Hollow Rotary Actuators. DG Series. Frame Size 130 ( 5.12 in.) mm. Frame Size 85 ( 3.35 in.) mm. Frame Size 60 ( 2.36 in.) mm

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1 Hollow Rotary Actuators DG Series Frame Size 13 ( 5.12 in.) mm Frame Size 85 ( 3.35 in.) mm Frame Size 6 ( 2.36 in.) mm

2 Hollow Rotary Actuators DG Series Hollow Rotary Actuators DG Series m 3 install base sizes, 6mm ( 2.36 in.), Direct Coupling Simple but reliable design. Large-Diameter, Hollow Output Table Simple wiring and piping. Easy Home Operation An optional home-sensor set is simple to install, making home operation quick and easy. Shorter Positioning Time Inertial loads can be positioned quickly using an motor. Accurate Positioning Repetitive positioning accuracy: ±15 sec. Lost motion: 2 min. Angle transfer error: 4 min. Compact Frame size 6 mm ( 2.36 in.) High-Rigidity Type Frame size 85 mm ( 3.35 in.) Permissible Torque Bearing.9 N m (7.9 lb-in) Ball Bearing Diameter of Hollow Section ø28 mm (ø1.1 in.) (Rotational) Permissible Torque 2.8 N m (24 lb-in) Bearing Cross-Roller Bearing Diameter of Hollow Section ø33 mm (ø1.3 in.) (Not rotational) High Permissible- Moment 2 Safety Standard 24-VDC Input Driver Actuator Weight.5 kg (1.1 lb.) High Permissible- Thrust Load Safety Standard AC Input Driver Actuator Weight 1.2 kg (2.6 lb.)

3 ake the machine design, wiring, and maintenance simple. 85mm ( 3.35 in.) and 13mm ( 5.12 in.), are available. Torque [lb-in] Comparison of Permissible Torque The new, hollow rotary actuators with larger permissible torque deliver stable, high-speed positioning of larger inertial loads. Torque [N m] DG13R (Frame Size 13 mm [ 5.12 in.]) High Permissible Torque DG85R (Frame Size 85 mm [ 3.35 in.]) 2 DG6 (Frame Size 6 mm [ 2.36 in.]) Speed [r/min] Comparison of Rigidity The output table uses two deep-groove ball bearings for the 6 mm (2.36 in.) frame-size type, and a cross-roller bearing for the 85 mm (3.35 in.) and 13 mm (5.12 in.) frame-size types. As the model number increases, the permissible moment load also increases, while the displacement caused by the moment load decreases. Distance from center of rotation L Arm F Displacement INDEX Features 2 Structural Drawings 5 Product Number Code 5 Product Lines 5 High Torque, High Rigidity Displacement [inch 1-3 ] Displacement at distance L = 2 mm (7.87 in.) from center of rotation Displacement [µm] DG6 (Frame Size 6 mm [ 2.36 in.]) High Permissible Moment DG13R DG85R (Frame Size 13 mm [ 5.12 in.]) (Frame Size 85 mm [ 3.35 in.]) High Rigidity (Small Displacement) Moment Load [N m] Safety Standards and CE Marking 6 System Configuration 6 Specifications 7 General Specifications 9 Dimensions 1 High-Rigidity Type Frame size 13 mm ( 5.12 in.) Moment Load [lb-in] Connection and Operation 13 Actuator/Driver Combinations 17 Selection Calculations 18 Before Use 19 Accessories 2 Permissible Torque 12 N m (16 lb-in) Bearing Cross-Roller Bearing Diameter of Hollow Section ø62 mm (ø2.44 in.) (Not rotational) High Permissible- Moment High Permissible- Thrust Load Safety Standard AC Input Driver Actuator Weight 2.6kg (5.7 lb.) 3

4 Hollow Rotary Actuators DG Series Direct Coupling Simple but Reliable Design The output table of the hollow rotary actuator allows direct installation of your load. If your current equipment performs indexing operations through use of a belt, pulley or other mechanical part, you can use the DG Series to reduce the number of parts and thereby ease the maintenance load. Large-Diameter, Hollow Output Table Simple Wiring and Piping The diameter of the driven gear has been increased with the use of a single-stage reduction gear mechanism, resulting in a hollow hole (through-hole) of large diameter with respect to frame size. This helps reduce the complexity of wiring and piping, thus simplifying your equipment design. DG6 DG85R DG13R Frame size mm (in.) 6 (2.36) 85 (3.35) 13 (5.12) Diameter of Hollow Section mm (in.) 28 (1.1) 33 (1.3) 62 (2.44) Accurate Positioning Repetitive Positioning Accuracy of ±15 Sec. & Lost Motion of 2 Min. The gear-reduction mechanism employs precision gears along with a proprietary adjustment mechanism that eliminates backlash. The repetitive accuracy of positioning from a single direction is ±15 sec., while lost motion in a positioning operation from two directions is 2 min. These characteristics make the DG Series an ideal choice for applications in which accurate positioning is a must. 13 mm ( 5.12 in.) 62 mm (2.44 dia.) Example: DG13R Shorter Positioning Time Quick Positioning of Inertial Loads The drive motor of the DG Series is an stepping motor with built-in rotor-position detection sensor. This combination results in a shorter positioning time. Moreover, the actuator uses a dedicated driver to monitor the motor speed and position information, and switches to closedmode control the moment it detects the risk of a misstep. Therefore, acceleration and deceleration times can be shortened for quicker positioning. Speed [r/min] Positioning Time 68 ms 3deg Inertial load: 2.75 x 1-4 kg m 2 [15. 2-in 2 ](J) Aluminum disc of 1 mm [3.94 in.] diameter and 1 mm [.39 in.] ( in thickness ) Pulse Command Operation Waveform Simple Home Hunting Less Design/Parts Procurement Time The DG Series provides an optional home-sensor set that simplifies the home hunting operation. The sensor set comes with all the parts required for home hunting, meaning you will spend less time designing, fabricating and procuring parts in connection with sensor installation. (Example of sensor/shielding plate installation on DG13R) 1ms Example: Positioning time with DG6-ASAK Repetitive Positioning Accuracy Sensor Installation Installation of Shielding Plate Arbitrary Point 4

