5-Phase Stepping Motor and Driver Package CRKSeries 24 VDC Photocoupler Input 1-Pulse/2-Pulse Input Specifications

Transcription

1 RoHS-Compliant -Phase Stepping Motor and Driver Package CRKSeries VDC Photocoupler Input -Pulse/-Pulse Input Specifications High-Resolution Type Standard Type PN Geared Type High-Torque Type TH Geared Type Harmonic Geared Type The CRK Series is a motor/driver package consisting of a high-performance -phase stepping motor and a compact, low-vibration microstep driver offering the Smooth Drive Function. The compact high-torque type of stepping motor together with the high performance geared types of motors open a new realm of application possibilities for this DC input -phase stepping motor and driver package.

2 RoHS-Compliant -Phase Stepping Motor and Driver Package CRK Series The CRK Series is a motor/driver unit combining a high-performance, -phase stepping motor with a compact, low-vibration microstep driver offering the Smooth Drive Function. Four frame sizes of mm (.79 in.), mm (. in.), mm (.6 in.) and 6 mm (.36 in.) are available, and there are models fi tted with various geared motors. Features Newly Designed Motors High-Resolution Motor Improved Stopping ccuracy The basic step angle of the high-resolution type is.36 /step, which is half the basic step angle of the standard type. The positioning accuracy of stepping motors is affected by frictional load. The CRK's high-resolution type, having a smaller basic step angle and capable of generating approx.. times the torque of the standard type, ensures quick torque rise, thereby minimizing the effect of frictional load. Comparison of ngle-torque Characteristics. Torque TH TH. TL ngle [deg] TL TL: Friction Torque TH,TH: Maximum Holding Torque High-Resolution Type Standard Type TH: CRK66P (Standard Type) TH: CRK66PMP (High-Resolution Type) Static ngle Error of rc Minutes (No Load) The high-resolution type is designed with a static angle error of arc minutes (.3 ) [standard type: 3 arc minutes (. )]. The reduced error helps improve the positioning accuracy of your equipment. ngle Error [deg] Static ngle Characteristics Power Supply Voltage: VDC (.36 /step) CRK66PMBP ngle [deg] High-Torque Motor The high-resolution type and high-torque type adopt a newly designed high-torque motor that widens the range of applications. The smaller motor allows for compact equipment design. The motor current is reduced to suppress heat generation. Example) voidance of temperature rise in precision equipment or machinery Comparison of Speed vs. Torque Characteristics Current:./Phase Step ngle:.36 /step With Damper D6CL-.F: JL= 7 kg m (.77 oz-in ).6... CRK66PMBP (High-Resolution Type) CRK66BP (Standard Type)

3 Connector Coupling Design The high-resolution type and high-torque type adopt a connector-coupled motor to ensure greater ease of handling. There is no need to cut lead wires or pressure-bond the connector. You can also select a cable of desired length and type. The connector coupling design also makes maintenance easy. The CRK package comes with a motor leadwire/connector assembly [.6 m ( ft.)]. Wide Range of Motor Variations The CRK Series offers models of the high-resolution type, high-torque type and standard type, as well as various geared types. You can find a product meeting your specific torque, resolution or other needs from a total of 9 different specifications. Smooth Drive Function for Enhanced Ease of Use The Smooth Drive Function automatically controls operations via microstep drive at the same travel distance and speed used in the full-step mode, without requiring the operator to change the pulse input settings. This function is particularly useful when the CRK Series is used in the full-step or half-step mode. Vibration Component Voltage Vp-p [V] Comparison of Vibration Characteristics CSK66-NT.7 /step (Conventional Model) CRK66PMP.36 /step Smooth Drive Function: ON 3 Compact Size The compact, lightweight driver in the CRK Series is approx. % smaller than a conventional full-step driver. Compact, Lightweight Microstep Driver The driver in the CRK Series achieves microstep drive in a compact, lightweight body. new IC allows the driver to provide various functions, including the following: Smooth Drive Function -pulse/-pulse input mode switching preset step angles Power LED Photocoupler input 77 mm (3.3 in.) : g (.3 lb.) Comparison of Driver Size and Weights 7 mm (.3 in.) Conventional Model (CSD N-T) : g (. lb.) 6 mm (.6 in.) New Product (CRD P) mm (.77 in.) mm (.9 in.) : g (. lb.) Conforming to International Safety Standards The CRK Series is UL-recognized and CS-certified. It also bears the CE Mark as a proof of conformance to the EMC Directives. Safe operation is ensured anywhere in the world. mm (.77 in.) 6 mm (.6 in.) Lower Vibration and Noise chieved by Microstep Drive The basic step angle of the motor can be divided into a maximum of microstep angles without using any mechanical element such as a reduction gear. s a result, vibration and noise are further reduced. RoHS-Compliant The CRK Series conforms to the RoHS Directive that prohibits the use of six chemical substances including lead and cadmium. RoHS (Restriction of Hazardous Substances) Directive: Directive on restriction of the use of certain hazardous substances in electrical and electronic equipment (/9/EC). The RoHs Directive prohibits the use of six chemical substances in electrical and electronic products sold in the EU member states. The six controlled substances are: lead, hexavalent chromium, cadmium, mercury and two specific brominated flame-retardants (PBB and PBDE). Improved -Phase Performance can Usually be Easily Integrated into an Existing -Phase System The basic step angle can be adjusted to match a -phase stepping motor's step angles, so a switchover from the -phase microstep mode can be easily made, without having to change input pulses. 3

4 Wide Variety The CRK Series comes in four frame sizes of to 6 mm (.79 to.36 in.), as well as three geared types. You can choose from as many as 9 different specifications to suit your specific needs. Type Features mm (.79 in.) mm (. in.) mm (.6 in.) 6 mm (.36 in.) Driver High-Resolution Type high-torque motor offering higher positioning accuracy with the basic step angle set to.36 /step, or half the basic step angle of the standard type. High-Torque Type high-torque motor generating high torque of approx..3 to. times the level achieved by the standard type. Standard Type The basic model in the CRK Series offering an optimal balance of torque, low vibration and low noise. Low Backlash Type TH Geared Type geared motor achieving both low backlash and low cost. Non-Backlash Type PN Geared Type Harmonic Geared Type high-accuracy geared motor achieving a backlash of 3 arc minutes or less. It also provides high strength and wide gear ratios. high-accuracy, backlash-free geared motor adopting a newly developed harmonic gear. It ensures high strength in a compact body.

5 Characteristics Comparison for Geared Motors Geared Type Features / Maximum Torque [N m (lb-in)] Backlash [arc min] Basic Resolution [deg/step] Output Shaft Non-Backlash Type Low Backlash Type TH Geared (Parallel Shaft) PN Geared (Planetary Gear) Harmonic Geared (Harmonic Drive) wide variety of low gear ratios for high-speed operation Gear ratios: :3.6, :7., :, :, :3 High speed (low gear ratio), high positioning precision High permissible/maximum torque wide variety of gear ratios for selecting the desired step angle Centered output shaft Gear ratios: :, :7., :, :, :36, : High positioning precision High permissible/maximum torque High gear ratio, high resolution Centered output shaft Gear ratios: :, : (3) Permissible Maximum Torque Torque (7) (77) 3 Permissible Maximum Torque Torque (7) () Note: The values shown above must be used as reference. The actual values vary depending on the motor frame size and gear ratio. Safety Standards and CE Marking Motor High-Resolution Type High-Torque Type Standard Type TH Geared Type PN Geared Type Harmonic Geared Type Product pplicable Standards 3 Certification Body Standards File No. CE Marking UL 69- CS C. No.69- UL 69 CS C. No.69 mm (.79 in.) UL 69 UL mm (. in.) CS C. No.69 mm (.6 in.) UL, UL UL 6 mm (.36 in.) UL, UL CS C. No.77 CS C. No. UL UL UL E E E699 EMC Directive Driver UL 69- CS C. No.69- UL E Harmonic geared type only TH geared type and PN geared type only 3 pproval conditions for UL 69, UL 69-: Class 3 equipment, SELV circuit, Pollution degree Oriental Motor declares compliance with the EMC Directive based on motor and driver combinations. When the system is approved under various safety standards, the model names in the motor and driver nameplates are the approved model names. List of Motor and Driver Combinations Page 3 The EMC value changes according to the wiring and layout. Therefore, the final EMC level must be checked with the motor/driver incorporated in the user's equipment.

6 System Configuration n example of a system configuration with the SG3 Series controller. Motor Mounting Brackets (ccessories) motor of the high-resolution type [excluding mm (. in.) motors], high-torque type [excluding / mm (.79/. in.) motors], standard type or geared type [excluding mm (. in.) TH geared, PN geared motors or harmonic geared motors] can be installed easily. ( Page 33) Driver Leadwire Set (ccessories) The driver leadwire set includes three sets of leadwires, for connection between the driver and motor, power supply and I/O signal. connector for onetouch connection with CRK Series driver is assembled at one end of the leadwire. ( Page ) Flexible Couplings (ccessories) Non-backlash coupling for precise positioning ( Page 36) Motor CRK Series Driver Controller (Sold separately) ( Page 3) Programmable Controller (Not supplied) Clean Dampers (ccessories) Effective to suppress stepping motor vibration and improve high-speed performance [excluding mm (.79 in.) motors]. ( Page 39) VDC Power Supply (Not supplied) Example of System Configuration (Body) CRK Series CRK66PMBP (Sold separately) Controller SG3J-U : Required under this system. : Optional accessory offered by Oriental Motor. Motor Mounting Bracket PLP- Flexible Coupling MCS3 Clean Damper D6CL-.F Driver Leadwire Set [.6 m ( ft.)] LCSSD The system configuration shown above is an example. Other combinations are available. 6

