RBK Series. 2-Phase Stepping Motor and Microstep Driver Package. RoHS-Compliant

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1 RoHS-Compliant -Phase Stepping Motor and Microstep Package RBK Series -phase stepping motor and DC input microstep driver package. Includes Oriental Motor's proprietary Smooth Drive Function to easily achieve low-vibration operation.

2 Compact and High Performance Microstep Standard Type Motor IP Rated Motor Smooth Drive Function The Smooth Drive Function is a function that automatically controls the motor's microstep drive operation at the same travel and speed as in the full-step mode, without the operator having to change the speed settings of the driver's pulse input. It enables low-vibration operation available with the microstepping drive to be achieved with the flick of a switch. Vibration Component Voltage Vp-p[V] RBK Power Input: VDC Load Inertia: JL= kg m..... Smooth Drive Function: Deactivated Smooth Drive Function: Activated Microstep Function The microstepping driver electronically divides the basic step angle of the motor (. /step) by up to without the use of a reduction mechanism or other mechanical element. different resolutions levels are available. The available range of resolution settings is (. /step) to (. /step). The step angle can be easily set using the built-in switches on the driver. This function enables low-vibration and low-noise operation. Vibration Component Voltage Vp-p[V] RBK Power Input: VDC Load Inertia: JL= kg m.....

3 Third Harmonic Waveform Correction Function This function corrects motor drive current waveforms. It provides improved angle accuracy and reduced vibration. RBK Power Input: VDC Load Inertia: JL= kg m. Vibration Component Voltage Vp-p[V].... Third Harmonic Waveform Correction Function: % Third Harmonic Waveform Correction Function: -% Vibration Suppression Function This function improves vibrations in the medium speed range of stepping motors. It enables reduced risk of missteps due to vibrations. Vibration Component Voltage Vp-p[V] RBK Power Input: VDC Load Inertia: JL= kg m..... PULLOUT Vibration Suppression Function: Deactivated Vibration Suppression Function: Activated Wide Voltage Range The RBK Series utilizes a constant current driver with a wide voltage range of to 7 VDC and. A/phase effective value (. A/phase peak value). This enables it to support a wide range of power sources. RBK utilizes a constant current driver with a voltage range of to 7 VDC and. A/phase effective value (.9 A/phase peak value). 7 RBK99 Current:. A/Phase ( Phases ) Step Angle:. /step Load Inertia: JL= kgm VDC Input 7 VDC Input Comparison of Speed - Torque Characteristics Conforming to Major Safety Standards The RBK Series is UL-recognized and CSA-certified. It also bears the CE Mark as a proof of conformance to the Low Voltage Directives. The RBKA(B) and the RBK9A(B)A are currently applying for UL/ CSA and EN Standards certification. RoHS-Compliant The RBK Series conforms to the RoHS Directive that prohibits the use of six chemical substances including lead and cadmium. RoHS (Restriction of Hazardous Substances) Directive: Directive on restriction of the use of certain hazardous substances in electrical and electronic equipment (/9/EC). The RoHS Directive prohibits the use of six chemical substances in electrical and electronic products sold in the EU member states. The six controlled substances are: lead, hexavalent chromium, cadmium, mercury and two specific brominated flame-retardants (PBB and PBDE). The IP rated motor conforms to the IP standard of ingress protection against dust and water. Terminal-Block Connection Design The motor can be wired directly from its terminal block. Terminal Box Raising the power supply voltage enables increased torque during high-speed operation.

4 System Configuration An example of a system configuration with the EMP Series controller. Controller (Sold separately) Controller ( Page 9) VDC Power Supply (Not supplied) RBK Series (The D-Sub (-pin) connector for connecting to the driver's CN connector is not included. It must be supplied separately.) Programmable Controller (Not supplied) Motor (The cable for connecting the IP rated motor and driver must be supplied separately.) 7 VDC Power Supply (Not supplied. Available input voltage differs according to each product. See the Specifications for details.) Optional Accessories and Peripheral Equipment (Sold separately) Motor Cable for IP Rated Motor ( Page 7) Flexible Couplings ( Page 7) Motor Mounting Brackets ( Page ) Clean Dampers ( Page ) DIN Rail Mounting Plate ( Page ) Connector - Terminal Block Conversion Unit ( Page 9) No. Product Name Overview Page Controller This controller outputs pulse commands that determine the rotating amount and rotating speed. 9 Motor Cable for IP Rated Motor A cable for connection between the IP rated motor and driver (with protective earth wire). 7 Flexible Couplings Motor Mounting Brackets Clean Dampers DIN Rail Mounting Plate Connector - Terminal Block Conversion Unit Coupling that connects the motor shaft to the driven shaft. Dedicated mounting bracket for the motor. Dedicated damper for suppressing stepping motor vibration. Use this plate when installing the driver to a DIN rail. Set of terminal block and cable for connecting the EMP Series controller and host controller ( m). 7 9 Example of System Configuration (Sold separately) RBK Series Controller RBKB EMP- Mounting Bracket Flexible Coupling PALP- MCSF Clean Damper DCL-.F Connector - Terminal Block Conversion Unit CCT The system configuration shown above is an example. Other combinations are available.