5 Structural Drawings Standard Type (DG6) Output Table Thrust-Interval Adjustment Screw High-Rigidity Type (DG85R, DG13R) Output Table Cross-Roller Bearing Deep-Groove Ball Bearings Product Number Code DG 13 R - AS A A Motor Type AS : Power Source A : Single-Phase 1 VAC 115 VAC C : Single-Phase 2 VAC 23 VAC S : Three-Phase 2 VAC 23VAC K : 24 VDC Motor Shaft A : Single Shaft B : Double Shaft Type of Output Table Bearing No Letter : Deep-Groove Ball Bearings (for standard type) R : Cross-Roller Bearing (for high rigidity type) Frame Size 6 : 6 mm sq. (2.36 in. sg.) 85 : 85 mm sq. (3.35 in. sg.) 13 : 13 mm sq. (5.12 in. sg.) DG Series Product Lines Type Power Supply 6 mm ( 2.36 in.) 85 mm Frame Size ( 3.35 in.) 13 mm ( 5.12 in.) Single Shaft Double Shaft Single Shaft Double Shaft Single Shaft Double Shaft Standard Type 24 VDC DG6-ASAK DG6-ASBK Single-Phase VAC DG85R-ASAA DG85R-ASBA DG13R-ASAA DG13R-ASBA High-Rigidity Type Single-Phase 2-23 VAC DG13R-ASAC DG13R-ASBC Three-Phase 2-23 VAC DG13R-ASAS DG13R-ASBS 5

6 L 1-115V~ N CN2 MOTOR CN3 OPERATI CN1 ALARM F/H X1 NORM TEST 1P 2P ABCDEF ABCDEF CN4 I/O The DG Series employs a UL/CSA recognized motor. Motors and drivers are recognized for the following model name(s). DG6-ASAK/DG6-ASBK Motor Driver ASM34AK-D ASM34BK-D ASD1A-K Standard UL695 CSA C22.2 No.695 UL58C CSA C22.2 No.14 UL695 CSA C22.2 No.695 Certification Body DG85R-ASAA/DG85R-ASBA/DG13R-ASA /DG13R-ASB Motor Driver Safety Standards and CE Marking ASM46AA-D ASM46BA-D ASM66AA-D ASM66BA-D ASM66AC-D ASM66BC-D ASD13B-A ASD24A-A ASD12A-C ASD12A-S Standard UL14UL2111 CSA C22.2 No.1* 1 CSA C22.2 No.77* 1 EN695 EN634-1 EN634-5 UL58C CSA C22.2 No.14 EN695 EN5178 UL UL Certification Body UL UL File No. E282 E E282 File No. E64199 E CE Marking EMC Directives CE Marking Low Voltage Directive EMC Directives* 2 The box ( ) in the model name should contain A, C or S, whichever corresponds to the applicable power supply voltage. *1 Except DG85R-ASAA (Motor model: ASM46AA-D) and DG85R-ASBA (Motor model: ASM46BA-D). *2 The EMC value changes according to the wiring and layout. Therefore, the final EMC level must be checked with the actuator/driver incorporated in the user s equipment. ASD24A-A VEXTA 1 5 } } Gear-Reduction Mechanism Unit Motor Unit Driver Unit System Configuration Extension Cables (Accessories) This cable is used to connect the motor unit of the hollow rotary actuator and the dedicated driver. Driver Cable (Accessories) This cable is used to connect the dedicated driver and controller. I/O Cable with Terminal Block (Accessories) This cable can connect the EMP4 Series controller and a programmable controller via a terminal block. Programmable Controller (Furnished by customer) Hollow Rotary Actuator DG Series Driver AC Power Supply Controller (Sold separately) Home-Sensor Set (Accessories) Home-sensor set consists of a sensor, connector with robot cable, sensor mounting bracket, shielding plate and mounting screws. DC Power Supply ( Furnished by customer ) 6

7 Specifications of Hollw Rotary Actuator Unit Three-Phase 2V-23V Motor Type Type of Output Table Bearing Permissible Torque * 2 Maximum Static Torque * 3 Inertial Moment * 4 Permissible Speed Gear Ratio Resolution * 5 Frame Size 24VDC Single-Phase 1V-115V Single-Phase 2V-23V mm in. Single Shaft Double Shaft * 1 Single Shaft Double Shaft * 1 Single Shaft Double Shaft * 1 Single Shaft Double Shaft * 1 N m lb-in N m lb-in kg m 2 oz-in 2 r/min Repetitive Positioning Accuracy sec Lost Motion min Angle Transfer Error min Permissible Thrust Load N lb. Permissible Moment Load N m lb-in Runout of Output Table Surface mm in. Runout of Output Table Inner (Outer) Diamenter mm in. Parallelism of Output Table mm in. Degree of Protection Mass of Actuator Unit kg lb. Standard Type DG6-ASAK DG6-ASBK Deep-Groove Ball Bearings DG85R-ASAA DG85R-ASBA : 1 9 P/R (Resolution Setting:.4 /pulse [5] [1]) 18 P/R (Resolution Setting:.2 /pulse [1] [1]) 9 P/R (Resolution Setting:.4 /pulse [5] [1]) 18 P/R (Resolution Setting:.2 /pulse [1] [1]) ±15 (±.4 ) 2 (.33 ) 4 (.67 ) IP4 (IP2 for motor connector) (IEC6529) DG13R-ASAA DG13R-ASBA DG13R-ASAC DG13R-ASBC DG13R-ASAS DG13R-ASBS *1 The counter-output shaft of the motor in the double-shaft type is installed onto a slit plate. Do not apply load torque, overhung load or thrust load to the counter-output shaft of the motor. *2 Permissible torque refers to the mechanical-strength limit of the gear-reduction mechanism. Be sure to keep the torque, including acceleration torque, within the permissible limit. *3 Maximum static torque at excitation represents the static torque of the output table when the motor is at a standstill. *4 Inertial moment is calculated through conversion at the output table of the motor rotor's inertial moment and the inertial moment in the gear-reduction mechanism. *5 You can set one of four resolutions using the driver-resolution select switch or driver-resolution select signal. The factory driver settings are [1] [1] and 18 P/R (.2 /pulse). Torque [lb-in] Torque [N m] Specifications Speed Torque Characteristics DG6-ASAK/DG6-ASBK DG85R-ASAA/DG85R-ASBA Torque [lb-in] Torque [N m] High-Rigidity Type Cross-Roller Bearings Speed [r/min] Speed [r/min] Torque [lb-in] Torque [N m] Pulse Speed [khz] (Resolution Setting: 18P/R [1] [X1]) DG13R-ASA /DG13R-ASB Speed [r/min] *Enter the code for power supply, A, C or S, in the box ( ) within the model name Pulse Speed [khz] (Resolution Setting: 18P/R [1] [X1]) Pulse Speed [khz] (Resolution Setting: 18P/R [1] [X1]) 7