7 Product Number Code High-Resolution Type/High-Torque Type/Standard Type q w e r t y u i Geared Type q w e r t y u i Series CRK: CRK Series : -Phase Motor Frame Size : mm (.79 in.) : mm (. in.) : mm (.6 in.) 6: 6 mm (.36 in.) Motor Case Length Motor Type Resolution M: High-Resolution Motor Shaft Type : Single Shaft B: Double Shaft Signal I/O Mode of Driver P: Photocoupler q w e r t y u i o Product Line q w e r t y u i o Series CRK: CRK Series : -Phase Motor Frame Size : mm (. in.) : mm (.6 in.) 6: 6 mm (.36 in.) Motor Case Length Motor Type Motor Shaft Type : Single Shaft B: Double Shaft Signal I/O Mode of Driver P: Photocoupler Gearhead Type T: TH Geared Type N: PN Geared Type H: Harmonic Geared Type Gear Ratio High-Resolution Type TH Geared Type Model (Single Shaft) Model (Double Shaft) Model (Single Shaft) Model (Double Shaft) CRK3PMP CRK3PMBP CRK3PP-T7. CRK3PBP-T7. CRKPMP CRKPMBP CRK3PP-T CRK3PBP-T CRKPMP CRKPMBP CRK3PP-T CRK3PBP-T CRKPMP CRKPMBP CRK3PP-T3 CRK3PBP-T3 CRK6PMP CRK6PMBP CRK3P-T3.6 CRK3BP-T3.6 CRK6PMP CRK6PMBP CRK3P-T7. CRK3BP-T7. CRK66PMP CRK66PMBP CRK3P-T CRK3BP-T CRK69PMP CRK69PMBP CRK3P-T CRK3BP-T CRK3P-T3 CRK3BP-T3 High-Torque Type CRK6P-T3.6 CRK6P-T7. CRK6BP-T3.6 CRK6BP-T7. Model (Single Shaft) CRK3PP CRK3PP Model (Double Shaft) CRK3PBP CRK3PBP CRK6P-T CRK6P-T CRK6P-T3 CRK6BP-T CRK6BP-T CRK6BP-T3 CRKPP CRKPBP CRKPP CRKPBP CRK6PP CRK6PBP PN Geared Type Standard Type Model (Single Shaft) CRK3P CRKP CRKP CRK6P CRK66P CRK69P Model (Double Shaft) CRK3BP CRKBP CRKBP CRK6BP CRK66BP CRK69BP Model (Single Shaft) CRK3PP-N CRK3PP-N7. CRK3PP-N CRKP-N CRKP-N7. CRKP-N CRK66P-N CRK66P-N7. Model (Double Shaft) CRK3PBP-N CRK3PBP-N7. CRK3PBP-N CRKBP-N CRKBP-N7. CRKBP-N CRK66BP-N CRK66BP-N7. CRK66P-N CRK66BP-N CRK6P-N CRK6BP-N CRK6P-N36 CRK6BP-N36 CRK6P-N CRK6BP-N Harmonic Geared Type Model (Single Shaft) Model (Double Shaft) CRK3P-H CRK3BP-H CRK3P-H CRK3BP-H CRK6P-H CRK6BP-H CRK6P-H CRK6BP-H 7

8 High-Resolution Type Motor Frame Size mm (. in.), mm (.6 in.) Specifications Model Single Shaft CRK3PMP CRKPMP CRKPMP CRKPMP CRK6PMP Double Shaft CRK3PMBP CRKPMBP CRKPMBP CRKPMBP CRK6PMBP Maximum Holding Torque N m (oz-in). (.9).6 (.6).9 (.7). (3). (9) Rotor Inertia J: kg m (oz-in ) 9-7 (.9) 3-7 (.7) 9-7 (.) 6-7 (.33) -7 (.66) Rated Current /Phase.3.7 Basic Step ngle.36 Power Source VDC %.7 VDC %. Excitation Mode Microstep Motor kg (lb.). (.). (.33). (.).3 (.66). (.) Driver kg (lb.). (.) Dimension No. Motor x c Driver How to Read Specifications Table See the following descriptions. Motor leadwire/connector assembly [.6 m ( ft.)] is included with connector type package. Speed Torque Characteristics : Maximum Starting Frequency CRK3PMP/CRK3PMBP CRKPMP/CRKPMBP CRKPMP/CRKPMBP Current:.3 /Phase Step ngle:.36 /step With Damper DCL-.F: JL=3 7 kg m (.6 oz-in ).6.. Pullout Torque.3.. () () () 3 (3) () Current:.3 /Phase Step ngle:.36 /step With Damper DCL-.F: JL=3 7 kg m (.6 oz-in ) () () Pullout Torque () 3 (3) () () Current:.3 /Phase Step ngle:.36 /step With Damper DCL-.F: JL=3 7 kg m (.6 oz-in )... Pullout Torque.6.. () () () 3 (3) () CRKPMP/CRKPMBP CRK6PMP/CRK6PMBP.. 3 Current:.7 /Phase Step ngle:.36 /step With Damper DCL-.F: JL=3 7 kg m (.6 oz-in ) Pullout Torque... () 6 () () () ().. 6 Current:.7 /Phase Step ngle:.36 /step With Damper DCL-.F: JL=3 7 kg m (.6 oz-in ).6.. Pullout Torque.3.. () 6 () () () () The pulse input circuit responds to approximately khz with a pulse duty of %. Notes: Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under C ( F). [Under 7 C (67 F) is required to comply with UL or CS standards.] When using the motor with the dedicated driver, the driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately %. How to Read Specifications Table Please read the following information before examining the specifications on pages to. Maximum Holding Torque: The holding torque (-Phase: -Phase Excitation) is the maximum holding power (torque) the stepping motor has when power (rated current) is being supplied but the motor is not rotating (with consideration given to the permissible strength of the gear when applicable). t motor standstill, the driver's "utomatic Current Cutback" function reduces the maximum holding torque by approximately %. : Maximum Torque: ngle Error: The permissible torque represents the torque value limited by the mechanical strength of the gear when operated at a constant speed. For the types excluding PN and harmonic geared type, the total torque including acceleration/deceleration torque should not exceed this value. This is the maximum torque that can be used instantaneously (for a short time). During acceleration/deceleration, the motor can be operated up to this value. (PN geared, harmonic geared type only) Difference between the theoretical angle of rotation of the output shaft as calculated from the input pulses, and the actual angle of rotation. (PN geared type only)

9 High-Resolution Type Motor Frame Size 6 mm (.36 in.) Specifications Model Single Shaft CRK6PMP CRK66PMP CRK69PMP Double Shaft CRK6PMBP CRK66PMBP CRK69PMBP Maximum Holding Torque N m (oz-in).7 ().3 ().3 (3) Rotor Inertia J: kg m (oz-in ) 3-7 (.7) 9-7 (.7) 97-7 (.3) Rated Current /Phase. Basic Step ngle.36 Power Source VDC %. Excitation Mode Microstep Motor kg (lb.).6 (.3).7 (.9). (3.3) Driver kg (lb.). (.) Dimension No. Motor v Driver How to Read Specifications Table Page Motor leadwire/connector assembly [.6 m ( ft.)] is included with connector type package. Speed Torque Characteristics : Maximum Starting Frequency CRK6PMP/CRK6PMBP Current:. /Phase Step ngle:.36 /step With Damper D6CL-.F: JL= 7 kg m (.77 oz-in ) () 6 () Pullout Torque () () () CRK66PMP/CRK66PMBP Current:. /Phase Step ngle:.36 /step With Damper D6CL-.F: JL= 7 kg m (.77 oz-in ).6... (). () Pullout Torque 3 6 () 7. (7) () () CRK69PMP/CRK69PMBP 3 3 Current:. /Phase Step ngle:.36 /step With Damper D6CL-.F: JL= 7 kg m (.77 oz-in ) () 3 3 () () Pullout Torque 3 (3) () () () The pulse input circuit responds to approximately khz with a pulse duty of %. Notes: Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under C ( F). [Under 7 C (67 F) is required to comply with UL or CS standards.] When using the motor with the dedicated driver, the driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately %. 9

10 High-Torque Type Motor Frame Size mm (.79 in.), mm (. in.) Specifications Model Single Shaft CRK3PP CRK3PP CRKPP Double Shaft CRK3PBP CRK3PBP CRKPBP Maximum Holding Torque N m (oz-in).3 (3.). (6.).7 () Rotor Inertia J: kg m (oz-in ).6-7 (.) 9-7 (.9) -7 (.9) Rated Current /Phase.3 Basic Step ngle.7 Power Source VDC %.7 Excitation Mode Microstep Motor kg (lb.). (.). (.). (.) Driver kg (lb.). (.) Dimension No. Motor z x Driver How to Read Specifications Table Page Motor leadwire/connector assembly [.6 m ( ft.)] is included with connector type package. Speed Torque Characteristics CRK3PP/CRK3PBP.. 3 Current:.3 /Phase Step ngle:.7 /step Load Inertia: JL= kg m () () CRKPP/CRKPBP Pullout Torque 3 () 3 (3) Current:.3 /Phase Step ngle:.7 /step With Damper DCL-.F: JL=3 7 kg m (.6 oz-in ). () : Maximum Starting Frequency CRK3PP/CRK3PBP.. 6 Current:.3 /Phase Step ngle:.7 /step With Damper DCL-.F: JL=3 7 kg m (.6 oz-in ) () () Pullout Torque 3 () 3 (3) () () 3 () Pullout Torque () 3 (3) () The pulse input circuit responds to approximately khz with a pulse duty of %. Notes: Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under C ( F). [Under 7 C (67 F) is required to comply with UL or CS standards.] When using the motor with the dedicated driver, the driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately %.

11 Standard/High-Torque Type Motor Frame Size mm (.6 in.) Specifications Model Single Shaft CRK3P CRKP CRKP CRKPP CRK6PP Double Shaft CRK3BP CRKBP CRKBP CRKPBP CRK6PBP Maximum Holding Torque N m (oz-in).3 (.). (). (3). (3). (9) Rotor Inertia J: kg m (oz-in ) 3-7 (.9) -7 (.3) 6-7 (.37) 7-7 (.3) -7 (.6) Rated Current /Phase.7 Basic Step ngle.7 Power Source VDC %. Excitation Mode Microstep Motor kg (lb.). (.6).7 (.9).3 (.77).3 (.66). (.) Driver kg (lb.). (.) Dimension No. Motor b c Driver How to Read Specifications Table Page Motor leadwire/connector assembly [.6 m ( ft.)] is included with connector type package. Speed Torque Characteristics CRK3P/CRK3BP Current:.7 /Phase Step ngle:.7 /step With Damper DCL-.F: JL=3 7 kg m (.6 oz-in )... () 3 () Pullout Torque CRKP/CRKBP 3 () 3 (3) Current:.7 /Phase Step ngle:.7 /step With Damper DCL-.F: JL=3 7 kg m (.6 oz-in ) () () Pullout Torque () CRKPP/CRKPBP 3 () Current:.7 /Phase Step ngle:.7 /step With Damper DCL-.F: JL=3 7 kg m (.6 oz-in ) () () Pullout Torque () () () () () : Maximum Starting Frequency CRKP/CRKBP Current:.7 /Phase Step ngle:.7 /step With Damper DCL-.F: JL=3 7 kg m (.6 oz-in ).... () () Pullout Torque () CRK6PP/CRK6PBP () Current:.7 /Phase Step ngle:.7 /step With Damper DCL-.F: JL=3 7 kg m (.6 oz-in ) () () () Pullout Torque () () () The pulse input circuit responds to approximately khz with a pulse duty of %. Notes: Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under C ( F). [Under 7 C (67 F) is required to comply with UL or CS standards.] When using the motor with the dedicated driver, the driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately %.

12 Standard Type Motor Frame Size 6 mm (.36 in.) Specifications Model Single Shaft CRK6P CRK66P CRK69P Double Shaft CRK6BP CRK66BP CRK69BP Maximum Holding Torque N m (oz-in). (9).3 (7).66 (3) Rotor Inertia J: kg m (oz-in ) 7-7 (.96) -7 (.3) 6-7 (3.) Rated Current /Phase. Basic Step ngle.7 Power Source VDC %. Excitation Mode Microstep Motor kg (lb.).6 (.3). (.76).3 (.9) Driver kg (lb.). (.) Dimension No. Motor n Driver How to Read Specifications Table Page Speed Torque Characteristics CRK6P/CRK6BP Current:. /Phase Step ngle:.7 /step With Damper D6CL-.F: JL= 7 kg m (.77 oz-in ) () () CRK69P/CRK69BP Pullout Torque () () Current:. /Phase Step ngle:.7 /step With Damper D6CL-.F: JL= 7 kg m (.77 oz-in ).... () () Pullout Torque () () 3 3 (3) () () : Maximum Starting Frequency CRK66P/CRK66BP 6 Current:. /Phase Step ngle:.7 /step With Damper D6CL-.F: JL= 7 kg m (.77 oz-in ) () 6. () Pullout Torque () 7. (7) () The pulse input circuit responds to approximately khz with a pulse duty of %. Notes: Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under C ( F). [Under 7 C (67 F) is required to comply with UL or CS standards.] When using the motor with the dedicated driver, the driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately %.

