, HOME-P output, TIM output, MBC output 2 The following signals can be assigned arbitrarily via program settings. Additionally, the input logic of each signal can be switched. ACL input, PAUSE input, MSTOP input, RESTART input
bCommunication Specifications
Item Electrical Characteristics Transmission Method Description In conformance with RS-232C. Start-stop asynchronous method, NRZ (non-return to Zero), full-duplex 8 bits, 1 stop bit, no parity 9600 bps TTY (CR LF) Modular (4 lines, 4 pins)
16
Notes: b Confirm that 24 VDC is supplied to the driver's external power supply input terminals (P24 and N24). b Use the RS-232C signal lines over the shortest possible distance. It is recommended that the signal lines be shielded to protect them from noise interference. b The maximum distance between drivers when using a daisy chain connection should be 15 m.
Stepping Motors
TX, RX
These communication terminals are used when implementing daisy chain connections.
Notes: b Confirm that each driver is supplied 24 VDC 10% (P24 and N24) of CN4 from outside for communication. b Wire the RS-232C signal lines over the shortest possible distance. It is recommended that the signal lines be shielded to protect them from noise interference. b The maximum distance between drivers when using a daisy chain connection should be 15 m. b Do not use the RS-232C communication port (CN1).
Introduction
Driver 2
AC Input
CN5 7 RX 10 N24 5 TX
AS ASC
DC Input
AC Input DC Input
5-Phase RK 5-Phase CRK 2-Phase CMK 2-Phase CSK 2-Phase Stepping Motors
Surge Suppressor
Accessories
AS Series Driver
To release the electromagnetic brake, wait at least 0.5 second after turning on the driver power source. The load may fall down. ON Driver Power Source OFF 0.5 s min. ON Electromagnetic Brake Power Source OFF
Specifications, Characteristics C-27 / Dimensions C-39 / Connection and Operation C-45 / Motor and Driver Combinations C-56
C-53
C-54
Stepping Motors
Driver
3
24 VDC
29 36
Driver
Y0
1 k 0V
17 18
Y7, ALM 26 , 28
COM1
4.7 k
0V
Note: b Use output signals at 30 VDC or below and at 4 to 8 mA.
Y0 to Y7 Output
The Y0 through Y7 outputs can be used as output ports for general signals. The status of each port can be read using an OUT command or OUTx command. The general signals assignable to the Y0 through Y7 outputs are listed below. Use the corresponding command to assign each signal. END output ......... OUTEND command RUN output......... OUTRUN command MOVE output ...... OUTMOVE command HOME-P output .. OUTHOMEP command TIM output .......... OUTTIM command MBC output ........ OUTMBC command
START Input
This signal starts the program named "STARTUP." OFFON edge to start "STARTUP" program.
E-STOP Input
This signal is used to forcibly stop the operation. Set the stopping method using the ESTOPACT command. Additionally, the input logic can be changed using the ESTOPLV command. (The factory setting of this command is normal open.) OFFON edge to stop operation.
COM1 Input
This is an external power-source terminal for input signals. This signal is internally connected to terminals COM1 of CN5.
ASG, BSG 26C31 or Equivalent 90 ASG Output H L H BSG Output L
X0 to X7 Inputs
The X0 thorough X7 inputs can be used as input ports for general signals. The status of each port can be read using an IN command or INx command. The general signals assignable to the X0 through X7 inputs are listed below. Use a corresponding command to assign signal. ACL input ............ INACL command PAUSE input ....... INPAUSE command MSTOP input ...... INMSTOP command RESTART input ... INRESTART command
ACL Input
This signal is used to reset the alarm that has been generated by the driver's protective function. Input an ACL signal once after removing the cause that has triggered the protective function.
To monitor the motor position, connect these signals to a counter, etc. The pulse resolution is the same as the motor resolution at the time of power-on. The ASG output and BSG output have a phase difference of 90 degrees electrical. Pulse output is subject to a maximum delay of 1 ms relative to the motor's motion. Use the ASG output and BSG output to check the stopping position.
ALM Output
This signal is output when an alarm is generated by the driver's protective function. The reason for triggering of the protective function can be identified through the blink count of the alarm LED, or ALM command. To reset the ALM output, remove the cause of the alarm and then perform one of the following procedures after ensuring safety: bAssign INACL then turn the ACL input to ON. bEnter an ALMCLR command. bTurn off the AC power, wait at least 10 seconds, then turn it back on.
Stepping Motors
HOMELS Input
This signal is input from HOMELS. Connect the HOMELS when mechanical home seeking is performed in 3-sensor mode. When mechanical home seeking is performed in 3-sensor mode, the HOMELS becomes the mechanical home. The input logic can be changed using the HOMELV command. (The factory setting of this command is normal open.)
24 VDC
13 16
Driver
1 k 0V
1 11 19
SENSOR Input
This signal is input from SENSOR. The input logic can be changed using the SENSORLV command. (The factory setting of this command is normal open.)
Introduction
4.7 k
COM1 Input
This is a power-source input terminal for limit-sensor signals. The power-source voltage must be 24 VDC 10%. This signal is internally connected to terminals COM1 of CN4.
COM2 Input
This is a power-source input terminal for limit-sensor signals. Use it when sharing the input signal power source among two or more drivers.
Continuous Operation
The motor can be stopped forcibly upon the detection of SENSOR. Set the stopping method using the SENSORACT command.
Note: b If the SENSOR input is used in mechanical home seeking, it cannot be used during continuous operation.
DC Input
ASC
LS Input,
LS Input
AC Input
5-Phase RK
These signals are input from LS and LS. The input logic can be changed using the OTLV command. (The factory setting of this command is normally open.) Input logic for the LS input and LS input cannot be set separately.
5-Phase CRK
DC Input
Specifications, Characteristics C-27 / Dimensions C-39 / Connection and Operation C-45 / Motor and Driver Combinations C-56
C-55
C-56
Stepping Motors
ASD16A-C
ASD16B-C ASD12A-C ASD12B-C ASD12C-C AS66 AS66 AS66 AS66 AS66 AS66 AS98 AS98 AS98 AS98 AS98 AS98 AS66 AS66 AS98 AS98 CEP-N5 CEP-N7.2 CEP-N10 CEP-N25 CEP-N36 CEP-N50 CEP-N5 CEP-N7.2 CEP-N10 CEP-N25 CEP-N36 CEP-N50 CEP-H50 CEP-H100 CEP-H50 CEP-H100 ASM66 ASM66 ASM66 ASM66 ASM66 ASM66 ASM98 ASM98 ASM98 ASM98 ASM98 ASM98 ASM66 ASM66 ASM98 ASM98 CE-N5 CE-N7.2 CE-N10 CE-N25 CE-N36 CE-N50 CE-N5 CE-N7.2 CE-N10 CE-N25 CE-N36 CE-N50 CE-H50 CE-H100 CE-H50 CE-H100 ASD12A-CP ASD12B-CP ASD12C-CP
ASD16A-C
ASD16A-CP
b Enter A (standard) or M (electromagnetic brake) in the box ( ) within the model name.
Stepping Motors
Introduction AS ASC
Controllers
Accessories
Installation
AC Input
DC Input
AC Input
DC Input
C-57
5-Phase RK
5-Phase CRK
2-Phase CMK
2-Phase CSK
Input Counter
Output Element
Torque
Signal Level
C-58
Stepping Motors
ASC Series
The is an innovative stepping motor and driver package that adopts a closed loop control to eliminate misstep. In the , the user friendliness of a stepping motor is combined with a range of new functions for improved reliability of your equipment.
bAdditional Informationb Technical reference Page F-1 Safety standards Page G-2
b List of safety standard approved products (Model, Standards, File No., Certification Body) Page G-10
Features
b Thanks to Closed Loop Control, There is No Loss of Synchronism
does not lose synchronism even when subjected to abrupt load fluctuation or acceleration. A newly developed rotor position detection sensor constantly monitors the motor movement. If synchronism is about to be lost, closed loop control is activated, so there is no need to worry about loss of steps. When the successive overload is given, outputs the alarm signal. The reliability of is as high as that of a servo motor.
Control Diagram
Input Pulse
Deviation Counter
Motor Sensor
1.8)
If Motor Missteps (Positioning Deviation is 1.8 or more) Control switches to closed loop mode to prevent loss of synchronism.
wClosed Loop Mode -7.2 -5.4 -3.6 -1.8 0 1.8 Position 3.6 5.4 7.2
qIf the positioning deviation is less than 1.8, the motor runs in open loop mode like a stepping motor. wIf the positioning deviation is 1.8 or more, the motor runs in closed loop mode and the position is corrected by exciting the motor windings to generate maximum torque based on the rotor position.
Features
bThis structure can be made small and thin, so the overall size of the motor can be reduced. bHigh resolution bThis structure does not use electronic parts, so it is not affected by heat or vibration.
1.25 1 0.5 0 -0.5 -1
60
120
180
240 A-Phase
300
360 B-Phase
Stepping Motors
b High Response
Like conventional stepping motors, operates in synchronism with command pulses. This makes it suitable for short stroke positioning.
Motor Movement
Introduction
kgm2 (J)
AS
b No Gain Tuning
Gain tuning for servo motors is critical, troublesome and timeconsuming. Since the operates like a stepping motor, there are no gain tuning requirements. Low rigidity applications, such as a belt and pulley system, are ideal for .
High Speed
is well-suited to applications where smooth movement or stability is required, such as where a camera is used to monitor the quality of a product.
DC Input
ASC
AC Input
5-Phase RK
RoHS-Compliant
5-Phase CRK
The conforms to the RoHS Directive that prohibits the use of six chemical substances including lead and cadmium.
b Details of RoHS Directive Page G-23
DC Input
2-Phase CMK
b The
The ASC Series is recognized with the UL/CSA Standards and conforms to EN Standard. The CE Marking certifies compliance with the EMC Directives.
2-Phase CSK
b No Hunting
Since is a stepping motor, it has no hunting problem. Therefore, when it stops, its position is completely stable and does not fluctuate. is ideal for applications in which vibration would be a problem.
Complete Stop Hunting
2-Phase Stepping Motors 5-Phase Stepping Motors Controllers
Servo Motor
Accessories Installation
Specifications, Characteristics C-63 / Dimensions C-72 / Connection and Operation C-77 / Motor and Driver Combinations C-80
C-59
C-60
Stepping Motors
System Configuration
b Standard Type
An example of a single-axis system configuration with the SG8030JY controller.
Programmable Controller
(Not supplied)
Flexible Couplings
( Page C-258)
Extension Cables
( Page C-253)
No.
Product Name
Controller Motor Mounting Brackets Flexible Couplings Extension Cables Flexible Extension Cables Driver Cables General-Purpose Type Connector Terminal Block Conversion Unit
Overview
This controller outputs pulse commands that determine the rotating amount and rotating speed. Dedicated mounting bracket for the motor. Coupling that connects the motor shaft to the driven shaft. Cable for extending the wiring distance between the motor and driver (1 to 10 m). Cable offering flexibility, used to extend the wiring distance between the motor and driver (1 to 10 m). General-purpose cable for connecting the driver and controller (1 m, 2 m). Set of terminal block and cable for connecting the driver and controller (1 m).
Page
C-248 C-266 C-258 C-253 C-256 C-256
Controller
SG8030JY-U
Motor Flexible Connector-Terminal Block Mounting Bracket Coupling Conversion Unit (1 m) PAL2P-5 MCS300808 CC36T1
bThe system configuration shown above is an example. Other combinations are available.
Stepping Motors
System Configuration
b Standard Type with Electromagnetic Brake
An example of a single-axis system configuration with the SG8030JY controller.
Required Products (Sold separately) Extension Cables for Electromagnetic Brake Motor
( Page C-253)
Programmable Controller
(Not supplied)
AC Input
AS
Motor
Driver
AC Input
5-Phase RK
5-Phase CRK
DC Input
2-Phase CMK
Flexible Couplings
( Page C-258)
No.
Product Name
Extension Cables for Electromagnetic Brake Motor Flexible Extension Cables for Electromagnetic Brake Motor Controller Motor Mounting Brackets Flexible Couplings Driver Cables General-Purpose Type Connector Terminal Block Conversion Unit
Overview
Dedicated cable for connecting the electromagnetic brake motor and driver (1 to 10 m). Be sure to purchase this cable. Dedicated cable offering flexibility, used to connect the electromagnetic brake motor and driver (1 to 10 m). Be sure to purchase this cable. This controller outputs pulse commands that determine the rotating amount and rotating speed. Dedicated mounting bracket for the motor. Coupling that connects the motor shaft to the driven shaft. General-purpose cable for connecting the driver and controller (1 m, 2 m). Set of terminal block and cable for connecting the driver and controller (1 m).
Page
C-253 C-248 C-266 C-258 C-256 C-256
Controllers Accessories
Motor Flexible Connector-Terminal Block Mounting Bracket Coupling Conversion Unit (1 m) SG8030JY-U PAL2P-5 MCS300808 CC36T1 Controller
Installation
bThe system configuration shown above is an example. Other combinations are available.
Specifications, Characteristics C-63 / Dimensions C-72 / Connection and Operation C-77 / Motor and Driver Combinations C-80
C-61
C-62
Stepping Motors
ASC 6 6 A K - T 3.6
Series Motor Frame Size Motor Case Length Motor Type Power Supply Voltage Gearhead Type Gear Ratio
ASC: ASC Series 3: 28 mm 4: 42 mm 6: 60 mm A: Standard (Single Shaft) M: Electromagnetic Brake Type K: 24 VDC Blank: Standard Type T: TH Geared Type N: PN Geared Type H: Harmonic Geared Type
Product Line
The product names below are all for single shaft types, but there are also double shaft models available for all products except for those with electromagnetic brakes. Please contact the nearest Oriental Motor sales office for further information on the double shaft models.
Standard Type
Power Supply Voltage 24 VDC Model (Single Shaft) ASC34AK ASC36AK ASC46AK ASC66AK
TH Geared Type
Power Supply Voltage Model (Single Shaft) ASC34AK-T7.2 ASC34AK-T10 ASC34AK-T20 ASC34AK-T30 ASC46AK-T3.6 ASC46AK-T7.2 ASC46AK-T10 ASC46AK-T20 ASC46AK-T30 ASC66AK-T3.6 ASC66AK-T7.2 ASC66AK-T10 ASC66AK-T20 ASC66AK-T30
24 VDC
24 VDC
PN Geared Type
Power Supply Voltage Model (Single Shaft) ASC34AK-N5 ASC34AK-N7.2 ASC34AK-N10 ASC46AK-N7.2 ASC46AK-N10 ASC66AK-N5 ASC66AK-N7.2 ASC66AK-N10 ASC66AK-N25 ASC66AK-N36 ASC66AK-N50
24 VDC
24 VDC
24 VDC
The following items are included in each product. Motor, Parallel Key1, Surge Suppressor2, Driver, Connector for Input/Output Signal, Power Connector, Operating Manual 1 Only for the products with a key slot on the output shaft 2 Only for electromagnetic brake type
bElectromagnetic brake motor models (except motor frame size 42 mm) must use an extension cable or flexible extension cable for an electromagnetic brake motor.
Stepping Motors
Standard Type
Specifications
Standard Electromagnetic Brake Maximum Holding Torque Nm Rotor Inertia J: kg m2 Resolution2 Resolution Setting: 1000 P/R Voltage Power Source Maximum Input Current A Type Power Supply Input Electromagnetic Brake3 Power Consumption W Excitation Current A Static Friction Torque Nm Motor kg Mass Driver kg Motor Dimension No. Driver Model
1.1
1.7 Active when power is off 24 VDC 5% 2 0.08 0.15 0.5 [0.6]1 0.25
2 13
3.7
0.15
1
0.22
AC Input DC Input
AS ASC
How to read specifications table Page C-10 Extension cables for electromagnetic brake motor Page C-253 1 The values inside the brackets [ ] represent the specification for the electromagnetic brake type. 2 The resolution can be set to any one of 500 P/R, 1000 P/R, 5000 P/R, or 10000 P/R with the resolution select switch or resolution select switching signals. Resolution select switch Page C-77 3 The electromagnetic brakes are for holding the position when the power is off. They cannot be used for braking. Also, a separate 24 VDC 5%, 0.3 A minimum (ASC46: 0.1 A minimum) power supply is required for the electromagnetic brakes.
AC Input
5-Phase RK
ASC36AK
0.16
5-Phase CRK
0.12
0.04
Torque [N m]
0.08
DC Input
2-Phase CMK
0.02
0.04
500 1000 1500 2000 2500 3000 3500 4000 4500 Speed [r/min] 10 20 30 40 50 60 Pulse Speed [kHz] (Resolution Setting: 1000 P/R) 70
500 1000 1500 2000 2500 3000 3500 4000 4500 Speed [r/min] 10 20 30 40 50 60 Pulse Speed [kHz] (Resolution Setting: 1000 P/R) 70
2-Phase CSK
ASC46AK/ASC46MK
0.5 0.4
ASC66AK/ASC66MK
2.0
1.5
Torque [N m]
Torque [N m]
1.0
0.5
0 10
1000 Speed [r/min] 30 20 Pulse Speed [kHz] (Resolution Setting: 1000 P/R)
2000 40
0 10
1000 Speed [r/min] 20 30 Pulse Speed [kHz] (Resolution Setting: 1000 P/R)
2000 40
Controllers
Notes: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C. (Under 75C is required to comply with UL or CSA Standards as the motor is recognized as insulation class A.) b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 50%.
Accessories Installation
Specifications, Characteristics C-63 / Dimensions C-72 / Connection and Operation C-77 / Motor and Driver Combinations C-80
C-63
Torque [N m]
Torque [N m]
Torque [N m]
Torque [N m]
C-64
Stepping Motors
TH Geared Type
Specifications
Model Standard Maximum Holding Torque Nm Rotor Inertia J: kg m2 Backlash arc minute (degrees) Permissible Speed Range r/min Gear Ratio Resolution Resolution Setting: 1000 P/R Permissible Torque Nm Voltage Power Source Maximum Input Current A Motor kg Mass Driver kg Motor Dimension No. Driver
ASC34AK-T7.2 0.2
ASC34AK-T20 0.4
ASC34AK-T30 0.5
How to read specifications table Page C-10 The resolution can be set to any one of 500 P/R, 1000 P/R, 5000 P/R, or 10000 P/R with the resolution select switch or resolution select switching signals. Resolution select switch Page C-77 Note: b Direction of rotation of the motor and that of the gear output shaft are the same for the gear ratios 1:20 and 1:30. It is opposite for 1:7.2 and 1:10 gear ratios.
ASC34AK-T10
0.4
0.1
0.1
0 0 0
50
100 10
150
350
400 50
450
0 0
50 10
100
250
300 50
ASC34AK-T20
0.5 0.4 Permissible Torque
ASC34AK-T30
0.6 0.5 Permissible Torque 0.4 0.3 0.2 0.1 0 0 0 20 10 40 60 80 Speed [r/min] 100 50 120
0 0 10
50
150 50
Notes: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C. (Under 75C is required to comply with UL or CSA Standards as the motor is recognized as insulation class A.) b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 50%.
Stepping Motors
TH Geared Type
Specifications
Model Standard Electromagnetic Brake Nm J: kg m2 arc minute (degrees) r/min
ASC46AK-T30 ASC46MK-T30
Maximum Holding Torque Rotor Inertia Backlash Permissible Speed Range Gear Ratio Resolution2 Permissible Torque Power Source Voltage
Introduction
25 (0.417) 0 250 1:7.2 0.05/Pulse 0.7 0 180 1:10 0.036/Pulse 1 24 VDC 10% 1.7 Active when power is off 24 VDC 5% 0 90 1:20 0.018/Pulse
Resolution Setting: 1000 P/R Nm Maximum Input Current A Type Power Supply Input Power Consumption Excitation Current Static Friction Torque Motor Driver Motor Driver W A Nm kg kg
AS
Electromagnetic Brake3
DC Input
ASC
0.75
AC Input
5-Phase RK
How to read specifications table Page C-10 1 The values inside the brackets [ ] represent the specification for the electromagnetic brake type. 2 The resolution can be set to any one of 500 P/R, 1000 P/R, 5000 P/R, or 10000 P/R with the resolution select switch or resolution select switching signals. Resolution select switch Page C-77 3 The electromagnetic brakes are for holding the position when the power is off. They cannot be used for braking. Also, a separate 24 VDC 5%, 0.1 A minimum power supply is required for the electromagnetic brakes. Note: b Direction of rotation of the motor and that of the gear output shaft are the same for the gear ratios 1:3.6, 1:7.2 and 1:10. It is opposite for 1:20 and 1:30 gear ratios.
5-Phase CRK
DC Input
2-Phase CMK
ASC46AK-T7.2/ASC46MK-T7.2
1.0 0.8
Torque [N m]
ASC46AK-T10/ASC46MK-T10
1.5
2-Phase CSK
Permissible Torque
Permissible Torque
Torque [N m]
0.5
0 0
100 5
200
500 30
600 35
0 0
50 5
100
250 30
300 35
0 0 5
50
150 30
200
ASC46AK-T20/ASC46MK-T20
2.0 Permissible Torque 1.5
Torque [N m]
ASC46AK-T30/ASC46MK-T30
2.0 Permissible Torque 1.5
Torque [N m]
Controllers
1.0
1.0
0.5
0.5
Accessories
0 5
20
80 30
100
0 0
10 5
20
30 40 Speed [r/min]
50
60 30
70 35
Installation
Notes: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C. (Under 75C is required to comply with UL or CSA Standards as the motor is recognized as insulation class A.) b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 50%.
Specifications, Characteristics C-63 / Dimensions C-72 / Connection and Operation C-77 / Motor and Driver Combinations C-80
C-65
Torque [N m]
Torque [N m]
Torque [N m]
Torque [N m]
3 2 1 0
Torque [N m]
C-66
Stepping Motors
TH Geared Type
Specifications
Standard Electromagnetic Brake Maximum Holding Torque Nm Rotor Inertia J: kg m2 Backlash arc minute (degrees) Permissible Speed Range r/min Gear Ratio Resolution Setting: 1000 P/R Resolution2 Permissible Torque Nm Voltage Power Source Maximum Input Current A Type Power Supply Input Electromagnetic Brake3 Power Consumption W Excitation Current A Static Friction Torque Nm Motor kg Mass Driver kg Motor Dimension No. Driver Model
0.62
1.25
ASC66AK-T10 ASC66MK-T10 3 405 10-7 [564 10-7]1 15 (0.25) 0 180 1:10 0.036/Pulse 3 24 VDC 10% 3.7 Active when power is off 24 VDC 5% 6 0.25 1.5 1.25 [1.5]1 0.25
6 13
ASC66AK-T30 ASC66MK-T30 4
1.75
How to read specifications table Page C-10 Extension cables for electromagnetic brake motor Page C-253 1 The values inside the brackets [ ] represent the specification for the electromagnetic brake type. 2 The resolution can be set to any one of 500 P/R, 1000 P/R, 5000 P/R, or 10000 P/R with the resolution select switch or resolution select switching signals. Resolution select switch Page C-77 3 The electromagnetic brakes are for holding the position when the power is off. They cannot be used for braking. Also, a separate 24 VDC 5%, 0.3 A minimum power supply is required for the electromagnetic brakes. Note: b Direction of rotation of the motor and that of the gear output shaft are the same for the gear ratios 1:3.6, 1:7.2 and 1:10. It is opposite for 1:20 and 1:30 gear ratios.
ASC66AK-T7.2/ASC66MK-T7.2
Permissible Torque
ASC66AK-T10/ASC66MK-T10
5 4
1.0
Permissible Torque 3 2 1
0.5
0 0
100 5
200
500 30
600 35
0 0 5
200 30
300 35
0 5
40
160 30
200
ASC66AK-T20/ASC66MK-T20
5 4 Permissible Torque
ASC66AK-T30/ASC66MK-T30
5 4 Permissible Torque 3 2 1 0
0 5
20
80 30
100
0 0
10 5
20
30 40 Speed [r/min]
50
60 30
70 35
Notes: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C. (Under 75C is required to comply with UL or CSA Standards as the motor is recognized as insulation class A.) b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 50%.
Stepping Motors
PN Geared Type
Specifications
Model Standard Maximum Holding Torque Nm Rotor Inertia J: kg m2 Backlash arc minute (degrees) Angular Transmission Error arc minute (degrees) Permissible Speed Range r/min Gear Ratio Resolution Setting: 1000 P/R Resolution1 Permissible Torque Nm Nm Maximum Torque2 Voltage Power Source Maximum Input Current A Motor kg Mass Driver kg Motor Dimension No. Driver
ASC34AK-N5 0.2
ASC34AK-N7.2 0.3 11 10-7 3 (0.05) 6 (0.1) 0 416 1:7.2 0.05/Pulse 0.3 0.5 24 VDC 10% 1 0.28 0.25
7 13
ASC34AK-N10 0.5
Introduction
AS ASC
How to read specifications table Page C-10 1 The resolution can be set to any one of 500 P/R, 1000 P/R, 5000 P/R, or 10000 P/R with the resolution select switch or resolution select switching signals. Resolution select switch Page C-77 2 The value of maximum torque is for gear. For output torque for geared motor, refer to the speed torque characteristics. Note: b Direction of rotation of the motor shaft and that of the gear output shaft are the same.
AC Input
5-Phase RK
ASC34AK-N7.2
ASC34AK-N10
0.6
5-Phase CRK
Permissible Torque
Torque [N m]
0.4
DC Input
2-Phase CMK
0.1
0.2
0 0
100 10
200
500
600 50
0 0
100 10
200 300 Speed [r/min] 20 30 40 Pulse Speed [kHz] (Resolution Setting: 1000 P/R)
400 50
0 0
50 10
100
250
300
2-Phase CSK
50
Notes: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C. (Under 75C is required to comply with UL or CSA Standards as the motor is recognized as insulation class A.) b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 50%.
Specifications, Characteristics C-63 / Dimensions C-72 / Connection and Operation C-77 / Motor and Driver Combinations C-80
C-67
Torque [N m]
Permissible Torque 1
Torque [N m]
C-68
Stepping Motors
PN Geared Type
Specifications
Standard Electromagnetic Brake Maximum Holding Torque Nm Rotor Inertia J: kg m2 Backlash arc minute (degrees) Angular Transmission Error arc minute (degrees) Permissible Speed Range r/min Gear Ratio Resolution Setting: 1000 P/R Resolution2 Permissible Torque Nm Maximum Torque3 Nm Voltage Power Source Maximum Input Current A Type Power Supply Input Electromagnetic Brake4 Power Consumption W Excitation Current A Static Friction Torque Nm Motor kg Mass Driver kg Motor Dimension No. Driver Model
ASC46AK-N7.2 ASC46MK-N7.2 1.5 68 10-7 [83 10-7]1 2 (0.034) 6 (0.1) 0 333 1:7.2 0.05/Pulse
ASC46AK-N10 ASC46MK-N10
0 240 1:10 0.036/Pulse 1.5 2 24 VDC 10% 1.7 Active when power is off 24 VDC 5% 2 0.08 0.75 0.71 [0.81]1 0.25
8 13
How to read specifications table Page C-10 1 The values inside the brackets [ ] represent the specification for the electromagnetic brake type. 2 The resolution can be set to any one of 500 P/R, 1000 P/R, 5000 P/R, or 10000 P/R with the resolution select switch or resolution select switching signals. Resolution select switch Page C-77 3 The value of maximum torque is for gear. For output torque for geared motor, refer to the speed torque characteristics. 4 The electromagnetic brakes are for holding the position when the power is off. They cannot be used for braking. Also, a separate 24 VDC 5%, 0.1 A minimum power supply is required for the electromagnetic brakes. Note: b Direction of rotation of the motor shaft and that of the gear output shaft are the same.
ASC46AK-N10/ASC46MK-N10
3
Maximum Torque 2 2
Maximum Torque
Permissible Torque 1
0 0 5
100 10
300 35 40
0 0 5
50 10
100 150 Speed [r/min] 15 20 25 30 Pulse Speed [kHz] (Resolution Setting: 1000 P/R)
200 35
250 40
Notes: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C. (Under 75C is required to comply with UL or CSA Standards as the motor is recognized as insulation class A.) b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 50%.
Stepping Motors
PN Geared Type
Specifications
Standard Electromagnetic Brake Maximum Holding Torque Nm Rotor Inertia J: kg m2 Backlash arc minute (degrees) Angular Transmission Error arc minute (degrees) Permissible Speed Range r/min Gear Ratio Resolution Setting: 1000 P/R Resolution2 Permissible Torque Nm Maximum Torque3 Nm Voltage Power Source Maximum Input Current A Type Power Supply Input Electromagnetic Brake4 Power Consumption W Excitation Current A Static Friction Torque Nm Motor kg Mass Driver kg Motor Dimension No. Driver Model
ASC66AK-N5 ASC66AK-N7.2 ASC66AK-N10 ASC66AK-N25 ASC66AK-N36 ASC66AK-N50 ASC66MK-N5 ASC66MK-N7.2 ASC66MK-N10 ASC66MK-N25 ASC66MK-N36 ASC66MK-N50 3.5 4 5 8 405 10-7 [564 10-7]1 2 (0.034) 3 (0.05) 5 (0.084) 0 360 0 250 0 180 0 72 0 50 0 36 1:5 1:7.2 1:10 1:25 1:36 1:50 0.072/Pulse 0.05/Pulse 0.036/Pulse 0.0144/Pulse 0.01/Pulse 0.0072/Pulse 3.5 4 5 8 7 9 11 16 20 24 VDC 10% 3.7 Active when power is off 24 VDC 5% 6 0.25 1.75 2 2.5 4 1.7 [1.95]1 1.5 [1.75]1 0.25
9 13
Introduction
AS ASC 5-Phase RK
How to read specifications table Page C-10 Extension cables for electromagnetic brake motor Page C-253 1 The values inside the brackets [ ] represent the specification for the electromagnetic brake type. 2 The resolution can be set to any one of 500 P/R, 1000 P/R, 5000 P/R, or 10000 P/R with the resolution select switch or resolution select switching signals. Resolution select switch Page C-77 3 The value of maximum torque is for gear. For output torque for geared motor, refer to the speed torque characteristics. 4 The electromagnetic brakes are for holding the position when the power is off. They cannot be used for braking. Also, a separate 24 VDC 5%, 0.3 A minimum power supply is required for the electromagnetic brakes. Note: b Direction of rotation of the motor shaft and that of the gear output shaft are the same.
5-Phase CRK
DC Input
2-Phase CMK
ASC66AK-N7.2/ASC66MK-N7.2
ASC66AK-N10/ASC66MK-N10
12
2-Phase CSK
10
Torque [N m]
6 4 Permissible Torque 2
Permissible Torque 2
Torque [N m]
8 6 4 2 Permissible Torque
0 0 5
100
300 30
400
0 0
50 5
100
250 30
300 35
0 0 5
50
150 30
200
ASC66AK-N25/ASC66MK-N25
15
ASC66AK-N36/ASC66MK-N36
25 20
ASC66AK-N50/ASC66MK-N50
25 20 Maximum Torque
Controllers
Torque [N m]
Torque [N m]
Torque [N m]
10
15 10 5 Permissible Torque
15 10 Permissible Torque 5 0 0 0 5
Permissible Torque 5
Accessories
0 0 5
20
40 Speed [r/min]
60 30
80
0 0 5
10
20
30 Speed [r/min]
40
50 30
10
20 Speed [r/min]
30 30
40
Installation
Notes: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C. (Under 75C is required to comply with UL or CSA Standards as the motor is recognized as insulation class A.) b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 50%.
Specifications, Characteristics C-63 / Dimensions C-72 / Connection and Operation C-77 / Motor and Driver Combinations C-80
C-69
Torque [N m]
Torque [N m]
Torque [N m]
Torque [N m]
Torque [N m]
Permissible Torque
6 4 2 0 Permissible Torque
Torque [N m]
C-70
Stepping Motors
ASC34AK-H50 ASC34AK-H100 ASC46AK-H50 ASC46AK-H100 ASC66AK-H50 ASC66AK-H100 ASC46MK-H50 ASC46MK-H100 ASC66MK-H50 ASC66MK-H100 1.5 2 3.5 5 5.5 8 14 10-7 85 10-7 [100 10-7]1 440 10-7[599 10-7]1 0 70 0 35 0 48 0 24 0 36 0 18 1:50 1:100 1:50 1:100 1:50 1:100 0.0072/Pulse 0.0036/Pulse 0.0072/Pulse 0.0036/Pulse 0.0072/Pulse 0.0036/Pulse 1.5 2 3.5 5 5.5 8 2 2.8 8.3 11 18 28 3 max. ( 0.06 N m) 1 3 max. ( 0.08 N m) 1.5 max. ( 0.16 N m) 1.5 max. ( 0.2 N m) 0.7 max. ( 0.28 N m) 3.7 Active when power is off 24 VDC 5% 2 0.08 1.75 0.25
10
Voltage Maximum Input Current A Type Power Supply Input Electromagnetic Brake3 Power Consumption W Excitation Current A Static Friction Torque Nm Motor kg Mass Driver kg Motor Dimension No. Driver
How to read specifications table Page C-10 Extension cables for electromagnetic brake motor Page C-253 1 The values inside the brackets [ ] represent the specification for the electromagnetic brake type. 2 The resolution can be set to any one of 500 P/R, 1000 P/R, 5000 P/R, or 10000 P/R with the resolution select switch or resolution select switching signals. Resolution select switch Page C-77 3 The electromagnetic brakes are for holding the position when the power is off. They cannot be used for braking. Also, a separate 24 VDC 5%, 0.3 A minimum (ASC46: 0.1 A minimum) power supply is required for the electromagnetic brakes. Note: b The inertia represents a sum of the inertia of the harmonic gear converted to a motor shaft value, and the rotor inertia. Direction of rotation of the motor shaft and that of the gear output shaft are the opposite.
ASC46AK-H50/ASC46MK-H50
12 10
ASC66AK-H50/ASC66MK-H50
25 20 15 10 5 Permissible Torque 0 Maximum Torque
1.0
0.5
10 10
20
30 40 50 Speed [r/min]
60
70 60
80
0 0 5
10 10
40 35 40
50
0 0
10
20 Speed [r/min]
30 30
40
ASC34AK-H100
3.0 2.5 2.0 Maximum Torque
ASC46AK-H100/ASC46MK-H100
12 10 8 Maximum Torque
ASC66AK-H100/ASC66MK-H100
30 25 20 15 10 5 0 Permissible Torque Maximum Torque
5 10
20 40
25
10 Speed [r/min]
15 30
20
Notes: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C. (Under 75C is required to comply with UL or CSA Standards as the motor is recognized as insulation class A.) b In order to prevent fatigue of the gear grease in the harmonic gear, keep the temperature of the gear case under 70C. b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 50%.
Stepping Motors
Driver Specifications
Speed and Positioning Control Command Maximum Input Pulse Frequency Protective Functions Input Signals Pulse input 250 kHz (When the pulse duty is 50%) When the protective functions are activated, an alarm signal is output and the motor stops automatically. Overload, Overvoltage, Speed error, Overspeed, EEPROM data error, Sensor error, System error Photocoupler input Input resistance: 220 Input current: 7 20 mA [Pulse signal/Rotation direction signal (Negative logic pulse input), CW pulse signal/CCW pulse signal (Negative logic pulse input), All windings off, Alarm clear, Resolution setting] Photocoupler, Open-collector output, External use condition: 30 VDC maximum, 15 mA maximum (Positioning completion signal, Alarm signal, Excitation timing signal) Transistor, Open-collector output, External use condition: 30 VDC maximum, 15 mA maximum (Quadrature ASG BSG signal)
Output Signals
Introduction
General Specifications
Specifications Motor Insulation Class Insulation Resistance Motor Class B (130C)[UL/CSA: Recognized as class A (105C)] 100 M or more when 500 VDC megger is applied between the following places: Case Windings Case Electromagnetic brake windings Sufficient to withstand the following for one minute: Case Windings 0.5 kV 50 Hz or 60 Hz Case Electromagnetic brake windings 1.0 kV 50 Hz or 60 Hz 0 0 50C (non-freezing): Standard type TH, PN geared type 40C (non-freezing): Harmonic geared type
This is the value after rated operation at normal ambient temperature and humidity.
AC Input
Driver
AS
100 M or more when 500 VDC megger is applied between the following places: Heat sink Power supply input terminal Sufficient to withstand the following for one minute: Heat sink Power supply input terminal 0.5 kV 50 Hz or 60 Hz
DC Input
ASC
Dielectric Strength
Ambient Humidity Atmosphere Stop Position Accuracy Shaft Runout Concentricity Perpendicularity
Ambient Temperature
40C (non-freezing)
AC Input
5-Phase RK
85% or less (non-condensing) No corrosive gases, dust, water or oil 5 arc minutes 0.05 T.I.R. (mm) 0.075 T.I.R. (mm) 0.075 T.I.R. (mm)
0.075 A 0.05
5-Phase CRK
T.I.R. (Total Indicator Reading): The total dial gauge reading when the measurement section is rotated one revolution centered on the reference axis center. Note: b Do not measure insulation resistance or perform the dielectric strength test while the motor and driver are connected.
A
DC Input
2-Phase CMK
0.075
2-Phase CSK
This is the relationship between the load torque and driver input current at each speed when the motor is operated. From these characteristics, the current capacity required when used for multiple axes can be estimated. For geared motors convert to torque and speed at the motor axis.
Motor shaft speed = Gear output shaft speed Gear ratio [r/min] Motor shaft torque = Gear output shaft torque [N m] Gear ratio
ASC34
1.0
ASC36
1.2
2000 r/min
0.8
Driver Input Current [A]
Controllers
0.6
500 r/min
0.4
0.2 0 0
Accessories
10
50
60
20
40
120
140
ASC46
2.0
ASC66
4
Installation
1.5
500 r/min
500 r/min
1000 r/min
0.5
0.1
0.3
0.4
0 0
0.2
1.0
1.2
Specifications, Characteristics C-63 / Dimensions C-72 / Connection and Operation C-77 / Motor and Driver Combinations C-80
C-71
1.5
10
0.25
0.15 0 0.012(h7)
4.5
22
0 0.021(h7)
22.5
20.6
150
42 mm
Model ASC46AK ASC46MK
L2 L1 2 15
0.25
L1 64.9
L2 94.9
4.5
12.5
15.2
400
C-72
5.5
Motor Leads
5557-10R(MOLEX)
23 0.2 28
Stepping Motors
1
Unit
Permissible Thrust Load The permissible thrust load shall be no greater than the motor mass. 10 15 40 20
Standard Type
190
150
PN Geared Type
100
220 450
b Enter A (standard) or M (electromagnetic brake) in the box ( ) within the model name. Enter the gear ratio in the box ( ) within the model name.
L 45 65
Stepping Motors
Standard Type 60 mm
Model ASC66AK ASC66MK Motor Model ASM66AK ASM66MK L1 63.6 98.6 L2 Mass (kg) 0.85 1.1
L2 L1 7
24
4
1
4.5 Thru
60 1.5
50 20
0.25 0.35
Introduction
A 15.2 400
0 0.015(h7) 0 0.025(h7)
50 0.35 60
AC Input
12.5
AS
36
31
90
7.5
0.15
DC Input
ASC
7.5
AA
AC Input
TH Geared Type 28 mm
Model ASC34AK-T 70.5 2.5 12 Motor Model ASM34AK-T
20
1 0.15 0 0.012(h7)
5-Phase RK
b Enter the gear ratio in the box ( ) within the model name.
0 0.015(h7)
0.5
4.5
10
2-Phase CMK
22.5
5.5
Motor Leads
5557-10R(MOLEX) 20.6
23 0.2 28
2-Phase CSK
150
2-Phase Stepping Motors
42 mm
Model ASC46AK-T ASC46MK-T Motor Model ASM46AK-T ASM46MK-T Gear Ratio 3.6, 7.2, 10, 20, 30 L1 95.4 L2 125.4 Mass (kg) 0.65 0.75
b Enter the gear ratio in the box ( ) within the model name.
L2 L1
0.5
5.5
17
20 1 3.5 12
0.15 0 0.012(h7)
0 0.018(h7)
4 M4 8 Deep 42
Controllers
31
12.5
15.2
400
43
.8
0.5
42
Accessories Installation
Specifications, Characteristics C-63 / Dimensions C-72 / Connection and Operation C-77 / Motor and Driver Combinations C-80
C-73
7 0.15 0 0.015(h7)
10 0.5 0 0.021(h7)
70
0.5
23
PN Geared Type 28 mm
Model ASC34AK-N Motor Model ASM34AK-N 75.5 5
23
b Enter the gear ratio in the box ( ) within the model name.
17 15
0 0.015(h7)
A
23 0.2 28 7.5
0.2
Motor Leads
5557-10R(MOLEX)
12
150
7.5
0.2
90
26
AA
42 mm
Model ASC46AK-N ASC46MK-N Motor Model ASM46AK-N ASM46MK-N
0 0.015(h7) 0 37.6 0.025(h7)
b Enter the gear ratio in the box ( ) within the model name.
L2 L1 6
25
A A 15.2 400
10
18
4 M4 8 Deep 42
48
0. 3
12.5
15.2
400
60
AA
C-74
1.8
0.1 0
Stepping Motors
TH Geared Type 60 mm
Model ASC66AK-T ASC66MK-T Motor Model ASM66AK-T ASM66MK-T Gear Ratio 3.6, 7.2, 10, 20, 30 L1 108.6 L2 143.6 Mass (kg) 1.25 1.5
b Enter the gear ratio in the box ( ) within the model name.
L2 L1 3.5
32
12
4 M4 8 Deep 60
0.004 0.029
Stepping Motors
PN Geared Type 60 mm
Model ASC66AK-N ASC66MK-N Motor Model ASM66AK-N ASM66MK-N Gear Ratio 5, 7.2, 10 25, 36, 50 5, 7.2, 10 25, 36, 50
1
0 0.018(h7) 0 0.025(h7)
L1 107.6 123.6
L2
142.6 158.6
b Enter the gear ratio in the box ( ) within the model name.
L2 L1 6
38
25
4 M5 10 Deep 60
Introduction
12
A A 15.2 400
70
0.5
37
60
AC Input
AS
31 5557-10R(MOLEX)
DC Input
0.1 0
Motor Cable 7
0 0.03
12.5
ASC
25
0.2
2.5
0 0.03
0 0.03
AC Input
AA
5-Phase RK
10
Model ASC34AK-H
5-Phase CRK
b Enter the gear ratio in the box ( ) within the model name.
0 0.009(h6) 0 0.021(h7)
2.5
16
4 M3 6 Deep 28 23 0.2
7.5 23 0.2 28
0.2
DC Input
2-Phase CMK
22
A
12
0.2
90
2-Phase CSK
7.5
22.5
AA
150
11
42 mm
Motor Model ASM46AK-H ASM46MK-H
10 0.015(h7) 26.5 (Max.Dia. of Rotating Part)
L1 96.9
L2 126.9
b Enter the gear ratio in the box ( ) within the model name.
Controllers
L2 L1 2
25
0 0.025(h7)
37.6
0 0.025
0.3
A A
20.5
60
42
6 M3 5 Deep
The position of the output shaft relative to the screw holes on the rotating part is arbitrary.
Specifications, Characteristics C-63 / Dimensions C-72 / Connection and Operation C-77 / Motor and Driver Combinations C-80
12.5
15.2
400
90
0.2
AA
1.8
1.2
0 0.025
0.004 0.029
0.1 0
0.5 18
48
4 M4 8 Deep 42
Accessories
18
0 0.18
C-75
Installation
L2 L1 2
28.5 1.5 20
0 0.03(h7)
54
A 15.2 400
6 M4 6 Deep
0.1 0
0 0.03
0 0.03
90
1.6
0 0.03
AA
The position of the output shaft relative to the screw holes on the rotating part is arbitrary.
bElectromagnetic brake motor models (except motor frame size 42 mm) must use an extension cable or flexible extension cable for an electromagnetic brake motor. Extension cables for electromagnetic brake motor Page C-253
b Driver
13 Common to All Types
Mass: 0.25 kg
36 18 3.5 70 47 45 max.
3.5
4.5
18.5
R1 .7 5
3.5
3.5 Thru
113
120 111
41 max.
(30) 24.3
12.5
60
C-76
Stepping Motors
12
b Enter the gear ratio in the box ( ) within the model name.
70
25.5
4 M5 10 Deep 60
0.5
0.2
60
Stepping Motors
c v
z b
Motor Connector Power Input Connector
LED Indicators
Indication LED1 LED2 Color Green Red Function Power supply indication Alarm indication When Activated Lights when power is on. Blinks when protective functions are activated.
Introduction
Alarm
Blink Count 2 3 4 6 7 8 Lights (No blinking) Function Overload Overvoltage Speed error Overspeed EEPROM data error Sensor error System error When Activated The motor is operated continuously over 5 seconds under a load exceeding the maximum torque. The primary voltage of the driver's inverter exceeds the permissible value. The motor cannot accurately follow at the indicated pulse speed. The motor shaft velocity exceeds 5000 r/min. (Except geared type) A motor control parameter has been damaged. The power source turns on when the motor cable is not connected to the driver. The driver has fatal error.
AC Input
AS ASC
DC Input
2 Function Switches
Indication Switch Name Function
Indication Input/Output Pin No. 2 External This function is for selecting the motor resolution. For each geared type, the power input 3 resolution of gear output shaft is 1/gear ratio. 9 1000/500 "1000" " 1" 1000 Pulses (0.36/step) (Factory setting) 10 Resolution select switch Input 1/ 10 "1000" " 10" 10000 Pulses (0.036/step) signal 11 "500" " 1" 500 Pulses (0.72/step) 12 "500" " 10" 5000 Pulses (0.072/step) 13 14 Output The settings of this switch are compatible with the following two types of signal 15 pulse input modes: 1P/2P Pulse input mode switch "1P" for the 1-pulse input mode (Factory setting), "2P" for the 2-pulse input 16 mode. 21 Input CN3 signal 22 Notes: 23 b Always turn the power off before switching resolution or pulse input, and turn it ON again after you have made the change. b If the Resolution Select Switch is set to " 10," it cannot control the resolution selected by the input terminals. It will always be 24 " 10." 25 Output signal 26 29 3 Current Adjustment Switch 30 Indication Switch Name Function 31 The motor running current can be lowered to suppress temperature rise in the motor Current adjustment CURRENT 32 Input and driver, or lower operating current in order to allow a margin for motor torque. switch signal 33 34
AC Input DC Input
Function
Set to "0"
V.FIL
This switch is used to make adjustments when a smooth start-stop or smooth motion at low speed is required.
Motor Speed
Set to "F"
Description of input/output signals Page C-79 Signal name in parentheses represents the setting in 2-pulse input mode. The factory setting is the 1-pulse input mode.
Time
Specifications, Characteristics C-63 / Dimensions C-72 / Connection and Operation C-77 / Motor and Driver Combinations C-80
C-77
C-78
Stepping Motors
b Connection Diagrams
Controller VO Twisted-Pair Wire Pulse Signal (CW Pulse Signal) R1 Rotation Direction Signal (CCW Pulse Signal) 0V 5 VDC R1 (Pin No.) CN3 Connector CN2 Driver Motor
Input Signals
Notes on Wiring
Resolution Select Signal
All Windings Off Signal 0V GND Caution V0 ( 30 VDC max.) R2 Alarm Signal R2 Positioning Completion Signal R2 Excitation Timing Signal Output Signals
24V GND
Vcc 24 V CN1
0V The ASG1/BSG1 have the ground common for current sinking output. Refer to page C-80 for the wiring.
b Use multi-core, twisted-pair shielded wires of AWG28 (0.08 mm2) or thicker for the control I/O signal line (CN3), and keep wiring as short as possible (within 2 m). b Note that as the length of the pulse signal line increases, the maximum transmission frequency decreases. Technical reference Page F-46 b When it is necessary to have a connection more than 0.4 m between motor and driver (0.15 m or more: ASC34 and ASC36 types), the accessory extension cable or flexible extension cable must be used. Electromagnetic brake motor models (except motor frame size 42 mm) must use an electromagnetic brake extension cable or flexible extension cable (sold separately). The frame size 42 mm models can use a standard extension cable even for electromagnetic brake motor models. Extension cables for electromagnetic brake motor Page C-253 b The range of wire for the power connector (CN1) is AWG24 to 18 (0.2 to 0.75 mm2). Use wire of AWG20 (0.5 mm2) or thicker for the power supply line. b Keep the control I/O signal line at least 300 mm away from power lines (e.g. lines carrying large current, such as AC lines and motor lines). Also, do not run these lines through the same ducts or pipes as power lines. b The customer must furnish the cables for power supply lines and control I/O signal lines. b Use included connector for connection of power source. b To install the pins, be sure to use the specified crimping tool made by MOLEX 57026-5000 (for UL 1007) or 57027-5000 (for UL 1015). Caution Connect the power supply for "Excitation Timing" signal output and "Pulse" signal output to 5 VDC. Pin No. of the CN3 should be grounded. Description of input/output signals Page C-79
(2) ASC66 The electromagnetic brake wire is linked to the connector on the driver connection side of extension cable for electromagnetic brake motor (sold separately). Be sure to use the accessory (sold separately) extension cable or flexible extension cable. Connect the orange/black spiral lead wire (orange for flexible extension cable)(60 mm) to 24 V, and the gray lead wire (60 mm) to the ground (GND).
Motor 24 VDC
Surge Suppressor
Stepping Motors
All Windings Off (C.OFF) Input Signal Resolution Select ( 10) Input Signal Alarm Clear (ACL) Input Signal Input Circuit and Sample Connection
Controller Open-Collector Output 5 VDC
Driver 220 7 20 mA
Introduction
Driver 220 7 20 mA
0V AC Input
AS
220 7 20 mA
DC Input
ASC
b The colored characters indicate signals under the 1-pulse input mode, while the black characters indicate signals under the 2-pulse input mode.
Motor
AC Input
5-Phase RK
Note: b The external resistor is not needed when Vo is 5 VDC. When the voltage exceeds 5 VDC, connect the external resistor R1 to keep input current at 20 mA or less. When a voltage exceeding 5 VDC is applied without the external resistor, the elements may get damaged.
5-Phase CRK
DC Input
2-Phase CMK
DIR. Input
2-Phase CSK
b For pulse signals, use input pulse waveforms like those shown in the figure above.
Positioning Completion (END) Output Signal Alarm (ALARM) Output Signal Output Circuit and Sample Connection
Controller V0 Driver
Controllers
30 VDC, 15 mA max. 0V
Rotation Direction
(DIR.)
Accessories
Counterclockwise
Installation
END
OFF
ON ON
Counterclockwise
Note: b The END signal blinks during operation with a pulse input frequency of 500 Hz or less.
Specifications, Characteristics C-63 / Dimensions C-72 / Connection and Operation C-77 / Motor and Driver Combinations C-80
C-79
C-80
Stepping Motors
GND ASG1
30 VDC 15 mA max.
GND 0V
30 VDC 15 mA max.
ON Off
ON Off
Rotation
Coast to a Stop
Note: b The "Alarm" output uses positive logic (normal close), all other outputs use negative logic (normal open).
Circuits for use with 30 VDC, 15 mA maximum. A counter or similar device can be connected to monitor the position of the motor. The pulse resolution is the same as the motor resolution at the time of power-on. [Example: Resolution select switch (1000 P/R) Output pulse number for each motor revolution (1000)] The phase difference between A and B is 90 electrical.
Notes: b The pulse output accuracy is, regardless of resolution, within 0.36 (repetition accuracy: within 0.09). b These signals are only for position verification when the motor has stopped. There is a 1 ms (maximum) time lag between real rotor motion and the output signals.
ASG1
BSG1
Circuits for use with 30 VDC, 15 mA maximum. When the "Excitation Timing" signal is output, the transistor turns ON. This signal can be used to detect the home position with greater precision. This signal is output 50 times per motor shaft revolution.
ON OFF ON DIR. Input OFF TIM. Output ON OFF PLS Input (Step)
1 2 3 4 17 18 19 20 21 22 23 24
CCW
CW
0 1 2 3 4 17 18 19 20 21 22
21 20
Note: b A precise "Excitation Timing" signal cannot be obtained when the speed of the pulse input frequency is over 500 Hz.
Standard Type
PN Geared Type
TH Geared Type
ASD18B-K
b Enter A (standard) or M (electromagnetic brake) in the box ( ) within the model name.
Stepping Motors
Introduction AS ASC
Controllers
Accessories
Installation
AC Input
DC Input
AC Input
DC Input
AC Input RK Series
RK Series C-82
AC Input
Stepping Motors
Page
C-81
5-Phase RK
5-Phase CRK
2-Phase CMK
2-Phase CSK
1.00 Vibration Component Voltage Vp-p[V] RK566BCE Step Angle: 0.72/step Smooth Drive: OFF Smooth Drive: ON
100 ms/div
100 ms/div
Speed [r/min]
Speed [r/min]
Speed [r/min]
C-82
Stepping Motors
RK Series
bAdditional Informationb Technical reference Page F-1 Safety standards Page G-2
The RK Series incorporates new functions and state-of-the-art technologies to achieve the ultimate use of a control motor. The series offers various types including the standard type, electromagnetic brake type, IP65 rated motor type, and four geared types. Two frame sizes of 60 mm and 85 (90) mm are available. The wide range of motor variations and affordable prices make the RK Series a perfect solution for your various applications.
b List of safety standard approved products (Model, Standards, File No., Certification Body) Page G-10
Features
2 Microstep Drive System
The motor's basic step angle is divided by a maximum of 1/250 without the use of a reduction mechanism or other mechanical elements. 16 resolution levels are available to set the desired resolution. This enables fine positioning and the further reduction of vibration and noise. A motion sequence of "low-speed transfer high-speed return" can easily be performed without the need for changing from a microstep pulse frequency to a full step pulse frequency. The RK Series can also be used in full-step operation.
c v
0.072
0.036
0.75
-0.036
0.50
-0.072
0.25
4 Improved Response
The RK Series, with its high starting frequency, shortens the machine cycle without affecting acceleration/deceleration rates. This produces a significant savings in time for an operation in which the same cycle is repeated thousands of times each day.
500 400 300 200 100 0
100
300
400
The smooth drive function of the RK Series shortens the settling time.
Step Angle: 0.72/step Step Angle: 0.72/step
10
Conventional Model
Stepping Motors
b New IP65 Rated Motor Conforming to the IP65 Standard for Ingress Protection against Dust and Water
Introduction
Reduction of 85.4%
AC Input
AS
DC Input
ASC
b Safe Operation in Major Countries around the World Compliance with Safety Standards
The RK Series complies with the UL/CSA and EN Standards. The CE Marking certifies compliance with the EMC Directive and Low-Voltage Directive. Additionally, the RK Series conforms to the EMC Directive only through its use of surge arrester. The RK Series doesn't require an external ferrite core or filter in the motor line or power line.
No Ferrite Core Needed
Terminal Box
AC Input DC Input
No Motor/Driver Relay
To Controller
2-Phase CMK
Since the motor cable can be connected directly with the driver terminals, there is no need for wire connection or soldering on a relay terminal block.
Motor
2-Phase CSK
b Improved Motor
Twice the Motor Bearing Life (Compared with a Conventional Model)
The life of a motor is affected by its bearing. The RK Series achieves approximately twice the life of a conventional motor by adopting a high performance bearing grease. (Available only with the standard type and standard type with electromagnetic brake.)
