Stepping Motor and Driver Package. High-Efficiency AR Series. DC Power-Supply Input. Built-in Controller Type Pulse Input Type

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1 Stepping Motor Driver Package High-Efficiency R Series DC Power-Supply Input Built-in Type Type The extensive R Series DC Power-Supply Input lineup that utilizes high-efficiency technology. Two types are available: the built-in controller type equipped with interfaces that connect to a wide variety of host systems the pulse input type that enables the motor to be controlled from a pulse generator provided by the customer.

2 ccessory Configuration Product Line Specifications Dimension Connection Built-in Drivers Support FLEX, a Feature That Enables You to Select the Control Method in ccordance with Your Operation. What is FLEX? FLEX is a general name for products that support F network control via I/O control, Modbus (RTU) control, network converters. It makes connections controls easy reduces the total lead time for building systems. Our Unique Closed Loop Control Providing High Reliability Continues Operation Even During brupt Load Changes ccelerations During normal operation, the motor operates synchronously with comm pulses in open loop mode. When an overload condition is detected, the motor instantly switches to closed loop mode to correct the rotor position. Input Signal Input Counter Deviation Counter Rotor Position Counter Excitation Sequence Control Output Component Motor Sensor Normal (Positioning deviation is less than ±1.8 ) Motor runs in open loop mode like a stepping motor. Overload Condition (Positioning deviation is ±1.8 or more) The closed loop mode is engaged to maintain the positioning operation. Rotor Position Detection Sensor (Resolver) The sensor is compact slim, making the overall length of the motor shorter. When compared with typical optical encoders, this sensor is superior in heat resistance, vibration resistance, etc. s encoder cables are not needed, only a single cable is needed for the connection between the motor driver. Rotor Position Detection Sensor larm Signal Output in Case of bnormality If an overload is applied continuously, an alarm signal is output. When the positioning is complete, an END signal is output. This ensures the same level of reliability achieved by a servo motor. lso Supports bsolute s You can build an absolute system that detects absolute positions by connecting the accessory battery (sold separately). (available only on the built-in controller type) Battery Set (Sold separately) Stepping Motor dvantages Excellent Synchronicity High Response Operation Frequent Starting Stopping Since they operate synchronously with pulse comms generate high torque with a compact body, stepping motors offer excellent acceleration performance response. They are ideal for applications requiring frequent starting stopping. Pulse Comm Motor Movement Waveform Positioning Completion Signal Measurement Condition: Feed 1/ rotation Inertial Load: 1-7 kg m (J) No Tuning Positioning is still possible without gain tuning even when the load fluctuates due to use of a belt mechanism, cam or chain drive, etc. Holding the Stop Position During positioning, the motor stops with its own holding torque without hunting. ccordingly, stepping motors are ideal for applications where the low rigidity of the mechanism requires absence of vibration upon stop.

3 Connects to a Wide Variety of Host s Select the Control Method in ccordance with Your Operation Positioning Unit I/O Unit Serial Communication Unit F Network Unit CPU Unit Power Supply Unit F Network Touch-Screen Panel Computer Network Converter Type Built-in Type I/O Modbus (RTU) RS-48 Communication Modbus (RTU) Representative s Power Supply Unit CPU Unit Positioning Unit Built-in Type Type The motor can be controlled using a pulse generator provided by the customer. Operating data registered in the pulse generator is selected from the PLC to operate the motor. Power Supply Unit CPU Unit I/O Unit The function of a built-in pulse generator lets you build an operation system by connecting directly to a PLC. Since no separate pulse generator is required, the drivers of this type save space simplify systems. Power Supply Unit CPU Unit Serial Communication Unit I/O Through RS-48 communication, you can set operating data parameters input operation comms. Up to 31 drivers can be connected to a single serial unit. The unit also has a feature for starting multiple axes simultaneously. The unit supports the Modbus (RTU) protocol, which makes it easy to connect a PLC or similar device to the driver. Power Supply Package CPU Unit F Network Unit Modbus (RTU) Network Converter The following products are available for setting data on built-in controller drivers. Control Module OPX- (sold separately) ( Page 3) or Data Setting Software MEXE ( Page 4) F Network By using a Network Converter (sold separately), you can use CC-Link communication MECHTROLINK communication. Over these links, operating data parameters can be set, operation comms can be sent to the driver. You can use these to set drivers' internal parameters set change data. You can also use these to set speeds, monitor the I/O, perform teaching. Configuration Product Line Specifications Dimension Connection ccessory Computer 3

4 ccessory Configuration Product Line Specifications Dimension Connection Highly Functional, Compact Driver Compact DC Power-Supply Input Driver The compact DC power input driver makes it possible to reduce the space needed for installing control boxes devices. The driver can be mounted directly to a DIN rail, so no screws are necessary. 1 mm 7 mm 6 mm 3 mm 3 mm Built-in Type Type 9 mm Push-Motion Operation force is continuously applied to the load. When contact is made with the load, the motor switches to push-motion operation applies constant torque to the load. Note Push-motion operation requires a data module OPX- (sold separately) or data setting software MEXE. Do not perform push-motion operation using geared motors. Doing so may damage the motor or gearhead. Compatible The motor runs on a or power supply. Choose the power supply that you have available. The torque is higher when is used rather than. ( 8 only accepts input.) R66SK (When Set to 1 P/R) Position Control in the Same Direction The round feature enables you to control positioning even in an application where positioning is repeated in the same direction (available only on the built-in controller type). Building an absolute system requires an accessory battery (sold separately). Continuous Operation is chieved Due to the Reduction of Motor Heat Generation by Utilizing High-Efficiency Technology. Lower Heat Generation Significant reduction in heat generation has been achieved through high-efficiency technology. Temperature Distribution by Thermography R66SK- Comparison under the Same Conditions. Conventional Model Motor Case Temperature under Same Operating Conditions Temperature [ C] R66SK- Conventional Model Time [min] Energy Savings The power consumption is 3% less than a conventional model (also by Oriental Motor). Power Consumption Power Consumption [W] R66SK- Conventional Model 1 1 Speed [r/min] CO emission: 3% less than a conventional model (also by Oriental Motor) ssuming operation at a duty of 4% Continuous Operation (Operation at high frequency) The R Series can be operated at high frequency. You can drive the motor continuously. You don't need to worry about the duty cycle. Note When the motor is operated continuously, a heat sink of a capacity at least equivalent to an aluminum plate with a size of 1 1 mm, 6 mm thick is required. 4

5 Motor Lineup Types Features of Stard Geared Motors Low Backlash Non-Backlash Stard Type Type TH Geared Type (Spur gear mechanism) PS Geared Type (Planetary gear mechanism) PN Geared Type (Planetary gear mechanism) Harmonic Geared Type (Harmonic drive) Feature R Series stard model High speed (Low gear ratio) High speed (Low gear ratio) High permissible torque High maximum torque Center shaft High speed (Low gear ratio) High positioning accuracy High permissible torque High maximum torque Center shaft High resolution (High gear ratio) High positioning accuracy High permissible torque High maximum torque Center shaft Gear Ratio 1:3.6, 1:7., 1:1, 1:, 1:3 ( wide variety of gear ratios for selecting the desired step angle (Resolution)) 1:, 1:7., 1:1, 1:, 1:36, 1: ( wide variety of gear ratios for selecting the desired step angle (Resolution)) 1:, 1:7., 1:1, 1:, 1:36, 1: ( wide variety of gear ratios for selecting the desired step angle (Resolution)) 1:, 1:1 Maximum Torque[N m] Max. Holding Torque 1 Permissible Maximum Torque Torque Permissible Maximum Torque Torque Permissible Torque 37 Maximum Torque Note The values shown above must be used as reference. These values vary depending on the motor frame size gear ratio. Frame Sizes Four motor frame sizes are available for the built-in controller type for the pulse input type. ( 4 : indicates a motor frame size of 4 mm) Stard Type TH, PS, PN, Harmonic Geared Type 1 Harmonic geared type Geared type Motor Type 8 ( 3 1 ) ( 9 ) Without Electromagnetic Brake Electromagnetic Brake Type Without Electromagnetic Brake Electromagnetic Brake Type Backlash [min] 4 Basic Resolution [ /Pulse] Output Shaft Rotation Speed[r/min] Conformance to Various Directives CE Marking This product has CE Marking affixed under the EMC Directive Low Voltage Directive. Product CE Marking Motor Low Voltage Directive Driver EMC Directive The EMC value changes according to the wiring layout. Therefore, the final level must be checked with the product incorporated in the user's equipment. Configuration Product Line Specifications Dimension Connection ccessory

6 ccessory Configuration Product Line Specifications Dimension Connection Configuration Built-in Type - Stard Type with Electromagnetic Brake n example of system configuration with I/O control or RS-48 communication is shown below. ccessory (Sold separately) Vibration Reduced When Used in Motor MCV Coupling ( Page 6) R Series The product comes with a 1 m, m or 3 m cable (for motor electromagnetic brake). ccessory (Sold separately) Motor Installation Bracket ( Page 63) For Motor For Electromagnetic Brake Configuration Example Sold Separately R Series Motor Flexible Coupling Installation Bracket R66SMKD-3 PLP- MCV11 Cable Used for Evaluations Related to EMC Directives When extending the distance between the motor driver without using the included cable (For electromagnetic brake) Connection Cable Sets Flexible Connection Cable Sets ( Page ) Driver Battery Set ( Page 9) Control Module ( Page 3) The system configuration shown above is an example. Other combinations are available. Programmable 1 Sensor 1 DC power supply 1 (Main power supply) 1 Not supplied. Required for I/O control drive. When extending the distance between the motor driver using the included cable (For electromagnetic brake) Extension Cable Sets Flexible Extension Cable Sets ( Page ) User's manual that explains how to use these products are available. For details, please contact the nearest Oriental Motor sales office, or download the manuals from the Oriental Motor website. or ccessory (Sold separately) or Communication Cable for the Data Setting Software ( Page 4) To a USB port Related Product (Sold separately) Network Converter ( Page 9) Data Setting Software MEXE ( Page 4) Computer 1 6

7 Type - Stard Type with Electromagnetic Brake n example of a single-axis system configuration with the PG1 controller is shown below. ccessory (Sold separately) Vibration Reduced When Used in Motor MCV Coupling ( Page 6) R Series The product comes with a 1 m, m or 3 m cable (for motor electromagnetic brake). ccessory (Sold separately) Motor Installation Bracket ( Page 63) For Electromagnetic Brake Power Supply For Electromagnetic Brake For Motor Cable Used for Evaluations Related to EMC Directives When extending the distance between the motor driver without using the included cable General-Purpose Cable ( Page 8) (For electromagnetic brake) Connection Cable Sets Flexible Connection Cable Sets ( Page ) Driver ccessory (Sold separately) Control Module ( Page 3) Connector - Terminal Block Conversion Unit ( Page 8) Configuration Example Sold Separately R Series Motor Connector Terminal Block Flexible Coupling Installation Bracket Conversion Unit (1 m) R66SMK-3 PG1 PLP- MCV11 CC36T1 The system configuration shown above is an example. Other combinations are available. or or When extending the distance between the motor driver using the included cable Communication Cable for the Data Setting Software ( Page 4) (Sold separately) ( Page 63) DC Power Supply (Main power supply) To a USB port Computer Power Supply Not supplied. Programmable User's manual that explains how to use these products are available. For details, please contact the nearest Oriental Motor sales office, or download the manuals from the Oriental Motor website. or (For electromagnetic brake) Extension Cable Sets Flexible Extension Cable Sets ( Page ) Data Setting Software MEXE ( Page 4) Configuration Product Line Specifications Dimension Connection ccessory 7

8 ccessory Configuration Product Line Specifications Dimension Connection Product Number Code R 6 6 S K D - PS Series Name R: R Series 3 4 Motor Frame Size : 8 mm (3 mm) 4: 4 mm 6: 6 mm 9: 8 mm (9 mm) Motor Case Length Motor Classification Configuration : Stard (Single shaft) B: Stard (Double shaft) M: Electromagnetic Brake Type 6 Power Supply Input K: DC Power Supply Product Line Built-in Type Stard Type (Single shaft) R4SKD- R6SKD- R46SKD- R66SKD- R69SKD- R98SKD- (Double shaft) R4SBKD- R6SBKD- R46SBKD- R66SBKD- R69SBKD- R98SBKD- Stard Type with Electromagnetic Brake R46SMKD- R66SMKD- R69SMKD- R98SMKD- TH Geared Type TH Geared Type with Electromagnetic Brake R4SKD-T7.- R4SKD-T1- R4SKD-T- R4SKD-T3- R46SKD-T3.6- R46SKD-T7.- R46SKD-T1- R46SKD-T- R46SKD-T3- R66SKD-T3.6- R66SKD-T7.- R66SKD-T1- R66SKD-T- R66SKD-T3- R98SKD-T3.6- R98SKD-T7.- R98SKD-T1- R98SKD-T- R98SKD-T3- R46SMKD-T3.6- R46SMKD-T7.- R46SMKD-T1- R46SMKD-T- R46SMKD-T3- R66SMKD-T3.6- R66SMKD-T7.- R66SMKD-T1- R66SMKD-T- R66SMKD-T3- R98SMKD-T3.6- R98SMKD-T7.- R98SMKD-T1- R98SMKD-T- R98SMKD-T Driver Type D: Built-in Type Blank: Type Gear Type Blank: Stard Type T: TH Geared Type PS: PS Geared Type N: PN Geared Type H: Harmonic Geared Type 9 Gear Ratio 1 Cable Length (Included) 1: 1 m : m 3: 3 m PS Geared Type PS Geared Type with Electromagnetic Brake R4SKD-PS- R4SKD-PS7- R4SKD-PS1- R46SKD-PS- R46SKD-PS7- R46SKD-PS1- R46SKD-PS- R46SKD-PS36- R46SKD-PS- R66SKD-PS- R66SKD-PS7- R66SKD-PS1- R66SKD-PS- R66SKD-PS36- R66SKD-PS- R98SKD-PS- R98SKD-PS7- R98SKD-PS1- R98SKD-PS- R98SKD-PS36- R98SKD-PS- R46SMKD-PS- R46SMKD-PS7- R46SMKD-PS1- R46SMKD-PS- R46SMKD-PS36- R46SMKD-PS- R66SMKD-PS- R66SMKD-PS7- R66SMKD-PS1- R66SMKD-PS- R66SMKD-PS36- R66SMKD-PS- R98SMKD-PS- R98SMKD-PS7- R98SMKD-PS1- R98SMKD-PS- R98SMKD-PS36- R98SMKD-PS- PN Geared Type PN Geared Type with Electromagnetic Brake R4SKD-N- R4SKD-N7.- R4SKD-N1- R46SKD-N- R46SKD-N7.- R46SKD-N1- R66SKD-N- R66SKD-N7.- R66SKD-N1- R66SKD-N- R66SKD-N36- R66SKD-N- R98SKD-N- R98SKD-N7.- R98SKD-N1- R98SKD-N- R98SKD-N36- R98SKD-N- R46SMKD-N- R46SMKD-N7.- R46SMKD-N1- R66SMKD-N- R66SMKD-N7.- R66SMKD-N1- R66SMKD-N- R66SMKD-N36- R66SMKD-N- R98SMKD-N- R98SMKD-N7.- R98SMKD-N1- R98SMKD-N- R98SMKD-N36- R98SMKD-N- 8

