Stepping s AS Series Additional Information Technical Reference F-1 General Information G-1 Introduction AS AS PLUS ASC RK CFK2 CSK PMC UMK CSK PKPV PK UI212G EMP41 EMP42 SG83J SMK Accessories Closed Loop A -Phase Microstep AC Input DC Input AC Input DC Input -Phase FullHalf DC Input AC Input DC Input & Packages 2-Phase Stepping s Controllers 2-Phase FullHalf with Indexer without with Low-Speed Synchronous s Before Using a Stepping C-11
Stepping s Closed Loop Stepping and Package AS Series The is a revolutionary hybrid stepping motor and driver package which eliminates missed steps; a common problem with stepping motors. The uses a built-in feedback device that constantly monitors the motor shaft position to detect and correct for loss of synchronism. Geared models are also available. Features Thanks to closed loop control, there is no loss of synchronism. does not lose synchronism even when subjected to abrupt load fluctuation or acceleration. A newly developed rotor position detection sensor constantly monitors the motor movement. If synchronism is about to be lost, closed loop control is used, so there is no need to worry about loss of steps. Input Pulse Control Diagram Input Counter Deviation Counter Rotor Position Counter Excitation Sequence Control Output Element Sensor Normal (Positioning Deviation is less than 1.8 ) Mortor runs in open loop mode like a stepping motor. If Missteps ( Positioning Deviation is greater than 1.8 ) Control switches to closed loop mode to prevent loss of synchronism. + or Angle-Torque Characteristics Stepping Closed Loop Mode Open Loop Mode Torque Sensor detects rotor position Plus Standard Closed Loop Mode -7.2 -.4-3.6-1.8 1.8 3.6.4 7.2 Position If the positioning deviation is 1.8 or smaller, the motor runs in open loop mode like a stepping motor. If the positioning deviation is 1.8 or greater, the motor runs in closed loop mode and the position is corrected by exciting the motor windings to generate maximum torque based on the rotor position. C-12 Features C-12 System Configuration C-17 SpecificationsCharacteristics C-21
High Response Like conventional stepping motors, operates in synchronism with command pulses. This makes possible short stroke positioning in a short time. Measurement condition : Feed 1 rotation Load inertia 1.36 oz-in 2 (21-7 kg m 2 ) In traditional servo motors, there is a delay between the input pulse signals and the motor movement due to the way positioning is continuously monitored. Therefore, a servo motor needs time to settle to a stop after input signals stop. This is called settling time. No Hunting Since is a stepping motor, it has no hunting problem such as might be found in a traditional servo motor. Therefore, when it stops, its position is completely stable and does not fluctuate. is ideal for applications in which vibration would be a problem. Complete step Movement Pulse Input Positioning Completion Signal Servo Settling Time Hunting Servo Movement Pulse Input Positioning Completion Signal No Gain Tuning Gain tuning for a servo motor is critical, troublesome and time-consuming. Since the operates like a stepping motor, there are no gain tuning requirements. Low rigidity applications, such as a belt and pulley system, are ideal for. Low Vibration at Low Speed The driver employs advanced technology that produces smoothness comparable to a microstepping driver. Its vibration level is incredibly low, even when operating in the low speed range. When frequent changes from low (high) to high (low) speed operation are required, the use of the Resolution Select Function solves the problem. provides resolution as low as.36 per step without any damping mechanism or other mechanical device. Even smoother operation is possible with geared models. High Speed Low Speed CCD Camera is well suited to applications where smooth movement or stability is required, such as where a camera is used to monitor the quality of a product. Stepping s Introduction AS AS PLUS ASC RK CFK2 CSK PMC UMK CSK PKPV PK UI212G EMP41 EMP42 SG83J SMK Accessories Closed Loop A -Phase Microstep AC Input DC Input AC Input DC Input -Phase FullHalf DC Input AC Input DC Input & Packages 2-Phase Stepping s Controllers 2-Phase FullHalf with Indexer without with Low-Speed Synchronous s Before Using a Stepping Common Specifications C-29 Dimensions C-32 Connection and Operation C-39 and Combinations C-3 C-13
Stepping s AS Series Line-Up AS Series (AC Power Input) Can be controlled from your own pulse generator Integrated Controller and ASC Series See Page C- (DC Power Input) No separate pulse generator required Standard Basic of A and System Tapered Hob (TH) Geared A wide variety of low gear ratios for high-speed operation Gear Ratios 3.6:1, 7.2:1, 1:1, 2:1, 3:1 Planetary (PN) Geared High speed (low gear ratios), High positioning precision High permissible torque Centered output shaft Gear Ratios :1, 7.2:1, 1:1, 2:1, 36:1, :1 Harmonic (HG) Geared High positioning precision High permissiblemaximum torque Zero backlash High gear ratio, High resolution Centered output shaft Gear Ratios :1, 1:1 Step & Direction Input Type or Integrated Controller & Pulse Generator and driver are controlled with an external pulse generator. PLC No external pulse generator required. PC Product Line Type Standard Type TH Geared Type PN Geared Type HG Geared Type Power Supply Voltage Single-Phase 1-11 VAC Single-Phase 2-23 VAC Three-Phase 2-23 VAC Single-Phase 1-11 VAC Single-Phase 2-23 VAC Three-Phase 2-23 VAC Single-Phase 1-11 VAC Single-Phase 2-23 VAC Three-Phase 2-23 VAC Single-Phase 1-11 VAC Single-Phase 2-23 VAC Three-Phase 2-23 VAC 1.6 in. (42 mm) 42 oz-in (.3 N m) 3.13.2 lb-in (.31. N m) 13.2 lb-in (1. N m) 344 lb-in (3.. N m) Maximum Holding Torque 2.36 in. (6 mm) 1728 oz-in (1.22. N m) 11.3 lb-in (1.24 N m) 37 lb-in (3.8 N m) 487 lb-in (.8. N m) 3.3 in. (8 mm) [Geared: 3.4 in. (9( mm)] 286 oz-in (2.4. N m) 3916 lb-in (4.12 N m) 8832 lb-in (137 N m) 2232 lb-in (237 N m) Electromagnetic brake models are also available. C-14 Features C-12 System Configuration C-17 SpecificationsCharacteristics C-21
Position Control Incremental mode (relative distance specification)absolute mode (absolute position specification) Linked operation (a maximum of four motion profiles may be linked) Data range (in pulses): 8,388,68 to 8,388,67 Operating speed: 1 Hz to khz (set in 1Hz increments) Four Operation Modes 1. Positioning 2. Mechanical home seeking (LS, LS, HOMELS) 3. Continuous 4. Electrical home seeking General InputsOutputs 8 Programmable Inputs 8 Programmable Outputs Daisy Chain Capability Up to 36 units can be daisy chained with unique device ID's Communication ASCII based commands Conforms to RS-232C communication specifications Start-stop asynchronous transmission method Transmission speed: 9,6 bps Data length: 8 bits, 1 stop bit, no parity Protocol: TTY (CRLF) Modular 4-pin connector Program Memory Maximum number of programs: 14 (including STARTUP) Maximum lines per program: 64 Commands per line: 1 Program variables: 26 (A to Z) Built-in Functions Selectable motor-resolution Run and stop current values Speed-filter set value rotation direction Emergency stop Sensor logic Over-travel limits Software over-travel Alarm history Syntax checking Display values Incremental moves IO status Example: PROGRAM1 ALPHA STEP PLUS DRIVER >EDIT PROGRAM1 Program Name : PROGRAM1 ( 1) VR=2 ( 2) DIS=12 ( 3) MI ( 4) CALL WAITEND ( ) OUT1=1 ( 6) MGHP ( 7) END >> COMMAND : _ Using Windows HyperTerminal, programming the A Plus driver is a simple task. PROGRAM1 Definition Operating Speed: 2, Hz Move Distance: 1,2 pulses Call a subroutine that waits for the motor to stop before moving on to the next command Turn On Output #1 Seek the Mechanical Home Position in the Positive Direction End of Program Stepping s Introduction AS AS PLUS ASC RK CFK2 CSK PMC UMK CSK PKPV PK UI212G EMP41 EMP42 SG83J SMK Accessories Closed Loop A -Phase Microstep AC Input DC Input AC Input DC Input -Phase FullHalf DC Input AC Input DC Input & Packages 2-Phase Stepping s Controllers 2-Phase FullHalf with Indexer without with Low-Speed Synchronous s Before Using a Stepping Common Specifications C-29 Dimensions C-32 Connection and Operation C-39 and Combinations C-3 C-1
