Stepping Motors
Introduction
C
AS Series ........................................ C-11 Closed Loop A AC Input AS PLUS Series .............................. C-11 DC Input ASC Series ...................................... C-55 AC Input Motor & Driver Packages 5-Phase Microstep DC Input CFK2 Series ................................. C-105 RK Series ........................................ C-77
Introduction
Types of Stepping Motors ................................ C-2 Introduction of Stepping Motors....................... C-4 Introduction of Geared Type ............................ C-6 How to Read Specifications Table ................... C-9 How to Read Speed-Torque Characteristics ... C-10
Closed Loop A Motor & Driver Packages 5-Phase Microstep 5-Phase Full/Half
DC Input
PMC
with Indexer with without 2-Phase Full/Half AC Input DC Input Encoder Encoder
UMK
CSK
PK/PV
PK
Driver
Controllers
SMK
Accessories
Accessories
C-1
C-2
Stepping Motors
n RK Series
Features High reliability due to closed loop control No gain tuning required High resolution control due to microstepping Motor Type High-resolution control is 2-phase stepping motor Controller and driver in and compact AC input possible by one stand alone driver in one package microstepping package Programmable functions Low vibration, low noise Driver with built-in pulse generator is available due to smooth drive (UI2120G) function
Closed Loop Control Closed Loop Control 5-Phase Stepping Motors 2-Phase Stepping Motors Stepping Motors Stepping Motors 0.36 0.36 1.8 (Standard Type) Basic Step Angle 0.72 0.9 (High-Resolution Type) (Resolution Setting: 1000 P/R) (Resolution Setting: 1000 P/R) Full Step/Half Step Microstep Microstep Microstep 1.8 / 0.9 (Standard Type) Resolution 0.720.036 0.720.00288 (16 steps) 0.72, 0.36, 0.072, 0.036 0.9 / 0.45 (High-Resolution Type) Pulse input mode switch Closed loop control Closed loop control Smooth drive function Automatic current down Microstepping Microstepping Pulse input mode switch Automatic current off Resolution selectable via Automatic current down Resolution switch Timing output software Pulse input mode switch Automatic current off Overheat output Automatic current down at 14 programs Electromagnetic brake Step angle switch 64 lines/prog. standstill switch function All windings off input Conditional statements Current Setting (Energy-saving mode) IF/ELSE SMP XX Speed Filter Timing output WHILE/WEND Protection Function Function Overheat output LOOP/ENDL Resolution select I/O test All windings off input Current setting Speed filter Protection function Resolution setting Automatic current down RS232 Control Safety Standards UC UC UC / Standard Motor Line up Electromagnetic Brake Motor Geared Motor Pages
ORIENTAL MOTOR GENERAL CATALOG 2003/2004
1.65 in. (42 mm), 2.36 in. (60 mm), 3.35 in. (85 mm) 1.65 in. (42 mm), 2.36 in. (60 mm), 3.35 in. (85 mm) 1.65 in. (42 mm), 2.36 in. (60 mm), 3.54 in. (90 mm) Page C-11
1.65 in. (42 mm), 2.36 in. (60 mm), 3.35 in. (85 mm)
/ 1.65 in. (42 mm), 2.36 in. (60 mm), 3.54 in. (90 mm) Page C-77
/ Page C-149
Stepping Motors
DC Input 24 VDC ASC Series 24 VDC 24 VDC 5-Phase CSK / PMC Series 24/36 VDC 2-Phase CSK Series
Introduction
n CFK2 Series
AS AS PLUS ASC RK
Closed Loop A Motor & Driver Packages 5-Phase Microstep 5-Phase Full/Half
High reliability due to closed loop control No gain tuning required High-resolution control due to microstepping
5-phase stepping motor 5-phase stepping motor and compact DC input and compact DC input driver in one package driver in one package High-resolution control is possibly by microstepping 5-Phase Stepping Motors 0.72 Full Step/Half Step 0.72 / 0.36 Automatic current down Timing output Step angle switch All windings off input
2-phase stepping motor and compact DC input driver in one package Wide variety of frame sizes and types
CFK2 CSK
DC Input
Closed Loop Control 5-Phase Stepping Motors Stepping Motors 0.36 0.72 (Resolution Setting: 1000 P/R) Microstep Microstep 0.72, 0.36, 0.072, 0.036 0.720.00288 (16 steps) Closed loop control Microstepping Resolution switch Pulse input mode switch Automatic current down Current Setting Speed Filter Protection Functions Automatic current down Timing output Step angle switch All windings off input Pulse input mode
1.8 (Standard Type), 0.9 (High-Resolution Type) Full Step/Half Step 1.8 / 0.9 (Standard Type) 0.9 / 0.45 (High-Resolution Type) Automatic current down Setting current monitor output Timing signal output Step angle switch Pulse input mode switch Input power supply voltage switch Power LED equipped All windings off input
with Indexer with without 2-Phase Full/Half AC Input DC Input Encoder Encoder
Controllers
UC
1.10 in. (28 mm), 1.65 in. (42 mm), 2.36 in. (60 mm) 1.65 in. (42 mm), 2.36 in. (60 mm) 1.10 in. (28 mm), 1.65 in. (42 mm), 2.36 in. (60 mm) Page C-55
/ 0.79 in. (20 mm), 1.10 in. (28 mm), 1.65 in. (42 mm), 2.36 in. (60 mm), 3.35 in. (85 mm) /
/ 1.65 in. (42 mm), 2.22 in. (56.4 mm), 3.35 in. (85 mm)
SMK Accessories
/ 1.65 in. (42 mm), 2.36 in. (60 mm) Page C-161
ORIENTAL MOTOR GENERAL CATALOG 2003/2004
/ Page C-105
C-3
C-4
Stepping Motors
A PLUS
Stand alone closed loop driver/controller
UI2120G
All-In-One Intelligent Driver/Controller for 2-Phase Stepping motors. Page C-241
A
Type Features The standard type combines the base A motor (roundshaft type) and a driver. The compact, high-response, tuning-free motor is easy to handle and offers excellent performance. The standard type comes in frame sizes from 1.10 inch sq. (28 mm sq.) to 3.35 inch sq. (85 mm sq.). Series
Standard Type
The electromagnetic brake type incorporates a non-excitation brake into the motor. Since the brake operates without electrical current, the load can be held in position even in the event of a power failure, thereby preventing physical injury or damage to the equipment. (Some motor models do not offer this option.)
Geared Type
Various gears are available to further improve the performance of A motors. These models incorporate a highly accurate, non-backlash gear or low-backlash gear. The geared type comes in frame sizes from 1.10 inch sq. (28 mm sq.) to 3.54 inch sq. (90 mm sq.). The geared type generates high torque at low speed, drives a large inertial load and ensures higher resolution, all the while maintaining the high accuracy of the motor.
Stepping Motors
Stepping Motors
Type Features The standard type combines the base motor (round-shaft type) and a driver. Designed to reduce heat generation and power consumption in the motor and driver, these models are easy to use yet provide the required performance. The standard type comes in frame sizes from 0.79 inch sq. (20 mm sq.) to 3.35 inch sq. (85 mm sq.). Series 5-Phase RK Series 2-Phase UMK Series 5-Phase CSK Series 5-Phase CFK2 Series 5-Phase PMC Series 2-Phase CSK Series 2-Phase PK Series
Introduction
AS AS PLUS
Closed Loop A
The high-speed type is ideal for driving a load not only at low speeds but also at high speeds. The higher rated current and enhanced high-speed characteristics of the motor are complemented by a larger drive capacity. High-Speed Type 5-Phase CFK2 Series
DC Input
HighResolution Type
The motor's basic step angle is reduced to half that of the standard type. These motors achieve high resolution, low vibration and improved stopping accuracy. All of the high-resolution models currently available use 2phase motors.
PMC UMK
with Indexer with without 2-Phase Full/Half AC Input DC Input Encoder Encoder
CSK PK/PV
Having a larger rotor inertia than the standard motors, the high-torque motors are designed to drive large inertial loads with outstanding efficiency. These motors also generate higher torque. 2-Phase PV Series
PK
Driver
Controllers
Geared Type
The geared-type motors combine a variety of gears that make the most of the high controllability afforded by a stepping motor. These models incorporate a highly accurate, non-backlash gear or low-backlash gear. The geared type drives a high friction load or large inertial load and ensures higher resolution, all the while maintaining the high accuracy of the motor.
5-Phase RK Series 5-Phase CSK Series 5-Phase PMC Series 2-Phase CSK Series 2-Phase PK Series
SMK Accessories
C-5
C-6
Stepping Motors
Bearing
Bearing
Tapered gear
Principle and Structure In TH-type gears, tapered gears are used for the spur gears 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. The PN gear employs a planetary-gear speedreduction 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 lowerlevel internal gears and planetary gear reduce counterclockwise backlash.
Series
PN Geared
The upper gear eliminates backlash in the clockwise direction. The upper internal gear transmits torque in the clockwise direction. Upper planetary gear
The lower gear eliminates backlash in the counterclockwise direction. The lower internal gear transmits torque in the counterclockwise direction.
Sun gear Lower internal gear Upper internal gear Upper planetary gear
Sun gear
Sun gear
Stepping Motors
Type
Principle and Structure The HG (harmonic) gear offers unparalleled precision in positioning and features a simple construction utilizing the metals elastomechanical property, comprising just three basic components: a wave generator, flex spline and circular spline.
Series
Wave Generator
Introduction
Closed Loop A Motor & Driver Packages 5-Phase Microstep 5-Phase Full/Half
90
CSK
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.
DC Input
PMC UMK
with Indexer with without 2-Phase Full/Half AC Input DC Input Encoder Encoder
360 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 generators rotation (i.e., counterclockwise). This movement translates into output, thereby reducing the speed.
CSK PK/PV PK
MG Geared SH Geared
MG geared SH geared type are for stepping motors with spur gear's speed reduction mechanism. Backlash value is 1 to 2. MG Geared SH Geared
Driver
Controllers
C-7
Low backlash
Non-backlash
C-8
Stepping Motors
Notes: Note that the values shown below must be used as reference. These values vary depending on the series, frame size and gear ratio. Maximum holding torque, maximum backlash, minimum resolution and maximum output shaft speed listed here are representative values of the following series: TH Geared Type, PN Geared Type, HG Geared Type: A AS Series MG Geared Type: PMC Series SH Geared Type: 2-Phase CSK Series
Geared Type
Features A wide variety of low gear ratio, high-speed operation Gear ratio : 3.6:1, 7.2:1, 10:1, 20:1, 30:1
Maximum Holding Maximum Backlash Minimum Resolution Maximum Output Torque lb-in (Nm) [Arc min] (Reference Value) [/step] Shaft Speed [r/min]
106 (12)
45
0.012
500
TH Geared (Parallel Shaft) High speed (low gear ratio), Maximum high positioning precision Torque High permissible/maximum torque 530 (60) Wide variety of gear ratios for selecting the desired step angle. (resolution) Centered output shaft Permissible Gear ratio : 5:1, 7.2:1, 10:1, Torque 25:1, 36:1, 50:1 320 (37) PN Geared (Planetary) High positioning precision High permissible/maximum torque High gear ratio, high resolution Centered output shaft Gear ratio : 50:1, 100:1 A wide variety of low gear ratio, high-speed operation Gear ratio : 3.6:1, 7.2:1, 10:1, 20:1, 30:1
0.0072
600
0.0036
70
4.5 (0.51)
Approx. 1~2
0.024
833
MG Geared (Parallel Shaft) A wide variety of low gear ratio, high-speed operation Gear ratio : 3.6:1, 7.2:1, 9:1, 10:1, 18:1, 36:1 SH Geared (Parallel Shaft)
35 (4)
Approx. 1~2
0.05
500
Stepping Motors
Single-Phase Single Shaft 100-115 VAC Double Shaft lb-in (Nm) Maximum Holding Torque Rotor Inertia J oz-in2 (kgm2) Rated Current A/Phase Basic Step Angle Gear Ratio Permissible Torque lb-in. (Nm) Maximum Torque lb-in. (Nm) Backlash arc minute (degrees) Angle Error arc minute (degrees) Permissible Speed Range r/min Power Source Input Excitation Mode Motor lb. (kg) Weight Driver lb. (kg) Motor Dimension No. Driver
0600
RK544AA-N7.2 RK544BA-N7.2 10.6 (1.2) 0.30 (5410-7) 0.75 0.1 7.2 : 1 10.6 (1.2) 17.7 (2) 2 (0.034) 6 (0.1) 0416 Single-Phase 100-115 VAC 15% 50/60 Hz 1 A Microstep: Basic Angle/n (/Step) 1.2 (0.56) 0.88 (0.4) m 3
Introduction
AS AS PLUS
Closed Loop A
AC Input
0300
ASC RK CFK2
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 drivers Automatic Current Cutback function reduces the maximum holding torque by approximately 50% (approximately 40% for UMK and 2-phase 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. 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 10:1 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. For TH geared type, the total torque including acceleration/deceleration torque should not exceed this value. For the PN & HG geared types, the torque not including the 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. 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 motors step angle. Shown in the table is the step angle value at which the motor can be operated. Static Friction Torque (A, AS Series, ASC Series Only) The electromagnetic brake specifications. This is the maximum holding torque at which the electromagnetic brake can hold the position.
C-9
DC Input
with Indexer with without 2-Phase Full/Half AC Input DC Input Encoder Encoder
Controllers
Torque [oz-in]
Torque [Nm]
Current [A]
Torque [kgfcm]
Torque [Nm]
C-10
Stepping Motors
8 4 0
50
TH
fs Speed [r/min]
0 (0)
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, 2Phase : 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 drivers Automatic Current Cutback function reduces the maximum holding torque by approximately 50% (approximately 40% for UMK and 2-phase 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. Maximum Starting Frequency (fs) This is the maximum pulse speed at which the motor can start or stop instantly (without an acceleration or deceleration period) when the frictional load and inertial load of the stepping motor are 0. Driving the motor at greater than this pulse speed requires gradual acceleration or deceleration. This frequency drops when there is a load inertia on the motor. (Refer to Load InertiaMaximum Starting Frequency Characteristics in Technical Reference Page F-32)
Pay attention to heat dissipation from the motor and driver. The motor will produce a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 212F (100C). ( Under 167F (75C) is required to comply with UL or CSA standards.) In order to prevent fatigue of the gear grease in the harmonic gear, keep the temperature of the gear case under 158F (70C).
Notes on characteristics diagrams: The actual characteristics will vary depending on the driver used. Please use these diagrams only for reference purposes when selecting a motor. You must also conduct a thorough evaluation with the actual driver to be used.
AC Input
DC Input AC Input DC Input ASC CFK2 RK CSK PMC UMK CSK PK/PV PK
DC Input
Stepping Motors
Introduction AS AS PLUS
SMK
Accessories
AS Series
Additional Information
C-11
Closed Loop
Motor & Driver Packages 5-Phase Microstep 5-Phase Full/Half 2-Phase Stepping Motors with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
Driver
Controllers
Motor
Plus Driver
Torque
C-12
Stepping Motors
AS Series
The is a revolutionary hybrid stepping motor and driver package which eliminates missed steps; a common problem with stepping motors. The uses a built-in feedback device that constantly monitors the motor shaft position to detect and correct for loss of synchronism. Geared models are also available.
Features
Input Pulse
Control Diagram
Excitation Sequence Control Input Counter
Output Element
Motor Sensor
Normal (Positioning Deviation is less than 1.8) Mortor runs in open loop mode like a stepping motor. If Motor Missteps ( Positioning Deviation is greater than 1.8) Control switches to closed loop mode to prevent loss of synchronism.
Angle-Torque Characteristics
Stepping Motor
Closed Loop Mode Open Loop Mode
or
Standard Driver
Closed Loop Mode -7.2 -5.4 -3.6 -1.8 0 Position 1.8 3.6 5.4 7.2
If the positioning deviation is 1.8 or smaller, the motor runs in open loop mode like a stepping motor. If the positioning deviation is 1.8 or greater, 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 C-12
Specifications/Characteristics C-21
Stepping Motors
High Response
Like conventional stepping motors, operates in synchronism with command pulses. This makes possible short stroke positioning in a short time. Measurement condition : Feed 1/5 rotation Load inertia 1.365 oz-in2 (25010-7 kgm2)
Servo Motor
No Gain Tuning
Gain tuning for a servo motor is critical, troublesome and time-consuming. 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 .
Introduction AS
Motor Movement
Motor Movement
Closed Loop
AC Input
AS PLUS
ASC
Settling Time
In traditional servo motors, there is a delay between the input pulse signals and the motor movement due to the way positioning is continuously monitored. Therefore, a servo motor needs time to settle to a stop after input signals stop. This is called settling time.
RK
CFK2
No Hunting
Since is a stepping motor, it has no hunting problem such as might be found in a traditional servo motor. Therefore, when it stops, its position is completely stable and does not fluctuate. is ideal for applications in which vibration would be a problem.
DC Input
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
Complete step
Hunting
CCD Camera
PK/PV
Low Speed
PK
High Speed
Servo Motor
Driver
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.
Controllers
Dimensions C-32
C-13
SMK Accessories
C-14
Stepping Motors
AS Series Line-Up
AS Series (AC Power Input)
Can be controlled from your own pulse generator
Plus Integrated Controller and Driver ASC Series See Page C-55 (DC Power Input)
No separate pulse generator required
Standard
Basic Model of A Motor and Driver System
or
Motor Driver PC
Product Line
Maximum Holding Torque Type Power Supply Voltage Single-Phase 100-115 VAC Single-Phase 200-230 VAC Three-Phase 200-230 VAC 1.65 in. (42 mm) / / 42 oz-in (0.3 Nm) / / 3.013.2 lb-in (0.351.5 Nm) / / 13.2 lb-in (1.5 Nm) / / 3044 lb-in (3.55.0 Nm) 2.36 in. ( 60 mm) 170280 oz-in (1.22.0 Nm) 11.035 lb-in (1.254 Nm) 3070 lb-in (3.58 Nm) 4870 lb-in (5.58.0 Nm) 3.35 in. ( 85 mm) [Geared: 3.54 in. ( 90 mm)] 280560 oz-in (2.04.0 Nm) 39106 lb-in (4.512 Nm) 88320 lb-in (1037 Nm) 220320 lb-in (2537 Nm)
Standard Type
TH Geared Type
PN Geared Type
HG Geared Type
Features C-12
Specifications/Characteristics C-21
Stepping Motors
Position Control Incremental mode (relative distance specification)/Absolute mode (absolute position specification) Linked operation (a maximum of four motion profiles may be linked) Data range (in pulses): 8,388,608 to 8,388,607 Operating speed: 10 Hz to 500 kHz (set in 1Hz increments) Four Operation Modes 1. Positioning 2. Mechanical home seeking (LS, LS, HOMELS) 3. Continuous 4. Electrical home seeking General Inputs/Outputs 8 Programmable Inputs 8 Programmable Outputs Daisy Chain Capability Up to 36 units can be daisy chained with unique device ID's Communication ASCII based commands Conforms to RS-232C communication specifications Start-stop asynchronous transmission method Transmission speed: 9,600 bps Data length: 8 bits, 1 stop bit, no parity Protocol: TTY (CRLF) Modular 4-pin connector Program Memory Maximum number of programs: 14 (including STARTUP) Maximum lines per program: 64 Commands per line: 1 Program variables: 26 (A to Z) Built-in Functions Selectable motor-resolution Run and stop current values Speed-filter set value Motor rotation direction Emergency stop Sensor logic Over-travel limits Software over-travel Alarm history Syntax checking Display values Incremental moves I/O status
Introduction AS
Closed Loop
AC Input
AS PLUS ASC
Example: PROGRAM1
RK
ALPHA STEP PLUS DRIVER >EDIT PROGRAM1
CFK2
Program Name : PROGRAM1 ( 1) VR=20000 ( 2) DIS=1200 ( 3) MI ( 4) CALL WAITEND ( 5) OUT1=1 ( 6) MGHP ( 7) END >> COMMAND : _
DC Input
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
PROGRAM1 Definition
Operating Speed: 20,000 Hz Move Distance: 1,200 pulses Call a subroutine that waits for the motor to stop before moving on to the next command Turn On Output #1 Seek the Mechanical Home Position in the Positive Direction End of Program
Dimensions C-32
C-15
Controllers
Speed
C-16
Stepping Motors
Position
Plus Features
Operating Modes
Continuous
4 Operating Modes
Linked Motion Capability
Mechanical Home
Electrical Home
Alarm Functions The driver can flash LEDs to indicate which alarm has occurred.
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
Daisy Chain
6000Hz
4000Hz 2000Hz
PC
Time
The running speed of the motor can be changed while the motor is in motion.
When the system is approved under various safety standards, the model names in the motor and driver nameplates are the approved model names. List of Motor and Driver Combinations Page C-53 Details of Safety Standards Page G-2 The EMC value changes according to the wiring and layout. Therefore, the final EMC level must be checked with the motor/driver incorporated in the users equipment. 1 Maximum Ambient Temperature for UL AS: 122F (50C), AS PLUS: 104F (40C) 2 EN60950 (Certified AS only)
Features C-12
Specifications/Characteristics C-21
Stepping Motors
System Configuration
AS Series
Introduction
AS AS PLUS
Closed Loop
AC Input
ASC
EMP400 Controller
(Sold separately) (Page C-254) AC Power Supply (Not Supplied) 24 VDC Power Supply (Not Supplied)
RK
CFK2 CSK
DC Input
PMC
AS PLUS
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
PK
Host/Master Controller (Not Supplied) Flexible Couplings (Accessories) (Page C-288) Motor Driver AS PLUS Series DIN Rail Mounting Plate (Accessories) (Page C-297) AC Power Supply (Not Supplied) Driver Cables (Accessories) (Page C-284)
Driver
Controllers
SMK
Accessories
C-17
C-18
Stepping Motors
AS 6 6 A A P - T 3.6
Gear Ratio Blank: Standard Type T: TH Geared Type N: PN Geared Type H: HG Geared Type
P: AlphaStep Plus Blank: AlphaStep Standard Power Input A: Single-Phase 100-115 VAC C: Single-Phase 200-230 VAC S: Three-Phase 200-230 VAC A: Without Electromagnetic Brake (Single Shaft) M: Electromagnetic Brake
Motor Frame Size 4: 1.65 in. sq. (42 mm sq.) 6: 2.36 in. sq. (60 mm sq.) 9: 3.35 in. sq. (85 mm sq.) [3.54 in. sq. (90 mm sq.) for geared type] AS: AS series
AS Product Lines
AS Series Standard Type
Power Source Without Electromagnetic Brake Motor Frame Size: 1.65 in. (42 mm) Model AS46AA / / / / / Motor Frame Size: 2.36 in. (60 mm) Model AS66AA AS69AA AS66AC AS69AC AS66AS AS69AS Motor Frame Size: 3.35 in. (85 mm) Model AS98AA AS911AA AS98AC AS911AC AS98AS AS911AS Motor Frame Size: 1.65 in. (42 mm) Model AS46MA / / / / / Electromagnetic Brake Motor Frame Size: 2.36 in. (60 mm) Model AS66MA AS69MA AS66MC AS69MC AS66MS AS69MS Motor Frame Size: 3.35 in. (85 mm) Model AS98MA / AS98MC / AS98MS /
TH Geared Type
Without Electromagnetic Brake Power Source Motor Frame Size: 1.65 in. (42 mm) Model AS46AA-T3.6 Single-Phase 100-115 VAC AS46AA-T7.2 AS46AA-T10 AS46AA-T20 AS46AA-T30 / / Single-Phase 200-230 VAC / / / / / Three-Phase 200-230 VAC / / / Motor Frame Size: 2.36 in. (60 mm) Model AS66AA-T3.6 AS66AA-T7.2 AS66AA-T10 AS66AA-T20 AS66AA-T30 AS66AC-T3.6 AS66AC-T7.2 AS66AC-T10 AS66AC-T20 AS66AC-T30 AS66AS-T3.6 AS66AS-T7.2 AS66AS-T10 AS66AS-T20 AS66AS-T30 Motor Frame Size: 3.54 in. (90 mm) Model AS98AA-T3.6 AS98AA-T7.2 AS98AA-T10 AS98AA-T20 AS98AA-T30 AS98AC-T3.6 AS98AC-T7.2 AS98AC-T10 AS98AC-T20 AS98AC-T30 AS98AS-T3.6 AS98AS-T7.2 AS98AS-T10 AS98AS-T20 AS98AS-T30 Motor Frame Size: 1.65 in. (42 mm) Model AS46MA-T3.6 AS46MA-T7.2 AS46MA-T10 AS46MA-T20 AS46MA-T30 / / / / / / / / / / Electromagnetic Brake Motor Frame Size: 2.36 in. (60 mm) Model AS66MA-T3.6 AS66MA-T7.2 AS66MA-T10 AS66MA-T20 AS66MA-T30 AS66MC-T3.6 AS66MC-T7.2 AS66MC-T10 AS66MC-T20 AS66MC-T30 AS66MS-T3.6 AS66MS-T7.2 AS66MS-T10 AS66MS-T20 AS66MS-T30 Motor Frame Size: 3.54 in. (90 mm) Model AS98MA-T3.6 AS98MA-T7.2 AS98MA-T10 AS98MA-T20 AS98MA-T30 AS98MC-T3.6 AS98MC-T7.2 AS98MC-T10 AS98MC-T20 AS98MC-T30 AS98MS-T3.6 AS98MS-T7.2 AS98MS-T10 AS98MS-T20 AS98MS-T30
Features C-12
Specifications/Characteristics C-21
Stepping Motors
PN Geared Type
Without Electromagnetic Brake Power Source Motor Frame Size: 1.65 in. (42 mm) Model / AS46AA-N7.2 Single-Phase 100-115 VAC AS46AA-N10 / / / / / Single-Phase 200-230 VAC / / / / / / Three-Phase 200-230 VAC / / / / Motor Frame Size: 2.36 in. (60 mm) Model AS66AA-N5 AS66AA-N7.2 AS66AA-N10 AS66AA-N25 AS66AA-N36 AS66AA-N50 AS66AC-N5 AS66AC-N7.2 AS66AC-N10 AS66AC-N25 AS66AC-N36 AS66AC-N50 AS66AS-N5 AS66AS-N7.2 AS66AS-N10 AS66AS-N25 AS66AS-N36 AS66AS-N50 Motor Frame Size: 3.54 in. (90 mm) Model AS98AA-N5 AS98AA-N7.2 AS98AA-N10 AS98AA-N25 AS98AA-N36 AS98AA-N50 AS98AC-N5 AS98AC-N7.2 AS98AC-N10 AS98AC-N25 AS98AC-N36 AS98AC-N50 AS98AS-N5 AS98AS-N7.2 AS98AS-N10 AS98AS-N25 AS98AS-N36 AS98AS-N50 Motor Frame Size: 1.65 in. (42 mm) Model / AS46MA-N7.2 AS46MA-N10 / / / / / / / / / / / / / / / Electromagnetic Brake Motor Frame Size: 2.36 in. (60 mm) Model AS66MA-N5 AS66MA-N7.2 AS66MA-N10 AS66MA-N25 AS66MA-N36 AS66MA-N50 AS66MC-N5 AS66MC-N7.2 AS66MC-N10 AS66MC-N25 AS66MC-N36 AS66MC-N50 AS66MS-N5 AS66MS-N7.2 AS66MS-N10 AS66MS-N25 AS66MS-N36 AS66MS-N50 Motor Frame Size: 3.54 in. (90 mm) Model AS98MA-N5 AS98MA-N7.2 AS98MA-N10 AS98MA-N25 AS98MA-N36 AS98MA-N50 AS98MC-N5 AS98MC-N7.2 AS98MC-N10 AS98MC-N25 AS98MC-N36 AS98MC-N50 AS98MS-N5 AS98MS-N7.2 AS98MS-N10 AS98MS-N25 AS98MS-N36 AS98MS-N50
Closed Loop Motor & Driver Packages 5-Phase Microstep 5-Phase Full/Half
HG Geared Type
Without Electromagnetic Brake Power Source Motor Frame Size: 1.65 in. (42 mm) Model AS46AA2-H50 AS46AA2-H100 / / / / Motor Frame Size: 2.36 in. (60 mm) Model AS66AA2-H50 AS66AA2-H100 AS66AC2-H50 AS66AC2-H100 AS66AS2-H50 AS66AS2-H100 Motor Frame Size: 3.54 in. (90 mm) Model AS98AA-H50 AS98AA-H100 AS98AC-H50 AS98AC-H100 AS98AS-H50 AS98AS-H100 Motor Frame Size: 1.65 in. (42 mm) Model AS46MA2-H50 AS46MA2-H100 / / / / Electromagnetic Brake Motor Frame Size: 2.36 in. (60 mm) Model AS66MA2-H50 AS66MA2-H100 AS66MC2-H50 AS66MC2-H100 AS66MS2-H50 AS66MS2-H100 Motor Frame Size: 3.54 in. (90 mm) Model AS98MA-H50 AS98MA-H100 AS98MC-H50 AS98MC-H100 AS98MS-H50 AS98MS-H100
CSK PMC
DC Input
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
PLUS
Without Electromagnetic Brake Electromagnetic Brake Motor Frame Size: 1.65 in. (42 mm) Model AS46MAP / / / / / Motor Frame Size: 2.36 in. (60 mm) Model AS66MAP AS69MAP AS66MCP AS69MCP AS66MSP AS69MSP Motor Frame Size: 3.35 in. (85 mm) Model AS98MAP / AS98MCP / AS98MSP /
PK
Motor Frame Size: 2.36 in. (60 mm) Model AS66AAP AS69AAP AS66ACP AS69ACP AS66ASP AS69ASP
Motor Frame Size: 3.35 in. (85 mm) Model AS98AAP AS911AAP AS98ACP AS911ACP AS98ASP AS911ASP
Driver
Controllers
Dimensions C-32
C-19
SMK Accessories
C-20
Stepping Motors
TH Geared Type
Without Electromagnetic Brake Power Source Motor Frame Size: 1.65 in. (42 mm) Model AS46AAP-T3.6 Single-Phase 100-115 VAC AS46AAP-T7.2 AS46AAP-T10 AS46AAP-T20 AS46AAP-T30 / / Single-Phase 200-230 VAC / / / / / Three-Phase 200-230 VAC / / / Motor Frame Size: 2.36 in. (60 mm) Model AS66AAP-T3.6 AS66AAP-T7.2 AS66AAP-T10 AS66AAP-T20 AS66AAP-T30 AS66ACP-T3.6 AS66ACP-T7.2 AS66ACP-T10 AS66ACP-T20 AS66ACP-T30 AS66ASP-T3.6 AS66ASP-T7.2 AS66ASP-T10 AS66ASP-T20 AS66ASP-T30 Motor Frame Size: 3.54 in. (90 mm) Model AS98AAP-T3.6 AS98AAP-T7.2 AS98AAP-T10 AS98AAP-T20 AS98AAP-T30 AS98ACP-T3.6 AS98ACP-T7.2 AS98ACP-T10 AS98ACP-T20 AS98ACP-T30 AS98ASP-T3.6 AS98ASP-T7.2 AS98ASP-T10 AS98ASP-T20 AS98ASP-T30 Motor Frame Size: 1.65 in. (42 mm) Model AS46MAP-T3.6 AS46MAP-T7.2 AS46MAP-T10 AS46MAP-T20 AS46MAP-T30 / / / / / / / / / / Electromagnetic Brake Motor Frame Size: 2.36 in. (60 mm) Model AS66MAP-T3.6 AS66MAP-T7.2 AS66MAP-T10 AS66MAP-T20 AS66MAP-T30 AS66MCP-T3.6 AS66MCP-T7.2 AS66MCP-T10 AS66MCP-T20 AS66MCP-T30 AS66MSP-T3.6 AS66MSP-T7.2 AS66MSP-T10 AS66MSP-T20 AS66MSP-T30 Motor Frame Size: 3.54 in. (90 mm) Model AS98MAP-T3.6 AS98MAP-T7.2 AS98MAP-T10 AS98MAP-T20 AS98MAP-T30 AS98MCP-T3.6 AS98MCP-T7.2 AS98MCP-T10 AS98MCP-T20 AS98MCP-T30 AS98MSP-T3.6 AS98MSP-T7.2 AS98MSP-T10 AS98MSP-T20 AS98MSP-T30
PN Geared Type
Without Electromagnetic Brake Power Source Motor Frame Size: 1.65 in. (42 mm) Model / AS46AAP-N7.2 Single-Phase 100-115 VAC AS46AAP-N10 / / / / / Single-Phase 200-230 VAC / / / / / / Three-Phase 200-230 VAC / / / / Motor Frame Size: 2.36 in. (60 mm) Model AS66AAP-N5 AS66AAP-N7.2 AS66AAP-N10 AS66AAP-N25 AS66AAP-N36 AS66AAP-N50 AS66ACP-N5 AS66ACP-N7.2 AS66ACP-N10 AS66ACP-N25 AS66ACP-N36 AS66ACP-N50 AS66ASP-N5 AS66ASP-N7.2 AS66ASP-N10 AS66ASP-N25 AS66ASP-N36 AS66ASP-N50 Motor Frame Size: 3.54 in. (90 mm) Model AS98AAP-N5 AS98AAP-N7.2 AS98AAP-N10 AS98AAP-N25 AS98AAP-N36 AS98AAP-N50 AS98ACP-N5 AS98ACP-N7.2 AS98ACP-N10 AS98ACP-N25 AS98ACP-N36 AS98ACP-N50 AS98ASP-N5 AS98ASP-N7.2 AS98ASP-N10 AS98ASP-N25 AS98ASP-N36 AS98ASP-N50 Motor Frame Size: 1.65 in. (42 mm) Model / AS46MAP-N7.2 AS46MAP-N10 / / / / / / / / / / / / / / / Electromagnetic Brake Motor Frame Size: 2.36 in. (60 mm) Model AS66MAP-N5 AS66MAP-N7.2 AS66MAP-N10 AS66MAP-N25 AS66MAP-N36 AS66MAP-N50 AS66MCP-N5 AS66MCP-N7.2 AS66MCP-N10 AS66MCP-N25 AS66MCP-N36 AS66MCP-N50 AS66MSP-N5 AS66MSP-N7.2 AS66MSP-N10 AS66MSP-N25 AS66MSP-N36 AS66MSP-N50 Motor Frame Size: 3.54 in. (90 mm) Model AS98MAP-N5 AS98MAP-N7.2 AS98MAP-N10 AS98MAP-N25 AS98MAP-N36 AS98MAP-N50 AS98MCP-N5 AS98MCP-N7.2 AS98MCP-N10 AS98MCP-N25 AS98MCP-N36 AS98MCP-N50 AS98MSP-N5 AS98MSP-N7.2 AS98MSP-N10 AS98MSP-N25 AS98MSP-N36 AS98MSP-N50
HG Geared Type
Without Electromagnetic Brake Power Source Motor Frame Size: 1.65 in. (42 mm) Model AS46AAP2-H50 / / / / Motor Frame Size: 2.36 in. (60 mm) Model AS66AAP2-H50 AS66ACP2-H50 AS66ACP2-H100 AS66ASP2-H50 AS66ASP2-H100 Motor Frame Size: 3.54 in. (90 mm) Model AS98AAP-H50 AS98AAP-H100 AS98ACP-H50 AS98ACP-H100 AS98ASP-H50 AS98ASP-H100 Motor Frame Size: 1.65 in. (42 mm) Model AS46MAP2-H50 / / / / Electromagnetic Brake Motor Frame Size: 2.36 in. (60 mm) Model AS66MAP2-H50 AS66MCP2-H50 AS66MCP2-H100 AS66MSP2-H50 AS66MSP2-H100 Motor Frame Size: 3.54 in. (90 mm) Model AS98MAP-H50 AS98MAP-H100 AS98MCP-H50 AS98MCP-H100 AS98MSP-H50 AS98MSP-H100
AS46AAP2-H100 AS66AAP2-H100
AS46MAP2-H100 AS66MAP2-H100
Features C-12
Specifications/Characteristics C-21
Stepping Motors
Standard Type Motor Frame Size: 1.65 in. ( 42 mm), 2.36 in. ( 60 mm), 3.35 in. ( 85 mm)
Specifications
W/O Electromagnetic Brake Electromagnetic Brake Model W/O Electromagnetic Brake AS PLUS Electromagnetic Brake oz-in (Nm) Maximum Holding Torque AS
1
Introduction
oz-in2 (kgm2)
AS AS PLUS
Closed Loop
AC Input
VoltageFrequency 3.3 A / /
Single-Phase 100-115 VAC Single-Phase 200-230 VAC Three-Phase 200-230 VAC Type Power Supply Input Electromagnetic Power Consumption Brake3 Excitation Current Static Friction Torque oz-in (Nm) Motor lb. (kg) Weight2 Driver lb. (kg) Motor Dimension No. Driver Maximum Input Current
ASC RK
CFK2 CSK
DC Input
1 The square box in the model number will contain one of the following letters to indicate the power supply voltage: A (Single-Phase 100-115 VAC), C (Single-Phase 200-230 VAC) or S (Three-Phase 200-230 VAC). 2 The values inside the brackets [ ] represents the specification for electromagnetic brake type. 3 The electromagnetic brakes are for holding the position when the power is off. They can not be used for complicated braking. Also, a separate 24 VDC 5%, 0.3 A min. power supply is required for the electromagnetic brake, along with the accessory electromagnetic brake type extension cable. 4 AS series: The resolution can be set to any one of 500 P/R, 1000 P/R, 5000 P/R, 10000 P/R with the resolution select switch or resolution select switching signals. See page C-39 for details. AS PLUS: The resolution can be set from 500 P/R to 10000 P/R by setting parameters. How to Read Specifications TablePage C-9
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
PK/PV
AS66, AS66P
PK
1.0
150 100 50 0
Torque [oz-in]
2.0
300
200
Driver
1.0
0.5
100
1000 0 10 20
4000
1000 0 10 20
4000
Controllers
AS98, AS98P
3.0 400
AS911A, AS911AP
5 4 600 Torque [oz-in]
Torque [oz-in]
Torque [Nm]
Torque [Nm]
2.0
300 3 2 1
400
200
SMK
1.0
100
200
Accessories
1000 0 10 20
4000
1000 0 10 20
4000
Notes: Pay attention to heat dissipation from motor and driver. In particular, remember that the motor will produce a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 212F (100C). [Under 176F (75C) is required to comply with UL or CSA standards.] When using the motor with the dedicated driver, the driver's automatic current cutbuck at motor standstill function reduces maximum holding torque by approximately 50%.
Dimensions C-32
C-21
Torque [lb-in]
Torque [lb-in]
Torque [lb-in]
Torque [Nm]
Torque [Nm]
Torque [Nm]
Torque [lb-in]
Torque [lb-in]
Torque [Nm]
Torque [Nm]
C-22
Stepping Motors
TH Geared Type
Specifications
W/O Electromagnetic Brake Electromagnetic Brake Model W/O Electromagnetic Brake AS PLUS Electromagnetic Brake lb-in (Nm) Maximum Holding Torque Rotor Inertia2 J oz-in2 (kgm2) arc min (degrees) Backlash Permissible Speed Range r/min Gear Ratio Resolution4 1000 P/R lb-in (Nm) Permissible Torque Power Source VoltageFrequencyMaximum Input Current Type Power Supply Input Electromagnetic Power Consumption 3 Brake Excitation Current Static Friction Torque lb-in (Nm) Motor lb. (kg) Weight2 Driver lb. (kg) Motor Dimension No. Driver AS
AS46AA-T3.6 AS46MA-T3.6 AS46AAP-T3.6 AS46MAP-T3.6 3 (0.35) 45 (0.75) 0500 3.6 : 1 0.1/pulse 3 (0.35)
1.5 (0.17)
AS46AA-T7.2 AS46AA-T10 AS46AA-T20 AS46MA-T7.2 AS46MA-T10 AS46MA-T20 AS46AAP-T7.2 AS46AAP-T10 AS46AAP-T20 AS46MAP-T7.2 AS46MAP-T10 AS46MAP-T20 6.1 (0.7) 8.8 (1) 13.2 (1.5) 0.37 (6810-7) [0.45 (8310-7)] 25 (0.417) 25 (0.417) 15 (0.25) 0250 0180 090 7.2 : 1 10 : 1 20 : 1 0.05/pulse 0.036/pulse 0.018/pulse 6.1 (0.7) 8.8 (1) 13.2 (1.5) Single-Phase 100-115 VAC 15%10% 50/60 Hz3.3 A Active when power is off 24 VDC5% 2W 0.08 A 3 (0.35) 4.4 (0.5) 6.6 (0.75) 1.4 (0.65) [1.7 (0.75)] 1.8 (0.8) v AS3 AS PLUS4
AS46AA-T30 AS46MA-T30 AS46AAP-T30 AS46MAP-T30 13.2 (1.5) 15 (0.25) 060 30 : 1 0.012/pulse 13.2 (1.5)
6.6 (0.75)
2 The values inside the brackets [ ] represents the specification for electromagnetic brake type. 3 The electromagnetic brakes are for holding the position when the power is off. They can not be used for complicated braking. Also, a separate 24 VDC 5%, 0.3 A min. power supply is required for the electromagnetic brake, along with the accessory electromagnetic brake type extension cable. 4 AS series: The resolution can be set to any one of 500 P/R, 1000 P/R, 5000 P/R, 10000 P/R with the resolution select switch or resolution select switching signals. See page C-39 for details. AS PLUS: The resolution can be set from 500 P/R to 10000 P/R by setting parameters. How to Read Specifications TablePage C-9 Note: Direction of rotation of the motor and that of the gear output shaft are the same for unit type with reduction ratio 3.6:1, 7.2:1 and 10:1. It is opposite for 20:1 and 30:1 ratio type.
AS46A-T7.2, AS46AP-T7.2
1.0
1.0
1.0
Permissible Torque 5
0.5
Permissible Torque
0.5
0.5
100 0 5 10
200
400
500 30
50 0 5 10
100
200
250 30
40 0 5 10
160 30
200
AS46A-T20, AS46AP-T20
2.0 15 1.5 10 Permissible Torque
AS46A-T30, AS46AP-T30
2.0 15 1.5 10 Permissible Torque
1.0
1.0
0.5
0.5
20 0 5
80 30
100
10 0 5
20
30 40 Speed [r/min]
50
60 30
Notes: Pay attention to heat dissipation from motor and driver. In particular, remember that the motor will produce a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 212F (100C). When using the motor with the dedicated driver, the driver's automatic current cutbuck at motor standstill function reduces maximum holding torque by approximately 50%.
Features C-12
Specifications/Characteristics C-21
Stepping Motors
TH Geared Type
Specifications
W/O Electromagnetic Brake Electromagnetic Brake Model W/O Electromagnetic Brake AS PLUS Electromagnetic Brake lb-in (Nm) Maximum Holding Torque Rotor Inertia2 J oz-in2 (kgm2) arc min (degrees) Backlash Permissible Speed Range r/min Gear Ratio Resolution4 1000 P/R lb-in (Nm) Permissible Torque AS
1
UC
AS66A-T3.6 AS66M-T3.6 AS66AP-T3.6 AS66MP-T3.6 11 (1.25) 35 (0.584) 0500 3.6 : 1 0.1/pulse 11 (1.25) AS66A-T7.2 AS66A-T10 AS66A-T20 AS66M-T7.2 AS66M-T10 AS66M-T20 AS66AP-T7.2 AS66AP-T10 AS66AP-T20 AS66MP-T7.2 AS66MP-T10 AS66MP-T20 22 (2.5) 26 (3) 30 (3.5) 2.2 (40510-7) [3.1 (56410-7)] 15 (0.25) 15 (0.25) 10 (0.167) 0250 0180 090 7.2 : 1 10 : 1 20 : 1 0.05/pulse 0.036/pulse 0.018/pulse 22 (2.5) 26 (3) 30 (3.5) A For Single-Phase 100-115 VAC 15%10% 50/60 Hz5.0 A C For Single-Phase 200-230 VAC 15%10% 50/60 Hz3.0 A S For Three-Phase 200-230 VAC 15%10% 50/60 Hz1.5 A Active when power is off 24 VDC5% 6W 0.25 A 11 (1.25) 13.2 (1.5) 15.4 (1.75) 2.8 (1.25) [3.3 (1.5)] 1.8 (0.8) b AS3 AS PLUS4 AS66A-T30 AS66M-T30 AS66AP-T30 AS66MP-T30 35 (4) 10 (0.167) 060 30 : 1 0.012/pulse 35 (4)
Closed Loop
Power Source VoltageFrequencyMaximum Input Current Type Power Supply Input Electromagnetic Power Consumption Brake3 Excitation Current Static Friction Torque lb-in (Nm) Motor lb. (kg) Weight2 Driver lb. (kg) Motor Dimension No. Driver
RK CFK2
5.4 (0.62)
17.7 (2.0)
CSK
DC Input
1 The square box in the model number will contain one of the following letters to indicate the power supply voltage: A (Single-Phase 100-115 VAC), C (Single-Phase 200-230 VAC) or S (Three-Phase 200-230 VAC). 2 The values inside the brackets [ ] represents the specification for electromagnetic brake type. 3 The electromagnetic brakes are for holding the position when the power is off. They can not be used for complicated braking. Also, a separate 24 VDC 5%, 0.3 A min. power supply is required for the electromagnetic brake, along with the accessory electromagnetic brake type extension cable. 4 AS series: The resolution can be set to any one of 500 P/R, 1000 P/R, 5000 P/R, 10000 P/R with the resolution select switch or resolution select switching signals. See page C-39 for details. AS PLUS: The resolution can be set from 500 P/R to 10000 P/R by setting parameters. How to Read Specifications TablePage C-9 Note: Direction of rotation of the motor and that of the gear output shaft are the same for unit type with reduction ratio 3.6:1, 7.2:1 and 10:1. It is opposite for 20:1 and 30:1 ratio type.
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
AS66-T7.2, AS66P-T7.2
PK
Driver
20 Permissible Torque 10
20
10
10
0 0
100 5
200
400
500 30
0 0
50 5
100
200
250 30
Controllers
40 0 5
160 30
200
AS66-T20, AS66P-T20
5.0 40 4.0 Torque [lb-in] Torque [Nm] 30 3.0 2.0 1.0 0 Permissible Torque
AS66-T30, AS66P-T30
5.0 40 4.0 3.0 2.0 1.0 0 Torque [lb-in] Torque [Nm] 30 Permissible Torque
SMK
20
20
Accessories
10
10
0 0
20 5
80 30
100
10 0 5
20
30 40 Speed [r/min]
50
60 30
Notes: Pay attention to heat dissipation from motor and driver. In particular, remember that the motor will produce a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 212F (100C). [Under 176F (75C) is required to comply with UL or CSA standards.] When using the motor with the dedicated driver, the driver's automatic current cutbuck at motor standstill function reduces maximum holding torque by approximately 50%.
Common Specifications C-29 Dimensions C-32 Connection and Operation C-39 Motor and Driver Combinations C-53
ORIENTAL MOTOR GENERAL CATALOG 2003/2004
C-23
Torque [lb-in]
Torque [lb-in]
8 6 4 2 0
8 6 4 2
8 6 4 2
Torque [lb-in]
Torque [Nm]
Torque [Nm]
Torque [Nm]
Torque [lb-in]
8 6 4 2 0
8 6 4 2
60 40 20 0 20 0 5 10 40 60 Speed [r/min] 15 20 25 Pulse Speed [kHz] (Resolution Setting: 1000 P/R) 80 30 100
Torque [lb-in]
Torque [Nm]
Torque [Nm]
C-24
Stepping Motors
TH Geared Type
Specifications
W/O Electromagnetic Brake Electromagnetic Brake Model W/O Electromagnetic Brake AS PLUS Electromagnetic Brake lb-in (Nm) Maximum Holding Torque Rotor Inertia2 J oz-in2 (kgm2) arc min (degrees) Backlash Permissible Speed Range r/min Gear Ratio Resolution4 1000 P/R lb-in (Nm) Permissible Torque AS
1
UC
AS98A-T3.6 AS98M-T3.6 AS98AP-T3.6 AS98MP-T3.6 39 (4.5) 25 (0.417) 0500 3.6 : 1 0.1/pulse 39 (4.5) AS98A-T7.2 AS98A-T10 AS98A-T20 AS98M-T7.2 AS98M-T10 AS98M-T20 AS98AP-T7.2 AS98AP-T10 AS98AP-T20 AS98MP-T7.2 AS98MP-T10 AS98MP-T20 79 (9) 79 (9) 106 (12) 7.7 (140010-7) [8.5 (156010-7)] 15 (0.25) 15 (0.25) 10 (0.167) 0250 0180 090 7.2 : 1 10 : 1 20 : 1 0.05/pulse 0.036/pulse 0.018/pulse 79 (9) 79 (9) 106 (12) A for Single-Phase 100-115 VAC 15%10% 50/60 Hz6.0 A C for Single-Phase 200-230 VAC 15%10% 50/60 Hz3.5 A S for Three-Phase 200-230 VAC 15%10% 50/60 Hz1.9 A Active when power is off 24 VDC5% 6W 0.25 A 39 (4.5) 39 (4.5) 53 (6) 6.6 (3.0) [7.5 (3.4)] 1.8 (0.8) n AS3 AS PLUS4 AS98A-T30 AS98M-T30 AS98AP-T30 AS98MP-T30 106 (12) 10 (0.167) 060 30 : 1 0.012/pulse 106 (12)
Power Source VoltageFrequencyMaximum Input Current Type Power Supply Input Electromagnetic Power Consumption Brake3 Excitation Current Static Friction Torque lb-in (Nm) Motor lb. (kg) Weight2 Driver lb. (kg) Motor Dimension No. Driver
19.9 (2.25)
53 (6)
1 The square box in the model number will contain one of the following letters to indicate the power supply voltage: A (Single-Phase 100-115 VAC), C (Single-Phase 200-230 VAC) or S (Three-Phase 200-230 VAC). 2 The values inside the brackets [ ] represents the specification for electromagnetic brake type. 3 The electromagnetic brakes are for holding the position when the power is off. They can not be used for complicated braking. Also, a separate 24 VDC 5%, 0.3 A min. power supply is required for the electromagnetic brake, along with the accessory electromagnetic brake type extension cable. 4 AS series: The resolution can be set to any one of 500 P/R, 1000 P/R, 5000 P/R, 10000 P/R with the resolution select switch or resolution select switching signals. See page C-39 for details. AS PLUS: The resolution can be set from 500 P/R to 10000 P/R by setting parameters. How to Read Specifications TablePage C-9 Note: Direction of rotation of the motor and that of the gear output shaft are the same for unit type with reduction ratio 3.6:1, 7.2:1 and 10:1. It is opposite for 20:1 and 30:1 ratio type.
AS98-T7.2, AS98P-T7.2
AS98-T20, AS98P-T20
14 12 10 80 120 100 Permissible Torque
AS98-T30, AS98P-T30
14 12 10 80 60 40 20 0 10 0 5 20 10 30 40 Speed [r/min] 50 60 30 120 100 Permissible Torque
Notes: Pay attention to heat dissipation from motor and driver. In particular, remember that the motor will produce a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 212F (100C). [Under 176F (75C) is required to comply with UL or CSA standards.] When using the motor with the dedicated driver, the driver's automatic current cutbuck at motor standstill function reduces maximum holding torque by approximately 50%.
ORIENTAL MOTOR GENERAL CATALOG 2003/2004
Features C-12
Specifications/Characteristics C-21
Stepping Motors
PN Geared Type
Specifications
W/O Electromagnetic Brake Electromagnetic Brake Model W/O Electromagnetic Brake AS PLUS Electromagnetic Brake Maximum Holding Torque lb-in (Nm) Rotor Inertia2 J oz-in2 (kgm2) arc min (degrees) Backlash Angle Error arc min (degrees) Permissible Speed Range r/min Gear Ratio Resolution4 1000 P/R Permissible Torque lb-in (Nm) Maximum Torque5 lb-in (Nm) Power Source VoltageFrequencyMaximum Input Current Type Power Supply Input Electromagnetic Power Consumption Brake3 Excitation Current Static Friction Torque lb-in (Nm) Motor lb. (kg) Weight2 Driver lb. (kg) Motor Dimension No. Driver AS
AS46AA-N7.2 AS46MA-N7.2 AS46AAP-N7.2 AS46MAP-N7.2 13.2 (1.5) 0.37 (6810-7) [0.45 (8310-7)] 2 (0.034) 6 (0.1) 0416 7.2 : 1 0.05/pulse
Introduction AS
Closed Loop
AC Input
0300 10 : 1 0.036/pulse
AS PLUS
13.2 (1.5) 17.7 (2) Single-Phase 100-115 VAC 15%10% 50/60 Hz3.3 A Active when power is off 24 VDC5% 2W 0.08 A 6.6 (0.75) 1.6 (0.71) [1.8 (0.81)] 1.8 (0.8) m AS3 AS PLUS4
DC Input
2 The values inside the brackets [ ] represents the specification for electromagnetic brake type. 3 The electromagnetic brakes are for holding the position when the power is off. They can not be used for complicated braking. Also, a separate 24 VDC 5%, 0.3 A min. power supply is required for the electromagnetic brake, along with the accessory electromagnetic brake type extension cable. 4 AS series: The resolution can be set to any one of 500 P/R, 1000 P/R, 5000 P/R, 10000 P/R with the resolution select switch or resolution select switching signals. See page C-39 for details. AS PLUS: The resolution can be set from 500 P/R to 10000 P/R by setting parameters. 5 The value of Maximum Torque is for gear. For output torque for geared motor, refer to the Speed - Torque characteristics. How to Read Specifications TablePage C-9 Note: Direction of rotation of the motor and that of the gear output shaft are the same.
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
PK
Driver
20
20
Maximum Torque
10
Permissible Torque 1
10
Permissible Torque
Controllers
50 5
100 10 15
150
350 45
400 50
450
50 5 10
100 15
250
300 50
350
Notes: Pay attention to heat dissipation from motor and driver. In particular, remember that the motor will produce a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 212F (100C). When using the motor with the dedicated driver, the driver's automatic current cutbuck at motor standstill function reduces maximum holding torque by approximately 50%.
Dimensions C-32
C-25
SMK Accessories
Torque [lb-in]
Torque [lb-in]
15 10 5 0
15 10 5
15 10 5
100
100
Torque [lb-in]
Torque [Nin]
Torque [Nin]
Torque [Nin]
Torque [lb-in]
Torque [lb-in]
15 10 5 0
15 10 5 0
15 10 5 0
Torque [lb-in]
Torque [Nin]
Torque [Nin]
Torque [Nin]
C-26
Stepping Motors
PN Geared Type
Specifications
W/O Electromagnetic Brake Electromagnetic Brake Model W/O Electromagnetic Brake AS PLUS Electromagnetic Brake lb-in (Nm) Maximum Holding Torque Rotor Inertia2 J oz-in2 (kgm2) arc min (degrees) Backlash Angle Error arc min (degrees) Permissible Speed Range r/min Gear Ratio Resolution4 1000 P/R Permissible Torque lb-in (Nm) Maximum Torque5 lb-in (Nm) AS
1
UC
AS66A-N5 AS66A-N7.2 AS66A-N10 AS66A-N25 AS66A-N36 AS66A-N50 AS66M-N5 AS66M-N7.2 AS66M-N10 AS66M-N25 AS66M-N36 AS66M-N50 AS66AP-N5 AS66AP-N7.2 AS66AP-N10 AS66AP-N25 AS66AP-N36 AS66AP-N50 AS66MP-N5 AS66MP-N7.2 AS66MP-N10 AS66MP-N25 AS66MP-N36 AS66MP-N50 30 (3.5) 35 (4.0) 44 (5.0) 70 (8.0) 2.2 (40510-7) [3.1 (56410-7)] 2 (0.034) 3 (0.05) 5 (0.084) 0600 0416 0300 0120 083 060 7.2 : 1 10 : 1 25 : 1 36 : 1 50 : 1 5:1 0.036/pulse 0.0144/pulse 0.01/pulse 0.0072/pulse 0.072/pulse 0.05/pulse 70 (8.0) 30 (3.5) 35 (4.0) 44 (5.0) 141 (16) 177 (20) 177 (20) 61 (7) 79 (9) 97 (11) A for Single-Phase 100-115 VAC 15%10% 50/60 Hz5.0 A C for Single-Phase 200-230 VAC 15%10% 50/60 Hz3.0 A S for Three-Phase 200-230 VAC 15%10% 50/60 Hz1.5 A Active when power is off 24 VDC5% 6W 0.25 A 15.4 (1.75) 17.7 (2.0) 22 (2.5) 35 (4.0) 3.3 (1.5) [3.9 (1.75)] 3.7 (1.7) [4.3 (1.95)] 1.8 (0.8) , AS3 AS PLUS4
Power Source VoltageFrequencyMaximum Input Current Type Power Supply Input Electromagnetic Power Consumption Brake3 Excitation Current Static Friction Torque lb-in (Nm) Motor lb. (kg) Weight2 Driver lb. (kg) Motor Dimension No. Driver
1 The square box in the model number will contain one of the following letters to indicate the power supply voltage: A (Single-Phase 100-115 VAC), C (Single-Phase 200-230 VAC) or S (Three-Phase 200-230 VAC). 2 The values inside the brackets [ ] represents the specification for electromagnetic brake type. 3 The electromagnetic brakes are for holding the position when the power is off. They can not be used for complicated braking. Also, a separate 24 VDC 5%, 0.3 A min. power supply is required for the electromagnetic brake, along with the accessory electromagnetic brake type extension cable. 4 AS series: The resolution can be set to any one of 500 P/R, 1000 P/R, 5000 P/R, 10000 P/R with the resolution select switch or resolution select switching signals. See page C-39 for details. AS PLUS: The resolution can be set from 500 P/R to 10000 P/R by setting parameters. 5 The value of Maximum Torque is for gear. For output torque for geared motor, refer to the Speed - Torque characteristics. How to Read Specifications TablePage C-9 Note: Direction of rotation of the motor and that of the gear output shaft are the same.
AS66-N7.2, AS66P-N7.2
100
50 Permissible Torque 0 100 5 10 200 300 400 Speed [r/min] 500 45 600 50
50 Permissible Torque
50 Permissible Torque
50 5
100 10
150
350 45
400 50
450
50 5 10
100
250 45
300 50
AS66-N25, AS66P-N25
25 200 20 150
AS66-N36, AS66P-N36
25 20 150 200
AS66-N50, AS66P-N50
25 20 150 200 Maximum Torque
50
50
20 5 10
40
60 80 Speed [r/min]
100 45
120 50
10 5
20 10
30
40 50 60 Speed [r/min]
70 45
80 50
90
10 5 10
20
30 40 Speed [r/min]
50 45
60 50
Notes: Pay attention to heat dissipation from motor and driver. In particular, remember that the motor will produce a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 212F (100C). [Under 176F (75C) is required to comply with UL or CSA standards.] When using the motor with the dedicated driver, the driver's automatic current cutbuck at motor standstill function reduces maximum holding torque by approximately 50%.
ORIENTAL MOTOR GENERAL CATALOG 2003/2004
Features C-12
Specifications/Characteristics C-21
Stepping Motors
PN Geared Type
Specifications
W/O Electromagnetic Brake Electromagnetic Brake Model W/O Electromagnetic Brake AS PLUS Electromagnetic Brake lb-in (Nm) Maximum Holding Torque Rotor Inertia2 J oz-in2 (kgm2) arc min (degrees) Backlash Angle Error arc min (degrees) Permissible Speed Range r/min Gear Ratio Resolution4 1000 P/R Permissible Torque lb-in (Nm) Maximum Torque5 lb-in (Nm) AS
1
UC
AS98A-N5 AS98A-N7.2 AS98A-N10 AS98A-N25 AS98A-N36 AS98A-N50 AS98M-N5 AS98M-N7.2 AS98M-N10 AS98M-N25 AS98M-N36 AS98M-N50 AS98AP-N5 AS98AP-N7.2 AS98AP-N10 AS98AP-N25 AS98AP-N36 AS98AP-N50 AS98MP-N5 AS98MP-N7.2 AS98MP-N10 AS98MP-N25 AS98MP-N36 AS98MP-N50 88 (10) 123 (14) 177 (20) 320 (37) 7.7 (140010-7) [8.5 (156010-7)] 2 (0.034) 3 (0.05) 4 (0.067) 0600 0416 0300 0120 083 060 7.2 : 1 10 : 1 25 : 1 36 : 1 50 : 1 5:1 0.036/pulse 0.0144/pulse 0.01/pulse 0.0072/pulse 0.072/pulse 0.05/pulse 320 (37) 88 (10) 123 (14) 177 (20) 490 (56) 530 (60) 530 (60) 240 (28) 300 (35) 300 (35) A for Single-Phase 100-115 VAC 15%10% 50/60 Hz6.0 A C for Single-Phase 200-230 VAC 15%10% 50/60 Hz3.5 A S for Three-Phase 200-230 VAC 15%10% 50/60 Hz1.9 A Active when power is off 24 VDC5% 6W 0.25 A 39 (4.5) 57 (6.45) 79 (9) 163 (18.5) 8.8 (4.0) [9.7 (4.4)] 10 (4.7) [11 (5.1)] 1.8 (0.8) . AS3 AS PLUS4
Closed Loop
Power Source VoltageFrequencyMaximum Input Current Type Power Supply Input Electromagnetic Power Consumption Brake3 Excitation Current Static Friction Torque lb-in (Nm) Motor lb. (kg) Weight2 Driver lb. (kg) Motor Dimension No. Driver
RK CFK2 CSK
DC Input
1 The square box in the model number will contain one of the following letters to indicate the power supply voltage: A (Single-Phase 100-115 VAC), C (Single-Phase 200-230 VAC) or S (Three-Phase 200-230 VAC). 2 The values inside the brackets [ ] represents the specification for electromagnetic brake type. 3 The electromagnetic brakes are for holding the position when the power is off. They can not be used for complicated braking. Also, a separate 24 VDC 5%, 0.3 A min. power supply is required for the electromagnetic brake, along with the accessory electromagnetic brake type extension cable. 4 AS series: The resolution can be set to any one of 500 P/R, 1000 P/R, 5000 P/R, 10000 P/R with the resolution select switch or resolution select switching signals. See page C-39 for details. AS PLUS: The resolution can be set from 500 P/R to 10000 P/R by setting parameters. 5 The value of Maximum Torque is for gear. For output torque for geared motor, refer to the Speed - Torque characteristics. How to Read Specifications TablePage C-9 Note: Direction of rotation of the motor and that of the gear output shaft are the same.
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
AS98-N7.2, AS98P-N7.2
700 600 500 400 300 200 Permissible Torque 100 0
PK
Driver
40
40
40
20
20
20
Controllers
AS98-N25, AS98P-N25
80 700 600 60 Torque [lb-in] Torque [Nin]
AS98-N36, AS98P-N36
80 700 600 60 Torque [lb-in] Torque [Nin]
AS98-N50, AS98P-N50
80 700 600 Maximum Torque
Torque [lb-in]
Torque [Nin]
Maximum Torque
60
500 400
SMK
40
40
40
Permissible Torque
300 200
Permissible Torque
20
20
20
Accessories
20 5 10
40
60 80 Speed [r/min]
100 45
120 50
Notes: Pay attention to heat dissipation from motor and driver. In particular, remember that the motor will produce a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 212F (100C). [Under 176F (75C) is required to comply with UL or CSA standards.] When using the motor with the dedicated driver, the driver's automatic current cutbuck at motor standstill function reduces maximum holding torque by approximately 50%.
Common Specifications C-29 Dimensions C-32 Connection and Operation C-39 Motor and Driver Combinations C-53
ORIENTAL MOTOR GENERAL CATALOG 2003/2004
C-27
Torque[lb-in]
Torque [lb-in]
Torque [N.m]
Torque[N.m]
60 40 20 0 Permissible Torque
Torque [lb-in]
Torque [Nm]
Torque [lb-in]
Torque[N.m]
Torque [N.m]
60 40 20 0 Permissible Torque
Torque [lb-in]
Torque[lb-in]
Torque [Nm]
C-28
Stepping Motors
HG Geared Type
Specifications
AS
1
Motor Frame Size: 1.65 in. ( 42 mm), 2.36 in. ( 60 mm), 3.54 in. ( 90 mm)
W/O Electromagnetic Brake Electromagnetic Brake Model W/O Electromagnetic Brake AS PLUS Electromagnetic Brake lb-in (Nm) Maximum Holding Torque Rotor Inertia2 J oz-in2 (kgm2) Permissible Speed Range r/min Gear Ratio Resolution4 1000 P/R lb-in (Nm) Permissible Torque Maximum Torque lb-in (Nm) Lost Motion arc min (Load Torque) Power Source VoltageFrequencyMaximum Input Current
Type Power Supply Input Electromagnetic Power Consumption Brake3 Excitation Current Static Friction Torque lb-in (Nm) Motor lb. (kg) Weight2 Driver lb. (kg) Motor Dimension No. Driver
1 The square box in the model number will contain one of the following letters to indicate the power supply voltage: A (Single-Phase 100-115 VAC), C (Single-Phase 200-230 VAC) or S (Three-Phase 200-230 VAC). 2 The values inside the brackets [ ] represents the specification for electromagnetic brake type. 3 The electromagnetic brakes are for holding the position when the power is off. They can not be used for complicated braking. Also, a separate 24 VDC 5%, 0.3 A min. power supply is required for the electromagnetic brake, along with the accessory electromagnetic brake type extension cable. 4 AS series: The resolution can be set to any one of 500 P/R, 1000 P/R, 5000 P/R, 10000 P/R with the resolution select switch or resolution select switching signals. See page C-39 for details. AS PLUS: The resolution can be set from 500 P/R to 10000 P/R by setting parameters. How to Read Specifications TablePage C-9 Note: The inertia represents a sum of the inertia at the harmonic gear converted to a motor shaft value, and the rotor inertia. Direction of rotation of the motor and that of the gear output shaft are the opposite.
AS662-H50, AS66P2-H50
500 400
40 30 20 10
10 0 10
20
30 40 Speed [r/min]
50
60 50
70
10 0 10
20
30 40 Speed [r/min]
50
60 50
70
10 0 10
20
30 40 Speed [r/min]
50
60 50
70
AS46A2-H100, AS46AP2-H100
12 100 10 80 8 6 4 2 0 Maximum Torque
AS662-H100, AS66P2-H100
30 250 25 200 20 15 10 5 Maximum Torque
AS98-H100, AS98P-H100
60 50 400 40 30 20 10 300 200 100 0 Permissible Torque 500 Maximum Torque
5 0 10
10
15 20 Speed [r/min]
25
30 50
35
5 0 10
10
15 20 Speed[r/min]
25
30 50
35
5 0 10
10
15 20 Speed [r/min]
25
30 50
35
Notes: Pay attention to heat dissipation from motor and driver. In particular, remember that the motor will produce a considerable amount of heat under certain conditions. In order to prevent fatigue of the gear grease in the harmonic gear, keep the temperature of the gear case under 158F (70C). When using the motor with the dedicated driver, the driver's automatic current cutbuck at motor standstill function reduces maximum holding torque by approximately 50%.
ORIENTAL MOTOR GENERAL CATALOG 2003/2004
Features C-12
Specifications/Characteristics C-21
Stepping Motors
Common Specifications
AS Series
Speed and Position Control Command Maximum Input Pulse Frequency Protective Functions Input Signals Pulse Train Input 250 kHz Overheat, Overload, Overvoltage, Speed Error, Overcurrent, OverSpeed, EEPROM Data Error, Sensor Error, System Error Photocoupler Input (optically isolated), Equivalent Input Impedance : 220 , Input Current 720 mA (Pulse Signal, Rotation Direction Signal, All Windings Off Signal, Alarm Clear Signal, Resolution Select Signal) Photocoupler, Open-Collector Output, External use condition: 30 VDC maximum, 15 mA Maximum (Positioning Completion Signal, Alarm Signal, Excitation Timing Signal, ASGBSG Signal) Line Driver Output: Equivalent of 26C31 (Timing Signal, ASGBSG Signal)
Introduction
Output Signals
AS
Closed Loop
AS PLUS
Positioning Control Operating Modes Mechanical Home Hunting Function Other Functions Incremental (relative distance ) mode/Absolute (absolute positioning) mode. One-shot operation/Linked operation (A maximum of 4 profiles can be linked) Maximum Operating Ranges Steps: 83886088388607 (1 each) Operating speed: 10 Hz500,000 Hz (500 kHz) Acceleration/deceleration rate: 1050,000 msec Indexing (Positioning operation) Scan (Continuous operation) Linked Profile Return (Return to electrical home position) Home Operation (Return to mechanical home position) Home hunting operation is performed from the entire range using mechanical position detection signals (LS, LS, HOMELS). Setting function for speed-filter value Current setting function Electronic gear function Setting function for direction of motor rotation Emergency stop function Over-travel function Software over-travel function Alarm trace-back function Daisy-chain connections AC Photocoupler input Control inputs: 24 VDC, input resistance 4.7 k (X0X7, START, E-STOP, HOMELS, LS, LS, SENSOR) Photocoupler/Open Collector Output External operating conditions; 30 VDC or below, 48 mA (Y0Y7, ALM) Communication Standard: RS-232C conformity Transmit 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: RS232 Compatible Protocol: TTY (CRLF) 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 (AZ)
CSK PMC
DC Input
User Program
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
UMK
General Specifications
Insulation Class Insulation Resistance Motor Class B [266F (130C)]
CSK
This is the value after rated operation at normal temperature and normal humidity. Driver / 100 M minimum when measured by a 500 VDC megger between the following places: Frame-Power supply input terminal I/O-Power supply input terminal Sufficient to withstand the following for one minute: Frame-Power supply input terminal 1.5 kV 50 Hz I/O-Power supply input terminal 2.3 kV (3.0 kV for 200-230 VAC) 50 Hz: AS 1.8 kV 50 Hz: AS PLUS AS PLUS: 0C40C (32F104F) AS: 0C50C (32F122F), nonfreezing
PK/PV
100 M minimum when measured by a 500 VDC megger between the following places: Frame-Windings Frame-Electromagnetic brake windings Sufficient to withstand the following for one minute: Frame-Windings 1.5 kV (1.0 kV for AS46) 50 Hz Frame-Electromagnetic brake windings 1.0 kV 50 Hz 0C50C (32F122F), nonfreezing
PK
Dielectric Strength
Driver
Ambient Temperature Operating Environment Ambient (In Operation) Humidity Atmosphere Static Angle Error Shaft Runout Concentricity Perpendicularity
85% or less (noncondensing) No corrosive gases, dust, water or oil. 5 minutes 0.002 inch (0.05 mm) T.I.R. 0.003 inch (0.075 mm) T.I.R. 0.003 inch (0.075 mm) T.I.R. / / / /
Controllers
T.I.R.(Total Indicator Reading) : Refers to the total dial gauge reading when the measurement section is rotated 1 revolution centered on the reference axis center.
