Oriental Motors - Stepping Motors

Stepping Motors
Stepping Motors
Introduction
C
C-2
AC Input
Introduction
AC Input
AS Series C-12
AS ASC
DC Input
DC Input
ASC Series C-58
AC Input
Stepping Motor and Driver Package AC Input
5-Phase RK
5-Phase Stepping Motor and Driver Package C-82 RK Series
5-Phase CRK
5-Phase Stepping Motor and Driver Package C-114 CRK Series
DC Input
Stepping Motor and Driver Package DC Input
2-Phase CMK
2-Phase Stepping Motor and Driver Package C-146 CMK Series
2-Phase CSK
2-Phase Stepping Motor and Driver Package C-170 CSK Series
2-Phase Stepping Motors
C-188
C-242
Controllers
Controllers
C-248
Accessories
Accessories
C-252
Installation
Installation
C-272
C-1
What is Pulse Signal?

A pulse signal is an electrical signal whose voltage level changes repeatedly between ON and OFF. Each ON/OFF cycle is counted as one pulse. A command with one pulse causes the motor output shaft to turn by one step angle. The signal levels corresponding to voltage ON and OFF conditions are referred to as "H" and "L," respectively.
Voltage
C-2
Stepping Motors
Overview of Stepping Motors

Stepping motors enable accurate positioning operation with ease. They are used in various types of equipment for accurate rotation angle and speed control using pulse signals.
Features
b Accurate Positioning in Fine Steps
A stepping motor rotates in step angle, just like the second hand of a clock. This angle is called "basic step angle." Oriental Motor offers 5-phase stepping motors with a basic step angle of 0.72 and 2-phase stepping motors with a basic step angle of 1.8.
0.72
b Easy Control with Pulse Signals

A system configuration for high-accuracy positioning is shown below. The rotation angle and speed of the stepping motor can be controlled accurately using pulse signals from the controller.
Controller Programmable Controller Pulse Signal Current Driver
Stepping Motor
Stepping Motor and Driver Package
1 Pulse
H Level L Level Time
The Rotation is Proportional to the Number of Pulses

The rotation of the stepping motor is proportional to the number of pulses (pulse number) given to the driver. The relationship of the stepping motor's rotation (angle of rotation of the motor output shaft) and pulse number is expressed as follows:
1 Pulse
0.72
10 Pulses
7.2
: Rotation angle of the motor output shaft [deg] s : Step angle [deg/step] A : Pulse number [pulses]
125 Pulses Basic Step Angle 0.72/Step
90
The Speed is Proportional to the Pulse Speed

The speed of the stepping motor is proportional to the speed of pulse signals (pulse frequency) given to the driver. The relationship of the pulse speed [Hz] and motor speed [r/min] is expressed as follows:
500 Hz
60 r/min
1000 Hz
120 r/min
s 360
60
N : Speed of the motor output shaft [r/min] s : Step angle [deg/step] f : Pulse speed [Hz]
(Number of pulses input per second)
2000 Hz
Basic Step Angle 0.72/Step
240 r/min
ORIENTAL MOTOR GENERAL CATALOGUE
Stepping Motors
b Generating High Torque with a Compact Body

Stepping motors generate high torque with a compact body. These features give them excellent acceleration and response, which in turn makes these motors well-suited for torque-demanding applications where the motor must be started and stopped frequently. To meet the need for greater torque at low speed, Oriental Motor also has geared motors combining compact design and high torque.
Frequent starting/stopping is possible
Speed Torque Characteristics (Motor Frame Size 60 mm)

2.0
Introduction
1.5 Torque [N m]
1.0
0.5
AC Input
0 0 0 10
AS
1000 20
2000 3000 Speed [r/min] 30 40 50 60 Pulse Speed [kHz] (Resolution Setting:1000 P/R)
4000
b The Motor Holds Itself at a Stopped Position

Stepping motors continue to generate holding torque even at standstill. This means that the motor can be held at a stopped position without using a mechanical brake.
Stepping Motor
The load does not move while power is supplied to the motor.
DC Input
ASC
External Force
AC Input
5-Phase RK
Coupling
Once the power is cut off, the self-holding torque of the motor is lost and the motor can no longer be held at the stopped position in vertical-drive operations or when an external force is applied. In lift and similar applications, use an electromagnetic brake type.
Electromagnetic Brake Type
5-Phase CRK
DC Input
2-Phase CMK 2-Phase CSK 2-Phase Stepping Motors
b Closed Loop Stepping Motor and Driver Package

The consists of package products designed to draw out the maximum features of a stepping motor. These packages normally operate synchronously with pulse commands, but when a sudden acceleration or load change occurs, a unique control mode prevents missteps. models can also output positioning completion and alarm signals, which increases the reliability of the equipment in which they operate.
5-Phase Stepping Motors Controllers
AS Series
Accessories
Controller Programmable Controller Pulse Signal
Driver
Current
Motor
Installation
Positioning Completion Signal Alarm Signal
Rotor Position Detection Sensor
C-3
C-4
Stepping Motors
Motor Types
Stepping motors come in different types including the standard type, electromagnetic brake type, and various geared types. The availability of such a wide selection means, that you can choose an optimal type according to the function and performance required in your specific application. Let's use the AS Series as an example to look at the different types of motors more closely. For details on the types available with other series, check the pages where each product is listed.
b Standard Type
A basic model that is easy to use and designed with a balanced set of functions and characteristics.
b Standard Type IP65 Rated Motor

These motors conform to the IP65 rating, for protection against dust and water ingress.
b Electromagnetic Brake Type

These motors incorporate a non-excitation type electromagnetic brake. When the power is accidentally cut off for outage or other unexpected event, the electromagnetic brake holds the load in position to prevent it from dropping.
Electromagnetic Brake Unit
b Geared Type
These motors incorporate a dedicated position-control gearhead with reduced backlash to make the most of the high controllability of the motor. The gearhead ensures highly accurate, smooth operation even in applications where a large torque is received.
Gear Unit
Characteristics Comparison for

Geared Type TH Geared PL Geared PN Geared Harmonic Geared
AS Series Geared Motors

Backlash [min] 45 35 3 0 Resolution [deg/step] 0.012 0.0072 0.0072 0.0036 Speed [r/min] 500 360 600 70
Permissible Torque [N m] 12 37 37 37
b Values shown above are representative values. They vary depending on the products.
Stepping Motors
Types of Operation Systems

Each stepping motor and driver package combines a stepping motor selected from various types, with a dedicated driver. Drivers that operate in the pulse input mode and built-in controller (stored program) mode are available. You can select a desired combination according to the required operation system. Different drivers AS Series as an example. are explained below by using the
b Pulse Input Package
The motor can be controlled using a pulse generator provided by the user. Operation data is input to the pulse generator beforehand, and you select the operation data on the host programmable controller, then input the operation command. Motor Driver Pulse Generator Programmable Controller
AC Input
Introduction AS
b Built-In Controller (Stored Program) Package

The built-in pulse generation function allows the motor to be driven via a directly connected programmable controller. Since no separate pulse generator is required, the drivers of this type save space and simplify wiring. Motor Driver Programmable Controller
DC Input AC Input DC Input
ASC 5-Phase RK 5-Phase CRK 2-Phase CMK 2-Phase CSK 2-Phase Stepping Motors 5-Phase Stepping Motors Controllers Accessories Installation
C-5
Function
Line Up
C-6
Stepping Motors
Types of Stepping Motor

One feature of stepping motors is that they can perform accurate positioning operation with ease. So that more users can enjoy the benefits of stepping motors, Oriental Motor has many different product series designed with different power-supply specifications and offering different functions. There is also a wide spectrum of variations within each series, as models come in different frame sizes and with/without an electromagnetic brake and each different gear.
b AC Input Type
Power Supply Input AC Input Single-Phase 200-230 VAC AS Series1 Built-In Controller (Stored Program) Package RK Series2
Series
Pulse Input Package
Features
Closed loop control High response No hunting Low vibration Closed loop control High response No hunting Low vibration Space-saving, simple wiring Low vibration, low noise due to smooth drive function High-resolution control is possible by microstepping
Motor Type Basic Step Angle Resolution Resolution Select

Pulse Input Mode Switch Automatic Current Cutback Current Setting Step Angle Select Input Speed Filter All Winding Off Input Timing Output Built-In Controller Smooth Drive Electromagnetic Brake Switch (Energy-Saving Mode) Input Power Supply Voltage Switch Protective Function Safety Standards RoHS Compliant Standard Motor Standard Type IP65 Rated Motor Electromagnetic Brake Motor Geared Motor Pages
Closed loop control stepping motors Closed loop control stepping motors 0.36(Resolution setting: 1000 P/R) Microstep 0.72, 0.36, 0.072, 0.036 0.36(Resolution setting: 1000 P/R) Microstep 0.72 0.036
5-phase stepping motors 0.72 Microstep 0.72 0.00288(16 steps)
3 3
Overcurrent/overheat overload/overvoltage
Overcurrent/overheat overload/overvoltage
Overheat output
60, 85 60, 85 60, 85 60, 90 Page C-12
60, 85 60, 85 60, 85 60, 90
60, 85 60, 85 60, 85 60, 90 Page C-82
1 For the single-phase 100-115 VAC models and three-phase 200-230 VAC models, please contact the nearest Oriental Motor sales office. 2 For the single-phase 100-115 VAC models, please contact the nearest Oriental Motor sales office. 3 Possible by assigning signals or setting commands.
b Stepping Motor
Wide-ranging motors ideal for different motor sizes and equipment specifications can be purchased individually.
2-phase stepping motors Page C-188, 5-phase stepping motors Page C-242
Stepping Motors
b DC Input Type
Power Supply Input DC Input 24 VDC ASC Series 24 VDC CRK Series 24 VDC CMK Series 24/36 VDC CSK Series
Introduction
Series
AC Input DC Input
AS ASC
Features
Closed loop control High response No hunting Low vibration Low vibration, low noise due to smooth drive function Wide variety of high-resolution types and geared motors 2-phase stepping motor and compact DC input driver in one package High-resolution control is possible by microstepping 2-phase stepping motor and compact DC input driver in one package Wide variety of frame sizes and types
AC Input
5-Phase RK 5-Phase CRK
Motor Type Basic Step Angle Resolution Resolution Select

Pulse Input Mode Switch Automatic Current Cutback Current Setting Step Angle Select Input Speed Filter
Closed loop control stepping motors
5-phase stepping motors
2-phase stepping motors 1.8, 0.9(High-resolution type) Microstep 1.8 0.1125(5 steps)
2-phase stepping motors 1.8, 0.9(High-resolution type) Full step/half step 1.8/0.9, 0.9/0.45(High-resolution type)
0.36(Resolution setting: 1000 P/R) 0.72, 0.36(High-resolution type) Microstep Microstep 0.72, 0.36, 0.072, 0.036 0.72 0.00288(25 steps)
DC Input
2-Phase CMK 2-Phase CSK
Function
All Winding Off Input

Timing Output Built-In Controller Smooth Drive Electromagnetic Brake Switch (Energy-Saving Mode) Input Power Supply Voltage Switch Protective Function
Overload/ overvoltage
Safety Standards RoHS Compliant Standard Motor Line Up Standard Type IP65 Rated Motor Electromagnetic Brake Motor Geared Motor Pages
42, 60 28, 42, 60 Page C-58 20, 28, 42, 60 Page C-114 28, 42, 60 Page C-146 42, 60 28, 42, 60 20, 28, 42, 60 28, 35, 42, 50, 56.4, 60 42, 56.4, 60
Accessories Installation
Page C-170
C-7
Low backlash
Non-backlash
Sun Gear
Upper Planetary Gear Lower Planetary Gear
Sun Gear
Lower Planetary Gear
C-8
Relationship between Lower Planetary Gear and Upper Planetary Gear
Stepping Motors
Introduction of Geared Type (

Geared Motors using dedicated gears for control motors.
, Stepping Motors)
Principle and Structure
Tapered Gear Output Shaft
Type TH Geared
Series
Bearing
Bearing
Tapered Gear
Tapered Gear Structure of TH Gear's Final Stage Internal Gear
In TH geared type, tapered gears are used for the spur gear's speed-reduction mechanism and the meshing gear. The tapered gear is produced through continuous profile shifting toward the shaft. The tapered gears are adjusted in the direction of the arrows, as shown in the figure, to reduce backlash.
AS Series ASC Series RK Series CRK Series
PL Geared
Internal Gear
Planetary Gear Sun Gear
Sun Gear Carrier Planetary Gear Cross Section of PL Gear
Sun gear: The center gear integrated with the input shaft. Planetary gears: The multiple gears rotating around the sun gear. Each planetary gear meshes with the carrier, which is affixed to the gear output shaft. Internal gear: The cylindrical gear with teeth on its interior, affixed to the gear case.
The planetary gear mechanism consists of three key parts: the sun gear, planetary gears and internal gear. The sun gear is installed on the center shaft (this gear is installed on the motor shaft in single-stage motors). Multiple planetary gears are positioned in a manner surrounding the sun gear and rotate around the center shaft by meshing with the internal gear. The rotations of the planetary gears turn the output shaft via the carrier.
AS Series RK Series CRK Series
PN Geared
The upper gear eliminates backlash in the clockwise direction.
ransmits torque in the clo ternal gear t ckwise pper in direct The u ion.
Upper Level
Upper Planetary Gear
The lower internal gear eliminates backlash in the counterclockwise direction.
Lower Planetary Gear Upper Planetary Gear Sun Gear
r transmits torque in the counterclockwise ernal gea directi wer int o n. The lo
Lower Level
Lower Planetary Gear
Sun Gear
Lower Internal Gear Upper Internal Gear
Upper Level
Upper Planetary Gear
The PN gear employs a planetary gear speed-reduction mechanism. The PN gear achieves the specified backlash of three arc minutes through the improved accuracy of its components and the backlash-elimination mechanism. That mechanism is comprised of two sets of internal and planetary gears on the upper and lower levels with the internal gear teeth twisted in the circumferential direction. The upper-level internal gears and planetary gears reduce clockwise backlash; the lower-level internal gears and planetary gear reduce counterclockwise backlash.
Lower Level
Stepping Motors
Type Harmonic Geared

Wave Generator
Principle and Structure
Series
Introduction
Circular Spline Flex Spline 0 Circular Spline Wave Generator
AC Input DC Input
AS
Flex Spline
ASC
Non-backlash
Combines three basic parts. The flex spline is bent into an oval shape by the wave generator. The teeth at the long axis of the oval mesh with the circular spline, while the teeth at the short axis of the oval are completely separate from it.
90
Rotating the wave generator (input) clockwise while keeping the circular spline fixed in position will subject the flex spline to elastic deformation, causing a gradual shift in the point of engagement between the circular spline and flex spline.
360
The harmonic gear offers unparalleled precision in positioning and features a simple construction utilizing the metal's elastomechanical property, comprising just three basic components: a wave generator, flex spline and circular spline.
AC Input DC Input
5-Phase RK 5-Phase CRK 2-Phase CMK
When the wave generator completes one revolution, the flex spline has rotated two fewer teeth than the circular spline has, resulting in the movement of flex spline for the difference in the tooth count (two teeth) in the opposite direction of the wave generator's rotation (i.e., counterclockwise). This movement translates into output, thereby reducing the speed. SH geared type is for stepping motors with spur gear's speed reduction mechanism. Backlash value is 1 to 2 . CMK Series CSK Series 2-Phase PK Series
2-Phase CSK 2-Phase Stepping Motors
For compact motors
SH Geared
C-9
5-Phase Stepping Motors Controllers Accessories Installation
Torque [N m]
Torque [N m]
Current [A]
C-10
Stepping Motors
How to Read Specifications Table

Model q w e r t y u i o !0 !1 !2 Single-Phase 200-230 VAC Single Shaft Double Shaft Nm J: kg m2 A/Phase 0.72 RK566ACE RK566BCE 0.83 280 10-7 0.83 440 10-7 1.4 0.72 0.144 1:5 Nm Nm min min r/min Single-Phase 200-230 VAC Type Power Source Input Power Supply Input Electromagnetic Brake Static Friction Torque !3 Brake Time Brake Release Time Time Rating Mass kg Motor Driver Motor Driver 0.8 A Nm ms ms
10% 15%
RK566AMCE
RK566ACE-N5 RK566BCE-N5 3.5 280 10-7
Maximum Holding Torque Rotor Inertia Rated Current Basic Step Angle Gear Ratio Permissible Torque Maximum Torque Backlash Angular Transmission Error Permissible Speed Range Power Source Excitation Mode
Basic Step Angle The step angle is the angular distance (in degrees) that the motor moves at the input of one pulse from the driver. It differs depending on the motor structure and excitation system. Gear Ratio This is the ratio in rotation speed between the input speed from the motor and the speed of the gear output shaft. For example, the gear ratio 1:10 is that when the input speed from the motor is 10 r/min, the gear output shaft is 1 r/min. Permissible Torque The permissible torque represents the torque value limited by the mechanical strength of the gear when operated at a constant speed. For the types excluding PN and Harmonic geared type, the total torque including acceleration/deceleration torque should not exceed this value. Maximum Torque (PN Geared, Harmonic Geared Type Only) This is the maximum torque that can be used instantaneously (for a short time). During acceleration/deceleration, the motor can be operated up to this value. Backlash The play of gear output shaft when the motor shaft is fixed. When positioning in bi-direction, the positioning accuracy is affected.
3.5 7 2 (0.034 ) 5 (0.084 ) 0 600 50/60 Hz 3.5 A Microstep Active when power is off 24 VDC 0.25 0.8 20 30 Continuous 1.1 0.85 1.5
Dimension No.
m
2
Angular Transmission Error (PN Geared Type Only) Angular Transmission error is the difference between the theoretical angle of rotation of the output shaft, as calculated from the input pulse count, and actual angle of rotation. Permissible Speed Range This is the rotation speed that the motor can be operated at with the gear output shaft. Power Source The current value of the power input is the maximum input current value. (The input current varies according to the rotation speed.) Excitation Mode The driver has a function that can change the motor's step angle. Shown in the table is the step angle value at which the motor can be operated. (For the step angle value of microstep, see "Connection and Operation.") Static Friction Torque The electromagnetic brake specifications. This is the maximum holding torque at which the electromagnetic brake can hold the position.
Maximum Holding Torque The holding torque (5-phase: 5-phase excitation, 2-phase: 2-phase excitation) is the maximum holding power (torque) the stepping motor has when power (rated current) is being supplied but the motor is not rotating (with consideration given to the permissible strength of the gear when applicable). At motor standstill, the driver's "Automatic Current Cutback" function reduces the maximum holding torque by approximately 50% (approximately 40% for CMK and CSK Series). Rotor Inertia This refers to the inertia of rotor inside the motor. This is necessary when the required torque (acceleration torque) for the motor needs is calculated. Rated Current The rated current is determined by motor temperature rise. It is the current value that can flow to the motor coils continuously at motor standstill. As a general rule, the current must be set to the rated current.
How to Read Speed Torque Characteristics

The graph below is the characteristics that indicate the relationship between the speed and torque when a stepping motor is driven. The required speed and torque is always used when selecting a stepping motor. On the graph, the horizontal axis expresses the speed at motor output shaft while the vertical axis expresses the torque.
Maximum Starting Frequency (fs) This is the maximum pulse speed at which the motor can start or stop instantly (without an acceleration or deceleration period) when the frictional load and inertial load of the stepping motor are 0. Driving the motor at greater than this pulse speed requires gradual acceleration or deceleration. This frequency drops when there is a load inertia on the motor. (Refer to Load inertia maximum starting frequency characteristics in technical reference Page F-39)
qTH
The following figure shows the speed torque characteristics of the 5-phase stepping motor and driver package RK Series.
w
1.2
e fs Speed [r/min]
Current: 1.4 A/Phase Step Angle: 0.72/step Load Inertia: JL=0 kg m2
1.0 Pullout Torque 0.8 0.6 0.4 0.2 0 0 0 (0)
The speed torque characteristics are determined by the motor and driver, so they vary greatly based upon the type of the driver used.
Maximum Holding Torque The holding torque (5-phase: 5-phase excitation, 2-phase: 2-phase excitation) is the maximum holding power (torque) the stepping motor has when power is being supplied but the motor shaft is not rotating (rated current). At motor standstill, the driver's "Automatic Current Cutback" function reduces the maximum holding torque by approximately 50% (approximately 40% for CMK and CSK Series). Pullout Torque Pullout torque is the maximum torque that can be output at a given speed. When selecting a motor, be sure the required torque falls within this curve.
8 4 0
Driver Input Current

fs 1000 10 (100) 2000 3000 Speed [r/min] 20 (200) Pulse Speed [kHz] 4000 Resolution 1 30 (300) (Resolution 10)
Stepping Motors
Introduction
Stepping Motors
Closed Loop Stepping Motor and Driver Packages
AC Input
AC Input AS Series
AS ASC
DC Input
DC Input ASC Series
AC Input DC Input
5-Phase RK 5-Phase CRK 2-Phase CMK 2-Phase CSK 2-Phase Stepping Motors 5-Phase Stepping Motors Controllers Accessories Installation
Page
AS Series C-12 ASC Series C-58
C-11
Input Counter
Excitation Sequence Control
Output Element
Torque
Signal Level
C-12
Stepping Motors
RoHS-Compliant Closed Loop Stepping Motor and Driver Package
AS Series
The is an innovative stepping motor and driver package that adopts a closed loop control to eliminate misstep. In the , the user friendliness of a stepping motor is combined with a range of new functions for improved reliability of your equipment.
bAdditional Informationb Technical reference Page F-1 Safety standards Page G-2
b List of safety standard approved products (Model, Standards, File No., Certification Body) Page G-10
Features
b 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 activated, so there is no need to worry about loss of steps. When the successive overload is given, outputs the alarm signal. The reliability of is as high as that of a servo motor.
is designed as a "package" consisting of a motor and a driver.
Control Diagram
Input Pulse
Deviation Counter
Motor Sensor
Rotor Position Counter
Normal (Positioning Deviation is less than
1.8)
Motor runs in open loop mode like a stepping motor. If Motor Missteps (Positioning Deviation is 1.8 or more) Control switches to closed loop mode to prevent loss of synchronism.
Angle-Torque Characteristics
Stepping Motor wClosed Loop Mode qOpen Loop Mode
wClosed Loop Mode -7.2 -5.4 -3.6 -1.8 0 1.8 Position 3.6 5.4 7.2
qIf the positioning deviation is less than 1.8, the motor runs in open loop mode like a stepping motor. wIf the positioning deviation is 1.8 or more, 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.
The Newly Developed Sensor to Detect Rotor's Position

The newly developed rotor position detection sensor uses the change in inductance caused by change in the distance between the stator teeth and the teeth on the sensor rotor to detect rotor position.
Features
bThis structure can be made small and thin, so the overall size of the motor can be reduced. bHigh resolution bThis structure does not use electronic parts, so it is not affected by heat or vibration.
1.25 1 0.5 0 -0.5 -1
Sensor Output Signal
Sensor detects rotor position
60
120
180
240
Rotor Angle (Electrical Angle)
300 A-Phase
360 B-Phase
Features C-12 / System Configuration C-18 / Product Line C-22
Stepping Motors
b High Response
Like conventional stepping motors, operates in synchronism with command pulses. This makes it suitable for short stroke positioning.
b Motor/Driver Connection with a Single Cable

requires only one cable for connection between the motor and the driver. Wiring is much simpler compared with conventional servo motors requiring two cables, one for the motor and the other for an encoder. The cable can be extended to a maximum of 20 m (10 m for flexible extension cable), so the motor and the driver can be installed in locations far apart.
Motor Movement
Pulse Input Positioning Completion Signal
b A Full Lineup Including Geared Types and IP65 Rated Motor Type
The geared types enable driving of large inertial loads, and a high positioning accuracy, while the IP65 rated motor type provides ingress protection against dust and water. The offers a wide range of models meeting the needs of various applications.
Introduction
Measurement Condition: Feed 1/5 rotation Load inertia 250 10 7 kg m2 (J)
b No Gain Tuning
Gain tuning for servo motors is critical, troublesome and timeconsuming. 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 .
AC Input DC Input
AS
Standard Type IP65 Rated Motor

b A dedicated motor cable for IP65 rated motor (sold separately) is needed to connect the IP65 rated motor and driver.
ASC
b Improved Motor b The Complies with Major Safety Standards

Twice the Motor Life (Compared with a conventional model)
The life of a motor is affected by its bearing. The achieves approximately twice the life of a conventional motor by adopting a modified bearing. (Except for the standard type IP65 rated motor and geared motor)
AC Input
5-Phase RK
The AS Series is recognized with the UL/CSA Standards and conforms to EN Standard. The CE Marking certifies compliance with the EMC and Low Voltage Directives.
5-Phase CRK
b No Hunting
Since is a stepping motor, it has no hunting problem. 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 Stop Hunting
Protective Earth Terminal

DC Input
2-Phase CMK

b
Servo Motor
RoHS-Compliant
The conforms to the RoHS Directive that prohibits the use of six chemical substances including lead and cadmium.
Details of RoHS Directive Page G-23
b Low Vibration at Low Speed

The driver employs advanced technology that produces smoothness comparable to a microstep driver. Its vibration level is incredibly low, even when operating in the low speed range. When frequent changes from low to high (or vice versa) speed operations are required, the use of the Resolution Select Function solves the problem. provides resolution as low as 0.036 per step without any damping mechanism or other mechanical device.
Controllers Accessories
CCD Camera Low Speed
Installation
High Speed
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.
Specifications, Characteristics C-27 / Dimensions C-39 / Connection and Operation C-45 / Motor and Driver Combinations C-56
C-13
Low backlash
Non-backlash
C-14
Stepping Motors
A Full Lineup of
You are sure to find a unit that perfectly matches the needs of your specific application.
AC Input Built-In Controller (Stored Program) PN Geared Type
PL Geared Type
Harmonic Geared Type
Select an optimal motor based on the required torque, resolution, etc. Each "package" consists of a motor and a driver.
Select an optimal driver based on the system requirement.
TH Geared Type
Standard Type
AC Input Pulse Input A dedicated cable (sold separately) is needed to connect the motor and driver.
DC Input Pulse Input
Motors equipped with an electromagnetic brake are also available.

(An electromagnetic brake is not available on certain types.)
Characteristics Comparison for Motors and Geared Motors

Motor Type Geared Type
Standard Basic model of motor and driver system
Features
Permissible Torque Maximum Torque [N m]

Maximum Holding Torque
4
Backlash [arc min]
Basic Resolution [deg/step]
Output Shaft Speed [r/min]
0.36
4000
Maximum Holding Torque
The IP65 rated motor offering ingress protection against dust and water.
0.36
4000
TH Geared
(Parallel Shaft)
A wide variety of low gear ratios, high-speed operations Gear ratio: 1:3.6, 1:7.2, 1:10, 1:20, 1:30
12
45
0.012
500
PL Geared
(Planetary)
High permissible torque A Wide variety of gear ratios for selecting the desired step angle. (resolution) Centered output shaft Gear ratio: 1:5, 1:7.2, 1:10, 1:25, 1:36, 1:50
37 20 0.0072 360
PN Geared
(Planetary)
High speed (low gear ratio), high positioning precision High permissible/maximum torque A Wide variety of gear ratios for selecting the desired step angle. (resolution) Centered output shaft Gear ratio: 1:5, 1:7.2, 1:10, 1:25, 1:36, 1:50 High positioning precision High permissible/maximum torque High gear ratio, high resolution Centered output shaft Gear ratio: 1:50, 1:100
Permissible Torque
37
Maximum Torque
60 3 0.0072 600
Harmonic Geared
(Harmonic Drive)
Permissible Torque
37
Maximum Torque
55 0 0.0036 70
Note: b The values shown above must be used as reference. These values vary depending on the frame size and gear ratio.
Stepping Motors
b Each series offers various motor frame sizes in accordance with the motor type and power supply voltage, as shown below.
( 60: indicates a motor frame size of 60 mm.)
Power Supply Voltage AC Input AS Series
Standard Type
TH Geared Type
PL Geared Type
PN Geared Type

Introduction
Pulse Input Package Single-Phase 200-230 VAC
60 85
60 85
60 90
60 90
60 90
60 90
AC Input
AS
Built-In Controller (Stored Program) Package DC Input ASC Series Pulse Input Package
b
DC Input
ASC
24 VDC
28 42 60
28 42 60
28 42 60
28 42 60
AC Input
5-Phase RK
: A pulse input package and a built-in controller (stored program) package are available. White background: A pulse input package is available. b All the packages can be available motor with electromagnetic brake. (Except for the standard type IP65 rated motor and ASC Series with a motor frame size of 28 mm.) b For the single-phase 100-115 VAC models and three-phase 200-230 VAC models, please contact the nearest Oriental Motor sales office.
5-Phase CRK
Two Types of Drivers
AC Input
DC Input
Pulse Input
Various motor controls can be performed using a pulse generator provided by the user.
Motor Driver Pulse Generator Programmable Controller
DC Input
Built-In Controller (Stored Program)

The built-in pulse generation function allows the motor to be driven via a directly connected programmable controller. Since no separate pulse generator is required, the drivers of this type save space, simplify wiring, and also allow the number of axes to be increased with ease.
Motor
Driver
Programmable Controller or Personal Computer
Controllers Accessories Installation
C-15
Speed
C-16
Stepping Motors
Features of Built-In Controller (Stored Program) Package

The built-in controller (stored program) driver has an integrated controller which ensures a simple, efficient solution for stepping motor applications. Intelligent, integrated, and ideal for technology's increasing demand on motion control, the built-in controller (stored program) is computer-programmable via an RS-232C connection.
b Operating Modes
Positioning Continuous
4 Operating Modes
b Linked Motion Capability
Mechanical Home
Electrical Home
b Alarm Functions
The driver can flash LEDs to indicate which alarm has occured.
No. 2
No. 0 No. 1
No. 2
Alarm Output from Driver

ALARM OUT
Single Motion
Linked Motion When a START signal is received motions 0, 1 and 2 are executed without stopping between each one.
The driver can notify the host controller which alarm has occurred.
Motor Driver
PLC
b Speed Change on the Fly
b Daisy Chain
10000 Hz
4000 Hz 2000 Hz
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.
Stepping Motors
b Position Control
bIncremental mode (relative distance specification) /Absolute mode (absolute position specification) bLinked operation (a maximum of four motion profiles may be linked) bData range (in pulses): 8 388 608 to 8 388 607 bOperating speed: 10 Hz to 500 kHz (set in 1 Hz increments)
b Four Operation Modes

1. Positioning 2. Mechanical home seeking ( LS, 3. Continuous 4. Electrical home seeking LS, HOMELS)
Introduction
b General Inputs/Outputs
b8 Programmable inputs b8 Programmable outputs
Using Windows HyperTerminal, programming the built-in controller (stored program) driver is a simple task.
AC Input
AS
b Daisy Chain Capability

bUp to 36 units can be daisy chained with unique device ID's.
Example: "PROGRAM1"
DC Input
ASC
b Communication
bASCII based commands bConforms to RS-232C communication specifications bStart-stop asynchronous transmission method bTransmission speed: 9600 bps bData length: 8 bits, 1 stop bit, no parity Protocol: TTY (CR LF) bModular 4-pin connector
ALPHA STEP PLUS DRIVER >EDIT PROGRAM1
AC Input
5-Phase RK
b Program Memory
bMaximum number of programs: 14 (including STARTUP) bMaximum lines per program: 64 bCommands per line: 1 bProgram variables: 26 (A to Z)
Program Name : PROGRAM1 ( 1) VR 20000 ( 2) DIS 1200 ( 3) MI ( 4) CALL WAITEND ( 5) OUT1 1 ( 6) MGHP ( 7) END >> COMMAND : _
5-Phase CRK
DC Input
2-Phase CMK
PROGRAM1 Definition
bOperating speed: 20000 Hz bMove distance: 1200 pulses bCall a subroutine that waits for the motor to stop before moving on to the next command bTurn on output #1 bSeek the mechanical home position in the positive direction bEnd of program
b Built-In Functions
bSelectable motor-resolution bRun and stop current values bSpeed-filter set value bMotor rotation direction bExternal stop bSensor logic bOvertravel limits bSoftware overtravel bAlarm history bSyntax checking bDisplay values bIncremental moves bI/O status
2-Phase CSK 2-Phase Stepping Motors 5-Phase Stepping Motors Controllers Accessories Installation
C-17
C-18
Stepping Motors
System Configuration
b Pulse Input Package Standard Type
An example of a single-axis system configuration with the SG8030JY controller. Controller (Sold separately) Controller
( Page C-248)
24 VDC Power Supply

(Not supplied)
Programmable Controller
(Not supplied)
AS Series (Body)
Motor Driver
AC Power Supply (Main Power Supply)

(Not supplied)
Selectable Accessories and Peripheral Equipment (Sold separately)
Motor Mounting Brackets

( Page C-266)
Flexible Couplings
( Page C-258)
Extension Cables
( Page C-253)
DIN Rail Mounting Plate

( Page C-270)
Driver Cables General-Purpose Type

( Page C-256)
Connector -- Terminal Block Conversion Unit

( Page C-256)
No.
Product Name
Controller Motor Mounting Brackets Flexible Couplings Extension Cables Flexible Extension Cables DIN Rail Mounting Plate Driver Cables General-Purpose Type Connector -- Terminal Block Conversion Unit
Overview
This controller outputs pulse commands that determine the rotating amount and rotating speed. Dedicated mounting bracket for the motor. Coupling that connects the motor shaft to the driven shaft. Cable for extending the wiring distance between the motor and driver (1 to 20 m). Cable offering flexibility, used to extend the wiring distance between the motor and driver (1 to 10 m). Use this plate when installing the driver to a DIN rail. General-purpose cable for connecting the driver and controller (1 m, 2 m). Set of terminal block and cable for connecting the driver and controller (1 m).
Page
C-248 C-266 C-258 C-253 C-270 C-256 C-256
Example of System Configuration

(Body) (Sold separately)
AS Series
AS66ACE
Motor Flexible DIN Rail Connector -- Terminal Block Extension Cable Mounting Bracket Coupling Mounting Plate Conversion Unit (1 m) (3 m) SG8030JY-U PAL2P-5 MCS300808 PADP01 CC36T1 CC03AIP Controller
bThe system configuration shown above is an example. Other combinations are available.
Stepping Motors
b Pulse Input Package Standard Type with Electromagnetic Brake
An example of a single-axis system configuration with the SG8030JY controller. Required Products (Sold separately) Controller (Sold separately) Controller
( Page C-248)
Extension Cables for Electromagnetic Brake Motor ( Page C-253)
24 VDC Power Supply

(Not supplied)
Introduction
(Not supplied)
AC Input
AS
AS Series (Body)
DC Input
ASC
Motor
Driver
AC Input

(Not supplied)
5-Phase RK
24 VDC Power Supply for Electromagnetic Brake

(Not supplied)
5-Phase CRK
DC Input
2-Phase CMK

( Page C-266)
Flexible Couplings
( Page C-258)

( Page C-270)

( Page C-256)

( Page C-256)
No.
Product Name
Extension Cables for Electromagnetic Brake Motor Flexible Extension Cables for Electromagnetic Brake Motor Controller Motor Mounting Brackets Flexible Couplings DIN Rail Mounting Plate Driver Cables General-Purpose Type Connector -- Terminal Block Conversion Unit
Overview
Dedicated cable for connecting the electromagnetic brake motor and driver (1 to 20 m). Be sure to purchase this cable. Dedicated cable offering flexibility, used to connect the electromagnetic brake motor and driver (1 to 10 m). Be sure to purchase this cable. This controller outputs pulse commands that determine the rotating amount and rotating speed. Dedicated mounting bracket for the motor. Coupling that connects the motor shaft to the driven shaft. Use this plate when installing the driver to a DIN rail. General-purpose cable for connecting the driver and controller (1 m, 2 m). Set of terminal block and cable for connecting the driver and controller (1 m).
Page
C-253
Controllers
C-248 C-266 C-258 C-270 C-256 C-256
Accessories

(Body) (Sold separately) (Sold separately)
Installation
AS Series
Extension Cable for Electromagnetic Brake Motor (3 m)
AS66MCE
CC03AIPM
Motor Flexible DIN Rail Connector -- Terminal Block Mounting Bracket Coupling Mounting Plate Conversion Unit (1 m) SG8030JY-U PAL2P-5 MCS300808 PADP01 CC36T1 Controller
C-19
C-20
Stepping Motors
b Built-In Controller (Stored Program) Package Standard Type
Required Products (Sold separately) Communication Cable
( Page C-257)
Computer
(Not supplied)
AS Series (Body)
Motor Driver Programmable Controller
(Not supplied)

(Not supplied)

( Page C-266)
Flexible Couplings
( Page C-258)
Extension Cables
( Page C-253)

( Page C-270)

( Page C-256)

( Page C-256)
No.
Product Name
Communication Cable Motor Mounting Brackets Flexible Couplings Extension Cables Flexible Extension Cables DIN Rail Mounting Plate Driver Cables General-Purpose Type Connector -- Terminal Block Conversion Unit
Overview
Cable for connecting the computer and driver (5 m). Dedicated mounting bracket for the motor. Coupling that connects the motor shaft to the driven shaft. Cable for extending the wiring distance between the motor and driver (1 to 20 m). Cable offering flexibility, used to extend the wiring distance between the motor and driver (1 to 10 m). Use this plate when installing the driver to a DIN rail. General-purpose cable for connecting the driver and controller (1 m, 2 m). Set of terminal block and cable for connecting the driver and host controller (1 m).
Page
C-257 C-266 C-258 C-253 C-270 C-256 C-256

AS Series
AS66ACEP
Communication Cable FC04W5
Motor Flexible DIN Rail Connector -- Terminal Block Conversion Unit (1 m) Extension Cable Mounting Bracket Coupling Mounting Plate For Sensor Input For Control I/0 (3 m) CC03AIP PAL2P-5 MCS300808 PADP01 CC20T1 CC36T1
Stepping Motors
b Built-In Controller (Stored Program) Package Standard Type with Electromagnetic Brake
Required Products (Sold separately) Computer Extension Cables for Electromagnetic Brake Motor ( Page C-253) Communication Cable
( Page C-257)
(Not supplied)
Introduction
AC Input DC Input
AS
AS Series (Body)
Motor Driver Programmable Controller
(Not supplied)
ASC 5-Phase RK
AC Input

(Not supplied)
5-Phase CRK

(Not supplied) DC Input
2-Phase CMK


( Page C-266)
Flexible Couplings
( Page C-258)

( Page C-270)

( Page C-256)

( Page C-256)
No.
Product Name
Extension Cables for Electromagnetic Brake Motor Flexible Extension Cables for Electromagnetic Brake Motor Communication Cable Motor Mounting Brackets Flexible Couplings DIN Rail Mounting Plate Driver Cables General-Purpose Type Connector -- Terminal Block Conversion Unit
Overview
Dedicated cable for connecting the electromagnetic brake motor and driver (1 to 20 m). Be sure to purchase this cable. Dedicated cable offering flexibility, used to connect the electromagnetic brake motor and driver (1 to 10 m). Be sure to purchase this cable. Cable for connecting the computer and driver (5 m). Dedicated mounting bracket for the motor. Coupling that connects the motor shaft to the driven shaft. Use this plate when installing the driver to a DIN rail. General-purpose cable for connecting the driver and controller (1 m, 2 m). Set of terminal block and cable for connecting the driver and host controller (1 m).
Page
C-253
Controllers
C-257 C-266 C-258 C-270 C-256 C-256

AS Series
Extension Cable for Electromagnetic Brake Motor (3 m)
AS66MCEP
CC03AIPM
Communication Cable FC04W5
Motor Flexible DIN Rail Connector -- Terminal Block Conversion Unit (1 m) Mounting Bracket Coupling Mounting Plate For Sensor Input For Control I/0 PAL2P-5 MCS300808 PADP01 CC20T1 CC36T1
C-21
C-22
Stepping Motors
Product Number Code

b Standard Type
AS 6 6 A C E P
Series AS: AS Series Motor Frame Size 6: 60 mm 9: 85 mm Motor Case Length Motor Type A: Standard (Single Shaft) M: Electromagnetic Brake Type Power Supply Voltage A: Single-Phase 100-115 VAC C: Single-Phase 200-230 VAC S: Three-Phase 200-230 VAC Motor Classification Driver Type P: Built-In Controller (Stored Program) Package Blank: Pulse Input Package
AS 6 6 A C T P
Series AS: AS Series Motor Frame Size 6: 60 mm 9: 85 mm Motor Case Length Motor Shaft Type A: Single Shaft Power Supply Voltage A: Single-Phase 100-115 VAC C: Single-Phase 200-230 VAC S: Three-Phase 200-230 VAC Motor Classification Driver Type P: Built-In Controller (Stored Program) Package Blank: Pulse Input Package
b Geared Type
AS 6 6 A C E P - N 50
Series AS: AS Series Motor Frame Size 6: 60 mm 9: 90 mm Motor Case Length Motor Type A: Standard (Single Shaft) M: Electromagnetic Brake Type Power Supply Voltage A: Single-Phase 100-115 VAC C: Single-Phase 200-230 VAC S: Three-Phase 200-230 VAC Motor Classification Driver Type P: Built-In Controller (Stored Program) Package Blank: Pulse Input Package Gearhead Type T: TH Geared Type P: PL Geared Type N: PN Geared Type H: Harmonic Geared Type Gear Ratio
Product Line
The product names below are all for single shaft types, but there are also double shaft models available for all products except for those with electromagnetic brakes or IP65 rated motor. Please contact the nearest Oriental Motor sales office for further information on the double shaft models.
b Pulse Input Package

Standard Type
Power Supply Voltage Single-Phase 100-115 VAC Model (Single Shaft) AS66AAE AS69AAE AS98AAE AS911AAE AS66ACE AS69ACE AS98ACE AS911ACE AS66ASE AS69ASE AS98ASE AS911ASE Page Single-Phase 100-115 VAC C-27 C-27 Three-Phase 200-230 VAC Single-Phase 200-230 VAC
Standard Type with Electromagnetic Brake

Electromagnetic brake models must use an extension cable or flexible extension cable for an electromagnetic brake motor.
Power Supply Voltage Model (Single Shaft) AS66MAE AS69MAE AS98MAE AS66MCE AS69MCE AS98MCE AS66MSE AS69MSE AS98MSE Page C-27 C-27
Single-Phase 200-230 VAC
Three-Phase 200-230 VAC
For the single-phase 100-115 VAC models and three-phase 200-230 VAC models, please contact the nearest Oriental Motor sales office.
For the single-phase 100-115 VAC models and three-phase 200-230 VAC models, please contact the nearest Oriental Motor sales office. Extension cables for electromagnetic brake motor Page C-253

Always use the motor cable for IP65 rated motor (sold separately) for connection between the IP65 rated motor and the driver.
Power Supply Voltage Single-Phase 100-115 VAC Model (Single Shaft) AS66AAT AS69AAT AS98AAT AS911AAT AS66ACT AS69ACT AS98ACT AS911ACT AS66AST AS69AST AS98AST AS911AST Page C-28 C-28
Motor Cables for IP65 Rated Motor (Sold separately)

Model CC01AIPM CC02AIPM CC03AIPM CC05AIPM Model CC01SARM2 CC02SARM2 CC03SARM2 Length (m) 1 2 3 5 Model CC07AIPM CC10AIPM CC15AIPM CC20AIPM Model CC05SARM2 CC07SARM2 CC10SARM2 Length (m) 7 10 15 20
Flexible Motor Cables for IP65 Rated Motor (Sold separately)

Length (m) 1 2 3 Length (m) 5 7 10
For the single-phase 100-115 VAC models and three-phase 200-230 VAC models, please contact the nearest Oriental Motor sales office. Motor cables for IP65 rated motor Page C-254
The following items are included in each product. Motor, Parallel Key1, Surge Suppressor2, Driver, Connector for Input/Output Signal, Mounting Bracket for Driver (with screws), Operating Manual 1 Only for the products with a key slot on the output shaft 2 Only for electromagnetic brake type
Stepping Motors
TH Geared Type
Power Supply Voltage Model (Single Shaft) AS66AAE-T3.6 AS66AAE-T7.2 AS66AAE-T10 AS66AAE-T20 AS66AAE-T30 AS98AAE-T3.6 AS98AAE-T7.2 AS98AAE-T10 AS98AAE-T20 AS98AAE-T30 AS66ACE-T3.6 AS66ACE-T7.2 AS66ACE-T10 AS66ACE-T20 AS66ACE-T30 AS98ACE-T3.6 AS98ACE-T7.2 AS98ACE-T10 AS98ACE-T20 AS98ACE-T30 AS66ASE-T3.6 AS66ASE-T7.2 AS66ASE-T10 AS66ASE-T20 AS66ASE-T30 AS98ASE-T3.6 AS98ASE-T7.2 AS98ASE-T10 AS98ASE-T20 AS98ASE-T30 Page
TH Geared Type with Electromagnetic Brake

Power Supply Voltage Model (Single Shaft) AS66MAE-T3.6 AS66MAE-T7.2 AS66MAE-T10 AS66MAE-T20 AS66MAE-T30 AS98MAE-T3.6 AS98MAE-T7.2 AS98MAE-T10 AS98MAE-T20 AS98MAE-T30 AS66MCE-T3.6 AS66MCE-T7.2 AS66MCE-T10 AS66MCE-T20 AS66MCE-T30 AS98MCE-T3.6 AS98MCE-T7.2 AS98MCE-T10 AS98MCE-T20 AS98MCE-T30 AS66MSE-T3.6 AS66MSE-T7.2 AS66MSE-T10 AS66MSE-T20 AS66MSE-T30 AS98MSE-T3.6 AS98MSE-T7.2 AS98MSE-T10 AS98MSE-T20 AS98MSE-T30 Page
Introduction
C-29 Single-Phase 200-230 VAC C-30
C-29 AC Input
AS
C-30
DC Input
ASC
AC Input
5-Phase RK
5-Phase CRK
PL Geared Type
Power Supply Voltage Model (Single Shaft) AS66AAE-P5 AS66AAE-P7.2 AS66AAE-P10 AS66AAE-P25 AS66AAE-P36 AS66AAE-P50 AS98AAE-P5 AS98AAE-P7.2 AS98AAE-P10 AS98AAE-P25 AS98AAE-P36 AS98AAE-P50 AS66ACE-P5 AS66ACE-P7.2 AS66ACE-P10 AS66ACE-P25 AS66ACE-P36 AS66ACE-P50 AS98ACE-P5 AS98ACE-P7.2 AS98ACE-P10 AS98ACE-P25 AS98ACE-P36 AS98ACE-P50 AS66ASE-P5 AS66ASE-P7.2 AS66ASE-P10 AS66ASE-P25 AS66ASE-P36 AS66ASE-P50 AS98ASE-P5 AS98ASE-P7.2 AS98ASE-P10 AS98ASE-P25 AS98ASE-P36 AS98ASE-P50 Page
PL Geared Type with Electromagnetic Brake

DC Input Power Supply Voltage Model (Single Shaft) AS66MAE-P5 AS66MAE-P7.2 AS66MAE-P10 AS66MAE-P25 AS66MAE-P36 AS66MAE-P50 AS98MAE-P5 AS98MAE-P7.2 AS98MAE-P10 AS98MAE-P25 AS98MAE-P36 AS98MAE-P50 AS66MCE-P5 AS66MCE-P7.2 AS66MCE-P10 AS66MCE-P25 AS66MCE-P36 AS66MCE-P50 AS98MCE-P5 AS98MCE-P7.2 AS98MCE-P10 AS98MCE-P25 AS98MCE-P36 AS98MCE-P50 AS66MSE-P5 AS66MSE-P7.2 AS66MSE-P10 AS66MSE-P25 AS66MSE-P36 AS66MSE-P50 AS98MSE-P5 AS98MSE-P7.2 AS98MSE-P10 AS98MSE-P25 AS98MSE-P36 AS98MSE-P50 Page
2-Phase CMK
2-Phase CSK
C-31
C-31
C-32
C-32
Installation
C-23
C-24
Stepping Motors
PN Geared Type
Power Supply Voltage Model (Single Shaft) AS66AAE-N5 AS66AAE-N7.2 AS66AAE-N10 AS66AAE-N25 AS66AAE-N36 AS66AAE-N50 AS98AAE-N5 AS98AAE-N7.2 AS98AAE-N10 AS98AAE-N25 AS98AAE-N36 AS98AAE-N50 AS66ACE-N5 AS66ACE-N7.2 AS66ACE-N10 AS66ACE-N25 AS66ACE-N36 AS66ACE-N50 AS98ACE-N5 AS98ACE-N7.2 AS98ACE-N10 AS98ACE-N25 AS98ACE-N36 AS98ACE-N50 AS66ASE-N5 AS66ASE-N7.2 AS66ASE-N10 AS66ASE-N25 AS66ASE-N36 AS66ASE-N50 AS98ASE-N5 AS98ASE-N7.2 AS98ASE-N10 AS98ASE-N25 AS98ASE-N36 AS98ASE-N50 Page
PN Geared Type with Electromagnetic Brake

Power Supply Voltage Model (Single Shaft) AS66MAE-N5 AS66MAE-N7.2 AS66MAE-N10 AS66MAE-N25 AS66MAE-N36 AS66MAE-N50 AS98MAE-N5 AS98MAE-N7.2 AS98MAE-N10 AS98MAE-N25 AS98MAE-N36 AS98MAE-N50 AS66MCE-N5 AS66MCE-N7.2 AS66MCE-N10 AS66MCE-N25 AS66MCE-N36 AS66MCE-N50 AS98MCE-N5 AS98MCE-N7.2 AS98MCE-N10 AS98MCE-N25 AS98MCE-N36 AS98MCE-N50 AS66MSE-N5 AS66MSE-N7.2 AS66MSE-N10 AS66MSE-N25 AS66MSE-N36 AS66MSE-N50 AS98MSE-N5 AS98MSE-N7.2 AS98MSE-N10 AS98MSE-N25 AS98MSE-N36 AS98MSE-N50 Page
C-33
C-33
C-34
C-34

Power Supply Voltage Single-Phase 100-115 VAC Model (Single Shaft) AS66AAE-H50 AS66AAE-H100 AS98AAE-H50 AS98AAE-H100 AS66ACE-H50 AS66ACE-H100 AS98ACE-H50 AS98ACE-H100 AS66ASE-H50 AS66ASE-H100 AS98ASE-H50 AS98ASE-H100 Page
Harmonic Geared Type with Electromagnetic Brake

Power Supply Voltage Single-Phase 100-115 VAC C-35 Single-Phase 200-230 VAC C-35 Three-Phase 200-230 VAC Model (Single Shaft) AS66MAE-H50 AS66MAE-H100 AS98MAE-H50 AS98MAE-H100 AS66MCE-H50 AS66MCE-H100 AS98MCE-H50 AS98MCE-H100 AS66MSE-H50 AS66MSE-H100 AS98MSE-H50 AS98MSE-H100 Page C-35 C-35
bElectromagnetic brake models must use an extension cable or flexible extension cable for an electromagnetic brake motor.
Extension Cables for Electromagnetic Brake Motor

Model CC01AIPM CC02AIPM CC03AIPM CC05AIPM CC07AIPM CC10AIPM CC15AIPM CC20AIPM Length (m) 1 2 3 5 7 10 15 20
Flexible Extension Cables for Electromagnetic Brake Motor

Model CC01SARM2 CC02SARM2 CC03SARM2 CC05SARM2 CC07SARM2 CC10SARM2 Length (m) 1 2 3 5 7 10
Stepping Motors
b Built-In Controller (Stored Program) Package

Standard Type
Power Supply Voltage Single-Phase 100-115 VAC Model (Single Shaft) AS66AAEP AS69AAEP AS98AAEP AS911AAEP AS66ACEP AS69ACEP AS98ACEP AS911ACEP AS66ASEP AS69ASEP AS98ASEP AS911ASEP Page C-27 C-27 Three-Phase 200-230 VAC Single-Phase 200-230 VAC

Power Supply Voltage Single-Phase 100-115 VAC Model (Single Shaft) AS66MAEP AS69MAEP AS98MAEP AS66MCEP AS69MCEP AS98MCEP AS66MSEP AS69MSEP AS98MSEP Page C-27 C-27
Introduction
AC Input
AS

Always use the motor cable for IP65 rated motor (sold separately) for connection between the IP65 rated motor and the driver.
Power Supply Voltage Single-Phase 100-115 VAC Model (Single Shaft) AS66AATP AS69AATP AS98AATP AS911AATP AS66ACTP AS69ACTP AS98ACTP AS911ACTP AS66ASTP AS69ASTP AS98ASTP AS911ASTP Page C-28 C-28
5-Phase CRK
DC Input AC Input
ASC 5-Phase RK
For the single-phase 100-115 VAC models and three-phase 200-230 VAC models, please contact the nearest Oriental Motor sales office. Motor cables for IP65 rated motor Page C-254
DC Input
2-Phase CMK
TH Geared Type
Power Supply Voltage Model (Single Shaft) AS66AAEP-T3.6 AS66AAEP-T7.2 AS66AAEP-T10 AS66AAEP-T20 AS66AAEP-T30 AS98AAEP-T3.6 AS98AAEP-T7.2 AS98AAEP-T10 AS98AAEP-T20 AS98AAEP-T30 AS66ACEP-T3.6 AS66ACEP-T7.2 AS66ACEP-T10 AS66ACEP-T20 AS66ACEP-T30 AS98ACEP-T3.6 AS98ACEP-T7.2 AS98ACEP-T10 AS98ACEP-T20 AS98ACEP-T30 AS66ASEP-T3.6 AS66ASEP-T7.2 AS66ASEP-T10 AS66ASEP-T20 AS66ASEP-T30 AS98ASEP-T3.6 AS98ASEP-T7.2 AS98ASEP-T10 AS98ASEP-T20 AS98ASEP-T30 Page

Power Supply Voltage Model (Single Shaft) AS66MAEP-T3.6 AS66MAEP-T7.2 AS66MAEP-T10 AS66MAEP-T20 AS66MAEP-T30 AS98MAEP-T3.6 AS98MAEP-T7.2 AS98MAEP-T10 AS98MAEP-T20 AS98MAEP-T30 AS66MCEP-T3.6 AS66MCEP-T7.2 AS66MCEP-T10 AS66MCEP-T20 AS66MCEP-T30 AS98MCEP-T3.6 AS98MCEP-T7.2 AS98MCEP-T10 AS98MCEP-T20 AS98MCEP-T30 AS66MSEP-T3.6 AS66MSEP-T7.2 AS66MSEP-T10 AS66MSEP-T20 AS66MSEP-T30 AS98MSEP-T3.6 AS98MSEP-T7.2 AS98MSEP-T10 AS98MSEP-T20 AS98MSEP-T30 Page
2-Phase CSK
C-29 Single-Phase 200-230 VAC C-30
C-29
C-30
Controllers
Accessories
Installation
C-25
C-26
Stepping Motors
PN Geared Type
Power Supply Voltage Model (Single Shaft) AS66AAEP-N5 AS66AAEP-N7.2 AS66AAEP-N10 AS66AAEP-N25 AS66AAEP-N36 AS66AAEP-N50 AS98AAEP-N5 AS98AAEP-N7.2 AS98AAEP-N10 AS98AAEP-N25 AS98AAEP-N36 AS98AAEP-N50 AS66ACEP-N5 AS66ACEP-N7.2 AS66ACEP-N10 AS66ACEP-N25 AS66ACEP-N36 AS66ACEP-N50 AS98ACEP-N5 AS98ACEP-N7.2 AS98ACEP-N10 AS98ACEP-N25 AS98ACEP-N36 AS98ACEP-N50 AS66ASEP-N5 AS66ASEP-N7.2 AS66ASEP-N10 AS66ASEP-N25 AS66ASEP-N36 AS66ASEP-N50 AS98ASEP-N5 AS98ASEP-N7.2 AS98ASEP-N10 AS98ASEP-N25 AS98ASEP-N36 AS98ASEP-N50 Page

Power Supply Voltage Model (Single Shaft) AS66MAEP-N5 AS66MAEP-N7.2 AS66MAEP-N10 AS66MAEP-N25 AS66MAEP-N36 AS66MAEP-N50 AS98MAEP-N5 AS98MAEP-N7.2 AS98MAEP-N10 AS98MAEP-N25 AS98MAEP-N36 AS98MAEP-N50 AS66MCEP-N5 AS66MCEP-N7.2 AS66MCEP-N10 AS66MCEP-N25 AS66MCEP-N36 AS66MCEP-N50 AS98MCEP-N5 AS98MCEP-N7.2 AS98MCEP-N10 AS98MCEP-N25 AS98MCEP-N36 AS98MCEP-N50 AS66MSEP-N5 AS66MSEP-N7.2 AS66MSEP-N10 AS66MSEP-N25 AS66MSEP-N36 AS66MSEP-N50 AS98MSEP-N5 AS98MSEP-N7.2 AS98MSEP-N10 AS98MSEP-N25 AS98MSEP-N36 AS98MSEP-N50 Page
C-33
C-33
C-34
C-34

Power Supply Voltage Single-Phase 100-115 VAC Model (Single Shaft) AS66AAEP-H50 AS66AAEP-H100 AS98AAEP-H50 AS98AAEP-H100 AS66ACEP-H50 AS66ACEP-H100 AS98ACEP-H50 AS98ACEP-H100 AS66ASEP-H50 AS66ASEP-H100 AS98ASEP-H50 AS98ASEP-H100 Page

Power Supply Voltage Single-Phase 100-115 VAC C-35 Single-Phase 200-230 VAC C-35 Three-Phase 200-230 VAC Model (Single Shaft) AS66MAEP-H50 AS66MAEP-H100 AS98MAEP-H50 AS98MAEP-H100 AS66MCEP-H50 AS66MCEP-H100 AS98MCEP-H50 AS98MCEP-H100 AS66MSEP-H50 AS66MSEP-H100 AS98MSEP-H50 AS98MSEP-H100 Page C-35 C-35
Communication Cable
This cable is used to connect personal computer and built-in controller (stored program) driver through an RS-232C connection.
Model FC04W5
(Cable length: 5 m)
Stepping Motors
Standard Type
Specifications
Pulse Input Package
Motor Frame Size 60 mm, 85 mm
Standard Electromagnetic Brake Built-In Controller (Stored Standard Program) Package Electromagnetic Brake Maximum Holding Torque Nm Rotor Inertia J: kg m2 Resolution2 Resolution Setting: 1000 P/R Voltage/Frequency Power Source Maximum Input Current A Type Power Supply Input Electromagnetic Brake3 Power Consumption W Excitation Current A Static Friction Torque Nm Motor kg Mass Driver kg Motor Dimension Pulse Input No. Driver Built-In Controller (Stored Program) Model
AS66ACE AS66MCE AS66ACEP AS66MCEP 1.2 405 10-7 [564 10-7]1
AS69ACE AS69MCE AS69ACEP AS69MCEP
AS98ACE AS98MCE AS98ACEP AS98MCEP
AS911ACE AS911ACEP 4 2710 10-7

Introduction
0.6 0.85 [1.1]1 1
2 802 10-7 [961 10-7]1 1400 10-7 [1560 10-7]1 0.36/Pulse 15 10% 50/60 Hz Single-Phase 200-230 VAC 3.9 3.5 Active when power is off 24 VDC 5% 6 0.25 1 1.4 [1.65]1 1.8 [2.2]1 0.8 2 13 14
4.5 AC Input
AS
3 DC Input
ASC
How to read specifications table Page C-10 Extension cables for electromagnetic brake motor Page C-253 1 The values inside the brackets [ ] represent the specification for the electromagnetic brake type. 2 Pulse Input Package: The resolution can be set to any one of 500 P/R, 1000 P/R, 5000 P/R, or 10000 P/R with the resolution select switch or resolution select switching signals. Resolution select switch Page C-45 Built-In Controller (Stored Program) Package: The resolution can be set from 500 P/R to 10000 P/R by setting parameters. 3 The electromagnetic brakes are for holding the position when the power is off. They cannot be used for braking. Also, a separate 24 VDC 5%, 0.3 A minimum power supply is required for the electromagnetic brakes. b For the single-phase 100-115 VAC models and three-phase 200-230 VAC models, please contact the nearest Oriental Motor sales office.
AC Input
Speed Torque Characteristics

AS66 CE/AS66 CEP
2.0 3
How to read speed torque characteristics Page C-10
AS69 CE/AS69 CEP
AS98 CE/AS98 CEP

3
DC Input
2-Phase CMK
1.5
Torque [N m]
Torque [N m]
Torque [N m]
2-Phase CSK
1.0
0.5
0 0 0 10
1000 20
2000 3000 Speed [r/min]
4000
0 0 0 10
1000 20
2000 3000 Speed [r/min]
4000
0 0 0 10
1000 20
2000 3000 Speed [r/min]
4000
30 40 50 60 Pulse Speed [kHz] (Resolution Setting: 1000 P/R)
AS911ACE/AS911ACEP
5
Torque [N m]
3 2
Controllers
1 0 0 0 10
1000 20
2000 3000 Speed [r/min]
4000
Accessories
b Enter A (standard) or M (electromagnetic brake) in the box ( ) within the model name. Notes: b 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 100C. (Under 75C is required to comply with UL or CSA Standards as the motor is recognized as insulation class A.) b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 50%.
Installation
C-27
Torque [N m]
1.0
Torque [N m]
Torque [N m]
Torque [N m]
C-28
Stepping Motors

Specifications
Model Pulse Input Package Built-In Controller (Stored Program) Package Standard Standard AS66ACT AS66ACTP 1.2 405 10-7 AS69ACT AS69ACTP
AS98ACT AS98ACTP 2 1400 10-7
AS911ACT AS911ACTP 4 2710 10-7
Maximum Holding Torque Nm Rotor Inertia J: kg m2 Resolution1 Resolution Setting: 1000 P/R Voltage/Frequency Power Source Maximum Input Current A Degree of Protection Motor kg Mass Driver kg Motor Dimension Pulse Input No. Driver Built-In Controller (Stored Program)
802 10-7
3 1 3
0.36/Pulse 15 10% 50/60 Hz Single-Phase 200-230 VAC 3.9 3.5 Motor: IP652 Driver: IP10 1.5 2.2 0.8 4 13 14
4.5 3.3
How to read specifications table Page C-10 1 Pulse Input Package: The resolution can be set to any one of 500 P/R, 1000 P/R, 5000 P/R, or 10000 P/R with the resolution select switch or resolution select switching signals. Resolution select switch Page C-45 Built-In Controller (Stored Program) Package: The resolution can be set from 500 P/R to 10000 P/R by setting parameters. 2 Excluding the gap between the shaft and the flange. b Always use the motor cable for IP65 rated motor (sold separately) for connection between the IP65 rated motor and the driver. Page C-254 b For the single-phase 100-115 VAC models and three-phase 200-230 VAC models, please contact the nearest Oriental Motor sales office.

AS66ACT/AS66ACTP
2.0 1.5
AS69ACT/AS69ACTP
3
0.5
0 0 0 10
1000 20
2000 3000 Speed [r/min]
4000
0 0 0 10
1000 20
2000 3000 Speed [r/min]
4000
AS98ACT/AS98ACTP
3
AS911ACT/AS911ACTP
5 4
3 2 1
0 0 0 10
1000 20
2000 3000 Speed [r/min]
4000
0 0 0 10
1000 20
2000 3000 Speed [r/min]
4000
Notes: b 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 100C. (Under 75C is required to comply with UL or CSA Standards as the motor is recognized as insulation class A.) b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 50%.
Requirement for Motor Cables for IP65 Rated Motor (Sold separately)
Always use the motor cable for IP65 rated motor (sold separately) for connection between the IP65 rated motor and the driver. The IP65 rated motor cannot be driven unless the dedicated motor cable is used. Motor Cable for IP65 Rated Motor (Sold separately)
( Page C-254)
Motor
Driver
AS Series
Stepping Motors
TH Geared Type
Specifications
Model Pulse Input Package Built-In Controller (Stored Program) Package Standard Electromagnetic Brake Standard Electromagnetic Brake Nm J: kg m2 arc minute (degrees) r/min
Motor Frame Size 60 mm
Maximum Holding Torque Rotor Inertia Backlash Permissible Speed Range Gear Ratio Resolution2 Resolution Setting: 1000 P/R Permissible Torque Nm Voltage/Frequency Power Source Maximum Input Current A Type Power Supply Input Electromagnetic Brake3 Power Consumption W Excitation Current A Static Friction Torque Nm Motor kg Mass Driver kg Motor Dimension Pulse Input No. Driver Built-In Controller (Stored Program)
AS66ACE-T3.6 AS66MCE-T3.6 AS66ACEP-T3.6 AS66MCEP-T3.6 1.25 35 (0.584) 0 500 1: 3.6 0.1/Pulse 1.25
AS66ACE-T7.2 AS66MCE-T7.2 AS66ACEP-T7.2 AS66MCEP-T7.2 2.5
0.62
AS66ACE-T10 AS66ACE-T20 AS66ACE-T30 AS66MCE-T10 AS66MCE-T20 AS66MCE-T30 AS66ACEP-T10 AS66ACEP-T20 AS66ACEP-T30 AS66MCEP-T10 AS66MCEP-T20 AS66MCEP-T30 3 3.5 4 405 10-7 [564 10-7]1 15 (0.25) 10 (0.167) 0 250 0 180 0 90 0 60 1: 7.2 1: 10 1: 20 1: 30 0.05/Pulse 0.036/Pulse 0.018/Pulse 0.012/Pulse 2.5 3 3.5 4 15 10% 50/60 Hz Single-Phase 200-230 VAC 3 Active when power is off 24 VDC 5% 6 0.25 1.25 1.5 1.75 2 1.25 [1.5]1 0.8 5 13 14
Introduction
AC Input DC Input AC Input
AS ASC 5-Phase RK
How to read specifications table Page C-10 Extension cables for electromagnetic brake motor Page C-253 b For the single-phase 100-115 VAC models and three-phase 200-230 VAC models, please contact the nearest Oriental Motor sales office. 1 The values inside the brackets [ ] represent the specification for the electromagnetic brake type. 2 Pulse Input Package: The resolution can be set to any one of 500 P/R, 1000 P/R, 5000 P/R, or 10000 P/R with the resolution select switch or resolution select switching signals. Resolution select switch Page C-45 Built-In Controller (Stored Program) Package: The resolution can be set from 500 P/R to 10000 P/R by setting parameters. 3 The electromagnetic brakes are for holding the position when the power is off. They cannot be used for braking. Also, a separate 24 VDC 5%, 0.3 A minimum power supply is required for the electromagnetic brakes. Note: b Direction of rotation of the motor and that of the gear output shaft are the same for the gear ratios 1: 3.6, 1: 7.2 and 1: 10. It is opposite for 1: 20 and 1: 30 gear ratios.
5-Phase CRK
DC Input
2-Phase CMK

AS66 CE-T3.6/AS66 CEP-T3.6
1.5 4

2-Phase CSK
AS66 CE-T10/AS66 CEP-T10

5 4
Permissible Torque
Torque [N m]
Torque [N m]
Permissible Torque
Torque [N m]
1.0
Permissible Torque 3 2 1 0 0 0 5
0.5
0 0
100 5 10
200
300 400 Speed [r/min]
500 30
600 35
0 0
50 5 10
100
250 30
300 35
40 10
160 30
200
15 20 25 Pulse Speed [kHz] (Resolution Setting: 1000 P/R)

5 4

5 4 Permissible Torque
Torque [N m]
Controllers
Permissible Torque
Torque [N m]
3 2 1 0 0 0 5
Accessories
2 1 0
20 10
40 60 Speed [r/min] 15 20 25 Pulse Speed [kHz] (Resolution Setting: 1000 P/R)
80 30
100
0 0
10 5
20 10
30 40 Speed [r/min]
50
60 30
70
Installation
35
C-29
Torque [N m]
Torque [N m]
3 2 1 0 0 0 100 5 200 300 400 Speed [r/min] 500 30 600 35
6 4 2 0 0 0 50 5 100 150 200 Speed [r/min] 250 30 300 35
Torque [N m]
Torque [N m]
Torque [N m]
C-30
Stepping Motors
TH Geared Type
Specifications
Model Pulse Input Package Built-In Controller (Stored Program) Package Standard Electromagnetic Brake Standard Electromagnetic Brake Nm J: kg m2 arc minute (degrees) r/min
Maximum Holding Torque Rotor Inertia Backlash Permissible Speed Range Gear Ratio Resolution2 Resolution Setting: 1000 P/R Permissible Torque Nm Voltage/Frequency Power Source Maximum Input Current A Type Power Supply Input Electromagnetic Brake3 Power Consumption W Excitation Current A Static Friction Torque Nm Motor kg Mass Driver kg Motor Dimension Pulse Input No. Driver Built-In Controller (Stored Program)
AS98ACE-T3.6 AS98MCE-T3.6 AS98ACEP-T3.6 AS98MCEP-T3.6 4.5 25 (0.417) 0 500 1: 3.6 0.1/Pulse 4.5
AS98ACE-T7.2 AS98MCE-T7.2 AS98ACEP-T7.2 AS98MCEP-T7.2
AS98ACE-T10 AS98MCE-T10 AS98ACEP-T10 AS98MCEP-T10
2.25
9 12 1400 10-7 [1560 10-7]1 15 (0.25) 10 (0.167) 0 250 0 180 0 90 0 60 1: 7.2 1: 10 1: 20 1: 30 0.05/Pulse 0.036/Pulse 0.018/Pulse 0.012/Pulse 9 12 15 10% 50/60 Hz Single-Phase 200-230 VAC 3.5 Active when power is off 24 VDC 5% 6 0.25 4.5 6 3 [3.4]1 0.8 6 13 14
How to read specifications table Page C-10 Extension cables for electromagnetic brake motor Page C-253 b For the single-phase 100-115 VAC models and three-phase 200-230 VAC models, please contact the nearest Oriental Motor sales office. 1 The values inside the brackets [ ] represent the specification for the electromagnetic brake type. 2 Pulse Input Package: The resolution can be set to any one of 500 P/R, 1000 P/R, 5000 P/R, or 10000 P/R with the resolution select switch or resolution select switching signals. Resolution select switch Page C-45 Built-In Controller (Stored Program) Package: The resolution can be set from 500 P/R to 10000 P/R by setting parameters. 3 The electromagnetic brakes are for holding the position when the power is off. They cannot be used for braking. Also, a separate 24 VDC 5%, 0.3 A minimum power supply is required for the electromagnetic brakes. Note: b Direction of rotation of the motor and that of the gear output shaft are the same for the gear ratios 1: 3.6, 1: 7.2 and 1: 10. It is opposite for 1: 20 and 1: 30 gear ratios.

6 5 4 Permissible Torque 12 10 8

Permissible Torque

12 10 8 6 4 2 0 0 0 5 40 80 120 Speed [r/min] 160 30 200 Permissible Torque

15 Permissible Torque 10

0 0 0 5
20
40 60 Speed [r/min] 20 25 10 15 Pulse Speed [kHz] (Resolution Setting: 1000 P/R)
80 30
100
0 0
10 5
20
30 40 Speed [r/min]
50
60 30
70 35
Stepping Motors
PL Geared Type
Specifications
Model Pulse Input Package Maximum Holding Torque Rotor Inertia Backlash Permissible Speed Range Gear Ratio Resolution2 Resolution Setting: 1000 P/R Permissible Torque Nm Voltage/Frequency Power Source Maximum Input Current A Type Power Supply Input Electromagnetic Brake3 Power Consumption W Excitation Current A Static Friction Torque Nm Motor kg Mass Driver kg Motor Dimension No. Driver Pulse Input Standard Electromagnetic Brake Nm J: kg m2 arc minute (degrees) r/min
AS66ACE-P5 AS66ACE-P7.2 AS66ACE-P10 AS66ACE-P25 AS66ACE-P36 AS66ACE-P50 AS66MCE-P5 AS66MCE-P7.2 AS66MCE-P10 AS66MCE-P25 AS66MCE-P36 AS66MCE-P50 3.5 4 5 8 405 10-7 [564 10-7]1 20 (0.33) 0 360 0 250 0 180 0 72 0 50 0 36 1: 5 1: 7.2 1: 10 1: 25 1: 36 1: 50 0.072/Pulse 0.05/Pulse 0.036/Pulse 0.0144/Pulse 0.01/Pulse 0.0072/Pulse 3.5 4 5 8 15 10% 50/60 Hz Single-Phase 200-230 VAC 3 Active when power is off 24 VDC 5% 6 0.25 1.75 2 2.5 4 1.55 [1.8]1 1.25 [1.5]1 0.8 7 13
Introduction
AS ASC
How to read specifications table Page C-10 Extension cables for electromagnetic brake motor Page C-253 b For the single-phase 100-115 VAC models and three-phase 200-230 VAC models, please contact the nearest Oriental Motor sales office. 1 The values inside the brackets [ ] represent the specification for the electromagnetic brake type. 2 Pulse Input Package: The resolution can be set to any one of 500 P/R, 1000 P/R, 5000 P/R, or 10000 P/R with the resolution select switch or resolution select switching signals. Resolution select switch Page C-45 3 The electromagnetic brakes are for holding the position when the power is off. They cannot be used for braking. Also, a separate 24 VDC 5%, 0.3 A minimum power supply is required for the electromagnetic brakes. Note: b Direction of rotation of the motor shaft and that of the gear output shaft are the same.

AS66 CE-P5
5 4
Torque [N m]
DC Input
2-Phase CMK
AS66 CE-P7.2
Torque [N m]
AS66 CE-P10
8
Permissible Torque
6
Torque [N m]
Permissible Torque
2-Phase CSK
3 2 1 0
3 2 1 0
0 0 5
100
200 Speed [r/min]
300 30
400
0 0
50 5
100
250 30
300 35
0 0 5
50
100 Speed [r/min]
150 30
200
AS66 CE-P25
12 10
AS66 CE-P36
12 10
AS66 CE-P50
12 10
Torque [N m]
Torque [N m]
Torque [N m]
8 6 4 2 0 0 0 5
Permissible Torque
8 6 4 2
Permissible Torque
Permissible Torque 8
Controllers
6 4 2
20 10
40 Speed [r/min]
60 30
80
0 0
10 5
20
30 40 Speed [r/min]
50 30
60 35
0 0 0 5
10 10
20 Speed [r/min]
30 30
40
Accessories
Installation
C-31
Torque [N m]
Torque [N m]
Torque [N m]
Torque [N m]
Torque [N m]
30 20 10 0 0 0 5
30 20 10 0
Torque [N m]
C-32
Stepping Motors
PL Geared Type
Specifications
Model Pulse Input Package Maximum Holding Torque Rotor Inertia Backlash Permissible Speed Range Gear Ratio Resolution2 Resolution Setting: 1000 P/R Permissible Torque Nm Voltage/Frequency Power Source Maximum Input Current A Type Power Supply Input Electromagnetic Brake3 Power Consumption W Excitation Current A Static Friction Torque Nm Motor kg Mass Driver kg Motor Dimension No. Driver Pulse Input Standard Electromagnetic Brake Nm J: kg m2 arc minute (degrees) r/min
AS98ACE-P5 AS98ACE-P7.2 AS98ACE-P10 AS98ACE-P25 AS98ACE-P36 AS98ACE-P50 AS98MCE-P5 AS98MCE-P7.2 AS98MCE-P10 AS98MCE-P25 AS98MCE-P36 AS98MCE-P50 9 12.9 18 37 1400 10-7 [1560 10-7]1 15 (0.25) 0 360 0 250 0 180 0 72 0 50 0 36 1: 5 1: 7.2 1: 10 1: 25 1: 36 1: 50 0.072/Pulse 0.05/Pulse 0.036/Pulse 0.0144/Pulse 0.01/Pulse 0.0072/Pulse 9 12.9 18 37 15 10% 50/60 Hz Single-Phase 200-230 VAC 3.5 Active when power is off 24 VDC 5% 6 0.25 4.5 6.45 9 18.5 4 [4.4]1 3.2 [3.6]1 0.8 8 13
How to read specifications table Page C-10 Extension cables for electromagnetic brake motor Page C-253 b For the single-phase 100-115 VAC models and three-phase 200-230 VAC models, please contact the nearest Oriental Motor sales office. 1 The values inside the brackets [ ] represent the specification for the electromagnetic brake type. 2 Pulse Input Package: The resolution can be set to any one of 500 P/R, 1000 P/R, 5000 P/R, or 10000 P/R with the resolution select switch or resolution select switching signals. Resolution select switch Page C-45 3 The electromagnetic brakes are for holding the position when the power is off. They cannot be used for braking. Also, a separate 24 VDC 5%, 0.3 A minimum power supply is required for the electromagnetic brakes. Note: b Direction of rotation of the motor shaft and that of the gear output shaft are the same.

AS98 CE-P5
15 20
AS98 CE-P7.2
AS98 CE-P10
25 20
Permissible Torque
Permissible Torque
15 10 5 0
10
0 0 5
100
200 Speed [r/min]
300 30
400
0 0
50 5
100
250 30
300 35
0 0 5
50
100 Speed [r/min]
150 30
200
AS98 CE-P25
AS98 CE-P36
AS98 CE-P50
50 40 30 20 10 0 0 0 5 Permissible Torque
20 10
40 Speed [r/min]
60 30
80
0 0
10 5
20
30 40 Speed [r/min]
50 30
60 35
10 10
20 Speed [r/min]
30 30
40
Stepping Motors
PN Geared Type
Specifications
Model Pulse Input Package
Standard AS66ACE-N5 AS66ACE-N7.2 AS66ACE-N10 AS66ACE-N25 AS66ACE-N36 AS66ACE-N50 Electromagnetic Brake AS66MCE-N5 AS66MCE-N7.2 AS66MCE-N10 AS66MCE-N25 AS66MCE-N36 AS66MCE-N50 AS66ACEP-N5 AS66ACEP-N7.2 AS66ACEP-N10 AS66ACEP-N25 AS66ACEP-N36 AS66ACEP-N50 Built-In Controller (Stored Standard Program) Package Electromagnetic Brake AS66MCEP-N5 AS66MCEP-N7.2 AS66MCEP-N10 AS66MCEP-N25 AS66MCEP-N36 AS66MCEP-N50 Maximum Holding Torque Nm 3.5 4 5 8 Rotor Inertia J: kg m2 405 10-7 [564 10-7]1 Backlash arc minute (degrees) 2 (0.034) 3 (0.05) Angular Transmission Error arc minute (degrees) 5 (0.084) Permissible Speed Range r/min 0 600 0 416 0 300 0 120 0 83 0 60 Gear Ratio 1: 5 1: 7.2 1: 10 1: 25 1: 36 1: 50 Resolution Setting: 1000 P/R 0.072/Pulse 0.05/Pulse 0.036/Pulse 0.0144/Pulse 0.01/Pulse 0.0072/Pulse Resolution2 Permissible Torque Nm 3.5 4 5 8 Nm 7 9 11 16 20 Maximum Torque3 15 10% 50/60 Hz Voltage/Frequency Single-Phase 200-230 VAC Power Source Maximum Input Current A 3 Type Active when power is off Power Supply Input 24 VDC 5% Electromagnetic Brake4 Power Consumption W 6 Excitation Current A 0.25 Static Friction Torque Nm 1.75 2 2.5 4 Motor kg 1.5 [1.75]1 1.7 [1.95]1 Mass Driver kg 0.8 9 Motor Dimension 13 Pulse Input No. Driver Built-In Controller (Stored Program) 14
How to read specifications table Page C-10 Extension cables for electromagnetic brake motor Page C-253 b For the single-phase 100-115 VAC models and three-phase 200-230 VAC models, please contact the nearest Oriental Motor sales office. 1 The values inside the brackets [ ] represent the specification for the electromagnetic brake type. 2 Pulse Input Package: The resolution can be set to any one of 500 P/R, 1000 P/R, 5000 P/R, or 10000 P/R with the resolution select switch or resolution select switching signals. Resolution select switch Page C-45 Built-In Controller (Stored Program) Package: The resolution can be set from 500 P/R to 10000 P/R by setting parameters. 3 The value of maximum torque is for gear. For output torque for geared motor, refer to the speed torque characteristics. 4 The electromagnetic brakes are for holding the position when the power is off. They cannot be used for braking. Also, a separate 24 VDC 5%, 0.3 A minimum power supply is required for the electromagnetic brakes. Note: b Direction of rotation of the motor shaft and that of the gear output shaft are the same.
Introduction
AC Input DC Input AC Input DC Input
AS ASC 5-Phase RK 5-Phase CRK 2-Phase CMK 2-Phase CSK

AS66 CE-N5/AS66 CEP-N5
8 10
AS66 CE-N7.2/AS66 CEP-N7.2

15
6
Torque [N m]
Maximum Torque
Torque [N m]
5 Permissible Torque
Torque [N m]
10
0 0 10
200
400 Speed [r/min]
600 50
0 0
100 10
400 50
0 0 10
100
200 Speed [r/min]
300 50
Controllers

20

25 20

25 Maximum Torque 20
Torque [N m]
Accessories
15
Torque [N m]
Torque [N m]
15 10 5 0 Permissible Torque
Installation
0 0 10
50 Speed [r/min]
100
150 60
0 0
20 10
80 50
100
0 0
10 10
20
30 40 Speed [r/min]
50
60 50
70
C-33
Torque [N m]
Torque [N m]
Torque [N m]
Torque [N m]
Permissible Torque
Torque [N m]
Torque [N m]
C-34
Stepping Motors
PN Geared Type
Specifications
Model Pulse Input Package
Standard AS98ACE-N5 AS98ACE-N7.2 AS98ACE-N10 AS98ACE-N25 AS98ACE-N36 AS98ACE-N50 Electromagnetic Brake AS98MCE-N5 AS98MCE-N7.2 AS98MCE-N10 AS98MCE-N25 AS98MCE-N36 AS98MCE-N50 AS98ACEP-N5 AS98ACEP-N7.2 AS98ACEP-N10 AS98ACEP-N25 AS98ACEP-N36 AS98ACEP-N50 Built-In Controller (Stored Standard Program) Package Electromagnetic Brake AS98MCEP-N5 AS98MCEP-N7.2 AS98MCEP-N10 AS98MCEP-N25 AS98MCEP-N36 AS98MCEP-N50 Maximum Holding Torque Nm 10 14 20 37 Rotor Inertia J: kg m2 1400 10-7 [1560 10-7]1 Backlash arc minute (degrees) 2 (0.034) 3 (0.05) Angular Transmission Error arc minute (degrees) 4 (0.067) Permissible Speed Range r/min 0 600 0 416 0 300 0 120 0 83 0 60 Gear Ratio 1: 5 1: 7.2 1: 10 1: 25 1: 36 1: 50 Resolution Setting: 1000 P/R 0.072/Pulse 0.05/Pulse 0.036/Pulse 0.0144/Pulse 0.01/Pulse 0.0072/Pulse Resolution2 Permissible Torque Nm 10 14 20 37 Nm 28 35 56 60 Maximum Torque3 15 10% 50/60 Hz Voltage/Frequency Single-Phase 200-230 VAC Power Source Maximum Input Current A 3.5 Type Active when power is off Power Supply Input 24 VDC 5% Electromagnetic Brake4 Power Consumption W 6 Excitation Current A 0.25 Static Friction Torque Nm 4.5 6.45 9 18.5 Motor kg 4 [4.4]1 4.7 [5.1]1 Mass Driver kg 0.8 10 Motor Dimension 13 Pulse Input No. Driver Built-In Controller (Stored Program) 14
How to read specifications table Page C-10 Extension cables for electromagnetic brake motor Page C-253 b For the single-phase 100-115 VAC models and three-phase 200-230 VAC models, please contact the nearest Oriental Motor sales office. 1 The values inside the brackets [ ] represent the specification for the electromagnetic brake type. 2 Pulse Input Package: The resolution can be set to any one of 500 P/R, 1000 P/R, 5000 P/R, or 10000 P/R with the resolution select switch or resolution select switching signals. Resolution select switch Page C-45 Built-In Controller (Stored Program) Package: The resolution can be set from 500 P/R to 10000 P/R by setting parameters. 3 The value of maximum torque is for gear. For output torque for geared motor, refer to the speed torque characteristics. 4 The electromagnetic brakes are for holding the position when the power is off. They cannot be used for braking. Also, a separate 24 VDC 5%, 0.3 A minimum power supply is required for the electromagnetic brakes. Note: b Direction of rotation of the motor shaft and that of the gear output shaft are the same.

