Stepper Motors A-15 Overview Motor & Driver Stepper Motors 5-Phase Stepper Motor and Driver 5-Phase

Transcription

1 Stepper s A- Overview Stepper s and -Phase Stepper and RKⅡ Series & -Phase RK -Phase -Phase Page -Phase Stepper and A-6 A-

2 A-6 -Phase Stepper and $ $ For detailed information about regulations and standards, please refer to the Oriental website. -phase stepper motor and driver with improved performance and ease of use, to achieve maximum performance the newly developed high efficiency -phase stepper motor is combined with a full digital control microstep driver. Built-in Controller Type Pulse Input Type Affordably Priced from $39. ( and ) Increased Accuracy, Decreased Vibration, Increased Torque High Efficiency Allows for Reduced Power Consumption and Lower Heat Generation A Variety of Geared Types are Available to Suit the Application Types to Choose from: Built-in Controller Type /Pulse Input Type Various Easy-to-use Functions Improved Noise Resistance through Line Connection See Full Product Details Online Manual Specifications Dimensions CAD Characteristics Connection and Operation Features High-Efficiency at Low Price The offers significant improvements in motor performance, driver operation and functions compared to conventional products and is available at a new lower price. In this example, the RK Series is $. less. $ List Price starting from $39. ( and ) Conventional Product: 6 mm (.36 in.) Standard Type $69. Pulse Input Type 6 mm (.36 in.) Standard Type $. Advanced Performance $ $ High Accuracy The positioning accuracy of the is ±. (±3 arcmin). When used in combination with a ball screw as shown in the figure on the right, the positioning accuracy is ±. mm. The accuracy of a regular ground ball screw is ±. mm, thus the accuracy is high enough for positioning operation. $ $ Low Vibration Utilizing a full-time microstepping driver controlled by a digital system improves the vibration characteristics of the -phase stepper motor. Current control is also done by a high specification digital CPU. This product uses PWM control instead of PAM control resulting in a sinusoidal wave form in each phase, significantly reducing vibration. Conditions Ball screw lead: mm (.39 in.) used: Stopping Accuracy: ±. mm $ Current Waveform in (theoretical figure) : Sinusoidal Wave Conventional Products: Trapezoidal Wave.7 ±..7. Positioning Accuracy±. $ Vibration Characteristics Comparison Vibration Component Voltage [Vp-p] A-6 ORIENTAL MOTOR PRODUCT CATALOG /9 Vibration is reduced when the motor current waveform changes from trapezoidal to sinusoidal. 3 speed [r/min] PKE66AC Step Angle:.7 -Phase Stepper with a conventional microstepping

3 Stepper s A-7 $ $ High Torque The is compact and produces high torque. The torque of the mm (.6 in.) frame size has increased %. This contributes to reduced positioning time and increased equipment tact time. The series includes 6 mm (.36 in.) and mm (3.3 in.) frame size to cover a wide torque range. Note $ $ For 6 mm (.36 in.) and mm (3.3 in.) frame size products, the torque is equivalent to the conventional product. $ Torque Comparison mm (.6 in.) Torque [oz in] PKEAC Conventional Product Increase torque range 3 speed [r/min] $ $ High Efficiency, Power Saving, Low Heat Generation By optimizing the motor material, loss has been greatly reduced and power consumption has been reduced by up to 7%. This results in reduced electricity cost and CO emissions. $ Power Consumption Comparison Easy-to-Use Functions $ $ Step Angle is Easy to Set For pulse input type, 3 step angles can be selected. To easily upgrade from a -phase stepper motor, use the step angle setting switch to match the existing input pulses to the desired output speed and position. There is no software or control module required. Step Angle Setting Switch Easily set with a switch For built-in controller type, the value can be set between p/rev p/rev. Setting can be done by a control module, support software or RS- communication. Control Module (OPX-A) or Overview & -Phase RK -Phase -Phase [kwh/year] Power consumption 6 7% less power consumption Support Software (MEXE) Conventional Product PKE66AC Operating Condition $ Speed: r/min $ Load Torque:.7 N m (67 oz in) $ Operating Time: hours (Operation 7%, Stand-by %, Off %) 36 days/year $ Surface Temperature Comparison when Operating under the Same Conditions $ $ Various Built-in Protective Functions Protective functions are built-in to quickly respond when trouble occurs. The blink count of the alarm LED allows the problem to be quickly identified. <Example of Alarm Types> $ Main circuit overheating $ Overvoltage $ Command pulse error $ Overcurrent $ Undervoltage $ Electrolytic capacitor error $ EEPROM error $ CPU error $ Automatic electromagnetic brake control error Temperature [ F] 76 Temperature [ C] 6 Conventional Product C ( F) PKE66AC Alarm LED Time [min] $ Temperature Distribution by Thermography 99.9 C ( F) 9.9 C (96 F).9 C (79 F) Example: Alarm LED blinks 3 times 7.9 C (63 F) 63.9 C (7 F).9 C (3 F) Overvoltage alarm PKE66AC Conventional Product.9 C ( F) 36.9 C (9 F) 7.9 C ( F) [Cause] Power supply voltage exceeded its permissible value. A large inertial load was stopped suddenly or lifted or lowered. See Full Product Details Online Technical Support TEL: () 6-39 Live Chat: techsupport@orientalmotor.com A-7

4 A- -Phase Stepper and $ $ Space Saving This new driver has a compact and slim body through the rearrangement of the internal components to optimize space. Multiple drivers can now be installed in contact with each other, making it possible to increase the number of axes within the same equipment space. $ $ When drivers are installed in contact with each other, the allowable ambient temperature range is C (+3 + F). Compact Slim Body 7 mm (. in.) mm (.7 in.) $ $ Easy Wiring Screwless I/O connectors eliminate the need for soldering or special crimping tools. The motor connector can be connected easily by using a dedicated cable. This will reduce wiring time, prevent mis-wiring and reduce maintenance. $ I/O Connector Wiring # $ No soldering # $ No special crimping tools # $ No need to manage screw tightening torque 6 mm (6. in.) 6 mm (6.3 in.) # $ Wiring time reduction # $ Reduced maintenance I/O Signal Connector Conventional Product Installation Area 9 mm (.6 in. ) 6 7 = 9 (6.. =.6) Installation Area 6 mm (9.9 in. ) 6 = 6 (6.3.7 = 9.9) Simply press down the orange button with a screwdriver and insert the wire. Multiple s can be Installed in Contact with Each Other Conventional Product 7 mm (. in.) mm (.97 in.) $ Connector Wiring # $ No screw tightening # $ No need to manage tightening torque # $ No need to worry about mis-wiring # $ Wiring time reduction # $ Reduced problems caused by mis-wiring mm (.7 in.) 36 mm (.37 in.) Small motor connectors can easily be passed through flexible conduits and cable glands. Installation Width Reduced by % mm (7.7 in.) A- ORIENTAL MOTOR PRODUCT CATALOG /9