13 TH Geared Type Motor Frame Size mm (. in.) Specifications Model Single Shaft CRK3PP-T7. CRK3PP-T CRK3PP-T CRK3PP-T3 Double Shaft CRK3PBP-T7. CRK3PBP-T CRK3PBP-T CRK3PBP-T3 Maximum Holding Torque N m (oz-in). ().3 (). (6). (7) Rotor Inertia J: kg m (oz-in ) 9-7 (.9) Rated Current /Phase.3 Basic Step ngle Gear Ratio : 7. : : : 3 N m (oz-in). ().3 (). (6). (7) Backlash arc minute (degrees) 6 ( ) Permissible Speed Range r/min 6 3 Power Source VDC %.7 Excitation Mode Microstep Motor kg (lb.).7 (.37) Driver kg (lb.). (.) Dimension No. Motor m Driver How to Read Specifications Table Page Motor leadwire/connector assembly [.6 m ( ft.)] is included with connector type package. Note: Direction of rotation of the motor and that of the gear output shaft are the opposite for the gear ratios :7. and :. It is the same for : and :3 gear ratio. Speed Torque Characteristics CRK3PP-T7./CRK3PBP-T Current:.3 /Phase Step ngle:. /step With Damper DCL-.F: JL=3 7 kg m (.6 oz-in ).3.. () () 3 () () () CRK3PP-T/CRK3PBP-T () Current:.3 /Phase Step ngle:.36 /step With Damper DCL-.F: JL=3 7 kg m (.6 oz-in ) () () () () () () () () : Maximum Starting Frequency CRK3PP-T/CRK3PBP-T 3 Current:.3 /Phase Step ngle:.7 /step With Damper DCL-.F: JL=3 7 kg m (.6 oz-in ) () () () () () CRK3PP-T3/CRK3PBP-T3.. 6 () Current:.3 /Phase Step ngle:. /step With Damper DCL-.F: JL=3 7 kg m (.6 oz-in ).6.. () () 6 () () () () () () The pulse input circuit responds to approximately khz with a pulse duty of %. Notes: Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under C ( F). [Under 7 C (67 F) is required to comply with UL or CS standards.] When using the motor with the dedicated driver, the driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately %. 3

14 TH Geared Type Motor Frame Size mm (.6 in.) Specifications Model Single Shaft CRK3P-T3.6 CRK3P-T7. CRK3P-T CRK3P-T CRK3P-T3 Double Shaft CRK3BP-T3.6 CRK3BP-T7. CRK3BP-T CRK3BP-T CRK3BP-T3 Maximum Holding Torque N m (lb-in).3 (3).7 (6.) (.). (3.) Rotor Inertia J: kg m (oz-in ) 3-7 (.9) Rated Current /Phase.7 Basic Step ngle Gear Ratio : 3.6 : 7. : : : 3 N m (lb-in).3 (3).7 (6.) (.). (3.) Backlash arc minute (degrees) (.7 ) (.7 ) (. ) Permissible Speed Range r/min 9 6 Power Source VDC %. Excitation Mode Microstep Motor kg (lb.).3 (.77) Driver kg (lb.). (.) Dimension No. Motor, Driver How to Read Specifications Table Page Note: Direction of rotation of the motor and that of the gear output shaft are the same for the gear ratios :3.6, :7. and :. It is the opposite for : and :3 gear ratio. Speed Torque Characteristics CRK3P-T3.6/CRK3BP-T3.6 3 Current:.7 /Phase Step ngle:. /step With Damper DCL-.F: JL=3 7 kg m (.6 oz-in ) () () () () CRK3P-T/CRK3BP-T Current:.7 /Phase Step ngle:.7 /step With Damper DCL-.F: JL=3 7 kg m (.6 oz-in )... 6 () () () CRK3P-T3/CRK3BP-T3 () Current:.7 /Phase Step ngle:. /step With Damper DCL-.F: JL=3 7 kg m (.6 oz-in ). 6 () () : Maximum Starting Frequency CRK3P-T7./CRK3BP-T7. 6 Current:.7 /Phase Step ngle:. /step With Damper DCL-.F: JL=3 7 kg m (.6 oz-in ) () () () CRK3P-T/CRK3BP-T Current:.7 /Phase Step ngle:.36 /step With Damper DCL-.F: JL=3 7 kg m (.6 oz-in ).... () 6 () () () () () () () () () () 7 () The pulse input circuit responds to approximately khz with a pulse duty of %. Notes: Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under C ( F). [Under 7 C (67 F) is required to comply with UL or CS standards.] When using the motor with the dedicated driver, the driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately %.

15 TH Geared Type Motor Frame Size 6 mm (.36 in.) Specifications Model Single Shaft CRK6P-T3.6 CRK6P-T7. CRK6P-T CRK6P-T CRK6P-T3 Double Shaft CRK6BP-T3.6 CRK6BP-T7. CRK6BP-T CRK6BP-T CRK6BP-T3 Maximum Holding Torque N m (lb-in). (). () 3 (6) 3. (3) (3) Rotor Inertia J: kg m (oz-in ) 7-7 (.96) Rated Current /Phase. Basic Step ngle Gear Ratio : 3.6 : 7. : : : 3 N m (lb-in). (). () 3 (6) 3. (3) (3) Backlash arc minute (degrees) 3 (. ) (. ) (.67 ) Permissible Speed Range r/min 9 6 Power Source VDC %. Excitation Mode Microstep Motor kg (lb.).9 (.) Driver kg (lb.). (.) Dimension No. Motor. Driver How to Read Specifications Table Page Note: Direction of rotation of the motor and that of the gear output shaft are the same for the gear ratios :3.6, :7. and :. It is the opposite for : and :3 gear ratio. Speed Torque Characteristics CRK6P-T3.6/CRK6BP-T3.6 Current:. /Phase Step ngle:. /step With Damper D6CL-.F: JL= 7 kg m (.77 oz-in ). : Maximum Starting Frequency CRK6P-T7./CRK6BP-T7. Current:. /Phase Step ngle:. /step With Damper D6CL-.F: JL= 7 kg m (.77 oz-in ) () () () () CRK6P-T/CRK6BP-T 3 Current:. /Phase Step ngle:.7 /step With Damper D6CL-.F: JL= 7 kg m (.77 oz-in ) 3 6 () () () CRK6P-T3/CRK6BP-T3 () 6 () () 3 () () () CRK6P-T/CRK6BP-T 3 () Current:. /Phase Step ngle:.36 /step With Damper D6CL-.F: JL= 7 kg m (.77 oz-in ) 3 6 () () () () () () 3 Current:. /Phase Step ngle:. /step With Damper D6CL-.F: JL= 7 kg m (.77 oz-in ) () () () () () The pulse input circuit responds to approximately khz with a pulse duty of %. Notes: Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under C ( F). [Under 7 C (67 F) is required to comply with UL or CS standards.] When using the motor with the dedicated driver, the driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately %.

16 PN Geared Type Motor Frame Size mm (. in.), mm (.6 in.) Specifications Model Single Shaft CRK3PP-N CRK3PP-N7. CRK3PP-N CRKP-N CRKP-N7. CRKP-N Double Shaft CRK3PBP-N CRK3PBP-N7. CRK3PBP-N CRKBP-N CRKBP-N7. CRKBP-N Maximum Holding Torque N m (CRK3 : oz-in/crk : lb-in). ().3 (). (6). (7). (.6). (3.) Rotor Inertia J: kg m (oz-in ) 9-7 (.9) -7 (.3) Rated Current /Phase.3.7 Basic Step ngle Gear Ratio : : 7. : : : 7. : N m (CRK3 : oz-in/crk : lb-in). ().3 (). (6). (7). (.6). (3.) Maximum Torque N m (CRK3 : oz-in/crk : lb-in). (7). (3.) (7.7) Backlash arc minute (degrees) 3 (. ) (.3 ) ngle Error arc minute (degrees) 6 (. ) Permissible Speed Range r/min Power Source VDC %.7 VDC %. Excitation Mode Microstep Motor kg (lb.). (.).6 (.3) Driver kg (lb.). (.) Dimension No. Motor Driver How to Read Specifications Table Page Motor leadwire/connector assembly [.6 m ( ft.)] is included with connector type package. The value of Maximum Torque is for gear. For output torque for geared motor, see the Speed - Torque Characteristics. Note: Direction of rotation of the motor and that of the gear output shaft are the same. Speed Torque Characteristics : Maximum Starting Frequency CRK3PP-N/CRK3PBP-N.. 3 Current:.3 /Phase Step ngle:. /step With Damper DCL-.F: JL=3 7 kg m (.6 oz-in ).3.. () () 3 () () () 6 () CRK3PP-N7./CRK3PBP-N7. 3 Current:.3 /Phase Step ngle:. /step With Damper DCL-.F: JL=3 7 kg m (.6 oz-in )..3.. () () 3 () () () () CRK3PP-N/CRK3PBP-N.. 6 Current:.3 /Phase Step ngle:.7 /step With Damper DCL-.F: JL=3 7 kg m (.6 oz-in ).6.. () 3 () () () () () CRKP-N/CRKBP-N 6 Current:.7 /Phase Step ngle:. /step With Damper DCL-.F: JL=3 7 kg m (.6 oz-in ) () () () () () 6 () CRKP-N7./CRKBP-N7. Current:.7 /Phase Step ngle:. /step With Damper DCL-.F: JL=3 7 kg m (.6 oz-in )... () () 3 () () () () CRKP-N/CRKBP-N Current:.7 /Phase Step ngle:.7 /step With Damper DCL-.F: JL=3 7 kg m (.6 oz-in ).. Permissible Torque.. () 3 () () () () () The pulse input circuit responds to approximately khz with a pulse duty of %. Notes: Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under C ( F). [Under 7 C (67 F) is required to comply with UL or CS standards.] When using the motor with the dedicated driver, the driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately %. 6