15 20
AS98 CE-N7.2/AS98 CEP-N7.2

25 20 15 Permissible Torque 10 5 0
15 10 Permissible Torque Permissible Torque
10
0 0
100 10
200
500
600 50
0 0
100 10
400 50
0 0 10
100
200 Speed [r/min]
300 50

60


40
20
0 0 10
50 Speed [r/min]
100
150 60
0 0 0
10
20 10
30
40 50 60 Speed [r/min]
70
80 50
90
0 0
10 10
20
30 40 Speed [r/min]
50
60 50
70
Stepping Motors

Specifications
Model Pulse Input Package Built-In Controller (Stored Program) Package Standard Electromagnetic Brake Standard Electromagnetic Brake Nm J: kg m2 r/min
Maximum Holding Torque Rotor Inertia Permissible Speed Range Gear Ratio Resolution2 Permissible Torque Maximum Torque Lost Motion (Load Torque) Power Source
Resolution Setting: 1000 P/R Nm Nm arc minute
AS66ACE-H50 AS66MCE-H50 AS66ACEP-H50 AS66MCEP-H50 5.5 440 10-7 [599 0 70 1: 50 0.0072/Pulse 5.5 18 0.7 max. ( 0.28 N m) 3
AS66ACE-H100 AS66MCE-H100 AS66ACEP-H100 AS66MCEP-H100 8 10-7]1 0 35 1: 100 0.0036/Pulse 8 28 0.7 max. ( 0.39 N m) Single-Phase 200-230 VAC
AS98ACE-H50 AS98ACE-H100 AS98MCE-H50 AS98MCE-H100 AS98ACEP-H50 AS98ACEP-H100 AS98MCEP-H50 AS98MCEP-H100 25 37 1600 10-7 [1759 10-7]1 0 70 0 35 1: 50 1: 100 0.0072/Pulse 0.0036/Pulse 25 37 35 55 1.5 max. ( 1.2 N m) 15 10% 50/60 Hz 3.5
Introduction
AC Input
AS
Voltage/Frequency Maximum Input Current A Type Power Supply Input Electromagnetic Brake3 Power Consumption W Excitation Current A Static Friction Torque Nm Motor kg Mass Driver kg Motor Pulse Input Dimension No. Driver Built-In Controller (Stored Program)
DC Input
Active when power is off 24 VDC 5% 6 0.25 2.75 1.4 [1.65]1 0.8 11 13 14 12 4 12.5 3.9 [4.3]1 18.5
ASC 5-Phase RK
AC Input DC Input
How to read specifications table Page C-10 Extension cables for electromagnetic brake motor Page C-253 b For the single-phase 100-115 VAC models and three-phase 200-230 VAC models, please contact the nearest Oriental Motor sales office. 1 The values inside the brackets [ ] represent the specification for the electromagnetic brake type. 2 Pulse Input Package: The resolution can be set to any one of 500 P/R, 1000 P/R, 5000 P/R, or 10000 P/R with the resolution select switch or resolution select switching signals. Resolution select switch Page C-45 Built-In Controller (Stored Program) Package: The resolution can be set from 500 P/R to 10000 P/R by setting parameters. 3 The electromagnetic brakes are for holding the position when the power is off. They cannot be used for braking. Also, a separate 24 VDC 5%, 0.3 A minimum power supply is required for the electromagnetic brakes. Note: b The inertia represents a sum of the inertia of the harmonic gear converted to a motor shaft value, and the rotor inertia. Direction of rotation of the motor shaft and that of the gear output shaft are the opposite.
5-Phase CRK 2-Phase CMK 2-Phase CSK

AS66 CE-H50/AS66 CEP-H50
25 20 Maximum Torque Torque [N m] 15 10 Permissible Torque 5 0

50 40 Maximum Torque Torque [N m] 30 20 10 0 Permissible Torque
2-Phase Stepping Motors 5-Phase Stepping Motors
0 0 10
20
40 Speed [r/min]
60 60
80
0 0 10
20
40 Speed [r/min]
60 60
80
Controllers

40 Maximum Torque

80 Maximum Torque
Accessories
30 Torque [N m]
60 Torque [N m]
Installation
0 0 10
10
20 Speed [r/min]
30 60
40
0 0 10
10
20 Speed [r/min]
30 60
40
b Enter A (standard) or M (electromagnetic brake) in the box ( ) within the model name. Notes: b 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 100C. (Under 75C is required to comply with UL or CSA Standards as the motor is recognized as insulation class A.) b In order to prevent fatigue of the gear grease in the harmonic gear, keep the temperature of the gear case under 70C. b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 50%.
C-35
C-36
Stepping Motors
Common to Each Type
Driver Specifications
Speed and Positioning Control Command Maximum Input Pulse Frequency Pulse Input Package Built-In Controller (Stored Program) Package Pulse input Stored program 250 kHz (When the pulse duty is 50%) When the protective functions are activated, an alarm signal is output and the motor stops automatically. Stack overflow, Memory read error, Program reference error, Compilation error, Operation result overflow, Parameter out-of-range error, Divide by zero, General I/O definition error, PC command execution error, Overheat, Overload, Overheat, Overload, Overvoltage, Speeed error, Overcurrent, Overspeed, Overspeed error, Overvoltage, Excessive position deviation, Overcurrent, EEPROM data error, Sensor error, System error External stop, Incorrect limit-sensor logic, Reverse limit-sensor connection, Mechanical home seeking error, Overtravel, Software overtravel, Invalid operation data, Resolver sensor error, Initial rotor revolution error, NVRAM error, System error Photocoupler input, Input resistance: 220 , Input current: 7 20 mA [Pulse, Rotation direction (Negative logic pulse input), CW pulse, CCW pulse (Negative logic pulse input), All windings off, Alarm clear, Resolution select] Photocoupler, Open-collector output External use condition: 30 VDC maximum, 15 mA maximum (Positioning completion signal, Alarm signal) Transistor, Open-collector output External use condition: 30 VDC maximum, 15 mA maximum (Timing signal, Quadrature ASG/BSG signal) Line driver output: Equivalent of 26C31 (Timing signal, Quadrature ASG/BSG signal) Photocoupler input, Control input: 24 VDC, Input resistance: 4.7 k (X0 X7, START, E-STOP, HOMELS, LS, LS, SENSOR)
Protective Functions
Input Signals
Output Signals
Photocoupler, Open-collector output External use condition: 30 VDC maximum, 4 8 mA (Y0 Y7, ALM) Line driver output: Equivalent of 26C31 (ASG/BSG signal)
User Program
Maximum number of programs: 14 programs (Including STARTUP program) Maximum lines per program: 64 lines Maximum commands per 1 line: 1 command (Single state) Maximum program variables: 26 variables (A Z) Incremental (relative distance specification) mode/Absolute (absolute position specification) mode One-shot operation/Linked operation (A maximum of 4 profiles can be linked) Maximum operating ranges 8 388 607 (1 each) Steps: 8 388 608 Operating speed: 10 Hz 500 000 Hz (500 kHz) Acceleration/Deceleration rate: 10 50 000 msec Positioning operation (Indexing) Continuous operation (Scan) Linked profile Return to electrical home position (Return) Return to mechanical home position (Home operation) Return to home operation is performed from the entire range using mechanical position detection signals ( LS, LS, HOMELS) Speed-filter value setting function Current setting function Electric gear function Setting function for direction of motor rotation External stop function Overtravel function Software overtravel function Alarm trace-back function Daisy chain connections Connection standard: RS-232C conformity Transfer system: Asynchronous communication, NRZ (Non return to zero), Full duplex Data length: 8 bits, 1 stop bit, No parity Transmit speed: 9600 bps Connector specification: Modular (4 wires, 4 pins) Pin arrangement: RS-232C Compatible Protocol: TTY (CR LF)
Positioning Control
Operating Method
Mechanical Home Detection Operation
Other Functions
Terminal Emulation
The rates of acceleration and deceleration can be set separately.
Stepping Motors
Common to Each Type
General Specifications
Specifications Motor Insulation Class Insulation Resistance Motor Class B (130C) [UL/CSA: Recognized as class A (105C) ] 100 M or more when 500 VDC megger is applied between the following places: Case Windings Case Electromagnetic brake windings Sufficient to withstand the following for 1 minute: Case Windings 1.5 kV 50 Hz or 60 Hz Case Electromagnetic brake windings 1.0 kV 50 Hz or 60 Hz
This is the value after rated operation at normal ambient temperature and humidity.
Driver 100 M or more when 500 VDC megger is applied between the following places: Case Power supply input terminal I/O Power supply input terminal Sufficient to withstand the following for 1 minute: Case Power supply input terminal 1.5 kV 50 Hz or 60 Hz I/O Power supply input terminal 3.0 kV 50 Hz or 60 Hz: Pulse input package 1.8 kV 50 Hz or 60 Hz: Built-in controller (stored program) package 0 50C (non-freezing) : Pulse input package 40C (non-freezing) : Built-in controller (stored program) package 0 AC Input
Dielectric Strength
Introduction
Operating Environment (In operation)
Ambient Temperature
0 0
50C (non-freezing) : Standard Type TH, PL, PN Geared Type 40C (non-freezing) : Harmonic Geared Type
Ambient Humidity Atmosphere Stop Position Accuracy Shaft Runout Concentricity Perpendicularity
85% or less (non-condensing) No corrosive gases, dust, water or oil (Standard IP65 rated motor: No corrosive gases) 5 arc minutes 0.05 T.I.R. (mm) 0.075 T.I.R. (mm) 0.075 T.I.R. (mm)
AS ASC
DC Input
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: b Do not measure insulation resistance or perform the dielectric strength test while the motor and driver are connected.
0.075 A
AC Input
5-Phase RK
0.05
5-Phase CRK
0.075
DC Input
2-Phase CMK
Load Torque Driver 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 geared motors, convert to torque and speed at the motor axis. Motor shaft speed = Gear output shaft speed Gear ratio [r/min] Motor shaft torque = Gear output shaft torque [N m] Gear ratio
2-Phase CSK
AS66
2.5 Driver Input Current [A] 2.0 1.5 1.0 0.5 0 500 r/min 1000 r/min 3000 r/min 2000 r/min
AS69
3.0 Driver Input Current [A] 2.5 2.0 1.5 1.0 0.5 0 3000 r/min 2000 r/min 1000 r/min
500 r/min
0.3
0.6 0.9 Load Torque [N m]
1.2
1.5
0.5
1.0 1.5 Load Torque [N m]
2.0
2.5
AS98
3.0 Driver Input Current [A] 2.5 2.0 1.5 1.0 0.5 0 0 0.5 1.0 1.5 Load Torque [N m] 2.0 2.5 3000 r/min 2000 r/min 1000 r/min
AS911
6 5
Accessories
Driver Input Current [A]
500 r/min
4 3 2 1 0
in in /m r/m 0r 00 00 20 3
1000 r/min 500 r/min
Installation
1.0
2.0
3.0
4.0
Load Torque [N m]
C-37
C-38
Stepping Motors
Common to Each Type
Permissible Overhung Load and Permissible Thrust Load

Type AS66 CE AS66ACT AS66 CEP AS66ACTP AS69 CE AS69ACT AS69 CEP AS69ACTP AS98 CE AS98ACT AS98 CEP AS98ACTP AS911ACE AS911ACT AS911ACEP AS911ACTP AS66 CE-T AS66 CEP-T AS98 CE-T AS98 CEP-T AS66 CE-P5 AS66 CE-P AS66 CE-P PL Geared Type AS98 CE-P AS98 CE-P25 AS98 CE-P36 AS98 CE-P50 AS66 CE-N5 AS66 CEP-N5 AS66 CE-N AS66 CEP-N AS66 CE-N AS66 CEP-N PN Geared Type AS98 CE-N5 AS98 CEP-N5 AS98 CE-N AS98 CEP-N AS98 CE-N25 AS98 CEP-N25 AS98 CE-N36 AS98 CEP-N36 AS98 CE-N50 AS98 CEP-N50 AS66 CE-H AS66 CEP-H AS98 CE-H AS98 CEP-H 3.6, 7.2, 10, 20, 30 5 7.2, 10 25, 36, 50 5, 7.2, 10 25 36 50 5 7.2, 10 25, 36, 50 5 7.2, 10 25 36 50 Model Gear Ratio 0 5 Permissible Overhung Load Distance from Shaft End (mm) 10 15 20
Unit
Permissible Thrust Load
63
75
95
130
190 The permissible thrust load shall be no greater than the motor mass.
Standard Type Standard Type IP65 Rated Motor
260
290
340
390
480
70 220 200 250 330 480 850 930 1050 200 250 330 480 480 850 930 1050 320
80 250 220 270 360 540 940 1030 1160 220 270 360 520 540 940 1030 1160 370 1150
100 300 250 300 400 600 1050 1150 1300 250 300 400 550 600 1050 1150 1300 440 1230
120 350 280 340 450 680 1190 1310 1480 280 340 450 580 680 1110 1220 1380 550 1310
150 400 320 390 520 790 1380
40 100
TH Geared Type
100
300 1520 1710 320 390 520 620 790 1190 1300 1490 720 1410 450 1300 300 100
50, 100 1090
b Enter A (standard) or M (electromagnetic brake) in the box ( ) within the model name. Enter the gear ratio in the box ( ) within the model name.
Stepping Motors
Dimensions (Unit = mm)

b Motor
Standard Type 1 60 mm
Model AS66ACE AS66ACEP AS66MCE AS66MCEP AS69ACE AS69ACEP AS69MCE AS69MCEP Motor Model ASM66ACE ASM66MCE ASM69ACE ASM69MCE L2 L1 7 1.5
20
0.25
L1 63.6
L2
Mass (kg) 0.85

Introduction
98.6 94.6 129.6

24
1
1.1 1.4 1.65 AC Input 4 4.5 Thru 60 50 0.35
AS
50 0.35 60
DC Input
ASC
7.5 0.15 0 0.015(h7) 0 0.025(h7)
20.5
400
36
15
AC Input
5-Phase RK
Protective Earth Terminal M4 Motor Cable 7 5557-10R(MOLEX)
31.7
85 mm
5-Phase CRK
Model AS98ACE AS98ACEP AS98MCE AS98MCEP AS911ACE AS911ACEP
Motor Model ASM98ACE ASM98MCE ASM911ACE L2 L1
L1 80
L2
Mass (kg) 1.8
131 110
37
1
2.2 DC Input
2-Phase CMK
3 4 6.5 Thru 85 70 0.35

25
0.25
10
2-Phase CSK
70 0.35 85
13 0.15 0 0.018(h7) 0 60 0.03(h7)
Motor Cable 7 5557-10R(MOLEX)
14
Protective Earth Terminal M4
20.5
400
31.7
15

Controllers
60 mm
Model Motor Model ASM66ACT ASM69ACT L 98.7 129.7 Mass (kg) 1 1.5
AS66ACT AS66ACTP AS69ACT AS69ACTP
Accessories
b Always use the motor cable for IP65 rated motor (sold separately) for connection between the IP65 rated motor and the driver.
L 39 7
24 2
20
0.25
60 50 0.35
4.5 Thru
Installation
10
10.3
RC-09P1N122300(CONINVERS)
36
M4
7.5 0.15 0 0.015(h7) 0 0.03(h7)
50 0.35 60 82.5 max.
70.3 10.3
C-39
10.3
M4 10.3 10 Protective Earth Terminal M4
RC-09P1N122300(CONINVERS)
bThese dedicated cables are used for connection between the IP65 rated motor and the driver. The IP65 rated motor cannot be driven unless the dedicated motor cable is used.
Motor cable for IP65 rated motor Page C-254
Motor Cables for IP65 Rated Motor

Model CC01AST CC02AST CC03AST CC05AST CC07AST CC10AST CC15AST CC20AST Length L (m) 1 2 3 5 7 10 15 20
Flexible Motor Cables for IP65 Rated Motor

Model Length L (m) 1 CC01SAR2 2 CC02SAR2 3 CC03SAR2 5 CC05SAR2 7 CC07SAR2 10 CC10SAR2
14
60
13 0.15 0 0.018(h7) 0 0.03(h7)
Motor Cables/Flexible Motor Cables for IP65 Rated Motor

CC__AST: RC 09S1N1280S1 (CONINVERS) CC__SAR2: RC 09S1N1280U1 (CONINVERS) 5557 10R (MOLEX) 22.2
70 0.35 85 107 max.
95.3
7 0.15 0 0.015(h7)
10 0.5 0 0.021(h7)
70
0.5
20.5 Protective Earth Terminal M4 Motor Cable 7
23
400
31.7 5557-10R(MOLEX)
C-40
15
60
Stepping Motors
85 mm
Model Motor Model ASM98ACT ASM911ACT L 110 140 Mass (kg) 2.2 3.3
AS98ACT AS98ACTP AS911ACT AS911ACTP
b Always use the motor cable for IP65 rated motor (sold separately) for connection between the IP65 rated motor and the driver.
L 40.6 10
37 2
85 70 0.35 25
0.25
6.5 Thru
11.6 14.5
19.6 Driver Side
CC__AST: 8 CC__SAR2: 9.5 L
51.1
26
Motor Side
TH Geared Type 5 60 mm
Model AS66ACE-T AS66ACEP-T AS66MCE-T AS66MCEP-T Motor Model ASM66ACE-T 3.6, 7.2, 10, 20, 30 ASM66MCE-T 143.6 1.5 Gear Ratio L1 108.6 L2 Mass (kg) 1.25
b Enter the gear ratio in the box ( ) within the model name.
L2 L1 3.5
32
12
4 M4 8 Deep 60
Stepping Motors
90 mm
Model Motor Model ASM98ACE-T 3.6, 7.2, 10, 20, 30 ASM98MCE-T 195.5 3.4 Gear Ratio L1 144.5 L2 Mass (kg) 3
AS98ACE-T AS98ACEP-T AS98MCE-T AS98MCEP-T
12 0.018(h7) 18 0.5
L2 L1 85
32 1 3.5 25
0 0.025(h7)
4 M8 15 Deep 90
Introduction
A 85 90 A
35
AC Input
AS
15
20.5
400
10
0 .5
0 0.03
Parallel Key (Included)
Motor Cable 7
5557-10R(MOLEX)
0.2
2.5
31.7
0.1 0

25
DC Input
0 0.03
0 0.03
ASC
AA AC Input
5-Phase RK
PL Geared Type 7 60 mm
Model AS66ACE-P AS66MCE-P Motor Model ASM66ACE-P ASM66MCE-P Gear Ratio 5, 7.2, 10 25, 36, 50 5, 7.2, 10 25, 36, 50
38
1
L1 98.6 123.6
L2
133.6 158.6
Mass (kg) 1.25 1.55 1.5 1.8
5-Phase CRK
L2 L1 10
25
4 M5 10 Deep 60
0 0.03
DC Input
2-Phase CMK
A
0 0.018(h7) 0 0.025(h7)
20.5
400
12
37
31.7
90 mm
Model Motor Model ASM98ACE-P ASM98MCE-P Gear Ratio 5, 7.2, 10 25, 36, 50 5, 7.2, 10 25, 36, 50 L2 L1 14 85 26 25 4 M8 15 Deep 90 L1 127 163 L2 Mass (kg) 3.2 4 3.6 4.4
AS98ACE-P AS98MCE-P
15
70
0.5
60
0.2
2.5
25
0 0.03
0 0.03
0.1 0
2-Phase CSK
AA
178 214
47
1
Controllers
25
0 0.03
0.2
0 0.03
0 0.03(h7)
Parallel Key (Included) 90
Accessories
A 85 A
0 0.018(h7)
61
6
10 4
0.5
31.7
400 20.5 Protective Earth Terminal M4 Motor Cable 7 5557-10R(MOLEX)
15
3.5
0 0.03
0.1 0
Installation
18
AA
C-41
0 0.03
A
0 0.018(h7) 0 0.025(h7)
20.5
400
12
37
31.7
10
90 mm
Model Motor Model ASM98ACE-N ASM98MCE-N Gear Ratio 5, 7.2, 10 25, 36, 50 5, 7.2, 10 25, 36, 50 L2 L1 85 6 25 L1 140 163 L2 Mass (kg) 4 4.7 4.4 5.1
AS98ACE-N AS98ACEP-N AS98MCE-N AS98MCEP-N
191 214
0 0.03
47
15
70
0. 5
60
25
0.2
AA
2.5
0 0.03
0 0.03
0.1 0
Parallel Key (Included) A 85

0 0.03(h7)
90
61
0 0.018(h7)
31.7
20.5 Protective Earth Terminal M4 Motor Cable 7 5557-10R(MOLEX)
400
10
15
0.5
Harmonic Geared Type 11 60 mm

Model AS66ACE-H AS66ACEP-H AS66MCE-H AS66MCEP-H Motor Model ASM66ACE-H 50, 100 ASM66MCE-H 138.6 1.65 Gear Ratio L1 103.6 L2 Mass (kg) 1.4
L2 L1 2
28.5
1.5 20
12 0.018(h7) 33.5 (Max.Dia. of Rotating Part)
4 M5 10 Deep 60 70
0 0.03(h7)
60
54
A 400
20.5 Protective Earth Terminal M4
5557-10R(MOLEX) Motor Cable 7
31.7
6 M4 6 Deep
The position of the output shaft relative to the screw holes on the rotating part is arbitrary.
C-42
15
90
1.6
0.2
AA
2.5
25.5
20
0 0.21
0 0.03
0 0.03
0 0.03
0.1 0
0.5
18
AA
3.5
0 0.03
0.1 0
Stepping Motors
PN Geared Type 9 60 mm
Model AS66ACE-N AS66ACEP-N AS66MCE-N AS66MCEP-N Motor Model ASM66ACE-N ASM66MCE-N Gear Ratio 5, 7.2, 10 25, 36, 50 5, 7.2, 10 25, 36, 50
38
1
L1 107.6 123.6
L2
142.6 158.6
Mass (kg) 1.5 1.7 1.75 1.95
L2 L1 6
25
4 M5 10 Deep 60
4 M8 15 Deep 90
25
0.2
0 0.03
60
Stepping Motors
12
90 mm
Model Motor Model ASM98ACE-H 50, 100 ASM98MCE-H 214.5 4.3 Gear Ratio L1 163.5 L2 Mass (kg) 3.9
AS98ACE-H AS98ACEP-H AS98MCE-H AS98MCEP-H
0 0.03
25 L2 L1
0 0.018(h7)
0 0.21
3.5
0 0.03
0 0.03
0.1 0
Introduction
40
1.2
15 3 85 3.5 28 25
Parallel Key (Included) 4 90 9.2 Thru
90
2.4
AA
18
AC Input
AS
A 85 22 50
0 0.035(h7)
A 15 400
83
90
DC Input
ASC
20.5
4 10
0.5
31.7
Protective Earth Terminal M4 Motor Cable 7
5557-10R(MOLEX)
AC Input
5-Phase RK
bElectromagnetic brake models must use an extension cable or flexible extension cable for an electromagnetic brake motor.
Extension cables for electromagnetic brake motor Page C-253
5-Phase CRK

Model CC01AIPM CC02AIPM CC03AIPM CC05AIPM CC07AIPM CC10AIPM CC15AIPM CC20AIPM Length L (m) 1 2 3 5 7 10 15 20 12 (30) 24.3 L (14.5) 11.6 DC Input
2-Phase CMK
8 Electromagnetic Brake Leads 60 mm (Orange/Black, Gray AWG24) Motor Side Driver Side
22.2
2-Phase CSK

Model CC01SARM2 CC02SARM2 CC03SARM2 CC05SARM2 CC07SARM2 CC10SARM2 Length L (m) 1 2 3 5 7 10 12 L (14.5) 11.6
(30) 24.3
9.5 Electromagnetic Brake Leads 60 mm (Orange, Gray AWG22) Motor Side Driver Side
22.2
C-43
134
(6)
89
M4
25
10
11
7 M3
17
5 max.
6.2 7.62
3 M3
b Mounting Bracket (2 pieces, included)
25
4.5
Control I/O Connector Cover Assembly: 54331-1361 (MOLEX) Connector: 54306-3619 (MOLEX)
10
10
25 2 45 3.5 Countersink
14 Built-In Controller (Stored Program) Package (Common to all types)

Mass: 0.8 kg
43
23 9 9
120
41 max.
45 25 10
134
(6)
89
M4
25
17
10
5 max.
11 7 M3
3 M3
b Mounting Bracket (2 pieces, included)
25
4.5
10
Control I/O Connector Cover Assembly: 54331-1361 (MOLEX) Connector: 54306-3619 (MOLEX) Sensor Input Connector Cover Assembly: 54331-1201 (MOLEX) Connector: 54306-2019 (MOLEX)
10
25 2 45 3.5 Countersink
43
C-44
6.2 7.62
150 180 200
150 180 200
Stepping Motors
b Driver
13 Pulse Input Package (Common to all types)
Mass: 0.8 kg
23 9 9
120
41 max.
45 25 10
Stepping Motors
Connection and Operation (Pulse Input Package)

b Names and Functions of Driver Parts
1 Signal Monitor Displays LED Indicators
z
Indication OPERATION ALARM Color Green Red Function Power supply indication Alarm indication When Activated Lights when power is on. Blinks when protective functions are activated.
Introduction
Motor Connector
x c
Alarm
Blink Count 1 2 3 4 5 6 7 8 Lights (No blinking) Function Overheat Overload Overvoltage Speed error Overcurrent Overspeed EEPROM data error Sensor error System error When Activated The temperature of the driver's internal heat sink rises to approximately 85C. The motor is operated continuously over five 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 speed. An excessive current has flowed through the inverter power element inside the driver. The motor shaft velocity exceeds 5000 r/min. (Except geared type) A motor control parameter has been damaged. The power source turns on when the motor cable is not connected to the driver. The driver has fatal error.
Not used
AC Input
AS
Power Input Terminals Protective Earth Terminal
DC Input
ASC
2 Function Switches
Indication Switch Name Function This function is for selecting the motor resolution. For each geared type, the resolution of gear output shaft is 1/gear ratio. "1000" " 1" 1000 Pulses (0.36/step) (Factory setting) "1000" " 10" 10000 Pulses (0.036/step) "500" " 1" 500 Pulses (0.72/step) "500" " 10" 5000 Pulses (0.072/step) The settings of this switch are compatible with the following two types of pulse input modes: "1P" for the 1-pulse input mode (Factory setting), "2P" for the 2-pulse input mode.
5 Input/Output Signals
Indication Input/Output Pin No. 1 External power 2 input 3 9 10 Input signal 11 12 13 14 15 16 Output signal 17 18 19 20 CN4 21 Input signal 22 23 24 25 26 Output signal 27 28 29 30 31 32 Input signal 33 34 Signal Vcc 5V GND Vcc 24V DIR. (CCW) DIR. (CCW) PLS (CW) PLS (CW) BSG1 GND ASG1 GND BSG2 BSG2 ASG2 ASG2 ACL ACL TIM.1 GND ALARM ALARM TIM.2 TIM.2 END END 10 10 C.OFF C.OFF Signal Name Power supply for signal control Rotation direction (CCW pulse) Pulse (CW pulse) B-phase pulse output (Open-collector) A-phase pulse output (Open-collector) B-phase pulse output (Line driver) A-phase pulse output (Line driver) Alarm clear Timing (Open-collector)
AC Input
5-Phase RK
1000/500 1/ 10
Resolution select switch
5-Phase CRK
1P/2P
Pulse input mode switch
DC Input
2-Phase CMK
Notes: b Always turn the power off before switching resolution or pulse input, and turn it on again after you have made the change. b If the resolution select switch is set to " 10," it cannot control the resolution selected by the input terminals. It will always be " 10."
2-Phase CSK
3 Current Adjustment Switch

Indication CURRENT Switch Name Function The motor running current can be lowered to suppress temperature rise in the Current adjustment switch motor and driver, or lower operating current in order to allow a margin for motor torque.
Alarm Timing (Line driver) Positioning completion Resolution select All windings off
4 Velocity Filter Adjustment Switch

Indication Switch Name Function
Set to "0" The difference in characteristics mode by the velocity filter.
V.FIL
Velocity filter adjustment switch
This switch is used to make adjustments when a smooth startstop or smooth motion at low speed is required.
Motor Speed
Set to "F"
Controllers
Time
Description of input/output signals Page C-47 Signal names in parentheses represent the setting in 2-pulse input mode. The factory setting is the 1-pulse input mode.
C-45
Bch Pulse Signal
6.2 mm max.
6.2 mm max.
C-46
Stepping Motors
b Connection Diagrams
Controller
VO Twisted-Pair Wire Pulse Signal (CW Pulse Signal) R1 Rotation Direction Signal (CCW Pulse Signal) 0V 5 VDC R1 Protective Earth (P.E.) [Use wire of AWG18 (0.75 mm2) or thicker.] (Pin No.) CN4 Connector CN2
Input Signal Connection

Driver Motor
b Pulse Signal/Rotation Direction Signal Signals can be connected directly when 5 VDC is supplied. If the signals are used at a voltage exceeding 5 VDC, be sure to provide an external resistor to prevent the current exceeding 20 mA from flowing. Internal components will be damaged if a voltage exceeding 5 VDC is supplied directly without using an external resistor. Example) If the voltage is 24 VDC, connect a resistor (R1) of 1.5 to 2.2 k and 0.5 W or more. b All Windings Off Signal/Resolution Select Signal/Alarm Clear Signal Keep the input signal voltage to 5 VDC. If these specifications are exceeded, the internal components may be damaged.
Output Signal Connection

b Use output signals at 30 VDC or less and 15 mA or less. If these specifications are exceeded, the internal components may be damaged. Check the specification of the connected equipment. If the current exceeds 15 mA, connect an external resistor R2.
Alarm Clear Signal
Input Signals
Notes on Wiring
Resolution Select Signal
All Windings Off Signal 0V Vcc 5 V GND Caution V0 ( 30 VDC max.) R2 Alarm Signal R2 Positioning Completion Signal 0V Vcc 24 V Terminal Block
L N
Power Source Single-Phase 200-230 VAC 15~ 10% 50/60 Hz
0V Output Signals
b Use multi-core, twisted-pair shielded wires of AWG28 (0.08 mm2) or thicker for the control I/O signal line (CN4), and keep wiring as short as possible (within 2 m). b Note that as the length of the pulse signal line increases, the maximum transmission frequency decreases. Technical reference Page F-46 b When it is necessary to have a connection more than 0.4 m between motor and driver, the accessory extension cable or flexible extension cable must be used. Electromagnetic brake motor models must use an electromagnetic brake extension cable or flexible extension cable (sold separately). Extension cables for electromagnetic brake motor Page C-253 Always use the motor cable for IP65 rated motor (sold separately) for connection between the IP65 rated motor and the driver. b Use a 3-core cable of AWG18 (0.75 mm2) or thicker for the power supply line. b Provide a minimum distance of 300 mm between the control I/O signal lines and power lines (AC lines, motor lines and other large-current circuits). Do not run the control I/O signal lines in the same duct as power lines or bundle them with power lines. b To ground the driver, lead the ground conductor from the protective earth terminal (M4) and connect the ground conductor to provide a common ground point. Caution: Connect the power supply for "Timing" signal output and "Pulse" signal output to 5 VDC. Pin No. of the CN4 should be grounded. Description of input/output signals Page C-47
Timing Signal
Ach Pulse Signal
Recommended Crimp Terminals

Protective Earth (P.E.) [Use wire of AWG18 (0.75 mm2) or thicker.] The TIM.1/ASG1/BSG1 have the ground common for current sink output. Refer to pages C-48 and C-49 for the wiring. AS Series are available.
3.2 mm min.
3.2 mm min.
9 mm min.
9 mm min.
The most suitable controllers for Controller SG8030JY Page C-248
b Crimp terminals are not provided with the package. They must be purchased separately.
Connecting the Electromagnetic Brake to Power Supply

Connect the electromagnetic brake to the power supply using a cable of at least AWG24 (0.2 mm2). The power supply input to the electromagnetic brake is 24 VDC 5% 0.3 A minimum and therefore must be independent of the driver's power supply for signal control. Notes: b Applying a voltage that exceeds the specifications will cause the electromagnetic brake to generate a great amount of heat, resulting in motor temperature rises and possible damage to the motor. Conversely, if voltage is too low, the electromagnetic brake may not release. b To protect the switch contacts and prevent noise, always connect the surge suppressor. (The surge suppressor is included with electromagnetic brake motors.) b To prevent noise, use a dedicated power supply for electromagnetic brake. b Correct polarity ( and ) must be ensured when connecting the electromagnetic brake lead wire of AS Series to the DC power supply. If polarity is incorrect, the electromagnetic brake will not operate. b When using as a CE certified part, use a dedicated DC power supply for electromagnetic brake. The electromagnetic brake wire is linked to the connector on the driver connection side of extension cable for electromagnetic brake motor (sold separately). Be sure to use the accessory (sold separately) extension cable or flexible extension cable. Connect the orange/black spiral lead wire (orange for flexible extension cable) (60 mm) to 24 V, and the gray lead wire (60 mm) to the ground (GND).
Motor 24 VDC
Surge Suppressor
Switch Orange/Black (Orange for Flexible Gray Extension Cable)
Extension Cable for Electromagnetic Brake Motor (Sold separately)
AS Series Driver
Timing Chart for Electromagnetic Brake Operation

To release the electromagnetic brake, wait at least 0.5 second after turning on the driver power source. The load may fall down. ON Driver Power Source OFF 0.5 s min. ON Electromagnetic Brake Power Source OFF
Stepping Motors
b Description of Input/Output Signals

Indication of Input/Output Signal "ON""OFF"
Input (output) "ON" indicates that the current is sent into the photocoupler (transistor) inside the driver. Input (output) "OFF" indicates that the current is not sent into the photocoupler (transistor) inside the driver. The input/output remains "OFF" if nothing is connected. Photocoupler OFF ON
All Windings Off (C.OFF) Input Signal Resolution Select ( 10) Input Signal Alarm Clear (ACL) Input Signal Input Circuit and Sample Connection
Controller Open-Collector Output 5 VDC
PLS (CW) and DIR. (CCW) Input Signal

Input Circuit and Sample Connection
Controller Open-Collector Output VO PLS (CW) PLS (CW) DIR. (CCW) R1 PLS (CW) DIR. (CCW) 0V R1 DIR. (CCW) 220 7 20 mA 220 7 20 mA
Driver
Introduction
7 20 mA Driver 0V AC Input
All Windings Off (C.OFF) Input Signal Pin No. 33 , 34

This controller power source offers 5 VDC. Inputting the "All Windings Off" (C.OFF) signal puts the motor in a non-excitation (free) state. It is used when turning the motor shaft externally or when positioning manually. This signal clears the deviation counter.
C.OFF Excitation State Non-Excitation State OFF ON OFF
b The colored characters indicate signals under the 1-pulse input mode, while the black characters indicate signals under the 2-pulse input mode. Note: b The external resistor is not needed when Vo is 5 VDC. When the voltage exceeds 5 VDC, connect the external resistor R1 to keep input current at 20 mA or less. When a voltage exceeding 5 VDC is applied without the external resistor, the internal components may be damaged.
Motor
Resolution Select ( 10) Input Signal Pin No. 31 , 32

This controller power source offers 5 VDC. Inputting this signal when 1000 P/R or 500 P/R is selected as resolution via the function switch will increase the resolution ten times to 10000 P/R or 5000 P/R.
Note: b While the resolution select switch is set to 10000 P/R or 5000 P/R, input of this signal will not change the resolution.
Pulse Waveform Characteristics

PLS Input ON OFF 90 % 10 % 1 s min. 2 s max. ON OFF CCW CW 2 s min. 2 s max. 10 s 10 s min. min.
DIR. Input
b For pulse signals, use input pulse waveforms like those shown in the figure above.
Alarm Clear (ACL) Input Signal Pin No. 21 , 22

This controller power source offers 5 VDC. This signal is used for canceling the alarm without turning off power to the driver when a protective function has been activated.
Note: b The following alarm cannot be cleared. To cancel the alarm, first resolve the cause and check for safety, and then turn power on again. Overcurrent EEPROM data error System error
Pulse Input Mode 1-Pulse Input Mode

The 1-pulse input mode uses "Pulse" (PLS) and "Rotation Direction" (DIR.) signals. CW is selected by inputting DIR. signal at low level (with the input photocoupler ON), CCW by inputting at high level (with the input photocoupler OFF).
Note: b The factory setting is 1-pulse input mode.
[Rotation Direction Signals] Photocoupler "ON": Clockwise Photocoupler "OFF": Counterclockwise

1-Pulse Input Mode Pulse Signal ON (PLS) OFF Rotation Direction (DIR.) Motor Movement ON Clockwise OFF
Counterclockwise
2-Pulse Input Mode

The 2-pulse input mode uses "CW" and "CCW" pulses. When "CW" pulses are input, the motor's output shaft rotates clockwise when the motor is viewed facing the shaft; when "CCW" pulses are input, the shaft rotates counterclockwise.
2-Pulse Input Mode ON CW Pulse Signal OFF (CW) CCW Pulse Signal ON OFF (CCW) Motor Movement Clockwise Counterclockwise
W
DC Input AC Input DC Input
220
C-47
AS ASC 5-Phase RK 5-Phase CRK 2-Phase CMK 2-Phase CSK 2-Phase Stepping Motors 5-Phase Stepping Motors Controllers Accessories Installation
C-48
Stepping Motors
Positioning Completion (END) Output Signal Alarm (ALARM) Output Signal Output Circuit and Sample Connection
Controller V0 Driver
Timing (TIM.1, TIM.2) Output Signal Output Circuit and Sample Connection Open-Collector Output
Controller VO Driver VCC 5 V TIM1
30 VDC, 15 mA max. 0V
GND 0V
30 VDC 15 mA max.
0V
Positioning Completion (END) Output Signal Pin No. 29 , 30

Circuit for use with 30 VDC, 15 mA maximum. This signal is output at the photocoupler ON state when positioning is completed. This signal is output when the rotor position is less than 1.8 from the command position, approximately 2 ms after the pulse input stops.
Pulse Signal (Speed Pattern) Rotation Stop
Power supply for "Timing" signal output should be connected to 5 VDC.
Circuits for use with 30 VDC, 15 mA maximum.
Line Driver Output

Driver Controller Equivalent of 26C32
1
VCC 5 V
27 Equivalent of 26C31 GND
28
END
OFF
ON ON
2 0V 3
Note: b The END signal flashes during operation with a pulse input frequency of 500 Hz or less.
0V Power supply for "Timing" signal output

should be connected to 5 VDC.
Alarm (ALARM) Output Signal Pin No. 25 , 26

Circuits for use with 30 VDC, 15 mA maximum. The photocoupler turns OFF when one of the driver's protective functions has been activated. When an abnormality such as an overload or over current is detected, the "Alarm" signal will be output, the ALARM indicator blinks, and the motor stops (non-excitation state). To cancel the alarm, first resolve the cause and check for safety, and then input an "Alarm Clear" (ACL) signal or reset power. Once power has been turned off, wait at least 10 seconds before turning it on again.
Protective Function Normal Fault OFF Blinking Normal
Timing (TIM.1, TIM.2) Output Signal Pin No. 23 , 24 , 27 , 28

When the "Timing" signal is output, the transistor turns ON (For the line driver output which is TIM.2, the output signal is ON). This signal can be used to detect the home position with greater precision. This signal is output 50 times per motor shaft revolution.
ON OFF ON DIR. Input OFF TIM. Output ON OFF PLS Input (Step)
CCW
CW
ALARM ALARM LED
ON Off
ON Off
Notes: b A precise "Timing" signal output cannot be obtained when the speed of the pulse input frequency is over 500 Hz. b When the "Timing" signal output is used, 5 VDC power supply is necessary.
Pulse Signal (Speed Pattern)
Rotation
Natural Stop
Notes: b The "Alarm" output uses positive logic (normal close), all other outputs use negative logic (normal open). b The ALARM indicator lights (not blinks) when system error protective function has been activated.
Stepping Motors
Quadrature (ASG1/BSG1, ASG2/BSG2) Output Signal Output Circuit and Sample Connection Open-Collector Output
Controller VO Driver VCC 5 V BSG1
Introduction
GND ASG1
30 VDC 15 mA max.
GND
30 VDC 15 mA max.
AC Input
AS
0V
Circuit for use with 30 VDC, 15 mA maximum.

DC Input
ASC
Line Driver Output

Driver Controller Equivalent of 26C32 17 19
1
VCC 5 V
AC Input
5-Phase RK
18 20 2 0V 3 GND
Equivalent of 26C31
5-Phase CRK
0V Power supply for "Quadrature" signal output should be connected to 5 VDC.
DC Input
2-Phase CMK
Quadrature (ASG1/BSG1, ASG2/BSG2) Output Signal Pin No. 13 20

A counter or similar device can be connected to monitor the position of the motor. The pulse resolution is the same as the motor resolution at the time of power-on. [Example: Resolution select switch (1000 P/R) Output pulse number for each motor revolution (1000)] The phase difference between A and B is 90 electrical.
Notes: b The "Quadrature" signal output accuracy is, regardless of resolution, within 0.36 (repetition accuracy: within 0.09). b When the "Quadrature" signal output is used, 5 VDC power supply is necessary. These signals are only for position verification when the motor has stopped. There is a 1 ms (maximum) time lag between real rotor motion and the output signals.
2-Phase CSK 2-Phase Stepping Motors 5-Phase Stepping Motors

ASG1 (ASG2) BSG1 (BSG2) (Clockwise Rotation of Motor)
C-49
C-50
Stepping Motors
Connection and Operation [Built-In Controller (Stored Program) Package]

1 Signal Monitor Displays LED Indicators
z
Indication OPERATION ALARM Color Green Red Function Power supply indication Alarm Indication When Activated Lights when AC power is on. Blinks when protective functions are activated.
Motor Connector x Not used
Power Input Terminals Protective Earth Terminal
Alarm
Blink Count Protective Function Stack overflow Memory read error Program reference error Compilation error 1 Operation result overflow Parameter out-of-range error Divide by zero General I/O definition error PC command execution error Overheat protection 2 Overload protection Overspeed error 3 Overvoltage protection When Activated Too many nested LOOP, ENDL, CALL, etc. The data stored in the memory is damaged. The called program does not exist. The executed program is not executable. The operation result exceeds the range of 8 388 608 to 8 388 607. The parameter exceeds its setting range. Divide by zero was executed. The signal assignment method for general I/O ports was not correct. A PC command was executed while the motor was operating or not energized. The temperature of the heat sink in the driver has reached approx. 85C. A load exceeding the maximum torque was applied to the motor for the duration set by the OLTIME command. The speed of the motor's output shaft has exceeded 5000 r/min. The driver's primary inverter voltage has exceeded the limit of tolerance. The position of the motor's output shaft has deviated from the position specified by the operation command, by at least the number of revolutions set by the OVERFLOW command. An excessive current has flowed into the power element of the driver's inverter section. An E-STOP signal has been input. Alarm Code Output 90h (Decimal: 144) 91h (Decimal: 145) 94h (Decimal: 148) 95h (Decimal: 149) 98h (Decimal: 152) 99h (Decimal: 153) 9Ah (Decimal: 154) 9Ch (Decimal: 156) 9Dh (Decimal: 157) 21h (Decimal: 33) 30h (Decimal: 48) 31h (Decimal: 49) 22h (Decimal: 34) 10h (Decimal: 16) 20h (Decimal: 32) 68h (Decimal: 104) 60h (Decimal: 96) 61h (Decimal: 97) 62h (Decimal: 98) 66h (Decimal: 102) 67h (Decimal: 103) 68h (Decimal: 104) 70h (Decimal: 112) 42h (Decimal: 66) 43h (Decimal: 67) 41h (Decimal: 65) F0h (Decimal: 240) Operation Reset
The program stops. The motor performs stop operation set by MSTOPACT.
Possible
The motor loses it's holding torque.
Possible
The motor loses it's holding torque. The motor loses it's holding torque. The motor loses it's holding torque. The program stops. The motor loses it's holding torque (ESTOPACT 0).
Possible Possible Impossible Possible
Excessive position deviation
Overcurrent protection
External stop
Incorrect limit-sensor logic Reverse limit-sensor connection Mechanical home seeking error
Both the The
LS and
LS are ON simultaneously.
LS and
LS are connected in reverse.
The motor stops immediately.
Mechanical home seeking could not be executed correctly. The motor has exceeded its hardware limit.
Overtravel
The program stops. The motor stops immediately (ESTOPACT 1). Decelerates to a stop. The motor stops immediately. Motion is stopped. The motor loses it's holding torque. The motor loses it's holding torque. The motor loses it's holding torque.
Possible
Software overtravel External stop Invalid operation data Resolver sensor error 8 Initial rotor revolution error 9 Stays ON. NVRAM error System error
The motor has exceeded its software limit. An E-STOP signal has been input. An inoperable operation pattern has been started. The motor cable has not been connected or a motor's error has occurred in a sensor. The driver's power was turned on while the motor's output shaft was turning by external force. Motor control parameters have been damaged. Driver failure has occurred.
Impossible Impossible Impossible
Possible - The alarm can be cleared with the ALMCLR command or an ACL input. Impossible - The AC power must be cycled to clear these alarms.
Stepping Motors
2 Limit Sensor Input Communication Signals (CN5)

Connector Pin No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 Input/Output Input Signal COM1 COM2 Signal Name Common terminal for input signals Common terminal for input signals No Connection No Connection RS-232C Transmit No Connection RS-232C Receive No Connection No Connection External power supply terminal (GND) Common terminal for input signals Common terminal for input signals LS limit sensor LS limit sensor HOME sensor Sensor No connection No connection Common terminal for input signals Common terminal for input signals
Output Input
TX RX
Introduction
CN5
Input
Input
N24 COM1 COM2 LS LS HOMELS SENSOR
AC Input DC Input
AS
COM1 COM2
ASC
3 I/O Signals (CN4)

Connector Pin No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 Input/Output Input Signal P24 N24 Y0 Y0 Y1 Y1 Y2 Y2 Y3 Y3 ASG ASG BSG BSG START E-STOP COM1 Y4 Y4 Y5 Y5 Y6 Y6 Y7 Y7 ALM ALM X0 X1 X2 X3 X4 X5 X6 X7 Signal Name Power source for RS-232C, ASG and BSG (24 VDC) Power source for RS-232C, ASG and BSG (GND) AC Input
General output1 (Y0 to Y3)
Output
DC Input
2-Phase CMK
Phase A pulse output (Line driver output) Phase B pulse output (Line driver output) START External stop Common terminal for input signal
2-Phase CSK
Input
CN4
Output
General output1 (Y4 to Y7)
Alarm
Controllers
Input
General input2 (X0 to X7)
Accessories
1 The following signals can be assigned arbitrarily via program settings. Additionally, the output logic of each signal can be switched. END output, RUN output, MOVE output, HOME-P output, TIM output, MBC output 2 The following signals can be assigned arbitrarily via program settings. Additionally, the input logic of each signal can be switched. ACL input, PAUSE input, MSTOP input, RESTART input
Installation
C-51
X7 Input
36 3 4 5 6 7 8 9 10 19 20 21 22 23 24 25 26 27 28
24 VDC
Y0 Output Y0 Output Y1 Output Y1 Output Y2 Output Y2 Output Y3 Output Y3 Output Y4 Output Y4 Output Y5 Output Y5 Output Y6 Output Y6 Output Y7 Output Y7 Output ALM Output ALM Output
6.2 mm max.
6.2 mm max.
C-52
Stepping Motors
Controller N24 OV 24 VDC COM1
2
17 (18)
Notes on Wiring
Driver CN4
b Use input signals at 24 VDC 10%. b Use output signals at 30 VDC or below and at 4 to 8 mA. b Use a shielded cable with a wire of a size ranging between AWG24 (0.2 mm2) and AWG22 (0.3 mm2) for the driver signal cable (I/O signals, limit sensors signals), and keep it as short as possible. b Keep the control I/O signal line at least 300 mm away from power lines (e.g. lines carrying large current, such as AC lines and motor lines). Also, do not run these lines through the same ducts or pipes as power lines. b Always use the accessory cable for IP65 rated motor (sold separately) for connection between the IP65 rated motor and the driver. b Use a 3-core cable of AWG18 (0.75 mm2) or thicker for the power supply line. Provide a minimum distance of 300 mm between the control I/O signal lines and power lines (AC lines, motor lines and other large-current circuits). b Do not guide the control I/O signal lines in the same duct as power lines or bundle them with power lines. b The power cable and control I/O signal cable are not supplied with the package and must be provided separately by the user. To ground the driver, lead the ground conductor from the protective earth terminal (M4) and connect the ground conductor to a cable of AWG18 (0.75 mm2) or thicker to provide a common ground point.
COM1 (CN5)
P24 START Input E-STOP Input X0 Input X1 Input X2 Input X3 Input X4 Input X5 Input X6 Input
1 15 16 29 30 31 32 33 34 35

3.2 mm min. 3.2 mm min.
9 mm min.
9 mm min.
OV
ASG Output ASG Output BSG Output BSG Output
11 12 13 14
X0 to X7: General Input1 Y0 to Y7: General Output2 1 The following signals can be assigned arbitrarily via program settings. Additionally, the output logic of each signal can be switched. END output, RUN output, MOVE output, HOME-P output, TIM output, MBC output 2 The following signals can be assigned arbitrarily via program settings. Additionally, the input logic of each signal can be switched. ACL input, PAUSE input, MSTOP input, RESTART input
Connecting the Driver with a Personal Computer (CN1)

bPin Assignments and Connecting
PC (9 pin) 5 2 3 4 6 7 8 CN1 (Viewed from the front side of driver) GND TX N.C. RX
Limit Sensor (CN5)

COM1 1 11 19 OV 24 VDC LS LS HOMELS SENSOR Driver CN5
COM1 (CN4) LS Input LS Input HOMELS Input SENSOR Input

13 14 15
Short pins 4 and 6 together, as well as pins 7 and 8 together.
bCommunication Specifications
Item Electrical Characteristics Transmission Method Description In conformance with RS-232C. Start-stop asynchronous method, NRZ (non-return to Zero), full-duplex 8 bits, 1 stop bit, no parity 9600 bps TTY (CR LF) Modular (4 lines, 4 pins)
16
Data Length Transmission Speed Protocol Connector Specification
Notes: b Confirm that 24 VDC is supplied to the driver's external power supply input terminals (P24 and N24). b Use the RS-232C signal lines over the shortest possible distance. It is recommended that the signal lines be shielded to protect them from noise interference. b The maximum distance between drivers when using a daisy chain connection should be 15 m.
Stepping Motors
b Description of Daisy Chain Connections

Use the RS-232C communication pins (TX, RX and N24) of the sensor connector (CN5) when connecting two or more drivers via a daisy chain (up to 36 drivers).
Driver 1 PC (9-Pin COM Port) 3 5 2 4 6 7 8 TX GND RX DTR DSR RTS CTS CN5 7 RX 10 N24 5 TX
TX, RX
These communication terminals are used when implementing daisy chain connections.
Notes: b Confirm that each driver is supplied 24 VDC 10% (P24 and N24) of CN4 from outside for communication. b Wire the RS-232C signal lines over the shortest possible distance. It is recommended that the signal lines be shielded to protect them from noise interference. b The maximum distance between drivers when using a daisy chain connection should be 15 m. b Do not use the RS-232C communication port (CN1).
Introduction
Driver 2
AC Input
CN5 7 RX 10 N24 5 TX
AS ASC
DC Input
Driver N CN5 7 RX 10 N24 5 TX
AC Input DC Input
5-Phase RK 5-Phase CRK 2-Phase CMK 2-Phase CSK 2-Phase Stepping Motors

Connect the electromagnetic brake to the power supply using a cable of at least AWG24 (0.2 mm2). The power supply input to the electromagnetic brake is 24 VDC 5% 0.3 A minimum and therefore must be independent of the driver's power supply for signal control. Notes: b Applying a voltage that exceeds the specifications will cause the electromagnetic brake to generate a great amount of heat, resulting in motor temperature rises and possible damage to the motor. Conversely, if voltage is too low, the electromagnetic brake may not release. b To protect the switch contacts and prevent noise, always connect the surge suppressor. (The surge suppressor is included with electromagnetic brake motors.) b To prevent noise, use a dedicated power supply for electromagnetic brake. b Correct polarity ( and ) must be ensured when connecting the electromagnetic brake leadwire of AS Series to the DC power supply. If polarity is incorrect, the electromagnetic brake will not operate. b When using as a CE certified part, use a dedicated DC power supply for electromagnetic brake. The electromagnetic brake wire is linked to the connector on the driver connection side of extension cable for electromagnetic brake motor (sold separately). Be sure to use the accessory (sold separately) extension cable or flexible extension cable. Connect the orange/black spiral lead wire (orange for flexible extension cable) (60 mm) to 24 V, and the gray lead wire (60 mm) to the ground (GND).
Motor 24 VDC
Surge Suppressor
Extension Cable for Electromagnetic Brake Motor (Sold separately)
Accessories
AS Series Driver

Installation
C-53
C-54
Stepping Motors
b Description of Input Signals (CN4)

Controller
b Description of Output Signals (CN4)

Output Circuit and Sample Connection
Controller V0
Y0 Y7, ALM 25 , 27
Driver
3
24 VDC
29 36
Driver
Y0
1 k 0V
17 18
Y7, ALM 26 , 28
COM1
4.7 k
0V
Note: b Use output signals at 30 VDC or below and at 4 to 8 mA.
Note: b Use input signals at 24 VDC 10%.
P24 Input, N24 Input

These inputs are for the external power supply required for the RS-232C communication, ASG and BSG outputs. Make sure to use a power supply of at least 24 VDC 10%, 0.05 A. If the same power supply is going to be used for the RS-232C, ASG, BSG and other external I/O, make sure to use a power supply of at least 24 VDC 10%, 0.2 A.
Y0 to Y7 Output
The Y0 through Y7 outputs can be used as output ports for general signals. The status of each port can be read using an OUT command or OUTx command. The general signals assignable to the Y0 through Y7 outputs are listed below. Use the corresponding command to assign each signal. END output ......... OUTEND command RUN output......... OUTRUN command MOVE output ...... OUTMOVE command HOME-P output .. OUTHOMEP command TIM output .......... OUTTIM command MBC output ........ OUTMBC command
START Input
This signal starts the program named "STARTUP." OFFON edge to start "STARTUP" program.
E-STOP Input
This signal is used to forcibly stop the operation. Set the stopping method using the ESTOPACT command. Additionally, the input logic can be changed using the ESTOPLV command. (The factory setting of this command is normal open.) OFFON edge to stop operation.
ASG Output, BSG Output

bLine Driver Output (26C31 or equivalent)
Driver ASG, BSG
COM1 Input
This is an external power-source terminal for input signals. This signal is internally connected to terminals COM1 of CN5.
ASG, BSG 26C31 or Equivalent 90 ASG Output H L H BSG Output L
X0 to X7 Inputs
The X0 thorough X7 inputs can be used as input ports for general signals. The status of each port can be read using an IN command or INx command. The general signals assignable to the X0 through X7 inputs are listed below. Use a corresponding command to assign signal. ACL input ............ INACL command PAUSE input ....... INPAUSE command MSTOP input ...... INMSTOP command RESTART input ... INRESTART command
ACL Input
This signal is used to reset the alarm that has been generated by the driver's protective function. Input an ACL signal once after removing the cause that has triggered the protective function.
To monitor the motor position, connect these signals to a counter, etc. The pulse resolution is the same as the motor resolution at the time of power-on. The ASG output and BSG output have a phase difference of 90 degrees electrical. Pulse output is subject to a maximum delay of 1 ms relative to the motor's motion. Use the ASG output and BSG output to check the stopping position.
ALM Output
This signal is output when an alarm is generated by the driver's protective function. The reason for triggering of the protective function can be identified through the blink count of the alarm LED, or ALM command. To reset the ALM output, remove the cause of the alarm and then perform one of the following procedures after ensuring safety: bAssign INACL then turn the ACL input to ON. bEnter an ALMCLR command. bTurn off the AC power, wait at least 10 seconds, then turn it back on.
Stepping Motors
b Description of Limit Sensors (CN5)

Controller
HOMELS Input
This signal is input from HOMELS. Connect the HOMELS when mechanical home seeking is performed in 3-sensor mode. When mechanical home seeking is performed in 3-sensor mode, the HOMELS becomes the mechanical home. The input logic can be changed using the HOMELV command. (The factory setting of this command is normal open.)
24 VDC
13 16
Driver
1 k 0V
1 11 19
SENSOR Input
This signal is input from SENSOR. The input logic can be changed using the SENSORLV command. (The factory setting of this command is normal open.)
Introduction
4.7 k
Note: b Use input signals at 24 VDC 10%.
Mechanical Home Seeking Routine

This input is used when detecting the mechanical home at a specific point on the motor's output shaft or load shaft using a slotted disc, etc. The accuracy of mechanical home seeking increases if this input is used in conjunction with the TIM. signal.
AC Input
AS
COM1 Input
This is a power-source input terminal for limit-sensor signals. The power-source voltage must be 24 VDC 10%. This signal is internally connected to terminals COM1 of CN4.
COM2 Input
This is a power-source input terminal for limit-sensor signals. Use it when sharing the input signal power source among two or more drivers.
Continuous Operation
The motor can be stopped forcibly upon the detection of SENSOR. Set the stopping method using the SENSORACT command.
Note: b If the SENSOR input is used in mechanical home seeking, it cannot be used during continuous operation.
DC Input
ASC
LS Input,
LS Input
AC Input
5-Phase RK
These signals are input from LS and LS. The input logic can be changed using the OTLV command. (The factory setting of this command is normally open.) Input logic for the LS input and LS input cannot be set separately.
Continuous Operation and Positioning Operation

When a LS or LS is detected, the driver's protective function (overtravel) is activated. As a result, the ALM output is turned OFF and the motor stops. Set the stopping method using the OTACT command. To pull out of LS or LS, cancel the protective function by inputting an ACL signal once or by using the ALMCLR command. Then perform mechanical home seeking routine or operate the motor in the direction opposite that of the limit sensor during continuous operation.
5-Phase CRK
DC Input
Mechanical Home Seeking Routine

When a LS or LS is detected, the motor operates in the direction opposite that of the detected limit.
2-Phase Stepping Motors 5-Phase Stepping Motors Controllers Accessories Installation
C-55
Single-Phase 200-230 VAC Input
C-56
Stepping Motors
List of Motor and Driver Combinations

Model names for motor and driver combinations are shown below.
Power Supply Voltage Model AS66 CE AS69 CE Standard Type AS98 CE AS911ACE AS66ACT AS69ACT Standard Type IP65 Rated Motor AS98ACT AS911ACT AS66 CE-T3.6 AS66 CE-T7.2 AS66 CE-T10 AS66 CE-T20 AS66 CE-T30 TH Geared Type AS98 CE-T3.6 AS98 CE-T7.2 AS98 CE-T10 AS98 CE-T20 AS98 CE-T30 AS66 CE-P5 AS66 CE-P7.2 AS66 CE-P10 AS66 CE-P25 AS66 CE-P36 AS66 CE-P50 PL Geared Type AS98 CE-P5 AS98 CE-P7.2 AS98 CE-P10 AS98 CE-P25 AS98 CE-P36 AS98 CE-P50 AS66 CE-N5 AS66 CE-N7.2 AS66 CE-N10 AS66 CE-N25 AS66 CE-N36 AS66 CE-N50 PN Geared Type AS98 CE-N5 AS98 CE-N7.2 AS98 CE-N10 AS98 CE-N25 AS98 CE-N36 AS98 CE-N50 AS66 CE-H50 AS66 CE-H100 Harmonic Geared Type AS98 CE-H50 AS98 CE-H100 Type Pulse Input Package Motor Model ASM66 CE ASM69 CE ASM98 CE ASM911ACE ASM66ACT ASM69ACT ASM98ACT ASM911ACT ASM66 CE-T3.6 ASM66 CE-T7.2 ASM66 CE-T10 ASM66 CE-T20 ASM66 CE-T30 ASM98 CE-T3.6 ASM98 CE-T7.2 ASM98 CE-T10 ASM98 CE-T20 ASM98 CE-T30 ASM66 CE-P5 ASM66 CE-P7.2 ASM66 CE-P10 ASM66 CE-P25 ASM66 CE-P36 ASM66 CE-P50 ASM98 CE-P5 ASM98 CE-P7.2 ASM98 CE-P10 ASM98 CE-P25 ASM98 CE-P36 ASM98 CE-P50 ASM66 CE-N5 ASM66 CE-N7.2 ASM66 CE-N10 ASM66 CE-N25 ASM66 CE-N36 ASM66 CE-N50 ASM98 CE-N5 ASM98 CE-N7.2 ASM98 CE-N10 ASM98 CE-N25 ASM98 CE-N36 ASM98 CE-N50 ASM66 CE-H50 ASM66 CE-H100 ASM98 CE-H50 ASM98 CE-H100 Driver Model ASD12A-C ASD16D-C ASD16A-C ASD20A-C ASD12A-C ASD16D-C ASD16A-C ASD20A-C ASD12B-C ASD12C-C ASD16A-C ASD16C-C ASD12A-C ASD12B-C ASD12C-C Built-In Controller (Stored Program) Package Model Motor Model Driver Model AS66 CEP ASM66 CE ASD12A-CP AS69 CEP ASM69 CE ASD16D-CP AS98 CEP ASM98 CE ASD16A-CP AS911ACEP ASM911ACE ASD20A-CP AS66ACTP ASM66ACT ASD12A-CP AS69ACTP ASM69ACT ASD16D-CP AS98ACTP ASM98ACT ASD16A-CP AS911ACTP ASM911ACT ASD20A-CP AS66 CEP-T3.6 ASM66 CE-T3.6 AS66 CEP-T7.2 ASM66 CE-T7.2 ASD12B-CP AS66 CEP-T10 ASM66 CE-T10 AS66 CEP-T20 ASM66 CE-T20 ASD12C-CP AS66 CEP-T30 ASM66 CE-T30 AS98 CEP-T3.6 ASM98 CE-T3.6 AS98 CEP-T7.2 ASM98 CE-T7.2 ASD16A-CP AS98 CEP-T10 ASM98 CE-T10 AS98 CEP-T20 ASM98 CE-T20 ASD16C-CP AS98 CEP-T30 ASM98 CE-T30
ASD16A-C
ASD16B-C ASD12A-C ASD12B-C ASD12C-C AS66 AS66 AS66 AS66 AS66 AS66 AS98 AS98 AS98 AS98 AS98 AS98 AS66 AS66 AS98 AS98 CEP-N5 CEP-N7.2 CEP-N10 CEP-N25 CEP-N36 CEP-N50 CEP-N5 CEP-N7.2 CEP-N10 CEP-N25 CEP-N36 CEP-N50 CEP-H50 CEP-H100 CEP-H50 CEP-H100 ASM66 ASM66 ASM66 ASM66 ASM66 ASM66 ASM98 ASM98 ASM98 ASM98 ASM98 ASM98 ASM66 ASM66 ASM98 ASM98 CE-N5 CE-N7.2 CE-N10 CE-N25 CE-N36 CE-N50 CE-N5 CE-N7.2 CE-N10 CE-N25 CE-N36 CE-N50 CE-H50 CE-H100 CE-H50 CE-H100 ASD12A-CP ASD12B-CP ASD12C-CP
ASD16A-C
ASD16A-CP
ASD16B-C ASD12B-C ASD12C-C ASD16B-C
ASD16B-CP ASD12B-CP ASD12C-CP ASD16B-CP
b Enter A (standard) or M (electromagnetic brake) in the box ( ) within the model name.
Stepping Motors
Introduction AS ASC
Controllers
Accessories
Installation
AC Input
DC Input
AC Input
DC Input
C-57
5-Phase RK
5-Phase CRK
2-Phase CMK
2-Phase CSK
Input Counter
Excitation Sequence Control
Output Element
Torque
Signal Level
C-58
Stepping Motors
RoHS-Compliant Closed Loop Stepping Motor and Driver Package
ASC Series
The is an innovative stepping motor and driver package that adopts a closed loop control to eliminate misstep. In the , the user friendliness of a stepping motor is combined with a range of new functions for improved reliability of your equipment.
Features
b 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 activated, so there is no need to worry about loss of steps. When the successive overload is given, outputs the alarm signal. The reliability of is as high as that of a servo motor.
Control Diagram
Input Pulse
Deviation Counter
Motor Sensor
Rotor Position Counter
Normal (Positioning Deviation is less than
1.8)
Motor runs in open loop mode like a stepping motor.
is designed as a "package" consisting of a motor and a driver.
If Motor Missteps (Positioning Deviation is 1.8 or more) Control switches to closed loop mode to prevent loss of synchronism.
Angle Torque Characteristics

Stepping Motor wClosed Loop Mode qOpen Loop Mode
wClosed Loop Mode -7.2 -5.4 -3.6 -1.8 0 1.8 Position 3.6 5.4 7.2
qIf the positioning deviation is less than 1.8, the motor runs in open loop mode like a stepping motor. wIf the positioning deviation is 1.8 or more, 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.
The Newly Developed Sensor to Detect Rotor's Position

The newly developed rotor position detection sensor uses the change in inductance caused by change in the distance between the stator teeth and the teeth on the sensor rotor to detect rotor position.
Features
bThis structure can be made small and thin, so the overall size of the motor can be reduced. bHigh resolution bThis structure does not use electronic parts, so it is not affected by heat or vibration.
1.25 1 0.5 0 -0.5 -1
Sensor Output Signal
Sensor detects rotor position
60
120
180
240 A-Phase
300
Rotor Angle (Electrical Angle)
360 B-Phase
Stepping Motors
b High Response
Like conventional stepping motors, operates in synchronism with command pulses. This makes it suitable for short stroke positioning.
b 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 to high (or vice versa) speed operations are required, the use of the Resolution Select Function solves the problem. provides resolution as low as 0.036 per step without any damping mechanism or other mechanical device.
CCD Camera Low Speed
AC Input
Motor Movement
Introduction
Pulse Input Positioning Completion Signal
Measurement Condition: Feed 1/5 rotation Load inertia 250 10
kgm2 (J)
AS
b No Gain Tuning
Gain tuning for servo motors is critical, troublesome and timeconsuming. 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 .
High Speed
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.
DC Input
ASC
b Motor/Driver Connection with a Single Cable

requires only one cable for connection between the motor and the driver. Wiring is much simpler compared with conventional servo motors requiring two cables, one for the motor and the other for an encoder. The cable can be extended to a maximum of 10 m (including flexible extension cable), so the motor and the driver can be installed in locations far apart.
AC Input
5-Phase RK
RoHS-Compliant
5-Phase CRK
The conforms to the RoHS Directive that prohibits the use of six chemical substances including lead and cadmium.
b Details of RoHS Directive Page G-23
DC Input
2-Phase CMK
b The
Complies with Major Safety Standards
The ASC Series is recognized with the UL/CSA Standards and conforms to EN Standard. The CE Marking certifies compliance with the EMC Directives.
2-Phase CSK
b No Hunting
Since is a stepping motor, it has no hunting problem. 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 Stop Hunting
2-Phase Stepping Motors 5-Phase Stepping Motors Controllers
Servo Motor
C-59
C-60
Stepping Motors
b Standard Type
An example of a single-axis system configuration with the SG8030JY controller.
Controller (Sold separately) Controller

( Page C-248)
24 VDC Power Supply

(Not supplied)
(Not supplied)
ASC Series (Body)

Motor Driver
24 VDC Power Supply

(Not supplied)

( Page C-266)
Flexible Couplings
( Page C-258)
Extension Cables
( Page C-253)

( Page C-256)
Connector Terminal Block Conversion Unit

( Page C-256)
No.
Product Name
Controller Motor Mounting Brackets Flexible Couplings Extension Cables Flexible Extension Cables Driver Cables General-Purpose Type Connector Terminal Block Conversion Unit
Overview
This controller outputs pulse commands that determine the rotating amount and rotating speed. Dedicated mounting bracket for the motor. Coupling that connects the motor shaft to the driven shaft. Cable for extending the wiring distance between the motor and driver (1 to 10 m). Cable offering flexibility, used to extend the wiring distance between the motor and driver (1 to 10 m). General-purpose cable for connecting the driver and controller (1 m, 2 m). Set of terminal block and cable for connecting the driver and controller (1 m).
Page
C-248 C-266 C-258 C-253 C-256 C-256

ASC Series ASC66AK
Controller
SG8030JY-U
Extension Cable (3 m) CC03AIP
Motor Flexible Connector-Terminal Block Mounting Bracket Coupling Conversion Unit (1 m) PAL2P-5 MCS300808 CC36T1
Stepping Motors
b Standard Type with Electromagnetic Brake
Required Products (Sold separately) Extension Cables for Electromagnetic Brake Motor
( Page C-253)

( Page C-248)
Introduction
24 VDC Power Supply

(Not supplied)
To extend the distance between the motor and the driver for ASC46 electromagnetic brake motor, use an extension cable for standard motor. (Extension cables Page C-253)
(Not supplied)
AC Input
AS
ASC Series (Body)

DC Input
ASC
Motor
Driver
AC Input
24 VDC Power Supply (Main Power Supply)

(Not supplied)
5-Phase RK

(Not supplied)
5-Phase CRK
DC Input
2-Phase CMK

( Page C-266)
Flexible Couplings
( Page C-258)

( Page C-256)
Connector Terminal Block Conversion Unit

( Page C-256)
No.
Product Name
Extension Cables for Electromagnetic Brake Motor Flexible Extension Cables for Electromagnetic Brake Motor Controller Motor Mounting Brackets Flexible Couplings Driver Cables General-Purpose Type Connector Terminal Block Conversion Unit
Overview
Dedicated cable for connecting the electromagnetic brake motor and driver (1 to 10 m). Be sure to purchase this cable. Dedicated cable offering flexibility, used to connect the electromagnetic brake motor and driver (1 to 10 m). Be sure to purchase this cable. This controller outputs pulse commands that determine the rotating amount and rotating speed. Dedicated mounting bracket for the motor. Coupling that connects the motor shaft to the driven shaft. General-purpose cable for connecting the driver and controller (1 m, 2 m). Set of terminal block and cable for connecting the driver and controller (1 m).
Page
C-253 C-248 C-266 C-258 C-256 C-256

ASC Series ASC66MK
Extension Cable for Electromagnetic Brake Motor (3 m) CC03AIPM
Motor Flexible Connector-Terminal Block Mounting Bracket Coupling Conversion Unit (1 m) SG8030JY-U PAL2P-5 MCS300808 CC36T1 Controller
Installation
C-61
C-62
Stepping Motors
Product Number Code
ASC 6 6 A K - T 3.6
Series Motor Frame Size Motor Case Length Motor Type Power Supply Voltage Gearhead Type Gear Ratio
ASC: ASC Series 3: 28 mm 4: 42 mm 6: 60 mm A: Standard (Single Shaft) M: Electromagnetic Brake Type K: 24 VDC Blank: Standard Type T: TH Geared Type N: PN Geared Type H: Harmonic Geared Type
Product Line
The product names below are all for single shaft types, but there are also double shaft models available for all products except for those with electromagnetic brakes. Please contact the nearest Oriental Motor sales office for further information on the double shaft models.
Standard Type
Power Supply Voltage 24 VDC Model (Single Shaft) ASC34AK ASC36AK ASC46AK ASC66AK

Power Supply Voltage 24 VDC Model (Single Shaft) ASC46MK ASC66MK
b Extension cables for electromagnetic brake motor Page C-253
TH Geared Type
Power Supply Voltage Model (Single Shaft) ASC34AK-T7.2 ASC34AK-T10 ASC34AK-T20 ASC34AK-T30 ASC46AK-T3.6 ASC46AK-T7.2 ASC46AK-T10 ASC46AK-T20 ASC46AK-T30 ASC66AK-T3.6 ASC66AK-T7.2 ASC66AK-T10 ASC66AK-T20 ASC66AK-T30

Power Supply Voltage Model (Single Shaft) ASC46MK-T3.6 ASC46MK-T7.2 ASC46MK-T10 ASC46MK-T20 ASC46MK-T30 ASC66MK-T3.6 ASC66MK-T7.2 ASC66MK-T10 ASC66MK-T20 ASC66MK-T30
24 VDC
24 VDC
PN Geared Type
Power Supply Voltage Model (Single Shaft) ASC34AK-N5 ASC34AK-N7.2 ASC34AK-N10 ASC46AK-N7.2 ASC46AK-N10 ASC66AK-N5 ASC66AK-N7.2 ASC66AK-N10 ASC66AK-N25 ASC66AK-N36 ASC66AK-N50

Power Supply Voltage Model (Single Shaft) ASC46MK-N7.2 ASC46MK-N10 ASC66MK-N5 ASC66MK-N7.2 ASC66MK-N10 ASC66MK-N25 ASC66MK-N36 ASC66MK-N50
24 VDC
24 VDC

Power Supply Voltage Model (Single Shaft) ASC34AK-H50 ASC34AK-H100 ASC46AK-H50 ASC46AK-H100 ASC66AK-H50 ASC66AK-H100

Power Supply Voltage 24 VDC Model (Single Shaft) ASC46MK-H50 ASC46MK-H100 ASC66MK-H50 ASC66MK-H100
24 VDC
The following items are included in each product. Motor, Parallel Key1, Surge Suppressor2, Driver, Connector for Input/Output Signal, Power Connector, Operating Manual 1 Only for the products with a key slot on the output shaft 2 Only for electromagnetic brake type
bElectromagnetic brake motor models (except motor frame size 42 mm) must use an extension cable or flexible extension cable for an electromagnetic brake motor.

Model CC01AIPM CC02AIPM CC03AIPM CC05AIPM CC07AIPM CC10AIPM Length (m) 1 2 3 5 7 10

Model CC01SARM2 CC02SARM2 CC03SARM2 CC05SARM2 CC07SARM2 CC10SARM2 Length (m) 1 2 3 5 7 10
Stepping Motors
Standard Type
Specifications
Standard Electromagnetic Brake Maximum Holding Torque Nm Rotor Inertia J: kg m2 Resolution2 Resolution Setting: 1000 P/R Voltage Power Source Maximum Input Current A Type Power Supply Input Electromagnetic Brake3 Power Consumption W Excitation Current A Static Friction Torque Nm Motor kg Mass Driver kg Motor Dimension No. Driver Model
Motor Frame Size 28 mm, 42 mm, 60 mm
ASC34AK 0.055 11 10-7
ASC36AK 0.12 27 10-7
ASC46AK ASC46MK 0.3 68 10-7 [83 10-7]1 0.36/Pulse 24 VDC 10%
ASC66AK ASC66MK 1 405 10-7 [564 10-7]1

Introduction
1.1
1.7 Active when power is off 24 VDC 5% 2 0.08 0.15 0.5 [0.6]1 0.25
2 13
3.7
0.15
1
0.22
6 0.25 0.6 0.85 [1.1]1 3
AC Input DC Input
AS ASC
How to read specifications table Page C-10 Extension cables for electromagnetic brake motor Page C-253 1 The values inside the brackets [ ] represent the specification for the electromagnetic brake type. 2 The resolution can be set to any one of 500 P/R, 1000 P/R, 5000 P/R, or 10000 P/R with the resolution select switch or resolution select switching signals. Resolution select switch Page C-77 3 The electromagnetic brakes are for holding the position when the power is off. They cannot be used for braking. Also, a separate 24 VDC 5%, 0.3 A minimum (ASC46: 0.1 A minimum) power supply is required for the electromagnetic brakes.
AC Input
5-Phase RK

ASC34AK
0.08 0.06
Torque [N m]
ASC36AK
0.16
5-Phase CRK
0.12
0.04
Torque [N m]
0.08
DC Input
2-Phase CMK
0.02
0.04
500 1000 1500 2000 2500 3000 3500 4000 4500 Speed [r/min] 10 20 30 40 50 60 Pulse Speed [kHz] (Resolution Setting: 1000 P/R) 70
500 1000 1500 2000 2500 3000 3500 4000 4500 Speed [r/min] 10 20 30 40 50 60 Pulse Speed [kHz] (Resolution Setting: 1000 P/R) 70
2-Phase CSK
ASC46AK/ASC46MK
0.5 0.4
ASC66AK/ASC66MK
2.0
1.5
Torque [N m]
0.3 0.2 0.1 0
Torque [N m]
1.0
0.5
0 10
1000 Speed [r/min] 30 20 Pulse Speed [kHz] (Resolution Setting: 1000 P/R)
2000 40
0 10
1000 Speed [r/min] 20 30 Pulse Speed [kHz] (Resolution Setting: 1000 P/R)
2000 40
Controllers
C-63
Torque [N m]
Torque [N m]
Torque [N m]
0.3 0.2 0.1 0
Torque [N m]
C-64
Stepping Motors
TH Geared Type
Specifications
Model Standard Maximum Holding Torque Nm Rotor Inertia J: kg m2 Backlash arc minute (degrees) Permissible Speed Range r/min Gear Ratio Resolution Resolution Setting: 1000 P/R Permissible Torque Nm Voltage Power Source Maximum Input Current A Motor kg Mass Driver kg Motor Dimension No. Driver
ASC34AK-T7.2 0.2
ASC34AK-T10 0.3 11 10-7 60 (1)
ASC34AK-T20 0.4
ASC34AK-T30 0.5
0 416 1:7.2 0.05/Pulse 0.2
0 300 1:10 0.036/Pulse 0.3 24 VDC 10% 1 0.21 0.25

4 13
0 150 1:20 0.018/Pulse 0.4
0 100 1:30 0.012/Pulse 0.5
How to read specifications table Page C-10 The resolution can be set to any one of 500 P/R, 1000 P/R, 5000 P/R, or 10000 P/R with the resolution select switch or resolution select switching signals. Resolution select switch Page C-77 Note: b Direction of rotation of the motor and that of the gear output shaft are the same for the gear ratios 1:20 and 1:30. It is opposite for 1:7.2 and 1:10 gear ratios.

ASC34AK-T7.2
0.3
ASC34AK-T10
0.4
Permissible Torque 0.2
0.3 Permissible Torque 0.2
0.1
0.1
0 0 0
50
100 10
150
200 250 300 Speed [r/min]
350
400 50
450
0 0
50 10
100
250
300 50
ASC34AK-T20
0.5 0.4 Permissible Torque
ASC34AK-T30
0.6 0.5 Permissible Torque 0.4 0.3 0.2 0.1 0 0 0 20 10 40 60 80 Speed [r/min] 100 50 120
0 0 10
50
100 Speed [r/min]
150 50
Stepping Motors
TH Geared Type
Specifications
Model Standard Electromagnetic Brake Nm J: kg m2 arc minute (degrees) r/min
ASC46AK-T3.6 ASC46MK-T3.6 0.35 45 (0.75) 0 500 1:3.6 0.1/Pulse 0.35
ASC46AK-T7.2 ASC46MK-T7.2 0.7
ASC46AK-T10 ASC46MK-T10 1 68 10-7 [83 10-7]1
ASC46AK-T20 ASC46MK-T20 1.5
ASC46AK-T30 ASC46MK-T30
Maximum Holding Torque Rotor Inertia Backlash Permissible Speed Range Gear Ratio Resolution2 Permissible Torque Power Source Voltage
Introduction
25 (0.417) 0 250 1:7.2 0.05/Pulse 0.7 0 180 1:10 0.036/Pulse 1 24 VDC 10% 1.7 Active when power is off 24 VDC 5% 0 90 1:20 0.018/Pulse
15 (0.25) 0 60 1:30 0.012/Pulse 1.5 AC Input
Resolution Setting: 1000 P/R Nm Maximum Input Current A Type Power Supply Input Power Consumption Excitation Current Static Friction Torque Motor Driver Motor Driver W A Nm kg kg
AS
Electromagnetic Brake3
DC Input
2 0.08 0.17 0.35 0.5 0.65 [0.75]1 0.25

5 13
ASC
0.75
Mass Dimension No.
AC Input
5-Phase RK
How to read specifications table Page C-10 1 The values inside the brackets [ ] represent the specification for the electromagnetic brake type. 2 The resolution can be set to any one of 500 P/R, 1000 P/R, 5000 P/R, or 10000 P/R with the resolution select switch or resolution select switching signals. Resolution select switch Page C-77 3 The electromagnetic brakes are for holding the position when the power is off. They cannot be used for braking. Also, a separate 24 VDC 5%, 0.1 A minimum power supply is required for the electromagnetic brakes. Note: b Direction of rotation of the motor and that of the gear output shaft are the same for the gear ratios 1:3.6, 1:7.2 and 1:10. It is opposite for 1:20 and 1:30 gear ratios.
5-Phase CRK
DC Input
2-Phase CMK

ASC46AK-T3.6/ASC46MK-T3.6
0.5 0.4
Torque [N m]
1.0 0.8
Torque [N m]
ASC46AK-T10/ASC46MK-T10
1.5
2-Phase CSK
Permissible Torque
Permissible Torque
Torque [N m]
0.3 0.2 0.1 0
0.6 0.4 0.2 0
0.5
0 0
100 5
200
500 30
600 35
0 0
50 5
100
250 30
300 35
0 0 5
50
100 Speed [r/min]
150 30
200
Torque [N m]
Torque [N m]
Controllers
1.0
1.0
0.5
0.5
Accessories
0 5
20
80 30
100
0 0
10 5
20
30 40 Speed [r/min]
50
60 30
70 35
Installation
C-65
Torque [N m]
Torque [N m]
Torque [N m]
Torque [N m]
3 2 1 0
Torque [N m]
C-66
Stepping Motors
TH Geared Type
Specifications
Standard Electromagnetic Brake Maximum Holding Torque Nm Rotor Inertia J: kg m2 Backlash arc minute (degrees) Permissible Speed Range r/min Gear Ratio Resolution Setting: 1000 P/R Resolution2 Permissible Torque Nm Voltage Power Source Maximum Input Current A Type Power Supply Input Electromagnetic Brake3 Power Consumption W Excitation Current A Static Friction Torque Nm Motor kg Mass Driver kg Motor Dimension No. Driver Model
ASC66AK-T3.6 ASC66MK-T3.6 1.25 35 (0.584) 0 500 1:3.6 0.1/Pulse 1.25
ASC66AK-T7.2 ASC66MK-T7.2 2.5
0 250 1:7.2 0.05/Pulse 2.5
0.62
1.25
ASC66AK-T10 ASC66MK-T10 3 405 10-7 [564 10-7]1 15 (0.25) 0 180 1:10 0.036/Pulse 3 24 VDC 10% 3.7 Active when power is off 24 VDC 5% 6 0.25 1.5 1.25 [1.5]1 0.25
6 13
ASC66AK-T20 ASC66MK-T20 3.5
ASC66AK-T30 ASC66MK-T30 4
10 (0.167) 0 90 1:20 0.018/Pulse 3.5 0 60 1:30 0.012/Pulse 4
1.75
How to read specifications table Page C-10 Extension cables for electromagnetic brake motor Page C-253 1 The values inside the brackets [ ] represent the specification for the electromagnetic brake type. 2 The resolution can be set to any one of 500 P/R, 1000 P/R, 5000 P/R, or 10000 P/R with the resolution select switch or resolution select switching signals. Resolution select switch Page C-77 3 The electromagnetic brakes are for holding the position when the power is off. They cannot be used for braking. Also, a separate 24 VDC 5%, 0.3 A minimum power supply is required for the electromagnetic brakes. Note: b Direction of rotation of the motor and that of the gear output shaft are the same for the gear ratios 1:3.6, 1:7.2 and 1:10. It is opposite for 1:20 and 1:30 gear ratios.

