RoHS-Compliant Closed Loop Stepping Motor and Driver Package. AS Series ASC Series

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Robert Carpenter
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1 RoHS-Compliant Closed Loop Stepping Motor and Driver Package AS Series ASC Series

RoHS-Compliant Closed Loop Stepping Motor and Driver Package AS Series The is an innovative stepping motor unit that adopts a closed-loop control to eliminate misstep.

Thanks to Closed Loop Control, There is No Loss of Synchronism does not lose synchronism even when subjected to abrupt load fluctuation or acceleration.

2 RoHS-Compliant Closed Loop Stepping Motor and Driver Package AS Series The is an innovative stepping motor unit that adopts a closed-loop control to eliminate misstep. In the, the user friendliness of a stepping motor is combined with a range of new functions for improved reliability of your equipment. Thanks to Closed Loop Control, There is No Loss of Synchronism does not lose synchronism even when subjected to abrupt load fluctuation or acceleration. A newly developed rotor position detection sensor constantly monitors the motor movement. If synchronism is about to be lost, closed loop control is used, so there is no need to worry about loss of steps. When the successive overload is given, outputs the alarm signal. The reliability of is as high as that of a servo motor. Control Diagram Input Pulse Input Counter Deviation Counter Rotor Position Counter Excitation Sequence Control Output Element Motor Sensor is designed as a "package" consisting of a motor and a driver. Normal (Positioning Deviation is less than 1.8 ) Motor runs in open loop mode like a stepping motor. If Motor Missteps (Positioning Deviation is 1.8 or more) Control switches to closed loop mode to prevent loss of synchronism. Angle-Torque Characteristics Stepping Motor wclosed Loop Mode qopen Loop Mode Torque wclosed Loop Mode Position qif the positioning deviation is less than 1.8, the motor runs in open loop mode like a stepping motor. wif the positioning deviation is 1.8 or more, the motor runs in closed loop mode and the position is corrected by exciting the motor windings to generate maximum torque based on the rotor position. The Newly Developed Sensor to Detect Rotor's Position The newly developed rotor position detection sensor uses the change in inductance caused by change in the distance between the stator teeth and the teeth on the sensor rotor to detect rotor position. This structure can be made small and thin, so the overall size of the motor can be reduced. High resolution This structure does not use electronic parts, so it is not affected by heat or vibration Sensor Output Signal Signal Level. -. Sensor detects rotor position Rotor Angle (Electrical Angle) A-Phase B-Phase

High Response Like conventional stepping motors, operates in synchronism with command pulses. This makes possible short stroke positioning in a short time.

3 High Response Like conventional stepping motors, operates in synchronism with command pulses. This makes possible short stroke positioning in a short time. No Gain Tuning Gain tuning for servo motors is critical, troublesome and time-consuming. Since the operates like a stepping motor, there are no gain tuning requirements. Low rigidity applications, such as a belt and pulley system, are ideal for. Motor Movement Pulse Input Positioning Completion Signal Measurement Condition: Feed 1/ rotation Load inertia 1 7 kg m (J) Motor/Driver Connection with a Single Cable requires only one cable for connection between the motor and the driver. Wiring is much simpler with compared with conventional servo motors requiring two cables, one for motor and the other for encoder. The cable can be extended to a maximum of m (1 m for flexible extension cable), so the motor and the driver can be installed in locations far apart. A Full Lineup Including Geared Types and IP6 Rated Motor Type The geared types enable driving of large inertial loads and positioning at higher accuracy, while the IP6 rated motor type provides ingress protection against dust and water. The offers a wide range of models meeting the needs of various applications. Standard Type IP6 Rated Motor A dedicated motor cable for IP6 rated motor (sold separately) is needed to connect the IP6 rated motor and driver. Line-up Functions System Configuration Product Line AC Input AS Series The Complies with International Safety Standards The AS Series is recognized with the UL/CSA standards and conforms to EN standard. [The AS46 (the motor frame size of 4 mm) is recognized with the UL standard and conforms to EN standard.] The CE marking certifies compliance with the EMC and Low Voltage Directives. No Hunting Since is a stepping motor, it has no hunting problem. Therefore, when it stops, its position is completely stable and does not fluctuate. is ideal for applications in which vibration would be a problem. Complete Stop Hunting Servo Motor Low Vibration at Low Speed The driver employs advanced technology that produces smoothness comparable to a microstepping driver. Its vibration level is incredibly low, even when operating in the low speed range. When frequent changes from low to high (or vice versa) speed operations are required, the use of the Resolution Select Function solves the problem. provides resolution as low as.36 per step without any damping mechanism or other mechanical device. Low Speed CCD Camera Improved Motor Protective Earth Terminal (Excluding motors with a frame size of 4 mm) Protective Earth Terminal Twice the Motor Life (compared with a conventional model) The life of a motor is affected by its bearing. The achieves approx. twice the life of a conventional motor by adopting a modified bearing. (Available only with the standard type and standard electromagnetic-brake type with a frame size of 6 or 8 mm.) RoHS-Compliant The conforms to the RoHS Directive that prohibits the use of six chemical substances including lead and cadmium. RoHS (Restriction of Hazardous Substances) Directive: Directive on restriction of the use of certain hazardous substances in electrical and electronic equipment (/9/EC). The RoHS Directive prohibits the use of six chemical substances in electrical and electronic products sold in the EU member states. The six controlled substances are: lead, hexavalent chromium, cadmium, mercury and two specific brominated flame-retardants (PBB and PBDE). Characteristics Dimensions Connection and Operation List of Motor and Driver Combinations How to Read Characteristics Accessories Before Using a Stepping Motor Controllers DC Input ASC Series High Speed is well-suited to applications where smooth movement or stability is required, such as where a camera is used to monitor the quality of a product. 3

4 A Full Lineup of Series You are sure to find a unit that perfectly matches the needs of your specific application. PN Geared Type AC Power-Supply Input Built-In Controller (Stored Program) PL Geared Type Harmonic Geared Type Select an optimal motor based on the required torque, resolution, etc. Select an optimal driver based on the system requirement. TH Geared Type Each "package" consists of a motor and a driver. Standard Type Standard Type IP6 Rated Motor AC Power-Supply Input Pulse Input DC Power-Supply Input Pulse Input Motors equipped with an electromagnetic brake are also available. (An electromagnetic brake is not available on certain types.) A dedicated IP6 motor cable (sold separately) is needed to connect the IP6 rated motor and driver. Characteristics Comparison for Motors and Geared Motors Motor Type Geared Type Maximum Backlash [min] Basic Resolution [deg/step] Output Shaft Speed [r/min] Standard Basic model of motor and driver system Maximum Holding Torque Standard Type IP6 Rated Motor The IP6 rated motor offering ingress protection against dust and water. Maximum Holding Torque Non-backlash Low backlash TH Geared (Parallel Shaft) PL Geared (Planetary) PN Geared (Planetary) Harmonic Geared (Harmonic Drive) A wide variety of low gear ratio, high-speed operation Gear ratio: 1:3.6, 1:7., 1:1, 1:, 1:3 High permissible torque Wide variety of gear ratios for selecting the desired step angle. (resolution) Centered output shaft Gear ratio: 1:, 1:7., 1:1, 1:, 1:36, 1: High speed (low gear ratio), high positioning precision High permissible/maximum torque Wide variety of gear ratios for selecting the desired step angle. (resolution) Centered output shaft Gear ratio: 1:, 1:7., 1:1, 1:, 1:36, 1: High positioning precision High permissible/maximum torque High gear ratio, high resolution Centered output shaft Gear ratio: 1:, 1: Permissible Maximum Torque Torque 37 6 Permissible Maximum Torque Torque Note: The values shown above must be used as reference. These values vary depending on the frame size and gear ratio. 4

Each series offers various motor frame sizes in accordance with the motor type and power supply voltage, as shown below. ( 4: indicates a motor frame size of 4 mm.

5 Each series offers various motor frame sizes in accordance with the motor type and power supply voltage, as shown below. ( 4: indicates a motor frame size of 4 mm.) AC Input AS Series Pulse Input Package Built-In Controller (Stored Program) Package DC Input ASC Series Pulse Input Package Power Supply Voltage Standard Type Standard Type IP6 Rated Motor TH Geared Type PL Geared Type PN Geared Type Harmonic Geared Type Single-Phase 1-11 VAC Single-Phase -3 VAC Three-Phase -3 VAC VDC Line-up Functions System Configuration Product Line AC Input AS Series : A pulse input package and a built-in controller (stored program) package are available. White background: A pulse input package is available. All the packages can be available motor with electromagnetic brake. (Except for the standard type IP6 rated motor and ASC Series with a motor frame size of 8 mm.) Two Types of Drivers Pulse Input Various motor controls can be performed using a pulse generator provided by the user. Built-In Controller (Stored Program) The built-in pulse generation function allows the motor to be driven via a directly connected programmable controller. Since no separate pulse generator is required, the drivers of this type save space, simplify wiring, and also allow the number of axes to be increased with ease. AC Input DC Input Motor Motor Driver Driver Pulse Generator Programmable Controller Programmable Controller or Personal Computer Characteristics Dimensions Connection and Operation List of Motor and Driver Combinations How to Read Characteristics Accessories Before Using a Stepping Motor Controllers DC Input ASC Series

of Built-In Controller (Stored Program) Package The built-in controller (stored program) driver has an integrated controller which ensures a simple, efficient solution for stepping motor applications.

Operating Modes Position Continuous 4 Operating Modes Mechanical Home Electrical Home Linked Motion Capability Alarm Functions The driver can flash LEDs to indicate which alarm has occurred. No.

6 of Built-In Controller (Stored Program) Package The built-in controller (stored program) driver has an integrated controller which ensures a simple, efficient solution for stepping motor applications. Intelligent, integrated, and ideal for technology's increasing demand on motion control, the built-in controller (stored program) is computer-programmable via an RS-3C connection. Operating Modes Position Continuous 4 Operating Modes Mechanical Home Electrical Home Linked Motion Capability Alarm Functions The driver can flash LEDs to indicate which alarm has occurred. No. Single Motion No. No. 1 No. Linked Motion When a START signal is received motions, 1 and are executed without stopping between each one. Alarm output from driver Motor Driver ALARM OUT PLC The driver can notify the host controller which alarm has occurred Speed Change on the Fly Daisy Chain Speed 6 Hz 4 Hz Hz PC Time The running speed of the motor can be changed while the motor is in motion. Up to 36 units can be daisy chained via customer supplied cable. 6

Position Control Incremental mode (relative distance specification)/absolute mode (absolute position specification) Linked operation (a maximum of four motion profiles may be linked) Data range (in

Electrical home seeking General Inputs/Outputs 8 Programmable Inputs 8 Programmable Outputs Daisy Chain Capability Up to 36 units can be daisy chained with unique device ID's Communication ASCII

7 Position Control Incremental mode (relative distance specification)/absolute mode (absolute position specification) Linked operation (a maximum of four motion profiles may be linked) Data range (in pulses): to Operating speed: 1 Hz to khz (set in 1 Hz increments) Four Operation Modes 1. Positioning. Mechanical home seeking ( LS, LS, HOMELS) 3. Continuous 4. Electrical home seeking General Inputs/Outputs 8 Programmable Inputs 8 Programmable Outputs Daisy Chain Capability Up to 36 units can be daisy chained with unique device ID's Communication ASCII based commands Conforms to RS-3C communication specifications Start-stop asynchronous transmission method Transmission speed: 96 bps Data length: 8 bits, 1 stop bit, no parity Protocol: TTY (CR LF) Modular 4-pin connector Program Memory Maximum number of programs: 14 (including STARTUP) Maximum lines per program: 64 Commands per line: 1 Program variables: 6 (A to Z) Built-In Functions Selectable motor-resolution Run and stop current values Speed-filter set value Motor rotation direction Emergency stop Safety Standard and CE Marking Example: PROGRAM1 ALPHA STEP PLUS DRIVER >EDIT PROGRAM1 Program Name : PROGRAM1 ( 1) VR= ( ) DIS=1 ( 3) MI ( 4) CALL WAITEND ( ) OUT1=1 ( 6) MGHP ( 7) END >> COMMAND : _ Model Standards Certifi cation Body File No. CE Marking Motor Driver UL 14 UL 111 CSA C. No.1 1 UL E64199 CSA C. No.77 1 EN 69-1 EN EN 634- IEC UL 8C CSA C. No.14 EN EN 178 Sensor logic Over-travel limits Software over-travel Alarm history Syntax checking UL Display values Incremental moves I/O status Conform to EN Standards E17146 Conform to EN Standards Using Windows HyperTerminal, programming the built-in controller (stored program) driver is a simple task. PROGRAM1 Definition Operating Speed: Hz Move Distance: 1 pulses Call a subroutine that waits for the motor to stop before moving on to the next command Turn On Output #1 Seek the Mechanical Home Position in the Positive Direction End of Program Low Voltage Directives EMC Directives When the system is approved under various safety standards, the model names on the motor and driver nameplates are the approved model names. List of Motor and Driver Combinations Pages 48 and 49 The EMC value changes according to the wiring and layout. Therefore, the final EMC level must be checked with the motor/driver incorporated in the user's equipment. 1 Except for AS46 (Motor Frame size 4 mm) Maximum Ambient Temperature for UL Pulse Input: C, Built-In Controller (Stored Program): 4 C 3 EN 69-1 (Certified Pulse Input only) Line-up Functions System Configuration Product Line Characteristics Dimensions Connection and Operation List of Motor and Driver Combinations How to Read Characteristics Accessories Before Using a Stepping Motor Controllers AC Input AS Series DC Input ASC Series 7

( Page 74) Connector-Terminal Block Conversion Unit (Accessories) ( Page 76) DIN Rail Mounting Plate (Accessories) ( Page 84) Programmable Controller (Not supplied) Flexible Couplings (Accessories) (

8 System Configuration Pulse Input Package An example of a system configuration with the SG83JY controller. Motor Mounting Brackets (Accessories) ( Page 8) Extension Cables (Accessories) Purchase the motor cable for IP6 rated motor (sold separately) when using the IP6 rated motor. ( Page 74) Connector-Terminal Block Conversion Unit (Accessories) ( Page 76) DIN Rail Mounting Plate (Accessories) ( Page 84) Programmable Controller (Not supplied) Flexible Couplings (Accessories) ( Page 77) Motor AS Series Driver AC Power Supply (Not supplied) Controller (Sold separately) ( Page 87) 4 VDC Power Supply (Not supplied) Example of System Configuration (Body) (Sold separately) AS Series AS66AAE Controller SG83JY-U Extension Cable (3 m) CC3AIP Motor Mounting Bracket PALP- : Required under this system. : Optional accessory offered by Oriental Motor. Flexible Coupling MCS388 DIN Rail Mounting Plate PADP1 Connector-Terminal Block Conversion Unit (1m) CC36T1 The system configuration shown above is an example. Other combinations are available. Extension Cables Pulse Input Package Extension cables are not included with products. When using the stepping motor and driver more than.4 m apart from each other, use an extension cable (sold separately). Electromagnetic brake motor models (except motor frame size 4 mm) must use an extension cable for electromagnetic brake motor (sold separately). For electromagnetic brake motor with motor frame size 4 mm, use an extension cable for standard motor. Page 74 Motor Cable for IP6 Rated Motor Always use the motor cable for IP6 rated motor (sold separately) for connection between the IP6 rated motor and the driver. Page 74 8

9 Built-In Controller (Stored Program) Package Motor Mounting Brackets (Accessories) ( Page 8) Flexible Couplings (Accessories) ( Page 77) Motor Example of System Configuration (Body) AS Series AS66AAEP Extension Cables (Accessories) ( Page 74) (Sold separately) Extension Cable (3 m) CC3AIP AS Series Motor Mounting Bracket PALP- Communication Cable (Accessories) ( Page 7) Driver Flexible Coupling MCS388 (Not supplied) 4 VDC Power Supply AC Power Supply (Not supplied) (Not supplied) : Required under this system. : Optional accessory offered by Oriental Motor. DIN Rail Mounting Plate PADP1 The system configuration shown above is an example. Other combinations are available. Extension Cables DIN Rail Mounting Plate (Accessories) ( Page 84) Connector-Terminal Block Conversion Unit (Accessories) ( Page 76) Connector-Terminal Block Conversion Unit CCT1 CC36T1 Programmable Controller (Not supplied) Driver Cables (Accessories) ( Page 7) Built-In Controller (Stored Program) Package Extension cables are not included with products. When using the stepping motor and driver more than.4 m apart from each other, use an extension cable (sold separately). Electromagnetic brake motor models (except motor frame size 4 mm) must use an extension cable for electromagnetic brake motor (sold separately). For electromagnetic brake motor with motor frame size 4 mm, use an extension cable for standard motor. Page 74 Motor Cable for IP6 Rated Motor Always use the motor cable for IP6 rated motor (sold separately) for connection between the IP6 rated motor and the driver. Page 74 Line-up Functions System Configuration Product Line Characteristics Dimensions Connection and Operation List of Motor and Driver Combinations How to Read Characteristics Accessories Before Using a Stepping Motor Controllers AC Input AS Series DC Input ASC Series 9

10 Product Number Code Standard Type AS 6 6 A A E P q w e r t y u Standard Type IP6 Rated Motor AS 6 6 A A T P q w e r t y u Geared Type AS 6 6 A C E P - N q w e r t y u i o AS 4 6 A A P - H 1 q w e r t u! i o q Series AS: AS Series w Motor Frame Size 4: 4 mm 6: 6 mm 9: 8 mm e Motor Case Length r Motor Type A: Standard (Single Shaft) M: Electromagnetic Brake Type Power Supply Voltage A: Single-Phase 1-11 VAC C: Single-Phase -3 VAC t S: Three-Phase -3 VAC y Motor Classifi cation u Driver Type P: Built-In Controller (Stored Program) Package Blank: Pulse Input Package q Series AS: AS Series w Motor Frame Size 6: 6 mm 9: 8 mm e Motor Case Length r Motor Shaft Type A: Single Shaft Power Supply Voltage A: Single-Phase 1-11 VAC C: Single-Phase -3 VAC t S: Three-Phase -3 VAC y Motor Classifi cation u Driver Type P: Built-In Controller (Stored Program) Package Blank: Pulse Input Package q Series AS: AS Series w Motor Frame Size 4: 4 mm 6: 6 mm 9: 9 mm e Motor Case Length r Motor Type A: Standard (Single Shaft) M: Electromagnetic Brake Type Power Supply Voltage A: Single-Phase 1-11 VAC C: Single-Phase -3 VAC t S: Three-Phase -3 VAC y Motor Classifi cation u Driver Type P: Built-In Controller (Stored Program) Package Blank: Pulse Input Package Gearhead Type T: TH Geared Type P: PL Geared Type i N: PN Geared Type H: Harmonic Geared Type o Gear Ratio! Reference Number Product Line The product names below are all for single shaft types, but there are also double shaft models available for all products except for those with electromagnetic brakes or IP6 rated motor. Contact the nearest Oriental Motor offi ce for further information on the double shaft models. Pulse Input Package Standard Type Power Supply Voltage Single-Phase 1-11 VAC Single-Phase -3 VAC Three-Phase -3 VAC Model (Single Shaft) AS46AA AS66AAE AS69AAE AS98AAE AS911AAE AS66ACE AS69ACE AS98ACE AS911ACE AS66ASE AS69ASE AS98ASE AS911ASE Standard Type with Electromagnetic Brake Power Supply Voltage Single-Phase 1-11 VAC Single-Phase -3 VAC Three-Phase -3 VAC Model (Single Shaft) AS46MA AS66MAE AS69MAE AS98MAE AS66MCE AS69MCE AS98MCE AS66MSE AS69MSE AS98MSE Standard Type IP6 Rated Motor Always use the motor cable for IP6 rated motor (sold separately) for connection between the IP6 rated motor and the driver. Motor Cable for IP6 Rated Motor Page 74 Power Supply Voltage Single-Phase 1-11 VAC Single-Phase -3 VAC Three-Phase -3 VAC Model (Single Shaft) AS66AAT AS69AAT AS98AAT AS911AAT AS66ACT AS69ACT AS98ACT AS911ACT AS66AST AS69AST AS98AST AS911AST 1

11 TH Geared Type Power Supply Voltage Single-Phase 1-11 VAC Single-Phase -3 VAC Three-Phase -3 VAC PL Geared Type Power Supply Voltage Single-Phase 1-11 VAC Single-Phase -3 VAC Three-Phase -3 VAC Model (Single Shaft) AS46AA-T3.6 AS46AA-T7. AS46AA-T1 AS46AA-T AS46AA-T3 AS66AAE-T3.6 AS66AAE-T7. AS66AAE-T1 AS66AAE-T AS66AAE-T3 AS98AAE-T3.6 AS98AAE-T7. AS98AAE-T1 AS98AAE-T AS98AAE-T3 AS66ACE-T3.6 AS66ACE-T7. AS66ACE-T1 AS66ACE-T AS66ACE-T3 AS98ACE-T3.6 AS98ACE-T7. AS98ACE-T1 AS98ACE-T AS98ACE-T3 AS66ASE-T3.6 AS66ASE-T7. AS66ASE-T1 AS66ASE-T AS66ASE-T3 AS98ASE-T3.6 AS98ASE-T7. AS98ASE-T1 AS98ASE-T AS98ASE-T3 Model (Single Shaft) AS46AA-P7. AS46AA-P1 AS46AA-P36 AS46AA-P AS66AAE-P AS66AAE-P7. AS66AAE-P1 AS66AAE-P AS66AAE-P36 AS66AAE-P AS98AAE-P AS98AAE-P7. AS98AAE-P1 AS98AAE-P AS98AAE-P36 AS98AAE-P AS66ACE-P AS66ACE-P7. AS66ACE-P1 AS66ACE-P AS66ACE-P36 AS66ACE-P AS98ACE-P AS98ACE-P7. AS98ACE-P1 AS98ACE-P AS98ACE-P36 AS98ACE-P AS66ASE-P AS66ASE-P7. AS66ASE-P1 AS66ASE-P AS66ASE-P36 AS66ASE-P AS98ASE-P AS98ASE-P7. AS98ASE-P1 AS98ASE-P AS98ASE-P36 AS98ASE-P TH Geared Type with Electromagnetic Brake Power Supply Voltage Single-Phase 1-11 VAC Single-Phase -3 VAC Three-Phase -3 VAC Model (Single Shaft) AS46MA-T3.6 AS46MA-T7. AS46MA-T1 AS46MA-T AS46MA-T3 AS66MAE-T3.6 AS66MAE-T7. AS66MAE-T1 AS66MAE-T AS66MAE-T3 AS98MAE-T3.6 AS98MAE-T7. AS98MAE-T1 AS98MAE-T AS98MAE-T3 AS66MCE-T3.6 AS66MCE-T7. AS66MCE-T1 AS66MCE-T AS66MCE-T3 AS98MCE-T3.6 AS98MCE-T7. AS98MCE-T1 AS98MCE-T AS98MCE-T3 AS66MSE-T3.6 AS66MSE-T7. AS66MSE-T1 AS66MSE-T AS66MSE-T3 AS98MSE-T3.6 AS98MSE-T7. AS98MSE-T1 AS98MSE-T AS98MSE-T3 PL Geared Type with Electromagnetic Brake Power Supply Voltage Single-Phase 1-11 VAC Single-Phase -3 VAC Three-Phase -3 VAC Model (Single Shaft) AS46MA-P7. AS46MA-P1 AS46MA-P36 AS46MA-P AS66MAE-P AS66MAE-P7. AS66MAE-P1 AS66MAE-P AS66MAE-P36 AS66MAE-P AS98MAE-P AS98MAE-P7. AS98MAE-P1 AS98MAE-P AS98MAE-P36 AS98MAE-P AS66MCE-P AS66MCE-P7. AS66MCE-P1 AS66MCE-P AS66MCE-P36 AS66MCE-P AS98MCE-P AS98MCE-P7. AS98MCE-P1 AS98MCE-P AS98MCE-P36 AS98MCE-P AS66MSE-P AS66MSE-P7. AS66MSE-P1 AS66MSE-P AS66MSE-P36 AS66MSE-P AS98MSE-P AS98MSE-P7. AS98MSE-P1 AS98MSE-P AS98MSE-P36 AS98MSE-P Line-up Functions System Configuration Product Line Characteristics Dimensions Connection and Operation List of Motor and Driver Combinations How to Read Characteristics Accessories Before Using a Stepping Motor Controllers AC Input AS Series DC Input ASC Series 11

12 PN Geared Type Power Supply Voltage Single-Phase 1-11 VAC Single-Phase -3 VAC Three-Phase -3 VAC Model (Single Shaft) AS46AA-N7. AS46AA-N1 AS66AAE-N AS66AAE-N7. AS66AAE-N1 AS66AAE-N AS66AAE-N36 AS66AAE-N AS98AAE-N AS98AAE-N7. AS98AAE-N1 AS98AAE-N AS98AAE-N36 AS98AAE-N AS66ACE-N AS66ACE-N7. AS66ACE-N1 AS66ACE-N AS66ACE-N36 AS66ACE-N AS98ACE-N AS98ACE-N7. AS98ACE-N1 AS98ACE-N AS98ACE-N36 AS98ACE-N AS66ASE-N AS66ASE-N7. AS66ASE-N1 AS66ASE-N AS66ASE-N36 AS66ASE-N AS98ASE-N AS98ASE-N7. AS98ASE-N1 AS98ASE-N AS98ASE-N36 AS98ASE-N PN Geared Type with Electromagnetic Brake Power Supply Voltage Single-Phase 1-11 VAC Single-Phase -3 VAC Three-Phase -3 VAC Model (Single Shaft) AS46MA-N7. AS46MA-N1 AS66MAE-N AS66MAE-N7. AS66MAE-N1 AS66MAE-N AS66MAE-N36 AS66MAE-N AS98MAE-N AS98MAE-N7. AS98MAE-N1 AS98MAE-N AS98MAE-N36 AS98MAE-N AS66MCE-N AS66MCE-N7. AS66MCE-N1 AS66MCE-N AS66MCE-N36 AS66MCE-N AS98MCE-N AS98MCE-N7. AS98MCE-N1 AS98MCE-N AS98MCE-N36 AS98MCE-N AS66MSE-N AS66MSE-N7. AS66MSE-N1 AS66MSE-N AS66MSE-N36 AS66MSE-N AS98MSE-N AS98MSE-N7. AS98MSE-N1 AS98MSE-N AS98MSE-N36 AS98MSE-N Harmonic Geared Type Power Supply Voltage Single-Phase 1-11 VAC Single-Phase -3 VAC Three-Phase -3 VAC Model (Single Shaft) AS46AA-H AS46AA-H1 AS66AAE-H AS66AAE-H1 AS98AAE-H AS98AAE-H1 AS66ACE-H AS66ACE-H1 AS98ACE-H AS98ACE-H1 AS66ASE-H AS66ASE-H1 AS98ASE-H AS98ASE-H1 Harmonic Geared Type with Electromagnetic Brake Power Supply Voltage Single-Phase 1-11 VAC Single-Phase -3 VAC Three-Phase -3 VAC Model (Single Shaft) AS46MA-H AS46MA-H1 AS66MAE-H AS66MAE-H1 AS98MAE-H AS98MAE-H1 AS66MCE-H AS66MCE-H1 AS98MCE-H AS98MCE-H1 AS66MSE-H AS66MSE-H1 AS98MSE-H AS98MSE-H1 1

