5-Phase Stepping Motor and Driver Package n RK Series

Transcription

1 Stepping s -Phase Stepping and Package n RK Series dditional Information Technical Reference F- General Information G- Introduction S S PLUS SC RK CFK CSK PMC UMK CSK PKPV PK UIG EMP EMP SG8J SMK ccessories Closed Loop -Phase Microstep C Input DC Input C Input DC Input -Phase FullHalf -Phase FullHalf without with with Indexer DC Input C Input DC Input & Packages Controllers Low-Speed Synchronous s Before Using a Stepping -Phase Stepping s C-77

2 Stepping s -Phase Stepping and Package RK Series The RK series offers both the high resolution and smooth motion of a -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. z x v Vibration Component Voltage Vp-p [V].. Step ngle:.7 step Smooth Drive: ON Vibration Voltage is reduced 8 x Lower Vibration Microstepping System The motor's basic step angle is divided by a maximum of without the use of a reduction mechanism or other mechanical elements. This enables fine positioning and the further reduction of vibration and noise. motion sequence of low-speed transfer high-speed return can easily be performed without the need for changing from a microstep pulse frequency to a full step pulse frequency. The RK Series can also be used in full-step operation. c c - V, - V Power Source Variation The RK Series can be used with most common power supplies available around the world. v Improved ngle ccuracy ngle accuracy may decrease during use of microstep drivers, due to the effect of current control. However, the drivers used in the RK Series are designed to ensure that the motor operates at maximum accuracy. ngle Error [deg] Power Supply Voltage: CV-V Resolution (. step).7.. b.7 C-78 Features C-78 System Configuration C-8 SpecificationsCharacteristics C-8

3 b Improved Response The RK Series, with its high starting frequency, shortens the machine cycle without affecting accelerationdeceleration rates. This produces a significant savings in time for an operation in which the same cycle is repeated thousands of times each day. No-Load State RK Conventional Conventional Stepping s Wide Variations The RK Series is comprised of motors in various sizes and with varying functions, such as high-accuracy, and nonbacklash geared types. Safe Operation in Major Countries around the World Compliance with Safety Standards The RK Series complies with the ULCS and EN standards. The CE marking certifies compliance with the EMC Directive and Low-Voltage Directive. dditionally, the RK Series conforms to the EMC Directive only through its use of surge protector. The RK Series doesn t require an external ferrite core or filter in the motor line or power line. With the RK type, only the driver conforms to the CS standard. StandardsCE Marking Products Standards Certification Body File No. UL, UL CS C. No. UL E99 Stepping CS C. No.77 EN9 EN- VDE 9 EN- UL8C CS C. No. UL E7 EN78 Test Condition is Maximum mbient Temperature F ( C) according to UL Standards. (UL8C) Except for harmonic geared type RK-H, RK-H, and PN geared type RK-N. Except for RK type. 8 Rise Time [ms] CE Marking Low Voltage Directives EMC Directives 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 and Combinations Page C- Details of Safety Standards Page G- The EMC value changes according to the wiring and layout. Therefore, the final EMC level must be checked with the motordriver incorporated in the user s equipment. Introduction S S PLUS SC RK CFK CSK PMC UMK CSK PKPV PK UIG EMP EMP SG8J SMK ccessories Closed Loop -Phase Microstep C Input DC Input C Input DC Input -Phase FullHalf DC Input C Input DC Input & Packages -Phase Stepping s Controllers -Phase FullHalf with Indexer without with Low-Speed Synchronous s Before Using a Stepping Common Specifications C-9 Dimensions C-9 Connection and Operation C-98 and Combinations C- C-79

4 Stepping s System Configuration Mounting Brackets (ccessories) ( Page C-9) Extension Cables (ccessories) ( Page C-8) Cables (ccessories) ( Page C-) IO Cable with Terminal Block (ccessories) ( Page C-) Flexible Couplings (ccessories) ( Page C-8) Programmable Controller (Not Supplied) RK Series EMP Controller (Sold separately) ( Page C-) C Power Supply (Not Supplied) VDC Power Supply (Not Supplied) n example of a single-axis system configuration with the EMP Series controller. Product Number Code RK B - N Gear Ratio RK Series -Phase Blank: Standard Type N: PN Geared Type T : TH Geared Type Power Input : Single-Phase VC Input C: Single-Phase VC Input H: HG Geared Type Shaft Type : Single Shaft B: Double Shaft Case Length Product Line Standard TH Geared PN Geared HG Geared Type Frame Size :. in.sq. ( mm sq.) :. in.sq. ( mm sq.) 9:. in.sq. (8 mm sq.) [. in. sq. (9 mm sq.) for Geared Type] Power Supply Voltage Single-Phase - VC Single-Phase - VC Single-Phase - VC Single-Phase - VC Single-Phase - VC Single-Phase - VC Single-Phase - VC Single-Phase - VC. in. ( mm) 8. oz-in (.. N m). lb-in (.. N m) 7. lb-in (.8. N m) lb-in (. N m) Maximum Holding Torque. in. ( mm) 9 oz-in (.. N m) 9 oz-in (.. N m) lb-in (. N m) lb-in (. N m) 7 lb-in (. 8 N m) 7 lb-in (. 8 N m) 8 7 lb-in (. 8 N m) 8 7 lb-in (. 8 N m). in. ( 8 mm). in. ( 9 mm) for geared type 9 89 oz-in (.. N m) 9 89 oz-in (.. N m) 9 lb-in (. N m) 9 lb-in (. N m) lb-in ( 7 N m) lb-in ( 7 N m) lb-in ( 7 N m) lb-in ( 7 N m) C-8 Features C-78 System Configuration C-8 SpecificationsCharacteristics C-8

5 Standard Type Frame Size:. in. ( mm) Specifications How to Read Specifications Table Page C-9 Single-Phase Single Shaft RK RK - VC Double Shaft RKB RKB Maximum Holding Torque oz-in (N m) 8. (.) (.8) Rotor Inertia J oz-in (kg m ).9 ( -7 ). ( -7 ) Rated Current Phase.7 Basic Step ngle.7 Power Source Input Single-Phase - VC % Hz Excitation Mode Microstep: Basic nglen (Step) lb. (kg). (.). (.) lb. (kg).88 (.) Dimension No. z Sixteen resolutions are available, where n,,.,,, 8,,,,,, 8,,, and. Speed Torque Characteristics How to Read Speed-Torque Characteristics Page C- RK RK RK Torque [N m] Torque [oz-in] Torque [oz-in] Torque [oz-in] () () Current:.7 Phase Step ngle:.7 step Load Inertia: JL = oz-in Current:.7 Phase Step ngle:.7 step Load Inertia: JL = oz-in Current:.7 Phase Step ngle:.7 step Load Inertia: JL = oz-in () () () () Pullout Torque () Pullout Torque () Pullout Torque () () () () Resolution (Resolution) Resolution (Resolution) Resolution (Resolution) Note: The pulse input circuit responds to approximately khz with a pulse duty of %. U (Only the driver conforms to the CS standard.) C RK RKB (.).7 (8-7 ).88 (.) Stepping s Introduction S S PLUS SC RK CFK CSK PMC UMK CSK PKPV PK UIG EMP EMP SG8J SMK ccessories Closed Loop -Phase Microstep C Input DC Input C Input DC Input -Phase FullHalf DC Input C Input DC Input & Packages -Phase Stepping s Controllers -Phase FullHalf with Indexer without with Low-Speed Synchronous s Before Using a Stepping Common Specifications C-9 Dimensions C-9 Connection and Operation C-98 and Combinations C- C-8