Note: Do not measure insulation resistance or perform the dielectric strength test while the motor and driver are connected.
SMK
0.075 A 0.05
Accessories
0.075
Dimensions C-32
C-29
2.5 2.0
4 3
3000 r/min
5 4 3 2 1 0 0
3000 r/min
2000 r/min
C-30
Stepping Motors
Motor shaft speed = Gear output shaft speedGear ratio [r/min] Motor shaft torque = Gear output shaft torque [oz-in (Nm)] Gear ratio
AS66, AS66P
1.5 2.5 5
AS46A, AS46AP
3.0
AS69, AS69P
1.8 1.5 1.2 0.9 0.6 0.3 0 3.0 2.5 2.0 1.5 1.0 0.5 0 6 5 4 500 r/min 3 2 1 0 0 0.5 100 200 300 Load Torque [oz-in] 1.0 1.5 2.0 Load Torque [Nm] 3000 r/min 2000 r/min 1000 r/min
2 1 0 50 0 0.3 100 150 Load Torque [oz-in] 0.6 0.9 1.2 Load Torque [Nm] 200 1.5
10 0.1
50 0.4
2.5
AS98, AS98P
1.8 3.0 6 1000 r/min
AS911A, AS911AP
3.6 3.0 2.4 1.8 1.2 0.6 0 2.5 6 5 4 3 2 1 0 0
Single-Phase 100-115 VAC Input Single-Phase/Three-Phase 200-230 VAC Input
500 r/min
100 200 300 Load Torque [oz-in] 0.5 1.0 1.5 2.0 Load Torque [Nm]
100 1.0
200 300 400 Load Torque [oz-in] 2.0 3.0 Load Torque [Nm]
500 4.0
Features C-12
Specifications/Characteristics C-21
Stepping Motors
Introduction AS
3.3 15
Closed Loop
AC Input
AS PLUS
15.7 70
18 80
22 100
27 120
33 150
9 40
ASC RK
90 400
CFK2
22 100
DC Input
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
108 117 123 130 139 480 520 550 580 620 AS98-N7.2 108 121 135 153 177 AS98-N10 480 540 600 680 790 191 210 230 240 260 AS98-N25 850 940 1050 1110 1190 200 230 250 270 290 AS98-N36 930 1030 1150 1220 1300 230 260 290 310 330 AS98-N50 1050 1160 1300 1380 1490 AS462-H50 40 49 60 81 114 AS462-H100 180 220 270 360 510 AS662-H50 72 83 99 123 162 AS662-H100 320 370 440 550 720 AS98-H50 240 250 270 290 310 AS98-H100 1090 1150 1230 1310 1410 These values are common to the AS Series, the AS PLUS Series and all electromagnetic brake models.
CSK
67 300
PK/PV PK
Dimensions C-32
C-31
Driver
Controllers
L2 L1
1.22 (31)
0.49 (12.5)
0.60 (15.2)
555710R (MOLEX)
1.2200.004 (310.1)
L2 L1 0.28 (7)
0.940.04 (241)
1.9690.014 (500.35)
A A' 555710R (MOLEX) 1.22 (31) Cable 0.28 (7) 16 inch (400 mm) Length
0.2950.006 (7.50.15)
90
0.60 (15.2)
0.49 (12.5)
C-32
Stepping Motors
Dimensions
Motor Standard Type z Motor Frame Size: 1.65 in. (42 mm)
1.65 (42) 1.2200.004 M3P0.5, (310.1) 0.18 (4.5) Deep Min.4 Places
2.36 (60) 1.9690.014 0.177 (4.5) 4 Holes (500.35) 0.2950.006 (7.50.15) Shaft Cross Section A-A'
Weight lb. (kg) 1.9 (0.85) 2.4 (1.1) 3.1 (1.4) 3.6 (1.65)
Enter the power supply voltage A, C or S in the box ( ) within the model number.
Features C-12
Specifications/Characteristics C-21
Stepping Motors
L2 L1
2.7560.014 (700.35)
0.5120.006 (130.15)
0.5120.006 (130.15)
90
AS
Closed Loop
AC Input
AS PLUS
0.60 (15.2)
555710R (MOLEX)
1.22 (31)
0.49 (12.5)
ASC
DXF
RK
B196
CFK2
B235 B264
CSK
DC Input
Enter the power supply voltage A, C, or S in the box ( ) within the model number.
PMC
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
UMK CSK
0.790.04 (201)
PK/PV
PK
0.49 (12.5)
Cable 0.28 (7) 16 inch (400 mm) Length 1.72 0.5 3.8 4 ( 0.60 (15.2) 555710R(MOLEX)
.02
)
1.22 (31)
Driver
Controllers
Gear Ratio
Enter the gear ratio in the box () within the model number.
Dimensions C-32
C-33
SMK Accessories
L2 L1
0.2760.006 (70.15) 0 0.31500 0.0006 (8 0.015) 0.390.02 (100.5) 0 0.90550 0.0008 (230.021)
0.60 (15.2)
555710R(MOLEX)
1.22 (31)
Gear Ratio
0.49 (12.5)
L2 L1
(40 0.03)
3.35 (85)
0.1575 0 0.0012
0.004 0.098 0
0.9840.008 (250.2)
0.1575 0 0.0012
0.1 (2.50 )
555710R(MOLEX)
1.22 (31)
Gear Ratio
0.49 (12.5)
C-34
Stepping Motors
6 .7 0.5 ) 2 70 (
0.
02
Enter the gear ratio in the box () within the model number. Enter the power supply voltage A, C or S in the box ( ) within the model number.
0.1575 0 0.0012
2 0.0 9 .5 ) 4.0 40
(40 0.03)
Shaft Cross Section A-A'
(40 0.03)
10 (
0.60 (15.2)
Enter the gear ratio in the box () within the model number. Enter the power supply voltage A, C or S in the box ( ) within the model number.
Features C-12
Specifications/Characteristics C-21
Stepping Motors
L2 L1
1.65 (42)
M4 P0.7 0.31 (8) Deep Min. 4 Places 0.70870.0079 (180.2) 0.1181 0 0.0010 0.1181 0 0.0010
Introduction
0.004 0.0710
0.004 (3 0.029)
AS
Cable 0.28 (7)16 inch (400 mm) Length 0.60 (15.2) Electromagnetic Brake Leads 24 inch (600 mm) Length AWG 26 555710R(MOLEX)
0.49 (12.5)
0 .89 0.3) 1 48 (
2 .01 0
0.1 (1.80 )
Closed Loop
AC Input
AS PLUS
1.22 (31)
ASC
Gear Ratio
DXF
RK
B306
CFK2
Enter the gear ratio in the box () within the model number.
CSK
DC Input
PMC UMK
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
L2 L1
0.1575 0 0.0012
(40 0.03)
2.36 (60) M5P0.8, 0.39 (10) Deep Min. 4 Places 0.1575 0 0.0012
CSK
0.9840.008 (250.2)
0.1575 0 0.0012
(
0.004 0.0980
4 0 0.03
(40 0.03)
PK/PV
Cable 0.28 (7) 16 inch (400 mm) Length 0.60 (15.2) 555710R(MOLEX)
0.49 (12.5)
.76 0.5 ) 2 70 (
2 0.0
0.1 (2.50 )
A'
PK
1.22 (31)
Driver
Model AS66A -N AS66A P-N AS66A -N AS66A P-N AS66M -N AS66M P-N AS66M -N AS66M P-N
L2 inch (mm)
/ 4.87 (123.6) 5.61 (142.6) / 25, 36, 50 6.24 (158.6) 4.3 (1.95) 3.7 (1.7) 3.9 (1.75)
Controllers
Enter the gear ratio in the box () within the model number. Enter the power supply voltage A, C or S in the box ( ) within the model number.
Dimensions C-32
C-35
SMK Accessories
L2 L1 0.24 (6)
3.35 (85)
A A'
(60 0.03)
10 (
0.1 (3.50 ) 0.004 0.1380
(60 0.03)
0.2362 0 0.0012
2 0.0 9 0.5 ) 0 . 4 4
0.9840.008 (250.2)
0.2362 0 0.0012
0.49 (12.5)
L2 L1
0.1181 0 0.0010
0.60 (15.2) Electromagnetic Brake Leads 24 inch (600 mm) Length AWG 26
555710R(MOLEX)
0 ) .89 0.3 1 48 (
1.22 (31)
(30 0.025)
0.49 (12.5)
.0 0
12
The position of the key slot on the output shaft [0.3937 (10)] relative to the screw holes on a maximum diameter of 1.04 (26.5) on the rotating part is arbitrary.
Gear Ratio
Enter the gear ratio in the box () within the model number.
C-36
Features C-12
Specifications/Characteristics C-21
0.1 (1.80 )
0.004 0.0710
Stepping Motors
0.2362 0 0.0012
(60 0.03)
0.60 (15.2)
Cable 0.28 (7) 16 inch (400mm) Length 555710R(MOLEX) 1.22 (31) Shaft Cross Section A-A' Parallel Key (Included)
Model AS98A -N AS98A P-N AS98A -N AS98A P-N AS98M -N AS98M P-N AS98M -N AS98M P-N
L2 inch (mm)
/ 6.42 (163) 7.52 (191) / 25, 36, 50 8.43 (214) 11 (5.1) 10 (4.7) 9.7 (4.4)
Enter the gear ratio in the box () within the model number. Enter the power supply voltage A, C or S in the box ( ) within the model number.
1.65 (42)
M4 P0.7 0.31 (8) Deep Min. 4 Places M3 P0.5 0.20 (5) Deep Min. 6 Places 0.7087 0 0.0071 0.047 (180 0.18) (1.2) 90
0.004 (3 0.029)
Stepping Motors
1.120.04 (28.51)
M5 P0.8 0.39 (10) Deep Min. 4 Places M4 P0.7 0.24 (6) Deep Min. 6 Places 0.1575 0 0.0012
(40 0.03)
2.36 (60)
Introduction
A' Cable 0.28(7)16 inch (400 mm) Length 0.60 (15.2) 555710R(MOLEX)
6 .75 .5) 2 70 0 (
0 .02 0
0.1 (2.50 )
0.004 0.0980
(
0.49 (12.5)
(40 0.03)
0.1575 0 0.0012
(40 0.03)
0.1575 0 0.0012
Gear Ratio
60
1.22 (31)
The position of the key slot on the output shaft [0.4724 (12)] relative to the screw holes on a maximum diameter of 1.32 (33.5) on the rotating part is arbitrary.
90
AS AS PLUS
Closed Loop
AC Input
ASC
DXF
RK
B310
CFK2
Enter the gear ratio in the box()within the model number. Enter the power supply voltage A, C or S in the box ( ) within the model number.
CSK
DC Input
PMC
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
L2 L1 0.59(15) 0.12(3)
1.570.05 (401.2)
UMK
3.26770 0.0014
0.87(22)
CSK
1.97(50)
(830 0.035)
(250 0.21)
0.2362 0 0.0012
0.2362 0 0.0012
0.2362 0 0.0012
PK/PV
(60 0.03)
(60 0.03)
0.1 (3.50 ) 0.004 0.1380
PK
2 0.0 9 0.5) 0 . 4 4
1 (
6 0 0.03
Driver
Gear Ratio
Controllers
Enter the gear ratio in the box()within the model number. Enter the power supply voltage A, C or S in the box ( ) within the model number.
Dimensions C-32
C-37
SMK Accessories
0.39 (10)
0.24 (6)
0.39 (10)
5.28 (134)
3.50 (89)
0.98 (25)
0.39 (10)
0.43 (11)
M3 P0.5 7 Places
0.67 (17)
M33 Places
4 AS PLUS
Weight: 1.8 lb. (0.8 kg) d B298
0.91 (23) 0.35 (9)
0.24 (6)
0.39 (10)
0.35 (9)
0.12 (3)
4.72 (120)
0.39 (10)
5.28 (134)
3.50 (89)
0.98 (25)
0.39 (10)
0.43 (11)
M3 P0.5 7 Places
0.67 (17)
M33 Places
C-38
Features C-12
Specifications/Characteristics C-21
1.69 (43)
Stepping Motors
Driver 3 AS Series
Weight: 1.8 lb. (0.8 kg) d B197
0.91 (23) 0.35 (9)
0.35 (9)
0.12 (3)
4.72 (120)
0.12 (3)
Stepping Motors
Motor Connector
x c
Introduction
Alarm
Blink Count When Activated , The temperature of the driver s internal heat sink Overheat 1 rises to approximately 185F (85C). The motor is operated continuously over 5 seconds Overload 2 under a load exceeding the maximum torque. , The primary voltage of the driver s inverter exceeds Overvoltage 3 the permissible value. Speed error The motor cannot accurately follow at the indicated pulse velocity. 4 , Overcurrent An excessive current has flowed to the driver s inverter. 5 Overspeed The motor shaft velocity exceeds 5000 r/min. (Except for Gear Type) 6 EEPROM Data Error The EEPROM has a fault. 7 The power source turns it on when the motor cable Sensor Error 8 is not connected to the driver. No Blink System Error The driver has a fatal error. Protection Function
AS
Closed Loop
AC Input
x Function Switches
Indication Switch Name Function This function is for selecting the motor resolution. For each geared type, the resolution of the gears output shaft is 1/gear ratio. Resolution Select Switch 1000 1 1000 pulses (0.36/step) 1000 10 10000 pulses (0.036/step) 500 1 500 pulses (0.72/step) 500 10 5000 pulses (0.072/step) Pulse Input Mode Switch The settings of this switch are compatible with the following two pulse input modes: 1P for the 1-pulse input mode (step and direction), 2P for the 2-pulse input mode (CW, CCW).
5 Input/Output Signals
Connector Pin Number 1 2 3 9 10 11 12 13 14 15 16 17 18 19 CN4 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 Name of Signal Signal Vcc5V1 External Power Input Power supply for control signal GND Vcc24V1 CCW (DRE) CCW Pulse(Rotation Direction)2 CCW (DRE) Input Signal CW (PLS) CW Pulse(Pulse)2 CW (PLS) B-Phase Pulse Output BSG1 (Open Collector) GND A-Phase Pulse Output ASG1 (Open Collector) GND Output Signal B-Phase Pulse Output BSG2 (Line Driver) BSG2 A-Phase Pulse Output ASG2 (Line Driver) ASG2 ACL Input Signal Alarm Clear ACL Timing TIM1 (Open Collector) GND ALARM Alarm ALARM Output Signal Timing TIM2 (Line Driver) TIM2 END Positioning Completion END 10 Resolution Select 10 Input Signal C.OFF All Windings Off C.OFF Input/Output
CSK
DC Input
PMC UMK
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
1P/2P
CSK
Note: Always turn the power off before switching resolution or pulse input, and turn it ON again after you have made the change. If the Resolution Select switch is set to 10, it cannot control the resolution select by input terminal. It is always 10.
PK/PV PK
Driver
Controllers
Set to 0
V.FIL
Motor Speed
Set to F
1 Do not input 5 VDC and 24 VDC at the same time. 2 Value in parentheses represents the setting 1-pulse input mode. The setting at shipment is the 2-pulse input mode.
Time
Dimensions C-32
C-39
SMK Accessories
C-40
Stepping Motors
Connection Diagrams
Controller 5 VDC Driver Twisted-paire wire Pulse Signal (Pin No.) 220 Photocoupler PULSE
12
CN4
11
220 Photocoupler
DIR
10
21
220 Photocoupler
ACL
22
31
220 Photocoupler
Single-phase 100-115 VAC, Three-phase 200-230 VAC Single-phase 200-230 VAC Terminal Block L N Terminal Block L1 L2 L3
Terminal block
10
32
33
220 Photocoupler
C.OFF
34
1 2 25
VCC5V GND
L (L1)
ALARM
26
N (L2) (L3)
ExcitationTiming Signal R0 A-phase Pulse Signal R0 B-phase Pulse Signal R0 Excitation Timing Signal
23
Power source Single-phase 100-115 VAC 15%10% 50 Hz/60 Hz (for single-phase 100-115 VAC input driver) Single-phase 200-230 VAC 15%10% 50 Hz/60 Hz (for single-phase 200-230 VAC input driver) Three-phase 200-230 VAC 15%10% 50 Hz/60 Hz (for three-phase 200-230 VAC input driver)
Notes: Vo and the current must be 30 VDC, 15 mA or less respectively. If the current exceeds 15 mA, connect external resistance Ro. Use a multi-core, twisted-pair shielded wire AWG 28 for the control input/output signal line (CN4), and keep wiring as short as possible [within 6.6 feet (2 m)]. Note that as the length of the pulse signal line increases, the maximum transmission frequency decreases. For the wiring between the motor and driver, use the extension cable or movable cable. Use a three-core cable for the power supply line with a conductor cross-sectional area of at least AWG 18. (singlephase 100-115 VAC, single-phase 200-230 VAC) Use a four-core cable for the power supply line with a conductor cross-sectional area of at least AWG 18. (threephase 200-230 VAC) Keep the control input/output signal line at least 1 foot (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. The customer must furnish the cables for power supply lines and control input/output signal lines. The driver must be properly grounded. The drivers Protective Earth terminal should be grounded to a common ground point, using a cable of AWG 18. When the "Timing Signal" or "Pulse Signal" is used, 5 VDC or 24 VDC power supply is necessary. Use either a 5 VDC or a 24 VDC power supply. Do not connect power to pins and at the same time. See b Input/Output table on page C-39.
TIM1
24 15
ASG1
16 13
BSG1
14 27
ASG2
20 17
BSG2
18
Features C-12
Specifications/Characteristics C-21
Stepping Motors
Introduction
Crimp terminals are not provided with the package. They must be furnished separately.
Connect the electromagnetic brake to the power supply using a cable with a conductor crosssectional area of at least AWG 24. The power supply input to the electromagnetic brake is 24 VDC 5% 0.3 A min. (AS46: 0.1 A min.) and therefore must be independent of the drivers power supply.
AS
Closed Loop
AC Input
Notes: Applying a voltage that exceeds the specifications will cause the electromagnetic brake to generate a great deal of heat, resulting in motor temperature rises and possible damage to the motor. Conversely, if voltage is too low, the electromagnetic brake may not Surge suppressor release. To protect the switch contacts and prevent noise, always connect the accessory surge suppressor. Correct polarity ( and ) must be ensured when connecting the electromagnetic brake lead wire of AS series to the DC power supply. If polarity is incorrect, the electromagnetic brake will not operate properly. When using as a CE certified part, use a DC power supply with reinforced insulation for the primary side as the power supply for the electromagnetic brake. ( The surge suppressor is included with electromagnetic brake motors.)
AS PLUS ASC RK
DC Input
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
CSK
Gray
Orange/ Black
PK/PV
PK
Driver
Motor
Driver
Controllers
Dimensions C-32
C-41
SMK Accessories
C-42
Stepping Motors
Description
of Input/Output Signals Pulse Input (CW) and Rotation Direction (CCW) Input Signal
Input Circuit and Sample Connection
Driver CW (PLS)
11
7 to 20 mA 220
33
16 mA
12
220
Driver Vcc24V
4.7 k
9
7 to 20 mA
3
5 mA
10
CCW (DIR)
The letters indicate signals under the 2-pulse input mode, while the letters in parentheses indicate signals under the 1-pulse input mode. The factory setting is 2-pulse input mode.
Note: When Vo is equal to 5 VDC, external resistance is not necessary. When Vo is above 5 VDC, connect external resistance to keep the input current between 7 mA and 20 mA.
This controller power source offers a choice of either 5 VDC or 24 VDC. Inputting the "All Windings Off" (C.OFF) signal puts the motor in a non-excitation (free) state. It is functioning when the photocoupler is ON. It is used when turning the motor shaft externally or when positioning manually. This signal clears the deviation counter.
Photocoupler ON C.OFF Photocoupler OFF OFF ON OFF
2 s min. 2 s max.
For pulse signals, use input pulse waveforms like those shown in the figure above.
31
16 mA
10
32
Rotation Direction Photocoupler ON (DIR) Photocoupler OFF Motor Movement Clockwise Counterclockwise
10
32
2-pulse input mode The 2-pulse input mode is used for "CW" and "CCW" pulses. When "CW" pulses are input, the motor's output shaft rotates clockwise when the motor is viewed facing the shaft; when "CCW" pulses are input, the shaft rotates counterclockwise.
Note: The factory setting is 2-pulse input.
2 Pulse Input Mode CW Pulse Signal (CW) Photocoupler ON Photocoupler OFF
This controller power source offers a choice of either 5 VDC or 24 VDC. During input of this signal, the magnification of the resolution is 10. It is only valid when the resolution select switch is set to 1.
Note: When the resolution select switch is set to 10, the "Resolution Select" Input is ignored. In this case, the "Resolution Select" Input is always equal to ON.
CCW Pulse Signal Photocoupler ON Photocoupler OFF (CCW) Motor Movement Counterclockwise Clockwise
Features C-12
Specifications/Characteristics C-21
Stepping Motors
25
26 ALARM
Introduction
30 VDC15 mA maximum
Circuits for use with 30 VDC, 15 mA maximum. This signal indicates that one of the driver's protection circuits has been activated. When an abnormality such as an overload or over current is detected, the alarm signal is output, the ALARM indicator lights, and the motor stops (non-excitation state). To cancel the alarm, first resolve the cause and check for safety, and then input an Alarm-clear (ACL) signal or cycle power. Once power has been turned off, wait at least 3 seconds before turning it on again.
Protection Function ALARM Photocoupler ON Photocoupler OFF ALARM LED Pulse Signal (Operating pattern) Normal Fault OFF Light Normal
AS AS PLUS ASC
Closed Loop
This controller power source offers a choice of either 5 VDC or 24 VDC. This signal is used when a protection circuit has been activated, for canceling the alarm without turning off power to the driver.
Note: The following alarm cannot be released. To cancel the alarm, first resolve the cause and check for safety, and then turn power on again. Over Current EEPROM Data Error System Error
RK
ON
ON
CFK2 CSK
Rotation
Natural stop
DC Input
PMC UMK
Note: The alarm output uses positive logic (Normally Closed), all other outputs use negative logic (Normally Open).
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
29
CSK
Circuits for use with 30 VDC, 15 mA maximum. This signal is output at the photocoupler ON state when positioning is completed. This signal is output when the rotor position is less than 1.8 from the command position, approximately 2 ms after the pulse input stops.
Pulse Signal (Speed pattern) Rotation Stop
PK/PV PK
Driver
OFF
ON
Controllers
Note: The END signal flashes during operation with a pulse input frequency of 500 Hz or less.
Dimensions C-32
C-43
SMK Accessories
C-44
Stepping Motors
VCC+5 V
3 VCC+24 V
VCC+5 V VCC+24 V
TIM1
23
13
30 VDC 15 mA max.
GND ASG1
14
30 VDC 15 mA max.
15
GND
16
30 VDC 15 mA max.
2
VCC+5 V VCC+24 V
GND
Controller TIM2
27
28
Equivalent to 26C32
TIM2 GND
When the "Excitation Timing" signal is output, the photocoupler turns ON (For the line driver output which is TIM2, the output signal is High). This signal can be used to detect the home position with greater precision. This signal is output 50 times per motor shaft revolution.
ON CW Pulse OFF ON CCW Pulse OFF ON TIM. Output OFF
1 2 3 4
1 VCC5 V 3 VCC24 V 17
BSG2 ASG2
18 19
...... 17 18 19 20 21 22
1 2
ASG2 Equivalent to 26C32 Resolution: 1000 pulses
20 2
Equivalent to 26C31 GND
Notes: A precise timing signal cannot be obtained when the speed of the pulse input frequency is over 500 Hz. When the Timing Signal Output is used, 5 VDC or 24 VDC power supply is necessary.
These signals are used when monitoring the motor position. 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: The pulse output accuracy is, regardless of resolution, within 0.36 (repetition accuracy: within 0.09) When the "quadrature" signal output is used, 5 VDC or 24 VDC power supply is necessary.These signals are only for position verification when the motor is stopped. There is a 1 ms (max.) time lag between real rotor motion and the output signals.
Features C-12
Specifications/Characteristics C-21
Stepping Motors
ALARM
Red
Introduction
AS AS PLUS
Closed Loop
AC Input
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 4 5 6 Overvoltage protection Excessive position deviation Overcurrent protection Emergency stop Incorrect limit-sensor logic Reverse limit-sensor connection Mechanical home seeking error 7 Overtravel Software overtravel Emergency stop Invalid operation data Resolver sensor error 8 Initial rotor revolution error 9 NVRAM error 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. 185F (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 5,000 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. Both the +LS and -LS are ON simultaneously. The +LS and -LS are connected in reverse. Mechanical home seeking could not be executed correctly. The motor has exceeded its hardware limit. 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 has been damaged. Driver failure has occurred. 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
ASC RK
The program stops. The motor performs stop operation set by MSTOPACT.
Possible
DC Input
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
Possible
CSK
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).
PK/PV PK
Driver
The motor stops immediately. 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. Impossible Impossible Impossible
Controllers
Possible
SMK Accessories
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.
Common Specifications C-29 Dimensions C-32 Connection and Operation C-39 Motor and Driver Combinations C-53
ORIENTAL MOTOR GENERAL CATALOG 2003/2004
C-45
C-46
Stepping Motors
Input
Output
Input
Phase A pulse output (Line-driver output) Phase B pulse output (Line-driver output) START Emergency stop Power source for input signal
CN4
Output
Alarm
Input
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
Features C-12
Specifications/Characteristics C-21
Stepping Motors
Connection Diagrams
AS PLUS
Power Lines and I/O Signals (CN4)
Current source input and current sink output
Host Controller +24 V P24 1 COM1 17(18) COM1 (CN5) +24 V N24 START Input E-STOP Input X0 Input X1 Input X2 Input X3 Input X4 Input X5 Input X6 Input X7 Input 2 15 16 29 30 31 32 33 34 35 36 +24 V +24 V 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 ASG Output ASG Output BSG Output BSG Output 3 4 5 6 7 8 9 10 19 20 21 22 23 24 25 26 27 28 11 12 13 14 Driver CN4 N24 2 COM1 17(18) COM1 (CN5) P24 START Input E-STOP Input X0 Input X1 Input X2 Input X3 Input X4 Input X5 Input X6 Input X7 Input 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 1 15
Introduction AS AS PLUS
Closed Loop
AC Input
16 29
ASC
30 31 32
RK CFK2
33 34
CSK
35 36 3 4 5 6 7 8 9 10 19 20 21 22 23 24 25 26 27 28
DC Input
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
11 12 13 14
Controllers
Dimensions C-32
C-47
SMK Accessories
HOMELS
HOMELS Input
15
C-48
Stepping Motors
+LS Input
13
-LS
-LS Input
14
HOMELS
HOMELS Input
15
Other wiring
For the wiring between the motor and driver, use the extension cable or movable extension cable. Use a three-core cable for the power supply line with a conductor crosssectional area of at least AWG 18. The customer must furnish the cables for power supply lines and control input/output signal lines. The driver must be properly grounded. The driver's Protective Earth terminal should be grounded to a common ground point, using a cable of AWG 18.
SENSOR
SENSOR Input
16
Driver CN5
+24 V +LS
COM1 (CN4)
+LS Input
13
-LS
-LS Input
14
SENSOR
SENSOR Input
16
Crimp terminals are not provided with the package. They must be furnished separately.
Communication Specifications
Item Description Electrical characteristics In conformance with RS-232C. Start-stop asynchronous method, NRZ Transmission method (non-return to Zero), full-duplex Data length 8 bits, 1 stop bit, no parity Transmission speed 9,600 bps TTY (CRLF) Protocol Connector specification Modular (4 lines, 4 pins)
1 1
Notes: Confirm that 24 VDC is supplied to the driver's external power supply input terminals (P24 and N24). 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. The maximum distance between drivers when using a daisy chain connection should be 49.2 feet (15 m).
Features C-12
Specifications/Characteristics C-21
Stepping Motors
Connect the electromagnetic brake to the power supply using a cable with a conductor crosssectional area of at least AWG 24. The power supply input to the electromagnetic brake is 24 VDC 5% 0.3 A min. (AS46: 0.1 A min.) and therefore must be independent of the drivers power supply.
Notes: Surge suppressor Applying a voltage that exceeds the specifications will cause the electromagnetic brake to generate a great deal of heat, resulting in motor temperature rises and possible damage to the motor. Conversely, if voltage is too low, the electromagnetic brake may not release. To protect the switch contacts and prevent noise, always connect the accessory surge suppressor. Correct polarity ( and ) must be ensured when connecting the electromagnetic brake lead wire of AS series to the DC power supply. If polarity is incorrect, the electromagnetic brake will not operate properly. When using as a CE certified part, use a DC power supply with reinforced insulation for the primary side as the power supply for the electromagnetic brake. ( The surge suppressor is included with electromagnetic brake motors.)
Introduction AS
Closed Loop
AC Input
Switch Surge suppressor 24 VDC Driver Extension cable for electromagnetic brake model (Sold Separately) Surge suppressor
CSK
DC Input
PMC
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
UMK CSK
Driver
Dimensions C-32
C-49
Driver
Controllers
C-50
Stepping Motors
Y0 to Y7, ALM
P24 input, N24 input These inputs are for the external power supply required for the RS-232C communication, ASG and BSG outputs. Make sure to use a power supply of at least 24 VDC10%, 0.05A. If the same power supply is going to be used for the RS-232C, ASG, BSG and other external I/O, make sure to use a power supply of at least 24 VDC10%, 0.2A. START input This signal starts the program named "STARTUP". OFF ON 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 normally open.) OFF ON 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. 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.
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
Features C-12
Specifications/Characteristics C-21
Stepping Motors
ASG, BSG
26C31 or equivalent
ASG Output, BSG Output 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: Assign INACL then turn the ACL input to ON. Enter an ALMCLR command. Turn off the AC power, wait at least 10 seconds, then turn it back on.
Introduction
AS AS PLUS ASC
Closed Loop
RK CFK2 CSK
DC Input
PMC UMK
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
COM1 input This is a power-source input terminal for limit-sensor signals. The power-source voltage must be 24 VDC10%. 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. +LS input, -LS input 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. Continuous Operation and Positioning Operation When a +LS or -LS is detected, the driver's protective function (over travel) is activated. As a result, the ALM output is turned OFF and the motor stops. Set the stopping method using the OTACT command. To pull out of +LS or -LS, cancel the protective function by inputting an ACL signal once or by using the ALMCLR command. Then perform mechanical home seeking routine or operate the motor in the direction opposite that of the limit sensor during continuous operation. Mechanical Home Seeking Routine When a +LS or -LS is detected, the motor operates in the direction opposite that of the detected limit.
Dimensions C-32
C-51
Controllers
C-52
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 normally open.) 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 normally open.) Mechanical Home Seeking Routine This input is used when detecting the mechanical home at a specific point on the motor's output shaft or load shaft using a slotted disc, etc. The accuracy of mechanical home hunting increases if this input is used in conjunction with the TIM signal. Continuous Operation The motor can be stopped forcibly upon the detection of SENSOR. Set the stopping method using the SENSORACT command.
Note: If the SENSOR input is used in mechanical home hunting, it cannot be used during continuous operation.
Driver 1 PC (9-Pin COM Port) 3 5 2 4 6 7 8 TX GND RX DTR DSR RTS CTS CN5 7 RX 10 N24 5 TX
Features C-12
Specifications/Characteristics C-21
Stepping Motors
Introduction
ASD30A-AP ASD30E-AP
Closed Loop Motor & Driver Packages 5-Phase Microstep 5-Phase Full/Half
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
ASD24C-AP
CSK PK/PV PK
Enter A (Standard) or M (electromagnetic brake) in the box () within the model numbers.
Controllers
SMK Accessories
Enter A (Standard) or M (electromagnetic brake) in the box () within the model numbers.
Dimensions C-32
C-53
C-54
Stepping Motors
TH Geared
PN Geared
ASD16A-C
ASD16A-CP
HG Geared
Enter A (Standard) or M (electromagnetic brake) in the box () within the model numbers.
Standard
TH Geared
PN Geared
ASD16A-S
ASD16A-SP
HG Geared
Enter A (Standard) or M (electromagnetic brake) in the box () within the model numbers.
AC Input
DC Input AC Input DC Input ASC CFK2 RK CSK PMC UMK CSK PK/PV PK
DC Input
Stepping Motors
Introduction AS AS PLUS
SMK
Accessories
A ASC Series
Additional Information
C-55
Closed Loop
Motor & Driver Packages 5-Phase Microstep 5-Phase Full/Half 2-Phase Stepping Motors with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
Driver
Controllers
Torque
C-56
Stepping Motors
A ASC Series
The A is a revolutionary hybrid stepping motor and driver package which eliminates missed steps, a common probrem with stepping motors. The A uses a built-in feedback device that constantly monitors the motor shaft position to detect and correct for loss of synchronism. Geared models are available.
Features
v A Control Diagram
Input Pulse Excitation Sequence Control Input Counter
Output Element
Motor Sensor
Motor runs in open loop mode like a stepping motor. If Motor Missteps ( Positioning Deviation is greater than 1.8) Control switches to closed loop mode to prevent loss of synchronism.
v A Angle-Torque Characteristics
Stepping Motor Closed Loop Mode Open Loop Mode
Closed Loop Mode -7.2 -5.4 -3.6 -1.8 0 Position 1.8 3.6 5.4 7.2
If the positioning deviation is 1.8 or smaller, the motor runs in open loop mode like a stepping motor. If the positioning deviation is 1.8 or greater, 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 C-56
Specifications/Characteristics C-59
Stepping Motors
High Response
Like conventional stepping motors, A operates in synchronism with command pulses. This makes possible short stroke positioning in a short time. Measurement condition : Feed 1/5 rotation Load Inertia (J) 1.37 oz-in2(25010-7 kgm2)
No Gain Tuning
Gain tuning for servo motors is critical, troublesome and time-consuming. Since the A operates like a stepping motor, there are no gain tuning requirements. Low rigidity applications, such as belt and pulley, are ideal for A.
Introduction
Servo Motor
AS
Motor Movement
Motor Movement
Closed Loop
AC Input
AS PLUS
ASC
Settling Time
In traditional servo motors, there is a delay between the input pulse signals and the motor movement due to the way positioning is continuously monitored. Therefore, a servo motor needs time to settle to a stop after input signals stop. This is called settling time.
RK
CFK2
No Hunting
Since A is a stepping motor, it has no hunting problem such as might be found in a traditional servo motor. Therefore, when it stops, its position is completely stable and does not fluctuate. A is ideal for applications in which vibration would be a problem.
DC Input
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
Complete stop
Hunting
CSK
CCD Camera
PK/PV
Low Speed
PK
Servo Motor
High Speed
A 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.
Driver
Controllers
SMK
When the system is approved under various safety standards, the model names in the motor and driver nameplates are the approved model names. List of Motor and Driver CombinationsPage C-76 Details of Safety StandardsPage G-2 The EMC value changes according to the wiring and layout. Therefore, the final EMC level must be checked with the motor/driver incorporated in the user's equipment.
Dimensions C-68
C-57
C-58
Stepping Motors
System Configuration
EMP400 Controller (Sold separately) (Page C-254) 24 VDC Power Supply (Not supplied)
(Not supplied)
Product Line
Type Round Shaft Type TH Geared Type PN Geared Type 24 VDC HG Geared Type 13.217.7 lb-in (1.52 Nm) 13.2 lb-in (1.5 Nm) 3044 lb-in (3.55.0 Nm) 3070 lb-in (3.58.0 Nm) 4870 lb-in (5.58.0 Nm) Power Supply Voltage 1.10 in. (28 mm) 7.817 oz-in (0.0550.12 Nm) Maximum Holding Torque 1.65 in. (42 mm) 42 oz-in (0.3 Nm) 313.2 lb-in (0.351.5 Nm) 2.36 in. (60 mm) 142 oz-in (1 Nm) 1135 lb-in (1.254 Nm)
ASC 6 6 A K - T 3.6
Gear Ratio Blank: Standard Type T : TH Geared Type N: PN Geared Type H : HG Geared Type ASC Series Power Supply Voltage K: 24 VDC A : Standard (Single Shaft) M: Electromagnetic Brake
Motor Case Length Motor Frame Size 3: 1.10 in. (28 mm) sq. 4: 1.65 in. (42 mm) sq. 6: 2.36 in. (60 mm) sq.
Features C-56
Specifications/Characteristics C-59
Stepping Motors
Standard Type Motor Frame Size: 1.10 in. ( 28 mm), 1.65 in. ( 42 mm), 2.36 in. ( 60 mm) UC Specifications
w/o Electromagnetic Brake Electromagnetic Brake oz-in (Nm) Maximum Holding Torque Model Rotor Inertia1 J oz-in2 (kgm2) ASC34AK / 7.8 (0.055) 0.06 (1110-7) ASC36AK / 17 (0.12) 0.148 (2710-7) ASC46AK ASC46MK 42 (0.3) 0.37 (6810-7) [0.45 (8310-7)] ASC66AK ASC66MK 142 (1) 2.2 (40510-7) [3.1 (56410-7)]
Introduction
Resolution2 (Setting by Resolution Switch and Resolution Select Switch) Voltage Power Source Maximum Input Current Type Power Supply Input Electromagnetic Power Consumption 3 Brake Excitation Current Static Friction Torque oz-in (Nm) Motor lb. (kg) Weight1 Driver lb. (kg) Motor Dimension No. Driver
0.36/Pulse (1000 P/R) 0.036/Pulse (10000 P/R) 0.72/Pulse (500 P/R) 0.072/Pulse (5000 P/R) 24 VDC10% 1.1 A 1.7 A 3.7 A Active when power is off 24 VDC5% 2W 6W 0.08 A 0.25 A 21 (0.15) 85 (0.6) 0.48 (0.22) 1.1 (0.5) [1.3 (0.6)] 1.9 (0.85) [2.4 (1.1)] 0.55 (0.25) x c 1
Closed Loop Motor & Driver Packages 5-Phase Microstep 5-Phase Full/Half
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-72 3 The electromagnetic brakes are for holding the position when the power is off. They cannot be used for complicated braking. Also, a separate 24 VDC 5%, 0.3 A min. power supply is required for the electromagnetic brakes. How to Read Specifications TablePage C-9
CSK PMC
DC Input
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
ASC36AK
0.16 20 0.12 Torque [oz-in] Torque [Nm] 15
CSK PK/PV
0.04
6 4 2
0.08
10
0.02
0.04
PK
0
0 10
1000
20
2000
3000
60
4000
70
0 0 10
1000 20
2000 30 40
3000 50 60
4000 70
Speed [r/min]
30 40 50 Pulse Speed [kHz]
Driver
ASC46K
0.5 0.4 Torque [oz-in] Torque [Nm] 0.3 0.2 0.1 10 0 0 1000 Speed [r/min] 0 10 20 30 Pulse Speed [kHz] (Resolution Setting: 1000 P/R) 2000 40 70 60
ASC66K
2.0 250 1.5 Torque [oz-in] Torque [Nm] 200 150 100 50 0 0
Controllers
50 40 30 20
1.0
0.5
SMK
1000 Speed [r/min] 0 10 20 30 Pulse Speed [kHz] (Resolution Setting: 1000 P/R)
2000 40
Notes: Pay attention to heat dissipation from motor and driver. In particular, remember that the motor will produce a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 212 F (100 C). [Under 176 F (75 C) is required to comply with UL or CSA standards.] When using the motor with the dedicated driver, the driver's automatic current cutbuck at motor standstill function reduces maximum holding torque by approximately 50%.
Common Specifications C-66 Dimensions C-68 Connection and Operation C-72 Motor and Driver Combinations C-76
ORIENTAL MOTOR GENERAL CATALOG 2003/2004
C-59
Torque [lb-in]
Torque [lb-in]
Torque [lb-in]
Torque [Nm]
Torque [Nm]
Torque [Nm]
Torque [lb-in]
10
Torque [lb-in]
Torque [Nm]
Torque [Nm]
C-60
Stepping Motors
TH Geared Type
Specifications
w/o Electromagnetic Brake Electromagnetic Brake Maximum Holding Torque lb-in (Nm) Rotor Inertia1 J oz-in2 (kgm2) arc min (degrees) Backlash Permissible Speed Range r/min Gear Ratio Resolution2 1000 P/R lb-in (Nm) Permissible Torque VoltageMaximum Input Current Power Source Type Power Supply Input Electromagnetic Power Consumption Brake3 Excitation Current Static Friction Torque lb-in (Nm) Motor lb. (kg) Weight1 Driver lb. (kg) Motor Dimension No. Driver Model
UC
ASC46AK-T3.6 ASC46MK-T3.6 3 (0.35) 45 (0.75) 0500 3.6:1 0.1/pulse 3 (0.35) ASC46AK-T7.2 ASC46AK-T10 ASC46AK-T20 ASC46MK-T7.2 ASC46MK-T10 ASC46MK-T20 6.1 (0.7) 8.8 (1) 13.2 (1.5) 0.37 (6810-7) [0.45 (8310-7)] 25 (0.417) 25 (0.417) 15 (0.25) 0250 0180 090 7.2:1 10:1 20:1 0.05/pulse 0.036/pulse 0.018/pulse 6.1 (0.7) 8.8 (1) 13.2 (1.5) 24 VDC10% 1.7 A Active when power is off 24 VDC5% 2W 0.08 A 3 (0.35) 4.4 (0.5) 6.6 (0.75) 1.4 (0.65) [1.7 (0.75)] 0.55 (0.25) v 1 ASC46AK-T30 ASC46MK-T30 13.2 (1.5) 15 (0.25) 060 30:1 0.012/pulse 13.2 (1.5)
1.5 (0.17)
6.6 (0.75)
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-72 3 The electromagnetic brakes are for holding the position when the power is off. They cannot be used for complicated braking. Also, a separate 24 VDC 5%, 0.3 A min. power supply is required for the electromagnetic brakes. How to Read Specifications TablePage C-9 Note: Direction of rotation of the motor shaft and that of the gear output shaft are the same for models with gear ratios of 3.6:1, 7.2:1 and 10:1. The direction of rotation is opposite for models with gear ratios of 20:1 and 30:1.
ASC46K-T7.2
1.0
1.0
1.0
Permissible Torque 5
0.5
Permissible Torque
0.5
0.5
100 0 5 10
200
400
500 30
50 0 5 10
100
200
250 30
40 0 5 10
160 30
200
ASC46K-T20
2.0 15 1.5 Permissible Torque
ASC46K-T30
2.0 15 1.5 10 Permissible Torque
1.0
1.0
0.5
0.5
20 0 5 10
80 30
100
10 0 5
20 10
30 40 Speed [r/min]
50
60 30
Notes: Pay attention to heat dissipation from motor and driver. In particular, remember that the motor will produce a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 212 F (100 C). [Under 176 F (75 C) is required to comply with UL or CSA standards.] When using the motor with the dedicated driver, the driver's automatic current cutbuck at motor standstill function reduces maximum holding torque by approximately 50%.
ORIENTAL MOTOR GENERAL CATALOG 2003/2004
Features C-56
Specifications/Characteristics C-59
Stepping Motors
TH Geared Type
Specifications
w/o Electromagnetic Brake Electromagnetic Brake Maximum Holding Torque lb-in (Nm) Rotor Inertia1 J oz-in2 (kgm2) arc min (degrees) Backlash Permissible Speed Range r/min Gear Ratio Resolution2 1000 P/R lb-in (Nm) Permissible Torque VoltageMaximum Input Current Power Source Type Power Supply Input Electromagnetic Power Consumption Brake3 Excitation Current Static Friction Torque lb-in (Nm) Motor lb. (kg) Weight1 Driver lb. (kg) Motor Dimension No. Driver Model
UC
ASC66AK-T3.6 ASC66MK-T3.6 11 (1.25) 35 (0.584) 0500 3.6:1 0.1/pulse 11 (1.25) ASC66AK-T7.2 ASC66AK-T10 ASC66AK-T20 ASC66MK-T7.2 ASC66MK-T10 ASC66MK-T20 22 (2.5) 26 (3) 30 (3.5) 2.2 (40510-7) [3.1 (56410-7)] 15 (0.25) 15 (0.25) 10 (0.167) 0250 0180 090 7.2:1 10:1 20:1 0.05/pulse 0.036/pulse 0.018/pulse 22 (2.5) 26 (3) 30 (3.5) 24 VDC10% 3.7 A Active when power is off 24 VDC5% 6W 0.25 A 11 (1.25) 13.2 (1.5) 15.4 (1.75) 2.8 (1.25) [3.3 (1.5)] 0.55 (0.25) b 1 ASC66AK-T30 ASC66MK-T30 35 (4) 10 (0.167) 060 30:1 0.012/pulse 35 (4)
Closed Loop
5.4 (0.62)
17.7 (2.0)
RK
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-72 3 The electromagnetic brakes are for holding the position when the power is off. They cannot be used for complicated braking. Also, a separate 24 VDC 5%, 0.3 A min. power supply is required for the electromagnetic brakes. How to Read Specifications TablePage C-9 Note: Direction of rotation of the motor shaft and that of the gear output shaft are the same for models with gear ratio of 3.6:1, 7.2:1 and 10:1. The direction of rotation is opposite for models with gear ratios of 20:1 and 30:1.
DC Input
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
UMK
ASC66K-T7.2
CSK PK/PV
Permissible Torque 20
20 Permissible Torque 10
Torque [lb-in]
Torque [Nm]
30
30
Permissible Torque
20
PK
10
10
100 0 5 10
200
400
500 30
50 0 5 10
100
200
250 30
40 0 5 10
160 30
200
Driver
ASC66K-T20
5.0 40 4.0 Torque [lb-in] Torque [Nm] 30 3.0 2.0 1.0 0 Permissible Torque
ASC66K-T30
5.0 40 4.0 3.0 2.0 1.0 0 Torque [lb-in] Torque [Nm] 30 Permissible Torque
Controllers
20
20
SMK
10
10
Accessories
20 0 5 10
80 30
100
10 0 5
20 10
30 40 Speed [r/min]
50
60 30
Notes: Pay attention to heat dissipation from motor and driver. In particular, remember that the motor will produce a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 212 F (100 C). [Under 176 F (75 C) is required to comply with UL or CSA standards.] When using the motor with the dedicated driver, the driver's automatic current cutbuck at motor standstill function reduces maximum holding torque by approximately 50%.
Common Specifications C-66 Dimensions C-68 Connection and Operation C-72 Motor and Driver Combinations C-76
ORIENTAL MOTOR GENERAL CATALOG 2003/2004
C-61
Torque [lb-in]
20
Torque [lb-in]
Torque [Nm]
Torque [Nm]
C-62
Stepping Motors
PN Geared Type
Specifications
Model w/o Electromagnetic Bracke Electromagnetic Brake lb-in (Nm) Maximum Holding Torque Rotor Inertia1 J oz-in2 (kgm2) arc min (degrees) Backlash arc min (degrees) Angle Error Permissible Speed Range r/min Gear Ratio Resolution2 1000 P/R Permissible Torque lb-in (Nm) Maximum Torque4 lb-in (Nm) VoltageMaximum Input Current Power Source Type Power Supply Input Electromagnetic Power Consumption 3 Brake Excitation Current Static Friction Torque lb-in (Nm) Motor lb. (kg) Weight1 Driver lb. (kg) Motor Dimension No. Driver
How to Read Specifications TablePage C-9 ASC46AK-N7.2 ASC46MK-N7.2 13.2 (1.5) 0.37 (6810-7) [0.454 (8310-7)] 2 (0.034) 6 (0.1) 0333 7.2:1 0.5/pulse 13.2 (1.5) 17.7 (2) 24 VDC10% 1.7 A Active when power is off 24 VDC5% 2W 0.08 A 6.6 (0.75) 1.6 (0.71) [1.8 (0.81)] 0.55 (0.25) n 1 0240 10:1 0.036/pulse ASC46AK-N10 ASC46MK-N10
UC
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-72 3 The electromagnetic brakes are for holding the position when the power is off. They cannot be used for complicated braking. Also, a separate 24 VDC 5%, 0.3 A min. power supply is required for the electromagnetic brakes. 4 The value of Maximum Torque is for gear. For output torque for geared motor, refer to the Speed - Torque characteristics. Note: Direction of rotation of the motor shaft and that of the gear output shaft is the same.
10
Permissible Torque
10
Permissible Torque
50 0 5
100 10
250
300 35
350 40
50 0 5 10
100 150 Speed [r/min] 15 20 25 30 Pulse Speed [kHz] (Resolution Setting: 1000 P/R)
200 35
250 40
Notes: Pay attention to heat dissipation from motor and driver. In particular, remember that the motor will produce a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 212 F (100 C). [Under 176 F (75 C) is required to comply with UL or CSA standards.] When using the motor with the dedicated driver, the driver's automatic current cutbuck at motor standstill function reduces maximum holding torque by approximately 50%.
ORIENTAL MOTOR GENERAL CATALOG 2003/2004
Features C-56
Specifications/Characteristics C-59
Stepping Motors
PN Geared Type
Specifications
Model
UC
w/o Electromagnetic Brake ASC66AK-N5 ASC66AK-N7.2 ASC66AK-N10 ASC66AK-N25 ASC66AK-N36 ASC66AK-N50 Electromagnetic Brake ASC66MK-N5 ASC66MK-N7.2 ASC66MK-N10 ASC66MK-N25 ASC66MK-N36 ASC66MK-N50 lb-in (Nm) 30 (3.5) 35 (4.0) 44 (5.0) 70 (8.0) Maximum Holding Torque Rotor Inertia1 J 2.2 (40510-7) [3.1 (56410-7)] oz-in2 (kgm2) arc min (degrees) 2 (0.034) 3 (0.05) Backlash arc min (degrees) Angle Error 5 (0.084) 0250 0180 072 0360 050 036 Permissible Speed Range r/min 7.2:1 10:1 25:1 36:1 50:1 Gear Ratio 5:1 Resolution2 0.072/pulse 0.05/pulse 0.036/pulse 0.0144/pulse 0.01/pulse 0.0072/pulse 1000 P/R 35 (4.0) 44 (5.0) 70 (8.0) Permissible Torque lb-in ( Nm) 30 (3.5) Maximum Torque4 61 (7) 79 (9) 97 (11) 140 (16) 170 (20) 170 (20) lb-in ( Nm) 24 VDC10% 3.7 A VoltageMaximum Input Current Power Source Active when power is off Type 24 VDC5% Power Supply Input Electromagnetic 6W Power Consumption 3 Brake 0.25 A Excitation Current 15.4 (1.75) 17.7 (2.0) 22 (2.5) 35 (4.0) Static Friction Torque lb-in (Nm) 3.3 (1.5) [3.9 (1.75)] 3.7 (1.7) [4.3 (1.95)] Motor lb. (kg) 1 Weight 0.55 (0.25) Driver lb. (kg) Motor m Dimension No. Driver 1 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-72 3 The electromagnetic brakes are for holding the position when the power is off. They cannot be used for complicated braking. Also, a separate 24 VDC 5%, 0.3 A min. power supply is required for the electromagnetic brakes. 4 The value of Maximum Torque is for gear. For output torque for geared motor, refer to the Speed - Torque characteristics. Note: Direction of rotation of the motor shaft and that of the gear output shaft is the same.
Closed Loop Motor & Driver Packages 5-Phase Microstep 5-Phase Full/Half
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
ASC66K-N7.2
CSK PK/PV
150
150
100
100
100
PK
50
50
Driver
ASC66K-N25
25 200 20 Torque [lb-in]
ASC66K-N36
25 200 20 Torque [lb-in] Torque [Nm] 15 10 5 0
ASC66K-N50
25 200 20 15 10 5 0 Torque [lb-in] Torque [Nm] Maximum Torque
Controllers
Torque [Nm]
150
150
150
15 10 5 0
50
50
50
SMK
20 0 5 10
40 Speed [r/min]
60 30
80
10 0 5 10
20
30 Speed [r/min]
40
50 30
10 0 5 10
20 Speed [r/min]
30 30
40
Accessories
Notes: Pay attention to heat dissipation from motor and driver. In particular, remember that the motor will produce a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 212 F (100 C). [Under 176 F (75 C) is required to comply with UL or CSA standards.] When using the motor with the dedicated driver, the driver's automatic current cutbuck at motor standstill function reduces maximum holding torque by approximately 50%.
Common Specifications C-66 Dimensions C-68 Connection and Operation C-72 Motor and Driver Combinations C-76
ORIENTAL MOTOR GENERAL CATALOG 2003/2004
C-63
Torque [Nm]
Torque [lb-in]
Torque [Nm]
Torque [lb-in]
Torque [lb-in]
Torque [N.m]
60 40 20 0
Maximum Torque
Torque [lb-in]
Torque [N.m]
C-64
Stepping Motors
HG Geared Type Motor Frame Size: 1.10 in. ( 28 mm), 1.65 in. ( 42 mm) UC Specifications
w/o Electromagnetic Brake Electromagnetic Brake Maximum Holding Torque lb-in (Nm) Rotor Inertia1J oz-in2 (kgm2) Permissible Speed Range r/min Gear Ratio Resolution2 1000 P/R Permissible Torque lb-in (Nm) Maximum Torque lb-in (Nm) Lost Motion (Load Torque) arc min VoltageMaximum Input Current Power Source Type Power Supply Input Electromagnetic Power Consumption Brake3 Excitation Current Static Friction Torque lb-in (Nm) Motor lb. (kg) Weight1 Driver lb. (kg) Motor Dimension No. Driver Model ASC34AK-H100 ASC34AK-H50 / / 17.7 (2) 13.2 (1.5) 0.153 (2810-7) 070 035 50:1 100:1 0.0072 0.0036 13.2 (1.5) 17.7 (2) 17.7 (2) 24 (2.8) Max. 3 (0.06 Nm) Max. 3 (0.08 Nm) 24 VDC10% 1.0 A / / / / / 0.55 (0.25) , ASC46AK-H50 ASC46AK-H100 ASC46MK-H50 ASC46MK-H100 30 (3.5) 44 (5.0) 0.46 (8510-7) [0.55 (10010-7)] 048 024 50:1 100:1 0.0072 0.0036 30 (3.5) 44 (5.0) 73 (8.3) 97 (11) Max. 1.5 (0.16 Nm) Max. 1.5 (0.2 Nm) 24 VDC10% 1.7 A Active when power is off 24 VDC5% 2W 0.08 A 15.4 (1.75) 22 (2.5) 1.5 (0.7) [1.8 (0.8)] 0.55 (0.25) . 1
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-72 3 The electromagnetic brakes are for holding the position when the power is off. They cannot be used for complicated braking. Also, a separate 24 VDC 5%, 0.3 A min. power supply is required for the electromagnetic brakes. How to Read Specifications TablePage C-9 Note: 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 is opposite.
ASC34AK-H50
2.0
1.0
0.5
10 10
20 20
30 40 50 Speed [r/min]
60
70 60
80
10 0 10 20
20 Speed [r/min]
30 60
40
ASC46K-H50
12 100 10 80 8 6 4 2 0
ASC46K-H100
12 100 10 80 8 6 4 2 0 60 40 20 0 Maximum Torque
Permissible Torque
Permissible Torque
10 0 10
40
50 40
5 0 10
20 40
25
Notes: Pay attention to heat dissipation from motor and driver. In particular, remember that the motor will produce a considerable amount of heat under certain conditions. In order to prevent fatigue of the gear grease in the harmonic gear, keep the temperature of the gear case under 158 F (70 C). When using the motor with the dedicated driver, the driver's automatic current cutbuck at motor standstill function reduces maximum holding torque by approximately 50%.
ORIENTAL MOTOR GENERAL CATALOG 2003/2004
Features C-56
Specifications/Characteristics C-59
Stepping Motors
HG Geared Type
Specifications
w/o Electromagnetic Brake Electromagnetic Brake Maximum Holding Torque lb-in (Nm) Rotor Inertia1 J oz-in2 (kgm2) Permissible Speed Range r/min Gear Ratio Resolution2 1000P/R Permissible Torque lb-in (Nm) Maximum Torque lb-in (Nm) Lost Motion (Load Torque) arc min VoltageMaximum Input Current Power Source Type Power Supply Input Electromagnetic Power Consumption Brake3 Excitation Current Static Friction Torque lb-in (Nm) Motor lb. (kg) Weight1 Driver lb. (kg) Motor Dimension No. Driver Model
UC
ASC66AK-H50 ASC66MK-H50 48 (5.5) 2.3 (42210-7) [3.2 (58110-7)] 036 50:1 0.0072/pulse 48 (5.5) 159 (18) Max. 0.7 (0.28 Nm) 24 VDC10% 3.7 A Active when power is off 24 VDC5% 6W 0.25 A 24 (2.75) 3.1 (1.4) [3.6 (1.65)] 0.55 (0.25) 0 1 35 (4) 018 100:1 0.0036/pulse 70 (8.0) 240 (28) Max. 0.7 (0.39 Nm) ASC66AK-H100 ASC66MK-H100 70 (8.0)
Closed Loop Motor & Driver Packages 5-Phase Microstep 5-Phase Full/Half
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-72 3 The electromagnetic brakes are for holding the position when the power is off. They cannot be used for complicated braking. Also, a separate 24 VDC 5%, 0.3 A min. power supply is required for the electromagnetic brakes. How to Read Specifications TablePage C-9 Note: 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 is opposite.
DC Input
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
ASC66K-H100
30 250
PK/PV
25 200 Torque [lb-in] Torque [N.m] Maximum Torque 20 15 10 5 10 20 Speed [r/min] 30 30 40 150
Maximum Torque
20 15 10
PK
Driver
10 Speed [r/min]
15 30
20
Controllers
SMK Accessories
Notes: Pay attention to heat dissipation from motor and driver. In particular, remember that the motor will produce a considerable amount of heat under certain conditions. In order to prevent fatigue of the gear grease in the harmonic gear, keep the temperature of the gear case under 158 F (70 C). When using the motor with the dedicated driver, the driver's automatic current cutbuck at motor standstill function reduces maximum holding torque by approximately 50%.
Common Specifications C-66 Dimensions C-68 Connection and Operation C-72 Motor and Driver Combinations C-76
ORIENTAL MOTOR GENERAL CATALOG 2003/2004
C-65
C-66
Stepping Motors
Common Specifications
Maximum Input Pulse Frequency Speed Positioning Control Command 250 kHz Pulse Train Input When the protection functions are activated, an alarm signal is output and the motor stops automatically. Overload Protection, Overvoltage Protection, Speed Error Protection, Overspeed protection, EEPROM Data Error, Sensor Error, System Error Photocoupler Input Input Resistance: 220 Input Current 720 mA (Forward Pulse, Reverse Pulse, Current Off, Alarm Clear, Resolution Setting) Photocoupler Open Collector Output External equipment requirement Less than 30 VDC, 15 mA (Positioning Completion, Alarm, Timing) Transistor Open Collector Output External equipment requirement Less than 30 VDC, 15 mA (Feedback Pulse A B phase)
Protection Functions
Input Signals
Output Signals
General Specifications
Motor Insulation Class Insulation Resistance Class B [266F (130C)] 100 M minimum when measured by a 500 VDC megger between the following places Frame-Motor and Sensor Windings Sufficient to withstand the following for one minute Frame-Motor and Sensor Windings 0.5 kV 60 Hz 32F122F (0C50C) (nonfreezing): StandardTHPN Geared Type 32F104F (0C40C) (nonfreezing): HG Geared Type 85% or less (noncondensing) No corrosive gases, dust, water or oil. 5 minutes 0.002 inch (0.05 mm) T.I.R. 0.003 inch (0.075 mm) T.I.R. 0.003 inch (0.075 mm) T.I.R. / / / / Driver / 100 M minimum when measured by a 500 VDC megger between the following places Heat Sink-Power Supply Terminal Sufficient to withstand the following for one minute Heat Sink-Power Supply Terminal 0.5 kV 60 Hz 32F104F (0C40C) (nonfreezing)
Dielectric Strength Ambient Temperature Operating Ambient Environment Humidity Atmosphere Static Angle Error Shaft Runout Concentricity Perpendicularity
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: Do not measure insulation resistance or perform the dielectric strength
0.075 A 0.05
0.075
Features C-56
Specifications/Characteristics C-59
Stepping Motors
Motor shaft speed [r/min] = Gear output shaft speedGear ratio Motor shaft torque [oz-in] =
ASC34AK
1.0 Driver Input Current [A] 0.8 0.6 0.4 0.2 0.0 0 0 10 2 4 6 Load Torque [oz-in] 40 20 30 Load Torque [mNm] 50 8 60
0 20 40
Introduction
3000 r/min
2000 r/min
1.0
AS
Closed Loop
AC Input
AS PLUS ASC
0.0
15
100
120
140
RK
ASC46K
2.0 Driver Input Current [A]
ASC66K
CFK2
4 Driver Input Current [A]
1.5
500 r/min
500 r/min
CSK
1.0
DC Input
0.5
PMC
0 0
10 0.1
50 0.4
0 0 0 0.2
50 100 Load Torque [oz-in] 0.8 0.4 0.6 Load Torque [Nm]
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
UMK
Overhung Load Distance from Shaft End [inch (mm)] 0.2 (5) 0.39 (10) 0.59 (15) 7.6 11.7 / 34 52 5.6 7.6 11.7 25 34 52 16.8 21 29 75 95 130 3.1 14 4.5 20 6.7 30
Thrust Load 0.79 (20) / / 42 190 Keep thrust loads below the weight of the motor used.
PK/PV PK
Driver
3.3 15
Controllers
27 120 42 190 63 280 76 340 101 450 54 240 81 360 123 550
33 150
9 40 22 100
SMK
22 100
Dimensions C-68
C-67
0.77 (19.5)
0.9060.004 (230.1)
1.22 (31)
0.49 (12.5)
0.60 (15.2)
555710R (MOLEX)
1.2200.004 (310.1)
1.9690.014 (500.35)
A A' 555710R (MOLEX) 1.22 (31) Cable 0.28 (7) 16 inch (400 mm) Length
0.2950.006 (7.50.15)
90
0.60 (15.2)
C-68
0.49 (12.5)
Stepping Motors
Dimensions
Motor Standard Type z Motor Frame Size 1.10 in. (28 mm) (Scale 1/2)
Model ASC34AK
1.10 (28) 0.9060.004 (230.1)
ASC36AK
M2.5P0.45, 0.10 (2.5) Deep Min. 4 Places
L2 L1
1.65 (42) 1.2200.004 M3P0.5, (310.1) 0.18 (4.5) Deep Min.4 Places
Model ASC66AK
2.36 (60) 1.9690.014 0.177 (4.5) 4 Holes (500.35)
L2 L1 0.28 (7)
0.940.04 (241)
ASC66MK
Features C-56
Specifications/Characteristics C-59
Stepping Motors
Model ASC46AK-T
0.790.04 (201)
ASC46MK-T ASM46MK-T
Enter the gear ratio in the box () within the model number.
Introduction
AS
Closed Loop
AC Input
Cable 0.28 (7) 16 inch (400 mm) Length 1.72 0.5 3.8 4 ( 0.60 (15.2) 555710R(MOLEX) Electromagnetic Brake Leads 24 inch (600 mm) Length AWG 26
.02
)
0.49 (12.5)
AS PLUS
1.22 (31)
ASC
RK
DXF
CFK2
ASC66AK-T
B201 B202
ASC66MK-T ASM66MK-T
2.36 (60) M4P0.7, 0.31 (8) Deep Min. 4 Places
L2 L1
Enter the gear ratio in the box () within the model number.
DC Input
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
Cable 0.28 (7) 16 inch (400 mm) Length 0.60 (15.2) 555710R(MOLEX)
1.22 (31)
0.49 (12.5)
6 .7 0.5 ) 2 70 (
0.
02
CSK PK/PV
PK
Model
Motor Model
Driver
L2 L1
Enter the gear ratio in the box () within the model number.
1.65 (42) M4 P0.7 0.31 (8) Deep Min. 4 Places
Controllers
Cable 0.28 (7)16 inch (400 mm) Length 0.60 (15.2) Electromagnetic Brake Leads 24 inch (600 mm) Length AWG 26 0.70870.0079 (180.2) 0.1181 0 0.0010 3 0 0.025 555710R(MOLEX)
1.22 (31)
0.49 (12.5)
0 .89 0.3) 1 48 (
2 .01 0
SMK
0.1 (1.80 )
0.004 0.0710
( )
0.004 (3 0.029)
Dimensions C-68
C-69
(40 0.03)
0.1575 0 0.0012
0.9840.008 (250.2)
0.1575 0 0.0012
0.1 (2.50 )
A' Cable 0.28 (7) 16 inch (400 mm) Length 0.60 (15.2) 555710R(MOLEX)
0.004 0.0980
1.22 (31)
HG Geared Type , Motor Frame Size 1.10 in. (28 mm) (Scale 1/2)
0 0.86610 0.0008 (220.021) 0 0.31500 0.0004 (8 0.009) 0.47 (12)
0.49 (12.5)
0.9060.004 (230.1)
0.30 (7.5)
90
L2 L1
0.08 (2)
1.48030 0.0010
0.980.04 (251)
37.6 0 0.025
0.1181 0 0.0010
0.60 (15.2) Electromagnetic Brake Leads 24 inch (600 mm) Length AWG 26
555710R(MOLEX)
0 ) .89 0.3 1 48 (
1.22 (31)
(30 0.025)
0.49 (12.5)
.0 0
12
The position of the key slot on the output shaft [0.3937 (10)] relative to the screw holes on a maximum diameter of 1.04 (26.5) on the rotating part is arbitrary.
C-70
Features C-56
Specifications/Characteristics C-59
0.1 (1.80 )
90
0.004 0.0710
Stepping Motors
L2 L1
0.1575 0 0.0012
(
.76 0.5 ) 2 70 (
.02 0
4 0 0.03
(40 0.03)
Model
Motor Model
DXF B289
ASC34AK-H ASM34AK-H
1.10 (28) 0.9060.004 (230.1)
Enter the gear ratio in the box () within the model number.
Enter the gear ratio in the box () within the model number.
M4 P0.7 0.31 (8) Deep Min. 4 Places M3 P0.5 0.20 (5) Deep Min. 6 Places 0.7087 0 0.0071 0.1181 0 0.0010 3 0 0.025
0.004 (3 0.029) 0.0002 0.1181 0.0011
1.65 (42)
0.047 (1.2)
(180 0.18)
Stepping Motors
Motor Model
1.120.04 (28.51)
Enter the gear ratio in the box () within the model number.
Introduction
2.36 (60)
M5 P0.8 0.39 (10) Deep Min. 4 Places M4 P0.7 0.24 (6) Deep Min. 6 Places
AS
Closed Loop
AC Input
A' Cable 0.28(7)16 inch (400 mm) Length 0.60 (15.2) 555710R(MOLEX) 0.1575 0 0.0012
6 .75 .5) 2 70 0 (
0 .02 0
AS PLUS
1.22 (31)
0.49 (12.5)
ASC
(40 0.03)
RK
0.1 (2.50 )
0.004 0.0980
(40 0.03)
0.1575 0 0.0012
90
CFK2
The position of the key slot on the output shaft [0.4724 (12)] relative to the screw holes on a maximum diameter of 1.32 (33.5) on the rotating part is arbitrary.
CSK PMC
DC Input
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
UMK CSK
0.18 (4.5)
PK/PV
4.45 (113)
(1
2 R .75 0.0 ) 7
PK
Driver
0.14 (3.5)
Controllers
Dimensions C-68
C-71
SMK Accessories
Motor Speed
C-72
Stepping Motors
Alarm
Blink Count Protection Function 2 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 velocity. The motor shaft velocity exceeds 5000 r/min. (Except geared type) The EEPROM has a fault. The power source turns it on when the motor cable is not connected to the driver. The driver has fatal error.
v 3 4 6 7 8 No Blink
b Input/Output Signals
Pin Connector Number 2 3 9 10 11 12 13 14 15 16 21 22 23 24 25 26 29 30 31 32 33 34 Input/Output External power input Signal Name of Signal Power Supply for signal control CCW Pulse (Rotation Direction) CW Pulse (Pulse)
CN3
Set to 0
V.FIL
Set to F
Time
v 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) "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 pulse input modes: "1P" for the 1-pulse input mode, "2P" for the 2-pulse input mode.
GND Vcc24V CCW (DRE) CCW (DRE) Input signal CW (PLS) CW (PLS) BSG1 GND Output signal ASG1 GND ACL Input signal ACL TIM1 TIM1 ALARM Output signal ALARM END END 10 10 Input signal C.OFF C.OFF
B-Phase Pulse Output (Open Collector) A-Phase Pulse Output (Open Collector) Alarm Clear Timing (Open Collector) Alarm Positioning Completion Resolution Select All Windings Off
Value in parentheses represents the setting in 1-pulse input mode. The setting at shipment is the 2-pulse input mode.