Stepping s Plus Features Operating Modes Position Continuous 4 Operating Modes Mechanical Home Electrical Home Linked Motion Capability Alarm Functions The driver can flash LEDs to indicate which alarm has occurred. No. 2 Single Motion Speed Change On The Fly No. No. 1 No. 2 Linked Motion When a START signal is received motions, 1 and 2 are executed without stopping between each one. Alarm Output from driver Daisy Chain ALARM OUT PLC The driver can notify the host controller which alarm has occurred 6Hz Speed 4Hz 2Hz PC Time The running speed of the motor can be changed while the motor is in motion. Up to 36 units can be daisy chained via customer supplied cable. Safety Standards and CE Marking Standards U4 U111 CSA C22.2 No.1 3 CSA C22.2 No.77 3 EN69 EN634-1 EN634- UL8C 1 CSA C22.2 No.14 EN69 2 EN178 Certification Body UL UL Conform to EN Standards When the system is approved under various safety standards, the model names on the motor and driver nameplates are the approved model names. List of and Combinations Page C-3 Details of Safety Standards Page G-2 The EMC value changes according to the wiring and layout. Therefore, the final EMC level must be checked with the motordriver incorporated in the user s equipment. 1 Maximum Ambient Temperature for UL AS: 122 F ( C), AS PLUS: 14 F (4 C) 2 EN69 (Certified AS only) 3 Except for AS46 ( Frame Size 1.6 inch (42 mm)). C-16 Features C-12 System Configuration C-17 SpecificationsCharacteristics C-21 File No. E64199 E171462 Conform to EN Standards CE Marking Low Voltage Directives EMC Directives
System Configuration AS Series Stepping s Mounting Brackets (Accessories) ( Page C-291) Flexible Couplings (Accessories) ( Page C-284) DIN Rail Mounting Plate (Accesories) ( Page C-297) Extension Cables (Accessories) ( Page C-28) AS Series An example of a single-axis system configuration with the EMP4 Series controller. AS PLUS Mounting Brackets (Accessories) ( Page C-291) Flexible Couplings (Accessories) ( Page C-284) DIN Rail Mounting Plate (Accessories) ( Page C-293) Extension Cables (Accessories) ( Page C-28) AS PLUS Series The system configuration shown is an example. Other combinations are available. Cables (Accessories) ( Page C-26) AC Power Supply (Not Supplied) Communication Cable (Accessories) ( Page C-283) EMP4 Controller (Sold separately) ( Page C-24) AC Power Supply (Not Supplied) Extension Cables (For AS Series and AS PLUS Series) Extension cables are not included with A products. When using the A stepping motor and driver more than 1.31 feet (.4 m) apart from each other, use an optional extension cable (sold separately). Note: Electromagnetic brake motor models [except motor frame size 1.6 in. (42 mm)] must use an optional electromagnetic brake extension cable. The frame size 1.6 in. (42 mm) models can use a standard extension cable even for electromagnetic brake motor models. Common Specifications C-29 Dimensions C-32 Connection and Operation C-39 and Combinations C-3 HostMaster Controller (Not Supplied) 24 VDC Power Supply (Not Supplied) (Not Supplied) IO Cable with Terminal Block (Accessories) ( Page C-264) HostMaster Controller (Not Supplied) Cables (Accessories) ( Page C-28) Introduction AS AS PLUS ASC RK CFK2 CSK PMC UMK CSK PKPV PK UI212G EMP41 EMP42 SG83J SMK Accessories Closed Loop A -Phase Microstep AC Input DC Input AC Input DC Input -Phase FullHalf DC Input AC Input DC Input C-17 & Packages 2-Phase Stepping s Controllers 2-Phase FullHalf with Indexer without with Low-Speed Synchronous s Before Using a Stepping
Stepping s Product Number Code AS 6 6 A A P-T 3.6 Gear Ratio P: AlphaStep Plus Blank: AlphaStep Standard Blank: Standard Type T: TH Geared Type N: PN Geared Type H: HG Geared Type Case Length Power Input A: Single-Phase 1-11 VAC C: Single-Phase 2-23 VAC S: Three-Phase 2-23 VAC A: Without Electromagnetic Brake (Single Shaft) M: Electromagnetic Brake AS: AS series Frame Size 4: 1.6 in. sq. (42 mm sq.) 6: 2.36 in. sq. (6 mm sq.) 9: 3.3 in. sq. (8 mm sq.) [3.4 in. sq. (9 mm sq.) for geared type] AS Product Lines AS Series Standard Type Without Electromagnetic Brake Electromagnetic Brake Power Source Frame Size: 1.6 in. (42 mm) Frame Size: 2.36 in. (6 mm) Frame Size: 3.3 in. (8 mm) Frame Size: 1.6 in. (42 mm) Frame Size: 2.36 in. (6 mm) Frame Size: 3.3 in. (8 mm) Single-Phase 1-11 VAC AS46AA AS66AA AS69AA AS98AA AS911AA AS46MA AS66MA AS69MA AS98MA Single-Phase 2-23 VAC AS66AC AS69AC AS98AC AS911AC AS66MC AS69MC AS98MC Three-Phase 2-23 VAC AS66AS AS69AS AS98AS AS911AS AS66MS AS69MS AS98MS TH Geared Type Without Electromagnetic Brake Electromagnetic Brake Power Source Frame Size: 1.6 in. (42 mm) Frame Size: 2.36 in. (6 mm) Frame Size: 3.4 in. (9 mm) Frame Size: 1.6 in. (42 mm) Frame Size: 2.36 in. (6 mm) Frame Size: 3.4 in. (9 mm) AS46AA-T3.6 AS66AA-T3.6 AS98AA-T3.6 AS46MA-T3.6 AS66MA-T3.6 AS98MA-T3.6 Single-Phase 1-11 VAC AS46AA-T7.2 AS46AA-T1 AS46AA-T2 AS66AA-T7.2 AS66AA-T1 AS66AA-T2 AS98AA-T7.2 AS98AA-T1 AS98AA-T2 AS46MA-T7.2 AS46MA-T1 AS46MA-T2 AS66MA-T7.2 AS66MA-T1 AS66MA-T2 AS98MA-T7.2 AS98MA-T1 AS98MA-T2 AS46AA-T3 AS66AA-T3 AS98AA-T3 AS46MA-T3 AS66MA-T3 AS98MA-T3 AS66AC-T3.6 AS98AC-T3.6 AS66MC-T3.6 AS98MC-T3.6 Single-Phase 2-23 VAC AS66AC-T7.2 AS66AC-T1 AS66AC-T2 AS98AC-T7.2 AS98AC-T1 AS98AC-T2 AS66MC-T7.2 AS66MC-T1 AS66MC-T2 AS98MC-T7.2 AS98MC-T1 AS98MC-T2 AS66AC-T3 AS98AC-T3 AS66MC-T3 AS98MC-T3 AS66AS-T3.6 AS98AS-T3.6 AS66MS-T3.6 AS98MS-T3.6 Three-Phase 2-23 VAC AS66AS-T7.2 AS66AS-T1 AS66AS-T2 AS98AS-T7.2 AS98AS-T1 AS98AS-T2 AS66MS-T7.2 AS66MS-T1 AS66MS-T2 AS98MS-T7.2 AS98MS-T1 AS98MS-T2 AS66AS-T3 AS98AS-T3 AS66MS-T3 AS98MS-T3 C-18 Features C-12 System Configuration C-17 SpecificationsCharacteristics C-21
PN Geared Type Power Source Frame Size: 1.6 in. (42 mm) Without Electromagnetic Brake Frame Size: 2.36 in. (6 mm) Frame Size: 3.4 in. (9 mm) Frame Size: 1.6 in. (42 mm) Electromagnetic Brake Frame Size: 2.36 in. (6 mm) Frame Size: 3.4 in. (9 mm) Stepping s Single-Phase 1-11 VAC Single-Phase 2-23 VAC Three-Phase 2-23 VAC HG Geared Type Power Source Single-Phase 1-11 VAC Single-Phase 2-23 VAC Three-Phase 2-23 VAC AS Series Standard Type Power Source Single-Phase 1-11 VAC Single-Phase 2-23 VAC Three-Phase 2-23 VAC AS46AA-N7.2 AS46AA-N1 AS66AA-N AS66AA-N7.2 AS66AA-N1 AS66AA-N2 AS66AA-N36 AS66AA-N AS66AC-N AS66AC-N7.2 AS66AC-N1 AS66AC-N2 AS66AC-N36 AS66AC-N AS66AS-N AS66AS-N7.2 AS66AS-N1 AS66AS-N2 AS66AS-N36 AS66AS-N AS98AA-N AS98AA-N7.2 AS98AA-N1 AS98AA-N2 AS98AA-N36 AS98AA-N AS98AC-N AS98AC-N7.2 AS98AC-N1 AS98AC-N2 AS98AC-N36 AS98AC-N AS98AS-N AS98AS-N7.2 AS98AS-N1 AS98AS-N2 AS98AS-N36 AS98AS-N Without Electromagnetic Brake Frame Size: Frame Size: Frame Size: 1.6 in. (42 mm) 2.36 in. (6 mm) 3.4 in. (9 mm) AS46AA2-H AS46AA2-H1 AS66AA2-H AS66AA2-H1 AS98AA-H AS98AA-H1 AS66AC2-H AS98AC-H AS66AC2-H1 AS98AC-H1 AS66AS2-H AS98AS-H AS66AS2-H1 AS98AS-H1 PLUS Frame Size: 1.6 in. (42 mm) AS46AAP Without Electromagnetic Brake Frame Size: Frame Size: 2.36 in. (6 mm) 3.3 in. (8 mm) AS66AAP AS69AAP AS98AAP AS911AAP AS66ACP AS98ACP AS69ACP AS911ACP AS66ASP AS98ASP AS69ASP AS911ASP AS46MA-N7.2 AS46MA-N1 Frame Size: 1.6 in. (42 mm) AS46MA2-H AS46MA2-H1 Frame Size: 1.6 in. (42 mm) AS46MAP AS66MA-N AS66MA-N7.2 AS66MA-N1 AS66MA-N2 AS66MA-N36 AS66MA-N AS66MC-N AS66MC-N7.2 AS66MC-N1 AS66MC-N2 AS66MC-N36 AS66MC-N AS66MS-N AS66MS-N7.2 AS66MS-N1 AS66MS-N2 AS66MS-N36 AS66MS-N Electromagnetic Brake Frame Size: 2.36 in. (6 mm) AS66MA2-H AS66MA2-H1 AS66MC2-H AS66MC2-H1 AS66MS2-H AS66MS2-H1 Electromagnetic Brake Frame Size: 2.36 in. (6 mm) AS66MAP AS69MAP AS66MCP AS69MCP AS66MSP AS69MSP AS98MA-N AS98MA-N7.2 AS98MA-N1 AS98MA-N2 AS98MA-N36 AS98MA-N AS98MC-N AS98MC-N7.2 AS98MC-N1 AS98MC-N2 AS98MC-N36 AS98MC-N AS98MS-N AS98MS-N7.2 AS98MS-N1 AS98MS-N2 AS98MS-N36 AS98MS-N Frame Size: 3.4 in. (9 mm) AS98MA-H AS98MA-H1 AS98MC-H AS98MC-H1 AS98MS-H AS98MS-H1 Frame Size: 3.3 in. (8 mm) AS98MAP AS98MCP AS98MSP Introduction AS AS PLUS ASC RK CFK2 CSK PMC UMK CSK PKPV PK UI212G EMP41 EMP42 SG83J SMK Accessories Closed Loop A -Phase Microstep AC Input DC Input AC Input DC Input -Phase FullHalf DC Input AC Input DC Input & Packages 2-Phase Stepping s Controllers 2-Phase FullHalf with Indexer without with Low-Speed Synchronous s Before Using a Stepping Common Specifications C-29 Dimensions C-32 Connection and Operation C-39 and Combinations C-3 C-19