6 Stepping s Standard Type Frame Size:. in. ( mm),. in. ( 8 mm) Specifications How to Read Specifications Table Page C-9 Single-Phase - VC Single-Phase - VC Maximum Holding Torque Rotor Inertia J Rated Current Basic Step ngle Power Source Input Excitation Mode Dimension No. Single Shaft Double Shaft Single Shaft Double Shaft oz-in (N m) oz-in (kg m ) Phase lb. (kg) lb. (kg) RK RKB RKC RKBC RK RKB RKC RKBC RK9 RK9B RK9C RK9BC RK9 RK9B RK9C RK9BC RK99 RK99B RK99C RK99BC RK9 RK9B RK9C RK9BC 9 (.) 7 (.8) (.) 9 (.) 8 (.) 89 (.).9 (7-7 ). (8-7 ). ( -7 ) 7.7 ( -7 ).8 (7-7 ) ( -7 )..7 Single-Phase - VC % Hz. % Single-Phase - VC % Hz. Microstep: Basic nglen (Step). (.).8 (.8).9 (.).7 (.7). (.8) 8. (.8).9 (.8) x c Sixteen resolutions are available, where n,,.,,, 8,,,,,, 8,,, and. UC Speed Torque Characteristics How to Read Speed-Torque Characteristics Page C- RK RK C RK RK C RK9 RK9 C Torque [oz-in] Torque [oz-in] Current:. Phase Load Inertia: JL = oz-in Step ngle:.7 step RK9 RK9 C Torque [oz-in] 8 Current:. Phase Load Inertia: JL = oz-in () () () Pullout Torque Current:. Phase Load Inertia: JL = oz-in () () Pullout Torque () Step ngle:.7 step () Step ngle:.7 step Pullout Torque () () RK RK C () RK RK C () () (Resolution ) (Resolution ) (Resolution ) (Resolution ) (Resolution ) (Resolution ) RK9 RK9 C RK99 RK99 C RK9 RK9 C Torque [oz-in] Torque [oz-in] Current:. Phase Load Inertia: JL = oz-in Step ngle:.7 step RK9 RK9 C Torque [oz-in] Current:. Phase Load Inertia: JL = oz-in Step ngle:.7 step RK9 RK9 C Pullout Torque 8 () 8 () Current:. Phase Load Inertia: JL = oz-in () Pullout Torque () () Pullout Torque () Step ngle:.7 step () (Resolution ) () (Resolution ) RK99 RK99 C () (Resolution ) (Resolution ) (Resolution ) (Resolution ) Note: The pulse input circuit responds to approximately khz with a pulse duty of %. C-8 Features C-78 System Configuration C-8 SpecificationsCharacteristics C-8

7 TH Geared Type Frame Size:. in. ( mm) Specifications How to Read Specifications Table Page C-9 Maximum Holding Torque Rotor Inertia J Rated Current Basic Step ngle Speed Torque Characteristics How to Read Speed-Torque Characteristics Page C- RK -T. RK -T7. RK -T () Single-Phase - VC () Current:.7 Phase Step ngle:. step Load Inertia: JL = lb-in Current:.7 Phase Step ngle:.7 step Load Inertia: JL = lb-in () () Single Shaft Double Shaft lb-in (N m) oz-in (kg m ) Phase. Gear Ratio.: lb-in. (N m) (.) Backlash arc minute (degrees) (.7 ) Permissible Speed Range rmin Power Source Input Excitation Mode lb. (kg) lb. (kg) Dimension No. Current:.7 Phase Step ngle:. step Load Inertia: JL = lb-in () () () 8 () () RK-T. RKB-T. RK-T7. RKB-T7. RK-T RKB-T RK-T RKB-T RK-T RKB-T (.). (.7) 8.8 (.). (.).9 ( -7 ).7 Resolution () (Resolution) Resolution () (Resolution) Resolution () (Resolution). 7.:. (.7) RK -T RK -T : 8.8 (.) (.7 ) 8 9 Single-Phase - VC % Hz Microstep: Basic nglen (Step).77 (.).88 (.) v Sixteen resolutions are available, where n,,.,,, 8,,,,,, 8,,, and. Note: Direction of rotation of the motor and that of the gear output shaft are the same for models with gear ratios of.:, 7.: and :. It is opposite for : and : gear ratio models. Common Specifications C-9 Dimensions C-9 Connection and Operation C-98 and Combinations C- U (Only the driver conforms to the CS standard.) C () Current:.7 Phase Step ngle:. step Load Inertia: JL = lb-in Current:.7 Phase Step ngle:. step Load Inertia: JL = lb-in () () (). : () (). (.) (. ) 8 Resolution () (Resolution) Resolution () (Resolution). : Note: The pulse input circuit responds to approximately khz with a pulse duty of %. Stepping s Introduction S S PLUS SC RK CFK CSK PMC UMK CSK PKPV PK UIG EMP EMP SG8J SMK ccessories C-8 Closed Loop -Phase Microstep C Input DC Input C Input DC Input -Phase FullHalf DC Input C Input DC Input & Packages -Phase Stepping s Controllers -Phase FullHalf with Indexer without with Low-Speed Synchronous s Before Using a Stepping

