CRK Series /0.72 Stepping Motor and Driver Package. Features

Transcription

1 .6 /.7 Stepping Motor and Driver This series is a motor and driver package product that combines a high-performance,.6 /.7 stepping motor with a compact and low-vibration microstep driver. The lineup consists of a Pulse Input or a Built-In Controller. Both packages are available with gearheads and encoder options. Built-In Controller with encoder is available with our self correction function. Additional Information Technical reference Page G- Safety standards Page H- For detailed product safety standard information including standards, file number and certification body, please visit Features Compact, Lightweight Microstep Driver The driver in the achieves microstepping performance in a compact, lightweight body. Smooth Drive Function for Enhanced Ease of Use The Smooth Drive Function automatically controls motion via microstepping at the same travel amount and speed used in the full-step mode, without requiring the operator to change the pulse input settings. This function is particularly useful when the system is operated in the full-step or half-step mode. Comparison of Speed Fluctuations ( r/min).7 /step Two Driver Types are Available Two types of drivers are available, a Pulse Input and a Built- In Controller, to suit the customer's control method. Pulse Input The motor is controlled from a pulse generator, a compact and lightweight [ g (.9 lb.)] driver.. mm (. in.) Speed Fluctuation Speed Fluctuation Smooth Drive Function: OFF Smooth Drive Function: ON 6 mm (.6 in.) CRD P mm (.77 in.) Built-In Controller The with built-in controller is a compact, space saving stepping motor and driver package with a powerful, featurerich controller built-in. The driver supports stand alone or RS- communications with multi-drop capability for network operation and I/O control. Vibration Component Voltage Vp-p [V] Comparison of Vibration Characteristics CSK66-NATA.7 /step (Conventional model) CRK66PMAP.6 /step Smooth Drive Function: ON 7 mm (.76 in.) mm (.9 in.) mm (. in.) Lower Vibration and Noise Achieved by Microstepping The basic step angle of the motor can be divided into a maximum of microstep angles without using any mechanical element such as a reduction gear. As a result, vibration and noise are further reduced. A-6 ORIENTAL MOTOR GENERAL CATALOG Page / Features A-6 / System Configuration A-7 / Product Line A-7 / Specifications, Characteristics A- Dimensions A-9 / Connection and Operation A-9 / Motor and Driver Combinations A-6

2 Stepping Motors Wide Variety of Motors This series offers models ranging from the high-torque type and standard type, as well as various geared types. You can find a product meeting your specific torque, resolution or other needs from a wide range of specifications. Step Angle.6 High-Torque Motor Improved Stopping Accuracy The positioning accuracy of a stepping motor is affected by the friction of the load. The Step Angle.6 High-Torque type achieves high accuracy and reliability based on Oriental Motor's latest precision machining technology. The motor resolution is increased to double the level of a standard model to reduce the displacement angle against load torque, thereby achieve high positioning accuracy. Vibration is also reduced..7 /Step Standard type: teeth Resolution: steps per rotation =.7 /step Resolution is increased!.6 /Step High Torque type: teeth Resolution: steps per rotation =.6 /step Comparison of Angle Torque Characteristics. Torque TH TH. TL Angle [deg] -TL TL: Friction Torque TH, TH: Maximum Holding Torque.6 /Step High-Torque Type.7 /Step Standard Type TH: CRK66AP (.7 /Step Standard Type) TH: CRK66PMAP (.6 /Step High-Torque Type) Stop Position Accuracy of Arc Minutes (No load) The Step Angle.6 High-Torque type is designed with a stop position accuracy of arc minutes (. ) [standard type: arc minutes (. )]. The reduced error helps improve the positioning accuracy of your equipment. Angle Error [deg] Static Angle Characteristics Power Supply Voltage: VDC Resolution: (.6 /step).6. CRK66PMBP Angle [deg] High-Torque Motor (Step Angle.6,.7 ) The high-torque type adopts a newly designed high-torque motor that widens the range of applications. The smaller motor allows for compact equipment design. The motor current is reduced to suppress heat generation. Example: Avoidance of temperature rise in precision equipment or machinery Comparison of Speed Torque Characteristics Current:. A/Phase Step Angle:.6 /step With Damper D6CL-.F: JL= 7 kg m (.77 oz-in ).6 CRK66PMBP (High-Torque type)... CRK66BP (Standard type) Encoder Option Available Pulse Input : or pulse/rev, channel, TTL. Built-In Controller : or pulse/rev, channel, Differential. Motor rotations can be detected by taking in encoder output signals into a programmable controller (not supplied with CRK pulse input package). AR AS RK UMK AR ASX CRK CMK RBK PK PK PK PK/PV PK Introduction / /.7.9 / Geared AC Input Motor & Driver DC Input Motor & Driver Motor Only Controllers SCX /EMP /SGJ Accessories CAD Data Manuals Technical Support TEL: () techsupport@orientalmotor.com A-69

3 6 Start Abort Pstop AlmClr CRoff Home -LS +LS Home Slit Sensor Alarm Move.6 /.7 Stepping Motor and Driver Three Control Methods Three control methods can be selected, depending on your operation system. Pulse Input Pulse Control The motor is controlled using a pulse generator provided by the customer. Operation data is input to the pulse generator, then selected and run from the host programmable controller. Motor Driver Pulse Generator Programmable Controller Built-In Controller I/O Control A built-in pulse generation function allows the motor to be driven via a directly connected programmable controller. Since no separate pulse generator is required, drivers of this type save space and simplify the system. Computer (Not supplied) Driver Programmable Controller RS- Communication Control Computer or Operation data, parameter settings and operation commands can be input via RS- communication. A maximum of 6 drivers can be connected to one host controller. Motor RS- communication Programmable Controller Motion Creator Software (for Built-In Controller ) Easily create basic motion such as Incremental, Absolute, Linked and Continues Moves Use Program Editor to create complex motion profiles Utilize commands from built-in editor with drag and drop feature Easy cloning with Upload/Download functions to PC Use Motion Monitor to view all inputs, outputs, motor position and alarm state Built-in help menu Available GUI Motion Creator Motion Creator Linked Index Program Editor Terminal Jog/Teach System Config ID Sytax Simulator Window O Motion Type F DIS 7 Incremental Continuous Pos Go Home Pos VS Absolute Continuous Neg Go Home Neg VR 9 TA. Motion Parameters TD. Distance (+/-) 7 Steps MI Starting Velocity Pulse/sec Running Velocity 9 Pulse/sec CLEAR WINDOW Acceleration Time Sec Deceleration Time. Sec WAVEFORM CAPTURE Auto Retrigger Save as default Save parameters to PC Motion Commands START MOTION TRIGGER START DISPLAY/SETUP Load parameters from PC STOP MOTION scan ID STATUS Com Device Command Position Feedback Position Alarm Drive Temp Opened Inputs Connected OK o C Outputs Hard Stop A-7 ORIENTAL MOTOR GENERAL CATALOG / Page Features A-6 / System Configuration A-7 / Product Line A-7 / Specifications, Characteristics A- Dimensions A-9 / Connection and Operation A-9 / Motor and Driver Combinations A-6

4 Stepping Motors Features of the Built-In Controller The with built-in controller is a compact, space saving stepping motor and driver package with a powerful, feature-rich controller built-in. the driver supports RS- communications with multi-drop capability for network operation and I/O control. Motor Driver No separate pulse Programmable Controller generator is required Up to 6 Program Sequences Up to 6 program sequences are available. Incremental (relative distance specification) mode and Absolute (absolute position specification) mode are available. Operating Modes Direct command entry - from terminal, PLC or master controller Standalone operation - running sorted programs selected via I/O Variable data - any settable parameter or variable values entered changed via direct entry from a host will be used by the stored sequence. Motion Example [Incremental Operation] The motor's operating speed and distance of the move are set to perform according to the selected program. Example Distance: steps (Incremental) Veloctiy Running Velocity: pps Runnig Velocity Distance DIS ( part) Starting Velocity: pps VR Acceleration time:. sec. Deceleration time:. sec. Runnig Velocity >DIS= VS DIS= >VR= VR= Time >VS= VS= >TA=. TA=. >TD=. TD=. >MI > Acceleration time TA Deceleration time TD [Linked Operation] Use up to running speeds between the start and stop positions with each motion having its own distance. After "linking" the data, the different motions will be activated with a single start signal. Veloctiy Running Velocity VR Running Velocity VR Distance DIS ( part) Distance DIS ( part) [Continuous Operation at Variable Speeds] The motor speed can easily be changed while the motor runs continuously with a new motion command. Running Velocity VR Starting Velocity VS Veloctiy Acceleration time TA Time Return to Home Operation Return to Home Operation can easily be performed by a home position sensor or a sensor representing a position reference point (home) is available. ➁ Home position sensor Electrical home position PLS-OUT Output Function Synchronism is available The PLS-OUT output is used to output the driver's internal oscillation pulse to a second driver allowing for the second motor to be controlled in synchronism with the first. The number of pulses to the output corresponds to the commanded travel and the pulse frequency corresponds to the operating speed. Used for Position Counting By counting the output signals, the commanded position of the motor can be checked. Teaching Function Teaching can be performed with direct commands or with the Motion Creator Software. When you move the table to the target position, it stores the achieved position as positioning data. ➀ AR AS RK UMK AR ASX CRK CMK RBK PK PK PK PK/PV PK Introduction / /.7.9 / Geared AC Input Motor & Driver DC Input Motor & Driver Motor Only Starting Velocity VS Controllers SCX /EMP /SGJ Acceleration time Acceleration time Deceleration time Accessories CAD Data Manuals Technical Support TEL: () techsupport@orientalmotor.com A-7

5 .6 /.7 Stepping Motor and Driver Encoder Type Motors Motor rotations can be detected by taking in encoder output signals into the built-in controller. Internal Oscillation Pulse Command Position Counter Motor Drive Circuit Encoder Counter A-Phase/ B-Phase Motor Encoder Comparison Occurrence of Deviation Abnormality STEPOUT Output Alarm Output Warning Output STEPOUT Output Function If a deviation between the driver's command position and the encoder counter value reaches the setting value (deviation abnormality), a STEPOUT signal is output. This allows for detection of positional errors caused by sudden changes in load, etc. Alarm Output Function If a deviation abnormality occurs, an overflow alarm is generated and the motor is stopped. Warning Output Function If a deviation abnormality occurs, an overflow warning is generated. The motor will continue to operate. Whether an alarm or warning is output when a deviation abnormality has occurred can be set with the parameters. Self Correction Function When the Self Correcting Function is enabled and synchronism is lost, the controller makes sure that the motion profile is completed correctly. Total distance remains the same. Unexpected Load Occurred & Synchronism is Lost Velocity Running Velocity Starting point (P=) Reduce its speed to starting velocity Target point (P=) Distance DIS ( part) = Starting Velocity Deviation error correction Time Acceleration time Acceleration time Deceleration time A-7 ORIENTAL MOTOR GENERAL CATALOG / Page Features A-6 / System Configuration A-7 / Product Line A-7 / Specifications, Characteristics A- Dimensions A-9 / Connection and Operation A-9 / Motor and Driver Combinations A-6

6 Stepping Motors Lineup of Motors Characteristics Comparison for Motors Non-Backlash Low Backlash Type Step Angle.6º High-Torque Type Step Angle.7º High-Torque Type Step Angle.7º Standard Type TH Geared Type (Parallel shaft) PS Geared Type (Planetary gear) PN Geared Type (Planetary gear) Harmonic Geared Type (Harmonic drive) Features The basic step angle is.6 /step, which is half that of the standard type High positioning accuracy Higher torque of approximately. to. times compared with the standard type Basic model of A wide variety of low gear ratios for high-speed operation Gear ratios:.6, 7.,,, High permissible/maximum torque A wide variety of gear ratios for selecting the desired step angle Centered output shaft Gear ratios:, 7.,,, 6, High speed (low gear ratios), high accuracy positioning High permissible/maximum torque A wide variety of gear ratios for selecting the desired step angle Centered output shaft Gear ratios:, 7.,,, 6, High accuracy positioning High permissible/maximum torque High gear ratios, high resolution Centered output shaft Gear ratios:, The unit of the value in the parentheses of the geared type is [lb-in]. / Maximum Torque [N m (oz-in)] Maximum Holding Torque. () Maximum Holding Torque. (9) Maximum Holding Torque.66 () Permissible Torque (7) Permissible Torque (7) Permissible Torque (7) Maximum Torque (77) Maximum Torque (77) Maximum Torque () Note The values shown above must be used as reference. The actual values vary depending on the motor frame size and gear ratio. () Backlash [arc min] 6 Basic Resolution [deg/step] Output Shaft Speed [r/min] AR AS RK UMK AR ASX CRK CMK RBK PK PK PK PK/PV PK Introduction / /.7.9 / Geared AC Input Motor & Driver DC Input Motor & Driver Motor Only Controllers SCX /EMP /SGJ Accessories CAD Data Manuals Technical Support TEL: () techsupport@orientalmotor.com A-7

7 .6 /.7 Stepping Motor and Driver Wide Variety The following motor frame sizes area available, depending on whether a pulse input package or built-in controller package is used. (" " indicates a motor frame size of mm.) Pulse Input s Step Angle.6 High-Torque Type Step Angle.7 High-Torque Type (.79) Step Angle.7 Standard Type TH Geared Type PS Geared Type PN Geared Type Harmonic Geared Type (.79) (.) (.) (.) (.) (.) (.) (.6) (.6) (.6) (.6) (.6) (.6) (.6) 6 (.6) 6 (.6) 6 (.6) 6 (.6) 6 (.6) 6 (.6) Built-In Controller s (.79) (.79) (.) (.) (.) (.) (.) (.6) (.6) (.6) (.6) (.6) (.6) 6 (.6) 6 (.6) 6 (.6) 6 (.6) 6 (.6) An encoder type is available. A-7 ORIENTAL MOTOR GENERAL CATALOG / Page Features A-6 / System Configuration A-7 / Product Line A-7 / Specifications, Characteristics A- Dimensions A-9 / Connection and Operation A-9 / Motor and Driver Combinations A-6

