Motorized Goniometer Stage Guidance

Transcription

1 Motorized Motorized Guidance This is the arc driving stage which has center of rotation on the vertical centroid of the stage surface. Usage Repeat positioning of minute angle in the optical pickup adjustment and inspection equipment. Parts posture adjusting for assembly process and mounting line. Available bonding camera lens and LCD panel together in production and inspection. The focus of setting screw type KGB/KAB Sinmotion P.- High precision goniometer stage for driving minute angle repeatability. screw type is improved durability even continuing repeatability driving. Table size mm mm type KG/KA/KGW/KAW P.- Our high precision goniometer stages based on cross roller guide for travel guide and worm gear mechanism. Selectable from various sizes and work distance type. Table size mm mm mm mm Sensor improvements KGW and KAW series correspond to a voltage level of DCV through V. List of rotation centroid height Shows rotation centroid height for each stage surface. Mark of blue centroid can be integrated -axis Single axis -axis Single axis -axis Table size screw type type

2 bearing type sinemotion goniometer stages High precision goniometer stages with ball bearings. This is ideal for driving a minute angle repeatability. Features High endurance Backlash by the abrasion was concerned about by the worm gear type when continued being driven at a microangle repeatedly. screw mechanism makes evaluation high durability. Improvement acceleration and deceleration Smooth start-up and acceleration with small friction. Reduction backlash Using the preload parts may reduced backlash. Travel length and isokinetic The linear-driven will be changed to rotation-moving by using the internal bearing. screw traveling length will not be the same as stage travel angle due to linear-moving converts to rotation-moving. It is different resolution per pulse at the center and end. Rotation speed will not be constant even with the send of pulse signal at the constant speed. Travel range calculation fomula * The fomula based on the stroke center. () Travel angle = Arcsin Input pulse* P () Input pulse = P*sin Traveling angle Terms Defi nition Value Distance between supporting points P * mm screw lead mm Motor basic step angle 0. screw travel length per pulse 0.00 mm *Distance between supporting points depending on the stage. For use correctly Basic Specification Motor basic step angle Distance between supporting points P KGB0 0. mm KGB0 0. 0mm KGB mm KGB0 0. 0mm KGB0 0. mm KGB0 0. 0mm KGB0 0. mm P P=Distance between supporting points The distance between center rotation and bearing How to mount Stroke the upper plate to CW or CCW. on bolt holes for each. (Total screws) Tighten the screws by manual. About object on the upper or lower stage. surface might be deformed and Mounting unfl at object and set to the unfl at place can affect to be deformed stage surface and decreasing accuracy. Pay attention. [Approximate fl atness: 0 m Within] Position of stage mounting All products SPEC shows must be shown fl at setting condition. Pay attention to mount such as up side down, vertical on the side and horizontal on the side. Load capacity and accuracy might be changed by the posioning. Please feel free to ask us for more information. Each positioning characteristics Travel guide [Feeding method] Inverted and reversed Side horizontal Side vertical use Crossed roller [ screw] Crossed roller [ gear] means usable, however load and moment is limited. Load and moment is limited, it may not lose characteristics in some usage or models. Inverted and reversed Run-out accuracy of the center of rotation/height of the center of rotation Our cross roller goniometer stages are providing high-precision machining. Side vertical use Run-out accuracy of the center of rotation Put the true sphere on the level of the center of rotation, and defi ne the true sphere run-out as run-out accuracy of the center of rotation. Height of the center of rotation Height of the center of rotation is between upper side of stage and center of roundness. 0

3 Y -axis KGB0AL KGB0 series -axis KAB0AL KAB0 series Can be used for KGB See page P.00 High precision goniometer stages with ball bearings.this is ideal for driving a minute anglerepeatability. Configuration -axis Combination of -axis stage that is different center of rotation. Y K GB0- - G A -axis -axis ( ) 0 mm 0 mm 00 00mm mm Code L R Specifi cation L position Opposite hand Cable P.-0 Electrical specifi cation P.- Code Specifi cation Cable type A m D--E B m One end loose D--EK C m D--E D m One end loose D--EK E Only connector (Cable is not included) F Robot cable m D--R G Robot cable m one end loose D--RK H Robot cable m D--R J Robot cable m one end loose D--RK Blank Cable is not included (Standard) * One end loose position to only stage opposite side. * If you choose the option specifi cation, please add the difference to standard price. See page -0, 0~ for details of cable. *Please select "Code A, C, F, or H" when connect with stepping motor controller(ds0 ) SPEC Number of axes -axis -axis KGB0-L KGB0-L KGB00-L KGB0-L KAB0-L KAB0-L KAB00-L Opposite hand KGB0-R KGB0-R KGB00-R KGB0-R KAB0-R KAB0-R KAB00-R Travel length Upper Lower axis..... Table size mm Travel mechanism screw lead Guide Crossed roller guide Main materials-finishing Aluminum Black almite fi nishing Weight 0.kg.0kg Height of stage 0.mm 0.mm Height of center rotation 0.mm 0.mm 00 0.mm 0.mm 0.mm 0.mm 00 0.mm Runout accuracy of center rotation Within 0.0mm Resolution (Pulse) Upper at the full Lower at the full MA speed Upper. sec sec. sec. sec khz sec khz. sec khz. sec khz Lower sec. sec. sec Repeatability positioning accuracy 0.00 Load capacity kgf N.Kg.N Moment stiffness Pitch 0.0 yaw 0.0 roll 0. N cm Pitch 0. yaw 0. roll 0. N cm Lost motion Within 0.00 Within 0.00 Limit sensor Origin sensor Slit origin sensor Provided screw (Hexagon-headed bolt) of M 0 * See page - if you require exact calculations. -0 if you require exact calculations. **The MA speed becomes the theory speed at the time of the khz drive for the traveling pulse of the full stroke. Mechanical specifi cation Dimensional tolerance Accuracy specifi cation Sensor

4 KGB0-L series -. THRU C'BORE (Bolt hole for M) 0.. -M DP Scale degree equall vernier 0. degree -M DP 00 Scale 0. degree equall vernier 0.0 degree CAD DATA KGB0-L KGB0A-L KGB00A-L KGB0A-L Scale degree equall vernier 0. degree CAD D D Scale 0. degree equall vernier 0.0 degree Y KGB0-R series Opposite hand -M DP Scale degree equall vernier 0. degree. 0. -M DP Scale 0. degree equall vernier 0.0 degree -. THRU C'BORE (Bolt hole for M) 00 Scale degree equall vernier 0. degree KGB0-R Scale 0.degree equall vernier 0.0 degree Y KAB0-L series. 0. KGB0-R KGB00-R KGB0-R -M DP -M DP 00 K B0- -. THRU C'BORE KAB0-R series Opposite hand -M DP -M DP THRU C'BORE (Bolt hole for M) -. THRU C'BORE K B0- K B0- K B THRU C'BORE (Bolt hole for M) K B0- -. THRU C'BORE (Bolt hole for M) K B THRU C'BORE