8 Stepping s TH Geared Type Frame Size:. in. ( mm) Specifications How to Read Specifications Table Page C-9 Maximum Holding Torque Rotor Inertia J Rated Current Basic Step ngle Single-Phase - VC Single-Phase - VC Single Shaft Double Shaft Single Shaft Double Shaft lb-in (N m) oz-in (kg m ) Phase RK-T. RKB-T. RKC-T. RKBC-T.. Gear Ratio.: RK-T7. RKB-T7. RKC-T7. RKBC-T7. RK-T RKB-T RKC-T RKBC-T RK-T RKB-T RKC-T RKBC-T RK-T RKB-T RKC-T RKBC-T (.) (.) () (.) ().9 (7-7 ).. 7.: (.) lb-in. (N m) (.) (.) () Backlash arc minute (degrees) (.8 ) (. ) (.7 ) Permissible Speed Range rmin 8 9 % Power Source Input Single-Phase - VC % Hz. Single-Phase - VC % Hz. Excitation Mode Microstep: Basic nglen (Step) lb. (kg). (.9) lb. (kg).9 (.8) Dimension No. b.7 : () Sixteen resolutions are available, where n,,.,,, 8,,,,,, 8,,, and. Note: Direction of rotation of the motor and that of the gear output shaft are the same for models with gear ratios of.:, 7.: and :. It is opposite for : and : gear ratio models.. : UC. : Speed Torque Characteristics How to Read Speed-Torque Characteristics Page C- RK -T. RK C-T. RK -T7. RK C-T7. RK -T RK C-T 8 8 () Current:. Phase Load Inertia: JL = oz-in () Current:. Phase Load Inertia: JL = oz-in Current:. Phase Load Inertia: JL = oz-in () Step ngle:. step () () Step ngle:. step () () Step ngle:.7 step 8 () () RK -T. RK C-T. () RK -T7. RK C-T7. () RK -T RK C-T () (Resolution ) (Resolution ) (Resolution ) (Resolution ) (Resolution ) (Resolution ) RK -T RK C-T RK -T RK C-T Current:. Phase Load Inertia: JL = oz-in Step ngle:. step RK -T RK C-T () () C-8 Features C-78 System Configuration C-8 SpecificationsCharacteristics C-8 () Current:. Phase Load Inertia: JL = oz-in () 8 () () Step ngle:. step RK -T RK C-T () () (Resolution ) (Resolution ) (Resolution ) (Resolution ) Note: The pulse input circuit responds to approximately khz with a pulse duty of %.

9 TH Geared Type Frame Size:. in. ( 9 mm) Specifications How to Read Specifications Table Page C-9 Speed Torque Characteristics How to Read Speed-Torque Characteristics Page C- RK9 -T. RK9 C-T. RK9 -T7. RK9 C-T7. Maximum Holding Torque Rotor Inertia J Rated Current Basic Step ngle RK9 -T RK9 C-T () 8 Single-Phase - VC Single-Phase - VC Current:. Phase Load Inertia: JL = oz-in () Current:. Phase Load Inertia: JL = oz-in Current:. Phase Load Inertia: JL = oz-in () () () Single Shaft Double Shaft Single Shaft Double Shaft lb-in (N m) oz-in (kg m ) Phase Step ngle:. step () () Step ngle:. step Step ngle:.7 step 8 () () RK9 -T. RK9 C-T. () RK9 -T7. RK9 C-T7. () RK9 -T RK9 C-T RK9-T. RK9B-T. RK9C-T. RK9BC-T.. Gear Ratio.: () (Resolution ) (Resolution ) (Resolution ) (Resolution ) (Resolution ) (Resolution ) RK9-T7. RK9B-T7. RK9C-T7. RK9BC-T7. RK9 -T RK9 C-T RK9 -T RK9 C-T RK9-T RK9B-T RK9C-T RK9BC-T Current:. Phase Load Inertia: JL = oz-in Step ngle:. step RK9 -T RK9 C-T Current:. Phase Load Inertia: JL = oz-in Step ngle:. step RK9 -T RK9 C-T 8 () 8 () 8 () () RK9-T RK9B-T RK9C-T RK9BC-T 9 (.) 79 (9) () 7.7 ( -7 ). () () () () RK9-T RK9B-T RK9C-T RK9BC-T lb-in. (N m) 9 (.) 79 (9) () Backlash arc minute (degrees) (.7 ) (. ) (.7 ) Permissible Speed Range rmin 8 9 Power Source Input Single-Phase - VC % Hz. % Single-Phase - VC % Hz. Excitation Mode Microstep: Basic nglen (Step) lb. (kg). (.8) lb. (kg).9 (.8) Dimension No. n Sixteen resolutions are available, where n,,.,,, 8,,,,,, 8,,, and. Note: Direction of rotation of the motor and that of the gear output shaft are the same for models with gear ratios of.:, 7.: and :. It is opposite for : and : gear ratio models.. 7.:.7 : Common Specifications C-9 Dimensions C-9 Connection and Operation C-98 and Combinations C-. :. : (Resolution ) (Resolution ) (Resolution ) (Resolution ) UC Note: The pulse input circuit responds to approximately khz with a pulse duty of %. Stepping s Introduction S S PLUS SC RK CFK CSK PMC UMK CSK PKPV PK UIG EMP EMP SG8J SMK ccessories C-8 Closed Loop -Phase Microstep C Input DC Input C Input DC Input -Phase FullHalf DC Input C Input DC Input & Packages -Phase Stepping s Controllers -Phase FullHalf with Indexer without with Low-Speed Synchronous s Before Using a Stepping

10 Stepping s PN Geared Type Frame Size:. in. ( mm) Specifications How to Read Specifications Table Page C-9 Single-Phase - VC Maximum Holding Torque Rotor Inertia J Rated Current Basic Step ngle Single Shaft Double Shaft lb-in (N m) oz-in (kg m ) Phase RK-N RKB-N 7 (.8) Gear Ratio : lb-in. (N m) 7 (.8) U (Only the driver conforms to the CS standard.) C RK-N7. RKB-N7.. (.). ( -7 ) RK-N RKB-N. (.) :. (.) :. (.) Maximum Torque lb-in. (N m). (.) 7.7 () 7.7 () Backlash arc minute (degrees) (. ) ngle Error arc minute (degrees) (. ) Permissible Speed Range rmin Power Source Input Single-Phase - VC % Hz Excitation Mode Microstep: Basic nglen (Step) lb. (kg). (.) lb. (kg).88 (.) Dimension No. m Sixteen resolutions are available, where n,,.,,, 8,,,,,, 8,,, and. 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. Speed Torque Characteristics How to Read Speed-Torque Characteristics Page C- RK -N RK -N Current :.7phase Load Inertia : JL=kg m Step ngle :. step () Current :.7phase Load Inertia : JL=kg m Step ngle :. step input current 7 () input current () () () () Resolution (Resolution ) RK -N Current :.7phase Load Inertia : JL=kg m Step ngle :.7 step () input current () () () () () Resolution (Resolution ) () () () () () () Resolution (Resolution ) Note: The pulse input circuit responds to approximately khz with a pulse duty of %. C-8 Features C-78 System Configuration C-8 SpecificationsCharacteristics C-8