Cable
RoHS-Compliant
Controllers
The RK Series conforms to the RoHS Directive that prohibits the use of six chemical substances including lead and cadmium.
b Details of RoHS Directive Page G-23
Accessories
Installation
Specifications, Characteristics C-89 / Dimensions C-101 / Connection and Operation C-107 / Motor and Driver Combinations C-112
C-83
C-84
Stepping Motors
Wide Variety
The RK Series offers a range of motor frame sizes depending on the motor type and power supply voltage specification, as shown below. (" 60" indicates a motor frame size of 60 mm.)
Power Supply Voltage AC Input RK Series Standard Type, Standard Type with Electromagnetic Brake Standard Type IP65 Rated Motor TH Geared Type PL Geared Type PN Geared Type Harmonic Geared Type
60 85
60 85
60 90
60 90
60 90
60 90
b For the single-phase 100-115 VAC models, please contact the nearest Oriental Motor sales office.
Stepping Motors
A wide variety of low gear ratios for high-speed operation Gear ratios: Low backlash TH Geared
(Parallel Shaft) 12 45 0.024 500
Introduction
High permissible torque A wide variety of gear ratios for selecting the desired step angle (resolution) Centered output shaft PL Geared
(Planetary) 37 35 0.0144 360
AC Input
AS
Gear ratios: 1:5, 1:7.2, 1:10, 1:25, 1:36, 1:50 High speed (low gear ratio), high positioning precision High permissible/maximum torque A wide variety of gear ratios for selecting the desired step angle (resolution)
Permissible Maximum Torque Torque
37 60 3 0.0144 600
DC Input
ASC
Non-backlash
Gear ratios: 1:5, 1:7.2, 1:10, 1:25, 1:36, 1:50 High positioning precision High permissible/maximum torque High gear ratio, high resolution Centered output shaft Gear ratios: 1:50, 1:100
5-Phase CRK
Permissible Maximum Torque Torque
37 55 0 0.0072 70
AC Input
5-Phase RK
Harmonic Geared
(Harmonic Drive)
Note: b The values shown above must be used as reference. These values vary depending on the frame size and gear ratio.
DC Input
2-Phase CMK 2-Phase CSK 2-Phase Stepping Motors 5-Phase Stepping Motors Controllers Accessories Installation
Specifications, Characteristics C-89 / Dimensions C-101 / Connection and Operation C-107 / Motor and Driver Combinations C-112
C-85
C-86
Stepping Motors
System Configuration
An example of a single-axis system configuration with the SG8030JY controller.
Programmable Controller
(Not supplied)
RK Series (Body)
Motor Driver
AC Power Supply
(Not supplied)
Flexible Couplings
( Page C-258)
Extension Cables
( Page C-254)
No.
Product Name
Controller Motor Mounting Brackets Flexible Couplings Extension Cables Driver Cables General-Purpose Type Connector Terminal Block Conversion Unit
Overview
This controller outputs pulse commands that determine the rotating amount and rotating speed. Dedicated mounting bracket for the motor. Coupling that connects the motor shaft to the driven shaft. Cable for extending the wiring distance between the motor and driver (5 to 20 m). General-purpose cable for connecting the driver and controller (1 m, 2 m). Set of terminal block and cable for connecting the driver and controller (1 m).
Page
C-248 C-266 C-258 C-254 C-256 C-256
RK Series
RK564ACE
Controller
SG8030JY-U
bThe system configuration shown above is an example. Other combinations are available.
Stepping Motors
RK 5 6 6 B
q
C E-N5
o !0
w e r t y u i
RK 5 9 13 A C T
q w e r t u i
Motor Case Length Motor Shaft Type A: Single Shaft B: Double Shaft Electromagnetic Brake Blank: Without Electromagnetic Brake M: With Electromagnetic Brake Power Supply Voltage A: Single-Phase 100-115 VAC C: Single-Phase 200-230 VAC Motor Classification Gearhead type Gear Ratio Blank: Standard Type T: TH Geared Type P: PL Geared Type N: PN Geared Type H: Harmonic Geared Type
Introduction
Product Line
b Standard Type
Power Supply Voltage Model (Single Shaft) RK564AAE RK566AAE RK569AAE RK596AAE RK599AAE RK5913AAE RK564ACE RK566ACE RK569ACE RK596ACE RK599ACE RK5913ACE Page Model (Double Shaft) RK564BAE RK566BAE RK569BAE RK596BAE RK599BAE RK5913BAE RK564BCE RK566BCE RK569BCE RK596BCE RK599BCE RK5913BCE Page
AC Input DC Input
AS ASC
AC Input
5-Phase RK
C-89
C-89
5-Phase CRK
For the single-phase 100-115 VAC models, please contact the nearest Oriental Motor sales office.
2-Phase CMK
2-Phase CSK
C-90
C-91
2-Phase Stepping Motors
For the single-phase 100-115 VAC models, please contact the nearest Oriental Motor sales office.
For the single-phase 100-115 VAC models, please contact the nearest Oriental Motor sales office.
b TH Geared Type
Power Supply Voltage Model (Single Shaft) RK564AAE-T3.6 RK564AAE-T7.2 RK564AAE-T10 RK564AAE-T20 RK564AAE-T30 RK596AAE-T3.6 RK596AAE-T7.2 RK596AAE-T10 RK596AAE-T20 RK596AAE-T30 RK564ACE-T3.6 RK564ACE-T7.2 RK564ACE-T10 RK564ACE-T20 RK564ACE-T30 RK596ACE-T3.6 RK596ACE-T7.2 RK596ACE-T10 RK596ACE-T20 RK596ACE-T30 Page Model (Double Shaft) RK564BAE-T3.6 RK564BAE-T7.2 RK564BAE-T10 RK564BAE-T20 RK564BAE-T30 RK596BAE-T3.6 RK596BAE-T7.2 RK596BAE-T10 RK596BAE-T20 RK596BAE-T30 RK564BCE-T3.6 RK564BCE-T7.2 RK564BCE-T10 RK564BCE-T20 RK564BCE-T30 RK596BCE-T3.6 RK596BCE-T7.2 RK596BCE-T10 RK596BCE-T20 RK596BCE-T30 Page
Accessories
C-92
C-92
Installation
C-93
C-93
Motor, Parallel Key, Driver, Connector for Input/Output Signal, Operating Manual Only for the products with a key slot on the output shaft
For the single-phase 100-115 VAC models, please contact the nearest Oriental Motor sales office.
Specifications, Characteristics C-89 / Dimensions C-101 / Connection and Operation C-107 / Motor and Driver Combinations C-112
C-87
C-88
Stepping Motors
b PL Geared Type
Power Supply Voltage Model (Single Shaft) RK566AAE-P5 RK566AAE-P7.2 RK566AAE-P10 RK564AAE-P25 RK564AAE-P36 RK564AAE-P50 RK599AAE-P5 RK599AAE-P7.2 RK599AAE-P10 RK596AAE-P25 RK596AAE-P36 RK596AAE-P50 RK566ACE-P5 RK566ACE-P7.2 RK566ACE-P10 RK564ACE-P25 RK564ACE-P36 RK564ACE-P50 RK599ACE-P5 RK599ACE-P7.2 RK599ACE-P10 RK596ACE-P25 RK596ACE-P36 RK596ACE-P50 Page Model (Double Shaft) RK566BAE-P5 RK566BAE-P7.2 RK566BAE-P10 RK564BAE-P25 RK564BAE-P36 RK564BAE-P50 RK599BAE-P5 RK599BAE-P7.2 RK599BAE-P10 RK596BAE-P25 RK596BAE-P36 RK596BAE-P50 RK566BCE-P5 RK566BCE-P7.2 RK566BCE-P10 RK564BCE-P25 RK564BCE-P36 RK564BCE-P50 RK599BCE-P5 RK599BCE-P7.2 RK599BCE-P10 RK596BCE-P25 RK596BCE-P36 RK596BCE-P50 Page
C-94
C-94
C-95
C-95
For the single-phase 100-115 VAC models, please contact the nearest Oriental Motor sales office.
b PN Geared Type
Power Supply Voltage Model (Single Shaft) RK566AAE-N5 RK566AAE-N7.2 RK566AAE-N10 RK564AAE-N25 RK564AAE-N36 RK564AAE-N50 RK599AAE-N5 RK599AAE-N7.2 RK599AAE-N10 RK596AAE-N25 RK596AAE-N36 RK596AAE-N50 RK566ACE-N5 RK566ACE-N7.2 RK566ACE-N10 RK564ACE-N25 RK564ACE-N36 RK564ACE-N50 RK599ACE-N5 RK599ACE-N7.2 RK599ACE-N10 RK596ACE-N25 RK596ACE-N36 RK596ACE-N50 Page Model (Double Shaft) RK566BAE-N5 RK566BAE-N7.2 RK566BAE-N10 RK564BAE-N25 RK564BAE-N36 RK564BAE-N50 RK599BAE-N5 RK599BAE-N7.2 RK599BAE-N10 RK596BAE-N25 RK596BAE-N36 RK596BAE-N50 RK566BCE-N5 RK566BCE-N7.2 RK566BCE-N10 RK564BCE-N25 RK564BCE-N36 RK564BCE-N50 RK599BCE-N5 RK599BCE-N7.2 RK599BCE-N10 RK596BCE-N25 RK596BCE-N36 RK596BCE-N50 Page
C-96
C-96
C-97
C-97
For the single-phase 100-115 VAC models, please contact the nearest Oriental Motor sales office.
C-98
C-98
For the single-phase 100-115 VAC models, please contact the nearest Oriental Motor sales office.
Stepping Motors
Standard Type
Specifications
Model Single-Phase 200-230 VAC Maximum Holding Torque Rotor Inertia Rated Current Basic Step Angle Power Source Excitation Mode Mass Dimension No. Motor Driver Motor Driver kg kg Single Shaft Double Shaft Nm J: kg m2 A/Phase
RK569ACE RK569BCE 1.66 560 10-7 1.4 0.72 Single-Phase 200-230 VAC
10% 15%
1.3 0.85
3.8 AC Input
AS
How to read specifications table Page C-10 b For the single-phase 100-115 VAC models, please contact the nearest Oriental Motor Sales office.
DC Input
ASC
RK566ACE/RK566BCE
1.2 1.0 Pullout Torque Current: 1.4 A/Phase Step Angle: 0.72/step Load Inertia: JL=0 kg m2
RK569ACE/RK569BCE
2.5 2.0
Torque [N m]
AC Input
5-Phase RK
Pullout Torque
6
Current [A]
5-Phase CRK
Current [A]
4 2 0
4 0
Current [A]
4 0
DC Input
2-Phase CMK
RK596ACE/RK596BCE
3.0 2.5
Torque [N m]
RK599ACE/RK599BCE
6 5
Torque [N m]
RK5913ACE/RK5913BCE
10 8 Current: 1.4 A/Phase Step Angle: 0.72/step Load Inertia: JL=0 kg m2
2-Phase CSK
Pullout Torque 8 4 0
Torque [N m]
Pullout Torque
4 3 2 1
6 4
Pullout Torque
Current [A]
Current [A]
10 5 0
8 4 0
Current [A]
b The pulse input circuit responds to approximately 200 kHz with a pulse duty of 50%. Notes: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C. (Under 75C is required to comply with UL or CSA Standards as the motor is recognized as insulation class A.) b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 50%.
Specifications, Characteristics C-89 / Dimensions C-101 / Connection and Operation C-107 / Motor and Driver Combinations C-112
C-89
Torque [N m]
Torque [N m]
Torque [N m]
Current [A]
Current [A]
4 2 0
Current [A]
Torque [N m]
Torque [N m]
Pullout Torque
Torque [N m]
Current [A]
Current [A]
10 5 0
8 4 0
2 1
Current [A]
C-90
Stepping Motors
10% 15%
50/60 Hz 3.5 A
3.3
4
4.4
How to read specifications table Page C-10 Excluding the gap between the shaft and the flange b For the single-phase 100-115 VAC models, please contact the nearest Oriental Motor Sales office.
RK566ACT
1.2 1.0 Pullout Torque Current: 1.4 A/Phase Step Angle: 0.72/step Load Inertia: JL=0 kg m2
RK569ACT
2.5 2.0 Pullout Torque 1.5 1.0 0.5 0 0 0 (0) fs 1000 10 (100) Current: 1.4 A/Phase Step Angle: 0.72/step Load Inertia: JL=0 kg m2
8 4 0
RK596ACT
3.0 2.5 2.0 1.5 Pullout Torque Current: 1.4 A/Phase Step Angle: 0.72/step Load Inertia: JL=0 kg m2
RK599ACT
6 5 4 3 Current: 1.4 A/Phase Step Angle: 0.72/step Load Inertia: JL=0 kg m2
RK5913ACT
10 8 6 4 2 Current: 1.4 A/Phase Step Angle: 0.72/step Load Inertia: JL=0 kg m2
Pullout Torque
8 4 0
b The pulse input circuit responds to approximately 200 kHz with a pulse duty of 50%. Notes: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C. (Under 75C is required to comply with UL or CSA Standards as the motor is recognized as insulation class A.) b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 50%.
Stepping Motors
50/60 Hz 3.5 A
Microstep Active when power is off 24 VDC A Nm ms ms kg kg 0.9 0.25 0.8 20 30 Continuous 1.1
5 15
Electromagnetic Brake
AC Input
AS
2.4
3.5
4.5 DC Input
ASC
How to read specifications table Page C-10 b For the single-phase 100-115 VAC models, please contact the nearest Oriental Motor Sales office.
AC Input
5-Phase RK
RK566AMCE
1.2 1.0 Pullout Torque Current: 1.4 A/Phase Step Angle: 0.72/step Load Inertia: JL=0 kg m2
RK569AMCE
2.5 2.0
Torque [N m]
5-Phase CRK
Pullout Torque
0.8 0.6 8
Current [A]
Pullout Torque
DC Input
2-Phase CMK
6
Current [A]
4 2 0
Current [A]
8 4 0
4 0
2-Phase CSK
RK596AMCE
3.0 2.5
Torque [N m]
RK599AMCE
6 5
Torque [N m]
RK5913AMCE
10 8 Current: 1.4 A/Phase Step Angle: 0.72/step Load Inertia: JL=0 kg m2
Pullout Torque
Pullout Torque
Torque [N m]
4 3 2 1 0 0 0 (0) fs
Pullout Torque 6
Current [A]
Current [A]
10 5 0
8 4 0
Current [A]
8 4 0
4 2
Controllers
b The pulse input circuit responds to approximately 200 kHz with a pulse duty of 50%. Notes: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C. (Under 75C is required to comply with UL or CSA Standards as the motor is recognized as insulation class A.) b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 50%.
Accessories Installation
Specifications, Characteristics C-89 / Dimensions C-101 / Connection and Operation C-107 / Motor and Driver Combinations C-112
C-91
Torque [N m]
Torque [N m]
Torque [N m]
Current [A]
Current [A]
4 2 0
0.5 Driver Input Current 0 0 0 (0) fs 100 200 5 (50) 300 400 Speed [r/min] 500 600
Current [A]
Torque [N m]
3 2 1 0 0 0 (0) fs 20 5 (50) 40 60 Speed [r/min] 10 (100) Pulse Speed [kHz] 80 100 15 Resolution 1 (150) (Resolution 10) 4
Torque [N m]
Current [A]
Current [A]
C-92
Stepping Motors
TH Geared Type
Specifications
Model Single-Phase 200-230 VAC Maximum Holding Torque Rotor Inertia Rated Current Basic Step Angle Gear Ratio Permissible Torque Backlash Permissible Speed Range Power Source Excitation Mode Mass Dimension No. Motor Driver Motor Driver kg kg Single Shaft Double Shaft Nm J: kg m2 A/Phase
RK564ACE-T30 RK564BCE-T30 4
0.024 1:30 4 0 60
50/60 Hz 3.5 A
How to read specifications table Page C-10 b For the single-phase 100-115 VAC models, please contact the nearest Oriental Motor Sales office. Note: b Direction of rotation of the motor and that of the gear output shaft are the same for the gear ratios of 1:3.6, 1:7.2 and 1:10. It is opposite for 1:20 and 1:30 gear ratios.
RK564ACE-T7.2/RK564BCE-T7.2
4 Current: 1.4 A/Phase Step Angle: 0.1/step Load Inertia: JL=0 kg m2
RK564ACE-T10/RK564BCE-T10
5 4 Current: 1.4 A/Phase Step Angle: 0.072/step Load Inertia: JL=0 kg m2
Permissible Torque 2 4 2 0
Permissible Torque 3 2 1 0 0 0 (0) fs 40 5 (50) 80 120 Speed [r/min] 10 (100) Pulse Speed [kHz] 160 200 15 Resolution 1 (150) (Resolution 10) Driver Input Current
0 0 0 (0)
RK564ACE-T20/RK564BCE-T20
5 4 Current: 1.4 A/Phase Step Angle: 0.036/step Load Inertia: JL=0 kg m2
RK564ACE-T30/RK564BCE-T30
5 4 3 2 1 0 0 0 (0) fs 10 Driver Input Current Current: 1.4 A/Phase Step Angle: 0.024/step Load Inertia: JL=0 kg m2 Permissible Torque
Permissible Torque
4 2 0
2 0
20 5 (50)
50
60
70
b The pulse input circuit responds to approximately 200 kHz with a pulse duty of 50%. Notes: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C. (Under 75C is required to comply with UL or CSA Standards as the motor is recognized as insulation class A.) b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 50%.
Stepping Motors
TH Geared Type
Specifications
Model Single-Phase 200-230 VAC Maximum Holding Torque Rotor Inertia Rated Current Basic Step Angle Gear Ratio Permissible Torque Backlash Permissible Speed Range Power Source Excitation Mode Mass Dimension No. Motor Driver Motor Driver kg kg Single Shaft Double Shaft Nm J: kg m2 A/Phase
RK596ACE-T7.2 RK596BCE-T7.2 9
RK596ACE-T20 RK596BCE-T20 12
RK596ACE-T30 RK596BCE-T30
Introduction
0.024 1:30
0 180
10% 15%
0 90 50/60 Hz 3.5 A
0 60
AC Input
AS ASC
DC Input
How to read specifications table Page C-10 b For the single-phase 100-115 VAC models, please contact the nearest Oriental Motor Sales office. Note: b Direction of rotation of the motor and that of the gear output shaft are the same for the gear ratios of 1:3.6, 1:7.2 and 1:10. It is opposite for 1:20 and 1:30 gear ratios.
AC Input
5-Phase RK
RK596ACE-T7.2/RK596BCE-T7.2
12 10
Torque [N m]
RK596ACE-T10/RK596BCE-T10
12 10
Torque [N m]
5-Phase CRK
Permissible Torque
Permissible Torque
Permissible Torque
4 3 2 1 0 0 0 (0) fs 100 200 5 (50) 300 400 Speed [r/min] 500 600 Driver Input Current 5 2.5 0
8 6 4 2 0 0 0 (0) fs 50 100 5 (50) 150 200 Speed [r/min] 250 300 Driver Input Current
Current [A]
8 6 4 Driver Input Current 2 0 0 0 (0) fs 40 5 (50) 80 120 Speed [r/min] 10 (100) Pulse Speed [kHz] 160 200
6 4 2 0
DC Input
2-Phase CMK
Current [A]
2.5 0
Current [A]
2-Phase CSK
RK596ACE-T20/RK596BCE-T20
15 Current: 1.4 A/Phase Step Angle: 0.036/step Load Inertia: JL=0 kg m2 Permissible Torque 10
RK596ACE-T30/RK596BCE-T30
2-Phase Stepping Motors
15 Current: 1.4 A/Phase Step Angle: 0.024/step Load Inertia: JL=0 kg m2 Permissible Torque 10
Torque [N m]
6
Current [A]
Torque [N m]
4 2 0
4 2 0
0 0 0 (0)
fs 20 5 (50) 40 60 Speed [r/min] 10 (100) Pulse Speed [kHz] 80 100 15 Resolution 1 (150) (Resolution 10)
20 5 (50)
50
60
70
Controllers
b The pulse input circuit responds to approximately 200 kHz with a pulse duty of 50%. Notes: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C. (Under 75C is required to comply with UL or CSA Standards as the motor is recognized as insulation class A.) b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 50%.
Accessories Installation
Specifications, Characteristics C-89 / Dimensions C-101 / Connection and Operation C-107 / Motor and Driver Combinations C-112
C-93
Torque [N m]
Torque [N m]
3 2 8
3 8 2 1 Driver Input Current 0 0 0 (0) fs 50 100 5 (50) 150 200 Speed [r/min] 250 15 (150) 300 Resolution 1 (Resolution 10)
Torque [N m]
Current [A]
Current [A]
Current [A]
Torque [N m]
Torque [N m]
6 4 4
6 4 4
Torque [N m]
Current [A]
Current [A]
Current [A]
C-94
Stepping Motors
PL Geared Type
Specifications
Model Single-Phase 200-230 VAC Maximum Holding Torque Rotor Inertia Rated Current Basic Step Angle Gear Ratio Permissible Torque Backlash Permissible Speed Range Power Source Excitation Mode Mass Dimension No. Motor Driver Motor Driver kg kg Single Shaft Double Shaft Nm J: kg m2 A/Phase
RK566ACE-P5 RK566ACE-P7.2 RK566ACE-P10 RK564ACE-P25 RK564ACE-P36 RK564ACE-P50 RK566BCE-P5 RK566BCE-P7.2 RK566BCE-P10 RK564BCE-P25 RK564BCE-P36 RK564BCE-P50 3.5 4 5 8 280 10-7 175 10-7 1.4 0.144 0.1 0.072 0.0288 0.02 0.0144 1:5 1:7.2 1:10 1:25 1:36 1:50 3.5 4 5 8 20 (0.33) 0 360 0 250 0 180 0 72 0 50 0 36 Single-Phase 200-230 VAC Microstep 1.3 0.85
9 15
10% 15%
How to read specifications table Page C-10 b For the single-phase 100-115 VAC models, please contact the nearest Oriental Motor Sales office. Note: b Direction of rotation of the motor and that of the gear output shaft are the same.
RK566ACE-P7.2/RK566BCE-P7.2
5 4 Current: 1.4 A/Phase Step Angle: 0.1/step Load Inertia: JL=0 kg m2 Permissible Torque
RK566ACE-P10/RK566BCE-P10
8 Current: 1.4 A/Phase Step Angle: 0.072/step Load Inertia: JL=0 kg m2
Permissible Torque
6 Permissible Torque 4
8 4 0
1 0 0 0 (0) fs
Driver Input Current 100 5 (50) 200 Speed [r/min] 10 (100) Pulse Speed [kHz] 300 400 15 Resolution 1 (150) (Resolution 10)
4 0
2 Driver Input Current fs 50 5 (50) 100 Speed [r/min] 10 (100) Pulse Speed [kHz] 150 200 15 Resolution 1 (150) (Resolution 10)
0 0 0 (0)
RK564ACE-P25/RK564BCE-P25
10 8 Current: 1.4 A/Phase Step Angle: 0.0288/step Load Inertia: JL=0 kg m2 Permissible Torque
RK564ACE-P36/RK564BCE-P36
10 8 Current: 1.4 A/Phase Step Angle: 0.02/step Load Inertia: JL=0 kg m2 Permissible Torque
RK564ACE-P50/RK564BCE-P50
10 8 6 4 2 0 0 0 (0) fs 10 5 (50) 20 Speed [r/min] 10 (100) Pulse Speed [kHz] 30 40 15 Resolution 1 (150) (Resolution 10) Driver Input Current Current: 1.4 A/Phase Step Angle: 0.0144/step Load Inertia: JL=0 kg m2 Permissible Torque
4 2 0
2 0 0 0 (0) fs 20 5 (50)
2 0
2 0 0 0 (0) fs 10 5 (50)
2 0
60
20
30 40 Speed [r/min]
50 15 (150)
b The pulse input circuit responds to approximately 200 kHz with a pulse duty of 50%. Notes: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C. (Under 75C is required to comply with UL or CSA Standards as the motor is recognized as insulation class A.) b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 50%.
Stepping Motors
PL Geared Type
Specifications
Model Single-Phase 200-230 VAC Maximum Holding Torque Rotor Inertia Rated Current Basic Step Angle Gear Ratio Permissible Torque Backlash Permissible Speed Range Power Source Excitation Mode Mass Dimension No. Motor Driver Motor Driver kg kg Single Shaft Double Shaft Nm J: kg m2 A/Phase
RK599ACE-P5 RK599ACE-P7.2 RK599ACE-P10 RK596ACE-P25 RK596ACE-P36 RK596ACE-P50 RK599BCE-P5 RK599BCE-P7.2 RK599BCE-P10 RK596BCE-P25 RK596BCE-P36 RK596BCE-P50 14 20 37 2700 10-7 1400 10-7 1.4 0.144 0.1 0.072 0.0288 0.02 0.0144 1:5 1:7.2 1:10 1:25 1:36 1:50 14 20 37 15 (0.25) 0 360 0 250 0 180 0 72 0 50 0 36 Single-Phase 200-230 VAC Microstep 4.4 0.85
10
10% 15%
Introduction
AC Input
AS
DC Input
15
ASC
How to read specifications table Page C-10 b For the single-phase 100-115 VAC models, please contact the nearest Oriental Motor Sales office. Note: b Direction of rotation of the motor and that of the gear output shaft are the same.
AC Input
5-Phase RK
RK599ACE-P7.2/RK599BCE-P7.2
25 20 Current: 1.4 A/Phase Step Angle: 0.1/step Load Inertia: JL=0 kg m2 Permissible Torque
RK599ACE-P10/RK599BCE-P10
25 20 Current: 1.4 A/Phase Step Angle: 0.072/step Load Inertia: JL=0 kg m2 Permissible Torque
5-Phase CRK
15 Permissible Torque
Torque [N m]
Torque [N m]
Torque [N m]
15
DC Input
10 4
2-Phase CMK
Current [A]
10 5 0 0 0 (0) fs 50 5 (50) 100 Speed [r/min] 10 (100) Pulse Speed [kHz] 150 200 Driver Input Current
Current [A]
2.5
Driver Input Current fs 100 5 (50) 200 Speed [r/min] 10 (100) Pulse Speed [kHz] 300 400 15 Resolution 1 (150) (Resolution 10)
2 0
Current [A]
150 200 Speed [r/min] 250 300
2 0
0 0 0 (0)
0 fs 0 0 (0)
50
100 5 (50)
2-Phase CSK
RK596ACE-P25/RK596BCE-P25
50 40 Current: 1.4 A/Phase Step Angle: 0.0288/step Load Inertia: JL=0 kg m2
RK596ACE-P36/RK596BCE-P36
50 40 Current: 1.4 A/Phase Step Angle: 0.02/step Load Inertia: JL=0 kg m2
RK596ACE-P50/RK596BCE-P50
2-Phase Stepping Motors
50 40 Current: 1.4 A/Phase Step Angle: 0.0144/step Load Inertia: JL=0 kg m2
Permissible Torque
Permissible Torque
Permissible Torque
Torque [N m]
Torque [N m]
Torque [N m]
30 20 4
30
20 10 0 0 0 (0) fs 10 5 (50) 20 Speed [r/min] 10 (100) Pulse Speed [kHz] 30 40 Driver Input Current
Current [A]
2 0
10 0 0 0 (0)
Driver Input Current fs 20 5 (50) 40 Speed [r/min] 10 (100) Pulse Speed [kHz] 60 80 15 Resolution 1 (150) (Resolution 10)
Current [A]
Current [A]
2 0
2 0
Controllers
b The pulse input circuit responds to approximately 200 kHz with a pulse duty of 50%. Notes: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C. (Under 75C is required to comply with UL or CSA Standards as the motor is recognized as insulation class A.) b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 50%.
Accessories Installation
Specifications, Characteristics C-89 / Dimensions C-101 / Connection and Operation C-107 / Motor and Driver Combinations C-112
C-95
Torque [N m]
Torque [N m]
8
Current [A]
5.0
Permissible Torque
Current [A]
Torque [N m]
Torque [N m]
Torque [N m]
15 10 5 Driver Input Current 0 0 0 (0) fs 20 5 (50) 40 60 Speed [r/min] 10 15 20 (100) (150) (200) Pulse Speed [kHz] 80 100 8
Current [A]
Torque [N m]
Current [A]
5 fs Driver Input Current 50 Speed [r/min] 0 (0) 5 (50) 10 15 20 (100) (150) (200) Pulse Speed [kHz] 25 (250) Resolution 1 (Resolution 10) 100 150
Current [A]
C-96
Stepping Motors
PN Geared Type
Specifications
Model Single-Phase 200-230 VAC Maximum Holding Torque Rotor Inertia Rated Current Basic Step Angle Gear Ratio Permissible Torque Nm Nm Maximum Torque Backlash arc minute (degrees) Angular Transmission Error arc minute (degrees) Permissible Speed Range r/min Power Source Excitation Mode Mass Dimension No. Motor Driver Motor Driver kg kg Single Shaft Double Shaft Nm J: kg m2 A/Phase
RK566ACE-N5 RK566ACE-N7.2 RK566ACE-N10 RK564ACE-N25 RK564ACE-N36 RK564ACE-N50 RK566BCE-N5 RK566BCE-N7.2 RK566BCE-N10 RK564BCE-N25 RK564BCE-N36 RK564BCE-N50 3.5 4 5 8 280 10-7 175 10-7 1.4 0.144 0.1 0.072 0.0288 0.02 0.0144 1:5 1:7.2 1:10 1:25 1:36 1:50 3.5 4 5 8 7 9 11 16 20 2 (0.034) 3 (0.05) 5 (0.084) 0 600 0 416 0 300 0 120 0 83 0 60 Single-Phase 200-230 VAC Microstep 1.5 0.85
11 15
10% 15%
50/60 Hz 3.5 A
How to read specifications table Page C-10 The value of maximum torque is for gear. For output torque for geared motor, refer to the speed torque characteristics. b For the single-phase 100-115 VAC models, please contact the nearest Oriental Motor Sales office. Note: b Direction of rotation of the motor shaft and that of the gear output shaft are the same.
RK566ACE-N7.2/RK566BCE-N7.2
10 Current: 1.4 A/Phase Step Angle: 0.1/step Load Inertia: JL=0 kg m2
RK566ACE-N10/RK566BCE-N10
15 Current: 1.4 A/Phase Step Angle: 0.072/step Load Inertia: JL=0 kg m2
7.5 10
8 4
Permissible Torque
0 0 0 (0)
fs 100 5 (50)
0 0 0 (0)
fs 100 5 (50) 200 300 Speed [r/min] 10 15 (100) (150) Pulse Speed [kHz] 20 (200) 400 25 Resolution 1 (250) (Resolution 10)
Driver Input Current 200 Speed [r/min] 300 25 Resolution 1 (250) (Resolution 10)
RK564ACE-N25/RK564BCE-N25
20 Current: 1.4 A/Phase Step Angle: 0.0288/step Load Inertia: JL=0 kg m2
RK564ACE-N36/RK564BCE-N36
25 20 Current: 1.4 A/Phase Step Angle: 0.02/step Load Inertia: JL=0 kg m2
RK564ACE-N50/RK564BCE-N50
25 20 15 10 5 Driver Input Current 0 0 0 0 (0) fs 10 5 (50) 20 30 40 Speed [r/min] 50 60 70 Current: 1.4 A/Phase Step Angle: 0.0144/step Load Inertia: JL=0 kg m2 Maximum Torque
15
10 8 Permissible Torque 4 0
Permissible Torque
Permissible Torque
0 0
b The pulse input circuit responds to approximately 200 kHz with a pulse duty of 50%. Notes: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C. (Under 75C is required to comply with UL or CSA Standards as the motor is recognized as insulation class A.) b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 50%.
Stepping Motors
PN Geared Type
Specifications
Model Single-Phase 200-230 VAC Maximum Holding Torque Rotor Inertia Rated Current Basic Step Angle Gear Ratio Permissible Torque Nm Nm Maximum Torque Backlash arc minute (degrees) Angular Transmission Error arc minute (degrees) Permissible Speed Range r/min Power Source Excitation Mode Mass Dimension No. Motor Driver Motor Driver kg kg Single Shaft Double Shaft Nm J: kg m2 A/Phase
RK599ACE-N5 RK599ACE-N7.2 RK599ACE-N10 RK596ACE-N25 RK596ACE-N36 RK596ACE-N50 RK599BCE-N5 RK599BCE-N7.2 RK599BCE-N10 RK596BCE-N25 RK596BCE-N36 RK596BCE-N50 14 20 37 2700 10-7 1400 10-7 1.4 0.144 0.1 0.072 0.0288 0.02 0.0144 1:5 1:7.2 1:10 1:25 1:36 1:50 14 20 37 28 35 56 60 2 (0.034) 3 (0.05) 4 (0.067) 0 600 0 416 0 300 0 120 0 83 0 60 Single-Phase 200-230 VAC Microstep 5 0.85
12 15
10% 15%
Introduction
AC Input
AS
DC Input
ASC
How to read specifications table Page C-10 The value of maximum torque is for gear. For output torque for geared motor, refer to the speed torque characteristics. b For the single-phase 100-115 VAC models, please contact the nearest Oriental Motor Sales office. Note: b Direction of rotation of the motor shaft and that of the gear output shaft are the same.
AC Input
5-Phase RK
5-Phase CRK
RK599ACE-N7.2/RK599BCE-N7.2
50 40 Current: 1.4 A/Phase Step Angle: 0.1/step Load Inertia: JL=0 kg m2
RK599ACE-N10/RK599BCE-N10
50 40
Torque [N m]
DC Input
2-Phase CMK
20 15
Permissible Torque 8
Current [A]
30 Permissible Torque 20 10 Driver Input Current 0 0 0 (0) fs 100 5 (50) 200 300 Speed [r/min] 10 15 20 (100) (150) (200) Pulse Speed [kHz] 400 25 (250) 500 Resolution 1 (Resolution 10)
Current [A]
30 20 10 Driver Input Current 0 0 0 (0) fs 100 5 (50) 200 Speed [r/min] 300 25 Resolution 1 (250) (Resolution 10)
6
Current [A]
8 4 0
4 2 0
10 5 0 0 0 (0) fs 100 5 (50) 200 300 400 Speed [r/min] 500 20 (200) 600 Resolution 1 (Resolution 10) Driver Input Current
4 0
2-Phase CSK
RK596ACE-N25/RK596BCE-N25
60 50 Permissible Torque
Torque [N m]
RK596ACE-N36/RK596BCE-N36
80 Current: 1.4 A/Phase Step Angle: 0.02/step Load Inertia: JL=0 kg m2
RK596ACE-N50/RK596BCE-N50
80 Current: 1.4 A/Phase Step Angle: 0.0144/step Load Inertia: JL=0 kg m2
60
Torque [N m]
Maximum Torque
Torque [N m]
Maximum Torque 60
40 30 20 10 0 0 0 (0) fs 50 Speed [r/min] 5 (50) 10 15 20 (100) (150) (200) Pulse Speed [kHz] 25 (250) Resolution 1 (Resolution 10) 100 150 Driver Input Current
Current [A]
Permissible Torque 40
Current [A]
6
Current [A]
40 Permissible Torque
4 2 0
20 Driver Input Current 0 0 0 (0) fs 20 5 (50) 40 60 Speed [r/min] 10 15 20 (100) (150) (200) Pulse Speed [kHz] 80 25 (250) 100 Resolution 1 (Resolution 10)
Controllers
0 0 0 (0)
Accessories
b The pulse input circuit responds to approximately 200 kHz with a pulse duty of 50%. Notes: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C. (Under 75C is required to comply with UL or CSA Standards as the motor is recognized as insulation class A.) b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 50%.
Installation
Specifications, Characteristics C-89 / Dimensions C-101 / Connection and Operation C-107 / Motor and Driver Combinations C-112
C-97
Torque [N m]
15 10
Current [A]
Torque [N m]
Current [A]
Torque [N m]
30 20 10
Permissible Torque
Current [A]
Torque [N m]
Current [A]
C-98
Stepping Motors
RK596ACE-H50 RK596ACE-H100 RK596BCE-H50 RK596BCE-H100 25 37 1600 10-7 0.0144 1:50 25 35 1.5 max. ( 1.2 N m) 0 70
10% 15%
0.0072 1:100 8 28 0.7 max. ( 0.39 N m) 0 35 Single-Phase 200-230 VAC Microstep 1.08 0.85
13 15
0.0072 1:100 37 55
0 35
How to read specifications table Page C-10 The value of maximum torque is for gear. For output torque for geared motor, refer to the speed torque characteristics. b For the single-phase 100-115 VAC models, please contact the nearest Oriental Motor Sales office. Notes: b The inertia represents a sum of the inertia of the harmonic gear converted to a motor shaft value, and the rotor inertia. b Direction of rotation of the motor and that of the gear output shaft are the opposite.
RK564ACE-H100/RK564BCE-H100
40 Current: 1.4 A/Phase Step Angle: 0.0072/step Load Inertia: JL=0 kg m2
Maximum Torque
30 Maximum Torque
20
10 5 0
10 Permissible Torque 5 fs 0 0 0 (0) 20 10 (100) Driver Input Current 40 60 Speed [r/min] 20 (200) Pulse Speed [kHz]
10 Permissible Torque fs Driver Input Current 10 10 (100) 20 Speed [r/min] 20 (200) Pulse Speed [kHz] 30 40 30 Resolution 1 (300)(Resolution 10)
0 0 0 (0)
RK596ACE-H50/RK596BCE-H50
50 40 Current: 1.4 A/Phase Step Angle: 0.0144/step Load Inertia: JL=0 kg m2
RK596ACE-H100/RK596BCE-H100
80 Current: 1.4 A/Phase Step Angle: 0.0072/step Load Inertia: JL=0 kg m2
Maximum Torque
60 Maximum Torque
40 Permissible Torque
8 4 0
fs 0 0 0 (0) 20 10 (100)
Driver Input Current 40 Speed [r/min] 20 (200) Pulse Speed [kHz] 60 80 30 Resolution 1 (300)(Resolution 10)
0 0 0 (0)
fs 10 10 (100) 20 Speed [r/min] 20 (200) Pulse Speed [kHz] 30 40 30 Resolution 1 (300)(Resolution 10)
b The pulse input circuit responds to approximately 200 kHz with a pulse duty of 50%. Notes: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C. (Under 75C is required to comply with UL or CSA Standards as the motor is recognized as insulation class A.) b In order to prevent fatigue of the gear grease in the harmonic gear, keep the temperature of the gear case under 70C. b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 50%.
Stepping Motors
Driver Specifications
Input Mode Photocoupler input, Input resistance: 220 ; Input current: 10 20 mA 5 V, Photocoupler OFF: 0 1 V (Voltage between terminals) Photocoupler ON: 4.5 Operation command pulse signal (CW direction operation command pulse signal when in 2-pulse input mode), Negative logic pulse input Pulse width: 2.5 s minimum; Pulse rise/fall: 2 s maximum Pulse duty: 50% and below The motor moves one step when the pulse input is switched from photocoupler ON to OFF. Maximum input pulse frequency: 200 kHz (When the pulse duty is 50%) Rotation direction signal, Photocoupler ON: CW, Photocoupler OFF: CCW CCW direction operation command pulse signal when in 2-pulse input mode, Negative logic pulse input Pulse width: 2.5 s minimum; Pulse rise/fall: 2 s maximum Pulse duty: 50% and below The motor moves one step when the pulse input is switched from photocoupler ON to OFF. Maximum input pulse frequency: 200 kHz (When the pulse duty is 50%) When in the "photocoupler ON" state, the output current to the motor is cut off and the motor shaft can be rotated manually. (When rotating the motor shaft manually, release the brake) When in the "photocoupler OFF" state, the current is supplied to the motor. When in the "photocoupler ON" state, the brake is released and the motor is ready for operation. When in the "photocoupler OFF" state, the brake is engaged and the motor shaft is held in position. Step angle specified by DATA1 when photocoupler OFF Step angle specified by DATA2 when photocoupler ON Photocoupler, Open-collector output External usage conditions: 24 VDC maximum, 10 mA maximum The signal is output every time the excitation sequence returns to the initial stage "0." (Photocoupler: ON) Example) 0.72/step (1 resolution): Signal output every 10 pulses, 0.072/step (10 resolutions): Signal output every 100 pulses Output is turned off when the temperature of the driver heat sink rises to approximately 80C. (Photocoupler: OFF) Automatic current cutback, Automatic current off, Step angle switch, Pulse input mode switch, Electromagnetic brake function switch, Smooth drive function, Energy save function AC Input Power input, Excitation timing signal output, Overheat signal output Natural ventilation
Input Signals
Introduction
All Windings Off Signal Electromagnetic Brake Release Signal Step Angle Select Signal Output Mode Output Signals Excitation Timing Signal Overheat Signal Functions Indicators (LED) Cooling Method
Only for electromagnetic brake type
AC Input DC Input
AS ASC 5-Phase RK
General Specifications
Specifications Insulation Class Motor Class B (130C) [Recognized as class A (105C) by UL Standard] Driver 100 M or more when 500 VDC megger is applied between the following places under normal ambient temperature and humidity: Power input terminal - Protective earth terminal Motor output terminal - Protective earth terminal Electromagnetic brake power output terminal1 - Protective earth terminal Signal input/output terminals - Power input terminal Signal input/output terminals - Motor output terminal Signal input/output terminals - Electromagnetic brake power output terminal1 Sufficient to withstand the following for 1 minute under normal ambient temperature and humidity: Power input terminal - Protective earth terminal 1.5 kVAC 50 Hz or 60 Hz Motor output terminal - Protective earth terminal 1.5 kVAC 50 Hz or 60 Hz Electromagnetic brake power output terminal1- Protective earth terminal 1.5 kVAC 50 Hz or 60 Hz Signal input/output terminals - Power input terminal 1.8 kVAC 50 Hz or 60 Hz Signal input/output terminals - Motor output terminal 1.8 kVAC 50 Hz or 60 Hz Signal input/output terminals - Electromagnetic brake power output terminal1 1.8 kVAC 50 Hz or 60 Hz 0 50C (non-freezing) DC Input
Insulation Resistance
100 M or more when 500 VDC megger is applied between the windings and the case under normal ambient temperature and humidity.
2-Phase CSK
Dielectric Strength
Sufficient to withstand 1.5 kV at 50 Hz or 60 Hz applied between the windings and the case for 1 minute under normal ambient temperature and humidity.
10 0
50C (non-freezing): Standard type, TH, PL, PN geared type 40C (non-freezing): Harmonic geared type 85% or less (non-condensing)
No corrosive gases, dust, water or oil (Standard type IP65 rated motor: No corrosive gases) Temperature rise of the windings are 80C or less measured by the resistance change method. (at rated current, at standstill, five phases energized)
0.075 A
Controllers
Temperature Rise Stop Position Accuracy Shaft Runout Radial Play3 Axial Play4 Concentricity Perpendicularity
2
3 arc minutes ( 0.05) 0.05 T.I.R. (mm)5 0.025 mm maximum of 5 N 0.075 mm maximum of 10 N 0.075 T.I.R. (mm)5 0.075 T.I.R. (mm)5
Accessories
1 Only for electromagnetic brake type 2 This value is for 0.72 step under no load. (The value changes with the size of the load.) 3 Radial Play: Displacement in shaft position in the radial direction, when a 5 N load is applied in the vertical direction to the tip of the motor's shaft. 4 Axial Play: Displacement in shaft position in the axial direction, when a 10 N load is applied to the motor's shaft in the axial direction. 5 T.I.R. (Total Indicator Reading): The total dial gauge reading when the measurement section is rotated one revolution centered on the reference axis center. Note: b Do not measure insulation resistance or perform the dielectric strength test while the motor and driver are connected.
Installation
0.05
0.075 A
Specifications, Characteristics C-89 / Dimensions C-101 / Connection and Operation C-107 / Motor and Driver Combinations C-112
C-99
C-100
Stepping Motors
Unit = N
Standard Type Standard Type IP65 Rated Motor Standard Type with Electromagnetic Brake
63
75
95
130
190 The permissible thrust load shall be no greater than the motor mass.
260
290
340
390
480
TH Geared Type
3.6, 7.2, 10, 20, 30 5 7.2, 10 25, 36, 50 5, 7.2, 10 25 36 50 5 7.2, 10 25, 36, 50 5 7.2, 10 25 36 50 50, 100 50, 100
PL Geared Type
PN Geared Type
70 220 200 250 330 480 850 930 1050 200 250 330 480 480 850 930 1050 320 1090
80 250 220 270 360 540 940 1030 1160 220 270 360 520 540 940 1030 1160 370 1150
100 300 250 300 400 600 1050 1150 1300 250 300 400 550 600 1050 1150 1300 440 1230
120 350 280 340 450 680 1190 1310 1480 280 340 450 580 680 1110 1220 1380 550 1310
150 400 320 390 520 790 1380 1520 1710 320 390 520 620 790 1190 1300 1490 720 1410
40 100 100
300
100
300
450 1300
b Enter A (single shaft) or B (double shaft) in the box ( ) within the model name. Enter the gear ratio in the box ( ) within the model name.
Stepping Motors
60 mm
Model RK564ACE RK564BCE RK566ACE RK566BCE RK569ACE RK569BCE Motor Model PK564AE PK564BE PK566AE PK566BE PK569AE PK569BE L1 48.5 59.5 89 L2 69.5 80.5 110 Mass (kg) 0.6
Introduction
0.8 1.3
L2 21 20
0.25 1
24 L1 7 1.5
20
0.25
4 60 50 0.35
0 0.015(h7)
0.15
50 0.35 60
DC Input
7.5
ASC
36
31.7 AC Input
5-Phase RK
85 mm
Model RK596ACE RK596BCE RK599ACE RK599BCE RK5913ACE RK5913BCE Motor Model PK596AE PK596BE PK599AE PK599BE PK5913AE PK5913BE L1 68 98 128 L2 100 130 160 Mass (kg)
5-Phase CRK
15
DC Input
2-Phase CMK
37 L1 10 2
25
0.25
25
0.25
85 70 0.35
6.5 Thru
2-Phase CSK
0 0.046(h8)
0 0.018(h7)
0.15
13
13 0.15 0 0.018(h7)
60
70 0.35 85
14
14
31.7
5-Phase Stepping Motors
15
Controllers
60 mm
Model RK564ACT RK566ACT RK569ACT Motor Model PK564AT PK566AT PK569AT L 92 103 132.5 Mass (kg) 0.8 1.1 1.6
0.15 0 0.015(h7) 0 0.039(h8)
Accessories
4 M3
40.3
24 1 1.5 20
60 50 0.35
4 4.5 Thru
7.5
36
Installation
b The outer diameter of the applicable cable (VCT) is 7 to 13 mm. An accessory motor cable (with protective earth wire) is also available (sold separately). Page C-254
Specifications, Characteristics C-89 / Dimensions C-101 / Connection and Operation C-107 / Motor and Driver Combinations C-112
70.3 10.3
50 0.35 60 88 max.
0.25
C-101
25
0.25
13
14
b The outer diameter of the applicable cable (VCT) is 7 to 13 mm. An accessory motor cable (with protective earth wire) is also available (sold separately). Page C-254
60 mm
Model RK564AMCE RK566AMCE RK569AMCE Motor Model PK564AEM PK566AEM PK569AEM L 88.5 99.5 129 Mass (kg) 0.9 1.1 1.6
L 7 24 1 1.5 20
0.25
10.3
4 60 50 0.35
4.5 Thru
600 50
36
31.7 5 Motor Leads AWG22 2 Electromagnetic Brake Leads AWG24 Motor Cable 7
85 mm
Model RK596AMCE RK599AMCE RK5913AMCE Motor Model PK596AEM PK599AEM PK5913AEM L 119 149 179 Mass (kg) 2.4 3.5 4.5
L 10 37 2
1
25
0.25
85 70 0.35
15
50 0.35 60
6.5 Thru
0 0.046(h8)
13 0.15 0 0.018(h7)
60
600 50
31.7 5 Motor Leads AWG22 2 Electromagnetic Brake Leads AWG24 Motor Cable 7
C-102
14
15
70 0.35 85
95.3
Stepping Motors
85 mm
Model RK596ACT RK599ACT RK5913ACT Motor Model PK596AT PK599AT PK5913AT L 110 140 170 Mass (kg) 2.2 3.3 4.4 L 4 M4 40.6 10
37 2
85 70 0.35
4 6.5 Thru
Stepping Motors
TH Geared Type
7
60 mm
Motor Model PK564AE-T PK564BE-T Gear Ratio 3.6, 7.2, 10, 20, 30 Mass (kg) 0.95
b Enter the gear ratio in the box ( ) within the model name.
21 1 20 0.25
32
12
4 M4 8 Deep 60
Introduction
7 0.15 0 0.015(h7)
0 0.015(h7)
10 0.5 0 0.021(h7)
0.15
7.5
70
0 .5
15
60
AC Input
23
AS
31.7
DC Input
90 mm
Motor Model PK596AE-T PK596AE1-T PK596BE-T PK596BE1-T Gear Ratio 3.6, 7.2 10, 20, 30 3.6, 7.2 10, 20, 30 Mass (kg)
ASC
2.85 AC Input
5-Phase RK
b Enter the gear ratio in the box ( ) within the model name.
85
32 25
0.25
32 1 25
4 M8 15 Deep 90
5-Phase CRK
A A
0 0.018(h7) 0 0.025(h7) 0 0.018(h7)
85
18
4 10
0.15
0.5
0.5
90
DC Input
2-Phase CMK
13
3.9 20.5
15
31.7
14
35
2-Phase CSK
Motor Cable 7
0.1 0
0 0.030
25
0.2
4
0 0.030
0 0.030
2.5
A A
PL Geared Type
9
60 mm
Motor Model PK566AE-P PK566BE-P PK564AE-P PK564BE-P Gear Ratio 5, 7.2, 10 25, 36, 50 L1 94.5 108.5 L2 115.5 129.5 Mass (kg) 1.3 1.4
Controllers
b Enter the gear ratio in the box ( ) within the model name.
L2 21 20
0.25 1
38 L1 10
25
4 M5 10 Deep 60 4 60
70
0 0.018(h7) 0 0.025(h7)
Accessories
A
0 0.015(h7) 0.15
0 0.030
25
0.2
0 0.030
7.5
6.7 20.5
2.5
600 50
15
0 0.030
0.5
0.1 0
Installation
A A
12
37
b These dimensions are for double shaft models. For single shaft models, ignore the orange ( ) areas.
Specifications, Characteristics C-89 / Dimensions C-101 / Connection and Operation C-107 / Motor and Driver Combinations C-112
C-103
A 85
0 0.018(h7) 0.15
0 0.030(h7)
61
A
0 0.018(h7)
4 10
0.5
15
14
13
3.9 20.5
31.7
18
6
0.1 0
0 0.030
25
0.2
0 0.030
3.5
A A
PN Geared Type
11
60 mm
Motor Model PK566AE-N PK566BE-N PK564AE-N PK564BE-N Gear Ratio 5, 7.2, 10 25, 36, 50 L1 103.5 108.5 L2 124.5 129.5 Mass (kg) 1.5 1.5
b Enter the gear ratio in the box ( ) within the model name.
L2 21 20
0.25 1
38 L1 6
25
4 M5 10 Deep 60 4 60
70
0 0.018(h7) 0 0.025(h7)
A
0.15 0 0.015(h7)
0 0.030
0 0.030
90 25
0 0.21
7.5
6.7 20.5
2.5
600 50
15
A A
12
37
31.7
12
90 mm
Motor Model PK599AE-N PK599BE-N PK596AE-N PK596BE-N Gear Ratio 5, 7.2, 10 25, 36, 50 L1 158 151 L2 190 183 Mass (kg) 5 4.7
b Enter the gear ratio in the box ( ) within the model name.
L2
85
32 25
0.25
L1 6
47 1 40 25
4 M8 15 Deep 90
0 0.030
0 .5
0.1 0
85
0 0.018(h7)
0.15
A
0 0.018(h7) 0 0.030(h7)
4 10
0.5
15
14
13
3.9 20.5
600 50
18
61
25
0.2
0 0.030
3.5
b These dimensions are for double shaft models. For single shaft models, ignore the orange ( ) areas.
A A
C-104
0 0.030
90
Stepping Motors
10
90 mm
Motor Model PK599AE-P PK599BE-P PK596AE-P PK596BE-P Gear Ratio 5, 7.2, 10 25, 36, 50 L1 145 151 L2 177 183
L2 85 32 25
0.25 1
b Enter the gear ratio in the box ( ) within the model name.
47 L1 14
26 25
4 M8 15 Deep 90
0 0.030
Stepping Motors
60 mm
Motor Model PK564AE-H S PK564BE-H S Gear Ratio 50, 100 Mass (kg) 1.08
b Enter the gear ratio in the box ( ) within the model name.
21 20
0.25
109.5 88.5
28.5 1 1.5 20 2 A
4 M5 10 Deep 6 M4 6 Deep 60
Introduction
4 60
0.1 0
0 0.030
20
0 0.21
4
0 0.030
0 0.030
60
0.2
0 0.015(h7)
0.15
7.5
6.7 20.5
0 0.030(h7)
15
600 50
70
0 .5
2.5
25.5
90
1.6
AC Input
A A
AS
54
31.7
The position on the output shaft relative to the screw holes on the rotating part is arbitrary.
DC Input
ASC
14
90 mm
Motor Model PK596AE1-H PK596BE1-H Gear Ratio 50, 100 Mass (kg) 3.7
AC Input
5-Phase RK
b Enter the gear ratio in the box ( ) within the model name.
32 25
0.25
183.5 151.5 3 15
40
1.2
85
3.5 28 25
9.2 Thru 90
5-Phase CRK
A 22 50 85
0 0.018(h7) 0.15
0 0.035(h7)
DC Input
2-Phase CMK
A
6.7 20.5
0 0.018(h7)
15
14
13
600 50
83
0 .5
90
2-Phase CSK
31.7
18
10
6
0.1 0
0 0.030
25 2.4
0 0.21
0 0.030
3.5
A A
b These dimensions are for double shaft models. For single shaft models, ignore the orange ( ) areas.
0 0.030
90
Specifications, Characteristics C-89 / Dimensions C-101 / Connection and Operation C-107 / Motor and Driver Combinations C-112
C-105
(7.5)
15
135
150
9 M3 5 max.
15
116 120
12 max.
7.62
C-106
Stepping Motors
b Driver
15 Driver Model: RKD514L-C RKD514H-C RKD514LM-C RKD514HM-C
Mass: 0.85 kg
Slits
41 max.
7.5
20
4.5 Thru
4.5 7.5
4.5 20 57
b I/O Connector (Included) Cover assembly: 54331-1201 (MOLEX) Connector: 54306-2019 (MOLEX)
Stepping Motors
Introduction
Motor Terminals The one-touch terminal block cover adopts an anti-slide shape to prevent the installed cover from detaching.
AC Input
AS
b Input/Output Signals
DC Input
ASC
Step Angle 0.72 0.36 0.288 0.18 0.144 0.09 0.072 0.036 0.0288 0.018 0.0144 0.009 0.0072 0.00576 0.0036 0.00288
5-Phase CRK
DC Input
A.C.O./OFF
2-Phase CMK
OFF/S.D.
Smooth Drive Function Switch Electromagnetic Brake Function Switch (Only for electromagnetic brake type) Energy-Saving Mode Switch (Only for electromagnetic brake type)
2-Phase CSK
M.B.F./OFF
OFF/E.S.