5 Stepper s A-9 Types Available Depending on the System Configuration types of drivers are available, depending on the master control system in use. $ $ Built-in Controller Type $ $ Pulse Input Type $ When Controlling with I/O $ When Controlling from Computer or $ When Controlling with Serial Communication $ When Controlling with FA Network CPU No Need for Touch Screen (HMI) CPU CPU Positioning Power Power Serial Power FA Network Module Communication Supply Supply I/O Supply Module Module Power Supply CPU I/O Positioning Module Overview & 3FA Network Pulse Input -Phase RK I/O Modbus (RTU) Modbus (RTU) Network Converter RS- With this type, the operating data is set in the driver, which can then be selected and executed from the host system. Host system connection and control are performed with I/O, Modbus (RTU)/RS- or 3 FA network. is a registered trademark for which a license is provided by Beckhoff Automation GmbH in Germany. is a registered trademark of CC-Link Partner Association and is a registered trademark of MECHATROLINK Members Association. This type executes operations by inputting pulses into the driver. It controls the motor using a positioning module (pulse generator). -Phase -Phase $ $ Control System Configuration for Built-in Controller Type I/O Control The positioning module (pulse generator) function is built into the driver, and therefore an operation system using I/O can be created by connecting directly to a switch box or PLC. A positioning module is not necessary on the PLC side, saving space and simplifying the system. $ Example of Using a Switch Box $ Example of Using PLC $ Example of Using PLC and a Touch Screen STRT CCW STRT STOP CW STOP I/O Module CPU Module Touch Screen I/O Module CPU Module CCW CW Switch Box Power Supply Module Power Supply Module Operating data is set in the driver, and the motor can be started or stopped simply by connecting a switch. Control can be performed easily without using PLC. Easy Control Low-Cost Design When using PLC, an operation system can be created by connecting directly to an I/O module. A positioning module is not necessary on the PLC side, therefore space is saved and the system is simplified. Easy Control Low-Cost Design Normally, the motor is started and stopped with I/O. Changing the operating data settings and displaying the monitors and alarms is performed with the touch screen using Modbus (RTU) communication. When there is a lot of setup work, changes can be easily performed on the touch screen, and the burden of creating ladders is reduced. Space Saving Easy Control Support for Small Lots of Multiple Products Control via Modbus (RTU)/RS- Communication RS- communication can be used to set operating data and parameters and input operation commands. Up to 3 drivers can be connected to serial communication module. There is a function that enables multiple shafts to be started simultaneously. The Modbus (RTU) protocol is supported and can be used to connect to touch screens and computers. 3 Control via FA Network By using a network converter (sold separately), EtherCAT, CC-link or MECHATROLINK communication are possible. These can be used to set operating data and parameters and input operation commands. Easy Control Simple Wiring Supports Brands of Serial Modules Easy Control Simple Wiring Controlled by Computer Simplified System Multi-Axis Control at Low Cost See Full Product Details Online Technical Support TEL: () 6-39 Live Chat: techsupport@orientalmotor.com A-9

6 A- -Phase Stepper and Built-in Controller Type Because the driver stores the information data necessary for motor operation, the burden on the host PLC is reduced. The system configuration for multi-axis control has been simplified. Settings are configured using a control module (sold separately), support software or RS- communication. Basic Setting (Factory setting) Operation Data Setting Parameter Changing Control Module (OPX-A) Data Setting Test Operation Alarm History Connection Cable or Parameter Changing Monitoring Support Software (MEXE) Data Copy $ $ Setting using RS- communication is also possible. $ $ Operation Types In the built-in controller type, the operating speed and traveling amount of the motor are set with operating data, and operation is performed according to the selected operating data. There are four types of motor operations. Item Description I/O control Control Method Network Converter Connection RS- Communication Modbus RTU Protocol Connection Position Command Input Setting with operating data number Command range for each point: [step] (Setting unit: [step]) Speed Command Input Setting with operating data number Command Range: [Hz] (Setting unit: [Hz]) Common Return-To-Home Operation Positioning Operation Continuous Operation Acceleration/Deceleration Command Input Acceleration/Deceleration Processing Return-to-Home Modes Set with the operating data number or parameter. The acceleration/deceleration rate [ms/khz] or acceleration/deceleration time [s] can be selected. Command Range:.. [ms/khz] (Setting unit:. [ms/khz]).. [s] (Setting unit:.[s]) Velocity Filter, Movement Average Filter -Sensor Mode 3-Sensor Mode Position Preset Number of Positioning Points 6 points (No. 63) Incremental Mode (Relative positioning) Operating Modes Absolute Mode (Absolute positioning) Independent Operation Linked Operation Operation Functions Linked Operation Start Methods Operating Data Selection Method Direct Method (Direct positioning) Sequential Method (Sequential positioning) Number of Speed Points 6 points (No. 63) Speed Change Method Changes the operating data number. Other Operations JOG Operation Regular feed is performed by inputting +JOG or JOG. A return-to-home operation that uses a limit sensor (+LS, LS). A return-to-home operation that uses a limit sensor and a HOME sensor. A function where P-PRESET is input at the desired position to confirm the home position. The home position can be set to the desired value. A PTP (Point to Point) positioning operation. A multistep speed-change positioning operation that is linked with operating data. A positioning operation with a timer that is linked with operating data. The timer (dwell time) can be set from. [s]. (Setting unit:. [s]) Starts the positioning operation when START is input after selecting M M. Starts the positioning operation with the operating data number set in the parameters when MS MS is input. Starts the positioning operation in sequence from operating data No. each time SSTART is input. A- ORIENTAL MOTOR PRODUCT CATALOG /9

7 Stepper s A- Positioning Operation Continuous Operation <Operation Functions> # $ Independent Operation Speed +Direction Operation Direction M M Input FWD Input Time Overview Start Command # $ Linked Operation Speed Start Command Operating Data No. Operating Data No. Operating Data No. Operating Data No. Time Time RVS Input Other Operations # $ JOG Operation (Test operation) $ $ Group Send Function Modbus (RTU) communication and FA network have a function that enables multiple motors to be started simultaneously. Multiple drivers can be grouped together, and when an operation command is sent to the master driver, all the drivers that belong to the same group as the master driver will operate simultaneously. & -Phase RK # $ Linked Operation Speed Start Command Operating Data No. Dwell Time Operating Data No. Time $ $ Modbus (RTU) control: Support for simultaneous start, changes to traveling amount and speed and monitoring $ $ FA network control: Simultaneous start only # $ Example of Modbus (RTU) Communication Control Serial Communication Module Group Main Sub Sub -Phase -Phase <Start Methods> # $ Operating Data Selection Method # $ Direct Positioning # $ Sequential Positioning Return-To-Home Operation # $ -Sensor Mode LS +Side +LS VR VS Simultaneous multi-axis starting operations are possible $ $ Teaching Function Teaching can be performed with the OPX-A control module (sold separately) or the MEXE support software. The table is moved to the desired position, and the position data at that time is stored as the positioning data. The support software can be downloaded from the website. Please contact us for details. Side # $ 3-Sensor Mode LS +Side Side # $ Position Preset HOMES VS VR +LS VR VS VS VR See Full Product Details Online Technical Support TEL: () 6-39 Live Chat: techsupport@orientalmotor.com A-

