Oriental Motors - Stepping Motors

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

aseS

tepp

ing

Mo

tors

5-Ph

aseS

tepp

ing

Mo

tors

Co

ntro

llersA

ccessories

Installatio

n

DC

Inp

ut

C-1

····························································································· C-2

AS Series ·········································································· C-12

ASC Series ······································································· C-58

5-Phase Stepping Motor and Driver PackageRK Series ··················· C-82

5-Phase Stepping Motor and Driver PackageCRK Series ················· C-114

CStepping Motors

Introduction

Stepping Motor and Driver PackageAC Input

2-Phase Stepping Motor and Driver PackageCMK Series ················· C-146

2-Phase Stepping Motor and Driver PackageCSK Series ················· C-170

························································································· C-1882-Phase Stepping Motors

························································································· C-2425-Phase Stepping Motors

························································································· C-248Controllers

························································································· C-252Accessories

························································································· C-272Installation

Stepping Motor and Driver PackageDC Input

AC Input

DC Input

Step

pin

g M

oto

rs

ORIENTAL MOTOR GENERAL CATALOGUEC-2

Overview of Stepping MotorsStepping 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

Accurate Positioning in Fine StepsA 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˚

Easy Control with Pulse SignalsA 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.

Programmable Controller

Controller

Pulse Signal

Driver

Current

Stepping Motor

Stepping Motor and Driver Package

�

5-Phase Stepping Motors

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.

The Rotation is Proportional to the Number of PulsesThe 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:

� � �s � A � : Rotation angle of the motor output shaft [deg]�s : Step angle [deg/step]A : Pulse number [pulses]

The Speed is Proportional to the Pulse SpeedThe 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:

N : Speed of the motor output shaft [r/min]�s : Step angle [deg/step]f : Pulse speed [Hz]

N � � f � 60�s360

(Number of pulses input per second)

�

�

�

Volta

ge

1 Pulse

Time

H Level

L Level

Volta

ge

1 Pulse

Time

H Level

L Level

7.2˚

90˚

0.72˚1 Pulse

10 Pulses

125 Pulses

�Basic Step Angle 0.72°/Step

7.2˚

90˚

0.72˚1 Pulse

10 Pulses

125 Pulses


1000 Hz

2000 Hz

500 Hz

120 r/min

60 r/min

240 r/min


1000 Hz

2000 Hz

500 Hz

120 r/min

60 r/min

240 r/min


Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut

C-3

Generating High Torque with a Compact BodyStepping 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)

1000 2000 3000 4000

100 20 30 40 50 60

1.5

2.0

1.0

0.5

00

Torq

ue [N

�m]

Pulse Speed [kHz](Resolution Setting:1000 P/R)

Speed [r/min]

�


ControllerPulse Signal

Driver

Current Motor

Positioning Completion SignalAlarm Signal

Rotor Position Detection Sensor

The Motor Holds Itself at a Stopped PositionStepping 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

Coupling

External Force

The load does not move while power is supplied to the motor.

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�

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.

�

AS Series

Step

pin

g M

oto

rs


Motor TypesStepping 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.

�

Standard TypeA basic model that is easy to use and designed with a balanced set of functions and characteristics.

�

Characteristics Comparison for AS Series Geared Motors

Geared TypePermissible Torque

[N�m]Backlash

[min]Resolution[deg/step]

Speed[r/min]

TH Geared 12 45 0.012 500

PL Geared 37 35 0.0072 360

PN Geared 37 3 0.0072 600Harmonic Geared 37 0 0.0036 70

Values shown above are representative values. They vary depending on the products.

�

�

Standard Type IP65 Rated MotorThese motors conform to the IP65 rating, for protection against dust and water ingress.

�

Electromagnetic Brake TypeThese 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

�

Geared TypeThese 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

�

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut

C-5

Types of Operation SystemsEach 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 are explained below by using the AS Series as an example.

�

Pulse Input PackageThe 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.

�


Pulse Generator

Motor

Driver

Built-In Controller (Stored Program) PackageThe 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

Step

pin

g M

oto

rs


Types of Stepping MotorOne 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.

AC Input Type

AC Input

Single-Phase 200-230 VAC

RK Series✽2

Pulse Input Package

0.72˚

Page C-12

�

�

�

�

�

�

�

�

�

�

�

�

�

�✽3

�

�

�

�

�

�

�

�

�

Power Supply Input

Series

Features

Func

tion

Resolution Select

Protective Function

Line

Up Standard Type IP65 Rated Motor

Pages

Motor Type

Basic Step Angle

Resolution

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

Safety Standards

RoHS Compliant

Standard Motor

Electromagnetic Brake Motor

Geared Motor

Built-In Controller (Stored Program) Package

�Closed loop control�High response�No hunting�Low vibration

�Low vibration, low noise due to smooth drive function

�High-resolution control is possible by microstepping

Closed loop control stepping motors 5-phase stepping motors

�Closed loop control�High response�No hunting�Low vibration�Space-saving, simple wiring

Closed loop control stepping motors

0.36˚(Resolution setting: 1000 P/R) 0.36˚(Resolution setting: 1000 P/R)

Microstep0.72˚, 0.36˚, 0.072˚, 0.036˚

Microstep0.72˚�0.036˚

Microstep0.72˚�0.00288˚(16 steps)

Overheat output

� 60, 85

�

�✽3

�✽3

�

�

�

� 60, 85

��

�

�

�

�

�

� 60, 85 � 60, 85

� 60, 85� 60, 85

� 60, 85

� 60, 90 � 60, 90

� 60, 85

� 60, 90

� 60, 85

Overcurrent/overheatoverload/overvoltage

Overcurrent/overheatoverload/overvoltage

Page C-82

AS Series✽1

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.

Stepping MotorWide-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

�

�

✽

✽

✽

�

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut

C-7

DC Input Type

� 28, 42, 60

� 42, 60

� 20, 28, 42, 60

� 28, 42, 60 � 20, 28, 42, 60

� 28, 35, 42, 50, 56.4, 60

� 28, 42, 60 � 42, 60

� 42, 56.4, 60

�

�

Closed loop control stepping motors 5-phase stepping motors 2-phase stepping motors 2-phase stepping motors

0.36˚(Resolution setting: 1000 P/R)

DC Input

24 VDC

CRK Series

24/36 VDC

CSK Series

�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


1.8˚, 0.9˚(High-resolution type)0.72˚, 0.36˚(High-resolution type) 1.8˚, 0.9˚(High-resolution type)


Full step/half step1.8˚/0.9˚, 0.9˚/0.45˚(High-resolution type)

�Low vibration, low noise due to smooth drive function

�Wide variety of high-resolutiontypes and geared motors

24 VDC24 VDC

ASC Series

�

Overload/overvoltage

� � ��

�

Power Supply Input

Series

Features

Func

tion

Resolution Select

Protective Function

Line

Up Standard Type IP65 Rated Motor

Pages

Motor Type

Basic Step Angle

Resolution

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

Safety Standards

Standard Motor

Electromagnetic Brake Motor

Geared Motor

CMK Series

�Closed loop control�High response�No hunting�Low vibration

Microstep0.72˚, 0.36˚, 0.072˚, 0.036˚

�

�

�

�

�

��

�

�

�

�

�

�

�

� � ��

�

��

�

�

� � �

�

� �

�

�

�

�

�

��

�

�

�

�

�

�

�

�

��

�

�

Page C-58 Page C-114 Page C-146 Page C-170

RoHS Compliant

�

�

�

�

Step

pin

g M

oto

rs


Introduction of Geared Type ( , Stepping Motors)Geared Motors using dedicated gears for control motors.

Type

TH Geared

PL Geared

PN Geared

Principle and Structure Series

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.

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.

The PN gear employs a planetarygear 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.

AS SeriesASC SeriesRK SeriesCRK Series

AS SeriesRK SeriesCRK Series


Bearing Bearing

Tapered Gear

Tapered Gear

Output Shaft

Structure of TH Gear's Final StageTapered Gear

Internal Gear

Internal Gear

Sun Gear

Planetary GearCarrier

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.

Sun GearPlanetary Gear

Lower Internal Gear

Lower Planetary GearUpper Planetary Gear

Upper Internal Gear

Sun Gear

UpperLevel

LowerLevel

UpperLevel

LowerLevel

Rela

tions

hip

betw

een

Low

er P

lane

tary

Gea

r an

d Up

per P

lane

tary

Gea

r

Sun Gear

Lower Planetary Gear

Sun Gear

Upper Planetary GearLower Planetary Gear

Sun Gear

Upper Planetary Gear

Lower Planetary Gear

The upper gear eliminates backlash in the clockwise direction.

Upper Planetary Gear

Low

bac

klas

hNo

n-ba

ckla

sh

The lower internal gear eliminates backlashin the counterclockwise direction.

The lower internal gear transmits torque in the counterclockwise direction.

The upper internal gear transmits torque in the clockwise direction.

�

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut

C-9

Type

Harmonic Geared

SH Geared

Principle and Structure Series

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.

SH geared type is for stepping motors with spur gear's speed reduction mechanism. Backlash value is 1 to 2�.


CMK Series CSK Series2-Phase PK Series

Non-

back

lash

For c

ompa

ctm

otor

s

Wave Generator

Circular Spline

Flex Spline

Wave Generator

Flex Spline

Circular Spline

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.

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.

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�

360�

0�

Step

pin

g M

oto

rs


How to Read Specifications Table

Excitation Mode

Dimension No.

Basic Step Angle

Gear Ratio

Permissible Torque

Backlash

Permissible Speed Range

Rated Current A/Phase

Motor

Driver

Motor

Driver

RK566ACE-N5

RK566BCE-N5

RK566AMCE

�

RK566ACE

RK566BCE

3.50.830.83

1.4

0.72�

1.51.1

0.85

0.8

280�10-7440�10-7280�10-7

Microstep

0.144�

1:5

0�600

Electromagnetic Brake

Type

Power Source Input

Power Supply Input

Static Friction Torque

Brake Time

Brake Release Time

Time Rating

ms

ms

�

�

�

�

�

�

�

�

�

�

�

�

�

�

Active when power is off

24 VDC

0.25

0.8

20

30

Continuous

�

�

2 (0.034�)

5 (0.084�)

��

��

0.72�

�

� � 3.5

� � 7

�

Maximum Holding Torqueq

w

e

r

t

y

u

i

!0

!2

!3

Model

N�m

Rotor Inertia J: kg�m2

min

min

r/min

A

N�m


Single Shaft

Double Shaft

N�m

Maximum Torque N�m

Mass kg

Angular Transmission Erroro

Power Source!1 Single-Phase 200-230 VAC�15% 50/60 Hz 3.5 A�10%

m

¤2

x ⁄6

�Maximum Holding TorqueThe 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 InertiaThis 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 CurrentThe 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.

�Basic Step AngleThe 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 RatioThis 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 TorqueThe 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.

BacklashThe play of gear output shaft when the motor shaft is fixed. When positioning in bi-direction, the positioning accuracy is affected.

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 RangeThis is the rotation speed that the motor can be operated at with the gear output shaft.

�Power SourceThe current value of the power input is the maximum input current value. (The input current varies according to the rotation speed.)

Excitation ModeThe 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 TorqueThe electromagnetic brake specifications. This is the maximum holding torque at which the electromagnetic brake can hold the position.

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.

fsSpeed [r/min]

Torq

ue [N

�m]

qTH

w

e

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 TorqueThe 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 TorquePullout 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.

�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)

The following figure shows the speed – torque characteristics of the 5-phase stepping motor and driver package RK Series.

Pulse Speed [kHz]

0(0)

10(100)

20(200)

30(300)

10000 2000 3000 4000 Speed [r/min]

Torq

ue [N

�m]

Resolution 1(Resolution 10)

Curr

ent [

A]

0

4

8

0

1.2

1.0

0.8

0.6

0.4

0.2

Current: 1.4 A/Phase Step Angle: 0.72˚/step Load Inertia: JL=0 kg�m2

Pullout Torque

Driver Input Current

fs

How to Read Speed – Torque Characteristics

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut

C-11

Page

AS Series ································································· C-12ASC Series ······························································ C-58

Stepping Motors

Closed Loop Stepping Motor and Driver Packages AC Input AS Series

DC Input ASC Series

Step

pin

g M

oto

rs

Features C-12 / System Configuration C-18 / Product Line C-22ORIENTAL MOTOR GENERAL CATALOGUEC-12

�Additional Information�Technical reference ➜ Page F-1

Safety standards ➜ Page G-2

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.

List of safety standard approved products (Model, Standards, File No., Certification Body)➜ Page G-10

�

Closed Loop Stepping Motor and Driver Package

AS Series

Features

Thanks to Closed Loop Control, There is No Loss of Synchronism does not lose synchronism even when subjected to

abrupt load fluctuation or acceleration.A newly developed rotor position detection sensor constantly monitors the motor movement. If synchronism is about to be lost, closed loop control is 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.

Sensor detects rotor position

�� Control Diagram

Input Counter

Deviation Counter

Rotor PositionCounter Ex

cita

tion

Sequ

ence

Con

trol

Outp

ut E

lem

ent

Motor

Sensor

Input Pulse

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

-7.2˚ -5.4˚ -3.6˚ -1.8˚ 0 1.8˚ 3.6˚ 5.4˚ 7.2˚Position

Torq

ue

wClosed Loop Mode

wClosed Loop Mode

qOpen Loop Mode

Stepping Motor

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 PositionThe 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.

FeaturesThis structure can be made small and thin, so the overall size of the motor can be reduced.High resolutionThis structure does not use electronic parts, so it is not affected by heat or vibration.

-1

-0.5

0

0.5

1

1.25

0 60˚ 120˚ 180˚ 240˚ 300˚ 360˚

Sign

al L

evel

A-Phase B-Phase

Sensor Output Signal

Rotor Angle (Electrical Angle)

�

�

�

�

��

RoHS-Compliant

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut

Specifications, Characteristics C-27 / Dimensions C-39 / Connection and Operation C-45 / Motor and Driver Combinations C-56 C-13

High ResponseLike conventional stepping motors,

operates in synchronism with command pulses. This makes it suitable for short stroke positioning.

Motor Movement

Pulse Input

Positioning Completion Signal

Measurement Condition: Feed 1/5 rotationLoad inertia 250�10�7 kg�m2 (J)

No Gain TuningGain tuning for servo motors is critical, troublesome and time-consuming. Since the operates like a stepping motor, there are no gain tuning requirements. Low rigidity applications, such as a belt and pulley system, are ideal for

.

The Complies with Major Safety StandardsThe 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.

No HuntingSince 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.

Servo Motor

Hunting Complete Stop

Low Vibration at Low SpeedThe 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.

Low Speed

High Speed

CCD Camera

is well-suited to applications where smooth movement or stability is required, such as where a camera is used to monitor the quality of a product.

�

�

�

�

�

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.

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.

Standard Type IP65 Rated Motor A dedicated motor cable for IP65 rated motor (sold separately) is needed to connect the IP65 rated motor and driver.

Improved Motor 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)

Protective Earth Terminal


RoHS-CompliantThe conforms to the RoHS Directive that prohibits the use of six chemical substances including lead and cadmium.

Details of RoHS Directive ➜ Page G-23

�

�

�

��

�

�

Step

pin

g M

oto

rs


A Full Lineup of

Characteristics Comparison for Motors and Geared Motors�

PermissibleTorque

Maximum Holding Torque

MaximumTorque

PermissibleTorque

MaximumTorque

4000

500

37 360

600

70

37

0.0072

3

0.012

20

0.36

45

0.0072

0.0036 037

60

55

12

4

Maximum Holding Torque40000.364

Non-

back

lash

Low

bac

klas

h

Standard

Standard Type IP65 Rated Motor

TH Geared(Parallel Shaft)

PL Geared(Planetary)

PN Geared(Planetary)

Harmonic Geared(Harmonic Drive)

� A wide variety of low gear ratios, high-speed operations

� Gear ratio: 1:3.6, 1:7.2, 1:10, 1:20, 1:30

� The IP65 rated motor offering ingress protection

against dust and water.

� 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

� 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


� Gear ratio: 1:50, 1:100

� Basic model of motor and driver system

Permissible TorqueMaximum Torque [N�m]

Output Shaft Speed [r/min]

Backlash [arc min]

Basic Resolution[deg/step]

Motor TypeGeared Type Features

You are sure to find a unit that perfectly matches the needs of your specific application.

Standard Type

Standard Type IP65 Rated Motor✽

TH Geared Type

PL Geared Type

PN Geared Type

Harmonic Geared Type

AC Input Built-In Controller (Stored Program)

AC Input Pulse Input

DC Input Pulse Input

Select an optimal motor based on the required torque, resolution, etc.

Select an optimal driver based

on the system requirement.

Each "package" consists of a motor and a driver.

Note: The values shown above must be used as reference. These values vary depending on the frame size and gear ratio.�

Motors equipped with an electromagnetic brake are also available.✽ (An electromagnetic brake is not available on certain types.)

A dedicated cable (sold separately) is needed to connect the motor and driver.

✽

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut


Pulse InputVarious motor controls can be performed using a pulse generator provided by the user.

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.

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 Standard TypeStandard Type

IP65 Rated MotorTH Geared Type PL Geared Type PN Geared Type


AC InputAS Series

Single-Phase 200-230 VAC�60�85

�60�85

�60�90

�60�90

�60�90

�60�90

Pulse Input Package


DC InputASC Series

Pulse Input Package

24 VDC�28�42�60

��28�42�60

��28�42�60

�28�42�60

: A pulse input package and a built-in controller (stored program) package are available. White background: A pulse input package is available. 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.) For the single-phase 100-115 VAC models and three-phase 200-230 VAC models, please contact the nearest Oriental Motor sales office.

�

�

��

Two Types of Drivers �


AC Input DC Input

Pulse Generator

Motor

Driver

Motor

Driver Programmable Controller

orPersonal Computer

Step

pin

g M

oto

rs


Features of Built-In Controller (Stored Program) PackageThe 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.

�

Operating Modes

Positioning

Continuous

Mechanical Home Electrical HomeOperating

Modes

4

�

Linked Motion Capability

No. 2

Single Motion Linked Motion

When a START signal is received motions 0, 1 and 2 are executed without stopping between each one.

No. 0 No. 1 No. 2

� Alarm FunctionsThe driver can flash LEDs to indicate which alarm has occured.

Alarm Outputfrom Driver

ALARM OUT

The driver can notify the host controller which alarm has occurred.

Motor

Driver

PLC

�

Speed Change on the Fly

Time

10000 Hz

4000 Hz

2000 Hz

Spe

ed

The running speed of the motor can be changed while the motor is in motion.

� Daisy Chain

PC

Up to 36 units can be daisy chained via customer supplied cable.

�

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut


Position ControlIncremental mode (relative distance specification) /Absolute mode (absolute position specification) Linked operation (a maximum of four motion profiles may be linked) Data range (in pulses): �8 388 608 to �8 388 607Operating speed: 10 Hz to 500 kHz (set in 1 Hz increments)

Four Operation Modes1. Positioning 2. Mechanical home seeking (�LS, �LS, HOMELS) 3. Continuous 4. Electrical home seeking

General Inputs/Outputs8 Programmable inputs8 Programmable outputs

Daisy Chain CapabilityUp to 36 units can be daisy chained with unique device ID's.

CommunicationASCII based commandsConforms to RS-232C communication specificationsStart-stop asynchronous transmission methodTransmission speed: 9600 bpsData length: 8 bits, 1 stop bit, no parityProtocol: TTY (CR�LF)Modular 4-pin connector

Program MemoryMaximum number of programs: 14 (including STARTUP)Maximum lines per program: 64Commands per line: 1Program variables: 26 (A to Z)

Built-In Functions

��

�

��

��

��

�

��

�

Using Windows HyperTerminal®, programming the built-in controller (stored program) driver is a simple task.

ALPHA STEP PLUS DRIVER

>EDIT PROGRAM1

Program Name : PROGRAM1 ( 1) VR�20000 ( 2) DIS�1200 ( 3) MI ( 4) CALL WAITEND ( 5) OUT1�1 ( 6) MGHP ( 7) END>> COMMAND : _

Example: "PROGRAM1"

PROGRAM1 DefinitionOperating speed: 20000 HzMove distance: 1200 pulsesCall a subroutine that waits for the motor to stop before moving on to the next commandTurn on output #1Seek the mechanical home position in the positive directionEnd of program

��

��

�

Selectable motor-resolutionRun and stop current valuesSpeed-filter set valueMotor rotation directionExternal stop

��

Sensor logicOvertravel limitsSoftware overtravelAlarm historySyntax checking

��

Display valuesIncremental movesI/O status

��

Step

pin

g M

oto

rs


System Configuration

Pulse Input Package Standard TypeAn example of a single-axis system configuration with the SG8030JY controller.

AS Series (Body)

(Sold separately)�Example of System Configuration(Body)

Connector -- Terminal Block Conversion Unit (1 m)

CC36T1SG8030JY-U

DIN Rail Mounting Plate

PADP01

FlexibleCoupling

MCS300808

Motor Mounting Bracket

PAL2P-5

Controller Extension Cable (3 m)

CC03AIPAS66ACE

AS Series

No. Product Name Overview Page

C-266

C-253

C-258

C-270C-256C-256

�

�

�

�

�

Motor Mounting Brackets

DIN Rail Mounting PlateDriver Cables General-Purpose TypeConnector -- Terminal Block Conversion Unit

Dedicated mounting bracket for the motor.C-248� Controller This controller outputs pulse commands that determine the rotating amount and rotating speed.

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).

Flexible Couplings Coupling that connects the motor shaft to the driven shaft.

�Extension CablesFlexible Extension Cables

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).

24 VDC Power Supply(Not supplied)

(Not supplied)


Motor Driver

(Not supplied)

AC Power Supply (Main Power Supply)

�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)

Controller (Sold separately)

�Controller (➜ Page C-248)

Selectable Accessories and Peripheral Equipment (Sold separately)

The system configuration shown above is an example. Other combinations are available.

��

�

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut



Pulse Input Package Standard Type with Electromagnetic BrakeAn example of a single-axis system configuration with the SG8030JY controller.

(Sold separately)




SG8030JY-U

Connector -- Terminal Block Conversion Unit (1 m)

CC36T1


PADP01

FlexibleCoupling

MCS300808


PAL2P-5

ControllerExtension Cable for

ElectromagneticBrake Motor (3 m)

CC03AIPMAS66MCE

�Example of System Configuration(Body) (Sold separately)

AS Series


C-253

C-266C-258

C-248

C-256C-256

�

�

�

�

�

Extension Cables for Electromagnetic Brake Motor

Motor Mounting BracketsFlexible Couplings

Driver Cables General-Purpose TypeConnector -- Terminal Block Conversion Unit

Dedicated cable for connecting the electromagnetic brake motor and driver (1 to 20 m). Be sure to purchase this cable.

Dedicated mounting bracket for the motor.� Controller This controller outputs pulse commands that determine the rotating amount and rotating speed.

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).

C-270� DIN Rail Mounting Plate Use this plate when installing the driver to a DIN rail.

Flexible Extension Cables for Electromagnetic Brake Motor

Dedicated cable offering flexibility, used to connect the electromagnetic brake motor and driver (1 to 10 m). Be sure to purchase this cable.



Required Products (Sold separately)



(Not supplied)


(Not supplied)



�Extension Cables for ElectromagneticBrake Motor (➜ Page C-253)

24 VDC Power Supply forElectromagnetic Brake

(Not supplied)

AS Series (Body)

Motor Driver



��

�

Step

pin

g M

oto

rs



Built-In Controller (Stored Program) Package Standard Type

AS Series (Body)







Computer(Not supplied)

(Sold separately)(Sold separately)

For Sensor InputCC20T1

For Control I/0CC36T1


PADP01

FlexibleCoupling

MCS300808

Extension Cable (3 m)

CC03AIP


PAL2P-5AS66ACEP

�Example of System Configuration(Body)

AS SeriesConnector -- Terminal Block Conversion Unit (1 m)

No. Product Name Overview PageC-257

C-258

C-256C-270

C-253

C-256

�

�

C-266�

�

�

�

�

Communication Cable

Flexible CouplingsExtension CablesFlexible Extension CablesDIN Rail Mounting PlateDriver Cables General-Purpose TypeConnector -- Terminal Block Conversion Unit

Cable for connecting the computer and driver (5 m).

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).

Motor Mounting Brackets Dedicated mounting bracket for the motor.

FC04W5

Communication Cable


�Communication Cable (➜ Page C-257)

(Not supplied)


(Not supplied)


Motor Driver



��

�

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut



Built-In Controller (Stored Program) Package Standard Type with Electromagnetic Brake

AS Series (Body)






(Sold separately)(Sold separately)

For Sensor InputCC20T1FC04W5

For Control I/0CC36T1


PADP01

FlexibleCoupling

MCS300808


PAL2P-5

Extension Cable forElectromagnetic

Brake Motor (3 m)

CC03AIPMAS66MCEP


AS SeriesCommunication

CableConnector -- Terminal Block Conversion Unit (1 m)


C-253

C-257C-266C-258C-270C-256C-256

�

�

�

�

�

�

�


Communication CableMotor Mounting BracketsFlexible CouplingsDIN Rail Mounting PlateDriver Cables General-Purpose TypeConnector -- Terminal Block Conversion Unit

Dedicated cable for connecting the electromagnetic brake motor and driver (1 to 20 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).


Dedicated cable offering flexibility, used to connect the electromagnetic brake motor and driver (1 to 10 m). Be sure to purchase this cable.


�Extension Cables for ElectromagneticBrake Motor (➜ Page C-253)

�Communication Cable (➜ Page C-257)

Computer(Not supplied)

(Not supplied)


(Not supplied)


24 VDC Power Supply forElectromagnetic Brake

(Not supplied)


Motor Driver


��

�

Step

pin

g M

oto

rs


Product Number CodeStandard 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

Pulse Input Package

Standard TypePower Supply Voltage Model (Single Shaft) Page


AS66AAE✽AS69AAE

AS98AAE✽AS911AAE


AS66ACEC-27

AS69ACEAS98ACE

C-27AS911ACE

Three-Phase 200-230 VAC

AS66ASE✽AS69ASE

AS98ASE✽AS911ASE

For the single-phase 100-115 VAC models and three-phase 200-230 VAC models, please contact the nearest Oriental Motor sales office.

Standard Type IP65 Rated MotorAlways use the motor cable for IP65 rated motor (sold separately) for connection between the IP65 rated motor and the driver.

Power Supply Voltage Model (Single Shaft) Page


AS66AAT✽AS69AAT

AS98AAT✽AS911AAT


AS66ACTC-28

AS69ACTAS98ACT

C-28AS911ACT


AS66AST✽AS69AST

AS98AST✽AS911AST


Motor cables for IP65 rated motor ➜ Page C-254

��

✽

�

✽

Standard Type with Electromagnetic BrakeElectromagnetic brake models must use an extension cable or flexible extension cable for an electromagnetic brake motor.


Single-Phase 100-115 VAC AS66MAE

✽AS69MAEAS98MAE ✽

Single-Phase 200-230 VAC AS66MCE

C-27AS69MCEAS98MCE C-27

Three-Phase 200-230 VAC AS66MSE

✽AS69MSEAS98MSE ✽


Extension cables for electromagnetic brake motor ➜ Page C-253

Motor Cables for IP65 Rated Motor (Sold separately)Model Length (m) Model Length (m)

CC01AIPM 1 CC07AIPM 7




Flexible Motor Cables for IP65 Rated Motor (Sold separately)Model Length (m) Model Length (m)

CC01SARM2 1 CC05SARM2 5



Motor, Parallel Key✽1, Surge Suppressor✽2, 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 shaft2 Only for electromagnetic brake type

✽

✽

The following items are included in each product.

�

✽

�

�


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






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






Gearhead Type T: TH Geared Type P: PL Geared Type

N: PN Geared Type H: Harmonic Geared Type

Gear Ratio

Product LineThe 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.

�

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut


TH Geared TypePower Supply Voltage Model (Single Shaft) Page


AS66AAE-T3.6

✽

AS66AAE-T7.2AS66AAE-T10AS66AAE-T20AS66AAE-T30AS98AAE-T3.6

✽

AS98AAE-T7.2AS98AAE-T10AS98AAE-T20AS98AAE-T30


AS66ACE-T3.6

C-29AS66ACE-T7.2AS66ACE-T10AS66ACE-T20AS66ACE-T30AS98ACE-T3.6

C-30AS98ACE-T7.2AS98ACE-T10AS98ACE-T20AS98ACE-T30


AS66ASE-T3.6

✽

AS66ASE-T7.2AS66ASE-T10AS66ASE-T20AS66ASE-T30AS98ASE-T3.6

✽

AS98ASE-T7.2AS98ASE-T10AS98ASE-T20AS98ASE-T30


�

✽

TH Geared Type with Electromagnetic BrakePower Supply Voltage Model (Single Shaft) Page


AS66MAE-T3.6

✽

AS66MAE-T7.2AS66MAE-T10AS66MAE-T20AS66MAE-T30AS98MAE-T3.6

✽

AS98MAE-T7.2AS98MAE-T10AS98MAE-T20AS98MAE-T30


AS66MCE-T3.6

C-29AS66MCE-T7.2AS66MCE-T10AS66MCE-T20AS66MCE-T30AS98MCE-T3.6

C-30AS98MCE-T7.2AS98MCE-T10AS98MCE-T20AS98MCE-T30


AS66MSE-T3.6

✽

AS66MSE-T7.2AS66MSE-T10AS66MSE-T20AS66MSE-T30AS98MSE-T3.6

✽

AS98MSE-T7.2AS98MSE-T10AS98MSE-T20AS98MSE-T30



�

✽

PL Geared Type



AS66AAE-P5

✽

AS66AAE-P7.2AS66AAE-P10AS66AAE-P25AS66AAE-P36AS66AAE-P50AS98AAE-P5

✽

AS98AAE-P7.2AS98AAE-P10AS98AAE-P25AS98AAE-P36AS98AAE-P50


AS66ACE-P5

C-31

AS66ACE-P7.2AS66ACE-P10AS66ACE-P25AS66ACE-P36AS66ACE-P50AS98ACE-P5

C-32

AS98ACE-P7.2AS98ACE-P10AS98ACE-P25AS98ACE-P36AS98ACE-P50


AS66ASE-P5

✽

AS66ASE-P7.2AS66ASE-P10AS66ASE-P25AS66ASE-P36AS66ASE-P50AS98ASE-P5

✽

AS98ASE-P7.2AS98ASE-P10AS98ASE-P25AS98ASE-P36AS98ASE-P50


�

✽

PL Geared Type with Electromagnetic BrakePower Supply Voltage Model (Single Shaft) Page


AS66MAE-P5

✽

AS66MAE-P7.2AS66MAE-P10AS66MAE-P25AS66MAE-P36AS66MAE-P50AS98MAE-P5

✽

AS98MAE-P7.2AS98MAE-P10AS98MAE-P25AS98MAE-P36AS98MAE-P50


AS66MCE-P5

C-31

AS66MCE-P7.2AS66MCE-P10AS66MCE-P25AS66MCE-P36AS66MCE-P50AS98MCE-P5

C-32

AS98MCE-P7.2AS98MCE-P10AS98MCE-P25AS98MCE-P36AS98MCE-P50


AS66MSE-P5

✽

AS66MSE-P7.2AS66MSE-P10AS66MSE-P25AS66MSE-P36AS66MSE-P50AS98MSE-P5

✽

AS98MSE-P7.2AS98MSE-P10AS98MSE-P25AS98MSE-P36AS98MSE-P50



�

✽

Step

pin

g M

oto

rs


PN Geared TypePower Supply Voltage Model (Single Shaft) Page


AS66AAE-N5

✽

AS66AAE-N7.2AS66AAE-N10AS66AAE-N25AS66AAE-N36AS66AAE-N50AS98AAE-N5

✽

AS98AAE-N7.2AS98AAE-N10AS98AAE-N25AS98AAE-N36AS98AAE-N50


AS66ACE-N5

C-33

AS66ACE-N7.2AS66ACE-N10AS66ACE-N25AS66ACE-N36AS66ACE-N50AS98ACE-N5

C-34

AS98ACE-N7.2AS98ACE-N10AS98ACE-N25AS98ACE-N36AS98ACE-N50


AS66ASE-N5

✽

AS66ASE-N7.2AS66ASE-N10AS66ASE-N25AS66ASE-N36AS66ASE-N50AS98ASE-N5

✽

AS98ASE-N7.2AS98ASE-N10AS98ASE-N25AS98ASE-N36AS98ASE-N50


�

✽

PN Geared Type with Electromagnetic BrakePower Supply Voltage Model (Single Shaft) Page


AS66MAE-N5

✽

AS66MAE-N7.2AS66MAE-N10AS66MAE-N25AS66MAE-N36AS66MAE-N50AS98MAE-N5

✽

AS98MAE-N7.2AS98MAE-N10AS98MAE-N25AS98MAE-N36AS98MAE-N50


AS66MCE-N5

C-33

AS66MCE-N7.2AS66MCE-N10AS66MCE-N25AS66MCE-N36AS66MCE-N50AS98MCE-N5

C-34

AS98MCE-N7.2AS98MCE-N10AS98MCE-N25AS98MCE-N36AS98MCE-N50


AS66MSE-N5

✽

AS66MSE-N7.2AS66MSE-N10AS66MSE-N25AS66MSE-N36AS66MSE-N50AS98MSE-N5

✽

AS98MSE-N7.2AS98MSE-N10AS98MSE-N25AS98MSE-N36AS98MSE-N50



�

✽

Harmonic Geared TypePower Supply Voltage Model (Single Shaft) Page


AS66AAE-H50✽AS66AAE-H100

AS98AAE-H50✽AS98AAE-H100


AS66ACE-H50C-35

AS66ACE-H100AS98ACE-H50

C-35AS98ACE-H100


AS66ASE-H50✽AS66ASE-H100

AS98ASE-H50✽AS98ASE-H100


�

✽

Harmonic Geared Type with Electromagnetic BrakePower Supply Voltage Model (Single Shaft) Page


AS66MAE-H50✽AS66MAE-H100

AS98MAE-H50✽AS98MAE-H100


AS66MCE-H50C-35

AS66MCE-H100AS98MCE-H50

C-35AS98MCE-H100


AS66MSE-H50✽AS66MSE-H100

AS98MSE-H50✽AS98MSE-H100



�

✽

Electromagnetic brake models must use an extension cable or flexible extension cable for an electromagnetic brake motor.�

Extension Cables for Electromagnetic Brake Motor Model Length (m)

CC01AIPM 1

CC02AIPM 2

CC03AIPM 3

CC05AIPM 5

CC07AIPM 7

CC10AIPM 10

CC15AIPM 15

CC20AIPM 20

� Flexible Extension Cables for Electromagnetic Brake MotorModel Length (m)

CC01SARM2 1

CC02SARM2 2

CC03SARM2 3

CC05SARM2 5

CC07SARM2 7

CC10SARM2 10

�

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut



Standard TypePower Supply Voltage Model (Single Shaft) Page


AS66AAEP✽AS69AAEP

AS98AAEP✽AS911AAEP


AS66ACEPC-27

AS69ACEPAS98ACEP

C-27AS911ACEP


AS66ASEP✽AS69ASEP

AS98ASEP✽AS911ASEP


Standard Type IP65 Rated MotorAlways use the motor cable for IP65 rated motor (sold separately) for connection between the IP65 rated motor and the driver.



AS66AATP✽AS69AATP

AS98AATP✽AS911AATP


AS66ACTPC-28

AS69ACTPAS98ACTP

C-28AS911ACTP


AS66ASTP✽AS69ASTP

AS98ASTP✽AS911ASTP


Motor cables for IP65 rated motor ➜ Page C-254

��

✽

�

✽

Standard Type with Electromagnetic BrakePower Supply Voltage Model (Single Shaft) Page

Single-Phase 100-115 VAC AS66MAEP

✽AS69MAEPAS98MAEP ✽

Single-Phase 200-230 VAC AS66MCEP

C-27AS69MCEPAS98MCEP C-27

Three-Phase 200-230 VAC AS66MSEP

✽AS69MSEPAS98MSEP ✽



�

✽

TH Geared TypePower Supply Voltage Model (Single Shaft) Page


AS66AAEP-T3.6

✽

AS66AAEP-T7.2AS66AAEP-T10AS66AAEP-T20AS66AAEP-T30AS98AAEP-T3.6

✽

AS98AAEP-T7.2AS98AAEP-T10AS98AAEP-T20AS98AAEP-T30


AS66ACEP-T3.6

C-29AS66ACEP-T7.2AS66ACEP-T10AS66ACEP-T20AS66ACEP-T30AS98ACEP-T3.6

C-30AS98ACEP-T7.2AS98ACEP-T10AS98ACEP-T20AS98ACEP-T30


AS66ASEP-T3.6

✽

AS66ASEP-T7.2AS66ASEP-T10AS66ASEP-T20AS66ASEP-T30AS98ASEP-T3.6

✽

AS98ASEP-T7.2AS98ASEP-T10AS98ASEP-T20AS98ASEP-T30


�

✽

TH Geared Type with Electromagnetic BrakePower Supply Voltage Model (Single Shaft) Page


AS66MAEP-T3.6

✽

AS66MAEP-T7.2AS66MAEP-T10AS66MAEP-T20AS66MAEP-T30AS98MAEP-T3.6

✽

AS98MAEP-T7.2AS98MAEP-T10AS98MAEP-T20AS98MAEP-T30


AS66MCEP-T3.6

C-29AS66MCEP-T7.2AS66MCEP-T10AS66MCEP-T20AS66MCEP-T30AS98MCEP-T3.6

C-30AS98MCEP-T7.2AS98MCEP-T10AS98MCEP-T20AS98MCEP-T30


AS66MSEP-T3.6

✽

AS66MSEP-T7.2AS66MSEP-T10AS66MSEP-T20AS66MSEP-T30AS98MSEP-T3.6

✽

AS98MSEP-T7.2AS98MSEP-T10AS98MSEP-T20AS98MSEP-T30



�

✽

Step

pin

g M

oto

rs


PN Geared TypePower Supply Voltage Model (Single Shaft) Page


AS66AAEP-N5

✽

AS66AAEP-N7.2AS66AAEP-N10AS66AAEP-N25AS66AAEP-N36AS66AAEP-N50AS98AAEP-N5

✽

AS98AAEP-N7.2AS98AAEP-N10AS98AAEP-N25AS98AAEP-N36AS98AAEP-N50


AS66ACEP-N5

C-33

AS66ACEP-N7.2AS66ACEP-N10AS66ACEP-N25AS66ACEP-N36AS66ACEP-N50AS98ACEP-N5

C-34

AS98ACEP-N7.2AS98ACEP-N10AS98ACEP-N25AS98ACEP-N36AS98ACEP-N50


AS66ASEP-N5

✽

AS66ASEP-N7.2AS66ASEP-N10AS66ASEP-N25AS66ASEP-N36AS66ASEP-N50AS98ASEP-N5

✽

AS98ASEP-N7.2AS98ASEP-N10AS98ASEP-N25AS98ASEP-N36AS98ASEP-N50


�

✽

PN Geared Type with Electromagnetic BrakePower Supply Voltage Model (Single Shaft) Page


AS66MAEP-N5

✽

AS66MAEP-N7.2AS66MAEP-N10AS66MAEP-N25AS66MAEP-N36AS66MAEP-N50AS98MAEP-N5

✽

AS98MAEP-N7.2AS98MAEP-N10AS98MAEP-N25AS98MAEP-N36AS98MAEP-N50


AS66MCEP-N5

C-33

AS66MCEP-N7.2AS66MCEP-N10AS66MCEP-N25AS66MCEP-N36AS66MCEP-N50AS98MCEP-N5

C-34

AS98MCEP-N7.2AS98MCEP-N10AS98MCEP-N25AS98MCEP-N36AS98MCEP-N50


AS66MSEP-N5

✽

AS66MSEP-N7.2AS66MSEP-N10AS66MSEP-N25AS66MSEP-N36AS66MSEP-N50AS98MSEP-N5

✽

AS98MSEP-N7.2AS98MSEP-N10AS98MSEP-N25AS98MSEP-N36AS98MSEP-N50



�

✽

Harmonic Geared TypePower Supply Voltage Model (Single Shaft) Page


AS66AAEP-H50✽AS66AAEP-H100

AS98AAEP-H50✽AS98AAEP-H100


AS66ACEP-H50C-35

AS66ACEP-H100AS98ACEP-H50

C-35AS98ACEP-H100


AS66ASEP-H50✽AS66ASEP-H100

AS98ASEP-H50✽AS98ASEP-H100


Communication CableThis 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)

�

✽

�

Harmonic Geared Type with Electromagnetic BrakePower Supply Voltage Model (Single Shaft) Page


AS66MAEP-H50✽AS66MAEP-H100

AS98MAEP-H50✽AS98MAEP-H100


AS66MCEP-H50C-35

AS66MCEP-H100AS98MCEP-H50

C-35AS98MCEP-H100


AS66MSEP-H50✽AS66MSEP-H100

AS98MSEP-H50✽AS98MSEP-H100



�

✽

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut


Standard Type Motor Frame Size 60 mm, 85 mm

Specifications

Model

Pulse Input Package

Standard AS66ACE AS69ACE AS98ACE AS911ACEElectromagnetic Brake AS66MCE AS69MCE AS98MCE �


Standard AS66ACEP AS69ACEP AS98ACEP AS911ACEPElectromagnetic Brake AS66MCEP AS69MCEP AS98MCEP �

Maximum Holding Torque N�m 1.2 2 4Rotor Inertia J: kg�m2 405�10-7 [564�10-7]✽1 802�10-7 [961�10-7]✽1 1400�10-7 [1560�10-7]✽1 2710�10-7

Resolution✽2 Resolution Setting: 1000 P/R 0.36˚/Pulse

PowerSource

Voltage/Frequency Single-Phase 200-230 VAC �15��10% 50/60 HzMaximum Input Current A 3 3.9 3.5 4.5

Electromagnetic Brake✽3

Type Active when power is off �

Power Supply Input 24 VDC�5% �

Power Consumption W 6 �

Excitation Current A 0.25 �

Static Friction Torque N�m 0.6 1 �

MassMotor kg 0.85 [1.1]✽1 1.4 [1.65]✽1 1.8 [2.2]✽1 3Driver kg 0.8

Dimension No.

Motor �1 �2

DriverPulse Input �13Built-In Controller (Stored Program) �14

How to read specifications table ➜ Page C-10 Extension cables for electromagnetic brake motor ➜ Page C-2531 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-45Built-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.


Speed – Torque Characteristics How to read speed – torque characteristics ➜ Page C-10

�

✽

✽

✽

�

�

AS66�CE/AS66�CEP

1000 2000 3000 4000

Torq

ue [N

�m]

Speed [r/min]

Pulse Speed [kHz]100 20 30 40 50 60

(Resolution Setting: 1000 P/R)

1.5

2.0

1.0

0.5

00


1000 2000 3000 4000

Torq

ue [N

�m]

Speed [r/min]

Pulse Speed [kHz]100 20 30 40 50 60


2

3

1

00


1000 2000 3000 4000

Torq

ue [N

�m]

Speed [r/min]

Pulse Speed [kHz]100 20 30 40 50 60


2

3

1

00

AS911ACE/AS911ACEP

1000 2000 3000 4000

Torq

ue [N

�m]

Speed [r/min]

Pulse Speed [kHz]100 20 30 40 50 60


4

5

2

1

3

00

Enter A (standard) or M (electromagnetic brake) in the box (�) within the model name.Notes:

Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100˚C.(Under 75˚C is required to comply with UL or CSA Standards as the motor is recognized as insulation class A.)The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 50%.

�

�

�

Step

pin

g M

oto

rs


Standard Type IP65 Rated Motor Motor Frame Size 60 mm, 85 mm

Specifications

Model

Pulse Input Package

Standard AS66ACT AS69ACT AS98ACT AS911ACT


Standard AS66ACTP AS69ACTP AS98ACTP AS911ACTP

Maximum Holding Torque N�m 1.2 2 4Rotor Inertia J: kg�m2 405�10-7 802�10-7 1400�10-7 2710�10-7


PowerSource

Voltage/Frequency Single-Phase 200-230 VAC �15��10% 50/60 HzMaximum Input Current A 3 3.9 3.5 4.5

Degree of Protection Motor: IP65✽2 Driver: IP10

MassMotor kg 1 1.5 2.2 3.3Driver kg 0.8

Dimension No.

Motor �3 �4


How to read specifications table ➜ Page C-101 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.


2 Excluding the gap between the shaft and the flange.Always use the motor cable for IP65 rated motor (sold separately) for connection between the IP65 rated motor and the driver. ➜ Page C-254For the single-phase 100-115 VAC models and three-phase 200-230 VAC models, please contact the nearest Oriental Motor sales office.


�

✽

✽

��

�AS66ACT/AS66ACTP

1000 2000 3000 4000

Torq

ue [N

�m]

Speed [r/min]

Pulse Speed [kHz]100 20 30 40 50 60


1.5

2.0

1.0

0.5

00

AS69ACT/AS69ACTP

1000 2000 3000 4000

Torq

ue [N

�m]

Speed [r/min]

Pulse Speed [kHz]100 20 30 40 50 60


2

3

1

00

AS98ACT/AS98ACTP

1000 2000 3000 4000

Torq

ue [N

�m]

Speed [r/min]

Pulse Speed [kHz]100 20 30 40 50 60


2

3

1

00

AS911ACT/AS911ACTP

1000 2000 3000 4000

Torq

ue [N

�m]

Speed [r/min]

Pulse Speed [kHz]100 20 30 40 50 60


4

5

2

1

3

00

Requirement for Motor Cables for IP65 Rated Motor (Sold separately) �

Notes: Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100˚C.(Under 75˚C is required to comply with UL or CSA Standards as the motor is recognized as insulation class A.)The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 50%.

�

�

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 Driver

Motor Cable for IP65 Rated Motor (Sold separately)(➜ Page C-254)

AS Series

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut


TH Geared Type Motor Frame Size 60 mm

Specifications

Model

Pulse Input Package

Standard AS66ACE-T3.6 AS66ACE-T7.2 AS66ACE-T10 AS66ACE-T20 AS66ACE-T30Electromagnetic Brake AS66MCE-T3.6 AS66MCE-T7.2 AS66MCE-T10 AS66MCE-T20 AS66MCE-T30


Standard AS66ACEP-T3.6 AS66ACEP-T7.2 AS66ACEP-T10 AS66ACEP-T20 AS66ACEP-T30Electromagnetic Brake AS66MCEP-T3.6 AS66MCEP-T7.2 AS66MCEP-T10 AS66MCEP-T20 AS66MCEP-T30

Maximum Holding Torque N�m 1.25 2.5 3 3.5 4Rotor Inertia J: kg�m2 405�10-7 [564�10-7]✽1

Backlash arc minute (degrees) 35 (0.584˚) 15 (0.25˚) 10 (0.167˚) Permissible Speed Range r/min 0�500 0�250 0�180 0�90 0�60 Gear Ratio 1: 3.6 1: 7.2 1: 10 1: 20 1: 30Resolution✽2 Resolution Setting: 1000 P/R 0.1˚/Pulse 0.05˚/Pulse 0.036˚/Pulse 0.018˚/Pulse 0.012˚/PulsePermissible Torque N�m 1.25 2.5 3 3.5 4

PowerSource

Voltage/Frequency Single-Phase 200-230 VAC �15��10% 50/60 HzMaximum Input Current A 3


Type Active when power is offPower Supply Input 24 VDC�5%Power Consumption W 6Excitation Current A 0.25

Static Friction Torque N�m 0.62 1.25 1.5 1.75 2

MassMotor kg 1.25 [1.5]✽1

Driver kg 0.8

Dimension No.

Motor �5


How to read specifications table ➜ Page C-10 Extension cables for electromagnetic brake motor ➜ Page C-253For 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.



Note: 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.


�

�✽

✽

✽

�

�

AS66�CE-T3.6/AS66�CEP-T3.6

0

0 100 200 300 400 500

2015 3025105

600Speed [r/min]

Torq

ue [N

�m]

0

1.5

1.0

0.5

35 Pulse Speed [kHz]


Permissible Torque


0

0 10050 150 200 250

2015 3025105

300Speed [r/min]

Torq

ue [N

�m]

0

4

3

2

1



Permissible Torque

AS66�CE-T10/AS66�CEP-T10

40 80 120 160 200

Torq

ue [N

�m]

4

Speed [r/min]

50 10 15 20 25 30

3

5

2

1

0

Permissible Torque

0

Pulse Speed [kHz](Resolution Setting: 1000 P/R)


20 40 60 80 100Speed [r/min]

50 10 15 20 25 30

Permissible Torque

Torq

ue [N

�m]

4

3

5

2

1

00



0Speed [r/min]

Torq

ue [N

�m]

0

5

4

3

2

1

0

10 20 30 40 50 60

2015 25105

70

30 35 Pulse Speed [kHz]


Permissible Torque



�

�

�

Step

pin

g M

oto

rs



Specifications

Model

Pulse Input Package

Standard AS98ACE-T3.6 AS98ACE-T7.2 AS98ACE-T10 AS98ACE-T20 AS98ACE-T30Electromagnetic Brake AS98MCE-T3.6 AS98MCE-T7.2 AS98MCE-T10 AS98MCE-T20 AS98MCE-T30


Standard AS98ACEP-T3.6 AS98ACEP-T7.2 AS98ACEP-T10 AS98ACEP-T20 AS98ACEP-T30Electromagnetic Brake AS98MCEP-T3.6 AS98MCEP-T7.2 AS98MCEP-T10 AS98MCEP-T20 AS98MCEP-T30

Maximum Holding Torque N�m 4.5 9 12Rotor Inertia J: kg�m2 1400�10-7 [1560�10-7]✽1

Backlash arc minute (degrees) 25 (0.417˚) 15 (0.25˚) 10 (0.167˚) Permissible Speed Range r/min 0�500 0�250 0�180 0�90 0�60 Gear Ratio 1: 3.6 1: 7.2 1: 10 1: 20 1: 30Resolution✽2 Resolution Setting: 1000 P/R 0.1˚/Pulse 0.05˚/Pulse 0.036˚/Pulse 0.018˚/Pulse 0.012˚/PulsePermissible Torque N�m 4.5 9 12

PowerSource

Voltage/Frequency Single-Phase 200-230 VAC �15��10% 50/60 HzMaximum Input Current A 3.5



Static Friction Torque N�m 2.25 4.5 6

MassMotor kg 3 [3.4]✽1

Driver kg 0.8

Dimension No.

Motor �6





Note: 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.


�

�✽

✽

✽

�

�AS98�CE-T3.6/AS98�CEP-T3.6

0

0 100 200 300 400 500

2015 3025105

600Speed [r/min]

Torq

ue [N

�m]

0

6

5

4

3

2

1



Permissible Torque


0 10050 150 200 250 300Speed [r/min]

Torq

ue [N

�m]

0

12

10

8

6

4

2

0 2015 3025105 35 Pulse Speed [kHz]


Permissible Torque


40 80 120 160 200

Torq

ue [N

�m]

Speed [r/min]

Pulse Speed [kHz]50 10 15 20 25 30


8

10

12

4

6

2

0

Permissible Torque

0


20 40 60 80 100

Torq

ue [N

�m]

15

Speed [r/min]

Pulse Speed [kHz]50 10 15 20 25 30


10

5

0

Permissible Torque

0


0

0 10 20 30 40 50 60

2015 25105

70Speed [r/min]

Torq

ue [N

�m]

0

15

10

5



Permissible Torque



�

�

�

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut


PL Geared Type Motor Frame Size 60 mm

Specifications

ModelPulse Input Package

Standard AS66ACE-P5 AS66ACE-P7.2 AS66ACE-P10 AS66ACE-P25 AS66ACE-P36 AS66ACE-P50Electromagnetic Brake AS66MCE-P5 AS66MCE-P7.2 AS66MCE-P10 AS66MCE-P25 AS66MCE-P36 AS66MCE-P50

Maximum Holding Torque N�m 3.5 4 5 8Rotor Inertia J: kg�m2 405�10-7 [564�10-7]✽1

Backlash arc minute (degrees) 20 (0.33˚) Permissible Speed Range r/min 0�360 0�250 0�180 0�72 0�50 0�36Gear Ratio 1: 5 1: 7.2 1: 10 1: 25 1: 36 1: 50Resolution✽2 Resolution Setting: 1000 P/R 0.072˚/Pulse 0.05˚/Pulse 0.036˚/Pulse 0.0144˚/Pulse 0.01˚/Pulse 0.0072˚/PulsePermissible Torque N�m 3.5 4 5 8

PowerSource




Static Friction Torque N�m 1.75 2 2.5 4

MassMotor kg 1.25 [1.5]✽1 1.55 [1.8]✽1

Driver kg 0.8

Dimension No.

Motor �7Driver Pulse Input �13


Resolution select switch ➜ Page C-453 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:

Direction of rotation of the motor shaft and that of the gear output shaft are the same.


�

�✽

✽

✽

�

�AS66�CE-P5

0

0 100 200 300

2015 3025105

400Speed [r/min]

Torq

ue [N

�m]

0

5

4

3

2

1


Permissible Torque

AS66�CE-P7.2

0

0 10050 200 250150

2015 3025105

300Speed [r/min]

Torq

ue [N

�m]

0

5

4

3

2

1



Permissible Torque

AS66�CE-P10

0

0 50 100 150

2015 2510

200Speed [r/min]

Torq

ue [N

�m]

0

8

6

4

2



Permissible Torque

AS66�CE-P25

20 40 60 80

Torq

ue [N

�m]

12

Speed [r/min]

50

0

10 15 20 25 30 Pulse Speed [kHz]


10

8

6

4

2

0

Permissible Torque

AS66�CE-P36

0 10 20 30 40 50 60Speed [r/min]

Torq

ue [N

�m]

0

10

8

2

4

6

0 2015 25105 30 35

12


Permissible Torque

AS66�CE-P50

10 20 30 40

Torq

ue [N

�m]

12

Speed [r/min]

Pulse Speed [kHz]50

0

10 15 20 25 30


10

8

6

4

2

0

Permissible Torque



�

�

�

Step

pin

g M

oto

rs



Specifications

ModelPulse Input Package

Standard AS98ACE-P5 AS98ACE-P7.2 AS98ACE-P10 AS98ACE-P25 AS98ACE-P36 AS98ACE-P50Electromagnetic Brake AS98MCE-P5 AS98MCE-P7.2 AS98MCE-P10 AS98MCE-P25 AS98MCE-P36 AS98MCE-P50

Maximum Holding Torque N�m 9 12.9 18 37Rotor Inertia J: kg�m2 1400�10-7 [1560�10-7]✽1

Backlash arc minute (degrees) 15 (0.25˚) Permissible Speed Range r/min 0�360 0�250 0�180 0�72 0�50 0�36Gear Ratio 1: 5 1: 7.2 1: 10 1: 25 1: 36 1: 50Resolution✽2 Resolution Setting: 1000 P/R 0.072˚/Pulse 0.05˚/Pulse 0.036˚/Pulse 0.0144˚/Pulse 0.01˚/Pulse 0.0072˚/PulsePermissible Torque N�m 9 12.9 18 37

PowerSource




Static Friction Torque N�m 4.5 6.45 9 18.5

MassMotor kg 3.2 [3.6]✽1 4 [4.4]✽1

Driver kg 0.8

Dimension No.

Motor �8Driver Pulse Input �13






�

�✽

✽

✽

�

�AS98�CE-P5

0

0 100 200 300

2015 25105

400Speed [r/min]

Torq

ue [N

�m]

0

15

10

5

30

Permissible Torque


AS98�CE-P7.2

0

0 100 15050 200 250

2015 25105

300Speed [r/min]

Torq

ue [N

�m]

0

20

15

10

5



Permissible Torque

AS98�CE-P10

0

0 50 100 150

2015 25105

200Speed [r/min]

Torq

ue [N

�m]

0

25

20

15

10

5



Permissible Torque

AS98�CE-P25

20 40 60 80

Torq

ue [N

�m]

50

Speed [r/min]

50

0



30

40

20

10

0

Permissible Torque

AS98�CE-P36

0Speed [r/min]

Torq

ue [N

�m]

0

50

30

40

10

20

10 20 30 40 50 60

0 2015 25105 30 35 Pulse Speed [kHz]


Permissible Torque

AS98�CE-P50

10 20 30 40

Torq

ue [N

�m]

50

Speed [r/min]

Pulse Speed [kHz]50

0

10 15 20 25 30


30

40

20

10

0

Permissible Torque



�

�

�

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut


PN Geared Type Motor Frame Size 60 mm

Specifications

Model

Pulse Input Package

Standard AS66ACE-N5 AS66ACE-N7.2 AS66ACE-N10 AS66ACE-N25 AS66ACE-N36 AS66ACE-N50Electromagnetic Brake AS66MCE-N5 AS66MCE-N7.2 AS66MCE-N10 AS66MCE-N25 AS66MCE-N36 AS66MCE-N50


Standard AS66ACEP-N5 AS66ACEP-N7.2 AS66ACEP-N10 AS66ACEP-N25 AS66ACEP-N36AS66ACEP-N50Electromagnetic Brake AS66MCEP-N5 AS66MCEP-N7.2 AS66MCEP-N10 AS66MCEP-N25 AS66MCEP-N36 AS66MCEP-N50


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�60Gear Ratio 1: 5 1: 7.2 1: 10 1: 25 1: 36 1: 50Resolution✽2 Resolution Setting: 1000 P/R 0.072˚/Pulse 0.05˚/Pulse 0.036˚/Pulse 0.0144˚/Pulse 0.01˚/Pulse 0.0072˚/PulsePermissible Torque N�m 3.5 4 5 8Maximum Torque✽3 N�m 7 9 11 16 20

PowerSource





MassMotor kg 1.5 [1.75]✽1 1.7 [1.95]✽1

Driver kg 0.8

Dimension No.

Motor �9




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




�

�✽

✽

✽

✽

�

�AS66�CE-N5/AS66�CEP-N5

0

0 200 400 600

3020 504010

Speed [r/min]

Torq

ue [N

�m]

0

8

6

4

2


Permissible Torque

AS66�CE-N7.2/AS66�CEP-N7.2

0

0 100 200 300 400

3020 4010

Speed [r/min]

Torq

ue [N

�m]

0

10

5



Permissible Torque

AS66�CE-N10/AS66�CEP-N10

0

0 100 200 300

3020 4010

Speed [r/min]

Torq

ue [N

�m]

0

15

10

5



Permissible Torque

Maximum Torque


0

0 50 100

3020 4010

150Speed [r/min]

Torq

ue [N

�m]

0

20

15

10

5



Permissible Torque


0

0 20 40 60 80

3020 4010

100Speed [r/min]

Torq

ue [N

�m]

0

25

20

15

10

5



Permissible Torque


0

0 10 20 30 40 50 60

3020 4010

70Speed [r/min]

Torq

ue [N

�m]

0

25

20

15

10

5



Maximum Torque

Permissible Torque



�

�

�

Step

pin

g M

oto

rs



Specifications

Model

Pulse Input Package

Standard AS98ACE-N5 AS98ACE-N7.2 AS98ACE-N10 AS98ACE-N25 AS98ACE-N36 AS98ACE-N50Electromagnetic Brake AS98MCE-N5 AS98MCE-N7.2 AS98MCE-N10 AS98MCE-N25 AS98MCE-N36 AS98MCE-N50


Standard AS98ACEP-N5 AS98ACEP-N7.2 AS98ACEP-N10 AS98ACEP-N25 AS98ACEP-N36 AS98ACEP-N50Electromagnetic Brake AS98MCEP-N5 AS98MCEP-N7.2 AS98MCEP-N10 AS98MCEP-N25 AS98MCEP-N36 AS98MCEP-N50

Maximum Holding Torque N�m 10 14 20 37Rotor 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�60Gear Ratio 1: 5 1: 7.2 1: 10 1: 25 1: 36 1: 50Resolution✽2 Resolution Setting: 1000 P/R 0.072˚/Pulse 0.05˚/Pulse 0.036˚/Pulse 0.0144˚/Pulse 0.01˚/Pulse 0.0072˚/PulsePermissible Torque N�m 10 14 20 37Maximum Torque✽3 N�m 28 35 56 60

PowerSource




Static Friction Torque N�m 4.5 6.45 9 18.5

MassMotor kg 4 [4.4]✽1 4.7 [5.1]✽1

Driver kg 0.8

Dimension No.

Motor �10




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




�

�✽

✽

✽

✽

�

�


0

0 300200100 400 500 600

3020 4010

Speed [r/min]

Torq

ue [N

�m]

0

15

10

5



Permissible Torque

AS98�CE-N7.2/AS98�CEP-N7.2

0

0 100 200 300 400

3020 4010

Speed [r/min]

Torq

ue [N

�m]

0

20

15

10

5



Permissible Torque


0

0 100 200 300

3020 4010

Speed [r/min]

Torq

ue [N

�m]

0

25

20

15

10

5



Permissible Torque


0

0 50 100

3020 4010

150Speed [r/min]

Torq

ue [N

�m]

0

60

40

20



Permissible Torque


0

0

5040302010

504020 3010 7060 9080Speed [r/min]

Torq

ue [N

�m]

0

80

60

20

40


Permissible Torque

Maximum Torque


0Speed [r/min]

Torq

ue [N

�m]

0

80

60

40

20

0

10 20 30 40 50 60

3020 4010

70



Maximum Torque

Permissible Torque



�

�

�

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut


Harmonic Geared Type Motor Frame Size 60 mm, 90 mm

Specifications

Model

Pulse Input Package

Standard AS66ACE-H50 AS66ACE-H100 AS98ACE-H50 AS98ACE-H100Electromagnetic Brake AS66MCE-H50 AS66MCE-H100 AS98MCE-H50 AS98MCE-H100


Standard AS66ACEP-H50 AS66ACEP-H100 AS98ACEP-H50 AS98ACEP-H100Electromagnetic Brake AS66MCEP-H50 AS66MCEP-H100 AS98MCEP-H50 AS98MCEP-H100

Maximum Holding Torque N�m 5.5 8 25 37Rotor Inertia J: kg�m2 440�10-7 [599�10-7]✽1 1600�10-7 [1759�10-7]✽1

Permissible Speed Range r/min 0�70 0�35 0�70 0�35Gear Ratio 1: 50 1: 100 1: 50 1: 100Resolution✽2 Resolution Setting: 1000 P/R 0.0072˚/Pulse 0.0036˚/Pulse 0.0072˚/Pulse 0.0036˚/PulsePermissible Torque N�m 5.5 8 25 37Maximum Torque N�m 18 28 35 55

Lost Motion(Load Torque)

arc minute0.7 max.

(�0.28 N�m) 0.7 max.

(�0.39 N�m) 1.5 max.

(�1.2 N�m)

PowerSource

Voltage/Frequency Single-Phase 200-230 VAC �15��10% 50/60 HzMaximum Input Current A 3 3.5



Static Friction Torque N�m 2.75 4 12.5 18.5

MassMotor kg 1.4 [1.65]✽1 3.9 [4.3]✽1

Driver kg 0.8

Dimension No.Motor �11 �12





Note: 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.


�

�✽

✽

✽

�

�

AS66�CE-H50/AS66�CEP-H50

0

0 20 40 60

3020 4010

80Speed [r/min]

Torq

ue [N

�m]

0

25

20

10

5

15



Maximum Torque

Permissible Torque


0

0 20 40 60

3020 4010

80Speed [r/min]

Torq

ue [N

�m]

0

50

40

20

10

30



Maximum Torque

Permissible Torque


0

0 10 20 30

30 5010

40Speed [r/min]

Torq

ue [N

�m]

0

40

30

20

10



Maximum Torque

Permissible Torque


0Speed [r/min]

Torq

ue [N

�m]

0

80

60

40

20

0

10 20 30

30 5010

40



Maximum Torque

Permissible Torque


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 100˚C.(Under 75˚C is required to comply with UL or CSA Standards as the motor is recognized as insulation class A.)In order to prevent fatigue of the gear grease in the harmonic gear, keep the temperature of the gear case under 70˚C.The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 50%.

�

�

��

Step

pin

g M

oto

rs


Driver SpecificationsPulse Input Package Built-In Controller (Stored Program) Package

Speed and Positioning Control Command Pulse input Stored programMaximum Input Pulse Frequency 250 kHz (When the pulse duty is 50%) �

Protective Functions

When the protective functions are activated, an alarm signal is output and the motor stops automatically.

Overheat, Overload, Overvoltage, Speeed error, Overcurrent, Overspeed, EEPROM data error, Sensor error, System error

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, Overspeed error, Overvoltage, Excessive position deviation, Overcurrent, 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

Input SignalsPhotocoupler 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 input, Control input: 24 VDC, Input resistance: 4.7 k� (X0�X7, START, E-STOP, HOMELS, �LS, �LS, SENSOR)

Output Signals

Photocoupler, Open-collector outputExternal use condition: 30 VDC maximum, 15 mA maximum(Positioning completion signal, Alarm signal) Transistor, Open-collector outputExternal 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, Open-collector outputExternal 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 linesMaximum commands per 1 line: 1 command (Single state) Maximum program variables: 26 variables (A�Z)

Positioning Control �

Incremental (relative distance specification) mode/Absolute (absolute position specification) modeOne-shot operation/Linked operation (A maximum of 4 profiles can be linked) Maximum operating rangesSteps: �8 388 608��8 388 607 (1 each) Operating speed: 10 Hz�500 000 Hz (500 kHz) Acceleration/Deceleration rate✽: 10�50 000 msec

Operating Method �

Positioning operation (Indexing) Continuous operation (Scan) Linked profileReturn to electrical home position (Return) Return to mechanical home position (Home operation)

Mechanical Home Detection Operation

�Return to home operation is performed from the entire range usingmechanical position detection signals (�LS, �LS, HOMELS)

Other Functions �

Speed-filter value setting functionCurrent setting functionElectric gear functionSetting function for direction of motor rotationExternal stop functionOvertravel functionSoftware overtravel functionAlarm trace-back functionDaisy chain connections

Terminal Emulation �

Connection standard: RS-232C conformityTransfer system: Asynchronous communication, NRZ (Non return to zero), Full duplexData length: 8 bits, 1 stop bit, No parityTransmit speed: 9600 bpsConnector specification: Modular (4 wires, 4 pins) Pin arrangement: RS-232C CompatibleProtocol: TTY (CR�LF)

The rates of acceleration and deceleration can be set separately.

�

✽

Common to Each Type

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut


Load Torque – Driver Input Current Characteristics�

General Specifications This is the value after rated operation at normal ambient temperature and humidity.