11 PN Geared Type Frame Size:. in. ( mm) Specifications How to Read Specifications Table Page C-9 Single-Phase - VC Single-Phase - VC Maximum Holding Torque Rotor Inertia J Rated Current Basic Step ngle Speed Torque Characteristics How to Read Speed-Torque Characteristics Page C- RK -N RK C-N RK -N7. RK C-N7. RK -N RK C-N () Current :.phase Load Inertia : JL=kg m () Current :.phase Load Inertia : JL=kg m () () Current :.phase Load Inertia : JL=kg m input current () () () () () Single Shaft Double Shaft Single Shaft Double Shaft lb-in (N m) oz-in (kg m ) Phase Step ngle :. step () () () Step ngle :. step Step ngle :.7 step input current () () () RK -N RK C-N input current RK -N7. RK C-N7. RK-N RKB-N RKC-N RKBC-N (.) () () RK -N RK C-N (). Gear Ratio : lb-in. (N m) (.) Maximum Torque lb-in. (N m) (7) 7 Resolution (Resolution ) Resolution (Resolution ) Resolution (Resolution ) RK-N7. RKB-N7. RKC-N7. RKBC-N7. () () 7 (8). (8-7 ).9 (7-7 ).. 7.: () 79 (9) 7 (8) () 77 () 77 () Backlash arc minute (degrees) (. ) (. ) ngle Error arc minute (degrees) (.8 ) Permissible Speed Range rmin 8 Power Source Input Single-Phase - VC % Hz. Single-Phase - VC % % Hz. Excitation Mode Microstep: Basic nglen (Step) lb. (kg). (.) lb. (kg).9 (.8) Dimension No., Sixteen resolutions are available, where n,,.,,, 8,,,,,, 8,,, and. 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. Note: The pulse input circuit responds to approximately khz with a pulse duty of %. RK-N RKB-N RKC-N RKBC-N RK -N RK C-N RK -N RK C-N RK -N RK C-N.7 : () 97 () () () Current :.phase Load Inertia : JL=kg m Step ngle :.88 step Current :.phase Load Inertia : JL=kg m Step ngle :. step Current :.phase Load Inertia : JL=kg m Step ngle :. step () RK-N RKB-N RKC-N RKBC-N () input current () Maximum Torque input current input current Common Specifications C-9 Dimensions C-9 Connection and Operation C-98 and Combinations C-.88 : () () () () () () () 8 () () () RK-N RKB-N RKC-N RKBC-N. : RK -N RK C-N () RK -N RK C-N () RK -N RK C-N () Resolution (Resolution ) RK-N RKB-N RKC-N RKBC-N Resolution (Resolution ) Resolution (Resolution ) UC. : Stepping s Introduction S S PLUS SC RK CFK CSK PMC UMK CSK PKPV PK UIG EMP EMP SG8J SMK ccessories C-87 Closed Loop -Phase Microstep C Input DC Input C Input DC Input -Phase FullHalf DC Input C Input DC Input & Packages -Phase Stepping s Controllers -Phase FullHalf with Indexer without with Low-Speed Synchronous s Before Using a Stepping

12 Stepping s PN Geared Type Frame Size:. in. ( 9 mm) Specifications How to Read Specifications Table Page C-9 Single-Phase - VC Single-Phase - VC Maximum Holding Torque Rotor Inertia J Rated Current Basic Step ngle Speed Torque Characteristics How to Read Speed-Torque Characteristics Page C- RK99 -N RK99 C-N RK99 -N7. RK99 C-N7. RK99 -N RK99 C-N Current :.phase Load Inertia : JL=kg m Step ngle :. step RK99 -N RK99 C-N () Current :.phase Load Inertia : JL=kg m Step ngle :. step RK99 -N7. RK99 C-N7. () Current :.phase Load Inertia : JL=kg m Step ngle :.7 step RK99 -N RK99 C-N Maximum Torque input current () () () () () () () Single Shaft Double Shaft Single Shaft Double Shaft lb-in (N m) oz-in (kg m ) Phase () () input current () () () input current () RK99-N RK99B-N RK99C-N RK99BC-N () () (). Gear Ratio : lb-in. (N m) () Maximum Torque lb-in. (N m) (8) Resolution () (Resolution ) Resolution (Resolution ) Resolution (Resolution ) RK99-N7. RK99B-N7. RK99C-N7. RK99BC-N7. 77 () (7).8 (7-7 ) 7.7 ( -7 ). 77 () (7) () () 9 () () () Backlash arc minute (degrees) (. ) (. ) ngle Error arc minute (degrees) (.7 ) Permissible Speed Range rmin 8 % Power Source Input Single-Phase - VC % Hz. Single-Phase - VC % Hz. Excitation Mode Microstep: Basic nglen (Step) lb. (kg) () (.7) lb. (kg).9 (.8) Dimension No.. Sixteen resolutions are available, where n,,.,,, 8,,,,,, 8,,, and. 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.. 7.: Note: The pulse input circuit responds to approximately khz with a pulse duty of %. RK99-N RK99B-N RK99C-N RK99BC-N RK9 -N RK9 C-N RK9 -N RK9 C-N RK9 -N RK9 C-N.7 : Current :.phase Load Inertia : JL=kg m Step ngle :.88 step RK9 -N RK9 C-N () Current :.phase Load Inertia : JL=kg m Step ngle :. step Maximum Torque RK9 -N RK9 C-N () Current :.phase Load Inertia : JL=kg m Step ngle :. step Maximum Torque RK9 -N RK9 C-N () RK9-N RK9B-N RK9C-N RK9BC-N Permissible Torque Permissible Torque () () input current ().88 : input current () () () input current () () () 8 () () () RK9-N RK9B-N RK9C-N RK9BC-N. : () () () UC RK9-N RK9B-N RK9C-N RK9BC-N Resolution (Resolution ) Resolution (Resolution ) Resolution (Resolution ). : C-88 Features C-78 System Configuration C-8 SpecificationsCharacteristics C-8