5 Y Y Electrical specification Motor (*) Connector Sensor KGB0-L KGB0-L KGB00-L KGB0-L KAB0-L KAB0-L KAB00-L Opposite hand KGB0-R KGB0-R KGB00-R KGB0-R KAB0-R KAB0-R KAB00-R Type phase stepping motor 0.A Phase (Oriental Motor Co.,Ltd.) (*) Step angle C00C-0P 0. HR0A-0J-P () (Hirose Electric Co.,Ltd. ) Applicable connector on acceptance side HR0A-0P-S () (Hirose Electric Co.,Ltd. ) Limit sensor Origin sensor Slit origin sensor Power voltage Consumption current Control output Output logic * See page P.- for details of single motor specifi cation. * is our own management model. Photo microsensor EE-S (Omuron Co.,Ltd.) DC V 0 Total ma or less NPN open collector output DC~V A or less Residual voltage 0.V or less when the load current is ma On detection (light shield condition): Output transistor OFF (Non-continuity) Pin allocation Connection diagram 0 (Blue) (Red) (Orange) (Green) (Black) output C output Open Power input (+) 0 ORG output Power input (-) F.G. Blue Red Orange Green Black Regulator substrate Vin Vout GND MOTOR Sensor substrate ORG C Timing chart C Mechanical stopper C Origin sensor Mechanical limit The origin Opposite end face end face Mechanical limit Opposite end face The origin end face (stroke center) 00 0 deg. Direction of CW Direction of CCW Reference coordinate The origin end face Stroke center Opposite end face C KGB0 Return to origin. 0.. KGB0 Return to origin. 0.. KGB00 Return to origin. 0.. KGB0 Return to origin. 0.. * Return to origin means that is performed return to origin type using DS0 DS series. * The coordinate value should be on the design. Dimension error may occur about plus or minus 0. deg. Note: The timing chart shows on ly timing of sensor, it is not for output signal logic. Refer to ON OF F display of output transistor that shows on electrical specifi cations-sensor-output logic for output signal logic. Center of the stroke C

6 Method for return to origin Suruga's motorized stages are different from the specifi cation depending on the models.therefore return to origin method other than recommendation may not be work correctly. Set to the way of recommendation return origin when using our controller. KGB0/KAB0 recommended return to origin Return to origin sequence P.-0 Type : Detect in the direction of CCW and perform detected process for CCW edge (a point) of ORG signal. Type : Detect in the direction of CW and perform detected process for CW edge of ORG signal. Type : After fi nished Type, perform detected process for CCW edge of TIMING signal. Type 0: After fi nished Type, perform detected process for CW edge of TIMING signal. Adaptive driver [Type] <Origin detection process> ORG position Detect in the direction of CCW and perform detected process for CCW edge (a point) of ORG signal. C Point a * LD * position * A solid line means the setup a sudden stop, a dotted line means the setup a decelerating and stopping. position position [Type] <Origin detection process> ORG position Detect in the direction of CW and perform detected process for CW edge of ORG signal. C position Point a * position * LD * A solid line means the setup a sudden stop, a dotted line means the setup a decelerating and stopping. position Y Y Driver DC type input P.-0 CRD0P 0P-A Divisions ( steps) Full Half AC00V input Divisions RKD-A ( steps) Adaptive stepping motor controller Input power AC00-V DCV P.- General-purpose input/ Driver type output port Full/Half /[ steps] Without DS0NR DS0MS With DS0NR-IO DS0MS-IO Without DSNR DSMS With DSNR-IO DSMS-IO DS/0 00 0

7 Motorized Y Type Sinemotion : KGB0/KAB0 -axis KGB0AL (KGB0 series) -axis KAB0AL (AB0 series) High precision goniometer stages with ball bearings. This is ideal for driving a minute angle repeatability Configuration -axis Combination of -axis stage that is different center of each rotation. Y Selection code Option code K GB0 - G A -axis -axis Height of center rotation (W.D) 0 mm 0 mm mm * KAB0 is available only for W.D, 0mm. Sensor logic Type ORG C ORG A NC NC NC B NO NO NO NO C NC NO NC Sensor cover location specification Code L R Specification L position Opposite hand Cable option Cable P.-0 Electrical specification P.- Code Specification Cable type A m D--E B m One end loose D--EK C m D--E D m One end loose D--EK E Only connector (Cable is not included) F Robot cable m D--R G Robot cable m one end loose D--RK H Robot cable m D--R J Robot cable m one end loose D--RK Blank Cable is not included (Standard) * One end loose position to only stage opposite side. * If you choose the option specification, please add the difference to standard price. * See page P.-0, 0 for details of cable. * Please select "Code A, C, F or H" when connect with stepping motor controller(ds0 ) SPEC Number of axis -axis -axis KGB0AL KGB0AL KGB0AL KAB0AL KAB0AL (Opposite hand) KGB0AR KGB0AR KGB0AR KAB0AR KAB0AR Travel length Upper Lower axis Table size mm Travel mechanism screw lead Guide Crossed roller guide Main materials-finishing Aluminum White almite finish Weight 0.kg.kg Height of stage 0.mm 0.mm Height of center rotation 0.mm 0.mm 0.mm 0.mm 0.mm Runout accuracy of center rotation Within 0.0mm Resolution (Pulse) Upper at the full Lower at the full MA speed Upper sec khz sec khz sec khz sec khz sec khz Lower sec khz sec khz Repeatability positioning accuracy Within 0.00 Load capacity kgf [N] kgf [.N] Moment stiffness Pitch 0. yaw 0.0 roll 0.0 N cm Pitch 0. yaw 0. roll 0. N cm Lost motion Within 0.00 Limit sensor Origin sensor Slit origin sensor Provided screw (Hexagon-headed bolt) of M *See page P.-0 if you require exact calculations. *The MA speed becomes the theory speed at the time of the khz drive for the traveling pulse of the full stroke. Mechanical specification Dimensional tolerance Accuracy specification Sensor

8 Dimensional outline drawings CAD DATA CAD D D KGB0-L series -. THRU C'BORE (Bolt hole for M) M DP -M DP Scale degree equall vernier 0. degree Scale degree equall vernier 0. degree Scale 0. degree equall vernier 0.0 degree Y KGB0AL KGB0AL KGB0AL Y KGB0-R series THRU C'BORE (Bolt hole for M) -M DP Scale degree equall vernier 0. degree -M DP Scale degree equall vernier 0. degree Scale 0. degree equall vernier 0.0 degree. KGB0AR KGB0AR KGB0AR Dimensional outline drawings KAB0-L series KAB0-R series M DP -M DP -M DP -M DP 00 KAB0AL -. THRU C'BORE (Bolt hole for M) KAB0AL -. THRU C'BORE (Bolt hole for M) KAB0AR KAB0AR 0