Specifications Motor DriverMotor Insulation Class Class B (130˚C) [UL/CSA: Recognized as class A (105˚C) ] �

Insulation Resistance

100 M� or more when 500 VDC megger is applied between the following places:� Case – Windings� Case – Electromagnetic brake windings

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

Dielectric Strength

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

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 terminal3.0 kV 50 Hz or 60 Hz: Pulse input package1.8 kV 50 Hz or 60 Hz: Built-in controller (stored program) package

Operating Environment (In operation)

Ambient Temperature

0��50˚C (non-freezing) : Standard TypeTH, PL, PN Geared Type

0��40˚C (non-freezing) : Harmonic Geared Type

0��50˚C (non-freezing) : Pulse input package0��40˚C (non-freezing) : Built-in controller (stored program) package

Ambient Humidity

85% or less (non-condensing)

Atmosphere No corrosive gases, dust, water or oil (Standard IP65 rated motor: No corrosive gases)Stop Position Accuracy �5 arc minutes �

Shaft Runout 0.05 T.I.R. (mm)✽ �

Concentricity 0.075 T.I.R. (mm)✽ �

Perpendicularity 0.075 T.I.R. (mm)✽ �

T.I.R. (Total Indicator Reading): The total dial gauge reading when the measurement section is rotated one revolution centered on the reference axis center.Note:

Do not measure insulation resistance or perform the dielectric strength test while the motor and driver are connected.

A

A0.075

A�0.075

0.05

�

✽

�

AS66

0

0.5

1.0

1.5

2.0

2.5

0.60.3 0.9 1.2 1.5Load Torque [N�m]

Driv

er In

put C

urre

nt [A

]

2000 r/min

1000 r/min

500 r/min

3000 r/min

0

AS69

0

0.5

1.0

1.5

2.0

2.5

3.0

1.00.5 1.5 2.0 2.5Load Torque [N�m]

Driv

er In

put C

urre

nt [A

]

3000 r/min

500 r/min

1000 r/min

0

2000 r/min

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

Common to Each Type

AS98

0

0.5

1.0

1.5

2.0

2.5

3.0

1.00.5 1.5 2.0 2.5Load Torque [N�m]

Driv

er In

put C

urre

nt [A

]

2000 r/min 1000 r/min3000 r/min

500 r/min

0

AS911

1000 r/min

500 r/min

2000 r/min

3000 r/min

0

1

2

3

4

5

6

2.0 4.01.0 3.0Load Torque [N�m]

Driv

er In

put C

urre

nt [A

]

0

Step

pin

g M

oto

rs


Permissible Overhung Load and Permissible Thrust Load Unit � N

Type Model Gear RatioPermissible Overhung Load

Distance from Shaft End (mm) PermissibleThrust Load

0 5 10 15 20

Standard Type

Standard TypeIP65 Rated Motor

AS66�CEAS66ACTAS66�CEPAS66ACTPAS69�CEAS69ACTAS69�CEPAS69ACTP

�

63 75 95 130 190

The permissible thrust load shall be no greater than the motor mass.

AS98�CEAS98ACTAS98�CEPAS98ACTPAS911ACEAS911ACTAS911ACEPAS911ACTP

260 290 340 390 480

TH Geared Type

AS66�CE-T��

AS66�CEP-T�� 3.6, 7.2, 10, 20, 30

70 80 100 120 150 40

AS98�CE-T��

AS98�CEP-T��220 250 300 350 400 100

PL Geared Type

AS66�CE-P5 5 200 220 250 280 320

100AS66�CE-P�� 7.2, 10 250 270 300 340 390

AS66�CE-P�� 25, 36, 50 330 360 400 450 520

AS98�CE-P�� 5, 7.2, 10 480 540 600 680 790

300AS98�CE-P25 25 850 940 1050 1190 1380

AS98�CE-P36 36 930 1030 1150 1310 1520

AS98�CE-P50 50 1050 1160 1300 1480 1710

PN Geared Type

AS66�CE-N5AS66�CEP-N5 5 200 220 250 280 320

100AS66�CE-N��

AS66�CEP-N��7.2, 10 250 270 300 340 390

AS66�CE-N��

AS66�CEP-N��25, 36, 50 330 360 400 450 520

AS98�CE-N5AS98�CEP-N5 5 480 520 550 580 620

300

AS98�CE-N��

AS98�CEP-N��7.2, 10 480 540 600 680 790

AS98�CE-N25AS98�CEP-N25 25 850 940 1050 1110 1190

AS98�CE-N36AS98�CEP-N36 36 930 1030 1150 1220 1300

AS98�CE-N50AS98�CEP-N50 50 1050 1160 1300 1380 1490


AS66�CE-H��

AS66�CEP-H��50, 100

320 370 440 550 720 450

AS98�CE-H��

AS98�CEP-H��1090 1150 1230 1310 1410 1300

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.

�

�

Common to Each Type

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut


Dimensions (Unit = mm)

Motor

Standard Type

�1 �60 mmModel Motor Model L1 L2 Mass (kg)

AS66ACEAS66ACEP ASM66ACE 63.6 � 0.85

AS66MCEAS66MCEP ASM66MCE � 98.6 1.1

AS69ACEAS69ACEP ASM69ACE 94.6 � 1.4

AS69MCEAS69MCEP ASM69MCE � 129.6 1.65

L1

50�

0.35

60

L2

20.5

31.7

6050�0.35

4��4.5 Thru

155557-10R(MOLEX)

400

24�1

1.520�0.25

7

Motor Cable �7Protective Earth Terminal M4

7.5�

0.15

�36

�0.

025(

h7)

0�

8�0.

015(

h7)

0


AS98ACEAS98ACEP ASM98ACE 80 � 1.8

AS98MCEAS98MCEP ASM98MCE � 131 2.2

AS911ACEAS911ACEP ASM911ACE 110 � 3

4��6.5 Thru

Motor Cable �7

Protective Earth Terminal M4

2

31.7

15

70�0.35

85

85L2

L1

40020.5

37�1

1025�0.25

70�

0.35

13�

0.15

�60

�0.

03( h

7)0

�14

�0.

018(

h7)

0

5557-10R(MOLEX)


�3 �60 mmModel Motor Model L Mass (kg)

AS66ACTAS66ACTP ASM66ACT 98.7 1

AS69ACTAS69ACTP ASM69ACT 129.7 1.5

Always use the motor cable for IP65 rated motor (sold separately) for connection between the IP65 rated motor and the driver.

6039

10.3

10.3

RC-09P1N122300(CONINVERS)

2L

70.3

M4

10

6082

.5 m

ax.

74��4.5 Thru50�0.35

24�1

20�0.25

50�

0.35

7.5�

0.15

�8�

0.01

5(h7

)0

�36

�0.

03( h

7)0


��

�

�

Step

pin

g M

oto

rs



AS98ACTAS98ACTP ASM98ACT 110 2.2

AS911ACTAS911ACTP ASM911ACT 140 3.3

Always use the motor cable for IP65 rated motor (sold separately) for connection between the IP65 rated motor and the driver.

85

107

max

.

10

10.3

95.3

10.3M4

240.6L

85

10

RC-09P1N122300(CONINVERS)

37�1

13�

0.15

25�0.25

70�0.35

70�

0.35


�14

�0.

018(

h7)

0

�60

�0.

03( h

7)0

4��6.5 Thru

These 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

� Flexible Motor Cables for IP65 Rated Motor

�

Model Length L (m) Model Length L (m)

CC01AST 1 CC01SAR2 1






CC15AST 15

CC20AST 20

Motor Cables/Flexible Motor Cables for IP65 Rated Motor

L

CC__AST: �8CC__SAR2: �9.5

CC__AST: RC�09S1N1280S1 (CONINVERS)CC__SAR2: RC�09S1N1280U1 (CONINVERS)

Motor SideDriver Side

5557�10R (MOLEX)

14.5

22.2

19.6 51.1 2611.6

TH Geared Type

�5 �60 mmModel Motor Model Gear Ratio L1 L2 Mass (kg)

AS66ACE-T�

AS66ACEP-T�ASM66ACE-T�

3.6, 7.2, 10, 20, 30108.6 � 1.25

AS66MCE-T�

AS66MCEP-T�ASM66MCE-T� � 143.6 1.5

Enter the gear ratio in the box (�) within the model name.

60

60

15

L2L1

70�

0.5

20.5

31.7

32�1

3.5 12

Motor Cable �7


4�M4�8 Deep

10�

0.5

7�0.

15

�23

�0.

021(

h7)

0

�8�

0.01

5(h7

)0

5557-10R(MOLEX)

400

�

�

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut



AS98ACE-T�

AS98ACEP-T�ASM98ACE-T�

3.6, 7.2, 10, 20, 30144.5 � 3

AS98MCE-T�

AS98MCEP-T�ASM98MCE-T� � 195.5 3.4


A

A

90

L2

90

25�0.231.7

15 104�0.5

L185

85

20.5400

A – A

32�1

3.525

5557-10R(MOLEX)Motor Cable �7


Parallel Key (Included)

4�0.03 0

4�0.03 0

4�0.

03 0 2.5

0

�0.

1

18�

0.5

�35

�0.

025(

h7)

0

�12

�0.

018(

h7)

0

4�M8�15 Deep

PL Geared Type


AS66ACE-P� ASM66ACE-P�5, 7.2, 10 98.6 � 1.25

25, 36, 50 123.6 � 1.55

AS66MCE-P� ASM66MCE-P�5, 7.2, 10 � 133.6 1.5

25, 36, 50 � 158.6 1.8


�12

�0.

018(

h7)

0

�37

�0.

025(

h7)

0

70�0.5

31.7

1560

60

20.5400

25�0.2

L1L2

Parallel Key (Included) A – A

38�1

10 25

4�0.03 0

4�0.

03 0 4�0.03

0

Motor Cable �7Protective Earth Terminal M4

A

A

5557-10R(MOLEX)2.

5

0 �

0.1

4�M5�10 Deep


AS98ACE-P� ASM98ACE-P�5, 7.2, 10 127 � 3.2

25, 36, 50 163 � 4

AS98MCE-P� ASM98MCE-P�5, 7.2, 10 � 178 3.6

25, 36, 50 � 214 4.4


85

L2

85

L14�M8�15 Deep

104�0.5

90

90

40020.5

31.7

15


A – A

252614

A

A �61

�0.

03( h

7)0

�18

�0.

018(

h7)

0



3.5

0

�0.

1

6�0.03 0

6�0.

03 0 6�0.03

025�0.2

47�1

�

�

�

�

Step

pin

g M

oto

rs


PN Geared Type


AS66ACE-N�

AS66ACEP-N�ASM66ACE-N�

5, 7.2, 10 107.6 � 1.5

25, 36, 50 123.6 � 1.7

AS66MCE-N�

AS66MCEP-N�ASM66MCE-N�

5, 7.2, 10 � 142.6 1.75

25, 36, 50 � 158.6 1.95


L2

31.7

15

25�0.2

70�0.5

60

60

40020.5

6L1


38�1

25



A

A

�37

�0.

025(

h7)

0�

12�

0.01

8(h7

)0

2.5

0

�0.

1

4�0.03 0

4�0.03 0

4�0.

03 0

4�M5�10 Deep


AS98ACE-N�

AS98ACEP-N�ASM98ACE-N�

5, 7.2, 10 140 � 4

25, 36, 50 163 � 4.7

AS98MCE-N�

AS98MCEP-N�ASM98MCE-N�

5, 7.2, 10 � 191 4.4

25, 36, 50 � 214 5.1


A

A

85

L2

85 90

90

L1

20.5400

31.7

15

256

104�0.5

47�1

�61

�0.

03( h

7)0

�18

�0.

018(

h7)

0



25�0.2


A – A

6�0.03 0

6�0.

03 0 6�0.03

0

3.5

0

�0.

1

4�M8�15 Deep



AS66ACE-H�

AS66ACEP-H�ASM66ACE-H�

50, 100103.6 � 1.4

AS66MCE-H�

AS66MCEP-H�ASM66MCE-H� � 138.6 1.65


L1L2

31.7

15

60˚

60

60

40020.5

1.520

A

A

2

90˚1.6

70�0.525.5�0.2

6�M4�6 Deep✽

28.5�1


Motor Cable �7

� 33.5

(Max

.Dia.

of Ro

tating

Part)

5557-10R(MOLEX)

�12

�0.

018(

h7)

0

�54

�0.

03( h

7)0

20�0.21 0

4�0.

03 0 4�0.03

04�0.03

0

2.5

0

�0.

1


✽The position of the output shaft relative to the screw holes on the rotating part is arbitrary.

4�M5�10 Deep

�

�

�

�

�

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut



AS98ACE-H�

AS98ACEP-H�ASM98ACE-H�

50, 100163.5 � 3.9

AS98MCE-H�

AS98MCEP-H�ASM98MCE-H� � 214.5 4.3


A

A

L1L2

85

85

90

90

20.5400

31.7

15

15

2825

3 3.54��9.2 Thru

104�0.5

�83

�0.

035(

h7)

0�50

�22

�18

�0.

018(

h7)

0

40�1.2


Motor Cable �75557-10R(MOLEX)

2.4

25�0.21 0

90˚

6�0.

03 0 6�0.03

06�0.03

0

3.5

0

�0.

1


Electromagnetic 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


Driver SideMotor SideElectromagnetic Brake Leads 60 mm (Orange/Black, Gray AWG24)

(14.5)11.6

22.2

L12

24.3

(30)

�8

Model Length L (m)

CC01AIPM 1

CC02AIPM 2

CC03AIPM 3

CC05AIPM 5

CC07AIPM 7

CC10AIPM 10

CC15AIPM 15

CC20AIPM 20


(30)

24.3

22.2

(14.5)L1211.6

�9.5

Electromagnetic Brake Leads 60 mm (Orange, Gray AWG22)Driver SideMotor Side

Model Length L (m)

CC01SARM2 1

CC02SARM2 2

CC03SARM2 3

CC05SARM2 5

CC07SARM2 7

CC10SARM2 10

�

�

�

�

Step

pin

g M

oto

rs


Driver

�13 Pulse Input Package (Common to all types) Mass: 0.8 kg

M4

17

6.2

5 max.

3�M3

7.62

120 41 max.

11

(6)

134

10

7�M3

23

994525 10

150

180

20089

25

3

�

Mounting Bracket (2 pieces, included)

45

25

25

2��3.5 Countersink

1010

4.5 3

43

�Control I/O Connector

Cover Assembly: 54331-1361 (MOLEX) Connector: 54306-3619 (MOLEX)

�14 Built-In Controller (Stored Program) Package (Common to all types) Mass: 0.8 kg

11

3 120 41 max.

6.2

7.62

5 max.

150

4525 10

180

200

(6)

134

10

7�M3

23

99

M4

17

3�M3

8925

Mounting Bracket (2 pieces, included)

45

25

25

2��3.5 Countersink

1010

4.5 3

43

�Control I/O Connector

Cover Assembly: 54331-1361 (MOLEX) Connector: 54306-3619 (MOLEX)

Sensor Input ConnectorCover Assembly: 54331-1201 (MOLEX) Connector: 54306-2019 (MOLEX)

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut


Connection and Operation (Pulse Input Package)

Names and Functions of Driver Parts

Motor Connector

Not used

Power Input Terminals

Protective EarthTerminal

z

x

c

v

b

�1 Signal Monitor Displays

LED IndicatorsIndication Color Function When Activated

OPERATION Green Power supply indication Lights when power is on.ALARM Red Alarm indication Blinks when protective functions are activated.

AlarmBlink Count Function When Activated

1 Overheat The temperature of the driver's internal heat sink rises to approximately 85˚C.2 Overload The motor is operated continuously over five seconds under a load exceeding the maximum torque.3 Overvoltage The primary voltage of the driver's inverter exceeds the permissible value.4 Speed error The motor cannot accurately follow at the indicated pulse speed.5 Overcurrent An excessive current has flowed through the inverter power element inside the driver.6 Overspeed The motor shaft velocity exceeds 5000 r/min. (Except geared type) 7 EEPROM data error A motor control parameter has been damaged.8 Sensor error The power source turns on when the motor cable is not connected to the driver.

Lights (No blinking)

System error The driver has fatal error.

�

�

��

�2 Function SwitchesIndication Switch Name Function

1000/500�1/�10

Resolution select switch

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)

1P/2P Pulse input mode switch

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.

Notes: Always turn the power off before switching resolution or pulse input, and turn it on again after you have made the change.If the resolution select switch is set to "�10," it cannot control the resolution selected by the input terminals. It will always be "�10."

�3 Current Adjustment SwitchIndication Switch Name Function

CURRENT Current adjustment switchThe motor running current can be lowered to suppress temperature rise in the motor and driver, or lower operating current in order to allow a margin for motor torque.

�4 Velocity Filter Adjustment SwitchIndication Switch Name Function

V.FILVelocity filter adjustment switch

This switch is used to make adjustments when a smooth start-stop or smooth motion at low speed is required.

Time

Mot

or S

peed

Set to "0"

Set to "F"

· The differencein characteristicsmode by thevelocity filter.

��

�5 Input/Output SignalsIndication Input/Output Pin No. Signal Signal Name

CN4

External power input

1 Vcc�5VPower supply for signal control

2 GND3 Vcc�24V

Inputsignal

9 DIR. (CCW) Rotation direction(CCW pulse)✽10 DIR. (CCW)

11 PLS (CW) Pulse(CW pulse)✽12 PLS (CW)

Outputsignal

13 BSG1 B-phase pulse output(Open-collector) 14 GND

15 ASG1 A-phase pulse output(Open-collector) 16 GND

17 BSG2 B-phase pulse output(Line driver) 18 BSG2

19 ASG2 A-phase pulse output(Line driver) 20 ASG2

Inputsignal

21 ACLAlarm clear

22 ACL

Outputsignal

23 TIM.1 Timing (Open-collector) 24 GND

25 ALARMAlarm

26 ALARM27 TIM.2 Timing

(Line driver) 28 TIM.229 END Positioning

completion30 END

Inputsignal

31 �10Resolution select

32 �1033 C.OFF

All windings off34 C.OFF

Description of input/output signals ➜ Page C-47Signal names in parentheses represent the setting in 2-pulse input mode.The factory setting is the 1-pulse input mode.

✽

Step

pin

g M

oto

rs


�Connecting the Electromagnetic Brake to Power SupplyConnect 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:

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.To protect the switch contacts and prevent noise, always connect the surge suppressor.(✽The surge suppressor is included with electromagnetic brake motors.) To prevent noise, use a dedicated power supply for electromagnetic brake.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.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

AS Series Driver


Brake Motor(Sold separately)

24 VDC

SurgeSuppressor✽

SwitchOrange/Black(Orange for Flexible Extension Cable)Gray

� �

Timing Chart for Electromagnetic Brake Operation

ElectromagneticBrake Power Source

OFF

ON

Driver Power Source

To release the electromagnetic brake, wait at least 0.5 secondafter turning on the driver power source.The load may fall down.

OFF

ON

0.5 s min.

Connection Diagrams

CN4CN2

0 V

0 V

Vcc�5 V

R1

R1

R2

R2

V0 (�30 VDC max.)

Connector(Pin No.)

(CW Pulse Signal)

Rotation DirectionSignal

Pulse Signal

(CCW Pulse Signal)

InputSignals

OutputSignals

DriverController

Twisted-Pair Wire

All Windings OffSignal

Resolution SelectSignal

Alarm ClearSignal

Alarm Signal

TerminalBlock

Protective Earth (P.E.)[Use wire of AWG18 (0.75 mm2) or thicker.]

GNDVcc�24 V

Timing Signal

Ach Pulse Signal

Bch Pulse Signal

Power SourceSingle-Phase 200-230 VAC �15~�10% 50/60 Hz

VO

�5 VDC

PositioningCompletion Signal

The TIM.1/ASG1/BSG1 have the groundcommon for current sink output.Refer to pages C-48 and C-49 for the wiring.

0 V

0 V

L

N

Caution

Motor


The most suitable controllers for AS Series are available. Controller SG8030JY ➜ Page C-248

� Input Signal ConnectionPulse Signal/Rotation Direction SignalSignals 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.All Windings Off Signal/Resolution Select Signal/Alarm Clear SignalKeep the input signal voltage to 5 VDC. If these specifications are exceeded, the internal components may be damaged.

Output Signal ConnectionUse 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.

Notes on WiringUse 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).Note that as the length of the pulse signal line increases, the maximum transmission frequency decreases. Technical reference ➜ Page F-46When 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-253Always use the motor cable for IP65 rated motor (sold separately) for connection between the IP65 rated motor and the driver.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). Do not run the control I/O signal lines in the same duct as power lines or bundle them with power lines.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

Recommended Crimp Terminals

9 mm min.6.2

mm

max

. �3.2 mm min.

9 mm min.6.2

mm

max

. 3.2 mm min.

Crimp terminals are not provided with the package. They must be purchased separately.

��

�

��

��

�

�

�

�

�

�

�

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut


Description of Input/Output Signals

Photocoupler OFF ON

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.

PLS (CW) and DIR. (CCW) Input Signal

Input Circuit and Sample Connection

720 mA

720 mA

VO

0 V

220 Ω

220 Ω

PLS

PLS (CW)

DIR. (CCW)

(CCW)DIR.

PLS(CW)

(CW)

DIR.(CCW)

ControllerOpen-CollectorOutput

Driver

R1

R1

The colored characters indicate signals under the 1-pulse input mode, while the black characters indicate signals under the 2-pulse input mode.

Note: 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.

Pulse Waveform Characteristics

2 μs 2 μs

2 μs1 μsmin.

90 %10 %

min.10 μsmin.

10 μsmin.

max. max.

CCW CWON

OFFDIR. Input

ON

OFFPLS Input

For pulse signals, use input pulse waveforms like those shown in the figure above.

Pulse Input Mode1-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:

The factory setting is 1-pulse input mode.

[Rotation Direction Signals] Photocoupler "ON": ClockwisePhotocoupler "OFF": Counterclockwise1-Pulse Input Mode

Clockwise

Pulse Signal

Motor Movement

(PLS)ONOFF

OFFONRotation Direction(DIR.)

Counterclockwise

2-Pulse Input ModeThe 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.

Motor Movement

CW Pulse Signal(CW) OFF

ON

Counterclockwise

Clockwise

OFFONCCW Pulse Signal

(CCW)

2-Pulse Input Mode

�

�

�

�

�

�

��

�

�

All Windings Off (C.OFF) Input SignalResolution Select (�10) Input SignalAlarm Clear (ACL) Input Signal


7�20 mA

�5 VDC

0 V

220 �


Driver

All Windings Off (C.OFF) Input SignalPin 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.

OFF ON OFFC.OFF

Excitation StateNon-Excitation StateMotor

Resolution Select (�10) Input SignalPin 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:

While the resolution select switch is set to 10000 P/R or 5000 P/R, input of this signal will not change the resolution.

Alarm Clear (ACL) Input SignalPin 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:

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

�

�

�

�

�

�

Step

pin

g M

oto

rs


Positioning Completion (END) Output SignalAlarm (ALARM) Output Signal

Output Circuit and Sample ConnectionController

DriverV0

0 V

30 VDC, 15 mA max.

Positioning Completion (END) Output SignalPin 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

END OFF ONON

Note: The END signal flashes during operation with a pulse input frequency of 500 Hz or less.

Alarm (ALARM) Output SignalPin 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 Normal

ON ONOFFALARM

ALARM LED Off Blinking Off

Pulse Signal (Speed Pattern) Rotation Natural Stop

Notes: The "Alarm" output uses positive logic (normal close), all other outputs use negative logic (normal open).The ALARM indicator lights (not blinks) when system error protective function has been activated.

�

�

�

�

�

�

Timing (TIM.1, TIM.2) Output Signal

Output Circuit and Sample Connection

Open-Collector Output

VCC�5 V✽

30 VDC15 mA max.

VO

0 V

0 V

Controller

Driver

GND

TIM1

Power supply for "Timing" signal outputshould be connected to 5 VDC.

Circuits for use with 30 VDC, 15 mA maximum.

Line Driver Output

Controller

Driver

Equivalentof 26C32

Equivalentof 26C31

1

GND0 V

0 V

VCC�5 V✽1

2

28

27

✽Power supply for "Timing" signal outputshould be connected to 5 VDC.

3

Timing (TIM.1, TIM.2) Output SignalPin 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.

CW

PLS Input

CCWDIR. Input

ONOFFONOFFONOFF

TIM. Output

(Step)

Notes: A precise "Timing" signal output cannot be obtained when the speed of the pulse input frequency is over 500 Hz.When the "Timing" signal output is used, 5 VDC power supply is necessary.

�

�

�

�

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut


Quadrature (ASG1/BSG1, ASG2/BSG2) Output Signal



VCC�5 V

VO

0 V

Controller

Driver

GND

BSG1

30 VDC15 mA max.

30 VDC15 mA max.

GND

ASG1

Circuit for use with 30 VDC, 15 mA maximum.

Line Driver Output

Controller

Driver

Equivalentof 26C32

Equivalentof 26C31

1

GND0 V

0 V

VCC�5 V✽1

2

3

17 19

18 20

✽Power supply for "Quadrature" signal outputshould be connected to 5 VDC.

Quadrature (ASG1/BSG1, ASG2/BSG2) Output SignalPin 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: The "Quadrature" signal output accuracy is, regardless of resolution, within �0.36˚ (repetition accuracy: within �0.09˚).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.

Pulse Waveform CharacteristicsASG1

(ASG2)

(Clockwise Rotation of Motor)

BSG1(BSG2)

�

�

�

�

�

Step

pin

g M

oto

rs


Connection and Operation [Built-In Controller (Stored Program) Package]


Motor Connector

Not used



z

x

c

��



OPERATION Green Power supply indication Lights when AC power is on.ALARM Red Alarm Indication Blinks when protective functions are activated.

�

AlarmBlink Count Protective Function When Activated Alarm Code Output Operation Reset

1

Stack overflow Too many nested LOOP, ENDL, CALL, etc.90h

(Decimal: 144)

The program stops.The motor performs stop operation set by MSTOPACT.

✽Possible

Memory read error The data stored in the memory is damaged.91h

(Decimal: 145)

Program reference error The called program does not exist.94h

(Decimal: 148)

Compilation error The executed program is not executable.95h

(Decimal: 149)

Operation result overflowThe operation result exceeds the range of �8 388 608 to �8 388 607.

98h (Decimal: 152)

Parameter out-of-range error The parameter exceeds its setting range.99h

(Decimal: 153)

Divide by zero Divide by zero was executed.9Ah

(Decimal: 154)

General I/O definition errorThe signal assignment method for general I/O ports was not correct.

9Ch (Decimal: 156)

PC command execution errorA PC command was executed while the motor was operating or not energized.

9Dh (Decimal: 157)

2

Overheat protectionThe temperature of the heat sink in the driver has reached approx. 85˚C.

21h (Decimal: 33)

The motor loses it'sholding torque.

✽Possible

Overload protectionA load exceeding the maximum torque was applied to the motor for the duration set by the OLTIME command.

30h (Decimal: 48)

Overspeed errorThe speed of the motor's output shaft has exceeded 5000 r/min.

31h (Decimal: 49)

3 Overvoltage protectionThe driver's primary inverter voltage has exceeded the limit of tolerance.

22h (Decimal: 34)


✽Possible

4 Excessive position deviation

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.

10h (Decimal: 16)


✽Possible

5 Overcurrent protectionAn excessive current has flowed into the power element of the driver's inverter section.

20h (Decimal: 32)


✽Impossible

6 External stop An E-STOP signal has been input.68h

(Decimal: 104)

The program stops.The motor loses it'sholding torque (ESTOPACT � 0).

✽Possible

7

Incorrect limit-sensor logic Both the �LS and �LS are ON simultaneously.60h

(Decimal: 96) The motor stopsimmediately.

✽Possible

Reverse limit-sensor connection The �LS and �LS are connected in reverse.61h

(Decimal: 97)

Mechanical home seeking errorMechanical home seeking could not be executed correctly.

62h (Decimal: 98)

Overtravel The motor has exceeded its hardware limit.66h

(Decimal: 102)

The program stops.The motor stopsimmediately (ESTOPACT� 1).

Software overtravel The motor has exceeded its software limit.67h

(Decimal: 103) Decelerates to a stop.

External stop An E-STOP signal has been input.68h

(Decimal: 104) The motor stopsimmediately.

Invalid operation data An inoperable operation pattern has been started.70h

(Decimal: 112) Motion is stopped.

8Resolver sensor error

The motor cable has not been connected or a motor's error has occurred in a sensor.

42h (Decimal: 66) The motor loses it's

holding torque.✽Impossible

Initial rotor revolution errorThe driver's power was turned on while the motor's output shaft was turning by external force.

43h (Decimal: 67)

9 NVRAM error Motor control parameters have been damaged.41h

(Decimal: 65) The motor loses it'sholding torque.

✽Impossible

Stays ON. System error Driver failure has occurred.F0h

(Decimal: 240) The motor loses it'sholding torque.

✽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.

�

✽

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut


�2 Limit Sensor Input Communication Signals (CN5) Connector Pin No. Input/Output Signal Signal Name

CN5

1Input

COM1 Common terminal for input signals2 COM2 Common terminal for input signals3 � � No Connection4 � � No Connection5 Output TX RS-232C Transmit6 � � No Connection7 Input RX RS-232C Receive8 � � No Connection9 � � No Connection10 Input N24 External power supply terminal (GND) 11

Input

COM1 Common terminal for input signals12 COM2 Common terminal for input signals13 �LS �LS limit sensor14 �LS �LS limit sensor15 HOMELS HOME sensor16 SENSOR Sensor17 � No connection18 � No connection19 COM1 Common terminal for input signals20 COM2 Common terminal for input signals

�3 I/O Signals (CN4) Connector Pin No. Input/Output Signal Signal Name

CN4

1Input

P24 Power source for RS-232C, ASG and BSG (24 VDC) 2 N24 Power source for RS-232C, ASG and BSG (GND) 3

Output

Y0

General output✽1

(Y0 to Y3)

4 Y05 Y16 Y17 Y28 Y29 Y3

10 Y311 ASG Phase A pulse output

(Line driver output) 12 ASG13 BSG Phase B pulse output

(Line driver output) 14 BSG15

Input

START START16 E-STOP External stop17

COM1 Common terminal for input signal1819

Output

Y4

General output✽1

(Y4 to Y7)

20 Y421 Y522 Y523 Y624 Y625 Y726 Y727 ALM

Alarm28 ALM29

Input

X0

General input✽2

(X0 to X7)

30 X131 X232 X333 X434 X535 X636 X7

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

✽

✽

Step

pin

g M

oto

rs


Connection Diagrams

CN4

�24 VDC

�24 VDC

START Input

E-STOP Input

X0 Input

X1 Input

X2 Input

X3 Input

X4 Input

X5 Input

X6 Input

X7 Input

P24

Y0 Output

Y1 Output

Y2 Output

Y3 OutputY3 OutputY4 Output

Y5 Output

Y6 Output

Y7 Output

ALM OutputALM Output

ASG Output

BSG OutputBSG Output

COM1 (CN5)

COM1

N24

Controller

O V

Driver

O V

17 (18)

3456789

Y0 Output

Y1 Output

Y2 Output

Y4 Output

Y5 Output

Y6 Output

Y7 Output

ASG Output

1019202122232425262728

11121314

36

35

34

33

32

31

30

29

16

15

1

2

X0 to X7: General Input✽1

Y0 to Y7: General Output✽2

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

Limit Sensor (CN5)

CN5

�LS Input

�LS Input

HOMELS HOMELS Input

SENSOR SENSOR Input

�24 VDC

COM1

COM1 (CN4)

Driver

O V

1 11 19

13

14

15

16

�LS

�LS

�

✽

✽

�

Notes on WiringUse input signals at 24 VDC�10%.Use output signals at 30 VDC or below and at 4 to 8 mA.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.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.Always use the accessory cable for IP65 rated motor (sold separately) for connection between the IP65 rated motor and the driver.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).Do not guide the control I/O signal lines in the same duct as power lines or bundle them with power lines.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.


9 mm min.6.2

mm

max

. �3.2 mm min.

9 mm min.6.2

mm

max

. 3.2 mm min.


��

�

�

�

�

�

�

�

Connecting the Driver with a Personal Computer (CN1) Pin Assignments and Connecting

GNDTX

N.C.RX

CN1(Viewed from the front side of driver)PC (9 pin)

8764325

✽

✽

✽Short pins 4 and 6 together, as well as pins 7 and 8 together.

Communication Specifications

Item DescriptionElectrical Characteristics In conformance with RS-232C.

Transmission MethodStart-stop asynchronous method, NRZ (non-return to Zero), full-duplex

Data Length 8 bits, 1 stop bit, no parityTransmission Speed 9600 bpsProtocol TTY (CR�LF)Connector Specification Modular (4 lines, 4 pins)

Notes: Confirm that 24 VDC is supplied to the driver's external power supply input terminals (P24 and N24).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.The maximum distance between drivers when using a daisy chain connection should be 15 m.

��

�

�

�

�

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut


�Connecting the Electromagnetic Brake to Power SupplyConnect 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:

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.To protect the switch contacts and prevent noise, always connect the surge suppressor.(✽The surge suppressor is included with electromagnetic brake motors.) To prevent noise, use a dedicated power supply for electromagnetic brake.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.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

AS Series Driver


Brake Motor(Sold separately)

24 VDC

SurgeSuppressor✽


� �



OFF

ON

Driver Power Source


OFF

ON

0.5 s min.

Description of Daisy Chain ConnectionsUse 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).

5

3

4

6

2

7

8

PC (9-Pin COM Port)

GND

RX

TX

DTR

DSR

RTS

CTS

Driver 1

CN5

5 TX

N2410

7 RX

Driver 2

CN5

5 TX

N2410

7 RX

Driver N

CN5

5 TX

N2410

7 RX

� TX, RXThese communication terminals are used when implementing daisy chain connections.Notes:

Confirm that each driver is supplied 24 VDC�10% (P24 and N24) of CN4 from outside for communication.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.The maximum distance between drivers when using a daisy chain connection should be 15 m.Do not use the RS-232C communication port (CN1).

�

�

�

�

�

Step

pin

g M

oto

rs


Description of Input Signals (CN4)


�24 VDC

0 V

1 kΩ

4.7 kΩ

Controller

Driver

COM1

29 36

17 18

Note: Use input signals at 24 VDC�10%.

P24 Input, N24 InputThese 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.

START InputThis signal starts the program named "STARTUP."OFF➝ON edge to start "STARTUP" program.

E-STOP InputThis 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.) OFF➝ON edge to stop operation.

COM1 InputThis is an external power-source terminal for input signals.This signal is internally connected to terminals COM1 of CN5.

X0 to X7 InputsThe 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 commandPAUSE input ....... INPAUSE commandMSTOP input ...... INMSTOP commandRESTART input ... INRESTART command

ACL InputThis 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.

��

�

�

�

�

�

�

�

Description of Output Signals (CN4)


DriverV0

0 V

4 26

3 25 27 ,

28,

Y0 Y7, ALM

Y0 Y7, ALM

Note: Use output signals at 30 VDC or below and at 4 to 8 mA.

Y0 to Y7 OutputThe 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 commandRUN output .........OUTRUN commandMOVE output ......OUTMOVE commandHOME-P output ..OUTHOMEP commandTIM output ..........OUTTIM commandMBC output ........OUTMBC command

ASG Output, BSG OutputLine Driver Output (26C31 or equivalent)

26C31 or Equivalent

ASG, BSG

ASG, BSG

Driver

ASG Output

BSG Output

H

L

H

L

90˚

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 OutputThis 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:

Assign INACL then turn the ACL input to ON.Enter an ALMCLR command.Turn off the AC power, wait at least 10 seconds, then turn it back on.

��

�

�

��

�

��

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut


Description of Limit Sensors (CN5)


�24 VDC

0 V

1 kΩ

4.7 kΩ

Controller

Driver

111 19

13 16�

Note: Use input signals at 24 VDC�10%.

COM1 InputThis 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 InputThis is a power-source input terminal for limit-sensor signals. Use it when sharing the input signal power source among two or more drivers.

�LS Input, �LS InputThese 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 OperationWhen 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.

Mechanical Home Seeking RoutineWhen a �LS or �LS is detected, the motor operates in the direction opposite that of the detected limit.

��

�

�

�

�

HOMELS InputThis 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.)

SENSOR InputThis signal is input from SENSOR.The input logic can be changed using the SENSORLV command. (The factory setting of this command is normal open.)

Mechanical Home Seeking RoutineThis 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.

Continuous OperationThe motor can be stopped forcibly upon the detection of SENSOR.Set the stopping method using the SENSORACT command.

Note: If the SENSOR input is used in mechanical home seeking, it cannot be used during continuous operation.

�

�

�

Step

pin

g M

oto

rs


List of Motor and Driver CombinationsModel names for motor and driver combinations are shown below.

Power Supply Voltage

TypePulse Input Package Built-In Controller (Stored Program) Package

Model Motor Model Driver Model Model Motor Model Driver Model

Sing

le-P

hase

200

-230

VAC

Inpu

t

Standard Type

AS66�CE ASM66�CE ASD12A-C AS66�CEP ASM66�CE ASD12A-CPAS69�CE ASM69�CE ASD16D-C AS69�CEP ASM69�CE ASD16D-CPAS98�CE ASM98�CE ASD16A-C AS98�CEP ASM98�CE ASD16A-CPAS911ACE ASM911ACE ASD20A-C AS911ACEP ASM911ACE ASD20A-CP


AS66ACT ASM66ACT ASD12A-C AS66ACTP ASM66ACT ASD12A-CPAS69ACT ASM69ACT ASD16D-C AS69ACTP ASM69ACT ASD16D-CPAS98ACT ASM98ACT ASD16A-C AS98ACTP ASM98ACT ASD16A-CPAS911ACT ASM911ACT ASD20A-C AS911ACTP ASM911ACT ASD20A-CP

TH Geared Type

AS66�CE-T3.6 ASM66�CE-T3.6ASD12B-C

AS66�CEP-T3.6 ASM66�CE-T3.6ASD12B-CPAS66�CE-T7.2 ASM66�CE-T7.2 AS66�CEP-T7.2 ASM66�CE-T7.2

AS66�CE-T10 ASM66�CE-T10 AS66�CEP-T10 ASM66�CE-T10AS66�CE-T20 ASM66�CE-T20

ASD12C-CAS66�CEP-T20 ASM66�CE-T20

ASD12C-CPAS66�CE-T30 ASM66�CE-T30 AS66�CEP-T30 ASM66�CE-T30AS98�CE-T3.6 ASM98�CE-T3.6

ASD16A-CAS98�CEP-T3.6 ASM98�CE-T3.6

ASD16A-CPAS98�CE-T7.2 ASM98�CE-T7.2 AS98�CEP-T7.2 ASM98�CE-T7.2AS98�CE-T10 ASM98�CE-T10 AS98�CEP-T10 ASM98�CE-T10AS98�CE-T20 ASM98�CE-T20

ASD16C-CAS98�CEP-T20 ASM98�CE-T20

ASD16C-CPAS98�CE-T30 ASM98�CE-T30 AS98�CEP-T30 ASM98�CE-T30

PL Geared Type

AS66�CE-P5 ASM66�CE-P5ASD12A-C

� � �AS66�CE-P7.2 ASM66�CE-P7.2 � � �AS66�CE-P10 ASM66�CE-P10 � � �AS66�CE-P25 ASM66�CE-P25 ASD12B-C � � �AS66�CE-P36 ASM66�CE-P36

ASD12C-C� � �

AS66�CE-P50 ASM66�CE-P50 � � �AS98�CE-P5 ASM98�CE-P5

ASD16A-C

� � �AS98�CE-P7.2 ASM98�CE-P7.2 � � �AS98�CE-P10 ASM98�CE-P10 � � �AS98�CE-P25 ASM98�CE-P25 � � �AS98�CE-P36 ASM98�CE-P36

ASD16B-C� � �

AS98�CE-P50 ASM98�CE-P50 � � �

PN Geared Type

AS66�CE-N5 ASM66�CE-N5ASD12A-C

AS66�CEP-N5 ASM66�CE-N5ASD12A-CPAS66�CE-N7.2 ASM66�CE-N7.2 AS66�CEP-N7.2 ASM66�CE-N7.2

AS66�CE-N10 ASM66�CE-N10 AS66�CEP-N10 ASM66�CE-N10AS66�CE-N25 ASM66�CE-N25 ASD12B-C AS66�CEP-N25 ASM66�CE-N25 ASD12B-CPAS66�CE-N36 ASM66�CE-N36

ASD12C-CAS66�CEP-N36 ASM66�CE-N36

ASD12C-CPAS66�CE-N50 ASM66�CE-N50 AS66�CEP-N50 ASM66�CE-N50AS98�CE-N5 ASM98�CE-N5

ASD16A-C

AS98�CEP-N5 ASM98�CE-N5

ASD16A-CPAS98�CE-N7.2 ASM98�CE-N7.2 AS98�CEP-N7.2 ASM98�CE-N7.2AS98�CE-N10 ASM98�CE-N10 AS98�CEP-N10 ASM98�CE-N10AS98�CE-N25 ASM98�CE-N25 AS98�CEP-N25 ASM98�CE-N25AS98�CE-N36 ASM98�CE-N36 AS98�CEP-N36 ASM98�CE-N36AS98�CE-N50 ASM98�CE-N50 ASD16B-C AS98�CEP-N50 ASM98�CE-N50 ASD16B-CP


AS66�CE-H50 ASM66�CE-H50 ASD12B-C AS66�CEP-H50 ASM66�CE-H50 ASD12B-CPAS66�CE-H100 ASM66�CE-H100 ASD12C-C AS66�CEP-H100 ASM66�CE-H100 ASD12C-CPAS98�CE-H50 ASM98�CE-H50

ASD16B-CAS98�CEP-H50 ASM98�CE-H50

ASD16B-CPAS98�CE-H100 ASM98�CE-H100 AS98�CEP-H100 ASM98�CE-H100Enter A (standard) or M (electromagnetic brake) in the box (�) within the model name.

�

�

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut

C-57

Step

pin

g M

oto

rs


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.

List of safety standard approved products (Model, Standards, File No., Certification Body)➜ Page G-10

�

Closed Loop Stepping Motor and Driver Package

ASC Series

is designed as a "package" consisting of a motor and a driver.

Sensor detects rotor position

RoHS-Compliant

FeaturesThanks 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 Counter

Deviation Counter

Rotor PositionCounter

Motor

Sensor

Input Pulse

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.

Exci

tatio

n Se

quen

ce C

ontro

l

Outp

ut E

lem

ent

Angle – Torque Characteristics

-7.2˚ -5.4˚ -3.6˚ -1.8˚ 0 1.8˚ 3.6˚ 5.4˚ 7.2˚Position

Torq

ue

wClosed Loop Mode

wClosed Loop Mode

qOpen Loop Mode

Stepping Motor

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 PositionThe 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 This structure can be made small and thin, so the overall size of the motor can be reduced. High resolution This structure does not use electronic parts, so it is not affected by heat or vibration.

-1

-0.5

0

0.5

1

1.25

0 60˚ 120˚ 180˚ 240˚ 300˚ 360˚

Sign

al L

evel

A-Phase B-Phase

Sensor Output Signal

Rotor Angle (Electrical Angle)

�

�

�

�

��



Features C-58 / System Configuration C-60 / Product Line C-62

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut

C-59

High ResponseLike conventional stepping motors, operates in synchronism with command pulses. This makes it suitable for short stroke positioning.

Motor Movement

Pulse Input

Positioning Completion Signal

Measurement Condition: Feed 1/5 rotationLoad inertia 250�10�7 kg·m2 (J)

No Gain TuningGain tuning for servo motors is critical, troublesome and time-consuming. Since the operates like a stepping motor, there are no gain tuning requirements. Low rigidity applications, such as a belt and pulley system, are ideal for .

The Complies with Major Safety StandardsThe ASC Series is recognized with the UL/CSA Standards and conforms to EN Standard. The CE Marking certifies compliance with the EMC Directives.

No HuntingSince 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.

Servo Motor

Hunting Complete Stop

�

�

�

�

Low Vibration at Low SpeedThe 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.

Low Speed

High Speed

CCD Camera

is well-suited to applications where smooth movement or stability isrequired, such as where a camera is used to monitor the quality of a product.

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.

RoHS-CompliantThe conforms to the RoHS Directive that prohibits the use of six chemical substances including lead and cadmium.


�

�

�

�

Specifications, Characteristics C-63 / Dimensions C-72 / Connection and Operation C-77 / Motor and Driver Combinations C-80

Step

pin

g M

oto

rs



Standard TypeAn example of a single-axis system configuration with the SG8030JY controller.

Selectable Accessories and PeripheralEquipment (Sold separately)


ASC Series (Body)

(Sold separately)

�Extension Cables(➜ Page C-253)

�Controller(➜ Page C-248)

Motor Driver

24 VDC Power Supply

�Motor Mounting Brackets(➜ Page C-266)

�Driver Cables General-Purpose Type(➜ Page C-256)

�Connector – Terminal Block Conversion Unit(➜ Page C-256)

�Flexible Couplings(➜ Page C-258)

SG8030JY-U

FlexibleCoupling

MCS300808

MotorMounting Bracket

PAL2P-5

ControllerExtension

Cable (3 m)CC03AIP

(Not supplied)

24 VDC Power Supply

(Not supplied)



C-266C-258

C-253

C-256C-256

�

�

�

�

�

C-248� ControllerMotor Mounting BracketsFlexible CouplingsExtension CablesFlexible Extension CablesDriver Cables General-Purpose TypeConnector – Terminal Block Conversion Unit

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).

ASC66AK

ASC SeriesConnector-Terminal Block

Conversion Unit (1 m)CC36T1

ProgrammableController

(Not supplied)


��

�

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut



Standard Type with Electromagnetic BrakeAn example of a single-axis system configuration with the SG8030JY controller.

ASC Series (Body)

Required Products (Sold separately) Controller (Sold separately)


(Sold separately)

�Extension Cables for Electromagnetic Brake Motor✽(➜ Page C-253)

�Controller(➜ Page C-248)

Motor Driver


�Driver Cables General-Purpose Type

(➜ Page C-256)

�Connector – Terminal Block Conversion Unit(➜ Page C-256)


SG8030JY-U

FlexibleCoupling

MCS300808

MotorMounting Bracket

PAL2P-5

ControllerExtension Cable for Electro-magnetic Brake Motor (3 m)

CC03AIPM

24 VDC Power Supply

(Not supplied)

ASC66MK

�Example of System Configuration(Body) (Sold separately)

ASC Series

No. Page

C-253

C-266C-258C-256C-256

�

�

�

�

�

C-248�

Connector-Terminal Block Conversion Unit (1 m)

CC36T1

24 VDC Power Supply (Main Power Supply)

(Not supplied)

24 VDC Power Supply for Electromagnetic Brake

(Not supplied)


(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)

Product Name OverviewExtension Cables for Electromagnetic Brake MotorFlexible Extension Cables for Electromagnetic Brake MotorControllerMotor Mounting BracketsFlexible CouplingsDriver Cables General-Purpose TypeConnector – Terminal Block Conversion Unit

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).


��

�

Step

pin

g M

oto

rs


Product Number Code

ASC 6 6 A K - T 3.6� � � � � �

�� Series ASC: ASC Series� Motor Frame Size 3: 28 mm 4: 42 mm 6: 60 mm� Motor Case Length� Motor Type A: Standard (Single Shaft) M: Electromagnetic Brake Type� Power Supply Voltage K: 24 VDC

�Gearhead Type Blank: Standard Type T: TH Geared Type

N: PN Geared Type H: Harmonic Geared Type Gear Ratio

Standard Type Power Supply Voltage Model (Single Shaft)

24 VDC

ASC34AKASC36AKASC46AKASC66AK

� Standard Type with Electromagnetic Brake Power Supply Voltage Model (Single Shaft)

24 VDCASC46MKASC66MK


�

�

Product LineThe 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.

�

TH Geared Type Power Supply Voltage Model (Single Shaft)

24 VDC

ASC34AK-T7.2ASC34AK-T10ASC34AK-T20ASC34AK-T30ASC46AK-T3.6ASC46AK-T7.2ASC46AK-T10ASC46AK-T20ASC46AK-T30ASC66AK-T3.6ASC66AK-T7.2ASC66AK-T10ASC66AK-T20ASC66AK-T30

� TH Geared Type with Electromagnetic Brake Power Supply Voltage Model (Single Shaft)

24 VDC

ASC46MK-T3.6ASC46MK-T7.2ASC46MK-T10ASC46MK-T20ASC46MK-T30ASC66MK-T3.6ASC66MK-T7.2ASC66MK-T10ASC66MK-T20ASC66MK-T30


�

�

PN Geared Type Power Supply Voltage Model (Single Shaft)

24 VDC

ASC34AK-N5ASC34AK-N7.2ASC34AK-N10ASC46AK-N7.2ASC46AK-N10ASC66AK-N5ASC66AK-N7.2ASC66AK-N10ASC66AK-N25ASC66AK-N36ASC66AK-N50

� PN Geared Type with Electromagnetic Brake Power Supply Voltage Model (Single Shaft)

24 VDC

ASC46MK-N7.2ASC46MK-N10ASC66MK-N5ASC66MK-N7.2ASC66MK-N10ASC66MK-N25ASC66MK-N36ASC66MK-N50


�

�

Harmonic Geared Type Power Supply Voltage Model (Single Shaft)

24 VDC

ASC34AK-H50ASC34AK-H100ASC46AK-H50ASC46AK-H100ASC66AK-H50ASC66AK-H100

� Harmonic Geared Type with Electromagnetic Brake Power Supply Voltage Model (Single Shaft)

24 VDC

ASC46MK-H50ASC46MK-H100ASC66MK-H50ASC66MK-H100


�

�

Motor, Parallel Key✽1, Surge Suppressor✽2, Driver, Connector for Input/Output Signal, Power Connector, Operating Manual

1 Only for the products with a key slot on the output shaft2 Only for electromagnetic brake type

✽

✽


Electromagnetic brake motor models (except motor frame size �42 mm) must use an extension cable or flexible extension cable for an electromagnetic brake motor.

�


Model Length (m)

CC01AIPM 1CC02AIPM 2CC03AIPM 3CC05AIPM 5CC07AIPM 7CC10AIPM 10

� Flexible Extension Cables for Electromagnetic Brake Motor

Model Length (m)

CC01SARM2 1CC02SARM2 2CC03SARM2 3CC05SARM2 5CC07SARM2 7CC10SARM2 10

�

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut


Standard Type Motor Frame Size 28 mm, 42 mm, 60 mm

Specifications

ModelStandard ASC34AK ASC36AK ASC46AK ASC66AKElectromagnetic Brake � � ASC46MK ASC66MK

Maximum Holding Torque N�m 0.055 0.12 0.3 1Rotor Inertia J: kg�m2 11�10-7 27�10-7 68�10-7 [83�10-7]✽1 405�10-7 [564�10-7]✽1


Power SourceVoltage 24 VDC�10%

Maximum Input Current A 1 1.1 1.7 3.7


Type � � Active when power is offPower Supply Input � � 24 VDC�5%Power Consumption W � � 2 6Excitation Current A � � 0.08 0.25

Static Friction Torque N�m � � 0.15 0.6

MassMotor kg 0.15 0.22 0.5 [0.6]✽1 0.85 [1.1]✽1

Driver kg 0.25

Dimension No.Motor �1 �2 �3Driver �13

How to read specifications table ➜ Page C-10 Extension cables for electromagnetic brake motor ➜ Page C-2531 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-773 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.


�

✽

✽

✽

�ASC34AK

0 500 1000 1500 2000 2500 3000 3500 4000 4500

Torq

ue [N

�m]

0.06

0.04

0.08

Speed [r/min]


0 2010 4030 50 60 70

0.02

0

ASC46AK/ASC46MK

1000 2000

Torq

ue [N

�m]

0.4

Speed [r/min]


0 10 20 30 40

0.2

00

0.1

0.3

0.5

ASC36AK

0 500 1000 1500 2000 2500 3000 3500 4000 4500

Torq

ue [N

�m]

0.12

0.08

0.16

Speed [r/min]


0 2010 4030 50 60 70

0.04

0

ASC66AK/ASC66MK

1000 2000

Torq

ue [N

�m]

Speed [r/min]


0 10 20 4030

1.5

1.0

2.0

0.5

00

Notes: Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100˚C. (Under 75˚C is required to comply with UL or CSA Standards as the motor is recognized as insulation class A.)The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 50%.

�

�

Step

pin

g M

oto

rs



Specifications Model Standard ASC34AK-T7.2 ASC34AK-T10 ASC34AK-T20 ASC34AK-T30

Maximum Holding Torque N�m 0.2 0.3 0.4 0.5Rotor Inertia J: kg�m2 11�10-7

Backlash arc minute (degrees) 60 (1˚)Permissible Speed Range r/min 0�416 0�300 0�150 0�100Gear Ratio 1:7.2 1:10 1:20 1:30Resolution✽ Resolution Setting: 1000 P/R 0.05˚/Pulse 0.036˚/Pulse 0.018˚/Pulse 0.012˚/PulsePermissible Torque N�m 0.2 0.3 0.4 0.5

Power SourceVoltage 24 VDC�10%Maximum Input Current A 1

MassMotor kg 0.21Driver kg 0.25

Dimension No.Motor �4

Driver �13

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: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

0 10050 150 200 250 300 350 400

3020 4010

450Speed [r/min]

Torq

ue [N

�m]

0

0.3

0.2

0.1



Permissible Torque

ASC34AK-T10

0 100 15050 200 250 300Speed [r/min]

Torq

ue [N

�m]

0

0.4

0.3

0.2

0.1

0 3020 4010 50 Pulse Speed [kHz]


Permissible Torque

ASC34AK-T20

0 10050 150Speed [r/min]

Torq

ue [N

�m]

0

0.5

0.4

0.3

0.2

0.1



Permissible Torque

ASC34AK-T30

0 60 804020 120100Speed [r/min]

Torq

ue [N

�m]

0

0.6

0.5

0.4

0.3

0.2

0.1



Permissible Torque


�

�

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut



Specifications

ModelStandard ASC46AK-T3.6 ASC46AK-T7.2 ASC46AK-T10 ASC46AK-T20 ASC46AK-T30Electromagnetic Brake ASC46MK-T3.6 ASC46MK-T7.2 ASC46MK-T10 ASC46MK-T20 ASC46MK-T30

Maximum Holding Torque N�m 0.35 0.7 1 1.5

Rotor Inertia J: kg�m2 68�10-7 [83�10-7]✽1

Backlash arc minute (degrees) 45 (0.75˚) 25 (0.417˚) 15 (0.25˚)

Permissible Speed Range r/min 0�500 0�250 0�180 0�90 0�60

Gear Ratio 1:3.6 1:7.2 1:10 1:20 1:30

Resolution✽2 Resolution Setting: 1000 P/R 0.1˚/Pulse 0.05˚/Pulse 0.036˚/Pulse 0.018˚/Pulse 0.012˚/Pulse

Permissible Torque N�m 0.35 0.7 1 1.5

Power SourceVoltage 24 VDC�10%

Maximum Input Current A 1.7


Type Active when power is off

Power Supply Input 24 VDC�5%

Power Consumption W 2

Excitation Current A 0.08

Static Friction Torque N�m 0.17 0.35 0.5 0.75


Driver kg 0.25


Driver �13

How to read specifications table ➜ Page C-101 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.



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.


�

✽

✽

✽

�

�ASC46AK-T3.6/ASC46MK-T3.6

0

0 100 200 300 400 500

2015 3025105

600Speed [r/min]

Torq

ue [N

�m]

0

0.5

0.4

0.3

0.2

0.1



Permissible Torque

ASC46AK-T7.2/ASC46MK-T7.2

0

0 10050 200150

2015 3025105

300250Speed [r/min]

Torq

ue [N

�m]

0

1.0

0.8

0.6

0.4

0.2



Permissible Torque

ASC46AK-T10/ASC46MK-T10

0

0 10050 150

2015 25105

200Speed [r/min]

Torq

ue [N

�m]

0

1.5

1.0

0.5



Permissible Torque


20 40 8060 100

Torq

ue [N

�m]

Speed [r/min]

50 10 15 20 25 30

1.0

1.5

2.0

0.5

00

Permissible Torque



0Speed [r/min]

Torq

ue [N

�m]

0

2.0

1.5

1.0

0.5


0

10 20 30 40 50 60

2015 25105

70

30 35

Permissible Torque


�

�

Step

pin

g M

oto

rs



Specifications

ModelStandard ASC66AK-T3.6 ASC66AK-T7.2 ASC66AK-T10 ASC66AK-T20 ASC66AK-T30Electromagnetic Brake ASC66MK-T3.6 ASC66MK-T7.2 ASC66MK-T10 ASC66MK-T20 ASC66MK-T30

Maximum Holding Torque N�m 1.25 2.5 3 3.5 4Rotor Inertia J: kg�m2 405�10-7 [564�10-7]✽1

Backlash arc minute (degrees) 35 (0.584˚) 15 (0.25˚) 10 (0.167˚)Permissible Speed Range r/min 0�500 0�250 0�180 0�90 0�60Gear Ratio 1:3.6 1:7.2 1:10 1:20 1:30Resolution✽2 Resolution Setting: 1000 P/R 0.1˚/Pulse 0.05˚/Pulse 0.036˚/Pulse 0.018˚/Pulse 0.012˚/PulsePermissible Torque N�m 1.25 2.5 3 3.5 4

Power SourceVoltage 24 VDC�10%Maximum Input Current A 3.7



Static Friction Torque N�m 0.62 1.25 1.5 1.75 2


Driver kg 0.25


Driver �13




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.


�

✽

✽

✽

�

�ASC66AK-T3.6/ASC66MK-T3.6

0

0 100 200 300 400 500

2015 3025105

600Speed [r/min]

Torq

ue [N

�m]

0

1.5

1.0

0.5



Permissible Torque

ASC66AK-T7.2/ASC66MK-T7.2

0

0 100 200

2015 3025105

300Speed [r/min]

Torq

ue [N

�m]

0

3

2

1



Permissible Torque


40 80 120 160 200

Torq

ue [N

�m]

Speed [r/min]

50 10 15 20 25 30

3

4

5

2

1

00

Permissible Torque



20 40 60 80 100

Torq

ue [N

�m]

Speed [r/min]

50 10 15 20 25 30

3

4

5

2

1

00

Permissible Torque



0Speed [r/min]

Torq

ue [N

�m]

0

5

4

3

2

1


0

10 20 30 40 50 60

2015 25105

70

30 35

Permissible Torque


�

�

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut



Specifications Model Standard ASC34AK-N5 ASC34AK-N7.2 ASC34AK-N10

Maximum Holding Torque N�m 0.2 0.3 0.5Rotor Inertia J: kg�m2 11�10-7

Backlash arc minute (degrees) 3 (0.05˚)Angular Transmission Error arc minute (degrees) 6 (0.1˚)Permissible Speed Range r/min 0�600 0�416 0�300Gear Ratio 1:5 1:7.2 1:10Resolution✽1 Resolution Setting: 1000 P/R 0.072˚/Pulse 0.05˚/Pulse 0.036˚/PulsePermissible Torque N�m 0.2 0.3 0.5Maximum Torque✽2 N�m 0.5

Power SourceVoltage 24 VDC�10%Maximum Input Current A 1



Driver �13

How to read specifications table ➜ Page C-101 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-772 The value of maximum torque is for gear. For output torque for geared motor, refer to the speed – torque characteristics.

Note:Direction of rotation of the motor shaft and that of the gear output shaft are the same.


�

✽

✽

�

�ASC34AK-N5

0 300 400200100 600500Speed [r/min]

Torq

ue [N

�m]

0

0.3

0.2

0.1



Permissible Torque

ASC34AK-N7.2

0 100 400300200Speed [r/min]

Torq

ue [N

�m]

0

0.5

0.4

0.3

0.2

0.1



Permissible Torque

ASC34AK-N10

0 150 20010050 300250Speed [r/min]

Torq

ue [N

�m]

0

0.6

0.4

0.2



Permissible Torque


�

�

Step

pin

g M

oto

rs



Specifications

ModelStandard ASC46AK-N7.2 ASC46AK-N10Electromagnetic Brake ASC46MK-N7.2 ASC46MK-N10

Maximum Holding Torque N�m 1.5Rotor Inertia J: kg�m2 68�10-7 [83�10-7]✽1

Backlash arc minute (degrees) 2 (0.034˚)Angular Transmission Error arc minute (degrees) 6 (0.1˚)Permissible Speed Range r/min 0�333 0�240Gear Ratio 1:7.2 1:10Resolution✽2 Resolution Setting: 1000 P/R 0.05˚/Pulse 0.036˚/PulsePermissible Torque N�m 1.5Maximum Torque✽3 N�m 2




Static Friction Torque N�m 0.75


Driver kg 0.25


Driver �13

How to read specifications table ➜ Page C-101 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-773 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




�

✽

✽

✽

✽

�

�ASC46AK-N7.2/ASC46MK-N7.2

0

0 100 200 300

3020 25 3510 155

Speed [r/min]

Torq

ue [N

�m]

0

3

2

1



Maximum Torque

Permissible Torque

ASC46AK-N10/ASC46MK-N10

0

0 10050 150 200

3020 25 3510 155

Speed [r/min]

Torq

ue [N

�m]

0

3

2

1



250

Maximum Torque

Permissible Torque


�

�

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut



Specifications

ModelStandard ASC66AK-N5 ASC66AK-N7.2 ASC66AK-N10 ASC66AK-N25 ASC66AK-N36 ASC66AK-N50Electromagnetic Brake ASC66MK-N5 ASC66MK-N7.2 ASC66MK-N10 ASC66MK-N25 ASC66MK-N36 ASC66MK-N50


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�360 0�250 0�180 0�72 0�50 0�36Gear Ratio 1:5 1:7.2 1:10 1:25 1:36 1:50Resolution✽2 Resolution Setting: 1000 P/R 0.072˚/Pulse 0.05˚/Pulse 0.036˚/Pulse 0.0144˚/Pulse 0.01˚/Pulse 0.0072˚/PulsePermissible Torque N�m 3.5 4 5 8Maximum Torque✽3 N�m 7 9 11 16 20





MassMotor kg 1.5 [1.75]✽1 1.7 [1.95]✽1

Driver kg 0.25


Driver �13


Resolution select switch ➜ Page C-773 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




�

✽

✽

✽

✽

�

�ASC66AK-N5/ASC66MK-N5

0

0 100 200 300

20 2510 155

Speed [r/min]

Torq

ue [N

�m]

0

6

4

2



400

Permissible Torque

ASC66AK-N7.2/ASC66MK-N7.2

0

0 10050 150 200 250

2015 3025105

300Speed [r/min]

Torq

ue [N

�m]

0

10

8

6

4

2



Permissible Torque


0

0 10050 150

2015 25105

200Speed [r/min]

Torq

ue [N

�m]

0

12

10

8

6

4

2



Permissible Torque


0

0 4020 60

2015 25105

80Speed [r/min]

Torq

ue [N

�m]

0

15

10

5



Permissible Torque


0

0 302010 40

2015 25105

50Speed [r/min]

Torq

ue [N

�m]

0

25

20

15

10

5



Permissible Torque



0

0

25 302015105

302010 40Speed [r/min]

Torq

ue [N

�m]

0

25

20

5

10

15

Permissible Torque

Maximum Torque


�

�

Step

pin

g M

oto

rs


Harmonic Geared Type Motor Frame Size 28 mm, 42 mm, 60 mm

Specifications

ModelStandard ASC34AK-H50 ASC34AK-H100 ASC46AK-H50 ASC46AK-H100 ASC66AK-H50 ASC66AK-H100Electromagnetic Brake � � ASC46MK-H50 ASC46MK-H100 ASC66MK-H50 ASC66MK-H100

Maximum Holding Torque N�m 1.5 2 3.5 5 5.5 8Rotor Inertia J: kg�m2 14�10-7 85�10-7 [100�10-7]✽1 440�10-7[599�10-7]✽1

Permissible Speed Range r/min 0�70 0�35 0�48 0�24 0�36 0�18Gear Ratio 1:50 1:100 1:50 1:100 1:50 1:100Resolution✽2 Resolution Setting: 1000 P/R 0.0072˚/Pulse 0.0036˚/Pulse 0.0072˚/Pulse 0.0036˚/Pulse 0.0072˚/Pulse 0.0036˚/PulsePermissible Torque N�m 1.5 2 3.5 5 5.5 8Maximum Torque N�m 2 2.8 8.3 11 18 28

Lost Motion(Load Torque)

arc minute3 max.

(�0.06 N�m)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)0.7 max.

(�0.39 N�m)

Power SourceVoltage 24 VDC�10%Maximum Input Current A 1 1.7 3.7


Type � Active when power is offPower Supply Input � 24 VDC�5%Power Consumption W � 2 6Excitation Current A � 0.08 0.25

Static Friction Torque N�m � 1.75 2.5 2.75 4

MassMotor kg 0.25 0.7 [0.8]✽1 1.4 [1.65]✽1

Driver kg 0.25

Dimension No.Motor �10 �11 �12

Driver �13


Resolution select switch ➜ Page C-773 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:

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


0 50 60403020

50 60 70 80403020

10

1000

1.0

2.0

1.5

0.5

Torq

ue [N

�m]

Speed [r/min]

Permissible Torque

ASC46AK-H50/ASC46MK-H50

0

0 302010 40

20 3010

Speed [r/min]

Torq

ue [N

�m]

0

12

10

8

6

4

2



50

Permissible Torque

Maximum Torque


0

0 302010

20 3010

Speed [r/min]

Torq

ue [N

�m]

0

25

20

15

10

5


40

Permissible Torque

Maximum Torque

ASC34AK-H100


0 50 6040302010

Torq

ue [N

�m]

0.5

0

1.0

1.5

2.0

2.5

3.0

0 40302010Speed [r/min]

Permissible Torque

Maximum Torque



0 40302010

5 10 15 20 25Speed [r/min]

00

12

10

6

8

4

2

Torq

ue [N

�m]

Maximum Torque

Permissible Torque



0 302010

5 10 15 20Speed [r/min]

00

30

25

15

20

10

5

Torq

ue [N

�m]

Maximum Torque

Permissible Torque

Notes:Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 100˚C. (Under 75˚C is required to comply with UL or CSA Standards as the motor is recognized as insulation class A.)In order to prevent fatigue of the gear grease in the harmonic gear, keep the temperature of the gear case under 70˚C.The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 50%.

�

��

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut


Driver SpecificationsSpeed and Positioning Control Command Pulse inputMaximum Input Pulse Frequency 250 kHz (When the pulse duty is 50%)

Protective FunctionsWhen 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

Input SignalsPhotocoupler 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]

Output Signals

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)

General Specifications This is the value after rated operation at normal ambient temperature and humidity.