13 HG Geared Type Frame Size:. in. ( mm),. in. ( mm),. in. ( 9 mm) Specifications How to Read Specifications Table Page C-9 Single-Phase - VC Single-Phase - VC Maximum Holding Torque Rotor Inertia J Rated Current Basic Step ngle Single Shaft Double Shaft Single Shaft Double Shaft lb-in (N m) oz-in (kg m ) Phase RK-H RKB-H RK-H RKB-H RKC-H RKBC-H RK-H RKB-H RKC-H RKBC-H RK9-H RK9B-H RK9C-H RK9BC-H RK9-H RK9B-H RK9C-H RK9BC-H (.) (.) 8 (.) 7 (8) () (7).8 ( -7 ). ( -7 ) 8.8 ( -7 ).7.. RK-H RKB-H Gear Ratio : lb-in. (N m) (.) : : : : : (.) 8 (.) 7 (8) () (7) Maximum Torque lb-in. (N m) 7 (8.) 97 () 9 (8) (8) () 8 () Lost Motion Maximum. Maximum. Maximum.7 Maximum.7 Maximum. Maximum. arc minute (degrees) (Load Torque) (. N m) (. N m) (.8 N m) (.9 N m) (. N m) (. N m) Permissible Speed Range rmin Power Source Input Single-Phase - VC % Hz Single-Phase - VC % Hz. Single-Phase - VC % % Hz. Excitation Mode Microstep: Basic nglen (Step) lb. (kg) (.). (.8) 8. (.7) lb. (kg).88 (.).9. (.8) Dimension No. Sixteen resolutions are available, where n,,.,,, 8,,,,,, 8,,, and. 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. Speed Torque Characteristics How to Read Speed-Torque Characteristics Page C- RK -H RK -H RK C-H RK9 -H RK9 C-H Current:.7 Phase Step ngle:. step Load Inertia: JL = lb-in () Current:. Phase Step ngle:. step Load Inertia: JL = oz-in RK -H RK C-H () Current:. Phase Step ngle:. step Load Inertia: JL = oz-in RK9 -H RK9 C-H () Maximum Torque () Maximum Torque () () () () () 8 8 Resolution () (Resolution) (Resolution ) () (Resolution ) 8 (Resolution ) () (Resolution ) Note: The pulse input circuit responds to approximately khz with a pulse duty of %. U (With the RK type, only the driver conforms to the CS standard.) C RK -H RK -H RK C-H RK9 -H RK9 C-H 7 8 () Current:.7 Phase Step ngle:.7 step Load Inertia: JL = lb-in () Current:. Phase Step ngle:.7 step Load Inertia: JL = oz-in RK -H RK C-H Maximum Torque Current:. Phase Step ngle:.7step Load Inertia: JL = oz-in RK9 -H Maximum Torque RK9 C-H () Maximum Torque Common Specifications C-9 Dimensions C-9 Connection and Operation C-98 and Combinations C- () () () () () () Resolution () (Resolution) (Resolution ) () (Resolution ) (Resolution ) () (Resolution ) Stepping s Introduction S S PLUS SC RK CFK CSK PMC UMK CSK PKPV PK UIG EMP EMP SG8J SMK ccessories C-89 Closed Loop -Phase Microstep C Input DC Input C Input DC Input -Phase FullHalf DC Input C Input DC Input & Packages -Phase Stepping s Controllers -Phase FullHalf with Indexer without with Low-Speed Synchronous s Before Using a Stepping

14 Stepping s Common Specifications Input Signal Output Signal Input Mode Pulse Signal (CW Pulse Signal) Rotation Direction Signal (CCW Pulse Signal) ll Windings Off Signal Step ngle Select Signal Output Mode Excitation Timing Signal Photocoupler input, Input impedance: Ω; Input current: to m ON:. V V, OFF: V (Voltage between terminals) Operation command pulse signal (CW direction operation command pulse signal when in -pulse input mode) Pulse width:. s minimum; Pulse risefall: s maximum Pulse duty: % and below The motor moves one step when the pulse input is switched from photocoupler On to Off. Maximum input frequency: khz (When the duty is %) Negative logic pulse input. Rotation direction signal, Photocoupler OFF: CCW; Photocoupler ON: CW CCW direction operation command pulse signal when in -pulse input mode Pulse width:. s minimum; Pulse risefall: s maximum Pulse duty: % and below The motor moves one step when the pulse input is switched from photocoupler On to Off. Maximum input pulse frequency: khz (When the duty is %) Negative logic pulse input. When in the "photocoupler ON" state, the output current to the motor is cut off and the motor s shaft can be rotated manually. When in the "photocoupler OFF" state, the output current is supplied to the motor. Step angle specified in DT when photocoupler OFF Step angle specified in DT when photocoupler ON Photocoupler, Open Collector Output External usage conditions VDC maximum, m maximum The signal is output every time the excitation sequence returns to the initial stage "." (Photocoupler: ON).7 step ( resolution): Signal output every pulses;.7 step ( resolutions): Signal output every pulses ( ) Overheat Signal Functions Indicators (LED) Cooling Method Output is turned off when the driver s internal temperature rises to approximately 7 F (8 C) or above. (Photocoupler: OFF) utomatic Current Cutback, utomatic current off, Step ngle Switch, Pulse Input Mode Switch, Smooth Drive Function Power input, Excitation Timing signal output, Overheat signal output Natural Ventilation General Specifications Insulation Class Insulation Resistance Dielectric Strength Operating Environment Specifications mbient Temperature Humidity Class B [ F ( C)] [Recognized as Class F ( C) by ULCS standard] MΩ minimum under normal temperature and humidity, when measured by a VDC megger between the windings and the motor casing. Sufficient to withstand. kv (. kv for RK ), Hz applied for one minute between the windings and casing under normal temperature and humidity. F F ( C C) (nonfreezing) [Harmonic geared type: F F ( C C)] 8% or less, noncondensing MΩ minimum under normal temperature and humidity, when measured by a VDC megger between the following places: Power input terminal - Protective earth terminal output terminal - Protective earth terminal Electromagnetic brake power output terminal - Protective earth terminal Signal inputoutput terminals - Power input terminal Signal inputoutput terminals - output terminal Signal inputoutput 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. k VC Hz output terminal - Protective earth terminal. k VC Hz Electromagnetic brake power output terminal - Protective earth terminal. k VC Hz Signal inputoutput terminals - Power input terminal.8 k VC Hz Signal inputoutput terminals - output terminal.8 k VC Hz Signal inputoutput terminals - Electromagnetic brake power output terminal.8 k VC Hz Only for electromagnetic brake type F F ( C C) (nonfreezing) tmosphere No corrosive gases, dust, water or oil. Temperature Rise Temperature rise of the coil measured by the Change Resistance Method is F (8 C) or less. (at standstill, five phases energized) Stop Position ccuracy minutes (. ) Shaft Runout. inch (. mm) T.I.R. at top of output shaft Radial Play. inch (. mm) max. of. lb. ( N) xial Play. inch (.7 mm) max. of. lb. ( N) Concentricity. inch (.7 mm) T.I.R. Perpendicularity. inch (.7 mm) T.I.R. This value is for full step under no load. (The value changes with the size of the load.) Radial Play: Displacement in shaft position in the radial direction, when a. lb. ( N) load is applied in the vertical direction to the tip of the motor s shaft. xial Play: Displacement in shaft position in the axial direction, when a. lb. ( N) load is applied to the motor s shaft in the axial direction. 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 C-9 Features C-78 System Configuration C-8 SpecificationsCharacteristics C-8

15 Permissible Overhung Load and Permissible Thrust Load RK RK RK RK RK RK9 RK9 RK99 RK9 RK-T RK-T RK9-T RK-N RK-N RK-N7. RK-N RK-N RK-N RK-N RK99-N RK99-N7. RK99-N RK9-N RK9-N RK9-N RK-H RK-H RK9-H Enter the gear ratio in the box ( ) within the model numbers. Overhung Load Distance from the Output Shaft End [inch (mm)] (). ().9 ().9 ().79 () Unit = Upper values: lb.lower values: N Thrust Load The permissible thrust load [lb. (N)] shall be no greater than the motor mass Stepping s Introduction S S PLUS SC RK CFK CSK PMC UMK CSK PKPV PK UIG EMP EMP SG8J SMK ccessories Closed Loop -Phase Microstep C Input DC Input C Input DC Input -Phase FullHalf DC Input C Input DC Input & Packages -Phase Stepping s Controllers -Phase FullHalf with Indexer without with Low-Speed Synchronous s Before Using a Stepping Common Specifications C-9 Dimensions C-9 Connection and Operation C-98 and Combinations C- C-9