1P/2P
Note: Always turn the power off before switching resolution or pulse input, and turn it ON again after you have made the change. If the Resolution Select switch is set to 10, it cannot control the resolution selected by the input terminals. It will always be 10.
Features C-56
Specifications/Characteristics C-59
Stepping Motors
Connection Diagrams
Controller +5V Twisted-pair wire Pulse Signal Driver
CN3
(Pin No.) 11
Motor
PULSE
12
220 Photocoupler
DIR
10
21
220 Photocoupler
ACL
22
31
220 Photocoupler
10
32
33
220 Photocoupler
Notes: Applying a voltage that exceeds the specifications will cause the electromagnetic brake to generate a great deal of heat, resulting in motor temperature rises and possible damage to the motor. Conversely, if voltage is too low, the electromagnetic brake may not release. To protect the switch contacts and prevent noise, always connect the accessory surge suppressor. Correct polarity ( and ) must be ensured when connecting the electromagnetic brake lead wire of ASC series to the DC power supply. If polarity is incorrect, the electromagnetic brake will not operate properly. When using as a CE certified part, use a DC power supply with reinforced insulation for the primary side as the power supply for the electromagnetic brake. ( The surge suppressor is included with Surge suppressor electromagnetic brake motors.)
Introduction AS AS PLUS
Closed Loop
AC Input
C.OFF
34
ASC
24 V
25
ALARM
26
GND
The electromagnetic brake wire is linked to the connector on the motor [23.6 inch (600 mm)]. When connecting with the DC power supply, connect the red spiral lead wire to 24 V, and the black lead wire to the ground (GND). Use the extension cable or the movable cable (both sold separately) for standard.
RK CFK2
29
END
30
Extension cable for standard (Sold separately) Black Red Switch Motor
CSK PMC
DC Input
15
ASG1
16 13
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
BSG1
14
UMK
Notes: Vo and the current must be 30 VDC, 15 mA or less respectively. If the current exceeds 15 mA, connect an external resistance Ro. Note that as the length of the pulse signal line increases, the maximum transmission frequency decreases. Use a multi-core, twisted-pair shielded wire AWG 28 for the control input/output signal line (CN3), and keep wiring as short as possible [within 6.6 feet (2 m)]. For the wiring between the motor and driver, use an extension cable or flexible cable (sold separately). The range of wire for the power connector (CN1) is AWG 1824. Use wire AWG 20 or thicker for the power line. Keep the control input/output signal line at least 1 foot (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. Cables for power supply lines and control input/output signal lines are not supplied. Always use the accessory connector to connect the power connector. To install the pins, be sure to use the specified crimping tool made by Molex 57026-5000 (for UL1007) or 57027-5000 (for UL1015).
To release the electromagnetic brake, wait at least 0.5 seconds after turning on the driver power source. The load may fall down due to a loss of holding torque.
ON Driver Power Source OFF 0.5s Electromagnetic Brake ON Power Source OFF
PK/PV PK
Driver
ASC66
The electromagnetic brake wire is linked to the connector on the driver connection side of extension cable for electromagnetic brake models (sold separately). Be sure to use the accessory (sold separately) extension cable or movable cable. Connect the orange/black spiral lead wire [2.36 inch (60 mm)] to 24 V, and the gray lead wire [2.36 inch (60 mm)] to the ground (GND).
24 VDC
Controllers
SMK
Extension cable for electromagnetic brake model (Sold Separately) Driver Motor
Dimensions C-68
C-73
C-74
Stepping Motors
Description of Input/Output Signals Pulse Input (CW) and Rotation Direction (CCW) Input Signal
Input Circuit and Sample Connection
Driver CW (PLS)
11
7 to 20 mA 220
33
16 mA
9
7 to 20 mA
10
CCW (DIR)
3
5 mA
The letters indicate signals under the 2-pulse input mode, while the letters in parentheses indicate signals under the 1pulse input mode.
Note: When Vo is equal to 5 VDC, the external resistance is not necessary. When Vo is above 5 VDC, connect the external resistance and keep the input current between 7 mA and 20 mA.
This controller power source offers a choice of either 5 VDC or 24 VDC. Inputting the All Windings Off (C.OFF) signal puts the motor in a non-excitation (free) state. It is functioning when the photocoupler is ON. It is used when turning the motor shaft externally or when positioning manually. This signal clears the deviation counter.
Photocoupler ON C.OFF Photocoupler OFF OFF ON OFF
For pulse signals, use input pulse waveforms like those shown the figure above.
1-Pulse Input Mode The 1-pulse input mode uses Pulse (PLS) and Rotation Direction (DIR) signals. CW is selected by inputting DIR signal at a low level (with the input photocoupler ON), CCW by inputting at high level (with input photocoupler OFF). Rotation Direction signals Photocoupler "ON": Clockwise, Photocoupler "OFF": Counterclockwise
1 Pulse Input Mode Pulse Signal (PLS) Photocoupler ON Photocoupler OFF
31
16 mA
10
32
Rotation Direction Photocoupler ON (DIR) Photocoupler OFF Motor Movement Clockwise Counterclockwise
2-pulse input mode The 2-pulse input mode is used for "CW" and "CCW" pulses. When "CW" pulses are input, the motor's output shaft rotates clockwise when the motor is viewed facing the shaft; when "CCW" pulses are input, the shaft rotates counterclockwise.
Note: The factory setting is 2-pulse input.
2 Pulse Input Mode CW Pulse Signal (CW) Photocoupler ON Photocoupler OFF
10
32
This controller power source offers a choice of either 5 VDC or 24 VDC. During input of this signal, the magnification of the resolution is 10. It is only valid when the resolution select switch is set to 1.
Note: When the resolution select switch is set to 10, the Resolution Select Input is ignored. In this case, the Resolution Select Input is always equal to ON.
CCW Pulse Signal Photocoupler ON Photocoupler OFF (CCW) Motor Movement Counterclockwise Clockwise
Features C-56
Specifications/Characteristics C-59
Stepping Motors
25
26 ALARM
Introduction
30 VDC15 mA maximum
Circuits for use with 30 VDC, 15 mA maximum. This signal indicates that one of the driver's protection circuits has been activated. When an abnormality such as an overload or over current is detected, the alarm signal is output, the ALARM indicator lights, and the motor stops (non-excitation state). To cancel the alarm, first resolve the cause and check for safety, and then input an Alarm Clear (ACL) signal or cycle power on. Once power has been turned off, wait at least 3 seconds before turning it on again.
Protection Function ALARM Photocoupler ON Photocoupler OFF ALARM LED Pulse Signal (Operating pattern) Rotation Natural stop Normal Fault OFF Light Normal
AS AS PLUS ASC
Closed Loop
This controller power source offers a choice of either 5 VDC or 24 VDC. This signal is used for canceling the alarm without turning off power to the driver when a protection circuit has been activated.
Note: The following alarm cannot be cleared. To cancel the alarm, first resolve the cause and check for safety, and then turn power on again. Over Current EEPROM Data Error System Error
RK
ON
ON
CFK2 CSK
DC Input
PMC
Note: The alarm output uses positive logic (Normally Closed), all other outputs use negative logic (Normally Open).
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
UMK
29
CSK PK/PV
Circuits for use with 30 VDC, 15 mA maximum. This signal is output at the photocoupler ON state when positioning is completed. This signal is output when the rotor position is less than 1.8 from the command position, approximately 2 ms after the pulse input stops.
Pulse Signal (Speed pattern) Rotation Stop
23
PK
Driver
Circuits for use with 30 VDC, 15 mA maximum. When the Excitation Timing signal is output, the photocoupler 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 CCW Pulse OFF ON TIM. Output OFF
1 2 3 4
OFF
ON
...... 17 18 19 20 21 22
Controllers
CW Pulse
Note: The END signal flashes during operation with a pulse input frequency of 500 Hz or less.
1 2
Note: A precise timing signal cannot be obtained when the speed of the pulse input frequency is over 500 Hz.
Dimensions C-68
C-75
SMK Accessories
C-76
Stepping Motors
Notes: The pulse output accuracy is, regardless of resolution, within 0.36 (repetition accuracy: within 0.09) These signals are only for position verification when the motor has stopped. There is a 1 ms (max.) time lag between real rotor motion and the output signals.
GND
14
ASG1
30 VDC 15 mA max.
15
GND
16
GND
Circuits for use with 30 VDC, 15 mA maximum. These signals are used when monitoring the motor position. 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.
Standard
DC Input
Stepping Motors
Introduction AS AS PLUS ASC
SMK
Accessories
n RK Series
Additional Information
C-77
Closed Loop A
Motor & Driver Packages 5-Phase Microstep 5-Phase Full/Half 2-Phase Stepping Motors with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
Driver
Controllers
C-78
Stepping Motors
RK Series
The RK series offers both the high resolution and smooth motion of a 5-phase microstepping system with the simplicity of a full step system. The RK Series Smooth Drive function achieves low vibration without the need for a higher cost pulse generator usually required for microstepping systems.
Features
z Smooth Drive Function
Want to reduce vibration and noise during low-speed operation in microstepping mode without changing the fullstep resolution? Or, are you looking for ways to use microstepping while keeping the pulse frequency low to accommodate the oscillator requirement? If so, the RK Series is the answer to your needs. The new and innovative Smooth Drive function ensures low-vibration and low-noise operation at low speeds by internally executing microstepping within the driver, working independently of the input pulse frequency of your controller.
Step Angle: 0.72/step
v x
c
Smooth Drive: ON
0.50
200
800
0.036
0.036
0.072
Features C-78
Specifications/Characteristics C-81
Stepping Motors
b 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.
Introduction
10
AS
Closed Loop A
AC Input
Wide Variations
AS PLUS
The RK Series is comprised of motors in various sizes and with varying functions, such as high-accuracy, and nonbacklash geared types.
ASC
RK
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 protector. The RK Series doesnt require an external ferrite core or filter in the motor line or power line.
Except for RK54 [Motor frame size 1.65 inch (42 mm)]
DC Input
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
Standards/CE Marking
Products Standards UL1004, UL519 CSA C22.2 No.1003 Stepping Motor CSA C22.2 No.773 EN60950 EN60034-1 EN60034-5 UL508C 1 Driver CSA C22.2 No.14 EN50178 UL 3 / E171462 / VDE 2 114293G Low Voltage Directives EMC Directives UL E64199 Certification Body File No. CE Marking
CSK PK/PV PK
1 Test Condition is Maximum Ambient Temperature 122F (50C) according to UL Standards. (UL508C) 2 Except for harmonic geared type RK543-H, RK564-H, and PN geared type RK544-N. 3 Except for RK54 type. When the system is approved under various safety standards, the model names in the motor and driver nameplates are the approved model names. List of Motor and Driver Combinations Page C-104 Details of Safety Standards Page G-2 The EMC value changes according to the wiring and layout. Therefore, the final EMC level must be checked with the motor/driver incorporated in the users equipment.
Controllers
Dimensions C-92
C-79
SMK Accessories
C-80
Stepping Motors
System Configuration
Motor
Driver
EMP400 Controller (Sold separately) (Page C-254) 24 VDC Power Supply (Not Supplied)
(Not Supplied)
RK 5 6 6 B A - N 5
Gear Ratio Blank: Standard Type N: PN Geared Type T : T H Geared Type 5-Phase RK Series Power Input A: Single-Phase 100115 VAC Input B: Single-Phase 200230 VAC Input Motor Shaft Type A: Single Shaft B: Double Shaft Motor Case Length Motor Frame Size 4: 1.65 in.sq. (42 mm sq.) 6: 2.36 in.sq. (60 mm sq.) 9: 3.35 in.sq. (85 mm sq.) [3.54 in. sq. (90 mm sq.) for Geared Type] H: HG Geared Type
Product Line
Maximum Holding Torque Type Power Supply Voltage Single-Phase 100-115 VAC Single-Phase 200-230 VAC Single-Phase 100-115 VAC Single-Phase 200-230 VAC Single-Phase 100-115 VAC Single-Phase 200-230 VAC Single-Phase 100-115 VAC Single-Phase 200-230 VAC 1.65 in. (42 mm) 18.434 oz-in (0.130.24 Nm) / 313.2 lb-in (0.351.5 Nm) / 713.2 lb-in (0.81.5 Nm) / 3044 lb-in (3.55 Nm) / 2.36 in. (60 mm) 59230 oz-in (0.421.66 Nm) 59230 oz-in (0.421.66 Nm) 1135 lb-in (1.254 Nm) 1135 lb-in (1.254 Nm) 3070 lb-in (3.58 Nm) 3070 lb-in (3.58 Nm) 4870 lb-in (5.58 Nm) 4870 lb-in (5.58 Nm) 3.35 in. (85 mm) 3.54 in. (90 mm) for geared type 290890 oz-in (2.16.3 Nm) 290890 oz-in (2.16.3 Nm) 39106 lb-in (4.512 Nm) 39106 lb-in (4.512 Nm) 123320 lb-in (1437 Nm) 123320 lb-in (1437 Nm) 220320 lb-in (2537 Nm) 220320 lb-in (2537 Nm)
Features C-78
Specifications/Characteristics C-81
Stepping Motors
Standard Type
Specifications
Model
How to Read Specifications TablePage C-9 RK543AA RK543BA 18.4 (0.13) 0.191 (3510-7) RK544AA RK544BA 25 (0.18) 0.3 (5410-7) 0.75 0.72 Single-Phase 100-115 VAC 15% 50/60 Hz 1 A Microstep: Basic Angle/n (/Step) 0.66 (0.3) 0.88 (0.4) z 3 RK545AA RK545BA 34 (0.24) 0.37 (6810-7)
Single-Phase Single Shaft 100-115 VAC Double Shaft oz-in (Nm) Maximum Holding Torque Rotor Inertia J oz-in2 (kgm2) A/Phase Rated Current Basic Step Angle Power Source Input Excitation Mode Motor lb. (kg) Weight Driver lb. (kg) Motor Dimension No. Driver
Introduction AS
Closed Loop A
AC Input
0.55 (0.25)
0.88 (0.4)
AS PLUS
Sixteen resolutions are available, where n1, 2, 2.5, 4, 5, 8, 10, 20, 25, 40, 50, 80, 100, 125, 200 and 250.
ASC
RK CFK2 CSK
3 Current [A] 2 1 0
DC Input
20
Pullout Torque
10
PMC UMK
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
Resolution1 (Resolution10)
RK544A
CSK
0.30 0.25 Torque [oz-in] Torque [Nm] 0.20 0.15 0.10 0.05 fs 0 0 0 0 0 (0) 1000 10 (100) 2000 3000 Speed [r/min] 20 (200) Pulse Speed [kHz] 30 (300) 4000 Resolution1 (Resolution10) 30 Current: 0.75 A/Phase Step Angle: 0.72/step Load Inertia: JL = 0 oz-in2 40
PK/PV
3 Current [A] 2 1
20
Pullout Torque
PK
10
Driver
RK545A
0.30 0.25 Torque [oz-in] Torque [Nm] 0.20 0.15 0.10 0.05 0 0 0 0 (0) fs 1000 10 (100) 2000 3000 Speed [r/min] 20 (200) Pulse Speed [kHz] 30 (300) 4000 Resolution1 (Resolution10) 30 Current: 0.75 A/Phase Step Angle: 0.72/step Load Inertia: JL = 0 oz-in2 40
Controllers
3 Current [A] 2 1 0
20
10
SMK Accessories
Note: The pulse input circuit responds to approximately 200 kHz with a pulse duty of 50%.
Dimensions C-92
C-81
Torque [oz-in]
60 40 Driver Input Current 20 fs 0 1000 10 (100) 2000 3000 Speed [r/min] 20 (200) Pulse Speed [kHz] 4000 (Resolution 1) 30 (300) (Resolution 10) 10 5 0
6 Current [A] 4 2 0
Current [A]
Torque [oz-in]
Torque [Nm]
Torque [Nm]
Torque [oz-in]
100
3 2 1 0
Torque [oz-in]
Torque [Nm]
Torque [Nm]
Current [A]
Driver Input Current fs 1000 10 (100) 2000 3000 Speed [r/min] 20 (200) Pulse Speed [kHz] 4000 (Resolution 1) 30 (300) (Resolution 10)
Current [A]
Torque [oz-in]
200 150 100 Current [A] Driver Input Current fs 0 1000 10 (100) 2000 3000 Speed [r/min] 20 (200) Pulse Speed [kHz] 4000 (Resolution 1) 30 (300) (Resolution 10) 8 4 0
6 4 2
Torque [oz-in]
Torque [Nm]
Torque [Nm]
Current [A]
C-82
Stepping Motors
Standard Type
Specifications
Model Single-Phase 100-115 VAC Single-Phase 200-230 VAC
How to Read Specifications TablePage C-9 Single Shaft Double Shaft Single Shaft Double Shaft oz-in (Nm) oz-in2 (kgm2) A/Phase RK564AA RK564BA RK564AC RK564BC 59 (0.42) 0.96 (17510-7) RK566AA RK566BA RK566AC RK566BC 117 (0.83) 1.53 (28010-7) RK569AA RK569BA RK569AC RK569BC 230 (1.66) 3.1 (56010-7) RK596AA RK596BA RK596AC RK596BC 290 (2.1) 7.7 (140010-7) RK599AA RK599BA RK599AC RK599BC 580 (4.1) 14.8 (270010-7)
UC
RK5913AA RK5913BA RK5913AC RK5913BC 890 (6.3) 22 (400010-7)
Maximum Holding Torque Rotor Inertia J Rated Current Basic Step Angle Power Source Input Excitation Mode Weight Dimension No. Motor Driver Motor Driver
1.3 (0.6)
1.4 0.72 Single-Phase 100-115 VAC 15% 50/60 Hz 4.5 A 10% Single-Phase 200-230 VAC 15% 50/60 Hz 3.5 A Microstep: Basic Angle/n (/Step) 1.8 (0.8) 2.9 (1.3) 3.7 (1.7) 6.2 (2.8) 1.9 (0.85) x c 4
8.4 (3.8)
Sixteen resolutions are available, where n1, 2, 2.5, 4, 5, 8, 10, 20, 25, 40, 50, 80, 100, 125, 200 and 250.
300
Pullout Torque
200
100 Driver Input Current 0 fs 1000 Speed [r/min] 0 (0) 10 (100) Pulse Speed [kHz] 20 (Resolution 1) (200) (Resolution 10) 2000 3000
0 (0)
RK566A RK566C
1.2 1.0 0.8 150 Pullout Torque Current: 1.4 A/Phase Load Inertia: JL = 0 oz-in2
RK599A RK599C
Step Angle: 0.72/step
RK566A RK566C 6 800 5 4 600 Pullout Torque Current: 1.4 A/Phase Load Inertia: JL = 0 oz-in2
400
8 4 0
50
8 4 0
1500
0 (0)
0 (0)
RK569A RK569C
2.5 2.0 350 300 250 Pullout Torque Current: 1.4 A/Phase Load Inertia: JL = 0 oz-in2
RK5913A RK5913C
Step Angle: 0.72/step
RK569A RK569C 10 8 1400 1200 1000 800 600 400 Driver Input Current 200 0 0 fs 500 Speed [r/min] 0 (0) 5 (50) Pulse Speed [kHz] (Resolution 1) 10 (100) (Resolution 10) 1000 1500 Pullout Torque Current: 1.4 A/Phase Load Inertia: JL = 0 oz-in2
8 4 0
50 0
0 (0)
Note: The pulse input circuit responds to approximately 200 kHz with a pulse duty of 50%.
Features C-78
Specifications/Characteristics C-81
Stepping Motors
TH Geared Type
Specifications
Model Single-Phase Single Shaft 100-115 VAC Double Shaft lb-in (Nm) Maximum Holding Torque Rotor Inertia J oz-in2 (kgm2) A/Phase Rated Current Basic Step Angle Gear Ratio Permissible Torque lb-in. (Nm) Backlash arc minute (degrees) Permissible Speed Range r/min Power Source Input Excitation Mode Motor lb. (kg) Weight Driver lb. (kg) Motor Dimension No. Driver
How to Read Specifications TablePage C-9 RK543AA-T3.6 RK543BA-T3.6 3 (0.35) RK543AA-T7.2 RK543BA-T7.2 6.1 (0.7)
C
RK543AA-T10 RK543AA-T20 RK543AA-T30 RK543BA-T10 RK543BA-T20 RK543BA-T30 8.8 (1.0) 13.2 (1.5) 0.191 (3510-7) 0.75 0.1 0.036 0.072 0.024 7.2:1 20:1 10:1 30:1 6.1 (0.7) 13.2 (1.5) 8.8 (1.0) 25 (0.417) 15 (0.25) 0250 0180 090 060 Single-Phase 100-115 VAC 15% 50/60 Hz 1 A Microstep: Basic Angle/n (/Step) 0.77 (0.35) 0.88 (0.4) v 3
Introduction
AS AS PLUS ASC RK
Closed Loop A Motor & Driver Packages 5-Phase Microstep 5-Phase Full/Half
Sixteen resolutions are available, where n1, 2, 2.5, 4, 5, 8, 10, 20, 25, 40, 50, 80, 100, 125, 200 and 250. Note: Direction of rotation of the motor and that of the gear output shaft are the same for models with gear ratios of 3.6:1, 7.2:1 and 10:1. It is opposite for 20:1 and 30:1 gear ratio models.
CFK2
CSK
DC Input
PMC
Permissible Torque
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
UMK
4 Current [A] 3 2 1 0
1.0
2 5 Permissible Torque fs 0 100 200 5 (50) Driver Input Current 300 400 Speed [r/min] Current [A]
1.0
0.5
0.5
CSK
500
600
fs 20 5 (50)
80
100
PK/PV
0 (0)
0 (0)
RK543A-T7.2
2.0 15 1.5 Torque [lb-in] Torque [Nm] 10 Current: 0.75 A/Phase Step Angle: 0.1/step Load Inertia: JL = 0 lb-in2
RK543A-T30
2.0 15 1.5 Torque [lb-in] Torque [Nm] 10 Current: 0.75 A/Phase Step Angle: 0.024/step Load Inertia: JL = 0 lb-in2
PK
Permissible Torque
Driver
4 Current [A] 3 2 1 0
1.0
1.0
0.5
0.5
Driver Input Current fs 0 10 20 5 (50) 30 40 Speed [r/min] 10 (100) Pulse Speed [kHz] 50 60 15 Resolution1 (150) (Resolution10)
Controllers
fs 0 50 100 150 Speed [r/min] 5 (50) 10 (100) Pulse Speed [kHz] 200 250 15 Resolution1 (150) (Resolution10)
0 (0)
0 (0)
RK543A-T10
2.0 15 1.5 Torque [lb-in] Torque [Nm] 10 Permissible Torque Current: 0.75 A/Phase Step Angle: 0.072/step Load Inertia: JL = 0 lb-in2
SMK Accessories
2 Current [A]
1.0
0.5
5 Driver Input Current 80 120 Speed [r/min] 5 (50) 10 (100) Pulse Speed [kHz] 160 200 15 Resolution1 (150) (Resolution10)
fs 0 40
0 (0)
Note: The pulse input circuit responds to approximately 200 kHz with a pulse duty of 50%.
Dimensions C-92
C-83
Torque [lb-in]
3 2 1 0
3 2 1 0
8 Current [A] 4 0
20 Current [A] Permissible Torque 10 Driver Input Current fs 0 100 200 300 Speed [r/min] 5 (50) 10 (100) Pulse Speed [kHz] 400 500 15 (150) (Resolution 1) (Resolution 10)
Torque [lb-in]
Torque [Nm]
Torque [Nm]
Torque [lb-in]
3 2 1 0
3 2 1 0
Torque [lb-in]
Torque [Nm]
Torque [Nm]
Current [A]
3 2 1 0
Torque [lb-in]
Torque [Nm]
Current [A]
C-84
Stepping Motors
TH Geared Type
Specifications
Model Single-Phase 100-115 VAC Single-Phase 200-230 VAC Single Shaft Double Shaft Single Shaft Double Shaft lb-in (Nm) oz-in2 (kgm2) A/Phase
How to Read Specifications TablePage C-9 RK564AA-T3.6 RK564BA-T3.6 RK564AC-T3.6 RK564BC-T3.6 11 (1.25) RK564AA-T7.2 RK564BA-T7.2 RK564AC-T7.2 RK564BC-T7.2 22 (2.5)
UC
Maximum Holding Torque Rotor Inertia J Rated Current Basic Step Angle Gear Ratio Permissible Torque Backlash Permissible Speed Range Power Source Input Excitation Mode Weight Dimension No.
RK564AA-T10 RK564AA-T20 RK564AA-T30 RK564BA-T10 RK564BA-T20 RK564BA-T30 RK564AC-T10 RK564AC-T20 RK564AC-T30 RK564BC-T10 RK564BC-T20 RK564BC-T30 26 (3) 30 (3.5) 35 (4) 0.96 (17510-7) 1.4 0.2 0.1 0.072 0.036 0.024 3.6:1 7.2:1 10:1 20:1 30:1 11 (1.25) 22 (2.5) 26 (3) 30 (3.5) 35 (4) 35 (0.584) 15 (0.25) 10 (0.167) 0250 0180 090 060 0500 10% Single-Phase 100-115 VAC 15% 50/60 Hz 4.5 A Single-Phase 200-230 VAC 15% 50/60 Hz 3.5 A Microstep: Basic Angle/n (/Step) 2.1 (0.95) 1.9 (0.85) b 4
Sixteen resolutions are available, where n1, 2, 2.5, 4, 5, 8, 10, 20, 25, 40, 50, 80, 100, 125, 200 and 250. Note: Direction of rotation of the motor and that of the gear output shaft are the same for models with gear ratios of 3.6:1, 7.2:1 and 10:1. It is opposite for 20:1 and 30:1 gear ratio models.
4 2 0
20 Driver Input Current fs 0 20 5 (50) 40 60 Speed [r/min] 10 (100) Pulse Speed [kHz] 80 15 (150) 100 (Resolution 1) (Resolution 10)
10
0 (0)
0 (0)
RK564A-T7.2 RK564C-T7.2
5 40 4 30 Current: 1.4 A/Phase Load Inertia: JL = 0 oz-in2
RK564A-T30 RK564C-T30
5 40 4 30 Current: 1.4 A/Phase Load Inertia: JL = 0 oz-in2 Permissible Torque
8 4 0
20 Driver Input Current fs 0 10 20 5 (50) 30 40 Speed [r/min] 10 (100) Pulse Speed [kHz] 50 60 (Resolution 1) 15 (150) (Resolution 10)
10 Driver Input Current fs 0 50 100 150 Speed [r/min] 5 (50) 10 (100) Pulse Speed [kHz] 200 250 15 (150) (Resolution 1) (Resolution 10)
10
0 (0)
0 (0)
RK564A-T10 RK564C-T10
5 40 4 30 Permissible Torque Current: 1.4 A/Phase Load Inertia: JL = 0 oz-in2
4 2 0
20 Driver Input Current fs 0 40 5 (50) 80 120 Speed [r/min] 10 (100) Pulse Speed [kHz] 160 15 (150) 200 (Resolution 1) (Resolution 10)
10
Note: The pulse input circuit responds to approximately 200 kHz with a pulse duty of 50%.
0 (0)
Features C-78
Specifications/Characteristics C-81
Stepping Motors
TH Geared Type
Specifications
Model Single-Phase 100-115 VAC Single-Phase 200-230 VAC Single Shaft Double Shaft Single Shaft Double Shaft lb-in (Nm) oz-in2 (kgm2) A/Phase
How to Read Specifications TablePage C-9 RK596AA-T3.6 RK596BA-T3.6 RK596AC-T3.6 RK596BC-T3.6 39 (4.5)
UC
Maximum Holding Torque Rotor Inertia J Rated Current Basic Step Angle Gear Ratio Permissible Torque Backlash Permissible Speed Range Power Source Input Excitation Mode Weight Dimension No.
RK596AA-T7.2 RK596AA-T10 RK596AA-T20 RK596AA-T30 RK596BA-T7.2 RK596BA-T10 RK596BA-T20 RK596BA-T30 RK596AC-T7.2 RK596AC-T10 RK596AC-T20 RK596AC-T30 RK596BC-T7.2 RK596BC-T10 RK596BC-T20 RK596BC-T30 79 (9) 106 (12) 7.7 (140010-7) 1.4 0.2 0.1 0.072 0.036 0.024 3.6:1 7.2:1 10:1 20:1 30:1 39 (4.5) 79 (9) 106 (12) 25 (0.417) 15 (0.25) 10 (0.167) 0250 0180 090 060 0500 10% Single-Phase 100-115 VAC 15% 50/60 Hz 4.5 A Single-Phase 200-230 VAC 15% 50/60 Hz 3.5 A Microstep: Basic Angle/n (/Step) 6.3 (2.85) 1.9 (0.85) n 4
Closed Loop A Motor & Driver Packages 5-Phase Microstep 5-Phase Full/Half
Sixteen resolutions are available, where n1, 2, 2.5, 4, 5, 8, 10, 20, 25, 40, 50, 80, 100, 125, 200 and 250. Note: Direction of rotation of the motor and that of the gear output shaft are the same for models with gear ratios of 3.6:1, 7.2:1 and 10:1. It is opposite for 20:1 and 30:1 gear ratio models.
CFK2 CSK
DC Input
PMC
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
UMK
10
6 4 2 0
CSK
Current [A]
5.0 2.5 0
PK/PV
0 (0)
0 (0)
PK
RK596A-T7.2 RK596C-T7.2
15 120 100 Torque [lb-in] Torque [Nm] 80 60 Current: 1.4 A/Phase Load Inertia: JL = 0 oz-in2
RK596A-T30 RK596C-T30
15 120 100 Torque [lb-in] Torque [Nm] Current: 1.4 A/Phase Load Inertia: JL = 0 oz-in2 Permissible Torque
Driver
10
10
80 60 40 20 fs 10 20 5 (50) 30 40 Speed [r/min] 10 (100) Pulse Speed [kHz] 50 60 (Resolution 1) 15 (150) (Resolution 10) Driver Input Current
Current [A]
5.0 2.5 0
40 20
Controllers
fs 50
200
0 (0)
0 (0)
RK596A-T10 RK596C-T10
15 120 100 Torque [lb-in] Torque [Nm] 10 80 60 40 20 0 0 fs 40 5 (50) 80 120 Speed [r/min] 10 (100) Pulse Speed [kHz] 160 15 (150) 200 (Resolution 1) (Resolution 10) Driver Input Current Permissible Torque Current: 1.4 A/Phase Load Inertia: JL = 0 oz-in2
SMK Accessories
6 Current [A] 4 2 0
Note: The pulse input circuit responds to approximately 200 kHz with a pulse duty of 50%.
0 (0)
Dimensions C-92
C-85
Torque [lb-in]
15 3 10 5 Permissible Torque 0 fs Driver input current 100 5 (50) 200 300 400 Speed [r/min] 500 600 25 (250) 700 Resolution 1 (Resolution 10) 0 Current [A] 2 1
Torque [lb-in]
Torque [Nin]
Torque [Nin]
Current [A]
Torque [lb-in]
Torque [Nin]
Current [A]
C-86
Stepping Motors
PN Geared Type
Specifications
Model Single-Phase Single Shaft 100-115 VAC Double Shaft lb-in (Nm) Maximum Holding Torque Rotor Inertia J oz-in2 (kgm2) Rated Current A/Phase Basic Step Angle Gear Ratio Permissible Torque lb-in. (Nm) Maximum Torque lb-in. (Nm) Backlash arc minute (degrees) Angle Error arc minute (degrees) Permissible Speed Range r/min Power Source Input Excitation Mode Motor lb. (kg) Weight Driver lb. (kg) Motor Dimension No. Driver
How to Read Specifications TablePage C-9 RK544AA-N5 RK544BA-N5 7 (0.8) RK544AA-N7.2 RK544BA-N7.2 10.6 (1.2) 0.30 (5410-7) 0.75 0.1 7.2:1 10.6 (1.2) 17.7 (2) 2 (0.034) 6 (0.1) 0416 Single-Phase 100-115 VAC 15% 50/60 Hz 1 A Microstep: Basic Angle/n (/Step) 1.2 (0.56) 0.88 (0.4) m 3 RK544AA-N10 RK544BA-N10 13.2 (1.5)
0600
0300
Sixteen resolutions are available, where n1, 2, 2.5, 4, 5, 8, 10, 20, 25, 40, 50, 80, 100, 125, 200 and 250. Notes: Direction of rotation of the motor and that of the gear output shaft are the same. The value of Maximum Torque is for the gear. Refer to the Speed-Torque Characteristics for the output torque of the geared motors.
3 2 1 0
0 (0)
RK544A-N7.2
3.0 25 2.5 20 2.0 1.5 1.0 0.5 0 15 10 Permissible Torque 5 0 Driver input current 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 : 0.75A/phase Load Inertia : JL=0kgm2 Step Angle : 0.1/step
3 2 1 0
0 (0)
Note: The pulse input circuit responds to approximately 200 kHz with a pulse duty of 50%.
Features C-78
Specifications/Characteristics C-81
Stepping Motors
PN Geared Type
Specifications
Single-Phase Single Shaft 100-115 VAC Double Shaft Model Single-Phase Single Shaft 200-230 VAC Double Shaft lb-in (Nm) Maximum Holding Torque Rotor Inertia J oz-in2 (kgm2) Rated Current A/Phase Basic Step Angle Gear Ratio Permissible Torque lb-in. (Nm) Maximum Torque lb-in. (Nm) Backlash arc minute (degrees) Angle Error arc minute (degrees) Permissible Speed Range r/min Power Source Input Excitation Mode Motor lb. (kg) Weight Driver lb. (kg) Motor Dimension No. Driver
How to Read Specifications TablePage C-9 RK566AA-N5 RK566BA-N5 RK566AC-N5 RK566BC-N5 30 (3.5) RK566AA-N7.2 RK566BA-N7.2 RK566AC-N7.2 RK566BC-N7.2 35 (4) 1.53 (28010-7) 0.1 7.2:1 35 (4) 79 (9) 2 (0.034) RK566AA-N10 RK566BA-N10 RK566AC-N10 RK566BC-N10 44 (5) RK564AA-N25 RK564BA-N25 RK564AC-N25 RK564BC-N25 RK564AA-N36 RK564BA-N36 RK564AC-N36 RK564BC-N36 70 (8) 0.96 (17510-7) 0.02 36:1 70 (8) 177 (20) 3 (0.05)
UC
RK564AA-N50 RK564BA-N50 RK564AC-N50 RK564BC-N50
Introduction
1.4 0.144 5:1 30 (3.5) 61 (7) 0.072 10:1 44 (5) 97 (11) 0.0288 25:1 141 (16) 0.0144 50:1 177 (20)
AS AS PLUS
Closed Loop A
5 (0.084) 0600 0416 0300 0120 083 060 10% Single-Phase 100-115 VAC 15% 50/60 Hz 4.5 A Single-Phase 200-230 VAC 15% 50/60 Hz 3.5 A Microstep: Basic Angle/n (/Step) 3.3 (1.5) 1.9 (0.85) , 4
ASC RK CFK2
Sixteen resolutions are available, where n1, 2, 2.5, 4, 5, 8, 10, 20, 25, 40, 50, 80, 100, 125, 200 and 250. Notes: Direction of rotation of the motor and that of the gear output shaft are the same. The value of Maximum Torque is for the gear. Refer to the Speed-Torque Characteristics for the output torque of the geared motors.
CSK
DC Input
PMC UMK
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
8 Current [A] 4 0
100 Permissible Torque 50 fs 100 5 (50) Current [A] Driver input current
8 4 0
100 Permissible Torque 50 Driver input current fs 50 Speed [r/min] 5 (50) 100 25 (250) 150 Resolution 1 (Resolution 10)
CSK PK/PV
200
500
600 25 (250)
0 (0)
0 (0)
RK566A-N7.2 RK566C-N7.2
25 200 20 Torque [lb-in] Torque [Nin] 150 15 10 5 0 Current : 1.4A/phase Load Inertia : JL=0kgm2 Step Angle : 0.1/step RK566A-N7.2 RK566C-N7.2
RK564A-N36 RK564C-N36
25 200 20 15 10 5 0 Torque [lb-in] Torque [Nin] 150 Current : 1.4A/phase Load Inertia : JL=0kgm2 Step Angle : 0.02/step RK564A-N36 RK564C-N36
PK
Driver
8 Current [A] 4 0
100 Permissible Torque 50 fs 100 5 (50) Driver input current 200 300 Speed [r/min] 10 15 20 (100) (150) (200) Pulse Speed [kHz] 400 25 (250) 500 Resolution 1 (Resolution 10) Current [A]
8 4 0
100 Permissible Torque 50 Driver input current 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)
RK566A-N10 RK566C-N10
25 200 20 Torque [lb-in] Torque [Nin] 150 15 10 5 0 Current : 1.4A/phase Load Inertia : JL=0kgm2 Step Angle : 0.072/step RK566A-N10 RK566C-N10
RK564A-N50 RK564C-N50
25 200 20 Torque [lb-in] Torque [Nin] 150 15 10 5 0 Current : 1.4A/phase Load Inertia : JL=0kgm2 Step Angle : 0.0144/step Maximum Torque RK564A-N50 RK564C-N50
SMK Accessories
8 Current [A] 4 0
100 50 Permissible Torque fs Driver input current 100 5 (50) 200 Speed [r/min] 300 25 (250) Resolution 1 (Resolution 10) Current [A]
8 4 0
Driver input current fs 20 5 (50) 40 Speed [r/min] 60 25 (250) Resolution 1 (Resolution 10)
0 (0)
0 (0)
Note: The pulse input circuit responds to approximately 200 kHz with a pulse duty of 50%.
Common Specifications C-90 Dimensions C-92 Connection and Operation C-98 Motor and Driver Combinations C-104
ORIENTAL MOTOR GENERAL CATALOG 2003/2004
C-87
Torque [lb-in]
40 30 20 10 0
40 30 20 10 0
6 Current [A] 4 2 0
300 Current [A] 200 100 0 fs 100 5 (50) 200 300 400 Speed [r/min] 500 20 (200) 600 25 Resolution 1 (250) (Resolution 10) Permissible Torque
Torque [lb-in]
Torque [Nin]
Torque [Nin]
Torque [lb-in]
40 30 20 10 0
40 30 20 10 0
6 Current [A] 4 2 0
300 Current [A] 200 100 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) Permissible Torque Driver input current
Torque [lb-in]
Torque [Nin]
Torque [Nin]
Torque [lb-in]
40 30 20 10 0
Maximum Torque 300 Permissible Torque Current [A] 200 Driver input current 100 0 fs 100 5 (50) 200 Speed [r/min] 300 25 (250) Resolution 1 (Resolution 10) 6 4 2 0
40 30 20 10 0
Torque [lb-in]
Torque [Nin]
Torque [Nin]
Current [A]
C-88
Stepping Motors
PN Geared Type
Specifications
Single-Phase Single Shaft 100-115 VAC Double Shaft Model Single-Phase Single Shaft 200-230 VAC Double Shaft lb-in (Nm) Maximum Holding Torque Rotor Inertia J oz-in2 (kgm2) Rated Current A/Phase Basic Step Angle Gear Ratio Permissible Torque lb-in. (Nm) Maximum Torque lb-in. (Nm) Backlash arc minute (degrees) Angle Error arc minute (degrees) Permissible Speed Range r/min Power Source Input Excitation Mode Motor lb. (kg) Weight Driver lb. (kg) Motor Dimension No. Driver
How to Read Specifications TablePage C-9 RK599AA-N5 RK599BA-N5 RK599AC-N5 RK599BC-N5 123 (14)
UC
RK599AA-N7.2 RK599AA-N10 RK596AA-N25 RK596AA-N36 RK596AA-N50 RK599BA-N7.2 RK599BA-N10 RK596BA-N25 RK596BA-N36 RK596BA-N50 RK599AC-N7.2 RK599AC-N10 RK596AC-N25 RK596AC-N36 RK596AC-N50 RK599BC-N7.2 RK599BC-N10 RK596BC-N25 RK596BC-N36 RK596BC-N50 177 (20) 320 (37) 7.7 (140010-7) 14.8 (270010-7) 1.4 0.144 0.1 0.072 0.0288 0.02 0.0144 5:1 7.2:1 10:1 25:1 36:1 50:1 123 (14) 177 (20) 320 (37) 240 (28) 300 (35) 300 (35) 490 (56) 530 (60) 530 (60) 2 (0.034) 3 (0.05) 4 (0.067) 0600 0416 0300 0120 083 060 10% Single-Phase 100-115 VAC 15% 50/60 Hz 4.5 A Single-Phase 200-230 VAC 15% 50/60 Hz 3.5 A Microstep: Basic Angle/n (/Step) 11 (5) 10 (4.7) 1.9 (0.85) . 4
Sixteen resolutions are available, where n1, 2, 2.5, 4, 5, 8, 10, 20, 25, 40, 50, 80, 100, 125, 200 and 250. Notes: Direction of rotation of the motor and that of the gear output shaft are the same. The value of Maximum Torque is for the gear. Refer to the Speed-Torque Characteristics for the output torque of the geared motors. How to Read Speed-Torque CharacteristicsPage C-10 RK596A-N25 RK596C-N25
70 60 50 440 300 200 100 0 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 Permissible Torque Current : 1.4A/phase Load Inertia : JL=0kgm2 Step Angle : 0.0288/step 600 500 RK596A-N25 RK596C-N25
0 (0)
RK599A-N7.2 RK599C-N7.2
70 60 50 440 Current : 1.4A/phase Load Inertia : JL=0kgm2 Step Angle : 0.1/step 600 500 RK599A-N7.2 RK599C-N7.2
RK596A-N36 RK596C-N36
70 60 50 440 300 Permissible Torque 200 100 0 fs Driver input current 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) Current : 1.4A/phase Load Inertia : JL=0kgm2 Step Angle : 0.02/step 600 500 Maximum Torque RK596A-N36 RK596C-N36
6 4 2 0
0 (0)
0 (0)
RK599A-N10 RK599C-N10
70 60 50 440 Current : 1.4A/phase Load Inertia : JL=0kgm2 Step Angle : 0.072/step 600 500 RK599A-N10 RK599C-N10
RK596A-N50 RK596C-N50
70 60 50 440 300 Permissible Torque 200 100 0 fs Driver input current 20 5 (50) 40 Speed [r/min] 60 25 (250) Resolution 1 (Resolution 10) Current : 1.4A/phase Load Inertia : JL=0kgm2 Step Angle : 0.0144/step 600 Maximum Torque 500 RK596A-N50 RK596C-N50
6 4 2 0
0 (0)
0 (0)
Note: The pulse input circuit responds to approximately 200 kHz with a pulse duty of 50%.
ORIENTAL MOTOR GENERAL CATALOG 2003/2004
Features C-78
Specifications/Characteristics C-81
Stepping Motors
HG Geared Type
Specifications
Motor Frame Size: 1.65 in. ( 42 mm), 2.36 in. ( 60 mm), 3.54 in. ( 90 mm)
Single-Phase Single Shaft RK543AA-H50 RK543AA-H100 RK564AA-H50 RK564AA-H100 RK596AA-H50 RK596AA-H100 100-115 VAC Double Shaft RK543BA-H50 RK543BA-H100 RK564BA-H50 RK564BA-H100 RK596BA-H50 RK596BA-H100 Model Single-Phase Single Shaft RK564AC-H50 RK564AC-H100 RK596AC-H50 RK596AC-H100 / / 200-230 VAC Double Shaft RK564BC-H50 RK564BC-H100 RK596BC-H50 RK596BC-H100 / / 48 (5.5) 70 (8) 220 (25) 320 (37) lb-in (Nm) Maximum Holding Torque 30 (3.5) 44 (5.0) 1.15 (21010-7) 8.8 (160010-7) 0.28 (5210-7) Rotor Inertia J oz-in2 (kgm2) 0.75 1.4 A/Phase Rated Current 0.0144 0.0072 0.0144 0.0072 0.0144 0.0072 Basic Step Angle Gear Ratio 50:1 100:1 50:1 100:1 50:1 100:1 Permissible Torque lb-in. (Nm) 30 (3.5) 44 (5.0) 48 (5.5) 70 (8) 220 (25) 320 (37) Maximum Torque lb-in. (Nm) 73 (8.3) 97 (11) 159 (18) 240 (28) 300 (35) 480 (55) Maximum 1.5 Maximum 1.5 Maximum 0.7 Maximum 0.7 Maximum 1.5 Maximum 1.5 Lost Motion arc minute (degrees) (0.16 Nm) (0.2 Nm) (0.28 Nm) (0.39 Nm) (1.2 Nm) (1.2 Nm) (Load Torque) 070 035 070 035 070 035 Permissible Speed Range 10% Single-Phase 100-115 VAC 15% 50/60 Hz 1 A Single-Phase 100-115 VAC 15% 50/60 Hz 4.5 A Single-Phase 200-230 VAC Power Source Input 15% 50/60 Hz 3.5 A Microstep: Basic Angle/n (/Step) Excitation Mode 1 (0.46) 2.4 (1.08) 8.1 (3.7) Motor lb. (kg) Weight 0.88 (0.4) 1.9. (0.85) Driver lb. (kg) Motor/Driver Dimension No. 0/3 1/4 2/4 Sixteen resolutions are available, where n1, 2, 2.5, 4, 5, 8, 10, 20, 25, 40, 50, 80, 100, 125, 200 and 250. Notes: The inertia represents a sum of the inertia at the harmonic gear converted to a motor shaft value, and the rotor inertia. Direction of rotation of the motor and that of the gear output shaft are the opposite. The value of Maximum Torque is for the gear. Refer to the Speed-Torque Characteristics for the output torque of the geared motors. RK543A-H50
15 120 100 Torque [lb-in] 80 60 Current [A] 40 Permissible Torque 20 0 0 fs 0 20 10 (100) Driver Input Current 40 Speed [r/min] 20 (200) Pulse Speed [kHz] 60 80 30 Resolution1 (300) (Resolution10) 2 1 0 0 Torque [lb-in] Torque [Nm] Torque [Nm] 10 10
Closed Loop A Motor & Driver Packages 5-Phase Microstep 5-Phase Full/Half
DC Input
How to Read Speed-Torque CharacteristicsPage C-10 RK543A-N100 Current: 0.75 A/Phase Step Angle: 0.0072/step
15 120 100 80 60 Permissible Torque 40 Maximum Torque Load Inertia: JL = 0 lb-in2
PMC UMK
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
Current [A]
2 1 0
CSK
20 0 fs 0 10 10 (100)
30
40
PK/PV
0 (0)
0 (0)
RK564A-H50 RK564C-H50
40 350 300 30 Torque [lb-in] Torque [Nm] 250 200 150 100 Permissible Torque 50 0 0 0 0 fs 20 10 (100) 40 Speed [r/min] 20 (200) Pulse Speed [kHz] 60 80 30 (Resolution 1) (300) (Resolution 10) Driver Input Current Current: 1.4 A/Phase Step Angle: 0.0144/step Load Inertia: JL = 0 oz-in2 RK564A-H50 RK564C-H50
RK564A-H100 RK564C-H100
40 350 300 30 Torque [lb-in] Torque [Nm] 250 200 150 100 Permissible Torque 50 0 0 0 0 fs 10 10 (100) Maximum Torque Current: 1.4 A/Phase Step Angle: 0.0072/step Load Inertia: JL = 0 oz-in2 RK564A-H100 RK564C-H100
PK
Driver
10 Current [A]
20
Maximum Torque
10 Current [A]
20
10
10
Controllers
Driver Input Current 20 Speed [r/min] 20 (200) Pulse Speed [kHz] 30 40 30 (Resolution 1) (300) (Resolution 10)
0 (0)
0 (0)
RK596A-H50 RK596C-H50
70 60 50 Torque [lb-in] Torque [Nm] Current: 1.4 A/Phase Step Angle: 0.0144/step Load Inertia: JL = 0 oz-in2 600 500 400 Maximum Torque 300 200 100 fs 0 0 20 10 (100) 40 Speed [r/min] 20 (200) Pulse Speed [kHz] 60 80 30 (Resolution 1) (300) (Resolution 10) Driver Input Current Permissible Torque RK596A-H50 RK596C-H50
RK596A-H100 RK596C-H100
70 60 50 Torque [lb-in] Torque [Nm] 400 300 200 100 0 fs 0 10 10 (100) 20 Speed [r/min] 20 (200) Pulse Speed [kHz] 30 40 30 (Resolution 1) (300) (Resolution 10) Driver Input Current 40 30 20 10 0 Permissible Torque Current: 1.4 A/Phase Step Angle: 0.0072/step Load Inertia: JL = 0 oz-in2 600 500 Maximum Torque RK596A-H100 RK596C-H100
SMK
40 30 20 10 0
Accessories
6 Current [A] 4 2 0
Current [A]
8 4 0
0 (0)
0 (0)
Note: The pulse input circuit responds to approximately 200 kHz with a pulse duty of 50%.
Common Specifications C-90 Dimensions C-92 Connection and Operation C-98 Motor and Driver Combinations C-104
ORIENTAL MOTOR GENERAL CATALOG 2003/2004
C-89
C-90
Stepping Motors
Common Specifications
Input Mode Pulse Signal (CW Pulse Signal) Photocoupler input, Input impedance: 220 ; Input current: 10 to 20 mA ON: 4.5 V5 V, OFF: 01 V (Voltage between terminals) Operation command pulse signal (CW direction operation command pulse signal when in 2-pulse input mode) 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 frequency: 200 kHz (When the duty is 50%) Rotation direction signal, Photocoupler OFF: CCW; Photocoupler ON: CW CCW direction operation command pulse signal when in 2-pulse input mode 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 duty is 50%) When in the "photocoupler ON" state, the output current to the motor is cut off and the motors shaft can be rotated manually. When in the "photocoupler OFF" state, the output current is supplied to the motor. Step angle specified in DATA1 when photocoupler OFF Step angle specified in 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) 0.72/step (1 resolution): Signal output every 10 pulses; 0.072/step (10 resolutions): Signal output every 100 pulses
Input Signal
All Windings Off Signal Step Angle Select Signal Output Mode Output Signal Excitation Timing Signal Overheat Signal Functions Indicators (LED) Cooling Method
Output is turned off when the drivers internal temperature rises to approximately 176F (80C) or above. (Photocoupler: ON) Automatic Current Cutback, Automatic current off, Step Angle Switch, Pulse Input Mode Switch, Smooth Drive Function Power input, Excitation Timing signal output, Overheat signal output Natural Ventilation
General Specifications
Specifications Insulation Class Motor Class B [266F (130C)] [Recognized as Class A 221F (105C) by UL/CSA standard] Driver / 100 M minimum under normal temperature and humidity, when measured by a 500 VDC megger between the following places: Power input terminal - Protective earth terminal Motor output terminal - Protective earth terminal Electromagnetic brake power output terminal - 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 terminal Only for electromagnetic brake type Sufficient to withstand the following for one minute, under normal temperature and humidity. Power input terminal - Protective earth terminal 1.1 k VAC 60 Hz Motor output terminal - Protective earth terminal 1.1 k VAC 60 Hz Electromagnetic brake power output terminal - Protective earth terminal 1.1 k VAC 60 Hz Signal input/output terminals - Power input terminal 1.8 k VAC 60 Hz Signal input/output terminals - Motor output terminal 1.8 k VAC 60 Hz Signal input/output terminals - Electromagnetic brake power output terminal 1.8 k VAC 60 Hz Only for electromagnetic brake type 32F122F (0C50C) (nonfreezing)
Insulation Resistance
100 M minimum under normal temperature and humidity, when measured by a 500 VDC megger between the windings and the motor casing.
Dielectric Strength
Sufficient to withstand 1.5 kV (1.0 kV for RK54), 60 Hz applied for one minute between the windings and casing under normal temperature and humidity.
Ambient Temperature Operating Environment Humidity Atmosphere Temperature Rise Stop Position Accuracy 1 Shaft Runout Radial Play 2 Axial Play 3 Concentricity Perpendicularity
14F122F (10C50C) (nonfreezing) [Harmonic geared type: 32F104F (0C40C)] 85% or less, noncondensing
No corrosive gases, dust, water or oil. Temperature rise of the coil measured by the Change Resistance Method is 144F (80C) or less. (at standstill, five phases energized) 3 minutes (0.05) 0.002 inch (0.05 mm) T.I.R. at top of output shaft4 0.001 inch (0.025 mm) max. of 1.12 lb. (5 N) 0.003 inch (0.075 mm) max. of 2.2 lb. (10 N) 0.003 inch (0.075 mm) T.I.R.4 0.003 inch (0.075 mm) T.I.R.4 / / / / / / /
0.075 0.05 A
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 1.12 lb. (5 N) load is applied in the vertical direction to the tip of the motors shaft. 3 Axial Play: Displacement in shaft position in the axial direction, when a 2.2 lb. (10 N) load is applied to the motors shaft in the axial direction. 4 T.I.R. (Total Indicator Reading): Total dial gauge reading when the measurement section is rotated one revolution centered on a reference axis. Note: Do not measure insulation resistance or perform a dielectric strength test while the motor and driver are connected.
0.075
Features C-78
Specifications/Characteristics C-81
Stepping Motors
Introduction
The permissible thrust load [lb. (N)] shall be no greater than the motor mass.
AS AS PLUS
Closed Loop A
AC Input
ASC RK CFK2
22 100
CSK PMC DC Input
139 620 177 790 260 1190 290 1300 330 1490 114 510 162 720 310 1410 49 220 101 450 290 1300 67 300
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
Enter the gear ratio in the box () within the model numbers.
Controllers
Dimensions C-92
C-91
SMK Accessories
1.2200.004 (310.1)
0.1770.006 (4.50.15)
0.48 (12.2)
0.1770.006 (4.50.15)
1.02 (26)
0.33 (8.5)
1.9690.014 (500.35)
0.31500 0.0006
1.41730 0.0015
(360 0.039)
(80 0.015)
0.49 (12.5)
90
0.2950.006 (7.50.15)
2.7560.014 (700.35)
0.49 (12.5)
0.59 (15)
24 2 (600) (50)
0.5120.006 (130.15)
90
C-92
Stepping Motors
Dimensions
Motor v Standard Type
L1 L2 inch (mm) inch (mm) 1.3 (33) 1.54 (39) 1.85 (47) / 1.89 (48) / 2.13 (54) / 2.44 (62)
2.36 (60) 0.940.04 (241) 0.06 (1.5) A A' 1.9690.014 (500.35) 0.177 (4.5)4 Holes
Model RK564AA RK564AC RK564BA RK564BC RK566AA RK566AC RK566BA RK566BC RK569AA RK569AC RK569BA RK569BC
L1 0.28 (7)
DXF
0.7870.010 (200.25)
B004
A'
B005
0.59 (15)
24 2 (600)(50)
B006
Model RK596AA RK596AC RK596BA RK596BC RK599AA RK599AC RK599BA RK599BC RK5913AA RK5913AC RK5913BA RK5913BC
DXF
B007
A A'
B008
B009
These dimensions are for double shaft models. For single shaft models, ignore the shaded areas.
Features C-78
Specifications/Characteristics C-81
Stepping Motors
3.09 (78.5)
Model
M4 P0.7 0.31 (8) Deep Min. 4 Places 1.65 (42)
Motor Model
Gear Ratio
DXF B183
0.590.04 (151)
2.50 (63.5)
RK543AA-T PK543AW-T 3.6, 7.2, 0.77 (0.35) RK543BA-T PK543BW-T 10, 20, 30
Introduction
Enter the gear ratio in the box () within the model number.
AS
0.2170.006 (5.50.15)
0.310.02 (80.5)
Closed Loop A
0.33 (8.5)
0.48 (12.2)
2 24 (600) (50)
0.0
AC Input
AS PLUS
ASC
Model RK564AA-T
2.36 (60) M4 P0.7 0.31 (8) Deep Min. 4 Places
4.51 (114.5) 0.830.04 (211) 3.68 (93.5) 0.14 (3.5) A 1.260.04 (321)
DXF
CFK2
2.1 (0.95)
B187
CSK
DC Input
0.7870.010 (200.25)
0.47 (12)
Enter the gear ratio in the box () within the model number.
0.2950.006 (7.50.15) Shaft Cross Section A-A'
90
PMC
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
0.2760.006 (70.15)
0.2950.006 (7.50.15)
UMK
0.390.02 (100.5)
0.59 (15)
0.49 (12.5)
.76 .5 ) 2 700 (
0.0
CSK
1.22 (31)
PK/PV
PK
DXF
Driver
B 0.55120.0007
0
Controllers
B'
0.49 (12.5)
0.59 (15)
09 .5) 4. 040 1 (
2 0.0
Enter the gear ratio in the box () within the model number.
1.22 (31)
SMK
0.15750.0012
0 40.030
90
0.15750.0012
( )
0.098
0 40.030
0.9480.008 (250.2)
0.15750.0012
Accessories
0 40.030
0.5120.006 (130.15)
These dimensions are for double shaft models. For single shaft models, ignore the shaded areas.
Common Specifications C-90 Dimensions C-92 Connection and Operation C-98 Motor and Driver Combinations C-104
ORIENTAL MOTOR GENERAL CATALOG 2003/2004
C-93
0.590.04 (151)
0.980.04 (251)
0.19690 0.0005
0.1770.006 (4.50.15)
(50 0.012)
0.33 (8.5)
Model
Motor Model
Gear Ratio
DXF B312
Enter the gear ratio in the box () within the model number.
(120 0.018)
2.36 (60)
90
0.49 (12.5)
(40 0.030)
0.15750 0.0012
(80 0.015)
(4 0 0.030)
0.1575 0 0.0012
0.59 (15)
.76 ) 2 00.5 7 (
2 0.0
0.2950.006 (7.50.15)
(40 0.030)
0.1575 0 0.0012
Gear Ratio
L1 inch (mm)
L2 inch (mm) /
DXF
Parallel Key (Included)
B190
B191
Enter the gear ratio in the box () within the model number.
These dimensions are for double shaft models. For single shaft models, ignore the shaded areas.
C-94
Features C-78
Specifications/Characteristics C-81
(30 0.025)
0.1181 0 0.0010
0.1 (1.80 )
1.02 (26)
0.004 0.0710
Stepping Motors
1.65 (42)
0.48 (12.2)
24 (600)
2(50)
89 3) 1. 80. 4 (
0.0
0.7090.008 (180.2)
(30 0.025)
0.1181 0 0.0010
Stepping Motors
3.35 (85)
(610 0.030 )
.02
(6 0 0.030)
1.57 (40)
0.5120.006 (130.15)
0.004 0.138 0 0.1 (3.50 )
90
0.2362 0 0.0012
0 6 0.030
0.2362 0 0.0012
(6 0 0.030)
Introduction
0.5120.006 (130.15)
Closed Loop A
0.49 (12.5)
AC Input
0.59 (15)
1.22 (31)
AS PLUS
Gear Ratio
L1 inch (mm)
L2 inch (mm) /
DXF
ASC
11 (5.0)
B282
RK CFK2
10 (4.7)
B283
CSK
Enter the gear ratio in the box () within the model number.
DC Input
PMC
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
UMK CSK
PK/PV
0.590.04 (151)
0.980.04 (251)
1.65 (42)
M4 P0.7 0.31 (8) Deep Min. 4 Places M3 P0.5 0.2 (5) Deep Min. 6 Places
0.0002 0.1181 0.0011
PK
Driver
0.1770.006 (4.50.15)
A'
0.33 (8.5)
0.004 0.0710
(30 0.025)
1.02 (26)
0.1181 0 0.0010
0.1 (1.80 )
0.48 (12.2)
24 (600)
2(50)
0.004 (3 0.029)
60
0.05 (1.2)
90
(180 0.18)
0.7087 0 0.0071
(30 0.025)
0.1181 0 0.0010
Controllers
Model
Motor Model
DXF B313
The position of the key slot on the output shaft 0.3937 (10) relative to the screw holes on a maximum diameter of 1.04 (26.5) on the rotating part is arbitrary.
SMK
Enter the gear ratio in the box () within the model number.
These dimensions are for double shaft models. For single shaft models, ignore the shaded areas.
Dimensions C-92
C-95
(40 0.030)
2.36 (60)
0.1575 0 0.0012
0.830.04 (211)
1.120.04 (28.51)
90
0.004 0.0980
(80 0.015 )
0.49 (12.5)
0.59 (15)
0.00
0.2950.006 (7.50.15)
0.1 (2.50 )
60
1.260.04 (321)
0.59(15)
0.87(22)
0.5120.006 (130.15)
3.35(85)
1.97(50)
B
0 0.55120 0.0007 (140.018)
A A'
0.1 (3.50 )
0.004 0.1380
0.9840.010 (250.25)
90
0.49 (12.5)
Gear Ratio
DXF
8.1 (3.7)
B136
Enter the gear ratio in the box () within the model number.
These dimensions are for double shaft models. For single shaft models, ignore the shaded areas.
C-96
Features C-78
Specifications/Characteristics C-81
(60 0.030 )
1.22 (31)
90
0.2362 0 0.0012
Stepping Motors
( 2.76 70 0 . 0.5 02 )
M5 P0.8 0.39 (10) Deep Min. 4 Places M4 P0.7 0.24 (6) Deep Min. 6 Places 0.2950.006 (7.50.15) Shaft Cross Section B-B'
(40 0.030)
(200 0.21)
(40 0.030)
0.1575 0 0.00
90
1.22 (31) The position of the key slot on the output shaft 0.4724 (12) relative to the screw holes on a maximum diameter of 1.32 (33.5) on the rotating part is arbitrary.
Gear Ratio
DXF
2.4 (1.08)
B314
Enter the gear ratio in the box () within the model number.
0.5120.006 (130.15)
0.2362 0 0.0012
(60 0.030 )
Shaft Cross Section A-A'
B' 24 2 (600)(50)
90 4.0 0.5) 4 0 1 (
.02
0.59 (15)
1.1 (28)
(250 0.21)
0.2362 0 0.0012
(60 0.030 )
Stepping Motors
Driver 3 RKD507-A
Weight: 0.88 lb. (0.4 kg) d B315
Slit
Introduction
AS
0.59 (15)
0.3 (7.5)
0.3 (7.5)
0.79 (20)
0.177(4.5) 2 Holes
Closed Loop A
AC Input
AS PLUS
ASC
4.72 (120)
5.31 (135)
RK CFK2
0.59 (15)
M4 0.3 (7.5)
3.46 (88) 3.54 (90)
0.18 (4.5)
CSK PMC
DC Input
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
UMK CSK
Slits
PK/PV
PK
0.3 (7.5)
0.79 (20)
Driver
Controllers
5.31 (135)
5.91 (150) M4
0.59 (15)
SMK
4.72 (120)
0.3 (7.5)
4.57 (116)
Dimensions C-92
C-97
C-98
Stepping Motors
1 2
4
Motor Terminals Motor Terminals
5
Power Input Terminals Power Input Terminals
RKD507-A
RKD514L-A
5 Input/Output Signals
Indication Terminal No. Input/Output 1 2 3 4 5 Terminal Name
Pulse Signal (CW Pulse Signal) Rotation Direction Signal (CCW Pulse Signal) All Windings Off Signal Step Angle Select Signal Excitation Timing Signal Output Signals Overheat Signal
A.C.O./OFF
Input Signals
OFF/S.D.
CN1
6 7 8 17 18 19 20
Features C-78
Specifications/Characteristics C-81
Stepping Motors
Connection Diagrams
Controller V0 (+5 VDC to 24 VDC) Twisted-pair wire Pulse Signal (CW) R1 Rotation Direction Signal (CCW) R1 All Windings Off Signal R1 Step Angle Select Signal R1 1 2 CN1 Driver
Introduction
3 4
5
5-Phase Stepping Motor Input Signals TB1 BLUE RED Blue Red Orange Green Black Motor Lead
AS
Closed Loop A
AC Input
6 7 8
AS PLUS
ASC RK
L N
17 18 19 20
Output Signals
The driver incorporates fusing for L (Live) side of the power input line. If the driver POWER LED is off, it is possible that only the fuse is tripped. High voltage supplied on the hot side may cause electric shock. Turn the power off immediately.
Caution
DC Input
Overheat Signal
GND
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
UMK
Protective Earth (P.E.) (Use wire of AWG 18 or more in cross sectional area.) Protective Earth terminal is located on the heat sink side.
CSK
Power Supply
Can be used with single-phase 100-115 VAC or single-phase 200-230 VAC 50/60 Hz 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: Motor does not rotate properly at high-speed (insufficient torque). Slow motor startup and stopping.
Notes: Keep the voltage Vo between 5 VDC and 24 VDC. When they are equal to 5 VDC, the external resistance R1 is not necessary. When they are above 5 VDC, connect R1 to keep the current between 10 mA and 20 mA, and connect R2 to keep the current below 10 mA. Use twisted-pair wire of AWG 24 or thicker and 6.6 feet (2 m) or less in length for the signal line. Note that as the length of the pulse signal line increases, the maximum transmission frequency decreases. ( Technical Reference F-36) Use AWG 22 or thicker for motor lines (when extended) and power supply lines, and use AWG 18 or thicker for the wire for the protective earthing line. Use spot grounding for the grounding of the driver and external controller. Signal lines should be kept at least 3.9 inch (10 cm) away from power lines (power supply lines and motor lines). Do not bind the signal line and power line together.
PK/PV PK
Driver
Controllers
SMK Accessories
Crimp terminals are not provided with the package. They must be furnished separately.
Dimensions C-92
C-99
C-100
Stepping Motors
The driver can be preset to two different step angles (resolutions) using the step angle select switches DATA1 and DATA2. Use these switches to set the desired resolution from the 16 resolution levels available. (Refer to the table below.) After setting the two step angles (resolutions), use the step angle select signal to change the step angle. Photocoupler OFF: Step angle (resolution) set by DATA1 is selected Photocoupler ON: Step angle (resolution) set by DATA2 is selected
Standard Type
Step Angle Select Switch Resolution (Common to DATA1 and DATA2) 0 1 2 3 4 5 6 7 8 9 A B C D E F 1 2 2.5 4 5 8 10 20 25 40 50 80 100 125 200 250 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
TH Geared Type
Step Angle Select Switch (Common to Resolution DATA1 and DATA2) 0 1 2 3 4 5 6 7 8 9 A B C D E F 1 2 2.5 4 5 8 10 20 25 40 50 80 100 125 200 250 Step Angle at Output Shaft Gear Ratio 3.6:1 0.2 0.1 0.08 0.05 0.04 0.025 0.02 0.01 0.008 0.005 0.004 0.0025 0.002 0.0016 0.001 0.0008 Gear Ratio 7.2:1 0.1 0.05 0.04 0.025 0.02 0.0125 0.01 0.005 0.004 0.0025 0.002 0.00125 0.001 0.0008 0.0005 0.0004 Gear Ratio 10:1 0.072 0.036 0.0288 0.018 0.0144 0.009 0.0072 0.0036 0.00288 0.00188 0.00144 0.0009 0.00072 0.000576 0.00036 0.000288 Gear Ratio 20:1 0.036 0.018 0.0144 0.009 0.0072 0.0045 0.0036 0.0018 0.00144 0.0009 0.00072 0.00045 0.00036 0.000288 0.00018 0.000144 Gear Ratio 30:1 0.024 0.012 0.0096 0.006 0.0048 0.003 0.0024 0.0012 0.00096 0.0006 0.00048 0.0003 0.00024 0.000192 0.00012 0.000096
PN Geared Type
Step Angle Select Switch (Common to DATA1 and Resolution DATA2) 0 1 2 3 4 5 6 7 8 9 A B C D E F 1 2 2.5 4 5 8 10 20 25 40 50 80 100 125 200 250 Step Angle at Output Shaft Gear Ratio 5:1 0.144 0.072 0.0576 0.036 0.0288 0.018 0.0144 0.0072 0.00576 0.0036 0.00288 0.0018 0.00144 0.001152 0.00072 0.000576 Gear Ratio 7.2:1 0.1 0.05 0.04 0.025 0.02 0.0125 0.01 0.005 0.004 0.0025 0.002 0.00125 0.001 0.0008 0.0005 0.0004 Gear Ratio 10:1 0.072 0.036 0.0288 0.018 0.0144 0.009 0.0072 0.0036 0.00288 0.0018 0.00144 0.0009 0.00072 0.000576 0.00036 0.000288 Gear Ratio 25:1 0.0288 0.0144 0.01152 0.0072 0.00576 0.0036 0.00288 0.00144 0.001152 0.00072 0.000576 0.00036 0.000288 0.0002304 0.000144 0.0001152 Gear Ratio 36:1 0.02 0.01 0.008 0.005 0.004 0.0025 0.002 0.001 0.0008 0.0005 0.0004 0.00025 0.0002 0.00016 0.0001 0.00008 Gear Ratio 50:1 0.0144 0.0072 0.00576 0.0036 0.00288 0.0018 0.00144 0.00072 0.000576 0.00036 0.000288 0.00018 0.000144 0.0001152 0.000072 0.0000576
HG Geared Type
Step Angle Select Switch (Common to DATA1 and Resolution DATA2) 0 1 2 3 4 5 6 7 8 9 A B C D E F 1 2 2.5 4 5 8 10 20 25 40 50 80 100 125 200 250 Step Angle at Output Shaft Gear Ratio 50:1 0.0144 0.0072 0.00576 0.0036 0.00288 0.0018 0.00144 0.00072 0.000576 0.00036 0.000288 0.00018 0.000144 0.0001152 0.000072 0.0000576 Gear Ratio 100:1 0.0072 0.0036 0.00288 0.0018 0.00144 0.0009 0.00072 0.00036 0.000288 0.00018 0.000144 0.00009 0.000072 0.0000576 0.000036 0.0000288
Notes: Do not change the step angle input setting unless the pulse signal is at rest. If the setting is changed while pulses are being input, a motor positional error may result. There is no positional error when changing the step angle with the motor is at rest. Step angle does not affect torque based on the shaft speed of the motor.