8 A- -Phase Stepper and Product Line of $ $ Types and Features of Standard and Geared s We provide encoder installed products, but only for the built-in controller products. Standard Type Low backlash Non backlash TS Geared Type (Spur Gear Mechanism) Type PS Geared Type (Planetary Gear Mechanism) Harmonic Geared Type (Harmonic Drive) with Encoder Features Basic motors of the For encoder installed motors, functions for monitoring positioning data, detecting positioning gap are available. Resolution of encoder installed: p/r. High torque (Double of existing products) A wide variety of reduction gear ratios, high-speed operations Gear ratio: 3.6, 7.,,, 3 Less backlash (comparing with existing products) Highly permissible torque/ max. instantaneous torque A wide variety of gear ratios for selecting the desired step angle Centered shaft Gear ratio:, 7.,,, 36, Longer mechanical life ( times of existing products) Higher torque (.3 times of existing products) High positioning accuracy Highly permissible torque/ max. instantaneous torque High reduction ratio, high resolution Center shaft Gear ratio:, Note $ $ Above values are for reference only. These values vary depending on motor frame size and gear ratios. $ $ Harmonic drive and are registered trademarks of Harmonic drive systems Inc or trademarks. and Max. Instantaneous Torque [N m (lb-in)] Maximum Holding Torque 6.3 () Max. Instantaneous Torque 3 () (33) Max. Instantaneous Torque 37 6 (3) (3) Max. Instantaneous Torque 7 (6) (9) Backlash [arcmin (degrees)] Basic Resolution [deg/step] Output Shaft Speed [r/min].7 6 (.7) (.) $ $ List of s and s Type Type Frame Size Built-in Controller Type Standard Type Standard Type with Encoder TS Geared Type PS Geared Type Harmonic Geared Type mm (.6 in.) 6 mm (.36 in.) mm (3.3 in.) mm (.6 in.) 6 mm (.36 in.) mm (3.3 in.) mm (.6 in.) 6 mm (.36 in.) 9 mm (3. in.) Electromagnetic Brake $ $ Power Supply Input Single Phase - VAC Single Phase - VAC Type Type Frame Size Pulse Input Type Standard Type TS Geared Type PS Geared Type Harmonic Geared Type mm (.6 in.) 6 mm (.36 in.) mm (3.3 in.) mm (.6 in.) 6 mm (.36 in.) 9 mm (3. in.) Electromagnetic Brake $ $ Power Supply Input Single Phase - VAC Single Phase - VAC Oriental offers geared motors, which come pre-assembled. Based on torque, accuracy (backlash) and list price, the optimal type can be selected from the various geared motors. Performance (Torque, backlash) Low Price TS Geared Type High Torque PS Geared Type High Accuracy High Torque Harmonic Geared Type List Price A- ORIENTAL MOTOR PRODUCT CATALOG /9

9 Stepper s A-3 Features of the Product Line Standard Type with Encoder (Built-in controller type only) Encoder installed motors make it possible to monitor the present position and detect for errors. $ $ Position Monitor This feature can be used to detect the position of the motor. For instance, to confirm normal operations compare commanded position to the actual position. $ $ Return-to-Home Operation by Using Z-phase Signal Z-phase signal can be utilized for the return-to-home operation. Using Z-phase signal, the return-to-home point will be detected with higher accuracy than use of a return-to-home sensor. $ $ Detecting for Errors The encoder will compare commanded position and encoder-count. If deviation exceeds the set value, a STEPOUT signal will be output. Positional errors due to rapid changes in load can be detected. An alarm signal for abnormality in deviation is also available. Pulse Oscillating Command Position Counter Drive Circuit Encoder Counter A-phase/ B-phase Encoder Overview & -Phase RK Comparison -Phase TS Geared Type This geared type is made with a simple spur gear design. The torque and speed have been improved. $ $ Mechanism Because of its high accuracy, The TS type has the same level of accuracy when compared to our tapered (TH) type without the added cost of tapering. Spur Gear Bearing Bearing Spur Gear Output Shaft Bearing -Phase $ $ Torque and Speed are Improved (compared with conventional product types) The TS geared type realizes the improvement of permissible torque and at the same time, it can exert a maximum instantaneous torque. The rated input speed is increased to 3, r/min and the permissible speed range of the output shaft has been significantly increased as well. The motor allows for higher torque and shortens the time for positioning, because the maximum instantaneous torque range can be used for acceleration/deceleration. 6 6 Spur Gear Higher permissible torque Max. Instantaneous Torque can be exerted Bigger range of permissible speed 6 PKE6 Gear Ratio 3, Conventional Product Types Max. Instantaneous Torque PKE6 Gear Ratio 3, PS Geared Type The PS gear mechanism is comprised primarily of a sun gear, planetary gears and an internal tooth gear. The planetary gears design allows for higher output torque. $ $ Mechanism There are gears inside used to distribute torque, which allows for higher torque than a spur gear design. The PS gear uses a higher accuracy gear design which provides for a lower backlash when compared to a spur gear design. Inner Gear Sun Gear Carrier Planetary Gears $ $ Reduced Backlash (Compared with conventional product types) Optimal design of gears reduced backlash. [Except: mm (.6 in.)] Positioning with higher accuracy is possible. arcmin 6 arcmin 6 Conventional Product Types PK66 Gear Ratio Backlash Reduced by % 7 arcmin PKE66 Gear Ratio See Full Product Details Online Technical Support TEL: () 6-39 Live Chat: techsupport@orientalmotor.com A-3

10 A- -Phase Stepper and Harmonic Geared Type The mechanical life, permissible torque and maximum instantaneous torque are improved (compared with conventional products). $ $ Improved Rated Life (Twice the length of conventional products) The rated life has been increased from, hours (conventional products) to, hours. [Except mm (.6 in.)] [Condition for rated life time] Torque : Permissible torque Type of load : Uniform load Input speed :, r/min Radial load : Permissible radial load Axial load : Permissible axial load $ $ Structure Wave Generator Flex Spline Circular Spline $ $ High Torque With more permissible and maximum instantaneous torque available, more load can be handled with the same size geared motor. # $ Comparison of Specification PKE6AC Product Name -HS Conventional Product N m ( lb-in) (7 lb-in) Max. Instantaneous Torque N m 36 (3 lb-in) ( lb-in) Gear Ratio Lost Motion [Load Torque].7 arcmin or less [±.39 N m (3. lb-in)] # $ Comparison of Torque Characteristics 6 Torque [N m] 6 % UP 3 Torque [N m] 3 Max. Instantaneous Torque 3% UP 3 PKE6 Gear Ratio Conventional Product 3 PKE6 Gear Ratio Conventional Product $ $ Surface Installation of Load Is Available This type permits installation of load directly on the rotating surface integrated with the shaft. [Except: 9 mm (3. in.)] # $ Appearance and Installation Example: This surface rotates with the shaft <Example of Installation> Load Mounting Plate Table Tapped holes are provides on the rotating surface for load installation # $ Application: Index Table This type not only reduces the number of parts/processes, but also improves reliability. They are also suitable for operating with moment loads. <Conventional Mechanism> <Surface Mounting> $ $ Harmonic drive and are registered trademarks of Harmonic Drive systems Inc or trademarks. A- ORIENTAL MOTOR PRODUCT CATALOG /9