16 Stepping s Dimensions Scale, Unit = inch (mm) Standard Type z Frame Size:. in. ( mm).9. ( ) (. ) (..) L L.79. ( ).9. (.).77. (..) (. ).99. (. ).8..8 ().8 () () (.) Cable. (.) Leads, WG M P..8 (.) Deep Min. Places. ( ).. (.). ().. (.). (8.) RK RKB RK RKB RK RKB PKW PKBW PKW PKBW PKW PKBW L L inch (mm) inch (mm). (). (9).8 (7).89 (8). (). () lb. (kg). (.). (.).88 (.) DXF B B B The length of machining on double shaft model is.9. (.). x Frame Size:. in. ( mm).8. ( ).787. (.).. ( 8. ) '.9 () L ()() Cable.8 ( 7) L.9. ( ).8. (7) (.) ' (.). ( 8.) Leads, WG..7 (.9). ( ).99. (.).77 (.) Holes 9. ().99. (.).9 (.).9. (7..) RK RKC RKB RKBC RK RKC RKB RKBC RK9 RK9C RK9B RK9BC PKW PKBW PKW PKBW PK9W PK9BW L L inch (mm) inch (mm).9 (8.). (9.). (89).7 (9.).7 (8.). () lb. (kg). (.).8 (.8).9 (.) DXF B B B.9. (7..) Shaft Cross Section -' c Frame Size:. in. ( 8 mm).98. (.)..7(.8 ).. ( ) '.9 () L L ()().. (7 ) () () (.) Leads, WG Cable.8 ( 7) ' (.8 )..7 (. )..8. ( 8).7. (7.). (.) Holes 9. ().. (.).7. (7.).9 (.) RK9 RK9C RK9B RK9BC RK99 RK99C RK99B RK99BC RK9 RK9C RK9B RK9BC PK9W PK9BW PK99W PK99BW PK9W PK9BW L L inch (mm) inch (mm).8 (8).8 (98). (8).9 (). (). () lb. (kg).7 (.7). (.8) 8. (.8) DXF B7 B8 B9.. (.) Shaft Cross Section -' These dimensions are for double shaft models. For single shaft models, ignore the shaded areas. C-9 Features C-78 System Configuration C-8 SpecificationsCharacteristics C-8

17 TH Geared Type v Frame Size:. in. ( mm).9. ( ).99. (. ).77. (..).8 (.).9 (78.). (.). (.) () ().79. ( ).7 ().7. (..).. (. ).. (8.).9.7 ( 7.8 ) Leads, WG Cable. (.) b Frame Size:. in. ( mm).787. (.).. ( 8. ).8. ( ) '.9 (). (.).8 (9.) () () Cable.8 ( 7).. ( ). (.).7 () Leads, WG.7. (7.).. ( 8. ).9. (.) n Frame Size:. in. ( 9 mm). ( 8)..7 9 (.8).. ( ).98. (.).9 (.) B B'.9 ().. (.) Shaft Cross Section B-B'.8 (.). (.) () () Cable.8 ( 7). (.).98 () Leads, WG.7. (.) Shaft Cross Section -'.. ( ) '.9.8 (. ).7. (.8.).7. ( 7.) M P.7. (8) Deep Min. Places. ( ). () The length of machining on double shaft model is.9. (.)... (.)..98. (. ).7.7 (.8).7. (8.) (.) (.).9. (.).7. (.). ( ). (8.) M P.7. (8) Deep Min. Places. ().9 (.). ( 9) M8 P..9 () Deep Min. Places. () Parallel Key (included).7. (.) 9.9. (7..) RK-T RKB-T Enter the gear ratio in the box ( ) within the model number. RK-T RKC-T RKB-T RKBC-T.9. (7..) Shaft Cross Section -' Gear Ratio lb. (kg) DXF PKW-T., 7., PKBW-T.77 (.),, B8 PKW-T PKBW-T Gear Ratio., 7.,,, lb. (kg). (.9) B87 Enter the gear ratio in the box ( ) within the model number. RK9-T RK9C-T RK9-T RK9C-T RK9B-T RK9BC-T RK9B-T RK9BC-T PK9W-T PK9W-T PK9BW-T PK9BW-T Gear Ratio., 7.,,., 7.,, lb. (kg) Enter the gear ratio in the box ( ) within the model number. DXF DXF. (.8) B88 Stepping s Introduction S S PLUS SC RK CFK CSK PMC UMK CSK PKPV PK UIG EMP EMP SG8J SMK ccessories Closed Loop -Phase Microstep C Input DC Input C Input DC Input -Phase FullHalf DC Input C Input DC Input & Packages -Phase Stepping s Controllers -Phase FullHalf with Indexer without with Low-Speed Synchronous s Before Using a Stepping These dimensions are for double shaft models. For single shaft models, ignore the shaded areas. Common Specifications C-9 Dimensions C-9 Connection and Operation C-98 and Combinations C- C-9

18 Stepping s PN Geared Type m Frame Size:. in. ( mm).9. ( ).9(8).8 (7). ().7 (8).98. ( ).97. (. ).8. ( 7.. ). ( ) M P.7. (8) Deep Min. Places..).99 (.77. (..).8 (.) ' () () Leads, WG Cable. (.).89. ( 8.). (). (8.) The length of machining on double shaft model is.9. (.)..8.. (..9).7. (.8. ) Shaft Cross Section -'.79.8 (8.).8. (.) Parallel Key (Included).8. (.) RK-N RKB-N PKW-N PKBW-N Gear Ratio lb. (kg) DXF, 7.,. (.) B Enter the gear ratio in the box ( ) within the model number., Frame Size:. in. ( mm) L.8. ( ).787. (.).. ( 8.) B B'.9 () L () ().. (8 ). ().98 () ' Leads, WG Cable.8 ( 7).7.7 (.8)..7 ( 7.).7. ( 7.). ( ). () M P.8.9 () Deep Min. Places.9 (.) 9.9. (7..).98.8 (. ).9. (7..) Shaft Cross Section B-B'..98. (. ).7. (. ).7. (.) Shaft Cross Section -'.7. (.) RK-N RKC-N RKB-N RKBC-N RK-N RKC-N RKB-N RKBC-N PKW-N PKBW-N PKW-N PKBW-N Gear Ratio, 7.,,, L inch (mm).7 (.).7 (8.) L inch (mm).9 (.). (9.) lb. (kg). (.) DXF B9 B9 Parallel Key (Included) 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-9 Features C-78 System Configuration C-8 SpecificationsCharacteristics C-8

