5-Phase Stepping Motor and Driver Package RK Series

Transcription

1 RoHS-Compliant -Phase Stepping Motor and Driver Package RK Series Standard Type PN Geared Type TH Geared Type Harmonic Geared Type

2 RoHS-Compliant -Phase Stepping Motor and Driver Package RK Series The RK Series incorporates new functions and state-of-the-art technologies to achieve the ultimate utility of a control motor. The series offers various types including the standard type, IP6 rated motor type, and three geared types. Three frame sizes of mm (1.6 in.), 6 mm (.36 in.) and mm (3.3 in.) [9 mm (3. in.)] are available. The wide-ranging motor variations and affordable price make the RK Series a perfect solution for your various applications. Features z x c v b xmicrostep Drive System The motor's basic step angle is divided by a maximum of 1/ without the use of a reduction mechanism or other mechanical means. 16 resolution levels are available to set the desired resolution. This enables fine positioning and the further reduction of vibration and noise. A motion sequence of "low-speed transfer high-speed return" can easily be performed without the need for changing from a microstep pulse frequency to a full step pulse frequency. The RK Series can also be used in full-step operation. zsmooth Drive Function The smooth drive function ensures low-vibration and low-noise operation at low speeds by internally executing microstepping within the driver, working independently of the input pulse frequency of your controller. Vibration Component Voltage Vp-p[V] RK66BAE Step Angle:.7 /step Smooth Drive: OFF Smooth Drive: ON 1 3 The smooth drive function of the RK Series improves rotor settling time performance. Step Angle:.7 /step Step Angle:.7 /step c1-11 VAC, -3 VAC Power Source Variation The RK Series can be used with most common power supplies available around the world. They also comply with the international standards, ensuring safe operation. vimproved Angle Accuracy Angle accuracy may decrease during use of microstep drivers, due to the effect of current control. However, the drivers used in the RK Series are designed to ensure that the motor operates at maximum accuracy. Angle Error [deg] Power Supply Voltage: 1-11 VAC Resolution (.36 /step) ms/div 1 ms/div Conventional Model RK (Smooth Drive: ON)

3 bimproved Response The RK Series, with its high starting frequency, shortens the machine cycle without affecting acceleration/deceleration rates. This produces a significant savings in time for an operation in which the same cycle is repeated thousands of times each day. New IP6 Rated Motor Conforming to the IP6 Standard for Ingress Protection against Dust and Water Features No-Load State RK66AAE Conventional Model1 Conventional Model Line-up Rise Time [ms] Terminal-Block Connection Design The motor can be wired directly to its terminal block. System Configuration Safe Operation in Major Countries around the World Compliance with Safety Standards The RK Series complies with the UL/CSA and EN standards. (With the RK type, only the driver conforms to the CSA standard.) The CE marking certifies compliance with the EMC Directive and Low-Voltage Directive. Additionally, the RK Series conforms to the EMC Directive only through its use of surge arrester. The RK Series doesn't require an external ferrite core or filter in the motor line or power line. Power Line To Power Supply Motor Line No Power Supply Filter Needed No Ferrite Core Needed Surge Arrester Signal Line To Controller Protective Earth Terminal [Excluding motors with a frame size of mm (1.6 in.)] Terminal Box No Motor/Driver Relay Since the motor cable can be connected directly with the driver terminals, there is no need for wire connection or soldering on a relay terminal block. Motor Cable Product Line Specifications and Characteristics Connection List of Motor and and Operation Driver Combinations Protective Earth Terminal Extended Bearing Life The life of a motor is affected by its bearing. The RK Series achieves approximately twice the life of a conventional motor by adopting a modified bearing. [Available only with the standard type with a frame size of 6 mm (.36 in.) or mm (3.3 in.).] RoHS-Compliant Driver The RK 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 E.U. member countries on or after July 1, 6. The six controlled substances are: lead, hexavalent chromium, cadmium, mercury and two specific brominated flame-retardants (PBB and PBDE). Accessories Before Using a Stepping Motor Controllers 3

4 Wide Variety The RK Series offers a range of motor frame sizes depending on the motor type and power supply voltage specification, as shown below. [" ( 1.6)" indicates a motor frame size of mm (1.6 in.).] Power Supply Voltage Standard Type Standard Type IP6 Rated Motor TH Geared Type PN Geared Type Harmonic Geared Type Single-Phase 1-11 VAC ( 1.6) 6 (.36) ( 3.3) 6 (.36) ( 3.3) ( 1.6) 6 (.36) 9 ( 3.) ( 1.6) 6 (.36) 9 ( 3.) ( 1.6) 6 (.36) 9 ( 3.) Single-Phase 6 (.36) 6 (.36) 6 (.36) 6 (.36) 6 (.36) -3 VAC ( 3.3) ( 3.3) 9 ( 3.) 9 ( 3.) 9 ( 3.) Standard Type/Standard Type IP6 Rated Motor Easy-to-use standard types offer balanced performance. The IP6 rated motor conforms to the IP6 standard for ingress protection against dust and water. PN Geared Type (Non-backlash) A high-accuracy geared motor achieves a backlash of 3 arc minutes or less. It also provides high strength and wide gear ratios. TH Geared Type (Low backlash) A low-cost geared motor offers low backlash. Harmonic Geared Type (Non-backlash) A high-accuracy, backlash-free geared motor adopts a newly developed harmonic gear. It ensures high strength in a compact body.

5 Characteristics Comparison for Geared Motors Wide variety of geared motors are available according to your needs. Non-backlash Low backlash Geared Type TH Geared (Parallel Shaft) PN Geared (Planetary) New Construction Harmonic Geared (Harmonic Drive) Features A wide variety of low gear ratios for high-speed operation Gear ratios: 3.6:1, 7.:1, 1:1, :1, 3:1 High speed (low gear ratio), high positioning precision High permissible/maximum torque Wide variety of gear ratios for selecting the desired step angle. (resolution) Centered output shaft Gear ratios: :1, 7.:1, 1:1, :1, 36:1, :1 High positioning precision High permissible/maximum torque High gear ratio, high resolution Centered output shaft Gear ratios: :1, 1:1 (Maximum Torque) [Nm (lb-in.)] 1 (16) Permissible Torque 37 (3) Maximum Torque 6 (3) Permissible Maximum Torque Torque 37 (3) () Note: The values shown above must be used as reference. These values vary depending on the series, frame size and gear ratio. Safety Standards and CE Marking Model Stepping Motor Driver UL 1 UL 111 CSA C. No.1 1 CSA C. No.77 1 EN 69-1 EN 63-1 EN 63- UL C 3 EN 17 Certification Standards Standards File No. CE Marking Body CSA C. No.1 UL VDE UL File No. E6199 Licence No File No. E1716 Low Voltage Directives EMC Directives 3 Backlash [min] Basic Resolution Output Shaft Speed [deg/step] [r/min] 1 Except for RK type. Except for RK6 and RK9 type motors, PN geared type RK-N motors and harmonic geared type RK3-H motors. 3 Test Condition is Maximum Surrounding Air Temperature C (1 F) according to UL Standards. (UL C) 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 33 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 Features Line-up System Configuration Product Line Specifications and Characteristics Connection List of Motor and and Operation Driver Combinations Accessories Before Using a Stepping Motor Controllers