17 PN Geared Type Motor Frame Size 6 mm (.36 in.) Specifications Model Single Shaft CRK66P-N CRK66P-N7. CRK66P-N CRK6P-N CRK6P-N36 CRK6P-N Double Shaft CRK66BP-N CRK66BP-N7. CRK66BP-N CRK6BP-N CRK6BP-N36 CRK6BP-N Maximum Holding Torque N m (lb-in) 3. (3) (3) () (7) Rotor Inertia J: kg m (oz-in ) -7 (.3) 7-7 (.96) Rated Current /Phase. Basic Step ngle Gear Ratio : : 7. : : : 36 : N m (lb-in) 3. (3) (3) () (7) Maximum Torque N m (lb-in) 7 (6) 9 (79) (97) 6 () (77) Backlash arc minute (degrees) (.3 ) 3 (. ) ngle Error arc minute (degrees) (. ) Permissible Speed Range r/min Power Source VDC %. Excitation Mode Microstep Motor kg (lb.). (3.3) Driver kg (lb.). (.) Dimension No. Motor Driver How to Read Specifications Table Page The value of Maximum Torque is for gear. For output torque for geared motor, see the Speed - Torque Characteristics. Note: Direction of rotation of the motor and that of the gear output shaft are the same. Speed Torque Characteristics : Maximum Starting Frequency CRK66P-N/CRK66BP-N CRK66P-N7./CRK66BP-N7. CRK66P-N/CRK66BP-N 3 Current:. /Phase Step ngle:. /step With Damper D6CL-.F: JL= 7 kg m (.77 oz-in ) 3 () 3 () () () () 6 Current:. /Phase Step ngle:. /step With Damper D6CL-.F: JL= 7 kg m (.77 oz-in ) 6 () 3 3 () () () () 6 Current:. /Phase Step ngle:.7 /step With Damper D6CL-.F: JL= 7 kg m (.77 oz-in ) 6 () 3 () () () () () CRK6P-N/CRK6BP-N CRK6P-N36/CRK6BP-N36 CRK6P-N/CRK6BP-N.. Current:. /Phase Step ngle:. /step With Damper D6CL-.F: JL= 7 kg m (.77 oz-in ) () Permissible Torque 6 () () () () () Current:. /Phase Step ngle:. /step With Damper D6CL-.F: JL= 7 kg m (.77 oz-in ) () () 6 () () () () Current:. /Phase Step ngle:. /step With Damper D6CL-.F: JL= 7 kg m (.77 oz-in ) () () () () () 6 () The pulse input circuit responds to approximately khz with a pulse duty of %. Notes: Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under C ( F). [Under 7 C (67 F) is required to comply with UL or CS standards.] When using the motor with the dedicated driver, the driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately %. 7

18 Harmonic Geared Type Motor Frame Size mm (.6 in.), 6 mm (.36 in.) Specifications Model Single Shaft CRK3P-H CRK3P-H CRK6P-H CRK6P-H Double Shaft CRK3BP-H CRK3BP-H CRK6BP-H CRK6BP-H Maximum Holding Torque N m (lb-in) 3. (3) (). () (7) Rotor Inertia J: kg m (oz-in ) -7 (.) -7 (.) Rated Current /Phase.7. Basic Step ngle Gear Ratio : : : : N m (lb-in) 3. (3) (). () (7) Maximum Torque N m (lb-in).3 (73) (97) (9) () Lost Motion (Load Torque) arc minute. max. (.6 N m). max. (. N m).7 max. (. N m).7 max. (.39 N m) Permissible Speed Range r/min Power Source VDC %. VDC %. Excitation Mode Microstep Motor kg (lb.).6 (.). (.) Driver kg (lb.). (.) Dimension No. Motor 3 Driver How to Read Specifications Table Page The value of Maximum Torque is for gear. For output torque for geared motor, see the Speed - Torque Characteristics. Notes: The inertia represents a sum of the inertia of the harmonic gear converted to a motor shaft value, and the rotor inertia. Direction of rotation of the motor and that of the gear output shaft are the opposite. Speed Torque Characteristics CRK3P-H/CRK3BP-H Current:.7 /Phase Step ngle:. /step With Damper DCL-.F: JL=3 7 kg m (.6 oz-in ) 6 : Maximum Starting Frequency CRK3P-H/CRK3BP-H Current:.7 /Phase Step ngle:.7 /step With Damper DCL-.F: JL=3 7 kg m (.6 oz-in ) 3 () 6 () () 3 (3) () () 3 () () 3 (3) () CRK6P-H/CRK6BP-H Current:. /Phase Step ngle:. /step With Damper D6CL-.F: JL= 7 kg m (.77 oz-in ) CRK6P-H/CRK6BP-H Current:. /Phase Step ngle:.7 /step With Damper D6CL-.F: JL= 7 kg m (.77 oz-in ) 3 Maximum Torque 3 Permissible Torque 6 3 () () () 3 (3) () () () () 3 (3) () The pulse input circuit responds to approximately khz with a pulse duty of %. Notes: Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under C ( F). [Under 7 C (67 F) is required to comply with UL or CS standards.] In order to prevent fatigue of the gear grease in harmonic gear, keep the temperature of the gear case under 7 C ( F). When using the motor with the dedicated driver, the driver's automatic current cutback function at motor standstill reduces maximum holding torque by approximately %.

19 Driver Specifications Input Signal Input Mode Pulse Signal (CW Pulse Signal) Rotation Direction Signal (CCW Pulse Signal) Photocoupler input, Input resistance: Ω, Input current: m Photocoupler ON:.. V, Photocoupler OFF: V (Voltage between terminals) Operation command pulse signal (CW direction operation command pulse signal when in -pulse input mode) Negative logic pulse input Pulse width: s minimum; Pulse rise/fall: s maximum, Pulse duty: % and below The motor moves one step when the pulse input is switched from photocoupler ON to OFF. Maximum input pulse frequency: khz (when the pulse duty is %) Rotation direction signal Photocoupler ON: CW, Photocoupler OFF: CCW (CCW direction operation command pulse signal when in -pulse input mode) Negative logic pulse input Pulse width: s minimum; Pulse rise/fall: s maximum, Pulse duty: % and below The motor moves one step when the pulse input is switched from photocoupler ON to OFF. Maximum input pulse frequency: khz (when the pulse duty is %) Output Signal Functions Cooling Method ll Windings OFF Signal Step ngle Select Signal Current Cutback Release Signal Output Mode Excitation Timing Signal When in the "photocoupler ON" state, the output current to the motor is cut off and the motor shaft can be rotated manually. When in the "photocoupler OFF" state, the current is supplied to the motor. Step angle specifi ed by DT when photocoupler OFF, Step angle specifi ed by DT when photocoupler ON When in the "photocoupler ON" state, the automatic current cutback function will not be activated even after the motor stops. When in the "photocoupler OFF" state, the automatic current cutback function will be activated after the motor stops (after approx. ms). Photocoupler, Open-collector output, External use condition: VDC maximum, m maximum The signal is output every time the excitation sequence returns to the initial stage "." (Photocoupler: ON).7 /step (Division Resolution): Signal is output every pulses..7 /step (Division Resolution): Signal is output every pulses. [High-Resolution Type].36 /step (Division Resolution): Signal is output every pulses..36 /step (Division Resolution): Signal is output every pulses. utomatic Current Cutback, Step ngle Switch, Pulse Input Mode Switch, Smooth Drive, ll Windings OFF, Excitation Timing Natural ventilation General Specifications Specifications Motor Driver Insulation Class Class B [3 C (66 F)], Recognized as Class [ C ( F)] by UL standard Insulation Resistance MΩ minimum under normal temperature and humidity, when measured by a VDC megger between the windings and the motor casing. Dielectric Strength Suffi cient to withstand. kv, Hz or 6 Hz applied for one minute between the windings and the motor casing, under normal temperature and humidity.. kv for CRK. kv for CRK3P, CRK PM, CRK P, CRK PM, CRK P mbient Temperature Operating Environment mbient Humidity tmosphere Temperature Rise C C ( F F), nonfreezing: High-resolution type, High-torque type, Standard type, TH/PN geared type C C ( 3 F F), nonfreezing: Harmonic geared type % or less (noncondensing) No corrosive gases, dust, water or oil. Temperature rise of the coil measured by the change resistance method is C ( F) or less. (at rated current, at standstill, fi ve phases energized) C C ( 3 F F), nonfreezing Static ngle Error 3 arc minutes (. ), CRK3P: arc minutes (.7 ) High-resolution type: arc minutes (.3 ) Shaft Runout. mm (. inch) T.I.R. Radial Play. mm (. inch) maximum of N (. lb.) xial Play 3.7 mm (.3 inch) maximum of N (. lb.) Concentricity.7 mm (.3 inch) T.I.R. Perpendicularity.7 mm (.3 inch) T.I.R. This value is for full step under no load. (The value changes with the size of the load.) Radial Play: Displacement in shaft position in the radial direction, when a N (. lb.) load is applied in the vertical direction to the tip of the motor's shaft. 3 xial Play: Displacement in shaft position in the axial direction, when a N (. lb.) load is applied to the motor's shaft in the axial direction. T.I.R. (Total Indicator Reading): The total dial gauge reading when the measurement section is rotated one revolution centered on the reference axis center. Note: Do not measure insulation resistance or perform the dielectric strength test while the motor and driver are connected

20 Permissible Overhung Load and Permissible Thrust Load Type High-Resolution Type High-Torgue Type Standard Type TH Geared Type PN Geared Type Harmonic Geared Type Overhung Load Model Distance from Shaft End mm (in.) () (.) (.39) (.9) (.79) CRK3P P (.7) (3.3) CRK3PM P CRKPM P CRKPM P CRK3P P CRKP P CRKPM P CRK6PM P CRKP P CRK6P P CRK3 P CRK P CRK P CRK6PM P CRK66PM P CRK69PM P CRK6 P CRK66 P CRK69 P CRK3P P-T7. CRK3P P-T CRK3P P-T CRK3P P-T3 CRK3 P-T3.6 CRK3 P-T7. CRK3 P-T CRK3 P-T CRK3 P-T3 CRK6 P-T3.6 CRK6 P-T7. CRK6 P-T CRK6 P-T CRK6 P-T3 (.6) 3 (7.6) (.7) (.) (.6) 3 (7.6) (.7) 9 () () 3 (9) () 7 (6) 63 (.) 7 (6.) 9 () 3 (9) 9 () Unit N (lb.) Thrust Load The permissible thrust load shall be no greater than the motor mass. (3.3) 7 (3.) (.) 3 (.) (.) (.) (3.) (.) 3 (6.7) (3.3) 7 (.7) () () (7) (33) (9) CRK3P P-N CRK3P P-N7. (.) 6 (3.) () () (.) CRK3P P-N CRK P-N CRK P-N7. () (7) (33) 9 () () CRK P-N CRK66 P-N () (9) (6) (63) 3 (7) () CRK66 P-N7. CRK66 P-N (6) 7 (6) 3 (67) 3 (76) 39 (7) () CRK6 P-N CRK6 P-N36 CRK6 P-N 33 (7) 36 () (9) () (7) () CRK3 P-H CRK3 P-H CRK6 P-H CRK6 P-H Enter (Single shaft) or B (Double shaft) in the box ( ) within the model name. () (9) 7 (6) 36 () () (9) 3 (7) 37 (3) (99) (3) 7 (6) ()