9 Motorized Y Y Electrical Specification Option: KGB0/KAB0 Electrical specification KGB0AL KGB0AL KGB0AL Opposite hand KGB0AR KGB0AR KGB0AR Type phase stepping motor 0.A/Phase (Oriental Motor Co.,Ltd.) Motor (*) (*) C00C-0P Step angle 0. Connector HR0A-0J-P () (Hirose Electric Co.,Ltd.) Applicable connector on acceptance side HR0A-0P-S () (Hirose Electric Co.,Ltd.) Limit sensor Origin sensor (ORG) Slit origin sensor (ORG) Photo microsensor: EE-S (Omuron Co.,Ltd.) EE-S (Omuron Co.,Ltd.) : Limit Origin sensor Photo microsensor: PM-F (Opposite hand PM-R) (Panasonic Industrial Devices SUN) : Slit origin sensor Power voltage DC V ±0% Consumption current 00mA or less Sensor EE-S EE-S: NPN open collector output DC~V ma or less Residual voltage 0.V or less when the load current is ma Control output PM-F (Opposite hand PM-R) : NPN open collector output DC0V or less ma or less Residual voltage V or less when the load current is ma Residual voltage V or less when the load current is ma EE-S: On detection (light shield condition): Output transistor ON (Continuity) Output logic EE-S: On detection (light shield condition): Output transistor OFF (Non-continuity) PM-F (R) : On detection (light shield condition):output transistor ON(Continuity) * See page P.-~ for details of single motor specification. * is our own management model. Pin allocation 0 Connection diagram 0 output C output ORG output Power input (+) ORG output Power input (-) F.G Blue Red Orange Green Black Regulator Substrate MOTOR / C/ ORG (Sensor substrate) ORG goniometer sensor logic Type ORG C ORG A B C NC NO EE-S NC NO EE-S NC NO EE-S PM-F Opposite hand EE-S NC EE-S NO EE-S NC NO PM-R EE-S EE-S EE-S *Upper: Sensor logic Lower: Using sensor *Broken line area does not work when use standard cable Built-in sensor KGB series has built-in sensors such as below. The connecting diagram that connected to our controller using standard attached cable is shown as below Limit sensor (C) Origin sensor (ORG) Limit sensor () Slit origin sensor (ORG) The (pin#) and C (pin#) o n the motorized stage side are connected to CWL S (Lpin) and C (Mpin) of controlle r as usual. However ORG output (Pin#) is connected to DCV (-) and ORG output (pin#0) will be connected to ORG. In other words, the sen sor of ORG does not work on this wire connection, only ORG sensor is recognized by the controller as origin signal. As a r esult, return to or igin should be done withou t the slit origin sensor as same as function of motorized stages that have only three sensors (, C and ORG). Available the correspondence cable for a slit origin sensor (ORG)! *See page Standard cable KGB motorized stage The function of terminal on the controller side P.-0 for details. This series are included four sensors as standard. In case of using four sensors with slit origin sensor (ORG), you need the cable for four sensors. Also please note that the type is different from recommendation return to origin. When use all of sensors, please select the cable for sensors from page P.-0~. Motor input C input NORG input (ORG) ORG input (ORG) Sensor power (DCV (+)) Sensor power (DCV (-)) Electromagnetic brake power (DCV (+)) Electromagnetic brake power (DCV (-)) F.G A C E G J L M N O P R S T U A C E G J L M N O P R S T U 0 The function of terminal on the stage side 0 Motor output C output ORG output Power input (+) ORG output Power input (-) F.G

10 Timing chart Slit origin sensor (ORG) Mechanical stopper C Origin sensor (ORG) (Opposite side of the motor) CW S S Interval of origin slit (detection) Slit origin sensor (ORG) Mechanical stopper CCW (Motor side) C Origin sensor (ORG) Slit origin sensor (ORG) Opposite end face The origin end face C Origin sensor (ORG) Slit shield plate Mechanical limit CW Limit The origin end face Opposite end face CCW Mechanical Limit limit Y [deg] Direction of CW Direction of CCW Detection clearance of slit origin S Reference coordinate Origin Opposite end face C KGB0A 0. Return to origin. 0.. KGB0A 0. Return to origin. 0.. KGB0A 0. Return to origin. 0.. * Return to origin means that is performed return to origin Type using DS0 DS series. * The coordinate value should be on the design. Dimension error may occur about plus or minus 0. deg. Method for return to origin Suruga's motorized stages are different from the specifi cation depending on the models. Therefore return to origin method other than recommendation may not be work correctly. Set to the way of recommendation return origin when using our controller. KGB0/KAB0 recommended return to origin Return to origin sequence P.-0 Type : Detect in the direction of CCW and perform detected process for CCW edge (a point) of ORG signal. Type : Detect in the direction of CW and perform detected process for CW edge of ORG signal. Type : After fi nished Type, perform detected process for CCW edge of TIMING signal. Type 0: After fi nished Type, perform detected process for CW edge of TIMING signal. Y Select return to origin type from the followings when use the slit origin sensor (ORG). Type : Detect in the direction of CCW and perform detected process for CW edge (point a) of NORG signal. Next detect an edge of CCW side (point b) of ORG signal. Type : Detect in the direction of CW and perform detected process for CCW edge of NORG signal. Next detect on edge of CW side (point b) of ORG signal. Type : After fi nished type, perform detected process for CCW edge of TIMING signal. Type : After fi nished type, perform detected process for CW edge of TIMING signal. [Type] Detect in the direction of CCW and perform detected process for CCW edge (a point) of ORG signal. C <Origin detection process> ORG position Point a * LD * position * A solid line means the setup a sudden stop, a dotted line means the setup a decelerating and stopping. position position [Type] Detect in the direction of CW and perform detected process for CW edge of ORG signal. <Origin detection C process> ORG position position Point a * position * LD and stopping. * A solid line means the setup a sudden stop, a dotted line means the setup a decelerating position Adaptive driver Driver P.-0 DC type input CRD0P 0P-A Divisions ( steps) Full Half Adaptive stepping motor controller Input power AC00-V DCV P.- AC00V input Divisions General-purpose Driver type input/output port Full/Half / ( steps) Without DS0NR DS0MS With DS0NR-IO DS0MS-IO Without DSNR DSMS With DSNR-IO DSMS-IO RKD-A ( steps) DS/0 00 0

11 Motorized : KGW0/KAW0 -axis -axis KGW0 (KGW0 series) KAW0 (KAW0 series) Can be used for KGW See page P.00 Our high precision goniometer stages based on cross roller guide for travel guide and worm gear mechanism. Configuration -axis Combination of -axis stage that is different center of rotation. Y Y Selection code Option code K GW0- Cable P.-0 Electrical specification P.- Sensor cover location specification Cable option G A -axis -axis Table size 0 mm Height of center rotation (W.D) 0 mm 0 mm * -axis [A] is available for only 0. Selection Example Code L R Specification L position Opposite hand Code Specification Cable type A m D--E B m One end loose D--EK C m D--E D m One end loose D--EK E Only connector (Cable is not included) F Robot cable m D--R G Robot cable m one end loose D--RK H Robot cable m D--R J Robot cable m one end loose D--RK Blank Cable is not included (Standard) * One end loose position to only stage opposite side. * If you choose the option specification, please add the difference to standard price. * See page P.-0, 0 for details of cable. * Please select "Code A, C, F or H" when connect with stepping motor controller(ds0 ). Your spec Number of axis Height of center rotation (W.D) Sensor cover location Attached cable KGW0-L -axis mm L position Without cable 00 0 SPEC Number of axis -axis -axis KGW0-L KGW0-L KAW0-L (Opposite hand) KGW0-R KGW0-R KAW0-R Travel length Upper Lower axis Table size mm Travel mechanism gear ( ) Guide Crossed roller guide Main materials-finishing Aluminum Black almite finishing, Brass black coating Weight 0.kg 0.kg Height of stage 0 0.mm 0.mm Height of center rotation 0.mm 0.mm 0.mm Runout accuracy of center rotation Within 0.0mm Resolution Pulse 0.00 (Full) MA speed Upper Lower sec khz Repeatability positioning accuracy Within 0.00 Load capacity kgf [.N].kgf [.N] Moment stiffness Pitch.0 yaw. roll 0. N cm Pitch. yaw. roll. N cm Lost motion Within 0.0 Limit sensor Origin sensor Slit origin sensor Provided screw (Hexagon-headed bolt) of M Mechanical specification Dimensional tolerance Accuracy specification Sensor