Stepping s TH Geared Type Power Source Frame Size: 1.6 in. (42 mm) Without Electromagnetic Brake Frame Size: 2.36 in. (6 mm) Frame Size: 3.4 in. (9 mm) Frame Size: 1.6 in. (42 mm) Electromagnetic Brake Frame Size: 2.36 in. (6 mm) Frame Size: 3.4 in. (9 mm) AS46AAP-T3.6 AS66AAP-T3.6 AS98AAP-T3.6 AS46MAP-T3.6 AS66MAP-T3.6 AS98MAP-T3.6 Single-Phase 1-11 VAC AS46AAP-T7.2 AS46AAP-T1 AS46AAP-T2 AS66AAP-T7.2 AS66AAP-T1 AS66AAP-T2 AS98AAP-T7.2 AS98AAP-T1 AS98AAP-T2 AS46MAP-T7.2 AS46MAP-T1 AS46MAP-T2 AS66MAP-T7.2 AS66MAP-T1 AS66MAP-T2 AS98MAP-T7.2 AS98MAP-T1 AS98MAP-T2 AS46AAP-T3 AS66AAP-T3 AS98AAP-T3 AS46MAP-T3 AS66MAP-T3 AS98MAP-T3 AS66ACP-T3.6 AS98ACP-T3.6 AS66MCP-T3.6 AS98MCP-T3.6 Single-Phase 2-23 VAC AS66ACP-T7.2 AS66ACP-T1 AS66ACP-T2 AS98ACP-T7.2 AS98ACP-T1 AS98ACP-T2 AS66MCP-T7.2 AS66MCP-T1 AS66MCP-T2 AS98MCP-T7.2 AS98MCP-T1 AS98MCP-T2 AS66ACP-T3 AS98ACP-T3 AS66MCP-T3 AS98MCP-T3 AS66ASP-T3.6 AS98ASP-T3.6 AS66MSP-T3.6 AS98MSP-T3.6 Three-Phase 2-23 VAC AS66ASP-T7.2 AS66ASP-T1 AS66ASP-T2 AS98ASP-T7.2 AS98ASP-T1 AS98ASP-T2 AS66MSP-T7.2 AS66MSP-T1 AS66MSP-T2 AS98MSP-T7.2 AS98MSP-T1 AS98MSP-T2 AS66ASP-T3 AS98ASP-T3 AS66MSP-T3 AS98MSP-T3 PN Geared Type Without Electromagnetic Brake Electromagnetic Brake Power Source Frame Size: 1.6 in. (42 mm) Frame Size: 2.36 in. (6 mm) Frame Size: 3.4 in. (9 mm) Frame Size: 1.6 in. (42 mm) Frame Size: 2.36 in. (6 mm) Frame Size: 3.4 in. (9 mm) AS66AAP-N AS98AAP-N AS66MAP-N AS98MAP-N AS46AAP-N7.2 AS66AAP-N7.2 AS98AAP-N7.2 AS46MAP-N7.2 AS66MAP-N7.2 AS98MAP-N7.2 Single-Phase 1-11 VAC AS46AAP-N1 AS66AAP-N1 AS66AAP-N2 AS98AAP-N1 AS98AAP-N2 AS46MAP-N1 AS66MAP-N1 AS66MAP-N2 AS98MAP-N1 AS98MAP-N2 AS66AAP-N36 AS98AAP-N36 AS66MAP-N36 AS98MAP-N36 AS66AAP-N AS98AAP-N AS66MAP-N AS98MAP-N AS66ACP-N AS98ACP-N AS66MCP-N AS98MCP-N AS66ACP-N7.2 AS98ACP-N7.2 AS66MCP-N7.2 AS98MCP-N7.2 Single-Phase 2-23 VAC AS66ACP-N1 AS66ACP-N2 AS98ACP-N1 AS98ACP-N2 AS66MCP-N1 AS66MCP-N2 AS98MCP-N1 AS98MCP-N2 AS66ACP-N36 AS98ACP-N36 AS66MCP-N36 AS98MCP-N36 AS66ACP-N AS98ACP-N AS66MCP-N AS98MCP-N AS66ASP-N AS98ASP-N AS66MSP-N AS98MSP-N AS66ASP-N7.2 AS98ASP-N7.2 AS66MSP-N7.2 AS98MSP-N7.2 Three-Phase 2-23 VAC AS66ASP-N1 AS66ASP-N2 AS98ASP-N1 AS98ASP-N2 AS66MSP-N1 AS66MSP-N2 AS98MSP-N1 AS98MSP-N2 AS66ASP-N36 AS98ASP-N36 AS66MSP-N36 AS98MSP-N36 AS66ASP-N AS98ASP-N AS66MSP-N AS98MSP-N HG Geared Type Without Electromagnetic Brake Electromagnetic Brake Power Source Frame Size: 1.6 in. (42 mm) Frame Size: 2.36 in. (6 mm) Frame Size: 3.4 in. (9 mm) Frame Size: 1.6 in. (42 mm) Frame Size: 2.36 in. (6 mm) Frame Size: 3.4 in. (9 mm) Single-Phase 1-11 VAC AS46AAP2-H AS46AAP2-H1 AS66AAP2-H AS66AAP2-H1 AS98AAP-H AS98AAP-H1 AS46MAP2-H AS46MAP2-H1 AS66MAP2-H AS66MAP2-H1 AS98MAP-H AS98MAP-H1 Single-Phase 2-23 VAC AS66ACP2-H AS66ACP2-H1 AS98ACP-H AS98ACP-H1 AS66MCP2-H AS66MCP2-H1 AS98MCP-H AS98MCP-H1 Three-Phase 2-23 VAC AS66ASP2-H AS66ASP2-H1 AS98ASP-H AS98ASP-H1 AS66MSP2-H AS66MSP2-H1 AS98MSP-H AS98MSP-H1 C-2 Features C-12 System Configuration C-17 SpecificationsCharacteristics C-21
Standard Type Frame Size: 1.6 in. ( 42 mm), 2.36 in. ( 6 mm), 3.3 in. ( 8 mm) Specifications Only the driver conforms to the CSA standard for AS46 type motors. 1 Speed Torque Characteristics How to Read Speed-Torque Characteristics Page C-1 AS46A, AS46AP AS66, AS66P AS69, AS69P AS98, AS98P..4.3.2.1 3. 2. 1. Torque [oz-in] Torque [oz-in] 7 6 4 3 2 1 4 3 2 1 AS AS PLUS Maximum Holding Torque Rotor Inertia 2 J Resolution 4 Power Source Maximum Input Current WO Electromagnetic Brake Electromagnetic Brake WO Electromagnetic Brake Electromagnetic Brake oz-in (N m) oz-in 2 (kg m 2 ) Voltage Frequency Single-Phase 1-11 VAC Single-Phase 2-23 VAC Three-Phase 2-23 VAC Type Power Supply Input Electromagnetic Power Consumption Brake 3 Excitation Current Static Friction Torque oz-in (N m) lb. (kg) Weight 2 lb. (kg) Dimension No. 1 2 3 4 Speed [rmin] 1 2 3 4 6 (Resolution Setting: 1 PR) 1 2 3 4 Speed [rmin] 1 2 3 4 6 (Resolution Setting: 1 PR) AS46AA AS46MA AS46AAP AS46MAP 42 (.3).37 (681-7 ) [.4 (831-7 )] 3.3 A 2 W.8 A 21 (.1) AS911A, AS911AP 2. 1. 1.. 4 3 2 1 Torque [oz-in] Torque [oz-in] 2 2 1 1 6 4 2 AS66A AS66M AS66AP AS66MP 17 (1.2) 2.2 (41-7 ) [3.1 (641-7 )] 1 2 3 4 Speed [rmin] 1 2 3 4 6 (Resolution Setting: 1 PR) 1 2 3 4 Speed [rmin] 1 2 3 4 6 (Resolution Setting: 1 PR) AS69A AS69M AS69AP AS69MP 28 (2.) 4.4 (821-7 ) [.3 (9611-7 )] AS911AA AS911AC AS911AS 1 2 3 4 Speed [rmin] 1 2 3 4 6 (Resolution Setting: 1 PR) Notes: Pay attention to heat dissipation from motor and driver. In particular, remember that the motor will produce a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 212 F (1 C). [Under 176 F (7 C) is required to comply with UL or CSA standards.] When using the motor with the dedicated driver, the driver's automatic current cutbuck at motor standstill function reduces maximum holding torque by approximately %. 3. 2. 1. AS98A AS98M AS98AP AS98MP 28 (2.) 7.7 (141-7 ) [8. (161-7 )].36 Pulse (Resolution Setting: 1 PR) A for Single-Phase 1-11 VAC 1%1% 6 Hz C for Single-Phase 2-23 VAC 1%1% 6 Hz S for Three-Phase 2-23 VAC 1%1% 6 Hz Active when power is off 24 VDC% 6 W.2 A 8 (.6) 142 (1.) 142 (1.) Torque [oz-in] 4 3 2 1 UC AS911A AS911AP 6 (4.) 14.8 (2711-7 ) 6. A 4. A 2.4 A 1.1 (.) [1.3 (.6)] 1.9 (.8) [2.4 (1.1)] 3.1 (1.4) [3.6 (1.6)] 4. (1.8) [4.8 (2.2)] 6.6 (3.) 1.8 (.8) z x c AS 3 AS PLUS 4 1 The square box in the model number will contain one of the following letters to indicate the power supply voltage: A (Single-Phase 1-11 VAC), C (Single-Phase 2-23 VAC) or S (Three-Phase 2-23 VAC). 2 The values inside the brackets [ ] represents the specification for electromagnetic brake type. 3 The electromagnetic brakes are for holding the position when the power is off. They can not be used for complicated braking. Also, a separate 24 VDC %,.3 A min. power supply is required for the electromagnetic brake, along with the accessory electromagnetic brake type extension cable. For motor frame size 1.6 in. (42 mm), use the standard type extension cable. 4 AS series: The resolution can be set to any one of PR, 1 PR, PR, 1 PR with the resolution select switch or resolution select switching signals. See page C-39 for details. AS PLUS: The resolution can be set from PR to 1 PR by setting parameters. How to Read Specifications Table Page C-9. A 3. A 1. A 6.4 A 3.9 A 2.2 A 6. A 3. A 1.9 A Stepping s Introduction AS AS PLUS ASC RK CFK2 CSK PMC UMK CSK PKPV PK UI212G EMP41 EMP42 SG83J SMK Accessories Closed Loop A -Phase Microstep AC Input DC Input AC Input DC Input -Phase FullHalf DC Input AC Input DC Input & Packages 2-Phase Stepping s Controllers 2-Phase FullHalf with Indexer without with Low-Speed Synchronous s Before Using a Stepping Common Specifications C-29 Dimensions C-32 Connection and Operation C-39 and Combinations C-3 C-21
Stepping s TH Geared Type Frame Size: 1.6 in. ( 42 mm) Specifications Only the driver conforms to the CSA standard for AS46 type motors. AS AS PLUS WO Electromagnetic Brake Electromagnetic Brake WO Electromagnetic Brake Electromagnetic Brake lb-in (N m) oz-in 2 (kg m 2 ) arc min (degrees) rmin AS46AA-T3.6 AS46MA-T3.6 AS46AAP-T3.6 AS46MAP-T3.6 3 (.3) Maximum Holding Torque Rotor Inertia 2 J Backlash 4 (.7 ) Permissible Speed Range Gear Ratio 3.6 : 1 Resolution 4 1 PR.1 pulse lb-in (N m) 3 (.3) Power Source Voltage Frequency Maximum Input Current Type Power Supply Input Electromagnetic Power Consumption Brake 3 Excitation Current Static Friction Torque lb-in (N m) lb. (kg) Weight 2 lb. (kg) Dimension No. AS46AA-T7.2 AS46MA-T7.2 AS46AAP-T7.2 AS46MAP-T7.2 AS46AA-T1 AS46MA-T1 AS46AAP-T1 AS46MAP-T1 AS46AA-T2 AS46MA-T2 AS46AAP-T2 AS46MAP-T2 AS46AA-T3 AS46MA-T3 AS46AAP-T3 AS46MAP-T3 6.1 (.7) 8.8 (1) 13.2 (1.) 13.2 (1.).37 (681-7 ) [.4 (831-7 )] 2 (.417 ) 2 7.2 : 1. pulse 6.1 (.7) 2 (.417 ) 18 1 : 1.36 pulse 8.8 (1) 1 (.2 ) 9 2 : 1.18 pulse 13.2 (1.) Single-Phase 1-11 VAC 1%1% 6 Hz 3.3 A 1 (.2 ) 6 3 : 1.12 pulse 13.2 (1.) Active when power is off 24 VDC% 2 W.8 A 1. (.17) 3 (.3) 4.4 (.) 6.6 (.7) 6.6 (.7) 1.4 (.6) [1.7 (.7)] 1.8 (.8) v AS 3 AS PLUS 4 2 The values inside the brackets [ ] represents the specification for electromagnetic brake type. 3 The electromagnetic brakes are for holding the position when the power is off. They can not be used for complicated braking. Also, a separate 24 VDC %,.3 A min. power supply is required for the electromagnetic brake, along with the accessory standard type extension cable. 4 AS series: The resolution can be set to any one of PR, 1 PR, PR, 1 PR with the resolution select switch or resolution select switching signals. See page C-39 for details. AS PLUS: The resolution can be set from PR to 1 PR by setting parameters. How to Read Specifications Table Page C-9 Note: Direction of rotation of the motor and that of the gear output shaft are the same for unit type with reduction ratio 3.6:1, 7.2:1 and 1:1. It is opposite for 2:1 and 3:1 ratio type. UC Speed Torque Characteristics How to Read Speed-Torque Characteristics Page C-1 AS46A-T3.6, AS46AP-T3.6 AS46A-T7.2, AS46AP-T7.2 AS46A-T1, AS46AP-T1 2. 2. 2. 1. 1 1. 1 1. 1 1.. 1 1.. 1 1.. 1 1 2 3 4 Speed [rmin] 1 1 2 2 3 (Resolution Setting: 1 PR) 1 1 2 2 Speed [rmin] 1 1 2 2 3 (Resolution Setting: 1 PR) 4 8 12 16 2 Speed [rmin] 1 1 2 2 3 (Resolution Setting: 1 PR) AS46A-T2, AS46AP-T2 AS46A-T3, AS46AP-T3 2. 2. 1. 1 1. 1 1. 1 1. 1.. 2 4 6 8 1 Speed [rmin] 1 1 2 2 3 (Resolution Setting: 1 PR) 1 2 3 4 6 Speed [rmin] 1 1 2 2 3 (Resolution Setting: 1 PR) Notes: Pay attention to heat dissipation from motor and driver. In particular, remember that the motor will produce a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 212 F (1 C). [Under 176 F (7 C) is required to comply with UL or CSA standards.] When using the motor with the dedicated driver, the driver's automatic current cutbuck at motor standstill function reduces maximum holding torque by approximately %. C-22 Features C-12 System Configuration C-17 SpecificationsCharacteristics C-21