Features C-78
Specifications/Characteristics C-81
Stepping Motors
V0 CN1
Driver
1
220
10 to 20 mA 220
R
4
The pulse voltage is 4.5 to 5 V in the "photocoupler ON" state, and 0 to 1 V in the "photocoupler OFF" state. Input pulse signals should have a pulse width over 2.5 s, pulse rise/fall below 2 s, and a pulse duty below 50%. Keep the pulse signal at the "photocoupler OFF" state when no pulses are being input. The minimum interval time when changing rotation direction is 10 s. This value varies greatly depending on the motor type, pulse frequency and load inertia. It may be necessary to increase this time interval. In 1-pulse input mode, leave the pulse signal at rest ("photocoupler OFF") when changing rotation directions.
Introduction AS
Closed Loop A
10 to 20 mA
AC Input
AS PLUS
Driver 220
ASC
A.W.OFF
RK
10 to 20 mA
CFK2 CSK
Note: When Vo is equal to 5 VDC, the external resistance (R) is not necessary. When Vo is above 5 VDC, connect the external resistance (R) and keep the input current between 10 mA and 20 mA.
DC Input
When the "All Windings Off" signal is in the "photocoupler ON" state, the current to the motor is cut off and motor torque is reduced to zero. The motor output shaft can then be rotated freely by hand. When the "All Windings Off" signal is in the "photocoupler OFF" state, the motor holding torque is proportional to the current set by the current adjustment rotary switches. During motor operation, be sure to keep the signal in the "photocoupler OFF" state. This signal is used when moving the motor by external force or manual home position is desired. If this function is not needed, it is not necessary to connect this terminal. Switching 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 from the position set after the "All Windings Off" signal is released.
PMC UMK
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
CSK PK/PV
PK
Driver
Controllers
Rotation direction signal Photocoupler ON Photocoupler OFF 2 s max. 2.5 s 2.5 s min. min. 2 s max. 10 s min. 10 s min.
SMK
The shaded area indicates when the photocoupler diode is ON. The motor moves when the photocoupler state changes from ON to OFF as indicated by the arrow.
Dimensions C-92
C-101
C-102
Stepping Motors
Driver 220
C/S
10 to 20 mA
18
10 mA max.
Note: When Vo is equal to 5 VDC, the external resistance (R) is not necessary. When Vo is above 5 VDC, connect the external resistance (R) and keep the input current between 10 mA and 20 mA.
You may select two step angles (resolutions) from 16 available step angles (resolutions) with the step angle select switches DATA1 and DATA2. When 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.
C/S ON OFF (DATA1) 10 pulses 1 pulse (DATA2)
Controller R
18
10 mA max.
CW Pulse Motor 0
0.72 0.072/step
0.72
1.44 0.72/step
Note: Keep the voltage between 5 VDC and 24 VDC. Keep the current below 10 mA. If the current exceeds 10 mA, connect external resistance (R).
Notes: Be 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. There is no positional error if the step angle setting is changed with the motor at rest. When the step angle is changed by the C/S signal, the TIMING signal output shown below may become impossible for some combinations of step angles.When the TIMING signal is used, adjust the number of pulses so that the motor can operate with angles that are multiples of 7.2. 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 0.72 0 Operate 1 pulse with 0.72/step 0.72
The "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). The "Excitation Timing" signal can be used to increase the accuracy of home position detection by setting the mechanical home position of your equipment (for example, a photo-sensor) to coincide with the excitation sequence initial stage (step "0"). The motor excitation stage changes simultaneously with pulse input, and returns to the initial stage for each 7.2 rotation of the motor output shaft. When power is turned ON, the excitation sequence is reset to step "0". The TIM. LED lights when the "Excitation Timing" signal is output. While the motor is rotating, the LED will turn ON and OFF at a high speed and will appear to be continuously lit. The "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. Resolution 1: Signal is output once every 10 pulses. Resolution 10: Signal is output once every 100 pulses. Timing chart at 0.72/step (Resolution 1)
ON OFF ON CCW Pulse OFF ON TIM. Output OFF
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
1 0
When connected as shown in the example connection, the signal will be "photocoupler ON" at step "0".
Features C-78
Specifications/Characteristics C-81
Stepping Motors
When the "Overheat" signal is output, turn the driver power OFF, then adjust the operating conditions (ambient temperature, driver/controller settings), or use a fan to cool the driver. After taking appropriate measures, turn the power ON. Turning the power ON will reset the "Overheat" signal and release the "Automatic Current Off" condition.
Pulse input
Introduction
20
AS
Closed Loop A
AC Input
Motor
RUN
AS PLUS
Controller R
20
If the Automatic Current Off function switch is set to OFF position, the motor continues operation even when the Overheat signal is output. The output current does not cut off at this time.
10 mA max.
ASC RK
Note: Keep the voltage between 5 VDC and 24 VDC. Keep the current below 10 mA. If the current exceeds 10 mA, connect external resistance (R).
When the Overheat signal is output, turn the driver power OFF, then adjust the operating conditions (ambient temperature, driver/controller settings), or use a fan to cool the driver. After taking appropriate measures, turn the power ON. Once the power has been turned OFF, wait at least 5 seconds before turning it ON again. After driver's temperature falls to 176F (80C) or less, turning the power ON will release the Automatic Current Off condition.
Pulse Input Overheat ON Output OFF O.H. LED Light
CFK2 CSK
DC Input
The "Overheat" signal is output to protect the driver from heat damage if the internal temperature of the driver rises above 176F (80C). When connected as shown in the example connection, the signal will be "photocoupler OFF" during normal conditions, and "photocoupler ON" when the temperature exceeds 176F (80C).
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
Motor
Continues Operation
PK/PV
Timing Chart
Motor CW CCW
4 2.2 s Min. 1 10 s Min. 3 150 ms Min 15 s Min.
PK
ON OFF 2-Pulse Input Mode ON CW Pulse Input Signal OFF ON CCW Pulse Input Signal OFF 1-Pulse Input Mode ON Pulse Input Signal OFF ON Rotation Direction Input Signal OFF ON All Windings OFF Input Signal OFF ON Step Angle Select OFF Input Signal ON Overheat Output OFF Signal Power Input
Driver
1 10 s Min. 1 10 s Min. 2
300 s Min.
Controllers
DATA 2
SMK
1 Switching time to change CW, CCW pulse (2-pulse input mode), and switching time to change direction (1-pulse input mode) 10 sec 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 step pulse signal immediately after switching the "All Winding Off" signal to the photocoupler off state. The motor may not start. 4 Wait at least 15 seconds before turning on the power.
Dimensions C-92
C-103
C-104
Stepping Motors
Enter A (Single shaft) or B (double shaft) in the box () within the model numbers.
Enter A (Single shaft) or B (double shaft) in the box () within the model numbers.
DC Input
Stepping Motors
Introduction AS AS PLUS ASC
SMK
Accessories
CFK2 Series
Additional Information
C-105
Closed Loop A
Motor & Driver Packages 5-Phase Microstep 5-Phase Full/Half 2-Phase Stepping Motors with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
Driver
Controllers
Torque [oz-in]
Torque [Nm]
Vibration Level
Vibration Level
C-106
Stepping Motors
CFK2 Series
Offering high performance and simple operation in a compact size, the 5-phase CFK2Series microstepping driver and motor package is available in both standard and high speed versions. The CFK2Series provides unparalleled resolution and low vibration in an open loop system, as well as high torque in the high speed range.
Features
100
Pullout Torque
50 Driver Input Current 500 Speed [r/min] 0 (0) 5 (50) Pulse Speed [kHz] 10 (100) (Resolution 1) (Resolution 10) 1000 1500
Low
Low
200
800
1,000
100
400
500
Features C-106
Specifications/Characteristics C-108
Stepping Motors
System Configuration
Motor cable for CFK513T (Accessories) (Page C-284) Mounting Brackets (Except for CFK513T, CFK533T, CFK535T) (Accessories) (Page C-295) Flexible Couplings (Accessories) (Page C-288) I/O Cable with Terminal Block (Accessories) (Page C-264)
Introduction AS AS PLUS
Closed Loop A
AC Input
ASC
Motor
Driver EMP400 Controller (Sold separately) (Page C-254) 24 VDC Power Supply (Not supplied) 24 VDC Power Supply (Not supplied)
RK
CFK2 Series
CFK2
CSK
DC Input
PMC
CFK 5 6 6 H A T
Terminal Connection Type H: High Speed Type P: Standard P Type Blank: Standard Type Shaft Type A: Single Shaft B: Double Shaft Motor Case Length CFK2 Series 5-Phase Motor Frame Size 1: 0.79 in. sq. (20 mm sq.) 3: 1.10 in. sq. (28 mm sq.) 4: 1.65 in. sq. (42 mm sq.) 6: 2.36 in. sq. (60 mm sq.) 9: 3.35 in. sq. (85 mm sq.)
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
Product Line
Type Standard P Type (High Torque) Standard Type 24 VDC Power Supply Voltage 0.79 in. (20 mm) 3.2 oz-in (0.0231 Nm) / 1.10 in. (28 mm) / 4.68.5 oz-in (0.0330.06 Nm) / Maximum Holding Torque 1.65 in. (42 mm) 2.36 in. (60 mm) / 18.434 oz-in (0.130.24 Nm) / / 59230 oz-in (0.421.66 Nm) 117230 oz-in (0.831.66 Nm) 3.35 in. (85 mm) /
Driver
Controllers
High-Speed Type
C-107
SMK Accessories
Torque [oz-in]
Torque [Nm]
Current [A]
3 Current [A] 2 1 0
Torque [oz-in]
Torque [Nm]
3 Current [A] 2 1 0
Torque [oz-in]
Torque [Nm]
C-108
Stepping Motors
Motor Frame Size: 0.79 in. ( 20 mm) Motor Frame Size: 1.10 in. ( 28 mm)
CFK533AT CFK533BT 4.6 (0.033) 0.049 (910-7) 0.75 0.72 24 VDC10% 1 A Microstep: Basic Step Angle/n (/step) 0.22 (0.1) 0.44 (0.2) x n
0.37 (0.17)
How to Read Specifications TablePage C-9 Sixteen resolutions are available, where n1, 2, 2.5, 4, 5, 8, 10, 20, 25, 40, 50, 80, 100, 125, 200 and 250.
1.0 0.5 0
CFK533T
0.05 0.04 7 6 5 4 3 2 1 0 0 Driver Input Current fs 500 1000 1500 2000 2500 3000 3500 4000 4500 Speed [r/min] 10 (100) 20 (200) Pulse Speed [kHz] 30 (300) (Resolution 1) (Resolution 10) Pullout Torque Power Input: 24 VDC Current: 0.75 A/Phase Step Angle: 0.72/step Load Inertia: JL = 0 oz-in2
0 (0)
CFK535T
0.1 0.08 14 12 10 8 6 4 2 0 0 Driver Input Current fs 500 1000 1500 2000 2500 3000 3500 4000 4500 Speed [r/min] 10 (100) 20 (200) Pulse Speed [kHz] 30 (300) (Resolution 1) (Resolution 10) Pullout Torque Power Input: 24 VDC Current: 0.75 A/Phase Step Angle: 0.72/step Load Inertia: JL = 0 oz-in2
0 (0)
Note: The pulse input circuit responds up to approximately 500 kHz with a pulse duty of 50 %.
Features C-106
Specifications/Characteristics C-108
Stepping Motors
Standard Type
Specifications
Model
Single Shaft Double Shaft oz-in (Nm) Maximum Holding Torque Rotor Inertia J oz-in2 (kgm2) Rated Current A/phase Basic Step Angle Power Source Input Excitation Mode Motor lb. (kg) Weight Driver lb. (kg) Motor Dimension No. Driver
Introduction
0.72 Microstep: Basic Step Angle/n (/step) 0.77 (0.35) 1.3 (0.6) 0.44 (0.2) n
AS
Closed Loop A
AC Input
0.46 (0.21)
0.59 (0.27) c
1.8 (0.8) v
2.9 (1.3)
AS PLUS
How to Read Specifications TablePage C-9 Sixteen resolutions are available, where n1, 2, 2.5, 4, 5, 8, 10, 20, 25, 40, 50, 80, 100, 125, 200 and 250.
ASC
CFK564T
0.8 0.7 30 5 Current [A] 20 Pullout Torque 10 Driver Input Current fs 0 500 5 (50) 1000 1500 Speed [r/min] 2000 2500 (Resolution 1) (Resolution 10) 4 3 2 1 0 0 Torque [Nm] 0.6 0.5 0.4 0.3 0.2 0.1 0 20 0 Torque [oz-in] 100 80 Power Input: 24 VDC Current: 1.4 A/Phase Step Angle: 0.72/step Load Inertia: JL = 0 oz-in2
CFK2
CSK
3 Current [A] 2 1 0
60 40 Driver Input Current fs 0 500 Speed [r/min] 0 (0) 5 (50) Pulse Speed [kHz] 10 (100) (Resolution 1) (Resolution 10) 1000 1500
DC Input
Pullout Torque
PMC UMK
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
0 (0)
CSK
CFK544T
0.30 40 0.25 Torque [oz-in] Torque [Nm] 0.20 0.15 0.10 0.05 0 0 fs 0 500 5 (50) 1000 Speed [r/min] 10 (100) Pulse Speed [kHz] 1500 2000 15 (Resolution 1) (150) (Resolution 10) 30 Power Input: 24 VDC Current: 0.75 A/Phase Step Angle: 0.72/step Load Inertia: JL = 0 oz-in2
CFK566T
1.2 5 Torque [Nm] 4 Current [A] 3 2 1 0 1.0 Torque [oz-in] 0.8 0.6 0.4 0.2 0 0 0 100 1 (10) fs 200 2 (20) 300 400 500 Speed [r/min] 3 4 (30) (40) Pulse Speed [kHz] 600 5 (50) 700 800 (Resolution 1) (Resolution 10) 150 Power Input: 24 VDC Current: 1.4 A/Phase Step Angle: 0.72/step Load Inertia: JL = 0 oz-in2
PK/PV
PK
3 Current [A] 2 1 0
Driver
0 (0)
0 (0)
Controllers
CFK545T
0.30 40 0.25 Torque [oz-in] Torque [Nm] 0.20 0.15 0.10 0.05 0 0 fs 0 500 1000 Speed [r/min] 1500 (Resolution 1) (Resolution 10) 30 Power Input: 24 VDC Current: 0.75 A/Phase Step Angle: 0.72/step Load Inertia: JL = 0 oz-in2
CFK569T
2.5 8 Torque [Nm] 6 20 Pullout Torque Current [A] 4 2 0 2.0 Torque [oz-in] 1.5 1.0 0.5 50 0 0 0 350 300 250 200 150 100 Driver Input Current fs 100 1 (10) 200 Speed [r/min] 2 (20) Pulse Speed [kHz] 300 400 (Resolution 1) (Resolution 10) Pullout Torque Power Input: 24 VDC Current: 1.4 A/Phase Step Angle: 0.72/step Load Inertia: JL = 0 oz-in2
SMK
3 Current [A] 2 1 0
Accessories
10
0 (0)
0 (0)
Note: The pulse input circuit responds up to approximately 500 kHz with a pulse duty of 50 %.
Common Specifications C-111 Dimensions C-112 Connection and Operation C-114 Motor and Driver Combinations C-118
ORIENTAL MOTOR GENERAL CATALOG 2003/2004
C-109
Torque [oz-in]
Torque [oz-in]
Torque [Nm]
Torque [Nm]
Current [A]
Torque [oz-in]
6 Current [A] 4 2 0
200 Current [A] 150 100 50 Driver Input Current fs 500 Speed [r/min] 0 (0) 5 (50) Pulse Speed [kHz] (Resolution 1) 10 (100) (Resolution 10) 1000 1500
6 4 2 0
6 4 2
Torque [oz-in]
Torque [Nm]
Torque [Nm]
Torque [oz-in]
6 Current [A] 4 2 0
Torque [Nm]
C-110
Stepping Motors
High-Speed Type
Specifications
Model Single Shaft Double Shaft oz-in (Nm) Maximum Holding Torque Rotor Inertia J oz-in2 (kgm2) Rated Current A/phase Basic Step Angle Power Source Input Excitation Mode Motor lb. (kg) Weight Driver lb. (kg) Motor Dimension No. Driver
1.8 (0.8) v
CFK596HAT CFK599HAT CFK596HBT CFK599HBT 290 (2.1) 580 (4.1) 7.7 (140010-7) 14.8 (270010-7) 2.8 0.72 24 VDC10% 4 A Microstep: Basic Step Angle/n (/step) 2.9 (1.3) 3.7 (1.7) 6.2 (2.8) 0.48 (0.22) b n
8.4 (3.8)
How to Read Specifications TablePage C-9 Sixteen resolutions are available, where n1, 2, 2.5, 4, 5, 8, 10, 20, 25, 40, 50, 80, 100, 125, 200 and 250.
6 4 2
200
0 (0)
0 (0)
1 (10)
2 (20)
3 (30)
4 (40)
CFK569HT
2.5 2.0 350 300 250 Pullout Torque Power Input: 24 VDC Current: 2.8 A/Phase Step Angle: 0.72/step Load Inertia: JL = 0 oz-in2
CFK5913HT
10 8 1400 1200 1000 800 600 400 200 0 0 Driver Input Current fs 100 Pullout Torque Power Input: 24 VDC Current: 2.8 A/Phase Step Angle: 0.72/step Load Inertia: JL = 0 oz-in2
0 (0)
CFK596HT
3.0 400 2.5 2.0 1.5 1.0 0.5 0 0 fs Driver Input Current 500 Speed [r/min] 0 (0) 5 (50) Pulse Speed [kHz] (Resolution 1) 10 (100) (Resolution 10) 1000 1500 300 Pullout Torque 200 Power Input: 24 VDC Current: 2.8 A/Phase Step Angle: 0.72/step Load Inertia: JL = 0 oz-in2
100
Note: The pulse input circuit responds up to approximately 500 kHz with a pulse duty of 50 %.
Features C-106
Specifications/Characteristics C-108
Stepping Motors
Common Specifications
Input Mode Photocoupler input Signal Voltage Photocoupler "ON": 4.55V Photocoupler "OFF": 01 V (Voltage between terminals) Pulse, Direction Rotation Input: 20 mA maximum, input resistance 220 All Windings OFF, Step Angle Select Input: 15 mA maximum, input resistance 470 Step command pulse signal (CW direction operation command signal in 2-pulse input mode) Pulse width: 1 s minimum, pulse rise/fall: 2 s maximum, Pulse duty : Max. 50 % 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 command signal, Photocoupler "ON": CW; Photocoupler "OFF": CCW CCW direction operation command signal in 2-pulse input mode Pulse width: 1 s minimum, pulse rise/fall: 2 s maximum, Pulse duty : Max. 50 % 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 %) Step angle specified by DATA1 when photocoupler is OFF. Step angle specified by DATA2 when photocoupler is ON. When in the "photocoupler ON" state, the output current to the motor is cut off and the motors shaft can be rotated manually. When in the "photocoupler OFF" state, the operating current is supplied to the motor. Photocoupler, Open collector output, External usage conditions: 24 VDC maximum, 10 mA maximum. The signal is output each time the excitation sequence returns to the initial stage "0". (Photocoupler: ON) e.g. 0.72/step (resolution 1): Signal output every 10 pulses; or 0.072/step (resolution 10); Signal output every 100 pulses
Input Signal
Pulse Signal
Introduction
AS AS PLUS
Closed Loop A
AC Input
Step Angle Select Signal All Windings Off Signal Output Signal Output Mode Excitation Timing Signal
ASC RK
Step angle switch, Pulse input mode switch, Current check switch, Automatic current cutback Natural ventilation
The input power current supplied to the driver represents the maximum input value (which varies with pulse speed).
CFK2
General Specifications
Motor Insulation Resistance Dielectric Strength Insulation Class Ambient Temperature Operating Environment Ambient Humidity Atmosphere Temperature Rise Static Angle Error1 Shaft Runout Radial Play2 Axial Play3 Concentricity Perpendicularity 100 M minimum under normal temperature and humidity, when measured by a 500 VDC megger between the windings and case. Sufficient to withstand 1.5 kV (CFK513T, CFK53T: 0.5 kV, CFK54T: 1.0 kV), 50 Hz power applied between the windings and casing for one minute under normal temperature and humidity. Class B [266F (130C)] Recognized as Class A [221F (105C)] by UL and CSA standards. 14F122F (10C50C) (nonfreezing) 85% or less (noncondensing) No corrosive gases, dust, water or oil. Temperature rise of the coil measured by the Change Resistance Method is 144F (80C) or less. (at standstill, five phases energized) 3 arc minutes (0.05) [CFK513: 10 arc minutes (0.17), CFK53: 5 arc minutes (0.084)] 0.002 inch (0.05 mm) T.I.R.4 0.001 inch (0.025 mm) max. [Load torque: 1.12 lb. (5 N)] 0.003 inch (0.075 mm) max. [Load torque: 2.2 lb. (10 N)] 0.003 inch (0.075 mm) T.I.R.4 0.003 inch (0.075 mm) T.I.R.4 / / / / / / / Driver / /
DC Input
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
CSK PK/PV PK
1 This value is for full step with no load (value changes with size of load). 2 Radial Play: Displacement in shaft position in the radial direction, when a 1.12 lb. (5 N) load is applied in the vertical direction to the tip of the motors shaft. 3 Axial Play: Displacement in shaft position in the axial direction, when a 2.2 lb. (10 N) load is applied to the motors shaft in the axial direction. 4 T.I.R. (Total Indicator Reading): Total dial gauge reading when the measured section is rotated one revolution centered on a reference axis. Note: Do not measure insulation resistance or perform the dielectric strength test while the motor and driver are connected.
0.075 A 0.05
Controllers
SMK
Accessories
0.075
C-111
0.15750.0005(40.012) 0.1380.006(3.50.15)
0 0 0.62990.0007(160.018)
0.15750.0005(40.012)
0.1380.006(3.50.15)
L2 0.79 (20) 0.6300.004 (160.1) 0.6300.004 (160.1) 0.430.04 (111) 0.3940.010 (100.25) L1 0.3940.010 (100.25) 0.590.04 (151)
0.1770.006 (4.50.15)
0.86610 0.0013
0.19690 0.0005
(50 0.012)
0.39 (10)
0.2(5)
0.1770.006 (4.50.15)
0.54 (13.8)
Model CFK513PT
DXF B316
0.06 (1.5) 5 Motor Leads 24 inch (600 mm) Length UL Style 3265, AWG 26
(220 0.033)
Enter the shaft type A or B in the box () within the model number.
Model CFK533T
Motor Model
CFK535T
PMM33H2 1.22 (31) 1.65 (42) 0.22 (0.1) PMM35H2 1.99 (50.5) 2.42 (61.5) 0.37 (0.17)
Enter the shaft type A or B in the box () within the model number.
Note: Connectors are not included. Use the motor cables with connector (not included).
0.59
0.04 (151)
L1
1.2200.004 (310.1)
0.19690 0.0005
L2
The length of machining on double shaft model is 0.5910.010 (1525). Model CFK543T Motor Model L1 L2 inch (mm) inch (mm) Weight lb. (kg) DXF B068U B069U B070U
0.1770.006 (4.50.15)
0.1770.006 (4.50.15)
0.08 (2)
CFK544T CFK545T
PK543NWA 1.3 (33) 1.89 (48) 0.46 (0.21) PK544NWA 1.54 (39) 2.13 (54) 0.59 (0.27) PK545NWA 1.85 (47) 2.44 (62) 0.77 (0.35)
Enter the shaft type A or B in the box () within the model number.
These dimensions are for double shaft models. For single shaft models, ignore the shaded areas.
C-112
Features C-106
Specifications/Characteristics C-108
0.9060.004 (230.1)
(50 0.012)
1.5(38) 1.18(30)
0.19690 0.0005
Stepping Motors
Unit = Upper values: lb./Lower values: N 0.79 (20) / / / The permissible thrust load [lb.(N)] shall be no greater than the motor mass. Thrust Load
Enter the shaft type A or B in the box () within the model number.
Dimensions
Motor v Standard P Type (High Torque) z Motor Frame Size: 0.79 in. ( 20 mm)
(Scale 1/2)
Stepping Motors
v Standard Type, High-Speed Type v Motor Frame Size: 2.36 in. ( 60 mm)
L2 0.910.04 (231) 0.7870.010 (200.25) 0.31250 0.0006 [5/16"] L1 0.28 (7) A A' 0.940.04 (241) 0.06 (1.5) 0.7870.010 (200.25) A A' 0.31250 0.0006 [5/16"] 1.41730 0.0015
Model
2.36 (60) 1.9690.014 (500.35) 1.9690.014 (500.35)
Motor Model
PK564NWA 1.83 (46.5) 2.74 (69.5) 1.3 (0.6) PK566NWA PK566H-NA PK569NWA PK569H-NA 2.26 (57.5) 3.17 (80.5) 1.8 (0.8) 3.43 (87) 4.33 (110) 2.9 (1.3)
Introduction
B073U
Enter the shaft type A or B in the box () within the model number.
(7.9370 0.015)
(360 0.039)
(7.9370 0.015)
AS AS PLUS
Closed Loop A
AC Input
0.2950.006 (7.50.15)
90
ASC
v High-Speed Type
L2 1.340.04 (341) L1 0.39 (10) 1.460.04 (371) 0.9840.010 0.08 (250.25) (2)
RK
DXF
CFK2
0.9840.010 (250.25)
CFK596HT CFK599HT
2.6 (66) 3.94 (100) 3.7 (1.7) 3.78 (96) 5.12 (130) 6.2 (2.8) 8.4 (3.8)
CSK
Enter the shaft type A or B in the box () within the model number.
DC Input
PMC
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
(12.70 0.018)
UMK
(12.70 0.018)
CSK
0.4530.006 (11.50.15)
These dimensions are for double shaft models. For single shaft models, ignore the shaded areas.
PK/PV
PK
Model: DFC5128T
Weight: 0.48 lb. (0.22 kg) d B285U
0.18 (4.5) 0.73 1.85 (47) (18.5) 2.76 (70) 3.58 (91) 0.138 (3.5) 2 Holes 0.55 (14) 0.20 (5)
Driver
Controllers
8 C 0 8 C 0 4 4
0.43 (10.8) 0.31 (7.81) 0.74 (18.9) 0.76 (19.24) 2.65 (67.2) 1.02 (25.86) 3.94 (100) 0.14 (3.5) 1.42 (36) 0.71 (18) 0.14 (3.5) 3.66 (93)
SMK Accessories
0.15 (3.81)
0.1 (2.54)
C-113
V E X TA
C-114
Stepping Motors
Motor stop current For adjusting the current at the motor potentiometer standstill
DA
C.C XL1
W S 3
1 3
10
C.C./OFF
DC check switch
c Input/Output Signal
Indicator Input/Output Terminal No. 1 2 Input signal TB3 Output signal Input signal 3 4 5 6 7 8 9 10 Signal Name Pulse Signal (CW Pulse Signal) Rotation Direction Signal (CCW Pulse Signal) All Windings Off Signal Excitation Timing Signal Step Angle Select Signal
Step Angle Step Angle Resolution Select Switch (Common to DATA 1 and DATA 2) 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 1 2 2.5 4 5 8 10 20 25 40 50 80 100 125 200 250 0 1 2 3 4 5 6 7 8 9 A B C D E F
Features C-106
Specifications/Characteristics C-108
Stepping Motors
Connection Diagrams
Driver 1 2
24 VDC10% GND Blue (1) Red (2) Orange (3) 5-phase stepping motor Green (4) Black (5) Pin numbers in ( ) are for CFK513 type motor connector. Twisted-pair line R1 Pulse Signal
TB1
1 2 3 4 5
TB2
Introduction AS AS PLUS
Closed Loop A
AC Input
+ 1 - 2 + 3
TB3 220
ASC
220
RK
- 4 + 5 470
CFK2
- 6 + 9 470
- 10
CSK
DC Input
PMC
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
UMK CSK
Notes: Keep the input single voltage Vo between 5 VDC and 24 VDC. When Vo is equal to 5 VDC, the external resistances R1 and R2 are not necessary. When Vo is above 5 VDC, connect R1 and R2 to keep the current as follows: Pulse, Rotation Direction: 10 mA to 20 mA max. All Windings Off, Step Angle Select: 10 mA to 15 mA max. Keep the output signal voltage Vo between 5 VDC and 24 VDC. When Vo is equal to 5 VDC, the external resistance R3 is not necessary. When it is above 5 VDC, connect R3 to keep the current below 10 mA max. Use twisted-pair wire of AWG 24 to AWG 22 and 6.6 feet (2 m) or less in length for the signal line. Note that as the length of the pulse signal line increases, the maximum transmission frequency decreases.(Technical Reference Page F-36) Suitable wire size for the TB1, TB2 and TB3 terminal block is between AWG20 and AWG26. Use AWG 20 for standard type (DFC5103T, DFC5107T, DFC5114T) and AWG 20 to AWG 18 for high-speed type (DFC5128T) for power supply lines. Use spot grounding to ground the driver and external controller. Signal lines should be kept at least 3.9 inches (10 cm) away from power lines (power supply lines and motor lines). Do not bind the signal line and power line together. If noise generated by the motor lead wire causes a problem, try shielding the motor lead wires with conductive tape or wire mesh. Incorrect connection of DC power input will lead to driver damage. Make sure that the polarity is correct before turning the power on.
PK/PV
C-115
PK SMK Accessories
Driver
Controllers
C-116
Stepping Motors
Timing Chart
CW Motor CCW
4 0.5 s Min.
10 s Min. 10 s Min.
5 s Min.
ON OFF 2-Pulse Input Mode ON CW Pulse Input Signal OFF ON CCW Pulse Input Signal OFF 1-Pulse Input Mode ON Pulse Input Signal OFF ON Rotation Direction Input Signal OFF ON All Windings OFF OFF Input Signal ON Step Angle Select Input Signal OFF Power Input
1 1 1
10 s Min.
300 s Min.
2
300 s Min.
DATA 1
DATA 2
1 Switching time to change CW, CCW pulse (2-pulse input mode), and switching time to change direction (1-pulse input mode) 10 sec 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 step pulse signal immediately after switching the "All Winding Off" signal to the photocoupler off state. The motor may not start. 4 Wait at least 5 seconds before turning on the power.
Features C-106
Specifications/Characteristics C-108
Stepping Motors
Introduction AS AS PLUS
Closed Loop A
AC Input
z Connecting an Ammeter
Connect a DC ammeter as illustrated below. Connect an ammeter between pin of TB2 connector and the motor. Set all driver input signals to the "photocoupler OFF" state.
2 1
ASC RK
TB1 24 VDC GND TB2 Blue Red Orange Green Black RUN potentiometer (RUN) STOP potentiometer TB3 (STOP)
MOTOR PWR
CFK2
CSK
DC Input
SIGNAL
PMC
10
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
UMK
CSK PK/PV PK
Driver
Notes: 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. Setting the current at motor standstill too low may affect the starting of the motor or the position-holding action.
Controllers
C-117
SMK Accessories
C-118
Stepping Motors
Enter the shaft type A or B in the box () within the model number.
DC Input
Stepping Motors
Introduction AS AS PLUS ASC
SMK
Accessories
CSK Series
Additional Information
C-119
Closed Loop A
Motor & Driver Packages 5-Phase Microstep 5-Phase Full/Half 2-Phase Stepping Motors with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
Driver
Controllers
C-120
Stepping Motors
CSK Series
The CSK Series combines a 5-phase stepping motor and a 24 VDC input board-level driver to provide high torque, high resolution and low vibration in a compact package.
Features
High torque
The CSK Series features PK motors, designed to produce high torque in a compact frame size.
High Resolution
5-phase stepping motors move 0.72 per step in full-step mode and 0.36 per step in half-step mode 2.5 times the resolution of a 2-phase stepping motor. This mechanically reduced step angle makes for extremely accurate positioning.
Low Vibration
Smooth rotation is achieved with no noticeable resonance, allowing for low vibration and low noise.
Compact Package
Both the motor and driver are compact in design, making them perfect for reducing the size and weight of any system.
Approval conditions for UL1950: Class# equipment, SELV circuit, Pollution degree 2 CSK54 [Motor frame size: 1.65 in. sq (42 mm sq.)] types do not comply with CSA standards. CSK59 [Motor frame size: 3.35 in. sq (85 mm sq.)] type is not recognized by UL and CSA. When the system is approved under various safety standards, the model names on the motor and driver nameplates are the approved model names. List of Motor and Driver CombinationsPage C-134 Details of Safety StandardsPage G-2 The EMC value changes according to the wiring and layout. Therefore, the final EMC level must be checked with the motor/driver incorporated in the user's equipment.
Features C-120
Specifications/Characteristics C-122
Stepping Motors
System Configuration
Introduction AS
Closed Loop A
AC Input
AS PLUS
Programmable Controller (Not supplied) Motor Driver EMP400 Controller (Sold separately) (Page C-254)
ASC RK
CSK PMC
DC Input
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
UMK
CSK 5 6 6 - N T A
USA Version Terminal Block Type CSK Series 5-Phase Shaft Type A: Single Shaft B: Double Shaft New Pentagon Drive Motor Case Length Motor Frame Size 4: 1.65 in. sq. (42 mm sq.) 6: 2.36 in. sq. (60 mm sq.) 9: 3.35 in. sq. (85 mm sq.)
CSK PK/PV PK
TH Geared Type
CSK 5 6 4 A A - TG 7.2
Gear Ratio TH Geared Type CSK Series 5-Phase USA Version Shaft Type A: Single Shaft Motor Case Length B: Double Shaft Motor Frame Size 4: 1.65 in. sq. (42 mm sq.) 6: 2.36 in. sq. (60 mm sq.)
Controllers
SMK
Product Line
Type Standard Type 24 VDC TH Geared Type 313.2 lb-in (0.351.5 Nm) 1135 lb-in (1.254 Nm) / Power Supply Voltage 1.65 in. (42 mm) 18.434 oz-in (0.130.24 Nm) Maximum Holding Torque 2.36 in. (60 mm) 59230 oz-in (0.421.66 Nm) 3.35 in. (85 mm) 290890 oz-in (2.16.3 Nm)
Dimensions C-127
C-121
Torque [oz-in]
Torque [oz-in]
Torque [Nm]
Torque [Nm]
Current [A]
Current [A]
Torque [oz-in]
Torque [oz-in]
Torque [Nm]
Torque [Nm]
Current [A]
2 1 0
0.1 0.05 0
Current [A]
Torque [oz-in]
Torque [Nm]
3
20 Pullout Torque
1.5 1 0.5 0
Torque [oz-in]
Torque [Nm]
Current [A]
2 1 0
0.1 0.05
Current [A]
C-122
Stepping Motors
Standard Type
Specifications
Model Maximum Holding Torque Rotor Inertia J Rated Current Basic Step Angle Power Source Excitation Mode Weight Dimension No. Motor lb. (kg) Driver lb. (kg) Motor Driver
UC
Single Shaft CSK543-NATA CSK544-NATA CSK545-NATA CSK564-NATA CSK566-NATA CSK569-NATA Double Shaft CSK543-NBTA CSK544-NBTA CSK545-NBTA CSK564-NBTA CSK566-NBTA CSK569-NBTA 18.4 (0.13) oz-in (Nm) 25 (0.18) 34 (0.24) 59 (0.42) 117 (0.83) 230 (1.66) 0.3 (5410-7) 0.37 (6810-7) 0.96 (17510-7) 1.53 (28010-7) 3.1 (56010-7) oz-in2 (kgm2) 0.191 (3510-7) 0.75 1.4 A/phase 0.72 24 VDC10% 1.3 A 24 VDC10% 2.1 A Full Step (4 phase excitation): 0.72/step Half Step (4-5 phase excitation): 0.36/step 0.46 (0.21) 0.59 (0.27) z n 0.77 (0.35) 1.3 (0.6) 0.31 (0.14) 1.8 (0.8) x 2.9 (1.3)
Power Input: 24 VDC Current: 1.4 A/Phase (4 Phases ON) With Damper D6CL-8.0F: JL = 0.77 oz-in2 (140 107 kgm2) Full Step 0.72/step Half Step 0.36/step
3 2 1 0
20
4 3 2 1 0
10
20
fs
0
500 5 (10)
2000
0 (0)
0 (0)
CSK544-NBTA
0.3 40 0.25 0.2 0.15 30 Power Input: 24 VDC Current: 0.75 A/Phase (4 Phases ON) With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34 107 kgm2)
CSK566-NBTA
1.2 1.0 0.8 0.6 0.4 0.2 150
Power Input: 24 VDC Current: 1.4 A/Phase (4 Phases ON) With Damper D6CL-8.0F: JL = 0.77 oz-in2 (140 107 kgm2) Full Step 0.72/step Half Step 0.36/step Pullout Torque
100
20
3 Pullout Torque 2 1 0
10
50
500 5 (10)
1500 15 (30)
0 (0)
0 (0)
CSK545-NBTA
0.3 40 0.25 0.2 0.15 30 Power Input: 24 VDC Current: 0.75 A/Phase (4 Phases ON) With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34 107 kgm2)
CSK569-NBTA
2.5 2
Power Input: 24 VDC Current: 1.4 A/Phase (4 Phases ON) With Damper D6CL-8.0F: JL = 0.77 oz-in2 (140 107 kgm2)
350 300 250 200 150 100
2 1 0
Pullout Torque
10
500 5 (10)
2000
50 Driver Input Current fs 0 100 200 300 400 500 600 700 800 900 1000 Speed [r/min] 0 (0) 2 (4) 4 (8) Pulse Speed [kHz] 6 (12) 8 Full Step (16) (Half Step)
0 (0)
Note: The pulse input circuit responds up to approximately 100 kHz with a pulse duty of 50%.
Features C-120 System Configuration C-121 Specifications/Characteristics C-122
Stepping Motors
Standard Type
Specifications
Model Maximum Holding Torque Rotor Inertia J Rated Current Basic Step Angle Power Source Excitation Mode Weight Dimension No. Motor lb. (kg) Driver lb. (kg) Motor Driver Single Shaft Double Shaft oz-in (Nm) oz-in2 (kgm2) A/phase
C
CSK596-NATA CSK596-NBTA 290 (2.1) 7.7 (140010-7) CSK599-NATA CSK599-NBTA 580 (4.1) 14.8 (270010-7) 2.8 0.72 24 VDC10% 4 A Full Step (4 phase excitation): 0.72/step Half Step (4-5 phase excitation): 0.36/step 3.7 (1.7) 6.2 (2.8) 0.55 (0.25) c m 8.4 (3.8) CSK5913-NATA CSK5913-NBTA 890 (6.3) 22 (400010-7)
Introduction AS AS PLUS
Closed Loop A
ASC
RK
Power Input: 24 VDC Current: 2.8 A/Phase (4 Phases ON) With Damper D9CL-12.7F: JL = 4.8 oz-in2 (870 107 kgm2) Full Step 0.72/step Half Step 0.36/step
CFK2 CSK
DC Input
6 Current [A] 4 2 0
200
Pullout Torque
PMC
100
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
UMK
300 400 500 600 700 800 900 1000 Speed [r/min] 4 6 (8) (12) Pulse Speed [kHz] Full Step 8 (16) (Half Step)
0 (0)
CSK
CSK599-NBTA
6 800 5 Torque [oz-in] Torque [Nm] 4 3 2 1 0 0 600
Power Input: 24 VDC Current: 2.8 A/Phase (4 Phases ON) With Damper D9CL-12.7F: JL = 4.8 oz-in2 (870 107 kgm2) Full Step 0.72/step Half Step 0.36/step
PK/PV PK
6 Current [A] 4 2 0
400
Pullout Torque
Driver
200
Driver Input Current 100 1 (2) fs 200 300 Speed [r/min] 2 (4) Pulse Speed [kHz] 3 (6) 400 500 4 (8) Full Step (Half Step)
0 (0)
Controllers
CSK5913-NBTA
10 8 6 4 2 0 Torque [Nm] 6 4 2 200 0 0 1400 1200 Torque [oz-in] 1000 800 600 400
Power Input: 24 VDC Current: 2.8 A/Phase (4 Phases ON) With Damper D9CL-12.7F: JL = 4.8 oz-in2 (870 107 kgm2) Full Step 0.72/step Half Step 0.36/step
SMK
Current [A]
Pullout Torque
Accessories
Driver Input Current 100 1 (2) fs 200 300 Speed [r/min] 2 (4) Pulse Speed [kHz] 3 (6) 400 500 4 (8) Full Step (Half Step)
0 (0)
Note: The pulse input circuit responds up to approximately 100 kHz with a pulse duty of 50%.
Dimensions C-127
C-123
Torque [lb-in]
Torque [lb-in]
Torque [Nm]
Torque [Nm]
Current [A]
2 1 0
0.5
Current [A]
Torque [lb-in]
Torque [lb-in]
Torque [Nm]
Torque [Nm]
Current [A]
Current [A]
Torque [lb-in]
Torque [Nm]
Current [A]
C-124
Stepping Motors
TH Geared Type
Specifications
Single Shaft CSK543AA-TG3.6 CSK543AA-TG7.2 Model Double Shaft CSK543BA-TG3.6 CSK543BA-TG7.2 lb-in (Nm) 3 (0.35) 6.1 (0.7) Maximum Holding Torque Rotor Inertia J oz-in2 (kgm2) A/phase Rated Current 0.2 Basic Step Angle 0.1 7.2:1 Gear Ratio 3.6:1 Permissible Torque lb-in (Nm) 3 (0.35) 6.1 (0.7) Backlash Arc minute (degrees) 45 (0.7) 25 (0.417) 0500 0250 Permissible Speed Range (Gear Output Shaft Speed) r/min Power Source 0.2/step 0.1/step Full Step Excitation Mode 0.1/step 0.05/step Half Step Motor lb. (kg) Weight Driver lb. (kg) Motor Dimension No. Driver
UC
How to read specifications tablePage C-9 Note: Direction of rotation of the motor and that of the gear output shaft are the same for models with gear ratios of 3.6:1, 7.2:1 and 10:1. It is opposite for 20:1 and 30:1 gear ratios.
Power Input: 24 VDC Current: 0.75 A/Phase (4 Phases ON) With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34 107 kgm2) Full Step 0.2/step Half Step 0.1/step
Permissible Torque
4 3
0.5
fs 100
200 5 (10)
500
600
20 5 (10)
80 15 (30)
0 (0)
0 (0)
CSK543BA-TG7.2
2 15 1.5 10 Power Input: 24 VDC Current: 0.75 A/Phase (4 Phases ON) With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34 107 kgm2) Full Step 0.1/step Half Step 0.05/step
CSK543BA-TG30
2 15 1.5 10 Power Input: 24 VDC Current: 0.75 A/Phase (4 Phases ON) With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34 107 kgm2) Full Step 0.024/step Half Step 0.012/step
Permissible Torque
0.5
0.5
Driver Input Current fs 10 20 5 (10) 30 40 Speed [r/min] 10 (20) Pulse Speed [kHz] 50 60 15 (30) Full Step (Half Step)
fs 50 100 150 Speed [r/min] 5 (10) 10 (20) Pulse Speed [kHz] 200 250 15 (30) Full Step (Half Step)
0 (0)
0 (0)
CSK543BA-TG10
2 15 1.5 10 Power Input: 24 VDC Current: 0.75 A/Phase (4 Phases ON) With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34 107 kgm2) Full Step 0.072/step Half Step 0.036/step
Permissible Torque
0.5
fs 40 5 (10) 80 120 Speed [r/min] 10 (20) Pulse Speed [kHz] 160 15 (30) 200 Full Step (Half Step)
0 (0)
Note: The pulse input circuit responds up to approximately 100 kHz with a pulse duty of 50%.
Features C-120
Specifications/Characteristics C-122
Stepping Motors
TH Geared Type
Specifications
Single Shaft CSK564AA-TG3.6 CSK564AA-TG7.2 Model Double Shaft CSK564BA-TG3.6 CSK564BA-TG7.2 lb-in (Nm) 11 (1.25) 22 (2.5) Maximum Holding Torque Rotor Inertia J oz-in2 (kgm2) A/phase Rated Current 0.2 Basic Step Angle 0.1 7.2:1 Gear Ratio 3.6:1 Permissible Torque lb-in (Nm) 11 (1.25) 22 (2.5) Arc minute (degrees) Backlash 35 (0.584) 15 (0.25) 0500 0250 Permissible Speed Range (Gear Output Shaft Speed) r/min Power Source 0.2/step 0.1/step Full Step Excitation Mode 0.1/step 0.05/step Half Step Motor lb. (kg) Weight Driver lb. (kg) Motor Dimension No. Driver
UC
Introduction
AS AS PLUS ASC
Closed Loop A
How to read specifications tablePage C-9 Note: Direction of rotation of the motor and that of the gear output shaft are the same for models with gear ratios of 3.6:1, 7.2:1 and 10:1. It is opposite for 20:1 and 30:1 gear ratios
RK
CFK2
Power Input: 24 VDC Current: 1.4 A/Phase (4 Phases ON) With Damper D6CL-8.0F: JL = 0.77 oz-in2 (140 107 kgm2) Full Step 0.2/step Half Step 0.1/step
CSK
DC Input
PMC
20 Current [A] Permissible Torque 10 Driver Input Current fs 0 100 200 5 (10) 300 400 Speed [r/min] 500 600
Current [A]
4 2 0
20
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
UMK
10 fs
CSK
20 5 (10)
80 15 (30)
0 (0)
0 (0)
PK/PV
CSK564BA-TG7.2
5 40 4 Torque [lb-in] Torque [Nm] 30 Permissible Torque 20 Driver Input Current fs 0 0 0 50 100 150 Speed [r/min] 5 (10) 10 (20) Pulse Speed [kHz] 200 250 15 (30) Full Step (Half Step) 6 4 2 3 2 1 Power Input: 24 VDC Current: 1.4 A/Phase (4 Phases ON) With Damper D6CL-8.0F: JL = 0.77 oz-in2 (140 107 kgm2) Full Step 0.1/step Half Step 0.05/step
CSK564BA-TG30
5 40 4 Torque [lb-in] Torque [Nm] 30 6 4 2 0 3 2 1 0 Power Input: 24 VDC Current: 1.4 A/Phase (4 Phases ON) With Damper D6CL-8.0F: JL = 0.77 oz-in2 (140 107 kgm2) Permissible Torque Full Step 0.024/step Half Step 0.012/step
PK
Driver
20
Current [A]
Current [A]
10
10 fs 10
Controllers
20 5 (10)
50
0 (0)
0 (0)
CSK564BA-TG10
5 40 4 6 4 2 0 3 2 1 0 Torque [lb-in] Torque [Nm] 30 Permissible Torque Power Input: 24 VDC Current: 1.4 A/Phase (4 Phases ON) With Damper D6CL-8.0F: JL = 0.77 oz-in2 (140 107 kgm2) Full Step 0.072/step Half Step 0.036/step
SMK Accessories
20 Driver Input Current fs 0 40 5 (10) 80 120 Speed [r/min] 10 (20) Pulse Speed [kHz] 160 15 (30) 200 Full Step (Half Step)
Current [A]
10
0 (0)
Note: The pulse input circuit responds up to approximately 100 kHz with a pulse duty of 50%.
Dimensions C-127
C-125
Input Signals
Output Signals
C-126
Stepping Motors
Common Specifications
Input Signal Circuit Pulse Signal (CW Pulse Signal) Photocoupler input, Input resistance 220 , Input current 1020 mA maximum Signal voltage Photocoupler ON: 4.55 V, Photocoupler OFF: 01 V (voltage between terminals) Step command pulse signal (CW step command pulse signal at 2-pulse input mode) Pulse width: 5 s minimum, Pulse rise/fall: 2 s maximum, pulse duty: Max. 50% Motor moves when the photocoupler state changes from ON to OFF. Maximum input frequency: 100 kHz (when a pulse duty is 50%)
Rotation direction signal Photocoupler ON: CW, Photocoupler OFF: CCW CCW step command signal at 2-pulse input mode. Pulse width: 5 s minimum, Pulse rise/fall: 2 s maximum. pulse duty: Max. 50% Motor moves when the photocoupler state changes from ON to OFF. Maximum input frequency: 100 kHz (when a pulse duty is 50%)
Step Angle Signal All Windings Off Signal Automatic Current Cutback Release Signal Output Signal Circuit Excitation Timing Signal Overheat Signal Functions Driver Cooling Method
Only for CSD5828N-T (CSK59 Package)
Full Step (0.72) at "photocoupler OFF" Half Step (0.36) at "photocoupler ON" When in the "photocoupler ON" state, the current to the motor is cut off and the motor shaft can be rotated manually. When in the "photocoupler OFF" state, the current level set by the RUN switch is supplied to the motor. When in the "photocoupler ON" state, the "Automatic Current Cutback" function at motor standstill is disabled. When in the "photocoupler OFF" state, the "Automatic Current Cutback" function at motor standstill is activated. (Approximately 100 ms after motor stops). 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) Full step: signal output every 10 pulses, Half step: signal output every 20 pulses The signal is output when the internal temperature of the driver rises above approximately 194F (90C). (Photocoupler: ON, Automatic return) The motor current is shut off automatically if the automatic current off function is ON. Automatic current cutback, Automatic current off, Pulse input mode switch. Natural ventilation
General Specifications
Specifications Insulation Class Insulation Resistance Dielectric Strength Ambient Temperature Operating Environment Ambient Humidity Atmosphere Motor
Class B [266F (130C)] [Recognized as Class A [221F (105C)] by UL and CSA standards.]
Driver / / /
32F104F (0C40C) (nonfreezing)
100 M minimum under normal temperature and humidity, when measured by a 500 VDC megger between the motor coils and the motor casing. Sufficient to withstand 1.5 kV (1 kV for CSK54 type), 60 Hz applied between the motor coils and casing for one minute, under normal temperature and humidity.
14F122F (10C50C) (nonfreezing)
Temperature Rise Static Angle Error Shaft Runout Radial Play 2 Axial Play 3 Concentricity Perpendicularity
1
/ / / / / / /
1 This value is for full step under no load. (The value changes with size of the load.) 2 Radial Play: Refers to the displacement in shaft position in the radial direction, when a 1.12 lb. (5 N) load is applied in the vertical direction to the tip of the motors shaft. 3 Axial Play: Refers to the displacement in shaft position in the axial direction, when a 2.2 lb. (10 N) load is applied to the motors shaft in the axial direction. 4 T.I.R. (Total Indicator Reading): Refers to the total dial gauge reading when the measured section is rotated one revolution centered on a reference axis. Note: 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
Features C-120
Specifications/Characteristics C-122
Stepping Motors
Unit = Upper values: lb./Lower values: N Thrust Load 0.79 (20) / 42 190 108 480 / 33 150 The permissible thrust load [lb. (N)] shall be no greater than the motor mass. 3.3 15 9 40
Introduction AS
Closed Loop A
AC Input
Dimensions
AS PLUS
Motor Standard Type z Motor Frame Size: 1.65 in. (42 mm)
0.19690 0.0005
ASC
Model
Motor Model
L1 L2 inch (mm) inch (mm) 1.3 (33) 1.54 (39) 1.85 (47) / 1.89 (48) / 2.13 (54) / 2.44 (62)
DXF
RK
CSK543-NATA PK543NAWA CSK543-NBTA PK543NBWA CSK544-NATA PK544NAWA CSK544-NBTA PK544NBWA CSK545-NATA PK545NAWA CSK545-NBTA PK545NBWA
CFK2
0.1770.006 (4.50.15)
0.08 (2)
0.1770.006 (4.50.15)
CSK PMC
DC Input
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
UMK
Model
2.36 (60) 0.177 (4.5) 4 Holes 1.9690.014 (500.35)
Motor Model
L1 L2 inch (mm) inch (mm) 1.83 (46.5) 2.26 (57.5) 3.43 (87) / 2.74 (69.5) / 3.17 (80.5) / 4.33 (110)
CSK564-NATA PK564NAWA CSK564-NBTA PK564NBWA CSK566-NATA PK566NAWA CSK566-NBTA PK566NBWA CSK569-NATA PK569NAWA CSK569-NBTA PK569NBWA
CSK
A A'
PK/PV
[5/16"]
(360 0.039)
PK
Driver
0.2950.006 (7.50.15)
Controllers
Model
Motor Model
L1 L2 inch (mm) inch (mm) 2.6 (66) 3.78 (96) 4.96 (126) / 3.94 (100) / 5.12 (130) / 6.3 (160)
DXF
0.9840.010 (250.25)
SMK Accessories
(12.70 0.018)
(12.70 0.018)
5 Motor Leads 24 inch (600mm) Length UL Style 3266, AWG22 Common Specifications C-126 Dimensions C-127
0.4530.006 (11.50.15)
90
These dimensions are for double shaft models. For single shaft models, ignore the shaded areas.
ORIENTAL MOTOR GENERAL CATALOG 2003/2004
C-127
(151)
0.2170.006 (5.50.15)
0.1770.006 (4.50.15)
0.310.02 (80.5)
(7.9370 0.015)
A'
[5/16"]
0.2950.006 (7.50.15)
90
These dimensions are for double shaft models. For single shaft models, ignore the shaded areas.
0.31 (7.8)
0.20 (5)
C-128
Stepping Motors
0.590.04
DXF B074U
0 72 .5) 1. 3.80 4 (
.02
Enter the gear ratio in the box () within the model number. Screws (included) No.8-32 UNC, 0.375 inch (9.52 mm) length, 4 pieces
DXF B075U
0.7870.010 (200.25)
Enter the gear ratio in the box () within the model number. Screws (included) No.8-32 UNC, 0.75 inch (19.05 mm) length, 4 pieces
.76 0.5) 2 70 (
2 0.0
m CSD5828N-T
Weight: 0.55 lb. (0.25 kg) d B806U 0.18 (4.5) 3.98 (101) 0.138 (3.5)2 Holes
0.14 (3.5)
4.06 (103)
0.30 (7.61)
Features C-120
Specifications/Characteristics C-122
Stepping Motors
Introduction
Motor terminals
AS
x
v c
Closed Loop A
AS PLUS ASC
x
z Current Adjustment Potentiometers
Indicator RUN STOP Switch Name Motor run current potentiometer Motor stop current potentiometer Function Adjusts the motor running current Adjusts the motor current at standstill
RK
CFK2
CSK
DC Input
x Input/Output Signal
Connector Terminal No. 1 2 3 4 5 Input signals 6 7 8 9 10 11 Output signals 12 Input/Output Pulse Signal Rotation Direction Signal All Windings Off Signal Step Angle Select Signal Current Cutback Release Signal
PMC UMK
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
CN2
CSK
PK/PV PK
v Input/Output Signal
Connector Terminal No. 1 2 3 4 5 Input signals 6 7 8 9 10 11 12 Output signals 13 14 Input/Output 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 Overheat Signal
Driver
SIGNAL
Controllers
Dimensions C-127
C-129
SMK Accessories
Rotation Direction Signal R1 All Windings Off Signal R1 Step Angle Select Signal R1 R1
12
C-130
Stepping Motors
Driver 24 VDC10% GND Controller V0 (5 VDC to 24 VDC) Twisted-pair wire + Pulse Signal
R1
"Pulse" signal is input to the PULSEterminal. When the photocoupler state changes from "ON" to "OFF", the motor rotates one step. The direction of rotation is determined by the rotation direction signal.
CN1
The "Rotation Direction" signal is input to the DIRECTIONterminal. A "photocoupler ON" signal input commands a clockwise direction rotation. A "photocoupler OFF" signal input commands a counterclockwise direction rotation.
GND
Power Supply
Use an input power voltage of 24 VDC10%. Use a power supply that can supply sufficient input current.
Notes: Keep the voltage Vo between 5 VDC and 24 VDC. When Vo is equal to 5 VDC, the external resistance R1 is not necessary. When Vo is above 5 VDC, connect R1 to keep the current between 10 mA and 20 mA, and connect R2 to keep the current below 10 mA. Use twisted-pair wire of AWG 24 or thicker and 6.6 feet (2 m) or less in length for the signal line. Note that as the length of the pulse signal line increases, the maximum transmission frequency decrease. (Technical Reference Page F-36) Suitable wire size for the CN1, CN2 and CN3 connector is between AWG 20 and AWG 26. Use AWG 20 or thicker for motor lines (when extended) and power supply line. Signal lines should be kept at least 3.9 inches (10 cm) away from power lines (power supply lines and motor lines). Do not bind the signal line and power line together. Use spot grounding to ground the driver and external controller. If noise generated by the motor lead wire causes a problem, try shielding the motor lead wires with conductive tape or wire mesh. Incorrect connection of DC power input will lead to driver damage. Make sure that the polarity is correct before turning the power on.
Features C-120
Specifications/Characteristics C-122
Stepping Motors
CSK59
5-phase stepping motor 24 VDC 10% GND 2 Driver 1
PWR 1
Blue Red Orange Green Black Controller 5 V0 (5 VDC to 24 VDC) Twisted-pair wire Pulse Signal
R1 Rotation Direction Signal R1 All Windings Off Signal R1 Step Angle Select Signal R1 R1
Introduction
MOTOR 1 SIGNAL
AS AS PLUS
Closed Loop A
AC Input
"Pulse" signal is input to the P./CWterminal. When the photocoupler state changes from "ON" to "OFF", the motor rotates one step in the clockwise direction.
ASC
"Pulse" signal is input to the D./CCWterminal. When the photocoupler state changes from "ON" to "OFF", the motor rotates one step in the counterclockwise direction.
RK CFK2
CSK
DC Input
14
PMC
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
GND
Power Supply
CSK
Use an input power voltage of 24 VDC10%. Use a power supply that can supply sufficient input current.
PK/PV
Notes: Keep the voltage Vo between 5 VDC and 24 VDC. When Vo is equal to 5 VDC, the external resistance R1 is not necessary. When Vo is above 5 VDC, connect R1 to keep the current between 10 mA and 20 mA, and connect R2 to keep the current below 10 mA. Use twisted-pair wire of AWG 24 or thicker and 6.6 feet (2 m) or less in length for the signal line. Note that as the length of the pulse signal line increases, the maximum transmission frequency decrease. (Technical Reference Page F-36) Suitable wire size for the "PWR", "MOTOR" and "SIGNAL" connector is between AWG 20 and AWG 26. Use AWG 20 or thicker for motor lines (when extended) and power supply line. Signal Lines should be kept at least 3.9 inches (10 cm) away from power lines (power supply lines and motor lines). Do not bind the signal line and power line together. Use spot grounding to ground the driver and external controller. If noise generated by the motor lead wire causes a problem, try shielding the motor lead wires with conductive tape or wire mesh. Incorrect connection of DC power input will lead to driver damage. Make sure that the polarity is correct before turning the power on.
PK
Driver
Controllers
Dimensions C-127
C-131
SMK Accessories
C-132
Stepping Motors
Motor
CCW
Note: 10 s or more is the standard interval time for switching from CW to CCW. Note that the interval time varies greatly depending on the motor and load inertia. 1 Wait a period of time to allow the motor oscillations to end before inputting the "All Windings Off" signal. This time varies with the load inertia, the load torque and the starting pulse rate. The signal input must be stopped before the motor stops. Never input a step pulse signal immediately after switching the "All Windings Off" signal to photocoupler OFF state or the motor may lose synchronism. In general, a minimum interval of 300 s is required.
Pulse Signal
Approx. 100 ms Rotation Direction Signal Current Cutback Release Signal All Windings Off Signal CW 10 s min. 2 CCW
1 Full step
CSK59
1-pulse input mode
Current Cutback
CW
Note: 10 s or more is the standard interval time for switching from CW to CCW. Note that the interval time varies greatly depending on the motor and load inertia. 1
Motor
CCW
Pulse Signal
Approx. 100 ms Rotation Direction Signal Current Cutback Release Signal All Windings Off Signal CW 10 s min. 1 3 CCW
When the signal is in the "photocoupler ON" state, the "Automatic Current Cutback" function is deactivated. Always set it in the "photocoupler OFF" state when the pulse signal is stopped. Wait a period of time to allow the motor oscillations to end before inputting the "All Windings Off" signal. This time varies with the load inertia, the load torque and the starting pulse rate. The signal input must be stopped before the motor stops. Never input a step pulse signal immediately after switching the "All Windings Off" signal to photocoupler OFF state or the motor may lose synchronism. In general, a minimum interval of 300 s is required. The motor will not operate properly if a pulse signal is input when either the CW or CCW input "photocoupler ON" state.
3
2 Full step 300 s min. Half step
4
All Windings Off
Motor
CCW
CW Pulse Signal
CCW Pulse Signal Current Cutback Release Signal All Windings Off Signal
2 Full step
Features C-120
Specifications/Characteristics C-122
Stepping Motors
Connecting an Ammeter
CSK54, CSK56 CSK543A-TG, CSK564A-TG Connect a DC ammeter between the motor and terminal of CN3 connector as shown below.
1
Introduction AS
CN1
Closed Loop A
AC Input
24 VDC GND
RUN potentiometer (RUN) STOP potentiometer (STOP)
2
AS PLUS
CSD5807N-T CSD5814N-T
SW 5 VDC Current cutback release signal
CN2
12
ASC
CN3
RK
Black
CFK2
CSK59 Connect a DC ammeter between the motor and terminal of the "MOTOR" connector as shown below.
24 VDC GND
5-phase stepping motor Blue Red Orange Green Black
CSK
DC Input
PWR
2 1
PMC
1 5
MOTOR
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
CSD5828N-T
UMK
SIGNAL
CSK
14
PK/PV
After connecting the DC ammeter to the motor, turn on the power. (The excitation status at this point is fixed.) When the power is turned on, the motor enters a 4 phase excitation state, and +directional positive current flows through the CSK54, CSK56-black, CSK59-blue motor lead wire. (Even if 4-5 phase excitation has been selected, the motor enters a 4 phase excitation state when the power is turned on. Adjust the current in this state.) The value measured by the ammeter represents the total current in two phases. The current for one phase is equivalent to half of the ammeter value. (When setting the current to 1.0 A/phase, adjust the current level until the ammeter reads 2.0 A.)
Notes: Never input pulse signals. Select "photocoupler OFF" for "All Windings Off" signal. (Select photocoupler OFF when the switch is open.) When the RUN current is adjusted, the current at motor standstill also changes.
PK
Dimensions C-127
C-133
Driver
Controllers
C-134
Stepping Motors
Enter A (single shaft) or B (double shaft) in the box () within the model numbers.
DC Input
Stepping Motors
Introduction AS AS PLUS ASC
SMK
Accessories
PMC Series
Additional Information
C-135
Closed Loop A
Motor & Driver Packages 5-Phase Microstep 5-Phase Full/Half 2-Phase Stepping Motors with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
Driver
Controllers
C-136
Stepping Motors
Standard MG Geared Harmonic Geared
PMC Series
The PMC Series combines a high torque miniature 5phase stepping motor with a board-level, credit card sized driver. Zero or low backlash gearheads are available.
Features
High Output
Design advancements allow for high torque in a small package. In combination with the 0.35 A/phase output driver, the PMC's high torque capability extends well into the high speed range.
Superior Features
Features include enabling/disabling of the "Automatic Current Cutback" function via signal input and the "Excitation Timing" output, which is useful in setting the mechanical origin of your system.
Connectors
Independent connectors are supplied for the driver input/output signals and the motor output line.
Features C-136
Specifications/Characteristics C-138
Stepping Motors
System Configuration
Cables (Accessories) (e.g., cables for motor, power supply and input/output signals) (Page B-283)
Introduction AS
Closed Loop A
AC Input
Programmable Controller Clean Dampers (Accessories) (Page C-293) (Not supplied) Motor Driver EMP400 Controller (Sold separately) (Page C-254)
AS PLUS ASC
RK CFK2
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
PMC 3 3 A 1 - MG 3.6
PMC Series Reference Number A: Single Shaft B: Double Shaft Motor Case Length Motor Frame Size 1.10 in. sq (28 mm sq.) None: Round Shaft Gear Type Gear Ratio None: Round Shaft MG: MG Spur Gear HG: HG Harmonic Gear
Product Line
Type Standard Type MG Geared Type HG Geared Type 24/36 VDC Power Supply Voltage Maximum Holding Torque 4.68.5 oz-in (0.0330.06 Nm) 11.372 oz-in (0.080.51 Nm) 210280 oz-in (1.52 Nm)
Controllers
C-137
SMK Accessories
Torque [oz-in]
Torque [oz-in]
Torque [Nm]
Torque [Nm]
Torque [oz-in]
Torque [oz-in]
Torque [Nm]
Torque [Nm]
C-138
Stepping Motors
Standard Type
Specifications
Model Maximum Holding Torque Rotor Inertia J Rated Current Basic Step Angle Power Source Excitation Mode Weight Dimension No. Motor lb. (kg) Driver lb. (kg) Motor Driver Single Shaft Double Shaft oz-in (Nm) oz-in2 (kgm2) A/phase
PMC33A3 PMC33B3 4.6 (0.033) 0.049 (910-7) 0.35 0.72 24 VDC10% 0.7 A or 36 VDC10% 0.7 A
Full Step (4 phase excitation): 0.72/step Half Step (4-5 phase excitation): 0.36/step 0.22 (0.1) 0.055 (0.025) z v 0.37 (0.17)
PMC33B3 36 VDC
Power Input: 36 VDC Current: 0.35 A/Phase (4 Phases ON) With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34 107 kgm2) Full Step 0.72/step Half Step 0.36/step
0.05 0.04
7 6 5
0.05 0.04
7 6 5 4 3 2
Pullout Torque
fs 500 5 (10) 1000 1500 Speed [r/min] 10 15 (20) (30) Pulse Speed [kHz] 2000 2500 20 Full Step (40) (Half Step)
2000
0 (0)
0 (0)
PMC35B3 24 VDC
Power Input: 24 VDC Current: 0.35 A/Phase (4 Phases ON) With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34 107 kgm2) Full Step 0.72/step Half Step 0.36/step Pullout Torque
PMC35B3 36 VDC
Power Input: 36 VDC Current: 0.35 A/Phase (4 Phases ON) With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34 107 kgm2) Full Step 0.72/step Half Step 0.36/step Pullout Torque
0.1 0.08
14 12 10
0.1 0.08
14 12 10 8 6
fs 500 5 (10)
2000
fs 500 5 (10)
2000
0 (0)
0 (0)
Note: The pulse input circuit responds up to approximately 100kHz with a pulse duty of 50%.
Features C-136
Specifications/Characteristics C-138
Stepping Motors
MG Geared Type
Specifications
Model Maximum Holding Torque Rotor Inertia J Rated Current Basic Step Angle Gear Ratio Permissible Torque Permissible Speed Range (Gear Output Shaft Speed) Power Source Excitation Mode Weight Dimension No. Full Step Half Step Motor lb. (kg) Driver lb. (kg) Motor Driver
Single Shaft PMC33A1-MG3.6 PMC33A1-MG7.2 Double Shaft PMC33B1-MG3.6 PMC33B1-MG7.2 oz-in (Nm) 11.3 (0.08) 22 (0.16) oz-in2 (kgm2) A/phase 0.2 0.1 7.2:1 3.6:1 22 (0.16) oz-in (Nm) 11.3 (0.08) r/min 0833 0.2/step 0.1/step 0416
PMC33A1-MG10 PMC33B1-MG10 29 (0.21) 0.049 (910-7) 0.35 0.072 10:1 29 (0.21) 0300
Introduction
AS AS PLUS
Closed Loop A
AC Input
24 VDC10% 0.7 A or 36 VDC10% 0.7 A 0.1/step 0.072/step 0.036/step 0.05/step 0.036/step 0.018/step 0.35 (0.16) 0.055 (0.025) x v
ASC RK
CFK2 CSK
DC Input
PMC33B1-MG3.6
36 VDC
Power Input: 36 VDC Current: 0.35 A/Phase (4 Phases ON) With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34 107 kgm2)
PMC
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
0.6
0.6 80 0.5 Torque [oz-in] Torque [Nm] 0.4 0.3 0.2 0.1 0 0 60
UMK
60 3 Current [A] 2 1 0
CSK
3 Current [A] 2 1
40
40
PK/PV
20
Pullout Torque
20
PK
200
0 (0)
0 (0)
Driver
PMC33B1-MG7.2
24 VDC
Power Input: 24 VDC Current: 0.35 A/Phase (4 Phases ON) With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34 107 kgm2) 80 Full Step 0.1/step Half Step 0.05/step
PMC33B1-MG7.2
36 VDC
Power Input: 36 VDC Current: 0.35 A/Phase (4 Phases ON) With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34 107 kgm2)
Controllers
0.6 0.5 Torque [oz-in] Torque [Nm] 0.4 0.3 0.2 0.1 0 0 60
0.6 80 0.5 Torque [oz-in] Torque [Nm] 0.4 0.3 0.2 0.1 0 0 60
40 Current [A] Pullout Torque 20 fs 100 Driver Input Current 200 300 Speed [r/min] 10 20 (20) (40) Pulse Speed [kHz] 400 500 Full Step (Half Step)
40
SMK
Pullout Torque 20 Driver Input Current fs 100 200 300 Speed [r/min] 10 20 (20) (40) Pulse Speed [kHz] 400 500 Full Step (Half Step)
0 (0)
0 (0)
Note: The pulse input circuit responds up to approximately 100kHz with a pulse duty of 50%.
