Stepping Motors RoHS-Compliant Stepping Motor and Package RBK Series dditional Information Technical reference Page F-1 Safety standards Page G- The RBK Series is a motor and driver package (Terminal box type motor only) consisting of a -phase stepping motor and DC input List of safety standard approved products (Model, Standards, File No., Certification Body) Page G-11 microstep driver. Includes Oriental Motor's proprietary Smooth Drive Function to easily achieve low vibration operation. Standard Type Motor Terminal Box Type Motor Features Smooth Drive Function The Smooth Drive Function is a function that automatically controls the motor's microstep drive operation at the same travel and speed as in the full-step mode, without the operator having to change the speed settings of the driver's pulse input. It enables low vibration operation available with the microstep drive to be achieved with the flick of a switch. Vibration Component Voltage Vp-p[V] RBK Step ngle: 1. /step Power Input: VDC.. 1. 1.. Smooth Drive Function: Deactivated Smooth Drive Function: ctivated 1 3 Speed [r/min] Function The microstep driver electronically divides the basic step angle of the motor (1. /step) by up to 1 without the use of a reduction mechanism or other mechanical element.1 different resolutions levels are available. The available range of resolution settings is (1. /step) to (.1 /step). The step angle can be easily set using the built-in switches on the driver. This function enables low vibration and low noise operation. Vibration Component Voltage Vp-p[V] RBK Power Input: VDC.. 1. 1.. Resolution (1. /step) Resolution (.1 /step) 1 3 Speed [r/min] Third Harmonic Waveform Correction Function This function corrects motor drive current waveforms. It provides improved angle accuracy and reduced vibration. Vibration Component Voltage Vp-p[V] Vibration Suppression Function This function improves vibrations in the medium speed range of stepping motors. It enables reduced risk of missteps due to vibrations. RBK RBK Step ngle: 1. /step Step ngle: 1. /step Power Input: VDC. Power Input: VDC.. 1. 1.. Third Harmonic Waveform Correction Function: % Third Harmonic Waveform Correction Function: -% Vibration Component Voltage Vp-p[V]. 1. 1.. PULLOUT Vibration Suppression Function: Deactivated Vibration Suppression Function: ctivated 1 3 Speed [r/min] 1 1 3 Speed [r/min] C-1 ORIENTL MOTOR GENERL CTLOG 9/1 Features C-1 / System Configuration C-1 / Product Line C-17
Wide Voltage Range The RBK Series utilizes a constant current driver with a wide voltage range of to 7 VDC and up to. /phase effective value (.3 /phase peak value). This enables it to support a wide range of power sources. Comparison of Speed - Torque Characteristics 7 3 RBK99 Current:. /Phase ( Phases ) Step ngle: 1. /step VDC Input 7 VDC Input 1 1 Speed [r/min] The terminal box type motor conforms to the IP standard of ingress protection against dust and water. 3 Terminal-Block Connection Design The motor can be wired directly from its terminal block. 1 1 Raising the power supply voltage enables increased torque during high speed operation. Conforming to Major Safety Standards (Terminal box type motor only) The RBK Series is UL recognized and CS certified. It also bears the CE Mark as a proof of conformance to the Low Voltage Directives. The RBK (B) and the RBK9 (B) are currently applying for UL/CS and EN Standards certification. RoHS-Compliant The RBK Series conforms to the RoHS Directive that prohibits the use of six chemical substances including lead and cadmium. Details of RoHS Directive Page G-3 Terminal Box C Input DC Input C Input DC Input Without Encoder With Encoder Controllers Stepping Motors Introduction S SC RK Full/Half UMK CRK RBK CMK PK/PV PK EMP SG3J ccessories Installation Specifications, Characteristics C-1 / Dimensions C-173 / Connection and Operation C-17 / Motor and Combinations C-179 C-1
Stepping Motors System Configuration n example of a single-axis system configuration with the EMP Series controller. Controller (Sold separately) 1Controller ( Page C-9) VDC Power Supply (Not supplied) Programmable Controller RBK Series The D-Sub (1-pin) connector for connecting to the driver's CN1 connector is not included. It must be supplied separately. (Not supplied) Motor 7 VDC Power Supply (Not supplied. vailable input voltage differs according to each product. See the specifications for details.) ccessories and Peripheral Equipment (Sold separately) Motor Mounting Brackets ( Page C-31) 3Flexible Couplings ( Page C-3) Clean Dampers ( Page C-31) Motor Cable for Terminal Box Type Motor ( Page C-9) DIN Rail Mounting Plate ( Page C-317) 7Connector Terminal Block Conversion Unit ( Page