Motor Run Current Switch For adjusting the motor running current Motor Stop Current Switch For adjusting the motor current at standstill
Controllers
5 Input/Output Signals
Indication Input/Output Pin No. 1 2 3 4 5 6 7 8 9 10 17 18 19 20 Terminal Name Pulse Signal (CW Pulse Signal) Rotation Direction Signal (CCW Pulse Signal) All Windings Off Signal Step Angle Select Signal Electromagnetic Brake Release Signal (Electromagnetic Brake Type Only) Excitation Timing Signal Overheat Signal Function Operation command pulse signal (The motor will rotate in the CW direction when in 2-pulse input mode.) Rotation direction signal, Photocoupler ON: CW, Photocoupler OFF: CCW (The motor will rotate in the CCW direction when in 2-pulse input mode.) Cuts the output current to the motor and allows the motor shafts to be rotated manually. Switches to step angle set in DATA1 and DATA2. Releases the electromagnetic brake and enables motor operation. Outputs signals when the excitation sequence is at STEP 0. When the temperature of heat sink of the driver rises to approximately 80C, this function automatically turns the output signal OFF.
Accessories
Installation
Output Signals
Specifications, Characteristics C-89 / Dimensions C-101 / Connection and Operation C-107 / Motor and Driver Combinations C-112
C-107
6.2 mm max.
6.2 mm max.
C-108
Stepping Motors
b Connection Diagrams
User's Controller
V0 (+5 24 VDC) Twisted-Pair Wire Pulse Signal R1
Driver CN1
4
5
Input Signals
6 7
TB1
BLUE RED Blue(1)1 Red(2) Orange(3) Green(4) GREEN Black(5) BLACK
2 Red/White
8
ORANGE
9
10
M.BRAKE
2 Black/White
V0 (+5 24 VDC)
1 The terminal numbers of the standard IP65 rated motor type are shown in ( ). 2 Electromagnetic brake type only (Correct polarity must be ensured.) Spiral wires are used.
17 18 19
Output Signals
200-230 VAC
Power Source 10% Single-Phase 200-230 VAC 15% 50/60 Hz (Single-Phase 200-230 VAC Input Driver)
Caution
The driver incorporates fusing for L (Live) side of the power input line. If the driver POWER LED is off, it is possible that the fuse is tripped. High voltage supplied on the hot side may cause electric shock. Turn the power off immediately and request service.
R2 Overheat Signal
20
Notes on Wiring
b Use twisted-pair wires of AWG24 (0.2 mm2) or thicker and 2 m or less in length for the signal line. b Note that as the length of the pulse signal line increases, the maximum transmission frequency decreases. Technical reference Page F-46 b Use wires of AWG22 (0.3 mm2) or thicker for motor lines (when extended) and power supply lines, and use a wire of AWG18 (0.75 mm2) or thicker for the wire for the protective earthing line. b Provide a common ground point for the driver and external controller. b Signal lines should be kept at least 10 cm away from power lines (power supply lines and motor lines). Do not bind the signal line and power line together.
Power Supply
Use a power supply that can supply sufficient input current. When power supply capacity is insufficient, a decrease in motor output can cause the following malfunctions: b Motor does not rotate properly at high-speed b Slow motor startup and stopping
9 mm min.
9 mm min.
b Crimp terminals are not provided with the package. They must be purchased separately.
Internal Protective Earth Terminal (M4) Protective Earth Wire [AWG18 (0.75 mm2) min.] Multi-Core Cable (Diameter: 7 to 13 mm)
External Protective Earth Terminal(M4) Protective Earth Wire [AWG18 (0.75 mm2) min.]
Motor Wire [AWG22 to 16 (0.3 to 1.25 mm2)] External Protective Earth Terminal(M4) Protective Earth Wire [AWG18 (0.75 mm2) min.]
Use either the internal or external protective earth terminal for grounding.
Stepping Motors
ON
Motor Current
ON
OFF
Release
Pulse (CW Pulse) and Rotation Direction (CCW Pulse) Input Signal All Windings Off (A.W.OFF) Input Signal Step Angle Select (C/S) Input Signal Electromagnetic Brake Release (M.B.FREE) Input Signal (Electromagnetic Brake Type only) Input Circuit and Sample Connection
Controller Open-Collector Output VO Pin No. 1,3,5,7,9 R1 0V Pin No. 2,4,6,8,10 10 20 mA
The shaded area indicates that the motor provides holding torque in proportion to standstill current set by STOP switch. bSwitching the "All Windings Off" (A.W.OFF) signal from "photocoupler ON" to "photocoupler OFF" does not alter the excitation sequence. When the motor shaft is manually adjusted with the "All Windings Off" signal input, the shaft will shift up to 3.6 (Geared type: 3.6/gear ratio) from the position set after the "All Windings Off" signal is released.
Introduction
AC Input
AS
bYou may select two step angles with the step angle setting switches DATA1 and DATA2. bWhen the signal is at "photocoupler OFF," a step angle set by DATA1 is selected; at "photocoupler ON," DATA2 is selected. Example: Changing the step angle from 0.072 to 0.72
DC Input AC Input
ASC
Keep the voltage V0 between 5 VDC and 24 VDC. When V0 is equal to 5 VDC, the external resistor R1 is not necessary. When V0 is above 5 VDC, connect R1 to keep the current between 10 mA and 20 mA.
C/S
ON OFF
5-Phase RK
(DATA2)
CW Pulse Motor 0
Pulse (CW Pulse) and Rotation Direction (CCW Pulse) Input Signal Pulse Waveform Characteristics 1-Pulse Input Mode
Pulse Input Signal ON OFF 90% 10% 1 2 2.5 s 2.5 s min. min. 10 s 10 s min. min.
5-Phase CRK
0.72 0.072/step
0.72
1.44 0.72/step
2 s max. CW
bBe sure to change step angle setting inputs only when the pulse signals are at rest. Switching while moving may cause a positional error of the motor. bWhen the "Excitation Timing" signal is used, adjust the number of pulses so that the motor can operate with angles that are multiples of 7.2. The "Excitation Timing" signal output may become impossible for some combinations of step angles. Example: After operate 9 pulses with 0.072/step setting, change the step angle 0.72/step and operate with 1 pulse. In this case, "Excitation Timing" signal will not be output because step "0" position is skipped.
Operate 9 pulses with 0.072/step Operate 1 pulse with 0.72/step 0 0.72
DC Input
90% 10%
CCW Pulse
2 10 s min.
0.72
2 s max.
2 s max.
Pulse duty: 50% and below
1 The shaded area indicates when the photocoupler diode is ON. The motor moves when the photocoupler state changes from ON to OFF. 2 The minimum interval time when changing rotation direction 10 s is shown as a response time of circuit. This value varies greatly depending on the motor type and load inertia.
0.72
Controllers
Electromagnetic Brake Release (M.B.FREE) Input Signal (Electromagnetic Brake Type only)
bYou can control the electromagnetic brake using the "Electromagnetic Brake Release" signal and function switch. bWhen the "Electromagnetic Brake Release" signal is at photocoupler ON, the electromagnetic brake is released. bWhen the "Electromagnetic Brake Release" signal is at photocoupler OFF, the electromagnetic brake is engaged and the motor shaft is held in position after the motor stops.
Accessories Installation
Specifications, Characteristics C-89 / Dimensions C-101 / Connection and Operation C-107 / Motor and Driver Combinations C-112
C-109
C-110
Stepping Motors
Excitation Timing (TIM.) Output Signal Overheat (O.H.) Output Signal Output Circuit and Sample Connection
Controller Open-Collector Output VO Pin No. 17, 19 R2 Pin No. 18, 20 0V
Keep the voltage V0 between 5 VDC and 24 VDC. Keep the current below 10 mA. If the current exceeds 10 mA, connect external resistor R2.
bIf the "Automatic Current Off" function switch is set to "OFF" position, the motor continues operation when the "Overheat" signal is output.
Pulse Input
ON OFF
O.H. Output
ON
Driver
O.H.LED Light
Motor
Continuous Operation
10 mA Max.
Release
bTo clear the "Overheat" signal, first resolve the cause and check for safety, then turn power on again. bThe overheat output uses positive logic (normal), all other outputs use negative logic (normal open).
b How to Use the Electromagnetic Brake Function and Energy-Saving Mode (Electromagnetic Brake Type Only)
The electromagnetic brake can be operated in the following three modes using the electromagnetic brake switch and energy-saving mode switch. 1. Power-failure position-holding mode ("Electromagnetic Brake Release" signal input disabled) 2. Energy-saving mode ("Electromagnetic Brake Release" signal input used) 3. Electromagnetic brake control mode ("Electromagnetic Brake Release" signal input used)
ON PLS Input OFF ON DIR. Input OFF ON TIM. Output OFF (Step)
CW
CCW
Note: b When power is turned ON, the excitation sequence is reset to step "0" and the "Excitation Timing" signal is output.
OFF/S.D. M.B.F./OFF OFF/E.S. Electromagnetic Brake Function Switch Energy-Saving Mode Switch
ON 1.4 s max.
Electromagnetic Brake
Hold Release
Release
ON
ON 1.0 s max.
Release
20
ms
O.H. Output
ON
ON
O.H.LED
Light
Motor
Run
The above diagram indicates a condition in which the motor is stopped. If a power failure occurs while the motor is running, the duration of motor-current cutoff becomes shorter.
Release
Hold
Stepping Motors
2. Energy-saving mode
The "Electromagnetic Brake Release" signal input is used to switch the operating mode of the electromagnetic brake between Release and Hold. Once the motor has stopped, switching the operating mode of the electromagnetic brake to Hold cuts off the output current. This is useful in the reduction of power consumption and the prevention of an overheated motor/driver. Function switch Set Electromagnetic brake switch M.B.F. side Energy-saving mode switch ON side
2P/1P A.C.O./OFF OFF/S.D. M.B.F./OFF OFF/E.S. Electromagnetic Brake Function Switch Energy-Saving Mode Switch
Introduction
A.C.O./OFF OFF/S.D. M.B.F./OFF OFF/E.S. Electromagnetic Brake Function Switch Energy-Saving Mode Switch
AC Input
M.B.FREE Input
ON OFF
ON 20 ms
Electromagnetic Brake
Hold Release
Release
Motor
Run Stop
Note: b If the photocoupler of the "Electromagnetic Brake Release" signal (M.B.FREE) input is turned "OFF" for not more than 20 ms, the electromagnetic brake will not switch from "Release" to "Hold." Similarly, the electromagnetic brake will not switch from "Hold" to "Release" if the photocoupler of the "Electromagnetic Brake Release" input is turned "ON" for not more than 150 ms.
When the "Electromagnetic Brake Release" signal's photocoupler is set to "ON," the electromagnetic brake is released and motor operation is enabled. When the "Electromagnetic Brake Release" signal's photocoupler is set to "OFF," the electromagnetic brake holds after the motor stops. bThe output current is not cut off even when the energy-saving mode switch is being set to the E.S. side. b Upon the occurrence of a power failure, the electromagnetic brake operates in the same way it would in the power-failure position-holding mode.
M.B.FREE Input
ON OFF 30 ms (RK56 ) 50 ms (RK59 )
AS ASC 5-Phase RK
DC Input AC Input
ON 20 ms
ON 30 ms (RK56 ) 50 ms (RK59 )
5-Phase CRK
Hold
Release 0 s min.
Hold
Release 0 s min.
DC Input
2-Phase CMK
150 ms min.
2-Phase CSK
b Timing Chart
Motor CW CCW ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF
4
2.2 s min. 10 s min. 1 1 10 s min. 15 s min.
Power Input 1-Pulse Input Mode Pulse Input Signal Rotation Direction Input Signal 2-Pulse Input Mode CW Pulse Input Signal CCW Pulse Input Signal A.W.OFF Input Signal C/S Input Signal O.H. Output Signal
10 s min.
3 150 ms min.
Controllers
2
300 s min.
DATA2
Accessories
1 Switching time to change direction (1-pulse input mode), and switching time to change CW, CCW pulse (2-pulse input mode) 10 s minimum is shown as a response time of circuit. The motor may need more time. 2 Depends on load Inertia, load torque, and starting frequency. 3 Never input a pulse signal immediately after switching the "All Windings Off" signal to the "photocoupler OFF" state. The motor may not start. 4 Wait at least 15 seconds before turning on the power.
Installation
Specifications, Characteristics C-89 / Dimensions C-101 / Connection and Operation C-107 / Motor and Driver Combinations C-112
C-111
C-112
Stepping Motors
Standard Type
RKD514H-C
RKD514L-C
RKD514H-C
RKD514LM-C
RKD514HM-C
RKD514L-C
TH Geared Type
RKD514H-C
RKD514L-C
PL Geared Type
RKD514H-C
RKD514L-C
PN Geared Type
RKD514H-C
RKD514L-C RKD514H-C
b Enter A (single shaft) or B (double shaft) in the box ( ) within the model name.
Stepping Motors
Introduction
Stepping Motors
DC Input
DC Input AC Input
DC Input
2-Phase CMK
2-Phase CSK
Page
C-113
1.5 Torque TH2 1 TH1 0.5 TL 0 -1.8 -0.9 -TL -0.5 0.9 1.8
Torque [Nm]
C-114
Stepping Motors
CRK Series
bAdditional Informationb Technical reference Page F-1 Safety standards Page G-2
The CRK Series is a motor and driver package combining a high-performance, 5-phase stepping motor with a compact, low-vibration microstep driver offering the Smooth Drive Function. Four frame sizes of 20 mm, 28 mm, 42 mm and 60 mm are available, as well as various geared motor units.
b List of safety standard approved products (Model, Standards, File No., Certification Body) Page G-10
Features
b Newly Designed Motors
High-Resolution Motor Improved Stopping Accuracy
The positioning accuracy of a stepping motor is affected by friction load. The high-resolution type achieve high accuracy and reliability based on Oriental Motor's latest precision machining technology. The motor resolution is increased to double the level of a standard model to reduce the displacement angle against load torque, thereby achieve high positioning accuracy. Vibration is also reduced.
Standard type: 50 teeth Resolution:
0.72/step
60
120
300
360
High-Torque Motor
Resolution is increased!
0.36/step
The high-resolution type and high-torque type adopt a newly designed high-torque motor that widens the range of applications. bThe smaller motor allows for compact equipment design. bThe motor current is reduced to suppress heat generation. Example: Avoidance of temperature rise in precision equipment or machinery
0.4
0 0
Angle [ deg ]
100 200 300 400 500 600 700 800 900 1000 Speed [r/min]
-1
-1.5
The high-resolution type and high-torque type are connected using a connector a connection method everyone is familiar with. bDesired cable length and type can be selected. bMaintenance becomes easy. bMotor lead wire/connector assembly (0.6m) is included with motor and driver package. Features C-114 / System Configuration C-118 / Product Line C-119
Stepping Motors
Compact Size
The compact, lightweight driver in the CRK Series is approximately 47% smaller than a conventional full-step driver.
Introduction
77 mm
45 mm
AC Input
72 mm
65 mm
AS
N-T)
P)
Mass: 40 g
25 m m
The CRK Series is UL-recognized and CSA-certified. It also bears the CE Mark as a proof of conformance to the EMC Directives. Safe operation is ensured anywhere in the world.
ASC 5-Phase RK
AC Input
RoHS-Compliant
The CRK Series conforms to the RoHS Directive that prohibits the use of six chemical substances including lead and cadmium.
45 m m
65 m
b Useful Accessories
Driver Lead Wire Set
These lead wires allow for easy connection of the motor, power supply and input signals without crimping. All driver lead wires needed to connect the motor, power supply and I/O signals are combined in a single set. Various other parts and accessories useful in different applications are also available (sold separately).
Driver lead wire set Page C-257
DC Input
2-Phase CMK
0.8 0.4 0
100
300
400
Accessories Installation
Specifications, Characteristics C-120 / Dimensions C-134 / Connection and Operation C-140 / Motor and Driver Combinations C-144
C-115
Non-Backlash Type
C-116
Stepping Motors
Wide Variety
The CRK Series motor and driver package comes in four motor frame sizes of 20 to 60 mm, as well as four geared types.
Type Features A high-torque motor offering higher positioning accuracy with the basic step angle set to 0.36/step, which is just half the basic step angle of the standard type. 20 mm 28 mm 42 mm 60 mm Driver
High-Resolution Type
High-Torque Type
A high-torque motor generating high torque of approx. 1.3 to 1.5 times the level achieved by the standard type.
Standard Type
The basic model in the CRK Series offering an optimal balance of torque, low vibration and low noise.
TH Geared Type
PL Geared Type
A geared motor offering low backlash, high strength and wide gear ratios.
PN Geared Type
A high-accuracy, high strength geared motor achieving a backlash of 3 arc minutes or less.
A high-accuracy, backlash-free geared motor adopting a newly developed harmonic gear. It ensures high strength in a compact body.
Stepping Motors
A wide variety of low gear ratios for high-speed operation Low Backlash Type Gear ratios: 1:3.6, 1:7.2, 1:10, 1:20, 1:30 TH Geared (Parallel Shaft) High permissible torque A wide variety of gear ratios for selecting the desired step angle Centered output shaft PL Geared (Planetary Gear) Gear ratios: 1:5, 1:7.2, 1:10, 1:25, 1:36, 1:50 High speed (low gear ratio), high positioning precision High permissible/maximum torque A wide variety of gear ratios for selecting the desired step angle Non-Backlash Type Centered output shaft PN Geared (Planetary Gear) Gear ratios: 1:5, 1:7.2, 1:10, 1:25, 1:36, 1:50
60
0.024
500
Introduction
35
0.0144
360
AC Input
AS
DC Input AC Input
ASC 5-Phase RK
High positioning precision High permissible/maximum torque High gear ratio, high resolution Centered output shaft Harmonic Geared
(Harmonic Drive)
5-Phase CRK
Note: b The values shown above must be used as reference. These values vary depending on the frame size and gear ratio.
DC Input
2-Phase CMK 2-Phase CSK 2-Phase Stepping Motors 5-Phase Stepping Motors Controllers Accessories Installation
Specifications, Characteristics C-120 / Dimensions C-134 / Connection and Operation C-140 / Motor and Driver Combinations C-144
C-117
C-118
Stepping Motors
System Configuration
An example of a system configuration with the SG8030JY controller. Controller (Sold separately) Controller
( Page C-248)
Programmable Controller
(Not supplied)
Flexible Couplings
( Page C-258)
Clean Dampers
( Page C-264)
A motor lead wire/connector assembly of 0.6 m is included with the motor and driver package of connector-coupled type.
No.
Product Name
Controller Motor Mounting Brackets Flexible Couplings Clean Dampers Driver Lead Wire Set Motor Lead Wire/Connector Assembly Motor Connector Set
Overview
This controller outputs pulse commands that determine the rotating amount and rotating speed. Dedicated mounting bracket for the motor. Coupling that connects the motor shaft to the driven shaft. Dedicated damper for suppressing stepping motor vibration. Cables for connecting the driver and motor, DC power supply or host controller (0.6 m). Lead wire with a connector crimped for connector-coupled motors (0.6 m, 1 m). Set of connector housings and contacts for use with connector-coupled motors (for 30 units).
Page
C-248 C-266 C-258 C-264 C-257 C-255 C-255
CRK Series
CRK566PMBP
Controller
SG8030JY-U
Clean Damper
D6CL-8.0F
bThe system configuration shown above is an example. Other combinations are available.
Stepping Motors
Introduction
b Geared Type
Series 5: 5-Phase Motor Frame Size Motor Case Length Motor Type Motor Shaft Typ Signal I/O Mode of Driver Gearhead Type Gear Ratio CRK: CRK Series AC Input 1: 20 mm 2: 28 mm 4: 42 mm 6: 60 mm
AS
A: Single Shaft B: Double Shaft P: Photocoupler T: TH Geared Type P: PL Geared Type N: PN Geared Type H: Harmonic Geared Type
DC Input AC Input
ASC 5-Phase RK
Product Line
b High-Resolution Type
Model (Single Shaft) CRK523PMAP CRK524PMAP CRK525PMAP CRK544PMAP CRK546PMAP CRK564PMAP CRK566PMAP CRK569PMAP Model (Double Shaft) CRK523PMBP CRK524PMBP CRK525PMBP CRK544PMBP CRK546PMBP CRK564PMBP CRK566PMBP CRK569PMBP
b PL Geared Type
Model (Single Shaft) CRK545AP-P5 CRK545AP-P7.2 CRK545AP-P10 CRK543AP-P25 CRK543AP-P36 CRK543AP-P50 CRK566AP-P5 CRK566AP-P7.2 CRK566AP-P10 CRK564AP-P25 CRK564AP-P36 CRK564AP-P50 Model (Double Shaft) CRK545BP-P5 CRK545BP-P7.2 CRK545BP-P10 CRK543BP-P25 CRK543BP-P36 CRK543BP-P50 CRK566BP-P5 CRK566BP-P7.2 CRK566BP-P10 CRK564BP-P25 CRK564BP-P36 CRK564BP-P50
5-Phase CRK
DC Input
2-Phase CMK
b High-Torque Type
Model (Single Shaft) CRK513PAP CRK523PAP CRK525PAP CRK544PAP CRK546PAP Model (Double Shaft) CRK513PBP CRK523PBP CRK525PBP CRK544PBP CRK546PBP
2-Phase CSK
b PN Geared Type
Model (Single Shaft) CRK523PAP-N5 CRK523PAP-N7.2 CRK523PAP-N10 CRK544AP-N5 CRK544AP-N7.2 CRK544AP-N10 CRK566AP-N5 CRK566AP-N7.2 CRK566AP-N10 CRK564AP-N25 CRK564AP-N36 CRK564AP-N50 Model (Double Shaft) CRK523PBP-N5 CRK523PBP-N7.2 CRK523PBP-N10 CRK544BP-N5 CRK544BP-N7.2 CRK544BP-N10 CRK566BP-N5 CRK566BP-N7.2 CRK566BP-N10 CRK564BP-N25 CRK564BP-N36 CRK564BP-N50
b Standard Type
Model (Single Shaft) CRK543AP CRK544AP CRK545AP CRK564AP CRK566AP CRK569AP Model (Double Shaft) CRK543BP CRK544BP CRK545BP CRK564BP CRK566BP CRK569BP
b TH Geared Type
Model (Single Shaft) CRK523PAP-T7.2 CRK523PAP-T10 CRK523PAP-T20 CRK523PAP-T30 CRK543AP-T3.6 CRK543AP-T7.2 CRK543AP-T10 CRK543AP-T20 CRK543AP-T30 CRK564AP-T3.6 CRK564AP-T7.2 CRK564AP-T10 CRK564AP-T20 CRK564AP-T30 Model (Double Shaft) CRK523PBP-T7.2 CRK523PBP-T10 CRK523PBP-T20 CRK523PBP-T30 CRK543BP-T3.6 CRK543BP-T7.2 CRK543BP-T10 CRK543BP-T20 CRK543BP-T30 CRK564BP-T3.6 CRK564BP-T7.2 CRK564BP-T10 CRK564BP-T20 CRK564BP-T30
Controllers
Accessories Installation
The following items are included in each product. Motor, Parallel Key1, Driver, Driver Connector, Motor Lead Wire/Connector Assembly2, Operating Manual 1 Only for the products with a key slot on the output shaft 2 Only for connector-coupled motor
Specifications, Characteristics C-120 / Dimensions C-134 / Connection and Operation C-140 / Motor and Driver Combinations C-144
C-119
Torque [Nm]
Torque [Nm]
Pullout Torque 0.03 Current [A] 0.02 0.01 0 fs 0 Driver Input Current 500 10 (100) 1000 Speed [r/min] 20 (200) Pulse Speed [kHz] 1500 2000 30 Resolution1 (300) (Resolution10) 0.6 0.4 0.2 0
0.05 0.04
Torque [Nm]
Current [A]
Torque [Nm]
0.20 0.15
Pullout Torque
Torque [Nm]
Current [A]
Current [A]
C-120
Stepping Motors
High-Resolution Type
Specifications
Model Maximum Holding Torque Rotor Inertia Rated Current Basic Step Angle Power Source Excitation Mode Mass Dimension No. Single Shaft Double Shaft Nm J: kg m2 A/Phase CRK523PMAP CRK523PMBP 0.042 9 10-7
kg kg
0.11
0.15
2
0.3
3
0.5
How to read specifications table Page C-10 Motor lead wire/connector assembly (0.6 m) is included with the motor and driver package of connector-coupled type.
CRK524PMAP/CRK524PMBP
0.08 0.07 0.06 Current: 0.35 A/Phase Step Angle: 0.36/step With Damper D4CL-5.0F: JL=34 107kgm2
CRK525PMAP/CRK525PMBP
0.12 0.10 0.08 0.06 0.04 0.02 0 fs 0 Driver Input Current 500 10 (100) 1000 Speed [r/min] 20 (200) Pulse Speed [kHz] 1500 2000 30 Resolution1 (300) (Resolution10) Pullout Torque Current: 0.35 A/Phase Step Angle: 0.36/step With Damper D4CL-5.0F: JL=34 107kgm2
0.03 0.02 0.01 0 fs 0 Driver Input Current 500 10 (100) 1000 1500 Speed [r/min] 2000 2500
0 (0)
0 (0)
0 (0)
CRK544PMAP/CRK544PMBP
0.35 0.30 0.25 Current: 0.75 A/Phase Step Angle: 0.36/step With Damper D4CL-5.0F: JL=34 107kgm2
CRK546PMAP/CRK546PMBP
0.6 0.5 0.4 Pullout Torque 0.3 0.2 0.1 0 0 fs 200 Driver Input Current 400 600 Speed [r/min] 5 (50) 10 (100) Pulse Speed [kHz] 800 1000 15 Resolution1 (150) (Resolution10) Current: 0.75 A/Phase Step Angle: 0.36/step With Damper D4CL-5.0F: JL=34 107kgm2
1.0 0.5 0
0.10 0.05 0 0 fs 200 Driver Input Current 400 600 Speed [r/min] 5 (50) 10 (100) Pulse Speed [kHz] 800 1000
1.0 0.5 0
0 (0)
0 (0)
b The pulse input circuit responds to approximately 500 kHz with a pulse duty of 50%. Notes: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C. (Under 75C is required to comply with UL or CSA Standards as the motor is recognized as insulation class A.) b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 50%.
Stepping Motors
High-Resolution Type
Specifications
Model Maximum Holding Torque Rotor Inertia Rated Current Basic Step Angle Power Source Excitation Mode Mass Dimension No. Single Shaft Double Shaft Nm J: kg m2 A/Phase
kg kg
0.65
CRK566PMAP CRK566PMBP 1.3 500 10-7 1.4 0.36 24 VDC 10% 2.5 A Microstep 0.87 0.04
4 18
1.5 AC Input
AS
How to read specifications table Page C-10 Motor lead wire/connector assembly (0.6 m) is included with the motor and driver package of connector-coupled type.
DC Input
ASC
CRK566PMAP/CRK566PMBP
1.6 Current: 1.4 A/Phase Step Angle: 0.36/step With Damper D6CL-8.0F: JL=140 107kgm2
AC Input
5-Phase RK
4 Current [A]
2 Current [A] 1 0
0.4 0.2 Driver Input Current 0 0 fs 200 5 (50) 400 600 Speed [r/min] 10 (100) Pulse Speed [kHz] 800 1000 15 Resolution1 (150) (Resolution10)
5-Phase CRK
0.4
fs 200
500
0 (0)
0 (0)
DC Input
2-Phase CMK
CRK569PMAP/CRK569PMBP
3.0 2.5 Torque [Nm] 2.0 Pullout Torque 1.5 1.0 0.5 Driver Input Current 0 0 0 50 1 (10) 100 fs 150 200 Speed [r/min] 250 300 5 (50) 350 Resolution1 (Resolution10) Current: 1.4 A/Phase Step Angle: 0.36/step With Damper D6CL-8.0F: JL=140 107kgm2
2-Phase CSK
3 Current [A] 2 1
0 (0)
b The pulse input circuit responds to approximately 500 kHz with a pulse duty of 50%. Notes: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C. (Under 75C is required to comply with UL or CSA Standards as the motor is recognized as insulation class A.) b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 50%.
Specifications, Characteristics C-120 / Dimensions C-134 / Connection and Operation C-140 / Motor and Driver Combinations C-144
C-121
Torque [Nm]
Torque [Nm]
Current [A]
0.5 0
0.005 0 fs 0 1000 10 (100) Driver Input Current 2000 3000 Speed [r/min] 20 (200) Pulse Speed [kHz] 30 (300) 4000 Resolution1 (Resolution10)
Current [A]
Torque [Nm]
0.06 0.04 0.02 0 fs 0 1000 10 (100) 2000 3000 Speed [r/min] 20 (200) Pulse Speed [kHz] 30 (300) 4000 Resolution1 (Resolution10) Current [A] 2 1 0
Torque [Nm]
Current [A]
Torque [Nm]
Current [A]
C-122
Stepping Motors
High-Torque Type
Specifications
Model Maximum Holding Torque Rotor Inertia Rated Current Basic Step Angle Power Source Excitation Mode Mass Dimension No. Single Shaft Double Shaft Nm J: kg m2 A/Phase
1.4 A 0.5
kg kg
0.05
1
0.11
2
0.3
3
How to read specifications table Page C-10 Motor lead wire/connector assembly (0.6 m) is included with the motor and driver package of connector-coupled type.
CRK523PAP/CRK523PBP
0.06 0.05 0.04 Pullout Torque 0.03 0.02 0.01 0 fs 0 Driver Input Current 1000 10 (100) 2000 3000 Speed [r/min] 20 (200) Pulse Speed [kHz] 30 (300) 4000 Resolution1 (Resolution10) Current: 0.35 A/Phase Step Angle: 0.72/step With Damper D4CL-5.0F: JL=34 107kgm2
1.0
1.0 0.5 0
0 (0)
0 (0)
CRK525PAP/CRK525PBP
0.10 0.08 Pullout Torque Current: 0.35 A/Phase Step Angle: 0.72/step With Damper D4CL-5.0F: JL=34 107kgm2
CRK544PAP/CRK544PBP
0.30 0.25 0.20 Pullout Torque 0.15 0.10 0.05 0 fs 0 Driver Input Current 500 5 (50) 1000 1500 Speed [r/min] 2000 2500 Resolution1 (Resolution10) Current: 0.75 A/Phase Step Angle: 0.72/step With Damper D4CL-5.0F: JL=34 107kgm2
2 1 0
0 (0)
0 (0)
CRK546PAP/CRK546PBP
0.5 0.4 0.3 Pullout Torque 0.2 0.1 0 fs 0 Driver Input Current 500 5 (50) 1000 Speed [r/min] 10 (100) Pulse Speed [kHz] 1500 15 (150) 2000 Resolution1 (Resolution10) Current: 0.75 A/Phase Step Angle: 0.72/step With Damper D4CL-5.0F: JL=34 107kgm2
2 1 0
0 (0)
b The pulse input circuit responds to approximately 500 kHz with a pulse duty of 50%. Notes: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C. (Under 75C is required to comply with UL or CSA Standards as the motor is recognized as insulation class A.) b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 50%.
Stepping Motors
Standard Type
Specifications
Model Maximum Holding Torque Rotor Inertia Rated Current Basic Step Angle Power Source Excitation Mode Mass Dimension No. Single Shaft Double Shaft Nm J: kg m2 A/Phase
0.35 0.04
0.6
0.8
6
1.3 AC Input
AS
DC Input
ASC
CRK544AP/CRK544BP
0.20 Current: 0.75 A/Phase Step Angle: 0.72/step With Damper D4CL-5.0F: JL=34 107kgm2
AC Input
5-Phase RK
0.15 Torque [Nm] Pullout Torque 2 0.05 Current [A] Torque [Nm] 0.10 Pullout Torque 0.10
Current [A]
2 1 0
0.05
5-Phase CRK
fs 0
Driver Input Current 1000 10 (100) 2000 3000 Speed [r/min] 20 (200) Pulse Speed [kHz] 30 (300) 4000 Resolution1 (Resolution10) 0 0 0
Driver Input Current fs 500 5 (50) 1000 1500 Speed [r/min] 2000 2500 Resolution1 (Resolution10)
0 (0)
0 (0)
DC Input
2-Phase CMK
CRK545AP/CRK545BP
0.30 0.25 Torque [Nm] Current: 0.75 A/Phase Step Angle: 0.72/step With Damper D4CL-5.0F: JL=34 107kgm2
CRK564AP/CRK564BP
0.5 0.4 Current: 1.4 A/Phase Step Angle: 0.72/step With Damper D6CL-8.0F: JL=140 107kgm2
2-Phase CSK
Torque [Nm]
0.20 Pullout Torque 0.15 4 Current [A] 0.10 0.05 0 fs 0 Driver Input Current 500 5 (50) 1000 1500 Speed [r/min] 2000 2500 Resolution1 (Resolution10) 2 0
Current [A]
2 1 0
fs 0
Driver Input Current 500 5 (50) 1000 1500 Speed [r/min] 2000 2500 Resolution1 (Resolution10)
0 (0)
0 (0)
CRK566AP/CRK566BP
1.2 1.0 Current: 1.4 A/Phase Step Angle: 0.72/step With Damper D6CL-8.0F: JL=140 107kgm2
CRK569AP/CRK569BP
2.0 Current: 1.4 A/Phase Step Angle: 0.72/step With Damper D6CL-8.0F: JL=140 107kgm2
1.5 Torque [Nm] Torque [Nm] 0.8 Pullout Torque 0.6 0.4 0.2 0 0 Current [A] 4 Pullout Torque 1.0
Controllers
Current [A]
2 1 0
0.5
Driver Input Current fs 200 400 600 Speed [r/min] 2.5 (25) 5 (50) Pulse Speed [kHz]
Accessories
Driver Input Current 800 7.5 (75) 1000 Resolution1 (Resolution10) 0 0 0 100 1 (10)
400
0 (0)
0 (0)
Installation
b The pulse input circuit responds to approximately 500 kHz with a pulse duty of 50%. Notes: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C. (Under 75C is required to comply with UL or CSA Standards as the motor is recognized as insulation class A.) b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 50%.
Specifications, Characteristics C-120 / Dimensions C-134 / Connection and Operation C-140 / Motor and Driver Combinations C-144
C-123
Torque [Nm]
Torque [Nm]
Current [A]
Torque [Nm]
0.3 0.2 0.1 0 0 0 (0) fs Driver Input Current 50 5 (50) 100 Speed [r/min] 150 25 (250) Resolution1 (Resolution10) Current [A] 1.0 0.5 0
Torque [Nm]
C-124
Stepping Motors
TH Geared Type
Specifications
Model Maximum Holding Torque Rotor Inertia Rated Current Basic Step Angle Gear Ratio Permissible Torque Backlash Permissible Speed Range Power Source Excitation Mode Mass Dimension No. Single Shaft Double Shaft Nm J: kg m2 A/Phase
0.072 1 : 10 0.3 60 (1) 0 300 24 VDC 10% 0.7 A Microstep 0.17 0.04
7 18
kg kg
How to read specifications table Page C-10 Motor lead wire/connector assembly (0.6 m) is included with the motor and driver package of connector-coupled type. Note: b Direction of rotation of the motor and that of the gear output shaft are the opposite for the gear ratios 1:7.2 and 1:10. It is the same for 1:20 and 1:30 gear ratios.
CRK523PAP-T10/CRK523PBP-T10
0.4 Current: 0.35 A/Phase Step Angle: 0.072/step With Damper D4CL-5.0F: JL=34 107kgm2
1.0 0.5 0
0 0 0 (0)
fs 100 5 (50)
Driver Input Current 200 300 Speed [r/min] 10 15 (100) (150) Pulse Speed [kHz] 20 (200) 400 25 (250) Resolution1 (Resolution10) 0 0 0
fs 100 5 (50) 200 Speed [r/min] 20 (200) 300 25 (250) Resolution1 (Resolution10)
0 (0)
CRK523PAP-T20/CRK523PBP-T20
0.5 0.4 Permissible Torque Current: 0.35 A/Phase Step Angle: 0.036/step With Damper D4CL-5.0F: JL=34 107kgm2
CRK523PAP-T30/CRK523PBP-T30
0.6 Current: 0.35 A/Phase Step Angle: 0.024/step With Damper D4CL-5.0F: JL=34 107kgm2
0.2
0 0 0 (0)
fs 20 5 (50)
Driver Input Current 40 60 80 Speed [r/min] 100 25 (250) 120 Resolution1 (Resolution10)
b The pulse input circuit responds to approximately 500 kHz with a pulse duty of 50%. Notes: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C. (Under 75C is required to comply with UL or CSA Standards as the motor is recognized as insulation class A.) b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 50%.
Stepping Motors
TH Geared Type
Specifications
Model Maximum Holding Torque Rotor Inertia Rated Current Basic Step Angle Gear Ratio Permissible Torque Backlash Permissible Speed Range Power Source Excitation Mode Mass Dimension No. Single Shaft Double Shaft Nm J: kg m2 A/Phase
kg kg
CRK543AP-T10 CRK543BP-T10 1 35 10-7 0.75 0.072 1 : 10 1 25 (0.417) 0 180 24 VDC 10% 1.4 A Microstep 0.35 0.04
8 18
CRK543AP-T30 CRK543BP-T30
Introduction
0.024 1 : 30
0 60 AC Input DC Input
AS ASC
How to read specifications table Page C-10 Note: b Direction of rotation of the motor and that of the gear output shaft are the same for the gear ratios 1:3.6, 1:7.2 and 1:10. It is the opposite for 1:20 and 1:30 gear ratios.
AC Input
5-Phase RK
CRK543AP-T7.2/CRK543BP-T7.2
1.0 0.8 Torque [Nm] Current: 0.75 A/Phase Step Angle: 0.1/step With Damper D4CL-5.0F: JL=34 107kgm2
5-Phase CRK
Permissible Torque
Permissible Torque
0.6 0.4
2 Current [A] 1 0
2 Current [A] 1 0
DC Input
2-Phase CMK
0.1 0 fs 100 Driver Input Current 200 5 (50) 300 400 Speed [r/min] 500 15 (150) 600 Resolution1 (Resolution10)
0.2 Driver Input Current 0 0 fs 50 100 150 Speed [r/min] 5 (50) 10 (100) Pulse Speed [kHz] 200 250 15 (150) Resolution1 (Resolution10)
0 (0)
0 (0)
2-Phase CSK
CRK543AP-T10/CRK543BP-T10
1.5 Current: 0.75 A/Phase Step Angle: 0.072/step With Damper D4CL-5.0F: JL=34 107kgm2
CRK543AP-T20/CRK543BP-T20
2.0 Current: 0.75 A/Phase Step Angle: 0.036/step With Damper D4CL-5.0F: JL=34 107kgm2
Permissible Torque Torque [Nm] Torque [Nm] 1.0 2 0.5 Current [A]
1.5
Permissible Torque
1.0
Current [A]
2 1 0
fs 0 40 5 (50)
Driver Input Current 80 120 Speed [r/min] 10 (100) Pulse Speed [kHz] 160 15 (150) 200 Resolution1 (Resolution10) 0 0 0
fs 20 5 (50)
80 15 (150)
0 (0)
0 (0)
Controllers
CRK543AP-T30/CRK543BP-T30
2.0 Current: 0.75 A/Phase Step Angle: 0.024/step With Damper D4CL-5.0F: JL=34 107kgm2
Permissible Torque
Accessories
2 Current [A]
1.0
Installation
fs 10
20 5 (50)
50
60 15 (150)
70 Resolution1 (Resolution10)
0 (0)
b The pulse input circuit responds to approximately 500 kHz with a pulse duty of 50%. Notes: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C. (Under 75C is required to comply with UL or CSA Standards as the motor is recognized as insulation class A.) b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 50%.
Specifications, Characteristics C-120 / Dimensions C-134 / Connection and Operation C-140 / Motor and Driver Combinations C-144
C-125
Torque [Nm]
3 Current [A] 2 1 0
3 0.5 Driver Input Current 0 0 fs 100 200 5 (50) 300 400 Speed [r/min] 500 15 (150) 600 Resolution1 (Resolution10) Current [A] 2 1 0
Torque [Nm]
Torque [Nm]
Torque [Nm]
Current [A]
Current [A]
Torque [Nm]
Current [A]
C-126
Stepping Motors
TH Geared Type
Specifications
Model Maximum Holding Torque Rotor Inertia Rated Current Basic Step Angle Gear Ratio Permissible Torque Backlash Permissible Speed Range Power Source Excitation Mode Mass Dimension No. Single Shaft Double Shaft Nm J: kg m2 A/Phase
kg kg
CRK564AP-T10 CRK564BP-T10 3 175 10-7 1.4 0.072 1 : 10 3 15 (0.25) 0 180 24 VDC 10% 2.5 A Microstep 0.95 0.04
9 18
CRK564AP-T30 CRK564BP-T30 4
0.024 1 : 30 4 0 60
How to read specifications table Page C-10 Note: b Direction of rotation of the motor and that of the gear output shaft are the same for the gear ratios 1:3.6, 1:7.2 and 1:10. It is the opposite for 1:20 and 1:30 gear ratios.
CRK564AP-T7.2/CRK564BP-T7.2
3 Current: 1.4 A/Phase Step Angle: 0.1/step With Damper D6CL-8.0F: JL=140 107kgm2 Permissible Torque
1.0
200
0 (0)
0 (0)
CRK564AP-T10/CRK564BP-T10
4 Current: 1.4 A/Phase Step Angle: 0.072/step With Damper D6CL-8.0F: JL=140 107kgm2
CRK564AP-T20/CRK564BP-T20
5 4 3 2 1 0 fs 0 20 5 (50) Driver Input Current 40 60 Speed [r/min] 10 (100) Pulse Speed [kHz] 80 15 (150) 100 Resolution1 (Resolution10) Current: 1.4 A/Phase Step Angle: 0.036/step With Damper D6CL-8.0F: JL=140 107kgm2
Permissible Torque 3
Permissible Torque
2 4 2 0
160 15 (150)
0 (0)
0 (0)
CRK564AP-T30/CRK564BP-T30
5 4 3 2 1 0 Current: 1.4 A/Phase Step Angle: 0.024/step With Damper D6CL-8.0F: JL=140 107kgm2 Permissible Torque
4 2 0
Driver Input Current fs 10 20 5 (50) 30 40 Speed [r/min] 10 (100) Pulse Speed [kHz] 50 60 15 (150) 70 Resolution1 (Resolution10)
0 (0)
b The pulse input circuit responds to approximately 500 kHz with a pulse duty of 50%. Notes: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C. (Under 75C is required to comply with UL or CSA Standards as the motor is recognized as insulation class A.) b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 50%.
Stepping Motors
PL Geared Type
Specifications
Model Maximum Holding Torque Rotor Inertia Rated Current Basic Step Angle Gear Ratio Permissible Torque Backlash Permissible Speed Range Power Source Excitation Mode Mass Dimension No. Single Shaft Double Shaft Nm J: kg m2 A/Phase
CRK545AP-P5 CRK545BP-P5 1
kg kg
CRK545AP-P7.2 CRK545AP-P10 CRK543AP-P25 CRK543AP-P36 CRK543AP-P50 CRK545BP-P7.2 CRK545BP-P10 CRK543BP-P25 CRK543BP-P36 CRK543BP-P50 1.5 2.5 3 68 10-7 35 10-7 0.75 0.1 0.072 0.0288 0.02 0.0144 1 : 7.2 1 : 10 1 : 25 1 : 36 1 : 50 1.5 2.5 3 35 (0.58) 0 250 0 180 0 72 0 50 0 36 24 VDC 10% 1.4 A Microstep 0.58 0.55 0.04
10 18
Introduction
AC Input DC Input
AS ASC
How to read specifications table Page C-10 Note: b Direction of rotation of the motor and that of the gear output shaft are the same.
AC Input
5-Phase RK
CRK545AP-P7.2/CRK545BP-P7.2
2.0 Current: 0.75 A/Phase Step Angle: 0.1/step With Damper D4CL-5.0F: JL=34 107kgm2
CRK545AP-P10/CRK545BP-P10
2.0 Current: 0.75 A/Phase Step Angle: 0.072/step With Damper D4CL-5.0F: JL=34 107kgm2
5-Phase CRK
1.5 Torque [Nm] Torque [Nm] Permissible Torque 4 Current [A] 0.5 Permissible Torque 1.0 Current [A] 4 Torque [Nm] 1.0
Current [A]
2 1 0
DC Input
0.5 fs Driver Input Current 100 200 Speed [r/min] 5 (50) 10 (100) Pulse Speed [kHz] 15 (150)
0.5 Driver Input Current 40 80 120 Speed [r/min] 5 (50) 10 (100) Pulse Speed [kHz]
2-Phase CMK
0 0 0 (0)
fs
Driver Input Current 100 5 (50) 200 300 Speed [r/min] 10 (100) Pulse Speed [kHz] 15 (150) 400 Resolution1 (Resolution10) 0 0 0
fs 0
160 15 (150)
0 (0)
0 (0)
2-Phase CSK
CRK543AP-P25/CRK543BP-P25
3 Current: 0.75 A/Phase Step Angle: 0.0288/step With Damper D4CL-5.0F: JL=34 107kgm2 Permissible Torque
CRK543AP-P36/CRK543BP-P36
4 Current: 0.75 A/Phase Step Angle: 0.02/step With Damper D4CL-5.0F: JL=34 107kgm2
CRK543AP-P50/CRK543BP-P50
4 Current: 0.75 A/Phase Step Angle: 0.0144/step With Damper D4CL-5.0F: JL=34 107kgm2
Permissible Torque 3 Torque [Nm] Torque [Nm] Torque [Nm] 2 4 Current [A] 1 3
Permissible Torque
2 Current [A]
Current [A]
2 1 0
fs 0 20
Driver Input Current 40 Speed [r/min] 10 (100) Pulse Speed [kHz] 60 15 (150) 80 Resolution1 (Resolution10)
0 0 0 (0)
fs 10 5 (50)
30 15 (150)
40 Resolution1 (Resolution10)
0 (0)
5 (50)
0 (0)
Controllers
b The pulse input circuit responds to approximately 500 kHz with a pulse duty of 50%. Notes: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C. (Under 75C is required to comply with UL or CSA Standards as the motor is recognized as insulation class A.) b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 50%.
Accessories Installation
Specifications, Characteristics C-120 / Dimensions C-134 / Connection and Operation C-140 / Motor and Driver Combinations C-144
C-127
Torque [Nm]
Torque [Nm]
3 2 Current [A] 1 0 0 0 (0) fs Driver Input Current 100 200 300 Speed [r/min] 5 (50) 10 (100) Pulse Speed [kHz] 15 (150) 4 2 0
4 Current [A] 2 0
2 1 0 fs 0 Driver Input Current 100 Speed [r/min] 5 (50) 200 15 (150) 300 Resolution1 (Resolution10) Current [A] 2 1 0
Torque [Nm]
Torque [Nm]
Torque [Nm]
6 4 Current [A] 2 0 fs 0 20 5 (50) Driver Input Current 40 Speed [r/min] 10 (100) Pulse Speed [kHz] 60 15 (150) 80 Resolution1 (Resolution10) 4 2 0
6 4 2 0 fs 0 5 (50) Driver Input Current 20 Speed [r/min] 0 (0) 10 (100) Pulse Speed [kHz] 15 (150) Resolution1 (Resolution10) 40 60 Current [A] 4 2 0
Torque [Nm]
Current [A]
C-128
Stepping Motors
PL Geared Type
Specifications
Model Maximum Holding Torque Rotor Inertia Rated Current Basic Step Angle Gear Ratio Permissible Torque Backlash Permissible Speed Range Power Source Excitation Mode Mass Dimension No. Single Shaft Double Shaft Nm J: kg m2 A/Phase
kg kg
CRK566AP-P7.2 CRK566AP-P10 CRK564AP-P25 CRK564AP-P36 CRK564AP-P50 CRK566BP-P7.2 CRK566BP-P10 CRK564BP-P25 CRK564BP-P36 CRK564BP-P50 4 5 8 280 10-7 175 10-7 1.4 0.1 0.072 0.0288 0.02 0.0144 1 : 7.2 1 : 10 1 : 25 1 : 36 1 : 50 4 5 8 20 (0.33) 0 250 0 180 0 72 0 50 0 36 24 VDC 10% 2.5 A Microstep 1.3 1.4 0.04
11 18
How to read specifications table Page C-10 Note: b Direction of rotation of the motor and that of the gear output shaft are the same.
CRK566AP-P7.2/CRK566BP-P7.2
5 4 Current: 1.4 A/Phase Step Angle: 0.1/step With Damper D6CL-8.0F: JL=140 107kgm2 Permissible Torque
CRK566AP-P10/CRK566BP-P10
6 Current: 1.4 A/Phase Step Angle: 0.072/step With Damper D6CL-8.0F: JL=140 107kgm2 Permissible Torque
Permissible Torque
fs 0 40
Driver Input Current 80 120 Speed [r/min] 5 (50) 10 (100) Pulse Speed [kHz] 160 15 (150) 200 Resolution1 (Resolution10)
0 (0)
0 (0)
CRK564AP-P25/CRK564BP-P25
10 8 Current: 1.4 A/Phase Step Angle: 0.0288/step With Damper D6CL-8.0F: JL=140 107kgm2 Permissible Torque
CRK564AP-P36/CRK564BP-P36
10 8 Current: 1.4 A/Phase Step Angle: 0.02/step With Damper D6CL-8.0F: JL=140 107kgm2 Permissible Torque
CRK564AP-P50/CRK564BP-P50
10 8 6 4 2 0 0 0 (0) fs 10 Driver Input Current 20 Speed [r/min] 10 (100) Pulse Speed [kHz] Current: 1.4 A/Phase Step Angle: 0.0144/step With Damper D6CL-8.0F: JL=140 107kgm2 Permissible Torque
4 2 0
30 15 (150)
40 Resolution1 (Resolution10)
0 (0)
5 (50)
b The pulse input circuit responds to approximately 500 kHz with a pulse duty of 50%. Notes: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C. (Under 75C is required to comply with UL or CSA Standards as the motor is recognized as insulation class A.) b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 50%.
Stepping Motors
PN Geared Type
Specifications
Model Maximum Holding Torque Rotor Inertia Rated Current Basic Step Angle Gear Ratio Permissible Torque Nm Nm Maximum Torque2 Backlash arc minute (degrees) Angular Transmission Error arc minute (degrees) Permissible Speed Range r/min Power Source Excitation Mode Motor kg Mass Driver kg Motor Dimension No. Driver Single Shaft Double Shaft Nm J: kg m2 A/Phase
CRK523PAP-N51 CRK523PAP-N7.21 CRK523PAP-N101 CRK544AP-N5 CRK523PBP-N51 CRK523PBP-N7.21 CRK523PBP-N101 CRK544BP-N5 0.2 0.3 0.4 0.8 9 10-7 0.35 0.144 0.1 0.072 0.144 1:5 1 : 7.2 1 : 10 1:5 0.2 0.3 0.4 0.8 0.5 1.5 3 (0.05) 6 (0.1) 0 600 0 416 0 300 0 600 24 VDC 10% 0.7 A Microstep 0.25 0.04
12 18
CRK544AP-N7.2 CRK544AP-N10 CRK544BP-N7.2 CRK544BP-N10 1.2 1.5 54 10-7 0.75 0.1 0.072 1 : 7.2 1 : 10 1.2 1.5 2 2 (0.034) AC Input 0 416 24 VDC 10% 1.4 A 0.56 DC Input 0 300
Introduction AS ASC
13
How to read specifications table Page C-10 1 Motor lead wire/connector assembly (0.6 m) is included with the motor and driver package of connector-coupled type. 2 The value of maximum torque is for gear. For output torque for geared motor, see the speed torque characteristics. Note: b Direction of rotation of the motor and that of the gear output shaft are the same.
AC Input
5-Phase RK
CRK523PAP-N7.2/CRK523PBP-N7.2 CRK523PAP-N10/CRK523PBP-N10
0.4 Current: 0.35 A/Phase Step Angle: 0.1/step With Damper D4CL-5.0F: JL=34 107kgm2 0.6 Current: 0.35 A/Phase Step Angle: 0.072/step With Damper D4CL-5.0F: JL=34 107kgm2
DC Input
2-Phase CMK
0.3 Torque [Nm] Torque [Nm] Permissible Torque 2 0.1 Permissible Torque 0.2 1.0 0.1 Driver Input Current 0 0 0 0 (0) fs 100 5 (50) 200 300 Speed [r/min] 10 15 (100) (150) Pulse Speed [kHz] 20 (200) 400 Resolution1 25 (250) (Resolution10) Current [A] 0.5 0 0 fs 0 50 5 (50) Driver Input Current 100 150 200 Speed [r/min] 250 20 (200) 300 25 Resolution1 (250) (Resolution10) Torque [Nm] 0.2 0.4 Permissible Torque
Current [A]
Current [A]
1.0 0.5 0
0.2
2-Phase CSK
0 0 0 (0)
fs 100 5 (50)
Driver Input Current 200 300 400 Speed [r/min] 500 20 (200) 600
0 (0)
CRK544AP-N5/CRK544BP-N5
1.0 0.8 Torque [Nm] 0.6 0.4 Current: 0.75 A/Phase Step Angle: 0.144/step With Damper D4CL-5.0F: JL=34 107kgm2
CRK544AP-N7.2/CRK544BP-N7.2
1.5 Current: 0.75 A/Phase Step Angle: 0.1/step With Damper D4CL-5.0F: JL=34 107kgm2
CRK544AP-N10/CRK544BP-N10
2.0 Current: 0.75 A/Phase Step Angle: 0.072/step With Damper D4CL-5.0F: JL=34 107kgm2
Torque [Nm]
Torque [Nm]
Permissible Torque
1.0
Permissible Torque
2 Current [A] 1 0
Current [A]
2 1 0
0.2 0 0 0 (0) fs 100 5 (50) Driver Input Current 200 300 400 Speed [r/min] 500 20 (200) 600
Controllers
0 0 0 (0)
fs
Driver Input Current 100 5 (50) 200 300 Speed [r/min] 10 15 (100) (150) Pulse Speed [kHz] 20 (200) 400 Resolution1 25 (250) (Resolution10) 0
fs 0 50 5 (50) 100 150 200 Speed [r/min] 250 20 (200) 300 25 Resolution1 (250) (Resolution10)
0 (0)
Accessories
b The pulse input circuit responds to approximately 500 kHz with a pulse duty of 50%. Notes: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C. (Under 75C is required to comply with UL or CSA Standards as the motor is recognized as insulation class A.) b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 50%.
Installation
Specifications, Characteristics C-120 / Dimensions C-134 / Connection and Operation C-140 / Motor and Driver Combinations C-144
C-129
Torque [Nm]
Torque [Nm]
Torque [Nm]
Current [A]
Current [A]
2 0
1 0 fs 0 Driver Input Current 100 200 300 Speed [r/min] 5 (50) 10 15 (100) (150) Pulse Speed [kHz]
Current [A]
Torque [Nm]
Torque [Nm]
Torque [Nm]
Current [A]
Current [A]
5.0 2.5 0
Current [A]
C-130
Stepping Motors
PN Geared Type
Specifications
Model Maximum Holding Torque Rotor Inertia Rated Current Basic Step Angle Gear Ratio Permissible Torque Nm Nm Maximum Torque Backlash arc minute (degrees) Angular Transmission Error arc minute (degrees) Permissible Speed Range r/min Power Source Excitation Mode Motor kg Mass Driver kg Motor Dimension No. Driver Single Shaft Double Shaft Nm J: kg m2 A/Phase
CRK566AP-N5 CRK566AP-N7.2 CRK566AP-N10 CRK564AP-N25 CRK564AP-N36 CRK564AP-N50 CRK566BP-N5 CRK566BP-N7.2 CRK566BP-N10 CRK564BP-N25 CRK564BP-N36 CRK564BP-N50 3.5 4 5 8 280 10-7 175 10-7 1.4 0.144 0.1 0.072 0.0288 0.02 0.0144 1:5 1 : 7.2 1 : 10 1 : 25 1 : 36 1 : 50 3.5 4 5 8 7 9 11 16 20 2 (0.034) 3 (0.05) 5 (0.084) 0 600 0 416 0 300 0 120 0 83 0 60 24 VDC 10% 2.5 A Microstep 1.5 0.04
14 18
How to read specifications table Page C-10 The value of maximum torque is for gear. For output torque for geared motor, see the speed torque characteristics. Note: b Direction of rotation of the motor and that of the gear output shaft are the same.