5 Safety Standards and CE Marking (IP rated motor only) Model Standards Certification Body Standards File No. CE Marking Motor UL, UL CSA C. No.77 CSA C. No. EN - EN - EN 9 IEC - UL C CSA C. No. UL E99 EN 7 Low Voltage Directives EMC Directives UL E7 Low Voltage Directives EMC Directives Maximum Surrounding Air Temperature for UL: C (UL C) When the system is approved under various safety standards, the model names in the motor and driver names are the approved model names. The package is declared voluntary compliance with the EMC Directive. The EMC Directive value changes according to the wiring and layout. Therefore, the final EMC level must be checked with the motor/driver incorporated in the user s equipment. Product Number Code Standard Type Motor RBK A IP Rated Motor RBK T Series RBK: RBK Series : -Phase Motor Frame Size :. mm (. inch) 9: mm (. inch) Motor Case Length Motor Shaft Type A: Single Shaft B: Double Shaft Motor Classification Product Line Standard Type Motor Frame Size Model (Single Shaft) Model (Double Shaft) RBKA RBKB. mm RBKA RBKB (. inch) RBKA RBKB RBK9AA RBK9BA mm RBK99AA RBK99BA (. inch) RBK9AA RBK9BA IP Rated Motor Frame Size Model (Single Shaft) Model (Double Shaft) RBKT. mm RBKT (. inch) RBKT RBK9T mm RBK99T (. inch) RBK9T The following items are included in each product. Motor,, Operating Manual The cable for connecting the IP rated motor and driver, and the D-Sub (-pin) connector for connecting to the driver's CN connector are not included. They must be supplied separately. Standard Type Motor Frame Size. mm (. inch) IP Rated Motor Frame Size mm (. inch) Frame Size. mm (. inch) Frame Size mm (. inch)

6 Standard Type Motor Motor Frame Size. mm (. inch) Specifications Model Single Shaft RBKA RBKA RBKA Double Shaft RBKB RBKB RBKB Maximum Holding Torque Nm (oz-in). ().7 ().7 () Rotor Inertia J: kgm (oz-in ) -7 (.) -7 (.) -7 (.) Rated Current A/Phase. Basic Step Angle. Power Source 7 VDC.9 A Excitation Mode Microstep Mass Motor kg (lb.). (.99).7 (.) (.) kg (lb.). (.77) Dimension No. Motor The holding torque (-phase excitation) is the maximum holding power (torque) the motor has when power is being supplied but the motor shaft is not rotating (rated current). The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately %. Speed Torque Characteristics : Maximum Starting Frequency VDC Input RBKA/RBKB Current:. A/Phase ( Phases ) Step Angle:. /step Load Inertia: JL= kgm () () () Resolution ()(Resolution ) RBKA/RBKB Current:. A/Phase ( Phases ) Step Angle:. /step Load Inertia: JL= kgm () () () () () Resolution () (Resolution ) RBKA/RBKB Current:. A/Phase ( Phases ) Step Angle:. /step Load Inertia: JL= kgm () () () () () Resolution ()(Resolution ) VDC Input RBKA/RBKB Current:. A/Phase ( Phases ) Step Angle:. /step Load Inertia: JL= kgm () () () Resolution ()(Resolution ) RBKA/RBKB Current:. A/Phase ( Phases ) Step Angle:. /step Load Inertia: JL= kgm.... () ().. () Resolution () (Resolution ) RBKA/RBKB Current:. A/Phase ( Phases ) Step Angle:. /step Load Inertia: JL= kgm () () () Resolution () (Resolution ) 7 VDC Input RBKA/RBKB Current:. A/Phase ( Phases ) Step Angle:. /step Load Inertia: JL= kgm () () () Resolution ()(Resolution ) RBKA/RBKB Current:. A/Phase ( Phases ) Step Angle:. /step Load Inertia: JL= kgm () () () Resolution ()(Resolution ) RBKA/RBKB Current:. A/Phase ( Phases ) Step Angle:. /step Load Inertia: JL= kgm () () () () Resolution ()(Resolution ) The pulse input circuit responds to khz with a pulse duty of %. Notes: Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under C ( F). The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately %.

7 Standard Type Motor Motor Frame Size mm (. inch) Specifications Model Single Shaft RBK9AA RBK99AA RBK9AA Double Shaft RBK9BA RBK99BA RBK9BA Maximum Holding Torque Nm (oz-in). (). (). (9) Rotor Inertia J: kgm (oz-in ) -7 (7.7) 7-7 (.) -7 () Rated Current A/Phase. Basic Step Angle. Power Source 7 VDC. A Excitation Mode Microstep Mass Motor kg (lb.).7 (.7). (.). (.) kg (lb.). (.77) Dimension No. Motor The holding torque (-phase excitation) is the maximum holding power (torque) the motor has when power is being supplied but the motor shaft is not rotating (rated current). The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately %. Speed Torque Characteristics : Maximum Starting Frequency VDC Input RBK9AA/RBK9BA Current:. A/Phase ( Phases ) Step Angle:. /step Load Inertia: JL= kgm Resolution () () () () (Resolution ) RBK99AA/RBK99BA 7 Current:. A/Phase ( Phases ) Step Angle:. /step Load Inertia: JL= kgm () () Resolution () (Resolution ) RBK9AA/RBK9BA Current:. A/Phase ( Phases ) Step Angle:. /step Load Inertia: JL= kgm 7 Resolution () () () () (Resolution ) VDC Input RBK9AA/RBK9BA Current:. A/Phase ( Phases ) Step Angle:. /step Load Inertia: JL= kgm Resolution () () () () (Resolution ) RBK99AA/RBK99BA 7 Current:. A/Phase ( Phases ) Step Angle:. /step Load Inertia: JL= kgm () () Resolution () (Resolution ) RBK9AA/RBK9BA Current:. A/Phase ( Phases ) Step Angle:. /step Load Inertia: JL= kgm 7 Resolution () () () (Resolution ) 7 VDC Input RBK9AA/RBK9BA Current:. A/Phase ( Phases ) Step Angle:. /step Load Inertia: JL= kgm Resolution () () () () (Resolution ) RBK99AA/RBK99BA 7 Current:. A/Phase ( Phases ) Step Angle:. /step Load Inertia: JL= kgm () () () Resolution ()(Resolution ) RBK9AA/RBK9BA Current:. A/Phase ( Phases ) Step Angle:. /step Load Inertia: JL= kgm 7 Resolution () () () () (Resolution ) The pulse input circuit responds to khz with a pulse duty of %. Notes: Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under C ( F). The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately %. 7