8 Stepping Motors System Configuration Pulse Input s An example of a system configuration with the SGJ controller. Introduction Accessories (Sold separately) Flexible Couplings ( Page A-) Motor Accessories (Sold separately) Motor Mounting Brackets ( Page A-) Connection Cable Set ( Page A-) (Connected by the customer) Clean Dampers ( Page A-) Driver Controller (Sold separately) Controller ( Page A-7) Example of System Configuration Sold Separately Motor Mounting Flexible Controller Bracket Coupling Clean Damper Connection Cable Set CRK66PMBP SGJ-U PALP-A MCS D6CL-.F LCSSD The system confi guration shown above is an example. Other combinations are available. Not supplied Programmable Controller VDC Power Supply VDC Power Supply AR AS RK UMK AR ASX CRK CMK RBK PK PK PK PK/PV PK / /.7.9 / Geared AC Input Motor & Driver DC Input Motor & Driver Motor Only Controllers SCX /EMP /SGJ Accessories CAD Data Manuals Technical Support TEL: () techsupport@orientalmotor.com A-7

9 .6 /.7 Stepping Motor and Driver System Configuration Built-In Controller s An example of a configuration when used with either I/O control or RS- communication. Accessories (Sold separately) RS- Communication or Programmable Controller Flexible Couplings ( Page A-) Connection Cable ( Page A-) Computer Motor Driver (Connected by the customer) Programmable Controller VDC Power Supply Accessories (Sold separately) Motor Mounting Brackets ( Page A-) Clean Dampers ( Page A-) RS- Communication Cable ( Page A-) Example of System Configuration Sold Separately Connection Cable Motor Mounting Flexible Coupling Clean Damper [ m (6. ft.)] Bracket CRK66BKP CCPK PALP-A MCS D6CL-.F The system confi guration shown above is an example. Other combinations are available. Not supplied Motion Creator GUI available for download. Page A-7 A-76 ORIENTAL MOTOR GENERAL CATALOG / Page Features A-6 / System Configuration A-7 / Product Line A-7 / Specifications, Characteristics A- Dimensions A-9 / Connection and Operation A-9 / Motor and Driver Combinations A-6

10 Stepping Motors Product Number Code Pulse Input High-Torque Type, Standard Type 6 7 PMAP-R Geared Type 6 7 APR7PS Built-In Controller High-Torque Type, Standard Type PMRKP Geared Type RKPPS Series CRK: : -Phase Motor Frame Size : mm (.79 in.) : mm (. in.) : mm (.6 in.) 6: 6 mm (.6 in.) Motor Case Length Motor Type 6 Resolution Blank:.7 /step (High-Torque Type, Standard Type) M:.6 /step (High-Torque Type) 7 Motor Shaft Type A: Single Shaft B: Double Shaft Signal I/O Mode of Driver P: Photocoupler 9 Encoder Version Encoder Output : -Channel A, B, Index Encoder Resolution 7: P/R : P/R Series CRK: : -Phase Motor Frame Size : mm (.79 in.) : mm (. in.) [ mm (. in.)] : mm (.6 in.) 6: 6 mm (.6 in.) Motor Case Length Motor Type 6 Motor Shaft Type A: Single Shaft B: Double Shaft 7 Signal I/O Mode of Driver P: Photocoupler Encoder Version 9 Encoder Output : -Channel A, B, Index Encoder Resolution 7: P/R Gearhead Type T: TH Geared Type PS: PS Geared Type N: PN Geared Type H: Harmonic Geared Type Gear Ratio Series CRK: : -Phase Motor Frame Size : mm (.79 in.) : mm (. in.) : mm (.6 in.) 6: 6 mm (.6 in.) Motor Case Length Motor Type 6 Resolution Blank:.7 /step (High-Torque Type, Standard Type) M:.6 /step (High-Torque Type) 7 Motor Shaft Type A: Single Shaft B: Double Shaft R: With Encoder Power Supply Voltage K: VDC 9 Driver Type P: Built-In Controller Series CRK: : -Phase Motor Frame Size : mm (.79 in.) : mm (. in.) : mm (.6 in.) 6: 6 mm (.6 in.) Motor Case Length Motor Type 6 Motor Shaft Type A: Single Shaft B: Double Shaft R: With Encoder 7 Power Supply Voltage K: VDC Driver Type P: Built-In Controller 9 Gearhead Type T: TH Geared Type PS: PS Geared Type H: Harmonic Geared Type Gear Ratio AR AS RK UMK AR ASX CRK CMK RBK PK PK PK PK/PV PK Introduction / /.7.9 / Geared AC Input Motor & Driver DC Input Motor & Driver Motor Only Controllers SCX /EMP /SGJ Accessories CAD Data Manuals Technical Support TEL: () techsupport@orientalmotor.com A-77

11 .6 /.7 Stepping Motor and Driver Product Line Pulse Input Step Angle.6 High-Torque Type (Single shaft) CRKPMAP CRKPMAP CRKPMAP CRKPMAP CRK6PMAP CRK6PMAP CRK66PMAP CRK69PMAP Step Angle.7 High-Torque Type (Single shaft) CRKPAP CRKPAP CRKPAP CRKPAP CRK6PAP Step Angle.7 Standard Type (Single shaft) CRKAP CRKAP CRKAP CRK6AP CRK66AP CRK69AP TH Geared Type (Single shaft) CRKPAP-T7. CRKPAP-T CRKPAP-T CRKPAP-T CRKAP-T.6 CRKAP-T7. CRKAP-T CRKAP-T CRKAP-T CRK6AP-T.6 CRK6AP-T7. CRK6AP-T CRK6AP-T CRK6AP-T PS Geared Type (Single shaft) CRKPAP-PS CRKPAP-PS7 CRKPAP-PS CRKAP-PS CRKAP-PS7 CRKAP-PS CRKAP-PS CRKAP-PS6 CRKAP-PS CRK66AP-PS CRK66AP-PS7 CRK66AP-PS CRK6AP-PS CRK6AP-PS6 CRK6AP-PS (Double shaft) CRKPMBP CRKPMBP CRKPMBP CRKPMBP CRK6PMBP CRK6PMBP CRK66PMBP CRK69PMBP (Double shaft) CRKPBP CRKPBP CRKPBP CRKPBP CRK6PBP (Double shaft) CRKBP CRKBP CRKBP CRK6BP CRK66BP CRK69BP (Double shaft) CRKPBP-T7. CRKPBP-T CRKPBP-T CRKPBP-T CRKBP-T.6 CRKBP-T7. CRKBP-T CRKBP-T CRKBP-T CRK6BP-T.6 CRK6BP-T7. CRK6BP-T CRK6BP-T CRK6BP-T (Double shaft) CRKPBP-PS CRKPBP-PS7 CRKPBP-PS CRKBP-PS CRKBP-PS7 CRKBP-PS CRKBP-PS CRKBP-PS6 CRKBP-PS CRK66BP-PS CRK66BP-PS7 CRK66BP-PS CRK6BP-PS CRK6BP-PS6 CRK6BP-PS Step Angle.6 High-Torque Type with Encoders CRKPMAP-R CRK6PMAP-R CRK6PMAP-R CRK66PMAP-R CRK69PMAP-R Step Angle.7 High-Torque Type with Encoders CRKPAP-R7 CRK6PAP-R7 Step Angle.7 Standard Type with Encoders CRKAP-R7 CRKAP-R7 CRKAP-R7 CRK6AP-R7 CRK66AP-R7 CRK69AP-R7 TH Geared Type with Encoders CRKAPR7T.6 CRKAPR7T7. CRKAPR7T CRKAPR7T CRKAPR7T CRK6APR7T.6 CRK6APR7T7. CRK6APR7T CRK6APR7T CRK6APR7T PS Geared Type with Encoders CRKAPR7PS CRKAPR7PS7 CRKAPR7PS CRKAPR7PS CRKAPR7PS6 CRKAPR7PS CRK66APR7PS CRK66APR7PS7 CRK66APR7PS CRK6APR7PS CRK6APR7PS6 CRK6APR7PS A-7 ORIENTAL MOTOR GENERAL CATALOG / Page Features A-6 / System Configuration A-7 / Product Line A-7 / Specifications, Characteristics A- Dimensions A-9 / Connection and Operation A-9 / Motor and Driver Combinations A-6

12 Stepping Motors PN Geared Type (Single shaft) CRKPAP-N CRKPAP-N7. CRKPAP-N CRKAP-N CRKAP-N7. CRKAP-N CRK66AP-N CRK66AP-N7. CRK66AP-N CRK6AP-N CRK6AP-N6 CRK6AP-N (Double shaft) CRKPBP-N CRKPBP-N7. CRKPBP-N CRKBP-N CRKBP-N7. CRKBP-N CRK66BP-N CRK66BP-N7. CRK66BP-N CRK6BP-N CRK6BP-N6 CRK6BP-N Harmonic Geared Type (Single shaft) (Double shaft) CRKPAP-H CRKPBP-H CRKPAP-H CRKPBP-H CRKPAP-H CRKPBP-H CRKPAP-H CRKPBP-H CRKAP-H CRKBP-H CRKAP-H CRKBP-H CRK6AP-H CRK6BP-H CRK6AP-H CRK6BP-H The following items are included in each product. Motor, Parallel Key, Driver, Driver Connector, Connection Cable, Encoder Connection Cable, Operating Manual Only for the products with a key slot on the output shaft Only for connector-coupled motor Only for the products with an encoder Built-In Controller Step Angle.6 High-Torque Type (Single shaft) (Double shaft) CRKPMAKP CRKPMBKP CRKPMAKP CRKPMBKP CRKPMAKP CRKPMBKP CRKPMAKP CRKPMBKP CRK6PMAKP CRK6PMBKP CRK6PMAKP CRK6PMBKP CRK66PMAKP CRK66PMBKP CRK69PMAKP CRK69PMBKP Step Angle.7 High-Torque Type (Single shaft) CRKPAKP CRKPAKP CRKPAKP CRKPAKP CRK6PAKP Step Angle.7 Standard Type (Single shaft) CRKAKP CRKAKP CRKAKP CRK6AKP CRK66AKP CRK69AKP (Double shaft) CRKPBKP CRKPBKP CRKPBKP CRKPBKP CRK6PBKP (Double shaft) CRKBKP CRKBKP CRKBKP CRK6BKP CRK66BKP CRK69BKP Harmonic Geared Type with Encoders CRKAPR7H CRKAPR7H CRK6APR7H CRK6APR7H Step Angle.6 High-Torque Type with Encoders CRKPMRKP CRK6PMRKP CRK6PMRKP CRK66PMRKP CRK69PMRKP Step Angle.7 High-Torque Type with Encoders CRKPRKP CRK6PRKP Step Angle.7 Standard Type with Encoders CRKRKP CRKRKP CRKRKP CRK6RKP CRK66RKP CRK69RKP The following items are included in each product. Motor, Parallel Key, Driver, Power Supply Connector, Connection Cable, Encoder Connection Cable, CN Connection Cable, CN Connection Cable, CN Connection Cable, Operating Manual Only for the products with a key slot on the output shaft Only for connector-coupled motor Only for the products with an encoder AR AS RK UMK AR ASX CRK CMK RBK PK PK PK PK/PV PK Introduction / /.7.9 / Geared AC Input Motor & Driver DC Input Motor & Driver Motor Only Controllers SCX /EMP /SGJ Accessories CAD Data Manuals Technical Support TEL: () techsupport@orientalmotor.com A-79

13 .6 /.7 Stepping Motor and Driver TH Geared Type (Single shaft) CRKPAKP-T7. CRKPAKP-T CRKPAKP-T CRKPAKP-T CRKAKP-T.6 CRKAKP-T7. CRKAKP-T CRKAKP-T CRKAKP-T CRK6AKP-T.6 CRK6AKP-T7. CRK6AKP-T CRK6AKP-T CRK6AKP-T PS Geared Type (Single shaft) CRKPAKP-PS CRKPAKP-PS7 CRKPAKP-PS CRKAKP-PS CRKAKP-PS7 CRKAKP-PS CRKAKP-PS CRKAKP-PS6 CRKAKP-PS CRK66AKP-PS CRK66AKP-PS7 CRK66AKP-PS CRK6AKP-PS CRK6AKP-PS6 CRK6AKP-PS (Double shaft) CRKPBKP-T7. CRKPBKP-T CRKPBKP-T CRKPBKP-T CRKBKP-T.6 CRKBKP-T7. CRKBKP-T CRKBKP-T CRKBKP-T CRK6BKP-T.6 CRK6BKP-T7. CRK6BKP-T CRK6BKP-T CRK6BKP-T (Double shaft) CRKPBKP-PS CRKPBKP-PS7 CRKPBKP-PS CRKBKP-PS CRKBKP-PS7 CRKBKP-PS CRKBKP-PS CRKBKP-PS6 CRKBKP-PS CRK66BKP-PS CRK66BKP-PS7 CRK66BKP-PS CRK6BKP-PS CRK6BKP-PS6 CRK6BKP-PS TH Geared Type with Encoders CRKRKPT.6 CRKRKPT7. CRKRKPT CRKRKPT CRKRKPT CRK6RKPT.6 CRK6RKPT7. CRK6RKPT CRK6RKPT CRK6RKPT PS Geared Type with Encoders CRKRKPPS CRKRKPPS7 CRKRKPPS CRKRKPPS CRKRKPPS6 CRKRKPPS CRK66RKPPS CRK66RKPPS7 CRK66RKPPS CRK6RKPPS CRK6RKPPS6 CRK6RKPPS Harmonic Geared Type Harmonic Geared Type with Encoders (Single shaft) CRKPAKP-H CRKPAKP-H CRKPAKP-H CRKPAKP-H CRKAKP-H CRKAKP-H CRK6AKP-H CRK6AKP-H (Double shaft) CRKPBKP-H CRKPBKP-H CRKPBKP-H CRKPBKP-H CRKBKP-H CRKBKP-H CRK6BKP-H CRK6BKP-H CRKRKPH CRKRKPH CRK6RKPH CRK6RKPH The following items are included in each product. Motor, Parallel Key, Driver, Power Supply Connector, Connection Cable, Encoder Connection Cable, CN Connection Cable, CN Connection Cable, CN Connection Cable, Operating Manual Only for the products with a key slot on the output shaft Only for connector-coupled motor Only for the products with an encoder A- ORIENTAL MOTOR GENERAL CATALOG / Page Features A-6 / System Configuration A-7 / Product Line A-7 / Specifications, Characteristics A- Dimensions A-9 / Connection and Operation A-9 / Motor and Driver Combinations A-6