9 Harmonic Geared Type R4SKD-H- R4SKD-H1- R46SKD-H- R46SKD-H1- R66SKD-H- R66SKD-H1- R98SKD-H- R98SKD-H1- Type Stard Type (Single shaft) R4SK- R6SK- R46SK- R66SK- R69SK- R98SK- (Double shaft) R4SBK- R6SBK- R46SBK- R66SBK- R69SBK- R98SBK- Stard Type with Electromagnetic Brake R46SMK- R66SMK- R69SMK- R98SMK- TH Geared Type TH Geared Type with Electromagnetic Brake R4SK-T7.- R4SK-T1- R4SK-T- R4SK-T3- R46SK-T3.6- R46SK-T7.- R46SK-T1- R46SK-T- R46SK-T3- R66SK-T3.6- R66SK-T7.- R66SK-T1- R66SK-T- R66SK-T3- R98SK-T3.6- R98SK-T7.- R98SK-T1- R98SK-T- R98SK-T3- Harmonic Geared Type R4SK-H- R4SK-H1- R46SK-H- R46SK-H1- R66SK-H- R66SK-H1- R98SK-H- R98SK-H1- Harmonic Geared Type with Electromagnetic Brake R46SMK-T3.6- R46SMK-T7.- R46SMK-T1- R46SMK-T- R46SMK-T3- R66SMK-T3.6- R66SMK-T7.- R66SMK-T1- R66SMK-T- R66SMK-T3- R98SMK-T3.6- R98SMK-T7.- R98SMK-T1- R98SMK-T- R98SMK-T3- Harmonic Geared Type with Electromagnetic Brake R46SMK-H- R46SMK-H1- R66SMK-H- R66SMK-H1- R98SMK-H- R98SMK-H1- number indicating the desired length of 1 (1 m), ( m) or 3 (3 m) for the cable included with the product is entered where the box is located within the product name. Select a desired cable length from 1 m, m 3 m. R46SMKD-H- R46SMKD-H1- R66SMKD-H- R66SMKD-H1- R98SMKD-H- R98SMKD-H1- number indicating the desired length of 1 (1 m), ( m) or 3 (3 m) for the cable included with the product is entered where the box is located within the product name. Select a desired cable length from 1 m, m 3 m. The following items are included in each product. Motor, Driver, Cable for Motor, Cable for Electromagnetic Brake, Connector for Input Signal, Connector for Output Signal, Sensor Signal Connector, Power Input Terminal Connector, Operating Manual The product comes with a 1 m, m or 3 m cable for motor cable for electromagnetic brake. If you need cables longer than 3 m or cables offering excellent flexibility, select appropriate cables from the accessories (sold separately). For details, refer to Page. Only for electromagnetic brake type. PS Geared Type PS Geared Type with Electromagnetic Brake R4SK-PS- R4SK-PS7- R4SK-PS1- R46SK-PS- R46SK-PS7- R46SK-PS1- R46SK-PS- R46SK-PS36- R46SK-PS- R66SK-PS- R66SK-PS7- R66SK-PS1- R66SK-PS- R66SK-PS36- R66SK-PS- R98SK-PS- R98SK-PS7- R98SK-PS1- R98SK-PS- R98SK-PS36- R98SK-PS- R46SMK-PS- R46SMK-PS7- R46SMK-PS1- R46SMK-PS- R46SMK-PS36- R46SMK-PS- R66SMK-PS- R66SMK-PS7- R66SMK-PS1- R66SMK-PS- R66SMK-PS36- R66SMK-PS- R98SMK-PS- R98SMK-PS7- R98SMK-PS1- R98SMK-PS- R98SMK-PS36- R98SMK-PS- PN Geared Type PN Geared Type with Electromagnetic Brake R4SK-N- R4SK-N7.- R4SK-N1- R46SK-N- R46SK-N7.- R46SK-N1- R66SK-N- R66SK-N7.- R66SK-N1- R66SK-N- R66SK-N36- R66SK-N- R98SK-N- R98SK-N7.- R98SK-N1- R98SK-N- R98SK-N36- R98SK-N- R46SMK-N- R46SMK-N7.- R46SMK-N1- R66SMK-N- R66SMK-N7.- R66SMK-N1- R66SMK-N- R66SMK-N36- R66SMK-N- R98SMK-N- R98SMK-N7.- R98SMK-N1- R98SMK-N- R98SMK-N36- R98SMK-N- The following items are included in each product. Motor, Driver, Cable for Motor, Cable for Electromagnetic Brake, I/O signal Connector, Main Power Supply Input Frame Ground Terminal Connectors, Surge Suppressor, Operating Manual The product comes with a 1 m, m or 3 m cable for motor cable for electromagnetic brake. If you need cables longer than 3 m or cables offering excellent flexibility, select appropriate cables from the accessories (sold separately). For details, refer to Page. Only for electromagnetic brake type. Configuration Product Line Specifications Dimension Connection ccessory 9

10 ccessory Configuration Product Line Specifications Dimension Connection Stard Type Frame Size 8 mm, 4 mm, 6 mm, 8 mm Specifications Built-in R4S KD- R6S KD- R46S KD- R66S KD- R69S KD- R98S KD- R4S K- R6S K- R46S K- R66S K- R69S K- R98S K- Max. Holding Torque N m Holding Torque at Motor Ststill While Power is Supplied N m Electromagnetic Brake N m.1. 1 ±1% (±%) Rotor Inertial Moment J: kg m [ ] 1 [ 1-7 ] 1 [ ] 1 [1 1-7 ] 1 Resolution When Set to 1P/R.36 /Pulse Power Supply Input Voltage (±%) / ±1% (±%) /±% 3 ±% ±1% Input Current Electromagnetic Brake 4 Power Supply Input ±%.8 ±%. Either (single shaft), B (double shaft) or M (electromagnetic brake) indicating the configuration is entered where the box is located within the product name. Either (Single shaft) or B (Double shaft) indicating the configuration is entered in the box where is located within the R4 R6 product names. number indicating the desired length of 1 (1 m), ( m) or 3 (3 m) for the cable included with the product is entered where the box is located within the product name. 1 The brackets [ ] indicate the specifications for the electromagnetic brake type. The parentheses () indicate the specifications for the built-in controller type. 3 When the motor is operated from input, use an inertial load 1 times the rotor inertial ratio or less twice the safety factor or more when calculating the acceleration torque. 4 For the pulse input type, a separate power supply for the electromagnetic brake is also required. If the wiring distance between the motor driver is extended to m or longer using an accessory cable (sold separately), the ±4% specification applies. Speed Torque R4 R6 R (When Set to 1 P/R) (When Set to 1 P/R) R66 R69 R (When Set to 1 P/R) (When Set to 1 P/R) (When Set to 1 P/R) (When Set to 1 P/R) Note Depending on the driving conditions, a considerable amount of heat may be generated by the motor. Be sure to keep the temperature of the motor case at approximately 1 C max. 1

11 TH Geared Type Frame Size 8 mm Specifications Built-in R4SKD-T7.- R4SKD-T1- R4SKD-T- R4SKD-T3- R4SK-T7.- R4SK-T1- R4SK-T- R4SK-T3- Max. Holding Torque N m Rotor Inertial Moment J: kg m Gear Ratio Resolution When Set to 1P/R. /Pulse.36 /Pulse.18 /Pulse.1 /Pulse N m Holding Torque at Motor Ststill While Power is Supplied N m Permissible Speed Range r/min Backlash arc minute (degrees) 6 1 Power Supply Input Voltage ±1% (±%) Input Current number indicating the desired length of 1 (1 m), ( m) or 3 (3 m) for the cable included with the product is entered where the box is located within the product name. The parentheses () indicate the specifications for the built-in controller type. Speed Torque R4 Gear Ratio 7. R4 Gear Ratio (When Set to 1 P/R) R4 Gear Ratio R4 Gear Ratio (When Set to 1 P/R) (When Set to 1 P/R) (When Set to 1 P/R) Note Depending on the driving conditions, a considerable amount of heat may be generated by the motor. Be sure to keep the temperature of the motor case at approximately 1 C max. 1 Configuration Product Line Specifications Dimension Connection ccessory 11

12 ccessory Configuration Product Line Specifications Dimension Connection TH Geared Type Frame Size 4 mm Specifications Built-in R46S KD-T3.6- R46S KD-T7.- R46S KD-T1- R46S KD-T- R46S KD-T3- R46S K-T3.6- R46S K-T7.- R46S K-T1- R46S K-T- R46S K-T3- Max. Holding Torque N m Rotor Inertial Moment J: kg m [ ] 1 Gear Ratio Resolution When Set to 1P/R.1 /Pulse. /Pulse.36 /Pulse.18 /Pulse.1 /Pulse N m Holding Torque at Motor Ststill While Power is Supplied N m Electromagnetic Brake N m Permissible Speed Range r/min Backlash arc minute (degrees) 4.7 (.4 ) 1 (. ) Voltage ±1% (±%) /±% Power Supply Input Input Current Electromagnetic Brake 3 Power Supply Input ±% 4.8 Either (single shaft) or M (electromagnetic brake) indicating the configuration is entered where the box is located within the product name. number indicating the desired length of 1 (1 m), ( m) or 3 (3 m) for the cable included with the product is entered where the box is located within the product name. 1 The brackets [ ] indicate the specifications for the electromagnetic brake type. The parentheses () indicate the specifications for the built-in controller type. 3 For the pulse input type, a separate power supply for the electromagnetic brake is also required. 4 If the wiring distance between the motor driver is extended to m or longer using an accessory cable (sold separately), the ±4% specification applies. Speed Torque R46 Gear Ratio 3.6 R46 Gear Ratio 7. R46 Gear Ratio (When Set to 1 P/R) R46 Gear Ratio R46 Gear Ratio (When Set to 1 P/R) (When Set to 1 P/R) (When Set to 1 P/R) (When Set to 1 P/R) Note Depending on the driving conditions, a considerable amount of heat may be generated by the motor. Be sure to keep the temperature of the motor case at approximately 1 C max. 1

13 TH Geared Type Frame Size 6 mm Specifications Built-in R66S KD-T3.6- R66S KD-T7.- R66S KD-T1- R66S KD-T- R66S KD-T3- R66S K-T3.6- R66S K-T7.- R66S K-T1- R66S K-T- R66S K-T3- Max. Holding Torque N m Rotor Inertial Moment J: kg m [ 1-7 ] 1 Gear Ratio Resolution When Set to 1P/R.1 /Pulse. /Pulse.36 /Pulse.18 /Pulse.1 /Pulse N m Holding Torque at Motor Ststill While Power is Supplied N m Electromagnetic Brake N m Permissible Speed Range r/min Backlash arc minute (degrees) 3 (.9 ) 1 (. ) 1 (.17 ) Voltage ±1% (±%) /±% 3 Power Supply Input Input Current Electromagnetic Brake 4 Power Supply Input ±%. Either (single shaft) or M (electromagnetic brake) indicating the configuration is entered where the box is located within the product name. number indicating the desired length of 1 (1 m), ( m) or 3 (3 m) for the cable included with the product is entered where the box is located within the product name. 1 The brackets [ ] indicate the specifications for the electromagnetic brake type. The parentheses () indicate the specifications for the built-in controller type. 3 When the motor is operated from input, use an inertial load 1 times the rotor inertial ratio or less twice the safety factor or more when calculating the acceleration torque. 4 For the pulse input type, a separate power supply for the electromagnetic brake is also required. If the wiring distance between the motor driver is extended to m or longer using an accessory cable (sold separately), the ±4% specification applies. Speed Torque R66 Gear Ratio 3.6 R66 Gear Ratio 7. R66 Gear Ratio (When Set to 1 P/R) R66 Gear Ratio R66 Gear Ratio (When Set to 1 P/R) (When Set to 1 P/R) (When Set to 1 P/R) (When Set to 1 P/R) Note Depending on the driving conditions, a considerable amount of heat may be generated by the motor. Be sure to keep the temperature of the motor case at approximately 1 C max. Configuration Product Line Specifications Dimension Connection ccessory 13

14 ccessory Configuration Product Line Specifications Dimension Connection TH Geared Type Frame Size 9 mm Specifications Built-in R98S KD-T3.6- R98S KD-T7.- R98S KD-T1- R98S KD-T- R98S KD-T3- R98S K-T3.6- R98S K-T7.- R98S K-T1- R98S K-T- R98S K-T3- Max. Holding Torque N m Rotor Inertial Moment J: kg m [1 1-7 ] 1 Gear Ratio Resolution When Set to 1P/R.1 /Pulse. /Pulse.36 /Pulse.18 /Pulse.1 /Pulse N m Holding Torque at Motor Ststill While Power is Supplied N m Electromagnetic Brake N m Permissible Speed Range r/min Backlash arc minute (degrees) (.4 ) 1 (. ) 1 (.17 ) Voltage ±1% (±%) /±% 3 Power Supply Input Input Current. 3.1 Electromagnetic Brake 4 Power Supply Input ±%. Either (single shaft) or M (electromagnetic brake) indicating the configuration is entered where the box is located within the product name. number indicating the desired length of 1 (1 m), ( m) or 3 (3 m) for the cable included with the product is entered where the box is located within the product name. 1 The brackets [ ] indicate the specifications for the electromagnetic brake type. The parentheses () indicate the specifications for the built-in controller type. 3 When the motor is operated from input, use an inertial load 1 times the rotor inertial ratio or less twice the safety factor or more when calculating the acceleration torque. 4 For the pulse input type, a separate power supply for the electromagnetic brake is also required. If the wiring distance between the motor driver is extended to m or longer using an accessory cable (sold separately), the ±4% specification applies. Speed Torque R98 Gear Ratio 3.6 R98 Gear Ratio 7. R98 Gear Ratio (When Set to 1 P/R) 1 R98 Gear Ratio R98 Gear Ratio (When Set to 1 P/R) (When Set to 1 P/R) (When Set to 1 P/R) (When Set to 1 P/R) Note Depending on the driving conditions, a considerable amount of heat may be generated by the motor. Be sure to keep the temperature of the motor case at approximately 1 C max. 14