8 Minimum Positioning Time (Tact Time) *Reference Values DG6-ASAK/DG6-ASBK Positioning Time [s] DG85R-ASAA/DG85R-ASBA Positioning Time [s] DG13R-ASA/DG13R-ASB Positioning Time [s] Moment of Load Inertia JL [X1 3 kg m 2 ] Moment of Load Inertia JL [oz-in 2 ] Moment of Load Inertia JL [X1 3 kg m 2 ] Moment of Load Inertia JL [oz-in 2 ] Moment of Load Inertia JL [X1 3 kg m 2 ] Moment of Load Inertia JL [oz-in 2 ] Table Precision (at no load) DG6-ASAK/DG6-ASBK unit: mm (in.) DG85R-ASAA/DG85R-ASBA DG13R-ASA /DG13R-ASB * The box ( ) in the model name should contain A, C or S, whichever corresponds to the applicable power supply voltage..3 (.12) A.3 (.12).15 (.6).15 (.6).15 A (.6).5 (.2) A.5 (.2) A.3 (.12) A *1 Runout of output table surface *2 Runout of output table inner diameter (Hollow diameter) *3 Parallelism of output table (against the mounting surface) *1 Runout of output table surface *2 Runout of output table inner and outer diameter *3 Parallelism of output table (against the mounting surface) Displacement by Moment Load (Reference value) The output table will be displaced when it receives a moment load. The graph shows the table displacement that occurs at distance L from the rotation center of the output table when a given load is applied. Distance from center of rotation L Arm F Displacement Moment Load [N m].1fl DG6-ASAK/DG6-ASBK Displacement [inch 1-3 ] Displacement [µm] L1 mm (3.94 in.) L75 mm (2.95 in.) L5 mm (1.97 in.) Moment Load [N m] Moment Load [lb-in] DG85R-ASAA/DG85R-ASBA Displacement [inch 1-3 ] Displacement [µm] L2 mm (7.87 in.) L15 mm (5.91 in.) L1 mm (3.94 in.) Moment Load [N m] Moment Load [lb-in] DG13R-ASA/DG13R-ASB Displacement [inch 1-3 ] Displacement [µm] L4mm (15.7 in.) L3mm (11.8 in.) L2mm (7.87 in.) Moment Load [N m] Moment Load [lb-in] 8

9 Specifications of Driver Unit Driver Voltage Power Source Frequency Current Maximum Input Pulse Frequency Input Mode CW Pulse (Pulse) CCW Pulse (Rotation Direction) Input Signals Alarm Clear All Windings Off Output Signals Protection Function Degree of Protection Indicators (LED) Cooling Method Mass Resolution Select Output Mode Excitation Timing Alarm Positioning Completion Feedback Pulse AB Phase kg lb. ASD1A-K 24 VDC ±1% 1. A ASD13B-A 5/6 Hz 3.3 A ASD24A-A Single-Phase V 1% 15% 5/6 Hz ASD12A-C ASD12A-S Single-Phase 2-23 V 1% 15% Three-Phase 2-23 V 1% 15% 5/6 Hz 3 A 5/6 Hz 1.5 A 5 A 25 khz (at duty 5%) Photocoupler input, Input resistance 22Ω, Input Current 7~2 ma CW direction operation command signal (Step command signal in 1-pulse input mode) Pulse width: 2µs minimum, Pulse rise/fall time: 2µs maximum (negative logic pulse input) CCW direction operation command signal (Rotation direction command signal in 1-pulse input mode) Pulse width: 2µs minimum, Pulse rise/fall time: 2µs maximum (negative logic pulse input) This signal is used when a protection circuit has been activated, for canceling the alarm without turning off the power to the driver. When in the "photocoupler " state, the current to the actuator is cut off and the actuator table can be rotated manually. When in the "photocoupler " state, the current is supplied to the actuator. When in the "photocoupler " state, the resolution is 1 times of the initial resolution setting. When in the "photocoupler " state, the initial resolution setting is selected. This function is effective when the resolution select switch is set to 9P/R or 18P/R. Photocoupler, Open-collector output, External use condition: 3 VDC maximum, 15 ma maximum [Position completion, Alarm, Excitation timing (only for ASD1A-K)] Transistor, Open-collector output, External use condition: 3 VDC maximum, 15 ma maximum [Excitation timing, Feedback A B pulse (except ASD1A-K)] Line driver output, equivalent to 26C31 [Excitation timing, Feedback pulse A B phase] (except ASD1A-K) The signal is output every time the table rotates.4 (Photocoupler: ). A precise timing signal cannot be obtained when the speed of the pulse input frequency is over 5 Hz. The signal is output when one of the driver's protection functions has been activated (Photocoupler: ). The alarm signal is output, the alarm indicator (red LED) blinks, and the actuator stops (non-excitation state). The signal is output when positioning is completed (Photocoupler: ). This signal is output when the table position is less than ±.1 from the commanded position during operation with a pulse input frequency of 5 Hz or less. The pulse resolution is the same as the motor resolution at power on. The phase difference between A and B is 9 electrical. There is a 1 ms (max.) time lag between real actuator motion and the output signals. These signals are only for position verification when the actuator stopped. Overheat protection, Overload protection, Overvoltage protection, Speed error protection, Overvoltage protection, Overspeed protection, EEPROM data error, Sensor error, System error (ASD1A-K does not have overvoltage and overcurrent protections) IP (IEC6529) IP1 (IEC6529) Operation idicator: Green LED, Alarm indicator: Red LED Natural Ventilation Direction of rotation on CW input Direction of rotation on CCW input Note: The rotating directions of the driver input signals (CW and CCW) are opposite the actual rotating directions of the output table. When the CW signal is input, the output table will rotate in the counterclockwise direction. When the CCW signal is input, the output table will rotate in the clockwise direction. General Specifications This is the value after rated operation at normal temperature and normal humidity. Insulation Class Insulation Resistance Dielectric Strength Ambient Temperature Motor Class B (13 C [266 F]) [Recognized as Class A (15 C [221 F]) by UL and CSA standards] 1Ω minumum when measured by a 5 VDC megger between the following places. Frame - Motor and Sensor Windings Sufficient to withstand the following for one minute [DGM6-ASAK, DGM6-ASBK] Frame - Motor and Sensor Windings.5 kv 5Hz [DGM85R-ASAA, DGM85R-ASBA] Frame - Motor and Sensor Windings 1 kv 5Hz [DGM13R-ASA, DGM13R-ASB ] Frame - Motor and Sensor Windings 1.5 kv 5Hz C+5 C [32 F~122 F] (nonfreezing) C +4 C [32 F~14 F] (nonfreezing) when home-sensor set is attached Ambient Humidity 85 % or less (noncondensing) Note: Do not measure insulation resistance or perform the dielectric strength test while the actuator and driver are connected. * The box ( ) in the model name should contain A, C or S, whichever corresponds to the applicable power supply voltage. Driver 1MΩ minumum when measured by a 5 VDC megger between the following places. [ASD1A-K] Heat Sink - Power Supply Terminal [ASD13B-A, ASD24A-A, ASD12A-C, ASD12A-S] Frame - Power Supply Terminal I/O - Power Suply Terminal Sufficient to withstand the following for one minute [ASD1A-K] Heat Sink - Power Supply Terminal.5 kv 5Hz [ASD13B-A, ASD24A-A] Frame - Power Supply Terminal 1.5 kv 5Hz I/O - Power Suply Terminal 2.3 kv 5Hz [ASD12A-C, ASD12A-S] Frame - Power Supply Terminal 1.5 kv 5Hz I/O - Power Suply Terminal 3. kv 5Hz [ASD1A-K] C+4 C [32 F~14 F] (nonfreezing) [ASD13B-A, ASD24A-A, ASD12A-C, ASD12A-S] C+5 C [32 F~122 F] (nonfreezing) 9