TH Geared Type Frame Size: 2.36 in. ( 6 mm) Specifications 1 Speed Torque Characteristics How to Read Speed-Torque Characteristics Page C-1 AS66-T3.6, AS66P-T3.6 AS66-T7.2, AS66P-T7.2 AS66-T1, AS66P-T1 AS66-T2, AS66P-T2. 4. 3. 2. 1.. 4. 3. 2. 1. 4 3 2 1 4 3 2 1 AS AS PLUS WO Electromagnetic Brake Electromagnetic Brake WO Electromagnetic Brake Electromagnetic Brake lb-in (N m) oz-in 2 (kg m 2 ) arc min (degrees) rmin 1 2 3 4 Speed [rmin] 1 1 2 2 3 (Resolution Setting: 1 PR) 2 4 6 8 1 Speed [rmin] 1 1 2 2 3 (Resolution Setting: 1 PR) AS66A-T3.6 AS66M-T3.6 AS66AP-T3.6 AS66MP-T3.6 11 (1.2) Maximum Holding Torque Rotor Inertia 2 J Backlash 3 (.84 ) Permissible Speed Range Gear Ratio 3.6 : 1 Resolution 4 1 PR.1 pulse lb-in (N m) 11 (1.2) Power Source Voltage Frequency Maximum Input Current Type Power Supply Input Electromagnetic Power Consumption Brake 3 Excitation Current Static Friction Torque lb-in (N m) lb. (kg) Weight 2 lb. (kg) Dimension No. AS66-T3, AS66P-T3 1 2 3 4 6 Speed [rmin] 1 1 2 2 3 (Resolution Setting: 1 PR) Common Specifications C-29 Dimensions C-32 Connection and Operation C-39 and Combinations C-3. 4. 3. 2. 1.. 4. 3. 2. 1. 4 3 2 1 4 3 2 1 AS66A-T7.2 AS66M-T7.2 AS66AP-T7.2 AS66MP-T7.2 1 1 2 2 Speed [rmin] 1 1 2 2 3 (Resolution Setting: 1 PR) AS66A-T1 AS66M-T1 AS66AP-T1 AS66MP-T1. 4. 3. 2. 1. AS66A-T2 AS66M-T2 AS66AP-T2 AS66MP-T2 4 3 2 1 UC AS66A-T3 AS66M-T3 AS66AP-T3 AS66MP-T3 22 (2.) 26 (3) 3 (3.) 3 (4) 2.2 (41-7 ) [3.1 (641-7 )] 1 (.2 ) 2 7.2 : 1. pulse 22 (2.) 1 (.2 ) 18 1 : 1.36 pulse 26 (3) 1 (.167 ) 9 2 : 1.18 pulse 3 (3.) 1 (.167 ) 6 3 : 1.12 pulse 3 (4) A For Single-Phase 1-11 VAC 1%1% 6 Hz. A C For Single-Phase 2-23 VAC 1%1% 6 Hz 3. A S For Three-Phase 2-23 VAC 1%1% 6 Hz 1. A Active when power is off 24 VDC% 6 W.2 A.4 (.62) 11 (1.2) 13.2 (1.) 1.4 (1.7) 17.7 (2.) 2.8 (1.2) [3.3 (1.)] 1.8 (.8) b AS 3 AS PLUS 4 1 The square box in the model number will contain one of the following letters to indicate the power supply voltage: A (Single-Phase 1-11 VAC), C (Single-Phase 2-23 VAC) or S (Three-Phase 2-23 VAC). 2 The values inside the brackets [ ] represents the specification for electromagnetic brake type. 3 The electromagnetic brakes are for holding the position when the power is off. They can not be used for complicated braking. Also, a separate 24 VDC %,.3 A min. power supply is required for the electromagnetic brake, along with the accessory electromagnetic brake type extension cable. 4 AS series: The resolution can be set to any one of PR, 1 PR, PR, 1 PR with the resolution select switch or resolution select switching signals. See page C-39 for details. AS PLUS: The resolution can be set from PR to 1 PR by setting parameters. How to Read Specifications Table Page C-9 Note: Direction of rotation of the motor and that of the gear output shaft are the same for unit type with reduction ratio 3.6:1, 7.2:1 and 1:1. It is opposite for 2:1 and 3:1 ratio type. 4 8 12 16 2 Speed [rmin] 1 1 2 2 3 (Resolution Setting: 1 PR) Notes: Pay attention to heat dissipation from motor and driver. In particular, remember that the motor will produce a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 212 F (1 C). [Under 176 F (7 C) is required to comply with UL or CSA standards.] When using the motor with the dedicated driver, the driver's automatic current cutbuck at motor standstill function reduces maximum holding torque by approximately %. Stepping s Introduction AS AS PLUS ASC RK CFK2 CSK PMC UMK CSK PKPV PK UI212G EMP41 EMP42 SG83J SMK Accessories Closed Loop A -Phase Microstep AC Input DC Input AC Input DC Input -Phase FullHalf DC Input AC Input DC Input C-23 & Packages 2-Phase Stepping s Controllers 2-Phase FullHalf with Indexer without with Low-Speed Synchronous s Before Using a Stepping
Stepping s TH Geared Type Frame Size: 3.4 in. ( 9 mm) Specifications 1 Speed Torque Characteristics How to Read Speed-Torque Characteristics Page C-1 AS98-T3.6, AS98P-T3.6 AS98-T7.2, AS98P-T7.2 AS98-T1, AS98P-T1 14 12 1 8 6 4 2 12 1 8 6 4 2 AS AS PLUS WO Electromagnetic Brake Electromagnetic Brake WO Electromagnetic Brake Electromagnetic Brake lb-in (N m) oz-in 2 (kg m 2 ) arc min (degrees) rmin AS98A-T3.6 AS98M-T3.6 AS98AP-T3.6 AS98MP-T3.6 39 (4.) Maximum Holding Torque Rotor Inertia 2 J Backlash 2 (.417 ) Permissible Speed Range Gear Ratio 3.6 : 1 Resolution 4 1 PR.1 pulse lb-in (N m) 39 (4.) Power Source Voltage Frequency Maximum Input Current Type Power Supply Input Electromagnetic Power Consumption Brake 3 Excitation Current Static Friction Torque lb-in (N m) lb. (kg) Weight 2 lb. (kg) Dimension No. 14 12 1 8 6 4 2 12 1 8 6 4 2 AS98A-T7.2 AS98M-T7.2 AS98AP-T7.2 AS98MP-T7.2 AS98A-T1 AS98M-T1 AS98AP-T1 AS98MP-T1 14 12 1 8 6 4 2 AS98A-T2 AS98M-T2 AS98AP-T2 AS98MP-T2 12 1 8 6 4 2 UC AS98A-T3 AS98M-T3 AS98AP-T3 AS98MP-T3 79 (9) 79 (9) 16 (12) 16 (12) 7.7 (141-7 ) [8. (161-7 )] 1 (.2 ) 2 7.2 : 1. pulse 79 (9) 1 (.2 ) 18 1 : 1.36 pulse 79 (9) 1 (.167 ) 9 2 : 1.18 pulse 16 (12) 1 (.167 ) 6 3 : 1.12 pulse 16 (12) A for Single-Phase 1-11 VAC 1%1% 6 Hz 6. A C for Single-Phase 2-23 VAC 1%1% 6 Hz 3. A S for Three-Phase 2-23 VAC 1%1% 6 Hz 1.9 A Active when power is off 24 VDC% 6 W.2 A 19.9 (2.2) 39 (4.) 39 (4.) 3 (6) 3 (6) 6.6 (3.) [7. (3.4)] 1.8 (.8) n AS 3 AS PLUS 4 1 The square box in the model number will contain one of the following letters to indicate the power supply voltage: A (Single-Phase 1-11 VAC), C (Single-Phase 2-23 VAC) or S (Three-Phase 2-23 VAC). 2 The values inside the brackets [ ] represents the specification for electromagnetic brake type. 3 The electromagnetic brakes are for holding the position when the power is off. They can not be used for complicated braking. Also, a separate 24 VDC %,.3 A min. power supply is required for the electromagnetic brake, along with the accessory electromagnetic brake type extension cable. 4 AS series: The resolution can be set to any one of PR, 1 PR, PR, 1 PR with the resolution select switch or resolution select switching signals. See page C-39 for details. AS PLUS: The resolution can be set from PR to 1 PR by setting parameters. How to Read Specifications Table Page C-9 Note: Direction of rotation of the motor and that of the gear output shaft are the same for unit type with reduction ratio 3.6:1, 7.2:1 and 1:1. It is opposite for 2:1 and 3:1 ratio type. 1 2 3 4 Speed [rmin] 1 1 2 2 3 (Resolution Setting: 1 PR) AS98-T2, AS98P-T2 1 1 2 2 Speed [rmin] 1 1 2 2 3 (Resolution Setting: 1 PR) AS98-T3, AS98P-T3 4 8 12 16 2 Speed [rmin] 1 1 2 2 3 (Resolution Setting: 1 PR) 14 12 1 8 6 4 12 1 8 6 4 14 12 1 8 6 4 12 1 8 6 4 2 2 2 2 2 4 6 8 1 Speed [rmin] 1 1 2 2 3 (Resolution Setting: 1 PR) 1 2 3 4 6 Speed [rmin] 1 1 2 2 3 (Resolution Setting: 1 PR) Notes: Pay attention to heat dissipation from motor and driver. In particular, remember that the motor will produce a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 212 F (1 C). [Under 176 F (7 C) is required to comply with UL or CSA standards.] When using the motor with the dedicated driver, the driver's automatic current cutbuck at motor standstill function reduces maximum holding torque by approximately %. C-24 Features C-12 System Configuration C-17 SpecificationsCharacteristics C-21
PN Geared Type Frame Size: 1.6 in. ( 42 mm) Specifications Only the driver conforms to the CSA standard for AS46 type motors. Speed Torque Characteristics How to Read Speed-Torque Characteristics Page C-1 AS46A-N7.2, AS46AP-N7.2 4 3 2 1 3 2 1 AS AS PLUS Maximum Holding Torque Rotor Inertia 2 J Backlash WO Electromagnetic Brake Electromagnetic Brake WO Electromagnetic Brake Electromagnetic Brake lb-in (N m) oz-in 2 (kg m 2 ) arc min (degrees) arc min (degrees) rmin 1 1 2 2 3 3 4 4 Speed [rmin] 1 1 2 2 3 3 4 4 (Resolution Setting: 1PR) AS46AA-N7.2 AS46MA-N7.2 AS46AAP-N7.2 AS46MAP-N7.2 AS46A-N1, AS46AP-N1 1 1 2 2 3 3 Speed [rmin] 1 1 2 2 3 3 4 4 (Resolution Setting: 1PR) Notes: Pay attention to heat dissipation from motor and driver. In particular, remember that the motor will produce a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 212 F (1 C). [Under 176 F (7 C) is required to comply with UL or CSA standards.] When using the motor with the dedicated driver, the driver's automatic current cutbuck at motor standstill function reduces maximum holding torque by approximately %. 4 3 2 1 3 2 1 Maximum Torque AS46AA-N1 AS46MA-N1 AS46AAP-N1 AS46MAP-N1 Angle Error 6 (.1 ) Permissible Speed Range 416 Gear Ratio 7.2 : 1 Resolution 4 1 PR. pulse lb-in (N m) 13.2 (1.) Maximum Torque lb-in (N m) 17.7 (2) Power Source Voltage Frequency Maximum Input Current Single-Phase 1-11 VAC 1%1% 6 Hz 3.3 A Type Power Supply Input Electromagnetic Power Consumption Brake 3 Excitation Current Static Friction Torque lb-in (N m) lb. (kg) Weight 2 lb. (kg) Dimension No. 13.2 (1.).37 (681-7 ) [.4 (831-7 )] 2 (.34 ) Active when power is off 24 VDC% 2 W.8 A 6.6 (.7) 1.6 (.71) [1.8 (.81)] 1.8 (.8) m AS 3 AS PLUS 4 3 1 : 1.36 pulse 2 The values inside the brackets [ ] represents the specification for electromagnetic brake type. 3 The electromagnetic brakes are for holding the position when the power is off. They can not be used for complicated braking. Also, a separate 24 VDC %,.3 A min. power supply is required for the electromagnetic brake, along with the accessory standard type extension cable. 4 AS series: The resolution can be set to any one of PR, 1 PR, PR, 1 PR with the resolution select switch or resolution select switching signals. See page C-39 for details. AS PLUS: The resolution can be set from PR to 1 PR by setting parameters. The value of Maximum Torque is for gear. For output torque for geared motor, refer to the Speed - Torque characteristics. How to Read Specifications Table Page C-9 Note: Direction of rotation of the motor and that of the gear output shaft are the same. UC Stepping s Introduction AS AS PLUS ASC RK CFK2 CSK PMC UMK CSK PKPV PK UI212G EMP41 EMP42 SG83J SMK Accessories Closed Loop A -Phase Microstep AC Input DC Input AC Input DC Input -Phase FullHalf DC Input AC Input DC Input & Packages 2-Phase Stepping s Controllers 2-Phase FullHalf with Indexer without with Low-Speed Synchronous s Before Using a Stepping Common Specifications C-29 Dimensions C-32 Connection and Operation C-39 and Combinations C-3 C-2