Specifications Motor DriverMotor Insulation Class Class B (130˚C)[UL/CSA: Recognized as class A (105˚C)] �

Insulation Resistance

100 M� or more when 500 VDC megger is applied between the following places:� Case – Windings� Case – Electromagnetic brake windings

100 M� or more when 500 VDC megger is applied between the following places:� Heat sink – Power supply input terminal

Dielectric StrengthSufficient 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

Sufficient to withstand the following for one minute:� Heat sink – Power supply input terminal 0.5 kV 50 Hz or 60 Hz

Operating Environment (In Operation)

Ambient Temperature

0��50˚C (non-freezing): Standard typeTH, PN geared type

0��40˚C (non-freezing): Harmonic geared type0��40˚C (non-freezing)

Ambient Humidity 85% or less (non-condensing)Atmosphere No corrosive gases, dust, water or oil

Stop Position Accuracy �5 arc minutes �

Shaft Runout 0.05 T.I.R. (mm)✽ �

Concentricity 0.075 T.I.R. (mm)✽ �

Perpendicularity 0.075 T.I.R. (mm)✽ �

A

A0.075

A�0.075

0.05

T.I.R. (Total Indicator Reading): The total dial gauge reading when the measurement section is rotated one revolution centered on the reference axis center.

Note: Do not measure insulation resistance or perform the dielectric strength test while the motor and driver are connected.

�

�

✽

�

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

Load Torque [mN�m]

Driv

er In

put C

urre

nt [A

]

0 10 20 30 40 50 60

1.0

0.8

0.4

0.2

0

0.6

2000 r/min

1000 r/min

500 r/min

3000 r/min

ASC36

0 20 40 60 80 100 120 140

Driv

er In

put C

urre

nt [A

]

1.2

1.0

0.8

0.6

Load Torque [mN�m]

0.4

0.2

0

3000 r/min2000 r/min

1000 r/min

500 r/min

ASC46

0

0.5

0

1.0

1.5

2.0

0.1 0.2 0.3 0.4

Load Torque [N�m]

Driv

er In

put C

urre

nt [A

] 500 r/min

1000 r/min

1500 r/min2000 r/min

ASC66

Load Torque [N�m]

Driv

er In

put C

urre

nt [A

]

0 0.2 0.4 0.6 0.8 1.0 1.2

4

3

2

1

0

2000 r/min 1000 r/min500 r/min1500 r/min

Common to Each Type

Step

pin

g M

oto

rs





0 5 10 15 20

Standard Type

ASC34AKASC36AK

�

25 34 52 � � The permissible thrust load shall be no greater than the motor mass.

ASC46�K 20 25 34 52 �

ASC66�K 63 75 95 130 190

TH Geared TypeASC34AK-T��

7.2, 10, 20, 30 15 17 20 23 � 10

ASC46�K-T�� 3.6, 7.2, 10, 20, 30

10 14 20 30 � 15

ASC66�K-T�� 70 80 100 120 150 40

PN Geared Type

ASC34AK-N�� 5, 7.2, 10 45 60 80 100 � 20

ASC46�K-N�� 7.2, 10 100 120 150 190 �

100ASC66�K-N5 5 200 220 250 280 320

ASC66�K-N��7.2, 10 250 270 300 340 390

25, 36, 50 330 360 400 450 520

Harmonic Geared TypeASC34AK-H��

50, 100140 160 200 240 �

ASC46�K-H�� 180 220 270 360 510 220

ASC66�K-H�� 320 370 440 550 720 450

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.


Motor

Standard Type�1 �28 mm

Model Motor Model L Mass (kg)

ASC34AK ASM34AK 45 0.15

ASC36AK ASM36AK 65 0.22

23�

0.2

23�0.2

150

22.5

28

285.

5

20.6

4.5�

0.1510�0.25

1.5L 15�1

Motor Leads 5557-10R(MOLEX)

�22

�0.

021(

h7)

0

�5�

0.01

2(h7

)0

4�M2.5�2.5 Deep


ASC46AK ASM46AK 64.9 � 0.5

ASC46MK ASM46MK � 94.9 0.6

15.2

31

400

42

42

12.5

L2L1

2

20�1

4.5�

0.1515�0.25 31�0.2

31�

0.2�

22�

0.02

1(h7

)0

�5�

0.01

2(h7

)0

4�M3�4.5 Deep

5557-10R(MOLEX)

Motor Cable �7

Electromagnetic Brake Leads600 mm AWG26

�

�

��

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut


Standard Type�3 �60 mm

Model Motor Model L1 L2 Mass (kg)

ASC66AK ASM66AK 63.6 � 0.85

ASC66MK ASM66MK � 98.6 1.1

A

A

L1

60

L2

12.5

60

31

15.2 400

90˚

1.57

�36

�0.

025(

h7)

0

4��4.5 Thru

Motor Cable �7

5557-10R(MOLEX)

24�1

20�0.2550�0.35

50�

0.35

�8�

0.01

5(h7

)0

7.5�

0.15

7.5�0.15

A – A

TH Geared Type�4 �28 mm

Model Motor Model Gear Ratio Mass (kg)

ASC34AK-T� ASM34AK-T� 7.2, 10, 20, 30 0.21


70.52.5

20�1

12


23�

0.2

23�0.2

28

285.

5

20.6

4�M2.5�4 Deep

4.5�

0.15

6�0.

5

�10

�0.

015(

h7)

0

�5�

0.01

2(h7

)0

150

22.5


ASC46AK-T� ASM46AK-T�3.6, 7.2, 10, 20, 30

95.4 � 0.65

ASC46MK-T� ASM46MK-T� � 125.4 0.75


400

123.5

15.2

L142

4212

.5

31

L2 20�1

5.5�

0.15

43.8�0.5

8�0.

5

Motor Cable �7


5557-10R(MOLEX)

�17

�0.

018(

h7)

0

�6�

0.01

2(h7

)0

4�M4�8 Deep

�

�

�

�

Step

pin

g M

oto

rs


TH Geared Type�6 �60 mm

Model Motor Model Gear Ratio L1 L2 Mass (kg)

ASC66AK-T� ASM66AK-T�3.6, 7.2, 10, 20, 30

108.6 � 1.25

ASC66MK-T� ASM66MK-T� � 143.6 1.5


60

60

31

12.515.2

L2L1

400

3.5 124�M4�8 Deep

70�0.5

�23

�0.

021(

h7)

010

�0.

5

7�0.

15

�8�

0.01

5(h7

)0

32�1

5557-10R(MOLEX)

Motor Cable �7

PN Geared Type�7 �28 mm


ASC34AK-N� ASM34AK-N� 5, 7.2, 10 0.28


A – A

A

A

75.5

90˚

7.5�0.2

7.5�

0.2

523�1

1517


150

22.5

23�

0.2

23�0.2

28

285.

5

20.6

4�M3�6 Deep

�12

�26

�0.

021(

h7)

0

�8�

0.01

5(h7

)0


ASC46AK-N� ASM46AK-N�7.2, 10

96.9 � 0.71

ASC46MK-N� ASM46MK-N� � 126.9 0.81


A

A

400

42

4212

.5

31

L1

15.2

618

L2

48�0.3

4�M4�8 Deep

25�1

5557-10R(MOLEX)

Motor Cable �7


�10

�0.

015(

h7)

0

�37

.6�

0.02

5(h7

)0

18�0.2

3�0.

025

0

3�0.025 0 3�0.029

�0.004

1.8

0

�0.

1

A – AParallel Key(Included)

�

�

�

�

�

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut


PN Geared Type�9 �60 mm


ASC66AK-N� ASM66AK-N�5, 7.2, 10 107.6 � 1.5

25, 36, 50 123.6 � 1.7

ASC66MK-N� ASM66MK-N�5, 7.2, 10 � 142.6 1.75

25, 36, 50 � 158.6 1.95


A

A

L2

15.2

31

60

400

6L1

25

70�0.5�

37�

0.02

5(h7

)0

�12

�0.

018(

h7)

0

38�1

5557-10R(MOLEX)

Motor Cable �7

25�0.2

4�0.

03 0 4�0.03

04�0.03

0

2.5

0

�0.

1

A – AParallel Key (Included)

4�M5�10 Deep

12.5

60

Harmonic Geared Type�10 �28 mm


ASC34AK-H� ASM34AK-H� 50, 100 0.25


38.545

83.5

1.5

23�1

16

Motor Leads 5557�10R(MOLEX)

150

22.5

A

A

2.5�0.5 0

23�

0.2

23�0.2

28

285.

5

20.6

4�M3�6 Deep

�12

�22

�0.

021(

h7)

0

�8�

0.00

9(h6

)0

A – A

90˚

7.5�0.2

7.5�

0.2


ASC46AK-H� ASM46AK-H�50, 100

96.9 � 0.7

ASC46MK-H� ASM46MK-H� � 126.9 0.8



A

A

42

4212

.5

31

15.2

L1L2

18

400

0.52

1.220.5�0.2

48�0.3

4�M4�8 Deep

6�M3�5 Deep✽

25�1

60˚

�10

�0.

015(

h7)

0

� 26.5

(Max

.Dia.

of Ro

tating

Part)

�37

.6�

0.02

5(h7

)0

5557�10R(MOLEX)

Motor Cable �7


18�0.18 0

3�0.

025

0 3�0.025 0

90˚

3�0.029 �0.004


1.8

0

�0.

1

�

�

�

�

�

Step

pin

g M

oto

rs


Harmonic Geared Type�12 �60 mm


ASC66AK-H� ASM66AK-H�50, 100

103.6 � 1.4

ASC66MK-H� ASM66MK-H� � 138.6 1.65


A

A

L1L2

12.5

31

15.2

20

60˚

60

60

400

1.52

1.6

70�0.525.5�0.2

6�M4�6 Deep✽

4�M5�10 Deep

28.5�1

5557-10R(MOLEX)

Motor Cable �7

�54

�0.

03( h

7)0

�12

�0.

018(

h7)

0

� 33.5

(Max.

Dia. o

f Rota

ting P

art)


4�0.

03 0 4�0.03

04�0.03

020�0.21

0

90˚

2.5

0

�0.

1

A – AParallel Key (Included)

Electromagnetic 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


Driver SideMotor SideElectromagnetic Brake Leads 60 mm (Orange/Black, Gray AWG24)

(14.5)11.6

22.2

L12

24.3

(30)

�8

Model Length L (m)

CC01AIPM 1

CC02AIPM 2

CC03AIPM 3

CC05AIPM 5

CC07AIPM 7

CC10AIPM 10


(30)

24.3

22.2

(14.5)L1211.6

�9.5

Motor Side Driver Side

Electromagnetic Brake Leads 60 mm (Orange, Gray AWG22)

Model Length L (m)

CC01SARM2 1

CC02SARM2 2

CC03SARM2 3

CC05SARM2 5

CC07SARM2 7

CC10SARM2 10

�

�

�

�

�

Driver

�13 Common to All TypesMass: 0.25 kg

(Par

ts M

ount

ing

Side

)2�R1.75

45 max.183.5

36

120

3.5

41 m

ax.

18.5 4770

4.5

111

3.5

113

2��3.5 Thru

�

I/O Connector (Included)Cover assembly: 54331-1361 (MOLEX)Connector: 54306-3619 (MOLEX) Power Input Connector (Included)Connector: 5557-02R (MOLEX)Crimp terminal: 5556TL (MOLEX)

�

�

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut


Connection and Operation


z

x

c

vb

Motor Connector

Power Input Connector

��



LED1 Green Power supply indication Lights when power is on.LED2 Red Alarm indication Blinks when protective functions are activated.

AlarmBlink Count Function When Activated

2 Overload The motor is operated continuously over 5 seconds under a load exceeding the maximum torque.

3 Overvoltage The primary voltage of the driver's inverter exceeds the permissible value.4 Speed error The motor cannot accurately follow at the indicated pulse speed.6 Overspeed The motor shaft velocity exceeds 5000 r/min. (Except geared type)7 EEPROM data error A motor control parameter has been damaged.

8 Sensor errorThe power source turns on when the motor cable is not connected to the driver.

Lights(No blinking)

System error The driver has fatal error.

�

�

�2 Function SwitchesIndication Switch Name Function

1000/500�1/�10

Resolution select switch

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)

1P/2P Pulse input mode switch

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.

Notes: Always turn the power off before switching resolution or pulse input, and turn it ON again after you have made the change. If the Resolution Select Switch is set to "�10," it cannot control the resolution selected by the input terminals. It will always be "�10."


CURRENTCurrent adjustment switch

The motor running current can be lowered to suppress temperature rise in the motor and driver, or lower operating current in order to allow a margin for motor torque.

�4 Velocity Filter Adjustment SwitchIndication Switch Name Function

V.FILVelocity filter adjustment switch

This switch is used to make adjustments when a smooth start-stop or smooth motion at low speed is required.

Time

Mot

or S

peed

Set to "0"

Set to "F"

� The difference in characteristics mode by the velocity filter.

��

�5 Input/Output Signals (36 Pins)Indication Input/Output Pin No. Signal Name of Signal

CN3

External power input

2 GND Power supply for signal control3 Vcc�24V

Inputsignal

9 DIR. (CCW) Rotation direction (CCW pulse)✽10 DIR. (CCW)

11 PLS (CW)Pulse (CW pulse)✽

12 PLS (CW)

Outputsignal

13 BSG1 B-Phase pulse output (Open-collector)14 GND

15 ASG1 A-Phase pulse output (Open-collector)16 GND

Inputsignal

21 ACLAlarm clear

22 ACL

Outputsignal

23 TIM.1 Timing (Open-collector)24 TIM.1

25 ALARMAlarm

26 ALARM29 END Positioning

completion30 END

Inputsignal

31 �10Resolution select

32 �1033 C.OFF

All windings off34 C.OFF

Description of input/output signals ➜ Page C-79Signal name in parentheses represents the setting in 2-pulse input mode. The factory setting is the 1-pulse input mode.

✽

Step

pin

g M

oto

rs


Connection Diagrams

CN3CN2

0 V

0 V

0 V

R1

R1

R2

R2

R2

V0 (�30 VDC max.)

Connector(Pin No.)

(CW Pulse Signal)

Rotation DirectionSignal

Pulse Signal

(CCW Pulse Signal)

InputSignals

OutputSignals

Twisted-Pair Wire

All Windings OffSignal

Resolution SelectSignal

Alarm ClearSignal

PositioningCompletion Signal

Alarm Signal

Excitation TimingSignal

CN1

VO

�5 VDC

GNDVcc�24 V

Power Source24 VDC�10%

The ASG1/BSG1 have the groundcommon for current sinking output.Refer to page C-80 for the wiring.

0 V

DriverController

Motor

�24VGND

��

24 VDCPower Source

The most suitable controllers for ASC Series are available.

Caution

� Input Signal ConnectionPulse Signal/Rotation Direction SignalSignals 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.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 ConnectionUse 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.

Notes on WiringUse 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).Note that as the length of the pulse signal line increases, the maximum transmission frequency decreases. Technical reference ➜ Page F-46When 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-253The 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.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.The customer must furnish the cables for power supply lines and control I/O signal lines.Use included connector for connection of power source.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

��

�

��

��

�

�

�

�

�

��

�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 (ASC46: 0.1 A minimum) and therefore must be independent of the driver's power supply for signal control.

Notes: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.To protect the switch contacts and prevent noise, always connect the surge suppressor.(✽The surge suppressor is included with electromagnetic brake motors.)To prevent noise, use a dedicated power supply for electromagnetic brake.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.When using as a CE certified part, use a dedicated DC power supply for electromagnetic brake.

(1) ASC46The 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

SurgeSuppressor✽

Switch

� �Motor

ASC SeriesDriver

Black

Red

Extension Cable(Sold Separately)

�

�

��

�

(2) ASC66The 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

ASC SeriesDriver


Brake Motor(Sold Separately)

24 VDC

SurgeSuppressor✽


� �


OFF

ON

Driver Power Source


OFF

ON

0.5 s min.


Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut



Photocoupler OFF ON

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.

PLS (CW) and DIR. (CCW) Input Signal


720 mA

720 mA

VO

0 V

220 �

220 �

PLS

PLS (CW)

DIR. (CCW)

(CCW)DIR.

PLS(CW)

(CW)

DIR.(CCW)


Driver

R1

R1

The colored characters indicate signals under the 1-pulse input mode, while the black characters indicate signals under the 2-pulse input mode.

Note: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.

Pulse Waveform Characteristics

2 μs 2 μs

2 μs1 μsmin.

90 %10 %

min.10 μsmin.

10 μsmin.

max. max.

CCW CWON

OFFDIR. Input

ON

OFFPLS Input

For pulse signals, use input pulse waveforms like those shown in the figure above.

Pulse Input Mode1-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:The factory setting is 1-pulse input mode.

[Rotation Direction Signals] Photocoupler "ON": ClockwisePhotocoupler "OFF": Counterclockwise1-Pulse Input Mode

Clockwise

Pulse Signal

Motor Movement

(PLS)ONOFF

OFFONRotation Direction(DIR.)

Counterclockwise

2-Pulse Input ModeThe 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.

Motor Movement

CW Pulse Signal (CW) OFFON

CounterclockwiseClockwise

OFFONCCW Pulse Signal (CCW)

2-Pulse Input Mode

�

�

�

�

�

�

��

�

�

All Windings Off (C.OFF) Input SignalResolution Select (�10) Input SignalAlarm Clear (ACL) Input Signal


7�20 mA

�5 VDC

0 V

220 Ω


Driver

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.

OFF ON OFFC.OFF

Excitation StateNon-Excitation StateMotor

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:

While the resolution select switch is set to 10000 P/R or 5000 P/R, input of this signal will not change the resolution.

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:

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

Positioning Completion (END) Output SignalAlarm (ALARM) Output Signal


DriverV0

0 V

30 VDC, 15 mA max.

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

END OFF ONON

Note:The END signal blinks during operation with a pulse input frequency of 500 Hz or less.

�

�

�

�

�

�

�

�

�

Step

pin

g M

oto

rs


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 Normal

ON ONOFFALARM

ALARM LED Off Blinking Off

Pulse Signal (Speed Pattern) Rotation Coast to a Stop

Note: The "Alarm" output uses positive logic (normal close), all other outputs use negative logic (normal open).

Excitation Timing (TIM.1) Output Signal


VO

TIM.1

TIM.1

Controller Driver

30 VDC, 15 mA max.

0 V

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.

CW

PLS Input

CCWDIR. Input

ONOFFONOFFONOFF

TIM. Output

(Step)

24232221201918174321 ·········

202122212019181743210 ·········Note:

A precise "Excitation Timing" signal cannot be obtained when the speed of the pulse input frequency is over 500 Hz.

�

�

�

�

Quadrature (ASG1/BSG1) Output Signal


VO

Controller

Driver

GND

BSG1

30 VDC15 mA max.

30 VDC15 mA max.

GND

ASG1

0 V

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: The pulse output accuracy is, regardless of resolution, within �0.36˚ (repetition accuracy: within �0.09˚). 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.

Pulse Waveform CharacteristicsASG1

(Clockwise Rotation of Motor)

BSG1

�

�

�

�


�

Type Model Motor Model Driver Model

Standard Type

ASC34AK ASM34AK ASD10A-KASC36AK ASM36AK ASD10B-KASC46�K ASM46�K ASD18A-KASC66�K ASM66�K ASD36A-K

TH Geared Type

ASC34AK-T7.2 ASM34AK-T7.2

ASD10C-KASC34AK-T10 ASM34AK-T10ASC34AK-T20 ASM34AK-T20ASC34AK-T30 ASM34AK-T30ASC46�K-T3.6 ASM46�K-T3.6

ASD18B-KASC46�K-T7.2 ASM46�K-T7.2ASC46�K-T10 ASM46�K-T10ASC46�K-T20 ASM46�K-T20ASC46�K-T30 ASM46�K-T30ASC66�K-T3.6 ASM66�K-T3.6

ASD36B-KASC66�K-T7.2 ASM66�K-T7.2ASC66�K-T10 ASM66�K-T10ASC66�K-T20 ASM66�K-T20ASC66�K-T30 ASM66�K-T30


PN Geared Type

ASC34AK-N5 ASM34AK-N5 ASD10A-KASC34AK-N7.2 ASM34AK-N7.2

ASC34AK-N10 ASM34AK-N10 ASC46�K-N7.2 ASM46�K-N7.2

ASD18A-KASC46�K-N10 ASM46�K-N10ASC66�K-N5 ASM66�K-N5

ASD36A-KASC66�K-N7.2 ASM66�K-N7.2ASC66�K-N10 ASM66�K-N10ASC66�K-N25 ASM66�K-N25

ASD36B-KASC66�K-N36 ASM66�K-N36ASC66�K-N50 ASM66�K-N50


ASC34AK-H50 ASM34AK-H50 ASD10C-K

ASC34AK-H100 ASM34AK-H100ASC46�K-H50 ASM46�K-H50

ASD18A-KASC46�K-H100 ASM46�K-H100ASC66�K-H50 ASM66�K-H50

ASD36B-KASC66�K-H100 ASM66�K-H100

Enter A (standard) or M (electromagnetic brake) in the box (�) within the model name.�

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut

C-81

Page

RK Series ································································· C-82

Stepping Motors


AC Input

AC Input RK Series

Step

pin

g M

oto

rs


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.

List of safety standard approved products (Model, Standards, File No., Certification Body) ➜ Page G-10

�

Features

z

x

c

v

�1 Smooth Drive FunctionThe 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.

400200100 3000

0.25

0.50

0.75

1.00

Vibr

atio

n Co

mpo

nent

Vol

tage

Vp-

p[V]

Speed [r/min]

Smooth Drive: OFFSmooth Drive: ON

RK566BCEStep Angle: 0.72˚/step

The smooth drive function of the RK Series shortens the settling time.

Spee

d [r

/min

]

Spee

d [r

/min

]

Conventional Model RK (Smooth Drive: ON)

100 ms/div 100 ms/div

Step Angle: 0.72˚/step Step Angle: 0.72˚/step

�

�2 Microstep Drive SystemThe 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.

�3 Improved Angle AccuracyAngle 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.

Angl

e Er

ror [

deg]

0

-0.072˚

-0.036˚

0.036˚

0.072˚

Power Supply Voltage: 200-230 VACResolution 20 (0.036˚/step)

�4 Improved ResponseThe 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.

2 4 6 8 10

500

400

300

200

100

0

Rise Time [ms]

RK566ACE

Spee

d [r

/min

]

No-Load State

ConventionalModel 1 Conventional

Model 2

RoHS-Compliant

5-Phase Stepping Motor and Driver Package

RK Series�Additional Information�

Technical reference ➜ Page F-1Safety standards ➜ Page G-2

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut


Environmentally Friendly Energy-Saving ModeIn 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)

Pow

er C

onsu

mpt

ion

[kW

] 350

300

250

200

150

100

50

0At Motor Standstill in

Automatic Current-Cutback Mode

At Motor Standstill in Energy-Saving Mode

Cycle Condition: Operated for 10 seconds/Stopped for 50 seconds

Comparison of Annual Power Consumption at Motor Standstill (per shaft)

Reduction of 85.4%

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.

Motor Line

Power Line

To Power Supply

Signal Line

To Controller

No FerriteCore Needed

No Power SupplyFilter Needed

Surge Arrester

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.)



�

�

��

�

New IP65 Rated Motor Conforming to the IP65 Standard for Ingress Protection against Dust and Water

Terminal-Block Connection DesignThe motor can be wired directly from its terminal block.

Terminal Box

No Motor/Driver RelaySince 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.

Cable

Motor

Driver

RoHS-CompliantThe RK Series conforms to the RoHS Directive that prohibits the use of six chemical substances including lead and cadmium.


�

�

�

�

�

Step

pin

g M

oto

rs


Wide VarietyThe 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 VoltageStandard Type,

Standard Type with Electromagnetic Brake


TH Geared Type PL Geared Type PN Geared TypeHarmonic Geared

Type

Single-Phase200-230 VAC

�60�85

�60�85

�60�90

�60�90

�60�90

�60�90

For the single-phase 100-115 VAC models, please contact the nearest Oriental Motor sales office.

�

�

Standard Type/Standard Type IP65 Rated MotorEasy-to-use standard types offer balanced performance. The IP65 rated motor conforms to the IP65 standard for ingress protection against dust and water.

Standard Type with Electromagnetic Brake A motor combines with power off activated type electromagnetic brake.

TH Geared Type (Low backlash)

A low-cost geared motor offers low backlash.

�

�

�

PL Geared Type (Low backlash)

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

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.

Harmonic Geared Type (Non-backlash)

A high-accuracy, backlash-free geared motor ensures high strength in a compact body.

�

�

�

AC Input RK Series

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut


Characteristics Comparison for Geared MotorsA wide variety of geared motors are available according to your needs.

500

360

600

70

0.0144

0.024

0.0144

0.00720

3

35

45

37

37 60

5537

12

Non-

back

lash

Low

bac

klas

h

TH Geared(Parallel Shaft)

PL Geared(Planetary)

PN Geared(Planetary)

HarmonicGeared

(Harmonic Drive)

� A wide variety of low gear ratios for high-speed

operation

� Gear ratios:

1:3.6, 1:7.2, 1:10, 1:20, 1:30

� High permissible torque

� A wide variety of gear ratios for selecting the desired

step angle (resolution)


� Gear ratios:

1:5, 1:7.2, 1:10, 1:25, 1:36, 1:50

� High speed (low gear ratio), high positioning precision


� A wide variety of gear ratios for selecting the desired

step angle (resolution)


� Gear ratios:

1:5, 1:7.2, 1:10, 1:25, 1:36, 1:50

� High positioning precision


� High gear ratio, high resolution


� Gear ratios:

1:50, 1:100

Geared Type FeaturesOutput Shaft Speed

[r/min]

Permissible Torque/

Maximum Torque [N�m]

Basic Resolution

[deg/step]

Backlash

[arc min]

PermissibleTorque

MaximumTorque

PermissibleTorque

MaximumTorque

Note:The values shown above must be used as reference. These values vary depending on the frame size and gear ratio.

�

�

Step

pin

g M

oto

rs


System ConfigurationAn example of a single-axis system configuration with the SG8030JY controller.

Controller

SG8030JY-U


PAL2P-5 CC20T1

Connector - Terminal BlockConversion Unit (1 m)

Extension Cable (5 m)

CC05PK5 MCS200808

FlexibleCoupling


RK Series (Body)


(Sold separately)



No. Page

C-266C-258C-254C-256C-256

C-248

RK564ACE

RK Series


(Not supplied)

ACPower Supply

(Not supplied)

Motor Driver


Product Name Overview

�

�

�

�

�

� ControllerMotor Mounting BracketsFlexible CouplingsExtension CablesDriver Cables General-Purpose TypeConnector – Terminal Block Conversion Unit

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).





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


�

�

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut


Product Number Code

q w e r t y u i o !0

RK 5 6 6 B � C E - N 5� � Series RK: RK Series

� 5: 5-Phase

�Motor Frame Size 6: 60 mm 9: 85 mm (90 mm sq. for geared type)

� 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 Blank: Standard Type T: TH Geared Typetype P: PL Geared Type N: PN Geared Type H: Harmonic Geared Type

� Gear Ratio

Product Line

Standard TypePower Supply Voltage Model (Single Shaft) Page Model (Double Shaft) Page


RK564AAE

✽

RK564BAE

✽

RK566AAE RK566BAERK569AAE RK569BAERK596AAE RK596BAERK599AAE RK599BAERK5913AAE RK5913BAE


RK564ACE

C-89

RK564BCE

C-89

RK566ACE RK566BCERK569ACE RK569BCERK596ACE RK596BCERK599ACE RK599BCERK5913ACE RK5913BCE


��

✽

Standard Type IP65 Rated MotorPower Supply Voltage Model Page


RK564AAT

✽

RK566AATRK569AATRK596AATRK599AATRK5913AAT


RK564ACT

C-90

RK566ACTRK569ACTRK596ACTRK599ACTRK5913ACT


�

✽

Standard Type with Electromagnetic BrakePower Supply Voltage Model Page


RK564AMAE

✽

RK566AMAERK569AMAERK596AMAERK599AMAERK5913AMAE


RK564AMCE

C-91

RK566AMCERK569AMCERK596AMCERK599AMCERK5913AMCE


�

✽

TH Geared Type

Motor, Parallel Key✽, Driver, Connector for Input/Output Signal,Operating Manual

Only for the products with a key slot on the output shaft✽


Power Supply Voltage Model (Single Shaft) Page Model (Double Shaft) Page


RK564AAE-T3.6

✽

RK564BAE-T3.6

✽

RK564AAE-T7.2 RK564BAE-T7.2RK564AAE-T10 RK564BAE-T10RK564AAE-T20 RK564BAE-T20RK564AAE-T30 RK564BAE-T30RK596AAE-T3.6 RK596BAE-T3.6RK596AAE-T7.2 RK596BAE-T7.2RK596AAE-T10 RK596BAE-T10RK596AAE-T20 RK596BAE-T20RK596AAE-T30 RK596BAE-T30


RK564ACE-T3.6

C-92

RK564BCE-T3.6

C-92RK564ACE-T7.2 RK564BCE-T7.2RK564ACE-T10 RK564BCE-T10RK564ACE-T20 RK564BCE-T20RK564ACE-T30 RK564BCE-T30RK596ACE-T3.6

C-93

RK596BCE-T3.6

C-93RK596ACE-T7.2 RK596BCE-T7.2RK596ACE-T10 RK596BCE-T10RK596ACE-T20 RK596BCE-T20RK596ACE-T30 RK596BCE-T30


�

✽

RK 5 9 13 A C Tq w e r ut i

Step

pin

g M

oto

rs


PL Geared TypePower Supply Voltage Model (Single Shaft) Page Model (Double Shaft) Page


RK566AAE-P5

✽

RK566BAE-P5

✽

RK566AAE-P7.2 RK566BAE-P7.2RK566AAE-P10 RK566BAE-P10RK564AAE-P25 RK564BAE-P25RK564AAE-P36 RK564BAE-P36RK564AAE-P50 RK564BAE-P50RK599AAE-P5 RK599BAE-P5RK599AAE-P7.2 RK599BAE-P7.2RK599AAE-P10 RK599BAE-P10RK596AAE-P25 RK596BAE-P25RK596AAE-P36 RK596BAE-P36RK596AAE-P50 RK596BAE-P50


RK566ACE-P5

C-94

RK566BCE-P5

C-94

RK566ACE-P7.2 RK566BCE-P7.2RK566ACE-P10 RK566BCE-P10RK564ACE-P25 RK564BCE-P25RK564ACE-P36 RK564BCE-P36RK564ACE-P50 RK564BCE-P50RK599ACE-P5

C-95

RK599BCE-P5

C-95

RK599ACE-P7.2 RK599BCE-P7.2RK599ACE-P10 RK599BCE-P10RK596ACE-P25 RK596BCE-P25RK596ACE-P36 RK596BCE-P36RK596ACE-P50 RK596BCE-P50


PN Geared TypePower Supply Voltage Model (Single Shaft) Page Model (Double Shaft) Page


RK566AAE-N5

✽

RK566BAE-N5

✽

RK566AAE-N7.2 RK566BAE-N7.2RK566AAE-N10 RK566BAE-N10RK564AAE-N25 RK564BAE-N25RK564AAE-N36 RK564BAE-N36RK564AAE-N50 RK564BAE-N50RK599AAE-N5 RK599BAE-N5RK599AAE-N7.2 RK599BAE-N7.2RK599AAE-N10 RK599BAE-N10RK596AAE-N25 RK596BAE-N25RK596AAE-N36 RK596BAE-N36RK596AAE-N50 RK596BAE-N50


RK566ACE-N5

C-96

RK566BCE-N5

C-96

RK566ACE-N7.2 RK566BCE-N7.2RK566ACE-N10 RK566BCE-N10RK564ACE-N25 RK564BCE-N25RK564ACE-N36 RK564BCE-N36RK564ACE-N50 RK564BCE-N50RK599ACE-N5

C-97

RK599BCE-N5

C-97

RK599ACE-N7.2 RK599BCE-N7.2RK599ACE-N10 RK599BCE-N10RK596ACE-N25 RK596BCE-N25RK596ACE-N36 RK596BCE-N36RK596ACE-N50 RK596BCE-N50


Harmonic Geared TypePower Supply Voltage Model (Single Shaft) Page Model (Double Shaft) Page


RK564AAE-H50

✽

RK564BAE-H50

✽RK564AAE-H100 RK564BAE-H100RK596AAE-H50 RK596BAE-H50RK596AAE-H100 RK596BAE-H100


RK564ACE-H50

C-98

RK564BCE-H50

C-98RK564ACE-H100 RK564BCE-H100RK596ACE-H50 RK596BCE-H50RK596ACE-H100 RK596BCE-H100


�

✽

�

✽

�

✽

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut



Specifications

ModelSingle-Phase200-230 VAC

Single Shaft RK564ACE RK566ACE RK569ACE RK596ACE RK599ACE RK5913ACE Double Shaft RK564BCE RK566BCE RK569BCE RK596BCE RK599BCE RK5913BCE

Maximum Holding Torque N�m 0.42 0.83 1.66 2.1 4.1 6.3 Rotor Inertia J: kg�m2 175�10-7 280�10-7 560�10-7 1400�10-7 2700�10-7 4000�10-7 Rated Current A/Phase 1.4Basic Step Angle 0.72˚

Power Source Single-Phase 200-230 VAC �10%�15% 50/60 Hz 3.5 A

Excitation Mode Microstep

MassMotor kg 0.6 0.8 1.3 1.7 2.8 3.8 Driver kg 0.85


Driver �15

How to read specifications table ➜ Page C-10For the single-phase 100-115 VAC models, please contact the nearest Oriental Motor Sales office.


�

�

�

RK564ACE/RK564BCE

Pulse Speed [kHz]

0(0)

10(100)

20(200)

30(300)

10000 2000 3000 4000 Speed [r/min]

Torq

ue [N

�m]

0

0.6

0.7

0.8

0.5

0.4

0.3

0.2

0.1


Curr

ent [

A]

0

4

6

2


Pullout Torque

Driver Input Currentfs

RK566ACE/RK566BCE

Pulse Speed [kHz]

0(0)

10(100)

20(200)

30(300)

10000 2000 3000 4000 Speed [r/min]

Torq

ue [N

�m]


Curr

ent [

A]

0

4

8

0

1.2

1.0

0.8

0.6

0.4

0.2


Pullout Torque


fs

RK569ACE/RK569BCE

Pulse Speed [kHz]

0(0)

10(100)

20(200)

30(300)

10000 2000 3000 4000 Speed [r/min]

Torq

ue [N

�m]


Curr

ent [

A]

0

4

8

0

2.5

2.0

1.5

1.0

0.5


Pullout Torque


fs

RK596ACE/RK596BCE

Pulse Speed [kHz]

0(0)

10(100)

20(200)

10000 2000 3000 Speed [r/min]


Torq

ue [N

�m]

Curr

ent [

A]

0

5

10

0

3.0

2.5

2.0

1.5

1.0

0.5


Pullout Torque


RK599ACE/RK599BCE

Pulse Speed [kHz]

5000 1000 1500 2000 Speed [r/min]


0(0)

5(50)

10(100)

Torq

ue [N

�m]

Curr

ent [

A]

0

4

8

0

6

5

4

3

2

1


Pullout Torque


RK5913ACE/RK5913BCE

Pulse Speed [kHz]

0(0)

5(50)

10(100)

5000 1000 1500 Speed [r/min]


Torq

ue [N

�m]

Curr

ent [

A]

0

4

8

0

10

8

6

4

2


Pullout Torque


The pulse input circuit responds to approximately 200 kHz with a pulse duty of 50%.Notes:


�

�

�

Step

pin

g M

oto

rs


Standard Type IP65 Rated Motor Motor Frame Size 60 mm, 85 mm

Specifications Model Single-Phase 200-230 VAC RK564ACT RK566ACT RK569ACT RK596ACT RK599ACT RK5913ACT

Maximum Holding Torque N�m 0.42 0.83 1.66 2.1 4.1 6.3Rotor Inertia J: kg�m2 175�10-7 280�10-7 560�10-7 1400�10-7 2700�10-7 4000�10-7

Rated Current A/Phase 1.4Basic Step Angle 0.72˚


Excitation Mode MicrostepInsulation Class Motor: IP65✽ Driver: IP10

MassMotor kg 0.8 1.1 1.6 2.2 3.3 4.4Driver kg 0.85


Driver �15

How to read specifications table ➜ Page C-10Excluding the gap between the shaft and the flangeFor the single-phase 100-115 VAC models, please contact the nearest Oriental Motor Sales office.


�

✽

�

�

RK564ACT

Pulse Speed [kHz]

0(0)

10(100)

20(200)

30(300)

10000 2000 3000 4000 Speed [r/min]

Torq

ue [N

�m]

0

0.6

0.7

0.8

0.5

0.4

0.3

0.2

0.1


Curr

ent [

A]

0

4

6

2


Pullout Torque


RK566ACT

Pulse Speed [kHz]

0(0)

10(100)

20(200)

30(300)

10000 2000 3000 4000 Speed [r/min]

Torq

ue [N

�m]


Curr

ent [

A]

0

4

8

0

1.2

1.0

0.8

0.6

0.4

0.2


Pullout Torque


fs

RK569ACT

Pulse Speed [kHz]

0(0)

10(100)

20(200)

30(300)

10000 2000 3000 4000 Speed [r/min]

Torq

ue [N

�m]


Curr

ent [

A]0

4

8

0

2.5

2.0

1.5

1.0

0.5


Pullout Torque




�

�

�

RK596ACT

Pulse Speed [kHz]

0(0)

10(100)

20(200)

10000 2000 3000 Speed [r/min]


Torq

ue [N

�m]

Curr

ent [

A]

0

5

10

0

3.0

2.5

2.0

1.5

1.0

0.5


Pullout Torque


RK599ACT

Pulse Speed [kHz]

5000 1000 1500 2000 Speed [r/min]


0(0)

5(50)

10(100)

Torq

ue [N

�m]

Curr

ent [

A]

0

4

8

0

6

5

4

3

2

1


Pullout Torque


RK5913ACT

Pulse Speed [kHz]

0(0)

5(50)

10(100)

5000 1000 1500 Speed [r/min]


Torq

ue [N

�m]

Curr

ent [

A]

0

4

8

0

10

8

6

4

2


Pullout Torque


Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut


Standard Type with Electromagnetic Brake Motor Frame Size 60 mm, 85 mm

Specifications Model Single-Phase 200-230 VAC Single Shaft RK564AMCE RK566AMCE RK569AMCE RK596AMCE RK599AMCE RK5913AMCEMaximum Holding Torque N�m 0.42 0.83 1.66 2.1 4.1 6.3Rotor Inertia J: kg�m2 335�10-7 440�10-7 720�10-7 2470�10-7 3770�10-7 5070�10-7

Rated Current A/Phase 1.4Basic Step Angle 0.72˚




Type Active when power is offPower Source Input 24 VDCPower Supply Input A 0.25 0.42Static Friction Torque N�m 0.8 4.0Brake Time ms 20Brake Release Time ms 30 50Time Rating Continuous



Driver �15



�

�

�

RK564AMCE

Pulse Speed [kHz]

0(0)

10(100)

20(200)

30(300)

10000 2000 3000 4000 Speed [r/min]

Torq

ue [N

�m]

0

0.6

0.7

0.8

0.5

0.4

0.3

0.2

0.1


Curr

ent [

A]

0

4

6

2


Pullout Torque


RK566AMCE

Pulse Speed [kHz]

0(0)

10(100)

20(200)

30(300)

10000 2000 3000 4000 Speed [r/min]

Torq

ue [N

�m]


Curr

ent [

A]

0

4

8

0

1.2

1.0

0.8

0.6

0.4

0.2


Pullout Torque


fs

RK569AMCE

Pulse Speed [kHz]

0(0)

10(100)

20(200)

30(300)

10000 2000 3000 4000 Speed [r/min]

Torq

ue [N

�m]


Curr

ent [

A]

0

4

8

0

2.5

2.0

1.5

1.0

0.5


Pullout Torque


fs



�

�

�

RK596AMCE

Pulse Speed [kHz]

0(0)

10(100)

20(200)

10000 2000 3000 Speed [r/min]


Torq

ue [N

�m]

Curr

ent [

A]

0

5

10

0

3.0

2.5

2.0

1.5

1.0

0.5

Current: 1.4A/Phase Step Angle: 0.72˚ step Load Inertia: JL=0 kg�m2

Pullout Torque


RK599AMCE

Pulse Speed [kHz]

0(0)

5000 1000 1500 2000 Speed [r/min]


5(50)

10(100)

Torq

ue [N

�m]

Curr

ent [

A]

0

4

8

0

6

5

4

3

2

1


Pullout Torque


RK5913AMCE

Pulse Speed [kHz]

0(0)

5(50)

10(100)

5000 1000 1500 Speed [r/min]


Torq

ue [N

�m]

Curr

ent [

A]

0

4

8

0

10

8

6

4

2


Pullout Torque


Step

pin

g M

oto

rs



�Specifications

ModelSingle-Phase 200-230 VAC

Single Shaft RK564ACE-T3.6 RK564ACE-T7.2 RK564ACE-T10 RK564ACE-T20 RK564ACE-T30Double Shaft RK564BCE-T3.6 RK564BCE-T7.2 RK564BCE-T10 RK564BCE-T20 RK564BCE-T30

Maximum Holding Torque N�m 1.25 2.5 3 3.5 4Rotor Inertia J: kg�m2 175�10-7

Rated Current A/Phase 1.4Basic Step Angle 0.2˚ 0.1˚ 0.072˚ 0.036˚ 0.024˚Gear Ratio 1:3.6 1:7.2 1:10 1:20 1:30Permissible Torque N�m 1.25 2.5 3 3.5 4Backlash arc minute (degrees) 35 (0.584˚) 15 (0.25˚) 10 (0.167˚)Permissible Speed Range r/min 0�500 0�250 0�180 0�90 0�60





Driver �15


Note: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

Pulse Speed [kHz]

0(0)

0

15(150)

10(100)

5(50)


200100 600300 400 500 Speed [r/min]

Torq

ue [N

�m]

Curr

ent [

A]

0

1.5

0.5

1.0

0

2

4

fs


Permissible Torque



Pulse Speed [kHz]

0(0)

0

15(150)

10(100)

5(50)


10050 300150 200 250 Speed [r/min]

Torq

ue [N

�m]

Curr

ent [

A]

0

4

2

3

1

0

4

8


Permissible Torque


fs

RK564ACE-T10/RK564BCE-T10

Pulse Speed [kHz]

0


8040 200120 160 Speed [r/min]

0(0)

5(50)

10(100)

15(150)

Torq

ue [N

�m]

Curr

ent [

A]

0

5

4

3

2

1

0

2

4


Permissible Torque


fs



�

�

�


Pulse Speed [kHz]

0


4020 10060 80 Speed [r/min]

0(0)

5(50)

10(100)

15(150)

Torq

ue [N

�m]

Curr

ent [

A]

0

5

4

3

2

1

0

2

4


Permissible Torque


fs


Pulse Speed [kHz]

0


302010 7040 50 60 Speed [r/min]

0(0)

5(50)

10(100)

15(150)

Torq

ue [N

�m]

Curr

ent [

A]

0

5

4

3

2

1

0

2

4


Permissible Torque


fs

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut



Specifications


Single Shaft RK596ACE-T3.6 RK596ACE-T7.2 RK596ACE-T10 RK596ACE-T20 RK596ACE-T30Double Shaft RK596BCE-T3.6 RK596BCE-T7.2 RK596BCE-T10 RK596BCE-T20 RK596BCE-T30

Maximum Holding Torque N�m 4.5 9 12Rotor Inertia J: kg�m2 1400�10-7

Rated Current A/Phase 1.4Basic Step Angle 0.2˚ 0.1˚ 0.072˚ 0.036˚ 0.024˚Gear Ratio 1:3.6 1:7.2 1:10 1:20 1:30Permissible Torque N�m 4.5 9 12Backlash arc minute (degrees) 25 (0.417˚) 15 (0.25˚) 10 (0.167˚)Permissible Speed Range r/min 0�500 0�250 0�180 0�90 0�60





Driver �15


Note: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.


�

�

�

�


Pulse Speed [kHz]

0(0)

0

15(150)

10(100)

5(50)


200100 600300 400 500 Speed [r/min]

Torq

ue [N

�m]

Curr

ent [

A]

0

6

5

4

3

2

1

0

2.5

5

fs


Permissible Torque



Pulse Speed [kHz]

0(0)

0

15(150)

10(100)

5(50)


10050 300150 200 250 Speed [r/min]

Torq

ue [N

�m]

Curr

ent [

A]

0

12

10

8

6

4

2

0

2.5

5

fs



Permissible Torque


Pulse Speed [kHz]

0


8040 200120 160 Speed [r/min]

0(0)

5(50)

10(100)

15(150)

Torq

ue [N

�m]

Curr

ent [

A]

0

12

10

8

6

4

2

0

2

6

4


Permissible Torque


fs



�

�

�


Torq

ue [N

�m]

Curr

ent [

A]

0

15

10

5

0

2

6

4

Pulse Speed [kHz]

0


4020 10060 80 Speed [r/min]

0(0)

5(50)

10(100)

15(150)


Permissible Torque


fs


Torq

ue [N

�m]

Curr

ent [

A]

0

15

10

5

0

2

6

4

Pulse Speed [kHz]

0


302010 7040 50 60 Speed [r/min]

0(0)

5(50)

10(100)

15(150)


Permissible Torque


fs

Step

pin

g M

oto

rs



Specifications


Single Shaft RK566ACE-P5 RK566ACE-P7.2 RK566ACE-P10 RK564ACE-P25 RK564ACE-P36 RK564ACE-P50Double Shaft RK566BCE-P5 RK566BCE-P7.2 RK566BCE-P10 RK564BCE-P25 RK564BCE-P36 RK564BCE-P50

Maximum Holding Torque N�m 3.5 4 5 8Rotor Inertia J: kg�m2 280�10-7 175�10-7

Rated Current A/Phase 1.4Basic Step Angle 0.144˚ 0.1˚ 0.072˚ 0.0288˚ 0.02˚ 0.0144˚Gear Ratio 1:5 1:7.2 1:10 1:25 1:36 1:50Permissible Torque N�m 3.5 4 5 8Backlash arc minute (degrees) 20 (0.33˚)Permissible Speed Range r/min 0�360 0�250 0�180 0�72 0�50 0�36



MassMotor kg 1.3 1.4Driver kg 0.85


Driver �15


Note:Direction of rotation of the motor and that of the gear output shaft are the same.


�

�

�

�

RK566ACE-P5/RK566BCE-P5

Pulse Speed [kHz]

0


100 400200 300 Speed [r/min]

0(0)

5(50)

10(100)

15(150)

Torq

ue [N

�m]

Curr

ent [

A]

0

5

4

3

2

1

0

4

8

fs


Permissible Torque


RK566ACE-P7.2/RK566BCE-P7.2

Pulse Speed [kHz]

0(0)

0

15(150)

10(100)

5(50)


10050 300150 200 250 Speed [r/min]

Torq

ue [N

�m]

Curr

ent [

A]

0

5

4

3

2

1

0

4

8

fs



Permissible Torque


Pulse Speed [kHz]

0


50 200100 150 Speed [r/min]

0(0)

5(50)

10(100)

15(150)

Torq

ue [N

�m]

Curr

ent [

A]

0

8

6

4

2

0

4

8

fs

Current: 1.4 A/Phase Step Angle: 0.072˚/stepLoad Inertia: JL=0 kg�m2


Permissible Torque



�

�

�


Pulse Speed [kHz]

0


20 8040 60 Speed [r/min]

0(0)

5(50)

10(100)

15(150)

Torq

ue [N

�m]

Curr

ent [

A]

10

8

6

4

0

2

0

2

4

fs


Permissible Torque



Pulse Speed [kHz]

0(0)

0

15(150)

10(100)

5(50)


2010 6030 40 50 Speed [r/min]

Torq

ue [N

�m]

Curr

ent [

A]

10

8

6

4

0

2

0

2

4

fs


Permissible Torque



Pulse Speed [kHz]

0


10 4020 30 Speed [r/min]

0(0)

5(50)

10(100)

15(150)

Torq

ue [N

�m]

Curr

ent [

A]

10

8

6

4

0

2

0

2

4

fs


Permissible Torque


Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut



Specifications


Single Shaft RK599ACE-P5 RK599ACE-P7.2 RK599ACE-P10 RK596ACE-P25 RK596ACE-P36 RK596ACE-P50Double Shaft RK599BCE-P5 RK599BCE-P7.2 RK599BCE-P10 RK596BCE-P25 RK596BCE-P36 RK596BCE-P50

Maximum Holding Torque N�m 14 20 37Rotor Inertia J: kg�m2 2700�10-7 1400�10-7

Rated Current A/Phase 1.4Basic Step Angle 0.144˚ 0.1˚ 0.072˚ 0.0288˚ 0.02˚ 0.0144˚

Gear Ratio 1:5 1:7.2 1:10 1:25 1:36 1:50

Permissible Torque N�m 14 20 37Backlash arc minute (degrees) 15 (0.25˚)Permissible Speed Range r/min 0�360 0�250 0�180 0�72 0�50 0�36





Driver �15




�

�

�

�


Pulse Speed [kHz]

0


100 400200 300 Speed [r/min]

0(0)

5(50)

10(100)

15(150)

Torq

ue [N

�m]

Curr

ent [

A]

0

20

15

10

5

0

2.5

5

fs


Permissible Torque


RK599ACE-P7.2/RK599BCE-P7.2

Pulse Speed [kHz]

0(0)

0

15(150)

10(100)

5(50)


10050 300150 200 250 Speed [r/min]

Torq

ue [N

�m]

Curr

ent [

A]

25

20

15

10

0

5

0

2

4

fs


Permissible Torque



Pulse Speed [kHz]

0


50 200100 150 Speed [r/min]

0(0)

5(50)

10(100)

15(150)

Torq

ue [N

�m]

Curr

ent [

A]

25

20

15

10

0

5

0

2

4

fs


Permissible Torque




�

�

�


Torq

ue [N

�m]

Curr

ent [

A]

0

2

4

Pulse Speed [kHz]

0(0)

10(100)

15(150)

5(50)


Speed [r/min]

0

50

30

40

10

20

200 40 60 80



fs

Permissible Torque


Torq

ue [N

�m]

Curr

ent [

A]

0

2

4

Pulse Speed [kHz]

0(0)

10(100)

15(150)

5(50)


Speed [r/min]

0

50

30

40

10

20

20100 30 40 50 60



fs

Permissible Torque


Torq

ue [N

�m]

Curr

ent [

A]

0

2

4

Pulse Speed [kHz]

0(0)

10(100)

15(150)

5(50)


Speed [r/min]

0

50

30

40

10

20

100 20 30 40

Current: 1.4 A/Phase Step Angle: 0.0144°/step Load Inertia: JL=0 kg�m2


fs

Permissible Torque

Step

pin

g M

oto

rs



Specifications


Single Shaft RK566ACE-N5 RK566ACE-N7.2 RK566ACE-N10 RK564ACE-N25 RK564ACE-N36 RK564ACE-N50Double Shaft RK566BCE-N5 RK566BCE-N7.2 RK566BCE-N10 RK564BCE-N25 RK564BCE-N36 RK564BCE-N50


Rated Current A/Phase 1.4Basic Step Angle 0.144˚ 0.1˚ 0.072˚ 0.0288˚ 0.02˚ 0.0144˚Gear Ratio 1:5 1:7.2 1:10 1:25 1:36 1:50Permissible Torque N�m 3.5 4 5 8Maximum Torque✽ N�m 7 9 11 16 20Backlash 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





Driver �15

How to read specifications table ➜ Page C-10The value of maximum torque is for gear. For output torque for geared motor, refer to the speed – torque characteristics.For the single-phase 100-115 VAC models, please contact the nearest Oriental Motor Sales office.



�

✽

�

�

�

RK566ACE-N5/RK566BCE-N5

Torq

ue [N

�m]

Curr

ent [

A]

0

8

4

6

2

0

4

8

Pulse Speed [kHz]

0


300200100 700400 500 600 Speed [r/min]

0(0)

10(100)

20(200)

25(250)

5(50)

15(150)


Permissible Torque


RK566ACE-N7.2/RK566BCE-N7.2

Torq

ue [N

�m]

Curr

ent [

A]

0

10

5.0

7.5

2.5

0

4

8

Pulse Speed [kHz]

0


100 400200 300 Speed [r/min]

0(0)

10(100)

15(150)

5(50)

20(200)

25(250)



Permissible Torque


Torq

ue [N

�m]

Curr

ent [

A]

0

15

10

5

0

4

8

Pulse Speed [kHz]

0


100 300200 Speed [r/min]

0(0)

5(50)

10(100)

25(250)

15(150)

20(200)


Permissible Torque



Torq

ue [N

�m]

Curr

ent [

A]

0

20

10

15

5

0

4

8

Pulse Speed [kHz]

0(0)

0


50 150100 Speed [r/min]

5(50)

15(150)

10(100)

25(250)

20(200)


Permissible Torque



Speed [r/min]

Torq

ue [N

�m]

Curr

ent [

A]

0

25

5

15

10

20

0

8

4

fs

Pulse Speed [kHz]

0(0)

25(250)

20(200)

15(150)

10(100)

5(50)


10040 60 80200


Permissible Torque



Speed [r/min]

Torq

ue [N

�m]

Curr

ent [

A]

0

25

5

15

10

20

0

8

4

Pulse Speed [kHz]

0(0)

25(250)

20(200)

15(150)

10(100)

5(50)


40 6020 30 50 70100


Maximum Torque

Permissible Torque


fs



�

�

�

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut



Specifications


Single Shaft RK599ACE-N5 RK599ACE-N7.2 RK599ACE-N10 RK596ACE-N25 RK596ACE-N36 RK596ACE-N50Double Shaft RK599BCE-N5 RK599BCE-N7.2 RK599BCE-N10 RK596BCE-N25 RK596BCE-N36 RK596BCE-N50

Maximum Holding Torque N�m 14 20 37Rotor Inertia J: kg�m2 2700�10-7 1400�10-7

Rated Current A/Phase 1.4Basic Step Angle 0.144˚ 0.1˚ 0.072˚ 0.0288˚ 0.02˚ 0.0144˚Gear Ratio 1:5 1:7.2 1:10 1:25 1:36 1:50Permissible Torque N�m 14 20 37Maximum Torque✽ N�m 28 35 56 60Backlash 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



MassMotor kg 5 4.7Driver kg 0.85


Driver �15




�

✽

�

�

�


Torq

ue [N

�m]

Curr

ent [

A]

0

60

50

40

30

20

10

0

2

6

4

Pulse Speed [kHz]

0(0)

0

Resolution 1 (Resolution 10)

50 150100 Speed [r/min]

5(50)

15(150)

10(100)

25(250)

20(200)

fs


Permissible Torque



Torq

ue [N

�m]

Curr

ent [

A]

0

80

60

40

20

0

8

4

Pulse Speed [kHz]

0


4020 10060 80 Speed [r/min]

0(0)

5(50)

10(100)

20(200)

25(250)

15(150)


Permissible Torque

Maximum Torque


fs


Torq

ue [N

�m]

Curr

ent [

A]

0

80

60

40

20

0

8

4

Pulse Speed [kHz]

0


302010 7040 50 60 Speed [r/min]

0(0)

5(50)

10(100)

25(250)

20(200)

15(150)


Permissible Torque

Maximum Torque


fs


Torq

ue [N

�m]

Curr

ent [

A]

0

30

25

20

15

10

5

0

2

6

4

Pulse Speed [kHz]

0


300200100 600400 500 Speed [r/min]

0(0)

10(100)

20(200)

5(50)

15(150)


Permissible Torque


fs

RK599ACE-N7.2/RK599BCE-N7.2

Torq

ue [N

�m]

Curr

ent [

A]

0

50

40

30

20

10

0

8

4

Pulse Speed [kHz]

0


300200100 500400 Speed [r/min]

0(0)

10(100)

25(250)

20(200)

5(50)

15(150)


Permissible Torque


fs


Torq

ue [N

�m]

Curr

ent [

A]

0

50

40

30

20

10

0

8

4

Pulse Speed [kHz]

0


100 300200 Speed [r/min]

0(0)

5(50)

10(100)

25(250)

15(150)

20(200)


Permissible Torque

Maximum Torque


fs



�

�

�

Step

pin

g M

oto

rs


Harmonic Geared Type Motor Frame Size 60 mm, 90 mm

Specifications


Single Shaft RK564ACE-H50 RK564ACE-H100 RK596ACE-H50 RK596ACE-H100 Double Shaft RK564BCE-H50 RK564BCE-H100 RK596BCE-H50 RK596BCE-H100

Maximum Holding Torque N�m 5.5 8 25 37 Rotor Inertia J: kg�m2 210�10-7 1600�10-7 Rated Current A/Phase 1.4Basic Step Angle 0.0144˚ 0.0072˚ 0.0144˚ 0.0072˚Gear Ratio 1:50 1:100 1:50 1:100Permissible Torque N�m 5.5 8 25 37 Maximum Torque✽ N�m 18 28 35 55Lost Motion(Load Torque)

arc minute 0.7 max.

(�0.28 N�m)0.7 max.

(�0.39 N�m)1.5 max.

(�1.2 N�m)Permissible Speed Range r/min 0�70 0�35 0�70 0�35



Mass Motor kg 1.08 3.7 Driver kg 0.85


Driver �15


Notes: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 and that of the gear output shaft are the opposite.


�

✽

�

��

�

RK596ACE-H50/RK596BCE-H50

Pulse Speed [kHz]

0


20 8040 60 Speed [r/min]

0(0)

10(100)

20(200)

30(300)

Torq

ue [N

�m]

Curr

ent [

A]

0

50

40

30

20

10

0

4

8

fs


Permissible Torque

Maximum Torque



Pulse Speed [kHz]

0


10 4020 30 Speed [r/min]

0(0)

10(100)

20(200)

30(300)

Torq

ue [N

�m]

Curr

ent [

A]

0

80

60

40

20

0

4

8

fs



Permissible Torque

Maximum Torque


Torq

ue [N

�m]

Curr

ent [

A]

0

25

20

15

10

5

0

5

10

Pulse Speed [kHz]

0


20 8040 60 Speed [r/min]

0(0)

10(100)

20(200)

30(300)

fs


Permissible Torque

Maximum Torque



Torq

ue [N

�m]

Curr

ent [

A]

0

40

30

20

10

0

5

10

Pulse Speed [kHz]

0


10 4020 30 Speed [r/min]

0(0)

10(100)

20(200)

30(300)

fs



Permissible Torque

Maximum Torque



�

�

��

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut


Driver Specifications

Input Signals

Input ModePhotocoupler input, Input resistance: 220 �; Input current: 10�20 mA Photocoupler ON: �4.5��5 V, Photocoupler OFF: 0��1 V (Voltage between terminals)

Pulse Signal(CW Pulse Signal)

Operation command pulse signal (CW direction operation command pulse signal when in 2-pulse input mode), Negative logic pulse inputPulse width: 2.5 �s minimum; Pulse rise/fall: 2 �s maximum Pulse duty: 50% and belowThe 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(CCW Pulse Signal)

Rotation direction signal, Photocoupler ON: CW, Photocoupler OFF: CCW CCW direction operation command pulse signal when in 2-pulse input mode, Negative logic pulse inputPulse width: 2.5 �s minimum; Pulse rise/fall: 2 �s maximum Pulse duty: 50% and belowThe 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%)

All Windings Off SignalWhen 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.

Electromagnetic Brake Release Signal✽

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 Select SignalStep angle specified by DATA1 when photocoupler OFFStep angle specified by DATA2 when photocoupler ON

Output Signals

Output Mode Photocoupler, Open-collector output External usage conditions: 24 VDC maximum, 10 mA maximum

Excitation Timing SignalThe 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

Overheat Signal Output is turned off when the temperature of the driver heat sink rises to approximately 80˚C. (Photocoupler: OFF)

FunctionsAutomatic current cutback, Automatic current off, Step angle switch, Pulse input mode switch, Electromagnetic brake function switch✽, Smooth drive function, Energy save function✽

Indicators (LED) Power input, Excitation timing signal output, Overheat signal outputCooling Method Natural ventilation

Only for electromagnetic brake type

General SpecificationsSpecifications Motor Driver

Insulation ClassClass B (130˚C)

[Recognized as class A (105˚C) by UL Standard]–

Insulation Resistance100 M� or more when 500 VDC megger is applied between the windings and the case under normal ambient temperature and humidity.

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 terminal✽1 - 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 terminal✽1

Dielectric StrengthSufficient 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.

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 terminal✽1- 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 terminal✽1

1.8 kVAC 50 Hz or 60 Hz


Ambient Temperature

�10��50˚C (non-freezing): Standard type, TH, PL, PN geared type 0��40˚C (non-freezing): Harmonic geared type

0��50˚C (non-freezing)

Ambient Humidity 85% or less (non-condensing)

AtmosphereNo corrosive gases, dust, water or oil

(Standard type IP65 rated motor: No corrosive gases)

Temperature RiseTemperature rise of the windings are 80˚C or less measured by the resistance change method. (at rated current, at standstill, five phases energized)

–

Stop Position Accuracy✽2 �3 arc minutes (�0.05˚) –Shaft Runout 0.05 T.I.R. (mm)✽5 –Radial Play✽3 0.025 mm maximum of 5 N –

Axial Play✽4 0.075 mm maximum of 10 N –

Concentricity 0.075 T.I.R. (mm)✽5 –Perpendicularity 0.075 T.I.R. (mm)✽5 –

1 Only for electromagnetic brake type2 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:


�

✽

�

✽

✽

✽

✽

✽

�

A

A0.075

A�0.075

0.05

A

A0.075

A�0.075

0.05

Common to Each Type

Step

pin

g M

oto

rs


Permissible Overhung Load and Permissible Thrust Load Unit = N



0 5 10 15 20

Standard Type



RK564�CE, RK564ACTRK566�CE, RK566ACTRK569�CE, RK569ACTRK564AMCERK566AMCERK569AMCE

� 63 75 95 130 190


RK596�CE, RK596ACTRK599�CE, RK599ACTRK5913�CE, RK5913ACTRK596AMCERK599AMCERK5913AMCE

� 260 290 340 390 480

TH Geared TypeRK564�CE-T�� 3.6, 7.2, 10,

20, 3070 80 100 120 150 40

RK596�CE-T�� 220 250 300 350 400 100

PL Geared Type

RK566�CE-P5 5 200 220 250 280 320100RK566�CE-P�� 7.2, 10 250 270 300 340 390

RK564�CE-P�� 25, 36, 50 330 360 400 450 520

RK599�CE-P�� 5, 7.2, 10 480 540 600 680 790

300RK596�CE-P25 25 850 940 1050 1190 1380

RK596�CE-P36 36 930 1030 1150 1310 1520

RK596�CE-P50 50 1050 1160 1300 1480 1710

PN Geared Type

RK566�CE-N5 5 200 220 250 280 320100RK566�CE-N�� 7.2, 10 250 270 300 340 390

RK564�CE-N�� 25, 36, 50 330 360 400 450 520

RK599�CE-N5 5 480 520 550 580 620

300RK599�CE-N�� 7.2, 10 480 540 600 680 790

RK596�CE-N25 25 850 940 1050 1110 1190

RK596�CE-N36 36 930 1030 1150 1220 1300

RK596�CE-N50 50 1050 1160 1300 1380 1490

Harmonic Geared TypeRK564�CE-H�� 50, 100 320 370 440 550 720 450

RK596�CE-H�� 50, 100 1090 1150 1230 1310 1410 1300

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.

�

�

Common to Each Type

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut



Motor

Standard Type


RK564ACE PK564AE48.5

�0.6

RK564BCE PK564BE 69.5

RK566ACE PK566AE59.5

�0.8

RK566BCE PK566BE 80.5

RK569ACE PK569AE89

�1.3

RK569BCE PK569BE 110

L2

31.7

60

15

L17 1.5

50�0.35

24�1

20�0.25

7.5�

0.15

7.5�

0.15

21�1

20�0.25

6050

�0.

35

4��4.5 Thru

�36

�0.

039(

h8)

0�

8�0.

015(

h7)

0�8�

0.01

5(h7

)0

600 50

5 Motor Leads AWG22Motor Cable �7

6.7

20.5


��


RK596ACE PK596AE68

�1.7

RK596BCE PK596BE 100RK599ACE PK599AE

98�

2.8RK599BCE PK599BE 130RK5913ACE PK5913AE

128�

3.8RK5913BCE PK5913BE 160

85

85

31.7

600

L2

6.7

20.5 15

L110 2

50

4��6.5 Thru

70�

0.35

70�0.35

37�1

32�1

25�0.25 25�0.25

13�

0.15

�14

�0.

018(

h7)

0

13�

0.15

�14

�0.

018(

h7)

0

�60

�0.

046(

h8)

0



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



RK564ACT PK564AT 92 0.8

RK566ACT PK566AT 103 1.1

RK569ACT PK569AT 132.5 1.6

601.57

L40.3

70.3

10.3 27 max.

10.3

10

24�1

7.5�

0.15 50�0.35

6088

max

.

50�

0.3520�0.25

4�M3


4�4.5 Thru

�36

�0.

039(

h8)

0

�8�

0.01

5(h7

)0

Protective Earth TerminalM4

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

�

�

Step

pin

g M

oto

rs



RK596ACT PK596AT 110 2.2

RK599ACT PK599AT 140 3.3

RK5913ACT PK5913AT 170 4.4

85

10.3

10.3

10

2L

40.6 10

95.3


27 max.

4�M437�1

70�0.35

8511

3 m

ax.

70�

0.35

13�

0.15

25�0.25

�14

�0.

018(

h7)

0

�60

�0.

046(

h8)

0

4�6.5 Thru


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



RK564AMCE PK564AEM 88.5 0.9

RK566AMCE PK566AEM 99.5 1.1

RK569AMCE PK569AEM 129 1.6

31.7

20.5

60

15

7 1.5L 24�1

20�0.25

4��4.5 Thru

50�0.35

6050

�0.

35

�36

�0.

039(

h8)

0�

8�0.

015(

h7)

07.5�

0.15

600 50

5 Motor Leads AWG222 Electromagnetic Brake Leads AWG24

Motor Cable �7





RK5913AMCE PK5913AEM 179 4.5

8515

10 2L 37�1

25�0.25

13�

0.15

�14

�0.

018(

h7)

0

�60

�0.