13 Built-In Controller (Stored Program) Package Standard Type Power Supply Voltage Single-Phase 1-11 VAC Single-Phase -3 VAC Three-Phase -3 VAC Model (Single Shaft) AS46AAP AS66AAEP AS69AAEP AS98AAEP AS911AAEP AS66ACEP AS69ACEP AS98ACEP AS911ACEP AS66ASEP AS69ASEP AS98ASEP AS911ASEP Standard Type IP6 Rated Motor Always use the motor cable for IP6 rated motor (sold separately) for connection between the IP6 rated motor and the driver. Motor Cable for IP6 Rated Motor Page 74 Power Supply Voltage Single-Phase 1-11 VAC Single-Phase -3 VAC Three-Phase -3 VAC TH Geared Type Power Supply Voltage Single-Phase 1-11 VAC Single-Phase -3 VAC Three-Phase -3 VAC Model (Single Shaft) AS66AATP AS69AATP AS98AATP AS911AATP AS66ACTP AS69ACTP AS98ACTP AS911ACTP AS66ASTP AS69ASTP AS98ASTP AS911ASTP Model (Single Shaft) AS46AAP-T3.6 AS46AAP-T7. AS46AAP-T1 AS46AAP-T AS46AAP-T3 AS66AAEP-T3.6 AS66AAEP-T7. AS66AAEP-T1 AS66AAEP-T AS66AAEP-T3 AS98AAEP-T3.6 AS98AAEP-T7. AS98AAEP-T1 AS98AAEP-T AS98AAEP-T3 AS66ACEP-T3.6 AS66ACEP-T7. AS66ACEP-T1 AS66ACEP-T AS66ACEP-T3 AS98ACEP-T3.6 AS98ACEP-T7. AS98ACEP-T1 AS98ACEP-T AS98ACEP-T3 AS66ASEP-T3.6 AS66ASEP-T7. AS66ASEP-T1 AS66ASEP-T AS66ASEP-T3 AS98ASEP-T3.6 AS98ASEP-T7. AS98ASEP-T1 AS98ASEP-T AS98ASEP-T3 Standard Type with Electromagnetic Brake Power Supply Voltage Single-Phase 1-11 VAC Single-Phase -3 VAC Three-Phase -3 VAC Model (Single Shaft) AS46MAP AS66MAEP AS69MAEP AS98MAEP AS66MCEP AS69MCEP AS98MCEP AS66MSEP AS69MSEP AS98MSEP TH Geared Type with Electromagnetic Brake Power Supply Voltage Single-Phase 1-11 VAC Single-Phase -3 VAC Three-Phase -3 VAC Model (Single Shaft) AS46MAP-T3.6 AS46MAP-T7. AS46MAP-T1 AS46MAP-T AS46MAP-T3 AS66MAEP-T3.6 AS66MAEP-T7. AS66MAEP-T1 AS66MAEP-T AS66MAEP-T3 AS98MAEP-T3.6 AS98MAEP-T7. AS98MAEP-T1 AS98MAEP-T AS98MAEP-T3 AS66MCEP-T3.6 AS66MCEP-T7. AS66MCEP-T1 AS66MCEP-T AS66MCEP-T3 AS98MCEP-T3.6 AS98MCEP-T7. AS98MCEP-T1 AS98MCEP-T AS98MCEP-T3 AS66MSEP-T3.6 AS66MSEP-T7. AS66MSEP-T1 AS66MSEP-T AS66MSEP-T3 AS98MSEP-T3.6 AS98MSEP-T7. AS98MSEP-T1 AS98MSEP-T AS98MSEP-T3 Line-up Functions System Configuration Product Line Characteristics Dimensions Connection and Operation List of Motor and Driver Combinations How to Read Characteristics Accessories Before Using a Stepping Motor Controllers AC Input AS Series DC Input ASC Series 13

14 PN Geared Type Power Supply Voltage Single-Phase 1-11 VAC Single-Phase -3 VAC Three-Phase -3 VAC Model (Single Shaft) AS46AAP-N7. AS46AAP-N1 AS66AAEP-N AS66AAEP-N7. AS66AAEP-N1 AS66AAEP-N AS66AAEP-N36 AS66AAEP-N AS98AAEP-N AS98AAEP-N7. AS98AAEP-N1 AS98AAEP-N AS98AAEP-N36 AS98AAEP-N AS66ACEP-N AS66ACEP-N7. AS66ACEP-N1 AS66ACEP-N AS66ACEP-N36 AS66ACEP-N AS98ACEP-N AS98ACEP-N7. AS98ACEP-N1 AS98ACEP-N AS98ACEP-N36 AS98ACEP-N AS66ASEP-N AS66ASEP-N7. AS66ASEP-N1 AS66ASEP-N AS66ASEP-N36 AS66ASEP-N AS98ASEP-N AS98ASEP-N7. AS98ASEP-N1 AS98ASEP-N AS98ASEP-N36 AS98ASEP-N PN Geared Type with Electromagnetic Brake Power Supply Voltage Single-Phase 1-11 VAC Single-Phase -3 VAC Three-Phase -3 VAC Model (Single Shaft) AS46MAP-N7. AS46MAP-N1 AS66MAEP-N AS66MAEP-N7. AS66MAEP-N1 AS66MAEP-N AS66MAEP-N36 AS66MAEP-N AS98MAEP-N AS98MAEP-N7. AS98MAEP-N1 AS98MAEP-N AS98MAEP-N36 AS98MAEP-N AS66MCEP-N AS66MCEP-N7. AS66MCEP-N1 AS66MCEP-N AS66MCEP-N36 AS66MCEP-N AS98MCEP-N AS98MCEP-N7. AS98MCEP-N1 AS98MCEP-N AS98MCEP-N36 AS98MCEP-N AS66MSEP-N AS66MSEP-N7. AS66MSEP-N1 AS66MSEP-N AS66MSEP-N36 AS66MSEP-N AS98MSEP-N AS98MSEP-N7. AS98MSEP-N1 AS98MSEP-N AS98MSEP-N36 AS98MSEP-N Harmonic Geared Type Power Supply Voltage Single-Phase 1-11 VAC Single-Phase -3 VAC Three-Phase -3 VAC Model (Single Shaft) AS46AAP-H AS46AAP-H1 AS66AAEP-H AS66AAEP-H1 AS98AAEP-H AS98AAEP-H1 AS66ACEP-H AS66ACEP-H1 AS98ACEP-H AS98ACEP-H1 AS66ASEP-H AS66ASEP-H1 AS98ASEP-H AS98ASEP-H1 Harmonic Geared Type with Electromagnetic Brake Power Supply Voltage Single-Phase 1-11 VAC Single-Phase -3 VAC Three-Phase -3 VAC Model (Single Shaft) AS46MAP-H AS46MAP-H1 AS66MAEP-H AS66MAEP-H1 AS98MAEP-H AS98MAEP-H1 AS66MCEP-H AS66MCEP-H1 AS98MCEP-H AS98MCEP-H1 AS66MSEP-H AS66MSEP-H1 AS98MSEP-H AS98MSEP-H1 14

15 Standard Type Motor Frame Size 4 mm, 6 mm, 8 mm Specifications Model Pulse Input Package Built-In Controller (Stored Program) Package With the AS46 type, only the driver conforms to the CSA standard. Standard AS46AA AS66A E AS69A E AS98A E AS911A E Electromagnetic Brake AS46MA AS66M E AS69M E AS98M E Standard AS46AAP AS66A EP AS69A EP AS98A EP AS911A EP Electromagnetic Brake AS46MAP AS66M EP AS69M EP AS98M EP Maximum Holding Torque N m Rotor Inertia J: kg m [ ] [ ] [ ] [ ] Resolution Resolution Setting: 1 P/R.36 /Pulse Power Source Voltage-Frequency Maximum Input Current A Single-Phase 1-11 VAC 1% 1% /6 Hz Single-Phase 1-11 VAC 1% 1% /6 Hz Single-Phase -3 VAC 1% 1% /6 Hz Three-Phase -3 VAC 1% 1% /6 Hz Single-Phase 1-11 VAC Single-Phase -3 VAC Three-Phase -3 VAC Type Active when power is off Power Supply Input 4 VDC % Electromagnetic Brake 3 Power Consumption W 6 Excitation Current A.8. Static Friction Torque N m Motor kg. [.6] 1.8 [1.1] [1.6] [.] 1 3 Mass Driver kg.8 Motor z x c Dimension No. Pulse Input 8 Driver Built-In Controller (Stored Program) 9 How to Read Specifications Table Page 7 Enter the power supply voltage A (Single-Phase 1-11 VAC), C (Single-Phase -3 VAC) or S (Three-Phase -3 VAC) in the box ( ) within the model name. 1 The values inside the brackets [ ] represent the specification for the electromagnetic brake type. Pulse Input Package: The resolution can be set to any one of P/R, 1 P/R, P/R, or 1 P/R with the resolution select switch or resolution select switching signals. Resolution Select Switch Page 37 Built-In Controller (Stored Program) Package: The resolution can be set from P/R to 1 P/R by setting parameters. 3 The electromagnetic brakes are for holding the position when the power is off. They cannot be used for complicated braking. Also, a separate 4 VDC %,.3 A minimum (AS46:.1 A minimum) power supply is required for the electromagnetic brakes. Speed Torque Characteristics How to Read Speed-Torque Characteristics Page 7 AS46 A/AS46 AP (Resolution Setting: 1 P/R) AS98 E/AS98 EP (Resolution Setting: 1 P/R) AS66 E/AS66 EP (Resolution Setting: 1 P/R) AS911A E/AS911A EP AS911AAE AS911ACE AS911ASE (Resolution Setting: 1 P/R) AS69 E/AS69 EP (Resolution Setting: 1 P/R) Enter A (standard) or M (electromagnetic brake) in the box ( ) within the model name. Enter the power supply voltage A (Single-Phase 1-11 VAC), C (Single-Phase -3 VAC) or S (Three-Phase -3 VAC) in the box ( ) within the model name. Notes: Pay attention to heat dissipation from motor and driver. In particular, remember that the motor will produce a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 1 C. [Under 7 C is required to comply with UL or CSA standards.] When using the motor with the dedicated driver, the driver's automatic current cutback at motor standstill function reduces maximum holding torque by approximately %. Line-up Functions System Configuration Product Line Characteristics Dimensions Connection and Operation List of Motor and Driver Combinations How to Read Characteristics Accessories Before Using a Stepping Motor Controllers AC Input AS Series DC Input ASC Series 1

16 Standard Type IP6 Rated Motor Motor Frame Size 6 mm, 8 mm Specifications Pulse Input Package Standard AS66A T AS69A T AS98A T AS911A T Model Built-In Controller (Stored Program) Package Standard AS66A TP AS69A TP AS98A TP AS911A TP Maximum Holding Torque N m 1. 4 Rotor Inertia J: kg m Resolution 1 Resolution Setting: 1 P/R.36 /Pulse Power Source Voltage-Frequency Maximum Input Current A Single-Phase 1-11 VAC 1% 1% /6 Hz Single-Phase -3 VAC 1% 1% /6 Hz Three-Phase -3 VAC 1% 1% /6 Hz Single-Phase 1-11 VAC Single-Phase -3 VAC Three-Phase -3 VAC Degree of Protection Motor: IP6 Driver: IP1 Motor kg Mass Driver kg.8 Motor v b Dimension No. Pulse Input 8 Driver Built-In Controller (Stored Program) 9 How to Read Specifications Table Page 7 Enter the power supply voltage A (Single-Phase 1-11 VAC), C (Single-Phase -3 VAC) or S (Three-Phase -3 VAC) in the box ( ) within the model name. 1 Pulse Input Package: The resolution can be set to any one of P/R, 1 P/R, P/R, or 1 P/R with the resolution select switch or resolution select switching signals. Resolution Select Switch Page 37 Built-In Controller (Stored Program) Package: The resolution can be set from P/R to 1 P/R by setting parameters. Excluding the gap between the shaft and the flange. Always use the motor cable for IP6 rated motor (sold separately) for connection between the IP6 rated motor and the driver. Page 74 Speed Torque Characteristics How to Read Speed-Torque Characteristics Page 7 AS66A T/AS66A TP. AS69A T/AS69A TP (Resolution Setting: 1 P/R) AS98A T/AS98A TP (Resolution Setting: 1 P/R) AS911A T/AS911A TP AS911AAT/AS911AATP AS911ACT/AS911ACTP AS911AST/AS911ASTP (Resolution Setting: 1 P/R) (Resolution Setting: 1 P/R) Enter the power supply voltage A (Single-Phase 1-11 VAC), C (Single-Phase -3 VAC) or S (Three-Phase -3 VAC) in the box ( ) within the model name. Notes: Pay attention to heat dissipation from motor and driver. In particular, remember that the motor will produce a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 1 C. [Under 7 C is required to comply with UL or CSA standards.] When using the motor with the dedicated driver, the driver's automatic current cutback at motor standstill function reduces maximum holding torque by approximately %. Requirement for Motor Cable for IP6 Rated Motor (Sold Separately) Always use the motor cable for IP6 rated motor (sold separately) for connection between the IP6 rated motor and the driver. The IP6 rated motor cannot be driven unless the dedicated motor cable is used. Motor Cable for IP6 Rated Motor (Sold Separately) ( Page 74) Motor Driver 16

17 TH Geared Type Motor Frame Size 4 mm Specifications Model Pulse Input Package Built-In Controller (Stored Program) Package With the AS46 type, only the driver conforms to the CSA standard. Standard AS46AA-T3.6 AS46AA-T7. AS46AA-T1 AS46AA-T AS46AA-T3 Electromagnetic Brake AS46MA-T3.6 AS46MA-T7. AS46MA-T1 AS46MA-T AS46MA-T3 Standard AS46AAP-T3.6 AS46AAP-T7. AS46AAP-T1 AS46AAP-T AS46AAP-T3 Electromagnetic Brake AS46MAP-T3.6 AS46MAP-T7. AS46MAP-T1 AS46MAP-T AS46MAP-T3 Maximum Holding Torque N m Rotor Inertia J: kg m [ ] 1 Backlash arc minute (degrees) 4 (.7 ) (.417 ) (.417 ) 1 (. ) 1 (. ) Permissible Speed Range r/min Gear Ratio 1:3.6 1:7. 1:1 1: 1:3 Resolution Resolution Setting: 1 P/R.1 /Pulse. /Pulse.36 /Pulse.18 /Pulse.1 /Pulse N m Power Source Electromagnetic Brake 3 Mass Dimension No. Voltage-Frequency Single-Phase 1-11 VAC 1% 1% /6 Hz Maximum Input Current A Single-Phase 1-11 VAC 3.3 Type Active when power is off Power Supply Input 4 VDC % Power Consumption W Excitation Current A.8 Static Friction Torque N m Motor kg.6 [.7] 1 Driver kg.8 Motor n Driver Pulse Input 8 Built-In Controller (Stored Program) 9 How to Read Specifications Table Page 7 1 The values inside the brackets [ ] represent the specification for the electromagnetic brake type. Pulse Input Package: The resolution can be set to any one of P/R, 1 P/R, P/R, or 1 P/R with the resolution select switch or resolution select switching signals. Resolution Select Switch Page 37 Built-In Controller (Stored Program) Package: The resolution can be set from P/R to 1 P/R by setting parameters. 3 The electromagnetic brakes are for holding the position when the power is off. They cannot be used for complicated braking. Also, a separate 4 VDC %,.1 A minimum power supply is required for the electromagnetic brakes. Note: Direction of rotation of the motor and that of the gear output shaft are the same for unit type with reduction ratio 1:3.6, 1:7. and 1:1. It is opposite for 1: and 1:3 ratio type. Speed Torque Characteristics How to Read Speed-Torque Characteristics Page 7 AS46 A-T3.6/AS46 AP-T (Resolution Setting: 1 P/R) AS46 A-T/AS46 AP-T (Resolution Setting: 1 P/R) AS46 A-T7./AS46 AP-T (Resolution Setting: 1 P/R) AS46 A-T3/AS46 AP-T (Resolution Setting: 1 P/R) 3 3 AS46 A-T1/AS46 AP-T (Resolution Setting: 1 P/R) Enter A (standard) or M (electromagnetic brake) in the box ( ) within the model name. Notes: Pay attention to heat dissipation from motor and driver. In particular, remember that the motor will produce a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 1 C. [Under 7 C is required to comply with UL or CSA standards.] When using the motor with the dedicated driver, the driver's automatic current cutback at motor standstill function reduces maximum holding torque by approximately % Line-up Functions System Configuration Product Line Characteristics Dimensions Connection and Operation List of Motor and Driver Combinations How to Read Characteristics Accessories Before Using a Stepping Motor Controllers AC Input AS Series DC Input ASC Series 17

18 TH Geared Type Motor Frame Size 6 mm Specifications Model Pulse Input Package Built-In Controller (Stored Program) Package Standard AS66A E-T3.6 AS66A E-T7. AS66A E-T1 AS66A E-T AS66A E-T3 Electromagnetic Brake AS66M E-T3.6 AS66M E-T7. AS66M E-T1 AS66M E-T AS66M E-T3 Standard AS66A EP-T3.6 AS66A EP-T7. AS66A EP-T1 AS66A EP-T AS66A EP-T3 Electromagnetic Brake AS66M EP-T3.6 AS66M EP-T7. AS66M EP-T1 AS66M EP-T AS66M EP-T3 Maximum Holding Torque N m Rotor Inertia J: kg m [ ] 1 Backlash arc minute (degrees) 3 (.84 ) 1 (. ) 1 (.167 ) Permissible Speed Range r/min Gear Ratio 1:3.6 1:7. 1:1 1: 1:3 Resolution Resolution Setting: 1 P/R.1 /Pulse. /Pulse.36 /Pulse.18 /Pulse.1 /Pulse N m Power Source Voltage-Frequency Maximum Input Current A Electromagnetic Brake 3 Mass Dimension No. Single-Phase 1-11 VAC 1% 1% /6 Hz Single-Phase -3 VAC 1% 1% /6 Hz Three-Phase -3 VAC 1% 1% /6 Hz Single-Phase 1-11 VAC Single-Phase -3 VAC 3 Three-Phase -3 VAC 1. Type Active when power is off Power Supply Input 4 VDC % Power Consumption W 6 Excitation Current A. Static Friction Torque N m Motor kg 1. [1.] 1 Driver kg.8 Motor m Driver Pulse Input 8 Built-In Controller (Stored Program) 9 How to Read Specifications Table Page 7 Enter the power supply voltage A (Single-Phase 1-11 VAC), C (Single-Phase -3 VAC) or S (Three-Phase -3 VAC) in the box ( ) within the model name. 1 The values inside the brackets [ ] represent the specification for the electromagnetic brake type. Pulse Input Package: The resolution can be set to any one of P/R, 1 P/R, P/R, or 1 P/R with the resolution select switch or resolution select switching signals. Resolution Select Switch Page 37 Built-In Controller (Stored Program) Package: The resolution can be set from P/R to 1 P/R by setting parameters. 3 The electromagnetic brakes are for holding the position when the power is off. They cannot be used for complicated braking. Also, a separate 4 VDC %,.3 A minimum power supply is required for the electromagnetic brakes. Note: Direction of rotation of the motor and that of the gear output shaft are the same for unit type with reduction ratio 1:3.6, 1:7. and 1:1. It is opposite for 1: and 1:3 ratio type. Speed Torque Characteristics How to Read Speed-Torque Characteristics Page 7 AS66 E-T3.6/AS66 EP-T AS66 E-T7./AS66 EP-T7. 4 AS66 E-T1/AS66 EP-T (Resolution Setting: 1 P/R) AS66 E-T/AS66 EP-T (Resolution Setting: 1 P/R) AS66 E-T3/AS66 EP-T (Resolution Setting: 1 P/R) (Resolution Setting: 1 P/R) (Resolution Setting: 1 P/R) Enter A (standard) or M (electromagnetic brake) in the box ( ) within the model name. Enter the power supply voltage A (Single-Phase 1-11 VAC), C (Single-Phase -3 VAC) or S (Three-Phase -3 VAC) in the box ( ) within the model name. Notes: Pay attention to heat dissipation from motor and driver. In particular, remember that the motor will produce a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 1 C. [Under 7 C is required to comply with UL or CSA standards.] When using the motor with the dedicated driver, the driver's automatic current cutback at motor standstill function reduces maximum holding torque by approximately %

19 TH Geared Type Motor Frame Size 9 mm Specifications Model Pulse Input Package Built-In Controller (Stored Program) Package Standard AS98A E-T3.6 AS98A E-T7. AS98A E-T1 AS98A E-T AS98A E-T3 Electromagnetic Brake AS98M E-T3.6 AS98M E-T7. AS98M E-T1 AS98M E-T AS98M E-T3 Standard AS98A EP-T3.6 AS98A EP-T7. AS98A EP-T1 AS98A EP-T AS98A EP-T3 Electromagnetic Brake AS98M EP-T3.6 AS98M EP-T7. AS98M EP-T1 AS98M EP-T AS98M EP-T3 Maximum Holding Torque N m Rotor Inertia J: kg m [ ] 1 Backlash arc minute (degrees) (.417 ) 1 (. ) 1 (.167 ) Permissible Speed Range r/min Gear Ratio 1:3.6 1:7. 1:1 1: 1:3 Resolution Resolution Setting: 1 P/R.1 /Pulse. /Pulse.36 /Pulse.18 /Pulse.1 /Pulse N m Power Source Voltage-Frequency Maximum Input Current A Electromagnetic Brake 3 Mass Dimension No. Single-Phase 1-11 VAC 1% 1% /6 Hz Single-Phase -3 VAC 1% 1% /6 Hz Three-Phase -3 VAC 1% 1% /6 Hz Single-Phase 1-11 VAC 6 Single-Phase -3 VAC 3. Three-Phase -3 VAC 1.9 Type Active when power is off Power Supply Input 4 VDC % Power Consumption W 6 Excitation Current A. Static Friction Torque N m Motor kg 3 [3.4] 1 Driver kg.8 Motor, Driver Pulse Input 8 Built-In Controller (Stored Program) 9 How to Read Specifications Table Page 7 Enter the power supply voltage A (Single-Phase 1-11 VAC), C (Single-Phase -3 VAC) or S (Three-Phase -3 VAC) in the box ( ) within the model name. 1 The values inside the brackets [ ] represent the specification for the electromagnetic brake type. Pulse Input Package: The resolution can be set to any one of P/R, 1 P/R, P/R, or 1 P/R with the resolution select switch or resolution select switching signals. Resolution Select Switch Page 37 Built-In Controller (Stored Program) Package: The resolution can be set from P/R to 1 P/R by setting parameters. 3 The electromagnetic brakes are for holding the position when the power is off. They cannot be used for complicated braking. Also, a separate 4 VDC %,.3 A minimum power supply is required for the electromagnetic brakes. Note: Direction of rotation of the motor and that of the gear output shaft are the same for unit type with reduction ratio 1:3.6, 1:7. and 1:1. It is opposite for 1: and 1:3 ratio type. Speed Torque Characteristics How to Read Speed-Torque Characteristics Page 7 AS98 E-T3.6/AS98 EP-T (Resolution Setting: 1 P/R) AS98 E-T/AS98 EP-T (Resolution Setting: 1 P/R) AS98 E-T7./AS98 EP-T (Resolution Setting: 1 P/R) AS98 E-T3/AS98 EP-T (Resolution Setting: 1 P/R) AS98 E-T1/AS98 EP-T (Resolution Setting: 1 P/R) Enter A (standard) or M (electromagnetic brake) in the box ( ) within the model name. Enter the power supply voltage A (Single-Phase 1-11 VAC), C (Single-Phase -3 VAC) or S (Three-Phase -3 VAC) in the box ( ) within the model name. Notes: Pay attention to heat dissipation from motor and driver. In particular, remember that the motor will produce a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 1 C. [Under 7 C is required to comply with UL or CSA standards.] When using the motor with the dedicated driver, the driver's automatic current cutback at motor standstill function reduces maximum holding torque by approximately % Line-up Functions System Configuration Product Line Characteristics Dimensions Connection and Operation List of Motor and Driver Combinations How to Read Characteristics Accessories Before Using a Stepping Motor Controllers AC Input AS Series DC Input ASC Series 19

20 PL Geared Type Motor Frame Size 4 mm Specifications Model Pulse Input Package With the AS46 type, only the driver conforms to the CSA standard. Standard AS46AA-P7. AS46AA-P1 AS46AA-P36 AS46AA-P Electromagnetic Brake AS46MA-P7. AS46MA-P1 AS46MA-P36 AS46MA-P Maximum Holding Torque N m 1. 3 Rotor Inertia J: kg m [ ] 1 Backlash arc minute (degrees) 3 (.8 ) Permissible Speed Range r/min Gear Ratio 1:7. 1:1 1:36 1: Resolution Resolution Setting: 1 P/R. /Pulse.36 /Pulse.1 /Pulse.7 /Pulse N m 1. 3 Power Voltage-Frequency Single-Phase 1-11 VAC 1% 1% /6 Hz Source Maximum Input Current A Single-Phase 1-11 VAC 3.3 Type Active when power is off Electromagnetic Brake 3 Power Supply Input 4 VDC % Power Consumption W Excitation Current A.8 Static Friction Torque N m.7 1. Mass Motor kg.66 [.76] 1.78 [.88] 1 Driver kg.8 Dimension No. Motor. Driver Pulse Input 8 How to Read Specifications Table Page 7 1 The values inside the brackets [ ] represent the specification for the electromagnetic brake type. Pulse Input Package: The resolution can be set to any one of P/R, 1 P/R, P/R, or 1 P/R with the resolution select switch or resolution select switching signals. Resolution Select Switch Page 37 3 The electromagnetic brakes are for holding the position when the power is off. They cannot be used for complicated braking. Also, a separate 4 VDC %,.1 A minimum power supply is required for the electromagnetic brakes. Note: Direction of rotation of the motor shaft and that of the gear output shaft are the same. Speed Torque Characteristics How to Read Speed-Torque Characteristics Page 7 AS46 A-P7.. AS46 A-P (Resolution Setting: 1 P/R) (Resolution Setting: 1 P/R) 3 AS46 A-P36 4 AS46 A-P (Resolution Setting: 1 P/R) (Resolution Setting: 1 P/R) Enter A (standard) or M (electromagnetic brake) in the box ( ) within the model name. Notes: Pay attention to heat dissipation from motor and driver. In particular, remember that the motor will produce a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 1 C. [Under 7 C is required to comply with UL or CSA standards.] When using the motor with the dedicated driver, the driver's automatic current cutback at motor standstill function reduces maximum holding torque by approximately %.