8 IP Rated Motor Motor Frame Size. mm (. inch) Specifications Model Single Shaft RBKT RBKT RBKT Maximum Holding Torque Nm (oz-in). ().7 ().7 () Rotor Inertia J: kgm (oz-in ) -7 (.) -7 (.) -7 (.) Rated Current A/Phase. Basic Step Angle. Power Source 7 VDC.9 A Excitation Mode Microstep Degree of Protection Motor: IP : IP Mass Motor kg (lb.). (.).9 (.9). (.) kg (lb.). (.77) Dimension No. Motor The holding torque (-phase excitation) is the maximum holding power (torque) the motor has when power is being supplied but the motor shaft is not rotating (rated current). The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately %. Excluding the gap between the shaft and the flange. Speed Torque Characteristics : Maximum Starting Frequency VDC Input RBKT Current:. A/Phase ( Phases ) Step Angle:. /step Load Inertia: JL= kgm Resolution () () () ()(Resolution ) RBKT Current:. A/Phase ( Phases ) Step Angle:. /step Load Inertia: JL= kgm () () () () () Resolution () (Resolution ) RBKT Current:. A/Phase ( Phases ) Step Angle:. /step Load Inertia: JL= kgm () () () () () Resolution ()(Resolution ) VDC Input RBKT Current:. A/Phase ( Phases ) Step Angle:. /step Load Inertia: JL= kgm () () () Resolution ()(Resolution ) RBKT Current:. A/Phase ( Phases ) Step Angle:. /step Load Inertia: JL= kgm.... () ().. () Resolution () (Resolution ) RBKT Current:. A/Phase ( Phases ) Step Angle:. /step Load Inertia: JL= kgm () () () Resolution () (Resolution ) 7 VDC Input RBKT Current:. A/Phase ( Phases ) Step Angle:. /step Load Inertia: JL= kgm () () () Resolution ()(Resolution ) RBKT Current:. A/Phase ( Phases ) Step Angle:. /step Load Inertia: JL= kgm () () () Resolution ()(Resolution ) RBKT Current:. A/Phase ( Phases ) Step Angle:. /step Load Inertia: JL= kgm () () () The pulse input circuit responds to khz with a pulse duty of %. Notes: Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under C ( F). [Under 7 C (7 F) is required to comply with UL or CSA Standards as the motor is recognized as insulation class A.] The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately %. () Resolution ()(Resolution )

9 IP Rated Motor Motor Frame Size mm (. inch) Specifications Model Single Shaft RBK9T RBK99T RBK9T Maximum Holding Torque Nm (oz-in). (). (). (9) Rotor Inertia J: kgm (oz-in ) -7 (7.7) 7-7 (.) -7 () Rated Current A/Phase. Basic Step Angle. Power Source 7 VDC. A Excitation Mode Microstep Degree of Protection Motor: IP : IP Mass Motor kg (lb.). (.). (7). (9.) kg (lb.). (.77) Dimension No. Motor The holding torque (-phase excitation) is the maximum holding power (torque) the motor has when power is being supplied but the motor shaft is not rotating (rated current). The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately %. Excluding the gap between the shaft and the flange. Speed Torque Characteristics : Maximum Starting Frequency VDC Input RBK9T Current:. A/Phase ( Phases ) Step Angle:. /step Load Inertia: JL= kgm Resolution () () () () (Resolution ) RBK99T 7 Current:. A/Phase ( Phases ) Step Angle:. /step Load Inertia: JL= kgm () () Resolution () (Resolution ) RBK9T Current:. A/Phase ( Phases ) Step Angle:. /step Load Inertia: JL= kgm 7 Resolution () () () () (Resolution ) VDC Input RBK9T Current:. A/Phase ( Phases ) Step Angle:. /step Load Inertia: JL= kgm Resolution () () () () (Resolution ) RBK99T 7 Current:. A/Phase ( Phases ) Step Angle:. /step Load Inertia: JL= kgm () () Resolution () (Resolution ) RBK9T Current:. A/Phase ( Phases ) Step Angle:. /step Load Inertia: JL= kgm 7 Resolution () () () (Resolution ) 7 VDC Input RBK9T Current:. A/Phase ( Phases ) Step Angle:. /step Load Inertia: JL= kgm Resolution () () () () (Resolution ) RBK99T 7 Current:. A/Phase ( Phases ) Step Angle:. /step Load Inertia: JL= kgm () () () Resolution ()(Resolution ) RBK9T Current:. A/Phase ( Phases ) Step Angle:. /step Load Inertia: JL= kgm 7 Resolution () () () () (Resolution ) The pulse input circuit responds to khz with a pulse duty of %. Notes: Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under C ( F). [Under 7 C (7 F) is required to comply with UL or CSA Standards as the motor is recognized as insulation class A.] The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately %. 9