046(

h8)

0

600 50 20.5

Protective Earth Terminal M45 Motor Leads AWG222 Electromagnetic Brake Leads AWG24

Motor Cable �7

31.7

70�

0.35

8570�0.35 4��6.5 Thru

�

�

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut


TH Geared Type

�7 �60 mmModel Motor Model Gear Ratio Mass (kg)

RK564ACE-T� PK564AE-T�3.6, 7.2, 10, 20, 30 0.95

RK564BCE-T� PK564BE-T�


93.5114.5

15

31.7

3.512

32�1

21�1

20�0.25

600 50

6.7

20.5

7.5�

0.15

�8�

0.01

5(h7

)0

Protective Earth Terminal M4 5 Motor Leads AWG22

Motor Cable �7

10�

0.5

7�0.

15

�23

�0.

021(

h7)

0

�8�

0.01

5(h7

)0

60

60

70�0.5

4�M4�8 Deep


RK596ACE-T� PK596AE-T� 3.6, 7.2

2.85RK596ACE-T� PK596AE1-T� 10, 20, 30RK596BCE-T� PK596BE-T� 3.6, 7.2RK596BCE-T� PK596BE1-T� 10, 20, 30Enter the gear ratio in the box (�) within the model name.

A

A

132.5164.5

85

85

31.7

15

90

90

3.9

20.5

3.525 4�M8�15 Deep

104�0.5

32�1

18�

0.5

32�1

25�0.25

600 50

5 Motor Leads AWG22Protective Earth Terminal M4

Motor Cable �7

13�

0.15

�14

�0.

018(

h7)

0

�35

�0.

025(

h7)

0�

12�

0.01

8(h7

)0

4�0.030 0

4�0.

030

0

4�0.030 0

2.5

0

�0.

1

25�0.2

Parallel Key (Included)A�A

PL Geared Type


RK566ACE-P� PK566AE-P�5, 7.2, 10 94.5

�1.3

RK566BCE-P� PK566BE-P� 115.5

RK564ACE-P� PK564AE-P�25, 36, 50 108.5

�1.4

RK564BCE-P� PK564BE-P� 129.5


31.7

L1 2510

20.5

6.7

15

L2

60

60

4�M5�10 Deep

70�0.5

�37

�0.

025(

h7)

0�

12�

0.01

8(h7

)0

A

A

38�1

21�1

20�0.25

�8�

0.01

5(h7

)0 7.

5�0.

15

600 50




4�0.030 0

4�0.030 0

2.5

0

�0.

1

25�0.2

4�0.

030

0

A�A

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

�

�

�

�

�

�

Step

pin

g M

oto

rs



RK599ACE-P� PK599AE-P�5, 7.2, 10 145

�4.4

RK599BCE-P� PK599BE-P� 177

RK596ACE-P� PK596AE-P�25, 36, 50 151

�4.2

RK596BCE-P� PK596BE-P� 183


A

A

L2

90

85

8515

L1

31.7

20.5

3.9

14 2526

104�0.5

904�M8�15 Deep

47�1

32�1

25�0.25

13�

0.15

�14

�0.

018(

h7)

0

600 50

5 Motor Leads AWG22

Motor Cable �7

Protective Earth Terminal M4 �18

�0.

018(

h7)

0

�61

�0.

030(

h7)

0

6�0.030 0

6�0.030 0

3.5

0

�0.

1

6�0.

030

0

25�0.2

Parallel Key (Included)A�APN Geared Type


RK566ACE-N� PK566AE-N�5, 7.2, 10 103.5

�1.5

RK566BCE-N� PK566BE-N� 124.5

RK564ACE-N� PK564AE-N�25, 36, 50 108.5

�1.5

RK564BCE-N� PK564BE-N� 129.5

Enter the gear ratio in the box (�) within the model name.L2

L1

31.7

256

6.7

60

60

1520.5

4�M5�10 Deep

70�0.5

�37

�0.

025(

h7)

0�

12�

0.01

8(h7

)0

A

A

38�1

21�1

20�0.25

7.5�

0.15

�8�

0.01

5(h7

)0


600 50



4�0.030 0

4�0.030 0

4�0.

030

02.5

0

�0.

1

25�0.21 0

A�A


RK599ACE-N� PK599AE-N�5, 7.2, 10 158

�5

RK599BCE-N� PK599BE-N� 190

RK596ACE-N� PK596AE-N�25, 36, 50 151

�4.7

RK596BCE-N� PK596BE-N� 183


A

A

90

L2

90

85

8515

31.7

L1

3.9

20.5

6 2540

47�1

32�1

25�0.25

13�

0.15

�14

�0.

018(

h7)

0

600 50



�61

�0.

030(

h7)

0�

18�

0.01

8(h7

)0

104�0.5

4�M8�15 Deep


6�0.030 0

6�0.

030

0

6�0.030 0

3.5

0

�0.

1

25�0.2

A�AThese dimensions are for double shaft models. For single shaft models, ignore the orange (��) areas.

�

�

�

�

�

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut




RK564ACE-H� PK564AE-H�S50, 100 1.08

RK564BCE-H� PK564BE-H�S


A

A

109.5

6.7

20.5

88.5

6015

31.7

602021.5

28.5�1

21�1

20�0.257.

5�0.

15

�8�

0.01

5(h7

)0


600 50

�54

�0.

030(

h7)

0

�12

�0.

018(

h7)

0

� 33.5

(Max

. Dia.

of R

otatin

g Part

)

4�0.030 0

2.5

0

�0.

1

90˚1.6


20�0.21 0

4�0.

030

0

4�0.030 0

Motor Cable �75 Motor Leads AWG22

60˚

6�M4�6 Deep✽

4�M5�10 Deep

25.5�0.2

70�0.5

✽The position on the output shaft relative to the screw holes on the rotating part is arbitrary.

A�A


RK596ACE-H� PK596AE1-H�50, 100 3.7

RK596BCE-H� PK596BE1-H�


A

A

15

31.7

85

85

183.5

20.5

6.7

151.5

90

902.4

282515

33.5

104�

0.5

4��9.2 Thru

�83

�0.

035(

h7)

0�50

�22

�18

�0.

018(

h7)

0

40�1.2

32�1

25�0.25

�14

�0.

018(

h7)

0 13�

0.15

600 50

Protective Earth Terminal M4Motor Cable �7

5 Motor Leads AWG22


6�0.030 0

6�0.

030

0

6�0.030 0

3.5

0

�0.

1

25�0.21 0

90˚

A�A

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

�

�

�

�

Step

pin

g M

oto

rs


Driver

�15 Driver Model: RKD514L-CRKD514H-CRKD514LM-CRKD514HM-C

Mass: 0.85 kg

2��4.5 Thru207.5

20

57

7.54.5 4.5

(7.5

)15

0(7

.5)

9�M3

5 max.

7.62

116

120


12 max.

1515

135

41 max.

Slits

I/O Connector (Included)Cover assembly: 54331-1201 (MOLEX)Connector: 54306-2019 (MOLEX)

�

�

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut




The driver is designed for easy mounting, so it is easy to design the base.

Motor TerminalsThe one-touch terminal block cover adopts an anti-slide shape to prevent the installed cover from detaching.



z Signal Monitor DisplaysThe signal monitor displays allow you to check the driver's operating condition at a glance.

x Function Select SwitchesThe driver functions can be easily operated/set using the switches on the front panel.

c Current Adjustment Switches

v Step Angle Setting Switches

b Input/Output Signals

��

�1 Signal Monitor DisplaysIndication Color FunctionPOWER Green Power Input Display

TIM. Green Excitation Timing Output DisplayO.H. Red Overheat Output Display

�2 Function Select SwitchesIndication Switch Name Function

2P/1P Pulse Input Mode SwitchSwitches between 1-pulse input and 2-pulse input.

A.C.O./OFFAutomatic Current Off Function Switch

When the temperature of heat sink of the driver rises to approximately 80˚C, this function automatically switches the motor current off. The function can be set or deactivated with this switch.

OFF/S.D.Smooth Drive Function 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.

M.B.F./OFF

Electromagnetic Brake Function Switch (Only for electromagnetic brake type)

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 modeEnergy-saving modeElectromagnetic brake control mode

OFF/E.S.Energy-Saving Mode Switch (Only for electromagnetic brake type)

�3 Current Adjustment SwitchesIndication Switch Name Function

RUN Motor Run Current Switch For adjusting the motor running current

STOP Motor Stop Current Switch For adjusting the motor current at standstill

�4 Step Angle Setting SwitchesIndication Switch Name Function

DATA1Step Angle Setting Switch

Each switch can be set to the desired resolution from the 16 resolution levels.DATA2

Step Angle Setting Switch(Common to DATA1 and DATA2)

Resolution Step Angle

0 1 0.72˚1 2 0.36˚2 2.5 0.288˚3 4 0.18˚4 5 0.144˚5 8 0.09˚6 10 0.072˚7 20 0.036˚8 25 0.0288˚9 40 0.018˚A 50 0.0144˚B 80 0.009˚C 100 0.0072˚D 125 0.00576˚E 200 0.0036˚F 250 0.00288˚

Setting the Step AnglesSelects 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.

�

�5 Input/Output SignalsIndication Input/Output Pin No. Terminal Name Function

CN1

Input Signals

1 Pulse Signal (CW Pulse Signal)

Operation command pulse signal(The motor will rotate in the CW direction when in 2-pulse input mode.)2

3 Rotation Direction Signal (CCW 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.) 4

5All Windings Off Signal Cuts the output current to the motor and allows the motor shafts to be rotated manually.

67

Step Angle Select Signal Switches to step angle set in DATA1 and DATA2.89 Electromagnetic Brake Release Signal

(Electromagnetic Brake Type Only)Releases the electromagnetic brake and enables motor operation.

10

Output Signals

17Excitation Timing Signal Outputs signals when the excitation sequence is at STEP 0.

1819

Overheat SignalWhen the temperature of heat sink of the driver rises to approximately 80˚C, this function automatically turns the output signal OFF.20

Description of input/output signals ➜ Page C-109�

Step

pin

g M

oto

rs


Connection DiagramsDriver

200-230 VAC

CN1

TB1

BLUE

RED

ORANGE

GREEN

BLACK

�M.BRAKE

�M.BRAKE

L

N

InputSignals

OutputSignals

✽2 Red/White

✽2 Black/White

5-Phase Stepping Motor

✽1 The terminal numbers of the standard IP65 ratedmotor type are shown in ( ).

✽2 Electromagnetic brake type only(Correct polarity must be ensured.)Spiral wires are used.

User's Controller

Excitation Timing Signal

Overheat Signal

Twisted-Pair Wire

Pulse Signal

Rotation Direction Signal

All Windings Off Signal

Electromagnetic BrakeRelease Signal ✽3

R1

R1

R1

R1

Resolution Select Signal

R1

R2

R2

8

10

5

17

18

20

1

2

3

4

6

V0 (+524 VDC)

CautionThe 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.

7

9

19

✽3 Electromagnetic brake type only

Power SourceSingle-Phase 200-230 VAC�10% 50/60 Hz(Single-Phase 200-230 VAC Input Driver)

�15%

Blue(1)✽1

Protective Earth (P.E.)[Use wire of AWG18 (0.75mm2) or thicker.]

V0 (+524 VDC)

0 V

0 V


Red(2)

Orange(3)

Green(4)

Black(5)

�

Connecting Input SignalWhen 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.

Connecting Output SignalKeep 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 SupplyUse a power supply that can supply sufficient input current. When power supply capacity is insufficient, a decrease in motor output can cause the following malfunctions:

Motor does not rotate properly at high-speedSlow motor startup and stopping

�

�

�

��

Notes on WiringUse twisted-pair wires of AWG24 (0.2 mm2) or thicker and 2 m or less in length for the signal line.Note that as the length of the pulse signal line increases, the maximum transmission frequency decreases. Technical reference ➜ Page F-46Use 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.Provide a common ground point for the driver and external controller.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.


9 mm min.6.2

mm

max

. 3.2 mm min.

6.2

mm

max

.

9 mm min.

�3.2 mm min.


��

�

�

��

�

�

Connection of Standard Type IP65 Rated MotorRK564ACT, RK566ACT, RK569ACT

Multi-Core Cable (Diameter: �7 to 13 mm)

Internal Protective Earth Terminal✽

(M4)Protective Earth Wire[AWG18 (0.75 mm2) min.]

External Protective Earth Terminal✽(M4)Protective Earth Wire[AWG18 (0.75 mm2) min.]

Motor Wire [AWG26 to 16 (0.14 to 1.25 mm2)]

1 2 3 4 5

Use either the internal or external protective earth terminal for grounding.

�

✽

RK596ACT, RK599ACT, RK5913ACT

Multi-Core Cable (Diameter: �7 to 13 mm)

Motor Wire [AWG22 to 16 (0.3 to 1.25 mm2)]

Not used

M3

External Protective Earth Terminal✽(M4)Protective Earth Wire[AWG18 (0.75 mm2) min.]

1 2 3 4 5

Internal Protective Earth Terminal✽

(M4)Protective Earth Wire[AWG18 (0.75 mm2) min.]

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut



Photocoupler OFF ON


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.

Pulse (CW Pulse) and Rotation Direction (CCW Pulse) Input SignalAll Windings Off (A.W.OFF) Input SignalStep Angle Select (C/S) Input SignalElectromagnetic Brake Release (M.B.FREE) Input Signal(Electromagnetic Brake Type only)


Pin No.1,3,5,7,9

Pin No.2,4,6,8,10

VO

0 V

R1

Controller

Driver


220 Ω

10�20 mA

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.

Pulse (CW Pulse) and Rotation Direction (CCW Pulse) Input Signal

Pulse Waveform Characteristics1-Pulse Input Mode

90%10%

CCW CWON

OFF

ON

OFFPulse Input Signal

Rotation Direction Input Signal

2 �s max. 2 �s max.

2.5 �smin.

2.5 �smin.

10 �smin.

10 �smin.

✽1

✽2

2-Pulse Input Mode

ON

OFF

ON

OFF

✽1

✽2

90%10%CW Pulse

CCW Pulse


10 �s min.2.5 �smin.

2.5 �smin.

Pulse duty: 50% and below

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.

Pulse Signal CharacteristicsKeep the pulse signal at the "photocoupler OFF" state when no pulses are being input.In 1-pulse input mode, leave the pulse signal at rest ("photocoupler OFF") when changing rotation directions.In 2-pulse input mode, do not input a CW pulse and CCW pulse simultaneously.

All Windings Off (A.W.OFF) Input SignalInputting this signal puts the motor in a non-excitation (free) state.This 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.

�

�

�

�

�

✽

✽

��

�

�

��

ONOFF ON

OFFON

Release


Motor Current

Motor Holding Torque

The shaded area indicates that the motor provides holding torque in proportion to standstill current set by STOP switch.

Switching 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.

Step Angle Select (C/S) Input SignalYou may select two step angles with the step angle setting switches DATA1 and DATA2. When 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

CW Pulse

Motor

ONOFF

(DATA1) (DATA2)

10 Pulses 1 Pulse

0 0.72˚ 1.44˚0.72˚

0.072˚/step 0.72˚/step

Be 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.When 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

0.72˚0.072˚

STEP "0"✽

0˚�0.72˚ 0.72˚

"Excitation Timing" signal is only output at step "0" sequence.

Electromagnetic Brake Release (M.B.FREE) Input Signal (Electromagnetic Brake Type only)

You can control the electromagnetic brake using the "Electromagnetic Brake Release" signal and function switch.When the "Electromagnetic Brake Release" signal is at photocoupler ON, the electromagnetic brake is released.When 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.

�

��

�

�

�

✽

�

�

�

�

Step

pin

g M

oto

rs


Excitation Timing (TIM.) Output SignalOverheat (O.H.) Output Signal


VOPin No.17, 19

Pin No.18, 20

Controller


0 V

Driver

10 mA Max.

R2

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.

Excitation Timing (TIM.) Output Signal The "Excitation Timing" signal is output to indicate when the motor excitation (current flowing through the winding) is in the initial stage (step "0" at power up). The "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."

CCW

PLS Input

CWDIR. Input

ONOFFONOFFONOFF

TIM. Output✽

(Step)

Note: When power is turned ON, the excitation sequence is reset to step "0" and the "Excitation Timing" signal is output.

Overheat (O.H.) Output Signal The "Overheat" signal is output to protect the driver from heat damage if the temperature of the heat sink rises to 80˚C. The O.H LED lights on the front panel when the "Overheat" signal is output. You can select whether to stop the motor or continue the operation when an overheat signal is output. If 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.

ONONOFF

Pulse Input

Motor

O.H.LED

O.H. Output

Electromagnetic Brake(Electromagnetic brake type only)

Hold

Run

Light

Stop (No holding power)

Release

�

��

�

✽

�

��

�

�

If the "Automatic Current Off" function switch is set to "OFF" position, the motor continues operation when the "Overheat" signal is output.

ONONOFF

Continuous Operation

Pulse Input

Light

Motor

O.H.LED

O.H. Output

Electromagnetic Brake(Electromagnetic brake type only)

Release

To clear the "Overheat" signal, first resolve the cause and check for safety, then turn power on again. The overheat output uses positive logic (normal), all other outputs use negative logic (normal open).

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 SetElectromagnetic brake switch M.B.F. sideEnergy-saving mode switch OFF side

Electromagnetic Brake Function Switch

Energy-Saving Mode Switch

2P/1P

A.C.O./OFF

OFF/S.D.

M.B.F./OFF

OFF/E.S.

During normal operationONOFF

ONONOFF

ON

Electromagnetic Brake Release

Driver Power Supply

HoldRelease

ONMotor Current

Hold

1.4 s max.

1.2 s max.

Upon power off/power failureONOFF

ONONOFF

ONON

ON

Electromagnetic Brake Release

Driver Power Supply

HoldRelease

Motor Current

1.4 s max.

1.2 s max.

Release Hold

1.0 s max.

✽20 ms

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.

�

�

�

�

✽

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut


2. Energy-saving modeThe "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 SetElectromagnetic brake switch M.B.F. sideEnergy-saving mode switch ON side



2P/1P

A.C.O./OFF

OFF/S.D.

M.B.F./OFF

OFF/E.S.

ONOFF

180 ms (RK56�)200 ms (RK59�)

ON

20 ms

ON


M.B.FREE Input

HoldRelease

MotorRunStop

Release ReleaseHold

0 s min.200 ms min.

Note: 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.

�

3. Electromagnetic brake controlThe "Electromagnetic Brake Release" signal input is used to switch the operating mode of the electromagnetic brake between Release and Hold.

Function switch SetElectromagnetic brake switch OFF sideEnergy-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

A.C.O./OFF

OFF/S.D.

M.B.F./OFF

OFF/E.S.



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.

The output current is not cut off even when the energy-saving mode switch is being set to the E.S. side. 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 InputONOFF

ON

20 ms

ON

ONOFF

30 ms (RK56�)50 ms (RK59�)

ON

ElectromagneticBrake

HoldRelease

MotorRunStop

A.W. OFFInput

ReleaseHold

30 ms (RK56�)50 ms (RK59�)

Release Hold

0 s min.

200 ms min.

0 s min.

20 ms min. 150 ms min.

�

�

Timing Chart

Motor

Power Input

CW Pulse Input Signal

CCW Pulse Input Signal

A.W.OFF Input Signal

C/S Input Signal

ONOFF

ONOFFONOFFONOFFONOFF

15 s min.

150 ms min.

10 μs min.

CW

CCW

300 μs min.

O.H. Output Signal ONOFF

2-Pulse Input Mode

DATA1 DATA20.5 s max.

✽2

✽3✽1

Pulse Input Signal


ONOFFONOFF

10 μs min.1-Pulse Input Mode 2.2 s min.

10 μs min.

✽1 ✽1

✽4

1 Switching time to change direction (1-pulse input mode), and switching time to change CW, CCW pulse (2-pulse input mode) 10 µs 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.

�

✽

✽

✽

✽

Step

pin

g M

oto

rs




Standard Type

RK564�CERK566�CERK569�CE

PK564�EPK566�EPK569�E

RKD514L-C

RK596�CERK599�CERK5913�CE

PK596�EPK599�EPK5913�E

RKD514H-C


RK564ACTRK566ACTRK569ACT

PK564ATPK566ATPK569AT

RKD514L-C

RK596ACTRK599ACTRK5913ACT

PK596ATPK599ATPK5913AT

RKD514H-C


RK564AMCERK566AMCERK569AMCE

PK564AEMPK566AEMPK569AEM

RKD514LM-C

RK596AMCERK599AMCERK5913AMCE

PK596AEMPK599AEMPK5913AEM

RKD514HM-C

TH Geared Type

RK564�CE-T3.6RK564�CE-T7.2RK564�CE-T10RK564�CE-T20RK564�CE-T30

PK564�E-T3.6PK564�E-T7.2PK564�E-T10PK564�E-T20PK564�E-T30

RKD514L-C

RK596�CE-T3.6RK596�CE-T7.2RK596�CE-T10RK596�CE-T20RK596�CE-T30

PK596�E-T3.6PK596�E-T7.2PK596�E1-T10PK596�E1-T20PK596�E1-T30

RKD514H-C

PL Geared Type

RK566�CE-P5RK566�CE-P7.2RK566�CE-P10RK564�CE-P25RK564�CE-P36RK564�CE-P50

PK566�E-P5PK566�E-P7.2PK566�E-P10PK564�E-P25PK564�E-P36PK564�E-P50

RKD514L-C

RK599�CE-P5RK599�CE-P7.2RK599�CE-P10RK596�CE-P25RK596�CE-P36RK596�CE-P50

PK599�E-P5PK599�E-P7.2PK599�E-P10PK596�E-P25PK596�E-P36PK596�E-P50

RKD514H-C

PN Geared Type

RK566�CE-N5RK566�CE-N7.2RK566�CE-N10RK564�CE-N25RK564�CE-N36RK564�CE-N50

PK566�E-N5PK566�E-N7.2PK566�E-N10PK564�E-N25PK564�E-N36PK564�E-N50

RKD514L-C

RK599�CE-N5RK599�CE-N7.2RK599�CE-N10RK596�CE-N25RK596�CE-N36RK596�CE-N50

PK599�E-N5PK599�E-N7.2PK599�E-N10PK596�E-N25PK596�E-N36PK596�E-N50

RKD514H-C


RK564�CE-H50RK564�CE-H100

PK564�E-H50SPK564�E-H100S RKD514L-C

RK596�CE-H50RK596�CE-H100

PK596�E1-H50PK596�E1-H100 RKD514H-C

Enter A (single shaft) or B (double shaft) in the box (�) within the model name.

�

�

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut

C-113

Page

CRK Series ····························································· C-114CMK Series ··························································· C-146CSK Series ···························································· C-170

Stepping Motors


DC Input

DC Input CRK Series

DC Input CMK Series

DC Input CSK Series

RoHS-Compliant


CRK SeriesThe 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.

List of safety standard approved products (Model, Standards, File No., Certification Body) ➜ Page G-10

�

Features

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: 500 per revolution � 0.72˚/step

High-resolution type: 100 teeth

Resolution:1000 per revolution � 0.36˚/step

Resolution is increased!

Comparison of Angle - Torque Characteristics

-1.5

0.5

0

1

1.5

-1.8 -0.9 0.9 1.8

TH1

TL

TorqueTL: Friction TorqueTH1,TH2: Maximum Holding Torque

TH2

-0.5

-1

-TL

High-Resolution Type

Standard Type

Angle [ deg ]

TH1: CRK566AP (Standard Type)TH2: CRK566PMAP (High-Resolution Type)

��

Stop Position AccuracyThe 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 CharacteristicsAn

gle

Erro

r [de

g]

Angle [deg]

Power Supply Voltage: 24 VDC Resolution 1 (0.36˚/step)

-0.06-0.05-0.04-0.03-0.02-0.01

00.010.020.030.040.050.06

0 60 120 180 240 300 360

CRK566PMBP

High-Torque Motor The high-resolution type and high-torque type adopt a newly designed high-torque motor that widens the range of applications.

The smaller motor allows for compact equipment design. The motor current is reduced to suppress heat generation. Example: Avoidance of temperature rise in precision equipment

or machinery

Comparison of Speed - Torque Characteristics

1.6

0

0.4

0 100 200 300 400 500 600 700 800 900 1000

0.8

1.2

Current: 1.4 A/Phase Step Angle: 0.36˚/stepWith Damper D6CL-8.0F: JL=140�10–7kg·m2

Speed [r/min]

Torq

ue [N

·m]

CRK566PMBP(High-Resolution Type)

CRK566BP(Standard Type)

Adopting a Connector Coupling MethodThe high-resolution type and high-torque type are connected using a connector — a connection method everyone is familiar with.

Desired cable length and type can be selected.Maintenance becomes easy.Motor lead wire/connector assembly (0.6m) is included with motor and driver package.

�

�

��

�

��



Step

pin

g M

oto

rs


Wide Range of Motor Variations The CRK Series offers models of the high-resolution type, high-torque 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, 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:

Smooth Drive Function 1-pulse/2-pulse input mode switching 25 preset step angles Power LED Photocoupler input Connector with lock (by MOLEX)

65 mm45 mm

25 mm

Mass: 40 g

Lower Vibration and Noise Achieved by Microstep DriveThe 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.

Smooth Drive Function for Enhanced Ease of UseThe 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 Characteristics2.0

1.6

1.2

0.8

0.4

00 100 200 300 400

Speed [r/min]

Vibr

atio

n Co

mpo

nent

Vol

tage

Vp-

p [V

] CSK566-NATE 0.72˚/step (Conventional Model)CRK566PMAP 0.36˚/step Smooth Drive Function: ON

�

�

��

�

�

Compact Size The compact, lightweight driver in the CRK Series is approximately 47% smaller than a conventional full-step driver.

Mass: 40 g

Conventional Model (CSD58��N-T)72 mm

New Product (CRD51��P)65 mm

77 m

m

45 m

m

Mass: 140 g

Comparison of Driver Size and Mass

Conforming to Major Safety Standards 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.

RoHS-Compliant The CRK Series conforms to the RoHS Directive that prohibits the use of six chemical substances including lead and cadmium.


Useful AccessoriesDriver 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

�

�

�

�

��

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut


Wide VarietyThe 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 �20 mm �28 mm �42 mm �60 mm Driver


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.

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.

Low

Bac

klas

h Ty

pe

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.

Non-

Back

lash

Typ

e

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.

�

Step

pin

g M

oto

rs


Characteristics Comparison for Geared Motors

TH Geared (Parallel Shaft)

PL Geared (Planetary Gear)

PN Geared (Planetary Gear)

Harmonic Geared(Harmonic Drive)

500

360

600

70

0.0144

0.024

0.0144

0.00720

3

35

60

8

8 20

288

4

Non

-Bac

klas

h Ty

peLo

w B

ackl

ash

Type

· A wide variety of low gear ratios for high-speed operation

· Gear ratios: 1:3.6, 1:7.2, 1:10, 1:20, 1:30

· High permissible torque

· A wide variety of gear ratios for selecting the desired step angle

· Centered output shaft

· 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


· 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


· Gear ratios: 1:50, 1:100

Geared Type Features

Output Shaft Speed

[r/min]

Permissible Torque/Maximum Torque

[N·m]

BasicResolution[deg/step]

Backlash

[arc min]

PermissibleTorque

MaximumTorque

PermissibleTorque

MaximumTorque

Note:The values shown above must be used as reference. These values vary depending on the frame size and gear ratio.

�

�

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut


System ConfigurationAn example of a system configuration with the SG8030JY controller.

Controller (Sold separately)Controller (Sold separately)

CRK Series (Body)


(Sold separately)


C-266C-248

C-258C-264C-257C-255C-255

Motor Mounting BracketsFlexible CouplingsClean DampersDriver Lead Wire SetMotor Lead Wire/Connector AssemblyMotor Connector Set

Dedicated mounting bracket for the motor.�

�

�

�

�

�

�

Controller This controller outputs pulse commands that determine the rotating amount and rotating speed.

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).


✽A motor lead wire/connector assembly of 0.6 m is included with the motor and driver package of connector-coupled type.



(Not supplied)


Motor Driver


Controller

SG8030JY-U MCS300808 LCS04SD5PAL2P-5 D6CL-8.0F

Clean DamperMotor

Mounting BracketFlexibleCoupling

CRK566PMBP

CRK SeriesDriver Lead Wire Set

(0.6 m)



�Clean Dampers (➜ Page C-264)

�Driver Lead Wire Set (➜ Page C-257)

�Motor Lead Wire/Connector Assembly✽

(➜ Page C-255)

�Motor Connector Set (➜ Page C-255)


�

�

Step

pin

g M

oto

rs


Product LineHigh-Resolution Type

Model (Single Shaft) Model (Double Shaft)

CRK523PMAP CRK523PMBPCRK524PMAP CRK524PMBPCRK525PMAP CRK525PMBPCRK544PMAP CRK544PMBPCRK546PMAP CRK546PMBPCRK564PMAP CRK564PMBPCRK566PMAP CRK566PMBPCRK569PMAP CRK569PMBP

High-Torque TypeModel (Single Shaft) Model (Double Shaft)

CRK513PAP CRK513PBPCRK523PAP CRK523PBPCRK525PAP CRK525PBPCRK544PAP CRK544PBPCRK546PAP CRK546PBP

Standard TypeModel (Single Shaft) Model (Double Shaft)

CRK543AP CRK543BPCRK544AP CRK544BPCRK545AP CRK545BPCRK564AP CRK564BPCRK566AP CRK566BPCRK569AP CRK569BP

TH Geared TypeModel (Single Shaft) Model (Double Shaft)

CRK523PAP-T7.2 CRK523PBP-T7.2CRK523PAP-T10 CRK523PBP-T10CRK523PAP-T20 CRK523PBP-T20CRK523PAP-T30 CRK523PBP-T30CRK543AP-T3.6 CRK543BP-T3.6CRK543AP-T7.2 CRK543BP-T7.2CRK543AP-T10 CRK543BP-T10CRK543AP-T20 CRK543BP-T20CRK543AP-T30 CRK543BP-T30CRK564AP-T3.6 CRK564BP-T3.6CRK564AP-T7.2 CRK564BP-T7.2CRK564AP-T10 CRK564BP-T10CRK564AP-T20 CRK564BP-T20CRK564AP-T30 CRK564BP-T30

��

�

�

�

PL Geared TypeModel (Single Shaft) Model (Double Shaft)

CRK545AP-P5 CRK545BP-P5CRK545AP-P7.2 CRK545BP-P7.2CRK545AP-P10 CRK545BP-P10CRK543AP-P25 CRK543BP-P25CRK543AP-P36 CRK543BP-P36CRK543AP-P50 CRK543BP-P50CRK566AP-P5 CRK566BP-P5CRK566AP-P7.2 CRK566BP-P7.2CRK566AP-P10 CRK566BP-P10CRK564AP-P25 CRK564BP-P25CRK564AP-P36 CRK564BP-P36CRK564AP-P50 CRK564BP-P50

PN Geared TypeModel (Single Shaft) Model (Double Shaft)

CRK523PAP-N5 CRK523PBP-N5CRK523PAP-N7.2 CRK523PBP-N7.2CRK523PAP-N10 CRK523PBP-N10CRK544AP-N5 CRK544BP-N5CRK544AP-N7.2 CRK544BP-N7.2CRK544AP-N10 CRK544BP-N10CRK566AP-N5 CRK566BP-N5CRK566AP-N7.2 CRK566BP-N7.2CRK566AP-N10 CRK566BP-N10CRK564AP-N25 CRK564BP-N25CRK564AP-N36 CRK564BP-N36CRK564AP-N50 CRK564BP-N50

Harmonic Geared TypeModel (Single Shaft) Model (Double Shaft)

CRK513PAP-H50 CRK513PBP-H50CRK513PAP-H100 CRK513PBP-H100CRK543AP-H50 CRK543BP-H50CRK543AP-H100 CRK543BP-H100CRK564AP-H50 CRK564BP-H50CRK564AP-H100 CRK564BP-H100

Motor, Parallel Key✽1, Driver, Driver Connector, Motor Lead Wire/Connector Assembly✽2, Operating Manual

1 Only for the products with a key slot on the output shaft2 Only for connector-coupled motor

✽

✽


�

�

�

Product Number Code

High-Resolution Type/High-Torque Type/Standard Type

� � � � � � �

��

� Series CRK: CRK Series� 5: 5-Phase� Motor Frame Size 1: 20 mm 2: 28 mm 4: 42 mm 6: 60 mm� Motor Case Length� Motor Type� Resolution M: High-Resolution� Motor Shaft Type A: Single Shaft B: Double Shaft Signal I/O Mode of Driver P: Photocoupler

Geared Type

� � � � � � �

�� Series CRK: CRK Series� 5: 5-Phase� Motor Frame Size 1: 20 mm 2: 28 mm 4: 42 mm 6: 60 mm� Motor Case Length� Motor Type� Motor Shaft Typ A: Single Shaft B: Double Shaft� Signal I/O Mode of Driver P: Photocoupler

Gearhead Type T: TH Geared Type P: PL Geared Type N: PN Geared Type H: Harmonic Geared Type

Gear Ratio

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut


High-Resolution Type Motor Frame Size 28 mm, 42 mm

Specifications

ModelSingle Shaft CRK523PMAP✽ CRK524PMAP✽ CRK525PMAP✽ CRK544PMAP✽ CRK546PMAP✽

Double Shaft CRK523PMBP✽ CRK524PMBP✽ CRK525PMBP✽ CRK544PMBP✽ CRK546PMBP✽

Maximum Holding Torque N�m 0.042 0.061 0.09 0.24 0.42Rotor Inertia J: kg�m2 9�10-7 13�10-7 19�10-7 60�10-7 121�10-7

Rated Current A/Phase 0.35 0.75Basic Step Angle 0.36˚Power Source 24 VDC�10% 0.7 A 24 VDC�10% 1.4 AExcitation Mode Microstep

MassMotor kg 0.11 0.15 0.2 0.3 0.5Driver kg 0.04


Driver �18

How to read specifications table ➜ Page C-10Motor lead wire/connector assembly (0.6 m) is included with the motor and driver package of connector-coupled type.


�

✽

�



�

�

�

CRK523PMAP/CRK523PMBPCurrent: 0.35 A/Phase Step Angle: 0.36˚/stepWith Damper D4CL-5.0F: JL=34�10–7kg·m2

Pulse Speed [kHz]

0(0)

0

30(300)

20(200)

10(100)

Resolution1(Resolution10)

1000500 20001500Speed [r/min]

Torq

ue [ N

·m]

0

0.06

0.05

0.04

0.03

0.01

0.02

0

0.2

0.6

0.4

Curr

ent [

A]


Pullout Torque

fs


Pulse Speed [kHz]

0(0)

0

40(400)

20(200)

10(100)


1000500 250020001500Speed [r/min]

Torq

ue [ N

·m]

0

0.08

0.06

0.05

0.07

0.04

0.03

0.01

0.02

0

0.2

0.6

0.4

30(300)

Curr

ent [

A]


Pullout Torque

fs


Pulse Speed [kHz]

0(0)

0

30(300)

20(200)

10(100)


1000500 20001500Speed [r/min]

Torq

ue [ N

·m]

0

0.12

0.10

0.08

0.06

0.02

0.04

0

0.2

0.6

0.4

Curr

ent [

A]


Pullout Torque

fs


Pulse Speed [kHz]

0(0)

0

15(150)

10(100)

5(50)


400200 1000600 800Speed [r/min]

Torq

ue [ N

·m]

0

0.35

0.30

0.25

0.20

0.15

0.05

0.10

0

0.5

1.0

Curr

ent [

A]


Pullout Torque

fs


Pulse Speed [kHz]

0(0)

0

15(150)

10(100)

5(50)


400200 1000600 800Speed [r/min]

Torq

ue [ N

·m]

0

0.6

0.5

0.4

0.3

0.1

0.2

0

0.5

1.0

Curr

ent [

A]


Pullout Torque

fs

Step

pin

g M

oto

rs


High-Resolution Type Motor Frame Size 60 mm

Specifications

ModelSingle Shaft CRK564PMAP✽ CRK566PMAP✽ CRK569PMAP✽

Double Shaft CRK564PMBP✽ CRK566PMBP✽ CRK569PMBP✽

Maximum Holding Torque N�m 0.78 1.3 2.3Rotor Inertia J: kg�m2 320�10-7 500�10-7 1100�10-7

Rated Current A/Phase 1.4Basic Step Angle 0.36˚Power Source 24 VDC�10% 2.5 AExcitation Mode Microstep

MassMotor kg 0.65 0.87 1.5Driver kg 0.04


Driver �18



�

✽

�



�

�

�


Pulse Speed [kHz]

0(0)

0

15(150)

10(100)

5(50)


400200 1000600 800Speed [r/min]

Torq

ue [ N

·m]

0

1.0

0.8

0.6

0.2

0.4

0

1

2

Curr

ent [

A]


Pullout Torque

fs


Pulse Speed [kHz]

0(0)

0

5(50)

3(30)

2(20)


10050 350150 200 250Speed [r/min]

Torq

ue [ N

·m]

0

3.0

1.0

2.0

2.5

0.5

1.5

0

2

1

3

1(10)

4(40)

Curr

ent [

A]

300


Pullout Torque

fs


Pulse Speed [kHz]

0(0)

0

7.5(75)

5(50)

2.5(25)


200100 600300 400 500Speed [r/min]

Torq

ue [ N

·m]

0

1.6

1.2

0.8

0.4

0

2

4

10(100)

Curr

ent [

A]


Pullout Torque

fs

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut


High-Torque Type Motor Frame Size 20 mm, 28 mm, 42 mm

Specifications

ModelSingle Shaft CRK513PAP✽ CRK523PAP✽ CRK525PAP✽ CRK544PAP✽ CRK546PAP✽

Double Shaft CRK513PBP✽ CRK523PBP✽ CRK525PBP✽ CRK544PBP✽ CRK546PBP✽

Maximum Holding Torque N�m 0.0231 0.048 0.078 0.24 0.42Rotor Inertia J: kg�m2 2.6�10-7 9�10-7 18�10-7 57�10-7 114�10-7


MassMotor kg 0.05 0.11 0.2 0.3 0.5Driver kg 0.04


Driver �18



�

✽

�

CRK513PAP/CRK513PBPCurrent: 0.35 A/Phase Step Angle: 0.72˚/stepLoad Inertia JL=0kg·m2

Pulse Speed [kHz]

0(0)

0

30(300)

20(200)

10(100)


20001000 40003000Speed [r/min]

Torq

ue [ N

·m]

0

0.030

0.025

0.020

0.015

0.005

0.010

0

0.5

1.0

Curr

ent [

A]


Pullout Torque

fs

CRK525PAP/CRK525PBPCurrent: 0.35 A/Phase Step Angle: 0.72˚/stepWith Damper D4CL-5.0F: JL=34�10–7kg·m2

Pulse Speed [kHz]

0(0)

0

30(300)

20(200)

10(100)


20001000 40003000Speed [r/min]

Torq

ue [ N

·m]

0

0.10

0.08

0.06

0.04

0.02

0

1

2

Curr

ent [

A]


Pullout Torque

fs


Pulse Speed [kHz]

0(0)

0


15001000500 2000Speed [r/min]

Torq

ue [ N

·m]

0

0.5

0.1

0.2

0.3

0.4

0

1

2

10(100)

15(150)

5(50)

Curr

ent [

A]


Pullout Torque

fs


Pulse Speed [kHz]

0(0)

0

30(300)

20(200)

10(100)


20001000 40003000Speed [r/min]

Torq

ue [ N

·m]

0

0.06

0.05

0.04

0.03

0.01

0.02

0

0.5

1.0

Curr

ent [

A]


Pullout Torque

fs


Pulse Speed [kHz]

0(0)

0

10(100)

5(50)

15(150)


15001000500 25002000Speed [r/min]

Torq

ue [ N

·m]

0

0.30

0.10

0.15

0.20

0.25

0.05

0

1

2

Curr

ent [

A]


Pullout Torque

fs



�

�

�

Step

pin

g M

oto

rs



Specifications

ModelSingle Shaft CRK543AP CRK544AP CRK545AP CRK564AP CRK566AP CRK569APDouble Shaft CRK543BP CRK544BP CRK545BP CRK564BP CRK566BP CRK569BP





Driver �18

How to read specifications table ➜ Page C-10


�

�CRK543AP/CRK543BP


Pulse Speed [kHz]

0(0)

0

30(300)

20(200)

10(100)


20001000 40003000Speed [r/min]

Torq

ue [ N

·m]

0

0.15

0.10

0.05

0

1

2

Curr

ent [

A]


Pullout Torque

fs

CRK545AP/CRK545BPCurrent: 0.75 A/Phase Step Angle: 0.72˚/stepWith Damper D4CL-5.0F: JL=34�10–7kg·m2

Pulse Speed [kHz]

0(0)

0

10(100)

5(50)

15(150)


15001000500 25002000Speed [r/min]

Torq

ue [ N

·m]

0

0.30

0.10

0.15

0.20

0.25

0.05

0

1

2

Curr

ent [

A]


Pullout Torque

fs


Pulse Speed [kHz]

0(0)

0

5(50)

2.5(25)


600400200 1000800Speed [r/min]

Torq

ue [ N

·m]

0

1.2

0.4

0.6

0.8

1.0

0.2

0

1

2

7.5(75)

Curr

ent [

A]


Pullout Torque

fs


Pulse Speed [kHz]

0(0)

0

10(100)

5(50)

15(150)


15001000500 25002000Speed [r/min]

Torq

ue [ N

·m]

0

0.20

0.10

0.15

0.05

0

1

2

Curr

ent [

A]


Pullout Torque

fs


Pulse Speed [kHz]

0(0)

0

10(100)

5(50)

15(150)


15001000500 25002000Speed [r/min]

Torq

ue [ N

·m]

0

0.5

0.2

0.3

0.4

0.1

0

2

4

Curr

ent [

A]


Pullout Torque

fs


Pulse Speed [kHz]

0(0)

0

1(10)


300200100 500400Speed [r/min]

Torq

ue [ N

·m]

0

2.0

0.5

1.0

1.5

0

2

4

2(20)

3(30)

4(40)

Curr

ent [

A]


Pullout Torque

fs



�

�

�

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut



Specifications

ModelSingle Shaft CRK523PAP-T7.2✽ CRK523PAP-T10✽ CRK523PAP-T20✽ CRK523PAP-T30✽

Double Shaft CRK523PBP-T7.2✽ CRK523PBP-T10✽ CRK523PBP-T20✽ CRK523PBP-T30✽


Rated Current A/Phase 0.35Basic Step Angle 0.1˚ 0.072˚ 0.036˚ 0.024˚Gear Ratio 1 : 7.2 1 : 10 1 : 20 1 : 30Permissible Torque N�m 0.2 0.3 0.4 0.5Backlash arc minute (degrees) 60 (1˚)Permissible Speed Range r/min 0�416 0�300 0�150 0�100Power Source 24 VDC�10% 0.7 AExcitation Mode Microstep



Driver �18


Note: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


Torq

ue [ N

·m]

0

0.3

0.1

0.2

0

0.5

1.0

Curr

ent [

A]

Pulse Speed [kHz]

0(0)

20(200)

10(100)

15(150)

5(50)


300 400200100Speed [r/min]

0

25(250)


Permissible Torque

fs

CRK523PAP-T20/CRK523PBP-T20Current: 0.35 A/Phase Step Angle: 0.036˚/stepWith Damper D4CL-5.0F: JL=34�10–7kg·m2

Torq

ue [ N

·m]

0

0.5

0.4

0.1

0.3

0.2

0

0.5

1.0

Curr

ent [

A]

Pulse Speed [kHz]

0(0)

20(200)

10(100)

15(150)

5(50)



0

25(250)


Permissible Torque

fs


0 100 200 300Speed [r/min]

Torq

ue [ N

·m]

0

0.4

0.3

0.2

0.1

0

1

2

Curr

ent [

A]

Pulse Speed [kHz]

0(0)


5(50)

10(100)

15(150)

20(200)

25(250)


Permissible Torque

fs


Torq

ue [ N

·m]

0

0.6

0.2

0.4

0

0.5

1.0

Curr

ent [

A]

Pulse Speed [kHz]

0(0)

20(200)

10(100)

15(150)

5(50)


1008060 1204020Speed [r/min]

0

25(250)


Permissible Torque

fs



�

�

�

Step

pin

g M

oto

rs



Specifications

ModelSingle Shaft CRK543AP-T3.6 CRK543AP-T7.2 CRK543AP-T10 CRK543AP-T20 CRK543AP-T30Double Shaft CRK543BP-T3.6 CRK543BP-T7.2 CRK543BP-T10 CRK543BP-T20 CRK543BP-T30

Maximum Holding Torque N�m 0.35 0.7 1 1.5Rotor Inertia J: kg�m2 35�10-7

Rated Current A/Phase 0.75Basic Step Angle 0.2˚ 0.1˚ 0.072˚ 0.036˚ 0.024˚Gear Ratio 1 : 3.6 1 : 7.2 1 : 10 1 : 20 1 : 30Permissible Torque N�m 0.35 0.7 1 1.5Backlash arc minute (degrees) 45 (0.75˚) 25 (0.417˚) 15 (0.25˚)Permissible Speed Range r/min 0�500 0�250 0�180 0�90 0�60Power Source 24 VDC�10% 1.4 AExcitation Mode Microstep



Driver �18

How to read specifications table ➜ Page C-10Note:

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.


�

�

�CRK543AP-T3.6/CRK543BP-T3.6


Pulse Speed [kHz]

0(0)

0 100 200 300 400 500

15(150)

10(100)

5(50)


600Speed [r/min]

Torq

ue [ N

·m]

0

0.5

0.4

0.3

0.1

0.2

0

1

2

Curr

ent [

A]


Permissible Torque

fs

CRK543AP-T10/CRK543BP-T10Current: 0.75 A/Phase Step Angle: 0.072˚/stepWith Damper D4CL-5.0F: JL=34�10–7kg·m2

Pulse Speed [kHz]

0(0)

0 40 80 120 160

10(100)

5(50)


200Speed [r/min]

Torq

ue [ N

·m]

0

1.5

1.0

0.5

0

1

2

15(150)

Curr

ent [

A]


Permissible Torque

fs


Pulse Speed [kHz]

0(0)

0 10 20 30 40 50 60

15(150)

10(100)

5(50)


70Speed [r/min]

Torq

ue [ N

·m]

0

2.0

1.5

1.0

0.5

0

1

2

Curr

ent [

A]


Permissible Torque

fs

CRK543AP-T7.2/CRK543BP-T7.2Current: 0.75 A/Phase Step Angle: 0.1˚/stepWith Damper D4CL-5.0F: JL=34�10–7kg·m2

Pulse Speed [kHz]

0(0)

0 50 100 150 200

10(100)

5(50)


250Speed [r/min]

Torq

ue [ N

·m]

0

1.0

0.8

0.6

0.4

0.2

0

1

2

15(150)

Curr

ent [

A]


Permissible Torque

fs


Pulse Speed [kHz]

0(0)

0 20 40 60 80

10(100)

5(50)


100Speed [r/min]

Torq

ue [ N

·m]

0

2.0

1.5

1.0

0.5

0

1

2

15(150)

Curr

ent [

A]


Permissible Torque

fs



�

�

�

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut



Specifications

ModelSingle Shaft CRK564AP-T3.6 CRK564AP-T7.2 CRK564AP-T10 CRK564AP-T20 CRK564AP-T30Double Shaft CRK564BP-T3.6 CRK564BP-T7.2 CRK564BP-T10 CRK564BP-T20 CRK564BP-T30

Maximum Holding Torque N�m 1.25 2.5 3 3.5 4Rotor Inertia J: kg�m2 175�10-7

Rated Current A/Phase 1.4Basic Step Angle 0.2˚ 0.1˚ 0.072˚ 0.036˚ 0.024˚Gear Ratio 1 : 3.6 1 : 7.2 1 : 10 1 : 20 1 : 30Permissible Torque N�m 1.25 2.5 3 3.5 4Backlash arc minute (degrees) 35 (0.584˚) 15 (0.25˚) 10 (0.167˚)Permissible Speed Range r/min 0�500 0�250 0�180 0�90 0�60Power Source 24 VDC�10% 2.5 AExcitation Mode Microstep



Driver �18


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.


�

�

�CRK564AP-T3.6/CRK564BP-T3.6


Torq

ue [ N

·m]

0

1.5

1.0

0.5

0

1

3

2

Curr

ent [

A]

Pulse Speed [kHz]

0(0)

0 100 200 300 400 500

15(150)

10(100)

5(50)


600Speed [r/min]


Permissible Torque

fs


Torq

ue [ N

·m]

0

4

3

2

1

0

2

4

Curr

ent [

A]

Pulse Speed [kHz]

0(0)

0 40 80 120 160

10(100)

5(50)


200Speed [r/min]

15(150)


Permissible Torque

fs


Torq

ue [ N

·m]

0

5

4

3

2

1

0

2

4

Curr

ent [

A]

Pulse Speed [kHz]

0(0)

0 10 20 30 40 50 60

15(150)

10(100)

5(50)


70Speed [r/min]


Permissible Torque

fs

CRK564AP-T7.2/CRK564BP-T7.2Current: 1.4 A/Phase Step Angle: 0.1˚/stepWith Damper D6CL-8.0F: JL=140�10–7kg·m2

Torq

ue [ N

·m]

0

3

2

1

0

1

3

2

Curr

ent [

A]

Pulse Speed [kHz]

0(0)

0 50 100 150 200

10(100)

5(50)


250Speed [r/min]

15(150)


Permissible Torque

fs


Torq

ue [ N

·m]

0

5

4

3

2

1

0

2

4

Curr

ent [

A]

Pulse Speed [kHz]

0(0)

0 20 40 60 80

10(100)

5(50)


100Speed [r/min]

15(150)


Permissible Torque

fs



�

�

�

Step

pin

g M

oto

rs



Specifications

ModelSingle Shaft CRK545AP-P5 CRK545AP-P7.2 CRK545AP-P10 CRK543AP-P25 CRK543AP-P36 CRK543AP-P50Double Shaft CRK545BP-P5 CRK545BP-P7.2 CRK545BP-P10 CRK543BP-P25 CRK543BP-P36 CRK543BP-P50

Maximum Holding Torque N�m 1 1.5 2.5 3Rotor Inertia J: kg�m2 68�10-7 35�10-7

Rated Current A/Phase 0.75Basic Step Angle 0.144˚ 0.1˚ 0.072˚ 0.0288˚ 0.02˚ 0.0144˚Gear Ratio 1 : 5 1 : 7.2 1 : 10 1 : 25 1 : 36 1 : 50Permissible Torque N�m 1 1.5 2.5 3Backlash arc minute (degrees) 35 (0.58˚)Permissible Speed Range r/min 0�360 0�250 0�180 0�72 0�50 0�36Power Source 24 VDC�10% 1.4 AExcitation Mode Microstep



Driver �18


Direction of rotation of the motor and that of the gear output shaft are the same.


�

�

�CRK545AP-P5/CRK545BP-P5


Torq

ue [ N

·m]

0

1.5

1.0

0.5

0

1

2

Curr

ent [

A]

Pulse Speed [kHz]

0(0)

15(150)

10(100)

5(50)


400300200100Speed [r/min]

0


Permissible Torque

fs

CRK545AP-P7.2/CRK545BP-P7.2Current: 0.75 A/Phase Step Angle: 0.1˚/stepWith Damper D4CL-5.0F: JL=34�10–7kg·m2

0 200100 300Speed [r/min]

Torq

ue [ N

·m]

0

2.0

1.5

1.0

0.5

0

2

4

Curr

ent [

A]

Pulse Speed [kHz]

0(0)

15(150)

10(100)

5(50)



Permissible Torque

fs

CRK545AP-P10/CRK545BP-P10Current: 0.75 A/Phase Step Angle: 0.072˚/stepWith Damper D4CL-5.0F: JL=34�10–7kg·m2

0 120 1608040 200Speed [r/min]

Torq

ue [ N

·m]

0

2.0

1.5

1.0

0.5

0

2

4Cu

rren

t [A]

Pulse Speed [kHz]

0(0)

10(100)

5(50)


15(150)


Permissible Torque

fs



�

�

�


0 40 6020 80Speed [r/min]

Torq

ue [ N

·m]

0

3

2

1

0

1

2

Curr

ent [

A]

Pulse Speed [kHz]

0(0)

10(100)

5(50)


15(150)


Permissible Torque


0 4020 60Speed [r/min]

Torq

ue [ N

·m]

0

4

2

3

1

0

2

4

Curr

ent [

A]

Pulse Speed [kHz]

0(0)

10(100)

5(50)


15(150)


Permissible Torque

fs


0 3010 20 40Speed [r/min]

Torq

ue [ N

·m]

0

4

2

3

1

0

2

4

Curr

ent [

A]

Pulse Speed [kHz]

0(0)

10(100)

5(50)


15(150)


Permissible Torque

fs

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut



Specifications

ModelSingle Shaft CRK566AP-P5 CRK566AP-P7.2 CRK566AP-P10 CRK564AP-P25 CRK564AP-P36 CRK564AP-P50Double Shaft CRK566BP-P5 CRK566BP-P7.2 CRK566BP-P10 CRK564BP-P25 CRK564BP-P36 CRK564BP-P50


Rated Current A/Phase 1.4Basic Step Angle 0.144˚ 0.1˚ 0.072˚ 0.0288˚ 0.02˚ 0.0144˚Gear Ratio 1 : 5 1 : 7.2 1 : 10 1 : 25 1 : 36 1 : 50Permissible Torque N�m 3.5 4 5 8Backlash arc minute (degrees) 20 (0.33˚)Permissible Speed Range r/min 0�360 0�250 0�180 0�72 0�50 0�36Power Source 24 VDC�10% 2.5 AExcitation Mode Microstep



Driver �18


Direction of rotation of the motor and that of the gear output shaft are the same.


�

�

�CRK566AP-P5/CRK566BP-P5


Torq

ue [ N

·m]

0

5

4

3

2

1

0

2

4

Curr

ent [

A]

Pulse Speed [kHz]

0(0)

15(150)

10(100)

5(50)


400300200100Speed [r/min]

0Driver Input Current

Permissible Torque

fs

CRK566AP-P7.2/CRK566BP-P7.2Current: 1.4 A/Phase Step Angle: 0.1˚/stepWith Damper D6CL-8.0F: JL=140�10–7kg·m2

0 200100 300Speed [r/min]

Torq

ue [ N

·m]

0

5

4

3

2

1

0

2

4

Curr

ent [

A]

Pulse Speed [kHz]

0(0)

15(150)

10(100)

5(50)



Permissible Torque

fs


0 120 1608040 200Speed [r/min]

Torq

ue [ N

·m]

0

6

4

2

0

1

2

Curr

ent [

A]

Pulse Speed [kHz]

0(0)

10(100)

5(50)


15(150)


Permissible Torque

fs



�

�

�


0 40 6020 80Speed [r/min]

Torq

ue [ N

·m]

0

10

8

4

6

2

0

2

4

Curr

ent [

A]

Pulse Speed [kHz]

0(0)

10(100)

5(50)


15(150)


Permissible Torque

fs


0 4020 60Speed [r/min]

Torq

ue [ N

·m]

0

10

4

8

6

2

0

2

4

Curr

ent [

A]

Pulse Speed [kHz]

0(0)

10(100)

5(50)


15(150)


Permissible Torque

fs


0 3010 20 40Speed [r/min]

Torq

ue [ N

·m]

0

10

6

8

4

2

0

2

4

Curr

ent [

A]

Pulse Speed [kHz]

0(0)

10(100)

5(50)


15(150)


Permissible Torque

fsS

tepp

ing

Mo

tors


PN Geared Type Motor Frame Size 28 mm, 42 mm

Specifications

ModelSingle Shaft CRK523PAP-N5✽1 CRK523PAP-N7.2✽1 CRK523PAP-N10✽1 CRK544AP-N5 CRK544AP-N7.2 CRK544AP-N10Double Shaft CRK523PBP-N5✽1 CRK523PBP-N7.2✽1 CRK523PBP-N10✽1 CRK544BP-N5 CRK544BP-N7.2 CRK544BP-N10

Maximum Holding Torque N�m 0.2 0.3 0.4 0.8 1.2 1.5Rotor Inertia J: kg�m2 9�10-7 54�10-7

Rated Current A/Phase 0.35 0.75Basic Step Angle 0.144˚ 0.1˚ 0.072˚ 0.144˚ 0.1˚ 0.072˚Gear Ratio 1 : 5 1 : 7.2 1 : 10 1 : 5 1 : 7.2 1 : 10Permissible Torque N�m 0.2 0.3 0.4 0.8 1.2 1.5Maximum Torque✽2 N�m 0.5 1.5 2Backlash arc minute (degrees) 3 (0.05˚) 2 (0.034˚)Angular Transmission Error arc minute (degrees) 6 (0.1˚)Permissible Speed Range r/min 0�600 0�416 0�300 0�600 0�416 0�300Power Source 24 VDC�10% 0.7 A 24 VDC�10% 1.4 AExcitation Mode Microstep



Driver �18

How to read specifications table ➜ Page C-101 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.



�

✽

✽

�

�CRK523PAP-N5/CRK523PBP-N5


Torq

ue [ N

·m]

0

0.3

0.1

0.2

0

0.5

1.0

Curr

ent [

A]

Pulse Speed [kHz]

0(0)

20(200)

10(100)

15(150)

5(50)


600300 400 500200100Speed [r/min]

0

25(250)


Permissible Torque

fs

CRK523PAP-N7.2/CRK523PBP-N7.2Current: 0.35 A/Phase Step Angle: 0.1˚/stepWith Damper D4CL-5.0F: JL=34�10–7kg·m2

Torq

ue [ N

·m]

0

0.4

0.3

0.1

0.2

0

1

2

Curr

ent [

A]

Pulse Speed [kHz]

0(0)

20(200)

10(100)

15(150)

5(50)


300 400200100Speed [r/min]

0

25(250)


Permissible Torque

fs

CRK523PAP-N10/CRK523PBP-N10Current: 0.35 A/Phase Step Angle: 0.072˚/stepWith Damper D4CL-5.0F: JL=34�10–7kg·m2

Pulse Speed [kHz]

0(0)

0


15010050 200 300250Speed [r/min]

Torq

ue [ N

·m]

0

0.6

0.2

0.4

0

1.0

0.5

5(50)

Curr

ent [

A]

10(100)

15(150)

20(200)

25(250)


Permissible Torque



�

�

�

CRK544AP-N5/CRK544BP-N5Current: 0.75 A/Phase Step Angle: 0.144˚/stepWith Damper D4CL-5.0F: JL=34�10–7kg·m2

Torq

ue [ N

·m]

0

1.0

0.6

0.4

0.8

0.2

0

1

2

Curr

ent [

A]

Pulse Speed [kHz]

0(0)

20(200)

10(100)

15(150)

5(50)


600300 400 500200100Speed [r/min]

0

25(250)


Permissible Torque

fs

CRK544AP-N7.2/CRK544BP-N7.2Current: 0.75 A/Phase Step Angle: 0.1˚/stepWith Damper D4CL-5.0F: JL=34�10–7kg·m2

Torq

ue [ N

·m]

0

1.5

0.5

1.0

0

1

2

Curr

ent [

A]

Pulse Speed [kHz]

0(0)

20(200)

10(100)

15(150)

5(50)


300 400200100Speed [r/min]

0

25(250)


Permissible Torque

fs


Pulse Speed [kHz]

0(0)

0


15010050 200 300250Speed [r/min]

Torq

ue [ N

·m]

0

2.0

1.0

1.5

0.5

0

2

4

5(50)

Curr

ent [

A]

10(100)

15(150)

20(200)

25(250)


fs

Permissible Torque

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut



Specifications

ModelSingle Shaft CRK566AP-N5 CRK566AP-N7.2 CRK566AP-N10 CRK564AP-N25 CRK564AP-N36 CRK564AP-N50Double Shaft CRK566BP-N5 CRK566BP-N7.2 CRK566BP-N10 CRK564BP-N25 CRK564BP-N36 CRK564BP-N50


Rated Current A/Phase 1.4Basic Step Angle 0.144˚ 0.1˚ 0.072˚ 0.0288˚ 0.02˚ 0.0144˚Gear Ratio 1 : 5 1 : 7.2 1 : 10 1 : 25 1 : 36 1 : 50Permissible Torque N�m 3.5 4 5 8Maximum Torque✽ N�m 7 9 11 16 20Backlash 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�60Power Source 24 VDC�10% 2.5 AExcitation Mode Microstep



Driver �18

How to read specifications table ➜ Page C-10The value of maximum torque is for gear. For output torque for geared motor, see the speed – torque characteristics.



�

✽

�

�CRK566AP-N5/CRK566BP-N5


Pulse Speed [kHz]

0(0)

0


200100 300 500400Speed [r/min]

Torq

ue [ N

·m]

0

5

2

3

4

1

0

2

4

5(50)

Curr

ent [

A]

10(100)

15(150)

20(200)


Permissible Torque

CRK566AP-N7.2/CRK566BP-N7.2Current: 1.4 A/Phase Step Angle: 0.1˚/stepWith Damper D6CL-8.0F: JL=140�10–7kg·m2

Pulse Speed [kHz]

0(0)

0


200100 15050 250 350300Speed [r/min]

Torq

ue [ N

·m]

0

8

4

6

2

0

2

4

5(50)

Curr

ent [

A]

10(100)

15(150)

20(200)


fs

Permissible Torque


Pulse Speed [kHz]

0(0)

0


200100 15050 250 300Speed [r/min]

Torq

ue [ N

·m]

0

10

8

4

6

2

0

2

4

5(50)

Curr

ent [

A]

10(100)

15(150)

20(200)

25(250)


Permissible Torque



�

�

�


Torq

ue [ N

·m]

0

15

5

10

0

2.5

5.0

Curr

ent [

A]

Pulse Speed [kHz]

0(0)

25(250)

20(200)

10(100)

15(150)

5(50)


100 120 14080604020Speed [r/min]

0Driver Input Current

PermissibleTorque

fs


Pulse Speed [kHz]

0(0)

0


20 40 8060Speed [r/min]

Torq

ue [ N

·m]

0

20

10

15

5

0

4

8

5(50)

Curr

ent [

A]

10(100)

15(150)

20(200)

25(250)


fs

Permissible Torque


Torq

ue [ N

·m]

0

25

15

10

20

5

0

2

4

Curr

ent [

A]

Pulse Speed [kHz]

0(0)

20(200)

10(100)

15(150)

5(50)


604020Speed [r/min]

0

25(250)


Permissible Torque

fs

Step

pin

g M

oto

rs


Harmonic Geared Type Motor Frame Size 20 mm, 42 mm, 60 mm

Specifications

ModelSingle Shaft CRK513PAP-H50✽1 CRK513PAP-H100✽1 CRK543AP-H50 CRK543AP-H100 CRK564AP-H50 CRK564AP-H100Double Shaft CRK513PBP-H50✽1 CRK513PBP-H100✽1 CRK543BP-H50 CRK543BP-H100 CRK564BP-H50 CRK564BP-H100

Maximum Holding Torque N�m 0.4 0.6 3.5 5 5.5 8Rotor Inertia J: kg�m2 3.1�10-7 52�10-7 210�10-7

Rated Current A/Phase 0.35 0.75 1.4Basic Step Angle 0.0144˚ 0.0072˚ 0.0144˚ 0.0072˚ 0.0144˚ 0.0072˚Gear Ratio 1 : 50 1 : 100 1 : 50 1 : 100 1 : 50 1 : 100Permissible Torque N�m 0.4 0.6 3.5 5 5.5 8Maximum Torque✽2 N�m 0.9 1.4 8.3 11 18 28

Lost Motion (Load Torque) arc minute2 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)

Permissible Speed Range r/min 0�90 0�45 0�70 0�35 0�70 0�35Power Source 24 VDC�10% 0.7 A 24 VDC�10% 1.4 A 24 VDC�10% 2.5 AExcitation Mode Microstep

MassMotor kg 0.08 0.46 1.08Driver kg 0.04


Driver �18

How to read specifications table ➜ Page C-101 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: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 and that of the gear output shaft are the opposite.


�

✽

✽

��

�



�

�

��

CRK513PAP-H50/CRK513PBP-H50

Pulse Speed [kHz]

0(0)

0

40(400)

20(200)

10(100)

4020 80 10060Speed [r/min]

Torq

ue [ N

·m]

0

1.0

0.8

0.6

0.4

0.2

0

0.5

1

30(300)

Curr

ent [

A]

fsDriver Input Current

Permissible Torque

Current: 0.35 A/Phase Step Angle: 0.0144°/stepLoad Inertia: JL=0kg·m2


CRK513PAP-H100/CRK513PBP-H100

Pulse Speed [kHz]

0(0)

0

40(400)

20(200)

10(100)

2010 40 5030Speed [r/min]

Torq

ue [ N

·m]

0

2.0

1.5

1.0

0.5

0

1

2

30(300)

Curr

ent [

A]

fs

Current: 0.35 A/Phase Step Angle: 0.0072°/stepLoad Inertia: JL=0kg·m2

Permissible Torque



CRK543AP-H50/CRK543BP-H50Current: 0.75 A/Phase Step Angle: 0.0144˚/stepWith Damper D4CL-5.0F: JL=34�10–7kg·m2

Pulse Speed [kHz]

0(0)

0

20(200)

10(100)


20 40 8060Speed [r/min]

Torq

ue [ N

·m]

0

6

4

2

0

1

2

30(300)

Curr

ent [

A]


Permissible Torque


Pulse Speed [kHz]

0(0)

0

20(200)

10(100)


10 20 4030Speed [r/min]

Torq

ue [ N

·m]

0

15

5

10

0

1

2

30(300)

Curr

ent [

A]


Permissible Torque


Pulse Speed [kHz]

0(0)

0

20(200)

10(100)


20 40 8060Speed [r/min]

Torq

ue [ N

·m]

0

20

15

10

5

0

4

8

30(300)

Curr

ent [

A]


fs

Permissible Torque


Pulse Speed [kHz]

0(0)

0

20(200)

10(100)


10 20 4030Speed [r/min]

Torq

ue [ N

·m]

0

40

20

30

10

0

4

8

30(300)

Curr

ent [

A]


Permissible Torque

Maximum Torque

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut



Input Signals

Input ModePhotocoupler input, Input resistance: 220 �, Input current: 10�20 mAPhotocoupler ON: �4.5�5.25 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 inputPulse width: 1 �s minimum; Pulse rise/fall: 2 �s maximum, Pulse duty: 50% and belowThe 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 inputPulse width: 1 �s minimum; Pulse rise/fall: 2 �s maximum, Pulse duty: 50% and belowThe 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%)

All Windings Off SignalWhen 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 Select Signal Step angle specified by DATA1 when photocoupler OFF, Step angle specified by DATA2 when photocoupler ON

Current CutbackRelease Signal

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).