Common Specifications C-142 Dimensions C-143 Connection and Operation C-145 Motor and Driver Combinations C-148
ORIENTAL MOTOR GENERAL CATALOG 2003/2004
C-139
Torque [oz-in]
40
Torque [oz-in]
Torque [Nm]
Torque [Nm]
Torque [oz-in]
40 Current [A] Driver Input Current 20 fs 50 100 Speed [r/min] 10 20 (20) (40) Pulse Speed [kHz] 150 Full Step (Half Step)
Torque [oz-in]
Torque [Nm]
Torque [Nm]
Torque [oz-in]
40 Current [A] Driver Input Current 20 fs 20 40 60 80 Speed [r/min] 100 120 Full Step (Half Step)
Torque [oz-in]
Torque [Nm]
Torque [Nm]
C-140
Stepping Motors
PMC33B1-MG10
36 VDC
Power Input: 36 VDC Current: 0.35 A/Phase (4 Phases ON) With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34 107 kgm2) 80 Full Step 0.072/step Half Step 0.036/step
0.6
40 Pullout Torque 20 Driver Input Current 0 fs 100 200 Speed [r/min] 300 Full Step (Half Step)
20 fs 100 Driver Input Current 200 Speed [r/min] 300 Full Step (Half Step)
0 (0)
0 (0)
PMC33B1-MG20
24 VDC
Power Input: 24 VDC Current: 0.35 A/Phase (4 Phases ON) With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34 107 kgm2) 80 Full Step 0.036/step Half Step 0.018/step Pullout Torque
PMC33B1-MG20
36 VDC
Power Input: 36 VDC Current: 0.35 A/Phase (4 Phases ON) With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34 107 kgm2) 80 Full Step 0.036/step Half Step 0.018/step Pullout Torque
40
20 fs
50
0 (0)
0 (0)
PMC33B1-MG30
24 VDC
Power Input: 24 VDC Current: 0.35 A/Phase (4 Phases ON) With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34 107 kgm2) 80 Pullout Torque
PMC33B1-MG30
36 VDC
Power Input: 36 VDC Current: 0.35 A/Phase (4 Phases ON) With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34 107 kgm2) 80 Pullout Torque
0.6 0.5
0.4
60
40
20 fs 20
40
60 80 Speed [r/min]
100
0 (0)
0 (0)
Note: The pulse input circuit responds up to approximately 100kHz with a pulse duty of 50%.
Features C-136
Specifications/Characteristics C-138
Stepping Motors
HG Geared Type
Specifications
Model Maximum Holding Torque Rotor Inertia J Rated Current Basic Step Angle Gear Ratio oz-in (Nm) Permissible Torque Maximum Torque oz-in (Nm) Arc min Lost Motion (at Load Torque) Permissible Speed Range (Gear Output Shaft Speed) r/min Power Source Full Step Excitation Mode Half Step Motor lb. (kg) Weight Driver lb. (kg) Motor Dimension No. Driver How to Read Specifications TablePage C-9 Single Shaft Double Shaft oz-in (Nm) oz-in2 (kgm2) A/phase
Introduction
0.0144 0.0072 50:1 100:1 210 (1.5) 280 (2) 280 (2) 390 (2.8) Max. 3.0 (8.5 oz-in) Max. 3.0 (11.3 oz-in) 070 035 24 VDC10 % 0.7 A or 36 VDC10 % 0.7 A 0.0144step 0.0072step 0.0072step 0.0036step 0.46 (0.21) 0.055 (0.025) c v
Closed Loop A Motor & Driver Packages 5-Phase Microstep 5-Phase Full/Half
The value of maximum torque is for the gear. Refer to the Speed-Torque Characteristics for the output torque of the geared motor. Note: The gear shaft rotates in the opposite direction from the motor shaft.
CSK
DC Input
PMC33B1-HG50
PMC
36 VDC
Power Input: 36 VDC Current: 0.35 A/Phase (4 Phases ON) With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34 107 kgm2) Full Step 0.0144/step Half Step 0.0072/step
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
UMK
3.5 3 2.5 Torque [oz-in] Torque [Nm] 2 1.5 1 0.5 0 100 0 300 200 400
3.5 3 2.5 Torque [oz-in] 2 1.5 1 0.5 0 100 0 300 200 400
CSK
Permissible Torque Current [A] Driver Input Current fs 20 10 (20) 40 Speed [r/min] 20 (40) Pulse Speed [kHz] 60 30 (60) 80 Full Step (Half Step)
1.5 1 0.5 0
PK/PV
PK
fs 20 10 (20) 40 Speed [r/min] 20 (40) Pulse Speed [kHz] 60 30 (60) 80 Full Step (Half Step)
Driver
0 (0)
0 (0)
PMC33B1-HG100
24 VDC
Power Input: 24 VDC Current: 0.35 A/Phase (4 Phases ON) With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34 107 kgm2) Full Step 0.0072/step Half Step 0.0036/step
PMC33B1-HG100
36 VDC
Power Input: 36 VDC Current: 0.35 A/Phase (4 Phases ON) With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34 107 kgm2) Full Step 0.0072/step Half Step 0.0036/step
Controllers
3.5 3 2.5 Torque [oz-in] Torque [Nm] 2 2 1.5 1 100 0.5 0 0.5 0 0 300 400
2 1.5 1 0.5 0
Permissible Torque Current [A] 200 100 0 fs 10 10 (20) 20 Speed [r/min] 20 (40) Pulse Speed [kHz] 30 30 (60) 40 Full Step (Half Step) Driver Input Current 1.5 1
SMK
Driver Input Current fs 10 10 (20) 20 Speed [r/min] 20 (40) Pulse Speed [kHz] 30 30 (60) 40 Full Step (Half Step)
0 (0)
0 (0)
Note: The pulse input circuit responds up to approximately 100kHz with a pulse duty of 50%.
Common Specifications C-142 Dimensions C-143 Connection and Operation C-145 Motor and Driver Combinations C-148
ORIENTAL MOTOR GENERAL CATALOG 2003/2004
C-141
Input Signals
Output Signals
C-142
Stepping Motors
Common Specifications
Input Signal Circuit Pulse Signal (CW Pulse Signal) Photocoupler input, Input resistance 220 , Input current 1020 mA maximum Signal voltage Photocoupler ON: 4.55 V, Photocoupler OFF: 01 V (Voltage between terminals) Step command pulse signal (CW step command signal at 2-pulse input mode) Pulse width: 5 s minimum, Pulse rise/fall: 2 s maximum Pulse duty: Max. 50% Motor moves when the photocoupler state changes from ON to OFF. Maximum input frequency : 100 kHz (When the pulse duty is 50%) Rotation direction signal Photocoupler ON: CW, Photocoupler OFF: CCW CCW step command signal at 2-pulse input mode. Pulse width: 5 s minimum, Pulse rise/fall: 2 s maximum. Pulse duty: Max. 50% Motor moves when the photocoupler state changes from ON to OFF. Maximum input frequency : 100 kHz (When the pulse duty is 50%) Full Step (0.72) at "photocoupler OFF" Half Step (0.36) at "photocoupler ON" When in the "photocoupler ON" state, the current to the motor is cut off and the motor shaft can be rotated manually. When in the "photocoupler OFF" state, the current is supplied to the motor. When in the "photocoupler ON" state, the "Automatic Current Cutback" function at motor standstill is disabled. When in the "photocoupler OFF" state, the "Automatic Current Cutback" function at motor standstill is activated. (approximately 100 ms after motor stops). Photocoupler, Open-Collector Output External use condition: 24 VDC maximum, 10 mA maximum Signal is output every time the excitation sequence returns to the initial "0". (Photocoupler: ON) Full step: signal is output every 10 pulses, Half step: Signal is output every 20 pulses Automatic current cutback, Pulse input mode switch, Step angle switch Natural ventilation
Rotation Direction Signal (CCW Pulse Signal) Step Angle Signal All Windings Off Signal Automatic Current Cutback Release Signal Output Signal Circuit Excitation Timing Signal Functions Driver Cooling Method
General Specifications
Specifications Insulation Class Insulation Resistance Dielectric Strength Ambient Temperature Operating Environment Ambient Humidity Atmosphere Motor Class B [266F (130C)] 100 M minimum under normal temperature and humidity, when measured by a 500 VDC megger between the motor coils and the motor casing. Sufficient to withstand 0.5 kV, 60 Hz applied between the motor coils and casing for one minute, under normal ambient temperature and humidity. 14F 122F (10C 50C): Standard Type, MG Geared Type
32F 104F ( 0C 40C): HG Geared Type (nonfreezing) 85% or less (noncondensing) No corrosive gases, dust, water or oil
Driver / / /
32F 104F (0C40C) (nonfreezing)
Temperature Rise Static Angle Error Shaft Runout Radial Play 2 Axial Play 3 Concentricity Perpendicularity
1
Temperature rise of the coil measured by the Change Resistance Method is 144F (80C) or less. (at standstill, five phases energized) 5 arc minutes (0.084) 0.002 inch (0.05 mm) T.I.R at top of output shaft 4 0.001 inch (0.025 mm) max. of 1.12 lb. (0.5 kg) 0.003 inch (0.075 mm) max. of 2.2 lb. (1 kg) 0.003 inch (0.075 mm) T.I.R 4 0.003 inch (0.075 mm) T.I.R 4
/ / / / / / /
1 This value is for full step under no load. (The value changes with size of the load.) 2 Radial Play: Refers to the displacement in shaft position in the radial direction, when a 1.12 lb. (5 N) load is applied in the vertical direction to the tip of the motors shaft. 3 Axial Play: Refers to the displacement in shaft position in the axial direction, when a 2.2 lb. (10 N) load is applied to the motors shaft in the axial direction. 4 T.I.R. (Total Indicator Reading): Refers to the total dial gauge reading when the measured section is rotated one revolution centered on a reference axis. Note: Do not measure insulation resistance or perform the dielectric strength test while the motor and driver are connected.
Features C-136
Specifications/Characteristics C-138
Stepping Motors
The permissible thrust load [lb. (N)] shall be no greater than the motor mass. 2.2 10
Introduction
22 100
Dimensions
AS
Closed Loop A
AC Input
Motor v Standard Type z Motor Frame Size: 1.10 in. (28 mm)
0.1770.006 (4.50.15) L2 0.430.04 (111) 0.3940.010 (100.25) L1 0.3940.010 (100.25) 0.590.04 (151) 1.10 (28) 0.19690 0.0005 0.9060.004 (230.1) M2.5 P0.45 0.1 (2.5) Deep Min. 4 Places 0.86610 0.0013
AS PLUS ASC
(50 0.012)
RK
(220 0.033)
0.9060.004 (230.1)
CFK2
0.19690 0.0005
0.1770.006 (4.50.15)
(50 0.012)
0.06 (1.5) 5 Motor Leads 24 inch (600 mm) Length UL Style 3265, AWG 28
CSK PMC
DC Input
L1 L2 inch (mm) inch (mm) 1.22 (31) 1.99 (50.5) / 1.65 (42) / 2.42 (61.5)
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
UMK CSK
PK/PV PK
(50 0.012)
0.43 (11)
Driver
0.19690 0.0005
0.1770.006 (4.50.15)
0.1770.006 (4.50.15)
50 0.012
0.08 (2)
0.24 (6)
Controllers
Model
Motor Model
DXF B080
SMK
Enter the gear ratio in the box () within the model number.
These dimensions are for double shaft models. For single shaft models, ignore the shaded areas.
Common Specifications C-142 Dimensions C-143 Connection and Operation C-145 Motor and Driver Combinations C-148
C-143
0.86610 0.0008
0.1770.006 (4.50.15)
A' 0.47 (12) 5 Motor Leads 24 inch (600 mm) Length UL Style 3265, AWG 28
(220 0.021)
0.9060.004 (230.1)
Model
Motor Model
DXF B234
0.2950.008 (7.50.2)
C-144
Stepping Motors
This dimension is for double shaft model. For single shaft model, ignore the
Enter the gear ratio in the box () within the model number.
shaded area.
Driver v PMD03CA
Weight: 0.055 lb. (0.025 kg) d B079
2.6 (66) 0.126 (3.2) 4 Holes
0.12 (3) 0.71 0.41 0.45 0.57 (18) (10.5) (11.5) (14.5) 2.83 (72)
Connector Housings (included) 6-173977-3 (AMP): Power supply connector (CN2) 6-173977-4 (AMP): I/O signal connector (CN4) 6-173977-5 (AMP): Motor connector (CN3) 6-173977-8 (AMP): I/O signal connector (CN1) Note: Use the connector assembly tool (AMP 911790-1) when assembling the connectors. The connector tool is not provided with the package.
Features C-136
Specifications/Characteristics C-138
Stepping Motors
STOP
AS
Closed Loop A
AC Input
ASC
v Input/Output Signals
Connector Input/Output Pin No. 1 2 3 4 5 6 7 8 1 2 3 4 Terminal Name Pulse Signal (CW Pulse Signal) Rotation Direction Signal (CCW Pulse Signal) All Windings Off Signal Step Angle Select Signal Current Cutback Release Signal
RK CFK2
CN1
Input signal
CSK
DC Input
PMC
Connection
Controller
V0 (5 VDC to 24 VDC)
Diagrams
Driver
(Inner circuit)
Output signal
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
UMK
1 2
220 Photocoupler
3 Rotation Direction Signal 4 R1 (CCW Pulse Input) 220 5 All Windings Off Signal 6
R1
220
7 8
220
CN4
1
R1
220
Stepping motor
3 4
Notes: Keep the voltage Vo between 5 VDC and 24 VDC. When V0 is equal to 5 VDC, the external resistance R1 is not necessary. When Vo is above 5 VDC, connect R1 to keep the current between 10 mA and 20 mA, and connect R2 to keep the current below 10 mA. Use twisted-pair wire of AWG 28 or thicker and 6.6 feet (2 m) or less in length for the signal line. Note that as the length of the pulse signal line increases, the maximum transmission frequency decreased. (Technical Reference Page F-36) Suitable wire size for the CN1, CN2, CN3 and CN4 connector is between AWG 28 and AWG26. Use AWG 26 for the power line. When assembling the connectors, use the hand-operated crimp tool for contact 911790-1(AMP). The crimp tool is not provided with the package. Signal lines should be kept at least 3.9 inches (10 cm) away from power lines (power supply lines and motor lines). Do not bind the signal line and power line together. If noise generated by the motor lead wire causes a problem, try shielding the motor lead wires with conductive tape or wire mesh. Incorrect connection of DC power input can lead to driver damage. Make sure that the polarity is correct before turning power on.
Controllers
GND
5 4
3 2 1
Power Supply
Keep the input power voltage to either 24 VDC10% or 36 VDC10%. Use a power supply that can supply sufficient input current.
C-145
C-146
Stepping Motors
Timing
Chart
Current Cutback All Windings Off
Note: 10 s or more is the standard interval time for switching from CW to CCW. Note that the interval time varies greatly depending on the motor and load inertia. 1 Wait a period of time to allow the motor oscillations to end before inputting the "All Windings Off" signal. This time varies with the load inertia, the load torque and the starting pulse rate. The signal input must be stopped before the motor stops. Never input step pulse signals immediately after switching the "All Windings Off" input signal to the "photocoupler OFF" state, or the motor may lose synchronism. In general, a minimum interval of 100 ms is required. The motor will not operate properly when inputting a pulse signal while either the CW or CCW pulse is in the "photocoupler ON" state.
5 s min. 10 s min.
Approx. 100 ms
Rotation Direction Signal 2-pulse input mode CW Pulse Signal CCW Pulse Signal All Windings Off Signal
2
3
5 s min.
10 s min.
Approx. 100 ms
10 s min.
1
Shaded area indicates the radiation of the photocoupler diode.
Description of Input/Output Signals Pulse Input and Rotation Direction Signals 1-Pulse Input Mode Pulse Input Signal
Step Angle Select Input Signal
When the "Step Angle Select" (F/H) signal is in the "photocoupler ON" state, half step mode has been selected; When the F/H signal is in the "photocoupler OFF" state, full step mode has been selected. (When using this input to select the step angle, the step angle switch should be set to "F" position).
"Pulse" signal is input to the PLS/CW terminal. When the photocoupler state changes from "ON" to "OFF", the motor rotates one step. The direction of rotation is determined by the rotation direction signal.
"Pulse" signal is input to the CW/P terminal. When the photocoupler state changes from "ON" to "OFF", the motor rotates one step in the clockwise direction.
"Pulse" signal is input to the CCW/D terminal. When the photocoupler state changes from "ON" to "OFF", the motor rotates one step in the counterclockwise direction.
Pulse Input Mode When the pulse input mode select switch is set to 2P position, the 2-pulse input mode is set. When the pulse input mode select switch is set to 1P position, the 1-pulse input mode is set.
Features C-136
Specifications/Characteristics C-138
Stepping Motors
Adjusting
The rated output current is set at the factory. If it is necessary to change the current setting, follow the procedures described below.
Connecting an Ammeter
Connect a DC ammeter between the motor and pin of CN3 connector as shown below.
SW Run potentiometer VR (RUN) Stop potentiometer VR (STOP) Step angle select switch
CN1
8 7 6 5 4 3 2 1
Introduction
AS AS PLUS
Closed Loop A
AC Input
CN4
4 3 2 1
5 4 3 2 1
ASC
CN3
PMD03CA
CN2
3 2 1
CFK2
After connecting the DC ammeter to the motor, turn on the power. (The excitation status at this point is fixed: power on reset.) When the power is turned on, the motor enters a 4 phase excitation state, and directional current flows through the blue motor lead wire. (Even if 4-5 phase excitation has been selected, the motor enters a 4 phase excitation state when the power is turned on. Adjust the current in this state.) The value measured by the ammeter represents the total current in two phases. The current for one phase is equivalent to half of the ammeter value. (When setting the current to 0.3 A/phase, adjust the current level until the ammeter reads 0.6 A.)
Notes: Never input pulse signals. Select photocoupler OFF for All Windings Off signal. (Select photocoupler OFF when the switch is open.) When the RUN current is adjusted, the current at motor standstill also changes.
Set Current Cutback Release signal to the photocoupler ON state when adjusting the RUN current. (1)Adjust the motor RUN current with the RUN potentiometer. Adjusting range PMD03CA: 0.07 A/phase to 0.35 A/phase (2)The motor running current is set for rated current at the time of shipping, but it can be readjusted using the RUN potentiometer. The running current can be lowered to suppress temperature rise in the motor/driver, or lower running current in order to allow a margin for motor torque or to reduce vibration.
Note: The motor RUN current should be less than the motor rated current.
DC Input
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
Set Current Cutback Release signal to the photocoupler OFF state when adjusting the current while the motor is stopped. (1)Adjust the current at motor standstill with the STOP potentiometer. Adjusting range PMD03CA: 0.07 A/phase to 0.28 A/phase (2)At the time of shipping, the current at motor standstill is set for half of rated current. The STOP potentiometer can be used to readjust the current at motor standstill to the current value required to produce enough holding torque.
Maximum Current at motor holding torque standstill [A] [oz-in (Nm)] Motor rated current [A]
PK
Driver
Controllers
C-147
SMK Accessories
C-148
Stepping Motors
Enter A (single shaft) or B (double shaft) in the box () within the model numbers
DC Input
Stepping Motors
Introduction AS AS PLUS ASC
SMK
Accessories
UMK Series
Additional Infomation
C-149
Closed Loop A
Motor & Driver Packages 5-Phase Microstep 5-Phase Full/Half 2-Phase Stepping Motors with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
Driver
Controllers
C-150
Stepping Motors
UMK Series
The UMK Series provides high torque and low vibration.
Features
High Torque
Combines a high torque PK motor with a dedicated driver. Maximum holding torque is as follows: UMK24: 22 oz-in (0.16 Nm)45 oz-in (0.32 Nm) UMK24M: 22 oz-in (0.16 Nm)45 oz-in (0.32 Nm) UMK26: 55 oz-in (0.39 Nm)191 oz-in (1.35 Nm) UMK26M: 55 oz-in (0.39 Nm)191 oz-in (1.35 Nm)
High-Resolution Type
The UMK Series also includes high resolution models for which the basic step angle (1.8/step) is cut in half to 0.9/step (for full steps). The resolution is doubled from the 200 steps per rotation for the standard models to 400 steps per rotation. Consequently, the high-resolution model can be half-stepped to obtain 800 steps per rotation.
Features C-150
Specifications/Characteristics C-152
Stepping Motors
System Configuration
Introduction
AS
Closed Loop A
AC Input
AS PLUS
ASC
Driver
EMP400 Controller (Sold separately) (Page C-254) 24 VDC Power Supply (Not supplied)
RK CFK2 CSK
(Not supplied)
DC Input
PMC UMK
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
UMK 2 6 6 M A A
U.S.A. Version UMK Series 2-phase Shaft Type A: Single Shaft B: Double Shaft Blank: Standard Type M:High-Resolution Type Motor Case Length Motor Frame Size 4: 1.65 in. sq. (42 mm sq.) 6: 2.22 in. sq. (56.4 mm sq.)
CSK PK/PV PK
Product Line
Type Standard Type High-Resolution Type Power Supply Voltage Single-Phase 100/115 VAC Single-Phase 100/115 VAC
Maximum Holding Torque
Controllers
1.65 inch (42 mm) 2245 oz-in (0.160.32 Nm) 2245 oz-in (0.160.32 Nm)
2.22 inch (56.4 mm) 55191 oz-in (0.391.35 Nm) 55191 oz-in (0.391.35 Nm)
C-151
SMK Accessories
Torque [oz-in]
3 Current [A] 2 1 0
20
Torque [oz-in]
Torque [Nm]
Torque [Nm]
Torque [oz-in]
30 Pullout Torque Current [A] 20 10 0 fs 1000 2000 3000 Speed [r/min] 5 10 (10) (20) Pulse Speed [kHz] 4000 15 Full Step (30) (Half Step) Driver Input Current 6 4 2 0
Torque [oz-in]
Torque [Nm]
Torque [Nm]
Current [A]
Torque [oz-in]
4 Current [A] 3 2 1 0
0.2
30 20 10
Torque [oz-in]
Torque [Nm]
Torque [Nm]
C-152
Stepping Motors
Standard Type
Specifications
Model Maximum Holding Torque Rotor Inertia J Rated Current Basic Step Angle Power Source Excitation Mode Weight Dimension No. Motor lb. (kg) Driver lb. (kg) Motor Driver Single Shaft Double Shaft oz-in (Nm) oz-in2(kgm2) A/phase
Motor Frame Size: 1.65 in. ( 42 mm), 2.22 in. ( 56.4 mm)
1A
1.8 Single-Phase 115 VAC15% 60 Hz or Single-Phase 100 VAC 15% 50/60 Hz 1.4 A 2.2 A Full Step (2 phase excitation): 1.8/step Half Step (1-2 phase excitation): 0.9/step 0.59 (0.27) z c 0.77 (0.35) 1 (0.47) x 0.99 (0.45) 1.5 (0.7) 2.2 (1)
0.46 (0.21)
10 Driver Input Current fs 1000 2000 3000 Speed [r/min] 5 10 (10) (20) Pulse Speed [kHz] 4000 15 Full Step (30) (Half Step)
0 (0)
0 (0)
UMK244BA
0.35 0.30 0.25 40 Power Input: 115 VAC Current: 1.2 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34 107 kgm2) Full Step 1.8/step Half Step 0.9/step
UMK266BA
1.2 1.0 0.8 0.6 0.4 0.2 0 0 150 Power Input: 115 VAC Current: 2 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL = 0.77 oz-in2 (140 107 kgm2) Full Step 1.8/step Half Step 0.9/step
100 Pullout Torque 50 Driver Input Current fs 1000 2000 3000 Speed [r/min] 5 10 (10) (20) Pulse Speed [kHz] 4000 15 Full Step (30) (Half Step)
3 2 1 0
0 (0)
0 (0)
UMK245BA
0.4 50 0.3 40 Power Input: 115 VAC Current: 1.2 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34 107 kgm2) Full Step 1.8/step Half Step 0.9/step
UMK268BA
1.6 1.4 1.2 150 Pullout Torque 100 200 Power Input: 115 VAC Current: 2 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL = 0.77 oz-in2 (140 107 kgm2) Full Step 1.8/step Half Step 0.9/step
0.1
Driver Input Current fs 1000 2000 3000 Speed [r/min] 5 10 (10) (20) Pulse Speed [kHz] 4000 15 Full Step (30) (Half Step)
50
Driver Input Current fs 1000 2000 3000 Speed [r/min] 5 10 (10) (20) Pulse Speed [kHz] 4000 15 Full Step (30) (Half Step)
0 (0)
0 (0)
Note: The pulse input circuit responds up to approximately 20 kHz with a pluse duty of 50 %
ORIENTAL MOTOR GENERAL CATALOG 2003/2004
Features C-150
Specifications/Characteristics C-152
Stepping Motors
High-Resolution Type
Specifications
Model Maximum Holding Torque Rotor Inertia J Rated Current Basic Step Angle Power Source Excitation Mode Weight Dimension No.
Motor Frame Size: 1.65 in. ( 42 mm), 2.22 in. ( 56.4 mm)
Single Shaft UMK243MAA UMK244MAA UMK245MAA UMK264MAA UMK266MAA UMK268MAA Double Shaft UMK243MBA UMK244MBA UMK245MBA UMK264MBA UMK266MBA UMK268MBA oz-in (Nm) 36 (0.26) 45 (0.32) 55 (0.39) 127 (0.9) 191 (1.35) 22 (0.16) 0.3 (5410-7) 0.37 (6810-7) 0.66 (12010-7) 1.64 (30010-7) 2.6 (48010-7) oz-in2 (kgm2) 0.191 (3510-7) 1.2 2 A/phase 0.95 0.9 Single-Phase 115 VAC15% 60 Hz or Single-Phase 100 VAC 15% 50/60 Hz 1A 1.4 A 2.2 A Full Step (2 phase excitation): 0.9/step Half Step (1-2 phase excitation): 0.45/step Motor lb. (kg) Driver lb. (kg) Motor Driver 0.53 (0.24) 0.66 (0.3) z c 0.81 (0.37) 1 (0.47) x 0.99 (0.45) 1.5 (0.7) 2.2 (1)
Closed Loop A
RK CFK2 CSK
DC Input
20
PMC
10
20
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
UMK
0 (0)
0 (0)
CSK
UMK244MBA
0.35 0.30 0.25 Torque [oz-in] Torque [Nm] 40 30 20 Pullout Torque Power Input: 115 VAC Current: 1.2 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34 107 kgm2) Full Step 0.9/step Half Step 0.45/step
UMK266MBA
1.2 1.0 Torque [oz-in] Torque [Nm] 0.8 0.6 0.4 0.2 0 0 fs 1000 2000 3000 Speed [r/min] 10 20 (20) (40) Pulse Speed [kHz] 4000 30 Full Step (60) (Half Step) 150 Power Input: 115 VAC Current: 2 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL = 0.77 oz-in2 (140 107 kgm2) Full Step 0.9/step Half Step 0.45/step
PK/PV PK
3 Current [A] 2 1 0
Driver
10 Driver Input Current 0 fs 1000 2000 3000 Speed [r/min] 10 20 (20) (40) Pulse Speed [kHz] 4000 30 Full Step (60) (Half Step)
0 (0)
0 (0)
Controllers
UMK245MBA
0.4 50 0.3 Torque [oz-in] Torque [Nm] 40 Power Input: 115 VAC Current: 1.2 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34 107 kgm2) Full Step 0.9/step Half Step 0.45/step
UMK268MBA
1.6 1.4 1.2 1.0 0.8 0.6 0.4 0.2 0 0 Torque [oz-in] Torque [Nm] 150 200 Power Input: 115 VAC Current: 2 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL = 0.77 oz-in2 (140 107 kgm2) Full Step 0.9/step Half Step 0.45/step
SMK
2 Current [A]
0.2
30 20 10
100
Pullout Torque
Accessories
0.1
Driver Input Current fs 1000 2000 3000 Speed [r/min] 10 20 (20) (40) Pulse Speed [kHz] 4000 30 Full Step (60) (Half Step)
50 Driver Input Current fs 1000 2000 3000 Speed [r/min] 10 20 (20) (40) Pulse Speed [kHz] 4000 30 Full Step (60) (Half Step)
0 (0)
0 (0)
Note: The pulse input circuit responds up to approximately 20 kHz with a pluse duty of 50 %
Common Specifications C-154 Dimensions C-155 Connection and Operation C-156 Motor and Driver Combinations C-160
ORIENTAL MOTOR GENERAL CATALOG 2003/2004
C-153
Input Signals
Output Signals
C-154
Stepping Motors
Common Specifications
Driver Specifications
Input Signal Circuit Photocoupler input, Input resistance 220 , Input current 1020 mA maximum Signal voltage Photocoupler ON: 4.55 V, Photocoupler OFF: 01 V (voltate between terminals) Step command pulse signal (CW direction command pulse signal at 2-pulse input mode) Pulse Signal (CW Pulse Signal) Pulse width: 5 s minimum, Pulse rise/fall: 2 s maximum Pulse duty: Max 50% Motor moves when the photocoupler state changes from ON to OFF. Maximum input frequency: 20 kHz (when the pulse duty is 50 %) Rotation direction pulse signal, Photocoupler ON: CW, Photocoupler OFF: CCW Rotation Direction Signal (CCW Pulse Signal) CCW direction command pulse signal at 2-pulse input mode. Pulse width: 5 s minimum, Pulse rise/fall: 2 s maximum, Pulse duty: Max. 50%. Motor moves when the photocoupler state changes from ON to OFF. Maximum input frequency: 20 kHz (when the pulse duty is 50 %) All Windings Off Signal Output Signal Circuit Excitation Timing Signal When in the "photocoupler ON" state, the current to the motor is cut off and the motor shaft can be rotated manually. When in the "photocoupler OFF" state, the current is supplied to the motor. 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) Full step: signal output every 4 pulses, Half step: signal output every 8 pulses The signal is output when the internal temperature of the driver rises above approximately 194F (90C). Overheat Signal (Photocoupler: ON or OFF, automatic return available) The motor current is shut off automatically if the automatic current off function is ON. The output logic of the photocoupler is based on the setting of the overheat output logic switch Functions Indicator (LED) Driver Cooling Method Automatic current cutback, All windings off, Pulse mode input switch, Step angle switch, Overheat output logic switch Power source input, CW/PLS input, CCW/DIR input, All windings off input, Excitation timing output, Overheat output Natural ventilation
General Specifications
Specifications Insulation Class Motor Class B [266F (130C)] 100 M minimum under normal temperature and humidity, when measured by a 500 VDC megger between the motor Insulation Resistance coils and the motor casing. Driver 100 M minimum under normal temperature and humidity, when measured by a 500 VDC Case Power input terminal Case Signal input/output terminal Power input terminal Signal input/output terminal Sufficient to withstand 1.0 kV (0.5 kV for UMK24 and UMK24M type), 60 Hz applied between the motor coils Insulation Strength and casing for one minute, under normal temperature and humidity. Ambient Temperature Operating Environment Ambient Humidity Atmosphere Temperature Rise Static Angle Error 1 Shaft Runout Radial Play 2 Axial Play 3 Concentricity Perpendicularity 14F122F (10C50C) (nonfreezing) Sufficient to withstand the following for one minute, under normal temperature and humidity Case - Power input terminal Case - Signal input/output terminal 1.0 k VAC 60 Hz 1.0 k VAC 60 Hz
Power input terminal - Signal input/output terminal 1.0 k VAC 60 Hz 32F104F (0C40C) (nonfreezing) 85% or less (non-condensing) No corrosive gases, dust, water or oil. Temperature rise of the coil measured by the Change Resistance Method is 144F (80C) or less. (at standstill, two phases energized)
3 arc minutes (0.05)
0.075 A 0.05
0.002 inch (0.05 mm) T.I.R at top of output shaft 4 0.001 inch (0.025 mm) max. of 1.12 lb. (0.5 kg) 0.003 inch (0.075 mm) max. of 2.2 lb. (1 kg) 0.003 inch (0.075 mm) T.I.R 4 0.003 inch (0.075 mm) T.I.R 4
1 This value is for full step under no load. (The value changes with size of the load.) 2 Radial Play: Displacement in shaft position in the radial direction, when a 1.12 lb. (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 2.2 lb. (10 N) load is applied to the motor's shaft in the axial direction. 4 T.I.R. (Total Indicator Reading): Total dial gauge reading when the measurement section is rotated one revolution centered on a reference axis. Note: Do not measure insulation resistance or perform a dielectric strength test while the motor and driver are connected.
0.075
Features C-150
Specifications/Characteristics C-152
Stepping Motors
Thrust Load
The permissible thrust load [lb. (N)] shall be no greater than the motor mass.
Introduction
Dimensions
L2
0.590.04
Standard and High-Resolution Type Motors z Motor Frame Size: 1.65 in. ( 42 mm)
0.19690 0.0005 (151)
Closed Loop A
AC Input
AS PLUS
L1
1.2200.004 (310.1)
Model
1.65 (42) 1.2200.004 (310.1)
L1 inch (mm)
L2 inch (mm)
Weight lb. (kg) 0.46 (0.21) 0.53 (0.24) 0.46 (0.21) 0.53 (0.24) 0.59 (0.27) 0.66 (0.3) 0.59 (0.27) 0.66 (0.3) 0.77 (0.35) 0.81 (0.37) 0.77 (0.35) 0.81 (0.37)
DXF
ASC
UMK243MAA PK243MAA UMK243MBA PK243MBA UMK244MAA PK244MAA UMK244BA UMK245AA UMK245BA UMK244MBA PK244MBA UMK245MAA PK245MAA UMK245MBA PK245MBA
1.3 (33) 1.89 (48) 1.54 (39) 2.13 (54) 1.85 (47) 2.44 (62)
B081U
0.1770.006 (4.50.15)
RK
0.08 (2)
0.1770.006 (4.50.15)
B082U
CFK2 CSK
B083U
DC Input
PMC
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
Model
(6.350 0.012)
0.790.04 (201)
L1 inch (mm)
L2 inch (mm)
DXF
CSK
UMK264MAA PK264MA UMK264MBA PK264MB UMK266MAA PK266MA UMK266MBA PK266MB UMK268MAA PK268MA UMK268MBA PK268MB
0.99 (0.45)
B084
PK/PV
2.13 (54) 2.76 (70) 2.99 (76) 3.62 (92) 2.2 (1) B086 1.5 (0.7) B085
1.50000.0012 (38.10.03)
0.2280.006 (5.80.15)
PK
(6.350 0.012)
Driver
Controllers
SMK Accessories
These dimensions are for double shaft models. For single shaft models, ignore the shaded areas.
C-155
0.55 (14)
Slits
5.31(135)
0.69 (17.5)
C-156
Stepping Motors
d B087
0.39 (10)
M3 P0.56 Places
3.94(100)
1.38 (35)
1.38 (35)
STOP Motor stop current switch Adjusts the motor current at standstill
When the temperature inside the driver rises Automatic current above 194F (90C), this function automatically A.C.O./OFF off function switch switches the motor current off. The function can be set and released with this switch. Switches the motor's step angle. Standard type F: 1.8/step, H: 0.9/step High-resolution type F: 0.9/step, H: 0.45/step Pulse input mode Switches between 1-pulse input and 2P/1P switch 2-pulse input Select overheat alarm logic. Overheat output N.O.: Normal open N.O./N.C. signal logic switch N.C.: Normal close Use according to your equipment F/H Step angle switch
Features C-150
Specifications/Characteristics C-152
Stepping Motors
Connection Diagrams
Controller V0 (5 VDC to 24 VDC) Twisted-pair wire Pulse Signal
R1
Driver
CW/PLS CW/PLS
Introduction
Input signals
AS
Closed Loop A
AC Input
AS PLUS
ASC
YELLOW /WHITE
RK
CFK2
O.HEAT Overheat Signal GND Single-phase 115 VAC15% 60 Hz or Single-phase 100 VAC15% 50/60 Hz Use AWG 18 or more wire for the grounding line and keep it as short as possible.
R2
Green Blue
COM
CSK
DC Input
AC100V/115V
PMC
AC100V/115V FG
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
UMK
Power Supply
Can be used with a single-phase 115 VAC, 60 Hz or 100 VAC, 50/60 Hz power supply. Use a power supply that can supply sufficient input current. If power supply capacity is insufficient, a decrease in motor output can cause the following malfunctions: Motor does not rotate properly at high-speed (insufficient torque). Slow motor startup and stopping.
Notes:
Keep the voltage Vo between 5 VDC and 24 VDC. When it is equal to 5
VDC, the external resistance R1 is not necessary. When it is above 5 VDC, connect R1 to keep the current between 10 mA and 20 mA, and connect R2 to keep the current below 10 mA. Use twisted-pair wire of AWG 24 or thicker and 6.6 feet (2 m) or less in length for the signal line. Note that as the length of the pulse signal line increases, the maximum transmission frequency decrease. (Technical Reference Page F-36) Use AWG 20 or thicker for motor lines (when extended) and power supply lines, and use AWG 18 or thicker for the wire for the grouding line. Use spot grounding for the grounding of the driver and external controller. Signal lines should be kept at least 3.9 inches (10 cm) away from power lines (power supply lines and motor lines). Do not bind the signal line and power line together. Use open collector transistors (sink type) for the signal output sections of the controller.
CSK PK/PV PK
Controllers
Terminals
Round terminals with insulator
0.24 inch (6.2 mm) max. 0.13 inch (3.2 mm) min.
Accessories
C-157
C-158
Stepping Motors
V0 Pulse (CW)
Driver
220
10 to 20 mA max. 220
10 to 20 mA max.
The characters indicate signals under the 1-pulse input mode, while the characters in parentheses indicate signals under the 2-pulse input mode. Note: When Vo is equal to 5 VDC, the external resistance (R) is not necessary. When Vo is above 5 VDC, connect the external resistance (R) and keep the input current between 10 mA and 20 mA.
The pulse voltage is 4.5 to 5V in the "photocoupler ON" state, and 0 to 1V in the "photocoupler OFF" state. Input pulse signals should have a pulse width over 2s, pulse rise/fall time below 1s and a pulse duty below 50%. Keep the pulse signal at "photocoupler OFF" when no pulse is being input. The minimum interval time when changing rotation direction is 50 s. This value varies greatly depending on the motor type, pulse frequency and load inertia. It may be necessary to increase this time interval. In 1-pulse input mode, leave the pulse signal at rest ("photocoupler OFF") when changing rotation directions.
All Windings Off (A.W.OFF) Input Signal Input Circuit and Sample Connection
Controller Open-collector output VO A.W.OFF Driver
220
10 to 20 mA
Note: When Vo is equal to 5 VDC, the external resistance (R) is not necessary. When Vo is above 5 VDC, connect the external resistance (R) and keep the input current between 10 mA and 20 mA.
When the "All Windings Off " signal is in the "photocoupler ON" state, the current to the motor is cut off and motor torque is reduced to zero. The motor output shaft can then be rotated freely by hand. When the "All Windings Off " signal is in the "photocoupler OFF" state, the motor holding torque is proportional to the current set by the current adjustment rotary switches. During motor operation be sure to keep the signal in the "photocoupler OFF" state. This signal is used when moving the motor by external force or manual home position is desired. If this function is not needed, it is not necessary to connect this terminal. Switching 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 from the position set after the "All Windings Off " signal is released.
CW Pulse Signal
When the photocoupler state changes from "ON" to "OFF", the motor rotates one step in the clockwise direction.
The shaded area indicates when the photocoupler is ON. The motor moves when the photocoupler state changes from ON to OFF as indicated by the arrow.
Pulse signal Photocoupler ON Photocoupler OFF 90% 10%
Rotation direction signal Photocoupler ON Photocoupler OFF 2 s max. 5 s 5 s min. min. 2 s max. 50 s min. 50 s min.
Features C-150
Specifications/Characteristics C-152
Stepping Motors
Excitation Timing Signal (TIM.) Output Signal Output Circuit and Sample Connection
Controller V 0 Driver R TIMING
COM
10 mA max. COM
10 mA max.
Introduction
Note: Keep the voltage between 5 VDC and 24 VDC. Keep the current below 10 mA. If the current exceeds 10 mA, connect external resistance (R).
Note: Keep the voltage between 5 VDC and 24 VDC. Keep the current below 10 mA.
If the current exceeds 10 mA, connect external resistance (R).
AS AS PLUS
Closed Loop A
AC Input
The "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). The "Excitation Timing" signal can be used to increase the accuracy of home position detection by setting the mechanical home position of your equipment (for example, a photo-sensor) to coincide with the excitation sequence initial stage (step "0"). The motor excitation stage changes simultaneously with pulse input, and returns to the initial stage for each 7.2 rotation of the motor output shaft. When the power is turned ON, the excitation sequence is reset to step "0". The TIM. LED lights when the "Excitation Timing" signal is output. While the motor is rotating, the LED will turn ON and OFF at a high speed and will appear to be continuously lit. The "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. Full Step (the switch is set to F position): Signal is output once every 4 pulses. Half Step (the switch is set to H position): Signal is output once every 8 pulses. Timing chart at full step
1 2 3 4 5 6 7 8 9 1011
The "Overheat" signal is output to protect the driver against burnout when its internal temperature rises abnormally high due to high ambient temperature. The O.HEAT lamp on the front panel lights up when output. When used as shown in the sample connection with the overheat output logic switch set to NO, the signal becomes "photocoupler ON". (Switch to NC to set to the "photocoupler OFF".) If the A.C.O. (Automatic Current OFF) function is set, the output current to the motor drops to zero and the motor stops automatically. When the "Overheat" signal is output, check the operating conditions (ambient temperature, driver settings) and cool the driver. The "Overheat" signal automatically releases as the internal temperature of the driver drops. The overheat signal turns "photocoupler OFF" and the O.HEAT indicator turns off. Please be aware that the above return/release cannot be controlled by external signals or by restarting the system.
CW Pulse
Motor & Driver Packages 5-Phase Microstep 5-Phase Full/Half 2-Phase Stepping Motors
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
Over heat
PK
Light
Driver
CW pulse
1 2 3
Motor movement
CW
Controllers
Notes: When the power is turned ON, the excitation sequence is reset to STEP 0 and the LED lights up. The LED flashes quickly while the motor runs, appearing continuously lit. When connected as shown in the example connection, the signal will be photocoupler ON at step 0 .
C-159
SMK Accessories
C-160
Stepping Motors
Timing Chart
CW Motor CCW Power Input 2-Pulse Input Mode CW Pulse Input Signal ON OFF ON OFF CCW Pulse Input Signal ON OFF 1-Pulse Input Mode ON Pulse Input Signal OFF Rotation Direction ON Input Signal OFF All Windings OFF ON Input Signal OFF
4 0.5 s Min. 1 50 s Min. 3 300 s Min. 5 s Min.
50 s Min. 1 1 50 s Min.
1 Switching time to change CW, CCW pulse (2-pulse input mode) Switching time to change direction (1-pulse input mode) 50 s is shown as a response time of circuit. Motor needs a time more than that. 2 Depends on load inertia, load torque, start frequency. 3 Never input a step pulse signal immediately after switching the "All Winding Off" signal to the photocoupler off state. The motor may not start. 4 Wait 5 seconds before cycling the power on.
Standard
UDK2120A
Enter A (single shaft) or B (double shaft) in the box () within the model numbers.
DC Input
Stepping Motors
Introduction AS AS PLUS ASC
SMK
Accessories
CSK Series
Additional Information
C-161
Closed Loop A
Motor & Driver Packages 5-Phase Microstep 5-Phase Full/Half 2-Phase Stepping Motors with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
Driver
Controllers
C-162
Stepping Motors
Standard High-Resolution SH Geared
CSK Series
The CSK Series combines a 2-phase stepping motor with a 24 VDC or 36 VDC input board level driver providing high torque, high resolution and low vibration in a compact package. High resolution and geared models are available.
CSK29 models are 24 VDC input only.
Features
Compact Driver
The drivers produce a high output of 2A/phase at 24/36 VDC. They are compact in size W 3.03 in. (77 mm) D 2.83 in. (72 mm) H 1.22 in. (31 mm), due to a custom IC, surface mount technology and FET output stage.
High Torque
Maximum holding torque values are as follows: CSK24 : 22 oz-in (0.16 Nm) 45 oz-in (0.32 Nm) CSK26 : 55 oz-in (0.39 Nm) 191 oz-in (1.35 Nm) CSK29 : 310 oz-in (2.2 Nm) 930 oz-in (6.6 Nm)
Powerful Gearheads
The spur (SH) geared models provide high torque. There are six gear ratios: 3.6:1, 7.2:1, 9:1, 10:1, 18:1, and 36:1.
High-Resolution Models
High-resolution models are available where the basic step angle (1.8/step) for the two-phase stepping motors is cut in half to 0.9/step (for full steps).The resolution is doubled from 200 steps per revolution for standard types to 400 steps per revolution. The high-resolution models can also be run in half-step mode to provide 800 steps per revolution. (Not available for CSK29 models)
Product Line
Maximum Holding Torque
Type
2.22 in. ( 56.4 mm) SH Geared: 2.36 in. (60 mm) 55191 oz-in (0.391.35 Nm) 55191 oz-in (0.391.35 Nm) 8.835 lb-in (14 Nm)
Standard
(0.160.32 Nm) 24/36 VDC 2245 oz-in (0.160.32 Nm) 1.777 lb-in (0.20.8 Nm)
High-Resolution
Features C-162
Specifications/Characteristics C-164
Stepping Motors
System Configuration
Introduction AS
Closed Loop A
AC Input
Flexible Couplings (Accessories) (Page C-288) Motor Driver EMP400 Controller (Sold separately) (Page C-254) 24/ 36 VDC Power Supply (Not supplied) CSK29 models are 24 VDC input only. An example of a single-axis system configuration with the EMP400 Series controller. 24 VDC Power Supply
AS PLUS
ASC
RK CFK2
(Not supplied)
CSK PMC
DC Input
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
UMK
CSK 2 4 5 - A T A
USA Version Terminal Block Shaft Type A: Single Shaft B: Double Shaft Motor Case Length CSK Series 2-Phase Motor Frame Size 4: 1.65 in. sq. (42 mm) sq. 6: 2.22 in. sq. (56.4 mm) sq. 9: 3.35 in. sq. (85 mm) sq.
CSK PK/PV PK
High-Resolution Type
Driver
CSK 2 4 5 M A T A
USA Version Terminal Block Shaft Type A: Single Shaft B: Double Shaft High-Resolution Type Motor Case Length CSK Series 2-Phase Motor Frame Size 4: 1.65 in. sq. (42 mm) sq. 6: 2.22 in. sq. (56.4 mm) sq.
Controllers
SH Geared Type
SMK
CSK 2 6 4 A T A - SG 10
Gear Ratio USA Version Shaft Type A: Single Shaft B: Double Shaft Motor Case Length CSK Series 2-Phase Motor Frame Size 4: 1.65 in. sq. (42 mm) sq. 6: 2.22 in. sq. (56.4 mm) sq.
Connection and Operation C-176 Motor and Driver Combinations C-182
Accessories
C-163
Torque [oz-in]
3 Current [A] 2 1 0
20
Torque [oz-in]
Torque [Nm]
Torque [Nm]
Torque [oz-in]
4 Current [A] 3 2 1 0
Torque [oz-in]
Torque [Nm]
Torque [Nm]
Torque [oz-in]
Torque [oz-in]
Torque [Nm]
Torque [Nm]
Current [A]
2 1 0
Current [A]
C-164
Stepping Motors
Standard Type
Specifications
Model
Motor Frame Size: 1.65 in. ( 42 mm), 2.22 in. ( 56.4 mm)
Single Shaft CSK243-ATA CSK244-ATA CSK245-ATA CSK264-AT CSK266-AT CSK268-AT Double Shaft CSK243-BTA CSK244-BTA CSK245-BTA CSK264-BT CSK266-BT CSK268-BT 22 (0.16) Maximum Holding Torque oz-in (Nm) 36 (0.26) 45 (0.32) 55 (0.39) 127 (0.9) 191 (1.35) 0.3 (54107) 0.37 (68107) 0.66 (120107) 1.64 (300107) 2.6 (480107) Rotor Inertia J oz-in2 (kgm2) 0.191 (35107) Rated Current 0.95 1.2 2 A/phase Basic Step Angle 1.8 24 VDC10% 1.4 A 24 VDC10% 1.6 A 24 VDC10% 2.8 A Power Source 36 VDC 10% 1.4 A 36 VDC 10% 1.6 A 36 VDC 10% 2.8 A Excitation Mode Weight Dimension No. Motor Driver Motor Driver lb. (kg) lb. (kg) 0.46 (0.21) 0.59 (0.27) z n Full Step (2 phase excitation): 1.8/step Half Step (1-2 phase excitation): 0.9/step 0.77 (0.35) 0.99 (0.45) 0.29 (0.13) 1.5 (0.7) x 2.2 (1)
10
fs 500 2 (4)
2000
0 (0)
0 (0)
CSK244-BTA
0.35 0.30 0.25 40 Power Input: 24 VDC Current: 1.2 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34107 kgm2) Full Step 1.8/step Half Step 0.9/step
CSK266-BT
1.2 1.0 0.8 0.6 0.4 0.2 0 0 fs 500 2 (4) Driver Input Current 1000 1500 Speed [r/min] 4 6 (8) (12) Pulse Speed [kHz] 2000 2500 8 Full Step (16) (Half Step) 150 Power Input: 24 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL = 0.77 oz-in2 (140107 kgm2) Full Step 1.8/step Half Step 0.9/step
2000
0 (0)
0 (0)
CSK245-BTA
0.40 0.35 0.30 50 40 30 Pullout Torque Power Input: 24 VDC Current: 1.2 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34107 kgm2) Full Step 1.8/step Half Step 0.9/step
CSK268-BT
1.6 1.4 1.2 150 Pullout Torque 100 200 Power Input: 24 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL = 0.77 oz-in2 (140107 kgm2) Full Step 1.8/step Half Step 0.9/step
4 3
8 6 4 2 0
2000
1500
0 (0)
0 (0)
Note: The pulse input circuit responds up to approximately 10 kHz with a pulse duty of 50%.
Features C-162
Specifications/Characteristics C-164
Stepping Motors
36 VDC
CSK243-BTA
0.25 0.20 Torque [oz-in] Torque [Nm] 3 Current [A] 2 1 0 0.15 0.10 0.05 0 0 fs 500 2 (4) 30 Power Input: 36 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34107 kgm2) Full Step 1.8/step Half Step 0.9/step Pullout Torque 6 4 2 0 Torque [Nm]
CSK264-BT
0.5 0.4 0.3 0.2 0.1 10 0 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) Torque [oz-in] 70 60 50 40 30 20 Driver Input Current Pullout Torque Power Input: 36 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL = 0.77 oz-in2 (140107 kgm2)
Introduction
20
AS
Closed Loop A
AC Input
10
Current [A]
AS PLUS
2000
ASC
0 (0)
0 (0)
RK
CSK244-BTA
0.35 0.30 0.25 Torque [oz-in] Torque [Nm] 4 Current [A] 3 2 1 0 0.20 0.15 0.10 0.05 0 10 0 Driver Input Current fs 500 2 (4) 30 Pullout Torque 40 Power Input: 36 VDC Current: 1.2 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34107 kgm2) Full Step 1.8/step Half Step 0.9/step
CSK266-BT
1.2 1.0 Torque [oz-in] Torque [Nm] 0.8 0.6 0.4 0.2 0 0 fs 500 2 (4) 1000 1500 Speed [r/min] 4 6 (8) (12) Pulse Speed [kHz] 2000 2500 150 Power Input: 36 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL = 0.77 oz-in2 (140107 kgm2)
CFK2
100
CSK
6 Current [A] 4 2 0
Pullout Torque
DC Input
20
50
PMC
2000
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
UMK
0 (0)
0 (0)
CSK
CSK245-BTA
0.40 0.35 0.30 Torque [oz-in] Torque [Nm] 0.25 0.20 0.15 0.10 0.05 0 10 0 50 40 Power Input: 36 VDC Current: 1.2 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34107 kgm2) Full Step 1.8/step Half Step 0.9/step
CSK268-BT
1.6 1.4 1.2 1.0 0.8 0.6 0.4 0.2 0 0 fs 500 2 (4) Driver Input Current 1000 1500 Speed [r/min] 4 6 (8) (12) Pulse Speed [kHz] 2000 2500 8 Full Step (16) (Half Step) Torque [oz-in] Torque [Nm] 150 200 Power Input: 36 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL = 0.77 oz-in2 (140107 kgm2) Full Step 1.8/step Half Step 0.9/step
PK/PV
PK
4 Current [A] 3 2 1 0
100
Pullout Torque
Driver
50
2000
0 (0)
0 (0)
Controllers
SMK Accessories
Note: The pulse input circuit responds up to approximately 10 kHz with a pulse duty of 50%.
C-165
Torque [oz-in]
Torque [Nm]
Current [A]
Torque [oz-in]
Torque [Nm]
Current [A]
Torque [oz-in]
Torque [Nm]
Current [A]
C-166
Stepping Motors
Standard Type
Specifications
Single Shaft Double Shaft Maximum Holding Torque oz-in (Nm) Rotor Inertia J oz-in2 (kgm2) Rated Current A/phase Basic Step Angle Power Source Model Excitation Mode Weight Dimension No. Motor Driver Motor Driver lb. (kg) lb. (kg)
3.7 (1.7)
8.4 (3.8)
200
Pullout Torque
12 8 4 0
100 Driver Input Current fs 0 0 500 2 (4) 1000 1500 Speed [r/min] 2000 2500 8 Full Step (16) (Half Step)
0 (0)
CSK299-BTA
4 600 500 3 12 8 4 0 0 400 300 200 Driver Input Current 100 fs 0 Power Input: 24 VDC Current: 4.5 A/Phase (2 Phases ON) With Damper D9CL-12.7F: JL = 4.8 oz-in2 (870107 kgm2) Full Step 1.8/step Half Step 0.9/step Pullout Torque
1000 4 (8)
0 (0)
1 (2)
CSK2913-BTA
1000 6 750 Power Input: 24 VDC Current: 4.0 A/Phase (2 Phases ON) With Damper D9CL-12.7F: JL = 4.8 oz-in2 (870107 kgm2) Full Step 1.8/step Half Step 0.9/step
500
250 fs
200 1 (2)
800 3 (6)
0 (0)
Note: The pulse input circuit responds up to approximately 10 kHz with a pulse duty of 50%.
Features C-162
Specifications/Characteristics C-164
Stepping Motors
High-Resolution Type Motor Frame Size: 1.65 in. ( 42 mm), 2.22 in. ( 56.4 mm)
Specifications
Single Shaft CSK243MATA CSK244MATA CSK245MATA CSK264MAT CSK266MAT CSK268MAT Double Shaft CSK243MBTA CSK244MBTA CSK245MBTA CSK264MBT CSK266MBT CSK268MBT 22 (0.16) Maximum Holding Torque oz-in (Nm) 36 (0.26) 45 (0.32) 55 (0.39) 127 (0.9) 191 (1.35) 0.3 (54107) 0.37 (68107) 0.66 (120107) 1.64 (300107) 2.6 (480107) Rotor Inertia J oz-in2 (kgm2) 0.191 (35107) Rated Current 0.95 1.2 2 A/phase Basic Step Angle 0.9 24 VDC10% 1.6 A 24 VDC10% 1.4 A 24 VDC10% 2.8 A Power Source 36 VDC 10% 1.6 A 36 VDC 10% 1.4 A 36 VDC 10% 2.8 A Full Step (2 phase excitation): 0.9/step Excitation Mode Half Step (1-2 phase excitation): 0.45/step Motor lb. (kg) 0.66 (0.3) 0.81 (0.37) 0.99 (0.45) 1.5 (0.7) 2.2 (1) 0.53 (0.24) Weight Driver lb. (kg) 0.29 (0.13) Motor z x Dimension No. Driver n Model
Closed Loop A
CSK264MBT
0.5 0.4 Torque [oz-in] Torque [Nm] 6 Current [A] 4 2 0 0.3 0.2 0.1 10 0 0 fs 500 5 (10) 1000 1500 Speed [r/min] 10 (20) Pulse Speed [kHz] 2000 15 (30) 2500 Full Step (Half Step) 70 60 50 Power Input: 24 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL = 0.77 oz-in2 (140107 kgm2) Full Step 0.9/step Half Step 0.45/step
CFK2 CSK
DC Input
PMC UMK
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
0 (0)
0 (0)
CSK
CSK244MBTA
0.35 0.30 0.25 Torque [oz-in] Torque [Nm] 4 3 Current [A] 2 1 0 0.20 0.15 0.10 0.05 0 10 0 Driver Input Current fs 500 5 (10) 1000 1500 Speed [r/min] 10 (20) Pulse Speed [kHz] 2000 15 (30) 2500 Full Step (Half Step) 30 Pullout Torque 40 Power Input: 24 VDC Current: 1.2 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34107 kgm2) Full Step 0.9/step Half Step 0.45/step
CSK266MBT
1.2 1.0 Torque [oz-in] Torque [Nm] 0.8 0.6 0.4 0.2 0 0 150 Power Input: 24 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL = 0.77 oz-in2 (140107 kgm2) Full Step 0.9/step Half Step 0.45/step
PK/PV
100 Pullout Torque 50 Driver Input Current fs 500 5 (10) 1000 1500 Speed [r/min] 10 (20) Pulse Speed [kHz] 2000 15 (30) 2500 Full Step (Half Step)
PK
6 Current [A] 4 2 0
20
Driver
0 (0)
0 (0)
Controllers
CSK245MBTA
0.40 0.35 0.30 Torque [oz-in] Torque [Nm] 0.25 0.20 0.15 0.10 0.05 0 10 0 Driver Input Current fs 500 5 (10) 1000 1500 Speed [r/min] 10 (20) Pulse Speed [kHz] 2000 15 (30) 2500 Full Step (Half Step) 50 40 Power Input: 24 VDC Current: 1.2 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34107 kgm2) Full Step 0.9/step Half Step 0.45/step
CSK268MBT
1.6 1.4 1.2 1.0 0.8 0.6 0.4 0.2 0 0 Torque [oz-in] Torque [Nm] 150 200 Power Input: 24 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL = 0.77 oz-in2 (140107 kgm2) Full Step 0.9/step Half Step 0.45/step
SMK
4 Current [A] 3 2 1 0
8 6 4 2 0
100
Pullout Torque
Accessories
50 Driver Input Current fs 500 1000 Speed [r/min] 5 (10) Pulse Speed [kHz] 1500 10 (20) 2000 Full Step (Half Step)
0 (0)
0 (0)
Note: The pulse input circuit responds up to approximately 10 kHz with a pulse duty of 50%.
C-167
Torque [oz-in]
3 Current [A] 2 1 0
20
Torque [oz-in]
Torque [Nm]
Torque [Nm]
Torque [oz-in]
4 3 Current [A] 2 1 0
30 6 Current [A] 20 10 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 4 2 0
Torque [oz-in]
Torque [Nm]
Torque [Nm]
Torque [oz-in]
4 Current [A] 3 2 1 0
30 20 10 0 fs 500
4 3 2 1 0
Torque [oz-in]
Torque [Nm]
Torque [Nm]
C-168
Stepping Motors
36 VDC
CSK243MBTA
0.25 0.20 30 Power Input: 36 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34107 kgm2) Full Step 0.9/step Half Step 0.45/step
CSK264MBT
0.5 0.4 70 60 50 40 30 20 10 0 0 fs 500 5 (10) 1000 1500 Speed [r/min] 10 (20) Pulse Speed [kHz] 2000 15 (30) 2500 Full Step (Half Step) Driver Input Current Pullout Torque Power Input: 36 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL = 0.77 oz-in2 (140107 kgm2) Full Step 0.9/step Half Step 0.45/step
10 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)
0 (0)
0 (0)
CSK244MBTA
0.35 0.30 0.25 40 Power Input: 36 VDC Current: 1.2 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34107 kgm2) Full Step 0.9/step Half Step 0.45/step
CSK266MBT
1.2 1.0 0.8 0.6 0.4 0.2 0 0 150 Power Input: 36 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL = 0.77 oz-in2 (140107 kgm2) Full Step 0.9/step Half Step 0.45/step
100
Pullout Torque
50 Driver Input Current fs 500 5 (10) 1000 1500 Speed [r/min] 10 (20) Pulse Speed [kHz] 2000 15 (30) 2500 Full Step (Half Step)
0 (0)
0 (0)
CSK245MBTA
0.40 0.35 0.30 50 40 Power Input: 36 VDC Current: 1.2 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34107 kgm2) Full Step 0.9/step Half Step 0.45/step
CSK268MBT
1.6 1.4 1.2 150 200 Power Input: 36 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL = 0.77 oz-in2 (140107 kgm2) Full Step 0.9/step Half Step 0.45/step
100
Pullout Torque
50 Driver Input Current fs 500 1000 Speed [r/min] 5 (10) Pulse Speed [kHz] 1500 10 (20) 2000 Full Step (Half Step)
Driver Input Current 1000 1500 Speed [r/min] 5 (10) 10 (20) Pulse Speed [kHz] 2000 15 (30) 2500 Full Step (Half Step)
0 (0)
0 (0)
Note: The pulse input circuit responds up to approximately 10 kHz with a pulse duty of 50%.
Features C-162
Specifications/Characteristics C-164
Stepping Motors
SH Geared Type
Specifications
Model
Single Shaft CSK243ATA-SG3.6 CSK243ATA-SG7.2 CSK243ATA-SG9 CSK243ATA-SG10 CSK243ATA-SG18 CSK243ATA-SG36 Double Shaft CSK243BTA-SG3.6 CSK243BTA-SG7.2 CSK243BTA-SG9 CSK243BTA-SG10 CSK243BTA-SG18 CSK243BTA-SG36 Maximum Holding Torque lb-in (Nm) 1.77 (0.2) 3.5 (0.4) 4.4 (0.5) 4.9 (0.56) 7 (0.8) 7 (0.8) 0.191 (35107) Rotor Inertia J oz-in2 (kgm2) Rated Current 0.95 A/phase Basic Step Angle 0.25 0.2 0.18 0.1 0.05 0.5 Gear Ratio 3.6:1 7.2:1 9:1 10:1 18:1 36:1 lb-in (Nm) Permissible Torque 1.77 (0.2) 3.5 (0.4) 4.4 (0.5) 4.9 (0.56) 7 (0.8) 7 (0.8) Permissible Speed Range 0500 0250 0200 0180 0100 050 r/min (Gear Output Shaft Speed) 24 VDC10% 1.4 A or 36 VDC 10% 1.4 A Power Source 0.5/step 0.25/step 0.2/step 0.18/step 0.1/step 0.05/step Full Step Excitation Mode Half Step 0.25/step 0.125/step 0.1/step 0.09/step 0.05/step 0.025/step 0.77 (0.35) Motor lb. (kg) Weight 0.29 (0.13) Driver lb. (kg) Motor v Dimension No. Driver n How to Read Specifications TablePage C-9 Note: Direction of rotation of the motor and that of the gear output shaft are the same for the gear ratios 3.6:1, 7.2:1, 9:1 and 10:1. It is opposite for 18:1 and 36:1 gear ratios.
Closed Loop A Motor & Driver Packages 5-Phase Microstep 5-Phase Full/Half
CFK2
Power Input: 24 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34107 kgm2) Full Step 0.5/step Half Step 0.25/step
CSK PMC
DC Input
Torque [lb-in]
Torque [Nm]
6 Permissible Torque 4
3 Current [A] 4 Permissible Torque fs 100 2 (4) Driver Input Current 200 300 400 Speed [r/min] 500 6 (12) 600 Full Step (Half Step) 0 2 1
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
UMK
2 fs 50
150 6 (12)
CSK
0 (0)
0 (0)
PK/PV
CSK243BTA-SG7.2
1.0 8 0.8 Torque [lb-in] Torque [Nm]
Power Input: 24 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34107 kgm2) Full Step 0.25/step Half Step 0.125/step
CSK243BTA-SG18
1.0 8 0.8 Torque [lb-in] Torque [Nm]
Power Input: 24 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34107 kgm2) Permissible Torque Full Step 0.1/step Half Step 0.05/step
PK
3 Current [A] 2 1 0
Driver
2 fs
2 fs 25 2 (4)
200 6 (12)
100 6 (12)
Controllers
0 (0)
0 (0)
CSK243BTA-SG9
1.0 8 0.8 Torque [lb-in] Torque [Nm] 3 Current [A] 2 1 0 0.6 0.4 0.2 0
Power Input: 24 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34107 kgm2) Full Step 0.2/step Half Step 0.1/step
CSK243BTA-SG36
1.0 8 0.8 3 Current [A] 2 1 0 0.6 0.4 0.2 0 Torque [lb-in] Torque [Nm]
Power Input: 24 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34107 kgm2) Permissible Torque Full Step 0.05/step Half Step 0.025/step
SMK
Accessories
2 fs 50
2 fs 10 2 (4)
200 6 (12)
20
50 6 (12)
0 (0)
0 (0)
Note: The pulse input circuit responds up to approximately 10 kHz with a pulse duty of 50%.
Common Specifications C-172 Dimensions C-174 Connection and Operation C-176 Motor and Driver Combinations C-182
ORIENTAL MOTOR GENERAL CATALOG 2003/2004
C-169
Torque [lb-in]
Torque [lb-in]
Torque [Nm]
Torque [Nm]
Current [A]
2 1 0
0.4 0.2 0
Current [A]
Torque [lb-in]
3 Current [A] 2 1 0
3 Current [A] 4 Permissible Torque Driver Input Current fs 100 Speed [r/min] 0 (0) 2 (4) 4 (8) Pulse Speed [kHz] 6 (12) Full Step (Half Step) 200 300 2 1 0
Torque [lb-in]
Torque [Nm]
Torque [Nm]
Torque [lb-in]
3 Current [A] 2 1 0
3 2 1 0
Torque [lb-in]
Torque [Nm]
Torque [Nm]
C-170
Stepping Motors
36 VDC
CSK243BTA-SG3.6
1.0 8 0.8 6 3 4 Permissible Torque fs 100 2 (4) Driver Input Current 200 300 400 Speed [r/min] 500 6 (12) 600 Full Step (Half Step) 0 0 0 fs 50 2 (4) 100 Speed [r/min] 4 (8) Pulse Speed [kHz] 150 6 (12) 200 Full Step (Half Step) 2 1 3 0.6 Power Input: 36 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34107 kgm2) Full Step 0.5/step Half Step 0.25/step 0.8 6 Permissible Torque 4 Driver Input Current 0.6 0.4 0.2
CSK243BTA-SG10
1.0 8 Power Input: 36 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34107 kgm2) Full Step 0.18/step Half Step 0.09/step
0 (0)
0 (0)
CSK243BTA-SG7.2
1.0 8 0.8 6 Power Input: 36 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34107 kgm2) Full Step 0.25/step Half Step 0.125/step
CSK243BTA-SG18
1.0 8 0.8 6 Power Input: 36 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34107 kgm2) Permissible Torque Full Step 0.1/step Half Step 0.05/step
2 fs 25 2 (4)
100 6 (12)
0 (0)
CSK243BTA-SG9
1.0 8 0.8 6 Power Input: 36 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34107 kgm2) Full Step 0.2/step Half Step 0.1/step
CSK243BTA-SG36
1.0 8 0.8 6 Power Input: 36 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34107 kgm2) Permissible Torque Full Step 0.05/step Half Step 0.025/step
2 fs 10 2 (4)
200 6 (12)
20
50 6 (12)
0 (0)
0 (0)
Note: The pulse input circuit responds up to approximately 10 kHz with a pulse duty of 50%.
Features C-162
Specifications/Characteristics C-164
Stepping Motors
SH Geared Type
Specifications
Model
Single Shaft CSK264ATA-SG3.6 CSK264ATA-SG7.2 CSK264ATA-SG9 CSK264ATA-SG10 CSK264ATA-SG18 CSK264ATA-SG36 Double Shaft CSK264BTA-SG3.6 CSK264BTA-SG7.2 CSK264BTA-SG9 CSK264BTA-SG10 CSK264BTA-SG18 CSK264BTA-SG36 Maximum Holding Torque lb-in (Nm) 8.8 (1) 17.7 (2) 22 (2.5) 23 (2.7) 26 (3) 35 (4) 0.66 (120107) Rotor Inertia J oz-in2 (kgm2) Rated Current 2.0 A/phase Basic Step Angle 0.25 0.2 0.18 0.1 0.05 0.5 Gear Ratio 3.6:1 7.2:1 9:1 10:1 18:1 36:1 lb-in (Nm) Permissible Torque 8.8 (1) 17.7 (2) 22 (2.5) 23 (2.7) 26 (3) 35 (4) Permissible Speed Range 0500 0250 0200 0180 0100 050 r/min (Gear Output Shaft Speed) 24 VDC10% 2.8 A or 36 VDC 10% 2.8 A Power Source 0.5/step 0.25/step 0.2/step 0.18/step 0.1/step 0.05/step Full Step Excitation Mode Half Step 0.25/step 0.125/step 0.1/step 0.09/step 0.05/step 0.025/step 1.7 (0.75) Motor lb. (kg) Weight 0.29 (0.13) Driver lb. (kg) Motor b Dimension No. Driver n How to Read Specifications TablePage C-9 Note: Direction of rotation of the motor and that of the gear output shaft are the same for the gear ratios 3.6:1, 7.2:1, 9:1 and 10:1. It is opposite for 18:1 and 36:1 gear ratios.