15 PS Geared Type Frame Size 8 mm Specifications Built-in R4SKD-PS- R4SKD-PS7- R4SKD-PS1- R4SK-PS- R4SK-PS7- R4SK-PS1- Max. Holding Torque N m..3. Rotor Inertial Moment J: kg m Gear Ratio 7. 1 Resolution When Set to 1P/R.7 /Pulse. /Pulse.36 /Pulse N m..3. Maximum Torque N m. Holding Torque at Motor Ststill While Power is Supplied N m Permissible Speed Range r/min Backlash arc minute (degrees) 3 (.9 ) Power Supply Input Voltage ±1% (±%) Input Current number indicating the desired length of 1 (1 m), ( m) or 3 (3 m) for the cable included with the product is entered where the box is located within the product name. The parentheses () indicate the specifications for the built-in controller type. Speed Torque R4 Gear Ratio R4 Gear Ratio 7. R4 Gear Ratio (When Set to 1 P/R) (When Set to 1 P/R) (When Set to 1 P/R) Note Depending on the driving conditions, a considerable amount of heat may be generated by the motor. Be sure to keep the temperature of the motor case at approximately 1 C max. Configuration Product Line Specifications Dimension Connection ccessory 1

16 ccessory Configuration Product Line Specifications Dimension Connection PS Geared Type Frame Size 4 mm Specifications Built-in R46S KD-PS- R46S KD-PS7- R46S KD-PS1- R46S KD-PS- R46S KD-PS36- R46S KD-PS- R46S K-PS- R46S K-PS7- R46S K-PS1- R46S K-PS- R46S K-PS36- R46S K-PS- Max. Holding Torque N m Rotor Inertial Moment J: kg m [ ] 1 Gear Ratio Resolution When Set to 1P/R.7 /Pulse. /Pulse.36 /Pulse.144 /Pulse.1 /Pulse.7 /Pulse N m Maximum Torque N m 1. 6 Holding Torque at Motor Ststill While Power is Supplied N m Electromagnetic Brake N m Permissible Speed Range r/min Backlash arc minute (degrees) (.4 ) Voltage ±1% (±%) /±% Power Supply Input Input Current Electromagnetic Brake 3 Power Supply Input ±% 4.8 Either (single shaft) or M (electromagnetic brake) indicating the configuration is entered where the box is located within the product name. number indicating the desired length of 1 (1 m), ( m) or 3 (3 m) for the cable included with the product is entered where the box is located within the product name. 1 The brackets [ ] indicate the specifications for the electromagnetic brake type. The parentheses () indicate the specifications for the built-in controller type. 3 For the pulse input type, a separate power supply for the electromagnetic brake is also required. 4 If the wiring distance between the motor driver is extended to m or longer using an accessory cable (sold separately), the ±4% specification applies. Speed Torque R46 Gear Ratio R46 Gear Ratio 7. R46 Gear Ratio 1... Torque [N m] (When Set to 1 P/R) Torque [N m] Maximum Torque Permissible Torque Speed [r/min] (When Set to 1 P/R) Torque [N m] Maximum Torque R46 Gear Ratio R46 Gear Ratio 36 R46 Gear Ratio Maximum Torque (When Set to 1 P/R) (When Set to 1 P/R) Speed [r/min] (When Set to 1 P/R) 7 Maximum Torque (When Set to 1 P/R) Note Depending on the driving conditions, a considerable amount of heat may be generated by the motor. Be sure to keep the temperature of the motor case at approximately 1 C max. 16

17 PS Geared Type Frame Size 6 mm Specifications Built-in R66S KD-PS- R66S KD-PS7- R66S KD-PS1- R66S KD-PS- R66S KD-PS36- R66S KD-PS- R66S K-PS- R66S K-PS7- R66S K-PS1- R66S K-PS- R66S K-PS36- R66S K-PS- Max. Holding Torque N m Rotor Inertial Moment J: kg m [ 1-7 ] 1 Gear Ratio Resolution When Set to 1P/R.7 /Pulse. /Pulse.36 /Pulse.144 /Pulse.1 /Pulse.7 /Pulse N m Maximum Torque N m Holding Torque at Motor Ststill While Power is Supplied N m Electromagnetic Brake N m Permissible Speed Range r/min Backlash arc minute (degrees) 1 (. ) Voltage ±1% (±%) /±% 3 Power Supply Input Input Current Electromagnetic Brake 4 Power Supply Input ±%. Either (single shaft) or M (electromagnetic brake) indicating the configuration is entered where the box is located within the product name. number indicating the desired length of 1 (1 m), ( m) or 3 (3 m) for the cable included with the product is entered where the box is located within the product name. 1 The brackets [ ] indicate the specifications for the electromagnetic brake type. The parentheses () indicate the specifications for the built-in controller type. 3 When the motor is operated from input, use an inertial load 1 times the rotor inertial ratio or less twice the safety factor or more when calculating the acceleration torque. 4 For the pulse input type, a separate power supply for the electromagnetic brake is also required. If the wiring distance between the motor driver is extended to m or longer using an accessory cable (sold separately), the ±4% specification applies. Speed Torque R66 Gear Ratio R66 Gear Ratio 7. R66 Gear Ratio (When Set to 1 P/R) (When Set to 1 P/R) R66 Gear Ratio R66 Gear Ratio 36 R66 Gear Ratio (When Set to 1 P/R) Maximum Torque (When Set to 1 P/R) (When Set to 1 P/R) Maximum Torque (When Set to 1 P/R) Note Depending on the driving conditions, a considerable amount of heat may be generated by the motor. Be sure to keep the temperature of the motor case at approximately 1 C max. Configuration Product Line Specifications Dimension Connection ccessory 17

18 ccessory Configuration Product Line Specifications Dimension Connection PS Geared Type Frame Size 9 mm Specifications Built-in R98S KD-PS- R98S KD-PS7- R98S KD-PS1- R98S KD-PS- R98S KD-PS36- R98S KD-PS- R98S K-PS- R98S K-PS7- R98S K-PS1- R98S K-PS- R98S K-PS36- R98S K-PS- Max. Holding Torque N m Rotor Inertial Moment J: kg m [1 1-7 ] 1 Gear Ratio Resolution When Set to 1P/R.7 /Pulse. /Pulse.36 /Pulse.144 /Pulse.1 /Pulse.7 /Pulse N m Maximum Torque N m Holding Torque at Motor Ststill While Power is Supplied N m Electromagnetic Brake N m Permissible Speed Range r/min Backlash arc minute (degrees) 1 (. ) Voltage ±1% (±%) /±% 3 Power Supply Input Input Current. 3.1 Electromagnetic Brake 4 Power Supply Input ±%. Either (single shaft) or M (electromagnetic brake) indicating the configuration is entered where the box is located within the product name. number indicating the desired length of 1 (1 m), ( m) or 3 (3 m) for the cable included with the product is entered where the box is located within the product name. 1 The brackets [ ] indicate the specifications for the electromagnetic brake type. The parentheses () indicate the specifications for the built-in controller type. 3 When the motor is operated from input, use an inertial load 1 times the rotor inertial ratio or less twice the safety factor or more when calculating the acceleration torque. 4 For the pulse input type, a separate power supply for the electromagnetic brake is also required. If the wiring distance between the motor driver is extended to m or longer using an accessory cable (sold separately), the ±4% specification applies. Speed Torque R98 Gear Ratio R98 Gear Ratio 7. R98 Gear Ratio (When Set to 1 P/R) (When Set to 1 P/R) 1 1 R98 Gear Ratio R98 Gear Ratio 36 R98 Gear Ratio (When Set to 1 P/R) Maximum Torque (When Set to 1 P/R) (When Set to 1 P/R) Maximum Torque (When Set to 1 P/R) Note Depending on the driving conditions, a considerable amount of heat may be generated by the motor. Be sure to keep the temperature of the motor case at approximately 1 C max. 18

19 PN Geared Type Frame Size 8 mm Specifications Built-in R4SKD-N- R4SKD-N7.- R4SKD-N1- R4SK-N- R4SK-N7.- R4SK-N1- Max. Holding Torque N m..3. Rotor Inertial Moment J: kg m Gear Ratio 7. 1 Resolution When Set to 1P/R.7 /Pulse. /Pulse.36 /Pulse N m..3. Maximum Torque N m. Holding Torque at Motor Ststill While Power is Supplied N m Permissible Speed Range r/min Backlash arc minute (degrees) 3. Power Supply Input Voltage ±1% (±%) Input Current number indicating the desired length of 1 (1 m), ( m) or 3 (3 m) for the cable included with the product is entered where the box is located within the product name. The parentheses () indicate the specifications for the built-in controller type. Speed Torque R4 Gear Ratio R4 Gear Ratio 7. R4 Gear Ratio (When Set to 1 P/R) (When Set to 1 P/R) (When Set to 1 P/R) Note Depending on the driving conditions, a considerable amount of heat may be generated by the motor. Be sure to keep the temperature of the motor case at approximately 1 C max. Configuration Product Line Specifications Dimension Connection ccessory 19

20 ccessory Configuration Product Line Specifications Dimension Connection PN Geared Type Frame Size 4 mm Specifications Built-in R46S KD-N- R46S KD-N7.- R46S KD-N1- R46S K-N- R46S K-N7.- R46S K-N1- Max. Holding Torque N m Rotor Inertial Moment J: kg m [ ] 1 Gear Ratio 7. 1 Resolution When Set to 1P/R.7 /Pulse. /Pulse.36 /Pulse N m Maximum Torque N m 1. Holding Torque at Motor Ststill While Power is Supplied N m Electromagnetic Brake N m Permissible Speed Range r/min Backlash arc minute (degrees).34 Power Supply Input Voltage ±1% (±%) /±% Input Current Electromagnetic Brake 3 Power Supply Input ±% 4.8 Either (single shaft) or M (electromagnetic brake) indicating the configuration is entered where the box is located within the product name. number indicating the desired length of 1 (1 m), ( m) or 3 (3 m) for the cable included with the product is entered where the box is located within the product name. 1 The brackets [ ] indicate the specifications for the electromagnetic brake type. The parentheses () indicate the specifications for the built-in controller type. 3 For the pulse input type, a separate power supply for the electromagnetic brake is also required. 4 If the wiring distance between the motor driver is extended to m or longer using an accessory cable (sold separately), the ±4% specification applies. Speed Torque R46 Gear Ratio R46 Gear Ratio 7. R46 Gear Ratio (When Set to 1 P/R) Maximum Torque Permissible Torque (When Set to 1 P/R) Maximum Torque (When Set to 1 P/R) Note Depending on the driving conditions, a considerable amount of heat may be generated by the motor. Be sure to keep the temperature of the motor case at approximately 1 C max.

21 PN Geared Type Frame Size 6 mm Specifications Built-in R66S KD-N- R66S KD-N7.- R66S KD-N1- R66S KD-N- R66S KD-N36- R66S KD-N- R66S K-N- R66S K-N7.- R66S K-N1- R66S K-N- R66S K-N36- R66S K-N- Max. Holding Torque N m Rotor Inertial Moment J: kg m [ 1-7 ] 1 Gear Ratio Resolution When Set to 1P/R.7 /Pulse. /Pulse.36 /Pulse.144 /Pulse.1 /Pulse.7 /Pulse N m Maximum Torque N m Holding Torque at Motor Ststill While Power is Supplied N m Electromagnetic Brake N m Permissible Speed Range r/min Backlash arc minute (degrees) Power Supply Input Voltage ±1% (±%) /±% 3 Input Current Electromagnetic Brake 4 Power Supply Input ±%. Either (single shaft) or M (electromagnetic brake) indicating the configuration is entered where the box is located within the product name. number indicating the desired length of 1 (1 m), ( m) or 3 (3 m) for the cable included with the product is entered where the box is located within the product name. 1 The brackets [ ] indicate the specifications for the electromagnetic brake type. The parentheses () indicate the specifications for the built-in controller type. 3 When the motor is operated from input, use an inertial load 1 times the rotor inertial ratio or less twice the safety factor or more when calculating the acceleration torque. 4 For the pulse input type, a separate power supply for the electromagnetic brake is also required. If the wiring distance between the motor driver is extended to m or longer using an accessory cable (sold separately), the ±4% specification applies. Speed Torque R66 Gear Ratio R66 Gear Ratio 7. R66 Gear Ratio (When Set to 1 P/R) (When Set to 1 P/R) R66 Gear Ratio R66 Gear Ratio 36 R66 Gear Ratio (When Set to 1 P/R) Maximum Torque (When Set to 1 P/R) (When Set to 1 P/R) Maximum Torque (When Set to 1 P/R) Note Depending on the driving conditions, a considerable amount of heat may be generated by the motor. Be sure to keep the temperature of the motor case at approximately 1 C max. Configuration Product Line Specifications Dimension Connection ccessory 1

22 ccessory Configuration Product Line Specifications Dimension Connection PN Geared Type Frame Size 9 mm Specifications Built-in R98S KD-N- R98S KD-N7.- R98S KD-N1- R98S KD-N- R98S KD-N36- R98S KD-N- R98S K-N- R98S K-N7.- R98S K-N1- R98S K-N- R98S K-N36- R98S K-N- Max. Holding Torque N m Rotor Inertial Moment J: kg m [1 1-7 ] 1 Gear Ratio Resolution When Set to 1P/R.7 /Pulse. /Pulse.36 /Pulse.144 /Pulse.1 /Pulse.7 /Pulse N m Maximum Torque N m Holding Torque at Motor Ststill While Power is Supplied N m Electromagnetic Brake N m Permissible Speed Range r/min Backlash arc minute (degrees) Power Supply Input Voltage ±1% (±%) /±% 3 Input Current. 3.1 Electromagnetic Brake 4 Power Supply Input ±%. Either (single shaft) or M (electromagnetic brake) indicating the configuration is entered where the box is located within the product name. number indicating the desired length of 1 (1 m), ( m) or 3 (3 m) for the cable included with the product is entered where the box is located within the product name. 1 The brackets [ ] indicate the specifications for the electromagnetic brake type. The parentheses () indicate the specifications for the built-in controller type. 3 When the motor is operated from input, use an inertial load 1 times the rotor inertial ratio or less twice the safety factor or more when calculating the acceleration torque. 4 For the pulse input type, a separate power supply for the electromagnetic brake is also required. If the wiring distance between the motor driver is extended to m or longer using an accessory cable (sold separately), the ±4% specification applies. Speed Torque R98 Gear Ratio R98 Gear Ratio 7. R98 Gear Ratio (When Set to 1 P/R) (When Set to 1 P/R) 1 1 R98 Gear Ratio R98 Gear Ratio 36 R98 Gear Ratio (When Set to 1 P/R) Maximum Torque (When Set to 1 P/R) (When Set to 1 P/R) Maximum Torque (When Set to 1 P/R) Note Depending on the driving conditions, a considerable amount of heat may be generated by the motor. Be sure to keep the temperature of the motor case at approximately 1 C max.