21 Dimensions Unit = mm (inch) Motor High-Torque Type z mm (.79 in.) Model Motor Model kg (lb.) CRK3PP PK3P. CRK3PBP PK3PB (.) CD B36 Each package model comes with a motor leadwire/connector assembly [.6 m ( ft.)] UL Style 36, WG. If you are purchasing only a motor for maintenance purpose, etc., motor leadwire/connector assembly and connector will not be supplied. Optional motor connector sets (sold separately) are available. Page. (.7. ) 3.. (.3.6) (.3.) 7. (.76.) 3 (.) (.39.) 3 (.). (.6) 7. (.76.) 3.. (.3.6). (.7. ) 6. ( ) 6. (.63.) (.79) 6. (.63.) (.79) pplicable Connector Connector housing: 6- (MOLEX) Contact: - (MOLEX) Crimp tool: 776- (MOLEX) (.) (.39) M. (.) Deep 3. (.) High-Resolution Type, High-Torque Type x mm (. in.) Model Motor Model L L kg (lb.) CRK3P P PK3P 3. B39 CRK3P BP PK3P B (.6) (.6) (.) CRKPMP PKPM. B37 CRKPMBP PKPMB (.7) (.97) (.33) CRKP P PKP.. 6. B36 CRKP BP PKP B (.3) (.) (.) Enter M in the box ( ) within the model name in the case of High-Resolution Type. Each package model comes with a motor leadwire/connector assembly [.6 m ( ft.)] UL Style 36, WG. If you are purchasing only a motor for maintenance purpose, etc., motor leadwire/connector assembly and connector will not be supplied. Optional motor connector sets (sold separately) are available. Page pplicable Connector Connector housing: 6- (MOLEX) Contact: - (MOLEX) Crimp tool: 776- (MOLEX) CD. (.969. ).. (.77.6) L L (.39.). (.6) (.) 9. (.37) The length of machining on double shaft model is. (.39.). (.9.). (.39.).. (.77.6). (.969. ).33 (.66.3 ) (.) 3. (.96.) 3. (.96.) 6. (.6) M.. (.) Deep (.) c mm (.6 in.) Model Motor Model L L kg (lb.) CRKP P CRKP BP PKP PKP B 39 (.) (.3).3 (.66) CRK6P P PK6P 9. CRK6P BP PK6P B (.3) 7 (.9) (.) CD B337 B33 Enter M in the box ( ) within the model name in the case of High-Resolution Type. Each package model comes with a motor leadwire/connector assembly [.6 m ( ft.)] UL Style 366, WG. If you are purchasing only a motor for maintenance purpose, etc., motor leadwire/connector assembly and connector will not be supplied. Optional motor connector sets (sold separately) are available. Page pplicable Connector Connector housing: 3- (MOLEX) Contact: 3- (MOLEX) Crimp tool: 79- (MOLEX). (.969. ) (.9.).. (.77.6) 9 (.3) L L (.9) (.79.). (.9.). (.6).. (.77.6). (.969. ).33 (.66.3 ) (.6) 3. (..) 3. (..) (.6) 3 (.9) M3. (.77) Deep The length of machining on double shaft model is. (.9.). These dimensions are for double shaft models. For single shaft models, ignore the blue areas.

22 High-Resolution Type v 6 mm (.36 in.) Model Motor Model L L L3 D CRK6PMP CRK6PMBP CRK66PMP CRK66PMBP CRK69PMP CRK69PMBP PK6PM PK6PMB PK66PM PK66PMB PK69PM PK69PMB 6. (.3) 6 (.) 7 (3.3) 69. (.7) 79 (3.) (.33) 7.. (.9.6) 9.. (.37.6). (.3.6). ( ) kg (lb.).6 (.3).7 (.9). (3.3) Each package model comes with a motor leadwire/connector assembly [.6 m ( ft.)] UL Style 366, WG. If you are purchasing only a motor for maintenance purpose, etc., motor leadwire/connector assembly and connector will not be supplied. Optional motor connector sets (sold separately) are available. Page pplicable Connector Connector housing: - (MOLEX) Contact: 39- (MOLEX) Crimp tool: 79- (MOLEX) CD B373 B37 B37 3 (.9.). (.77.). (.3.6 ) 7.. (.9.6) L L.. (.) (.) 7(.). (.6). (.77.) (.7) (.9.) L3 D (.73. ). (.77) Thru 6 (.36).3 (.969.) 9 (.).3 (.969.) 6 (.36) Standard Type b mm (.6 in.) Model Motor Model L L kg (lb.) CRK3P PK3NW 33. CRK3BP PK3NBW (.3) (.9) (.6) CRKP PKNW 39.7 CRKBP PKNBW (.) (.3) (.9) CRKP PKNW 7.3 CRKBP PKNBW (.) 6 (.) (.77) CD B6 B69 B7. (.969. ) (.9.).. (.77.6) L L (.79.). (.9.) (.).. (.77.6). (.969. ).33 (.66.3 ) Motor Leads 6 mm ( inch) Length UL Style 36, WG (.6) 3. (..) 3. (..) (.6) M3. (.77) Deep The length of machining on double shaft model is. (.9.). n 6 mm (.36 in.) Model Motor Model L L kg (lb.) CRK6P PK6NW 6..6 CRK6BP PK6NBW (.3) 69. (.7) (.3) CRK66P PK66NW 7.. CRK66BP PK66NBW (.6). (3.7) (.76) CRK69P PK69NW 7.3 CRK69BP PK69NBW (3.3) (.33) (.9) CD B7 B7 B73 3 (.9.). (.77.). (.3.6 ) L L 7(.). (.6). (.77.) (.9.). (.3.6 ) Motor Leads 6 mm ( inch) Length UL Style 366, WG (.73. ) 6 (.36). (.77) Thru.3 (.969.) 7.. (.9.6) (.9.6).3 (.969.) Shaft Cross Section 6 (.36) These dimensions are for double shaft models. For single shaft models, ignore the blue areas.

23 TH Geared Type m mm (. in.) Model Motor Model Gear Ratio CRK3PP-T PK3P-T CRK3PBP-T PK3PB-T 7.,,, 3 Enter the gear ratio in the box ( ) within the model name. Each package model comes with a motor leadwire/connector assembly [.6 m ( ft.)] UL Style 36, WG. If you are purchasing only a motor for maintenance purpose, etc., motor leadwire/connector assembly and connector will not be supplied. Optional motor connector sets (sold separately) are available. Page pplicable Connector Connector housing: 6- (MOLEX) Contact: - (MOLEX) Crimp tool: 776- (MOLEX). (.969. ).. (.77.6) kg (lb.).7 (.37) (.39.) (.) CD B (.66) 7. (.6) 9. (.37) (.79.). (.) (.7) The length of machining on double shaft model is. (.39.)... (.77.6). (.969. ) 6. (.36.). ( ) (.) 6. (.6) M. (.6) Deep 3. (.96.) 3. (.96.) (.), mm (.6 in.) Model Motor Model Gear Ratio kg (lb.) CRK3P-T PK3W-T.3 3.6, 7.,,, 3 CRK3BP-T PK3BW-T (.77) Enter the gear ratio in the box ( ) within the model name.. (.969. ).. (.77.6) CD B3 (.9.). (.) 7. (3.9) 63. (.) 6 () Cable. (.) () (.79.) 3. (.) (.7) Motor Leads WG.. (.7.6) 6. (.36. ). (.3.) 7. ( ) M (.3) Deep 6 (.) 3.. (.7.) (.6). (.33) (.6) The length of machining on double shaft model is. (.9.). TH Geared Type. 6 mm (.36 in.) Model Motor Model Gear Ratio kg (lb.) CRK6P-T PK6W-T.9 3.6, 7.,,, 3 CRK6BP-T PK6BW-T (.) Enter the gear ratio in the box ( ) within the model name.. (.3.6 ) (.3.). (.77.) (.9) CD B7. (.) 93. (3.6) 6 () () Motor Leads WG Cable 7 (.) 3 (.6.) 3. (.) (.7) 7. (.76.6). (.3.6 ). (.39.) 3. (.9. ) 7. (.76.) 6 (.36) M (.3) Deep 3 (.) 6 (.36). (.9) (.9.6) 7.. (.9.6) Shaft Cross Section These dimensions are for double shaft models. For single shaft models, ignore the blue areas. 3

24 PN Geared Type mm (. in.) Model Motor Model Gear Ratio CRK3PP-N PK3P-N CRK3PBP-N PK3PB-N, 7., Enter the gear ratio in the box ( ) within the model name. Each package model comes with a motor leadwire/connector assembly [.6 m ( ft.)] UL Style 36, WG. If you are purchasing only a motor for maintenance purpose, etc., motor leadwire/connector assembly and connector will not be supplied. Optional motor connector sets (sold separately) are available. Page pplicable Connector Connector housing: 6- (MOLEX) Contact: - (MOLEX) Crimp tool: 776- (MOLEX) kg (lb.). (.). (.969. ) CD B36 (.39.).. (.77.6) (.) 9. (.37) 7. (.) 6. (.6) 3 (.9.) (.) 7 (.67) (.6). (.3.6 ) (.7) 6. (.36. ) (.) 6. (.6) 3. (.96.) 3. (.96.) (.) M3 6 (.) Deep The length of machining on double shaft model is. (.39.) (.9.) mm (.6 in.) Model Motor Model Gear Ratio CRKP-N PKW-N, 7., CRKBP-N PKBW-N kg (lb.).6 (.3) CD B3 7.. (.9.) Shaft Cross Section Enter the gear ratio in the box ( ) within the model name.. (.969. ).. (.77.6) (.9.). (.) 6 (3.39) 7 (.) 6 () () 6 (.) (.9.) (.7) Motor Leads WG Cable. (.). ( ) (.3. ).3 (.9.) (.6) 6 (.). (.33) (.6) M (.3) Deep Shaft Cross Section (.. )... (.7 ). (.79.) 3. (.. ) Parallel Key (Included) 3. (.. ) The length of machining on double shaft model is. (.9.). 6 mm (.36 in.) Model Motor Model Gear Ratio L L kg (lb.) CRK66P-N PK66W-N 3.., 7., CRK66BP-N PK66BW-N (.7). (.9) (3.3) CRK6P-N PK6W-N.., 36, CRK6BP-N PK6BW-N (.7) 9. (.) (3.3) Enter the gear ratio in the box ( ) within the model name. CD B9 B9 (.3.). (.77.). (.3.6 ) B B (.9) L L 6 () () Motor Leads WG Cable 7 (.) 3 (..) 6 (.36) 6 (.) M (.39) Deep (.9). (.7.7 ) 37. (.67. ) 7. (.76.) 3 (.). (.9) 6 (.36) (.9.6). (.93.3 ) 7.. (.9.6) Shaft Cross Section BB.3.. (.7. ). (.9 ) Parallel Key (Included).3 (.7. ) Shaft Cross Section.3 (.7. ) These dimensions are for double shaft models. For single shaft models, ignore the blue areas.