11 Advantages of Geared s Using geared motors bring many advantages, such as speed reduction, high torque and high resolution. Stepper s A- $ $ The Can Drive a Large Inertial Load If compared with a standard motor, the geared motors can drive larger inertial loads because its permissible load moment of inertia increases with the square of the gear ratio. This means that larger inertial loads can be driven with geared motors. $ Comparison of Load Moment of Inertia Type Standard Type Product Name PKE6AC Load Moment of Inertia ( times of Rotor Inertia).6 - kg m (. oz-in ) Diameter of Inertial Load (Thickness: mm (.79 in.), material: Aluminum) 7 mm (.3 in.) Speed Range 6, r/min Overview & -Phase RK PS Geared Type (Gear ratio ) PKE66AC-PS kg m (37 oz-in ) 7 mm (7.36 in.) 6 r/min $ $ Improved Damping Characteristic at Start and Stop If the inertial load is large or acceleration/ deceleration time is short, a geared motor can reduce damping more effectively and thereby ensure more stable driving compared to a standard motor. Geared motors are ideal for applications where a large inertia such as an index table or arm must be driven to perform quick positioning. -Phase -Phase $ $ High Rigidity, Resistant to Torsional Force Geared motors have high rigidity and are resistant to torsional force. Therefore, compared to standard motors, geared motors are less subject to load torque fluctuation. This means that stability and high positioning accuracy can be ensured even when the load size changes. $ Application: Lifter The application can perform highprecision stops, even with elevators and other mechanisms that perform vertical operations where the number of loads or weight of loads changes. $ Application: Security Camera The position can be held securely even when the camera sways from strong winds. $ $ Downsizing If comparing the standard motor and the geared motor, which have similar maximum holding torque, the frame size of the geared motor is smaller than the standard motor. Geared motors are effective when the equipment must be kept small and light. mm (. in.). mm (. in.) 6 mm (.36 in.) mm (3.3 in.) PS Geared PKE6AC-PS Weight:. kg (3. lb.), TH = N m (7 lb-in) Standard PKE93AC Weight:. kg (9 lb.), TH = 6.3 N m ( lb-in) TH means Maximum Holding Torque See Full Product Details Online Technical Support TEL: () 6-39 Live Chat: techsupport@orientalmotor.com A-

12 A-6 -Phase Stepper and System Configuration $ $ Built-in Controller Type, Standard Type with Electromagnetic Brake An example of a configuration using I/O control or RS- communication is shown below. Accessories Control Module or Support Software Communication Cable Support Software MEXE VDC Power Supply for Control To USB Port Computer Connection Cable Sets/Flexible Connection Cable Sets Max. Extension Length: m (6.6 ft.) For Electromagnetic Brake (For RS- communication) For Connection Cable Sets Flexible Connection Cable Sets Programmable Controller For For Electromagnetic Brake Sensor AC Power Supply (Main Power Supply) Accessories Peripheral Products A protocol converter when using via industrial network. MCS Couplings For For Electromagnetic Brake Extension Cable Sets/ Flexible Extension Cable Sets Network Converter Mounting Brackets RS- Communication Cables General-Purpose Cables for I/O Signals Not supplied. Required for operation via I/O control. The MEXE can be downloaded from Oriental Website Download Page. The USER MANUAL described the operating methods of this product is provided. For detail, contact the nearest Oriental sales office or download from Oriental Website Download Page. $ EEample of System Connfguration Pricing Accessories Connection Cable General Purpose Cables for Flexible Coupling Set Mounting Bracket I/O Signals m (3.3 ft.) PKE66MC RKSD7-CD CC3VPFB PALP-A MCS3 CC6DB- $76. $. $66. $7. $7. $. $ The system configuration shown above is an example. Other combinations are also available. A-6 ORIENTAL MOTOR PRODUCT CATALOG /9

13 Stepper s A-7 $ $ Pulse Input Type, Standard Type with Electromagnetic Brake This single-axis system configuration uses a programmable controller (with pulse oscillation function). Connection Cable Sets/Flexible Connection Cable Sets VDC Power Supply for Electromagnetic Brake Overview & Max. Extension Length: m (6.6 ft.) -Phase RK For Electromagnetic Brake For Connection Cable Sets Flexible Connection Cable Sets Programmable Controller Sensor -Phase For For Electromagnetic Brake -Phase AC Power Supply (Main Power Supply) Accessories Controller A pulse generator is available. MCS Couplings For For Electromagnetic Brake Extension Cable Sets/ Flexible Extension Cable Sets Mounting Brackets General-Purpose Cables for I/O Signals Not supplied. The USER MANUAL described the operating methods of this product is provided. For detail, contact the nearest Oriental sales office or download from Oriental Website Download Page. $ EEample of System Connfguration Pricing Accessories Connection Cable Controller General Purpose Cables for Flexible Coupling Set Mounting Bracket I/O Signals m (3.3 ft.) PKE66MC RKSD7M-C CC3VPFB SCX PALP-A MCS3 CC6DB- $76. $. $66. $39. $7. $7. $. $ The system configuration shown above is an example. Other combinations are also available. See Full Product Details Online Technical Support TEL: () 6-39 Live Chat: techsupport@orientalmotor.com A-7

14 A- -Phase Stepper and Product Number $ $ $ Standard Type PKE 6 R C $ TH, PS, Harmonic Geared Type PKE 6 M C - HS Type PKE: : -Phase 3 Frame Size : mm (.6 in.) 6: 6 mm (.36 in.) 9: mm (3.3 in.) [9 mm (3. in.) for geared type] Case Length Shaft/Encoder/ Electromagnetic Brake A: Single Shaft B: Double Shaft R: with Encoder M: with Electromagnetic Brake 6 Specification C: AC Power Supply Input 7 Reference Number Geared Type TS: TS Geared Type PS: PS Geared Type HS: Harmonic Geared Type 9 Gear Ratio $ $ $ Built-in Controller Type RKSD 7 - A D 3 $ Pulse Input Type RKSD 7 M - A 3 Type RKSD: : -Phase 3 Output Current 3:.3 A/Phase 7:.7 A/Phase Power Supply Input A: Single-Phase - VAC C: Single-Phase - VAC Type D: Built-in Controller Type Type RKSD: : -Phase 3 Output Current 3:.3 A/Phase 7:.7 A/Phase Electromagnetic Brake M: with Electromagnetic Brake Blank: without Electromagnetic Brake Power Supply Input A: Single-Phase - VAC C: Single-Phase - VAC $ $ Connection Cable Sets/Flexible Connection Cable Sets CC V P F B 3 6 CC: Cable Length : m (3.3 ft.) : m (6.6 ft.) 3: 3 m (9. ft.) : m (6. ft.) 7: 7 m (3 ft.) : m (3. ft.) : m (9. ft.) : m (6.6 ft.) 3 Reference Number Applicable Series P: Cable Type F: Connection Cable Set R: Flexible Connection Cable Set 6 Electromagnetic Brake/ Encoder Blank: without Electromagnetic Brake B: with Electromagnetic Brake E: with Encoder A- ORIENTAL MOTOR PRODUCT CATALOG /9