21 PL Geared Type Motor Frame Size 6 mm Specifications Model Pulse Input Package Standard AS66A E-P AS66A E-P7. AS66A E-P1 AS66A E-P AS66A E-P36 AS66A E-P Electromagnetic Brake AS66M E-P AS66M E-P7. AS66M E-P1 AS66M E-P AS66M E-P36 AS66M E-P Maximum Holding Torque N m Rotor Inertia J: kg m [ ] 1 Backlash arc minute (degrees) (.33 ) Permissible Speed Range r/min Gear Ratio 1: 1:7. 1:1 1: 1:36 1: Resolution Resolution Setting: 1 P/R.7 /Pulse. /Pulse.36 /Pulse.144 /Pulse.1 /Pulse.7 /Pulse N m Power Source Voltage-Frequency Maximum Input Current A Electromagnetic Brake 3 Mass Dimension No. Single-Phase 1-11 VAC 1% 1% /6 Hz Single-Phase -3 VAC 1% 1% /6 Hz Three-Phase -3 VAC 1% 1% /6 Hz Single-Phase 1-11 VAC Single-Phase -3 VAC 3 Three-Phase -3 VAC 1. Type Active when power is off Power Supply Input 4 VDC % Power Consumption W 6 Excitation Current A. Static Friction Torque N m Motor kg 1. [1.] 1 1. [1.8] 1 Driver kg.8 Motor Driver Pulse Input 8 How to Read Specifications Table Page 7 Enter the power supply voltage A (Single-Phase 1-11 VAC), C (Single-Phase -3 VAC) or S (Three-Phase -3 VAC) in the box ( ) within the model name. 1 The values inside the brackets [ ] represent the specification for the electromagnetic brake type. Pulse Input Package: The resolution can be set to any one of P/R, 1 P/R, P/R, or 1 P/R with the resolution select switch or resolution select switching signals. Resolution Select Switch Page 37 3 The electromagnetic brakes are for holding the position when the power is off. They cannot be used for complicated braking. Also, a separate 4 VDC %,.3 A minimum power supply is required for the electromagnetic brakes. Note: Direction of rotation of the motor shaft and that of the gear output shaft are the same. Speed Torque Characteristics How to Read Speed-Torque Characteristics Page 7 AS66 E-P AS66 E-P (Resolution Setting: 1 P/R) (Resolution Setting: 1 P/R) AS66 E-P AS66 E-P (Resolution Setting: 1 P/R) (Resolution Setting: 1 P/R) AS66 E-P (Resolution Setting: 1 P/R) AS66 E-P (Resolution Setting: 1 P/R) Enter A (standard) or M (electromagnetic brake) in the box ( ) within the model name. Enter the power supply voltage A (Single-Phase 1-11 VAC), C (Single-Phase -3 VAC) or S (Three-Phase -3 VAC) in the box ( ) within the model name. Notes: Pay attention to heat dissipation from motor and driver. In particular, remember that the motor will produce a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 1 C. [Under 7 C is required to comply with UL or CSA standards.] When using the motor with the dedicated driver, the driver's automatic current cutback at motor standstill function reduces maximum holding torque by approximately %. Line-up Functions System Configuration Product Line Characteristics Dimensions Connection and Operation List of Motor and Driver Combinations How to Read Characteristics Accessories Before Using a Stepping Motor Controllers AC Input AS Series DC Input ASC Series 1

22 PL Geared Type Motor Frame Size 9 mm Specifications Model Pulse Input Package Standard AS98A E-P AS98A E-P7. AS98A E-P1 AS98A E-P AS98A E-P36 AS98A E-P Electromagnetic Brake AS98M E-P AS98M E-P7. AS98M E-P1 AS98M E-P AS98M E-P36 AS98M E-P Maximum Holding Torque N m Rotor Inertia J: kg m [ ] 1 Backlash arc minute (degrees) 1 (. ) Permissible Speed Range r/min Gear Ratio 1: 1:7. 1:1 1: 1:36 1: Resolution Resolution Setting: 1 P/R.7 /Pulse. /Pulse.36 /Pulse.144 /Pulse.1 /Pulse.7 /Pulse N m Power Source Voltage-Frequency Maximum Input Current A Electromagnetic Brake 3 Mass Dimension No. Single-Phase 1-11 VAC 1% 1% /6 Hz Single-Phase -3 VAC 1% 1% /6 Hz Three-Phase -3 VAC 1% 1% /6 Hz Single-Phase 1-11 VAC 6 Single-Phase -3 VAC 3. Three-Phase -3 VAC 1.9 Type Active when power is off Power Supply Input 4 VDC % Power Consumption W 6 Excitation Current A. Static Friction Torque N m Motor kg 3. [3.6] 1 4 [4.4] 1 Driver kg.8 Motor 1 Driver Pulse Input 8 How to Read Specifications Table Page 7 Enter the power supply voltage A (Single-Phase 1-11 VAC), C (Single-Phase -3 VAC) or S (Three-Phase -3 VAC) in the box ( ) within the model name. 1 The values inside the brackets [ ] represent the specification for the electromagnetic brake type. Pulse Input Package: The resolution can be set to any one of P/R, 1 P/R, P/R, or 1 P/R with the resolution select switch or resolution select switching signals. Resolution Select Switch Page 37 3 The electromagnetic brakes are for holding the position when the power is off. They cannot be used for complicated braking. Also, a separate 4 VDC %,.3 A minimum power supply is required for the electromagnetic brakes. Note: Direction of rotation of the motor shaft and that of the gear output shaft are the same. Speed Torque Characteristics How to Read Speed-Torque Characteristics Page 7 AS98 E-P 1 AS98 E-P7. AS98 E-P AS98 E-P 1 1 (Resolution Setting: 1 P/R) 3 AS98 E-P (Resolution Setting: 1 P/R) 3 3 AS98 E-P 1 1 (Resolution Setting: 1 P/R) (Resolution Setting: 1 P/R) (Resolution Setting: 1 P/R) (Resolution Setting: 1 P/R) Enter A (standard) or M (electromagnetic brake) in the box ( ) within the model name. Enter the power supply voltage A (Single-Phase 1-11 VAC), C (Single-Phase -3 VAC) or S (Three-Phase -3 VAC) in the box ( ) within the model name. Notes: Pay attention to heat dissipation from motor and driver. In particular, remember that the motor will produce a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 1 C. [Under 7 C is required to comply with UL or CSA standards.] When using the motor with the dedicated driver, the driver's automatic current cutback at motor standstill function reduces maximum holding torque by approximately %.

23 PN Geared Type Motor Frame Size 4 mm Specifications Model Pulse Input Package Built-In Controller (Stored Program) Package Standard AS46AA-N7. AS46AA-N1 Electromagnetic Brake AS46MA-N7. AS46MA-N1 Standard AS46AAP-N7. AS46AAP-N1 Electromagnetic Brake AS46MAP-N7. AS46MAP-N1 Maximum Holding Torque N m 1. Rotor Inertia J: kg m [ ] 1 Backlash arc minute (degrees) (.34 ) Angle Error arc minute (degrees) 6 (.1 ) Permissible Speed Range r/min Gear Ratio 1:7. 1:1 Resolution Resolution Setting: 1 P/R. /Pulse.36 /Pulse N m 1. Maximum Torque 3 N m Power Source Electromagnetic Brake 4 Mass Dimension No. Voltage-Frequency Single-Phase 1-11 VAC 1% 1% /6 Hz Maximum Input Current A Single-Phase 1-11 VAC 3.3 Type Active when power is off Power Supply Input 4 VDC % Power Consumption W Excitation Current A.8 Static Friction Torque N m.7 Motor kg.71 [.81] 1 Driver kg.8 Motor Driver Pulse Input 8 Built-In Controller (Stored Program) 9 With the AS46 type, only the driver conforms to the CSA standard. How to Read Specifications Table Page 7 1 The values inside the brackets [ ] represent the specification for the electromagnetic brake type. Pulse Input Package: The resolution can be set to any one of P/R, 1 P/R, P/R, or 1 P/R with the resolution select switch or resolution select switching signals. Resolution Select Switch Page 37 Built-In Controller (Stored Program) Package: The resolution can be set from P/R to 1 P/R by setting parameters. 3 The value of Maximum Torque is for gear. For output torque for geared motor, refer to the Speed - Torque Characteristics. 4 The electromagnetic brakes are for holding the position when the power is off. They cannot be used for complicated braking. Also, a separate 4 VDC %,.1 A minimum power supply is required for the electromagnetic brakes. Note: Direction of rotation of the motor shaft and that of the gear output shaft are the same. Speed Torque Characteristics How to Read Speed-Torque Characteristics Page 7 AS46 A-N7./AS46 AP-N7.. Maximum Torque (Resolution Setting: 1 P/R) AS46 A-N1/AS46 AP-N Maximum Torque (Resolution Setting: 1 P/R) Enter A (standard) or M (electromagnetic brake) in the box ( ) within the model name. Notes: Pay attention to heat dissipation from motor and driver. In particular, remember that the motor will produce a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 1 C. [Under 7 C is required to comply with UL or CSA standards.] When using the motor with the dedicated driver, the driver's automatic current cutback at motor standstill function reduces maximum holding torque by approximately %. Line-up Functions System Configuration Product Line Characteristics Dimensions Connection and Operation List of Motor and Driver Combinations How to Read Characteristics Accessories Before Using a Stepping Motor Controllers AC Input AS Series DC Input ASC Series 3

24 PN Geared Type Motor Frame Size 6 mm Specifications Model Pulse Input Package Built-In Controller (Stored Program) Package Standard AS66A E-N AS66A E-N7. AS66A E-N1 AS66A E-N AS66A E-N36 AS66A E-N Electromagnetic Brake AS66M E-N AS66M E-N7. AS66M E-N1 AS66M E-N AS66M E-N36 AS66M E-N Standard AS66A EP-N AS66A EP-N7. AS66A EP-N1 AS66A EP-N AS66A EP-N36 AS66A EP-N Electromagnetic Brake AS66M EP-N AS66M EP-N7. AS66M EP-N1 AS66M EP-N AS66M EP-N36 AS66M EP-N Maximum Holding Torque N m Rotor Inertia J: kg m [ ] 1 Backlash arc minute (degrees) (.34 ) 3 (. ) Angle Error arc minute (degrees) (.84 ) Permissible Speed Range r/min Gear Ratio 1: 1:7. 1:1 1: 1:36 1: Resolution Resolution Setting: 1 P/R.7 /Pulse. /Pulse.36 /Pulse.144 /Pulse.1 /Pulse.7 /Pulse N m Maximum Torque 3 N m Power Source Voltage-Frequency Maximum Input Current A Electromagnetic Brake 4 Mass Dimension No. Single-Phase 1-11 VAC 1% 1% /6 Hz Single-Phase -3 VAC 1% 1% /6 Hz Three-Phase -3 VAC 1% 1% /6 Hz Single-Phase 1-11 VAC Single-Phase -3 VAC 3 Three-Phase -3 VAC 1. Type Active when power is off Power Supply Input 4 VDC % Power Consumption W 6 Excitation Current A. Static Friction Torque N m Motor kg 1. [1.7] [1.9] 1 Driver kg.8 Motor 3 Driver Pulse Input 8 Built-In Controller (Stored Program) 9 How to Read Specifications Table Page 7 Enter the power supply voltage A (Single-Phase 1-11 VAC), C (Single-Phase -3 VAC) or S (Three-Phase -3 VAC) in the box ( ) within the model name. 1 The values inside the brackets [ ] represent the specification for the electromagnetic brake type. Pulse Input Package: The resolution can be set to any one of P/R, 1 P/R, P/R, or 1 P/R with the resolution select switch or resolution select switching signals. Resolution Select Switch Page 37 Built-In Controller (Stored Program) Package: The resolution can be set from P/R to 1 P/R by setting parameters. 3 The value of Maximum Torque is for gear. For output torque for geared motor, refer to the Speed - Torque Characteristics. 4 The electromagnetic brakes are for holding the position when the power is off. They cannot be used for complicated braking. Also, a separate 4 VDC %,.3 A minimum power supply is required for the electromagnetic brakes. Note: Direction of rotation of the motor shaft and that of the gear output shaft are the same. Speed Torque Characteristics How to Read Speed-Torque Characteristics Page 7 AS66 E-N/AS66 EP-N 8 AS66 E-N7./AS66 EP-N7. 1 AS66 E-N1/AS66 EP-N Maximum Torque (Resolution Setting: 1 P/R) AS66 E-N/AS66 EP-N (Resolution Setting: 1 P/R) AS66 E-N36/AS66 EP-N (Resolution Setting: 1 P/R) AS66 E-N/AS66 EP-N Maximum Torque (Resolution Setting: 1 P/R) (Resolution Setting: 1 P/R) (Resolution Setting: 1 P/R) Enter A (standard) or M (electromagnetic brake) in the box ( ) within the model name. Enter the power supply voltage A (Single-Phase 1-11 VAC), C (Single-Phase -3 VAC) or S (Three-Phase -3 VAC) in the box ( ) within the model name. Notes: Pay attention to heat dissipation from motor and driver. In particular, remember that the motor will produce a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 1 C. [Under 7 C is required to comply with UL or CSA standards.] When using the motor with the dedicated driver, the driver's automatic current cutback at motor standstill function reduces maximum holding torque by approximately %. 7

25 PN Geared Type Motor Frame Size 9 mm Specifications Model Pulse Input Package Built-In Controller (Stored Program) Package Standard AS98A E-N AS98A E-N7. AS98A E-N1 AS98A E-N AS98A E-N36 AS98A E-N Electromagnetic Brake AS98M E-N AS98M E-N7. AS98M E-N1 AS98M E-N AS98M E-N36 AS98M E-N Standard AS98A EP-N AS98A EP-N7. AS98A EP-N1 AS98A EP-N AS98A EP-N36 AS98A EP-N Electromagnetic Brake AS98M EP-N AS98M EP-N7. AS98M EP-N1 AS98M EP-N AS98M EP-N36 AS98M EP-N Maximum Holding Torque N m Rotor Inertia J: kg m [ ] 1 Backlash arc minute (degrees) (.34 ) 3 (. ) Angle Error arc minute (degrees) 4 (.67 ) Permissible Speed Range r/min Gear Ratio 1: 1:7. 1:1 1: 1:36 1: Resolution Resolution Setting: 1 P/R.7 /Pulse. /Pulse.36 /Pulse.144 /Pulse.1 /Pulse.7 /Pulse N m Maximum Torque 3 N m Power Source Voltage-Frequency Maximum Input Current A Electromagnetic Brake 4 Mass Dimension No. Single-Phase 1-11 VAC 1% 1% /6 Hz Single-Phase -3 VAC 1% 1% /6 Hz Three-Phase -3 VAC 1% 1% /6 Hz Single-Phase 1-11 VAC 6 Single-Phase -3 VAC 3. Three-Phase -3 VAC 1.9 Type Active when power is off Power Supply Input 4 VDC % Power Consumption W 6 Excitation Current A. Static Friction Torque N m Motor kg 4 [4.4] [.1] 1 Driver kg.8 Motor 4 Driver Pulse Input 8 Built-In Controller (Stored Program) 9 How to Read Specifications Table Page 7 Enter the power supply voltage A (Single-Phase 1-11 VAC), C (Single-Phase -3 VAC) or S (Three-Phase -3 VAC) in the box ( ) within the model name. 1 The values inside the brackets [ ] represent the specification for the electromagnetic brake type. Pulse Input Package: The resolution can be set to any one of P/R, 1 P/R, P/R, or 1 P/R with the resolution select switch or resolution select switching signals. Resolution Select Switch Page 37 Built-In Controller (Stored Program) Package: The resolution can be set from P/R to 1 P/R by setting parameters. 3 The value of Maximum Torque is for gear. For output torque for geared motor, refer to the Speed - Torque Characteristics. 4 The electromagnetic brakes are for holding the position when the power is off. They cannot be used for complicated braking. Also, a separate 4 VDC %,.3 A minimum power supply is required for the electromagnetic brakes. Note: Direction of rotation of the motor shaft and that of the gear output shaft are the same. Speed Torque Characteristics How to Read Speed-Torque Characteristics Page 7 AS98 E-N/AS98 EP-N 1 AS98 E-N7./AS98 EP-N7. AS98 E-N1/AS98 EP-N1 Line-up Functions System Configuration Product Line Characteristics Dimensions Connection and Operation List of Motor and Driver Combinations AC Input AS Series DC Input ASC Series (Resolution Setting: 1 P/R) AS98 E-N/AS98 EP-N (Resolution Setting: 1 P/R) (Resolution Setting: 1 P/R) AS98 E-N36/AS98 EP-N Maximum Torque (Resolution Setting: 1 P/R) (Resolution Setting: 1 P/R) AS98 E-N/AS98 EP-N Maximum Torque (Resolution Setting: 1 P/R) Enter A (standard) or M (electromagnetic brake) in the box ( ) within the model name. Enter the power supply voltage A (Single-Phase 1-11 VAC), C (Single-Phase -3 VAC) or S (Three-Phase -3 VAC) in the box ( ) within the model name. Notes: Pay attention to heat dissipation from motor and driver. In particular, remember that the motor will produce a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 1 C. [Under 7 C is required to comply with UL or CSA standards.] When using the motor with the dedicated driver, the driver's automatic current cutback at motor standstill function reduces maximum holding torque by approximately %. 7 How to Read Characteristics Accessories Before Using a Stepping Motor Controllers

26 Harmonic Geared Type Motor Frame Size 4 mm, 6 mm, 9 mm Specifications Model Pulse Input Package Built-In Controller (Stored Program) Package With the AS46 type, only the driver conforms to the CSA standard. Standard AS46AA-H AS46AA-H1 AS66A E-H AS66A E-H1 AS98A E-H AS98A E-H1 Electromagnetic Brake AS46MA-H AS46MA-H1 AS66M E-H AS66M E-H1 AS98M E-H AS98M E-H1 Standard AS46AAP-H AS46AAP-H1 AS66A EP-H AS66A EP-H1 AS98A EP-H AS98A EP-H1 Electromagnetic Brake AS46MAP-H AS46MAP-H1 AS66M EP-H AS66M EP-H1 AS98M EP-H AS98M EP-H1 Maximum Holding Torque N m Rotor Inertia J: kg m [1 1-7 ] [ ] [ ] 1 Permissible Speed Range r/min Gear Ratio 1: 1:1 1: 1:1 1: 1:1 Resolution Resolution Setting: 1 P/R.7 /Pulse.36 /Pulse.7 /Pulse.36 /Pulse.7 /Pulse.36 /Pulse N m Maximum Torque N m Lost Motion (Load Torque) Power Source Electromagnetic Brake 3 Mass Dimension No. arc minute 1. max. (.16 N m) 1. max. (. N m).7 max. (.8 N m).7 max. (.39 N m) 1. max. ( 1. N m) Voltage-Frequency Single-Phase 1-11 VAC 1% 1% /6 Hz Single-Phase 1-11 VAC 1% 1% /6 Hz Single-Phase -3 VAC 1% 1% /6 Hz Three-Phase -3 VAC 1% 1% /6 Hz Single-Phase 1-11 VAC Maximum Input Current A Single-Phase -3 VAC 3 3. Three-Phase -3 VAC Type Power Supply Input Active when power is off 4 VDC % Power Consumption W 6 Excitation Current A.8. Static Friction Torque N m Motor kg.7 [.8] [1.6] [4.3] 1 Driver kg.8 Motor 6 7 Driver Pulse Input 8 Built-In Controller (Stored Program) 9 How to Read Specifications Table Page 7 Enter the power supply voltage A (Single-Phase 1-11 VAC), C (Single-Phase -3 VAC) or S (Three-Phase -3 VAC) in the box ( ) within the model name. 1 The values inside the brackets [ ] represent the specification for the electromagnetic brake type. Pulse Input Package: The resolution can be set to any one of P/R, 1 P/R, P/R, or 1 P/R with the resolution select switch or resolution select switching signals. Resolution Select Switch Page 37 Built-In Controller (Stored Program) Package: The resolution can be set from P/R to 1 P/R by setting parameters. 3 The electromagnetic brakes are for holding the position when the power is off. They cannot be used for complicated braking. Also, a separate 4 VDC %,.3 A minimum (AS46:.1 A minimum) power supply is required for the electromagnetic brakes. Note: 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 shaft and that of the gear output shaft are the opposite. Speed Torque Characteristics How to Read Speed-Torque Characteristics Page 7 AS46 A-H/AS46 AP-H 1 AS66 E-H/AS66 EP-H AS98 E-H/AS98 EP-H Maximum Torque Maximum Torque Maximum Torque (Resolution Setting: 1 P/R) AS46 A-H1/AS46 AP-H (Resolution Setting: 1 P/R) AS66 E-H1/AS66 EP-H (Resolution Setting: 1 P/R) AS98 E-H1/AS98 EP-H Maximum Torque Maximum Torque 3 1 Maximum Torque (Resolution Setting: 1 P/R) (Resolution Setting: 1 P/R) (Resolution Setting: 1 P/R) Enter A (standard) or M (electromagnetic brake) in the box ( ) within the model name. Enter the power supply voltage A (Single-Phase 1-11 VAC), C (Single-Phase -3 VAC) or S (Three-Phase -3 VAC) in the box ( ) within the model name. Notes: Pay attention to heat dissipation from motor and driver. In particular, remember that the motor will produce a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 1 C. [Under 7 C is required to comply with UL or CSA standards.] In order to prevent fatigue of the gear grease in the harmonic gear, keep the temperature of the gear case under 7 C. When using the motor with the dedicated driver, the driver's automatic current cutback at motor standstill function reduces maximum holding torque by approximately %. 4

27 Driver Specifications Pulse Input Package Built-In Controller (Stored Program) Package Speed and Positioning Control Command Pulse input Stored program Maximum Input Pulse Frequency khz (When the pulse duty is %) When the protective functions are activated, an alarm signal is output and the motor stops automatically. Protective Functions Input Signals Output Signals User Program Positioning Control Operating Method Mechanical Home Detection Operation Other Functions Terminal Emulation Overheat, Overload, Overvoltage, Speeed error, Overcurrent, Overspeed, EEPROM data error, Sensor error, System error Photocoupler input, Input resistance: Ω, Input current: 7- ma Pulse (CW pulse) signal [Negative logic pulse input], Rotation direction (CCW pulse) signal [Negative logic pulse input], All windings off, Alarm clear, Resolution setting Photocoupler output, Open-collector output External use condition: 3 VDC maximum, 1 ma maximum (Positioning completion signal, Alarm signal) Transistor, Open-collector output External use condition: 3 VDC maximum, 1 ma maximum (Timing signal, Feedback pulse ASG BSG signal) Line driver output: Equivalent of 6C31 (Timing signal, Feedback pulse ASG BSG signal) The rates of acceleration and deceleration can be set separately. Stack overfl ow, Memory read error, Program reference error, Compilation error, Operation result overfl ow, Parameter out-of-range error, Divide by zero, General I/O defi nition error, PC command execution error, Overheat protection, Overload protection, Overspeed error, Overvoltage protection, Excessive position deviation, Overcurrent protection, Emergency stop, Incorrect limit-sensor logic, Reverse limit-sensor connection, Mechanical home seeking error, Overtravel, Software overtravel, Emergency stop, Invalid operation data, Resolver sensor error, Initial rotor revolution error, NVRAM error, System error Photocoupler input, Control input: 4 VDC, Input resistance 4.7 kω (X-X7, START, E-STOP, HOMELS, LS, LS, SENSOR) Photocoupler, Open-collector output External use condition: 3 VDC maximum, 4 8 ma (Y-Y7, ALM) Line driver output: Equivalent of 6C31 (ASG BSG Signal) Maximum number of programs: 14 programs (Including STARTUP program) Maximum lines per program: 64 lines Maximum commands per 1 line: 1 command (Single state) Maximum program variables: 6 variables (A-Z) Incremental (relative distance specifi cation) mode/absolute (absolute position specifi cation) mode One-shot operation/linked operation (A maximum of 4 profi les can be linked) Maximum operating ranges Steps: (1 each) Operating speed: 1 Hz Hz ( khz) Acceleration/Deceleration rate : 1 msec Positioning operation (Indexing) Continuous operation (Scan) Linked profi le Return to electrical home position (Return) Return to mechanical home position (Home operation) Home seeking operation is performed from the entire range using mechanical position detection signals ( LS, LS, HOMELS) Speed-fi lter value setting function Current setting function Electric gear function Setting function for direction of motor rotation Emergency stop function Over-travel function Software over-travel function Alarm trace-back function Daisy-chain connections Connection standard: RS-3C confomity Transfer system: Asynchronous communication, NRZ (Non return to zero), Full duplex Data length: 8 bits, 1 stop bit, No parity Transmit speed: 96 bps Connector specifi cation: Modular (4 wires, 4 pins) Pin arrangement: RS3 Compatible Protocol: TTY (CR LF) Line-up Functions System Configuration Product Line Characteristics Dimensions Connection and Operation List of Motor and Driver Combinations AC Input AS Series DC Input ASC Series How to Read Characteristics Accessories Before Using a Stepping Motor Controllers 7

28 General Specifications This is the value after rated operation at normal temperature and normal humidity. Specifications Motor Driver Motor Insulation Class Class B (13 C)[UL/CSA: Recognized as class A (1 C)] Insulation Resistance Dielectric Strength Operating Environment (In Operation) Ambient Temperature Ambient Humidity Atmosphere 1 MΩ minimum when measured by a VDC megger between the following places Frame-Windings Frame-Electromagnetic brake windings Suffi cient to withstand the following for one minute: Frame-Windings 1. kv (1. kv for AS46) Hz or 6 Hz Frame-Electromagnetic brake windings 1. kv Hz or 6 Hz C C (nonfreezing): Standard Type TH PL PN Geared Type C 4 C (nonfreezing): Harmonic Geared Type 8% or less (noncondensing) 1 MΩ minimum when measured by a VDC megger between the following places Frame-Power supply input terminal I/O-Power supply input terminal Suffi cient to withstand the following for one minute: Frame-Power supply input terminal 1. kv Hz or 6 Hz I/O-Power supply input terminal.3 kv (3. kv for -3 VAC) Hz or 6 Hz: Pulse input package 1.8 kv Hz or 6 Hz: Built-in controller (stored program) package C C (nonfreezing): Pulse input package C 4 C (nonfreezing): Built-in controller (stored program) package No corrosive gases, dust, water or oil (Standard IP6 rated motor: No corrosive gases.). Static Angle Error arc minutes (.84 ) Shaft Runout. T.I.R.(mm) Concentricity.7 T.I.R.(mm) Perpendicularity.7 T.I.R.(mm) T.I.R. (Total Indicator Reading): The total dial gauge reading when the measurement section is rotated one revolution centered on the reference axis center. Note: Do not measure insulation resistance or perform the dielectric strength test while the motor and driver are connected..7. A A.7 A Load Torque Driver Input Current Characteristics This is the relationship between the load torque and driver input current at each speed when the motor is operated. From these characteristics, the current capacity required when used for multiple axes can be estimated. For geared motors convert to torque and speed at the motor axis. Motor shaft speed = Gear output shaft speed Gear ratio [r/min] Gear output shaft torque Motor shaft torque = [N m] Gear ratio AS46 Driver Input Current [A] r/min r/min 1 r/min r/min Load AS66 Driver Input Current [A] Three-Phase -3 VAC Input Single-Phase -3 VAC Input Single-Phase 1-11 VAC Input r/min r/min 1 r/min r/min Load AS69 Driver Input Current [A] Three-Phase -3 VAC Input Single-Phase -3 VAC Input Single-Phase 1-11 VAC Input r/min r/min 1 r/min r/min Load AS98 Driver Input Current [A] Three-Phase -3 VAC Input Single-Phase -3 VAC Input Single-Phase 1-11 VAC Input 6 3 r/min r/min 1 r/min r/min Load AS911 Driver Input Current [A] Three-Phase -3 VAC Input Single-Phase 1-11 VAC Input/ -3 VAC Input r/min r/min 1 r/min 3 r/min r/min r/min 1 r/min r/min Single-Phase 1-11 VAC Input Single-Phase/Three-Phase -3 VAC Input Load 8