C-31) No. Product Name Overview Page 1 Controller This controller outputs pulse commands that determine the rotation amount and rotating speed. C-9 Motor Mounting Brackets Dedicated mounting bracket for the motor. C-31 3 Flexible Couplings Coupling that connects the motor shaft to the driven shaft. C-3 Clean Dampers Dedicated damper for suppressing stepping motor vibration. C-31 Motor Cable for Terminal Box Type Motor cable for connection between the terminal box type motor and driver (with protective earth wire). C-9 DIN Rail Mounting Plate Use this plate (PDP1) when installing the driver to a DIN rail. C-317 7 Connector Terminal Block Conversion Unit Set of terminal block and cable for connecting the EMP Series controller and host controller [1 m (3.3 ft.)]. C-31 Example of System Configuration (Sold separately) RBK Series RBKB Controller EMP1-1 Motor Flexible DIN Rail Connector - Terminal Mounting Bracket Coupling Clean Damper Mounting Plate Block Conversion Unit [1m (3.3 ft.)] PLP- MCSF DCL-.3F PDP1 CCT1 The system configuration shown above is an example. Other combinations are available. C-1 ORIENTL MOTOR GENERL CTLOG 9/1 Features C-1 / System Configuration C-1 / Product Line C-17
Product Number Code Standard Type Motor RBK 9 1 3 Terminal Box Type Motor RBK T 1 3 7 Product Line Standard Type Motor Model (Single shaft) RBK RBK RBK RBK9 RBK99 RBK913 Terminal Box Type Motor Model (Single Shaft) RBKT RBKT RBKT RBK9T RBK99T RBK913T Model (Double shaft) RBKB RBKB RBKB RBK9B RBK99B RBK913B The following items are included in each product. Motor,, Operating Manual The cable for connecting the terminal box type motor and driver, and the D-Sub (1-pin) connector for connecting to the driver's CN1 connector are not included. They must be supplied separately. 1 Series RBK: RBK Series : 3 Motor Frame Size :. mm (. in.) 9: mm (3.3 in.) Motor Case Length Motor Shaft Type : Single Shaft B: Double Shaft U.S.. Version 7 Motor Classification T: Terminal Box Type C Input DC Input C Input DC Input Without Encoder With Encoder Controllers Stepping Motors Introduction S SC RK Full/Half UMK CRK RBK CMK PK/PV PK EMP SG3J ccessories Installation Specifications, Characteristics C-1 / Dimensions C-173 / Connection and Operation C-17 / Motor and Combinations C-179 C-17
Stepping Motors Standard Type Motor Motor Frame Size. mm (. in.) Specifications Model Maximum Holding Torque N m (oz-in) Rotor Inertia J kg m (oz-in ) Rated Current /Phase Basic Step ngle Power Source Excitation Mode Mass Motor kg (lb.) kg (lb.) Dimension No. Motor How to read specifications table Page C-11 Single Shaft RBK RBK RBK Double Shaft RBKB RBKB RBKB. () 1.17 (1) 1.7 () 1 1 7 (.) 3 1 7 (1.) 1 7 (.). 1. 7 VDC.9. (.99).7 (1.) 1 (.).3 (.77) 1 Speed Torque Characteristics How to read speed torque characteristics Page C-1 VDC Input RBK/RBKB RBK/RBKB RBK/RBKB Current:. /Phase ( Phases ) Step ngle: 1. /step Current:. /Phase ( Phases ) Step ngle: 1. /step Current:. /Phase ( Phases ) Step ngle: 1. /step. 1.. 1 1.. 1. 1.. 1.. 1 1..3. 1 1.... 1..1... 1 1 3 3 1 1 3 1 1 3 Resolution: Resolution: Resolution: () () () (Resolution: ) () () () () (Resolution: ) () () () () (Resolution: ) VDC Input RBK/RBKB RBK/RBKB RBK/RBKB Current:. /Phase ( Phases ) Step ngle: 1. /step Current:. /Phase ( Phases ) Step ngle: 1. /step Current:. /Phase ( Phases ) Step ngle: 1. /step. 1.. 1 1.. 1. 1... 1. 1 1..3. 1 1.... 1..1... 1 3 7 1 1 3 3 1 1 3 3 1 Resolution: Resolution: Resolution: () () (1) (Resolution: ) () () () (Resolution: ) () () () (Resolution: ) 7 VDC Input RBK/RBKB RBK/RBKB RBK/RBKB Current:. /Phase ( Phases ) Step ngle: 1. /step Current:. /Phase ( Phases ) Step ngle: 1. /step Current:. /Phase ( Phases ) Step ngle: 1. /step. 1.. 1 1.. 1. 1... 1. 1 1..3. 1 1.... 1..1... 1 3 7 1 3 7 1 3 1 Resolution: 1 Resolution: 1 1 Resolution: () () (1) (Resolution: ) () () (1) (Resolution: ) () () (1) (1) (Resolution: ) The pulse input circuit responds to khz with a pulse duty of %. Notes: Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 1 C (1 F). The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately %. C-1 ORIENTL MOTOR GENERL CTLOG 9/1 Features C-1 / System Configuration C-1 / Product Line C-17