25 Harmonic Geared Type 3 mm (.6 in.) Model Motor Model Gear Ratio CRK3P-H PK3W-H S CRK3BP-H PK3BW-H S, Enter the gear ratio in the box ( ) within the model name.. (.969. ).. (.77.6) (.9.). (.) (3.) 6 (.6) (.9.) (.). (.) (.7) 6 () () 6. (.) (Max. Dia of Rotating Part) Motor Leads WG Cable. (.) kg (lb.).6 (.) CD B33.3 (.9.) 6 M3 (.) Deep.. (.7.). (.33) (.6) M (.3) Deep 6 (.) The position of the key slot on the output shaft (.3937) relative to the screw holes position on a maximum diameter of 6. (.) on the rotating part is arbitrary. The length of machining on double shaft model is. (.9.)..9 ( ) (.3. ) 6 (.6).... (.7 ) (.79.7 ). (.) (.. ) Shaft Cross Section 3. (.. ) Parallel Key (Included) 3. (.. ) 6 mm (.36 in.) Model Motor Model Gear Ratio CRK6P-H PK6W-H S, CRK6BP-H PK6BW-H S Enter the gear ratio in the box ( ) within the model name. kg (lb.). (.) CD B3. (.3.6 ) (.3.) B B (.9) 9. (.3). (3.). (.77.) 6 () () (.). (.6). (..) (.79) Motor Leads WG Cable 7 (.) 33. (.3) (Max. Dia of Rotating Part) 7. (.76.) 6 M 6 (.) Deep.. (..). (.9) 6 (.36) The position of the key slot on the output shaft (.7) relative to the screw holes position on a maximum diameter of 33. (.3) on the rotating part is arbitrary.. (.7.7 ).3 (.6. ) 3 (.) M (.39) Deep 6 6 (.36) (.9.6) (.77. ) 7.. (.9.6) Shaft Cross Section BB (.6) 9.3 (.7. ). (.9 ) Parallel Key (Included).3 (.7. ) Shaft Cross Section (.7. ) These dimensions are for double shaft models. For single shaft models, ignore the blue areas.

26 C C Driver Driver Model: CRD3P, CRD7P, CRDP :. kg (. lb.) B (.3 DI) Thru 7. (.9) 3(.).9 (.9) (.77) 9 (.3) 3. (.). (.63) 6 (.6). (.).3 (.96).9 (.6) 3 (.) max. (.6 max.) 3 (.) max. (.9 max.) ccessories Connector Housing (Included) 3- (MOLEX) 3- (MOLEX) 3- (MOLEX) Contact (Included) 3- (MOLEX) Notes: Be sure to use the included connector for signal and motor and power supply. When assembling the connectors, use the hand-operated crimp tool [79- (MOLEX)]. The crimp tool is not provided with the package. It must be furnished separately. Driver leadwire set crimped with connector (sold separately) are available. Driver leadwire set Page 6

27 Connection and Operation Names and Functions of Driver Parts x Power input connector c z Motor connector b v z Power Input Display Color Function When ctivated Green Power Supply Indication Lights when power is on. x Current djustment Potentiometer Indication Name of Potentiometer Function RUN STOP Motor Run Current Potentiometer Motor Stop Current Potentiometer c Function Select Switches For adjusting the motor running current For adjusting the motor current at standstill Indication Switch Name Function P/P OFF/SD Pulse Input Mode Switch Smooth Drive Function Switch Switches between -pulse input and -pulse input. Enables or disables the smooth drive function. v Input/Output Signal Indication Input/Output Pin No. Signal Name Function Operation command pulse signal. Pulse Signal (The motor will rotate in the CW direction (CW Pulse Signal) when in -pulse input mode) CN Input Signal Output Signal Rotation Direction Signal (CCW Pulse Signal) ll Windings OFF Signal Step ngle Select Signal Current Cutback Release Signal Excitation Timing Signal Rotation direction signal Photocoupler ON: CW, Photocoupler OFF: CCW. (The motor will rotate in the CCW direction when in -pulse input mode) This signal is used to turn off the output current to the motor so that the motor shaft can be rotated manually. Switches to step angle set in DT and DT. This signal is used to disable the automatic current cutback function. The signal is output every time the excitation sequence returns to the initial stage "." R/R Resolution Select Switch Switches the base step angle between R and R. b Step ngle Setting Switch Indication Signal Name Function DT Step ngle Each switch can be set to the desired step angle from the 6 step DT Setting Switch angles. DT DT Microstep/ Step R Step ngle DT DT Microstep/ Step R Resolution Step ngle B.9 B. C.7 C. D 6.76 D. 6.6 E.36 E.7 F. F..73 Notes: The step angle is calculated by dividing the basic step angle by the number of microstep. The above figures are based on a basic step angle of.7. With the high-resolution type, the basic step angle and resolution are.36 and (microstep/step: ), respectively. If you are using a geared type, the step angle divided by the gear ratio becomes the actual step angle. The number of microstep that can be switched by the "Step ngle Select" signal are limited to those selected in step angles and. Do not change the "Step ngle Select" signal input or step angle setting switch while the motor is operating. It may cause the motor to misstep and stop. 7

28 Connection Diagrams Controller V( VDC to VDC) V V V V V V( VDC to VDC) V CN Twisted-Pair Wire Pulse Signal R (CW Pulse Signal) R R R R R Rotation Direction Signal (CCW Pulse Signal) ll Windings Off Signal Step ngle Select Signal Current Cutback Release Signal Excitation Timing Signal Driver Input Signals Output Signal Description of Input/Output Signals Indication of Input/Output Signal "ON" "OFF" Input (Output) "ON" indicates that the current is sent into the photocoupler (transistor) inside the driver. Input (Output) "OFF" indicates that the current is not sent into the photocoupler (transistor) inside the driver. The input/output remains "OFF" if nothing is connected. Stepping Motor CN3 Black() Green() Orange(3) 3 Red() Blue() Pin numbers in ( ) are for motor connector. CN VDC % GND Photocoupler OFF ON [Pulse (CW) and Rotation Direction (CCW) Pulse Input Signal] Input Circuit and Sample Connection Controller Open-Collector Output R VO V Driver Pin No., 3 Ω Pin No., Pulse Waveform Characteristics <-pulse Input Mode> ON Pulse Input Signal OFF Rotation Direction Input Signal ON OFF <-pulse Input Mode> ON CW Pulse OFF ON CCW Pulse OFF 9% % s min. s min. CCW m s max. s max. 9% % s s min. min. s max. s max. s s min. min. s min. CW Pulse duty: % and below The shaded area indicates when the photocoupler diode is ON. The motor moves when the photocoupler state changes from ON to OFF. The minimum interval time when changing rotation direction is µs ( µs in -pulse input mode). This value varies greatly depending on the motor type and load inertia. Connecting Input Signal Keep the input signal voltage to VDC. When the voltage is equal to VDC, the external resistor R is not necessary. When the voltage is above VDC, connect R as shown in the diagram to keep the input current to to m. Example) If V is VDC, R must be. to. kω,. W or more. Connecting Output Signal Keep the output signal voltage and current between VDC and VDC and m or below, respectively. When the current is above m, connect the external resistor R as shown in the diagram to keep it to m or below. Power Supply Use a power supply that can supply sufficient input current. When power supply capacity is insufficient, a decrease in motor output can cause the following malfunctions: Motor does not rotate properly at high-speed. Slow motor startup and stopping. Notes on Wiring Use twisted-pair wires (WG to ) with a length of m (6.6 ft.) or less for the signal lines. Note that as the length of the pulse signal line increases, the maximum transmission frequency decreases. Use WG cables for the power supply lines. When assembling the connectors, use the hand-operated crimp tool for contact or the crimped optional cable (sold separately). The crimp tool is not provided with the package. They must be furnished separately. Signal lines should be kept at least cm (.79 in.) away from power lines (power supply lines and motor lines). Do not bind the signal line and power line together. If noise generated by the motor lead wires causes a problem, insert ferrite cores in the motor lead wires. Incorrect connection of DC power input will lead to driver damage. Make sure that the polarity is correct before turning power on. Pulse Signal Characteristics Keep the pulse signal at the "photocoupler OFF" state when no pulses are being input. In -pulse input mode, leave the pulse signal at rest ("photocoupler OFF") when changing rotation directions. In -pulse input mode, do not input a CW pulse and CCW pulse simultaneously. [ll Windings OFF, Step ngle Select and Current Cutback Release Input Signals] Input Circuit and Sample Connection Controller Open-Collector Output VO R V Driver Pin No., 7, 9 Ω Pin No. 6,, m ll Windings Off Input Signal Inputting this signal puts the motor in a non-excitation (free) state. This signal is used to move the motor shaft with external force or perform positioning manually. The photocoupler must be "OFF" when the motor is operating. ll Windings ON OFF Signal ON OFF Motor Current Motor Holding Torque ON OFF Release The colored area indicates that the motor provides holding torque in proportion to standstill current set by STOP switch. Switching the "ll Windings Off" signal from "photocoupler ON" to "photocoupler OFF" does not alter the excitation sequence. When the motor shaft is manually adjusted with the "ll Windings Off" signal input, the shaft will shift up to 3.6 (Geared type: 3.6 /gear ratio) from the position set after the "ll Windings Off" signal is released.

29 Step ngle Select Input Signal You may select two step angles from 6 available step angles with the step angle select switches DT and DT. When the signal is at "photocoupler OFF," a step angle set by DT is selected; at "photocoupler ON," DT is selected. Example: Changing the step angle from.7 to.7. Step ngle Select CW Pulse Motor ON OFF (DT) Pulses Pulse (DT) /step.7 /step Be sure to change step angle setting inputs only when the pulse signals are at rest. Switching while moving may cause a positional error of the motor. When the step angle is changed by the "Step ngle Select" signal, the "Excitation Timing" signal output may become impossible for some combinations of step angles. When the "Excitation Timing" signal is used, adjust the number of pulses so that the motor can operate with angles that are multiples of 7.. Example: fter operate 9 pulses with.7 /step setting, change the step angle.7 /step and operate with pulse. In this case, "Excitation Timing" signal will not be output because step "" position is skipped. Operate 9 pulses with.7 /step setting Operate pulse with.7 /step setting STEP "".7 "Excitation Timing" signal is only output at step "" sequence. Timing Chart Current Cutback Release Input Signal When this signal is in the "photocoupler ON" state, the automatic current cutback function is disabled. When this signal is in the "photocoupler OFF" state, the automatic current cutback function will be activated after the motor stops (after approx. ms). The photocoupler must be "OFF" when the motor is operating. [Excitation Timing Output Signal] Output Circuit and Sample Connection Controller VO R V Pin No. Pin No. Driver m max. The "Excitation Timing" signal is output to indicate when the motor excitation (current flowing through the winding) is in the initial stage (step "" at power up). The "Excitation Timing" signal is output simultaneously with a pulse input each time the excitation sequence returns to step "." The excitation sequence will complete one cycle for every 7. rotation of the motor output shaft. Microstep/step : Signal is output once every pulses. Microstep/step : Signal is output once every pulses. Timing chart at.7 /step (microstep/step ) When connected as shown in the example connection, the signal will be "photocoupler ON" at step "." ON CW Pulse OFF ON CCW Pulse OFF ON Excitation Timing OFF Output (Step) Note: When power is turned ON, the excitation sequence is reset to step "" and the "TIMING" signal is output. Motor Operation CW CCW s min. Power Input -Pulse Input Mode Pulse Input Signal ON OFF ON OFF. s min. s min. s min. 3 3 s min. Rotation Direction Input Signal ON OFF -Pulse Input Mode CW Pulse Input Signal ON OFF s min. CCW Pulse Input Signal ON OFF ll Windings OFF Input Signal Step ngle Select Input Signal ON OFF ON OFF DT 3 s min. DT The section indicates that the photocoupler diode is emitting light. Switching time to change direction (-pulse input mode), and switching time to change CW, CCW pulse (-pulse input mode) µs is shown as a response time of circuit. The motor may need more time. Depends on load inertia, load torque, and starting frequency. 3 Never input a step pulse signal immediately after switching the "ll Windings Off" signal to the "photocoupler OFF" state. The motor may not start. Wait at least seconds before turning on the power again. 9