10 Dimensions scale: 1/4, unit: mm (inch) Actuator Unit DG6-ASAK DG6-ASBK Actuator DGM6-ASAK DGM6-ASBK Mass:.5 kg (1.1 lb.) 111(.43.4) 76(2.99) 33.5 (1.32) 4.12 ( ) 19.5 (.77) 31.3(1.22.1) 1(.39) 2(.8) LEADS,15(5.91)LENGTH 55571R(MOLEX) ( ) (HOLLOW SHAFT) 45(1.77) 5(.2)[65(2.56)] (.1969 ) 2 Holes 38.1( ) (.1969 ) 6(.24)DEEP2 Holes 78(3.7) ( ) 6(2.36) 5.2(1.97.1) 18 (.71) 36.3 ( ) 23(.91) 28 (1.1) ( ) 4.5(.18)2 Holes 35(1.38) 5.2(1.97.1) 6(2.36) M3 P.5 8(.31)DEEP6 Places (AT EQUAL INTERVALS OF 6 ) M2.5 P.45 4(.16)DEEP2 Places These dimensions are for double shaft models. For single shaft models, ignore the blue areas. Use M2.5 screw holes when installing the home-sensor set (sold separately). Do not use these holes for any purpose other than to install the home sensor. DG85R-ASAA DG85R-ASBA Actuator DGM85R-ASAA DGM85R-ASBA Mass: 1.2 kg (2.64 lb.) 151 (.59.4) 5.12( ) 54.5(2.15) 33.5 (1.32) 1.4(3.95) (1.4.1) 1.5(.41) 13(.51) 7.5(.3) M2.5 4(.16)DEEP2 Holes 14 (.55) 33 (1.3) 3(.12) M4/ 4(15.75) ( 2.47 ) 7.3( ) 55571R(MOLEX) CABLE 7(.28) ( ) (.1969 ) 2 Holes 114(4.49) 58.1 ( ) 29 (1.14) ( ) 85(3.35) 78.1(3.71.4) 7.5(2.76.2) ( ) 42 (1.65) 3 91(3.58) 6.5(.26)4 Holes (.1969 ) 6(.24)DEEP2 Holes 51(2.1) 7.5(2.76.2) 85(3.35) M4 P.7 8(.31)DEEP6 Places (AT EQUAL INTERVALS OF 6 ) M2.5 P.45 4(.16)DEEP2 Places These dimensions are for double shaft models. For single shaft models, ignore the blue areas. Use M2.5 screw holes when installing the home-sensor set (sold separately). Do not use these holes for any purpose other than to install the home sensor. 1

11 DG13R-ASA DG13R-ASB Actuator DGM13R-ASA DGM13R-ASB Mass: 2.6 kg (5.72 lb.) 241 (.94.4) 1.6(3.96) 37.3 (1.46.1) 12(.47) 15(.59) 7.5(.3) 14.1(4.94.4) 13(5.12) 12.1( ) 11.5(4.33.2) 14.3(4.94.1) 141(5.55) 9(.35)4 Holes (.1969 ) 2 5 (.1969 ) Holes M2.5 4(.16)DEEP2 Holes 6(.24)DEEP2 Holes 72.5(2.85) 8.15( ) 42.5 (1.67) CABLE 7(.28) 14(.55) 62(2.44) 3(.12) ( ) M4/ 4(15.75) ( ) 55571R(MOLEX) 17.2(6.7) 9.1 ( ) 4.2 (1.58) 15.3(5.96.1) 14(.55) 6 (2.36) (2.89) 11.5(4.33.2) 13(5.12) M5 P.8 8(.31)DEEP6 Places (AT EQUAL INTERVALS OF 6 ) M2.5 P.45 4(.16)DEEP2 Places These dimensions are for double shaft models. For single shaft models, ignore the blue areas. Use M2.5 screw holes when installing the home-sensor set (sold separately). Do not use these holes for any purpose other than to install the home sensor. Driver Unit Driver : ASD1A-K Mass:.25 kg (.55 lb.) 36 (1.42) 18 (.71) 3.5 (.138) 7 (2.76) 18.5 (.73) 47 (1.85) 45 max. (1.77 max.) 2R1.75 (.7) 12 (4.72) 4.5 (.18) 111 (4.37) 3.5 (.138) 113 (4.45) 3.5 (.138) 23.5 (.138) I/O Connector (included) Cover Assembly : (MOLEX) Connector : (MOLEX) Power Supply Connector (included) Connector : R (MOLEX) Connector Crimp Terminal: 5556TL (MOLEX) 41 max. (1.61 max.) 11

12 Driver Unit Driver : ASD13B-A, ASD24A-A, ASD12A-C, ASD12A-S Mass:.8 kg (1.76 lb.) 23 (.91) 45 (1.77) [6 (.24)] 9 (.35) 9 (.35) 3 (.12) 12 (4.72) 41 Max. (1.61 Max.) 25 (.98) 1 (.39) 134 (5.28) 89 (3.5) 6.2 (.24) Pitch 7.62 (.3) 15 (5.91) 18 (7.9) 2 (7.87) M4 1 (.39) 25 (.98) M3 P.5 7 Places 11 (.43) 17 (.67) 5 Max. (.2 Max.) M3 3 Places I/O Connector (included) Cover Assembly: (MOLEX) Connector : (MOLEX) Mounting Bracket (2 pieces, included) 1 (.39) 1 (.39) 25 (.98) 45 (1.77) 4.5 (.177) 3 (.12) 25 (.98) 43 (1.69) 23.5 (.138) Countersink 12