15 Stepper s A-9 Product Line $ $ $ Standard Type $ Standard Type with Electromagnetic Brake Frame Size Product Name (Single Shaft) List Price Product Name (Double Shaft) List Price PKE3AC $69. PKE3BC $7. mm (.6 in.) PKEAC $7. PKEBC $7. PKEAC $77. PKEBC $. PKE6AC $. PKE6BC $. 6 mm (.36 in.) PKE66AC $. PKE66BC $7. PKE69AC $9. PKE69BC $93. PKE96AC $. PKE96BC $. mm (3.3 in.) PKE99AC $. PKE99BC $6. PKE93AC $3. PKE93BC $3. $ Standard Type with Encoder Frame Size Product Name (Single Shaft) List Price PKE3RC $3. mm (.6 in.) PKERC $. PKERC $. PKE6RC $. 6 mm (.36 in.) PKE66RC $9. PKE69RC $6. PKE96RC $. mm (3.3 in.) PKE99RC $. PKE93RC $97. Frame Size Product Name (Single Shaft) List Price PKE3MC $7. mm (.6 in.) PKEMC $. PKEMC $6. PKE6MC $7. 6 mm (.36 in.) PKE66MC $76. PKE69MC $. PKE96MC $3. mm (3.3 in.) PKE99MC $39. PKE93MC $3. Overview & -Phase RK -Phase -Phase Note $ $ The electromagnetic brake cable and the encoder cable from the motor cannot be connected directly to the driver. When connecting to a driver, use a connection cable. $ TS Geared Type $ TS Geared Type with Electromagnetic Brake Frame Size Product Name (Single Shaft) List Price Product Name (Double Shaft) List Price PKE3AC-TS3.6 $9. PKE3BC-TS3.6 $. PKE3AC-TS7. $9. PKE3BC-TS7. $. mm (.6 in.) PKE3AC-TS $. PKE3BC-TS $7. PKE3AC-TS $. PKE3BC-TS $7. PKE3AC-TS3 $. PKE3BC-TS3 $7. PKE6AC-TS3.6 $3. PKE6BC-TS3.6 $3. PKE6AC-TS7. $3. PKE6BC-TS7. $3. 6 mm (.36 in.) PKE6AC-TS $. PKE6BC-TS $. PKE6AC-TS $. PKE6BC-TS $. PKE6AC-TS3 $. PKE6BC-TS3 $. PKE96AC-TS3.6 $33. PKE96BC-TS3.6 $37. PKE96AC-TS7. $33. PKE96BC-TS7. $37. 9 mm (3. in.) PKE96AC-TS $339. PKE96BC-TS $33. PKE96AC-TS $339. PKE96BC-TS $33. PKE96AC-TS3 $339. PKE96BC-TS3 $33. Frame Size Product Name (Single Shaft) List Price PKE3MC-TS3.6 $363. PKE3MC-TS7. $363. mm (.6 in.) PKE3MC-TS $37. PKE3MC-TS $37. PKE3MC-TS3 $37. PKE6MC-TS3.6 $33. PKE6MC-TS7. $33. 6 mm (.36 in.) PKE6MC-TS $9. PKE6MC-TS $9. PKE6MC-TS3 $9. PKE96MC-TS3.6 $3. PKE96MC-TS7. $3. 9 mm (3. in.) PKE96MC-TS $9. PKE96MC-TS $9. PKE96MC-TS3 $9. See Full Product Details Online Technical Support TEL: () 6-39 Live Chat: techsupport@orientalmotor.com A-9

16 A-3 -Phase Stepper and $ PS Geared Type Frame Size Product Name (Single Shaft) List Price Product Name (Double Shaft) List Price PKEAC-PS $36. PKEBC-PS $366. PKEAC-PS7. $36. PKEBC-PS7. $366. mm (.6 in.) PKEAC-PS $36. PKEBC-PS $366. PKE3AC-PS $. PKE3BC-PS $6. PKE3AC-PS36 $. PKE3BC-PS36 $6. PKE3AC-PS $. PKE3BC-PS $6. PKE66AC-PS $3. PKE66BC-PS $3. PKE66AC-PS7. $3. PKE66BC-PS7. $3. 6 mm (.36 in.) PKE66AC-PS $3. PKE66BC-PS $3. PKE6AC-PS $. PKE6BC-PS $3. PKE6AC-PS36 $. PKE6BC-PS36 $3. PKE6AC-PS $. PKE6BC-PS $3. PKE99AC-PS $6. PKE99BC-PS $63. PKE99AC-PS7. $6. PKE99BC-PS7. $63. 9 mm (3. in.) PKE99AC-PS $6. PKE99BC-PS $63. PKE96AC-PS $7. PKE96BC-PS $77. PKE96AC-PS36 $7. PKE96BC-PS36 $77. PKE96AC-PS $7. PKE96BC-PS $77. $ Harmonic Geared Type Frame Size Product Name (Single Shaft) List Price Product Name (Double Shaft) List Price mm (.6 in.) PKE3AC-HS $7. PKE3BC-HS $7. PKE3AC-HS $7. PKE3BC-HS $7. 6 mm (.36 in.) PKE6AC-HS $996. PKE6BC-HS $999. PKE6AC-HS $996. PKE6BC-HS $ mm (3. in.) PKE96AC-HS $,3. PKE96BC-HS $,3. PKE96AC-HS $,3. PKE96BC-HS $,3. $ PS Geared Type with Electromagnetic Brake Frame Size Product Name (Single Shaft) List Price PKEMC-PS $3. PKEMC-PS7. $3. mm (.6 in.) PKEMC-PS $3. PKE3MC-PS $. PKE3MC-PS36 $. PKE3MC-PS $. PKE66MC-PS $6. PKE66MC-PS7. $6. 6 mm (.36 in.) PKE66MC-PS $6. PKE6MC-PS $76. PKE6MC-PS36 $76. PKE6MC-PS $76. PKE99MC-PS $6. PKE99MC-PS7. $6. 9 mm (3. in.) PKE99MC-PS $6. PKE96MC-PS $96. PKE96MC-PS36 $96. PKE96MC-PS $96. $ Harmonic Geared Type with Electromagnetic Brake Frame Size Product Name (Single Shaft) List Price mm (.6 in.) PKE3MC-HS $76. PKE3MC-HS $76. 6 mm (.36 in.) PKE6MC-HS $,. PKE6MC-HS $,. 9 mm (3. in.) PKE96MC-HS $,. PKE96MC-HS $,. Note $ $ The electromagnetic brake cable from the motor cannot be connected directly to the driver. When connecting to a driver, use a connection cable. $ $ $ Built-in Controller Type $ Pulse Input Type Power Supply Input Product Name List Price Single-Phase - VAC RKSD3-AD $37. RKSD7-AD $. Single-Phase - VAC RKSD3-CD $37. RKSD7-CD $. Power Supply Input Product Name List Price Single-Phase - VAC Single-Phase - VAC Standard Type Standard Type with Electromagnetic Brake Standard Type Standard Type with Electromagnetic Brake RKSD3-A $37. RKSD7-A $. RKSD3M-A $37. RKSD7M-A $. RKSD3-C $37. RKSD7-C $. RKSD3M-C $37. RKSD7M-C $. A-3 ORIENTAL MOTOR PRODUCT CATALOG /9