30 CN djusting the Current djusting the Motor Current Use the "RUN" potentiometer to decrease the current and suppress the temperature rise in the motor/driver, or when there is sufficient motor torque and you want to suppress vibration by lowering the current. Use the "STOP" potentiometer to readjust the current at motor standstill in relation to the holding-brake force of the motor. Factory settings Running current: Rated current Current at motor standstill: pprox. % of rated current Follow the procedure below to adjust the motor current. Connecting an mmeter Connect a DC ammeter as illustrated below. Connect a DC ammeter in series to the blue motor lead wire and motor connector pin No.. Set all driver input signals to the "photocoupler OFF" state. Do not connect the red motor lead wire to connector pin No., and black motor lead wire to connector pin No.. VDC GND CN djusting the Motor Running Current To adjust the motor running current, follow the procedure below:. Set the current cutback release signal to the "photocoupler ON" state. Keep other signals in the "photocoupler OFF" state.. Turn on the power to the driver. 3. Use the "RUN" potentiometer to adjust the motor's running current.. When the power is turned on, the value measured by the ammeter represents the total current in two phases through the blue motor lead wire. The current for one phase is equivalent to one-half the ammeter value. (Example: To set the current to. /phase, adjust the current level until the ammeter reads..). When the running current has been adjusted, set the current cutback release signal to the "photocoupler OFF" state. Notes: Be sure to use the motor at the rated current or below. djusting the running current will also change the current at standstill. djusting the Current at Motor Standstill To adjust the current at motor standstill, follow the procedure below: SW Current Cutback Release Signal VDC -Phase Stepping Motor Blue Red Orange Green Black CN3 Driver Note: Do not input pulse signals. Electric shock may result if the red and black motor lead wires contact each other. Insulate these motor lead wires to prevent electric shock.. Set the current cutback release signal to the "photocoupler OFF" state. Keep other signals in the "photocoupler OFF" state.. Turn on the power to the driver. 3. Use the "STOP" potentiometer to adjust the motor current at standstill.. When the power is turned on, the value measured by the ammeter represents the total current in two phases through the blue motor lead wire. The current for one phase is equivalent to one-half the ammeter value. (Example: To set the current to. /phase, adjust the current level until the ammeter reads..) Holding Torque [N m (oz-in)] Maximum Holding Torque [N m (oz-in)] Current at Standstill [] Motor Rated Notes: lways set the running current first, turn off the driver power and turn it back on, and then set the current at standstill. Setting the running current after current at standstill may change the current setting at standstill. Setting the current at motor standstill too low may affect the starting of the motor or the position-holding action. 3

31 List of Motor and Driver Combinations Model names for motor and driver combinations are shown below. Type Model Motor Model Driver Model High-Resolution Type High-Torque Type Standard Type TH Geared Type CRK3PMP CRK3PMBP CRKPMP CRKPMBP CRKPMP CRKPMBP CRKPMP CRKPMBP CRK6PMP CRK6PMBP CRK6PMP CRK6PMBP CRK66PMP CRK66PMBP CRK69PMP CRK69PMBP CRK3PP CRK3PBP CRK3PP CRK3PBP CRKPP CRKPBP CRKPP CRKPBP CRK6PP CRK6PBP CRK3P CRK3BP CRKP CRKBP CRKP CRKBP CRK6P CRK6BP CRK66P CRK66BP CRK69P CRK69BP CRK3PP-T7. CRK3PBP-T7. CRK3PP-T CRK3PBP-T CRK3PP-T CRK3PBP-T CRK3PP-T3 CRK3PBP-T3 CRK3P-T3.6 CRK3BP-T3.6 CRK3P-T7. CRK3BP-T7. CRK3P-T CRK3BP-T CRK3P-T CRK3BP-T CRK3P-T3 CRK3BP-T3 CRK6P-T3.6 CRK6BP-T3.6 CRK6P-T7. CRK6BP-T7. CRK6P-T CRK6BP-T CRK6P-T CRK6BP-T CRK6P-T3 CRK6BP-T3 PK3PM PK3PMB PKPM PKPMB PKPM PKPMB PKPM PKPMB PK6PM PK6PMB PK6PM PK6PMB PK66PM PK66PMB PK69PM PK69PMB PK3P PK3PB PK3P PK3PB PKP PKPB PKP PKPB PK6P PK6PB PK3NW PK3NBW PKNW PKNBW PKNW PKNBW PK6NW PK6NBW PK66NW PK66NBW PK69NW PK69NBW PK3P-T7. PK3PB-T7. PK3P-T PK3PB-T PK3P-T PK3PB-T PK3P-T3 PK3PB-T3 PK3W-T3.6 PK3BW-T3.6 PK3W-T7. PK3BW-T7. PK3W-T PK3BW-T PK3W-T PK3BW-T PK3W-T3 PK3BW-T3 PK6W-T3.6 PK6BW-T3.6 PK6W-T7. PK6BW-T7. PK6W-T PK6BW-T PK6W-T PK6BW-T PK6W-T3 PK6BW-T3 CRD3P CRD7P CRDP CRD3P CRD7P CRDP CRD3P CRD7P CRDP Type Model Motor Model Driver Model PN Geared Type Harmonic Geared Type CRK3PP-N CRK3PBP-N CRK3PP-N7. CRK3PBP-N7. CRK3PP-N CRK3PBP-N CRKP-N CRKBP-N CRKP-N7. CRKBP-N7. CRKP-N CRKBP-N CRK66P-N CRK66BP-N CRK66P-N7. CRK66BP-N7. CRK66P-N CRK66BP-N CRK6P-N CRK6BP-N CRK6P-N36 CRK6BP-N36 CRK6P-N CRK6BP-N CRK3P-H CRK3BP-H CRK3P-H CRK3BP-H CRK6P-H CRK6BP-H CRK6P-H CRK6BP-H PK3P-N PK3PB-N PK3P-N7. PK3PB-N7. PK3P-N PK3PB-N PKW-N PKBW-N PKW-N7. PKBW-N7. PKW-N PKBW-N PK66W-N PK66BW-N PK66W-N7. PK66BW-N7. PK66W-N PK66BW-N PK6W-N PK6BW-N PK6W-N36 PK6BW-N36 PK6W-N PK6BW-N PK3W-HS PK3BW-HS PK3W-HS PK3BW-HS PK6W-HS PK6BW-HS PK6W-HS PK6BW-HS CRD3P CRD7P CRDP CRD7P CRDP If you are purchasing only a motor for maintenance purpose, etc., motor leadwire/connector assembly will not be supplied. They must be furnished separately. They are available as optional parts. Motor leadwire/connector assembly Page 3

32 Controllers Controller for Stepping Motor SG3J Features ll operations including data setting can easily be performed using the four touch-screen buttons on the top panel. In addition, the number of signal lines is reduced to a minimum for easy connection. Jerk limit control function to suppress vibration during motor operation Supporting step sequential positioning operation and external signal operation Maximum oscillation frequency: khz -pulse/-pulse output mode switching DIN Rail Mounting Model Product Line Type DIN Rail Mounting Model Recessed Mounting Model Model SG3J-D SG3J-U Step No. Recessed Mounting Model Step No. Step No.3 Stored Program Controller EMP Series Step No. <Sequential Positioning> Features In addition to the superior oscillation function refl ecting Oriental Motor's wealth of expertise in motor design and manufacturing, the EMP Series also provides the I/O control function and the sequence function that allows for programming of a series of operations. Single xis Product Line Dual xis Operator Interface Unit (Sold separately) 3 different sequence programs can be input. Various operation patterns Teaching function When the optional operator interface unit OP3 is used, you can adjust the travel via teaching or monitor the current position. No special software is necessary. Sample Program Positioning operation pulse pulses Type Number of xes Connector EMP- Without connectors Single axis EMP- With connectors EMP- Without connectors Dual axis EMP- With connectors Operator Interface Unit OP3 []VS ;Starting speed Hz []V ;Operating speed Hz [3]T 3. ;cceleration/deceleration rate 3. ms/khz []D + ;Travel amount pulses []INC ;Execute relative positioning operation 3

33 Motor Mounting Brackets Motor mounting brackets are convenient for installation and securing a stepping motor. Product Line High-Resolution Type, High-Torque Type and Standard Type Material: luminum die cast Mounting Bracket Models PFP PLP pplicable Motor CRK P CRK P P CRK PM P CRK P CRK P P CRK PM P CRK6 P PLP- CRK6 PM P Enter the motor case length in the box ( ) within the model name. Enter (Single shaft) or B (Double shaft) in the box ( ) within the model name. The mounting bracket base is built with holes large enough to allow for alignment adjustments in the horizontal direction. These mounting brackets can be perfectly fitted to the pilot of the stepping motors. (except for PLP) Note: They cannot be used with geared stepping motors. Geared Type Material: luminum die cast Mounting Bracket pplicable Motor Models SOLB- CRK3 P-T SOL- CRK6 P-T Enter (Single shaft) or B (Double shaft) in the box ( ) within the model name. Enter the gear ratio in the box ( ) within the model name. The mounting bracket base is built with holes large enough to allow for alignment adjustments in the horizontal direction. No screws are supplied for installing. Provide appropriate screws separately. Motor Installation Direction The motor cable comes out at right angles to the motor. Orient the motor so that the cable faces either upward or sideways. Cable facing upward Cable facing sideways 33

34 Mounting the Motor z PLP- x PLP, SOLB-, SOL- c PFP B B B q Use the screws provided to secure the motor to the mounting bracket. w ttach the motor from the direction shown by the arrow (B). Dimensions Unit = mm (inch) quse the screws provided to secure the motor to the mounting bracket. (No screws are supplied for SOLB- and SOL-. Provide appropriate screws separately.) w ttach the motor from the direction shown by the arrow (B). q Use the screws provided to secure the motor to the mounting bracket. w ttach motor from the direction shown by either arrow () or arrow (B). PLP : 3 g (. oz.) B39 PFP : 3 g (.6 oz.) B (.6) 3.3 (..) 3. (.3) Thru (.97) 9.3 (..) 6 (.) 6 (.36) 3.3 (..) (.9) (.9) (. ) Screws (Included) M3P. Length mm (.39 inch) Pieces PLP- : g (3.9 oz.) B3 3 (.9) 3. (.) 3 (.9) (.3). (.) (.9) 3 (.) (.) (.77) R. (R.9) (.9) (.79) 3. (.). (.) (.3) 66 (.6) (.3) 3.3 (..) 3 (.) (.6) 3. (.3) Thru 3 (.) (.7) (.6) (.7) 7 (.) Screws (Included) M3P. Length 7 mm (. inch) Pieces. (.7. ) 7 (.) Cross Section R (R.9) 6 (.6) (.3) 3 Screws (Included) No.-3 UNC Pieces. (.7). (.6) 6. (.6) (.) 3. (.) (.7. ) 6 (.) (.6) (.7) (.) NO. 3 UNC. (.969.) 6 (.). (.969.) 3 (.6) 3 (3.7) 7. (.3). (.7.) 7 (.76)