Output Signals

Output Mode Photocoupler, Open-collector output, External use condition: 24 VDC maximum, 10 mA maximum

Excitation Timing SignalThe 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.

Functions Automatic current cutback, Step angle switch, Pulse input mode switch, Smooth drive, All windings off, Excitation timingCooling Method Natural ventilation


Insulation Class Class B (130˚C) [Recognized as class A (105˚C) by UL Standard] —


—

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 temperature and humidity.✽1.0 kV for CRK54� 0.5 kV for CRK513P, CRK52�PM, CRK52�P, CRK54�PM, CRK54�P

—

Operating Environment(In Operation)

Ambient Temperature

�10��50˚C (non-freezing): High-resolution type, High-torque type, Standard type,TH, PL, PN geared type

0��40˚C (non-freezing): Harmonic geared type0��40˚C (non-freezing)

Ambient Humidity 85% or less (non-condensing)Atmosphere No corrosive gases, dust, water or oil

Temperature RiseTemperature rise of the windings are 80˚C or less measured by the resistance change method.

(at rated current, at standstill, five phases energized)—

Stop Position Accuracy✽1 �3 arc minutes (�0.05˚), CRK513P: �10 arc minutes (�0.17˚)High-resolution type: �2 arc minutes (�0.034˚)

—

Shaft Runout 0.05 T.I.R. (mm)✽4 —Radial Play✽2 0.025 mm maximum of 5 N —Axial Play✽3 0.075 mm maximum of 10 N —Concentricity 0.075 T.I.R. (mm)✽4 —Perpendicularity 0.075 T.I.R. (mm)✽4 —

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:Do not measure insulation resistance or perform the dielectric strength test while the motor and driver are connected.

�

�

✽

✽

✽

✽

�

A

A0.075

A�0.075

0.05

Common to Each Type

Step

pin

g M

oto

rs



Type ModelPermissible Overhung Load


0 5 10 15 20


High-Torque Type

Standard Type

CRK513P�P 12 15 � � �


CRK523PM�PCRK524PM□PCRK525PM�PCRK523P�PCRK525P�P

25 34 52 � �

CRK544PM�PCRK546PM�PCRK544P�PCRK546P�PCRK543�PCRK544�PCRK545�P

20 25 34 52 �

CRK564PM�PCRK566PM�PCRK569PM�P

90 100 130 180 270

CRK564�PCRK566�PCRK569�P

63 75 95 130 190

TH Geared Type

CRK523P�P-T7.2CRK523P�P-T10CRK523P�P-T20CRK523P�P-T30

15 17 20 23 � 10

CRK543�P-T3.6CRK543�P-T7.2CRK543�P-T10CRK543�P-T20CRK543�P-T30

10 14 20 30 � 15

CRK564�P-T3.6CRK564�P-T7.2CRK564�P-T10CRK564�P-T20CRK564�P-T30

70 80 100 120 150 40

PL Geared Type

CRK545�P-P5CRK545�P-P7.2CRK545�P-P10

73 84 100 123 � 50

CRK543�P-P25CRK543�P-P36CRK543�P-P50

109 127 150 184 � 50

CRK566�P-P5 200 220 250 280 320 100

CRK566�P-P7.2CRK566�P-P10 250 270 300 340 390 100

CRK564�P-P25CRK564�P-P36CRK564�P-P50

330 360 400 450 520 100

PN Geared Type

CRK523P�P-N5CRK523P�P-N7.2CRK523P�P-N10

45 60 80 100 � 20

CRK544�P-N5CRK544�P-N7.2CRK544�P-N10

100 120 150 190 � 100

CRK566�P-N5 200 220 250 280 320 100

CRK566�P-N7.2CRK566�P-N10 250 270 300 340 390 100

CRK564�P-N25CRK564�P-N36CRK564�P-N50

330 360 400 450 520 100

HarmonicGeared Type

CRK513P�P-H50CRK513P�P-H100 50 75 � � � 60

CRK543�P-H50CRK543�P-H100 180 220 270 360 510 220

CRK564�P-H50CRK564�P-H100 320 370 440 550 720 450


�

�

Common to Each TypeS

tepp

ing

Mo

tors

Intro

du

ction

A

SA

SC5-P

hase

RK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut



Motor

High-Torque Type

�1 �20 mmModel Motor Model Mass (kg)

CRK513PAP PK513PA0.05

CRK513PBP PK513PB

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

Applicable ConnectorConnector housing: 51065-0500 (MOLEX)Contact: 50212-8100 (MOLEX)Crimp tool: 57176-5000 (MOLEX)

��

�

154�M2�2.5 Deep

16�0.2

16�

0.2

20

30 1.538 10�1

8�1

7�0.257�0.25

3.5�

0.15

3.5�

0.15

20

1013.8

4�

0.01

2(h7

)0 4�

0.01

2(h7

)0

16

�0.

018(

h7)

0

5

High-Resolution Type, High-Torque Type


CRK523P�AP PK523P�A32

�0.11

CRK523P�BP PK523P�B 42

CRK524PMAP PK524PMA40

�0.15

CRK524PMBP PK524PMB 50

CRK525P�AP PK525P�A51.5

�0.2

CRK525P�BP PK525P�B 61.5

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


�

�

�

5 1

5

28

16.5

L11.5

L2

9.5

28

15�1

✽10�1

10�0.2523�0.2

23�

0.24.

5�0.

15

4.5�

0.15

22

�0.

033(

h8)

0

5 �

0.01

2(h7

)0

5 �

0.01

2(h7

)0

4�M2.5�2.5 Deep

✽The length of machining on double shaft model is 10�0.25.



�0.3



�0.5


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


�

�

1.5

4.5�

0.15L1

L2

4.5�

0.15

5�

0.01

2(h7

)0

5�

0.01

2(h7

)0

22

�0.

033(

h8)

0

5 1

4231�0.2

31�

0.2

42

15�0.25

20�1✽15�1

2315

9

4�M3�4.5 Deep

✽ The length of machining on double shaft model is 15�0.25.

15

L1

60

601.5

L3

7

L2

21.529

12

0.5

24�1

23�1

20�0.25

7.5�

0.15

20�0.25 50�0.35

50�

0.35

�8�

0.01

5(h7

)0

�36

�0.

039(

h8)

0�

D

4��4.5 Thru


�4 �60 mmModel Motor Model L1 L2 L3 D Mass (kg)

CRK564PMAP PK564PMA46.5

�

7.5�0.15 8 0� 0.015

0.65CRK564PMBP PK564PMB 69.5


�0.87

CRK566PMBP PK566PMB 79


�9.5�0.15 10 0

� 0.015 1.5CRK569PMBP PK569PMB 110

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


�

�


Step

pin

g M

oto

rs


Standard Type


CRK543AP PK543NAW33

�0.21

CRK543BP PK543NBW 48

CRK544AP PK544NAW39

�0.27


CRK545AP PK545NAW47

�0.35


�

UL Style 3265, AWG24

4�M3�4.5 Deep5 Motor Leads 600 mm Length

2

4.5�

0.15

4231�0.2

31�

0.2

✽15�1 L1L2 20�1

15�0.25

4.5�

0.15

425�

0.01

2(h7

)0 5 �

0.01

2(h7

)0

22

�0.

033(

h8)

0



CRK564AP PK564NAW46.5

�0.6

CRK564BP PK564NBW 69.5

CRK566AP PK566NAW57.5

�0.8

CRK566BP PK566NBW 80.5

CRK569AP PK569NAW87

�1.3


L17 1.5

23�1

UL Style 3266, AWG225 Motor Leads 600 mm Length

7.5�0.15

7.5�

0.15

90˚

20�0.25

A

A

A

A

4�4.5 Thru60

50�0.35

50�

0.35

60

20�0.25

L2 24�1

8�

0.01

5(h7

)0

8�

0.01

5(h7

)0

36

�0.

039(

h8)

0

A�A

TH Geared Type


CRK523PAP-T� PK523PA-T�7.2, 10, 20, 30 0.17

CRK523PBP-T� PK523PB-T�

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


�

�

�

57.567.5

2.512

4�M2.5�4 Deep

5 �

0.01

2(h7

)0

✽10�1

4.5�

0.15

20�1

5 1

5

2816.59.5

2823�0.2

23�

0.2

10

�0.

015(

h7)

0

4.5�

0.15

6�0.

5

5 �

0.01

2(h7

)0



CRK543AP-T� PK543AW-T�3.6, 7.2, 10, 20, 30 0.35

CRK543BP-T� PK543BW-T�


123.563.5

5.5�

0.15

8�0.

5

5012.2

20�1

600

8.5

42

42

43.8�0.5

26

4.5�

0.15

✽15�1

78.5

5 Motor Leads AWG24

4�M4�8 Deep

17

�0.

018(

h7)

0

6�

0.01

2(h7

)0

5�

0.01

2(h7

)0


Motor Cable 5.4

�


Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut


TH Geared Type


CRK564AP-T� PK564AW-T�3.6, 7.2, 10, 20, 30 0.95

CRK564BP-T� PK564BW-T�


A

A

4�M4�8 Deep

5015

93.5114.5

12.5

60

20�0.25

21�1

600

32�1

3.5

7�0.

15

10�

0.5

12

60

31

70�0.5

5 Motor Leads AWG22

23

�0.

021(

h7)

0

8�

0.01

5(h7

)0

8 �

0.01

5(h7

)0

7.5�0.15

7.5�

0.15

90˚

Motor Cable 7

A�A

PL Geared Type


CRK545AP-P� PK545AW-P�5, 7.2, 10 74.5

�0.58

CRK545BP-P� PK545BW-P� 89.5

CRK543AP-P� PK543AW-P�25, 36, 50 84

�0.55

CRK543BP-P� PK543BW-P� 99


5012.2 6008.

542

42

43.8�0.5

26

L128�1

10 12

7�0.

15

4.5�

0.15

✽15�1

L2

5 Motor Leads AWG24

4�M4�8 Deep

26

�0.

021(

h7)

0

8�0.

015(

h7)

0

5�

0.01

2(h7

)0


Motor Cable 5.4


CRK566AP-P� PK566AW-P�5, 7.2, 10 94.5

�1.3

CRK566BP-P� PK566BW-P� 115.5

CRK564AP-P� PK564AW-P�25, 36, 50 108.5

�1.4

CRK564BP-P� PK564BW-P� 129.5


12.5

60

L1L2

21�138�1

10

31

60

4�M5�10 Deep

B

B

5015 600

5 Motor Leads AWG22

A

A

20�0.2525

70�0.5

37

�0.

025(

h7)

0

12

�0.

018(

h7)

0

8�

0.01

5(h7

)0


7.5�0.15

7.5�

0.15

90˚

�0.

12.

5 0

04�0.030 4�0.030

0

4�0.

030

025�0.2

Motor Cable 7

A�AB�B

�

�

�

�

�


Step

pin

g M

oto

rs


PN Geared Type


CRK523PAP-N� PK523PA-N�5, 7.2, 10 0.25

CRK523PBP-N� PK523PB-N�



�

�

�



CRK544AP-N� PK544AW-N�5, 7.2, 10 0.56

CRK544BP-N� PK544BW-N�


A

A

Parallel Key (Included)8.5

42

26

4�M4�8 Deep18

6

600 5012.2

5 Motor Leads AWG24

8671✽15�1

25�1

42

48�0.3

3�0.025 0

3�0.

025

018�0.23�0.029 �0.004

1.8

0

�0.

14.5�

0.15

5�

0.01

2(h7

)0

10

�0.

015(

h7)

0

37

.6�

0.02

5(h7

)0


A�A

Motor Cable 5.4


CRK566AP-N� PK566AW-N�5, 7.2, 10 103.5

�1.5

CRK566BP-N� PK566BW-N� 124.5

CRK564AP-N� PK564AW-N�25, 36, 50 108.5

�1.5

CRK564BP-N� PK564BW-N� 129.5


5015

12.5

60

600

L138�1

60

31

6

25

70�0.5

20�0.25

21�1

L2

5 Motor Leads AWG22

B A

B A

4�M5�10 Deep

37

�0.

025(

h7)

0

12�

0.01

8(h7

)0

8�

0.01

5(h7

)0


04�0.030

025�0.21 0

4�0.

030

7.5�0.15

7.5�

0.15

90˚ 0

4�0.030

�0.

12.

5 0

Motor Cable 7

A�AB�B

�

�

A

A

5 116.5

62.572.5

5

1517

90˚

28

✽10�1

4.5�

0.15

5 �

0.01

2(h7

)0

23�1

23�0.2

26

�0.

021(

h7)

0

12

8�

0.01

5(h7

)0

5

9.57.5�0.2

7.5�

0.2

2823

�0.

2

4�M3�6 Deep


A�A

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut



CRK543AP-H� PK543AW-H�S50, 100 0.46

CRK543BP-H� PK543BW-H�S


A

A

26

80

5012.2 600

652 0.5

181.2

25�1

4.5�

0.15

15�1

10

�0.

015(

h7)

0

37

.6�

0.02

5(h7

)0

26

.5( M

ax. D

ia o

f Rot

atin

g Pa

rt)

5�

0.01

2(h7

)0

5 Motor Leads AWG24

6�M3�5 Deep✽1

42 4�M4�8 Deep

60˚

8.5

42

48�0.3

20.5�0.2

3�0.025 0

3�0.

025

03�0.029 �0.004

1.8

0 �

0.1

90˚Parallel Key (Included)

18�0.180

✽ 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.

✽2

A�A

Motor Cable 5.4


CRK564AP-H� PK564AW-H�S50, 100 1.08

CRK564BP-H� PK564BW-H�S


Motor Cable 7

B

B A

A

31

6�M4�6 Deep✽

12.5

60

5015 600

88.5

20

109.5

2 1.5

21�1

28.5�1

20�0.25

8�

0.01

5(h7

)0

5 Motor Leads AWG22

12

�0.

018(

h7)

0

54

�0.

030(

h7)

0

33.5

( Max

. Dia

of R

otat

ing

part)

6070�0.5

25.5�0.2

60˚

4�M5�10 Deep

1.6 4�0.030 04�0.030

0 20�0.21 0

2.5

0 �

0.1

4�0.

030

0


7.5�0.15

7.5�

0.15

90

90˚

✽ The position of the output shaft relative to the screw holes position on the rotating part is arbitrary.

A�AB�B

�

�




CRK513PAP-H� PK513PA-H�S50, 100 0.08

CRK513PBP-H� PK513PB-H�S



�

�

�

15

7�0.25

0.58�1

10 13.8

2016�0.2

5

53

9

4�M2�5 Deep

3�M2�3 Deep✽

2.5

13�1

20

9.8�0.2

16�

0.2

45

3.5�

0.15

4.6�

0.15

4 �

0.01

2(h7

)0

19

.5�

0.02

1(h7

)0

13

( Max

. Dia

. of R

otat

ing

Part)

5�

0.01

2(h7

)0


Step

pin

g M

oto

rs


Driver

�18 Driver Model: CRD5103P, CRD5107P, CRD5114PMass: 0.04 kg

C

0

4

8

C

0

4

8

45

31

51

14.9

32.4

7.4

12

65

11.5

25 m

ax.

4 m

ax.

24.3

41.4

21.9

3 59

1 12

3

4�3.5 Thru

Connector Housing (Included)51103-0200 (MOLEX)51103-1200 (MOLEX)51103-0500 (MOLEX)

Contact (Included)50351-8100 (MOLEX)

Note: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

�

�

�

�

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut




Power InputConnector

MotorConnector

b

x

cz

v

��

�1 Power Input DisplayColor Function When ActivatedGreen Power Supply Indication Lights when power is on.

�2 Current Adjustment PotentiometersIndication Name of Potentiometer Function

RUNMotor Run CurrentPotentiometer

For adjusting the motor running current

STOPMotor Stop CurrentPotentiometer

For adjusting the motor current at standstill

�3 Function Select SwitchesIndication Switch Name Function

1P/2P Pulse Input Mode SwitchSwitches between 1-pulse input and 2-pulse input.

OFF/SDSmooth DriveFunction Switch

Enables or disables the smooth drive function.

R2/R1 Resolution Select SwitchSwitches the base step angle between R1 and R2.

�4 Input/Output SignalsIndication Input/Output Pin No. Signal Name Function

CN2

Input Signal

1 Pulse Signal(CW Pulse Signal)

Operation command pulse signal(The motor will rotate in the CW direction when in 2-pulse input mode.) 2

3 Rotation Direction Signal(CCW 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.)4

5 All Windings Off Signal

This signal is used to turn off the output current to the motor so that the motor shaft can be rotatedmanually.6

7 Step Angle Select Signal

Switches to step angle set in DATA1 and DATA2.8

9 Current Cutback Release Signal

This signal is used to disable the automatic current cutback function.10

Output Signal

11 Excitation TimingSignal

The signal is output every time the excitation sequence returns to the initial stage "0."12

�5 Step Angle Setting SwitchIndication Signal Name Function

DATA1 Step AngleSetting Switch

Each switch can be set to the desired step angle from the 16 step angles.DATA2

R1 R2

DATA1DATA2

Microstep/Step 1

Resolution 1 Step Angle 1DATA1DATA2

Microstep/Step 2

Resolution 2 Step Angle 2

0 1 500 0.72˚ 0 �2.5 200 1.8˚1 2 1000 0.36˚ 1 �1.25 400 0.9˚2 2.5 1250 0.288˚ 2 1.6 800 0.45˚3 4 2000 0.18˚ 3 2 1000 0.36˚4 5 2500 0.144 4 3.2 1600 0.225˚5 8 4000 0.09˚ 5 4 2000 0.18˚6 10 5000 0.072˚ 6 6.4 3200 0.1125˚7 20 10 000 0.036˚ 7 10 5000 0.072˚8 25 12 500 0.0288˚ 8 12.8 6400 0.05625˚9 40 20 000 0.018˚ 9 20 10 000 0.036˚A 50 25 000 0.0144˚ A 25.6 12 800 0.028125˚B 80 40 000 0.009˚ B 40 20 000 0.018˚C 100 50 000 0.0072˚ C 50 25 000 0.0144˚D 125 62 500 0.00576˚ D 51.2 25 600 0.0140625˚E 200 100 000 0.0036˚ E 100 50 000 0.0072˚F 250 125 000 0.00288˚ F 102.4 51 200 0.00703125˚

Notes: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˚. With the high-resolution type, the basic step angle and resolution are 0.36˚ and 1000 (microstep/step: 1), respectively. If you are using a geared type, the step angle divided by the gear ratio becomes the actual step angle. 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. 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.

�

�

��

�

Step

pin

g M

oto

rs


Connection Diagrams

0 V

Stepping Motor

CN2

Black(5)

Green(4)

Orange(3)

Red(2)

Blue(1)

CN3

CN1

GND

Twisted-Pair Wire

Vo (�5 to 24 VDC)

Vo (�5 to 24 VDC)



Excitation Timing Signal Output Signal


Step Angle Select Signal

Current Cutback Release Signal

DriverController

2

1

4

3

6

5

8

7

10

9

Pin numbers in ( ) arefor motor connector.11

21

1

2

3

4

5

Input Signals

12

R1

�24 VDC�10%

R1

R1

R1

R2

R1

0 V

�


Photocoupler OFF ON

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.

Pulse (CW) and Rotation Direction (CCW) Input Signal


Pin No.1, 3

Pin No.2, 4

VO

0 V

R1

Controller

Driver


220 Ω

10�20 mA


90%10%

CCW CWON

OFF

ON


Rotation DirectionInput Signal


1 �smin.

1 �smin.

10 �smin.

10 �smin.

✽1

✽2

2-Pulse Input Mode

ON

OFF

ON

OFF

✽1

✽2

90%10%CW Pulse

CCW Pulse


10 �s min.1 �smin.

1 �smin.



2 The minimum interval time when changing rotation direction 10 µs is shown as a response time of circuit. This value varies greatly depending on the motor type and load inertia.

�

�

��

�

✽

✽

Pulse Signal CharacteristicsKeep the pulse signal at the "photocoupler OFF" state when no pulses are being input.In 1-pulse input mode, leave the pulse signal at rest ("photocoupler OFF") when changing rotation directions.In 2-pulse input mode, do not input a CW pulse and CCW pulse simultaneously.

All Windings Off (A.W.OFF) Input Signal Step Angle Select (C/S) Input Signal Current Cutback Release (C.D.INH) Input Signal


Pin No.5, 7, 9

Pin No.6, 8, 10

VO

R1

Controller Open-Collector Output

0 V

220 Ω

10�20 mA

Driver

All Windings Off (A.W.OFF) Input SignalInputting this signal puts the motor in a non-excitation (free) state.This 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.

ONOFF

All Windings Off Signal ON

OFFONMotor Current


Release


Switching 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.

��

�

�

�

��

�

Connecting Input SignalKeep 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.

Connecting Output SignalKeep 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.


Motor does not rotate properly at high-speed.Slow motor startup and stopping.

Notes on WiringUse twisted-pair wires [AWG24 to 22 (0.2 to 0.3 mm2)] with a length of 2 m or less for the signal lines.Note that as the length of the pulse signal line increases, the maximum transmission frequency decreases. Technical reference ➜ Page F-46Use 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.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.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.Incorrect connection of DC power input will lead to driver damage. Make sure that the polarity is correct before turning power on.

�

�

�

��

��

�

�

�

�

�

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut


Step Angle Select (C/S) Input SignalYou may select two step angles with the step angle setting switches DATA1 and DATA2.When 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

CW Pulse

Motor

ONOFF

(DATA1) (DATA2)

10 Pulses 1 Pulse

0 0.72˚ 1.44˚0.72˚

0.072˚/step 0.72˚/step

Be 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.When 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.

0˚

0.72˚

�0.72˚ 0.72˚

0.072˚

Operate 9 pulses with 0.072�/step setting

Operate 1 pulsewith 0.72�/step setting

STEP "0"✽

"Excitation Timing" signal is only output at step "0" sequence.

��

�

�

�

✽

Current Cutback Release (C.D.INH) Input SignalWhen 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).The photocoupler must be "OFF" except when the running current is adjusted.

Excitation Timing (TIMING) Output Signal


VO

Pin No.11

Pin No.12

Controller


0 V

Driver

10 mA max.

R2

The "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).The "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) When connected as shown in the sample connection, the signal will be "photocoupler ON" at step "0."

CW Pulse

CCW Pulse

TIMING Output✽

1 2 3 4 5 6 7 8 9 10 1112

1 2

(Step) 0 1 2 3 4 5 6 7 8 9 0 1 2 10

ONOFFONOFFONOFF

Note:When power is turned ON, the excitation sequence is reset to step "0" and the "Excitation Timing" signal is output.

��

�

�

�

�

✽

�

Timing Chart

DATA2

The section indicates that the photocoupler diode is emitting light.

DATA1

Motor

Power Input

2-Pulse Input Mode

1-Pulse Input Mode


Pulse Input Signal



All Windings OffInput Signal

Step Angle Select Input Signal

ONOFF

ONOFF

ONOFF

ONOFF

ONOFF

ONOFF

ONOFF

CWCCW

0.5 s min. 10 �s min. 10 �s min.

10 �s min.

✽1 ✽1

✽1

✽2

✽3

✽45 s min.

300 �s min.

300 �s min.

1 Switching time to change direction (1-pulse input mode), and switching time to change CW, CCW pulse (2-pulse input mode) 10 µs 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.

�

✽

✽

✽

✽

Step

pin

g M

oto

rs


Adjusting the Current

Adjusting the Motor CurrentUse 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 settingsRunning current: Rated currentCurrent at motor standstill: Approx. 50% of rated current

Follow the procedure below to adjust the motor current.

Connecting an AmmeterConnect 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.

2

1

CN1

CN2

�24 VDCGND

12

11 1

0 9

8

7 6

5

4 3

2

1

C N3

Current Cutback Release SignalSW

5 VDC

Driver

5 4

3

2

1

5-Phase Stepping MotorBlueRed✽

OrangeGreenBlack✽

��

Note: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.

��

�

�✽

Adjusting the Motor Running CurrentTo 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:Be sure to use the motor at the rated current or below.Adjusting the running current will also change the current at standstill.

Adjusting the Current at Motor StandstillTo adjust the current at motor standstill, follow the procedure below:

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.)

Holding Torque[N�m]

Maximum Holding Torque [N�m]Current at Standstill [A]

Motor Rated Current [A]

Notes: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.Setting the current at motor standstill too low may affect the starting of the motor or the position-holding action.

�

��

�

�

�

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut



�



CRK523PMAPCRK523PMBPCRK524PMAPCRK524PMBPCRK525PMAPCRK525PMBP

PK523PMA✽

PK523PMB✽

PK524PMA✽

PK524PMB✽

PK525PMA✽

PK525PMB✽

CRD5103P

CRK544PMAPCRK544PMBPCRK546PMAPCRK546PMBP

PK544PMA✽

PK544PMB✽

PK546PMA✽

PK546PMB✽

CRD5107P

CRK564PMAPCRK564PMBPCRK566PMAPCRK566PMBPCRK569PMAPCRK569PMBP

PK564PMA✽

PK564PMB✽

PK566PMA✽

PK566PMB✽

PK569PMA✽

PK569PMB✽

CRD5114P

High-Torque Type

CRK513PAPCRK513PBP

PK513PA✽

PK513PB✽

CRD5103PCRK523PAPCRK523PBPCRK525PAPCRK525PBP

PK523PA✽

PK523PB✽

PK525PA✽

PK525PB✽

CRK544PAPCRK544PBPCRK546PAPCRK546PBP

PK544PA✽

PK544PB✽

PK546PA✽

PK546PB✽

CRD5107P

Standard Type

CRK543APCRK543BPCRK544APCRK544BP CRK545APCRK545BP

PK543NAWPK543NBWPK544NAWPK544NBWPK545NAWPK545NBW

CRK564APCRK564BPCRK566APCRK566BPCRK569APCRK569BP

PK564NAWPK564NBWPK566NAWPK566NBWPK569NAWPK569NBW

CRD5114P

TH Geared Type

CRK523PAP-T7.2CRK523PBP-T7.2CRK523PAP-T10CRK523PBP-T10CRK523PAP-T20CRK523PBP-T20CRK523PAP-T30CRK523PBP-T30

PK523PA-T7.2✽

PK523PB-T7.2✽

PK523PA-T10✽

PK523PB-T10✽

PK523PA-T20✽

PK523PB-T20✽

PK523PA-T30✽

PK523PB-T30✽

CRD5103P

CRK543AP-T3.6CRK543BP-T3.6CRK543AP-T7.2CRK543BP-T7.2CRK543AP-T10CRK543BP-T10CRK543AP-T20CRK543BP-T20CRK543AP-T30CRK543BP-T30

PK543AW-T3.6PK543BW-T3.6PK543AW-T7.2PK543BW-T7.2PK543AW-T10PK543BW-T10PK543AW-T20PK543BW-T20PK543AW-T30PK543BW-T30

CRD5107P

CRK564AP-T3.6CRK564BP-T3.6CRK564AP-T7.2CRK564BP-T7.2CRK564AP-T10CRK564BP-T10CRK564AP-T20CRK564BP-T20CRK564AP-T30CRK564BP-T30

PK564AW-T3.6PK564BW-T3.6PK564AW-T7.2PK564BW-T7.2PK564AW-T10PK564BW-T10PK564AW-T20PK564BW-T20PK564AW-T30PK564BW-T30

CRD5114P


PL Geared Type

CRK545AP-P5CRK545BP-P5CRK545AP-P7.2CRK545BP-P7.2CRK545AP-P10CRK545BP-P10CRK543AP-P25CRK543BP-P25CRK543AP-P36CRK543BP-P36CRK543AP-P50CRK543BP-P50

PK545AW-P5PK545BW-P5PK545AW-P7.2PK545BW-P7.2PK545AW-P10PK545BW-P10PK543AW-P25PK543BW-P25PK543AW-P36PK543BW-P36PK543AW-P50PK543BW-P50

CRD5107P

CRK566AP-P5CRK566BP-P5CRK566AP-P7.2CRK566BP-P7.2CRK566AP-P10CRK566BP-P10CRK564AP-P25CRK564BP-P25CRK564AP-P36CRK564BP-P36CRK564AP-P50CRK564BP-P50

PK566AW-P5PK566BW-P5PK566AW-P7.2PK566BW-P7.2PK566AW-P10PK566BW-P10PK564AW-P25PK564BW-P25PK564AW-P36PK564BW-P36PK564AW-P50PK564BW-P50

CRD5114P

PN Geared Type

CRK523PAP-N5CRK523PBP-N5CRK523PAP-N7.2CRK523PBP-N7.2CRK523PAP-N10CRK523PBP-N10

PK523PA-N5✽

PK523PB-N5✽

PK523PA-N7.2✽

PK523PB-N7.2✽

PK523PA-N10✽

PK523PB-N10✽

CRD5103P

CRK544AP-N5CRK544BP-N5CRK544AP-N7.2CRK544BP-N7.2CRK544AP-N10CRK544BP-N10

PK544AW-N5PK544BW-N5PK544AW-N7.2PK544BW-N7.2PK544AW-N10PK544BW-N10

CRD5107P

CRK566AP-N5CRK566BP-N5CRK566AP-N7.2CRK566BP-N7.2CRK566AP-N10CRK566BP-N10CRK564AP-N25CRK564BP-N25CRK564AP-N36CRK564BP-N36CRK564AP-N50CRK564BP-N50

PK566AW-N5PK566BW-N5PK566AW-N7.2PK566BW-N7.2PK566AW-N10PK566BW-N10PK564AW-N25PK564BW-N25PK564AW-N36PK564BW-N36PK564AW-N50PK564BW-N50

CRD5114P

Harmonic GearedType

CRK513PAP-H50CRK513PBP-H50CRK513PAP-H100CRK513PBP-H100

PK513PA-H50S✽

PK513PB-H50S✽

PK513PA-H100S✽

PK513PB-H100S✽

CRD5103P

CRK543AP-H50CRK543BP-H50CRK543AP-H100CRK543BP-H100

PK543AW-H50SPK543BW-H50SPK543AW-H100SPK543BW-H100S

CRD5107P

CRK564AP-H50CRK564BP-H50CRK564AP-H100CRK564BP-H100

PK564AW-H50SPK564BW-H50SPK564AW-H100SPK564BW-H100S

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

✽

Step

pin

g M

oto

rs


Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut

C-145


CMK Series

RoHS-Compliant


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

Achieving Low Vibration and Noise in the Microstep DriveThe 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 Resolution Step Angle1 200 1.8˚2 400 0.9˚4 800 0.45˚8 1600 0.225˚16 3200 0.1125˚

(At basic step angle 1.8˚/step)

3

2

1

00 120 240 360 480

Vibr

atio

n Co

mpo

nent

Vol

tage

Vp-

p [V

]

Speed [r/min]

CSK266-BT Full Step 1.8°/Step (Conventional Model)CMK266BP Resolution 16 0.1125°/Step (CMK Series)

Comparison of Vibration Characteristics

0Speed [r/min]

Nois

e [d

B]

21090 120 150 18060300

55

50

40

45

60Comparison of Noise CharacteristicsCSK266-BT Full Step 1.8°/Step (Conventional Model)CMK266BP Resolution 16 0.1125°/Step (CMK Series)

Full Range of Driver FunctionsFive preset step anglesOperating current can easily be set with a digital switch1-pulse/2-pulse input mode switchingPower LEDConnector with lock (by MOLEX)

��

�Easy-to-Install Heat Sink Shape

Horizontal Installation Vertical Installation

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.

�

33 mm

50.5 mm65 mm

Comparison with a conventional driver

�Mass: 62% less

(based on horizontal installation)�Install area: 41% less

(the conventional driver includes a 5 mm spacer for installation.)

�Volume: 41% less

Conventional Model (CSD2120-T) New Product (CMD21��P)

Mass: 130 g Mass: 50 g

ORIENTAL MOTOR GENERAL CATALOGUE

Step

pin

g M

oto

rs

Features C-146 / System Configuration C-148 / Product Line C-149C-146

Wide VarietyThe CMK Series motor and driver package comes in five frame sizes of 28 to 60 mm as well as four motor types.

High-TorqueType

High-ResolutionType

SH GearedType

Type Features �28 mm �35 mm �42 mm �50 mm �56.4/60 mm Driver

The high-torque motor realized higher torque of approx. 1.5 times compared with the conventional standard type motor.

The basic model offering a good balance of torque and low vibration/noise characteristics.

These geared types are effective for reduction, increasing torque, higher resolution and suppressing vibration. Eight gear ratios are available.

Standard Type

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.

�

High-Torque TypeThe 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.

0Speed [r/min]

Torq

ue [N

·m]

25002000150010005000

0.4

0.3

0.1

0.2

0.5

Comparison of Speed-Torque Characteristics

CMK244PBP(High-Torque Type)

CMK244BP(Standard Type)

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.

Standard TypeCMK264AP

0.36 N�m

High-Torque TypeCMK244PAP

0.39 N�m

TypeModel

Maximum Holding Torque

39

�56

.4

39

�42

The motor also adopts a connector coupling system for easy installation.

� High-Resolution TypeThe 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.

Rotor

Stator

Shaft

Rotor

Stator

Shaft

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

-0.3

0.1

0

0.2

0.3

-1.8 -0.9 0.9 1.8

TH1, TH2

TL

Torque [N·m]TL: Friction TorqueTH1,TH2: Maximum Holding Torque

-0.2

-TL


Standard Type

Angle [deg]

TH1: CMK244AP(Standard Type)

TH2: CMK244MAP(High-Resolution Type)

-0.1

�

RoHS-CompliantThe CMK Series conforms to the RoHS Directive that prohibits the use of six chemical substances including lead and cadmium.


�

�

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

aseS

tepp

ing

Mo

tors

5-Ph

aseS

tepp

ing

Mo

tors

Co

ntro

llersA

ccessories

Installatio

n

DC

Inp

ut



CMK Series (Body)


CMK Series (Body)


(Sold separately)


Motor Driver


�Driver Lead Wire Set(➜ Page C-257)

�Motor Lead Wire/Connector Assembly✽

(➜ Page C-255)

�Motor Connector Set(➜ Page C-255)



Driver Lead WireSet (0.6 m)

LCS01CMK2SG8030JY-U

Clean Damper

D4CL-5.0F

FlexibleCoupling

MCS140506

Motor Mounting BracketPAL0P

Controller

CMK244PBP


CMK Series


C-266C-248

C-258C-264C-257C-255C-255

�

�

�

�

�

�

�

Motor Mounting BracketsController

Flexible CouplingsClean DampersDriver Lead Wire SetMotor Lead Wire/Connector AssemblyMotor Connector Set

Dedicated mounting bracket for the motor.This controller outputs pulse commands that determine the rotating amount and rotating speed.

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).


(Not supplied)

(Not supplied)

24 VDC Power Supply

(Not supplied)

24 VDC Power Supply

✽Motor lead wire/connector assembly of 0.6 m is included with the motor and driver package of connector-coupled type.


�

�


Step

pin

g M

oto

rs


Product Line

High-Torque TypeModel (Single Shaft) Model (Double Shaft)

CMK223PAP CMK223PBPCMK224PAP CMK224PBPCMK225PAP CMK225PBPCMK233PAP CMK233PBPCMK235PAP CMK235PBPCMK244PAP CMK244PBPCMK246PAP CMK246PBP

Motor, Driver, Driver Connector, Motor Lead Wire/Connector Assembly, Operating Manual



CMK243AP CMK243BPCMK244AP CMK244BPCMK245AP CMK245BPCMK256AP CMK256BPCMK258AP CMK258BPCMK264AP CMK264BPCMK266AP CMK266BPCMK268AP CMK268BP

Motor, Driver, Driver Connector, Operating ManualThe following items are included in each product.

High-Resolution TypeModel (Single Shaft) Model (Double Shaft)

CMK243MAP CMK243MBPCMK244MAP CMK244MBPCMK245MAP CMK245MBPCMK264MAP CMK264MBPCMK266MAP CMK266MBPCMK268MAP CMK268MBP

Motor, Driver, Driver Connector, Motor Lead Wire/Connector Assembly, Operating Manual


��

�

�

SH Geared TypeModel (Single Shaft) Model (Double Shaft)

CMK223AP-SG7.2 CMK223BP-SG7.2CMK223AP-SG9 CMK223BP-SG9CMK223AP-SG10 CMK223BP-SG10CMK223AP-SG18 CMK223BP-SG18CMK223AP-SG36 CMK223BP-SG36CMK243AP-SG3.6 CMK243BP-SG3.6CMK243AP-SG7.2 CMK243BP-SG7.2CMK243AP-SG9 CMK243BP-SG9CMK243AP-SG10 CMK243BP-SG10CMK243AP-SG18 CMK243BP-SG18CMK243AP-SG36 CMK243BP-SG36CMK243AP-SG50 CMK243BP-SG50CMK243AP-SG100 CMK243BP-SG100CMK264AP-SG3.6 CMK264BP-SG3.6CMK264AP-SG7.2 CMK264BP-SG7.2CMK264AP-SG9 CMK264BP-SG9CMK264AP-SG10 CMK264BP-SG10CMK264AP-SG18 CMK264BP-SG18CMK264AP-SG36 CMK264BP-SG36CMK264AP-SG50 CMK264BP-SG50CMK264AP-SG100 CMK264BP-SG100

Motor, Driver, Driver Connector, Motor Lead Wire/Connector Assembly✽, Mounting Screws for Motor, Operating Manual

Only for connector-coupled motor✽


�

Product Number Code

High-Torque Type, Standard Type, High-Resolution Type

2 4 6 P A P� � � � � � �

SH Geared Type

2 6 4 A P 10SG-� � � � � � �

��

�

� Series CMK: CMK Series� 2: 2-Phase

�Motor Frame Size 2: 28 mm 3: 35 mm 4: 42 mm 5: 50 mm 6: 56.4 mm

� Motor Case Length

�Motor Type P: High-Torque Type Blank: Standard Type M: High-Resolution Type

� Shaft Type A: Single Shaft B: Double Shaft� Signal I/O Mode P: Photocoupler

� Series CMK: CMK Series� 2: 2-Phase� Motor Frame Size 2: 28 mm 4: 42 mm 6: 60 mm� Motor Case Length� Shaft Type A: Single Shaft B: Double Shaft� Signal I/O Mode P: Photocoupler� Gearhead Type SG: SH Geared Type Gear Ratio

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

aseS

tepp

ing

Mo

tors

5-Ph

aseS

tepp

ing

Mo

tors

Co

ntro

llersA

ccessories

Installatio

n

DC

Inp

ut


High-Torque Type Motor Frame Size 28 mm

Specifications

ModelSingle Shaft CMK223PAP✽ CMK224PAP✽ CMK225PAP✽

Double Shaft CMK223PBP✽ CMK224PBP✽ CMK225PBP✽



Mass Motor kg 0.11 0.14 0.2Driver kg 0.05

Dimension No.Motor �1Driver �10

How to read specifications table ➜ Page C-10Motor lead wire/connector assembly of 0.6 m is included with the motor and driver package of connector coupled type.

�

✽


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 100˚C.The driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately 40%.

�

��


CMK223PAP/CMK223PBP

0(0)

0

12(24)

8(16)

4(8)

0

1

2

450040003500300025002000150010005000

0.07

0.06

0.05

0.04

0.03

0.02

0.01

0.08

fs

Power Input: 24 VDC Current: 0.95 A/Phase (2 Phases ON)With Damper D4CL-5.0F: JL=34 10 7kg m2

Speed [r/min]

Torq

ue [N

·m]

Pulse Speed [kHz]


Curr

ent [

A]

Resolution 1 1.8˚/stepResolution 2 0.9˚/step


Pullout Torque

CMK225PAP/CMK225PBP

0(0)

0

12(24)

8(16)

4(8)

0

1

2

450040003500300025002000150010005000

0.12

0.10

0.08

0.06

0.04

0.02

0.14

fs


Speed [r/min]

Torq

ue [N

·m]

Pulse Speed [kHz]


Curr

ent [

A]



Pullout Torque

CMK224PAP/CMK224PBP

0(0)

0

12(24)

8(16)

4(8)

0

1

2

450040003500300025002000150010005000

0.10

0.08

0.06

0.04

0.02

0.12

fs


Speed [r/min]

Torq

ue [N

·m]

Pulse Speed [kHz]


Curr

ent [

A]Resolution 1 1.8˚/stepResolution 2 0.9˚/step


Pullout Torque

�


Step

pin

g M

oto

rs


High-Torque Type Motor Frame Size 35 mm, 42 mm

Specifications

ModelSingle Shaft CMK233PAP✽ CMK235PAP✽ CMK244PAP✽ CMK246PAP✽

Double Shaft CMK233PBP✽ CMK235PBP✽ CMK244PBP✽ CMK246PBP✽

Maximum Holding Torque N�m 0.16 0.3 0.39 0.75Rotor Inertia J: kg�m2 24�10-7 50�10-7 57�10-7 114�10-7


Mass Motor kg 0.18 0.285 0.3 0.5Driver kg 0.05

Dimension No.Motor �2 �3Driver �10

How to read specifications table ➜ Page C-10Motor lead wire/connector assembly of 0.6 m is included with the motor and driver package of connector coupled type.

�

✽


CMK233PAP/CMK233PBP

0(0)

0

6(12)

4(8)

2(4)

0

2

4

25002000150010005000

0.15

0.10

0.05

0.20

fs


Speed [r/min]

Torq

ue [N

·m]

Pulse Speed [kHz]


Curr

ent [

A]



Pullout Torque

CMK244PAP/CMK244PBP

0(0)

0

6(12)

4(8)

2(4)

0

1

2

25002000150010005000

0.4

0.3

0.2

0.1

0.5

fs


Speed [r/min]

Torq

ue [N

·m]

Pulse Speed [kHz]


Curr

ent [

A]



Pullout Torque

CMK235PAP/CMK235PBP

0(0)

0

6(12)

4(8)

2(4)

0

1

2

25002000150010005000

0.20

0.15

0.10

0.05

0.30

0.25

fs


Speed [r/min]

Torq

ue [N

·m]

Pulse Speed [kHz]


Curr

ent [

A]



Pullout Torque

CMK246PAP/CMK246PBP

0(0)

0

6(12)

4(8)

2(4)

0

2

4

2000150010005000

0.6

0.4

0.2

0.8

fs


Speed [r/min]

Torq

ue [N

·m]

Pulse Speed [kHz]


Curr

ent [

A]



Pullout Torque

�



�

��

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

aseS

tepp

ing

Mo

tors

5-Ph

aseS

tepp

ing

Mo

tors

Co

ntro

llersA

ccessories

Installatio

n

DC

Inp

ut



Specifications

ModelSingle Shaft CMK243AP CMK244AP CMK245AP CMK256AP CMK258APDouble Shaft CMK243BP CMK244BP CMK245BP CMK256BP CMK258BP

Maximum Holding Torque N�m 0.16 0.26 0.32 0.56 1.2Rotor Inertia J: kg�m2 35�10-7 54�10-7 68�10-7 230�10-7 420�10-7

Rated Current A/Phase 0.95 1.2 2Basic Step Angle 1.8˚Power Source 24 VDC�10% 1.5 A 24 VDC�10% 1.7 A 24 VDC�10% 2.9 AExcitation Mode Microstep

Mass Motor kg 0.21 0.27 0.35 0.53 0.89Driver kg 0.05



�



�

��


CMK243AP/CMK243BP

0(0)

0

8(16)

6(12)

4(8)

2(4)

0

1

2

25002000150010005000

0.20

0.15

0.10

0.05

0.25

fs


Speed [r/min]

Torq

ue [N

·m]

Pulse Speed [kHz]


Curr

ent [

A]



Pullout Torque

CMK245AP/CMK245BP

0(0)

0

8(16)

6(12)

4(8)

0

1

2

2(4)

25002000150010005000

0.30

0.20

0.10

0.05

0.40

0.25

0.15

0.35

fs


Speed [r/min]

Torq

ue [N

·m]

Pulse Speed [kHz]


Curr

ent [

A]



Pullout Torque

CMK258AP/CMK258BP

0(0)

0

6(12)

4(8)

2(4)

0

2

4

2000150010005000

0.9

1.2

0.6

0.3

1.5

fs


Speed [r/min]

Torq

ue [N

·m]

Pulse Speed [kHz]


Curr

ent [

A]



Pullout Torque

CMK244AP/CMK244BP

0(0)

0

4(8)

2(4)

0

1

2

6(12)

8(16)

25002000150010005000

0.25

0.15

0.10

0.05

0.35

0.20

0.30

fs


Speed [r/min]

Torq

ue [N

·m]

Pulse Speed [kHz]


Curr

ent [

A]



Pullout Torque

CMK256AP/CMK256BP

0(0)

0

6(12)

4(8)

2(4)

0

4

8

2000150010005000

0.6

0.4

0.2

0.8

fs


Speed [r/min]

Torq

ue [N

·m]

Pulse Speed [kHz]


Curr

ent [

A]



Pullout Torque

�


Step

pin

g M

oto

rs


Standard Type Motor Frame Size 56.4 mm

Specifications

ModelSingle Shaft CMK264AP CMK266AP CMK268APDouble Shaft CMK264BP CMK266BP CMK268BP


Rated Current A/Phase 2Basic Step Angle 1.8˚Power Source 24 VDC�10% 2.9 AExcitation Mode Microstep

Mass Motor kg 0.45 0.7 1Driver kg 0.05



�



�

��


CMK264AP/CMK264BP

0(0)

0

8(16)

6(12)

4(8)

0

2

4

2(4)

25002000150010005000

0.4

0.3

0.2

0.1

0.5

fs


Speed [r/min]

Torq

ue [N

·m]

Pulse Speed [kHz]


Curr

ent [

A]



Pullout Torque

CMK268AP/CMK268BP

00

2

4

2000150010005000

1.2

1.4

0.8

1.0

0.6

0.4

0.2

1.6

0(0)

6(12)

4(8)

2(4)

fs


Speed [r/min]

Torq

ue [N

·m]

Pulse Speed [kHz]


Curr

ent [

A]



Pullout Torque

CMK266AP/CMK266BP

0(0)

0

8(16)

4(8)

2(4)

0

2

4

6(12)

25002000150010005000

1.0

0.8

0.6

0.4

0.2

1.2

fs


Speed [r/min]

Torq

ue [N

·m]

Pulse Speed [kHz]


Curr

ent [

A]



Pullout Torque

�

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

aseS

tepp

ing

Mo

tors

5-Ph

aseS

tepp

ing

Mo

tors

Co

ntro

llersA

ccessories

Installatio

n

DC

Inp

ut


High-Resolution Type Motor Frame Size 42 mm, 56.4 mm

Specifications

ModelSingle Shaft CMK243MAP CMK244MAP CMK245MAP CMK264MAP CMK266MAP CMK268MAPDouble Shaft CMK243MBP CMK244MBP CMK245MBP CMK264MBP CMK266MBP CMK268MBP


Rated Current A/Phase 0.95 1.2 2Basic Step Angle 0.9˚Power Source 24 VDC�10% 1.5 A 24 VDC�10% 1.7 A 24 VDC�10% 2.9 AExcitation Mode Microstep

Mass Motor kg 0.24 0.3 0.37 0.45 0.7 1Driver kg 0.05



�



�

��


CMK243MAP/CMK243MBP

0(0)

0

15(30)

10(20)

5(10)

0

1

2

25002000150010005000

0.20

0.15

0.10

0.05

0.25

fs


Speed [r/min]

Torq

ue [N

·m]

Pulse Speed [kHz]


Curr

ent [

A]



Pullout Torque

CMK245MAP/CMK245MBP

0(0)

0

15(30)

10(20)

5(10)

0

1

2

25002000150010005000

0.35

0.15

0.10

0.05

0.30

0.25

0.20

0.40

fs


Speed [r/min]

Torq

ue [N

·m]

Pulse Speed [kHz]


Curr

ent [

A]



Pullout Torque

CMK266MAP/CMK266MBP

0(0)

0

15(30)

10(20)

5(10)

0

2

4

25002000150010005000

1.0

0.8

0.6

0.4

0.2

1.2

fs


Speed [r/min]

Torq

ue [N

·m]

Pulse Speed [kHz]


Curr

ent [

A]



Pullout Torque

CMK244MAP/CMK244MBP

0(0)

0

15(30)

10(20)

5(10)

0

1

2

25002000150010005000

0.30

0.25

0.20

0.15

0.10

0.05

0.35

fs


Speed [r/min]

Torq

ue [N

·m]

Pulse Speed [kHz]


Curr

ent [

A]



Pullout Torque

CMK264MAP/CMK264MBP

0(0)

0

15(30)

10(20)

5(10)

0

2

4

25002000150010005000

0.4

0.3

0.2

0.1

0.5

fs


Speed [r/min]

Torq

ue [N

·m]

Pulse Speed [kHz]


Curr

ent [

A]



Pullout Torque

CMK268MAP/CMK268MBP

00

2

4

2000150010005000

1.2

0.8

0.4

1.0

0.6

0.2

1.6

1.4

0(0)

10(20)

5(10)

fs


Speed [r/min]

Torq

ue [N

·m]

Pulse Speed [kHz]


Curr

ent [

A]



Pullout Torque

�


Step

pin

g M

oto

rs


SH Geared Type Motor Frame Size 28 mm

Specifications

ModelSingle Shaft CMK223AP-SG7.2✽ CMK223AP-SG9✽ CMK223AP-SG10✽ CMK223AP-SG18✽ CMK223AP-SG36✽

Double Shaft CMK223BP-SG7.2✽ CMK223BP-SG9✽ CMK223BP-SG10✽ CMK223BP-SG18✽ CMK223BP-SG36✽

Maximum Holding Torque N�m 0.3 0.4Rotor Inertia J: kg�m2 9�10-7

Rated Current A/Phase 0.95Basic Step Angle 0.25˚ 0.2˚ 0.18˚ 0.1˚ 0.05˚Gear Ratio 1: 7.2 1: 9 1: 10 1: 18 1: 36Permissible Torque N�m 0.3 0.4Permissible Speed Range r/min 0�250 0�200 0�180 0�100 0�50Power Source 24 VDC�10% 1.5 AExcitation Mode Microstep



How to read specifications table ➜ Page C-10Motor lead wire/connector assembly of 0.6 m is included with the motor and driver package of connector coupled type.Backlash value is approximately 1 to 2˚.

Note: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.

�

✽

�

�



�

�

�


CMK223AP-SG7.2/CMK223BP-SG7.2

100 150500 300200 2500

0.2

0.1

0.3

0.4

0.5

0.6

0

1

0.5

1.5

0(0)

6(12)

4(8)

2(4)

fs


Speed [r/min]

Torq

ue [N

·m]

Pulse Speed [kHz]


Curr

ent [

A]



Permissible Torque

CMK223AP-SG10/CMK223BP-SG10

100 150500 2000

0.2

0.1

0.3

0.4

0.5

0.6

0

1

0.5

1.5

0(0)

2(4)

4(8)

6(12)

fs

Speed [r/min]

Torq

ue [N

·m]

Pulse Speed [kHz]


Curr

ent [

A]



Permissible Torque



20 30100 6040 500

0.2

0.1

0.3

0.4

0.5

0.6

0

1

0.5

1.5

0(0)

6(12)

4(8)

2(4)

fs


Speed [r/min]

Torq

ue [N

·m]

Pulse Speed [kHz]


Curr

ent [

A]



Permissible Torque


100 150500 200 2500

0.2

0.1

0.3

0.4

0.5

0.6

0

1

0.5

1.5

0(0)

2(4)

4(8)

6(12)

fs


Speed [r/min]

Torq

ue [N

·m]

Pulse Speed [kHz]


Curr

ent [

A]



Permissible Torque


40 60200 12080 1000

0.2

0.1

0.3

0.4

0.5

0.6

0

1

0.5

1.5

0(0)

6(12)

4(8)

2(4)

fs


Speed [r/min]

Torq

ue [N

·m]

Pulse Speed [kHz]


Curr

ent [

A]



Permissible Torque

�

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

aseS

tepp

ing

Mo

tors

5-Ph

aseS

tepp

ing

Mo

tors

Co

ntro

llersA

ccessories

Installatio

n

DC

Inp

ut



Specifications

ModelSingle Shaft CMK243AP-SG3.6 CMK243AP-SG7.2 CMK243AP-SG9 CMK243AP-SG10Double Shaft CMK243BP-SG3.6 CMK243BP-SG7.2 CMK243BP-SG9 CMK243BP-SG10


Rated Current A/Phase 0.95Basic Step Angle 0.5˚ 0.25˚ 0.2˚ 0.18˚Gear Ratio 1: 3.6 1: 7.2 1: 9 1: 10Permissible Torque N�m 0.2 0.4 0.5 0.56Permissible Speed Range r/min 0�500 0�250 0�200 0�180Power Source 24 VDC�10% 1.5 AExcitation Mode Microstep



ModelSingle Shaft CMK243AP-SG18 CMK243AP-SG36 CMK243AP-SG50 CMK243AP-SG100Double Shaft CMK243BP-SG18 CMK243BP-SG36 CMK243BP-SG50 CMK243BP-SG100

Maximum Holding Torque N�m 0.8Rotor Inertia J: kg�m2 35�10-7

Rated Current A/Phase 0.95Basic Step Angle 0.1˚ 0.05˚ 0.036˚ 0.018˚Gear Ratio 1: 18 1: 36 1: 50 1: 100Permissible Torque N�m 0.8Permissible Speed Range r/min 0�100 0�50 0�36 0�18Power Source 24 VDC�10% 1.5 AExcitation Mode Microstep



How to read specifications table ➜ Page C-10Backlash value is approximately 1 to 2˚.

Note: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.

�

�

�


Step

pin

g M

oto

rs




�

��



200 3001000 600400 5000

0.2

0.4

0.6

0.8

1.0

0

1

2

0(0)

6(12)

4(8)

2(4)

fs

Power Input: 24 VDC Current: 0.95 A/Phase (2 Phases ON)With Damper D4CL-5.0F: JL�34�10�7kg�m2

Speed [r/min]

Torq

ue [N

·m]

Pulse Speed [kHz]


Curr

ent [

A]

Resolution 1 0.5°/stepResolution 2 0.25°/step


Permissible Torque


100 150500 2502000

0.2

0.4

0.6

0.8

1.0

0

1

2

0(0)

2(4)

4(8)

6(12)

fs


Speed [r/min]

Torq

ue [N

·m]

Pulse Speed [kHz]


Curr

ent [

A]



Permissible Torque


40 60200 12080 1000

0.2

0.4

0.6

0.8

1.0

0

1

2

0(0)

6(12)

4(8)

2(4)

fs

Power Input: 24 VDC Current: 0.95 A/Phase (2 Phases ON)With Damper D4CL-5.0F: JL=34×10―7kg･m2

Speed [r/min]

Torq

ue [N

·m]

Pulse Speed [kHz]


Curr

ent [

A]



Permissible Torque


20 30100 400

0.2

0.4

0.6

0.8

1.0

0

1

2

3

0(0)

2(4)

4(8)

6(12)

fs


Speed [r/min]

Torq

ue [N

·m]

Pulse Speed [kHz]


Curr

ent [

A]



Permissible Torque


100 150500 300200 2500

0.2

0.4

0.6

0.8

1.0

0

1

2

0(0)

6(12)

4(8)

2(4)

fs

Power Input: 24 VDC Current: 0.95 A/Phase (2 Phases ON)With Damper D4CL-5.0F: JL=34 10 7kg�m2

Speed [r/min]

Torq

ue [N

·m]

Pulse Speed [kHz]


Curr

ent [

A]



Permissible Torque


100 150500 2000

0.2

0.4

0.6

0.8

1.0

0

1

2

0(0)

2(4)

4(8)

6(12)

fs


Speed [r/min]To

rque

[N·m

]

Pulse Speed [kHz]


Curr

ent [

A]



Permissible Torque


20 30100 6040 500

0.2

0.4

0.6

0.8

1.0

0

1

2

0(0)

6(12)

4(8)

2(4)

fs

Speed [r/min]

Torq

ue [N

·m]

Pulse Speed [kHz]


Curr

ent [

A]



Permissible Torque



10 1550 200

0.2

0.4

0.6

0.8

1.0

0

1

2

3

0(0)

2(4)

4(8)

6(12)

fs


Speed [r/min]

Torq

ue [N

·m]

Pulse Speed [kHz]


Curr

ent [

A]



Permissible Torque

�

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

aseS

tepp

ing

Mo

tors

5-Ph

aseS

tepp

ing

Mo

tors

Co

ntro

llersA

ccessories

Installatio

n

DC

Inp

ut



Specifications

ModelSingle Shaft CMK264AP-SG3.6 CMK264AP-SG7.2 CMK264AP-SG9 CMK264AP-SG10Double Shaft CMK264BP-SG3.6 CMK264BP-SG7.2 CMK264BP-SG9 CMK264BP-SG10

Maximum Holding Torque N�m 1 2 2.5 2.7Rotor Inertia J: kg�m2 120�10-7

Rated Current A/Phase 2Basic Step Angle 0.5˚ 0.25˚ 0.2˚ 0.18˚Gear Ratio 1: 3.6 1: 7.2 1: 9 1: 10Permissible Torque N�m 1 2 2.5 2.7Permissible Speed Range r/min 0�500 0�250 0�200 0�180Power Source 24 VDC�10% 2.9 AExcitation Mode Microstep



ModelSingle Shaft CMK264AP-SG18 CMK264AP-SG36 CMK264AP-SG50 CMK264AP-SG100Double Shaft CMK264BP-SG18 CMK264BP-SG36 CMK264BP-SG50 CMK264BP-SG100

Maximum Holding Torque N�m 3 4Rotor Inertia J: kg�m2 120�10-7

Rated Current A/Phase 2Basic Step Angle 0.1˚ 0.05˚ 0.036˚ 0.018˚Gear Ratio 1: 18 1: 36 1: 50 1: 100Permissible Torque N�m 3 4Permissible Speed Range r/min 0�100 0�50 0�36 0�18Power Source 24 VDC�10% 2.9 AExcitation Mode Microstep




Note: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.

�

�

�


Step

pin

g M

oto

rs




�

��



200 3001000 600400 5000

1

2

3

4

5

0

4

8

0(0)

6(12)

4(8)

2(4)

fs


Speed [r/min]

Torq

ue [N

·m]

Pulse Speed [kHz]


Curr

ent [

A]



Permissible Torque


100 150500 2502000

1

2

3

4

5

0

2

4

6

0(0)

6(12)

4(8)

2(4)

fs


Speed [r/min]

Torq

ue [N

·m]

Pulse Speed [kHz]


Curr

ent [

A]



Permissible Torque


40 60200 12080 1000

1

2

3

4

5

0

2

4

6

0(0)

2(4)

4(8)

6(12)

fs


Speed [r/min]

Torq

ue [N

·m]

Pulse Speed [kHz]


Curr

ent [

A]



Permissible Torque


20 30100 400

1

2

3

4

5

0

1

2

3

0(0)

2(4)

4(8)

6(12)

fs


Speed [r/min]

Torq

ue [N

·m]

Pulse Speed [kHz]


Curr

ent [

A]



Permissible Torque


100 150500 300200 2500

1

2

3

4

5

0

2

4

6

0(0)

6(12)

4(8)

2(4)

fs


Speed [r/min]

Torq

ue [N

·m]

Pulse Speed [kHz]


Curr

ent [

A]



Permissible Torque


100 150500 2000

1

2

3

4

5

0

2

4

6

0(0)

2(4)

4(8)

6(12)

fs


Speed [r/min]To

rque

[N·m

]

Pulse Speed [kHz]


Curr

ent [

A]



Permissible Torque


20 30100 6040 500

1

2

3

4

5

0

1

2

3

0(0)

2(4)

4(8)

6(12)

許容トルク

ドライバ入力電流

fs


Speed [r/min]

Torq

ue [N

·m]

Pulse Speed [kHz]


Curr

ent [

A]



Permissible Torque


10 1550 25200

1

2

3

4

5

0

1

2

3

0(0)

2(4)

4(8)

6(12)

fs


Speed [r/min]

Torq

ue [N

·m]

Pulse Speed [kHz]


Curr

ent [

A]



Permissible Torque

�

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

aseS

tepp

ing

Mo

tors

5-Ph

aseS

tepp

ing

Mo

tors

Co

ntro

llersA

ccessories

Installatio

n

DC

Inp

ut



Input Signal

Input Mode

Photocoupler inputPulse (CW pulse) signal/Rotation direction (CCW pulse) signal: Input resistance 200 �, Input current 5�20 mAPhotocoupler 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 inputPulse 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 inputPulse 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%)

All Windings Off SignalWhen 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.

Step Angle Select SignalWhen 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.

Automatic Current Cutback Release Signal

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).

Output Signal

Output Mode 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 typeExample) 0.9˚/step (resolution 1): signal output every 4 pulses 0.225˚/step (resolution 4): signal output every 16 pulsesSH 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

•

•

•

Function Automatic current cutback, Step angle select, Pulse input mode switch, All windings off, Excitation timing Cooling Method Natural ventilation


Insulation Class Class B (130˚C) �


�

Dielectric Strength

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

�10��50˚C (non-freezing) 0��40˚C (non-freezing)

Ambient Humidity

85% or less (non-condensing)

Atmosphere No corrosive gases, dust, water or oil

Temperature RiseTemperature rise of windings are 80˚C or less measured by the resistance change method (at rated voltage, at standstill, two phases energized)

�

Stop Position Accuracy✽1 �3 arc minutes (�0.05˚) �Shaft Runout 0.05 T.I.R. (mm)✽4 �Radial Play✽2 0.025 mm maximum of 5 N �Axial Play✽3 0.075 mm maximum of 10 N �Concentricity 0.075 T.I.R. (mm)✽4 �Perpendicularity 0.075 T.I.R. (mm)✽4 �

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:


�

�

✽

✽

✽

✽

�

A

A0.075

A�0.075◎

0.05


Step

pin

g M

oto

rs



Type ModelPermissible Overhung Load

Distance from Shaft End (mm) Permissible Thrust Load

0 5 10 15 20

High-Torque Type

CMK223P�PCMK224P�PCMK225P�P

25 34 52 � �


CMK233P�PCMK235P�P 20 25 34 52 �

CMK244P�PCMK246P�P 20 25 34 52 �

Standard Type

CMK243�PCMK244�PCMK245�P

20 25 34 52 �

CMK256�PCMK258�P 54 67 89 130 �

CMK264�PCMK266�PCMK268�P

54 67 89 130 �


CMK243M�PCMK244M�PCMK245M�P

20 25 34 52 �

CMK264M�PCMK266M�PCMK268M�P

54 67 89 130 �

SH Geared Type

CMK223�P-SG7.2CMK223�P-SG9CMK223�P-SG10CMK223�P-SG18CMK223�P-SG36

15 17 20 23 � 10

CMK243�P-SG3.6CMK243�P-SG7.2CMK243�P-SG9CMK243�P-SG10CMK243�P-SG18CMK243�P-SG36CMK243�P-SG50CMK243�P-SG100

10 15 20 30 � 15

CMK264�P-SG3.6CMK264�P-SG7.2CMK264�P-SG9CMK264�P-SG10

30 40 50 60 70

30CMK264�P-SG18CMK264�P-SG36CMK264�P-SG50CMK264�P-SG100

80 100 120 140 160


�

�

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

aseS

tepp

ing

Mo

tors

5-Ph

aseS

tepp

ing

Mo

tors

Co

ntro

llersA

ccessories

Installatio

n

DC

Inp

ut



Motor

High-Torque Type


CMK223PAP PK223PA32

�0.11

CMK223PBP PK223PB 42

CMK224PAP PK224PA40

�0.14


CMK225PAP PK225PA51.5

�0.2

CMK225PBP PK225PB 61.5

Motor lead wire/connector assembly (0.6 m) is included with the package. UL Style 3265, AWG24If 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


��

�


CMK233PAP PK233PA37

�0.18


CMK235PAP PK235PA52

�0.285




�


CMK244PAP PK244PA39

�0.3


CMK246PAP PK246PA59

�0.5




�


L1✽10�1

L2

1.5

15�1

10�0.25

4.5�

0.15

4.5�

0.15

5

9.5

4�M2.5�2.5 Deep

28

23�

0.2

23�0.2

16.56 1

�5�

0.01

2(h7

)0

�5�

0.01

2(h7

)0

�22

�0.

033(

h8)

0

28


4�M3�4.5 Deep

29�0.2

35

29�

0.2

236 1

4.5�

0.15

20�1

15�0.25

1.5

✽15�14.

5�0.

15

17.5

9

L2L1

�5�

0.01

2(h7

)0

�5�

0.01

2(h7

)0

�22

�0.

033(

h8)

0

35


6 1

4�M3�4.5 Deep

4.5�

0.15

42

✽15�1

20�1

15�0.25

4.5�

0.15

1.5

9

23

31�

0.2

31�0.2

15

L2L1

�5�

0.01

2(h7

)0

�5�

0.01

2(h7

)0

�22

�0.

033(

h8)

0

42



Step

pin

g M

oto

rs


Standard Type, High-Resolution Type


CMK243AP PK243-01A

33�

0.21

CMK243MAP PK243MA 0.24

CMK243BP PK243-01B48

0.21

CMK243MBP PK243MB 0.24

CMK244AP PK244-01A

39�

0.27



0.27


CMK245AP PK245-01A

47�

0.35



0.35


�

Standard Type


CMK256AP PK256-02A51.5

�0.53

CMK256BP PK256-02B 67.5

CMK258AP PK258-02A81

�0.89

CMK258BP PK258-02B 97

�


�6 �56.4 mmModel Motor Model L1 L2 Mass (kg)

CMK264AP PK264-02A

39�

0.45CMK264MAP PK264MACMK264BP PK264-02B

55CMK264MBP PK264MBCMK266AP PK266-02A

54�


70CMK266MBP PK266MBCMK268AP PK268-02A

76�


92CMK268MBP PK268MB

�




2

4.5�

0.15

4231�0.2

31�

0.2

✽15�1 L1L2 20�1

15�0.25

4.5�

0.15

�5�

0.01

2(h7

)0

�5�

0.01

2(h7

)0

�22

�0.

033(

h8)

0

42


4��4.5 Thru

50

41�

0.35

31 max. 8 m

ax.

41�0.35


L15 1.5

15�0.25

16�1

15�0.25

5.8�

0.15

5.8�

0.15

20�1L2

10.1

8 max.

�6.

35�

0.01

20

�6.

35�

0.01

20

�36

�0.

039(

h8)

0

50UL Style 3265, AWG22

L15 1.6

47.1

4�0.

35

16�1

15�0.25

20�1L2

5.8�

0.15

�6.

35�

0.01

20

5.8�

0.15

�6.