Stepping s PN Geared Type Frame Size: 2.36 in. ( 6 mm) Specifications UC 1 AS WO Electromagnetic Brake AS66A-N AS66A-N7.2 AS66A-N1 AS66A-N2 AS66A-N36 AS66A-N Electromagnetic Brake AS66M-N AS66M-N7.2 AS66M-N1 AS66M-N2 AS66M-N36 AS66M-N AS PLUS WO Electromagnetic Brake AS66AP-N AS66AP-N7.2 AS66AP-N1 AS66AP-N2 AS66AP-N36 AS66AP-N Electromagnetic Brake AS66MP-N AS66MP-N7.2 AS66MP-N1 AS66MP-N2 AS66MP-N36 AS66MP-N Maximum Holding Torque lb-in (N m) 3 (3.) 3 (4.) 44 (.) 7 (8.) Rotor Inertia 2 J oz-in 2 (kg m 2 ) 2.2 (41-7 ) [3.1 (641-7 )] Backlash arc min (degrees) 2 (.34 ) 3 (. ) Angle Error arc min (degrees) (.84 ) Permissible Speed Range rmin 6 416 3 12 83 6 Gear Ratio : 1 7.2 : 1 1 : 1 2 : 1 36 : 1 : 1 Resolution 4 1 PR.72 pulse. pulse.36 pulse.144 pulse.1 pulse.72 pulse lb-in (N m) 3 (3.) 3 (4.) 44 (.) 7 (8.) Maximum Torque lb-in (N m) 61 (7) 79 (9) 97 (11) 141 (16) 177 (2) 177 (2) A for Single-Phase 1-11 VAC 1%1% 6 Hz. A Power Source Voltage Frequency Maximum Input Current C for Single-Phase 2-23 VAC 1%1% 6 Hz 3. A S for Three-Phase 2-23 VAC 1%1% 6 Hz 1. A Type Power Supply Input Electromagnetic Power Consumption Brake 3 Excitation Current Static Friction Torque lb-in (N m) lb. (kg) Weight 2 lb. (kg) Dimension No. Active when power is off 24 VDC% 6 W.2 A 1.4 (1.7) 17.7 (2.) 22 (2.) 3 (4.) 3.3 (1.) [3.9 (1.7)] 3.7 (1.7) [4.3 (1.9)] 1.8 (.8), AS 3 AS PLUS 4 1 The square box in the model number will contain one of the following letters to indicate the power supply voltage: A (Single-Phase 1-11 VAC), C (Single-Phase 2-23 VAC) or S (Three-Phase 2-23 VAC). 2 The values inside the brackets [ ] represents the specification for electromagnetic brake type. 3 The electromagnetic brakes are for holding the position when the power is off. They can not be used for complicated braking. Also, a separate 24 VDC %,.3 A min. power supply is required for the electromagnetic brake, along with the accessory electromagnetic brake type extension cable. 4 AS series: The resolution can be set to any one of PR, 1 PR, PR, 1 PR with the resolution select switch or resolution select switching signals. See page C-39 for details. AS PLUS: The resolution can be set from PR to 1 PR by setting parameters. The value of Maximum Torque is for gear. For output torque for geared motor, refer to the Speed - Torque characteristics. How to Read Specifications Table Page C-9 Note: Direction of rotation of the motor and that of the gear output shaft are the same. Speed Torque Characteristics How to Read Speed-Torque Characteristics Page C-1 AS66-N, AS66P-N AS66-N7.2, AS66P-N7.2 AS66-N1, AS66P-N1 AS66-N2, AS66P-N2 AS66-N36, AS66P-N36 AS66-N, AS66P-N 2 2 1 1 2 2 1 1 2 1 1 2 1 1 1 2 3 4 6 Speed [rmin] 1 1 2 2 3 3 4 4 (Resolution Setting: 1PR) 2 2 1 1 2 2 1 1 2 1 1 2 1 1 1 1 2 2 3 3 4 4 Speed [rmin] 1 1 2 2 3 3 4 4 (Resolution Setting: 1PR) 2 2 1 1 2 2 1 1 2 1 1 2 1 1 1 1 2 2 3 Speed [rmin] 1 1 2 2 3 3 4 4 (Resolution Setting: 1PR) Maximum Torque 2 4 6 8 1 12 Speed [rmin] 1 1 2 2 3 3 4 4 (Resolution Setting: 1PR) 1 2 3 4 6 7 8 9 Speed [rmin] 1 1 2 2 3 3 4 4 (Resolution Setting: 1PR) 1 2 3 4 6 Speed [rmin] 1 1 2 2 3 3 4 4 (Resolution Setting: 1PR) Notes: Pay attention to heat dissipation from motor and driver. In particular, remember that the motor will produce a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 212 F (1 C). [Under 176 F (7 C) is required to comply with UL or CSA standards.] When using the motor with the dedicated driver, the driver's automatic current cutbuck at motor standstill function reduces maximum holding torque by approximately %. C-26 Features C-12 System Configuration C-17 SpecificationsCharacteristics C-21
PN Geared Type Frame Size: 3.4 in. ( 9 mm) Specifications Type Power Supply Input Electromagnetic Power Consumption Brake 3 Excitation Current Static Friction Torque lb-in (N m) lb. (kg) Weight 2 lb. (kg) Dimension No. Common Specifications C-29 Dimensions C-32 Connection and Operation C-39 and Combinations C-3 UC 1 AS WO Electromagnetic Brake AS98A-N AS98A-N7.2 AS98A-N1 AS98A-N2 AS98A-N36 AS98A-N Electromagnetic Brake AS98M-N AS98M-N7.2 AS98M-N1 AS98M-N2 AS98M-N36 AS98M-N AS PLUS WO Electromagnetic Brake AS98AP-N AS98AP-N7.2 AS98AP-N1 AS98AP-N2 AS98AP-N36 AS98AP-N Electromagnetic Brake AS98MP-N AS98MP-N7.2 AS98MP-N1 AS98MP-N2 AS98MP-N36 AS98MP-N Maximum Holding Torque lb-in (N m) 88 (1) 123 (14) 177 (2) 32 (37) Rotor Inertia 2 J oz-in 2 (kg m 2 ) 7.7 (141-7 ) [8. (161-7 )] Backlash arc min (degrees) 2 (.34 ) 3 (. ) Angle Error arc min (degrees) 4 (.67 ) Permissible Speed Range rmin 6 416 3 12 83 6 Gear Ratio : 1 7.2 : 1 1 : 1 2 : 1 36 : 1 : 1 Resolution 4 1 PR.72 pulse. pulse.36 pulse.144 pulse.1 pulse.72 pulse lb-in (N m) 88 (1) 123 (14) 177 (2) 32 (37) Maximum Torque lb-in (N m) 24 (28) 3 (3) 3 (3) 49 (6) 3 (6) 3 (6) A for Single-Phase 1-11 VAC 1%1% 6 Hz 6. A Power Source Voltage Frequency Maximum Input Current C for Single-Phase 2-23 VAC 1%1% 6 Hz 3. A S for Three-Phase 2-23 VAC 1%1% 6 Hz 1.9 A Active when power is off 24 VDC% 6 W.2 A 39 (4.) 7 (6.4) 79 (9) 163 (18.) 8.8 (4.) [9.7 (4.4)] 1 (4.7) [11 (.1)] 1.8 (.8). AS 3 AS PLUS 4 1 The square box in the model number will contain one of the following letters to indicate the power supply voltage: A (Single-Phase 1-11 VAC), C (Single-Phase 2-23 VAC) or S (Three-Phase 2-23 VAC). 2 The values inside the brackets [ ] represents the specification for electromagnetic brake type. 3 The electromagnetic brakes are for holding the position when the power is off. They can not be used for complicated braking. Also, a separate 24 VDC %,.3 A min. power supply is required for the electromagnetic brake, along with the accessory electromagnetic brake type extension cable. 4 AS series: The resolution can be set to any one of PR, 1 PR, PR, 1 PR with the resolution select switch or resolution select switching signals. See page C-39 for details. AS PLUS: The resolution can be set from PR to 1 PR by setting parameters. The value of Maximum Torque is for gear. For output torque for geared motor, refer to the Speed - Torque characteristics. How to Read Specifications Table Page C-9 Note: Direction of rotation of the motor and that of the gear output shaft are the same. Speed Torque Characteristics How to Read Speed-Torque Characteristics Page C-1 AS98-N, AS98P-N AS98-N7.2, AS98P-N7.2 AS98-N1, AS98P-N1 AS98-N2, AS98P-N2 AS98-N36, AS98P-N36 AS98-N, AS98P-N 8 6 4 2 8 6 4 2 7 6 4 3 2 1 7 6 4 3 Permissible Torque 2 1 1 2 3 4 6 Speed [rmin] 1 1 2 2 3 3 4 4 (Resolution Setting: 1PR) 2 4 6 8 1 12 Speed [rmin] 1 1 2 2 3 3 4 4 (Resolution Setting: 1PR) 8 6 4 2 8 6 4 2 7 6 4 3 2 1 7 6 4 3 2 1 1 1 2 2 3 3 4 4 (Resolution Setting: 1PR) 1 1 2 2 3 3 4 4 Speed [rmin] Maximum Torque 1 2 3 4 6 7 8 9 Speed [rmin] 1 1 2 2 3 3 4 4 (Resolution Setting: 1PR) 8 6 4 2 8 6 4 2 7 6 4 3 2 1 7 6 4 3 2 1 1 1 2 2 3 3 4 4 (Resolution Setting: 1PR) 1 1 2 2 3 Speed [rmin] Maximum Torque 1 2 3 4 6 Speed [rmin] 1 1 2 2 3 3 4 4 (Resolution Setting: 1PR) Notes: Pay attention to heat dissipation from motor and driver. In particular, remember that the motor will produce a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 212 F (1 C). [Under 176 F (7 C) is required to comply with UL or CSA standards.] When using the motor with the dedicated driver, the driver's automatic current cutbuck at motor standstill function reduces maximum holding torque by approximately %. Stepping s Introduction AS AS PLUS ASC RK CFK2 CSK PMC UMK CSK PKPV PK UI212G EMP41 EMP42 SG83J SMK Accessories Closed Loop A -Phase Microstep AC Input DC Input AC Input DC Input -Phase FullHalf DC Input AC Input DC Input C-27 & Packages 2-Phase Stepping s Controllers 2-Phase FullHalf with Indexer without with Low-Speed Synchronous s Before Using a Stepping