CRK566AP-N7.2/CRK566BP-N7.2
8 Current: 1.4 A/Phase Step Angle: 0.1/step With Damper D6CL-8.0F: JL=140 107kgm2
CRK566AP-N10/CRK566BP-N10
10 8 6 Permissible Torque 4 2 0 fs 0 Driver Input Current 50 100 150 200 Speed [r/min] 5 (50) 10 15 (100) (150) Pulse Speed [kHz] Current: 1.4 A/Phase Step Angle: 0.072/step With Damper D6CL-8.0F: JL=140 107kgm2
4 Permissible Torque 4 2 0
400
fs 0 50 100 5 (50) 150 200 Speed [r/min] 250 300 350 20 Resolution1 (200) (Resolution10)
250 20 (200)
0 (0)
0 (0)
0 (0)
CRK564AP-N25/CRK564BP-N25
15 Current: 1.4 A/Phase Step Angle: 0.0288/step With Damper D6CL-8.0F: JL=140 107kgm2
CRK564AP-N36/CRK564BP-N36
20 Current: 1.4 A/Phase Step Angle: 0.02/step With Damper D6CL-8.0F: JL=140 107kgm2
CRK564AP-N50/CRK564BP-N50
25 20 15 10 Permissible Torque 2 0 5 0 0 0 (0) fs Driver Input Current 20 5 (50) 40 Speed [r/min] 20 (200) 60 Resolution1 25 (250) (Resolution10) Current: 1.4 A/Phase Step Angle: 0.0144/step With Damper D6CL-8.0F: JL=140 107kgm2
15 10 8
Permissible Torque
0 0 0 (0)
fs
100
120 25 (250)
fs 0 20 5 (50) 40 60 Speed [r/min] 10 15 (100) (150) Pulse Speed [kHz] 20 (200) 80 25 Resolution1 (250) (Resolution10)
0 (0)
b The pulse input circuit responds to approximately 500 kHz with a pulse duty of 50%. Notes: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C. (Under 75C is required to comply with UL or CSA Standards as the motor is recognized as insulation class A.) b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 50%.
Stepping Motors
CRK513PAP-H501 CRK513PAP-H1001 CRK543AP-H50 CRK543AP-H100 CRK564AP-H50 CRK564AP-H100 CRK513PBP-H501 CRK513PBP-H1001 CRK543BP-H50 CRK543BP-H100 CRK564BP-H50 CRK564BP-H100 0.4 0.6 3.5 5 5.5 8 3.1 10-7 52 10-7 210 10-7 0.35 0.75 1.4 0.0144 0.0072 0.0144 0.0072 0.0144 0.0072 1 : 50 1 : 100 1 : 50 1 : 100 1 : 50 1 : 100 0.4 0.6 3.5 5 5.5 8 0.9 1.4 8.3 11 18 28 2 max. ( 0.02 N m) 2 max. ( 0.03 N m) 1.5 max. ( 0.16 N m) 1.5 max. ( 0.2 N m) 0.7 max. ( 0.28 N m) 0.7 max. ( 0.39 N m) AC Input
Introduction AS
kg kg
DC Input
ASC
17
How to read specifications table Page C-10 1 Motor lead wire/connector assembly (0.6 m) is included with the motor and driver package of connector-coupled type. 2 The value of maximum torque is for gear. For output torque for geared motor, see the speed torque characteristics. Notes: b The inertia represents a sum of the inertia of the harmonic gear converted to a motor shaft value, and the rotor inertia. b Direction of rotation of the motor and that of the gear output shaft are the opposite.
AC Input
5-Phase RK
5-Phase CRK
CRK513PAP-H100/CRK513PBP-H100
2.0 Current: 0.35 A/Phase Step Angle: 0.0072/step Load Inertia: JL=0kgm2
CRK543AP-H50/CRK543BP-H50
6 Current: 0.75 A/Phase Step Angle: 0.0144/step With Damper D4CL-5.0F: JL=34 107kgm2
DC Input
2-Phase CMK
1.0 Permissible Torque 0.5 Driver Input Current fs 10 10 (100) 20 30 Speed [r/min] 20 30 (200) (300) Pulse Speed [kHz] 40 50 40 Resolution1 (400) (Resolution10) Current [A] 2 1 0
2-Phase CSK
fs 0
Driver Input Current 20 10 (100) 40 Speed [r/min] 20 (200) Pulse Speed [kHz] 60 30 (300) 80 Resolution1 (Resolution10)
0 (0)
0 (0)
0 (0)
CRK543AP-H100/CRK543BP-H100
15 Current: 0.75 A/Phase Step Angle: 0.0072/step With Damper D4CL-5.0F: JL=34 107kgm2
CRK564AP-H50/CRK564BP-H50
20 Current: 1.4 A/Phase Step Angle: 0.0144/step With Damper D6CL-8.0F: JL=140 107kgm2
CRK564AP-H100/CRK564BP-H100
40 Current: 1.4 A/Phase Step Angle: 0.0072/step With Damper D6CL-8.0F: JL=140 107kgm2
15 Torque [Nm] Torque [Nm] Torque [Nm] 10 8 Current [A] 5 Permissible Torque
30
Maximum Torque
20 Permissible Torque
Current [A]
2 1 0
10
Controllers
fs 0
Driver Input Current 10 10 (100) 20 Speed [r/min] 20 (200) Pulse Speed [kHz] 30 30 (300) 40 Resolution1 (Resolution10) 0 0 0
fs 20 10 (100) 40 Speed [r/min] 20 (200) Pulse Speed [kHz] 60 30 (300) 80 Resolution1 (Resolution10)
fs 0
Driver Input Current 10 20 Speed [r/min] 10 (100) 20 (200) Pulse Speed [kHz]
30 30 (300)
40 Resolution1 (Resolution10)
0 (0)
0 (0)
0 (0)
Accessories
b The pulse input circuit responds to approximately 500 kHz with a pulse duty of 50%. Notes: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C. (Under 75C is required to comply with UL or CSA Standards as the motor is recognized as insulation class A.) b In order to prevent fatigue of the gear grease in the harmonic gear, keep the temperature of the gear case under 70C. b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 50%.
Installation
Specifications, Characteristics C-120 / Dimensions C-134 / Connection and Operation C-140 / Motor and Driver Combinations C-144
C-131
C-132
Stepping Motors
Driver Specifications
Input Mode Photocoupler input, Input resistance: 220 , Input current: 10 20 mA 1 V (Voltage between terminals) Photocoupler ON: 4.5 5.25 V, Photocoupler OFF: 0 Operation command pulse signal (CW direction operation command pulse signal when in 2-pulse input mode) Negative logic pulse input Pulse width: 1 s minimum; Pulse rise/fall: 2 s maximum, Pulse duty: 50% and below The motor moves one step when the pulse input is switched from photocoupler ON to OFF. Maximum input pulse frequency: 500 kHz (when the pulse duty is 50%) Rotation direction signal Photocoupler ON: CW, Photocoupler OFF: CCW CCW direction operation command pulse signal when in 2-pulse input mode, Negative logic pulse input Pulse width: 1 s minimum; Pulse rise/fall: 2 s maximum, Pulse duty: 50% and below The motor moves one step when the pulse input is switched from photocoupler ON to OFF. Maximum input pulse frequency: 500 kHz (when the pulse duty is 50%) When in the "photocoupler ON" state, the output current to the motor is cut off and the motor shaft can be rotated manually. When in the "photocoupler OFF" state, the output current is supplied to the motor. Step angle specified by DATA1 when photocoupler OFF, Step angle specified by DATA2 when photocoupler ON When in the "photocoupler ON" state, the automatic current cutback function will not be activated even after the motor stops. When in the "photocoupler OFF" state, the automatic current cutback function will be activated after the motor stops (after approx. 100 ms). Photocoupler, Open-collector output, External use condition: 24 VDC maximum, 10 mA maximum The signal is output every time the excitation sequence returns to the initial stage "0." (Photocoupler: ON) Example) 0.72/step (1 Resolution): Signal is output every 10 pulses. 0.072/step (10 Resolution): Signal is output every 100 pulses. Automatic current cutback, Step angle switch, Pulse input mode switch, Smooth drive, All windings off, Excitation timing Natural ventilation
Input Signals
All Windings Off Signal Step Angle Select Signal Current Cutback Release Signal Output Mode Output Signals Excitation Timing Signal
General Specifications
Specifications Insulation Class Insulation Resistance Motor Class B (130C) [Recognized as class A (105C) by UL Standard] 100 M or more when 500 VDC megger is applied between the windings and the case under normal ambient temperature and humidity. Sufficient to withstand 1.5 kV at 50 Hz or 60 Hz applied between the windings and the case for 1 minute under normal temperature and humidity. 1.0 kV for CRK54 0.5 kV for CRK513P, CRK52 PM, CRK52 P, CRK54 PM, CRK54 P 10 50C (non-freezing): High-resolution type, High-torque type, Standard type, TH, PL, PN geared type 40C (non-freezing): Harmonic geared type 0 85% or less (non-condensing) No corrosive gases, dust, water or oil Temperature rise of the windings are 80C or less measured by the resistance change method. (at rated current, at standstill, five phases energized) 3 arc minutes ( 0.05), CRK513P: 10 arc minutes ( 0.17) High-resolution type: 2 arc minutes ( 0.034) 0.05 T.I.R. (mm)4 0.025 mm maximum of 5 N 0.075 mm maximum of 10 N 0.075 T.I.R. (mm)4 0.075 T.I.R. (mm)4 Driver
Dielectric Strength
40C (non-freezing)
Temperature Rise Stop Position Accuracy1 Shaft Runout Radial Play2 Axial Play3 Concentricity Perpendicularity
1 This value is for full step under no load. (The value changes with the size of the load.) 2 Radial Play: Displacement in shaft position in the radial direction, when a 5 N load is applied in the vertical direction to the tip of the motor's shaft. 3 Axial Play: Displacement in shaft position in the axial direction, when a 10 N load is applied to the motor's shaft in the axial direction. 4 T.I.R. (Total Indicator Reading): The total dial gauge reading when the measurement section is rotated one revolution centered on the reference axis center. Note: b Do not measure insulation resistance or perform the dielectric strength test while the motor and driver are connected.
0.075 A 0.05
0.075 A
Stepping Motors
Unit
25
34
52
Introduction
20
25
34
52
The permissible thrust load shall be no greater than the motor mass.
AC Input
AS
90
100
130
180
270 DC Input
ASC
63
75
95
130
190
AC Input
15
17
20
23
10
5-Phase RK
TH Geared Type
10
14
20
30
15
5-Phase CRK
70
80
100
120
150
40 DC Input
2-Phase CMK
CRK545 P-P5 CRK545 P-P7.2 CRK545 P-P10 CRK543 P-P25 CRK543 P-P36 CRK543 P-P50 CRK566 P-P5 CRK566 P-P7.2 CRK566 P-P10 CRK564 P-P25 CRK564 P-P36 CRK564 P-P50 CRK523P P-N5 CRK523P P-N7.2 CRK523P P-N10 CRK544 P-N5 CRK544 P-N7.2 CRK544 P-N10 CRK566 P-N5 CRK566 P-N7.2 CRK566 P-N10 CRK564 P-N25 CRK564 P-N36 CRK564 P-N50 CRK513P P-H50 CRK513P P-H100 Harmonic Geared Type CRK543 P-H50 CRK543 P-H100 CRK564 P-H50 CRK564 P-H100
73
84
100
123
50
2-Phase CSK
50 100 100
PL Geared Type
330
360
400
450
520
100
45
60
80
100
20
PN Geared Type
330
360
400
450
520
100
Accessories
50 180 320
60 220 450
Installation
b Enter A (single shaft) or B (double shaft) in the box ( ) within the model name.
Specifications, Characteristics C-120 / Dimensions C-134 / Connection and Operation C-140 / Motor and Driver Combinations C-144
C-133
Each package model comes with a motor lead wire/connector assembly (0.6 m) (UL Style 3265, AWG24). If you are purchasing only a motor for maintenance purpose, etc., motor lead wire/connector assembly and connector will not be supplied. They must be purchased separately. Page C-255
0.25
3.5
8 7
38 30
10 1 1.5 7
0.25
10
4 M2 2.5 Deep
13.8
bApplicable Connector Connector housing: 51065-0500 (MOLEX) Contact: 50212-8100 (MOLEX) Crimp tool: 57176-5000 (MOLEX)
L2
10 1
15 1.5
28 mm
Motor Model PK523P A PK523P B PK524PMA PK524PMB PK525P A PK525P B L1 32 40 51.5 L2 42 50 61.5 Mass (kg) 0.11 0.15 0.2
L1 10
0.25
28 23 0.2
4.5
16 0.2 20
b Enter M in the box ( ) within the model name in the case of high-resolution type. Each package model comes with a motor leadwire/connector assembly (0.6 m) (UL Style 3265, AWG24). If you are purchasing only a motor for maintenance purpose, etc., motor lead wire/connector assembly and connector will not be supplied. They must be purchased separately. Page C-255
9.5
bApplicable Connector Connector housing: 51065-0500 (MOLEX) Contact: 50212-8100 (MOLEX) Crimp tool: 57176-5000 (MOLEX)
42 mm
AP BP AP BP Motor Model PK544P A PK544P B PK546P A PK546P B L1 39 59 L2 54 74 Mass (kg)
0 0.012(h7)
0.5
b Enter M in the box ( ) within the model name in the case of high-resolution Type. Each package model comes with a motor lead wire/connector assembly (0.6 m) (UL Style 3265, AWG22). If you are purchasing only a motor for maintenance purpose, etc., motor lead wire/connector assembly and connector will not be supplied. They must be purchased separately. Page C-255
0.15
4.5 9
1.5 15
5 23
bApplicable Connector Connector housing: 51103-0500 (MOLEX) Contact: 50351-8100 (MOLEX) Crimp tool: 57295-5000 (MOLEX)
High-Resolution Type
4
60 mm
Motor Model PK564PMA PK564PMB PK566PMA PK566PMB PK569PMA PK569PMB L1 46.5 56 87 L2 69.5 79 110 9.5
0.15
bApplicable Connector Connector housing: 51144-0500 (MOLEX) Contact: 50539-8100 (MOLEX) Crimp tool: 57189-5000 (MOLEX)
b These dimensions are for double shaft models. For single shaft models, ignore the orange ( ) areas.
C-134
36
Each package model comes with a motor lead wire/connector assembly (0.6 m) (UL Style 3266, AWG22). If you are purchasing only a motor for maintenance purpose, etc., motor lead wire/connector assembly and connector will not be supplied. They must be purchased separately. Page C-255
0 0.015(h7)
0.15
0 0.039(h8)
7.5
12
L3 D
0.5 21.5
5 1 29
50 0.35 60
L3
L2 L1 7
24
7.5
0.15
0 0.015
1.5 20
0.25
0.87 10
0 0.015
1.5
31 0.2 42
0.3
15
L2 L1
20 15
1 0.25
42 31 0.2
4.5
23 0.2 28
Stepping Motors
Dimensions
b Motor
High-Torque Type
1
(Unit = mm)
20 mm
20 16 0.2
Stepping Motors
Standard Type
Model CRK543AP CRK543BP CRK544AP CRK544BP CRK545AP CRK545BP Motor Model PK543NAW PK543NBW PK544NAW PK544NBW PK545NAW PK545NBW L1 33 39 47 L2 48 54 62 Mass (kg)
0 0.012(h7) 0.15 0 0.012(h7) 0 22 0.033(h8)
42 mm
0.21 0.27 0.35
15
L2 L1
20 1 15 0.25
4.5
0.15
4.5
2
Introduction
60 mm
Motor Model PK564NAW PK564NBW PK566NAW PK566NBW PK569NAW PK569NBW L1 46.5 57.5 87 L2 69.5 80.5 110 Mass (kg) 23 0.6 20 0.8
0 0.015(h7) 0.25 1 1 0 0.015(h7) 0 36 0.039(h8)
AC Input
L2 L1
24 7 1.5 20
AS
60 4.5 Thru
0.25
50 0.35 60
A A
A A
DC Input
ASC
1.3
50
90
0.35
AC Input
5-Phase RK
7.5
0.15
7.5
0.15
5-Phase CRK
A A
TH Geared Type
7
28 mm
Motor Model PK523PA-T PK523PB-T Gear Ratio 7.2, 10, 20, 30 Mass (kg) 0.17
0.15 0 0.012(h7)
0 0.015(h7)
DC Input
2-Phase CMK
23 0.2 28
b Enter the gear ratio in the box ( ) within the model name. Each package model comes with a motor lead wire/connector assembly (0.6 m) (UL Style 3265, AWG24). If you are purchasing only a motor for maintenance purpose, etc., motor lead wire/connector assembly and connector will not be supplied. They must be purchased separately. Page C-255
10 1
67.5 57.5
20 2.5
28 23 0.2
2-Phase CSK
0.5
4.5
10
12
bApplicable Connector Connector housing: 51065-0500 (MOLEX) Contact: 50212-8100 (MOLEX) Crimp tool: 57176-5000 (MOLEX)
42 mm
Motor Model PK543AW-T PK543BW-T Gear Ratio 3.6, 7.2, 10, 20, 30 Mass (kg)
Controllers
0.35
b Enter the gear ratio in the box ( ) within the model name.
0 0.012(h7)
15
78.5 63.5
0.15
0.5
5.5
4.5
17
20 1 3.5 12
0.15 0 0.012(h7)
0 0.018(h7)
42 4 M4 8 Deep
Accessories
43
.8
0.5
42
Installation
5 Motor Leads AWG24 Motor Cable 5.4 The length of machining on double shaft model is 15 0.25.
b These dimensions are for double shaft models. For single shaft models, ignore the orange ( ) areas.
Specifications, Characteristics C-120 / Dimensions C-134 / Connection and Operation C-140 / Motor and Driver Combinations C-144
8.5
12.2
600
50
26
C-135
32 3.5
0.15 0 0.015(h7)
0 0.015(h7)
21 20
1 0.25
114.5 93.5
0.5 0 0.021(h7)
A A 12.5 15 600 50
70
0.5
8 10
12
23
60
7.5
0.15
90
0 0.012(h7)
15
0.15
L2 L1
28 1 10 12
4.5
5 Motor Leads AWG24 Motor Cable 5.4 The length of machining on double shaft model is 15 0.25.
11
60 mm
Motor Model PK566AW-P PK566BW-P PK564AW-P PK564BW-P L2 L1 38 10 20 25
0.25
L1 94.5 108.5
L2 115.5 129.5
b Enter the gear ratio in the box ( ) within the model name.
1 0 0.018(h7) 0 0.025(h7)
0 0.015(h7)
21
60 4 M5 10 Deep
0 0.030
12
37
8.5
12.2
600
50
.8 43
0.5
26
42
60
B B 15 600 50
A A
70
0.5
90
0.15
7.5
2.5
0.1 0
B B
A A
31
b These dimensions are for double shaft models. For single shaft models, ignore the orange ( ) areas.
12.5
C-136
Stepping Motors
TH Geared Type
9
60 mm
Motor Model PK564AW-T PK564BW-T Gear Ratio 3.6, 7.2, 10, 20, 30 Mass (kg) 0.95
b Enter the gear ratio in the box ( ) within the model name.
60 4 M4 8 Deep
7.5
0.15
A A
PL Geared Type
10
42 mm
Motor Model PK545AW-P PK545BW-P PK543AW-P PK543BW-P Gear Ratio 5, 7.2, 10 25, 36, 50 L1 74.5 84 L2 89.5 99 Mass (kg) 0.58 0.55
b Enter the gear ratio in the box ( ) within the model name.
42 4 M4 8 Deep
7.5
0.15
0 0.030
25
0.2
0 0.030
Stepping Motors
PN Geared Type
12
28 mm
Motor Model PK523PA-N PK523PB-N Gear Ratio 5, 7.2, 10 Mass (kg) 0.25 72.5 62.5 23 5 17 15
0.15
4.5
bApplicable Connector Connector housing: 51065-0500 (MOLEX) Contact: 50212-8100 (MOLEX) Crimp tool: 57176-5000 (MOLEX)
5 1 16.5 4 M3 6 Deep
23 0.2 28
b Enter the gear ratio in the box ( ) within the model name. Each package model comes with a motor lead wire/connector assembly (0.6 m) (UL Style 3265, AWG24). If you are purchasing only a motor for maintenance purpose, etc., motor lead wire/connector assembly and connector will not be supplied. They must be purchased separately. Page C-255
8 0.015(h7) 12
10 1 0 0.012(h7)
0 0.021(h7)
26
28 23 0.2
Introduction
AS
7.5
0.2
A A
DC Input
ASC
13
42 mm
AC Input
5-Phase RK
b Enter the gear ratio in the box ( ) within the model name.
0 0.015(h7) 0 37.6 0.025(h7)
5-Phase CRK
15
86 71
0 0.025
25 1 6 18 A
10
42
4 M4 8 Deep 3 42
0.004 0.029
18
0.2
0 0.025
0.1 0
DC Input
2-Phase CMK
48
0.3
26
8.5
12.2
600 50
1.8
A A
2-Phase CSK
14
60 mm
2-Phase Stepping Motors
L1 103.5 108.5
L2 124.5 129.5
b Enter the gear ratio in the box ( ) within the model name.
0.15
6 25 A A 600 50
2.5
12
37
0.1 0
L1
60 4 M5 10 Deep
90
0 0.018(h7) 0 0.025(h7)
38
7.5
0.15
0 0.030
Controllers
B
0 0.015(h7)
7.5
B B
0 0.030
A A
B 15
70
0 .5
12.5
60
25
0 0.21
0 0.030
Accessories
31
Installation
b These dimensions are for double shaft models. For single shaft models, ignore the orange ( ) areas.
Specifications, Characteristics C-120 / Dimensions C-134 / Connection and Operation C-140 / Motor and Driver Combinations C-144
C-137
50, 100
0.08
0 0.012(h7)
3.5
10
The position of the output shaft relative to the screw holes on the rotating part is arbitrary.
16
42 mm
Motor Model PK543AW-H S PK543BW-H S 10 0.015(h7) 26.5(Max. Dia of Rotating Part) 0 37.6 0.025(h7) Gear Ratio 50, 100 Mass (kg) 0.46
b Enter the gear ratio in the box ( ) within the model name.
2 0 0.012(h7)
15
80 65
25
5 4.5
6 M3 5 Deep
0.004 0.029
0 0.025
2 0.5 18
A
0.15
48
42
4 M4 8 Deep 18
0 0.18
0. 1 3
5 1 13.8
1.2
0 0.025
42
8.5
1.8
60
20.5
0.2
0.1 0
90
A A
12.2
600
50
26
17
60 mm
Motor Model PK564AW-H S PK564BW-H S Gear Ratio 50, 100 Mass (kg) 1.08
b Enter the gear ratio in the box ( ) within the model name.
21
0 0.015(h7)
109.5 88.5 20
0.25
28.5 2 1.5 20
A
70
60
0.5
4 M5 10 Deep
B B
90
6 M4 6 Deep
7.5
0.15
0.1 0
0 0.030
20
0 0.030
0 0.21
60
7.5
60
2.5
25.5
0.2
0.15
90
A A
B B
12.5
15
600 50
31
b These dimensions are for double shaft models. For single shaft models, ignore the orange ( ) areas.
C-138
1.6
0 0.030
bApplicable Connector Connector housing: 51065-0500 (MOLEX) Contact: 50212-8100 (MOLEX) Crimp tool: 57176-5000 (MOLEX)
4.6
0.25
19.5
b Enter the gear ratio in the box ( ) within the model name. Each package model comes with a motor lead wire/connector assembly (0.6 m) (UL Style 3265, AWG24). If you are purchasing only a motor for maintenance purpose, etc., motor lead wire/connector assembly and connector will not be supplied. They must be purchased separately. Page C-255 7
53 45 2.5
13
0 0.021(h7)
0.15 0
0.15
3 M2 3 Deep
16 0.2 20
Stepping Motors
20 mm
Motor Model PK513PA-H S PK513PB-H S Gear Ratio Mass (kg)
0.5 9
4 M2 5 Deep 20 16 0.2
9.8
0.2
Stepping Motors
b Driver
18 Driver Model: CRD5103P, CRD5107P, CRD5114P
Mass: 0.04 kg 4 3.5 Thru
7.4
24.3
31 21.9
1
4
12 3 59 32.4
14.9 45
3 41.4
11.5 25 max.
4 max.
bConnector Housing (Included) 51103-0200 (MOLEX) 51103-1200 (MOLEX) 51103-0500 (MOLEX) bContact (Included) 50351-8100 (MOLEX)
Note: b Be sure to use the included connector for signal and motor and power supply. When assembling the connectors, use the hand-operated crimp tool [57295-5000 (MOLEX)]. The crimp tool is not provided with the package. It must be purchased separately. Driver lead wire set crimped with connector (sold separately) is available. Driver lead wire set Page C-257
Specifications, Characteristics C-120 / Dimensions C-134 / Connection and Operation C-140 / Motor and Driver Combinations C-144
1 2
4
Introduction
C-139
C-140
Stepping Motors
Motor Connector
4 Input/Output Signals
Indication Input/Output Pin No. 1 2 Signal Name Pulse Signal (CW Pulse Signal) Rotation Direction Signal (CCW Pulse Signal) All Windings Off Signal Step Angle Select Signal Current Cutback Release Signal Excitation Timing Signal Function Operation command pulse signal (The motor will rotate in the CW direction when in 2-pulse input mode.) Rotation direction signal Photocoupler ON: CW, Photocoupler OFF: CCW. (The motor will rotate in the CCW direction when in 2-pulse input mode.) This signal is used to turn off the output current to the motor so that the motor shaft can be rotated manually. Switches to step angle set in DATA1 and DATA2.
3 4 5 6 7
8 9 10 11 12
This signal is used to disable the automatic current cutback function. The signal is output every time the excitation sequence returns to the initial stage "0."
R1 DATA1 DATA2 0 1 2 3 4 5 6 7 8 9 A B C D E F Microstep/ Step 1 1 2 2.5 4 5 8 10 20 25 40 50 80 100 125 200 250 Resolution 1 Step Angle 1 500 1000 1250 2000 2500 4000 5000 10 000 12 500 20 000 25 000 40 000 50 000 62 500 100 000 125 000 0.72 0.36 0.288 0.18 0.144 0.09 0.072 0.036 0.0288 0.018 0.0144 0.009 0.0072 0.00576 0.0036 0.00288 DATA1 DATA2 0 1 2 3 4 5 6 7 8 9 A B C D E F Microstep/ Step 2 2.5 1.25 1.6 2 3.2 4 6.4 10 12.8 20 25.6 40 50 51.2 100 102.4
R2 Resolution 2 Step Angle 2 200 400 800 1000 1600 2000 3200 5000 6400 10 000 12 800 20 000 25 000 25 600 50 000 51 200 1.8 0.9 0.45 0.36 0.225 0.18 0.1125 0.072 0.05625 0.036 0.028125 0.018 0.0144 0.0140625 0.0072 0.00703125
Notes: b The step angle is calculated by dividing the basic step angle by the number of microstep. The above figures are based on a basic step angle of 0.72. b With the high-resolution type, the basic step angle and resolution are 0.36 and 1000 (microstep/step: 1), respectively. b If you are using a geared type, the step angle divided by the gear ratio becomes the actual step angle. b The number of microstep that can be switched by the C/S (step angle select) signal is limited to those selected in step angles 1 and 2. b Do not change the C/S signal input or step angle setting switch while the motor is operating. It may cause the motor to misstep and stop.
Stepping Motors
b Connection Diagrams
Controller Vo ( 5 to 24 VDC) CN2 Driver
R1
1 2 3 4 5 6 7 8 9
5 CN3 Black(5) Green(4) Orange(3) Red(2) Blue(1) Pin numbers in ( ) are for motor connector. CN1 1 2 24 VDC 10% GND
Input Signals
R1
Introduction
Stepping Motor
R1
Power Supply
Use a power supply that can supply sufficient input current. When power supply capacity is insufficient, a decrease in motor output can cause the following malfunctions: b Motor does not rotate properly at high-speed. b Slow motor startup and stopping.
R1
AC Input
AS
R1 0V
10
4 3 2
Notes on Wiring
b Use twisted-pair wires [AWG24 to 22 (0.2 to 0.3 mm2)] with a length of 2 m or less for the signal lines. b Note that as the length of the pulse signal line increases, the maximum transmission frequency decreases. Technical reference Page F-46 b Use AWG22 (0.3 mm2) cables for the power supply lines. When assembling the connectors, use the hand-operated crimp tool for contact or the crimped driver lead wire set cable (sold separately). The crimp tool is not provided with the package. It must be purchased separately. b Signal lines should be kept at least 2 cm away from power lines (power supply lines and motor lines). Do not bind the signal line and power line together. b If noise generated by the motor cables or power supply cables causes a problem, try shielding the cables or insert ferrite cores in the cables. b Incorrect connection of DC power input will lead to driver damage. Make sure that the polarity is correct before turning power on.
DC Input
1
Output Signal
ASC
12
AC Input
0V
5-Phase RK
5-Phase CRK
DC Input
2-Phase CMK
Pulse (CW) and Rotation Direction (CCW) Input Signal Input Circuit and Sample Connection
Controller Open-Collector Output VO Pin No. 1, 3
All Windings Off (A.W.OFF) Input Signal Step Angle Select (C/S) Input Signal Current Cutback Release (C.D.INH) Input Signal Input Circuit and Sample Connection
Controller Open-Collector Output VO Driver Pin No. 5, 7, 9 220
2-Phase CSK
Driver R1 220
0V
Pin No. 2, 4
10 20 mA
R1
0V
Pin No. 6, 8, 10
10 20 mA
2 s max.
Accessories
ON
90% 10%
Motor Current
ON
OFF
Installation
CCW Pulse
2 10 s min.
Pulse duty: 50% and below
Release
2 s max.
2 s max.
The shaded area indicates that the motor provides holding torque in proportion to standstill current set by STOP switch.
1 The shaded area indicates when the photocoupler diode is ON. The motor moves when the photocoupler state changes from ON to OFF. 2 The minimum interval time when changing rotation direction 10 s is shown as a response time of circuit. This value varies greatly depending on the motor type and load inertia.
bSwitching the "All Windings Off" (A.W.OFF) signal from "photocoupler ON" to "photocoupler OFF" does not alter the excitation sequence. When the motor shaft is manually adjusted with the "A.W.OFF" signal input, the shaft will shift up to 3.6 (Geared type: 3.6/gear ratio) from the position set after the "A.W.OFF" signal is released.
Specifications, Characteristics C-120 / Dimensions C-134 / Connection and Operation C-140 / Motor and Driver Combinations C-144
C-141
C-142
Stepping Motors
Excitation Timing (TIMING) Output Signal Output Circuit and Sample Connection
Controller Open-Collector Output Driver R2 Pin No.11
CW Pulse Motor 0
0.72 0.072/step
0.72
1.44 0.72/step
VO
bBe sure to change step angle setting inputs only when the pulse signals are at rest. Switching while moving may cause a positional error of the motor. bWhen the "Excitation Timing" signal is used, adjust the number of pulses so that the motor can operate with angles that are multiples of 7.2. The "Excitation Timing" signal output may become impossible for some combinations of step angles. Example: After operate 9 pulses with 0.072/step setting, change the step angle 0.72/step and operate with 1 pulse. In this case, "Excitation Timing" signal will not be output because step "0" position is skipped.
Operate 1 pulse Operate 9 pulses with 0.072 /step setting with 0.72 /step setting 0.72 0 0.72
Pin No.12 0V
10 mA max.
bThe "Excitation Timing" signal is output to indicate when the motor excitation (current flowing through the winding) is in the initial stage (step "0" at power up). bThe "Excitation Timing" signal is output simultaneously with a pulse input each time the excitation sequence returns to step "0." The excitation sequence will complete one cycle for every 7.2 rotation of the motor output shaft (basic step angle 0.72). Microstep/step 1: Signal is output once every 10 pulses. Microstep/step 10: Signal is output once every 100 pulses. Timing chart at 0.72/step (microstep/step 1)
0.72
When connected as shown in the sample connection, the signal will be "photocoupler ON" at step "0."
1 2 3 4 5 6 7 8 9 10 11 12
CW Pulse
1 2
(Step)
0 1 2 3 4 5 6 7 8 9 0 1 2
10
Note: b When power is turned ON, the excitation sequence is reset to step "0" and the "Excitation Timing" signal is output.
b Timing Chart
Motor CW CCW
5 s min.
Power Input 1-Pulse Input Mode Pulse Input Signal Rotation Direction Input Signal 2-Pulse Input Mode
300 s min.
10 s min.
ON CCW Pulse Input Signal OFF All Windings Off Input Signal Step Angle Select Input Signal ON OFF ON OFF
DATA1
The
1 Switching time to change direction (1-pulse input mode), and switching time to change CW, CCW pulse (2-pulse input mode) 10 s is shown as a response time of circuit. The motor may need more time. 2 Depends on load inertia, load torque, and starting frequency. 3 Never input a pulse signal immediately after switching the "All Windings Off" signal to the "photocoupler OFF" state. The motor may not start. 4 Wait at least 5 seconds before turning on the power again.
Stepping Motors
Introduction
AC Input
Connecting an Ammeter
Connect a DC ammeter as illustrated below. Connect a DC ammeter in series to the blue motor lead wire and motor connector pin No. 1. Set all driver input signals to the "photocoupler OFF" state. Do not connect the red motor lead wire to connector pin No. 2, and black motor lead wire to connector pin No. 5.
24 VDC GND
CN1
2 1
AS ASC
DC Input
12 11 10 9 8 7 6 5 4 3 2 1
Driver
Note: b Do not input pulse signals. Electric shock may result if the red and black motor lead wires contact each other. Insulate these motor lead wires to prevent electric shock.
1. Set the current cutback release signal to the "photocoupler OFF" state. Keep other signals in the "photocoupler OFF" state. 2. Turn on the power to the driver. 3. Use the "STOP" potentiometer to adjust the motor current at standstill. 4. When the power is turned on, the value measured by the ammeter represents the total current in two phases through the blue motor lead wire. The current for one phase is equivalent to one-half the ammeter value. (Example: To set the current to 1.0 A/phase, adjust the current level until the ammeter reads 2.0 A.)
5-Phase CRK
5 4 3 2 1
CN3
DC Input
Holding Torque [N m]
Maximum Holding Torque [N m] Current at Standstill [A] Motor Rated Current [A]
Notes: b Always set the running current first, turn off the driver power and turn it back on, and then set the current at standstill. Setting the running current after current at standstill may change the current setting at standstill. b Setting the current at motor standstill too low may affect the starting of the motor or the position-holding action.
Specifications, Characteristics C-120 / Dimensions C-134 / Connection and Operation C-140 / Motor and Driver Combinations C-144
C-143
C-144
Stepping Motors
Driver Model
Type
Model CRK545AP-P5 CRK545BP-P5 CRK545AP-P7.2 CRK545BP-P7.2 CRK545AP-P10 CRK545BP-P10 CRK543AP-P25 CRK543BP-P25 CRK543AP-P36 CRK543BP-P36 CRK543AP-P50 CRK543BP-P50
Motor Model PK545AW-P5 PK545BW-P5 PK545AW-P7.2 PK545BW-P7.2 PK545AW-P10 PK545BW-P10 PK543AW-P25 PK543BW-P25 PK543AW-P36 PK543BW-P36 PK543AW-P50 PK543BW-P50
Driver Model
CRD5103P
CRD5107P
CRD5107P
PL Geared Type CRD5114P CRK566AP-P5 CRK566BP-P5 CRK566AP-P7.2 CRK566BP-P7.2 CRK566AP-P10 CRK566BP-P10 CRK564AP-P25 CRK564BP-P25 CRK564AP-P36 CRK564BP-P36 CRK564AP-P50 CRK564BP-P50 CRK523PAP-N5 CRK523PBP-N5 CRK523PAP-N7.2 CRK523PBP-N7.2 CRK523PAP-N10 CRK523PBP-N10 CRK544AP-N5 CRK544BP-N5 CRK544AP-N7.2 CRK544BP-N7.2 CRK544AP-N10 CRK544BP-N10 CRK566AP-N5 CRK566BP-N5 CRK566AP-N7.2 CRK566BP-N7.2 CRK566AP-N10 CRK566BP-N10 CRK564AP-N25 CRK564BP-N25 CRK564AP-N36 CRK564BP-N36 CRK564AP-N50 CRK564BP-N50 CRK513PAP-H50 CRK513PBP-H50 CRK513PAP-H100 CRK513PBP-H100 Harmonic Geared Type CRK543AP-H50 CRK543BP-H50 CRK543AP-H100 CRK543BP-H100 CRK564AP-H50 CRK564BP-H50 CRK564AP-H100 CRK564BP-H100 CRD5114P PK566AW-P5 PK566BW-P5 PK566AW-P7.2 PK566BW-P7.2 PK566AW-P10 PK566BW-P10 PK564AW-P25 PK564BW-P25 PK564AW-P36 PK564BW-P36 PK564AW-P50 PK564BW-P50 PK523PA-N5 PK523PB-N5 PK523PA-N7.2 PK523PB-N7.2 PK523PA-N10 PK523PB-N10 PK544AW-N5 PK544BW-N5 PK544AW-N7.2 PK544BW-N7.2 PK544AW-N10 PK544BW-N10 PK566AW-N5 PK566BW-N5 PK566AW-N7.2 PK566BW-N7.2 PK566AW-N10 PK566BW-N10 PK564AW-N25 PK564BW-N25 PK564AW-N36 PK564BW-N36 PK564AW-N50 PK564BW-N50 PK513PA-H50S PK513PB-H50S PK513PA-H100S PK513PB-H100S PK543AW-H50S PK543BW-H50S PK543AW-H100S PK543BW-H100S PK564AW-H50S PK564BW-H50S PK564AW-H100S PK564BW-H100S
CRD5114P
High-Torque Type
CRD5103P
CRD5107P
CRD5103P
CRD5114P
CRD5103P
CRD5107P
TH Geared Type
CRD5107P
CRD5114P
If you are purchasing only a motor for maintenance purpose, etc., motor lead wire/ connector assembly and connector will not be supplied. They must be purchased separately. They are available as accessories. Motor lead wire/connector assembly, motor connector set Page C-255
Stepping Motors
Introduction AS ASC
Controllers
Accessories
Installation
AC Input
DC Input
AC Input
DC Input
C-145
5-Phase RK
5-Phase CRK
2-Phase CMK
2-Phase CSK
Noise [dB]
C-146
Stepping Motors
CMK Series
The CMK Series is a motor and driver package consisting of a 2-phase stepping motor and 24 VDC input micro step driver, allowing for a reduction in the size of your equipment and in vibration.
Features
b Achieving Low Vibration and Noise in the Microstep Drive
The newly designed compact DC board-level driver achieves microstep drive in a compact, lightweight body. The 2-phase stepping motor's basic step angle (1.8/step) is divided by a maximum of 16 resolutions (0.1125/step) without the use of a reduction mechanism or other mechanical elements, which contributes to the reduction in noise and vibration of your equipment.
Microstep/Step 1 2 4 8 16 Resolution 200 400 800 1600 3200 Step Angle 1.8 0.9 0.45 0.225 0.1125
120
480
30
60
150
180
210
Horizontal Installation
Vertical Installation
65 mm
50.5 mm
(based on horizontal installation) (the conventional driver includes a 5 mm spacer for installation.)
P)
Stepping Motors
b Wide Variety
The CMK Series motor and driver package comes in five frame sizes of 28 to 60 mm as well as four motor types.
Type Features The high-torque motor realized higher torque of approx. 1.5 times compared with the conventional standard type motor. 28 mm 35 mm 42 mm 50 mm 56.4/60 mm Driver
High-Torque Type
Introduction
Standard Type
The basic model offering a good balance of torque and low vibration/noise characteristics. High-torque motor offering higher positioning accuracy with the basic step angle set to 0.9/step, which is just half the basic step angle of the standard type motor. These geared types are effective for reduction, increasing torque, higher resolution and suppressing vibration. Eight gear ratios are available.
AC Input DC Input
AS ASC
High-Resolution Type
AC Input
5-Phase RK
SH Geared Type
5-Phase CRK
b High-Torque Type
The high-torque type adopts new technology and design. This motor produces higher torque of approximately 1.5 times the level achieved by a conventional standard type motor.
b High-Resolution Type
The basic step angle is 0.9, which is half that of the standard type. 400 steps per rotation is possible. This motor achieves high resolution, low vibration and improved stopping accuracy.
Stator Rotor Rotor Shaft Stator DC Input
2-Phase CMK
Shaft
CMK244PBP (High-Torque Type)
2-Phase CSK
The small basic step angle allows the torque to pick up quickly while minimizing the negative effect of friction load.
Providing torque equivalent to a motor of the next larger frame size, the high-torque type allows for a reduction in the size of your equipment. 39 39
-1.8 -0.9
0.2
Controllers
56.4
42
High-Resolution Type Standard Type TH1: CMK244AP (Standard Type) TH2: CMK244MAP (High-Resolution Type)
Accessories
-0.2
High-Torque Type
CMK244PAP
0.39 N m
Standard Type
-0.3
CMK264AP
0.36 N m
Installation
The motor also adopts a connector coupling system for easy installation.
RoHS-Compliant
The CMK Series conforms to the RoHS Directive that prohibits the use of six chemical substances including lead and cadmium.
b Details of RoHS Directive Page G-23
Specifications, Characteristics C-150 / Dimensions C-162 / Connection and Operation C-166 / Motor and Driver Combinations C-169
C-147
C-148
Stepping Motors
System Configuration
An example of a system configuration with the SG8030JY controller. Controller (Sold separately) Controller
( Page C-248)
Programmable Controller
(Not supplied)
Flexible Couplings
( Page C-258)
Clean Dampers
( Page C-264)
Motor lead wire/connector assembly of 0.6 m is included with the motor and driver package of connector-coupled type.
No.
Product Name
Controller Motor Mounting Brackets Flexible Couplings Clean Dampers Driver Lead Wire Set Motor Lead Wire/Connector Assembly Motor Connector Set
Overview
This controller outputs pulse commands that determine the rotating amount and rotating speed. Dedicated mounting bracket for the motor. Coupling that connects the motor shaft to the driven shaft. Dedicated damper for suppressing stepping motor vibration. Cables for connecting the driver and motor, DC power supply or host controller (0.6 m). Lead wire with a connector crimped for connector-coupled motors (0.6 m, 1 m). Set of connector housings and contacts for use with connector-coupled motors (for 30 units).
Page
C-248 C-266 C-258 C-264 C-257 C-255 C-255
CMK Series
CMK244PBP
Clean Damper
D4CL-5.0F
bThe system configuration shown above is an example. Other combinations are available.
Stepping Motors
246PA P
Introduction
b SH Geared Type
2 6 4 A P - SG 10
Series 2: 2-Phase Motor Frame Size Motor Case Length Shaft Type Signal I/O Mode Gearhead Type Gear Ratio
CMK: CMK Series 2: 28 mm 4: 42 mm 6: 60 mm A: Single Shaft B: Double Shaft P: Photocoupler SG: SH Geared Type
AS ASC 5-Phase RK
Product Line
b High-Torque Type
Model (Single Shaft) CMK223PAP CMK224PAP CMK225PAP CMK233PAP CMK235PAP CMK244PAP CMK246PAP Model (Double Shaft) CMK223PBP CMK224PBP CMK225PBP CMK233PBP CMK235PBP CMK244PBP CMK246PBP
b SH Geared Type
Model (Single Shaft) CMK223AP-SG7.2 CMK223AP-SG9 CMK223AP-SG10 CMK223AP-SG18 CMK223AP-SG36 CMK243AP-SG3.6 CMK243AP-SG7.2 CMK243AP-SG9 CMK243AP-SG10 CMK243AP-SG18 CMK243AP-SG36 CMK243AP-SG50 CMK243AP-SG100 CMK264AP-SG3.6 CMK264AP-SG7.2 CMK264AP-SG9 CMK264AP-SG10 CMK264AP-SG18 CMK264AP-SG36 CMK264AP-SG50 CMK264AP-SG100 Model (Double Shaft) CMK223BP-SG7.2 CMK223BP-SG9 CMK223BP-SG10 CMK223BP-SG18 CMK223BP-SG36 CMK243BP-SG3.6 CMK243BP-SG7.2 CMK243BP-SG9 CMK243BP-SG10 CMK243BP-SG18 CMK243BP-SG36 CMK243BP-SG50 CMK243BP-SG100 CMK264BP-SG3.6 CMK264BP-SG7.2 CMK264BP-SG9 CMK264BP-SG10 CMK264BP-SG18 CMK264BP-SG36 CMK264BP-SG50 CMK264BP-SG100
5-Phase CRK
DC Input
2-Phase CMK
The following items are included in each product. Motor, Driver, Driver Connector, Motor Lead Wire/Connector Assembly, Operating Manual
2-Phase CSK
b Standard Type
Model (Single Shaft) CMK243AP CMK244AP CMK245AP CMK256AP CMK258AP CMK264AP CMK266AP CMK268AP Model (Double Shaft) CMK243BP CMK244BP CMK245BP CMK256BP CMK258BP CMK264BP CMK266BP CMK268BP
The following items are included in each product. Motor, Driver, Driver Connector, Operating Manual
The following items are included in each product. Motor, Driver, Driver Connector, Motor Lead Wire/Connector Assembly, Mounting Screws for Motor, Operating Manual Only for connector-coupled motor
b High-Resolution Type
Model (Single Shaft) CMK243MAP CMK244MAP CMK245MAP CMK264MAP CMK266MAP CMK268MAP Model (Double Shaft) CMK243MBP CMK244MBP CMK245MBP CMK264MBP CMK266MBP CMK268MBP
Controllers Accessories
The following items are included in each product. Motor, Driver, Driver Connector, Motor Lead Wire/Connector Assembly, Operating Manual
Installation
Specifications, Characteristics C-150 / Dimensions C-162 / Connection and Operation C-166 / Motor and Driver Combinations C-169
C-149
Torque [Nm]
0.05 0.04 0.03 Current [A] 0.02 0.01 0 0 Driver Input Current fs 500 1000 1500 2000 2500 3000 3500 4000 4500 Speed [r/min] 4 (8) 8 (16) Pulse Speed [kHz] 12 (24) Resolution 1 (Resolution 2) 2 1 0
Torque [Nm]
Current [A]
Torque [Nm]
Current [A]
C-150
Stepping Motors
High-Torque Type
Specifications
Model Maximum Holding Torque Rotor Inertia Rated Current Basic Step Angle Power Source Excitation Mode Mass Dimension No. Motor Driver Motor Driver Single Shaft Double Shaft Nm J: kg m2 A/Phase
kg kg
0.11
CMK224PAP CMK224PBP 0.075 12 10-7 0.95 1.8 24 VDC 10% 1.5 A Microstep 0.14 0.05 1 10
0.2
How to read specifications table Page C-10 Motor lead wire/connector assembly of 0.6 m is included with the motor and driver package of connector coupled type.
CMK224PAP/CMK224PBP
0.12 0.10 0.08 0.06 0.04 Driver Input Current 0.02 0 0 fs 500 1000 1500 2000 2500 3000 3500 4000 4500 Speed [r/min] 4 (8) 8 (16) Pulse Speed [kHz] 12 (24) Resolution 1 (Resolution 2) Pullout Torque Power Input: 24 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7kg m2 Resolution 1 1.8/step Resolution 2 0.9/step
2 1 0
0 (0)
0 (0)
CMK225PAP/CMK225PBP
0.14 0.12 0.10 0.08 0.06 0.04 Driver Input Current 1 0 0.02 0 0 fs 500 1000 1500 2000 2500 3000 3500 4000 4500 Speed [r/min] 4 (8) 8 (16) Pulse Speed [kHz] 12 (24) Resolution 1 (Resolution 2) Pullout Torque Power Input: 24 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7kg m2 Resolution 1 1.8/step Resolution 2 0.9/step
0 (0)
b The pulse input circuit responds to approximately 100 kHz with a pulse duty of 50%. Notes: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C. b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 40%.
Stepping Motors
High-Torque Type
Specifications
Model Maximum Holding Torque Rotor Inertia Rated Current Basic Step Angle Power Source Excitation Mode Mass Dimension No. Motor Driver Motor Driver Single Shaft Double Shaft Nm J: kg m2 A/Phase
1.2 1.8 24 VDC 10% 1.7 A Microstep 0.18 2 10 0.285 0.05 AC Input 3 0.3 0.5
kg kg
AS
How to read specifications table Page C-10 Motor lead wire/connector assembly of 0.6 m is included with the motor and driver package of connector coupled type.
DC Input
ASC
CMK235PAP/CMK235PBP
0.30 0.25 Pullout Torque Torque [Nm] 0.20 0.15 0.10 0.05 Driver Input Current 0 0 fs 0 500 2 (4) 1000 1500 Speed [r/min] 4 6 (8) (12) Pulse Speed [kHz] 2000 2500 Resolution 1 (Resolution 2) Power Input: 24 VDC Current: 1.2 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7kg m2 Resolution 1 1.8/step Resolution 2 0.9/step
AC Input
5-Phase RK
Pullout Torque
4 Current [A]
0.10 2 1
5-Phase CRK
0.05
Driver Input Current fs 0 500 2 (4) 1000 1500 Speed [r/min] 4 6 (8) (12) Pulse Speed [kHz] 2000 2500 Resolution 1 (Resolution 2)
0 (0)
Current [A]
0 (0)
DC Input
2-Phase CMK
CMK244PAP/CMK244PBP
0.5 0.4 Torque [Nm] 0.3 Power Input: 24 VDC Current: 1.2 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7kg m2 Resolution 1 1.8/step Resolution 2 0.9/step Pullout Torque
CMK246PAP/CMK246PBP
0.8 Power Input: 24 VDC Current: 1.2 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7kg m2 Resolution 1 1.8/step Resolution 2 0.9/step
2-Phase CSK
Pullout Torque
4 Current [A] 0.2 Driver Input Current 0.1 0 fs 0 500 2 (4) 1000 1500 Speed [r/min] 4 6 (8) (12) Pulse Speed [kHz] 2000 2500 Resolution 1 (Resolution 2)
2 Current [A] 1 0
1500
0 (0)
0 (0)
b The pulse input circuit responds to approximately 100 kHz with a pulse duty of 50%. Notes: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C. b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 40%.
Specifications, Characteristics C-150 / Dimensions C-162 / Connection and Operation C-166 / Motor and Driver Combinations C-169
C-151
Torque [Nm]
0.15 0.10 Current [A] Driver Input Current 2 1 0 0.05 0 fs 500 2 (4)
Torque [Nm]
Current [A]
Torque [Nm]
0.25 0.20 Driver Input Current Current [A] 0.15 0.10 0.05 0 0 fs 500 2 (4) 1000 1500 Speed [r/min] 4 6 (8) (12) Pulse Speed [kHz] 2000 2500 8 Resolution 1 (16) (Resolution 2) 8
Torque [Nm]
Current [A]
Torque [Nm]
Current [A]
C-152
Stepping Motors
Standard Type
Specifications
Model Maximum Holding Torque Rotor Inertia Rated Current Basic Step Angle Power Source Excitation Mode Mass Dimension No. Motor Driver Motor Driver Single Shaft Double Shaft Nm J: kg m2 A/Phase
kg kg
0.21
CMK244AP/CMK244BP
0.35 0.30 0.25 Pullout Torque 0.20 0.15 0.10 0.05 0 0 fs 500 2 (4) 1000 1500 Speed [r/min] 4 6 (8) (12) Pulse Speed [kHz] 2000 2500 8 Resolution 1 (16) (Resolution 2) Driver Input Current Power Input: 24 VDC Current: 1.2 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7kg m2 Resolution 1 1.8/step Resolution 2 0.9/step
2 1 0
2000
0 (0)
0 (0)
CMK245AP/CMK245BP
0.40 0.35 0.30 Pullout Torque Power Input: 24 VDC Current: 1.2 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7kg m2 Resolution 1 1.8/step Resolution 2 0.9/step
CMK256AP/CMK256BP
0.8 Power Input: 24 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7kg m2 Resolution 1 1.8/step Resolution 2 0.9/step 0.6 Pullout Torque
0.4
2 1 0
0.2
1500
0 (0)
0 (0)
CMK258AP/CMK258BP
1.5 1.2 Pullout Torque 0.9 0.6 Driver Input Current 2 0 0.3 0 fs 0 500 2 (4) 1000 Speed [r/min] 4 (8) Pulse Speed [kHz] 1500 2000 6 Resolution 1 (12) (Resolution 2) Power Input: 24 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7kg m2 Resolution 1 1.8/step Resolution 2 0.9/step
0 (0)
b The pulse input circuit responds to approximately 100 kHz with a pulse duty of 50%. Notes: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C. b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 40%.
Stepping Motors
Standard Type
Specifications
Model Maximum Holding Torque Rotor Inertia Rated Current Basic Step Angle Power Source Excitation Mode Mass Dimension No. Motor Driver Motor Driver Single Shaft Double Shaft Nm J: kg m2 A/Phase
kg kg
0.45
CMK266AP CMK266BP 0.82 300 10-7 2 1.8 24 VDC 10% 2.9 A Microstep 0.7 0.05 6 10
1 AC Input
AS
DC Input
ASC
CMK266AP/CMK266BP
1.2 1.0 Torque [Nm] 0.8 Pullout Torque 0.6 0.4 Driver Input Current 2 0 0.2 0 0 fs 500 2 (4) 1000 1500 Speed [r/min] 4 6 (8) (12) Pulse Speed [kHz] 2000 2500 8 Resolution 1 (16) (Resolution 2) Power Input: 24 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7kg m2 Resolution 1 1.8/step Resolution 2 0.9/step
AC Input
5-Phase RK
4 Current [A]
Current [A]
5-Phase CRK
2000
0 (0)
0 (0)
DC Input
2-Phase CMK
CMK268AP/CMK268BP
1.6 1.4 1.2 Torque [Nm] 1.0 0.8 0.6 0.4 0.2 0 0 fs 500 2 (4) 1000 Speed [r/min] 4 (8) Pulse Speed [kHz] 1500 2000 6 Resolution 1 (12) (Resolution 2) Driver Input Current Pullout Torque Power Input: 24 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7kg m2 Resolution 1 1.8/step Resolution 2 0.9/step
2-Phase CSK
Current [A]
4 2 0
0 (0)
b The pulse input circuit responds to approximately 100 kHz with a pulse duty of 50%. Notes: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C. b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 40%.