12 Dimensional outline drawings CAD D D KGW0-L series -. THRU C'BORE (Bolt hole for M). 0 -M DP -M DP 0. (H) DP from the opossite (H) DP Scale degree equall vernier 0. degree Scale degree equall vernier 0. degree Y KGW0-R series THRU C'BORE (Bolt hole for M) Y (H) DP from the opossite (H) DP -M DP -M DP Scale degree equall vernier 0. degree.. Scale degree equall vernier 0. degree Dimensional outline drawings KAW0-L KAW0-R. (H) DP from the opossite (H) DP M DP -M DP. 0 -M DP. (H) DP from the opossite (H) DP 0 -M DP THRU C'BORE (Bolt hole for M) -. THRU C'BORE (Bolt hole for M)

13 Motorized Electrical Specification: KGW0/KAW0 Y Y Electrical specification Motor (*) Connector Sensor KGW0-L KGW0-L Opposite hand KGW0-R KGW0-R Type phase stepping motor 0.A Phase (Oriental Motor Co.,Ltd.) (*) C00C-0P Step angle 0. HR0A-0J-P () (Hirose Electric Co.,Ltd. ) applicable connector on acceptance side HR0A-0P-S () (Hirose Electric Co.,Ltd. ) Limit sensor Origin sensor Slit origin sensor Photo microsensor EE-S (Omuron Co.,Ltd.) Power voltage DC V 0 Consumption current Total ma or less Control output NPN open collector output DC~V A or less Residual voltage 0.V or less when the load current is ma Output logic On detection (light shield condition): Output transistor OFF (Non-continuity) * See page P. -~ for details of single motor specification. * is our own management model. Available sensor DCV~V. This stages have DCV~V correspondence sensor. V correspondence sensor amplifier substratek-pcba is not necessary. It used to require the K-PCBA when the former products are drived by use of a motion control board or programable logic controller (PLC) without our controller. Note Must be wired without sensor amplifier substrate when our customer who uses the former stages KS-, - and amplifier substrates will be replaced with KGW0 and 0 stages. We have avariety of harness that can be jumped between input and ou tput connector of sensor amplifier substrate for taking advantage of existing cables that using sensor amplifier substrate. Pin allocation Connection diagram 0 Open 0 (Blue) (Red) (Orange) (Green) (Black) output C output Power input (+) ORG output Power input (-) F.G. Blue Red Orange Green Black MOTOR Regulator substrate Vin Vout GND Sensor substrate ORG C Timing chart C Mechanical stopper C Mechanical limit The origin end face Opposite end face Mechanical limit Opposite end face The origin end face (stroke center) Origin sensor 00 0 deg. Direction of CW Reference coordinate The origin end face Stroke center Opposite end face KGW0 Return to origin. 0.. KGW0 Return to origin. 0.. * Return to origin means that is performed return to origin type using DS0 DS series. * The coordinate value should be on the design. Dimension error may occur about plus or minus 0. deg. Note: The timing chart shows on ly timing of sensor, it is not for output signal logic. Refer to ON OF F display of output transistor that shows on electrical specifications-sensor-output logic for output signal logic. Center of the stroke C Direction of CCW C

14 Method for return to origin Suruga's motorized stages are different from the specifi cation depending on the models.therefore return to origin method other than recommendation may not be work correctly. Set to the way of recommendation return origin when using our controller. KGW0/KAW0 recommended return to origin Return to origin sequence P.-0 Type : Detect in the direction of CCW and perform detected process for CCW edge (a point) of ORG signal. Type : Detect in the direction of CW and perform detected process for CW edge of ORG signal. Type : After fi nished Type, perform detected process for CCW edge of TIMING signal. Type 0: After fi nished Type, perform detected process for CW edge of TIMING signal. [Type] Detect in the direction of CCW and perform detected process for CCW edge (a point) of ORG signal. <Origin detection C process> ORG Point a * LD * position * A solid line means the setup a sudden stop, a dotted line means the setup a decelerating and stopping. position position position [Type] C <Origin detection process> ORG position Detect in the direction of CW and perform detected process for CW edge of ORG signal. position Point a * position * LD and stopping. * A solid line means the setup a sudden stop, a dotted line means the setup a decelerating position Y Y Adaptive driver Driver P.-0 DC type input CRD0P 0P-A Divisions ( steps) Full Half AC00V input Divisions RKD-A ( steps) Adaptive stepping motor controller Input power AC00-V DCV P.- Connection example General-purpose input/ Driver type output port Full/Half / ( steps) Without DS0NR DS0MS With DS0NR-IO DS0MS-IO Without DSNR DSMS With DSNR-IO DSMS-IO PC USB RSC D00-R- Cable P.-0 DS0/ Control software DSCONTROL-WIN P.-00 RSC -axis PLC Sequencer I/O External control equipment I/O D-- E D-- Robot cable Cable P.-0 pin specification stage DS00-USB-. (Note ) (Note ) One PC can control up to link networks (-axis) through a USB hub. USB LINK DS0/ Control I/O General I/O Available connecting maximum controllers by link function. Handy terminal P.- DT00 Handy terminal 00 0