35�

0.01

20

�38

.1�0.0

3

47.14�0.35

56.4

15�0.25

56.4

4��4.5 Thru

6 Motor Leads 300 mm Length

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

aseS

tepp

ing

Mo

tors

5-Ph

aseS

tepp

ing

Mo

tors

Co

ntro

llersA

ccessories

Installatio

n

DC

Inp

ut


SH Geared Type


CMK223AP-SG� PK223PA-SG�7.2, 9, 10, 18, 36 0.16

CMK223BP-SG� PK223PB-SG�



Screws (Included)M2.5 Length 8 mm ··· 4 PiecesApplicable ConnectorConnector housing: 51065-0600 (MOLEX)Contact: 50212-8100 (MOLEX)Crimp tool: 57176-5000 (MOLEX)

�

�

�

�


CMK243AP-SG� PK243A1-SG� 3.6, 7.2, 9, 10, 18, 36, 50, 100 0.35

CMK243BP-SG� PK243B1-SG�


Screws (Included)M3 Length 10 mm ··· 4 Pieces

�

�


CMK264AP-SG� PK264A2-SG� 3.6, 7.2, 9, 10, 18, 36, 50, 100 0.75

CMK264BP-SG� PK264B2-SG�



�

�


220�1

4.512

6�0.

5

✽10�1

4.5�

0.15

9.5

5868

�11

16

23�

0.2

23�0.2

28

5

16.5

4�M2.5�4 Deep

�5�

0.01

2(h7

)0

�5�

0.01

2(h7

)0

28


42


4�M3�7 Deep6 Motor Leads 300 mm Length

�18

4.5

8

31�

0.2

31�0.2312

20�174✽15�1 59

4.5�

0.15

�5�

0.01

2(h7

)0

�5�

0.01

2(h7

)0

42



4�M4�8 Deep


79

�24

10�

0.5

123

5.8�

0.15

16�1

15�0.25

7

32�195

70�0.5

60

�56

.4

�6.

35�

0.01

20

�8�

0.01

5(h7

)0

60


Step

pin

g M

oto

rs


Driver �10 Driver Model: CMD2109P, CMD2112P, CMD2120PMass: 0.05 kg

6.8

32.4

20.5

5

28.2

5

17.55

50.5

33

13

6.5

59

3.52�R1.75

273.

511

.5

65

17.4

7.4 2�R1.75

16

1

112

2

Connector Housing (Included)51103-0200 (MOLEX)51103-1200 (MOLEX)51103-0600 (MOLEX)Contact (Included)50351-8100 (MOLEX)

Note: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

�

�

�

�

Step

ping

Mo

tors

Intro d

uction

AS

ASC

5-Phase

RK

5-Phase

CRK

AC

Input

AC

Input

DC

Input

2-Phase

CMK

2-Phase

CSK

2-Phase

Step

ping

Mo

tors

5-Phase

Step

ping

Mo

tors

Co

ntrollers

Accesso

riesInstallatio

n

DC

Input




Motor Connector

Power Input Connector

c x z

v

��

�1 Power Input DisplayColor Function When ActivatedGreen Power supply indication Lights when power is on.


RUN Motor run current switchFor adjusting the motor running current

STOPMotor stop current potentiometer

For adjusting the current at motor standstill

�3 Function Select SwitchIndication Switch Name Function

1 Pulse input mode switchSwitches between 1-pulse input and 2-pulse input.

2, 3, 4 Step angle setting switchThese switches can be set to the desired resolution from the five resolution levels.

Step Angle Setting SwitchSW-2 SW-3 SW-4 Microstep/Step Resolution Step Angle

OFF OFF OFF 1 200 1.8˚

OFF OFF ON 2 400 0.9˚

OFF ON OFF 4 800 0.45˚

OFF ON ON 8 1600 0.225˚

ON OFF OFF 16 3200 0.1125˚

Notes: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.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˚.With the high-resolution type, the basic step angle and resolution are 0.9˚, 400 (microstep/step: 1).The step angle set with the step angle setting switches will become effective when the "Step Angle Select" (CS) signal input is OFF.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.

�

�

�

�

�

�

�4 Input/Output Signal

Indication Input/Output

Pin No. Signal Name Function

CN2

Input signal

1Pulse signal(CW pulse signal)

Operation command pulse signal (The motor will rotate in the CW direction when in 2-pulse input mode.) 2

3 Rotation direction signal(CCW pulse signal)

Rotation direction signal Photocoupler OFF: CCW, Photocoupler ON: CW(The motor will rotate in the CCW direction when in 2-pulse input mode.)

4

5All windings off signal

Cuts the output current to the motor and allows the motor shafts to be rotated by external force.6

7Step angle select signal

The motor will operate at the basic step angle regardless of the settings of the step angle setting switches. 8

9 Automatic current cutback release signal

This signal is used to disable the automatic current cutback function.

10

Output signal

11Excitation timing signal

Outputs signals when the excitation sequence is at STEP "0."

12


Step

ping

Mo

tors


Connection Diagrams

0 V


CN2

Blue

White

Red

Black

Yellow

Green

CN3

CN1

GND

Twisted-Pair WirePulse Signal(CW Pulse Signal)


Excitation Timing Signal Output Signal


Step Angle Select Signal

Current Cutback Release Signal

DriverController

2

1

4

3

6

5

8

7

10

9

11

21

5

6

4

3

2

1

Input Signals

1224 VDC�10%

R1

R2

R1

0 V

Vo (5 to 24 VDC)

Vo (5 to 24 VDC)

�


Photocoupler OFF ON

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.

Pulse (CW) and Rotation Direction (CCW) Input Signal


Pin No.1, 3

Pin No.2, 4

VO

0 V

R1

Controller

Driver


200 Ω

520 mA


90%10%

CCW CWON

OFF

ON



�

�

��

2-Pulse Input Mode

ON

OFF

ON

OFF

✽1

✽2

90%10%CW Pulse

CCW Pulse


10 �s min.5 �smin.

5 �smin.



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.

Pulse Signal CharacteristicsKeep the "Pulse" signal at the "photocoupler OFF" state when no pulses are being input.In 1-pulse input mode, leave the "Pulse" signal at rest ("OFF") when changing rotation directions.In 2-pulse input mode, do not input a CW pulse and CCW pulse simultaneously.

�

✽

✽

��

�

�

Input Signal ConnectionPulse (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.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.

Output Signal ConnectionUse 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.


Motor does not rotate properly at high-speed.Slow motor startup and stopping

Notes on WiringUse twisted-pair wires of AWG24 to 22 (0.2 to 0.3 mm2) and 2 m or less in length for the signal lines.Note that as the length of the pulse signal line increases, the maximum transmission frequency decreases. Technical reference ➜ Page F-46Use 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.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.If noise generated by the motor cable or power supply cable causes a problem, try shielding the cables or insert ferrite cores.Incorrect connection of DC power input will lead to driver (circuit) damage. Make sure that the polarity is correct before turning power on.

��

�

�

�

��

��

�

�

�

�

�

Step

ping

Mo

tors

Intro d

uction

AS

ASC

5-Phase

RK

5-Phase

CRK

AC

Input

AC

Input

DC

Input

2-Phase

CMK

2-Phase

CSK

2-Phase

Step

ping

Mo

tors

5-Phase

Step

ping

Mo

tors

Co

ntrollers

Accesso

riesInstallatio

n

DC

Input


All Windings Off (AWO)/Step Angle Select (CS)/Automatic Current Cutback Release (ACDOFF) Input Signal


Pin No.5, 7, 9

Pin No.6, 8, 10

524 VDC

Controller Open-Collector Output

0 V

3.3 kΩ

1 8 mA

Driver

All Windings Off (AWO) Input Signal Inputting this signal puts the motor in a non-excitation (free) state.This signal is used when moving the motor by external force or perform positioning manually. The photocoupler must be "OFF" when operating the motor.

ONOFF ON

OFFON

Release


Motor Current



Switching 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.

Step Angle Select (CS) Input SignalWhen 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.To 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

When 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).The photocoupler must be "OFF" when the motor is operating.

�

��

�

�

��

�

�

�

�

Excitation Timing (TIM) Output Signal


VO

Pin No.11

Pin No.12

Controller


0 V

Driver

10 mA max.

R2

The "Excitation Timing" signal is output to indicate when the motor excitation is in the initial stage (step "0" at power up).The "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.

Timing chart at 1.8˚/step (microstep/step 1)When connected as shown in the sample connection, the signal will be "photocoupler ON" at step "0."

CW Pulse

CCW Pulse

TIM Output✽

1 2 3 4 5 6 7 8 9 10 11

1 2 3

(Step) 0 1 2 3 0 1 2 3 0 1 2 3 2 1 0

ONOFFONOFFONOFF

Notes:When power is turned on, the excitation sequence is reset to step "0" and the "Excitation Timing" signal will be output.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

ping

Mo

tors


Timing Chart


Motor

Power Input

2-Pulse Input Mode

1-Pulse Input Mode


Pulse Input Signal



All Windings OFFInput Signal

ONOFF

ONOFF

ONOFF

ONOFF

ONOFF

ONOFF

CWCCW

0.5 s min. 10 �s min. 10 �s min.

10 �s min.

✽1 ✽1

✽1

✽2

✽3

✽45 s min.

300 �s min.

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.

�

✽

✽

✽

✽


�


High-Torque Type

CMK223PAPCMK223PBPCMK224PAPCMK224PBPCMK225PAPCMK225PBP

PK223PA✽

PK223PB✽

PK224PA✽

PK224PB✽

PK225PA✽

PK225PB✽

CMD2109P

CMK233PAPCMK233PBPCMK235PAPCMK235PBPCMK244PAPCMK244PBPCMK246PAPCMK246PBP

PK233PA✽

PK233PB✽

PK235PA✽

PK235PB✽

PK244PA✽

PK244PB✽

PK246PA✽

PK246PB✽

CMD2112P

Standard Type

CMK243APCMK243BP

PK243-01APK243-01B CMD2109P

CMK244APCMK244BPCMK245APCMK245BP

PK244-01APK244-01BPK245-01APK245-01B

CMD2112P

CMK256APCMK256BPCMK258APCMK258BPCMK264APCMK264BPCMK266APCMK266BPCMK268APCMK268BP

PK256-02APK256-02BPK258-02APK258-02BPK264-02APK264-02BPK266-02APK266-02BPK268-02APK268-02B

CMD2120P


CMK243MAPCMK243MBP

PK243MAPK243MB CMD2109P

CMK244MAPCMK244MBPCMK245MAPCMK245MBP

PK244MAPK244MBPK245MAPK245MB

CMD2112P

CMK264MAPCMK264MBPCMK266MAPCMK266MBPCMK268MAPCMK268MBP

PK264MAPK264MBPK266MAPK266MBPK268MAPK268MB

CMD2120P


SH Geared Type

CMK223AP-SG7.2CMK223BP-SG7.2CMK223AP-SG9CMK223BP-SG9CMK223AP-SG10CMK223BP-SG10CMK223AP-SG18CMK223BP-SG18CMK223AP-SG36CMK223BP-SG36CMK243AP-SG3.6CMK243BP-SG3.6CMK243AP-SG7.2CMK243BP-SG7.2CMK243AP-SG9CMK243BP-SG9CMK243AP-SG10CMK243BP-SG10CMK243AP-SG18CMK243BP-SG18CMK243AP-SG36CMK243BP-SG36CMK243AP-SG50CMK243BP-SG50CMK243AP-SG100CMK243BP-SG100

PK223PA-SG7.2✽

PK223PB-SG7.2✽

PK223PA-SG9✽

PK223PB-SG9✽

PK223PA-SG10✽

PK223PB-SG10✽

PK223PA-SG18✽

PK223PB-SG18✽

PK223PA-SG36✽

PK223PB-SG36✽

PK243A1-SG3.6PK243B1-SG3.6PK243A1-SG7.2PK243B1-SG7.2PK243A1-SG9PK243B1-SG9PK243A1-SG10PK243B1-SG10PK243A1-SG18PK243B1-SG18PK243A1-SG36PK243B1-SG36PK243A1-SG50PK243B1-SG50PK243A1-SG100PK243B1-SG100

CMD2109P

CMK264AP-SG3.6CMK264BP-SG3.6CMK264AP-SG7.2CMK264BP-SG7.2CMK264AP-SG9CMK264BP-SG9CMK264AP-SG10CMK264BP-SG10CMK264AP-SG18CMK264BP-SG18CMK264AP-SG36CMK264BP-SG36CMK264AP-SG50CMK264BP-SG50CMK264AP-SG100CMK264BP-SG100

PK264A2-SG3.6PK264B2-SG3.6PK264A2-SG7.2PK264B2-SG7.2PK264A2-SG9PK264B2-SG9PK264A2-SG10PK264B2-SG10PK264A2-SG18PK264B2-SG18PK264A2-SG36PK264B2-SG36PK264A2-SG50PK264B2-SG50PK264A2-SG100PK264B2-SG100

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

✽

Step

ping

Mo

tors

Intro d

uction

AS

ASC

5-Phase

RK

5-Phase

CRK

AC

Input

AC

Input

DC

Input

2-Phase

CMK

2-Phase

CSK

2-Phase

Step

ping

Mo

tors

5-Phase

Step

ping

Mo

tors

Co

ntrollers

Accesso

riesInstallatio

n

DC

Input


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

Wide Variety of MotorsIn addition to the standard type, we offer high-resolution type, and SH geared type.

�56.4 mm

Standard Type

�42 mm

SH Geared Type

�42 mm


�42 mm

�56.4 mm

�60 mm

��

Standard TypeBasic model of the CSK SeriesStandard type offers balanced performance enhanced by high torque, low vibration and low noise.


CSK Series

RoHS-Compliant


RoHS-CompliantThe CSK Series conforms to the RoHS Directive that prohibits the use of six chemical substances including lead and cadmium.


�

�

Geared stepping motorThese geared types are effective for reduction, increasing torque, higher resolution and suppressing vibration. Six different gear ratios are available.

High accuracy of basic step angle 0.9˚/stepThe 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.

0.9˚

400 pulses/rotation


Step

ping

Mo

tors



CSK Series (Body)



(Sold separately)


Motor Driver




SG8030JY-U

Clean Damper

D6CL-6.3F

FlexibleCoupling

MCS2006F04


PAL2P-2

Controller

CSK266-BT


CSK Series

No. Product Name Overview PageC-248C-266C-258C-264

��

�

�

Motor Mounting BracketsFlexible CouplingsClean Dampers

Dedicated mounting bracket for the motor.Controller This controller outputs pulse commands that determine the rotating amount and rotating speed.

Coupling that connects the motor shaft to the driven shaft.Dedicated damper for suppressing stepping motor vibration.

(Not supplied)

24 VDC Power Supply


(Not supplied)

(Not supplied)

24/36 VDCPower Supply


�

�

Step

ping

Mo

tors

Intro d

uction

AS

ASC

5-Phase

RK

5-Phase

CRK

AC

Input

AC

Input

DC

Input

2-Phase

CMK

2-Phase

CSK

2-Phase

Step

ping

Mo

tors

5-Phase

Step

ping

Mo

tors

Co

ntrollers

Accesso

riesInstallatio

n

DC

Input


Product Number Code

Standard Type

CSK 2 6 6 - A T� � � � ��

� Series CSK: CSK Series� 2: 2-Phase� Motor Frame Size 4: 42 mm 6: 56.4 mm� Motor Case Length� Shaft Type A: Single Shaft B: Double Shaft� T: Terminal Blocks


CSK 2 6 6 M A T� � � � � ��

� Series CSK: CSK Series� 2: 2-Phase� Motor Frame Size 4: 42 mm 6: 56.4 mm� Motor Case Length� Motor Type M: High-Resolution Type� Shaft Type A: Single Shaft B: Double Shaft� T: Terminal Blocks

SH Geared Type

CSK 2 6 4 A T - SG 10� � � � � � �

� Series CSK: CSK Series� 2: 2-Phase� Motor Frame Size 4: 42 mm 6: 60 mm� Motor Case Length� Shaft Type A: Single Shaft B: Double Shaft� T: Terminal Blocks� Gearhead Type SG: SH Geared Type Gear Ratio

��

�

�


Step

ping

Mo

tors


Product Line


CSK243-AT CSK243-BTCSK244-AT CSK244-BTCSK245-AT CSK245-BTCSK264-AT CSK264-BTCSK266-AT CSK266-BTCSK268-AT CSK268-BT

High-Resolution TypeModel (Single Shaft) Model (Double Shaft)

CSK243MAT CSK243MBTCSK244MAT CSK244MBTCSK245MAT CSK245MBTCSK264MAT CSK264MBTCSK266MAT CSK266MBTCSK268MAT CSK268MBT

SH Geared TypeModel (Single Shaft) Model (Double Shaft)

CSK243AT-SG3.6 CSK243BT-SG3.6CSK243AT-SG7.2 CSK243BT-SG7.2CSK243AT-SG9 CSK243BT-SG9CSK243AT-SG10 CSK243BT-SG10CSK243AT-SG18 CSK243BT-SG18CSK243AT-SG36 CSK243BT-SG36CSK264AT-SG3.6 CSK264BT-SG3.6CSK264AT-SG7.2 CSK264BT-SG7.2CSK264AT-SG9 CSK264BT-SG9CSK264AT-SG10 CSK264BT-SG10CSK264AT-SG18 CSK264BT-SG18CSK264AT-SG36 CSK264BT-SG36

��

�

�

Motor, Driver, Operating ManualThe following items are included in each product.

Motor, Driver, Operating ManualThe following items are included in each product.

Motor, Driver, Mounting Screws for Motor, Operating Manual


Step

ping

Mo

tors

Intro d

uction

AS

ASC

5-Phase

RK

5-Phase

CRK

AC

Input

AC

Input

DC

Input

2-Phase

CMK

2-Phase

CSK

2-Phase

Step

ping

Mo

tors

5-Phase

Step

ping

Mo

tors

Co

ntrollers

Accesso

riesInstallatio

n

DC

Input


Standard Type Motor Frame Size 42 mm, 56.4 mm

Specifications

ModelSingle Shaft CSK243-AT CSK244-AT CSK245-AT CSK264-AT CSK266-AT CSK268-ATDouble Shaft CSK243-BT CSK244-BT CSK245-BT CSK264-BT CSK266-BT CSK268-BT


Rated Current A/Phase 0.95 1.2 2Basic Step Angle 1.8˚

Power Source24 VDC�10% 1.4 A36 VDC�10% 1.4 A

24 VDC�10% 1.6 A36 VDC�10% 1.6 A

24 VDC�10% 2.8 A36 VDC�10% 2.8 A

Excitation Mode Full step: 1.8˚/step / Half step: 0.9˚/step

Mass Motor kg 0.21 0.27 0.35 0.45 0.7 1.0Driver kg 0.13



�

CSK243-AT/CSK243-BT

Pulse Speed [kHz]

0(0)

8(16)

4(8)

6(12)

2(4)

Full Step(Half Step)

500 1000 1500 2000 2500Speed [r/min]

Torq

ue [N

�m]

Curr

ent [

A]

0

0.05

0.10

0.15

0.20

0.25

0

3

2

1

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˚/stepHalf Step 0.9˚/step

fs

Pullout Torque


CSK244-AT/CSK244-BT

0(0)

8(16)

4(8)

6(12)

2(4)


500 1000 1500 2000 25000

0.15

0.10

0.05

0.20

0.25

0.30

0.35

0

4

3

2

1

Pulse Speed [kHz]

Speed [r/min]

Torq

ue [N

�m]

Curr

ent [

A]


fs


Pullout Torque


CSK245-AT/CSK245-BT

0(0)

8(16)

4(8)

6(12)

2(4)


500 1000 1500 2000 25000

0.15

0.10

0.05

0.20

0.25

0.30

0.40

0.35

0

4

3

2

1

Pulse Speed [kHz]

Speed [r/min]To

rque

[N�m

]

Curr

ent [

A]


fs


Pullout Torque


CSK264-AT/CSK264-BT

0(0)

8(16)

4(8)

6(12)

2(4)


500 1000 1500 2000 2500

Torq

ue [N

�m]

Curr

ent [

A]

0

0.1

0.2

0.3

0.4

0.5

0

6

4

2


Pulse Speed [kHz]

Speed [r/min]

fs


Pullout Torque


CSK266-AT/CSK266-BT

0(0)

8(16)

4(8)

6(12)

2(4)


500 1000 1500 2000 2500

Torq

ue [N

�m]

Curr

ent [

A]

0

0.2

0.4

0.6

0.8

1.0

1.2

0

6

4

2

Pulse Speed [kHz]

Speed [r/min]


fs


Pullout Torque


CSK268-AT/CSK268-BT

0(0)

4(8)

6(12)

2(4)


500 1000 1500 2000

Torq

ue [N

�m]

Curr

ent [

A]

0

0.6

0.4

0.2

0.8

1.0

1.2

1.6

1.4

0

8

6

4

2

Pulse Speed [kHz]

Speed [r/min]


fs


Pullout Torque




�

��


24 VDC

��


Step

ping

Mo

tors


CSK243-AT/CSK243-BT

0(0)

8(16)

4(8)

6(12)

2(4)


500 1000 1500 2000 25000

0.05

0.10

0.15

0.20

0.25

0

3

2

1

Pulse Speed [kHz]

Speed [r/min]

Torq

ue [N

�m]


Curr

ent [

A]

fs

Pullout Torque



CSK244-AT/CSK244-BT

0(0)

8(16)

4(8)

6(12)

2(4)


500 1000 1500 2000 25000

0.15

0.10

0.05

0.20

0.25

0.30

0.35

0

4

3

2

1


Pulse Speed [kHz]

Speed [r/min]

Torq

ue [N

�m]

Curr

ent [

A]

fs

Pullout Torque



CSK245-AT/CSK245-BT

0(0)

8(16)

4(8)

6(12)

2(4)


500 1000 1500 2000 2500

Curr

ent [

A]

0

0.15

0.10

0.05

0.20

0.25

0.30

0.40

0.35

0

4

3

2

1


Pulse Speed [kHz]

Speed [r/min]

Torq

ue [N

�m]

fs

Pullout Torque



CSK264-AT/CSK264-BT

0(0)

8(16)

4(8)

6(12)

2(4)


500 1000 1500 2000 2500

Torq

ue [N

�m]

Curr

ent [

A]

0

0.1

0.2

0.3

0.4

0.5

0

6

4

2

Pulse Speed [kHz]

Speed [r/min]


fs


Pullout Torque


CSK266-AT/CSK266-BT

0(0)

8(16)

4(8)

6(12)

2(4)


500 1000 1500 2000 2500

Torq

ue [N

�m]

Curr

ent [

A]

0

0.2

0.4

0.6

0.8

1.0

1.2

0

6

4

2

Pulse Speed [kHz]

Speed [r/min]


fs


Pullout Torque


CSK268-AT/CSK268-BT

0(0)

8(16)

4(8)

6(12)

2(4)


500 1000 1500 2000 25000

0.6

0.4

0.2

0.8

1.0

1.2

1.6

1.4

0

8

6

4

2

Torq

ue [N

�m]

Curr

ent [

A]

Pulse Speed [kHz]

Speed [r/min]


fs


Pullout Torque




�

��

36 VDC�

Step

ping

Mo

tors

Intro d

uction

AS

ASC

5-Phase

RK

5-Phase

CRK

AC

Input

AC

Input

DC

Input

2-Phase

CMK

2-Phase

CSK

2-Phase

Step

ping

Mo

tors

5-Phase

Step

ping

Mo

tors

Co

ntrollers

Accesso

riesInstallatio

n

DC

Input


High-Resolution Type Motor Frame Size 42 mm, 56.4 mm

Specifications

ModelSingle Shaft CSK243MAT CSK244MAT CSK245MAT CSK264MAT CSK266MAT CSK268MATDouble Shaft CSK243MBT CSK244MBT CSK245MBT CSK264MBT CSK266MBT CSK268MBT


Rated Current A/Phase 0.95 1.2 2Basic Step Angle 0.9˚

Power Source24 VDC�10% 1.4 A36 VDC�10% 1.4 A

24 VDC�10% 1.6 A36 VDC�10% 1.6 A

24 VDC�10% 2.8 A36 VDC�10% 2.8 A

Excitation Mode Full step: 0.9˚/step / Half step: 0.45˚/step

Mass Motor kg 0.24 0.3 0.37 0.45 0.7 1.0Driver kg 0.13




24 VDC

�

��

CSK243MAT/CSK243MBT

0(0)

15(30)

10(20)

5(10)


500 1000 1500 2000 25000

0.05

0.10

0.15

0.20

0.25

0

3

2

1

Pulse Speed [kHz]

Speed [r/min]

Torq

ue [N

�m]

Curr

ent [

A]


fs


Pullout Torque


CSK244MAT/CSK244MBT

500 1000 1500 2000 25000

0.15

0.10

0.05

0.20

0.25

0.30

0.35

0

4

3

2

1

0(0)

15(30)

10(20)

5(10)


Pulse Speed [kHz]

Speed [r/min]

Torq

ue [N

�m]

Curr

ent [

A]


fs


Pullout Torque


CSK245MAT/CSK245MBT

500 1000 1500 2000 25000

0.15

0.10

0.05

0.20

0.25

0.30

0.40

0.35

0

4

3

2

1

0(0)

15(30)

10(20)

5(10)



Pulse Speed [kHz]

Speed [r/min]To

rque

[N�m

]

Curr

ent [

A]fs


Pullout Torque


CSK264MAT/CSK264MBT

0(0)

15(30)

10(20)

5(10)


500 1000 1500 2000 2500

Torq

ue [N

�m]

Curr

ent [

A]

0

0.1

0.2

0.3

0.4

0.5

0

6

4

2


Pulse Speed [kHz]

Speed [r/min]

fs


Pullout Torque


CSK266MAT/CSK266MBT

0(0)

15(30)

10(20)

5(10)


500 1000 1500 2000 25000

0.2

0.4

0.6

0.8

1.0

1.2

0

6

4

2

Torq

ue [N

�m]

Curr

ent [

A]


Pulse Speed [kHz]

Speed [r/min]


fs


Pullout Torque

CSK268MAT/CSK268MBT

0

0.6

0.4

0.2

0.8

1.0

1.2

1.6

1.4

0

8

6

4

2

500 1000 1500 2000

0(0)

10(20)

5(10)


Torq

ue [N

�m]

Curr

ent [

A]


Pulse Speed [kHz]

Speed [r/min]


fs


Pullout Torque



�

��


Step

ping

Mo

tors


CSK243MAT/CSK243MBT

0(0)

15(30)

10(20)

5(10)


500 1000 1500 2000 25000

0.05

0.10

0.15

0.20

0.25

0

3

2

1

Pulse Speed [kHz]

Speed [r/min]

Torq

ue [N

�m]

Curr

ent [

A]


fs


Pullout Torque


CSK244MAT/CSK244MBT

500 1000 1500 2000 25000

0.15

0.10

0.05

0.20

0.25

0.30

0.35

0

4

3

2

1

0(0)

15(30)

10(20)

5(10)



Pulse Speed [kHz]

Speed [r/min]

Torq

ue [N

�m]

Curr

ent [

A]

fs


Pullout Torque


CSK245MAT/CSK245MBT

500 1000 1500 2000 25000

0.15

0.10

0.05

0.20

0.25

0.30

0.40

0.35

0

4

3

2

1

0(0)

15(30)

10(20)

5(10)



Pulse Speed [kHz]

Speed [r/min]

Torq

ue [N

�m]

Curr

ent [

A]

fs


Pullout Torque


CSK264MAT/CSK264MBT

0(0)

15(30)

10(20)

5(10)


500 1000 1500 2000 25000

0.1

0.2

0.3

0.4

0.5

0

6

4

2

Torq

ue [N

�m]

Curr

ent [

A]


Pulse Speed [kHz]

Speed [r/min]

fs


Pullout Torque


CSK266MAT/CSK266MBT

0(0)

15(30)

10(20)

5(10)


500 1000 1500 2000 25000

0.2

0.4

0.6

0.8

1.0

1.2

0

6

4

2

Torq

ue [N

�m]

Curr

ent [

A]


Pulse Speed [kHz]

Speed [r/min]

fs


Pullout Torque


CSK268MAT/CSK268MBT

500 1000 1500 20000

0.6

0.4

0.2

0.8

1.0

1.2

1.6

1.4

0

4

3

2

1

0(0)

10(20)

5(10)


Torq

ue [N

�m]

Curr

ent [

A]

Pulse Speed [kHz]

Speed [r/min]


fs



Pullout Torque



�

��

36 VDC�

Step

ping

Mo

tors

Intro d

uction

AS

ASC

5-Phase

RK

5-Phase

CRK

AC

Input

AC

Input

DC

Input

2-Phase

CMK

2-Phase

CSK

2-Phase

Step

ping

Mo

tors

5-Phase

Step

ping

Mo

tors

Co

ntrollers

Accesso

riesInstallatio

n

DC

Input


CSK243AT-SG3.6/CSK243BT-SG3.6

Pulse Speed [kHz]

0(0)

6(12)

4(8)

2(4)


100 300200 500 600400Speed [r/min]

Torq

ue [N

�m]

Curr

ent [

A]

0

1.0

0.8

0.6

0.4

0.2

0

3

1

2

Power Input: 24/36 VDC Current: 0.95 A/Phase (2 Phases ON)With Damper D4CL-5.0F: JL=34�10�7 kg�m2

Permissible Torque

fsDriver Input Current

24 VDC36 VDC



0(0)

6(12)

4(8)

2(4)


100 3002000

1.0

0.8

0.6

0.4

0.2

0

3

1

2

Pulse Speed [kHz]

Speed [r/min]

Torq

ue [N

�m]

Curr

ent [

A]


fs

Permissible Torque


24 VDC36 VDC


CSK243AT-SG9/CSK243BT-SG9

0(0)

6(12)

4(8)

2(4)


100 2000

1.0

0.8

0.6

0.4

0.2

0

3

1

2

Pulse Speed [kHz]

Speed [r/min]

Torq

ue [N

�m]


Curr

ent [

A]

fs

Permissible Torque


24 VDC36 VDC



0(0)

6(12)

4(8)

2(4)


10050 150 2000

1.0

0.8

0.6

0.4

0.2

0

3

1

2

Pulse Speed [kHz]

Speed [r/min]

Torq

ue [N

�m]

Curr

ent [

A]


fs

Permissible Torque


24 VDC36 VDC



0(0)

6(12)

4(8)

2(4)


10025 7550 1250

1.0

0.8

0.6

0.4

0.2

0

3

1

2

Pulse Speed [kHz]

Speed [r/min]

Torq

ue [N

�m]

Curr

ent [

A]


fs

Permissible Torque


24 VDC36 VDC



0(0)

6(12)

4(8)

2(4)


5010 403020 600

1.0

0.8

0.6

0.4

0.2

0

3

1

2


Pulse Speed [kHz]

Speed [r/min]

Torq

ue [N

�m]

Curr

ent [

A]

fs

Permissible Torque


24 VDC36 VDC



Specifications

ModelSingle Shaft CSK243AT-SG3.6 CSK243AT-SG7.2 CSK243AT-SG9 CSK243AT-SG10 CSK243AT-SG18 CSK243AT-SG36Double Shaft CSK243BT-SG3.6 CSK243BT-SG7.2 CSK243BT-SG9 CSK243BT-SG10 CSK243BT-SG18 CSK243BT-SG36

Maximum Holding Torque N�m 0.2 0.4 0.5 0.56 0.8Rotor Inertia J: kg�m2 35�10-7

Rated Current A/Phase 0.95Basic Step Angle 0.5˚ 0.25˚ 0.2˚ 0.18˚ 0.1˚ 0.05˚Gear Ratio 1: 3.6 1: 7.2 1: 9 1: 10 1: 18 1: 36Permissible Torque N�m 0.2 0.4 0.5 0.56 0.8Permissible Speed Range r/min 0�500 0�250 0�200 0�180 0�100 0�50Power Source 24 VDC�10% 1.4 A, 36 VDC�10% 1.4 A

Excitation ModeFull Step 0.5˚/step 0.25˚/step 0.2˚/step 0.18˚/step 0.1˚/step 0.05˚/stepHalf Step 0.25˚/step 0.125˚/step 0.1˚/step 0.09˚/step 0.05˚/step 0.025˚/step




Note: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.


�

�

�

�



�

��


Step

ping

Mo

tors



0(0)

6(12)

4(8)

2(4)


100 200 300 400 500 600

Torq

ue [N

�m]

Curr

ent [

A]

0

5

4

3

2

1

0

8

4

Pulse Speed [kHz]

Speed [r/min]


fs

Permissible Torque


24 VDC36 VDC



0(0)

6(12)

4(8)

2(4)


50 100 150 200 250 3000

5

4

3

2

1

0

6

2

4 Torq

ue [N

�m]

Curr

ent [

A]

Pulse Speed [kHz]

Speed [r/min]


fs

Permissible Torque


24 VDC36 VDC



0(0)

6(12)

4(8)

2(4)


50 100 150 200 2500

5

4

3

2

1

0

6

2

4 Torq

ue [N

�m]

Curr

ent [

A]

Pulse Speed [kHz]

Speed [r/min]


fs

Permissible Torque


24 VDC36 VDC



0(0)

6(12)

4(8)

2(4)


50 100 150 2000

5

4

3

2

1

0

6

2

4 Torq

ue [N

�m]

Curr

ent [

A]

Pulse Speed [kHz]

Speed [r/min]


fs

Permissible Torque


24 VDC36 VDC



0(0)

6(12)

4(8)

2(4)


25 50 75 100 1250

5

4

3

2

1

0

6

2

4 Torq

ue [N

�m]

Curr

ent [

A]

Pulse Speed [kHz]

Speed [r/min]


fs

Permissible Torque


24 VDC36 VDC



0(0)

6(12)

4(8)

2(4)


10 20 30 5040 600

5

4

3

2

1

0

3

1

2 Torq

ue [N

�m]

Curr

ent [

A]

Pulse Speed [kHz]

Speed [r/min]


fs

Permissible Torque


24 VDC36 VDC



Specifications

ModelSingle Shaft CSK264AT-SG3.6 CSK264AT-SG7.2 CSK264AT-SG9 CSK264AT-SG10 CSK264AT-SG18 CSK264AT-SG36Double Shaft CSK264BT-SG3.6 CSK264BT-SG7.2 CSK264BT-SG9 CSK264BT-SG10 CSK264BT-SG18 CSK264BT-SG36

Maximum Holding Torque N�m 1 2 2.5 2.7 3 4Rotor Inertia J: kg�m2 120�10-7

Rated Current A/Phase 2Basic Step Angle 0.5˚ 0.25˚ 0.2˚ 0.18˚ 0.1˚ 0.05˚Gear Ratio 1: 3.6 1: 7.2 1: 9 1: 10 1: 18 1: 36Permissible Torque N�m 1 2 2.5 2.7 3 4Permissible Speed Range r/min 0�500 0�250 0�200 0�180 0�100 0�50Power Source 24 VDC�10% 2.8 A, 36 VDC�10% 2.8 A

Excitation ModeFull Step 0.5˚/step 0.25˚/step 0.2˚/step 0.18˚/step 0.1˚/step 0.05˚/stepHalf Step 0.25˚/step 0.125˚/step 0.1˚/step 0.09˚/step 0.05˚/step 0.025˚/step




Note: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.


�

�

�

�



�

��

Step

ping

Mo

tors

Intro d

uction

AS

ASC

5-Phase

RK

5-Phase

CRK

AC

Input

AC

Input

DC

Input

2-Phase

CMK

2-Phase

CSK

2-Phase

Step

ping

Mo

tors

5-Phase

Step

ping

Mo

tors

Co

ntrollers

Accesso

riesInstallatio

n

DC

Input


Driver SpecificationsDriver Model CSD2109-T CSD2112-T CSD2120-T

InputSignal

Input ModePhotocoupler input, Input resistance 220 �, Input current 10�20 mAPhotocoupler ON: �4�5 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 inputPulse width 5 µs minimum, Pulse rise/fall 2 µs 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(CCW Signal)

Rotation direction signal Photocoupler ON: CW, Photocoupler OFF: CCW CCW direction operation command pulse signal when in 2-pulse input mode Negative logic pulse inputPulse 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.

OutputSignal

Output Mode 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 pulsesHigh-resolution type

0.9˚/step (full step): signal output every 4 pulses 0.45˚/step (half step): signal output every 8 pulsesSH 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

•

•

•

Function Automatic current cutback, Setting current monitor output, Step angle select, Pulse input mode switch, Power supply voltage selectCooling Method Natural ventilation


Insulation Class Class B (130˚C) �


�

Dielectric StrengthSufficient 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)

�

Operating Environment (In operation)Ambient Temperature �10��50˚C (non-freezing) 0��40˚C (non-freezing)Ambient Humidity 85% or less (non-condensing)Atmosphere No corrosive gases, dust, water or oil

Temperature RiseTemperature rise of windings are 80˚C or less measured by the resistance change method (at rated voltage, at standstill, two phases energized)

�

Stop Position Accuracy✽1 �3 arc minutes (�0.05˚) �Shaft Runout 0.05 T.I.R. (mm)✽4 �Radial Play✽2 0.025 mm maximum of 5 N �Axial Play✽3 0.075 mm maximum of 10 N �Concentricity 0.075 T.I.R. (mm)✽4 �Perpendicularity 0.075 T.I.R. (mm)✽4 �

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.


�

�

✽

✽

✽

✽

�A

A0.075

A�0.075

0.05



Distance from Shaft End (mm) Permissible Thrust Load0 5 10 15 20

Standard Type

CSK243-�TCSK244-�TCSK245-�T

�

20 25 34 52 �


CSK264-�TCSK266-�TCSK268-�T

54 67 89 130 �


CSK243M�TCSK244M�TCSK245M�T

20 25 34 52 �

CSK264M�TCSK266M�TCSK268M�T

54 67 89 130 �

SH Geared TypeCSK243�T-SG��

3.6, 7.2, 9, 10, 18, 36 10 15 20 30 � 15

CSK264�T-SG��3.6, 7.2, 9, 10 30 40 50 60 70

3018, 36 80 100 120 140 160

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.

�

�

Common to Each Type


Step

ping

Mo

tors





CSK243-AT PK243-01A

33�

0.21

CSK243MAT PK243MA 0.24

CSK243-BT PK243-01B48

0.21

CSK243MBT PK243MB 0.24

CSK244-AT PK244-01A

39�

0.27


CSK244-BT PK244-01B54

0.27


CSK245-AT PK245-01A

47�

0.35


CSK245-BT PK245-01B62

0.35


��



2

4.5�

0.15

4231�0.2

31�

0.2

✽15�1 L1L2 20�1

15�0.25

4.5�

0.15

�5�

0.01

2(h7

)0

�5�

0.01

2(h7

)0

�22

�0.

033(

h8)

0

42



�2 �56.4 mmModel Motor Model L1 L2 Mass (kg)

CSK264-AT PK264-02A

39�

0.45CSK264MAT PK264MACSK264-BT PK264-02B

55CSK264MBT PK264MBCSK266-AT PK266-02A

54�


70CSK266MBT PK266MBCSK268-AT PK268-02A

76�


92CSK268MBT PK268MB

�


L15 1.6

47.1

4�0.

35

16�1

15�0.25

20�1L2

5.8�

0.15

�6.

35�

0.01

20

5.8�

0.15

�6.

35�

0.01

20

�38

.1�0.0

3

47.14�0.35

56.4

15�0.25

56.4

4��4.5 Thru


SH Geared Type


CSK243AT-SG� PK243A1-SG� 3.6, 7.2, 9, 10, 18, 36 0.35

CSK243BT-SG� PK243B1-SG�



�

�

�

42



�18

4.5

8

31�

0.2

31�0.2312

20�174✽15�1 59

4.5�

0.15

�5�

0.01

2(h7

)0

�5�

0.01

2(h7

)0

42



CSK264AT-SG� PK264A2-SG� 3.6, 7.2, 9, 10, 18, 36 0.75

CSK264BT-SG� PK264B2-SG�



�

�


4�M4�8 Deep


79

�24

10�

0.5

123

5.8�

0.15

16�1

15�0.25

7

32�195

70�0.5

60

�56

.4

�6.

35�

0.01

20

�8�

0.01

5(h7

)0

60


Step

ping

Mo

tors

Intro d

uction

AS

ASC

5-Phase

RK

5-Phase

CRK

AC

Input

AC

Input

DC

Input

2-Phase

CMK

2-Phase

CSK

2-Phase

Step

ping

Mo

tors

5-Phase

Step

ping

Mo

tors

Co

ntrollers

Accesso

riesInstallatio

n

DC

Input




Motor Terminal Blocks

41

3

2

�1 Signal Monitor DisplayIndication Color NamePOWER Green Power input display

�2 Current Adjustment PotentiometerIndication Potentiometer Name Function

RUNVR

Motor run current potentiometer

For adjusting the motor running current

STOPVR

Motor stop current potentiometer

For adjusting the current at motor standstill

��

�3 Function Select SwitchIndication Switch Name Function

ACDAutomatic current cutback function switch

Enables or disables automatic current cutback function.

F/HStep angle select switch

Switches the motor's step angle.F (Full Step): 1.8˚/stepH (Half Step): 0.9˚/step(F: 0.9˚/step, H: 0.45˚/step for high-resolution type)

1P/2PPulse input mode switch

Switches between 1-pulse input and 2-pulse input.

24/36VPower supply voltage select switch

Changes power supply voltage.For 24 VDC and 36 VDC

�4 Input/Output Signal

IndicationInput/Output

Signal Name Function

�POWER Power supply input

Power� 24/36 V

�POWER GND GND

�TIMING Output signal

Excitation timing signal

Outputs signals when the excitation sequence is at STEP "0."�TIMING

�C.OFF

Input signal

All windings off signal

Cuts the output current to the motor and allows the motor shafts to be rotated by external force.�C.OFF

�DIR./CCW Rotation direction signal(CCW 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.) �DIR./CCW

�PLS/CW Pulse signal(CW pulse signal)

Operation command pulse signal (The motor will rotate in the CW direction when in 2-pulse input mode.) �PLS/CW

Driver

�5 Driver Model: CSD2109-T, CSD2112-T, CSD2120-TMass: 0.13 kg

4��3.2 Thru

4�M3�5 Deep

20 43.577

1255 66

3

71 3

72

328

16.7

75

22.8

638

.147

.255

10.1

HEATSINK

�


Step

ping

Mo

tors


Connection Diagrams

Twisted-Pair Wire

TB2Driver

Controller

YellowWhiteBlackGreenRedBlue

GND

24/36 VDC


V0 (�5 to 24 VDC)0 V

0 V�

�Pulse Signal(CW Pulse Signal)R1

�

�Rotation Direction Signal(CCW Pulse Signal)R1

�

�All Windings Off SignalR1

V0 (�5 to 24 VDC)

�

�

�

�


R2

�

�

� Input Signal ConnectionSignals 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.

Output Signal ConnectionUse 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.


Motor does not rotate properly at high-speed.Slow motor startup and stopping

Notes on WiringUse twisted-pair wires of AWG24 to 20 (0.2 to 0.5 mm2) and 2 m or less in length for the signal lines.Note that as the length of the pulse signal line increases, the maximum transmission frequency decreases. Technical reference ➜ Page F-46Use wires of AWG22 to 18 (0.3 to 0.75 mm2) or thicker for power supply lines. 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. If noise generated by the motor cable or power supply cable causes a problem, try shielding the cables or insert ferrite cores. Incorrect connection of DC power input will lead to driver (circuit) damage. Make sure that the polarity is correct before turning power on.

�

�

�

��

��

�

��

�

�

Timing Chart


Motor

Power Input

2-Pulse Input Mode

1-Pulse Input Mode


Pulse Input Signal



All Windings OffInput Signal

ONOFF

ONOFF

ONOFF

ONOFF

ONOFF

ONOFF

CWCCW

0.5 s min. 100 �s min. 100 �s min.

100 �s min.

✽1 ✽1

✽1

✽2

✽3

✽45 s min.

300 �s min.

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 µs 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.

�

✽

✽

✽

✽

Step

ping

Mo

tors

Intro d

uction

AS

ASC

5-Phase

RK

5-Phase

CRK

AC

Input

AC

Input

DC

Input

2-Phase

CMK

2-Phase

CSK

2-Phase

Step

ping

Mo

tors

5-Phase

Step

ping

Mo

tors

Co

ntrollers

Accesso

riesInstallatio

n

DC

Input



Photocoupler OFF ON


Input (Output) "ON" indicates that the current is sent intothe photocoupler (transistor) inside the driver. Input(Output) "OFF" indicates that the current is not sent into thephotocoupler (transistor) inside the driver. The input/outputremains "OFF" if nothing is connected.

Pulse (CW) and Rotation Direction (CCW)/All Windings Off (C.OFF) Input Signal


VO

0 V

R1

Controller

Driver


220 Ω

1020 mA

Pulse Waveform Characteristics90%

10%ON

OFF

ON

OFF

Pulse Input Signal


5 �s min. 50 �s min.


100 �s min. 100 �s min.

✽1

✽2

✽3


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 µs. This value varies greatly depending on the motor type and load inertia.

Pulse Signal CharacteristicsKeep the "Pulse" signal at the "OFF" state when no pulses are being input.In 1-pulse input mode, leave the "Pulse" signal at rest ("OFF") when changing rotation directions. In 2-pulse input mode, do not input a CW pulse and CCW pulse simultaneously.

�

�

�

✽

✽

✽

��

�

�

All Windings Off (C.OFF) Input SignalInputting this signal puts the motor in a non-excitation (free) state. This signal is used when moving the motor by external force or perform positioning manually. The photocoupler must be "OFF" when operating the motor. Switching 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.

Excitation Timing (TIMING) Output Signal


VO

Controller


0 V

Driver

10 mA max.

R2

The "Excitation Timing" signal is output to indicate when the motor excitation is in the initial stage (step "0" at power up). The "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˚/stepWhen connected as shown in the sample connection, the signal will be "photocoupler ON" at step "0."

(Step)

1 2 3 4 5 6 7 8 9 1011 121314

0 1 2 3 0 1 2 3 0 1 2 3 2 1 0

CW CCW

Pulse Input

Rotation Direction Input

Timing Output✽

Note: When power is turned on, the excitation sequence is reset to step "0" and the "Excitation Timing" signal will be output.

��

�

�

�

�

�

✽

�


Step

ping

Mo

tors


Adjusting the Current

When Setting with an AmmeterConnect the driver, motor and DC ammeter.


TB2Yellow

White

Black

Green

Red

Blue

When Setting with a TesterConnect the driver and motor.


Green

Black

Blue

Red

Yellow

White

TB2

Plug the tester probes (approx. �2.1 mm) into the motor current check terminals (C.C.� and C.C.�).

C.C.�

C.C.�Set the tester to operate in the voltage measurement range.

Motor Running Current1. Set the step angle to full step.

Set the step angle switch (F/H) to "ON."

2. Disable the automatic current cutback function.Set the automatic current cutback function switch (ACD) to "OFF."

3. Turn on the power supply.Wait until the motor reaches its operating current.

�

�

4. Manipulate the potentiometer for adjusting the motor operating current (RUN VR).Adjust the potentiometer using an insulated screwdriver.Be sure to adjust the current to the motor's rated current or below. When setting with an ammeter, the sum of the two DC ammeter readings indicates the current per motor phase.

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.

6. Set the automatic current cutback function switch (ACD) to "ON" again.

This completes the adjustment of the motor running current.

Motor Standstill Current1. Set the step angle to full step.

Set the step angle switch (F/H-

) to "ON."

2. Enable the automatic current cutback function.Set the automatic current cutback function (ACD) to "ON."

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.

�

OFF4

21 3

F/H 1P

/2P

24/36

V ACD

ON: Full Step

ON

OFF

F/H

F/H 1P

/2P

24/36

V ACDOFF

421 3

ON: Enables the automatic currentcutback

ON

OFF

ACD

F/H 1P

/2P

24/36

V ACDOFF

421 3

ON

OFF

ACD

OFF: Disables the automatic currentcutback

RUN

VR

STOP

VR STOP VR

RUN VR

OFF4

21 3

F/H 1P

/2P

24/36

V ACD

ON: Full Step

ON

OFF

F/H

F/H 1P

/2P

24/36

V ACDOFF

421 3

ON: Enables the automatic currentcutback

ON

OFF

ACD

Step

ping

Mo

tors

Intro d

uction

AS

ASC

5-Phase

RK

5-Phase

CRK

AC

Input

AC

Input

DC

Input

2-Phase

CMK

2-Phase

CSK

2-Phase

Step

ping

Mo

tors

5-Phase

Step

ping

Mo

tors

Co

ntrollers

Accesso

riesInstallatio

n

DC

Input



Standard Type

CSK243-ATCSK243-BT

PK243-01APK243-01B CSD2109-T

CSK244-ATCSK244-BTCSK245-ATCSK245-BT

PK244-01APK244-01BPK245-01APK245-01B

CSD2112-T

CSK264-ATCSK264-BTCSK266-ATCSK266-BTCSK268-ATCSK268-BT

PK264-02APK264-02BPK266-02APK266-02BPK268-02APK268-02B

CSD2120-T



CSK243MATCSK243MBT

PK243MAPK243MB CSD2109-T

CSK244MATCSK244MBTCSK245MATCSK245MBT

PK244MAPK244MBPK245MAPK245MB

CSD2112-T

CSK264MATCSK264MBTCSK266MATCSK266MBTCSK268MATCSK268MBT

PK264MAPK264MBPK266MAPK266MBPK268MAPK268MB

CSD2120-T

SH Geared Type

CSK243AP-SG�

CSK243BP-SG�PK243A1-SG�

PK243B1-SG�CSD2109-T

CSK264AP-SG�

CSK264BP-SG�PK264A2-SG�

PK264B2-SG�CSD2120-T

Enter the gear ratio in the box (�) within the model name.Gear ratio: 3.6, 7.2, 9, 10, 18, 36

�


�


Step

ping

Mo

tors


Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut

C-187

Page

2-Phase Stepping Motors ······································· C-1885-Phase Stepping Motors ······································· C-242

Stepping Motors




Step

pin

g M

oto

rs

Features C-188 / System Configuration C-189C-188


RoHS-Compliant2-Phase Stepping Motors

PK SeriesSeven 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-CompliantThe 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 VariationsSize

TypeMotor Frame Size

�28 mm �35 mm �42 mm �50 mm �56.4 mm✽1 �60 mm �85 mm✽2

High-Torque Type

� � �


Standard Type

� � �


Standard Type IP65

Rated Motor� � � � �

Page C-222 Page C-236

High-Resolution

Type� � � � �

Page C-210 Page C-224

SH Geared Type

� � �


1 Gearhead frame size is �60 mm2 Gearhead frame size is �90 mm

�

✽

✽

✽1

✽2

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut

Wirings and Connections C-192 / Specifications, Characteristics, Dimensions C-198 / General Specifications C-240 C-189

System ConfigurationThese accessories enable 2-phase PK Series products to be used for various operations.

(Sold separately)

PK264-01B


2-Phase PK Series Clean Damper

D6CL-6.3F

FlexibleCoupling

MCS2006F04


PAL2P-2

No. Product Name Overview PageC-266C-258C-264C-255C-255

�

�

�


Dedicated mounting bracket for the motor.Coupling that connects the motor shaft to the driven shaft.Dedicated damper for suppressing stepping motor vibration.

� Motor Lead Wire/Connector Assembly Lead wire with a connector crimped for connector-coupled motors (0.6 m, 1 m).� Motor Connector Set Set of connector housings and contacts for use with connector-coupled motors (for 30 units).

2-Phase PK Series (Body)Motor

Driver

(Not supplied)✽1


✽1 Motor and driver packages are available. CMK Series ➜ Page C-146 CSK Series ➜ Page C-170

✽2 Controllers suitable for stepping motors are available. Controllers ➜ Page C-248


Controller

(Not supplied)✽2


(Not supplied)



�Clean Dampers(➜ Page C-264)

�Motor Lead Wire/Connector Assembly(➜ Page C-255)

�Motor Connector Set(➜ Page C-255)



2-Phase Stepping Motor and Driver Packages

To achieve maximum performance, motors with dedicated drivers are available.

DC InputMicrostep Drive

CMK Series

➜ Page C-146

DC InputCSK Series

➜ Page C-170

�

�


Step

pin

g M

oto

rs


High-Torque TypeThis 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.

Pulse Speed [kHz]0 10.5

100 200 300Speed [r/min]

0

1.0

1.5

0.5

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

With Damper

54

�56

.4 m

m

59

�42

mm

High-Torque TypePK246PB

0.93 N�m114�10-7 kg�m2

Standard TypePK266-01B

1.17 N�m300�10-7 kg�m2

TypeModel

Holding TorqueRotor Inertia

Standard TypeThe 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.

Standard Type IP65 Rated MotorThe motor conforms to the IP65 standard of ingress protection against dust and water.

Terminal-Block Connection DesignThe motor can be wired directly from its terminal block.

Terminal Box

No Motor/Driver RelaySince 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.

Cable

Motor

Driver

�

�

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut


High-Resolution TypeThese 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˚

0.09 deg

0

Angl

e Ac

cura

cy

0 400Step

�0.09 deg

(1) High-Resolution Type (0.9˚/step)

0.09 deg

0

Angl

e Ac

cura

cy

0 200Step

�0.09 deg

(2) Standard Type (1.8˚/step)

0.09 deg

0

Angl

e Ac

cura

cy

0 400Step

�0.09 deg

(3) Standard Type (0.9˚/step)

Angle Accuracy

SH Geared TypeIncorporating 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 low-speed positioning applications.

Smooth Rotation at Low SpeedsStepping 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.

Six Gear RatiosSH 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.

PK223-SG type is not available in a gear ratio of 1:3.6.

Ideal for High Inertia DriveThe 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.

�

�

�

�


Step

pin

g M

oto

rs


Product Number Code

High-Torque Type

� � � � � ��

PK 2 6 4 J D B

� Series PK: PK Series� 2: 2-Phase� Motor Frame Size 2: 28 mm 3: 35 mm 4: 42 mm 6: 60 mm� Motor Case Length� Motor Type P, J: High-Torque Type� Motor Lead Blank: 6 Leads D: 4 Leads� Shaft Type A: Single Shaft B: Double Shaft


� � � � � � �

PK 2 6 6 M - E 2.0 B

� Series PK: PK Series� 2: 2-Phase� Motor Frame Size 4: 42 mm 5: 50 mm 6: 56.4 mm 9: 85 mm� Motor Case Length� Motor Type Blank: Standard Type (1.8˚/step)

M: High-Resolution Type (0.9˚/step)� Motor Lead 0: 6 Leads E: 8 Leads� Winding Specification Shaft Type A: Single Shaft B: Double Shaft


� � � � � ��

PK 2 9 6 E A T

� Series PK: PK Series� 2: 2-Phase� Motor Frame Size 6: 56.4 mm 9: 85 mm� Motor Case Length� Motor Lead D: 4 Terminals E: 8 Terminals� Shaft Type A: Single Shaft� Motor Classification

��

�

�

SH Geared Type

Motor Frame Size 28 mm

� � � � � � �

PK 2 2 3 P A - SG 10

� Series PK: PK Series� 2: 2-Phase� Motor Frame Size 2: 28 mm� Motor Case Length� Motor Type� Shaft Type A: Single Shaft B: Double Shaft� Gearhead Type SG: SH Geared Type Gear Ratio

SH Geared Type

Motor Frame Size 42 mm, 60 mm, 90 mm

� � � � � � �

PK 2 6 4 A E - SG 10

� Series PK: PK Series� 2: 2-Phase� Motor Frame Size 4: 42 mm 6: 60 mm 9: 90 mm� Motor Case Length� Shaft Type A: Single Shaft B: Double Shaft� Motor Lead 1: 6 Leads E: 8 Leads� Gearhead Type SG: SH Geared Type Gear Ratio

��

��

Wirings and Connections

High-Torque Type, Standard Type, High-Resolution Type, SH Geared Type

Motor Wirings

��

4 Leads Motor

Red

Black

Green

Blue

B Phase

A Phase

� 6 Leads Motor

Red(3)

Black (4)

Yellow (5)

Green (6)

White(2)

Blue(1)

B Phase

A Phase

B Phase

A Phase

� 8 Leads Motor

Red

Black

Yellow

Green

WhiteBlue

B Phase B Phase

Orange

Brown

A PhaseA Phase

�

Wirings Connection Diagrams��1 4 Leads Bipolar Connection

Red

Black

Green

Blue

B Phase

A Phase

�2 6 Leads Unipolar Connection

Red(3)

Black (4)

Yellow (5)

Green (6)

White(2)

Blue(1)

A PhaseA Phase

B Phase B Phase

�3 6 Leads Bipolar (Series) Connection

Red(3)

N.C.

Black (4)

N.C.

Green (6)

Blue(1)

B Phase

A Phase

�4 8 Leads Unipolar Connection

Red

Black

Yellow

Green

WhiteBlue

B Phase B Phase

Orange

Brown

A PhaseA Phase

�5 8 Leads Bipolar (Series) Connection

Red

Black

Yellow

Green

WhiteBlue

Orange

Brown

B Phase

A Phase

�6 8 Leads Bipolar (Parallel) Connection

Red

Black

Yellow

GreenWhite Blue

Orange

Brown

B Phase

A Phase

The numbers inside the parentheses indicate the connector pin No. of the high-torque type motor.N.C.: No Connection

��

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut



Motor Wirings

��

PK26�DAT

External ProtectiveEarth Terminal✽ (M4)Protective Earth Wire[AWG18 (0.75 mm2) min.]

Motor Wire[AWG26 to 16(0.14 to 1.25 mm2)]

Internal ProtectiveEarth Terminal✽(M4)Protective Earth Wire[AWG18 (0.75mm2) min.]

Multi-Core Cable(Diameter: �7 to 13 mm)

✽Use either the internal or external protective earth terminal for grounding.

�

1 2 3 4 5

Terminal Block

Connect motor lead wires to the terminals 2 to 5.

A Phase3

4

5B Phase

2

PK29�EAT

External ProtectiveEarth Terminal✽ (M4)Protective Earth Wire[AWG18 (0.75 mm2) min.]

Motor Wire[AWG22 to 16(0.3 to 1.25 mm2)]

Internal ProtectiveEarth Terminal✽(M4)Protective Earth Wire[AWG18 (0.75 mm2) min.]

Multi-Core Cable(Diameter: �7 to 13 mm)

✽Use either the internal or external protective earth terminal for grounding.

�

1 2 3 4 5 6 7 81

3

2

A Phase B Phase

4

5

7

6

8 B PhaseA Phase

Wirings Connection Diagrams�PK26�DAT

�7 Bipolar

A Phase3

4

5B Phase

2

�

1 2 3 4 5

Terminal Block

Connect motor lead wires to the terminals 2 to 5.

PK29�EAT�8 Bipolar (Series)

1 2 3 4 5 6 7 81

3

2A Phase B Phase

4

5

7

6

8

��9 Bipolar (Parallel)

1 2 3 4 5 6 7 8

1

3

2A Phase B Phase

4

5

7

6

8

�10 Unipolar

1 2 3 4 5 6 7 81

3

2 �COM

A Phase B Phase

�COM

4

5

7

6

8A Phase B Phase

Notes on the Speed – Torque Characteristics DiagramsThe 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.

�


Step

pin

g M

oto

rs


Product Specifications (Bipolar)

Motor Frame Size: 28 mm PK22�

TypeModel

Single ShaftDouble Shaft

BasicStepAngle

Holding Torque

N�m

Currentper PhaseA/phase

Voltage

VDC

Resistanceper Phase�/phase

Inductance

mH/phase

Rotor Inertia

J: kg�m2

Mass

kgPage

High-Torque Type

PK223PAPK223PB

1.8˚

0.065

0.67

3.8 5.6 4 9�10-7 0.11

C-198PK224PAPK224PB 0.097 4.6 6.8 4.8 12�10-7 0.14

PK225PAPK225PB 0.11 6.2 9.2 5.6 18�10-7 0.2

SHGearedType

PK223PA-SG7.2PK223PB-SG7.2 0.25˚

0.3

0.67 3.8 5.6 4 9�10-7 0.16 C-200

PK223PA-SG9PK223PB-SG9 0.2˚



0.4PK223PA-SG36PK223PB-SG36 0.05˚

The value given for holding torque is the value when operated with rated voltage and 2-phase excitation.


TypeModel


BasicStepAngle

Holding Torque

N�m


Voltage

VDC


Inductance

mH/phase

Rotor Inertia

J: kg�m2

Mass

kgPage

High-Torque Type

PK233PAPK233PB

1.8˚0.2

0.854.6 5.4 5.6 24�10-7 0.18

C-202PK235PAPK235PB 0.37 5.8 6.8 8 50�10-7 0.285


�

�

�

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut



TypeModel


BasicStepAngle

Holding Torque

N�m


Voltage

VDC


Inductance

mH/phase

Rotor Inertia

J: kg�m2

Mass

kgPage

High-Torque Type

PK244PAPK244PB

1.8˚0.48

0.856.8 8 15.6 57�10-7 0.3

C-204PK246PAPK246PB 0.93 10 12 26 114�10-7 0.5

StandardType

PK243-01APK243-01B

1.8˚

0.2

0.67 5.6 8.4 10

35�10-7 0.21

C-206

PK243-02APK243-02B 0.28 13 48 60

PK243-03APK243-03B 0.22 17 77 84

PK244-01APK244-01B

0.33

0.85 5.6 6.6 12.8

54�10-7 0.27PK244-02APK244-02B 0.57 8.6 15 26.8

PK244-03APK244-03B 0.28 17 60 120

PK245-01APK245-01B

0.43

0.85 5.6 6.6 11.2

68�10-7 0.35PK245-02APK245-02B 0.57 8.6 15 28.4

PK245-03APK245-03B 0.28 17 60 100

High-Resolution

Type

PK243M-01APK243M-01B

0.9˚

0.2

0.67 5.6 8.4 15.2

35�10-7 0.24

C-210

PK243M-02APK243M-02B 0.42 8.4 20 38.8

PK243M-03APK243M-03B 0.22 17 77 136


0.31

0.85 5.6 6.6 17.2

54�10-7 0.3PK244M-02APK244M-02B 0.57 8.6 15 38.8

PK244M-03APK244M-03B 0.28 17 60 152


0.38

0.85 5.6 6.6 15.6

68�10-7 0.37PK245M-02APK245M-02B 0.57 8.6 15 39.6

PK245M-03APK245M-03B 0.28 17 60 128

SHGearedType

PK243A1-SG3.6PK243B1-SG3.6 0.5˚ 0.2

0.67 5.6 8.4 10 35�10-7 0.35 C-214

PK243A1-SG7.2PK243B1-SG7.2 0.25˚ 0.4

PK243A1-SG9PK243B1-SG9 0.2˚ 0.5

PK243A1-SG10PK243B1-SG10 0.18˚ 0.56

PK243A1-SG18PK243B1-SG18 0.1˚ 0.8

PK243A1-SG36PK243B1-SG36 0.05˚ 0.8

The value given for holding torque is the value when operated with rated voltage and 2-phase excitation.�


Step

pin

g M

oto

rs



TypeModel


BasicStepAngle

Holding Torque

N�m


Voltage

VDC

Resistanceper PhaseΩ/phase

Inductance

mH/phase

Rotor Inertia

J: kg�m2

Mass

kgPage

StandardType

PK256-02APK256-02B

1.8˚0.84 1.4 4.2 3 5.6 230�10-7 0.53

C-216PK258-02APK258-02B 1.56 1.4 6.7 4.8 11.5 420�10-7 0.89


Motor Frame Size: 56.4 mm PK26�

TypeModel


BasicStepAngle

Holding Torque

N�m


Voltage

VDC


Inductance

mH/phase

Rotor Inertia

J: kg�m2

Mass

kgPage

StandardType

PK264-01APK264-01B

1.8˚

0.48

0.71 8.1 11.4 21.6

120�10-7 0.45

C-218

PK264-02APK264-02B 1.4 3.9 2.8 5.6

PK264-03APK264-03B 2.1 2.6 1.26 2.4

PK264-E2.0APK264-E2.0B 1.4 3.9 2.8 5.6

PK266-01APK266-01B

1.17

0.71 11 14.8 40

300�10-7 0.7

PK266-02APK266-02B 1.4 5 3.6 10

PK266-03APK266-03B 2.1 3.2 1.5 4.4

PK266-E2.0APK266-E2.0B 1.4 5 3.6 10

PK268-01APK268-01B

1.75

0.71 12 17.2 56

480�10-7 1

PK268-02APK268-02B 1.4 6.3 4.5 14.4

PK268-03APK268-03B 2.1 4.2 2 6.4

PK268-E2.0APK268-E2.0B 1.4 6.3 4.5 14.4

Standard TypeIP65 Rated

Motor

PK264DAT1.8˚

0.482.8

1.96 0.7 1.4 120�10-7 0.6C-222PK266DAT 1.17 2.52 0.9 2.5 300�10-7 0.9

PK268DAT 1.75 3.16 1.13 3.6 480�10-7 1.2

High-Resolution

Type


0.9˚

0.48

0.71 8.1 11.4 26

120�10-7 0.45

C-224

PK264M-02APK264M-02B 1.4 3.9 2.8 6.8

PK264M-03APK264M-03B 2.1 2.6 1.26 3

PK264M-E2.0APK264M-E2.0B 1.4 3.9 2.8 6.8


1.17

0.71 11 14.8 50.8

300�10-7 0.7

PK266M-02APK266M-02B 1.4 5 3.6 12.8

PK266M-03APK266M-03B 2.1 3.2 1.5 5.8

PK266M-E2.0APK266M-E2.0B 1.4 5 3.6 12.8


1.75

0.71 12 17.2 77.6

480�10-7 1

PK268M-02APK268M-02B 1.4 6.3 4.5 19.2

PK268M-03APK268M-03B 2.1 4.2 2 8.4

PK268M-E2.0APK268M-E2.0B 1.4 6.3 4.5 19.2


�

�

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut



TypeModel


BasicStepAngle

Holding Torque

N�m


Voltage

VDC


Inductance

mH/phase

Rotor Inertia

J: kg�m2

Mass

kgPage

High-Torque Type

PK264JDAPK264JDB

1.8˚

1.062.8 2.1 0.73 1.8

280�10-7 0.6

C-228

PK264JAPK264JB 1.4 4.1 2.92 7.2

PK266JDAPK266JDB

1.752.8 2.8 1 3.05

450�10-7 0.83PK266JAPK266JB 1.4 5.6 4 12.2

PK267JDAPK267JDB

2.22.8 3.4 1.2 3.54

570�10-7 1.02PK267JAPK267JB 1.4 6.7 4.8 14.2

PK269JDAPK269JDB

3.12.8 4.2 1.49 5.7

900�10-7 1.43PK269JAPK269JB 1.4 8.3 5.96 22.8

SHGearedType

PK264AE-SG3.6PK264BE-SG3.6 0.5˚ 1

1.4 3.9 2.8 5.6 120�10-7 0.75 C-232

PK264AE-SG7.2PK264BE-SG7.2 0.25˚ 2

PK264AE-SG9PK264BE-SG9 0.2˚ 2.5

PK264AE-SG10PK264BE-SG10 0.18˚ 2.7

PK264AE-SG18PK264BE-SG18 0.1˚ 3

PK264AE-SG36PK264BE-SG36 0.05˚ 4


Motor Frame Size: 85 mm PK29� (Frame size of SH geared type is 90 mm.)