6 System Configuration An example of a system configuration with the EMP Series controller. Motor Mounting Brackets (Accessories) ( Page ) Extension Cables (Accessories) ( Page 3) Driver Cables (Accessories) Driver-controller cables that allow for one-touch connection. ( Page 3) Connector-Terminal Block Conversion Unit (Accessories) ( Page 36) Programmable Controller Flexible Couplings (Accessories) Non-backlash couplings for high positioning precision. ( Page 37) Motor RK Series Driver AC Power Supply EMP Series Controller (Sold separately) ( Page ) VDC Power Supply (Not supplied) (Not supplied) Example of System Configuration : Required under this system. : Selectable according to necessity. Oriental Motor can provide as an option. (Body) (Sold separately) RK Series Mounting Flexible Extension Cable Driver Cable Controller RK6AAE Bracket Coupling [ m (16. ft.)] [1 m (3.3 ft.)] EMP1-1 PALP-A MCS CCPK CC1EMP Connector-Terminal Block Conversion Unit CCT1 The system configuration shown above is an example. Other combinations are available. 6

7 Product Number Code RK 6 6 B A E - N q w e r t y u i o Product Line Standard Type Power Supply Voltage Model (Single Shaft) Model (Double Shaft) RK3AA RK3BA RKAA RKBA RKAA RKBA RK6AAE RK6BAE Single-Phase RK66AAE RK66BAE 1-11 VAC RK69AAE RK69BAE RK96AAE RK96BAE RK99AAE RK99BAE RK913AAE RK913BAE RK6ACE RK6BCE RK66ACE RK66BCE Single-Phase RK69ACE RK69BCE -3 VAC RK96ACE RK96BCE RK99ACE RK99BCE RK913ACE RK913BCE Standard Type IP6 Rated Motor Power Supply Voltage Single-Phase 1-11 VAC Single-Phase -3 VAC TH Geared Type Model RK6AAT RK66AAT RK69AAT RK96AAT RK99AAT RK913AAT RK6ACT RK66ACT RK69ACT RK96ACT RK99ACT RK913ACT Power Supply Voltage Model (Single Shaft) Model (Double Shaft) RK3AA-T3.6 RK3BA-T3.6 RK3AA-T7. RK3BA-T7. RK3AA-T1 RK3BA-T1 RK3AA-T RK3BA-T RK3AA-T3 RK3BA-T3 RK6AAE-T3.6 RK6BAE-T3.6 RK6AAE-T7. RK6BAE-T7. Single-Phase RK6AAE-T1 RK6BAE-T VAC RK6AAE-T RK6BAE-T RK6AAE-T3 RK6BAE-T3 RK96AAE-T3.6 RK96BAE-T3.6 RK96AAE-T7. RK96BAE-T7. RK96AAE-T1 RK96BAE-T1 RK96AAE-T RK96BAE-T RK96AAE-T3 RK96BAE-T3 RK6ACE-T3.6 RK6BCE-T3.6 RK6ACE-T7. RK6BCE-T7. RK6ACE-T1 RK6BCE-T1 RK6ACE-T RK6BCE-T Single-Phase RK6ACE-T3 RK6BCE-T3-3 VAC RK96ACE-T3.6 RK96BCE-T3.6 RK96ACE-T7. RK96BCE-T7. RK96ACE-T1 RK96BCE-T1 RK96ACE-T RK96BCE-T RK96ACE-T3 RK96BCE-T3 Series RK: RK Series : -Phase Motor Frame Size : mm (1.6 in.) 6: 6 mm (.36 in.) 9: mm (3.3 in.) [9 mm (3. in.) sq. for Geared Type] Motor Case Length Motor Shaft Type A: Single Shaft B: Double Shaft Power Supply Voltage A: Single-Phase 1-11 VAC C: Single-Phase -3 VAC Motor Classifi cation Type Blank: Standard Type T: TH Geared Type N: PN Geared Type H: Harmonic Geared Type Gear Ratio Features Line-up System Configuration Product Line Specifications and Characteristics Connection List of Motor and and Operation Driver Combinations Accessories Before Using a Stepping Motor Controllers 7

8 PN Geared Type Power Supply Voltage Model (Single Shaft) Model (Double Shaft) RKAA-N RKBA-N RKAA-N7. RKBA-N7. RKAA-N1 RKBA-N1 RK66AAE-N RK66BAE-N RK66AAE-N7. RK66BAE-N7. RK66AAE-N1 RK66BAE-N1 RK6AAE-N RK6BAE-N Single-Phase RK6AAE-N36 RK6BAE-N VAC RK6AAE-N RK6BAE-N RK99AAE-N RK99BAE-N RK99AAE-N7. RK99BAE-N7. RK99AAE-N1 RK99BAE-N1 RK96AAE-N RK96BAE-N RK96AAE-N36 RK96BAE-N36 RK96AAE-N RK96BAE-N RK66ACE-N RK66BCE-N RK66ACE-N7. RK66BCE-N7. RK66ACE-N1 RK66BCE-N1 RK6ACE-N RK6BCE-N RK6ACE-N36 RK6BCE-N36 Single-Phase RK6ACE-N RK6BCE-N -3 VAC RK99ACE-N RK99BCE-N RK99ACE-N7. RK99BCE-N7. RK99ACE-N1 RK99BCE-N1 RK96ACE-N RK96BCE-N RK96ACE-N36 RK96BCE-N36 RK96ACE-N RK96BCE-N Harmonic Geared Type Power Supply Voltage Model (Single Shaft) Model (Double Shaft) RK3AA-H RK3BA-H RK3AA-H1 RK3BA-H1 Single-Phase RK6AAE-H RK6BAE-H 1-11 VAC RK6AAE-H1 RK6BAE-H1 RK96AAE-H RK96BAE-H RK96AAE-H1 RK96BAE-H1 RK6ACE-H RK6BCE-H Single-Phase RK6ACE-H1 RK6BCE-H1-3 VAC RK96ACE-H RK96BCE-H RK96ACE-H1 RK96BCE-H1