Specifications, Characteristics C-150 / Dimensions C-162 / Connection and Operation C-166 / Motor and Driver Combinations C-169
C-153
Torque [Nm]
Torque [Nm]
Current [A]
1 0
Current [A]
Torque [Nm]
0.25 0.20 0.15 0.10 0.05 0 Driver Input Current 0 fs 500 5 (10) 1000 1500 Speed [r/min] 10 (20) Pulse Speed [kHz] 2000 2500 15 Resolution 1 (30) (Resolution 2) Current [A] 4 2 0
Torque [Nm]
Current [A]
Torque [Nm]
Torque [Nm]
Current [A]
2 0
0.2 0 fs 0 500 5 (10) 1000 1500 Speed [r/min] 10 (20) Pulse Speed [kHz] 2000 2500 15 Resolution 1 (30) (Resolution 2)
Current [A]
C-154
Stepping Motors
High-Resolution Type
Specifications
Model Maximum Holding Torque Rotor Inertia Rated Current Basic Step Angle Power Source Excitation Mode Mass Dimension No. Motor Driver Motor Driver Single Shaft Double Shaft Nm J: kg m2 A/Phase CMK243MAP CMK243MBP 0.16 35 10-7 0.95 24 VDC 10% 1.5 A kg kg 0.24
0.7 6
CMK244MAP/CMK244MBP
0.35 0.30 0.25 0.20 0.15 0.10 0.05 Driver Input Current 0 0 fs 500 5 (10) 1000 1500 Speed [r/min] 10 (20) Pulse Speed [kHz] 2000 2500 15 Resolution 1 (30) (Resolution 2) Pullout Torque Power Input: 24 VDC Current: 1.2 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7kg m2 Resolution 1 0.9/step Resolution 2 0.45/step
2 1 0
2000
0 (0)
0 (0)
CMK245MAP/CMK245MBP
0.40 0.35 0.30 Pullout Torque Power Input: 24 VDC Current: 1.2 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7kg m2 Resolution 1 0.9/step Resolution 2 0.45/step
CMK264MAP/CMK264MBP
0.5 0.4 Pullout Torque 0.3 0.2 0.1 0 Driver Input Current fs 0 500 5 (10) 1000 1500 Speed [r/min] 10 (20) Pulse Speed [kHz] 2000 2500 15 Resolution 1 (30) (Resolution 2) Power Input: 24 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7kg m2 Resolution 1 0.9/step Resolution 2 0.45/step
2 1 0
0 (0)
0 (0)
CMK266MAP/CMK266MBP
1.2 1.0 0.8 0.6 0.4 Driver Input Current Pullout Torque Power Input: 24 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7kg m2 Resolution 1 0.9/step Resolution 2 0.45/step
CMK268MAP/CMK268MBP
1.6 1.4 1.2 1.0 0.8 0.6 0.4 0.2 Driver Input Current fs 0 0 500 0 (0) Pullout Torque Power Input: 24 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7kg m2 Resolution 1 0.9/step Resolution 2 0.45/step
4 2 0
1500 10 (20)
0 (0)
b The pulse input circuit responds to approximately 100 kHz with a pulse duty of 50%. Notes: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C. b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 40%.
Stepping Motors
SH Geared Type
Specifications
Model Maximum Holding Torque Rotor Inertia Rated Current Basic Step Angle Gear Ratio Permissible Torque Permissible Speed Range Power Source Excitation Mode Mass Dimension No. Motor Driver Motor Driver Single Shaft Double Shaft Nm J: kg m2 A/Phase
CMK223AP-SG7.2 CMK223BP-SG7.2
CMK223AP-SG10 CMK223BP-SG10 9 10-7 0.95 0.18 1: 10 0 180 24 VDC 10% 1.5 A Microstep 0.16 0.05 7 10
0.05 1: 36 0 50 AC Input
AS
kg kg
DC Input
How to read specifications table Page C-10 Motor lead wire/connector assembly of 0.6 m is included with the motor and driver package of connector coupled type. b Backlash value is approximately 1 to 2. Note: b Direction of rotation of the motor and that of the gear output shaft are the same for gear ratios 1:7.2 and 1:36. It is the opposite for 1:9, 1:10 and 1:18 gear ratios.
ASC 5-Phase RK
AC Input
CMK223AP-SG9/CMK223BP-SG9
0.6 0.5 Torque [Nm] 0.4 Permissible Torque 0.3 Power Input: 24 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7kg m2 Resolution 1 0.2/step Resolution 2 0.1/step
5-Phase CRK
DC Input
2-Phase CMK
0.2 Driver Input Current 0.1 0 fs 0 50 2 (4) 100 150 200 Speed [r/min] 250 6 (12) 300 Resolution 1 (Resolution 2)
0.2 Driver Input Current 0.1 0 0 fs 50 2 (4) 100 150 Speed [r/min] 4 (8) Pulse Speed [kHz] 200 6 (12) 250 Resolution 1 (Resolution 2)
0 (0)
0 (0)
2-Phase CSK
CMK223AP-SG10/CMK223BP-SG10
0.6 0.5 Torque [Nm] 0.4 Permissible Torque 0.3 0.2 0.1 0 fs 0 50 2 (4) 100 Speed [r/min] 4 (8) Pulse Speed [kHz] 150 200 6 Resolution 1 (12) (Resolution 2) Power Input: 24 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7kg m2 Resolution 1 0.18/step Resolution 2 0.09/step
CMK223AP-SG18/CMK223BP-SG18
0.6 0.5 Permissible Torque Torque [Nm] 0.4 0.3 0.2 0.1 0 fs 0 20 2 (4) 40 60 80 Speed [r/min] 100 6 (12) 120 Resolution 1 (Resolution 2) Power Input: 24 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7kg m2 Resolution 1 0.1/step Resolution 2 0.05/step
0 (0)
0 (0)
Controllers
CMK223AP-SG36/CMK223BP-SG36
0.6 0.5 Permissible Torque Torque [Nm] 0.4 0.3 0.2 Driver Input Current 0.5 0 0.1 0 fs 0 10 2 (4) 20 30 40 Speed [r/min] 50 6 (12) 60 Resolution 1 (Resolution 2) Power Input: 24 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7kg m2 Resolution 1 0.05/step Resolution 2 0.025/step
Accessories
Installation
0 (0)
b The pulse input circuit responds to approximately 100 kHz with a pulse duty of 50%. Notes: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C. b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 40%.
Specifications, Characteristics C-150 / Dimensions C-162 / Connection and Operation C-166 / Motor and Driver Combinations C-169
C-155
C-156
Stepping Motors
SH Geared Type
Specifications
Model Maximum Holding Torque Rotor Inertia Rated Current Basic Step Angle Gear Ratio Permissible Torque Permissible Speed Range Power Source Excitation Mode Mass Dimension No. Motor Driver Motor Driver Single Shaft Double Shaft Nm J: kg m2 A/Phase Single Shaft Double Shaft Nm J: kg m2 A/Phase
Nm r/min
kg kg
CMK243AP-SG7.2 CMK243AP-SG9 CMK243BP-SG7.2 CMK243BP-SG9 0.4 0.5 35 10-7 0.95 0.25 0.2 1: 7.2 1: 9 0.4 0.5 0 250 0 200 24 VDC 10% 1.5 A Microstep 0.35 0.05 8 10 CMK243AP-SG36 CMK243BP-SG36 0.8 35 10-7 0.95 CMK243AP-SG50 CMK243BP-SG50
Model Maximum Holding Torque Rotor Inertia Rated Current Basic Step Angle Gear Ratio Permissible Torque Permissible Speed Range Power Source Excitation Mode Mass Dimension No.
CMK243AP-SG18 CMK243BP-SG18
CMK243AP-SG100 CMK243BP-SG100
0.036 1: 50 0 36
0.018 1: 100 0 18
kg kg
How to read specifications table Page C-10 b Backlash value is approximately 1 to 2. Note: b Direction of rotation of the motor and that of the gear output shaft are the same for gear ratios 1: 3.6, 1: 7.2, 1: 9, 1: 10, 1: 50 and 1: 100. It is the opposite for 1:18 and 1:36 gear ratios.
Stepping Motors
CMK243AP-SG7.2/CMK243BP-SG7.2
1.0 0.8 Torque [Nm] 0.6 0.4 0.2 0 fs 0 50 2 (4) Driver Input Current 100 150 200 Speed [r/min] 250 6 (12) 300 Resolution 1 (Resolution 2) Permissible Torque Power Input: 24 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7kg m2 Resolution 1 0.25/step Resolution 2 0.125/step
2 Current [A] 1 0
Introduction
0.2 0 fs 100 2 (4) Driver Input Current 200 300 400 Speed [r/min] 500 6 (12) 600 Resolution 1 (Resolution 2)
0 (0)
0 (0)
AC Input
AS
CMK243AP-SG9/CMK243BP-SG9
1.0 0.8 Torque [Nm] 0.6 0.4 Power Input: 24 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7kg m2 Resolution 1 0.2/step Resolution 2 0.1/step
CMK243AP-SG10/CMK243BP-SG10
1.0 0.8 Torque [Nm] 0.6 0.4 Permissible Torque Power Input: 24 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7kg m2 Resolution 1 0.18/step Resolution 2 0.09/step
DC Input
ASC
2 Current [A] 1 0
AC Input
0.2 0
0.2 0 fs 50 2 (4)
5-Phase RK
200 6 (12)
150
0 (0)
0 (0)
5-Phase CRK
CMK243AP-SG18/CMK243BP-SG18
1.0 0.8 Torque [Nm] 0.6 0.4 0.2 0 fs 0 20 2 (4) 40 60 80 Speed [r/min] 100 6 (12) 120 Resolution 1 (Resolution 2) Driver Input Current Power Input: 24 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34107kgm2 Permissible Torque Resolution 1 0.1/step Resolution 2 0.05/step
CMK243AP-SG36/CMK243BP-SG36
1.0 0.8 Torque [Nm] 0.6 0.4 0.2 0 fs 0 10 2 (4) 20 30 40 Speed [r/min] 50 6 (12) 60 Resolution 1 (Resolution 2) Driver Input Current Power Input: 24 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34107kgm2 Permissible Torque Resolution 1 0.05/step Resolution 2 0.025/step
DC Input
2-Phase CMK
2 Current [A] 1 0
2 Current [A] 1 0
2-Phase CSK
0 (0)
0 (0)
CMK243AP-SG50/CMK243BP-SG50
1.0 0.8 Torque [Nm] 3 Current [A] 2 1 0 0.6 0.4 Driver Input Current 0.2 0 fs 0 10 2 (4) 20 30 Speed [r/min] 4 (8) Pulse Speed [kHz] 6 (12) 40 Resolution 1 (Resolution 2) Power Input: 24 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7kg m2 Permissible Torque Resolution 1 0.036/step Resolution 2 0.018/step
CMK243AP-SG100/CMK243BP-SG100
1.0 0.8 Torque [Nm] 3 Current [A] 2 1 0 0.6 0.4 Driver Input Current 0.2 0 fs 0 5 2 (4) 10 15 Speed [r/min] 4 (8) Pulse Speed [kHz] 6 (12) 20 Resolution 1 (Resolution 2) Power Input: 24 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7kg m2 Permissible Torque Resolution 1 0.018/step Resolution 2 0.009/step
0 (0)
0 (0)
Accessories
b The pulse input circuit responds to approximately 100 kHz with a pulse duty of 50%. Notes: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C. b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 40%.
Installation
Specifications, Characteristics C-150 / Dimensions C-162 / Connection and Operation C-166 / Motor and Driver Combinations C-169
C-157
C-158
Stepping Motors
SH Geared Type
Specifications
Model Maximum Holding Torque Rotor Inertia Rated Current Basic Step Angle Gear Ratio Permissible Torque Permissible Speed Range Power Source Excitation Mode Mass Dimension No. Motor Driver Motor Driver Single Shaft Double Shaft Nm J: kg m2 A/Phase Single Shaft Double Shaft Nm J: kg m2 A/Phase
CMK264AP-SG3.6 CMK264BP-SG3.6 1
Nm r/min
kg kg
CMK264AP-SG7.2 CMK264AP-SG9 CMK264BP-SG7.2 CMK264BP-SG9 2 2.5 120 10-7 2 0.25 0.2 1: 7.2 1: 9 2 2.5 0 250 0 200 24 VDC 10% 2.9 A Microstep 0.75 0.05 9 10 CMK264AP-SG36 CMK264BP-SG36 CMK264AP-SG50 CMK264BP-SG50 4
Model Maximum Holding Torque Rotor Inertia Rated Current Basic Step Angle Gear Ratio Permissible Torque Permissible Speed Range Power Source Excitation Mode Mass Dimension No.
CMK264AP-SG18 CMK264BP-SG18 3
CMK264AP-SG100 CMK264BP-SG100
120 10-7 2 0.1 1: 18 3 0 100 0.05 1: 36 0 50 24 VDC 10% 2.9 A Microstep 0.75 0.05 9 10 0.036 1: 50 4 0 36 0.018 1: 100 0 18
Nm r/min
kg kg
How to read specifications table Page C-10 b Backlash value is approximately 1 to 2. Note: b Direction of rotation of the motor and that of the gear output shaft are the same for gear ratios 1:3.6, 1:7.2, 1:9, 1:10, 1:50 and 1:100. It is the opposite for 1:18 and 1:36 gear ratios.
Stepping Motors
CMK264AP-SG7.2/CMK264BP-SG7.2
5 4 Torque [Nm] 6 Current [A] 4 2 0 3 Permissible Torque 2 Power Input: 24 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7kg m2 Resolution 1 0.25/step Resolution 2 0.125/step
8 Current [A]
Introduction
100
250 6 (12)
0 (0)
0 (0)
AC Input
AS
CMK264AP-SG9/CMK264BP-SG9
5 4 Torque [Nm] 6 Current [A] 4 2 0 3 Permissible Torque 2 1 Driver Input Current 0 fs 0 50 2 (4) 100 150 Speed [r/min] 4 (8) Pulse Speed [kHz] 200 6 (12) 250 Resolution 1 (Resolution 2) Power Input: 24 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7kg m2 Resolution 1 0.2/step Resolution 2 0.1/step
CMK264AP-SG10/CMK264BP-SG10
5 4 Torque [Nm] 6 Current [A] 4 2 0 3 Permissible Torque 2 Driver Input Current 1 0 fs 0 50 2 (4) 100 150 Speed [r/min] 4 (8) Pulse Speed [kHz] 6 (12) 200 Resolution 1 (Resolution 2) Power Input: 24 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7kg m2 Resolution 1 0.18/step Resolution 2 0.09/step
DC Input AC Input
ASC 5-Phase RK
0 (0)
0 (0)
5-Phase CRK
CMK264AP-SG18/CMK264BP-SG18
5 4 Torque [Nm] 6 Current [A] 4 2 0 3 2 1 0 fs 20 2 (4) Driver Input Current Permissible Torque Power Input: 24 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7kg m2 Resolution 1 0.1/step Resolution 2 0.05/step
CMK264AP-SG36/CMK264BP-SG36
5 4 Torque [Nm] 3 Current [A] 2 1 0 3 2 Driver Input Current 1 0 fs 10 2 (4) Power Input: 24 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140107kgm2 Permissible Torque Resolution 1 0.05/step Resolution 2 0.025/step
DC Input
40
60 80 Speed [r/min]
100 6 (12)
20
30 40 Speed [r/min]
50 6 (12)
60 Resolution 1 (Resolution 2)
0 (0)
0 (0)
CMK264AP-SG50/CMK264BP-SG50
5 4 Torque [Nm] 3 Current [A] 2 1 0 3 2 1 0 fs 0 10 2 (4) 20 30 Speed [r/min] 4 (8) Pulse Speed [kHz] 6 (12) 40 Resolution 1 (Resolution 2) Power Input: 24 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7kg m2 Permissible Torque Resolution 1 0.036/step Resolution 2 0.018/step
CMK264AP-SG100/CMK264BP-SG100
5 4 Torque [Nm] 3 Current [A] 2 1 0 3 2 Driver Input Current 1 0 fs 0 5 2 (4) 10 15 Speed [r/min] 6 4 (12) (8) Pulse Speed [kHz] 20 25 Resolution 1 (Resolution 2) Power Input: 24 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7kg m2 Permissible Torque Resolution 1 0.018/step Resolution 2 0.009/step
Controllers
0 (0)
0 (0)
Accessories
b The pulse input circuit responds to approximately 100 kHz with a pulse duty of 50%. Notes: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C. b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 40%.
Installation
Specifications, Characteristics C-150 / Dimensions C-162 / Connection and Operation C-166 / Motor and Driver Combinations C-169
C-159
C-160
Stepping Motors
Driver Specifications
Input Mode Photocoupler input Pulse (CW pulse) signal/Rotation direction (CCW pulse) signal: Input resistance 200 , Input current 5 20 mA Photocoupler ON: 3 5.25 V Photocoupler OFF: 0 1 V (Voltage between terminals) All windings off signal/Step angle select signal/Automatic current cutback release signal: Input resistance 3.3 k , Input current 1 mA (5 VDC)/8 mA (24 VDC) Photocoupler ON: 4.5 26.4 V Photocoupler OFF: 0 1 V (Voltage between terminals) Operation command pulse signal (CW direction operation command pulse signal when in 2-pulse input mode) Negative logic pulse input Pulse width: 5 s minimum; Pulse rise/fall: 2 s maximum Pulse duty: 50% and below The motor moves one step when the pulse input is switched from ON to OFF. Maximum input pulse frequency: 100 kHz (When the pulse duty is 50%) Rotation direction signal Photocoupler ON: CW, Photocoupler OFF: CCW CCW direction operation command pulse signal when in 2-pulse input mode Negative logic pulse input Pulse width: 5 s minimum; Pulse rise/fall: 2 s maximum Pulse duty: 50% and below The motor moves one step when the pulse input is switched from ON to OFF. Maximum input pulse frequency: 100 kHz (When the pulse duty is 50%) When in the "photocoupler ON" state, the output current to the motor is cut off and the motor shaft can be rotated manually. When in the "photocoupler OFF" state, the output current to the motor is turned on. When in the "photocoupler ON" state, the motor operates at the basic step angle regardless of the settings of the step angle setting switches. When in the "photocoupler OFF" state, the motor operates at the step angle set by the step angle setting switches. When in the "photocoupler ON" state, the automatic current cutback function will not be activated even after the motor stops. When in the "photocoupler OFF" state, the automatic current cutback function will be activated after the motor stops (after approx. 100 ms). Photocoupler, Open-collector output External use condition: 24 VDC maximum, 10 mA maximum The signal is output every time the excitation sequence returns to the initial stage "0" (Photocoupler: ON). High-torque type, standard type Example) 1.8/step (resolution 1): signal output every 4 pulses 0.45/step (resolution 4): signal output every 16 pulses High-resolution type Example) 0.9/step (resolution 1): signal output every 4 pulses 0.225/step (resolution 4): signal output every 16 pulses SH geared type (gear ratio 1:18) Example) 0.1/step (resolution 1): signal output every 4 pulses 0.025/step (resolution 4): signal output every 16 pulses Automatic current cutback, Step angle select, Pulse input mode switch, All windings off, Excitation timing Natural ventilation
Pulse Signal (CW Pulse Signal) Input Signal Rotation Direction Signal (CCW Pulse Signal)
All Windings Off Signal Step Angle Select Signal Automatic Current Cutback Release Signal Output Mode
Output Signal
General Specifications
Specifications Insulation Class Insulation Resistance Motor Class B (130C) 100 M or more when 500 VDC megger is applied between the windings and the case under normal ambient temperature and humidity. Sufficient to withstand 1.0 kV at 50 Hz or 60 Hz applied between the windings and the case for 1 minute under normal ambient temperature and humidity. (0.5 kV for models with frame size 42 mm or smaller) Ambient Temperature Operating Environment (In Operation) Ambient Humidity Atmosphere Temperature Rise Stop Position Accuracy1 Shaft Runout Radial Play2 Axial Play3 Concentricity Perpendicularity 10 50C (non-freezing) 85% or less (non-condensing) No corrosive gases, dust, water or oil Temperature rise of windings are 80C or less measured by the resistance change method (at rated voltage, at standstill, two phases energized) 3 arc minutes ( 0.05) 0.05 T.I.R. (mm)4 0.025 mm maximum of 5 N 0.075 mm maximum of 10 N 0.075 T.I.R. (mm)4 0.075 T.I.R. (mm)4 0 40C (non-freezing) Driver
Dielectric Strength
1 This value is for full step under no load. (The value changes with the size of the load.) 2 Radial Play: Displacement in shaft position in the radial direction, when a 5 N load is applied in the vertical direction to the tip of the motor's shaft. 3 Axial Play: Displacement in shaft position in the axial direction, when a 10 N load is applied to the motor's shaft in the axial direction. 4 T.I.R. (Total Indicator Reading): The total dial gauge reading when the measurement section is rotated one revolution centered on the reference axis center. Note: b Do not measure insulation resistance or perform the dielectric strength test while the motor and driver are connected.
0.075
0.075 A 0.05
Stepping Motors
Type
High-Torque Type
20 20
25 25
34 34
52 52
Introduction
20
25
34
52 The permissible thrust load shall be no greater than the motor mass. AC Input
AS
Standard Type
CMK256 P CMK258 P CMK264 P CMK266 P CMK268 P CMK243M P CMK244M P CMK245M P CMK264M P CMK266M P CMK268M P CMK223 CMK223 CMK223 CMK223 CMK223 CMK243 CMK243 CMK243 CMK243 CMK243 CMK243 CMK243 CMK243 CMK264 CMK264 CMK264 CMK264 CMK264 CMK264 CMK264 CMK264 P-SG7.2 P-SG9 P-SG10 P-SG18 P-SG36 P-SG3.6 P-SG7.2 P-SG9 P-SG10 P-SG18 P-SG36 P-SG50 P-SG100 P-SG3.6 P-SG7.2 P-SG9 P-SG10 P-SG18 P-SG36 P-SG50 P-SG100
54
67
89
130
54
67
89
130 DC Input
ASC
20
25
34
52
High-Resolution Type
54
67
89
130
AC Input
5-Phase RK
15
17
20
23
10
5-Phase CRK
DC Input
10
15
20
30
15
2-Phase CMK
SH Geared Type
2-Phase CSK
30
40
50
60
70 30
80
100
120
140
160
b Enter A (single shaft) or B (double shaft) in the box ( ) within the model name.
Specifications, Characteristics C-150 / Dimensions C-162 / Connection and Operation C-166 / Motor and Driver Combinations C-169
C-161
L2 Motor Model PK223PA PK223PB PK224PA PK224PB PK225PA PK225PB L1 32 40 51.5 L2 42 50 61.5 Mass (kg) 0.11 0.14 0.2 5
10 1 0 0.012(h7)
15 L1 1.5 10
0.25
0.15
4.5
4.5
Motor lead wire/connector assembly (0.6 m) is included with the package. UL Style 3265, 9.5 AWG24 If you are purchasing only a motor for maintenance purpose, etc., motor lead wire/connector assembly and connector will not be supplied. They must be purchased separately. Page C-255 The length of machining on double shaft model is 10 0.25. b Applicable Connector Connector housing: 51065-0600 (MOLEX) Contact: 50212-8100 (MOLEX) Crimp tool: 57176-5000 (MOLEX)
35 mm
0.15 0 0.012(h7) 0 22 0.033(h8)
Motor lead wire/connector assembly (0.6 m) is included with the package. UL Style 3265, AWG24 If you are purchasing only a motor for maintenance purpose, etc., motor lead wire/connector assembly and connector will not be supplied. They must be purchased separately. Page C-255 b Applicable Connector Connector housing: 51103-0600 (MOLEX) Contact: 50351-8100 (MOLEX) Crimp tool: 57295-5000 (MOLEX)
1.5
6 1
17.5
23 4 M3 4.5 Deep
42 mm
Motor Model PK244PA PK244PB PK246PA PK246PB L1 39 59 L2 54 74 Mass (kg) 5 0.012(h7) 4.5 0.15 0.3 0.5
15 1
Motor lead wire/connector assembly (0.6 m) is included with the package. UL Style 3265, AWG24 If you are purchasing only a motor for maintenance purpose, etc., motor lead wire/connector assembly and connector will not be supplied. They must be purchased separately. Page C-255 b Applicable Connector Connector housing: 51103-0600 (MOLEX) Contact: 50351-8100 (MOLEX) Crimp tool: 57295-5000 (MOLEX)
1.5 9 15
23 4 M3 4.5 Deep
b These dimensions are for double shaft models. For single shaft models, ignore the orange ( ) areas.
C-162
31 0.2 42
L2 L1
20 15
1 0.25
42 31 0.2
4.5
29 0.2 35
L1 37 52
L2 52 67
Mass (kg)
0 0.012(h7)
L2
15 1
20 L1 15
35 29 0.2
0.18 0.285
0.15
0.25
4.5
4.5
23 0.2 28
Stepping Motors
Dimensions
b Motor
High-Torque Type
1
(Unit = mm)
28 mm
28 23 0.2
Stepping Motors
L2 20 L1 15 0.25
42 mm
42 31 0.2 31 0.2 42
4.5
33 48
Introduction
2 6 Motor Leads 300 mm Length UL Style 3265, AWG24 4 M3 4.5 Deep AC Input
39 54
AS
47 62
DC Input
Standard Type
5
ASC
50 mm
Motor Model PK256-02A PK256-02B PK258-02A PK258-02B L1 51.5 81 L2 67.5 97 Mass (kg) 15 0.53 16
0.25 1
0 0.012
6.35 5.8
0.15
L2 L1
20 5 1.5 15
50 41
0.35
5.8
4
0.35
0.25
8 max. 10.1
31 max.
8 max.
41
0.89
50
5-Phase CRK
DC Input
2-Phase CMK
Model CMK264AP CMK264MAP CMK264BP CMK264MBP CMK266AP CMK266MAP CMK266BP CMK266MBP CMK268AP CMK268MAP CMK268BP CMK268MBP
5.8
5 1.6 15
0.15 0 0.012
56.4 mm
L2 L1
20
0.25
6.35
39 55
0.45
0 0.012 0.15
54 70
0.7
6.35 5.8
38.1
76 92
1.0
5-Phase Stepping Motors Controllers Accessories Installation
b These dimensions are for double shaft models. For single shaft models, ignore the orange ( ) areas.
Specifications, Characteristics C-150 / Dimensions C-162 / Connection and Operation C-166 / Motor and Driver Combinations C-169
C-163
b Enter the gear ratio in the box ( ) within the model name.
4.5
Motor lead wire/connector assembly (0.6 m) is included with the package. UL Style 3265, AWG24 If you are purchasing only a motor for maintenance purpose, etc., motor lead wire/connector assembly and connector will not be supplied. They must be purchased separately. Page C-255 b Screws (Included) M2.5 Length 8 mm 4 Pieces 9.5 b Applicable Connector Connector housing: 51065-0600 (MOLEX) Contact: 50212-8100 (MOLEX) The length of machining on double shaft model is 10 0.25. Crimp tool: 57176-5000 (MOLEX)
0
12
0.5
58
20 2
0 0.012(h7)
11
16.5
4 M2.5 4 Deep
42 mm
Motor Model PK243A1-SG PK243B1-SG Gear Ratio 3.6, 7.2, 9, 10, 18, 36, 50, 100 Mass (kg) 0.35 74 59 3 20
1 0 0.012(h7)
b Enter the gear ratio in the box ( ) within the model name. b Screws (Included) M3 Length 10 mm 4 Pieces
15 1
4.5
12
42 31 0.2 18 31 0.2 42
0 0.012(h7)
4.5
0.15
60 mm
Motor Model PK264A2-SG PK264B2-SG Gear Ratio 3.6, 7.2, 9, 10, 18, 36, 50, 100 Mass (kg) 0.75
1 0 0.015(h7)
b Enter the gear ratio in the box ( ) within the model name.
8 10
16 15
0
95 79
32 3
12
0.25
0.5
60 24
70
0.5
56.4
b These dimensions are for double shaft models. For single shaft models, ignore the orange ( ) areas.
C-164
60
23 0.2 28
Stepping Motors
7
SH Geared Type 28 mm
Motor Model PK223PA-SG PK223PB-SG Gear Ratio 7.2, 9, 10, 18, 36 Mass (kg) 0.16
1
28 23 0.2
Stepping Motors
b Driver
10 Driver Model: CMD2109P, CMD2112P, CMD2120P
Mass: 0.05 kg
65 6.8 13 3.5
12
Introduction
17.4 20.55
12
6.5
28.25
32.4 50.5
3.5
27 11.5
33
1 6
AC Input
AS
2 R1.75
DC Input
ASC
b Connector Housing (Included) 51103-0200 (MOLEX) 51103-1200 (MOLEX) 51103-0600 (MOLEX) b Contact (Included) 50351-8100 (MOLEX) Note: b Use the included connector for power supply, signal and motor. When assembling the connectors, use the hand-operated crimp tool [57295-5000 (MOLEX)]. The crimp tool is not included with the package. It must be purchased separately. Driver lead wire set crimped with connector (sold separately) is available. Page C-257
AC Input DC Input
5-Phase RK 5-Phase CRK 2-Phase CMK 2-Phase CSK 2-Phase Stepping Motors 5-Phase Stepping Motors Controllers Accessories Installation
Specifications, Characteristics C-150 / Dimensions C-162 / Connection and Operation C-166 / Motor and Driver Combinations C-169
C-165
C-166
Stepping Motors
v Motor Connector
4 Input/Output Signal
Indication Input/ Pin No. Output 1 Signal Name Function Operation command pulse signal (The motor will rotate in the CW direction when in 2-pulse input mode.)
Rotation direction signal Rotation direction Photocoupler OFF: CCW, signal Photocoupler ON: CW (CCW pulse signal) (The motor will rotate in the CCW direction when in 2-pulse input mode.) Cuts the output current to the motor and allows the motor shafts to be rotated by external force.
2, 3, 4
These switches can be set to the Step angle setting switch desired resolution from the five resolution levels.
The motor will operate at the basic step angle regardless of the settings of the step angle setting switches.
9 10 11
Notes: b Use of any setting other than the combinations listed in the table will automatically set the microstep to "1" and the motor will operate at the basic step angle. b The step angle is calculated by dividing the basic step angle by the number of microstep. The above figures are based on a basic step angle of 1.8. b With the high-resolution type, the basic step angle and resolution are 0.9, 400 (microstep/ step: 1). b The step angle set with the step angle setting switches will become effective when the "Step Angle Select" (CS) signal input is OFF. b Do not change the CS (step angle select) signal input or step angle setting switch while the motor is operating. It may cause the motor to misstep and stop. Change the step angle setting switches, when the "Step Angle Select" signal input is OFF and the "Excitation Timing" signal output is ON.
Stepping Motors
b Connection Diagrams
Controller Vo ( 5 to 24 VDC) CN2 Driver
R1
1 2 3 4 5 6 7 8 9
1 CN3 Blue White Red Black Yellow Green CN1 1 2 24 VDC 10% GND
R1
Introduction
AC Input
AS
Power Supply
Use a power supply that can supply sufficient input current. When power supply capacity is insufficient, a decrease in motor output can cause the following malfunctions: b Motor does not rotate properly at high-speed. b Slow motor startup and stopping
10
2 3 4
DC Input
ASC
5 6
Output Signal
Notes on Wiring
b Use twisted-pair wires of AWG24 to 22 (0.2 to 0.3 mm2) and 2 m or less in length for the signal lines. b Note that as the length of the pulse signal line increases, the maximum transmission frequency decreases. Technical reference Page F-46 b Use wires of AWG22 (0.3 mm2) for power supply lines. When assembling the connectors, use the hand-operated crimp tool or driver lead wire set crimped with connector (sold separately). The crimp tool is not included with the package. It must be purchased separately. b Signal lines should be kept at least 2 cm away from power lines (power supply lines and motor lines). Do not run the signal lines in the same duct as power lines or bundle them together. b If noise generated by the motor cable or power supply cable causes a problem, try shielding the cables or insert ferrite cores. b Incorrect connection of DC power input will lead to driver (circuit) damage. Make sure that the polarity is correct before turning power on.
12
AC Input
5-Phase RK
0V
5-Phase CRK
DC Input
2-Phase CMK
90% 10%
1
2-Phase CSK
CCW Pulse
2 10 s min.
2 s max.
2 s max.
Pulse duty: 50% and below
Driver R1 200
1 The shaded area indicates when the photocoupler diode is ON. The motor moves when the photocoupler state changes from ON to OFF. 2 The minimum interval time when changing rotation direction 10 s is shown as a response time of circuit. This value varies greatly depending on the motor type and load inertia.
Controllers
0V
Pin No. 2, 4
5 20 mA
Accessories Installation
CCW
CW
Specifications, Characteristics C-150 / Dimensions C-162 / Connection and Operation C-166 / Motor and Driver Combinations C-169
C-167
C-168
Stepping Motors
All Windings Off (AWO)/Step Angle Select (CS)/Automatic Current Cutback Release (ACDOFF) Input Signal
Input Circuit and Sample Connection
Controller Open-Collector Output 5 24 VDC Driver Pin No. 5, 7, 9 3.3 k
Pin No.12 0V
10 mA max.
0V
Pin No. 6, 8, 10
8 mA
bThe "Excitation Timing" signal is output to indicate when the motor excitation is in the initial stage (step "0" at power up). bThe "Excitation Timing" signal is output simultaneously with a pulse input each time the excitation sequence returns to step "0." The excitation sequence will complete one cycle for every 7.2 (3.6 for high-resolution type) rotation of the motor output shaft. Microstep/step 1: Signal is output once every 4 pulses. Microstep/step 4: Signal is output once every 16 pulses.
Motor Current
ON
OFF
Release
The shaded area indicates that the motor provides holding torque in proportion to standstill current set by STOP switch.
bSwitching the "All Windings Off" signal from "photocoupler ON" to "photocoupler OFF" does not alter the excitation sequence. When the motor shaft is manually adjusted with the "All Windings Off" signal input, the shaft will shift up to 3.6 (geared type: 3.6/gear ratio) from the position set after the "All Windings Off" signal is released.
CW Pulse
1 23
(Step) 0 1 2 3 0 1 2 3 0 1 2 3
2 1 0
Notes: b When power is turned on, the excitation sequence is reset to step "0" and the "Excitation Timing" signal will be output. b When operating the motor using the "Excitation Timing" signal output, make sure the motor output shaft stops at an integral multiple of 7.2 (3.6 for high-resolution type).
Stepping Motors
b Timing Chart
Motor CW CCW
5 s min.
Power Input 1-Pulse Input Mode Pulse Input Signal Rotation Direction Input Signal 2-Pulse Input Mode
ON OFF ON OFF
300 s min.
Introduction
ON OFF
10 s min.
AC Input
AS
DC Input
ASC
The
1 The minimum switching time to change rotation direction (1-pulse input mode), and switching time to change CW, CCW pulse (2-pulse input mode) 10 s is shown as a response time of circuit. The motor may need more time. 2 Depends on load inertia, load torque and starting frequency. 3 Never input a pulse signal immediately after switching the "All Windings Off" signal to "photocoupler OFF." The motor may not start. 4 Wait at least five seconds before turning on the power again.
AC Input
5-Phase RK
Model names for motor and driver combinations are shown below.
Type Model Motor Model PK223PA PK223PB PK224PA PK224PB PK225PA PK225PB PK233PA PK233PB PK235PA PK235PB PK244PA PK244PB PK246PA PK246PB PK243-01A PK243-01B PK244-01A PK244-01B PK245-01A PK245-01B PK256-02A PK256-02B PK258-02A PK258-02B PK264-02A PK264-02B PK266-02A PK266-02B PK268-02A PK268-02B PK243MA PK243MB PK244MA PK244MB PK245MA PK245MB PK264MA PK264MB PK266MA PK266MB PK268MA PK268MB Driver Model Type Model CMK223AP-SG7.2 CMK223BP-SG7.2 CMK223AP-SG9 CMK223BP-SG9 CMK223AP-SG10 CMK223BP-SG10 CMK223AP-SG18 CMK223BP-SG18 CMK223AP-SG36 CMK223BP-SG36 CMK243AP-SG3.6 CMK243BP-SG3.6 CMK243AP-SG7.2 CMK243BP-SG7.2 CMK243AP-SG9 CMK243BP-SG9 CMK243AP-SG10 CMK243BP-SG10 CMK243AP-SG18 CMK243BP-SG18 CMK243AP-SG36 CMK243BP-SG36 CMK243AP-SG50 CMK243BP-SG50 CMK243AP-SG100 CMK243BP-SG100 CMK264AP-SG3.6 CMK264BP-SG3.6 CMK264AP-SG7.2 CMK264BP-SG7.2 CMK264AP-SG9 CMK264BP-SG9 CMK264AP-SG10 CMK264BP-SG10 CMK264AP-SG18 CMK264BP-SG18 CMK264AP-SG36 CMK264BP-SG36 CMK264AP-SG50 CMK264BP-SG50 CMK264AP-SG100 CMK264BP-SG100 Motor Model PK223PA-SG7.2 PK223PB-SG7.2 PK223PA-SG9 PK223PB-SG9 PK223PA-SG10 PK223PB-SG10 PK223PA-SG18 PK223PB-SG18 PK223PA-SG36 PK223PB-SG36 PK243A1-SG3.6 PK243B1-SG3.6 PK243A1-SG7.2 PK243B1-SG7.2 PK243A1-SG9 PK243B1-SG9 PK243A1-SG10 PK243B1-SG10 PK243A1-SG18 PK243B1-SG18 PK243A1-SG36 PK243B1-SG36 PK243A1-SG50 PK243B1-SG50 PK243A1-SG100 PK243B1-SG100 PK264A2-SG3.6 PK264B2-SG3.6 PK264A2-SG7.2 PK264B2-SG7.2 PK264A2-SG9 PK264B2-SG9 PK264A2-SG10 PK264B2-SG10 PK264A2-SG18 PK264B2-SG18 PK264A2-SG36 PK264B2-SG36 PK264A2-SG50 PK264B2-SG50 PK264A2-SG100 PK264B2-SG100 Driver Model CMK223PAP CMK223PBP CMK224PAP CMK224PBP CMK225PAP CMK225PBP CMK233PAP High-Torque Type CMK233PBP CMK235PAP CMK235PBP CMK244PAP CMK244PBP CMK246PAP CMK246PBP CMK243AP CMK243BP CMK244AP CMK244BP CMK245AP CMK245BP CMK256AP CMK256BP Standard Type CMK258AP CMK258BP CMK264AP CMK264BP CMK266AP CMK266BP CMK268AP CMK268BP CMK243MAP CMK243MBP CMK244MAP CMK244MBP CMK245MAP CMK245MBP High-Resolution Type CMK264MAP CMK264MBP CMK266MAP CMK266MBP CMK268MAP CMK268MBP
DC Input
CMD2109P
CMD2112P
CMD2109P
2-Phase Stepping Motors
CMD2109P
CMD2120P
Controllers
CMD2109P
Accessories
CMD2112P
CMD2120P
Installation
CMD2120P
If you are purchasing only a motor for maintenance purpose, etc., motor lead wire/ connector assembly and connector will not be supplied. They must be purchased separately. Accessory motor lead wire/connector assembly and motor connector set are available. Page C-255
Specifications, Characteristics C-150 / Dimensions C-162 / Connection and Operation C-166 / Motor and Driver Combinations C-169
C-169
C-170
Stepping Motors
CSK Series
The 2-phase stepping motor CSK Series offers a wide range of motor variations. Optimal motor size and specification can be selected according to your needs.
Features
b Wide Variety of Motors
In addition to the standard type, we offer high-resolution type, and SH geared type.
Standard Type
High-Resolution Type
42 mm
42 mm
0.9
56.4 mm
400 pulses/rotation
SH Geared Type
42 mm
RoHS-Compliant
The CSK Series conforms to the RoHS Directive that prohibits the use of six chemical substances including lead and cadmium.
b Details of RoHS Directive Page G-23
Stepping Motors
System Configuration
An example of a system configuration with the SG8030JY controller. Controller (Sold separately) Controller
( Page C-248)
Introduction
Programmable Controller
AC Input (Not supplied)
AS
DC Input
ASC
AC Input DC Input
2-Phase CSK
Flexible Couplings
( Page C-258)
Clean Dampers
( Page C-264)
No.
Product Name
Controller Motor Mounting Brackets Flexible Couplings Clean Dampers
Overview
This controller outputs pulse commands that determine the rotating amount and rotating speed. Dedicated mounting bracket for the motor. Coupling that connects the motor shaft to the driven shaft. Dedicated damper for suppressing stepping motor vibration.
Page
C-248 C-266 C-258 C-264
5-Phase Stepping Motors Controllers
CSK Series
CSK266-BT
Motor Mounting Flexible Clean Damper Bracket Coupling SG8030JY-U PAL2P-2 MCS2006F04 D6CL-6.3F Controller
Accessories
bThe system configuration shown above is an example. Other combinations are available.
Installation
Specifications, Characteristics C-174 / Dimensions C-181 / Connection and Operation C-182 / Motor and Driver Combinations C-186
C-171
C-172
Stepping Motors
CSK 2 6 6 - A T
Series 2: 2-Phase Motor Frame Size Motor Case Length Shaft Type T: Terminal Blocks CSK: CSK Series 4: 42 mm 6: 56.4 mm A: Single Shaft B: Double Shaft
b High-Resolution Type
CSK 2 6 6 M A T
Series 2: 2-Phase Motor Frame Size Motor Case Length Motor Type Shaft Type T: Terminal Blocks CSK: CSK Series 4: 42 mm 6: 56.4 mm M: High-Resolution Type A: Single Shaft B: Double Shaft
b SH Geared Type
CSK 2 6 4 A T - SG 10
Series 2: 2-Phase Motor Frame Size Motor Case Length Shaft Type T: Terminal Blocks Gearhead Type Gear Ratio CSK: CSK Series 4: 42 mm 6: 60 mm A: Single Shaft B: Double Shaft SG: SH Geared Type
Stepping Motors
Product Line
b Standard Type
Model (Single Shaft) CSK243-AT CSK244-AT CSK245-AT CSK264-AT CSK266-AT CSK268-AT Model (Double Shaft) CSK243-BT CSK244-BT CSK245-BT CSK264-BT CSK266-BT CSK268-BT
The following items are included in each product. Motor, Driver, Operating Manual
Introduction
b High-Resolution Type
Model (Single Shaft) CSK243MAT CSK244MAT CSK245MAT CSK264MAT CSK266MAT CSK268MAT Model (Double Shaft) CSK243MBT CSK244MBT CSK245MBT CSK264MBT CSK266MBT CSK268MBT AC Input
AS
The following items are included in each product. Motor, Driver, Operating Manual
DC Input
ASC
b SH Geared Type
Model (Single Shaft) CSK243AT-SG3.6 CSK243AT-SG7.2 CSK243AT-SG9 CSK243AT-SG10 CSK243AT-SG18 CSK243AT-SG36 CSK264AT-SG3.6 CSK264AT-SG7.2 CSK264AT-SG9 CSK264AT-SG10 CSK264AT-SG18 CSK264AT-SG36 Model (Double Shaft) CSK243BT-SG3.6 CSK243BT-SG7.2 CSK243BT-SG9 CSK243BT-SG10 CSK243BT-SG18 CSK243BT-SG36 CSK264BT-SG3.6 CSK264BT-SG7.2 CSK264BT-SG9 CSK264BT-SG10 CSK264BT-SG18 CSK264BT-SG36
AC Input
The following items are included in each product. Motor, Driver, Mounting Screws for Motor, Operating Manual
DC Input
2-Phase CMK 2-Phase CSK 2-Phase Stepping Motors 5-Phase Stepping Motors Controllers Accessories Installation
Specifications, Characteristics C-174 / Dimensions C-181 / Connection and Operation C-182 / Motor and Driver Combinations C-186
C-173
Torque [N m]
Torque [N m]
Torque [N m]
Current [A]
2 1 0
0.10
Current [A]
Current [A]
Torque [N m]
Torque [N m]
Torque [N m]
Current [A]
Current [A]
4 2 0
Current [A]
C-174
Stepping Motors
Standard Type
Specifications
Model Maximum Holding Torque Rotor Inertia Rated Current Basic Step Angle Power Source Excitation Mode Mass Dimension No. Motor Driver Motor Driver kg kg Single Shaft Double Shaft Nm J: kg m2 A/Phase
CSK243-AT CSK243-BT 0.16 35 10-7 0.95 24 VDC 10% 1.4 A 36 VDC 10% 1.4 A 0.21
CSK266-AT CSK266-BT 0.9 300 10-7 2 24 VDC 10% 2.8 A 36 VDC 10% 2.8 A 0.7 2
24 VDC 10% 1.6 A 36 VDC 10% 1.6 A 0.27 1 5 Full step: 1.8/step / Half step: 0.9/step 0.35 0.45 0.13
1.0
CSK244-AT/CSK244-BT
0.35 0.30 0.25 4 3 0.20 0.15 Pullout Torque Power Input: 24 VDC Current: 1.2 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7 kg m2 Full Step 1.8/step Half Step 0.9/step
CSK245-AT/CSK245-BT
0.40 0.35 0.30 0.25 0.20 0.15 0.10 0.05 0 fs 500 2 (4) 1000 1500 Speed [r/min] 4 6 (8) (12) Pulse Speed [kHz] 2000 2500 8 Full Step (16) (Half Step) Pullout Torque Power Input: 24 VDC Current: 1.2 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7 kg m2 Full Step 1.8/step Half Step 0.9/step
4 3 2 1 0
2000
0 (0)
0 (0)
0 (0)
CSK264-AT/CSK264-BT
0.5 0.4 6 4 0.3 Pullout Torque 0.2 Power Input: 24 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7 kg m2 Full Step 1.8/step Half Step 0.9/step
CSK266-AT/CSK266-BT
1.2 1.0 0.8 0.6 Pullout Torque Power Input: 24 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7 kg m2 Full Step 1.8/step Half Step 0.9/step
CSK268-AT/CSK268-BT
1.6 1.4 1.2 1.0 0.8 0.6 0.4 0.2 0 fs 500 2 (4) 1000 Speed [r/min] 4 (8) Pulse Speed [kHz] 1500 2000 6 Full Step (12) (Half Step) Pullout Torque Power Input: 24 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7 kg m2 Full Step 1.8/step Half Step 0.9/step
8 6 4 2 0
0 (0)
0 (0)
0 (0)
b The pulse input circuit responds to approximately 10 kHz with a pulse duty of 50%. Notes: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C. b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 40%.
Stepping Motors
b 36 VDC
CSK243-AT/CSK243-BT
0.25 0.20 Torque [N m] 3 Current [A] 2 1 0 0.15 0.10 Power Input: 36 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7 kg m2 Full Step 1.8/step Half Step 0.9/step Torque [N m]
CSK244-AT/CSK244-BT
0.35 0.30 0.25 Power Input: 36 VDC Current: 1.2 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7 kg m2 Full Step 1.8/step Half Step 0.9/step
CSK245-AT/CSK245-BT
0.40 0.35 0.30 Torque [N m] 0.25 0.20 0.15 0.10 0.05 0 fs 500 2 (4) 1000 1500 Speed [r/min] 4 6 (8) (12) Pulse Speed [kHz] 2000 2500 8 Full Step (16) (Half Step) Pullout Torque Power Input: 36 VDC Current: 1.2 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7 kg m2 Full Step 1.8/step Half Step 0.9/step
4 3 2 1 0
Introduction
2000
0 (0)
0 (0)
0 (0)
AC Input
CSK264-AT/CSK264-BT
0.5 0.4 Torque [N m] 6 Current [A] 4 2 0 0.3 0.2 0.1 0 fs 500 2 (4) 1000 1500 Speed [r/min] 4 6 (8) (12) Pulse Speed [kHz] 2000 2500 8 Full Step (16) (Half Step) Power Input: 36 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7 kg m2 Full Step 1.8/step Half Step 0.9/step
CSK266-AT/CSK266-BT
1.2 1.0 Torque [N m] 0.8 0.6 0.4 Pullout Torque Power Input: 36 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7 kg m2 Full Step 1.8/step Half Step 0.9/step
CSK268-AT/CSK268-BT
1.6 1.4 1.2 Power Input: 36 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7 kg m2 Full Step 1.8/step Half Step 0.9/step
AS
DC Input
Torque [N m]
ASC
8 Current [A] 6 4 2 0
AC Input
2000
5-Phase RK
0 (0)
0 (0)
0 (0)
b The pulse input circuit responds to approximately 10 kHz with a pulse duty of 50%. Notes: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C. b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 40%.
5-Phase CRK
DC Input
2-Phase CMK 2-Phase CSK 2-Phase Stepping Motors 5-Phase Stepping Motors Controllers Accessories Installation
Specifications, Characteristics C-174 / Dimensions C-181 / Connection and Operation C-182 / Motor and Driver Combinations C-186
C-175
Torque [N m]
Torque [N m]
Torque [N m]
Current [A]
Pullout Torque
2 1 0
0.10 0.05 Driver Input Current 0 fs 500 5 (10) 1000 1500 Speed [r/min] 10 (20) Pulse Speed [kHz] 2000 15 (30) 2500 Full Step (Half Step)
Current [A]
2 1 0
0.10 0.05 0 fs
Current [A]
Torque [N m]
Torque [N m]
Torque [N m]
Current [A]
Current [A]
4 2 0
0.4 0.2 Driver Input Current 0 fs 500 5 (10) 1000 1500 Speed [r/min] 10 (20) Pulse Speed [kHz] 2000 15 (30) 2500 Full Step (Half Step)
Current [A]
C-176
Stepping Motors
High-Resolution Type
Specifications
Model Maximum Holding Torque Rotor Inertia Rated Current Basic Step Angle Power Source Excitation Mode Mass Dimension No. Motor Driver Motor Driver kg kg 0.24 Single Shaft Double Shaft Nm J: kg m2 A/Phase CSK243MAT CSK243MBT 0.16 35 10-7 0.95 24 VDC 10% 1.4 A 36 VDC 10% 1.4 A
CSK266MAT CSK266MBT 0.9 300 10-7 2 24 VDC 10% 2.8 A 36 VDC 10% 2.8 A 0.7 2
24 VDC 10% 1.6 A 36 VDC 10% 1.6 A 0.3 1 5 Full step: 0.9/step / Half step: 0.45/step 0.37 0.45 0.13
1.0
CSK244MAT/CSK244MBT
0.35 0.30 0.25 4 3 0.20 0.15 Pullout Torque Power Input: 24 VDC Current: 1.2 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7 kg m2 Full Step 0.9/step Half Step 0.45/step
CSK245MAT/CSK245MBT
0.40 0.35 0.30 0.25 0.20 0.15 0.10 0.05 Pullout Torque Power Input: 24 VDC Current: 1.2 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7 kg m2 Full Step 0.9/step Half Step 0.45/step
4 3 2 1 0
500 5 (10)
2000 15 (30)
0 fs
500 5 (10)
2000 15 (30)
0 (0)
0 (0)
0 (0)
CSK264MAT/CSK264MBT
0.5 0.4 6 4 2 0 0.3 0.2 0.1 0 fs 500 5 (10) 1000 1500 Speed [r/min] 10 (20) Pulse Speed [kHz] 2000 15 (30) 2500 Full Step (Half Step) Pullout Torque Power Input: 24 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7 kg m2 Full Step 0.9/step Half Step 0.45/step
CSK266MAT/CSK266MBT
1.2 1.0 0.8 0.6 Pullout Torque Power Input: 24 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7 kg m2 Full Step 0.9/step Half Step 0.45/step
CSK268MAT/CSK268MBT
1.6 1.4 1.2 1.0 0.8 0.6 0.4 0.2 Driver Input Current 0 fs 500 0 (0) Pullout Torque
Power Input: 24 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7 kg m2 Full Step 0.9/step Half Step 0.45/step
8 6 4 2 0
1500 10 (20)
0 (0)
0 (0)
b The pulse input circuit responds to approximately 10 kHz with a pulse duty of 50%. Notes: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C. b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 40%.
Stepping Motors
b 36 VDC
CSK243MAT/CSK243MBT
0.25 0.20 Torque [N m] 3 Current [A] 2 1 0 0.15 Pullout Torque 0.10 0.05 0 fs 500 5 (10) 1000 1500 Speed [r/min] 10 (20) Pulse Speed [kHz] 2000 15 (30) 2500 Full Step (Half Step) Current [A] Power Input: 36 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7 kg m2 Full Step 0.9/step Half Step 0.45/step Torque [N m]
CSK244MAT/CSK244MBT
0.35 0.30 0.25 Power Input: 36 VDC Current: 1.2 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7 kg m2 Full Step 0.9/step Half Step 0.45/step
CSK245MAT/CSK245MBT
0.40 0.35 0.30 Torque [N m] 0.25 0.20 0.15 0.10 Pullout Torque Power Input: 36 VDC Current: 1.2 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7 kg m2 Full Step 0.9/step Half Step 0.45/step
4 3 2 1 0
0.20 4 0.15 0.10 0.05 0 fs 500 5 (10) 1000 1500 Speed [r/min] 10 (20) Pulse Speed [kHz] 2000 15 (30) 2500 Full Step (Half Step) Current [A] Pullout Torque 3 2 1 0
Introduction
0.05 0 fs 500
0 (0)
0 (0)
0 (0)
AC Input
CSK264MAT/CSK264MBT
0.5 0.4 Torque [N m] 6 Current [A] 4 2 0 0.3 Pullout Torque Power Input: 36 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7 kg m2 Full Step 0.9/step Half Step 0.45/step
CSK266MAT/CSK266MBT
1.2 1.0 Torque [N m] 0.8 0.6 0.4 0.2 Driver Input Current 0 fs 500 5 (10) 1000 1500 Speed [r/min] 10 (20) Pulse Speed [kHz] 2000 15 (30) 2500 Full Step (Half Step) Pullout Torque Power Input: 36 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7 kg m2 Full Step 0.9/step Half Step 0.45/step
CSK268MAT/CSK268MBT
1.6 1.4 1.2 Power Input: 36 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7 kg m2 Full Step 0.9/step Half Step 0.45/step
AS
DC Input
Torque [N m]
1.0 0.8 0.6 0.4 Driver Input Current 0.2 0 fs Pullout Torque
ASC
6 Current [A] 4 2 0
4 Current [A] 3 2 1 0
0.2 0.1 0 fs 500 5 (10) 1000 1500 Speed [r/min] 10 (20) Pulse Speed [kHz] 2000 15 (30) 2500 Full Step (Half Step)
AC Input
500
1500 10 (20)
5-Phase RK
0 (0)
0 (0)
0 (0)
b The pulse input circuit responds to approximately 10 kHz with a pulse duty of 50%. Notes: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C. b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 40%.
5-Phase CRK
DC Input
2-Phase CMK 2-Phase CSK 2-Phase Stepping Motors 5-Phase Stepping Motors Controllers Accessories Installation
Specifications, Characteristics C-174 / Dimensions C-181 / Connection and Operation C-182 / Motor and Driver Combinations C-186
C-177
Torque [N m]
3 Current [A] 2 1 0
Torque [N m]
0.6 Current [A] 0.4 0.2 0 Permissible Torque fs 100 2 (4) Driver Input Current 200 300 400 Speed [r/min] 500 6 (12) 600 Full Step (Half Step)
3 2 1 0
0.6 0.4 0.2 0 fs 100 Speed [r/min] 0 (0) 2 (4) 4 (8) Pulse Speed [kHz] 6 (12) Full Step (Half Step) 200 300 Current [A] Permissible Torque
Torque [N m]
Torque [N m]
Torque [N m]
3 Current [A] 2 1 0
3 Current [A] 2 1 0
Torque [N m]
C-178
Stepping Motors
SH Geared Type
Specifications
Model Maximum Holding Torque Rotor Inertia Rated Current Basic Step Angle Gear Ratio Permissible Torque Permissible Speed Range Power Source Excitation Mode Mass Dimension No. Single Shaft Double Shaft
CSK243AT-SG3.6 CSK243AT-SG7.2 CSK243AT-SG9 CSK243AT-SG10 CSK243AT-SG18 CSK243AT-SG36 CSK243BT-SG3.6 CSK243BT-SG7.2 CSK243BT-SG9 CSK243BT-SG10 CSK243BT-SG18 CSK243BT-SG36 Nm 0.2 0.4 0.5 0.56 0.8 35 10-7 J: kg m2 A/Phase 0.95 0.5 0.25 0.2 0.18 0.1 0.05 1: 3.6 1: 7.2 1: 9 1: 10 1: 18 1: 36 Nm 0.2 0.4 0.5 0.56 0.8 r/min 0 500 0 250 0 200 0 180 0 100 0 50 24 VDC 10% 1.4 A, 36 VDC 10% 1.4 A Full Step 0.5/step 0.25/step 0.2/step 0.18/step 0.1/step 0.05/step Half Step 0.25/step 0.125/step 0.1/step 0.09/step 0.05/step 0.025/step Motor kg 0.35 Driver kg 0.13 3 Motor 5 Driver
How to read specifications table Page C-10 b Backlash value is approximately 1 to 2. Note: b Direction of rotation of the motor and that of the gear output shaft are the same for gear ratios 1:3.6, 1:7.2, 1:9 and 1:10. It is the opposite for 1:18 and 1:36 gear ratios.