29 Permissible Overhung Load and Permissible Thrust Load Standard Type Standard Type IP6 Rated Motor TH Geared Type PL Geared Type PN Geared Type Type Model Gear Ratio AS46 A AS46 AP AS66 E AS66A T AS66 EP AS66A TP AS69 E AS69A T AS69 EP AS69A TP AS98 E AS98A T AS98 EP AS98A TP AS911A E AS911A T AS911A EP AS911A TP AS46 A-T AS46 AP-T AS66 E-T AS66 EP-T AS98 E-T AS98 EP-T AS46 A-P 3.6, 7., 1,, 3 Overhung Load Distance from Shaft End (mm) Thrust Load Unit N The permissible thrust load shall be no greater than the motor mass , , AS66 E-P , AS66 E-P, 36, AS98 E-P, 7., AS98 E-P AS98 E-P AS98 E-P AS46 A-N AS46 AP-N AS66 E-N AS66 EP-N AS66 E-N AS66 EP-N AS98 E-N AS98 EP-N AS98 E-N AS98 EP-N AS98 E-N AS98 EP-N AS98 E-N36 AS98 EP-N36 AS98 E-N AS98 EP-N AS46 A-H AS46 AP-H Harmonic Geared Type AS66 E-H AS66 EP-H, 1 AS98 E-H AS98 EP-H Enter A (standard) or M (electromagnetic brake) in the box ( ) within the model name. Enter the power supply voltage A, C or S in the box ( ) within the model name. Enter the gear ratio in the box ( ) within the model name. 7., , , 36, , Line-up Functions System Configuration Product Line Characteristics Dimensions Connection and Operation List of Motor and Driver Combinations How to Read Characteristics Accessories Before Using a Stepping Motor Controllers AC Input AS Series DC Input ASC Series 9

30 Dimensions (Unit = mm) Motor Standard Type z 4 mm Model Motor Model L1 L Mass (kg) AS46AA AS46AAP ASM46AA AS46MA AS46MAP ASM46MA L L (h7).1(h7) 4 M3 4. Deep min Motor Cable 7 Electromagnetic Brake Leads 6 mm AWG6 7-1R(MOLEX) x 6 mm Model Motor Model L1 L Mass (kg) AS66A E AS66A EP ASM66A E AS66M E AS66M EP ASM66M E AS69A E AS69A EP ASM69A E AS69M E AS69M EP ASM69M E Enter the power supply voltage A, C or S in the box ( ) within the model name. L L Thru Protective Earth Terminal M4 Motor Cable 7 7-1R(MOLEX) (h7) 36.(h7) c 8 mm Model Motor Model L1 L Mass (kg) AS98A E AS98A EP ASM98A E AS98M E AS98M EP ASM98M E 131. AS911A E AS911A EP ASM911A E 11 3 Enter the power supply voltage A, C or S in the box ( ) within the model name. L L Thru Protective Earth Terminal M4 Motor Cable 7 7-1R(MOLEX) (h7) 6.3(h7)

31 Standard Type IP6 Rated Motor v 6 mm Model Motor Model L Mass (kg) AS66A T AS66A TP ASM66A T AS69A T AS69A TP ASM69A T Enter the power supply voltage A, C or S in the box ( ) within the model name. Always use the motor cable for IP6 rated motor (sold separately) for connection between the IP6 rated motor and the driver. L Thru M Protective Earth Terminal M4 b 8 mm (h7) 36.39(h8) RC-9P1N13(CONINVERS) Model Motor Model L Mass (kg) AS98A T AS98A TP ASM98A T 11. AS911A T AS911A TP ASM911A T max. Enter the power supply voltage A, C or S in the box ( ) within the model name. Always use the motor cable for IP6 rated motor (sold separately) for connection between the IP6 rated motor and the driver. M Protective Earth Terminal M4 4.6 L (h7) RC-9P1N13(CONINVERS) 6.3(h7) Thru max. Line-up Functions System Configuration Product Line Characteristics Dimensions Connection and Operation List of Motor and Driver Combinations AC Input AS Series DC Input ASC Series How to Read Characteristics Accessories Requirement for motor cable for IP6 rated motor (sold separately) Always use the motor cable for IP6 rated motor (sold separately) for connection between the IP6 rated motor and the driver. The IP6 rated motor cannot be driven unless the dedicated motor cable is used. Motor Cables for IP6 Rated Motor Flexible Motor Cables for IP6 Rated Motor Model Length L (m) Model Length L (m) CC1AST 1 CC1SAR 1 CCAST CCSAR CC3AST 3 CC3SAR 3 CCAST CCSAR CC7AST 7 CC7SAR 7 CC1AST 1 CC1SAR 1 CC1AST 1 CCAST Motor Cables/Flexible Motor Cables for IP6 Rated Motor CC AST: RC 9S1N18S1 (CONINVERS) CC SAR: RC 9S1N18U1 (CONINVERS) 7 1R (MOLEX) Driver Side 19.6 CC AST: 8 CC SAR: L 6 Motor Side Before Using a Stepping Motor Controllers 31

32 TH Geared Type n 4 mm Model Motor Model Gear Ratio L1 L Mass (kg) AS46AA-T ASM46AA-T AS46AAP-T 3.6, 7., 1,, 3 AS46MA-T ASM46MA-T AS46MAP-T Enter the gear ratio in the box ( ) within the model name. L L (h7) (h7) 4 M4 8 Deep min Motor Cable 7 Electromagnetic Brake Leads 6 mm AWG6 7-1R(MOLEX) m 6 mm Model Motor Model Gear Ratio L1 L Mass (kg) AS66A E-T ASM66A E-T AS66A EP-T 3.6, 7., 1,, 3 AS66M E-T ASM66M E-T AS66M EP-T Enter the power supply voltage A, C or S in the box ( ) within the model name. Enter the gear ratio in the box ( ) within the model name. L 3 1 L M4 8 Deep min (h7) (h7) Protective Earth Terminal M4 Motor Cable 7 7-1R(MOLEX) 31.7, 9 mm Model Motor Model Gear Ratio L1 L Mass (kg) AS98A E-T ASM98A E-T AS98A EP-T 3.6, 7., 1,, 3 AS98M E-T ASM98M E-T AS98M EP-T Enter the power supply voltage A, C or S in the box ( ) within the model name. Enter the gear ratio in the box ( ) within the model name. 8 L L A 1.18(h7) (h7) 4 M8 1 Deep min. 9 8 A Protective Earth Terminal M4 Motor Cable 7 7-1R(MOLEX) Parallel Key (Included) Shaft Cross Section AA 3

33 PL Geared Type. 4 mm Model Motor Model Gear Ratio L1 L Mass (kg) 7., AS46AA-P ASM46AA-P 36, AS46MA-P ASM46MA-P Enter the gear ratio in the box ( ) within the model name. Electromagnetic Brake Leads 6 mm AWG6 Motor Cable 7 6 mm L L , , R(MOLEX) M4 8 Deep min. 4 Model Motor Model Gear Ratio L1 L Mass (kg) AS66A E-P ASM66A E-P 8.1(h7) 6.1(h7) , 7., , 36, Line-up Functions System Configuration Product Line AC Input AS Series AS66M E-P ASM66M E-P Enter the power supply voltage A, C or S in the box ( ) within the model name. Enter the gear ratio in the box ( ) within the model name.. 4 Protective Earth Terminal M4 Motor Cable 7 7-1R(MOLEX) 1 9 mm L L1, 7., , 36, (h7) 37.(h7) 4 M 1 Deep min Model Motor Model Gear Ratio L1 L Mass (kg) AS98A E-P AS98M E-P ASM98A E-P ASM98M E-P Enter the power supply voltage A, C or S in the box ( ) within the model name. Enter the gear ratio in the box ( ) within the model name. L L Protective Earth Terminal M4 Motor Cable 7 7-1R(MOLEX) 1 A A, 7., , 36, 163 4, 7., , 36, A A 18.18(h7) 61.3(h7) Parallel Key (Included) 4 M8 1 Deep min Shaft Cross Section AA. 6.3 Shaft Cross Section AA Parallel Key (Included) Characteristics Dimensions Connection and Operation List of Motor and Driver Combinations How to Read Characteristics Accessories Before Using a Stepping Motor Controllers DC Input ASC Series 33

34 PN Geared Type 4 mm Model Motor Model Gear Ratio L1 L Mass (kg) AS46AA-N ASM46AA-N AS46AAP-N 7., 1 AS46MA-N ASM46MA-N AS46MAP-N Enter the gear ratio in the box ( ) within the model name. L L A 1.1(h7) 37.6.(h7) 4 M4 8 Deep min Electromagnetic Brake Leads 6 mm AWG6 Motor Cable A 7-1R (MOLEX) Parallel Key (Included) Shaft Cross Section AA 3 6 mm Model Motor Model Gear Ratio L1 L Mass (kg) AS66A E-N AS66A EP-N ASM66A E-N, 7., , 36, AS66M E-N AS66M EP-N ASM66M E-N, 7., , 36, Enter the power supply voltage A, C or S in the box ( ) within the model name. Enter the gear ratio in the box ( ) within the model name. L L M 1 Deep min. 6 A Protective Earth Terminal M4 Motor Cable 7 7-1R(MOLEX) A 1.18(h7) 37.(h7) Parallel Key (Included) Shaft Cross Section AA 4 9 mm Model Motor Model Gear Ratio L1 L Mass (kg) AS98A E-N AS98A EP-N ASM98A E-N, 7., , 36, AS98M E-N AS98M EP-N ASM98M E-N, 7., , 36, 14.1 Enter the power supply voltage A, C or S in the box ( ) within the model name. Enter the gear ratio in the box ( ) within the model name. L 47 1 L1 4 M8 1 Deep min Protective Earth Terminal M4 Motor Cable 7 7-1R(MOLEX) A A 18.18(h7) 61.3(h7) Parallel Key (Included).1 3. Shaft Cross Section AA 34

35 Harmonic Geared Type 4 mm Model Motor Model Gear Ratio L1 L Mass (kg) AS46AA-H ASM46AA-H AS46AAP-H, 1 AS46MA-H ASM46MA-H AS46MAP-H Enter the gear ratio in the box ( ) within the model name. Electromagnetic Brake Leads 6 mm AWG6 Motor Cable mm L 1.. L1 4 L A A L1 1.1(h7) 6. (Max.Dia. of Rotating Part) 37.6.(h7) 7 1R(MOLEX) 4 M4 8 Deep min A A The position of the key slot on the output shaft ( 1) relative to the screw holes position on a maximum diameter of 6. on the rotating part is arbitrary (h7).. Model Motor Model Gear Ratio L1 L Mass (kg) AS66A E-H ASM66A E-H AS66A EP-H, 1 AS66M E-H ASM66M E-H AS66M EP-H Enter the power supply voltage A, C or S in the box ( ) within the model name. Enter the gear ratio in the box ( ) within the model name. Protective Earth Terminal M4 7 9 mm. L L A A 1.18(h7) 33. (Max.Dia. of Rotating Part) 7-1R(MOLEX) Motor Cable M 1 Deep min (h7) M3 Deep min M4 6 Deep min. Model Motor Model Gear Ratio L1 L Mass (kg) AS98A E-H ASM98A E-H AS98A EP-H, 1 AS98M E-H ASM98M E-H AS98M EP-H Enter the power supply voltage A, C or S in the box ( ) within the model name. Enter the gear ratio in the box ( ) within the model name. 4.3(h7) Parallel Key (Included) Parallel Key (Included) 6.3 Parallel Key (Included) 4 9. Thru Shaft Cross Section AA Shaft Cross Section AA The position of the key slot on the output shaft ( 1) relative to the screw holes position on a maximum diameter of 33. on the rotating part is arbitrary Shaft Cross Section AA Line-up Functions System Configuration Product Line Characteristics Dimensions Connection and Operation List of Motor and Driver Combinations How to Read Characteristics Accessories Before Using a Stepping Motor Controllers AC Input AS Series DC Input ASC Series 31.7 Protective Earth Terminal M4 7-1R(MOLEX) Motor Cable 7 3

36 Driver 8 Pulse Input Package (Common to All Types) Mass:.8 kg max (6) M max M3 3 M3 Mounting Bracket ( pieces, included) Countersink 4 Control I/O Connector Cover Assembly: (MOLEX) Connector: (MOLEX) 9 Built-In Controller (Stored Program) Package (Common to All Types) Mass:.8 kg max (6) M max. 7 M3 3 M3 Mounting Bracket ( pieces, included) Countersink 4 Control I/O Connector Cover Assembly: (MOLEX) Connector: (MOLEX) Sensor Input Connector Cover Assembly: (MOLEX) Connector: (MOLEX) 36

37 Connection and Operation (Pulse Input Package) Names and Functions of Driver Parts Motor Connector Not used. Power Input Terminals Protective Earth Terminal x Function Switches z x c v b z Signal Monitor Display LED Indicators Indication Color Function When Activated OPERATION Green Power supply indication Lights when power is on. ALARM Red Alarm indication Blinks when protective functions are activated. Alarm Indication Switch Name Function 1/ 1/ 1 1P/P Resolution select switch Pulse input mode switch Blink Count Function When Activated 1 Overheat The temperature of the driver's internal heat sink rises to approximately 8 C. Overload The motor is operated continuously over seconds under a load exceeding the maximum torque. 3 Overvoltage The primary voltage of the driver's inverter exceeds the permissible value. 4 Speed error The motor cannot accurately follow at the indicated pulse speed. Overcurrent An excessive current has fl owed to the driver's inverter. 6 Overspeed The motor shaft velocity exceeds r/min. (Except geared type) 7 EEPROM data error The EEPROM has a fault. 8 Sensor error The power source turns on when the motor cable is not connected to the driver. Lights (No blinking) System error The driver has fatal error. This function is for selecting the motor resolution. For each geared type, the resolution of gear output shaft is 1/gear ratio. "1" " 1" 1 Pulses (.36 /step) (Factory setting) "1" " 1" 1 Pulses (.36 /step) "" " 1" Pulses (.7 /step) "" " 1" Pulses (.7 /step) The settings of this switch are compatible with the following two types of pulse input modes: "1P" for the 1-pulse input mode (Factory setting), "P" for the -pulse input mode. Notes: Always turn the power off before switching resolution or pulse input, and turn it ON again after you have made the change. If the Resolution Select Switch is set to " 1," it cannot control the resolution selected by the input terminals. It will always be " 1." c Current Adjustment Switch Indication Switch Name Function CURRENT Current adjustment switch The motor running current can be lowered to suppress temperature rise in the motor and driver, or lower operating current in order to allow a margin for motor torque. v Velocity Filter Adjustment Switch Indication Switch Name Function V.FIL Velocity fi lter adjustment switch This switch is used to make adjustments when a smooth start-stop or smooth motion at low speed is required. Motor Speed Set to "" Set to "F" The difference in characteristics mode by the velocity filter. Time b Input/Output Signals (36 pins) Indication Input/Output Pin. No Signal Name of Signal External 1 Vcc V Power supply power GND for signal control input 3 Vcc 4V CN4 Input signal Output signal Input signal Output signal Input signal 9 DIR. (CCW) Rotation direction 1 DIR. (CCW) (CCW pulse) 11 PLS (CW) Pulse 1 PLS (CW) (CW pulse) 13 BSG1 B-phase pulse output 14 GND (Open-collector) 1 ASG1 A-phase pulse output 16 GND (Open-collector) 17 BSG B-phase pulse output 18 BSG (Line driver) 19 ASG A-phase pulse output ASG (Line driver) 1 ACL ACL Alarm clear 3 TIM.1 Timing 4 GND (Open-collector) ALARM 6 ALARM Alarm 7 TIM. Timing 8 TIM. (Line driver) 9 END Positioning 3 END completion Resolution select 33 C.OFF 34 C.OFF All windings off Description of Input/Output Signals Page 39 Signal name in parentheses represents the setting in -pulse input mode. The factory setting is the 1-pulse input mode. Line-up Functions System Configuration Product Line Characteristics Dimensions Connection and Operation List of Motor and Driver Combinations How to Read Characteristics Accessories Before Using a Stepping Motor Controllers AC Input AS Series DC Input ASC Series 37

38 Connection Diagrams Controller VO V ( 3 VDC max.) V V VDC V Twisted-Pair Wire Pulse Signal (CW Pulse Signal) R1 Rotation Direction Signal (CCW Pulse Signal) R1 Alarm Clear Signal Resolution Select Signal All Windings Off Signal R Alarm Signal R Positioning Completion Signal Timing Signal Ach Pulse Signal Bch Pulse Signal Caution V (Pin No.) CN4 Connector CN Input Signals Vcc V GND Vcc 4 V Output Signals Driver The most suitable controllers for AS Series are available. Controller SG83JY Series Page 87 Terminal Block L N Motor Protective Earth (P.E.) [Use wire of AWG18 (.7 mm ) or more in cross sectional area.] Power Source Single-Phase -3 VAC 1%~ 1% Hz/6 Hz Protective Earth (P.E.) [Use wire of AWG18 (.7 mm ) or more in cross sectional area.] The TIM1/ASG1/BSG1 have the ground common for current sink output. Refer to page 4 and 41 for the wiring. Recommended Crimp Terminals 6. mm max. 3. mm min 9 mm min. 6. mm max. 3. mm min. 9 mm min. Crimp terminals are not provided with the package. They must be furnished separately. Input Signal Connection Pulse Signal and Rotation Direction Signal Signals can be connected directly when VDC is supplied. If the signals are used at a voltage exceeding VDC, be sure to provide an external resistor to prevent the current exceeding ma from flowing. Internal components will be damaged if a voltage exceeding VDC is supplied directly without using an external resistor. Example) If the voltage is 4 VDC, connect a resistor (R1) of 1. to. kω and. W or more. All Windings OFF Signal, Resolution Select Signal and Alarm Clear Signal Keep the input signal voltage of VDC. Applying a voltage exceed VDC will damage the internal elements. Output Signal Connection Use output signals at 3 VDC or less and 1 ma or less. If these specifications are exceeded, the elements may be damaged. Check the specification of the connected equipment. Notes on Wiring Use a multi-core, twisted-pair shielded wire AWG8 (.8 mm ) or thicker for the control input/output signal line (CN4), and keep wiring as short as possible (within m). Note that as the length of the pulse signal line increases, the maximum transmission frequency decreases. When it is necessary to have a connection more than.4 m between motor and driver, the optional extension cable or flexible extension cable must be used. Electromagnetic brake motor models (except motor frame size 4 mm) must use an electromagnetic brake extension cable or flexible extension cable (sold separately). The frame size 4 mm models can use a standard extension cable even for electromagnetic brake motor models. Always use the motor cable for IP6 rated motor (sold separately) for connection between the IP6 rated motor and the driver. Use the following cable for the power line: Single-phase 1-11 VAC, Single-phase -3 VAC: 3-core cable with a conductor cross-sectional area of at least AWG18 (.7 mm ). Three-phase -3 VAC: 4-core cable with a conductor cross-sectional area of at least AWG18 (.7 mm ). Provide a minimum distance of 3 mm between the control I/O signal line and power lines (AC lines, motor lines and other large-current circuits). Do not run the control I/O signal line in the same duct as power lines or bundle it with power lines. To ground the driver, lead the ground conductor from the protective ground terminal (M4) and connect the ground conductor to provide single-point grounding. Caution Connect the power supply for timing signal and pulse singnal output to VDC. Vcc 4 V (e pin of CN4) should be grounded. Description of Output Signals Page 4 Connecting the Electromagnetic Brake to Power Supply Connect the electromagnetic brake to the power supply using a cable with a conductor cross-sectional area of at least AWG4 (. mm ). The power supply input to the electromagnetic brake is 4 VDC %.3 A minimum (AS46:.1 A minimum) and therefore must be independent of the driver's power supply for signal control. Notes: Applying a voltage that exceeds the specifications will cause the electromagnetic brake to generate a great amount of heat, resulting in motor temperature rises and possible damage to the motor. Conversely, if voltage is too low, the electromagnetic brake may not release. To protect the switch contacts and prevent noise, always connect the surge suppressor (Included). ( The surge suppressor is included with electromagnetic brake motors.) To prevent noise, use a dedicated power supply for electromagnetic brake. Correct polarity ( and ) must be ensured when connecting the electromagnetic brake lead wire of AS Series to the DC power supply. If polarity is incorrect, the electromagnetic brake will not operate. When using as a CE certified part, use a dedicated DC power supply for electromagnetic brake. (1) AS46 The electromagnetic brake wire is linked to the connector on the motor (6 mm). When connecting with the DC power supply, connect the red spiral lead wire to 4 V, and the black lead wire to the ground (GND). Use the extension cable or the flexible extension cable (both sold separately). Motor Black 4 VDC Switch Surge Suppressor Red () AS66, AS69, AS98 The electromagnetic brake wire is linked to the connector on the driver connection side of extension cable for electromagnetic brake motor (sold separately). Be sure to use the accessory (sold separately) extension cable or flexible extension cable. Connect the orange/black spiral lead wire (orange for flexible extension cable)(6 mm) to 4 V, and the gray lead wire (6 mm) to the ground (GND). Motor 4 VDC Switch Surge Orange/Black Suppressor (Orange for Flexible Gray Extension Cable) Extension Cable for Electromagnetic Brake Motor (Sold Separately) AS Series Driver Timing Chart for Electromagnetic Brake Operation To release the electromagnetic brake, wait at least. seconds after turning on the driver power source. The load may fall down due to a loss of holding torque. ON Driver Power Source OFF Electromagnetic ON Brake Power Source OFF. s min. Extension Cable (Sold Separately) 38 AS Series Driver

39 Description of Input/Output Signals Indication of Input/Output Signal "ON""OFF" Input (output) "ON" indicates that the current is sent into the photocoupler (transistor) inside the driver. Input (output) "OFF" indicates that the current is not sent into the photocoupler (transistor) inside the driver. The input/output remains "OFF" if nothing is connected. PLS (CW) and DIR. (CCW) Input Signal Input Circuit and Sample Connection Controller Open-Collector Output PLS (CW) DIR. (CCW) VO V R1 R1 PLS (CW) PLS (CW) DIR. (CCW) DIR. (CCW) Driver Ω 7 ma Ω 7 ma Photocoupler OFF ON The colored characters indicate signals under the 1-pulse input mode, while the black characters indicate signals under the -pulse input mode. Note: The external resistor is not needed when Vo is VDC. When the voltage exceeds VDC, connect the external resistor R1 to keep input current at ma or less. When a voltage exceed VDC is applied without the external resistor, the elements may get damaged. Pulse Waveform Characteristics PLS Input ON 9 % OFF 1 % 1 μs μs min. min. ON DIR. Input OFF μs μs max. max. CCW 1 μs 1 μs min. min. For pulse signals, use input pulse waveforms like those shown in the figure above. Pulse Input Mode <1-Pulse Input Mode> The 1-pulse input mode uses Pulse (PLS) and Rotation Direction (DIR.) signals. CW is selected by inputting DIR. signal at low level (with the input photocoupler ON), CCW by inputting at high level (with input photocoupler OFF). Note: The factory setting is 1-pulse input. [Rotation Direction Signals] Photocoupler "ON": Clockwise Photocoupler "OFF": Counterclockwise 1-Pulse Input Mode Pulse Signal (PLS) ON OFF Rotation Direction (DIR.) ON OFF Motor Movement Counterclockwise Clockwise <-Pulse Input Mode> The -pulse input mode is used for "CW" and "CCW" pulses. When "CW" pulses are input, the motor's output shaft rotates clockwise when the motor is viewed facing the shaft; when "CCW" pulses are input, the shaft rotates counterclockwise. CW Pulse Signal (CW) CCW Pulse Signal (CCW) Motor Movement ON OFF ON OFF -Pulse Input Mode Clockwise CW Counterclockwise All Windings OFF (C.OFF) Input Signal Resolution Select ( 1) Input Signal Alarm Clear (ACL) Input Signal Input Circuit and Sample Connection Controller Open-Collector Output VDC V Driver Ω 7 ma All Windings OFF (C.OFF) Input Signal Pin No.#3, #4 This controller power source offers VDC. Inputting the All Windings Off (C.OFF) signal puts the motor in a non-excitation (free) state. It is used when turning the motor shaft externally or when positioning manually. This signal clears the deviation counter. C.OFF Exitation State Motor Non-Exitation State OFF ON OFF Resolution Select ( 1) Input Signal Pin No.#1, # This controller power source offers VDC. Inputting this signal when 1 P/R or P/R is selected as resolution via the function switch will increase the resolution ten-times to 1 P/R or P/R. Note: While the resolution select switch is set to 1 P/R or P/R, input of this signal will not change the resolution. Alarm Clear (ACL) Input Signal Pin This controller power source offers VDC. This signal is used for canceling the alarm without turning off power to the driver when a protection circuit has been activated. Note: The following alarm cannot be cleared. To cancel the alarm, first resolve the cause and check for safety, and then turn power on again. Overcurrent EEPROM data error System error Line-up Functions System Configuration Product Line Characteristics Dimensions Connection and Operation List of Motor and Driver Combinations How to Read Characteristics Accessories Before Using a Stepping Motor Controllers 39 AC Input AS Series DC Input ASC Series

40 Position Completion (END) Output Signal Alarm (ALARM) Output Signal Output Circuit and Sample Connection Controller V Driver Excitation Timing Signal (TIM.) Output Signal Output Circuit and Sample Connection Open-Collector Output Controller VO Driver VCC V TIM1 3 VDC, 1 ma max. V V GND 3 VDC 1 ma max. Position Completion (END) Output Signal Pin No.@9, # Circuit for use with 3 VDC, 1 ma maximum. This signal is output at the photocoupler ON state when positioning is completed. This signal is output when the rotor position is less than 1.8 from the command position, approximately ms after the pulse input stops. Pulse Signal (Speed Pattern) Rotation Stop Power supply for timing output should be connected to VDC. Circuits for use with 3 VDC, 1 ma maximum. Line Driver Output Controller Equivalent of 6C3 V Driver 1 VCC V 7 8 Equivalent of 6C31 END OFF ON Note: The END signal flashes during operation with a pulse input frequency of Hz or less. V GND 3 V Alarm (ALARM) Output Signal Pin Circuits for use with 3 VDC, 1 ma maximum. The photocoupler turns OFF when one of the driver's protection circuits has been activated. When an abnormality such as an overload or over current is detected, the alarm signal will output, the ALARM indicator blinks, and the motor stops (non-excitation state). To cancel the alarm, first resolve the cause and check for safety, and then input an Alarm Clear (ACL) signal or reset power. Once power has been turned off, wait at least 1 seconds before turning it on again. Protective Function Normal Fault Normal ALARM ALARM LED ON OFF ON Off Blinking Off Power supply for timing output should be connected to VDC. Excitation Timing Signal (TIM.) Output Signal @8 When the Excitation Timing signal is output, the transistor turns ON (For the line driver output which is TIM., the output signal is ON). This signal can be used to detect the home position with greater precision. This signal is output times per motor shaft revolution. PLS Input DIR. Input TIM. Output ON OFF ON OFF ON OFF (Step) CCW CW 1 Notes: A precise timing signal cannot be obtained when the speed of the pulse input frequency is over Hz. When the Timing Signal Output is used, VDC power supply is necessary. Pulse Signal (Speed Pattern) Rotation Natural Stop Notes: The alarm output uses positive logic (Normally Closed), all other outputs use negative logic (Normally Open). The ALARM indicator lights (not blinks) when system error protective function has been activated. 4