1.5 Permissible Torque 3
Permissible Torque
5 4
1.0
Permissible Torque 3 2 1
0.5
0 0
100 5
200
500 30
600 35
0 0 5
100 Speed [r/min]
200 30
300 35
0 5
40
160 30
200
5 4 Permissible Torque 3 2 1 0
0 5
20
80 30
100
0 0
10 5
20
30 40 Speed [r/min]
50
60 30
70 35
Stepping Motors
PN Geared Type
Specifications
Model Standard Maximum Holding Torque Nm Rotor Inertia J: kg m2 Backlash arc minute (degrees) Angular Transmission Error arc minute (degrees) Permissible Speed Range r/min Gear Ratio Resolution Setting: 1000 P/R Resolution1 Permissible Torque Nm Nm Maximum Torque2 Voltage Power Source Maximum Input Current A Motor kg Mass Driver kg Motor Dimension No. Driver
ASC34AK-N5 0.2
0 600 1:5 0.072/Pulse 0.2
ASC34AK-N7.2 0.3 11 10-7 3 (0.05) 6 (0.1) 0 416 1:7.2 0.05/Pulse 0.3 0.5 24 VDC 10% 1 0.28 0.25
7 13
ASC34AK-N10 0.5
Introduction
0 300 1:10 0.036/Pulse 0.5 AC Input DC Input
AS ASC
How to read specifications table Page C-10 1 The resolution can be set to any one of 500 P/R, 1000 P/R, 5000 P/R, or 10000 P/R with the resolution select switch or resolution select switching signals. Resolution select switch Page C-77 2 The value of maximum torque is for gear. For output torque for geared motor, refer to the speed torque characteristics. Note: b Direction of rotation of the motor shaft and that of the gear output shaft are the same.
AC Input
5-Phase RK

ASC34AK-N5
0.3 0.5 0.4
Torque [N m] Torque [N m]
ASC34AK-N7.2
ASC34AK-N10
0.6
5-Phase CRK
Permissible Torque
Torque [N m]
0.2 Permissible Torque
0.4
0.3 Permissible Torque 0.2 0.1
DC Input
2-Phase CMK
0.1
0.2
0 0
100 10
200
500
600 50
0 0
100 10
400 50
0 0
50 10
100
250
300
2-Phase CSK
50
C-67
Torque [N m]
Torque [N m]
C-68
Stepping Motors
PN Geared Type
Specifications
Standard Electromagnetic Brake Maximum Holding Torque Nm Rotor Inertia J: kg m2 Backlash arc minute (degrees) Angular Transmission Error arc minute (degrees) Permissible Speed Range r/min Gear Ratio Resolution Setting: 1000 P/R Resolution2 Permissible Torque Nm Maximum Torque3 Nm Voltage Power Source Maximum Input Current A Type Power Supply Input Electromagnetic Brake4 Power Consumption W Excitation Current A Static Friction Torque Nm Motor kg Mass Driver kg Motor Dimension No. Driver Model
ASC46AK-N7.2 ASC46MK-N7.2 1.5 68 10-7 [83 10-7]1 2 (0.034) 6 (0.1) 0 333 1:7.2 0.05/Pulse
ASC46AK-N10 ASC46MK-N10
0 240 1:10 0.036/Pulse 1.5 2 24 VDC 10% 1.7 Active when power is off 24 VDC 5% 2 0.08 0.75 0.71 [0.81]1 0.25
8 13
How to read specifications table Page C-10 1 The values inside the brackets [ ] represent the specification for the electromagnetic brake type. 2 The resolution can be set to any one of 500 P/R, 1000 P/R, 5000 P/R, or 10000 P/R with the resolution select switch or resolution select switching signals. Resolution select switch Page C-77 3 The value of maximum torque is for gear. For output torque for geared motor, refer to the speed torque characteristics. 4 The electromagnetic brakes are for holding the position when the power is off. They cannot be used for braking. Also, a separate 24 VDC 5%, 0.1 A minimum power supply is required for the electromagnetic brakes. Note: b Direction of rotation of the motor shaft and that of the gear output shaft are the same.

ASC46AK-N7.2/ASC46MK-N7.2
3
ASC46AK-N10/ASC46MK-N10
3
Maximum Torque 2 2
Maximum Torque
0 0 5
100 10
200 Speed [r/min]
300 35 40
0 0 5
50 10
200 35
250 40
Stepping Motors
PN Geared Type
Specifications
Standard Electromagnetic Brake Maximum Holding Torque Nm Rotor Inertia J: kg m2 Backlash arc minute (degrees) Angular Transmission Error arc minute (degrees) Permissible Speed Range r/min Gear Ratio Resolution Setting: 1000 P/R Resolution2 Permissible Torque Nm Maximum Torque3 Nm Voltage Power Source Maximum Input Current A Type Power Supply Input Electromagnetic Brake4 Power Consumption W Excitation Current A Static Friction Torque Nm Motor kg Mass Driver kg Motor Dimension No. Driver Model
ASC66AK-N5 ASC66AK-N7.2 ASC66AK-N10 ASC66AK-N25 ASC66AK-N36 ASC66AK-N50 ASC66MK-N5 ASC66MK-N7.2 ASC66MK-N10 ASC66MK-N25 ASC66MK-N36 ASC66MK-N50 3.5 4 5 8 405 10-7 [564 10-7]1 2 (0.034) 3 (0.05) 5 (0.084) 0 360 0 250 0 180 0 72 0 50 0 36 1:5 1:7.2 1:10 1:25 1:36 1:50 0.072/Pulse 0.05/Pulse 0.036/Pulse 0.0144/Pulse 0.01/Pulse 0.0072/Pulse 3.5 4 5 8 7 9 11 16 20 24 VDC 10% 3.7 Active when power is off 24 VDC 5% 6 0.25 1.75 2 2.5 4 1.7 [1.95]1 1.5 [1.75]1 0.25
9 13
Introduction
AS ASC 5-Phase RK
How to read specifications table Page C-10 Extension cables for electromagnetic brake motor Page C-253 1 The values inside the brackets [ ] represent the specification for the electromagnetic brake type. 2 The resolution can be set to any one of 500 P/R, 1000 P/R, 5000 P/R, or 10000 P/R with the resolution select switch or resolution select switching signals. Resolution select switch Page C-77 3 The value of maximum torque is for gear. For output torque for geared motor, refer to the speed torque characteristics. 4 The electromagnetic brakes are for holding the position when the power is off. They cannot be used for braking. Also, a separate 24 VDC 5%, 0.3 A minimum power supply is required for the electromagnetic brakes. Note: b Direction of rotation of the motor shaft and that of the gear output shaft are the same.
5-Phase CRK
DC Input
2-Phase CMK

6 10 8
Torque [N m]
ASC66AK-N7.2/ASC66MK-N7.2
12
2-Phase CSK
10
Torque [N m]
6 4 Permissible Torque 2
Torque [N m]
0 0 5
100
200 Speed [r/min]
300 30
400
0 0
50 5
100
250 30
300 35
0 0 5
50
100 Speed [r/min]
150 30
200
15
25 20
25 20 Maximum Torque
Controllers
Torque [N m]
Torque [N m]
Torque [N m]
10
15 10 5 Permissible Torque
15 10 Permissible Torque 5 0 0 0 5
Accessories
0 0 5
20
40 Speed [r/min]
60 30
80
0 0 5
10
20
30 Speed [r/min]
40
50 30
10
20 Speed [r/min]
30 30
40
Installation
C-69
Torque [N m]
Torque [N m]
Torque [N m]
Torque [N m]
Torque [N m]
Permissible Torque
1.5 1.0 0.5 0 0 0 10 10 20 Speed [r/min] 30 60 40
Torque [N m]
C-70
Stepping Motors

Specifications
Standard Electromagnetic Brake Maximum Holding Torque Nm Rotor Inertia J: kg m2 Permissible Speed Range r/min Gear Ratio Resolution2 Resolution Setting: 1000 P/R Permissible Torque Nm Maximum Torque Nm Model Lost Motion (Load Torque) Power Source arc minute
ASC34AK-H50 ASC34AK-H100 ASC46AK-H50 ASC46AK-H100 ASC66AK-H50 ASC66AK-H100 ASC46MK-H50 ASC46MK-H100 ASC66MK-H50 ASC66MK-H100 1.5 2 3.5 5 5.5 8 14 10-7 85 10-7 [100 10-7]1 440 10-7[599 10-7]1 0 70 0 35 0 48 0 24 0 36 0 18 1:50 1:100 1:50 1:100 1:50 1:100 0.0072/Pulse 0.0036/Pulse 0.0072/Pulse 0.0036/Pulse 0.0072/Pulse 0.0036/Pulse 1.5 2 3.5 5 5.5 8 2 2.8 8.3 11 18 28 3 max. ( 0.06 N m) 1 3 max. ( 0.08 N m) 1.5 max. ( 0.16 N m) 1.5 max. ( 0.2 N m) 0.7 max. ( 0.28 N m) 3.7 Active when power is off 24 VDC 5% 2 0.08 1.75 0.25
10
0.7 max. ( 0.39 N m)
Voltage Maximum Input Current A Type Power Supply Input Electromagnetic Brake3 Power Consumption W Excitation Current A Static Friction Torque Nm Motor kg Mass Driver kg Motor Dimension No. Driver
24 VDC 10% 1.7
6 0.25 2.5 2.75 1.4 [1.65]1

12
0.7 [0.8]1 0.25

11 13
How to read specifications table Page C-10 Extension cables for electromagnetic brake motor Page C-253 1 The values inside the brackets [ ] represent the specification for the electromagnetic brake type. 2 The resolution can be set to any one of 500 P/R, 1000 P/R, 5000 P/R, or 10000 P/R with the resolution select switch or resolution select switching signals. Resolution select switch Page C-77 3 The electromagnetic brakes are for holding the position when the power is off. They cannot be used for braking. Also, a separate 24 VDC 5%, 0.3 A minimum (ASC46: 0.1 A minimum) power supply is required for the electromagnetic brakes. Note: b The inertia represents a sum of the inertia of the harmonic gear converted to a motor shaft value, and the rotor inertia. Direction of rotation of the motor shaft and that of the gear output shaft are the opposite.

ASC34AK-H50
2.0
ASC46AK-H50/ASC46MK-H50
12 10
25 20 15 10 5 Permissible Torque 0 Maximum Torque
1.5 Permissible Torque
Maximum Torque 8 6 4 2 Permissible Torque
1.0
0.5
10 10
20
30 40 50 Speed [r/min]
60
70 60
80
0 0 5
10 10
40 35 40
50
0 0
10
20 Speed [r/min]
30 30
40
10 20 Pulse Speed [kHz] (Resolution Setting: 1000 P/R)
ASC34AK-H100
3.0 2.5 2.0 Maximum Torque
12 10 8 Maximum Torque
30 25 20 15 10 5 0 Permissible Torque Maximum Torque
5 10
10 15 Speed [r/min] 20 30 Pulse Speed [kHz] (Resolution Setting: 1000 P/R)
20 40
25
10 Speed [r/min]
15 30
20
10 20 Pulse Speed [kHz] (Resolution Setting: 1000 P/R)
Notes: b 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 100C. (Under 75C is required to comply with UL or CSA Standards as the motor is recognized as insulation class A.) b In order to prevent fatigue of the gear grease in the harmonic gear, keep the temperature of the gear case under 70C. b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 50%.
Stepping Motors
Common to Each Type
Speed and Positioning Control Command Maximum Input Pulse Frequency Protective Functions Input Signals Pulse input 250 kHz (When the pulse duty is 50%) When the protective functions are activated, an alarm signal is output and the motor stops automatically. Overload, Overvoltage, Speed error, Overspeed, EEPROM data error, Sensor error, System error Photocoupler input Input resistance: 220 Input current: 7 20 mA [Pulse signal/Rotation direction signal (Negative logic pulse input), CW pulse signal/CCW pulse signal (Negative logic pulse input), All windings off, Alarm clear, Resolution setting] Photocoupler, Open-collector output, External use condition: 30 VDC maximum, 15 mA maximum (Positioning completion signal, Alarm signal, Excitation timing signal) Transistor, Open-collector output, External use condition: 30 VDC maximum, 15 mA maximum (Quadrature ASG BSG signal)
Output Signals
Introduction
Specifications Motor Insulation Class Insulation Resistance Motor Class B (130C)[UL/CSA: Recognized as class A (105C)] 100 M or more when 500 VDC megger is applied between the following places: Case Windings Case Electromagnetic brake windings Sufficient to withstand the following for one minute: Case Windings 0.5 kV 50 Hz or 60 Hz Case Electromagnetic brake windings 1.0 kV 50 Hz or 60 Hz 0 0 50C (non-freezing): Standard type TH, PN geared type 40C (non-freezing): Harmonic geared type
This is the value after rated operation at normal ambient temperature and humidity.
AC Input
Driver
AS
100 M or more when 500 VDC megger is applied between the following places: Heat sink Power supply input terminal Sufficient to withstand the following for one minute: Heat sink Power supply input terminal 0.5 kV 50 Hz or 60 Hz
DC Input
ASC
Dielectric Strength
Ambient Humidity Atmosphere Stop Position Accuracy Shaft Runout Concentricity Perpendicularity
Operating Environment (In Operation)
Ambient Temperature
40C (non-freezing)
AC Input
5-Phase RK
85% or less (non-condensing) No corrosive gases, dust, water or oil 5 arc minutes 0.05 T.I.R. (mm) 0.075 T.I.R. (mm) 0.075 T.I.R. (mm)
0.075 A 0.05
5-Phase CRK
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: b Do not measure insulation resistance or perform the dielectric strength test while the motor and driver are connected.
A
DC Input
2-Phase CMK
0.075
2-Phase CSK
Load Torque Driver 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 geared motors convert to torque and speed at the motor axis.
Motor shaft speed = Gear output shaft speed Gear ratio [r/min] Motor shaft torque = Gear output shaft torque [N m] Gear ratio
ASC34
1.0
ASC36
1.2
2000 r/min
0.8
3000 r/min 1000 r/min

1.0 0.8 0.6 0.4 0.2
1000 r/min 2000 r/min 3000 r/min 500 r/min
Controllers
0.6
500 r/min
0.4
0.2 0 0
Accessories
10
20 30 40 Load Torque [mN m]
50
60
20
40
60 80 100 Load Torque [mN m]
120
140
ASC46
2.0
ASC66
4
Installation
2000 r/min 1500 r/min

1.0
1.5
500 r/min
1500 r/min 1000 r/min 2000 r/min
500 r/min
1000 r/min
0.5
0.1
0.2 Load Torque [N m]
0.3
0.4
0 0
0.2
0.4 0.6 0.8 Load Torque [N m]
1.0
1.2
C-71
1.5
10
0.25
0.15 0 0.012(h7)
4.5
22
0 0.021(h7)
22.5
20.6
150
42 mm
Model ASC46AK ASC46MK
L2 L1 2 15
0.25
Motor Model ASM46AK ASM46MK

20
1
L1 64.9
L2 94.9
Mass (kg) 0.5 0.6
4.5
0.15 0 0.012(h7) 0 22 0.021(h7)
4 M3 4.5 Deep 42 31 0.2 31 0.2 42
31 5557-10R(MOLEX) Motor Cable 7 Electromagnetic Brake Leads 600 mm AWG26
12.5
15.2
400
C-72
5.5
Motor Leads
5557-10R(MOLEX)
23 0.2 28
Stepping Motors
1

Type ASC34AK ASC36AK ASC46 K ASC66 K ASC34AK-T TH Geared Type ASC46 K-T ASC66 K-T ASC34AK-N ASC46 K-N ASC66 K-N5 ASC66 K-N Harmonic Geared Type ASC34AK-H ASC46 K-H ASC66 K-H 7.2, 10, 20, 30 3.6, 7.2, 10, 20, 30 5, 7.2, 10 7.2, 10 5 7.2, 10 25, 36, 50 50, 100 Model Gear Ratio 0 25 20 63 15 10 70 45 100 200 250 330 140 180 320 5 34 25 75 17 14 80 60 120 220 270 360 160 220 370 Permissible Overhung Load Distance from Shaft End (mm) 10 52 34 95 20 20 100 80 150 250 300 400 200 270 440 52 130 23 30 120 100 190 280 340 450 240 360 550 15 20
Unit
Permissible Thrust Load The permissible thrust load shall be no greater than the motor mass. 10 15 40 20
Standard Type
190
150
PN Geared Type
320 390 520 510 720
100
220 450

b Motor
Standard Type 28 mm
Model ASC34AK ASC36AK L Motor Model ASM34AK ASM36AK
15
L 45 65
Mass (kg) 0.15 0.22 4 M2.5 2.5 Deep 28 23 0.2
Stepping Motors
Standard Type 60 mm
Model ASC66AK ASC66MK Motor Model ASM66AK ASM66MK L1 63.6 98.6 L2 Mass (kg) 0.85 1.1
L2 L1 7
24
4
1
4.5 Thru
60 1.5
50 20
0.25 0.35
Introduction
A 15.2 400
0 0.015(h7) 0 0.025(h7)
50 0.35 60
AC Input
12.5
AS
36
31
90
5557-10R(MOLEX) Motor Cable 7

0.15
7.5
0.15
DC Input
ASC
7.5
AA
AC Input
TH Geared Type 28 mm
Model ASC34AK-T 70.5 2.5 12 Motor Model ASM34AK-T
20
1 0.15 0 0.012(h7)
5-Phase RK
Gear Ratio 7.2, 10, 20, 30
Mass (kg) 0.21

5-Phase CRK
0 0.015(h7)
4 M2.5 4 Deep 28 23 0.2 DC Input
0.5
4.5
10
2-Phase CMK
22.5
5.5
Motor Leads
5557-10R(MOLEX) 20.6
23 0.2 28
2-Phase CSK
150
42 mm
Model ASC46AK-T ASC46MK-T Motor Model ASM46AK-T ASM46MK-T Gear Ratio 3.6, 7.2, 10, 20, 30 L1 95.4 L2 125.4 Mass (kg) 0.65 0.75
L2 L1
0.5
5.5
17
20 1 3.5 12
0.15 0 0.012(h7)
0 0.018(h7)
4 M4 8 Deep 42
Controllers
5557-10R(MOLEX) Motor Cable 7 Electromagnetic Brake Leads 600 mm AWG26
31
12.5
15.2
400
43
.8
0.5
42
C-73
7 0.15 0 0.015(h7)
10 0.5 0 0.021(h7)
70
0.5
23
31 5557-10R(MOLEX) Motor Cable 7
PN Geared Type 28 mm
Model ASC34AK-N Motor Model ASM34AK-N 75.5 5
23
Gear Ratio 5, 7.2, 10

0 0.021(h7)
Mass (kg) 0.28 4 M3 6 Deep 28 23 0.2
17 15
0 0.015(h7)
A
23 0.2 28 7.5
0.2
A 22.5 5.5 20.6 L1 96.9 L2 126.9 Mass (kg) 0.71 0.81

12.5 42 3
0 0.025 0 0.025
Motor Leads
5557-10R(MOLEX)
12
150
7.5
0.2
90
26
AA
42 mm
Model ASC46AK-N ASC46MK-N Motor Model ASM46AK-N ASM46MK-N
0 0.015(h7) 0 37.6 0.025(h7)
Gear Ratio 7.2, 10
L2 L1 6
25
A A 15.2 400
10
18
4 M4 8 Deep 42
48
0. 3
31 5557-10R(MOLEX) Motor Cable 7 Electromagnetic Brake Leads 600 mm AWG26 18

0.2
12.5
15.2
400
60
AA
C-74
1.8
0.1 0
Stepping Motors
TH Geared Type 60 mm
Model ASC66AK-T ASC66MK-T Motor Model ASM66AK-T ASM66MK-T Gear Ratio 3.6, 7.2, 10, 20, 30 L1 108.6 L2 143.6 Mass (kg) 1.25 1.5
L2 L1 3.5
32
12
4 M4 8 Deep 60
0.004 0.029
Stepping Motors
PN Geared Type 60 mm
Model ASC66AK-N ASC66MK-N Motor Model ASM66AK-N ASM66MK-N Gear Ratio 5, 7.2, 10 25, 36, 50 5, 7.2, 10 25, 36, 50
1
0 0.018(h7) 0 0.025(h7)
L1 107.6 123.6
L2
142.6 158.6
Mass (kg) 1.5 1.7 1.75 1.95
L2 L1 6
38
25
4 M5 10 Deep 60
Introduction
12
A A 15.2 400
70
0.5
37
60
AC Input
AS
31 5557-10R(MOLEX)
DC Input
0.1 0
Motor Cable 7
0 0.03
12.5
ASC
25
0.2
2.5
0 0.03
0 0.03
AC Input
AA
5-Phase RK
10
Harmonic Geared Type 28 mm

Motor Model ASM34AK-H 83.5 45 38.5 1.5
23
Model ASC34AK-H
Gear Ratio 50, 100

1 0 0.5
Mass (kg) 0.25
5-Phase CRK
0 0.009(h6) 0 0.021(h7)
2.5
16
4 M3 6 Deep 28 23 0.2
7.5 23 0.2 28
0.2
DC Input
2-Phase CMK
22
A
12
A 5.5 Motor Leads 5557 10R(MOLEX) 20.6
0.2
90
2-Phase CSK
7.5
22.5
AA
150
11
42 mm
Motor Model ASM46AK-H ASM46MK-H
Model ASC46AK-H ASC46MK-H
Gear Ratio 50, 100
L1 96.9
L2 126.9
Mass (kg) 0.7 0.8
Controllers
L2 L1 2
25
0 0.025(h7)
37.6
0 0.025
0.3
A A
20.5
60
42
31 5557 10R(MOLEX) Motor Cable 7 Electromagnetic Brake Leads 600 mm AWG26
6 M3 5 Deep
12.5
15.2
400
90
0.2
AA
1.8
1.2
0 0.025
0.004 0.029
0.1 0
0.5 18
48
4 M4 8 Deep 42
Accessories
18
0 0.18
C-75
Installation
L2 L1 2
28.5 1.5 20
0 0.03(h7)
54
A 15.2 400
31 5557-10R(MOLEX) Motor Cable 7 2.5 20

0 0.21
6 M4 6 Deep
0.1 0
0 0.03
0 0.03
90
1.6
0 0.03
AA
bElectromagnetic brake motor models (except motor frame size 42 mm) must use an extension cable or flexible extension cable for an electromagnetic brake motor. Extension cables for electromagnetic brake motor Page C-253

Model CC01AIPM CC02AIPM CC03AIPM CC05AIPM CC07AIPM CC10AIPM Length L (m) 1 2 3 5 7 10 12 (30) 24.3 L (14.5) 11.6 22.2 8 Electromagnetic Brake Leads 60 mm (Orange/Black, Gray AWG24) Motor Side Driver Side 12 L (14.5) 11.6 22.2 9.5 Electromagnetic Brake Leads 60 mm (Orange, Gray AWG22) Motor Side Driver Side
b I/O Connector (Included) Cover assembly: 54331-1361 (MOLEX) Connector: 54306-3619 (MOLEX) b Power Input Connector (Included) Connector: 5557-02R (MOLEX) Crimp terminal: 5556TL (MOLEX)

Model CC01SARM2 CC02SARM2 CC03SARM2 CC05SARM2 CC07SARM2 CC10SARM2 Length L (m) 1 2 3 5 7 10
b Driver
13 Common to All Types
Mass: 0.25 kg
36 18 3.5 70 47 45 max.
3.5
4.5
18.5
R1 .7 5
3.5
3.5 Thru
(Parts Mounting Side)
113
120 111
41 max.
(30) 24.3
12.5
60
C-76
Stepping Motors
12
Harmonic Geared Type 60 mm

Motor Model ASM66AK-H ASM66MK-H Gear Ratio 50, 100 L1 103.6 L2 138.6 Mass (kg) 1.4 1.65
Model ASC66AK-H ASC66MK-H
70
25.5
4 M5 10 Deep 60
0.5
0.2
60
Stepping Motors
Connection and Operation

1 Signal Monitor Displays
c v
z b
Motor Connector Power Input Connector
LED Indicators
Indication LED1 LED2 Color Green Red Function Power supply indication Alarm indication When Activated Lights when power is on. Blinks when protective functions are activated.
Introduction
Alarm
Blink Count 2 3 4 6 7 8 Lights (No blinking) Function Overload Overvoltage Speed error Overspeed EEPROM data error Sensor error System error When Activated The motor is operated continuously over 5 seconds under a load exceeding the maximum torque. The primary voltage of the driver's inverter exceeds the permissible value. The motor cannot accurately follow at the indicated pulse speed. The motor shaft velocity exceeds 5000 r/min. (Except geared type) A motor control parameter has been damaged. The power source turns on when the motor cable is not connected to the driver. The driver has fatal error.
AC Input
AS ASC
DC Input
2 Function Switches
Indication Switch Name Function
5 Input/Output Signals (36 Pins)

Signal GND Vcc 24V DIR. (CCW) DIR. (CCW) PLS (CW) PLS (CW) BSG1 GND ASG1 GND ACL ACL TIM.1 TIM.1 ALARM ALARM END END 10 10 C.OFF C.OFF Name of Signal Power supply for signal control Rotation direction (CCW pulse) Pulse (CW pulse) B-Phase pulse output (Open-collector) A-Phase pulse output (Open-collector) Alarm clear Timing (Open-collector) Alarm Positioning completion Resolution select
Indication Input/Output Pin No. 2 External This function is for selecting the motor resolution. For each geared type, the power input 3 resolution of gear output shaft is 1/gear ratio. 9 1000/500 "1000" " 1" 1000 Pulses (0.36/step) (Factory setting) 10 Resolution select switch Input 1/ 10 "1000" " 10" 10000 Pulses (0.036/step) signal 11 "500" " 1" 500 Pulses (0.72/step) 12 "500" " 10" 5000 Pulses (0.072/step) 13 14 Output The settings of this switch are compatible with the following two types of signal 15 pulse input modes: 1P/2P Pulse input mode switch "1P" for the 1-pulse input mode (Factory setting), "2P" for the 2-pulse input 16 mode. 21 Input CN3 signal 22 Notes: 23 b Always turn the power off before switching resolution or pulse input, and turn it ON again after you have made the change. b If the Resolution Select Switch is set to " 10," it cannot control the resolution selected by the input terminals. It will always be 24 " 10." 25 Output signal 26 29 3 Current Adjustment Switch 30 Indication Switch Name Function 31 The motor running current can be lowered to suppress temperature rise in the motor Current adjustment CURRENT 32 Input and driver, or lower operating current in order to allow a margin for motor torque. switch signal 33 34
AC Input DC Input
5-Phase RK 5-Phase CRK 2-Phase CMK 2-Phase CSK
All windings off
4 Velocity Filter Adjustment Switch

Indication Switch Name
Function
Set to "0"
V.FIL
Velocity filter adjustment switch
This switch is used to make adjustments when a smooth start-stop or smooth motion at low speed is required.
Motor Speed
Set to "F"
The difference in characteristics mode by the velocity filter.
Description of input/output signals Page C-79 Signal name in parentheses represents the setting in 2-pulse input mode. The factory setting is the 1-pulse input mode.
Time
C-77
C-78
Stepping Motors
Controller VO Twisted-Pair Wire Pulse Signal (CW Pulse Signal) R1 Rotation Direction Signal (CCW Pulse Signal) 0V 5 VDC R1 (Pin No.) CN3 Connector CN2 Driver Motor

b Pulse Signal/Rotation Direction Signal Signals can be connected directly when 5 VDC is supplied. If the signals are used at a voltage exceeding 5 VDC, be sure to provide an external resistor to prevent the current exceeding 20 mA from flowing. Internal components will be damaged if a voltage exceeding 5 VDC is supplied directly without using an external resistor. Example) If the voltage is 24 VDC, connect a resistor (R1) of 1.5 to 2.2 k and 0.5 W or more. b All Windings Off Signal/Resolution Select Signal/Alarm Clear Signal Keep the input signal voltage to 5 VDC. If these specifications are exceeded, the internal components may be damaged.

b Use output signals at 30 VDC or less and 15 mA or less. If these specifications are exceeded, the internal components may be damaged. Check the specification of the connected equipment. If the current exceeds 15 mA, connect an external resistor R2.
Alarm Clear Signal
Input Signals
Notes on Wiring
Resolution Select Signal
All Windings Off Signal 0V GND Caution V0 ( 30 VDC max.) R2 Alarm Signal R2 Positioning Completion Signal R2 Excitation Timing Signal Output Signals
24V GND
Vcc 24 V CN1
0V Power Source 24 VDC 10%
24 VDC Power Source
0V The ASG1/BSG1 have the ground common for current sinking output. Refer to page C-80 for the wiring.
b Use multi-core, twisted-pair shielded wires of AWG28 (0.08 mm2) or thicker for the control I/O signal line (CN3), and keep wiring as short as possible (within 2 m). b Note that as the length of the pulse signal line increases, the maximum transmission frequency decreases. Technical reference Page F-46 b When it is necessary to have a connection more than 0.4 m between motor and driver (0.15 m or more: ASC34 and ASC36 types), the accessory extension cable or flexible extension cable must be used. Electromagnetic brake motor models (except motor frame size 42 mm) must use an electromagnetic brake extension cable or flexible extension cable (sold separately). The frame size 42 mm models can use a standard extension cable even for electromagnetic brake motor models. Extension cables for electromagnetic brake motor Page C-253 b The range of wire for the power connector (CN1) is AWG24 to 18 (0.2 to 0.75 mm2). Use wire of AWG20 (0.5 mm2) or thicker for the power supply line. b Keep the control I/O signal line at least 300 mm away from power lines (e.g. lines carrying large current, such as AC lines and motor lines). Also, do not run these lines through the same ducts or pipes as power lines. b The customer must furnish the cables for power supply lines and control I/O signal lines. b Use included connector for connection of power source. b To install the pins, be sure to use the specified crimping tool made by MOLEX 57026-5000 (for UL 1007) or 57027-5000 (for UL 1015). Caution Connect the power supply for "Excitation Timing" signal output and "Pulse" signal output to 5 VDC. Pin No. of the CN3 should be grounded. Description of input/output signals Page C-79
The most suitable controllers for
ASC Series are available.

Connect the electromagnetic brake to the power supply using a cable of at least AWG24 (0.2 mm2). The power supply input to the electromagnetic brake is 24 VDC 5% 0.3 A minimum (ASC46: 0.1 A minimum) and therefore must be independent of the driver's power supply for signal control. Notes: b Applying a voltage that exceeds the specifications will cause the electromagnetic brake to generate a great deal of heat, resulting in motor temperature rises and possible damage to the motor. Conversely, if voltage is too low, the electromagnetic brake may not release. b To protect the switch contacts and prevent noise, always connect the surge suppressor. (The surge suppressor is included with electromagnetic brake motors.) b To prevent noise, use a dedicated power supply for electromagnetic brake. b Correct polarity ( and ) must be ensured when connecting the electromagnetic brake lead wire of ASC Series to the DC power supply. If polarity is incorrect, the electromagnetic brake will not operate properly. b When using as a CE certified part, use a dedicated DC power supply for electromagnetic brake. (1) ASC46 The electromagnetic brake wire is linked to the connector on the motor (600 mm). When connecting with the DC power supply, connect the red spiral lead wire to 24 V, and the black lead wire to the ground (GND). Use the extension cable or the flexible extension cable (both sold separately).
24 VDC Motor Switch Red Black Extension Cable (Sold Separately) ASC Series Driver Surge Suppressor
(2) ASC66 The electromagnetic brake wire is linked to the connector on the driver connection side of extension cable for electromagnetic brake motor (sold separately). Be sure to use the accessory (sold separately) extension cable or flexible extension cable. Connect the orange/black spiral lead wire (orange for flexible extension cable)(60 mm) to 24 V, and the gray lead wire (60 mm) to the ground (GND).
Motor 24 VDC
Surge Suppressor
Extension Cable for Electromagnetic Brake Motor (Sold Separately)
ASC Series Driver

Stepping Motors

Input (Output) "ON" indicates that the current is sent into the photocoupler (transistor) inside the driver. Input (Output) "OFF" indicates that the current is not sent into the photocoupler (transistor) inside the driver. The input/output remains "OFF" if nothing is connected. Photocoupler OFF ON
All Windings Off (C.OFF) Input Signal Resolution Select ( 10) Input Signal Alarm Clear (ACL) Input Signal Input Circuit and Sample Connection
Controller Open-Collector Output 5 VDC
PLS (CW) and DIR. (CCW) Input Signal

Controller Open-Collector Output VO PLS (CW) PLS (CW) DIR. (CCW) R1 PLS (CW) DIR. (CCW) 0V R1 DIR. (CCW)
Driver 220 7 20 mA
Introduction
Driver 220 7 20 mA
0V AC Input
All Windings Off (C.OFF) Input Signal Pin No. 33 , 34

This controller power source offers 5 VDC. Inputting the "All Windings Off" (C.OFF) signal puts the motor in a non-excitation (free) state. It is used when turning the motor shaft externally or when positioning manually. This signal clears the deviation counter.
C.OFF OFF ON OFF
AS
220 7 20 mA
DC Input
ASC
b The colored characters indicate signals under the 1-pulse input mode, while the black characters indicate signals under the 2-pulse input mode.
Motor
Excitation State Non-Excitation State
AC Input
5-Phase RK
Note: b The external resistor is not needed when Vo is 5 VDC. When the voltage exceeds 5 VDC, connect the external resistor R1 to keep input current at 20 mA or less. When a voltage exceeding 5 VDC is applied without the external resistor, the elements may get damaged.
Resolution Select ( 10) Input Signal Pin No. 31 , 32

This controller power source offers 5 VDC. Inputting this signal when 1000 P/R or 500 P/R is selected as resolution via the function switch will increase the resolution ten-times to 10000 P/R or 5000 P/R.
Note: b While the resolution select switch is set to 10000 P/R or 5000 P/R, input of this signal will not change the resolution.
5-Phase CRK

PLS Input ON OFF 90 % 10 % 1 s min. 2 s max. ON OFF CCW CW 2 s min. 2 s max. 10 s 10 s min. min.
DC Input
2-Phase CMK
Alarm Clear (ACL) Input Signal Pin No. 21 , 22

This controller power source offers 5 VDC. This signal is used for canceling the alarm without turning off power to the driver when a protective function has been activated.
Note: b The following alarm cannot be cleared. To cancel the alarm, first resolve the cause and check for safety, and then turn power on again. EEPROM data error System error
DIR. Input
2-Phase CSK
b For pulse signals, use input pulse waveforms like those shown in the figure above.
Pulse Input Mode 1-Pulse Input Mode

The 1-pulse input mode uses "Pulse" (PLS) and "Rotation Direction" (DIR.) signals. CW is selected by inputting DIR. signal at low level (with the input photocoupler ON), CCW by inputting at high level (with the input photocoupler OFF).
Note: b The factory setting is 1-pulse input mode.
Positioning Completion (END) Output Signal Alarm (ALARM) Output Signal Output Circuit and Sample Connection
Controller V0 Driver
[Rotation Direction Signals] Photocoupler "ON": Clockwise Photocoupler "OFF": Counterclockwise

1-Pulse Input Mode Pulse Signal
(PLS) ON OFF ON OFF
Controllers
30 VDC, 15 mA max. 0V
Rotation Direction
(DIR.)
Accessories
Motor Movement Clockwise
Counterclockwise
Positioning Completion (END) Output Signal Pin No. 29 , 30

Circuit for use with 30 VDC, 15 mA maximum. This signal is output at the photocoupler ON state when positioning is completed. This signal is output when the rotor position is less than 1.8 from the command position, approximately 2 ms after the pulse input stops.
Pulse Signal (Speed Pattern) Rotation Stop
2-Pulse Input Mode

The 2-pulse input mode uses "CW" and "CCW" pulses. When "CW" pulses are input, the motor's output shaft rotates clockwise when the motor is viewed facing the shaft; when "CCW" pulses are input, the shaft rotates counterclockwise.
2-Pulse Input Mode CW Pulse Signal (CW)
ON OFF CCW Pulse Signal (CCW) ON OFF
Installation
END
OFF
ON ON
Motor Movement Clockwise
Counterclockwise
Note: b The END signal blinks during operation with a pulse input frequency of 500 Hz or less.
C-79
C-80
Stepping Motors
Alarm (ALARM) Output Signal Pin No. 25 , 26

Circuits for use with 30 VDC, 15 mA maximum. The photocoupler turns OFF when one of the driver's protective functions has been activated. When an abnormality such as an overload or over current is detected, the "Alarm" signal will be output, the ALARM indicator blinks, and the motor stops (non-excitation state). To cancel the alarm, first resolve the cause and check for safety, and then input an "Alarm Clear" (ACL) signal or reset power. Once power has been turned off, wait at least 5 seconds before turning it on again.
Protective Function Normal Fault OFF Blinking Normal
Quadrature (ASG1/BSG1) Output Signal

Controller VO Driver BSG1
GND ASG1
30 VDC 15 mA max.
GND 0V
30 VDC 15 mA max.
ALARM ALARM LED
ON Off
ON Off
Pulse Signal (Speed Pattern)
Rotation
Coast to a Stop
Note: b The "Alarm" output uses positive logic (normal close), all other outputs use negative logic (normal open).
Circuits for use with 30 VDC, 15 mA maximum. A counter or similar device can be connected to monitor the position of the motor. The pulse resolution is the same as the motor resolution at the time of power-on. [Example: Resolution select switch (1000 P/R) Output pulse number for each motor revolution (1000)] The phase difference between A and B is 90 electrical.
Notes: b The pulse output accuracy is, regardless of resolution, within 0.36 (repetition accuracy: within 0.09). b These signals are only for position verification when the motor has stopped. There is a 1 ms (maximum) time lag between real rotor motion and the output signals.
Excitation Timing (TIM.1) Output Signal

Controller VO TIM.1 Driver
b Pulse Waveform Characteristics

TIM.1 0V 30 VDC, 15 mA max.
ASG1
BSG1
Circuits for use with 30 VDC, 15 mA maximum. When the "Excitation Timing" signal is output, the transistor turns ON. This signal can be used to detect the home position with greater precision. This signal is output 50 times per motor shaft revolution.
ON OFF ON DIR. Input OFF TIM. Output ON OFF PLS Input (Step)
1 2 3 4 17 18 19 20 21 22 23 24
(Clockwise Rotation of Motor)
CCW
CW
0 1 2 3 4 17 18 19 20 21 22
21 20
Note: b A precise "Excitation Timing" signal cannot be obtained when the speed of the pulse input frequency is over 500 Hz.

Type Model ASC34AK ASC36AK ASC46 K ASC66 K ASC34AK-T7.2 ASC34AK-T10 ASC34AK-T20 ASC34AK-T30 ASC46 K-T3.6 ASC46 K-T7.2 ASC46 K-T10 ASC46 K-T20 ASC46 K-T30 ASC66 K-T3.6 ASC66 K-T7.2 ASC66 K-T10 ASC66 K-T20 ASC66 K-T30 Motor Model ASM34AK ASM36AK ASM46 K ASM66 K ASM34AK-T7.2 ASM34AK-T10 ASM34AK-T20 ASM34AK-T30 ASM46 K-T3.6 ASM46 K-T7.2 ASM46 K-T10 ASM46 K-T20 ASM46 K-T30 ASM66 K-T3.6 ASM66 K-T7.2 ASM66 K-T10 ASM66 K-T20 ASM66 K-T30 Driver Model ASD10A-K ASD10B-K ASD18A-K ASD36A-K ASD10C-K Type Model ASC34AK-N5 ASC34AK-N7.2 ASC34AK-N10 ASC46 K-N7.2 ASC46 K-N10 ASC66 K-N5 ASC66 K-N7.2 ASC66 K-N10 ASC66 K-N25 ASC66 K-N36 ASC66 K-N50 ASC34AK-H50 ASC34AK-H100 ASC46 K-H50 ASC46 K-H100 ASC66 K-H50 ASC66 K-H100 Motor Model ASM34AK-N5 ASM34AK-N7.2 ASM34AK-N10 ASM46 K-N7.2 ASM46 K-N10 ASM66 K-N5 ASM66 K-N7.2 ASM66 K-N10 ASM66 K-N25 ASM66 K-N36 ASM66 K-N50 ASM34AK-H50 ASM34AK-H100 ASM46 K-H50 ASM46 K-H100 ASM66 K-H50 ASM66 K-H100 Driver Model ASD10A-K ASD18A-K ASD36A-K
Standard Type
PN Geared Type
ASD36B-K ASD10C-K ASD18A-K ASD36B-K
TH Geared Type
ASD18B-K
Harmonic Geared Type ASD36B-K
b Enter A (standard) or M (electromagnetic brake) in the box ( ) within the model name.
Stepping Motors
Introduction AS ASC
Controllers
Accessories
Installation
AC Input
DC Input
AC Input
DC Input
AC Input RK Series
RK Series C-82
AC Input
Stepping Motors
Page
C-81
5-Phase RK
5-Phase CRK
2-Phase CMK
2-Phase CSK
1.00 Vibration Component Voltage Vp-p[V] RK566BCE Step Angle: 0.72/step Smooth Drive: OFF Smooth Drive: ON
Angle Error [deg]
100 ms/div
100 ms/div
Speed [r/min]
Speed [r/min]
Speed [r/min]
C-82
Stepping Motors
RoHS-Compliant 5-Phase Stepping Motor and Driver Package
RK Series
The RK Series incorporates new functions and state-of-the-art technologies to achieve the ultimate use of a control motor. The series offers various types including the standard type, electromagnetic brake type, IP65 rated motor type, and four geared types. Two frame sizes of 60 mm and 85 (90) mm are available. The wide range of motor variations and affordable prices make the RK Series a perfect solution for your various applications.
Features
2 Microstep Drive System
The motor's basic step angle is divided by a maximum of 1/250 without the use of a reduction mechanism or other mechanical elements. 16 resolution levels are available to set the desired resolution. This enables fine positioning and the further reduction of vibration and noise. A motion sequence of "low-speed transfer high-speed return" can easily be performed without the need for changing from a microstep pulse frequency to a full step pulse frequency. The RK Series can also be used in full-step operation.
c v
3 Improved Angle Accuracy

Angle accuracy may decrease during use of microstep drivers, due to the effect of current control. However, the drivers used in the RK Series are designed to ensure that the motor operates at maximum accuracy.
Power Supply Voltage: 200-230 VAC Resolution 20 (0.036/step)
1 Smooth Drive Function

The smooth drive function ensures low-vibration and low-noise operation at low speeds by internally executing microstepping within the driver, working independently of the input pulse frequency of your controller.
0.072
0.036
0.75
-0.036
0.50
-0.072
0.25
4 Improved Response
The RK Series, with its high starting frequency, shortens the machine cycle without affecting acceleration/deceleration rates. This produces a significant savings in time for an operation in which the same cycle is repeated thousands of times each day.
500 400 300 200 100 0
100
200 Speed [r/min]
300
400
The smooth drive function of the RK Series shortens the settling time.
Step Angle: 0.72/step Step Angle: 0.72/step
No-Load State RK566ACE Conventional Model 1 Conventional Model 2
4 6 Rise Time [ms]
10
Conventional Model
RK (Smooth Drive: ON)
Stepping Motors
b Environmentally Friendly Energy-Saving Mode

In the energy-saving mode, the supply of current to the motor is stopped and the load is held only with the electromagnetic brake while the motor remains at a standstill. Stopping the supply of current to the motor extends the motor life by limiting the consumption of energy. (Available only with electromagnetic brake type)
Comparison of Annual Power Consumption at Motor Standstill (per shaft)
b New IP65 Rated Motor Conforming to the IP65 Standard for Ingress Protection against Dust and Water
Introduction
Cycle Condition: Operated for 10 seconds/Stopped for 50 seconds
Power Consumption [kW]
350 300 250 200 150 100 50 0
Reduction of 85.4%
AC Input
AS
Terminal-Block Connection Design

The motor can be wired directly from its terminal block.
At Motor Standstill in Automatic Current-Cutback Mode At Motor Standstill in Energy-Saving Mode
DC Input
ASC
b Safe Operation in Major Countries around the World Compliance with Safety Standards
The RK Series complies with the UL/CSA and EN Standards. The CE Marking certifies compliance with the EMC Directive and Low-Voltage Directive. Additionally, the RK Series conforms to the EMC Directive only through its use of surge arrester. The RK Series doesn't require an external ferrite core or filter in the motor line or power line.
No Ferrite Core Needed
Terminal Box
AC Input DC Input
Motor Line Signal Line Power Line To Power Supply

Surge Arrester
No Motor/Driver Relay
To Controller
2-Phase CMK
Since the motor cable can be connected directly with the driver terminals, there is no need for wire connection or soldering on a relay terminal block.
Motor
No Power Supply Filter Needed
2-Phase CSK
b Improved Motor
Twice the Motor Bearing Life (Compared with a Conventional Model)
The life of a motor is affected by its bearing. The RK Series achieves approximately twice the life of a conventional motor by adopting a high performance bearing grease. (Available only with the standard type and standard type with electromagnetic brake.)
Cable

Driver
RoHS-Compliant
Controllers
The RK Series conforms to the RoHS Directive that prohibits the use of six chemical substances including lead and cadmium.
Accessories
Installation
C-83
C-84
Stepping Motors
Wide Variety
The RK Series offers a range of motor frame sizes depending on the motor type and power supply voltage specification, as shown below. (" 60" indicates a motor frame size of 60 mm.)
Power Supply Voltage AC Input RK Series Standard Type, Standard Type with Electromagnetic Brake Standard Type IP65 Rated Motor TH Geared Type PL Geared Type PN Geared Type Harmonic Geared Type
60 85
60 85
60 90
60 90
60 90
60 90
b For the single-phase 100-115 VAC models, please contact the nearest Oriental Motor sales office.
b Standard Type/Standard Type IP65 Rated Motor

Easy-to-use standard types offer balanced performance. The IP65 rated motor conforms to the IP65 standard for ingress protection against dust and water.
b PL Geared Type (Low backlash)

A geared motor offers low backlash, high strength and wide gear ratios.

A motor combines with power off activated type electromagnetic brake.
b PN Geared Type (Non-backlash)

A high-accuracy geared motor achieves a backlash of 3 arc minutes or less. It also provides high strength and wide gear ratios.
b TH Geared Type (Low backlash)

A low-cost geared motor offers low backlash.
b Harmonic Geared Type (Non-backlash)

A high-accuracy, backlash-free geared motor ensures high strength in a compact body.
Stepping Motors
Characteristics Comparison for Geared Motors

A wide variety of geared motors are available according to your needs.
Geared Type Features Permissible Torque/ Maximum Torque [N m] Backlash [arc min] Basic Resolution Output Shaft Speed [deg/step] [r/min]
A wide variety of low gear ratios for high-speed operation Gear ratios: Low backlash TH Geared
(Parallel Shaft) 12 45 0.024 500
1:3.6, 1:7.2, 1:10, 1:20, 1:30
Introduction
High permissible torque A wide variety of gear ratios for selecting the desired step angle (resolution) Centered output shaft PL Geared
(Planetary) 37 35 0.0144 360
AC Input
AS
Gear ratios: 1:5, 1:7.2, 1:10, 1:25, 1:36, 1:50 High speed (low gear ratio), high positioning precision High permissible/maximum torque A wide variety of gear ratios for selecting the desired step angle (resolution)
Permissible Maximum Torque Torque
37 60 3 0.0144 600
DC Input
ASC
Non-backlash
Centered output shaft PN Geared

(Planetary)
Gear ratios: 1:5, 1:7.2, 1:10, 1:25, 1:36, 1:50 High positioning precision High permissible/maximum torque High gear ratio, high resolution Centered output shaft Gear ratios: 1:50, 1:100
5-Phase CRK
37 55 0 0.0072 70
AC Input
5-Phase RK
Harmonic Geared
(Harmonic Drive)
DC Input
2-Phase CMK 2-Phase CSK 2-Phase Stepping Motors 5-Phase Stepping Motors Controllers Accessories Installation
C-85
C-86
Stepping Motors

( Page C-248)
24 VDC Power Supply

(Not supplied)
(Not supplied)
RK Series (Body)
Motor Driver
AC Power Supply
(Not supplied)

( Page C-266)
Flexible Couplings
( Page C-258)
Extension Cables
( Page C-254)

( Page C-256)
Connector - Terminal Block Conversion Unit

( Page C-256)
No.
Product Name
Controller Motor Mounting Brackets Flexible Couplings Extension Cables Driver Cables General-Purpose Type Connector Terminal Block Conversion Unit
Overview
This controller outputs pulse commands that determine the rotating amount and rotating speed. Dedicated mounting bracket for the motor. Coupling that connects the motor shaft to the driven shaft. Cable for extending the wiring distance between the motor and driver (5 to 20 m). General-purpose cable for connecting the driver and controller (1 m, 2 m). Set of terminal block and cable for connecting the driver and controller (1 m).
Page
C-248 C-266 C-258 C-254 C-256 C-256

RK Series
RK564ACE
Controller
SG8030JY-U
Extension Cable (5 m) CC05PK5
Motor Mounting Bracket PAL2P-5
Flexible Coupling MCS200808
Connector - Terminal Block Conversion Unit (1 m) CC20T1
Stepping Motors
Product Number Code
RK 5 6 6 B
q
C E-N5
o !0
Series 5: 5-Phase Motor Frame Size
RK: RK Series 6: 60 mm 9: 85 mm (90 mm sq. for geared type)
w e r t y u i
RK 5 9 13 A C T
q w e r t u i
Motor Case Length Motor Shaft Type A: Single Shaft B: Double Shaft Electromagnetic Brake Blank: Without Electromagnetic Brake M: With Electromagnetic Brake Power Supply Voltage A: Single-Phase 100-115 VAC C: Single-Phase 200-230 VAC Motor Classification Gearhead type Gear Ratio Blank: Standard Type T: TH Geared Type P: PL Geared Type N: PN Geared Type H: Harmonic Geared Type
Introduction
Product Line
b Standard Type
Power Supply Voltage Model (Single Shaft) RK564AAE RK566AAE RK569AAE RK596AAE RK599AAE RK5913AAE RK564ACE RK566ACE RK569ACE RK596ACE RK599ACE RK5913ACE Page Model (Double Shaft) RK564BAE RK566BAE RK569BAE RK596BAE RK599BAE RK5913BAE RK564BCE RK566BCE RK569BCE RK596BCE RK599BCE RK5913BCE Page
AC Input DC Input
AS ASC
AC Input
5-Phase RK
C-89
C-89
5-Phase CRK
For the single-phase 100-115 VAC models, please contact the nearest Oriental Motor sales office.

Power Supply Voltage Model RK564AAT RK566AAT RK569AAT RK596AAT RK599AAT RK5913AAT RK564ACT RK566ACT RK569ACT RK596ACT RK599ACT RK5913ACT Page

Power Supply Voltage Model RK564AMAE RK566AMAE RK569AMAE RK596AMAE RK599AMAE RK5913AMAE RK564AMCE RK566AMCE RK569AMCE RK596AMCE RK599AMCE RK5913AMCE Page DC Input
2-Phase CMK
2-Phase CSK
C-90
C-91
b TH Geared Type
Power Supply Voltage Model (Single Shaft) RK564AAE-T3.6 RK564AAE-T7.2 RK564AAE-T10 RK564AAE-T20 RK564AAE-T30 RK596AAE-T3.6 RK596AAE-T7.2 RK596AAE-T10 RK596AAE-T20 RK596AAE-T30 RK564ACE-T3.6 RK564ACE-T7.2 RK564ACE-T10 RK564ACE-T20 RK564ACE-T30 RK596ACE-T3.6 RK596ACE-T7.2 RK596ACE-T10 RK596ACE-T20 RK596ACE-T30 Page Model (Double Shaft) RK564BAE-T3.6 RK564BAE-T7.2 RK564BAE-T10 RK564BAE-T20 RK564BAE-T30 RK596BAE-T3.6 RK596BAE-T7.2 RK596BAE-T10 RK596BAE-T20 RK596BAE-T30 RK564BCE-T3.6 RK564BCE-T7.2 RK564BCE-T10 RK564BCE-T20 RK564BCE-T30 RK596BCE-T3.6 RK596BCE-T7.2 RK596BCE-T10 RK596BCE-T20 RK596BCE-T30 Page
Accessories
C-92
C-92
Installation
The following items are included in each product.
C-93
C-93
Motor, Parallel Key, Driver, Connector for Input/Output Signal, Operating Manual Only for the products with a key slot on the output shaft
C-87
C-88
Stepping Motors
b PL Geared Type
Power Supply Voltage Model (Single Shaft) RK566AAE-P5 RK566AAE-P7.2 RK566AAE-P10 RK564AAE-P25 RK564AAE-P36 RK564AAE-P50 RK599AAE-P5 RK599AAE-P7.2 RK599AAE-P10 RK596AAE-P25 RK596AAE-P36 RK596AAE-P50 RK566ACE-P5 RK566ACE-P7.2 RK566ACE-P10 RK564ACE-P25 RK564ACE-P36 RK564ACE-P50 RK599ACE-P5 RK599ACE-P7.2 RK599ACE-P10 RK596ACE-P25 RK596ACE-P36 RK596ACE-P50 Page Model (Double Shaft) RK566BAE-P5 RK566BAE-P7.2 RK566BAE-P10 RK564BAE-P25 RK564BAE-P36 RK564BAE-P50 RK599BAE-P5 RK599BAE-P7.2 RK599BAE-P10 RK596BAE-P25 RK596BAE-P36 RK596BAE-P50 RK566BCE-P5 RK566BCE-P7.2 RK566BCE-P10 RK564BCE-P25 RK564BCE-P36 RK564BCE-P50 RK599BCE-P5 RK599BCE-P7.2 RK599BCE-P10 RK596BCE-P25 RK596BCE-P36 RK596BCE-P50 Page
C-94
C-94
C-95
C-95
b PN Geared Type
Power Supply Voltage Model (Single Shaft) RK566AAE-N5 RK566AAE-N7.2 RK566AAE-N10 RK564AAE-N25 RK564AAE-N36 RK564AAE-N50 RK599AAE-N5 RK599AAE-N7.2 RK599AAE-N10 RK596AAE-N25 RK596AAE-N36 RK596AAE-N50 RK566ACE-N5 RK566ACE-N7.2 RK566ACE-N10 RK564ACE-N25 RK564ACE-N36 RK564ACE-N50 RK599ACE-N5 RK599ACE-N7.2 RK599ACE-N10 RK596ACE-N25 RK596ACE-N36 RK596ACE-N50 Page Model (Double Shaft) RK566BAE-N5 RK566BAE-N7.2 RK566BAE-N10 RK564BAE-N25 RK564BAE-N36 RK564BAE-N50 RK599BAE-N5 RK599BAE-N7.2 RK599BAE-N10 RK596BAE-N25 RK596BAE-N36 RK596BAE-N50 RK566BCE-N5 RK566BCE-N7.2 RK566BCE-N10 RK564BCE-N25 RK564BCE-N36 RK564BCE-N50 RK599BCE-N5 RK599BCE-N7.2 RK599BCE-N10 RK596BCE-N25 RK596BCE-N36 RK596BCE-N50 Page
C-96
C-96
C-97
C-97
b Harmonic Geared Type

Power Supply Voltage Single-Phase 100-115 VAC Model (Single Shaft) RK564AAE-H50 RK564AAE-H100 RK596AAE-H50 RK596AAE-H100 RK564ACE-H50 RK564ACE-H100 RK596ACE-H50 RK596ACE-H100 Page Model (Double Shaft) RK564BAE-H50 RK564BAE-H100 RK596BAE-H50 RK596BAE-H100 RK564BCE-H50 RK564BCE-H100 RK596BCE-H50 RK596BCE-H100 Page
C-98
C-98
Stepping Motors
Standard Type
Specifications
Model Single-Phase 200-230 VAC Maximum Holding Torque Rotor Inertia Rated Current Basic Step Angle Power Source Excitation Mode Mass Dimension No. Motor Driver Motor Driver kg kg Single Shaft Double Shaft Nm J: kg m2 A/Phase
RK564ACE RK564BCE 0.42 175 10-7
RK566ACE RK566BCE 0.83 280 10-7
RK569ACE RK569BCE 1.66 560 10-7 1.4 0.72 Single-Phase 200-230 VAC
RK596ACE RK596BCE 2.1 1400 10-7
RK599ACE RK599BCE 4.1 2700 10-7
RK5913ACE RK5913BCE 6.3 4000 10-7

Introduction
10% 15%
50/60 Hz 3.5 A 1.7 2.8

2
Microstep 0.6 0.8

1 15
1.3 0.85
3.8 AC Input
AS
How to read specifications table Page C-10 b For the single-phase 100-115 VAC models, please contact the nearest Oriental Motor Sales office.
DC Input

RK564ACE/RK564BCE
0.8 0.7 0.6
ASC
RK566ACE/RK566BCE
1.2 1.0 Pullout Torque Current: 1.4 A/Phase Step Angle: 0.72/step Load Inertia: JL=0 kg m2
RK569ACE/RK569BCE
2.5 2.0
Torque [N m]
AC Input
5-Phase RK
0.5 0.4 0.3
Pullout Torque
0.8 0.6 8 0.4 0.2 0 0 0 (0)
Pullout Torque 1.5 1.0 0.5 0 0 0 (0)
6
Current [A]
5-Phase CRK
Current [A]
4 2 0
0.2 0.1 0 0 0 (0)

4 0

Current [A]
4 0

DC Input
2-Phase CMK
RK596ACE/RK596BCE
3.0 2.5
Torque [N m]
RK599ACE/RK599BCE
6 5
Torque [N m]
RK5913ACE/RK5913BCE
10 8 Current: 1.4 A/Phase Step Angle: 0.72/step Load Inertia: JL=0 kg m2
2-Phase CSK
Pullout Torque 8 4 0
Torque [N m]
2.0 1.5 1.0 0.5 0 0 0 (0)
Pullout Torque
4 3 2 1
6 4
Pullout Torque
Current [A]
Current [A]
10 5 0
8 4 0
Current [A]
Driver Input Current fs 1000 2000 Speed [r/min]

10 (100) Pulse Speed [kHz]

0 0 0 (0) fs 500 5 (50) 1000 Speed [r/min] 10 (100) Pulse Speed [kHz] 1500 2000 Resolution 1 (Resolution 10)

0 0 0 (0) fs 500 Speed [r/min] 5 (50) Pulse Speed [kHz] Resolution 1 10 (100) (Resolution 10) 1000 1500
3000 20 Resolution 1 (200) (Resolution 10)
b The pulse input circuit responds to approximately 200 kHz with a pulse duty of 50%. Notes: b 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 100C. (Under 75C is required to comply with UL or CSA Standards as the motor is recognized as insulation class A.) b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 50%.
C-89
Torque [N m]
Torque [N m]
0.5 0.4 0.3
Torque [N m]
Current [A]
Current [A]
4 2 0
0.2 0.1 0 0 0 (0)
Current [A]
Torque [N m]
Torque [N m]
Pullout Torque
Torque [N m]
Current [A]
Current [A]
10 5 0
1.0 0.5 0 0 0 (0)
8 4 0
2 1
Current [A]
C-90
Stepping Motors

Specifications
Model Maximum Holding Torque Rotor Inertia Rated Current Basic Step Angle Power Source Excitation Mode Insulation Class Mass Dimension No. Motor Driver Motor Driver kg kg 0.8 1.1
3
Single-Phase 200-230 VAC Nm J: kg m2 A/Phase
RK564ACT 0.42 175 10-7
RK566ACT 0.83 280 10-7
RK569ACT 1.66 560 10-7 1.4 0.72 Single-Phase 200-230 VAC
RK596ACT 2.1 1400 10-7
RK599ACT 4.1 2700 10-7
RK5913ACT 6.3 4000 10-7
10% 15%
50/60 Hz 3.5 A
Microstep Motor: IP65 Driver: IP10 1.6 2.2 0.85

15
3.3
4
4.4
How to read specifications table Page C-10 Excluding the gap between the shaft and the flange b For the single-phase 100-115 VAC models, please contact the nearest Oriental Motor Sales office.

RK564ACT
0.8 0.7 0.6 Pullout Torque 0.8 0.6 Current: 1.4 A/Phase Step Angle: 0.72/step Load Inertia: JL=0 kg m2
RK566ACT
RK569ACT
2.5 2.0 Pullout Torque 1.5 1.0 0.5 0 0 0 (0) fs 1000 10 (100) Current: 1.4 A/Phase Step Angle: 0.72/step Load Inertia: JL=0 kg m2
8 0.4 0.2 0 0 0 (0) 4 0
8 4 0



2000 3000 Speed [r/min] 20 (200) Pulse Speed [kHz] 4000 Resolution 1 30 (300) (Resolution 10)
RK596ACT
3.0 2.5 2.0 1.5 Pullout Torque Current: 1.4 A/Phase Step Angle: 0.72/step Load Inertia: JL=0 kg m2
RK599ACT
6 5 4 3 Current: 1.4 A/Phase Step Angle: 0.72/step Load Inertia: JL=0 kg m2
RK5913ACT
10 8 6 4 2 Current: 1.4 A/Phase Step Angle: 0.72/step Load Inertia: JL=0 kg m2
Pullout Torque
8 4 0
Driver Input Current fs 1000 2000 Speed [r/min]


0 0 0 (0) fs 500 5 (50) 1000 Speed [r/min] 10 (100) Pulse Speed [kHz] 1500 2000 Resolution 1 (Resolution 10)

Stepping Motors

Specifications
Model Single-Phase 200-230 VAC Maximum Holding Torque Rotor Inertia Rated Current Basic Step Angle Power Source Excitation Mode Type Power Source Input Power Supply Input Static Friction Torque Brake Time Brake Release Time Time Rating Motor Driver Motor Driver Single Shaft Nm J: kg m2 A/Phase RK564AMCE 0.42 335 10-7 RK566AMCE 0.83 440 10-7 RK569AMCE 1.66 720 10-7 1.4 0.72 Single-Phase 200-230 VAC
10% 15%
RK596AMCE 2.1 2470 10-7
RK599AMCE 4.1 3770 10-7
RK5913AMCE 6.3 5070 10-7

Introduction
50/60 Hz 3.5 A
Microstep Active when power is off 24 VDC A Nm ms ms kg kg 0.9 0.25 0.8 20 30 Continuous 1.1
5 15
Electromagnetic Brake
0.42 4.0 50 1.6 0.85

6
AC Input
AS
Mass Dimension No.
2.4
3.5
4.5 DC Input
ASC
How to read specifications table Page C-10 b For the single-phase 100-115 VAC models, please contact the nearest Oriental Motor Sales office.
AC Input
5-Phase RK

RK564AMCE
0.8 0.7 0.6
RK566AMCE
RK569AMCE
2.5 2.0
Torque [N m]
5-Phase CRK
0.5 0.4 0.3
Pullout Torque
0.8 0.6 8
Current [A]
1.5 1.0 0.5 0 0 0 (0)
Pullout Torque
DC Input
2-Phase CMK
6
Current [A]
4 2 0
0.2 0.1 0 0 0 (0)
Current [A]
8 4 0
0.4 0.2 0 0 0 (0)


4 0

fs 1000 10 (100) 2000 3000 Speed [r/min] 20 (200) Pulse Speed [kHz] 4000
2-Phase CSK
Resolution 1 30 (300) (Resolution 10)
RK596AMCE
3.0 2.5
Torque [N m]
RK599AMCE
6 5
Torque [N m]
RK5913AMCE
Current: 1.4A/Phase Step Angle: 0.72 step Load Inertia: JL=0 kg m2
Pullout Torque
Pullout Torque
Torque [N m]
2.0 1.5 1.0 0.5 0 0 0 (0)
4 3 2 1 0 0 0 (0) fs
Pullout Torque 6
Current [A]
Current [A]
10 5 0
8 4 0
Current [A]
8 4 0
4 2

fs 1000 2000 Speed [r/min] 3000 20 Resolution 1 (200) (Resolution 10)

500 5 (50) 1000 Speed [r/min] 10 (100) Pulse Speed [kHz] 1500 2000 Resolution 1 (Resolution 10)

Controllers
C-91
Torque [N m]
Torque [N m]
Torque [N m]
Current [A]
1 Driver Input Current
Current [A]
4 2 0
0.5 Driver Input Current 0 0 0 (0) fs 100 200 5 (50) 300 400 Speed [r/min] 500 600
Current [A]
Torque [N m]
3 2 1 0 0 0 (0) fs 20 5 (50) 40 60 Speed [r/min] 10 (100) Pulse Speed [kHz] 80 100 15 Resolution 1 (150) (Resolution 10) 4
Torque [N m]
Current [A]
Current [A]
C-92
Stepping Motors
TH Geared Type
Specifications
Model Single-Phase 200-230 VAC Maximum Holding Torque Rotor Inertia Rated Current Basic Step Angle Gear Ratio Permissible Torque Backlash Permissible Speed Range Power Source Excitation Mode Mass Dimension No. Motor Driver Motor Driver kg kg Single Shaft Double Shaft Nm J: kg m2 A/Phase
RK564ACE-T3.6 RK564BCE-T3.6 1.25
RK564ACE-T7.2 RK564BCE-T7.2 2.5
Nm arc minute (degrees) r/min
0.2 1:3.6 1.25 35 (0.584) 0 500
0.1 1:7.2 2.5 0 250
RK564ACE-T10 RK564BCE-T10 3 175 10-7 1.4 0.072 1:10 3 15 (0.25) 0 180

10% 15%
RK564ACE-T20 RK564BCE-T20 3.5
RK564ACE-T30 RK564BCE-T30 4
0.036 1:20 3.5 10 (0.167) 0 90
0.024 1:30 4 0 60
Single-Phase 200-230 VAC Microstep 0.95 0.85

7 15
50/60 Hz 3.5 A
How to read specifications table Page C-10 b For the single-phase 100-115 VAC models, please contact the nearest Oriental Motor Sales office. Note: b Direction of rotation of the motor and that of the gear output shaft are the same for the gear ratios of 1:3.6, 1:7.2 and 1:10. It is opposite for 1:20 and 1:30 gear ratios.

RK564ACE-T3.6/RK564BCE-T3.6
1.5 Current: 1.4 A/Phase Step Angle: 0.2/step Load Inertia: JL=0 kg m2 Permissible Torque 3 1.0 8
4 Current: 1.4 A/Phase Step Angle: 0.1/step Load Inertia: JL=0 kg m2
RK564ACE-T10/RK564BCE-T10
Permissible Torque 2 4 2 0
Permissible Torque 3 2 1 0 0 0 (0) fs 40 5 (50) 80 120 Speed [r/min] 10 (100) Pulse Speed [kHz] 160 200 15 Resolution 1 (150) (Resolution 10) Driver Input Current
0 0 0 (0)
fs 50 100 5 (50) 150 200 Speed [r/min] 250 300
15 Resolution 1 (150) (Resolution 10)
5 4 3 2 1 0 0 0 (0) fs 10 Driver Input Current Current: 1.4 A/Phase Step Angle: 0.024/step Load Inertia: JL=0 kg m2 Permissible Torque
Permissible Torque
4 2 0
2 0
20 5 (50)
30 40 Speed [r/min] 10 (100) Pulse Speed [kHz]
50
60
70
Stepping Motors
TH Geared Type
Specifications
RK596ACE-T3.6 RK596BCE-T3.6 4.5
RK596ACE-T7.2 RK596BCE-T7.2 9
RK596ACE-T10 RK596BCE-T10 1400 10-7 1.4 0.072 1:10
RK596ACE-T20 RK596BCE-T20 12
RK596ACE-T30 RK596BCE-T30
Introduction
0.2 1:3.6 4.5 25 (0.417) 0 500
0.1 1:7.2 9 15 (0.25) 0 250
0.036 1:20 12 10 (0.167)
0.024 1:30
0 180
10% 15%
0 90 50/60 Hz 3.5 A
0 60
AC Input
Single-Phase 200-230 VAC Microstep 2.85 0.85

8 15
AS ASC
DC Input
How to read specifications table Page C-10 b For the single-phase 100-115 VAC models, please contact the nearest Oriental Motor Sales office. Note: b Direction of rotation of the motor and that of the gear output shaft are the same for the gear ratios of 1:3.6, 1:7.2 and 1:10. It is opposite for 1:20 and 1:30 gear ratios.
AC Input
5-Phase RK

6 5
Torque [N m]
12 10
Torque [N m]
12 10
Torque [N m]
5-Phase CRK
Permissible Torque
Permissible Torque
Permissible Torque
4 3 2 1 0 0 0 (0) fs 100 200 5 (50) 300 400 Speed [r/min] 500 600 Driver Input Current 5 2.5 0
8 6 4 2 0 0 0 (0) fs 50 100 5 (50) 150 200 Speed [r/min] 250 300 Driver Input Current
Current [A]
8 6 4 Driver Input Current 2 0 0 0 (0) fs 40 5 (50) 80 120 Speed [r/min] 10 (100) Pulse Speed [kHz] 160 200
6 4 2 0
DC Input
2-Phase CMK
Current [A]
2.5 0
Current [A]
2-Phase CSK
15 Current: 1.4 A/Phase Step Angle: 0.036/step Load Inertia: JL=0 kg m2 Permissible Torque 10
15 Current: 1.4 A/Phase Step Angle: 0.024/step Load Inertia: JL=0 kg m2 Permissible Torque 10
Torque [N m]
6
Current [A]
6 5 Driver Input Current

Current [A]
Torque [N m]
4 2 0
4 2 0
5 Driver Input Current 0 0 0 (0) fs 10
0 0 0 (0)
fs 20 5 (50) 40 60 Speed [r/min] 10 (100) Pulse Speed [kHz] 80 100 15 Resolution 1 (150) (Resolution 10)
20 5 (50)
50
60
70
Controllers
C-93
Torque [N m]
Torque [N m]
3 2 8
3 8 2 1 Driver Input Current 0 0 0 (0) fs 50 100 5 (50) 150 200 Speed [r/min] 250 15 (150) 300 Resolution 1 (Resolution 10)
Torque [N m]
Current [A]
Current [A]
Current [A]
Torque [N m]
Torque [N m]
6 4 4
6 4 4
Torque [N m]
Current [A]
Current [A]
Current [A]
C-94
Stepping Motors
PL Geared Type
Specifications
RK566ACE-P5 RK566ACE-P7.2 RK566ACE-P10 RK564ACE-P25 RK564ACE-P36 RK564ACE-P50 RK566BCE-P5 RK566BCE-P7.2 RK566BCE-P10 RK564BCE-P25 RK564BCE-P36 RK564BCE-P50 3.5 4 5 8 280 10-7 175 10-7 1.4 0.144 0.1 0.072 0.0288 0.02 0.0144 1:5 1:7.2 1:10 1:25 1:36 1:50 3.5 4 5 8 20 (0.33) 0 360 0 250 0 180 0 72 0 50 0 36 Single-Phase 200-230 VAC Microstep 1.3 0.85
9 15
10% 15%
50/60 Hz 3.5 A 1.4
How to read specifications table Page C-10 b For the single-phase 100-115 VAC models, please contact the nearest Oriental Motor Sales office. Note: b Direction of rotation of the motor and that of the gear output shaft are the same.

RK566ACE-P5/RK566BCE-P5
RK566ACE-P7.2/RK566BCE-P7.2
5 4 Current: 1.4 A/Phase Step Angle: 0.1/step Load Inertia: JL=0 kg m2 Permissible Torque
Permissible Torque
8 4 0
1 0 0 0 (0) fs
Driver Input Current 100 5 (50) 200 Speed [r/min] 10 (100) Pulse Speed [kHz] 300 400 15 Resolution 1 (150) (Resolution 10)
4 0
2 Driver Input Current fs 50 5 (50) 100 Speed [r/min] 10 (100) Pulse Speed [kHz] 150 200 15 Resolution 1 (150) (Resolution 10)
0 0 0 (0)
10 8 6 4 2 0 0 0 (0) fs 10 5 (50) 20 Speed [r/min] 10 (100) Pulse Speed [kHz] 30 40 15 Resolution 1 (150) (Resolution 10) Driver Input Current Current: 1.4 A/Phase Step Angle: 0.0144/step Load Inertia: JL=0 kg m2 Permissible Torque
4 2 0
2 0 0 0 (0) fs 20 5 (50)
2 0
2 0 0 0 (0) fs 10 5 (50)
2 0
40 Speed [r/min] 10 (100) Pulse Speed [kHz]
60
20
30 40 Speed [r/min]
50 15 (150)
60 Resolution 1 (Resolution 10)
Stepping Motors
PL Geared Type
Specifications
RK599ACE-P5 RK599ACE-P7.2 RK599ACE-P10 RK596ACE-P25 RK596ACE-P36 RK596ACE-P50 RK599BCE-P5 RK599BCE-P7.2 RK599BCE-P10 RK596BCE-P25 RK596BCE-P36 RK596BCE-P50 14 20 37 2700 10-7 1400 10-7 1.4 0.144 0.1 0.072 0.0288 0.02 0.0144 1:5 1:7.2 1:10 1:25 1:36 1:50 14 20 37 15 (0.25) 0 360 0 250 0 180 0 72 0 50 0 36 Single-Phase 200-230 VAC Microstep 4.4 0.85
10
10% 15%
Introduction
AC Input
50/60 Hz 3.5 A 4.2
AS
DC Input
15
ASC
How to read specifications table Page C-10 b For the single-phase 100-115 VAC models, please contact the nearest Oriental Motor Sales office. Note: b Direction of rotation of the motor and that of the gear output shaft are the same.
AC Input
5-Phase RK

RK599ACE-P7.2/RK599BCE-P7.2
5-Phase CRK
Torque [N m]
Torque [N m]
15 10 5 Driver Input Current 4
Torque [N m]
15
DC Input
10 4
2-Phase CMK
Current [A]
10 5 0 0 0 (0) fs 50 5 (50) 100 Speed [r/min] 10 (100) Pulse Speed [kHz] 150 200 Driver Input Current
Current [A]
2.5
Driver Input Current fs 100 5 (50) 200 Speed [r/min] 10 (100) Pulse Speed [kHz] 300 400 15 Resolution 1 (150) (Resolution 10)
2 0
Current [A]
150 200 Speed [r/min] 250 300
2 0
0 0 0 (0)
0 fs 0 0 (0)
50
100 5 (50)
2-Phase CSK
Permissible Torque
Permissible Torque
Permissible Torque
Torque [N m]
Torque [N m]
Torque [N m]
30 20 4
30 20 10 0 0 0 (0) fs 10 5 (50) 20 30 40 Speed [r/min] 50 60 Driver Input Current 4
30
20 10 0 0 0 (0) fs 10 5 (50) 20 Speed [r/min] 10 (100) Pulse Speed [kHz] 30 40 Driver Input Current
Current [A]
2 0
10 0 0 0 (0)
Driver Input Current fs 20 5 (50) 40 Speed [r/min] 10 (100) Pulse Speed [kHz] 60 80 15 Resolution 1 (150) (Resolution 10)
Current [A]
Current [A]
2 0
2 0
Controllers
C-95
Torque [N m]
Torque [N m]
8
Current [A]
4 Permissible Torque 2 Driver Input Current

Current [A]
5.0
Permissible Torque
Current [A]
Torque [N m]
Torque [N m]
Torque [N m]
15 10 5 Driver Input Current 0 0 0 (0) fs 20 5 (50) 40 60 Speed [r/min] 10 15 20 (100) (150) (200) Pulse Speed [kHz] 80 100 8
Current [A]
Torque [N m]
Current [A]
5 fs Driver Input Current 50 Speed [r/min] 0 (0) 5 (50) 10 15 20 (100) (150) (200) Pulse Speed [kHz] 25 (250) Resolution 1 (Resolution 10) 100 150
Current [A]
C-96
Stepping Motors
PN Geared Type
Specifications
Model Single-Phase 200-230 VAC Maximum Holding Torque Rotor Inertia Rated Current Basic Step Angle Gear Ratio Permissible Torque Nm Nm Maximum Torque Backlash arc minute (degrees) Angular Transmission Error arc minute (degrees) Permissible Speed Range r/min Power Source Excitation Mode Mass Dimension No. Motor Driver Motor Driver kg kg Single Shaft Double Shaft Nm J: kg m2 A/Phase
RK566ACE-N5 RK566ACE-N7.2 RK566ACE-N10 RK564ACE-N25 RK564ACE-N36 RK564ACE-N50 RK566BCE-N5 RK566BCE-N7.2 RK566BCE-N10 RK564BCE-N25 RK564BCE-N36 RK564BCE-N50 3.5 4 5 8 280 10-7 175 10-7 1.4 0.144 0.1 0.072 0.0288 0.02 0.0144 1:5 1:7.2 1:10 1:25 1:36 1:50 3.5 4 5 8 7 9 11 16 20 2 (0.034) 3 (0.05) 5 (0.084) 0 600 0 416 0 300 0 120 0 83 0 60 Single-Phase 200-230 VAC Microstep 1.5 0.85
11 15
10% 15%
50/60 Hz 3.5 A
How to read specifications table Page C-10 The value of maximum torque is for gear. For output torque for geared motor, refer to the speed torque characteristics. b For the single-phase 100-115 VAC models, please contact the nearest Oriental Motor Sales office. Note: b Direction of rotation of the motor shaft and that of the gear output shaft are the same.

RK566ACE-N5/RK566BCE-N5
RK566ACE-N7.2/RK566BCE-N7.2
7.5 10
8 4
Permissible Torque
2.5 Driver Input Current
fs 0 0 0 0 (0) 5 (50) 100
0 0 0 (0)
fs 100 5 (50)
0 200 300 400 Speed [r/min] 500 600 700
0 0 0 (0)
fs 100 5 (50) 200 300 Speed [r/min] 10 15 (100) (150) Pulse Speed [kHz] 20 (200) 400 25 Resolution 1 (250) (Resolution 10)
Driver Input Current 200 Speed [r/min] 300 25 Resolution 1 (250) (Resolution 10)
10 15 20 (100) (150) (200) Pulse Speed [kHz]
10 15 20 (100) (150) (200) Pulse Speed [kHz]
25 20 15 10 5 Driver Input Current 0 0 0 0 (0) fs 10 5 (50) 20 30 40 Speed [r/min] 50 60 70 Current: 1.4 A/Phase Step Angle: 0.0144/step Load Inertia: JL=0 kg m2 Maximum Torque
15
10 8 Permissible Torque 4 0
Permissible Torque
Permissible Torque
0 0
10 15 20 (100) (150) (200) Pulse Speed [kHz]
Stepping Motors
PN Geared Type
Specifications
Model Single-Phase 200-230 VAC Maximum Holding Torque Rotor Inertia Rated Current Basic Step Angle Gear Ratio Permissible Torque Nm Nm Maximum Torque Backlash arc minute (degrees) Angular Transmission Error arc minute (degrees) Permissible Speed Range r/min Power Source Excitation Mode Mass Dimension No. Motor Driver Motor Driver kg kg Single Shaft Double Shaft Nm J: kg m2 A/Phase
RK599ACE-N5 RK599ACE-N7.2 RK599ACE-N10 RK596ACE-N25 RK596ACE-N36 RK596ACE-N50 RK599BCE-N5 RK599BCE-N7.2 RK599BCE-N10 RK596BCE-N25 RK596BCE-N36 RK596BCE-N50 14 20 37 2700 10-7 1400 10-7 1.4 0.144 0.1 0.072 0.0288 0.02 0.0144 1:5 1:7.2 1:10 1:25 1:36 1:50 14 20 37 28 35 56 60 2 (0.034) 3 (0.05) 4 (0.067) 0 600 0 416 0 300 0 120 0 83 0 60 Single-Phase 200-230 VAC Microstep 5 0.85
12 15
10% 15%
Introduction
AC Input
AS
50/60 Hz 3.5 A 4.7
DC Input
ASC
How to read specifications table Page C-10 The value of maximum torque is for gear. For output torque for geared motor, refer to the speed torque characteristics. b For the single-phase 100-115 VAC models, please contact the nearest Oriental Motor Sales office. Note: b Direction of rotation of the motor shaft and that of the gear output shaft are the same.
AC Input
5-Phase RK

30 25
Torque [N m]
Torque [N m]
5-Phase CRK
RK599ACE-N7.2/RK599BCE-N7.2
50 40
Torque [N m]
DC Input
2-Phase CMK
Maximum Torque Permissible Torque
20 15
Current [A]
30 Permissible Torque 20 10 Driver Input Current 0 0 0 (0) fs 100 5 (50) 200 300 Speed [r/min] 10 15 20 (100) (150) (200) Pulse Speed [kHz] 400 25 (250) 500 Resolution 1 (Resolution 10)
Current [A]
30 20 10 Driver Input Current 0 0 0 (0) fs 100 5 (50) 200 Speed [r/min] 300 25 Resolution 1 (250) (Resolution 10)
6
Current [A]
8 4 0
4 2 0
10 5 0 0 0 (0) fs 100 5 (50) 200 300 400 Speed [r/min] 500 20 (200) 600 Resolution 1 (Resolution 10) Driver Input Current
4 0
2-Phase CSK
10 15 (100) (150) Pulse Speed [kHz]
10 15 20 (100) (150) (200) Pulse Speed [kHz]
Torque [N m]
60
Torque [N m]
Maximum Torque
Torque [N m]
Maximum Torque 60
40 30 20 10 0 0 0 (0) fs 50 Speed [r/min] 5 (50) 10 15 20 (100) (150) (200) Pulse Speed [kHz] 25 (250) Resolution 1 (Resolution 10) 100 150 Driver Input Current
Current [A]
Current [A]
6
Current [A]
4 2 0
20 Driver Input Current 0 0 0 (0) fs 20 5 (50) 40 60 Speed [r/min] 10 15 20 (100) (150) (200) Pulse Speed [kHz] 80 25 (250) 100 Resolution 1 (Resolution 10)
Controllers
0 0 0 (0)
fs 10 5 (50) 20 30 40 Speed [r/min] 50 60 70
10 15 20 (100) (150) (200) Pulse Speed [kHz]
Accessories
Installation
C-97
Torque [N m]
15 10
Current [A]
Torque [N m]
Current [A]
Torque [N m]
30 20 10
Permissible Torque
Current [A]
Torque [N m]
Current [A]
C-98
Stepping Motors

Specifications
Model Single-Phase 200-230 VAC Single Shaft Double Shaft Nm J: kg m2 A/Phase Maximum Holding Torque Rotor Inertia Rated Current Basic Step Angle Gear Ratio Permissible Torque Maximum Torque Lost Motion (Load Torque) Permissible Speed Range Power Source Excitation Mode Mass Dimension No. Motor Driver Motor Driver kg kg
RK564ACE-H50 RK564BCE-H50 5.5
RK564ACE-H100 RK564BCE-H100 8 210 10-7 1.4
RK596ACE-H50 RK596ACE-H100 RK596BCE-H50 RK596BCE-H100 25 37 1600 10-7 0.0144 1:50 25 35 1.5 max. ( 1.2 N m) 0 70
10% 15%
Nm Nm arc minute r/min
0.0144 1:50 5.5 18 0.7 max. ( 0.28 N m) 0 70
0.0072 1:100 8 28 0.7 max. ( 0.39 N m) 0 35 Single-Phase 200-230 VAC Microstep 1.08 0.85
13 15
0.0072 1:100 37 55
0 35
50/60 Hz 3.5 A 3.7

14
How to read specifications table Page C-10 The value of maximum torque is for gear. For output torque for geared motor, refer to the speed torque characteristics. b For the single-phase 100-115 VAC models, please contact the nearest Oriental Motor Sales office. Notes: b The inertia represents a sum of the inertia of the harmonic gear converted to a motor shaft value, and the rotor inertia. b Direction of rotation of the motor and that of the gear output shaft are the opposite.