9 Standard Type Motor Frame Size mm (1.6 in.) Specifications Model Single-Phase 1-11 VAC With the RK type, only the driver conforms to the CSA standard. Single Shaft RK3AA RKAA RKAA Double Shaft RK3BA RKBA RKBA Maximum Holding Torque Nm (oz-in).13 (1.).1 (). (3) Rotor Inertia J: kgm (oz-in ) 31-7 (.191) 1-7 (.3) 61-7 (.37) Rated Current A/Phase.7 Basic Step Angle.7 Power Source Single-Phase 1-11 VAC1%/6 Hz1 A Excitation Mode Microstep Basic Angle/n (/step) Mass Motor kg (lb.). (.).3 (.66). (.) Driver kg (lb.). (.) Dimension No. Motor z Driver How to Read Specifications Table See the following descriptions. Sixteen resolutions are available, where n=1,,.,,,, 1,,,,,, 1, 1, and. Speed Torque Characteristics : Maximum Starting Frequency RK3AA/RK3BA RKAA/RKBA RKAA/RKBA 3 1 Torque [oz-in] Current:.7 A/Phase Step Angle:.7 /step Load Inertia: JL = oz-in () 1 (1) Pullout Torque 1 3 () 3 (3) Resolution1 (Resolution1) 3 1 Torque [oz-in] 3 1 Torque [N m] Current:.7 A/Phase Step Angle:.7 /step Load Inertia: JL = oz-in.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 1 C (1 F). [Under 7 C (167 F) is required to comply with UL or CSA 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 % () (1) Pullout Torque () How to Read Specifications Table Please read the following information before examining the specifications on pages 9 to 1. 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). At motor standstill, the driver, s Automatic Current Cutback function reduces the maximum holding torque by approximately %. 3 (3) Resolution1 (Resolution1) 3 1 Torque [oz-in] 3 1 Torque [N m] Current:.7 A/Phase Step Angle:.7 /step Load Inertia: JL = oz-in () Pullout Torque (1) () 3 (3) Resolution1 (Resolution1) System Features Line-up Configuration Product Line Specifications and Characteristics Connection List of Motor and and Operation Driver Combinations : Maximum Torque: Angle 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) Accessories Before Using a Stepping Motor Controllers 9

10 Standard Type Motor Frame Size 6 mm (.36 in.), mm (3.3 in.) Specifications Model Single-Phase 1-11 VAC Single-Phase -3 VAC Single Shaft RK6AAE RK66AAE RK69AAE RK96AAE RK99AAE RK913AAE Double Shaft RK6BAE RK66BAE RK69BAE RK96BAE RK99BAE RK913BAE Single Shaft RK6ACE RK66ACE RK69ACE RK96ACE RK99ACE RK913ACE Double Shaft RK6BCE RK66BCE RK69BCE RK96BCE RK99BCE RK913BCE Maximum Holding Torque Nm (oz-in). (9).3 (117) 1.66 (3).1 (9).1 () 6.3 (9) Rotor Inertia J: kgm (oz-in ) (.96) 1-7 (1.3) 61-7 (3.1) 11-7 (7.7) 71-7 (1.) 1-7 () Rated Current A/Phase 1. Basic Step Angle.7 Power Source Single-Phase 1-11 VAC1% /6 Hz. A Single-Phase -3 VAC 1% 1% /6 Hz 3. A Excitation Mode Microstep Basic Angle/n (/step) Mass Motor kg (lb.).6 (1.3). (1.) 1.3 (.9) 1.7 (3.7). (6.) 3. (.) Driver kg (lb.). (1.9) Dimension No. Motor x c Driver 6 How to Read Specifications Table Page 9 Sixteen resolutions are available, where n=1,,.,,,, 1,,,,,, 1, 1, and. Speed Torque Characteristics : Maximum Starting Frequency RK6AE/RK6CE RK66AE/RK66CE RK69AE/RK69CE 6 Torque [oz-in] 1 6 Current: 1. A/Phase Step Angle:.7 /step Load Inertia: JL = oz-in () Pullout Torque 1 (1) () RK6AE RK6CE 3 (Resolution 1) (3) (Resolution 1) Torque [oz-in] 1 1 Current: 1. A/Phase Step Angle:.7 /step Load Inertia: JL = oz-in 1. RK66AE 1. RK66CE Pullout Torque..6.. () (1) () 3 (3) (Resolution 1) (Resolution 1) Torque [oz-in] Current: 1. A/Phase Step Angle:.7 /step Load Inertia: JL = oz-in () Pullout Torque (1) () RK69AE RK69CE 3 (3) (Resolution 1) (Resolution 1) RK96AE/RK96CE RK99AE/RK99CE RK913AE/RK913CE 1 Torque [oz-in] 3 1 Current: 1. A/Phase Step Angle:.7 /step Load Inertia: JL = oz-in () Pullout Torque (1) RK96AE RK96CE () (Resolution 1) (Resolution 1) Torque [oz-in] 6 Current: 1. A/Phase Step Angle:.7 /step Load Inertia: JL = oz-in 6 RK99AE RK99CE Pullout Torque Enter A (Single shaft) or B (Double shaft) in the box () within the model name. 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 1 C (1 F). [Under 7 C (167 F) is required to comply with UL or CSA 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 1 () (Resolution 1) () (1) (Resolution 1) Torque [oz-in] Current: 1. A/Phase Step Angle:.7 /step Load Inertia: JL = oz-in 1 RK913AE RK913CE 6 () Pullout Torque 1 1 () 1 (1) (Resolution 1) (Resolution 1) 1

11 Standard Type IP6 Rated Motor Motor Frame Size 6 mm (.36 in.), mm (3.3 in.) Specifications Model Single-Phase 1-11 VAC RK6AAT RK66AAT RK69AAT RK96AAT RK99AAT RK913AAT Single-Phase -3 VAC RK6ACT RK66ACT RK69ACT RK96ACT RK99ACT RK913ACT Maximum Holding Torque Nm (oz-in). (9).3 (117) 1.66 (3).1 (9).1 () 6.3 (9) Rotor Inertia J: kgm (oz-in ) (.96) 1-7 (1.3) 61-7 (3.1) 11-7 (7.7) 71-7 (1.) 1-7 () Rated Current A/Phase 1. Basic Step Angle.7 Power Source Single-Phase 1-11 VAC1% /6 Hz. A Single-Phase -3 VAC 1% 1% /6 Hz 3. A Excitation Mode Microstep Basic Angle/n 1 (/step) Insulation Class Motor: IP6 Driver: IP1 Mass Motor kg (lb.). (1.) 1.1 (.) 1.6 (3.). (.) 3.3 (7.3). (9.7) Driver kg (lb.). (1.9) Dimension No. Motor v b Driver 6 How to Read Specifications Table Page 9 1 Sixteen resolutions are available, where n=1,,.,,,, 1,,,,,, 1, 1, and. Excluding the gap between the shaft and the flange 6 1 Speed Torque Characteristics : Maximum Starting Frequency RK6AAT/RK6ACT RK66AAT/RK66ACT RK69AAT/RK69ACT Torque [oz-in] 1 6 Current: 1. A/Phase Step Angle:.7 /step Load Inertia: JL = oz-in () Pullout Torque 1 (1) () RK6AAT RK6ACT 3 (Resolution 1) (3) (Resolution 1) Torque [oz-in] 1 1 Current: 1. A/Phase Step Angle:.7 /step Load Inertia: JL = oz-in 1. RK66AAT 1. RK66ACT Pullout Torque..6.. () 1 3 RK96AAT/RK96ACT RK99AAT/RK99ACT RK913AAT/RK913ACT Torque [oz-in] 3 1 Current: 1. A/Phase Step Angle:.7 /step Load Inertia: JL = oz-in () Pullout Torque (1) RK96AAT RK96ACT () (Resolution 1) (Resolution 1) Torque [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 1 C (1 F). [Under 7 C (167 F) is required to comply with UL or CSA 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 %. 1 (1) () 3 (3) Current: 1. A/Phase Step Angle:.7 /step Load Inertia: JL = oz-in 6 RK99AAT RK99ACT Pullout Torque 3 1 () (Resolution 1) (Resolution 1) (Resolution 1) () (1) (Resolution 1) Torque [oz-in] Torque [oz-in] Current: 1. A/Phase Step Angle:.7 /step Load Inertia: JL = oz-in () () Pullout Torque (1) () () RK69AAT RK69ACT 3 (3) Current: 1. A/Phase Step Angle:.7 /step Load Inertia: JL = oz-in 1 RK913AAT RK913ACT 6 Pullout Torque 1 (1) (Resolution 1) (Resolution 1) 1 1 (Resolution 1) (Resolution 1) Features Line-up System Configuration Product Line Specifications and Characteristics Connection List of Motor and and Operation Driver Combinations Accessories Before Using a Stepping Motor Controllers 11