Stepping s HG Geared Type Frame Size: 1.6 in. ( 42 mm), 2.36 in. ( 6 mm), 3.4 in. ( 9 mm) Specifications Only the driver conforms to the CSA standard for AS46 type motors. UC 1 AS AS PLUS Maximum Holding Torque Rotor Inertia 2 J Permissible Speed Range Gear Ratio Resolution 4 Maximum Torque Lost Motion (Load Torque) Power Source WO Electromagnetic Brake Electromagnetic Brake WO Electromagnetic Brake Electromagnetic Brake AS46AA2-H AS46MA2-H AS46AA2-H1 AS46MA2-H1 AS66A2-H AS66M2-H AS66A2-H1 AS66M2-H1 AS98A-H AS98M-H AS98A-H1 AS98M-H1 AS46AAP2-H AS46AAP2-H1 AS66AP2-H AS66AP2-H1 AS98AP-H AS98AP-H1 AS46MAP2-H AS46MAP2-H1 AS66MP2-H AS66MP2-H1 AS98MP-H AS98MP-H1 lb-in (N m) 3 (3.) 44 (.) 48 (.) 7 (8.) 22 (2) 32 (37) oz-in 2 (kg m 2 ).46 (81-7 ) [. (11-7 )] 2.4 (441-7 ) [3.3 (991-7 )] 8.8 (161-7 ) [9.6 (1791-7 )] rmin 1 PR lb-in (N m) lb-in (N m) arc min Voltage Frequency Maximum Input Current Type Power Supply Input Electromagnetic Power Consumption Brake 3 Excitation Current Static Friction Torque lb-in (N m) lb. (kg) Weight 2 lb. (kg) Dimension No. 7 : 1.72 pulse 2 W.8 A 3 1 : 1.36 pulse Single-Phase 1-11 VAC 1%1% 6 Hz 3.3 A 7 : 1.72 pulse 3 1 : 1.36 pulse Single-Phase 1-11 VAC 1%1% 6 Hz A Single-Phase 2-23 VAC 1%1% 6 Hz 3 A Three-Phase 2-23 VAC 1%1% 6 Hz 1. A Active when power is off 24 VDC% 6 W.2 A 7 : 1.72 pulse 6 W.2 A 3 1 : 1.36 pulse 3 (3.) 44 (.) 48 (.) 7 (8.) 22 (2) 32 (37) 73 (8.3) 97 (11) 19 (18) 24 (28) 3 (3) 48 () Max. 1. Max. 1. Max..7 Max..7 Max. 1. Max. 1. (.16 N m) (.2 N m) (.28 N m) (.39 N m) (1.2 N m) (1.2 N m) Single-Phase 1-11 VAC 1%1% 6 Hz 6 A Single-Phase 2-23 VAC 1%1% 6 Hz 3. A Three-Phase 2-23 VAC 1%1% 6 Hz 1.9 A 1.4 (1.7) 22 (2.) 24 (2.7) 3 (4) 11 (12.) 163 (18.) 1. (.7) [1.8 (.8)] 3.1 (1.4) [3.6 (1.6)] 8.6 (3.9) [9. (4.3)] 1.8 (.8) 1 2 AS 3 AS PLUS 4 1 The square box in the model number will contain one of the following letters to indicate the power supply voltage: A (Single-Phase 1-11 VAC), C (Single-Phase 2-23 VAC) or S (Three-Phase 2-23 VAC). 2 The values inside the brackets [ ] represents the specification for electromagnetic brake type. 3 The electromagnetic brakes are for holding the position when the power is off. They can not be used for complicated braking. Also, a separate 24 VDC %,.3 A min. power supply is required for the electromagnetic brake, along with the accessory electromagnetic brake type extension cable. For motor frame size 1.6 in. (42 mm), use the standard type extension cable. 4 AS series: The resolution can be set to any one of PR, 1 PR, PR, 1 PR with the resolution select switch or resolution select switching signals. See page C-39 for details. AS PLUS: The resolution can be set from PR to 1 PR by setting parameters. How to Read Specifications Table Page C-9 Note: The inertia represents a sum of the inertia at the harmonic gear converted to a motor shaft value, and the rotor inertia. Direction of rotation of the motor and that of the gear output shaft are the opposite. Speed Torque Characteristics How to Read Speed-Torque Characteristics Page C-1 AS46A2-H, AS46AP2-H AS662-H, AS66P2-H AS98-H, AS98P-H Torque[N. m] AS46A2-H1, AS46AP2-H1 AS662-H1, AS66P2-H1 AS98-H1, AS98P-H1 Torque[N. m] 12 1 8 6 4 2 12 1 8 6 4 Torque[lb-in] Torque[lb-in] 1 8 6 4 2 1 8 6 4 Maximum Torque 1 2 3 4 6 7 Speed [rmin] 1 2 3 4 (Resolution Setting: 1 PR) Maximum Torque Torque [N. m] Torque [N. m] 3 2 2 1 1 3 2 2 1 1 2 2 1 1 2 2 1 1 Maximum Torque 1 2 3 4 6 7 Speed [rmin] 1 2 3 4 (Resolution Setting: 1 PR) Maximum Torque Torque [Nm] Torque [Nm] 6 4 3 2 1 6 4 3 2 4 3 2 1 4 3 2 Maximum Torque 1 2 3 4 6 7 Speed [rmin] 1 2 3 4 (Resolution Setting: 1 PR) Maximum Torque 2 2 1 1 1 1 2 2 3 3 Speed [rmin] 1 2 3 4 (Resolution Setting: 1 PR) 1 1 2 2 3 3 Speed[rmin] 1 2 3 4 (Resolution Setting: 1 PR) 1 1 2 2 3 3 Speed [rmin] 1 2 3 4 (Resolution Setting: 1 PR) Notes: Pay attention to heat dissipation from motor and driver. In particular, remember that the motor will produce a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 212 F(1 C). [Under 176 F(7 C) is required to comply with UL or CSA standards.] In order to prevent fatigue of the gear grease in the harmonic gear, keep the temperature of the gear case under 18 F (7 C). When using the motor with the dedicated driver, the driver's automatic current cutbuck at motor standstill function reduces maximum holding torque by approximately %. C-28 Features C-12 System Configuration C-17 SpecificationsCharacteristics C-21
Common Specifications AS Series Speed and Position Control Command Pulse Train Input Maximum Input Pulse Frequency 2 khz (When the pulse duty is %) Protective Functions Overheat, Overload, Overvoltage, Speed Error, Overcurrent, OverSpeed, EEPROM Data Error, Sensor Error, System Error Photocoupler Input (optically isolated), Equivalent Input Impedance : 22 Ω, Input Current 72 ma Input Signals [Pulse Signal (Negative logic pulse input), Rotation Direction Signal, All Windings Off Signal, Alarm Clear Signal, Resolution Select Signal] Photocoupler, Open-Collector Output, External use condition: 3 VDC maximum, 1 ma Maximum (Positioning Completion Signal, Alarm Signal, Excitation Timing Signal, ASG BSG Signal) Output Signals Line Output: Equivalent of 26C31 (Timing Signal, ASG BSG Signal) AS PLUS Positioning Control Operating Modes Mechanical Home Hunting Function General Specifications Insulation Class Insulation Resistance Dielectric Strength Operating Environment (In Operation) Ambient Temperature Ambient Humidity Atmosphere Static Angle Error Shaft Runout Concentricity Perpendicularity Incremental (relative distance ) modeabsolute (absolute positioning) mode. One-shot operationlinked operation (A maximum of 4 profiles can be linked) Maximum Operating Ranges Steps: 838868838867 (1 each) Operating speed: 1 Hz, Hz ( khz) Accelerationdeceleration rate : 1, msec Indexing (Positioning operation) Scan (Continuous operation) Linked Profile Return (Return to electrical home position) Home Operation (Return to mechanical home position) Home hunting operation is performed from the entire range using mechanical position detection signals (LS, LS, HOMELS). Setting function for speed-filter value Current setting function Electronic gear function Other Functions Setting function for direction of motor rotation Emergency stop function Over-travel function Software over-travel function Alarm trace-back function Daisy-chain connections Input Signals AC Photocoupler input Control inputs: 24 VDC, input resistance 4.7 kω (XX7, START, E-STOP, HOMELS, LS, LS, SENSOR) Output Signals PhotocouplerOpen Collector Output External operating conditions; 3 VDC or below, 48 ma (YY7, ALM) Communication Standard: RS-232C conformity Transmit system: Asynchronous communication, NRZ (Non Return to Zero), Full duplex Terminal Emulation User Program Data length: 8 bits, 1 stop bit, No parity Transmit speed: 96 bps Connector specification: Modular (4 wires, 4 pins) Pin arrangement: RS232 Compatible Protocol: TTY (CRLF) Maximum number of programs: 14 programs (including STARTUP program) Maximum commands per 1 line: 1 command (Single state) The rates of acceleration and deceleration can be set separately. Class B [266 F (13 C)] [ULCSA: Recognized as class A 221 F(1 C )] 1 MΩ minimum when measured by a VDC megger between the following places: Frame-Windings Frame-Electromagnetic brake windings Sufficient to withstand the following for one minute: Frame-Windings 1. kv (1. kv for AS46) Hz Frame-Electromagnetic brake windings 1. kv Hz C C (32 F122 F), nonfreezing This is the value after rated operation at normal temperature and normal humidity. 8% or less (noncondensing) No corrosive gases, dust, water or oil. minutes.2 inch (. mm) T.I.R..3 inch (.7 mm) T.I.R..3 inch (.7 mm) T.I.R. Maximum lines per program: 64 lines Maximum program variables: 26 variables (AZ) 1 MΩ minimum when measured by a VDC megger between the following places: Frame-Power supply input terminal IO-Power supply input terminal Sufficient to withstand the following for one minute: Frame-Power supply input terminal 1. kv Hz IO-Power supply input terminal 2.3 kv (3. kv for 2-23 VAC) Hz: AS 1.8 kv Hz: AS PLUS AS PLUS: C4 C (32 F14 F) AS: C C (32 F122 F), nonfreezing T.I.R.(Total Indicator Reading) : Refers to the total dial gauge reading when the measurement section is rotated 1 revolution centered on the reference axis center. Note: Do not measure insulation resistance or perform the dielectric strength test while the motor and driver are connected..7 A. A Stepping s Introduction AS AS PLUS ASC RK CFK2 CSK PMC UMK CSK PKPV PK UI212G EMP41 EMP42 SG83J SMK Accessories Closed Loop A -Phase Microstep AC Input DC Input AC Input DC Input -Phase FullHalf DC Input AC Input DC Input & Packages 2-Phase Stepping s Controllers 2-Phase FullHalf with Indexer without with Low-Speed Synchronous s Before Using a Stepping.7 A Common Specifications C-29 Dimensions C-32 Connection and Operation C-39 and Combinations C-3 C-29