RK564ACE-H50/RK564BCE-H50
Maximum Torque
30 Maximum Torque
20
10 5 0
10 Permissible Torque 5 fs 0 0 0 (0) 20 10 (100) Driver Input Current 40 60 Speed [r/min] 20 (200) Pulse Speed [kHz]
10 Permissible Torque fs Driver Input Current 10 10 (100) 20 Speed [r/min] 20 (200) Pulse Speed [kHz] 30 40 30 Resolution 1 (300)(Resolution 10)
80 30 Resolution 1 (300)(Resolution 10)
0 0 0 (0)
Maximum Torque
60 Maximum Torque
8 4 0
fs 0 0 0 (0) 20 10 (100)
Driver Input Current 40 Speed [r/min] 20 (200) Pulse Speed [kHz] 60 80 30 Resolution 1 (300)(Resolution 10)
0 0 0 (0)
fs 10 10 (100) 20 Speed [r/min] 20 (200) Pulse Speed [kHz] 30 40 30 Resolution 1 (300)(Resolution 10)
b The pulse input circuit responds to approximately 200 kHz with a pulse duty of 50%. Notes: b 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 100C. (Under 75C is required to comply with UL or CSA Standards as the motor is recognized as insulation class A.) b In order to prevent fatigue of the gear grease in the harmonic gear, keep the temperature of the gear case under 70C. b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 50%.
Stepping Motors
Common to Each Type
Input Mode Photocoupler input, Input resistance: 220 ; Input current: 10 20 mA 5 V, Photocoupler OFF: 0 1 V (Voltage between terminals) Photocoupler ON: 4.5 Operation command pulse signal (CW direction operation command pulse signal when in 2-pulse input mode), Negative logic pulse input Pulse width: 2.5 s minimum; Pulse rise/fall: 2 s maximum Pulse duty: 50% and below The motor moves one step when the pulse input is switched from photocoupler ON to OFF. Maximum input pulse frequency: 200 kHz (When the pulse duty is 50%) Rotation direction signal, Photocoupler ON: CW, Photocoupler OFF: CCW CCW direction operation command pulse signal when in 2-pulse input mode, Negative logic pulse input Pulse width: 2.5 s minimum; Pulse rise/fall: 2 s maximum Pulse duty: 50% and below The motor moves one step when the pulse input is switched from photocoupler ON to OFF. Maximum input pulse frequency: 200 kHz (When the pulse duty is 50%) When in the "photocoupler ON" state, the output current to the motor is cut off and the motor shaft can be rotated manually. (When rotating the motor shaft manually, release the brake) When in the "photocoupler OFF" state, the current is supplied to the motor. When in the "photocoupler ON" state, the brake is released and the motor is ready for operation. When in the "photocoupler OFF" state, the brake is engaged and the motor shaft is held in position. Step angle specified by DATA1 when photocoupler OFF Step angle specified by DATA2 when photocoupler ON Photocoupler, Open-collector output External usage conditions: 24 VDC maximum, 10 mA maximum The signal is output every time the excitation sequence returns to the initial stage "0." (Photocoupler: ON) Example) 0.72/step (1 resolution): Signal output every 10 pulses, 0.072/step (10 resolutions): Signal output every 100 pulses Output is turned off when the temperature of the driver heat sink rises to approximately 80C. (Photocoupler: OFF) Automatic current cutback, Automatic current off, Step angle switch, Pulse input mode switch, Electromagnetic brake function switch, Smooth drive function, Energy save function AC Input Power input, Excitation timing signal output, Overheat signal output Natural ventilation
Pulse Signal (CW Pulse Signal)
Input Signals
Rotation Direction Signal (CCW Pulse Signal)
Introduction
All Windings Off Signal Electromagnetic Brake Release Signal Step Angle Select Signal Output Mode Output Signals Excitation Timing Signal Overheat Signal Functions Indicators (LED) Cooling Method
Only for electromagnetic brake type
AC Input DC Input
AS ASC 5-Phase RK
Specifications Insulation Class Motor Class B (130C) [Recognized as class A (105C) by UL Standard] Driver 100 M or more when 500 VDC megger is applied between the following places under normal ambient temperature and humidity: Power input terminal - Protective earth terminal Motor output terminal - Protective earth terminal Electromagnetic brake power output terminal1 - Protective earth terminal Signal input/output terminals - Power input terminal Signal input/output terminals - Motor output terminal Signal input/output terminals - Electromagnetic brake power output terminal1 Sufficient to withstand the following for 1 minute under normal ambient temperature and humidity: Power input terminal - Protective earth terminal 1.5 kVAC 50 Hz or 60 Hz Motor output terminal - Protective earth terminal 1.5 kVAC 50 Hz or 60 Hz Electromagnetic brake power output terminal1- Protective earth terminal 1.5 kVAC 50 Hz or 60 Hz Signal input/output terminals - Power input terminal 1.8 kVAC 50 Hz or 60 Hz Signal input/output terminals - Motor output terminal 1.8 kVAC 50 Hz or 60 Hz Signal input/output terminals - Electromagnetic brake power output terminal1 1.8 kVAC 50 Hz or 60 Hz 0 50C (non-freezing) DC Input
5-Phase CRK 2-Phase CMK
Insulation Resistance
100 M or more when 500 VDC megger is applied between the windings and the case under normal ambient temperature and humidity.
2-Phase CSK
Dielectric Strength
Sufficient to withstand 1.5 kV at 50 Hz or 60 Hz applied between the windings and the case for 1 minute under normal ambient temperature and humidity.
Ambient Temperature Ambient Humidity Atmosphere
10 0
50C (non-freezing): Standard type, TH, PL, PN geared type 40C (non-freezing): Harmonic geared type 85% or less (non-condensing)
No corrosive gases, dust, water or oil (Standard type IP65 rated motor: No corrosive gases) Temperature rise of the windings are 80C or less measured by the resistance change method. (at rated current, at standstill, five phases energized)
0.075 A
Controllers
Temperature Rise Stop Position Accuracy Shaft Runout Radial Play3 Axial Play4 Concentricity Perpendicularity
2
3 arc minutes ( 0.05) 0.05 T.I.R. (mm)5 0.025 mm maximum of 5 N 0.075 mm maximum of 10 N 0.075 T.I.R. (mm)5 0.075 T.I.R. (mm)5
Accessories
1 Only for electromagnetic brake type 2 This value is for 0.72 step under no load. (The value changes with the size of the load.) 3 Radial Play: Displacement in shaft position in the radial direction, when a 5 N load is applied in the vertical direction to the tip of the motor's shaft. 4 Axial Play: Displacement in shaft position in the axial direction, when a 10 N load is applied to the motor's shaft in the axial direction. 5 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: b Do not measure insulation resistance or perform the dielectric strength test while the motor and driver are connected.
Installation
0.05
0.075 A
C-99
C-100
Stepping Motors
Common to Each Type

Type Model RK564 CE, RK564ACT RK566 CE, RK566ACT RK569 CE, RK569ACT RK564AMCE RK566AMCE RK569AMCE RK596 CE, RK596ACT RK599 CE, RK599ACT RK5913 CE, RK5913ACT RK596AMCE RK599AMCE RK5913AMCE RK564 CE-T RK596 CE-T RK566 CE-P5 RK566 CE-P RK564 CE-P RK599 CE-P RK596 CE-P25 RK596 CE-P36 RK596 CE-P50 RK566 CE-N5 RK566 CE-N RK564 CE-N RK599 CE-N5 RK599 CE-N RK596 CE-N25 RK596 CE-N36 RK596 CE-N50 RK564 CE-H RK596 CE-H Gear Ratio 0 5 Permissible Overhung Load Distance from Shaft End (mm) 10 15 20
Unit = N
Standard Type Standard Type IP65 Rated Motor Standard Type with Electromagnetic Brake
63
75
95
130
260
290
340
390
480
TH Geared Type
3.6, 7.2, 10, 20, 30 5 7.2, 10 25, 36, 50 5, 7.2, 10 25 36 50 5 7.2, 10 25, 36, 50 5 7.2, 10 25 36 50 50, 100 50, 100
PL Geared Type
PN Geared Type
70 220 200 250 330 480 850 930 1050 200 250 330 480 480 850 930 1050 320 1090
80 250 220 270 360 540 940 1030 1160 220 270 360 520 540 940 1030 1160 370 1150
100 300 250 300 400 600 1050 1150 1300 250 300 400 550 600 1050 1150 1300 440 1230
120 350 280 340 450 680 1190 1310 1480 280 340 450 580 680 1110 1220 1380 550 1310
150 400 320 390 520 790 1380 1520 1710 320 390 520 620 790 1190 1300 1490 720 1410
40 100 100
300
100
300
450 1300
b Enter A (single shaft) or B (double shaft) in the box ( ) within the model name. Enter the gear ratio in the box ( ) within the model name.
Stepping Motors

b Motor
Standard Type
1
60 mm
Model RK564ACE RK564BCE RK566ACE RK566BCE RK569ACE RK569BCE Motor Model PK564AE PK564BE PK566AE PK566BE PK569AE PK569BE L1 48.5 59.5 89 L2 69.5 80.5 110 Mass (kg) 0.6
Introduction
0.8 1.3
L2 21 20
0.25 1
24 L1 7 1.5
20
0.25
4 60 50 0.35
4.5 Thru AC Input

AS
0 0.015(h7)
0.15
50 0.35 60
DC Input
7.5 0.15 0 0.015(h7) 0 0.039(h8)
7.5
6.7 20.5 600 50
ASC
36
Protective Earth Terminal M4 5 Motor Leads AWG22 Motor Cable 7
31.7 AC Input
5-Phase RK
85 mm
Model RK596ACE RK596BCE RK599ACE RK599BCE RK5913ACE RK5913BCE Motor Model PK596AE PK596BE PK599AE PK599BE PK5913AE PK5913BE L1 68 98 128 L2 100 130 160 Mass (kg)
5-Phase CRK
1.7 2.8 3.8

L2 32
1
15
DC Input
2-Phase CMK
37 L1 10 2
25
0.25
25
0.25
85 70 0.35
6.5 Thru
2-Phase CSK
0 0.046(h8)
0 0.018(h7)
0.15
13
13 0.15 0 0.018(h7)
6.7 20.5 600 50
60
70 0.35 85
14
14
5 Motor Leads AWG22 Motor Cable 7

b These dimensions are for double shaft models. For single shaft models, ignore the orange ( ) areas.
31.7

3
15
Controllers
60 mm
Model RK564ACT RK566ACT RK569ACT Motor Model PK564AT PK566AT PK569AT L 92 103 132.5 Mass (kg) 0.8 1.1 1.6
0.15 0 0.015(h7) 0 0.039(h8)
Accessories
4 M3
40.3
24 1 1.5 20
60 50 0.35
4 4.5 Thru
7.5
36
Installation
Protective Earth Terminal M4 10

Protective Earth Terminal M4 10.3 27 max.
b The outer diameter of the applicable cable (VCT) is 7 to 13 mm. An accessory motor cable (with protective earth wire) is also available (sold separately). Page C-254
70.3 10.3
50 0.35 60 88 max.
0.25
C-101
0.15 0 0.018(h7) 0 60 0.046(h8)
25
0.25
13
14
Protective Earth Terminal M4 Protective Earth Terminal M4 10 10.3

27 max.
b The outer diameter of the applicable cable (VCT) is 7 to 13 mm. An accessory motor cable (with protective earth wire) is also available (sold separately). Page C-254

5
60 mm
Model RK564AMCE RK566AMCE RK569AMCE Motor Model PK564AEM PK566AEM PK569AEM L 88.5 99.5 129 Mass (kg) 0.9 1.1 1.6
L 7 24 1 1.5 20
0.25
10.3
4 60 50 0.35
4.5 Thru
7.5 0.15 0 0.015(h7) 0 0.039(h8)
600 50
36
31.7 5 Motor Leads AWG22 2 Electromagnetic Brake Leads AWG24 Motor Cable 7
85 mm
Model RK596AMCE RK599AMCE RK5913AMCE Motor Model PK596AEM PK599AEM PK5913AEM L 119 149 179 Mass (kg) 2.4 3.5 4.5
L 10 37 2
1
25
0.25
85 70 0.35
15
50 0.35 60
6.5 Thru
0 0.046(h8)
13 0.15 0 0.018(h7)
60
600 50
31.7 5 Motor Leads AWG22 2 Electromagnetic Brake Leads AWG24 Motor Cable 7
C-102
14
15
70 0.35 85
70 0.35 85 113 max.
95.3
Stepping Motors
85 mm
Model RK596ACT RK599ACT RK5913ACT Motor Model PK596AT PK599AT PK5913AT L 110 140 170 Mass (kg) 2.2 3.3 4.4 L 4 M4 40.6 10
37 2
85 70 0.35
4 6.5 Thru
Stepping Motors
TH Geared Type
7
60 mm
Motor Model PK564AE-T PK564BE-T Gear Ratio 3.6, 7.2, 10, 20, 30 Mass (kg) 0.95
Model RK564ACE-T RK564BCE-T
21 1 20 0.25
114.5 93.5 3.5
32
12
4 M4 8 Deep 60
Introduction
7 0.15 0 0.015(h7)
0 0.015(h7)
10 0.5 0 0.021(h7)
0.15
7.5
6.7 20.5 600 50
70
0 .5
15
60
AC Input
23
AS
31.7
DC Input
90 mm
Motor Model PK596AE-T PK596AE1-T PK596BE-T PK596BE1-T Gear Ratio 3.6, 7.2 10, 20, 30 3.6, 7.2 10, 20, 30 Mass (kg)
ASC
Model RK596ACE-T RK596ACE-T RK596BCE-T RK596BCE-T
2.85 AC Input
5-Phase RK
85
32 25
0.25
164.5 132.5 3.5
32 1 25
4 M8 15 Deep 90
5-Phase CRK
A A
0 0.018(h7) 0 0.025(h7) 0 0.018(h7)
85
18
4 10
0.15
0.5
0.5
90
DC Input
2-Phase CMK
13
3.9 20.5
12 600 50 5 Motor Leads AWG22
15
31.7
14
35
2-Phase CSK
Motor Cable 7
0.1 0
0 0.030
25
0.2
4
0 0.030
0 0.030
2.5
A A
PL Geared Type
9
60 mm
Motor Model PK566AE-P PK566BE-P PK564AE-P PK564BE-P Gear Ratio 5, 7.2, 10 25, 36, 50 L1 94.5 108.5 L2 115.5 129.5 Mass (kg) 1.3 1.4
Model RK566ACE-P RK566BCE-P RK564ACE-P RK564BCE-P
Controllers
L2 21 20
0.25 1
38 L1 10
25
4 M5 10 Deep 60 4 60
70
0 0.018(h7) 0 0.025(h7)
Accessories
A
0 0.015(h7) 0.15
0 0.030
25
0.2
0 0.030
7.5
6.7 20.5
2.5
600 50
15
0 0.030
0.5
0.1 0
Installation
A A
12
37
31.7 5 Motor Leads AWG22
C-103
A 85
0 0.018(h7) 0.15
0 0.030(h7)
61
A
0 0.018(h7)
4 10
0.5
15
14
13
3.9 20.5
600 50 5 Motor Leads AWG22 Motor Cable 7
31.7
18
6
0.1 0
0 0.030
25
0.2
0 0.030
3.5
A A
PN Geared Type
11
60 mm
Motor Model PK566AE-N PK566BE-N PK564AE-N PK564BE-N Gear Ratio 5, 7.2, 10 25, 36, 50 L1 103.5 108.5 L2 124.5 129.5 Mass (kg) 1.5 1.5
Model RK566ACE-N RK566BCE-N RK564ACE-N RK564BCE-N
L2 21 20
0.25 1
38 L1 6
25
4 M5 10 Deep 60 4 60
70
0 0.018(h7) 0 0.025(h7)
A
0.15 0 0.015(h7)
0 0.030
0 0.030
90 25
0 0.21
7.5
6.7 20.5
2.5
600 50
15
A A
12
37
5 Motor Leads AWG22
31.7
12
90 mm
Motor Model PK599AE-N PK599BE-N PK596AE-N PK596BE-N Gear Ratio 5, 7.2, 10 25, 36, 50 L1 158 151 L2 190 183 Mass (kg) 5 4.7
Model RK599ACE-N RK599BCE-N RK596ACE-N RK596BCE-N
L2
85
32 25
0.25
L1 6
47 1 40 25
4 M8 15 Deep 90
0 0.030
0 .5
0.1 0
85
0 0.018(h7)
0.15
A
0 0.018(h7) 0 0.030(h7)
4 10
0.5
15
14
13
3.9 20.5
600 50
18
31.7 Motor Cable 7
5 Motor Leads AWG22 6

0.1 0 0 0.030
61
25
0.2
0 0.030
3.5
A A
C-104
0 0.030
90
Stepping Motors
10
90 mm
Motor Model PK599AE-P PK599BE-P PK596AE-P PK596BE-P Gear Ratio 5, 7.2, 10 25, 36, 50 L1 145 151 L2 177 183
L2 85 32 25
0.25 1
Model RK599ACE-P RK599BCE-P RK596ACE-P RK596BCE-P
Mass (kg) 4.4 4.2
47 L1 14
26 25
4 M8 15 Deep 90
0 0.030
Stepping Motors

13
60 mm
Motor Model PK564AE-H S PK564BE-H S Gear Ratio 50, 100 Mass (kg) 1.08
Model RK564ACE-H RK564BCE-H
21 20
0.25
109.5 88.5
28.5 1 1.5 20 2 A
4 M5 10 Deep 6 M4 6 Deep 60
Introduction
4 60
0.1 0
0 0.030
20
0 0.21
4
0 0.030
0 0.030
60
0.2
0 0.015(h7)
0.15
7.5
6.7 20.5
12 0.018(h7) 33.5 (Max. Dia. of Rotating Part)
0 0.030(h7)
15
600 50
70
0 .5
2.5
25.5
90
1.6
AC Input
A A
AS
Protective Earth Terminal M4 Motor Cable 7 5 Motor Leads AWG22
54
31.7
The position on the output shaft relative to the screw holes on the rotating part is arbitrary.
DC Input
ASC
14
90 mm
Motor Model PK596AE1-H PK596BE1-H Gear Ratio 50, 100 Mass (kg) 3.7
Model RK596ACE-H RK596BCE-H
AC Input
5-Phase RK
32 25
0.25
183.5 151.5 3 15
40
1.2
85
3.5 28 25
9.2 Thru 90
5-Phase CRK
A 22 50 85
0 0.018(h7) 0.15
0 0.035(h7)
DC Input
2-Phase CMK
A
6.7 20.5
0 0.018(h7)
15
14
13
600 50
83
0 .5
90
2-Phase CSK
31.7
5 Motor Leads AWG22 Motor Cable 7 Protective Earth Terminal M4
18
10
6
0.1 0
0 0.030
25 2.4
0 0.21
0 0.030
3.5
A A

0 0.030
90
C-105
(7.5)
15
135
150
9 M3 5 max.
15

(7.5)
116 120
12 max.
7.62
C-106
Stepping Motors
b Driver
15 Driver Model: RKD514L-C RKD514H-C RKD514LM-C RKD514HM-C
Mass: 0.85 kg
Slits
41 max.
7.5
20
4.5 Thru
4.5 7.5
4.5 20 57
b I/O Connector (Included) Cover assembly: 54331-1201 (MOLEX) Connector: 54306-2019 (MOLEX)
Stepping Motors

The driver is designed for easy mounting, so it is easy to design the base. z Signal Monitor Displays The signal monitor displays allow you to check the driver's operating condition at a glance. x Function Select Switches The driver functions can be easily operated/set using the switches on the front panel.
c Current Adjustment Switches
Introduction
Motor Terminals The one-touch terminal block cover adopts an anti-slide shape to prevent the installed cover from detaching.
v Step Angle Setting Switches
AC Input
AS
Power Input Terminals
b Input/Output Signals
DC Input
ASC
1 Signal Monitor Displays

Indication Color POWER Green TIM. Green O.H. Red Function Power Input Display Excitation Timing Output Display Overheat Output Display
4 Step Angle Setting Switches

Indication DATA1 Step Angle Setting Switch DATA2 Step Angle Setting Switch (Common to DATA1 and DATA2) 0 1 2 3 4 5 6 7 8 9 A B C D E F Switch Name Function Each switch can be set to the desired resolution from the 16 resolution levels. AC Input
5-Phase RK
2 Function Select Switches

Indication 2P/1P Switch Name Pulse Input Mode Switch Function Switches between 1-pulse input and 2-pulse input. When the temperature of heat sink of the driver rises to approximately 80C, this function automatically switches the motor current off. The function can be set or deactivated with this 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 or deactivated with this switch. The modes of the electromagnetic brake can be switched by combination of the switch settings. The following three modes are available; Power-failure position-holding mode Energy-saving mode Electromagnetic brake control mode
Resolution 1 2 2.5 4 5 8 10 20 25 40 50 80 100 125 200 250
Step Angle 0.72 0.36 0.288 0.18 0.144 0.09 0.072 0.036 0.0288 0.018 0.0144 0.009 0.0072 0.00576 0.0036 0.00288
5-Phase CRK
DC Input
A.C.O./OFF
Automatic Current Off Function Switch
2-Phase CMK
OFF/S.D.
Smooth Drive Function Switch Electromagnetic Brake Function Switch (Only for electromagnetic brake type) Energy-Saving Mode Switch (Only for electromagnetic brake type)
2-Phase CSK
M.B.F./OFF
OFF/E.S.
Setting the Step Angles

3 Current Adjustment Switches
Indication RUN STOP Switch Name Function
Selects and switches between the two step angle setting switches (DATA1 and DATA2). Use the step angle select signal to change the step angle. Photocoupler OFF: Step angle (resolution) set by DATA1 is selected. Photocoupler ON: Step angle (resolution) set by DATA2 is selected.
Motor Run Current Switch For adjusting the motor running current Motor Stop Current Switch For adjusting the motor current at standstill
Controllers
Indication Input/Output Pin No. 1 2 3 4 5 6 7 8 9 10 17 18 19 20 Terminal Name Pulse Signal (CW Pulse Signal) Rotation Direction Signal (CCW Pulse Signal) All Windings Off Signal Step Angle Select Signal Electromagnetic Brake Release Signal (Electromagnetic Brake Type Only) Excitation Timing Signal Overheat Signal Function Operation command pulse signal (The motor will rotate in the CW direction when in 2-pulse input mode.) Rotation direction signal, Photocoupler ON: CW, Photocoupler OFF: CCW (The motor will rotate in the CCW direction when in 2-pulse input mode.) Cuts the output current to the motor and allows the motor shafts to be rotated manually. Switches to step angle set in DATA1 and DATA2. Releases the electromagnetic brake and enables motor operation. Outputs signals when the excitation sequence is at STEP 0. When the temperature of heat sink of the driver rises to approximately 80C, this function automatically turns the output signal OFF.
Accessories
Input Signals CN1
Installation
Output Signals
b Description of input/output signals Page C-109
C-107
6.2 mm max.
6.2 mm max.
C-108
Stepping Motors
User's Controller
V0 (+5 24 VDC) Twisted-Pair Wire Pulse Signal R1
Driver CN1
1 2 3 5-Phase Stepping Motor

Protective Earth (P.E.) [Use wire of AWG18 (0.75 mm2) or thicker.]
Rotation Direction Signal R1
4
5
Input Signals
All Windings Off Signal R1
6 7
TB1
BLUE RED Blue(1)1 Red(2) Orange(3) Green(4) GREEN Black(5) BLACK
2 Red/White
Resolution Select Signal R1 Electromagnetic Brake Release Signal 3 0V R1
8
ORANGE
9
10
3 Electromagnetic brake type only
M.BRAKE
2 Black/White
V0 (+5 24 VDC)
M.BRAKE L R2 Excitation Timing Signal
1 The terminal numbers of the standard IP65 rated motor type are shown in ( ). 2 Electromagnetic brake type only (Correct polarity must be ensured.) Spiral wires are used.
17 18 19
Output Signals
200-230 VAC
Power Source 10% Single-Phase 200-230 VAC 15% 50/60 Hz (Single-Phase 200-230 VAC Input Driver)
Caution
The driver incorporates fusing for L (Live) side of the power input line. If the driver POWER LED is off, it is possible that the fuse is tripped. High voltage supplied on the hot side may cause electric shock. Turn the power off immediately and request service.
R2 Overheat Signal
20
0V Protective Earth (P.E.) [Use wire of AWG18 (0.75mm2) or thicker.]
Connecting Input Signal

When the voltage is equal to 5 VDC, the external resistor R1 is not necessary. When the voltage is above 5 VDC, connect R1 as shown in the diagram to keep the input current to 20 mA or below. Applying a voltage exceeding 5 VDC without using an external resistor will damage the internal elements. Example) If V0 is 24 VDC, R1 must be 1.5 to 2.2 k , 0.5 W or more.
Notes on Wiring
b Use twisted-pair wires of AWG24 (0.2 mm2) or thicker and 2 m or less in length for the signal line. b Note that as the length of the pulse signal line increases, the maximum transmission frequency decreases. Technical reference Page F-46 b Use wires of AWG22 (0.3 mm2) or thicker for motor lines (when extended) and power supply lines, and use a wire of AWG18 (0.75 mm2) or thicker for the wire for the protective earthing line. b Provide a common ground point for the driver and external controller. b Signal lines should be kept at least 10 cm away from power lines (power supply lines and motor lines). Do not bind the signal line and power line together.
Connecting Output Signal

Keep the output signal voltage and current to 24 VDC and 10 mA or below, respectively. If these specifications are exceeded, the internal components may be damaged. Check the specification of the connected equipment. When the current is above 10 mA, connect the external resistor R2 as shown in the diagram to keep it to 10 mA or below.
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: b Motor does not rotate properly at high-speed b Slow motor startup and stopping

3.2 mm min. 3.2 mm min.
9 mm min.
9 mm min.
b Connection of Standard Type IP65 Rated Motor

RK564ACT, RK566ACT, RK569ACT
1 2 3 4 5
RK596ACT, RK599ACT, RK5913ACT

Not used Motor Wire [AWG26 to 16 (0.14 to 1.25 mm2)] M3 Internal Protective Earth Terminal (M4) Protective Earth Wire [AWG18 (0.75 mm2) min.] Multi-Core Cable (Diameter: 7 to 13 mm)
1 2 3 4 5
Internal Protective Earth Terminal (M4) Protective Earth Wire [AWG18 (0.75 mm2) min.] Multi-Core Cable (Diameter: 7 to 13 mm)
External Protective Earth Terminal(M4) Protective Earth Wire [AWG18 (0.75 mm2) min.]
Motor Wire [AWG22 to 16 (0.3 to 1.25 mm2)] External Protective Earth Terminal(M4) Protective Earth Wire [AWG18 (0.75 mm2) min.]
Use either the internal or external protective earth terminal for grounding.
Stepping Motors

All Windings ON Off Signal OFF
ON
Motor Current
ON
OFF
Motor Holding Torque
Release
Pulse (CW Pulse) and Rotation Direction (CCW Pulse) Input Signal All Windings Off (A.W.OFF) Input Signal Step Angle Select (C/S) Input Signal Electromagnetic Brake Release (M.B.FREE) Input Signal (Electromagnetic Brake Type only) Input Circuit and Sample Connection
Controller Open-Collector Output VO Pin No. 1,3,5,7,9 R1 0V Pin No. 2,4,6,8,10 10 20 mA
The shaded area indicates that the motor provides holding torque in proportion to standstill current set by STOP switch. bSwitching the "All Windings Off" (A.W.OFF) signal from "photocoupler ON" to "photocoupler OFF" does not alter the excitation sequence. When the motor shaft is manually adjusted with the "All Windings Off" signal input, the shaft will shift up to 3.6 (Geared type: 3.6/gear ratio) from the position set after the "All Windings Off" signal is released.
Introduction
AC Input
AS
Step Angle Select (C/S) Input Signal

Driver 220
bYou may select two step angles with the step angle setting switches DATA1 and DATA2. bWhen the signal is at "photocoupler OFF," a step angle set by DATA1 is selected; at "photocoupler ON," DATA2 is selected. Example: Changing the step angle from 0.072 to 0.72
DC Input AC Input
ASC
Keep the voltage V0 between 5 VDC and 24 VDC. When V0 is equal to 5 VDC, the external resistor R1 is not necessary. When V0 is above 5 VDC, connect R1 to keep the current between 10 mA and 20 mA.
C/S
ON OFF
5-Phase RK
(DATA1) 10 Pulses 1 Pulse
(DATA2)
CW Pulse Motor 0
Pulse (CW Pulse) and Rotation Direction (CCW Pulse) Input Signal Pulse Waveform Characteristics 1-Pulse Input Mode
Pulse Input Signal ON OFF 90% 10% 1 2 2.5 s 2.5 s min. min. 10 s 10 s min. min.
5-Phase CRK
0.72 0.072/step
0.72
1.44 0.72/step
2 s max. Rotation Direction ON Input Signal OFF CCW
2 s max. CW
bBe sure to change step angle setting inputs only when the pulse signals are at rest. Switching while moving may cause a positional error of the motor. bWhen the "Excitation Timing" signal is used, adjust the number of pulses so that the motor can operate with angles that are multiples of 7.2. The "Excitation Timing" signal output may become impossible for some combinations of step angles. Example: After operate 9 pulses with 0.072/step setting, change the step angle 0.72/step and operate with 1 pulse. In this case, "Excitation Timing" signal will not be output because step "0" position is skipped.
Operate 9 pulses with 0.072/step Operate 1 pulse with 0.72/step 0 0.72
DC Input
2-Pulse Input Mode

CW Pulse ON OFF ON OFF 2.5 s 2.5 s
min. min.
90% 10%
CCW Pulse
2 10 s min.
0.72
2 s max.
2 s max.
Pulse duty: 50% and below
0.072 STEP "0"
1 The shaded area indicates when the photocoupler diode is ON. The motor moves when the photocoupler state changes from ON to OFF. 2 The minimum interval time when changing rotation direction 10 s is shown as a response time of circuit. This value varies greatly depending on the motor type and load inertia.
0.72
Controllers
"Excitation Timing" signal is only output at step "0" sequence.
Pulse Signal Characteristics

bKeep the pulse signal at the "photocoupler OFF" state when no pulses are being input. bIn 1-pulse input mode, leave the pulse signal at rest ("photocoupler OFF") when changing rotation directions. bIn 2-pulse input mode, do not input a CW pulse and CCW pulse simultaneously.
Electromagnetic Brake Release (M.B.FREE) Input Signal (Electromagnetic Brake Type only)
bYou can control the electromagnetic brake using the "Electromagnetic Brake Release" signal and function switch. bWhen the "Electromagnetic Brake Release" signal is at photocoupler ON, the electromagnetic brake is released. bWhen the "Electromagnetic Brake Release" signal is at photocoupler OFF, the electromagnetic brake is engaged and the motor shaft is held in position after the motor stops.
All Windings Off (A.W.OFF) Input Signal

bInputting this signal puts the motor in a non-excitation (free) state. bThis signal is used when moving the motor by external force or manual home position is desired. The photocoupler must be "OFF" when operating the motor.
C-109
C-110
Stepping Motors
Excitation Timing (TIM.) Output Signal Overheat (O.H.) Output Signal Output Circuit and Sample Connection
Controller Open-Collector Output VO Pin No. 17, 19 R2 Pin No. 18, 20 0V
Keep the voltage V0 between 5 VDC and 24 VDC. Keep the current below 10 mA. If the current exceeds 10 mA, connect external resistor R2.
bIf the "Automatic Current Off" function switch is set to "OFF" position, the motor continues operation when the "Overheat" signal is output.
Pulse Input
ON OFF
O.H. Output
ON
Driver
O.H.LED Light
Motor
Continuous Operation
10 mA Max.
Electromagnetic Brake (Electromagnetic brake type only)
Release
Excitation Timing (TIM.) Output Signal

bThe "Excitation Timing" signal is output to indicate when the motor excitation (current flowing through the winding) is in the initial stage (step "0" at power up). bThe "Excitation Timing" signal is output simultaneously with a pulse input each time the excitation sequence returns to step "0." The excitation sequence will complete one cycle for every 7.2 rotation of the motor output shaft. Resolution 1: Signal is output once every 10 pulses. Resolution 10: Signal is output once every 100 pulses. The TIM. LED on the front panel lights when the "Excitation Timing" signal is output. Timing chart at 0.72/step (Resolution 1)
When connected as shown in the sample connection, the signal will be "photocoupler ON" at step "0."
bTo clear the "Overheat" signal, first resolve the cause and check for safety, then turn power on again. bThe overheat output uses positive logic (normal), all other outputs use negative logic (normal open).
b How to Use the Electromagnetic Brake Function and Energy-Saving Mode (Electromagnetic Brake Type Only)
The electromagnetic brake can be operated in the following three modes using the electromagnetic brake switch and energy-saving mode switch. 1. Power-failure position-holding mode ("Electromagnetic Brake Release" signal input disabled) 2. Energy-saving mode ("Electromagnetic Brake Release" signal input used) 3. Electromagnetic brake control mode ("Electromagnetic Brake Release" signal input used)
1. Power-failure position-holding mode (factory setting)

The electromagnetic brake is released and activated in sync with the ON/OFF of the power supply. The "Electromagnetic Brake Release" signal is disabled. Function switch Set Electromagnetic brake switch M.B.F. side Energy-saving mode switch OFF side
2P/1P A.C.O./OFF
ON PLS Input OFF ON DIR. Input OFF ON TIM. Output OFF (Step)
CW
CCW
Note: b When power is turned ON, the excitation sequence is reset to step "0" and the "Excitation Timing" signal is output.
OFF/S.D. M.B.F./OFF OFF/E.S. Electromagnetic Brake Function Switch Energy-Saving Mode Switch
Overheat (O.H.) Output Signal

bThe "Overheat" signal is output to protect the driver from heat damage if the temperature of the heat sink rises to 80C. The O.H LED lights on the front panel when the "Overheat" signal is output. bYou can select whether to stop the motor or continue the operation when an overheat signal is output. bIf the "Automatic Current Off" function switch is set to "A.C.O." position, output current is shut off to stop the motor when the "Overheat" signal is output. With electromagnetic brake type, the electromagnetic brake is engaged and the motor shaft is held in position.
Pulse Input
ON OFF
During normal operation

Driver Power Supply
ON OFF
ON 1.4 s max.
Hold Release
Hold 1.2 s max.
Release
ON Motor Current OFF
ON
Upon power off/power failure

Driver Power Supply
ON OFF
ON 1.0 s max.
ON 1.4 s max. Hold Release 1.2 s max. ON
Hold Electromagnetic Brake Release
Release
20
ms
O.H. Output
ON
ON Motor Current OFF
ON
O.H.LED
Light
Motor
Run
Stop (No holding power)
The above diagram indicates a condition in which the motor is stopped. If a power failure occurs while the motor is running, the duration of motor-current cutoff becomes shorter.
Electromagnetic Brake (Electromagnetic brake type only)
Release
Hold
Stepping Motors
2. Energy-saving mode
The "Electromagnetic Brake Release" signal input is used to switch the operating mode of the electromagnetic brake between Release and Hold. Once the motor has stopped, switching the operating mode of the electromagnetic brake to Hold cuts off the output current. This is useful in the reduction of power consumption and the prevention of an overheated motor/driver. Function switch Set Electromagnetic brake switch M.B.F. side Energy-saving mode switch ON side
2P/1P A.C.O./OFF OFF/S.D. M.B.F./OFF OFF/E.S. Electromagnetic Brake Function Switch Energy-Saving Mode Switch
3. Electromagnetic brake control

The "Electromagnetic Brake Release" signal input is used to switch the operating mode of the electromagnetic brake between Release and Hold. Function switch Set Electromagnetic brake switch OFF side Energy-saving mode switch ON side or OFF side
2P/1P A.C.O./OFF OFF/S.D. M.B.F./OFF OFF/E.S. 2P/1P
Introduction
A.C.O./OFF OFF/S.D. M.B.F./OFF OFF/E.S. Electromagnetic Brake Function Switch Energy-Saving Mode Switch
AC Input
M.B.FREE Input
ON OFF
ON 20 ms
ON 180 ms (RK56 ) 200 ms (RK59 ) Hold 200 ms min. Release 0 s min.
Hold Release
Release
Motor
Run Stop
Note: b If the photocoupler of the "Electromagnetic Brake Release" signal (M.B.FREE) input is turned "OFF" for not more than 20 ms, the electromagnetic brake will not switch from "Release" to "Hold." Similarly, the electromagnetic brake will not switch from "Hold" to "Release" if the photocoupler of the "Electromagnetic Brake Release" input is turned "ON" for not more than 150 ms.
When the "Electromagnetic Brake Release" signal's photocoupler is set to "ON," the electromagnetic brake is released and motor operation is enabled. When the "Electromagnetic Brake Release" signal's photocoupler is set to "OFF," the electromagnetic brake holds after the motor stops. bThe output current is not cut off even when the energy-saving mode switch is being set to the E.S. side. b Upon the occurrence of a power failure, the electromagnetic brake operates in the same way it would in the power-failure position-holding mode.
M.B.FREE Input
ON OFF 30 ms (RK56 ) 50 ms (RK59 )
AS ASC 5-Phase RK
DC Input AC Input
ON 20 ms
ON 30 ms (RK56 ) 50 ms (RK59 )
Electromagnetic Hold Brake Release
5-Phase CRK
Hold
Release 0 s min.
Hold
Release 0 s min.
200 ms min. Motor

Run Stop
DC Input
2-Phase CMK
20 ms min. A.W. OFF ON Input OFF ON
150 ms min.
2-Phase CSK
b Timing Chart
Motor CW CCW ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF
4
2.2 s min. 10 s min. 1 1 10 s min. 15 s min.
Power Input 1-Pulse Input Mode Pulse Input Signal Rotation Direction Input Signal 2-Pulse Input Mode CW Pulse Input Signal CCW Pulse Input Signal A.W.OFF Input Signal C/S Input Signal O.H. Output Signal
10 s min.
3 150 ms min.
Controllers
2
300 s min.
DATA1 0.5 s max.
DATA2
Accessories
1 Switching time to change direction (1-pulse input mode), and switching time to change CW, CCW pulse (2-pulse input mode) 10 s minimum is shown as a response time of circuit. The motor may need more time. 2 Depends on load Inertia, load torque, and starting frequency. 3 Never input a pulse signal immediately after switching the "All Windings Off" signal to the "photocoupler OFF" state. The motor may not start. 4 Wait at least 15 seconds before turning on the power.
Installation
C-111
C-112
Stepping Motors

Type Model RK564 CE RK566 CE RK569 CE RK596 CE RK599 CE RK5913 CE RK564ACT RK566ACT RK569ACT RK596ACT RK599ACT RK5913ACT RK564AMCE RK566AMCE RK569AMCE RK596AMCE RK599AMCE RK5913AMCE RK564 RK564 RK564 RK564 RK564 RK596 RK596 RK596 RK596 RK596 RK566 RK566 RK566 RK564 RK564 RK564 RK599 RK599 RK599 RK596 RK596 RK596 RK566 RK566 RK566 RK564 RK564 RK564 RK599 RK599 RK599 RK596 RK596 RK596 CE-T3.6 CE-T7.2 CE-T10 CE-T20 CE-T30 CE-T3.6 CE-T7.2 CE-T10 CE-T20 CE-T30 CE-P5 CE-P7.2 CE-P10 CE-P25 CE-P36 CE-P50 CE-P5 CE-P7.2 CE-P10 CE-P25 CE-P36 CE-P50 CE-N5 CE-N7.2 CE-N10 CE-N25 CE-N36 CE-N50 CE-N5 CE-N7.2 CE-N10 CE-N25 CE-N36 CE-N50 Motor Model PK564 E PK566 E PK569 E PK596 E PK599 E PK5913 E PK564AT PK566AT PK569AT PK596AT PK599AT PK5913AT PK564AEM PK566AEM PK569AEM PK596AEM PK599AEM PK5913AEM PK564 PK564 PK564 PK564 PK564 PK596 PK596 PK596 PK596 PK596 PK566 PK566 PK566 PK564 PK564 PK564 PK599 PK599 PK599 PK596 PK596 PK596 PK566 PK566 PK566 PK564 PK564 PK564 PK599 PK599 PK599 PK596 PK596 PK596 E-T3.6 E-T7.2 E-T10 E-T20 E-T30 E-T3.6 E-T7.2 E1-T10 E1-T20 E1-T30 E-P5 E-P7.2 E-P10 E-P25 E-P36 E-P50 E-P5 E-P7.2 E-P10 E-P25 E-P36 E-P50 E-N5 E-N7.2 E-N10 E-N25 E-N36 E-N50 E-N5 E-N7.2 E-N10 E-N25 E-N36 E-N50 Driver Model RKD514L-C
Standard Type
RKD514H-C
RKD514L-C
RKD514H-C
RKD514LM-C
RKD514HM-C
RKD514L-C
TH Geared Type
RKD514H-C
RKD514L-C
PL Geared Type
RKD514H-C
RKD514L-C
PN Geared Type
RKD514H-C
RK564 CE-H50 RK564 CE-H100 RK596 CE-H50 RK596 CE-H100
PK564 E-H50S PK564 E-H100S PK596 E1-H50 PK596 E1-H100
RKD514L-C RKD514H-C
b Enter A (single shaft) or B (double shaft) in the box ( ) within the model name.
Stepping Motors
Introduction
Stepping Motors

AC Input
AS
DC Input
DC Input AC Input
ASC 5-Phase RK 5-Phase CRK
DC Input CRK Series
DC Input
2-Phase CMK
DC Input CMK Series
2-Phase CSK
DC Input CSK Series
Page
CRK Series C-114 CMK Series C-146 CSK Series C-170
C-113
Angle Error [deg]
1.5 Torque TH2 1 TH1 0.5 TL 0 -1.8 -0.9 -TL -0.5 0.9 1.8
Torque [Nm]
C-114
Stepping Motors
CRK Series
The CRK Series is a motor and driver package combining a high-performance, 5-phase stepping motor with a compact, low-vibration microstep driver offering the Smooth Drive Function. Four frame sizes of 20 mm, 28 mm, 42 mm and 60 mm are available, as well as various geared motor units.
Features
b Newly Designed Motors
High-Resolution Motor Improved Stopping Accuracy
The positioning accuracy of a stepping motor is affected by friction load. The high-resolution type achieve high accuracy and reliability based on Oriental Motor's latest precision machining technology. The motor resolution is increased to double the level of a standard model to reduce the displacement angle against load torque, thereby achieve high positioning accuracy. Vibration is also reduced.
Standard type: 50 teeth Resolution:
Stop Position Accuracy

The high-resolution type is designed with a stop position accuracy of 2 arc minutes (0.034) [standard type: 3 arc minutes (0.05)]. The reduced error helps improve the positioning accuracy of your equipment.
Static Angle Characteristics

0.06 0.05 0.04 0.03 0.02 0.01 0 Power Supply Voltage: 24 VDC Resolution 1 (0.36/step) CRK566PMBP
500 per revolution
0.72/step
-0.01 -0.02 -0.03 -0.04 -0.05 -0.06 0
60
120
180 240 Angle [deg]
300
360
High-Torque Motor
Resolution is increased!
High-resolution type: 100 teeth Resolution:
1000 per revolution
0.36/step
The high-resolution type and high-torque type adopt a newly designed high-torque motor that widens the range of applications. bThe smaller motor allows for compact equipment design. bThe motor current is reduced to suppress heat generation. Example: Avoidance of temperature rise in precision equipment or machinery
Comparison of Speed - Torque Characteristics

Current: 1.4 A/Phase Step Angle: 0.36/step With Damper D6CL-8.0F: JL=140 107kgm2 1.6 CRK566PMBP (High-Resolution Type) 1.2
Comparison of Angle - Torque Characteristics

TL: Friction Torque TH1,TH2: Maximum Holding Torque
0.8 CRK566BP (Standard Type)
0.4
0 0
Angle [ deg ]
100 200 300 400 500 600 700 800 900 1000 Speed [r/min]
Adopting a Connector Coupling Method

High-Resolution Type Standard Type
-1
-1.5
TH1: CRK566AP (Standard Type) TH2: CRK566PMAP (High-Resolution Type)
The high-resolution type and high-torque type are connected using a connector a connection method everyone is familiar with. bDesired cable length and type can be selected. bMaintenance becomes easy. bMotor lead wire/connector assembly (0.6m) is included with motor and driver package. Features C-114 / System Configuration C-118 / Product Line C-119
Stepping Motors
b Wide Range of Motor Variations

The CRK Series offers models of the high-resolution type, hightorque type and standard type, as well as various geared types. You can find a product meeting your specific torque, resolution or other needs from a wide range of specifications.
Compact Size
The compact, lightweight driver in the CRK Series is approximately 47% smaller than a conventional full-step driver.
Comparison of Driver Size and Mass

Mass: 140 g
b Compact, Lightweight Microstep Driver

The driver in the CRK Series achieves microstep drive in a compact, lightweight body (Mass: 40 g). A new IC allows the driver to provide various functions, including the following: bSmooth Drive Function b1-pulse/2-pulse input mode switching b25 preset step angles bPower LED bPhotocoupler input bConnector with lock (by MOLEX)
Mass: 40 g
Introduction
77 mm
45 mm
AC Input
72 mm
65 mm
AS
Conventional Model (CSD58
N-T)
New Product (CRD51
P)
b Conforming to Major Safety Standards

DC Input
Mass: 40 g
25 m m
The CRK Series is UL-recognized and CSA-certified. It also bears the CE Mark as a proof of conformance to the EMC Directives. Safe operation is ensured anywhere in the world.
ASC 5-Phase RK
AC Input
RoHS-Compliant
The CRK Series conforms to the RoHS Directive that prohibits the use of six chemical substances including lead and cadmium.
45 m m
65 m

5-Phase CRK
b Useful Accessories
Driver Lead Wire Set
These lead wires allow for easy connection of the motor, power supply and input signals without crimping. All driver lead wires needed to connect the motor, power supply and I/O signals are combined in a single set. Various other parts and accessories useful in different applications are also available (sold separately).
Driver lead wire set Page C-257
Lower Vibration and Noise Achieved by Microstep Drive

The basic step angle of the motor can be divided into a maximum of 250 microstep angles without using any mechanical element such as a reduction gear. As a result, vibration and noise are further reduced.
DC Input
2-Phase CMK
Smooth Drive Function for Enhanced Ease of Use

The Smooth Drive Function automatically controls operations via microstep drive, at the same travel distance and speed used in the full-step mode, without requiring the operator to change the pulse input settings. This function is particularly useful when the CRK Series is used in the full-step or half-step mode.
Comparison of Vibration Characteristics

2.0 Vibration Component Voltage Vp-p [V] 1.6 1.2
Controllers
CSK566-NATE 0.72/step (Conventional Model) CRK566PMAP 0.36/step Smooth Drive Function: ON
0.8 0.4 0
100
200 Speed [r/min]
300
400
C-115
Low Backlash Type
Non-Backlash Type
C-116
Stepping Motors
Wide Variety
The CRK Series motor and driver package comes in four motor frame sizes of 20 to 60 mm, as well as four geared types.
Type Features A high-torque motor offering higher positioning accuracy with the basic step angle set to 0.36/step, which is just half the basic step angle of the standard type. 20 mm 28 mm 42 mm 60 mm Driver
High-Resolution Type
High-Torque Type
A high-torque motor generating high torque of approx. 1.3 to 1.5 times the level achieved by the standard type.
Standard Type
The basic model in the CRK Series offering an optimal balance of torque, low vibration and low noise.
TH Geared Type
A geared motor achieving both low backlash and low cost.
PL Geared Type
A geared motor offering low backlash, high strength and wide gear ratios.
PN Geared Type
A high-accuracy, high strength geared motor achieving a backlash of 3 arc minutes or less.
A high-accuracy, backlash-free geared motor adopting a newly developed harmonic gear. It ensures high strength in a compact body.
Stepping Motors
Characteristics Comparison for Geared Motors

Geared Type Features Permissible Torque/ Maximum Torque [Nm] Backlash [arc min] Basic Resolution [deg/step] Output Shaft Speed [r/min]
A wide variety of low gear ratios for high-speed operation Low Backlash Type Gear ratios: 1:3.6, 1:7.2, 1:10, 1:20, 1:30 TH Geared (Parallel Shaft) High permissible torque A wide variety of gear ratios for selecting the desired step angle Centered output shaft PL Geared (Planetary Gear) Gear ratios: 1:5, 1:7.2, 1:10, 1:25, 1:36, 1:50 High speed (low gear ratio), high positioning precision High permissible/maximum torque A wide variety of gear ratios for selecting the desired step angle Non-Backlash Type Centered output shaft PN Geared (Planetary Gear) Gear ratios: 1:5, 1:7.2, 1:10, 1:25, 1:36, 1:50
60
0.024
500
Introduction
35
0.0144
360
AC Input
AS

8 20 3 0.0144 600
DC Input AC Input
ASC 5-Phase RK
High positioning precision High permissible/maximum torque High gear ratio, high resolution Centered output shaft Harmonic Geared
(Harmonic Drive)

8 28 0 0.0072 70
Gear ratios: 1:50, 1:100
5-Phase CRK
DC Input
C-117
C-118
Stepping Motors
An example of a system configuration with the SG8030JY controller. Controller (Sold separately) Controller
( Page C-248)
24 VDC Power Supply

(Not supplied)
(Not supplied)
CRK Series (Body)

Motor Driver
24 VDC Power Supply

(Not supplied)

( Page C-266)
Flexible Couplings
( Page C-258)
Clean Dampers
( Page C-264)

( Page C-257)
Motor Lead Wire/ Connector Assembly

( Page C-255)
Motor Connector Set

( Page C-255)
A motor lead wire/connector assembly of 0.6 m is included with the motor and driver package of connector-coupled type.
No.
Product Name
Controller Motor Mounting Brackets Flexible Couplings Clean Dampers Driver Lead Wire Set Motor Lead Wire/Connector Assembly Motor Connector Set
Overview
This controller outputs pulse commands that determine the rotating amount and rotating speed. Dedicated mounting bracket for the motor. Coupling that connects the motor shaft to the driven shaft. Dedicated damper for suppressing stepping motor vibration. Cables for connecting the driver and motor, DC power supply or host controller (0.6 m). Lead wire with a connector crimped for connector-coupled motors (0.6 m, 1 m). Set of connector housings and contacts for use with connector-coupled motors (for 30 units).
Page
C-248 C-266 C-258 C-264 C-257 C-255 C-255

CRK Series
CRK566PMBP
Controller
SG8030JY-U
Motor Mounting Bracket PAL2P-5
Flexible Coupling MCS300808
Clean Damper
D6CL-8.0F
Driver Lead Wire Set (0.6 m) LCS04SD5
Stepping Motors
Product Number Code

b High-Resolution Type/High-Torque Type/Standard Type
Series 5: 5-Phase Motor Frame Size Motor Case Length Motor Type Resolution Motor Shaft Type Signal I/O Mode of Driver CRK: CRK Series 1: 20 mm 2: 28 mm 4: 42 mm 6: 60 mm
M: High-Resolution A: Single Shaft B: Double Shaft P: Photocoupler
Introduction
b Geared Type
Series 5: 5-Phase Motor Frame Size Motor Case Length Motor Type Motor Shaft Typ Signal I/O Mode of Driver Gearhead Type Gear Ratio CRK: CRK Series AC Input 1: 20 mm 2: 28 mm 4: 42 mm 6: 60 mm
AS
A: Single Shaft B: Double Shaft P: Photocoupler T: TH Geared Type P: PL Geared Type N: PN Geared Type H: Harmonic Geared Type
DC Input AC Input
ASC 5-Phase RK
Product Line
b High-Resolution Type
Model (Single Shaft) CRK523PMAP CRK524PMAP CRK525PMAP CRK544PMAP CRK546PMAP CRK564PMAP CRK566PMAP CRK569PMAP Model (Double Shaft) CRK523PMBP CRK524PMBP CRK525PMBP CRK544PMBP CRK546PMBP CRK564PMBP CRK566PMBP CRK569PMBP
b PL Geared Type
Model (Single Shaft) CRK545AP-P5 CRK545AP-P7.2 CRK545AP-P10 CRK543AP-P25 CRK543AP-P36 CRK543AP-P50 CRK566AP-P5 CRK566AP-P7.2 CRK566AP-P10 CRK564AP-P25 CRK564AP-P36 CRK564AP-P50 Model (Double Shaft) CRK545BP-P5 CRK545BP-P7.2 CRK545BP-P10 CRK543BP-P25 CRK543BP-P36 CRK543BP-P50 CRK566BP-P5 CRK566BP-P7.2 CRK566BP-P10 CRK564BP-P25 CRK564BP-P36 CRK564BP-P50
5-Phase CRK
DC Input
2-Phase CMK
b High-Torque Type
Model (Single Shaft) CRK513PAP CRK523PAP CRK525PAP CRK544PAP CRK546PAP Model (Double Shaft) CRK513PBP CRK523PBP CRK525PBP CRK544PBP CRK546PBP
2-Phase CSK
b PN Geared Type
Model (Single Shaft) CRK523PAP-N5 CRK523PAP-N7.2 CRK523PAP-N10 CRK544AP-N5 CRK544AP-N7.2 CRK544AP-N10 CRK566AP-N5 CRK566AP-N7.2 CRK566AP-N10 CRK564AP-N25 CRK564AP-N36 CRK564AP-N50 Model (Double Shaft) CRK523PBP-N5 CRK523PBP-N7.2 CRK523PBP-N10 CRK544BP-N5 CRK544BP-N7.2 CRK544BP-N10 CRK566BP-N5 CRK566BP-N7.2 CRK566BP-N10 CRK564BP-N25 CRK564BP-N36 CRK564BP-N50
b Standard Type
Model (Single Shaft) CRK543AP CRK544AP CRK545AP CRK564AP CRK566AP CRK569AP Model (Double Shaft) CRK543BP CRK544BP CRK545BP CRK564BP CRK566BP CRK569BP
b TH Geared Type
Model (Single Shaft) CRK523PAP-T7.2 CRK523PAP-T10 CRK523PAP-T20 CRK523PAP-T30 CRK543AP-T3.6 CRK543AP-T7.2 CRK543AP-T10 CRK543AP-T20 CRK543AP-T30 CRK564AP-T3.6 CRK564AP-T7.2 CRK564AP-T10 CRK564AP-T20 CRK564AP-T30 Model (Double Shaft) CRK523PBP-T7.2 CRK523PBP-T10 CRK523PBP-T20 CRK523PBP-T30 CRK543BP-T3.6 CRK543BP-T7.2 CRK543BP-T10 CRK543BP-T20 CRK543BP-T30 CRK564BP-T3.6 CRK564BP-T7.2 CRK564BP-T10 CRK564BP-T20 CRK564BP-T30
Controllers
b Harmonic Geared Type

Model (Single Shaft) CRK513PAP-H50 CRK513PAP-H100 CRK543AP-H50 CRK543AP-H100 CRK564AP-H50 CRK564AP-H100 Model (Double Shaft) CRK513PBP-H50 CRK513PBP-H100 CRK543BP-H50 CRK543BP-H100 CRK564BP-H50 CRK564BP-H100
The following items are included in each product. Motor, Parallel Key1, Driver, Driver Connector, Motor Lead Wire/Connector Assembly2, Operating Manual 1 Only for the products with a key slot on the output shaft 2 Only for connector-coupled motor
C-119
Torque [Nm]
Torque [Nm]
Pullout Torque 0.03 Current [A] 0.02 0.01 0 fs 0 Driver Input Current 500 10 (100) 1000 Speed [r/min] 20 (200) Pulse Speed [kHz] 1500 2000 30 Resolution1 (300) (Resolution10) 0.6 0.4 0.2 0
0.05 0.04
Pullout Torque 0.6 Current [A] 0.4 0.2 0
Torque [Nm]
Current [A]
Torque [Nm]
0.20 0.15
Pullout Torque
Torque [Nm]
Current [A]
Current [A]
C-120
Stepping Motors
Specifications
Model Maximum Holding Torque Rotor Inertia Rated Current Basic Step Angle Power Source Excitation Mode Mass Dimension No. Single Shaft Double Shaft Nm J: kg m2 A/Phase CRK523PMAP CRK523PMBP 0.042 9 10-7
CRK524PMAP CRK524PMBP 0.061 13 10-7 0.35 24 VDC 10% 0.7 A
CRK525PMAP CRK525PMBP 0.09 19 10-7 0.36
CRK544PMAP CRK544PMBP 0.24 60 10-7 0.75
CRK546PMAP CRK546PMBP 0.42 121 10-7
24 VDC 10% 1.4 A Microstep 0.2 0.04

18
Motor Driver Motor Driver
kg kg
0.11
0.15
2
0.3
3
0.5
How to read specifications table Page C-10 Motor lead wire/connector assembly (0.6 m) is included with the motor and driver package of connector-coupled type.

CRK523PMAP/CRK523PMBP
0.06 0.05 0.04 Current: 0.35 A/Phase Step Angle: 0.36/step With Damper D4CL-5.0F: JL=34 107kgm2
0.12 0.10 0.08 0.06 0.04 0.02 0 fs 0 Driver Input Current 500 10 (100) 1000 Speed [r/min] 20 (200) Pulse Speed [kHz] 1500 2000 30 Resolution1 (300) (Resolution10) Pullout Torque Current: 0.35 A/Phase Step Angle: 0.36/step With Damper D4CL-5.0F: JL=34 107kgm2
0.6 0.4 0.2 0
0.03 0.02 0.01 0 fs 0 Driver Input Current 500 10 (100) 1000 1500 Speed [r/min] 2000 2500
0 (0)
0 (0)
30 20 (300) (200) Pulse Speed [kHz]
40 Resolution1 (400) (Resolution10)
0 (0)
0.6 0.5 0.4 Pullout Torque 0.3 0.2 0.1 0 0 fs 200 Driver Input Current 400 600 Speed [r/min] 5 (50) 10 (100) Pulse Speed [kHz] 800 1000 15 Resolution1 (150) (Resolution10) Current: 0.75 A/Phase Step Angle: 0.36/step With Damper D4CL-5.0F: JL=34 107kgm2
1.0 0.5 0
0.10 0.05 0 0 fs 200 Driver Input Current 400 600 Speed [r/min] 5 (50) 10 (100) Pulse Speed [kHz] 800 1000
1.0 0.5 0
0 (0)
0 (0)
Stepping Motors
Specifications
Model Maximum Holding Torque Rotor Inertia Rated Current Basic Step Angle Power Source Excitation Mode Mass Dimension No. Single Shaft Double Shaft Nm J: kg m2 A/Phase
kg kg
0.65
CRK566PMAP CRK566PMBP 1.3 500 10-7 1.4 0.36 24 VDC 10% 2.5 A Microstep 0.87 0.04
4 18

Introduction
1.5 AC Input
AS
DC Input

1.0 0.8 Torque [Nm] 0.6 Pullout Torque Current: 1.4 A/Phase Step Angle: 0.36/step With Damper D6CL-8.0F: JL=140 107kgm2
ASC
1.6 Current: 1.4 A/Phase Step Angle: 0.36/step With Damper D6CL-8.0F: JL=140 107kgm2
AC Input
5-Phase RK
1.2 Torque [Nm] Pullout Torque 0.8
4 Current [A]
2 Current [A] 1 0
0.4 0.2 Driver Input Current 0 0 fs 200 5 (50) 400 600 Speed [r/min] 10 (100) Pulse Speed [kHz] 800 1000 15 Resolution1 (150) (Resolution10)
5-Phase CRK
0.4
100 2.5 (25)
fs 200
300 400 Speed [r/min] 7.5 (75)
500
600 10 Resolution1 (100) (Resolution10)
0 (0)
0 (0)
DC Input
2-Phase CMK
3.0 2.5 Torque [Nm] 2.0 Pullout Torque 1.5 1.0 0.5 Driver Input Current 0 0 0 50 1 (10) 100 fs 150 200 Speed [r/min] 250 300 5 (50) 350 Resolution1 (Resolution10) Current: 1.4 A/Phase Step Angle: 0.36/step With Damper D6CL-8.0F: JL=140 107kgm2
2-Phase CSK
3 Current [A] 2 1
0 (0)
2 3 4 (20) (30) (40) Pulse Speed [kHz]
C-121
Torque [Nm]
Torque [Nm]
Current [A]
0.5 0
0.005 0 fs 0 1000 10 (100) Driver Input Current 2000 3000 Speed [r/min] 20 (200) Pulse Speed [kHz] 30 (300) 4000 Resolution1 (Resolution10)
Current [A]
Torque [Nm]
0.06 0.04 0.02 0 fs 0 1000 10 (100) 2000 3000 Speed [r/min] 20 (200) Pulse Speed [kHz] 30 (300) 4000 Resolution1 (Resolution10) Current [A] 2 1 0
Torque [Nm]
Current [A]
Torque [Nm]
Current [A]
C-122
Stepping Motors
High-Torque Type
Specifications
CRK513PAP CRK513PBP 0.0231 2.6 10-7
CRK523PAP CRK523PBP 0.048 9 10-7 0.35 24 VDC 10% 0.7 A
CRK525PAP CRK525PBP 0.078 18 10-7 0.72
CRK544PAP CRK544PBP 0.24 57 10-7 0.75 24 VDC 10%
CRK546PAP CRK546PBP 0.42 114 10-7
1.4 A 0.5
kg kg
0.05
1
0.11
2
Microstep 0.2 0.04

18
0.3
3

CRK513PAP/CRK513PBP
0.030 0.025 0.020 0.015 0.010 Pullout Torque Current: 0.35 A/Phase Step Angle: 0.72/step Load Inertia JL=0kgm2
CRK523PAP/CRK523PBP
0.06 0.05 0.04 Pullout Torque 0.03 0.02 0.01 0 fs 0 Driver Input Current 1000 10 (100) 2000 3000 Speed [r/min] 20 (200) Pulse Speed [kHz] 30 (300) 4000 Resolution1 (Resolution10) Current: 0.35 A/Phase Step Angle: 0.72/step With Damper D4CL-5.0F: JL=34 107kgm2
1.0
1.0 0.5 0
0 (0)
0 (0)
CRK525PAP/CRK525PBP
0.10 0.08 Pullout Torque Current: 0.35 A/Phase Step Angle: 0.72/step With Damper D4CL-5.0F: JL=34 107kgm2
CRK544PAP/CRK544PBP
0.30 0.25 0.20 Pullout Torque 0.15 0.10 0.05 0 fs 0 Driver Input Current 500 5 (50) 1000 1500 Speed [r/min] 2000 2500 Resolution1 (Resolution10) Current: 0.75 A/Phase Step Angle: 0.72/step With Damper D4CL-5.0F: JL=34 107kgm2
2 1 0
0 (0)
0 (0)
10 15 (100) (150) Pulse Speed [kHz]
CRK546PAP/CRK546PBP
0.5 0.4 0.3 Pullout Torque 0.2 0.1 0 fs 0 Driver Input Current 500 5 (50) 1000 Speed [r/min] 10 (100) Pulse Speed [kHz] 1500 15 (150) 2000 Resolution1 (Resolution10) Current: 0.75 A/Phase Step Angle: 0.72/step With Damper D4CL-5.0F: JL=34 107kgm2
2 1 0
0 (0)
Stepping Motors
Standard Type
Specifications
CRK543AP CRK543BP 0.13 35 10-7
CRK544AP CRK544BP 0.18 54 10-7 0.75 24 VDC 10% 1.4 A
CRK545AP CRK545BP 0.24 68 10-7 0.72
CRK564AP CRK564BP 0.42 175 10-7
CRK566AP CRK566BP 0.83 280 10-7 1.4 24 VDC 10% 2.5 A
CRK569AP CRK569BP 1.66 560 10-7

Introduction
Microstep Motor Driver Motor Driver kg kg 0.21 0.27

5 18
0.35 0.04
0.6
0.8
6
1.3 AC Input
AS
How to read specifications table Page C-10

CRK543AP/CRK543BP
DC Input
ASC
CRK544AP/CRK544BP
AC Input
5-Phase RK
0.15 Torque [Nm] Pullout Torque 2 0.05 Current [A] Torque [Nm] 0.10 Pullout Torque 0.10
Current [A]
2 1 0
0.05
5-Phase CRK
fs 0
Driver Input Current 1000 10 (100) 2000 3000 Speed [r/min] 20 (200) Pulse Speed [kHz] 30 (300) 4000 Resolution1 (Resolution10) 0 0 0
Driver Input Current fs 500 5 (50) 1000 1500 Speed [r/min] 2000 2500 Resolution1 (Resolution10)
0 (0)
0 (0)
10 15 (100) (150) Pulse Speed [kHz]
DC Input
2-Phase CMK
CRK545AP/CRK545BP
0.30 0.25 Torque [Nm] Current: 0.75 A/Phase Step Angle: 0.72/step With Damper D4CL-5.0F: JL=34 107kgm2
CRK564AP/CRK564BP
0.5 0.4 Current: 1.4 A/Phase Step Angle: 0.72/step With Damper D6CL-8.0F: JL=140 107kgm2
2-Phase CSK
Torque [Nm]
0.20 Pullout Torque 0.15 4 Current [A] 0.10 0.05 0 fs 0 Driver Input Current 500 5 (50) 1000 1500 Speed [r/min] 2000 2500 Resolution1 (Resolution10) 2 0
0.3 Pullout Torque 0.2 0.1
Current [A]
2 1 0
fs 0
Driver Input Current 500 5 (50) 1000 1500 Speed [r/min] 2000 2500 Resolution1 (Resolution10)
0 (0)
10 15 (100) (150) Pulse Speed [kHz]
0 (0)
10 15 (100) (150) Pulse Speed [kHz]
CRK566AP/CRK566BP
1.2 1.0 Current: 1.4 A/Phase Step Angle: 0.72/step With Damper D6CL-8.0F: JL=140 107kgm2
CRK569AP/CRK569BP
1.5 Torque [Nm] Torque [Nm] 0.8 Pullout Torque 0.6 0.4 0.2 0 0 Current [A] 4 Pullout Torque 1.0
Controllers
Current [A]
2 1 0
0.5
Driver Input Current fs 200 400 600 Speed [r/min] 2.5 (25) 5 (50) Pulse Speed [kHz]
Accessories
Driver Input Current 800 7.5 (75) 1000 Resolution1 (Resolution10) 0 0 0 100 1 (10)
fs 200 300 Speed [r/min]
400
0 (0)
0 (0)
2 3 (20) (30) Pulse Speed [kHz]
Installation
C-123
Torque [Nm]
Permissible Torque 2 0.1 Current [A]
Torque [Nm]
Current [A]
Torque [Nm]
0.3 0.2 0.1 0 0 0 (0) fs Driver Input Current 50 5 (50) 100 Speed [r/min] 150 25 (250) Resolution1 (Resolution10) Current [A] 1.0 0.5 0
1.0 Current [A] 0.5 0
Torque [Nm]
C-124
Stepping Motors
TH Geared Type
Specifications
Model Maximum Holding Torque Rotor Inertia Rated Current Basic Step Angle Gear Ratio Permissible Torque Backlash Permissible Speed Range Power Source Excitation Mode Mass Dimension No. Single Shaft Double Shaft Nm J: kg m2 A/Phase
CRK523PAP-T7.2 CRK523PBP-T7.2 0.2
CRK523PAP-T10 CRK523PBP-T10 0.3 9 10-7 0.35
CRK523PAP-T20 CRK523PBP-T20 0.4
CRK523PAP-T30 CRK523PBP-T30 0.5
0.1 1 : 7.2 0.2 0 416
0.072 1 : 10 0.3 60 (1) 0 300 24 VDC 10% 0.7 A Microstep 0.17 0.04
7 18
0.036 1 : 20 0.4 0 150
0.024 1 : 30 0.5 0 100
kg kg
How to read specifications table Page C-10 Motor lead wire/connector assembly (0.6 m) is included with the motor and driver package of connector-coupled type. Note: b Direction of rotation of the motor and that of the gear output shaft are the opposite for the gear ratios 1:7.2 and 1:10. It is the same for 1:20 and 1:30 gear ratios.

CRK523PAP-T7.2/CRK523PBP-T7.2
CRK523PAP-T10/CRK523PBP-T10
0.3 0.2 Permissible Torque 0.2
1.0 0.5 0
0 0 0 (0)
fs 100 5 (50)
Driver Input Current 200 300 Speed [r/min] 10 15 (100) (150) Pulse Speed [kHz] 20 (200) 400 25 (250) Resolution1 (Resolution10) 0 0 0
fs 100 5 (50) 200 Speed [r/min] 20 (200) 300 25 (250) Resolution1 (Resolution10)
0 (0)
10 15 (100) (150) Pulse Speed [kHz]
0.5 0.4 Permissible Torque Current: 0.35 A/Phase Step Angle: 0.036/step With Damper D4CL-5.0F: JL=34 107kgm2
0.2
0 0 0 (0)
fs 20 5 (50)
Driver Input Current 40 60 80 Speed [r/min] 100 25 (250) 120 Resolution1 (Resolution10)
10 15 20 (100) (150) (200) Pulse Speed [kHz]
10 15 20 (100) (150) (200) Pulse Speed [kHz]
Stepping Motors
TH Geared Type
Specifications
CRK543AP-T3.6 CRK543BP-T3.6 0.35
CRK543AP-T7.2 CRK543BP-T7.2 0.7
0.2 1 : 3.6 0.35 45 (0.75) 0 500
0.1 1 : 7.2 0.7 0 250
kg kg
CRK543AP-T10 CRK543BP-T10 1 35 10-7 0.75 0.072 1 : 10 1 25 (0.417) 0 180 24 VDC 10% 1.4 A Microstep 0.35 0.04
8 18
CRK543AP-T20 CRK543BP-T20 1.5
CRK543AP-T30 CRK543BP-T30
Introduction
0.036 1 : 20 1.5 15 (0.25) 0 90
0.024 1 : 30
0 60 AC Input DC Input
AS ASC
How to read specifications table Page C-10 Note: b Direction of rotation of the motor and that of the gear output shaft are the same for the gear ratios 1:3.6, 1:7.2 and 1:10. It is the opposite for 1:20 and 1:30 gear ratios.
AC Input

CRK543AP-T3.6/CRK543BP-T3.6
0.5 0.4 Torque [Nm] 0.3 0.2 Current: 0.75 A/Phase Step Angle: 0.2/step With Damper D4CL-5.0F: JL=34 107kgm2
5-Phase RK
1.0 0.8 Torque [Nm] Current: 0.75 A/Phase Step Angle: 0.1/step With Damper D4CL-5.0F: JL=34 107kgm2
5-Phase CRK
Permissible Torque
Permissible Torque
0.6 0.4
2 Current [A] 1 0
2 Current [A] 1 0
DC Input
2-Phase CMK
0.1 0 fs 100 Driver Input Current 200 5 (50) 300 400 Speed [r/min] 500 15 (150) 600 Resolution1 (Resolution10)
0.2 Driver Input Current 0 0 fs 50 100 150 Speed [r/min] 5 (50) 10 (100) Pulse Speed [kHz] 200 250 15 (150) Resolution1 (Resolution10)
0 (0)
0 (0)
2-Phase CSK
CRK543AP-T10/CRK543BP-T10
Permissible Torque Torque [Nm] Torque [Nm] 1.0 2 0.5 Current [A]
1.5
Permissible Torque
1.0
Current [A]
2 1 0
fs 0 40 5 (50)
Driver Input Current 80 120 Speed [r/min] 10 (100) Pulse Speed [kHz] 160 15 (150) 200 Resolution1 (Resolution10) 0 0 0
fs 20 5 (50)
80 15 (150)
100 Resolution1 (Resolution10)
0 (0)
0 (0)
Controllers
1.5 Torque [Nm]
Permissible Torque
Accessories
2 Current [A]
1.0
Installation
fs 10
20 5 (50)
50
60 15 (150)
0 (0)
C-125
Torque [Nm]
3 Current [A] 2 1 0
3 0.5 Driver Input Current 0 0 fs 100 200 5 (50) 300 400 Speed [r/min] 500 15 (150) 600 Resolution1 (Resolution10) Current [A] 2 1 0
Torque [Nm]
Torque [Nm]
Torque [Nm]
Current [A]
1 Driver Input Current fs 40 5 (50)
Current [A]
Torque [Nm]
Current [A]
C-126
Stepping Motors
TH Geared Type
Specifications
CRK564AP-T3.6 CRK564BP-T3.6 1.25
CRK564AP-T7.2 CRK564BP-T7.2 2.5
0.2 1 : 3.6 1.25 35 (0.584) 0 500
0.1 1 : 7.2 2.5 0 250
kg kg
CRK564AP-T10 CRK564BP-T10 3 175 10-7 1.4 0.072 1 : 10 3 15 (0.25) 0 180 24 VDC 10% 2.5 A Microstep 0.95 0.04
9 18
CRK564AP-T20 CRK564BP-T20 3.5
CRK564AP-T30 CRK564BP-T30 4
0.036 1 : 20 3.5 10 (0.167) 0 90
0.024 1 : 30 4 0 60
How to read specifications table Page C-10 Note: b Direction of rotation of the motor and that of the gear output shaft are the same for the gear ratios 1:3.6, 1:7.2 and 1:10. It is the opposite for 1:20 and 1:30 gear ratios.

1.5 Current: 1.4 A/Phase Step Angle: 0.2/step With Damper D6CL-8.0F: JL=140 107kgm2 Permissible Torque
3 Current: 1.4 A/Phase Step Angle: 0.1/step With Damper D6CL-8.0F: JL=140 107kgm2 Permissible Torque
1.0
1 Driver Input Current 0 fs 50 250 15 (150) Resolution1 (Resolution10)
100 150 Speed [r/min] 5 (50) 10 (100) Pulse Speed [kHz]
200
0 (0)
0 (0)
4 Current: 1.4 A/Phase Step Angle: 0.072/step With Damper D6CL-8.0F: JL=140 107kgm2
5 4 3 2 1 0 fs 0 20 5 (50) Driver Input Current 40 60 Speed [r/min] 10 (100) Pulse Speed [kHz] 80 15 (150) 100 Resolution1 (Resolution10) Current: 1.4 A/Phase Step Angle: 0.036/step With Damper D6CL-8.0F: JL=140 107kgm2
Permissible Torque
2 4 2 0
160 15 (150)
0 (0)
0 (0)
5 4 3 2 1 0 Current: 1.4 A/Phase Step Angle: 0.024/step With Damper D6CL-8.0F: JL=140 107kgm2 Permissible Torque
4 2 0
Driver Input Current fs 10 20 5 (50) 30 40 Speed [r/min] 10 (100) Pulse Speed [kHz] 50 60 15 (150) 70 Resolution1 (Resolution10)
0 (0)
Stepping Motors
PL Geared Type
Specifications
CRK545AP-P5 CRK545BP-P5 1
0.144 1:5 1 0 360
kg kg
CRK545AP-P7.2 CRK545AP-P10 CRK543AP-P25 CRK543AP-P36 CRK543AP-P50 CRK545BP-P7.2 CRK545BP-P10 CRK543BP-P25 CRK543BP-P36 CRK543BP-P50 1.5 2.5 3 68 10-7 35 10-7 0.75 0.1 0.072 0.0288 0.02 0.0144 1 : 7.2 1 : 10 1 : 25 1 : 36 1 : 50 1.5 2.5 3 35 (0.58) 0 250 0 180 0 72 0 50 0 36 24 VDC 10% 1.4 A Microstep 0.58 0.55 0.04
10 18
Introduction
AC Input DC Input
AS ASC
How to read specifications table Page C-10 Note: b Direction of rotation of the motor and that of the gear output shaft are the same.
AC Input

CRK545AP-P5/CRK545BP-P5
5-Phase RK
CRK545AP-P7.2/CRK545BP-P7.2
5-Phase CRK
1.5 Torque [Nm] Torque [Nm] Permissible Torque 4 Current [A] 0.5 Permissible Torque 1.0 Current [A] 4 Torque [Nm] 1.0
Current [A]
2 1 0
DC Input
0.5 fs Driver Input Current 100 200 Speed [r/min] 5 (50) 10 (100) Pulse Speed [kHz] 15 (150)
0.5 Driver Input Current 40 80 120 Speed [r/min] 5 (50) 10 (100) Pulse Speed [kHz]
2-Phase CMK
0 0 0 (0)
fs
Driver Input Current 100 5 (50) 200 300 Speed [r/min] 10 (100) Pulse Speed [kHz] 15 (150) 400 Resolution1 (Resolution10) 0 0 0
fs 0
160 15 (150)
0 (0)
0 (0)
2-Phase CSK
Permissible Torque 3 Torque [Nm] Torque [Nm] Torque [Nm] 2 4 Current [A] 1 3
Permissible Torque
2 Current [A]
Current [A]
2 1 0
fs 0 20
Driver Input Current 40 Speed [r/min] 10 (100) Pulse Speed [kHz] 60 15 (150) 80 Resolution1 (Resolution10)
fs 0 5 (50) 20 Speed [r/min] 40 15 (150) 60 Resolution1 (Resolution10)
0 0 0 (0)
fs 10 5 (50)
30 15 (150)
0 (0)
5 (50)
0 (0)
Controllers
C-127
Torque [Nm]
Torque [Nm]
3 2 Current [A] 1 0 0 0 (0) fs Driver Input Current 100 200 300 Speed [r/min] 5 (50) 10 (100) Pulse Speed [kHz] 15 (150) 4 2 0
4 Current [A] 2 0
2 1 0 fs 0 Driver Input Current 100 Speed [r/min] 5 (50) 200 15 (150) 300 Resolution1 (Resolution10) Current [A] 2 1 0
Torque [Nm]
Torque [Nm]
Torque [Nm]
6 4 Current [A] 2 0 fs 0 20 5 (50) Driver Input Current 40 Speed [r/min] 10 (100) Pulse Speed [kHz] 60 15 (150) 80 Resolution1 (Resolution10) 4 2 0
6 4 2 0 fs 0 5 (50) Driver Input Current 20 Speed [r/min] 0 (0) 10 (100) Pulse Speed [kHz] 15 (150) Resolution1 (Resolution10) 40 60 Current [A] 4 2 0
Torque [Nm]
Current [A]
C-128
Stepping Motors
PL Geared Type
Specifications
CRK566AP-P5 CRK566BP-P5 3.5
0.144 1:5 3.5 0 360
kg kg
CRK566AP-P7.2 CRK566AP-P10 CRK564AP-P25 CRK564AP-P36 CRK564AP-P50 CRK566BP-P7.2 CRK566BP-P10 CRK564BP-P25 CRK564BP-P36 CRK564BP-P50 4 5 8 280 10-7 175 10-7 1.4 0.1 0.072 0.0288 0.02 0.0144 1 : 7.2 1 : 10 1 : 25 1 : 36 1 : 50 4 5 8 20 (0.33) 0 250 0 180 0 72 0 50 0 36 24 VDC 10% 2.5 A Microstep 1.3 1.4 0.04
11 18
How to read specifications table Page C-10 Note: b Direction of rotation of the motor and that of the gear output shaft are the same.