14 Stepping Motors Step Angle.6 Motor Frame Size mm (. in.), mm (.6 in.) High-Torque Type Introduction Specifications Pulse Input Built-In Controller Single Shaft CRKPMAP CRKPMAP CRKPMAP CRKPMAP CRK6PMAP Double Shaft CRKPMBP CRKPMBP CRKPMBP CRKPMBP CRK6PMBP With Encoder CRKPMAP-R CRK6PMAP-R Single Shaft CRKPMAKP CRKPMAKP CRKPMAKP CRKPMAKP CRK6PMAKP Double Shaft CRKPMBKP CRKPMBKP CRKPMBKP CRKPMBKP CRK6PMBKP With Encoder CRKPMRKP CRK6PMRKP Maximum Holding Torque N m (oz-in). (.9).6 (.6).9 (.7). (). (9) Holding Torque at Motor Standstill Power ON N m (oz-in).9 (.6). (.9). (.). (.6).9 (6) Rotor Inertia J: kg m (oz-in ) 9-7 (.9) -7 (.7) 9-7 (.) 6-7 (.) -7 (.66) Rated Current A/Phase..7 Basic Step Angle.6 Power Source VDC±%.7 A VDC±%. A Excitation Mode Microstep Certification for UL standards is only acquired on pulse input package. Encoder connection cable [.6 m ( ft.)] is included with the motor with encoder and driver package. Connection Cable [.6 m ( ft.)] is included with the connector-coupled motor and driver package. Speed Torque Characteristics CRKPM Current:. A/Phase Step Angle:.6 /step With Damper DCL-.F: JL= 7 kg m (.6 oz-in ) () CRKPM.. () Pullout Torque () Resolution: (Resolution: ) Current:.7 A/Phase Step Angle:.6 /step With Damper DCL-.F: JL= 7 kg m (.6 oz-in ).... Pullout Torque... () () () CRKPM Resolution: (Resolution: ) Current:. A/Phase Step Angle:.6 /step With Damper DCL-.F: JL= 7 kg m (.6 oz-in ) () CRK6PM () Pullout Torque. () Resolution: () (Resolution: ) Current:.7 A/Phase Step Angle:.6 /step With Damper DCL-.F: JL= 7 kg m (.6 oz-in ) () CRKPM Current:. A/Phase Step Angle:.6 /step With Damper DCL-.F: JL= 7 kg m (.6 oz-in ). For motors with an encoder, a load with a similar inertia should be attached. The pulse input circuit responds to approximately khz with a pulse duty of %. Note Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under C ( F). [Under 7 C (67 F) is required to comply with UL or CSA Standards as the motor is recognized as Thermal Class (A).] () Pullout Torque 6 () Resolution: (Resolution: ) () () Pullout Torque () Resolution: (Resolution: ) AR AS RK UMK AR ASX CRK CMK RBK PK PK PK PK/PV PK / /.7.9 / Geared AC Input Motor & Driver DC Input Motor & Driver Motor Only Controllers SCX /EMP /SGJ Accessories CAD Data Manuals Technical Support TEL: () techsupport@orientalmotor.com A-

15 .6 /.7 Stepping Motor and Driver Step Angle.6 Motor Frame Size 6 mm (.6 in.) High-Torque Type Specifications Pulse Input Built-In Controller Single Shaft CRK6PMAP CRK66PMAP CRK69PMAP Double Shaft CRK6PMBP CRK66PMBP CRK69PMBP With Encoder CRK6PMAP-R CRK66PMAP-R CRK69PMAP-R Single Shaft CRK6PMAKP CRK66PMAKP CRK69PMAKP Double Shaft CRK6PMBKP CRK66PMBKP CRK69PMBKP With Encoder CRK6PMRKP CRK66PMRKP CRK69PMRKP Maximum Holding Torque N m (oz-in).7 (). (). () Holding Torque at Motor Standstill Power ON N m (oz-in). (9). () () Rotor Inertia J: kg m (oz-in ) -7 (.7) 9-7 (.7) 97-7 (.) Rated Current A/Phase. Basic Step Angle.6 Power Source VDC±%. A Excitation Mode Microstep Certification for UL standards is only acquired on pulse input package. Encoder connection cable [.6 m ( ft.)] is included with the motor with encoder and driver package. Connection Cable [.6 m ( ft.)] is included with the connector-coupled motor and driver package. Speed Torque Characteristics CRK6PM Current:. A/Phase Step Angle:.6 /step With Damper D6CL-.F: JL= 7 kg m (.77 oz-in ) () 6 () Pullout Torque () Resolution: (Resolution: ) CRK66PM Current:. A/Phase Step Angle:.6 /step With Damper D6CL-.F: JL= 7 kg m (.77 oz-in ).6... (). () Pullout Torque 6 () 7. Resolution: (7) (Resolution: ) CRK69PM Current:. A/Phase Step Angle:.6 /step With Damper D6CL-.F: JL= 7 kg m (.77 oz-in ) () () Pullout Torque Resolution: () () () (Resolution: ) For motors with an encoder, a load with a similar inertia should be attached. The pulse input circuit responds to approximately khz with a pulse duty of %. Note Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under C ( F). [Under 7 C (67 F) is required to comply with UL or CSA Standards as the motor is recognized as Thermal Class (A).] A- ORIENTAL MOTOR GENERAL CATALOG / Page Features A-6 / System Configuration A-7 / Product Line A-7 / Specifications, Characteristics A- Dimensions A-9 / Connection and Operation A-9 / Motor and Driver Combinations A-6

16 Stepping Motors Step Angle.7 Motor Frame Size mm (.79 in.), mm (. in.) High-Torque Type Introduction Specifications Pulse Input Built-In Controller Single Shaft CRKPAP CRKPAP CRKPAP Double Shaft CRKPBP CRKPBP CRKPBP Single Shaft CRKPAKP CRKPAKP CRKPAKP Double Shaft CRKPBKP CRKPBKP CRKPBKP Maximum Holding Torque N m (oz-in). (.). (.).7 () Holding Torque at Motor Standstill Power ON N m (oz-in). (.6). (.).7 (.) Rotor Inertia J: kg m (oz-in ).6-7 (.) 9-7 (.9) -7 (.9) Rated Current A/Phase. Basic Step Angle.7 Power Source VDC±%.7 A Excitation Mode Microstep Certification for UL standards is only acquired on pulse input package. Connection Cable [.6 m ( ft.)] is included with the connector-coupled motor and driver package. Speed Torque Characteristics CRKP.. CRKP 6 Current:. A/Phase Step Angle:.7 /step Load Inertia: JL= kg m ( oz-in ) () () Pullout Torque () Resolution: (Resolution: ) Current:. A/Phase Step Angle:.7 /step With Damper DCL-.F: JL= 7 kg m (.6 oz-in ) () () Pullout Torque () Resolution: (Resolution: ) The pulse input circuit responds to approximately khz with a pulse duty of %. CRKP.. 6 Current:. A/Phase Step Angle:.7 /step With Damper DCL-.F: JL= 7 kg m (.6 oz-in ) () () Pullout Torque () Resolution: (Resolution: ) Note Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under C ( F). [Under 7 C (67 F) is required to comply with UL or CSA Standards as the motor is recognized as Thermal Class (A).] AR AS RK UMK AR ASX CRK CMK RBK PK PK PK PK/PV PK / /.7.9 / Geared AC Input Motor & Driver DC Input Motor & Driver Motor Only Controllers SCX /EMP /SGJ Accessories CAD Data Manuals Technical Support TEL: () techsupport@orientalmotor.com A-

17 .6 /.7 Stepping Motor and Driver Step Angle.7 Motor Frame Size mm (.6 in.) Standard/High-Torque Type Specifications Pulse Input Built-In Controller Single Shaft CRKAP CRKAP CRKAP CRKPAP CRK6PAP Double Shaft CRKBP CRKBP CRKBP CRKPBP CRK6PBP With Encoder CRKAP-R7 CRKAP-R7 CRKAP-R7 CRKPAP-R7 CRK6PAP-R7 Single Shaft CRKAKP CRKAKP CRKAKP CRKPAKP CRK6PAKP Double Shaft CRKBKP CRKBKP CRKBKP CRKPBKP CRK6PBKP With Encoder CRKRKP CRKRKP CRKRKP CRKPRKP CRK6PRKP Maximum Holding Torque N m (oz-in). (.). (). (). (). (9) Holding Torque at Motor Standstill Power ON N m (oz-in).6 (.6). (.). (6.). () Rotor Inertia J: kg m (oz-in ) -7 (.9) -7 (.) 6-7 (.7) 7-7 (.) -7 (.6) Rated Current A/Phase.7 Basic Step Angle.7 Power Source VDC±%. A Excitation Mode Microstep Certification for UL standards is only acquired on pulse input package. Connection Cable [.6 m ( ft.)] is included with the connector-coupled motor and driver package. Encoder connection cable [.6 m ( ft.)] is included with the motor with encoder and driver package. Speed Torque Characteristics CRK CRKP Current:.7 A/Phase Step Angle:.7 /step With Damper DCL-.F: JL= 7 kg m (.6 oz-in )... () () Pullout Torque () Resolution: (Resolution: ) Current:.7 A/Phase Step Angle:.7 /step With Damper DCL-.F: JL= 7 kg m (.6 oz-in ) () Pullout Torque CRK Resolution: () () () (Resolution: ) Current:.7 A/Phase Step Angle:.7 /step With Damper DCL-.F: JL= 7 kg m (.6 oz-in ).... CRK6P 7 6 () Pullout Torque Resolution: () () () (Resolution: ) Current:.7 A/Phase Step Angle:.7 /step With Damper DCL-.F: JL= 7 kg m (.6 oz-in )..... () () Pullout Torque () Resolution: (Resolution: ) CRK Current:.7 A/Phase Step Angle:.7 /step With Damper DCL-.F: JL= 7 kg m (.6 oz-in ) () Pullout Torque Resolution: () () () (Resolution: ) For motors with an encoder, a load with a similar inertia should be attached. The pulse input circuit responds to approximately khz with a pulse duty of %. Note Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under C ( F). [Under 7 C (67 F) is required to comply with UL or CSA Standards as the motor is recognized as Thermal Class (A).] A- ORIENTAL MOTOR GENERAL CATALOG / Page Features A-6 / System Configuration A-7 / Product Line A-7 / Specifications, Characteristics A- Dimensions A-9 / Connection and Operation A-9 / Motor and Driver Combinations A-6

18 Stepping Motors Step Angle.7 Motor Frame Size 6 mm (.6 in.) Standard Type Introduction Specifications Pulse Input Built-In Controller Single Shaft CRK6AP CRK66AP CRK69AP Double Shaft CRK6BP CRK66BP CRK69BP With Encoder CRK6AP-R7 CRK66AP-R7 CRK69AP-R7 Single Shaft CRK6AKP CRK66AKP CRK69AKP Double Shaft CRK6BKP CRK66BKP CRK69BKP With Encoder CRK6RKP CRK66RKP CRK69RKP Maximum Holding Torque N m (oz-in). (9). (7).66 () Holding Torque at Motor Standstill Power ON N m (oz-in). (). ().79 () Rotor Inertia J: kg m (oz-in ) 7-7 (.96) -7 (.) 6-7 (.) Rated Current A/Phase. Basic Step Angle.7 Power Source VDC±%. A Excitation Mode Microstep Certification for UL standards is only acquired on pulse input package. Encoder connection cable [.6 m ( ft.)] is included with the motor with encoder and driver package. Speed Torque Characteristics CRK6 7 6 CRK69 Current:. A/Phase Step Angle:.7 /step With Damper D6CL-.F: JL= 7 kg m (.77 oz-in )..... () Pullout Torque Resolution: () () () (Resolution: ) Current:. A/Phase Step Angle:.7 /step With Damper D6CL-.F: JL= 7 kg m (.77 oz-in ).... () Pullout Torque Resolution: () () () (Resolution: ) For motors with an encoder, a load with a similar inertia should be attached. The pulse input circuit responds to approximately khz with a pulse duty of %. CRK66 6 Current:. A/Phase Step Angle:.7 /step With Damper D6CL-.F: JL= 7 kg m (.77 oz-in ) () Pullout Torque 6. () () Resolution: (Resolution: ) Note Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under C ( F). [Under 7 C (67 F) is required to comply with UL or CSA Standards as the motor is recognized as Thermal Class (A).] AR AS RK UMK AR ASX CRK CMK RBK PK PK PK PK/PV PK / /.7.9 / Geared AC Input Motor & Driver DC Input Motor & Driver Motor Only Controllers SCX /EMP /SGJ Accessories CAD Data Manuals Technical Support TEL: () techsupport@orientalmotor.com A-