Stepping s Load Torque Input Current Characteristics This is the relationship between the load torque and driver input current at each speed when the motor is operated. From these characteristics, the current capacity required when used for multiple axes can be estimated. For the Geared Type, calculate the power capacity in terms of the speed and the torque at the motor shaft. shaft speed = Gear output shaft speedgear ratio [rmin] shaft torque = Gear output shaft torque Gear ratio [oz-in (N m)] AS46A, AS46AP AS66, AS66P AS69, AS69P Input Current [A] 3. 2. 2. 1. 1.. 3 rmin 2 rmin 1 rmin rmin Input Current [A] Three-Phase 2-23 VAC Input 4 3 2 1 2 rmin 3 rmin 1 rmin rmin 1 1 2 Load Torque [oz-in] 1.3.6.9 1.2 1. 2 3 4 Load Load Torque [oz-in].1.2.3.4 Load Torque [N m] 1. 1.2.9.6.3 Single-Phase 2-23 VAC Input 2. 2. 1. 1.. Single-Phase 1-11 VAC Input Input Current [A] Three-Phase 2-23 VAC Input 1.8 1. 1.2.9.6.3 Single-Phase 2-23 VAC Input 3. 2. 2. 1. 1.. Single-Phase 1-11 VAC Input 6 2 rmin 3 rmin 1 rmin 4 rmin 3 2 1 1 2 3 Load Torque [oz-in]. 1. 1. 2. 2. Load AS98, AS98P Input Current [A] Three-Phase 2-23 VAC Input 1.8 1. 1.2.9.6.3 Single-Phase 2-23 VAC Input 3. 2. 2. 1. 1.. Single-Phase 1-11 VAC Input 6 4 3 2 1 3 rmin 2 rmin 1 rmin rmin 1 2 3 Load Torque [oz-in]. 1. 1. 2. 2. Load AS911A, AS911AP Input Current [A] Three-Phase 2-23 VAC Input 3.6 3. 2.4 1.8 1.2.6 Single-Phase 1-11 VAC Input Single-Phase 2-23 VAC Input 6 4 3 3 2 rmin 1 rmin rmin rmin 3 rmin 2 rmin 1 rmin rmin 2 Single-Phase 1-11 VAC Input 1 Single-PhaseThree-Phase 2-23 VAC Input 1 2 3 4 Load Torque [oz-in] 1. 2. 3. 4. Load C-3 Features C-12 System Configuration C-17 SpecificationsCharacteristics C-21
Permissible Overhung Load and Permissible Thrust Load AS46 AS66 AS69 AS98 AS911A AS46-T3.6 AS46-T7.2 AS46-T1 AS46-T2 AS46-T3 AS66-T3.6 AS66-T7.2 AS66-T1 AS66-T2 AS66-T3 AS98-T3.6 AS98-T7.2 AS98-T1 AS98-T2 AS98-T3 AS46-N7.2 AS46-N1 AS66-N AS66-N7.2 AS66-N1 AS66-N2 AS66-N36 AS66-N AS98-N AS98-N7.2 AS98-N1 AS98-N2 AS98-N36 AS98-N AS462-H AS462-H1 AS662-H AS662-H1 AS98-H AS98-H1 Unit = Upper values: lb.lower values: N Overhung Load Distance from Shaft End [] Thrust Load.2 ().39 (1).9 (1).79 (2) 4..6 7.6 11.7 2 2 34 2 Keep thrust loads 14.1 16.8 21 29 42 below the weight 63 7 9 13 19 of the motor used. 8 6 76 87 18 26 29 34 39 48 2.2 1 1.7 7 49 22 22 1 4 2 6 2 74 33 18 48 18 48 191 8 2 93 23 1 4 18 72 32 24 19 3.1 14 18 8 6 2 27 12 49 22 6 27 81 36 117 2 121 4 21 94 23 13 26 116 49 22 83 37 2 11 4. 2 22 1 67 3 33 1 6 2 67 3 9 4 123 13 6 23 1 2 11 29 13 6 27 99 44 27 123 6.7 3 27 12 78 3 42 19 63 28 76 34 11 4 13 8 13 68 24 111 27 122 31 138 81 36 123 29 131 33 1 9 4 72 32 87 39 117 2 139 62 177 79 26 119 29 13 33 149 114 1 162 72 31 141 These values are common to the AS Series, the AS PLUS Series and all electromagnetic brake models. 3.3 1 9 4 22 1 67 3 49 22 11 4 29 13 Stepping s Introduction AS AS PLUS ASC RK CFK2 CSK PMC UMK CSK PKPV PK UI212G EMP41 EMP42 SG83J SMK Accessories Closed Loop A -Phase Microstep AC Input DC Input AC Input DC Input -Phase FullHalf DC Input AC Input DC Input & Packages 2-Phase Stepping s Controllers 2-Phase FullHalf with Indexer without with Low-Speed Synchronous s Before Using a Stepping Common Specifications C-29 Dimensions C-32 Connection and Operation C-39 and Combinations C-3 C-31
Stepping s Dimensions Scale 14, Unit = Standard Type z Frame Size: 1.6 in. (42 mm).79.4 (21).8 (2).91.1 (1.2).1969. (.12 ).8661.8 (22.21 ) 71R (MOLEX).6 (1.2) Electromagnetic Brake Leads 24 inch (6 mm) Length AWG 26 Cable.28 (7) 16 inch (4 mm) Length.177.6 (4..1) 1.6 (42) 1.22.4 (31.1) 1.22 (31) M3P.,.18 (4.) Deep Min.4 Places.49 (12.) 1.22.4 (31.1) AS46AA AS46AAP AS46MA AS46MAP ASM46AA ASM46MA 2.6 (64.9) 3.74 (94.9) Weight lb. (kg) 1.1 (.) 1.3 (.6) DXF B192 B193 x Frame Size: 2.36 in. (6 mm).6 (1.2).28 (7).94.4 (241).6 (1.).787.1 (2.2) A A'.31.6 (8.1 ) 1.4173.1 (36.2 ) 71R (MOLEX) Cable.28 (7) 16 inch (4 mm) Length 2.36 (6) 1.969.14.177 (4.) 4 Holes (.3) 1.22 (31) 1.969.14 (.3).49 (12.) 9.29.6 (7..1).29.6 (7..1) Shaft Cross Section A-A' AS66A AS66A AS66M AS66M AS69A AS69A AS69M AS69M P P P P ASM66A ASM66M ASM69A ASM69M 2. (63.6) 3.72 (94.6) 3.88 (98.6).1 (129.6) Weight lb. (kg) 1.9 (.8) 2.4 (1.1) 3.1 (1.4) 3.6 (1.6) DXF B194 B19 B272 B273 Enter the power supply voltage A, C or S in the box ( ) within the model number. C-32 Features C-12 System Configuration C-17 SpecificationsCharacteristics C-21
c Frame Size: 3.3 in. (8 mm).6 (1.2) AS98A AS98A P AS98M AS98M P AS911A AS911A P TH Geared Type v Frame Size: 1.6 in. (42 mm).79.4 (21).14 (3.).47 (12) Cable.28 (7) 16 inch (4 mm) Length.6 (1.2) 1.46.4 (371).8 (2) Electromagnetic Brake Leads 24 inch (6 mm) Length AWG 26.984.1 (2.2) A 71R (MOLEX) Cable.28 (7) 16 inch (4 mm) Length.217.6 (..1).2362. (6.12 ).31.2 (8.).6693.7 (17.18 ) 71R(MOLEX) Enter the gear ratio in the box () within the model number. A'.12.7 (14.18 ) 2.3622.12 (6.3 ) Enter the power supply voltage A, C, or S in the box ( AS46AA-T AS46AAP-T AS46MA-T AS46MAP-T ASM98A ASM98M ASM911A ASM46AA-T ASM46MA-T 3.3 (8) 2.76.14 (7.3) 1.72.2 1.22 (31) 3.1 (8) 4.33 (11) (43.8.) 1.6 (42) M4P.7,.31 (8) Deep Min. 4 Places 1.22 (31).26 (6.) 4 Holes 2.76.14 (7.3).49 (12.) ) within the model number. Gear Ratio 3.6, 7.2, 1, 2, 3.16 (131).49 (12.) 3.76 (9.4) 9.12.6 (13.1) Weight lb. (kg) 4. (1.8) 4.8 (2.2) 6.6 (3.) 4.94 (12.4).12.6 (13.1) Shaft Cross Section A-A' DXF B196 B23 B264 Weight lb. (kg) 1.4 (.6) 1.7 (.7) DXF B199 B2 Stepping s Introduction AS AS PLUS ASC RK CFK2 CSK PMC UMK CSK PKPV PK UI212G EMP41 EMP42 SG83J SMK Accessories Closed Loop A -Phase Microstep AC Input DC Input AC Input DC Input -Phase FullHalf DC Input AC Input DC Input & Packages 2-Phase Stepping s Controllers 2-Phase FullHalf with Indexer without with Low-Speed Synchronous s Before Using a Stepping Common Specifications C-29 Dimensions C-32 Connection and Operation C-39 and Combinations C-3 C-33
Stepping s b Frame Size: 2.36 in. (6 mm) 1.26.4 (321).14 (3.).47 (12).276.6 (7.1).31.6 (8.1 ).39.2 (1.).9.8 (23.21 ) 2.36 (6) M4P.7,.31 (8) Deep Min. 4 Places.6 (1.2) Cable.28 (7) 16 inch (4 mm) Length 71R(MOLEX) 2.76.2 (7.) 1.22 (31).49 (12.) AS66A AS66A AS66M AS66M -T P-T -T P-T ASM66A ASM66M -T -T Gear Ratio 3.6, 7.2, 1, 2, 3 4.28 (18.6).6 (143.6) Weight lb. (kg) 2.8 (1.2) 3.3 (1.) DXF B21 B22 Enter the gear ratio in the box () within the model number. Enter the power supply voltage A, C or S in the box ( ) within the model number. n Frame Size: 3.4 in. (9 mm) 3.3 (8).6 (1.2) 1.26.4 (321).14 (3.).98 (2) A.4724.7 (12.18 ).71.2 (18.) 1.378.1 (3.2 ) Cable.28 (7) 16 inch (4 mm) Length A' 71R(MOLEX) 3.4 (9) M8 P1.2,.9 (1) Deep Min. 4 Places 4.9.2 (14.) 1.22 (31).49 (12.).17.12 (4.3).98.4 (2..1 ) Shaft Cross Section A-A'.984.8 (2.2).17.12 (4.3) Parallel Key (Included).17.12 (4.3) AS98A AS98A AS98M AS98M -T P-T -T P-T ASM98A ASM98M -T -T Gear Ratio 3.6, 7.2, 1, 2, 3.69 (144.) 7.7 (19.) Weight lb. (kg) 6.6 (3.) 7. (3.4) DXF B23 B236 Enter the gear ratio in the box () within the model number. Enter the power supply voltage A, C or S in the box ( ) within the model number. C-34 Features C-12 System Configuration C-17 SpecificationsCharacteristics C-21
PN Geared Type m Frame Size: 1.6 in. (42 mm).6 (1.2) Electromagnetic Brake Leads 24 inch (6 mm) Length AWG 26.98.4 (21).24 (6).71 1.6 (18) (42) A A'.3937.6 (1.1 ) 1.483.1 (37.6.2 ) Cable.28 (7)16 inch (4 mm) Length 71R(MOLEX), Frame Size: 2.36 in. (6 mm).6 (1.2) AS46AA-N AS46AAP-N AS46MA-N AS46MAP-N Enter the gear ratio in the box () within the model number. AS66A AS66A AS66A AS66A AS66M AS66M AS66M AS66M 1..4 (381).24 (6).98 (2) Cable.28 (7) 16 inch (4 mm) Length -N P-N -N P-N -N P-N -N P-N ASM46AA-N ASM46MA-N A A'.4724.7 (12.18 ) 71R(MOLEX) ASM66A ASM66A ASM66M ASM66M 1.467.1 (37.2 ) -N -N -N -N Gear Ratio 7.2, 1 2.76.2 (7.) Gear Ratio, 7.2, 1 2, 36,, 7.2, 1 2, 36, 1.89.12 (48.3) 1.22 (31).49 (12.) 2.36 (6) MP.8,.39 (1) Deep Min. 4 Places 1.22 (31) 3.81 (96.9).49 (12.) 4.24 (17.6) 4.87 (123.6) Enter the gear ratio in the box () within the model number. Enter the power supply voltage A, C or S in the box ( ) within the model number. M4 P.7.31 (8) Deep Min. 4 Places. (126.9).98.4 (2..1 ).61 (142.6) 6.24 (18.6).787.79 (18.2).17.12 (4.3) Weight lb. (kg) 1.6 (.71) 1.8 (.81) Shaft Cross Section A-A' Weight lb. (kg) 3.3 (1.) 3.7 (1.7) 3.9 (1.7) 4.3 (1.9).1181.1 (3.2) Parallel Key (Included) DXF B36 B37.984.8 (2.2).1181.1 (3.2).17.12 (4.3) Parallel Key (Included) DXF B226 B228 B227 B229.1181.11.2 (3.4.29).71.4 (1.8.1 ) Shaft Cross Section A-A'.17.12 (4.3) Stepping s Introduction AS AS PLUS ASC RK CFK2 CSK PMC UMK CSK PKPV PK UI212G EMP41 EMP42 SG83J SMK Accessories Closed Loop A -Phase Microstep AC Input DC Input AC Input DC Input -Phase FullHalf DC Input AC Input DC Input & Packages 2-Phase Stepping s Controllers 2-Phase FullHalf with Indexer without with Low-Speed Synchronous s Before Using a Stepping Common Specifications C-29 Dimensions C-32 Connection and Operation C-39 and Combinations C-3 C-3