12 TH Geared Type Motor Frame Size mm (1.6 in.) Specifications With the RK type, only the driver conforms to the CSA standard. Model Single-Phase 1-11 VAC Single Shaft RK3AA-T3.6 RK3AA-T7. RK3AA-T1 RK3AA-T RK3AA-T3 Double Shaft RK3BA-T3.6 RK3BA-T7. RK3BA-T1 RK3BA-T RK3BA-T3 Maximum Holding Torque Nm (lb-in).3 (3).7 (6.1) 1 (.) 1. (13.) Rotor Inertia J: kgm (oz-in ) 31-7 (.191) Rated Current A/Phase.7 Basic Step Angle Gear Ratio 3.6:1 7.:1 1:1 :1 3:1 Nm (lb-in).3 (3).7 (6.1) 1 (.) 1. (13.) Backlash arc minute (degrees) (.7 ) (.17 ) 1 (. ) Permissible Speed Range r/min Power Source Single-Phase 1-11 VAC1%/6 Hz1 A Excitation Mode Microstep Basic Angle/n (/step) Mass Motor kg (lb.).3 (.77) Driver kg (lb.). (.) Dimension No. Motor n Driver How to Read Specifications Table Page 9 Sixteen resolutions are available, where n=1,,.,,,, 1,,,,,, 1, 1, and. Note: Direction of rotation of the motor and that of the gear output shaft are the same for models with gear ratios of 3.6:1, 7.:1 and 1:1. It is opposite for :1 and 3:1 gear ratio models. Speed Torque Characteristics : Maximum Starting Frequency RK3AA-T3.6/RK3BA-T3.6 RK3AA-T7./RK3BA-T7. RK3AA-T1/RK3BA-T Current:.7 A/Phase Step Angle:. /step Load Inertia: JL = oz-in () () 1 (1) 1 Resolution1 (1) (Resolution1) Current:.7 A/Phase Step Angle:.1 /step Load Inertia: JL = oz-in () () 1 (1) 1 Resolution1 (1) (Resolution1) Current:.7 A/Phase Step Angle:.7 /step Load Inertia: JL = oz-in () () 1 (1) 1 Resolution1 (1)(Resolution1) RK3AA-T/RK3BA-T RK3AA-T3/RK3BA-T3 Current:.7 A/Phase Step Angle:.36 /step Load Inertia: JL = oz-in. Current:.7 A/Phase Step Angle:. /step Load Inertia: JL = oz-in () 1 () (1) 1 Resolution1 (1) (Resolution1) () () 1 (1) 1 Resolution1 (1) (Resolution1) 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 1 C (1 F). [Under 7 C (167 F) is required to comply with UL or CSA 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 %. 1

13 TH Geared Type Motor Frame Size 6 mm (.36 in.) Specifications Model Single-Phase 1-11 VAC Single Shaft RK6AAE-T3.6 RK6AAE-T7. RK6AAE-T1 RK6AAE-T RK6AAE-T3 Double Shaft RK6BAE-T3.6 RK6BAE-T7. RK6BAE-T1 RK6BAE-T RK6BAE-T3 Single-Phase -3 VAC Single Shaft RK6ACE-T3.6 RK6ACE-T7. RK6ACE-T1 RK6ACE-T RK6ACE-T3 Double Shaft RK6BCE-T3.6 RK6BCE-T7. RK6BCE-T1 RK6BCE-T RK6BCE-T3 Maximum Holding Torque Nm (lb-in) 1. (11). () 3 (6) 3. (3) (3) Rotor Inertia J: kgm (oz-in ) (.96) Rated Current A/Phase 1. Basic Step Angle Gear Ratio 3.6:1 7.:1 1:1 :1 3:1 Nm (lb-in) 1. (11). () 3 (6) 3. (3) (3) Backlash arc minute (degrees) 3 (. ) 1 (. ) 1 (.167 ) Permissible Speed Range r/min Power Source Single-Phase 1-11 VAC1%/6 Hz. A 1% Single-Phase -3 VAC 1%/6 Hz3. A Excitation Mode Microstep Basic Angle/n (/step) Mass Motor kg (lb.).9 (.1) Driver kg (lb.). (1.9) Dimension No. Motor m Driver 6 How to Read Specifications Table Page 9 Sixteen resolutions are available, where n=1,,.,,,, 1,,,,,, 1, 1, and. Note: Direction of rotation of the motor and that of the gear output shaft are the same for models with gear ratios of 3.6:1, 7.:1 and 1:1. It is opposite for :1 and 3:1 gear ratio models. Speed Torque Characteristics : Maximum Starting Frequency RK6AE-T3.6/RK6CE-T3.6 RK6AE-T7./RK6CE-T7. RK6AE-T1/RK6CE-T1 RK6AE-T/RK6CE-T Current: 1. A/Phase Step Angle:. /step Load Inertia: JL = oz-in Current: 1. A/Phase Step Angle:.36 /step Load Inertia: JL = oz-in RK6 AE-T RK6 CE-T 3 1 () () () 1 (1) RK6 AE-T3.6 RK6 CE-T () (1) 1 (Resolution 1) (1) (Resolution 1) 1 (Resolution 1) (1) (Resolution 1) 3 1 Current: 1. A/Phase Step Angle:.1 /step Load Inertia: JL = oz-in RK6 AE-T7. RK6 CE-T7. () (1) RK6AE-T3/RK6CE-T3 3 Enter A (Single shaft) or B (Double shaft) in the box () within the model name. 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 1 C (1 F). [Under 7 C (167 F) is required to comply with UL or CSA 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 % () 1 (1) Current: 1. A/Phase Step Angle:. /step Load Inertia: JL = oz-in RK6 AE-T3 RK6 CE-T3 3 1 () (Resolution 1) (Resolution 1) (Resolution 1) () (1) (1)(Resolution 1) 3 1 Current: 1. A/Phase Step Angle:.7 /step Load Inertia: JL = oz-in RK6 AE-T1 RK6 CE-T1 3 1 () () (1) 1 (Resolution 1) (1) (Resolution 1) Features Line-up System Configuration Product Line Specifications and Characteristics Connection List of Motor and and Operation Driver Combinations Accessories Before Using a Stepping Motor Controllers 13