19 .6 /.7 Stepping Motor and Driver TH Geared Type Motor Frame Size mm (. in.) Specifications Pulse Input Built-In Controller Single Shaft CRKPAP-T7. CRKPAP-T CRKPAP-T CRKPAP-T Double Shaft CRKPBP-T7. CRKPBP-T CRKPBP-T CRKPBP-T Single Shaft CRKPAKP-T7. CRKPAKP-T CRKPAKP-T CRKPAKP-T Double Shaft CRKPBKP-T7. CRKPBKP-T CRKPBKP-T CRKPBKP-T Maximum Holding Torque N m (oz-in). (). (). (6). (7) Rotor Inertia J: kg m (oz-in ) 9-7 (.9) Rated Current A/Phase. Basic Step Angle Gear Ratio 7. N m (oz-in). (). (). (6). (7) Holding Torque at Motor Standstill Power ON N m (oz-in).7 (). (). (6). (7) Backlash arc minute (degrees) 6 ( ) Permissible Speed Range r/min 6 Power Source VDC±%.7 A Excitation Mode Microstep Certification for UL standards is only acquired on pulse input package. Connection Cable [.6 m ( ft.)] is included with the connector-coupled motor and driver package. Note Direction of rotation of the motor and that of the gear output shaft are the opposite for the gear ratios 7. and. It is the same for and gear ratios. Speed Torque Characteristics CRK Gear Ratio 7... Current:. A/Phase Step Angle:. /step With Damper DCL-.F: JL= 7 kg m (.6 oz-in )... () () CRK Gear Ratio () () () Resolution: 6 (Resolution: 6) Current:. A/Phase Step Angle:.6 /step With Damper DCL-.F: JL= 7 kg m (.6 oz-in )..... () () () () () Resolution: (Resolution: ) CRK Gear Ratio Current:. A/Phase Step Angle:.7 /step With Damper DCL-.F: JL= 7 kg m (.6 oz-in ).... () () CRK Gear Ratio.. 6 () () () Resolution: (Resolution: ) Current:. A/Phase Step Angle:. /step With Damper DCL-.F: JL= 7 kg m (.6 oz-in ).6.. () () 6 () () () Resolution: (Resolution: ) The pulse input circuit responds to approximately khz with a pulse duty of %. Note Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under C ( F). [Under 7 C (67 F) is required to comply with UL or CSA Standards as the motor is recognized as Thermal Class (A).] A-6 ORIENTAL MOTOR GENERAL CATALOG / Page Features A-6 / System Configuration A-7 / Product Line A-7 / Specifications, Characteristics A- Dimensions A-9 / Connection and Operation A-9 / Motor and Driver Combinations A-6

20 Stepping Motors TH Geared Type Motor Frame Size mm (.6 in.) Specifications Pulse Input Built-In Controller Single Shaft CRKAP-T.6 CRKAP-T7. CRKAP-T CRKAP-T CRKAP-T Double Shaft CRKBP-T.6 CRKBP-T7. CRKBP-T CRKBP-T CRKBP-T With Encoder CRKAPR7T.6 CRKAPR7T7. CRKAPR7T CRKAPR7T CRKAPR7T Single Shaft CRKAKP-T.6 CRKAKP-T7. CRKAKP-T CRKAKP-T CRKAKP-T Double Shaft CRKBKP-T.6 CRKBKP-T7. CRKBKP-T CRKBKP-T CRKBKP-T With Encoder CRKRKPT.6 CRKRKPT7. CRKRKPT CRKRKPT CRKRKPT Maximum Holding Torque N m (lb-in). ().7 (6.) (.). (.) Rotor Inertia J: kg m (oz-in ) -7 (.9) Rated Current A/Phase.7 Basic Step Angle Gear Ratio.6 7. N m (lb-in). ().7 (6.) (.). (.) Holding Torque at Motor Standstill Power ON N m (lb-in). (.).6 (.).6 (.7). (.). (.) Backlash arc minute (degrees) (.7 ) (. ) (. ) Permissible Speed Range r/min 9 6 Power Source VDC±%. A Excitation Mode Microstep Certification for UL standards is only acquired on pulse input package. Encoder connection cable [.6 m ( ft.)] is included with the motor with encoder and driver package. Note Direction of rotation of the motor and that of the gear output shaft are the same for the gear ratios.6, 7. and. It is the opposite for and gear ratios. Speed Torque Characteristics CRK Gear Ratio.6 Current:.7 A/Phase Step Angle:. /step With Damper DCL-.F: JL= 7 kg m (.6 oz-in ) () () () Resolution: (Resolution: ) CRK Gear Ratio Current:.7 A/Phase Step Angle:.6 /step With Damper DCL-.F: JL= 7 kg m (.6 oz-in ).... () 6 () () CRK Gear Ratio 7. Resolution: (Resolution: ) 6 Current:.7 A/Phase Step Angle:. /step With Damper DCL-.F: JL= 7 kg m (.6 oz-in ) () For motors with an encoder, a load with a similar inertia should be attached. The pulse input circuit responds to approximately khz with a pulse duty of %. Note Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under C ( F). [Under 7 C (67 F) is required to comply with UL or CSA Standards as the motor is recognized as Thermal Class (A).] () () CRK Gear Ratio Current:.7 A/Phase Step Angle:. /step Resolution: 6 (Resolution: 6) With Damper DCL-.F: JL= 7 kg m (.6 oz-in ).... () 6 () () 7 Resolution: (Resolution: ) CRK Gear Ratio Current:.7 A/Phase Step Angle:.7 /step With Damper DCL-.F: JL= 7 kg m (.6 oz-in )... 6 () () () Resolution: (Resolution: ) AR AS RK UMK AR ASX CRK CMK RBK PK PK PK PK/PV PK Introduction / /.7.9 / Geared AC Input Motor & Driver DC Input Motor & Driver Motor Only Controllers SCX /EMP /SGJ Accessories CAD Data Manuals Technical Support TEL: () techsupport@orientalmotor.com A-7

21 .6 /.7 Stepping Motor and Driver TH Geared Type Motor Frame Size 6 mm (.6 in.) Specifications Pulse Input Built-In Controller Single Shaft CRK6AP-T.6 CRK6AP-T7. CRK6AP-T CRK6AP-T CRK6AP-T Double Shaft CRK6BP-T.6 CRK6BP-T7. CRK6BP-T CRK6BP-T CRK6BP-T With Encoder CRK6APR7T.6 CRK6APR7T7. CRK6APR7T CRK6APR7T CRK6APR7T Single Shaft CRK6AKP-T.6 CRK6AKP-T7. CRK6AKP-T CRK6AKP-T CRK6AKP-T Double Shaft CRK6BKP-T.6 CRK6BKP-T7. CRK6BKP-T CRK6BKP-T CRK6BKP-T With Encoder CRK6RKPT.6 CRK6RKPT7. CRK6RKPT CRK6RKPT CRK6RKPT Maximum Holding Torque N m (lb-in). (). () (6). () () Rotor Inertia J: kg m (oz-in ) 7 7 (.96) Rated Current A/Phase. Basic Step Angle Gear Ratio.6 7. N m (lb-in). (). () (6). () () Holding Torque at Motor Standstill Power ON N m (lb-in).7 (6.6). (.). (.). () () Backlash arc minute (degrees) (.9 ) (. ) (.7 ) Permissible Speed Range r/min 9 6 Power Source VDC±%. A Excitation Mode Microstep Certification for UL standards is only acquired on pulse input package. Encoder connection cable [.6 m ( ft.)] is included with the motor with encoder and driver package. Note Direction of rotation of the motor and that of the gear output shaft are the same for the gear ratios.6, 7. and. It is the opposite for and gear ratios. Speed Torque Characteristics CRK6 Gear Ratio.6 Current:. A/Phase Step Angle:. /step With Damper D6CL-.F: JL= 7 kg m (.77 oz-in )... () () () 6 Resolution: (Resolution: ) CRK6 Gear Ratio 7. Current:. A/Phase Step Angle:. /step With Damper D6CL-.F: JL= 7 kg m (.77 oz-in ) () () () Resolution: 6 (Resolution: 6) CRK6 Gear Ratio Current:. A/Phase Step Angle:.7 /step With Damper D6CL-.F: JL= 7 kg m (.77 oz-in ) 6 () () () Resolution: (Resolution: ) CRK6 Gear Ratio Current:. A/Phase Step Angle:.6 /step With Damper D6CL-.F: JL= 7 kg m (.77 oz-in ) 6 () () () Resolution: (Resolution: ) CRK6 Gear Ratio Current:. A/Phase Step Angle:. /step With Damper D6CL-.F: JL= 7 kg m (.77 oz-in ) 6 () () () 7 Resolution: (Resolution: ) For motors with an encoder, a load with a similar inertia should be attached. The pulse input circuit responds to approximately khz with a pulse duty of %. Note Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under C ( F). [Under 7 C (67 F) is required to comply with UL or CSA Standards as the motor is recognized as Thermal Class (A).] A- ORIENTAL MOTOR GENERAL CATALOG / Page Features A-6 / System Configuration A-7 / Product Line A-7 / Specifications, Characteristics A- Dimensions A-9 / Connection and Operation A-9 / Motor and Driver Combinations A-6

22 Stepping Motors PS Geared Type Motor Frame Size mm (. in.) Specifications Pulse Input Built-In Controller Single Shaft CRKPAP-PS CRKPAP-PS7 CRKPAP-PS Double Shaft CRKPBP-PS CRKPBP-PS7 CRKPBP-PS Single Shaft CRKPAKP-PS CRKPAKP-PS7 CRKPAKP-PS Double Shaft CRKPBKP-PS CRKPBKP-PS7 CRKPBKP-PS Maximum Holding Torque N m (oz-in). (). (). (6) Rotor Inertia J: kg m (oz-in ) 9 7 (.9) Rated Current A/Phase. Basic Step Angle...7 Gear Ratio 7. N m (oz-in). (). (). (6) Maximum Torque N m (oz-in). (7) Holding Torque at Motor Standstill Power ON N m (oz-in). (7.).7 (). () Backlash arc minute (degrees) (.9 ) Permissible Speed Range r/min 6 6 Power Supply Input VDC±%.7 A Excitation Mode Microstep Certification for UL standards is only acquired on pulse input package. Connection cable [.6 m ( ft.)] is included with the connector-coupled motor and driver package. Note Direction of rotation of the motor and that of the gear output shaft are the same. Speed Torque Characteristics CRK Gear Ratio.. Current:. A/Phase Step Angle:. /step With Damper DCL-.F: JL = 7 kg m (.6 oz-in )... () () CRK Gear Ratio.. 6 () () () 6 Resolution: (Resolution: ) Current:. A/Phase Step Angle:.7 /step With Damper DCL-.F: JL = 7 kg m (.6 oz-in ).6.. () () () () () Resolution: (Resolution: ) The pulse input circuit responds to approximately khz with a pulse duty of %. CRK Gear Ratio 7. Current:. A/Phase Step Angle:. /step With Damper DCL-.F: JL = 7 kg m (.6 oz-in ).... () () () () () Resolution: (Resolution: ) Note Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under C ( F). [Under 7 C (67 F) is required to comply with UL or CSA Standards as the motor is recognized as Thermal Class (A).] AR AS RK UMK AR ASX CRK CMK RBK PK PK PK PK/PV PK Introduction / /.7.9 / Geared AC Input Motor & Driver DC Input Motor & Driver Motor Only Controllers SCX /EMP /SGJ Accessories CAD Data Manuals Technical Support TEL: () techsupport@orientalmotor.com A-9

23 .6 /.7 Stepping Motor and Driver PS Geared Type Motor Frame Size mm (.6 in.) Specifications Pulse Input Built-In Controller Single Shaft Double Shaft With Encoder Single Shaft Double Shaft With Encoder CRKAP-PS CRKAP-PS7 CRKAP-PS CRKAP-PS CRKAP-PS6 CRKAP-PS CRKBP-PS CRKBP-PS7 CRKBP-PS CRKBP-PS CRKBP-PS6 CRKBP-PS CRKAPR7PS CRKAPR7PS7 CRKAPR7PS CRKAPR7PS CRKAPR7PS6 CRKAPR7PS CRKAKP-PS CRKAKP-PS7 CRKAKP-PS CRKAKP-PS CRKAKP-PS6 CRKAKP-PS CRKBKP-PS CRKBKP-PS7 CRKBKP-PS CRKBKP-PS CRKBKP-PS6 CRKBKP-PS CRKRKPPS CRKRKPPS7 CRKRKPPS CRKRKPPS CRKRKPPS6 CRKRKPPS Maximum Holding Torque N m (lb-in) (.). (.). () (6) Rotor Inertia J: kg m (oz-in ) 6 7 (.7) 7 (.9) Rated Current A/Phase.7 Basic Step Angle Gear Ratio 7. 6 N m (lb-in) (.). (.). () (6) Maximum Torque N m (lb-in). (.) (7.7) 6 () Holding Torque at Motor Standstill Power ON N m (lb-in).6 (.).6 (7.6). (.6).6 (.). () (6) Backlash arc minute (degrees) (. ) Permissible Speed Range r/min Power Supply Input VDC±%. A Excitation Mode Microstep Certification for UL standards is only acquired on pulse input package. Encoder connection cable [.6 m ( ft.)] is included with the motor with encoder and driver package. Note Direction of rotation of the motor and that of the gear output shaft are the same. Speed Torque Characteristics CRK Gear Ratio Current:.7 A/Phase Step Angle:. /Step With Damper DCL-.F: JL= 7 kg m (.6 oz-in )... () () () () () 6 Resolution: () (Resolution: ) CRK Gear Ratio 7. Current:.7 A/Phase Step Angle:. /Step With Damper DCL-.F: JL= 7 kg m (.6 oz-in ).... () () () () () Resolution: () (Resolution: ) CRK Gear Ratio Current:.7 A/Phase Step Angle:.7 /Step With Damper DCL-.F: JL= 7 kg m (.6 oz-in ). Maximum Torque.... () () () () () Resolution: () (Resolution: ) CRK Gear Ratio Current:.7 A/Phase Step Angle:. /Step With Damper DCL-.F: JL= 7 kg m (.6 oz-in ) () () 6 () () () Resolution: () (Resolution: ) CRK Gear Ratio 6 Current:.7 A/Phase Step Angle:. /Step With Damper DCL-.F: JL= 7 kg m (.6 oz-in ) () () 6 () () () Resolution: () (Resolution: ) CRK Gear Ratio Current:.7 A/Phase Step Angle:. /Step With Damper DCL-.F: JL= 7 kg m (.6 oz-in ) 6 () () () () () 6 Resolution: () (Resolution: ) For motors with an encoder, a load with a similar inertia should be attached. The pulse input circuit responds to approximately khz with a pulse duty of %. Note Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under C ( F). [Under 7 C (67 F) is required to comply with UL or CSA Standards as the motor is recognized as Thermal Class (A).] A-9 ORIENTAL MOTOR GENERAL CATALOG / Page Features A-6 / System Configuration A-7 / Product Line A-7 / Specifications, Characteristics A- Dimensions A-9 / Connection and Operation A-9 / Motor and Driver Combinations A-6