23 Harmonic Geared Type Frame Size 3 mm, 4 mm Specifications Built-in R4SKD-H- R4SKD-H1- R46S KD-H- R46S KD-H1- R4SK-H- R4SK-H1- R46S K-H- R46S K-H1- Max. Holding Torque N m Rotor Inertial Moment J: kg m [9 1-7 ] 1 Gear Ratio 1 1 Resolution When Set to 1P/R.7 /Pulse.36 /Pulse.7 /Pulse.36 /Pulse N m Maximum Torque N m Holding Torque at Motor Ststill While Power is Supplied N m Electromagnetic Brake N m 3. Permissible Speed Range r/min Lost Motion (Load torque) arc minute (degrees) 1. or less (±.9 N m) 1. or less (±.1 N m) 1. or less (±.16 N m) 1. or less (±. N m) Power Supply Input Voltage ±1% (±%) ±1% (±%) /±% Input Current Electromagnetic Brake 3 Power Supply Input ±% 4.8 Either (single shaft) or M (electromagnetic brake) indicating the configuration is entered where the box is located within the product name. number indicating the desired length of 1 (1 m), ( m) or 3 (3 m) for the cable included with the product is entered where the box is located within the product name. 1 The brackets [ ] indicate the specifications for the electromagnetic brake type. The parentheses () indicate the specifications for the built-in controller type. 3 For the pulse input type, a separate power supply for the electromagnetic brake is also required. 4 If the wiring distance between the motor driver is extended to m or longer using an accessory cable (sold separately), the ±4% specification applies. Speed Torque R4 Gear Ratio R4 Gear Ratio (When Set to 1 P/R) (When Set to 1 P/R) R46 Gear Ratio R46 Gear Ratio Maximum Torque Maximum Torque 8 1 Torque [N m] (When Set to 1 P/R) (When Set to 1 P/R) Note Depending on the driving conditions, a considerable amount of heat may be generated by the motor. Be sure to keep the temperature of the motor case at approximately 1 C max. In order to prevent deterioration of the gear grease in the harmonic geared type, keep the temperature of the gear case at 7 C max. Torque [N m] Configuration Product Line Specifications Dimension Connection ccessory 3

24 ccessory Configuration Product Line Specifications Dimension Connection Harmonic Geared Type Frame Size 6 mm, 9 mm Specifications Built-in R66S KD-H- R66S KD-H1- R98S KD-H- R98S KD-H1- R66S K-H- R66S K-H1- R98S K-H- R98S K-H1- Max. Holding Torque N m Rotor Inertial Moment J: kg m [3 1-7 ] [ ] 1 Gear Ratio 1 1 Resolution When Set to 1P/R.7 /Pulse.36 /Pulse.7 /Pulse.36 /Pulse N m Maximum Torque N m Holding Torque at Motor Ststill While Power is Supplied N m Electromagnetic Brake N m Permissible Speed Range r/min Lost Motion (Load torque) arc minute (degrees).7 or less (±.8 N m).7 or less (±.39 N m) 1. or less (±1. N m) Voltage ±1% (±%) /±% 3 Power Supply Input Input Current Electromagnetic Brake 4 Power Supply Input ±%. Either (single shaft) or M (electromagnetic brake) indicating the configuration is entered where the box is located within the product name. number indicating the desired length of 1 (1 m), ( m) or 3 (3 m) for the cable included with the product is entered where the box is located within the product name. 1 The brackets [ ] indicate the specifications for the electromagnetic brake type. The parentheses () indicate the specifications for the built-in controller type. 3 When the motor is operated from input, use an inertial load 1 times the rotor inertial ratio or less twice the safety factor or more when calculating the acceleration torque. 4 For the pulse input type, a separate power supply for the electromagnetic brake is also required. If the wiring distance between the motor driver is extended to m or longer using an accessory cable (sold separately), the ±4% specification applies. Speed Torque R66 Gear Ratio R66 Gear Ratio 1 4 Torque [N m] 1 1 Maximum Torque (When Set to 1 P/R) Torque [N m] 3 1 Maximum Torque (When Set to 1 P/R) R98 Gear Ratio R98 Gear Ratio 1 8 Torque [N m] 4 Maximum Torque (When Set to 1 P/R) 6 Maximum Torque (When Set to 1 P/R) Note Depending on the driving conditions, a considerable amount of heat may be generated by the motor. Be sure to keep the temperature of the motor case at approximately 1 C max. In order to prevent deterioration of the gear grease in the harmonic geared type, keep the temperature of the gear case at 7 C max. Torque [N m] 4

25 Driver Specifications Max. Input Pulse Frequency Built-in Type Type When the programmable controller is generating line driver output: khz (Duty: %) When the programmable controller is generating open-collector output: khz (Duty: %) Positioning Data 64 Points Independent Linked Positioning Operation Linked Sequential Direct Pushing Continuous Operation JOG Operation Return-To-Home Operation Test Operation bsolute Backup Control Module OPX- Data Setting Software MEXE value when the general-purpose cable ( CC36D1-1) sold separately was used.general purpose cable Page 8 Built-in Type RS-48 Communication Specifications Protocol Electrical Transmission Method Baud Rate Physical Layer Connection Type Modbus protocol (Modbus RTU mode) EI-48 conformance Use a twisted-pair cable (TI/EI-68B CTe or better recommended). The total extension length must be m or less. Half duplex 96 bps/19 bps/384 bps/76 bps/11 bps Start-stop synchronization (data length: 8 bits, stop bits: 1 or bits, parity: none, even, or odd) Up to 31 drivers can be connected to a single programmable controller (master equipment). General Specifications Motor Driver Built-in Type Heat Resistance Class 13 (B) 1 MΩ min. when measured with a VDC megger between the 1 MΩ min. when measured Insulation Resistance following locations: with a VDC megger between Case - Motor Sensor Windings the following locations: Case Electromagnetic Brake Windings FG terminal - Power input terminal Dielectric Strength Operating Environment (In operation) mbient Temperature No abnormality is judged with the following application for 1 minute: Case - Motor Sensor Windings 1. kv at Hz or 6 Hz Case - Electromagnetic Brake Windings 1. kv at Hz or 6 Hz No abnormality is judged with the following application for 1 minute: FG terminal - Power input terminal VC at Hz or 6 Hz Type 1 + C (non-freezing) 1 : Stard Type, TH, PS PN Geared Types + C (non-freezing) +4 C (non-freezing) 1 : Harmonic Geared Type 8% max. (non-condensing) Use in an area without corrosive gases dust. The product should not be exposed to water, oil or other liquids. mbient Humidity tmosphere Degree of Protection IP IP1 IP Stop Position ccuracy R4, R6, R46: ±4 minutes (±.67 ) R66, R69, R98: ±3 minutes (±. ) Shaft Runout. T. I. R. (mm) Concentricity of Installing Pilot to the Shaft.7 T. I. R. (mm) Perpendicularity of Installation Surface to the Shaft.7 T. I. R. (mm) 1 When a heat sink of a capacity at least equivalent to an aluminum plate with a size of 1 1 mm, 6 mm thick is installed 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 perform the insulation resistance test or dielectric voltage withst test while the motor driver are connected..7. Configuration Product Line Specifications Dimension Connection ccessory

26 ccessory Configuration Product Line Specifications Dimension Connection Load Torque Driver Input Current This is the relationship between the load torque driver input current at each speed when the motor is actually operated. From these characteristics, the power supply capacity required for use in multi-axis operation can be estimated. For the geared type, convert to torque speed at the motor shaft. R4 R46 Driver Input Current [] r/min 3 r/min Torque [mn m] R6 Driver Input Current [] Torque [mn m] R46 Driver Input Current [] R66 Driver Input Current [] 1 r/min 1 r/min r/min 3 r/min 1 r/min 4 r/min r/min 3 r/min r/min 1 r/min 6 r/min 1 r/min Load 3. 3 r/min 1 r/min 3. r/min r/min Load R69 Driver Input Current [] 3. 1 r/min 7 r/min 3. r/min Load R98 3. Driver Input Current [] r/min 1 r/min r/min 1. Driver Input Current [] Motor shaft speed = Gear output shaft speed Gear ratio [r/min] Motor shaft torque = Gear output shaft torque [N m] Gear ratio r/min r/min r/min 1..8 r/min Load R66 Driver Input Current [] 3 r/min r/min r/min.. r/min Load R69 Driver Input Current [] 3. r/min 1 r/min 3. 1 r/min r/min Load R98 Driver Input Current [] r/min 1 r/min 1 r/min r/min Load Load 1. 6

27 Permissible Overhung Load Permissible Thrust Load Unit = N Stard Type TH Geared Type PS Geared Type PN Geared Type Type Harmonic Geared Type Motor Frame Size Permissible Overhung Load Type Gear Ratio Distance from Shaft End mm Permissible Thrust Load mm R R6. 4 mm R [6.1] 6 mm R66 8.8[11.8] R [16.7] 8 mm R [4] 8 mm R4 7., 1,, mm R , 7., 1, 6 mm R , 3 9 mm R mm R4, 7., mm R46, 7., , 36, mm R66 7., , 36, , 7., mm R mm R , 7., 1 4 mm R mm R66 7., , 36, , mm R mm R mm R , 1 6 mm R mm R The brackets [ ] indicate the value for the electromagnetic brake type. Note With a double shaft product, the output shaft located on the opposite side of the motor output shaft is used to install a slit disk or similar device. Do not apply any load torque, overhung load or thrust load on this output shaft. Configuration Product Line Specifications Dimension Connection ccessory 7

28 ccessory Configuration Product Line Specifications Dimension Connection Dimensions (Unit = mm) Motor Stard Type Frame Size 8 mm Built-in Motor L1 L Mass kg CD R4SKD- R4SK- RM4SK 4 R4SBKD- R4SBK- RM4SBK 6.1 B7 R6SKD- R6SK- RM6SK 6 R6SBKD- R6SBK- RM6SBK 76. B76 Frame Size 4 mm Motor Mass kg CD Built-in R46SKD- R46SK- RM46SK.44 B718 R46SBKD- R46SBK- RM46SBK Frame Size 6 mm L 1±1 4 M.. Deep 11±1 L ϕ4.1(h7) 1.±1 ϕ.1(h7) ±. Motor Leads 83 ± ±. Motor Cable ϕ8 Built-in Motor L1 L Mass kg CD R66SKD- R66SK- RM66SK 64 R66SBKD- R66SBK- RM66SBK B719 R69SKD- R69SK- RM69SK 89. R69SBKD- R69SBK- RM69SBK B7 1.±1 ϕ8.1(h7) 8. L L ±1 Motor Cable ϕ8.±.1 4.±.1 ϕ6.1(h7) ϕ.1(h7) ϕ.1(h7) 43-1 (MOLEX) ϕ.1(h7) 43 1 (MOLEX) 4 M3 4. Deep Protective Earth Terminal M4 3± ±. 4 ϕ4. Thru 6 ±.3 ±. 9.±.1 ϕ1.1(h7) ϕ36.(h7) 43 1 (MOLEX) Protective Earth Terminal M ±. 8 31± ± number indicating the desired length of 1 (1 m), ( m) or 3 (3 m) for the cable included with the product is entered where the box is located within the product name. These dimensions are for double shaft models. For single shaft models, ignore the shaded areas. 8

29 Frame Size 8 mm Motor Mass kg CD Built-in R98SKD- R98SK- RM98SK 1.8 B71 R98SBKD- R98SBK- RM98SBK Stard Type with Electromagnetic Brake Frame Size 4 mm 1.±1 ϕ8.1(h7) Motor Mass kg CD Built-in R46SMKD- R46SMK- RM46SMK.7 B7 Frame Size 6 mm 1 Electromagnetic Brake Cable ϕ6 43 (MOLEX) ±1 Motor Cable ϕ8 8. ±. 13±.1 ϕ14.18(h7) ϕ6.3(h7) 43 1 (MOLEX) 4 ±1 Motor Cable ϕ8 Built-in Motor L Mass kg CD R66SMKD- R66SMK- RM66SMK B73 R69SMKD- R69SMK- RM69SMK B74 Electromagnetic Brake Cable ϕ6 1 4 L Motor Cable ϕ8 4±1 ±. 43 (MOLEX) 1±. 9.±.1 ϕ1.1(h7) 4 ϕ6. Thru Protective Earth Terminal M4.±.1 ϕ6.1(h7) ϕ.1(h7) 43 1 (MOLEX) ϕ36.(h7) 43 1 (MOLEX) 8 7± M3 4. Deep Protective Earth Terminal M4 4 ϕ4. Thru Protective Earth Terminal M4 4 31±. 7 6 ±.3 7 7± ± ± Configuration Product Line Specifications Dimension Connection ccessory number indicating the desired length of 1 (1 m), ( m) or 3 (3 m) for the cable included with the product is entered where the box is located within the product name. The dimensions of the stard type frame size 8 mm are for double shaft models. For single shaft models, ignore the shaded areas. 9

30 ccessory Configuration Product Line Specifications Dimension Connection Frame Size 8 mm Motor Mass kg CD Built-in R98SMKD- R98SMK- RM98SMK.3 B7 TH Geared Type Frame Size 8 mm Electromagnetic Brake Cable ϕ ±1 1 Motor Cable ϕ8 43 (MOLEX) ±. 13±.1 ϕ14.18(h7) ϕ6.3(h7) 4 ϕ6. Thru Protective Earth Terminal M (MOLEX) Motor Gear Ratio Mass kg CD Built-in R4SKD-T - R4SK-T - RM4SK-T 7., 1,, 3.1 B77 Frame Size 4 mm. 8 7±.3 4 M. 4 Deep 7. ± ±. Motor Leads 1 4.±.1 ϕ.1(h7) 6±. ϕ1.1(h7) 43-1 (MOLEX) Motor Gear Ratio Mass kg CD Built-in R46SKD-T - R46SK-T - RM46SK-T 3.6, 7., 1,, 3.9 B Motor Cable ϕ8 ± ±.1 ϕ6.1(h7) 8±. ϕ17.18(h7) 43 1 (MOLEX) 7 4 M4 8 Deep.6 ϕ43.8±. Protective Earth Terminal M ± ± number indicating the gear ratio is entered where the box is located within the product name. number indicating the desired length of 1 (1 m), ( m) or 3 (3 m) for the cable included with the product is entered where the box is located within the product name. 3