10 Specifications Input Signals Output Signals Functions Cooling Method Input Mode Pulse Signal Rotation Direction Signal All Windings Off Signal Step Angle Select Signal Output Mode Current Cutback Signal Alarm Signal Excitation Timing Signal General Specifications Insulation Class Insulation Resistance Dielectric Strength Operating Environment (In Operation) Temperature Rise Photocoupler Input PLS signal, DIR signal: Input resistance Input current ma Photocoupler "":. V Photocoupler "": V (Line driver input:. V) (Voltage between terminals) PLS signal, DIR signal: Input resistance.7 k Input current ma Photocoupler "":.. V Photocoupler "": V (Voltage between terminals) All windings off signal, Step angle select signal: Input resistance k Input current ma or less Photocoupler "":.. V Photocoupler "": V (Voltage between terminals) Operation command pulse signal Negative logic pulse input Pulse width: s minimum (Line driver input: s minimum), Pulse rise/fall: s maximum Pulse duty % and below The motor moves one step when the pulse input is switched from photocoupler to. Maximum input pulse frequency khz (Line driver input: khz) (When the pulse duty is %) Rotation direction signal, Photocoupler "": CW, Photocoupler "": CCW Negative logic pulse input When in the "photocoupler " state, the output current to the motor is cut off and the motor shaft can be rotated manually. When in the "photocoupler " state, the output current to the motor is turned on. When in the "photocoupler " state, the motor operates with the basic step angle, regardless of the setting of the step angle setting switch. When in the "photocoupler " state, the motor operates with the step angle set with the step angle setting switch. Photocoupler, Open-collector output External use condition: VDC maximum, ma maximum When the automatic current cutback function is activated, the output turns on. (Photocoupler "") When one of the driver's protective functions is activated, the output turns off. (Photocoupler "") The signal is output every time the excitation sequence returns to the initial stage "." (Photocoupler "") Example). /step ( resolution): Signal output every pulses. /step ( resolutions): Signal output every pulses Third Harmonic Waveform Correction, Smooth Drive, Vibration Suppression, Automatic Current Cutback, Step Angle Select, All Windings Off, Excitation Timing Natural ventilation Specifications Motor Standard type motor: Class B [ C ( F)] IP rated motor: Class B [ C ( F)] [Recognized as class A C ( F) by UL/CSA Standards] M or more when VDC megger is applied between the windings and the case under normal ambient temperature and humidity. Sufficient to withstand. kv at Hz or Hz applied between the windings and the case for minute under normal ambient temperature and humidity. (. kvdc for IP rated motor) Ambient Temperature C ( F) (non-freezing) C ( F) (non-freezing) Ambient Humidity % or less (non-condensing) Atmosphere Standard type motor: No exposed to corrosive gases, dust, water or oil. IP rated motor: No exposed to corrosive gases. Temperature rise of the windings is C (7 F) or less measured by the resistance change method. (at rated current, at standstill, two phases energized) RBK: when equipped with an aluminum heat sink of mm, mm thick (9.9. inch,.9 inch thick) When using the RBKT or the RBK9T as a UL or CSA recognized component, make sure the temperature rise of the windings is C ( F) or less, by mounting the motor to a heat sink (material: aluminum) of the following size. RBKT: mm, mm thick (.7.7 inch,.9 inch thick) RBK9T: mm, mm thick ( inch,.9 inch thick) Stop Position Accuracy arc minutes (. ) Shaft Runout. mm (. inch) T.I.R. Radial Play. mm (. inch) max. of N (. lb.) Axial Play.7 mm (. inch) max. of N (. lb.) Concentricity.7 mm (. inch) T.I.R. Perpendicularity.7 mm (. inch) 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 N (. lb.) load is applied in the vertical direction to the tip of the motor's shaft. Axial Play: Displacement in shaft position in the axial direction, when a N (. lb.) load is applied to the motor's shaft in the axial direction. T.I.R. (Total Indicator Reading): The total dial gauge reading when the measurement section is rotated one revolution centered on the reference axis center. Note: Do not measure insulation resistance or perform the dielectric strength test while the motor and driver are connected. A.7 A.7 A.

11 Permissible Overhung Load and Permissible Thrust Load Type Standard Type Motor IP Rated Motor Model Permissible Overhung Load [N (lb.)] Distance from Shaft End [mm (inch)] Permissible Thrust Load (.) (.9) (.9) (.79) RBK. (.99) 7 9 RBK.7 (.) (.) () () (9) RBK (.) RBK9A.7 (.7) 9 9 RBK99A. (.) () () (7) (7) () RBK9A. (.) RBKT. (.) 7 9 RBKT.9 (.9) (.) () () (9) RBKT. (.) RBK9T. (.) 9 9 RBK99T. (7) () () (7) (7) () RBK9T. (9.) The permissible thrust load is equal to the motor mass [unit: kg (lb.)]. Make sure the thrust load is no greater than the motor mass. Enter A (single shaft) or B (double shaft) in the box () within the model name. Dimensions [Unit = mm (inch)] Motor Standard Type Motor. mm (. inch) Model Motor Model L [mm (inch)] L [mm (inch)] Mass [kg (lb.)] DXF RBKA PKDA 9 (.) RBKB PKDB (.7). (.99) B RBKA PKDA (.) RBKB PKDB 7 (.7).7 (.) B RBKA PKDA 7 (.99) RBKB PKDB 9 (.). (.) B L L (.79.) (..) (.). (.).. (.9.) (.9.).... (/").. (..).. (..) (/") (..) Motor Leads mm ( inch) Length UL Style, AWG. (.) 7.. (..). (.77) Thru 7.. (..). (.) mm (. inch) Model Motor Model L [mm (inch)] L [mm (inch)] Mass [kg (lb.)] DXF RBK9AA PK9DAA (.) RBK9BA PK9DBA (.9).7 (.7) BU RBK99AA PK99DAA 9 (.7) RBK99BA PK99DBA (.). (.) BU RBK9AA PK9DAA (.9) RBK9BA PK9DBA (.). (.) BU (..). (.9.).7... (/") A A' L L (.9) (.) A A' 7 (..). (.9.).7... (/") 7.. (.7.) (.) 9.. (.7.). (.) Thru 9.. (.7.) (.) 9.. (..).. (..) A-A' Motor Leads mm ( inch) Length UL Style, AWG