24 Stepping Motors PS Geared Type Motor Frame Size 6 mm (.6 in.) Specifications Pulse Input Built-In Controller Single Shaft Double Shaft With Encoder Single Shaft Double Shaft With Encoder CRK66AP-PS CRK66AP-PS7 CRK66AP-PS CRK6AP-PS CRK6AP-PS6 CRK6AP-PS CRK66BP-PS CRK66BP-PS7 CRK66BP-PS CRK6BP-PS CRK6BP-PS6 CRK6BP-PS CRK66APR7PS CRK66APR7PS7 CRK66APR7PS CRK6APR7PS CRK6APR7PS6 CRK6APR7PS CRK66AKP-PS CRK66AKP-PS7 CRK66AKP-PS CRK6AKP-PS CRK6AKP-PS6 CRK6AKP-PS CRK66BKP-PS CRK66BKP-PS7 CRK66BKP-PS CRK6BKP-PS CRK6BKP-PS6 CRK6BKP-PS CRK66RKPPS CRK66RKPPS7 CRK66RKPPS CRK6RKPPS CRK6RKPPS6 CRK6RKPPS Maximum Holding Torque N m (lb-in). () () () (7) Rotor Inertia J: kg m (oz-in ) 7 (.) 7 7 (.96) Rated Current A/Phase. Basic Step Angle Gear Ratio 7. 6 N m (lb-in). () () () (7) Maximum Torque N m (lb-in) 7 (6) 9 (79) (97) 6 () (77) Holding Torque at Motor Standstill Power ON N m (lb-in) (7.7).9 (). (6). (6) 7. (66) (7) Backlash arc minute (degrees) (. ) Permissible Speed Range r/min Power Supply Input VDC±%. A Excitation Mode Microstep Certification for UL standards is only acquired on pulse input package. Encoder connection cable [.6 m ( ft.)] is included with the motor with encoder and driver package. Note Direction of rotation of the motor and that of the gear output shaft are the same. Speed Torque Characteristics CRK66 Gear Ratio Current:. A/Phase Step Angle:. /Step With Damper D6CL-.F: JL= 7 kg m (.77 oz-in ) () () CRK6 Gear Ratio.. () () Resolution: () (Resolution: ) Current:. A/Phase Step Angle:. /Step With Damper D6CL-.F: JL= 7 kg m (.77 oz-in ) () 6 () () () () CRK66 Gear Ratio 7. Resolution: () (Resolution: ) 6 Current:. A/Phase Step Angle:. /Step With Damper D6CL-.F: JL= 7 kg m (.77 oz-in ) 6 () () CRK6 Gear Ratio 6 For motors with an encoder, a load with a similar inertia should be attached. The pulse input circuit responds to approximately khz with a pulse duty of %. () () Resolution: () (Resolution: ) Current:. A/Phase Step Angle:. /Step With Damper D6CL-.F: JL= 7 kg m (.77 oz-in ) 6 () () () () () CRK66 Gear Ratio 6 Resolution: () (Resolution: ) Current:. A/Phase Step Angle:.7 /Step With Damper D6CL-.F: JL= 7 kg m (.77 oz-in ) 6 () () () CRK6 Gear Ratio () () Resolution: () (Resolution: ) Current:. A/Phase Step Angle:. /Step With Damper D6CL-.F: JL= 7 kg m (.77 oz-in ) () () () () Note Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under C ( F). [Under 7 C (67 F) is required to comply with UL or CSA Standards as the motor is recognized as Thermal Class (A).] () 6 Resolution: () (Resolution: ) AR AS RK UMK AR ASX CRK CMK RBK PK PK PK PK/PV PK Introduction / /.7.9 / Geared AC Input Motor & Driver DC Input Motor & Driver Motor Only Controllers SCX /EMP /SGJ Accessories CAD Data Manuals Technical Support TEL: () techsupport@orientalmotor.com A-9

25 .6 /.7 Stepping Motor and Driver PN Geared Type Motor Frame Size mm (. in.), mm (.6 in.) Specifications Maximum Holding Torque Pulse Input Single Shaft CRKPAP-N CRKPAP-N7. CRKPAP-N CRKAP-N CRKAP-N7. CRKAP-N Double Shaft CRKPBP-N CRKPBP-N7. CRKPBP-N CRKBP-N CRKBP-N7. CRKBP-N N m (CRK: oz-in/crk: lb-in). (). (). (6). (7). (.6). (.) Rotor Inertia J: kg m (oz-in ) 9-7 (.9) -7 (.) Rated Current A/Phase..7 Basic Step Angle Gear Ratio N m (CRK: oz-in/crk: lb-in). (). (). (6). (7). (.6). (.) Maximum Torque N m (CRK: oz-in/crk: lb-in). (7). (.) (7.7) Holding Torque at Motor Standstill Power ON N m (CRK: oz-in/crk: lb-in). (7.).7 (). (). (.9).6 (.).9 (7.9) Backlash arc minute (degrees) (. ) (. ) Permissible Speed Range r/min Power Source VDC±%.7 A VDC±%. A Excitation Mode Microstep Connection Cable [.6 m ( ft.)] is included with the connector-coupled motor and driver package. Note Direction of rotation of the motor and that of the gear output shaft are the same. Speed Torque Characteristics CRK Gear Ratio.. Current:. A/Phase Step Angle:. /step With Damper DCL-.F: JL= 7 kg m (.6 oz-in )... () () () () () 6 Resolution: (Resolution: ) CRK Gear Ratio 7. Current:. A/Phase Step Angle:. /step With Damper DCL-.F: JL= 7 kg m (.6 oz-in ).... () () () () () Resolution: 6 (Resolution: 6) CRK Gear Ratio.. 6 Current:. A/Phase Step Angle:.7 /step With Damper DCL-.F: JL= 7 kg m (.6 oz-in ).6.. () () () () () Resolution: (Resolution: ) CRK Gear Ratio 6 Current:.7 A/Phase Step Angle:. /step With Damper DCL-.F: JL= 7 kg m (.6 oz-in ) () () () () () 6 Resolution: (Resolution: ) CRK Gear Ratio 7. Current:.7 A/Phase Step Angle:. /step With Damper DCL-.F: JL= 7 kg m (.6 oz-in )... () () () () () Resolution: 6 (Resolution: 6) CRK Gear Ratio Current:.7 A/Phase Step Angle:.7 /step With Damper DCL-.F: JL= 7 kg m (.6 oz-in ).. Permissible Torque.. () () () () () Resolution: (Resolution: ) The pulse input circuit responds to approximately khz with a pulse duty of %. Note Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under C ( F). [Under 7 C (67 F) is required to comply with UL or CSA Standards as the motor is recognized as Thermal Class (A).] A-9 ORIENTAL MOTOR GENERAL CATALOG / Page Features A-6 / System Configuration A-7 / Product Line A-7 / Specifications, Characteristics A- Dimensions A-9 / Connection and Operation A-9 / Motor and Driver Combinations A-6

26 Stepping Motors PN Geared Type Motor Frame Size 6 mm (.6 in.) Specifications Pulse Input Single Shaft CRK66AP-N CRK66AP-N7. CRK66AP-N CRK6AP-N CRK6AP-N6 CRK6AP-N Double Shaft CRK66BP-N CRK66BP-N7. CRK66BP-N CRK6BP-N CRK6BP-N6 CRK6BP-N Maximum Holding Torque N m (lb-in). () () () (7) Rotor Inertia J: kg m (oz-in ) -7 (.) 7-7 (.96) Rated Current A/Phase. Basic Step Angle Gear Ratio 7. 6 N m (lb-in). () () () (7) Maximum Torque N m (lb-in) 7 (6) 9 (79) (97) 6 () (77) Holding Torque at Motor Standstill Power ON N m (lb-in) (7.7).9 (). (6). (6) 7. (66) (7) Backlash arc minute (degrees) (. ) (. ) Permissible Speed Range r/min Power Source VDC±%. A Excitation Mode Microstep Note Direction of rotation of the motor and that of the gear output shaft are the same. Speed Torque Characteristics CRK66 Gear Ratio Current:. A/Phase Step Angle:. /step With Damper D6CL-.F: JL= 7 kg m (.77 oz-in ) () () CRK6 Gear Ratio.. () () Resolution: (Resolution: ) Current:. A/Phase Step Angle:. /step With Damper D6CL-.F: JL= 7 kg m (.77 oz-in ) () Permissible Torque 6 () () () () CRK66 Gear Ratio 7. Resolution: (Resolution: ) The pulse input circuit responds to approximately khz with a pulse duty of %. 6 Current:. A/Phase Step Angle:. /step With Damper D6CL-.F: JL= 7 kg m (.77 oz-in ) 6 () () CRK6 Gear Ratio 6 () () Resolution: 6 (Resolution: 6) Current:. A/Phase Step Angle:. /step With Damper D6CL-.F: JL= 7 kg m (.77 oz-in ) () () 6 CRK66 Gear Ratio Resolution: () (Resolution: ) 6 Current:. A/Phase Step Angle:.7 /step With Damper D6CL-.F: JL= 7 kg m (.77 oz-in ) 6 () Resolution: () () () () (Resolution: ) Note Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under C ( F). [Under 7 C (67 F) is required to comply with UL or CSA Standards as the motor is recognized as Thermal Class (A).] () () CRK6 Gear Ratio Current:. A/Phase Step Angle:. /step With Damper D6CL-.F: JL= 7 kg m (.77 oz-in ) () () () () 6 Resolution: () (Resolution: ) AR AS RK UMK AR ASX CRK CMK RBK PK PK PK PK/PV PK Introduction / /.7.9 / Geared AC Input Motor & Driver DC Input Motor & Driver Motor Only Controllers SCX /EMP /SGJ Accessories CAD Data Manuals Technical Support TEL: () techsupport@orientalmotor.com A-9

27 .6 /.7 Stepping Motor and Driver Harmonic Geared Type Motor Frame Size mm (.79 in.), mm (. in.) Specifications Pulse Input Built-In Controller Single Shaft CRKPAP-H CRKPAP-H CRKPAP-H CRKPAP-H Double Shaft CRKPBP-H CRKPBP-H CRKPBP-H CRKPBP-H Single Shaft CRKPAKP-H CRKPAKP-H CRKPAKP-H CRKPAKP-H Double Shaft CRKPBKP-H CRKPBKP-H CRKPBKP-H CRKPBKP-H Maximum Holding Torque N m (lb-in). (.).6 (.). (.9). () Rotor Inertia J: kg m (oz-in ). -7 (.) -7 (.66) Rated Current A/Phase..7 Basic Step Angle Gear Ratio N m (lb-in). (.).6 (.). (.9). () Maximum Torque N m (lb-in).9 (7.9). (.). (9). () Holding Torque at Motor Standstill Power ON N m (lb-in). (.).6 (.). (.6). () Lost Motion (Load Torque) arc minute max. (±. N m) max. (±. N m). max. (±.9 N m). max. (±. N m) Permissible Speed Range r/min 9 7 Power Source VDC±%.7 A VDC±%. A Excitation Mode Microstep Certification for UL standards is only acquired on pulse input package. Connection cable [.6 m ( ft.)] is included with the connector-coupled motor and driver package. 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 CRK Gear Ratio. 6 Current:. A/Phase Step Angle:. /step Load Inertia: JL= kg m ( oz-in ) () () CRK Gear Ratio 6 6 () () Resolution: (Resolution: ) Current:.7 A/Phase Step Angle:. /step With Damper DCL-.F L : JL= 7 kg m (.6 oz-in ).... () 6 () () Resolution: (Resolution: ) CRK Gear Ratio 6 Current:. A/Phase Step Angle:.7 /step Load Inertia: JL= kg m ( oz-in ).... () () CRK Gear Ratio () () Resolution: (Resolution: ) Current:.7 A/Phase Step Angle:.7 /step With Damper DCL-.F: JL= 7 kg m (.6 oz-in ).... () () () Resolution: (Resolution: ) The pulse input circuit responds to approximately khz with a pulse duty of %. Notes Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under C ( F). [Under 7 C (67 F) is required to comply with UL or CSA Standards as the motor is recognized as Thermal Class (A).] In order to prevent degradation of the gear grease in harmonic gear, keep the temperature of the gear case under 7 C ( F). A-9 ORIENTAL MOTOR GENERAL CATALOG / Page Features A-6 / System Configuration A-7 / Product Line A-7 / Specifications, Characteristics A- Dimensions A-9 / Connection and Operation A-9 / Motor and Driver Combinations A-6