14 TH Geared Type Motor Frame Size 9 mm (3. in.) Specifications Model Single-Phase 1-11 VAC Single Shaft RK96AAE-T3.6 RK96AAE-T7. RK96AAE-T1 RK96AAE-T RK96AAE-T3 Double Shaft RK96BAE-T3.6 RK96BAE-T7. RK96BAE-T1 RK96BAE-T RK96BAE-T3 Single-Phase -3 VAC Single Shaft RK96ACE-T3.6 RK96ACE-T7. RK96ACE-T1 RK96ACE-T RK96ACE-T3 Double Shaft RK96BCE-T3.6 RK96BCE-T7. RK96BCE-T1 RK96BCE-T RK96BCE-T3 Maximum Holding Torque Nm (lb-in). (39) 9 (79) 1 (16) Rotor Inertia J: kgm (oz-in ) 11-7 (7.7) Rated Current A/Phase 1. Basic Step Angle Gear Ratio 3.6:1 7.:1 1:1 :1 3:1 Nm (lb-in). (39) 9 (79) 1 (16) Backlash arc minute (degrees) (.17 ) 1 (. ) 1 (.167 ) Permissible Speed Range r/min Power Source Single-Phase 1-11 VAC1%/6 Hz. A 1% Single-Phase -3 VAC 1%/6 Hz3. A Excitation Mode Microstep Basic Angle/n (/step) Mass Motor kg (lb.). (6.3) Driver kg (lb.). (1.9) Dimension No. Motor, Driver 6 How to Read Specifications Table Page 9 Sixteen resolutions are available, where n=1,,.,,,, 1,,,,,, 1, 1, and. Note: Direction of rotation of the motor and that of the gear output shaft are the same for models with gear ratios of 3.6:1, 7.:1 and 1:1. It is opposite for :1 and 3:1 gear ratio models. Speed Torque Characteristics : Maximum Starting Frequency RK96AE-T3.6/RK96CE-T3.6 RK96AE-T7./RK96CE-T7. RK96AE-T1/RK96CE-T Current: 1. A/Phase Step Angle:. /step Load Inertia: JL = oz-in 6 RK96 AE-T3.6 RK96 CE-T () () 1 (1) RK96AE-T/RK96CE-T (Resolution 1) (1) (Resolution 1) Current: 1. A/Phase Step Angle:.36 /step Load Inertia: JL = oz-in 1 RK96 AE-T RK96 CE-T 1 () () (1). 1 (Resolution 1) (1) (Resolution 1) 1 6 Current: 1. A/Phase Step Angle:.1 /step Load Inertia: JL = oz-in 1 1 RK96 AE-T7. RK96 CE-T7. RK96AE-T3/RK96CE-T Enter A (Single shaft) or B (Double shaft) in the box () within the model name. 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 1 C (1 F). [Under 7 C (167 F) is required to comply with UL or CSA 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 () () () 1 (1) 1 (Resolution 1) (1) (Resolution 1) Current: 1. A/Phase Step Angle:. /step Load Inertia: JL = oz-in 1 RK96 AE-T3 RK96 CE-T (Resolution 1) () (1) (1) (Resolution 1) Current: 1. A/Phase Step Angle:.7 /step Load Inertia: JL = oz-in 1 RK96 AE-T1 RK96 CE-T () 1 () (1) 1 (Resolution 1) (1) (Resolution 1) 1

15 1 PN Geared Type Motor Frame Size mm (1.6 in.) Specifications With the RK type, only the driver conforms to the CSA standard. Model Single-Phase 1-11 VAC Single Shaft RKAA-N RKAA-N7. RKAA-N1 Double Shaft RKBA-N RKBA-N7. RKBA-N1 Maximum Holding Torque Nm (lb-in). (7) 1. (1.6) 1. (13.) Rotor Inertia J: kgm (oz-in ) 1-7 (.3) Rated Current A/Phase.7 Basic Step Angle Gear Ratio :1 7.:1 1:1 Nm (lb-in). (7) 1. (1.6) 1. (13.) Maximum Torque 1 Nm (lb-in) 1. (13.) (17.7) (17.7) Backlash arc minute (degrees) (.3 ) Angle Error arc minute (degrees) 6 (.1 ) Permissible Speed Range r/min Power Source Single-Phase 1-11 VAC1%/6 Hz1 A Excitation Mode Microstep Basic Angle/n (/step) Mass Motor kg (lb.).6 (1.3) Driver kg (lb.). (.) Dimension No. Motor. Driver How to Read Specifications Table Page 9 1 The value of Maximum Torque is for gear. For output torque for geared motor, refer to the Speed-Torque Characteristics. Sixteen resolutions are available, where n=1,,.,,,, 1,,,,,, 1, 1, and. Note: Direction of rotation of the motor shaft and that of the gear output shaft are the same. Speed Torque Characteristics : Maximum Starting Frequency RKAA-N/RKBA-N RKAA-N7./RKBA-N7. RKAA-N1/RKBA-N Torque [N in] Current:.7 A/Phase Step Angle:.1 /step Load Inertia: JL = oz-in () () 1 (1) 1 (1) () Resolution 1 () (Resolution 1) Current:.7 A/Phase Step Angle:.1 /step Load Inertia: JL = 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 1 C (1 F). [Under 7 C (167 F) is required to comply with UL or CSA 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 %. () 1 (1) 1 (1) () 1 Resolution1 ()(Resolution1) 1 1 Current:.7 A/Phase Step Angle:.7 /step Load Inertia: JL = oz-in () () 1 (1) 1 (1) () Resolution 1 () (Resolution 1) Features Line-up System Configuration Product Line Specifications and Characteristics Connection List of Motor and and Operation Driver Combinations Accessories Before Using a Stepping Motor Controllers 1