Standard Type Motor Motor Frame Size mm (3.3 in.) Specifications Model Maximum Holding Torque N m (oz-in) Rotor Inertia J kg m (oz-in ) Rated Current /Phase Basic Step ngle Power Source Excitation Mode Mass Motor kg (lb.) kg (lb.) Dimension No. Motor How to read specifications table Page C-11 Single Shaft RBK9 RBK99 RBK913 Double Shaft RBK9B RBK99B RBK913B. (31). (). (93) 1 1 7 (7.7) 7 1 7 (1.) 1 7 (). 1. 7 VDC. 1.7 (3.7). (.) 3. (.).3 (.77) Speed Torque Characteristics How to read speed torque characteristics Page C-1 VDC Input RBK9/RBK9B RBK99/RBK99B RBK913/RBK913B Current:. /Phase ( Phases ) Step ngle: 1. /step Current:. /Phase ( Phases ) Step ngle: 1. /step Current:. /Phase ( Phases ) Step ngle: 1. /step 3. 7. 1 7 3. 3 1. 1 3 1 1. 1 3 1 1 1. 1 1 1 1 1 1 1 Resolution: Resolution: 1 Resolution: () () () (Resolution: ) () () (Resolution: ) () (1) () (Resolution: ) VDC Input RBK9/RBK9B RBK99/RBK99B RBK913/RBK913B Current:. /Phase ( Phases ) Step ngle: 1. /step Current:. /Phase ( Phases ) Step ngle: 1. /step Current:. /Phase ( Phases ) Step ngle: 1. /step 3. 7. 1 7 3. 3 1. 1 3 1 1. 1 3 1 1 1. 1 1 1 1 3 3 1 1 3 1 1 Resolution: Resolution: Resolution: () () () (Resolution: ) () () (Resolution: ) () () (Resolution: ) 7 VDC Input RBK9/RBK9B RBK99/RBK99B RBK913/RBK913B 1 3 1 Current:. /Phase ( Phases ) Step ngle: 1. /step Current:. /Phase ( Phases ) Step ngle: 1. /step Current:. /Phase ( Phases ) Step ngle: 1. /step 3. 7. 1 7. 3 1. 1 3 1. 1 3 1 1. 1 1 1 3 1 1 3 3 1 1 1 Resolution: Resolution: Resolution: () () (1) (Resolution: ) () () () (Resolution: ) () () () (Resolution: ) The pulse input circuit responds to khz with a pulse duty of %. Notes: Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 1 C (1 F). The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately %. C Input DC Input C Input DC Input Without Encoder With Encoder Controllers Stepping Motors Introduction S SC RK Full/Half UMK CRK RBK CMK PK/PV PK EMP SG3J ccessories Installation Specifications, Characteristics C-1 / Dimensions C-173 / Connection and Operation C-17 / Motor and Combinations C-179 C-19
Stepping Motors Terminal Box Type Motor Motor Frame Size. mm (. in.) Specifications Model Single Shaft RBKT RBKT RBKT Maximum Holding Torque N m (oz-in). () 1.17 (1) 1.7 () Rotor Inertia J kg m (oz-in ) 1 1 7 (.) 3 1 7 (1.) 1 7 (.) Rated Current /Phase. Basic Step ngle 1. Power Source 7 VDC.9 Excitation Mode Degree of Protection Motor: IP : IP Mass Motor kg (lb.). (1.3).9 (1.9) 1. (.) kg (lb.).3 (.77) Dimension No. Motor 3 How to read specifications table Page C-11 Excluding the gap between the shaft and the flange. Speed Torque Characteristics How to read speed torque characteristics Page C-1 VDC Input RBKT RBKT RBKT Current:. /Phase ( Phases ) Step ngle: 1. /step Current:. /Phase ( Phases ) Step ngle: 1. /step Current:. /Phase ( Phases ) Step ngle: 1. /step. 1.. 1 1.. 1. 1.. 1.. 1 1..3. 1 1.... 1..1... 1 1 3 3 1 1 3 1 1 3 Current:. /Phase ( Phases ) Step ngle: 1. /step Current:. /Phase ( Phases ) Step ngle: 1. /step Current:. /Phase ( Phases ) Step ngle: 1. /step. 1.. 1 1.. 1. 1... 1. 1 1..3. 1 1.... 1..1... 1 3 7 1 3 7 1 3 1 Resolution: 1 Resolution: 1 1 Resolution: () () (1) (Resolution: ) () () (1) (Resolution: ) () () (1) (1) (Resolution: ) The pulse input circuit responds to khz with a pulse duty of %. Resolution: Resolution: Resolution: () () () (Resolution: ) () () () () (Resolution: ) () () () () (Resolution: ) VDC Input RBKT RBKT RBKT Current:. /Phase ( Phases ) Step ngle: 1. /step Current:. /Phase ( Phases ) Step ngle: 1. /step Current:. /Phase ( Phases ) Step ngle: 1. /step. 1.. 1 1.. 1. 1... 1. 1 1..3. 1 1.... 1..1... 1 3 7 1 1 3 3 1 1 3 3 1 Resolution: Resolution: Resolution: () () (1) (Resolution: ) () () () (Resolution: ) () () () (Resolution: ) 7 VDC Input RBKT RBKT RBKT Notes: Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 1 C (1 F). [Under 7 C (17 F) is required to comply with UL or CS Standards as the motor is recognized as insulation Class.] The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately %. C-17 ORIENTL MOTOR GENERL CTLOG 9/1 Features C-1 / System Configuration C-1 / Product Line C-17
Terminal Box Type Motor Motor Frame Size mm (3.3 in.) Specifications Model Single Shaft RBK9T RBK99T RBK913T Maximum Holding Torque N m (oz-in). (31). (). (93) Rotor Inertia J kg m (oz-in ) 1 1 7 (7.7) 7 1 7 (1.) 1 7 () Rated Current /Phase. Basic Step ngle 1. Power Source 7 VDC. Excitation Mode Degree of Protection Motor: IP : IP Mass Motor kg (lb.).1 (.) 3. (7).3 (9.) kg (lb.).3 (.77) Dimension No. Motor How to read specifications table Page C-11 Excluding the gap between the shaft and the flange. Speed Torque Characteristics How to read speed torque characteristics Page C-1 VDC Input RBK9T RBK99T RBK913T Current:. /Phase ( Phases ) Step ngle: 1. /step Current:. /Phase ( Phases ) Step ngle: 1. /step Current:. /Phase ( Phases ) Step ngle: 1. /step 3. 7 1 7. 3. 3 1. 1 3 1 3 1 1. 1 1 1. 1 1 1 1 1 1 1 Resolution: Resolution: 1 Resolution: () () () (Resolution: ) () () (Resolution: ) () (1) () (Resolution: ) VDC Input RBK9T RBK99T RBK913T Current:. /Phase ( Phases ) Step ngle: 1. /step Current:. /Phase ( Phases ) Step ngle: 1. /step Current:. /Phase ( Phases ) Step ngle: 1. /step 3. 