31 Frame Size 6 mm Motor Gear Ratio Mass kg CD Built-in R66SKD-T - R66SK-T - RM66SK-T 3.6, 7., 1,, B77 Frame Size 9 mm Motor Cable ϕ8 3. 3±1 1 7±.1 ϕ8.1(h7) 1±. ϕ3.1(h7) 43 1 (MOLEX) Motor Gear Ratio Mass kg CD Built-in R98SKD-T - R98SK-T - RM98SK-T 3.6, 7., 1,, 3 3 B78 TH Geared Type with Electromagnetic Brake Frame Size 4 mm Motor Cable ϕ8 18± (MOLEX) ϕ1.18(h7) ϕ3.(h7) Motor Gear Ratio Mass kg CD Built-in R46SMKD-T - R46SMK-T - RM46SMK-T 3.6, 7., 1,, 3.7 B79 1 Electromagnetic Brake Cable ϕ6 43 (MOLEX) ±1 4 Motor Cable ϕ8 ± ±.1 ϕ6.1(h7) 4 M4 8 Deep ϕ7±. Protective Earth Terminal M4 4 M8 1 Deep 4.3 ϕ14±. Protective Earth Terminal M4 8±. ϕ17.18(h7) 43 1 (MOLEX) +.1. ±. 4 M4 8 Deep Parallel Key (Included) ϕ43.8±. Protective Earth Terminal M Configuration Product Line Specifications Dimension Connection ccessory number indicating the gear ratio is entered where the box is located within the product name. number indicating the desired length of 1 (1 m), ( m) or 3 (3 m) for the cable included with the product is entered where the box is located within the product name. 31

32 ccessory Configuration Product Line Specifications Dimension Connection Frame Size 6 mm Motor Gear Ratio Mass kg CD Built-in R66SMKD-T - R66SMK-T - RM66SMK-T 3.6, 7., 1,, B73 Frame Size 9 mm Electromagnetic Brake Cable ϕ Motor Cable ϕ8 43 (MOLEX) 3±1 1 7±.1 ϕ8.1(h7) 1±. ϕ3.1(h7) 43 1(MOLEX) Motor Gear Ratio Mass kg CD Built-in R98SMKD-T - R98SMK-T - RM98SMK-T 3.6, 7., 1,, 3 3. B731 PS Geared Type Frame Size 8 mm Motor Cable ϕ8 43 (MOLEX) 3. 3± (MOLEX) Electromagnetic Brake Cable ϕ6 18±. ϕ1.18(h7) ϕ3.(h7) 4 M4 8 Deep ϕ7±. Protective Earth Terminal M4 4 M8 1 Deep Protective Earth Terminal M4 Motor Gear Ratio Mass kg CD Built-in R4SKD-PS - R4SK-PS - RM4SK-PS, 7., 1. B78. 7 Motor Leads 1 3± ϕ8.1(h7) ϕ1 ϕ6.1(h7) 43-1 (MOLEX) ± ±. 9 7 ± ϕ14±. 4.3 Parallel Key (Included) 4 M3 6 Deep 8 3±..6 3±. 8. number indicating the gear ratio is entered where the box is located within the product name. number indicating the desired length of 1 (1 m), ( m) or 3 (3 m) for the cable included with the product is entered where the box is located within the product name. 3

33 Frame Size 4 mm Built-in R46SKD-PS - R46SK-PS - RM46SK-PS Frame Size 6 mm Built-in R66SKD-PS - R66SK-PS - RM66SK-PS Frame Size 9 mm Built-in R98SKD-PS - R98SK-PS - RM98SK-PS Motor Gear Ratio L Mass kg CD 8., 7., B74, 36, B743 L 4 8±1 1 1 Motor Cable ϕ8 ϕ1.1(h7) ϕ6.1(h7) 43 1 (MOLEX) 4 M4 8 Deep ϕ43.8±. Protective Earth Terminal M4 Motor Gear Ratio L Mass kg CD , 7., B744, 36, B74 L 4 Motor Cable ϕ8 38±1 1 ϕ1.18(h7) ϕ37.(h7) 43 1 (MOLEX) M 1 Deep 4.3 ϕ7±. Protective Earth Terminal M4 Motor Gear Ratio L Mass kg CD , 7., B746, 36, 14 4 B747 L 4 Motor Cable ϕ8 47± ϕ18.18(h7) ϕ61.3(h7) 43 1 (MOLEX) 4 M8 1 Deep ϕ14±. Protective Earth Terminal M ± ± Parallel Key (Included) ± Parallel Key (Included) Parallel Key (Included) Configuration Product Line Specifications Dimension Connection ccessory number indicating the gear ratio is entered where the box is located within the product name. number indicating the desired length of 1 (1 m), ( m) or 3 (3 m) for the cable included with the product is entered where the box is located within the product name. 33

34 ccessory Configuration Product Line Specifications Dimension Connection PS Geared Type with Electromagnetic Brake Frame Size 4 mm Built-in R46SMKD-PS - R46SMK-PS - RM46SMK-PS Frame Size 6 mm Built-in Motor Gear Ratio L Mass kg CD 1 Electromagnetic Brake Cable ϕ6 43 (MOLEX) R66SMKD-PS - R66SMK-PS - RM66SMK-PS 1 Electromagnetic Brake Cable ϕ6 4 L, 7., B748, 36, B ±1 1 Motor Cable ϕ8 ϕ1.1(h7) ϕ6.1(h7) 43 1 (MOLEX) 4 M4 8 Deep ϕ43.8±. Protective Earth Terminal M4 Motor Gear Ratio L Mass kg CD 4 L , 7., B7, 36, B Motor Cable ϕ8 43 (MOLEX) 38±1 1 ϕ1.18(h7) ϕ37.(h7) 43 1 (MOLEX) M 1 Deep ϕ7±. Protective Earth Terminal M4 Frame Size 9 mm Built-in Motor Gear Ratio L Mass kg CD R98SMKD-PS - R98SMK-PS - RM98SMK-PS, 7., B7, 36, B73 L 47± M8 1 Deep 8 13 Electromagnetic Brake Cable ϕ ±. ± Parallel Key (Included) Parallel Key (Included) Motor Cable ϕ8 43 (MOLEX) Parallel Key (Included) number indicating the gear ratio is entered where the box is located within the product name. number indicating the desired length of 1 (1 m), ( m) or 3 (3 m) for the cable included with the product is entered where the box is located within the product name. ϕ18.18(h7) 43 1 (MOLEX) ϕ61.3(h7) ϕ14±. Protective Earth Terminal M4 ±

35 PN Geared Type Frame Size 8 mm Motor Gear Ratio Mass kg CD Built-in R4SKD-N - R4SK-N - RM4SK-N, 7., 1.8 B79 Frame Size 4 mm. 7. Motor Leads 1 3± ϕ8.1(h7) ϕ1 ϕ6.1(h7) 43-1 (MOLEX) Motor Gear Ratio Mass kg CD Built-in R46SKD-N - R46SK-N - RM46SK-N, 7., 1.7 B73 Frame Size 6 mm Built-in R66SKD-N - R66SK-N - RM66SK-N Motor Cable ϕ8 ±1 18 ϕ1.1(h7) ϕ37.6.(h7) 9 7.± (MOLEX) 7.± M3 6 Deep 8 ϕ48±.3 Protective Earth Terminal M4 Motor Gear Ratio L Mass kg CD 8., 7., B733, 36, B734 L 4 Motor Cable ϕ8 6 38±1 ϕ1.18(h7) ϕ37.(h7) 4 M4 8 Deep 4 M 1 Deep ϕ7±. Protective Earth Terminal M ± ± (MOLEX) 4.3 ± ± Parallel Key (Included) Parallel Key (Included) Configuration Product Line Specifications Dimension Connection ccessory number indicating the gear ratio is entered where the box is located within the product name. number indicating the desired length of 1 (1 m), ( m) or 3 (3 m) for the cable included with the product is entered where the box is located within the product name. 3

36 ccessory Configuration Product Line Specifications Dimension Connection Frame Size 9 mm Built-in R98SKD-N - R98SK-N - RM98SK-N PN Geared Type with Electromagnetic Brake Frame Size 4 mm Motor Gear Ratio L Mass kg CD L 4 Motor Cable ϕ8, 7., B73, 36, B ±1 4 ϕ18.18(h7) 43 1 (MOLEX) ϕ61.3(h7) 4 M8 1 Deep 6.3 Motor Gear Ratio Mass kg CD Built-in R46SMKD-N - R46SMK-N - RM46SMK-N, 7., 1.83 B737 Frame Size 6 mm Built-in 1 Electromagnetic Brake Cable ϕ6 43 (MOLEX) R66SMKD-N - R66SMK-N - RM66SMK-N Motor Cable ϕ8 ±1 18 ϕ1.1(h7) ϕ14±. Protective Earth Terminal M4 ϕ37.6.(h7) 43 1 (MOLEX) ±. 4 M4 8 Deep ϕ48±.3 Protective Earth Terminal M4 Motor Gear Ratio L Mass kg CD 1 Electromagnetic Brake Cable ϕ6 4, 7., B738, 36, B739 L 38±1 6 4 M 1 Deep (MOLEX) Motor Cable ϕ8 43 (MOLEX) ϕ1.18(h7) ϕ37.(h7) Protective Earth Terminal M Parallel Key (Included) 4.3 ± ϕ7± ± Parallel Key (Included) Parallel Key (Included) number indicating the gear ratio is entered where the box is located within the product name. number indicating the desired length of 1 (1 m), ( m) or 3 (3 m) for the cable included with the product is entered where the box is located within the product name. 36

37 Frame Size 9 mm Built-in R98SMKD-N - R98SMK-N - RM98SMK-N Harmonic Geared Type Frame Size 3 mm 8 Motor Gear Ratio L Mass kg CD 1 4 L Motor Cable ϕ8 43 (MOLEX), 7., B74, 36, B741 Electromagnetic Brake Cable ϕ6 6 47±1 4 ϕ18.18 (h7) 43 1 (MOLEX) Motor Gear Ratio Mass kg CD Built-in R4SKD-H - R4SK-H - RM4SK-H, 1.4 B Motor Leads 3± ±. ϕ61.3 (h7) 4 M8 1 Deep Protective Earth Terminal M4 ϕ8.1(h7) ϕ(max. dia. of rotating part) ϕ9.1(h7) 43-1 (MOLEX) M3 6 Deep 4 M3 4 Deep ϕ1.±. ϕ3± ± ϕ14±. 6.3 Parallel Key (Included) The position of the output shaft relative to the screw holes on the rotating part is arbitrary. 3 3 Configuration Product Line Specifications Dimension Connection ccessory number indicating the gear ratio is entered where the box is located within the product name. number indicating the desired length of 1 (1 m), ( m) or 3 (3 m) for the cable included with the product is entered where the box is located within the product name. 37

38 ccessory Configuration Product Line Specifications Dimension Connection Frame Size 4 mm Motor Gear Ratio Mass kg CD Built-in R46SKD-H - R46SK-H - RM46SK-H, 1.6 B74 Frame Size 6 mm ±1 Motor Cable ϕ8. 18 ϕ1.1(h7) ϕ6.(max. dia. of rotating part) ϕ37.6.(h7) 43 1 (MOLEX) 4 M4 8 Deep 6 M3 Deep ϕ.±. Protective Earth Terminal M Parallel Key (Included) The position of the output shaft relative to the screw holes on the rotating part is arbitrary. Motor Gear Ratio Mass kg CD Built-in R66SKD-H - R66SK-H - RM66SK-H, B Motor Cable ϕ8 4 8.±1 1. ϕ1.18(h7) ϕ4.3(h7) ϕ33. (Max. dia. of rotating part) 43 1 (MOLEX) M 1 Deep 6 M4 6 Deep ϕ.± ϕ48±.3 ϕ7±. Protective Earth Terminal M Parallel Key (Included) The position of the output shaft relative to the screw holes on the rotating part is arbitrary. number indicating the gear ratio is entered where the box is located within the product name. number indicating the desired length of 1 (1 m), ( m) or 3 (3 m) for the cable included with the product is entered where the box is located within the product name. 38

39 Frame Size 9 mm Motor Gear Ratio Mass kg CD Built-in R98SKD-H - R98SK-H - RM98SK-H, B Harmonic Geared Type with Electromagnetic Brake Frame Size 4 mm Motor Cable ϕ ± (MOLEX) Parallel Key (Included) ϕ18.18(h7) 6.3 Motor Gear Ratio Mass kg CD Built-in R46SMKD-H - R46SMK-H - RM46SMK-H, 1.78 B77 1 Electromagnetic Brake Cable ϕ6 43 (MOLEX) ±1. 18 Motor Cable ϕ8 ϕ1.1(h7) ϕ6.(max. dia. of rotating part) ϕ37.6.(h7) ϕ ϕ 43 1 (MOLEX) The position of the output shaft relative to the screw holes on the rotating part is arbitrary. ϕ83.3(h7) 4 ϕ9. Thru Protective Earth Terminal M4 4 M4 8 Deep 6 M3 Deep Protective Earth Terminal M4 ϕ.± ϕ48± ϕ14±. 3. Parallel Key (Included) Configuration Product Line Specifications Dimension Connection ccessory number indicating the gear ratio is entered where the box is located within the product name. number indicating the desired length of 1 (1 m), ( m) or 3 (3 m) for the cable included with the product is entered where the box is located within the product name. 39