15 Motorized : KG0/KA0 -axis -axis KG0-W0A (KG0-W series) KA0-W0A (KA0-W series) Our high precision goniometer stages based on cross roller guide for travel guide and worm gear mechanism. Configuration -axis Combination of -axis stage that is different center of rotation. Y Selection code Option code K G0-W0A - Cable P.-0 Electrical specification P.- Y Sensor cover location specification Cable option G A -axis -axis Height of center rotation (W.D) 0 mm 0 mm 0 mm * Unselectable 0 for -axis Selection Example Code Blank R Specification L position Opposite hand Code Specification Cable type Blank m D--E m One end loose D--EK m D--E m One end loose D--EK Only connector (Cable is not included) Cable is not included (Standard) Robot cable m D--R Robot cable m D--R Robot cable m one end loose D--RK Robot cable m one end loose D--RK * One end loose position to only stage opposite side. * If you choose the option specification, please add the difference to standard price. * See page P.-0, 0 for details of cable. * Please select "blank,, and " when connect with stepping motor controller(ds0 ). Your spec Number of axis Height of center rotation (W.D) -axis mm Opposite hand m Sensor cover location Attached cable KA0-W0AR 00 0 Mechanical specification Dimensional tolerance Accuracy specification Sensor SPEC Number of axis -axis -axis KG0-W0A- KG0-W0A- KG0-W0A- KA0-W0A- KA0-W0A- (Opposite hand) KG0-W0AR- KG0-W0AR- KG0-W0AR- KA0-W0AR- KA0-W0AR- Travel length Upper Lower axis 0 0 Table size mm Travel mechanism Upper gear ( ) gear ( 00) gear ( ) gear ( 00) gear ( ) (Reduction ratio) Lower gear ( 00) gear ( ) Guide Crossed roller guide Main materials-finishing Aluminum White almite finish Brass Nickel chrome plating Weight 0.kg.kg Height of stage 0.mm 0.mm Height of center rotation 0.mm 0.mm 0.mm 0.mm 0.mm Runout accuracy of center rotation Within 0.0mm Resolution Pulse Upper at the full Lower at the full MA speed Upper. sec khz sec khz. sec khz sec khz. sec khz Lower sec khz. sec khz Repeatability positioning accuracy Within 0.00 Load capacity kgf [.N].kgf [.N] Moment stiffness Pitch 0. yaw 0. roll 0. N cm Pitch 0. yaw 0. roll 0. N cm Lost motion Within 0.0 Limit sensor Origin sensor Slit origin sensor Provided screw (Hexagon-headed bolt) of M-

16 Dimensional outline drawings -axis CAD D D KG0-W series -. THRU C'BORE (Bolt hole for M). (H) DP from the opossite (H) DP 0 -M DP 0. 0 Scale degree equall vernier 0. degree Scale degree equall vernier 0. degree Scale degree equall vernier 0. degree. KG0-W0A.. KG0-W0A.. KG0-W0A Y KG0-WR series Y 0. -M DP Scale degree equall vernier 0. degree. (H) DP 0 from the opossite (H) DP -. THRU C'BORE (Bolt hole for M) 0 Scale degree equall vernier 0. degree Scale degree equall vernier 0. degree KG0-W0AR. KG0-W0AR.. KG0-W0AR.. Dimensional outline drawings -axis KA0-W series.. (H) DP 0 from the opossite (H) DP M DP 0 KA0-WR series (H) DP from the opossite (H) DP -M DP KA0-W0A -. THRU C'BORE (Bolt hole for M). KA0-W0A -. THRU C'BORE (Bolt hole for M) KA0-W0AR.. KA0-W0AR. 00 0

17 Motorized Electrical Specification: KG0/KA0 Y Y Electrical specification Motor (*) Connector Sensor * See page P.-~ for details of single motor specification. * is our own management model. Pin allocation KG0-W0A KG0-W0A KG0-W0A Opposite hand KG0-W0AR KG0-W0AR KG0-W0AR Type phase stepping motor 0.A/Phase (Oriental Motor Co.,Ltd.) (*) C-0- Step angle 0. HR0A-0J-P () (Hirose Electric Co.,Ltd.) Applicable connector on acceptance side HR0A-0P-S () (Hirose Electric Co.,Ltd.) Limit sensor Origin sensor (ORG) Slit origin sensor (ORG) Photo microsensor: EE-S (Omuron Co.,Ltd.) : Limit Origin sensor (ORG) Photo microsensor: PM-L (Panasonic Industrial Devices SUN) : Slit origin sensor (ORG) Power voltage DC V ±0% Consumption current 00mA or less Control output Output logic 0 Connection diagram 0 EE-S: NPN open collector output DC~V ma or less Residual voltage 0.V or less when the load current is ma PM-L: NPN open collector output DC0V or less ma or less Residual voltage V or less when the load current is ma Residual voltage V or less when the load current is ma EE-S: On detection (light shield condition): Output transistor OFF (Non-continuity) PM-L: On detection (light shield condition):output transistor ON(Continuity) output C output ORG output Power input (+) ORG output Power input (-) F.G Blue Red Orange Green Black Regulator substrate MOTOR / C/ ORG (Sensor substrate) goniometer sensor logic Type ORG C ORG A NC EE-S NC EE-S NC EE-S NO PM-L * Upper: Sensor logic Lower: Using sensor Note: Only goniometer stage sensor logic ORG 00 0 Built-in sensor KG series has built-in sensors such as below. Limit sensor (C) Origin sensor (ORG) Limit sensor () Slit origin sensor (ORG) * Broken line area does not work when use standard cable. It works with slit origin sensor cable. The connecting diagram that connected to our controller using standard attached cable is shown as below. The (pin#) and C (pin#) on the motorized stage side are connected to (Lpin) and C (Mpin) of controller as usual. However ORG output (Pin#) is connected to DCV (-) and ORG output (pin#0) will be connected to ORG. In other words, the sensor of ORG does not work on this wire connection, only ORG sensor is recognized by the controller as origin signal. As a result, return to origin should be done without the slit origin sensor as same as function of motorized stages that have only three sensors (, C and ORG). Available the correspondence cable for a slit origin sensor (ORG)! See page P.-0 for details. standard cable KG motorized stage The function of terminal on the controller side Motor input C input NORG input (ORG) ORG input (ORG) Sensor power (DCV (+)) Sensor power (DCV (-)) Electromagnetic brake power (DCV (+)) Electromagnetic brake power (DCV (-)) F.G The function of terminal on the stage side This series are included four sensors as standard. In case of using four sensors with slit origin sensor (ORG), you need the cable for four sensors.0also please note that the type is different from recommendation return to origin. When use all of sensors, please select the cable for sensors from page P.-0~. A C E G J L M N O P R S T U A C E G J L M N O P R S T U 0 0 Motor output C output ORG output Power input (+) ORG output Power input (-) F.G

18 Timing chart Slit origin (ORG) Mechanical stopper C Origin sensor (ORG) (Opposite side of the motor) CW S S Interval of origin slit (detection) Slit origin (ORG) Mechanical stopper C Origin sensor (ORG) CCW (Motor side) Slit origin sensor (ORG) Slit shield plate Opposite end face The origin end face C Origin sensor (ORG) Mechanical limit [deg] Direction of CW Direction of CCW Detection clearance Reference coordinate of slit origins Origin Opposite end face C KG0-W0A. Return to origin KG0-W0A. Return to origin. 0.. KG0-W0A.0 Return to origin. 0.. * Return to origin means that is performed return to origin Type using DS0 DS series. * The coordinate value should be on the design. Dimension error may occur about plus or minus 0. deg. Method for return to origin CW Limit The origin end face Opposite end face CCW Mechanical Limit limit Suruga's motorized stages are different from the specifi cation depending on the models. Therefore return to origin method other than recommendation may not be work correctly. Set to the way of recommendation return origin when using our controller. KG0/KA0 recommended return to origin Return to origin sequence Type : Detect in the direction of CCW and perform detected process for CCW edge (a point) of ORG signal. Type : Detect in the direction of CW and perform detected process for CW edge of ORG signal. Type : After fi nished Type, perform detected process for CCW edge of TIMING signal. Type 0: After fi nished Type, perform detected process for CW edge of TIMING signal. P.-0 Y Y Available the correspondence cable for a slit origin sensor (ORG)! * Select return origin method as below Type : Detect in the direction of CCW and perform detected process for CW edge (point a) of NORG signal. Next detect an edge of CCW side (point b) of ORG signal. Type : Detect in the direction of CW and perform detected process for CCW edge of NORG signal. Next detect on edge of CW side (point b) of ORG signal. Type : After fi nished type, perform detected process for CCW edge of TIMING signal. Type : After fi nished type, perform detected process for CW edge of TIMING signal. [Type] Detect in the direction of CCW and perform detected process for CCW edge (a point) of ORG signal. <Origin detection C process> ORG position * A solid line means the setup a sudden stop, a dotted line means the setup a decelerating and stopping. Point a * LD * position position position [Type] Detect in the direction of CW and perform detected process for CW edge of ORG signal. <Origin detection C Point a process> ORG position position * * position LD and stopping. * A solid line means the setup a sudden stop, a dotted line means the setup a decelerating position Adaptive driver Driver P.-0 DC type input CRD0P 0P-A Divisions ( steps) Full Half Adaptive stepping motor controller Input power AC00-V DCV P.- AC00V input Divisions RKD-A ( steps) General-purpose Driver type input/output port Full/Half / ( steps) Without DS0NR DS0MS With DS0NR-IO DS0MS-IO Without DSNR DSMS With DSNR-IO DSMS-IO DS