7. 1 7 3. 3 1. 1 3 1 1. 1 3 1 1 1. 1 1 1 1 3 3 1 1 3 1 1 Resolution: Resolution: Resolution: () () () (Resolution: ) () () (Resolution: ) () () (Resolution: ) 7 VDC Input RBK9T RBK99T RBK913T 1 3 1 Current:. /Phase ( Phases ) Step ngle: 1. /step Current:. /Phase ( Phases ) Step ngle: 1. /step Current:. /Phase ( Phases ) Step ngle: 1. /step 3. 7. 1 7. 3 1. 1 3 1. 1 3 1 1. 1 1 1 3 1 1 3 3 1 1 1 Resolution: Resolution: Resolution: () () (1) (Resolution: ) () () () (Resolution: ) () () () (Resolution: ) The pulse input circuit responds to khz with a pulse duty of %. Notes: Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 1 C (1 F). [Under 7 C (17 F) is required to comply with UL or CS Standards as the motor is recognized as insulation Class.] The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately %. C Input DC Input C Input DC Input Without Encoder With Encoder Controllers Stepping Motors Introduction S SC RK Full/Half UMK CRK RBK CMK PK/PV PK EMP SG3J ccessories Installation Specifications, Characteristics C-1 / Dimensions C-173 / Connection and Operation C-17 / Motor and Combinations C-179 C-171
Stepping Motors Specifications Input Signals Input Mode Pulse Signal Photocoupler Input PLS signal, DIR signal: Input resistance Ω, Input current m Photocoupler : +3. V, Photocoupler : +1 V (Line driver input:. +1 V) (Voltage between terminals) PLS signal, DIR signal: Input resistance.7 kω, Input current m Photocoupler : +1.. V, Photocoupler : +1 V (Voltage between terminals) ll windings off signal, Step angle select signal: Input resistance 3 kω, Input current m or less Photocoupler : +.. V Photocoupler : +1 V (Voltage between terminals) Operation command pulse signal, Negative logic pulse input Pulse width: μs minimum (Line driver input: 1 μs minimum), Pulse rise/fall: 1 μs maximum, Pulse duty % and below Motor moves one step when the pulse input is switched from photocoupler to. Maximum input pulse frequency: khz (Line driver input: khz) (When the pulse duty is %) Output Signals Rotation Direction Signal ll Windings Off Signal Step ngle Select Signal Output Mode Current Cutback Signal larm Signal Excitation Timing Signal Rotation direction signal, Photocoupler : CW, Photocoupler : CCW When in the "photocoupler " state, the output current to the motor is cut off and the motor shaft can be rotated manually. When in the "photocoupler " state, the current is supplied to the motor. When in the "photocoupler " state, the motor operates with the basic step angle, regardless of the setting of the step angle setting switch. When in the "photocoupler " state, the motor operates with the step angle set with the step angle setting switch. Photocoupler, Open-collector output External use condition: 3 VDC maximum, 1 m maximum When the automatic current cutback function is activated, the output turns on. (Photocoupler: ) When one of the driver's protective functions is activated, the output turns off. (Photocoupler: ) The signal is output every time the excitation sequence returns to the initial stage "." (Photocoupler: ) 1. /step [s/step: 1 (Resolution: )]: Signal is output every pulses.. /step [s/step: (Resolution: )]: Signal is output every 1 pulses. Functions Cooling Method Third harmonic waveform correction, Smooth drive, Vibration suppression, utomatic current cutback, Step angle select, ll windings off, Excitation timing Natural ventilation General Specifications Insulation Class Insulation Resistance Item Motor Class B [13 C ( F)] [Recognized as Class 1 C (1 F) by UL/CS Standards] 1 MΩ or more when VDC megger is applied between the windings and the case under normal ambient temperature and humidity. Dielectric Strength Sufficient to withstand 1. kvc at Hz or Hz applied between the windings and the case for 1 minute under normal ambient temperature and humidity. (1. kvc for terminal box type motor) Operating Environment mbient Temperature 1 + C (+1 +1 F) (non-freezing) + C (+3 +1 F) (non-freezing) mbient Humidity % or less (non-condensing) tmosphere Standard type motor: No corrosive gases, dust, water or oil Terminal box type motor: No corrosive gases Temperature Rise Stop Position ccuracy 1 Shaft Runout Radial Play xial Play 3 Concentricity Perpendicularity Temperature rise of the windings is C (1 F) or less measured by the resistance change method. (at rated current, at standstill, two phases energized) RBK : when equipped with an aluminum heat sink of mm, 1 mm thick (9. 