13 Names and Functions of Driver Parts DG6 Connection and Operation c v z b Motor Connector DG85RDG13R Motor Connector Regeneration Unit Connector z x c v x Power Input Connector Power input Connector b Protective Earthing Terminal z Signal Monitor Display LED Indications Indications OPERATI ALARM Color Green Red Alarm Blink Count Protection Function 1 Overheat No Blink DG6 does not have Overheat protection and Overcurrent protection functions. x Function Switches Indications 1/5 X1/ X1 1P/2P Overload Overvoltage Speed Error Overcurrent Overspeed EEPROM Data Error Sensor Error System Error Functions Power Supply Indication Alarm Indication When activated Lights when power is on. Blinks when protection functions are activated. When The temperature of the driver, activated s internal heat sink rises to approximately 85 C (185 F). 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. An excessive current has flowed to the driver, s inverter. The output table velocity exceeds 27 r/min. 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. Notes: Always turn the power before switching resolution or pulse input, and turns it again after you have made the change. If the "Resolution Select" switch is set to "1", it cannot control the resolution select by input terminal. It is always "1". Indications CURRENT Name Resolution Select Switch Pulse Input Mode Switch c Current Adjustment Switch Name Current Adjustment Switch v Velocity Filter Adjustment Switch Indications V.FIL Name Velocity Filter Adjustment Switch Actuator Speed Functions This function is for selecting the actuator resolution. The resolution of output table is 18 times of switch value. 5 1 /9 Pulses (.4 /step) 1 1 /18 Pulses (.2 /step) [Initial Setting] 5 1 /9 Pulses (.4 /step) 1 1 /18 Pulses (.2 /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. This switch is used to make adjustments when a smooth start-stop or smooth motion at low speed is required. Functions The motor running current can be lowered to suppress temperature rise in the motor and driver; or lower the operating current in order to allow a margin for motor torque. Functions Set to Set to F b Input/Output Signal DG6 Indications Input/Output Pin Number Signal External Power 2 GND Input 3 Vcc24V 9 CCW (DRE) Input Signal 1 CCW (DRE) 11 CW (PLS) 12 CW (PLS) 13 BSG1 Output Signal 14 GND 15 ASG1 16 GND CN3 Input Signal 21 ACL 22 ACL 23 TIM.1 24 TIM.1 Output Signal 25 ALARM 26 ALARM 29 END 3 END 31 1 Input Signal C. 34 C. DG85RDG13R Indications Input/Output Pin Number Signal 1 Vcc5V External Power Input 2 GND 3 Vcc24V 9 CCW (DRE) Input Signal 1 CCW (DRE) 11 CW (PLS) 12 CW (PLS) 13 BSG1 14 GND 15 ASG1 Output Signal 16 GND 17 BSG2 18 BSG2 19 ASG2 CN4 2 ASG2 Input Signal 21 ACL 22 ACL 23 TIM.1 24 GND 25 ALARM Output Signal 26 ALARM 27 TIM.2 28 TIM.2 29 END 3 END 31 1 Input Signal C. 34 C. Name of Signal Power Supply for signal control CCW Pulse (Rotation Direction) CW Pulse (Pulse) 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 Name of Signal Power Supply for Control Signal 1 CCW Pulse (Rotation Direction) 2 CW Pulse (Pulse) 2 B-Phase Pulse Output (Open Collector) A-Phase Pulse Output (Open Collector) B-Phase Pulse Output (Line Driver) A-Phase Pulse Output (Line Driver) Alarm Clear Timing (Open Collector) Alarm Timing (Line Driver) Positioning Completion Resolution Select All Windings Off For more details, refer to the description of input/output signal. 1 Connect either 5 VDC or 24 VDC, not both. 2 Refer to ( ) when set to 1-pulse input mode. The setting at shipment is the 2-pulse input mode. Time 13

14 Connection Diagrams DG6 Your Controller 5 VDC V (3V DC or less) CW Pulse Signal CCW Pulse Signal Alarm Clear Signal R R Resolution Select Signal All Windings Off Signal Twisted Pair Wire Driver CN3 Input Signals CN2 MOTOR Connecting Input Signal The CW input and CCW input should be 5 VDC input. If the voltage exceeds 5 VDC, connect an external resistance Ro. Example: When the signal voltage is 24 VDC, Ro should be 1.5 ~ 2.2 kω,.5 W or more. Connecting Output Signal V and the current must be 3 VDC, 15 ma or less, respectively. If the current exceeds 15 ma, connect an external resistance R1. Power Supply Can be used with 24 VDC 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 actuator to not operate properly (insufficient torque). Alarm Signal Positioning Completion Signal Timing Signal A Phase Signal B Phase Signal R1 R1 R1 R1 R1 Power Source 24 VDC1% CN1 24V GND Output Signals Notes on Connection 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 2 m [6.6 feet]). Note that as the length of the pulse signal line increases, the maximum transmission frequency decreases. If the wiring between the actuator and driver needs to be extended, use an extension cable or a flexible cable (sold separately). The range of wire for the power connector (CN1) is AWG Use wire AWG 2 or thicker for the power line. Keep the control input/output signal line at least 3 mm (1 foot) 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. 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 (for UL17) or (for UL115). 14 DG85RDG13R Your Controller 5 VDC V (3V DC or less) Counter Tachometer etc. (Pin No.) CN4 Twisted Pair Wire 11 CW Pulse Signal 12 R 9 CCW Pulse Signal 1 R 21 Input Alarm Clear Signal Signals 22 Resolution Select Signal All Windings Off Signal R1 Positioning Completion Signal R1 Alarm Signal R1 Timing Signal Output Signals 1 Vcc5V 3 Vcc24V 15 ASG1 16 GND 13 BSG1 14 GND 19 ASG BSG GND Driver CN2 Terminal Block L (L1) N (L2) (L3) Ground (Use wire of AWG18 or more in cross sectional area.) Motor Extension Cable For Single-Phase 1V - 115V, Single-Phase 2V - 23V Input Terminal Block L N For Three-Phase 2V - 23V Input Terminal Block L1 L2 L3 Power Source Single-Phase 1V-115V 15% ~1% 5Hz/6Hz (Single-Phase 1V-115V Input Driver) Single-Phase 2V-23V 15% ~1% 5Hz/6Hz (Single-Phase 2V-23V Input Driver) Three-Phase 2V-23V 15% ~1% 5Hz/6Hz (Three-Phase 2V-23V Input Driver) Ground (Use wire of AWG18 or more in cross sectional area.) Connecting Input Signal The CW input and CCW input should be 5 VDC input. If the voltage exceeds 5 VDC, connect an external resistance Ro. Example: When the signal voltage is 24 VDC, Ro should be 1.5 ~ 2.2 kω,.5 W or more. Connecting Output Signal V and the current must be 3 VDC, 15 ma or less, respectively. If the current exceeds 15 ma, connect an external resistance R1. Notes on Connection 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. They must not be used at the same time. 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 2 m [6.6 feet]). Note that as the length of the pulse signal line increases, the maximum transmission frequency decreases. If the wiring between the actuator and driver needs to be extended, 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. (Single-phase 1115 VAC, Single-phase 223 VAC) Use a four-core cable for the power supply line with a conductor cross-sectional area of at least AWG 18. (Three-phase 223 VAC) Keep the control input/output signal line at least 3 mm (1 foot) 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 driver s protective earthing terminal should be grounded to a common ground point, using a cable of AWG 18. Recommended Crimp Terminals Round shape terminals with insulator U shape terminals with insulator 3.2 Min. 3.2 Min. (.13 in. Min.) (.13 in. Min.) 6.2 mm Max. (.24 in. Max.) 9 mm Min. (.35 in. Min.) 6.2 mm Max. (.24 in. Max.) 9 mm Min. (.35 in. Min.) Crimp terminals are not provided with the products. They must be furnished separately.