17 Stepper s A-3 $ $ Connection Cable Sets/Flexible Connection Cable Sets Use a flexible connection cable set if the cable will be bent. Extension cables and flexible extension cables that can extend the connection cables are available. The electromagnetic brake cable and the encoder cable from the motor cannot be connected directly to the driver. When connecting to a driver, use a connection cable. $ For Type Length L m (ft.) Product Name List Price Connection Cable Sets Flexible Connection Cable Sets $ For /Encoder Type Length L m (ft.) Product Name List Price Connection Cable Sets Flexible Connection Cable Sets (3.3) CCVPF $3. (6.6) CCVPF $39. 3 (9.) CC3VPF $. (6.) CCVPF $3. 7 (3.) CC7VPF $7. (3.) CCVPF $97. (9.) CCVPF $. (6.6) CCVPF $6. (3.3) CCVPR $. (6.6) CCVPR $. 3 (9.) CC3VPR $. (6.) CCVPR $7. 7 (3.) CC7VPR $93. (3.) CCVPR $7. (9.) CCVPR $6. (6.6) CCVPR $. (3.3) CCVPFE $7. (6.6) CCVPFE $. 3 (9.) CC3VPFE $. (6.) CCVPFE $. 7 (3.) CC7VPFE $9. (3.) CCVPFE $93. (9.) CCVPFE $67. (6.6) CCVPFE $3. (3.3) CCVPRE $9. (6.6) CCVPRE $9. 3 (9.) CC3VPRE $. (6.) CCVPRE $. 7 (3.) CC7VPRE $97. (3.) CCVPRE $9. (9.) CCVPRE $36. (6.6) CCVPRE $67. $ For /Electromagnetic Brake Connection Cable Sets Flexible Connection Cable Sets Type Length L m (ft.) Product Name List Price (3.3) CCVPFB $. (6.6) CCVPFB $. 3 (9.) CC3VPFB $66. (6.) CCVPFB $. 7 (3.) CC7VPFB $. (3.) CCVPFB $3. (9.) CCVPFB $97. (6.6) CCVPFB $. (3.3) CCVPRB $77. (6.6) CCVPRB $9. 3 (9.) CC3VPRB $. (6.) CCVPRB $. 7 (3.) CC7VPRB $9. (3.) CCVPRB $. (9.) CCVPRB $96. (6.6) CCVPRB $379. Overview & -Phase RK -Phase -Phase See Full Product Details Online Technical Support TEL: () 6-39 Live Chat: techsupport@orientalmotor.com A-3

18 A-3 -Phase Stepper and Included $ $ Included Parallel Key Type Mounting Screws Standard Frame Size mm (.6 in.) TS Geared Frame Size 6 mm (.36 in.) pc. M 6 P.7 ( Screws) Frame Size 9 mm (3. in.) pc. M 9 P. ( Screws) PS Geared pc. Harmonic Geared pc. Operating Manual Copy $ $ Type Included Connector Operating Manual Built-in Controller Type CN Connector ( pc.) CN3 Connector ( pc.) CN Connector ( pc.) CN Connector ( pc.) CN9 Connector ( pc.) Copy Pulse Input Type CN Connector ( pc.) CN3 Connector ( pc.) CN Connector ( pc.) CN Connector ( pc.) Copy $ $ Connection Cable Sets/Flexible Connection Cable Sets Included Type Connection Cable Set Flexible Connection Cable Set Operating Manual Copy A-3 ORIENTAL MOTOR PRODUCT CATALOG /9

19 Stepper s A-33 Stepper Output Power Guidelines For servo motor output power (W), the output power (W) is indicated as the "rated output power" when the motor is running at the "rated speed." However, stepper motors with high positioning accuracy and high torque in the medium/low-speed range do not have "rated speeds" so no "rated output power" is listed. For reference purposes, the following lists the servo motor rated torque (W) corresponding to the rated torque of each standard type motor. Overview (Standard Type) Servo with Rated Torque Frame Size Product Name List Price or Equivalent (Reference) PKE3 $73. - W (/-/ HP) mm (.6 in.) PKE $7. Rated Torque or Equivalent PKE $. PKE6 $. - W (/-/ HP) PKE66 $3. Rated Torque or Equivalent 6 mm (.36 in.) - W (/-/ HP) PKE69 $. Rated Torque or Equivalent PKE96 $7. -7 W (/- HP) mm (3.3 in.) PKE99 $6. Rated Torque or Equivalent PKE93 $66. Each price shows an example of the total price of a motor, a driver, and a m (3.3 ft.) connection cable. $ $ Frame Size mm (.6 in.) Torque [oz-in] PKE3 PKE PKE Servo W (/ HP) (Rated Torque) Servo W (/ HP) (Rated Torque) $ $ Frame Size 6 mm (.36 in.) Torque [oz-in] PKE6 PKE66 PKE69 Servo W (/ HP) (Rated Torque) Servo W (/ HP) (Rated Torque) $ $ Frame Size mm (3.3 in.) Torque [oz-in] 6 6 PKE96 PKE99 PKE93 Servo W (/ HP) (Rated Torque) Servo 7 W ( HP) (Rated Torque) & -Phase RK -Phase -Phase $ $ Data for the speed - torque characteristics is based on Oriental 's internal measurement conditions. If the conditions are changed, the characteristics may also change as a result. See Full Product Details Online Technical Support TEL: () 6-39 Live Chat: techsupport@orientalmotor.com A-33