28 Stepping Motors Harmonic Geared Type Motor Frame Size mm (.6 in.), 6 mm (.6 in.) Specifications Pulse Input Built-In Controller Single Shaft CRKAP-H CRKAP-H CRK6AP-H CRK6AP-H Double Shaft CRKBP-H CRKBP-H CRK6BP-H CRK6BP-H With Encoder CRKAPR7H CRKAPR7H CRK6APR7H CRK6APR7H Single Shaft CRKAKP-H CRKAKP-H CRK6AKP-H CRK6AKP-H Double Shaft CRKBKP-H CRKBKP-H CRK6BKP-H CRK6BKP-H With Encoder CRKRKPH CRKRKPH CRK6RKPH CRK6RKPH Maximum Holding Torque N m (lb-in). () (). () (7) Rotor Inertia J: kg m (oz-in ) -7 (.) -7 (.) Rated Current A/Phase.7. Basic Step Angle Gear Ratio N m (lb-in). () (). () (7) Maximum Torque N m (lb-in). (7) (97) (9) () Holding Torque at Motor Standstill Power ON N m (lb-in). () (). () (7) Lost Motion (Load Torque) arc minute. max. (±.6 N m). max. (±. N m).7 max. (±. N m).7 max. (±.9 N m) Permissible Speed Range r/min 7 7 Power Source VDC±%. A VDC±%. A Excitation Mode Microstep Certification for UL standards is only acquired on pulse input package. Encoder connection cable [.6 m ( ft.)] is included with the motor with encoder and driver package. 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 CRK Gear Ratio Current:.7 A/Phase Step Angle:. /step With Damper DCL-.F: JL= 7 kg m (.6 oz-in ) 6 () 6 () CRK6 Gear Ratio () Resolution: (Resolution: ) Current:. A/Phase Step Angle:. /step With Damper D6CL-.F: JL= 7 kg m (.77 oz-in ) () Permissible Torque 6 () () Resolution: (Resolution: ) CRK Gear Ratio Current:.7 A/Phase Step Angle:.7 /step With Damper DCL-.F: JL= 7 kg m (.6 oz-in ) () () CRK6 Gear Ratio () Resolution: (Resolution: ) Current:. A/Phase Step Angle:.7 /step With Damper D6CL-.F: JL= 7 kg m (.77 oz-in ) Maximum Torque () () () Resolution: (Resolution: ) AR AS RK UMK AR ASX CRK CMK RBK PK PK PK PK/PV PK Introduction / /.7.9 / Geared AC Input Motor & Driver DC Input Motor & Driver Motor Only For motors with an encoder, a load with a similar inertia should be attached. The pulse input circuit responds to approximately khz with a pulse duty of %. Notes Pay attention to heat dissipation from motor as there will be a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under C ( F). [Under 7 C (67 F) is required to comply with UL or CSA Standards as the motor is recognized as Thermal Class (A).] In order to prevent degradation of the gear grease in harmonic gear, keep the temperature of the gear case under 7 C ( F). Controllers SCX /EMP /SGJ Accessories CAD Data Manuals Technical Support TEL: () techsupport@orientalmotor.com A-9

29 .6 /.7 Stepping Motor and Driver Driver Specifications Pulse Input Type Input Signals Output Signal Functions Cooling Method Input Mode Pulse Signal (CW Pulse Signal) Rotation Direction Signal (CCW Pulse Signal) All Windings Off Signal Step Angle Select Signal Automatic Current Cutback Release Signal Output Mode Excitation Timing Signal Built-In Controller Type Number of Program User Programs Motion Profile Operating Modes RS- Communication Input Signals Output Signals Maximum Program Size Input Method Frequency Positioning Range Acceleration/Deceleration Range Relative Positioning Absolute Positioning Linked Motion Continuous Operation Return to Mechanical Home Operation Return to Electrical Home Operation Speed Change on the Fly Electrical Characteristics Transmission Mode Baud Rate Physical Layer Protocol Number of Multi-Dropped Devices Dedicated Encoder General Purpose Dedicated General Purpose Pulse, Direction Photocoupler input, Input resistance: Ω, Input current: 7 ma Photocoupler ON: +.. V, Photocoupler OFF: + V (Voltage between terminals) Operation command pulse signal (CW direction operation command pulse signal when in -pulse input mode), Negative logic pulse input Pulse width: μs minimum, Pulse rise/fall: μs maximum, Pulse duty: % and below Motor moves one step when the pulse input is switched from photocoupler ON to OFF. Maximum input pulse frequency: khz (When the pulse duty is %) Rotation direction signal, Photocoupler ON: CW, Photocoupler OFF: CCW CCW direction operation command pulse signal when in -pulse input mode, Negative logic pulse input Pulse width: μs minimum, Pulse rise/fall: μs maximum, Pulse duty: % and below 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 %) When in the "photocoupler ON" state, the output current to the motor is cut off and the motor shaft can be rotated manually. When in the "photocoupler OFF" state, the current is supplied to the motor. Step angle specified by DATA when the photocoupler is OFF, Step angle specified by DATA when the photocoupler is ON When in the "photocoupler ON" state, the automatic current cutback function will not be activated even after the motor stops. When in the "photocoupler OFF" state, the automatic current cutback function will be activated after the motor stops (after approx. msec). Photocoupler, Open-collector output External use condition: VDC maximum, ma maximum The signal is output every time the excitation sequence returns to the initial stage "." (Photocoupler: ON).7 /step [Microsteps/step: (Resolution: )]: Signal is output every pulses..7 /step [Microsteps/step: (Resolution: )]: Signal is output every pulses. Step Angle.6 High-Torque Type.6 /step [Microsteps/step: (Resolution: )]: Signal is output every pulses..6 /step [Microsteps/step: (Resolution: )]: Signal is output every pulses. Automatic current cutback, Step angle select, Pulse input mode switch, Smooth drive, All windings off, Excitation timing Natural ventilation 6 maximum.6 kb total for compiled. kb total (text and compiled) ASCII commands via RS- pps ( step increments) + 67 to 67 steps ms (linear ramp) Available Available linked motion, maximum Available Available Available Available in continuous operation In conformance with EIA- Use a twisted pair cable (TIA/EIA-6B CATe or higher is recommended) and keep the total wiring distance including extension to m (6 ft.) or less. Half duplex Selectable from 96 bps, 9 bps, bps, 76 bps, bps by SW Asynchronous mode ( bits, stop bit, no parity) TTY (CR+LF) 9-byte fixed frame length, binary transfer Up to 6 drivers can be connected to one programmable controller (master device). Photocoupler Input, Input voltage: VDC (START, ALMCLR, CROFF, ABORT, HOME, PSTOP, SENSOR, +LS, LS, HOMES, SLIT) Line Driver Input 6C equivalent (A, B, INDEX) Photocoupler Input, Input voltage: VDC (IN IN6) Photocoupler, Open-collector output External use condition: VDC maximum, ma maximum (MOVE, ALM) Photocoupler, Open-collector output External use condition: VDC maximum, ma maximum (OUT OUT) Line driver output 6C equivalent (PLS-OUT, DIR-OUT) A-96 ORIENTAL MOTOR GENERAL CATALOG / Page Features A-6 / System Configuration A-7 / Product Line A-7 / Specifications, Characteristics A- Dimensions A-9 / Connection and Operation A-9 / Motor and Driver Combinations A-6

30 Stepping Motors General Specifications Item Motor Driver Pulse Input Built-In Controller Thermal Class (B) [Recognized as (A) by UL Standards] MΩ or more when VDC megger is applied Insulation Resistance MΩ or more when VDC megger is applied between the windings and between the following places under normal ambient the case under normal ambient temperature and humidity. temperature and humidity: FG terminals Power input terminal Dielectric Strength Sufficient to withstand. kvac at Hz or 6 Hz applied between the windings and the case for minute under normal ambient temperature and humidity.. kvac for CRK. kvac for CRKP, CRK PM, CRK P, CRK PM, CRK P + C (+ + F) (non-freezing): High-torque type, Standard type, Ambient TH, PS, PN geared type Operating Temperature + C (+ + F) (non-freezing): Harmonic geared type Environment Ambient Humidity % or less (non-condensing) Atmosphere No corrosive gases, dust, water or oil Temperature rise of the windings are C ( F) or less measured by the Temperature Rise resistance change method. (at rated current, at standstill, five phases energized) Stop Position Accuracy ± arc minutes (±. ), CRKP: ± arc minutes (±.7 ) Step Angle.6 High-Torque Type: ± arc minutes (±. ) Shaft Runout. mm (. in.) T.I.R. Radial Play. mm (. in.) maximum of N (. lb.) Axial Play.7 mm (. in.) maximum of N (. lb.) Concentricity.7 mm (. in.) T.I.R. Perpendicularity.7 mm (. in.) T.I.R. This value is for full step under no load. (The value changes with the size of the load.) Radial Play: Displacement in shaft position in the radial direction, when a N (. lb.) load is applied in the vertical direction to the tip of the motor's shaft. Axial Play: Displacement in shaft position in the axial direction, when a N (. lb.) load is applied to the motor's shaft in the axial direction. T.I.R. (Total Indicator Reading): The total dial gauge reading when the measurement section is rotated one revolution centered on the reference axis center. Note Do not measure insulation resistance or perform the dielectric strength test while the motor and driver are connected. Encoder Specifications Page A-7 Permissible Overhung Load and Permissible Thrust Load Page A- Sufficient to withstand the following for minute under normal temperature and humidity: FG terminals Power input terminal VAC Hz or 6 Hz + C (+ + F) (non-freezing).7 A ϕ.7 A A. AR AS RK UMK AR ASX CRK CMK RBK PK PK PK PK/PV PK Introduction / /.7.9 / Geared AC Input Motor & Driver DC Input Motor & Driver Motor Only Controllers SCX /EMP /SGJ Accessories CAD Data Manuals Technical Support TEL: () techsupport@orientalmotor.com A-97

31 .6 /.7 Stepping Motor and Driver Dimensions Unit = mm (in.) The dimensions of a motor with an encoder can be found on page A-9 or at Motor Step Angle.7 High-Torque Type Motor Frame Size mm (.79 in.) Motor Mass kg (lb.) DXF Pulse Input Built-In Controller CRKPAP CRKPAKP PKPA. (.) B6 CRKPBP CRKPBKP PKPB Connection Cable of.6 m ( ft.) is included with the package. UL Style 6, AWG If you are purchasing only a motor for maintenance purpose, etc., the connection cable and connector will not be supplied. They must be purchased separately. Page A- Applicable Connector Connector housing: 6- (MOLEX) Contact: - (MOLEX) Crimp tool: 776- (MOLEX) ϕ. (ϕ.7.).±. (.±.6) (.) ± (.9±.) ± (.±.) (.). (.6) 7±. (.76±.) 7±. (.76±.).±. (.±.6) ϕ. (.7. ) ϕ6. ( ) (.79) 6±. (.6±.) 6±. (.6±.) (.79) (.) (.9) M. (.) Deep. (.) Step Angle.6,.7 High-Torque Type Motor Frame Size mm (. in.) Pulse Input Built-In Controller Motor L L Mass kg (lb.) DXF CRKP AP CRKP AKP PKP A (.6) CRKP BP CRKP BKP PKP B (.6). (.) B9 CRKPMAP CRKPMAKP PKPMA (.7) CRKPMBP CRKPMBKP PKPMB (.97). (.) B7 CRKP AP CRKP AKP PKP A. (.) CRKP BP CRKP BKP PKP B 6. (.). (.) B6 Enter M in the box ( ) within the model name in the case of step angle.6 type. Connection Cable of.6 m ( ft.) is included with the package. UL Style 6, AWG If you are purchasing only a motor for maintenance purpose, etc., the connection cable and connector will not be supplied. They must be purchased separately. Page A- Applicable Connector Connector housing: 6- (MOLEX) Contact: - (MOLEX) Crimp tool: 776- (MOLEX) ϕ. (ϕ.969.).±. (.77±.6) L ± L (.9±.). (.6) ± (.9±.) ±. (.9±.).±. (.77±.6) ϕ. (ϕ.969.) ϕ. (ϕ.66.) (.) ±. (.96±.) ±. (.96±.) (.) (.) 9. (.7) 6. (.6) M.. (.) Deep The length of machining on the double shaft model is ±. (.9±.). These dimensions are for the double shaft models. For the single shaft models, ignore the orange ( ) areas. The dimensions of a motor with an encoder can be found on page A-9 or at A-9 ORIENTAL MOTOR GENERAL CATALOG / Page Features A-6 / System Configuration A-7 / Product Line A-7 / Specifications, Characteristics A- Dimensions A-9 / Connection and Operation A-9 / Motor and Driver Combinations A-6

32 Stepping Motors Motor Frame Size mm (.6 in.) Pulse Input Built-In Controller Motor L L Mass kg (lb.) DXF CRKP AP CRKP AKP PKP A 9 (.) CRKP BP CRKP BKP PKP B (.). (.66) B7 CRK6P AP CRK6P AKP PK6P A 9 (.) CRK6P BP CRK6P BKP PK6P B 7 (.9). (.) B Enter M in the box ( ) within the model name in the case of step angle.6 type. Connection Cable of.6 m ( ft.) is included with the package. UL Style 6, AWG If you are purchasing only a motor for maintenance purpose, etc., the connection cable and connector will not be supplied. They must be purchased separately. Page A- Applicable Connector Connector housing: - (MOLEX) Contact: - (MOLEX) Crimp tool: 79- (MOLEX) ϕ. (ϕ.969.) ± (.9±.).±. (.77±.6) 9 (.) L L (.9) ± (.79±.) ±. (.9±.). (.6).±. (.77±.6) ϕ. (ϕ.969.) ϕ. (ϕ.66.) (.6) ±. (.±.) ±. (.±.) (.6) (.9) M. (.77) Deep The length of machining on the double shaft model is ±. (.9±.). Step Angle.6 High-Torque Type Motor Frame Size 6 mm (.6 in.) Pulse Input Built-In Controller Motor L L L ϕd Mass kg (lb.) DXF CRK6PMAP CRK6PMAKP PK6PMA 6. (.).6 (.) B7 CRK6PMBP CRK6PMBKP PK6PMB 69. (.7) 7.±. (.9±.6). (..6 ) CRK66PMAP CRK66PMAKP PK66PMA 6 (.).7 (.9) B7 CRK66PMBP CRK66PMBKP PK66PMB 79 (.) CRK69PMAP CRK69PMAKP PK69PMA 7 (.) 9.±. (.7±.6). (.97.6 ) CRK69PMBP CRK69PMBKP PK69PMB (.). (.) B7 Connection Cable of.6 m ( ft.) is included with the package. UL Style 66, AWG If you are purchasing only a motor for maintenance purpose, etc., the connection cable and connector will not be supplied. They must be purchased separately. Page A- Applicable Connector Connector housing: - (MOLEX) Contact: 9- (MOLEX) Crimp tool: 79- (MOLEX) ± (.9±.) ±. (.77±.) ϕ. (ϕ..6) 7.±. (.9±.6) L L.. (.) (.) 7(.). (.6) ±. (.77±.) (.7) ± (.9±.) L ϕd ϕ6.9 (ϕ.7.) ϕ. (ϕ.77) Thru 6 (.6) ±. (.969±.) 9 (.) ±. (.969±.) 6 (.6) AR AS RK UMK AR ASX CRK CMK RBK PK PK PK PK/PV PK Introduction / /.7.9 / Geared AC Input Motor & Driver DC Input Motor & Driver Motor Only Controllers SCX /EMP /SGJ These dimensions are for the double shaft models. For the single shaft models, ignore the orange ( ) areas. The dimensions of a motor with an encoder can be found on page A-9 or at Accessories CAD Data Manuals Technical Support TEL: () techsupport@orientalmotor.com A-99