40 ccessory Configuration Product Line Specifications Dimension Connection Frame Size 6 mm Motor Gear Ratio Mass kg CD Built-in R66SMKD-H - R66SMK-H - RM66SMK-H, B78 Frame Size 9 mm Electromagnetic Brake Cable ϕ Motor Cable ϕ (MOLEX) 8.±1 1. ϕ1.18(h7) The position of the output shaft relative to the screw holes on the rotating part is arbitrary. ϕ33.(max. dia. of rotating part) ϕ4.3(h7) 43 1 (MOLEX) Motor Gear Ratio Mass kg CD Built-in R98SMKD-H - R98SMK-H - RM98SMK-H, B79 8 Electromagnetic Brake Cable ϕ Motor Cable ϕ8 43 (MOLEX) 3 1 4± (MOLEX) ϕ18.18(h7) ϕ ϕ 6.3 ϕ83.3(h7) 4 M 1 Deep 6 M4 6 Deep ϕ.± ϕ7±. Protective Earth Terminal M4 4 ϕ9. Thru ϕ14±. Protective Earth Terminal M Parallel Key (Included) Parallel Key (Included) 9 number indicating the gear ratio is entered where the box is located within the product name. number indicating the desired length of 1 (1 m), ( m) or 3 (3 m) for the cable included with the product is entered where the box is located within the product name. 4

41 Cables for Motor (Included), Cables for Electromagnetic Brake (Included) Common to ll Types Cable for Motor Motor Side Cable Type Length L (m) Cable for Motor 1 m 1 Cable for Motor m Cable for Motor 3 m 3 Cables for Electromagnetic Brake (Electromagnetic brake type only) Cable Type Length L (m) Cable for Electromagnetic Brake 1 m 1 Cable for Electromagnetic Brake m Cable for Electromagnetic Brake 3 m 3 Driver Built-in Type Mass:.17 kg B max max Included Power Input Terminal Connector (CN1) Connector: MC1,/-STF-3, (PHOENIX CONTCT Inc.) Sensor Signal Connector (CN) Connector: FK-MC,/-ST-, (PHOENIX CONTCT Inc.) Input Signal Connector (CN8) Connector: FK-MC,/9-ST-, (PHOENIX CONTCT Inc.) Output Signal Connector (CN9) Connector: FK-MC,/7-ST-, (PHOENIX CONTCT Inc.) (MOLEX) Driver Side 43-1(MOLEX) 1.9 ϕ L 1.9 Motor Side max (MOLEX) ϕ4.1 Type Mass:.17 kg B46 41 max L Driver Side 8± Included Control I/O Signal Connector (CN) Case: (SUMITOMO 3M) Connector: PE (SUMITOMO 3M) Power Supply Input Frame Ground Terminal Connector (CN1) Connector: MC1,/3-STF-3, (PHOENIX CONTCT Inc.) max. Configuration Product Line Specifications Dimension Connection ccessory 41

42 Connection (Built-in controller type) ccessory Configuration Product Line Specifications Dimension Connection Names of Driver Parts Signal Monitor Display LED Indicator Signal Monitor Display Control Module Connector (CN3) Battery Connector (CN4) Motor Connector (CN) Electromagnetic Brake Connection Terminals (CN1) Power Supply Input Terminal (CN1) Frame Ground Terminal (CN1) Indication Color Function Lighting Condition POWER Green Power Supply Indication When the power supply is input LRM Red larm Indication Blinks when protective functions are activated. C-DT Green Communication Indication When communication data is being exchanged C-ERR Red Communication Error Indication When communication data is in error Setting Switch (SW1) Indication Function SW1 Set this when you are using RS-48 communication. Set the controller number (Factory Setting: ). Baud Rate Switch (SW) Indication Function SW Set this when you are using RS-48 communication. Set the baud rate (Factory Setting: 7). RS-48 Baud Rate Setting No. Baud Rate (bps) Not used 7 6 (Connection with a network converter) 8 F Not used RS-48 Connector (CN7) RS-48 Connector (CN6) Function Switch (SW3) [Driver Top] Signal Monitor Display Setting Switch (SW1) Baud Rate Switch (SW) Output Signal Connector (CN9) I/O Signal Connector (CN8) Sensor Signal Connector (CN) 4

43 Function Switch (SW3) Indication No. Function 1 Set the controller number (Factory Setting: ) in combination with Setting Switch (SW1). Set the RS-48 protocol (Factory Setting: OFF). SW3 3 Not used. Set the RS-48 termination (1Ω) (Factory Setting: OFF). 4 OFF: Termination disabled ON: Termination enabled RS-48 Protocol Setting Destination No. Connection with a network converter Modbus RTU Mode OFF ON I/O Signal Connector (CN8) Indication Pin No. Signal Name Initial Value 1 IN HOME Executes a return-to-home operation. IN1 STRT Executes a positioning operation. 3 IN M CN8 4 IN3 M1 Use these three bits to select the operation data No. IN4 M 6 IN FREE Stop motor excitation release the electromagnetic brake. 7 IN6 STOP Stops the motor. 8 IN7 LM-RST Resets the current alarm. ssign functions by setting parameters. Initial values are shown above. For details, refer to the user's manual. The following input signals can be assigned to input terminals IN to 7. Input Signal : Not used 8: MS 18: STOP 36 R4 4 R13 1 FWD 9 MS1 4 LM-RST 37 R 46 R14 RVS 1 MS P-PRESET 38 R6 47 R1 3 HOME 11 MS3 6 P-CLR 39 R7 48 M 4 STRT 1 MS4 7 HMI 4 R8 49 M1 SSTRT 13 MS 3 R 41 R9 M 6 +JOG 16 FREE 33 R1 4 R1 1 M3 7 JOG 17 C-ON 34 R 43 R11 M4 3 R3 44 R1 3 M Output Signal Connector (CN9) Indication Pin No. Signal Name Initial Value 1 OUT HOME-P This signal is output when the motor is at the home position. OUT1 END This signal is output when the positioning operation is complete. CN9 3 OUT RE1 This signal is output when the motor is in area 1. 4 OUT3 REDY This signal is output when the driver is ready. OUT4 WNG This output signal indicates the driver warning status. 6 OUT LM This output signal indicates the driver alarm status (normally closed). ssign functions by setting parameters. Initial values are shown above. For details, refer to the user's manual. The following output signals can be assigned to output terminals OUT to. Output Signal : Not used 9 MS1_R 33 R1 4 R1 1 M3_R 67 REDY 1 FWD_R 1 MS_R 34 R 43 R11 M4_R 68 MOVE RVS_R 11 MS3_R 3 R3 44 R1 3 M_R 69 END 3 HOME_R 1 MS4_R 36 R4 4 R13 6 +LS_R 7 HOME-P 4 STRT_R 13 MS_R 37 R 46 R14 61 LS_R 71 TLC SSTRT_R 16 FREE_R 38 R6 47 R1 6 HOMES_R 7 TIM 6 +JOG_R 17 C-ON_R 39 R7 48 M_R 63 SLIT_R 73 RE1 7 JOG_R 18 STOP_R 4 R8 49 M1_R 6 LM 74 RE 8 MS_R 3 R 41 R9 M_R 66 WNG 7 RE3 8 S-BSY Sensor Signal Input (CN) Indication Pin No. Signal Name Initial Value 1 +LS +side limit sensor input LS side limit sensor input CN 3 HOMES Mechanical home sensor input 4 SLIT Slit Sensor Input IN-COM Sensor common Configuration Product Line Specifications Dimension Connection ccessory 43

44 ccessory Configuration Product Line Specifications Dimension Connection Connection Diagram Connection to Programmable Connecting to a Current Sink Output Circuit V 1 V NPN Sensor R R R R R R V 1 m or less OUT OUT1 OUT OUT3 OUT4 OUT OUT-COM IN IN1 IN IN3 IN4 IN IN6 IN7 IN-COM1 +LS LS HOMES SLIT IN-COM CN9 CN8 CN 4.4 kω 4.4 kω 4.4 kω 4.4 kω 4.4 kω 4.4 kω 4.4 kω 4.4 kω 4.4 kω 4.4 kω 4.4 kω 4.4 kω Driver 1 kω 1 kω 1 kω 1 kω 1 kω 1 kω 1 kω 1 kω 1 kω 1 kω 1 kω 1 kω Output Saturation Voltage 3 Vmax. Note Use input signals. Use output signals at 1 m or less. When the current value exceeds 1 m, connect the external resistor R to keep the current 1 m or less. The maximum output signal saturation voltage is 3 V. Provide a distance of at least mm between the signal lines power lines (power supply lines, motor lines, etc.). Do not run the signal lines in the same duct as power lines or bundle them with power lines. If noise generated by the motor cable or power supply cable causes a problem with the specific wiring or layout, shield the cable or use ferrite cores. 44

45 Connection to Programmable Connecting to a Current Source Output Circuit 1 V V PNP Sensor R R R R R R V 1 m or less OUT OUT1 OUT OUT3 OUT4 OUT OUT-COM IN IN1 IN IN3 IN4 IN IN6 IN7 IN-COM1 +LS LS HOMES SLIT IN-COM CN9 CN8 CN 4.4 kω 4.4 kω 4.4 kω 4.4 kω 4.4 kω 4.4 kω 4.4 kω 4.4 kω 4.4 kω 4.4 kω 4.4 kω 4.4 kω Driver 1 kω 1 kω 1 kω 1 kω 1 kω 1 kω 1 kω 1 kω 1 kω 1 kω 1 kω 1 kω Output Saturation Voltage 3 Vmax. Note Use input signals. Use output signals at 1 m or less. When the current value exceeds 1 m, connect the external resistor R to keep the current 1 m or less. The maximum output signal saturation voltage is 3 V. Provide a distance of at least mm between the signal lines power lines (power supply lines, motor lines, etc.). Do not run the signal lines in the same duct as power lines or bundle them with power lines. If noise generated by the motor cable or power supply cable causes a problem with the specific wiring or layout, shield the cable or use ferrite cores. Configuration Product Line Specifications Dimension Connection ccessory 4

46 Connection (Pulse input type) ccessory Configuration Product Line Specifications Dimension Connection Names of Driver Parts Signal Monitor Display LED Indicator Signal Monitor Display Control Module Connector (CN4) Motor Connector (CN) Main Power Input Terminal (CN1) Frame Ground Terminal (CN1) Indication Color Function Lighting Condition POWER Green Power Supply Indication When the main power supply is input LRM Red larm Indication Blinks when protective functions are activated. larm Contents Current Setting Switch Velocity Filter Setting Switch Function Select/Setting Switch (SW1) I/O Signal Connector (CN) Blink Count Function Operating Condition Overheat Protection When the temperature inside the driver exceeds 8 C When the amount of time during which the load torque exceeded the maximum torque exceeds the overload detection time. (Default Value: seconds) The motor output shaft speed exceeds 4 r/min. The comm pulse value becomes abnormal. The primary voltage of the driver's inverter exceeds the upper limit. The primary voltage of the driver's inverter drops below the lower limit. Overload Overspeed Comm Pulse Error 3 Overvoltage Protection Undervoltage Excessive Positioning Deviation The positioning deviation exceeds the overflow revolutions. (Default Value: 3 revolutions) Error at Current On 4 Excessive Positioning Deviation Error at Current Off 7 Operation Data Error Return to electrical home operation is performed while an operation data error warning is present. Electronic Gear Setting Error The resolution set by the electronic gear is outside the specified range. Sensor Error during Operation sensor error occurs while the motor is rotating. 8 Initial Sensor Error The power source is turned on when the motor cable is not connected to the driver. Initial Rotor Revolution Error The main power supply is turned on while the motor is rotating. Motor Error motor not supported by the driver is connected. 9 EEPROM Error motor control parameter is damaged. The current is turned on even though the positioning deviation when the current is turned off was equal to or greater than the permissible value. (Default Value: 1 revolutions or more) Current Setting Switch Indication Switch Name Function CURRENT Current Setting Switch This switch adjusts the operating current. It is used to limit the torque temperature rise. desired current can be set as a percentage (%) of the rated output power current. Factory Setting: F Velocity Filter Setting Switch Indication Switch Name Function V-FIL Velocity Filter Setting Switch This switch adjusts the motor response. djust the switch if you want to suppress motor vibration or cause the motor to start/stop smoothly. "" "F" correspond to the minimum maximum velocity filter settings, respectively. Factory Setting: 1 Difference in Due to Velocity Filter Set to Motor Speed Set to F Time 46

47 Function Select/Setting Switch (SW1) Indication Switch Name Function 4 Resolution Select Switch D/D1 3 CS/CS1 1 Control Modes Select Switch NORM/CCM Mode Select Switch P/1P These switches are used to set the resolution per rotation of the motor output shaft. 4: OFF, 3: OFF 1 pulses (.36 /step) [Factory setting] 4: OFF, 3: ON 1 pulses (.36 /step) 4: ON, 3: OFF pulses (.7 /step) 4: ON, 3: ON pulses (.7 /step) This switch toggles the driver between the normal mode current control mode. In the current control mode, noise vibration can be reduced although the motor synchronicity may reduce. OFF: Normal Mode [Factory setting] ON: Current Control Mode This switch toggles the pulse input mode between 1-pulse input mode -pulse input mode. OFF: - Mode [Factory setting] ON: 1- Mode I/O Signal Connector (CN, 36 pins) Code Signal Name Indication I/O Pin No. Positioning Operation Push-Motion Operation 1 Positioning Operation Push-Motion Operation 1 1 CN Output Power Input GND Ground connection 3 SG+ -Phase Pulse Output Signal (Line driver) 4 SG BSG+ B-Phase Pulse Output Signal (Line driver) 6 BSG 7 TIM1+ Timing Output (Line driver) 8 TIM1 9 LM+ larm Output 1 LM Warning Output Positioning Completion Output Operation Ready Complete Output/larm Code Output 1 Torque Limiting Output/larm Code 1 Output 1 Timing Output (Open collector)/larm Code Output 1 1 GND Ground connection WNG+ END+ REDY+/L+ 1 TLC+/L1+ 1 TIM+/L WNG END REDY /L 1 TLC /L1 1 TIM /L 1 IN COM Input Signal Common 3 C ON Current On Input 4 CLR/LM RST Deviation Counter Clear Input/larm Reset Input CCM Current Control Mode ON Input 6 CS T MODE 1 Resolution Select Input Push-Motion Operation ON 1 7 M 1 Push-Current Setting Select Input 1 8 RETURN M1 1 Return To Electrical Home Operation 9 P RESET M 1 Position Reset Input 3 FREE Excitation OFF 31 CW+/PLS+ 3 CW /PLS CW Pulse Signal Input/ (+ V/line driver) 33 CW+4/PLS+4V CW Pulse Signal Input/ (+4 V) 34 CCW+4/DIR+4V CCW Pulse Signal Input/Rotation Direction Input (+4 V) 3 CCW+/DIR+ CCW Pulse Signal Input/Rotation Direction Input (+ V/line driver) 36 CCW /DIR 1 The signal will become effective if the applicable setting has been changed using the accessory control module OPX- or data setting software MEXE (both sold separately). The factory setting of current ON input is normally open. When operating the motor, be sure to turn the current ON input "ON." If you are not using the current ON input, use the accessory control module OPX- or data setting software MEXE to set the input logic to normally closed. Configuration Product Line Specifications Dimension Connection ccessory 47