20 A-3 -Phase Stepper and Standard Type Standard Type with Electromagnetic Brake Standard Type with Encoder Specifications Frame Size mm (.6 in.), 6 mm (.36 in.) Single Shaft PKE3AC PKEAC PKEAC PKE6AC PKE66AC PKE69AC Double Shaft PKE3BC PKEBC PKEBC PKE6BC PKE66BC PKE69BC Product Name with Encoder PKE3RC PKERC PKERC PKE6RC PKE66RC PKE69RC with Electromagnetic Brake PKE3MC PKEMC PKEMC PKE6MC PKE66MC PKE69MC Built-in Controller Type RKSD3- D RKSD7- D Product Name Pulse Input Type RKSD3 - RKSD7 - Maximum Holding Torque N m (oz-in). (9.). (9).7 (3). (73).96 (36).77 () Holding Torque at Standstill Power On N m (oz-in).7 (9.9). (.).3 (.).6 (36). (6). () Electromagnetic Brake N m (oz-in).7 (9.9). (.).3 (.).6 (36). (6). () Rotor Inertia J: kg m (oz-in ) 3-7 (.6) [ -7 (.)] (3-7 (.7)) 7-7 (.6) [6-7 (.3)] ( -7 (.6)) 6-7 (.3) [79-7 (.3)] (6-7 (.36)) 6-7 (.) [3-7 (.7)] (6-7 (.)) 7-7 (.) [3-7 (.)] (7-7 (.)) Rated Current A/Phase.3.7 Basic Step Angle.7 Voltage and Frequency Single-Phase - VAC, Single-Phase - VAC to +% /6Hz Power Supply Input Input Current A -7 (3.) [7-7 (3.)] ( -7 (3.)) Single-Phase - VAC Single-Phase - VAC Excitation Mode Microstep Control Power Supply 3 VDC±%. A Electromagnetic Brake Power Supply Input VDC±%. A VDC±%. A $ $ The box in the product name indicates the power supply input A (single phase - VAC) or C (single-phase - VAC). When a driver is the one for a motor with an electromagnetic brake, the box in the product name indicates M (with electromagnetic brake). The bracket [ ] indicates the value for the product with an electromagnetic brake. The parenthesis ( ) indicates the value for the product with an encoder. 3 For built-in controller type, the control power supply is required. For the pulse input type, when operating the motor with an electromagnetic brake, be sure to connect the power supply for electromagnetic brake. If the wiring distance between the motor and driver is extended to m (9. ft.) or longer by using a connection cable (sold separately), VDC±% is applied to the specification of power supply input. Speed Torque Characteristics (Reference Values) : MaE. Starting Frequency PKE3 Torque [oz-in] Current:.3 A/Phase Step Angle:.7 /step.... Input Current Single-Phase - VAC Single-Phase - VAC Pullout Torque PKE 3 Torque [oz-in] 3 Current:.3 A/Phase Step Angle:.7 /step.3 Single-Phase - VAC. Single-Phase - VAC. Pullout Torque... Input Current PKE 3 Torque [oz-in] 3 Current:.3 A/Phase Step Angle:.7 /step Input Current Single-Phase - VAC Single-Phase - VAC Pullout Torque () () () 3 (3) () Resolution: () (Resolution: ) () () () 3 (3) () Resolution: () (Resolution: ) () () () 3 (3) () Resolution: () (Resolution: ) PKE6 PKE66 PKE69 Torque [oz-in] 6 Current:.7 A/Phase Step Angle:.7 /step.7 Single-Phase - VAC.6 Single-Phase - VAC. Pullout Torque..3.. Input Current Resolution: () () () (3) () () (Resolution: ) Torque [oz-in] 6 6 Current:.7 A/Phase Step Angle:.7 /step. Single-Phase - VAC. Single-Phase - VAC. Pullout Torque.6.. Input Current () 3 3 Resolution: () () (3) (Resolution: ) Torque [oz-in] 3 3 Current:.7 A/Phase Step Angle:.7 /step..... Input Current Single-Phase - VAC Single-Phase - VAC Pullout Torque Resolution: () () () () (Resolution: ) Note $ $ Data for the speed torque characteristics is based on Oriental 's internal measurement conditions. If the conditions are changed, the characteristics may also change as a result. $ $ Depending on the driving conditions, a considerable amount of heat may be generated by the motor. Be sure to keep the motor case temperature at C ( F) max. For the type with an encoder, to protect the encoder, be sure to keep the motor case temperature at C ( F) max. (When conforming to the UL or CSA Standards, the temperature of the motor case must be kept at 7 C (67 F) max. since the motor is recognized as heat-resistant class A.) A-3 ORIENTAL MOTOR PRODUCT CATALOG /9

21 Standard Type Standard Type with Electromagnetic Brake Standard Type with Encoder Specifications Single Shaft PKE96AC PKE99AC PKE93AC Double Shaft PKE96BC PKE99BC PKE93BC Product Name with Encoder PKE96RC PKE99RC PKE93RC with Electromagnetic Brake PKE96MC PKE99MC PKE93MC Built-in Controller Type RKSD7- D Product Name Pulse Input Type RKSD7 - Maximum Holding Torque N m (oz-in). (9). () 6.3 (9) Holding Torque at Standstill Power On N m (oz-in). (9). (9) 3. () Electromagnetic Brake N m (oz-in). (9). (9) 3. () Rotor Inertia J:kg m (oz-in ) -7 (6.) [ -7 (.)] ( -7 (6.)) -7 (.) [33-7 (.)] ( -7 (.)) Stepper s A-3 Frame Size mm (3.3 in.) 33-7 (.) [ -7 ()] (33-7 (.)) Rated Current A/Phase.7 Basic Step Angle.7 Voltage and Frequency Single-Phase - VAC, Single-Phase - VAC to +% /6Hz Power Supply Input Input Current A Single-Phase - VAC Single-Phase - VAC... Excitation Mode Microstep Control Power Supply 3 VDC±%. A Electromagnetic Brake Power Supply Input VDC±%. A $ $ The box in the product name indicates the power supply input A (single phase - VAC) or C (single-phase - VAC). When a driver is the one for a motor with an electromagnetic brake, the box in the product name indicates M (with electromagnetic brake). The bracket [ ] indicates the value for the product with an electromagnetic brake. The parenthesis ( ) indicates the value for the product with an encoder. 3 For built-in controller type, the control power supply is required. For the pulse input type, when operating the motor with an electromagnetic brake, be sure to connect the power supply for electromagnetic brake. If the wiring distance between the motor and driver is extended to m (9. in.) or longer by using a connection cable (sold separately), VDC±% is applied to the specification of power supply input. Overview & -Phase RK -Phase -Phase Speed Torque Characteristics (Reference Values) : MaE. Starting Frequency PKE96 Torque [oz-in] 3 Current:.7 A/Phase Step Angle:.7 /step 3. Single-Phase - VAC. Single-Phase - VAC.. Pullout Torque.. Input Current () 3 Resolution: () () (Resolution: ) PKE99 Torque [oz-in] 6 Current:.7 A/Phase Step Angle:.7 /step 6 Single-Phase - VAC Single-Phase - VAC Pullout Torque 3 Input Current () () () Resolution: (Resolution: ) PKE93 Torque [oz-in] 6 6 Current:.7 A/Phase Step Angle:.7 /step Single-Phase - VAC Single-Phase - VAC 6 Pullout Torque Input Current 6 () () Note $ $ Data for the speed torque characteristics is based on Oriental 's internal measurement conditions. If the conditions are changed, the characteristics may also change as a result. $ $ Depending on the driving conditions, a considerable amount of heat may be generated by the motor. Be sure to keep the motor case temperature at C ( F) max. For the type with an encoder, to protect the encoder, be sure to keep the motor case temperature at C ( F) max. (When conforming to the UL or CSA Standards, the temperature of the motor case must be kept at 7 C (67 F) max. since the motor is recognized as heat-resistant class A.) Resolution: (Resolution: ) See Full Product Details Online Technical Support TEL: () 6-39 Live Chat: techsupport@orientalmotor.com A-3