12 IP Rated Motor. mm (. inch) Model Motor Model L [mm (inch)] Mass [kg (lb.)] DXF RBKT PKDT (.7). (.) B7 RBKT PKDT 9 (.).9 (.9) B77 RBKT PKDT (.7). (.) B7 M (.9) M.7 (.). (.) L.7 (.) (.). (.9.) Protective Earth Terminal M. (.) 7 (.) max. (.79.). (.).. (..) (/") (..). (.) 7.. (..) Use cable (VCT) with a diameter of 7 mm (.. inch). A motor cable is available as an accessory (sold separately). Page 7. (.77) Thru 7.. (..). (.) (.9) max. mm (. inch) Model Motor Model L [mm (inch)] Mass [kg (lb.)] DXF RBK9T PK9DT (.). (.) B79 RBK99T PK99DT (.). (7) B RBK9T PK9DT 7 (.9). (9.) B M. (.) L (.9) (.) 7 (..) (.) 9.. (.7.). (.) Thru M (.9) 9. (.7). (.) Protective Earth Terminal M. (.) 7 (.) max.. (.9.). (..). (..7) 7.. (.7.) 9.. (.7.) (.) (.) max. Use cable (VCT) with a diameter of 7 mm (.. inch). A motor cable is available as an accessory (sold separately). Page 7 Model: RBDA-V, RBDA-V DXF: B (.) M (.7) (.) max. (.). (.) (.) 9 (.) (.9) (.9) (.) (.) max. (.) (.) (.9) (.79) (.) 7. (.) (.) (.79) M (.) (.)

13 Connection and Operation Names and Functions of Parts (Top) Motor Run Current Switch Step Angle Setting Switch Signal Monitor Displays Input/Output Signals Function Switch, Motor Stop Current Switch Motor Terminals Signal Monitor Displays LED Indicators Indication Color Function POWER Green Power input display ALARM Red Alarm signal output display Alarm Blink Count Function Condition Overheat The driver temperature exceeded the specified value. Overvoltage The primary voltage of the driver's inverter exceeded the permissible value. Overcurrent An excessive current has flowed to the driver's inverter. Function Switch, Motor Stop Current Switch Indication Switch Name Function SW SW- SW- Third Harmonic Waveform Correction Function Select Switch Smooth Drive Function Switch Vibraiton Suppression Function Select Switch A function that provides improved angle accuracy and reduced vibrations by optimizing the motor drive current waveforms. You can set the correction value using the select 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 deactivated with this switch. A function that provides reduced vibrations at medium speed operation. The function can be set or deactivated with this switch. SW- Not used. SW- Motor Stop Current Switch Motor Run Current Switch For adjusting the current at motor standstill Indication Switch Name Function RUN Motor Run Current Switch For adjusting the motor running current Power Input Terminals Step Angle Setting Switch Protective Earth Terminals (Front) Indication Switch Name Function DATA Step Angle Setting Switch The switch can be set to the desired resolution from the resolution levels. Step Angle Setting Switch Microstep/Step Resolution Step Angle A. B 7. C. D. E. F. The step angle set with the step angle setting switch is enabled when the step angle select (CS) signal input turns off. Do not change the step angle select signal input or step angle setting switch while the motor is running. This may cause the motor to misstep and stop. Set the step angle setting switch when the step angle select signal input is turned off, and the excitation timing output is turned on. Input/Output Signals Input/ Indication Pin No. Signal Content Function Output PLS PLS Pulse Signal Operation command pulse signal 9 PLS DIR Input DIR Rotation Direction Signal Rotation direction signal Photocoupler "": CCW, Photocoupler "": CW DIR AWO All Windings Off Signal Cuts the output current to the motor and allows the motor shafts to be rotated by external force. CN CS Step Angle Select Signal Operates with the basic step angle, regardless of the DATA setting. IN-COM Input Common Input common for the All Windings Off signal and Step Angle Select signal. CD Current Cutback Signal Outputs a signal when the automatic current cutback function activates. CD ALM Output Alarm Signal Turns the output off when one of the driver's protective functions is activated. 7 ALM TIM Excitation Timing Signal Outputs signals when the excitation sequence is at STEP "." TIM The cable for connecting the IP rated motor and driver, and the D-Sub (-pin) connector for connecting to the driver's CN connector are not included. They must be supplied separately. Description of input/output signals Page