33 .6 /.7 Stepping Motor and Driver Step Angle.7 Standard Type Motor Frame Size mm (.6 in.) Pulse Input Built-In Controller Motor L L Mass kg (lb.) DXF CRKAP CRKAKP PKNAW (.) CRKBP CRKBKP PKNBW (.9). (.6) B6 CRKAP CRKAKP PKNAW 9 (.) CRKBP CRKBKP PKNBW (.).7 (.9) B69 CRKAP CRKAKP PKNAW 7 (.) CRKBP CRKBKP PKNBW 6 (.). (.77) B7 ϕ. (ϕ.969.) ± (.9±.).±. (.77±.6) L L ±. (.9±.) (.) ± (.79±.).±. (.77±.6) ϕ. (ϕ.969.) ϕ. (ϕ.66.) Motor Leads 6 mm ( in.) Length UL Style 6, AWG (.6) ±. (.±.) ±. (.±.) (.6) M. (.77) Deep The length of machining on the double shaft model is ±. (.9±.). Motor Frame Size 6 mm (.6 in.) Pulse Input Built-In Controller Motor L L Mass kg (lb.) DXF CRK6AP CRK6AKP PK6NAW 6. (.) CRK6BP CRK6BKP PK6NBW 69. (.7).6 (.) B7 CRK66AP CRK66AKP PK66NAW 7. (.6) CRK66BP CRK66BKP PK66NBW. (.7). (.76) B7 CRK69AP CRK69AKP PK69NAW 7 (.) CRK69BP CRK69BKP PK69NBW (.). (.9) B7 ± (.9±.) ±. (.77±.) ϕ. (ϕ..6) A A L ± (.9±.) L 7 (.). (.6) ±. (.77±.) A A ϕ. (..6 ) Motor Leads 6 mm ( in.) Length UL Style 66, AWG ϕ6.9 (.7. ) 6 (.6) ϕ. (ϕ.77) Thru ±. (.969±.) 9 ±. (.969±.) 7.±. (.9±.6) 7.±. (.9±.6) 6 (.6) A A These dimensions are for the double shaft models. For the single shaft models, ignore the orange ( ) areas. The dimensions of a motor with an encoder can be found on page A-9 or at A- ORIENTAL MOTOR GENERAL CATALOG / Page Features A-6 / System Configuration A-7 / Product Line A-7 / Specifications, Characteristics A- Dimensions A-9 / Connection and Operation A-9 / Motor and Driver Combinations A-6

34 Stepping Motors TH Geared Type Motor Frame Size mm (. in.) Pulse Input Built-In Controller Motor Gear Ratio Mass kg (lb.) DXF CRKPAP-T CRKPAKP-T PKPA-T CRKPBP-T CRKPBKP-T PKPB-T 7.,,,.7 (.7) B6 Connection Cable of.6 m ( ft.) is included with the package. UL Style 6, AWG If you are purchasing only a motor for maintenance purpose, etc., the connection cable and connector will not be supplied. They must be purchased separately. Page A- Applicable Connector Connector housing: 6- (MOLEX) Contact: - (MOLEX) Crimp tool: 776- (MOLEX) ϕ. (ϕ.969.).±. (.77±.6) ± (.9±.) 67. (.66) 7. (.6) 9. (.7) ± (.79±.). (.) (.7) The length of machining on the double shaft model is ±. (.9±.). Motor Frame Size mm (.6 in.) Pulse Input Built-In Controller Motor Gear Ratio Mass kg (lb.) DXF CRKAP-T CRKAKP-T PKAW-T CRKBP-T CRKBKP-T PKBW-T.6, 7.,,,. (.77) B (.) ϕ. (ϕ.969.).±. (.77±.6) ± (.9±.). (.) 7. (.9) 6. (.) 6 () () ± (.79±.). (.) (.7) Motor Leads AWG Motor Cable ϕ. (ϕ.).±. (.77±.6) ϕ. (ϕ.969.) 6±. (.6±.).±. (.7±.6) ϕ6. (ϕ.6.) ±. (.±.) ϕ7. (ϕ.669.7) ϕ. (ϕ.97.6) The length of machining on the double shaft model is ±. (.9±.). (.) ±. (.96±.) (.) 6. (.6) M. (.6) Deep ±. (.96±.) (.6) M (.) Deep 6 (.).±. (.7±.). (.) (.6) AR AS RK UMK AR ASX CRK CMK RBK PK PK PK PK/PV PK Introduction / /.7.9 / Geared AC Input Motor & Driver DC Input Motor & Driver Motor Only Controllers SCX /EMP /SGJ A number indicating the gear ratio is entered where the box ( ) is located within the product name. These dimensions are for the double shaft models. For the single shaft models, ignore the orange ( ) areas. The dimensions of a motor with an encoder can be found on page A-9 or at Accessories CAD Data Manuals Technical Support TEL: () techsupport@orientalmotor.com A-

35 .6 /.7 Stepping Motor and Driver Motor Frame Size 6 mm (.6 in.) Pulse Input Built-In Controller Motor Gear Ratio Mass kg (lb.) DXF CRK6AP-T CRK6AKP-T PK6AW-T CRK6BP-T CRK6BKP-T PK6BW-T.6, 7.,,,.9 (.) B7 ϕ. (ϕ..6) ± (.±.) ±. (.77±.) A A (.9). (.) 9. (.6) 6 () () Motor Leads AWG Motor Cable ϕ7 (ϕ.) ± (.6±.). (.) (.7) 7±. (.76±.6) ϕ. (ϕ..6) ±. (.9±.) ϕ. (ϕ.9.) 7±. (.76±.) 6 (.6) 9 M (.) Deep (.) 6 (.6). (.9) 7.±. (.9±.6) 7.±. (.9±.6) A A PS Geared Type Motor Frame Size mm (. in.) Pulse Input Built-In Controller Motor Gear Ratio Mass kg (lb.) DXF CRKPAP-PS CRKPAKP-PS PKPA-PS CRKPBP-PS CRKPBKP-PS PKPB-PS, 7.,. (7.) B6 Connection Cable of.6 m ( ft.) is included with the package. UL Style 6, AWG If you are purchasing only a motor for maintenance purpose, etc., the connection cable and connector will not be supplied. They must be purchased separately. Page A- Applicable Connector Connector housing: 6- (MOLEX) Contact: - (MOLEX) Crimp tool: 776- (MOLEX) ϕ. (ϕ.969.) ± (.9±.).±. (.77±.6) (.) 67 (.6) 7 (.) 9. (.7) The length of machining on the double shaft model is ±. (.9±.). ± (.9±.) (.) 7 (.67) (.9) A 9 7.±. (.9±.) A A A ϕ. (ϕ..6) ϕ (ϕ.7) ϕ6. (ϕ.6.) 7.±. (.9±.) (.) 6. (.6) M 6 (.)Deep ±. (.96±.) ±. (.96±.) (.) A number indicating the gear ratio is entered where the box ( ) is located within the product name. These dimensions are for the double shaft models. For the single shaft models, ignore the orange ( ) areas. The dimensions of a motor with an encoder can be found on page A-9 or at A- ORIENTAL MOTOR GENERAL CATALOG / Page Features A-6 / System Configuration A-7 / Product Line A-7 / Specifications, Characteristics A- Dimensions A-9 / Connection and Operation A-9 / Motor and Driver Combinations A-6

36 Stepping Motors Motor Frame Size mm (.6 in.) Pulse Input Built-In Controller Motor Gear Ratio L L Mass kg (lb.) DXF CRKAP-PS CRKAKP-PS PKAW-PS, 7., 7. (.9) CRKBP-PS CRKBKP-PS PKBW-PS 9. (.). (.) B67 CRKAP-PS CRKAKP-PS PKAW-PS, 6, (.) CRKBP-PS CRKBKP-PS PKBW-PS 99 (.9).9 (.) B679 ϕ. (ϕ.969.).±. (.77±.6) ± (.9±.). (.) L L 6 () () ± (.±.) (.9) (.9) A Motor Leads AWG Motor Cable ϕ. (ϕ.) A ϕ. (ϕ.97.6) ϕ6. (ϕ.6.) The length of machining on the double shaft model is ±. (.9±.). Motor Frame Size 6 mm (.6 in.) ϕ.±. (ϕ.7±.) (.6) 6 (.) (.6). (.) M (.) Deep..9. (.. ) (.7 ) Pulse Input Built-In Controller Motor Gear Ratio L L Mass kg (lb.) DXF CRK66AP-PS CRK66AKP-PS PK66AW-PS, 7., 9. (.6) CRK66BP-PS CRK66BKP-PS PK66BW-PS. (.). (.9) B6 CRK6AP-PS CRK6AKP-PS PK6AW-PS, 6, (.9) CRK6BP-PS CRK6BKP-PS PK6BW-PS (.). (.) B66 L ± (.±.) ± (.±.) L (.9) ±. (.77±.) (.9) ϕ. ( ϕ..6 ) B B (.9) 6 () () Motor Leads AWG Motor Cable ϕ7 (ϕ.) A A ϕ. ( ϕ.7.7 ) ( ϕ7. ϕ.67.) M (.9) Deep 6 (.6) ϕ7±. (ϕ.76±.) (.) 6 (.6). (.9) A A 9 7.±. (.9±.6) B B ±. (.9±.) ±. (.9±.). (..) 7.±. (.9±.6) Parallel Key (Included) (.9 ). (.7.) Parallel Key (Included). (..). (.7. ) A A. (.7. ) AR AS RK UMK AR ASX CRK CMK RBK PK PK PK PK/PV PK Introduction / /.7.9 / Geared AC Input Motor & Driver DC Input Motor & Driver Motor Only Controllers SCX /EMP /SGJ A number indicating the gear ratio is entered where the box ( ) is located within the product name. These dimensions are for the double shaft models. For the single shaft models, ignore the orange ( ) areas. The dimensions of a motor with an encoder can be found on page A-9 or at Accessories CAD Data Manuals Technical Support TEL: () techsupport@orientalmotor.com A-

37 .6 /.7 Stepping Motor and Driver PN Geared Type Motor Frame Size mm (. in.) Pulse Input Motor Gear Ratio Mass kg (lb.) DXF CRKPAP-N PKPA-N CRKPBP-N PKPB-N, 7.,. (.) B6 Connection Cable of.6 m ( ft.) is included with the package. UL Style 6, AWG If you are purchasing only a motor for maintenance purpose, etc., the connection cable and connector will not be supplied. They must be purchased separately. Page A- Applicable Connector ± (.9±.) Connector housing: 6- (MOLEX) Contact: - (MOLEX) Crimp tool: 776- (MOLEX) ϕ. (ϕ.969.).±. (.77±.6) 7. (.) 6. (.6) ± (.9±.) (.) 7 (.67) (.6) A A ϕ. (ϕ..6) ϕ (ϕ.7) ϕ6. (ϕ.6.) (.) ±. (.96±.) ±. (.96±.) (.) (.) 9. (.7) 6. (.6) M 6 (.) Deep The length of machining on the double shaft model is ±. (.9±.). 9 7.±. (.9±.) 7.±. (.9±.) A A Motor Frame Size mm (.6 in.) Motor Gear Ratio Mass kg (lb.) DXF Pulse Input CRKAP-N PKAW-N, 7.,.6 (.) B CRKBP-N PKBW-N ϕ. (ϕ.969.).±. (.77±.6) ± (.9±.). (.) 6 (.9) 7 (.) ± (.9±.) 6 (.) (.7) A A 6 () () Motor Leads AWG Motor Cable ϕ. (ϕ.) ϕ. (ϕ.97.6) ϕ7.6. (ϕ..) ±. (.9±.) (.6) 6 (.). (.) (.6) M (.) Deep A A..9. (.. ) (.7 ) ±. (.79±.). (..) Parallel Key (Included). (.. ) The length of machining on the double shaft model is ±. (.9±.). A number indicating the gear ratio is entered where the box ( ) is located within the product name. These dimensions are for the double shaft models. For the single shaft models, ignore the orange ( ) areas. The dimensions of a motor with an encoder can be found on page A-9 or at A- ORIENTAL MOTOR GENERAL CATALOG / Page Features A-6 / System Configuration A-7 / Product Line A-7 / Specifications, Characteristics A- Dimensions A-9 / Connection and Operation A-9 / Motor and Driver Combinations A-6