5 4 Current: 1.4 A/Phase Step Angle: 0.144/step With Damper D6CL-8.0F: JL=140 107kgm2
CRK566AP-P7.2/CRK566BP-P7.2
5 4 Current: 1.4 A/Phase Step Angle: 0.1/step With Damper D6CL-8.0F: JL=140 107kgm2 Permissible Torque
Permissible Torque
fs 0 40
Driver Input Current 80 120 Speed [r/min] 5 (50) 10 (100) Pulse Speed [kHz] 160 15 (150) 200 Resolution1 (Resolution10)
0 (0)
0 (0)
10 8 6 4 2 0 0 0 (0) fs 10 Driver Input Current 20 Speed [r/min] 10 (100) Pulse Speed [kHz] Current: 1.4 A/Phase Step Angle: 0.0144/step With Damper D6CL-8.0F: JL=140 107kgm2 Permissible Torque
4 2 0
30 15 (150)
0 (0)
5 (50)
Stepping Motors
PN Geared Type
Specifications
Model Maximum Holding Torque Rotor Inertia Rated Current Basic Step Angle Gear Ratio Permissible Torque Nm Nm Maximum Torque2 Backlash arc minute (degrees) Angular Transmission Error arc minute (degrees) Permissible Speed Range r/min Power Source Excitation Mode Motor kg Mass Driver kg Motor Dimension No. Driver Single Shaft Double Shaft Nm J: kg m2 A/Phase
CRK523PAP-N51 CRK523PAP-N7.21 CRK523PAP-N101 CRK544AP-N5 CRK523PBP-N51 CRK523PBP-N7.21 CRK523PBP-N101 CRK544BP-N5 0.2 0.3 0.4 0.8 9 10-7 0.35 0.144 0.1 0.072 0.144 1:5 1 : 7.2 1 : 10 1:5 0.2 0.3 0.4 0.8 0.5 1.5 3 (0.05) 6 (0.1) 0 600 0 416 0 300 0 600 24 VDC 10% 0.7 A Microstep 0.25 0.04
12 18
CRK544AP-N7.2 CRK544AP-N10 CRK544BP-N7.2 CRK544BP-N10 1.2 1.5 54 10-7 0.75 0.1 0.072 1 : 7.2 1 : 10 1.2 1.5 2 2 (0.034) AC Input 0 416 24 VDC 10% 1.4 A 0.56 DC Input 0 300
Introduction AS ASC
13
How to read specifications table Page C-10 1 Motor lead wire/connector assembly (0.6 m) is included with the motor and driver package of connector-coupled type. 2 The value of maximum torque is for gear. For output torque for geared motor, see the speed torque characteristics. Note: b Direction of rotation of the motor and that of the gear output shaft are the same.
AC Input
5-Phase RK

CRK523PAP-N5/CRK523PBP-N5

5-Phase CRK
CRK523PAP-N7.2/CRK523PBP-N7.2 CRK523PAP-N10/CRK523PBP-N10
0.4 Current: 0.35 A/Phase Step Angle: 0.1/step With Damper D4CL-5.0F: JL=34 107kgm2 0.6 Current: 0.35 A/Phase Step Angle: 0.072/step With Damper D4CL-5.0F: JL=34 107kgm2
DC Input
2-Phase CMK
0.3 Torque [Nm] Torque [Nm] Permissible Torque 2 0.1 Permissible Torque 0.2 1.0 0.1 Driver Input Current 0 0 0 0 (0) fs 100 5 (50) 200 300 Speed [r/min] 10 15 (100) (150) Pulse Speed [kHz] 20 (200) 400 Resolution1 25 (250) (Resolution10) Current [A] 0.5 0 0 fs 0 50 5 (50) Driver Input Current 100 150 200 Speed [r/min] 250 20 (200) 300 25 Resolution1 (250) (Resolution10) Torque [Nm] 0.2 0.4 Permissible Torque
Current [A]
Current [A]
1.0 0.5 0
0.2
2-Phase CSK
0 0 0 (0)
fs 100 5 (50)
Driver Input Current 200 300 400 Speed [r/min] 500 20 (200) 600
10 15 (100) (150) Pulse Speed [kHz]
0 (0)
10 15 (100) (150) Pulse Speed [kHz]
CRK544AP-N5/CRK544BP-N5
1.0 0.8 Torque [Nm] 0.6 0.4 Current: 0.75 A/Phase Step Angle: 0.144/step With Damper D4CL-5.0F: JL=34 107kgm2
CRK544AP-N7.2/CRK544BP-N7.2
Torque [Nm]
Torque [Nm]
Permissible Torque
1.0
Permissible Torque
4 0.5 Current [A]
2 Current [A] 1 0
Current [A]
2 1 0
0.2 0 0 0 (0) fs 100 5 (50) Driver Input Current 200 300 400 Speed [r/min] 500 20 (200) 600
Controllers
0 0 0 (0)
fs
Driver Input Current 100 5 (50) 200 300 Speed [r/min] 10 15 (100) (150) Pulse Speed [kHz] 20 (200) 400 Resolution1 25 (250) (Resolution10) 0
fs 0 50 5 (50) 100 150 200 Speed [r/min] 250 20 (200) 300 25 Resolution1 (250) (Resolution10)
10 15 (100) (150) Pulse Speed [kHz]
Resolution1 25 (250) (Resolution10)
0 (0)
10 15 (100) (150) Pulse Speed [kHz]
Accessories
Installation
C-129
Torque [Nm]
Torque [Nm]
Torque [Nm]
Current [A]
Current [A]
2 0
1 0 fs 0 Driver Input Current 100 200 300 Speed [r/min] 5 (50) 10 15 (100) (150) Pulse Speed [kHz]
Current [A]
Torque [Nm]
Torque [Nm]
Torque [Nm]
Current [A]
Current [A]
5.0 2.5 0
Current [A]
C-130
Stepping Motors
PN Geared Type
Specifications
Model Maximum Holding Torque Rotor Inertia Rated Current Basic Step Angle Gear Ratio Permissible Torque Nm Nm Maximum Torque Backlash arc minute (degrees) Angular Transmission Error arc minute (degrees) Permissible Speed Range r/min Power Source Excitation Mode Motor kg Mass Driver kg Motor Dimension No. Driver Single Shaft Double Shaft Nm J: kg m2 A/Phase
CRK566AP-N5 CRK566AP-N7.2 CRK566AP-N10 CRK564AP-N25 CRK564AP-N36 CRK564AP-N50 CRK566BP-N5 CRK566BP-N7.2 CRK566BP-N10 CRK564BP-N25 CRK564BP-N36 CRK564BP-N50 3.5 4 5 8 280 10-7 175 10-7 1.4 0.144 0.1 0.072 0.0288 0.02 0.0144 1:5 1 : 7.2 1 : 10 1 : 25 1 : 36 1 : 50 3.5 4 5 8 7 9 11 16 20 2 (0.034) 3 (0.05) 5 (0.084) 0 600 0 416 0 300 0 120 0 83 0 60 24 VDC 10% 2.5 A Microstep 1.5 0.04
14 18
How to read specifications table Page C-10 The value of maximum torque is for gear. For output torque for geared motor, see the speed torque characteristics. Note: b Direction of rotation of the motor and that of the gear output shaft are the same.

5 4 Permissible Torque 3 4 2 Current: 1.4 A/Phase Step Angle: 0.144/step With Damper D6CL-8.0F: JL=140 107kgm2
CRK566AP-N7.2/CRK566BP-N7.2
10 8 6 Permissible Torque 4 2 0 fs 0 Driver Input Current 50 100 150 200 Speed [r/min] 5 (50) 10 15 (100) (150) Pulse Speed [kHz] Current: 1.4 A/Phase Step Angle: 0.072/step With Damper D6CL-8.0F: JL=140 107kgm2
4 Permissible Torque 4 2 0
400
fs 0 50 100 5 (50) 150 200 Speed [r/min] 250 300 350 20 Resolution1 (200) (Resolution10)
250 20 (200)
0 (0)
0 (0)
10 15 (100) (150) Pulse Speed [kHz]
0 (0)
25 20 15 10 Permissible Torque 2 0 5 0 0 0 (0) fs Driver Input Current 20 5 (50) 40 Speed [r/min] 20 (200) 60 Resolution1 25 (250) (Resolution10) Current: 1.4 A/Phase Step Angle: 0.0144/step With Damper D6CL-8.0F: JL=140 107kgm2
15 10 8
Permissible Torque
10 4 Permissible Torque 5 Driver Input Current
0 0 0 (0)
fs
Driver Input Current 20 40 60 80 Speed [r/min] 5 (50)
100
120 25 (250)
fs 0 20 5 (50) 40 60 Speed [r/min] 10 15 (100) (150) Pulse Speed [kHz] 20 (200) 80 25 Resolution1 (250) (Resolution10)
10 15 20 (100) (150) (200) Pulse Speed [kHz]
0 (0)
10 15 (100) (150) Pulse Speed [kHz]
Stepping Motors

Specifications
Model Maximum Holding Torque Rotor Inertia Rated Current Basic Step Angle Gear Ratio Permissible Torque Maximum Torque2 Lost Motion (Load Torque) Permissible Speed Range Power Source Excitation Mode Mass Dimension No. Motor Driver Motor Driver Single Shaft Double Shaft Nm J: kg m2 A/Phase
Nm Nm arc minute r/min
CRK513PAP-H501 CRK513PAP-H1001 CRK543AP-H50 CRK543AP-H100 CRK564AP-H50 CRK564AP-H100 CRK513PBP-H501 CRK513PBP-H1001 CRK543BP-H50 CRK543BP-H100 CRK564BP-H50 CRK564BP-H100 0.4 0.6 3.5 5 5.5 8 3.1 10-7 52 10-7 210 10-7 0.35 0.75 1.4 0.0144 0.0072 0.0144 0.0072 0.0144 0.0072 1 : 50 1 : 100 1 : 50 1 : 100 1 : 50 1 : 100 0.4 0.6 3.5 5 5.5 8 0.9 1.4 8.3 11 18 28 2 max. ( 0.02 N m) 2 max. ( 0.03 N m) 1.5 max. ( 0.16 N m) 1.5 max. ( 0.2 N m) 0.7 max. ( 0.28 N m) 0.7 max. ( 0.39 N m) AC Input
Introduction AS
0 90 0 45 24 VDC 10% 0.7 A 0.08

15
kg kg
0 70 0 35 24 VDC 10% 1.4 A Microstep 0.46 0.04

16 18
0 70 0 35 24 VDC 10% 2.5 A 1.08
DC Input
ASC
17
How to read specifications table Page C-10 1 Motor lead wire/connector assembly (0.6 m) is included with the motor and driver package of connector-coupled type. 2 The value of maximum torque is for gear. For output torque for geared motor, see the speed torque characteristics. Notes: b The inertia represents a sum of the inertia of the harmonic gear converted to a motor shaft value, and the rotor inertia. b Direction of rotation of the motor and that of the gear output shaft are the opposite.
AC Input
5-Phase RK

CRK513PAP-H50/CRK513PBP-H50
1.0 0.8 Torque [Nm] 0.6 Permissible Torque Current [A] 0.4 0.2 0 fs 0 20 10 (100) Driver Input Current 40 60 Speed [r/min] 20 30 (200) (300) Pulse Speed [kHz] 80 100 40 Resolution1 (400) (Resolution10) 0 0 0 2 Torque [Nm] Current: 0.35 A/Phase Step Angle: 0.0144/step Load Inertia: JL=0kgm2
5-Phase CRK
CRK513PAP-H100/CRK513PBP-H100
2.0 Current: 0.35 A/Phase Step Angle: 0.0072/step Load Inertia: JL=0kgm2
CRK543AP-H50/CRK543BP-H50
DC Input
2-Phase CMK
1.5 Torque [Nm] 4 Permissible Torque 2
1.0 Permissible Torque 0.5 Driver Input Current fs 10 10 (100) 20 30 Speed [r/min] 20 30 (200) (300) Pulse Speed [kHz] 40 50 40 Resolution1 (400) (Resolution10) Current [A] 2 1 0
1 Current [A] 0.5 0
2-Phase CSK
fs 0
Driver Input Current 20 10 (100) 40 Speed [r/min] 20 (200) Pulse Speed [kHz] 60 30 (300) 80 Resolution1 (Resolution10)
0 (0)
0 (0)
0 (0)
15 Torque [Nm] Torque [Nm] Torque [Nm] 10 8 Current [A] 5 Permissible Torque
30
Maximum Torque
10 Permissible Torque 5 Driver Input Current Current [A]
Current [A]
2 1 0
10
Controllers
fs 0
Driver Input Current 10 10 (100) 20 Speed [r/min] 20 (200) Pulse Speed [kHz] 30 30 (300) 40 Resolution1 (Resolution10) 0 0 0
fs 20 10 (100) 40 Speed [r/min] 20 (200) Pulse Speed [kHz] 60 30 (300) 80 Resolution1 (Resolution10)
fs 0
Driver Input Current 10 20 Speed [r/min] 10 (100) 20 (200) Pulse Speed [kHz]
30 30 (300)
0 (0)
0 (0)
0 (0)
Accessories
b The pulse input circuit responds to approximately 500 kHz with a pulse duty of 50%. Notes: b 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 100C. (Under 75C is required to comply with UL or CSA Standards as the motor is recognized as insulation class A.) b In order to prevent fatigue of the gear grease in the harmonic gear, keep the temperature of the gear case under 70C. b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 50%.
Installation
C-131
C-132
Stepping Motors
Common to Each Type
Input Mode Photocoupler input, Input resistance: 220 , Input current: 10 20 mA 1 V (Voltage between terminals) Photocoupler ON: 4.5 5.25 V, Photocoupler OFF: 0 Operation command pulse signal (CW direction operation command pulse signal when in 2-pulse input mode) Negative logic pulse input Pulse width: 1 s minimum; Pulse rise/fall: 2 s maximum, Pulse duty: 50% and below The motor moves one step when the pulse input is switched from photocoupler ON to OFF. Maximum input pulse frequency: 500 kHz (when the pulse duty is 50%) Rotation direction signal Photocoupler ON: CW, Photocoupler OFF: CCW CCW direction operation command pulse signal when in 2-pulse input mode, Negative logic pulse input Pulse width: 1 s minimum; Pulse rise/fall: 2 s maximum, Pulse duty: 50% and below The motor moves one step when the pulse input is switched from photocoupler ON to OFF. Maximum input pulse frequency: 500 kHz (when the pulse duty is 50%) When in the "photocoupler ON" state, the output current to the motor is cut off and the motor shaft can be rotated manually. When in the "photocoupler OFF" state, the output current is supplied to the motor. Step angle specified by DATA1 when photocoupler OFF, Step angle specified by DATA2 when photocoupler ON When in the "photocoupler ON" state, the automatic current cutback function will not be activated even after the motor stops. When in the "photocoupler OFF" state, the automatic current cutback function will be activated after the motor stops (after approx. 100 ms). Photocoupler, Open-collector output, External use condition: 24 VDC maximum, 10 mA maximum The signal is output every time the excitation sequence returns to the initial stage "0." (Photocoupler: ON) Example) 0.72/step (1 Resolution): Signal is output every 10 pulses. 0.072/step (10 Resolution): Signal is output every 100 pulses. Automatic current cutback, Step angle switch, Pulse input mode switch, Smooth drive, All windings off, Excitation timing Natural ventilation
Input Signals
All Windings Off Signal Step Angle Select Signal Current Cutback Release Signal Output Mode Output Signals Excitation Timing Signal
Functions Cooling Method
Specifications Insulation Class Insulation Resistance Motor Class B (130C) [Recognized as class A (105C) by UL Standard] 100 M or more when 500 VDC megger is applied between the windings and the case under normal ambient temperature and humidity. Sufficient to withstand 1.5 kV at 50 Hz or 60 Hz applied between the windings and the case for 1 minute under normal temperature and humidity. 1.0 kV for CRK54 0.5 kV for CRK513P, CRK52 PM, CRK52 P, CRK54 PM, CRK54 P 10 50C (non-freezing): High-resolution type, High-torque type, Standard type, TH, PL, PN geared type 40C (non-freezing): Harmonic geared type 0 85% or less (non-condensing) No corrosive gases, dust, water or oil Temperature rise of the windings are 80C or less measured by the resistance change method. (at rated current, at standstill, five phases energized) 3 arc minutes ( 0.05), CRK513P: 10 arc minutes ( 0.17) High-resolution type: 2 arc minutes ( 0.034) 0.05 T.I.R. (mm)4 0.025 mm maximum of 5 N 0.075 mm maximum of 10 N 0.075 T.I.R. (mm)4 0.075 T.I.R. (mm)4 Driver
Dielectric Strength
Ambient Temperature Ambient Humidity Atmosphere
40C (non-freezing)
Temperature Rise Stop Position Accuracy1 Shaft Runout Radial Play2 Axial Play3 Concentricity Perpendicularity
1 This value is for full step under no load. (The value changes with the size of the load.) 2 Radial Play: Displacement in shaft position in the radial direction, when a 5 N load is applied in the vertical direction to the tip of the motor's shaft. 3 Axial Play: Displacement in shaft position in the axial direction, when a 10 N load is applied to the motor's shaft in the axial direction. 4 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: b Do not measure insulation resistance or perform the dielectric strength test while the motor and driver are connected.
0.075 A 0.05
0.075 A
Stepping Motors
Common to Each Type

Type Model CRK513P P CRK523PM P CRK524PMP CRK525PM P CRK523P P CRK525P P CRK544PM P CRK546PM P CRK544P P CRK546P P CRK543 P CRK544 P CRK545 P CRK564PM P CRK566PM P CRK569PM P CRK564 P CRK566 P CRK569 P CRK523P CRK523P CRK523P CRK523P CRK543 CRK543 CRK543 CRK543 CRK543 CRK564 CRK564 CRK564 CRK564 CRK564 P-T7.2 P-T10 P-T20 P-T30 P-T3.6 P-T7.2 P-T10 P-T20 P-T30 P-T3.6 P-T7.2 P-T10 P-T20 P-T30 0 12 5 15 Permissible Overhung Load Distance from Shaft End (mm) 10 15 20
Unit
25
34
52
Introduction
High-Resolution Type High-Torque Type Standard Type
20
25
34
52
The permissible thrust load shall be no greater than the motor mass.
AC Input
AS
90
100
130
180
270 DC Input
ASC
63
75
95
130
190
AC Input
15
17
20
23
10
5-Phase RK
TH Geared Type
10
14
20
30
15
5-Phase CRK
70
80
100
120
150
40 DC Input
2-Phase CMK
CRK545 P-P5 CRK545 P-P7.2 CRK545 P-P10 CRK543 P-P25 CRK543 P-P36 CRK543 P-P50 CRK566 P-P5 CRK566 P-P7.2 CRK566 P-P10 CRK564 P-P25 CRK564 P-P36 CRK564 P-P50 CRK523P P-N5 CRK523P P-N7.2 CRK523P P-N10 CRK544 P-N5 CRK544 P-N7.2 CRK544 P-N10 CRK566 P-N5 CRK566 P-N7.2 CRK566 P-N10 CRK564 P-N25 CRK564 P-N36 CRK564 P-N50 CRK513P P-H50 CRK513P P-H100 Harmonic Geared Type CRK543 P-H50 CRK543 P-H100 CRK564 P-H50 CRK564 P-H100
73
84
100
123
50
2-Phase CSK
109 200 250
127 220 270
150 250 300
184 280 340 320 390
50 100 100
PL Geared Type
330
360
400
450
520
100
45
60
80
100
20
100 200 250
120 220 270
150 250 300
190 280 340 320 390
100 100 100

Controllers
PN Geared Type
330
360
400
450
520
100
Accessories
50 180 320
75 220 370 270 440 360 550 510 720
60 220 450
Installation
C-133
4 0.012(h7) 3.5 0.15
Each package model comes with a motor lead wire/connector assembly (0.6 m) (UL Style 3265, AWG24). If you are purchasing only a motor for maintenance purpose, etc., motor lead wire/connector assembly and connector will not be supplied. They must be purchased separately. Page C-255
0.25
3.5
Model CRK513PAP CRK513PBP
Motor Model PK513PA PK513PB
Mass (kg) 0.05
8 7
38 30
10 1 1.5 7
0.25
0.15 0 0.012(h7) 0 16 0.018(h7)
10
4 M2 2.5 Deep
13.8
bApplicable Connector Connector housing: 51065-0500 (MOLEX) Contact: 50212-8100 (MOLEX) Crimp tool: 57176-5000 (MOLEX)
High-Resolution Type, High-Torque Type

2
L2
10 1
15 1.5
1 0.15 0 5 0.012(h7) 0 22 0.033(h8)
28 mm
Motor Model PK523P A PK523P B PK524PMA PK524PMB PK525P A PK525P B L1 32 40 51.5 L2 42 50 61.5 Mass (kg) 0.11 0.15 0.2
L1 10
0.25
Model CRK523P AP CRK523P BP CRK524PMAP CRK524PMBP CRK525P AP CRK525P BP
5 0.012(h7) 4.5 0.15
28 23 0.2
4.5
16 0.2 20
b Enter M in the box ( ) within the model name in the case of high-resolution type. Each package model comes with a motor leadwire/connector assembly (0.6 m) (UL Style 3265, AWG24). If you are purchasing only a motor for maintenance purpose, etc., motor lead wire/connector assembly and connector will not be supplied. They must be purchased separately. Page C-255
9.5
5 1 16.5 4 M2.5 2.5 Deep
The length of machining on double shaft model is 10 0.25.
42 mm
AP BP AP BP Motor Model PK544P A PK544P B PK546P A PK546P B L1 39 59 L2 54 74 Mass (kg)
0 0.012(h7)
0.5
b Enter M in the box ( ) within the model name in the case of high-resolution Type. Each package model comes with a motor lead wire/connector assembly (0.6 m) (UL Style 3265, AWG22). If you are purchasing only a motor for maintenance purpose, etc., motor lead wire/connector assembly and connector will not be supplied. They must be purchased separately. Page C-255
0.15
4.5 9
1.5 15
5 23
4 M3 4.5 Deep The length of machining on double shaft model is 15 0.25.
4
60 mm
Motor Model PK564PMA PK564PMB PK566PMA PK566PMB PK569PMA PK569PMB L1 46.5 56 87 L2 69.5 79 110 9.5
0.15
C-134
36
Each package model comes with a motor lead wire/connector assembly (0.6 m) (UL Style 3266, AWG22). If you are purchasing only a motor for maintenance purpose, etc., motor lead wire/connector assembly and connector will not be supplied. They must be purchased separately. Page C-255
0 0.015(h7)
0.15
0 0.039(h8)
7.5
12
L3 D
0.5 21.5
5 1 29
50 0.35 60
Model CRK564PMAP CRK564PMBP CRK566PMAP CRK566PMBP CRK569PMAP CRK569PMBP
L3
Mass (kg) 0.65

23 20
0.25 1
L2 L1 7
24
7.5
0.15
0 0.015
1.5 20
0.25
4 4.5 Thru 60 50 0.35
0.87 10
0 0.015
1.5
31 0.2 42
Model CRK544P CRK544P CRK546P CRK546P
0.3
15
L2 L1
20 15
1 0.25
0.15 0 0.012(h7) 0 22 0.033(h8)
42 31 0.2
4.5
23 0.2 28
Stepping Motors
Dimensions
b Motor
High-Torque Type
1
(Unit = mm)
20 mm
20 16 0.2
Stepping Motors
Standard Type
Model CRK543AP CRK543BP CRK544AP CRK544BP CRK545AP CRK545BP Motor Model PK543NAW PK543NBW PK544NAW PK544NBW PK545NAW PK545NBW L1 33 39 47 L2 48 54 62 Mass (kg)
0 0.012(h7) 0.15 0 0.012(h7) 0 22 0.033(h8)
42 mm
0.21 0.27 0.35
15
L2 L1
20 1 15 0.25
42 31 0.2 31 0.2 42 4 M3 4.5 Deep
4.5
0.15
4.5
2
Introduction
5 Motor Leads 600 mm Length UL Style 3265, AWG24
60 mm
Motor Model PK564NAW PK564NBW PK566NAW PK566NBW PK569NAW PK569NBW L1 46.5 57.5 87 L2 69.5 80.5 110 Mass (kg) 23 0.6 20 0.8
0 0.015(h7) 0.25 1 1 0 0.015(h7) 0 36 0.039(h8)
AC Input
Model CRK564AP CRK564BP CRK566AP CRK566BP CRK569AP CRK569BP
L2 L1
24 7 1.5 20
AS
60 4.5 Thru
0.25
50 0.35 60
A A
A A
DC Input
ASC
1.3
50
90
0.35
AC Input
5-Phase RK
7.5
0.15
7.5
0.15
5-Phase CRK
A A
TH Geared Type
7
28 mm
Motor Model PK523PA-T PK523PB-T Gear Ratio 7.2, 10, 20, 30 Mass (kg) 0.17
0.15 0 0.012(h7)
0 0.015(h7)
DC Input
2-Phase CMK
Model CRK523PAP-T CRK523PBP-T
23 0.2 28
b Enter the gear ratio in the box ( ) within the model name. Each package model comes with a motor lead wire/connector assembly (0.6 m) (UL Style 3265, AWG24). If you are purchasing only a motor for maintenance purpose, etc., motor lead wire/connector assembly and connector will not be supplied. They must be purchased separately. Page C-255
5 0.012(h7) 4.5 0.15
10 1
67.5 57.5
20 2.5
28 23 0.2
2-Phase CSK
0.5
4.5
10
12
9.5 The length of machining on double shaft model is 10 0.25.
5 1 16.5 4 M2.5 4 Deep
42 mm
Motor Model PK543AW-T PK543BW-T Gear Ratio 3.6, 7.2, 10, 20, 30 Mass (kg)
Controllers
Model CRK543AP-T CRK543BP-T
0.35
0 0.012(h7)
15
78.5 63.5
0.15
0.5
5.5
4.5
17
20 1 3.5 12
0.15 0 0.012(h7)
0 0.018(h7)
42 4 M4 8 Deep
Accessories
43
.8
0.5
42
Installation
5 Motor Leads AWG24 Motor Cable 5.4 The length of machining on double shaft model is 15 0.25.
8.5
12.2
600
50
26
C-135
32 3.5
0.15 0 0.015(h7)
0 0.015(h7)
21 20
1 0.25
114.5 93.5
0.5 0 0.021(h7)
A A 12.5 15 600 50
70
0.5
8 10
12
23
60
31 5 Motor Leads AWG22 Motor Cable 7
7.5
0.15
90
0 0.012(h7)
15
0.15
L2 L1
28 1 10 12
0.15 0 8 0.015(h7) 0 26 0.021(h7)
4.5
5 Motor Leads AWG24 Motor Cable 5.4 The length of machining on double shaft model is 15 0.25.
11
60 mm
Motor Model PK566AW-P PK566BW-P PK564AW-P PK564BW-P L2 L1 38 10 20 25
0.25
Model CRK566AP-P CRK566BP-P CRK564AP-P CRK564BP-P
Gear Ratio 5, 7.2, 10 25, 36, 50
L1 94.5 108.5
L2 115.5 129.5
Mass (kg) 1.3 1.4
1 0 0.018(h7) 0 0.025(h7)
0 0.015(h7)
21
60 4 M5 10 Deep
0 0.030
12
37
8.5
12.2
600
50
.8 43
0.5
26
42
60
B B 15 600 50
A A
70
0.5
90
0.15
7.5
2.5
0.1 0
B B
A A
31
12.5
C-136
Stepping Motors
TH Geared Type
9
60 mm
Motor Model PK564AW-T PK564BW-T Gear Ratio 3.6, 7.2, 10, 20, 30 Mass (kg) 0.95
Model CRK564AP-T CRK564BP-T
60 4 M4 8 Deep
7.5
0.15
A A
PL Geared Type
10
42 mm
Motor Model PK545AW-P PK545BW-P PK543AW-P PK543BW-P Gear Ratio 5, 7.2, 10 25, 36, 50 L1 74.5 84 L2 89.5 99 Mass (kg) 0.58 0.55
Model CRK545AP-P CRK545BP-P CRK543AP-P CRK543BP-P
42 4 M4 8 Deep
7.5
0.15
0 0.030
25
0.2
0 0.030
Stepping Motors
PN Geared Type
12
28 mm
Motor Model PK523PA-N PK523PB-N Gear Ratio 5, 7.2, 10 Mass (kg) 0.25 72.5 62.5 23 5 17 15
0.15
Model CRK523PAP-N CRK523PBP-N
4.5
A 5 AC Input 7.5 9.5

90
0.2
5 1 16.5 4 M3 6 Deep
23 0.2 28
b Enter the gear ratio in the box ( ) within the model name. Each package model comes with a motor lead wire/connector assembly (0.6 m) (UL Style 3265, AWG24). If you are purchasing only a motor for maintenance purpose, etc., motor lead wire/connector assembly and connector will not be supplied. They must be purchased separately. Page C-255
8 0.015(h7) 12
10 1 0 0.012(h7)
0 0.021(h7)
26
28 23 0.2
Introduction
AS
7.5
0.2
A A
DC Input
ASC
13
42 mm
AC Input
5-Phase RK
Model CRK544AP-N CRK544BP-N
Motor Model PK544AW-N PK544BW-N
Gear Ratio 5, 7.2, 10
Mass (kg) 0.56
0 0.015(h7) 0 37.6 0.025(h7)
5-Phase CRK
5 0.012(h7) 4.5 0.15
15
86 71
0 0.025
25 1 6 18 A
10
42
4 M4 8 Deep 3 42
0.004 0.029
18
0.2
0 0.025
0.1 0
DC Input
2-Phase CMK
48
0.3
26
8.5
12.2
600 50
1.8
A A
5 Motor Leads AWG24 Motor Cable 5.4

2-Phase CSK
14
60 mm
Model CRK566AP-N CRK566BP-N CRK564AP-N CRK564BP-N
Motor Model PK566AW-N PK566BW-N PK564AW-N PK564BW-N L2 21 20

0.25 1
Gear Ratio 5, 7.2, 10 25, 36, 50
L1 103.5 108.5
L2 124.5 129.5
Mass (kg) 1.5 1.5
0.15
6 25 A A 600 50
2.5
12
37
0.1 0
L1
60 4 M5 10 Deep
90
0 0.018(h7) 0 0.025(h7)
38
7.5
0.15
0 0.030
Controllers
B
0 0.015(h7)
7.5
B B
0 0.030
A A
B 15
70
0 .5
12.5
60
25
0 0.21
0 0.030
Accessories
31
Installation
C-137
50, 100
0.08
0 0.012(h7)
3.5
10
16
42 mm
Motor Model PK543AW-H S PK543BW-H S 10 0.015(h7) 26.5(Max. Dia of Rotating Part) 0 37.6 0.025(h7) Gear Ratio 50, 100 Mass (kg) 0.46
Model CRK543AP-H CRK543BP-H
2 0 0.012(h7)
15
80 65
25
5 4.5
6 M3 5 Deep
0.004 0.029
0 0.025
2 0.5 18
A
0.15
48
42
4 M4 8 Deep 18
0 0.18
0. 1 3
5 1 13.8
1.2
0 0.025
42
8.5
1.8
60
20.5
0.2
0.1 0
90
A A
12.2
600
50
26
5 Motor Leads AWG24 Motor Cable 5.4

1 The position of the output shaft relative to the screw holes position on the rotating part is arbitrary. 2 The length of machining on double shaft model is 15 0.25.
17
60 mm
Motor Model PK564AW-H S PK564BW-H S Gear Ratio 50, 100 Mass (kg) 1.08
Model CRK564AP-H CRK564BP-H
21
0 0.015(h7)
109.5 88.5 20
0.25
28.5 2 1.5 20
A
12 0.018(h7) 33.5(Max. Dia of Rotating part) 0 54 0.030(h7)
70
60
0.5
4 M5 10 Deep
B B
90
6 M4 6 Deep
7.5
0.15
0.1 0
0 0.030
20
0 0.030
0 0.21
60
7.5
60
2.5
25.5
0.2
0.15
90
A A
B B
12.5
15
600 50
31

The position of the output shaft relative to the screw holes position on the rotating part is arbitrary.
C-138
1.6
0 0.030
4.6
0.25
19.5
b Enter the gear ratio in the box ( ) within the model name. Each package model comes with a motor lead wire/connector assembly (0.6 m) (UL Style 3265, AWG24). If you are purchasing only a motor for maintenance purpose, etc., motor lead wire/connector assembly and connector will not be supplied. They must be purchased separately. Page C-255 7
5 0.012(h7) 13(Max. Dia. of Rotating Part)
53 45 2.5
13
0 0.021(h7)
0.15 0
0.15
3 M2 3 Deep
16 0.2 20
Stepping Motors

15
20 mm
Motor Model PK513PA-H S PK513PB-H S Gear Ratio Mass (kg)
Model CRK513PAP-H CRK513PBP-H
0.5 9
4 M2 5 Deep 20 16 0.2
9.8
0.2
Stepping Motors
b Driver
18 Driver Model: CRD5103P, CRD5107P, CRD5114P
Mass: 0.04 kg 4 3.5 Thru
7.4
24.3
31 21.9
1
4
12 3 59 32.4
14.9 45
3 41.4
11.5 25 max.
4 max.
bConnector Housing (Included) 51103-0200 (MOLEX) 51103-1200 (MOLEX) 51103-0500 (MOLEX) bContact (Included) 50351-8100 (MOLEX)
Note: b Be sure to use the included connector for signal and motor and power supply. When assembling the connectors, use the hand-operated crimp tool [57295-5000 (MOLEX)]. The crimp tool is not provided with the package. It must be purchased separately. Driver lead wire set crimped with connector (sold separately) is available. Driver lead wire set Page C-257
1 2
4
Introduction
65 AC Input DC Input AC Input DC Input

AS ASC 5-Phase RK 5-Phase CRK 2-Phase CMK 2-Phase CSK 2-Phase Stepping Motors 5-Phase Stepping Motors Controllers Accessories Installation
C-139
C-140
Stepping Motors

x
Power Input Connector c z
Motor Connector
1 Power Input Display

Color Green Function Power Supply Indication When Activated Lights when power is on.
Indication Input/Output Pin No. 1 2 Signal Name Pulse Signal (CW Pulse Signal) Rotation Direction Signal (CCW Pulse Signal) All Windings Off Signal Step Angle Select Signal Current Cutback Release Signal Excitation Timing Signal Function Operation command pulse signal (The motor will rotate in the CW direction when in 2-pulse input mode.) Rotation direction signal Photocoupler ON: CW, Photocoupler OFF: CCW. (The motor will rotate in the CCW direction when in 2-pulse input mode.) This signal is used to turn off the output current to the motor so that the motor shaft can be rotated manually. Switches to step angle set in DATA1 and DATA2.
2 Current Adjustment Potentiometers

Indication RUN STOP Name of Potentiometer Motor Run Current Potentiometer Motor Stop Current Potentiometer Function For adjusting the motor running current For adjusting the motor current at standstill CN2 Input Signal
3 4 5 6 7
3 Function Select Switches

Indication 1P/2P OFF/SD R2/R1 Switch Name Function Switches between 1-pulse input Pulse Input Mode Switch and 2-pulse input. Smooth Drive Function Switch Resolution Select Switch Enables or disables the smooth drive function. Switches the base step angle between R1 and R2. Output Signal
8 9 10 11 12
This signal is used to disable the automatic current cutback function. The signal is output every time the excitation sequence returns to the initial stage "0."
5 Step Angle Setting Switch

Indication DATA1 DATA2 Signal Name Step Angle Setting Switch Function Each switch can be set to the desired step angle from the 16 step angles.
R1 DATA1 DATA2 0 1 2 3 4 5 6 7 8 9 A B C D E F Microstep/ Step 1 1 2 2.5 4 5 8 10 20 25 40 50 80 100 125 200 250 Resolution 1 Step Angle 1 500 1000 1250 2000 2500 4000 5000 10 000 12 500 20 000 25 000 40 000 50 000 62 500 100 000 125 000 0.72 0.36 0.288 0.18 0.144 0.09 0.072 0.036 0.0288 0.018 0.0144 0.009 0.0072 0.00576 0.0036 0.00288 DATA1 DATA2 0 1 2 3 4 5 6 7 8 9 A B C D E F Microstep/ Step 2 2.5 1.25 1.6 2 3.2 4 6.4 10 12.8 20 25.6 40 50 51.2 100 102.4
R2 Resolution 2 Step Angle 2 200 400 800 1000 1600 2000 3200 5000 6400 10 000 12 800 20 000 25 000 25 600 50 000 51 200 1.8 0.9 0.45 0.36 0.225 0.18 0.1125 0.072 0.05625 0.036 0.028125 0.018 0.0144 0.0140625 0.0072 0.00703125
Notes: b The step angle is calculated by dividing the basic step angle by the number of microstep. The above figures are based on a basic step angle of 0.72. b With the high-resolution type, the basic step angle and resolution are 0.36 and 1000 (microstep/step: 1), respectively. b If you are using a geared type, the step angle divided by the gear ratio becomes the actual step angle. b The number of microstep that can be switched by the C/S (step angle select) signal is limited to those selected in step angles 1 and 2. b Do not change the C/S signal input or step angle setting switch while the motor is operating. It may cause the motor to misstep and stop.
Stepping Motors
Controller Vo ( 5 to 24 VDC) CN2 Driver
Connecting Input Signal

Keep the input signal voltage to 5 VDC. When the voltage is equal to 5 VDC, the external resistor R1 is not necessary. When the voltage is above 5 VDC, connect R1 as shown in the diagram to keep the input current to 20 mA or below. When 5 VDC or more is applied without the external resistor, the internal components may be damaged. Example) If V0 is 24 VDC, R1 must be 1.5 to 2.2 k , 0.5 W or more.
R1
Twisted-Pair Wire Pulse Signal (CW Pulse Signal)
1 2 3 4 5 6 7 8 9
5 CN3 Black(5) Green(4) Orange(3) Red(2) Blue(1) Pin numbers in ( ) are for motor connector. CN1 1 2 24 VDC 10% GND
Input Signals
Connecting Output Signal

Keep the output signal voltage and current 5 VDC or below and 10 mA or below, respectively. If these specifications are exceeded, the internal components may be damaged. Check the specifications of the connected equipment. When the current is above 10 mA, connect the external resistor R2 as shown in the diagram to keep it to 10 mA or below.
R1
Introduction
Stepping Motor
R1
All Windings Off Signal
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: b Motor does not rotate properly at high-speed. b Slow motor startup and stopping.
R1
Step Angle Select Signal
AC Input
AS
R1 0V
Current Cutback Release Signal
10
4 3 2
Notes on Wiring
b Use twisted-pair wires [AWG24 to 22 (0.2 to 0.3 mm2)] with a length of 2 m or less for the signal lines. b Note that as the length of the pulse signal line increases, the maximum transmission frequency decreases. Technical reference Page F-46 b Use AWG22 (0.3 mm2) cables for the power supply lines. When assembling the connectors, use the hand-operated crimp tool for contact or the crimped driver lead wire set cable (sold separately). The crimp tool is not provided with the package. It must be purchased separately. b Signal lines should be kept at least 2 cm away from power lines (power supply lines and motor lines). Do not bind the signal line and power line together. b If noise generated by the motor cables or power supply cables causes a problem, try shielding the cables or insert ferrite cores in the cables. b Incorrect connection of DC power input will lead to driver damage. Make sure that the polarity is correct before turning power on.
DC Input
Vo ( 5 to 24 VDC) R2 Excitation Timing 11 Signal
1
Output Signal
ASC
12
AC Input
0V
5-Phase RK

5-Phase CRK

bKeep the pulse signal at the "photocoupler OFF" state when no pulses are being input. bIn 1-pulse input mode, leave the pulse signal at rest ("photocoupler OFF") when changing rotation directions. bIn 2-pulse input mode, do not input a CW pulse and CCW pulse simultaneously.
DC Input
2-Phase CMK
Pulse (CW) and Rotation Direction (CCW) Input Signal Input Circuit and Sample Connection
Controller Open-Collector Output VO Pin No. 1, 3
All Windings Off (A.W.OFF) Input Signal Step Angle Select (C/S) Input Signal Current Cutback Release (C.D.INH) Input Signal Input Circuit and Sample Connection
Controller Open-Collector Output VO Driver Pin No. 5, 7, 9 220
2-Phase CSK
Driver R1 220
0V
Pin No. 2, 4
10 20 mA
R1
Pulse Waveform Characteristics 1-Pulse Input Mode

Pulse Input Signal ON OFF 90% 10% 1 2 1 s 1 s min. min. 10 s 10 s min. min.
0V
Pin No. 6, 8, 10
10 20 mA
All Windings Off (A.W.OFF) Input Signal

bInputting this signal puts the motor in a non-excitation (free) state. bThis signal is used to move the motor shaft with external force or perform positioning manually. The photocoupler must be "OFF" when the motor is operating.
CW
Controllers
2 s max. Rotation Direction ON Input Signal OFF CCW
2 s max.
All Windings ON Off Signal OFF
Accessories
ON
2-Pulse Input Mode

CW Pulse ON OFF ON OFF 1 s 1 s
min. min.
90% 10%
Motor Current
ON
OFF
Installation
CCW Pulse
2 10 s min.
Release
2 s max.
2 s max.
The shaded area indicates that the motor provides holding torque in proportion to standstill current set by STOP switch.
bSwitching the "All Windings Off" (A.W.OFF) signal from "photocoupler ON" to "photocoupler OFF" does not alter the excitation sequence. When the motor shaft is manually adjusted with the "A.W.OFF" signal input, the shaft will shift up to 3.6 (Geared type: 3.6/gear ratio) from the position set after the "A.W.OFF" signal is released.
C-141
C-142
Stepping Motors
Step Angle Select (C/S) Input Signal

bYou may select two step angles with the step angle setting switches DATA1 and DATA2. bWhen the signal is at "photocoupler OFF," a step angle set by DATA1 is selected; at "photocoupler ON," DATA2 is selected. Example: Changing the step angle from 0.072 to 0.72.
C/S ON OFF (DATA1) 10 Pulses 1 Pulse (DATA2)
Current Cutback Release (C.D.INH) Input Signal

bWhen this signal is in the "photocoupler ON" state, the automatic current cutback function is disabled. When this signal is in the "photocoupler OFF" state, the automatic current cutback function will be activated after the motor stops (after approx. 100 ms). bThe photocoupler must be "OFF" except when the running current is adjusted.
Excitation Timing (TIMING) Output Signal Output Circuit and Sample Connection
Controller Open-Collector Output Driver R2 Pin No.11
CW Pulse Motor 0
0.72 0.072/step
0.72
1.44 0.72/step
VO
bBe sure to change step angle setting inputs only when the pulse signals are at rest. Switching while moving may cause a positional error of the motor. bWhen the "Excitation Timing" signal is used, adjust the number of pulses so that the motor can operate with angles that are multiples of 7.2. The "Excitation Timing" signal output may become impossible for some combinations of step angles. Example: After operate 9 pulses with 0.072/step setting, change the step angle 0.72/step and operate with 1 pulse. In this case, "Excitation Timing" signal will not be output because step "0" position is skipped.
Operate 1 pulse Operate 9 pulses with 0.072 /step setting with 0.72 /step setting 0.72 0 0.72
Pin No.12 0V
10 mA max.
bThe "Excitation Timing" signal is output to indicate when the motor excitation (current flowing through the winding) is in the initial stage (step "0" at power up). bThe "Excitation Timing" signal is output simultaneously with a pulse input each time the excitation sequence returns to step "0." The excitation sequence will complete one cycle for every 7.2 rotation of the motor output shaft (basic step angle 0.72). Microstep/step 1: Signal is output once every 10 pulses. Microstep/step 10: Signal is output once every 100 pulses. Timing chart at 0.72/step (microstep/step 1)
0.072 STEP "0"
0.72
"Excitation Timing" signal is only output at step "0" sequence.
ON OFF ON CCW Pulse OFF ON TIMING Output OFF
1 2 3 4 5 6 7 8 9 10 11 12
CW Pulse
1 2
(Step)
0 1 2 3 4 5 6 7 8 9 0 1 2
10
Note: b When power is turned ON, the excitation sequence is reset to step "0" and the "Excitation Timing" signal is output.
b Timing Chart
Motor CW CCW
5 s min.
Power Input 1-Pulse Input Mode Pulse Input Signal Rotation Direction Input Signal 2-Pulse Input Mode
ON OFF ON OFF ON OFF
0.5 s min. 10 s min. 1 1 10 s min.
300 s min.
ON CW Pulse Input Signal OFF
10 s min.
ON CCW Pulse Input Signal OFF All Windings Off Input Signal Step Angle Select Input Signal ON OFF ON OFF
DATA1
300 s min. DATA2
The
section indicates that the photocoupler diode is emitting light.
1 Switching time to change direction (1-pulse input mode), and switching time to change CW, CCW pulse (2-pulse input mode) 10 s is shown as a response time of circuit. The motor may need more time. 2 Depends on load inertia, load torque, and starting frequency. 3 Never input a pulse signal immediately after switching the "All Windings Off" signal to the "photocoupler OFF" state. The motor may not start. 4 Wait at least 5 seconds before turning on the power again.
Stepping Motors
Adjusting the Current

b Adjusting the Motor Current
Use the "RUN" potentiometer to decrease the current and suppress the temperature rise in the motor/driver, or when there is sufficient motor torque and you want to suppress vibration by lowering the current. Use the "STOP" potentiometer to readjust the current at motor standstill in relation to the holding-brake force of the motor. Factory settings Running current: Rated current Current at motor standstill: Approx. 50% of rated current Follow the procedure below to adjust the motor current.
Adjusting the Motor Running Current

To adjust the motor running current, follow the procedure below: 1. Set the current cutback release signal to the "photocoupler ON" state. Keep other signals in the "photocoupler OFF" state. 2. Turn on the power to the driver. 3. Use the "RUN" potentiometer to adjust the motor's running current. 4. When the power is turned on, the value measured by the ammeter represents the total current in two phases through the blue motor lead wire. The current for one phase is equivalent to one-half the ammeter value. (Example: To set the current to 1.0 A/phase, adjust the current level until the ammeter reads 2.0 A.) 5. When the running current has been adjusted, set the current cutback release signal to the "photocoupler OFF" state.
Notes: b Be sure to use the motor at the rated current or below. b Adjusting the running current will also change the current at standstill.
Introduction
AC Input
Connecting an Ammeter
Connect a DC ammeter as illustrated below. Connect a DC ammeter in series to the blue motor lead wire and motor connector pin No. 1. Set all driver input signals to the "photocoupler OFF" state. Do not connect the red motor lead wire to connector pin No. 2, and black motor lead wire to connector pin No. 5.
24 VDC GND
CN1
2 1
AS ASC
DC Input
Adjusting the Current at Motor Standstill

AC Input
5-Phase RK
12 11 10 9 8 7 6 5 4 3 2 1
To adjust the current at motor standstill, follow the procedure below:

CN2
SW Current Cutback Release Signal 5 VDC 5-Phase Stepping Motor

Blue Red Orange Green Black
Driver
Note: b Do not input pulse signals. Electric shock may result if the red and black motor lead wires contact each other. Insulate these motor lead wires to prevent electric shock.
1. Set the current cutback release signal to the "photocoupler OFF" state. Keep other signals in the "photocoupler OFF" state. 2. Turn on the power to the driver. 3. Use the "STOP" potentiometer to adjust the motor current at standstill. 4. When the power is turned on, the value measured by the ammeter represents the total current in two phases through the blue motor lead wire. The current for one phase is equivalent to one-half the ammeter value. (Example: To set the current to 1.0 A/phase, adjust the current level until the ammeter reads 2.0 A.)
5-Phase CRK
5 4 3 2 1
CN3
DC Input
Holding Torque [N m]
Maximum Holding Torque [N m] Current at Standstill [A] Motor Rated Current [A]
Notes: b Always set the running current first, turn off the driver power and turn it back on, and then set the current at standstill. Setting the running current after current at standstill may change the current setting at standstill. b Setting the current at motor standstill too low may affect the starting of the motor or the position-holding action.
C-143
C-144
Stepping Motors

Type Model CRK523PMAP CRK523PMBP CRK524PMAP CRK524PMBP CRK525PMAP CRK525PMBP CRK544PMAP CRK544PMBP High-Resolution Type CRK546PMAP CRK546PMBP CRK564PMAP CRK564PMBP CRK566PMAP CRK566PMBP CRK569PMAP CRK569PMBP CRK513PAP CRK513PBP CRK523PAP CRK523PBP CRK525PAP CRK525PBP CRK544PAP CRK544PBP CRK546PAP CRK546PBP CRK543AP CRK543BP CRK544AP CRK544BP CRK545AP CRK545BP Standard Type CRK564AP CRK564BP CRK566AP CRK566BP CRK569AP CRK569BP CRK523PAP-T7.2 CRK523PBP-T7.2 CRK523PAP-T10 CRK523PBP-T10 CRK523PAP-T20 CRK523PBP-T20 CRK523PAP-T30 CRK523PBP-T30 CRK543AP-T3.6 CRK543BP-T3.6 CRK543AP-T7.2 CRK543BP-T7.2 CRK543AP-T10 CRK543BP-T10 CRK543AP-T20 CRK543BP-T20 CRK543AP-T30 CRK543BP-T30 CRK564AP-T3.6 CRK564BP-T3.6 CRK564AP-T7.2 CRK564BP-T7.2 CRK564AP-T10 CRK564BP-T10 CRK564AP-T20 CRK564BP-T20 CRK564AP-T30 CRK564BP-T30 PK564NAW PK564NBW PK566NAW PK566NBW PK569NAW PK569NBW PK523PA-T7.2 PK523PB-T7.2 PK523PA-T10 PK523PB-T10 PK523PA-T20 PK523PB-T20 PK523PA-T30 PK523PB-T30 PK543AW-T3.6 PK543BW-T3.6 PK543AW-T7.2 PK543BW-T7.2 PK543AW-T10 PK543BW-T10 PK543AW-T20 PK543BW-T20 PK543AW-T30 PK543BW-T30 PK564AW-T3.6 PK564BW-T3.6 PK564AW-T7.2 PK564BW-T7.2 PK564AW-T10 PK564BW-T10 PK564AW-T20 PK564BW-T20 PK564AW-T30 PK564BW-T30 Motor Model PK523PMA PK523PMB PK524PMA PK524PMB PK525PMA PK525PMB PK544PMA PK544PMB PK546PMA PK546PMB PK564PMA PK564PMB PK566PMA PK566PMB PK569PMA PK569PMB PK513PA PK513PB PK523PA PK523PB PK525PA PK525PB PK544PA PK544PB PK546PA PK546PB PK543NAW PK543NBW PK544NAW PK544NBW PK545NAW PK545NBW CRD5107P CRD5103P
Driver Model
Type
Model CRK545AP-P5 CRK545BP-P5 CRK545AP-P7.2 CRK545BP-P7.2 CRK545AP-P10 CRK545BP-P10 CRK543AP-P25 CRK543BP-P25 CRK543AP-P36 CRK543BP-P36 CRK543AP-P50 CRK543BP-P50
Motor Model PK545AW-P5 PK545BW-P5 PK545AW-P7.2 PK545BW-P7.2 PK545AW-P10 PK545BW-P10 PK543AW-P25 PK543BW-P25 PK543AW-P36 PK543BW-P36 PK543AW-P50 PK543BW-P50
Driver Model
CRD5103P
CRD5107P
CRD5107P
PL Geared Type CRD5114P CRK566AP-P5 CRK566BP-P5 CRK566AP-P7.2 CRK566BP-P7.2 CRK566AP-P10 CRK566BP-P10 CRK564AP-P25 CRK564BP-P25 CRK564AP-P36 CRK564BP-P36 CRK564AP-P50 CRK564BP-P50 CRK523PAP-N5 CRK523PBP-N5 CRK523PAP-N7.2 CRK523PBP-N7.2 CRK523PAP-N10 CRK523PBP-N10 CRK544AP-N5 CRK544BP-N5 CRK544AP-N7.2 CRK544BP-N7.2 CRK544AP-N10 CRK544BP-N10 CRK566AP-N5 CRK566BP-N5 CRK566AP-N7.2 CRK566BP-N7.2 CRK566AP-N10 CRK566BP-N10 CRK564AP-N25 CRK564BP-N25 CRK564AP-N36 CRK564BP-N36 CRK564AP-N50 CRK564BP-N50 CRK513PAP-H50 CRK513PBP-H50 CRK513PAP-H100 CRK513PBP-H100 Harmonic Geared Type CRK543AP-H50 CRK543BP-H50 CRK543AP-H100 CRK543BP-H100 CRK564AP-H50 CRK564BP-H50 CRK564AP-H100 CRK564BP-H100 CRD5114P PK566AW-P5 PK566BW-P5 PK566AW-P7.2 PK566BW-P7.2 PK566AW-P10 PK566BW-P10 PK564AW-P25 PK564BW-P25 PK564AW-P36 PK564BW-P36 PK564AW-P50 PK564BW-P50 PK523PA-N5 PK523PB-N5 PK523PA-N7.2 PK523PB-N7.2 PK523PA-N10 PK523PB-N10 PK544AW-N5 PK544BW-N5 PK544AW-N7.2 PK544BW-N7.2 PK544AW-N10 PK544BW-N10 PK566AW-N5 PK566BW-N5 PK566AW-N7.2 PK566BW-N7.2 PK566AW-N10 PK566BW-N10 PK564AW-N25 PK564BW-N25 PK564AW-N36 PK564BW-N36 PK564AW-N50 PK564BW-N50 PK513PA-H50S PK513PB-H50S PK513PA-H100S PK513PB-H100S PK543AW-H50S PK543BW-H50S PK543AW-H100S PK543BW-H100S PK564AW-H50S PK564BW-H50S PK564AW-H100S PK564BW-H100S
CRD5114P
High-Torque Type
CRD5103P
CRD5107P
CRD5114P PN Geared Type
CRD5103P
CRD5114P
CRD5103P
CRD5107P
TH Geared Type
CRD5107P
CRD5114P
If you are purchasing only a motor for maintenance purpose, etc., motor lead wire/ connector assembly and connector will not be supplied. They must be purchased separately. They are available as accessories. Motor lead wire/connector assembly, motor connector set Page C-255
Stepping Motors
Introduction AS ASC
Controllers
Accessories
Installation
AC Input
DC Input
AC Input
DC Input
C-145
5-Phase RK
5-Phase CRK
2-Phase CMK
2-Phase CSK
Vibration Component Voltage Vp-p [V]
Noise [dB]
C-146
Stepping Motors
CMK Series
bAdditional Informationb Technical reference Page F-1
The CMK Series is a motor and driver package consisting of a 2-phase stepping motor and 24 VDC input micro step driver, allowing for a reduction in the size of your equipment and in vibration.
Features
b Achieving Low Vibration and Noise in the Microstep Drive
The newly designed compact DC board-level driver achieves microstep drive in a compact, lightweight body. The 2-phase stepping motor's basic step angle (1.8/step) is divided by a maximum of 16 resolutions (0.1125/step) without the use of a reduction mechanism or other mechanical elements, which contributes to the reduction in noise and vibration of your equipment.
Microstep/Step 1 2 4 8 16 Resolution 200 400 800 1600 3200 Step Angle 1.8 0.9 0.45 0.225 0.1125
(At basic step angle 1.8/step)
Comparison of Vibration Characteristics

3 CSK266-BT Full Step 1.8/Step (Conventional Model) CMK266BP Resolution 16 0.1125/Step (CMK Series) 2 50 45 40 0 0 60 55
Comparison of Noise Characteristics

CSK266-BT Full Step 1.8/Step (Conventional Model) CMK266BP Resolution 16 0.1125/Step (CMK Series)
120
480
30
60
150
180
210
b Full Range of Driver Functions

bFive preset step angles bOperating current can easily be set with a digital switch b1-pulse/2-pulse input mode switching bPower LED bConnector with lock (by MOLEX) Easy-to-Install Heat Sink Shape
Horizontal Installation
Vertical Installation
b One of the Smallest Drivers in the Industry Adopting a Microstep Driver

The driver of the CMK Series is one of the smallest, lightest drivers in the industry adopting a microstep driver. The driver is 62% lighter and has 41% less install area (based on horizontal installation) compared to our conventional model. This product contributes to downsizing of your equipment. Mass: 130 g Mass: 50 g
33 mm
65 mm
50.5 mm
Comparison with a conventional driver
62% less Install area: 41% less Volume: 41% less

Mass:
(based on horizontal installation) (the conventional driver includes a 5 mm spacer for installation.)
Conventional Model (CSD2120-T)
New Product (CMD21
P)
Stepping Motors
b Wide Variety
The CMK Series motor and driver package comes in five frame sizes of 28 to 60 mm as well as four motor types.
Type Features The high-torque motor realized higher torque of approx. 1.5 times compared with the conventional standard type motor. 28 mm 35 mm 42 mm 50 mm 56.4/60 mm Driver
High-Torque Type
Introduction
Standard Type
The basic model offering a good balance of torque and low vibration/noise characteristics. High-torque motor offering higher positioning accuracy with the basic step angle set to 0.9/step, which is just half the basic step angle of the standard type motor. These geared types are effective for reduction, increasing torque, higher resolution and suppressing vibration. Eight gear ratios are available.
AC Input DC Input
AS ASC
AC Input
5-Phase RK
SH Geared Type
5-Phase CRK
b High-Torque Type
The high-torque type adopts new technology and design. This motor produces higher torque of approximately 1.5 times the level achieved by a conventional standard type motor.
The basic step angle is 0.9, which is half that of the standard type. 400 steps per rotation is possible. This motor achieves high resolution, low vibration and improved stopping accuracy.
Stator Rotor Rotor Shaft Stator DC Input
2-Phase CMK
Comparison of Speed-Torque Characteristics

0.5 0.4 Torque [Nm] 0.3 0.2 0.1 0 CMK244BP (Standard Type)
Shaft
CMK244PBP (High-Torque Type)
2-Phase CSK
Standard Type (50 Teeth)
High-Resolution Type (100 Teeth)
The small basic step angle allows the torque to pick up quickly while minimizing the negative effect of friction load.
Comparison of Angle-Torque Characteristics

0 500 1000 1500 Speed [r/min] 2000 2500
0.3 Torque [Nm] TH1, TH2
Providing torque equivalent to a motor of the next larger frame size, the high-torque type allows for a reduction in the size of your equipment. 39 39
-1.8 -0.9
TL: Friction Torque TH1,TH2: Maximum Holding Torque
0.2
Controllers
0.1 TL 0 0.9 -TL -0.1 1.8 Angle [deg]
56.4
42
High-Resolution Type Standard Type TH1: CMK244AP (Standard Type) TH2: CMK244MAP (High-Resolution Type)
Accessories
-0.2
High-Torque Type
CMK244PAP
0.39 N m
Type Model Maximum Holding Torque
Standard Type
-0.3
CMK264AP
0.36 N m
Installation
The motor also adopts a connector coupling system for easy installation.
RoHS-Compliant
The CMK Series conforms to the RoHS Directive that prohibits the use of six chemical substances including lead and cadmium.
C-147
C-148
Stepping Motors
( Page C-248)
24 VDC Power Supply

(Not supplied)
(Not supplied)
CMK Series (Body) CMK Series (Body)

Motor Driver
24 VDC Power Supply

(Not supplied)

( Page C-266)
Flexible Couplings
( Page C-258)
Clean Dampers
( Page C-264)

( Page C-257)

( Page C-255)
Motor Connector Set

( Page C-255)
Motor lead wire/connector assembly of 0.6 m is included with the motor and driver package of connector-coupled type.
No.
Product Name
Controller Motor Mounting Brackets Flexible Couplings Clean Dampers Driver Lead Wire Set Motor Lead Wire/Connector Assembly Motor Connector Set
Overview
This controller outputs pulse commands that determine the rotating amount and rotating speed. Dedicated mounting bracket for the motor. Coupling that connects the motor shaft to the driven shaft. Dedicated damper for suppressing stepping motor vibration. Cables for connecting the driver and motor, DC power supply or host controller (0.6 m). Lead wire with a connector crimped for connector-coupled motors (0.6 m, 1 m). Set of connector housings and contacts for use with connector-coupled motors (for 30 units).
Page
C-248 C-266 C-258 C-264 C-257 C-255 C-255

CMK Series
CMK244PBP
Motor Mounting Flexible Bracket Coupling SG8030JY-U PAL0P MCS140506 Controller
Clean Damper
D4CL-5.0F
Driver Lead Wire Set (0.6 m) LCS01CMK2
Stepping Motors
Product Number Code

b High-Torque Type, Standard Type, High-Resolution Type
Series 2: 2-Phase Motor Frame Size Motor Case Length Motor Type Shaft Type Signal I/O Mode P: High-Torque Type Blank: Standard Type M: High-Resolution Type A: Single Shaft B: Double Shaft P: Photocoupler CMK: CMK Series 2: 28 mm 3: 35 mm 4: 42 mm 5: 50 mm 6: 56.4 mm
246PA P
Introduction
b SH Geared Type
2 6 4 A P - SG 10
Series 2: 2-Phase Motor Frame Size Motor Case Length Shaft Type Signal I/O Mode Gearhead Type Gear Ratio
CMK: CMK Series 2: 28 mm 4: 42 mm 6: 60 mm A: Single Shaft B: Double Shaft P: Photocoupler SG: SH Geared Type
AS ASC 5-Phase RK
Product Line
b High-Torque Type
Model (Single Shaft) CMK223PAP CMK224PAP CMK225PAP CMK233PAP CMK235PAP CMK244PAP CMK246PAP Model (Double Shaft) CMK223PBP CMK224PBP CMK225PBP CMK233PBP CMK235PBP CMK244PBP CMK246PBP
b SH Geared Type
Model (Single Shaft) CMK223AP-SG7.2 CMK223AP-SG9 CMK223AP-SG10 CMK223AP-SG18 CMK223AP-SG36 CMK243AP-SG3.6 CMK243AP-SG7.2 CMK243AP-SG9 CMK243AP-SG10 CMK243AP-SG18 CMK243AP-SG36 CMK243AP-SG50 CMK243AP-SG100 CMK264AP-SG3.6 CMK264AP-SG7.2 CMK264AP-SG9 CMK264AP-SG10 CMK264AP-SG18 CMK264AP-SG36 CMK264AP-SG50 CMK264AP-SG100 Model (Double Shaft) CMK223BP-SG7.2 CMK223BP-SG9 CMK223BP-SG10 CMK223BP-SG18 CMK223BP-SG36 CMK243BP-SG3.6 CMK243BP-SG7.2 CMK243BP-SG9 CMK243BP-SG10 CMK243BP-SG18 CMK243BP-SG36 CMK243BP-SG50 CMK243BP-SG100 CMK264BP-SG3.6 CMK264BP-SG7.2 CMK264BP-SG9 CMK264BP-SG10 CMK264BP-SG18 CMK264BP-SG36 CMK264BP-SG50 CMK264BP-SG100
5-Phase CRK
DC Input
2-Phase CMK
The following items are included in each product. Motor, Driver, Driver Connector, Motor Lead Wire/Connector Assembly, Operating Manual
2-Phase CSK
b Standard Type
Model (Single Shaft) CMK243AP CMK244AP CMK245AP CMK256AP CMK258AP CMK264AP CMK266AP CMK268AP Model (Double Shaft) CMK243BP CMK244BP CMK245BP CMK256BP CMK258BP CMK264BP CMK266BP CMK268BP
The following items are included in each product. Motor, Driver, Driver Connector, Operating Manual
The following items are included in each product. Motor, Driver, Driver Connector, Motor Lead Wire/Connector Assembly, Mounting Screws for Motor, Operating Manual Only for connector-coupled motor
Model (Single Shaft) CMK243MAP CMK244MAP CMK245MAP CMK264MAP CMK266MAP CMK268MAP Model (Double Shaft) CMK243MBP CMK244MBP CMK245MBP CMK264MBP CMK266MBP CMK268MBP
The following items are included in each product. Motor, Driver, Driver Connector, Motor Lead Wire/Connector Assembly, Operating Manual
Installation
C-149
Torque [Nm]
0.05 0.04 0.03 Current [A] 0.02 0.01 0 0 Driver Input Current fs 500 1000 1500 2000 2500 3000 3500 4000 4500 Speed [r/min] 4 (8) 8 (16) Pulse Speed [kHz] 12 (24) Resolution 1 (Resolution 2) 2 1 0
Torque [Nm]
Current [A]
Torque [Nm]
Current [A]
C-150
Stepping Motors
High-Torque Type
Specifications
Model Maximum Holding Torque Rotor Inertia Rated Current Basic Step Angle Power Source Excitation Mode Mass Dimension No. Motor Driver Motor Driver Single Shaft Double Shaft Nm J: kg m2 A/Phase
CMK223PAP CMK223PBP 0.05 9 10-7
kg kg
0.11
CMK224PAP CMK224PBP 0.075 12 10-7 0.95 1.8 24 VDC 10% 1.5 A Microstep 0.14 0.05 1 10
CMK225PAP CMK225PBP 0.09 18 10-7
0.2
How to read specifications table Page C-10 Motor lead wire/connector assembly of 0.6 m is included with the motor and driver package of connector coupled type.

CMK223PAP/CMK223PBP
0.08 0.07 0.06 Pullout Torque Power Input: 24 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7kg m2 Resolution 1 1.8/step Resolution 2 0.9/step
CMK224PAP/CMK224PBP
0.12 0.10 0.08 0.06 0.04 Driver Input Current 0.02 0 0 fs 500 1000 1500 2000 2500 3000 3500 4000 4500 Speed [r/min] 4 (8) 8 (16) Pulse Speed [kHz] 12 (24) Resolution 1 (Resolution 2) Pullout Torque Power Input: 24 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7kg m2 Resolution 1 1.8/step Resolution 2 0.9/step
2 1 0
0 (0)
0 (0)
CMK225PAP/CMK225PBP
0.14 0.12 0.10 0.08 0.06 0.04 Driver Input Current 1 0 0.02 0 0 fs 500 1000 1500 2000 2500 3000 3500 4000 4500 Speed [r/min] 4 (8) 8 (16) Pulse Speed [kHz] 12 (24) Resolution 1 (Resolution 2) Pullout Torque Power Input: 24 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7kg m2 Resolution 1 1.8/step Resolution 2 0.9/step
0 (0)
b The pulse input circuit responds to approximately 100 kHz with a pulse duty of 50%. Notes: b 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 100C. b The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 40%.
Stepping Motors
High-Torque Type
Specifications
CMK233PAP CMK233PBP 0.16 24 10-7
CMK235PAP CMK235PBP 0.3 50 10-7
CMK244PAP CMK244PBP 0.39 57 10-7
CMK246PAP CMK246PBP 0.75 114 10-7

Introduction
1.2 1.8 24 VDC 10% 1.7 A Microstep 0.18 2 10 0.285 0.05 AC Input 3 0.3 0.5
kg kg
AS
How to read specifications table Page C-10 Motor lead wire/connector assembly of 0.6 m is included with the motor and driver package of connector coupled type.
DC Input
ASC

CMK233PAP/CMK233PBP
0.20 Power Input: 24 VDC Current: 1.2 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7kg m2 Resolution 1 1.8/step Resolution 2 0.9/step
CMK235PAP/CMK235PBP
0.30 0.25 Pullout Torque Torque [Nm] 0.20 0.15 0.10 0.05 Driver Input Current 0 0 fs 0 500 2 (4) 1000 1500 Speed [r/min] 4 6 (8) (12) Pulse Speed [kHz] 2000 2500 Resolution 1 (Resolution 2) Power Input: 24 VDC Current: 1.2 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7kg m2 Resolution 1 1.8/step Resolution 2 0.9/step
AC Input
5-Phase RK
0.15 Torque [Nm]
Pullout Torque
4 Current [A]
0.10 2 1
5-Phase CRK
0.05
Driver Input Current fs 0 500 2 (4) 1000 1500 Speed [r/min] 4 6 (8) (12) Pulse Speed [kHz] 2000 2500 Resolution 1 (Resolution 2)
0 (0)
Current [A]
0 (0)
DC Input
2-Phase CMK
CMK244PAP/CMK244PBP
0.5 0.4 Torque [Nm] 0.3 Power Input: 24 VDC Current: 1.2 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7kg m2 Resolution 1 1.8/step Resolution 2 0.9/step Pullout Torque
CMK246PAP/CMK246PBP
0.8 Power Input: 24 VDC Current: 1.2 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7kg m2 Resolution 1 1.8/step Resolution 2 0.9/step
2-Phase CSK
0.6 Torque [Nm]
Pullout Torque
4 Current [A] 0.2 Driver Input Current 0.1 0 fs 0 500 2 (4) 1000 1500 Speed [r/min] 4 6 (8) (12) Pulse Speed [kHz] 2000 2500 Resolution 1 (Resolution 2)
2 Current [A] 1 0
0.2 fs 500 2 (4)
1500
0 (0)
0 (0)
C-151
Torque [Nm]
0.15 0.10 Current [A] Driver Input Current 2 1 0 0.05 0 fs 500 2 (4)
Torque [Nm]
Current [A]
Torque [Nm]
0.25 0.20 Driver Input Current Current [A] 0.15 0.10 0.05 0 0 fs 500 2 (4) 1000 1500 Speed [r/min] 4 6 (8) (12) Pulse Speed [kHz] 2000 2500 8 Resolution 1 (16) (Resolution 2) 8
Torque [Nm]
Current [A]
Torque [Nm]
Current [A]
C-152
Stepping Motors
Standard Type
Specifications
CMK243AP CMK243BP 0.16 35 10-7 0.95 24 VDC 10% 1.5 A
CMK244AP CMK244BP 0.26 54 10-7 1.2
CMK245AP CMK245BP 0.32 68 10-7 1.8
CMK256AP CMK256BP 0.56 230 10-7 2
CMK258AP CMK258BP 1.2 420 10-7
kg kg
0.21
24 VDC 10% 1.7 A Microstep 0.27 0.35 0.05 4 10
24 VDC 10% 2.9 A 0.53 5 0.89

CMK243AP/CMK243BP
0.25 0.20 Pullout Torque Power Input: 24 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7kg m2 Resolution 1 1.8/step Resolution 2 0.9/step
CMK244AP/CMK244BP
0.35 0.30 0.25 Pullout Torque 0.20 0.15 0.10 0.05 0 0 fs 500 2 (4) 1000 1500 Speed [r/min] 4 6 (8) (12) Pulse Speed [kHz] 2000 2500 8 Resolution 1 (16) (Resolution 2) Driver Input Current Power Input: 24 VDC Current: 1.2 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7kg m2 Resolution 1 1.8/step Resolution 2 0.9/step
2 1 0
1000 1500 Speed [r/min] 4 6 (8) (12) Pulse Speed [kHz]
2000
0 (0)
0 (0)
CMK245AP/CMK245BP
CMK256AP/CMK256BP
0.8 Power Input: 24 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7kg m2 Resolution 1 1.8/step Resolution 2 0.9/step 0.6 Pullout Torque
0.4
2 1 0
0.2
Driver Input Current fs 500 2 (4)
1500
0 (0)
0 (0)
CMK258AP/CMK258BP
1.5 1.2 Pullout Torque 0.9 0.6 Driver Input Current 2 0 0.3 0 fs 0 500 2 (4) 1000 Speed [r/min] 4 (8) Pulse Speed [kHz] 1500 2000 6 Resolution 1 (12) (Resolution 2) Power Input: 24 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7kg m2 Resolution 1 1.8/step Resolution 2 0.9/step
0 (0)
Stepping Motors
Standard Type
Specifications
Motor Frame Size 56.4 mm
CMK264AP CMK264BP 0.36 120 10-7
kg kg
0.45
CMK266AP CMK266BP 0.82 300 10-7 2 1.8 24 VDC 10% 2.9 A Microstep 0.7 0.05 6 10
CMK268AP CMK268BP 1.35 480 10-7

Introduction
1 AC Input
AS

CMK264AP/CMK264BP
0.5 0.4 Torque [Nm] 0.3 0.2 Driver Input Current 2 0 0.1 0 fs 500 2 (4) Pullout Torque Power Input: 24 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7kg m2 Resolution 1 1.8/step Resolution 2 0.9/step
DC Input
ASC
CMK266AP/CMK266BP
1.2 1.0 Torque [Nm] 0.8 Pullout Torque 0.6 0.4 Driver Input Current 2 0 0.2 0 0 fs 500 2 (4) 1000 1500 Speed [r/min] 4 6 (8) (12) Pulse Speed [kHz] 2000 2500 8 Resolution 1 (16) (Resolution 2) Power Input: 24 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7kg m2 Resolution 1 1.8/step Resolution 2 0.9/step
AC Input
5-Phase RK
4 Current [A]
Current [A]
5-Phase CRK
2000
0 (0)
0 (0)
DC Input
2-Phase CMK
CMK268AP/CMK268BP
1.6 1.4 1.2 Torque [Nm] 1.0 0.8 0.6 0.4 0.2 0 0 fs 500 2 (4) 1000 Speed [r/min] 4 (8) Pulse Speed [kHz] 1500 2000 6 Resolution 1 (12) (Resolution 2) Driver Input Current Pullout Torque Power Input: 24 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7kg m2 Resolution 1 1.8/step Resolution 2 0.9/step
2-Phase CSK
Current [A]
4 2 0
0 (0)
C-153
Torque [Nm]
0.15 0.10 0.05 0
Torque [Nm]
Current [A]
1 0
Driver Input Current fs 500 5 (10)
Current [A]
Torque [Nm]
0.25 0.20 0.15 0.10 0.05 0 Driver Input Current 0 fs 500 5 (10) 1000 1500 Speed [r/min] 10 (20) Pulse Speed [kHz] 2000 2500 15 Resolution 1 (30) (Resolution 2) Current [A] 4 2 0
Torque [Nm]
Current [A]
Torque [Nm]
Torque [Nm]
Current [A]
2 0
0.2 0 fs 0 500 5 (10) 1000 1500 Speed [r/min] 10 (20) Pulse Speed [kHz] 2000 2500 15 Resolution 1 (30) (Resolution 2)
Current [A]
C-154
Stepping Motors
Specifications
Model Maximum Holding Torque Rotor Inertia Rated Current Basic Step Angle Power Source Excitation Mode Mass Dimension No. Motor Driver Motor Driver Single Shaft Double Shaft Nm J: kg m2 A/Phase CMK243MAP CMK243MBP 0.16 35 10-7 0.95 24 VDC 10% 1.5 A kg kg 0.24
Motor Frame Size 42 mm, 56.4 mm
CMK244MAP CMK244MBP 0.26 54 10-7 1.2
CMK245MAP CMK245MBP 0.32 68 10-7 0.9
CMK264MAP CMK264MBP 0.37 120 10-7
CMK266MAP CMK266MBP 0.9 300 10-7 2 24 VDC 10% 2.9 A
CMK268MAP CMK268MBP 1.35 480 10-7
24 VDC 10% 1.7 A Microstep 0.3 4 10 0.37 0.05 0.45
0.7 6

CMK243MAP/CMK243MBP
0.25 0.20 Pullout Torque Power Input: 24 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7kg m2 Resolution 1 0.9/step Resolution 2 0.45/step
CMK244MAP/CMK244MBP
0.35 0.30 0.25 0.20 0.15 0.10 0.05 Driver Input Current 0 0 fs 500 5 (10) 1000 1500 Speed [r/min] 10 (20) Pulse Speed [kHz] 2000 2500 15 Resolution 1 (30) (Resolution 2) Pullout Torque Power Input: 24 VDC Current: 1.2 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7kg m2 Resolution 1 0.9/step Resolution 2 0.45/step
2 1 0
2000
0 (0)
0 (0)
CMK245MAP/CMK245MBP
CMK264MAP/CMK264MBP
0.5 0.4 Pullout Torque 0.3 0.2 0.1 0 Driver Input Current fs 0 500 5 (10) 1000 1500 Speed [r/min] 10 (20) Pulse Speed [kHz] 2000 2500 15 Resolution 1 (30) (Resolution 2) Power Input: 24 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7kg m2 Resolution 1 0.9/step Resolution 2 0.45/step
2 1 0
0 (0)
0 (0)
CMK266MAP/CMK266MBP
1.2 1.0 0.8 0.6 0.4 Driver Input Current Pullout Torque Power Input: 24 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7kg m2 Resolution 1 0.9/step Resolution 2 0.45/step
CMK268MAP/CMK268MBP
1.6 1.4 1.2 1.0 0.8 0.6 0.4 0.2 Driver Input Current fs 0 0 500 0 (0) Pullout Torque Power Input: 24 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7kg m2 Resolution 1 0.9/step Resolution 2 0.45/step
4 2 0
1500 10 (20)
0 (0)
Stepping Motors
SH Geared Type
Specifications
Model Maximum Holding Torque Rotor Inertia Rated Current Basic Step Angle Gear Ratio Permissible Torque Permissible Speed Range Power Source Excitation Mode Mass Dimension No. Motor Driver Motor Driver Single Shaft Double Shaft Nm J: kg m2 A/Phase
CMK223AP-SG7.2 CMK223BP-SG7.2
CMK223AP-SG9 CMK223BP-SG9 0.3
CMK223AP-SG10 CMK223BP-SG10 9 10-7 0.95 0.18 1: 10 0 180 24 VDC 10% 1.5 A Microstep 0.16 0.05 7 10
CMK223AP-SG18 CMK223AP-SG36 CMK223BP-SG18 CMK223BP-SG36 0.4

Introduction
0.25 1: 7.2 Nm r/min 0 250
0.2 1: 9 0.3 0 200
0.1 1: 18 0.4 0 100
0.05 1: 36 0 50 AC Input
AS
kg kg
DC Input
How to read specifications table Page C-10 Motor lead wire/connector assembly of 0.6 m is included with the motor and driver package of connector coupled type. b Backlash value is approximately 1 to 2. Note: b Direction of rotation of the motor and that of the gear output shaft are the same for gear ratios 1:7.2 and 1:36. It is the opposite for 1:9, 1:10 and 1:18 gear ratios.
ASC 5-Phase RK
AC Input

CMK223AP-SG7.2/CMK223BP-SG7.2
0.6 0.5 Torque [Nm] 0.4 Permissible Torque 0.3 Power Input: 24 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7kg m2 Resolution 1 0.25/step Resolution 2 0.125/step
CMK223AP-SG9/CMK223BP-SG9
0.6 0.5 Torque [Nm] 0.4 Permissible Torque 0.3 Power Input: 24 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7kg m2 Resolution 1 0.2/step Resolution 2 0.1/step
5-Phase CRK
1.5 Current [A] 1 0.5 0
1.5 Current [A] 1 0.5 0
DC Input
2-Phase CMK
0.2 Driver Input Current 0.1 0 fs 0 50 2 (4) 100 150 200 Speed [r/min] 250 6 (12) 300 Resolution 1 (Resolution 2)
0.2 Driver Input Current 0.1 0 0 fs 50 2 (4) 100 150 Speed [r/min] 4 (8) Pulse Speed [kHz] 200 6 (12) 250 Resolution 1 (Resolution 2)
0 (0)
0 (0)
2-Phase CSK
0.6 0.5 Torque [Nm] 0.4 Permissible Torque 0.3 0.2 0.1 0 fs 0 50 2 (4) 100 Speed [r/min] 4 (8) Pulse Speed [kHz] 150 200 6 Resolution 1 (12) (Resolution 2) Power Input: 24 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7kg m2 Resolution 1 0.18/step Resolution 2 0.09/step
0.6 0.5 Permissible Torque Torque [Nm] 0.4 0.3 0.2 0.1 0 fs 0 20 2 (4) 40 60 80 Speed [r/min] 100 6 (12) 120 Resolution 1 (Resolution 2) Power Input: 24 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7kg m2 Resolution 1 0.1/step Resolution 2 0.05/step
1.5 Current [A] 1 0.5 0
1.5 Current [A] 1 0.5 0
0 (0)
0 (0)
Controllers
0.6 0.5 Permissible Torque Torque [Nm] 0.4 0.3 0.2 Driver Input Current 0.5 0 0.1 0 fs 0 10 2 (4) 20 30 40 Speed [r/min] 50 6 (12) 60 Resolution 1 (Resolution 2) Power Input: 24 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7kg m2 Resolution 1 0.05/step Resolution 2 0.025/step
Accessories
1.5 Current [A] 1
Installation
0 (0)
C-155
C-156
Stepping Motors
SH Geared Type
Specifications
Model Maximum Holding Torque Rotor Inertia Rated Current Basic Step Angle Gear Ratio Permissible Torque Permissible Speed Range Power Source Excitation Mode Mass Dimension No. Motor Driver Motor Driver Single Shaft Double Shaft Nm J: kg m2 A/Phase Single Shaft Double Shaft Nm J: kg m2 A/Phase
CMK243AP-SG3.6 CMK243BP-SG3.6 0.2
Nm r/min
0.5 1: 3.6 0.2 0 500
kg kg
CMK243AP-SG7.2 CMK243AP-SG9 CMK243BP-SG7.2 CMK243BP-SG9 0.4 0.5 35 10-7 0.95 0.25 0.2 1: 7.2 1: 9 0.4 0.5 0 250 0 200 24 VDC 10% 1.5 A Microstep 0.35 0.05 8 10 CMK243AP-SG36 CMK243BP-SG36 0.8 35 10-7 0.95 CMK243AP-SG50 CMK243BP-SG50
0.18 1: 10 0.56 0 180
Model Maximum Holding Torque Rotor Inertia Rated Current Basic Step Angle Gear Ratio Permissible Torque Permissible Speed Range Power Source Excitation Mode Mass Dimension No.
CMK243AP-SG18 CMK243BP-SG18
0.1 1: 18 Nm r/min 0 100
0.05 1: 36 0.8 0 50 24 VDC 10% 1.5 A Microstep 0.35 0.05 8 10
0.036 1: 50 0 36
0.018 1: 100 0 18
kg kg
How to read specifications table Page C-10 b Backlash value is approximately 1 to 2. Note: b Direction of rotation of the motor and that of the gear output shaft are the same for gear ratios 1: 3.6, 1: 7.2, 1: 9, 1: 10, 1: 50 and 1: 100. It is the opposite for 1:18 and 1:36 gear ratios.
Stepping Motors

1.0 0.8 Torque [Nm] 0.6 0.4 Power Input: 24 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL 34 10 7kg m2 Resolution 1 0.5/step Resolution 2 0.25/step
1.0 0.8 Torque [Nm] 0.6 0.4 0.2 0 fs 0 50 2 (4) Driver Input Current 100 150 200 Speed [r/min] 250 6 (12) 300 Resolution 1 (Resolution 2) Permissible Torque Power Input: 24 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7kg m2 Resolution 1 0.25/step Resolution 2 0.125/step
2 Current [A] 1 0
2 Current [A] Permissible Torque 1 0
Introduction
0.2 0 fs 100 2 (4) Driver Input Current 200 300 400 Speed [r/min] 500 6 (12) 600 Resolution 1 (Resolution 2)
0 (0)
0 (0)
AC Input
AS
1.0 0.8 Torque [Nm] 0.6 0.4 Power Input: 24 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7kg m2 Resolution 1 0.2/step Resolution 2 0.1/step
1.0 0.8 Torque [Nm] 0.6 0.4 Permissible Torque Power Input: 24 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7kg m2 Resolution 1 0.18/step Resolution 2 0.09/step
DC Input
ASC
Permissible Torque 2 Current [A] Driver Input Current fs 50 2 (4) 1 0
2 Current [A] 1 0
AC Input
0.2 0
0.2 0 fs 50 2 (4)
5-Phase RK
200 6 (12)
150
0 (0)
0 (0)
5-Phase CRK
1.0 0.8 Torque [Nm] 0.6 0.4 0.2 0 fs 0 20 2 (4) 40 60 80 Speed [r/min] 100 6 (12) 120 Resolution 1 (Resolution 2) Driver Input Current Power Input: 24 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34107kgm2 Permissible Torque Resolution 1 0.1/step Resolution 2 0.05/step
1.0 0.8 Torque [Nm] 0.6 0.4 0.2 0 fs 0 10 2 (4) 20 30 40 Speed [r/min] 50 6 (12) 60 Resolution 1 (Resolution 2) Driver Input Current Power Input: 24 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34107kgm2 Permissible Torque Resolution 1 0.05/step Resolution 2 0.025/step
DC Input
2-Phase CMK
2 Current [A] 1 0
2 Current [A] 1 0
2-Phase CSK
0 (0)
0 (0)
1.0 0.8 Torque [Nm] 3 Current [A] 2 1 0 0.6 0.4 Driver Input Current 0.2 0 fs 0 10 2 (4) 20 30 Speed [r/min] 4 (8) Pulse Speed [kHz] 6 (12) 40 Resolution 1 (Resolution 2) Power Input: 24 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7kg m2 Permissible Torque Resolution 1 0.036/step Resolution 2 0.018/step
1.0 0.8 Torque [Nm] 3 Current [A] 2 1 0 0.6 0.4 Driver Input Current 0.2 0 fs 0 5 2 (4) 10 15 Speed [r/min] 4 (8) Pulse Speed [kHz] 6 (12) 20 Resolution 1 (Resolution 2) Power Input: 24 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7kg m2 Permissible Torque Resolution 1 0.018/step Resolution 2 0.009/step
0 (0)
0 (0)
Accessories
Installation
C-157
C-158
Stepping Motors
SH Geared Type
Specifications
Model Maximum Holding Torque Rotor Inertia Rated Current Basic Step Angle Gear Ratio Permissible Torque Permissible Speed Range Power Source Excitation Mode Mass Dimension No. Motor Driver Motor Driver Single Shaft Double Shaft Nm J: kg m2 A/Phase Single Shaft Double Shaft Nm J: kg m2 A/Phase
CMK264AP-SG3.6 CMK264BP-SG3.6 1
Nm r/min
0.5 1: 3.6 1 0 500
kg kg
CMK264AP-SG7.2 CMK264AP-SG9 CMK264BP-SG7.2 CMK264BP-SG9 2 2.5 120 10-7 2 0.25 0.2 1: 7.2 1: 9 2 2.5 0 250 0 200 24 VDC 10% 2.9 A Microstep 0.75 0.05 9 10 CMK264AP-SG36 CMK264BP-SG36 CMK264AP-SG50 CMK264BP-SG50 4
0.18 1: 10 2.7 0 180
Model Maximum Holding Torque Rotor Inertia Rated Current Basic Step Angle Gear Ratio Permissible Torque Permissible Speed Range Power Source Excitation Mode Mass Dimension No.
CMK264AP-SG18 CMK264BP-SG18 3
120 10-7 2 0.1 1: 18 3 0 100 0.05 1: 36 0 50 24 VDC 10% 2.9 A Microstep 0.75 0.05 9 10 0.036 1: 50 4 0 36 0.018 1: 100 0 18
Nm r/min
kg kg
How to read specifications table Page C-10 b Backlash value is approximately 1 to 2. Note: b Direction of rotation of the motor and that of the gear output shaft are the same for gear ratios 1:3.6, 1:7.2, 1:9, 1:10, 1:50 and 1:100. It is the opposite for 1:18 and 1:36 gear ratios.
Stepping Motors