41 Quadrature (ASG1/BSG1, ASG/BSG) Output Signal Output Circuit and Sample Connection Open-Collector Output Controller V VO BSG1 GND ASG1 GND Driver VCC V 3 VDC 1 ma max. 3 VDC 1 ma max. Circuit for use with 3 VDC, 1 ma maximum. Line Driver Output Driver Line-up Functions System Configuration Product Line AC Input AS Series Controller Equivalent of 6C3 V Power supply for quadrature output should be connected to VDC VCC V GND Equivalent of 6C31 Quadrature (ASG1/BSG1, ASG/BSG) Output Signal Pin A counter or similar device can be connected to monitor the position of the motor. The pulse resolution is the same as the motor resolution at the time of power-on. [Example: Resolution select switch (1 P/R) Output pulse number for each motor revolution (1).] The phase difference between A and B is 9 electrical. Notes: The pulse output accuracy is, regardless of resolution, within.36 (repetition accuracy: within.9 ). When the "quadrature" signal output is used, VDC power supply is necessary. These signals are only for position verification when the motor has stopped. There is a 1 ms (maximum) time lag between real rotor motion and the output signals. Pulse Waveform Characteristics ASG1 (ASG) BSG1 (BSG) (Clockwise Rotation of Motor) 3 V Characteristics Dimensions Connection and Operation List of Motor and Driver Combinations How to Read Characteristics Accessories Before Using a Stepping Motor Controllers DC Input ASC Series 41

42 Connection and Operation [Built-In Controller (Stored Program) Package] Names and Functions of Driver Parts z Motor Connector x z Signal Monitor Display LED Indicators Indication Color Function When Activated OPERATION Green Power supply indication Lights when AC power is on. ALARM Red Alarm Indication Blinks when protective functions are activated. Not used. Power Input Terminals c Protective Earth Terminal Alarm Blink Count Protective Function When Activated Alarm Code Output Operation Reset Stack overfl ow Too many nested LOOP, ENDL, CALL, etc. 9h (Decimal: 144) Memory read error The data stored in the memory is damaged. 91h (Decimal: 14) Program reference error The called program does not exist. 94h (Decimal: 148) Compilation error The executed program is not executable. 9h (Decimal: 149) The program stops. 1 Operation result overfl ow The operation result exceeds the range of 98h The motor performs to (Decimal: 1) stop operation set Possible Parameter out-of-range error The parameter exceeds its setting range. 99h by MSTOPACT. (Decimal: 13) Divide by zero Divide by zero was executed. 9Ah (Decimal: 14) General I/O defi nition error The signal assignment method for general I/O ports 9Ch was not correct. (Decimal: 16) PC command execution error A PC command was executed while the motor was 9Dh operating or not energized. (Decimal: 17) Overheat protection The temperature of the heat sink in the driver has 1h reached approx. 8 C. (Decimal: 33) Overload protection A load exceeding the maximum torque was applied 3h The motor loses it's to the motor for the duration set by the OLTIME (Decimal: 48) holding torque. Possible command. Overspeed error The speed of the motor's output shaft has exceeded 31h r/min. (Decimal: 49) 3 Overvoltage protection 4 Excessive position deviation Overcurrent protection The driver's primary inverter voltage has exceeded the limit of tolerance. The position of the motor's output shaft has deviated from the position specifi ed by the operation command, by at least the number of revolutions set by the OVERFLOW command. An excessive current has fl owed into the power element of the driver's inverter section. 6 Emergency stop An E-STOP signal has been input. 7 Incorrect limit-sensor logic Reverse limit-sensor connection Mechanical home seeking error Overtravel Software overtravel Emergency stop Invalid operation data Both the LS and LS are ON simultaneously. The LS and LS are connected in reverse. Mechanical home seeking could not be executed correctly. The motor has exceeded its hardware limit. The motor has exceeded its software limit. An E-STOP signal has been input. An inoperable operation pattern has been started. The motor cable has not been connected or a Resolver sensor error motor's error has occurred in a sensor. 8 The driver's power was turned on while the motor's Initial rotor revolution error output shaft was turning by external force. 9 NVRAM error Motor control parameters has been damaged. Stays ON. System error Driver failure has occurred. Possible - The Alarm can be cleared with the ALMCLR command or an ACL input. Impossible - The AC power must be cycled to clear these alarms. h (Decimal: 34) 1h (Decimal: 16) h (Decimal: 3) 68h (Decimal: 14) 6h (Decimal: 96) 61h (Decimal: 97) 6h (Decimal: 98) 66h (Decimal: 1) 67h (Decimal: 13) 68h (Decimal: 14) 7h (Decimal: 11) 4h (Decimal: 66) 43h (Decimal: 67) 41h (Decimal: 6) Fh (Decimal: 4) The motor loses it's holding torque. The motor loses it's holding torque. The motor loses it's holding torque. The program stops. The motor loses it's holding torque (ESTOPACT = ). The motor stops immediately. The program stops. The motor stops immediately (ESTOPACT= 1). Decelerates to a stop. The motor stops immediately. Motion is stopped. The motor loses it's holding torque. The motor loses it's holding torque. The motor loses it's holding torque. Possible Possible Impossible Possible Possible Impossible Impossible Impossible 4

43 x Limit Sensor Input Communication Signals (CN) ( pins) Connector Pin No. Input/Output Signal Signal Name 1 COM1 Common terminal for input signals Input COM Common terminal for input signals 3 No Connection 4 No Connection Output TX RS-3C Transmit 6 No Connection 7 Input RX RS-3C Receive 8 No Connection 9 No Connection External power supply terminal 1 Input N4 CN (GND) 11 COM1 Common terminal for input signals 1 COM Common terminal for input signals 13 LS LS limit sensor 14 LS LS limit sensor 1 HOMELS HOME sensor Input 16 SENSOR Sensor 17 No connection 18 No connection 19 COM1 Common terminal for input signals COM Common terminal for input signals c I/O Signals (CN4) (36 pins) Connector Pin No. Input/Output Signal Signal Name 1 P4 Power source for RS-3C, ASG and BSG (4 VDC) Input N4 Power source for RS-3C, ASG and BSG (GND) 3 Y 4 Y Y1 6 Y1 7 Y General output 1 (Y to Y3) 8 Y Output 9 Y3 1 Y3 11 ASG Phase A pulse output 1 ASG (Line driver output) 13 BSG Phase B pulse output 14 BSG (Line driver output) 1 START START 16 E-STOP Emergency stop Input 17 COM1 Common terminal for input signal 18 CN4 19 Y4 Y4 1 Y Y General output 1 3 Y6 (Y4 to Y7) Output 4 Y6 Y7 6 Y7 7 ALM 8 ALM Alarm 9 X 3 X1 31 X 3 X3 General input Input 33 X4 (X to X7) 34 X 3 X6 36 X7 1 The following signals can be assigned arbitrarily via program settings. Additionally, the output logic of each signal can be switched. END output, RUN output, MOVE output, HOME-P output, TIM output, MBC output The following signals can be assigned arbitrarily via program settings. Additionally, the input logic of each signal can be switched. ACL input, PAUSE input, MSTOP input, RESTART input Line-up Functions System Configuration Product Line Characteristics Dimensions Connection and Operation List of Motor and Driver Combinations How to Read Characteristics Accessories Before Using a Stepping Motor Controllers AC Input AS Series DC Input ASC Series 43

44 Connection Diagrams Controller O V 4 VDC 4 VDC Driver N4 CN4 COM1 17 (18) COM1 (CN) P4 1 START Input 1 E-STOP Input 16 X Input 9 X1 Input 3 X Input 31 X3 Input 3 X4 Input 33 X Input 34 X6 Input 3 X7 Input 36 Y Output 3 Y Output 4 Y1 Output Y1 Output 6 Y Output 7 Y Output 8 Y3 Output 9 Y3 Output 1 Y4 Output 19 Y4 Output Y Output 1 Y Output Y6 Output 3 Y6 Output 4 Y7 Output Y7 Output 6 ALM Output 7 ALM Output 8 Notes on Wiring Use input signals at 4 VDC 1%. Use output signals at 3 VDC or below and at 4 to 8 ma. Use a shielded cable with a wire of a size ranging between AWG4 (. mm ) and AWG (.3 mm ) for the driver signal cable (I/O signals, limit sensors signals), and keep it as short as possible. Keep the control input/output signal line at least 3 mm away from power lines (e.g. lines carrying large current, such as AC lines and motor lines). Also, do not run these lines through the same ducts or pipes as power lines. Always use the optional cable for IP6 rated motor (sold separately) for connection between the IP6 rated motor and the driver. Use the following cable for the power line: Single-phase to 3 VAC: 3-core cable (Conductor cross-sectional area:.7 mm or more) Provide a minimum distance of 3 mm between the control I/O signal line and power lines (AC lines, motor lines and other large-current circuits). Do not guide the control I/O signal line in the same duct as power lines or bundle it with power lines. The power cable and control I/O signal cable are not supplied with the package and must be provided separately by the user. To ground the driver, lead the ground conductor from the protective ground terminal (M4) and connect the ground conductor to a cable of AWG18 (.7 mm ) or larger to provide single-point grounding. Recommended Crimp Terminals 6. mm max. 3. mm min. 9 mm min. 6. mm max. 3. mm min. 9 mm min. Crimp terminals are not provided with the package. They must be furnished separately. O V ASG Output ASG Output BSG Output BSG Output X to X7: General Input 1 Y to Y7: General Output 1 The following signals can be assigned arbitrarily via program settings. Additionally, the output logic of each signal can be switched. END output, RUN output, MOVE output, HOME-P output, TIM output, MBC output The following signals can be assigned arbitrarily via program settings. Additionally, the input logic of each signal can be switched. ACL input, PAUSE input, MSTOP input, RESTART input Limit Sensor (CN) O V 4 VDC LS LS HOMELS SENSOR COM COM1 (CN4) LS Input LS Input HOMELS Input SENSOR Input Driver CN Connecting the Driver with a Personal Computer (CN1) Pin Assignments and Connecting PC (9 pin) 3 4 GND TX N.C. RX CN1 (Viewed from the front side of driver) 8 76 Short pins 4 and 6 together, as well as pins 7 and 8 together. Communication Specifications Item Electrical characteristics Transmission method Data length Transmission speed Protocol Connector specifi cation Description In conformance with RS-3C. Start-stop asynchronous method, NRZ (non-return to Zero), full-duplex 8 bits, 1 stop bit, no parity 96 bps TTY (CR LF) Modular (4 lines, 4 pins) 44 Notes: Confirm that 4 VDC is supplied to the driver's external power supply input terminals (P4 and N4). Use the RS-3C signal lines over the shortest possible distance. It is recommended that the signal lines be shielded to protect them from noise interference. The maximum distance between drivers when using a daisy chain connection should be 1 m.

45 Description of Daisy-Chain Connections Use the RS-3C communication pins (TX, RX and N4) of the sensor connector (CN) when connecting two or more drivers via a daisy chain (up to 36 drivers). PC (9-Pin COM Port) TX GND RX DTR DSR RTS CTS Driver 1 CN 7 RX 1 N4 TX Driver CN 7 RX 1 N4 TX Driver N CN 7 RX 1 N4 TX TX, RX These communication terminals are used when implementing daisy-chain connections. Notes: Confirm that each driver is supplied 4 VDC 1% (P4 and N4) of CN4 from outside for communication. Wire the RS-3C signal lines over the shortest possible distance. It is recommended that the signal lines be shielded to protect them from noise interference. The maximum distance between drivers when using a daisy-chain connection should be 1 m. Do not use the RS-3C communication port (CN1). Line-up Functions System Configuration Product Line Characteristics Dimensions Connection and Operation AC Input AS Series DC Input ASC Series Connecting the Electromagnetic Brake to Power Supply Connect the electromagnetic brake to the power supply using a cable with a conductor cross-sectional area of at least AWG4 (. mm ). The power supply input to the electromagnetic brake is 4 VDC %.3 A minimum (AS46:.1 A minimum) and therefore must be independent of the driver's power supply for signal control. Notes: Applying a voltage that exceeds the specifications will cause the electromagnetic brake to generate a great amount of heat, resulting in motor temperature rises and possible damage to the motor. Conversely, if voltage is too low, the electromagnetic brake may not release. To protect the switch contacts and prevent noise, always connect the surge suppressor (Included). ( The surge suppressor is included with electromagnetic brake motors.) To prevent noise, use a dedicated power supply for electromagnetic brake. Correct polarity ( and ) must be ensured when connecting the electromagnetic brake lead wire of AS Series to the DC power supply. If polarity is incorrect, the electromagnetic brake will not operate. When using as a CE certified part, use a dedicated DC power supply for electromagnetic brake. (1) AS46 The electromagnetic brake wire is linked to the connector on the motor (6 mm). When connecting with the DC power supply, connect the red spiral lead wire to 4 V, and the black lead wire to the ground (GND). Use the extension cable or the flexible extension cable (both sold separately). Motor Black 4 VDC Switch Surge Suppressor Red () AS66, AS69, AS98 The electromagnetic brake wire is linked to the connector on the driver connection side of extension cable for electromagnetic brake motor (sold separately). Be sure to use the accessory (sold separately) extension cable or flexible extension cable. Connect the orange/black spiral lead wire (orange for flexible extension cable)(6 mm) to 4 V, and the gray lead wire (6 mm) to the ground (GND). Motor 4 VDC Switch Surge Orange/Black Suppressor (Orange for Flexible Gray Extension Cable) Extension Cable for Electromagnetic Brake Motor (Sold Separately) AS Series Driver Timing Chart for Electromagnetic Brake Operation To release the electromagnetic brake, wait at least. seconds after turning on the driver power source. The load may fall down due to a loss of holding torque. ON Driver Power Source OFF Electromagnetic ON Brake Power Source OFF. s min. List of Motor and Driver Combinations How to Read Characteristics Accessories Before Using a Stepping Motor Controllers Extension Cable (Sold Separately) AS Series Driver 4

46 Description of Input Signals (CN4) Input Circuit and Sample Connection Controller 4 VDC Driver Description of Output Signals (CN4) Output Circuit and Sample Connection Controller Driver V Y Y7, ALM 3, kω Y Y7, ALM 4 6, 8 V COM1 Note: Use input signals at 4 VDC 1%. 4.7 kω P4 Input, N4 Input These inputs are for the external power supply required for the RS-3C communication, ASG and BSG outputs. Make sure to use a power supply of at least 4 VDC 1%,. A. If the same power supply is going to be used for the RS-3C, ASG, BSG and other external I/O, make sure to use a power supply of at least 4 VDC 1%,. A. START Input This signal starts the program named "STARTUP." OFF ON edge to start "STARTUP" program. E-STOP Input This signal is used to forcibly stop the operation. Set the stopping method using the ESTOPACT command. Additionally, the input logic can be changed using the ESTOPLV command. (The factory setting of this command is normally open.) OFF ON edge to stop operation. COM1 Input This is an external power-source terminal for input signals. This signal is internally connected to terminals COM1 of CN. X to X7 Inputs The X thorough X7 inputs can be used as input ports for general signals. The status of each port can be read using an IN command or INx command. The general signals assignable to the X through X7 inputs are listed below. Use a corresponding command to assign signal. ACL input... INACL command PAUSE input... INPAUSE command MSTOP input... INMSTOP command RESTART input... INRESTART command ACL Input This signal is used to reset the alarm that has been generated by the driver's protective function. Input an ACL signal once after removing the cause that has triggered the protective function. V Note: Use output signals at 3 VDC or below and at 4 to 8 ma. Y to Y7 Output The Y through Y7 outputs can be used as output ports for general signals. The status of each port can be read using an OUT command or OUTx command. The general signals assignable to the Y through Y7 outputs are listed below. Use the corresponding command to assign each signal. END output... OUTEND command RUN output... OUTRUN command MOVE output... OUTMOVE command HOME-P output... OUTHOMEP command TIM output... OUTTIM command MBC output... OUTMBC command ASG Output, BSG Output Line driver output (6C31 or equivalent) ASG, BSG ASG, BSG ASG Output BSG Output Driver H L H L 6C31 or equivalent 9 To monitor the motor position, connect these signals to a counter, etc. The pulse resolution is the same as the motor resolution at the time of power-on. The ASG output and BSG output have a phase difference of 9 degrees electrical. Pulse output is subject to a maximum delay of 1 ms relative to the motor's motion. Use the ASG output and BSG output to check the stopping position. ALM Output This signal is output when an alarm is generated by the driver's protective function. The reason for triggering of the protective function can be identified through the blink count of the alarm LED, or ALM command. To reset the ALM output, remove the cause of the alarm and then perform one of the following procedures after ensuring safety: Assign INACL then turn the ACL input to ON. Enter an ALMCLR command. Turn off the AC power, wait at least 1 seconds, then turn it back on. 46

47 Description of Limit Sensors (CN) Input Circuit and Sample Connection Controller 4 VDC V Note: Use input signals at 4 VDC 1%. Driver 1 kω 4.7 kω COM1 Input This is a power-source input terminal for limit-sensor signals. The power-source voltage must be 4 VDC 1%. This signal is internally connected to terminals COM1 of CN4. COM Input This is a power-source input terminal for limit-sensor signals. Use it when sharing the input signal power source among two or more drivers. LS Input, LS Input These signals are input from LS and LS. The input logic can be changed using the OTLV command. (The factory setting of this command is normally open.) Input logic for the LS input and LS input cannot be set separately. Continuous Operation and Positioning Operation When a LS or LS is detected, the driver's protective function (over travel) is activated. As a result, the ALM output is turned OFF and the motor stops. Set the stopping method using the OTACT command. To pull out of LS or LS, cancel the protective function by inputting an ACL signal once or by using the ALMCLR command. Then perform mechanical home seeking routine or operate the motor in the direction opposite that of the limit sensor during continuous operation. Mechanical Home Seeking Routine When a LS or LS is detected, the motor operates in the direction opposite that of the detected limit. HOMELS Input This signal is input from HOMELS. Connect the HOMELS when mechanical home seeking is performed in 3-sensor mode. When mechanical home seeking is performed in 3-sensor mode, the HOMELS becomes the mechanical home. The input logic can be changed using the HOMELV command. (The factory setting of this command is normally open.) SENSOR Input This signal is input from SENSOR. The input logic can be changed using the SENSORLV command. (The factory setting of this command is normally open.) Mechanical Home Seeking Routine This input is used when detecting the mechanical home at a specific point on the motor's output shaft or load shaft using a slotted disc, etc. The accuracy of mechanical home hunting increases if this input is used in conjunction with the TIM. signal. Continuous Operation The motor can be stopped forcibly upon the detection of SENSOR. Set the stopping method using the SENSORACT command. Note: If the SENSOR input is used in mechanical home hunting, it cannot be used during continuous operation. Line-up Functions System Configuration Product Line Characteristics Dimensions Connection and Operation List of Motor and Driver Combinations AC Input AS Series DC Input ASC Series How to Read Characteristics Accessories Before Using a Stepping Motor Controllers 47

48 List of Motor and Driver Combinations Model names for motor and driver combinations are shown below. Power Supply Voltage Single-Phase 1-11 VAC Input Single-Phase -3 VAC Input Type Pulse Input Package Built-In Controller (Stored Program) Package Package Model Motor Model Driver Model Package Model Motor Model Driver Model AS46 A ASM46 A ASD13A-A AS46 AP ASM46 A ASD13A-AP AS66 AE ASM66 AE ASD4A-A AS66 AEP ASM66 AE ASD4A-AP Standard Type AS69 AE ASM69 AE ASD3D-A AS69 AEP ASM69 AE ASD3D-AP AS98 AE ASM98 AE ASD3A-A AS98 AEP ASM98 AE ASD3A-AP AS911AAE ASM911AAE ASD3E-A AS911AAEP ASM911AAE ASD3E-AP AS66AAT ASM66AAT ASD4A-A AS66AATP ASM66AAT ASD4A-AP Standard Type AS69AAT ASM69AAT ASD3D-A AS69AATP ASM69AAT ASD3D-AP IP6 Rated AS98AAT ASM98AAT ASD3A-A AS98AATP ASM98AAT ASD3A-AP Motor AS911AAT ASM911AAT ASD3E-A AS911AATP ASM911AAT ASD3E-AP AS46 A-T3.6 ASM46 A-T3.6 AS46 AP-T3.6 ASM46 A-T3.6 AS46 A-T7. ASM46 A-T7. ASD13B-A AS46 AP-T7. ASM46 A-T7. ASD13B-AP AS46 A-T1 ASM46 A-T1 AS46 AP-T1 ASM46 A-T1 AS46 A-T ASM46 A-T AS46 AP-T ASM46 A-T ASD13C-A AS46 A-T3 ASM46 A-T3 AS46 AP-T3 ASM46 A-T3 ASD13C-AP AS66 AE-T3.6 ASM66 AE-T3.6 AS66 AEP-T3.6 ASM66 AE-T3.6 AS66 AE-T7. ASM66 AE-T7. ASD4B-A AS66 AEP-T7. ASM66 AE-T7. ASD4B-AP TH Geared Type AS66 AE-T1 ASM66 AE-T1 AS66 AEP-T1 ASM66 AE-T1 AS66 AE-T ASM66 AE-T AS66 AEP-T ASM66 AE-T ASD4C-A AS66 AE-T3 ASM66 AE-T3 AS66 AEP-T3 ASM66 AE-T3 ASD4C-AP AS98 AE-T3.6 ASM98 AE-T3.6 AS98 AEP-T3.6 ASM98 AE-T3.6 AS98 AE-T7. ASM98 AE-T7. ASD3A-A AS98 AEP-T7. ASM98 AE-T7. ASD3A-AP AS98 AE-T1 ASM98 AE-T1 AS98 AEP-T1 ASM98 AE-T1 AS98 AE-T ASM98 AE-T AS98 AEP-T ASM98 AE-T ASD3C-A AS98 AE-T3 ASM98 AE-T3 AS98 AEP-T3 ASM98 AE-T3 ASD3C-AP AS46 A-P7. ASM46 A-P7. ASD13A-A AS46 A-P1 ASM46 A-P1 AS46 A-P36 ASM46 A-P36 ASD13B-A AS46 A-P ASM46 A-P ASD13C-A AS66 AE-P ASM66 AE-P AS66 AE-P7. ASM66 AE-P7. ASD4A-A AS66 AE-P1 ASM66 AE-P1 AS66 AE-P ASM66 AE-P ASD4B-A PL Geared Type AS66 AE-P36 ASM66 AE-P36 ASD4C-A AS66 AE-P ASM66 AE-P AS98 AE-P ASM98 AE-P AS98 AE-P7. ASM98 AE-P7. ASD3A-A AS98 AE-P1 ASM98 AE-P1 AS98 AE-P ASM98 AE-P AS98 AE-P36 ASM98 AE-P36 ASD3B-A AS98 AE-P ASM98 AE-P AS46 A-N7. ASM46 A-N7. AS46 AP-N7. ASM46 A-N7. ASD13A-A AS46 A-N1 ASM46 A-N1 AS46 AP-N1 ASM46 A-N1 ASD13A-AP AS66 AE-N ASM66 AE-N AS66 AEP-N ASM66 AE-N AS66 AE-N7. ASM66 AE-N7. ASD4A-A AS66 AEP-N7. ASM66 AE-N7. ASD4A-AP AS66 AE-N1 ASM66 AE-N1 AS66 AEP-N1 ASM66 AE-N1 AS66 AE-N ASM66 AE-N ASD4B-A AS66 AEP-N ASM66 AE-N ASD4B-AP PN Geared Type AS66 AE-N36 ASM66 AE-N36 AS66 AEP-N36 ASM66 AE-N36 ASD4C-A AS66 AE-N ASM66 AE-N AS66 AEP-N ASM66 AE-N ASD4C-AP AS98 AE-N ASM98 AE-N AS98 AEP-N ASM98 AE-N AS98 AE-N7. ASM98 AE-N7. AS98 AEP-N7. ASM98 AE-N7. AS98 AE-N1 ASM98 AE-N1 ASD3A-A AS98 AEP-N1 ASM98 AE-N1 ASD3A-AP AS98 AE-N ASM98 AE-N AS98 AEP-N ASM98 AE-N AS98 AE-N36 ASM98 AE-N36 AS98 AEP-N36 ASM98 AE-N36 AS98 AE-N ASM98 AE-N ASD3B-A AS98 AEP-N ASM98 AE-N ASD3B-AP AS46 A-H ASM46 A-H AS46 AP-H ASM46 A-H ASD13A-A AS46 A-H1 ASM46 A-H1 AS46 AP-H1 ASM46 A-H1 ASD13A-AP Harmonic AS66 AE-H ASM66 AE-H ASD4B-A AS66 AEP-H ASM66 AE-H ASD4B-AP Geared Type AS66 AE-H1 ASM66 AE-H1 ASD4C-A AS66 AEP-H1 ASM66 AE-H1 ASD4C-AP AS98 AE-H ASM98 AE-H AS98 AEP-H ASM98 AE-H ASD3B-A AS98 AE-H1 ASM98 AE-H1 AS98 AEP-H1 ASM98 AE-H1 ASD3B-AP AS66 CE ASM66 CE ASD1A-C AS66 CEP ASM66 CE ASD1A-CP Standard Type AS69 CE ASM69 CE ASD16D-C AS69 CEP ASM69 CE ASD16D-CP AS98 CE ASM98 CE ASD16A-C AS98 CEP ASM98 CE ASD16A-CP AS911ACE ASM911ACE ASDA-C AS911ACEP ASM911ACE ASDA-CP AS66ACT ASM66ACT ASD1A-C AS66ACTP ASM66ACT ASD1A-CP Standard Type AS69ACT ASM69ACT ASD16D-C AS69ACTP ASM69ACT ASD16D-CP IP6 Rated AS98ACT ASM98ACT ASD16A-C AS98ACTP ASM98ACT ASD16A-CP Motor AS911ACT ASM911ACT ASDA-C AS911ACTP ASM911ACT ASDA-CP AS66 CE-T3.6 ASM66 CE-T3.6 AS66 CEP-T3.6 ASM66 CE-T3.6 AS66 CE-T7. ASM66 CE-T7. ASD1B-C AS66 CEP-T7. ASM66 CE-T7. ASD1B-CP TH Geared Type AS66 CE-T1 ASM66 CE-T1 AS66 CEP-T1 ASM66 CE-T1 AS66 CE-T ASM66 CE-T AS66 CEP-T ASM66 CE-T ASD1C-C AS66 CE-T3 ASM66 CE-T3 AS66 CEP-T3 ASM66 CE-T3 ASD1C-CP Enter A (standard) or M (electromagnetic brake) in the box ( ) within the model name. 48