15 Description of Input/Output Signal Indication of Input/Output Signal Input(output) indicates that the current is sent to the photocoupler (transistor) inside the driver. Input(output) indicates that the current is not sent to the photocoupler (transistor) inside the driver. [CW(PLS), CCW(DRE) Pulse Input Signal] Input Circuit and Sample Connection Controller Output Open Collector Output Vo CW (PLS) Inner Circuit mA Photocoupler [All Windings Off (C.), Resolution Select (1), Alarm Clear (ACL) Input Signals] Input Circuit and Sample Connection Controller Output Open Collector Output C. Vo DC5V Inner Circuit 16mA 22 CWPLS) R CW (PLS) CCW (DRE) mA Controller Output Open Collector Output Vo Inner Circuit Vcc24V 4.7k 3 5mA CCWDRE) R CCW DRE 1 C The colored characters indicate signals under the 2-pulse input mode, while the black characters indicate signals when in the 1-pulse input mode. Note: The external resistance is not needed when Vo is 5V. When the voltage exceeds 5V, connect the external resistance R to keep input current at 2mA or less. When 5V or more is applied without the external resistance, the elements get damaged. Pulse Wave Characteristics 9% 1% 1sminimum 2smaximum 2smaximum 2sminimum All Windings (C.) Input Signal Pin No.#3 and #4 The controller power supply voltage offers a choice of DC5V or DC24V. Inputting the All Windings off (C.) signal puts the actuator in a non-excitation (free) state. It is used when turning the output table externally or when positioning manually. This signal clears the deviation counter. C. Excitation state Actuator Non excitation state DC24V For pulse signals, input pulse waveforms like those in the figure above. Pulse Input Mode 2-Pulse Input Mode The 2-pulse input mode is used for CW and CCW pulses. When CW pulses are input, the actuator s output table rotates in the counterclockwise direction; when CCW pulses are input, the table rotates in the clockwise direction. Note: The setting at shipment is 2-pulse input. CW pulse CCW pulse Actuator Movement 1-Pulse Input Mode Counterclockwise Clockwise The 1-pulse input mode uses PULSE (PLS) and Rotation Direction (DRE) signals. Clockwise rotation is selected by inputting DRE signals with the input photocoupler off, counterclockwise rotation by inputting with the input photocoupler on. [Rotation Direction Signals] : Clockwise : Counterclockwise Pulse Input (PLS) [Resolution Select (1) Input Signal] Pin No.#1 and #2 The controller power supply voltage offers a choice of DC5V or DC24V. During input of this signal, the magnification of the resolution is 1. It is only valid when the resolution select switch is set to 1. Note: When the resolution select switch is set to 1, the Resolution Select input is ignored. In this case, the Resolution Select input is always equal to. [Alarm Clear (ACL) Input Signal] Pin No.@1 The controller power supply voltage offers a choice of DC5V or DC24V. This signal is used when a protection circuit has been activated in order to cancel the alarm without turning off power to the driver. Note: The following alarms cannot be released. To cancel the alarm, first resolve the cause and check for safety, and then turn power on again. Overcurrent EEPROM Data Error System Error Rotation Direction (DRE) Actuator Movement Counterclockwise Clockwise 15

16 [Position Completion (END), Alarm (ALARM) Output Signal] Output Circuit and Sample Connection Controller Input Vo [DG6] [Timing Signal (TIM.) Output Signal] Output Circuit and Sample Connection Controller Input Vo Inner Circuit Inner Circuit R R TIM.1 23 Pulse Signal (Speed Pattern) END Rotation 26 3 DC3V15mA maximum Position Completion (END) Output Signal Pin No.@9 and # Apply 3V, 15mA maximum to this circuit. This signal outputs when positioning is completed, specifically, when the table position is less than ±.1 from the command position, approximately 2 ms after the pulse input stops. Stop Note: The END signal flashes during operation with a pulse input frequency of 5 Hz or less. TIM.1 Apply 3V, 15mA maximum to this circuit. When the TIMING signal is output, the photocoupler turns. This signal is used to detect the home position with greater precision. The signal outputs 9 pulses per 1 table revolution. CW Pulse 12 CCW Pulse TIM. Output Note: A precise timing signal cannot be obtained when the speed of the pulse input frequency is over 5Hz DC3V15mA maximum [A-Phase, B-Phase Signal (ASG1/BSG1) Output Signal] Output Circuit and Sample Connection Controller Input Vo [Alarm (ALARM) Output Signal] Pin No.@5 Apply 3V, 15mA maximum to this circuit. This signal indicates that one of the driver s protection circuits has been activated. When an abnormality such as an overload or overcurrent is detected, the alarm signal is output, the ALARM indicator lights, and the actuator stops (non-excitation state). To cancel the alarm, first resolve the cause and check for safety, and then input an Alarm-clear (ACL) or turn power on again. Once power has been turned off, wait at least 1 seconds (5 seconds for DG6) before turning it on again. Protection Function Normal Fault Normal ALARM ALARM LED Pulse Signal (Speed Pattern) Off Light Off Rotation Natural Stop Note: The alarm output uses positive logic, other outputs use negative logic. R R BSG1 ASG1 Inner Circuit Apply 3V, 15mA maximum to this circuit. These signals are used when monitoring the table motion. The number of pulses output matches the resolution setting times 18, thus the same number of pulses are output as were input. [Example: Resolution select switch (1P/R) output pulse number for each table revolution (18).] The phase difference between A and B is 9 in electrical angle. Notes: The pulse output accuracy is, regardless of resolution, within ±.36 (repetition accuracy: within ±.9 ). These signals are only for position verification when the motor is stopping. There is 1ms (MAX) time lag between real rotor motion and the output signals. GND GND Pulse Waveform Characteristics DC3V15mA maximum DC3V15mA maximum 2 GND ASG BSG 16 In Forward Rotation