16 PN Geared Type Motor Frame Size 6 mm (.36 in.) Specifications Model Single-Phase 1-11 VAC Single Shaft RK66AAE-N RK66AAE-N7. RK66AAE-N1 RK6AAE-N RK6AAE-N36 RK6AAE-N Double Shaft RK66BAE-N RK66BAE-N7. RK66BAE-N1 RK6BAE-N RK6BAE-N36 RK6BAE-N Single-Phase -3 VAC Single Shaft RK66ACE-N RK66ACE-N7. RK66ACE-N1 RK6ACE-N RK6ACE-N36 RK6ACE-N Double Shaft RK66BCE-N RK66BCE-N7. RK66BCE-N1 RK6BCE-N RK6BCE-N36 RK6BCE-N Maximum Holding Torque Nm (lb-in) 3. (3) (3) () (7) Rotor Inertia J: kgm (oz-in ) 1-7 (1.3) (.96) Rated Current A/Phase 1. Basic Step Angle Gear Ratio :1 7.:1 1:1 :1 36:1 :1 Nm (lb-in) 3. (3) (3) () (7) Maximum Torque 1 Nm (lb-in) 7 (61) 9 (79) 11 (97) 16 (11) (177) Backlash arc minute (degrees) (.3 ) 3 (. ) Angle Error arc minute (degrees) (. ) Permissible Speed Range r/min Power Source Single-Phase 1-11 VAC1%/6 Hz. A 1% Single-Phase -3 VAC 1%/6 Hz3. A Excitation Mode Microstep Basic Angle/n (/step) Mass Motor kg (lb.) 1. (3.3) Driver kg (lb.). (1.9) Dimension No. Motor Driver 6 How to Read Specifications Table Page 9 1 The value of Maximum Torque is for gear. For output torque for geared motor, refer to the Speed-Torque Characteristics. Sixteen resolutions are available, where n=1,,.,,,, 1,,,,,, 1, 1, and. Note: Direction of rotation of the motor shaft and that of the gear output shaft are the same. Speed Torque Characteristics : Maximum Starting Frequency RK66AE-N/RK66CE-N RK66AE-N7./RK66CE-N7. RK66AE-N1/RK66CE-N1 6 Current: 1. A/Phase Step Angle:.1 /step Load Inertia: JL = oz-in RK66AE-N RK66CE-N Resolution1 () () (1) (1) () () (Resolution1) 7 Current: 1. A/Phase Step Angle:.1 /step Load Inertia: JL = oz-in 1 RK66AE-N7. RK66CE-N () () 1 (1) 1 (1) () Resolution1 ()(Resolution1) Current: 1. A/Phase Step Angle:.7 /step Load Inertia: JL = oz-in 1 RK66AE-N1 RK66CE-N () () 1 (1) 1 (1) () Resolution1 () (Resolution1) RK6AE-N/RK6CE-N RK6AE-N36/RK6CE-N36 RK6AE-N/RK6CE-N 1 1 Current: 1. A/Phase Step Angle:. /step Load Inertia: JL = oz-in RK6AE-N RK6CE-N () () 1 (1) 1 (1) () () Resolution1 (Resolution1) 1 1 Current: 1. A/Phase Step Angle:. /step Load Inertia: JL = oz-in RK6AE-N36 RK6CE-N Enter A (Single shaft) or B (Double shaft) in the box () within the model name. 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 1 C (1 F). [Under 7 C (167 F) is required to comply with UL or CSA 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 %. 1 1 () () 1 (1) 1 (1) () Resolution1 () (Resolution1) 1 1 Current: 1. A/Phase Step Angle:.1 /step Load Inertia: JL = oz-in RK6AE-N Maximum Torque RK6CE-N () () 1 (1) 1 (1) () Resolution1 () (Resolution1) 16

17 6 6 PN Geared Type Motor Frame Size 9 mm (3. in.) Specifications Model Single-Phase 1-11 VAC Single Shaft RK99AAE-N RK99AAE-N7. RK99AAE-N1 RK96AAE-N RK96AAE-N36 RK96AAE-N Double Shaft RK99BAE-N RK99BAE-N7. RK99BAE-N1 RK96BAE-N RK96BAE-N36 RK96BAE-N Single-Phase -3 VAC Single Shaft RK99ACE-N RK99ACE-N7. RK99ACE-N1 RK96ACE-N RK96ACE-N36 RK96ACE-N Double Shaft RK99BCE-N RK99BCE-N7. RK99BCE-N1 RK96BCE-N RK96BCE-N36 RK96BCE-N Maximum Holding Torque Nm (lb-in) 1 (13) (177) 37 (3) Rotor Inertia J: kgm (oz-in ) 71-7 (1.) 11-7 (7.7) Rated Current A/Phase 1. Basic Step Angle Gear Ratio :1 7.:1 1:1 :1 36:1 :1 Nm (lb-in) 1 (13) (177) 37 (3) Maximum Torque 1 Nm (lb-in) () 3 (3) 6 (9) 6 (3) Backlash arc minute (degrees) (.3 ) 3 (. ) Angle Error arc minute (degrees) (.67 ) Permissible Speed Range r/min Power Source Single-Phase 1-11 VAC1%/6 Hz. A 1% Single-Phase -3 VAC 1%/6 Hz3. A Excitation Mode Microstep Basic Angle/n (/step) Mass Motor kg (lb.) (11).7 (1.3) Driver kg (lb.). (1.9) Dimension No. Motor 1 Driver 6 How to Read Specifications Table Page 9 1 The value of Maximum Torque is for gear. For output torque for geared motor, refer to the Speed-Torque Characteristics. Sixteen resolutions are available, where n=1,,.,,,, 1,,,,,, 1, 1, and. Note: Direction of rotation of the motor shaft and that of the gear output shaft are the same. Speed Torque Characteristics : Maximum Starting Frequency RK99AE-N/RK99CE-N RK99AE-N7./RK99CE-N7. RK99AE-N1/RK99CE-N1 1 1 Current: 1. A/Phase Step Angle:.1 /step Load Inertia: JL = oz-in 3 RK99AE-N RK99CE-N () () 1 1 (1) (1) () Resolution1 (Resolution1) 3 1 Current: 1. A/Phase Step Angle:.1 /step Load Inertia: JL = oz-in RK99AE-N7. RK99CE-N () 1 (1) 1 (1) () Resolution1 () (Resolution1) RK96AE-N/RK96CE-N RK96AE-N36/RK96CE-N36 RK96AE-N/RK96CE-N 3 1 Current: 1. A/Phase Step Angle:. /step Load Inertia: JL = oz-in 6 RK96AE-N RK96CE-N () () 1 (1) 1 (1) () Resolution1 () (Resolution1) 6 Enter A (Single shaft) or B (Double shaft) in the box () within the model name. 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 1 C (1 F). [Under 7 C (167 F) is required to comply with UL or CSA 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 %. () Current: 1. A/Phase Step Angle:. /step Load Inertia: JL = oz-in RK96AE-N36 RK96CE-N36 Maximum Torque () () 1 (1) 1 (1) () Resolution1 () (Resolution1) Current: 1. A/Phase Step Angle:.7 /step Load Inertia: JL = oz-in RK99AE-N1 RK99CE-N1 Maximum Torque () () 1 (1) 1 (1) () Resolution1 () (Resolution1) Current: 1. A/Phase Step Angle:.1 /step Load Inertia: JL = oz-in RK96AE-N RK96CE-N Maximum Torque () Permissible Torque () 1 (1) 1 (1) () Resolution1 () (Resolution1) Features Line-up System Configuration Product Line Specifications and Characteristics Connection List of Motor and and Operation Driver Combinations Accessories Before Using a Stepping Motor Controllers 17