49 Power Supply Voltage Single-Phase -3 VAC Input Three-Phase -3 VAC Input Type Pulse Input Package Built-In Controller (Stored Program) Package Package Model Motor Model Driver Model Package Model Motor Model Driver Model AS98 CE-T3.6 ASM98 CE-T3.6 AS98 CEP-T3.6 ASM98 CE-T3.6 AS98 CE-T7. ASM98 CE-T7. ASD16A-C AS98 CEP-T7. ASM98 CE-T7. ASD16A-CP TH Geared Type AS98 CE-T1 ASM98 CE-T1 AS98 CEP-T1 ASM98 CE-T1 AS98 CE-T ASM98 CE-T AS98 CEP-T ASM98 CE-T ASD16C-C AS98 CE-T3 ASM98 CE-T3 AS98 CEP-T3 ASM98 CE-T3 ASD16C-CP AS66 CE-P ASM66 CE-P AS66 CE-P7. ASM66 CE-P7. ASD1A-C AS66 CE-P1 ASM66 CE-P1 AS66 CE-P ASM66 CE-P ASD1B-C AS66 CE-P36 ASM66 CE-P36 ASD1C-C AS66 CE-P ASM66 CE-P PL Geared Type AS98 CE-P ASM98 CE-P AS98 CE-P7. ASM98 CE-P7. ASD16A-C AS98 CE-P1 ASM98 CE-P1 AS98 CE-P ASM98 CE-P AS98 CE-P36 ASM98 CE-P36 ASD16B-C AS98 CE-P ASM98 CE-P AS66 CE-N ASM66 CE-N AS66 CEP-N ASM66 CE-N AS66 CE-N7. ASM66 CE-N7. ASD1A-C AS66 CEP-N7. ASM66 CE-N7. ASD1A-CP AS66 CE-N1 ASM66 CE-N1 AS66 CEP-N1 ASM66 CE-N1 AS66 CE-N ASM66 CE-N ASD1B-C AS66 CEP-N ASM66 CE-N ASD1B-CP AS66 CE-N36 ASM66 CE-N36 AS66 CEP-N36 ASM66 CE-N36 ASD1C-C ASD1C-CP AS66 CE-N ASM66 CE-N AS66 CEP-N ASM66 CE-N PN Geared Type AS98 CE-N ASM98 CE-N AS98 CEP-N ASM98 CE-N AS98 CE-N7. ASM98 CE-N7. AS98 CEP-N7. ASM98 CE-N7. AS98 CE-N1 ASM98 CE-N1 ASD16A-C AS98 CEP-N1 ASM98 CE-N1 ASD16A-CP AS98 CE-N ASM98 CE-N AS98 CEP-N ASM98 CE-N AS98 CE-N36 ASM98 CE-N36 AS98 CEP-N36 ASM98 CE-N36 AS98 CE-N ASM98 CE-N ASD16B-C AS98 CEP-N ASM98 CE-N ASD16B-CP AS66 CE-H ASM66 CE-H ASD1B-C AS66 CEP-H ASM66 CE-H ASD1B-CP Harmonic AS66 CE-H1 ASM66 CE-H1 ASD1C-C AS66 CEP-H1 ASM66 CE-H1 ASD1C-CP Geared Type AS98 CE-H ASM98 CE-H AS98 CEP-H ASM98 CE-H ASD16B-C AS98 CE-H1 ASM98 CE-H1 AS98 CEP-H1 ASM98 CE-H1 ASD16B-CP AS66 SE ASM66 CE ASD1A-S AS66 SEP ASM66 CE ASD1A-SP Standard Type AS69 SE ASM69 CE ASD16D-S AS69 SEP ASM69 CE ASD16D-SP AS98 SE ASM98 CE ASD16A-S AS98 SEP ASM98 CE ASD16A-SP AS911ASE ASM911ACE ASDA-S AS911ASEP ASM911ACE ASDA-SP AS66AST ASM66ACT ASD1A-S AS66ASTP ASM66ACT ASD1A-SP Standard Type AS69AST ASM69ACT ASD16D-S AS69ASTP ASM69ACT ASD16D-SP IP6 Rated AS98AST ASM98ACT ASD16A-S AS98ASTP ASM98ACT ASD16A-SP Motor AS911AST ASM911ACT ASDA-S AS911ASTP ASM911ACT ASDA-SP AS66 SE-T3.6 ASM66 CE-T3.6 AS66 SEP-T3.6 ASM66 CE-T3.6 AS66 SE-T7. ASM66 CE-T7. ASD1B-S AS66 SEP-T7. ASM66 CE-T7. ASD1B-SP AS66 SE-T1 ASM66 CE-T1 AS66 SEP-T1 ASM66 CE-T1 AS66 SE-T ASM66 CE-T AS66 SEP-T ASM66 CE-T ASD1C-S ASD1C-SP AS66 SE-T3 ASM66 CE-T3 AS66 SEP-T3 ASM66 CE-T3 TH Geared Type AS98 SE-T3.6 ASM98 CE-T3.6 AS98 SEP-T3.6 ASM98 CE-T3.6 AS98 SE-T7. ASM98 CE-T7. ASD16A-S AS98 SEP-T7. ASM98 CE-T7. ASD16A-SP AS98 SE-T1 ASM98 CE-T1 AS98 SEP-T1 ASM98 CE-T1 AS98 SE-T ASM98 CE-T AS98 SEP-T ASM98 CE-T ASD16C-S AS98 SE-T3 ASM98 CE-T3 AS98 SEP-T3 ASM98 CE-T3 ASD16C-SP AS66 SE-P ASM66 CE-P AS66 SE-P7. ASM66 CE-P7. ASD1A-S AS66 SE-P1 ASM66 CE-P1 AS66 SE-P ASM66 CE-P ASD1B-S AS66 SE-P36 ASM66 CE-P36 ASD1C-S AS66 SE-P ASM66 CE-P PL Geared Type AS98 SE-P ASM98 CE-P AS98 SE-P7. ASM98 CE-P7. ASD16A-S AS98 SE-P1 ASM98 CE-P1 AS98 SE-P ASM98 CE-P AS98 SE-P36 ASM98 CE-P36 ASD16B-S AS98 SE-P ASM98 CE-P AS66 SE-N ASM66 CE-N AS66 SEP-N ASM66 CE-N AS66 SE-N7. ASM66 CE-N7. ASD1A-S AS66 SEP-N7. ASM66 CE-N7. ASD1A-SP AS66 SE-N1 ASM66 CE-N1 AS66 SEP-N1 ASM66 CE-N1 AS66 SE-N ASM66 CE-N ASD1B-S AS66 SEP-N ASM66 CE-N ASD1B-SP AS66 SE-N36 ASM66 CE-N36 AS66 SEP-N36 ASM66 CE-N36 ASD1C-S ASD1C-SP AS66 SE-N ASM66 CE-N AS66 SEP-N ASM66 CE-N PN Geared Type AS98 SE-N ASM98 CE-N AS98 SEP-N ASM98 CE-N AS98 SE-N7. ASM98 CE-N7. AS98 SEP-N7. ASM98 CE-N7. AS98 SE-N1 ASM98 CE-N1 ASD16A-S AS98 SEP-N1 ASM98 CE-N1 ASD16A-SP AS98 SE-N ASM98 CE-N AS98 SEP-N ASM98 CE-N AS98 SE-N36 ASM98 CE-N36 AS98 SEP-N36 ASM98 CE-N36 AS98 SE-N ASM98 CE-N ASD16B-S AS98 SEP-N ASM98 CE-N ASD16B-SP AS66 SE-H ASM66 CE-H ASD1B-S AS66 SEP-H ASM66 CE-H ASD1B-SP Harmonic AS66 SE-H1 ASM66 CE-H1 ASD1C-S AS66 SEP-H1 ASM66 CE-H1 ASD1C-SP Geared Type AS98 SE-H ASM98 CE-H AS98 SEP-H ASM98 CE-H ASD16B-S AS98 SE-H1 ASM98 CE-H1 AS98 SEP-H1 ASM98 CE-H1 ASD16B-SP Enter A (standard) or M (electromagnetic brake) in the box ( ) within the model name. Line-up Functions System Configuration Product Line Characteristics Dimensions Connection and Operation List of Motor and Driver Combinations How to Read Characteristics Accessories Before Using a Stepping Motor Controllers AC Input AS Series DC Input ASC Series 49

RoHS-Compliant Closed Loop Stepping Motor and Driver Package ASC Series The is an innovative stepping motor unit that adopts a closed-loop control to eliminate misstep.

50 RoHS-Compliant Closed Loop Stepping Motor and Driver Package ASC Series The is an innovative stepping motor unit that adopts a closed-loop control to eliminate misstep. In the, the user friendliness of a stepping motor is combined with a range of new functions for improved reliability of your equipment. Thanks to Closed Loop Control, There is No Loss of Synchronism does not lose synchronism even when subjected to abrupt load fluctuation or acceleration. A newly developed rotor position detection sensor constantly monitors the motor movement. If synchronism is about to be lost, closed loop control is used, so there is no need to worry about loss of steps. When the successive overload is given, outputs the alarm signal. The reliability of is as high as that of a servo motor. Control Diagram Input Pulse Input Counter Deviation Counter Rotor Position Counter Excitation Sequence Control Output Element Motor Sensor is designed as a "package" consisting of a motor and a driver. Normal (Positioning Deviation is less than 1.8 ) Motor runs in open loop mode like a stepping motor. If Motor Missteps (Positioning Deviation is 1.8 or more) Control sitches to closed loop mode to prevent loss of synchronism. Angle-Torque Characteristics Stepping Motor wclosed Loop Mode qopen Loop Mode Torque wclosed Loop Mode Position qif the positioning deviation is less than 1.8 the motor runs in open loop mode like a stepping motor. wif the positioning deviation is 1.8 or more, the motor runs in closed loop mode and the position is corrected by exciting the motor windings to generate maximum torque based on the rotor position. The Newly Developed Sensor to Detect Rotor's Position The newly developed rotor position detection sensor uses the change in inductance caused by change in the distance between the stator teeth and the teeth on the sensor rotor to detect rotor position. This structure can be made small and thin, so the overall size of the motor can be reduced. High resolution This structure does not use electronic parts, so it is not affected by heat or vibration Sensor Output Signal Signal Level. -. Sensor detects rotor position Rotor Angle (Electrical Angle) A-Phase B-Phase

51 High Response Like conventional stepping motors, operates in synchronism with command pulses. This makes possible short stroke positioning in a short time. No Hunting Since is a stepping motor, it has no hunting problem. Therefore, when it stops, its position is completely stable and does not fluctuate. is ideal for applications in which vibration would be a problem. Motor Movement Pulse Input Positioning Completion Signal Measurement Condition: Feed 1/ rotation Load inertia 1 7 kg m (J) No Gain Tuning Gain tuning for servo motors is critical, troublesome and time-consuming. Since the operates like a stepping motor, there are no gain tuning requirements. Low rigidity applications, such as a belt and pulley system, are ideal for. Complete Stop Hunting Servo Motor Low Vibration at Low Speed The driver employs advanced technology that produces smoothness comparable to a microstepping driver. Its vibration level is incredibly low, even when operating in the low speed range. When frequent changes from low to high (or vice versa) speed operations are required, the use of the Resolution Select Function solves the problem. provides resolution as low as.36 per step without any damping mechanism or other mechanical device. Line-up Functions System Configuration Product Line AC Input AS Series The Complies with International Safety Standards The ASC Series is recognized with the UL/CSA standards and conforms to EN standard. The CE marking certifies compliance with the EMC Directives. Safety Standards and CE Marking Model Standards Certification Body Standards File No. CE Marking Motor Driver UL 69 CSA C. No.69 UL 8C CSA C. No.14 UL 19 CSA C. No.9 UL UL UL E8 E17146 E8 EMC Directives When the system is approved under various safety standards, the model names in the motor and driver nameplates are the approved model names. List of Motor and Driver Combinations Page 71 The EMC value changes according to the wiring and layout. Therefore, the final EMC level must be checked with the motor/driver incorporated in the user's equipment. High Speed Low Speed CCD Camera is well-suited to applications where smooth movement or stability is required, such as where a camera is used to monitor the quality of a product. Motor/Driver Connection with a Single Cable requires only one cable for connection between the motor and the driver. Wiring is much simpler with compared with conventional servo motors requiring two cables, one for motor and the other for encoder. The cable can be extended to a maximum of 1 m (including flexible extension cable), so the motor and the driver can be installed in locations far apart. RoHS-Compliant The conforms to the RoHS Directive that prohibits the use of six chemical substances including lead and cadmium. RoHS (Restriction of Hazardous Substances) Directive: Directive on restriction of the use of certain hazardous substances in electrical and electronic equipment (/9/EC). The RoHS Directive prohibits the use of six chemical substances in electrical and electronic products sold in the EU member states. The six controlled substances are: lead, hexavalent chromium, cadmium, mercury and two specific brominated flame-retardants (PBB and PBDE). Characteristics Dimensions Connection and Operation List of Motor and Driver Combinations How to Read Characteristics Accessories Before Using a Stepping Motor Controllers DC Input ASC Series 1

System Configuration An example of a system configuration with the SG83JY Series controller.

Flexible Couplings (Accessories) ( Page 77) Motor ASC Series Driver 4 VDC Power Supply Controller (Sold separately) ( Page 87) 4 VDC Power Supply (Not supplied) (Not supplied) Example of System

: Optional accessory offered by Oriental Motor. Flexible Coupling MCS388 Connector-Terminal Block Conversion Unit (1m) CC36T1 The system configuration shown above is an example.

52 System Configuration An example of a system configuration with the SG83JY Series controller. Motor Mounting Brackets (Accessories) ( Page 8) Extension Cables (Accessories) ( Page 74) Connector-Terminal Block Conversion Unit (Accessories) ( Page 76) Programmable Controller (Not supplied) Flexible Couplings (Accessories) ( Page 77) Motor ASC Series Driver 4 VDC Power Supply Controller (Sold separately) ( Page 87) 4 VDC Power Supply (Not supplied) (Not supplied) Example of System Configuration (Body) ASC Series ASC66AK (Sold separately) Controller Extension Cable (3 m) SG83JY-U CC3AIP Motor Mounting Bracket PALP- : Required under this system. : Optional accessory offered by Oriental Motor. Flexible Coupling MCS388 Connector-Terminal Block Conversion Unit (1m) CC36T1 The system configuration shown above is an example. Other combinations are available. Extension Cables Extension cables are not included with products. When using the stepping motor and driver more than.4 m apart from each other, use an extension cable (sold separately). Electromagnetic brake motor models (except motor frame size 4 mm) must use an extension cable for electromagnetic brake motor (sold separately). For electromagnetic brake motor with motor frame size 4 mm, use an extension cable for standard motor. Page 74

53 Product Number Code ASC 6 6 A K - T 3.6 q w e r t y u Product Line q Series ASC: ASC Series w Motor Frame Size 3: 8 mm 4: 4 mm 6: 6 mm e Motor Case Length r Electromagnetic Brake A: Standard (Single Shaft) M: Electromagnetic Brake Type t Power Supply Voltage K: 4 VDC Gearhead Type Blank: Standard Type T: TH Geared Type y N: PN Geared Type H: Harmonic Geared Type u Gear Ratio The product names below are all for single shaft types, but there are also double shaft models available for all products except for those with electromagnetic brakes. Contact the nearest Oriental Motor offi ce for further information on the double shaft models. Standard Type Power Supply Voltage 4 VDC TH Geared Type Power Supply Voltage 4 VDC PN Geared Type Power Supply Voltage 4 VDC Harmonic Geared Type Power Supply Voltage 4 VDC Model (Single Shaft) ASC34AK ASC36AK ASC46AK ASC66AK Model (Single Shaft) ASC34AK-T7. ASC34AK-T1 ASC34AK-T ASC34AK-T3 ASC46AK-T3.6 ASC46AK-T7. ASC46AK-T1 ASC46AK-T ASC46AK-T3 ASC66AK-T3.6 ASC66AK-T7. ASC66AK-T1 ASC66AK-T ASC66AK-T3 Model (Single Shaft) ASC34AK-N ASC34AK-N7. ASC34AK-N1 ASC46AK-N7. ASC46AK-N1 ASC66AK-N ASC66AK-N7. ASC66AK-N1 ASC66AK-N ASC66AK-N36 ASC66AK-N Model (Single Shaft) ASC34AK-H ASC34AK-H1 ASC46AK-H ASC46AK-H1 ASC66AK-H ASC66AK-H1 Standard Type with Electromagnetic Brake Power Supply Voltage 4 VDC Model (Single Shaft) ASC46MK ASC66MK TH Geared Type with Electromagnetic Brake Power Supply Voltage 4 VDC Model (Single Shaft) ASC46MK-T3.6 ASC46MK-T7. ASC46MK-T1 ASC46MK-T ASC46MK-T3 ASC66MK-T3.6 ASC66MK-T7. ASC66MK-T1 ASC66MK-T ASC66MK-T3 PN Geared Type with Electromagnetic Brake Power Supply Voltage 4 VDC Model (Single Shaft) ASC46MK-N7. ASC46MK-N1 ASC66MK-N ASC66MK-N7. ASC66MK-N1 ASC66MK-N ASC66MK-N36 ASC66MK-N Harmonic Geared Type with Electromagnetic Brake Power Supply Voltage 4 VDC Model (Single Shaft) ASC46MK-H ASC46MK-H1 ASC66MK-H ASC66MK-H1 Line-up Functions System Configuration Product Line Characteristics Dimensions Connection and Operation List of Motor and Driver Combinations How to Read Characteristics Accessories Before Using a Stepping Motor Controllers AC Input AS Series DC Input ASC Series 3

54 Standard Type Motor Frame Size 8 mm, 4 mm, 6 mm Specifications Model Standard ASC34AK ASC36AK ASC46AK ASC66AK Electromagnetic Brake ASC46MK ASC66MK Maximum Holding Torque N m Rotor Inertia J: kg m [ ] [ ] 1 Resolution Resolution Setting: 1 P/R.36 /Pulse Power Voltage 4 VDC 1% Source Maximum Input Current A Type Active when power is off Electromagnetic Power Supply Input 4 VDC % Brake 3 Power Consumption W 6 Excitation Current A.8. Static Friction Torque N m.1.6 Mass Motor kg.1.. [.6] 1.8 [1.1] 1 Driver kg. Dimension No. Motor z x c Driver 3 How to Read Specifications Table Page 7 1 The values inside the brackets [ ] represent the specification for the electromagnetic brake type. The resolution can be set to any one of P/R, 1 P/R, P/R, or 1 P/R with the resolution select switch or resolution select switching signals. Resolution Select Switch Page 68 3 The electromagnetic brakes are for holding the position when the power is off. They cannot be used for complicated braking. Also, a separate 4 VDC %,.3 A minimum (ASC46:.1 A minimum) power supply is required for the electromagnetic brakes. Speed Torque Characteristics How to Read Speed-Torque Characteristics Page 7 ASC34AK ASC36AK (Resolution Setting: 1 P/R) (Resolution Setting: 1 P/R) ASC46AK/ASC46MK. ASC66AK/ASC66MK (Resolution Setting: 1 P/R) (Resolution Setting: 1 P/R) Notes: Pay attention to heat dissipation from motor and driver. In particular, remember that the motor will produce a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 1 C. [Under 7 C is required to comply with UL or CSA standards.] When using the motor with the dedicated driver, the driver's automatic current cutback at motor standstill function reduces maximum holding torque by approximately %. 4

55 TH Geared Type Motor Frame Size 8 mm Specifications Model Standard ASC34AK-T7. ASC34AK-T1 ASC34AK-T ASC34AK-T3 Maximum Holding Torque N m Rotor Inertia J: kg m Backlash arc minute (degrees) 6 (1 ) Permissible Speed Range r/min Gear Ratio 1:7. 1:1 1: 1:3 Resolution Resolution Setting: 1 P/R. /Pulse.36 /Pulse.18 /Pulse.1 /Pulse N m Power Voltage 4 VDC 1% Source Maximum Input Current A 1 Mass Motor kg.1 Driver kg. Dimension No. Motor v Driver 3 How to Read Specifications Table Page 7 The resolution can be set to any one of P/R, 1 P/R, P/R, or 1 P/R with the resolution select switch or resolution select switching signals. Resolution Select Switch Page 68 Note: Direction of rotation of the motor and that of the gear output shaft are the same for unit type with reduction ratio 1: and 1:3. It is opposite for 1:7. and 1:1 ratio type. Speed Torque Characteristics How to Read Speed-Torque Characteristics Page 7 ASC34AK-T ASC34AK-T (Resolution Setting: 1 P/R) (Resolution Setting: 1 P/R) ASC34AK-T (Resolution Setting: 1 P/R) ASC34AK-T (Resolution Setting: 1 P/R) Notes: Pay attention to heat dissipation from motor and driver. In particular, remember that the motor will produce a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 1 C. [Under 7 C is required to comply with UL or CSA standards.] When using the motor with the dedicated driver, the driver's automatic current cutback at motor standstill function reduces maximum holding torque by approximately %. Line-up Functions System Configuration Product Line Characteristics Dimensions Connection and Operation List of Motor and Driver Combinations AC Input AS Series DC Input ASC Series How to Read Characteristics Accessories Before Using a Stepping Motor Controllers

56 TH Geared Type Motor Frame Size 4 mm Specifications Model Standard ASC46AK-T3.6 ASC46AK-T7. ASC46AK-T1 ASC46AK-T ASC46AK-T3 Electromagnetic Brake ASC46MK-T3.6 ASC46MK-T7. ASC46MK-T1 ASC46MK-T ASC46MK-T3 Maximum Holding Torque N m Rotor Inertia J: kg m [ ] 1 Backlash arc minute (degrees) 4 (.7 ) (.417 ) 1 (. ) Permissible Speed Range r/min Gear Ratio 1:3.6 1:7. 1:1 1: 1:3 Resolution Resolution Setting: 1 P/R.1 /Pulse. /Pulse.36 /Pulse.18 /Pulse.1 /Pulse N m Power Voltage 4 VDC 1% Source Maximum Input Current A 1.7 Type Active when power is off Electromagnetic Power Supply Input 4 VDC % Brake 3 Power Consumption W Excitation Current A.8 Static Friction Torque N m Mass Dimension No. Motor kg.6 [.7] 1 Driver kg. Motor b Driver 3 How to Read Specifications Table Page 7 1 The values inside the brackets [ ] represent the specification for the electromagnetic brake type. The resolution can be set to any one of P/R, 1 P/R, P/R, or 1 P/R with the resolution select switch or resolution select switching signals. Resolution Select Switch Page 68 3 The electromagnetic brakes are for holding the position when the power is off. They cannot be used for complicated braking. Also, a separate 4 VDC %,.1 A minimum power supply is required for the electromagnetic brakes. Note: Direction of rotation of the motor and that of the gear output shaft are the same for unit type with reduction ratio 1:3.6, 1:7. and 1:1. It is opposite for 1: and 1:3 ratio type. Speed Torque Characteristics How to Read Speed-Torque Characteristics Page 7 ASC46AK-T3.6/ASC46MK-T3.6 ASC46AK-T7./ASC46MK-T7. ASC46AK-T1/ASC46MK-T (Resolution Setting: 1 P/R) (Resolution Setting: 1 P/R) (Resolution Setting: 1 P/R) 3 ASC46AK-T/ASC46MK-T. ASC46AK-T3/ASC46MK-T (Resolution Setting: 1 P/R) (Resolution Setting: 1 P/R) Notes: Pay attention to heat dissipation from motor and driver. In particular, remember that the motor will produce a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 1 C. [Under 7 C is required to comply with UL or CSA standards.] When using the motor with the dedicated driver, the driver's automatic current cutback at motor standstill function reduces maximum holding torque by approximately %. 6

57 TH Geared Type Motor Frame Size 6 mm Specifications Model Standard ASC66AK-T3.6 ASC66AK-T7. ASC66AK-T1 ASC66AK-T ASC66AK-T3 Electromagnetic Brake ASC66MK-T3.6 ASC66MK-T7. ASC66MK-T1 ASC66MK-T ASC66MK-T3 Maximum Holding Torque N m Rotor Inertia J: kg m [ ] 1 Backlash arc minute (degrees) 3 (.84 ) 1 (. ) 1 (.167 ) Permissible Speed Range r/min Gear Ratio 1:3.6 1:7. 1:1 1: 1:3 Resolution Resolution Setting: 1 P/R.1 /Pulse. /Pulse.36 /Pulse.18 /Pulse.1 /Pulse N m Power Voltage 4 VDC 1% Source Maximum Input Current A 3.7 Type Active when power is off Electromagnetic Power Supply Input 4 VDC % Brake 3 Power Consumption W 6 Excitation Current A. Static Friction Torque N m Mass Motor kg 1. [1.] 1 Driver kg. Dimension No. Motor n Driver 3 How to Read Specifications Table Page 7 1 The values inside the brackets [ ] represent the specification for the electromagnetic brake type. The resolution can be set to any one of P/R, 1 P/R, P/R, or 1 P/R with the resolution select switch or resolution select switching signals. Resolution Select Switch Page 68 3 The electromagnetic brakes are for holding the position when the power is off. They cannot be used for complicated braking. Also, a separate 4 VDC %,.3 A minimum power supply is required for the electromagnetic brakes. Note: Direction of rotation of the motor and that of the gear output shaft are the same for unit type with reduction ratio 1:3.6, 1:7. and 1:1. It is opposite for 1: and 1:3 ratio type. Speed Torque Characteristics How to Read Speed-Torque Characteristics Page 7 ASC66AK-T3.6/ASC66MK-T3.6 ASC66AK-T7./ASC66MK-T7. ASC66AK-T1/ASC66MK-T (Resolution Setting: 1 P/R) ASC66AK-T/ASC66MK-T (Resolution Setting: 1 P/R) (Resolution Setting: 1 P/R) ASC66AK-T3/ASC66MK-T (Resolution Setting: 1 P/R) (Resolution Setting: 1 P/R) Notes: Pay attention to heat dissipation from motor and driver. In particular, remember that the motor will produce a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 1 C. [Under 7 C is required to comply with UL or CSA standards.] When using the motor with the dedicated driver, the driver's automatic current cutback at motor standstill function reduces maximum holding torque by approximately % Line-up Functions System Configuration Product Line Characteristics Dimensions Connection and Operation List of Motor and Driver Combinations How to Read Characteristics Accessories Before Using a Stepping Motor Controllers AC Input AS Series DC Input ASC Series 7

58 PN Geared Type Motor Frame Size 8 mm Specifications Model Standard ASC34AK-N ASC34AK-N7. ASC34AK-N1 Maximum Holding Torque N m..3. Rotor Inertia J: kg m Backlash arc minute (degrees) 3 (. ) Angle Error arc minute (degrees) 6 (.1 ) Permissible Speed Range r/min Gear Ratio 1: 1:7. 1:1 Resolution 1 Resolution Setting: 1 P/R.7 /Pulse. /Pulse.36 /Pulse N m..3. Maximum Torque N m. Power Voltage 4 VDC 1% Source Maximum Input Current A 1 Mass Motor kg.8 Driver kg. Dimension No. Motor m Driver 3 How to Read Specifications Table Page 7 1 The resolution can be set to any one of P/R, 1 P/R, P/R, or 1 P/R with the resolution select switch or resolution select switching signals. Resolution Select Switch Page 68 The value of Maximum Torque is for gear. For output torque for geared motor, refer to the Speed - Torque Characteristics. Note: Direction of rotation of the motor shaft and that of the gear output shaft are the same. Speed Torque Characteristics How to Read Speed-Torque Characteristics Page 7 ASC34AK-N ASC34AK-N7. ASC34AK-N (Resolution Setting: 1 P/R) (Resolution Setting: 1 P/R) (Resolution Setting: 1 P/R) Notes: Pay attention to heat dissipation from motor and driver. In particular, remember that the motor will produce a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 1 C. [Under 7 C is required to comply with UL or CSA standards.] When using the motor with the dedicated driver, the driver's automatic current cutback at motor standstill function reduces maximum holding torque by approximately %. 8