19 Motorized : KGW0 (-axis) -axis KGW0 (KGW0 series) See page P.00 Our high precision goniometer stages based on cross roller guide for travel guide and worm gear mechanism. Y Y Selection code Option code KGW 0- Cable P.-0 Electrical specification P.- Table size Sensor cover location specification Cable option 0 mm Height of center rotation (W.D) 0 mm 0 mm 00 00mm mm Selection Example Code L R L position Opposite hand Specification Code Specification Cable type A m D--E B m One end loose D--EK C m D--E D m One end loose D--EK E Only connector (Cable is not included) F Robot cable m D--R G Robot cable m one end loose D--RK H Robot cable m D--R J Robot cable m one end loose D--RK Blank Cable is not included (Standard) * One end loose position to only stage opposite side. * If you choose the option specification, please add the difference to standard price. * See page P.-0, 0 for details of cable. * Please select "Code A, C, F or H" when connect with stepping motor controller(ds0 ). Your spec Number of axis Height of center rotation (W.D) -axis mm Opposite hand Robot cable m Sensor cover location Attached cable KGW0-RH 00 0 SPEC Number of axis -axis KGW0-L KGW0-L KGW00-L KGW0-L (Opposite hand) KGW0-R KGW0-R KGW00-R KGW0-R Travel length 0 Table size mm Travel mechanism (Reduction ratio) gear () gear ( ) gear ( ) gear ( ) Guide Crossed roller guide Main materials-finishing Aluminum Black almite finishing Weight 0.kg Height of stage 0.mm Height of center rotation 0.mm 0.mm 00 0.mm 0.mm Runout accuracy of center rotation Within 0.0mm Resolution Pulse 0.00 (Full) 0.00 (Full) 0.00 (Full) 0.00 (Full) MA speed. sec khz sec khz. sec khz 0 sec khz Repeatability positioning accuracy Within 0.00 Load capacity kgf [N] Moment stiffness Pitch 0.0 yaw 0.0 roll 0. N cm Lost motion Within 0.0 Limit sensor Origin sensor Slit origin sensor Provided screw (Hexagon-headed bolt) of M 0 Mechanical specification Dimensional tolerance Accuracy specification Sensor

20 Dimensional outline drawings -axis CAD D D KGW0-L series -. THRU C'BORE (Bolt hole for M). -M DP -M DP. (H) DP from the opossite (H) DP 0 KGW0-L Scale degree equall vernier 0. degree. 0. KGW0-L Scale degree equall vernier 0. degree Y Y Scale 0. degree equall vernier 0.0 degree. Scale 0. degree equall vernier 0.0 degree. KGW00-L. KGW0-L KGW0-R series(opposite hand). (H) DP from the opossite (H) DP. -M DP -M DP -. THRU C'BORE (Bolt hole for M) Scale degree equall vernier 0. degree 0 Scale degree equall vernier 0. degree. 0. KGW0-R KGW0-R Scale 0. degree equall vernier 0.0 degree KGW00-R Scale 0. degree equall vernier 0.0 degree KGW0-R

21 Motorized : KAW0 (-axis) -axis KAW0 (KAW0 series) Our high precision goniometer stages based on cross roller guide for travel guide and worm gear mechanism. Configuration -axis Combination of -axis stage that is different center of rotation. Y Selection code Option code KAW 0- Cable P.-0 Electrical specification P.- Y Table size 0 mm Height of center rotation (W.D) 0 mm 0 mm 00 00mm Selection Example Sensor cover location specification Cable option Code L R L position Opposite hand Specification Code Specification Cable type A m D--E B m One end loose D--EK C m D--E D m One end loose D--EK E Only connector (Cable is not included) F Robot cable m D--R G Robot cable m one end loose D--RK H Robot cable m D--R J Robot cable m one end loose D--RK Blank Cable is not included (Standard) * One end loose position to only stage opposite side. * If you choose the option specification, please add the difference to standard price. * See page P.-0, 0 for details of cable. * Please select "Code A, C, F or H" when connect with stepping motor controller(ds0 ). Your spec Height of center rotation Number of axis (W.D) -axis 00mm L position m One end loose Sensor cover location Attached cable KAW00-LB 00 0 SPEC Number of axis -axis KAW0-L KAW0-L KAW00-L (Opposite hand) KAW0-R KAW0-R KAW00-R Travel length Upper Lower axis 0 Table size mm Travel mechanism Upper gear () gear ( ) gear ( ) (Reduction ratio) Lower gear ( ) gear ( ) gear ( ) Guide Crossed roller guide Main materials-finishing Aluminum Black almite finishing Weight.0kg Height of stage 0.mm Height of center rotation 0.mm 0.mm 00 0.mm Runout accuracy of center rotation Resolution Pulse Upper at the full Lower at the full MA speed Upper. sec khz sec khz. sec khz Lower sec khz. sec khz 0 sec khz Repeatability positioning accuracy Within 0.00 Load capacity.kgf [.N] Moment stiffness Pitch 0. yaw 0. roll 0. N cm Lost motion Within 0.0 Limit sensor Origin sensor Slit origin sensor Provided screw (Hexagon-headed bolt) of M 0 Mechanical specification Dimensional tolerance Accuracy specification Sensor

22 Dimensional outline drawings -axis CAD D D KAW0-L series.. (H) DP from the opossite (H) DP -M DP -M DP. 0. KAW0-L -. THRU C'BORE (Bolt hole for M) Y 00 Y THRU C'BORE (Bolt hole for M) THRU C'BORE (Bolt hole for M) KAW0-L KAW00-L KAW0-R series(opposite hand). -M DP. (H) DP from the opossite (H) DP -M DP -. THRU C'BORE (Bolt hole for M) 0.. KAW0-R -. THRU C'BORE (Bolt hole for M) KAW0-R THRU C'BORE (Bolt hole for M) KAW00-R