14 Connection Diagrams VDC Connection or Line Input Controller V ( VDC) V V V V V ( VDC to VDC) V V V CN Twisted-Pair Wire Pulse Signal 9 Rotation Direction Signal All Windings Off Signal Excitation Timing Signal VDC Connection Controller V ( VDC) V V V V V ( VDC to VDC) V V V Input Common Step Angle Select Signal Current Cutback Signal Alarm Signal 7 Rotation Direction Signal CN Twisted-Pair Wire Pulse Signal 9 All Windings Off Signal Input Common Step Angle Select Signal Current Cutback Signal Alarm Signal Excitation Timing Signal 7 Input Signals Output Signals Input Signals Output Signals A A B B VDC GND A A B B VDC GND Stepping Motor Refer to the table below for the connection between the motor terminal of the driver and the motor. to 7 VDC or to VDC GND Stepping Motor Refer to the table below for the connection between the motor terminal of the driver and the motor. to 7 VDC or to VDC GND Pulse (PLS) and Rotation Direction (DIR) Input Signal Connections You can select either VDC or VDC as the signal voltage for PLS input and DIR input. Line driver input is also available. The pin No. to connect differs according to the signal voltage. All Windings Off (AWO) and Step Angle Select (CS) Input Signal Connections You can select either VDC or VDC as the signal voltage. The pin No. to connect is the same for VDC and VDC. Connecting Output Signal Keep the output signal voltage and current below VDC and ma respectively. Power Supply Use a power supply that can supply sufficient input current. When power supply capacity is insufficient, a decrease in motor output can cause the following malfunctions: Motor does not operate properly at high-speed. Slow motor startup and stopping. Notes on Wiring Use twisted-pair wires of AWG (. mm ) or thicker and m (. feet) or less in length for the signal lines. Note that as the length of the pulse signal line increases, the maximum transmission frequency decreases. Use wires of AWG (.7 mm ) or thicker for motor lines (when extended), power supply lines, and protective earthing line. To ground the driver, lead the ground conductor from the protective earth terminal (M) and connect the ground conductor to provide a common ground point. Signal lines should be kept at least cm (.79 inch) away from power lines (power supply lines and motor lines). Do not bind the signal lines and power lines together. If noise generated by the motor cable or power cable becomes a problem due to the wiring and layout, shield the cables or use ferrite cores. Incorrect connection of DC power input will lead to driver damage. Make sure that the polarity is correct before turning power on. The cable for connecting the IP rated motor and driver, and the D-Sub (-pin) connector for connecting to the driver's CN connector are not included. They must be supplied separately. Motor Terminals and Motor Leads/Motor Terminal Blocks Signal Name Signal Standard Type Motor Terminal Block No. for RBK IP Rated Motor Terminal Block No. for RBK9 A A-phase output Black A A-phase output Green B B-phase output Red B B-phase output Blue IP Rated Motor Connections RBKT, RBKT, RBKT Internal Protective Earth Terminal (M) Protective Earth Conductor [AWG (.7 mm ) or thicker] Multi-Core Cable [Outer Diameter: 7 to mm (.. inch)] Motor Lead Wires [AWG to (. to. mm )] External Protective Earth Terminal Protective Earth Conductor [AWG (.7 mm ) or thicker] Connect motor lead wires to the terminals to. Connect either the internal protective earth terminal or external protective earth terminal to the ground. RBK9T, RBK99T, RBK9T Internal Protective Earth Terminal (M) Protective Earth Conductor [AWG (.7 mm ) or thicker] Multi-Core Cable [Outer Diameter: 7 to mm.. inch)] Motor Lead Wires [AWG to (. to. mm )] External Protective Earth Terminal Protective Earth Conductor [AWG (.7 mm ) or thicker] Connect either the internal protective earth terminal or external protective earth terminal to the ground. Terminal Block Terminals,,, and are used. Terminals,,, and 7 are not used. Do not connect anything to them. 7

15 Description of Input/Output Signals Indication of Input/Output Signal """" Input (Output) "" indicates that the current is sent into the photocoupler (transistor) inside the driver. Input (Output) "" indicates that the current is not sent into the photocoupler (transistor) inside the driver. The input/output remains "" if nothing is connected. Photocoupler Pulse Waveform VDC or VDC Connection 9% Pulse Input Signal % s s min. min. s s min. min. Pulse (PLS), Rotation Direction (DIR) Input Signal You can select either VDC or VDC as the signal voltage for PLS input and DIR input. Line driver input is also available. Input Circuit and Sample Connection VDC Connection Controller Open-Collector Output V V VDC Connection Controller Open-Collector Output Line Input Controller Line Output V V Pin No. 9, Pin No., Ω Pin No. 9, ma Pin No.,.7 kω Pin No., Pin No. 9, ma ma Rotation Direction Input Signal s max. s max. Line Input Pulse Input Signal Rotation Direction Input Signal 9% % CCW Pulse duty: % and below s min. s min. s max. s max. CCW s s min. min. Pulse duty: % and below The shaded area indicates when the photocoupler diode is. The motor moves when the photocoupler state changes from to. The minimum interval time when changing rotation direction s is shown as a response time of circuit. This value varies greatly depending on the motor type and load inertia. Pulse Signal Characteristics Keep the pulse signal at the "photocoupler " state when no pulses are being input. Leave the pulse signal at rest ("photocoupler ") when changing rotation directions. All Windings Off (AWO), Step Angle Select (CS) Input Signal Input Circuit and Sample Connection Controller Open-Collector Output V V Pin No. Pin No., k ma CW CW All Windings Off (AWO) Input Signal Inputting this signal puts the motor in a non-excitation (free) state. This signal is used when turning the motor by external force or manual home position is desired. The photocoupler must be "" when operating the motor. All Windings Off Input Signal Motor Current Motor Holding Torque Release Switching the "All Windings Off" signal from "photocoupler " to "photocoupler " does not alter the excitation sequence. When the motor shaft is manually adjusted with the "AWO" signal input, the shaft will shift up to. from the position set after the "AWO" signal is released.