Closed Loop A Motor & Driver Packages 5-Phase Microstep 5-Phase Full/Half
CFK2
Power Input: 24 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL = 0.77 oz-in2 (140107 kgm2) Full Step 0.5/step Half Step 0.25/step
CSK PMC
DC Input
8 Current [A] 4 0
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
4 2 0
UMK
10
10
fs 100 2 (4)
200
500 6 (12)
fs
CSK
50 2 (4)
0 (0)
0 (0)
PK/PV
CSK264BTA-SG7.2
5 40 4 Torque [lb-in] Torque [Nm] 30 6 Current [A] 4 2 0 3 2 1 0
Power Input: 24 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL = 0.77 oz-in2 (140107 kgm2) Full Step 0.25/step Half Step 0.125/step
CSK264BTA-SG18
5 40 4 Torque [lb-in] Torque [Nm] 30 6 Current [A] 3 2 1 0
Power Input: 24 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL = 0.77 oz-in2 (140107 kgm2) Full Step 0.1/step Half Step 0.05/step Permissible Torque
PK
Driver
20
4 2 0
20 Driver Input Current fs 25 2 (4) 50 75 Speed [r/min] 4 (8) Pulse Speed [kHz] 100 6 (12) 125 Full Step (Half Step)
10
10
fs 50 2 (4) 100 150 200 Speed [r/min] 250 6 (12) 300 Full Step (Half Step)
Controllers
0 (0)
0 (0)
CSK264BTA-SG9
5 40 4 Torque [lb-in] Torque [Nm] 30 6 Current [A] 4 2 0 3 2 1 0
Power Input: 24 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL = 0.77 oz-in2 (140107 kgm2) Full Step 0.2/step Half Step 0.1/step
CSK264BTA-SG36
5 40 4 3 Current [A] 2 1 0 3 2 1 0 Torque [lb-in] Torque [Nm] 30
Power Input: 24 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL = 0.77 oz-in2 (140107 kgm2) Permissible Torque Full Step 0.05/step Half Step 0.025/step
SMK
Accessories
10
fs 50 2 (4) 100 150 Speed [r/min] 4 (8) Pulse Speed [kHz] 200 6 (12) 250 Full Step (Half Step)
20
30 40 Speed [r/min]
50 6 (12)
0 (0)
0 (0)
Note: The pulse input circuit responds up to approximately 10 kHz with a pulse duty of 50%.
Common Specifications C-172 Dimensions C-174 Connection and Operation C-176 Motor and Driver Combinations C-182
ORIENTAL MOTOR GENERAL CATALOG 2003/2004
C-171
Torque [lb-in]
3 2 1 0
6 Current [A] 20 Permissible Torque Driver Input Current 300 400 500 Speed [r/min] 6 (12) 4 2 0
3 2 1 0
Torque [lb-in]
Torque [Nm]
Torque [Nm]
Current [A]
Torque [lb-in]
6 Current [A] 4 2 0
3 2 1 0
3 2 1 0
Torque [lb-in]
Torque [Nm]
Torque [Nm]
Torque [lb-in]
6 Current [A] 4 2 0
3 2 1 0
Permissible Torque Current [A] 20 Driver Input Current fs 50 2 (4) 100 150 Speed [r/min] 4 (8) Pulse Speed [kHz] 200 6 (12) 250 Full Step (Half Step)
3 2 1 0
3 2 1 0
Torque [lb-in]
Torque [Nm]
Torque [Nm]
Input Signals
Output Signals
C-172
Stepping Motors
36 VDC
CSK264BTA-SG3.6
5 40 4 30 Power Input: 36 VDC Current: 2.0 A/Phase (2Phases ON) With Damper D6CL-6.3F: JL = 0.77 oz-in2 (140107 kgm2) Full Step 0.5/step Half Step 0.25/step
CSK264BTA-SG10
5 40 4 30 Permissible Torque 20 Driver Input Current Power Input: 36 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL = 0.77 oz-in2 (140107 kgm2) Full Step 0.18/step Half Step 0.09/step
8 4 0
10 fs 100 2 (4)
10
200
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)
CSK264BTA-SG7.2
5 40 4 30 Power Input: 36 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL = 0.77 oz-in2 (140107 kgm2) Full Step 0.25/step Half Step 0.125/step
CSK264BTA-SG18
5 40 4 30 Power Input: 36 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL = 0.77 oz-in2 (140107 kgm2) Full Step 0.1/step Half Step 0.05/step Permissible Torque
20 Driver Input Current 10 fs 25 2 (4) 50 75 Speed [r/min] 4 (8) Pulse Speed [kHz] 100 6 (12) 125 Full Step (Half Step)
10
Driver Input Current fs 50 2 (4) 100 150 200 Speed [r/min] 250 6 (12) 300 Full Step (Half Step)
0 (0)
0 (0)
CSK264BTA-SG9
5 40 4 30 Power Input: 36 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL = 0.77 oz-in2 (140107 kgm2) Full Step 0.2/step Half Step 0.1/step
CSK264BTA-SG36
5 40 4 30 Power Input: 36 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL = 0.77 oz-in2 (140107 kgm2) Permissible Torque Full Step 0.05/step Half Step 0.025/step
10
20
30 40 Speed [r/min]
50 6 (12)
0 (0)
0 (0)
Note: The pulse input circuit responds up to approximately 10 kHz with a pulse duty of 50%.
Common Specifications
Input Signal Circuit Pulse Signal (CW Pulse Signal) Photocoupler input, Input resistance 220 , Input current 1020 mA maximum Signal voltage Photocoupler ON: 4.55 V, Photocoupler OFF: 01 V (Voltage between terminals) Step command pulse signal (CW step command pulse signal in 2-pulse input mode) Pulse width: 5 s minimum, Pulse rise/fall: 2 s maximum, Pulse duty : Max 50% Motor moves when the photocoupler state changes from ON to OFF. Maximum input frequency : 10 kHz (20 kHz for CSK29) (when the pulse duty is 50 %)
Rotation Direction Signal (CCW Pulse Signal) All Windings Off Signal Output Signal Circuit Excitation Timing Signal Functions Driver Cooling Method
Rotation direction signal Photocoupler ON: CW, Photocoupler OFF: CCW CCW step command signal in 2-pulse input mode. Pulse width: 5 s minimum, Pulse rise/fall: 2 s maximum. Pulse duty : Max 50% Motor moves when the photocoupler state changes from ON to OFF. Maximum input frequency : 10 kHz (20 kHz for CSK29) (when the pulse duty is 50 %)
When in the "photocoupler ON" state, the current to the motor is cut off and the motor shaft can be rotated manually. When in the "photocoupler OFF" state, the current level set by the RUN switch is supplied to the motor. 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) Full step: signal output every 4 pulses, Half step: signal output every 8 pulses Automatic current cutback, Step angle switch, Pulse input mode switch, Power supply voltage switch Natural ventilation
Features C-162
Specifications/Characteristics C-164
Stepping Motors
General Specifications
Specifications Insulation Class Insulation Resistance Motor Class B [266F (130C)] 100 M minimum under normal temperature and humidity, when measured by a 500 VDC megger between the motor coils and the motor case. Sufficient to withstand 1.0 kV (0.5 kV for CSK24, CSK24M), 60 Hz applied between the motor coils and casing for one minute, under normal ambient temperature and humidity. Ambient Temperature Ambient Humidity Atmosphere Driver / /
Dielectric Strength
/
Introduction
Operating Environment
14F122F (10C50C) (nonfreezing) 32F104F (0C40C)(nonfreezing) 85% or less (non-condensing) No corrosive gases, dust, water or oil. Temperature rise of the coil measured by the Change Resistance Method is 144F (80C) or less. (at standstill, two phases energized) 3 arc minutes (0.05) 0.002 inch (0.05 mm) T.I.R at top of output shaft 4 0.001 inch (0.025 mm) max. of 1.12 lb. (5 N) 0.003 inch (0.075 mm) max. of 2.2 lb. (10 N) 0.003 inch (0.075 mm) T.I.R 4 0.003 inch (0.075 mm) T.I.R 4
0.075 0.05 A
Temperature Rise Static Angle Error 1 Shaft Runout Radial Play 2 Axial Play 3 Concentricity Perpendicularity
/ / / / / / /
AS AS PLUS ASC
Closed Loop A
1 This value is for full step under no load. (The value changes with size of the load.) 2 Radial Play: Displacement in shaft position in the radial direction, when a 1.12 lb. (5 N) load is applied in the vertical direction to the tip of the motors shaft. 3 Axial Play: Displacement in shaft position in the axial direction, when a 2.2 lb. (10 N) load is applied to the
CFK2 RK
motors shaft in the axial direction. 4 T.I.R. (Total Indicator Reading): Total dial gauge reading when the measured section is rotated one revolution centered on a reference axis. Note: Do not measure insulation resistance or perform the dielectric strength test while the motor and driver are connected.
CSK
0.075
DC Input
PMC
Unit = Upper values: lb./Lower values: N Thrust Load 0.79 (20) / / 108 480 / 15.7 70 36 160 The permissible thrust load [lb. (N)] shall be no greater than the motor mass. 3.3 15 6.7 30
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
C-173
Controllers
1.2200.004 (310.1)
0.1770.006 (4.50.15)
(6.350 0.012)
1.860.014 (47.140.35)
1.50000.0012 (38.10.03)
0.2280.006 (5.80.15)
(6.350 0.012)
2.740.014 (69.580.35)
A A'
A A'
0.4530.006 (11.50.15)
90
These dimensions are for double shaft models. For single shaft models, ignore the shaded areas.
C-174
12.7 0 0.013
2.8750.001 (73.0250.03)
12.7 0 0.013
Stepping Motors
Dimensions
Motor Standard Type, High-Resolution Type z Motor Frame Size 1.65 in. (42 mm)
L2 0.04 (151)
0.59
L1
Model CSK243-ATA CSK243MATA CSK243-BTA CSK243MBTA CSK244-ATA CSK244MATA CSK244-BTA CSK244MBTA CSK245-ATA CSK245MATA CSK245-BTA CSK245MBTA
Motor Model PK243-01AA PK243MAA PK243-01BA PK243MBA PK244-01AA PK244MAA PK244-01BA PK244MBA PK245-01AA PK245MAA PK245-01BA PK245MBA
L1 L2 inch (mm) inch (mm) / 1.3 (33) 1.89 (48) / 1.54 (39) 2.13 (54) / 1.85 (47) 2.44 (62)
Weight lb. (kg) 0.46 (0.21) 0.53 (0.24) 0.46 (0.21) 0.53 (0.24) 0.59 (0.27) 0.66 (0.3) 0.59 (0.27) 0.66 (0.3) 0.77 (0.35) 0.81 (0.37) 0.77 (0.35) 0.81 (0.37)
DXF
B081U
0.08 (2)
B082U
B083U
Model CSK264-AT CSK264MAT CSK264-BT CSK264MBT CSK266-AT CSK266MAT CSK266-BT CSK266MBT CSK268-AT CSK268MAT CSK268-BT CSK268MBT
Motor Model PK264-02A PK264MA PK264-02B PK264MB PK266-02A PK266MA PK266-02B PK266MB PK268-02A PK268MA PK268-02B PK268MB
L1 L2 inch (mm) inch (mm) / 1.54 (39) 2.17 (55) / 2.13 (54) 2.76 (70) / 2.99 (76) 3.62 (92)
DXF
0.790.04 (201)
0.99 (0.45)
B084
1.5 (0.7)
B085
2.2 (1.0)
B086
L1 L2 inch (mm) inch (mm) 2.6 (66) 3.78 (96) 4.96 (126) / 3.94 (100) / 5.12 (130) / 6.3 (160)
0.9840.010 (250.25)
Features C-162
Specifications/Characteristics C-164
Stepping Motors
(151)
DXF B091U
Enter the gear ratio in the box () within the model number.
Introduction
0.1770.006 (4.50.15)
AS AS PLUS
Closed Loop A
AC Input
ASC
DXF B092U
RK
CSK264ATA-SG CSK264BTA-SG
CFK2
0.470.02 (120.5)
(7.9370 0.015)
0.630.04 (161)
Enter the gear ratio in the box () within the model number.
2.36 (60)
2.76 0.02 (700.5)
CSK
0.94 (24)
DC Input
PMC
(6.350 0.012)
0.2280.006 (5.80.15)
0.2950.004 (7.50.1)
0.390.02 (100.5)
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
UMK
CSK
These dimensions are for double shaft models. For single shaft models, ignore the shaded areas.
PK/PV
m CSD2140T, CSD2145T
Weight: 0.44 lb. (0.2 kg) d B810U 0.73 (18.5) 0.90 (22.9) 0.55 (14) 0.20 (5)
PK
Driver
1.71 (43.5)
0.138 (3.5)2Holes
2.76 (70)
2.83 (72)
Controllers
1.85 (47)
1.00 (25.3)
1.65 (42)
0.30 (7.7)
0.12 (3)
0.18 (4.5)
SMK
0.14 (3.5)
Accessories
0.96 (24.3)
0.71 (18.1)
1.42 (36)
C-175
C-176
Stepping Motors
3
Motor terminal blocks
1 3
1
Motor terminal blocks Power-supply terminal blocks
F/H
1P/2P 24/36V
Features C-162
Specifications/Characteristics C-164
Stepping Motors
Description
of Input/Output Signals Pulse (CW) Input and Rotation Direction (CCW) Input Signal 1-Pulse Input Mode Pulse Input Signal
"Pulse" signal is input to the PULSE/CWterminal. When the photocoupler state changes from "ON" to "OFF", the motor rotates one step. The direction of rotation is determined by the rotation direction signal.
Introduction
Controller V01
AS
Closed Loop A
AC Input
AS PLUS
ASC
RK
"Pulse" signal is input to the PULSE/CWterminal. When the photocoupler state changes from "ON" to "OFF", the motor rotates one step in a clockwise direction. "Pulse" signal is input to the DIR./CCWterminal. When the photocoupler state changes from "ON" to "OFF", the motor rotates one step in a counterclockwise direction.
CFK2
CSK
DC Input
Power Supply
Keep the input power voltage to 24 VDC10% or 36 VDC10%. Use a power supply that provides sufficient input current.
PMC
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
Notes: Keep the voltage V01 and V02 between 5 VDC and 24 VDC. When they are equal to 5 VDC, the external resistance R1 is not necessary. When they are above 5 VDC, connect R1 to keep the current between 10 mA and 20 mA, and connect R2 to keep the current below 10 mA. Use twisted-pair wire of AWG 24 or thicker and 6.6 feet (2 m) or less in length for the signal line. Note that as the length of the pulse signal line increases, the maximum transmission frequency decrease. ( Technical Reference Page F-36) Suitable wire size for the TB1, TB2 and TB3 connector is between AWG 20 and 26. Use AWG 20 or thicker for motor lines ( when extended) and power supply line. Signal lines should be kept at least 3.9 inches (10 cm) away from power lines (power supply lines and motor lines). Do not bind the signal line and power line together. Use spot grounding to ground the driver and external controller. If noise generated by the motor lead wire causes a problem, try shielding the motor lead wires with conductive tape or wire mesh. Incorrect connection of DC power input will lead to driver damage. Make sure that the polarity is correct before turning power on.
UMK CSK
C-177
Driver
Controllers
C-178
Stepping Motors
CSK29
Controller
V0 (5 VDC to 24 VDC) TB3 Twisted-pair wire Pulse Signal R1
Driver
1 2 3 4
Input signals
V0 (5 VDC to 24 VDC)
TB1
4 7 Output 3 signal 2 8 1
24 VDC10% GND
1 2
Power Supply
Description
Keep the input power voltage at 24 VDC10%. Use a power supply that provides sufficient input current.
Notes: Keep the voltage Vo between 5 VDC and 24 VDC. When Vo is equal to 5 VDC, the external resistance R1 is not necessary. When Vo is above 5 VDC, connect R1 to keep the current between 10 mA and 20 mA, and connect R2 to keep the current below 10 mA. Use twisted-pair wire of AWG 24 or thicker and 6.6 feet (2 m) or less in length for the signal line. Note that as the length of the pulse signal line increases, the maximum transmission frequency decrease. ( Technical Reference Page F-36) Suitable wire size for the TB1, TB2 and TB3 connector is between AWG 20 and AWG 26. Use AWG 20 or thicker for motor lines (when extended) and power supply line. Signal lines should be kept at least 3.9 inches (10 cm) away from power lines (power supply lines and motor lines). Do not bind the signal line and power line together. Use spot grounding to ground the driver and external controller. If noise generated by the motor lead wire causes a problem, try shielding the motor lead wires with conductive tape or wire mesh. Incorrect connection of DC power input will lead to driver damage. Make sure that the polarity is correct before turning power on.
"Pulse" signal is input to the PULSEterminal. When the photocoupler state changes from "ON" to "OFF", the motor rotates one step. The direction of rotation is determined by the rotation direction signal.
Features C-162
Specifications/Characteristics C-164
Stepping Motors
Introduction
Rotation Direction Signal 2-pulse input mode CW Pulse Signal CCW Pulse Signal All Windings Off Signal
300 s min.
AS AS PLUS
Closed Loop A
AC Input
3 2
ASC
100 s min.
RK
Note: 100 s or more is the standard interval time for switching from CW to CCW. Note that the interval time varies greatly depending on the motor and load inertia.
CFK2
1 2 3
Wait a period of time to allow the motor oscillations to end before inputting the "All Windings Off" signal. This time varies with the load inertia, the load torque and the starting pulse rate. The signal input must be stopped before the motor stops. Never input a step pulse signal immediately after switching the "All Windings Off" input signal to the "photocoupler OFF" state or the motor may lose synchronism. In general, a minimum interval of 300 ms is required. The motor will not operate properly if a pulse signal is input when either the CW or CCW pulse is in the "photocoupler ON" state.
CSK
DC Input
PMC UMK
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
CSK29
Current Cutback All Windings Off
CSK PK/PV
100 s min.
1 5 s min.
PK
ON OFF
5 s min. 100 s min. Approx.100 ms CW 2 300 s min. 3 CCW
Driver
Photocoupler
ON OFF
ON Photocoupler OFF
Controllers
Note: 100 s or more is the standard interval time for switching from CW to CCW. Note that the interval time varies greatly depending on the motor and load inertia. 1 2 3 After turning off the power supply, wait at least 5 seconds before turning it on again. Wait a period of time to allow the motor oscillations to end before inputting the "All Windings Off" signal. This time varies with the load inertia, the load torque and the starting pulse rate. The signal input must be stopped before the motor stops. Never input a step pulse signal immediately after switching the "All Windings Off" signal to "photocoupler OFF" state, or the motor may lose synchronism. In general, a minimum interval of 300 ms is required.
SMK Accessories
C-179
C-180
Stepping Motors
Connecting Voltmeter
Insert the voltmeter test probes [approximately 0.18 inch (2.1 mm)] as shown below.The current value for one phase is equivalent to the voltage shown by the voltmeter. (ex: voltmeter voltage 1 V = 1 A/Phase)
Red ()
Black ()
C.C.
C.C.
RUN VR
STOP VR
Note: The motor RUN current should be less than the motor rated current.
Features C-162
Specifications/Characteristics C-164
Stepping Motors
CSK29
Adjusting Method
Connecting an Ammeter
Connect the driver, motor and DC ammeter.
2-phase stepping motor Red Blue Green Black Yellow White TB2
1 2 3 4 5 6
Introduction
FUL
2. Enable the automatic current cutback function. Set the jumper socket for automatic current cutback function (C.C/A.C.D.) to A.C.D..
AS AS PLUS ASC
Closed Loop A
A.C
.D.
3. Turn on the power supply. Wait until the motor reaches its standstill current.
FUL L
RK CFK2
2. Disable the automatic current cutback function. Set the jumper socket for automatic current cutback function (C.C/A.C.D) to C.C.
4. Manipulate the potentiometer for adjusting the motor standstill current (STOP VR). Adjust the potentiometer using an insulated screwdriver. The sum of the two DC ammeter readings indicates the current per motor phase. Be sure to adjust the current to 40 percent of the motors rated current or below.
CSK PMC
DC Input
C.C
3. Turn on the power supply. Wait until the motor reaches its operating current. 4. Manipulate the potentiometer for adjusting the motor operating current (RUN VR). Adjust the potentiometer using an insulated screwdriver. The sum of the two DC ammeter readings indicates the current per motor phase. Be sure to adjust the current to the motors rated current or below. 5. Turn off the power supply.
RUN VR STOP VR
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
UMK
CSK PK/PV PK
RUN VR STOP VR
Driver
Example: When the DC ammeter readings indicate 1.05 A and 0.95 A respectively, the output current per motor phase is 2.0 A. 5. Turn off the power supply. 6. Set the jumper socket for automatic current cutback function ( C.C/A.C.D) to A.C.D. again.
Controllers
A.C
.D.
SMK
C-181
C-182
Stepping Motors
Enter A (single shaft) or B (double shaft) in the box () within the model number.
DC Input
Stepping Motors
Introduction AS AS PLUS ASC
SMK
Accessories
Additional Information
C-183
Closed Loop A
Motor & Driver Packages 5-Phase Microstep 5-Phase Full/Half 2-Phase Stepping Motors with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
Driver
Controllers
C-184
Stepping Motors
1.10 in. ( 28 mm) 1.38 in. ( 35 mm) 1.65 in. ( 42 mm) 2.22 in. ( 56.4 mm) 2.36 in. ( 60 mm) 3.35 in. ( 85 mm) 3.54 in. ( 90 mm)
Wide Variety
Size Series/Type Motor Frame Size: in. (mm) 1.10 in. (28 mm) 1.38 in. (35 mm) 1.65 in. (42 mm) 2.22 in. (56.4 mm) 1 with Encoder page C-233 Standard Type / / / 2.65 in. (60 mm) 3.35 in. (85 mm) 2
Page C-202
Page C-214
Page C-227
PK Series
Page C-196
Page C-200
Page C-208
Page C-218 2 1
SH Geared Type
Page C-198
Page C-212
Page C-222
Page C-231
Page C-224 1 Gearhead frame size is 2.65 in. sq. (60 mm sq.) 2 Gearhead frame size is 3.54 in. sq. (90 mm sq.)
Stepping Motors
Introduction AS AS PLUS
Closed Loop A
AC Input
ASC
DC Input
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
UMK
Page C-241
C-185
Controllers
Angle Accuracy
1.5 200 Measured by Bipolar (Series) Constant Current Driver Standard P Type PK246PB Current 0.85 A/phase, 24 VDC Standard Type PK266-01B Current 0.71 A/phase, 24 VDC 150 with Damper 100
Angle Accuracy
Torque [oz-in]
Torque [Nm]
200
Angle Accuracy
C-186
Stepping Motors
1.10 in. ( 28 mm) 1.38 in. ( 35 mm) 1.65 in. ( 42 mm) 2.22 in. ( 56.4 mm) 2.36 in. ( 60 mm) 3.35 in. ( 85 mm) 3.54 in. ( 90 mm)
PK Series
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.
With Encoder
The PK Series 2-phase stepping motor with encoder offers high torque and precise feedback capability. Encoder Feedback Type: Incremental Two feedback resolutions: 200 and 400 pulses/rev. Provides closed loop system capability
0.09deg 0
400
0.09deg
1.0
0.09deg 0
0.5
200
50
2.32 (59)
0.09deg 0
Step
400
Standard P Type PK246PB 132 oz-in (0.93 Nm) 0.77 oz-in2 (11410-7 kgm2)
Standard Type PK266-01B 166 oz-in (1.17 Nm) 1.64 oz-in2 (30010-7 kgm2)
Stepping Motors
PV Series
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 low-speed positioning applications.
Introduction AS
Closed Loop A
AC Input
AS PLUS
Increased Size
ASC
RK CFK2
PV Series PV269-D2.8BA: Bipolar 2.8 A/Phase, 24 VDC 400 Standard PK296-E4.5B: Bipolar (series) 3.18 A/Phase, 24 VDC Standard PK268-E2.0B: Bipolar (parallel) 2.8 A/Phase, 24 VDC
CSK PMC
DC Input
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
UMK
100 0.5
400 1.5
500 1.8/step
CSK
PK/PV
AngleTorque Characteristics
Torque T
PK
TH2
PV Series
Driver
TH1 TL
Standard PK Series
-1.8
-0.9
0.9
1.8
[Angle]
Controllers
All equipment has a friction load, and the motor stops when the motor output torque and friction load torque are balanced. As shown in the characteristics above, the larger the output torque per step angle, the less the motor is influenced by the friction load, so positioning accuracy is improved. Stop positioning displacement by external force does not occur as often.
C-187
SMK Accessories
C-188
Stepping Motors
1.10 in. ( 28 mm) 1.38 in. ( 35 mm) 1.65 in. ( 42 mm) 2.22 in. ( 56.4 mm) 2.36 in. ( 60 mm) 3.35 in. ( 85 mm) 3.54 in. ( 90 mm)
PK 2 4 3 - 0 1 B A
U.S.A. Version Shaft Type A: Single Shaft B: Double Shaft Winding Specification 0: Legacy Number D: 4 Leads E, F: 8 Leads Step Angle Blank: 1.8 (Standard) M: 0.9 (High Resolution) Motor Case Length Motor Frame Size 4: 1.65 in. sq. (42 mm sq.) 6: 2.22 in. sq. (56.4 mm sq.) 9: 3.35 in. sq. (85 mm sq.)
PK 2 6 6 - 0 1 A R11
Encoder Resolution R11: 200 P/R R12: 400 P/R Shaft Type A: Single Shaft Winding Specification 0: Legacy Number E: 8 Leads Step Angle Blank: 1.8 (Standard) M: 0.9 (High Resolution) Motor Case Length Motor Frame Size 6: 1.65 in. sq. (42 mm sq.)
PK: PK Series
PK: PK Series
2-Phase
2-Phase
v SH Geared Type
PK 2 3 3 P A
Shaft Type A: Single Shaft B: Double Shaft Standard P Type Motor Case Length PK: PK Series Motor Frame Size 2: 1.10 in. sq. (28 mm sq.) 3: 1.38 in. sq. (35 mm sq.) 4: 1.65 in. sq. (42 mm sq.)
PK 2 2 3 P A - SG 10
Gear Ratio SG: SH Gear Type PK: PK Series A: Single Shaft B: Double Shaft Motor Type 2-Phase Motor Case Length Motor Frame Size 2: 1.10 in. sq. (28 mm sq.)
2-Phase
PV 2 6 6 - 0 2 B A
U.S.A. Version A: Single Shaft B: Double Shaft Winding Specification 0: 6 Leads D: 4 Leads Motor Case Length Motor Frame Size 2.36 in. sq. (60 mm sq.) 2-Phase PV Series
PK 2 6 4 A 1 A - SG 10
Gear Ratio SH Geared Type U.S.A. Version Winding Specification PK: PK Series Shaft Type A: Single Shaft B: Double Shaft Motor Case Length Motor Frame Size 4: 1.65 in. sq. (42 mm sq.) 6: 2.36 in. sq. (60 mm sq.) 9: 3.54 in. sq. (90 mm sq.)
2-Phase
Stepping Motors
Connection Diagrams
Motor Wiring Diagrams
4 Lead Motor A Phase 6 Lead Motor Black (4) Yellow (5) Green (6) A Phase Black 8 Lead Motor
Introduction
A Phase
AS
Closed Loop A
AC Input
Red (3)
White (2)
AS PLUS
B Phase
B Phase
Red
Blue
Red (3)
White (2)
Blue (1)
Red N.C. Blue (3) (2) (1) 8 Lead Bipolar (Parallel) Connection Black Yellow Orange Green
DC Input
PMC
8 Lead Unipolar Connection Black Yellow Orange Green Red White Brown Blue
8 Lead Bipolar (Series) Connection Black Yellow Orange Green Red White Brown Blue
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
Red
White
Blue Brown
PK
The numbers inside the parentheses indicate the connector pin No. of the standard P type motor. N.C.: No Connection
Driver
Controllers
C-189
SMK Accessories
C-190
Stepping Motors
1.10 in. ( 28 mm) 1.38 in. ( 35 mm) 1.65 in. ( 42 mm) 2.22 in. ( 56.4 mm) 2.36 in. ( 60 mm) 3.35 in. ( 85 mm) 3.54 in. ( 90 mm)
Product Specifications
Motor Frame Size: 1.10 in. (28 mm) PK22
Type Model Single Shaft Double Shaft PK223PA Standard P Type (High Torque) PK223PB PK224PA PK224PB PK225PA PK225PB PK223PA-SG7.2 PK223PB-SG7.2 PK223PA-SG9 SH Geared Type PK223PB-SG9 PK223PA-SG10 PK223PB-SG10 PK223PA-SG18 PK223PB-SG18 PK223PA-SG36 PK223PB-SG36 Basic Step Angle 1.8 1.8 1.8 0.25 0.2 0.18 0.1 0.05 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 Holding Torque oz-in 9.2 7.1 13.7 10.6 15.6 12.7 42 42 42 56 56 Nm 0.065 0.05 0.097 0.075 0.11 0.09 0.3 0.3 0.3 0.4 0.4 Current per Phase A/phase 0.67 0.95 0.67 0.95 0.67 0.95 0.67 0.95 0.67 0.95 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 3.8 2.66 3.8 2.66 3.8 2.66 3.8 2.66 3.8 2.66 Resistance Inductance /phase mH/phase 5.6 2.8 6.8 3.4 9.2 4.6 5.6 2.8 5.6 2.8 5.6 2.8 5.6 2.8 5.6 2.8 4 1 4.8 1.2 5.6 1.4 4 1 4 1 4 1 4 1 4 1 0.049 9107 C-198 Rotor Inertia Page oz-in2 0.049 0.066 0.098 kgm2 9107 12107 18107 C-196
The value given for holding torque is the value when operated with rated voltage and 2-phase excitation.
The value given for holding torque is the value when operated with rated voltage and 2-phase excitation.
The value given for holding torque is the value when operated with rated voltage and 2-phase excitation.
Stepping Motors
Closed Loop A Motor & Driver Packages 5-Phase Microstep 5-Phase Full/Half
The value given for holding torque is the value when operated with rated voltage and 2-phase excitation.
PMC
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
Controllers
The value given for holding torque is the value when operated with rated voltage and 2-phase excitation.
C-191
C-192
Stepping Motors
1.10 in. ( 28 mm) 1.38 in. ( 35 mm) 1.65 in. ( 42 mm) 2.22 in. ( 56.4 mm) 2.36 in. ( 60 mm) 3.35 in. ( 85 mm) 3.54 in. ( 90 mm)
The value given for holding torque is the value when operated with rated voltage and 2-phase excitation.
Stepping Motors
Introduction
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 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 1.64 300107 C-236 0.66 120107 2.6 480107 1.64 300107 C-218 0.66 120107
Closed Loop A Motor & Driver Packages 5-Phase Microstep 5-Phase Full/Half 2-Phase Stepping Motors Driver Controllers
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
The value given for holding torque is the value when operated with rated voltage and 2-phase excitation.
C-193
SMK Accessories
C-194
Stepping Motors
1.10 in. ( 28 mm) 1.38 in. ( 35 mm) 1.65 in. ( 42 mm) 2.22 in. ( 56.4 mm) 2.36 in. ( 60 mm) 3.35 in. ( 85 mm) 3.54 in. ( 90 mm)
The value given for holding torque is the value when operated with rated voltage and 2-phase excitation.
The value given for holding torque is the value when operated with rated voltage and 2-phase excitation.
Stepping Motors
Introduction
14 3.5 6 1.5 1.5 6 1.5 56 14 24 6 10 2.5 2.5 10 2.5 76.8 19.2 16.8 4.2 4.2 16.8 4.2 22 4000107 14.8 2700107 C-277 7.7 1400107
Closed Loop A Motor & Driver Packages 5-Phase Microstep 5-Phase Full/Half
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
The value given for holding torque is the value when operated with rated voltage and 2-phase excitation.
UMK
CSK
Driver
Controllers
The value given for holding torque is the value when operated with rated voltage and 2-phase excitation.
C-195
0.37 (9.5)
The length of machining on double shaft model is 0.3940.010 (100.25). These dimensions are for double shaft models. For single shaft models, ignore the shaded area. Applicable Connector The following housing and contacts must be purchased separately. Housing: 51065-0600 (MOLEX) Contact: 50212-8100 (MOLEX) Connector Assembly Tool: 57176-5000 (MOLEX)
C-196
Stepping Motors
1.10 in. ( 28 mm) 1.38 in. ( 35 mm) 1.65 in. ( 42 mm) 2.22 in. ( 56.4 mm) 2.36 in. ( 60 mm) 3.35 in. ( 85 mm) 3.54 in. ( 90 mm)
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 oz-in 9.2 7.1 13.7 10.6 15.6 12.7 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 oz-in2 0.049 kgm2 9107 Lead Wires (Pins) 6 6 6
Dimensions
Features C-184
Accessories C-185
Stepping Motors
SpeedTorque Characteristics
PK223PB Bipolar (Series)
Bipolar Constant Current Driver With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34 107 kgm2) Step Angle: 1.8/step Bipolar Series (0.67 A/Phase) 24 VDC 48 VDC
Introduction
10
Pullout Torque
Torque [oz-in]
Torque [Nm]
AS AS PLUS
Closed Loop A
AC Input
fs 500 0 2 1000 1500 Speed [r/min] 4 Pulse Speed [kHz] 6 2000 2500 Full Step
fs 500 1000 1500 2000 2500 3000 3500 4000 4500 Speed [r/min] 0 4 8 Pulse Speed [kHz] 12 Full Step
ASC
PK224PB Unipolar
Power Input: 24 VDC Unipolar Constant Current Driver With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34 107 kgm2) Step Angle: 1.8/step 15
RK
0.15
0.12 0.10 Torque [oz-in] Torque [Nm] 0.08 0.06 0.04 0.02
CFK2
Torque [oz-in]
Torque [N.m]
0.10
15
CSK
10 Pullout Torque
DC Input
10 Pullout Torque 5 fs 500 0 2 1000 1500 Speed [r/min] 4 Pulse Speed [kHz] 6 2000 2500 Full Step
PMC
0.05
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
UMK
fs 500 1000 1500 2000 2500 3000 3500 4000 4500 Speed [r/min] 0 4 8 Pulse Speed [kHz] 12 Full Step
CSK
PK225PB Unipolar
Power Input: 24 VDC Unipolar Constant Current Driver With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34 107 kgm2) Step Angle: 1.8/step Unipolar (0.95 A/Phase) 15 Torque [oz-in] Pullout Torque 10
PK/PV
0.20
PK
Driver
0.10
15 10 5 Pullout Torque
0.05
5 fs 500 1000 1500 2000 2500 3000 3500 4000 4500 Speed [r/min] 0 4 8 Pulse Speed [kHz] 12 Full Step
Controllers
0.02 fs 500 0 2 1000 1500 Speed [r/min] 4 Pulse Speed [kHz] 6 2000 2500 Full Step 0 0
C-197
SMK Accessories
0.18(4.5)
0.19690.0005
0 50.012
0.1770.006 (4.50.15)
0 50.012
(101)
0.390.04
2.28 (58)
0.240.02(60.5) 0.43(11)
0.19690.0005
0.37 (9.5)
The length of machining on double shaft model is 0.3940.010 (100.25). Model Mounting Screws (included) M2.5 P0.45 0.31 in. (8 mm) length: 4 pieces These dimensions are for double shaft models. For single shaft models, ignore the shaded area. Applicable Connector The following housing and contacts must be purchased separately. Housing: 51065-0600 (MOLEX) Contact: 50212-8100 (MOLEX) Connector Assembly Tool: 57176-5000 (MOLEX) PK223PA-SG PK223PB-SG
0.20 (5)
0.9060.004 (230.1)
C-198
Stepping Motors
1.10 in. ( 28 mm) 1.38 in. ( 35 mm) 1.65 in. ( 42 mm) 2.22 in. ( 56.4 mm) 2.36 in. ( 60 mm) 3.35 in. ( 85 mm) 3.54 in. ( 90 mm)
Specifications
Model Single Shaft Double Shaft PK223PA-SG PK223PB-SG
Motor Specifications
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 oz-in2 0.049 kgm2 9107 Lead Wires (Pins) 6
How to Read SpecificationsPage C-9 Motor Wiring DiagramsPage C-189 Enter the gear ratio in the box () within the model number.
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 oz-in 7.2:1 9:1 10:1 18:1 36:1 42 42 42 56 56 Nm 0.3 0.3 0.3 0.4 0.4 0.25 0.2 0.18 0.1 0.05 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
2.68 (68)
DXF B335
Enter the gear ratio in the box () within the model number.
Features C-184
Accessories C-185
Stepping Motors
SpeedTorque Characteristics
PK223PB-SG Bipolar (Series) 24 VDC
0.5 0.4 Torque [oz-in] Torque [Nm] 0.3 0.2 0.1 10 0 0 100 200 300 Speed [r/min] 400 60 50 40 30 20
Power Input: 24 VDC Bipolar Constant Current Driver With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34107 kg.m2) Permissible Torque Bipolar Series (0.67 A/Phase) PK223PB-SG7.2 PK223PB-SG9 PK223PB-SG10 PK223PB-SG18 PK223PB-SG36
Introduction AS AS PLUS
Closed Loop A
AC Input
ASC RK
DC Input
100
400
500
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
Controllers
C-199
SMK Accessories
0.19690.0005
0.19690.0005
0.1770.006 (4.50.15)
0 (50.012)
0 (50.012)
0.590.04(151)
0
L2 L1
0.1770.006(4.50.15)
0 0.86610.0013 0 (220.033)
The length of machining on double shaft model is 0.5910.010 (150.25). These dimensions are for double shaft models. For single shaft models, ignore the shaded area. Applicable Connector The following housing and contacts must be purchased separately. Housing: 51103-0600 (MOLEX, Positive Lock Type) or 51102-0600 (MOLEX, Friction Lock Type) Contact: 50351-8100 (MOLEX) Connector Assembly Tool: 57295-5000 (MOLEX)
1.1420.004 (290.1)
C-200
Stepping Motors
1.10 in. ( 28 mm) 1.38 in. ( 35 mm) 1.65 in. ( 42 mm) 2.22 in. ( 56.4 mm) 2.36 in. ( 60 mm) 3.35 in. ( 85 mm) 3.54 in. ( 90 mm)
Specifications
Model Single Shaft Double Shaft PK233PA PK233PB PK235PA PK235PB Connection Type Bipolar (Series) Unipolar Bipolar (Series) Unipolar Holding Torque oz-in 28 22 52 42 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 oz-in2 0.131 0.27 kgm2 24107 50107 Lead Wires (Pins) 6 6
Dimensions
Features C-184
Accessories C-185
Stepping Motors
SpeedTorque Characteristics
PK233PB Bipolar (Series)
Bipolar Constant Current Driver With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34107 kg.m2) Step Angle: 1.8/step Bipolar Series (0.85 A/Phase) 24 VDC 48 VDC
0.20
Introduction
20
0.10
Torque [oz-in]
Torque [Nm]
AS
10
Pullout Torque
Closed Loop A
0.05 fs 500 0 2
AC Input
AS PLUS
fs 500 0 2
2000
2000
ASC
PK235PB Unipolar
Power Input: 24 VDC Unipolar Constant Current Driver With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34 107 kg.m2) Step Angle: 1.8/step 40 0.25 Torque [oz-in] Torque [Nm] 0.20 0.15 0.10 0.05 2000 6 2500 Full Step 0 0 fs 500 0 2 1000 1500 Speed [r/min] 4 Pulse Speed [kHz] 6 2000 2500 30 Pullout Torque 20 Unipolar (1.2 A/Phase)
RK CFK2
0.30
CSK
0.3
DC Input
40 30 20 10 Pullout Torque fs fs 500 0 2 1000 1500 Speed [r/min] 4 Pulse Speed [kHz]
0.2
PMC
0.1
10
UMK
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
CSK
Full Step
PK/PV PK
Driver
Controllers
C-201
SMK Accessories
0.590.04(151)
0.35 (9)
The length of machining on double shaft model is 0.5910.010 (150.25). These dimensions are for double shaft models. For single shaft models, ignore the shaded area. Applicable Connector The following housing and contacts must be purchased separately. Housing: 51103-0600 (MOLEX, Positive Lock Type) or 51102-0600 (MOLEX, Friction Lock Type) Contact: 50351-8100 (MOLEX) Connector Assembly Tool: 57295-5000 (MOLEX)
1.2200.004 (310.1)
0 0.86610.0013
L2 L1
0.19690.0005 (50.012)
0.1770.006(4.50.15)
0 (22 0.033)
C-202
Stepping Motors
1.10 in. ( 28 mm) 1.38 in. ( 35 mm) 1.65 in. ( 42 mm) 2.22 in. ( 56.4 mm) 2.36 in. ( 60 mm) 3.35 in. ( 85 mm) 3.54 in. ( 90 mm)
Specifications
Model Single Shaft Double Shaft PK244PA PK244PB PK246PA PK246PB Connection Type Bipolar (Series) Unipolar Bipolar (Series) Unipolar Holding Torque oz-in 68 55 132 106 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 oz-in2 0.31 0.62 kgm2 57107 114107 Lead Wires (Pins) 6 6
Dimensions
Features C-184
Accessories C-185
Stepping Motors
SpeedTorque Characteristics
PK244PB Bipolar (Series)
0.6 80 0.5 Torque [oz-in] Torque [Nm] 0.4 0.3 0.2 0.1 0 0 60
Bipolar Constant Current Driver With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34107 kg.m2) Step Angle: 1.8/step Bipolar Series (0.85 A/Phase) 24 VDC 48 VDC
Introduction
40
40
Pullout Torque
AS
20
Pullout Torque
Closed Loop A
AC Input
AS PLUS
fs 600 Full Step 0 0 500 0 2 1000 1500 Speed [r/min] 4 Pulse Speed [kHz] 6 2000 2500 Full Step
100 0 0.5
200
ASC
PK246PB Unipolar
RK
Power Input: 24 VDC Unipolar Constant Current Driver With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34107 kg.m2) Step Angle: 1.8/step Unipolar (1.2 A/Phase)
CFK2 CSK
Torque [oz-in]
Torque [Nm]
75
DC Input
0.4
50 Pullout Torque
PMC
50
0.2
25 fs
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
UMK
100 0 0.5
200
fs
500
500 0 2
1500
2000
CSK
Full Step
PK/PV PK
Driver
Controllers
C-203
SMK Accessories
(151)
0.590.04
L1
1.2200.004 (310.1)
0.19690 0.0005
0.1770.006 (4.50.15)
0.1770.006 (4.50.15)
C-204
Stepping Motors
1.10 in. ( 28 mm) 1.38 in. ( 35 mm) 1.65 in. ( 42 mm) 2.22 in. ( 56.4 mm) 2.36 in. ( 60 mm) 3.35 in. ( 85 mm) 3.54 in. ( 90 mm)
Specifications
Model Single Shaft Double Shaft PK243-01AA PK243-01BA PK243-02AA PK243-02BA PK243-03AA PK243-03BA PK244-01AA PK244-01BA PK244-02AA PK244-02BA PK244-03AA PK244-03BA PK244-04AA PK244-04BA PK245-01AA PK245-01BA PK245-02AA PK245-02BA PK245-03AA PK245-03BA 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 Bipolar (Series) Unipolar Holding Torque oz-in 28 22 28 22 28 22 46 36 46 36 46 36 46 36 61 45 61 45 61 45 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 0.33 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 0.14 0.2 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 34 24 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 30 240 120 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 30 428 107 11.2 2.8 28.4 7.1 100 25 Rotor Inertia J oz-in2 kgm2 6 6 6 6 6 6 6 6 6 6 Lead Wires Corresponding AC/DC-Input Motor & Driver Package UMK243A/ CSK243-TA / / UMK244A/ CSK244-TA / / / UMK245A/ CSK245-TA / /
0.191 35107 0.191 35107 0.191 35107 0.3 0.3 0.3 0.3 0.37 0.37 0.37 54107 54107 54107 54107 68107 68107 68107
Dimensions
L2
0.08 (2)
Enter the winding specification in the box () within the model number.
The length of machining on double shaft model is 0.5910.010 (150.25). These dimensions are for double shaft models. For single shaft models, ignore the shaded area.
Features C-184
Accessories C-185
Stepping Motors
SpeedTorque Characteristics
PK243-01BA Bipolar (Series)
0.30 40 0.25 Torque [oz-in] Torque [Nm] 0.20 0.15 0.10 0.05 30
Bipolar Constant Current Driver With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34107 kg.m2) Step Angle: 1.8/step Bipolar Series (0.67 A/Phase) 24 VDC 48 VDC
Introduction
20
Pullout Torque
AS
Closed Loop A
AC Input
10 fs 0 0 500 0 2 1000 1500 2000 Speed [r/min] 2500 8 3000 Full Step
5 fs 0 500 0 2 1000 1500 Speed [r/min] 4 Pulse Speed [kHz] 6 2000 2500 Full Step
AS PLUS
ASC
PK243-02BA Unipolar
RK
0.30
Power Input: 11.5 VDC Unipolar Constant Voltage Driver With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34 107 kgm2) Step Angle: 1.8/step Unipolar (External Resistance: 0 )
CFK2 CSK
20
DC Input
20 Pullout Torque
PMC
10
10
Pullout Torque
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
UMK
fs 100 0 0.5 200 300 Speed [r/min] 1 Pulse Speed [kHz] 400 500 1.5 Full Step
CSK
PK243-03BA Unipolar
Power Input: 13.6 VDC Unipolar Constant Voltage Driver With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34 107 kgm2) Step Angle: 1.8/step Unipolar (External Resistance: 0 ) 0.2 0.15 0.1 0.05 0 0 Torque [oz-in] Torque [Nm] 30
PK/PV
0.30
0.25
PK
Driver
Pullout Torque 20
20
10
10
Pullout Torque fs 300 400 500 Speed [r/min] 1 Pulse Speed [kHz]
Controllers
100 0
200
600 2
700
800
Full Step
C-205
SMK Accessories
Torque [oz-in]
Torque [oz-in]
Torque [Nm]
Torque [Nm]
Torque [oz-in]
Torque [Nm]
Pullout Torque 30 20 10
Torque [oz-in]
Torque [Nm]
Torque [oz-in]
Torque [Nm]
Torque [oz-in]
Torque [Nm]
C-206
Stepping Motors
1.10 in. ( 28 mm) 1.38 in. ( 35 mm) 1.65 in. ( 42 mm) 2.22 in. ( 56.4 mm) 2.36 in. ( 60 mm) 3.35 in. ( 85 mm) 3.54 in. ( 90 mm)
SpeedTorque Characteristics
PK244-01BA Bipolar (Series)
Bipolar Constant Current Driver With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34107 kg.m2) Step Angle: 1.8/step Bipolar Series (0.85 A/Phase) 50 0.3 40 30 20 Pullout Torque 10 0 0 fs fs 400 600 Speed [r/min] 1 2 Pulse Speed [kHz]
0.4
24 VDC 48 VDC
50
0.2
0.1
200 0
800
500 0 2
2000
PK244-02BA Unipolar
Power Input: 24 VDC Unipolar Constant Current Driver With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34 107 kgm2) Step Angle: 1.8/step Unipolar (0.8 A/Phase) 40 30 20 Pullout Torque 10 0 fs 500 0 2 1000 1500 Speed [r/min] 4 Pulse Speed [kHz] 6 2000 2500 8 Full Step
0.4
24 VDC 48 VDC
0.2
0.1 fs 200 0 1 fs 400 600 Speed [r/min] 2 Pulse Speed [kHz] 800 1000 Full Step
0.05 0
PK244-03BA Unipolar
Power Input: 13.7 VDC Unipolar Constant Voltage Driver With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34 107 kgm2) Step Angle: 1.8/step Unipolar (External Resistance: 0 ) 40 30 20 Pullout Torque 10 0 fs 200 300 Speed [r/min] 0.5 1 Pulse Speed [kHz]
100 0
400 1.5
PK244-04BA Unipolar
Power Input: 25.5 VDC Unipolar Constant Voltage Driver With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34 107 kgm2) Step Angle: 1.8/step Unipolar (External Resistance: 0 ) 40 30 20 Pullout Torque 10 0 fs 200 300 Speed [r/min] 0.5 1 Pulse Speed [kHz]
100 0
400 1.5
Features C-184
Accessories C-185
Stepping Motors
PK245-01BA Unipolar
Power Input: 24 VDC Unipolar Constant Current Driver With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34107 kg.m2) Step Angle: 1.8/step 50 0.3 Torque [oz-in] Torque [Nm] 40 30 20 10
0.4
40 Pullout Torque 20
0.2
AS
0.1
Pullout Torque
Closed Loop A
AC Input
AS PLUS
200 0 1
fs 800 1000 Full Step 0 0 500 0 2 1000 1500 Speed [r/min] 4 Pulse Speed [kHz] 6 2000 2500 Full Step
ASC
PK245-02BA Unipolar
RK
Power Input: 24 VDC Unipolar Constant Current Driver With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34 107 kgm2) Step Angle: 1.8/step
CFK2
40 Pullout Torque 20
0.2
0.1
UMK
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
fs 200 0 1
800
fs 500 0 2
2000
2500
CSK
Full Step
PK/PV
PK245-03BA Unipolar
Power Input: 13.7 VDC Unipolar Constant Voltage Driver With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34 107 kgm2) Step Angle: 1.8/step 50 0.3 Torque [oz-in] Torque [Nm] Unipolar (External Resistance: 0 ) 40 30 20 10 0 0 fs 200 300 Speed [r/min] 0.5 1 Pulse Speed [kHz]
0.4
PK
Driver
0.2
Pullout Torque
Controllers
0.1
100 0
400
C-207
SMK Accessories
0.19690 0.0005
(151)
1.2200.004 (310.1)
0.1770.006 (4.50.15)
0.1770.006 (4.50.15)
C-208
Stepping Motors
1.10 in. ( 28 mm) 1.38 in. ( 35 mm) 1.65 in. ( 42 mm) 2.22 in. ( 56.4 mm) 2.36 in. ( 60 mm) 3.35 in. ( 85 mm) 3.54 in. ( 90 mm)
Specifications
Model Single Shaft Double Shaft PK243M-01BA PK243M-02BA PK243M-03BA PK244M-01BA PK244M-02BA PK244M-03BA PK245M-01BA PK245M-02BA PK245M-03BA Connection Type Holding Torque oz-in 28 22 28 22 28 22 44 36 44 36 44 36 53 45 53 45 53 45 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 oz-in2 0.191 0.191 0.191 0.3 0.3 0.3 0.37 0.37 0.37 kgm2 35107 35107 35107 54107 54107 54107 68107 68107 68107 6 6 6 6 6 6 6 6 6 Lead Wires Corresponding AC/DC-Input Motor & Driver Package UMK243MA/ CSK243M-TA / / UMK244MA/ CSK244M-TA / / UMK245MA/ CSK245M-TA / /
PK243M-01AA Bipolar (Series) Unipolar Unipolar Unipolar Unipolar Unipolar Unipolar Unipolar Unipolar Unipolar PK243M-02AA Bipolar (Series) PK243M-03AA Bipolar (Series) PK244M-01AA Bipolar (Series) PK244M-02AA Bipolar (Series) PK244M-03AA Bipolar (Series) PK245M-01AA Bipolar (Series) PK245M-02AA Bipolar (Series) PK245M-03AA Bipolar (Series) How to Read SpecificationsPage C-9 Motor Wiring DiagramsPage C-189
Dimensions
L2
0.590.04
L1
0.08 (2)
Enter the winding specification in the box () within the model number.
The length of machining on double shaft model is 0.5910.010 (150.25). These dimensions are for double shaft models. For single shaft models, ignore the shaded area.
Features C-184
Accessories C-185
Stepping Motors
SpeedTorque Characteristics
PK243M-01BA Bipolar (Series)
Bipolar Constant Current Driver With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34107 kg.m2) Step Angle: 0.9/step Bipolar Series (0.67 A/Phase) 24 VDC 48 VDC
0.25 0.20
Introduction
Pullout Torque 20
Torque [oz-in]
Torque [Nm]
20
10
10 fs 400 600 Speed [r/min] 2 4 Pulse Speed [kHz] 800 1000 Full Step 0 0 500 0 4
Pullout Torque
AS AS PLUS
Closed Loop A
AC Input
fs 200 0
fs
2000
ASC
PK243M-02BA Unipolar
RK
Power Input: 24 VDC Unipolar Constant Current Driver With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34 107 kgm2) Step Angle: 0.9/step Unipolar (0.6 A/Phase)
CFK2 CSK
20 Pullout Torque 10 fs
DC Input
PMC
10
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
UMK
fs 100 0 1
1000 8
CSK
PK243M-03BA Unipolar
Power Input: 13.5 VDC Unipolar Constant Voltage Driver With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34 107 kgm2) Step Angle: 0.9/step Unipolar (External Resistance: 0 ) 0.20 0.15 0.10 0.05 Torque [oz-in] Torque [Nm] 30
PK/PV
0.25
PK
Driver
20 Pullout Torque 10
20
10
Pullout Torque
Controllers
fs 100 0 1
fs 400 500 Full Step 0 0 100 0 1 200 300 400 Speed [r/min] 3 500 600 Full Step
C-209
SMK Accessories
Torque [oz-in]
Torque [oz-in]
Torque [Nm]
Torque [Nm]
Torque [oz-in]
Torque [oz-in]
Torque [Nm]
Torque [Nm]
Torque [oz-in]
Torque [Nm]
C-210
Stepping Motors
1.10 in. ( 28 mm) 1.38 in. ( 35 mm) 1.65 in. ( 42 mm) 2.22 in. ( 56.4 mm) 2.36 in. ( 60 mm) 3.35 in. ( 85 mm) 3.54 in. ( 90 mm)
SpeedTorque Characteristics
PK244M-01BA Bipolar (Series)
Bipolar Constant Current Driver With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34107 kg.m2) Step Angle: 0.9/step Bipolar Series (0.85 A/Phase) 24 VDC 48 VDC
Pullout Torque
fs 400 600 Speed [r/min] 4 Pulse Speed [kHz] 800 1000 Full Step 0 0 500 0 4 1000 1500 Speed [r/min] 8 Pulse Speed [kHz] 12 2000 2500 Full Step
PK244M-02BA Unipolar
Power Input: 24 VDC Unipolar Constant Current Driver With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34 107 kgm2) Step Angle: 0.9/step Unipolar (0.8 A/Phase) 0.30 0.25 0.20 0.15 0.10 0.05 0 10 fs 0 500 Speed [r/min] 0 2 4 6 Pulse Speed [kHz] 8 Full Step 1000 1500 30 20 Pullout Torque 40
0.35
Pullout Torque
0.05 0
PK244M-03BA Unipolar
Power Input: 13.5 VDC Unipolar Constant Voltage Driver With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34 107 kgm2) Step Angle: 0.9/step Unipolar (External Resistance: 0 ) 0.30 0.25 0.20 0.15 0.10 0.05 0 10 0 30 20 Pullout Torque fs 100 0 1 200 300 400 Speed [r/min] 3 500 600 Full Step 40
0.35
Features C-184
Accessories C-185
Stepping Motors
PK245M-01BA Unipolar
Power Input: 24 VDC Unipolar Constant Current Driver With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34107 kg.m2) Step Angle: 0.9/step Unipolar (1.2 A/Phase) 50 0.3 40 Torque [oz-in] 30 20 10
0.4
Introduction
40 Pullout Torque 20
Torque [Nm]
0.2
AS
0.1 fs 400 600 Speed [r/min] 2 4 Pulse Speed [kHz] 800 1000 Full Step 0 0 500 0 4
Pullout Torque
Closed Loop A
AC Input
AS PLUS
fs 200 0
fs
2000
ASC
PK245M-02BA Unipolar
Power Input: 24 VDC Unipolar Constant Current Driver With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34 107 kgm2) Step Angle: 0.9/step 50 0.3 Torque [oz-in] Torque [Nm] 40 30 Unipolar (0.8 A/Phase)
RK
0.4
CFK2 CSK
DC Input
40 Pullout Torque 20
0.2
PMC
20 10
0.1
UMK
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
fs 200 0 2 400 600 Speed [r/min] 4 Pulse Speed [kHz] 800 1000 Full Step
fs 0 0 500 Speed [r/min] 0 2 4 6 Pulse Speed [kHz] 8 Full Step 1000 1500
CSK PK/PV
PK245M-03BA Unipolar
Power Input: 13.5 VDC Unipolar Constant Voltage Driver With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34 107 kgm2) Step Angle: 0.9/step 50 0.3 Torque [oz-in] Torque [Nm] 40 30 20 10 fs 0 0 100 0 1 200 300 Speed [r/min] 2 Pulse Speed [kHz] 400 3 500 Full Step Pullout Torque Unipolar (External Resistance: 0 )
PK
0.4
Driver
0.2
Controllers
0.1
C-211
SMK Accessories
0.1770.006 (4.50.15)
0.472 (12)
0.71 (18)
0.19690 0.0005
0.1770.006 (4.50.15)
0.31 (8)
1.2200.004 (310.1)
50 0.012
The length of machining on double shaft model is 0.5910.010 (150.25). These dimensions are for double shaft models. For single shaft models, ignore the shaded area.
C-212
Stepping Motors
1.10 in. ( 28 mm) 1.38 in. ( 35 mm) 1.65 in. ( 42 mm) 2.22 in. ( 56.4 mm) 2.36 in. ( 60 mm) 3.35 in. ( 85 mm) 3.54 in. ( 90 mm)
Specifications
Model Single Shaft Double Shaft PK243A1A-SG PK243B1A-SG PK243A2A-SG PK243B2A-SG
Motor Specifications
Connection Type Bipolar (Series) Unipolar Bipolar (Series) Unipolar Current per Phase A/phase 0.67 0.95 0.28 0.4 Voltage VDC 5.6 4.0 13 9.6 Resistance per Phase /phase 8.4 4.2 48 24 Inductance mH/phase 10 2.5 60 15 Rotor Inertia J oz-in2 0.191 0.191 kgm2 35107 35107 6 6 Lead Wires Corresponding DC-Input Motor & Driver Package CSK243TA-SG /
How to Read SpecificationsPage C-9 Motor Wiring DiagramsPage C-189 Enter the gear ratio in the box () within the model number.
Gearmotor Specifications
Model Single Shaft Double Shaft PK243A1A-SG3.6, PK243A2A-SG3.6 PK243B1A-SG3.6, PK243B2A-SG3.6 PK243A1A-SG7.2, PK243A2A-SG7.2 PK243B1A-SG7.2, PK243B2A-SG7.2 PK243A1A-SG9, PK243A2A-SG9 PK243B1A-SG9, PK243B2A-SG9 PK243A1A-SG10, PK243A2A-SG10 PK243B1A-SG10, PK243B2A-SG10 PK243A1A-SG18, PK243A2A-SG18 PK243B1A-SG18, PK243B2A-SG18 PK243A1A-SG36, PK243A2A-SG36 PK243B1A-SG36, PK243B2A-SG36 Gear Ratio Holding Torque lb-in 3.6:1 7.2:1 9:1 10:1 18:1 36:1 1.77 3.5 4.4 4.9 7.0 7.0 Nm 0.2 0.4 0.5 0.56 0.8 0.8 0.5 0.25 0.2 0.18 0.1 0.05 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
L2
0.590.04
Scale 1/4, Unit = inch (mm) Model PK243A A-SG PK243B A-SG L1 inch (mm) 2.32 (59) L2 inch (mm) / 2.91 (74) Weight lb. (kg) 0.77 (0.35) DXF B091U
L1 0.12 (3)
(151)
0.790.04 (201)
Enter the winding specification in the box ( ) within the model number. Enter the gear ratio in the box () within the model number.
Mounting Screws (included) No.4-40 UNC 0.39 in. (10 mm) NO.4-40 UNC 0.28 (7) Deep Min. 4 Places
Features C-184
Accessories C-185
Stepping Motors
SpeedTorque Characteristics
PK243B1A-SG Bipolar (Series) 24 VDC
1.0 8.0 0.8 Torque [lb-in] Torque [Nm] 6.0 Permissible Torque 0.6 0.4 0.2 0
Power Input: 24 VDC Bipolar Constant Current Driver With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34107 kg.m2) Bipolar Series (0.67 A/Phase)
4.0
2.0
Introduction
4.0
AS
2.0
Closed Loop A
AC Input
AS PLUS
200
600
800
100
200
500
600
ASC RK CFK2
4.0
CSK
2.0
DC Input
PMC
200
600
800
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
PK243B2A-SG Unipolar
1 8 0.8 Power Input: 24 VDC Unipolar Constant Current Driver With Damper D4CL-5.0F: JL = 0.186 oz-in2 (34 107 kgm2) Unipolar (0.4 A/Phase)
Torque [lb-in]
Torque [Nm]
6 Permissible Torque 4
4.0
PK
Driver
400
600
Controllers
SMK
2.0
Accessories
400
600
C-213
(6.350 0.012)
1.860.014 (47.140.35)
1.50000.0012 (38.10.03)
0.2280.006 (5.80.15)
(6.350 0.012)
C-214
Stepping Motors
1.10 in. ( 28 mm) 1.38 in. ( 35 mm) 1.65 in. ( 42 mm) 2.22 in. ( 56.4 mm) 2.36 in. ( 60 mm) 3.35 in. ( 85 mm) 3.54 in. ( 90 mm)
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 oz-in 68 55 68 55 68 55 68 68 55 166 127 166 127 166 127 166 166 127 240 191 240 191 240 191 240 240 191 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 2.6 480107 8 / 2.6 2.6 2.6 480107 480107 480107 6 6 6 / UMK268A/ CSK268-TA / 1.64 300107 8 / 1.64 1.64 1.64 300107 300107 300107 6 6 6 / UMK266A/ CSK266-TA / 0.66 120107 8 / Rotor Inertia J oz-in2 0.66 0.66 0.66 kgm2 120107 120107 120107 6 6 6 Lead Wires Corresponding AC/DC-Input Motor & Driver Package / UMK264A/ CSK264-TA /
Dimensions
0.630.04 (161) 0.5910.010 (150.25) L1 L2
Model PK264-0A PK264-E2.0A PK264-0B PK264-E2.0B PK266-0A PK266-E2.0A PK266-0B PK266-E2.0B PK268-0A PK268-E2.0A PK268-0B PK268-E2.0B
L1 inch (mm)
L2 inch (mm) /
DXF
0.790.04 (201)
1.54 (39) 2.17 (55) / 2.13 (54) 2.76 (70) / 2.99 (76) 3.62 (92)
0.99 (0.45)
B084
1.5 (0.7)
B085
6 or 8 Motor Leads 12 inch (300mm) Length UL Style 3265, AWG 22 (6 Leads) AWG 24 (8 Leads)
2.2 (1)
B086
These dimensions are for double shaft models. For single shaft models, ignore the shaded area.
Enter the winding specification in the box () within the model number.
Features C-184
Accessories C-185
Stepping Motors
SpeedTorque Characteristics
PK264-01B Bipolar (Series)
Bipolar Constant Current Driver With Damper D6CL-6.3F: JL = 0.77 oz-in2 (140107 kg.m2) Step Angle: 1.8/step 80 0.5 Torque [oz-in] Torque [Nm] 0.4 0.3 0.2 0.1 0 0 fs 200 0 1 fs 400 600 Speed [r/min] 2 Pulse Speed [kHz] 800 1000 Full Step 60 Bipolar Series (0.71 A/Phase)
0.6
24 VDC 48 VDC
0.5
70
Introduction
40 30 20 Pullout Torque
40 Pullout Torque 20
AS AS PLUS ASC
Closed Loop A
PK264-02B Unipolar
Power Input: 24 VDC Unipolar Constant Current Driver With Damper D6CL-6.3F: JL=0.77 oz-in2 (140107kg.m2) Step Angle: 1.8/step 70 60 Unipolar (2.0 A/Phase)
RK
0.6
24 VDC 48 VDC
Torque [Nm]
CFK2
50 40 30 Pullout Torque 20 10
Pullout Torque 40
CSK
DC Input
20
PMC
fs 500 0 2 1000 1500 Speed [r/min] 4 Pulse Speed [kHz] 6 2000 2500 8 Full Step
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
UMK
PK264-03B Unipolar
Power Input: 24 VDC Unipolar Constant Current Driver With Damper D6CL-6.3F: JL = 0.77 oz-in2 (140 107 kgm2) Step Angle: 1.8/step Unipolar (3.0 A/Phase) 0.4 Torque [oz-in] Torque [Nm] 0.3 0.2 0.1 10 0 0 fs 500 0 2 1000 1500 Speed [r/min] 4 Pulse Speed [kHz] 6 2000 2500 8 Full Step 60 50 40 30 20 Pullout Torque
CSK
0.6
24 VDC 48 VDC
0.5
70
PK/PV PK
40
Pullout Torque
Driver
20
Controllers
0.6
24 VDC 48 VDC
0.6
24 VDC 48 VDC
SMK
40 Pullout Torque 20
Accessories
20
C-215
Torque [oz-in]
Torque [Nm]
Torque [oz-in]
Torque [Nm]
Torque [oz-in]
Torque [oz-in]
Torque [Nm]
Torque [Nm]
Torque [oz-in]
Torque [oz-in]
Torque [Nm]
Torque [Nm]
Torque [oz-in]
100 Pullout Torque 50 fs fs 400 600 Speed [r/min] 1 2 Pulse Speed [kHz]
Torque [oz-in]
Torque [Nm]
Torque [Nm]
C-216
Stepping Motors
1.10 in. ( 28 mm) 1.38 in. ( 35 mm) 1.65 in. ( 42 mm) 2.22 in. ( 56.4 mm) 2.36 in. ( 60 mm) 3.35 in. ( 85 mm) 3.54 in. ( 90 mm)
SpeedTorque Characteristics
PK266-01B Bipolar (Series)
Bipolar Constant Current Driver With Damper D6CL-6.3F: JL = 0.77 oz-in2 (140107 kg.m2) Step Angle: 1.8/step 200 Bipolar Series (0.71 A/Phase) 1.0 150
1.5
24 VDC 48 VDC
1.0
140
0.5
50 fs 200
50 0 0.25
fs 500 Speed [r/min] 0 1 2 3 Pulse Speed [kHz] 4 Full Step 1000 1500
PK266-02B Unipolar
Power Input: 24 VDC Unipolar Constant Current Driver With Damper D6CL-6.3F: JL=0.77 oz-in2 (140107kg.m2) Step Angle: 1.8/step Unipolar (2.0 A/Phase) 1.0 0.8 0.6 0.4 0.2 150
1.5
24 VDC 48 VDC
1.2
100 Pullout Torque 50 fs 100 0 0.5 200 300 Speed [r/min] 1.0 Pulse Speed [kHz] fs 400
0.5
fs 500 0 2 1000 1500 Speed [r/min] 4 Pulse Speed [kHz] 6 2000 2500 8 Full Step
PK266-03B Unipolar
Power Input: 24 VDC Unipolar Constant Current Driver With Damper D6CL-6.3F: JL = 0.77 oz-in2 (140 107 kgm2) Step Angle: 1.8/step Unipolar (3.0 A/Phase) 0.8 120 100 80 60 40 20 Pullout Torque
1.5
24 VDC 48 VDC
1.0
140
1.0
150
100
Pullout Torque
0.5
50 fs 100 0 0.5 200 300 Speed [r/min] 1.0 Pulse Speed [kHz] 400 fs 500 Full Step
fs 500 0 2 1000 1500 Speed [r/min] 4 Pulse Speed [kHz] 6 2000 2500 8 Full Step
1.5
24 VDC 48 VDC
1.5
24 VDC 48 VDC
1.0
150
100 Pullout Torque 50 fs 200 300 Speed [r/min] 0.5 1.0 Pulse Speed [kHz] fs 400
0.5
0.5
200 0
800
100 0
Features C-184
Accessories C-185
Stepping Motors
PK268-01B Unipolar
Power Input: 24 VDC Unipolar Constant Current Driver With Damper D6CL-6.3F: JL = 0.77 oz-in2 (140 107 kgm2) Step Angle: 1.8/step Unipolar (1.0 A/Phase) 150 Torque [oz-in]
2.5
24 VDC 48 VDC
Torque [Nm]
Introduction
100
Pullout Torque
100
50
AS
Closed Loop A
AC Input
fs 0 100 0 0.5 200 300 Speed [r/min] 1 Pulse Speed [kHz] 400 500 1.5 Full Step
50
150 0.50
AS PLUS
PK268-02B Unipolar
Power Input: 24 VDC Unipolar Constant Current Driver With Damper D6CL-6.3F: JL = 0.77 oz-in2 (140107 kg.m2) Step Angle: 1.8/step Unipolar (2.0 A/Phase) 200
ASC
2.5
24 VDC 48 VDC
Torque [Nm]
RK CFK2
Torque [oz-in]
150
100
CSK
100
Pullout Torque 50 fs 500 0 2 1000 Speed [r/min] 4 Pulse Speed [kHz] 1500 2000 Full Step
DC Input
PMC UMK
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
PK268-03B Unipolar
Power Input: 24 VDC Unipolar Constant Current Driver With Damper D6CL-6.3F: JL = 0.77 oz-in2 (140 107 kgm2) Step Angle: 1.8/step Unipolar (3.0 A/Phase) 150 Torque [oz-in]
CSK
24 VDC 48 VDC
Torque [Nm]
PK/PV
200
100
PK
Pullout Torque
100
Pullout Torque
50 fs 500 0 2 1000 1500 Speed [r/min] 4 Pulse Speed [kHz] 6 2000 2500 8 Full Step
Driver
100 0 0.5
Controllers
2.5
24 VDC 48 VDC
2.5
24 VDC 48 VDC
SMK
Accessories
100
100 0
200
700
800
100 0
400
C-217
(6.350 0.012)
1.860.014 (47.140.35)
1.50000.0012 (38.10.03)
0.2280.006 (5.80.15)
(6.350 0.012)
C-218
Stepping Motors
1.10 in. ( 28 mm) 1.38 in. ( 35 mm) 1.65 in. ( 42 mm) 2.22 in. ( 56.4 mm) 2.36 in. ( 60 mm) 3.35 in. ( 85 mm) 3.54 in. ( 90 mm)
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 oz-in 68 55 68 55 68 55 68 68 55 166 127 166 127 166 127 166 166 127 240 191 240 191 240 191 240 240 191 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 2.6 480107 8 / 2.6 2.6 2.6 480107 480107 480107 6 6 6 / UMK268MA/ CSK268M-TA / 1.64 300107 8 / 1.64 300107 1.64 300107 1.64 300107 6 6 6 / UMK266MA/ CSK266M-TA / 0.66 120107 8 / Rotor Inertia J oz-in2 kgm2 6 6 6 Lead Wires Corresponding AC/DC-Input Motor & Driver Package / UMK264MA/ CSK264M-TA /
Dimensions
L2 0.630.04 (161) 0.5910.010 (150.25) L1
Model PK264M-0A PK264M-E2.0A PK264M-0B PK264M-E2.0B PK266M-0A PK266M-E2.0A PK266M-0B PK266M-E2.0B PK268M-0A PK268M-E2.0A PK268M-0B PK268M-E2.0B
L1 inch (mm)
L2 inch (mm) /
DXF
0.790.04 (201)
1.54 (39) 2.17 (55) / 2.13 (54) 2.76 (70) / 2.99 (76) 3.62 (92)
0.99 (0.45)
B084
1.54 (0.7)
B085
6 or 8 Motor Leads 12 inch (300 mm) Length UL Style 3265, AWG 22 (6 Leads) AWG 24 (8 Leads)
2.2 (1)
B086
These dimensions are for double shaft models. For single shaft models, ignore the shaded area.