23 Motorized Electrical Specification: KGW0/KAW0 Y Y Electrical specification KGW0-L KGW0-L KGW00-L KGW0-L Opposite hand KGW0-R KGW0-R KGW00-R KGW0-R Type phase stepping motor 0.A Phase (Oriental Motor Co.,Ltd.) Motor (*) (*) C00C-0P Step angle 0. Connector HR0A-0J-P () (Hirose Electric Co.,Ltd.) applicable connector on acceptance side HR0A-0P-S () (Hirose Electric Co.,Ltd.) Limit sensor Origin sensor Slit origin sensor Photo microsensor EE-S (Omuron Co.,Ltd.) Sensor Power voltage DC V 0 Consumption current Total ma or less Control output NPN open collector output DC~V A or less Residual voltage 0.V or less when the load current is ma Output logic On detection (light shield condition): Output transistor OFF (Non-continuity) * See page P.-~ for details of single motor specification. * is our own management model. Available sensor DCV~V. This stages have DCV~V correspondence sensor. V correspondence sensor amplifier substratek-pcba is not necessary. It used to require the K-PCBA when the former products are drived by use of a motion control board or programable logic controller (PLC) without our controller. Note Must be wired without sensor amplifier substrate when our customer who uses the former stages KS-, - and amplifier substrates will be replaced with KGW0 and 0 stages. We have avariety of harness that can be jumped between input and output connector of sensor amplifier substrate for taking advantage of existing cables that using sensor amplifier substrate. Pin allocation Connection diagram Timing chart C Opposite end face 0 The origin end face (Stroke center) Mechanical stopper C Origin sensor (Blue) (Red) (Orange) (Green) (Black) output C output Open Power input (+) 0 ORG output Power input (-) F.G. Mechanical limit Blue Red Orange Green Black Regulator substrate Vin Vout GND MOTOR Sensor substrate The origin end face ORG C Opposite end face Mechanical limit 00 0 Stroke center C deg. Direction of CW Direction of CCW Reference coordinate The origin end face Stroke center Opposite end face C KGW0 Return to origin KGW0 Return to origin. 0.. KGW00 Return to origin. 0.. KGW0 Return to origin. 0.. * Return to origin means that is performed return to origin type using DS0 DS series. * The coordinate is a basis of design value. Dimension error may occur about plus or minus 0. deg. Note: The timing chart shows only timing of sensor, it is not for output signal logic. Refer to ON OFF display of output transistor that shows on electrical specifications-sensor-output logic for output signal logic.

24 Method for return to origin Suruga's motorized stages are different from the specifi cation depending on the models. Therefore return to origin method other than recommendation may not be work correctly.set to the way of recommendation return origin when using our controller. KGW0/KAW0 recommended return to origin Return to origin sequence P.-0 Type : Detect in the direction of CCW and perform detected process for CCW edge(a point) of ORG signal. Type : Detect in the direction of CW and perform detected process for CW edge of ORG signal. Type : After fi nished Type, perform detected process for CCW edge of TIMING signal. Type0: After fi nished Type, perform detected process for CW edge of TIMING signal. Adaptive driver [Type] Detect in the direction of CCW and perform detected process for CCW edge (a point) of ORG signal. <Origin detection C process> ORG Point a * LD * position * A solid line means the setup a sudden stop, a dotted line means the setup a decelerating and stopping. position position position [Type] Detect in the direction of CW and perform detected process for CW edge of ORG signal. <Origin detection C process> ORG position position Point a * * position LD and stopping. * A solid line means the setup a sudden stop, a dotted line means the setup a decelerating position Y Y Driver P.-0 DC type input CRD0P 0P-A Divisions ( steps) Full Half AC00V input Divisions RKD-A ( steps) Adaptive stepping motor controller P.- Input power AC00-V DCV General-purpose input/ Driver type output port Full/Half / ( steps) Without DS0NR DS0MS With DS0NR-IO DS0MS-IO Without DSNR DSMS With DSNR-IO DSMS-IO Connection example PC USB RSC D00-R- Cable P.-0 DS00-USB-. (Note ) (Note ) One PC can control up to link networks (-axis) through a USB hub. DS0/ Control software DSCONTROL-WIN P.-00 RSC USB LINK DS0/ -axis Control I/O General I/O PLC Sequencer I/O Available connecting maximum controllers by link function. External control equipment I/O D-- E D-- Robot cable Handy terminal P.- Cable P.-0 pin specification stage DT00 Handy terminal 00 0

25 Motorized : KG0/KA0 -axis -axis KG0-W0A (KG0-W series) KA0-W0A (KA0-W series) Our high precision goniometer stages based on cross roller guide for travel guide and worm gear mechanism. *mm has an additional sensor logic system. Configuration -axis Combination of -axis stage that is different center of rotation. Y Selection code Option code K G0-W0 - Cable P.-0 Electrical specification P.- Y Sensor cover location specification Cable option G A -axis -axis Height of center rotation (W.D) 0 mm 0 mm mm * KA0 is only W.D and 0mm Sensor logic Type ORG C ORG A NC NC NC B NO NO NO NO C NC NO NC Selection Example Code Blank R Specification L position Opposite hand Code Specification Cable type Blank m D--E m One end loose D--EK m D--E m One end loose D--EK Only connector (Cable is not included) Cable is not included (Standard) Robot cable m D--R Robot cable m D--R Robot cable m one end loose D--RK Robot cable m one end loose D--RK * One end loose position to only stage opposite side. * If you choose the option specification, please add the difference to standard price. * See page P.-0, 0 for details of cable. * Please select "blank,, and " when connect with stepping motor controller(ds0 ). Your spec Number of axis Height of center rotation (W.D) Sensor cover location Sensor logic Attached cable KA0-W0BR -axis mm Opposite hand Absolutely NO m 00 0 SPEC Number of axis -axis -axis KG0-W0A- KG0-W0A- KG0-WA- KA0-W0A- KA0-W0A- (Opposite hand) KG0-W0AR- KG0-W0AR- KG0-WAR- KA0-W0AR- KA0-W0AR- Travel length Upper Lower axis Table size mm Travel mechanism Upper gear ( ) gear ( 0) gear ( ) gear ( 0) gear ( ) (Reduction ratio) Lower gear ( 0) gear ( ) Guide Crossed roller guide Main materials-finishing Aluminum White almite finish Weight.0kg.0kg Height of stage 0.mm 0.mm Height of center rotation 0.mm 0.mm 0.mm 0.mm 0.mm Runout accuracy of center rotation Within 0.0mm Resolution (Pulse) Upper at the full Lower at the full MA speed Upper. sec khz sec khz. sec khz sec khz. sec khz Lower sec khz. sec khz Repeatability positioning accuracy Within 0.00 Load capacity kgf [N] kgf [.N] Moment stiffness Pitch 0. yaw 0.0 roll 0.0 N cm Pitch 0. yaw 0. roll 0. N cm Lost motion Within 0.00 Limit sensor Origin sensor Slit origin sensor Provided screw (Hexagon-headed bolt) of M Mechanical specification Dimensional tolerance Accuracy specification Sensor