48 ccessory Configuration Product Line Specifications Dimension Connection Connection Diagram Connection to Programmable Connecting to a Current Sink Output Circuit When pulse input is of line driver type V V 3 VDC or less V R R R R R R 1 m or less kω Ω.7 kω Ω 3 kω 3 kω 3 kω 3 kω 3 kω 3 kω 3 kω 3 kω V V NC Driver 1 kω 1 kω 1 kω 1 kω 1 kω 1 kω 1 kω 1 kω 1 kω 1 kω 6C31 or Equivalent When pulse input is of V type VDC V kω Ω.7 kω Ω When pulse input is of 4 V type V kω Ω.7 kω Ω Driver Driver 1 kω 1 kω 1 kω 1 kω Note Use 3 VDC or less for the output signals. When the current value exceeds 1 m, connect the external resistor R. Connect a termination resistor of 1 Ω or more between the line receiver inputs. Use multi-core, twisted-pair shielded wires of WG 8 4 (.8. mm ) for the I/O signal lines (CN), keep wiring as short as possible (within m). Note that as the length of the pulse signal line increases, the maximum transmission frequency decreases. Provide a distance of mm min. between the I/O signal lines power lines (C lines, motor lines other large-current circuits). 48

49 Connection to Programmable Connecting to a Current Source Output Circuit When pulse input is of line driver type V 3 VDC or less V V 1 m or less R R R R R R kω Ω.7 kω Ω 3 kω 3 kω 3 kω 3 kω 3 kω 3 kω 3 kω 3 kω V V NC Driver 1 kω 1 kω 1 kω 1 kω 1 kω 1 kω 1 kω 1 kω 1 kω 1 kω 6C31 or Equivalent When pulse input is of V type VDC V kω Ω.7 kω Ω When pulse input is of 4 V type V kω Ω.7 kω Ω Driver Driver 1 kω 1 kω 1 kω 1 kω Note Use 3 VDC or less for the output signals. When the current value exceeds 1 m, connect the external resistor R. Connect a termination resistor of 1 Ω or more between the line receiver inputs. Use multi-core, twisted-pair shielded wires of WG 8 4 (.8. mm ) for the I/O signal lines (CN), keep wiring as short as possible (within m). Note that as the length of the pulse signal line increases, the maximum transmission frequency decreases. Provide a distance of mm min. between the I/O signal lines power lines (C lines, motor lines other large-current circuits). Configuration Product Line Specifications Dimension Connection ccessory 49

50 ccessory Configuration Product Line Specifications Dimension Connection Motor Driver s Product names for motor driver combinations are shown below. Type Stard Type Built-in Type Type Motor Driver Motor Driver R4S KD- 1 RM4S K R4S K- 1 RM4S K R6S KD- 1 RM6S K R6S K- 1 RM6S K R46S KD- RM46S K R46S K- RM46S K R66S KD- RM66S K R66S K- RM66S K R69S KD- RM69S K R69S K- RM69S K R98S KD- RM98S K R98S K- RM98S K R4SKD-T - RM4SK-T R4SK-T - RM4SK-T TH Geared Type R46S KD-T - RM46S K-T R46S K-T - RM46S K-T R66S KD-T - RM66S K-T R66S K-T - RM66S K-T R98S KD-T - RM98S K-T R98S K-T - RM98S K-T R4SKD-PS - RM4SK-PS R4SK-PS - RM4SK-PS RD-KD R46S KD-PS - RM46S K-PS R46S K-PS - RM46S K-PS PS Geared Type R66S KD-PS - RM66S K-PS R66S K-PS - RM66S K-PS R98S KD-PS - RM98S K-PS R98S K-PS - RM98S K-PS R4SKD-N - RM4SK-N R4SK-N - RM4SK-N PN Geared Type R46S KD-N - RM46S K-N R46S K-N - RM46S K-N R66S KD-N - RM66S K-N R66S K-N - RM66S K-N R98S KD-N - RM98S K-N R98S K-N - RM98S K-N R4SKD-H - RM4SK-H R4SK-H - RM4SK-H Harmonic Geared Type R46S KD-H - RM46S K-H R46S K-H - RM46S K-H R66S KD-H - RM66S K-H R66S K-H - RM66S K-H R98S KD-H - RM98S K-H R98S K-H - RM98S K-H Either (single shaft) or M (electromagnetic brake) indicating the configuration is entered where the box is located within the product name. number indicating the gear ratio is entered where the box is located within the product name. number indicating the desired length of 1 (1 m), ( m) or 3 (3 m) for the cable included with the product is entered where the box is located within the product name. 1 Either (single shaft) or B (double shaft) indicating the motor shaft configuration is entered where the box is located within R4S K(D)- R6S K(D)-. Either (single shaft), B (double shaft), or M (electromagnetic brake) indicating the motor shaft configuration is entered where the box is located within R46S K(D)-, R66S K(D)-, R69S K(D)-, R98S K(D)-. RD-K

51 With the accessory control module OPX- or data setting software MEXE, extended functions of the R Series are available. You can change the internal parameters of the driver, perform test operations monitor the operation. Parameter Settings (For pulse input type) You can set the advanced settings of the signals change the generation condition of the alarm. Running Current Current value assigned to the operating current setting switch Velocity Filter Filter time constant assigned to the speed filter setting switch Input signal mode Positioning operation/push-motion operation switching larm code signal enabled/disabled I/O C-ON signal logic Output condition for END signal (output width) Current value applicable to push-motion operation Ststill current in the normal mode Normal Mode Speed difference gain in the normal mode Position loop gain in the current control mode Speed loop gain in the current control mode Current Control Mode Speed loop integral time constant in the current control mode Damping control enabled/disabled in the current control mode Damping control vibration frequency in the current control mode Operation data error warning enabled/disabled Generation condition of excessive positioning deviation alarm at current on pplication Parameters Generation condition of overflow rotation alarm during current off Generation condition of overload alarm Generation condition of excessive positioning deviation warning larm Warning Generation condition of overvoltage warning Generation condition of undervoltage warning Generation condition of overheat warning Generation condition of overload warning Generation condition of overspeed warning Parameters (Becomes effective after the power is cycled.) Monitor Return To Electrical Home Operation Test Operation Control Module Electronic Gear Operation Setting Operating speed for return to electrical home operation cceleration/deceleration rate for return to electrical home operation Starting speed for return to electrical home operation Operating speed for test operation cceleration/deceleration rate for test operation Starting speed for test operation Speed monitor display Show the speed on the control module with a sign or as an absolute value Gear ratio for geared motor used for speed monitor Resolution assigned to each resolution select switch Mode Smooth drive enabled/disabled Initial motor excitation position at power on Detected position/electrical angle switching utomatic return operation at current ON enabled/disabled Motor rotation direction You can monitor various signals, alarms motor speeds/positions, also perform test operations. Monitor Waveform Monitoring Testing larm Warning Monitor positions Monitor speeds I/O Monitoring Monitor positions Monitor speeds Measure waveforms Save waveforms Perform test operation (JOG operation) Monitor conditions during test operation Return To Electrical Home Operation Forcibly turn output signals ON/OFF Check content when generated Check alarm history (1 most recent alarms) Clear alarm history Release Check content when generated Check alarm history (1 most recent alarms) Clear alarm history This function is available only when the data setting software ( MEXE) is used. Control Module OPX- Page 3 Data Setting Software MEXE Page 4 Computer (Not supplied.) Waveform Monitoring You can monitor various signals motor speeds/positions using waveforms. Others Electrical home reset Parameter initialization Configuration Product Line Specifications Dimension Connection ccessory 1

52 ccessory Configuration Product Line Specifications Dimension Connection Specifications Table Built-in R46S KD- R46S KD-N- R46S K- R46S K-N- 1 Maximum Holding Torque N m Rotor Inertial Moment J: kg m [ ] [ ] 1 3 Gear Ratio 4 Resolution When Set to 1P/R.36 /Pulse.7 /Pulse N m Maximum Torque N m 1. Holding Torque at While Power is Supplied N m Motor Ststill Electromagnetic Brake N m Permissible Speed Range r/min 6 9 Backlash arc minute (degrees).34 1 Power Supply Input Voltage ±1% (±%) /±% Input Current Electromagnetic Brake 3 Power Supply Input ±% The brackets [ ] indicate the specifications for the electromagnetic brake type. The parentheses () indicate the specifications for the built-in controller type. 3 For the pulse input type, a separate power supply for the electromagnetic brake is also required. 4 If the wiring distance between the motor driver is extended to m or longer using an accessory cable (sold separately), the ±4% specification applies. 1Maximum Holding Torque The maximum holding torque (holding force) the motor has when power (rated current) is being supplied but the motor shaft is not rotating. (With geared types, the value of holding torque considers the permissible strength of the gear.) Rotor Inertial Moment This refers to the inertia of rotor inside the motor. This is necessary when the required torque (acceleration torque) for the motor is calculated. 3Gear Ratio This is the ratio in rotation speed between the input speed from the motor the speed of the gear output shaft. For example, the gear ratio 1 indicates the input speed from the motor is 1 r/min the output gear shaft is 1 r/min. 4Resolution The resolution 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 excitation mode. The permissible torque represents the maximum torque that can be applied continuously to the output gear shaft. For the types other than the PS, PN harmonic geared types, the total torque including acceleration deceleration torque should also not exceed the permissible torque. 6Maximum Torque (PS geared, PN geared harmonic geared type only) This is the max. torque that can be applied to the gear output shaft during acceleration/deceleration such as when an inertial load is started stopped. 7Holding Torque at Motor Ststill While Power is Supplied: The holding torque when the automatic current cutback function is activated Electromagnetic Brake: Static friction torque that the electromagnetic brake can generate when stopped (The electromagnetic brake is a power off activated type.) 8Permissible Speed Range This is the range for rotation on the gear output shaft. 9Backlash This is the play of the gear output shaft when the motor shaft is fixed. When positioning in bi-direction, the positioning accuracy is affected. 1Power Supply Input The current value of the power input is the max. input current value. (The input current varies according to the rotation speed.) Speed Torque The characteristics diagram below is the characteristics that indicate the relationship between the speed torque when a stepping motor is driven. The required speed torque is always used when selecting a stepping motor. On the graph of characteristics, the horizontal axis expresses the speed at motor output shaft while the vertical axis expresses the torque. Torque[N m] 1TH 1Max. Holding Torque The maximum holding torque (holding force) the stepping motor has when power (rated current) is being supplied but the motor shaft is not rotating. Pullout Torque The pullout torque is the maximum torque that can be output at a given speed. When selecting a motor, ensure that the required torque falls within this curve. The following figure shows the speed torque characteristics of R66SK-. Torque [N m] (When Set to 1 P/R) Depending on the driving conditions, a considerable amount of heat may be generated by the motor. Be sure to keep the temperature of the motor case at approximately 1 C.

53 ccessory (Sold separately) Control Module You can use these to set drivers' internal parameters set change data. You can also use these to set speeds, monitor the I/O, perform teaching. Product Line OPX- (Enlarged view) Dimensions (Unit = mm) Control Module Mass:.kg B Cable ϕ4.7 mm Panel Cut-Out for Control Module (Installation Plate Thickness 1 3 mm) 67.8 ϕ Configuration Product Line Specifications Dimension Connection ccessory 3

54 ccessory Configuration Product Line Specifications Dimension Connection Communication Cable for the Data Setting Software This cable is required to connect the driver to the PC where the data setting software is installed. Product Line CCIF-USB PC Driver Connection Data Setting Software MEXE PC (Not supplied.) Connect to the control module connector. PC Interface Cable m USB Cable. m Note To connect the driver to a PC, you must install a dedicated software driver in the PC. Data Setting Software MEXE The data setting software can be downloaded from our website. It is also available on CD-ROM. For details, make a request on our website, or contact the nearest Oriental Motor sales office. PC Requirements Operating (OS) Microsoft Windows Professional Service Pack 4 Be sure to install Update Rollup 1 provided by Microsoft. To check whether Update Rollup 1 is installed, use "dd or Remove Programs." Only the following 3-bit (x86) 64-bit (x64) OS versions are supported. Microsoft Windows XP Home Edition Service Pack 3 Microsoft Windows XP Professional Service Pack Microsoft Windows XP Professional Service Pack 3 Microsoft Windows Vista Home Basic Service Pack Microsoft Windows Vista Home Premium Service Pack Microsoft Windows Vista Business Service Pack Microsoft Windows Vista Ultimate Service Pack Microsoft Windows Vista Enterprise Service Pack Microsoft Windows 7 Starter Service Pack 1 Microsoft Windows 7 Home Premium Service Pack 1 Microsoft Windows 7 Professional Service Pack 1 Microsoft Windows 7 Ultimate Service Pack 1 Microsoft Windows 7 Enterprise Service Pack 1 3-bit (x86) version only PC Recommended CPU 1 Intel Core processor GHz or higher (Must be compatible with the OS) Video dapter Monitor with Resolution of XG Display (14 768) min. Recommended Memory 1 3-bit (x86) version: 1 GB or more 64-bit (x64) version: GB or more Hard Disk Free disk space of 3 MB or more USB Port USB1.1 1 port Disk Device CD-ROM drive (for installing the software) 1 Must satisfy the operating requirements of the OS MEXE requires Microsoft.NET Framework. Service Pack. When the service pack is not installed, it will automatically be installed. This will require up to MB of additional free space on your PC. Note Depending on the system environment that you are using, the required memory hard disk space may vary. Windows Windows Vista are registered trademarks of Microsoft Corporation in the United States other countries. 4