19 . ( 8) (.8 )..7. Frame Size:. in. ( 9 mm).. ( ).98. (.) B.9 (.) B'.9 () RK99-N RK99C-N RK99B-N RK99BC-N RK9-N RK9C-N RK9B-N RK9BC-N () () L L Leads WG Cable.8 ( 7) PK99W-N PK99BW-N PK9W-N PK9BW-N Gear Ratio, 7.,,,.8. (7 ). ().7 ().98 () Enter the gear ratio in the box ( ) within the model number. ' ( 8.8 ) L inch (mm). (8).9 () HG Geared Type Frame Size:. in. ( mm).99. (. ).9. ( ).77. (..).8 (.).(8). ().8 () (). (.).7 (8) ' ().98. ( ).97. (.9 ).(.)(Max. dia. of rotating part).8. ( 7.. ) Leads, WG Cable. (.).. (. ) L inch (mm) 7.8 (9) 7. (8).89. ( 8.).87.8 (..). ( 9) M8 P.,.9 () Deep Min. Places. (8.) The length of machining on double shaft model is.9. (.). RK-H RKB-H PKW-H S PKBW-H S Gear Ratio lb. (kg) Enter the gear ratio in the box ( ) within the model number. DXF,. (.) B. ().9. (.) (.7) (.) lb. (kg). ( ). () 9.. (.) DXF B8 B8.. (.) Shaft Cross Section B-B' Shaft Cross Section -'.8.. (. ) M P.7. (8) Deep Min. Places M P.. () Deep Min. Places.8.. (..9).7. (.8. ) (.). (.) Shaft Cross Section -'. (.) 9.. (. ) Parallel Key (included) (8.8).8. (.).8. (.) Parallel Key (Included).. (.) The position of the key slot on the output shaft.97 ( ) relative to the screw holes on a maximum diameter of. (.) on the rotating part is arbitrary. Stepping s Introduction S S PLUS SC RK CFK CSK PMC UMK CSK PKPV PK UIG EMP EMP SG8J SMK ccessories Closed Loop -Phase Microstep C Input DC Input C Input DC Input -Phase FullHalf DC Input C Input DC Input & Packages -Phase Stepping s Controllers -Phase FullHalf with Indexer without with Low-Speed Synchronous s Before Using a Stepping These dimensions are for double shaft models. For single shaft models, ignore the shaded areas. Common Specifications C-9 Dimensions C-9 Connection and Operation C-98 and Combinations C- C-9

20 Stepping s Frame Size:. in. ( mm).8. ( ).787. (.).. ( 8. ) B B'.9 ().(9.).8 (88.) ()().8 ().. (8. ). (.).79 () Leads, WG Cable.8 ( 7) '.7.7 (.8 ).(.) (Max. dia. of rotating part).. (. ).7. ( 7.)..8 (..).9 (.). ( ). () M P.8.9 () Deep Min. Places M P.7. () Deep Min. Places 9.9. (7..).9. (7..) Shaft Cross Section B-B'.98. (.. ) Shaft Cross Section -'.7. (.) (.). (.). The position of the key slot on the output shaft.7 ( ) relative to the screw holes on a maximum diameter of. (.) on the rotating part is arbitrary. 9.7 (.) Parallel Key (Included).7. (.) RK-H RKC-H RKB-H RKBC-H PKW-H S PKBW-H S Gear Ratio lb. (kg) DXF,. (.8) B Enter the gear ratio in the box ( ) within the model number. Frame Size:. in. ( 9 mm).98. (.).( 8)..7 (.8 ).. ( ) B B'.9 () 7.(8.).97 (.) ()().9() Leads, WG Cable.8 ( 7).7. (.).(). (.).98 () '. (8) ( 8.8 ).87( ).97( ).77. ( 8.).9. (.).9 (.). ( 9). ( 9.) Holes. () 9.. (.).9 (.).. (.) Shaft Cross Section B-B' (.).. (. ).8. (.. ).. (.).. (.) Shaft Cross Section -' RK9-H PK9W-H RK9C-H RK9B-H RK9BC-H PK9BW-H Gear Ratio lb. (kg), 8. (.7) B Enter the gear ratio in the box ( ) within the model number. DXF Parallel Key (Included) These dimensions are for double shaft models. For single shaft models, ignore the shaded areas. C-9 Features C-78 System Configuration C-8 SpecificationsCharacteristics C-8

21 RKD7- :.88 lb. (. kg) d B Slit Stepping s.9 ().7 ().9 (). (88). (9). Max. ( Max.) M.7 Max. ( Max.). (7.). (). (7.). (7.) Pitch. (7.) M 9 Places. Max. ( Max.).79 (). (7.).79 ().77 () RKDL-, RKDL-C, RKDH-, RKDH-C.9 (). ().9 () :.9 lb. (.8 kg) d B8 Slits.7 ().7 (). () Max. M.7 () Max..77(.) Holes.8 (.).8 (.). (7.).9 (). (7.) Pitch. (7.). (7.) M 9 Places. () Max..8 (.). (7.).79 ().77 (.) Holes.8 (.).79 (). (7) IO Connector (included) Connector: - (MOLEX) Cover ssembly: - (MOLEX) IO Connector (included) Connector: - (MOLEX) Cover ssembly: - (MOLEX) Introduction S S PLUS SC RK CFK CSK PMC UMK CSK PKPV PK UIG EMP EMP SG8J SMK ccessories Closed Loop -Phase Microstep C Input DC Input C Input DC Input -Phase FullHalf DC Input C Input DC Input & Packages -Phase Stepping s Controllers -Phase FullHalf with Indexer without with Low-Speed Synchronous s Before Using a Stepping Common Specifications C-9 Dimensions C-9 Connection and Operation C-98 and Combinations C- C-97

22 Stepping s Connection and Operation Terminals Terminals Power Input Terminals Power Input Terminals Protective Earth Terminal RKD7- RKDL- LED Monitor Display Resolution Switches Indication Color Function Indication Switch Name Function POWER Green Power Input Display TIM. Green Excitation Timing Output Display O.H. Red Overheat Output Display DT DT Step ngle Switch Each switch can be set to the desired resolution from the resolution levels. Function Select Switches InputOutput Signals Indication Switch Name Function Indication Terminal No. InputOutput Terminal Name PP.C.O.OFF OFFS.D. Pulse Input Mode Switch utomatic Current Off Function Switch Smooth Drive Function Switch Switches between -pulse input and -pulse input. When the temperature inside the driver rises above 7 F (8 C), this function automatically switches the motor current off. The function can be set and defeated with this switch. Low vibration and low noise operation are available even in the low speed range without changing the step angle setting. The function can be set and defeated with this switch. CN 7 8 Input Signals Pulse Signal (CW Pulse Signal) Rotation Direction Signal (CCW Pulse Signal) ll Windings Off Signal Step ngle Select Signal Current djustment Switches Indication Switch Name Function RUN Run Current Switch For adjusting the motor running current Output Signals Excitation Timing Signal Overheat Signal STOP Stop Current Switch For adjusting the current at motor standstill. C-98 Features C-78 System Configuration C-8 SpecificationsCharacteristics C-8