26 Dimensional outline drawings -axis CAD D D KG0-W series (H) DP -. THRU C'BORE from the opossite (H) DP 0 (Bolt hole for M) 0 -M DP -M DP 0 Scale degree equall vernier 0. degree Scale degree equall vernier 0. degree Scale 0. degree equall vernier 0.0 degree 0 KG0-W0A.. KG0-W0A.. KG0-WA Y KG0-WR series Y (H) DP from the opossite (H) DP -. THRU C'BORE (Bolt hole for M) 0 0 -M DP -M DP Scale degree equall vernier 0. degree Scale degree equall vernier 0. degree Scale 0. degree equall vernier 0.0 degree KG0-W0AR 0 KG0-W0AR.. KG0-WAR.. Dimensional outline drawings -axis KA0-W series KA0-WR series. (H) DP from the opossite (H) DP (H) DP from the opossite (H) DP M DP -M DP 0 -M DP -M DP KA0-W0A -. THRU C'BORE (Bolt hole for M)... KA0-W0A -. THRU C'BORE (Bolt hole for M) KA0-W0AR.. KA0-W0AR

27 Motorized Electrical Specification: KG0/KA0 Y Y Electrical specification KG0-W0A KG0-W0A KG0-A Opposite hand KG0-W0AR KG0-W0AR KG0-AR Type phase stepping motor 0.A/Phase (Oriental Motor Co.,Ltd.) Motor (*) (*) C-0- Step angle 0. HR0A-0J-P () (Hirose Electric Co.,Ltd.) Connector applicable connector on acceptance side HR0A-0P-S () (Hirose Electric Co.,Ltd.) Limit sensor Origin sensor (ORG) Slit origin sensor (ORG) Photo microsensor: EE-S (Omuron Co.,Ltd.) EE-S (Omuron Co.,Ltd.) : Limit Origin sensor (ORG) Photo microsensor: PM-L (Panasonic Industrial Devices SUN) : Slit origin sensor (ORG) Power voltage DC V ±0% Sensor Consumption current 00mA or less Control output EE-S EE-S: NPN open collector output DCV V ma or less Residual voltage 0.V or less when the load current is ma PM-L: NPN open collector output DC0V or less ma or less Residual voltage V or less when the load current is ma Residual voltage V or less when the load current is ma Output logic EE-S: On detection (light shield condition): Output transistor ON (Continuity) EE-S: On detection (light shield condition): Output transistor OFF (Non-continuity) PM-L: On detection (light shield condition):output transistor ON(Continuity) * See page P.-~ for details of single motor specification. * is our own management model. Pin allocation Connection diagram 0 0 output C output ORG output Power input (+) ORG output Power input (-) F.G Blue Red Orange Green Black Regulator substrate MOTOR / C/ ORG (Sensor substrate) goniometer sensor logic Type ORG C ORG A B C NC NO NC NC NO NO NC NO NC NO EE-S EE-S EE-S EE-S EE-S EE-S EE-S EE-S EE-S PM-L * Upper: Sensor logic Lower: Using sensor ORG * Broken line area does not work when use standard cable Built-in sensor KG series have built-in sensors as below. The connecting diagram that connected to our controller using standard attached cable is shown as below Limit sensor (C) Origin sensor (ORG) Limit sensor () Slit origin sensor (ORG) standard cable KG motorized stage The function of terminal on the controller side The (pin#) and C (pin#) on the motorized stage side are connected to (Lpin) and C (Mpin) of controller as usual. However ORG output (Pin#) is connected to DCV (-) and ORG output (pin#0) will be connected to ORG. In other words, the sensor of ORG does not work on this wire connection, only ORG sensor is recognized by the controller as origin signal. As a result, return to origin should be done without the slit origin sensor as same as function of motorized stages that have only three sensors (, C and ORG). Available the correspondence cable for a slit origin sensor (ORG)! This series are included four sensors as standard. In case of using four sensors with slit origin sensor (ORG), you need the cable for four sensors. Also please note that the type is different from recommendation return to origin. When use all of sensors, please select the cable for sensors from P.-0~. Motor input C input NORG input (ORG) ORG input (ORG) Sensor power (DCV (+)) Sensor power (DCV (-)) Electromagnetic brake power (DCV (+)) Electromagnetic brake power (DCV (-)) F.G A C E G J L M N O P R S T U See page P.-0 for details. A C E G J L M N O P R S T U 0 The function of terminal on the stage side 0 Motor output C output ORG output Power input (+) ORG output Power input (-) F.G

28 Timing chart Slit origin (ORG) Mechanical stopper C Origin sensor (ORG) (Opposite side of the motor) CW S S Interval of origin slit (detection) Slit origin (ORG) Mechanical stopper CCW (Motor side) C Origin sensor (ORG) Slit origin sensor (ORG) Opposite end face The origin end face C Origin sensor (ORG) Slit shield plate Mechanical limit [deg] Direction of CW Direction of CCW Detection clearance of slit origins Reference coordinate Origin Opposite end face C KG0-W0A. Return to origin. 0.. KG0-W0A. Return to origin. 0.. KG0-WA.0 Return to origin. 0.. * Return to origin means that is performed return to origin type using DS0 DS D00 controller. * The coordinate value should be on the design. Dimension error may occur about plus or minus 0. deg. Method for return to origin CW Limit The origin end face Opposite end face CCW Mechanical limit Limit Suruga's motorized stages are different from the specifi cation depending on the models. Therefore return to origin method other than recommendation may not be work correctly. Set to the way of recommendation return origin when using our controller. KG0/KA0 recommended return to origin Return to origin sequence P.-0 Y Y Type : Detect in the direction of CCW and perform detected process for CCW edge(a point) of ORG signal. Type : Detect in the direction of CW and perform detected process for CW edge of ORG signal. Type : After fi nished Type, perform detected process for CCW edge of TIMING signal. Type 0: After fi nished Type, perform detected process for CW edge of TIMING signal. Select return to origin type from the followings when use the slit origin sensor (ORG). Type : Detect in the direction of CCW and perform detected process for CW edge(point a) of NORG signal.next detect an edge of CCW side(point b) of ORG signal. Type : Detect in the direction of CW and perform detected process for CCW edge of NORG signal.next detect on edge of CW side (point b) of ORG signal. Type : After fi nished type, perform detected process for CCW edge of TIMING signal. Type : After fi nished type, perform detected process for CW edge of TIMING signal. [Type] Detect in the direction of CCW and perform detected process for CCW edge (a point) of ORG signal. <Origin detection C process> ORG position a point * LD * position * A solid line means the setup a sudden stop, a dotted line means the setup a decelerating and stopping. position position [Type] Detect in the direction of CW and perform detected process for CW edge of ORG signal. <Origin detection C process> ORG position position Point a * position * LD and stopping. * A solid line means the setup a sudden stop, a dotted line means the setup a decelerating position Adaptive driver Driver P.-0 DC type input CRD0P 0P-A Divisions ( steps) Full Half Adaptive stepping motor controller Input power AC00-V DCV P.- AC00V input Divisions General-purpose Driver type input/output port Full/Half / ( steps) Without DS0NR DS0MS With DS0NR-IO DS0MS-IO Without DSNR DSMS With DSNR-IO DSMS-IO RKD-A ( steps) DS/0 00 0