16 Step Angle Select (CS) Input Signal When the signal is at "photocoupler," the motor operates with the basic step angle, regardless of the setting of the step angle setting switch. When the signal is at "photocoupler," the motor operates with the step angle set with the step angle setting switch. When changing the step angle, make sure the "Excitation Timing" signal output is turned on and the motor is at standstill. Current Cutback (CD), Alarm (ALM), Timing (TIM) Output Signal Output Circuit and Sample Connection Controller V V Pin No.,, Pin No., 7, ma max. Current Cutback (CD) Output Signal When the automatic current cutback function is activated, the CD output turns on. Alarm (ALM) Output Signal Interval Timing (TIM) Output Signal The "Excitation Timing" signal is output to indicate when the motor excitation (current flowing through the winding) is in the initial stage (step "" at power up). The "Excitation Timing" signal is output simultaneously with a pulse input each time the excitation sequence returns to step "." The excitation sequence will complete one cycle for every 7. rotation of the motor output shaft. Resolution : Signal is output once every pulses. Resolution : Signal is output once every pulses. 7 9 Pulse Input Signal Rotation Direction Input Signal Timing Output Signal CW CCW (Step) Notes: When power is turned, the excitation sequence is reset to step "" and the "Excitation Timing" signal is output. When using the "Excitation Timing" output signal, operate the motor so that its output shaft stops at an integral multiple of 7... s. s. s When the motor is running, if the driver overheat, overvoltage, or overcurrent protective function is detected, the ALM output turns off, and the ALARM LED of the driver flashes. The current to the motor is also cut off to stop the motor. You can count the number of times the ALARM LED flashes to confirm which protective function is activated. This signal normally stays on, but turns off when a protective function is activated. Timing Chart CW Motor CCW Power Input Pulse Input Signal Rotation Direction Input Signal All Windings Off Input Signal Step Angle Select Input Signal Current Cutback Output Signal Alarm Output Signal Excitation Timing Output Signal s min.. s min. µs min. µs min. µs min. DATA Basic Step Angle. s max.. s max.. s max.. s max.. s max. The switching time to change direction s is shown as the response time of the circuit. The motor may need more time. Depends on load inertia, load torque, and starting frequency. Never input a step pulse signal immediately after switching the "All Windings Off" input signal to the "" state. The motor may not start. To cycle the power, turn off the power and then wait for at least five seconds after the POWER LED has turned off. "Excitation Timing" signal is output once every 7. rotation of the motor output shaft. The minimum interval time needed for switching the direction of rotation will vary, depending on the operating speed and size of the load. Do not shorten the interval time any more than is necessary. The section indicates that the photocoupler diode is emitting light.

17 List of Motor and Combinations Model names for motor and driver combinations are shown below. Standard Type Motor Model Motor Model Model RBK PKD RBDA-V RBK PKD RBDA-V RBK PKD RBDA-V RBK9A PK9DA RBDA-V RBK99A PK99DA RBDA-V RBK9A PK9DA RBDA-V Enter A (single shaft) or B (double shaft) in the box () within the model name. IP Rated Motor Model Motor Model Model RBKT PKDT RBDA-V RBKT PKDT RBDA-V RBKT PKDT RBDA-V RBK9T PK9DT RBDA-V RBK99T PK99DT RBDA-V RBK9T PK9DT RBDA-V Motor Cable for IP Rated Motor (Sold separately) A cable for connection between the IP rated motor and driver (with protective earth wire). Product Line Model Length m (ft.) Conductors CCPKT (9.) Conductor configuration: Conductor size: Motor wire AWG (.7 mm ), protective earth wire AWG (. mm ) Finished outer diameter: mm (.7 inch) Cable rating: C ( F) V Outer casing: Heat-resistant, oil-resistant vinyl chloride resin Applicable standards: UL 7 (AWM) VW-, UL Style Protective Earth Wire (Green/Yellow) AWG (. mm ) Motor Wire (Black) AWG (.7 mm ) Each core is designated by a number (White). Securing Tape Heat-Resistant, Oil-Resistant Vinyl Chloride Resin (Black) Flexible Couplings (Sold separately) A flexible coupling ideal for your motor is available. Once you have decided on a motor, you can select the recommended coupling easily. All motor shaft diameters are available. Features of MCS Couplings This three-piece coupling utilizes an aluminum alloy hub and a resin spider. The simple construction ensures that the high torque generated by a geared motor can be transmitted reliably. The proper elasticity of the spider suppresses motor vibration. The resin spider (material: polyurethane) controls the vibration generated by the motor. No backlash Coupling Selection Table Product Number Code MCS F q w e r MCS Couplings Outer Diameter of Coupling Inner Diameter d (Smaller Side) [F represents. mm (. inch)] Inner Diameter d (Larger Side) [F represents. mm (. inch)] Frame Size. mm (. inch) Frame Size mm (. inch) Applicable Motor Model Motor Shaft Diameter mm (inch) Coupling Model Connected Device Shaft Diameter mm (inch) MCSF (.99) RBK MCSF (.) RBKT. MCSFF. (.) RBK (.) RBKT MCSF (.) MCSF (.97) MCSF (.) RBK. MCSFF. (.) RBKT (.) MCSF (.) MCSF (.97) Enter A (single shaft) or B (double shaft) in the box () within the model name. Applicable Motor Model RBK9T RBK99T RBK9T Motor Shaft Diameter mm (inch) (.) (.) Coupling Model MCS MCS MCS MCS MCS MCS MCS MCS Connected Device Shaft Diameter mm (inch) (.97) (.7) (.) (.99) (.7) (.) (.9) (.99) 7