18 Harmonic Geared Type Motor Frame Size mm (1.6 in.), 6 mm (.36 in.), 9 mm (3. in.) Specifications With the RK type, only the driver conforms to the CSA standard. Model Single-Phase 1-11 VAC Single Shaft RK3AA-H RK3AA-H1 RK6AAE-H RK6AAE-H1 RK96AAE-H RK96AAE-H1 Double Shaft RK3BA-H RK3BA-H1 RK6BAE-H RK6BAE-H1 RK96BAE-H RK96BAE-H1 Single-Phase -3 VAC Single Shaft RK6ACE-H RK6ACE-H1 RK96ACE-H RK96ACE-H1 Double Shaft RK6BCE-H RK6BCE-H1 RK96BCE-H RK96BCE-H1 Maximum Holding Torque Nm (lb-in) 3. (3) (). () (7) () 37 (3) Rotor Inertia J: kgm (oz-in ) 1-7 (.) 11-7 (1.1) (.) Rated Current A/Phase.7 1. Basic Step Angle Gear Ratio :1 1:1 :1 1:1 :1 1:1 Nm (lb-in) 3. (3) (). () (7) () 37 (3) Maximum Torque 1 Nm (lb-in).3 (73) 11 (97) 1 (1) () 3 (3) () Lost Motion (Load Torque) arc minute 1. max. (.16 Nm) 1. max. (. Nm).7 max. (. Nm).7 max. (.39 Nm) 1. max. (1. Nm) Permissible Speed Range r/min Power Source Excitation Mode Mass Dimension No. Single-Phase 1-11 VAC1% /6 Hz1 A Single-Phase 1-11 VAC1%/6 Hz. A 1% Single-Phase -3 VAC 1%/6 Hz3. A Microstep Basic Angle/n (/step) Motor kg (lb.).6 (1.1) 1. (.) 3.7 (.1) Driver kg (lb.). (.). (1.9) Motor 3 Driver 6 How to Read Specifications Table Page 9 1 The value of Maximum Torque is for gear. For output torque for geared motor, refer to the Speed-Torque Characteristics. Sixteen resolutions are available, where n=1,,.,,,, 1,,,,,, 1, 1, and. 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 : Maximum Starting Frequency RK3A-H RK3A-H1 RK6AE-H/RK6CE-H 1 6 Current:.7 A/Phase Step Angle:.1 /step Load Inertia: JL = oz-in 1 6 () 1 (1) () Resolution1 (3) (Resolution1) Current:.7 A/Phase Step Angle:.7 /step Load Inertia: JL = oz-in RK6AE-H1/RK6CE-H1 RK96AE-H/RK96CE-H RK96AE-H1/RK96CE-H Current: 1. A/Phase Step Angle:.7 /step Load Inertia: JL = oz-in RK6AE-H1 RK6CE-H () Maximum Torque 1 (1) () 3 Resolution1 (3) (Resolution1) 3 1 Enter A (Single shaft) or B (Double shaft) in the box () within the model name. 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 1 C (1 F). [Under 7 C (167 F) is required to comply with UL or CSA standards.] In order to prevent fatigue of the gear grease in the harmonic gear, keep the temperature of the gear case under 7 C (1 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 %. 1 () Maximum Torque 1 (1) () 1 3 Resolution1 (3) (Resolution1) Current: 1. A/Phase Step Angle:.1 /step Load Inertia: JL = oz-in RK96AE-H RK96CE-H Maximum Torque () 1 (1) () 3 Resolution1 (3) (Resolution1) Current: 1. A/Phase Step Angle:.1 /step Load Inertia: JL = oz-in RK6AE-H RK6CE-H Maximum Torque () 1 (1) () 3 Resolution1 (3) (Resolution1) Current: 1. A/Phase Step Angle:.7 /step Load Inertia: JL = oz-in RK96AE-H1 RK96CE-H () Maximum Torque 1 (1) () 3 Resolution1 (3) (Resolution1) 1

19 Driver Specifications Input Mode Pulse Signal (CW Pulse Signal) Photocoupler input, Input resistance: Ω; Input current: 1 ma Photocoupler ON:. V V, Photocoupler OFF: 1 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 %) Features Input Signals Rotation Direction Signal (CCW Pulse Signal) 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 %) Line-up When in the "photocoupler ON" state, the output current to the motor is cut off and the motor shaft can be rotated manually. (When rotating All Windings Off Signal the motor shaft manually, release the brake) When in the "photocoupler OFF" state, the current is supplied to the motor. Step Angle Select Signal Step angle specifi ed by DATA1 when photocoupler OFF Step angle specifi ed by DATA when photocoupler ON Output Mode Photocoupler, Open Collector Output External usage conditions: VDC maximum, 1 ma maximum Output The signal is output every time the excitation sequence returns to the initial stage "." (Photocoupler: ON) Excitation Timing Signal Signals Example).7 /step (1 resolution): Signal output every 1 pulses,.7 /step (1 resolutions): Signal output every 1 pulses Overheat Signal Output is turned off when the driver's internal temperature rises to approximately C (176 F) or above. (Photocoupler: OFF) Functions Automatic Current Cutback, Automatic Current Off, Step Angle Switch, Pulse Input Mode Switch, Smooth Drive Function Indicators (LED) Power Input, Excitation Timing Signal Output, Overheat Signal Output Cooling Method Natural ventilation System Configuration Product Line General Specifications Insulation Class Specifications Motor Driver Insulation Resistance Dielectric Strength Operating Environment (In Operation) Temperature Rise Ambient Temperature Ambient Humidity Atmosphere Class B [13 C (66 F)] [Recognized as Class A 1 C (1 F) by UL standard] 1 MΩ minimum under normal temperature and humidity, when measured by a VDC megger between the windings and the motor casing. Suffi cient to withstand 1. kv (1. kv for RK ), Hz or 6 Hz applied for one minute between the windings and casing under normal temperature and humidity. 1 MΩ minimum under normal temperature and humidity, when measured by a VDC megger between the following places: Power input terminal - Protective earth terminal Motor output terminal - Protective earth terminal Signal input/output terminals - Power input terminal Signal input/output terminals - Motor output terminal Suffi cient to withstand the following for one minute, under normal temperature and humidity. Power input terminal - Protective earth terminal 1. k VAC Hz or 6 Hz Motor output terminal - Protective earth terminal 1. k VAC Hz or 6 Hz Signal input/output terminals - Power input terminal 1. k VAC Hz or 6 Hz Signal input/output terminals - Motor output terminal 1. k VAC Hz or 6 Hz 1 C C (1 F1 F) (nonfreezing): Standard type, TH, PN geared type C C (3 F 1 F) (nonfreezing) C C (3 F 1 F) (nonfreezing): Harmonic geared type % or less (noncondensing) No corrosive gases, dust, water or oil. (Standard type IP6 rated motor: No corrosive gases) Temperature rise of the coil measured by the Change Resistance Method is C (1 F) or less. (at rated current, at standstill, fi ve phases energized) Stop Position Accuracy 1 3 arc minutes (. ) Shaft Runout. T.I.R. (mm) Radial Play. mm max. of N (1.1 lb.) Axial Play 3.7 mm max. of 1 N (. lb.) Concentricity.7 T.I.R. (mm) Perpendicularity.7 T.I.R. (mm) Specifications and Characteristics Connection List of Motor and and Operation Driver Combinations Accessories 1 This value is for.7 /step under no load. (The value changes with the size of the load.) Radial Play: Displacement in shaft position in the radial direction, when a N (1.1 lb.) load is applied in the vertical direction to the tip of the motor's shaft. 3 Axial Play: Displacement in shaft position in the axial direction, when a 1 N (. lb.) load is applied to the motor's shaft in the axial direction. T.I.R. (Total Indicator Reading): The total dial gauge reading when the measurement section is rotated one revolution centered on the reference axis center. Note: Do not measure insulation resistance or perform the dielectric strength test while the motor and driver are connected..7 A. A Before Using a Stepping Motor.7 A Controllers 19