9. in.,.39 in. thick) When using the RBK T or the RBK9 T as a UL or CS recognized component, make sure the temperature rise of the windings is C (9 F) or less, by mounting the motor to a heat sink (material: aluminum) of the following size. RBK T: mm, 1 mm thick (1.7 1.7 in.,.39 in. thick) RBK9 T: mm, 1 mm thick (7.7 7.7 in.,.39 in. thick) ±3 arc minutes (±. ). mm (. in.) T.I.R.. mm (.1 in.) maximum of N (1.1 lb.).7 mm (.3 in.) maximum of 1 N (. lb.).7 mm (.3 in.) T.I.R..7 mm (.3 in.) T.I.R. 1 This value is for full step under no load. (The value changes with the size of the load.) Radial Play: Displacement in shaft position in the radial direction, when a N (1.1 lb.) load is applied in the vertical direction to the tip of the motor's shaft. 3 xial Play: Displacement in shaft position in the axial direction, when a 1 N (. lb.) load is applied to the motor's shaft in the axial direction. T.I.R. (Total Indicator Reading): The total dial gauge reading when the measurement section is rotated one revolution centered on the reference axis center. Note: Do not measure insulation resistance or perform the dielectric strength test while the motor and driver are connected. ϕ.7..7 C-17 ORIENTL MOTOR GENERL CTLOG 9/1 Features C-1 / System Configuration C-1 / Product Line C-17
Permissible Overhung Load and Permissible Thrust Load Type Model RBK RBK RBK Standard Type Motor RBK9 RBK99 RBK913 RBKT RBKT RBKT Terminal Box Type Motor RBK9T RBK99T RBK913T 7 (1) 9 () 13 (9) Unit = N (lb.) Permissible Overhung Load Distance from Shaft End Permissible Thrust Load mm ( in.) mm (. in.) 1 mm (.39 in.) 1 mm (.9 in.) mm (.79 in.) (1.1) () (1.1) () Enter (single shaft) or B (double shaft) in the box ( ) within the model name. Dimensions Unit = mm (in.) Motor Standard Type Motor 1. mm (. in.) Model RBK RBKB RBK RBKB RBK RBKB mm ( 3.3 in.) Motor Model PKD PKDB PKD PKDB PKD PKDB 9 () 3 (7) 39 (7) (1) 7 (1) 9 () 13 (9) 9 () 3 (7) 39 (7) (1) L1 L Mass kg (lb.) DXF 39 (1.) (.17). (.99) B (.13) 7 (.7).7 (1.) B 7 (.99) 9 (3.) 1. (.) B 1±1 (.3±.) 1±. (.91±.1) ϕ.3.1 ϕ.. (1/").±.1 (.±.) Model Motor Model L1 L Mass kg (lb.) DXF RBK9 PK9D (.) RBK9B PK9DB 1 (3.9) 1.7 (3.7) B1U RBK99 PK99D 9 (3.7) RBK99B PK99DB 13 (.1). (.) B13U RBK913 PK913D 1 (.9) RBK913B PK913DB 1 (.3) 3. (.) B1U 3±1 (1.3±.) ±. (.9±.1) ϕ1.7.13 ϕ.. (1/") ' (.) L ±1 L1 (.79±.) (.) 1. (.) ' 1±. (.91±.1) The permissible thrust load shall be no greater than the motor mass..±.1 (.±.) ϕ.3.1 ϕ3.1±.3 ϕ.. (1/") (ϕ1.±.1) Motor Leads 3 mm (1 in.) Length UL Style 3, WG L (3.3) L1 37±1 9.±.3 1 (.39) (1.±.) (.7±.1) ±. (.9±.1) ϕ1.7.13 ϕ.. (1/") ϕ73.±.3 (ϕ.7±.1) ϕ. (ϕ.) Thru. (.) 7.1±.3 (1.±.1) 9.±.3 (.7±.1) (3.3) ϕ. (ϕ.177) Thru 7.1±.3 (1.±.1) 9 11.±.1 (.3±.). (.) 11.±.1 (.3±.) ' Stepping Motors Introduction S SC Full/Half RK UMK CRK RBK CMK PK/PV PK EMP SG3J ccessories Installation C Input DC Input C Input DC Input Without Encoder With Encoder Controllers These dimensions are for the double shaft models. For the single shaft models, ignore the orange ( ) areas. Motor Leads 3 mm (1 in.) Length UL Style 3, WG Specifications, Characteristics C-1 / Dimensions C-173 / Connection and Operation C-17 / Motor and Combinations C-179 C-173
Stepping Motors Terminal Box Type Motor 3. mm (. in.) Model Motor Model RBKT PKD1T RBKT PKD1T RBKT PKD1T L Mass kg (lb.) DXF 3 (3.7). (1.3) B37 9 (3.).9 (1.9) B377 1 (.7) 1. (.) B37 M 1 (.39) M3.7 (.3) 1.3 (.1) L 3.7 (.) (1.) 1±. (.91±.1) Protective Earth Terminal M 1.3 (.1) 7 (1.) max. ±1 (.79±.) 1. (.).±.1 (.±.) ϕ3.1±.3 ϕ.. (1/") (ϕ1.±.1). (.) 7.1±.3 (1.±.1) Use cable (VCT) with a diameter of ϕ7 ϕ13 mm (ϕ. ϕ.1 in.). motor cable is available as an accessory (sold separately). Page C-9 ϕ.3.1 ϕ. (ϕ.177) Thru 7.1±.3 (1.±.1). (.) (3.39) max. mm ( 3.3 in.) Model Motor Model L Mass kg (lb.) DXF RBK9T PK9DT 11 (.33).1 (.) B379 RBK99T PK99DT 1 (.1) 3. (7) B3 RBK913T PK913DT 17 (.9).3 (9.) B31 M3. (1.) L 1 (.39) (.) 37±1 (1.±.) (3.3) 9.±.3 (.7±.1) ϕ. (ϕ.) Thru M 1 (.39) 9.3 (3.7) 1.3 (.1) Protective Earth Terminal M 1.3 (.1) 7 (1.) max. ±. (.9±.1) 13±.1 (.1±.) ϕ1.1 ( ϕ.1.7) ϕ73.±.3 (ϕ.7±.1) 9.±.3 (.7±.1) (3.3) 113 (.) max. Use cable (VCT) with a diameter of ϕ7 ϕ13 mm (ϕ. ϕ.1 in.). motor cable is available as an accessory (sold separately). Page C-9 RBD-V, RBD-V Mass:.3 kg (.77 lb.) B (.) 3 M3 1 (.71) (.) max. 3 (1.1) 3. (.1) (1.) 9 (3.) 1 (.9) 1 (.9) (.1) (.) max. (3.1) (.) 1 (.9) (.79) 13 (.) 7. (.3) (.) (.79) M 1 (.) 1 (.) C-17 ORIENTL MOTOR GENERL CTLOG 9/1 Features C-1 / System Configuration C-1 / Product Line C-17