Stepping s. Frame Size: 3.4 in. (9 mm) 3.3 (8).24 (6) 1.8.4 (471).98 (2) A A'.787.7 (18.18 ) 2.416.12 (61.3 ) 3.4 (9) M8P1.2,.9 (1) Deep Min. 4 Places 4.9.2 (14.).2362.12 (6.3).138.4 (3..1 ).984.8 (2.2).2362.12 (6.3 ).2362.12 (6.3).6 (1.2) Cable.28 (7) 16 inch (4mm) Length 71R(MOLEX) 1.22 (31).49 (12.) Shaft Cross Section A-A' Parallel Key (Included) AS98A AS98A AS98A AS98A AS98M AS98M AS98M AS98M -N P-N -N P-N -N P-N -N P-N ASM98A ASM98A ASM98M ASM98M -N -N -N -N Gear Ratio, 7.2, 1 2, 36,, 7.2, 1 2, 36,.1 (14) 6.42 (163) 7.2 (191) 8.43 (214) Weight lb. (kg) 8.8 (4.) 1 (4.7) 9.7 (4.4) 11 (.1) DXF B23 B231 B239 B24 Enter the gear ratio in the box () within the model number. Enter the power supply voltage A, C or S in the box ( ) within the model number. HG Geared Type Frame Size: 1.6 in. (42 mm).6 (1.2).8 (2).98.4 (21).2 (.).71 (18) A A'.3937.6 (1.1 ) 1.4(26.)(Max. dia. of rotating part) 1.483.1 (37.6.2 ) Cable.28 (7)16 inch (4 mm) Length 71R(MOLEX).87.8 (2..2) 6 1.89.12 (48.3) 1.6 (42) 1.22 (31).49 (12.) M4 P.7.31 (8) Deep Min. 4 Places M3 P..2 () Deep Min. 6 Places.47 (1.2) 9.787.71 (18.1181.18).1 (3.2).1181.1 (3.2) Parallel Key (Included).1181.2.11 (3.4.29).71.4 (1.8.1 ) Shaft Cross Section A-A' Electromagnetic Brake Leads 24 inch (6 mm) Length AWG 26 The position of the key slot on the output shaft [.3937 (1)] relative to the screw holes on a maximum diameter of 1.4 (26.) on the rotating part is arbitrary. AS46AA2-H AS46AAP2-H AS46MA2-H AS46MAP2-H ASM46AA2-H ASM46MA2-H Gear Ratio, 1 3.81 (96.9). (126.9) Weight lb. (kg) 1. (.7) 1.8 (.8) DXF B38 B39 Enter the gear ratio in the box () within the model number. C-36 Features C-12 System Configuration C-17 SpecificationsCharacteristics C-21
1 Frame Size: 2.36 in. (6 mm).6 (1.2) AS66A AS66A AS66M AS66M 2 Frame Size: 3.4 in. (9 mm).6 (1.2).8 (2) 1.12.4 (28.1).6 (1.).79 (2) Cable.28(7)16 inch (4 mm) Length A A' 71R(MOLEX).9(1) 1.32(33.) (Max. dia. of rotating part) 2.126.12 (4.3 ) 1.7. (41.2).12(3).14 (3.) 1.1 (28).98(2) Cable.28(7)16 inch (4 mm) Length A A'.787.7 (18.18 ) 71R(MOLEX).87(22) 1.3.8 (2..2) 1.97() 6 2.76.2 (7.) Enter the gear ratio in the box()within the model number. Enter the power supply voltage A, C or S in the box ( ) within the model number. AS98A AS98A AS98M AS98M 2-H P2-H 2-H P2-H -H P-H -H P-H ASM66A ASM66M 2-H 2-H ASM98A ASM98M -H -H.4724.7 (12.18 ) Gear Ratio, 1 Gear Ratio, 1 4.8 (13.6) 3.2677.14 (83.3) 4.9.2 (14.) 6.44 (163.) Enter the gear ratio in the box()within the model number. Enter the power supply voltage A, C or S in the box ( ) within the model number. 2.36 (6) 1.22 (31).49 (12.) M P.8.39 (1) Deep Min. 4 Places M4 P.7.24 (6) Deep Min. 6 Places.7874.83 (2.21).6 (1.6) 3.4 (9).362 (9.2)4 Holes 9.9 (2.4) 9.17.12 (4.3) Parallel Key (Included).9843.83 (2.21).2362.12 (6.3).17.12 (4.3) Parallel Key (Included).98.4 (2..1 ).2362.12 (6.3) Shaft Cross Section A-A'.17.12 (4.3) The position of the key slot on the output shaft [.4724 (12)] relative to the screw holes on a maximum diameter of 1.32 (33.) on the rotating part is arbitrary..46 (138.6) 8.44 (214.) Weight lb. (kg) 3.1 (1.4) 3.6 (1.6) Weight lb. (kg) 8.6 (3.9) 9. (4.3) DXF B31 B311 DXF B218 B241.2362.12 (6.3).138.4 (3..1 ) Shaft Cross Section A-A' Stepping s Introduction AS AS PLUS ASC RK CFK2 CSK PMC UMK CSK PKPV PK UI212G EMP41 EMP42 SG83J SMK Accessories Closed Loop A -Phase Microstep AC Input DC Input AC Input DC Input -Phase FullHalf DC Input AC Input DC Input & Packages 2-Phase Stepping s Controllers 2-Phase FullHalf with Indexer without with Low-Speed Synchronous s Before Using a Stepping Common Specifications C-29 Dimensions C-32 Connection and Operation C-39 and Combinations C-3 C-37
Stepping s 3 AS Series.24 (6).28 (134).39 (1) Weight: 1.8 lb. (.8 kg) d B197 3. (89).98 (2).3 (9) M3 P. 7 Places.91 (23) 1.77 (4).3.12 4.72 (12) 1.61 Max..98 (9) (3) (41 Max.) (2) M4.43 (11).67 (17).24 (6.2).3 (7.62) Pitch.2 Max. ( Max.) M3 3 Places.39 (1).91 (1) 7.9 (18) 7.87 (2) Mounting Bracket (2 pieces, included).39 (1).39 (1).98 (2).177 (4.).12 (3) 1.69 (43).98 (2) 2.138 (3.) Countersink 1.77 (4) IO Connector (included) Connector: 436-3619 (MOLEX) Cover Assembly: 4331-361 (MOLEX) 4 AS PLUS.24 (6).28 (134).39 (1) Weight: 1.8 lb. (.8 kg) d B298 3. (89).98 (2).3 (9) M3 P. 7 Places.91 (23) 1.77 (4).3.12 4.72 (12) 1.61 Max..98 (9) (3) (41 Max.) (2) M4.43 (11).67 (17).24 (6.2).3 (7.62) Pitch.2 Max. ( Max.) M3 3 Places.39 (1).91 (1) 7.9 (18) 7.87 (2) Mounting Bracket (2 pieces, included).39 (1).39 (1).98 (2).177 (4.).12 (3) 1.69 (43).98 (2) 2.138 (3.) Countersink 1.77 (4) IO Connector (included) Connector (36 pin): 436-3619 (MOLEX) for CN4 Cover Assembly (36 pin): 4331-361 (MOLEX) for CN4 Connector (2 pin): 436-219 (MOLEX) for CN Cover Assembly (2 pin): 4331-21 (MOLEX) for CN C-38 Features C-12 System Configuration C-17 SpecificationsCharacteristics C-21
Connection and Operation AS Series x Function Switches V.FIL Connector Power Input Terminals Protective Earth Terminal Velocity Filter Adjustment Switch z x c v b This switch is used to make adjustments when a smooth start-stop or smooth motion at low speed is required. Speed Set to F z Signal Monitor Display LED Indicators Indication OPERATION ALARM Color Green Red Function Power Supply Indication Alarm Indication When Activated Lights when AC power is on. Blinks when protection functions are activated. Alarm Blink Count 1 2 3 4 6 Protection Function Overheat Overload Overvoltage Speed error Overcurrent Overspeed When Activated The temperature of the driver, s internal heat sink rises to approximately 18 F (8 C). The motor is operated continuously over seconds under a load exceeding the maximum torque. The primary voltage of the driver, s inverter exceeds the permissible value. The motor cannot accurately follow at the indicated pulse velocity. An excessive current has flowed to the driver, s inverter. The motor shaft velocity exceeds rmin. (Except for Gear Type) 7 EEPROM Data Error The EEPROM has a fault. 8 No Blink Sensor Error System Error The power source turns it on when the motor cable is not connected to the driver. The driver has a fatal error. Time InputOutput Signals Indication Switch Name Function Connector Pin Number InputOutput This function is for selecting the motor resolution. For each geared type, the resolution of the gears output shaft is 1 2 External Power Input 1gear ratio. 3 1 Resolution Select Switch 1 1 1 pulses (.36 step) X1 X1 9 1 1 1 pulses (.36 step) 1 1 pulses (.72 step) Input Signal 11 1 pulses (.72 step) 12 The settings of this switch are compatible with the following two 13 1P2P Pulse Input Mode Switch pulse input modes: 1P for the 1-pulse input mode 14 (step and direction), 2P for the 2-pulse input mode (CW, CCW). 1 16 Note: Output Signal 17 Always turn the power off before switching resolution or pulse input, and turn it ON again after you have 18 made the change. 19 If the Resolution Select switch is set to 1, it cannot control the resolution select by input terminal. CN4 It is always 1. 2 21 Input Signal c Current Adjustment Switch 22 Indication Switch Name Function 23 CURRENT Current Adjustment Switch 24 The motor running current can be lowered to suppress temperature rise in the motor and driver, or lower operating 2 current in order to allow a margin for motor torque. 26 Output Signal 27 v Velocity Filter Adjustment Switch 28 Indication Switch Name Function 29 3 The difference in characteristics 31 Set to made by the velocity filter. 32 33 Input Signal 34 Signal VccV 1 GND Vcc24V 1 CCW (DIR) CCW (DIR) CW (PLS) CW (PLS) BSG1 GND ASG1 GND BSG2 BSG2 ASG2 ASG2 ACL ACL TIM1 GND ALARM ALARM TIM2 TIM2 END END 1 1 C.OFF C.OFF Name of Signal Power supply for control signal CCW Pulse(Rotation Direction) 2 CW Pulse(Pulse) 2 B-Phase Pulse Output (Open Collector) A-Phase Pulse Output (Open Collector) B-Phase Pulse Output (Line ) A-Phase Pulse Output (Line ) Alarm Clear Timing (Open Collector) Alarm Timing (Line ) Positioning Completion Resolution Select All Windings Off 1 Do not input VDC and 24 VDC at the same time. 2 Value in parentheses represents the setting 1-pulse input mode. The setting at shipment is the 2-pulse input mode. Stepping s Introduction AS AS PLUS ASC RK CFK2 CSK PMC UMK CSK PKPV PK UI212G EMP41 EMP42 SG83J SMK Accessories Closed Loop A -Phase Microstep AC Input DC Input AC Input DC Input -Phase FullHalf DC Input AC Input DC Input & Packages 2-Phase Stepping s Controllers 2-Phase FullHalf with Indexer without with Low-Speed Synchronous s Before Using a Stepping Common Specifications C-29 Dimensions C-32 Connection and Operation C-39 and Combinations C-3 C-39