20 Permissible Overhung Load and Permissible Thrust Load Unit = Upper values: N / Lower values: lb. Standard Type Standard Type IP6 Rated Motor TH Geared Type PN Geared Type Type Model Gear Ratio Harmonic Geared Type RK3A RKA RKA RK3AMA RKAMA RKAMA RK6 E, RK6AT RK66 E, RK66AT RK69 E, RK69AT RK6AME RK66AME RK69AME RK96 E, RK96AT RK99 E, RK99AT RK913 E, RK913AT RK96AME RK99AME RK913AME RK3A-T RK6 E-T RK96 E-T 3.6, 7., 1,, 3 RKA-N, 7., 1 RK66 E-N RK66 E-N 7., 1 RK6 E-N, 36, RK99 E-N RK99 E-N 7., 1 RK96 E-N RK96 E-N36 RK96 E-N RK3A-H, 1 RK6 E-H, 1 RK96 E-H, 1 Enter A (Single shaft) or B (Double shaft) in the box () within the model name. Enter the power supply voltage A or C in the box () within the model name. Enter the gear ratio in the box () within the model name. Overhung Load Distance from Shaft End mm (in.) () (.) 1 (.39) 1 (.9) (.79) Thrust Load The permissible thrust load shall be no greater than the motor mass

21 Unit = mm (inch) ) Motor Standard Type z mm (1.6 in.) Model Motor Model L1 L Mass kg (lb.) CAD RK3AA PK3AW 33. RK3BA PK3BW (1.3) (.) (1.9) B1 RKAA PKAW 39.3 RKBA PKBW (1.) (.66) (.13) B RKAA PKAW 7. 6 RKBA PKBW (1.) (.) (.) B3..1 ( (.9.)..1 (.177.6) 1. (.) L L1 Cable. (.1) (.) 6 () () Motor Leads, AWG 1 (.79.) 1. (.91.1)..1 (.177.6).1 ( ).33 (.661. ) The length of machining on double shaft model is 1. (.91.1). M3. (.177) Deep min. (1.6) 6 (1) 31.1 (1..) 31.1 (1..). (.33) (1.6) Features Line-up System Configuration x6 mm (.36 in.) Model Motor Model L1 L Mass kg (lb.) CAD RK6AE PK6AE RK6BE PK6BE (1.91) (1.3) (.7) B3 RK66AE PK66AE 9... RK66BE PK66BE (.3) (1.) (3.17) B33 RK69AE PK69AE RK69BE PK69BE (3.) (.9) (.33) B3 Enter the power supply voltage A or C in the box () within the model name (.3.). (.77.1) ).6 ( (.9.6) 6.7 (.6). (.1) Protective Earth Terminal M L L1 7 (.) 6 () () 1 (.9.) 1. (.6) Motor Cable 7 (.). (.77.1) 7..1 (.9.6) ).6 (.31 ) Motor Leads AWG.1 ( (.177) Thru 6 (.36).3 ( ) 31.7 (1.).3 ( ) 6 (.36) 1 (.9) Product Line Specifications and Characteristics Connection List of Motor and and Operation Driver Combinations Accessories Before Using a Stepping Motor Controllers These dimensions are for double shaft models. For single shaft models, ignore the blue areas. 1

22 c mm (3.3 in.) Model Motor Model L1 L Mass kg (lb.) CAD RK96AE PK96AE RK96BE PK96BE (.6) (3.7) (3.9) B3 RK99AE PK99AE RK99BE PK99BE (3.6) (6.) (.1) B36 RK913AE PK913AE RK913BE PK913BE (.) (.) (6.3) B37 Enter the power supply voltage A or C in the box () within the model name. 31 (1.6.). (.9.1) L L1 1 (.39) (.) 371 (1.6.). (.9.1) (3.3) 7.3 (.76.1) 6. (.6) Thru 1.1 (.1.7) 13.1 (.1.6) 6.7 (.6). (.1) Protective Earth Terminal M 6 () () 13.1 (.1.6) 1.1 Motor Leads AWG Motor Cable 7 (.) (.1.7) 6.6 (.36.1) 31.7 (1.) 7.3 (.76.1) (3.3) 1 (.9) These dimensions are for double shaft models. For single shaft models, ignore the blue areas. Standard Type IP6 Rated Motor v6 mm (.36 in.) Model Motor Model L Mass kg (lb.) CAD RK6AT RK66AT RK69AT PK6AT PK66AT PK69AT 9 (3.6) 13 (.6) 13. (.). (1.) 1.1 (.) 1.6 (3.) Enter the power supply voltage A or C in the box () within the model name. B366 B367 B36 M3.3 (1.9) L 7 1. (.) (.6) 1 (.9.). (.77.1) 6 (.36).3 ( ). (.177) Thru Protective Earth Terminal M 1 (.39) 7.3 (.77) 1.3 (.1) Protective Earth Terminal M 1.3 (.1) 7 max. (1.6 max.) 7..1 (.9.6).1 (.31.6 ).39 ( ).3 ( ) 6 (.36) (3.6) max. 36 The outer diameter of the applicable cable (VCT) is 7 mm (. in.) to 13 mm (.1 in.). An optional motor cable (with protective earth wire) is also available (sold separately). Page 3

23 b mm (3.3 in.) Model Motor Model L Mass kg (lb.) CAD RK96AT RK99AT RK913AT PK96AT PK99AT PK913AT 11 (.33) 1 (.1) 17 (6.69). (.) 3.3 (7.3). (9.7) Enter the power supply voltage A or C in the box () within the model name. Protective Earth Terminal M 1 (.39) M 9.3 (3.7) 1.3 (.1) Protective Earth Terminal M 1.3 (.1) B369 B37 B371.6 (1.6) L 7 max. (1.6 max.) The outer diameter of the applicable cable (VCT) is 7 mm (. in.) to 13 mm (.1 in.). An optional motor cable (with protective earth wire) is also available (sold separately). Page 3 TH Geared Type n mm (1.6 in.) Model Motor Model Gear Ratio Mass kg (lb.) CAD RK3AA-T PK3AW-T.3 3.6, 7., 1,, 3 B13 RK3BA-T PK3BW-T (.77) Enter the gear ratio in the box () within the model name. 1 (.39) (.) 371 (1.6.) 13.1 (.1.6). (.9.1) (.1.7 ).1 1 (.36.1 ).6 6 (3.3) 7.3 (.76.1) 6. (.6) Thru 7.3 (.76.1) (3.3) 113 (.) max. Features Line-up Product Line System Configuration Specifications and Characteristics 11 (.9.).1 (.1969.)..1 (.177.6) 1. (.) 7. (3.9) 63. (.) 3. (.1) 6 () () 1 (.79.) 1 (.7)..1 (.17.6) Motor Leads AWG Motor Cable. (.1) 6.1 (.36.) The length of machining on double shaft model is 1. (.91.1).. (.31.) 17.1 ( ) M (.31) Deep min. 3.. (1.7.) (1.6) 6 (1.) (1.6). (.33) Connection List of Motor and and Operation Driver Combinations Accessories Before Using a Stepping Motor Controllers These dimensions are for double shaft models. For single shaft models, ignore the blue areas. 3