17 [DG85R, DG13R] [Timing (TIM.1, TIM.2), A-Phase, B-Phase (ASG1/BSG1, ASG2/BSG2) Signal Output Signal] Output Circuit and Sample Connection < Open Collector Output > Controller Input Vo Power supply for Timing Output should be connected to either DC5V or DC24V. Do not input DC5V and DC 24V at the same time. Inner Circuit Pulse Waveform Characteristics ASG1 (ASG2) BSG1 (BSG2) In Forward Rotation R 1 VCC5V 3 VCC24V DC3V 15mA maximum 2 Apply 3V, 15mA maximum to this circuit. < Line Driver Output > Controller Input Power supply for Timing Output should be connected to either DC5V or DC24V. Do not input DC5V and DC 24V at the same time Inner Circuit 1 VCC5V 3 VCC24V Actuator/Driver Combinations Standard Type DG6-ASAK DG6-ASBK Actuator DGM6-ASAK DGM6-ASBK Driver ASD1A-K ASD1A-K 2 GND High-Rigidity Type Timing Signal (TIM.1, TIM.2) Output Signal When the Timing signal is output, the transistor turns (For the line driver out which is TIM2, the output signal is High). This signal is used to detect the home position with greater precision. This signal outputs 9 pulses per 1 table revolution CW Pulse 12 CCW Pulse TIM. Output Notes: A precise Timing signal cannot be obtained when the speed of the pulse input frequency is over 5Hz. When the Timing Signal Output is used, a DC5V or DC24V power supply is necessary. DG85R-ASAA DG85R-ASBA DG13R-ASAA DG13R-ASBA DG13R-ASAC DG13R-ASBC DG13R-ASAS DG13R-ASBS Actuator DGM85R-ASAA DGM85R-ASBA DGM13R-ASAA DGM13R-ASBA DGM13R-ASAC DGM13R-ASBC DGM13R-ASAC DGM13R-ASBC Driver ASD13B-A ASD13B-A ASD24A-A ASD24A-A ASD12A-C ASD12A-C ASD12A-S ASD12A-S A-Phase, B-Phase Signal (ASG1/BSG1, ASG2/BSG2) Output Signal Pin These signals are used when monitoring the motor motion. The number of pulses output matches the resolution setting time 18, thus the same number of pulses are output as were input. [Example: Resolution select switch (1P/R) Output pulse number for each table revolution (18).] The phase difference between A and B is 9 in electrical angle. Notes: The pulse output accuracy is, regardless of resolution, is within ±.36 (repetition accuracy: within ±.9 ). When the pulse output is used, a DC5V or DC24V power supply is necessary. These signals are only for position verification when the actuator stopping. There is a 1ms (MAX) time lag between real actuator motion and the output signals. 17

18 Selection Calculations Calculations are needed to select an appropriate product that meets the specifications required for your equipment. This section explains the calculations used for selecting an applicable DG Series actuator. <Calculation of Required Torque> qcalculate the work s inertial moment. wdetermine the positioning angle. eif there is no friction torque, check the positioning time from the tact-time graph of the DG Series. Refer to page 8 for the minimum positioning time graph. <Calculation of Thrust Load and Moment Load> If the load illustrated below applies to the output table, calculate the thrust load and moment load using the formulas below to confirm whether they are within the specified values. F [lb] L [in] m1 [lb] rdetermine the positioning time and acceleration/deceleration time. Note that the positioning time must be equal to or greater than the minimum positioning time obtained via the tact-time graph, and that it must be equal to or less than the acceleration/deceleration time (t1) x 2. tdetermine the starting speed N1 and calculate the operation speed N2 using the formula below. Set N1 to a low speed ( to several r/min.), but be careful not increase it more than necessary. Thrust Load [lb] Moment Load [lb-in] Fs = F + m1 M = F L N2 [r/min] = 6 N1t1 6 ( t t1 ) Speed N2 N2 : Operation Speed [r/min] N1 : Positioning Angle [ ] N1 : Starting Speed [r/min] t : Positioning Time [s] t1 : Acceleration (Deceleration) Time [s] t1 t1 Time t F2 [lb] F1 [lb] m2 [lb] L [m] If N1 N2 2 [r/min] is not satisfied as a result of the above calculation, return to r and review the conditions. y ( N2N1 ) J1 JL t1 Acceleration TorqueTa [oz-in] ( ) 3 : Actuator s Inertial Moment [oz-in 2 ] : Total Inertial Moment [oz-in 2 ] : Operation Speed [r/min] : Starting Speed [r/min] : Acceleration (Deceleration) Time [s] ucalculate the required torque. The required torque is calculated by multiplying the sum of the load torque due to friction resistance and the acceleration torque due to inertial moment, by an appropriate safety factor. Thrust Load [lb] Moment Load [lb-in] DG6 DG85R DG13R a Fs F1 m2 M F2 L Required Torque T = (Load Torque [oz-in] + Acceleration Torque [oz-in]) x Safety Factor = (TL + Ta) x S Use 1.5 or a greater value for the safety factor S. iconfirm whether the required torque T is within the speed vs. torque characteristics. If not, return to r and review the conditions, and then perform the calculation again. Torque [oz-in] Required Torque Speed [r/min] (Pulse Speed [khz]) 18 Use the formula below to convert speed to pulse speed. N f [Hz] = s f : Pulse Speed [Hz] N : Speed [r/min] S : Output-Table Step Angle [ /step]

19 Before Use Installing the Hollow Rotary Actuator Install the hollow rotary actuator onto the mounting plate from the direction shown in the figure. Two positioning pinholes of ø mm (ø in.) are provided in the mounting surface of the hollow rotary actuator. (With the 6 mm (2.36 in.) frame-size type, the mounting holes and positioning pinholes are the same.) Use these holes to determine the position of the hollow rotary actuator on your equipment. Be sure to firmly affix the positioning pins in the mounting plate. Provide relief holes in the mounting plate to prevent contact with the motor. Mounting Hole Positioning Pin (provided by the customer) Mounting Plate (iron or aluminum) DG6 : 5 mm (.2 in.) or more DG85R : 8 mm (.31 in.) or more DG13R : 1 mm (.39 in.) or more Screw (provided by the customer) Spring Washer (provided by the customer) Installation Direction The hollow rotary actuator with a frame size of 6 mm (2.36 in.) can be installed from the direction shown in the figure using a pilot ø65.3 mm (ø in.). However, installation from this direction is not possible when the optional home-sensor set is used. (.2 in.) Load-Mounting Screw (6 locations) Output Table Affixing the Load on the Output Table Affix the load using the load-mounting screw holes (six locations) provided in the output table. Two load-mounting pinholes of ø mm (ø in.) and 6 mm (.24 in.) in depth are provided in the output table. Use these holes and positioning pins to determine the position of the load. Be sure to firmly affix the positioning pins in the load. Load-Mounting Pinholes (2 locations) 19