38 Stepping Motors Motor Frame Size 6 mm (.6 in.) Pulse Input Motor Gear Ratio L L Mass kg (lb.) DXF CRK66AP-N PK66AW-N, 7.,. (.7) CRK66BP-N PK66BW-N. (.9). (.) B9 CRK6AP-N PK6AW-N, 6,. (.7) CRK6BP-N PK6BW-N 9. (.). (.) B9 ± (.±.) ±. (.77±.) ϕ. (ϕ..6) B B (.9) L L 6 () () Motor Leads AWG Motor Cable ϕ7 (ϕ.) ± (.±.) 6 (.6) 6 (.) M (.9) Deep (.9) A A 7±. (.76±.) (.) Harmonic Geared Type Motor Frame Size mm (.79 in.) Pulse Input Built-In Controller Motor Gear Ratio Mass kg (lb.) DXF CRKPAP-H CRKPAKP-H PKPA-H S CRKPBP-H CRKPBKP-H PKPB-H S,. (.) B Connection Cable of.6 m ( ft.) is included with the package. UL Style 6, AWG If you are purchasing only a motor for maintenance purpose, etc., the connection cable and connector will not be supplied. They must be purchased separately. Page A- Applicable Connector Connector housing: 6- (MOLEX) Contact: - (MOLEX) Crimp tool: 776- (MOLEX) ± (.±.) 7±. (.76±.) ϕ. (ϕ.7.).±. (.±.6) ϕ. (ϕ.7.7) ϕ7. (ϕ.67.) (.9) (.9) (.77). (.). (.9) 6 (.6) ± (.±.). (.) 9 (.).6±. (.±.6) ϕ. (ϕ.969.) The position of the machining on the output shaft [ϕ (ϕ.969)] relative to the screw holes position on a maximum diameter of ϕ (ϕ.) on the rotating part is arbitrary. 9 7.±. (.9±.6). B B (.9. ) ϕ (ϕ.) (Max. dia. of rotating part) ϕ9.. (ϕ.7677.) 7.±. (.9±.6). +.. (.7. ) +. (.9 ) Parallel Key (Included) 9.±. (.6±.) M (.) Deep A A.. (.7. ) (.7. ) M (.) Deep (.79) 6±. (.6±.). (.) 6±. (.6±.) (.79) (.) AR AS RK UMK AR ASX CRK CMK RBK PK PK PK PK/PV PK Introduction / /.7.9 / Geared AC Input Motor & Driver DC Input Motor & Driver Motor Only Controllers SCX /EMP /SGJ A number indicating the gear ratio is entered where the box ( ) is located within the product name. These dimensions are for the double shaft models. For the single shaft models, ignore the orange ( ) areas. The dimensions of a motor with an encoder can be found on page A-9 or at Accessories CAD Data Manuals Technical Support TEL: () techsupport@orientalmotor.com A-

39 .6 /.7 Stepping Motor and Driver Motor Frame Size mm (. in.) Pulse Input Built-In Controller Motor Gear Ratio Mass kg (lb.) DXF CRKPAP-H CRKPAKP-H PKHPA-H S CRKPBP-H CRKPBKP-H PKHPB-H S,. (.) B Connection Cable of.6 m ( ft.) is included with the package. UL Style 6, AWG If you are purchasing only a motor for maintenance purpose, etc., the connection cable and connector will not be supplied. They must be purchased separately. Page A- (.) Applicable Connector Connector housing: 6- (MOLEX) Contact: - (MOLEX) Crimp tool: 776- (MOLEX) (.) (.) 6. (.6). (.969.) ± (.9±.).±. (.77±.6) 66. (.6) 6. (.) ± (.9±.). (.). (.) (.9) 9. (.7) The length of machining on double shaft model is ±. (.9±.). The position of the key slot on the output shaft [ ϕ (ϕ.)] relative to the screw holes position a maximum diameter of ϕ (ϕ.79) on the rotating part is arbitrary. 7.±. (.9±.) ϕ. (ϕ..6) ϕ (ϕ.79) (Max. dia. of rotating part) ϕ9. (ϕ.7.) ±. (.7±.).±. (.6±.) M 6 (.) Deep (.) M (.6) Deep (.) Motor Frame Size mm (.6 in.) Pulse Input Built-In Controller Motor Gear Ratio Mass kg (lb.) DXF CRKAP-H CRKAKP-H PKAW-H S CRKBP-H CRKBKP-H PKBW-H S,.6 (.) B ϕ. (ϕ.969.).±. (.77±.6) ± (.9±.). (.) (.) ± 6 (.6) (.9±.) (.). (.) (.7) 6 () () A A ϕ.9 (ϕ.97.) ϕ6. (ϕ.) (Max. dia. of rotating part) Motor Leads AWG Motor Cable ϕ. (ϕ.) The length of machining on double shaft model is ±. (.9±.). The position of the key slot on the output shaft [ ϕ (ϕ.97)] relative to the screw holes position on a maximum diameter of ϕ6. (ϕ.) on the rotating part is arbitrary. ϕ7.6. (ϕ..) ±. (.9±.) 6 M (.) Deep.±. (.7±.). (.) (.6) M (.) Deep (.) 6 (.6) (.7 ) A A.. (.) (.79.7 ) 9 (.. ). (.. ) Parallel Key (Included). (.. ) A number indicating the gear ratio is entered where the box ( ) is located within the product name. These dimensions are for the double shaft models. For the single shaft models, ignore the orange ( ) areas. The dimensions of a motor with an encoder can be found on page A-9 or at A-6 ORIENTAL MOTOR GENERAL CATALOG / Page Features A-6 / System Configuration A-7 / Product Line A-7 / Specifications, Characteristics A- Dimensions A-9 / Connection and Operation A-9 / Motor and Driver Combinations A-6

40 C C Stepping Motors Motor Frame Size 6 mm (.6 in.) Pulse Input Built-In Controller Motor Gear Ratio Mass kg (lb.) DXF CRK6AP-H CRK6AKP-H PK6AW-H S CRK6BP-H CRK6BKP-H PK6BW-H S,. (.) B Introduction ϕ. (ϕ..6) Driver ± (.±.) CRDP, CRD7P, CRD7HP, CRDP Mass:. kg (.9 lb.) B6 7. (.9) B B (.9) ϕ. (ϕ.) Thru. (.96) (.) 9. (.). (.) ±. (.77±.) (.). (.6) A A number indicating the gear ratio is entered where the box ( ) is located within the product name. These dimensions are for the double shaft models. For the single shaft models, ignore the orange ( ) areas. The dimensions of a motor with an encoder can be found on page A-9 or at 9 (.). (.). (.6) 6 (.6).± (.±.) (.79) A 6 () () Motor Leads AWG Motor Cable ϕ7 (ϕ.) (.) (.). (.).9 (.6).9 (.9) (.9) max. (.6) max. ϕ. (ϕ.) (Max. dia. of rotating part) (.77) 7±. (.76±.) 6 M 6 (.) Deep.±. (.±.) The position of the key slot on the output shaft [ϕ (ϕ.7)] relative to the screw holes position on a maximum diameter of ϕ. (ϕ.) on the rotating part is arbitrary. ϕ. (ϕ.7.7) ϕ. (ϕ.6.) Connector Housing (Included) - (MOLEX) - (MOLEX) - (MOLEX) Contact (Included) - (MOLEX) Note Use the included connector for power supply, signal and motor. When assembling the connectors, use the hand-operated crimp tool [79- (MOLEX)]. The crimp tool is not included with the package. It must be purchased separately. Connection cable set crimped with connector is available (sold separately). Page A-. (.9) 6 (.6) (.) M (.9) Deep 6 6 (.6). 9 7.±. (.9±.6) (.77. ) B B A A.6. (.6) 9 7.±. (.9±.6). (.7. ) (.9 ) Parallel Key (Included). (.7. ) (.7. ) AR AS RK UMK AR ASX CRK CMK RBK PK PK PK PK/PV PK / /.7.9 / Geared AC Input Motor & Driver DC Input Motor & Driver Motor Only Controllers SCX /EMP /SGJ Accessories CAD Data Manuals Technical Support TEL: () techsupport@orientalmotor.com A-7

41 .6 /.7 Stepping Motor and Driver CRD-KP, CRD7-KP, CRD7H-KP, CRD-KP Mass:. kg (. lb.) B7 Connection Cable for I/O Connector (CN) (.7) 7 (.) ( 9.7 ) (.9).7 (.9) (.) 7 (.6) max. 7 (.76) (.79) max.. (.) 7. (.69) Connector Housing and Contact (Included) Power Input Terminal (CN) Connector: MC,/-STF-, (PHOENIX CONTACT) Connection Cable for I/O Connector (CN): Connector: FXB-SA-.7R (HIROSE ERECTLIC) Connection Cable for Motor (CN): Connector Housing: - (MOLEX) Contact: - (MOLEX) Applicable Crimp Tool: 79- (MOLEX) Connection Cable for Encoder (CN) Connector Housing: 6-9 (MOLEX) Contact: - (MOLEX) Applicable Crimp Tool: 79- (MOLEX) Included with encoder motor only. (.) 9. (.6) max. (.) Connector Connection Cable for Motor (CN) 9. 6± (.6±.) (.7).7 (.) Connection Cable for Encoder (CN) 9. 6± (.6±.) (.7).7 (.97) 9 When you purchase only drivers for maintenance etc., it comes with power input terminal (CN), connection cable for I/O connector (CN) and connection cable for motor (CN). A- ORIENTAL MOTOR GENERAL CATALOG / Page Features A-6 / System Configuration A-7 / Product Line A-7 / Specifications, Characteristics A- Dimensions A-9 / Connection and Operation A-9 / Motor and Driver Combinations A-6

42 Stepping Motors Connection and Operation Names and Functions of Driver Parts Pulse Input Power Input Connector Power Input Display Color Function When Activated Green Power supply indication Lights when power is on. Current Adjustment Potentiometers Indication Potentiometer Name Function RUN STOP Motor run current potentiometer Motor stop current potentiometer For adjusting the motor running current. For adjusting the motor current at standstill. Motor Connector Function Select Switches Indication Switch Name Function P/P Pulse input mode switch Switches between -pulse input and -pulse input. OFF/SD R/R Smooth drive function switch Resolution select switch Enables or disables the smooth drive function. Switches the basic step angle between R and R. Input/Output Signals Input/ Indication Pin No. Signal Name Function Output Operation command pulse signal Pulse signal (The motor will rotate in the CW direction (CW pulse signal) when in -pulse input mode.) Rotation direction Rotation direction signal Photocoupler ON: CW, signal Photocoupler OFF: CCW (The motor will rotate in the CCW (CCW pulse signal) direction when in -pulse input mode.) Cuts the output current to the motor and allows the motor Input All windings off signal 6 shafts can be rotated manually. CN 7 Step angle select Switches to step angle set in DATA and DATA. signal 9 Automatic current This signal is used to disable the automatic cutback release current cutback function. signal Output Excitation timing signal Description of input/output signals Page A- Outputs signals when the excitation sequence is at STEP "". Step Angle Setting Switches Indication Switch Name Function DATA DATA Step angle setting switch Each switch can be set to the desired resolution from the 6 resolution levels. DATA DATA R Microsteps/ Resolution Step Angle Step DATA DATA R Microsteps/ Resolution Step Angle Step A. A.6. B.9 B. C.7 C. D 6.76 D. 6.6 E.6 E.7 F. F..7 Notes The step angle is calculated by dividing the basic step angle by the number of microstep. The above figures are based on a basic step angle of.7. With the.6 high-torque type, the basic step angle and resolution are.6 and (microsteps/step ), respectively. If you are using a geared type, the step angle divided by the gear ratio becomes the actual step angle. The number of microstep that can be switched by the "Step Angle Select" signal are limited to those selected in step angles and. Do not change the "Step Angle Select" signal input or step angle setting switch while the motor is operating. It may cause the motor to misstep and stop. AR AS RK UMK AR ASX CRK CMK RBK PK PK PK PK/PV PK Introduction / /.7.9 / Geared AC Input Motor & Driver DC Input Motor & Driver Motor Only Controllers SCX /EMP /SGJ Accessories CAD Data Manuals Technical Support TEL: () techsupport@orientalmotor.com A-9

43 .6 /.7 Stepping Motor and Driver Built-In Controller RS- Communication Connector B (CN7) RS- Communication Connector A (CN6) Termination Resister Setting Switch (SW) [Top of the Driver] Signal Monitor Display Encoder Connector (CN) Address Number Setting Switch (SW) Function Setting Switches (SW) Motor Connector (CN) I/O Signals Connector (CN) Power Input Connector (CN) Signal Monitor Display LED Indicators Indication Color Function When Activated POWER Green Power Supply Indication Lights when power is on. ALARM Red Alarm Indication Blinks when protective functions are activated. C-DAT Green Communication Indication Blinks or illuminate when communication data is received or sent. C-ERR Red Communication Error Indication Illuminates when there is an error with communication data. Alarm Blink Count Function When Activated Overheat The internal temperature of the driver has reached approximately C ( F). Overvoltage The primary voltage of the driver's inverter has exceeded the allowable level. The deviation between the encoder counter value and command position reached the step out detection band when the step out detection action Over Position Error parameter was set to alarm. ±LS Both Sides Active Both the +LS and LS signals were detected when LS detection was enabled. Reverse ±LS Connection The LS opposite to the operating direction has detected during a return-to-home operation. Home Seeking Error Return-to-home operation did not complete normally. No HOMES The HOMES is not detected at a position between +LS and LS during return-to-home operation in -sensor mode. 7 TIM, Index, SLIT Input Error None of the SLIT input, TIM output and Index output could be detected during return-to home operation. Hardware Over Travel A +LS or LS signal was detected when hardware over travel was enabled. Software Over Travel A software limit was reached when software over travel was enabled. Home Seeking Ofet Error A limit sensor signal was detected during ofet movement as part of return-to-home operation. Invalid Operation Data Five or more motions may be linked. Motion of different directions may be linked. 9 EEPROM Error The stored data was damaged. Appropriate encoder has to be used with your motor Address Number Setting Switch Indication Switch Name Function SW Address Number Setting Switch Set the address number for RS- communication (Factory Setting: ). A- ORIENTAL MOTOR GENERAL CATALOG / Page Features A-6 / System Configuration A-7 / Product Line A-7 / Specifications, Characteristics A- Dimensions A-9 / Connection and Operation A-9 / Motor and Driver Combinations A-6