35 SOLB- : g (3 oz.) B67 (.3) 7 (.3) (.79). (.7) 7. (.9) (.79) SOL- : g (. oz.) B6. (.3). (.33) 93 (3.66) 3 (.) 3 (.) (.9) 9 (.3) (.) (.) 9 (.3) (.) 7 (3.7) 6 (.) (.9). (.77) Thru 6 (.) (.7) 3 (.) 6 (.) (.73) 3..3 (.7.) (3.6). (.77) Thru (.) (.3). (.7.) (.6) 6 (.) 6 (.) 36 (.) (.7) (.79) 7.3 (.76.) (.) (.) (.3). (.97.) (.3) (3.3) (.3) (.97) (.97) 3

36 Flexible Couplings flexible coupling ideal for your motor is available. Once you have decided on a motor and/or gear, you can select the recommended coupling easily. ll motor shaft diameters of stepping motor packages are available (including geared motors). Features of MCS Couplings This three-piece coupling adopts an aluminum alloy hub and a resin spider. The simple construction ensures that the high torque generated by a geared motor can be transmitted reliably. The proper elasticity of the spider suppresses motor vibration. High strength (usable for geared motor) has been realized. spider (material: polyurethane) controls the vibration generated by the motor. No backlash. Product Number Code MCS 3 q w e r q w e r MCS Couplings Outer Diameter of Coupling Inner Diameter d (Smaller Side) [F represents 6.3 mm (. in.)] Inner Diameter d (Larger Side) [F represents 6.3 mm (. in.)] Coupling Selection Table Outer Diameter Driven Shaft Diameter mm (in.) Package Model Gear Ratio of Shaft Type mm (in.) (.7) (.969) (.36) (.) (.3) (.3937) (.7) (.) (.96) (.699) CRK3P P (.7) CRK P P CRK PM P CRK P CRK P P (.969) MCS CRK PM P CRK3P P-T 7.,,, 3 CRK3 P-T3.6 6 (.36) CRK3 P-T 7., 6 (.36) CRK6 P CRK66 P (.3) MCS CRK3P P-N, 7., CRK P-N, 7. (.3937) CRK3 P-T, 3 6 (.36) CRK6 P CRK6PM P (.3) CRK66PM P MCS3 CRK6 P-T 3.6, 7. CRK69PM P CRK P-N (.3937) CRK6 P-T,, 3 (.3) CRK3 P-H, (.3937) MCS CRK66 P-N, 7. (.7) CRK66 P-N CRK6 P-N, 36, (.7) MCS CRK6 P-H, Enter the motor case length in the box ( ) within the model name. Enter (Single shaft) or B (Double shaft) in the box ( ) within the model name. Enter the gear ratio in the box ( ) within the model name. 36

37 Specifications Model MCS MCS MCS6 MCS MCS6 MCS66 MCS6 MCS MCS66 MCS6F MCS6 MCS6 MCSF MCSF MCS MCS MCS MCS366 MCS36F MCS36 MCS36 MCS3F MCS3F MCS3 MCS3 MCS3 MCS3 MCS3 MCS3 MCS MCS MCS MCS MCS MCS MCS MCS MCS MCS MCS MCS MCS6 Outer Diameter mm (in.) (.) (.79) 3 (.) (.7) (.7) Length W mm (in.) (.7) 3 (.) 3 (.3) 66 (.6) 7 (3.7) xis Hole Diameter d H7 mm (in.) xis Hole Diameter d H7 mm (in.) (.7) (.7) (.7) (.969) (.7) 6 (.36) (.969) (.969) (.969) 6 (.36) 6 (.36) 6 (.36) (.969) 6 (.36) (.969) (.3) 6 (.36) 6 (.36) 6 (.36) 6.3 (.) 6 (.36) (.3) 6 (.36) (.3937) 6.3 (.) (.3) 6.3 (.) (.3937) (.3) (.3) (.3) (.3937) (.3937) (.3937) 6 (.36) 6 (.36) 6 (.36) 6.3 (.) 6 (.36) (.3) 6 (.36) (.3937) 6.3 (.) (.3) 6.3 (.) (.3937) (.3) (.3) (.3) (.3937) (.3) (.7) (.3937) (.3937) (.3937) (.7) (.3937) (.) (.3) (.3) (.3) (.3937) (.3) (.7) (.3) (.96) (.3937) (.3937) (.3937) (.7) (.3937) (.96) (.7) (.7) (.7) (.96) (.7) (.7) (.7) (.) (.7) (.96) (.7) 6 (.699) Dimensions Key Slot Tolerance b/t mm (in.) L mm (in.) Screw Used M 7 M M. M3 (.3) b :. (.77.) t :. ( ) (.3937) b : 3. (..) t :.. (..39 ) (.7) b :. (.7.6) t :.. (.7.39 ) (.) b :. (.969.6) t :.3. (.9.39 ) (.96) b :. (.969.6) t :.3. (.9.39 ) 6 (.699) b :. (.969.6) t :.3. (.9.39 ) M6 3 M6 Normal Torque N m (lb-in). (7.7). (). () 7. () 6. (3) g (oz.) 6.7 (.3) 9. (.69).6 (.7) 39 (.9) () Inertia kg m (oz-in ). -6 (.).9-6 (.6) (.33).9-6 (.3) (6) Static Torsion Spring Constant N m/rad (lb-in/rad).9 ().6 () 7.9 () 9. (76) 63 () Permissible Eccentricity mm (in.).6 (.). (.3).9 (.3).6 (.). (.39) Permissible Declination deg Permissible End Play mm (in.).6. ( )..3 ( )..39 ( )..7 ( ).. ( ) 37

38 Dimensions MCS : 6.7 g (.3 oz.) MCS : 9. g (.69 oz.) MCS3 :.6 g (.7 oz.) W L L M d d MCS : 39 g (.9 oz.) L W L d d t MCS : g ( oz.) W L L d d t M M b b Mounting to a Shaft Clamp Type Clamp couplings use the tightening force of the screw to compress the shaft hole diameter and thereby fasten the coupling to the shaft. This does not damage the shaft and is easy to mount and remove. The following table shows the screw tightening torque. We recommend use of a torque wrench to fasten the coupling. Type MCS MCS MCS3 MCS MCS Tightening Torque N m (oz-in).37 ().76 (7).3 (9). (9). (9) lignment djustment Flexible couplings tolerate misalignment of the axis center and transfer rotational angle and torque, but produce vibration when the permissible value for misalignment is exceeded. This can dramatically shorten the coupling's service life. This requires alignment adjustment. Misalignment of the axis center includes eccentricity (parallel error of both centers), declination (angular error of both centers) and end play (shaft movement in the axial direction). To keep misalignment within the permissible value, always check and adjust the alignment. To increase the service life of the coupling, we recommend keeping misalignment to below /3 of the permissible value. Straight Edge Eccentricity Declination End Play Notes: When misalignment exceeds the permissible value or excessive torque is applied, the coupling's shape will deform, and service life is shortened. When the coupling emits a metallic sound during operation, stop operation immediately and ensure there is no misalignment, axis interference or loose screws. When load changes are large, paint the coupling set screw with an adhesive to prevent the coupling screw from loosening. 3

39 Clean Dampers Mechanical dampers suppress stepping motor vibration and improve high-speed performance. n inertia body and silicon gel are hermetically sealed in a plastic case. Features Excellent vibration absorption The doughnut-shaped internal inertia body and silicon gel absorb vibration. This feature enables a stable damping effect. Since there is no frictional dust as in conventional magnetic dampers, it can be used in environments where higher degrees of cleanness is needed. High reliability. It holds up well in harsh environments and changes little with age because the silicon gel and plastic case used are heat resistant. Machine part is sealed hermetically in a plastic case. This ensures safety and doesn't generate noise. Shaft Holes V EXT V EXT V EXT V EXT Ring Silicon Gel Inertia Body Case <Clean Damper Structure> Product Line Model Inertia kg m (oz-in ) g (lb.) pplicable Motor DCL-.F 3 7 (.6) (.3) CRK PBP CRK PMBP CRK3PBP-T CRK3PBP-N CRK BP CRK PBP CRK PMBP CRK3BP-T CRKBP-N CRK3BP-H D6CL-.F 7 (.77) 6 (.3) CRK6 BP CRK6 PMBP CRK6BP-T CRK6 BP-N CRK6BP-H mbient Temperature: C C ( F 76 F) Enter the motor case length in the box ( ) within the model name. Enter the gear ratio in the box ( ) within the model name. Installation of the Clean Damper Point the mounting screws of the clean damper toward the motor case, fasten to the shaft and tighten the damper's mounting screws ( places) with a hexagonal wrench to secure it to the shaft. Type DCL-.F D6CL-.F Tightening Torque N m (oz-in). (6). () Notes: There are mounting screws with hexagonal holes in two damper locations, so tighten them both before running the motor. The damper rotates at the same speed as the motor shaft, so do not touch it while the motor is running. Dimensions Unit = mm (inch) D C d Model d B C D E E d B DCL-.F D6CL-.F ( )..3.9 ( ) (..) (..) (.3.) (.9.) (.7.) (.79.) (.9.) (.7.) M3 M 39

40 Cables Driver Leadwire Set Product Line Model pplicable Driver Length m (ft.) LCSSD CRD3P CRD7P CRDP s an option for DC input drivers, leadwires with a connector are available. Crimping is not necessary, and the connection with the motor, power supply, input/output signal is also easy. The driver leadwire set includes three sets of leadwire/connector assembly (for motor, power supply and input/output signal)..6 () Motor Leadwire/Connector ssembly Product Line These leadwires with connectors are available for connection with the motor, eliminating the need for assembling a connector. motor cable of.6 m ( ft.) is included with the connector type packages. Model Package Model Motor Model Length m (ft.) LCN6 CRK3P P CRK P P CRK PM P CRK3P P-T CRK3P P-N PK3P PK P PK PM PK3P -T PK3P -N.6 () LCN (3.3) LCN6B CRK P P PK P.6 () LCNB CRK PM P PK PM (3.3) LCN6C.6 () CRK6 PM P PK6 PM LCNC (3.3) Enter the motor case length in the box ( ) within the model name. Enter (Single shaft) or B (Double shaft) in the box ( ) within the model name. Enter the gear ratio in the box ( ) within the model name. This product is manufactured at a plant certified with the international standards ISO 9 (for quality assurance) and ISO (for systems of environmental management). Specifications are subject to change without notice. This catalog was published in May,. ORIENTL MOTOR U.S.. CORP. Western Sales and Customer Service Center Tel: (3) 7-33 Fax: (3) -9 Los ngeles Tel: (3) 7-33 San Jose Tel: () Midwest Sales and Customer Service Center Tel: (7) - Fax: (7) 3- Chicago Tel: (7) - Dallas Tel: () Toronto Tel: (9) -333 Eastern Sales and Customer Service Center Tel: (7) -6 Fax: (7) -67 Boston Tel: (7) -6 Charlotte Tel: (7) New York Tel: (973) 39- Technical Support Tel: () 6-39 / :3.M. to : P.M., P.S.T. (M F) 7:3.M. to : P.M., C.S.T. (M F) techsupport@orientalmotor.com Obtain Specifications, Online Training and Purchase Products at: Copyright - ORIENTL MOTOR U.S.. CORP. Printed in Japan S K K #37 This printed material uses ECF (Elementary Chlorine Free) paper and soy inks. This combination is environmentally friendly.