Connection and Operation Names and Functions of Parts (Top) Function Switches 1 Signal Monitor Displays LED Indicators Indication Color Function When ctivated POWER Green Power supply indication Lights when power is on. LRM Red larm indication Blinks when protective functions are activated. larm Blink Count Function When ctivated Overheat The temperature of the driver's internal heat sink exceeds the specified value. 3 Overvoltage The primary voltage of the driver's inverter exceeds the permissible value. Overcurrent n excessive current flows to the driver's inverter. Function Switches Indication Switch Name Function SW1 SW-1 SW- Third Harmonic Waveform Correction Function Select Switch Smooth Drive Function Switch Vibration Suppression Function Select Switch function that provides improved angle accuracy and reduced vibrations by optimizing the motor drive current waveforms. You can set the correction value using the select switch. Low vibration and low noise operation are available even in the low speed range without changing the step angle setting. The function can be set and deactivated with this switch. function that provides reduced vibrations at medium speed operation. The function can be set or deactivated with this switch. SW-3 Not used. SW- Motor Stop Current Switch 3 Motor Run Current Switch For adjusting the motor current at standstill Indication Switch Name Function RUN Motor Run Current Switch For adjusting the motor running current Input/Output Signals Input/ Indication Output 1 PLS+ PLS+ 9 PLS 3 DIR+ Input 1 DIR+ 11 DIR WO CN1 1 CS IN-COM 13 CD+ CD 1 LM+ Output 7 LM 1 TIM+ TIM 3 Motor Run Current Switch Step ngle Setting Switch Motor Terminals Power Input Terminals Step ngle Setting Switch Signal Signal Name Function Pulse Signal Rotation Direction Signal ll Windings Off Signal Step ngle Select Signal Input Common Current Cutback Signal larm Signal Excitation Timing Signal Operation command pulse signal Protective Earth Terminals (Front) 1 Signal Monitor Displays Input/Output Signals Indication Switch Name Function The switch can be set to the desired DT Step ngle Setting Switch resolution from the 1 resolution levels. Step ngle Setting Switch s/step Resolution Step ngle 1 1. 1.9. 3 1.3 1. 9 1. 1.1 7 1 3.11 1 3.1 9.9 3. B 3 7. C. D 1.1 E 1. F 1.1 The step angle set with the step angle setting switch will become effective when the "Step ngle Select" (CS) signal input is. Do not change the "Step ngle Select" (CS) signal input or step angle setting switch while the motor is operating. It may cause the motor to misstep and stop. Change the step angle setting switch, when the "Step ngle Select" (CS) signal input is and the "Excitation Timing" (TIM) signal output is. Rotation direction signal Photocoupler : CW, Photocoupler : CCW Cuts the output current to the motor and allows the motor shafts to be rotated manually. The motor will operate at the basic step angle regardless of the settings of the step angle setting switches. Input common for the "ll Windings Off" signal and "Step ngle Select" signal. Outputs a signal when the automatic current cutback function activates. Turns the output off when one of the driver's protective functions is activated. Outputs signals when the excitation sequence is at STEP "." The cable for connecting the terminal box type motor and driver, and the D-Sub (1-pin) connector for connecting to the driver's CN1 connector are not included. They must be supplied separately. Description of input/output signals Page C-177 C Input DC Input C Input DC Input Without Encoder With Encoder Controllers Stepping Motors Introduction S SC RK Full/Half UMK CRK RBK CMK PK/PV PK EMP SG3J ccessories Installation Specifications, Characteristics C-1 / Dimensions C-173 / Connection and Operation C-17 / Motor and Combinations C-179 C-17
Stepping Motors Connection Diagrams VDC Connection or Line Input Controller Controller V (+ VDC) V V V V V (+ VDC) V V V Twisted-Pair Wire CN1 Pulse Signal ll Windings Off Signal VDC Connection V (+ VDC) V V V V V (+ VDC) V V V Rotation Direction Signal Excitation Timing Signal 1 9 3 11 Input Common Step ngle Select Signal 1 Current Cutback Signal larm Signal Twisted-Pair Wire CN1 Pulse Signal Rotation Direction Signal ll Windings Off Signal 13 1 7 1 9 1 11 Input Common Step ngle Select Signal 1 Current Cutback Signal larm Signal Excitation Timing Signal 13 1 7 1 Input Signals Output Signals Input Signals Output Signals B B VDC+ GND B B VDC+ GND + + Stepping Motor Refer to the table below for the connection between the motor terminal of the driver and the motor. 7 VDC or VDC GND Stepping Motor Refer to the table below for the connection between the motor terminal of the driver and the motor. 