TypeModel


BasicStepAngle

Holding Torque

N�m


Voltage

VDC


Inductance

mH/phase

Rotor Inertia

J: kg�m2

Mass

kgPage

StandardType

PK296-E4.5APK296-E4.5B

1.8˚

3.13.18

2.8 0.96 6 1400�10-7 1.7

C-234PK299-E4.5APK299-E4.5B 6.2 3.9 1.32 10 2700�10-7 2.8

PK2913-E4.0APK2913-E4.0B 9.3 2.8 5.3 1.94 16.8 4000�10-7 3.8

StandardType

IP65 RatedMotor

PK296EAT

1.8˚

3.13.18

2.8 0.96 6 1400�10-7 2.1

C-236PK299EAT 6.2 3.9 1.32 10 2700�10-7 3.2

PK2913EAT 9.3 2.8 5.3 1.94 16.8 1400�10-7 4.3

SHGearedType

PK296AE-SG3.6PK296BE-SG3.6 0.5˚ 2.5

2.1 2 0.96 6.0 1400�10-7 2.8 C-238

PK296AE-SG7.2PK296BE-SG7.2 0.25˚ 5

PK296AE-SG9PK296BE-SG9 0.2˚ 6.3

PK296AE-SG10PK296BE-SG10 0.18˚ 7

PK296AE-SG18PK296BE-SG18 0.1˚ 9

PK296AE-SG36PK296BE-SG36 0.05˚ 12


�

�


Step

pin

g M

oto

rs


�28 mmStep Angle 1.8˚High-Torque Type

Specifications Model


Connection TypeHoldingTorque

N�m


Voltage

VDC


Inductance

mH/phase

Rotor Inertia

J: kg�m2

Lead Wires

(Pin)

Wirings andConnections

(See Page C-192)

PK223PAPK223PB

Bipolar (Series) 0.065 0.67 3.8 5.6 49�10-7 6

�3Unipolar 0.05 0.95 2.66 2.8 1 �2

PK224PAPK224PB

Bipolar (Series) 0.097 0.67 4.6 6.8 4.812�10-7 6

�3

Unipolar 0.075 0.95 3.2 3.4 1.2 �2

PK225PAPK225PB

Bipolar (Series) 0.11 0.67 6.2 9.2 5.618�10-7 6

�3Unipolar 0.09 0.95 4.4 4.6 1.4 �2

How to read specifications table ➜ Page C-10Degree of Protection: IP30


�

�

�

Model L1 L2Mass(kg)

PK223PA32

�0.11

PK223PB 42

PK224PA40

�0.14

PK224PB 50

PK225PA51.5

�0.2

PK225PB 61.5

Lead wire and connector will not be supplied with the connector-coupled motor. They must be purchased separately.Applicable ConnectorConnector housing: 51065-0600 (MOLEX) Contact: 50212-8100 (MOLEX) Crimp tool: 57176-5000 (MOLEX)

�

�

L1✽10�1

L2

1.5

15�1

10�0.25

4.5�

0.15

4.5�

0.15

5

9.5

4�M2.5�2.5 Deep

28

23�

0.2

23�0.2

16.56 1

�5�

0.01

2(h7

)0

�5�

0.01

2(h7

)0

�22

�0.

033(

h8)

0

28



Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut


Speed – Torque Characteristics How to read speed – torque characteristics ➜ Page C-10�

PK223PA/PK223PB Bipolar (Series)

Pulse Speed [kHz]

0(0)

6(12)

4(8)

2(4)

1.8˚/step(0.9˚/step)

500 1000 1500 2000 2500Speed [r/min]

Torq

ue [N

. m]

0

0.125

0.100

0.075

0.050

0.025Pullout Torque

fs

24 VDC48 VDC

Power Input

Bipolar Constant Current DriverCurrent: 0.67 A/Phase (Bipolar Series)With Damper D4CL-5.0F: JL=34�10�7 kg.m2

PK223PA/PK223PB Unipolar

fs

Pullout Torque

Speed [r/min]

Pulse Speed [kHz]

45004000350030002500200015001000500

0 4 8 12

0

0.07

0.06

0.05

0.04

0.03

0.02

0.01

0.08

Torq

ue [N

·m]

Unipolar Constant Current Driver Power Input: 24 VDCCurrent: 0.95 A/Phase (Unipolar)With Damper D4CL-5.0F: JL=34�10�7 kg.m2

1.8˚/step


Pulse Speed [kHz]

0(0)

6(12)

4(8)

2(4)

500 1000 1500 2000 2500Speed [r/min]

Torq

ue [N

. m]

0

0.15

0.10

0.05Pullout Torque

fs

24 VDC48 VDC


Power Input



fs

Pullout Torque

0

0.10

0.08

0.06

0.04

0.02

0.12

Torq

ue [N

·m]

45004000350030002500200015001000500 Speed [r/min]

0 4 8 12Pulse Speed [kHz]

1.8˚/step



500 1000 1500 2000 2500Speed [r/min]

Torq

ue [N

. m]

0

0.20

0.15

0.10

0.05

Pulse Speed [kHz]

0(0)

6(12)

4(8)

2(4)


Pullout Torque

fs

24 VDC48 VDC


Power Input


Torq

ue [N

·m]



0

0.10

0.08

0.06

0.04

0.02

0.14

0.12

45004000350030002500200015001000500 Speed [r/min]

Pullout Torque

fs

1.8˚/step

Note: 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 100˚C.

Motor Lead Wire/Connector Assembly (Sold separately) Lead wire and connector will not be supplied with the connector-coupled motor.Motor lead wire/connector assembly (sold separately) is available.

ModelCable Length

(mm)Number of Leads

Leads SpecificationsUL Style No. AWG No.

LC2U06A 6006 Leads 3265 24

LC2U10A 1000

�

��


Step

pin

g M

oto

rs


�28 mmSH Geared Type

Specifications

Motor Specifications

ModelSingle ShaftDouble Shaft

Connection TypeCurrent

per PhaseA/phase

Voltage

VDC


Inductance

mH/phase

Rotor Inertia

J: kg�m2

Lead Wires

(Pin)


(See Page C-192)

PK223PA-SG□

PK223PB-SG□

Bipolar (Series) 0.67 3.8 5.6 49�10-7 6

�3Unipolar 0.95 2.66 2.8 1 �2

How to read specifications table ➜ Page C-10Degree of Protection: IP30Enter the gear ratio in the box (�) within the model name.Backlash value is approximately 1 to 2˚.

Note: 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.

Gearmotor Specifications


Gear RatioHoldingTorque✽

N�m

StepAngle

PermissibleSpeedr/min

PK223PA-SG7.2PK223PB-SG7.2 1:7.2 0.3 0.25˚ 250

PK223PA-SG9PK223PB-SG9 1:9 0.3 0.2˚ 200

PK223PA-SG10PK223PB-SG10 1:10 0.3 0.18˚ 180

PK223PA-SG18PK223PB-SG18 1:18 0.4 0.1˚ 100

PK223PA-SG36PK223PB-SG36 1:36 0.4 0.05˚ 50

Holding torque is the same regardless of the connection type, due to the permissible torque limit of the gearhead.


��

��

�

�

✽

�Model Gear Ratio

Mass(kg)

PK223PA-SG� 7.2, 9, 10,18, 36 0.16

PK223PB-SG�

Enter the gear ratio in the box (�) within the model name.Lead wire and connector will not be supplied with the connector-coupled motor. They must be purchased separately.Applicable ConnectorConnector housing: 51065-0600 (MOLEX) Contact: 50212-8100 (MOLEX) Crimp tool: 57176-5000 (MOLEX)

��

�

220�1

4.512

6�0.

5

✽10�1

4.5�

0.15

9.5

5868

�11

16

23�

0.2

23�0.2

28

5

16.5

4�M2.5�4 Deep

�5�

0.01

2(h7

)0

�5�

0.01

2(h7

)0

28


These dimensions are for double shaft models. For single shaft models, ignore the orange (��) areas.Screws (Included) M2.5 Length 8 mm��4 Pieces

��

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut



PK223PA-SG�/PK223PB-SG� Bipolar (Series) 24 VDC

100 200 300 400 500Speed [r/min]

Torq

ue [N

. m]

0

0.5

0.4

0.3

0.2

0.1Permissible Torque

PK223P�-SG7.2PK223P�-SG9PK223P�-SG10PK223P�-SG18PK223P�-SG36

Bipolar Constant Current Driver Power Input: 24 VDCCurrent: 0.67 A/Phase (Bipolar Series)With Damper D4CL-5.0F: JL=34�10�7 kg.m2

PK223PA-SG�/PK223PB-SG� Unipolar

200100 400300 5000

0.5

0.4

0.1

0.2

0.3


Torq

ue [N

. m]

Speed [r/min]

Permissible Torque


PK223PA-SG�/PK223PB-SG� Bipolar (Series) 48 VDC

200100 300 400 500Speed [r/min]

Torq

ue [N

. m]

0

0.5

0.4

0.3

0.2






ModelCable Length

(mm)Number of Leads


LC2U06A 6006 Leads 3265 24

LC2U10A 1000

�

��


Step

pin

g M

oto

rs






N�m


Voltage

VDC


Inductance

mH/phase

Rotor Inertia

J: kg�m2

Lead Wires

(Pin)


(See Page C-192)

PK233PAPK233PB

Bipolar (Series) 0.2 0.85 4.6 5.4 5.624�10-7 6

�3Unipolar 0.16 1.2 3.24 2.7 1.4 �2

PK235PAPK235PB

Bipolar (Series) 0.37 0.85 5.8 6.8 850�10-7 6

�3Unipolar 0.3 1.2 4.08 3.4 2 �2



�

�

�

Model L1 L2Mass(kg)

PK233PA37

�0.18

PK233PB 52

PK235PA52

�0.285

PK235PB 67


�

�

4�M3�4.5 Deep

29�0.2

35

29�

0.2

236 1

4.5�

0.15

20�1

15�0.25

1.5

✽15�1

4.5�

0.15

17.5

9L2

L1

�5�

0.01

2(h7

)0

�5�

0.01

2(h7

)0

�22

�0.

033(

h8)

0

35



Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut




Pulse Speed [kHz]

0(0)

6(12)

4(8)

2(4)

500 1000 1500 2000 2500Speed [r/min]

Torq

ue [N

. m]

0

0.25

0.20

0.15

0.10

0.05


Pullout Torque

fs

24 VDC48 VDC

Power Input



Unipolar (0.95 A/Phase)

fs


Pullout Torque

0

0.15

0.10

0.05

0.20

Torq

ue [N

·m]

2500200015001000500

0 42 1.8˚/stepPulse Speed [kHz]

Speed [r/min]

6


500 1000 1500 2000 2500Speed [r/min]

Torq

ue [N

. m]

0

0.45

0.40

0.35

0.30

0.25

0.20

0.15

0.10

0.05

Pulse Speed [kHz]

0(0)

6(12)

4(8)

2(4)


Pullout Torque

fs fs

24 VDC48 VDC

Power Input



fs

Pullout Torque

0

0.25

0.20

0.10

0.15

0.05

0.30

Torq

ue [N

·m]

2500200015001000500

Pulse Speed [kHz]

Speed [r/min]

1.8˚/step0 2 4 6




ModelCable Length

(mm)Number of Leads


LC2U06B 6006 Leads 3265 24

LC2U10B 1000

�

��


Step

pin

g M

oto

rs






N�m


Voltage

VDC


Inductance

mH/phase

Rotor Inertia

J: kg�m2

Lead Wires

(Pin)


(See Page C-192)

PK244PAPK244PB

Bipolar (Series) 0.48 0.85 6.8 8 15.657�10-7 6

�3Unipolar 0.39 1.2 4.8 4 3.9 �2

PK246PAPK246PB

Bipolar (Series) 0.93 0.85 10 12 26114�10-7 6

�3Unipolar 0.75 1.2 7.2 6 6.5 �2



�

�

�

Model L1 L2Mass(kg)

PK244PA39

�0.3

PK244PB 54

PK246PA59

�0.5

PK246PB 74


�

�

6 1

4�M3�4.5 Deep4.

5�0.

15

42

✽15�1

20�1

15�0.25

4.5�

0.15

1.5

9

23

31�

0.2

31�0.2

15

L2L1

�5�

0.01

2(h7

)0

�5�

0.01

2(h7

)0

�22

�0.

033(

h8)

0

42



Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut




Pulse Speed [kHz]

0(0)

1.5(3.0)

1.0(2.0)

0.5(1.0)

600500400300200100Speed [r/min]

Torq

ue [N

. m]

0

0.50

0.60

0.40

0.30

0.20

0.10


Pullout Torque

fs fs

24 VDC48 VDC

Power Input



500 1000 1500 2000 2500Speed [r/min]

Torq

ue [N

. m]

Pulse Speed [kHz]

0(0)

6(12)

4(8)

2(4)


0

0.5

0.4

0.3

0.2

0.1

Pullout Torque

fs




Torq

ue [N

. m]

0

1.0

0.6

0.8

0.4

0.2

Pulse Speed [kHz]

0(0)

1.5(3.0)

1.0(2.0)

0.5(1.0)

600500400300200100Speed [r/min]


Pullout Torque

fs fs

24 VDC48 VDC

Power Input



500 1000 1500 2000Speed [r/min]

Torq

ue [N

. m]

Pulse Speed [kHz]

0(0)

6(12)

4(8)

2(4)


0

0.8

0.6

0.4

0.2 Pullout Torque

fs





ModelCable Length

(mm)Number of Leads


LC2U06B 6006 Leads 3265 24

LC2U10B 1000

�

��


Step

pin

g M

oto

rs


�42 mmStep Angle 1.8˚Standard Type




N�m


Voltage

VDC


Inductance

mH/phase

Rotor Inertia

J: kg�m2

Lead Wires

(Pin)


(See Page C-192)

PK243-01APK243-01B

Bipolar (Series) 0.2 0.67 5.6 8.4 1035�10-7 6

�3Unipolar 0.16 0.95 4 4.2 2.5 �2

PK243-02APK243-02B

Bipolar (Series) 0.2 0.28 13 48 6035�10-7 6

�3Unipolar 0.16 0.4 9.6 24 15 �2

PK243-03APK243-03B

Bipolar (Series) 0.2 0.22 17 77 8435�10-7 6

�3Unipolar 0.16 0.31 12 38.5 21 �2

PK244-01APK244-01B

Bipolar (Series) 0.33 0.85 5.6 6.6 12.854�10-7 6

�3Unipolar 0.26 1.2 4 3.3 3.2 �2

PK244-02APK244-02B

Bipolar (Series) 0.33 0.57 8.6 15 26.854�10-7 6

�3Unipolar 0.26 0.8 6 7.5 6.7 �2

PK244-03APK244-03B

Bipolar (Series) 0.33 0.28 17 60 12054�10-7 6

�3Unipolar 0.26 0.4 12 30 30 �2

PK245-01APK245-01B

Bipolar (Series) 0.43 0.85 5.6 6.6 11.268�10-7 6

�3Unipolar 0.32 1.2 4 3.3 2.8 �2

PK245-02APK245-02B

Bipolar (Series) 0.43 0.57 8.6 15 28.468�10-7 6

�3Unipolar 0.32 0.8 6 7.5 7.1 �2

PK245-03APK245-03B

Bipolar (Series) 0.43 0.28 17 60 10068�10-7 6

�3Unipolar 0.32 0.4 12 30 25 �2



�

�

�

Model L1 L2Mass(kg)

PK243-0�A33

�0.21

PK243-0�B 48

PK244-0�A39

�0.27

PK244-0�B 54

PK245-0�A47

�0.35

PK245-0�B 62

Enter the winding specifications in the box (�) within the model name.�UL Style 3265, AWG24


2

4.5�

0.15

4231�0.2

31�

0.2

✽15�1 L1L2 20�1

15�0.25

4.5�

0.15

�5�

0.01

2(h7

)0

�5�

0.01

2(h7

)0

�22

�0.

033(

h8)

0

42



Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut



PK243-01A/PK243-01B Bipolar (Series)

Pulse Speed [kHz]

0(0)

6(12)

8(16)

4(8)

2(4)

500 1000 1500 2000 2500 3000Speed [r/min]

Torq

ue [N

. m]

0

0.25

0.30

0.20

0.15

0.10

0.05


Pullout Torque

fs

24 VDC48 VDC


Power Input

PK243-01A/PK243-01B Unipolar

0(0)

4(8)

6(12)

2(4)

500 1000 1500 2000 25000

0.05

0.10

0.15

0.20

0.25

Pullout Torque

Torq

ue [N

. m]

Speed [r/min]

Pulse Speed [kHz]

fs





Pulse Speed [kHz]

0(0)

1.0(2.0)

0.5(1.0)

100 200 500300 400Speed [r/min]

Torq

ue [N

. m]

0

0.30

0.25

0.20

0.15

0.10

0.05


Pullout Torque

fs fs

24 VDC48 VDC

Power Input



0 1.00.5

200100 400300 5000

0.25

0.10

0.05

0.15

0.20

Pullout Torque

Unipolar Constant Voltage Driver Power Input: 11.5 VDCExternal Resistance: 0 ΩWith Damper D4CL-5.0F: JL=34�10�7 kg.m2

Torq

ue [N

. m]

Speed [r/min]

Pulse Speed [kHz]

1.8˚/step

fs


100 200 500300 400Speed [r/min]

Torq

ue [N

. m]

0

0.30

0.25

0.20

0.15

0.10

0.05

Pulse Speed [kHz]

0(0)

1.0(2.0)

0.5(1.0)


Pullout Torque

fs fs

24 VDC48 VDC

Power Input



0 21

300200100 600500400 8007000

0.25

0.10

0.05

0.15

0.20

Pullout Torque

Torq

ue [N

. m]

Speed [r/min]

Pulse Speed [kHz]

fs

1.8˚/step

Unipolar Constant Voltage Driver Power Input: 13.6 VDCExternal Resistance: 0 �With Damper D4CL-5.0F: JL=34�10�7 kg.m2

Note: 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 100˚C.�


Step

pin

g M

oto

rs




Pulse Speed [kHz]

0(0)

2(4)

1(2)

400 800 1000200 600Speed [r/min]

Torq

ue [N

. m]

0

0.40

0.35

0.25

0.30

0.20

0.15

0.10

0.05


Pullout Torque

fs fs

24 VDC48 VDC

Power Input



0(0)

4(8)

6(12)

2(4)

500 1000 1500 2000 25000

0.15

0.10

0.05

0.20

0.25

0.30

0.35

Pullout Torque

Torq

ue [N

. m]

Speed [r/min]

Pulse Speed [kHz]

fs





Torq

ue [N

. m]

0

0.40

0.35

0.25

0.30

0.20

0.15

0.10

0.05

Pulse Speed [kHz]

0(0)

2(4)

1(2)

400 800 1000200 600Speed [r/min]


Pullout Torque

fs fs

24 VDC48 VDC

Power Input



0 642

1000500 20001500 25000

0.35

0.15

0.10

0.05

0.20

0.25

0.30

Pullout Torque


Torq

ue [N

. m]

Speed [r/min]

fs

Pulse Speed [kHz]1.8˚/step


0 1.00.5

200100 400300 5000

0.35

0.15

0.10

0.05

0.20

0.25

0.30

Pullout Torque


Torq

ue [N

. m]

Speed [r/min]

fs



Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut




Torq

ue [N

. m]

0

0.50

0.45

0.40

0.35

0.25

0.30

0.20

0.15

0.10

0.05

Pulse Speed [kHz]

0(0)

2(4)

1(2)

400 800 1000200 600Speed [r/min]


Pullout Torque

fs fs

24 VDC48 VDC

Power Input



0(0)

4(8)

6(12)

2(4)

500 1000 1500 2000 25000

0.1

0.2

0.3

0.4

Torq

ue [N

. m]

Pullout Torque

Speed [r/min]

Pulse Speed [kHz]

fs





Torq

ue [N

. m]

0

0.50

0.45

0.40

0.35

0.25

0.30

0.20

0.15

0.10

0.05

Pulse Speed [kHz]

0(0)

2(4)

1(2)

400 800 1000200 600Speed [r/min]


Pullout Torque

fs fs

24 VDC48 VDC

Power Input



0 62 4

500 1000 1500 2000 25000

0.4

0.1

0.2

0.3

Torq

ue [N

. m]


Speed [r/min]

fs

Pullout Torque



0 0.5 1.0

100 200 300 400 5000

0.4

0.1

0.2

0.3

Pullout Torque

Torq

ue [N

. m]

Speed [r/min]

Pulse Speed [kHz]

fs

1.8˚/step




Step

pin

g M

oto

rs


�42 mmStep Angle 0.9˚High-Resolution Type




N�m


Voltage

VDC


Inductance

mH/phase

Rotor Inertia

J: kg�m2

Lead Wires

(Pin)


(See Page C-192)


Bipolar (Series) 0.2 0.67 5.6 8.4 15.235�10-7 6

�3Unipolar 0.16 0.95 4 4.2 3.8 �2


Bipolar (Series) 0.2 0.42 8.4 20 38.835�10-7 6

�3Unipolar 0.16 0.6 6 10 9.7 �2


Bipolar (Series) 0.2 0.22 17 77 13635�10-7 6

�3Unipolar 0.16 0.31 12 38.5 34 �2


Bipolar (Series) 0.31 0.85 5.6 6.6 17.254�10-7 6

�3Unipolar 0.26 1.2 4 3.3 4.3 �2


Bipolar (Series) 0.31 0.57 8.6 15 38.854�10-7 6

�3Unipolar 0.26 0.8 6 7.5 9.7 �2


Bipolar (Series) 0.31 0.28 17 60 15254�10-7 6

�3Unipolar 0.26 0.4 12 30 38 �2


Bipolar (Series) 0.38 0.85 5.6 6.6 15.668�10-7 6

�3Unipolar 0.32 1.2 4 3.3 3.9 �2


Bipolar (Series) 0.38 0.57 8.6 15 39.668�10-7 6

�3Unipolar 0.32 0.8 6 7.5 9.9 �2


Bipolar (Series) 0.38 0.28 17 60 12868�10-7 6

�3Unipolar 0.32 0.4 12 30 32 �2



�

�

�

Model L1 L2Mass(kg)

PK243M-0�A33

�0.24

PK243M-0�B 48

PK244M-0�A39

�0.3

PK244M-0�B 54

PK245M-0�A47

�0.37

PK245M-0�B 62

Enter the winding specification in the box (�) within the model name.�UL Style 3265, AWG24


2

4.5�

0.15

4231�0.2

31�

0.2

✽15�1 L1L2 20�1

15�0.25

4.5�

0.15

�5�

0.01

2(h7

)0

�5�

0.01

2(h7

)0

�22

�0.

033(

h8)

0

42



Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut



PK243M-01A/PK243M-01B Bipolar (Series)

Pulse Speed [kHz]

0(0)

2(4)

4(8)

400 600 800200 1000Speed [r/min]

Torq

ue [N

. m]

0

0.25

0.20

0.15

0.10

0.05

0.9˚/step(0.45˚/step)

Pullout Torque

fs fs

24 VDC48 VDC

Power Input


PK243M-01A/PK243M-01B Unipolar

0(0)

12(24)

8(16)

4(8)

500 1000 1500 2000 25000

0.05

0.10

0.15

0.20

0.25

Pullout Torque

Torq

ue [N

. m]

Speed [r/min]

Pulse Speed [kHz]

fs



0.9˚/step(0.45˚/step)


Torq

ue [N

. m]

0

0.25

0.20

0.15

0.10

0.05

Pulse Speed [kHz]

0(0)

1(2)

2(4)

200 300 400100 500Speed [r/min]

0.9˚/step(0.45˚/step)

Pullout Torque

fs fs

24 VDC48 VDC

Power Input



500 1000 15000

0.25

0.20

0.15

0.10

0.05

Pullout TorqueTorq

ue [N

. m]

Speed [r/min]


Pulse Speed [kHz]0 862 4 0.9˚/step

fs


Pulse Speed [kHz]

0(0)

1(2)

2(4)

300 400200100 500Speed [r/min]

Torq

ue [N

. m]

0

0.25

0.20

0.15

0.10

0.05

0.9˚/step(0.45˚/step)

Pullout Torque

fs fs

24 VDC48 VDC

Power Input



300 400200100 5000

0.25

0.20

0.15

0.10

0.05

0 21

Pullout Torque

Torq

ue [N

. m]

Speed [r/min]

Pulse Speed [kHz]

fs

Unipolar Constant Voltage Driver Power Input: 13.5 VDCExternal Resistance: 0 Ω With Damper D4CL-5.0F: JL=34�10�7 kg.m2

0.9˚/step



Step

pin

g M

oto

rs




400 600 800200 1000Speed [r/min]

Torq

ue [N

. m]

0

0.40

0.35

0.25

0.30

0.20

0.15

0.10

0.05

Pulse Speed [kHz]

0(0)

2(4)

4(8)

0.9˚/step(0.45˚/step)

Pullout Torque

fs fs

24 VDC48 VDC

Power Input


PK244M-01A/PK244M-01B UnipolarUnipolar Constant Current Driver Power Input: 24 VDCCurrent: 1.2 A/Phase (Unipolar)With Damper D4CL-5.0F: JL=34�10�7 kg.m2

0(0)

12(24)

8(16)

4(8)

Pulse Speed [kHz]

0.9˚/step(0.45˚/step)

500 1000 1500 2000 25000

0.15

0.10

0.05

0.20

0.25

0.30

0.35

Speed [r/min]

Torq

ue [N

�m]

fs


Pullout Torque


Torq

ue [N

. m]

0

0.40

0.35

0.25

0.30

0.20

0.15

0.10

0.05

400 600 800200 1000Speed [r/min]

Pulse Speed [kHz]

0(0)

2(4)

4(8)

0.9˚/step(0.45˚/step)

Pullout Torque

fs

24 VDC48 VDC

Power Input



0

0.35

0.30

0.20

0.25

0.15

0.10

0.05

500 1000 1500

Pullout Torque

Torq

ue [N

. m]

Speed [r/min]

fs




300 400200100 500 600

0 321

0

0.35

0.30

0.20

0.25

0.15

0.10

0.05Pullout Torque

Torq

ue [N

. m]

Speed [r/min]

Pulse Speed [kHz]

fs


0.9˚/step


Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut



PK245M-01A/PK245M-01B Bipolar (Series) To

rque

[N. m

]

0

0.50

0.45

0.40

0.35

0.25

0.30

0.20

0.15

0.10

0.05

400 600 800200 1000Speed [r/min]

Pulse Speed [kHz]

0(0)

2(4)

4(8)

0.9˚/step(0.45˚/step)

Pullout Torque

fs fs

24 VDC48 VDC

Power Input



500 1000 1500 2000 25000

0.1

0.2

0.3

0.4

Pullout Torque

Torq

ue [N

. m]

Speed [r/min]

fs



0(0)

12(24)

8(16)

4(8)

Pulse Speed [kHz]

0.9˚/step(0.45˚/step)


Torq

ue [N

. m]

0

0.50

0.45

0.40

0.35

0.25

0.30

0.20

0.15

0.10

0.05

400 600 800200 1000Speed [r/min]

Pulse Speed [kHz]

0(0)

2(4)

4(8)

0.9˚/step(0.45˚/step)

Pullout Torque

fs

24 VDC48 VDC

Power Input



500 1000 15000

0.4

0.3

0.2

0.1

Pullout TorqueTorq

ue [N

. m]

Speed [r/min]

fs




0 1 2

200100 400300 5000

0.4

0.3

0.2

0.1Pullout Torque

Torq

ue [N

. m]

Speed [r/min]

Pulse Speed [kHz]

fs

0.9˚/step




Step

pin

g M

oto

rs



Specifications




per PhaseA/phase

Voltage

VDC


Inductance

mH/phase

Rotor Inertia

J: kg�m2

Lead Wires

(Pin)


(See Page C-192)

PK243A1-SG□

PK243B1-SG□

Bipolar (Series) 0.67 5.6 8.4 1035�10-7 6

�3Unipolar 0.95 4.0 4.2 2.5 �2


Note: 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.




N�m

StepAngle


PK243A1-SG3.6PK243B1-SG3.6 1:3.6 0.2 0.5˚ 500

PK243A1-SG7.2PK243B1-SG7.2 1:7.2 0.4 0.25˚ 250

PK243A1-SG9PK243B1-SG9 1:9 0.5 0.2˚ 200

PK243A1-SG10PK243B1-SG10 1:10 0.56 0.18˚ 180

PK243A1-SG18PK243B1-SG18 1:18 0.8 0.1˚ 100

PK243A1-SG36PK243B1-SG36 1:36 0.8 0.05˚ 50



��

��

�

�

✽

�Model Gear Ratio

Mass(kg)

PK243A1-SG� 3.6, 7.2, 9,10, 18, 36 0.35

PK243B1-SG�

Enter the gear ratio in the box (�) within the model name.�

42



�18

4.5

8

31�

0.2

31�0.2312

20�174✽15�1 59

4.5�

0.15

�5�

0.01

2(h7

)0

�5�

0.01

2(h7

)0

42


These dimensions are for double shaft models. For single shaft models, ignore the orange (��) areas.Screws (Included) M3 Length 10 mm��4 Pieces

��

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut



PK243A1-SG�/PK243B1-SG� Bipolar (Series) 24 VDC

200 400 600 800Speed [r/min]

Torq

ue [N

. m]

0

1.0

0.8

0.6

0.4

0.2

Permissible Torque


PK243�1-SG3.6PK243�1-SG7.2PK243�1-SG9PK243�1-SG10PK243�1-SG18PK243�1-SG36

PK243A1-SG�/PK243B1-SG� Unipolar

200100 400 500 600300Speed [r/min]

Torq

ue [N

. m]

0

1.0

0.8

0.6

0.4

0.2

Permissible Torque



PK243A1-SG�/PK243B1-SG� Bipolar (Series) 48 VDC

200 400 600 800Speed [r/min]

Torq

ue [N

. m]

0

1.0

0.8

0.6

0.4

0.2



Permissible Torque



Step

pin

g M

oto

rs






N�m

Current per Phase

A/phase

Voltage

VDC


Inductance

mH/phase

Rotor Inertia

J: kg�m2

Lead Wires

(Pin)


(See Page C-192)

PK256-02APK256-02B

Bipolar (Series) 0.84 1.4 4.2 3 5.6230�10-7 6

�3Unipolar 0.6 2 3 1.5 1.4 �2

PK258-02APK258-02B

Bipolar (Series) 1.56 1.4 6.7 4.8 11.5420�10-7 6

�3Unipolar 1.2 2 4.8 2.4 2.87 �2



�

�

�

Model L1 L2Mass(kg)

PK256-02A51.5

�0.53

PK256-02B 67.5

PK258-02A81

�0.89

PK258-02B 97

4��4.5 Thru

50

41�

0.35

31 max. 8 m

ax.

41�0.35


L15 1.5

15�0.25

16�1

15�0.25

5.8�

0.15

5.8�

0.15

20�1L2

10.1

8 max.

�6.

35�

0.01

20

�6.

35�

0.01

20

�36

�0.

039(

h8)

0

50


Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut




Torq

ue [N

·m]

200015001000500Speed [r/min]

0

0.4

0.6

0.2

1.0

0.8

Pulse Speed [kHz]

0(0)

4(8)

2(4)


fs


Pullout Torque

Power Input 24 VDC48 VDC


200015001000500


1.8˚/step

Speed [r/min]

0

0.4

0.6

0.2

0.8

Torq

ue [N

·m]

fs


Pullout Torque


600400200 800 10000

1.0

0.5

2.0

1.5

Speed [r/min]


Torq

ue [N

·m]

fs fs

Pullout Torque

Power Input 24 VDC48 VDC

Pulse Speed [kHz]

0(0)

2(4)

1(2)

1.8�/step(0.9�/step)


200015001000500

0 2 4 6

0

0.9

0.6

0.3

1.5

1.2

Pulse Speed [kHz]

Speed [r/min]


Torq

ue [N

·m]

1.8°/step

fs

Pullout Torque



Step

pin

g M

oto

rs


�56.4 mmStep Angle 1.8˚Standard Type




N�m


Voltage

VDC


Inductance

mH/phase

Rotor Inertia

J: kg�m2

Lead Wires

(Pin)


(See Page C-192)

PK264-01APK264-01B

Bipolar (Series) 0.48 0.71 8.1 11.4 21.6120�10-7 6

�3Unipolar 0.39 1 5.7 5.7 5.4 �2

PK264-02APK264-02B

Bipolar (Series) 0.48 1.4 3.9 2.8 5.6120�10-7 6

�3Unipolar 0.39 2 2.8 1.4 1.4 �2

PK264-03APK264-03B

Bipolar (Series) 0.48 2.1 2.6 1.26 2.4120�10-7 6

�3Unipolar 0.39 3 1.9 0.63 0.6 �2

PK264-E2.0APK264-E2.0B

Bipolar (Parallel) 0.48 2.8 1.96 0.7 1.4120�10-7 8

�6Bipolar (Series) 0.48 1.4 3.9 2.8 5.6 �5

Unipolar 0.39 2 2.8 1.4 1.4 �4

PK266-01APK266-01B

Bipolar (Series) 1.17 0.71 11 14.8 40300�10-7 6

�3Unipolar 0.9 1 7.4 7.4 10 �2

PK266-02APK266-02B

Bipolar (Series) 1.17 1.4 5 3.6 10300�10-7 6

�3Unipolar 0.9 2 3.6 1.8 2.5 �2

PK266-03APK266-03B

Bipolar (Series) 1.17 2.1 3.2 1.5 4.4300�10-7 6

�3Unipolar 0.9 3 2.3 0.75 1.1 �2

PK266-E2.0APK266-E2.0B


�6Bipolar (Series) 1.17 1.4 5 3.6 10 �5

Unipolar 0.9 2 3.6 1.8 2.5 �4

PK268-01APK268-01B

Bipolar (Series) 1.75 0.71 12 17.2 56480�10-7 6

�3Unipolar 1.35 1 8.6 8.6 14 �2

PK268-02APK268-02B

Bipolar (Series) 1.75 1.4 6.3 4.5 14.4480�10-7 6

�3Unipolar 1.35 2 4.5 2.25 3.6 �2

PK268-03APK268-03B

Bipolar (Series) 1.75 2.1 4.2 2 6.4480�10-7 6

�3Unipolar 1.35 3 3 1 1.6 �2

PK268-E2.0APK268-E2.0B


�6Bipolar (Series) 1.75 1.4 6.3 4.5 14.4 �5

Unipolar 1.35 2 4.5 2.25 3.6 �4



�

�

�

Model L1 L2Mass(kg)

PK264-0�A

39�

0.45PK264-E2.0APK264-0�B

55PK264-E2.0BPK266-0�A

54�

0.7PK266-E2.0APK266-0�B

70PK266-E2.0BPK268-0�A

76�

1.0PK268-E2.0APK268-0�B

92PK268-E2.0BEnter the winding specifications in the box (�) within the model name.�

L15 1.6

47.1

4�0.

35

16�1

15�0.25

20�1L2

5.8�

0.15

�6.

35�

0.01

20

5.8�

0.15

�6.

35�

0.01

20

�38

.1�0.0

3

47.14�0.35

56.4

15�0.25

56.4

4��4.5 Thru

6 or 8 Motor Leads 300 mm LengthUL Style 3265, AWG22 (6 Leads) AWG24 (8 Leads)


Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut




Pulse Speed [kHz]

0(0)

1(2)

2(4)

400 600 800200 1000Speed [r/min]

Torq

ue [N

. m]

0

0.6

0.5

0.4

0.3

0.2

0.1


Pullout Torque

fs fs

24 VDC48 VDC

Power Input



500 1000 1500 2000 25000

0.5

0.1

0.3

0.2

0.4


Torq

ue [N

. m]

Speed [r/min]

fs

Pullout Torque

Pulse Speed [kHz]0 642 1.8˚/step


Pulse Speed [kHz]

0(0)

1(2)

4(8)

2(4)

3(6)

500 1000 1500Speed [r/min]

Torq

ue [N

. m]

0

0.6

0.5

0.4

0.3

0.2

0.1


Pullout Torque

fs

24 VDC48 VDC

Power Input



0(0)

4(8)

6(12)

2(4)

500 1000 1500 2000 25000

0.1

0.2

0.3

0.4

0.5

Pullout Torque

Torq

ue [N

. m]

Speed [r/min]

Pulse Speed [kHz]

fs





500 1000 1500Speed [r/min]

Torq

ue [N

. m]

0

0.6

0.5

0.4

0.3

0.2

0.1

Pulse Speed [kHz]

0(0)

3(6)

4(8)

1(2)

2(4)


Pullout Torque

fs

24 VDC48 VDC

Power Input



500 1000 1500 2000 25000

0.5

0.1

0.3

0.2

0.4


Torq

ue [N

. m]

Speed [r/min]

fs

Pullout Torque


PK264-E2.0A/PK264-E2.0B Bipolar (Parallel)

500 1000 20001500 2500Speed [r/min]

Torq

ue [N

. m]

0

0.6

0.5

0.4

0.3

0.2

0.1

Pulse Speed [kHz]

0(0)

6(12)

4(8)

2(4)


Pullout Torque

fs

24 VDC48 VDC

Power Input

Bipolar Constant Current DriverCurrent: 2.8 A/Phase (Bipolar Parallel)With Damper D6CL-6.3F: JL=140�10�7 kg.m2

PK264-E2.0A/PK264-E2.0B Bipolar (Series)

Pulse Speed [kHz]

0(0)

1(2)

4(8)

2(4)

3(6)

500 1000 1500Speed [r/min]

Torq

ue [N

. m]

0

0.6

0.5

0.4

0.3

0.2

0.1


Pullout Torque

fs

24 VDC48 VDC

Power Input




Step

pin

g M

oto

rs




Pulse Speed [kHz]

0(0)

0.50(1.0)

0.25 (0.5)

50 100 150 200 250Speed [r/min]

Torq

ue [N

. m]

0

1.5

1.0

0.5


Pullout Torque

fs

24 VDC48 VDC

Power Input



500 1000 15000

1.0

0.2

0.6

0.4

0.8


Torq

ue [N

. m]

Speed [r/min]

Pullout Torque

fs

Pulse Speed [kHz]

0 431 2 1.8˚/step


Pulse Speed [kHz]

0(0)

1.0(2.0)

0.5(1.0)

200 400300100 500Speed [r/min]

Torq

ue [N

. m]

0

1.5

1.0

0.5


Pullout Torque

fs fs

24 VDC48 VDC

Power Input



0(0)

4(8)

6(12)

2(4)

500 1000 1500 2000 25000

0.2

0.4

0.6

0.8

1.0

1.2

Pullout TorqueTorq

ue [N

. m]

Speed [r/min]

Pulse Speed [kHz]

fs





Pulse Speed [kHz]

0(0)

0.5(1.0)

1.0(2.0)

100 200 300 400 500Speed [r/min]

Torq

ue [N

. m]

0

1.5

1.0

0.5


Pullout Torque

fs fs

24 VDC48 VDC

Power Input



1000500 1500 250020000

1.0

0.2

0.4

0.8

0.6


Torq

ue [N

. m]

Speed [r/min]

Pullout Torque

fs



400 600 800200 1000Speed [r/min]

Torq

ue [N

. m]

0

1.5

1.0

0.5

Pulse Speed [kHz]

0(0)

1 (2)

2(4)


fs

Pullout Torque

24 VDC48 VDC

Power Input



Pulse Speed [kHz]

0(0)

1.0(2.0)

0.5(1.0)

200 400300100 500Speed [r/min]

Torq

ue [N

. m]

0

1.5

1.0

0.5


Pullout Torque

fs fs

24 VDC48 VDC

Power Input



Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut




Pulse Speed [kHz]

0(0)

0.25(0.5)

0.50(1.0)

50 100 150 200Speed [r/min]

Torq

ue [N

. m]

0

2.5

2.0

1.5

1.0

0.5


Pullout Torque

fs

24 VDC48 VDC

Power Input



200100 300 400 5000

1.4

0.4

0.2

1.0

1.2

0.6

0.8


Torq

ue [N

. m]

Speed [r/min]

Pullout Torque

fs

Pulse Speed [kHz]0 0.5 1.0 1.8˚/step


Pulse Speed [kHz]

0(0)

1.0(2.0)

0.5(1.0)

200100 500400300Speed [r/min]

Torq

ue [N

. m]

0

2.5

2.0

1.5

1.0

0.5


Pullout Torque

fs fs

24 VDC48 VDC

Power Input



0(0)

4(8)

2(4)

500 1000 1500 20000

0.6

0.4

0.2

0.8

1.0

1.2

1.6

1.4

Pullout Torque

Torq

ue [N

. m]

Speed [r/min]

Pulse Speed [kHz]

fs





Pulse Speed [kHz]

0(0)

1.0 (2.0)

0.5(1.0)

100 200 300 400 500Speed [r/min]

Torq

ue [N

. m]

0

2.5

2.0

1.5

1.0

0.5


Pullout Torque

fs fs

24 VDC48 VDC

Power Input



0 4 62

1000500 1500 2000 25000

1.4

0.4

0.2

1.0

1.2

0.6

0.8


Torq

ue [N

. m]

Speed [r/min]

Pulse Speed [kHz]

Pullout Torque

fs

1.8˚/step


100 200 300 900800700600500400 1000Speed [r/min]

Torq

ue [N

. m]

0

2.5

2.0

1.5

1.0

0.5

Pulse Speed [kHz]

0(0)

1 (2)

2(4)


Pullout Torque

fs fs

24 VDC48 VDC

Power Input



Pulse Speed [kHz]

0(0)

1.0(2.0)

0.5(1.0)

200100 500400300Speed [r/min]

Torq

ue [N

. m]

0

2.5

2.0

1.5

1.0

0.5


Pullout Torque

fs fs

24 VDC48 VDC

Power Input




Step

pin

g M

oto

rs


�56.4 mmStep Angle 1.8˚Standard Type IP65 Rated Motor

Specifications

Model Connection TypeHoldingTorque

N�m


Voltage

VDC


Inductance

mH/phase

Rotor Inertia

J: kg�m2

Number of Terminals

(Pin)


(See Page C-192)

PK264DAT Bipolar 0.48 2.8 1.96 0.7 1.4 120�10-7 4 �7

PK266DAT Bipolar 1.17 2.8 2.52 0.9 2.5 300�10-7 4 �7

PK268DAT Bipolar 1.75 2.8 3.16 1.13 3.6 480�10-7 4 �7

How to read specifications table ➜ Page C-10List of safety standard approved products (model, standards, file no., certification body) ➜Page G-10

Degree of protection: IP65✽

Excluding the gap between the shaft and the flange.


Model LMass(kg)

PK264DAT 83 0.6

PK266DAT 98 0.9

PK268DAT 120 1.2

Use cable (VCT) with a diameter of �7�13 mm. Accessory motor cable (with protective earth wire, sold separately) is available. ➜ Page C-254

10

66.7

1.65L

38.7

Protective Earth TerminalM4

10.3 27max.

10.3

56.4

M4

56.4

4�M3

20�1

47.14�0.35

47.1

4�0.

35

86m

ax.

5.8�

0.15

�38

.1�

0.03

15�0.25

�6.

35�

0.01

20 4��4.5 Thru

�

�✽

�

�

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut



PK264DAT Bipolar

500 1000 20001500 2500Speed [r/min]

Torq

ue [N

�m]

0

0.6

0.5

0.4

0.3

0.2

0.1

Pulse Speed [kHz]

0(0)

6(12)

4(8)

2(4)


Pullout Torque

fs

24 VDC48 VDC

Power Input

Bipolar Constant Current DriverCurrent: 2.8 A/PhaseLoad Inertia: JL=140�10�7 kg.m2

PK266DAT Bipolar

400 600 800200 1000Speed [r/min]

Torq

ue [N

. m]

0

1.5

1.0

0.5

Pulse Speed [kHz]

0(0)

1 (2)

2(4)


fs

Pullout Torque

24 VDC48 VDC

Power Input


PK268DAT Bipolar

100 200 300 900800700600500400 1000Speed [r/min]

Torq

ue [N

�m]

0

2.5

2.0

1.5

1.0

0.5

Pulse Speed [kHz]

0(0)

1 (2)

2(4)


Pullout Torque

fs fs

24 VDC48 VDC

Power Input




Step

pin

g M

oto

rs


�56.4 mmStep Angle 0.9˚High-Resolution Type




N�m


Voltage

VDC


Inductance

mH/phase

Rotor Inertia

J: kg�m2

Lead Wires

(Pin)


(See Page C-192)


Bipolar (Series) 0.48 0.71 8.1 11.4 26120�10-7 6

�3Unipolar 0.39 1 5.7 5.7 6.5 �2


Bipolar (Series) 0.48 1.4 3.9 2.8 6.8120�10-7 6

�3Unipolar 0.39 2 2.8 1.4 1.7 �2


Bipolar (Series) 0.48 2.1 2.6 1.26 3120�10-7 6

�3Unipolar 0.39 3 1.9 0.63 0.75 �2

PK264M-E2.0APK264M-E2.0B


�6Bipolar (Series) 0.48 1.4 3.9 2.8 6.8 �5

Unipolar 0.39 2 2.8 1.4 1.7 �4


Bipolar (Series) 1.17 0.71 11 14.8 50.8300�10-7 6

�3Unipolar 0.9 1 7.4 7.4 12.7 �2


Bipolar (Series) 1.17 1.4 5 3.6 12.8300�10-7 6

�3Unipolar 0.9 2 3.6 1.8 3.2 �2


Bipolar (Series) 1.17 2.1 3.2 1.5 5.8300�10-7 6

�3Unipolar 0.9 3 2.3 0.75 1.45 �2



�6Bipolar (Series) 1.17 1.4 5 3.6 12.8 �5

Unipolar 0.9 2 3.6 1.8 3.2 �4


Bipolar (Series) 1.75 0.71 12 17.2 77.6480�10-7 6

�3Unipolar 1.35 1 8.6 8.6 19.4 �2


Bipolar (Series) 1.75 1.4 6.3 4.5 19.2480�10-7 6

�3Unipolar 1.35 2 4.5 2.25 4.8 �2


Bipolar (Series) 1.75 2.1 4.2 2 8.4480�10-7 6

�3Unipolar 1.35 3 3 1 2.1 �2



�6Bipolar (Series) 1.75 1.4 6.3 4.5 19.2 �5

Unipolar 1.35 2 4.5 2.25 4.8 �4



�

�

�

Model L1 L2Mass(kg)

PK264M-0�A

39�

0.45PK264M-E2.0APK264M-0�B

55PK264M-E2.0BPK266M-0�A

54�

0.7PK266M-E2.0APK266M-0�B

70PK266M-E2.0BPK268M-0�A

76�

1.0PK268M-E2.0APK268M-0�B

92PK268M-E2.0BEnter the winding specification in the box (�) within the model name.�

L15 1.6

47.1

4�0.

35

16�1

15�0.25

20�1L2

5.8�

0.15

�6.

35�

0.01

20

5.8�

0.15

�6.

35�

0.01

20

�38

.1�0.0

3

47.14�0.35

56.4

15�0.25

56.4

4��4.5 Thru

6 or 8 Motor Leads 300 mm LengthUL Style 3265, AWG22 (6 Leads) AWG24 (8 Leads)


Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut




Pulse Speed [kHz]

0(0)

2(4)

4 (8)

400 600 800200 1000Speed [r/min]

Torq

ue [N

. m]

0

0.6

0.5

0.4

0.3

0.2

0.1

0.9˚/step(0.45˚/step)

Pullout Torque

fs

24 VDC48 VDC

Power Input



500 1000 15000

0.5

0.4

0.3

0.2

0.1


Torq

ue [N

. m]

Speed [r/min]

fs

Pullout Torque



500 1000 1500Speed [r/min]

Torq

ue [N

. m]

0

0.6

0.4

0.5

0.3

0.2

0.1

Pulse Speed [kHz]

0(0)

8(16)

6(12)

2(4)

4 (8)

0.9˚/step(0.45˚/step)

Pullout Torque

fsfs

24 VDC48 VDC

Power Input



0(0)

8(16)

12(24)

4(8)

500 1000 1500 2000 25000

0.1

0.2

0.3

0.4

0.5

Pullout Torque

Torq

ue [N

. m]

Speed [r/min]

Pulse Speed [kHz]

fs



0.9˚/step(0.45˚/step)


500 1000 1500Speed [r/min]

Torq

ue [N

. m]

0

0.6

0.4

0.5

0.3

0.2

0.1

Pulse Speed [kHz]

0(0)

8(16)

6(12)

2(4)

4 (8)

0.9˚/step(0.45˚/step)

Pullout Torque

fs

24 VDC48 VDC

Power Input



500 1000 1500 2000 25000

0.5

0.4

0.3

0.2

0.1


Torq

ue [N

. m]

Speed [r/min]

fs

Pullout Torque

0 8 124Pulse Speed [kHz]

0.9˚/step

PK264M-E2.0A/PK264M-E2.0B Bipolar (Parallel)

500 1000 1500Speed [r/min]

Torq

ue [N

. m]

0

0.6

0.4

0.5

0.3

0.2

0.1

Pulse Speed [kHz]

0(0)

8(16)

6(12)

2(4)

4 (8)

0.9˚/step(0.45˚/step)

Pullout Torque

fs

24 VDC48 VDC

Power Input


PK264M-E2.0A/PK264M-E2.0B Bipolar (Series)

500 1000 1500Speed [r/min]

Torq

ue [N

. m]

0

0.6

0.4

0.5

0.3

0.2

0.1

Pulse Speed [kHz]

0(0)

8(16)

6(12)

2(4)

4 (8)

0.9˚/step(0.45˚/step)

Pullout Torque

fsfs

24 VDC48 VDC

Power Input




Step

pin

g M

oto

rs




Pulse Speed [kHz]

0(0)

1.0 (2.0)

0.5(1.0)

50 100 150 200 250Speed [r/min]

Torq

ue [N

. m]

0

1.5

1.0

0.5

0.9˚/step(0.45˚/step)

Pullout Torque

fs fs

24 VDC48 VDC

Power Input



0 2 4

200 400 600 800 10000

1.0

0.8

0.6

0.4

0.2


Torq

ue [N

. m]

Speed [r/min]

Pulse Speed [kHz]

fs

Pullout Torque

0.9˚/step


Pulse Speed [kHz]

0(0)

2(4)

1(2)

100 200 300 400 500Speed [r/min]

Torq

ue [N

. m]

0

1.5

1.0

0.5

0.9˚/step(0.45˚/step)

Pullout Torque

fs

24 VDC48 VDC

Power Input



0(0)

8(16)

12(24)

4(8)

500 1000 1500 2000 25000

0.2

0.4

0.6

0.8

1.0

1.2

Pullout Torque

Torq

ue [N

. m]

Speed [r/min]

Pulse Speed [kHz]

fs



0.9˚/step(0.45˚/step)


100 200 300 400 500Speed [r/min]

Torq

ue [N

. m]

0

1.5

1.0

0.5

Pulse Speed [kHz]

0(0)

2(4)

1(2)

0.9˚/step(0.45˚/step)

Pullout Torque

fs fs

24 VDC48 VDC

Power Input



500 1000 1500 2000 25000

1.0

0.8

0.6

0.4

0.2


Torq

ue [N

. m]

Speed [r/min]

fs

Pullout Torque

0 8 124Pulse Speed [kHz]

0.9˚/step



Torq

ue [N

. m]

0

1.5

1.0

0.5

0(0)

2(4)

4(8)

Pulse Speed [kHz]

0.9˚/step(0.45˚/step)

Pullout Torque

fs

24 VDC48 VDC

Power Input



Pulse Speed [kHz]

0(0)

2(4)

1(2)

100 200 300 400 500Speed [r/min]

Torq

ue [N

. m]

0

1.5

1.0

0.5

0.9˚/step(0.45˚/step)

Pullout Torque

fs

24 VDC48 VDC

Power Input



Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut




Pulse Speed [kHz]

0(0)

1.0(2.0)

0.5 (1.0)

50 100 150 200Speed [r/min]

Torq

ue [N

. m]

0

2.5

2.0

1.0

0.5

1.5

0.9˚/step(0.45˚/step)

fs

Pullout Torque

fs

24 VDC48 VDC

Power Input



0 21

100 200 300 400 5000

1.4

1.2

1.0

0.8

0.6

0.4

0.2


Torq

ue [N

. m]

Speed [r/min]

Pulse Speed [kHz]

fs

Pullout Torque

0.9˚/step


Pulse Speed [kHz]

0(0)

1(2)

0.5(1)

50 100 150 200 250Speed [r/min]

Torq

ue [N

. m]

0

2.5

2.0

1.5

1.0

0.5

0.9˚/step(0.45˚/step)

Pullout Torque

fs fs

24 VDC48 VDC

Power Input



0

0.6

0.4

0.2

0.8

1.0

1.2

1.6

1.4

500 1000 1500 2000

0(0)

8(16)

4(8)

Pullout Torque

Torq

ue [N

. m]

Speed [r/min]

Pulse Speed [kHz]

fs



0.9˚/step(0.45˚/step)


100 200 300 400 500Speed [r/min]

Torq

ue [N

. m]

0

2.5

2.0

1.0

0.5

1.5

Pulse Speed [kHz]

0(0)

2(4)

1(2)

0.9˚/step(0.45˚/step)

fs

Pullout Torque

fs

24 VDC48 VDC

Power Input



500 1000 1500 20000

1.4

1.2

1.0

0.8

0.6

0.4

0.2


Torq

ue [N

. m]

Speed [r/min]

fs

Pullout Torque

0 84Pulse Speed [kHz]

0.9˚/step


0(0)

2(4)

1(2)

Pulse Speed [kHz]

0.9˚/step(0.45˚/step)

400100 200 300 500Speed [r/min]

Torq

ue [N

. m]

0

2.5

2.0

1.5

1.0

0.5 Pullout Torque

fs fs

24 VDC48 VDC

Power Input



Pulse Speed [kHz]

0(0)

1(2)

0.5(1)

50 100 150 200 250Speed [r/min]

Torq

ue [N

. m]

0

2.5

2.0

1.5

1.0

0.5

0.9˚/step(0.45˚/step)

Pullout Torque

fs fs

24 VDC48 VDC

Power Input




Step

pin

g M

oto

rs






N�m


Voltage

VDC


Inductance

mH/phase

Rotor Inertia

J: kg�m2

Lead Wires

(Pin)


(See Page C-192)

PK264JDAPK264JDB Bipolar 1.06 2.8 2.1 0.73 1.8 280�10-7 4 �1

PK264JAPK264JB

Bipolar (Series) 1.06 1.4 4.1 2.92 7.2280�10-7 6

�3Unipolar 0.75 2 2.9 1.46 1.8 �2

PK266JDAPK266JDB Bipolar 1.75 2.8 2.8 1 3.05 450�10-7 4 �1

PK266JAPK266JB

Bipolar (Series) 1.75 1.4 5.6 4 12.2450�10-7 6

�3Unipolar 1.35 2 4 2 3.05 �2


PK267JA PK267JB

Bipolar (Series) 2.2 1.4 6.7 4.8 14.2570�10-7 6

�3Unipolar 1.7 2 4.8 2.4 3.54 �2


PK269JAPK269JB

Bipolar (Series) 3.1 1.4 8.3 5.96 22.8900�10-7 6

�3Unipolar 2.2 2 6 2.98 5.7 �2



�

�

�

Model L1 L2Mass(kg)

PK264JDA

43.5�

0.6PK264JAPK264JDB

66.5PK264JBPK266JDA

54�

0.83PK266JAPK266JDB

77PK266JBPK267JDA

65�

1.02PK267JAPK267JDB

88PK267JBPK269JDA

85�

1.43PK269JAPK269JDB

108PK269JB

4 or 6 Motor Leads 300 mm LengthUL Style 3265, AWG22

1.523�1

20�0.25 �38

.1�

0.03

L2 24�1

7.5�

0.15

20�0.25

7

7.5�

0.15

10.1

8

L14��4.5 Thru

47.14�0.35

47.1

4�0.

3530.6

7

60�

8�0.

015(

h7)

0

�8�

0.01

5(h7

)0

60These dimensions are for double shaft models. For single shaft models, ignore the orange (��) areas.�

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut



PK264JDA/PK264JDB Bipolar

Pulse Speed [kHz]

0(0)

2(4)

1 (2)

200 400 600 800 1000Speed [r/min]

Torq

ue [N

. m]

0

1.6

1.2

1.4

1.0

0.2

0.4

0.6

0.8


Pullout Torque

fs

24 VDC48 VDC

Power Input

Bipolar Constant Current DriverCurrent: 2.8 A/PhaseWith Damper D6CL-8.0F: JL=140�10�7 kg.m2

PK264JA/PK264JB Bipolar (Series)

100 200 300 400 500Speed [r/min]

Torq

ue [N

. m]

0

2.0

1.5

1.0

0.5

Pulse Speed [kHz]

0(0)

1.0(2.0)

0.5 (1.0)


Pullout Torque

fs fs

24 VDC48 VDC

Power Input



200 400 600 800 1000Speed [r/min]

Torq

ue [N

. m]

0

2.0

1.2

1.4

1.6

1.8

1.0

0.2

0.4

0.6

0.8

Pulse Speed [kHz]

0(0)

2(4)

1 (2)


Pullout Torque

fs

24 VDC48 VDC

Power Input



100 200 300 400 500Speed [r/min]

Torq

ue [N

. m]

0

2.0

1.5

1.0

0.5

Pulse Speed [kHz]

0(0)

1.0(2.0)

0.5 (1.0)


Pullout Torque

fs fs

24 VDC48 VDC

Power Input



200 400 600 800 1000Speed [r/min]

Torq

ue [N

. m]

0

3.0

2.5

2.0

1.0

1.5

0.5

Pulse Speed [kHz]

0(0)

2(4)

1 (2)


Pullout Torque

fs fs

24 VDC48 VDC

Power Input



100 200 300 400 500Speed [r/min]

Torq

ue [N

. m]

0

4.0

3.0

2.0

1.0

Pulse Speed [kHz]

0(0)

1.0(2.0)

0.5 (1.0)


Pullout Torque

fs fs

24 VDC48 VDC

Power Input



200 400 600 800 1000Speed [r/min]

Torq

ue [N

. m]

0

4.0

3.5

3.0

2.5

2.0

1.5

1.0

0.5

Pulse Speed [kHz]

0(0)

2(4)

1 (2)


Pullout Torque

fs fs

24 VDC48 VDC

Power Input



100 200 300 400 500Speed [r/min]

Torq

ue [N

. m]

0

4.0

3.0

2.0

1.0

Pulse Speed [kHz]

0(0)

1.0(2.0)

0.5 (1.0)


Pullout Torque

fs fs

24 VDC48 VDC

Power Input




Step

pin

g M

oto

rs



PK264JA/PK264JB Unipolar

Torq

ue [N

. m]

Pulse Speed [kHz]


Speed [r/min]1000 2000500 1500

0(0)

2(4)

4(8)

0

0.2

0.1

0.5

0.4

0.3

0.8

0.7

0.6

0.9

1.0

6(12)

Full Step 1.8˚/step Half Step 0.9˚/step

Pullout Torque


fs


1000500 1500 2000

0(0)

2(4)

4(8)

0

0.4

0.2

0.6

0.8

1.2

1.0

1.6

1.4

4(8)

6(12)

Torq

ue [N

. m]


Pulse Speed [kHz]


Speed [r/min]


Pullout Torque

fs


1000500 1500

0(0)

2(4)

4(8)

0

0.2

0.4

0.8

0.6

1.2

1.0

1.6

1.4

Pulse Speed [kHz]


Speed [r/min]

Torq

ue [N

. m]



Pullout Torque

fs


Pulse Speed [kHz]


Speed [r/min]

0

0.5

1.0

1.5

2.0

2.5

Torq

ue [N

. m]


300200100 500400

0(0)

0.4(0.8)

0.8(1.6)

1.2(2.4)


Pullout Torque

fs


Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut



Step

pin

g M

oto

rs



Specifications




per PhaseA/phase

Voltage

VDC


Inductance

mH/phase

Rotor Inertia

J: kg�m2

Lead Wires

(Pin)


(See Page C-192)

PK264AE-SG□

PK264BE-SG□

Bipolar (Parallel) 2.8 1.96 0.7 1.4120�10-7 8

�6Bipolar (Series) 1.4 3.9 2.8 5.6 �5

Unipolar 2 2.8 1.4 1.4 �4


Note: 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.




N�m

StepAngle


PK264AE-SG3.6PK264BE-SG3.6 1:3.6 1 0.5˚ 500

PK264AE-SG7.2PK264BE-SG7.2 1:7.2 2 0.25˚ 250

PK264AE-SG9PK264BE-SG9 1:9 2.5 0.2˚ 200

PK264AE-SG10PK264BE-SG10 1:10 2.7 0.18˚ 180

PK264AE-SG18PK264BE-SG18 1:18 3 0.1˚ 100

PK264AE-SG36PK264BE-SG36 1:36 4 0.05˚ 50



��

��

�

�

✽

�Model Gear Ratio

Mass(kg)

PK264AE-SG� 3.6, 7.2, 9,10, 18, 36 0.75

PK264BE-SG�


4�M4�8 Deep

8 Motor Leads 300 mm LengthUL Style 3265, AWG24

79

�24

10�

0.5

123

5.8�

0.15

16�1

15�0.25

7

32�195

70�0.5

60

�56

.4

�6.

35�

0.01

20

�8�

0.01

5(h7

)0

60


��

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut



PK264AE-SG�/PK264BE-SG� Bipolar (Series) 24 VDC

100 200 300 400 600500Speed [r/min]

Torq

ue [N

. m]

0

5.0

4.0

3.0

2.0



PK264�E-SG3.6PK264�E-SG7.2PK264�E-SG9PK264�E-SG10PK264�E-SG18PK264�E-SG36

PK264AE-SG�/PK264BE-SG� Unipolar

200 400 600100 300 5000

5

4

1

2

3


Torq

ue [N

. m]

Speed [r/min]

Permissible Torque PK264�E-SG3.6PK264�E-SG7.2PK264�E-SG9PK264�E-SG10PK264�E-SG18PK264�E-SG36


100 200 300 400 600500Speed [r/min]

Torq

ue [N

. m]

0

5.0

4.0

3.0

2.0

1.0

Permissible Torque





Step

pin

g M

oto

rs






N�m


Voltage

VDC


Inductance

mH/phase

Rotor Inertia

J: kg�m2

Lead Wires

(Pin)


(See Page C-192)

PK296-E4.5APK296-E4.5B


�6Bipolar (Series) 3.1 3.18 2.8 0.96 6.0 �5

Unipolar 2.2 4.5 2 0.48 1.5 �4

PK299-E4.5APK299-E4.5B


�6Bipolar (Series) 6.2 3.18 3.9 1.32 10.0 �5

Unipolar 4.4 4.5 2.8 0.66 2.5 �4

PK2913-E4.0APK2913-E4.0B


�6Bipolar (Series) 9.3 2.8 5.3 1.94 16.8 �5

Unipolar 6.6 4 3.8 0.97 4.2 �4



�

�

�

Model L1 L2Mass(kg)

PK296-E4.5A66

�1.7

PK296-E4.5B 100

PK299-E4.5A96

�2.8

PK299-E4.5B 130

PK2913-E4.0A126

�3.8

PK2913-E4.0B 160

L110 2

34�1


�73

.025

�0.

0325�0.2525�0.25

�14

�0.

018(

h7)

0

13�

0.15

37�1L2

�14

�0.

018(

h7)

013

�0.

15

69.58�0.35

85

4��6.5 Thru

69.5

8�0.

35

85


Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut




Torq

ue [N

. m]

0

4.0

3.0

2.0

1.0

200015001000500

0(0)

2(4)

4(8)

6(12)

Pulse Speed [kHz]

Speed [r/min]


Bipolar Constant Current Driver Power Input: 60 VDCCurrent: 6.3 A/Phase (Bipolar Parallel)With Damper D9CL-14F: JL=870�10�7 kg.m2

Pullout Torque

fs


Pulse Speed [kHz]

0(0)

1.0(2.0)

0.5 (1.0)

100 200 300 400 500Speed [r/min]

Torq

ue [N

. m]

0

2.5

2.0

3.5

3.0

1.5

1.0

0.5

24 VDC48 VDC

Power Input

Bipolar Constant Current DriverCurrent: 3.18 A/Phase (Bipolar Series)With Damper D9CL-14F: JL=870�10�7 kg.m2

1.5(3.0)


Pullout Torque

fs fs


15001000500

0(0)

1(2)

2(4)

3(6)

4(8)

0

3.0

1.0

6.0

5.0

2.0

4.0

Pulse Speed [kHz]

Speed [r/min]


Torq

ue [N

·m]


fs

Pullout Torque


100 200 300 400 500Speed [r/min]

Torq

ue [N

. m]

0

8.0

6.0

4.0

2.0

Pulse Speed [kHz]

0(0)

1.0(2.0)

0.5 (1.0)

fs fs

24 VDC48 VDC

Power Input


1.5(3.0)


Pullout Torque


500400300200100

0(0)

0.5(1.0)

1.0(2.0)

1.5(3.0)

0

4

2

10

6

8

Pulse Speed [kHz]

Speed [r/min]


Torq

ue [N

·m]


fs

Pullout Torque


Pulse Speed [kHz]

0(0)

0.50(1.0)

0.25(0.5)


0

12.0

10.0

8.0

6.0

4.0

2.0

1.8°/step(0.9°/step)

Pullout Torque

fs

24 VDC48 VDC

Power Input


Torq

ue [N

. m]



Step

pin

g M

oto

rs


�85 mmStep Angle 1.8˚Standard Type IP65 Rated Motor

Specifications

Model Connection TypeHoldingTorque

N�m


Voltage

VDC


Inductance

mH/phase

Rotor Inertia

J: kg�m2

Number of Terminals

(Pin)


(See Page C-192)

PK296EATBipolar (Parallel) 3.1 6.3 1.4 0.24 1.5

1400�10-7 8�9

Bipolar (Series) 3.1 3.18 2.8 0.96 6.0 �8Unipolar 2.2 4.5 2 0.48 1.5 �10


2700�10-7 8�9

Bipolar (Series) 6.2 3.18 3.9 1.32 10.0 �8Unipolar 4.4 4.5 2.8 0.66 2.5 �10


1400�10-7 8�9

Bipolar (Series) 9.3 2.8 5.3 1.94 16.8 �8Unipolar 6.6 4 3.8 0.97 4.2 �10

How to read specifications table ➜ Page C-10List of safety standard approved products (model, standards, file no., certification body) ➜ Page G-10

Degree of protection: IP65✽

Excluding the gap between the shaft and the flange.