Enter the winding specification in the box () within the model number.
Features C-184
Accessories C-185
Stepping Motors
SpeedTorque Characteristics
PK264M-01B Bipolar (Series)
Bipolar Constant Current Driver With Damper D6CL-6.3 F : JL = 0.77 oz-in2 (140107 kgm2) Step Angle : 0.9/step 80 Bipolar Series (0.71 A/Phase) 60 Torque [oz-in]
24 VDC 48 VDC
Torque [Nm]
70 60 50
Introduction
40 30 20 Pullout Torque
40 Pullout Torque 20 fs 200 2 400 600 Speed [r/min] 4 Pulse Speed [kHz] 800 1000 6 Full Step
AS
Closed Loop A
10 fs 0 0 0 500 Speed [r/min] 0 2 4 6 Pulse Speed [kHz] 8 Full Step 1000 1500
AC Input
AS PLUS
ASC
PK264M-02B Unipolar
Power Input: 24 VDC Unipolar Constant Current Driver With Damper D6CL-6.3 F : JL = 0.77 oz-in2 (140107 kgm2) Step Angle: 0.9/step Unipolar (2.0 A/Phase) 0.4 Torque [N.m] 0.3 0.2 0.1 fs 0 0 500 4 1000 1500 Speed [r/min] 8 12 Pulse Speed [kHz] 2000 2500 Full Step Torque [oz-in] 60
0.6
24 VDC 48 VDC
0.5
RK CFK2
40 Pullout Torque 20
CSK
DC Input
20
PMC UMK
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
PK264M-03B Unipolar
Power Input: 24 VDC Unipolar Constant Current Driver With Damper D6CL-6.3 F: JL = 0.77 oz-in2 (140 107 kgm2) Step Angle: 0.9/step Unipolar (3.0 A/Phase)
CSK
0.6
24 VDC 48 VDC
Torque [Nm]
70 60 50 40 30 20 10
PK/PV
Pullout Torque
PK
40 Pullout Torque 20
Driver
fs 0 0 500 0 5 1000 1500 Speed [r/min] 10 Pulse Speed [kHz] 2000 2500 15 Full Step
Controllers
0.6
24 VDC 48 VDC
0.6
24 VDC 48 VDC
SMK
40 Pullout Torque 20
Accessories
20
C-219
Torque [oz-in]
Torque [N.m]
Torque [oz-in]
Torque [Nm]
Torque [Nm]
Torque [oz-in]
Torque [N.m]
1.0
Torque [oz-in]
Torque [oz-in]
Torque [N.m]
Torque [oz-in]
Torque [Nm]
Torque [oz-in]
Torque [oz-in]
Torque [N.m]
Torque [N.m]
C-220
Stepping Motors
1.10 in. ( 28 mm) 1.38 in. ( 35 mm) 1.65 in. ( 42 mm) 2.22 in. ( 56.4 mm) 2.36 in. ( 60 mm) 3.35 in. ( 85 mm) 3.54 in. ( 90 mm)
SpeedTorque Characteristics
PK266M-01B Bipolar (Series)
Bipolar Constant Current Driver With Damper D6CL-6.3 F : JL = 0.77 oz-in2 (140107 kgm2) Step Angle : 0.9/step 200 Bipolar Series (0.71 A/Phase) 1.0 150 Pullout Torque 100
1.5
24 VDC 48 VDC
1.0 0.8
0.5
Pullout Torque
50 fs 100 150 Speed [r/min] 0.5 1.0 Pulse Speed [kHz] fs 200 250 Full Step
fs 200 0 2 400 600 Speed [r/min] 4 Pulse Speed [kHz] 800 6 1000 Full Step
50
PK266M-02B Unipolar
Power Input : 24 VDC Unipolar Constant Current Driver With Damper D6CL-6.3 F : JL = 0.77 oz-in2 (140107 kgm2) Step Angle : 0.9/step 150 Unipolar (2.0 A/Phase)
1.5
24 VDC 48 VDC
1.2 1.0
100
0.5
Pullout Torque 50 fs
50 0.2 0 0 fs 100 1 200 300 Speed [r/min] 2 Pulse Speed [kHz] 400 500 Full Step 0 0
500 4
2000
PK266M-03B Unipolar
Power Input: 24 VDC Unipolar Constant Current Driver With Damper D6CL-6.3 F : JL = 0.77 oz-in2 (140107 kgm2) Step Angle: 0.9/step Unipolar (3.0 A/Phase)
1.5
24 VDC 48 VDC
1.0 0.8
100 Pullout Torque 50 fs 100 1 fs 200 300 Speed [r/min] 2 Pulse Speed [kHz]
Pullout Torque
0.5
fs 400 500 Full Step 0 0 500 0 5 1000 1500 Speed [r/min] 10 Pulse Speed [kHz] 2000 2500 15 Full Step
1.5
24 VDC 48 VDC
1.5
24 VDC 48 VDC
0.5
0.5
50 fs 100 1 200 300 Speed [r/min] 2 Pulse Speed [kHz] 400 500 Full Step
Features C-184
Accessories C-185
Stepping Motors
PK268M-01B Unipolar
Power Input: 24 VDC Unipolar Constant Current Driver With Damper D6CL-6.3 F : JL = 0.77 oz-in2 (140107 kgm2) Step Angle: 0.9/step Unipolar (1.0 A/Phase) 1.2 1.0 Torque [oz-in] Torque [Nm] 0.8 0.6 0.4 0.2 150
24 VDC 48 VDC
1.4
Introduction
AS
Closed Loop A
AC Input
fs 50
fs 150 1.0 200 Full Step 0 0 100 0 1 200 300 Speed [r/min] 2 Pulse Speed [kHz] 400 3 500 Full Step
AS PLUS
PK268M-02B Unipolar
Power Input : 24 VDC Unipolar Constant Current Driver With Damper D6CL-6.3 F : JL = 0.77 oz-in2 (140107 kgm2) Step Angle : 0.9/step 200 Unipolar (2.0 A/Phase) Torque [oz-in]
ASC
24 VDC 48 VDC
Torque [N.m]
RK CFK2
150
100
CSK
100 Pullout Torque 0 fs 50 0.5 100 150 Speed [r/min] 1 Pulse Speed [kHz] fs 200
Pullout Torque 0.4 0.2 250 Full Step 0 0 50 fs 500 4 1000 Speed [r/min] 8 Pulse Speed [kHz] 1500 2000 Full Step
DC Input
PMC
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
UMK
PK268M-03B Unipolar
Power Input: 24 VDC Unipolar Constant Current Driver With Damper D6CL-6.3 F : JL = 0.77 oz-in2 (140107 kgm2) Step Angle: 0.9/step Unipolar (3.0 A/Phase) 1.2 1.0 0.8 0.6 0.4 0.2 Torque [oz-in] Torque [Nm] 150
CSK
24 VDC 48 VDC
1.4
PK/PV
PK
100
Driver
fs 100 1
fs 200 300 Speed [r/min] 2 Pulse Speed [kHz] 400 500 Full Step
500 0 2 4
1500 10 12
Controllers
24 VDC 48 VDC
24 VDC 48 VDC
SMK
200
200
Accessories
100
Pullout Torque
100 Pullout Torque 0 fs 100 150 Speed [r/min] 0.5 1 Pulse Speed [kHz] fs 200
fs 100 1
400
50
C-221
0.470.02 (120.5)
(7.9370 0.015)
0.94 (24)
(6.350 0.012)
0.2280.006 (5.80.15)
0.2950.004 (7.50.1)
0.390.02 (100.5)
C-222
Stepping Motors
1.10 in. ( 28 mm) 1.38 in. ( 35 mm) 1.65 in. ( 42 mm) 2.22 in. ( 56.4 mm) 2.36 in. ( 60 mm) 3.35 in. ( 85 mm) 3.54 in. ( 90 mm)
Specifications
Model Single Shaft Double Shaft PK264A1A-SG PK264B1A-SG PK264A2A-SG PK264B2A-SG
Motor Specifications
Connection Type Bipolar (Series) Unipolar Bipolar (Series) Unipolar Current per Phase A/phase 0.71 1 1.4 2 Voltage VDC 8.1 5.7 3.9 2.8 Resistance per Phase /phase 11.4 5.7 2.8 1.4 Inductance mH/phase 21.6 5.4 5.6 1.4 Rotor Inertia J oz-in2 0.66 0.66 kgm2 120107 120107 6 6 Lead Wires Corresponding DC-Input Motor & Driver Package / CSK264TA-SG
How to Read SpecificationsPage C-9 Motor Wiring DiagramsPage C-189 Enter the gear ratio in the box () within the model number.
Gearmotor Specifications
Model Single Shaft Double Shaft PK264A1A-SG3.6, PK264A2A-SG3.6 PK264B1A-SG3.6, PK264B2A-SG3.6 PK264A1A-SG7.2, PK264A2A-SG7.2 PK264B1A-SG7.2, PK264B2A-SG7.2 PK264A1A-SG9, PK264A2A-SG9 PK264B1A-SG9, PK264B2A-SG9 PK264A1A-SG10, PK264A2A-SG10 PK264B1A-SG10, PK264B2A-SG10 PK264A1A-SG18, PK264A2A-SG18 PK264B1A-SG18, PK264B2A-SG18 PK264A1A-SG36, PK264A2A-SG36 PK264B1A-SG36, PK264B2A-SG36 Gear Ratio Holding Torque lb-in 3.6:1 7.2:1 9:1 10:1 18:1 36:1 8.8 17.7 22 23 26 35 Nm 1 2 2.5 2.7 3 4 0.5 0.25 0.2 0.18 0.1 0.05 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
2.36 (60)
2.76 0.02 (700.5)
Mounting Screws (included) No.8-32 UNC 0.59 in. (15 mm) length, 4 pieces These dimensions are for double shaft models. For single shaft models, ignore the shaded area.
DXF B092U
Enter the winding specification in the box ( ) within the model number. Enter the gear ratio in the box () within the model number.
Features C-184
Accessories C-185
Stepping Motors
SpeedTorque Characteristics
PK264B1A-SG Bipolar (Series) 24 VDC
5.0 40 4.0 Torque [lb-in] Torque [Nm]
Power Input: 24 VDC Bipolar Constant Current Driver With Damper D6CL-6.3F: JL = 0.77 oz-in2 (140107 kg.m2) Bipolar Series (0.71 A/Phase) PK264B1A-SG3.6 PK264B1A-SG7.2 PK264B1A-SG9 PK264B1A-SG10 PK264B1A-SG18 PK264B1A-SG36 Permissible Torque 0 100 200 300 400 Speed [r/min] 500 600
30
30 Permissible Torque 20
Introduction
20
AS
10
10
Closed Loop A
AC Input
AS PLUS
100
200
500
600
ASC RK CFK2
20
CSK
10
DC Input
PMC
100
200
500
600
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
PK264B2A-SG Unipolar
5.0 40 4.0 Torque [lb-in] Torque [Nm] Power Input : 24 VDC Unipolar Constant Current Driver With Damper D6CL-6.3 F : JL = 0.77 oz-in2 (140107 kgm2) Unipolar (2.0 A/Phase) PK264B2A-SG3.6 PK264B2A-SG7.2 PK264B2A-SG9 PK264B2A-SG10 PK264B2A-SG18 PK264B2A-SG36
30
30 Permissible Torque 20
20
PK
10
10
Driver
100
200
500
600
100
200
500
600
Controllers
20
SMK
10
Accessories
100
200
500
600
C-223
(6.350 0.012)
1.50000.0012 (38.10.03)
0.5910.010 (150.25)
1.860.014 (47.140.35)
0.2280.006 (5.80.15)
(6.350 0.012)
0.40 (10.1)
1.20 (30.6)
0.28 (7)
0.2950.006 (7.50.15)
0.31250 0.0006
0.630.04 (161)
7.937 0 0.015
1.50000.0012 (38.10.03)
0.7870.010 (200.25)
1.860.014 (47.140.35)
0.2280.006 (5.80.15)
(6.350 0.012)
1.20 (30.6)
These dimensions are for double shaft models. For single shaft models, ignore the shaded area.
C-224
0.28 (7)
Stepping Motors
1.10 in. ( 28 mm) 1.38 in. ( 35 mm) 1.65 in. ( 42 mm) 2.22 in. ( 56.4 mm) 2.36 in. ( 60 mm) 3.35 in. ( 85 mm) 3.54 in. ( 90 mm)
Specifications
Model Single Shaft Double Shaft PV264-D2.8AA PV264-D2.8BA PV264-02AA PV264-02BA PV266-D2.8AA PV266-D2.8BA PV266-02AA PV266-02BA PV267-D2.8AA PV267-D2.8BA PV267-02AA PV267-02BA PV269-D2.8AA PV269-D2.8BA PV269-02AA PV269-02BA Connection Type Holding Torque oz-in Bipolar Bipolar (Series) Unipolar Bipolar Bipolar (Series) Unipolar Bipolar Bipolar (Series) Unipolar Bipolar Bipolar (Series) Unipolar 150 150 106 240 240 191 310 310 240 440 440 310 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 oz-in2 1.53 1.53 2.5 2.5 3.1 3.1 4.9 4.9 kgm2 280107 280107 450107 450107 570107 570107 900107 900107 4 6 4 6 4 6 4 6 Lead Wires
Dimensions
Model PV264-D2.8AA PV264-02AA PV264-D2.8BA PV264-02BA PV266-D2.8AA PV266-02AA PV266-D2.8BA PV266-02BA PV267-D2.8AA PV267-02AA PV267-D2.8BA PV267-02BA
L1 inch (mm)
L2 inch (mm) /
DXF
1.71 (43.5) 2.34 (59.5) / 2.13 (54) 2.76 (70) / 2.56 (65) 3.19 (81)
1.3 (0.6)
B279U
0.5910.010 (150.25)
1.8 (0.83)
B232U
0.31 (8)
2.2 (1.02)
B813U
PV269
3.98 (101) 3.35 (85)
DXF
3.1 (1.43)
B814U
0.31 (8)
4 or 6 Motor Leads 12 inch (300mm) Length 0.40 UL Style 3265, AWG 22 (10.1)
Features C-184
Accessories C-185
Stepping Motors
SpeedTorque Characteristics
PV264-D2.8BA Bipolar
1.6 1.4 1.2 Torque [N.m] 1.0 0.8 0.6 0.4 0.2 0 0 200 0 1 fs 400 600 Speed [r/min] 2 Pulse Speed [kHz] 800 1000 Full Step Torque [oz-in] 150 200 Bipolar Constant Current Driver With Damper D6CL-6.3F: JL = 0.77 oz-in2 (140 107 kgm2) Step Angle: 1.8/step Bipolar (2.8 A/Phase)
24 VDC 48 VDC
Introduction
100
Pullout Torque
50
AS AS PLUS
Closed Loop A
PV266-D2.8BA Bipolar
Bipolar Constant Current Driver With Damper D6CL-6.3F: JL = 0.77 oz-in2 (140 107 kgm2) Step Angle: 1.8/step 250 200 150 100 50 Pullout Torque Bipolar (2.8 A/Phase)
ASC
2.0 1.8 1.6 Torque [N.m] 1.2 1.0 0.8 0.6 0.4 0.2 0 Torque [oz-in] 1.4
RK
24 VDC 48 VDC
DC Input
200 0 1
800
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
UMK
PV267-D2.8BA Bipolar
Bipolar Constant Current Driver With Damper D6CL-6.3F: JL = 0.77 oz-in2 (140 107 kgm2) Step Angle: 1.8/step 400 2.5 Torque [N.m] Torque [oz-in] 2.0 1.5 1.0 0.5 0 0 fs 200 0 1 fs 400 600 Speed [r/min] 2 Pulse Speed [kHz] 800 1000 Full Step 300 Bipolar (2.8 A/Phase)
CSK
3.0
24 VDC 48 VDC
PK/PV PK
Driver
Controllers
PV269-D2.8BA Bipolar
Bipolar Constant Current Driver With Damper D6CL-6.3F: JL = 0.77 oz-in2 (140 107 kgm2) Step Angle: 1.8/step 500 400 300 200 Pullout Torque 100 0 fs 200 0 1 fs 400 600 Speed [r/min] 2 Pulse Speed [kHz] Bipolar (2.8 A/Phase)
4.0 3.5 3.0 Torque [N.m] 2.5 2.0 1.5 1.0 0.5 0 Torque [oz-in]
24 VDC 48 VDC
SMK Accessories
800
C-225
Torque [oz-in]
1.0
150 100 50
Pullout Torque
Torque [oz-in]
Torque [Nm]
Torque [Nm]
Torque [oz-in]
Torque [oz-in]
Torque [Nm]
Torque [Nm]
Torque [oz-in]
2.0
Torque [oz-in]
Torque [Nm]
Torque [Nm]
Torque [oz-in]
2.0
Torque [oz-in]
Torque [Nm]
Torque [Nm]
C-226
Stepping Motors
1.10 in. ( 28 mm) 1.38 in. ( 35 mm) 1.65 in. ( 42 mm) 2.22 in. ( 56.4 mm) 2.36 in. ( 60 mm) 3.35 in. ( 85 mm) 3.54 in. ( 90 mm)
PV264-02BA Unipolar
Power Input: 24 VDC Unipolar Constant Current Driver With Damper D6CL-6.3F: JL = 0.77 oz-in2 (140 107 kgm2) Step Angle: 1.8/step 100 80 60 40 20 0 fs 500 0 2 1000 1500 Speed [r/min] 4 Pulse Speed [kHz] 6 2000 2500 8 Full Step Pullout Torque Unipolar (2 A/Phase)
2.0
24 VDC 48 VDC
0.5
0.1 fs 100 0 0.5 200 300 Speed [r/min] 1.0 Pulse Speed [kHz] 400 fs 500 Full Step 0
PV266-02BA Unipolar
Power Input: 24 VDC Unipolar Constant Current Driver With Damper D6CL-6.3F: JL = 0.77 oz-in2 (140 107 kgm2) Step Angle: 1.8/step 200 Unipolar (2 A/Phase)
2.0
24 VDC 48 VDC
1.5
1.0
1.0
0.5
0.5
50 fs 500 0 2 1000 1500 Speed [r/min] 4 Pulse Speed [kHz] 6 2000 2500 8 Full Step
100 0
PV267-02BA Unipolar
Power Input: 24 VDC Unipolar Constant Current Driver With Damper D6CL-6.3F: JL = 0.77 oz-in2 (140 107 kgm2) Step Angle: 1.8/step 200 Pullout Torque Unipolar (2 A/Phase)
4.0
24 VDC 48 VDC
1.5
1.0
150
100
0.5
1.0
50 fs fs 200 300 Speed [r/min] 0.5 1.0 Pulse Speed [kHz] fs 500 0 2 1000 1500 Speed [r/min] 4 Pulse Speed [kHz] 6 2000 2500 8 Full Step
100 0
400
PV269-02BA Unipolar
Power Input: 24 VDC Unipolar Constant Current Driver With Damper D6CL-6.3F: JL = 0.77 oz-in2 (140 107 kgm2) Step Angle: 1.8/step 400 Unipolar (2 A/Phase)
4.0
24 VDC 48 VDC
300
Pullout Torque
200
1.0
100 fs 500 Speed [r/min] Full Step 0 2 Pulse Speed [kHz] 4 Full Step 1000 1500
fs 100 0 0.5
400
500
Features C-184
Accessories C-185
Stepping Motors
Introduction
Specifications
Model Single Shaft Double Shaft PK296-01AA PK296-01BA PK296-02AA PK296-02BA PK296-03AA PK296-03BA PK296-F4.5A PK296-F4.5B PK299-01AA PK299-01BA PK299-02AA PK299-02BA PK299-03AA PK299-03BA PK299-F4.5A PK296-F4.5B PK2913-01AA PK2913-01BA PK2913-02AA PK2913-02BA PK2913-F4.0A PK2913-F4.0B 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 (Parallel) Bipolar (Series) Unipolar Holding Torque oz-in 440 310 440 310 440 310 440 440 310 880 620 880 620 880 620 880 880 620 1320 930 1320 930 1320 1320 930 Nm 3.1 2.2 3.1 2.2 3.1 2.2 3.1 3.1 2.2 6.2 4.4 6.2 4.4 6.2 4.4 6.2 6.2 4.4 9.3 6.6 9.3 6.6 9.3 9.3 6.6 Current per Phase A/phase 1.4 2 2.1 3 3.18 4.5 6.3 3.18 4.5 1.4 2 2.1 3 3.18 4.5 6.3 3.18 4.5 1.4 2 2.8 4 5.6 2.8 4 Voltage VDC 6.2 4.4 4.2 3 2.8 2 1.4 2.8 2 9 6.4 6 4.2 3.9 2.8 1.9 3.9 2.8 10 7.6 5.3 3.8 2.6 5.3 3.8 Resistance per Phase /phase 4.4 2.2 2 1 0.96 0.48 0.24 0.96 0.48 6.4 3.2 3 1.5 1.32 0.66 0.33 1.32 0.66 7.6 3.8 1.94 0.97 0.49 1.94 0.97 Inductance mH/phase 30.8 7.7 14 3.5 6 1.5 1.5 6 1.5 56 14 24 6 10 2.5 2.5 10 2.5 76.8 19.2 16.8 4.2 4.2 16.8 4.2 22 4000107 8 / 22 22 4000107 4000107 6 6 / 14.8 2700107 8 / 14.8 14.8 14.8 2700107 2700107 2700107 6 6 6 / / UMK299A/ UMK299AAT 7.7 1400107 8 / Rotor Inertia J oz-in2 7.7 7.7 7.7 kgm2 1400107 1400107 1400107 6 6 6 Lead Wires Corresponding AC-Input Motor & Driver Package / / UMK296A/ UMK296AAT
Closed Loop A Motor & Driver Packages 5-Phase Microstep 5-Phase Full/Half
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
UMK2913A/ UMK2913AAT
PK
Dimensions
L2 1.340.04 (341) L1
Driver
L1 inch (mm)
L2 inch (mm) /
DXF
A A'
A A'
0.9840.010 (250.25)
PK296-0BA PK296-F4.5B PK299-0AA PK299-F4.5A PK299-0BA PK299-F4.5B PK2913-0AA PK2913-F4.0A PK2913-0BA PK2913-F4.0B
2.60 (66) 3.94 (100) / 3.78 (96) 5.12 (130) / 4.96 (126) 6.30 (160)
3.7 (1.7)
B122U
Controllers
6.2 (2.8)
B123U
2.8750.001 (73.0250.03)
(12.70 0.013)
SMK
(12.70 0.013)
8.4 (3.8)
B124U
Accessories
90
0.4530.006 (11.50.15)
6 or 8 Motor Leads, 12 inch (300 mm) Length, UL Style 3265, AWG 20 (6 Leads) AWG 22 (8 Leads)
Enter the winding specification in the box () within the model name.
These dimensions are for double shaft models. For single shaft models, ignore the shaded area.
Connection Diagrams C-189 General Specifications C-240
ORIENTAL MOTOR GENERAL CATALOG 2003/2004
C-227
Torque [oz-in]
Torque [N.m]
300 Pullout Torque 200 100 0 fs 100 0 0.5 fs 300 200 Speed [r/min] 1 Pulse Speed [kHz]
1.5 1 0.5 0
Torque [oz-in]
Torque [Nm]
Torque [N.m]
300 Pullout Torque 200 100 0 fs fs 200 300 Speed [r/min] 0.5 1 Pulse Speed [kHz]
1.5 1 0.5 0
Torque [oz-in]
Torque [oz-in]
Torque [Nm]
Torque [oz-in]
300 200 Pullout Torque 100 0 fs fs 200 300 Speed [r/min] 0.5 1.0 Pulse Speed [kHz]
1.5 1 0.5
Torque [oz-in]
Torque [N.m]
Torque [Nm]
Torque [oz-in]
Torque [N.m]
Torque [N.m]
Torque [oz-in]
C-228
Stepping Motors
1.10 in. ( 28 mm) 1.38 in. ( 35 mm) 1.65 in. ( 42 mm) 2.22 in. ( 56.4 mm) 2.36 in. ( 60 mm) 3.35 in. ( 85 mm) 3.54 in. ( 90 mm)
SpeedTorque Characteristics
PK296-01BA Bipolar (Series)
3.5 3.0 400 2.5
Bipolar Constant Current Driver With Damper D9CL-12.7F: JL = 4.8 oz-in2 (870 107 kgm2) Step Angle: 1.8/step Bipolar Series (1.4 A/Phase)
24 VDC 48 VDC
2.5 2
200
100
Pullout Torque fs 500 0 2 1000 1500 Speed [r/min] 4 Pulse Speed [kHz] 6 2000 2500 8 Full Step
400
PK296-02BA Unipolar
Power Input: 24 VDC Unipolar Constant Current Driver With Damper D9CL-12.7F: JL = 4.8 oz-in2 (870 107 kgm2) Step Angle: 1.8/step 300 Unipolar (3.0 A/Phase)
3.5 3.0
500
24 VDC 48 VDC
2.5 2
200
100
Pullout Torque
100 0
400
fs 500 0 2 1000 1500 Speed [r/min] 4 Pulse Speed [kHz] 6 2000 2500 8 Full Step
PK296-03BA Unipolar
Power Input: 24 VDC Unipolar Constant Current Driver With Damper D9CL-12.7F: JL = 4.8 oz-in2 (870 107 kgm2) Step Angle: 1.8/step 300 Unipolar (4.5 A/Phase)
3.5 3.0
500
2.5 2
200
Pullout Torque
100 fs 400 500 1.5 Full Step 0 0 500 0 2 1000 1500 Speed [r/min] 4 Pulse Speed [kHz] 6 2000 2500 Full Step
100 0
4.0
3.5 3.0
500
24 VDC 48 VDC
60 VDC
2.0
1.0
100 0
400
Features C-184
Accessories C-185
Stepping Motors
PK299-01BA Unipolar
Power Input: 24 VDC Unipolar Constant Current Driver With Damper D9CL-12.7F: JL = 4.8 oz-in2 (870 107 kgm2) Step Angle: 1.8/step Unipolar (2.0 A/Phase)
24 VDC 48 VDC
Torque [Nm]
5 4 3 2 1 Torque [oz-in]
Introduction
2 fs 20 0 0.1 40 60 0.2 fs 80 100 120 140 160 180 200 Speed [r/min] 0.5 0.6 Full Step
Pullout Torque
100 0 0 fs 100 0 0.5 200 300 Speed [r/min] 1 Pulse Speed [kHz] 400 500
AS
Closed Loop A
AC Input
AS PLUS
PK299-02BA Unipolar
Power Input: 24 VDC Unipolar Constant Current Driver With Damper D9CL-12.7F: JL = 4.8 oz-in2 (870 107 kgm2) Step Angle: 1.8/step Unipolar (3.0 A/Phase)
ASC
24 VDC 48 VDC
Torque [Nm]
5 4 3 2 1 Torque [oz-in]
RK CFK2
CSK
Pullout Torque
DC Input
PMC
1000 4
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
UMK
PK299-03BA Unipolar
Power Input: 24 VDC Unipolar Constant Current Driver Load Inertia: JL = 4.8 oz-in2 (870 107 kgm2) Step Angle: 1.8/step 700 600 500 Torque [Nm] 3 2 1 100 Torque [oz-in] 400 Unipolar (4.5 A/Phase)
CSK
24 VDC 48 VDC
5 4
PK/PV
PK
300 200
Pullout Torque
Driver
fs 100 0 0.5
400
0 0
Controllers
10
24 VDC 48 VDC
SMK
Pullout Torque
Accessories
fs 100 0 0.5
400
C-229
Torque [N.m]
6 4 2 0
Pullout Torque
Torque [oz-in]
Torque [oz-in]
Torque [Nm]
Torque [oz-in]
1000 800 600 400 Pullout Torque fs 100 Speed [r/min] 0.25 Pulse Speed [kHz] 0.50
6 4 2 0
Torque [oz-in]
Torque [Nm]
Torque [Nm]
Torque [oz-in]
6 4 2 0
6 4 2
Torque [oz-in]
Torque [Nm]
Torque [Nm]
C-230
Stepping Motors
1.10 in. ( 28 mm) 1.38 in. ( 35 mm) 1.65 in. ( 42 mm) 2.22 in. ( 56.4 mm) 2.36 in. ( 60 mm) 3.35 in. ( 85 mm) 3.54 in. ( 90 mm)
PK2913-01BA Unipolar
Power Input: 24 VDC Unipolar Constant Current Driver With Damper D9CL-12.7F: JL = 4.8 oz-in2 (870 107 kgm2) Step Angle: 1.8/step
12
24 VDC 48 VDC
6 750
500
250 fs 100 0
Pullout Torque
200 0 20 0 40
fs 60 0.2
fs 80 100 120 140 160 180 200 Speed [r/min] 0.4 Pulse Speed [kHz] Full Step 0 0
400 1.5
PK2913-02BA Unipolar
Power Input: 24 VDC Unipolar Constant Current Driver With Damper D9CL-12.7F: JL = 4.8 oz-in2 (870 107 kgm2) Step Angle: 1.8/step Unipolar (4.0 A/Phase) 750
12
24 VDC 48 VDC
1000 6
500
Pullout Torque
250 fs
200 0 1
800 3
12
12
24 VDC 48 VDC
200 0 fs 500 Speed [r/min] 0 1 2 3 Pulse Speed [kHz] 4 Full Step 1000 1500
Features C-184
Accessories C-185
Stepping Motors
Introduction
Specifications
Model Single Shaft Double Shaft PK296A1A-SG PK296B1A-SG PK296A2A-SG PK296B2A-SG
Motor Specifications
Connection Type Bipolar (Series) Unipolar Bipolar (Series) Unipolar Current per Phase A/phase 1 1.5 2.1 3 Voltage VDC 4.4 3.3 2 1.4 Resistance per Phase /phase 4.4 2.2 0.96 0.48 Inductance mH/phase 30.8 7.7 6 1.5 Rotor Inertia J oz-in2 7.7 7.7 kgm2 1400107 1400107 6 6 Lead Wires
AS AS PLUS ASC RK
Closed Loop A Motor & Driver Packages 5-Phase Microstep 5-Phase Full/Half
How to Read SpecificationsPage C-9 Motor Wiring DiagramsPage C-189 Enter the gear ratio in the box () within the model name.
CFK2
Gearmotor Specifications
Model Single Shaft Double Shaft PK296A1A-SG3.6, PK296A2A-SG3.6 PK296B1A-SG3.6, PK296B2A-SG3.6 PK296A1A-SG7.2, PK296A2A-SG7.2 PK296B1A-SG7.2, PK296B2A-SG7.2 PK296A1A-SG9, PK296A2A-SG9 PK296B1A-SG9, PK296B2A-SG9 PK296A1A-SG10, PK296A2A-SG10 PK296B1A-SG10, PK296B2A-SG10 PK296A1A-SG18, PK296A2A-SG18 PK296B1A-SG18, PK296B2A-SG18 PK296A1A-SG36, PK296A2A-SG36 PK296B1A-SG36, PK296B2A-SG36 Gear Ratio Holding Torque lb-in 3.6:1 7.2:1 9:1 10:1 18:1 36:1 22 44 55 61 79 106 Nm 2.5 5 6.3 7 9 12 0.5 0.25 0.2 0.18 0.1 0.05 Step Angle Permissible Speed r/min
CSK PMC
DC Input
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
UMK CSK
180
PK/PV
100 50
PK
Holding torque is the same regardless of the connection type, due to the permissible torque limit of the gearhead.
Dimensions
L2 1.340.04 (341) 0.9840.010 (250.25) A
Driver
L1
(12.70 0.018)
3.54 (90)
Controllers
1.42 (36)
0.4530.006 (11.50.15)
0.710.02 (180.5)
A'
0.4530.006 (11.50.15)
0. 09 0.5) 4. 104 (
02
90
(12.70 0.018)
SMK
Accessories
Screws (included) 1/4 -20 UNC, 0.75 inch (19 mm) length, 4 pieces These dimensions are for double shaft models. For single shaft models, ignore the shaded area.
DXF B242U
Enter the winding specification in the box ( ) within the model number. Enter the gear ratio in the box () within the model number.
Connection Diagrams C-189 General Specifications C-240
ORIENTAL MOTOR GENERAL CATALOG 2003/2004
C-231
Torque [lb-in]
8 6 4 2 0
Torque [lb-in]
Torque [Nm]
Torque [Nm]
Torque [lb-in]
Torque [Nm]
Torque [lb-in]
8 6 4
Torque [lb-in]
Torque [Nm]
Torque [Nm]
Torque [lb-in]
Torque [Nm]
C-232
Stepping Motors
1.10 in. ( 28 mm) 1.38 in. ( 35 mm) 1.65 in. ( 42 mm) 2.22 in. ( 56.4 mm) 2.36 in. ( 60 mm) 3.35 in. ( 85 mm) 3.54 in. ( 90 mm)
SpeedTorque Characteristics
PK296B1A-SG Bipolar (Series) 24 VDC
14 12 10 80
Power Input: 24 VDC Bipolar Constant Current Driver With Damper D9CL-12.7F: JL = 4.8 oz-in2 (870 107 kgm2) 120 100 Bipolar Series (1.0 A/Phase)
400
500
100
200
500
600
PK296B2A-SG Unipolar
15 120 100 10 80 60 40 20 Permissible Torque Unipolar (3.0A/Phase) PK296B2A-SG3.6 PK296B2A-SG7.2 PK296B2A-SG9 PK296B2A-SG10 PK296B2A-SG18 PK296B2A-SG36 Power Input: 24 VDC Unipolar Constant Current Driver With Damper D9CL-12.7F: JL = 4.8 oz-in2 (870 107 kgm2)
2 0
500
600
100
200
500
600
Features C-184
Accessories C-185
Stepping Motors
Introduction
Specifications
Model Single Shaft PK264-01AR11 PK264-01AR12 PK264-02AR11 PK264-02AR12 PK264-03AR11 PK264-03AR12 PK264-E2.0AR11 PK264-E2.0AR12 PK266-01AR11 PK266-01AR12 PK266-02AR11 PK266-02AR12 PK266-03AR11 PK266-03AR12 PK266-E2.0AR11 PK266-E2.0AR12 Basic Step Angle 1.8 1.8 1.8 Connection Type Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Parallel) 1.8 Bipolar (Series) Unipolar 1.8 1.8 1.8 Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Parallel) 1.8 Bipolar (Series) Unipolar Holding Torque oz-in 68 55 68 55 68 55 68 68 55 166 127 166 127 166 127 166 166 127 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 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 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 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 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 1.64 300107 8 1.64 300107 1.64 300107 1.64 300107 6 0.66 120107 8 Rotor Inertia J oz-in2 kgm2 6 6 6 Lead Wires
AS AS PLUS
Closed Loop A
AC Input
6 6
PMC UMK
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
CSK
Dimensions
PK/PV
Model
2.22 (56.4) 1.860.014 (47.140.35) 0.177 (4.5) 4 Holes 1.860.014 (47.140.35)
L1 inch (mm)
L2 inch (mm)
DXF
PK
0.2280.006 (5.80.15)
1.54 (39)
2.26 (57.3)
Driver
R0 (R1 .59 5)
1.18 (30)
1.03 (26.2)
Pin NO. 1 6 or 8 Motor Leads 12 inch (300 mm) Length UL Style 3265, AWG 22 (6 Leads) AWG 24 (8 Leads)
2.13 (54)
2.85 (72.3)
Controllers
Enter the winding specification in the box () within the model number.
C-233
SMK Accessories
Torque [oz-in]
Torque [oz-in]
Torque [Nm]
Torque [Nm]
Torque [oz-in]
Pullout Torque 40
Torque [oz-in]
Torque [Nm]
Torque [Nm]
Torque [oz-in]
Torque [oz-in]
Torque [Nm]
Torque [Nm]
Torque [oz-in]
Torque [oz-in]
Torque [Nm]
Torque [Nm]
C-234
Stepping Motors
1.10 in. ( 28 mm) 1.38 in. ( 35 mm) 1.65 in. ( 42 mm) 2.22 in. ( 56.4 mm) 2.36 in. ( 60 mm) 3.35 in. ( 85 mm) 3.54 in. ( 90 mm)
SpeedTorque Characteristics
PK264-01AR11 PK264-01AR12 Bipolar (Series)
Bipolar Constant Current Driver Load Inertia: JL = 0.77 oz-in2 (140107 kg.m2) Step Angle: 1.8/step 80 0.5 0.4 0.3 0.2 0.1 0 0 fs 200 0 1 fs 400 600 Speed [r/min] 2 Pulse Speed [kHz] 800 1000 Full Step 60 Bipolar Series (0.71 A/Phase)
0.6
24 VDC 48 VDC
0.5 0.4
70 60 50 40 30 20 10
40 Pullout Torque 20
Pullout Torque
fs 500 0 2 1000 1500 Speed [r/min] 4 Pulse Speed [kHz] 6 2000 2500 8 Full Step
0.6
24 VDC 48 VDC
0.5 0.4
70 60 50 40 30 20 10
Pullout Torque
20 fs 0 0 500 Speed [r/min] 0 1 2 3 Pulse Speed [kHz] 4 Full Step 1000 1500
fs 500 0 2 1000 1500 Speed [r/min] 4 Pulse Speed [kHz] 6 2000 2500 Full Step
0.6
24 VDC 48 VDC
70 60 50 40 30 20 10
Pullout Torque
40
Pullout Torque
20
fs 500 0 2 1000 1500 Speed [r/min] 4 Pulse Speed [kHz] 6 2000 2500 8 Full Step
0.6
24 VDC 48 VDC
0.6
24 VDC 48 VDC
40 Pullout Torque 20
20
Features C-184
Accessories C-185
Stepping Motors
1.5
24 VDC 48 VDC
Torque [Nm]
Torque [oz-in]
Torque [Nm]
1.0
Introduction
80 60 40 20 Pullout Torque
0.5
50 fs 200
AS
Closed Loop A
AC Input
50 0 0.25
fs 500 Speed [r/min] 0 1 2 3 Pulse Speed [kHz] 4 Full Step 1000 1500
AS PLUS
ASC RK
1.5
24 VDC 48 VDC
Torque [Nm]
CFK2
Torque [oz-in]
Torque [Nm]
1.0
150
100 Pullout Torque 50 fs 100 0 0.5 200 300 Speed [r/min] 1.0 Pulse Speed [kHz] 400 fs 500 Full Step
CSK
0.5
DC Input
fs 500 0 2 1000 1500 Speed [r/min] 4 Pulse Speed [kHz] 6 2000 2500 Full Step
PMC UMK
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
CSK
1.5
24 VDC 48 VDC
Torque [Nm]
PK/PV
Torque [oz-in]
Torque [Nm]
1.0
150
Pullout Torque
PK
100
Pullout Torque
0.5
50 fs 100 0 0.5 200 300 Speed [r/min] 1.0 Pulse Speed [kHz] 400 fs 500 Full Step
Driver
fs 500 0 2 1000 1500 Speed [r/min] 4 Pulse Speed [kHz] 6 2000 2500 8 Full Step
Controllers
1.5
24 VDC 48 VDC
Torque [Nm]
1.5
24 VDC 48 VDC
Torque [oz-in]
100 Pullout Torque 50 fs fs 400 600 Speed [r/min] 1 2 Pulse Speed [kHz]
Torque [oz-in]
Torque [Nm]
1.0
150
1.0
150
SMK
100 Pullout Torque 50 fs 200 300 Speed [r/min] 0.5 1.0 Pulse Speed [kHz] fs 400 500 Full Step
Accessories
0.5
0.5
200 0
800
100 0
C-235
1.50000.0012 (38.10.03)
0.2280.006 (5.80.15)
R0 (R1 .59 5)
1.860.014 (47.140.35)
1.03 (26.2)
C-236
Stepping Motors
1.10 in. ( 28 mm) 1.38 in. ( 35 mm) 1.65 in. ( 42 mm) 2.22 in. ( 56.4 mm) 2.36 in. ( 60 mm) 3.35 in. ( 85 mm) 3.54 in. ( 90 mm)
Specifications
Model Single Shaft PK264M-01AR11 PK264M-01AR12 PK264M-02AR11 PK264M-02AR12 PK264M-03AR11 PK264M-03AR12 PK264M-E2.0AR11 PK264M-E2.0AR12 PK266M-01AR11 PK266M-01AR12 PK266M-02AR11 PK266M-02AR12 PK266M-03AR11 PK266M-03AR12 PK266M-E2.0AR11 PK266M-E2.0AR12 Basic Step Angle 0.9 0.9 0.9 Connection Type Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Parallel) 0.9 Bipolar (Series) Unipolar 0.9 0.9 0.9 Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Parallel) 0.9 Bipolar (Series) Unipolar Holding Torque oz-in 68 55 68 55 68 55 68 68 55 166 127 166 127 166 127 166 166 127 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 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 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 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 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 1.64 300107 8 1.64 300107 1.64 300107 1.64 300107 6 6 6 0.66 120107 8 Rotor Inertia J oz-in2 kgm2 6 6 6 Lead Wires
Dimensions
DXF
1.18 (30)
Pin NO. 1 6 or 8 Motor Leads 12 inch (300 mm) Length UL Style 3265, AWG 22 (6 Leads) AWG 24 (8 Leads)
Enter the winding specification in the box () within the model number.
Features C-184
Accessories C-185
Stepping Motors
SpeedTorque Characteristics
PK264M-01AR11 PK264M-01AR12 Bipolar (Series)
Bipolar Constant Current Driver Load Inertia: JL = 0.77 oz-in2 (140107 kgm2) Step Angle : 0.9/step 80 Bipolar Series (0.71 A/Phase) 60 Torque [oz-in]
24 VDC 48 VDC
Torque [Nm]
70 60 50 40 30 20
Introduction
40 Pullout Torque 20 fs 200 2 400 600 Speed [r/min] 4 Pulse Speed [kHz] 800 1000 6 Full Step
Pullout Torque
AS
Closed Loop A
10 fs 0 0 500 Speed [r/min] 0 2 4 6 Pulse Speed [kHz] 8 Full Step 1000 1500 0
AC Input
AS PLUS
ASC RK
0.6
24 VDC 48 VDC
Torque [Nm]
CFK2
Pullout Torque 40
CSK
DC Input
20
PMC
fs 500 0 5 1000 1500 Speed [r/min] 10 Pulse Speed [kHz] 2000 15 2500 Full Step
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
UMK
CSK
0.6
24 VDC 48 VDC
Torque [Nm]
70 60 50 40 30 20 10
PK/PV PK
Pullout Torque
40 Pullout Torque 20
Driver
fs 0 0 500 0 5 1000 1500 Speed [r/min] 10 Pulse Speed [kHz] 2000 2500 15 Full Step
Controllers
0.6
24 VDC 48 VDC
0.6
24 VDC 48 VDC
SMK Accessories
40 Pullout Torque 20
20
C-237
Torque [oz-in]
Torque [N.m]
Torque [oz-in]
Torque [Nm]
Torque [oz-in]
Torque [N.m]
Torque [oz-in]
Torque [Nm]
Torque [oz-in]
Torque [N.m]
Torque [oz-in]
Torque [Nm]
Torque [oz-in]
Torque [oz-in]
Torque [N.m]
Torque [N.m]
C-238
Stepping Motors
1.10 in. ( 28 mm) 1.38 in. ( 35 mm) 1.65 in. ( 42 mm) 2.22 in. ( 56.4 mm) 2.36 in. ( 60 mm) 3.35 in. ( 85 mm) 3.54 in. ( 90 mm)
1.5
24 VDC 48 VDC
1.0 0.8
0.5
Pullout Torque
50 fs 100 150 Speed [r/min] 0.5 1.0 Pulse Speed [kHz] fs 200 250 Full Step
fs 200 0 2 400 600 Speed [r/min] 4 Pulse Speed [kHz] 800 6 1000 Full Step
50
1.5
24 VDC 48 VDC
1.0
0.5
50 fs 100 1 200 300 Speed [r/min] 2 Pulse Speed [kHz] 400 500 Full Step fs 500 0 5 1000 1500 Speed [r/min] 10 Pulse Speed [kHz] 2000 15 2500 Full Step
1.5
24 VDC 48 VDC
1.0 0.8
100 Pullout Torque 50 fs 100 1 fs 200 300 Speed [r/min] 2 Pulse Speed [kHz]
Pullout Torque
0.5
fs 400 500 Full Step 0 0 500 0 5 1000 1500 Speed [r/min] 10 Pulse Speed [kHz] 2000 2500 15 Full Step
1.5
24 VDC 48 VDC
1.5
24 VDC 48 VDC
1.0
0.5
0.5
50 fs 100 1 200 300 Speed [r/min] 2 Pulse Speed [kHz] 400 500 Full Step
Features C-184
Accessories C-185
Stepping Motors
Encoder Specifications
Note: Use the motor within the encoder specifications. HEDS-5600 series encoders by Agilent Technologies, Inc. are used.
Introduction
NEncoder Resolution Note: The encoder specifications are designed to guarantee operation based on a response frequency of 100 kHz. However, the encoder can be operated at a minimum response frequency of 100 kHz.
AS AS PLUS
Closed Loop A
AC Input
Output Waveform
C P
2.4 V
Amplitude
ASC
S1 S2 S3 S4
CH. A
RK
CH. B
CFK2
Encoder Characteristics
Unless otherwise specified, the following characteristics assume that the encoder is installed within the allowable ranges of error and operated under the recommended operating conditions. Each characteristic value indicates the worst value within one rotation of the code wheel.
Item Pulse-width error Logic-width error Phase error Position error Cycle error Symbol P S C TYP. 7e 5e 2e 3e Max. 45e 45e 20e
DC Input
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
CSK
PK/PV
PK
Vcc
Driver
GND
Applicable
Manufacturer AMP DUPONT
Connectors
Model Numbers
Controllers
Agilent Technologies HEDS-8902 (for 2 channels: 4 lead wires) 2695 series (housing) MOLEX 2759 series (contact)
C-239
SMK Accessories
C-240
Stepping Motors
1.10 in. ( 28 mm) 1.38 in. ( 35 mm) 1.65 in. ( 42 mm) 2.22 in. ( 56.4 mm) 2.36 in. ( 60 mm) 3.35 in. ( 85 mm) 3.54 in. ( 90 mm)
General Specifications
Item Shaft Runout Perpendicularity Concentrictly Shaft Radial Play Step Accuracy 4 Insulation Resistance Dielectric Strength 5 Insulation Class Temperature Rise Ambient Temperature Range
2
Specifications 0.002 inch (0.05 mm) T.I.R at top of output shaft 1 0.003 inch (0.075 mm) T.I.R 1 0.003 inch (0.075 mm) T.I.R 1 0.001 inch (0.025 mm) max. of 1.12 lb. (5 N) 0.003 inch (0.075 mm) max. of 2.2 lb. (10 N) PK Series:3 arc min. (0.05) PV Series:2 arc min. (0.034) 100 M minimum under normal temperature and humidity, when measured by a 500 VDC megger between the motor coils and the motor casing. Sufficient to withstand 1.0 kV, 60 Hz applied between the motor coils and casing for one minute, under normal ambient temperature and humidity. Class B [266F (130C)] Temperature rise of the coil measured by the Change Resistance Method is 144F (80F) or less. (at standstill, two phases energized) 14F (10C)122F (50C)
0.075 0.05 A
1 T.I.R. (Total Indicator Reading): Refers to the total dial gauge reading when the measurement section is rotated one revolution centered on the reference axis center. 2 Radial Play: Refers to the displacement in shaft position in the radial direction, when a 1.12 lb. (5 N) load is applied in the radial direction to the motor shaft tip. 3 Axial Play: Refers to the displacement in shaft position in the axial direction, when a 2.2 lb. (10 N) load is applied to the motor shaft in the axial direction. 4 This value is for full step with no load. (The value changes with size of load.) 5 For motors with a frame size of 1.65 inch sq. (42 mm sq.) or less, 60 Hz, 0.5 kV for 1 minute.
0.075 A
12.1 54
15 67
20 89
29 130
The permissible thrust load [lb. (N)] shall be no greater than the motor mass.
12.1 54
15 67
20 89
29 130
15.7 70
2.2 10 3.3 15
DC Input
Stepping Motors
Introduction AS AS PLUS ASC
SMK
Accessories
UI2120G
Additional Information
C-241
Closed Loop A
Motor & Driver Packages 5-Phase Microstep 5-Phase Full/Half 2-Phase Stepping Motors with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
Driver
Controllers
C-242
Stepping Motors
UI2120G
The UI2120G Intelligent Stepping Motor Driver combines a high performance stepping motor driver with microprocessor intelligence and an integrated pulse generator. Motion control features include built-in digital switches to control the amount of travel, initial speed, running speed, acceleration, and deceleration.
Features
Minimal Wiring
A driver with an incorporated pulse generator offers simple wiring and easy setup.
Model: UI2120G
UI2120G
Easy Operation
The UI2120G includes all functions necessary for controlling a 2-phase stepping motor. Motion control settings include: start, stop, rotation direction, travel amount, speed, acceleration, deceleration, step angle, and return to mechanical home. Data can be easily set by switches on the front control panel.
Features C-242
Specifications C-244
Stepping Motors
Compatible Motors
Motor Frame Size 1.65 in. 42 mm Single Shaft PK243-01AA PK244-01AA PK245-01AA PK264-02A PK264-02AR11 2.22 in. 56.4 mm PK264-02AR12 PK266-02A PK266-02AR11 PK266-02AR12 PK268-02A 3.35 in. 85 mm PK296-01AA PK299-01AA PK2913-01AA
Introduction
AS AS PLUS
Closed Loop A
AC Input
C-214
ASC
DC Input
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
Dimensions C-245
C-243
Driver
Controllers
C-244
Stepping Motors
Specifications
Model Power Source Drive Method Output Current Excitation Mode UI2120G Single-phase 100 V15% 50/60 Hz 115 V15% 60 Hz 3.0 A Unipolar constant current drive 2.0 A/phase or less Full Step (2 phase excitation): 1.8 degree/step Half step (1-2 phase excitation): 0.9 degree/step Positioning Return to Electrical Home Operation Operation Mode Return to Mechanical Home Operation Continuous Operation JOG Operation Operating Pulse Speed Setting Range Starting Pulse Speed Setting Range Acceleration/Deceleration Rate Setting Range Move Distance Setting Range Max. Return Pulse Count 50 Hz, and 100 Hz to 9900 Hz (100 Hz Units) 50 Hz to 900 Hz (10 Hz Units) 0 to 90 ms/kHz (10 ms/kHz Units) 0 to 99999 pulses (1 pulse Units), 2 Settings 16,777,21516,777,215 Start Slowdown stop Emergency stop Rotation direction Input Signals Index selection Operation mode Output current off signal Photocoupler input Limit sensor (CWLS, CCWLS and HOME) Excitation timing Output Signals BUSY Alarm Input resistance 4.7k , 24 VDC maximum, Input current 5 mA maximum Photocoupler, Open collector output (emitter common) External use condition 24 VDC maximum, 10 mA maximum Photocoupler input Internal pull-up 10 VDC, 2.2 k, Source current 4.5 mA TYP
Step angle switch, Automatic current off, Automatic current cutback, Functions Limit sensor input method switch, Rotation direction switch for return to mechanical home Alarm output Indicators (LED) Cooling Method Weight Overheat detection, Limit sensor detection, Failure in return to mechanical home position
Power input, Excitation timing output, BUSY output, Alarm output Convection 1.8 lb (0.8 kg) 100M minimum under normal temperature and humidity, when measured by a 500 VDC megger between the following places: Power input terminal ground terminal Motor output terminal ground terminal Signal input / output terminals power input terminal Signal input / output terminals motor output terminal Sufficient to withstand the following for one minute, under normal temperature and humidity: Power input terminal ground terminal 1.5 kVAC 1.5 kVAC 3.0 kVAC 3.0 kVAC 50 Hz 50 Hz 50 Hz 50 Hz
Insulation Resistance
Dielectric Strength
Motor output terminal ground terminal Signal input / output terminals power input terminal Signal input / output terminals motor output terminal
Notes: Power supply input current value is the maximum input current value of the driver. It differs according to the motor used, current setting and pulse rate. Do not test the insulation resistance or dielectric strength when the motor and driver are connected.
Features C-242
Specifications C-244
Stepping Motors
A
Introduction
0.3 (7.5)
0.3 (7.5)
0.79 (20)
AS
0.18 (4.5)
AS PLUS
2 Holes
Closed Loop A
ASC RK
A M4
CFK2
0.59 (15)
0.3 (7.5)
CSK
DC Input
PMC
I/O Connector (included) Connector: 54306-2011 (MOLEX) Connector Cover: 54331-1201 (MOLEX)
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
Dimensions C-245
C-245
Controllers
C-246
Stepping Motors
TIM BUSY
Function Switches
ALM
Indication
RUN
STOP
Protective Earth Terminal
STOP
Min. Value
Function Switches
Indication FULL/HALF ACO/OFF ACD/OFF FN1/OFF Switch Name Step angle Automatic current off Automatic current cutback Limit sensor input method Rotation direction for return to mechanical home Factory Setting FULL ACO ACD FN1 Function Selects full or half step. Turns off motor current automatically when the drivers internal temperature rises to 185 F (85 C) or more. Reduces motor current automatically at motor standstill. Selects NO or NC-type sensor. NO sensor selected when set to FN1. NC sensor selected when set to OFF. Rotation starts in clockwise direction when set to FN2, and in counterclockwise direction when set to OFF.
FN2/OFF
FN2
TR
VS
Features C-242
Specifications C-244
Stepping Motors
Pin No.
Introduction
Selects the rotation direction in each operation mode (except for return to mechanical home and return modes). Selects the index number in positioning mode.
AS
Closed Loop A
AC Input
6, 7, 8 9 10 11 12 13 20 Output Signals
Selects operation mode. Stops the supply of current to the motor. When this signal is input, the motor does not function even if a start signal is input. For input signals. Shows that the motor excitation sequence is at step 0; output when the motor excitation (winding where current flows) is in the initial state. Output when the motor is running or the driver cannot accept the start signal. Output when the temperature within the driver has risen to 185 F (85 C) or when the limit switch has tripped . For output signals.
DC Input
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
Any combination not in the table above is ignored and operation is not performed even if the startup signal is input.
CSK
Terminals
Indication CWLS CCWLS HOME YEL / WHT BLK RED GRN BLU 100-115 VAC L N Terminal Name CW limit sensor/ switch input CCW limit sensor/ switch input Home position sensor input Yellow/white motor lead connection Black motor lead connection Red motor lead connection Green motor lead connection Blue motor lead connection Power connection Connection Limit sensor for the clockwise direction 1 2 3 4 5 6 7 8 9 10 11 12 13
PK/PV
Pin No.
PK
Limit sensor for the counterclockwise direction Mechanical home position sensor Yellow/white motor lead wire Black motor lead wire Red motor lead wire Green motor lead wire Blue motor lead wire Single-phase 100 VAC15% 50/60 Hz 115 VAC15% 60 Hz
Dimensions C-245
C-247
Driver
Controllers
C-248
Stepping Motors
Connection Diagrams
Controller UI2120G
[For Switch]
[For PLC] Start Input Slowdown/Stop Input Emergency Stop Input 1 Rotation Direction Input 1 2 3 4
CN1
Travel Index Switch Input 5 Operation Mode Switch 1 Input 6 Operation Mode Switch 2 Input 7 Operation Mode Switch 3 Input 8 Output Current OFF Input GND 9 10
HOME
CCWLS
White Black
BLK RED
Red Green
VCC
GRN BLU L
Blue
11 12 13 20 Output Signals
100 -115V
N
1 Always use the emergency stop input in the ON (Normally Closed) state. 2 The voltage of Vcc should not be over 24 VDC and 10 mA. 3 24 VDC or less, input current 5 mA or less.
Features C-242
Specifications C-244
Stepping Motors
Introduction AS AS PLUS
Closed Loop A
AC Input
If slowdown/stop signals are input during positioning operation, the motor will stop after slowdown. If you input the start signal again, the motor rotates the remaining number of the set pulses for operation.
VR N1 VS Output Pulse Start Input ON OFF Slowdown ON Stop Input OFF N1N2Number of operation pulses N2
CCWLS VR
HOME
CWLS
PMC
VS
UMK
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
VS
CSK
Notes: Return to mechanical home operation varies according to the motor position when start signal is input. After return to mechanical home operation, the mechanical home position will become the electrical home position.
PK/PV PK
Driver
Controllers
When the slowdown/stop signal is input during the return operation, the motor stops after slowdown. If a start signal is input, the motor restarts the return operation to move to the electrical home position.
VR N1 VS Output Pulse Start Input ON OFF Slowdown ON Stop Input OFF N1N2Number of operation pulses N2
Dimensions C-245
C-249
SMK Accessories
C-250
Stepping Motors
Home position detection operation startup direction: CW CCWLS VR VS Between CCW Limit Switch and HOME VS HOME CWLS
TIM
Note: Return to mechanical home operation based on timing signal synchronization varies according to the motor position when start signal is input.
Stepping Motors
Introduction AS AS PLUS ASC RK CFK2 CSK PMC UMK
Closed Loop A Motor & Driver Packages 5-Phase Microstep 5-Phase Full/Half
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
Controllers
Additional Information
Technical ReferenceF-1 General Information G-1 EMP400 SeriesC-254 SC8800/SC8800E C-266 SG8030JC-270
ORIENTAL MOTOR GENERAL CATALOG 2003/2004
C-251
Speed
C-252
Stepping Motors
Step Motor
Speed
Time
Stepping Motors
Yes
Introduction
No
AS AS PLUS
Closed Loop A
AC Input
Yes
ASC
No
RK CFK2
Yes
CSK PMC
DC Input
No
UMK
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
EMP401
SC8800
CSK PK/PV PK
1 An Indexer is a device that provides step and direction output pulses, but does not have general (programmable) inputs or outputs.
Controller Comparison
Dual Axis Motion Control EMP402 EMP401 SC8800E SC8800 YES NO NO NO Serial Communication Daisy Chain 2 Port (RS232C) YES YES YES YES NO NO 35 Devices 35 Devices Math Function NO NO YES YES Encoder Feedback Connection NO NO YES NO Sequences 33 (1000 commands max.) 33 (1000 commands max.) 50 or 8 Kb of memory 50 or 8 Kb of memory 1 Sequence or 4 Data Positions Startup Program 3 YES YES YES YES Homing Function YES YES YES YES Maximum Pulse Frequency 200 kHz 200 kHz 800 kHz 800 kHz Inputs Outputs
Controllers
8 General 6 General 22 Dedicated 10 Dedicated 8 General 6 General 15 Dedicated 7 Dedicated 4 General 2 General 9 Dedicated 4 Dedicated 4 General 2 General 6 Dedicated 4 Dedicated 6 Dedicated 3 Dedicated
SMK Accessories
SG8030J
NO
NO
NO
NO
NO
NO
YES
200 kHz
2 Multiple controllers connected to one host communication port. 3 A startup program executes when the controller is powered on. The SG8030J uses a START input to execute a sequence.
C-253
Motor-shaft speed
C-254
Stepping Motors
EMP400 Series
The EMP400 Series controllers allow easy programming using simple commands. The dual axis model provides coordinated moves via linear interpolation. Various motion profiles can be achieved by using up to 32 sequence programs. 1 program can be dedicated as a STARTUP program.
Single axis model: EMP401 Dual axis model: EMP402
Features
Pulse Oscillation
Various operation commands are provided for positioning operation, return-to-home operation and dual axis linear interpolation functions. The operator only needs to set the parameters.
Pulse Oscillation Sequence Function EMP402 Controller Sensor Step Motor Axis-2 Driver
Sequence Function
A series of operation patterns can be programmed using dedicated commands. This is an ideal function for distributed system control.
Axis-1 Driver
I/O Control
General-purpose I/O signals are provided in addition to dedicated I/Os such as pulse output and limit-sensor input. Synchronization with peripherals is also possible.
I/O Control
Step Motor
Function
Pulse Oscillation Fast Response Time
The time between a START signal input and a pulse output is 2 ms or less.
Motor Velocity Profile
Time
Features C-254
Specifications C-260
Stepping Motors
Positioning Operation
Supports both incremental mode (travel amount) and absolute mode (absolute-position).
Homing
Ability to seek for a sensor representing a positioning reference point (home) is available. Also available is the ability to set an offset from the home position. High-speed return (three-sensor mode) Using a predetermined sequence, the mechanical unit returns home at high speed from any position with three sensors monitoring the current position. Since its possible to specify the direction in which the home sensor is entered, backlash error doesnt occur in applications where positioning accuracy is critical.
Introduction AS AS PLUS
Closed Loop A
AC Input
Offset
ASC
LS
HOMELS
+LS
RK
Teaching Function
The amount of travel can be changed by jogging the load into position via the OP300 interface.
Driver
Constant-speed return (two-sensor mode) The mechanical unit returns home at a constant speed. This mode is effective when a compact slider is operated, since the stroke can be fully utilized.
CFK2 CSK
DC Input
Offset
Operator Interface Unit OP300
PMC
EMP400 Series
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
UMK
LS
+LS
Continuous Operation
Pulse output continues until a specified input is received or a specified time is reached.
CSK PK/PV
6000Hz
PK
Speed
4000Hz 2000Hz
Driver
Time
Controllers
Distance Options
Soft Home
Set travel amount using various scaling units such as pulses, millimeters, or degrees.
Operator Interface Unit OP300 90
SMK
90.00
MODE SET
Accessories
100
100.00
MODE SET
Set by millimeters
Dimensions C-260
Accessories C-264
C-255
C-256
Stepping Motors
Sequence Function
Connect a motor for transferring products to axis 1, another motor for ejecting nonconforming products to axis 2, and a sensor for detecting the height of transferred products to one of the general-purpose inputs.
I/O Control
In addition to the signals for controlling the EMP400 series (e.g., start, emergency stop, ready), a full range of other signals are available, including those necessary for motor control (e.g., pulse, alarm, limit sensor, home sensor) and general-purpose I/Os.
START Input E-STOP Input READY Output MOVE Output END Output etc.
Application Description
Transfer products via an index move of 30,000 pulses (axis 1). Detect the height of the product using the sensor (general-purpose input 1). Return to if the detection result is acceptable. If the detection result is not acceptable, perform an index move of 30,000 pulses and eject the nonconforming product (axis 2). Return to and perform acceptability judgment for the next product.
PULSE Output DIRECTION Output CCR Output ALARM Input END Input TIMING Input HOMELS Input SLIT Input etc.
Features C-254
Specifications C-260
Stepping Motors
System Configuration
Operator Interface Unit OP300 (Accessories) (Page C-264) Communication Cable FC04W5 (Accessories) (Page C-264) Personal Computer (Not supplied)
Introduction AS AS PLUS
Closed Loop A
AC Input
OP300 and personal computer cannot be connected to the EMP400 Series at simultaneously.
ASC RK
EMP400 Series Stepping Motor System (Sold separately) Driver Cable (Accessories) (Page C-265)
CSK PMC
DC Input
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
EMP40 1 - 1
Product Line
Type EMP401-1 Connector 1: Without connectors 2: With connectors EMP401-2 EMP402-1 EMP402-2 Number of Axes Single axis Dual axis Connector Without connectors With connectors Without connectors With connectors
Driver
Controllers
EMP400 Series
Dimensions C-260
Accessories C-264
C-257
SMK Accessories
C-258
Stepping Motors
Command List
Command ABS INC MHOME Motor control SCAN RESET RTNCR RUN S D DOWEL H Data setting OFS RAMP T V VS CJMP JMP DELAY MU Program control LOOP ENDL END IN OUT ACTL EEN ETIME Hardware setting ID PULSE SEN TIM UNIT EDIT DEL Others DWNLD UPLD R Description Perform the positioning operation with the absolute position specified. Perform the positioning operation with the relative position specified. Perform the return to mechanical home operation. Perform continuous operation. Reset the software. Set the current position to 0 (clear). Execute the sequence program. Decelerate the motor to a stop. Set the travel amount and positioning data. Set the operating intervals (dwell time). Set the direction of rotation. Set the offset travel amount. Set the acceleration/deceleration pattern and jerk limit time. Set the acceleration/deceleration rate. Set the operating speed. Set the starting speed. Jump to a specified step when a given condition is satisfied. Jump to a specified step. Set the delay time. Set parallel processing. Set the loop. End the loop section. End the sequence program. Wait for input. Control the general-purpose output. Switch the logic setting for the sensor and alarm. Set the use of END input. Set the END output time. Perform the initial setting for a linear motion product. Set the pulse-output mode. Set the home-detection mode. Set the use of TIM input and SLIT input. Set the unit for travel amount. Edit the sequence program. Delete the sequence program. Download the sequence program. Upload the sequence program. Check the system conditions.
Features C-254
Specifications C-260
Stepping Motors
Sample Programs
Sample. 1 Positioning operation
0 pulse 11,000 pulses
[1] VS1 500 [2] V1 1000 [3] T1 30.0 [4] D1 11000 [5] INC1
; Starting speed 500 Hz ; Operating speed 1,000 Hz ; Acceleration/deceleration rate 30.0 ms/kHz ; Travel amount 11,000 pulses ; Execute relative positioning operation
Introduction
Sample. 2
AS
Closed Loop A
Seq 99 [1] UNIT1 0.02,1 [2] UNIT2 0.02,1 Seq 1 [1] V1 1000 [2] D1 50 [3] D2 50 [4] ABSC [5] DELAY 1.0 [6] D1 0 [7] D2 0 [8] ABSC
; Hardware Setting ; Axis 1 Change to travel amount mm ; Axis 2 Change to travel amount mm ; 2 axis execute at same time ; Axis 1 Operating speed 1,000 Hz ; Axis 1 Travel amount 50 mm ; Axis 2 Travel amount 50 mm ; Axes 1, 2 Execute absolute positioning operation ; Pause at 1-second internal timer ; Axis 1 Travel amount 0 mm ; Axis 2 Travel amount 0 mm ; Axes 1, 2 Execute absolute positioning operation ; After axis 1 executes, axis 2 executes ; Axis 1 Operating speed 1,000 Hz ; Axis 1 Travel amount 50 mm ; Axis 1 Execute absolute positioning operation ; Axis 1 Travel amount 0 mm ; Axis 1 Execute absolute positioning operation ; Axis 2 Operating speed 2,000 Hz ; Axis 2 Travel amount 50 mm ; Axis 2 Execute absolute positioning operation ; Axis 2 Travel amount 0 mm ; Axis 2 Execute absolute positioning operation
CSK
Seq 2 [1] V1 1000 [2] D1 50 [3] ABS1 [4] D1 0 [5] ABS1 [6] V2 2000 [7] D2 50 [8] ABS2 [9] D2 0 [10] ABS2
DC Input
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
Sample. 3
[1] VS1 500 [2] V1 20000 [3] T1 30.0 [4] H1 [5] SCAN1 [6] IN 1,1 [7] S1
; Starting speed 500 Hz ; Operating speed 20,000 Hz ; Acceleration/deceleration rate 30.0 ms/kHz ; Direction of rotation (CW direction) ; Start continuous operation ; General-purpose input 1 Waiting for ON ; Decelerate to a stop
PK
Driver
Controllers
Sample. 4
Continuous operation at 10,000 Hz Decelerate to 5,000 Hz upon sensor detection Decelerate to a stop after three seconds
1 2 3
Sensor Connected to general-purpose input 1 10,000Hz 5,000Hz Motor operation General- ON purpose Input 1 OFF
[1] VS1 500 [2] V1 10000 [3] T1 30.0 [4] H1 [5] SCAN1 [6] IN 1,1 [7] V1 5000 [8] DELAY 3.0 [9] S1
; Starting speed 500 Hz ; Operating speed 10,000 Hz ; Acceleration/deceleration rate 30.0 ms/kHz ; Direction of rotation (CW direction) ; Start continuous operation ; General-purpose input 1 Waiting for ON ; Decelerate to 5,000 Hz ; Wait time 3 seconds ; Decelerate to a stop
SMK Accessories
3 sec.