5 4 Torque [Nm] 3 2 Permissible Torque 4 0 1 0 fs 100 2 (4) Driver Input Current 200 300 400 500 Speed [r/min] 4 (8) Pulse Speed [kHz] 6 (12) Power Input: 24 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7kg m2 Resolution 1 0.5/step Resolution 2 0.25/step
5 4 Torque [Nm] 6 Current [A] 4 2 0 3 Permissible Torque 2 Power Input: 24 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7kg m2 Resolution 1 0.25/step Resolution 2 0.125/step
8 Current [A]
Introduction
1 Driver Input Current 0 fs 50 2 (4)
100
250 6 (12)
0 (0)
0 (0)
AC Input
AS
5 4 Torque [Nm] 6 Current [A] 4 2 0 3 Permissible Torque 2 1 Driver Input Current 0 fs 0 50 2 (4) 100 150 Speed [r/min] 4 (8) Pulse Speed [kHz] 200 6 (12) 250 Resolution 1 (Resolution 2) Power Input: 24 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7kg m2 Resolution 1 0.2/step Resolution 2 0.1/step
5 4 Torque [Nm] 6 Current [A] 4 2 0 3 Permissible Torque 2 Driver Input Current 1 0 fs 0 50 2 (4) 100 150 Speed [r/min] 4 (8) Pulse Speed [kHz] 6 (12) 200 Resolution 1 (Resolution 2) Power Input: 24 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7kg m2 Resolution 1 0.18/step Resolution 2 0.09/step
DC Input AC Input
ASC 5-Phase RK
0 (0)
0 (0)
5-Phase CRK
5 4 Torque [Nm] 6 Current [A] 4 2 0 3 2 1 0 fs 20 2 (4) Driver Input Current Permissible Torque Power Input: 24 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7kg m2 Resolution 1 0.1/step Resolution 2 0.05/step
5 4 Torque [Nm] 3 Current [A] 2 1 0 3 2 Driver Input Current 1 0 fs 10 2 (4) Power Input: 24 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140107kgm2 Permissible Torque Resolution 1 0.05/step Resolution 2 0.025/step
DC Input
40
60 80 Speed [r/min]
100 6 (12)
20
30 40 Speed [r/min]
50 6 (12)
0 (0)
0 (0)
5 4 Torque [Nm] 3 Current [A] 2 1 0 3 2 1 0 fs 0 10 2 (4) 20 30 Speed [r/min] 4 (8) Pulse Speed [kHz] 6 (12) 40 Resolution 1 (Resolution 2) Power Input: 24 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7kg m2 Permissible Torque Resolution 1 0.036/step Resolution 2 0.018/step
5 4 Torque [Nm] 3 Current [A] 2 1 0 3 2 Driver Input Current 1 0 fs 0 5 2 (4) 10 15 Speed [r/min] 6 4 (12) (8) Pulse Speed [kHz] 20 25 Resolution 1 (Resolution 2) Power Input: 24 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7kg m2 Permissible Torque Resolution 1 0.018/step Resolution 2 0.009/step
Controllers
0 (0)
0 (0)
Accessories
Installation
C-159
C-160
Stepping Motors
Input Mode Photocoupler input Pulse (CW pulse) signal/Rotation direction (CCW pulse) signal: Input resistance 200 , Input current 5 20 mA Photocoupler ON: 3 5.25 V Photocoupler OFF: 0 1 V (Voltage between terminals) All windings off signal/Step angle select signal/Automatic current cutback release signal: Input resistance 3.3 k , Input current 1 mA (5 VDC)/8 mA (24 VDC) Photocoupler ON: 4.5 26.4 V Photocoupler OFF: 0 1 V (Voltage between terminals) Operation command pulse signal (CW direction operation command pulse signal when in 2-pulse input mode) Negative logic pulse input Pulse width: 5 s minimum; Pulse rise/fall: 2 s maximum Pulse duty: 50% and below The motor moves one step when the pulse input is switched from ON to OFF. Maximum input pulse frequency: 100 kHz (When the pulse duty is 50%) Rotation direction signal Photocoupler ON: CW, Photocoupler OFF: CCW CCW direction operation command pulse signal when in 2-pulse input mode Negative logic pulse input Pulse width: 5 s minimum; Pulse rise/fall: 2 s maximum Pulse duty: 50% and below The motor moves one step when the pulse input is switched from ON to OFF. Maximum input pulse frequency: 100 kHz (When the pulse duty is 50%) When in the "photocoupler ON" state, the output current to the motor is cut off and the motor shaft can be rotated manually. When in the "photocoupler OFF" state, the output current to the motor is turned on. When in the "photocoupler ON" state, the motor operates at the basic step angle regardless of the settings of the step angle setting switches. When in the "photocoupler OFF" state, the motor operates at the step angle set by the step angle setting switches. When in the "photocoupler ON" state, the automatic current cutback function will not be activated even after the motor stops. When in the "photocoupler OFF" state, the automatic current cutback function will be activated after the motor stops (after approx. 100 ms). Photocoupler, Open-collector output External use condition: 24 VDC maximum, 10 mA maximum The signal is output every time the excitation sequence returns to the initial stage "0" (Photocoupler: ON). High-torque type, standard type Example) 1.8/step (resolution 1): signal output every 4 pulses 0.45/step (resolution 4): signal output every 16 pulses High-resolution type Example) 0.9/step (resolution 1): signal output every 4 pulses 0.225/step (resolution 4): signal output every 16 pulses SH geared type (gear ratio 1:18) Example) 0.1/step (resolution 1): signal output every 4 pulses 0.025/step (resolution 4): signal output every 16 pulses Automatic current cutback, Step angle select, Pulse input mode switch, All windings off, Excitation timing Natural ventilation
Pulse Signal (CW Pulse Signal) Input Signal Rotation Direction Signal (CCW Pulse Signal)
All Windings Off Signal Step Angle Select Signal Automatic Current Cutback Release Signal Output Mode
Output Signal
Excitation Timing Signal
Function Cooling Method
Specifications Insulation Class Insulation Resistance Motor Class B (130C) 100 M or more when 500 VDC megger is applied between the windings and the case under normal ambient temperature and humidity. Sufficient to withstand 1.0 kV at 50 Hz or 60 Hz applied between the windings and the case for 1 minute under normal ambient temperature and humidity. (0.5 kV for models with frame size 42 mm or smaller) Ambient Temperature Operating Environment (In Operation) Ambient Humidity Atmosphere Temperature Rise Stop Position Accuracy1 Shaft Runout Radial Play2 Axial Play3 Concentricity Perpendicularity 10 50C (non-freezing) 85% or less (non-condensing) No corrosive gases, dust, water or oil Temperature rise of windings are 80C or less measured by the resistance change method (at rated voltage, at standstill, two phases energized) 3 arc minutes ( 0.05) 0.05 T.I.R. (mm)4 0.025 mm maximum of 5 N 0.075 mm maximum of 10 N 0.075 T.I.R. (mm)4 0.075 T.I.R. (mm)4 0 40C (non-freezing) Driver
Dielectric Strength
0.075
0.075 A 0.05
Stepping Motors

Unit = N
Type
Model 0 CMK223P P CMK224P P CMK225P P 25 5 34
Permissible Overhung Load Distance from Shaft End (mm) 10 52 15 20
High-Torque Type
CMK233P P CMK235P P CMK244P P CMK246P P CMK243 P CMK244 P CMK245 P
20 20
25 25
34 34
52 52
Introduction
20
25
34
52 The permissible thrust load shall be no greater than the motor mass. AC Input
AS
Standard Type
CMK256 P CMK258 P CMK264 P CMK266 P CMK268 P CMK243M P CMK244M P CMK245M P CMK264M P CMK266M P CMK268M P CMK223 CMK223 CMK223 CMK223 CMK223 CMK243 CMK243 CMK243 CMK243 CMK243 CMK243 CMK243 CMK243 CMK264 CMK264 CMK264 CMK264 CMK264 CMK264 CMK264 CMK264 P-SG7.2 P-SG9 P-SG10 P-SG18 P-SG36 P-SG3.6 P-SG7.2 P-SG9 P-SG10 P-SG18 P-SG36 P-SG50 P-SG100 P-SG3.6 P-SG7.2 P-SG9 P-SG10 P-SG18 P-SG36 P-SG50 P-SG100
54
67
89
130
54
67
89
130 DC Input
ASC
20
25
34
52
54
67
89
130
AC Input
5-Phase RK
15
17
20
23
10
5-Phase CRK
DC Input
10
15
20
30
15
2-Phase CMK
SH Geared Type
2-Phase CSK
30
40
50
60
70 30
80
100
120
140
160
C-161
L2 Motor Model PK223PA PK223PB PK224PA PK224PB PK225PA PK225PB L1 32 40 51.5 L2 42 50 61.5 Mass (kg) 0.11 0.14 0.2 5
10 1 0 0.012(h7)
15 L1 1.5 10
0.25
0.15 0 0.012(h7) 0 22 0.033(h8)
0.15
4.5
4.5
Motor lead wire/connector assembly (0.6 m) is included with the package. UL Style 3265, 9.5 AWG24 If you are purchasing only a motor for maintenance purpose, etc., motor lead wire/connector assembly and connector will not be supplied. They must be purchased separately. Page C-255 The length of machining on double shaft model is 10 0.25. b Applicable Connector Connector housing: 51065-0600 (MOLEX) Contact: 50212-8100 (MOLEX) Crimp tool: 57176-5000 (MOLEX)
16.5 4 M2.5 2.5 Deep
35 mm
0.15 0 0.012(h7) 0 22 0.033(h8)
Motor lead wire/connector assembly (0.6 m) is included with the package. UL Style 3265, AWG24 If you are purchasing only a motor for maintenance purpose, etc., motor lead wire/connector assembly and connector will not be supplied. They must be purchased separately. Page C-255 b Applicable Connector Connector housing: 51103-0600 (MOLEX) Contact: 50351-8100 (MOLEX) Crimp tool: 57295-5000 (MOLEX)
1.5
6 1
17.5
23 4 M3 4.5 Deep
42 mm
Motor Model PK244PA PK244PB PK246PA PK246PB L1 39 59 L2 54 74 Mass (kg) 5 0.012(h7) 4.5 0.15 0.3 0.5
15 1
Motor lead wire/connector assembly (0.6 m) is included with the package. UL Style 3265, AWG24 If you are purchasing only a motor for maintenance purpose, etc., motor lead wire/connector assembly and connector will not be supplied. They must be purchased separately. Page C-255 b Applicable Connector Connector housing: 51103-0600 (MOLEX) Contact: 50351-8100 (MOLEX) Crimp tool: 57295-5000 (MOLEX)
1.5 9 15
23 4 M3 4.5 Deep
C-162
31 0.2 42
Model CMK244PAP CMK244PBP CMK246PAP CMK246PBP
0.15 0 5 0.012(h7) 0 22 0.033(h8)
L2 L1
20 15
1 0.25
42 31 0.2
4.5
29 0.2 35
Model CMK233PAP CMK233PBP CMK235PAP CMK235PBP
Motor Model PK233PA PK233PB PK235PA PK235PB
L1 37 52
L2 52 67
Mass (kg)
0 0.012(h7)
L2
15 1
20 L1 15
35 29 0.2
0.18 0.285
0.15
0.25
4.5
4.5
23 0.2 28
Stepping Motors
Dimensions
b Motor
High-Torque Type
1
(Unit = mm)
28 mm
Model CMK223PAP CMK223PBP CMK224PAP CMK224PBP CMK225PAP CMK225PBP
28 23 0.2
Stepping Motors
Standard Type, High-Resolution Type

Model CMK243AP CMK243MAP CMK243BP CMK243MBP CMK244AP CMK244MAP CMK244BP CMK244MBP CMK245AP CMK245MAP CMK245BP CMK245MBP Motor Model PK243-01A PK243MA PK243-01B PK243MB PK244-01A PK244MA PK244-01B PK244MB PK245-01A PK245MA PK245-01B PK245MB 5 0.012(h7) 4.5 0.15 L1 L2 Mass (kg) 0.21 0.24 0.21 0.24 0.27 0.3 0.27 0.3 0.35 0.37 0.35 0.37
15 1
L2 20 L1 15 0.25
0.15 0 0.012(h7) 0 22 0.033(h8)
42 mm
42 31 0.2 31 0.2 42
4.5
33 48
Introduction
2 6 Motor Leads 300 mm Length UL Style 3265, AWG24 4 M3 4.5 Deep AC Input
39 54
AS
47 62
DC Input
Standard Type
5
ASC
50 mm
Motor Model PK256-02A PK256-02B PK258-02A PK258-02B L1 51.5 81 L2 67.5 97 Mass (kg) 15 0.53 16
0.25 1
0 0.012
6.35 5.8
0.15
Model CMK256AP CMK256BP CMK258AP CMK258BP
L2 L1
20 5 1.5 15
0.15 0 6.35 0.012 0 36 0.039(h8)
50 41
0.35
5.8
4
0.35
4.5 Thru AC Input

5-Phase RK
0.25
8 max. 10.1
31 max.
8 max.
41
0.89
50
5-Phase CRK
DC Input

16 Motor Model PK264-02A PK264MA PK264-02B PK264MB PK266-02A PK266MA PK266-02B PK266MB PK268-02A PK268MA PK268-02B PK268MB L1 L2 Mass (kg) 15
0.25 1
2-Phase CMK
Model CMK264AP CMK264MAP CMK264BP CMK264MBP CMK266AP CMK266MAP CMK266BP CMK266MBP CMK268AP CMK268MAP CMK268BP CMK268MBP
5.8
5 1.6 15
0.15 0 0.012
56.4 mm
L2 L1
20
56.4 47.14 0.35 4

0.03
0.25
6.35
4.5 Thru 47.14 0.35 56.4

2-Phase CSK
39 55
0.45
0 0.012 0.15
54 70
0.7
6.35 5.8
38.1
76 92
1.0
C-163
68 5 0.012(h7) 4.5 0.15

10 1
4.5
Motor lead wire/connector assembly (0.6 m) is included with the package. UL Style 3265, AWG24 If you are purchasing only a motor for maintenance purpose, etc., motor lead wire/connector assembly and connector will not be supplied. They must be purchased separately. Page C-255 b Screws (Included) M2.5 Length 8 mm 4 Pieces 9.5 b Applicable Connector Connector housing: 51065-0600 (MOLEX) Contact: 50212-8100 (MOLEX) The length of machining on double shaft model is 10 0.25. Crimp tool: 57176-5000 (MOLEX)
0
12
0.5
58
20 2
0 0.012(h7)
11
16.5
4 M2.5 4 Deep
42 mm
Motor Model PK243A1-SG PK243B1-SG Gear Ratio 3.6, 7.2, 9, 10, 18, 36, 50, 100 Mass (kg) 0.35 74 59 3 20
1 0 0.012(h7)
Model CMK243AP-SG CMK243BP-SG
b Enter the gear ratio in the box ( ) within the model name. b Screws (Included) M3 Length 10 mm 4 Pieces
15 1
4.5
12
42 31 0.2 18 31 0.2 42
0 0.012(h7)
4.5
0.15
4 M3 7 Deep 6 Motor Leads 300 mm Length UL Style 3265, AWG24
60 mm
Motor Model PK264A2-SG PK264B2-SG Gear Ratio 3.6, 7.2, 9, 10, 18, 36, 50, 100 Mass (kg) 0.75
1 0 0.015(h7)
6.35 0.012 5.8 0.15
8 10
b Screws (Included) M4 Length 15 mm 4 Pieces
16 15
0
95 79
32 3
12
0.25
0.5
60 24
70
0.5
56.4
C-164
60
23 0.2 28
Stepping Motors
7
SH Geared Type 28 mm
Motor Model PK223PA-SG PK223PB-SG Gear Ratio 7.2, 9, 10, 18, 36 Mass (kg) 0.16
1
28 23 0.2
Stepping Motors
b Driver
10 Driver Model: CMD2109P, CMD2112P, CMD2120P
Mass: 0.05 kg
65 6.8 13 3.5
12
Introduction
17.4 20.55
12
6.5
28.25
32.4 50.5
17.55 7.4 2 R1.75 59
3.5
27 11.5
33
1 6
AC Input
AS
2 R1.75
DC Input
ASC
b Connector Housing (Included) 51103-0200 (MOLEX) 51103-1200 (MOLEX) 51103-0600 (MOLEX) b Contact (Included) 50351-8100 (MOLEX) Note: b Use the included connector for power supply, signal and motor. When assembling the connectors, use the hand-operated crimp tool [57295-5000 (MOLEX)]. The crimp tool is not included with the package. It must be purchased separately. Driver lead wire set crimped with connector (sold separately) is available. Page C-257
AC Input DC Input
5-Phase RK 5-Phase CRK 2-Phase CMK 2-Phase CSK 2-Phase Stepping Motors 5-Phase Stepping Motors Controllers Accessories Installation
C-165
C-166
Stepping Motors

v Motor Connector
Power c Input Connector
1 Power Input Display

Color Green Function Power supply indication When Activated Lights when power is on.
4 Input/Output Signal
Indication Input/ Pin No. Output 1 Signal Name Function Operation command pulse signal (The motor will rotate in the CW direction when in 2-pulse input mode.)
2 Current Adjustment Switch

Indication RUN STOP Switch Name Function 2 3 4 For adjusting the motor Motor run current switch running current Motor stop current potentiometer For adjusting the current at motor standstill
Pulse signal (CW pulse signal)
Rotation direction signal Rotation direction Photocoupler OFF: CCW, signal Photocoupler ON: CW (CCW pulse signal) (The motor will rotate in the CCW direction when in 2-pulse input mode.) Cuts the output current to the motor and allows the motor shafts to be rotated by external force.
3 Function Select Switch

Indication 1 Switch Name Pulse input mode switch Function Switches between 1-pulse input and 2-pulse input. CN2 Input signal
5 All windings off signal 6 7 Step angle select signal 8
2, 3, 4
These switches can be set to the Step angle setting switch desired resolution from the five resolution levels.
The motor will operate at the basic step angle regardless of the settings of the step angle setting switches.
b Step Angle Setting Switch

SW-2 OFF OFF OFF OFF ON SW-3 OFF OFF ON ON OFF SW-4 OFF ON OFF ON OFF Microstep/Step 1 2 4 8 16 Resolution 200 400 800 1600 3200 Step Angle 1.8 0.9 0.45 0.225 0.1125 Output signal
9 10 11
Automatic current cutback release signal
This signal is used to disable the automatic current cutback function.
Excitation timing signal 12
Outputs signals when the excitation sequence is at STEP "0."
Notes: b Use of any setting other than the combinations listed in the table will automatically set the microstep to "1" and the motor will operate at the basic step angle. b The step angle is calculated by dividing the basic step angle by the number of microstep. The above figures are based on a basic step angle of 1.8. b With the high-resolution type, the basic step angle and resolution are 0.9, 400 (microstep/ step: 1). b The step angle set with the step angle setting switches will become effective when the "Step Angle Select" (CS) signal input is OFF. b Do not change the CS (step angle select) 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 switches, when the "Step Angle Select" signal input is OFF and the "Excitation Timing" signal output is ON.
Stepping Motors
Controller Vo ( 5 to 24 VDC) CN2 Driver

b Pulse (CW) Signal/Rotation Direction (CCW) Signal Signals can be connected directly when 5 VDC is supplied. When the voltage exceeds 5 VDC, connect the external resistor to keep input current at 20 mA or less. When 5 VDC or more is applied without the external resistor, the internal components get damaged. Example: If the voltage is 24 VDC, connect a resistor (R1) of 1.5 to 2.2 k and 0.5 W or more. b All Windings Off Signal/Step Angle Select Signal/Automatic Current Cutback Release Signal Signals can be connected directly when 5 to 24 VDC is supplied.
2-Phase Stepping Motor
Input Signals
R1
Twisted-Pair Wire Pulse Signal (CW Pulse Signal)
1 2 3 4 5 6 7 8 9
1 CN3 Blue White Red Black Yellow Green CN1 1 2 24 VDC 10% GND
R1
Introduction

Use the output signal at 24 VDC or less and 10 mA or less. If these specifications are exceeded, the internal components may get damaged. Check the specification of the connected equipment. If the current exceeds 10 mA, connect the external resistor R2.
Step Angle Select Signal
AC Input
AS
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: b Motor does not rotate properly at high-speed. b Slow motor startup and stopping
Current Cutback Release Signal 0V
10
2 3 4
DC Input
ASC
Vo ( 5 to 24 VDC) R2 Excitation Timing 11 Signal
5 6
Output Signal
Notes on Wiring
b Use twisted-pair wires of AWG24 to 22 (0.2 to 0.3 mm2) and 2 m or less in length for the signal lines. b Note that as the length of the pulse signal line increases, the maximum transmission frequency decreases. Technical reference Page F-46 b Use wires of AWG22 (0.3 mm2) for power supply lines. When assembling the connectors, use the hand-operated crimp tool or driver lead wire set crimped with connector (sold separately). The crimp tool is not included with the package. It must be purchased separately. b Signal lines should be kept at least 2 cm away from power lines (power supply lines and motor lines). Do not run the signal lines in the same duct as power lines or bundle them together. b If noise generated by the motor cable or power supply cable causes a problem, try shielding the cables or insert ferrite cores. b Incorrect connection of DC power input will lead to driver (circuit) damage. Make sure that the polarity is correct before turning power on.
12
AC Input
5-Phase RK
0V
5-Phase CRK
DC Input
2-Phase CMK

2-Pulse Input Mode

CW Pulse ON OFF ON OFF 5 s 5 s
min. min.
90% 10%
1
2-Phase CSK
CCW Pulse
2 10 s min.
Pulse (CW) and Rotation Direction (CCW) Input Signal

Controller Open-Collector Output VO Pin No. 1, 3
2 s max.
2 s max.
Driver R1 200

bKeep the "Pulse" signal at the "photocoupler OFF" state when no pulses are being input. bIn 1-pulse input mode, leave the "Pulse" signal at rest ("OFF") when changing rotation directions. bIn 2-pulse input mode, do not input a CW pulse and CCW pulse simultaneously.
Controllers
0V
Pin No. 2, 4
5 20 mA
Pulse Waveform Characteristics 1-Pulse Input Mode

Pulse Input Signal ON OFF 90% 10%
Rotation Direction ON Input Signal OFF
CCW
CW
C-167
C-168
Stepping Motors
All Windings Off (AWO)/Step Angle Select (CS)/Automatic Current Cutback Release (ACDOFF) Input Signal
Controller Open-Collector Output 5 24 VDC Driver Pin No. 5, 7, 9 3.3 k
Excitation Timing (TIM) Output Signal

Controller Open-Collector Output VO R2 Pin No.11 Driver
Pin No.12 0V
10 mA max.
0V
Pin No. 6, 8, 10
8 mA
All Windings Off (AWO) Input Signal

bInputting this signal puts the motor in a non-excitation (free) state. bThis signal is used when moving the motor by external force or perform positioning manually. The photocoupler must be "OFF" when operating the motor.
All Windings ON Off Signal OFF ON
bThe "Excitation Timing" signal is output to indicate when the motor excitation is in the initial stage (step "0" at power up). bThe "Excitation Timing" signal is output simultaneously with a pulse input each time the excitation sequence returns to step "0." The excitation sequence will complete one cycle for every 7.2 (3.6 for high-resolution type) rotation of the motor output shaft. Microstep/step 1: Signal is output once every 4 pulses. Microstep/step 4: Signal is output once every 16 pulses.
Motor Current
ON
OFF
Timing chart at 1.8/step (microstep/step 1)

1 2 3 4 5 6 7 8 9 10 11
Release
The shaded area indicates that the motor provides holding torque in proportion to standstill current set by STOP switch.
bSwitching the "All Windings Off" signal from "photocoupler ON" to "photocoupler OFF" does not alter the excitation sequence. When the motor shaft is manually adjusted with the "All Windings Off" signal input, the shaft will shift up to 3.6 (geared type: 3.6/gear ratio) from the position set after the "All Windings Off" signal is released.
ON OFF ON CCW Pulse OFF ON TIM Output OFF
CW Pulse
1 23
(Step) 0 1 2 3 0 1 2 3 0 1 2 3
2 1 0
Notes: b When power is turned on, the excitation sequence is reset to step "0" and the "Excitation Timing" signal will be output. b When operating the motor using the "Excitation Timing" signal output, make sure the motor output shaft stops at an integral multiple of 7.2 (3.6 for high-resolution type).
Step Angle Select (CS) Input Signal

bWhen this signal input is "ON," the motor will operate at the basic step angle regardless of the settings of the step angle setting switches. When the signal input is "OFF," the motor will operate at the step angle set with the step angle setting switches. bTo change the step angle, do so when the "Excitation Timing" signal output is "ON" and the motor is at standstill.
Automatic Current Cutback Release (ACDOFF) Input Signal

bWhen this signal is in the "photocoupler ON" state, the automatic current cutback function is disabled. When this signal is in the "photocoupler OFF" state, the automatic current cutback function will be activated after the motor stops (after approx. 100 ms). bThe photocoupler must be "OFF" when the motor is operating.
Stepping Motors
b Timing Chart
Motor CW CCW
5 s min.
ON OFF ON OFF
0.5 s min. 10 s min. 1 1 10 s min.
300 s min.
Introduction
ON OFF
ON CW Pulse Input Signal OFF ON OFF ON OFF
10 s min.
AC Input
CCW Pulse Input Signal All Windings OFF Input Signal
AS
DC Input
ASC
The
1 The minimum switching time to change rotation direction (1-pulse input mode), and switching time to change CW, CCW pulse (2-pulse input mode) 10 s is shown as a response time of circuit. The motor may need more time. 2 Depends on load inertia, load torque and starting frequency. 3 Never input a pulse signal immediately after switching the "All Windings Off" signal to "photocoupler OFF." The motor may not start. 4 Wait at least five seconds before turning on the power again.
AC Input
5-Phase RK

5-Phase CRK
Type Model Motor Model PK223PA PK223PB PK224PA PK224PB PK225PA PK225PB PK233PA PK233PB PK235PA PK235PB PK244PA PK244PB PK246PA PK246PB PK243-01A PK243-01B PK244-01A PK244-01B PK245-01A PK245-01B PK256-02A PK256-02B PK258-02A PK258-02B PK264-02A PK264-02B PK266-02A PK266-02B PK268-02A PK268-02B PK243MA PK243MB PK244MA PK244MB PK245MA PK245MB PK264MA PK264MB PK266MA PK266MB PK268MA PK268MB Driver Model Type Model CMK223AP-SG7.2 CMK223BP-SG7.2 CMK223AP-SG9 CMK223BP-SG9 CMK223AP-SG10 CMK223BP-SG10 CMK223AP-SG18 CMK223BP-SG18 CMK223AP-SG36 CMK223BP-SG36 CMK243AP-SG3.6 CMK243BP-SG3.6 CMK243AP-SG7.2 CMK243BP-SG7.2 CMK243AP-SG9 CMK243BP-SG9 CMK243AP-SG10 CMK243BP-SG10 CMK243AP-SG18 CMK243BP-SG18 CMK243AP-SG36 CMK243BP-SG36 CMK243AP-SG50 CMK243BP-SG50 CMK243AP-SG100 CMK243BP-SG100 CMK264AP-SG3.6 CMK264BP-SG3.6 CMK264AP-SG7.2 CMK264BP-SG7.2 CMK264AP-SG9 CMK264BP-SG9 CMK264AP-SG10 CMK264BP-SG10 CMK264AP-SG18 CMK264BP-SG18 CMK264AP-SG36 CMK264BP-SG36 CMK264AP-SG50 CMK264BP-SG50 CMK264AP-SG100 CMK264BP-SG100 Motor Model PK223PA-SG7.2 PK223PB-SG7.2 PK223PA-SG9 PK223PB-SG9 PK223PA-SG10 PK223PB-SG10 PK223PA-SG18 PK223PB-SG18 PK223PA-SG36 PK223PB-SG36 PK243A1-SG3.6 PK243B1-SG3.6 PK243A1-SG7.2 PK243B1-SG7.2 PK243A1-SG9 PK243B1-SG9 PK243A1-SG10 PK243B1-SG10 PK243A1-SG18 PK243B1-SG18 PK243A1-SG36 PK243B1-SG36 PK243A1-SG50 PK243B1-SG50 PK243A1-SG100 PK243B1-SG100 PK264A2-SG3.6 PK264B2-SG3.6 PK264A2-SG7.2 PK264B2-SG7.2 PK264A2-SG9 PK264B2-SG9 PK264A2-SG10 PK264B2-SG10 PK264A2-SG18 PK264B2-SG18 PK264A2-SG36 PK264B2-SG36 PK264A2-SG50 PK264B2-SG50 PK264A2-SG100 PK264B2-SG100 Driver Model CMK223PAP CMK223PBP CMK224PAP CMK224PBP CMK225PAP CMK225PBP CMK233PAP High-Torque Type CMK233PBP CMK235PAP CMK235PBP CMK244PAP CMK244PBP CMK246PAP CMK246PBP CMK243AP CMK243BP CMK244AP CMK244BP CMK245AP CMK245BP CMK256AP CMK256BP Standard Type CMK258AP CMK258BP CMK264AP CMK264BP CMK266AP CMK266BP CMK268AP CMK268BP CMK243MAP CMK243MBP CMK244MAP CMK244MBP CMK245MAP CMK245MBP High-Resolution Type CMK264MAP CMK264MBP CMK266MAP CMK266MBP CMK268MAP CMK268MBP
DC Input
CMD2109P
CMD2112P
CMD2109P
CMD2109P
CMD2112P SH Geared Type
CMD2120P
Controllers
CMD2109P
Accessories
CMD2112P
CMD2120P
Installation
CMD2120P
If you are purchasing only a motor for maintenance purpose, etc., motor lead wire/ connector assembly and connector will not be supplied. They must be purchased separately. Accessory motor lead wire/connector assembly and motor connector set are available. Page C-255
C-169
C-170
Stepping Motors
CSK Series
The 2-phase stepping motor CSK Series offers a wide range of motor variations. Optimal motor size and specification can be selected according to your needs.
Features
b Wide Variety of Motors
In addition to the standard type, we offer high-resolution type, and SH geared type.
Standard Type
42 mm
42 mm
0.9
56.4 mm Standard Type Basic model of the CSK Series

Standard type offers balanced performance enhanced by high torque, low vibration and low noise.
56.4 mm
400 pulses/rotation
High accuracy of basic step angle 0.9/step

The basic step angle is 0.9/step, which is half that of the standard type. 400 steps per rotation is possible. These motors achieve high resolution, low vibration and improved stopping accuracy.
SH Geared Type
42 mm
60 mm Geared stepping motor

These geared types are effective for reduction, increasing torque, higher resolution and suppressing vibration. Six different gear ratios are available.
RoHS-Compliant
The CSK Series conforms to the RoHS Directive that prohibits the use of six chemical substances including lead and cadmium.
Stepping Motors
( Page C-248)
24 VDC Power Supply

(Not supplied)
Introduction
AC Input (Not supplied)
AS
CSK Series (Body)

Motor Driver
DC Input
ASC
24/36 VDC Power Supply

(Not supplied)
AC Input DC Input
2-Phase CSK

( Page C-266)
Flexible Couplings
( Page C-258)
Clean Dampers
( Page C-264)
No.
Product Name
Controller Motor Mounting Brackets Flexible Couplings Clean Dampers
Overview
This controller outputs pulse commands that determine the rotating amount and rotating speed. Dedicated mounting bracket for the motor. Coupling that connects the motor shaft to the driven shaft. Dedicated damper for suppressing stepping motor vibration.
Page
C-248 C-266 C-258 C-264

CSK Series
CSK266-BT
Motor Mounting Flexible Clean Damper Bracket Coupling SG8030JY-U PAL2P-2 MCS2006F04 D6CL-6.3F Controller
Accessories
Installation
C-171
C-172
Stepping Motors
Product Number Code

b Standard Type
CSK 2 6 6 - A T
Series 2: 2-Phase Motor Frame Size Motor Case Length Shaft Type T: Terminal Blocks CSK: CSK Series 4: 42 mm 6: 56.4 mm A: Single Shaft B: Double Shaft
CSK 2 6 6 M A T
Series 2: 2-Phase Motor Frame Size Motor Case Length Motor Type Shaft Type T: Terminal Blocks CSK: CSK Series 4: 42 mm 6: 56.4 mm M: High-Resolution Type A: Single Shaft B: Double Shaft
b SH Geared Type
CSK 2 6 4 A T - SG 10
Series 2: 2-Phase Motor Frame Size Motor Case Length Shaft Type T: Terminal Blocks Gearhead Type Gear Ratio CSK: CSK Series 4: 42 mm 6: 60 mm A: Single Shaft B: Double Shaft SG: SH Geared Type
Stepping Motors
Product Line
b Standard Type
Model (Single Shaft) CSK243-AT CSK244-AT CSK245-AT CSK264-AT CSK266-AT CSK268-AT Model (Double Shaft) CSK243-BT CSK244-BT CSK245-BT CSK264-BT CSK266-BT CSK268-BT
The following items are included in each product. Motor, Driver, Operating Manual
Introduction
Model (Single Shaft) CSK243MAT CSK244MAT CSK245MAT CSK264MAT CSK266MAT CSK268MAT Model (Double Shaft) CSK243MBT CSK244MBT CSK245MBT CSK264MBT CSK266MBT CSK268MBT AC Input
AS
The following items are included in each product. Motor, Driver, Operating Manual
DC Input
ASC
b SH Geared Type
Model (Single Shaft) CSK243AT-SG3.6 CSK243AT-SG7.2 CSK243AT-SG9 CSK243AT-SG10 CSK243AT-SG18 CSK243AT-SG36 CSK264AT-SG3.6 CSK264AT-SG7.2 CSK264AT-SG9 CSK264AT-SG10 CSK264AT-SG18 CSK264AT-SG36 Model (Double Shaft) CSK243BT-SG3.6 CSK243BT-SG7.2 CSK243BT-SG9 CSK243BT-SG10 CSK243BT-SG18 CSK243BT-SG36 CSK264BT-SG3.6 CSK264BT-SG7.2 CSK264BT-SG9 CSK264BT-SG10 CSK264BT-SG18 CSK264BT-SG36
AC Input
The following items are included in each product. Motor, Driver, Mounting Screws for Motor, Operating Manual
DC Input
C-173
Torque [N m]
Torque [N m]
Torque [N m]
Current [A]

1 0 0.05 0 fs 500 2 (4)
2 1 0
0.10
Current [A]
Current [A]
Torque [N m]
Torque [N m]
Torque [N m]
Current [A]
Current [A]

2 0 0.1 0 fs 500 2 (4) 1000 1500 Speed [r/min] 4 6 (8) (12) Pulse Speed [kHz] 2000 2500 8 Full Step (16) (Half Step)
4 2 0
0.4 0.2 0 fs 500 2 (4)
Current [A]
C-174
Stepping Motors
Standard Type
Specifications
Model Maximum Holding Torque Rotor Inertia Rated Current Basic Step Angle Power Source Excitation Mode Mass Dimension No. Motor Driver Motor Driver kg kg Single Shaft Double Shaft Nm J: kg m2 A/Phase
CSK243-AT CSK243-BT 0.16 35 10-7 0.95 24 VDC 10% 1.4 A 36 VDC 10% 1.4 A 0.21
CSK244-AT CSK244-BT 0.26 54 10-7 1.2
CSK245-AT CSK245-BT 0.32 68 10-7 1.8
CSK264-AT CSK264-BT 0.39 120 10-7
CSK266-AT CSK266-BT 0.9 300 10-7 2 24 VDC 10% 2.8 A 36 VDC 10% 2.8 A 0.7 2
CSK268-AT CSK268-BT 1.35 480 10-7
24 VDC 10% 1.6 A 36 VDC 10% 1.6 A 0.27 1 5 Full step: 1.8/step / Half step: 0.9/step 0.35 0.45 0.13
1.0

b 24 VDC
CSK243-AT/CSK243-BT
0.25 0.20 3 0.15 Pullout Torque 0.10 Power Input: 24 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7 kg m2 Full Step 1.8/step Half Step 0.9/step
CSK244-AT/CSK244-BT
0.35 0.30 0.25 4 3 0.20 0.15 Pullout Torque Power Input: 24 VDC Current: 1.2 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7 kg m2 Full Step 1.8/step Half Step 0.9/step
CSK245-AT/CSK245-BT
0.40 0.35 0.30 0.25 0.20 0.15 0.10 0.05 0 fs 500 2 (4) 1000 1500 Speed [r/min] 4 6 (8) (12) Pulse Speed [kHz] 2000 2500 8 Full Step (16) (Half Step) Pullout Torque Power Input: 24 VDC Current: 1.2 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7 kg m2 Full Step 1.8/step Half Step 0.9/step
4 3 2 1 0

0.05 0 fs 500 2 (4) 1000 1500 Speed [r/min] 4 6 (8) (12) Pulse Speed [kHz] 2000 2500 8 Full Step (16) (Half Step)
2000
2500 8 Full Step (16) (Half Step)
0 (0)
0 (0)
0 (0)
CSK264-AT/CSK264-BT
0.5 0.4 6 4 0.3 Pullout Torque 0.2 Power Input: 24 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7 kg m2 Full Step 1.8/step Half Step 0.9/step
CSK266-AT/CSK266-BT
1.2 1.0 0.8 0.6 Pullout Torque Power Input: 24 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7 kg m2 Full Step 1.8/step Half Step 0.9/step
CSK268-AT/CSK268-BT
1.6 1.4 1.2 1.0 0.8 0.6 0.4 0.2 0 fs 500 2 (4) 1000 Speed [r/min] 4 (8) Pulse Speed [kHz] 1500 2000 6 Full Step (12) (Half Step) Pullout Torque Power Input: 24 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7 kg m2 Full Step 1.8/step Half Step 0.9/step
8 6 4 2 0

1000 1500 Speed [r/min] 4 6 (8) (12) Pulse Speed [kHz] 2000 2500 8 Full Step (16) (Half Step)
0 (0)
0 (0)
0 (0)
Stepping Motors
b 36 VDC
CSK243-AT/CSK243-BT
0.25 0.20 Torque [N m] 3 Current [A] 2 1 0 0.15 0.10 Power Input: 36 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7 kg m2 Full Step 1.8/step Half Step 0.9/step Torque [N m]
CSK244-AT/CSK244-BT
0.35 0.30 0.25 Power Input: 36 VDC Current: 1.2 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7 kg m2 Full Step 1.8/step Half Step 0.9/step
CSK245-AT/CSK245-BT
0.40 0.35 0.30 Torque [N m] 0.25 0.20 0.15 0.10 0.05 0 fs 500 2 (4) 1000 1500 Speed [r/min] 4 6 (8) (12) Pulse Speed [kHz] 2000 2500 8 Full Step (16) (Half Step) Pullout Torque Power Input: 36 VDC Current: 1.2 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7 kg m2 Full Step 1.8/step Half Step 0.9/step
Pullout Torque Current [A]
4 3 2 1 0
0.20 Pullout Torque 0.15 0.10 Current [A] 4 3 2 1 0

0.05 0 fs 500 2 (4)

Introduction
2000
0 (0)
0 (0)
0 (0)
AC Input
CSK264-AT/CSK264-BT
0.5 0.4 Torque [N m] 6 Current [A] 4 2 0 0.3 0.2 0.1 0 fs 500 2 (4) 1000 1500 Speed [r/min] 4 6 (8) (12) Pulse Speed [kHz] 2000 2500 8 Full Step (16) (Half Step) Power Input: 36 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7 kg m2 Full Step 1.8/step Half Step 0.9/step
CSK266-AT/CSK266-BT
1.2 1.0 Torque [N m] 0.8 0.6 0.4 Pullout Torque Power Input: 36 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7 kg m2 Full Step 1.8/step Half Step 0.9/step
CSK268-AT/CSK268-BT
AS
DC Input
Torque [N m]
Pullout Torque 6 Current [A] 4 2 0
1.0 0.8 0.6 0.4 0.2 0 fs 500 2 (4) Pullout Torque
ASC
8 Current [A] 6 4 2 0

AC Input
2000
5-Phase RK
0 (0)
0 (0)
0 (0)
5-Phase CRK
DC Input
C-175
Torque [N m]
Torque [N m]
Torque [N m]
Current [A]
Pullout Torque
2 1 0
0.10 0.05 Driver Input Current 0 fs 500 5 (10) 1000 1500 Speed [r/min] 10 (20) Pulse Speed [kHz] 2000 15 (30) 2500 Full Step (Half Step)
Current [A]
2 1 0
0.10 0.05 0 fs
Current [A]
Torque [N m]
Torque [N m]
Torque [N m]
Current [A]
Current [A]
4 2 0
0.4 0.2 Driver Input Current 0 fs 500 5 (10) 1000 1500 Speed [r/min] 10 (20) Pulse Speed [kHz] 2000 15 (30) 2500 Full Step (Half Step)
Current [A]
C-176
Stepping Motors
Specifications
Model Maximum Holding Torque Rotor Inertia Rated Current Basic Step Angle Power Source Excitation Mode Mass Dimension No. Motor Driver Motor Driver kg kg 0.24 Single Shaft Double Shaft Nm J: kg m2 A/Phase CSK243MAT CSK243MBT 0.16 35 10-7 0.95 24 VDC 10% 1.4 A 36 VDC 10% 1.4 A
CSK244MAT CSK244MBT 0.26 54 10-7 1.2
CSK245MAT CSK245MBT 0.32 68 10-7 0.9
CSK264MAT CSK264MBT 0.39 120 10-7
CSK266MAT CSK266MBT 0.9 300 10-7 2 24 VDC 10% 2.8 A 36 VDC 10% 2.8 A 0.7 2
CSK268MAT CSK268MBT 1.35 480 10-7
24 VDC 10% 1.6 A 36 VDC 10% 1.6 A 0.3 1 5 Full step: 0.9/step / Half step: 0.45/step 0.37 0.45 0.13
1.0

b 24 VDC
CSK243MAT/CSK243MBT
0.25 0.20 3 0.15 Power Input: 24 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7 kg m2 Full Step 0.9/step Half Step 0.45/step
CSK244MAT/CSK244MBT
0.35 0.30 0.25 4 3 0.20 0.15 Pullout Torque Power Input: 24 VDC Current: 1.2 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7 kg m2 Full Step 0.9/step Half Step 0.45/step
CSK245MAT/CSK245MBT
0.40 0.35 0.30 0.25 0.20 0.15 0.10 0.05 Pullout Torque Power Input: 24 VDC Current: 1.2 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7 kg m2 Full Step 0.9/step Half Step 0.45/step
4 3 2 1 0
500 5 (10)
2000 15 (30)
2500 Full Step (Half Step)
0 fs
500 5 (10)
2000 15 (30)
0 (0)
0 (0)
0 (0)
CSK264MAT/CSK264MBT
0.5 0.4 6 4 2 0 0.3 0.2 0.1 0 fs 500 5 (10) 1000 1500 Speed [r/min] 10 (20) Pulse Speed [kHz] 2000 15 (30) 2500 Full Step (Half Step) Pullout Torque Power Input: 24 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7 kg m2 Full Step 0.9/step Half Step 0.45/step
CSK266MAT/CSK266MBT
1.2 1.0 0.8 0.6 Pullout Torque Power Input: 24 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7 kg m2 Full Step 0.9/step Half Step 0.45/step
CSK268MAT/CSK268MBT
1.6 1.4 1.2 1.0 0.8 0.6 0.4 0.2 Driver Input Current 0 fs 500 0 (0) Pullout Torque
Power Input: 24 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7 kg m2 Full Step 0.9/step Half Step 0.45/step
8 6 4 2 0
1500 10 (20)
0 (0)
0 (0)
Stepping Motors
b 36 VDC
CSK243MAT/CSK243MBT
0.25 0.20 Torque [N m] 3 Current [A] 2 1 0 0.15 Pullout Torque 0.10 0.05 0 fs 500 5 (10) 1000 1500 Speed [r/min] 10 (20) Pulse Speed [kHz] 2000 15 (30) 2500 Full Step (Half Step) Current [A] Power Input: 36 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7 kg m2 Full Step 0.9/step Half Step 0.45/step Torque [N m]
CSK244MAT/CSK244MBT
CSK245MAT/CSK245MBT
0.40 0.35 0.30 Torque [N m] 0.25 0.20 0.15 0.10 Pullout Torque Power Input: 36 VDC Current: 1.2 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7 kg m2 Full Step 0.9/step Half Step 0.45/step
4 3 2 1 0
0.20 4 0.15 0.10 0.05 0 fs 500 5 (10) 1000 1500 Speed [r/min] 10 (20) Pulse Speed [kHz] 2000 15 (30) 2500 Full Step (Half Step) Current [A] Pullout Torque 3 2 1 0
Introduction
0.05 0 fs 500

1000 1500 Speed [r/min] 5 (10) 10 (20) Pulse Speed [kHz] 2000 15 (30) 2500 Full Step (Half Step)
0 (0)
0 (0)
0 (0)
AC Input
CSK264MAT/CSK264MBT
0.5 0.4 Torque [N m] 6 Current [A] 4 2 0 0.3 Pullout Torque Power Input: 36 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7 kg m2 Full Step 0.9/step Half Step 0.45/step
CSK266MAT/CSK266MBT
1.2 1.0 Torque [N m] 0.8 0.6 0.4 0.2 Driver Input Current 0 fs 500 5 (10) 1000 1500 Speed [r/min] 10 (20) Pulse Speed [kHz] 2000 15 (30) 2500 Full Step (Half Step) Pullout Torque Power Input: 36 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7 kg m2 Full Step 0.9/step Half Step 0.45/step
CSK268MAT/CSK268MBT
AS
DC Input
Torque [N m]
1.0 0.8 0.6 0.4 Driver Input Current 0.2 0 fs Pullout Torque
ASC
6 Current [A] 4 2 0
4 Current [A] 3 2 1 0
0.2 0.1 0 fs 500 5 (10) 1000 1500 Speed [r/min] 10 (20) Pulse Speed [kHz] 2000 15 (30) 2500 Full Step (Half Step)
AC Input
500
1500 10 (20)
5-Phase RK
0 (0)
0 (0)
0 (0)
5-Phase CRK
DC Input
C-177
Torque [N m]
3 Current [A] 2 1 0
Torque [N m]
0.6 Current [A] 0.4 0.2 0 Permissible Torque fs 100 2 (4) Driver Input Current 200 300 400 Speed [r/min] 500 6 (12) 600 Full Step (Half Step)
3 2 1 0
0.6 0.4 0.2 0 fs 100 Speed [r/min] 0 (0) 2 (4) 4 (8) Pulse Speed [kHz] 6 (12) Full Step (Half Step) 200 300 Current [A] Permissible Torque
Torque [N m]
Torque [N m]
Torque [N m]
3 Current [A] 2 1 0
0.6 0.4 0.2 0 fs 50
3 Current [A] 2 1 0
0.6 0.4 0.2 0 fs 25 2 (4) Driver Input Current Current [A]
Torque [N m]
C-178
Stepping Motors
SH Geared Type
Specifications
Model Maximum Holding Torque Rotor Inertia Rated Current Basic Step Angle Gear Ratio Permissible Torque Permissible Speed Range Power Source Excitation Mode Mass Dimension No. Single Shaft Double Shaft
CSK243AT-SG3.6 CSK243AT-SG7.2 CSK243AT-SG9 CSK243AT-SG10 CSK243AT-SG18 CSK243AT-SG36 CSK243BT-SG3.6 CSK243BT-SG7.2 CSK243BT-SG9 CSK243BT-SG10 CSK243BT-SG18 CSK243BT-SG36 Nm 0.2 0.4 0.5 0.56 0.8 35 10-7 J: kg m2 A/Phase 0.95 0.5 0.25 0.2 0.18 0.1 0.05 1: 3.6 1: 7.2 1: 9 1: 10 1: 18 1: 36 Nm 0.2 0.4 0.5 0.56 0.8 r/min 0 500 0 250 0 200 0 180 0 100 0 50 24 VDC 10% 1.4 A, 36 VDC 10% 1.4 A Full Step 0.5/step 0.25/step 0.2/step 0.18/step 0.1/step 0.05/step Half Step 0.25/step 0.125/step 0.1/step 0.09/step 0.05/step 0.025/step Motor kg 0.35 Driver kg 0.13 3 Motor 5 Driver
How to read specifications table Page C-10 b Backlash value is approximately 1 to 2. Note: b Direction of rotation of the motor and that of the gear output shaft are the same for gear ratios 1:3.6, 1:7.2, 1:9 and 1:10. It is the opposite for 1:18 and 1:36 gear ratios.

CSK243AT-SG3.6/CSK243BT-SG3.6
1.0 0.8 Power Input: 24/36 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7 kg m2 24 VDC 36 VDC Full Step 0.5/step Half Step 0.25/step 1.0 0.8
Power Input: 24/36 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7 kg m2 24 VDC 36 VDC Full Step 0.25/step Half Step 0.125/step
CSK243AT-SG9/CSK243BT-SG9
1.0 0.8 3 2 1 0 0.6 0.4 0.2 0 fs 100 Speed [r/min] 2 (4) 4 (8) Pulse Speed [kHz] 200 6 (12) Full Step (Half Step) Driver Input Current Power Input: 24/36 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7 kg m2 24 VDC 36 VDC Full Step 0.2/step Half Step 0.1/step
Permissible Torque
0 (0)
0 (0)
1.0 0.8 Permissible Torque Power Input: 24/36 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7 kg m2 24 VDC 36 VDC Full Step 0.18/step Half Step 0.09/step
1.0 0.8 Power Input: 24/36 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7 kg m2 24 VDC 36 VDC Permissible Torque Full Step 0.1/step Half Step 0.05/step
1.0 0.8 3 2 1 0 0.6 0.4 0.2 0 fs 10 2 (4) 20 30 40 Speed [r/min] 4 (8) Pulse Speed [kHz] 50 6 (12) 60 Full Step (Half Step) Driver Input Current Power Input: 24/36 VDC Current: 0.95 A/Phase (2 Phases ON) With Damper D4CL-5.0F: JL=34 10 7 kg m2 24 VDC 36 VDC Permissible Torque Full Step 0.05/step Half Step 0.025/step
100 Speed [r/min] 2 (4) 4 (8) Pulse Speed [kHz]
150 6 (12)
100 6 (12)
0 (0)
0 (0)
0 (0)
Stepping Motors
SH Geared Type
Specifications
Model Maximum Holding Torque Rotor Inertia Rated Current Basic Step Angle Gear Ratio Permissible Torque Permissible Speed Range Power Source Excitation Mode Mass Dimension No. Single Shaft Double Shaft
CSK264AT-SG3.6 CSK264AT-SG7.2 CSK264AT-SG9 CSK264AT-SG10 CSK264AT-SG18 CSK264AT-SG36 CSK264BT-SG3.6 CSK264BT-SG7.2 CSK264BT-SG9 CSK264BT-SG10 CSK264BT-SG18 CSK264BT-SG36 Nm 1 2 2.5 2.7 3 4 120 10-7 J: kg m2 A/Phase 2 0.5 0.25 0.2 0.18 0.1 0.05 1: 3.6 1: 7.2 1: 9 1: 10 1: 18 1: 36 Nm 1 2 2.5 2.7 3 4 r/min 0 500 0 250 0 200 0 180 0 100 0 50 24 VDC 10% 2.8 A, 36 VDC 10% 2.8 A Full Step 0.5/step 0.25/step 0.2/step 0.18/step 0.1/step 0.05/step Half Step 0.25/step 0.125/step 0.1/step 0.09/step 0.05/step 0.025/step Motor kg 0.75 Driver kg 0.13 4 Motor 5 Driver
Introduction
AC Input DC Input
AS ASC
How to read specifications table Page C-10 b Backlash value is approximately 1 to 2. Note: b Direction of rotation of the motor and that of the gear output shaft are the same for gear ratios 1:3.6, 1:7.2, 1:9 and 1:10. It is the opposite for 1:18 and 1:36 gear ratios.
AC Input
5-Phase RK

5 4 Torque [N m] Torque [N m] 3 Current [A] 2 1 0 Permissible Torque Driver Input Current 300 400 500 Speed [r/min] 6 (12) 6 4 2 0 Power Input: 24/36 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7 kg m2 24 VDC 36 VDC Full Step 0.5/step Half Step 0.25/step 5 4 3 2 1 0
Power Input: 24/36 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7 kg m2 24 VDC 36 VDC Full Step 0.25/step Half Step 0.125/step
5 4 Torque [N m] 6 Current [A] 3 2 Power Input: 24/36 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7 kg m2
5-Phase CRK
24 VDC 36 VDC
Full Step 0.2/step Half Step 0.1/step
Permissible Torque
Permissible Torque Driver Input Current
8 Current [A] 4 0
4 2 0
DC Input
2-Phase CMK
Driver Input Current 1 0 fs 50 2 (4) 100 150 Speed [r/min] 4 (8) Pulse Speed [kHz] 200 6 (12) 250 Full Step (Half Step)
fs 100 2 (4) 200
fs 50 2 (4) 100 150 200 Speed [r/min] 250 6 (12) 300 Full Step (Half Step)
0 (0)
0 (0)
0 (0)
2-Phase CSK
5 4 Torque [N m] Power Input: 24/36 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7 kg m2 24 VDC 36 VDC Full Step 0.18/step Half Step 0.09/step
5 4 Torque [N m] Power Input: 24/36 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7 kg m2 24 VDC 36 VDC Permissible Torque 3 2 1 0 fs 25 2 (4) 50 75 Speed [r/min] 4 (8) Pulse Speed [kHz] 100 6 (12) 125 Full Step (Half Step) Driver Input Current Full Step 0.1/step Half Step 0.05/step
5 4 Permissible Torque 3 Current [A] 2 1 0 Torque [N m] 3 2 1 Power Input: 24/36 VDC Current: 2.0 A/Phase (2 Phases ON) With Damper D6CL-6.3F: JL=140 10 7 kg m2 24 VDC 36 VDC Full Step 0.05/step Half Step 0.025/step
6 4 Current [A] 2 0
3 2
Permissible Torque Current [A]
6 4 2 0
Driver Input Current 1 0 fs 50 2 (4) 100 150 Speed [r/min] 4 (8) Pulse Speed [kHz] 6 (12) 200 Full Step (Half Step)
fs 10 2 (4) 20 30 40 Speed [r/min] 50 6 (12) 60 Full Step (Half Step)
0 (0)
0 (0)
0 (0)
Controllers
C-179
C-180
Stepping Motors
Common to Each Type
Driver Model Input Mode CSD2109-T CSD2112-T Photocoupler input, Input resistance 220 , Input current 10 20 mA Photocoupler ON: 4 5 V, Photocoupler OFF: 0 1 V (Voltage between terminals) CSD2120-T
Pulse Signal (CW Pulse Signal) Input Signal Rotation Direction Signal (CCW Signal) All Windings Off Signal Output Mode
Operation command pulse signal (CW direction operation command pulse signal when in 2-pulse input mode) Negative logic pulse input Pulse width 5 s minimum, Pulse rise/fall 2 s maximum Pulse duty 50% and below The motor moves one step when the pulse input is switched from ON to OFF. Maximum input pulse frequency 10 kHz (When the pulse duty is 50%) Rotation direction signal Photocoupler ON: CW, Photocoupler OFF: CCW CCW direction operation command pulse signal when in 2-pulse input mode Negative logic pulse input Pulse width, 5 s minimum, Pulse rise/fall 2 s maximum Pulse duty 50% and below The motor moves one step when the pulse input is switched from ON to OFF. Maximum input pulse frequency 10 kHz (When the pulse duty is 50%) When in the "photocoupler ON" state, the output current to the motor is cut off and the motor shaft can be rotated manually. When in the "photocoupler OFF" state, the output current to the motor is turned on. Photocoupler, Open-collector output External use condition: 24 VDC maximum, 10 mA maximum The signal is output every time the excitation sequence returns to the initial stage "0" (Photocoupler: ON). Standard type 1.8/step (full step): signal output every 4 pulses 0.9/step (half step): signal output every 8 pulses High-resolution type 0.9/step (full step): signal output every 4 pulses 0.45/step (half step): signal output every 8 pulses SH geared type (gear ratio 1:18) 0.1/step (full step): signal output every 4 pulses 0.05/step (half step): signal output every 8 pulses Automatic current cutback, Setting current monitor output, Step angle select, Pulse input mode switch, Power supply voltage select Natural ventilation
Output Signal
Excitation Timing Signal
Function Cooling Method
Specifications Insulation Class Insulation Resistance Motor Class B (130C) 100 M or more when 500 VDC megger is applied between the windings and the case under normal ambient temperature and humidity. Sufficient to withstand 1.0 kV at 50 Hz or 60 Hz applied between the windings and the case for 1 minute under normal ambient temperature and humidity. (0.5 kV for models with frame size 42 mm) Ambient Temperature Ambient Humidity Atmosphere 10 50C (non-freezing) 85% or less (non-condensing) No corrosive gases, dust, water or oil 0 40C (non-freezing) Driver
Dielectric Strength
Operating Environment (In operation)
Temperature rise of windings are 80C or less measured by the resistance change method (at rated voltage, at standstill, two phases energized) 3 arc minutes ( 0.05) 0.05 T.I.R. (mm)4 0.025 mm maximum of 5 N 0.075 mm maximum of 10 N 0.075 T.I.R. (mm)4 0.075 T.I.R. (mm)4
0.075 A 0.05
0.075

Type Model CSK243- T CSK244- T CSK245- T CSK264- T CSK266- T CSK268- T CSK243M T CSK244M T CSK245M T CSK264M T CSK266M T CSK268M T CSK243 T-SG SH Geared Type CSK264 T-SG 3.6, 7.2, 9, 10, 18, 36 3.6, 7.2, 9, 10 18, 36 Gear Ratio 0 20 Permissible Overhung Load Distance from Shaft End (mm) 5 25 10 34 15 52 20
Unit = N
Standard Type
54
67
89
20
25
34
52
54
67
89
130
10 30 80
15 40 100
20 50 120
30 60 140 70 160
15 30
Stepping Motors
Dimensions
1
(Unit = mm)
Standard Type, High-Resolution Type 42 mm

Motor Model PK243-01A PK243MA PK243-01B PK243MB PK244-01A PK244MA PK244-01B PK244MB PK245-01A PK245MA PK245-01B PK245MB L1 L2 Mass (kg) 0.21 0.24 0.21 0.24 0.27 0.3 0.27 0.3 0.35 0.37 0.35 0.37 5 0.012(h7) 4.5 0.15
15 1
Model CSK243-AT CSK243MAT CSK243-BT CSK243MBT CSK244-AT CSK244MAT CSK244-BT CSK244MBT CSK245-AT CSK245MAT CSK245-BT CSK245MBT
L2 20 L1 15 0.25
0.15 0 0.012(h7) 0 22 0.033(h8)
42 31 0.2 31 0.2 42
4.5
48
33
Introduction
39 54
2 6 Motor Leads 300 mm Length UL Style 3265, AWG24 4 M3 4.5 Deep
AC Input
47 62
AS

2
DC Input
ASC
56.4 mm
Motor Model PK264-02A PK264MA PK264-02B PK264MB PK266-02A PK266MA PK266-02B PK266MB PK268-02A PK268MA PK268-02B PK268MB 16 15 39 55
0 0.012 0.15 0.25 1
Model CSK264-AT CSK264MAT CSK264-BT CSK264MBT CSK266-AT CSK266MAT CSK266-BT CSK266MBT CSK268-AT CSK268MAT CSK268-BT CSK268MBT
5.8
0.45
5 1.6 15
0.15 0 0.012
L1
L2
Mass (kg)
L2 L1
20
56.4 47.14 0.35 4

0.03
0.25
6.35
4.5 Thru AC Input

5-Phase RK
70
6.35 5.8
54
0.7
47.14 0.35 56.4
38.1
5-Phase CRK
76 92
1.0
DC Input
2-Phase CMK
SH Geared Type
3
42 mm
Motor Model PK243A1-SG PK243B1-SG Gear Ratio 3.6, 7.2, 9, 10, 18, 36 Mass (kg) 0.35
15 1
4.5
18
0 0.012(h7)
4.5
0.15
31 0.2 42
Model CSK243AT-SG CSK243BT-SG
74 59 3
20
0 0.012(h7)
2-Phase CSK
12
42 31 0.2
60 mm
6.35 0.012 5.8 0.15 Motor Model PK264A2-SG PK264B2-SG Gear Ratio 3.6, 7.2, 9, 10, 18, 36 Mass (kg) 16 0.75 15
0 1 0.25 1
24
b Enter the gear ratio in the box ( ) within the model name. b Screws (Included) M4 Length 15 mm 4 Pieces
8 10
Model CSK264AT-SG CSK264BT-SG
12 3 7
0 0.015(h7)
95 79
32
Controllers
0.5
60
70
0.5
60
Accessories
56.4
Installation
C-181
3.2 Thru 12 3
20
43.5
HEAT SINK 71 3
4 M3 5 Deep
10.1

28
38.1 72
55 66
16.775 47.255 22.86
C-182
Stepping Motors
b Driver
5 Driver Model: CSD2109-T, CSD2112-T, CSD2120-T
Mass: 0.13 kg 77
Motor Terminal Blocks
1 3
1 Signal Monitor Display

Indication Color Name POWER Green Power input display
3 Function Select Switch

Indication ACD Switch Name Automatic current cutback function switch Step angle select switch Pulse input mode switch Power supply voltage select switch Function Enables or disables automatic current cutback function. Switches the motor's step angle. F (Full Step): 1.8/step H (Half Step): 0.9/step (F: 0.9/step, H: 0.45/step for high-resolution type) Switches between 1-pulse input and 2-pulse input. Changes power supply voltage. For 24 VDC and 36 VDC
2 Current Adjustment Potentiometer

Indication RUN VR STOP VR Potentiometer Name Motor run current potentiometer Motor stop current potentiometer Function For adjusting the motor running current For adjusting the current at motor standstill F/H
1P/2P 24/36V
4 Input/Output Signal
Indication POWER POWER TIMING TIMING C.OFF C.OFF DIR./CCW Input signal Input/ Output Power supply input Output signal Signal Name Power GND Excitation timing signal 24/36 V GND Outputs signals when the excitation sequence is at STEP "0." Function
All windings off Cuts the output current to the motor and allows signal the motor shafts to be rotated by external force. Rotation direction signal (CCW pulse signal) Pulse signal (CW pulse signal) Rotation direction signal Photocoupler ON: CW, Photocoupler OFF: CCW (The motor will rotate in the CCW direction when in 2-pulse input mode.) Operation command pulse signal (The motor will rotate in the CW direction when in 2-pulse input mode.)
DIR./CCW PLS/CW PLS/CW
Stepping Motors
2-Phase Stepping Motor Driver Yellow White Black Green Red Blue Controller V0 ( 5 to 24 VDC) GND R2 Twisted-Pair Wire Excitation Timing Signal 24/36 VDC TB2

Signals can be connected directly when 5 VDC is supplied. When the voltage exceeds 5 VDC, connect the external resistor to keep input current at 20 mA or less. When 5 VDC or more is applied without the external resistor, the internal components get damaged. Example: If the voltage is 24 VDC, connect a resistor (R1) of 1.5 to 2.2 k and 0.5 W or more.

Use the output signal at 24 VDC or less and 10 mA or less. If these specifications are exceeded, the internal components may get damaged. Check the specification of the connected equipment. If the current exceeds 10 mA, connect external resistor R2.
Introduction
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: b Motor does not rotate properly at high-speed. b Slow motor startup and stopping
AC Input
Notes on Wiring
0V V0 ( 5 to 24 VDC)
AS
R1
R1
b Use twisted-pair wires of AWG24 to 20 (0.2 to 0.5 mm2) and 2 m or less in length for the signal lines. b Note that as the length of the pulse signal line increases, the maximum transmission frequency decreases. Technical reference Page F-46 b Use wires of AWG22 to 18 (0.3 to 0.75 mm2) or thicker for power supply lines. b Signal lines should be kept at least 10 cm away from power lines (power supply lines and motor lines). Do not run the signal lines in the same duct as power lines or bundle them together. b If noise generated by the motor cable or power supply cable causes a problem, try shielding the cables or insert ferrite cores. b Incorrect connection of DC power input will lead to driver (circuit) damage. Make sure that the polarity is correct before turning power on.
DC Input AC Input
ASC 5-Phase RK
R1 0V

5-Phase CRK
b Timing Chart
Motor CW CCW
5 s min.
DC Input
2-Phase CMK
ON OFF ON OFF ON OFF
0.5 s min. 100 s min. 1 1 100 s min.
300 s min.
2-Phase CSK
ON CW Pulse Input Signal OFF
100 s min.
ON CCW Pulse Input Signal OFF All Windings Off Input Signal ON OFF
The
2

Controllers
1 The minimum switching time to change rotation direction (1-pulse input mode), and switching time to change CW, CCW pulse (2-pulse input mode) 100 s is shown as a response time of circuit. The motor may need more time. 2 Depends on load inertia, load torque and starting frequency. 3 Never input a pulse signal immediately after switching the "All Windings Off" signal to "OFF." The motor may not start. 4 Wait at least five seconds before turning on the power again.
C-183
C-184
Stepping Motors

All Windings Off (C.OFF) Input Signal

bInputting this signal puts the motor in a non-excitation (free) state. bThis signal is used when moving the motor by external force or perform positioning manually. The photocoupler must be "OFF" when operating the motor. bSwitching the "All Windings Off" signal from "photocoupler ON" to "photocoupler OFF" does not alter the excitation sequence. When the motor shaft is manually adjusted with the "All Windings Off" signal input, the shaft will shift up to 3.6 (geared type: 3.6/gear ratio) from the position set after the "All Windings Off" signal is released.
Pulse (CW) and Rotation Direction (CCW)/All Windings Off (C.OFF) Input Signal
Controller Open-Collector Output VO
Driver 220 R1
Excitation Timing (TIMING) Output Signal

Controller Open-Collector Output VO
0V
10 20 mA
Driver

Pulse Input Signal ON OFF Rotation Direction Input Signal OFF ON 90% 10% 1
R2 2 0V 10 mA max.
100 s min. 100 s min. 3 5 s min. 2 s max. 50 s min. 2 s max.
1 The shaded area indicates when the photocoupler diode is ON. The motor moves when the photocoupler state changes from ON to OFF. 2 When the photocoupler turns "ON," the motor will receive a CW command. When the photocoupler turns "OFF," the motor will receive a CCW command. 3 The minimum interval time when changing rotation direction is 100 s. This value varies greatly depending on the motor type and load inertia.
bThe "Excitation Timing" signal is output to indicate when the motor excitation is in the initial stage (step "0" at power up). bThe "Excitation Timing" signal is output simultaneously with a pulse input each time the excitation sequence returns to step "0." The excitation sequence will complete one cycle for every 7.2 (3.6 for high-resolution type) rotation of the motor output shaft. Full Step: Signal is output once every 4 pulses. Half Step: Signal is output once every 8 pulses.
Timing chart at 1.8/step When connected as shown in the sample connection, the signal will be "photocoupler ON" at step "0."
1 2 3 4 5 6 7 8 9 1011 121314

bKeep the "Pulse" signal at the "OFF" state when no pulses are being input. bIn 1-pulse input mode, leave the "Pulse" signal at rest ("OFF") when changing rotation directions. bIn 2-pulse input mode, do not input a CW pulse and CCW pulse simultaneously.
Pulse Input Rotation Direction Input Timing Output

(Step) 0 1 2 3 0 1 2 3 0 1 2 3 2 1 0 CW CCW
Note: b When power is turned on, the excitation sequence is reset to step "0" and the "Excitation Timing" signal will be output.
Stepping Motors
Adjusting the Current

When Setting with an Ammeter
Connect the driver, motor and DC ammeter.
2-Phase Stepping Motor TB2 Yellow White Black Green Red Blue
4. Manipulate the potentiometer for adjusting the motor operating current (RUN VR). Adjust the potentiometer using an insulated screwdriver. RUN VR Be sure to adjust the current to the motor's rated current or below. STOP VR When setting with an ammeter, the sum of the two DC ammeter readings indicates the current per motor phase.
RU N VR
ST O VR P
Introduction
When Setting with a Tester

Connect the driver and motor.
2-Phase Stepping Motor TB2 Yellow White Black Green Red Blue
Example: When the DC ammeter readings indicate 0.5 A and 0.45 A respectively, the output current per motor phase is 0.95 A. When setting with a tester, the tester readings indicate the current per motor phase. Example: When the tester readings indicate 0.95 V, the output current per motor phase is 0.95 A. 5. Turn off the power supply.
AS ASC 5-Phase RK
Plug the tester probes (approx. 2.1 mm) into the motor current check terminals (C.C. and C.C. ).
6. Set the automatic current cutback function switch (ACD) to "ON" again.
ON
ACD
5-Phase CRK
C.C.
OFF
OFF
F 1 P /H 24 /2P /
AC
12 3 4
36 V
C.C.
Set the tester to operate in the voltage measurement range.
ON: Enables the automatic current cutback
DC Input
2-Phase CMK
Motor Running Current

1. Set the step angle to full step. Set the step angle switch (F/H) to "ON."
ON OFF
OFF
This completes the adjustment of the motor running current.
Motor Standstill Current

F/H
1. Set the step angle to full step. Set the step angle switch (F/H) to "ON."
2-Phase CSK
ON
F/H
12 3 4
36 V
AC
12 3 4
36
F 1 P /H 24 /2P /
OFF
OFF
F 1P /H 2 4 /2 P /
AC D
ON: Full Step
ON: Full Step
2. Disable the automatic current cutback function. Set the automatic current cutback function switch (ACD) to "OFF."
ON OFF
OFF
ACD
2. Enable the automatic current cutback function. Set the automatic current cutback function (ACD) to "ON." ACD
ON
12 3 4
36 V
F 1 P /H 24 /2P /
F 1P /H 2 4 /2 P /
36 V
AC D
12 3 4
OFF
OFF
AC
Controllers
OFF: Disables the automatic current cutback
ON: Enables the automatic current cutback
3. Turn on the power supply. Wait until the motor reaches its operating current.
3. Turn on the power supply. Wait until the motor reaches its standstill current. 4. Manipulate the potentiometer for adjusting the motor standstill current (STOP VR). Adjust the potentiometer using an insulated screwdriver. Be sure to adjust the current to 40% of the motor's rated current or below. The sum of the two DC ammeter readings indicates the current per motor phase. 5. Turn off the power supply. This completes the adjustment of the motor standstill current.
C-185
C-186
Stepping Motors

Type Model CSK243-AT CSK243-BT CSK244-AT CSK244-BT CSK245-AT CSK245-BT CSK264-AT CSK264-BT CSK266-AT CSK266-BT CSK268-AT CSK268-BT Motor Model PK243-01A PK243-01B PK244-01A PK244-01B PK245-01A PK245-01B PK264-02A PK264-02B PK266-02A PK266-02B PK268-02A PK268-02B Driver Model CSD2109-T Type Model CSK243MAT CSK243MBT CSK244MAT CSK244MBT CSK245MAT High-Resolution CSK245MBT Type CSK264MAT CSK264MBT CSK266MAT CSK266MBT CSK268MAT CSK268MBT SH Geared Type CSK243AP-SG CSK243BP-SG CSK264AP-SG CSK264BP-SG Motor Model PK243MA PK243MB PK244MA PK244MB PK245MA PK245MB PK264MA PK264MB PK266MA PK266MB PK268MA PK268MB PK243A1-SG PK243B1-SG PK264A2-SG PK264B2-SG Driver Model CSD2109-T
CSD2112-T
CSD2112-T
Standard Type
CSD2120-T
CSD2120-T
CSD2109-T CSD2120-T
b Enter the gear ratio in the box ( ) within the model name. Gear ratio: 3.6, 7.2, 9, 10, 18, 36
Stepping Motors
Introduction
Stepping Motors
AS ASC 5-Phase RK 5-Phase CRK 2-Phase CMK 2-Phase CSK 2-Phase Stepping Motors
Page
2-Phase Stepping Motors C-188 5-Phase Stepping Motors C-242
C-187
C-188
Stepping Motors
RoHS-Compliant 2-Phase Stepping Motors
PK Series
Seven frame sizes are available in a range from 28 mm to 85 mm. In addition to the standard type, we offer high-torque type, high-resolution type and SH geared type. The motor windings also come in various specifications.
RoHS-Compliant
The 2-phase PK Series conforms to the RoHS Directive that prohibits the use of six chemical substances including lead and cadmium.
Wide Range of Motor Variations

Size Type 28 mm 35 mm 42 mm Motor Frame Size 50 mm 56.4 mm1 60 mm 85 mm2
High-Torque Type
Page C-198
Page C-202
Page C-204
Page C-228
Standard Type
Page C-206
Page C-216
Page C-218
Page C-234
Page C-222
Page C-236
HighResolution Type
Page C-210
Page C-224
2 1
SH Geared Type
Page C-200
1 Gearhead frame size is 2 Gearhead frame size is 60 mm 90 mm
Page C-214
Page C-232
Page C-238
Features C-188 / System Configuration C-189
Stepping Motors
These accessories enable 2-phase PK Series products to be used for various operations.
2-Phase PK Series (Body)

Motor
Required Products (Sold separately)
Controller (Sold separately) Programmable Controller

(Not supplied)
Driver
(Not supplied)1
1 Motor and driver packages are available. CMK Series Page C-146 CSK Series Page C-170
Controller
(Not supplied)2
2 Controllers suitable for stepping motors are available. Controllers Page C-248
Introduction
AC Input
AS
DC Input
ASC

( Page C-266)
Flexible Couplings
( Page C-258)
Clean Dampers
( Page C-264)

( Page C-255)
Motor Connector Set

( Page C-255)
AC Input
5-Phase RK
No.
Product Name
Motor Mounting Brackets Flexible Couplings Clean Dampers Motor Lead Wire/Connector Assembly Motor Connector Set
Overview
Dedicated mounting bracket for the motor. Coupling that connects the motor shaft to the driven shaft. Dedicated damper for suppressing stepping motor vibration. Lead wire with a connector crimped for connector-coupled motors (0.6 m, 1 m). Set of connector housings and contacts for use with connector-coupled motors (for 30 units).
Page
C-266 C-258 C-264 C-255 C-255 DC Input
5-Phase CRK 2-Phase CMK

2-Phase PK Series
PK264-01B
Motor Flexible Clean Damper Mounting Bracket Coupling PAL2P-2 MCS2006F04 D6CL-6.3F
2-Phase CSK
2-Phase Stepping Motor and Driver Packages

To achieve maximum performance, motors with dedicated drivers are available.
2-Phase Stepping Motors 5-Phase Stepping Motors Controllers
DC Input Microstep Drive CMK Series
DC Input CSK Series
Page C-146
Page C-170
Wirings and Connections C-192 / Specifications, Characteristics, Dimensions C-198 / General Specifications C-240
C-189
56.4 mm
42 mm
C-190
Stepping Motors
High-Torque Type
This motor type combines high torque and a compact size. Four frame sizes, 28 mm, 35 mm, 42 mm and 60 mm, are available. Each specification provides torque equivalent to a motor of the next larger frame size, supporting high-torque operation even in the high-speed range. For example, high-torque type PK246PB motor frame size (42 mm) has the same holding torque as the standard type PK266-01B motor frame size (56.4 mm). This means a smaller size motor will maintain the same torque. This allows for downsized and lightweight equipment.
1.5 Measured by Bipolar (Series) Constant Current Driver High-Torque Type PK246PB Current 0.85 A/phase, 24 VDC Standard Type PK266-01B Current 0.71 A/phase, 24 VDC 1.0 With Damper

The motor conforms to the IP65 standard of ingress protection against dust and water.
Terminal-Block Connection Design

The motor can be wired directly from its terminal block.
0.5
Terminal Box
100 Speed [r/min] 0
200
300 1
0.5 Pulse Speed [kHz]
59
54
No Motor/Driver Relay
High-Torque Type PK246PB 0.93 N m 114 10-7 kg m2 Type Model Holding Torque Rotor Inertia Standard Type PK266-01B 1.17 N m 300 10-7 kg m2
Since the motor cable can be connected directly to the driver terminals, there is no need for wire connection or soldering on a relay terminal block.
Motor
Standard Type
The standard PK Series 2-phase stepping motor offers balanced performance enhanced by high torque, low vibration and low noise. Optimal motor size and winding specification can be selected from a wide range of motor variations.
Cable
Driver
Stepping Motors
These 2-phase, high resolution stepping motors have half the step angle of standard stepping motors. The high-resolution type increases motor resolution from 200 steps/rotation to 400 steps/ rotation. Smaller step-angles can be achieved by half-step driving or microstep driving. Such options, however, do not improve accuracy. Other than having twice as many rotor teeth as standard stepping motors, all other structures are exactly the same as the standard motors.
0.9
SH Geared Type
Incorporating SH gears with high permissible torque, these models offer the full benefit of the speed reducing capability of geared motors, delivering high resolution, high torque and smooth low-speed rotation. With performance like this, the SH geared type can easily satisfy the requirements of various kinds of lowspeed positioning applications.
Introduction
b Smooth Rotation at Low Speeds

Stepping motors at low speed produce a relatively high amount of vibration. Use of a gearhead allows for an increase in the speed of the motor, which results in a smoother motion while maintaining the low output speed required by the application.
AC Input
AS
b Six Gear Ratios

SH geared motors are available with six different gear ratios: 1:3.6, 1:7.2, 1:9, 1:10, 1:18, 1:36. The low ratios of these gearheads can greatly facilitate speed control of the 2-phase stepping motors.
0.09 deg
Angle Accuracy
b PK223-SG type is not available in a gear ratio of 1:3.6.
DC Input AC Input
ASC 5-Phase RK
b Ideal for High Inertia Drive

0
0.09 deg 0 Step

(1) High-Resolution Type (0.9/step)
The stepping motor itself can drive an inertia of ten times the rotor inertia. The geared type can reduce the load inertia by the square of the gear ratio. Therefore, the geared type is suitable for driving larger inertial loads.
400
5-Phase CRK
0.09 deg
DC Input
2-Phase CMK
Angle Accuracy
0
2-Phase CSK
0.09 deg 0 Step

(2) Standard Type (1.8/step)
200
0.09 deg
Angle Accuracy
0.09 deg 0 Step

(3) Standard Type (0.9/step)
400
Controllers
Angle Accuracy
C-191
C-192
Stepping Motors
Product Number Code

b High-Torque Type
PK 2 6 4 J D B
Series 2: 2-Phase Motor Frame Size Motor Case Length Motor Type Motor Lead Shaft Type PK: PK Series 2: 28 mm 3: 35 mm 4: 42 mm 6: 60 mm P, J: High-Torque Type Blank: 6 Leads D: 4 Leads A: Single Shaft B: Double Shaft
b SH Geared Type
PK 2 2 3 P A - SG 10
Series 2: 2-Phase Motor Frame Size Motor Case Length Motor Type Shaft Type Gearhead Type Gear Ratio PK: PK Series 2: 28 mm
b Standard Type, High-Resolution Type
A: Single Shaft B: Double Shaft SG: SH Geared Type
PK 2 6 6 M - E 2.0 B
Series 2: 2-Phase Motor Frame Size Motor Case Length Motor Type Motor Lead Winding Specification Shaft Type PK: PK Series 4: 42 mm 5: 50 mm 6: 56.4 mm 9: 85 mm Blank: Standard Type (1.8/step) M: High-Resolution Type (0.9/step) 0: 6 Leads E: 8 Leads A: Single Shaft B: Double Shaft
b SH Geared Type
PK 2 6 4 A E - SG 10
Series 2: 2-Phase Motor Frame Size Motor Case Length Shaft Type Motor Lead Gearhead Type Gear Ratio PK: PK Series 4: 42 mm 6: 60 mm 9: 90 mm A: Single Shaft B: Double Shaft 1: 6 Leads E: 8 Leads SG: SH Geared Type
PK 2 9 6 E A T
Series 2: 2-Phase Motor Frame Size Motor Case Length Motor Lead Shaft Type Motor Classification
PK: PK Series 6: 56.4 mm 9: 85 mm D: 4 Terminals E: 8 Terminals A: Single Shaft
Wirings and Connections

b High-Torque Type, Standard Type, High-Resolution Type, SH Geared Type
Motor Wirings
4 Leads Motor
Black A Phase Green Red B Phase Blue
6 Leads Motor
A Phase A Phase Black (4) Yellow (5) Green (6)
8 Leads Motor
A Phase A Phase Black Yellow Orange Green Red White B Phase Brown B Phase Blue
Red White Blue (3) (2) (1) B Phase B Phase
Wirings Connection Diagrams

1 4 Leads Bipolar Connection
Black A Phase Green Red B Phase Blue
2 6 Leads Unipolar Connection

A Phase A Phase Black (4) Yellow (5) Green (6)
3 6 Leads Bipolar (Series) Connection

Black (4) A Phase N.C. Green (6)
Red White Blue (3) (2) (1) B Phase B Phase
Red N.C. Blue (1) (3) B Phase
4 8 Leads Unipolar Connection

A Phase A Phase Black Yellow Orange Green Red White B Phase Brown B Phase Blue
5 8 Leads Bipolar (Series) Connection

Black A Phase Yellow Orange Green Red White Brown Blue
6 8 Leads Bipolar (Parallel) Connection

Black Yellow Orange Green Red A Phase
White
Brown
Blue
B Phase B Phase
b The numbers inside the parentheses indicate the connector pin No. of the high-torque type motor. b N.C.: No Connection
Stepping Motors

Motor Wirings
bPK26 DAT
Internal Protective Earth Terminal (M4) Protective Earth Wire [AWG18 (0.75mm2) min.]
Connect motor lead wires to the terminals 2 to 5.
2
Motor Wire [AWG26 to 16 (0.14 to 1.25 mm2)] External Protective Earth Terminal (M4) Protective Earth Wire [AWG18 (0.75 mm2) min.]
Terminal Block 1 2 3 4 5
4 B Phase 5
A Phase 3
Multi-Core Cable (Diameter: 7 to 13 mm)
Introduction
bPK29 EAT
AC Input
AS Internal Protective Earth Terminal (M4) Protective Earth Wire [AWG18 (0.75 mm2) min.] Multi-Core Cable (Diameter: 7 to 13 mm) 1 Motor Wire [AWG22 to 16 (0.3 to 1.25 mm2)] External Protective Earth Terminal (M4) Protective Earth Wire [AWG18 (0.75 mm2) min.] 2 1 3 4 5 6 7 8 5 7 B Phase 6 8 B Phase
A Phase 3 2 A Phase 4
DC Input
ASC
Wirings Connection Diagrams

bPK26 DAT 7 Bipolar
Connect motor lead wires to the terminals 2 to 5.
AC Input
5-Phase RK
2 A Phase 3
4 B Phase 5
1 2 3 4 5 Terminal Block
5-Phase CRK
bPK29 EAT 8 Bipolar (Series)
9 Bipolar (Parallel)
10 Unipolar
DC Input
2-Phase CMK
2 1 3
7 8 5 7 6 8 B Phase A Phase
1 A Phase B Phase COM A Phase
1 3 2 4
5 7 6 8
2 1 3 2 4
7 8 5 7 6 8 B Phase COM B Phase
2-Phase CSK
A Phase
2 4
Notes on the Speed Torque Characteristics Diagrams

The speed torque characteristics featured in this catalogue are as measured on a constant-current driver. The actual characteristics will vary depending on the driver used. Please use these diagrams only for reference purposes when selecting a motor. You must also conduct a thorough evaluation with the actual driver to be used.
C-193
C-194
Stepping Motors
Product Specifications (Bipolar)

Motor Frame Size: 28 mm PK22
Type Model Single Shaft Double Shaft PK223PA PK223PB High-Torque Type PK224PA PK224PB PK225PA PK225PB PK223PA-SG7.2 PK223PB-SG7.2 PK223PA-SG9 PK223PB-SG9 PK223PA-SG10 PK223PB-SG10 PK223PA-SG18 PK223PB-SG18 PK223PA-SG36 PK223PB-SG36 0.25 0.2 0.18 0.1 0.4 0.05 0.3 0.67 3.8 5.6 4 9 10-7 0.16 C-200 1.8 Basic Step Angle Holding Torque Nm 0.065 0.097 0.11 0.67 Current per Phase A/phase Voltage VDC 3.8 4.6 6.2 Resistance per Phase /phase 5.6 6.8 9.2 Inductance mH/phase 4 4.8 5.6 Rotor Inertia J: kg m
2
Mass Page kg 0.11 0.14 0.2 C-198
9 10-7 12 10-7 18 10-7
SH Geared Type
b The value given for holding torque is the value when operated with rated voltage and 2-phase excitation.