CSK243AT-SG7.2/CSK243BT-SG7.2
Power Input: 24/36 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7 kg m2 24 VDC 36 VDC Full Step 0.25/step Half Step 0.125/step
CSK243AT-SG9/CSK243BT-SG9
1.0 0.8 3 2 1 0 0.6 0.4 0.2 0 fs 100 Speed [r/min] 2 (4) 4 (8) Pulse Speed [kHz] 200 6 (12) Full Step (Half Step) Driver Input Current Power Input: 24/36 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7 kg m2 24 VDC 36 VDC Full Step 0.2/step Half Step 0.1/step
Permissible Torque
0 (0)
0 (0)
CSK243AT-SG10/CSK243BT-SG10
1.0 0.8 Permissible Torque Power Input: 24/36 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7 kg m2 24 VDC 36 VDC Full Step 0.18/step Half Step 0.09/step
CSK243AT-SG18/CSK243BT-SG18
1.0 0.8 Power Input: 24/36 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7 kg m2 24 VDC 36 VDC Permissible Torque Full Step 0.1/step Half Step 0.05/step
CSK243AT-SG36/CSK243BT-SG36
1.0 0.8 3 2 1 0 0.6 0.4 0.2 0 fs 10 2 (4) 20 30 40 Speed [r/min] 4 (8) Pulse Speed [kHz] 50 6 (12) 60 Full Step (Half Step) Driver Input Current Power Input: 24/36 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7 kg m2 24 VDC 36 VDC Permissible Torque Full Step 0.05/step Half Step 0.025/step
150 6 (12)
100 6 (12)
0 (0)
0 (0)
0 (0)
b The pulse input circuit responds to approximately 10 kHz with a pulse duty of 50%. Notes: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C. b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 40%.
Stepping Motors
SH Geared Type
Specifications
Model Maximum Holding Torque Rotor Inertia Rated Current Basic Step Angle Gear Ratio Permissible Torque Permissible Speed Range Power Source Excitation Mode Mass Dimension No. Single Shaft Double Shaft
CSK264AT-SG3.6 CSK264AT-SG7.2 CSK264AT-SG9 CSK264AT-SG10 CSK264AT-SG18 CSK264AT-SG36 CSK264BT-SG3.6 CSK264BT-SG7.2 CSK264BT-SG9 CSK264BT-SG10 CSK264BT-SG18 CSK264BT-SG36 Nm 1 2 2.5 2.7 3 4 120 10-7 J: kg m2 A/Phase 2 0.5 0.25 0.2 0.18 0.1 0.05 1: 3.6 1: 7.2 1: 9 1: 10 1: 18 1: 36 Nm 1 2 2.5 2.7 3 4 r/min 0 500 0 250 0 200 0 180 0 100 0 50 24 VDC 10% 2.8 A, 36 VDC 10% 2.8 A Full Step 0.5/step 0.25/step 0.2/step 0.18/step 0.1/step 0.05/step Half Step 0.25/step 0.125/step 0.1/step 0.09/step 0.05/step 0.025/step Motor kg 0.75 Driver kg 0.13 4 Motor 5 Driver
Introduction
AC Input DC Input
AS ASC
How to read specifications table Page C-10 b Backlash value is approximately 1 to 2. Note: b Direction of rotation of the motor and that of the gear output shaft are the same for gear ratios 1:3.6, 1:7.2, 1:9 and 1:10. It is the opposite for 1:18 and 1:36 gear ratios.
AC Input
5-Phase RK
CSK264AT-SG7.2/CSK264BT-SG7.2
Power Input: 24/36 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7 kg m2 24 VDC 36 VDC Full Step 0.25/step Half Step 0.125/step
CSK264AT-SG9/CSK264BT-SG9
5 4 Torque [N m] 6 Current [A] 3 2 Power Input: 24/36 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7 kg m2
5-Phase CRK
24 VDC 36 VDC
Permissible Torque
8 Current [A] 4 0
4 2 0
DC Input
2-Phase CMK
Driver Input Current 1 0 fs 50 2 (4) 100 150 Speed [r/min] 4 (8) Pulse Speed [kHz] 200 6 (12) 250 Full Step (Half Step)
fs 50 2 (4) 100 150 200 Speed [r/min] 250 6 (12) 300 Full Step (Half Step)
0 (0)
0 (0)
0 (0)
2-Phase CSK
CSK264AT-SG10/CSK264BT-SG10
5 4 Torque [N m] Power Input: 24/36 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7 kg m2 24 VDC 36 VDC Full Step 0.18/step Half Step 0.09/step
CSK264AT-SG18/CSK264BT-SG18
5 4 Torque [N m] Power Input: 24/36 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7 kg m2 24 VDC 36 VDC Permissible Torque 3 2 1 0 fs 25 2 (4) 50 75 Speed [r/min] 4 (8) Pulse Speed [kHz] 100 6 (12) 125 Full Step (Half Step) Driver Input Current Full Step 0.1/step Half Step 0.05/step
CSK264AT-SG36/CSK264BT-SG36
5 4 Permissible Torque 3 Current [A] 2 1 0 Torque [N m] 3 2 1 Power Input: 24/36 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7 kg m2 24 VDC 36 VDC Full Step 0.05/step Half Step 0.025/step
6 4 Current [A] 2 0
3 2
6 4 2 0
Driver Input Current 1 0 fs 50 2 (4) 100 150 Speed [r/min] 4 (8) Pulse Speed [kHz] 6 (12) 200 Full Step (Half Step)
0 (0)
0 (0)
0 (0)
Controllers
b The pulse input circuit responds to approximately 10 kHz with a pulse duty of 50%. Notes: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C. b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 40%.
Accessories Installation
Specifications, Characteristics C-174 / Dimensions C-181 / Connection and Operation C-182 / Motor and Driver Combinations C-186
C-179
C-180
Stepping Motors
Driver Specifications
Driver Model Input Mode CSD2109-T CSD2112-T Photocoupler input, Input resistance 220 , Input current 10 20 mA Photocoupler ON: 4 5 V, Photocoupler OFF: 0 1 V (Voltage between terminals) CSD2120-T
Pulse Signal (CW Pulse Signal) Input Signal Rotation Direction Signal (CCW Signal) All Windings Off Signal Output Mode
Operation command pulse signal (CW direction operation command pulse signal when in 2-pulse input mode) Negative logic pulse input Pulse width 5 s minimum, Pulse rise/fall 2 s maximum Pulse duty 50% and below The motor moves one step when the pulse input is switched from ON to OFF. Maximum input pulse frequency 10 kHz (When the pulse duty is 50%) Rotation direction signal Photocoupler ON: CW, Photocoupler OFF: CCW CCW direction operation command pulse signal when in 2-pulse input mode Negative logic pulse input Pulse width, 5 s minimum, Pulse rise/fall 2 s maximum Pulse duty 50% and below The motor moves one step when the pulse input is switched from ON to OFF. Maximum input pulse frequency 10 kHz (When the pulse duty is 50%) When in the "photocoupler ON" state, the output current to the motor is cut off and the motor shaft can be rotated manually. When in the "photocoupler OFF" state, the output current to the motor is turned on. Photocoupler, Open-collector output External use condition: 24 VDC maximum, 10 mA maximum The signal is output every time the excitation sequence returns to the initial stage "0" (Photocoupler: ON). Standard type 1.8/step (full step): signal output every 4 pulses 0.9/step (half step): signal output every 8 pulses High-resolution type 0.9/step (full step): signal output every 4 pulses 0.45/step (half step): signal output every 8 pulses SH geared type (gear ratio 1:18) 0.1/step (full step): signal output every 4 pulses 0.05/step (half step): signal output every 8 pulses Automatic current cutback, Setting current monitor output, Step angle select, Pulse input mode switch, Power supply voltage select Natural ventilation
Output Signal
General Specifications
Specifications Insulation Class Insulation Resistance Motor Class B (130C) 100 M or more when 500 VDC megger is applied between the windings and the case under normal ambient temperature and humidity. Sufficient to withstand 1.0 kV at 50 Hz or 60 Hz applied between the windings and the case for 1 minute under normal ambient temperature and humidity. (0.5 kV for models with frame size 42 mm) Ambient Temperature Ambient Humidity Atmosphere 10 50C (non-freezing) 85% or less (non-condensing) No corrosive gases, dust, water or oil 0 40C (non-freezing) Driver
Dielectric Strength
Temperature Rise Stop Position Accuracy1 Shaft Runout Radial Play2 Axial Play3 Concentricity Perpendicularity
Temperature rise of windings are 80C or less measured by the resistance change method (at rated voltage, at standstill, two phases energized) 3 arc minutes ( 0.05) 0.05 T.I.R. (mm)4 0.025 mm maximum of 5 N 0.075 mm maximum of 10 N 0.075 T.I.R. (mm)4 0.075 T.I.R. (mm)4
0.075 A 0.05
1 This value is for full step under no load. (The value changes with the size of the load.) 2 Radial Play: Displacement in shaft position in the radial direction, when a 5 N load is applied in the vertical direction to the tip of the motor's shaft. 3 Axial Play: Displacement in shaft position in the axial direction, when a 10 N load is applied to the motor's shaft in the axial direction. 4 T.I.R. (Total Indicator Reading): The total dial gauge reading when the measurement section is rotated one revolution centered on the reference axis center. Note: b Do not measure insulation resistance or perform the dielectric strength test while the motor and driver are connected.
0.075
Unit = N
Standard Type
54
67
89
130 The permissible thrust load shall be no greater than the motor mass.
20
25
34
52
High-Resolution Type
54
67
89
130
10 30 80
15 40 100
20 50 120
30 60 140 70 160
15 30
b Enter A (single shaft) or B (double shaft) in the box ( ) within the model name. Enter the gear ratio in the box ( ) within the model name.
Stepping Motors
Dimensions
1
(Unit = mm)
Model CSK243-AT CSK243MAT CSK243-BT CSK243MBT CSK244-AT CSK244MAT CSK244-BT CSK244MBT CSK245-AT CSK245MAT CSK245-BT CSK245MBT
L2 20 L1 15 0.25
42 31 0.2 31 0.2 42
4.5
48
33
Introduction
39 54
AC Input
47 62
AS
DC Input
ASC
56.4 mm
Motor Model PK264-02A PK264MA PK264-02B PK264MB PK266-02A PK266MA PK266-02B PK266MB PK268-02A PK268MA PK268-02B PK268MB 16 15 39 55
0 0.012 0.15 0.25 1
Model CSK264-AT CSK264MAT CSK264-BT CSK264MBT CSK266-AT CSK266MAT CSK266-BT CSK266MBT CSK268-AT CSK268MAT CSK268-BT CSK268MBT
5.8
0.45
5 1.6 15
0.15 0 0.012
L1
L2
Mass (kg)
L2 L1
20
0.25
6.35
70
6.35 5.8
54
0.7
38.1
5-Phase CRK
76 92
1.0
DC Input
2-Phase CMK
SH Geared Type
3
42 mm
Motor Model PK243A1-SG PK243B1-SG Gear Ratio 3.6, 7.2, 9, 10, 18, 36 Mass (kg) 0.35
15 1
4.5
18
0 0.012(h7)
4.5
0.15
31 0.2 42
b Enter the gear ratio in the box ( ) within the model name.
74 59 3
20
0 0.012(h7)
2-Phase CSK
12
42 31 0.2
60 mm
6.35 0.012 5.8 0.15 Motor Model PK264A2-SG PK264B2-SG Gear Ratio 3.6, 7.2, 9, 10, 18, 36 Mass (kg) 16 0.75 15
0 1 0.25 1
24
b Enter the gear ratio in the box ( ) within the model name. b Screws (Included) M4 Length 15 mm 4 Pieces
8 10
12 3 7
0 0.015(h7)
95 79
32
Controllers
0.5
60
70
0.5
60
Accessories
56.4
Installation
b These dimensions are for double shaft models. For single shaft models, ignore the orange ( ) areas.
Specifications, Characteristics C-174 / Dimensions C-181 / Connection and Operation C-182 / Motor and Driver Combinations C-186
C-181
3.2 Thru 12 3
20
43.5
HEAT SINK 71 3
4 M3 5 Deep
10.1
28
38.1 72
55 66
C-182
Stepping Motors
b Driver
5 Driver Model: CSD2109-T, CSD2112-T, CSD2120-T
Mass: 0.13 kg 77
1 3
1P/2P 24/36V
4 Input/Output Signal
Indication POWER POWER TIMING TIMING C.OFF C.OFF DIR./CCW Input signal Input/ Output Power supply input Output signal Signal Name Power GND Excitation timing signal 24/36 V GND Outputs signals when the excitation sequence is at STEP "0." Function
All windings off Cuts the output current to the motor and allows signal the motor shafts to be rotated by external force. Rotation direction signal (CCW pulse signal) Pulse signal (CW pulse signal) Rotation direction signal Photocoupler ON: CW, Photocoupler OFF: CCW (The motor will rotate in the CCW direction when in 2-pulse input mode.) Operation command pulse signal (The motor will rotate in the CW direction when in 2-pulse input mode.)
Stepping Motors
b Connection Diagrams
2-Phase Stepping Motor Driver Yellow White Black Green Red Blue Controller V0 ( 5 to 24 VDC) GND R2 Twisted-Pair Wire Excitation Timing Signal 24/36 VDC TB2
Power Supply
Use a power supply that can supply sufficient input current. When power supply capacity is insufficient, a decrease in motor output can cause the following malfunctions: b Motor does not rotate properly at high-speed. b Slow motor startup and stopping
AC Input
Notes on Wiring
0V V0 ( 5 to 24 VDC)
AS
R1
R1
b Use twisted-pair wires of AWG24 to 20 (0.2 to 0.5 mm2) and 2 m or less in length for the signal lines. b Note that as the length of the pulse signal line increases, the maximum transmission frequency decreases. Technical reference Page F-46 b Use wires of AWG22 to 18 (0.3 to 0.75 mm2) or thicker for power supply lines. b Signal lines should be kept at least 10 cm away from power lines (power supply lines and motor lines). Do not run the signal lines in the same duct as power lines or bundle them together. b If noise generated by the motor cable or power supply cable causes a problem, try shielding the cables or insert ferrite cores. b Incorrect connection of DC power input will lead to driver (circuit) damage. Make sure that the polarity is correct before turning power on.
DC Input AC Input
ASC 5-Phase RK
R1 0V
b Timing Chart
Motor CW CCW
5 s min.
DC Input
2-Phase CMK
Power Input 1-Pulse Input Mode Pulse Input Signal Rotation Direction Input Signal 2-Pulse Input Mode
300 s min.
2-Phase CSK
100 s min.
ON CCW Pulse Input Signal OFF All Windings Off Input Signal ON OFF
The
2
5-Phase Stepping Motors
1 The minimum switching time to change rotation direction (1-pulse input mode), and switching time to change CW, CCW pulse (2-pulse input mode) 100 s is shown as a response time of circuit. The motor may need more time. 2 Depends on load inertia, load torque and starting frequency. 3 Never input a pulse signal immediately after switching the "All Windings Off" signal to "OFF." The motor may not start. 4 Wait at least five seconds before turning on the power again.
Accessories Installation
Specifications, Characteristics C-174 / Dimensions C-181 / Connection and Operation C-182 / Motor and Driver Combinations C-186
C-183
C-184
Stepping Motors
Pulse (CW) and Rotation Direction (CCW)/All Windings Off (C.OFF) Input Signal
Input Circuit and Sample Connection
Controller Open-Collector Output VO
Driver 220 R1
0V
10 20 mA
Driver
R2 2 0V 10 mA max.
1 The shaded area indicates when the photocoupler diode is ON. The motor moves when the photocoupler state changes from ON to OFF. 2 When the photocoupler turns "ON," the motor will receive a CW command. When the photocoupler turns "OFF," the motor will receive a CCW command. 3 The minimum interval time when changing rotation direction is 100 s. This value varies greatly depending on the motor type and load inertia.
bThe "Excitation Timing" signal is output to indicate when the motor excitation is in the initial stage (step "0" at power up). bThe "Excitation Timing" signal is output simultaneously with a pulse input each time the excitation sequence returns to step "0." The excitation sequence will complete one cycle for every 7.2 (3.6 for high-resolution type) rotation of the motor output shaft. Full Step: Signal is output once every 4 pulses. Half Step: Signal is output once every 8 pulses.
Timing chart at 1.8/step When connected as shown in the sample connection, the signal will be "photocoupler ON" at step "0."
1 2 3 4 5 6 7 8 9 1011 121314
Note: b When power is turned on, the excitation sequence is reset to step "0" and the "Excitation Timing" signal will be output.
Stepping Motors
4. Manipulate the potentiometer for adjusting the motor operating current (RUN VR). Adjust the potentiometer using an insulated screwdriver. RUN VR Be sure to adjust the current to the motor's rated current or below. STOP VR When setting with an ammeter, the sum of the two DC ammeter readings indicates the current per motor phase.
RU N VR
ST O VR P
Introduction
Example: When the DC ammeter readings indicate 0.5 A and 0.45 A respectively, the output current per motor phase is 0.95 A. When setting with a tester, the tester readings indicate the current per motor phase. Example: When the tester readings indicate 0.95 V, the output current per motor phase is 0.95 A. 5. Turn off the power supply.
AS ASC 5-Phase RK
Plug the tester probes (approx. 2.1 mm) into the motor current check terminals (C.C. and C.C. ).
6. Set the automatic current cutback function switch (ACD) to "ON" again.
ON
ACD
5-Phase CRK
C.C.
OFF
OFF
F 1 P /H 24 /2P /
AC
12 3 4
36 V
C.C.
DC Input
2-Phase CMK
1. Set the step angle to full step. Set the step angle switch (F/H) to "ON."
2-Phase CSK
ON
F/H
12 3 4
36 V
AC
12 3 4
36
F 1 P /H 24 /2P /
OFF
OFF
F 1P /H 2 4 /2 P /
AC D
2. Disable the automatic current cutback function. Set the automatic current cutback function switch (ACD) to "OFF."
ON OFF
OFF
ACD
2. Enable the automatic current cutback function. Set the automatic current cutback function (ACD) to "ON." ACD
ON
12 3 4
36 V
F 1 P /H 24 /2P /
F 1P /H 2 4 /2 P /
36 V
AC D
12 3 4
OFF
OFF
AC
Controllers
3. Turn on the power supply. Wait until the motor reaches its operating current.
3. Turn on the power supply. Wait until the motor reaches its standstill current. 4. Manipulate the potentiometer for adjusting the motor standstill current (STOP VR). Adjust the potentiometer using an insulated screwdriver. Be sure to adjust the current to 40% of the motor's rated current or below. The sum of the two DC ammeter readings indicates the current per motor phase. 5. Turn off the power supply. This completes the adjustment of the motor standstill current.
Accessories Installation
Specifications, Characteristics C-174 / Dimensions C-181 / Connection and Operation C-182 / Motor and Driver Combinations C-186
C-185
C-186
Stepping Motors
CSD2112-T
CSD2112-T
Standard Type
CSD2120-T
CSD2120-T
CSD2109-T CSD2120-T
b Enter the gear ratio in the box ( ) within the model name. Gear ratio: 3.6, 7.2, 9, 10, 18, 36
Stepping Motors
Introduction
Stepping Motors
AC Input DC Input AC Input DC Input
AS ASC 5-Phase RK 5-Phase CRK 2-Phase CMK 2-Phase CSK 2-Phase Stepping Motors
Page
C-187
C-188
Stepping Motors
PK Series
Seven frame sizes are available in a range from 28 mm to 85 mm. In addition to the standard type, we offer high-torque type, high-resolution type and SH geared type. The motor windings also come in various specifications.
RoHS-Compliant
The 2-phase PK Series conforms to the RoHS Directive that prohibits the use of six chemical substances including lead and cadmium.
b Details of RoHS Directive Page G-23
High-Torque Type
Page C-198
Page C-202
Page C-204
Page C-228
Standard Type
Page C-206
Page C-216
Page C-218
Page C-234
Page C-222
Page C-236
HighResolution Type
Page C-210
Page C-224
2 1
SH Geared Type
Page C-200
1 Gearhead frame size is 2 Gearhead frame size is 60 mm 90 mm
Page C-214
Page C-232
Page C-238
Stepping Motors
System Configuration
These accessories enable 2-phase PK Series products to be used for various operations.
Driver
(Not supplied)1
1 Motor and driver packages are available. CMK Series Page C-146 CSK Series Page C-170
Controller
(Not supplied)2
2 Controllers suitable for stepping motors are available. Controllers Page C-248
Introduction
AC Input
AS
DC Input
ASC
Flexible Couplings
( Page C-258)
Clean Dampers
( Page C-264)
AC Input
5-Phase RK
No.
Product Name
Motor Mounting Brackets Flexible Couplings Clean Dampers Motor Lead Wire/Connector Assembly Motor Connector Set
Overview
Dedicated mounting bracket for the motor. Coupling that connects the motor shaft to the driven shaft. Dedicated damper for suppressing stepping motor vibration. Lead wire with a connector crimped for connector-coupled motors (0.6 m, 1 m). Set of connector housings and contacts for use with connector-coupled motors (for 30 units).
Page
C-266 C-258 C-264 C-255 C-255 DC Input
5-Phase CRK 2-Phase CMK
2-Phase PK Series
PK264-01B
Motor Flexible Clean Damper Mounting Bracket Coupling PAL2P-2 MCS2006F04 D6CL-6.3F
2-Phase CSK
bThe system configuration shown above is an example. Other combinations are available.
Page C-146
Page C-170
Accessories Installation
Wirings and Connections C-192 / Specifications, Characteristics, Dimensions C-198 / General Specifications C-240
C-189
56.4 mm
42 mm
C-190
Stepping Motors
High-Torque Type
This motor type combines high torque and a compact size. Four frame sizes, 28 mm, 35 mm, 42 mm and 60 mm, are available. Each specification provides torque equivalent to a motor of the next larger frame size, supporting high-torque operation even in the high-speed range. For example, high-torque type PK246PB motor frame size (42 mm) has the same holding torque as the standard type PK266-01B motor frame size (56.4 mm). This means a smaller size motor will maintain the same torque. This allows for downsized and lightweight equipment.
1.5 Measured by Bipolar (Series) Constant Current Driver High-Torque Type PK246PB Current 0.85 A/phase, 24 VDC Standard Type PK266-01B Current 0.71 A/phase, 24 VDC 1.0 With Damper
0.5
Terminal Box
200
300 1
59
54
No Motor/Driver Relay
High-Torque Type PK246PB 0.93 N m 114 10-7 kg m2 Type Model Holding Torque Rotor Inertia Standard Type PK266-01B 1.17 N m 300 10-7 kg m2
Since the motor cable can be connected directly to the driver terminals, there is no need for wire connection or soldering on a relay terminal block.
Motor
Standard Type
The standard PK Series 2-phase stepping motor offers balanced performance enhanced by high torque, low vibration and low noise. Optimal motor size and winding specification can be selected from a wide range of motor variations.
Cable
Driver
Stepping Motors
High-Resolution Type
These 2-phase, high resolution stepping motors have half the step angle of standard stepping motors. The high-resolution type increases motor resolution from 200 steps/rotation to 400 steps/ rotation. Smaller step-angles can be achieved by half-step driving or microstep driving. Such options, however, do not improve accuracy. Other than having twice as many rotor teeth as standard stepping motors, all other structures are exactly the same as the standard motors.
0.9
SH Geared Type
Incorporating SH gears with high permissible torque, these models offer the full benefit of the speed reducing capability of geared motors, delivering high resolution, high torque and smooth low-speed rotation. With performance like this, the SH geared type can easily satisfy the requirements of various kinds of lowspeed positioning applications.
Introduction
AC Input
AS
DC Input AC Input
ASC 5-Phase RK
The stepping motor itself can drive an inertia of ten times the rotor inertia. The geared type can reduce the load inertia by the square of the gear ratio. Therefore, the geared type is suitable for driving larger inertial loads.
400
5-Phase CRK
0.09 deg
DC Input
2-Phase CMK
Angle Accuracy
0
2-Phase CSK
200
0.09 deg
Angle Accuracy
400
Controllers
Angle Accuracy
Accessories Installation
Wirings and Connections C-192 / Specifications, Characteristics, Dimensions C-198 / General Specifications C-240
C-191
C-192
Stepping Motors
PK 2 6 4 J D B
Series 2: 2-Phase Motor Frame Size Motor Case Length Motor Type Motor Lead Shaft Type PK: PK Series 2: 28 mm 3: 35 mm 4: 42 mm 6: 60 mm P, J: High-Torque Type Blank: 6 Leads D: 4 Leads A: Single Shaft B: Double Shaft
b SH Geared Type
Motor Frame Size 28 mm
PK 2 2 3 P A - SG 10
Series 2: 2-Phase Motor Frame Size Motor Case Length Motor Type Shaft Type Gearhead Type Gear Ratio PK: PK Series 2: 28 mm
PK 2 6 6 M - E 2.0 B
Series 2: 2-Phase Motor Frame Size Motor Case Length Motor Type Motor Lead Winding Specification Shaft Type PK: PK Series 4: 42 mm 5: 50 mm 6: 56.4 mm 9: 85 mm Blank: Standard Type (1.8/step) M: High-Resolution Type (0.9/step) 0: 6 Leads E: 8 Leads A: Single Shaft B: Double Shaft
b SH Geared Type
Motor Frame Size 42 mm, 60 mm, 90 mm
PK 2 6 4 A E - SG 10
Series 2: 2-Phase Motor Frame Size Motor Case Length Shaft Type Motor Lead Gearhead Type Gear Ratio PK: PK Series 4: 42 mm 6: 60 mm 9: 90 mm A: Single Shaft B: Double Shaft 1: 6 Leads E: 8 Leads SG: SH Geared Type
PK 2 9 6 E A T
Series 2: 2-Phase Motor Frame Size Motor Case Length Motor Lead Shaft Type Motor Classification
6 Leads Motor
A Phase A Phase Black (4) Yellow (5) Green (6)
8 Leads Motor
A Phase A Phase Black Yellow Orange Green Red White B Phase Brown B Phase Blue
White
Brown
Blue
B Phase B Phase
b The numbers inside the parentheses indicate the connector pin No. of the high-torque type motor. b N.C.: No Connection
Stepping Motors
2
Motor Wire [AWG26 to 16 (0.14 to 1.25 mm2)] External Protective Earth Terminal (M4) Protective Earth Wire [AWG18 (0.75 mm2) min.]
Terminal Block 1 2 3 4 5
4 B Phase 5
A Phase 3
Introduction
Use either the internal or external protective earth terminal for grounding.
bPK29 EAT
AC Input
AS Internal Protective Earth Terminal (M4) Protective Earth Wire [AWG18 (0.75 mm2) min.] Multi-Core Cable (Diameter: 7 to 13 mm) 1 Motor Wire [AWG22 to 16 (0.3 to 1.25 mm2)] External Protective Earth Terminal (M4) Protective Earth Wire [AWG18 (0.75 mm2) min.] 2 1 3 4 5 6 7 8 5 7 B Phase 6 8 B Phase
A Phase 3 2 A Phase 4
DC Input
ASC
Use either the internal or external protective earth terminal for grounding.
AC Input
5-Phase RK
2 A Phase 3
4 B Phase 5
1 2 3 4 5 Terminal Block
5-Phase CRK
9 Bipolar (Parallel)
10 Unipolar
DC Input
2-Phase CMK
2 1 3
7 8 5 7 6 8 B Phase A Phase
1 3 2 4
5 7 6 8
2 1 3 2 4
2-Phase CSK
A Phase
2 4
Wirings and Connections C-192 / Specifications, Characteristics, Dimensions C-198 / General Specifications C-240
C-193
C-194
Stepping Motors
SH Geared Type
b The value given for holding torque is the value when operated with rated voltage and 2-phase excitation.
High-Torque Type
b The value given for holding torque is the value when operated with rated voltage and 2-phase excitation.
Stepping Motors
High-Torque Type
Introduction
35 10-7
0.21
AC Input
AS
54 10-7
0.27
C-206
DC Input
11.2 28.4 100 15.2 38.8 136 17.2 38.8 152 15.6 39.6 128 68 10-7 0.37 54 10-7 0.3 C-210 35 10-7 0.24 68 10-7 0.35
AC Input
HighResolution Type
DC Input
0.4 0.5 0.67 0.56 0.8 0.8 5.6 8.4 10 35 10-7 0.35 C-214
b The value given for holding torque is the value when operated with rated voltage and 2-phase excitation.
Accessories Installation
Wirings and Connections C-192 / Specifications, Characteristics, Dimensions C-198 / General Specifications C-240
C-195
C-196
Stepping Motors
Standard Type
b The value given for holding torque is the value when operated with rated voltage and 2-phase excitation.
Mass Page kg
2.8
C-222
b The value given for holding torque is the value when operated with rated voltage and 2-phase excitation.
Stepping Motors
Introduction
450 10-7
0.83
AC Input
b The value given for holding torque is the value when operated with rated voltage and 2-phase excitation.
Resistance per Phase /phase 0.96 1.32 1.94 0.96 1.32 1.94
3.18
2-Phase CSK
C-234
3.2 4.3
C-236
5 6.3
Controllers
2.1 7 9
0.96
6.0
1400 10-7
2.8
C-238
Accessories
12
b The value given for holding torque is the value when operated with rated voltage and 2-phase excitation.
Installation
Wirings and Connections C-192 / Specifications, Characteristics, Dimensions C-198 / General Specifications C-240
C-197
L1 32 40 51.5
L2
L2
10 1 0 0.012(h7)
15 L1 1.5 10
0.25
0.15
4.5
42 50 61.5
4.5
b Lead wire and connector will not be supplied with the connectorcoupled motor. They must be purchased separately. b Applicable Connector Connector housing: 51065-0600 (MOLEX) Contact: 50212-8100 (MOLEX) Crimp tool: 57176-5000 (MOLEX)
9.5
C-198
23 0.2 28
Stepping Motors
28 mm
Step Angle 1.8 High-Torque Type
Specifications
Model Single Shaft Double Shaft PK223PA PK223PB PK224PA PK224PB PK225PA PK225PB Connection Type Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Series) Unipolar Holding Torque Nm 0.065 0.05 0.097 0.075 0.11 0.09 Current per Phase A/phase 0.67 0.95 0.67 0.95 0.67 0.95 Voltage VDC 3.8 2.66 4.6 3.2 6.2 4.4 Resistance per Phase /phase 5.6 2.8 6.8 3.4 9.2 4.6 Inductance mH/phase 4 1 4.8 1.2 5.6 1.4 Rotor Inertia J: kg m 9 10
2
-7
12 10-7 18 10-7
Dimensions
(Unit = mm)
28 23 0.2
Stepping Motors
PK223PA/PK223PB
Unipolar
Bipolar Constant Current Driver Current: 0.67 A/Phase (Bipolar Series) With Damper D4CL-5.0F: JL=34 10
kg.m2
Unipolar Constant Current Driver Power Input: 24 VDC Current: 0.95 A/Phase (Unipolar) With Damper D4CL-5.0F: JL=34 10 7 kg.m2
Power Input 0.075 0.050 Pullout Torque 0.025 0 fs 500 2 (4) 1000 1500 Speed [r/min] 4 (8) Pulse Speed [kHz]
24 VDC 48 VDC
Pullout Torque
Introduction
2000 6 (12)
fs 500 1000 1500 2000 2500 3000 3500 4000 4500 Speed [r/min] 4 8 Pulse Speed [kHz] 12 1.8/step
AC Input
AS
0 (0)
PK224PA/PK224PB
0.15
Bipolar (Series)
7
PK224PA/PK224PB
Unipolar
DC Input
ASC
Bipolar Constant Current Driver Current: 0.67 A/Phase (Bipolar Series) With Damper D4CL-5.0F: JL=34 10
kg.m2
0.12 0.10
Unipolar Constant Current Driver Power Input: 24 VDC Current: 0.95 A/Phase (Unipolar) With Damper D4CL-5.0F: JL=34 10 7 kg.m2
AC Input
5-Phase RK
Torque [Nm]
24 VDC 48 VDC
5-Phase CRK
0.02 0 fs 500 2 (4) 1000 1500 Speed [r/min] 4 (8) Pulse Speed [kHz] 6 (12) 2000 2500 1.8/step (0.9/step) 0 fs 500 1000 1500 2000 2500 3000 3500 4000 4500 Speed [r/min] 4 8 Pulse Speed [kHz] 12 1.8/step
0 (0)
DC Input
2-Phase CMK
PK225PA/PK225PB
0.20
Bipolar (Series)
7
PK225PA/PK225PB
0.14 0.12
Unipolar
Bipolar Constant Current Driver Current: 0.67 A/Phase (Bipolar Series) With Damper D4CL-5.0F: JL=34 10
kg.m2
Unipolar Constant Current Driver Power Input: 24 VDC Current: 0.95 A/Phase (Unipolar) With Damper D4CL-5.0F: JL=34 10 7 kg.m2
2-Phase CSK
Power Input
Torque [Nm]
24 VDC 48 VDC
fs 500 2 (4)
2000
fs 500 1000 1500 2000 2500 3000 3500 4000 4500 Speed [r/min] 4 8 Pulse Speed [kHz] 12 1.8/step
0 (0)
Note: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C.
Controllers
Accessories Installation
Wirings and Connections C-192 / Specifications, Characteristics, Dimensions C-198 / General Specifications C-240
C-199
4.5
12
0.5
58
20 2
0 0.012(h7)
b Enter the gear ratio in the box ( ) within the model name. b Lead wire and connector will not be supplied with the connectorcoupled motor. They must be purchased separately. b Applicable Connector Connector housing: 51065-0600 (MOLEX) Contact: 50212-8100 (MOLEX) Crimp tool: 57176-5000 (MOLEX)
11
9.5
16.5
C-200
23 0.2 28
Stepping Motors
SH Geared Type
28 mm
Specifications
b Motor Specifications
Model Single Shaft Double Shaft PK223PA-SG PK223PB-SG Connection Type Bipolar (Series) Unipolar Current per Phase A/phase 0.67 0.95 Voltage VDC 3.8 2.66 Resistance per Phase /phase 5.6 2.8 Inductance mH/phase 4 1 Rotor Inertia J: kg m 9 10
2
-7
How to read specifications table Page C-10 b Degree of Protection: IP30 b Enter the gear ratio in the box ( ) within the model name. b Backlash value is approximately 1 to 2. Note: b Direction of rotation of the motor and that of the gear output shaft are the same for the gear ratios 1:7.2 and 1:36. It is the opposite for 1:9, 1:10 and 1:18 gear ratios.
b Gearmotor Specifications
Model Single Shaft Double Shaft PK223PA-SG7.2 PK223PB-SG7.2 PK223PA-SG9 PK223PB-SG9 PK223PA-SG10 PK223PB-SG10 PK223PA-SG18 PK223PB-SG18 PK223PA-SG36 PK223PB-SG36 Gear Ratio Holding Torque Nm 0.3 0.3 0.3 0.4 0.4 Step Angle Permissible Speed r/min 250 200 180 100 50
Holding torque is the same regardless of the connection type, due to the permissible torque limit of the gearhead.
Dimensions
(Unit = mm)
1
28 23 0.2
Stepping Motors
PK223PA-SG /PK223PB-SG
Unipolar
0.5 0.4
Unipolar Constant Current Driver Power Input: 24 VDC Current: 0.95 A/Phase (Unipolar) With Damper D4CL-5.0F: JL=34 10 7 kg.m2
Torque [N.m]
Introduction
0.2 0.1
Permissible Torque 0 100 200 300 Speed [r/min] 400 500 0 100 200 300 Speed [r/min]
AC Input
AS
PK223PA-SG /PK223PB-SG
Bipolar Constant Current Driver Power Input: 48 VDC Current: 0.67 A/Phase (Bipolar Series) With Damper D4CL-5.0F: JL=34 10 7 kg.m2
DC Input
ASC
AC Input
5-Phase RK
Torque [N.m]
5-Phase CRK
DC Input
2-Phase CMK
Note: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C.
2-Phase CSK 2-Phase Stepping Motors 5-Phase Stepping Motors Controllers Accessories Installation
Wirings and Connections C-192 / Specifications, Characteristics, Dimensions C-198 / General Specifications C-240
C-201
0 0.012(h7)
4.5
52 67
4.5
37 52
0.18 0.285
0.15
b Lead wire and connector will not be supplied with the connectorcoupled motor. They must be purchased separately. b Applicable Connector Connector housing: 51103-0600 (MOLEX) Contact: 50351-8100 (MOLEX) Crimp tool: 57295-5000 (MOLEX)
1.5
6 1
17.5
23 4 M3 4.5 Deep
C-202
29 0.2 35
Stepping Motors
35 mm
Step Angle 1.8 High-Torque Type
Specifications
Model Single Shaft Double Shaft PK233PA PK233PB PK235PA PK235PB Connection Type Bipolar (Series) Unipolar Bipolar (Series) Unipolar Holding Torque Nm 0.2 0.16 0.37 0.3 Current per Phase A/phase 0.85 1.2 0.85 1.2 Voltage VDC 4.6 3.24 5.8 4.08 Resistance per Phase /phase 5.4 2.7 6.8 3.4 Inductance mH/phase 5.6 1.4 8 2 Rotor Inertia J: kg m 24 10
2
-7
50 10-7
Dimensions
Model PK233PA PK233PB PK235PA PK235PB L1 L2
(Unit = mm)
Mass (kg) L2
15 1
20 L1 15
35 29 0.2
0.25
Stepping Motors
PK233PA/PK233PB
0.20
Unipolar
0.25 0.20
Bipolar Constant Current Driver Current: 0.85 A/Phase (Bipolar Series) With Damper D4CL-5.0F: JL=34 10
kg.m2
Unipolar Constant Current Driver Power Input: 24 VDC Current: 1.2 A/Phase (Unipolar) With Damper D4CL-5.0F: JL=34 10 7 kg.m2 Unipolar (0.95 A/Phase)
Power Input Torque [N.m] 0.15 0.10 Pullout Torque 0.05 0 fs 500 2 (4)
Torque [Nm]
24 VDC 48 VDC
Introduction
0.10
0.05 fs 500 2
2000
2000
2500 1.8/step
AC Input
AS
0 (0)
PK235PA/PK235PB
Bipolar (Series)
7
PK235PA/PK235PB Unipolar
0.30 0.25 Unipolar Constant Current Driver Power Input: 24 VDC Current: 1.2 A/Phase (Unipolar) With Damper D4CL-5.0F: JL=34 10 7 kg.m2
DC Input
ASC
0.45 0.40 0.35 Torque [N.m] 0.30 0.25 0.20 0.15 0.10
Bipolar Constant Current Driver Current: 0.85 A/Phase (Bipolar Series) With Damper D4CL-5.0F: JL=34 10
kg.m2
AC Input
Power Input
Torque [Nm]
24 VDC 48 VDC
5-Phase RK
5-Phase CRK
Pullout Torque 1000 1500 Speed [r/min] 4 (8) Pulse Speed [kHz] 6 (12) 2000 2500 1.8/step (0.9/step)
0.05 0 fs 500 2 1000 1500 Speed [r/min] 4 Pulse Speed [kHz] 6 2000 2500 1.8/step
0 (0)
DC Input
2-Phase CMK
Note: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C.
2-Phase CSK 2-Phase Stepping Motors 5-Phase Stepping Motors Controllers Accessories Installation
Wirings and Connections C-192 / Specifications, Characteristics, Dimensions C-198 / General Specifications C-240
C-203
L1 39 59
L2
4.5
54 74
b Lead wire and connector will not be supplied with the connectorcoupled motor. They must be purchased separately. b Applicable Connector Connector housing: 51103-0600 (MOLEX) Contact: 50351-8100 (MOLEX) Crimp tool: 57295-5000 (MOLEX)
1.5 9 15
23 4 M3 4.5 Deep
C-204
31 0.2 42
Stepping Motors
42 mm
Step Angle 1.8 High-Torque Type
Specifications
Model Single Shaft Double Shaft PK244PA PK244PB PK246PA PK246PB Connection Type Bipolar (Series) Unipolar Bipolar (Series) Unipolar Holding Torque Nm 0.48 0.39 0.93 0.75 Current per Phase A/phase 0.85 1.2 0.85 1.2 Voltage VDC 6.8 4.8 10 7.2 Resistance per Phase /phase 8 4 12 6 Inductance mH/phase 15.6 3.9 26 6.5 Rotor Inertia J: kg m 57 10
2
-7
114 10-7
Dimensions
(Unit = mm)
L2 L1 20 15 42 31 0.2
1 0.25
15 1
Stepping Motors
PK244PA/PK244PB
Unipolar
Bipolar Constant Current Driver Current: 0.85 A/Phase (Bipolar Series) With Damper D4CL-5.0F: JL=34 10
kg.m2 0.5
Unipolar Constant Current Driver Power Input: 24 VDC Current: 1.2 A/Phase (Unipolar) With Damper D4CL-5.0F: JL=34 10 7 kg.m2
Power Input
Introduction
Pullout Torque 0.20 0.10 0 fs 300 400 Speed [r/min] 1.5 (3.0) fs 500
AC Input
200
500 2 (4)
2000
AS
0 (0)
0 (0)
PK246PA/PK246PB
Bipolar (Series)
7
PK246PA/PK246PB
Unipolar
DC Input
ASC
Bipolar Constant Current Driver Current: 0.85 A/Phase (Bipolar Series) With Damper D4CL-5.0F: JL=34 10
kg.m2
0.8
Unipolar Constant Current Driver Power Input: 24 VDC Current: 1.2 A/Phase (Unipolar) With Damper D4CL-5.0F: JL=34 10 7 kg.m2
Power Input
0.6
AC Input
5-Phase RK
Pullout Torque 0.4 0.2 0 fs 300 400 Speed [r/min] 1.5 (3.0) fs
0.4
Pullout Torque
5-Phase CRK
200
1500
0 (0)
DC Input
2-Phase CMK
Note: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C.
2-Phase CSK 2-Phase Stepping Motors 5-Phase Stepping Motors Controllers Accessories Installation
Wirings and Connections C-192 / Specifications, Characteristics, Dimensions C-198 / General Specifications C-240
C-205
A B A B A B
4.5
48 54 62
33 39 47
0.21 0.27
Model
L1
L2
Mass (kg)
15 1
L2 20 L1 15 0.25
2 0.35 6 Motor Leads 300 mm Length UL Style 3265, AWG24 4 M3 4.5 Deep
b Enter the winding specifications in the box ( ) within the model name.
C-206
31 0.2 42
Stepping Motors
42 mm
Step Angle 1.8 Standard Type
Specifications
Model Single Shaft Double Shaft PK243-01A PK243-01B PK243-02A PK243-02B PK243-03A PK243-03B PK244-01A PK244-01B PK244-02A PK244-02B PK244-03A PK244-03B PK245-01A PK245-01B PK245-02A PK245-02B PK245-03A PK245-03B Connection Type Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Series) Unipolar Holding Torque Nm 0.2 0.16 0.2 0.16 0.2 0.16 0.33 0.26 0.33 0.26 0.33 0.26 0.43 0.32 0.43 0.32 0.43 0.32 Current per Phase A/phase 0.67 0.95 0.28 0.4 0.22 0.31 0.85 1.2 0.57 0.8 0.28 0.4 0.85 1.2 0.57 0.8 0.28 0.4 Voltage VDC 5.6 4 13 9.6 17 12 5.6 4 8.6 6 17 12 5.6 4 8.6 6 17 12 Resistance per Phase /phase 8.4 4.2 48 24 77 38.5 6.6 3.3 15 7.5 60 30 6.6 3.3 15 7.5 60 30 Inductance mH/phase 10 2.5 60 15 84 21 12.8 3.2 26.8 6.7 120 30 11.2 2.8 28.4 7.1 100 25 Rotor Inertia J: kg m 35 10
2
-7
Dimensions
(Unit = mm)
42 31 0.2
Stepping Motors
Bipolar (Series)
kg.m2
PK243-01A/PK243-01B
0.25 0.20 Torque [N.m]
Unipolar
Unipolar Constant Current Driver Power Input: 24 VDC Current: 0.95 A/Phase (Unipolar) With Damper D4CL-5.0F: JL=34 10 7 kg.m2
Power Input
24 VDC 48 VDC
Introduction
2000
AC Input
AS
0 (0)
0 (0)
PK243-02A/PK243-02B
Bipolar Constant Current Driver Current: 0.28 A/Phase (Bipolar Series) With Damper D4CL-5.0F: JL=34 10
7
Bipolar (Series)
kg.m2
PK243-02A/PK243-02B
0.25 0.20
Unipolar
DC Input
ASC
0.30 0.25
Unipolar Constant Voltage Driver Power Input: 11.5 VDC External Resistance: 0 With Damper D4CL-5.0F: JL=34 10 7 kg.m2
Power Input Torque [N.m] 0.20 0.15 0.10 Pullout Torque 0.05 0 100 0.5 (1.0) fs 200 300 Speed [r/min] 1.0 (2.0) Pulse Speed [kHz]
Torque [N.m]
24 VDC 48 VDC
AC Input
5-Phase RK
5-Phase CRK
fs 100 0.5 200 300 Speed [r/min] 1.0 Pulse Speed [kHz] 400 500 1.8/step
0 (0)
DC Input
2-Phase CMK
PK243-03A/PK243-03B
Bipolar Constant Current Driver Current: 0.22 A/Phase (Bipolar Series) With Damper D4CL-5.0F: JL=34 10
7
Bipolar (Series)
kg.m2
PK243-03A/PK243-03B
Unipolar
Unipolar Constant Voltage Driver Power Input: 13.6 VDC External Resistance: 0 With Damper D4CL-5.0F: JL=34 10 7 kg.m2
2-Phase CSK
Power Input
fs 400
100
200
600 2
700
800
0 (0)
1.8/step
Note: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C.
Wirings and Connections C-192 / Specifications, Characteristics, Dimensions C-198 / General Specifications C-240
C-207
Torque [N.m]
Torque [N.m]
Torque [N.m]
0.25 0.20 0.15 0.10 0.05 0 fs 200 1 (2) fs 400 600 Speed [r/min] 2 (4) Pulse Speed [kHz] 800 1000 1.8/step (0.9/step) Pullout Torque
Torque [N.m]
Torque [N.m]
C-208
Stepping Motors
Bipolar (Series)
kg.m2
PK244-01A/PK244-01B
0.35 0.30 0.25 0.20 0.15 0.10 0.05 fs 0 500 2 (4) 1000 1500 Speed [r/min] 4 (8) Pulse Speed [kHz] Pullout Torque
Unipolar
Unipolar Constant Current Driver Power Input: 24 VDC Current: 1.2 A/Phase (Unipolar) With Damper D4CL-5.0F: JL=34 10 7 kg.m2
2000 6 (12)
0 (0)
0 (0)
PK244-02A/PK244-02B
0.40 0.35 Power Input 0.30 Bipolar Constant Current Driver Current: 0.57 A/Phase (Bipolar Series) With Damper D4CL-5.0F: JL=34 10
7
Bipolar (Series)
kg.m2
PK244-02A/PK244-02B
Unipolar
Unipolar Constant Current Driver Power Input: 24 VDC Current: 0.8 A/Phase (Unipolar) With Damper D4CL-5.0F: JL=34 10 7 kg.m2
24 VDC 48 VDC
Pullout Torque 0.10 0.05 fs 0 500 2 1000 1500 Speed [r/min] 4 Pulse Speed [kHz] 6 2000 2500 1.8/step
0 (0)
PK244-03A/PK244-03B
Unipolar
Unipolar Constant Voltage Driver Power Input: 13.7 VDC External Resistance: 0 With Damper D4CL-5.0F: JL=34 10 7 kg.m2
Pullout Torque 0.10 0.05 0 100 0.5 fs 200 300 Speed [r/min] 1.0 Pulse Speed [kHz] 400 500 1.8/step
Note: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C.
Stepping Motors
Bipolar (Series)
kg.m2
PK245-01A/PK245-01B
Unipolar
Unipolar Constant Current Driver Power Input: 24 VDC Current: 1.2 A/Phase (Unipolar) With Damper D4CL-5.0F: JL=34 10 7 kg.m2
Torque [N.m]
0.3 Full Step 1.8/step Half Step 0.9/step 0.2 Pullout Torque 0.1
Introduction
0.20 Pullout Torque 0.15 0.10 0.05 0 200 1 (2) fs fs 400 600 Speed [r/min] 2 (4) Pulse Speed [kHz] 800 1000 1.8/step (0.9/step)
fs
AC Input
500 2 (4)
2000
AS
0 (0)
0 (0)
PK245-02A/PK245-02B
Bipolar Constant Current Driver Current: 0.57 A/Phase (Bipolar Series) With Damper D4CL-5.0F: JL=34 10
7
Bipolar (Series)
kg.m2
PK245-02A/PK245-02B
Unipolar
DC Input
ASC
0.50 0.45 0.40 0.35 Torque [N.m] 0.30 0.25 0.20 0.15 0.10 0.05 0
Unipolar Constant Current Driver Power Input: 24 VDC Current: 0.8 A/Phase (Unipolar) With Damper D4CL-5.0F: JL=34 10 7 kg.m2
AC Input
0.3
5-Phase RK
Pullout Torque
5-Phase CRK
fs 200 1 (2)
fs 800 1000 1.8/step (0.9/step) 0 500 2 1000 1500 Speed [r/min] 4 Pulse Speed [kHz] 6 2000 2500 1.8/step
0 (0)
DC Input
2-Phase CMK
PK245-03A/PK245-03B
Unipolar
0.4
Unipolar Constant Voltage Driver Power Input: 13.7 VDC External Resistance: 0 With Damper D4CL-5.0F: JL=34 10 7 kg.m2
2-Phase CSK
0.2
Pullout Torque 0.1 fs 200 300 Speed [r/min] 0.5 1.0 Pulse Speed [kHz]
100
400
500
1.8/step
Note: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C.
Wirings and Connections C-192 / Specifications, Characteristics, Dimensions C-198 / General Specifications C-240
C-209
A B A B A B
4.5
48 54 62
33 39 47
0.24 0.3
Model
L1
L2
Mass (kg)
15 1
L2 20 L1 15 0.25
2 0.37 6 Motor Leads 300 mm Length UL Style 3265, AWG24 4 M3 4.5 Deep
b Enter the winding specification in the box ( ) within the model name.
C-210
31 0.2 42
Stepping Motors
42 mm
Step Angle 0.9 High-Resolution Type
Specifications
Model Single Shaft Double Shaft PK243M-01A PK243M-01B PK243M-02A PK243M-02B PK243M-03A PK243M-03B PK244M-01A PK244M-01B PK244M-02A PK244M-02B PK244M-03A PK244M-03B PK245M-01A PK245M-01B PK245M-02A PK245M-02B PK245M-03A PK245M-03B Connection Type Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Series) Unipolar Holding Torque Nm 0.2 0.16 0.2 0.16 0.2 0.16 0.31 0.26 0.31 0.26 0.31 0.26 0.38 0.32 0.38 0.32 0.38 0.32 Current per Phase A/phase 0.67 0.95 0.42 0.6 0.22 0.31 0.85 1.2 0.57 0.8 0.28 0.4 0.85 1.2 0.57 0.8 0.28 0.4 Voltage VDC 5.6 4 8.4 6 17 12 5.6 4 8.6 6 17 12 5.6 4 8.6 6 17 12 Resistance per Phase /phase 8.4 4.2 20 10 77 38.5 6.6 3.3 15 7.5 60 30 6.6 3.3 15 7.5 60 30 Inductance mH/phase 15.2 3.8 38.8 9.7 136 34 17.2 4.3 38.8 9.7 152 38 15.6 3.9 39.6 9.9 128 32 Rotor Inertia J: kg m 35 10
2
-7
Dimensions
(Unit = mm)
42 31 0.2
Stepping Motors
Bipolar (Series)
PK243M-01A/PK243M-01B
Unipolar
0.25 0.20
Unipolar Constant Current Driver Power Input: 24 VDC Current: 0.95 A/Phase (Unipolar) With Damper D4CL-5.0F: JL=34 10 7 kg.m2
24 VDC 48 VDC
Pullout Torque 0.10 0.05 0 fs 200 2 (4) fs 400 600 Speed [r/min] 4 (8) Pulse Speed [kHz] 800 1000 0.9/step (0.45/step)
Introduction
AC Input
500 4 (8)
2000
AS
0 (0)
0 (0)
PK243M-02A/PK243M-02B
Bipolar Constant Current Driver Current: 0.42 A/Phase (Bipolar Series) With Damper D4CL-5.0F: JL=34 10
7
Bipolar (Series)
PK243M-02A/PK243M-02B
Unipolar
DC Input
ASC
kg.m2
Unipolar Constant Current Driver Power Input: 24 VDC Current: 0.6 A/Phase (Unipolar) With Damper D4CL-5.0F: JL=34 10 7 kg.m2
AC Input
Power Input
5-Phase RK
Pullout Torque
5-Phase CRK
fs 0 200 300 Speed [r/min] 2 (4) Pulse Speed [kHz] 500 2 1000 Speed [r/min] 8 1500 0.9/step
0 (0)
DC Input
2-Phase CMK
PK243M-03A/PK243M-03B
Bipolar Constant Current Driver Current: 0.22 A/Phase (Bipolar Series) With Damper D4CL-5.0F: JL=34 10
7
Bipolar (Series)
PK243M-03A/PK243M-03B
Unipolar
0.25 0.20
kg.m2
0.25 0.20
Unipolar Constant Voltage Driver Power Input: 13.5 VDC External Resistance: 0 With Damper D4CL-5.0F: JL=34 10 7 kg.m2
2-Phase CSK
Torque [N.m]
24 VDC 48 VDC
Pullout Torque 0.10 0.05 0 fs 100 1 (2) fs 200 300 Speed [r/min] 2 (4) Pulse Speed [kHz]
fs 0 400 500 0.9/step (0.45/step) 0 100 1 200 300 Speed [r/min] 2 Pulse Speed [kHz] 400 500
0 (0)
0.9/step
Note: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C.