23 Connection Diagrams Controller V (+ VDC to VDC) V (+ VDC to VDC) GND R Twisted-pair wire Pulse Signal (CW) Rotation Direction Signal (CCW) R ll Windings Off Signal R Step ngle Select Signal R R Excitation Timing Signal R Overheat Signal CN Input Signals Output Signals Power Supply Can be used with single-phase - VC or single-phase - VC 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: does not rotate properly at high-speed (insufficient torque). Slow motor startup and stopping V V TB BLUE RED ORNGE GREEN BLCK L N Blue Red Orange Green Black Notes: Keep the voltage Vo between VDC and VDC. When they are equal to VDC, the external resistance R is not necessary. When they are above VDC, connect R to keep the current between m and m, and connect R to keep the current below m. Use twisted-pair wire of WG or thicker and. feet ( 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-) Use WG or thicker for motor lines (when extended) and power supply lines, and use WG 8 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.9 inch ( cm) away from power lines (power supply lines and motor lines). Do not bind the signal line and power line together. Recommended Crimp Terminals Round shape terminal with insulator U shape terminal with insulator. inch (. mm) max. Lead. inch (. mm) min.. inch (9 mm) min. -Phase Stepping Single-Phase VC % Hz or Single-Phase VC % % Hz Caution The driver incorporates fusing for L (Live) side of the power input line. If the driver POWER LED is off, it is possible that only the fuse is tripped. High voltage supplied on the hot side may cause electric shock. Turn the power off immediately. Protective Earth (P.E.) (Use wire of WG 8 or more in cross sectional area.) Protective Earth terminal is located on the heat sink side. Crimp terminals are not provided with the package. They must be furnished separately.. inch (. mm) max.. inch (. mm) min.. inch (9 mm) min. Stepping s Introduction S S PLUS SC RK CFK CSK PMC UMK CSK PKPV PK UIG EMP EMP SG8J SMK ccessories Closed Loop -Phase Microstep C Input DC Input C Input DC Input -Phase FullHalf DC Input C Input DC Input & Packages -Phase Stepping s Controllers -Phase FullHalf with Indexer without with Low-Speed Synchronous s Before Using a Stepping Common Specifications C-9 Dimensions C-9 Connection and Operation C-98 and Combinations C- C-99

24 Stepping s Setting the Step ngles (Resolution) The driver can be preset to two different step angles (resolutions) using the step angle select switches DT and DT. Use these switches to set the desired resolution from the resolution levels available. (Refer to the table below.) fter setting the two step angles (resolutions), use the step angle select signal to change the step angle. Photocoupler OFF: Step angle (resolution) set by DT is selected Photocoupler ON: Step angle (resolution) set by DT is selected Standard Type TH Geared Type Step ngle Select Switch (Common to DT and DT) Resolution Step ngle B 8.9 C.7 D.7 E. F.88 Step ngle Select Switch (Common to DT and DT) Resolution B 8 C D E F Gear Ratio.: Step ngle at Output Shaft Gear Ratio Gear Ratio 7.: : Gear Ratio : Gear Ratio : PN Geared Type HG Geared Type Step ngle Select Switch (Common to DT and Resolution DT) Gear Ratio :. Step ngle at Output Shaft Gear Ratio Gear Ratio Gear Ratio 7.: : : Gear Ratio :. Gear Ratio :. Step ngle Select Switch (Common to DT and Resolution DT) Step ngle at Output Shaft Gear Ratio :. Gear Ratio : B B C C..7 D D..7 E E.7. F F.7.88 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. C- Features C-78 System Configuration C-8 SpecificationsCharacteristics C-8

25 Pulse (CW) and Rotation Direction (CCW) Input Signal Input Circuit and Sample Connection The letters indicate signals under the -pulse input mode, while the letters in parentheses indicate signals under the -pulse input mode. Note: When Vo is equal to VDC, the external resistance (R) is not necessary. When Vo is above VDC, connect the external resistance (R) and keep the input current between m and m. -Pulse Input Mode Pulse Signal The "Pulse" signal is input to the pulse signal 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. Rotation Direction Signal The "Rotation Direction" signal is input to the rotation direction signal input terminal. "photocoupler ON" signal input commands a clockwise direction rotation. "photocoupler OFF" signal input commands a counterclockwise direction rotation. -Pulse Input Mode CW Pulse Signal When the photocoupler state changes from "ON" to "OFF", the motor rotates one step in the clockwise direction. CCW Pulse Signal When the photocoupler state changes from "ON" to "OFF", the motor rotates one step in the counterclockwise direction. CW and CCW refer to clockwise and counterclockwise direction respectively, from a reference point of facing the motor output shaft. Pulse Waveform Characteristics (Photocoupler state corresponding to the input pulse) Pulse signal Photocoupler ON Photocoupler OFF Rotation direction signal Photocoupler ON Photocoupler OFF Controller Open-Collector Output Pulse (CW) Rotation Direction (CCW) R R 9% % V. µs. µs CN min. min. µs max. µs max. Ω to m Ω to m µs min. µs min. 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. Pulse Signal Characteristics The pulse voltage is. to V in the "photocoupler ON" state, and to V in the "photocoupler OFF" state. Input pulse signals should have a pulse width over. µs, pulse risefall below µs, and a pulse duty below %. Keep the pulse signal at the "photocoupler OFF" state when no pulses are being input. The minimum interval time when changing rotation direction is µs. This value varies greatly depending on the motor type, pulse frequency and load inertia. It may be necessary to increase this time interval. In -pulse input mode, leave the pulse signal at rest ("photocoupler OFF") when changing rotation directions. ll Windings Off (.W.OFF) Input Signal Input Circuit and Sample Connection Controller Open-collector Output.W.OFF R VO CN Ω to m Note: When Vo is equal to VDC, the external resistance (R) is not necessary. When Vo is above VDC, connect the external resistance (R) and keep the input current between m and m. When the "ll 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 "ll 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 "ll Windings Off" signal from "photocoupler ON" to "photocoupler OFF" does not alter the excitation sequence. When the motor shaft is manually adjusted with the "ll Windings Off" signal input, the shaft will shift up to. from the position set after the "ll Windings Off" signal is released. Stepping s Introduction S S PLUS SC RK CFK CSK PMC UMK CSK PKPV PK UIG EMP EMP SG8J SMK ccessories Closed Loop -Phase Microstep C Input DC Input C Input DC Input -Phase FullHalf DC Input C Input DC Input & Packages -Phase Stepping s Controllers -Phase FullHalf with Indexer without with Low-Speed Synchronous s Before Using a Stepping Common Specifications C-9 Dimensions C-9 Connection and Operation C-98 and Combinations C- C-