Dimensions C-260
Accessories C-264
C-259
0.81 (20.5)
4.92 (125)
5.31 (135)
1.38 (35)
1.46 (37.11)
0.2 (5)
C-260
0.3 (7.62)
Stepping Motors
Specifications
Number of programs Program Capacity Input method Number of control axes Pulse output mode Oscillator Specifications Frequency Acceleration/deceleration rate Acceleration/deceleration pattern Travel amount Incremental Operation Operation Pattern Linear acceleration/deceleration Jerk-limit control Dual axis linear interpolation operation Speed change on the fly Communication Specifications Communication method Parameters Inputs (START, E-STOP, S-STOP) Outputs (MOVE, ALM, READY, END) Input/Output Signal Specifications General-purpose inputs General-purpose outputs Driver and sensor inputs Driver outputs Power requirement General Specifications Dimensions Weight Ambient temperature Ambient humidity : Available : Not Available 32 1,000 commands Command input via terminal program EMP401: Single axis EMP402: Dual axis 1- or 2-pulse output mode 10 to 200 kHz (1-Hz increment) Pulse duty 50% (Fixed) 0.5 to 1,000 ms/kHz (0.1 - ms/kHz increments) Linear/jerk-limit control Incremental: 16,777,21516,777,215 pulse Absolute: 8,388,6088,388,607 pulse Absolute Operation Mechanical Home Seeking Continuous Operation
RS-232C based (3-wire) Baud rate fixed at 9,600, 8 data bits, 1 stop bit, no parity 3 photocoupler inputs 24 VDC, Input resistance 5.4 k 4 open-collector outputs 24 VDC, 25 mA Max. each 8 photocoupler inputs 24 VDC, Input resistance 5.4 k 6 open-collector outputs 24 VDC, 25 mA Max. each 7 (EMP401) / 14 (EMP402) photocoupler inputs 12 VDC, input resistance 2.7 k 3 (EMP401) / 6 (EMP402) open-collector outputs 12 VDC, 20 mA Max. each 24 VDC 5%, Current Consumption 0.45 A W 1.57 in. (40 mm) H 5.31 in. (135 mm) D 3.94 in. (100 mm) 0.57 Ib. (0.26 kg) 32F122F (0C50C) (nonfreezing) 20% 85% (noncondensing)
Dimensions
Weight: 0.57 lb. (0.26 kg)
d B295
Slit
Slit 0.24 (6) 0.165 (4.2)2 Holes 0.16 (4) 3.94 (100) 1.61 (41) Slit 1.57 (40)
M33 Places
Features C-254
Specifications C-260
Stepping Motors
Introduction
v EMP402 Only
AS AS PLUS
Closed Loop A
AC Input
ASC RK
Pin No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25
Signal / E-STOP Input START Input S-STOP Input / / COM Input IN1 Input IN2 Input IN3 Input IN4 Input IN5 Input IN6 Input IN7 Input IN8 Input COM Input OUT1 Output OUT2 Output OUT3 Output OUT4 Output OUT5 Output OUT6 Output / / COM Input
Description Not used Emergency Stop Execute Sequence Program Cease Sequence Execution Not used Not used I/O Power Supply (24 VDC)
Pin No. 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40
Signal / ALM Output / MOVE Output / READY Output COM Input MO Input M1 Input M2 Input M3 Input M4 Input / / / / / / / / / / / END Output COM Input
Description Not used Alarm Not used Outputting Pulses Not used Ready to accept START input I/O Power Supply (24V)
DC Input
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
General Inputs
Not used
PK/PV
Not used Not used Not used Not used Not used Not used Not used Not used Not used Not used End Signal GND for I/O
41 42 43 44 45 46 47
PK
General Outputs
Driver
48 49 50
Controllers
Dimensions C-260
Accessories C-264
C-261
SMK Accessories
C-262
Stepping Motors
Pin No. 14 15
Description Not used Not used Counter-clear GND signal from driver Not used Not used Not used Not used Not used Not used Power source for timing signal (20 mA max.) GND for timing signal
CCW pulse (Direction of rotation) END signal from driver Timing signal from driver Alarm signal from driver CW limit sensor CCW limit sensor Home limit sensor Slit sensor
16 17 18 19 20 21 22 23 24 25 26
The values in parentheses are for 1-pulse output mode. The other values are for 2-pulse output mode.
CCR
Connection Diagrams
Programmable Controller
24 VDC
EMP400 Series
CN1 CN3/CN4
12 VDC 560
1
Driver
COM
7, 16, 32
560
2
3
E-STOP
2 3 4
Control input
START S-STOP
CCR 16 CCR 17
M0
33
5.4 k 12 VDC
M4
37
5.4 k 2.7 k
5 6 7 18 END TIM ALM GND
IN1
5.4 k
2.7 k 2.7 k
Generalpurpose input
IN8
15
5.4 k
5 VDC24 VDC
12 VDC
12 ALM
25 mA Max.
12V LS LS
HOMELS SLIT GND
27 29 31 49
8 9 10 11 13
Control output
OUT1
Generalpurpose output
25 mA Max.
17
25 mA Max.
OUT6 22 TB1
24 V
24 VDC GND
COM
25, 50
FG
When the I/O signals from CN1 are used, connect 24 VDC to the +COM and -COM input terminals separately from the power source input.
ORIENTAL MOTOR GENERAL CATALOG 2003/2004
Features C-254
Specifications C-260
Stepping Motors
Connection Diagrams
AS Series
AS
EMP400 Series
24 VDC
Series Driver
CN4
ASC Series
ASC
EMP400 Series
24 VDC
Series Driver
CN3
Programmable Controller
CN1
CN3/CN4
12 VDC
560
COM 7, 16, 32 E-STOP 5.4 k 2 START 5.4 k 3 S-STOP 5.4 k 4 M0 M4 IN1 IN8 33 37 8 15
5.4 k
Programmable Controller
Control input Sequence program selection
CN1
CN3/CN4
12 VDC
560
COM 7, 16, 32 E-STOP 5.4 k 2 START 5.4 k 3 S-STOP 5.4 k 4 M0 M4 IN1 IN8 33 37 8 15
5.4 k
560
560
Introduction
9 10
560
16 17
560
Not used
16 17
Not used
5.4 k
5.4 k
AS
Closed Loop A
5.4 k
12 VDC
2.7 k
5 6
END TIM
29 30 23 24 25 26
5.4 k
AC Input
12 VDC
5.4 k 2.7 k 2.7 k
5 6
END TIM
29 30 23 24 25 26
AS PLUS
ALM 7 18 GND
5 VDC 25 26
2.7 k
ALM 7 18 GND
ASC
5 V GND
1 2
Internal Circuit
25
Not used
26
RK
COM 25, 50
12 VDC 12
2.7 k 2.7 k 2.7 k 2.7 k
COM 25, 50
12
2.7 k 2.7 k 2.7 k 2.7 k
8 9 10 11 13
8 9
CFK2
10 11 13
CSK
TB1
24 V
TB1
24 VDC
24 V
DC Input
GND FG
GND FG
24 VDC
PMC
Note: The Pulse frequency will become lower as the signal lines becomes longer.
Note: The Pulse frequency will become lower as the signal lines becomes longer.
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
UMK
RK Series
RK
CFK@Series
EMP400 Series
24 VDC
Series Driver
CN1
24 VDC
CFK @
EMP400 Series
CN1 CN3/CN4
12 VDC
560
Series Driver
CN3
CSK
Programmable Controller
CN1
CN3/CN4
12 VDC
560
COM 7, 16, 32 E-STOP 5.4 k 2 START 5.4 k 3 S-STOP 5.4 k 4 M0 M4 IN1 IN8 33 37 8 15
5.4 k
560
Programmable Controller
COM
PK/PV
7, 16, 32
560
1 2 3 4
PK
560
16 17
560
Not used
16 17
Not used
5.4 k
Driver
5.4 k
12 VDC
2.7 k
5.4 k 2.7 k
5 6
Not used
12 VDC
5.4 k 2.7 k 2.7 k
IN8
TIM
5 6 7
Not used
24 VDC
Control Output 25 mA max. 27 MOVE 29 READY 31 END 49 OUT1 OUT6 17 ALM
TIM
Not used
2.7 k
ALM
2.7 k
ALM 7 GND 18
18
GND
Controllers
5 VDC 25
Not used
5 VDC
25
Not used
26 22 12 VDC 12
2.7 k 2.7 k 2.7 k 2.7 k
General purpose Output 25 mA max. Power Source for Sensor (140 mA Max.)
26 22
COM 25, 50
COM 25, 50
12 VDC
12
2.7 k 2.7 k 2.7 k 2.7 k
12 V LS
LS HOMELS SLIT GND
8 9
8 9
SMK
10 11 13
10 11
13
Accessories
TB1
24 V
TB1
GND FG 24 VDC 24 V GND FG 24 VDC
Note: The Pulse frequency will become lower as the signal lines becomes longer.
Note: The Pulse frequency will become lower as the signal lines becomes longer.
Dimensions C-260
Accessories C-264
C-263
1.75 (44.5)
1.89 (48)
1.92 (48.7)
1.77 0.02 0
(45 0.5 0 )
0.55 (14)
1.57 (40)
1.02 (26)
Communication Cable
Input programs from a PC
Use this 16.4 ft. (5 m) communication cable to connect the EMP400 Series to a PC. (DSUB9F to RJ 11 cable)
Model: FC04W5
C-264
1.42 (36)
Stepping Motors
Model: OP300
Model: CC01EMP1T
v Dimensions
d B297
v Dimensions
d B300
5.45 (138.5) 1.65 (42) 5.59 (142) 0.12 (3) 0.67 (17) 0.55 (14) 0.45 (11.4) 1.26 (32)
0.31 (8)
0.5 0 )
0.25 (6.35)
3.94 (100)
Features C-254
Specifications C-260
Stepping Motors
Driver Cables
Model CC01EMP4 CC02EMP4 CC01EMP5 CC02EMP5 Length (L) 3.3 ft. (1 m) 6.6 ft. (2 m) 3.3 ft. (1 m) 6.6 ft. (2 m) Applicable Product Connector Number AS, ASC Series AS, ASC Series RK Series RK Series
Introduction
v Dimensions
CCEMP4
AS
Closed Loop A
AC Input
3.54 (90)
T DC OU GND LS LS HOME SLIT
AS PLUS
0.24 (6)
ASC
1.46 (37.11)
Controller side
1.71 (43.46)
Driver side
RK
0.5 (12.7)
CFK2
CCEMP5
CSK
3.54 (90)
T DC OU GND
LS LS HOME SLIT
DC Input
PMC
0.22 (5.7)
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
UMK
Controller side
1.46 (37.11)
3.54 (90)
0.79 (20)
0.24 (6)
0.5 (12.7)
CSK
PK/PV
Dimensions C-260
Accessories C-264
C-265
PK SMK Accessories
Driver
Controllers
C-266
Stepping Motors
RS232C-Compatible Controller
Features
Easy-to-Use
The instruction set software is built into the controller. There is no need for set-up diskettes. Can be pre-programmed prior to installation. An easy-to-learn instruction set allows for complete system operation. End-of-travel and home positions can be easily determined by the three dedicated limit switch inputs. Operates on 10 to 28 VDC so the controller can be powered by a standard power supply.
Flexible I/O
There are four programmable inputs and two programmable outputs to give the controller the ability to control other functions within the machine. All inputs and outputs are optically isolated. Step and direction signal outputs are industry standard TTL level signals in either 1-pulse or 2-pulse modes so the SC8800 and the SC8800E can be used with any industry-standard stepping motor and driver package. All I/Os can be driven by an external DC power supply of 5 to 24 VDC.
Programming Options
Can be controlled or programmed directly from a computer or ASCll terminal via a standard RS-232C port. Can be controlled by industry-standard programmable logic controllers so it can run off any already existing PLC. Linear, S-curve and parabolic acceleration/deceleration profiles are available.
Daisy-Chain Capabilities
Up to 35 different axes can be controlled from one computer or ASCII terminal by daisy-chaining up to 35 SC8800 or SC8800E controllers together. Available with an optional encoder input for position verification (model SC8800E).
System Configuration
Stepping Motor System (Sold Separately) SC8800E Controller Computer or ASCII Terminal (Not Supplied) Start command Motion parameters Driver Motor
Operating mode Pulse signals Encoder (Not Supplied) Encoder Feedback (model SC8800E)
Features C-266
Stepping Motors
Specifications
Parameter Input Power Stepping Accuracy Velocity Accuracy Performance Velocity Repeatability Position Range Velocity Range Acceleration Rate Absolute Index Motion Types Continuous Go Home Move Time Via RS-232C Sequence Execution Programming Language Non-Volatile Memory Sequence Length Number of Programs Command Interface Type Parameters Configuration CW, CCW and Home Limits Inputs Programmable Inputs TIM Encoder Step and Direction Outputs Programmable Status Mechanical Dimensions l/O Connectors Cooling Method Environmental Weight Ambient Temperature Range Humidity Via Power-up Auto Run Via Programmable Input 1028 VDC, 3.0 watts max. O steps from preset total 0.05% of preset rate 0.01% of max. rate O to 999,999,999 steps, when DSCALE is active 1 to 800,000 steps/sec 0.001 to 10 sec Move to specified internal counter position Move specified distance Move at specified speed until commanded to stop Move to Home limit switch Move specified distance in specified time Sequence may be executed from RS-232C interface with the RUN command Execute any sequence, 015 upon power-up Sequences may be selected using an external device Simple, high-level programming language 8k or up to available remaining memory 50 max. or up to available memory RS-232C serial type, 3-wire implementation (Tx, Rx, Gnd) Baud rate fixed at 9600, 8 data bits, 1 stop bit, no parity 35 units max. can be controlled via a single port in the daisy-chain configuration 5 to 30 VDC, Optically Isolated Four to be used for machine interaction and/or sequence selection, 5 to 30 VDC, Optically Isolated Phase zero indicator, 5 to 30 VDC, Optically Isolated Model SC8800E accepts 2 or 3 channel, 2-phase quadrature incremental encoders with differential or single ended outputs, 5 VDC TTL compatible, 400 kHz (quadrature), max. TTL, High: 45 VDC, Low: 0~0.5 VDC, Pulse width: 0.5 ms min., Rise/Fall time: 0.2 ms max. Two, Open collector, 1~24 VDC, 80 mA max. Fault & Busy, Open collector, 124 VDC, 80 mA max. L 3.35 in. (85 mm) W 1.57 in. (40 mm) H 4.72 in. (120 mm) Combination of fixed screw terminal and D-type Natural Ventilation 32F122F (0C50C) 20 85% (noncondensing) 0.68 lb. (0.31 kg) Value
Specifications C-267
Dimensions C-269
C-267
Introduction AS AS PLUS ASC RK CFK2 CSK PMC UMK CSK PK/PV PK SMK Accessories Before Using a Stepping Motor
Closed Loop A Motor & Driver Packages 5-Phase Microstep 5-Phase Full/Half 2-Phase Stepping Motors Driver Controllers
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
Velocity V (Hz)
C-268
Stepping Motors
Programming Example
Input 1 "ON" 2500 2000 1500 1200 700 D6500
TA1 TD 1.5 1s 3s TA4 5s TD 4 2s
Start
Outputs 1 & 3 ON
The two moves shown above can be executed with the following program commands :
Commands 1 LOOP 10 2 SAS Push START to begin 3 VS700; V1500 4 TA1; TD1.5 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 PC0; EC0 H D6500 MI DELAY1 IF (CP!0) THEN JMP1 ELSE DELAY3 OUT101 V2000 T4 WHILE (IN10) MC ENDW V2500; MC DELAY5 V1200 DELAY2 STOP ENDL
Description Loop this program 10 times Echo message to screen Set start and run velocities for the first move Set Accel time to 1 sec & Decel time to 1.5 sec When start signal is input, program begins Set position and encoder counters to zero Set direction to CW Set distance to 6500 steps Execute the Index move Delay 1 second If encoder position is incorrect, Then, restart program Else Delay 3 seconds. Turn on Outputs 1 and 3 Set velocity to 2000 steps/sec Set Accel & Decel time to 4 sec. for second move While Input #1 is off, Move continuously End the while loop Change speed to 2500 steps/sec Delay 5 seconds Change speed to 1200 step/sec Delay 2 seconds Stop moving Return to beginning of loop
Features C-266
Stepping Motors
Dimensions
SC8800 SC8800E Weight: 0.68 lb. (0.31 kg)
0.28(7)
0.178 (4.5)
0.18 (4.5)
0.79 (20)
Introduction
4.72(120)
4.37(111)
AS
Closed Loop A
Slits
AS PLUS
3.35 (85)
0.63 (16)
0.79 (20)
ASC RK
System Layout
Encoder Feedback
A channel B channel Z channel 1 20 LEDS
CFK2
CSK PMC
DC Input
Stop Inputs
1 6
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
UMK
Limit Swiches
CSK
CN1
PK/PV PK
End of Travel Limit Switch CN2 Programmable Outputs Power Status Outputs Source Driver Motor
Specifications C-267
Dimensions C-269
C-269
Driver
Controllers
C-270
Stepping Motors
SG8030J
The SG8030J is a compact controller that switches between two control methods according to the application: sequential positioning and data selection positioning. With sequential positioning mode, up to four positioning control operations can be executed in the pre-determined sequence by simply inputting the start command from a programmable controller. In data selection positioning mode, positioning is controlled by selecting one of four sets of pre-registered positioning data and inputting the start command from a programmable controller.
Features
Functions
The SG8030J offers commonly used functions including: Control modes: External, program, test Operating modes: Positioning, return to mechanical home, continuous operation
System Configuration
Stepping Motor System (Sold separately)
SG8030J
Features C-270
Specifications C-271
Stepping Motors
Product Line
Type DIN Rail Mounting Model Recessed Mounting Model Model SG8030J-D SG8030J-U
Specifications
Model
Number of Control Axes Number of Settings Positioning Setting Mode Data Setting Method Mode Positioning Move Distance Setting Range Control Starting Pulse Speed Setting Range (VS) Operating Pulse Speed Setting Range (VR) Acceleration/Deceleration Rate Setting Range (TR) Pulse Output Mode
SG8030J-D SG8030J-U
1 Axis 4 Profiles Set with touch key on front panel (stored in EEPROM) Incremental Mode (point to point) Sequential-Step Positioning Step-Select Positioning Incremental 199999 Pulses 100 Hz10 kHz (100 Hz Units) 100 Hz200 kHz (100 Hz Units) 1100 ms/kHz (28 rate) 1-Pulse Output/2-Pulse Output Mode select possible Positioning Operation (INDEX Operation) Return to Mechanical Home Operation (HOME Operation) Continuous Operation (SCAN 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 Transistor Output Linked to Photocoupler 24VDC 25 mA maximum 24 VDC5% Current Consumption 0.1 A 32F104F (0C40C ) (Nonfreezing) 20%85% (Noncondensing)
Closed Loop A Motor & Driver Packages 5-Phase Microstep 5-Phase Full/Half
Operation Modes
CFK2
Control Modes Mechanical Home Return Function Input Signals Output Signals Power Supply Input Ambient Temperature Ambient Humidity
CSK PMC
DC Input
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
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
UMK
Dimensions
Weight: 0.37 lb. (0.17 kg) d B094
0.22 (5.5) 1.891.89 (48)
CSK
PK/PV
0.03 (0.7) 1.751.75 (44.5) 0.177 DIA. (4.5) 2 Holes 0.33 (8.4)
PK
0.2 (5)
Driver
0.16 (4)
1.39 (35.4)
Controllers
0.31 (7.8)
0.12 (3)
0.18 (4.5)
SMK
Accessories
1.89 (48)
1.770.02 0 (450.5 0 )
2.28 (58)
0.22 (5.5)
4.17MAX. (106max.)
Dimensions C-271
C-271
SET key
Output during Pulse Oscillation Mechanical Home Detection Sensor Start Signal CW Pulse (2-pulse input mode)/Pulse (1-pulse input mode) CCW Pulse (2-pulse input mode)/Rotation Direction (1-pulse input mode) Stop all operations (including busy output) S: CW Continuous Operation Input D: Data Select Signal [CW Continuous Operation] S: CCW Continuous Operation Input D: Data Select Signal [CCW Continuous Operation]
Indications in brackets [ ] apply to state when mode switching signal was input. Only pins 1, 10, 11 differ for sequential positioning and selection positioning. "S" in the table indicates sequential positioning and "D" indicates selection positioning.
Connection Diagram
24 VDC power supply 1
Programmable controller
24 VDC GND Operating mode switch GND
SG8030J
Pin No.
Driver
3 4 [M1] 4
Pulse (CWpulse)
Direction (CCW-pulse)
1 The pulse output section uses a constant-current circuit, so no external resistor is required. Connect5 V power directly to the driver terminals and connect the 24 VDC and 5 VDC GND terminals to each other. 2 Use a 24 VDC home sensor. 3 This should be normally closed during normal operation. When not using the emergency stop input signal, always connect to the 24 VDC terminal. The "E.STOP" message is displayed when the power supply turns off. 4 The names in brackets [ ] are for data selection positioning type.
C-272
Stepping Motors
SET key
680 4.7k
DC Input
Stepping Motors
Introduction AS AS PLUS ASC
SMK
Accessories
SMK Series
Additional Information
C-273
Closed Loop A
Motor & Driver Packages 5-Phase Microstep 5-Phase Full/Half 2-Phase Stepping Motors with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
Driver
Controllers
C-274
Stepping Motors
SMK Series
Low-speed synchronous motors provide highly precise speed regulation, low-speed rotation, and quick bidirectional rotation. The basic construction of low-speed synchronous motors is the same as that of stepping motors. Since they can be driven by an AC power supply, they are sometimes called AC stepping motors.
Features
Precise Positioning
The motor can be stopped instantly by turning off the power supply. The stopping accuracy within the motor's permissible load inertia is 10. When a precision switch is used, simple and precise positioning is possible.
Low-SpeedSynchronous Rotation
The motor rotates at a speed proportional to and accurately synchronized with the frequency of the power supply. A fluctuation in load does not affect the rotation speed. At 50 Hz 60 r/min ( 30 r/min) At 60 Hz 72 r/min ( 36 r/min)
For SMK014MA-
Lowering Applications
Constant speed can be maintained even during lowering operations. Low-speed synchronous motors are suitable for applications, where vertical operation at a constant speed is required.
Holding Torque
Since a permanent-magnet, multi-poled rotor is used, the motor has holding torque even when the motor is not energized. When used with a gearhead, comparatively high holding torque can be utilized.
When a larger holding torque is required, a DC power supply can be connected as soon as the AC power supply is cut off. DC Excitation Page C-281
Low-Noise Gearheads
Pinion shaft models are available that can be connected directly to standard Oriental Motor GN-type low-noise gearheads.
Features C-274
Specifications C-276
Stepping Motors
Introduction
System Configuration
AS AS PLUS ASC
Closed Loop A
RK CFK2
CSK PMC
DC Input
Motor Capacitor Cap (Included) Insulates the capacitor terminal Capacitor (Included)
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
UMK CSK
PK/PV
SMK 0 14 M A - A
A: USA Version Shaft Type A: Round Shaft GN: Pinion Shaft (for use with GN type gearhead) Voltage A: Single-Phase 100/115 VAC Motor Torque Speed Blank: 60/72 r/min (50/60 Hz) M: 30/36 r/min (50/60 Hz)
PK
Driver
Controllers
Motor Frame Size 0: 1.65 in. sq. (42 mm sq.) 2: 2.22 in. sq. (56.4 mm sq.) or 2.36 in. sq. (60 mm sq.) 5: 3.35 in. sq. (85 mm sq.) or 3.54 in. sq. (90 mm sq.) SMK Series
Gearhead
Geared Motor
5 GN 50 KA
Type of Bearings and Shaft Size KA: Ball bearing type and inchGear Ratio sized output shaft (Example) 50: Gear Ratio of 50:1 Gearhead Type GN: GN type (for use with GN-type Pinion Shaft Motor) Gearhead Frame Size 2: 2.36 inch sq. (60 mm sq.) 5: 3.54 inch sq. (90 mm sq.)
SMK 0 A - 120 A
Shaft Type A: Single Shaft Gear Ratio (Example) 120: Gear Ratio of 120:1 Voltage A: Single-Phase 100/115 VAC Motor Frame Size 0: 1.65 in. sq. (42 mm sq.) SMK Series
Dimensions C-278
C-275
SMK Accessories
C-276
Stepping Motors
Product Line
Motor
Model SMK014A-A SMK014MA-A SMK237A-A SMK5100A-AA SMK5160A-AA SMK216A-GN (GN-type Pinion Shaft) SMK550A-GN (GN-type Pinion Shaft)
Geared Motor
Model SMK0A-A Gear Ratio 3120
Enter the gear ratio in the box () within the model number.
Enter the gear ratio in the box () within the model number.
UC
Holding Inertia J oz-in2 kgm2 0.3 (5510 7) Capacitor F 0.6
SMK014A-A
0.3 (5510 7)
0.6
1.64 (30010 7)
1.2
0.66 (12010 7)
1.2
7.7 (140010 7)
2.5
400
30
14.8 (270010 7)
2.5
400
30
7.7 (140010 7)
0.6
400
30
Geared Motor
Model Voltage VAC Single-Phase 100 Single-Phase 115 Frequency Current Hz A 50 60 60 0.043 0.046 0.053 Speed1 r/min 60 72 72 1.27 (9) 0.3 (5510 7) 0.6 Holding Torque2 oz-in mNm Rotor Inertia J oz-in2 kgm2 Capacitor F
SMK0A-A
1 50 Hz: Gear output shaft speed = 60/Gear Ratio [r/min] 60 Hz: Gear output shaft speed = 72/Gear Ratio [r/min] 2 This value applies to round shaft motors. To calculate holding torque for gearmotors, use the following formula: listed holding torque gear ratio. Note that the gearmotor holding torque should be lower than the permissible torque on the gear output shaft. Permissible Torque with Gearhead AttachedPage C-277
Features C-274
Specifications C-276
Stepping Motors
General Specifications
Item Shaft Runout Concentricity Perpendicularity Shaft Radial Play2 Shaft Axial Play3 Step Accuracy Insulation Resistance Dielectric Strength Insulation Class Temperature Rise Ambient Temperature Range Specifications 0.002 inch (0.05 mm) T.I.R.1 0.003 inch (0.075 mm) T.I.R.1 0.003 inch (0.075 mm) T.I.R.1 0.001 inch (0.025 mm) maximum [Load 1.12 lb. (5 N)] 0.003 inch (0.075 mm) maximum [Load 2.2 lb. (10 N)] 3.6 100 M or more when the megger reading between the windings and the case is 500 VDC. Sufficient to withstand 1.5 kV at 60 Hz applied between the windings and the case for one minute. Class E [248F (120C)]
Introduction AS
Closed Loop A
AC Input
99F (55C) or less as measured by thermometer method after rated operation. 14F104F (10C40C) (nonfreezing)
0.075 0.05 A
1 T.I.R. (Total Indicator Reading): Total dial gauge reading when the measurement section is rotated 1 revolution, centered on the reference axis center. 2 Radial Play: Displacement in shaft position in the radial direction when a 1.12 lb. (5 N) load is applied to the motor shaft tip in a radial direction. 3 Axial Play: Displacement in shaft position in the axial direction when a 2.2 lb. (10 N) load is applied to the motor shaft in the axial direction.
ASC
RK
0.075
CFK2
Unit = Upper values: lb-in/Lower values: Nm 25 18.5 2.1 66 7.5 / 30 21 2.4 79 9 3 0.35 36 24 2.8 79 9 3.2 0.37 50 26 3 88 10 3.6 0.41 60 26 3 88 10 4.1 0.47 75 26 3 88 10 / 90 26 3 88 10 / 100 120 150 180
6 7 0.8 24 2.8 /
CSK
26 3 88 10 4.1 0.47
26 3 88 10 4.9 0.56
26 3 88 10 /
26 3 88 10 /
DC Input
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
1 Gearheads are sold separately. The box () represents the desired gear ratio, which becomes part of the product number for the gearhead or gearmotor. A white background indicates that the output shaft of the gearhead rotates in the same direction as the output shaft of the motor. A colored background indicates rotation in the opposite direction.
PK
Driver
Controllers
Gearhead
Model Gear Ratio 318 2GNKA 25180 318 5GNKA 25180 Overhung Load Distance from Shaft End [inch (mm)] 0.39 (10) 0.79 (20) 11.2 18 50 27 120 56 250 67 300 80 40 180 78 350 101 450
SMK Accessories
6.7 30
22 100
Dimensions C-278
C-277
(220 0.033)
1.2200.004 (310.1)
0.06 (1.6)
0.5910.010 (150.25)
(6.350 0.012)
1.67 (42.5)
(50.012) 0 0.86610.0013
0.2280.006 (5.80.15)
4 Places
Motor
SMK5100A-AA Weight: 3.7 lb. (1.7 kg) d B127U
2.60 (66) 0.39 (10) 1.460.04 (371) 0.08 (2) 0.9840.010 (250.25)
Motor
SMK5160A-AA Weight: 6.2 lb. (2.8 kg) d B128U
3.78 (96) 0.39 (10) 1.460.04 (371) 0.08 (2) 0.9840.010 (250.25) 3.35 (85) 2.740.014 (69.580.35) 0.256 (6.5) 4 Holes
2.740.014 (69.580.35)
1.50000.0012 (38.10.03)
0.08 (2) 0.50 3 Motor Leads 12 inch (300 mm) Length (12.6) UL Style 3266, AWG 24 M3 P0.5 0.20(5) Deep Min. 0.16 (4)
A A'
[1/2"]
(12.70 0.018)
2.8750.001 (73.0250.03)
90
0.4530.0059 (11.50.15)
3 Motor Leads 12 inch (300 mm) Length UL Style 3266, AWG20 Features C-274
C-278
0.4530.006 (11.50.15)
90
Specifications C-276
2.740.014 (69.580.35)
1.860.014 (47.140.35)
Stepping Motors
Motor
Model SMK014A-A SMK014MA-A SMK237A-A SMK5100-AA SMK5160A-AA Permissible Load Inertia: J oz-in2 (10-4 kgm2) 1.50 (0.275) 13.7 (2.5) 38 (7) 66 (12)
Unit = Upper values: lb-in2/Lower values: 10-4kgm2 50 53 155 640 60 53 155 640 75 53 155 640 90 53 155 640 100 120 150 180 53 155 640 53 155 640 53 155 640 53 155 640
1093 1575 1875 1875 1875 1875 1875 1875 1875 1875 1875 1875 1875 1875
Geared Motor
Gear Ratio Gearmotor SMK0A-A 3 0.82 2.4 3.6 1.2 3.5 7.5 5.1 15 9 7.5 22
Unit = Upper values: lb-in2/Lower values: 10-4kgm2 15 13.7 40 18 13.7 40 30 13.7 40 36 13.7 40 50 13.7 40 60 13.7 40 100 120 13.7 40 13.7 40
Dimensions
Motor
Motor
SMK237A-A Weight: 1.5 lb. (0.7 kg) d B126
2.13 (54) 0.20 (5) 0.790.04 (201)
Stepping Motors
SMK216A-GN/2GNKA Weight: 1.9 lb. (0.85 kg) d B129AU (2GN3K18KA) B129BU (2GN25K180KA)
0.31250 0.0006 [5/16"]
Motor/Gearhead
Motor/Gearhead
SMK550A-GN/5GNKA Weight: 7.0 lb. (3.2 kg) d B130AU (5GN3KA18KA) B130BU (5GN25KA180KA)
2.60 (66) 0.39 (10) L 1.260.04 (321) 0.12 (3) 0.75 (19) 0.50000 0.0007 [1/2"]
(7.9370 0.015)
2.22 (56.4)
0.94 (24)
(12.70 0.018)
Introduction
1.42 (36)
AS
3.35 (85)
Closed Loop A
0.28 (7)
0.390.02 (100.5)
0.02
AC Input
AS PLUS
3 Motor Leads 12 inch (300 mm) Length UL Style 3266, AWG20 2GN3KA~18KA: L = 1.18 (30) 2GN25KA~180KA: L = 1.57 (40)
3 Motor Leads 12 inch (300 mm) Length UL Style 3266, AWG20 5GN3KA~18KA: L = 1.65 (42) 5GN25KA~180KA: L = 2.36 (60)
0 09 4. 040.5) 1 (
.02
ASC
Geared Motor
SMK0A-A Weight: 1.1 lb. (0.5 kg) d B323
2.72 (69)
RK CFK2
0.71 (18)
(50 0.012)
CSK
DC Input
1.2200.004 (310.15)
PMC
0.31 (8)
0.16 (4)
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
UMK CSK
Motor Model SMK014A-A SMK014MA-A SMK0A-A SMK216A-GN SMK237A-A SMK550A-GN SMK5100A-AA SMK5160A-AA
Dimensions inch (mm) A 1.22 (31) 1.22 (31) 1.22 (31) 1.22 (31) B 0.57 (14.5) 0.57 (14.5) 0.57 (14.5) 0.67 (17) C 0.93 (23.5) 0.93 (23.5) 0.93 (23.5) 1.07 (27)
No.
PK/PV PK
0.169 ( 4.3)
0.79 (20)
0.24 (6)
Driver
Controllers
3.94 (100)
SMK
Accessories
Dimensions C-278
C-279
C-280
Stepping Motors
SMK2 Type
CCW Red Single-Phase 100/115 VAC R0 C0 CW
SW
CW
Gray Blue
CCW Capacitor
Motor
R0 C0
SMK0 Type
CCW Red Single-Phase 100/115 VAC R0 C0
SW
SMK5 Type
CW Red Single-Phase 100/115 VAC Motor Capacitor R0 C0 Capacitor External resistor R0 C0 SW CW Gray Blue CCW Motor CCW CW
CW
White Blue
CCW
R0 C0
To protect the contact point of relays and switches, always connect the accessory surge suppressor. CR circuit for surge suppression is available as an accessory. Page A-218 When the gearedmotor or GN gearheads are used, the rotating direction of output shaft differs according to the gear ratio.
Starting Time
Low-speed synchronous motors offer superb starting, stopping and reversing characteristics. Provided that the motor is operating within permissible load inertia limits, it can be started, stopped or reversed within 1.5 cycles of the applied frequency. The motor will start and reach a steady speed in the time shown in the table. As seen in this table, there is a certain amount of variation in the time required for the motor to reach the set speed. This is attributable to factors linked with the phase of the power source and the relative positions of the rotor and stator when the current is applied. One method of reducing these vibrations is to use a zero cross switch. Other possibilities include the use of special control circuits.
Model SMK014A-A SMK014MA-A SMK0A-A SMK237A-A Load Inertia: J oz-in2 0 0.75 1.50 0 6.8 13.7 0 SMK216A-GN 1.64 3.3 SMK5100A-AA SMK550A-GN 0 19.1 38 0 SMK5160A-AA 33 66 kgm2 0 137107 275107 0 1250107 2500107 0 300107 600107 0 3500107 7000107 0 6000107 12000107 Starting Time (ms) Start Up 215 316 622 215 316 622 215 316 622 215 316 622 215 316 622 Settling 1937 2538 1448 1937 2538 1448 1937 2538 1448 1937 2538 1448 1937 2538 1448 Stopping Time (ms) Settle Down Settling 35 47 59 35 47 59 35 47 59 35 47 59 35 47 59 723 1127 2332 723 1127 2332 723 1127 2332 723 1127 2332 723 1127 2332
Enter the gear ratio in the box () within the model number.
Features C-274
Specifications C-276
Stepping Motors
DC Excitation
When a holding torque larger than the static holding torque of the stopped motor is required, apply a DC voltage simultaneously while turning the AC power supply off.
0.4
Introduction
R0 C0 CW
Gray (White)
AS
Closed Loop A
AC Input
50
AS PLUS
Motor
SMK237A-A, SMK216A-GN
1.25 1.00 0.75 0.50 0.25 150 Holding Torque [oz-in] Permissible Applied Voltage
SMK237A-A SMK216A-GN
ASC
100
2-Phase Excitation (Series) 2-Phase Excitation (Parallel) 1-Phase Excitation 2-Phase Excitation (Series)
RK
1-Phase Excitation 50
CFK2 CSK
DC Input
R0 C0 Blue Motor
PMC
SMK5100A-AA, SMK550A-GN
UMK
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
3.0 400
R0 C0
2.5
2-Phase Excitation 2-Phase Excitation (Parallel) 2-Phase Excitation (Series) 2-Phase Excitation (Series) (Parallel) 300 1-Phase Excitation
200
CSK PK/PV
1-Phase Excitation
CW
CCW
100
SMK5100A-AA SMK550A-GN
PK
Driver
20
R0 C0
40 60 Voltage [VDC]
80
100
SMK5160A-AA
6 Permissible Applied Voltage 800 5
External resistors are not needed for the SMK0 and SMK2 models. To prevent DC power supply damage caused by voltage surges, connect a
SMK5 model.
The white leads listed in parentheses are only for the SMK0. Connect the supplied external resistor to the capacitor in series for the
Controllers
4 3 2 1 0
600
surge suppressor circuit between the contact points of the relay switches. The EPCR1201-2 surge suppressor circuit is available as an accessory. Page A-218
400
SMK
200
Accessories
10 20 30
40 50 60 70 80 Voltage [VDC]
90 100
These values apply to round shaft motors. To calculate holding torque for gearmotors, use the following formula: listed holding torque gear ratio Note that the gearmotor holding torque should be lower than the permissible torque on the gear output shaft. Permissible Torque with Gearhead AttachedPage C-277
Dimensions C-278
C-281
C-282
Stepping Motors
ORIENTAL MOTOR GENERAL CATALOG 2003/2004
Stepping Motors
Introduction AS AS PLUS ASC RK CFK2 CSK PMC UMK
Closed Loop A Motor & Driver Packages 5-Phase Microstep 5-Phase Full/Half
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
Accessories
Controllers
Cables C-284 Flexible Couplings C-288 Clean Dampers C-293 Mounting Brackets for Stepping Motors C-295 DIN Rail Mounting Plate C-298
ORIENTAL MOTOR GENERAL CATALOG 2003/2004
C-283
C-284
Stepping Motors
Cables
Extension cables provide convenient connection between a motor, driver and controller.
Type of Cables
Dedicated Type
or
C-285
The optional cable includes three cables (for motor, power supply and input/output signal).
For Motor
Power supply
Stepping Motors
Driver Cables
These cables are convenient for connecting and RK series drivers to controllers. General-Purpose Type and Dedicated Type (equipped with the connector for the EMP series controller) are available.
Introduction
z Dedicated Type
One end of the cable is a half-pitch connector that snaps into the driver for and RK series. The other end of the cable is equipped with the connector for the EMP400 series controller.
Note: Note that as the length of the pulse signal line increases, the maximum transmission frequency decrease. (Technical Reference Page F-36)
x General-Purpose Type
This is a ribbon cable equipped with, at one end of the cable, the half-pitch connector that snaps into the driver for , RK series and UI2120G.
Note: Note that as the length of the pulse signal line increases, the maximum transmission frequency decrease. (Technical Reference Page F-36) Install a connector that matches the controller you are using to the other end of the cable.
AS AS PLUS ASC
Closed Loop A
RK
Product Line
CFK2
Applicable Series
Note: The alarm clear signal of the AS and ASC series cannot be used with the EMP400 series controller.
CSK
DC Input
PMC
For RK Series
Model CC01EMP5 CC02EMP5 Length L ft. (m) 3.3 (1) 6.6 (2)
Dimensions v For
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
UMK
Conductor: AWG28
2.3 (6 6 0. 59 0 15 )
1.71 (43.46)
Dimensions v For
CSK
PK/PV
Pitch 0.05 L 1.180 0.39 0 (3010 ) 0.295 (7.5) Laminate 0.390.12 (103)
(1.27)
PK
Controller side
Driver
0.5 (12.7)
1.54 (39)
1.54 (39)
0.5 (12.7)
v For
Conductor: AWG28
Shield 0.390.12 (103) 0.390.12 (103) Pitch 0.05 (1.27) Laminate 1.180 0.39 0 (3010 ) 0.252 (6.4) 0.390.12 (103)
Controllers
1.31 (33.3)
v For RK Series
L 0.50 (12.7)
SMK
0.22 (5.7)
Controller side
1.46 (37.11)
Accessories
Driver side
3.54 (90)
0.79 (20)
0.24 (6)
0.5 (12.7)
C-285
6.6 (2) 9.8 (3) 16.4 (5) 23 (7) 32.8 (10) 49.2 (15) 65.6 (20)
6.6 (2) 9.8 (3) 16.4 (5) 23 (7) 32.8 (10) 49.2 (15) 65.6 (20)
Note: Electromagnetic Brake models must use an extension cable for an Electromagnetic Brake. But motor frame size 1.65 in. (42 mm) model can use a standard extension cable for the Electromagnetic Brake. ASC Series can not use extension cable with 49.2 ft. (15 m), 65.6 ft. (20 m) length.
When only the extension between motor and driver is needed, use an extension cable.
0.28 (7) Electromagnetic Brake Leads 2.4 inch (60mm) Length (Orange/Black, Gray AWG24) Motor Side Driver Side
C-286
0.87 (22.2)
Stepping Motors
This flexible cable is used between motors and dedicated drivers. We recommend this cable when the motor is installed on a moving section and the cable is repeatedly bent and extended.
It is not necessary when the following products are used where the distance between the driver and the motor is 1.31 ft. (0.4 m) or less.
Conductor size: AWG22 Finished outer diameter: 0.28 inch (7.2mm) Cable rating: 221F (105C) Outer casing: oil-resistant, heat-resistant, non-migrating vinyl Note: These extension cables are only for the RK Series. Do not use them on other stepping motor & driver packages.
AS Series, AS PLUS, ASC Series w/o electromagnetic brake AS Series, AS PLUS, ASC Series electromagnetic brake type [Motor Frame Size: 1.65 inch (42 mm)]
AS, AS PLUS, ASC Series w/o electromagnetic brake AS, AS PLUS, ASC Series electromagnetic brake type [Motor Frame Size: 1.65 inch (42 mm)]
These extension cables are convenient when using the stepping motor and driver more than 1.31 feet (0.4 m) apart from each other. Its not necessary when the following products are used where the distance between the driver and the motor is 1.31 ft. (0.4 m) or less.
Note: Electromagnetic Brake models must use an extension cable for an Electromagnetic Brake. But motor frame size 1.65 in. (42 mm) model can use a standard extension cable for the Electromagnetic Brake.
Stepping Motors
n Motor Cables
As an option, lead wires with connectors are available. A 2 ft. (0.6 m) lead wire connector is included with the motor and driver packages.
m Optional Cables
As an option 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 optional cable includes three cables (for motor, power supply and input/output signal).
Introduction
Product Line
Model LC5N06A LC5N10A LC2U06A LC2U10A LC2U06B LC2U10B Package CFK513P / / Motor only PK513P PK22P PK223-SG PK23P PK24P Length ft. (m) 2 (0.6) 3.3 (1) 2 (0.6) 3.3 (1) 2 (0.6) 3.3 (1)
AS
Closed Loop A
AC Input
Product Line
AS PLUS
Model LCS01PMC
C-287
Motor & Driver Packages 5-Phase Microstep 5-Phase Full/Half 2-Phase Stepping Motors Driver Controllers
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
C-288
Stepping Motors
Flexible Couplings
MC Motor Couplings
Product Number Code
MC 25 F 04 F 04 C
Connection Method C: Clamp Type Inner Diameter Shaft Hole Size Blank: Metric Size F: Inch Size Inner Diameter Shaft Hole Size Blank: Metric Size F: Inch Size Outer Diameter of Coupling MC Couplings Examples
Selecting an MC Coupling
Once you have decided on a motor and the shaft diameter of the equipment to be connected, determine the proper flexible coupling to use. Oriental Motor flexible couplings are available in external diameter sizes that provide the strength required for the motor torque. All motor shaft diameters of stepping motor units are available with the exception of geared models. There are three broad categories for the shaft diameter on the equipment to be connected based on the motor shaft diameter (except for some clamp types).
MC 25 08 F 04 C
Internal Diameter Internal Diameter
Features
No backlash. Plate springs formed of slits reliably absorb eccentricity, declination and end play. Torsional rigidity is high, responsiveness excellent. Characteristics are the same in forward and reverse. Maintenance free (excellent resistance to oil and chemicals). Aluminum alloy construction. Standardized shaft hole sizes for motor shafts and driven shafts of different diameters.
Shaft Diameter in. (mm) 0.1969 (5) 0.1969 (5) 0.1969 (5) 0.25 (6.35) 0.312 (7.937) 0.315 (8) 0.25 (6.35) 0.312 (7.937) 0.315 (8) 0.5 (12.7) 0.5512 (14) 0.5 (12.7) 0.5512 (14)
0.315 inch (8 mm) and the shaft diameter of the equipment to be connected to the motor is 0.25 inch (6.35 mm)] use MC2508F04C. When the motor is a RK5913AA [outer diameter of shaft: 0.5512 inch (14 mm)] and the shaft diameter of the equipment to be connected to the motor is 0.5 inch (12.7 mm)] use MC5014F08C.
MC coupling can be selected using with motor sizing calculation result (Page F-2). Select a coupling which has rated torque bigger than motor required torque. In this way, smaller coupling may be able to use.
A /
Driven Shaft Diameter in. (mm) Low-Speed 2-Phase Stepping 2-Phase Stepping Synchronous 0.1875 0.25 0.3125 0.375 0.5 0.625 Motors Motor Package Motors (4.763) (6.35) (7.938) (9.525) (12.7) (15.875) UMK243, CSK243 UMK244, CSK244 UMK245, CSK245 UMK264, CSK264 UMK266, CSK266 / / UMK268, CSK268 / / UMK296, UMK299, CSK296, CSK299 / UMK2913, CSK2913 / PK22P PK233P, PK243 PK235P, PK244, PK245 PK264 / / PK266, PK268 PV264, PV266 / / PK296 / PK299, PK2913 / / / /
SMK237 SMK014
RK543, CFK53, CFK543, CSK543, PMC3 AS46A(M), ASC34AK, RK544, RK545, CFK544, ASC36AK, ASC46A(M)K CFK545, CSK544, CSK545 / / / / / / AS66A(M), AS69A(M) ASC66A(M)K / AS98A(M), AS911A / / / / CFK564, CFK566 CSK564, CSK566 RK564, RK566 / CFK569,CSK569 RK569 CFK596, CFK599, CSK596, CSK599 RK596, RK599 CFK5913, CSK5913 RK5913
MC25
/ / / / /
SMK5100 SMK5160
MC32
MC40
MC50
Stepping Motors
Dimensions
MC40-C, MC50-C
W M
d1
L L L
d2 A
Introduction
Specifications
Dimensions Model Outer Length Diameter W A in.(mm) in.(mm) 0.472 0.73 (12) (18.5) 0.63 (16) 0.91 (23) Shaft Hole Diameter d1 in. (mm) 0.1969 0.0007 0 (5 0.018 ) 0 0.1969 0.0007 0 (5 0.018 ) 0 Shaft Hole Diameter d2 in. (mm) 0.1875 0.0007 0 (4.763 0.018 ) 0 0.0007 0.1875 0 (4.763 0.018 ) 0 0.2500 0.0009 0 (6.35 0.022 ) 0 0.1875 0.0007 0 (4.763 0.018 ) 0 0.2500 0.0009 0 (6.35 0.022 ) 0 0.3125 0.0009 0 (7.938 0.022 ) 0 0.2500 0.0009 0 0.022 (6.35 0 ) 0.3125 0.0009 0 (7.938 0.022 ) 0 0.0009 0.2500 0 0.022 (6.35 0 ) 0.3125 0.0009 0 (7.938 0.022 ) 0 0.0009 0.3750 0 0.022 (9.525 0 ) 0.2500 0.0009 0 (6.35 0.022 ) 0 0.0009 0.3125 0 (7.938 0.022 ) 0 0.3750 0.0009 0 (9.525 0.022 ) 0 0.2500 0.0009 0 (6.35 0.022 ) 0 0.3125 0.0009 0 0.022 (7.938 0 ) 0.3750 0.0009 0 (9.525 0.022 ) 0 0.0009 0.2500 0 0.022 (6.35 0 ) 0.3125 0.0009 0 (7.938 0.022 ) 0 0.0009 0.3750 0 0.022 (9.525 0 ) 0.3750 0.0009 0 (9.525 0.022 ) 0 0.0011 0.5000 0 (12.7 0.027 ) 0 0.6250 0.0011 0 (15.875 0.027 ) 0 0.3750 0.0009 0 (9.525 0.022 ) 0 0.5000 0.0011 0 (12.7 0.027 ) 0 0.6250 0.0011 0 (15.875 0.027 ) 0 0.5000 0.0011 0 0.027 (12.7 0 ) 0.6250 0.0011 0 (15.875 0.027 ) 0 0.0011 0.5000 0 0.027 (12.7 0 ) 0.6250 0.0011 0 (15.875 0.027 ) 0 Rated Screw Torque Used oz-in (Nm) in.(mm) M L 0.2 (5) 0.26 (6.5) M2 28 (0.2) 42 (0.3) Weight oz. (g) 0.14 (4) 0.32 (9) Inertia oz-in2 (kgm2) 0.0055 (1107) 0.022 (4107) Static Torsion Permissible Permissible Permissible Spring Constant Eccentricity Declination End Play lb-in/rad in. (mm) degrees in. (mm) (Nm/rad) 280 (32) 390 (45) 0.0039 (0.1) 0.0039 (0.1) 2 0.011 (0.3) 0.015 (0.4)
AS AS PLUS
Closed Loop A
AC Input
MC1205F03C MC1605F03C MC1605F04C MC2005F03C MC2005F04C MC2005F05C MC2008F04C MC2008F05C MC25F04F04C MC25F04F05C
ASC
M2.5
RK
0.79 (20)
1.02 (26)
CFK2
0.3 (7.5)
M2.5
71 (0.5)
0.67 (19)
0.06 (11107)
750 (85)
0.0039 (0.1)
0.015 (0.4)
CSK
0.3150 (8
0.0009 0 0.022 0
DC Input
PMC
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
UMK
MC25F04F06C 0.98 MC2508F04C MC2508F05C MC2508F06C MC32F04F04C MC32F04F05C MC32F04F06C 1.26 MC3208F04C MC3208F05C MC3208F06C MC40F08F06C MC40F08F08C MC40F08F10C 1.57 MC4014F06C MC4014F08C MC4014F10C MC50F08F08C MC50F08F10C 1.97 MC5014F08C MC5014F10C (50) (40) (32) (25)
0.33 (8.5) M3
142 (1)
1.2 (34)
0.175 (32107)
2000 (230)
0.0059 (0.15) 2
0.019 (0.5)
CSK PK/PV
PK
0.47 (12) M4
280 (2)
2.6 (75)
0.66 (12010 )
7
3100 (360)
0.0059 (0.15) 2
0.019 (0.5)
Driver
Controllers
0.59 (15) M5
710 (5)
5.6 (160)
2.2 (400107)
6700 (760)
0.0078 (0.2) 2
0.019 (0.5)
SMK
Accessories
2.8 (71)
0.71 (18) M6
1420 (10)
12 (330)
6.6 (1200107)
26000 (3000)
0.0078 (0.2) 2
0.019 (0.5)
C-289
C-290
Stepping Motors
MCL 40 F 06 F 08
Inner Diameter d2 F: Inch Size Inner Diameter d1 Shaft Hole Size Blank: Metric Size F: Inch Size Outer Diameter of Coupling MCL Couplings
Examples
MCL 30 F 05 F 06
Internal Diameter d1 Internal Diameter d2
Couplings come with shaft holes and have standardized combinations of different diameter shaft holes. Characteristics are the same for clockwise and counterclockwise rotation. Oil-resistant and electrically insulated couplings are available. Aluminum alloy construction. The shaft being driven is not damaged, since shafts are joined by clamping. Easy installation due to separating hub and sleeve design.
Features
When the motor is CSK264ATA-SG3.6 [outer diameter of shaft: 0.3125 inch (7.938 mm)] and the axis diameter of the equipment to be connected to the motor is 0.375 inch (9.525 mm), use MCL30F05F06.
Shaft Diameter Type in. (mm) MCL20 0.1968 (5) 0.25 (6.35) 0.3125 (7.938) 0.5 (12.7) PMC33-MG 5-Phase Stepping Motors 2-Phase Stepping Motors
Driven Shaft Diameter in. (mm) 0.1875 (4.763) 0.25 (6.35) 0.3125 (7.938) 0.375 (9.525) 0.5 0.625 (12.7) (15.875)
MCL30
SMK216-GN / 2GNKA
SMK550-GN / 5GNKA
MCL40
Stepping Motors
Specifications
Dimensions Model Outer Length Diameter in. in.
(mm) (mm)
lb-in (Nm)
MCL2005F03 MCL2005F04 MCL2005F05 MCL30F04F05 MCL30F05F05 MCL30F05F06 MCL40F06F08 MCL40F08F08 MCL40F08F10 1.57 (40) 2.52 (64) 1.18 (30) 1.71 (43.5) 0.3125 0.0009 0 (7.938 0.022 ) 0 0.79 (20) 1.14 (29)
0.1875 0.0007 0 (4.763 0.018 ) 0 0.1969 0.0007 0 (5 0.018 ) 0 0.2500 0.0009 0 (6.35 0.022 ) 0 0.3125 0.0009 0 (7.938 0.022 ) 0 0.3125 0.0009 0 (7.938 0.022 ) 0 0.3125 0.0009 0 (7.938 0.022 ) 0 0.3750 0.0009 0 (9.525 0.022 ) 0 0.5000 0.0011 0 (12.7 0.027 ) 0 0.5000 0.0011 0 (12.7 0.027 ) 0 0.6250 0.0011 0 (15.875 0.027 ) 0
220 (25.0) 5.3 (150) 1.97 (3.6105) 0.0079 (0.2) 1 110 (12.5) 2.3 (66) 0.45 (8.3106) 0.0079 (0.2) 1 44 (5.0) 0.67 (19) 0.055 (1.0106) 0.0059 (0.15) 1
Introduction
( 0)
0.0394 0
0.8
AS
Closed Loop A
AC Input
AS PLUS
( 0)
0.0472 0
1.0
ASC
RK
( 0)
1.2
CFK2
Dimensions
MCL20
Clamp Screw M2.5 2 Places 0.26(6.5) 0.2 (5)
MCL30
1.14 (29) 0.39 0.39 (10) (10) 0.20 (5) 1.71 (43.5) 0.63 (16) 0.63 (16) Clamp Screw 0.31 0.31 (8) M42 Places (8) d1 1.18 (30) Set Screw M42 Places
DC Input
PMC
0.39 (10)
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
UMK
d1 0.79 (20)
d2
d2
CSK
PK/PV
MCL40F06F08 MCL40F08F08
Set Screw M4
0.98 (25) 0.49 (12.5) Clamp Screw M6 1.57 (40) Set Screw M4
PK
0.51 (13)
Driver
d2
0.04 (1)
d1
Controllers
0.47 (12)
MCL40F08F10
0.98 (25) 0.49 (12.5) Clamp Screw M6 1.57 (40) Set Screw M4
SMK
0.51 (13)
Accessories
d1
d2
0.4650.004 0 (11.80.1 0 )
Clamp Screw M6
C-291
C-292
Stepping Motors
Mounting to a Shaft
Clamp couplings use the binding 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 binding torque. We recommend use of a torque wrench to fasten the coupling.
MC12-C
Tightening Torque
Tightening Torque of key press screw for MCL coupling
oz-in ( Nm ) oz-in ( Nm )
71 (0.5 ) /
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 couplings 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 to below 1/3 of the permissible value.
Notes: When misalignment exceeds the permissible value or excessive torque is applied, the coupling's shape will deform, and service life is shortened. When the coupling emits a metallic sound during operation, stop operation immediately and ensure there is no misalignment, axis interference or loose screws. When load changes are large, paint the coupling set screw with an adhesive to prevent the coupling screw from loosening or substitute a coupling one size larger.
Stepping Motors
Clean Dampers
Mechanical dampers suppress stepping motor vibration and improve high-speed performance. An inertial body and silicon gel are hermetically sealed in a plastic case. This offers the following advantages over conventional magnetic dampers.
Ring
Shaft Hole
TA
Features
Since there is no frictional dust as in conventional magnetic dampers, it can be used in environments where higher degrees of cleanness is needed. Excellent vibration absorption The doughnut-shaped internal inertia body and silicon gel absorb vibration. This feature enables a stable damping effect. High reliability It holds up well in harsh environments and changes little with age because the silicon gel and plastic case used are heat resistant.
Product Line
Model Inertia oz-in2 (kgm2) Weight lb. (g) Compatible Motors 5-Phase RK54, RK54-T, RK54-N, RK54-H CFK53, CFK54 CSK54, CSK543-TG PMC3, PMC33-MG, PMC33-HG 2-Phase UMK24, UMK24M CSK24, CSK24M, CSK243-SG PK22P PK23P PK24P PK24, PK24M PK223-SG, PK243-SG UMK26 UMK26M CSK26 CSK26M CSK264-SG PK26 PK26M PK264-SG PV264, 266, 267
D4CL-5.0F
0.186 (34107)
0.053 (24)
D6CL-6.3F
0.77 (140107)
0.14 (62)
D6CL-8.0F
0.13 (61)
RK56, RK56-T, RK56-N, RK56-H CFK56, CFK56H CFK59, CFK59H CSK59 RK59 RK59-T RK59-N RK59-H CSK29 PK29, PK296-SG
D9CL-12.7F
0.23 (105)
D9CL-14F
0.23 (105)
Ambient Temperature: 4F176F (20C80C) Insert the motor case length into the of the model name. The character of A, B and M which show the shaft type and electromagnetic brake type are omitted.
VE
X VE
Silicon Gel
Introduction
XT
C-293
AS AS PLUS ASC RK CFK2 CSK PMC UMK CSK PK/PV PK SMK Accessories
Closed Loop A Motor & Driver Packages 5-Phase Microstep 5-Phase Full/Half 2-Phase Stepping Motors Driver Controllers
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
d1 B
C-294
Stepping Motors
Dimensions
D C
Model D4CL-5.0F
d1 0.1969
+0.0007 0
E M3 2 Places
(5 +0.018 ) 0
0.2500
2-E
D6CL-6.3F
M4 2 Places
D6CL-8.0F
0.3150
+0.0009 0
(8 +0.022 ) 0
0.500
D9CL-12.7F
(12.7 (
+0.0011 0 +0.027 0
M4 2 Places
D9CL-14F
Stepping Motors
Introduction
Product Line
There are 10 types of mounting brackets for stepping motors.
AS
Closed Loop A
AC Input
Standard Type, Standard P Type, High-Speed Type, High-Resolution Type, High Inertia Type (PV Series)
Material: Aluminum die cast
Mounting Bracket Models Applicable Motor Type
AS PLUS ASC RK
A
/ AS46A, AS46M ASC46AK, ASC46MK AS66A, AS69A AS66M, AS69M ASC66AK, ASC66MK
PAL0PA
UMK24, UMK24M CSK24, CSK24M PK24, PK24M PK24P SMK014A-A SMK014MA-A / UMK26, UMK26M /
CFK2
PAF0P
CSK
DC Input
PAL2P-5A
PMC
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
PAL2P-2
UMK
SMK237A-A
PAL4P-5A PAL4P-2
CSK
/ SMK5100A-AA
PK/PV
SMK5160A-AA
Insert the motor case length in the of the model name. The character of A and B which show the shaft type are omitted (except for Low Speed Synchronous Motor). The mounting bracket base is built with holes large enough to allow for alignment adjustments in the horizontal direction. (Adjustable range: Approximately 0.24 inch [6 mm]) These mounting brackets can be perfectly fitted to the pilot of the stepping motors. (except for PAL0PA) Notes: These mounting brackets are for stepping motors only. They cannot be used with compact AC motors. They cannot be used with geared stepping motors.
PK
Driver
Geared Type
Material: Aluminum die cast
Mounting Bracket Models Applicable Motor Type 5-Phase Stepping Motors 2-Phase Stepping Motors SMK
Controllers
SMK0A- / / /
SMK Accessories
Insert the gear ratio in the of the model name. The character of A and B which show the shaft type and the length of the motor case are partly omitted. The mounting bracket base is built with holes large enough to allow for alignment adjustments in the horizontal direction. When mounting, use the screws included with the geared motor. (except for ) Note: These mounting brackets are for geared stepping motors only. They cannot be used with compact AC motors or stepping motors with gearheads.
ORIENTAL MOTOR GENERAL CATALOG 2003/2004
C-295
0.14 (3.5)
0.31 (8)
1.220.012 (310.3)
1.2200.012 (310.3)
0.02 1.480
0.5 ) (37.60
R (1 0.07 .75 )
1.65 (42)
0.31 (8)
A'
0.02 (0.5)
2.36 (60)
0.08 (2)
0.47 (12)
1.65 (42)
0.47 (12)
PAL2P-5A
Weight: 3.9 oz. (110 g) d B143
R0.09 (R2.2) 0.98 0.79 (25) (20) R0.59 (R15) 2.68 (68) 0.43 (11)
PAL2P-2
Weight: 3.9 oz. (110 g) d B144
0.43 (11) 0.98 0.79 0.17 (25)0.14 (20) 0.24 (4.4) (3.5) (6) R0.59 (R15)
0.02 0
0.91 (23)
( 22
0.5 0 )
0.17 (4.4)
0.24 (6) NO.832 UNC 4 Places 1.9690.004 (500.1) 2.44 (62) 1.9690.004 (500.1) 2.76(70) R0.09 (R2.2)
2.68 (68)
1.8560.004 (47.140.1)
0.06 (1.5)
0.08 (2)
C-296
0.08 (2)
2.76 (70)
Stepping Motors
Use the screws provided to secure the motor to the mounting bracket. Attach the motor from the direction shown by the arrow (B).
Use the screws provided to secure the motor to PAL0PA. Attach the motor from the direction shown by the arrow (B).
Use the screws provided to secure the motor to PAF0P. Motor can be attached from either side (A, B).
Dimensions
PAL0PA
Weight: 1.24 oz. (35 g) d B139
PAF0P
Weight: 1.06 oz. (30 g) d B140
R0.07 (R1.75) R0.47 (R12) 2.6 (66) 2.13 (54) 1.220.012 (310.3) A
0.28 (7)
M4 P0.7 4 Places
Stepping Motors
PAL4P-5A
Weight: 8.8 oz. (250 g) d B145
0.54 (13.6) 0.260 (6.6) 1.38 1.18 (35) (30)
PAL4P-2
Weight: 8.8 oz. (250 g) d B146
0.54 (13.6) 1.38 (35) 1.18 0.2 (30) 0.31 (5) (8) R0.94 (R24)
0.26 (6.6)
3.66 (93)
AS
Closed Loop A
AC Input
R0.13 (R3.3)
0.2 (5)
0.012 0.3 2.362 0.004 (600.1)
0.31 (8)
R0.130 (R3.3)
M5 P0.8 4 Places
AS PLUS
2.7390.004 (69.580.1)
ASC
0.08 (2)
RK
0.12 (3)
0.12 (3)
CFK2 CSK
DC Input
SOL0A-A
Weight: 2.8 oz. (80 g) d B266
SOL2A-A
Weight: 4.2 oz. (120 g) d B268
PMC
SOL0B-A
0.213 (5.4)
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
UMK
CSK
0.33 (8.4)
0.29 (7.4)
0.35 (9) 0.04 (1)
PK/PV
0.24 (6)
0.24 (6)
0.04 (1) 0.31 (8) 1.570.02 (400.5) 1.61 (41) 2.44 (62)
0.79 (20)
0.04 (1) 0.31 (8) 1.970.02 (500.5) 2.13 (54) 3.23 (82)
12 0.0
PK
Driver
1.42 (36)
12
3.46 (88)
1.57 (40)
4.25 (108)
1.97 (50)
Controllers
C-297
SMK Accessories
0.25 (6.4)
0.37 (9.4)
5.75 (146)
0.43(11)
1.93(49)
0.66 (16.8)
C-298
Stepping Motors
SOL5B-A
Weight: 9.5 oz. (270 g) d B271
0.35 (9)
2.56 (65)
AS Series driver
Dimensions
Unit = inch (mm) Weight: 0.71 oz. (20 g) Screws (included) M3 P0.5, 0.31 inch (8 mm) length, 3 pieces
1.34(34) 0.71(18) 0.31(8) 0.18 (4.5)
DC Input
Stepping Motors
Introduction AS AS PLUS ASC
SMK
Accessories
C-299
Closed Loop A
Motor & Driver Packages 5-Phase Microstep 5-Phase Full/Half 2-Phase Stepping Motors with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
Driver
Controllers
C-300
Stepping Motors
AS46, ASC3, ASC46, ASC34-H 0.12 in. (3 mm) min. AS46-T/N/H, AS66-T ASC46-T/N/H, ASC66-T AS98-N CFK513, CFK53, PMC3 RK54-T/N/H, RK564-T 5-Phase CSK54-T, CSK564-T, PMC33-H RK56-N/H, RK596-T RK59-N PK22P 0.20 in. (5 mm) min.
AS98-T, AS66-N/H, ASC66-N/H 0.31 in. (8 mm) min. 0.47 in. (12 mm) min. 0.08 in. (2 mm) min.
RK54, CSK54, CFK54, PMC33-M 0.12 in. (3 mm) min. 0.20 in. (5 mm) min. 0.31 in. (8 mm) min. 0.47 in. (12 mm) min. 0.08 in. (2 mm) min.
Notes:
Do not disassemble the motors. Do not apply any shock to the motor.
UMK24, UMK24M, CSK24, CSK24M, CSK243-SG, PK23P, PK24, PK24P, 2-Phase PK24M, PK223-SG, PK243-SG CSK264-SG, PK264-SG PK296-SG 0.20 in. (5 mm) min. 0.31 in. (8 mm) min. 0.12 in. (3 mm) min.
Mounting Method
Considering heat radiation and vibration isolation as much as possible, mount the motor tightly against a metal surface.
Driver Installation
AC Input Type 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.
Mounting Plate
Firmly install on a metal plate that has good heat conductivity, such as iron or aluminum 0.08 inch (2 mm) or more in thickness. To directly install the driver without using the screws provided, pay particular attention to the length of the screws used for the tapped holes.
Tapped Hole
Mounting Plate
ORIENTAL MOTOR GENERAL CATALOG 2003/2004
Stepping Motors
v Horizontal Installation
Introduction AS AS PLUS
Closed Loop A
AC Input
v Vertical Installation
ASC RK
Installation Conditions
Install the driver in a location that meets the following conditions. Using the product under conditions other than this could cause it to be damaged.
Note: 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 176F (80C). (When the temperature of the heat sink exceeds 176F (80C), forced cooling is required.) CSD5828N-T: 194F (90C)
CFK2 CSK
DC Input
Indoors (This product is designed and manufactured to be installed within another device) Ambient temperature: 32F to 122F (0C to 50C) (nonfreezing) 32F to 104F (0C to 40C) [for UMK Series driver and UI2120G] Ambient humidity: 85% maximum (noncondensing) Not exposed to explosive, flammable, or corrosive gas Not exposed to direct sunlight Not exposed to dust Not exposed to water or oil A place where heat can escape easily Not exposed to continuous vibration or excessive impact
Notes: 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. Do not install the driver in a location where a source of vibration will cause the driver to vibrate. 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. Take care that pieces of conductive material (filings, pins, pieces of wire, etc.) do not enter the drivers.
PMC
Installation Conditions
Install the driver in a location that meets the following conditions. Using the product under conditions other than this could cause it to be damaged.
with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
UMK CSK
Indoors (This product is designed and manufactured to be installed within another device) Ambient temperature: 32F to 104F (0C40C) (nonfreezing) Ambient humidity: 85% maximum (noncondensing) Not exposed to explosive, flammable, or corrosive gas Not exposed to direct sunlight Not exposed to dust Not exposed to water or oil A place where heat can escape easily Not exposed to continuous vibration or excessive impact
Notes: When installing the driver in an enclosed space such as a control box, or
Driver
Controllers
somewhere close to a heat-radiating object, vent holes should be used to prevent the driver from overheating. 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.
C-301
C-302
Stepping Motors
Use DIN rails with a width of 1.38 in. (35 mm). Use end plates to secure the controller. DIN rails and end plates are not provided with the unit.
To fasten the unit with screws, use the two screw holes at the top and bottom. The mounting holes should be machined for either M3 or M4 size screws. Use washers to secure the controller.
Mounting Hole Mounting Plate
Installation Location
Indoors, ambient temperature 32F to 122F (0C to 50C) [32F to 104F (0C to 40C) for SG8030J] (Nonfreezing)
If the ambient temperature exceeds 122F (50C) [104F (40C) for SG8030J], use a fan to provide forced cooling. Otherwise the internal heat buildup may lead to damage. When installing 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 controller from overheating.
Ambient humidity 85% maximum (Noncondensing) Not exposed to corrosive gass 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.
DIN Lever
Note: Mount the controller only after connecting all required leads to the terminals of the flush connection socket.
DC Input
Stepping Motors
Introduction AS AS PLUS ASC
SMK
Accessories
When the controller is to be installed in a location where a source of vibration will cause the controller to vibrate as well, install a shock absorber.
When fastening the unit with screws, use appropriate tightening torque. Take care not to damage the case by overtightening.
C-303
Closed Loop A
Motor & Driver Packages 5-Phase Microstep 5-Phase Full/Half 2-Phase Stepping Motors with Indexer without with 2-Phase Full/Half AC Input DC Input Encoder Encoder
Driver
Controllers