Wirings and Connections C-192 / Specifications, Characteristics, Dimensions C-198 / General Specifications C-240
C-211
Torque [N.m]
0.25 0.20 Pullout Torque 0.15 0.10 0.05 0 fs fs 200 2 (4) 400 600 Speed [r/min] 4 (8) Pulse Speed [kHz] 800 1000 0.9/step (0.45/step)
Torque [N m]
Torque [N.m]
0.25 0.20 0.15 Pullout Torque 0.10 0.05 0 fs 200 2 (4) 400 600 Speed [r/min] 4 (8) Pulse Speed [kHz] 800 1000 0.9/step (0.45/step)
Torque [N.m]
Torque [N.m]
C-212
Stepping Motors
Bipolar (Series)
PK244M-01A/PK244M-01B
Unipolar
0.40 0.35
kg.m2
Unipolar Constant Current Driver Power Input: 24 VDC Current: 1.2 A/Phase (Unipolar) With Damper D4CL-5.0F: JL=34 10 7 kg.m2 Full Step 0.9/step Half Step 0.45/step
24 VDC 48 VDC
Pullout Torque
fs 500 4 (8) 1000 1500 Speed [r/min] 8 (16) Pulse Speed [kHz] 12 (24) 2000 2500 0.9/step (0.45/step)
0 (0)
0 (0)
PK244M-02A/PK244M-02B
Bipolar Constant Current Driver Current: 0.57 A/Phase (Bipolar Series) With Damper D4CL-5.0F: JL=34 10
7
Bipolar (Series)
PK244M-02A/PK244M-02B
Unipolar
0.40 0.35
kg.m2
Unipolar Constant Current Driver Power Input: 24 VDC Current: 0.8 A/Phase (Unipolar) With Damper D4CL-5.0F: JL=34 10 7 kg.m2
24 VDC 48 VDC
Pullout Torque 0.10 0.05 fs 0 500 Speed [r/min] 0 2 4 6 Pulse Speed [kHz] 8 0.9/step 1000 1500
0 (0)
PK244M-03A/PK244M-03B
Unipolar
Unipolar Constant Voltage Driver Power Input: 13.5 VDC External Resistance: 0 With Damper D4CL-5.0F: JL=34 10 7 kg.m2
Pullout Torque 0.05 0 fs 100 1 200 300 400 Speed [r/min] 2 Pulse Speed [kHz] 3 500 600 0.9/step
Note: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C.
Stepping Motors
Bipolar (Series)
PK245M-01A/PK245M-01B
Unipolar
kg.m2 0.4
Unipolar Constant Current Driver Power Input: 24 VDC Current: 1.2 A/Phase (Unipolar) With Damper D4CL-5.0F: JL=34 10 7 kg.m2
0.3 Torque [N.m] Full Step 0.9/step Half Step 0.45/step 0.2 Pullout Torque 0.1 fs 0
Introduction
AC Input
500 4 (8)
2000
AS
0 (0)
0 (0)
PK245M-02A/PK245M-02B
Bipolar Constant Current Driver Current: 0.57 A/Phase (Bipolar Series) With Damper D4CL-5.0F: JL=34 10
7
Bipolar (Series)
PK245M-02A/PK245M-02B
Unipolar
DC Input
ASC
0.50 0.45 0.40 0.35 Torque [N.m] 0.30 0.25 0.20 0.15 0.10 0.05 0
kg.m2
0.4
Unipolar Constant Current Driver Power Input: 24 VDC Current: 0.8 A/Phase (Unipolar) With Damper D4CL-5.0F: JL=34 10 7 kg.m2
Power Input
AC Input
0.3
5-Phase RK
Pullout Torque
5-Phase CRK
fs 200 2 (4) 400 600 Speed [r/min] 4 (8) Pulse Speed [kHz] 800 1000 0.9/step (0.45/step)
0 (0)
DC Input
2-Phase CMK
PK245M-03A/PK245M-03B
Unipolar
0.4
Unipolar Constant Voltage Driver Power Input: 13.5 VDC External Resistance: 0 With Damper D4CL-5.0F: JL=34 10 7 kg.m2
2-Phase CSK
0.2
Pullout Torque 0.1 fs 100 1 200 300 Speed [r/min] 2 Pulse Speed [kHz] 400 500
0.9/step
Note: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C.
Wirings and Connections C-192 / Specifications, Characteristics, Dimensions C-198 / General Specifications C-240
C-213
15 1
74 59 3
20
0 0.012(h7)
4.5
18
b Enter the gear ratio in the box ( ) within the model name.
0 0.012(h7)
4.5
0.15
C-214
31 0.2 42
Stepping Motors
SH Geared Type
42 mm
Specifications
b Motor Specifications
Model Single Shaft Double Shaft PK243A1-SG PK243B1-SG Connection Type Bipolar (Series) Unipolar Current per Phase A/phase 0.67 0.95 Voltage VDC 5.6 4.0 Resistance per Phase /phase 8.4 4.2 Inductance mH/phase 10 2.5 Rotor Inertia J: kg m 35 10
2
-7
How to read specifications table Page C-10 b Degree of Protection: IP30 b Enter the gear ratio in the box ( ) within the model name. b Backlash value is approximately 1 to 2. Note: b Direction of rotation of the motor and that of the gear output shaft are the same for the gear ratios 1:3.6, 1:7.2, 1:9 and 1:10. It is the opposite for 1:18 and 1:36 gear ratios.
b Gearmotor Specifications
Model Single Shaft Double Shaft PK243A1-SG3.6 PK243B1-SG3.6 PK243A1-SG7.2 PK243B1-SG7.2 PK243A1-SG9 PK243B1-SG9 PK243A1-SG10 PK243B1-SG10 PK243A1-SG18 PK243B1-SG18 PK243A1-SG36 PK243B1-SG36 Gear Ratio Holding Torque Nm 0.2 0.4 0.5 0.56 0.8 0.8 Step Angle Permissible Speed r/min 500 250 200 180 100 50
Holding torque is the same regardless of the connection type, due to the permissible torque limit of the gearhead.
Dimensions
(Unit = mm)
42 31 0.2
12
Stepping Motors
PK243A1-SG /PK243B1-SG
Unipolar
1.0 0.8
Unipolar Constant Current Driver Power Input: 24 VDC Current: 0.95 A/Phase (Unipolar) With Damper D4CL-5.0F: JL=34 10 7 kg.m2
Torque [N.m]
Torque [N.m]
Introduction
200
600
800
100
200
500
600
AC Input
AS
PK243A1-SG /PK243B1-SG
Bipolar Constant Current Driver Power Input: 48 VDC Current: 0.67 A/Phase (Bipolar Series) With Damper D4CL-5.0F: JL=34 10 7 kg.m2
DC Input
ASC
AC Input
5-Phase RK
Permissible Torque
Torque [N.m]
5-Phase CRK
200
600
800
DC Input
2-Phase CMK
Note: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C.
2-Phase CSK 2-Phase Stepping Motors 5-Phase Stepping Motors Controllers Accessories Installation
Wirings and Connections C-192 / Specifications, Characteristics, Dimensions C-198 / General Specifications C-240
C-215
L1 51.5 81
L2
16 15
0.25
L2 L1
20 5 1.5 15
6.35
67.5 97
0.35
0.25
5.8
36
6.35 5.8
8 max. 10.1
31 max.
b These dimensions are for double shaft models. For single shaft models, ignore the orange ( ) areas.
C-216
8 max.
41
50
Stepping Motors
50 mm
Step Angle 1.8 Standard Type
Specifications
Model Single Shaft Double Shaft PK256-02A PK256-02B PK258-02A PK258-02B Connection Type Bipolar (Series) Unipolar Bipolar (Series) Unipolar Holding Torque Nm 0.84 0.6 1.56 1.2 Current per Phase A/phase 1.4 2 1.4 2 Voltage VDC 4.2 3 6.7 4.8 Resistance per Phase /phase 3 1.5 4.8 2.4 Inductance mH/phase 5.6 1.4 11.5 2.87 Rotor Inertia J: kg m
2
230 10
-7
420 10-7
Dimensions
(Unit = mm)
1
50 41
0.35
4.5 Thru
Stepping Motors
Bipolar (Series)
kg.m2
PK256-02A/PK256-02B
0.8
Unipolar
Unipolar Constant Current Driver Power Input: 24 VDC Current: 2.0 A/Phase (Unipolar) With Damper D6CL-6.3F: JL=140 10 7 kg.m2
Power Input
Introduction
0.2 fs 500 2 1000 Speed [r/min] 4 Pulse Speed [kHz] 1500 6 2000 1.8/step
AC Input
AS
0 (0)
PK258-02A/PK258-02B
2.0 Bipolar Constant Current Driver Current: 1.4 A/Phase (Bipolar Series) With Damper D6CL-6.3F: JL=140 10
7
Bipolar (Series)
kg.m2
PK258-02A/PK258-02B
1.5
Unipolar
DC Input
Unipolar Constant Current Driver Power Input: 24 VDC Current: 2.0 A/Phase (Unipolar) With Damper D6CL-6.3F: JL=140 10 7 kg.m2
ASC
1.2
AC Input
5-Phase RK
1.0 Pullout Torque 0.5 fs 200 1 (2) fs 400 600 Speed [r/min] 2 (4) Pulse Speed [kHz]
5-Phase CRK
800
fs 500 2 1000 Speed [r/min] 4 Pulse Speed [kHz] 1500 6 2000 1.8/step
0 (0)
DC Input
2-Phase CMK
Note: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C.
2-Phase CSK 2-Phase Stepping Motors 5-Phase Stepping Motors Controllers Accessories Installation
Wirings and Connections C-192 / Specifications, Characteristics, Dimensions C-198 / General Specifications C-240
C-217
Model PK264-0 A PK264-E2.0A PK264-0 B PK264-E2.0B PK266-0 A PK266-E2.0A PK266-0 B PK266-E2.0B PK268-0 A PK268-E2.0A PK268-0 B PK268-E2.0B
L1
L2
16 15
0.25
0 0.012
54 70
0.7
6.35 5.8
0.15
6 or 8 Motor Leads 300 mm Length UL Style 3265, AWG22 (6 Leads) AWG24 (8 Leads)
76 92
1.0
b These dimensions are for double shaft models. For single shaft models, ignore the orange ( ) areas.
b Enter the winding specifications in the box ( ) within the model name.
C-218
38.1
55
0.03
39
0.45
5.8
5 1.6 15
0.15 0 0.012
0.25
6.35
Stepping Motors
56.4 mm
Step Angle 1.8 Standard Type
Specifications
Model Single Shaft Double Shaft PK264-01A PK264-01B PK264-02A PK264-02B PK264-03A PK264-03B PK264-E2.0A PK264-E2.0B PK266-01A PK266-01B PK266-02A PK266-02B PK266-03A PK266-03B PK266-E2.0A PK266-E2.0B PK268-01A PK268-01B PK268-02A PK268-02B PK268-03A PK268-03B PK268-E2.0A PK268-E2.0B Connection Type Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Parallel) Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Parallel) Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Parallel) Bipolar (Series) Unipolar Holding Torque Nm 0.48 0.39 0.48 0.39 0.48 0.39 0.48 0.48 0.39 1.17 0.9 1.17 0.9 1.17 0.9 1.17 1.17 0.9 1.75 1.35 1.75 1.35 1.75 1.35 1.75 1.75 1.35 Current per Phase A/phase 0.71 1 1.4 2 2.1 3 2.8 1.4 2 0.71 1 1.4 2 2.1 3 2.8 1.4 2 0.71 1 1.4 2 2.1 3 2.8 1.4 2 Voltage VDC 8.1 5.7 3.9 2.8 2.6 1.9 1.96 3.9 2.8 11 7.4 5 3.6 3.2 2.3 2.52 5 3.6 12 8.6 6.3 4.5 4.2 3 3.16 6.3 4.5 Resistance per Phase /phase 11.4 5.7 2.8 1.4 1.26 0.63 0.7 2.8 1.4 14.8 7.4 3.6 1.8 1.5 0.75 0.9 3.6 1.8 17.2 8.6 4.5 2.25 2 1 1.13 4.5 2.25 Inductance mH/phase 21.6 5.4 5.6 1.4 2.4 0.6 1.4 5.6 1.4 40 10 10 2.5 4.4 1.1 2.5 10 2.5 56 14 14.4 3.6 6.4 1.6 3.6 14.4 3.6 Rotor Inertia J: kg m
2
120 10
-7
120 10-7
6 6 6
300 10-7
6 6 6
480 10-7
Dimensions
(Unit = mm)
Mass (kg) L2 L1 20
1
Stepping Motors
Bipolar (Series)
kg.m2
PK264-01A/PK264-01B
Unipolar
0.6 0.5
0.5 0.4
Unipolar Constant Current Driver Power Input: 24 VDC Current: 1.0 A/Phase (Unipolar) With Damper D6CL-6.3F: JL=140 10 7 kg.m2
Torque [N.m]
24 VDC 48 VDC
0.3
Introduction
Pullout Torque 0.2 0.1 0 fs 200 1 (2) fs 400 600 Speed [r/min] 2 (4) Pulse Speed [kHz] 800 1000 1.8/step (0.9/step)
Pullout Torque 0.2 0.1 fs 0 500 2 1000 1500 Speed [r/min] 4 Pulse Speed [kHz] 6 2000 2500 1.8/step
AC Input
AS
0 (0)
PK264-02A/PK264-02B
Bipolar Constant Current Driver Current: 1.4 A/Phase (Bipolar Series) With Damper D6CL-6.3F: JL=140 10
7
Bipolar (Series)
kg.m2
PK264-02A/PK264-02B
0.5 0.4 Torque [N.m] 0.3 0.2 0.1 Pullout Torque
Unipolar
DC Input
ASC
Unipolar Constant Current Driver Power Input: 24 VDC Current: 2.0 A/Phase (Unipolar) With Damper D6CL-6.3F: JL=140 10 7 kg.m2
Power Input
24 VDC 48 VDC
AC Input
5-Phase RK
Pullout Torque
5-Phase CRK
fs 0 500 2 (4) 1000 1500 Speed [r/min] 4 6 (8) (12) Pulse Speed [kHz] 2000 2500 1.8/step (0.9/step)
0 (0)
0 (0)
DC Input
2-Phase CMK
PK264-03A/PK264-03B
Bipolar Constant Current Driver Current: 2.1 A/Phase (Bipolar Series) With Damper D6CL-6.3F: JL=140 10
7
Bipolar (Series)
kg.m2
PK264-03A/PK264-03B
Unipolar
Unipolar Constant Current Driver Power Input: 24 VDC Current: 3.0 A/Phase (Unipolar) With Damper D6CL-6.3F: JL=140 10 7 kg.m2
2-Phase CSK
Power Input
24 VDC 48 VDC
Pullout Torque 0.2 0.1 0 fs 500 Speed [r/min] 0 (0) 1 (2) 2 3 (4) (6) Pulse Speed [kHz] 4 (8) 1.8/step (0.9/step) 1000 1500
Pullout Torque
fs 0 500 2 1000 1500 Speed [r/min] 4 Pulse Speed [kHz] 6 2000 2500
1.8/step
Controllers
kg.m2
kg.m2
Power Input
24 VDC 48 VDC
Power Input
24 VDC 48 VDC
Accessories
Pullout Torque
Pullout Torque
Installation
fs 500 2 (4)
2000
1000 4 (8)
0 (0)
0 (0)
Note: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C.
Wirings and Connections C-192 / Specifications, Characteristics, Dimensions C-198 / General Specifications C-240
C-219
Torque [N.m]
Pullout Torque
Torque [N.m]
Torque [N.m]
Torque [N.m]
Torque [N.m]
Torque [N.m]
Torque [N.m]
Torque [N.m]
C-220
Stepping Motors
Bipolar (Series)
kg.m2
PK266-01A/PK266-01B
Unipolar
Unipolar Constant Current Driver Power Input: 24 VDC Current: 1.0 A/Phase (Unipolar) With Damper D6CL-6.3F: JL=140 10 7 kg.m2
24 VDC 48 VDC
0.5
50 0.25 (0.5)
fs 200
0 (0)
PK266-02A/PK266-02B
Bipolar Constant Current Driver Current: 1.4 A/Phase (Bipolar Series) With Damper D6CL-6.3F: JL=140 10
7
Bipolar (Series)
kg.m2
PK266-02A/PK266-02B
1.2 1.0 0.8 0.6 0.4 0.2
Unipolar
1.5
Unipolar Constant Current Driver Power Input: 24 VDC Current: 2.0 A/Phase (Unipolar) With Damper D6CL-6.3F: JL=140 10 7 kg.m2
24 VDC 48 VDC
fs 100 0.5 (1.0) 200 300 Speed [r/min] 1.0 (2.0) Pulse Speed [kHz]
fs 400
fs 500 1.8/step (0.9/step) 0 500 2 (4) 1000 1500 Speed [r/min] 4 6 (8) (12) Pulse Speed [kHz] 2000 2500 1.8/step (0.9/step)
0 (0)
0 (0)
PK266-03A/PK266-03B
1.5 Bipolar Constant Current Driver Current: 2.1 A/Phase (Bipolar Series) With Damper D6CL-6.3F: JL=140 10
7
Bipolar (Series)
kg.m2
PK266-03A/PK266-03B
Unipolar
Unipolar Constant Current Driver Power Input: 24 VDC Current: 3.0 A/Phase (Unipolar) With Damper D6CL-6.3F: JL=140 10 7 kg.m2
24 VDC 48 VDC
fs 100 0.5 (1.0) 200 300 Speed [r/min] 1.0 (2.0) Pulse Speed [kHz] 400
fs 0 500 2 1000 1500 Speed [r/min] 4 Pulse Speed [kHz] 6 2000 2500 1.8/step
0 (0)
PK266-E2.0A/PK266-E2.0B
1.5 Bipolar Constant Current Driver Current: 2.8 A/Phase (Bipolar Parallel) With Damper D6CL-6.3F: JL=140 10
7
Bipolar (Parallel)
kg.m2
1.5
kg.m2
Power Input
24 VDC 48 VDC
200 1 (2)
800
fs 400
0 (0)
0 (0)
Note: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C.
Stepping Motors
Bipolar (Series)
kg.m2
PK268-01A/PK268-01B
Unipolar
2.5 2.0
1.4 1.2
Unipolar Constant Current Driver Power Input: 24 VDC Current: 1.0 A/Phase (Unipolar) With Damper D6CL-6.3F: JL=140 10 7 kg.m2
1.0 0.8 Pullout Torque 0.6 0.4 0.2 fs 100 0.5 200 300 Speed [r/min] 1.0 Pulse Speed [kHz] 400 500 1.8/step
Introduction
Pullout Torque 1.0 0.5 0 fs 50 100 Speed [r/min] 0.25 (0.5) Pulse Speed [kHz] 150 0.50 (1.0) 200 1.8/step (0.9/step)
AC Input
AS
0 (0)
PK268-02A/PK268-02B
Bipolar Constant Current Driver Current: 1.4 A/Phase (Bipolar Series) With Damper D6CL-6.3F: JL=140 10
7
Bipolar (Series)
kg.m2
PK268-02A/PK268-02B
1.6 1.4
Unipolar
DC Input
ASC
2.5 2.0
Unipolar Constant Current Driver Power Input: 24 VDC Current: 2.0 A/Phase (Unipolar) With Damper D6CL-6.3F: JL=140 10 7 kg.m2
Power Input Torque [N.m] 1.5 1.0 0.5 0 fs 100 0.5 (1.0) 200 300 Speed [r/min] 1.0 (2.0) Pulse Speed [kHz] fs
Torque [N.m]
24 VDC 48 VDC
1.2 1.0 0.8 0.6 Pullout Torque 0.4 Full Step 1.8/step Half Step 0.9/step
AC Input
5-Phase RK
Pullout Torque
5-Phase CRK
fs 500 2 (4) 1000 Speed [r/min] 4 (8) Pulse Speed [kHz] 1500 2000 1.8/step (0.9/step)
0 (0)
0 (0)
DC Input
2-Phase CMK
PK268-03A/PK268-03B
Bipolar Constant Current Driver Current: 2.1 A/Phase (Bipolar Series) With Damper D6CL-6.3F: JL=140 10
7
Bipolar (Series)
kg.m2
PK268-03A/PK268-03B
Unipolar
2.5 2.0
1.4 1.2
Unipolar Constant Current Driver Power Input: 24 VDC Current: 3.0 A/Phase (Unipolar) With Damper D6CL-6.3F: JL=140 10 7 kg.m2
2-Phase CSK
Power Input Torque [N.m] 1.5 1.0 Pullout Torque 0.5 0 fs 200 300 Speed [r/min] 0.5 (1.0) 1.0 (2.0) Pulse Speed [kHz]
Torque [N.m]
24 VDC 48 VDC
fs 0 500 2 1000 1500 Speed [r/min] 4 Pulse Speed [kHz] 6 2000 2500
100
0 (0)
1.8/step
Controllers
2.5 2.0
kg.m2
2.5 2.0
kg.m2
Power Input Torque [N.m] 1.5 1.0 0.5 0 fs fs 300 400 500 600 Speed [r/min] 1 (2) 2 (4) Pulse Speed [kHz]
Torque [N.m]
24 VDC 48 VDC
Power Input 1.5 1.0 0.5 0 fs fs 200 300 Speed [r/min] 0.5 (1.0) 1.0 (2.0) Pulse Speed [kHz]
24 VDC 48 VDC
Accessories
Pullout Torque
Pullout Torque
Installation
100
200
700
800
100
400
0 (0)
0 (0)
Note: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C.
Wirings and Connections C-192 / Specifications, Characteristics, Dimensions C-198 / General Specifications C-240
C-221
0.15 0 0.012
5.8
6.35
M4 10
Protective Earth Terminal M4 10.3 27max.
66.7 10.3
38.1
0.03
C-222
Stepping Motors
56.4 mm
Step Angle 1.8 Standard Type IP65 Rated Motor
Specifications
Model PK264DAT PK266DAT PK268DAT Connection Type Bipolar Bipolar Bipolar Holding Torque Nm 0.48 1.17 1.75 Current per Phase A/phase 2.8 2.8 2.8 Voltage VDC 1.96 2.52 3.16 Resistance per Phase /phase 0.7 0.9 1.13 Inductance mH/phase 1.4 2.5 3.6 Rotor Inertia J: kg m
2
How to read specifications table Page C-10 List of safety standard approved products (model, standards, file no., certification body) Page G-10 b Degree of protection: IP65 Excluding the gap between the shaft and the flange.
Dimensions
Model PK264DAT PK266DAT PK268DAT L 83 98 120
(Unit = mm)
Mass (kg) 0.6 0.9 1.2
b Use cable (VCT) with a diameter of 7 13 mm. Accessory motor cable (with protective earth wire, sold separately) is available. Page C-254
L 38.7 4 M3
15
5
0.25
20 1 1.6
4.5 Thru
Stepping Motors
Power Input
24 VDC 48 VDC
Introduction
Pullout Torque
fs 500 2 (4)
2000
AC Input
AS
0 (0)
PK266DAT
1.5
Bipolar
DC Input
ASC
Bipolar Constant Current Driver Current: 2.8 A/Phase Load Inertia: JL=140 10 7 kg.m2
24 VDC 48 VDC
AC Input
5-Phase RK
5-Phase CRK
200 1 (2)
800
0 (0)
DC Input
2-Phase CMK
PK268DAT
Bipolar
2.5 2.0
Bipolar Constant Current Driver Current: 2.8 A/Phase Load Inertia: JL=140 10 7 kg.m2
2-Phase CSK
Power Input Torque [N m] 1.5 1.0 0.5 0 fs fs 300 400 500 600 Speed [r/min] 1 (2) 2 (4) Pulse Speed [kHz]
24 VDC 48 VDC
Pullout Torque
100
200
700
800
900 1000
0 (0)
1.8/step (0.9/step)
Note: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C.
Wirings and Connections C-192 / Specifications, Characteristics, Dimensions C-198 / General Specifications C-240
C-223
Model PK264M-0 A PK264M-E2.0A PK264M-0 B PK264M-E2.0B PK266M-0 A PK266M-E2.0A PK266M-0 B PK266M-E2.0B PK268M-0 A PK268M-E2.0A PK268M-0 B PK268M-E2.0B
L1
L2
16 15
0.25
0 0.012
54 70
0.7
6.35 5.8
0.15
6 or 8 Motor Leads 300 mm Length UL Style 3265, AWG22 (6 Leads) AWG24 (8 Leads)
76 92
1.0
b These dimensions are for double shaft models. For single shaft models, ignore the orange ( ) areas.
b Enter the winding specification in the box ( ) within the model name.
C-224
38.1
55
0.03
39
0.45
5.8
5 1.6 15
0.15 0 0.012
0.25
6.35
Stepping Motors
56.4 mm
Step Angle 0.9 High-Resolution Type
Specifications
Model Single Shaft Double Shaft PK264M-01A PK264M-01B PK264M-02A PK264M-02B PK264M-03A PK264M-03B PK264M-E2.0A PK264M-E2.0B PK266M-01A PK266M-01B PK266M-02A PK266M-02B PK266M-03A PK266M-03B PK266M-E2.0A PK266M-E2.0B PK268M-01A PK268M-01B PK268M-02A PK268M-02B PK268M-03A PK268M-03B PK268M-E2.0A PK268M-E2.0B Connection Type Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Parallel) Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Parallel) Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Parallel) Bipolar (Series) Unipolar Holding Torque Nm 0.48 0.39 0.48 0.39 0.48 0.39 0.48 0.48 0.39 1.17 0.9 1.17 0.9 1.17 0.9 1.17 1.17 0.9 1.75 1.35 1.75 1.35 1.75 1.35 1.75 1.75 1.35 Current per Phase A/phase 0.71 1 1.4 2 2.1 3 2.8 1.4 2 0.71 1 1.4 2 2.1 3 2.8 1.4 2 0.71 1 1.4 2 2.1 3 2.8 1.4 2 Voltage VDC 8.1 5.7 3.9 2.8 2.6 1.9 1.96 3.9 2.8 11 7.4 5 3.6 3.2 2.3 2.52 5 3.6 12 8.6 6.3 4.5 4.2 3 3.16 6.3 4.5 Resistance per Phase /phase 11.4 5.7 2.8 1.4 1.26 0.63 0.7 2.8 1.4 14.8 7.4 3.6 1.8 1.5 0.75 0.9 3.6 1.8 17.2 8.6 4.5 2.25 2 1 1.13 4.5 2.25 Inductance mH/phase 26 6.5 6.8 1.7 3 0.75 1.7 6.8 1.7 50.8 12.7 12.8 3.2 5.8 1.45 3.2 12.8 3.2 77.6 19.4 19.2 4.8 8.4 2.1 4.8 19.2 4.8 Rotor Inertia J: kg m
2
120 10
-7
120 10-7
6 6 6
300 10-7
6 6 6
480 10-7
Dimensions
(Unit = mm)
Mass (kg) L2 L1 20
1
Stepping Motors
Bipolar (Series)
PK264M-01A/PK264M-01B
Unipolar
0.6 0.5
kg.m2
Unipolar Constant Current Driver Power Input: 24 VDC Current: 1.0 A/Phase (Unipolar) With Damper D6CL-6.3F: JL=140 10 7 kg.m2
Power Input Torque [N.m] 0.4 0.3 Pullout Torque 0.2 0.1 0 fs 200 2 (4) 400 600 Speed [r/min] 4 (8) Pulse Speed [kHz]
24 VDC 48 VDC
Introduction
800
500 2
1500 0.9/step
AC Input
AS
0 (0)
PK264M-02A/PK264M-02B
0.6 0.5 Torque [N.m] Bipolar Constant Current Driver Current: 1.4 A/Phase (Bipolar Series) With Damper D6CL-6.3F: JL=140 10
7
Bipolar (Series)
PK264M-02A/PK264M-02B
0.5 0.4
Unipolar
DC Input
ASC
kg.m2
Unipolar Constant Current Driver Power Input: 24 VDC Current: 2.0 A/Phase (Unipolar) With Damper D6CL-6.3F: JL=140 10 7 kg.m2
AC Input
Torque [N.m]
0.4 0.3
Power Input
24 VDC 48 VDC
5-Phase RK
0.3 0.2
Pullout Torque 0.2 0.1 0 fs fs 500 Speed [r/min] 0 (0) 2 (4) 4 6 (8) (12) Pulse Speed [kHz] 0.9/step 8 (16) (0.45/step) 1000 1500
Pullout Torque 0.1 fs 0 500 4 (8) 1000 1500 Speed [r/min] 8 12 (16) (24) Pulse Speed [kHz] 2000 2500 0.9/step (0.45/step)
5-Phase CRK
0 (0)
DC Input
2-Phase CMK
PK264M-03A/PK264M-03B
0.6 0.5 Power Input Torque [N.m] 0.4 0.3 0.2 Pullout Torque 0.1 0 fs 500 Speed [r/min] 0 (0) 2 (4) 4 6 (8) (12) Pulse Speed [kHz] 1000 Bipolar Constant Current Driver Current: 2.1 A/Phase (Bipolar Series) With Damper D6CL-6.3F: JL=140 10
7
Bipolar (Series)
PK264M-03A/PK264M-03B
Unipolar
kg.m2
Unipolar Constant Current Driver Power Input: 24 VDC Current: 3.0 A/Phase (Unipolar) With Damper D6CL-6.3F: JL=140 10 7 kg.m2
2-Phase CSK
24 VDC 48 VDC
0.2 0.1 fs 0
500 4
2000
2500
0.9/step
PK264M-E2.0A/PK264M-E2.0B
0.6 0.5 Power Input Torque [N.m] 0.4 0.3 Pullout Torque 0.2 0.1 0 fs 500 Speed [r/min] 0 (0) 2 (4) 4 6 (8) (12) Pulse Speed [kHz] 1000 Bipolar Constant Current Driver Current: 2.8 A/Phase (Bipolar Parallel) With Damper D6CL-6.3F: JL=140 10
7
Bipolar (Parallel)
PK264M-E2.0A/PK264M-E2.0B
0.6 0.5 Torque [N.m] Bipolar Constant Current Driver Current: 1.4 A/Phase (Bipolar Series) With Damper D6CL-6.3F: JL=140 10
7
Bipolar (Series)
Controllers
kg.m2
kg.m2
24 VDC 48 VDC
0.4 0.3
Power Input
24 VDC 48 VDC
Accessories
Installation
fs
0 (0)
Note: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C.
Wirings and Connections C-192 / Specifications, Characteristics, Dimensions C-198 / General Specifications C-240
C-225
Torque [N.m]
Torque [N.m]
Torque [N.m]
Torque [N.m]
Torque [N.m]
Torque [N.m]
Torque [N.m]
Torque [N.m]
C-226
Stepping Motors
Bipolar (Series)
PK266M-01A/PK266M-01B
Unipolar
kg.m2
Unipolar Constant Current Driver Power Input: 24 VDC Current: 1.0 A/Phase (Unipolar) With Damper D6CL-6.3F: JL=140 10 7 kg.m2
24 VDC 48 VDC
50 0.5 (1.0)
fs 0 200 2 400 600 Speed [r/min] 4 Pulse Speed [kHz] 800 1000 0.9/step
0 (0)
PK266M-02A/PK266M-02B
1.5 Bipolar Constant Current Driver Current: 1.4 A/Phase (Bipolar Series) With Damper D6CL-6.3F: JL=140 10
7
Bipolar (Series)
PK266M-02A/PK266M-02B
1.2 1.0 0.8 0.6 0.4 0.2 Pullout Torque
Unipolar
kg.m2
Unipolar Constant Current Driver Power Input: 24 VDC Current: 2.0 A/Phase (Unipolar) With Damper D6CL-6.3F: JL=140 10 7 kg.m2
Power Input
24 VDC 48 VDC
0.5
fs 100 1 (2) 200 300 Speed [r/min] 2 (4) Pulse Speed [kHz] 400 500 0.9/step (0.45/step)
fs 0 500 4 (8) 1000 1500 Speed [r/min] 8 12 (16) (24) Pulse Speed [kHz] 2000 2500 0.9/step (0.45/step)
0 (0)
0 (0)
PK266M-03A/PK266M-03B
Bipolar Constant Current Driver Current: 2.1 A/Phase (Bipolar Series) With Damper D6CL-6.3F: JL=140 10
7
Bipolar (Series)
PK266M-03A/PK266M-03B
Unipolar
1.5
kg.m2
Unipolar Constant Current Driver Power Input: 24 VDC Current: 3.0 A/Phase (Unipolar) With Damper D6CL-6.3F: JL=140 10 7 kg.m2
24 VDC 48 VDC
fs 100 1 (2)
fs 0 400 500 0.9/step (0.45/step) 0 500 4 1000 1500 Speed [r/min] 8 12 Pulse Speed [kHz] 2000 2500 0.9/step
0 (0)
PK266M-E2.0A/PK266M-E2.0B
1.5 Bipolar Constant Current Driver Current: 1.4 A/Phase (Bipolar Series) With Damper D6CL-6.3F: JL=140 10
7
Bipolar (Series)
1.5
kg.m2
kg.m2
Power Input
24 VDC 48 VDC
Pullout Torque
Pullout Torque
0.5
0.5
fs 500 Speed [r/min] 2 (4) 4 (8) Pulse Speed [kHz] 1000 0.9/step (0.45/step)
fs 100 1 (2) 200 300 Speed [r/min] 2 (4) Pulse Speed [kHz] 400 500 0.9/step (0.45/step)
0 (0)
0 (0)
Note: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C.
Stepping Motors
Bipolar (Series)
PK268M-01A/PK268M-01B
Unipolar
kg.m2
Unipolar Constant Current Driver Power Input: 24 VDC Current: 1.0 A/Phase (Unipolar) With Damper D6CL-6.3F: JL=140 10 7 kg.m2
Power Input
24 VDC 48 VDC
Introduction
Pullout Torque
fs 0 100 1 200 300 Speed [r/min] 2 Pulse Speed [kHz] 400 500 0.9/step
AC Input
AS
0 (0)
PK268M-02A/PK268M-02B
Bipolar Constant Current Driver Current: 1.4 A/Phase (Bipolar Series) With Damper D6CL-6.3F: JL=140 10
7
Bipolar (Series)
PK268M-02A/PK268M-02B
1.6 1.4
Unipolar
DC Input
ASC
2.5 2.0
kg.m2
Unipolar Constant Current Driver Power Input: 24 VDC Current: 2.0 A/Phase (Unipolar) With Damper D6CL-6.3F: JL=140 10 7 kg.m2
Torque [N.m]
Power Input Torque [N.m] 1.5 1.0 0.5 0 Pullout Torque fs 50 0.5 (1) 100 150 Speed [r/min] 1 (2) Pulse Speed [kHz]
24 VDC 48 VDC
1.2 1.0 0.8 0.6 Pullout Torque 0.4 Full Step 0.9/step Half Step 0.45/step
AC Input
fs 500 4 (8) 1000 Speed [r/min] 8 (16) Pulse Speed [kHz] 1500 2000 0.9/step (0.45/step)
0 (0)
0 (0)
DC Input
2-Phase CMK
PK268M-03A/PK268M-03B
2.5 2.0 Torque [N.m] 1.5 Pullout Torque 1.0 0.5 0 fs 100 1 (2) fs 200 300 Speed [r/min] 2 (4) Pulse Speed [kHz] Bipolar Constant Current Driver Current: 2.1 A/Phase (Bipolar Series) With Damper D6CL-6.3F: JL=140 10
7
Bipolar (Series)
PK268M-03A/PK268M-03B
Unipolar
kg.m2
1.4 1.2
Unipolar Constant Current Driver Power Input: 24 VDC Current: 3.0 A/Phase (Unipolar) With Damper D6CL-6.3F: JL=140 10 7 kg.m2
2-Phase CSK
Power Input
Torque [N.m]
24 VDC 48 VDC
400
500 4
1500
2000
0 (0)
0.9/step
PK268M-E2.0A/PK268M-E2.0B
Bipolar Constant Current Driver Current: 2.8 A/Phase (Bipolar Parallel) With Damper D6CL-6.3F: JL=140 10
7
Bipolar (Parallel)
PK268M-E2.0A/PK268M-E2.0B
Bipolar Constant Current Driver Current: 1.4 A/Phase (Bipolar Series) With Damper D6CL-6.3F: JL=140 10
7
Bipolar (Series)
Controllers
2.5 2.0
kg.m2
2.5 2.0
kg.m2
Power Input Torque [N.m] 1.5 1.0 0.5 0 Pullout Torque fs 100 1 (2) fs 200 300 Speed [r/min] 2 (4) Pulse Speed [kHz]
Torque [N.m]
24 VDC 48 VDC
Power Input 1.5 1.0 0.5 0 Pullout Torque fs 100 150 Speed [r/min] 0.5 (1) 1 (2) Pulse Speed [kHz]
24 VDC 48 VDC
Accessories Installation
400
50
fs 200
0 (0)
0 (0)
Note: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C.
Wirings and Connections C-192 / Specifications, Characteristics, Dimensions C-198 / General Specifications C-240
C-227
Model PK264JDA PK264JA PK264JDB PK264JB PK266JDA PK266JA PK266JDB PK266JB PK267JDA PK267JA PK267JDB PK267JB PK269JDA PK269JA PK269JDB PK269JB
L1
L2
0 0.015(h7)
23
0.15
L1 7 1.5
66.5
20
0.25
54 77
0.83
8 10.1
30.6
65 88
1.02
b These dimensions are for double shaft models. For single shaft models, ignore the orange ( ) areas.
85 108
1.43
C-228
7 47.14 0.35 60
43.5
0.6
8 7.5
20
0.25
Stepping Motors
60 mm
Step Angle 1.8 High-Torque Type
Specifications
Model Single Shaft Double Shaft PK264JDA PK264JDB PK264JA PK264JB PK266JDA PK266JDB PK266JA PK266JB PK267JDA PK267JDB PK267JA PK267JB PK269JDA PK269JDB PK269JA PK269JB Connection Type Holding Torque Nm 1.06 1.06 0.75 1.75 1.75 1.35 2.2 2.2 1.7 3.1 3.1 2.2 Current per Phase A/phase 2.8 1.4 2 2.8 1.4 2 2.8 1.4 2 2.8 1.4 2 Voltage VDC 2.1 4.1 2.9 2.8 5.6 4 3.4 6.7 4.8 4.2 8.3 6 Resistance per Phase /phase 0.73 2.92 1.46 1 4 2 1.2 4.8 2.4 1.49 5.96 2.98 Inductance mH/phase 1.8 7.2 1.8 3.05 12.2 3.05 3.54 14.2 3.54 5.7 22.8 5.7 Rotor Inertia J: kg m
2
Bipolar Bipolar (Series) Unipolar Bipolar Bipolar (Series) Unipolar Bipolar Bipolar (Series) Unipolar Bipolar Bipolar (Series) Unipolar
280 10
-7
280 10-7 450 10-7 450 10-7 570 10-7 570 10-7 900 10-7 900 10-7
Dimensions
(Unit = mm)
Mass (kg)
L2
24
Stepping Motors
Bipolar
7
PK264JA/PK264JB
2.0
Bipolar (Series)
7
Bipolar Constant Current Driver Current: 2.8 A/Phase With Damper D6CL-8.0F: JL=140 10
kg.m2
Bipolar Constant Current Driver Current: 1.4 A/Phase (Bipolar Series) With Damper D6CL-8.0F: JL=140 10
kg.m2
Power Input
24 VDC 48 VDC
Introduction
0.5
fs 100 0.5 (1.0) 200 300 Speed [r/min] 1.0 (2.0) Pulse Speed [kHz] 400
AC Input
AS
0 (0)
0 (0)
PK266JDA/PK266JDB
2.0 1.8 1.6 1.4 Torque [N.m] 1.2 1.0 0.8 0.6 0.4 0.2 0 200 1 (2) Pullout Torque
Bipolar
7
PK266JA/PK266JB
2.0
Bipolar (Series)
7
DC Input
ASC
Bipolar Constant Current Driver Current: 2.8 A/Phase With Damper D6CL-8.0F: JL=140 10
kg.m2
Bipolar Constant Current Driver Current: 1.4 A/Phase (Bipolar Series) With Damper D6CL-8.0F: JL=140 10
kg.m2
Power Input
1.5
Power Input
24 VDC 48 VDC
AC Input
5-Phase RK
1.0
0.5 Pullout Torque fs 400 600 Speed [r/min] 2 (4) Pulse Speed [kHz] 0 fs 200 300 Speed [r/min] 0.5 (1.0) 1.0 (2.0) Pulse Speed [kHz] fs 400
5-Phase CRK
800
100
0 (0)
0 (0)
DC Input
2-Phase CMK
PK267JDA/PK267JDB
3.0 2.5 Torque [N.m] 2.0 1.5 1.0 0.5 0 fs 200 1 (2)
Bipolar
7
PK267JA/PK267JB
4.0
Bipolar (Series)
7
Bipolar Constant Current Driver Current: 2.8 A/Phase With Damper D6CL-8.0F: JL=140 10
kg.m2
Bipolar Constant Current Driver Current: 1.4 A/Phase (Bipolar Series) With Damper D6CL-8.0F: JL=140 10
kg.m2
2-Phase CSK
Power Input
3.0
Power Input
24 VDC 48 VDC
Pullout Torque
800
400
500
0 (0)
0 (0)
1.8/step (0.9/step)
PK269JDA/PK269JDB
Bipolar
7
PK269JA/PK269JB
4.0
Bipolar (Series)
7
Controllers
4.0 3.5
Bipolar Constant Current Driver Current: 2.8 A/Phase With Damper D6CL-8.0F: JL=140 10
kg.m2
Bipolar Constant Current Driver Current: 1.4 A/Phase (Bipolar Series) With Damper D6CL-8.0F: JL=140 10
kg.m2
24 VDC 48 VDC
Accessories
2.0
Pullout Torque 1.0 0.5 0 fs 200 1 (2) fs 400 600 Speed [r/min] 2 (4) Pulse Speed [kHz] 800 1000 1.8/step (0.9/step)
1.0
Pullout Torque
Installation
400
0 (0)
0 (0)
Note: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C.
Wirings and Connections C-192 / Specifications, Characteristics, Dimensions C-198 / General Specifications C-240
C-229
Torque [N.m]
Torque [N.m]
Torque [N.m]
Torque [N.m]
C-230
Stepping Motors
0 (0)
PK266JA/PK266JB
1.6 1.4 1.2 1.0 0.8 0.6 0.4 0.2 0 fs 500 2 (4) Pullout Torque
Unipolar
Unipolar Constant Current Driver Power Input: 24 VDC Current: 2.0 A/Phase (Unipolar) With Damper D6CL-8.0F: JL=140 10 7 kg.m2 Full Step 1.8/step Half Step 0.9/step
1500
0 (0)
PK267JA/PK267JB
1.6 1.4 1.2 1.0 0.8 0.6 0.4 0.2 0 fs 500 Pullout Torque
Unipolar
Unipolar Constant Current Driver Power Input: 24 VDC Current: 2.0 A/Phase (Unipolar) With Damper D6CL-8.0F: JL=140 10 7 kg.m2 Full Step 1.8/step Half Step 0.9/step
0 (0)
PK269JA/PK269JB
2.5 2.0 1.5
Unipolar
Unipolar Constant Current Driver Power Input: 24 VDC Current: 2.0 A/Phase (Unipolar) With Damper D6CL-8.0F: JL=140 10 7 kg.m2 Full Step 1.8/step Half Step 0.9/step
Pullout Torque 1.0 0.5 0 fs 200 300 Speed [r/min] 0.8 1.2 (1.6) (2.4) Pulse Speed [kHz]
400
0 (0)
Note: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C.
Stepping Motors
Introduction AS ASC
Controllers
Accessories
Installation
AC Input
DC Input
AC Input
DC Input
Wirings and Connections C-192 / Specifications, Characteristics, Dimensions C-198 / General Specifications C-240
C-231
5-Phase RK
5-Phase CRK
2-Phase CMK
2-Phase CSK
16
12 3 7
0 0.015(h7)
0.25
8 10
0.5
70
0.5
56.4
b These dimensions are for double shaft models. For single shaft models, ignore the orange ( ) areas. b Screws (Included) M4 Length 15 mm 4 Pieces
C-232
60
b Enter the gear ratio in the box ( ) within the model name.
24
Stepping Motors
SH Geared Type
60 mm
Specifications
b Motor Specifications
Model Single Shaft Double Shaft PK264AE-SG PK264BE-SG Connection Type Bipolar (Parallel) Bipolar (Series) Unipolar Current per Phase A/phase 2.8 1.4 2 Voltage VDC 1.96 3.9 2.8 Resistance per Phase /phase 0.7 2.8 1.4 Inductance mH/phase 1.4 5.6 1.4 Rotor Inertia J: kg m
2
120 10-7
How to read specifications table Page C-10 b Degree of Protection: IP30 b Enter the gear ratio in the box ( ) within the model name. b Backlash value is approximately 1 to 2. Note: b Direction of rotation of the motor and that of the gear output shaft are the same for the gear ratios 1:3.6, 1:7.2, 1:9 and 1:10. It is the opposite for 1:18 and 1:36 gear ratios.
b Gearmotor Specifications
Model Single Shaft Double Shaft PK264AE-SG3.6 PK264BE-SG3.6 PK264AE-SG7.2 PK264BE-SG7.2 PK264AE-SG9 PK264BE-SG9 PK264AE-SG10 PK264BE-SG10 PK264AE-SG18 PK264BE-SG18 PK264AE-SG36 PK264BE-SG36 Gear Ratio Holding Torque Nm 1 2 2.5 2.7 3 4 Step Angle Permissible Speed r/min 500 250 200 180 100 50
Holding torque is the same regardless of the connection type, due to the permissible torque limit of the gearhead.
Dimensions
(Unit = mm)
95 79 32
60
Stepping Motors
PK264AE-SG /PK264BE-SG
Unipolar
Unipolar Constant Current Driver Power Input: 24 VDC Current: 2.0 A/Phase (Unipolar) With Damper D6CL-6.3F: JL=140 10 7 kg.m2 5 4
Torque [N.m]
Torque [N.m]
3 2 1
Permissible Torque
Introduction
Permissible Torque 100 200 300 400 Speed [r/min] 500 600 0
AC Input
100
200
500
600
AS
PK264AE-SG /PK264BE-SG
DC Input
ASC
Bipolar Constant Current Driver Power Input: 48 VDC Current: 1.4 A/Phase (Bipolar Series) With Damper D6CL-6.3F: JL=140 10 7 kg.m2
AC Input
5-Phase RK
Permissible Torque
Torque [N.m]
5-Phase CRK
100
200
500
600
DC Input
2-Phase CMK
Note: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C.
2-Phase CSK 2-Phase Stepping Motors 5-Phase Stepping Motors Controllers Accessories Installation
Wirings and Connections C-192 / Specifications, Characteristics, Dimensions C-198 / General Specifications C-240
C-233
126
160
3.8
C-234
69.58 85
0 0.018(h7)
66 96
100 130
1.7 2.8
10 2
0.15
0.03
14
14
73.025
0.35
25
0.25
25
0.25
13
13
0.15
0 0.018(h7)
Stepping Motors
85 mm
Step Angle 1.8 Standard Type
Specifications
Model Single Shaft Double Shaft PK296-E4.5A PK296-E4.5B PK299-E4.5A PK299-E4.5B PK2913-E4.0A PK2913-E4.0B Connection Type Bipolar (Parallel) Bipolar (Series) Unipolar Bipolar (Parallel) Bipolar (Series) Unipolar Bipolar (Parallel) Bipolar (Series) Unipolar Holding Torque Nm 3.1 3.1 2.2 6.2 6.2 4.4 9.3 9.3 6.6 Current per Phase A/phase 6.3 3.18 4.5 6.3 3.18 4.5 5.6 2.8 4 Voltage VDC 1.4 2.8 2 1.9 3.9 2.8 2.6 5.3 3.8 Resistance per Phase /phase 0.24 0.96 0.48 0.33 1.32 0.66 0.49 1.94 0.97 Inductance mH/phase 1.5 6.0 1.5 2.5 10.0 2.5 4.2 16.8 4.2 Rotor Inertia J: kg m
2
1400 10-7
2700 10-7
4000 10-7
Dimensions
Model L1
(Unit = mm)
L2 Mass (kg) L2 34
1
37 L1
Stepping Motors
Bipolar (Parallel)
Bipolar Constant Current Driver Power Input: 60 VDC Current: 6.3 A/Phase (Bipolar Parallel) With Damper D9CL-14F: JL=870 10 7 kg.m2
kg.m2
Power Input
2.5 2.0 1.5 1.0 Pullout Torque 0.5 fs 500 2 (4) 1000 Speed [r/min] 4 (8) Pulse Speed [kHz] 1500 2000 6 1.8/step (12) (0.9/step) 0 fs fs 200 300 Speed [r/min] 0.5 (1.0) 1.0 (2.0) Pulse Speed [kHz]
24 VDC 48 VDC
Introduction
2.0
1.0
100
400
AC Input
AS
0 (0)
0 (0)
PK299-E4.5A/PK299-E4.5B
6.0 5.0
Bipolar (Parallel)
DC Input
ASC
Bipolar Constant Current Driver Power Input: 60 VDC Current: 6.3 A/Phase (Bipolar Parallel) With Damper D9CL-14F: JL=870 10 7 kg.m2
kg.m2
6.0 Torque [Nm] Pullout Torque 3.0 2.0 1.0 0 fs 500 Speed [r/min] 0 (0) 1 (2) 2 3 (4) (6) Pulse Speed [kHz] 4 (8) 1.8/step (0.9/step) 0 (0) 0.5 (1.0) 1000 1500 0 fs 100 Torque [N.m] 4.0
Power Input
24 VDC 48 VDC
AC Input
5-Phase RK
5-Phase CRK
400
DC Input
2-Phase CMK
PK2913-E4.0A/PK2913-E4.0B
12.0 10.0 Torque [N.m] 8.0 6.0 Bipolar Constant Current Driver Current: 2.8 A/Phase (Bipolar Series) With Damper D9CL-14F: JL=870 10 Power Input
7
Bipolar (Series)
kg.m2
2-Phase CSK
24 VDC 48 VDC
4.0 Pullout Torque 2.0 0 fs 100 Speed [r/min] 0.25 (0.5) Pulse Speed [kHz] 0.50 (1.0) 200
100
400
0 (0)
0 (0)
1.8/step (0.9/step)
Note: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C.
Wirings and Connections C-192 / Specifications, Characteristics, Dimensions C-198 / General Specifications C-240
C-235
L 4 M3 40.6 10
13
14
37 2
0.15 0 0.018(h7)
M4
Protective Earth Terminal M4
10.3
10
10.3
27max.
C-236
25
0.25
73.025
95.3
0.03
Stepping Motors
85 mm
Step Angle 1.8 Standard Type IP65 Rated Motor
Specifications
Model Connection Type Bipolar (Parallel) Bipolar (Series) Unipolar Bipolar (Parallel) Bipolar (Series) Unipolar Bipolar (Parallel) Bipolar (Series) Unipolar Holding Torque Nm 3.1 3.1 2.2 6.2 6.2 4.4 9.3 9.3 6.6 Current per Phase A/phase 6.3 3.18 4.5 6.3 3.18 4.5 5.6 2.8 4 Voltage VDC 1.4 2.8 2 1.9 3.9 2.8 2.6 5.3 3.8 Resistance per Phase /phase 0.24 0.96 0.48 0.33 1.32 0.66 0.49 1.94 0.97 Inductance mH/phase 1.5 6.0 1.5 2.5 10.0 2.5 4.2 16.8 4.2 Rotor Inertia J: kg m
2
PK296EAT
1400 10-7
PK299EAT
2700 10-7
PK2913EAT
1400 10-7
How to read specifications table Page C-10 List of safety standard approved products (model, standards, file no., certification body) Page G-10 b Degree of protection: IP65 Excluding the gap between the shaft and the flange.
Dimensions
Model PK296EAT PK299EAT PK2913EAT L 110 140 170
(Unit = mm)
Mass (kg) 2.1 3.2 4.3
b Use cable (VCT) with a diameter of 7 13 mm. Accessory motor cable (with protective earth wire) (sold separately) is available. Page C-254
85 69.58 0.35
6.5 Thru
Stepping Motors
Bipolar (Parallel)
PK296EAT
3.5 3.0
Bipolar (Series)
Bipolar Constant Current Driver Power Input: 60 VDC Current: 6.3 A/Phase (Bipolar Parallel) Load Inertia: JL=870 10 7 kg.m2
Bipolar Constant Current Driver Current: 3.18 A/Phase (Bipolar Series) Load Inertia: JL=870 10 7 kg.m2
Power Input
24 VDC 48 VDC
Introduction
2.0
1.0 fs 500 2 (4) 1000 Speed [r/min] 4 (8) Pulse Speed [kHz] 1500 2000 6 1.8/step (12) (0.9/step)
400
AC Input
AS
0 (0)
0 (0)
PK299EAT
6.0 5.0
Bipolar (Parallel)
PK299EAT
8.0
Bipolar (Series)
DC Input
ASC
Bipolar Constant Current Driver Power Input: 60 VDC Current: 6.3 A/Phase (Bipolar Parallel) Load Inertia: JL=870 10 7 kg.m2
Bipolar Constant Current Driver Current: 3.18 A/Phase (Bipolar Series) Load Inertia: JL=870 10 7 kg.m2
6.0 Torque [Nm] Pullout Torque 3.0 2.0 1.0 0 fs 500 Speed [r/min] 0 (0) 1 (2) 2 3 (4) (6) Pulse Speed [kHz] 4 (8) 1.8/step (0.9/step) 0 (0) 0.5 (1.0) 1000 1500 0 fs 100 Torque [N.m] 4.0
Power Input
24 VDC 48 VDC
AC Input
5-Phase RK
5-Phase CRK
400
DC Input
2-Phase CMK
PK2913EAT
10 8 Torque [Nm] 6
Bipolar (Parallel)
PK2913EAT
Bipolar (Series)
Bipolar Constant Current Driver Power Input: 60 VDC Current: 5.6 A/Phase (Bipolar Parallel) Load Inertia: JL=870 10 7 kg.m2
Bipolar Constant Current Driver Current: 2.8 A/Phase (Bipolar Series) Load Inertia: JL=870 10 7 kg.m2
2-Phase CSK
Power Input
24 VDC 48 VDC
Pullout Torque 4 2 0 fs 200 300 Speed [r/min] 0.5 (1.0) 1.0 (2.0) Pulse Speed [kHz]
4.0 2.0 Pullout Torque fs 100 Speed [r/min] 0.25 (0.5) Pulse Speed [kHz] 0.50 (1.0)
100
400
200
0 (0)
0 (0)
1.8/step (0.9/step)
Note: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C.
Wirings and Connections C-192 / Specifications, Characteristics, Dimensions C-198 / General Specifications C-240
C-237
34 1 25 0.25
160 126
32 3
12 0.018(h7) 18 0.5
25 A A
0 0.018(h7)
36
b Enter the gear ratio in the box ( ) within the model name.
4 10
85
14
13
0.15
0 .5
4 M6 15 Deep 4
0 0.030
4
0.1 0
0.04 0
25
0.2
2.5
A A
b These dimensions are for double shaft models. For single shaft models, ignore the orange ( ) areas. b Screws (Included) M6 Length 18 mm 4 Pieces
C-238
90
Stepping Motors
SH Geared Type
90 mm
Specifications
b Motor Specifications
Model Single Shaft Double Shaft PK296AE-SG PK296BE-SG Connection Type Bipolar (Parallel) Bipolar (Series) Unipolar Current per Phase A/phase 4.2 2.1 3 Voltage VDC 1 2 1.4 Resistance per Phase /phase 0.24 0.96 0.48 Inductance mH/phase 1.5 6.0 1.5 Rotor Inertia J: kg m
2
1400 10-7
How to read specifications table Page C-10 b Degree of Protection: IP30 b Enter the gear ratio in the box ( ) within the model name. b Backlash value is approximately 1 to 2. Note: b Direction of rotation of the motor and that of the gear output shaft are the same for the gear ratios 1:3.6, 1:7.2, 1:9, 1:10 and 1:18. It is the opposite for 1:36 gear ratio.
b Gearmotor Specifications
Model Single Shaft Double Shaft PK296AE-SG3.6 PK296BE-SG3.6 PK296AE-SG7.2 PK296BE-SG7.2 PK296AE-SG9 PK296BE-SG9 PK296AE-SG10 PK296BE-SG10 PK296AE-SG18 PK296BE-SG18 PK296AE-SG36 PK296BE-SG36 Gear Ratio Holding Torque Nm 2.5 5 6.3 7 9 12 Step Angle Permissible Speed r/min 500 250 200 180 100 50
Holding torque is the same regardless of the connection type, due to the permissible torque limit of the gearhead.