20 Accessories Home-Sensor Set A home-sensor set, which consists of a sensor, connector with cable, sensor mounting bracket, shielding plate and mounting screws, is provided to facilitate easy home hunting. All parts needed for home hunting are included in the set, so you will spend less time designing, fabricating and procuring parts in connection with sensor installation. Installation is very easy, so you can start using the sensor right away. Applicable Products PADG-SA DG6-ASAK/DG6-ASBK DG85R-ASAA/DG85R-ASBA PADG-SB DG13R-ASA /DG13R-ASB * The box ( ) in the model name should contain A, C or S, whichever corresponds to the applicable power supply voltage. : PADG-SB Sensor Specifications Installing the Home-Sensor Set Power Supply Current Consumption Control Output Indicator Lamp Sensor Logic EE-SX672AEE-SX673A (OMR) 5 24 VDC 1%, ripple (P-P) 1% or less 35 ma or less NPN open-collector output, 5 24 VDC 1 ma or less Residual voltage.8 V or less (at load current of 1 ma) Detection display (red) Normal open/normal close (switchable, depending on connection) Be aware of the following points when installing the optional home-sensor set: Set the operating conditions so that the operating temperature stays at 4 C (14 F) or below and the surface temperature of the hollow rotary actuator motor stays at 9 C (194 F) or below. When performing home hunting using the counter-output shaft of the motor, the user must provide a separate sensor, mounting bracket and other necessary parts. Dimensions of Sensor Installation unit: mm (inch) DG6-ASAK/DG6-ASBK [76 (2.99)] [31 (1.22)] [1 (.39)] [6 (2.36)] [5 (1.97)] 99 (3.9) (Rotating diameter of shielding plate) When mounting holes are provided at the table center 37.2 (1.46.1) 2M2.5 [33.5 (1.32)] 37.2 (1.46.1) When mounting holes are [ provided at the table center ] 4.9 (1.61) 56.2 (2.21) [5 (1.97)] [6 (2.36)] 7 (.28) Center of output table 6 (.24) (Shielding plate width) When mounting holes are provided a distance from the table center 16 Photo micro sensor (.63) (EE-SX672A: OMR) 1.9 (.43) 28.6 (1.13) 2.4 (.9) Connector with cable: 2 mm (78.74 inch) Length AWG 24 (OMR EE-11-R) 26 (1.2) 28 (1.1) 6.4 (.25) 62.2 (2.44.1) 6 (.24) (Shielding plate width) 7 (.28) 2M2.5 Center of output table Machining Dimension Drawing [ for Installation of Shielding Plate ] 2

21 DG85R-ASAA/DG85R-ASBA [1.4 (3.95)] [35.5 (1.4)] 25 (.98) 24 (.94) [1.5 (.41)] 4.5 (.18) [85 (3.35)] [78 (3.7)] [7 (2.76)] 1 (3.94) (Rotating diameter of shielding plate) [54.5 (2.15)] 17.8 (.7) 6 (.24) Photo micro sensor (EE-SX673A: OMR) 4 (.16) 31.2 (1.23) Connector with cable: 2 mm (78.74 inch) Lenght AWG 24 (OMR EE-11-R) 4 (.16) 6.3 (.25) 21 (.83) 43.5 (1.71) 58 (2.28) 79.5 (3.13) [58 (2.28)] [7 (2.76)] [85 (3.35)] DG13R-ASA /DG13R-ASB [1.6 (3.96)] [37 (1.46)] [13 (5.12)] 26.5 (1.4) 25.5 (1.) [12 (4.72)] [12 (.47)] 4.5 (.18) [11 (4.33)] [72.5 (2.85)] 6 (.24) Photo micro sensor (EE-SX673A: OMR) 144 (5.67) (Rotating diameter of shielding plate) 66 (2.6) 8.5 (3.17) 12 (4.1) [9 (3.54)] [11 (4.33)] [13 (5.12)] 19.3 (.76) 32.7 (1.29) 4 (.16) Connector with cable: 2 mm (78.74 inch) Length AWG 24 (OMR EE-11-R) 4 (.16) 6.3 (.25) 21 (.83) Wiring the Sensor Power supply voltage must be 5 VDC 24 VDC, 1 ma or less, respectively. If the current exceeds 1 ma, connect an external resistance R. GND for the sensor power supply and the customer's controller power supply should be common. Host Controller + 5~+24V Sensor Power + 5~+24V Connect the pink lead to the brown lead when the sensor logic is N.C. (normal close). The pink lead is not connected when the sensor logic is N.O. (normal open). R HOMELS Input DC24V HOMELS GND Pink Brown Black Blue Photo Micro Sensor 21

22 Extension Cable These extension cables are used when the actuator and the driver are more than.4 m (.15 m for DG6) apart from each other. Length L m (feet) CC1AIP 1 (3.3) CC2AIP 2 (6.6) CC3AIP 3 (9.8) CC5AIP 5 (16.4) CC7AIP 7 (23) CC1AIP 1 (32.8) CC15AIP 15 (42.9) CC2AIP 2 (65.6) DG6 can not use extension cable with 15m (49 feet) and 2m (66 feet) Flexible Cable We recommend these flexible cables when the actuator is installed on a moving section and the cable is repeatedly bent and extended. CC1SAR CC2SAR CC3SAR CC5SAR CC7SAR CC1SAR Length L m (feet) 1 (3.3) 2 (6.6) 3 (9.8) 5 (16.4) 7 (23) 1 (32.8) Dimensions Unit: mm (inch) 12 L 14.5 (.57) (.47) 11.6 (.46) Dimensions Unit: mm (inch) 12 L 14.5 (.57) (.47) 11.6 (.46) 3 (1.18) 24.3 (.96) Motor Side 9.5 (.37) Driver Side 22.2 (.87) 3 (1.18) 24.3 (.96) Motor Side 8 (.31) Driver Side 22.2 (.87) Driver Cable Dedicated type General-purpose type One end of the cable is a halfpitch connector that snaps into the driver for DG series. The other end of the cable is equipped with the connector for the EMP series controller. CC1EMP4 CC2EMP4 Length L m (feet) 1 (3.3) 2 (6.6) When the Alarm Clear signal is controlled using the host controller, the dedicated type driver cable can not be used. The general-purpose driver cable must be used. Dimensions Unit: mm (inch) This is a ribbon cable equipped with, at one end of the cable, the half-pitch connector that snaps into the driver for DG series. CC36D1-1 CC36D2-1 Control I/O Pin: 36 pins Length L m (feet) 1 (3.3) 2 (6.6) Dimensions Unit: mm (inch) 615 ( ) Shield 13 (.39.12) 13 (.39.12) Controller Side L (6) (.24) Sensor Side 9 (3.54) (1.71) 12.7 (.5) L 31 ( ) Pitch 1.27 (.5) Laminate 13 (.39.12) 7 (.28) 7.5 (.295) (1.46) (6) (.24) (1.71) Driver Side Controller Side 12.7 (.5) 39 (1.54) L 39 (1.54) 12.7 (.5) Driver Side 22

23 DIN Rail mounting Plate: PADP1 This installation plate is convenient for easy installation the driver for DG85R and DG13R on DIN rails with ease. The required installation screws come with this mounting plate. DIN Rail Mounting Plate Dimensions Unit: mm (inch) Mass: 2 g (.71 oz.) Screws: M3 P.5, 8 mm (.31 in.) long, 3 pieces included 11 (.43) 34 (1.34) 18 (.71) 8 (.31) 4.5 (.18) 49 (1.93) DIN Rail Center 89 (3.5) 12 (4.72) (5.73) 16.8 (.66) 23