18 Motor Mounting Brackets (Sold separately) Mounting brackets are convenient for installation and securing a stepping motor. Product Line Material: Aluminum alloy Model PALP- PALP- Applicable Product RBK, RBK, RBK RBKT, RBKT, RBKT RBK9A, RBK99A, RBK9A RBK9T, RBK99T, RBK9T Enter A (single shaft) or B (double shaft) in the box () within the model name. The mounting bracket base is built with holes large enough to allow for alignment adjustments in the horizontal direction. These mounting brackets can be perfectly fitted to the pilot of the stepping motors. Clean Dampers (Sold separately) Mechanical dampers suppress stepping motor vibration and improve high-speed performance. An inertia body and silicon gel are hermetically sealed in a plastic case. Features Excellent vibration absorption The doughnut-shaped internal inertia body and silicon gel absorb vibration. This feature enables a stable damping effect. Since there is no frictional dust as in conventional magnetic dampers, it can be used in environments where higher degrees of cleanness is needed. High reliability It holds up well in harsh environments and changes little with age because the silicon gel and plastic case used are heat resistant. Machine part is sealed hermetically in a plastic case. This ensures safety and doesn't generate noise. This clean damper is an accessory for double shaft types. It can be used with various geared motors of double shaft type. Shaft Holes Product Line Model Inertia kgm (oz-in ) VEXTA Mass g (lb.) VEXTA DCL-.F -7 (.77) (.) VEXTA Ring Silicon Gel Inertia Body Case <Clean Damper Structure> Applicable Product RBKB, RBKB, RBKB RBK9BA, RBK99BA, D9CL-.7F 7-7 (.) (.) RBK9BA Ambient Temperature: C (7 F) DIN Rail Mounting Plate (Sold separately) (Available when the input voltage to the driver is VDC or less) This mounting plate is convenient for installing the driver of RBK Series on DIN rails with ease. Note: If the driver's input power-supply voltage exceeds VDC, do not install the driver onto a DIN rail. Sufficient heat dissipation cannot be achieved and the driver's overheat protective function may be activated as a result. In such a case, install the driver onto a metal plate directly. Model: PADP

19 Controller (Sold separately) Programmable Motion Controller EMP Series Features Combining innovations from Oriental Motor's expertise as a motor manufacturer to offer a full-scale oscillation function, a sequence function for programming a series of operations, and an I/O control function. Allowing the Input of Sequence Programs Various Operation Patterns Teaching Function You can adjust the travel amount or monitor the current position via teaching, using an accessory operator interface unit OP. No Need for Dedicated Software Sample Program Positioning Operation Pulse Pulses Single Axis Product Line Dual Axis Operator Interface Unit (Sold separately) (A Communication cable of m is included.) Model Number of Axes Connector EMP- Without connectors Single axis EMP- With connectors EMP- Without connectors Dual axis EMP- With connectors Operator Interface Unit OP []VS : Starting speed Hz []V : Operating speed Hz []T. : Acceleration/deceleration rate. ms/khz []D + : Travel amount pulses in CW direction []INC : Execute relative positioning operation Accessories (Sold separately) We have a range of accessory cables that achieve one-touch connection between the EMP Series and peripherals, as well as an operator interface unit used for teaching operation. Programmable Controller Connector Terminal Block Conversion Unit Operator Interface Unit Communication Cable EMP Series Operator Interface Unit OP You can set the travel amount via teaching or monitor the current position. Used for the EMP Series Use the included cable [length: m (. ft.)] for connection with the EMP Series. Communication Cable FCW A communication cable [length m (. ft.)] for connecting the EMP Series to a PC. A D-sub, 9-pin (female) connector is attached on the PC end of the communication cable. Connector Terminal Block Conversion Unit CCT A conversion unit that connects a half-pitch connector of the EMP Series using a terminal block (Cable length: m). Includes a signal name plate for easy, one-glance identification of driver signal names. DIN-rail mountable Cable length: m 9

20 This product is manufactured at a plant certified with the international standards ISO 9 (for quality assurance) and ISO (for systems of environmental management). Specifications are subject to change without notice. This catalog was published in August, 7. ORIENTAL MOTOR U.S.A. CORP. Western Sales and Customer Service Center Tel: () 7- Fax: () -9 Dallas Tel: () - Los Angeles Tel: () 7- San Jose Tel: () 9-97 Midwest Sales and Customer Service Center Tel: (7) - Fax: (7) - Chicago Tel: (7) - Toronto Tel: (9) - Eastern Sales and Customer Service Center Tel: (7) - Fax: (7) -7 Boston Tel: (7) - Charlotte Tel: (7) 9- New York Tel: (97) 9- Technical Support Tel: () -9 / : A.M. to : P.M., P.S.T. (M F) 7: A.M. to : P.M., C.S.T. (M F) techsupport@orientalmotor.com Obtain Specifications, Online Training and Purchase Products at: Copyright 7 ORIENTAL MOTOR U.S.A. CORP. Printed in Japan 7V K 7T # (V-U) This printed material uses ECF (Elementary Chlorine Free) paper and soyinks. This combination is environmentally friendly.