59 PN Geared Type Motor Frame Size 4 mm Specifications Model Standard ASC46AK-N7. ASC46AK-N1 Electromagnetic Brake ASC46MK-N7. ASC46MK-N1 Maximum Holding Torque N m 1. Rotor Inertia J: kg m [ ] 1 Backlash arc minute (degrees) (.34 ) Angle Error arc minute (degrees) 6 (.1 ) Permissible Speed Range r/min Gear Ratio 1:7. 1:1 Resolution Resolution Setting: 1 P/R. /Pulse.36 /Pulse N m 1. Maximum Torque 3 N m Power Voltage 4 VDC 1% Source Maximum Input Current A 1.7 Type Active when power is off Electromagnetic Power Supply Input 4 VDC % Brake 4 Power Consumption W Excitation Current A.8 Static Friction Torque N m.7 Mass Motor kg.71 [.81] 1 Driver kg. Dimension No. Motor, Driver 3 How to Read Specifications Table Page 7 1 The values inside the brackets [ ] represent the specification for the electromagnetic brake type. The resolution can be set to any one of P/R, 1 P/R, P/R, or 1 P/R with the resolution select switch or resolution select switching signals. Resolution Select Switch Page 68 3 The value of Maximum Torque is for gear. For output torque for geared motor, refer to the Speed - Torque Characteristics. 4 The electromagnetic brakes are for holding the position when the power is off. They cannot be used for complicated braking. Also, a separate 4 VDC %,.1 A minimum power supply is required for the electromagnetic brakes. Note: Direction of rotation of the motor shaft and that of the gear output shaft are the same. Speed Torque Characteristics How to Read Speed-Torque Characteristics Page 7 ASC46AK-N7./ASC46MK-N Maximum Torque (Resolution Setting: 1 P/R) 4 ASC46AK-N1/ASC46MK-N1 3 1 Maximum Torque (Resolution Setting: 1 P/R) Notes: Pay attention to heat dissipation from motor and driver. In particular, remember that the motor will produce a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 1 C. [Under 7 C is required to comply with UL or CSA standards.] When using the motor with the dedicated driver, the driver's automatic current cutback at motor standstill function reduces maximum holding torque by approximately %. 4 Line-up Functions System Configuration Product Line Characteristics Dimensions Connection and Operation List of Motor and Driver Combinations AC Input AS Series DC Input ASC Series How to Read Characteristics Accessories Before Using a Stepping Motor Controllers 9

60 PN Geared Type Motor Frame Size 6 mm Specifications Model Standard ASC66AK-N ASC66AK-N7. ASC66AK-N1 ASC66AK-N ASC66AK-N36 ASC66AK-N Electromagnetic Brake ASC66MK-N ASC66MK-N7. ASC66MK-N1 ASC66MK-N ASC66MK-N36 ASC66MK-N Maximum Holding Torque N m Rotor Inertia J: kg m [ ] 1 Backlash arc minute (degrees) (.34 ) 3 (. ) Angle Error arc minute (degrees) (.84 ) Permissible Speed Range r/min Gear Ratio 1: 1:7. 1:1 1: 1:36 1: Resolution Resolution Setting: 1 P/R.7 /Pulse. /Pulse.36 /Pulse.144 /Pulse.1 /Pulse.7 /Pulse N m Maximum Torque 3 N m Power Voltage 4 VDC 1% Source Maximum Input Current A 3.7 Type Active when power is off Electromagnetic Power Supply Input 4 VDC % Brake 4 Power Consumption W 6 Excitation Current A. Static Friction Torque N m Mass Motor kg 1. [1.7] [1.9] 1 Driver kg. Dimension No. Motor. Driver 3 How to Read Specifications Table Page 7 1 The values inside the brackets [ ] represent the specification for the electromagnetic brake type. The resolution can be set to any one of P/R, 1 P/R, P/R, or 1 P/R with the resolution select switch or resolution select switching signals. Resolution Select Switch Page 68 3 The value of Maximum Torque is for gear. For output torque for geared motor, refer to the Speed - Torque Characteristics. 4 The electromagnetic brakes are for holding the position when the power is off. They cannot be used for complicated braking. Also, a separate 4 VDC %,.3 A minimum power supply is required for the electromagnetic brakes. Note: Direction of rotation of the motor shaft and that of the gear output shaft are the same. Speed Torque Characteristics How to Read Speed-Torque Characteristics Page 7 ASC66AK-N/ASC66MK-N ASC66AK-N7./ASC66MK-N7. ASC66AK-N1/ASC66MK-N (Resolution Setting: 1 P/R) (Resolution Setting: 1 P/R) (Resolution Setting: 1 P/R) 3 ASC66AK-N/ASC66MK-N ASC66AK-N36/ASC66MK-N36 ASC66AK-N/ASC66MK-N 1 Maximum Torque (Resolution Setting: 1 P/R) (Resolution Setting: 1 P/R) (Resolution Setting: 1 P/R) Notes: Pay attention to heat dissipation from motor and driver. In particular, remember that the motor will produce a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 1 C. [Under 7 C is required to comply with UL or CSA standards.] When using the motor with the dedicated driver, the driver's automatic current cutback at motor standstill function reduces maximum holding torque by approximately %. 6

61 Harmonic Geared Type Motor Frame Size 8 mm, 4 mm, 6 mm Specifications Model Standard ASC34AK-H ASC34AK-H1 ASC46AK-H ASC46AK-H1 ASC66AK-H ASC66AK-H1 Electromagnetic Brake ASC46MK-H ASC46MK-H1 ASC66MK-H ASC66MK-H1 Maximum Holding Torque N m Rotor Inertia J: kg m [1 1-7 ] [ ] 1 Permissible Speed Range r/min Gear Ratio 1: 1:1 1: 1:1 1: 1:1 Resolution Resolution Setting: 1 P/R.7 /Pulse.36 /Pulse.7 /Pulse.36 /Pulse.7 /Pulse.36 /Pulse N m Maximum Torque N m Lost Motion (Load Torque) Power Source arc minute 3 max. (.6 N m) 3 max. (.8 N m) 1. max. (.16 N m) 1. max. (. N m).7 max. (.8 N m) Voltage 4 VDC 1% Maximum Input Current A max. (.39 N m) Type Active when power is off Electromagnetic Power Supply Input 4 VDC % Brake 3 Power Consumption W 6 Excitation Current A.8. Static Friction Torque N m Mass Motor kg..7 [.8] [1.6] 1 Driver kg. Dimension No. Motor 1 Driver 3 How to Read Specifications Table Page 7 1 The values inside the brackets [ ] represent the specification for the electromagnetic brake type. The resolution can be set to any one of P/R, 1 P/R, P/R, or 1 P/R with the resolution select switch or resolution select switching signals. Resolution Select Switch Page 68 3 The electromagnetic brakes are for holding the position when the power is off. They cannot be used for complicated braking. Also, a separate 4 VDC %,.3 A minimum (ASC46:.1 A minimum) power supply is required for the electromagnetic brakes. Note: 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 shaft and that of the gear output shaft are the opposite. Speed Torque Characteristics How to Read Speed-Torque Characteristics Page 7 ASC34AK-H ASC46AK-H/ASC46MK-H ASC66AK-H/ASC66MK-H (Resolution Setting: 1 P/R) Maximum Torque (Resolution Setting: 1 P/R) Maximum Torque 1 3 (Resolution Setting: 1 P/R) ASC34AK-H1 ASC46AK-H1/ASC46MK-H1 ASC66AK-H1/ASC66MK-H Maximum Torque (Resolution Setting: 1 P/R) Maximum Torque (Resolution Setting: 1 P/R) Maximum Torque 1 3 (Resolution Setting: 1 P/R) Notes: Pay attention to heat dissipation from motor and driver. In particular, remember that the motor will produce a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 1 C. [Under 7 C is required to comply with UL or CSA standards.] In order to prevent fatigue of the gear grease in the harmonic gear, keep the temperature of the gear case under 7 C. When using the motor with the dedicated driver, the driver's automatic current cutback at motor standstill function reduces maximum holding torque by approximately %. Line-up Functions System Configuration Product Line Characteristics Dimensions Connection and Operation List of Motor and Driver Combinations How to Read Characteristics Accessories Before Using a Stepping Motor Controllers AC Input AS Series DC Input ASC Series 61

62 Driver Specifications Speed and Positioning Control Command Pulse input Maximum Input Pulse Frequency khz (When the pulse duty is %) Protective Functions Input Signals Output Signals When the protective functions are activated, an alarm signal is output and the motor stops automatically. Overload, Overvoltage, Speed error, Overspeed, EEPROM data error, Sensor error, System error Photocoupler input Input resistance: Ω Input current: 7 ma [Pulse signal/rotation direction signal (Negative logic pulse input), CW pulse signal/ccw pulse signal (Negative logic pulse input), All windings off, Alarm clear, Resolution setting] Photocoupler, Open-collector output, External use condition: 3 VDC maximum, 1 ma maximum (Positioning completion signal, Alarm signal, Timing signal) Transistor, Open-collector output, External use condition: 3 VDC maximum, 1 ma maximum (Feedback pulse ASG BSG signal) General Specifications This is the value after rated operation at normal temperature and normal humidity. Specifications Motor Driver Motor Insulation Class Class B (13 C)[UL/CSA: Recognized as class A (1 C)] Insulation Resistance Dielectric Strength Operating Environment (In Operation) Ambient Temperature Ambient Humidity Atmosphere 1 MΩ minimum when measured by a VDC megger between the following places Frame-Windings Frame-Electromagnetic brake windings Suffi cient to withstand the following for one minute: Frame-Windings. kv Hz or 6 Hz Frame-Electromagnetic brake windings 1. kv Hz or 6 Hz C C (nonfreezing): Standard Type TH PN Geared Type C 4 C (nonfreezing): Harmonic Geared Type 1 MΩ minimum when measured by a VDC megger between the following places Heat sink-power supply input terminal Suffi cient to withstand the following for one minute: Heat sink-power supply input terminal. kv Hz or 6 Hz C 4 C (nonfreezing) 8% or less (noncondensing) No corrosive gases, dust, water or oil. Static Angle Error arc minutes (.84 ) Shaft Runout. T.I.R.(mm) Concentricity.7 T.I.R.(mm) Perpendicularity.7 T.I.R.(mm) T.I.R. (Total Indicator Reading): The total dial gauge reading when the measurement section is rotated one revolution centered on the reference axis center. Note: Do not measure insulation resistance or perform the dielectric strength test while the motor and driver are connected..7 A. A Load Torque Driver Input Current Characteristics This is the relationship between the load torque and driver input current at each speed when the motor is operated. From these characteristics, the current capacity required when used for multiple axes can be estimated. For geared motors convert to torque and speed at the motor axis. Motor shaft speed = Gear output shaft speed Gear ratio [r/min] Gear output shaft torque Motor shaft torque = [N m] Gear ratio.7 A ASC34 Driver Input Current [A] r/min r/min 1 r/min r/min ASC36 Driver Input Current [A] r/min r/min 1 r/min r/min Load Torque [mn m] Load Torque [mn m] ASC46. ASC66 4 Driver Input Current [A] r/min 1 r/min 1 r/min r/min Driver Input Current [A] 1 r/min r/min 1 r/min 3 1 r/min Load Load 6

63 Permissible Overhung Load and Permissible Thrust Load Standard Type TH Geared Type PN Geared Type Type Model Gear Ratio Harmonic Geared Type Overhung Load Distance from Shaft End (mm) 1 1 ASC34AK 34 ASC36AK ASC46 K 34 ASC66 K Thrust Load Unit N The permissible thrust load shall be no greater than the motor mass. ASC34AK-T 7., 1,, ASC46 K-T 3.6, 7., 1, ASC66 K-T, ASC34AK-N, 7., ASC46 K-N 7., ASC66 K-N 8 3 ASC66 K-N 7., , 36, ASC34AK-H ASC46 K-H, ASC66 K-H Enter A (standard) or M (electromagnetic brake) in the box ( ) within the model name. Enter the gear ratio in the box ( ) within the model name. Dimensions (Unit = mm) Motor Standard Type z 8 mm Model Motor Model L Mass (kg) ASC34AK ASM34AK 4.1 ASC36AK ASM36AK 6.. L x 4 mm Motor Leads R(MOLEX) 4 M.. Deep min Model Motor Model L1 L Mass (kg) ASC46AK ASM46AK ASC46MK ASM46MK L L (h7).1(h7).1(h7).1(h7) 4 M3 4. Deep min Line-up Functions System Configuration Product Line Characteristics Dimensions Connection and Operation List of Motor and Driver Combinations AC Input AS Series DC Input ASC Series How to Read Characteristics Accessories 1. 4 Motor Cable 7 Electromagnetic Brake Leads 6 mm AWG6 7-1R(MOLEX) Before Using a Stepping Motor Controllers 63

64 Standard Type c 6 mm Model Motor Model L1 L Mass (kg) ASC66AK ASM66AK ASC66MK ASM66MK L L Thru 6.3 A A (h7) 36.(h7) Motor Cable 7 7-1R(MOLEX) Shaft Cross Section AA TH Geared Type v 8 mm Model Motor Model Gear Ratio Mass (kg) ASC34AK-T ASM34AK-T 7., 1,, 3.1 Enter the gear ratio in the box ( ) within the model name (h7) 4 M. 4 Deep min (h7). Motor Leads 7-1R(MOLEX).6. 1 b 4 mm Model Motor Model Gear Ratio L1 L Mass (kg) ASC46AK-T ASM46AK-T , 7., 1,, 3 ASC46MK-T ASM46MK-T Enter the gear ratio in the box ( ) within the model name. L L (h7) (h7) 4 M4 8 Deep min Motor Cable 7 Electromagnetic Brake Leads 6 mm AWG6 7-1R(MOLEX)

65 TH Geared Type n 6 mm Model Motor Model Gear Ratio L1 L Mass (kg) ASC66AK-T ASM66AK-T , 7., 1,, 3 ASC66MK-T ASM66MK-T Enter the gear ratio in the box ( ) within the model name. 1. L PN Geared Type m 8 mm L R(MOLEX) Motor Cable 7 8.1(h7) (h7) 4 M4 8 Deep min Model Motor Model Gear Ratio Mass (kg) ASC34AK-N ASM34AK-N, 7., 1.8 Enter the gear ratio in the box ( ) within the model name.., 4 mm 7. Motor Leads A A 8.1(h7) 7-1R(MOLEX) Shaft Cross Section AA M3 6 Deep min Model Motor Model Gear Ratio L1 L Mass (kg) ASC46AK-N ASM46AK-N , 1 ASC46MK-N ASM46MK-N Enter the gear ratio in the box ( ) within the model name. L L Motor Cable Electromagnetic Brake Leads 6 mm AWG6 A A 1.1(h7) 37.6.(h7) 7-1R(MOLEX) (h7) 4 M4 8 Deep min Parallel Key (Included) Shaft Cross Section AA Line-up Functions System Configuration Product Line Characteristics Dimensions Connection and Operation List of Motor and Driver Combinations How to Read Characteristics Accessories Before Using a Stepping Motor Controllers AC Input AS Series DC Input ASC Series 6

66 PN Geared Type. 6 mm Model Motor Model Gear Ratio L1 L Mass (kg) ASC66AK-N ASM66AK-N, 7., , 36, ASC66MK-N ASM66MK-N, 7., , 36, Enter the gear ratio in the box ( ) within the model name. 1. L 38 1 L1 6 A A 4 7-1R(MOLEX) Motor Cable (h7) 37.(h7) M 1 Deep min Parallel Key (Included) Shaft Cross Section AA Harmonic Geared Type 8 mm Model Motor Model Gear Ratio Mass (kg) ASC34AK-H ASM34AK-H, 1. Enter the gear ratio in the box ( ) within the model name Motor Leads A A 8.9(h6) 1.1(h7) 7 1R(MOLEX) 4 M3 6 Deep min Shaft Cross Section AA mm Model Motor Model Gear Ratio L1 L Mass (kg) ASC46AK-H ASM46AK-H , 1 ASC46MK-H ASM46MK-H Enter the gear ratio in the box ( ) within the model name. L 1. L1 4 Motor Cable A A 1.1(h7) 6. (Max.Dia. of Rotating Part) Electromagnetic Brake Leads 6 mm AWG (h7) 7 1R(MOLEX) M4 8 Deep min. 4 The position of the key slot on the output shaft ( 1) relative to the screw holes position on a maximum diameter of 6. on the rotating part is arbitrary M3 Deep min Parallel Key (Included) Shaft Cross Section AA 66

67 Harmonic Geared Type 6 mm Model Motor Model Gear Ratio L1 L Mass (kg) ASC66AK-H ASM66AK-H , 1 ASC66MK-H ASM66MK-H Enter the gear ratio in the box ( ) within the model name. 1. L L1 4 Motor Cable A A 1.18(h7) 33. (Max.Dia. of Rotating Part) 7-1R(MOLEX) (h7) 9 4 M 1 Deep min M4 6 Deep min..1. Line-up Functions System Configuration Product Line AC Input AS Series The position of the key slot on the output shaft ( 1) relative to the screw holes position on a maximum diameter of 33. on the rotating part is arbitrary. Driver 3 Common to All Types Mass:. kg R (Parts Mounting Side) 4 max. Parallel Key (Included) Shaft Cross Section AA I/O Connector (Included) Cover Assembly: (MOLEX) Connector: (MOLEX) Power Input Connector (Included) Connector: 7-R (MOLEX) Crimp Terminal: 6TL (MOLEX) Characteristics Dimensions Connection and Operation List of Motor and Driver Combinations DC Input ASC Series Thru 41 max. How to Read Characteristics Accessories Before Using a Stepping Motor Controllers 67

Connection and Operation Names and Functions of Driver Parts c z v b z Signal Monitor Display LED Indicators Indication Color Function When Activated LED1 Green Power supply indication Lights when

68 Connection and Operation Names and Functions of Driver Parts c z v b z Signal Monitor Display LED Indicators Indication Color Function When Activated LED1 Green Power supply indication Lights when power is on. LED Red Alarm indication Blinks when protective functions are activated. x Motor Connector Power Input Connector Alarm Blink Count Function When Activated Overload The motor is operated continuously over seconds under a load exceeding the maximum torque. 3 Overvoltage The primary voltage of the driver's inverter exceeds the permissible value. 4 Speed error The motor cannot accurately follow at the indicated pulse speed. 6 Overspeed The motor shaft velocity exceeds r/min. (Except geared type) 7 EEPROM data error The EEPROM has a fault. 8 Sensor error Lights (No blinking) System error The power source turns on when the motor cable is not connected to the driver. The driver has fatal error. x Function Switches Indication Switch Name Function 1/ 1/ 1 1P/P Resolution select switch Pulse input mode switch This function is for selecting the motor resolution. For each geared type, the resolution of gear output shaft is 1/gear ratio. "1" " 1" 1 Pulses (.36 /step) (Factory setting) "1" " 1" 1 Pulses (.36 /step) "" " 1" Pulses (.7 /step) "" " 1" Pulses (.7 /step) The settings of this switch are compatible with the following two types of pulse input modes: "1P" for the 1-pulse input mode (Factory setting), "P" for the -pulse input mode. Notes: Always turn the power off before switching resolution or pulse input, and turn it ON again after you have made the change. If the Resolution Select Switch is set to " 1," it cannot control the resolution selected by the input terminals. It will always be " 1." c Current Adjustment Switch Indication Switch Name Function CURRENT Current adjustment switch The motor running current can be lowered to suppress temperature rise in the motor and driver, or lower operating current in order to allow a margin for motor torque. v Velocity Filter Adjustment Switch Indication Switch Name Function V.FIL Velocity fi lter adjustment switch This switch is used to make adjustments when a smooth start-stop or smooth motion at low speed is required. Motor Speed Set to "" Set to "F" The difference in characteristics mode by the velocity filter. Time b Input/Output Signals (36 pins) Indication Input/Output Pin. No Signal Name of Signal CN3 External power input Input signal Output signal Input signal Output signal Input signal GND Power supply for 3 Vcc 4V signal control 9 DIR. (CCW) Rotation direction 1 DIR. (CCW) (CCW pulse) 11 PLS (CW) 1 PLS (CW) Pulse (CW pulse) 13 BSG1 B-Phase pulse output 14 GND (Open-collector) 1 ASG1 A-Phase pulse output 16 GND (Open-collector) 1 ACL ACL Alarm clear 3 TIM.1 Timing 4 TIM.1 (Open-collector) ALARM 6 ALARM Alarm 9 END Positioning 3 END completion Resolution select 33 C.OFF 34 C.OFF All windings off Description of Input/Output Signals Page 7 Signal name in parentheses represents the setting in -pulse input mode. The factory setting is the 1-pulse input mode. 68

69 Connection Diagrams Controller VO V VDC V V ( 3 VDC max.) V Twisted-Pair Wire Pulse Signal (CW Pulse Signal) R1 Rotation Direction Signal (CCW Pulse Signal) R1 Alarm Clear Signal Resolution Select Signal All Windings Off Signal R Alarm Signal R Positioning Completion Signal R Excitation Timing Signal The most suitable controllers for Caution V (Pin No.) Input Signals GND Driver Output Signals CN3 Connector CN Vcc 4 V CN1 ASC Series are available. Power Source 4 VDC 1% Motor 4V GND 4 VDC Power Source The ASG1/BSG1 have the ground common for current sinking output. Refer to page 71 for the wiring. Connecting the Electromagnetic Brake to Power Supply Connect the electromagnetic brake to the power supply using a cable with a conductor cross-sectional area of at least AWG4 (. mm ). The power supply input to the electromagnetic brake is 4 VDC %.3 A minimum (ASC46:.1 A minimum) and therefore must be independent of the driver's power supply for signal control. Notes: Applying a voltage that exceeds the specifications will cause the electromagnetic brake to generate a great deal of heat, resulting in motor temperature rises and possible damage to the motor. Conversely, if voltage is too low, the electromagnetic brake may not release. To protect the switch contacts and prevent noise, always connect the surge suppressor (Included). ( The surge suppressor is included with electromagnetic brake motors.) To prevent noise, use a dedicated power supply for electromagnetic brake. Correct polarity ( and ) must be ensured when connecting the electromagnetic brake lead wire of ASC Series to the DC power supply. If polarity is incorrect, the electromagnetic brake will not operate properly. When using as a CE certified part, use a dedicated DC power supply for electromagnetic brake. (1) ASC46 The electromagnetic brake wire is linked to the connector on the motor (6 mm). When connecting with the DC power supply, connect the red spiral lead wire to 4 V, and the black lead wire to the ground (GND). Use the extension cable or the flexible extension cable (both sold separately). Motor Black 4 VDC Switch Surge Suppressor Red Extension Cable (Sold Separately) ASC Series Driver Input Signal Connection Pulse Signal and Rotation Direction Signal Signals can be connected directly when VDC is supplied. If the signals are used at a voltage exceeding VDC, be sure to provide an external resistor to prevent the current exceeding ma from flowing. Internal components will be damaged if a voltage exceeding VDC is supplied directly without using an external resistor. Example) If the voltage is 4 VDC, connect a resistor (R1) of 1. to. kω and. W or more. All Windings OFF Signal, Resolution Select Signal and Alarm Clear Signal Keep the input signal voltage of VDC. Applying a voltage exceed VDC will damage the internal elements. Output Signal Connection Use output signals at 3 VDC or less and 1 ma or less. If these specifications are exceeded, the elements may be damaged. Check the specification of the connected equipment. Check the connection on page 7 when using a 4 VDC power supply for control signals. Notes on Wiring Use a multi-core, twisted-pair shielded wire AWG8 (.8 mm ) or thicker for the control input/output signal line (CN3), and keep wiring as short as possible (within m). Note that as the length of the pulse signal line increases, the maximum transmission frequency decreases. When it is necessary to have a connection more than.4 m between motor and driver (.1 m or more: ASC34 and ASC36 types), the optional extension cable or flexible extension cable must be used. Electromagnetic brake motor models (except motor frame size 4 mm) must use an electromagnetic brake extension cable or flexible extension cable (sold separately). The frame size 4 mm models can use a standard extension cable even for electromagnetic brake motor models. The range of wire for the power connector (CN1) is AWG4 18 (. mm.7 mm ). Use wire AWG (. mm ) or thicker for the power line. Keep the control input/output signal line at least 3 mm away from power lines (e.g. lines carrying large current, such as AC lines and motor lines). Also, do not run these lines through the same ducts or pipes as power lines. The customer must furnish the cables for power supply lines and control input/output signal lines. Use included connector for connection of power source. To install the pins, be sure to use the specified crimping tool made by MOLEX 76- (for UL 17) or 77- (for UL 11). Caution Connect the power supply for timing signal and pulse singnal output to VDC. Vcc 4 V (e pin of CN3) should be damaged. Description of Output Signals Page 31 () ASC66 The electromagnetic brake wire is linked to the connector on the driver connection side of extension cable for electromagnetic brake motor (sold separately). Be sure to use the accessory (sold separately) extension cable or flexible extension cable. Connect the orange/black spiral lead wire (orange for flexible extension cable)(6 mm) to 4 V, and the gray lead wire (6 mm) to the ground (GND). Motor 4 VDC Switch Surge Orange/Black Suppressor (Orange for Flexible Gray Extension Cable) Extension Cable for Electromagnetic Brake Motor (Sold Separately) ASC Series Driver Timing Chart for Electromagnetic Brake Operation To release the electromagnetic brake, wait at least. seconds after turning on the driver power source. The load may fall down due to a loss of holding torque. ON Driver Power Source OFF Electromagnetic ON Brake Power Source OFF. s min. Line-up Functions System Configuration Product Line Characteristics Dimensions Connection and Operation List of Motor and Driver Combinations How to Read Characteristics Accessories Before Using a Stepping Motor Controllers AC Input AS Series DC Input ASC Series 69

70 Description of Input/Output Signals Indication of Input/Output Signal "ON""OFF" Input (Output) "ON" indicates that the current is sent into the photocoupler (transistor) inside the driver. Input (Output) "OFF" indicates that the current is not sent into the photocoupler (transistor) inside the driver. The input/output remains "OFF" if nothing is connected. PLS (CW) and DIR. (CCW) Input Signal Input Circuit and Sample Connection Controller Open-Collector Output PLS (CW) DIR. (CCW) VO V R1 R1 PLS (CW) PLS (CW) DIR. (CCW) DIR. (CCW) Driver Ω 7 ma Ω 7 ma Photocoupler OFF ON The colored characters indicate signals under the 1-pulse input mode, while the black characters indicate signals under the -pulse input mode. Note: The external resistor is not needed when Vo is VDC. When the voltage exceeds VDC, connect the external resistor R1 to keep input current at ma or less. When a voltage exceed VDC is applied without the external resistor, the elements may get damaged. Pulse Waveform Characteristics PLS Input ON 9 % OFF 1 % 1 μs μs min. min. ON DIR. Input OFF μs μs max. max. CCW 1 μs 1 μs min. min. For pulse signals, use input pulse waveforms like those shown in the figure above. Pulse Input Mode <1-Pulse Input Mode> The 1-pulse input mode uses Pulse (PLS) and Rotation Direction (DIR.) signals. CW is selected by inputting DIR. signal at low level (with the input photocoupler ON), CCW by inputting at high level (with input photocoupler OFF). CW All Windings OFF (C.OFF) Input Signal Resolution Select ( 1) Input Signal Alarm Clear (ACL) Input Signal Input Circuit and Sample Connection When using VDC Controller Open-Collector Output VDC V Driver Ω 7 ma All Windings OFF (C.OFF) Input Signal Pin No.#3, #4 This controller power source offers VDC. Inputting the All Windings Off (C.OFF) signal puts the motor in a non-excitation (free) state. It is used when turning the motor shaft externally or when positioning manually. This signal clears the deviation counter. C.OFF Exitation State Motor Non-Exitation State OFF ON OFF Resolution Select ( 1) Input Signal Pin No.#1, # This controller power source offers VDC. Inputting this signal when 1 P/R or P/R is selected as resolution via the function switch will increase the resolution ten-times to 1 P/R or P/R. Note: While the resolution select switch is set to 1 P/R or P/R, input of this signal will not change the resolution. Alarm Clear (ACL) Input Signal Pin This controller power source offers VDC. This signal is used for canceling the alarm without turning off power to the driver when a protection circuit has been activated. Note: The following alarm cannot be cleared. To cancel the alarm, first resolve the cause and check for safety, and then turn power on again. EEPROM data error System error Position Completion (END) Output Signal Alarm (ALARM) Output Signal Output Circuit and Sample Connection Controller V Driver Note: The factory setting is 1-pulse input. [Rotation Direction Signals] Photocoupler "ON": Clockwise Photocoupler "OFF": Counterclockwise 1-Pulse Input Mode Pulse Signal (PLS) ON OFF Rotation Direction (DIR.) Motor Movement ON Clockwise OFF Counterclockwise <-Pulse Input Mode> The -pulse input mode is used for "CW" and "CCW" pulses. When "CW" pulses are input, the motor's output shaft rotates clockwise when the motor is viewed facing the shaft; when "CCW" pulses are input, the shaft rotates counterclockwise. CW Pulse Signal (CW) CCW Pulse Signal (CCW) Motor Movement ON OFF ON OFF -Pulse Input Mode Clockwise Counterclockwise V 3 VDC, 1 ma max. Position Completion (END) Output Signal Pin No.@9, # Circuit for use with 3 VDC, 1 ma maximum. This signal is output at the photocoupler ON state when positioning is completed. This signal is output when the rotor position is less than 1.8 from the command position, approximately ms after the pulse input stops. Pulse Signal (Speed Pattern) Rotation END OFF ON Note: The END signal flashes during operation with a pulse input frequency of Hz or less. Stop 7