55 Connection Cable Sets, Flexible Connection Cable Sets Extension Cable Sets, Flexible Extension Cable Sets The R Series comes with a cable of 1 m, m or 3 m for a connection between the motor driver. When the distance between the motor driver is extended to 3 m or longer, a connection cable set or extension cable set must be used. Use a flexible connection cable set or flexible extension cable set if the cable will be flexed repeatedly. Configuration When Connecting the Motor Driver without Using an Included Cable Use a connection cable set. Use a flexible connection cable set if the cable will be bent. Connection Cable Sets Flexible Connection Cable Sets Motor For Motor For Electromagnetic Brake When Extending the Distance between the Motor the Driver Using an Included Cable Use an extension cable set connect it to the included cable. Use a flexible extension cable added if the cable will be bent. Extension Cable Sets Flexible Extension Cable Sets Motor For Motor For Electromagnetic Brake For Motor (Included) For Electromagnetic Brake (Included) Driver Driver Cables for electromagnetic brake are for use when using electromagnetic brake type motors. Note Keep the overall cable length 3 m or less when using an extension cable set or a flexible extension cable set to connect with a cable included with the R Series. For the pulse input type, a separate power supply for electromagnetic brakes is also required. Configuration Product Line Specifications Dimension Connection ccessory

56 Configuration Product Line Specifications Dimension Connection 6 ccessory Connection Cable Sets Product Line Connection Cable Sets For Stard Type Motor Cable for Motor Length L (m) CCVF CC7VF 7 CC1VF 1 CC1VF 1 CCVF CC3VF 3 Flexible Connection Cable Sets For Stard Type Motor Cable for Motor Length L (m) CC1VR 1 CCVR CC3VR 3 CCVR CC7VR 7 CC1VR 1 CC1VR 1 CCVR CC3VR 3 Extension Cable Sets Extension Cable Sets For Stard Type Motor Cable for Motor Length L (m) CC1VF 1 CCVF CC3VF 3 CCVF CC7VF 7 CC1VF 1 CC1VF 1 CCVF Flexible Extension Cable Sets For Stard Type Motor Cable for Motor Length L (m) CC1VR 1 CCVR CC3VR 3 CCVR CC7VR 7 CC1VR 1 CC1VR 1 CCVR, Flexible Connection Cable Sets For Electromagnetic Brake Type Motor Cable for Motor Length L (m) CCVFB CC7VFB 7 CC1VFB 1 CC1VFB 1 CCVFB CC3VFB 3 Cable for Electromagnetic Brake For Electromagnetic Brake Type Motor Cable for Motor Length L (m) CC1VRB 1 CCVRB CC3VRB 3 CCVRB CC7VRB 7 CC1VRB 1 CC1VRB 1 CCVRB CC3VRB 3 Cable for Electromagnetic Brake, Flexible Extension Cable Sets For Electromagnetic Brake Type Motor Cable for Motor Length L (m) CC1VFBT 1 CCVFBT CC3VFBT 3 CCVFBT CC7VFBT 7 CC1VFBT 1 CC1VFBT 1 CCVFBT Cable for Electromagnetic Brake For Electromagnetic Brake Type Motor Cable for Motor Length L (m) CC1VRBT 1 CCVRBT CC3VRBT 3 CCVRBT CC7VRBT 7 CC1VRBT 1 CC1VRBT 1 CCVRBT Cable for Electromagnetic Brake

57 Dimension (Unit = mm) Connection Cable Cable for Motor Motor Side Driver Side 43-1 (MOLEX) 43-1 (MOLEX) 1.9 ϕ L 1.9 Cable for Electromagnetic Brake Motor Side Driver Side ϕ4.1 (MOLEX) (The flexible extension cable is ϕ6.) 16.9 L 8±1 Note on use of flexible extension cable 1 Do not allow the cable to bend at the cable connector. Extension Cable Extension Cable for Motor Motor Side (MOLEX) 43-1 (MOLEX) ϕ L L Driver Side Cable for Electromagnetic Brake Motor Side Driver Side ϕ (MOLEX) (The flexible extension cable is ϕ6.) (MOLEX) For the bending radius, use at 6 times or more of the cable diameter. 6 times or more of the cable diameter 3The cable from the motor the accessory cable are not for bending. If the motor cable is to be bent, bend it at the flexible cable. Flexible Connection Cable Flexible Extension Cable Driver Driver Fix the cable. Fix the cable. Fix the cable. Motor Flexible Extension Cable (Bending) Motor Flexible Extension Cable (Bending) Configuration Product Line Specifications Dimension Connection ccessory 7

58 ccessory Configuration Product Line Specifications Dimension Connection Driver Cable General-Purpose Cable This shielded cable has a halfpitch connector at one end of the cable for easy connecting to the driver. Note Note that as the length of the pulse signal line between the driver controller increases, the maximum transmission frequency decreases. Install a connector that matches the controller you are using to the other end of the cable. Product Line pplicable Length L (m) CC36D1-1 RD-K 1 CC36D-1 For CN (36 pins) Dimension (Unit = mm) CC36D1-1, CC36D-1 Conductor: WG8 (.8 mm ) Driver Side L 6±1 ϕ Side Braided-Shielded 1±3 1±3 1.7 Laminate 1±3 Connector - Terminal Block Conversion Unit CC36T1 Product Line This is a conversion unit that connects a driver to a programmable controller using a terminal block. Includes a signal name plate for easy, one-glance identification of driver signal names DIN-rail installable Cable Length: 1 m pplicable Length m CC36T1 RD-K For CN (36 pins) 1 Dimension (Unit = mm) CC36T1 B Terminal Block Pin No ϕ4. Mounting hole ϕ8 Counterbore 3. Deep pplicable Crimp Terminal Terminal Screw Size: M3 Tightening Torque: 1. N m Minimum pplicable Lead Wire: WG (.3 mm ) Note Round terminals cannot be used. 6. mm or less 4 3 DIN Rail mm or more.8 mm more 4. mm or less 8

59 Battery Set You need to connect a battery set to use a built-in controller driver as an absolute backup system. Product Line BT1B pplicable RD-KD Specifications Item Content Battery Type Sealed nickel-metal hydride rechargeable single cells Nominal Voltage.4 V Rated Capacity 19 mh Expected Life pprox. 4 years 1 Charge Time 3 hours 1 Data Retention Period pprox. 36 hours (approx. 1 days) 1 Operating mbient Temperature +4 C (non-freezing) Operating mbient Humidity 4 8% (non-condensing) 1 t an ambient temperature of C fter the power is cut OFF at full charge RS-48 Cable This cable is used to connect built-in controller drivers with each other for multi-axis operation. Product Line pplicable Length L (m) CC1-RS4.1 RD-KD CC-RS4. Dimensions (Unit = mm) L ϕ Network Converter The network converter converts higher layer protocol to Oriental Motor's proprietary RS-48 protocol. It enables you to control Oriental Motor's RS-48 compatible products under higher layer protocol environment. Product Line Network Type CC-Link-Compatible NETC1-CC MECHTROLINK- Compatible NETC1-M MECHTROLINK- Compatible NETC1-M Dimensions (Unit = mm) Mass:.1kg B6 (6.) (1) 6 3 R. 7 max R. Connection Example RS-48 Cable.9 max. RS-48 Connector NETC1-CC NETC1-M NETC1-M3 ± (44.7) 41. Configuration Product Line Specifications Dimension Connection ccessory 9

60 ccessory Configuration Product Line Specifications Dimension Connection Flexible Coupling flexible coupling ideal for the R Series is available. Once you have decided on a type /or applications of motor/gear, you can select the recommended size of coupling easily. ll motor shaft diameters of stepping motor packages are available (including geared motors). Selecting a Coupling Motor Type TH Geared Stard PS Geared PN Geared pplication Coupling Type Harmonic Geared MCV Coupling High position accuracy vibration suppression MC Coupling High Positioning ccuracy MCS Coupling High Strength High Positioning ccuracy MCV Coupling This one-piece coupling is made by forming a rubber isolator in an aluminum alloy hub. Product Number Code MCV MCV Coupling Outer Diameter of Coupling Inner Diameter d1 (Smaller side) (6 represents ϕ6.3 mm.) Inner Diameter d (Larger inner diameter) For inner diameter d1, the smaller of the motor shaft diameter or the driven shaft diameter is entered. For inner diameter d, the larger of the motor shaft diameter or the driven shaft diameter is entered. Coupling Selection Table Product Line MCV1 MCV19 MCV MCV3 number indicating the coupling inner diameter is entered where the box is located within the product name. Series Motor Shaft Driven Shaft Diameter mm Coupling Type Diameter Type Frame Size mm ϕ3 ϕ4 ϕ ϕ6 ϕ6.3 ϕ8 ϕ1 ϕ1 ϕ14 ϕ1 8 mm R4, R6 MCV1 ϕ 4 mm R46 MCV19 6 ϕ6 Stard Type 6 mm R66, R69 MCV 1 ϕ1 8 mm R98 MCV3 14 ϕ14 31 MCV Coupling MC Coupling MCS Coupling

61 MC Coupling This is a slit-type one-piece coupling. Set Screw Type Product Number Code MC 8 1 S Clamp Type MC Coupling Outer Diameter of Coupling Inner Diameter d1 (Smaller side) (6 represents ϕ6.3 mm.) Inner Diameter d (Larger inner diameter) Connection Method S : Set Screw Type C : Clamp Type For inner diameter d1, the smaller of the motor shaft diameter or the driven shaft diameter is entered. For inner diameter d, the larger of the motor shaft diameter or the driven shaft diameter is entered. Coupling Selection Table Series Type Frame Size Stard Type Coupling Type Motor Shaft Diameter mm 8 mm R4, R6 MC1 ϕ 4 mm R46 MC16 6 ϕ6 6 mm R66 MC 1 ϕ1 R69 MC3 1 ϕ1 8 mm R98 MC3 14 ϕ14 Common for both the set screw type clamp type Only for the set screw type Product Line Set Screw Type Clamp Type MC1 S MC16 S MC S MC3 S MC1 C MC16 C MC C MC3 C number indicating the coupling inner diameter is entered where the box is located within the product name Driven Shaft Diameter mm ϕ4 ϕ ϕ6 ϕ6.3 ϕ8 ϕ1 ϕ1 ϕ14 ϕ16 Configuration Product Line Specifications Dimension Connection ccessory 61

62 ccessory Configuration Product Line Specifications Dimension Connection MCS Coupling This three-piece coupling adopts an aluminum alloy hub a resin spider. Product Number Code MCS MCS Coupling Outer Diameter of Coupling Inner Diameter d1 (Smaller side) (F4 represents ϕ6.3 mm.) Inner Diameter d (Larger side) (F4 represents ϕ6.3 mm.) For inner diameter d1, the smaller of the motor shaft diameter or the driven shaft diameter is entered. For inner diameter d, the larger of the motor shaft diameter or the driven shaft diameter is entered. Coupling Selection Table Type TH Geared Type PS Geared Type PN Geared Type Harmonic Geared Type Frame Size 8 mm R4-T 4 mm R46-T 6 mm R66-T 9 mm R98-T Gear Ratio 7., 1, 3 Coupling Type Motor Shaft Diameter mm Product Line MCS14 MCS MCS3 MCS4 MCS MCS6 MCS14 ϕ number indicating the coupling inner diameter is entered where the box is located within the product name. Driven Shaft Diameter mm 4 6 F ϕ4 ϕ ϕ6 ϕ6.3 ϕ8 ϕ1 ϕ1 ϕ14 ϕ1 ϕ16 ϕ18 ϕ ϕ ϕ4 ϕ 3.6, 7., 1 MCS 6 ϕ6, 3 MCS3 6 ϕ6 3.6, 7. MCS3 8 ϕ8 1,, 3 MCS4 8 ϕ8 3.6, 7., 1, 3 MCS 1 ϕ1 8 mm R4-PS, 7., 1 MCS 8 ϕ8 4 mm R46-PS, 7., 1 MCS3 1 ϕ1, 36, MCS4 1 ϕ1 6 mm R66-PS, 7. MCS4 1 ϕ1 1,, 36, MCS 1 ϕ1 9 mm R98-PS, 7., 1, 36, MCS6 18 ϕ18 8 mm R4-N, 7., 1 MCS 8 ϕ8 4 mm R46-N, 7., 1 MCS3 1 ϕ1, 7. MCS4 1 ϕ1 6 mm R66-N 1,, 36, MCS 1 ϕ1, 7., 1 9 mm R98-N MCS6 18 ϕ18, 36, 3 mm R4-H, 1 MCS3 8 ϕ8 4 mm R46-H, 1 MCS4 1 ϕ1 6 mm R66-H, 1 MCS 1 ϕ1 9 mm R98-H, 1 MCS6 18 ϕ18 number indicating the gear ratio is entered where the box is located within the product name

63 Motor Installation Bracket Installation brackets are convenient for installation securing a stepping motor geared type stepping motor. Product Line Stard Type Material: luminum alloy Motor Frame Size PFP PLP pplicable Product 4 mm R46 R66 PLP- 6 mm R69 PL4P- 8 mm R98 The installation bracket base is built with holes large enough to allow for adjustments of belt tension after a motor is installed. These installation brackets can be perfectly fitted to the pilot of the stepping motors (excluding PLP). Note Not available for geared type. TH Geared Type Material: luminum alloy Motor Frame Size pplicable Product SOLB 4 mm R46 SOL 6 mm R66 SOLB 9 mm R98 Use the screws provided to install the SOL. Since screws are not included with SOLB, SOLB, prepare appropriate screws separately. PS Geared Type, PN Geared Type Material: SS4 Surface Treatment: Electroless nickel plating Motor Frame Size pplicable Product PL6G 6 mm R66 PL9G 9 mm R98 The installation bracket base is built with holes large enough to allow for adjustments of belt tension after a motor is installed. Motor installation screws are included. Harmonic Geared Type Material: SS4 Surface Treatment: Electroless nickel plating (Sold separately) Stored-Data Type PG1 Features ll operations including data setting can easily be performed using the 4 touch pads on the panel. In addition, the number of signal lines is reduced to a minimum for easy operation connection. Jerk Limiting Control Function Suppresses Motor Drive Vibration Sequential-Step Positioning Operation/External Signal Operation Possible Maximum Oscillation Frequency khz 1-Pulse Output/-Pulse Output Mode Select Possible Step No. 1 Step No. Step No. 3 Step No. 4 <Sequential-Step Positioning> Motor Frame Size pplicable Product PL6H 6 mm R66 PL9H 9 mm R98 The installation bracket base is built with holes large enough to allow for adjustments of belt tension after a motor is installed. Motor installation screws are included. For details on accessories, refer to Oriental Motor General Catalogue 11/1 or the personal Web catalogue on our website. Recessed Installation Model Product Line Sink Logic Product Line DIN Rail Installation Model Recessed Installation Model Source Logic Product Line DIN Rail Installation Model Recessed Installation Model PG1N-D PG1N-U PG1P-D PG1P-U DIN Rail Installation Model ccessory Configuration Product Line Specifications Dimension Connection 63

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