Type Model Single Shaft Double Shaft PK233PA PK233PB PK235PA PK235PB Basic Step Angle Holding Torque Nm 0.2 1.8 0.37 0.85 5.8 6.8 8 50 10-7 0.285 Current per Phase A/phase Voltage VDC 4.6 Resistance per Phase /phase 5.4 Inductance mH/phase 5.6 Rotor Inertia J: kg m2 24 10-7 Mass Page kg 0.18 C-202
High-Torque Type
Stepping Motors

Type Model Single Shaft Double Shaft PK244PA PK244PB PK246PA PK246PB PK243-01A PK243-01B PK243-02A PK243-02B PK243-03A PK243-03B PK244-01A PK244-01B Standard Type PK244-02A PK244-02B PK244-03A PK244-03B PK245-01A PK245-01B PK245-02A PK245-02B PK245-03A PK245-03B PK243M-01A PK243M-01B PK243M-02A PK243M-02B PK243M-03A PK243M-03B PK244M-01A PK244M-01B PK244M-02A PK244M-02B PK244M-03A PK244M-03B PK245M-01A PK245M-01B PK245M-02A PK245M-02B PK245M-03A PK245M-03B PK243A1-SG3.6 PK243B1-SG3.6 PK243A1-SG7.2 PK243B1-SG7.2 SH Geared Type PK243A1-SG9 PK243B1-SG9 PK243A1-SG10 PK243B1-SG10 PK243A1-SG18 PK243B1-SG18 PK243A1-SG36 PK243B1-SG36 0.5 0.25 0.2 0.18 0.1 0.05 0.2 0.38 0.9 0.31 0.2 0.43 1.8 0.33 0.2 Basic Step Angle Holding Torque Nm 0.48 1.8 0.93 0.67 0.28 0.22 0.85 0.57 0.28 0.85 0.57 0.28 0.67 0.42 0.22 0.85 0.57 0.28 0.85 0.57 0.28 0.85 10 5.6 13 17 5.6 8.6 17 5.6 8.6 17 5.6 8.4 17 5.6 8.6 17 5.6 8.6 17 12 8.4 48 77 6.6 15 60 6.6 15 60 8.4 20 77 6.6 15 60 6.6 15 60 26 10 114 10-7 0.5 Current per Phase A/phase Voltage VDC 6.8 Resistance per Phase /phase 8 Inductance mH/phase 15.6 Rotor Inertia J: kg m2 57 10-7 Mass Page kg 0.3 C-204
High-Torque Type
Introduction
60 84 12.8 26.8 120
35 10-7
0.21
AC Input
AS
54 10-7
0.27
C-206
DC Input
11.2 28.4 100 15.2 38.8 136 17.2 38.8 152 15.6 39.6 128 68 10-7 0.37 54 10-7 0.3 C-210 35 10-7 0.24 68 10-7 0.35
AC Input
HighResolution Type
DC Input
0.4 0.5 0.67 0.56 0.8 0.8 5.6 8.4 10 35 10-7 0.35 C-214
C-195
C-196
Stepping Motors

Type Model Single Shaft Double Shaft PK256-02A PK256-02B PK258-02A PK258-02B Basic Step Angle Holding Torque Nm 0.84 1.8 1.56 1.4 6.7 4.8 11.5 420 10-7 0.89 Current per Phase A/phase 1.4 Voltage VDC 4.2 Resistance per Phase /phase 3 Inductance mH/phase 5.6 Rotor Inertia J: kg m2 230 10-7 Mass Page kg 0.53 C-216
Standard Type
Motor Frame Size: 56.4 mm PK26

Type Model Single Shaft Double Shaft PK264-01A PK264-01B PK264-02A PK264-02B PK264-03A PK264-03B PK264-E2.0A PK264-E2.0B PK266-01A PK266-01B Standard Type PK266-02A PK266-02B PK266-03A PK266-03B PK266-E2.0A PK266-E2.0B PK268-01A PK268-01B PK268-02A PK268-02B PK268-03A PK268-03B PK268-E2.0A PK268-E2.0B Standard Type PK264DAT IP65 Rated PK266DAT Motor PK268DAT PK264M-01A PK264M-01B PK264M-02A PK264M-02B PK264M-03A PK264M-03B PK264M-E2.0A PK264M-E2.0B PK266M-01A PK266M-01B HighResolution Type PK266M-02A PK266M-02B PK266M-03A PK266M-03B PK266M-E2.0A PK266M-E2.0B PK268M-01A PK268M-01B PK268M-02A PK268M-02B PK268M-03A PK268M-03B PK268M-E2.0A PK268M-E2.0B 1.8 0.48 1.17 1.75 Basic Step Angle Holding Torque Nm Current per Phase A/phase 0.71 1.4 0.48 2.1 1.4 0.71 1.4 1.8 1.17 2.1 1.4 0.71 1.4 1.75 2.1 1.4 4.2 6.3 1.96 2.52 3.16 8.1 3.9 2.6 3.9 11 5 3.2 5 12 6.3 4.2 6.3 2 4.5 0.7 0.9 1.13 11.4 2.8 1.26 2.8 14.8 3.6 1.5 3.6 17.2 4.5 2 4.5 6.4 14.4 1.4 2.5 3.6 26 6.8 120 10-7 2.1 1.4 0.71 1.4 0.9 1.17 2.1 1.4 0.71 1.4 1.75 2.1 1.4 8.4 19.2 5.8 12.8 77.6 19.2 480 10-7 1 3 6.8 50.8 12.8 300 10-7 0.7 C-224 0.45 120 10-7 300 10-7 480 10-7 0.6 0.9 1.2 3.2 5 12 6.3 1.5 3.6 17.2 4.5 4.4 10 56 14.4 480 10-7 1 2.6 3.9 11 5 1.26 2.8 14.8 3.6 2.4 5.6 40 10 300 10-7 0.7 C-218 Voltage VDC 8.1 3.9 Resistance per Phase /phase 11.4 2.8 Inductance mH/phase 21.6 5.6 120 10-7 0.45 Rotor Inertia J: kg m
2
Mass Page kg
2.8
C-222
0.71 1.4 0.48
Stepping Motors

Type Model Single Shaft Double Shaft PK264JDA PK264JDB PK264JA PK264JB PK266JDA PK266JDB High-Torque Type PK266JA PK266JB PK267JDA PK267JDB PK267JA PK267JB PK269JDA PK269JDB PK269JA PK269JB PK264AE-SG3.6 PK264BE-SG3.6 PK264AE-SG7.2 PK264BE-SG7.2 SH Geared Type PK264AE-SG9 PK264BE-SG9 PK264AE-SG10 PK264BE-SG10 PK264AE-SG18 PK264BE-SG18 PK264AE-SG36 PK264BE-SG36 0.5 0.25 0.2 0.18 0.1 0.05 Basic Step Angle Holding Torque Nm Current per Phase A/phase 2.8 1.06 1.4 2.8 1.75 1.4 1.8 2.8 2.2 1.4 2.8 3.1 1.4 1 2 2.5 1.4 2.7 3 4 3.9 2.8 5.6 120 10-7 0.75 C-232 8.3 5.96 22.8 DC Input 6.7 4.2 4.8 1.49 14.2 5.7 900 10-7 1.43 3.4 1.2 3.54 570 10-7 1.02 AC Input 5.6 4 12.2 C-228 4.1 2.8 2.92 1 7.2 3.05 Voltage VDC 2.1 Resistance per Phase /phase 0.73 Inductance mH/phase 1.8 280 10-7 0.6 Rotor Inertia J: kg m2 Mass Page kg
Introduction
450 10-7
0.83
AS ASC 5-Phase RK 5-Phase CRK
AC Input

Type Model Single Shaft Double Shaft PK296-E4.5A PK296-E4.5B Standard Type PK299-E4.5A PK299-E4.5B PK2913-E4.0A PK2913-E4.0B Standard Type IP65 Rated Motor PK296EAT PK299EAT PK2913EAT PK296AE-SG3.6 PK296BE-SG3.6 PK296AE-SG7.2 PK296BE-SG7.2 SH Geared Type PK296AE-SG9 PK296BE-SG9 PK296AE-SG10 PK296BE-SG10 PK296AE-SG18 PK296BE-SG18 PK296AE-SG36 PK296BE-SG36 0.5 0.25 0.2 0.18 0.1 0.05 1.8 1.8 Basic Step Angle
(Frame size of SH geared type is 90 mm.)

DC Input
2-Phase CMK
Holding Torque Nm 3.1
Current per Phase A/phase
Voltage VDC 2.8
Resistance per Phase /phase 0.96 1.32 1.94 0.96 1.32 1.94
Inductance mH/phase 6 10 16.8 6 10 16.8
Rotor Inertia J: kg m2 1400 10-7 2700 10-7 4000 10-7 1400 10

-7
Mass Page kg 1.7
3.18
2-Phase CSK
6.2 9.3 3.1 3.18 6.2 9.3 2.5 2.8 2.8
3.9 5.3 2.8 3.9 5.3
2.8 3.8 2.1
C-234
2700 10-7 1400 10-7
3.2 4.3
C-236
5 6.3
Controllers
2.1 7 9
0.96
6.0
1400 10-7
2.8
C-238
Accessories
12
Installation
C-197
Model PK223PA PK223PB PK224PA PK224PB PK225PA PK225PB
L1 32 40 51.5
L2
Mass (kg) 0.11 0.14 0.2
L2
10 1 0 0.012(h7)
15 L1 1.5 10
0.25
0.15 0 0.012(h7) 0 22 0.033(h8)
0.15
4.5
42 50 61.5
4.5
b Lead wire and connector will not be supplied with the connectorcoupled motor. They must be purchased separately. b Applicable Connector Connector housing: 51065-0600 (MOLEX) Contact: 50212-8100 (MOLEX) Crimp tool: 57176-5000 (MOLEX)
9.5
16.5 4 M2.5 2.5 Deep

C-198
23 0.2 28
Stepping Motors
28 mm
Step Angle 1.8 High-Torque Type
Specifications
Model Single Shaft Double Shaft PK223PA PK223PB PK224PA PK224PB PK225PA PK225PB Connection Type Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Series) Unipolar Holding Torque Nm 0.065 0.05 0.097 0.075 0.11 0.09 Current per Phase A/phase 0.67 0.95 0.67 0.95 0.67 0.95 Voltage VDC 3.8 2.66 4.6 3.2 6.2 4.4 Resistance per Phase /phase 5.6 2.8 6.8 3.4 9.2 4.6 Inductance mH/phase 4 1 4.8 1.2 5.6 1.4 Rotor Inertia J: kg m 9 10
2
Lead Wires (Pin) 6 6 6
Wirings and Connections (See Page C-192) 3 2 3 2 3 2
-7
12 10-7 18 10-7
How to read specifications table Page C-10 b Degree of Protection: IP30
Dimensions
(Unit = mm)
28 23 0.2
Stepping Motors

PK223PA/PK223PB Bipolar (Series)
7
PK223PA/PK223PB
Unipolar
0.125 0.100 Torque [N.m]
Bipolar Constant Current Driver Current: 0.67 A/Phase (Bipolar Series) With Damper D4CL-5.0F: JL=34 10
kg.m2
0.08 0.07 0.06 Torque [Nm]
Unipolar Constant Current Driver Power Input: 24 VDC Current: 0.95 A/Phase (Unipolar) With Damper D4CL-5.0F: JL=34 10 7 kg.m2
Power Input 0.075 0.050 Pullout Torque 0.025 0 fs 500 2 (4) 1000 1500 Speed [r/min] 4 (8) Pulse Speed [kHz]
24 VDC 48 VDC
0.05 0.04 0.03 0.02 0.01
Pullout Torque
Introduction
2000 6 (12)
2500 1.8/step (0.9/step)
fs 500 1000 1500 2000 2500 3000 3500 4000 4500 Speed [r/min] 4 8 Pulse Speed [kHz] 12 1.8/step
AC Input
AS
0 (0)
PK224PA/PK224PB
0.15
Bipolar (Series)
7
PK224PA/PK224PB
Unipolar
DC Input
ASC
kg.m2
0.12 0.10
AC Input
5-Phase RK
Power Input Torque [N.m] 0.10
Torque [Nm]
24 VDC 48 VDC
0.08 0.06 0.04 Pullout Torque
Pullout Torque 0.05
5-Phase CRK
0.02 0 fs 500 2 (4) 1000 1500 Speed [r/min] 4 (8) Pulse Speed [kHz] 6 (12) 2000 2500 1.8/step (0.9/step) 0 fs 500 1000 1500 2000 2500 3000 3500 4000 4500 Speed [r/min] 4 8 Pulse Speed [kHz] 12 1.8/step
0 (0)
DC Input
2-Phase CMK
PK225PA/PK225PB
0.20
Bipolar (Series)
7
PK225PA/PK225PB
0.14 0.12
Unipolar
kg.m2
2-Phase CSK
0.15 Torque [N.m]
Power Input
Torque [Nm]
24 VDC 48 VDC
0.10 0.08 0.06 0.04 0.02 Pullout Torque
0.10 Pullout Torque 0.05
fs 500 2 (4)
1000 1500 Speed [r/min] 4 (8) Pulse Speed [kHz] 6 (12)
2000
2500 1.8/step (0.9/step)
fs 500 1000 1500 2000 2500 3000 3500 4000 4500 Speed [r/min] 4 8 Pulse Speed [kHz] 12 1.8/step
0 (0)
Note: b 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 100C.
Controllers
Motor Lead Wire/Connector Assembly (Sold separately)

bLead wire and connector will not be supplied with the connector-coupled motor. Motor lead wire/connector assembly (sold separately) is available.
Model LC2U06A LC2U10A Cable Length (mm) 600 1000 Number of Leads 6 Leads Leads Specifications UL Style No. AWG No. 3265 24
C-199
Model PK223PA-SG PK223PB-SG
Gear Ratio 7.2, 9, 10, 18, 36
Mass (kg) 0.16
68 5 0.012(h7) 4.5 0.15

10 1
4.5
12
0.5
58
20 2
0 0.012(h7)
b Enter the gear ratio in the box ( ) within the model name. b Lead wire and connector will not be supplied with the connectorcoupled motor. They must be purchased separately. b Applicable Connector Connector housing: 51065-0600 (MOLEX) Contact: 50212-8100 (MOLEX) Crimp tool: 57176-5000 (MOLEX)
11
9.5
16.5
4 M2.5 4 Deep The length of machining on double shaft model is 10 0.25.

b These dimensions are for double shaft models. For single shaft models, ignore the orange ( ) areas. b Screws (Included) M2.5 Length 8 mm 4 Pieces
C-200
23 0.2 28
Stepping Motors
SH Geared Type
28 mm
Specifications
b Motor Specifications
Model Single Shaft Double Shaft PK223PA-SG PK223PB-SG Connection Type Bipolar (Series) Unipolar Current per Phase A/phase 0.67 0.95 Voltage VDC 3.8 2.66 Resistance per Phase /phase 5.6 2.8 Inductance mH/phase 4 1 Rotor Inertia J: kg m 9 10
2
Lead Wires (Pin) 6
Wirings and Connections (See Page C-192) 3 2
-7
How to read specifications table Page C-10 b Degree of Protection: IP30 b Enter the gear ratio in the box ( ) within the model name. b Backlash value is approximately 1 to 2. Note: b Direction of rotation of the motor and that of the gear output shaft are the same for the gear ratios 1:7.2 and 1:36. It is the opposite for 1:9, 1:10 and 1:18 gear ratios.
b Gearmotor Specifications
Model Single Shaft Double Shaft PK223PA-SG7.2 PK223PB-SG7.2 PK223PA-SG9 PK223PB-SG9 PK223PA-SG10 PK223PB-SG10 PK223PA-SG18 PK223PB-SG18 PK223PA-SG36 PK223PB-SG36 Gear Ratio Holding Torque Nm 0.3 0.3 0.3 0.4 0.4 Step Angle Permissible Speed r/min 250 200 180 100 50
1:7.2 1:9 1:10 1:18 1:36
0.25 0.2 0.18 0.1 0.05
Holding torque is the same regardless of the connection type, due to the permissible torque limit of the gearhead.
Dimensions
(Unit = mm)
1
28 23 0.2
Stepping Motors

PK223PA-SG /PK223PB-SG
Bipolar Constant Current Driver Power Input: 24 VDC Current: 0.67 A/Phase (Bipolar Series) With Damper D4CL-5.0F: JL=34 10 7 kg.m2
Bipolar (Series) 24 VDC
Unipolar
0.5 0.4 Torque [N.m] 0.3 0.2 0.1
0.5 0.4
Torque [N.m]
PK223P PK223P PK223P PK223P PK223P
-SG7.2 -SG9 -SG10 -SG18 -SG36
Introduction
0.2 0.1
Permissible Torque 0 100 200 300 Speed [r/min] 400 500 0 100 200 300 Speed [r/min]
PK223P PK223P PK223P PK223P PK223P 400
-SG7.2 -SG9 -SG10 -SG18 -SG36 500
AC Input
AS
DC Input
ASC
0.5 0.4 0.3 0.2 0.1
AC Input
5-Phase RK
PK223P PK223P PK223P PK223P PK223P
-SG7.2 -SG9 -SG10 -SG18 -SG36
Torque [N.m]
5-Phase CRK
Permissible Torque 0 100 200 300 Speed [r/min] 400 500
DC Input
2-Phase CMK

Model LC2U06A LC2U10A Cable Length (mm) 600 1000 Number of Leads 6 Leads Leads Specifications UL Style No. AWG No. 3265 24
C-201
0.15 0 0.012(h7) 0 22 0.033(h8)
0 0.012(h7)
4.5
52 67
4.5
37 52
0.18 0.285
0.15
1.5
6 1
17.5
23 4 M3 4.5 Deep

C-202
29 0.2 35
Stepping Motors
35 mm
Specifications
Model Single Shaft Double Shaft PK233PA PK233PB PK235PA PK235PB Connection Type Bipolar (Series) Unipolar Bipolar (Series) Unipolar Holding Torque Nm 0.2 0.16 0.37 0.3 Current per Phase A/phase 0.85 1.2 0.85 1.2 Voltage VDC 4.6 3.24 5.8 4.08 Resistance per Phase /phase 5.4 2.7 6.8 3.4 Inductance mH/phase 5.6 1.4 8 2 Rotor Inertia J: kg m 24 10
2
Lead Wires (Pin) 6 6
Wirings and Connections (See Page C-192) 3 2 3 2
-7
50 10-7
Dimensions
Model PK233PA PK233PB PK235PA PK235PB L1 L2
(Unit = mm)
Mass (kg) L2
15 1
20 L1 15
35 29 0.2
0.25
Stepping Motors

7
PK233PA/PK233PB
0.20
Unipolar
0.25 0.20
kg.m2
Unipolar Constant Current Driver Power Input: 24 VDC Current: 1.2 A/Phase (Unipolar) With Damper D4CL-5.0F: JL=34 10 7 kg.m2 Unipolar (0.95 A/Phase)
Power Input Torque [N.m] 0.15 0.10 Pullout Torque 0.05 0 fs 500 2 (4)
Torque [Nm]
24 VDC 48 VDC
0.15 Pullout Torque
Introduction
0.10
0.05 fs 500 2
2000
2500 1.8/step (0.9/step)
1000 1500 Speed [r/min] 4 Pulse Speed [kHz] 6
2000
2500 1.8/step
AC Input
AS
0 (0)
PK235PA/PK235PB
Bipolar (Series)
7
PK235PA/PK235PB Unipolar
0.30 0.25 Unipolar Constant Current Driver Power Input: 24 VDC Current: 1.2 A/Phase (Unipolar) With Damper D4CL-5.0F: JL=34 10 7 kg.m2
DC Input
ASC
0.45 0.40 0.35 Torque [N.m] 0.30 0.25 0.20 0.15 0.10
kg.m2
AC Input
Power Input
Torque [Nm]
24 VDC 48 VDC
5-Phase RK
5-Phase CRK
0.05 0 fs fs 500 2 (4)
Pullout Torque 1000 1500 Speed [r/min] 4 (8) Pulse Speed [kHz] 6 (12) 2000 2500 1.8/step (0.9/step)
0.05 0 fs 500 2 1000 1500 Speed [r/min] 4 Pulse Speed [kHz] 6 2000 2500 1.8/step
0 (0)
DC Input
2-Phase CMK

Model LC2U06B LC2U10B Cable Length (mm) 600 1000 Number of Leads 6 Leads Leads Specifications UL Style No. AWG No. 3265 24
C-203
5 0.012(h7) 4.5 0.15
Model PK244PA PK244PB PK246PA PK246PB
L1 39 59
L2
Mass (kg) 0.3 0.5
0.15 0 0.012(h7) 0 22 0.033(h8)
4.5
54 74
1.5 9 15
23 4 M3 4.5 Deep

C-204
31 0.2 42
Stepping Motors
42 mm
Specifications
Model Single Shaft Double Shaft PK244PA PK244PB PK246PA PK246PB Connection Type Bipolar (Series) Unipolar Bipolar (Series) Unipolar Holding Torque Nm 0.48 0.39 0.93 0.75 Current per Phase A/phase 0.85 1.2 0.85 1.2 Voltage VDC 6.8 4.8 10 7.2 Resistance per Phase /phase 8 4 12 6 Inductance mH/phase 15.6 3.9 26 6.5 Rotor Inertia J: kg m 57 10
2
-7
114 10-7
Dimensions
(Unit = mm)
L2 L1 20 15 42 31 0.2
1 0.25
15 1
Stepping Motors

7
PK244PA/PK244PB
Unipolar
0.60 0.50 Torque [N.m] 0.40 0.30
kg.m2 0.5
Power Input
24 VDC 48 VDC Torque [N.m]
0.4 0.3 0.2
Introduction
Pullout Torque 0.20 0.10 0 fs 300 400 Speed [r/min] 1.5 (3.0) fs 500
Pullout Torque 0.1 0 fs
AC Input
100 0.5 (1.0)
200
600 1.8/step (0.9/step)
500 2 (4)
2000
2500 1.8/step (0.9/step)
AS
0 (0)
1.0 (2.0) Pulse Speed [kHz]
0 (0)
PK246PA/PK246PB
Bipolar (Series)
7
PK246PA/PK246PB
Unipolar
DC Input
ASC
1.0 0.8 Torque [N.m] 0.6
kg.m2
0.8
Power Input
0.6
AC Input
5-Phase RK
Pullout Torque 0.4 0.2 0 fs 300 400 Speed [r/min] 1.5 (3.0) fs
0.4
0.2 fs 500 2 (4)
Pullout Torque
5-Phase CRK
0 500 600 1.8/step (0.9/step) 0 (0)
100 0.5 (1.0)
200
1500
2000 6 1.8/step (12)(0.9/step)
0 (0)
1.0 (2.0) Pulse Speed [kHz]
DC Input
2-Phase CMK

Model LC2U06B LC2U10B Cable Length (mm) 600 1000 Number of Leads 6 Leads Leads Specifications UL Style No. AWG No. 3265 24
C-205
PK243-0 PK243-0 PK244-0 PK244-0 PK245-0 PK245-0
A B A B A B
4.5
48 54 62
33 39 47
0.21 0.27
5 0.012(h7) 4.5 0.15
Model
L1
L2
Mass (kg)
15 1
L2 20 L1 15 0.25
0.15 0 0.012(h7) 0 22 0.033(h8)
2 0.35 6 Motor Leads 300 mm Length UL Style 3265, AWG24 4 M3 4.5 Deep
b Enter the winding specifications in the box ( ) within the model name.

C-206
31 0.2 42
Stepping Motors
42 mm
Step Angle 1.8 Standard Type
Specifications
Model Single Shaft Double Shaft PK243-01A PK243-01B PK243-02A PK243-02B PK243-03A PK243-03B PK244-01A PK244-01B PK244-02A PK244-02B PK244-03A PK244-03B PK245-01A PK245-01B PK245-02A PK245-02B PK245-03A PK245-03B Connection Type Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Series) Unipolar Holding Torque Nm 0.2 0.16 0.2 0.16 0.2 0.16 0.33 0.26 0.33 0.26 0.33 0.26 0.43 0.32 0.43 0.32 0.43 0.32 Current per Phase A/phase 0.67 0.95 0.28 0.4 0.22 0.31 0.85 1.2 0.57 0.8 0.28 0.4 0.85 1.2 0.57 0.8 0.28 0.4 Voltage VDC 5.6 4 13 9.6 17 12 5.6 4 8.6 6 17 12 5.6 4 8.6 6 17 12 Resistance per Phase /phase 8.4 4.2 48 24 77 38.5 6.6 3.3 15 7.5 60 30 6.6 3.3 15 7.5 60 30 Inductance mH/phase 10 2.5 60 15 84 21 12.8 3.2 26.8 6.7 120 30 11.2 2.8 28.4 7.1 100 25 Rotor Inertia J: kg m 35 10
2
Lead Wires (Pin) 6 6 6 6 6 6 6 6 6
Wirings and Connections (See Page C-192) 3 2 3 2 3 2 3 2 3 2 3 2 3 2 3 2 3 2
-7
35 10-7 35 10-7 54 10-7 54 10-7 54 10-7 68 10-7 68 10-7 68 10-7
Dimensions
(Unit = mm)
42 31 0.2
Stepping Motors

PK243-01A/PK243-01B
0.30 0.25 Torque [N.m] 0.20 0.15 Pullout Torque 0.10 0.05 fs 0 500 2 (4) 1000 1500 2000 Speed [r/min] 2500 8 (16) 3000 1.8/step (0.9/step) Bipolar Constant Current Driver Current: 0.67 A/Phase (Bipolar Series) With Damper D4CL-5.0F: JL=34 10
7
Bipolar (Series)
kg.m2
PK243-01A/PK243-01B
0.25 0.20 Torque [N.m]
Unipolar
Power Input
24 VDC 48 VDC
0.15 0.10 Pullout Torque 0.05 0 fs 500 2 (4)
Introduction
2000
2500 1.8/step (0.9/step)
AC Input
AS
0 (0)
0 (0)
PK243-02A/PK243-02B
7
Bipolar (Series)
kg.m2
PK243-02A/PK243-02B
0.25 0.20
Unipolar
DC Input
ASC
0.30 0.25
Unipolar Constant Voltage Driver Power Input: 11.5 VDC External Resistance: 0 With Damper D4CL-5.0F: JL=34 10 7 kg.m2
Power Input Torque [N.m] 0.20 0.15 0.10 Pullout Torque 0.05 0 100 0.5 (1.0) fs 200 300 Speed [r/min] 1.0 (2.0) Pulse Speed [kHz]
Torque [N.m]
24 VDC 48 VDC
AC Input
5-Phase RK
0.15 0.10 Pullout Torque 0.05
5-Phase CRK
fs 400 500 1.8/step (0.9/step)
fs 100 0.5 200 300 Speed [r/min] 1.0 Pulse Speed [kHz] 400 500 1.8/step
0 (0)
DC Input
2-Phase CMK
PK243-03A/PK243-03B
7
Bipolar (Series)
kg.m2
PK243-03A/PK243-03B
Unipolar
0.30 0.25 Torque [N.m]
0.25 0.20 Torque [N.m] 0.15
2-Phase CSK
0.20 0.15 0.10 0.05 0 100 0.5 (1.0)
Power Input
24 VDC 48 VDC Pullout Torque
fs 200 300 Speed [r/min] 1.0 (2.0) Pulse Speed [kHz]
fs 400
500 1.8/step (0.9/step)
100
200
fs 300 400 500 Speed [r/min] 1 Pulse Speed [kHz]
600 2
700
800
0 (0)
1.8/step
C-207
Torque [N.m]
Torque [N.m]
Torque [N.m]
0.25 0.20 0.15 0.10 0.05 0 fs 200 1 (2) fs 400 600 Speed [r/min] 2 (4) Pulse Speed [kHz] 800 1000 1.8/step (0.9/step) Pullout Torque
Torque [N.m]
Torque [N.m]
C-208
Stepping Motors

PK244-01A/PK244-01B
0.40 0.35 Power Input 0.30 0.25 0.20 0.15 0.10 0.05 0 200 1 (2) fs fs 400 600 Speed [r/min] 2 (4) Pulse Speed [kHz] 800 1000 1.8/step (0.9/step) Pullout Torque 24 VDC 48 VDC Bipolar Constant Current Driver Current: 0.85 A/Phase (Bipolar Series) With Damper D4CL-5.0F: JL=34 10
7
Bipolar (Series)
kg.m2
PK244-01A/PK244-01B
0.35 0.30 0.25 0.20 0.15 0.10 0.05 fs 0 500 2 (4) 1000 1500 Speed [r/min] 4 (8) Pulse Speed [kHz] Pullout Torque
Unipolar
2000 6 (12)
2500 1.8/step (0.9/step)
0 (0)
0 (0)
PK244-02A/PK244-02B
0.40 0.35 Power Input 0.30 Bipolar Constant Current Driver Current: 0.57 A/Phase (Bipolar Series) With Damper D4CL-5.0F: JL=34 10
7
Bipolar (Series)
kg.m2
PK244-02A/PK244-02B
Unipolar
0.35 0.30 0.25 0.20 0.15
24 VDC 48 VDC
Pullout Torque 0.10 0.05 fs 0 500 2 1000 1500 Speed [r/min] 4 Pulse Speed [kHz] 6 2000 2500 1.8/step
0 (0)
PK244-03A/PK244-03B
Unipolar
0.35 0.30 0.25 0.20 0.15
Pullout Torque 0.10 0.05 0 100 0.5 fs 200 300 Speed [r/min] 1.0 Pulse Speed [kHz] 400 500 1.8/step
Stepping Motors

PK245-01A/PK245-01B
7
Bipolar (Series)
kg.m2
PK245-01A/PK245-01B
Unipolar
0.50 0.45 0.40 0.35 Torque [N.m] 0.30 0.25
0.4 Power Input 24 VDC 48 VDC
Torque [N.m]
0.3 Full Step 1.8/step Half Step 0.9/step 0.2 Pullout Torque 0.1
Introduction
0.20 Pullout Torque 0.15 0.10 0.05 0 200 1 (2) fs fs 400 600 Speed [r/min] 2 (4) Pulse Speed [kHz] 800 1000 1.8/step (0.9/step)
fs
AC Input
500 2 (4)
2000
2500 1.8/step (0.9/step)
AS
0 (0)
0 (0)
PK245-02A/PK245-02B
7
Bipolar (Series)
kg.m2
PK245-02A/PK245-02B
Unipolar
DC Input
ASC
0.50 0.45 0.40 0.35 Torque [N.m] 0.30 0.25 0.20 0.15 0.10 0.05 0
0.4 Power Input 24 VDC 48 VDC Torque [N.m]
AC Input
0.3
5-Phase RK
Pullout Torque
5-Phase CRK
fs 200 1 (2)
fs 400 600 Speed [r/min] 2 (4) Pulse Speed [kHz]
fs 800 1000 1.8/step (0.9/step) 0 500 2 1000 1500 Speed [r/min] 4 Pulse Speed [kHz] 6 2000 2500 1.8/step
0 (0)
DC Input
2-Phase CMK
PK245-03A/PK245-03B
Unipolar
0.4
2-Phase CSK
0.3 Torque [N.m]
0.2
Pullout Torque 0.1 fs 200 300 Speed [r/min] 0.5 1.0 Pulse Speed [kHz]
100
400
500
1.8/step
C-209
PK243M-0 PK243M-0 PK244M-0 PK244M-0 PK245M-0 PK245M-0
A B A B A B
4.5
48 54 62
33 39 47
0.24 0.3
5 0.012(h7) 4.5 0.15
Model
L1
L2
Mass (kg)
15 1
L2 20 L1 15 0.25
0.15 0 0.012(h7) 0 22 0.033(h8)
2 0.37 6 Motor Leads 300 mm Length UL Style 3265, AWG24 4 M3 4.5 Deep
b Enter the winding specification in the box ( ) within the model name.

C-210
31 0.2 42
Stepping Motors
42 mm
Step Angle 0.9 High-Resolution Type
Specifications
Model Single Shaft Double Shaft PK243M-01A PK243M-01B PK243M-02A PK243M-02B PK243M-03A PK243M-03B PK244M-01A PK244M-01B PK244M-02A PK244M-02B PK244M-03A PK244M-03B PK245M-01A PK245M-01B PK245M-02A PK245M-02B PK245M-03A PK245M-03B Connection Type Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Series) Unipolar Holding Torque Nm 0.2 0.16 0.2 0.16 0.2 0.16 0.31 0.26 0.31 0.26 0.31 0.26 0.38 0.32 0.38 0.32 0.38 0.32 Current per Phase A/phase 0.67 0.95 0.42 0.6 0.22 0.31 0.85 1.2 0.57 0.8 0.28 0.4 0.85 1.2 0.57 0.8 0.28 0.4 Voltage VDC 5.6 4 8.4 6 17 12 5.6 4 8.6 6 17 12 5.6 4 8.6 6 17 12 Resistance per Phase /phase 8.4 4.2 20 10 77 38.5 6.6 3.3 15 7.5 60 30 6.6 3.3 15 7.5 60 30 Inductance mH/phase 15.2 3.8 38.8 9.7 136 34 17.2 4.3 38.8 9.7 152 38 15.6 3.9 39.6 9.9 128 32 Rotor Inertia J: kg m 35 10
2
Lead Wires (Pin) 6 6 6 6 6 6 6 6 6
Wirings and Connections (See Page C-192) 3 2 3 2 3 2 3 2 3 2 3 2 3 2 3 2 3 2
-7
35 10-7 35 10-7 54 10-7 54 10-7 54 10-7 68 10-7 68 10-7 68 10-7
Dimensions
(Unit = mm)
42 31 0.2
Stepping Motors

PK243M-01A/PK243M-01B
7
Bipolar (Series)
PK243M-01A/PK243M-01B
Unipolar
0.25 0.20
kg.m2 0.25 0.20 Torque [N.m] 0.15 0.10
24 VDC 48 VDC
Pullout Torque 0.10 0.05 0 fs 200 2 (4) fs 400 600 Speed [r/min] 4 (8) Pulse Speed [kHz] 800 1000 0.9/step (0.45/step)
Introduction
Pullout Torque 0.05 fs 0
AC Input
500 4 (8)
2000
2500 0.9/step (0.45/step)
AS
0 (0)
0 (0)
PK243M-02A/PK243M-02B
7
Bipolar (Series)
PK243M-02A/PK243M-02B
Unipolar
DC Input
ASC
0.25 0.20 Torque [N.m] 0.15
kg.m2
0.25 0.20 Torque [N.m] 0.15 0.10 0.05
AC Input
Power Input
24 VDC 48 VDC Pullout Torque
5-Phase RK
0.10 0.05 0 fs 100 1 (2) fs 400 500 0.9/step (0.45/step)
Pullout Torque
5-Phase CRK
fs 0 200 300 Speed [r/min] 2 (4) Pulse Speed [kHz] 500 2 1000 Speed [r/min] 8 1500 0.9/step
0 (0)
4 6 Pulse Speed [kHz]
DC Input
2-Phase CMK
PK243M-03A/PK243M-03B
7
Bipolar (Series)
PK243M-03A/PK243M-03B
Unipolar
0.25 0.20
kg.m2
0.25 0.20
2-Phase CSK
Torque [N.m]
24 VDC 48 VDC
Pullout Torque 0.10 0.05 0 fs 100 1 (2) fs 200 300 Speed [r/min] 2 (4) Pulse Speed [kHz]
fs 0 400 500 0.9/step (0.45/step) 0 100 1 200 300 Speed [r/min] 2 Pulse Speed [kHz] 400 500
0 (0)
0.9/step
C-211
Torque [N.m]
0.25 0.20 Pullout Torque 0.15 0.10 0.05 0 fs fs 200 2 (4) 400 600 Speed [r/min] 4 (8) Pulse Speed [kHz] 800 1000 0.9/step (0.45/step)
Torque [N m]
Torque [N.m]
0.25 0.20 0.15 Pullout Torque 0.10 0.05 0 fs 200 2 (4) 400 600 Speed [r/min] 4 (8) Pulse Speed [kHz] 800 1000 0.9/step (0.45/step)
Torque [N.m]
Torque [N.m]
C-212
Stepping Motors

PK244M-01A/PK244M-01B
7
Bipolar (Series)
PK244M-01A/PK244M-01B
Unipolar
0.40 0.35
kg.m2
0.35 0.30 0.25 0.20 0.15 0.10 0.05 0
Unipolar Constant Current Driver Power Input: 24 VDC Current: 1.2 A/Phase (Unipolar) With Damper D4CL-5.0F: JL=34 10 7 kg.m2 Full Step 0.9/step Half Step 0.45/step
Power Input 0.30
24 VDC 48 VDC
Pullout Torque
fs 500 4 (8) 1000 1500 Speed [r/min] 8 (16) Pulse Speed [kHz] 12 (24) 2000 2500 0.9/step (0.45/step)
0 (0)
0 (0)
PK244M-02A/PK244M-02B
7
Bipolar (Series)
PK244M-02A/PK244M-02B
Unipolar
0.40 0.35
kg.m2
0.35 0.30 0.25 0.20 0.15
Power Input 0.30
24 VDC 48 VDC
Pullout Torque 0.10 0.05 fs 0 500 Speed [r/min] 0 2 4 6 Pulse Speed [kHz] 8 0.9/step 1000 1500
0 (0)
PK244M-03A/PK244M-03B
Unipolar
0.35 0.30 0.25 0.20 0.15 0.10
Pullout Torque 0.05 0 fs 100 1 200 300 400 Speed [r/min] 2 Pulse Speed [kHz] 3 500 600 0.9/step
Stepping Motors

PK245M-01A/PK245M-01B
0.50 0.45 0.40 0.35 Torque [N.m] 0.30 0.25 0.20 0.15 0.10 0.05 0 fs 200 fs 400 600 Speed [r/min] 2 (4) 4 (8) Pulse Speed [kHz] 800 1000 0.9/step (0.45/step) Pullout Torque Power Input 24 VDC 48 VDC Bipolar Constant Current Driver Current: 0.85 A/Phase (Bipolar Series) With Damper D4CL-5.0F: JL=34 10
7
Bipolar (Series)
PK245M-01A/PK245M-01B
Unipolar
kg.m2 0.4
0.3 Torque [N.m] Full Step 0.9/step Half Step 0.45/step 0.2 Pullout Torque 0.1 fs 0
Introduction
AC Input
500 4 (8)
2000
2500 0.9/step (0.45/step)
AS
0 (0)
0 (0)
PK245M-02A/PK245M-02B
7
Bipolar (Series)
PK245M-02A/PK245M-02B
Unipolar
DC Input
ASC
0.50 0.45 0.40 0.35 Torque [N.m] 0.30 0.25 0.20 0.15 0.10 0.05 0
kg.m2
0.4
Power Input
AC Input
0.3
5-Phase RK
Pullout Torque
5-Phase CRK
fs 200 2 (4) 400 600 Speed [r/min] 4 (8) Pulse Speed [kHz] 800 1000 0.9/step (0.45/step)
fs 0 500 2 1000 Speed [r/min] 8 1500 0.9/step
0 (0)
DC Input
2-Phase CMK
PK245M-03A/PK245M-03B
Unipolar
0.4
2-Phase CSK
0.3 Torque [N.m]
0.2
Pullout Torque 0.1 fs 100 1 200 300 Speed [r/min] 2 Pulse Speed [kHz] 400 500
0.9/step
C-213
Model PK243A1-SG PK243B1-SG
Gear Ratio 3.6, 7.2, 9, 10, 18, 36
Mass (kg) 0.35
15 1
74 59 3
20
0 0.012(h7)
4.5
18
0 0.012(h7)
4.5
0.15

b These dimensions are for double shaft models. For single shaft models, ignore the orange ( ) areas. b Screws (Included) M3 Length 10 mm 4 Pieces
C-214
31 0.2 42
Stepping Motors
SH Geared Type
42 mm
Specifications
Model Single Shaft Double Shaft PK243A1-SG PK243B1-SG Connection Type Bipolar (Series) Unipolar Current per Phase A/phase 0.67 0.95 Voltage VDC 5.6 4.0 Resistance per Phase /phase 8.4 4.2 Inductance mH/phase 10 2.5 Rotor Inertia J: kg m 35 10
2
Lead Wires (Pin) 6
Wirings and Connections (See Page C-192) 3 2
-7
How to read specifications table Page C-10 b Degree of Protection: IP30 b Enter the gear ratio in the box ( ) within the model name. b Backlash value is approximately 1 to 2. Note: b Direction of rotation of the motor and that of the gear output shaft are the same for the gear ratios 1:3.6, 1:7.2, 1:9 and 1:10. It is the opposite for 1:18 and 1:36 gear ratios.
Model Single Shaft Double Shaft PK243A1-SG3.6 PK243B1-SG3.6 PK243A1-SG7.2 PK243B1-SG7.2 PK243A1-SG9 PK243B1-SG9 PK243A1-SG10 PK243B1-SG10 PK243A1-SG18 PK243B1-SG18 PK243A1-SG36 PK243B1-SG36 Gear Ratio Holding Torque Nm 0.2 0.4 0.5 0.56 0.8 0.8 Step Angle Permissible Speed r/min 500 250 200 180 100 50
1:3.6 1:7.2 1:9 1:10 1:18 1:36
0.5 0.25 0.2 0.18 0.1 0.05
Dimensions
(Unit = mm)
42 31 0.2
12
Stepping Motors

PK243A1-SG /PK243B1-SG
Unipolar
1.0 0.8 0.6
1.0 0.8
Permissible Torque 0.4 0.2 0
PK243 PK243 PK243 PK243 PK243 PK243
1-SG3.6 1-SG7.2 1-SG9 1-SG10 1-SG18 1-SG36
Torque [N.m]
Torque [N.m]
Permissible Torque 0.6 0.4 0.2 0
PK243 PK243 PK243 PK243 PK243 PK243
1-SG3.6 1-SG7.2 1-SG9 1-SG10 1-SG18 1-SG36
Introduction
200
400 Speed [r/min]
600
800
100
200
500
600
AC Input
AS
DC Input
ASC
1.0 0.8 0.6 0.4 0.2 0
AC Input
5-Phase RK
Permissible Torque
PK243 PK243 PK243 PK243 PK243 PK243
1-SG3.6 1-SG7.2 1-SG9 1-SG10 1-SG18 1-SG36
Torque [N.m]
5-Phase CRK
200
400 Speed [r/min]
600
800
DC Input
2-Phase CMK
C-215
Model PK256-02A PK256-02B PK258-02A PK258-02B
L1 51.5 81
L2
Mass (kg) 0.53 0.89

0 0.012 0.15
16 15
0.25
L2 L1
20 5 1.5 15
0.15 0 0.012 0 0.039(h8)
6.35
67.5 97
0.35
0.25
5.8
36
6.35 5.8
8 max. 10.1
31 max.
C-216
8 max.
41
50
Stepping Motors
50 mm
Specifications
Model Single Shaft Double Shaft PK256-02A PK256-02B PK258-02A PK258-02B Connection Type Bipolar (Series) Unipolar Bipolar (Series) Unipolar Holding Torque Nm 0.84 0.6 1.56 1.2 Current per Phase A/phase 1.4 2 1.4 2 Voltage VDC 4.2 3 6.7 4.8 Resistance per Phase /phase 3 1.5 4.8 2.4 Inductance mH/phase 5.6 1.4 11.5 2.87 Rotor Inertia J: kg m
2
230 10
-7
420 10-7
Dimensions
(Unit = mm)
1
50 41
0.35
4.5 Thru
Stepping Motors

PK256-02A/PK256-02B
1.0 0.8 Torque [Nm] 0.6 0.4 0.2 0 fs 500 2 (4) 1000 Speed [r/min] 4 (8) Pulse Speed [kHz] 1500 2000 1.8/step (0.9/step) Pullout Torque Bipolar Constant Current Driver Current: 1.4 A/Phase (Bipolar Series) With Damper D6CL-6.3F: JL=140 10
7
Bipolar (Series)
kg.m2
PK256-02A/PK256-02B
0.8
Unipolar
Power Input
24 VDC 48 VDC Torque [Nm]
Introduction
0.2 fs 500 2 1000 Speed [r/min] 4 Pulse Speed [kHz] 1500 6 2000 1.8/step
AC Input
AS
0 (0)
PK258-02A/PK258-02B
2.0 Bipolar Constant Current Driver Current: 1.4 A/Phase (Bipolar Series) With Damper D6CL-6.3F: JL=140 10
7
Bipolar (Series)
kg.m2
PK258-02A/PK258-02B
1.5
Unipolar
DC Input
ASC
Power Input 1.5 Torque [Nm]
24 VDC 48 VDC Torque [Nm]
1.2
AC Input
5-Phase RK
0.9 0.6 0.3 Pullout Torque
1.0 Pullout Torque 0.5 fs 200 1 (2) fs 400 600 Speed [r/min] 2 (4) Pulse Speed [kHz]
5-Phase CRK
800
1000 1.8 /step (0.9 /step)
fs 500 2 1000 Speed [r/min] 4 Pulse Speed [kHz] 1500 6 2000 1.8/step
0 (0)
DC Input
2-Phase CMK
C-217
Model PK264-0 A PK264-E2.0A PK264-0 B PK264-E2.0B PK266-0 A PK266-E2.0A PK266-0 B PK266-E2.0B PK268-0 A PK268-E2.0A PK268-0 B PK268-E2.0B
L1
L2
16 15
0.25
0 0.012
54 70
0.7
6.35 5.8
0.15
6 or 8 Motor Leads 300 mm Length UL Style 3265, AWG22 (6 Leads) AWG24 (8 Leads)
76 92
1.0
b Enter the winding specifications in the box ( ) within the model name.
C-218
38.1
55
47.14 0.35 56.4
0.03
39
0.45
5.8
5 1.6 15
0.15 0 0.012
0.25
6.35
Stepping Motors
56.4 mm
Specifications
Model Single Shaft Double Shaft PK264-01A PK264-01B PK264-02A PK264-02B PK264-03A PK264-03B PK264-E2.0A PK264-E2.0B PK266-01A PK266-01B PK266-02A PK266-02B PK266-03A PK266-03B PK266-E2.0A PK266-E2.0B PK268-01A PK268-01B PK268-02A PK268-02B PK268-03A PK268-03B PK268-E2.0A PK268-E2.0B Connection Type Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Parallel) Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Parallel) Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Parallel) Bipolar (Series) Unipolar Holding Torque Nm 0.48 0.39 0.48 0.39 0.48 0.39 0.48 0.48 0.39 1.17 0.9 1.17 0.9 1.17 0.9 1.17 1.17 0.9 1.75 1.35 1.75 1.35 1.75 1.35 1.75 1.75 1.35 Current per Phase A/phase 0.71 1 1.4 2 2.1 3 2.8 1.4 2 0.71 1 1.4 2 2.1 3 2.8 1.4 2 0.71 1 1.4 2 2.1 3 2.8 1.4 2 Voltage VDC 8.1 5.7 3.9 2.8 2.6 1.9 1.96 3.9 2.8 11 7.4 5 3.6 3.2 2.3 2.52 5 3.6 12 8.6 6.3 4.5 4.2 3 3.16 6.3 4.5 Resistance per Phase /phase 11.4 5.7 2.8 1.4 1.26 0.63 0.7 2.8 1.4 14.8 7.4 3.6 1.8 1.5 0.75 0.9 3.6 1.8 17.2 8.6 4.5 2.25 2 1 1.13 4.5 2.25 Inductance mH/phase 21.6 5.4 5.6 1.4 2.4 0.6 1.4 5.6 1.4 40 10 10 2.5 4.4 1.1 2.5 10 2.5 56 14 14.4 3.6 6.4 1.6 3.6 14.4 3.6 Rotor Inertia J: kg m
2
Wirings and Connections (See Page C-192) 3 2 3 2 3 2 6 5 4 3 2 3 2 3 2 6 5 4 3 2 3 2 3 2 6 5 4
120 10
-7
120 10-7 120 10-7
120 10-7
300 10-7 300 10-7 300 10-7
6 6 6
300 10-7
480 10-7 480 10-7 480 10-7
6 6 6
480 10-7
Dimensions
(Unit = mm)
Mass (kg) L2 L1 20
1
56.4 47.14 0.35 4 4.5 Thru
Stepping Motors

PK264-01A/PK264-01B
7
Bipolar (Series)
kg.m2
PK264-01A/PK264-01B
Unipolar
0.6 0.5
0.5 0.4
Power Input Torque [N.m] 0.4 0.3
Torque [N.m]
24 VDC 48 VDC
0.3
Introduction
Pullout Torque 0.2 0.1 fs 0 500 2 1000 1500 Speed [r/min] 4 Pulse Speed [kHz] 6 2000 2500 1.8/step
AC Input
AS
0 (0)
PK264-02A/PK264-02B
7
Bipolar (Series)
kg.m2
PK264-02A/PK264-02B
0.5 0.4 Torque [N.m] 0.3 0.2 0.1 Pullout Torque
Unipolar
DC Input
ASC
0.6 0.5 Torque [N.m] 0.4 0.3 0.2 0.1 0
Power Input
24 VDC 48 VDC
AC Input
5-Phase RK
Pullout Torque
5-Phase CRK
fs 500 Speed [r/min] 1 (2) 1000 4 (8) 1500 1.8/step (0.9/step)
fs 0 500 2 (4) 1000 1500 Speed [r/min] 4 6 (8) (12) Pulse Speed [kHz] 2000 2500 1.8/step (0.9/step)
0 (0)
0 (0)
DC Input
2-Phase CMK
PK264-03A/PK264-03B
7
Bipolar (Series)
kg.m2
PK264-03A/PK264-03B
Unipolar
0.6 0.5 Torque [N.m] 0.4 0.3
0.5 0.4 Torque [N.m] 0.3 0.2 0.1
2-Phase CSK
Power Input
24 VDC 48 VDC
Pullout Torque 0.2 0.1 0 fs 500 Speed [r/min] 0 (0) 1 (2) 2 3 (4) (6) Pulse Speed [kHz] 4 (8) 1.8/step (0.9/step) 1000 1500
Pullout Torque
fs 0 500 2 1000 1500 Speed [r/min] 4 Pulse Speed [kHz] 6 2000 2500
1.8/step
PK264-E2.0A/PK264-E2.0B Bipolar (Parallel)

Bipolar Constant Current Driver Current: 2.8 A/Phase (Bipolar Parallel) With Damper D6CL-6.3F: JL=140 10
7
PK264-E2.0A/PK264-E2.0B Bipolar (Series)

7
Controllers
0.6 0.5 Torque [N.m] 0.4 0.3 0.2 0.1 0
kg.m2
0.6 0.5 Torque [N.m] 0.4 0.3 0.2 0.1
kg.m2
Power Input
24 VDC 48 VDC
Power Input
24 VDC 48 VDC
Accessories
Pullout Torque
Pullout Torque
Installation
fs 500 2 (4)
2000
2500 1.8/step (0.9/step)
fs 500 Speed [r/min] 1 (2)
1000 4 (8)
1500 1.8/step (0.9/step)
0 (0)
0 (0)
C-219
Torque [N.m]
Pullout Torque
Torque [N.m]
Torque [N.m]
Torque [N.m]
Torque [N.m]
Torque [N.m]
Torque [N.m]
Torque [N.m]
C-220
Stepping Motors

PK266-01A/PK266-01B
7
Bipolar (Series)
kg.m2
PK266-01A/PK266-01B
Unipolar
1.0 0.8 0.6 0.4
Power Input 1.0
24 VDC 48 VDC
0.5
Pullout Torque 0.2
50 0.25 (0.5)
100 150 Speed [r/min] 0.50 (1.0) Pulse Speed [kHz]
fs 200
250 1.8/step (0.9/step)
fs 500 1 1000 Speed [r/min] 2 3 4 1500 1.8/step
0 (0)
Pulse Speed [kHz]
PK266-02A/PK266-02B
7
Bipolar (Series)
kg.m2
PK266-02A/PK266-02B
1.2 1.0 0.8 0.6 0.4 0.2
Unipolar
1.5
Power Input 1.0
24 VDC 48 VDC
Full Step 1.8/step Half Step 0.9/step Pullout Torque
Pullout Torque 0.5
fs 100 0.5 (1.0) 200 300 Speed [r/min] 1.0 (2.0) Pulse Speed [kHz]
fs 400
fs 500 1.8/step (0.9/step) 0 500 2 (4) 1000 1500 Speed [r/min] 4 6 (8) (12) Pulse Speed [kHz] 2000 2500 1.8/step (0.9/step)
0 (0)
0 (0)
PK266-03A/PK266-03B
7
Bipolar (Series)
kg.m2
PK266-03A/PK266-03B
Unipolar
1.0 0.8 0.6
Power Input 1.0 Pullout Torque 0.5
24 VDC 48 VDC
Pullout Torque 0.4 0.2
fs 100 0.5 (1.0) 200 300 Speed [r/min] 1.0 (2.0) Pulse Speed [kHz] 400
fs 500 1.8/step (0.9/step)
fs 0 500 2 1000 1500 Speed [r/min] 4 Pulse Speed [kHz] 6 2000 2500 1.8/step
0 (0)
PK266-E2.0A/PK266-E2.0B
1.5 Bipolar Constant Current Driver Current: 2.8 A/Phase (Bipolar Parallel) With Damper D6CL-6.3F: JL=140 10
7
Bipolar (Parallel)

7
kg.m2
1.5
kg.m2
Power Input 1.0
24 VDC 48 VDC 1.0
Power Input
24 VDC 48 VDC
Pullout Torque 0.5
Pullout Torque 0.5
200 1 (2)
800
1000 1.8/step (0.9/step)
100 0.5 (1.0)
fs 400
500 1.8/step (0.9/step)
0 (0)
0 (0)
Stepping Motors

PK268-01A/PK268-01B
7
Bipolar (Series)
kg.m2
PK268-01A/PK268-01B
Unipolar
2.5 2.0
1.4 1.2
1.0 0.8 Pullout Torque 0.6 0.4 0.2 fs 100 0.5 200 300 Speed [r/min] 1.0 Pulse Speed [kHz] 400 500 1.8/step
Introduction
Pullout Torque 1.0 0.5 0 fs 50 100 Speed [r/min] 0.25 (0.5) Pulse Speed [kHz] 150 0.50 (1.0) 200 1.8/step (0.9/step)
AC Input
AS
0 (0)
PK268-02A/PK268-02B
7
Bipolar (Series)
kg.m2
PK268-02A/PK268-02B
1.6 1.4
Unipolar
DC Input
ASC
2.5 2.0
Power Input Torque [N.m] 1.5 1.0 0.5 0 fs 100 0.5 (1.0) 200 300 Speed [r/min] 1.0 (2.0) Pulse Speed [kHz] fs
Torque [N.m]
24 VDC 48 VDC
1.2 1.0 0.8 0.6 Pullout Torque 0.4 Full Step 1.8/step Half Step 0.9/step
AC Input
5-Phase RK
Pullout Torque
5-Phase CRK
0.2 400 500 1.8/step (0.9/step) 0
fs 500 2 (4) 1000 Speed [r/min] 4 (8) Pulse Speed [kHz] 1500 2000 1.8/step (0.9/step)
0 (0)
0 (0)
DC Input
2-Phase CMK
PK268-03A/PK268-03B
7
Bipolar (Series)
kg.m2
PK268-03A/PK268-03B
Unipolar
2.5 2.0
1.4 1.2
2-Phase CSK
Power Input Torque [N.m] 1.5 1.0 Pullout Torque 0.5 0 fs 200 300 Speed [r/min] 0.5 (1.0) 1.0 (2.0) Pulse Speed [kHz]
Torque [N.m]
24 VDC 48 VDC
1.0 0.8 Pullout Torque 0.6 0.4 0.2
fs 400 500 1.8/step (0.9/step)
fs 0 500 2 1000 1500 Speed [r/min] 4 Pulse Speed [kHz] 6 2000 2500
100
0 (0)
1.8/step

7

7
Controllers
2.5 2.0
kg.m2
2.5 2.0
kg.m2
Power Input Torque [N.m] 1.5 1.0 0.5 0 fs fs 300 400 500 600 Speed [r/min] 1 (2) 2 (4) Pulse Speed [kHz]
Torque [N.m]
24 VDC 48 VDC
Power Input 1.5 1.0 0.5 0 fs fs 200 300 Speed [r/min] 0.5 (1.0) 1.0 (2.0) Pulse Speed [kHz]
24 VDC 48 VDC
Accessories
Pullout Torque
Pullout Torque
Installation
100
200
700
800
900 1000 1.8/step (0.9/step)
100
400
500 1.8/step (0.9/step)
0 (0)
0 (0)
C-221
0.15 0 0.012
5.8
6.35
M4 10
Protective Earth Terminal M4 10.3 27max.
47.14 0.35 56.4 86max.
66.7 10.3
38.1
0.03
C-222
Stepping Motors
56.4 mm
Step Angle 1.8 Standard Type IP65 Rated Motor
Specifications
Model PK264DAT PK266DAT PK268DAT Connection Type Bipolar Bipolar Bipolar Holding Torque Nm 0.48 1.17 1.75 Current per Phase A/phase 2.8 2.8 2.8 Voltage VDC 1.96 2.52 3.16 Resistance per Phase /phase 0.7 0.9 1.13 Inductance mH/phase 1.4 2.5 3.6 Rotor Inertia J: kg m
2
Number of Terminals (Pin) 4 4 4
Wirings and Connections (See Page C-192) 7 7 7
120 10-7 300 10-7 480 10-7
How to read specifications table Page C-10 List of safety standard approved products (model, standards, file no., certification body) Page G-10 b Degree of protection: IP65 Excluding the gap between the shaft and the flange.
Dimensions
Model PK264DAT PK266DAT PK268DAT L 83 98 120
(Unit = mm)
Mass (kg) 0.6 0.9 1.2
b Use cable (VCT) with a diameter of 7 13 mm. Accessory motor cable (with protective earth wire, sold separately) is available. Page C-254
L 38.7 4 M3
15
5
0.25
20 1 1.6
56.4 47.14 0.35
4.5 Thru
Stepping Motors

PK264DAT Bipolar
Bipolar Constant Current Driver Current: 2.8 A/Phase Load Inertia: JL=140 10 7 kg.m2
0.6 0.5 Torque [N m] 0.4 0.3 0.2 0.1 0
Power Input
24 VDC 48 VDC
Introduction
Pullout Torque
fs 500 2 (4)
2000
2500 1.8/step (0.9/step)
AC Input
AS
0 (0)
PK266DAT
1.5
Bipolar
DC Input
ASC
24 VDC 48 VDC
AC Input
5-Phase RK
Pullout Torque 0.5
5-Phase CRK
200 1 (2)
800
1000 1.8/step (0.9/step)
0 (0)
DC Input
2-Phase CMK
PK268DAT
Bipolar
2.5 2.0
2-Phase CSK
Power Input Torque [N m] 1.5 1.0 0.5 0 fs fs 300 400 500 600 Speed [r/min] 1 (2) 2 (4) Pulse Speed [kHz]
24 VDC 48 VDC
Pullout Torque
100
200
700
800
900 1000
0 (0)
1.8/step (0.9/step)
C-223
Model PK264M-0 A PK264M-E2.0A PK264M-0 B PK264M-E2.0B PK266M-0 A PK266M-E2.0A PK266M-0 B PK266M-E2.0B PK268M-0 A PK268M-E2.0A PK268M-0 B PK268M-E2.0B
L1
L2
16 15
0.25
0 0.012
54 70
0.7
6.35 5.8
0.15
6 or 8 Motor Leads 300 mm Length UL Style 3265, AWG22 (6 Leads) AWG24 (8 Leads)
76 92
1.0
b Enter the winding specification in the box ( ) within the model name.
C-224
38.1
55
47.14 0.35 56.4
0.03
39
0.45
5.8
5 1.6 15
0.15 0 0.012
0.25
6.35
Stepping Motors
56.4 mm
Step Angle 0.9 High-Resolution Type
Specifications
Model Single Shaft Double Shaft PK264M-01A PK264M-01B PK264M-02A PK264M-02B PK264M-03A PK264M-03B PK264M-E2.0A PK264M-E2.0B PK266M-01A PK266M-01B PK266M-02A PK266M-02B PK266M-03A PK266M-03B PK266M-E2.0A PK266M-E2.0B PK268M-01A PK268M-01B PK268M-02A PK268M-02B PK268M-03A PK268M-03B PK268M-E2.0A PK268M-E2.0B Connection Type Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Parallel) Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Parallel) Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Series) Unipolar Bipolar (Parallel) Bipolar (Series) Unipolar Holding Torque Nm 0.48 0.39 0.48 0.39 0.48 0.39 0.48 0.48 0.39 1.17 0.9 1.17 0.9 1.17 0.9 1.17 1.17 0.9 1.75 1.35 1.75 1.35 1.75 1.35 1.75 1.75 1.35 Current per Phase A/phase 0.71 1 1.4 2 2.1 3 2.8 1.4 2 0.71 1 1.4 2 2.1 3 2.8 1.4 2 0.71 1 1.4 2 2.1 3 2.8 1.4 2 Voltage VDC 8.1 5.7 3.9 2.8 2.6 1.9 1.96 3.9 2.8 11 7.4 5 3.6 3.2 2.3 2.52 5 3.6 12 8.6 6.3 4.5 4.2 3 3.16 6.3 4.5 Resistance per Phase /phase 11.4 5.7 2.8 1.4 1.26 0.63 0.7 2.8 1.4 14.8 7.4 3.6 1.8 1.5 0.75 0.9 3.6 1.8 17.2 8.6 4.5 2.25 2 1 1.13 4.5 2.25 Inductance mH/phase 26 6.5 6.8 1.7 3 0.75 1.7 6.8 1.7 50.8 12.7 12.8 3.2 5.8 1.45 3.2 12.8 3.2 77.6 19.4 19.2 4.8 8.4 2.1 4.8 19.2 4.8 Rotor Inertia J: kg m
2
Wirings and Connections (See Page C-192) 3 2 3 2 3 2 6 5 4 3 2 3 2 3 2 6 5 4 3 2 3 2 3 2 6 5 4
120 10
-7
120 10-7 120 10-7
120 10-7
300 10-7 300 10-7 300 10-7
6 6 6
300 10-7
480 10-7 480 10-7 480 10-7
6 6 6
480 10-7
Dimensions
(Unit = mm)
Mass (kg) L2 L1 20
1
56.4 47.14 0.35 4 4.5 Thru
Stepping Motors

PK264M-01A/PK264M-01B
7
Bipolar (Series)
PK264M-01A/PK264M-01B
Unipolar
0.6 0.5
kg.m2
0.5 0.4 Torque [N.m] 0.3
Power Input Torque [N.m] 0.4 0.3 Pullout Torque 0.2 0.1 0 fs 200 2 (4) 400 600 Speed [r/min] 4 (8) Pulse Speed [kHz]
24 VDC 48 VDC
Introduction
Pullout Torque 0.2 0.1 fs 0
800
1000 0.9/step (0.45/step)
500 2
1000 Speed [r/min] 8
1500 0.9/step
AC Input
AS
0 (0)
PK264M-02A/PK264M-02B
0.6 0.5 Torque [N.m] Bipolar Constant Current Driver Current: 1.4 A/Phase (Bipolar Series) With Damper D6CL-6.3F: JL=140 10
7
Bipolar (Series)
PK264M-02A/PK264M-02B
0.5 0.4
Unipolar
DC Input
ASC
kg.m2
AC Input
Torque [N.m]
0.4 0.3
Power Input
24 VDC 48 VDC
5-Phase RK
0.3 0.2
Pullout Torque 0.2 0.1 0 fs fs 500 Speed [r/min] 0 (0) 2 (4) 4 6 (8) (12) Pulse Speed [kHz] 0.9/step 8 (16) (0.45/step) 1000 1500
Pullout Torque 0.1 fs 0 500 4 (8) 1000 1500 Speed [r/min] 8 12 (16) (24) Pulse Speed [kHz] 2000 2500 0.9/step (0.45/step)
5-Phase CRK
0 (0)
DC Input
2-Phase CMK
PK264M-03A/PK264M-03B
0.6 0.5 Power Input Torque [N.m] 0.4 0.3 0.2 Pullout Torque 0.1 0 fs 500 Speed [r/min] 0 (0) 2 (4) 4 6 (8) (12) Pulse Speed [kHz] 1000 Bipolar Constant Current Driver Current: 2.1 A/Phase (Bipolar Series) With Damper D6CL-6.3F: JL=140 10
7
Bipolar (Series)
PK264M-03A/PK264M-03B
Unipolar
kg.m2
0.5 0.4 Torque [N.m]
2-Phase CSK
24 VDC 48 VDC
0.3 Pullout Torque
0.2 0.1 fs 0
1500 0.9/step 8 (16) (0.45/step)
500 4
1000 1500 Speed [r/min] 8 12 Pulse Speed [kHz]
2000
2500
0.9/step
PK264M-E2.0A/PK264M-E2.0B
0.6 0.5 Power Input Torque [N.m] 0.4 0.3 Pullout Torque 0.2 0.1 0 fs 500 Speed [r/min] 0 (0) 2 (4) 4 6 (8) (12) Pulse Speed [kHz] 1000 Bipolar Constant Current Driver Current: 2.8 A/Phase (Bipolar Parallel) With Damper D6CL-6.3F: JL=140 10
7
Bipolar (Parallel)
0.6 0.5 Torque [N.m] Bipolar Constant Current Driver Current: 1.4 A/Phase (Bipolar Series) With Damper D6CL-6.3F: JL=140 10
7
Bipolar (Series)
Controllers
kg.m2
kg.m2
24 VDC 48 VDC
0.4 0.3
Power Input
24 VDC 48 VDC
Accessories
Installation
1500 0.9/step 8 (16) (0.45/step)
fs
fs 500 Speed [r/min] 2 (4) 1000 1500 0.9/step 8 (16) (0.45/step)
0 (0)
C-225
Torque [N.m]
Torque [N.m]
Torque [N.m]
1.0 Pullout Torque
Torque [N.m]
Torque [N.m]
Torque [N.m]
Torque [N.m]
Torque [N.m]
C-226
Stepping Motors

PK266M-01A/PK266M-01B
7
Bipolar (Series)
PK266M-01A/PK266M-01B
Unipolar
kg.m2
1.0 0.8 0.6
Power Input 1.0
24 VDC 48 VDC
Pullout Torque 0.5
50 0.5 (1.0)
fs 200 250 0.9/step (0.45/step)
fs 0 200 2 400 600 Speed [r/min] 4 Pulse Speed [kHz] 800 1000 0.9/step
0 (0)
PK266M-02A/PK266M-02B
7
Bipolar (Series)
PK266M-02A/PK266M-02B
1.2 1.0 0.8 0.6 0.4 0.2 Pullout Torque
Unipolar
kg.m2
Power Input
24 VDC 48 VDC
0.5
fs 0 500 4 (8) 1000 1500 Speed [r/min] 8 12 (16) (24) Pulse Speed [kHz] 2000 2500 0.9/step (0.45/step)
0 (0)
0 (0)
PK266M-03A/PK266M-03B
7
Bipolar (Series)
PK266M-03A/PK266M-03B
Unipolar
1.5
kg.m2
1.0 0.8 0.6
Power Input 1.0
24 VDC 48 VDC
Pullout Torque 0.5
fs 100 1 (2)
fs 0 400 500 0.9/step (0.45/step) 0 500 4 1000 1500 Speed [r/min] 8 12 Pulse Speed [kHz] 2000 2500 0.9/step
0 (0)
PK266M-E2.0A/PK266M-E2.0B Bipolar (Parallel)

7
7
Bipolar (Series)
1.5
kg.m2
kg.m2
Power Input 1.0
24 VDC 48 VDC 1.0
Power Input
24 VDC 48 VDC
Pullout Torque
Pullout Torque
0.5
0.5
fs 500 Speed [r/min] 2 (4) 4 (8) Pulse Speed [kHz] 1000 0.9/step (0.45/step)
0 (0)
0 (0)
Stepping Motors

PK268M-01A/PK268M-01B
2.5 2.0 Torque [N.m] 1.5 1.0 0.5 0 fs 50 fs 100 Speed [r/min] 0.5 (1.0) Pulse Speed [kHz] 150 1.0 (2.0) 200 0.9/step (0.45/step) Pullout Torque Bipolar Constant Current Driver Current: 0.71 A/Phase (Bipolar Series) With Damper D6CL-6.3F: JL=140 10
7
Bipolar (Series)
PK268M-01A/PK268M-01B
Unipolar
kg.m2
1.4 1.2 Torque [N.m] 1.0 0.8 0.6 0.4 0.2
Power Input
24 VDC 48 VDC
Introduction
Pullout Torque
fs 0 100 1 200 300 Speed [r/min] 2 Pulse Speed [kHz] 400 500 0.9/step
AC Input
AS
0 (0)
PK268M-02A/PK268M-02B
7
Bipolar (Series)
PK268M-02A/PK268M-02B
1.6 1.4
Unipolar
DC Input
ASC
2.5 2.0
kg.m2
Torque [N.m]
Power Input Torque [N.m] 1.5 1.0 0.5 0 Pullout Torque fs 50 0.5 (1) 100 150 Speed [r/min] 1 (2) Pulse Speed [kHz]
24 VDC 48 VDC
1.2 1.0 0.8 0.6 Pullout Torque 0.4 Full Step 0.9/step Half Step 0.45/step
AC Input
0.2 fs 200 250 0.9/step (0.45/step) 0
fs 500 4 (8) 1000 Speed [r/min] 8 (16) Pulse Speed [kHz] 1500 2000 0.9/step (0.45/step)
0 (0)
0 (0)
DC Input
2-Phase CMK
PK268M-03A/PK268M-03B
2.5 2.0 Torque [N.m] 1.5 Pullout Torque 1.0 0.5 0 fs 100 1 (2) fs 200 300 Speed [r/min] 2 (4) Pulse Speed [kHz] Bipolar Constant Current Driver Current: 2.1 A/Phase (Bipolar Series) With Damper D6CL-6.3F: JL=140 10
7
Bipolar (Series)
PK268M-03A/PK268M-03B
Unipolar
kg.m2
1.4 1.2
2-Phase CSK
Power Input
Torque [N.m]
24 VDC 48 VDC
1.0 0.8 0.6 Pullout Torque 0.4 0.2 fs
400
500 0.9/step (0.45/step)
500 4
1000 Speed [r/min] 8 Pulse Speed [kHz]
1500
2000
0 (0)
0.9/step
7
Bipolar (Parallel)
7
Bipolar (Series)
Controllers
2.5 2.0
kg.m2
2.5 2.0
kg.m2
Power Input Torque [N.m] 1.5 1.0 0.5 0 Pullout Torque fs 100 1 (2) fs 200 300 Speed [r/min] 2 (4) Pulse Speed [kHz]
Torque [N.m]
24 VDC 48 VDC
Power Input 1.5 1.0 0.5 0 Pullout Torque fs 100 150 Speed [r/min] 0.5 (1) 1 (2) Pulse Speed [kHz]
24 VDC 48 VDC
400
500 0.9/step (0.45/step)
50
fs 200
250 0.9/step (0.45/step)
0 (0)
0 (0)
C-227
Model PK264JDA PK264JA PK264JDB PK264JB PK266JDA PK266JA PK266JDB PK266JB PK267JDA PK267JA PK267JDB PK267JB PK269JDA PK269JA PK269JDB PK269JB
L1
L2
0 0.015(h7)
23
0.15
L1 7 1.5
66.5
20
0.25
54 77
0.83
8 10.1
4 or 6 Motor Leads 300 mm Length UL Style 3265, AWG22
30.6
65 88
1.02
85 108
1.43
C-228
7 47.14 0.35 60
43.5
0.6
8 7.5
20
0.25
7.5 0.15 0 8 0.015(h7) 38.1 0.03
Stepping Motors
60 mm
Specifications
Model Single Shaft Double Shaft PK264JDA PK264JDB PK264JA PK264JB PK266JDA PK266JDB PK266JA PK266JB PK267JDA PK267JDB PK267JA PK267JB PK269JDA PK269JDB PK269JA PK269JB Connection Type Holding Torque Nm 1.06 1.06 0.75 1.75 1.75 1.35 2.2 2.2 1.7 3.1 3.1 2.2 Current per Phase A/phase 2.8 1.4 2 2.8 1.4 2 2.8 1.4 2 2.8 1.4 2 Voltage VDC 2.1 4.1 2.9 2.8 5.6 4 3.4 6.7 4.8 4.2 8.3 6 Resistance per Phase /phase 0.73 2.92 1.46 1 4 2 1.2 4.8 2.4 1.49 5.96 2.98 Inductance mH/phase 1.8 7.2 1.8 3.05 12.2 3.05 3.54 14.2 3.54 5.7 22.8 5.7 Rotor Inertia J: kg m
2
Lead Wires (Pin) 4 6 4 6 4 6 4 6
Wirings and Connections (See Page C-192) 1 3 2 1 3 2 1 3 2 1 3 2
Bipolar Bipolar (Series) Unipolar Bipolar Bipolar (Series) Unipolar Bipolar Bipolar (Series) Unipolar Bipolar Bipolar (Series) Unipolar
280 10
-7
280 10-7 450 10-7 450 10-7 570 10-7 570 10-7 900 10-7 900 10-7
Dimensions
(Unit = mm)
Mass (kg)
L2
24
60 47.14 0.35 4 4.5 Thru
Stepping Motors

PK264JDA/PK264JDB
1.6 1.4 1.2 Torque [N.m] 1.0 0.8 0.6 0.4 0.2 0 200 1 (2) fs 400 600 Speed [r/min] 2 (4) Pulse Speed [kHz] 800 1000 1.8/step (0.9/step) Pullout Torque Power Input 24 VDC 48 VDC
Bipolar
7
PK264JA/PK264JB
2.0
Bipolar (Series)
7
Bipolar Constant Current Driver Current: 2.8 A/Phase With Damper D6CL-8.0F: JL=140 10
kg.m2
kg.m2
1.5 Torque [N.m]
Power Input
24 VDC 48 VDC
Pullout Torque 1.0
Introduction
0.5
fs 100 0.5 (1.0) 200 300 Speed [r/min] 1.0 (2.0) Pulse Speed [kHz] 400
fs 500 1.8/step (0.9/step)
AC Input
AS
0 (0)
0 (0)
PK266JDA/PK266JDB
2.0 1.8 1.6 1.4 Torque [N.m] 1.2 1.0 0.8 0.6 0.4 0.2 0 200 1 (2) Pullout Torque
Bipolar
7
PK266JA/PK266JB
2.0
Bipolar (Series)
7
DC Input
ASC
kg.m2
kg.m2
Power Input
1.5
Power Input
24 VDC 48 VDC
AC Input
5-Phase RK
1.0
0.5 Pullout Torque fs 400 600 Speed [r/min] 2 (4) Pulse Speed [kHz] 0 fs 200 300 Speed [r/min] 0.5 (1.0) 1.0 (2.0) Pulse Speed [kHz] fs 400
5-Phase CRK
800
1000 1.8/step (0.9/step)
100
500 1.8/step (0.9/step)
0 (0)
0 (0)
DC Input
2-Phase CMK
PK267JDA/PK267JDB
3.0 2.5 Torque [N.m] 2.0 1.5 1.0 0.5 0 fs 200 1 (2)
Bipolar
7
PK267JA/PK267JB
4.0
Bipolar (Series)
7
kg.m2
kg.m2
2-Phase CSK
Power Input
3.0
Power Input
24 VDC 48 VDC
Pullout Torque
800
1000 1.8/step (0.9/step)
100 0.5 (1.0)
fs fs 200 300 Speed [r/min] 1.0 (2.0) Pulse Speed [kHz]
400
500
0 (0)
0 (0)
1.8/step (0.9/step)
PK269JDA/PK269JDB
Bipolar
7
PK269JA/PK269JB
4.0
Bipolar (Series)
7
Controllers
4.0 3.5
kg.m2
kg.m2
Power Input 3.0 Torque [N.m] 2.5 2.0 1.5
Power Input 3.0
24 VDC 48 VDC
Accessories
2.0
1.0
Pullout Torque
Installation
fs 100 0.5 (1.0)
400
500 1.8/step (0.9/step)
0 (0)
0 (0)
C-229
Torque [N.m]
Torque [N.m]
Torque [N.m]
Torque [N.m]
C-230
Stepping Motors

PK264JA/PK264JB Unipolar
Unipolar Constant Current Driver Power Input: 24 VDC Current: 2.0 A/Phase (Unipolar) With Damper D6CL-8.0F: JL=140 10 7 kg.m2 1.0 0.9 0.8 0.7 0.6 0.5 0.4 0.3 0.2 0.1 0 fs 500 2 (4) 1000 Speed [r/min] 4 (8) Pulse Speed [kHz] 1500 2000 6 1.8/step (12) (0.9/step) Pullout Torque Full Step 1.8/step Half Step 0.9/step
0 (0)
PK266JA/PK266JB
1.6 1.4 1.2 1.0 0.8 0.6 0.4 0.2 0 fs 500 2 (4) Pullout Torque
Unipolar
1500
2000 6 1.8/step (12) (0.9/step)
0 (0)
PK267JA/PK267JB
1.6 1.4 1.2 1.0 0.8 0.6 0.4 0.2 0 fs 500 Pullout Torque
Unipolar
1000 Speed [r/min] 4 (8)
1500 1.8/step (0.9/step)
0 (0)
PK269JA/PK269JB
2.5 2.0 1.5
Unipolar
Pullout Torque 1.0 0.5 0 fs 200 300 Speed [r/min] 0.8 1.2 (1.6) (2.4) Pulse Speed [kHz]
100 0.4 (0.8)
400
500 1.8/step (0.9/step)
0 (0)
Stepping Motors
Introduction AS ASC
Controllers
Accessories
Installation
AC Input
DC Input
AC Input
DC Input
C-231
5-Phase RK
5-Phase CRK
2-Phase CMK
2-Phase CSK
Model PK264AE-SG PK264BE-SG
Gear Ratio 3.6, 7.2, 9, 10, 18, 36
Mass (kg) 6.35 0.012 5.8 0.15 15 0.75

0
16
12 3 7
0 0.015(h7)
0.25
8 10
0.5
70
0.5
56.4
C-232
60
24
Stepping Motors
SH Geared Type
60 mm
Specifications
Model Single Shaft Double Shaft PK264AE-SG PK264BE-SG Connection Type Bipolar (Parallel) Bipolar (Series) Unipolar Current per Phase A/phase 2.8 1.4 2 Voltage VDC 1.96 3.9 2.8 Resistance per Phase /phase 0.7 2.8 1.4 Inductance mH/phase 1.4 5.6 1.4 Rotor Inertia J: kg m
2
Lead Wires (Pin) 8
120 10-7
How to read specifications table Page C-10 b Degree of Protection: IP30 b Enter the gear ratio in the box ( ) within the model name. b Backlash value is approximately 1 to 2. Note: b Direction of rotation of the motor and that of the gear output shaft are the same for the gear ratios 1:3.6, 1:7.2, 1:9 and 1:10. It is the opposite for 1:18 and 1:36 gear ratios.
Model Single Shaft Double Shaft PK264AE-SG3.6 PK264BE-SG3.6 PK264AE-SG7.2 PK264BE-SG7.2 PK264AE-SG9 PK264BE-SG9 PK264AE-SG10 PK264BE-SG10 PK264AE-SG18 PK264BE-SG18 PK264AE-SG36 PK264BE-SG36 Gear Ratio Holding Torque Nm 1 2 2.5 2.7 3 4 Step Angle Permissible Speed r/min 500 250 200 180 100 50
1:3.6 1:7.2 1:9 1:10 1:18 1:36
0.5 0.25 0.2 0.18 0.1 0.05
Dimensions
(Unit = mm)
95 79 32
60
Stepping Motors

PK264AE-SG /PK264BE-SG
Unipolar
5.0 4.0 3.0 2.0 1.0 0
Unipolar Constant Current Driver Power Input: 24 VDC Current: 2.0 A/Phase (Unipolar) With Damper D6CL-6.3F: JL=140 10 7 kg.m2 5 4
PK264 PK264 PK264 PK264 PK264 PK264
E-SG3.6 E-SG7.2 E-SG9 E-SG10 E-SG18 E-SG36
Torque [N.m]
Torque [N.m]
3 2 1
Permissible Torque
PK264 PK264 PK264 PK264 PK264 PK264
Introduction
Permissible Torque 100 200 300 400 Speed [r/min] 500 600 0
AC Input
100
200
500
600
AS
DC Input
ASC
5.0 4.0 3.0 2.0 1.0 0
AC Input
5-Phase RK
Permissible Torque
PK264 PK264 PK264 PK264 PK264 PK264
Torque [N.m]
5-Phase CRK
100
200
500
600
DC Input
2-Phase CMK
C-233
126
160
3.8

C-234
69.58 85
PK296-E4.5A PK296-E4.5B PK299-E4.5A PK299-E4.5B PK2913-E4.0A PK2913-E4.0B
0 0.018(h7)
66 96
100 130
1.7 2.8
10 2
0.15
0.03
14
14
73.025
0.35
25
0.25
25
0.25
13
13
0.15
0 0.018(h7)
Stepping Motors
85 mm
Specifications
Model Single Shaft Double Shaft PK296-E4.5A PK296-E4.5B PK299-E4.5A PK299-E4.5B PK2913-E4.0A PK2913-E4.0B Connection Type Bipolar (Parallel) Bipolar (Series) Unipolar Bipolar (Parallel) Bipolar (Series) Unipolar Bipolar (Parallel) Bipolar (Series) Unipolar Holding Torque Nm 3.1 3.1 2.2 6.2 6.2 4.4 9.3 9.3 6.6 Current per Phase A/phase 6.3 3.18 4.5 6.3 3.18 4.5 5.6 2.8 4 Voltage VDC 1.4 2.8 2 1.9 3.9 2.8 2.6 5.3 3.8 Resistance per Phase /phase 0.24 0.96 0.48 0.33 1.32 0.66 0.49 1.94 0.97 Inductance mH/phase 1.5 6.0 1.5 2.5 10.0 2.5 4.2 16.8 4.2 Rotor Inertia J: kg m
2
Lead Wires (Pin) 8
Wirings and Connections (See Page C-192) 6 5 4 6 5 4 6 5 4
1400 10-7
2700 10-7
4000 10-7
Dimensions
Model L1
(Unit = mm)
L2 Mass (kg) L2 34
1
37 L1
85 69.58 0.35 4 6.5 Thru
Stepping Motors