7 VDC GND Input Signal Connection Pulse (PLS) Signal, Rotation Direction (DIR) Signal You can select either VDC or VDC as the signal voltage. Line driver input is also available. The pin No. to connect differs according to the signal voltage. ll Windings Off Signal, Step ngle Select Signal You can select either VDC or VDC as the signal voltage. The pin No. to connect is the same for VDC and VDC. Output Signal Connection Keep the output signal voltage and current below 3 VDC and 1 m respectively. Power Supply Use a power supply that can supply sufficient input current. When power supply capacity is insufficient, a decrease in motor output can cause the following malfunctions: Motor does not operate properly at high-speed. Slow motor startup and stopping. Notes on Wiring Use twisted-pair wires of WG and keep wiring as short as possible [within m (. ft.)]. Note that as the length of the pulse signal line increases, the maximum transmission frequency decreases. Technical reference Page F- Use wires of WG1 or thicker for motor lines (when extended), power supply lines and protective earth line. To ground the driver, lead the ground conductor from the protective earth terminal (M) and connect the ground conductor to provide a common ground point. Signal lines should be kept at least cm (.79 in.) away from power lines (power supply lines and motor lines). Do not bind the signal lines and power lines together. If noise generated by the motor cable or power cable becomes a problem due to the wiring and layout, shield the cables or use ferrite cores. Incorrect connection of DC power input will lead to driver damage. Make sure that the polarity is correct before turning power on. The cable for connecting the terminal box type motor and driver, and the D-Sub (1-pin) connector for connecting to the driver's CN1 connector are not included. They must be supplied separately. Motor Terminals and Motor Leads/Motor Terminal Blocks Signal Name B B Signal -phase output -phase output B-phase output B-phase output Standard Type Motor Terminal Box Type Motor Terminal Block No. for RBK Terminal Block No. for RBK9 Black 1 Green 3 Red Blue Terminal Box Type Motor Connections RBKT, RBKT, RBKT Internal Protective Earth Terminal (M) Protective Earth Wire (WG1 or thicker) Multi-Core Cable [Diameter: ϕ7 ϕ13 mm (ϕ. ϕ.1 in.)] Motor Wire (WG 1) External Protective Earth Terminal (M) Protective Earth Wire (WG1 or thicker) Connect motor lead wires to the terminals to. Terminal Block 1 3 Connect either the internal protective earth terminal or external protective earth terminal to the ground. RBK9T, RBK99T, RBK913T Internal Protective Earth Terminal (M) Protective Earth Wire (WG1 or thicker) Multi-Core Cable [Diameter: ϕ7 ϕ13 mm (ϕ. ϕ.1 in.)] Motor Wire (WG 1) External Protective Earth Terminal (M) Protective Earth Wire (WG1 or thicker) Terminals 1,,, and are used. Terminals, 3,, and 7 are not used. Do not connect anything to them. 1 3 7 Connect either the internal protective earth terminal or external protective earth terminal to the ground. C-17 ORIENTL MOTOR GENERL CTLOG 9/1 Features C-1 / System Configuration C-1 / Product Line C-17
Description of Input/Output Signals Indication of Input/Output Signal """" Input (Output) "" indicates that the current is sent into the photocoupler (transistor) inside the driver. Input (Output) "" indicates that the current is not sent into the photocoupler (transistor) inside the driver. The input/output remains "" if nothing is connected. Photocoupler Pulse (PLS), Rotation Direction (DIR) Input Signal You can select either VDC or VDC as the signal voltage for "Pulse" input and "Rotation Direction" input. Line driver input is also available. Input Circuit and Sample Connection VDC Connection Controller + V Open-Collector 1, 3 Ω Output + VDC Connection Controller Open-Collector Output Line Input Controller Line Output V + V V 9, 11 m, 1.7 kω + 9, 11 1, 3 9, 11 Ω m m Pulse Waveform Characteristics VDC or VDC Connection 1 9% Pulse Input Signal 1% Rotation Direction Input Signal Rotation Direction Input Signal μs min. μs min. 1 μs max. 1 μs max. CCW 1 μs max. 1 μs max. CCW 1 μs 1 μs min. min. Line Input Pulse Input Signal 9% 1 1% 1 μs 1 μs 1 μs 1 μs min. min. min. min. CW Pulse duty: % and below CW Pulse duty: % and below 1 The shaded area indicates when the photocoupler diode is. The motor moves when the photocoupler state changes from to. The minimum interval time when changing rotation direction is 1 μs. This value varies greatly depending on the motor type, pulse frequency and load inertia. Pulse Signal Characteristics Keep the pulse signal at the "photocoupler " state when no pulses are being input. Leave the pulse signal at rest ("photocoupler ") when changing rotation directions. ll Windings Off (WO), Step ngle Select (CS) Input Signal Input Circuit and Sample Connection Controller + V Open-Collector Output 3 kω + V, 1 m ll Windings Off (WO) Input Signal Inputting this signal puts the motor in a non-excitation (free) state. This signal is used when turning the motor by external force or manual home position is desired. The photocoupler must be "" when