Dimensions
(Unit = mm)
90
Stepping Motors
PK296AE-SG /PK296BE-SG
Unipolar
15
Unipolar Constant Current Driver Power Input: 24 VDC Current: 3.0 A/Phase (Unipolar) With Damper D9CL-14F: JL=870 10 7 kg.m2
Torque [N.m]
10 8 6 Permissible Torque 4 2 0 100 200 300 400 Speed [r/min] 500 600 PK296 PK296 PK296 PK296 PK296 PK296 E-SG3.6 E-SG7.2 E-SG9 E-SG10 E-SG18 E-SG36 Torque [N.m]
10
Permissible Torque 5
Introduction
100
200
500
600
AC Input
AS
PK296AE-SG /PK296BE-SG
14 12 Bipolar Constant Current Driver Power Input: 48 VDC Current: 2.1 A/Phase (Bipolar Series) With Damper D9CL-14F: JL=870 10 7 kg.m2
DC Input AC Input
ASC
10 8 Permissible Torque 6 4 2 0 100 200 300 400 Speed [r/min] 500 600 PK296 PK296 PK296 PK296 PK296 PK296 E-SG3.6 E-SG7.2 E-SG9 E-SG10 E-SG18 E-SG36 Torque [Nm]
DC Input
Note: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C.
2-Phase CSK 2-Phase Stepping Motors 5-Phase Stepping Motors Controllers Accessories Installation
Wirings and Connections C-192 / Specifications, Characteristics, Dimensions C-198 / General Specifications C-240
C-239
C-240
Stepping Motors
General Specifications
Specifications Insulation Class Insulation Resistance Motor Class B (130C) [Standard type IP65 rated motor: Recognized as class A (105C) by UL/CSA Standards] 100 M or more when 500 VDC megger is applied between the windings and case under normal ambient temperature and humidity. Sufficient to withstand 1.0 kV at 50 Hz or 60 Hz applied between the windings and the case for 1 minute, under normal ambient temperature and humidity. (0.5 kV for motor frame size 28 mm, 35 mm and 42 mm, 1.5 kV for standard type IP65 rated motor) Ambient Temperature Ambient Humidity Atmosphere Temperature Rise Stop Position Accuracy1 Shaft Runout Radial Play2 Axial Play3 Concentricity Perpendicularity 10 50C (non-freezing) 85% or less (no-condensing) No corrosive gases, dust, water or oil (Standard type IP65 rated motor: no corrosive gases) Temperature rise of windings measured by the resistance change method are 80C or less. (at rated voltage, at standstill, two phases energized) 3 arc minutes ( 0.05) [ 2 arc minutes ( 0.034) for PK26 J] 0.05 T.I.R. (mm)4 0.025 mm maximum of 5 N 0.075 mm maximum of 10 N 0.075 T.I.R. (mm)4 0.075 T.I.R. (mm)4
Dielectric Strength
1 This value is for full step under no load. (The value changes with the size of the load.) 2 Radial Play: Displacement in shaft position in the radial direction, when a 5 N load is applied in the vertical direction to the tip of the motor's shaft. 3 Axial Play: Displacement in shaft position in the axial direction, when a 10 N load is applied to the motor's shaft in the axial direction. 4 T.I.R. (Total Indicator Reading): The total dial gauge reading when the measurement section is rotated one revolution centered on the reference axis center. Note: b Do not measure insulation resistance or perform the dielectric strength test while the motor and driver are connected.
0.075 0.05
0.075
Stepping Motors
Unit
20 20
25 25
34 34
52
Introduction
52
High-Torque Type
AC Input
50
60
75
100
150
AS
DC Input
20
25
34
52
ASC
54
67
89
130 AC Input The permissible thrust load shall be no greater than the motor mass.
5-Phase RK
54
67
89
130
5-Phase CRK
DC Input
2-Phase CMK
260
290
340
390
480
20
25
34
52
2-Phase CSK
High-Resolution Type
54
67
89
130
2-Phase Stepping Motors
15 10 30 80 220
17 15 40 100 250
20 20 50 120 300
10
5-Phase Stepping Motors
15 30 100
Controllers
b Enter A (single shaft) or B (double shaft) in the box ( ) within the model name. Enter the gear ratio in the box ( ) within the model name. Enter the winding specification 1, 2 or 3 in the box ( ) within the model name.
Accessories Installation
Wirings and Connections C-192 / Specifications, Characteristics, Dimensions C-198 / General Specifications C-240
C-241
C-242
Stepping Motors
PK Series
5-phase PK Series products are the high-torque and low-vibration stepping motors with resolution of 500 per rotation (0.72/step). Ten motor lead wires are provided so that they can be used for all types of driving system. The dedicated driver is required separately to operate the motor.
b RoHS-Compliant
The 5-phase PK Series conforms to the RoHS Directive that prohibits the use of six chemical substances including lead and cadmium.
b Details of RoHS Directive Page G-23
Product Line
Model (Single Shaft) PK543-A PK544-A PK545-A PK564-AE PK566-AE PK569-AE PK596-AE PK599-AE PK5913-AE Model (Double Shaft) PK543-B PK544-B PK545-B PK564-BE PK566-BE PK569-BE PK596-BE PK599-BE PK5913-BE
PK 5 6 6 - B E
Series PK: PK Series 5: 5-Phase Motor Frame Size 4: 42 mm 6: 60 mm 9: 85 mm Motor Case Length Shaft Type A: Single Shaft B: Double Shaft Reference Code
The following items are included in each product. Motor, Operating Manual
System Configuration
5-Phase PK Series (Body)
Motor Driver
(Not supplied)1
1 Motor and driver packages are available. RK Series Page C-82 CRK Series Page C-114
Controller
(Not supplied)2
2 Controllers suitable for stepping motors are available. Controller Page C-248
Flexible Couplings
( Page C-258)
Clean Dampers
( Page C-264)
No.
Product Name
Motor Mounting Brackets Flexible Couplings Clean Dampers
Overview
Dedicated mounting bracket for the motor. Coupling that connects the motor shaft to the driven shaft. Dedicated damper for suppressing stepping motor vibration.
Page
C-266 C-258 C-264
The system configuration shown above is an example. Other combinations are available.
ORIENTAL MOTOR GENERAL CATALOGUE
Stepping Motors
Specifications
Frame Size mm Model Single Shaft PK543-A PK544-A PK545-A PK564-AE PK566-AE PK569-AE 85 PK596-AE PK599-AE PK5913-AE Double Shaft PK543-B PK544-B PK545-B PK564-BE PK566-BE PK569-BE PK596-BE PK599-BE PK5913-BE Maximum Holding Torque Nm 0.13 0.18 0.24 0.42 0.83 1.66 2.1 4.1 6.3 Rotor Inertia J: kgm 35 54 68 175 280
2
Current Resistance per Phase per Phase A/Phase /Phase 1.7 0.75 2.2 2.3 3.4 1.7 1.4 1.5 2.3 0.75
Mass kg 0.21 0.27 0.35 0.6 0.8 1.3 1.7 2.8 3.8
Corresponding Motor and Driver Dimension Package/Page with Speed Torque No. Characteristics CRK543 P CRK544 P CRK545 P C-123 C-123 C-123 1
42
60
0.72
Introduction
3 AC Input
2.8
How to read specifications table Page C-10 b For the speed torque characteristics of the motors in the table above, see the characteristics of the corresponding motor and driver package. If there is no corresponding model, refer to the following characteristics. b Enter the shaft type A or B in the box ( ) within the model name.
AS
DC Input
ASC
PK566-AE/PK566-BE
Constant Current Driver Power Input: 24 VDC Current: 0.75 A/Phase (4 Phases ON) With Damper D6CL-8.0F: JL=140 10 7 kg m2 Full Step 0.72/step
AC Input
5-Phase RK
0.6 0.5
Torque [N m]
1.2 1.0
Torque [N m]
0.4 0.3 0.2 Pullout Torque 0.1 0 0 0 fs 500 5 1000 1500 Speed [r/min] 10 Pulse Speed [kHz] 15 2000 2500 20 Full Step
0.8
5-Phase CRK
DC Input
2-Phase CMK
0 0 0
2-Phase CSK
PK5913-AE/PK5913-BE
Constant Current Driver Power Input: 24 VDC Current: 2.8 A/Phase (4 Phases ON) With Damper D9CL-14F: JL=870 10 7 kg m2
10 8 6
Torque [N m]
50
100
250 2
300
Note: b Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100C.
Accessories Installation
C-243
C-244
Stepping Motors
Gray
b Enter the shaft type A or B in the box ( ) within the model name. Enter the motor case length in the box ( ) within the model name.
Black
General Specifications
Specifications Insulation Class Insulation Resistance Dielectric Strength Operating Environment (In operation) Ambient Temperature Ambient Humidity Atmosphere Motor Class B (130C) 100 M or more when 500 VDC megger is applied between the windings and the case under normal ambient temperature and humidity. Sufficient to withstand 1.0 kV at 50 Hz or 60 Hz applied between the windings and the case for 1 minute under normal ambient temperature and humidity. (0.5 kV for PK54 ) 10 50C (non-freezing) 85% or less (non-condensing) No corrosive gases, dust, water or oil Temperature rise of the windings are 80C or less measured by the resistance change method. (at rated current, at standstill, five phases energized) 3 arc minutes ( 0.05) 0.05 T.I.R. (mm)4 0.025 mm max. of 5 N 0.075 mm max. of 10 N 0.075 T.I.R. (mm)4 0.075 T.I.R. (mm)4
0.075 0.05 A
Temperature Rise Stop Position Accuracy1 Shaft Runout Radial Play2 Axial Play3 Concentricity Perpendicularity
1 This value is for full step under no load. (The value changes with the size of the load.) 2 Radial Play: Displacement in shaft position in the radial direction, when a 5 N load is applied in the vertical direction to the tip of the motor's shaft. 3 Axial Play: Displacement in shaft position in the axial direction, when a 10 N load is applied to the motor's shaft in the axial direction. 4 T.I.R. (Total Indicator Reading): The total dial gauge reading when the measurement section is rotated one revolution centered on the reference axis center. Note: b Do not measure insulation resistance or perform the dielectric strength test while the motor and driver are connected.
0.075 A
Stepping Motors
L1 33 39 47
L2
4.5
15
L2 L1
20 1 15 0.25
42 31 0.2
31 0.2 42
0.15
48 54 62
4.5
60 mm
Model PK564-AE PK564-BE PK566-AE PK566-BE PK569-AE PK569-BE L1 46.5 57.5 87 L2 Mass kg 20 69.5 80.5 110 0.6 0.8 1.3
0 0.015(h7)
L2 23
0.25 1
24 L1 7 1.5 20
AC Input
60 4.5 Thru
AS
0.25
50 0.35 60
DC Input
ASC
50
0.35
AC Input
5-Phase RK
85 mm
0 0.018(h7)
L2
L1 66 96 126 L2 Mass kg 1.7 2.8 3.8
37 L1 10 2
1
0 0.018(h7)
34
14
14
0.25
0 0.046(h8)
25
25
0.25
5-Phase CRK
60
70 0.35 85
DC Input
2-Phase CMK
2-Phase CSK 2-Phase Stepping Motors 5-Phase Stepping Motors Controllers Accessories Installation
C-245
C-246
Stepping Motors
ORIENTAL MOTOR GENERAL CATALOGUE
Stepping Motors
Introduction AS ASC
Controllers
Accessories
Installation
AC Input
DC Input
AC Input
DC Input
Controllers
Controllers
SG8030JY C-248
Page
C-247
5-Phase RK
5-Phase CRK
2-Phase CMK
2-Phase CSK
Speed
C-248
Stepping Motors
RoHS-Compliant Controller with Jerk Limiting Control Function Step-Select Positioning Type/Sequential-Step Positioning Type
SG8030JY
The SG8030JY incorporates a jerk limiting control function that minimizes vibrations during motor operation. Operation pulse is 200 kHz maximum. All operations including data setting can easily be performed using the four touch pads on the top panel. In addition, the number of signal lines is reduced to a minimum for easy connection.
Features
b Jerk Limiting Control Function Suppresses Motor Drive Vibrations
The "Jerk limiting control function" effectively minimizes vibrations during motor drive and stop. This is especially useful in applications such as driving a belt pulley, to ensure smooth motion of transported works.
Measurement conditions Application: Belt drive Operation mode: Positioning operation Load: 10 kg Motor vibrations when switching between acceleration/deceleration and constant speed cause mechanical vibrations.
b Top Panel Single Interface for All Settings and Operation Checks
All operations including setting of various data can be performed using the four touch pads on the top panel. You can also check the status of each operation simply by checking the display on the top panel.
Motor vibrations when switching between acceleration/deceleration and constant speed are minimized, resulting in less mechanical vibrations.
Touch Pads
Time
Time
bThese diagrams are simulated. Actual effect will differ depending on mechanical construction.
To achieve the same positioning time with jerk controlled acceleration/deceleration, set the acceleration/deceleration rate to 1/2 that of linear controlled acceleration/deceleration.
84 mm
b
Step No.4
RoHS-Compliant
The SG3080JY conforms to the RoHS Directive that prohibits the use of six chemical substances including lead and cadmium.
b Details of RoHS Directive Page G-23
<Sequential-Step Positioning>
System Configuration
b Configuration Example of Combination with Stepping Motors
Time ON OFF
CW (CCW) Scan ON
Stepping Motors (Sold separately) Page C-12 RK Series Page C-82 CRK Series Page C-114 CMK Series Page C-146 CSK Series Page C-170 Programmable Controller (Not supplied) 24 VDC Power Supply (Not supplied)
SG8030JY
Stepping Motors
Product Line
Type DIN Rail Mounting Model Recessed Mounting Model Model SG8030JY-D SG8030JY-U
The following items are included in each product. Controller, Flush Mounting Socket, Recessed Mounting Adapter, Operating Manual Only for SG8030JY-U
Specifications
Model Number of Control Axes Number of Settings Positioning Data Setting Mode Setting Method Mode Positioning Control Move Distance Setting Range Starting Pulse Speed Setting Range (VS) Operating Pulse Speed Setting Range (VR) Acceleration/Deceleration Rate Setting Range (TR) SG8030JY-D SG8030JY-U 1 axis 4 steps Set with touch pads on top panel (stored in EEPROM) Incremental mode (point to point) Sequential-step positioning Step-select positioning Incremental 1 99 999 pulses 100 Hz 10 kHz (100 Hz units) 100 Hz 200 kHz (100 Hz units) 1 100 ms/kHz (28 rates) 1-pulse output/2-pulse output mode select possible Positioning operation (INDEX operation) Return to mechanical home operation (HOME operation) Continuous operation (SCAN operation) 1-pulse operation (JOG operation: Test mode only) External input mode (EXT) Program mode (PROG) Test mode (TEST) Sensor detection of home through designation of mechanical home detection direction of rotation 24 VDC photocoupler input, input resistance 4.7 k Current sinking input PNP transistor output linked to photocoupler 24 VDC, 25 mA max., Current sourcing output DC Input
2-Phase CMK Introduction
AC Input DC Input
AS
ASC
Control Modes
AC Input
5-Phase RK
Operation Modes Number of Maximum Return Pulses Return to Mechanical Home Function Input Signal Output Signal Power Source Ambient Temperature Ambient Humidity
5-Phase CRK
The following 28 acceleration/deceleration rates can be selected. [unit: ms/kHz] 1, 2, 4, 5, 6, 8, 10, 12, 14, 15, 16, 18, 20, 22, 24, 25, 26, 28, 30, 35, 40, 45, 50, 60, 70, 80, 90, 100
2-Phase CSK
48
5.5
0.7
44.5
2
44.5 44.5
4.5 Thru
70 max. 35.4
48
48
11 M3.5 7.8
8.4
Controllers
4.5
SG8030JY-U
Mass: 0.15 kg
45
Installation
45
48
0.5 0
58
5.5
106 max.
C-249
Signal Name Operation Mode Input GND 24V BUSY HOMELS Start Pulse/CW Pulse Rotation Direction/CCW Pulse External Stop S: CW Scan D: M0 [CW Scan] S: CCW Scan D: M1 [CCW Scan]
I/O Input Input Input Output Input Input Output Output Input Input Input
C-250
Stepping Motors
Function S: Switching positioning/home detection operation D: Switching positioning/home detection operation and continuous operation GND connecting terminal 24 VDC power supply input terminal Output during pulse oscillation Mechanical home detection sensor Start signal 1 pulse output mode: Pulse 2 pulse output mode: CW Pulse 1 pulse output mode: Direction of rotation 2 pulse output mode: CCW Pulse Stop all operations (including busy output) S: CW continuous operation D: M0 data select signal [CW continuous operation] S: CCW continuous operation D: M1 data select signal [CCW continuous operation]
2 3 4 5 6 7 8 9 10
11
b Indications in brackets [ ] apply to state when mode switching signal was input. Only pins 1, 10 and 11 differ for sequential-step positioning and step-select positioning. "S" in the table indicates sequential-step positioning and "D" indicates step-select positioning.
b Wiring Diagram
24 VDC Power Supply 24 V GND SG8030JY Pin No.
Driver
1 2 3 4 5 6 7 8 9 10 3 11
1 Use normal open (NO) limit control of the mechanical home sensor. 2 Power for the external stop input signal must always be ON during normal operation. When not using the external stop input signal, always connect to the 24 V terminal. 3 Names in < > brackets are for step-select positioning mode. Notes: b External resistor does not need to be installed on the pulse outputs, because they contain constant current circuits. b Note that the length of the pulse signal line increases, the maximum transmission frequency decreases.
4.7 k 680
10 k Pin No. 4 10 k 0V
120 0V
0V
0V
0V
Stepping Motors
Introduction
Stepping Motors
Accessories
AS ASC 5-Phase RK 5-Phase CRK 2-Phase CMK 2-Phase CSK 2-Phase Stepping Motors 5-Phase Stepping Motors Controllers Accessories
Accessories
Installation
Page
Cables Flexible Couplings Clean Dampers Motor Mounting Brackets DIN Rail Mounting Plate
C-251
C-252
Stepping Motors
Cables
Various cables provide convenient connection between a motor, driver and controller.
Type of Cables
General-Purpose Type or Connector--Terminal Block Conversion Unit
Motor Cable
Controllers
or
Driver Cable
Personal Computer
Communication Cable
Motor Cables
These cables are available to extend the distance between the motor and the driver for and RK Series, or connect a high-torque type motor to a driver.
Cable Name Extension Cables Extension Cables for Electromagnetic Brake Motor Flexible Extension Cables Flexible Extension Cables for Electromagnetic Brake Motor Motor Cables for IP65 Rated Motor Flexible Motor Cables for IP65 Rated Motor Extension Cables Motor Cable Page C-253 1 Applicable Product
Driver Cables
Use these cables to connect the driver of the or RK Series to a controller. Choose the general-purpose type to be combined with a connector appropriate for the specific controller used, or the connector-terminal block conversion unit that permits connection between the driver and host controller using a terminal block.
Cable Name C-253 2 Driver Cables General-Purpose Type ConnectorTerminal Block Conversion Unit C-254 3 C-254 4 C-254 5 RK Series RK Series 2-Phase PK Series CRK Series CMK Series 2-Phase PK Series CRK Series CMK Series 2-Phase PK Series Page C-256 1 C-256 2 Applicable Product RK Series RK Series
Lead wire set is available for connection between DC input driver and motor, controller, and power supply. As driver side of the cable is crimped with connector, easy connection is possible.
Cable Name Driver Lead Wire Set Page C-257 3 Applicable Product CRK Series CMK Series
C-255 6
C-255 7
The driver lead wire set includes three lead wire/connector assemblies (for motor, input/output signal and power supply).
Communication Cable
This cable is used to connect personal computer and the AS Series built-in controller (stored program) package through an RS-232C connection.
Cable Name Communicaiton Cable Page C-257 4 Applicable Product AS Series Built-In Controller (Stored Program) Package
For Motor
Power Supply
Stepping Motors
Motor Cables
1 Extension Cables Extension Cables for Electromagnetic Brake Motor (For )
These cables are used to connect motors and drivers.
2 Flexible Extension Cables Flexible Extension Cables for Electromagnetic Brake Motor (For )
Theses flexible extension cables are used between motors and drivers. We recommend this cable when the motor is installed on a moving section and the cable is bent and flexed.
Introduction
AC Input DC Input
AS
Product Line
b Extension Cables b Extension Cables for Electromagnetic Brake Motor
Model CC01AIPM CC02AIPM CC03AIPM CC05AIPM CC07AIPM CC10AIPM CC15AIPM CC20AIPM Length L (m) 1 2 3 5 7 10 15 20
Product Line
b Flexible Extension Cables b Flexible Extension Cables for Electromagnetic Brake Motor
Model CC01SAR CC02SAR CC03SAR CC05SAR CC07SAR CC10SAR Length L (m) 1 2 3 5 7 10 Model Length L (m) 1 CC01SARM2 2 CC02SARM2 3 CC03SARM2 5 CC05SARM2 7 CC07SARM2 10 CC10SARM2
42 mm, use a flexible extension
ASC 5-Phase RK
AC Input
Length L (m) 1 2 3 5 7 10 15 20
5-Phase CRK
Notes: b Electromagnetic brake models must use an extension cable for an electromagnetic brake motor. But for electromagnetic brake motor with motor frame size 42 mm, use an extension cable for standard motor. b ASC Series cannot use extension cables of 15 m and 20 m.
Note: b For electromagnetic brake motor with motor frame size cable for standard motor.
DC Input
2-Phase CMK
Dimensions
12
(Unit = mm)
2-Phase CSK
Dimensions
12
(Unit = mm)
(30) 24.3
Motor Side
9.5
Driver Side
(30) 24.3
Motor Side
Driver Side
(30) 24.3
(14.5) 11.6
22.2
9.5 Electromagnetic Brake Leads 60 mm Length (Orange, Gray AWG22) Motor Side Driver Side
Controllers
Accessories
The motor cable is not a flexible cable. If the motor cable is to be bent, bend it at the flexible extension cable.
Motor Cable (Affix the cable.) Driver
Installation
Motor
C-253
22.2
22.2
C-254
Stepping Motors
3 Motor Cables for IP65 Rated Motor Flexible Motor Cables for IP65 Rated Motor (For )
4 Extension Cables
(For RK Series)
These extension cables are used between RK Series motors and dedicated drivers (except for electromagnetic brake type). They come in three lengths: 5 m, 10 m and 20 m.
These motor cables must be used for connection between the AS Series IP65 rated motor and the driver. Any IP65 rated motor cannot be driven without these cables. One end of the cable connects to the metal connector on the motor, while the other end connects to the driver. Use a flexible motor cable if the motor is installed on a moving part and its cable will be flexed.
Product Line
Model CC05PK5 CC10PK5 CC20PK5 Length (m) 5 10 20 Conductors 5
Product Line
b Motor Cables for IP65 Rated Motor
Model CC01AST CC02AST CC03AST CC05AST CC07AST CC10AST CC15AST CC20AST Length L (m) 1 2 3 5 7 10 15 20
b Conductor configuration: 5 b Conductor size: AWG22 (0.3 mm2) b Finished outer diameter: 7.2 mm b Cable rating: 105C b Outer casing: Oil-resistant, heat-resistant, non-migrating vinyl Note: b These extension cables are only for the RK Series. Do not use them on other stepping motor and driver packages (such as CRK Series or CMK Series).
5 Motor Cable (For IP65 Rated Motor of RK Series and 2-Phase PK Series)
A cable for connection between the IP65 rated motor and driver (with protective earth wire)
Dimensions
(Unit = mm)
11.6 14.5
8 L
51.1
26
Product Line
Model CC03PKT Length (m) 3 Conductors 6
b Conductor configuration: 6 b Conductor size: Motor wire AWG18 (0.75 mm2), protective earth wire AWG14 (2.0 mm2) b Finished outer diameter: 12 mm b Cable rating: 105C 600 V b Outer casing: Heat-resistant, oil-resistant vinyl chloride resin b Applicable standards: UL 758 (AWM) VW-1, UL Style 2586
Motor Side
11.6 14.5
9.5 L
51.1
26
5 4 3 1 2
Protective Earth Wire (Green/Yellow) AWG14 (2.0 mm2) Motor Wire (Black) AWG18 (0.75 mm2) Each core is designated by a number (White). Inclusion Securing Tape Heat-Resistant, Oil-Resistant Vinyl Chloride Resin (Black)
Motor Side
Stepping Motors
Product Line
Model LC5N06A Applicable Product CRK513P P CRK513P P-H CRK52 P P CRK52 PM P CRK523P P-T CRK523P P-N CRK54 P P CRK54 PM P CRK56 PM P CMK22 P P CMK223 P-SG CMK23 P P CMK24 P P Applicable Motor Model PK513P PK513P -H S PK52 P PK52 PM PK523P -T PK523P -N PK54 P PK54 PM PK56 PM PK22 P PK223P -SG PK23 P PK24 P Length (m) 0.6
1
Introduction
AC Input
AS
b Enter the motor case length in the box ( ) within the model name. Enter A (single shaft) or B (double shaft) in the box ( ) within the model name. Enter the gear ratio in the box ( ) within the model name.
DC Input
ASC
Product Line
AC Input
5-Phase RK
Model
Applicable Product CRK513P P CRK513P P-H CRK52 P P CRK52 PM P CRK523P P-T CRK523P P-N CRK54 P P CRK54 PM P CRK56 PM P CMK22 P P CMK223 P-SG CMK23 P P CMK24 P P
Applicable Motor Model PK513P PK513P -H S PK52 P PK52 PM PK523P -T PK523P -N PK54 P PK54 PM PK56 PM PK22 P PK223P -SG PK23 P PK24 P
CS5N30A
5-Phase CRK
DC Input
2-Phase CMK
b Enter the motor case length in the box ( ) within the model name. Enter A (single shaft) or B (double shaft) in the box ( ) within the model name. Enter the gear ratio in the box ( ) within the model name.
2-Phase CSK
Specifications
2-Phase Stepping Motors
Model CS5N30A
Contact
Manufacturer
Applicable Cable AWG30 24 (0.05 0.2 mm2) Outer Sheath Diameter: 1.4 mm max. Strip Length: 1.3 1.8 mm AWG28 22 (0.08 0.3 mm2) Outer Sheath Diameter: 1.15 1.8 mm Strip Length: 2.3 2.8 mm
50212-8100
CS5N30B
51103-0500
50351-8100
57295-5000
CS5N30C
51144-0500
50539-8100
57189-5000
MOLEX
AWG24 18 (0.2 0.75 mm2) Outer Sheath Diameter: 1.4 3 mm Strip Length: 3 3.5 mm AWG30 24 (0.05 0.2 mm2) Outer Sheath Diameter: 1.4 mm max. Strip Length: 1.3 1.8 mm AWG28 22 (0.08 0.3 mm2) Outer Sheath Diameter: 1.15 1.8 mm Strip Length: 2.3 2.8 mm
Controllers
CS2U30A
51065-0600
50212-8100
57176-5000
Accessories
CS2U30B
51103-0600
50351-8100
57295-5000
Note: b The crimp tool is not provided with the package. It must be purchased separately.
C-255
Installation
15
60
33.3
10
40
30
Laminate
26 14
Shield
15
10
60
10
11 12 13 14 15 16 17 18 19 20 1 2 3 4 5 6 7 8 9 10
36
43.46
33.3
30
0 10
Laminate 10 3
12.7
39
39
12.7
Controller Side
C-256
33.3
Stepping Motors
Driver Cables
1 General-Purpose Type
This is a shielded cable equipped with, at one end of the cable, the half-pitch connector that snaps and RK into the driver for Series.
Notes: b Note that as the length of the pulse signal line between the driver and controller increases, the maximum transmission frequency decreases. Technical reference Page F-46 b Install a connector that matches the controller you are using to the other end of the cable.
Product Line
Model CC20D1-1 CC20D2-1 CC36D1-1 CC36D2-1 Length L (m) 1 2 1 2 Applicable Connector AS Series Built-In Controller (Stored Program) Package CN5 (20 Pins), RK Series CN1 (20 Pins) AS Series Pulse Input Package CN4 (36 Pins), AS Series Built-In Controller (Stored Program) Package CN4 (36 Pins), ASC Series CN3 (36 Pins)
CC20T1
CC36T1
Product Line
Model CC20T1 1 CC36T1 Length (m) Applicable Connector AS Series Built-In Controller (Stored Program) Package CN5 (20 Pins), RK Series CN1 (20 Pins) AS Series Pulse Input Package CN4 (36 Pins), AS Series Built-In Controller (Stored Program) Package CN4 (36 Pins), ASC Series CN3 (36 Pins)
Dimensions
(Unit = mm)
CC20D1-1, CC20D2-1
Conductor: AWG28 (0.08 mm2)
Dimensions
Shield 10 3 10
(Unit = mm)
CC20T1
3
1.27
0 10
86 65
2 2
DIN Rail 54 3
6.35
Controller Side
1.27 7.62 43
CC36D1-1, CC36D2-1
1000
1.27
Stepping Motors
CC36T1
162 120 2 2 14 4.5 Mounting Holes 8 Countersink 3.5 Deep 61 40
26
6.35
1.27 7.62
81
54 DIN Rail 36
3
Introduction
AC Input
AS
1000
43.46
43.46
DC Input
ASC
39 12.7
39 12.7
6.2 mm max.
b Recommended Crimp Terminals Terminal screw size: M3 Tightening torque: 1.2 N m Applicable minimum lead wire: AWG22 (0.3 mm2)
AC Input
3.2 mm min.
5-Phase RK
As an accessory for DC input drivers, lead wires with a connector are available. Crimping is not necessary, and the connection with the motor, power supply, input/output signal is also easy. The driver lead wire set includes three lead wire/connector assemblies (for motor, power supply and input/ output signal).
Product Line
Model LCS04SD5 Applicable Product CRK Series Applicable Driver Length (m) CRD5103P CRD5107P CRD5114P CMD2109P CMD2112P CMD2120P
5-Phase Stepping Motors
0.6
Controllers
LCS01CMK2
CMK Series
Accessories Installation
Cable Length: 5 m
C-257
C-258
Stepping Motors
Flexible Couplings
A flexible coupling ideal for your motor is available. Once you have decided on a motor and gear, you can select the recommended coupling easily.
Product Line
Model MCS14 MCS20 MCS30 MCS40 MCS55 MCS65
b Enter the inner diameter of coupling in the box ( ) within the model name.
MCS 30 08 12
MCS Couplings Outer Diameter of Coupling Inner Diameter d1 (Smaller Side) (F04 represents 6.35 mm) Inner Diameter d2 (Larger Side) (F04 represents 6.35 mm)
MCS14
6 8 6
MCS20
ASC66 K 8
MCS30
AS98 CE AS98ACT AS98 CEP AS98ACTP AS911ACE AS911ACT AS911ACEP AS911ACTP AS66 CE-T AS66 CEP-T AS66 CE-P AS66 CE-N AS66 CEP-N AS98 CE-T AS98 CEP-T AS66 CE-P AS66 CE-N AS66 CEP-N AS66 CE-H AS66 CEP-H ASC66 K-N ASC66 K-H ASC66 K-N ASC66 K-T ASC46 K-H 10, 20, 30 50, 100 5, 7.2 5, 7.2 3.6, 7.2, 10, 20, 30 10, 25, 36, 50 10, 25, 36, 50 50, 100
14
8 10 12 MCS40
12
MCS55
b Enter A (standard) or M (electromagnetic brake) in the box ( ) within the model name. Enter the gear ratio in the box ( ) within the model name.
Stepping Motors
Model AS AS98 CE-P AS98 CE-N AS98 CEP-N AS98 CE-H AS98 CEP-H ASC
Gear Ratio 5, 7.2, 10, 25, 36, 50 5, 7.2, 10, 25, 36, 50 50, 100
Type
6.35
16
18
20
25
18
MCS65
b Enter A (standard) or M (electromagnetic brake) in the box ( ) within the model name. Enter the gear ratio in the box ( ) within the model name.
Introduction
b 5-Phase Packages
Model RK Gear Ratio CRK CRK513P P 50, 100 CRK513P P-H CRK523PM P CRK524PM P CRK525PM P CRK544PM P CRK546PM P CRK523P P CRK525P P CRK544P P CRK546P P CRK543 P CRK544 P CRK545 P 7.2, 10, 20, 30 CRK523P P-T CRK543 P-T3.6 3.6 7.2, 10 CRK543 P-T Motor Shaft Diameter (mm) 4 Type 4 5 6 6.35 Driven Shaft Diameter (mm) 8 10 12 14 15 16 18 20 25 AC Input DC Input
AS ASC
MCS14
AC Input
5-Phase RK
6 6
5-Phase CRK
CRK564 P CRK566 P
MCS20 DC Input
2-Phase CMK
10 6
CRK564PM P CRK566PM P CRK569 P CRK564 P-T CRK543 P-P25 CRK545 P-P CRK569PM P CRK544 P-N10 3.6, 7.2 25 7.2, 10 10
2-Phase CSK
8 MCS30 10
RK596 CE RK596ACT RK596AMCE RK564 CE-T RK566 CE-P RK566 CE-N RK596 CE-T RK564 RK566 RK564 RK566 RK564 CE-P CE-P10 CE-N CE-N10 CE-H CRK564 CRK566 CRK564 CRK566 CRK564 P-P P-P10 P-N P-N10 P-H CRK543 CRK564 CRK543 CRK566 CRK566 P-P P-T P-H P-P P-N 36, 50 10, 20, 30 50, 100 5, 7.2 3.6, 7.2, 10, 20, 30 25, 36, 50 10 25, 36, 50 10 50, 100
14
8 10 12 MCS40
12
Accessories
RK599 CE RK5913 CE RK599ACT RK5913ACT RK599AMCE RK5913AMCE RK599 RK599 RK596 RK599 RK596 RK599 RK596 CE-P5 CE-N5 CE-P CE-P CE-N CE-N CE-H 5 25, 36, 50 7.2, 10 25, 36, 50 7.2, 10 50, 100
MCS55 14
Installation
18
18
MCS65
b Enter A (single shaft) or B (double shaft) in the box ( ) within the model name. Enter the gear ratio in the box ( ) within the model name.
C-259
C-260
Stepping Motors
b Enter A (single shaft) or B (double shaft) in the box ( ) within the model name.
Gear Ratio
Type 4 5 6
CSK24 - T CSK24 M T
MCS14
PK223P -SG
6.35 MCS20
8 3.6, 7.2
CMK264 P-SG
CSK264 T-SG
CSK268- T CSK268M T
6.35
MCS30
8 9, 10, 18, 36, 50, 100 9, 10, 18, 36 8 3.6, 7.2, 9 10, 18, 36 12 12 14 MCS55 MCS40
Stepping Motors
Specifications
Model Dimensions Outer Length Axis Hole Axis Hole Diameter Diameter Diameter d1 H7 d2 H7 mm mm mm mm 4 4 4 5 5 6 5 5 5 5 6 6 6 6 6.35 6.35 6.35 8 8 10 6 6 6 6 6.35 6.35 6.35 8 8 8 10 10 10 12 12 14 14 8 8 8 8 10 10 10 12 12 12 12 12 12 14 14 14 15 16 18 18 16 18 18 18 4 5 6 5 6 6 5 6 6.35 8 6 6.35 8 10 6.35 8 10 8 10 10 6 6.35 8 10 6.35 8 10 8 10 12 10 12 14 12 14 14 16 8 10 12 15 10 12 15 12 15 12 14 15 16 14 15 16 18 18 18 20 18 18 20 25 8 b: 2 0.0125 0.1 t: 1 0 10 b: 3 0.0125 0.1 t: 1.4 0 12 b: 4 0.015 0.1 t: 1.8 0 14 b: 5 0.015 0.1 t: 2.3 0 15 b: 5 0.015 0.1 t: 2.3 0 17.0 139 42.29 10-6 859.5 0.06 0.9 1.2 0 Key Slot Tolerance b/t mm Normal Torque Nm Mass Inertia Static Torsion Spring Constant N m/rad Permissible Eccentricity mm Permissible Declination deg Permissible End Play mm
kg m2
MCS140404 MCS140405 MCS140406 MCS140505 MCS140506 MCS140606 MCS200505 MCS200506 MCS2005F04 MCS200508 MCS200606 MCS2006F04 MCS200608 MCS200610 MCS20F04F04 MCS20F0408 MCS20F0410 MCS200808 MCS200810 MCS201010 MCS300606 MCS3006F04 MCS300608 MCS300610 MCS30F04F04 MCS30F0408 MCS30F0410 MCS300808 MCS300810 MCS300812 MCS301010 MCS301012 MCS301014 MCS301212 MCS301214 MCS301414 MCS301416 MCS400808 MCS400810 MCS400812 MCS400815 MCS401010 MCS401012 MCS401015 MCS401212 MCS401215 MCS551212 MCS551214 MCS551215 MCS551216 MCS551414 MCS551415 MCS551416 MCS551518 MCS551618 MCS551818 MCS551820 MCS651618 MCS651818 MCS651820 MCS651825
14
22
2.0
6.7
0.184 10-6
22.9
0.06
0.9
0.6 0
Introduction
AC Input
AS
20
30
5.0
19.8
1.059 10-6
51.6
0.08
0.9
0.8 0
DC Input AC Input
30
35
12.5
44.6
6.057 10-6
171.9
0.09
0.9
1.0 0
DC Input
40
66
55
78
60.0
282
109.1 10-6
2063
0.10
0.9
1.4 0
Controllers
20 b: 6 0.015 0.1 t: 2.8 0 25 b: 8 0.018 0.2 t: 3.3 0 160.0 535 417.1 10-6 3438 0.11 0.9 1.5 0
65
90
C-261
Accessories Installation
d1
d2
14
d2 20
d1
d1
d2 30
d1
d2 40
46
C-262
Stepping Motors
Dimensions
MCS14
Mass: 6.7 g
(Unit = mm)
16.5
MCS20
Mass: 19.8 g
23.4
MCS30
Mass: 44.6 g
35 11 5 11 5 2 M3 Allen-Head Bolt
32.2
MCS40
Mass: 139 g
66 25 12 25 12 2 M6 Allen-Head Bolt
Stepping Motors
MCS55
Mass: 282 g
78 30 10.5
b
d1
d2 55
Introduction
t
AC Input
b 57
AS
MCS65
Mass: 535 g DC Input
ASC
AC Input
5-Phase RK
d1
d2 65
5-Phase CRK
DC Input
2-Phase CMK
b 73
Mounting to a Shaft
b Clamp Type
Clamp couplings use the tightening force of the screw to compress the shaft hole diameter and thereby fasten the coupling to the shaft. This does not damage the shaft and is easy to mount and remove.
The following table shows the screw tightening torque. We recommend use of a torque wrench to fasten the coupling.
5-Phase Stepping Motors
Nm
MCS14 0.37
MCS20 0.76
MCS30 1.34
MCS40 10.5
MCS55 10.5
MCS65 25.0
Alignment Adjustment
Flexible couplings tolerate misalignment of the axis center and transfer rotational angle and torque, but produce vibration when the permissible value for misalignment is exceeded. This can dramatically shorten the coupling's service life. This requires alignment adjustment. Misalignment of the axis center includes eccentricity (parallel error of both centers), declination (angular error of both centers) and end play (shaft movement in the axial direction). To keep misalignment within the permissible value, always check and adjust the alignment. To increase the service life of the coupling, we recommend keeping misalignment below 1/3 of the permissible value.
Straight Edge Eccentricity Declination End Play
Notes: b When misalignment exceeds the permissible value or excessive torque is applied, the coupling's shape will deform, and service life is shortened. b When the coupling emits a metallic sound during operation, stop operation immediately and ensure there is no misalignment, axis interference or loose screws. b When load changes are large, apply an adhesive to the coupling set screw to prevent it from loosening.
C-263
bExcellent vibration absorption The doughnut-shaped internal inertia body and silicon gel absorb vibration. This feature enables a stable damping effect. bSince there is no frictional dust as in conventional magnetic dampers, it can be used in environments where higher degrees of cleanness is needed. bHigh reliability bIt holds up well in harsh environments and changes little with age because the silicon gel and plastic case used are heat resistant. bMachine part is sealed hermetically in a plastic case. This ensures safety and doesn't generate noise. bThis clean damper is an accessory for double shaft types. It can be used with various geared motors of double shaft type.
Shaft Holes
V EX
TA
Product Line
Model D4CL-5.0F D6CL-6.3F D6CL-8.0F D9CL-14F
Point the mounting screws of the clean damper toward the motor case, fasten to the shaft and tighten the damper's mounting screws (two places) with an allen wrench to secure it to the shaft.
Model Tightening Torque Nm D4CL-5.0F D6CL-6.3F D6CL-8.0F D9CL-14F 0.4 1.5
Notes: b There are mounting screws with hexagonal holes in two damper locations, so tighten them both before running the motor. b The damper rotates at the same speed as the motor shaft, so do not touch it while the motor is running.
Dimensions
D C
(Unit = mm)
Model d1 5 6.35 8 14
0.018 0
A 36 0.5
d1
D4CL-5.0F D6CL-6.3F
0.022 0
2 E
C-264
d1 B
0.027 0
79.5 0.5
VE V
Stepping Motors
Clean Dampers
Mechanical dampers suppress stepping motor vibration and improve high-speed performance. An inertia body and silicon gel are hermetically sealed in a plastic case.
Features
XT XT A A
B 13 0.5
C 9 0.3
D 15 0.5
E M3
20 0.5
15 0.3
22 0.5
M4
26 0.5
11 0.3
19 0.5
M4
Stepping Motors
D4CL-5.0F
34 10-7
24
CRK52 PBP CRK52 PMBP CRK523PBP-T CRK523PBP-N CRK54 BP CRK54 PBP CRK54 PMBP CRK543BP-T CRK54 BP-P CRK544BP-N CRK543BP-H PK54 -B
Introduction
AS ASC 5-Phase RK
D6CL-6.3F
140 10-7
62
5-Phase CRK
DC Input
2-Phase CMK
D6CL-8.0F
140 10-7
61
2-Phase CSK
D9CL-14F
870 10-7
105
PK59 -BE
Ambient Temperature: 20 to 80C b Enter the motor case length in the box ( ) within the model name. Enter the gear ratio in the box ( ) within the model name.
C-265
C-266
Stepping Motors
Product Line
b Standard Type, High-Torque Type, High-Speed Type, High-Resolution Type
Material: Aluminum alloy
Applicable Product Model RK CRK 5-Phase Stepping Motors 2-Phase Stepping Motors CMK24 P P CMK24 M P P CMK24 CSK24 - T CSK24 M T PK24 P PK24 -01 PK24 -02 PK24 -03 PK24 M-01 PK24 M-02 PK24 M-03
PAL0P
ASC46 K
PK54 -
PAL2P-5
AS66 CE AS66ACT AS66 CEP AS66ACTP ASC66 K AS69 CE AS69ACT AS69 CEP AS69ACTP
P CRK56 CRK56 PM P
PK56 - E
PAL2P-2
CMK26 MP P CMK26 CSK26 - T CSK26 M T PK26 J PK26 JD PK26 -01 PK26 -02 PK26 -03 PK26 M-01 PK26 M-02 PK26 M-03 PK26 DAT PK26 -E2.0 PK26 M-E2.0 AS98 CE AS98ACT AS98 CEP AS98ACTP AS911ACE AS911ACT AS911ACEP AS911ACTP
PAL4P-5
PK59 - E
PAL4P-2
b Enter A (single shaft), B (double shaft) or M (electromagnetic brake) in the box ( ) within the model name. Enter the motor case length in the box ( ) within the model name. b The mounting bracket base is built with holes large enough to allow for alignment adjustments in the horizontal direction. b These mounting brackets can be perfectly fitted to the pilot of the stepping motors. (Except for PAL0P) Note: b They cannot be used with geared stepping motors.
Stepping Motors
b Geared Type
Material: Aluminum alloy
Model SOL0A
RK
SOL0B
ASC46 K-T AS66 CE-T AS66 CEP-T ASC66 K-T AS66 CE-P AS98 CE-T AS98 CEP-T AS98 CE-P
CRK543 P-T CRK545 P-P CRK543 P-P RK564 CE-T RK566 CE-P RK564 CE-P RK596 CE-T RK599 CE-P RK596 CE-P CRK564 P-T CRK566 P-P CRK564 P-P AC Input PK296 E-SG CMK264 P-SG CSK264 T-SG PK264 E-SG
Introduction
AS
b Enter A (single shaft), B (double shaft) or M (electromagnetic brake) in the box ( ) within the model name. Enter the gear ratio in the box ( ) within the model name. b Install SOL2A and SOL2B using the supplied screws. No screws are supplied for installing SOL0A, SOL0B, SOL5A and SOL5B. Appropriate screws must be purchased separately.
DC Input
ASC
AC Input
DC Input
2-Phase CMK
Use the screws to secure the motor to the mounting bracket. Attach the motor from the direction shown by the arrow (B).
Use the screws to secure the motor to the mounting bracket. Attach the motor from the direction shown by the arrow (B).
C-267
Accessories Installation
48 24
3.5
42 31 0.3
37.6
0.5 0
0.3
50
0.3
29 6
31
11
R1 5
11
68
68
38.10.1
0.3
36
0.3 0.1
47.140.1
0.1
40
6.5 1
7.5
4 55
32 83
4 55
32 83
4 Pieces
4 Pieces
PAL4P-5
13.6
Mass: 250 g 35 6.6
30
93
R2
8 86 70 0.1
0.3 .1 0
4 M5
0.1
60
70
19 2
6 80
50 112
10 56
0.1
99
4 Pieces
C-268
7.5 400.1 70
50
0.1
70
1.5
6.5 1.5
Stepping Motors
Dimensions
PAL0P
Mass: 35 g
(Unit = mm)
23 3.5 5.5 23 15
60 45
b Screws (Included) M3 Length 10 mm 4 Pieces
PAL2P-5
Mass: 110 g 25 20 6 3.5 4.4
PAL2P-2
Mass: 110 g
25 4.4
20 3.5 6
5 R1
4 M4
62 50 0.1
4 M4
62 47.140.1
Stepping Motors
PAL4P-2
Mass: 250 g
SOL0A
Mass: 85 g
35
13.6
6.6
30 5 8
SOL0B
Mass: 85 g
4.4
72 20
R2 4
14 20
93
7.4
21
Introduction
56 44
0.3
43 .8
69.580.1
730.1
0.3
99
60
0.3 0.1
40 0.5 41 62
36
86 69.580.1
4 M5
SOL0A: 4 SOL0B: 4
6 20
AC Input
AS
88
40
1 9 2
560.1
DC Input
10
ASC
80
b Screws (Included) M5 Length 16 mm
6 3
50 112
4 Pieces
AC Input
5-Phase RK
SOL2A
Mass: 120 g
SOL2B
Mass: 120 g
5-Phase CRK
93 30
5.4
31
DC Input
78 62
SOL2A: 4 SOL2B: 4
15
25
8.4
2-Phase CMK
6 22 3
2-Phase CSK
0 .3
70
50 0.5 54 82
54 50
108
b Screws (Included) M4 Length 12 mm M5 Length 15 mm
50
SOL5A
Mass: 270 g
SOL5B
Mass: 270 g
128 50
6.4
Controllers
40
9.4
11
43
Accessories
1.5
112 92
17
SOL5A: 4 SOL5B: 4
26 3
Installation
0.3
10
146
66 0.5 73.5
112
83 80
65
C-269
49
11
16.8
C-270
89 120 145.5
Stepping Motors
Product Line
Model PADP01 Applicable Product AS Series driver
DIN Rail Mounting Plate
Dimensions
PADP01
Mass: 20 g
b Screws (Included) M3 Length 8 mm 3 Pieces
(Unit = mm)
34 18
8 4.5
Stepping Motors
Introduction AS ASC
Controllers
Accessories
Installation
AC Input
DC Input
AC Input
DC Input
Installation
Stepping Motors
Installation
C-271
5-Phase RK
5-Phase CRK
2-Phase CMK
2-Phase CSK
C-272
Stepping Motors
Installation
Motor Installation
b Direction of Mounting
Motors can be mounted freely in any direction as shown below. Regardless of how the motor is mounted, take care not to apply an overhung load or thrust load on the shaft. Make sure the cable does not contact the mounting surface causing undesirable force on the cable.
Sideways Facing Up Facing Down
b Installation Conditions
Install the motor in a location that meets the following conditions, or the product may be damaged. bIndoors (This product is designed and manufactured to be installed within another device.) bAmbient temperature: 10 to 50C (non-freezing) [0 to 50C for (non-freezing)] 0 to 40C (non-freezing): Harmonic geared type bAmbient humidity: 85% or less (non-condensing) bNot exposed to explosive, flammable or corrosive gases bNot exposed to direct sunlight bNot exposed to dust bNot exposed to water or oil (except for IP65 rated motor) bA place where heat can escape easily bNot exposed to continuous vibration or excessive impact
Notes: b When installing the motor in an enclosed space such as a control box, or somewhere close to a heat-radiating object, vent holes should be used to prevent the motor from overheating. b Do not install the motor in a location where a source of vibration will cause the motor to vibrate.
Notes: b Do not disassemble the motors. b Do not apply any shock to the motor.
b Mounting Method
Considering heat radiation and vibration isolation as much as possible, mount the motor tightly against a metal plane.
Mounting Plate
AS66 CE AS66ACT AS66 CEP AS66ACTP ASC66 K AS69 CE AS69ACT AS69 CEP AS69ACTP
PK56 - E
5 mm min.
AS98 CE AS98ACT AS98 CEP AS98ACTP AS911 CE AS911ACT AS911 CEP AS911ACTP AS98 AS98 AS98 AS98 CE-H50 CE-H100 CEP-H50 CEP-H100
PK59 - E
8 mm min.
12 mm min.
b Enter A (single shaft), B (double shaft) or M (electromagnetic brake) in the box ( ) within the model name. Enter the motor case length in the box ( ) within the model name.
Stepping Motors
Tapped Hole
Introduction
Mounting Plate
AS
CRK513P P
CRK523P P CRK525P P CRK523PM P CRK524PM P CRK525PM P CRK543 P CRK544 P CRK545 P CRK544P P CRK546P P CRK544PM P CRK546PM P CRK513P P-H
5-Phase CRK
PK543PK544PK545-
DC Input
2-Phase CMK
3 mm min.
CRK523P P-T CRK523P P-N ASC46 ASC46 ASC46 ASC66 K-T K-N K-H K-T CRK543 CRK543 CRK545 CRK544 CRK543 CRK564 CRK564 CRK566 CRK564 CRK566 CRK564 P-T P-P P-P P-N P-H P-T P-P P-P P-N P-N P-H
4 mm min.
RK564 CE-T
5 mm min.
Controllers
RK564 RK566 RK564 RK566 RK564 RK596 RK596 RK599 RK596 RK599
CE-P CE-P CE-N CE-N CE-H CE-T CE-P CE-P CE-N CE-N
PK296
-SG
8 mm min.
Accessories
12 mm min.
Installation
b Enter A (single shaft), B (double shaft) or M (electromagnetic brake) in the box ( ) within the model name. Enter the power supply voltage or winding specification 1, 2, 3 or 4 in the box ( ) within the model name. Enter the gear ratio in the box ( ) within the model name.
C-273
C-274
Stepping Motors
Driver Installation
AC Input Type b Installation Direction and Method
Drivers are designed to dissipate heat through natural convection. Install the driver vertically as shown in the photograph. When installing the separate bracket model driver vertically in the device, use bracket A; when installing the driver parallel to the bottom, use bracket B.
b Installation Conditions
Install the driver in a location that meets the following conditions, or the product may be damaged. bIndoors (This product is designed and manufactured to be installed within another device.) bAmbient temperature: 0 to 50C (non-freezing) [0 to 40C for AS Series built-in controller (stored program) driver] bAmbient humidity: 85% or less (non-condensing) bNot exposed to explosive, flammable or corrosive gases bNot exposed to direct sunlight bNot exposed to dust bNot exposed to water or oil bA place where heat can escape easily bNot exposed to continuous vibration or excessive impact
bFirmly install on a metal plane that has good heat conductivity, such as iron or aluminum 2 mm or more in thickness. bTo directly install the driver without using the mounting brackets and screws provided, pay particular attention to the length of the screws used for the tapped holes. For AS Series, the use of screw that would penetrate 3 mm or more through the surface of the driver may cause damage to the driver.
Notes: b When installing the driver in an enclosed space such as a control box, or somewhere close to a heat-radiating object, vent holes should be used to prevent the driver from overheating. b Do not install the driver in a location where a source of vibration will cause the driver to vibrate. b In situations where drivers are located close to a large noise source such as high frequency welding machines or large electromagnetic switches, take steps to prevent noise interference, either by inserting noise filters or connecting the driver to a separate circuit. b Take care that pieces of conductive material (filings, pins, pieces of wire, etc.) do not enter the drivers.
Stepping Motors
Installation of SG8030JY
DC Input Type b Installation Direction
Considering heat radiation, install the driver vertically or board side down. Install the driver in a way that the power element side faces up and the aluminum electrolytic capacitor side faces down.
Horizontal Installation
Introduction
Note: b Mount the controller only after connecting all required leads to the terminals of the flush Mounting socket.
AC Input
AS
DC Input
ASC
Vertical Installation
PRO
G TEST
CONT ROLLE R
AC Input
5-Phase RK
MOD
5-Phase CRK
DC Input
2-Phase CMK
Note: b The driver can generate a great deal of heat depending on the operating conditions. Make sure that the temperature of the heat sink does not exceed 80C. (When the temperature of the heat sink exceeds 80C, forced cooling is required.)
45
0.5 0
b Installation Conditions
Install the driver in a location that meets the following conditions, or the product may be damaged. bIndoors (This product is designed and manufactured to be installed within another device.) bAmbient temperature: 0 to 40C (non-freezing) bAmbient humidity: 85% or less (non-condensing) bNot exposed to explosive, flammable or corrosive gases bNot exposed to direct sunlight bNot exposed to dust bNot exposed to water or oil bA place where heat can escape easily bNot exposed to continuous vibration or excessive impact
Notes: b When installing the driver in an enclosed space such as a control box, or somewhere close to a heat-radiating object, vent holes should be used to prevent the driver from overheating. b In situations where drivers are located close to a large noise source such as high frequency welding machines or large electromagnetic switches, take steps to prevent noise interference, either by inserting noise filters or connecting the driver to a separate circuit.
45
2-Phase CSK
Installation Location
b Indoors, ambient temperature 0 to 40C (non-freezing)
bIf the ambient temperature exceeds 40C, use a fan to provide forced cooling. Otherwise internal heat buildup may lead to damage. bWhen attaching the controller in an enclosed space such as a control box, or somewhere close to a heat-radiating object, ventilation holes should be used to prevent the controllers from overheating.
b Ambient humidity 85% or less (non-condensing) b Not exposed to corrosive gases or dust
Take care that pieces of conductive material (filing, pins, pieces of wire, etc.) do not enter the controllers. Otherwise circuit damage may occur.
Controllers
Accessories
Installation
C-275