PK296-E4.5A/PK296-E4.5B
4.0
Bipolar (Parallel)

3.5 3.0 Bipolar Constant Current Driver Current: 3.18 A/Phase (Bipolar Series) With Damper D9CL-14F: JL=870 10
7
Bipolar Constant Current Driver Power Input: 60 VDC Current: 6.3 A/Phase (Bipolar Parallel) With Damper D9CL-14F: JL=870 10 7 kg.m2
kg.m2
3.0 Torque [N.m] Torque [N.m] Pullout Torque
Power Input
2.5 2.0 1.5 1.0 Pullout Torque 0.5 fs 500 2 (4) 1000 Speed [r/min] 4 (8) Pulse Speed [kHz] 1500 2000 6 1.8/step (12) (0.9/step) 0 fs fs 200 300 Speed [r/min] 0.5 (1.0) 1.0 (2.0) Pulse Speed [kHz]
24 VDC 48 VDC
Introduction
2.0
1.0
100
400
500 1.5 1.8/step (3.0) (0.9/step)
AC Input
AS
0 (0)
0 (0)
PK299-E4.5A/PK299-E4.5B
6.0 5.0
Bipolar (Parallel)

8.0 Bipolar Constant Current Driver Current: 3.18 A/Phase (Bipolar Series) With Damper D9CL-14F: JL=870 10
7
DC Input
ASC
Bipolar Constant Current Driver Power Input: 60 VDC Current: 6.3 A/Phase (Bipolar Parallel) With Damper D9CL-14F: JL=870 10 7 kg.m2
kg.m2
6.0 Torque [Nm] Pullout Torque 3.0 2.0 1.0 0 fs 500 Speed [r/min] 0 (0) 1 (2) 2 3 (4) (6) Pulse Speed [kHz] 4 (8) 1.8/step (0.9/step) 0 (0) 0.5 (1.0) 1000 1500 0 fs 100 Torque [N.m] 4.0
Power Input
24 VDC 48 VDC
AC Input
5-Phase RK
5-Phase CRK
400
500 1.5 1.8/step (3.0) (0.9/step)
DC Input
2-Phase CMK

10 8 Torque [Nm] 6 Pullout Torque 4 2 0 fs 200 300 Speed [r/min] 0.5 (1.0) 1.0 (2.0) Pulse Speed [kHz] Bipolar Constant Current Driver Power Input: 60 VDC Current: 5.6 A/Phase (Bipolar Parallel) With Damper D9CL-14F: JL=870 10 7 kg.m2
PK2913-E4.0A/PK2913-E4.0B
12.0 10.0 Torque [N.m] 8.0 6.0 Bipolar Constant Current Driver Current: 2.8 A/Phase (Bipolar Series) With Damper D9CL-14F: JL=870 10 Power Input
7
Bipolar (Series)
kg.m2
2-Phase CSK
24 VDC 48 VDC
4.0 Pullout Torque 2.0 0 fs 100 Speed [r/min] 0.25 (0.5) Pulse Speed [kHz] 0.50 (1.0) 200
100
400
500 1.5 1.8/step (3.0) (0.9/step)
0 (0)
0 (0)
1.8/step (0.9/step)
C-235
L 4 M3 40.6 10
13
14
37 2
0.15 0 0.018(h7)
M4
10.3
10
10.3
27max.
C-236
69.58 0.35 85 113max.
25
0.25
73.025
95.3
0.03
Stepping Motors
85 mm
Step Angle 1.8 Standard Type IP65 Rated Motor
Specifications
Model Connection Type Bipolar (Parallel) Bipolar (Series) Unipolar Bipolar (Parallel) Bipolar (Series) Unipolar Bipolar (Parallel) Bipolar (Series) Unipolar Holding Torque Nm 3.1 3.1 2.2 6.2 6.2 4.4 9.3 9.3 6.6 Current per Phase A/phase 6.3 3.18 4.5 6.3 3.18 4.5 5.6 2.8 4 Voltage VDC 1.4 2.8 2 1.9 3.9 2.8 2.6 5.3 3.8 Resistance per Phase /phase 0.24 0.96 0.48 0.33 1.32 0.66 0.49 1.94 0.97 Inductance mH/phase 1.5 6.0 1.5 2.5 10.0 2.5 4.2 16.8 4.2 Rotor Inertia J: kg m
2
Number of Terminals (Pin) 8
Wirings and Connections (See Page C-192) 9 8 10 9 8 10 9 8 10
PK296EAT
1400 10-7
PK299EAT
2700 10-7
PK2913EAT
1400 10-7
How to read specifications table Page C-10 List of safety standard approved products (model, standards, file no., certification body) Page G-10 b Degree of protection: IP65 Excluding the gap between the shaft and the flange.
Dimensions
Model PK296EAT PK299EAT PK2913EAT L 110 140 170
(Unit = mm)
Mass (kg) 2.1 3.2 4.3
b Use cable (VCT) with a diameter of 7 13 mm. Accessory motor cable (with protective earth wire) (sold separately) is available. Page C-254
85 69.58 0.35
6.5 Thru
Stepping Motors

PK296EAT
4.0
Bipolar (Parallel)
PK296EAT
3.5 3.0
Bipolar (Series)
Bipolar Constant Current Driver Power Input: 60 VDC Current: 6.3 A/Phase (Bipolar Parallel) Load Inertia: JL=870 10 7 kg.m2
Bipolar Constant Current Driver Current: 3.18 A/Phase (Bipolar Series) Load Inertia: JL=870 10 7 kg.m2
3.0 Torque [N.m] Torque [N.m] Pullout Torque
2.5 2.0 1.5 1.0 0.5 Pullout Torque
Power Input
24 VDC 48 VDC
Introduction
2.0
1.0 fs 500 2 (4) 1000 Speed [r/min] 4 (8) Pulse Speed [kHz] 1500 2000 6 1.8/step (12) (0.9/step)
100 0.5 (1.0)
fs fs 200 300 Speed [r/min] 1.0 (2.0) Pulse Speed [kHz]
400
500 1.8/step (0.9/step)
AC Input
AS
0 (0)
0 (0)
PK299EAT
6.0 5.0
Bipolar (Parallel)
PK299EAT
8.0
Bipolar (Series)
DC Input
ASC
6.0 Torque [Nm] Pullout Torque 3.0 2.0 1.0 0 fs 500 Speed [r/min] 0 (0) 1 (2) 2 3 (4) (6) Pulse Speed [kHz] 4 (8) 1.8/step (0.9/step) 0 (0) 0.5 (1.0) 1000 1500 0 fs 100 Torque [N.m] 4.0
Power Input
24 VDC 48 VDC
AC Input
5-Phase RK
5-Phase CRK
400
500 1.8/step (0.9/step)
DC Input
2-Phase CMK
PK2913EAT
10 8 Torque [Nm] 6
Bipolar (Parallel)
PK2913EAT
Bipolar (Series)
12.0 10.0 Torque [N.m] 8.0 6.0
2-Phase CSK
Power Input
24 VDC 48 VDC
Pullout Torque 4 2 0 fs 200 300 Speed [r/min] 0.5 (1.0) 1.0 (2.0) Pulse Speed [kHz]
4.0 2.0 Pullout Torque fs 100 Speed [r/min] 0.25 (0.5) Pulse Speed [kHz] 0.50 (1.0)
100
400
500 1.5 1.8/step (3.0) (0.9/step)
200
0 (0)
0 (0)
1.8/step (0.9/step)
C-237
Model PK296AE-SG PK296BE-SG
Gear Ratio 3.6, 7.2, 9, 10, 18, 36
Mass (kg) 2.8
34 1 25 0.25
160 126
32 3
12 0.018(h7) 18 0.5
25 A A
0 0.018(h7)
36
4 10
85
14
13
0.15
0 .5

0 0.030
4 M6 15 Deep 4
0 0.030
4
0.1 0
0.04 0
25
0.2
2.5
A A
C-238
90
Stepping Motors
SH Geared Type
90 mm
Specifications
Model Single Shaft Double Shaft PK296AE-SG PK296BE-SG Connection Type Bipolar (Parallel) Bipolar (Series) Unipolar Current per Phase A/phase 4.2 2.1 3 Voltage VDC 1 2 1.4 Resistance per Phase /phase 0.24 0.96 0.48 Inductance mH/phase 1.5 6.0 1.5 Rotor Inertia J: kg m
2
Lead Wires (Pin) 8
1400 10-7
How to read specifications table Page C-10 b Degree of Protection: IP30 b Enter the gear ratio in the box ( ) within the model name. b Backlash value is approximately 1 to 2. Note: b Direction of rotation of the motor and that of the gear output shaft are the same for the gear ratios 1:3.6, 1:7.2, 1:9, 1:10 and 1:18. It is the opposite for 1:36 gear ratio.
Model Single Shaft Double Shaft PK296AE-SG3.6 PK296BE-SG3.6 PK296AE-SG7.2 PK296BE-SG7.2 PK296AE-SG9 PK296BE-SG9 PK296AE-SG10 PK296BE-SG10 PK296AE-SG18 PK296BE-SG18 PK296AE-SG36 PK296BE-SG36 Gear Ratio Holding Torque Nm 2.5 5 6.3 7 9 12 Step Angle Permissible Speed r/min 500 250 200 180 100 50
1:3.6 1:7.2 1:9 1:10 1:18 1:36
0.5 0.25 0.2 0.18 0.1 0.05
Dimensions
(Unit = mm)
90
Stepping Motors

14 12 Bipolar Constant Current Driver Power Input: 24 VDC Current: 2.1 A/Phase (Bipolar Series) With Damper D9CL-14F: JL=870 10 7 kg.m2
Unipolar
15
Unipolar Constant Current Driver Power Input: 24 VDC Current: 3.0 A/Phase (Unipolar) With Damper D9CL-14F: JL=870 10 7 kg.m2
Torque [N.m]
10 8 6 Permissible Torque 4 2 0 100 200 300 400 Speed [r/min] 500 600 PK296 PK296 PK296 PK296 PK296 PK296 E-SG3.6 E-SG7.2 E-SG9 E-SG10 E-SG18 E-SG36 Torque [N.m]
10
PK296 PK296 PK296 PK296 PK296 PK296
Introduction
100
200
500
600
AC Input
AS
14 12 Bipolar Constant Current Driver Power Input: 48 VDC Current: 2.1 A/Phase (Bipolar Series) With Damper D9CL-14F: JL=870 10 7 kg.m2
DC Input AC Input
ASC
10 8 Permissible Torque 6 4 2 0 100 200 300 400 Speed [r/min] 500 600 PK296 PK296 PK296 PK296 PK296 PK296 E-SG3.6 E-SG7.2 E-SG9 E-SG10 E-SG18 E-SG36 Torque [Nm]
DC Input
C-239
C-240
Stepping Motors
Specifications Insulation Class Insulation Resistance Motor Class B (130C) [Standard type IP65 rated motor: Recognized as class A (105C) by UL/CSA Standards] 100 M or more when 500 VDC megger is applied between the windings and case under normal ambient temperature and humidity. Sufficient to withstand 1.0 kV at 50 Hz or 60 Hz applied between the windings and the case for 1 minute, under normal ambient temperature and humidity. (0.5 kV for motor frame size 28 mm, 35 mm and 42 mm, 1.5 kV for standard type IP65 rated motor) Ambient Temperature Ambient Humidity Atmosphere Temperature Rise Stop Position Accuracy1 Shaft Runout Radial Play2 Axial Play3 Concentricity Perpendicularity 10 50C (non-freezing) 85% or less (no-condensing) No corrosive gases, dust, water or oil (Standard type IP65 rated motor: no corrosive gases) Temperature rise of windings measured by the resistance change method are 80C or less. (at rated voltage, at standstill, two phases energized) 3 arc minutes ( 0.05) [ 2 arc minutes ( 0.034) for PK26 J] 0.05 T.I.R. (mm)4 0.025 mm maximum of 5 N 0.075 mm maximum of 10 N 0.075 T.I.R. (mm)4 0.075 T.I.R. (mm)4
Dielectric Strength
0.075 0.05
0.075
Stepping Motors

Type Model PK223P PK224P PK225P PK233P PK235P PK244P PK246P PK264JD PK264J PK266JD PK266J PK267JD PK267J PK269JD PK269J PK243-0 PK244-0 PK245-0 PK256-02 PK258-02 PK264-0 PK264-E2.0 PK266-0 PK266-E2.0 PK268-0 PK268-E2.0 PK264DAT PK266DAT PK268DAT PK296-E4.5 PK299-E4.5 PK2913-E4.0 PK296EAT PK299EAT PK2913EAT PK243M-0 PK244M-0 PK245M-0 PK264M-0 PK264M-E2.0 PK266M-0 PK266M-E2.0 PK268M-0 PK268M-E2.0 PK223P -SG PK243 1-SG SH Geared Type PK264 E-SG PK264 E-SG PK296 E-SG 7.2, 9, 10, 18, 36 3.6, 7.2, 9, 10, 18, 36 3.6, 7.2, 9, 10 18, 36 3.6, 7.2, 9, 10, 18, 36 Gear Ratio 0 25 Permissible Overhung Load Distance from Shaft End (mm) 5 34 10 52 15 20
Unit
20 20
25 25
34 34
52
Introduction
52
High-Torque Type
AC Input
50
60
75
100
150
AS
DC Input
20
25
34
52
ASC
54
67
89
130 AC Input The permissible thrust load shall be no greater than the motor mass.
5-Phase RK
Standard Type Standard Type IP65 Rated Motor
54
67
89
130
5-Phase CRK
DC Input
2-Phase CMK
260
290
340
390
480
20
25
34
52
2-Phase CSK
54
67
89
130
15 10 30 80 220
17 15 40 100 250
20 20 50 120 300
23 30 60 140 350 70 160 400
10
15 30 100
Controllers
b Enter A (single shaft) or B (double shaft) in the box ( ) within the model name. Enter the gear ratio in the box ( ) within the model name. Enter the winding specification 1, 2 or 3 in the box ( ) within the model name.
C-241
C-242
Stepping Motors
RoHS-Compliant 5-Phase Stepping Motors
PK Series
5-phase PK Series products are the high-torque and low-vibration stepping motors with resolution of 500 per rotation (0.72/step). Ten motor lead wires are provided so that they can be used for all types of driving system. The dedicated driver is required separately to operate the motor.
b RoHS-Compliant
The 5-phase PK Series conforms to the RoHS Directive that prohibits the use of six chemical substances including lead and cadmium.
Product Number Code
Product Line
Model (Single Shaft) PK543-A PK544-A PK545-A PK564-AE PK566-AE PK569-AE PK596-AE PK599-AE PK5913-AE Model (Double Shaft) PK543-B PK544-B PK545-B PK564-BE PK566-BE PK569-BE PK596-BE PK599-BE PK5913-BE
PK 5 6 6 - B E
Series PK: PK Series 5: 5-Phase Motor Frame Size 4: 42 mm 6: 60 mm 9: 85 mm Motor Case Length Shaft Type A: Single Shaft B: Double Shaft Reference Code
The following items are included in each product. Motor, Operating Manual
5-Phase PK Series (Body)
Motor Driver
(Not supplied)1
1 Motor and driver packages are available. RK Series Page C-82 CRK Series Page C-114
Required Products (Sold separately)
Controller (Sold separately) Programmable Controller

(Not supplied)
Controller
(Not supplied)2
2 Controllers suitable for stepping motors are available. Controller Page C-248

( Page C-266)
Flexible Couplings
( Page C-258)
Clean Dampers
( Page C-264)
No.
Product Name
Motor Mounting Brackets Flexible Couplings Clean Dampers
Overview
Dedicated mounting bracket for the motor. Coupling that connects the motor shaft to the driven shaft. Dedicated damper for suppressing stepping motor vibration.
Page
C-266 C-258 C-264

5-Phase PK Series PK566-BE
Motor Flexible Mounting Bracket Coupling PAL2P-5 MCS200808
Clean Damper D6CL-8.0F
The system configuration shown above is an example. Other combinations are available.
Stepping Motors
Specifications
Frame Size mm Model Single Shaft PK543-A PK544-A PK545-A PK564-AE PK566-AE PK569-AE 85 PK596-AE PK599-AE PK5913-AE Double Shaft PK543-B PK544-B PK545-B PK564-BE PK566-BE PK569-BE PK596-BE PK599-BE PK5913-BE Maximum Holding Torque Nm 0.13 0.18 0.24 0.42 0.83 1.66 2.1 4.1 6.3 Rotor Inertia J: kgm 35 54 68 175 280
2
Current Resistance per Phase per Phase A/Phase /Phase 1.7 0.75 2.2 2.3 3.4 1.7 1.4 1.5 2.3 0.75
Basic Step Angle
Mass kg 0.21 0.27 0.35 0.6 0.8 1.3 1.7 2.8 3.8
Corresponding Motor and Driver Dimension Package/Page with Speed Torque No. Characteristics CRK543 P CRK544 P CRK545 P C-123 C-123 C-123 1
42
60
10-7 10-7 10-7 10-7 10-7
0.72
560 10-7 1400 10-7 2700 10-7 4000 10-7
RK569 CE CRK569 P RK596 CE RK599 CE
C-89 C-123 C-89 C-89
Introduction
3 AC Input
2.8
How to read specifications table Page C-10 b For the speed torque characteristics of the motors in the table above, see the characteristics of the corresponding motor and driver package. If there is no corresponding model, refer to the following characteristics. b Enter the shaft type A or B in the box ( ) within the model name.
AS

PK564-AE/PK564-BE
Constant Current Driver Power Input: 24 VDC Current: 0.75 A/Phase (4 Phases ON) With Damper D6CL-8.0F: JL=140 10 7 kg m2 Full Step 0.72/step
DC Input
ASC
PK566-AE/PK566-BE
Constant Current Driver Power Input: 24 VDC Current: 0.75 A/Phase (4 Phases ON) With Damper D6CL-8.0F: JL=140 10 7 kg m2 Full Step 0.72/step
AC Input
5-Phase RK
0.6 0.5
Torque [N m]
1.2 1.0
Torque [N m]
0.4 0.3 0.2 Pullout Torque 0.1 0 0 0 fs 500 5 1000 1500 Speed [r/min] 10 Pulse Speed [kHz] 15 2000 2500 20 Full Step
0.8
5-Phase CRK
0.6 0.4 Pullout Torque 0.2
DC Input
2-Phase CMK
0 0 0
fs 500 Speed [r/min] 2 4 Pulse Speed [kHz] 6 1000 8 Full Step
2-Phase CSK
PK5913-AE/PK5913-BE
Constant Current Driver Power Input: 24 VDC Current: 2.8 A/Phase (4 Phases ON) With Damper D9CL-14F: JL=870 10 7 kg m2
10 8 6
Full Step 0.72/step
Torque [N m]
Pullout Torque 4 2 0 0 0 fs 150 200 Speed [r/min] 1 Pulse Speed [kHz]
50
100
250 2
300
350 Full Step
Specifications, Characteristics C-243 / Dimensions C-245
C-243
C-244
Stepping Motors
Gray

Unit Model PK54 PK56 - E PK59 - E 0 20 63 260 Permissible Overhung Load Distance from Shaft End (mm) 5 25 75 290 10 34 95 340 15 52 130 390 20 190 480 The permissible thrust load shall be no greater than the motor mass. Permissible Thrust Load N
b Enter the shaft type A or B in the box ( ) within the model name. Enter the motor case length in the box ( ) within the model name.
Inner Connection Diagram for Motor

Green Blue Orange E-Phase A-Phase Red
White D-Phase B-Phase Yellow
Black
C-Phase Violet Brown
Specifications Insulation Class Insulation Resistance Dielectric Strength Operating Environment (In operation) Ambient Temperature Ambient Humidity Atmosphere Motor Class B (130C) 100 M or more when 500 VDC megger is applied between the windings and the case under normal ambient temperature and humidity. Sufficient to withstand 1.0 kV at 50 Hz or 60 Hz applied between the windings and the case for 1 minute under normal ambient temperature and humidity. (0.5 kV for PK54 ) 10 50C (non-freezing) 85% or less (non-condensing) No corrosive gases, dust, water or oil Temperature rise of the windings are 80C or less measured by the resistance change method. (at rated current, at standstill, five phases energized) 3 arc minutes ( 0.05) 0.05 T.I.R. (mm)4 0.025 mm max. of 5 N 0.075 mm max. of 10 N 0.075 T.I.R. (mm)4 0.075 T.I.R. (mm)4
0.075 0.05 A
0.075 A
Stepping Motors

1 42 mm
0 0.012(h7) 0.15 0 0.012(h7) 0 22 0.033(h8)
Model PK543-A PK543-B PK544-A PK544-B PK545-A PK545-B
L1 33 39 47
L2
4.5
Mass kg 0.21 0.27 0.35
15
L2 L1
20 1 15 0.25
42 31 0.2
31 0.2 42
0.15
48 54 62
4.5
2 10 Motor Leads 300 mm Length UL Style 3265, AWG26 4 M3 4.5 Deep

Introduction

1 0 0.015(h7) 0 36 0.039(h8)
60 mm
Model PK564-AE PK564-BE PK566-AE PK566-BE PK569-AE PK569-BE L1 46.5 57.5 87 L2 Mass kg 20 69.5 80.5 110 0.6 0.8 1.3
0 0.015(h7)
L2 23
0.25 1
24 L1 7 1.5 20
AC Input
60 4.5 Thru
AS
0.25
50 0.35 60
DC Input
ASC
50
0.35
AC Input
5-Phase RK
85 mm
0 0.018(h7)
L2
L1 66 96 126 L2 Mass kg 1.7 2.8 3.8
37 L1 10 2
1
0 0.018(h7)
34
Model PK596-AE PK596-BE PK599-AE PK599-BE PK5913-AE PK5913-BE
85 70 0.35 4 6.5 Thru
14
14
100 130 160
0.25
0 0.046(h8)
25
25
0.25
5-Phase CRK
60
70 0.35 85
DC Input
2-Phase CMK

Specifications, Characteristics C-243 / Dimensions C-245
C-245
C-246
Stepping Motors
Stepping Motors
Introduction AS ASC
Controllers
Accessories
Installation
AC Input
DC Input
AC Input
DC Input
Controllers
Controllers
SG8030JY C-248
Page
C-247
5-Phase RK
5-Phase CRK
2-Phase CMK
2-Phase CSK
Motor shaft speed
Motor shaft speed
Speed
C-248
Stepping Motors
RoHS-Compliant Controller with Jerk Limiting Control Function Step-Select Positioning Type/Sequential-Step Positioning Type
SG8030JY
Controller for Stepping Motor
The SG8030JY incorporates a jerk limiting control function that minimizes vibrations during motor operation. Operation pulse is 200 kHz maximum. All operations including data setting can easily be performed using the four touch pads on the top panel. In addition, the number of signal lines is reduced to a minimum for easy connection.
DIN Rail Mounting Model
Recessed Mounting Model
Features
b Jerk Limiting Control Function Suppresses Motor Drive Vibrations
The "Jerk limiting control function" effectively minimizes vibrations during motor drive and stop. This is especially useful in applications such as driving a belt pulley, to ensure smooth motion of transported works.
Measurement conditions Application: Belt drive Operation mode: Positioning operation Load: 10 kg Motor vibrations when switching between acceleration/deceleration and constant speed cause mechanical vibrations.
b 1-Pulse Output/2-Pulse Output Mode Select Possible

The controller provides both the 1-pulse output mode and 2-pulse output mode, which makes it compatible with a wide range of motor drivers.
b Top Panel Single Interface for All Settings and Operation Checks
All operations including setting of various data can be performed using the four touch pads on the top panel. You can also check the status of each operation simply by checking the display on the top panel.
Motor vibrations when switching between acceleration/deceleration and constant speed are minimized, resulting in less mechanical vibrations.
Touch Pads
Time
Time
Linear controlled acceleration/deceleration pattern
Jerk controlled acceleration/deceleration pattern
b 48 mm 48 mm DIN Size and Two Mounting Configurations are Provided.

The unit is very compact, measuring only 48 mm (W) 48 mm (D) 84 mm (H). Two mounting configurations are available, for DIN rail mounting and recessed mounting.
48 mm
bThese diagrams are simulated. Actual effect will differ depending on mechanical construction.
To achieve the same positioning time with jerk controlled acceleration/deceleration, set the acceleration/deceleration rate to 1/2 that of linear controlled acceleration/deceleration.
b Sequential-Step Positioning Operation/External Signal Operation Possible

In "Sequential-step positioning operation," the start signal always causes execution from step No. 1 in a preselected sequence. In "External signal operation," when the CW scan (or CCW scan) signal input goes ON, operation starts. When the signal goes OFF, slowdown stop occurs. This is useful for moving the work manually to a desired position.
Step No.1 Step No.2 Step No.3
84 mm
<DIN Rail Mounting Model>
<Recessed Mounting Model>
b
Step No.4
RoHS-Compliant
The SG3080JY conforms to the RoHS Directive that prohibits the use of six chemical substances including lead and cadmium.
<Sequential-Step Positioning>
b Configuration Example of Combination with Stepping Motors
Time ON OFF
CW (CCW) Scan OFF

CW (CCW) Scan
CW (CCW) Scan ON
<Operation of External Signals>
Stepping Motors (Sold separately) Page C-12 RK Series Page C-82 CRK Series Page C-114 CMK Series Page C-146 CSK Series Page C-170 Programmable Controller (Not supplied) 24 VDC Power Supply (Not supplied)
b Maximum Oscillation Frequency 200 kHz

The "Maximum oscillation frequency of 200 kHz" allows motor control in micro steps.
SG8030JY
Stepping Motors
Product Line
Type DIN Rail Mounting Model Recessed Mounting Model Model SG8030JY-D SG8030JY-U
The following items are included in each product. Controller, Flush Mounting Socket, Recessed Mounting Adapter, Operating Manual Only for SG8030JY-U
Specifications
Model Number of Control Axes Number of Settings Positioning Data Setting Mode Setting Method Mode Positioning Control Move Distance Setting Range Starting Pulse Speed Setting Range (VS) Operating Pulse Speed Setting Range (VR) Acceleration/Deceleration Rate Setting Range (TR) SG8030JY-D SG8030JY-U 1 axis 4 steps Set with touch pads on top panel (stored in EEPROM) Incremental mode (point to point) Sequential-step positioning Step-select positioning Incremental 1 99 999 pulses 100 Hz 10 kHz (100 Hz units) 100 Hz 200 kHz (100 Hz units) 1 100 ms/kHz (28 rates) 1-pulse output/2-pulse output mode select possible Positioning operation (INDEX operation) Return to mechanical home operation (HOME operation) Continuous operation (SCAN operation) 1-pulse operation (JOG operation: Test mode only) External input mode (EXT) Program mode (PROG) Test mode (TEST) Sensor detection of home through designation of mechanical home detection direction of rotation 24 VDC photocoupler input, input resistance 4.7 k Current sinking input PNP transistor output linked to photocoupler 24 VDC, 25 mA max., Current sourcing output DC Input
2-Phase CMK Introduction
AC Input DC Input
AS
Pulse Output Mode
ASC
Control Modes
AC Input
5-Phase RK
Operation Modes Number of Maximum Return Pulses Return to Mechanical Home Function Input Signal Output Signal Power Source Ambient Temperature Ambient Humidity
5-Phase CRK
24 VDC 5% current consumption 0.1 A 40C (non-freezing) 0 20 85% (non-condensing)
The following 28 acceleration/deceleration rates can be selected. [unit: ms/kHz] 1, 2, 4, 5, 6, 8, 10, 12, 14, 15, 16, 18, 20, 22, 24, 25, 26, 28, 30, 35, 40, 45, 50, 60, 70, 80, 90, 100
2-Phase CSK

b DIN Rail Mounting Model
SG8030JY-D
Mass: 0.17 kg
Flush Mounting Socket (Included)

83.7 max.
50 max. 40 0.2 31.2 max. 1.2 5
48
5.5
0.7
44.5
2
44.5 44.5
4.5 Thru
70 max. 35.4
48
48
11 M3.5 7.8
8.4
Controllers
4.5
b Recessed Mounting Model

Accessories
SG8030JY-U
Mass: 0.15 kg
Panel Mounting Cut-Out Dimensions

Panel Thickness Range (1 4 mm) Recessed Mounting Adapter Rear Connection Socket
0.5 0
45
Installation
45
48
0.5 0
58
5.5
106 max.
Specifications C-249 / Dimensions C-249 / Connection and Operation C-250
C-249
SET Key Down Key MODE Key Up Key
Connection Socket Signal Table

Pin No. 1
Signal Name Operation Mode Input GND 24V BUSY HOMELS Start Pulse/CW Pulse Rotation Direction/CCW Pulse External Stop S: CW Scan D: M0 [CW Scan] S: CCW Scan D: M1 [CCW Scan]
I/O Input Input Input Output Input Input Output Output Input Input Input
C-250
Stepping Motors

b Names and Functions of Controller Parts
External Input Mode LED Program Mode LED Test Mode LED Data Display EXT (LED): Lights up when external input mode is selected. PROG (LED): Lights up when program mode is selected. TEST (LED): Lights up when test mode is selected. Data display: Shows operation and setting status. MODE key: Switches control mode key: Changes data key: Changes data SET key: Stores set data
Function S: Switching positioning/home detection operation D: Switching positioning/home detection operation and continuous operation GND connecting terminal 24 VDC power supply input terminal Output during pulse oscillation Mechanical home detection sensor Start signal 1 pulse output mode: Pulse 2 pulse output mode: CW Pulse 1 pulse output mode: Direction of rotation 2 pulse output mode: CCW Pulse Stop all operations (including busy output) S: CW continuous operation D: M0 data select signal [CW continuous operation] S: CCW continuous operation D: M1 data select signal [CCW continuous operation]
2 3 4 5 6 7 8 9 10
11
b Indications in brackets [ ] apply to state when mode switching signal was input. Only pins 1, 10 and 11 differ for sequential-step positioning and step-select positioning. "S" in the table indicates sequential-step positioning and "D" indicates step-select positioning.
b Wiring Diagram
24 VDC Power Supply 24 V GND SG8030JY Pin No.
Driver
Programmable Controller GND 24 V Busy
Operation Mode Switch
HOMELS 1 Start External Stop CW Scan <M0> CCW Scan <M1> E E 2 E E
1 2 3 4 5 6 7 8 9 10 3 11
Pulse /CW Pulse
Pulse (CW Pulse) Direction (CCW Pulse)
1 Use normal open (NO) limit control of the mechanical home sensor. 2 Power for the external stop input signal must always be ON during normal operation. When not using the external stop input signal, always connect to the 24 V terminal. 3 Names in < > brackets are for step-select positioning mode. Notes: b External resistor does not need to be installed on the pulse outputs, because they contain constant current circuits. b Note that the length of the pulse signal line increases, the maximum transmission frequency decreases.
Rotation Direction /CCW Pulse
b Description of Input/Output Signal

Output Signals to Driver Input Signals from Programmable Controller and Limit Sensor
Pin No. 1, 5, 6, 9, 10, 11
Output Signals to Programmable Controller

24 V
12 mA max. Pin No. 7, 8

Constant Current Circuit
4.7 k 680
10 k Pin No. 4 10 k 0V
120 0V
0V
0V
0V
Stepping Motors
Introduction
Stepping Motors
Accessories
AS ASC 5-Phase RK 5-Phase CRK 2-Phase CMK 2-Phase CSK 2-Phase Stepping Motors 5-Phase Stepping Motors Controllers Accessories
Accessories
Installation
Page
Cables Flexible Couplings Clean Dampers Motor Mounting Brackets DIN Rail Mounting Plate
C-252 C-258 C-264 C-266 C-270
C-251
C-252
Stepping Motors
Cables
Various cables provide convenient connection between a motor, driver and controller.
Type of Cables
General-Purpose Type or Connector--Terminal Block Conversion Unit
Motor Cable
Controllers
Driver Stepping Motor
or
Driver Cable
Personal Computer
Communication Cable
Motor Cables
These cables are available to extend the distance between the motor and the driver for and RK Series, or connect a high-torque type motor to a driver.
Cable Name Extension Cables Extension Cables for Electromagnetic Brake Motor Flexible Extension Cables Flexible Extension Cables for Electromagnetic Brake Motor Motor Cables for IP65 Rated Motor Flexible Motor Cables for IP65 Rated Motor Extension Cables Motor Cable Page C-253 1 Applicable Product
Driver Cables
Use these cables to connect the driver of the or RK Series to a controller. Choose the general-purpose type to be combined with a connector appropriate for the specific controller used, or the connector-terminal block conversion unit that permits connection between the driver and host controller using a terminal block.
Cable Name C-253 2 Driver Cables General-Purpose Type ConnectorTerminal Block Conversion Unit C-254 3 C-254 4 C-254 5 RK Series RK Series 2-Phase PK Series CRK Series CMK Series 2-Phase PK Series CRK Series CMK Series 2-Phase PK Series Page C-256 1 C-256 2 Applicable Product RK Series RK Series
Lead wire set is available for connection between DC input driver and motor, controller, and power supply. As driver side of the cable is crimped with connector, easy connection is possible.
Cable Name Driver Lead Wire Set Page C-257 3 Applicable Product CRK Series CMK Series
Motor Lead Wire/Connector Assembly
C-255 6
Motor Connector Set

Only for connector-coupled motors
C-255 7
The driver lead wire set includes three lead wire/connector assemblies (for motor, input/output signal and power supply).
Communication Cable
This cable is used to connect personal computer and the AS Series built-in controller (stored program) package through an RS-232C connection.
Cable Name Communicaiton Cable Page C-257 4 Applicable Product AS Series Built-In Controller (Stored Program) Package
For Motor
Stepping Motor Driver
For Input/ Output Signal Controllers
For Power Supply
Power Supply
Stepping Motors
Motor Cables
1 Extension Cables Extension Cables for Electromagnetic Brake Motor (For )
These cables are used to connect motors and drivers.
2 Flexible Extension Cables Flexible Extension Cables for Electromagnetic Brake Motor (For )
Theses flexible extension cables are used between motors and drivers. We recommend this cable when the motor is installed on a moving section and the cable is bent and flexed.
Introduction
AC Input DC Input
AS
Product Line
b Extension Cables b Extension Cables for Electromagnetic Brake Motor
Model CC01AIPM CC02AIPM CC03AIPM CC05AIPM CC07AIPM CC10AIPM CC15AIPM CC20AIPM Length L (m) 1 2 3 5 7 10 15 20
Product Line
b Flexible Extension Cables b Flexible Extension Cables for Electromagnetic Brake Motor
Model CC01SAR CC02SAR CC03SAR CC05SAR CC07SAR CC10SAR Length L (m) 1 2 3 5 7 10 Model Length L (m) 1 CC01SARM2 2 CC02SARM2 3 CC03SARM2 5 CC05SARM2 7 CC07SARM2 10 CC10SARM2
42 mm, use a flexible extension
ASC 5-Phase RK
AC Input
Model CC01AIP CC02AIP CC03AIP CC05AIP CC07AIP CC10AIP CC15AIP CC20AIP
Length L (m) 1 2 3 5 7 10 15 20
5-Phase CRK
Notes: b Electromagnetic brake models must use an extension cable for an electromagnetic brake motor. But for electromagnetic brake motor with motor frame size 42 mm, use an extension cable for standard motor. b ASC Series cannot use extension cables of 15 m and 20 m.
Note: b For electromagnetic brake motor with motor frame size cable for standard motor.
DC Input
2-Phase CMK
Dimensions
12
(Unit = mm)
b For Standard Motor

L (14.5) 11.6
22.2
2-Phase CSK
Dimensions
12
(Unit = mm)
(30) 24.3
b For Standard Motor

L (14.5) 11.6
22.2
Motor Side
9.5
Driver Side
b For Electromagnetic Brake Motor

12 L (14.5) 11.6
22.2
(30) 24.3
Motor Side
Driver Side
(30) 24.3
b For Electromagnetic Brake Motor

12
(30) 24.3
(14.5) 11.6
22.2
9.5 Electromagnetic Brake Leads 60 mm Length (Orange, Gray AWG22) Motor Side Driver Side
8 Electromagnetic Brake Leads 60 mm Length (Orange/Black, Gray AWG24) Motor Side
Notes on Use of a Flexible Extension Cable

Driver Side
Controllers
Do not allow the cable to bend at the cable connector.
Keep the bending radius to 60 mm or more.
Accessories
The motor cable is not a flexible cable. If the motor cable is to be bent, bend it at the flexible extension cable.
Motor Cable (Affix the cable.) Driver
Installation
Motor
Flexible Extension Cable (Possible to bend)
C-253
22.2
22.2
C-254
Stepping Motors
3 Motor Cables for IP65 Rated Motor Flexible Motor Cables for IP65 Rated Motor (For )
4 Extension Cables
(For RK Series)
These extension cables are used between RK Series motors and dedicated drivers (except for electromagnetic brake type). They come in three lengths: 5 m, 10 m and 20 m.
These motor cables must be used for connection between the AS Series IP65 rated motor and the driver. Any IP65 rated motor cannot be driven without these cables. One end of the cable connects to the metal connector on the motor, while the other end connects to the driver. Use a flexible motor cable if the motor is installed on a moving part and its cable will be flexed.
Product Line
Model CC05PK5 CC10PK5 CC20PK5 Length (m) 5 10 20 Conductors 5
Product Line
b Motor Cables for IP65 Rated Motor
Model CC01AST CC02AST CC03AST CC05AST CC07AST CC10AST CC15AST CC20AST Length L (m) 1 2 3 5 7 10 15 20
b Flexible Motor Cables for IP65 Rated Motor

Model CC01SAR2 CC02SAR2 CC03SAR2 CC05SAR2 CC07SAR2 CC10SAR2 Length L (m) 1 2 3 5 7 10
b Conductor configuration: 5 b Conductor size: AWG22 (0.3 mm2) b Finished outer diameter: 7.2 mm b Cable rating: 105C b Outer casing: Oil-resistant, heat-resistant, non-migrating vinyl Note: b These extension cables are only for the RK Series. Do not use them on other stepping motor and driver packages (such as CRK Series or CMK Series).
5 Motor Cable (For IP65 Rated Motor of RK Series and 2-Phase PK Series)
A cable for connection between the IP65 rated motor and driver (with protective earth wire)
Dimensions
(Unit = mm)
b Motor Cables for IP65 Rated Motor

RC 09S1N1280S1(CONINVERS) 5557 10R(MOLEX)
11.6 14.5
19.6 Driver Side
8 L
51.1
26
Product Line
Model CC03PKT Length (m) 3 Conductors 6
b Conductor configuration: 6 b Conductor size: Motor wire AWG18 (0.75 mm2), protective earth wire AWG14 (2.0 mm2) b Finished outer diameter: 12 mm b Cable rating: 105C 600 V b Outer casing: Heat-resistant, oil-resistant vinyl chloride resin b Applicable standards: UL 758 (AWM) VW-1, UL Style 2586
Motor Side
b Flexible Motor Cables for IP65 Rated Motor

RC 09S1N1280U1(CONINVERS) 5557 10R(MOLEX)
11.6 14.5
19.6 Driver Side
9.5 L
51.1
26
5 4 3 1 2
Protective Earth Wire (Green/Yellow) AWG14 (2.0 mm2) Motor Wire (Black) AWG18 (0.75 mm2) Each core is designated by a number (White). Inclusion Securing Tape Heat-Resistant, Oil-Resistant Vinyl Chloride Resin (Black)
Motor Side
Stepping Motors
6 Motor Lead Wire/Connector Assembly

These lead wires with connectors are available for connection with the connector-coupled motor, eliminating the need for assembling a connector. (A motor lead wire/ connector assembly of 0.6 m is included with the connectorcoupled motor packages.)
Product Line
Model LC5N06A Applicable Product CRK513P P CRK513P P-H CRK52 P P CRK52 PM P CRK523P P-T CRK523P P-N CRK54 P P CRK54 PM P CRK56 PM P CMK22 P P CMK223 P-SG CMK23 P P CMK24 P P Applicable Motor Model PK513P PK513P -H S PK52 P PK52 PM PK523P -T PK523P -N PK54 P PK54 PM PK56 PM PK22 P PK223P -SG PK23 P PK24 P Length (m) 0.6
LC5N10A LC5N06B LC5N10B LC5N06C LC5N10C LC2U06A LC2U10A LC2U06B LC2U10B
1
Introduction
0.6 1 0.6 1 0.6 1 0.6 1
AC Input
AS
b Enter the motor case length in the box ( ) within the model name. Enter A (single shaft) or B (double shaft) in the box ( ) within the model name. Enter the gear ratio in the box ( ) within the model name.
DC Input
ASC
7 Motor Connector Set

A set of connector housings and contacts for use with connectorcoupled motors. Each package contains enough housings and contacts for 30 motors.
This photograph shows CS5N30B.
Product Line
AC Input
5-Phase RK
Model
Applicable Product CRK513P P CRK513P P-H CRK52 P P CRK52 PM P CRK523P P-T CRK523P P-N CRK54 P P CRK54 PM P CRK56 PM P CMK22 P P CMK223 P-SG CMK23 P P CMK24 P P
Applicable Motor Model PK513P PK513P -H S PK52 P PK52 PM PK523P -T PK523P -N PK54 P PK54 PM PK56 PM PK22 P PK223P -SG PK23 P PK24 P
CS5N30A
5-Phase CRK
CS5N30B CS5N30C CS2U30A CS2U30B
DC Input
2-Phase CMK
b Enter the motor case length in the box ( ) within the model name. Enter A (single shaft) or B (double shaft) in the box ( ) within the model name. Enter the gear ratio in the box ( ) within the model name.
2-Phase CSK
Specifications
Model CS5N30A
Connector Housing 51065-0500
Contact
Applicable Crimp Tool 57176-5000
Manufacturer
Applicable Cable AWG30 24 (0.05 0.2 mm2) Outer Sheath Diameter: 1.4 mm max. Strip Length: 1.3 1.8 mm AWG28 22 (0.08 0.3 mm2) Outer Sheath Diameter: 1.15 1.8 mm Strip Length: 2.3 2.8 mm
50212-8100
CS5N30B
51103-0500
50351-8100
57295-5000
CS5N30C
51144-0500
50539-8100
57189-5000
MOLEX
AWG24 18 (0.2 0.75 mm2) Outer Sheath Diameter: 1.4 3 mm Strip Length: 3 3.5 mm AWG30 24 (0.05 0.2 mm2) Outer Sheath Diameter: 1.4 mm max. Strip Length: 1.3 1.8 mm AWG28 22 (0.08 0.3 mm2) Outer Sheath Diameter: 1.15 1.8 mm Strip Length: 2.3 2.8 mm
Controllers
CS2U30A
51065-0600
50212-8100
57176-5000
Accessories
CS2U30B
51103-0600
50351-8100
57295-5000
Note: b The crimp tool is not provided with the package. It must be purchased separately.
C-255
Installation
15
60
33.3
12.7 6.4 Driver Side
10
40
30
Laminate
26 14
Conductor: AWG28 (0.08 mm2)
Shield
15
Terminal Block Pin No.
10
60
10
11 12 13 14 15 16 17 18 19 20 1 2 3 4 5 6 7 8 9 10
36
43.46
33.3
L 12.7 7.5 Driver Side
30
0 10
Laminate 10 3
12.7
39
39
12.7
Controller Side
C-256
33.3
Stepping Motors
Driver Cables
1 General-Purpose Type
This is a shielded cable equipped with, at one end of the cable, the half-pitch connector that snaps and RK into the driver for Series.
2 Connector Terminal Block Conversion Unit

A conversion unit that connects a driver to a host controller using a terminal block. With a signal name plate for easy, one-glance identification of driver signal names DIN-rail mountable Cable length: 1 m
Notes: b Note that as the length of the pulse signal line between the driver and controller increases, the maximum transmission frequency decreases. Technical reference Page F-46 b Install a connector that matches the controller you are using to the other end of the cable.
Product Line
Model CC20D1-1 CC20D2-1 CC36D1-1 CC36D2-1 Length L (m) 1 2 1 2 Applicable Connector AS Series Built-In Controller (Stored Program) Package CN5 (20 Pins), RK Series CN1 (20 Pins) AS Series Pulse Input Package CN4 (36 Pins), AS Series Built-In Controller (Stored Program) Package CN4 (36 Pins), ASC Series CN3 (36 Pins)
CC20T1
CC36T1
Product Line
Model CC20T1 1 CC36T1 Length (m) Applicable Connector AS Series Built-In Controller (Stored Program) Package CN5 (20 Pins), RK Series CN1 (20 Pins) AS Series Pulse Input Package CN4 (36 Pins), AS Series Built-In Controller (Stored Program) Package CN4 (36 Pins), ASC Series CN3 (36 Pins)
Dimensions
(Unit = mm)
CC20D1-1, CC20D2-1
Conductor: AWG28 (0.08 mm2)
Dimensions
Shield 10 3 10
(Unit = mm)
CC20T1
3
1.27
0 10
86 65
2 2
4.5 Mounting Holes 8 Countersink 3.5 Deep 61
DIN Rail 54 3
6.35
Controller Side
1.27 7.62 43
CC36D1-1, CC36D2-1
1000
1.27
Stepping Motors
CC36T1
162 120 2 2 14 4.5 Mounting Holes 8 Countersink 3.5 Deep 61 40
26
6.35
1.27 7.62
81
54 DIN Rail 36
3
Introduction
Terminal Block Pin No.

19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18
AC Input
AS
1000
43.46
43.46
DC Input
ASC
39 12.7
39 12.7
6.2 mm max.
b Recommended Crimp Terminals Terminal screw size: M3 Tightening torque: 1.2 N m Applicable minimum lead wire: AWG22 (0.3 mm2)
AC Input
3.2 mm min.
5-Phase RK
5.8 mm min. 4.2 mm max.

5-Phase CRK
3 Driver Lead Wire Set

DC Input
2-Phase CMK
As an accessory for DC input drivers, lead wires with a connector are available. Crimping is not necessary, and the connection with the motor, power supply, input/output signal is also easy. The driver lead wire set includes three lead wire/connector assemblies (for motor, power supply and input/ output signal).
Product Line
Model LCS04SD5 Applicable Product CRK Series Applicable Driver Length (m) CRD5103P CRD5107P CRD5114P CMD2109P CMD2112P CMD2120P
0.6
Controllers
LCS01CMK2
CMK Series
4 Communication Cable FC04W5

This cable is used to connect personal computer and the AS Series built-in controller (stored program) driver through an RS-232C connection.
Cable Length: 5 m
C-257
C-258
Stepping Motors
Flexible Couplings
A flexible coupling ideal for your motor is available. Once you have decided on a motor and gear, you can select the recommended coupling easily.
Product Line
Model MCS14 MCS20 MCS30 MCS40 MCS55 MCS65
b Enter the inner diameter of coupling in the box ( ) within the model name.
Features of MCS Couplings

This three-piece coupling adopts an aluminum alloy hub and a resin spider. The simple construction ensures that the high torque generated by a geared motor can be transmitted reliably. The proper elasticity of the spider suppresses motor vibration.
Technical reference Page F-46 b High strength (usable for geared motor) has been realized. b A spider (material: polyurethane) controls the vibration generated by the motor. b No backlash
Product Number Code
MCS 30 08 12
MCS Couplings Outer Diameter of Coupling Inner Diameter d1 (Smaller Side) (F04 represents 6.35 mm) Inner Diameter d2 (Larger Side) (F04 represents 6.35 mm)
Coupling Selection Table

b
Model AS ASC ASC34AK ASC36AK ASC46 K ASC34AK-T ASC46 K-T ASC34AK-N ASC46 K-T AS66 CE AS66ACT AS66 CEP AS66ACTP AS69 CE AS69ACT AS69 CEP AS69ACTP AS66 CE-T AS66 CEP-T 7.2, 10, 20, 30 3.6, 7.2, 10 5, 7.2, 10 20, 30 Gear Ratio Motor Shaft Diameter (mm) Type 4 5 6 6.35 Driven Shaft Diameter (mm) 8 10 12 14 15 16 18 20 25
MCS14
6 8 6
MCS20
ASC66 K 8
ASC66 K-T ASC34AK-H ASC46 K-N
3.6, 7.2 50, 100 7.2, 10 10
MCS30
AS98 CE AS98ACT AS98 CEP AS98ACTP AS911ACE AS911ACT AS911ACEP AS911ACTP AS66 CE-T AS66 CEP-T AS66 CE-P AS66 CE-N AS66 CEP-N AS98 CE-T AS98 CEP-T AS66 CE-P AS66 CE-N AS66 CEP-N AS66 CE-H AS66 CEP-H ASC66 K-N ASC66 K-H ASC66 K-N ASC66 K-T ASC46 K-H 10, 20, 30 50, 100 5, 7.2 5, 7.2 3.6, 7.2, 10, 20, 30 10, 25, 36, 50 10, 25, 36, 50 50, 100
14
8 10 12 MCS40
12
MCS55
Stepping Motors
Model AS AS98 CE-P AS98 CE-N AS98 CEP-N AS98 CE-H AS98 CEP-H ASC
Gear Ratio 5, 7.2, 10, 25, 36, 50 5, 7.2, 10, 25, 36, 50 50, 100
Motor Shaft Diameter (mm)
Type
6.35
Driven Shaft Diameter (mm) 8 10 12 14 15
16
18
20
25
18
MCS65
Introduction
b 5-Phase Packages
Model RK Gear Ratio CRK CRK513P P 50, 100 CRK513P P-H CRK523PM P CRK524PM P CRK525PM P CRK544PM P CRK546PM P CRK523P P CRK525P P CRK544P P CRK546P P CRK543 P CRK544 P CRK545 P 7.2, 10, 20, 30 CRK523P P-T CRK543 P-T3.6 3.6 7.2, 10 CRK543 P-T Motor Shaft Diameter (mm) 4 Type 4 5 6 6.35 Driven Shaft Diameter (mm) 8 10 12 14 15 16 18 20 25 AC Input DC Input
AS ASC
MCS14
AC Input
5-Phase RK
6 6
RK564 CE RK566 CE RK564ACT RK566ACT RK564AMCE RK566AMCE
5-Phase CRK
CRK564 P CRK566 P
8 5, 7.2, 10 5 5, 7.2 20, 30
MCS20 DC Input
CRK523P CRK545 CRK544 CRK543 RK569 CE RK569ACT RK569AMCE RK564 CE-T
P-N P-P5 P-N P-T
2-Phase CMK
10 6
CRK564PM P CRK566PM P CRK569 P CRK564 P-T CRK543 P-P25 CRK545 P-P CRK569PM P CRK544 P-N10 3.6, 7.2 25 7.2, 10 10
2-Phase CSK
8 MCS30 10
RK596 CE RK596ACT RK596AMCE RK564 CE-T RK566 CE-P RK566 CE-N RK596 CE-T RK564 RK566 RK564 RK566 RK564 CE-P CE-P10 CE-N CE-N10 CE-H CRK564 CRK566 CRK564 CRK566 CRK564 P-P P-P10 P-N P-N10 P-H CRK543 CRK564 CRK543 CRK566 CRK566 P-P P-T P-H P-P P-N 36, 50 10, 20, 30 50, 100 5, 7.2 3.6, 7.2, 10, 20, 30 25, 36, 50 10 25, 36, 50 10 50, 100
14
8 10 12 MCS40
12
Accessories
RK599 CE RK5913 CE RK599ACT RK5913ACT RK599AMCE RK5913AMCE RK599 RK599 RK596 RK599 RK596 RK599 RK596 CE-P5 CE-N5 CE-P CE-P CE-N CE-N CE-H 5 25, 36, 50 7.2, 10 25, 36, 50 7.2, 10 50, 100
MCS55 14
Installation
18
18
MCS65
C-259
C-260
Stepping Motors
b 5-Phase Stepping Motors

5-Phase Stepping Motors PK PK543- , PK544- , PK545PK564- E, PK566- E PK569- E PK596- E PK599- E, PK5913- E Gear Ratio Motor Shaft Diameter (mm) 5 8 8 14 14 Type MCS14 MCS20 MCS30 MCS55 4 5 6 Driven Shaft Diameter (mm) 8 10 12 14 6.35 15 16
b 2-Phase Packages, 2-Phase Stepping Motors

Model CMK CMK22 P P CMK23 P P CMK244P P CMK24 M P P CMK24 CSK 2-Phase Stepping Motors PK PK22 PK23 PK24 PK24 PK24 PK24 PK24 PK24 P P -01 -02 -03 M-01 M-02 M-03 7.2, 9, 10, 18, 36 3.6, 7.2, 9, 10, 18, 36, 50, 100 CSK243 T-SG CMK246P P PK243 1-SG PK24 P PK256-02 PK264-01 PK264-02 PK264-03 PK264-E2.0 PK266-01 PK266-02 PK266-03 PK266-E2.0 PK264M-01 PK264M-02 PK264M-03 PK264M-E2.0 PK266M-01 PK266M-02 PK266M-03 PK266M-E2.0 PK264DAT PK266DAT PK264JD PK264J PK264 E-SG PK258-02 PK268-01 PK268-02 PK268-03 PK268-E2.0 PK268M-01 PK268M-02 PK268M-03 PK268M-E2.0 PK268DAT PK266JD PK266J PK267JD PK267J CMK264 P-SG CSK264 T-SG PK264 E-SG PK269JD PK269J PK296 E-SG PK296 E-SG PK299-E4.5 PK2913-E4.0 PK299EAT PK2913EAT
b Enter A (single shaft) or B (double shaft) in the box ( ) within the model name. Enter the motor case length in the box ( ) within the model name. Enter the gear ratio in the box ( ) within the model name.
Gear Ratio
Motor Shaft Diameter (mm)
Type 4 5 6
Driven Shaft Diameter (mm) 6.35 8 10 12 14 15 16
CSK24 - T CSK24 M T
MCS14
CMK223 P-SG CMK243 P-SG
PK223P -SG
3.6, 7.2, 9, 10, 18, 36 5
CMK264M P CMK266M P CMK256 P CMK264 P CMK266 P
CSK264- T CSK266- T CSK264M T CSK266M T
6.35 MCS20
8 3.6, 7.2
CMK264 P-SG
CSK264 T-SG
CMK268M P CMK258 P CMK268 P
CSK268- T CSK268M T
6.35
MCS30
8 9, 10, 18, 36, 50, 100 9, 10, 18, 36 8 3.6, 7.2, 9 10, 18, 36 12 12 14 MCS55 MCS40
Stepping Motors
Specifications
Model Dimensions Outer Length Axis Hole Axis Hole Diameter Diameter Diameter d1 H7 d2 H7 mm mm mm mm 4 4 4 5 5 6 5 5 5 5 6 6 6 6 6.35 6.35 6.35 8 8 10 6 6 6 6 6.35 6.35 6.35 8 8 8 10 10 10 12 12 14 14 8 8 8 8 10 10 10 12 12 12 12 12 12 14 14 14 15 16 18 18 16 18 18 18 4 5 6 5 6 6 5 6 6.35 8 6 6.35 8 10 6.35 8 10 8 10 10 6 6.35 8 10 6.35 8 10 8 10 12 10 12 14 12 14 14 16 8 10 12 15 10 12 15 12 15 12 14 15 16 14 15 16 18 18 18 20 18 18 20 25 8 b: 2 0.0125 0.1 t: 1 0 10 b: 3 0.0125 0.1 t: 1.4 0 12 b: 4 0.015 0.1 t: 1.8 0 14 b: 5 0.015 0.1 t: 2.3 0 15 b: 5 0.015 0.1 t: 2.3 0 17.0 139 42.29 10-6 859.5 0.06 0.9 1.2 0 Key Slot Tolerance b/t mm Normal Torque Nm Mass Inertia Static Torsion Spring Constant N m/rad Permissible Eccentricity mm Permissible Declination deg Permissible End Play mm
kg m2
MCS140404 MCS140405 MCS140406 MCS140505 MCS140506 MCS140606 MCS200505 MCS200506 MCS2005F04 MCS200508 MCS200606 MCS2006F04 MCS200608 MCS200610 MCS20F04F04 MCS20F0408 MCS20F0410 MCS200808 MCS200810 MCS201010 MCS300606 MCS3006F04 MCS300608 MCS300610 MCS30F04F04 MCS30F0408 MCS30F0410 MCS300808 MCS300810 MCS300812 MCS301010 MCS301012 MCS301014 MCS301212 MCS301214 MCS301414 MCS301416 MCS400808 MCS400810 MCS400812 MCS400815 MCS401010 MCS401012 MCS401015 MCS401212 MCS401215 MCS551212 MCS551214 MCS551215 MCS551216 MCS551414 MCS551415 MCS551416 MCS551518 MCS551618 MCS551818 MCS551820 MCS651618 MCS651818 MCS651820 MCS651825
14
22
2.0
6.7
0.184 10-6
22.9
0.06
0.9
0.6 0
Introduction
AC Input
AS
20
30
5.0
19.8
1.059 10-6
51.6
0.08
0.9
0.8 0
DC Input AC Input
30
35
12.5
44.6
6.057 10-6
171.9
0.09
0.9
1.0 0
DC Input
40
66
55
78
16 b: 5 0.015 0.1 t: 2.3 0 18 b: 6 0.015 0.1 t: 2.8 0
60.0
282
109.1 10-6
2063
0.10
0.9
1.4 0
Controllers
20 b: 6 0.015 0.1 t: 2.8 0 25 b: 8 0.018 0.2 t: 3.3 0 160.0 535 417.1 10-6 3438 0.11 0.9 1.5 0
65
90
C-261
d1
d2
14
d2 20
d1
d1
d2 30
d1
d2 40
46
C-262
Stepping Motors
Dimensions
MCS14
Mass: 6.7 g
(Unit = mm)
22 7 3.5 7 3.5 2 M2 Allen-Head Bolt
16.5
MCS20
Mass: 19.8 g
30 10 5 10 5 2 M2.5 Allen-Head Bolt
23.4
MCS30
Mass: 44.6 g
35 11 5 11 5 2 M3 Allen-Head Bolt
32.2
MCS40
Mass: 139 g
66 25 12 25 12 2 M6 Allen-Head Bolt
Stepping Motors
MCS55
Mass: 282 g
78 30 10.5
b
30 10.5 2 M6 Allen-Head Bolt
d1
d2 55
Introduction
t
AC Input
b 57
AS
MCS65
Mass: 535 g DC Input
90 35 11.5 35 11.5 2 M8 Allen-Head Bolt
ASC
AC Input
5-Phase RK
d1
d2 65
5-Phase CRK
DC Input
2-Phase CMK
b 73
Mounting to a Shaft
b Clamp Type
Clamp couplings use the tightening force of the screw to compress the shaft hole diameter and thereby fasten the coupling to the shaft. This does not damage the shaft and is easy to mount and remove.
The following table shows the screw tightening torque. We recommend use of a torque wrench to fasten the coupling.
Type Tightening Torque
Nm
MCS14 0.37
MCS20 0.76
MCS30 1.34
MCS40 10.5
MCS55 10.5
MCS65 25.0
Alignment Adjustment
Flexible couplings tolerate misalignment of the axis center and transfer rotational angle and torque, but produce vibration when the permissible value for misalignment is exceeded. This can dramatically shorten the coupling's service life. This requires alignment adjustment. Misalignment of the axis center includes eccentricity (parallel error of both centers), declination (angular error of both centers) and end play (shaft movement in the axial direction). To keep misalignment within the permissible value, always check and adjust the alignment. To increase the service life of the coupling, we recommend keeping misalignment below 1/3 of the permissible value.
Straight Edge Eccentricity Declination End Play
Notes: b When misalignment exceeds the permissible value or excessive torque is applied, the coupling's shape will deform, and service life is shortened. b When the coupling emits a metallic sound during operation, stop operation immediately and ensure there is no misalignment, axis interference or loose screws. b When load changes are large, apply an adhesive to the coupling set screw to prevent it from loosening.
C-263
bExcellent vibration absorption The doughnut-shaped internal inertia body and silicon gel absorb vibration. This feature enables a stable damping effect. bSince there is no frictional dust as in conventional magnetic dampers, it can be used in environments where higher degrees of cleanness is needed. bHigh reliability bIt holds up well in harsh environments and changes little with age because the silicon gel and plastic case used are heat resistant. bMachine part is sealed hermetically in a plastic case. This ensures safety and doesn't generate noise. bThis clean damper is an accessory for double shaft types. It can be used with various geared motors of double shaft type.
Shaft Holes
V EX
TA
Product Line
Model D4CL-5.0F D6CL-6.3F D6CL-8.0F D9CL-14F
Installation of the Clean Damper
Point the mounting screws of the clean damper toward the motor case, fasten to the shaft and tighten the damper's mounting screws (two places) with an allen wrench to secure it to the shaft.
Model Tightening Torque Nm D4CL-5.0F D6CL-6.3F D6CL-8.0F D9CL-14F 0.4 1.5
Notes: b There are mounting screws with hexagonal holes in two damper locations, so tighten them both before running the motor. b The damper rotates at the same speed as the motor shaft, so do not touch it while the motor is running.
Dimensions
D C
(Unit = mm)
Model d1 5 6.35 8 14
0.018 0
A 36 0.5
d1
D4CL-5.0F D6CL-6.3F
0.022 0
2 E
44.5 0.5 D6CL-8.0F D9CL-14F

0.022 0
C-264
d1 B
0.027 0
79.5 0.5
VE V
Stepping Motors
Clean Dampers
Mechanical dampers suppress stepping motor vibration and improve high-speed performance. An inertia body and silicon gel are hermetically sealed in a plastic case.
Features
XT XT A A
Ring Silicon Gel Inertia Body Case
<Clean Damper Structure>
B 13 0.5
C 9 0.3
D 15 0.5
E M3
20 0.5
15 0.3
22 0.5
M4
26 0.5
11 0.3
19 0.5
M4
Stepping Motors
Clean Damper Selection Table

Model Inertia kg m2 Mass g Applicable Product RK 5-Phase Stepping Motors 2-Phase Stepping Motors CMK22 PBP CMK23 PBP CMK24 PBP CMK24 MBP CMK24 BP CMK223BP-SG CMK243BP-SG CSK243BT-SG CSK24 -BT CSK24 MBT PK22 PB PK23 PB PK223PB-SG PK243B1-SG PK24 PB PK24 -01B PK24 -02B PK24 -03B PK24 M-01B PK24 M-02B PK24 M-03B CMK26 MBP CMK25 BP CMK26 BP CMK264BP-SG CSK26 -BT CSK26 MBT CSK264BT-SG PK25 -02B PK26 -01B PK26 -02B PK26 -03B PK26 -E2.0B PK26 M-01B PK26 M-02B PK26 M-03B PK26 M-E2.0B PK264BE-SG RK56 BCE RK564BCE-T RK56 BCE-P RK56 BCE-N RK564BCE-H RK59 BCE RK596BCE-T RK59 BCE-P RK59 BCE-N RK596BCE-H CRK56 BP CRK56 PMBP CRK564BP-T CRK56 BP-P CRK56 BP-N CRK564BP-H PK56 -BE
D4CL-5.0F
34 10-7
24
CRK52 PBP CRK52 PMBP CRK523PBP-T CRK523PBP-N CRK54 BP CRK54 PBP CRK54 PMBP CRK543BP-T CRK54 BP-P CRK544BP-N CRK543BP-H PK54 -B
Introduction
AS ASC 5-Phase RK
D6CL-6.3F
140 10-7
62
5-Phase CRK
DC Input
2-Phase CMK
D6CL-8.0F
140 10-7
61
PK26 JB PK26 JDB
2-Phase CSK
D9CL-14F
870 10-7
105
PK59 -BE
PK29 -E4.5B PK2913-E4.0B PK296BE-SG
Ambient Temperature: 20 to 80C b Enter the motor case length in the box ( ) within the model name. Enter the gear ratio in the box ( ) within the model name.
C-265
C-266
Stepping Motors

Mounting brackets are convenient for installation and securing a stepping motor and geared stepping motor.
Product Line
b Standard Type, High-Torque Type, High-Speed Type, High-Resolution Type
Material: Aluminum alloy
Applicable Product Model RK CRK 5-Phase Stepping Motors 2-Phase Stepping Motors CMK24 P P CMK24 M P P CMK24 CSK24 - T CSK24 M T PK24 P PK24 -01 PK24 -02 PK24 -03 PK24 M-01 PK24 M-02 PK24 M-03
PAL0P
ASC46 K
P CRK54 CRK54 P P CRK54 PM P
PK54 -
PAL2P-5
AS66 CE AS66ACT AS66 CEP AS66ACTP ASC66 K AS69 CE AS69ACT AS69 CEP AS69ACTP
CE RK56 RK56 AMCE RK56 ACT
P CRK56 CRK56 PM P
PK56 - E
PAL2P-2
CMK26 MP P CMK26 CSK26 - T CSK26 M T PK26 J PK26 JD PK26 -01 PK26 -02 PK26 -03 PK26 M-01 PK26 M-02 PK26 M-03 PK26 DAT PK26 -E2.0 PK26 M-E2.0 AS98 CE AS98ACT AS98 CEP AS98ACTP AS911ACE AS911ACT AS911ACEP AS911ACTP
PAL4P-5
PK59 - E
PAL4P-2
PK29 EAT PK29 -E4.5 PK2913-E4.0
b Enter A (single shaft), B (double shaft) or M (electromagnetic brake) in the box ( ) within the model name. Enter the motor case length in the box ( ) within the model name. b The mounting bracket base is built with holes large enough to allow for alignment adjustments in the horizontal direction. b These mounting brackets can be perfectly fitted to the pilot of the stepping motors. (Except for PAL0P) Note: b They cannot be used with geared stepping motors.
Stepping Motors
b Geared Type
Material: Aluminum alloy
Model SOL0A
RK
Applicable Product CRK
2-Phase Stepping Motors CMK243 P-SG CSK243 T-SG PK243 1-SG
SOL0B
ASC46 K-T AS66 CE-T AS66 CEP-T ASC66 K-T AS66 CE-P AS98 CE-T AS98 CEP-T AS98 CE-P
CRK543 P-T CRK545 P-P CRK543 P-P RK564 CE-T RK566 CE-P RK564 CE-P RK596 CE-T RK599 CE-P RK596 CE-P CRK564 P-T CRK566 P-P CRK564 P-P AC Input PK296 E-SG CMK264 P-SG CSK264 T-SG PK264 E-SG
Introduction
SOL2A SOL2B SOL5A SOL5B
AS
b Enter A (single shaft), B (double shaft) or M (electromagnetic brake) in the box ( ) within the model name. Enter the gear ratio in the box ( ) within the model name. b Install SOL2A and SOL2B using the supplied screws. No screws are supplied for installing SOL0A, SOL0B, SOL5A and SOL5B. Appropriate screws must be purchased separately.
DC Input
ASC
Motor Installation Direction

The motor cable comes out at right angles to the motor. Orientate the motor so that the cable faces either upwards or sideways.
AC Input
Cable Facing Upward
Cable Facing Sideways
DC Input
2-Phase CMK
Mounting the Motor

1 PAL2P-5, PAL2P-2, PAL4P-5, PAL4P-2 2 PAL0P, SOL0A, SOL0B, SOL2A, SOL2B, SOL5A, SOL5B
Use the screws to secure the motor to the mounting bracket. Attach the motor from the direction shown by the arrow (B).
Use the screws to secure the motor to the mounting bracket. Attach the motor from the direction shown by the arrow (B).
C-267
48 24
3.5
42 31 0.3
37.6
0.5 0
0.3
50
0.3
29 6
31
11
R1 5
11
68
68
38.10.1
0.3
36
0.3 0.1
47.140.1
0.1
40
6.5 1
7.5
4 55
32 83
4 55
32 83
b Screws (Included) M4 Length 12 mm
4 Pieces
4 Pieces
PAL4P-5
13.6
Mass: 250 g 35 6.6
30
93
R2
8 86 70 0.1
0.3 .1 0
4 M5
0.1
60
70
19 2
6 80
50 112
10 56
0.1
99
4 Pieces
C-268
7.5 400.1 70
50
0.1
70
1.5
6.5 1.5
Stepping Motors
Dimensions
PAL0P
Mass: 35 g
(Unit = mm)
23 3.5 5.5 23 15
60 45
PAL2P-5
Mass: 110 g 25 20 6 3.5 4.4
PAL2P-2
Mass: 110 g
25 4.4
20 3.5 6
5 R1
4 M4
62 50 0.1
4 M4
62 47.140.1
Stepping Motors
PAL4P-2
Mass: 250 g
SOL0A
Mass: 85 g
35
13.6
6.6
30 5 8
SOL0B
Mass: 85 g
4.4
72 20
R2 4
14 20
93
7.4
21
Introduction
56 44
0.3
43 .8
69.580.1
730.1
0.3
99
60
0.3 0.1
40 0.5 41 62
36
86 69.580.1
4 M5
SOL0A: 4 SOL0B: 4
3.5 Thru 4.5 Thru
6 20
AC Input
AS
88
40
1 9 2
560.1
DC Input
10
ASC
80
6 3
50 112
4 Pieces
AC Input
5-Phase RK
SOL2A
Mass: 120 g
SOL2B
Mass: 120 g
5-Phase CRK
93 30
5.4
31
DC Input
78 62
SOL2A: 4 SOL2B: 4
15
25
8.4
2-Phase CMK
4.5 Thru 5.5 Thru
6 22 3
2-Phase CSK
0 .3
70
50 0.5 54 82
54 50
108
b Screws (Included) M4 Length 12 mm M5 Length 15 mm
50
4 Pieces (SOL2A) 4 Pieces (SOL2B)
SOL5A
Mass: 270 g
SOL5B
Mass: 270 g
128 50
6.4
Controllers
40
9.4
11
43
Accessories
1.5
112 92
17
SOL5A: 4 SOL5B: 4
6.5 Thru 8.5 Thru
26 3
Installation
0.3
10
146
66 0.5 73.5
112
83 80
65
C-269
49
11
DIN Rail Center
16.8
C-270
89 120 145.5
Stepping Motors

This installation plate is convenient for installing the driver of AS Series on DIN rails with ease.
Product Line
Model PADP01 Applicable Product AS Series driver
Dimensions
PADP01
Mass: 20 g
(Unit = mm)
34 18
8 4.5
Stepping Motors
Introduction AS ASC
Controllers
Accessories
Installation
AC Input
DC Input
AC Input
DC Input
Installation
Stepping Motors
Installation
C-271
5-Phase RK
5-Phase CRK
2-Phase CMK
2-Phase CSK
C-272
Stepping Motors
Installation
Motor Installation
b Direction of Mounting
Motors can be mounted freely in any direction as shown below. Regardless of how the motor is mounted, take care not to apply an overhung load or thrust load on the shaft. Make sure the cable does not contact the mounting surface causing undesirable force on the cable.
Sideways Facing Up Facing Down
b Installation Conditions
Install the motor in a location that meets the following conditions, or the product may be damaged. bIndoors (This product is designed and manufactured to be installed within another device.) bAmbient temperature: 10 to 50C (non-freezing) [0 to 50C for (non-freezing)] 0 to 40C (non-freezing): Harmonic geared type bAmbient humidity: 85% or less (non-condensing) bNot exposed to explosive, flammable or corrosive gases bNot exposed to direct sunlight bNot exposed to dust bNot exposed to water or oil (except for IP65 rated motor) bA place where heat can escape easily bNot exposed to continuous vibration or excessive impact
Notes: b When installing the motor in an enclosed space such as a control box, or somewhere close to a heat-radiating object, vent holes should be used to prevent the motor from overheating. b Do not install the motor in a location where a source of vibration will cause the motor to vibrate.
Notes: b Do not disassemble the motors. b Do not apply any shock to the motor.
b Mounting Method
Considering heat radiation and vibration isolation as much as possible, mount the motor tightly against a metal plane.
Mounting Method for Through Hole Type

Flange Pilot Spot Facing or Through Hole for Pilot
Mounting Plate
Thickness of the Mounting Plate for Through Hole Type

Model RK Series CRK Series 5-Phase Stepping Motor 2-Phase Stepping Motor P CMK25 P CMK26 CMK26 M P CSK26 - T CSK26 M T PK25 -02 PK26 J PK26 -01 PK26 -02 PK26 -03 PK26 -E2.0 PK26 M-01 PK26 M-02 PK26 M-03 PK26 M-E2.0 PK26 DAT Thickness of the Mounting Plate
AS66 CE AS66ACT AS66 CEP AS66ACTP ASC66 K AS69 CE AS69ACT AS69 CEP AS69ACTP
CRK564PM P CRK566PM P CRK569PM P CRK564 P CRK566 P CRK569 P
PK56 - E
5 mm min.
AS98 CE AS98ACT AS98 CEP AS98ACTP AS911 CE AS911ACT AS911 CEP AS911ACTP AS98 AS98 AS98 AS98 CE-H50 CE-H100 CEP-H50 CEP-H100
PK59 - E
PK29 -E4.5 PK2913-E4.0 PK29 EAT
8 mm min.
RK596 CE-H50 RK596 CE-H100
12 mm min.
b Enter A (single shaft), B (double shaft) or M (electromagnetic brake) in the box ( ) within the model name. Enter the motor case length in the box ( ) within the model name.
Stepping Motors
Mounting Method for Tapped Hole Type

Flange Pilot Spot Facing or Through Hole for Pilot
Tapped Hole
Introduction
Mounting Plate
Thickness of the Mounting Plate for Tapped Hole Type

Model AS Series ASC Series RK Series CRK Series 5-Phase Stepping Motor 2-Phase Stepping Motor CMK223P P CMK224P P CMK225P P PK223P PK224P PK225P CMK233P P CMK235P P CMK243 P CMK244 P CMK245 P CMK244P P CMK246P P CMK243M P CMK244M P CMK245M P CMK223 P-SG CMK243 P-SG CSK243- T CSK244- T CSK245- T CSK243M- T CSK244M- T CSK245M- T CSK223 T-SG CSK243 T-SG PK233P PK235P PK244P PK246P PK243-0 PK244-0 PK245-0 PK243M-0 PK244M-0 PK245M-0 PK223P -SG -SG PK243 Thickness of the Mounting Plate AC Input
AS
CRK513P P
2 mm min. DC Input AC Input

ASC 5-Phase RK
ASC34AK ASC36AK ASC46 K ASC34AK-T ASC34AK-N ASC34AK-H
CRK523P P CRK525P P CRK523PM P CRK524PM P CRK525PM P CRK543 P CRK544 P CRK545 P CRK544P P CRK546P P CRK544PM P CRK546PM P CRK513P P-H
5-Phase CRK
PK543PK544PK545-
DC Input
2-Phase CMK
3 mm min.
CRK523P P-T CRK523P P-N ASC46 ASC46 ASC46 ASC66 K-T K-N K-H K-T CRK543 CRK543 CRK545 CRK544 CRK543 CRK564 CRK564 CRK566 CRK564 CRK566 CRK564 P-T P-P P-P P-N P-H P-T P-P P-P P-N P-N P-H
4 mm min.
AS66 CE-T AS66 CEP-T AS66 CE-P
RK564 CE-T
CMK264 P-SG CSK264 T-SG -SG PK264
5 mm min.
Controllers
AS66 AS66 AS66 AS66 AS98 AS98
CE-N CEP-N CE-H CEP-H CE-T CEP-T
ASC66 K-N ASC66 K-H
RK564 RK566 RK564 RK566 RK564 RK596 RK596 RK599 RK596 RK599
CE-P CE-P CE-N CE-N CE-H CE-T CE-P CE-P CE-N CE-N
PK296
-SG
8 mm min.
Accessories
AS98 CE-P AS98 CE-N AS98 CEP-N
12 mm min.
Installation
b Enter A (single shaft), B (double shaft) or M (electromagnetic brake) in the box ( ) within the model name. Enter the power supply voltage or winding specification 1, 2, 3 or 4 in the box ( ) within the model name. Enter the gear ratio in the box ( ) within the model name.
C-273
C-274
Stepping Motors
Driver Installation
AC Input Type b Installation Direction and Method
Drivers are designed to dissipate heat through natural convection. Install the driver vertically as shown in the photograph. When installing the separate bracket model driver vertically in the device, use bracket A; when installing the driver parallel to the bottom, use bracket B.
b Using Multiple Axes

When using multiple stepping motor axes, driver temperature rise will cause ambient temperatures to rise. At least 20 mm must be allowed between driver units and at least 25 mm between drivers and other equipment or structures. Install a forced-air cooling fan if ambient temperatures exceed 50C (40C for some products).
20 mm min. 20 mm min.
Models with Built-In Brackets

b Applicable Product RK Series
Separate Bracket Models

b Applicable Product AS Series
Install the driver in a location that meets the following conditions, or the product may be damaged. bIndoors (This product is designed and manufactured to be installed within another device.) bAmbient temperature: 0 to 50C (non-freezing) [0 to 40C for AS Series built-in controller (stored program) driver] bAmbient humidity: 85% or less (non-condensing) bNot exposed to explosive, flammable or corrosive gases bNot exposed to direct sunlight bNot exposed to dust bNot exposed to water or oil bA place where heat can escape easily bNot exposed to continuous vibration or excessive impact
bFirmly install on a metal plane that has good heat conductivity, such as iron or aluminum 2 mm or more in thickness. bTo directly install the driver without using the mounting brackets and screws provided, pay particular attention to the length of the screws used for the tapped holes. For AS Series, the use of screw that would penetrate 3 mm or more through the surface of the driver may cause damage to the driver.
Notes: b When installing the driver in an enclosed space such as a control box, or somewhere close to a heat-radiating object, vent holes should be used to prevent the driver from overheating. b Do not install the driver in a location where a source of vibration will cause the driver to vibrate. b In situations where drivers are located close to a large noise source such as high frequency welding machines or large electromagnetic switches, take steps to prevent noise interference, either by inserting noise filters or connecting the driver to a separate circuit. b Take care that pieces of conductive material (filings, pins, pieces of wire, etc.) do not enter the drivers.
Stepping Motors
Installation of SG8030JY
DC Input Type b Installation Direction
Considering heat radiation, install the driver vertically or board side down. Install the driver in a way that the power element side faces up and the aluminum electrolytic capacitor side faces down.
b DIN Rail Mounting Using Flush Mounting Socket

Flush Mounting Socket 1. Mount the flush mounting Fastening Hook ( 2) socket to the DIN rail. (The DIN DIN Rail lever should face down.) 2. Insert the controller terminals firmly into the flush mounting socket. DIN Lever 3. Engage the fastening hooks (two places) of the flush mounting socket on the controller to secure the assembly.
Horizontal Installation
Introduction
Note: b Mount the controller only after connecting all required leads to the terminals of the flush Mounting socket.
AC Input
AS
b Panel Mounting Using Rear Connection Socket

bThe SG8030JY can be affixed to a plate of 1 to 4 mm in thickness. 1. Push in the controller from the front side of the mounting plate. 2. Insert the recessed mounting adapter from the back and push it in until the gap with the mounting plate becomes minimal. 3. Affix with the fixing screws (two places) of the recessed mounting adapter. 4. Insert the controller terminals firmly into the rear connection socket.
SG80 30J EXT
DC Input
ASC
Vertical Installation
PRO
G TEST
CONT ROLLE R
AC Input
5-Phase RK
MOD
ORIENT SET AL MOT MADE OR IN JAPAN CO. ,LTD
5-Phase CRK
Panel Mounting Cut-Out Dimensions (Unit = mm)

0.5 0
DC Input
2-Phase CMK
Note: b The driver can generate a great deal of heat depending on the operating conditions. Make sure that the temperature of the heat sink does not exceed 80C. (When the temperature of the heat sink exceeds 80C, forced cooling is required.)
45
0.5 0
Install the driver in a location that meets the following conditions, or the product may be damaged. bIndoors (This product is designed and manufactured to be installed within another device.) bAmbient temperature: 0 to 40C (non-freezing) bAmbient humidity: 85% or less (non-condensing) bNot exposed to explosive, flammable or corrosive gases bNot exposed to direct sunlight bNot exposed to dust bNot exposed to water or oil bA place where heat can escape easily bNot exposed to continuous vibration or excessive impact
Notes: b When installing the driver in an enclosed space such as a control box, or somewhere close to a heat-radiating object, vent holes should be used to prevent the driver from overheating. b In situations where drivers are located close to a large noise source such as high frequency welding machines or large electromagnetic switches, take steps to prevent noise interference, either by inserting noise filters or connecting the driver to a separate circuit.
45
2-Phase CSK
Installation Location
b Indoors, ambient temperature 0 to 40C (non-freezing)
bIf the ambient temperature exceeds 40C, use a fan to provide forced cooling. Otherwise internal heat buildup may lead to damage. bWhen attaching the controller in an enclosed space such as a control box, or somewhere close to a heat-radiating object, ventilation holes should be used to prevent the controllers from overheating.
b Ambient humidity 85% or less (non-condensing) b Not exposed to corrosive gases or dust
Take care that pieces of conductive material (filing, pins, pieces of wire, etc.) do not enter the controllers. Otherwise circuit damage may occur.
Controllers
b Not exposed to water or oil

Exposure to liquids can lead to corrosion or short-circuits.
Accessories
b Not exposed to direct sunlight b Not in the vicinity of noise sources

In situations where controllers are located close to a large noise source such as high frequency welding machines or large electromagnetic switches, take steps to prevent noise interference, either by inserting noise filters, using shielded wires or connecting the controller to a separate circuit.
Installation
b Not in the vicinity of vibration sources

Vibration may lead to damage.
C-275

Oriental Motors - Stepping Motors

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Oriental Motors - Stepping Motors

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Stepping Motors

ASC Series C-58

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What is Pulse Signal?

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b Easy Control with Pulse Signals

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H Level L Level Time

The Rotation is Proportional to the Number of Pulses

125 Pulses Basic Step Angle 0.72/Step

The Speed is Proportional to the Pulse Speed

ORIENTAL MOTOR GENERAL CATALOGUE

b Generating High Torque with a Compact Body

Frequent starting/stopping is possible

Speed Torque Characteristics (Motor Frame Size 60 mm)

b The Motor Holds Itself at a Stopped Position

Electromagnetic Brake Type

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b Closed Loop Stepping Motor and Driver Package

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Controller Programmable Controller Pulse Signal

Positioning Completion Signal Alarm Signal

Rotor Position Detection Sensor

b Standard Type IP65 Rated Motor

b Electromagnetic Brake Type

Characteristics Comparison for

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ORIENTAL MOTOR GENERAL CATALOGUE

Types of Operation Systems

b Built-In Controller (Stored Program) Package

Types of Stepping Motor

Pulse Input Package

Motor Type Basic Step Angle Resolution Resolution Select

5-phase stepping motors 0.72 Microstep 0.72 0.00288(16 steps)

60, 85 60, 85 60, 85 60, 90 Page C-12

60, 85 60, 85 60, 85 60, 90

60, 85 60, 85 60, 85 60, 90 Page C-82

ORIENTAL MOTOR GENERAL CATALOGUE

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Motor Type Basic Step Angle Resolution Resolution Select

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All Winding Off Input

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Upper Planetary Gear Lower Planetary Gear

Lower Planetary Gear

ORIENTAL MOTOR GENERAL CATALOGUE

Relationship between Lower Planetary Gear and Upper Planetary Gear

Introduction of Geared Type (

Tapered Gear Structure of TH Gear's Final Stage Internal Gear

AS Series ASC Series RK Series CRK Series

Planetary Gear Sun Gear