operating the motor. ll Windings Off Input Signal Motor Current Motor Holding Torque Release The shaded area indicates that the motor provides holding torque in proportion to standstill current set by motor stop current switch. Switching the "ll Windings Off" signal from "photocoupler " to "photocoupler " does not alter the excitation sequence. When the motor shaft is manually adjusted with the "ll Windings Off" signal input, the shaft will shift up to ±3. from the position set after the "ll Windings Off" signal is released. Step ngle Select (CS) Input Signal When this signal input is "," the motor will operate at the basic step angle regardless of the settings of the step angle setting switches. When the signal input is "," the motor will operate at the step angle set with the step angle setting switch. To change the step angle, do so when the "Excitation Timing" signal output is "" and the motor is at standstill. C Input DC Input C Input DC Input Without Encoder With Encoder Controllers Stepping Motors Introduction S SC RK Full/Half UMK CRK RBK CMK PK/PV PK EMP SG3J ccessories Installation Specifications, Characteristics C-1 / Dimensions C-173 / Connection and Operation C-17 / Motor and Combinations C-179 C-177
Stepping Motors Current Cutback (CD), larm (LM), Excitation Timing (TIM) Output Signal Output Circuit and Sample Connection Controller + V V 13, 1, 1 +, 7, 1 m max. Current Cutback (CD) Output Signal When the automatic current cutback function is activated, the "Current Cutback" output turns on. larm (LM) Output Signal Protective Function Normal Fault Normal larm LRM LED Light Stop Motor Run Run When the motor is running, if the driver overheat, overvoltage, or overcurrent protective function is detected, the "larm" output turns off, and the LRM LED of the driver flashes. The current to the motor is also cut off to stop the motor. You can count the number of times the LRM LED flashes to confirm which protective function is activated. This signal normally stays on, but turns off when a protective function is activated. Excitation Timing (TIM) Output Signal The "Excitation Timing" signal is output to indicate when the motor excitation is in the initial stage (step "" at power up). The "Excitation Timing" signal is output simultaneously with a pulse input each time the excitation sequence returns to step "." The excitation sequence will complete one cycle for every 7. rotation of the motor output shaft. s/step 1: Signal is output once every pulses. s/step : Signal is output once every 1 pulses. Timing chart at 1./step (s/step 1) When connected as shown in the sample connection, the signal will be "photocoupler " at step "." Pulse Input Rotation Direction Input Excitation Timing Output 1 3 7 9 1 11 1 131 CW CCW (Step) 1 3 1 3 1 3 1 Notes: When power is turned, the excitation sequence is reset to step "" and the "Excitation Timing" signal is output. When operating the motor using the "Excitation Timing" signal output, make sure the motor output shaft stops at an integral multiple of 7.. Timing Chart CW Motor CCW Power Input Pulse Input Signal Rotation Direction Input Signal ll Windings Off Input Signal Step ngle Select Input Signal Current Cutback Output Signal s min.. s min. 1 μs min. 1 1 3 3 μs min. 3 μs min. DT Basic Step ngle. s max.. s max.. s max. The section indicates that the photocoupler diode is emitting light. 1 The minimum switching time to change direction 1 μs is shown as the response time of the circuit. The motor may need more time than that. Depends on load inertia, load torque, and starting frequency. 3 Never input a pulse signal immediately after switching the "ll Windings Off" signal to the "photocoupler " state. The motor may not start. To cycle the power, turn off the power and then wait for at least five seconds after the POWER LED has turned off. C-17 ORIENTL MOTOR GENERL CTLOG 9/1 Features C-1 / System Configuration C-1 / Product Line C-17
List of Motor and Combinations Model names for motor and driver combinations are shown below. Standard Type Motor Model Motor Model Model RBK PKD RBD-V RBK PKD RBD-V RBK PKD RBD-V RBK9 PK9D RBD-V RBK99 PK99D RBD-V RBK913 PK913D RBD-V Enter (single shaft) or B (double shaft) in the box ( ) within the model name. Terminal Box Type Motor Model Motor Model Model RBKT RBKT RBKT RBK9T RBK99T RBK913T PKD1T PKD1T PKD1T PK9DT PK99DT PK913DT RBD-V RBD-V RBD-V RBD-V RBD-V RBD-V C Input DC Input C Input DC Input Without Encoder With Encoder Controllers Stepping Motors Introduction S SC RK Full/Half UMK CRK RBK CMK PK/PV PK EMP SG3J ccessories Installation Specifications, Characteristics C-1 / Dimensions C-173 / Connection and Operation C-17 / Motor and Combinations C-179 C-179