22 A-36 -Phase Stepper and TS Geared Type TS Geared Type with Electromagnetic Brake Specifications Frame Size mm (.6 in.) Single Shaft PKE3AC-TS3.6 PKE3AC-TS7. PKE3AC-TS PKE3AC-TS PKE3AC-TS3 Product Name Double Shaft PKE3BC-TS3.6 PKE3BC-TS7. PKE3BC-TS PKE3BC-TS PKE3BC-TS3 with Electromagnetic Brake PKE3MC-TS3.6 PKE3MC-TS7. PKE3MC-TS PKE3MC-TS PKE3MC-TS3 Product Name Built-in Controller Type RKSD3- D Pulse Input Type RKSD3 - Maximum Holding Torque N m (lb-in). (.) (.). (.3) (7.7).3 () Rotor Inertia J:kg m (oz-in ) 3-7 (.6) [ -7 (.)] Rated Current A/Phase.3 Basic Step Angle Gear Ratio N m (lb-in) (7.7).3 () Maximum Instantaneous Torque N m (lb-in) 3 (6) Holding Torque at Standstill Power On N m (lb-in).6 (.3).3 (.6).7 (6.). (3). (9.) Electromagnetic Brake N m (lb-in).6 (.3).3 (.6).7 (6.). (3). (9.) Speed Range r/min Backlash arcmin (.7 ) (. ) (. ) Voltage and Frequency Single-Phase - VAC, Single-Phase - VAC to +% /6 Hz Power Supply Input Input Current A Single-Phase - VAC. Single-Phase - VAC.3 Excitation Mode Microstep Control Power Supply VDC±%. A Electromagnetic Brake 3 Power Supply Input VDC±%. A For the geared motor output torque, refer to the speed torque characteristics. $ $ The box in the product name indicates the power supply input A (single phase - VAC) or C (single-phase - VAC). When a driver is the one for a motor with an electromagnetic brake, the box in the product name indicates M (with electromagnetic brake). The bracket [ ] indicates the value for the product with an electromagnetic brake. For built-in controller type, the control power supply is required. 3 For the pulse input type, when operating the motor with an electromagnetic brake, be sure to connect the power supply for electromagnetic brake. If the wiring distance between the motor and driver is extended to m (9. ft.) or longer by using a connection cable (sold separately), VDC±% is applied to the specification of power supply input. Speed Torque Characteristics (Reference Values) : MaE. Starting Frequency PKE3 Gear Ratio Current:.3 A/Phase Step Angle:. /step.6 Single-Phase - VAC. Single-Phase - VAC..3.. Input Current 6 () Pullout Torque () PKE3 Gear Ratio 3 () () () Current:.3 A/Phase Step Angle:.36 /step Single-Phase - VAC Single-Phase - VAC 3 Input Current () () () () () Resolution: () (Resolution: ) Resolution: () (Resolution: ) PKE3 Gear Ratio 7. 6 Current:.3 A/Phase Step Angle:. /step. Single-Phase - VAC Single-Phase - VAC Pullout Torque.. Input Current 3 Resolution: 36 () () () () () () (Resolution: 36) PKE3 Gear Ratio 3 3 Current:.3 A/Phase Step Angle:. /step Maximum Instantaneous Single-Phase - VAC Torque Single-Phase - VAC 3 () () PKE3 Gear Ratio Input Current 6 Resolution: () () () () (Resolution: ) Current:.3 A/Phase Step Angle:.7 /step.. Pullout Torque.. Single-Phase - VAC Single-Phase - VAC Input Current 3 Resolution: () () () () () () (Resolution: ) Note $ $ Data for the speed torque characteristics is based on Oriental 's internal measurement conditions. If the conditions are changed, the characteristics may also change as a result. $ $ Depending on the driving conditions, a considerable amount of heat may be generated by the motor. Be sure to keep the motor case temperature at C ( F) max. (When conforming to the UL or CSA Standards, the temperature of the motor case must be kept at 7 C (67 F) max. since the motor is recognized as heat-resistant class A.) A-36 ORIENTAL MOTOR PRODUCT CATALOG /9

23 TS Geared Type TS Geared Type with Electromagnetic Brake Specifications Stepper s A-37 Frame Size 6 mm (.36 in.) Single Shaft PKE6AC-TS3.6 PKE6AC-TS7. PKE6AC-TS PKE6AC-TS PKE6AC-TS3 Product Name Double Shaft PKE6BC-TS3.6 PKE6BC-TS7. PKE6BC-TS PKE6BC-TS PKE6BC-TS3 with Electromagnetic Brake PKE6MC-TS3.6 PKE6MC-TS7. PKE6MC-TS PKE6MC-TS PKE6MC-TS3 Product Name Built-in Controller Type RKSD7- D Pulse Input Type RKSD7 - Maximum Holding Torque N m (lb-in). (.9) 3 (6) (3) () 6 (3) Rotor Inertia J:kg m (oz-in ) 6-7 (.) [3-7 (.7)] Rated Current A/Phase.7 Basic Step Angle Gear Ratio N m (lb-in) 3 (6) (3) () 6 (3) Maximum Instantaneous Torque N m (lb-in) (7) () Holding Torque at Standstill Power On N m (lb-in) (.) (7.7).9 () () 6 (3) Electromagnetic Brake N m (lb-in) (.) (7.7).9 () () 6 (3) Speed Range r/min Backlash arcmin 3 (.9 ) (. ) (.7 ) Voltage and Frequency Single-Phase - VAC, Single-Phase - VAC to +% /6 Hz Power Supply Input Input Current A Single-Phase - VAC. Single-Phase - VAC. Excitation Mode Microstep Control Power Supply VDC±%. A Electromagnetic Brake 3 Power Supply Input VDC±%. A For the geared motor output torque, refer to the speed torque characteristics. $ $ The box in the product name indicates the power supply input A (single phase - VAC) or C (single-phase - VAC). When a driver is the one for a motor with an electromagnetic brake, the box in the product name indicates M (with electromagnetic brake). The bracket [ ] indicates the value for the product with an electromagnetic brake. For built-in controller type, the control power supply is required. 3 For the pulse input type, when operating the motor with an electromagnetic brake, be sure to connect the power supply for electromagnetic brake. If the wiring distance between the motor and driver is extended to m (9. ft.) or longer by using a connection cable (sold separately), VDC±% is applied to the specification of power supply input. Overview & -Phase RK -Phase -Phase Speed Torque Characteristics (Reference Values) : MaE. Starting Frequency PKE6 Gear Ratio 3.6 Current:.7 A/Phase Step Angle:. /step..... Input Current 6 () Pullout Torque () () Single-Phase - VAC Single-Phase - VAC () () Resolution: () (Resolution: ) PKE6 Gear Ratio 7. 3 Current:.7 A/Phase Step Angle:. /step 3 Input Current 3 () () () Single-Phase - VAC Single-Phase - VAC () () Resolution: 36 () (Resolution: 36) PKE6 Gear Ratio 3 Current:.7 A/Phase Step Angle:.7 /step 6 Single-Phase - VAC Single-Phase - VAC 3 Input Current 3 () () () () () Resolution: () (Resolution: ) PKE6 Gear Ratio 6 Current:.7 A/Phase Step Angle:.36 /step Maximum Instantaneous Single-Phase - VAC Torque Single-Phase - VAC 6 Input Current () () () () () Resolution: () (Resolution: ) PKE6 Gear Ratio 3 6 Current:.7 A/Phase Step Angle:. /step Single-Phase - VAC Single-Phase - VAC Maximum Instantaneous Torque Input Current 6 () () () () () Resolution: () (Resolution: ) Note $ $ Data for the speed torque characteristics is based on Oriental 's internal measurement conditions. If the conditions are changed, the characteristics may also change as a result. $ $ Depending on the driving conditions, a considerable amount of heat may be generated by the motor. Be sure to keep the motor case temperature at C ( F) max. (When conforming to the UL or CSA Standards, the temperature of the motor case must be kept at 7 C (67 F) max. since the motor is recognized as heat-resistant class A.) See Full Product Details Online Technical Support TEL: () 6-39 Live Chat: techsupport@orientalmotor.com A-37