Model LMass(kg)

PK296EAT 110 2.1

PK299EAT 140 3.2

PK2913EAT 170 4.3

Use cable (VCT) with a diameter of �7�13 mm. Accessory motor cable (with protective earth wire) (sold separately) is available. ➜Page C-254

10

10.3

2L

40.6 10

95.3

37�1

13�

0.15

69.5

8�0.

35

69.58�0.35

85

8511

3max

.

�73

.025

�0.

0325�0.25

M4

10.3 27max.

4�M3

�14

�0.

018(

h7)

0

4��6.5 Thru


�

�✽

�

�

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut



PK296EAT Bipolar (Parallel)

Torq

ue [N

. m]

0

4.0

3.0

2.0

1.0

200015001000500

0(0)

2(4)

4(8)

6(12)

Pulse Speed [kHz]

Speed [r/min]


Bipolar Constant Current Driver Power Input: 60 VDCCurrent: 6.3 A/Phase (Bipolar Parallel)Load Inertia: JL=870�10�7 kg.m2

Pullout Torque

fs

PK296EAT Bipolar (Series)

Pulse Speed [kHz]

0(0)

1.0(2.0)

0.5 (1.0)

100 200 300 400 500Speed [r/min]

Torq

ue [N

. m]

0

2.5

2.0

3.5

3.0

1.5

1.0

0.5


Pullout Torque

fs fs

24 VDC48 VDC

Power Input

Bipolar Constant Current DriverCurrent: 3.18 A/Phase (Bipolar Series)Load Inertia: JL=870�10�7 kg.m2


15001000500

0(0)

1(2)

2(4)

3(6)

4(8)

0

3.0

1.0

6.0

5.0

2.0

4.0

Pulse Speed [kHz]

Speed [r/min]


Torq

ue [N

·m]


fs

Pullout Torque


100 200 300 400 500Speed [r/min]

Torq

ue [N

. m]

0

8.0

6.0

4.0

2.0

Pulse Speed [kHz]

0(0)

1.0(2.0)

0.5 (1.0)


fs

Pullout Torque

fs

24 VDC48 VDC

Power Input



500400300200100

0(0)

0.5(1.0)

1.0(2.0)

1.5(3.0)

0

4

2

10

6

8

Pulse Speed [kHz]

Speed [r/min]


Torq

ue [N

·m]


fs

Pullout Torque


Pulse Speed [kHz]

0(0)

0.50(1.0)

0.25(0.5)


Torq

ue [N

. m]

0

12.0

10.0

8.0

6.0

4.0

2.0


Pullout Torque

fs

24 VDC48 VDC

Power Input




Step

pin

g M

oto

rs



Specifications




per PhaseA/phase

Voltage

VDC


Inductance

mH/phase

Rotor Inertia

J: kg�m2

Lead Wires

(Pin)


(See Page C-192)

PK296AE-SG□

PK296BE-SG□

Bipolar (Parallel) 4.2 1 0.24 1.51400�10-7 8

�6Bipolar (Series) 2.1 2 0.96 6.0 �5

Unipolar 3 1.4 0.48 1.5 �4


Note: 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.




N�m

StepAngle


PK296AE-SG3.6PK296BE-SG3.6 1:3.6 2.5 0.5˚ 500

PK296AE-SG7.2PK296BE-SG7.2 1:7.2 5 0.25° 250

PK296AE-SG9PK296BE-SG9 1:9 6.3 0.2° 200

PK296AE-SG10PK296BE-SG10 1:10 7 0.18° 180

PK296AE-SG18PK296BE-SG18 1:18 9 0.1° 100

PK296AE-SG36PK296BE-SG36 1:36 12 0.05° 50



��

��

�

�

✽

�Model Gear Ratio

Mass(kg)

PK296AE-SG� 3.6, 7.2, 9,10, 18, 36 2.8

PK296BE-SG�


25�0.2

3126

32�1

18�

0.5

104�0.5

34�1

160

25�0.25 90

4�M6�15 Deep8 Motor Leads 300 mm LengthUL Style 3265, AWG22

25

13�

0.15

A

A

�36

�12

�0.

018(

h7)

0

4�0.

030

0 4�0.0300

2.5

0

�0.

1

4 0 �0.04

�14

�0.

018(

h7)

0

90

A�A Parallel Key (Included)

�85


��

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut




100 200 300 400 600500Speed [r/min]

Torq

ue [N

. m]

0

14

12

10

6

8

2

4Permissible Torque

Bipolar Constant Current Driver Power Input: 24 VDCCurrent: 2.1 A/Phase (Bipolar Series)With Damper D9CL-14F: JL=870�10�7 kg.m2


PK296AE-SG�/PK296BE-SG� Unipolar

200 300 500100 400 6000

15

5

10

Torq

ue [N

. m]

Speed [r/min]

Permissible Torque

Unipolar Constant Current Driver Power Input: 24 VDCCurrent: 3.0 A/Phase (Unipolar)With Damper D9CL-14F: JL=870�10�7 kg.m2



100 200 300 400 600500Speed [r/min]

Torq

ue [N

·m]

0

14

12

10

6

8

2

4

Permissible Torque

Bipolar Constant Current Driver Power Input: 48 VDCCurrent: 2.1 A/Phase (Bipolar Series)With Damper D9CL-14F: JL=870�10�7 kg.m2




Step

pin

g M

oto

rs


General SpecificationsSpecifications Motor

Insulation ClassClass B (130˚C)

[Standard type IP65 rated motor: Recognized as class A (105˚C) by UL/CSA Standards]

Insulation Resistance100 M� or more when 500 VDC megger is applied between the windings and case under normal ambient temperature and humidity.

Dielectric StrengthSufficient 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 �10��50˚C (non-freezing)Ambient Humidity 85% or less (no-condensing)

AtmosphereNo corrosive gases, dust, water or oil(Standard type IP65 rated motor: no corrosive gases)

Temperature RiseTemperature rise of windings measured by the resistance change method are 80˚C or less. (at rated voltage, at standstill, two phases energized)

Stop Position Accuracy✽1 �3 arc minutes (�0.05˚)[�2 arc minutes (�0.034˚) for PK26�J]

Shaft Runout 0.05 T.I.R. (mm)✽4

Radial Play✽2 0.025 mm maximum of 5 NAxial Play✽3 0.075 mm maximum of 10 NConcentricity 0.075 T.I.R. (mm)✽4

Perpendicularity 0.075 T.I.R. (mm)✽4

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.


�

✽

✽

✽

✽

�

A

A0.075

A�0.075

0.05

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut





0 5 10 15 20

High-Torque Type

PK223P�

�

25 34 52 � �


PK224P�

PK225P�

PK233P�20 25 34 52 �

PK235P�

PK244P�20 25 34 52 �

PK246P�

PK264JD�

50 60 75 100 150

PK264J�

PK266JD�

PK266J�

PK267JD�

PK267J�

PK269JD�

PK269J�

Standard Type

Standard TypeIP65 Rated Motor

PK243-0��

20 25 34 52 �PK244-0��

PK245-0��

PK256-02�54 67 89 130 �

PK258-02�

PK264-0��

54 67 89 130 �

PK264-E2.0�

PK266-0��

PK266-E2.0�

PK268-0��

PK268-E2.0�

PK264DATPK266DATPK268DATPK296-E4.5�

260 290 340 390 480

PK299-E4.5�

PK2913-E4.0�

PK296EATPK299EATPK2913EAT


PK243M-0��

20 25 34 52 �PK244M-0��

PK245M-0��

PK264M-0��

54 67 89 130 �

PK264M-E2.0�

PK266M-0��

PK266M-E2.0�

PK268M-0��

PK268M-E2.0�

SH Geared Type

PK223P�-SG��7.2, 9, 10,

18, 36 15 17 20 23 � 10

PK243�1-SG��3.6, 7.2, 9, 10, 18, 36 10 15 20 30 � 15

PK264�E-SG�� 3.6, 7.2, 9, 10 30 40 50 60 7030

PK264�E-SG�� 18, 36 80 100 120 140 160

PK296�E-SG��3.6, 7.2, 9, 10, 18, 36 220 250 300 350 400 100

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.

�

�


(Sold separately)

PK566-BE


5-Phase PK SeriesClean

DamperD6CL-8.0F

FlexibleCoupling

MCS200808


PAL2P-5

No. Product Name Overview PageC-266C-258C-264

�

�

�


Dedicated mounting bracket for the motor.Coupling that connects the motor shaft to the driven shaft.Dedicated damper for suppressing stepping motor vibration.

5-Phase PK Series (Body)

Motor

Driver

(Not supplied)✽1

Required Products(Sold separately)

✽1 Motor and driver packages are available. RK Series ➜ Page C-82 CRK Series ➜ Page C-114

✽2 Controllers suitable for stepping motors are available. Controller ➜ Page C-248


Controller

(Not supplied)✽2


(Not supplied)





�The system configuration shown above is an example. Other combinations are available.

�

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.

RoHS-CompliantThe 5-phase PK Series conforms to the RoHS Directive that prohibits the use of six chemical substances including lead and cadmium.


�

�

Product Number Code

� � � � ��

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

� Product LineModel (Single Shaft) Model (Double Shaft)

PK543-APK544-APK545-A

PK543-BPK544-BPK545-B

PK564-AEPK566-AEPK569-AE

PK564-BEPK566-BEPK569-BE

PK596-AEPK599-AEPK5913-AE

PK596-BEPK599-BEPK5913-BE

Motor, Operating ManualThe following items are included in each product.

�


PK Series

RoHS-Compliant



Step

pin

g M

oto

rs


Specifications

Frame Sizemm

Model Maximum Holding Torque

N·m

Rotor Inertia

J: kg·m2

Current per Phase A/Phase

Resistance per Phase Ω/Phase

Basic Step Angle

Mass

kg

Corresponding Motor and Driver Package/Page with Speed – Torque

Characteristics

Dimension No.

Single Shaft Double Shaft

�42PK543-A PK543-B 0.13 35�10-7

0.75

1.7

0.72˚

0.21 CRK543�P C-123�1PK544-A PK544-B 0.18 54�10-7

2.20.27 CRK544�P C-123

PK545-A PK545-B 0.24 68�10-7 0.35 CRK545�P C-123

�60

PK564-AE PK564-BE 0.42 175�10-7 2.3 0.6 � �

�2PK566-AE PK566-BE 0.83 280�10-7 3.4 0.8 � �

PK569-AE PK569-BE 1.66 560�10-7

1.41.7 1.3 RK569�CE

CRK569�PC-89C-123

�85PK596-AE PK596-BE 2.1 1400�10-7 1.5 1.7 RK596�CE C-89

�3PK599-AE PK599-BE 4.1 2700�10-7 2.3 2.8 RK599�CE C-89PK5913-AE PK5913-BE 6.3 4000�10-7 2.8 0.75 3.8 � �

How to read specifications table ➜ Page C-10For 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.Enter the shaft type A or B in the box (�) within the model name.


�

�

�

�

Pulse Speed [kHz]0 15 20105 Full Step

1500 250020001000500Speed [r/min]

Torq

ue [N

�m]

0

0.6

0.2

0.1

0.3

0.4

0.5

0

Constant Current Driver Power Input: 24 VDCCurrent: 0.75 A/Phase (4 Phases ON)With Damper D6CL-8.0F: JL=140�10�7 kg�m2

fs

Pullout Torque

Full Step 0.72°/step

PK564-AE/PK564-BE

Pulse Speed [kHz]0 6 842 Full Step

1000500Speed [r/min]

Torq

ue [N

�m]

0

1.2

0.4

0.2

0.6

0.8

1.0

0

Constant Current Driver Power Input: 24 VDCCurrent: 0.75 A/Phase (4 Phases ON)With Damper D6CL-8.0F: JL=140�10�7 kg�m2

fs

Pullout Torque


PK566-AE/PK566-BE

Note: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 100˚C.�

100 15050 250 300200 350

0 1 2

0

2

4

6

8

10

fs0

Constant Current Driver Power Input: 24 VDCCurrent: 2.8 A/Phase (4 Phases ON)With Damper D9CL-14F: JL=870�10�7 kg�m2


Pullout Torque

Pulse Speed [kHz]Full Step

Speed [r/min]

Torq

ue [N

�m]

PK5913-AE/PK5913-BE

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

aseS

tepp

ing

Mo

tors

5-Ph

aseS

tepp

ing

Mo

tors

Co

ntro

llersA

ccessories

Installatio

n

DC

Inp

ut

Specifications, Characteristics C-243 / Dimensions C-245 C-243


ModelPermissible Overhung Load


0 5 10 15 20

PK54��-� 20 25 34 52 � The permissible thrust load shall be no greater than the motor mass.

PK56��-�E 63 75 95 130 190

PK59��-�E 260 290 340 390 480

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 MotorGreen Blue

Red

White

Yellow

Brown

Orange

Gray

Black

Violet

A-PhaseE-Phase

B-Phase

C-Phase

D-Phase

General SpecificationsSpecifications Motor

Insulation Class Class B (130˚C)


Dielectric StrengthSufficient 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�)

Operating Environment (In operation)

Ambient Temperature �10��50˚C (non-freezing)Ambient Humidity 85% or less (non-condensing)Atmosphere No corrosive gases, dust, water or oil

Temperature RiseTemperature rise of the windings are 80˚C or less measured by the resistance change method.

(at rated current, at standstill, five phases energized)

Stop Position Accuracy✽1 �3 arc minutes (�0.05˚)Shaft Runout 0.05 T.I.R. (mm)✽4

Radial Play✽2 0.025 mm max. of 5 N

Axial Play✽3 0.075 mm max. of 10 NConcentricity 0.075 T.I.R. (mm)✽4

Perpendicularity 0.075 T.I.R. (mm)✽4

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.


�

�

�

�

✽

✽

✽

✽

�

A

A0.075

A�0.075

0.05


Step

pin

g M

oto

rs



�1 �42 mm

Model L1 L2 Masskg

PK543-A33

�0.21

PK543-B 48PK544-A

39�

0.27PK544-B 54PK545-A

47�

0.35PK545-B 62

�



2

4.5�

0.15

4231�0.2

31�

0.2

✽15�1 L1L2 20�1

15�0.25

4.5�

0.15

425�

0.01

2(h7

)0 5 �

0.01

2(h7

)0

22

�0.

033(

h8)

0


�2 �60 mm

Model L1 L2 Masskg

PK564-AE46.5

�0.6

PK564-BE 69.5PK566-AE

57.5�

0.8PK566-BE 80.5PK569-AE

87�

1.3PK569-BE 110

L17 1.5

23�1


20�0.25

4�4.5 Thru60

50�

0.35

50�0.35

60

20�0.25

L2 24�1

8�

0.01

5(h7

)0

8�

0.01

5(h7

)0

36

�0.

039(

h8)

0

�3 �85 mm

Model L1 L2 Masskg

PK596-AE66

�1.7

PK596-BE 100PK599-AE

96�

2.8PK599-BE 130PK5913-AE

126�

3.8PK5913-BE 160

L137�1L2

10 234�1

70�

0.35

70�0.35

4�6.5 Thru


25�0.25 25�0.25

85

14

�0.

018(

h7)

0

14

�0.

018(

h7)

0

60

�0.

046(

h8)

0 85


Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

aseS

tepp

ing

Mo

tors

5-Ph

aseS

tepp

ing

Mo

tors

Co

ntro

llersA

ccessories

Installatio

n

DC

Inp

ut

Specifications, Characteristics C-243 / Dimensions C-245 C-245


Step

pin

g M

oto

rs


Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCRK

AC

Inp

ut

AC

Inp

ut

DC

Inp

ut

2-Ph

aseCMK

2-Ph

aseCSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut

C-247

Controllers

Controllers

Page

SG8030JY ···························································· C-248

Step

pin

g M

oto

rs


Controller with Jerk Limiting Control Function Step-Select Positioning Type/Sequential-Step Positioning Type

SG8030JYController 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.

Features

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.

Linear controlled acceleration/deceleration pattern Jerk controlled acceleration/deceleration pattern

Time

Mot

or s

haft

spee

d

Time

Mot

or s

haft

spee

d

Motor vibrations when switching between acceleration/deceleration and constant speed cause mechanical vibrations.

Motor vibrations when switching between acceleration/deceleration and constant speed are minimized, resulting in less mechanical vibrations.

�Measurement conditionsApplication: Belt driveOperation mode: Positioning operationLoad: 10 kg

�These 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.

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.3StepNo.2

Step No.4

<Sequential-Step Positioning>

Time

ONOFF

CW (CCW) Scan OFF

CW (CCW) Scan ON

CW (CCW)Scan

<Operation of External Signals>

Spee

d

Maximum Oscillation Frequency 200 kHzThe "Maximum oscillation frequency of 200 kHz" allows motor control in micro steps.

��

�

�

1-Pulse Output/2-Pulse Output Mode Select PossibleThe controller provides both the 1-pulse output mode and 2-pulse output mode, which makes it compatible with a wide range of motor drivers.

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.

Touch Pads

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.

84 mm

48 mm

<DIN Rail Mounting Model> <Recessed Mounting Model>

RoHS-CompliantThe SG3080JY conforms to the RoHS Directive that prohibits the use of six chemical substances including lead and cadmium.



Configuration Example of Combination with Stepping Motors

(Not supplied)

(Not supplied)

SG8030JY


24 VDCPower Supply

Stepping Motors (Sold separately) ➜ Page C-12

RK Series ➜ Page C-82CRK Series ➜ Page C-114CMK Series ➜ Page C-146CSK Series ➜ Page C-170

�

�

�

�

�

��

DIN Rail Mounting Model Recessed Mounting Model

RoHS-Compliant


Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCRK

AC

Inp

ut

AC

Inp

ut

DC

Inp

ut

2-Ph

aseCMK

2-Ph

aseCSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut

Specifications C-249 / Dimensions C-249 / Connection and Operation C-250 C-249

Product LineType Model

DIN Rail Mounting Model SG8030JY-DRecessed Mounting Model SG8030JY-U

�

Controller, Flush Mounting Socket, Recessed Mounting Adapter✽, Operating ManualOnly for SG8030JY-U✽



DIN Rail Mounting Model

SG8030JY-DMass: 0.17 kg

4848

48

44.5

44.5

44.5

83.7 max.

5.5 0.7

��

� Flush Mounting Socket (Included)

40�0.2

8.4

50 max.

35.4

70 m

ax.

4

7.8

31.2 max.1.2 5

4.53

2��4.5 Thru

11�M3.5

�

Recessed Mounting Model

SG8030JY-UMass: 0.15 kg

48

58 5.5 106 max.

Panel Thickness Range (1�4 mm)

Recessed Mounting Adapter

Rear Connection Socket

�

� Panel Mounting Cut-Out Dimensions

45�0.50

45�

0.5

0

�

Specifications

ModelSG8030JY-DSG8030JY-U

Number of Control Axes 1 axis

Positioning Data

Number of Settings 4 steps

Setting Mode Set with touch pads on top panel

(stored in EEPROM)

Setting Method Incremental mode (point to point)

Positioning Control

ModeSequential-step positioning

Step-select positioning

Move Distance Setting Range Incremental 1�99 999 pulsesStarting Pulse Speed Setting Range (VS) 100 Hz�10 kHz (100 Hz units)Operating Pulse Speed Setting Range (VR) 100 Hz�200 kHz (100 Hz units)Acceleration/Deceleration Rate Setting Range (TR) 1�100 ms/kHz (28 rates✽)

Pulse Output Mode 1-pulse output/2-pulse output mode select possible

Control Modes

Positioning operation (INDEX operation)Return to mechanical home operation (HOME operation)

Continuous operation (SCAN operation)1-pulse operation (JOG operation: Test mode only)

Operation ModesExternal input mode (EXT)

Program mode (PROG)Test mode (TEST)

Number of Maximum Return Pulses �

Return to Mechanical Home FunctionSensor detection of home through designation ofmechanical home detection direction of rotation

Input Signal24 VDC photocoupler input, input resistance 4.7 k�

Current sinking input

Output SignalPNP transistor output linked to photocoupler

24 VDC, 25 mA max., Current sourcing output

Power Source 24 VDC�5% current consumption 0.1 AAmbient Temperature 0��40˚C (non-freezing) Ambient Humidity 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

�

✽

Step

pin

g M

oto

rs



Names and Functions of Controller Parts

��

�External Input Mode LED�Program Mode LED

�Test Mode LED

�Data Display

SET Key

�Down Key�Up Key�MODE Key

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 dataSET key: Stores set data

➝➝

Connection Socket Signal TablePin No. Signal Name I/O Function

1✽ Operation Mode Input InputS: Switching positioning/home detection operationD: Switching positioning/home detection operation and continuous operation

2 GND Input GND connecting terminal3 �24V Input 24 VDC power supply input terminal4 BUSY Output Output during pulse oscillation5 HOMELS Input Mechanical home detection sensor6 Start Input Start signal

7 Pulse/CW Pulse Output1 pulse output mode: Pulse2 pulse output mode: CW Pulse

8 Rotation Direction/CCW Pulse

Output1 pulse output mode: Direction of rotation2 pulse output mode: CCW Pulse

9 External Stop Input Stop all operations (including busy output)

10✽ S: CW ScanD: M0 [CW Scan]

InputS: CW continuous operationD: M0 data select signal [CW continuous operation]

11✽ S: CCW ScanD: M1 [CCW Scan]

InputS: CCW continuous operationD: M1 data select signal [CCW continuous operation]

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.

��

�

�✽

Wiring Diagram

Driver

Pulse/CW Pulse

Rotation Direction/CCW Pulse

SG8030JYPin No.

CCW Scan <M1>CW Scan <M0>External Stop


Busy

GND

Operation ModeSwitch

GND24 VDC

Power Supply

✽2

✽1

�24 V

�24 V

Pulse(CW Pulse)

67891011

12345

EE

EE

Start

HOMELS

✽3

�

�

�

�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:External resistor does not need to be installed on the pulse outputs, because they containconstant current circuits.Note that the length of the pulse signal line increases, the maximum transmission frequency decreases.

✽

✽

✽

�

�

Description of Input/Output Signal

Output Signals to Driver

Pin No.7, 8

120 Ω

ConstantCurrentCircuit

0 V0 V

12 mA max.

�� Input Signals from Programmable

Controller and Limit Sensor

0 V

680 Ω

4.7 kΩPin No.1, 5, 6,

9, 10, 11

0 V

� Output Signals to Programmable Controller

Pin No. 4

0 V

10 kΩ

10 kΩ

�24 V

�

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut

C-251

Page

Cables ··································································· C-252Flexible Couplings ················································· C-258Clean Dampers ······················································ C-264Motor Mounting Brackets ······································· C-266DIN Rail Mounting Plate ········································ C-270

Stepping Motors

Accessories

Accessories

CablesVarious cables provide convenient connection between a motor, driver and controller.

Type of Cables

Motor Cable

Stepping Motor

Driver Driver Cable

Communication Cable

Controllers

Personal Computer

General-Purpose Typeor

Connector--Terminal BlockConversion Unit

or

�

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 Page Applicable Product

Extension CablesExtension Cables for Electromagnetic Brake Motor

C-253 �1

Flexible Extension CablesFlexible Extension Cables for Electromagnetic Brake Motor

C-253 �2

Motor Cables for IP65 Rated MotorFlexible Motor Cables for IP65 Rated Motor

C-254 �3

Extension Cables C-254 �4 RK Series

Motor Cable C-254 �5RK Series2-Phase PK Series

Motor Lead Wire/Connector Assembly✽ C-255 �6CRK Series

CMK Series2-Phase PK Series

Motor Connector Set✽ C-255 �7CRK Series

CMK Series2-Phase PK Series

Only for connector-coupled motors

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.


Communicaiton Cable C-257 �4 AS Series Built-In Controller

(Stored Program) Package

✽

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.


Driver Cables General-Purpose Type C-256 �1RK Series

Connector–Terminal Block Conversion Unit C-256 �2RK 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.


Driver Lead Wire Set C-257 �3CRK SeriesCMK Series

The driver lead wire set includes three lead wire/connector assemblies (for motor, input/output signal and power supply).

Stepping Motor

Driver Controllers

For Motor

For Power Supply Power

Supply

For Input/Output Signal


Step

pin

g M

oto

rs

C-252

�1 Extension Cables Extension Cables for Electromagnetic Brake Motor (For )

These cables are used to connect motors and drivers.

Product LineExtension Cables

Model Length L (m)

CC01AIP 1

CC02AIP 2

CC03AIP 3

CC05AIP 5

CC07AIP 7

CC10AIP 10

CC15AIP 15

CC20AIP 20

� Extension Cables for Electromagnetic Brake Motor

Model Length L (m)

CC01AIPM 1

CC02AIPM 2

CC03AIPM 3

CC05AIPM 5

CC07AIPM 7

CC10AIPM 10

CC15AIPM 15

CC20AIPM 20

�

Notes: 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. ASC Series cannot use extension cables of 15 m and 20 m.


For Standard Motor

24.3

22.2

L12

�8

(30)

(14.5)11.6


For Electromagnetic Brake Motor

22.2

(30)

(14.5)11.6L12

24.3

�8

Driver SideMotor SideElectromagnetic Brake Leads 60 mm Length (Orange/Black, Gray AWG24)

�

�

�

��

�

�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.

Product LineFlexible Extension Cables

Model Length L (m)

CC01SAR 1

CC02SAR 2

CC03SAR 3

CC05SAR 5

CC07SAR 7

CC10SAR 10

� Flexible Extension Cables for Electromagnetic Brake Motor

Model Length L (m)

CC01SARM2 1

CC02SARM2 2

CC03SARM2 3

CC05SARM2 5

CC07SARM2 7

CC10SARM2 10

�

Note: For electromagnetic brake motor with motor frame size �42 mm, use a flexible extension cable for standard motor.


For Standard Motor

24.3

22.2

L12

�9.5

(30)

(14.5)11.6


For Electromagnetic Brake Motor

24.3

22.2

L12

�9.5

(30)

(14.5)11.6


Electromagnetic Brake Leads 60 mm Length (Orange, Gray AWG22)

Notes on Use of a Flexible Extension Cable� Do not allow the cable to bend at the

cable connector.� Keep the bending radius to 60 mm or

more.

� The motor cable is not a flexible cable. If the motor cable is to be bent, bend it at the flexible extension cable.

Motor

DriverMotor Cable (Affix the cable.)

Flexible Extension Cable (Possible to bend)

�

�

��

�

�

Motor Cables

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

aseS

tepp

ing

Mo

tors

5-Ph

aseS

tepp

ing

Mo

tors

Co

ntro

llersA

ccessories

Installatio

n

DC

Inp

ut

C-253

�3 Motor Cables for IP65 Rated Motor Flexible Motor Cables for IP65 Rated Motor (For )

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 LineMotor Cables for IP65 Rated Motor

Model Length L (m)

CC01AST 1

CC02AST 2

CC03AST 3

CC05AST 5

CC07AST 7

CC10AST 10

CC15AST 15

CC20AST 20

� Flexible Motor Cables for IP65 Rated Motor

Model Length L (m)

CC01SAR2 1

CC02SAR2 2

CC03SAR2 3

CC05SAR2 5

CC07SAR2 7

CC10SAR2 10

�


Motor Cables for IP65 Rated Motor

11.614.5 L

19.626

51.1�8

RC�09S1N1280S1(CONINVERS)


22.2

5557�10R(MOLEX)

Flexible Motor Cables for IP65 Rated Motor

11.614.5 L

19.626

51.1�9.5

RC�09S1N1280U1(CONINVERS)

22.2

5557�10R(MOLEX)


�

��

�

�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.

Product LineModel Length (m) Conductors

CC05PK5 55CC10PK5 10

CC20PK5 20

Conductor configuration: 5Conductor size: AWG22 (0.3 mm2) Finished outer diameter: �7.2 mmCable rating: 105˚COuter casing: Oil-resistant, heat-resistant, non-migrating vinyl

Note: 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)

Product LineModel Length (m) Conductors

CC03PKT 3 6

Conductor configuration: 6Conductor size: Motor wire AWG18 (0.75 mm2), protective earth wire AWG14 (2.0 mm2) Finished outer diameter: �12 mmCable rating: 105˚C 600 VOuter casing: Heat-resistant, oil-resistant vinyl chloride resinApplicable standards: UL 758 (AWM) VW-1, UL Style 2586

15

23

4

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)

Protective Earth Wire (Green/Yellow) AWG14 (2.0 mm2)

�

��

�

�

��


Step

pin

g M

oto

rs

C-254

�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 connector-coupled motor packages.)

Product Line

Model Applicable Product Applicable Motor ModelLength

(m)

LC5N06ACRK513P��PCRK513P��P-H��

CRK52�P��PCRK52�PM��PCRK523P��P-T��

CRK523P��P-N��

PK513P��

PK513P��-H��SPK52�P��

PK52�PM��

PK523P��-T��

PK523P��-N��

0.6

LC5N10A 1

LC5N06B CRK54�P��PCRK54�PM��P

PK54�P��

PK54�PM��

0.6

LC5N10B 1

LC5N06CCRK56�PM��P PK56�PM��

0.6

LC5N10C 1

LC2U06A CMK22�P��PCMK223��P-SG��

PK22�P��

PK223P��-SG��

0.6

LC2U10A 1

LC2U06B CMK23�P��PCMK24�P��P

PK23�P��

PK24�P��

0.6

LC2U10B 1

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.

�

�

�7 Motor Connector Set

This photograph shows CS5N30B.

A set of connector housings and contacts for use with connector-coupled motors.Each package contains enough housings and contacts for 30 motors.

Product LineModel Applicable Product Applicable Motor Model

CS5N30A

CRK513P��PCRK513P��P-H��

CRK52�P��PCRK52�PM��PCRK523P��P-T��

CRK523P��P-N��

PK513P��

PK513P��-H��SPK52�P��

PK52�PM��

PK523P��-T��

PK523P��-N��

CS5N30B CRK54�P��PCRK54�PM��P

PK54�P��

PK54�PM��

CS5N30C CRK56�PM��P PK56�PM��

CS2U30A CMK22�P��PCMK223��P-SG��

PK22�P��

PK223P��-SG��

CS2U30B CMK23�P��PCMK24�P��P

PK23�P��

PK24�P��

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.

�

�

Specifications

ModelConnector Housing

ContactApplicable Crimp Tool

Manufacturer Applicable Cable

CS5N30A 51065-0500 50212-8100 57176-5000

MOLEX

AWG30�24 (0.05�0.2 mm2) Outer Sheath Diameter: �1.4 mm max.Strip Length: 1.3�1.8 mm

CS5N30B 51103-0500 50351-8100 57295-5000AWG28�22 (0.08�0.3 mm2) Outer Sheath Diameter: �1.15�1.8 mmStrip Length: 2.3�2.8 mm

CS5N30C 51144-0500 50539-8100 57189-5000AWG24�18 (0.2�0.75 mm2) Outer Sheath Diameter: �1.4�3 mmStrip Length: 3�3.5 mm

CS2U30A 51065-0600 50212-8100 57176-5000AWG30�24 (0.05�0.2 mm2) Outer Sheath Diameter: �1.4 mm max.Strip Length: 1.3�1.8 mm

CS2U30B 51103-0600 50351-8100 57295-5000AWG28�22 (0.08�0.3 mm2) Outer Sheath Diameter: �1.15�1.8 mmStrip Length: 2.3�2.8 mm

Note: The crimp tool is not provided with the package. It must be purchased separately.

�

�

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

aseS

tepp

ing

Mo

tors

5-Ph

aseS

tepp

ing

Mo

tors

Co

ntro

llersA

ccessories

Installatio

n

DC

Inp

ut

C-255

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 into the driver for and RK Series.

Notes: 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-46Install a connector that matches the controller you are using to the other end of the cable.

Product LineModel Length L (m) Applicable Connector

CC20D1-1 1 AS Series Built-In Controller (Stored Program) Package CN5 (20 Pins), RK Series CN1 (20 Pins) CC20D2-1 2

CC36D1-1 1 AS Series Pulse Input Package CN4 (36 Pins), AS Series Built-In Controller (Stored Program) Package CN4 (36 Pins), ASC Series CN3 (36 Pins) CC36D2-1 2


CC20D1-1, CC20D2-1Conductor: AWG28 (0.08 mm2)

L

1.27

Laminate12.7

33.3

10�3

10�3

60�

15

�6.4

30�100

Shield

10�3

Driver Side Controller Side

CC36D1-1, CC36D2-1Conductor: AWG28 (0.08 mm2)

L

1.27

Laminate12.7

43.4

6

10�3

10�310�360

�15

�7.5

Shield

30�100

Driver Side Controller Side

�

�

�

�

�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

CC20T1 CC36T1

Product LineModel Length (m) Applicable Connector

CC20T1

1

AS Series Built-In Controller (Stored Program) Package CN5 (20 Pins), RK Series CN1 (20 Pins)

CC36T1

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

31 2 4 5 6 7 8 9 1011 12 13 14 15 16 17 18 19 20

1426

36

6.35 1.27 7.62

6586

433

61

54

40

Terminal Block Pin No.

2��4.5 Mounting Holes2��8 Countersink�3.5 Deep

DIN Rail

1000

33.3

33.3

39883912.7 12.7

�

�


Step

pin

g M

oto

rs

C-256

CC36T1

326 27 28 29 30

1 2 4 5 631 32 33 34 35

7 8 9 10 11 12 13 14 15 16 17 1819 3620 21 22 23 24 25

816.35 1.27 7.62

120162

1426

36

3

61

54

40

Terminal Block Pin No.

2��4.5 Mounting Holes2��8 Countersink�3.5 Deep

DIN Rail

1000

43.4

6

43.4

6398839

12.7 12.7

Recommended Crimp Terminals� Terminal screw size: M3� Tightening torque: 1.2 N�m� Applicable minimum lead wire: AWG22 (0.3 mm2)

3.2 mm min.

6.2

mm

max

.

5.8 mm min.4.2 mm max.

�3 Driver Lead Wire Set 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 LineModel Applicable Product Applicable Driver Length (m)

LCS04SD5 CRK SeriesCRD5103PCRD5107PCRD5114P

0.6

LCS01CMK2 CMK SeriesCMD2109PCMD2112PCMD2120P

�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

�

�

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

aseS

tepp

ing

Mo

tors

5-Ph

aseS

tepp

ing

Mo

tors

Co

ntro

llersA

ccessories

Installatio

n

DC

Inp

ut

C-257

Coupling Selection Table

ModelGear Ratio Motor Shaft

Diameter (mm) TypeDriven Shaft Diameter (mm)

AS ASC �4 �5 �6 �6.35 �8 �10 �12 �14 �15 �16 �18 �20 �25

�ASC34AKASC36AKASC46�K

��5 MCS14 � � �

� ASC34AK-T�� 7.2, 10, 20, 30� ASC46�K-T�� 3.6, 7.2, 10 �6

MCS20� � � � �

� ASC34AK-N�� 5, 7.2, 10 �8 � � � � �

� ASC46�K-T�� 20, 30 �6

MCS30

� � � �


ASC66�K �

�8 � � � � �

AS66�CE-T��

AS66�CEP-T��ASC66�K-T�� 3.6, 7.2

� ASC34AK-H�� 50, 100� ASC46�K-N�� 7.2, 10 �10 � � � � � �


� � �14 � � � �

AS66�CE-T��

AS66�CEP-T��ASC66�K-T�� 10, 20, 30 �8

MCS40

� � � �

� ASC46�K-H�� 50, 100 �10 � � � �

AS66�CE-P�� 5, 7.2�12 � � � �AS66�CE-N��

AS66�CEP-N��ASC66�K-N�� 5, 7.2

AS98�CE-T��

AS98�CEP-T��

3.6, 7.2, 10, 20, 30

�12 MCS55 � � � �

AS66�CE-P�� 10, 25, 36, 50AS66�CE-N��

AS66�CEP-N��ASC66�K-N�� 10, 25, 36, 50

AS66�CE-H��

AS66�CEP-H��ASC66�K-H�� 50, 100


�

�

�

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.

Features of MCS CouplingsThis 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

High strength (usable for geared motor) has been realized.A spider (material: polyurethane) controls the vibration generated by the motor.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)

�

Product LineModel

MCS14�

MCS20�

MCS30�

MCS40�

MCS55�

MCS65�

Enter the inner diameter of coupling in the box (�) within the model name.

�

�


Step

pin

g M

oto

rs

C-258

ModelGear Ratio

Motor Shaft Diameter (mm)

TypeDriven Shaft Diameter (mm)

AS ASC �4 �5 �6 �6.35 �8 �10 �12 �14 �15 �16 �18 �20 �25

AS98�CE-P�� 5, 7.2, 10, 25, 36, 50

�18 MCS65 � � � �AS98�CE-N��

AS98�CEP-N��

5, 7.2, 10, 25, 36, 50

AS98�CE-H��

AS98�CEP-H�� 50, 100


5-Phase PackagesModel

Gear RatioMotor Shaft

Diameter (mm) Type

Driven Shaft Diameter (mm)

RK CRK �4 �5 �6 �6.35 �8 �10 �12 �14 �15 �16 �18 �20 �25

� CRK513P�P � �4

MCS14

� � �

� CRK513P�P-H�� 50, 100

�5 � � ��

CRK523PM�PCRK524PM�PCRK525PM�PCRK544PM�PCRK546PM�PCRK523P�PCRK525P�PCRK544P�PCRK546P�PCRK543�PCRK544�PCRK545�P

�

� CRK523P�P-T�� 7.2, 10, 20, 30� CRK543�P-T3.6 3.6 �6 � � �

� CRK543�P-T�� 7.2, 10 �6

MCS20

� � � � �

RK564�CERK566�CERK564ACTRK566ACTRK564AMCERK566AMCE

CRK564�PCRK566�P �

�8 � � � � �

� CRK523P�P-N�� 5, 7.2, 10� CRK545�P-P5 5� CRK544�P-N�� 5, 7.2 �10 � � � �

� CRK543�P-T�� 20, 30 �6

MCS30

� � � �

RK569�CERK569ACTRK569AMCE

CRK564PM�PCRK566PM�PCRK569�P

�

�8 � � � � �RK564�CE-T�� CRK564�P-T�� 3.6, 7.2

� CRK543�P-P25 25� CRK545�P-P�� 7.2, 10� CRK569PM�P �

�10 � � � � � �� CRK544�P-N10 10

RK596�CERK596ACTRK596AMCE

� � �14 � � � �

� CRK543�P-P�� 36, 50�8

MCS40

� � � �RK564�CE-T�� CRK564�P-T�� 10, 20, 30

� CRK543�P-H�� 50, 100 �10 � � � �

RK566�CE-P�� CRK566�P-P��5, 7.2 �12 � � � �

RK566�CE-N�� CRK566�P-N��

RK596�CE-T�� 3.6, 7.2,

10, 20, 30

�12

MCS55

� � � �

RK564�CE-P�� CRK564�P-P�� 25, 36, 50RK566�CE-P10 CRK566�P-P10 10RK564�CE-N�� CRK564�P-N�� 25, 36, 50RK566�CE-N10 CRK566�P-N10 10RK564�CE-H�� CRK564�P-H�� 50, 100RK599�CERK5913�CERK599ACTRK5913ACTRK599AMCERK5913AMCE

� � �14 � � � �

RK599�CE-P5� 5 �18 � � � �

RK599�CE-N5RK596�CE-P��

�

25, 36, 50

�18 MCS65 � � � �

RK599�CE-P�� 7.2, 10RK596�CE-N�� 25, 36, 50RK599�CE-N�� 7.2, 10RK596�CE-H�� 50, 100Enter 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.

�

�

�

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

aseS

tepp

ing

Mo

tors

5-Ph

aseS

tepp

ing

Mo

tors

Co

ntro

llersA

ccessories

Installatio

n

DC

Inp

ut

C-259

5-Phase Stepping Motors5-Phase Stepping Motors

PK Gear RatioMotor Shaft

Diameter (mm) Type


�4 �5 �6 �6.35 �8 �10 �12 �14 �15 �16

PK543-�, PK544-�, PK545-� � �5 MCS14 � � �

PK564-�E, PK566-�E � �8 MCS20 � � � � �

PK569-�E � �8MCS30

� � � � �

PK596-�E � �14 � � � �

PK599-�E, PK5913-�E � �14 MCS55 � � � �


2-Phase Packages, 2-Phase Stepping Motors

Model 2-Phase Stepping Motors PK

Gear RatioMotor Shaft

Diameter (mm) Type


CMK CSK �4 �5 �6 �6.35 �8 �10 �12 �14 �15 �16

CMK22��P�PCMK23��P�PCMK244P�PCMK24��M�PCMK24��P

CSK24��-�TCSK24��M�T

PK22��P�

PK23��P�

PK24��-01�

PK24��-02�

PK24��-03�

PK24��M-01�

PK24��M-02�

PK24��M-03�

�

�5 MCS14 � � �

CMK223�P-SG�� PK223P�-SG��7.2, 9, 10,

18, 36

CMK243�P-SG�� 3.6, 7.2,9, 10, 18,

36, 50, 100

� CSK243�T-SG�� PK243�1-SG��3.6, 7.2, 9,10, 18, 36

CMK246P�P � PK24��P� � �5

MCS20

� � � �

CMK264M�PCMK266M�PCMK256�PCMK264�PCMK266�P

CSK264-�TCSK266-�TCSK264M�TCSK266M�T

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�

PK264DATPK266DAT

� �6.35 � � � � �

� �PK264JD�

PK264J��

�8 � � � � �

CMK264�P-SG�� CSK264�T-SG�� PK264�E-SG�� 3.6, 7.2

CMK268M�PCMK258�PCMK268�P

CSK268-�TCSK268M�T

PK258-02�

PK268-01�

PK268-02�

PK268-03�

PK268-E2.0�

PK268M-01�

PK268M-02�

PK268M-03�

PK268M-E2.0�

PK268DAT

� �6.35

MCS30

� � � �

� �

PK266JD�

PK266J�

PK267JD�

PK267J�

�

�8 � � � � �

CMK264�P-SG�� 9, 10, 18,

36, 50, 100� CSK264�T-SG�� PK264�E-SG�� 9, 10, 18, 36

� �PK269JD�

PK269J�� 8

MCS40� � � �

� � PK296�E-SG�� 3.6, 7.2, 9 �12 � � � �

� � PK296�E-SG�� 10, 18, 36 �12

MCS55

� � � �

� �

PK299-E4.5�

PK2913-E4.0�

PK299EATPK2913EAT

� �14 � � � �

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.

�

�

�

�


Step

pin

g M

oto

rs

C-260

Specifications

Model

DimensionsNormalTorque

N�m

Mass

g

Inertia

kg�m2

Static TorsionSpring

ConstantN�m/rad

PermissibleEccentricity

mm

PermissibleDeclination

deg

PermissibleEnd Play

mm

Outer Diameter

mm

Length

mm

Axis Hole Diameter

d1 H7mm

Axis Hole Diameter

d2 H7mm

Key Slot Tolerance

b/tmm

MCS140404MCS140405MCS140406MCS140505MCS140506MCS140606

14 22

444556

456566

� 2.0 6.7 0.184�10-6 22.9 0.06 0.9�0.6

0

MCS200505MCS200506MCS2005F04MCS200508MCS200606MCS2006F04MCS200608MCS200610MCS20F04F04MCS20F0408MCS20F0410MCS200808MCS200810MCS201010

20 30

55556666

6.356.356.35

8810

56

6.3586

6.35810

6.3581081010

� 5.0 19.8 1.059�10-6 51.6 0.08 0.9�0.8

0

MCS300606MCS3006F04MCS300608MCS300610MCS30F04F04MCS30F0408MCS30F0410MCS300808MCS300810MCS300812MCS301010MCS301012MCS301014MCS301212MCS301214MCS301414MCS301416

30 35

6666

6.356.356.35

88810101012121414

66.35

810

6.358108101210121412141416

� 12.5 44.6 6.057�10-6 171.9 0.09 0.9�1.0

0

MCS400808MCS400810MCS400812MCS400815MCS401010MCS401012MCS401015MCS401212MCS401215

40 66

88881010101212

81012151012151215

�8 b: 2�0.0125 t: 1�0.1

0

�10 b: 3�0.0125 t: 1.4�0.1

0

�12 b: 4�0.015 t: 1.8�0.1

0

�14 b: 5�0.015 t: 2.3�0.1

0

�15 b: 5�0.015 t: 2.3�0.1

0

�16 b: 5�0.015 t: 2.3�0.1

0

�18 b: 6�0.015 t: 2.8�0.1

0

�20 b: 6�0.015 t: 2.8�0.1

0

�25 b: 8�0.018 t: 3.3�0.2

0

17.0 139 42.29�10-6 859.5 0.06 0.9�1.2

0

MCS551212MCS551214MCS551215MCS551216MCS551414MCS551415MCS551416MCS551518MCS551618MCS551818MCS551820

55 78

1212121214141415161818

1214151614151618181820

60.0 282 109.1�10-6 2063 0.10 0.9�1.4

0

MCS651618MCS651818MCS651820MCS651825

65 90

16181818

18182025

160.0 535 417.1�10-6 3438 0.11 0.9�1.5

0

�

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

aseS

tepp

ing

Mo

tors

5-Ph

aseS

tepp

ing

Mo

tors

Co

ntro

llersA

ccessories

Installatio

n

DC

Inp

ut

C-261


MCS14Mass: 6.7 g

3.5

227 7

�14

�d2

�d1

2�M2 Allen-Head Bolt3.5

16.5

MCS20Mass: 19.8 g

23.4

2�M2.5 Allen-Head Bolt

�d2

�20

�d1

30105

105

MCS30Mass: 44.6 g

5 51111

35

�30

�d1

�d2

2�M3 Allen-Head Bolt

32.2

MCS40Mass: 139 g

46

b

12 1225

t

2566

�d2

�40

�d1

b


t

�


Step

pin

g M

oto

rs

C-262

MCS55Mass: 282 g

10.530

78

�d2

�d1

�55

2�M6 Allen-Head Bolt10.5

57

30

b

t

b

t

MCS65Mass: 535 g

�65

b


73

t

b

t

11.511.535 35

90

�d1

�d2

Mounting to a Shaft

Clamp TypeClamp 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 MCS14 MCS20 MCS30 MCS40 MCS55 MCS65Tightening Torque N�m 0.37 0.76 1.34 10.5 10.5 25.0

Alignment AdjustmentFlexible 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 EdgeEccentricity

End Play

Declination

Notes: When misalignment exceeds the permissible value or excessive torque is applied, the coupling's shape will deform, and service life is shortened.When the coupling emits a metallic sound during operation, stop operation immediately and ensure there is no misalignment, axis interference or loose screws.When load changes are large, apply an adhesive to the coupling set screw to prevent it from loosening.

��

�

��

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

aseS

tepp

ing

Mo

tors

5-Ph

aseS

tepp

ing

Mo

tors

Co

ntro

llersA

ccessories

Installatio

n

DC

Inp

ut

C-263

Mechanical dampers suppress stepping motor vibration and improve high-speed performance. An inertia body and silicon gel are hermetically sealed in a plastic case.


�d1

�d1

�B

CD

�A

2�E

�Model �d1 �A �B C D E

D4CL-5.0F �0.018 5 0 �36�0.5 �13�0.5 9�0.3 15�0.5 M3

D6CL-6.3F �0.022 6.35 0

�44.5�0.5 �20�0.5 15�0.3 22�0.5 M4

D6CL-8.0F �0.022 8 0

D9CL-14F �0.027 14 0 �79.5�0.5 �26�0.5 11�0.3 19�0.5 M4

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 D4CL-5.0F D6CL-6.3F D6CL-8.0F D9CL-14FTightening Torque N�m 0.4 1.5

Notes: There are mounting screws with hexagonal holes in two damper locations, so tighten them both before running the motor.The damper rotates at the same speed as the motor shaft, so do not touch it while the motor is running.

�

�

Clean Dampers

FeaturesExcellent vibration absorptionThe doughnut-shaped internal inertia body and silicon gel absorb vibration. This feature enables a stable damping effect.Since there is no frictional dust as in conventional magnetic dampers, it can be used in environments where higher degrees of cleanness is needed.High reliabilityIt holds up well in harsh environments and changes little with age because the silicon gel and plastic case used are heat resistant.Machine part is sealed hermetically in a plastic case. This ensures safety and doesn't generate noise.This clean damper is an accessory for double shaft types. It can be used with various geared motors of double shaft type.

��

�

��

�

�

VEXTA

VEXTA

VEXTA

VEXTA

Ring

Silicon Gel

Inertia Body

CaseShaft Holes

<Clean Damper Structure>

Product LineModel

D4CL-5.0FD6CL-6.3FD6CL-8.0FD9CL-14F

�


Step

pin

g M

oto

rs

C-264

Clean Damper Selection Table

ModelInertiakg�m2

Massg

Applicable Product

RK 5-Phase Stepping Motors 2-Phase Stepping Motors

D4CL-5.0F 34�10-7 24 �

CRK52�PBPCRK52�PMBPCRK523PBP-T��

CRK523PBP-N��

CRK54�BPCRK54�PBPCRK54�PMBPCRK543BP-T��

CRK54�BP-P��

CRK544BP-N��

CRK543BP-H��

PK54�-B

CMK22�PBPCMK23�PBPCMK24�PBPCMK24�MBPCMK24�BPCMK223BP-SG��

CMK243BP-SG��

CSK243BT-SG��

CSK24�-BTCSK24�MBTPK22�PBPK23�PBPK223PB-SG��

PK243B1-SG��

PK24�PBPK24�-01BPK24�-02BPK24�-03BPK24�M-01BPK24�M-02BPK24�M-03B

D6CL-6.3F 140�10-7 62 � �

CMK26�MBPCMK25�BPCMK26�BPCMK264BP-SG��

CSK26�-BTCSK26�MBTCSK264BT-SG��

PK25�-02BPK26�-01BPK26�-02BPK26�-03BPK26�-E2.0BPK26�M-01BPK26�M-02BPK26�M-03BPK26�M-E2.0BPK264BE-SG��

D6CL-8.0F 140�10-7 61

RK56�BCERK564BCE-T��

RK56�BCE-P��

RK56�BCE-N��

RK564BCE-H��

CRK56�BPCRK56�PMBPCRK564BP-T��

CRK56�BP-P��

CRK56�BP-N��

CRK564BP-H��

PK56�-BE

PK26�JBPK26�JDB

D9CL-14F 870�10-7 105

RK59�BCERK596BCE-T��

RK59�BCE-P��

RK59�BCE-N��

RK596BCE-H��

PK59�-BEPK29�-E4.5BPK2913-E4.0BPK296BE-SG��

Ambient Temperature: �20 to�80˚CEnter the motor case length in the box (�) within the model name.Enter the gear ratio in the box (��) within the model name.

�

�

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

aseS

tepp

ing

Mo

tors

5-Ph

aseS

tepp

ing

Mo

tors

Co

ntro

llersA

ccessories

Installatio

n

DC

Inp

ut

C-265

Motor Mounting Brackets Mounting brackets are convenient for installation and securing a stepping motor and geared stepping motor.

Product Line

Standard Type, High-Torque Type, High-Speed Type, High-Resolution TypeMaterial: Aluminum alloy

ModelApplicable Product

RK CRK 5-Phase Stepping Motors 2-Phase Stepping Motors

PAL0P ASC46�K �CRK54��PCRK54��P�PCRK54��PM�P

PK54��-�

CMK24��P�PCMK24��M�PCMK24��PCSK24��-�TCSK24��M�TPK24��P�

PK24��-01�

PK24��-02�

PK24��-03�

PK24��M-01�

PK24��M-02�

PK24��M-03�

PAL2P-5

AS66�CEAS66ACTAS66�CEPAS66ACTPASC66�KAS69�CEAS69ACTAS69�CEPAS69ACTP

RK56��CERK56��AMCERK56��ACT

CRK56��PCRK56��PM�P PK56��-�E �

PAL2P-2 � � � �

CMK26��MP�

CMK26��PCSK26��-�TCSK26��M�TPK26��J�

PK26��JD�

PK26��-01�

PK26��-02�

PK26��-03�

PK26��M-01�

PK26��M-02�

PK26��M-03�

PK26��DATPK26��-E2.0�

PK26��M-E2.0�

PAL4P-5



� PK59��-�E �

PAL4P-2 � � � �PK29��EATPK29��-E4.5�

PK2913-E4.0�

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.The mounting bracket base is built with holes large enough to allow for alignment adjustments in the horizontal direction.These mounting brackets can be perfectly fitted to the pilot of the stepping motors. (Except for PAL0P)

Note: They cannot be used with geared stepping motors.

��

�

��

�


Step

pin

g M

oto

rs

C-266

Motor Installation DirectionThe motor cable comes out at right angles to the motor. Orientate the motor so that the cable faces either upwards or sideways.

�

Cable Facing Upward Cable Facing Sideways

Mounting the Motor

�1 PAL2P-5, PAL2P-2,PAL4P-5, PAL4P-2

B

� Use the screws to secure the motor to the mounting bracket.

� Attach the motor from the direction shown by the arrow (B).

�

�2 PAL0P, SOL0A, SOL0B,SOL2A, SOL2B, SOL5A, SOL5B

B

� Use the screws to secure the motor to the mounting bracket.

� Attach the motor from the direction shown by the arrow (B).

Geared TypeMaterial: Aluminum alloy

ModelApplicable Product

RK CRK 2-Phase Stepping Motors

SOL0A � � �CMK243�P-SG��

CSK243�T-SG��

PK243�1-SG��

SOL0B ASC46�K-T�� CRK543�P-T��

CRK545�P-P��

CRK543�P-P��

SOL2AAS66�CE-T��

AS66�CEP-T��

ASC66�K-T��RK564�CE-T�� CRK564�P-T��

CMK264�P-SG��

CSK264�T-SG��

PK264�E-SG��

SOL2B AS66�CE-P��RK566�CE-P��

RK564�CE-P��CRK566�P-P��

CRK564�P-P��

SOL5A � � � PK296�E-SG��

SOL5BAS98�CE-T��

AS98�CEP-T��

AS98�CE-P��

RK596�CE-T��

RK599�CE-P��

RK596�CE-P��

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.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.

�

�

�

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

aseS

tepp

ing

Mo

tors

5-Ph

aseS

tepp

ing

Mo

tors

Co

ntro

llersA

ccessories

Installatio

n

DC

Inp

ut

C-267


PAL0PMass: 35 g

31�0.34��3.5穴

23

8

23 153.5 5.5

453 2

42

60

6

50 31�

0.3

2448

29�

0.3

37.6 0 �0.5

Screws (Included) M3 Length 10 mm �� 4 Pieces

�

�

PAL2P-5Mass: 110 g

4 2

1

6

68

4.4

11

2025

R15

6.5

1.5

55

4�M4

7.5

40�

0.1 70

32

83

6250�0.1

50�

0.1

3.5

�36

�0.

1�

0.3


�

PAL2P-2Mass: 110 g

4�M4

7.5

40±

0.1 70

3283

47.14±0.162

�38

.1＋

0.1

＋0.

3

4 2168 R15

6.5

1.5

55

47.14±

0.1

114.4

253.5

206


�


�

PAL4P-5Mass: 250 g

9

4�M5

R24

13.66.6

35 30

1 6

2

8050

112

10 56�

0.1

99

70�0.1

86

70�

0.1

3

93

5 8

60�0.1 �0.3


Step

pin

g M

oto

rs

C-268

PAL4P-2Mass: 250 g

R246.6

35 309

1 36

2

80 50112

1056±

0.1

99

86

�60＋0.1＋0.3

69.5

8±0.

1

69.58±0.1

13.6

93

5 8

�73＋

0.1

＋0.

3

4�M5


�

SOL0AMass: 85 g

SOL0BMass: 85 g

206

�36

4088

56

94.

4

7.4

1

44

18

4162

40�

0.5

SOL0A: 4��3.5 ThruSOL0B: 4��4.5 Thru

7220

2014

2143

.8�

0.3

SOL2AMass: 120 g

SOL2BMass: 120 g

2263

�54

�50

50108

5.4

2515

8.4

91

18

5482

50�

0.5


9330

7862

3170

�0.

3

Screws (Included) M4 Length 12 mm �� 4 Pieces (SOL2A)M5 Length 15 mm �� 4 Pieces (SOL2B)

SOL5AMass: 270 g

SOL5BMass: 270 g

2693

�83

�80

65146

92

116.

4

9.4

1.5

112

19

73.5

112

66�

0.5


12850

4017

104�

0.3

43

�

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCR

KA

C In

pu

tA

C In

pu

tD

C In

pu

t

2-Ph

aseCM

K2-P

hase

CSK

2-Ph

aseS

tepp

ing

Mo

tors

5-Ph

aseS

tepp

ing

Mo

tors

Co

ntro

llersA

ccessories

Installatio

n

DC

Inp

ut

C-269

DIN Rail Mounting Plate This installation plate is convenient for installing the driver of AS Series on DIN rails with ease.

Product LineModel Applicable Product

PADP01 AS Series driver


PADP01Mass: 20 g


34

16.8

145.

5

11

89

49

8

4.518

120

DIN Rail Center

�

�

�



Step

pin

g M

oto

rs

C-270

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCRK

AC

Inp

ut

AC

Inp

ut

DC

Inp

ut

2-Ph

aseCMK

2-Ph

aseCSK

2-Ph

ase S

tepp

ing

M

oto

rs

5-Ph

ase S

tepp

ing

M

oto

rsC

on

trollers

Accesso

riesIn

stallation

DC

Inp

ut

C-271

Stepping Motors

Installation

Installation

InstallationMotor Installation

Direction of MountingMotors 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

Notes: Do not disassemble the motors.Do not apply any shock to the motor.

Mounting MethodConsidering heat radiation and vibration isolation as much as possible, mount the motor tightly against a metal plane.

Mounting Method for Through Hole Type

Flange PilotSpot Facing or Through Hole for Pilot

Mounting Plate

��

��

�

�

Installation Conditions Install the motor in a location that meets the following conditions, or the product may be damaged.

Indoors (This product is designed and manufactured to be installed within another device.)Ambient temperature: �10 to �50˚C✽ (non-freezing) [0 to �50˚C for (non-freezing)]✽0 to �40˚C (non-freezing): Harmonic geared type Ambient humidity: 85% or less (non-condensing)Not exposed to explosive, flammable or corrosive gasesNot exposed to direct sunlightNot exposed to dustNot exposed to water or oil (except for IP65 rated motor)A place where heat can escape easilyNot exposed to continuous vibration or excessive impact

Notes: 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. Do not install the motor in a location where a source of vibration will cause the motor to vibrate.

�

�

�

��

�

�

Thickness of the Mounting Plate for Through Hole TypeModel

Thickness of the Mounting PlateRK Series CRK Series 5-Phase Stepping Motor 2-Phase Stepping Motor

AS66�CEAS66ACTAS66�CEPAS66ACTPASC66�KAS69�CEAS69ACTAS69�CEPAS69ACTP


CRK564PM�PCRK566PM�PCRK569PM�PCRK564�PCRK566�PCRK569�P

PK56��-�E

CMK25��PCMK26��PCMK26��M�PCSK26��-�TCSK26��M�TPK25��-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

5 mm min.



� PK59��-�EPK29��-E4.5�

PK2913-E4.0�

PK29��EAT8 mm min.

AS98�CE-H50AS98�CE-H100AS98�CEP-H50AS98�CEP-H100

RK596�CE-H50RK596�CE-H100 � � � 12 mm min.

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.

�

�


Step

pin

g M

oto

rs

C-272

Mounting Method for Tapped Hole TypeFlange PilotSpot Facing or Through Hole for Pilot

Tapped Hole

Mounting Plate

�

Thickness of the Mounting Plate for Tapped Hole TypeModel Thickness of the

Mounting PlateAS Series ASC Series RK Series CRK Series 5-Phase Stepping Motor 2-Phase Stepping Motor

� � � CRK513P�P �

CMK223P�PCMK224P�PCMK225P�PPK223P�

PK224P�

PK225P�

2 mm min.

�

ASC34AKASC36AKASC46�KASC34AK-T��ASC34AK-N��

ASC34AK-H��

�

CRK523P�PCRK525P�PCRK523PM�PCRK524PM�PCRK525PM�PCRK543�PCRK544�PCRK545�PCRK544P�PCRK546P�PCRK544PM�PCRK546PM�PCRK513P�P-H��

PK543-�PK544-�PK545-�

CMK233P�PCMK235P�PCMK243�PCMK244�PCMK245�PCMK244P�PCMK246P�PCMK243M�PCMK244M�PCMK245M�PCMK223�P-SG��

CMK243�P-SG��

CSK243-�TCSK244-�TCSK245-�TCSK243M-�TCSK244M-�TCSK245M-�TCSK223�T-SG��

CSK243�T-SG��

PK233P�

PK235P�

PK244P�

PK246P�

PK243-0��

PK244-0��

PK245-0��

PK243M-0��

PK244M-0��

PK245M-0��

PK223P�-SG��

PK243��-SG��

3 mm min.

� � �CRK523P�P-T��CRK523P�P-N��

� � 4 mm min.

AS66�CE-T��AS66�CEP-T��AS66�CE-P��

ASC46�K-T��ASC46�K-N��

ASC46�K-H��

ASC66�K-T��

RK564�CE-T��

CRK543�P-T��CRK543�P-P��

CRK545�P-P��

CRK544�P-N��

CRK543�P-H��

CRK564�P-T��

�CMK264�P-SG��

CSK264�T-SG��

PK264��-SG��5 mm min.

AS66�CE-N��

AS66�CEP-N��

AS66�CE-H��

AS66�CEP-H��

AS98�CE-T��AS98�CEP-T��

ASC66�K-N��

ASC66�K-H��

RK564�CE-P��

RK566�CE-P��

RK564�CE-N��

RK566�CE-N��

RK564�CE-H��

RK596�CE-T��

CRK564�P-P��

CRK566�P-P��

CRK564�P-N��

CRK566�P-N��

CRK564�P-H��

� PK296��-SG�� 8 mm min.

AS98�CE-P��

AS98�CE-N��

AS98�CEP-N��

RK596�CE-P��

RK599�CE-P��

RK596�CE-N��

RK599�CE-N��

� � � 12 mm min.

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.

�

�

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCRK

AC

Inp

ut

AC

Inp

ut

DC

Inp

ut

2-Ph

aseCMK

2-Ph

aseCSK

2-Ph

aseS

tepp

ing

Mo

tors

5-Ph

aseS

tepp

ing

Mo

tors

Co

ntro

llersA

ccessories

Installatio

n

DC

Inp

ut

C-273

Driver Installation

AC Input Type

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.

Models with Built-In Brackets Applicable ProductRK Series

Separate Bracket Models Applicable Product

AS Series

Firmly install on a metal plane that has good heat conductivity, such as iron or aluminum 2 mm or more in thickness. To 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.

�

�

��

��

�

�

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 50˚C (40˚C for some products).

20 mm min.20 mm min.

Installation Conditions Install the driver in a location that meets the following conditions, or the product may be damaged.

Indoors (This product is designed and manufactured to be installed within another device.)Ambient temperature: 0 to �50˚C (non-freezing)[0 to �40˚C for AS Series built-in controller (stored program) driver]Ambient humidity: 85% or less (non-condensing) Not exposed to explosive, flammable or corrosive gasesNot exposed to direct sunlight Not exposed to dust Not exposed to water or oil A place where heat can escape easily Not exposed to continuous vibration or excessive impact

Notes: 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. Do not install the driver in a location where a source of vibration will cause the driver to vibrate. 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. Take care that pieces of conductive material (filings, pins, pieces of wire, etc.) do not enter the drivers.

�

�

�

�

��

�

�

�

�


Step

pin

g M

oto

rs

C-274

DC Input Type

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.

Horizontal Installation

Vertical Installation

Note: 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 80˚C. (When the temperature of the heat sink exceeds 80˚C, forced cooling is required.)

Installation Conditions Install the driver in a location that meets the following conditions, or the product may be damaged.

Indoors (This product is designed and manufactured to be installed within another device.)Ambient temperature: 0 to �40˚C (non-freezing) Ambient humidity: 85% or less (non-condensing) Not exposed to explosive, flammable or corrosive gasesNot exposed to direct sunlight Not exposed to dust Not exposed to water or oil A place where heat can escape easily Not exposed to continuous vibration or excessive impact

Notes: 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. 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.

�

�

�

�

�

�

��

�

�

Installation of SG8030JYDIN Rail Mounting Using Flush Mounting Socket

1. Mount the flush mounting socket to the DIN rail. (The DIN lever should face down.)

2. Insert the controller terminals firmly into the flush mounting socket.

3. Engage the fastening hooks (two places) of the flush mounting socket on the controller to secure the assembly.

Note: Mount the controller only after connecting all required leads to the terminals of the flush Mounting socket.

Panel Mounting Using Rear Connection Socket The 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.

Panel Mounting Cut-Out Dimensions (Unit = mm)

45�0.5 0

45�

0.5

0

Installation Location

Indoors, ambient temperature 0 to�40˚C (non-freezing) If the ambient temperature exceeds 40˚C, use a fan to provide forced cooling. Otherwise internal heat buildup may lead to damage. When 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.

Ambient humidity 85% or less (non-condensing)

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.

Not exposed to water or oil Exposure to liquids can lead to corrosion or short-circuits.

Not exposed to direct sunlight

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.

Not in the vicinity of vibration sources Vibration may lead to damage.

��

�

��

��

�

�

�

�

�

�

�

Flush Mounting Socket

DIN Rail

Fastening Hook (�2)

DIN Lever

SG8030J

MODE

MADE IN JAPAN

ORIENTAL MOTOR CO.,LTD

CONTROLLER

SET

EXTTEST

PROG

®

SG8030J

MODE

MADE IN JAPAN

ORIENTAL MOTOR CO.,LTD

CONTROLLER

SET

EXTTEST

PROG

®

Step

pin

g M

oto

rsIn

tro d

uctio

n

AS

ASC

5-Ph

aseRK

5-Ph

aseCRK

AC

Inp

ut

AC

Inp

ut

DC

Inp

ut

2-Ph

aseCMK

2-Ph

aseCSK

2-Ph

aseS

tepp

ing

Mo

tors

5-Ph

aseS

tepp

ing

Mo

tors

Co

ntro

llersA

ccessories

Installatio

n

DC

Inp

ut

C-275

Documents

Oriental Motors - Stepping Motors