71 Alarm (ALARM) Output Signal Circuits for use with 3 VDC, 1 ma maximum. The photocoupler turns OFF when one of the driver's protection circuits has been activated. When an abnormality such as an overload or over current is detected, the alarm signal will output, the ALARM indicator blinks, and the motor stops (non-excitation state). To cancel the alarm, first resolve the cause and check for safety, and then input an Alarm Clear (ACL) signal or reset power. Once power has been turned off, wait at least seconds before turning it on again. Protective Function Normal Fault Normal ALARM ALARM LED Pulse Signal (Speed Pattern) ON OFF ON Off Blinking Off Rotation Natural Stop Note: The alarm output uses positive logic (Normally Closed), all other outputs use negative logic (Normally Open). Excitation Timing Signal (TIM.) Output Signal Output Circuit and Sample Connection Controller V VO TIM.1 TIM.1 Driver 3 VDC, 1 ma max. Circuits for use with 3 VDC, 1 ma maximum. When the Excitation Timing signal is output, the transistor turns ON. This signal can be used to detect the home position with greater precision. This signal is output times per motor shaft revolution. PLS Input DIR. Input TIM. Output ON OFF ON OFF ON OFF CCW 3 4 (Step) Note: A precise timing signal cannot be obtained when the speed of the pulse input frequency is over Hz. List of Motor and Driver Combinations Model names for motor and driver combinations are shown below. Type Package Model Motor Model Driver Model ASC34AK ASM34AK ASD1A-K Standard Type ASC36AK ASM36AK ASD1B-K ASC46 K ASM46 K ASD18A-K ASC66 K ASM66 K ASD36A-K ASC34AK-T7. ASM34AK-T7. ASC34AK-T1 ASM34AK-T1 ASC34AK-T ASM34AK-T ASD1C-K ASC34AK-T3 ASM34AK-T3 ASC46 K-T3.6 ASM46 K-T3.6 ASC46 K-T7. ASM46 K-T7. TH Geared Type ASC46 K-T1 ASM46 K-T1 ASD18B-K ASC46 K-T ASM46 K-T ASC46 K-T3 ASM46 K-T3 ASC66 K-T3.6 ASM66 K-T3.6 ASC66 K-T7. ASM66 K-T7. ASC66 K-T1 ASM66 K-T1 ASD36B-K ASC66 K-T ASM66 K-T ASC66 K-T3 ASM66 K-T3 Enter A (standard) or M (electromagnetic brake) in the box ( ) within the model name. CW Quadrature (ASG1/BSG1) Output Signal Output Circuit and Sample Connection Controller V VO BSG1 GND ASG1 GND Driver 3 VDC 1 ma max. 3 VDC 1 ma max. Circuits for use with 3 VDC, 1 ma maximum. A counter or similar device can be connected to monitor the position of the motor. The pulse resolution is the same as the motor resolution at the time of power-on. [Example: Resolution select switch (1 P/R) Output pulse number for each motor revolution (1).] The phase difference between A and B is 9 electrical. Notes: The pulse output accuracy is, regardless of resolution, within.36 (repetition accuracy: within.9 ). These signals are only for position verification when the motor has stopped. There is a 1 ms (maximum) time lag between real rotor motion and the output signals. Pulse Waveform Characteristics ASG1 BSG1 (Clockwise Rotation of Motor) Type Package Model Motor Model Driver Model ASC34AK-N ASM34AK-N ASC34AK-N7. ASM34AK-N7. ASD1A-K ASC34AK-N1 ASM34AK-N1 ASC46 K-N7. ASM46 K-N7. ASC46 K-N1 ASM46 K-N1 ASD18A-K PN Geared Type ASC66 K-N ASM66 K-N ASC66 K-N7. ASM66 K-N7. ASD36A-K ASC66 K-N1 ASM66 K-N1 ASC66 K-N ASM66 K-N ASC66 K-N36 ASM66 K-N36 ASD36B-K ASC66 K-N ASM66 K-N ASC34AK-H ASM34AK-H ASC34AK-H1 ASM34AK-H1 ASD1C-K Harmonic ASC46 K-H ASM46 K-H Geared Type ASC46 K-H1 ASM46 K-H1 ASD18A-K ASC66 K-H ASM66 K-H ASC66 K-H1 ASM66 K-H1 ASD36B-K Enter A (standard) or M (electromagnetic brake) in the box ( ) within the model name. Line-up Functions System Configuration Product Line Characteristics Dimensions Connection and Operation List of Motor and Driver Combinations How to Read Characteristics Accessories Before Using a Stepping Motor Controllers AC Input AS Series DC Input ASC Series 71

72 How to Read Specifications Table Model Pulse Input Package Built-In Controller (Stored Program) Package Standard AS66A E AS66A E-N7. Electromagnetic Brake AS66M E AS66M E-N7. Standard AS66A EP AS66A EP-N7. Electromagnetic Brake AS66M EP AS66M EP-N7. q Maximum Holding Torque N m 1. 4 w Rotor Inertia J: kg m [ ] 1 e Backlash arc minute (degrees) (.34 ) r Angle Error arc minute (degrees) (.84 ) t Permissible Speed Range r/min 416 y Gear Ratio 1:7. u Resolution Resolution Setting: 1 P/R.36 /Pulse. /Pulse i N m 3. 4 o Maximum Torque 3 N m 7 9 Single-Phase 1-11 VAC 1% 1% /6 Hz Voltage-Frequency Single-Phase -3 VAC 1% 1% /6 Hz! Power Source Maximum Input Current A Three-Phase -3 VAC 1% 1% /6 Hz Single-Phase 1-11 VAC Single-Phase -3 VAC 3 Three-Phase -3 VAC 1. Type Active when power is off Power Supply Input 4 VDC % Electromagnetic Brake 4 Power Consumption W 6 Excitation Current A.!1 Static Friction Torque N m.6 Mass Dimension No. Motor kg.8 [1.1] 1 1. [1.7] 1 Driver kg.8 Motor x 1 Driver Pulse Input 6 Built-In Controller (Stored Program) 7 The square box in the model name will contain one of the following letters to indicate the power supply voltage: A (Single-Phase 1-11 VAC), C (Single-Phase -3 VAC) or S (Three-Phase -3 VAC). 1 The values inside the brackets [ ] represent the specification for the electromagnetic brake type. Pulse Input Package: The resolution can be set to any one of P/R, 1 P/R, P/R, or 1 P/R with the resolution select switch or resolution select switching signals. Resolution Select Switch Page 37 Built-In Controller (Stored Program) Package: The resolution can be set from P/R to 1 P/R by setting parameters. 3 The value of Maximum Torque is for gear. For output torque for geared motor, refer to the Speed - Torque Characteristics. 4 The electromagnetic brakes are for holding the position when the power is off. They cannot be used for complicated braking. Also, a separate 4 VDC %,.3 A minimum power supply is required for the electromagnetic brakes. Note: Direction of rotation of the motor shaft and that of the gear output shaft are the same. (PN geared type) qmaximum Holding Torque The holding torque is the maximum holding power (torque) the stepping motor has when power (rated current) is being supplied but the motor is not rotating (with consideration given to the permissible strength of the gear when applicable). At motor standstill, the driver's "Automatic Current Cutback" function reduces the maximum holding torque by approximately %. wrotor Inertia This refers to the inertia of rotor inside the motor. This is necessary when the required torque (acceleration torque) for the motor needs is calculated. ebacklash The play of gear output shaft when the motor shaft is fixed. When positioning in bi-direction, the positioning accuracy is affected. rangle Error (PN Geared Type only) Angle error is the difference between the theoretical angle of rotation of the output shaft, as calculated from the input pulse count, and actual angle of rotation. tpermissible Speed Range This is the rotation speed that the motor can be operated at with the gear output shaft. ygear Ratio This is the ratio in rotation speed between the input speed from the motor and the speed of the gear output shaft. For example, the gear ratio 1:1 is that when the input speed from the motor is 1 r/min, the gear output shaft is 1 r/min. uresolution Resolution is the angular distance (in degrees) that the motor moves at the input of one pulse from the driver. It differs depending on the motor structure and excitation mode. i The permissible torque represents the torque value limited by the mechanical strength of the gear when operated at a constant speed. For the types excluding PN and Harmonic geared type, the total torque including acceleration/deceleration torque should not exceed this value. omaximum Torque (PN Geared, Harmonic Geared Type only) This is the maximum torque that can be used instantaneously (for a short time). During acceleration/ deceleration, the motor can be operated up to this value.!power Source The current value of the power input is the maximum input current value. (The input current varies according to the rotation speed.)!1static Friction Torque The electromagnetic brake specifications. This is the maximum holding torque at which the electromagnetic brake can hold the position. How to Read Speed Torque Characteristics The graph below is the characteristics that indicate the relationship between the speed and torque when a stepping motor is driven. The required speed and torque is always used when selecting a stepping motor. On the graph, the horizontal axis expresses the speed at motor output shaft while the vertical axis expresses the torque. Torque [N m] qth w The speed-torque characteristics are determined by the motor and driver, so they vary greatly based upon the type of the driver used. qmaximum Holding Torque The holding torque is the maximum holding power (torque) the stepping motor has when power is being supplied but the motor shaft is not rotating (rated current). At motor standstill, the driver's "Automatic Current Cutback" function reduces the maximum holding torque by approximately %. wpullout Torque Pullout torque is the maximum torque that can be output at a given speed. When selecting a motor, be sure the required torque falls within this curve. The following figure shows the speed torque characteristics of the AS Series AS66AAE (Resolution Setting: 1 P/R) Pay attention to heat dissipation from the motor and driver. The motor will produce a considerable amount of heat under certain conditions. Be sure to keep the temperature of the motor case under 1 C. (Under 7 C is required to comply with UL or CSA standards.) In order to prevent fatigue of the gear grease in the harmonic gear, keep the temperature of the gear case under 7 C. 7

73 Accessories (Sold Separately) Cables Various cables provide convenient connection between a motor, driver and controller. Type of Cables Stepping Motor Motor Cable Page 74 Driver or Driver Cable Page 7 General-Purpose Type or Connector-Terminal Block Conversion Unit Controllers Personal Computer Line-up Functions System Configuration Product Line AC Input AS Series Cable Selection Table Communication Cable Page 7 Use these cables to extend the wiring length between the motor and driver or connect the standard IP6 rated motor and driver. Select an appropriate type of cable according to the motor frame size and additional function. AS Series Pulse Input Package (Standard, TH Geared, PL Geared, PN Geared, Harmonic Geared Type) AS Series Built-In Controller (Stored Program) Package (Standard, TH Geared, PN Geared, Harmonic Geared Type) ASC Series (Standard, TH Geared, PN Geared, Harmonic Geared Type) Motor Cable Name Motor Frame Size Type zextension Cable xflexible Extension Cable For Standard Motor For Electromagnetic Brake Motor For Standard Motor For Electromagnetic Brake Motor 8 mm Standard 4 mm Standard Electromagnetic Brake 6 mm Standard Electromagnetic Brake 8 mm (Geared Type: 9 mm) Standard Electromagnetic Brake Notes: As for the products indicated by, neither an extension cable nor flexible extension cable is required if the wiring distance between the motor and driver is.4 m or shorter (or.1 m or shorter: ASC34 and ASC36 types). Any motor with an electromagnetic brake cannot be driven without an extension cable for electromagnetic brake motor. Take note, however, for electromagnetic brake type with motor frame size 4 mm, use a standard extension cable. AS Series Pulse Input Package (Standard Type IP6 Rated Motor) Motor Cable Name Motor Frame Size Type Motor Cable for IP6 Rated Motor cextension Cable vflexible Extension Cable 6 mm Standard 8 mm Standard Note: Always use the motor cable for IP6 rated motor (sold separately) for connection between the IP6 rated motor and the driver. Characteristics Dimensions Connection and Operation List of Motor and Driver Combinations How to Read Characteristics Accessories Before Using a Stepping Motor Controllers DC Input ASC Series 73

74 Motor Cables z Extension Cables These extension cables are convenient when using the motor and driver more than.4 m apart from each other. x Flexible Extension Cables This flexible extension cable is used between motors and dedicated drivers. We recommend this cable when the motor is installed on a moving section and the cable is repeatedly bent and extended. Product Line For Standard Motor For Electromagnetic Brake Motor Model Length L (m) Model Length L (m) CC1AIP 1 CC1AIPM 1 CCAIP CCAIPM CC3AIP 3 CC3AIPM 3 CCAIP CCAIPM CC7AIP 7 CC7AIPM 7 CC1AIP 1 CC1AIPM 1 CC1AIP 1 CC1AIPM 1 CCAIP CCAIPM Notes: Electromagnetic brake models must use an extension cable for an electromagnetic brake motor. But for electromagnetic brake motor with motor frame size 4 mm, use an extension cable for standard motor. ASC Series cannot use extension cable with 1 m, m length. Dimensions (Unit = mm) For Standard Motor (3) Motor Side 8 For Electromagnetic Brake Motor (3) Electromagnetic Brake Leads 6 mm Length (Orange/Black, Gray AWG4) Motor Side 8 L L Driver Side Driver Side (14.) (14.) 11.6 Motor Cable for IP6 Rated Motor. Product Line For Standard Motor For Electromagnetic Brake Motor Model Length L (m) Model Length L (m) CC1SAR 1 CC1SARM 1 CCSAR CCSARM CC3SAR 3 CC3SARM 3 CCSAR CCSARM CC7SAR 7 CC7SARM 7 CC1SAR 1 CC1SARM 1 Note: For electromagnetic brake motor with motor frame size 4 mm, use an extension cable for standard motor. Dimensions (Unit = mm) For Standard Motor (3) Motor Side 9. For Electromagnetic Brake Motor (3) Motor Side 9. Electromagnetic Brake Leads 6 mm Length (Orange, Gray AWG) L L Driver Side Driver Side This motor cable must be used for connection between the IP6 rated motor and the driver. Any IP6 rated motor cannot be driven without this cable. One end of the cable connects to the metal connector on the motor, while the other end connects to the driver. Use a flexible extension cable if the motor is installed on a moving part and its cable will be flexed repeatedly. c Extension Cables for IP6 Rated Motor Product Line Model Length L (m) CC1AST 1 CCAST CC3AST 3 CCAST Dimensions (Unit = mm). RC 9S1N18S1(CONINVERS) 7 1R(MOLEX) L Driver Side Model Length L (m) CC7AST 7 CC1AST 1 CC1AST 1 CCAST Motor Side (14.) (14.) 11.6 v Flexible Extension Cables for IP6 Rated Motor Product Line Model Length L (m) CC1SAR 1 CCSAR CC3SAR 3 CCSAR Dimensions (Unit = mm). RC 9S1N18U1(CONINVERS) 7 1R(MOLEX) L Driver Side 1.1. Model Length L (m) CC7SAR 7 CC1SAR 1 6 Motor Side 74

General-Purpose Type This is a shielded cable equipped with, at one end of the cable, the half-pitch connector that snaps into the driver for Series.

75 Driver Cables These shielded cables are convenient for connecting Series drivers to controllers. Communication Cable FC4W This cable is used to connect personal computer and built-in controller (stored program) driver through an RS3 connection. General-Purpose Type This is a shielded cable equipped with, at one end of the cable, the half-pitch connector that snaps into the driver for Series. Notes: Note that as the length of the pulse signal line increases, the maximum transmission frequency decreases. Install a connector that matches the controller you are using to the other end of the cable. Product Line Model Length L (m) Applicable Series CCD1-1 1 For CN ( pins) of AS Series built-in CCD-1 controller (stored program) package driver CC36D1-1 1 CC36D-1 Dimensions (Unit = mm) CCD1-1, CCD-1 Conductor: AWG8 (.8 mm ) Driver Side For CN4 (36 pins) of AS Series pulse input package driver For CN4 (36 pins) of AS Series built-in controller (stored program) package driver For CN3 (36 pins) of ASC Series driver L CC36D1-1, CC36D-1 Conductor: AWG8 (.8 mm ) Driver Side L Shield Laminate 1 3 Controller Side 3 1 Shield Laminate 1 3 Controller Side 1 3 Cable Length: m Line-up Functions System Configuration Product Line Characteristics Dimensions Connection and Operation List of Motor and Driver Combinations How to Read Characteristics Accessories Before Using a Stepping Motor Controllers AC Input AS Series DC Input ASC Series 7

76 Connector-Terminal Block Conversion Unit CCT1 CC36T1 A conversion unit that connects a driver to a host controller using a terminal block. With a signal name plate for easy, one-glance identification of driver signal names. DIN-rail mountable Cable length: 1 m Product Line Model Length L (m) Applicable Series CCT1 1 CC36T1 1 For CN ( pins) of AS Series built-in controller (stored program) package driver For CN4 (36 pins) of AS Series pulse input package driver For CN4 (36 pins) of AS Series built-in controller (stored program) package driver For CN3 (36 pins) of ASC Series driver Dimensions (Unit = mm) CCT Mounting Holes 8 Countersink 3. Deep DIN Rail Terminal Block Pin No CC36T Mounting Holes 8 Countersink 3. Deep DIN Rail Terminal Block Pin No Recommended Crimp Terminals Terminal screw size: M3 Tightening torque: 1. N m Applicable minimum lead wire: AWG (.3 mm ) 6. mm max. 3. mm min..8 mm min. 4. mm max. 76

Flexible Couplings A flexible coupling ideal for your motor is available. Once you have decided on a motor and gear, you can select the recommended coupling easily.

77 Flexible Couplings A flexible coupling ideal for your motor is available. Once you have decided on a motor and gear, you can select the recommended coupling easily. All motor shaft diameters of stepping motor packages are available (including geared motors). of MCS Couplings This three-piece coupling adopts an aluminum alloy hub and a resin spider. The simple construction ensures that the high torque generated by a geared motor can be transmitted reliably. The proper elasticity of the spider suppresses motor vibration. Coupling Selection Table High accuracy (usable for geared motor) has been realized. A spider (material: polyurethane) controls the vibration generated by the motor. No backlash. Motor Shaft Applicable Motor Driven Shaft Diameter (mm) Gear Ratio Diameter Type AS Series ASC Series (mm) AS46 A AS46 AP ASC34AK ASC36AK ASC46 K MCS14 ASC34AK-T 7., 1,, 3 AS46 A-T ASC46 K-T 3.6, 7., 1 6 AS46 AP-T MCS ASC34AK-N, 7., 1 8 AS46 A-T AS46 AP-T ASC46 K-T, 3 6 AS66 E AS66A T AS66 EP AS66A TP AS69 E ASC66 K AS69A T AS69 EP 8 AS69A TP AS66 E-T ASC66 K-T 3.6, 7. AS66 EP-T MCS3 AS46 A-P 7., 1 ASC34AK-H, 1 AS46 A-N AS46 AP-N ASC46 K-N 7., 1 1 AS98 E AS98A T AS98 EP AS98A TP AS911A E 14 AS911A T AS911A EP AS911A TP AS66 E-T ASC66 K-T 1,, 3 AS66 EP-T 8 AS46 A-P 36, AS46 A-H AS46 AP-H ASC46 K-H, 1 1 MCS4 AS66 E-P, 7. AS66 E-N AS66 EP-N AS98 E-T AS98 EP-T ASC66 K-N, , 7., 1,, 3 AS66 E-P 1,, 36, AS66 E-N AS66 EP-N AS66 E-H AS66 EP-H AS98 E-P AS98 E-N AS98 EP-N AS98 E-H AS98 EP-H ASC66 K-N 1,, 36, ASC66 K-H, 1, 7., 1,, 36,, 7., 1,, 36,, 1 Enter A (standard) or M (electromagnetic brake) in the box ( ) within the model name. Enter the power supply voltage A, C or S in the box ( ) within the model name. Enter the gear ratio in the box ( ) within the model name. 1 1 MCS 18 MCS6 Line-up Functions System Configuration Product Line Characteristics Dimensions Connection and Operation List of Motor and Driver Combinations How to Read Characteristics Accessories Before Using a Stepping Motor Controllers 77 AC Input AS Series DC Input ASC Series

78 Product Number Code MCS q w e r q w e r MCS Couplings Outer Diameter of Coupling Inner Diameter d1 (Smaller Side) (F4 represents 6.3 mm) Inner Diameter d (Larger Side) (F4 represents 6.3 mm) Specifications Model MCS144 MCS14 MCS146 MCS1466 Outer Diameter A mm Length W mm 14 Axis Hole Diameter d1 H7 mm 4 6 Axis Hole Diameter d H7 mm 6 6 Dimensions Key Slot Tolerance b/t mm L mm Screw Used M Normal Torque N m Mass g Inertia kg m Static Torsion Spring Constant N m/rad Permissible Eccentricity mm Permissible Declination 7 M deg Permissible End Play mm.6 MCS6 MCS66 MCS6F4 MCS68 MCS M MCS366 MCS36F4 MCS368 MCS361 MCS3F48 MCS3F41 MCS388 MCS381 MCS381 MCS311 MCS311 MCS3114 MCS3114 MCS31414 MCS M MCS488 MCS481 MCS481 MCS481 MCS411 MCS411 MCS411 MCS411 MCS411 MCS11 MCS114 MCS11 MCS116 MCS61618 MCS61818 MCS618 MCS b:.1 t: b: 3.1 t: b: 4.1 t: b:.1 t: b:.1 t: b:.1 t: b: 6.1 t:.8.1 b: 6.1 t:.8.1 b: 8.18 t: 3.3. M M M

79 Dimensions (Unit = mm) MCS14 MCS MCS3 d1 MCS4 d1 L L Mass: 6.7 g Mass: 19.8 g Mass: 44.6 g W L Mass: 139 g W d A L d A t M M b d1 MCS MCS6 L Mass: 8 g Mass: 3 g W L d A t M b Line-up Functions System Configuration Product Line AC Input AS Series Mounting to a Shaft Clamp Type Clamp couplings use the binding force of the screw to compress the shaft hole diameter and thereby fasten the coupling to the shaft. This does not damage the shaft and is easy to mount and remove. The following table shows the screw binding torque. We recommend use of a torque wrench to fasten the coupling. Type MCS14 MCS MCS3 MCS4 MCS MCS6 Tightening Torque N m Alignment Adjustment Flexible couplings tolerate misalignment of the axis center and transfer rotational angle and torque, but produce vibration when the permissible value for misalignment is exceeded. This can dramatically shorten the coupling's service life. This requires alignment adjustment. Misalignment of the axis center includes eccentricity (parallel error of both centers), declination (angular error of both centers) and end play (shaft movement in the axial direction). To keep misalignment within the permissible value, always check and adjust the alignment. To increase the service life of the coupling, we recommend keeping misalignment to below 1/3 of the permissible value. Straight Edge Eccentricity Declination Notes: When misalignment exceeds the permissible value or excessive torque is applied, the coupling's shape will deform, and service life is shortened. When the coupling emits a metallic sound during operation, stop operation immediately and ensure there is no misalignment, axis interference or loose screws. When load changes are large, paint the coupling set screw with an adhesive to prevent the coupling screw from loosening. End Play Characteristics Dimensions Connection and Operation List of Motor and Driver Combinations How to Read Characteristics Accessories Before Using a Stepping Motor Controllers DC Input ASC Series 79

80 Motor Mounting Brackets Motor mounting brackets are convenient for installation and securing a stepping motor and geared stepping motor. Product Line Standard Type Material: Aluminum die cast Mounting Bracket Models PAFP PALP PALP- Applicable Motor AS46 A AS46 AP ASC46 K AS46 A AS46 AP ASC46 K AS66 E AS66A T AS66 EP AS66A TP ASC66 K AS69 E AS69A T AS69 EP AS69A TP AS98 E AS98A T AS98 EP AS98A TP PAL4P- AS911A E AS911A T AS911A EP AS911A TP Enter A (standard) or M (electromagnetic brake) in the box ( ) within the model name. Enter the power supply voltage A, C or S in the box ( ) within the model name. The mounting bracket base is built with holes large enough to allow for alignment adjustments in the horizontal direction. These mounting brackets can be perfectly fi tted to the pilot of the stepping motors. (except for PALP) Note: They cannot be used with geared stepping motors. Geared Type Material: Aluminum die cast Mounting Bracket Models SOLB SOLA SOLB Applicable Motor AS46 A-T AS46 AP-T ASC46 K-T AS46 A-P AS66 E-T AS66 EP-T ASC66 K-T AS66 E-P AS98 E-T SOLB AS98 EP-T AS98 E-P Enter A (standard) or M (electromagnetic brake) in the box ( ) within the model name. Enter the power supply voltage A, C or S in the box ( ) within the model name. Enter the gear ratio in the box ( ) within the model name. The mounting bracket base is built with holes large enough to allow for alignment adjustments in the horizontal direction. Install SOLA and SOLB using the supplied screws. No screws are supplied for installing SOLB and SOLB. Provide appropriate screws separately. 8

81 Motor Installation Direction The motor cable comes out at right angles to the motor. Orient the motor so that the cable faces either upward or sideways. Mounting the Motor z PALP-, PAL4P- B x PALP, SOLB, SOLA, SOLB, SOLB B Cable facing upward Cable facing sideways c PAFP A B Line-up Functions System Configuration Product Line AC Input AS Series quse the screws provided to secure the motor to the mounting bracket. wattach the motor from the direction shown by the arrow (B). Dimensions (Unit = mm) PALP Mass: 3 g 4 3. Thru Screws (Included) M3P. Length 1 mm 4 Pieces quse the screws provided to secure the motor to the mounting bracket. wattach the motor from the direction shown by the arrow (B) PAFP Mass: 3 g Screws (Included) M3P. Length 7 mm 4 Pieces quse the screws provided to secure the motor to the mounting bracket. wattach motor from the direction shown by either arrow (A) or arrow (B). A A Thru Cross Section AA Characteristics Dimensions Connection and Operation List of Motor and Driver Combinations How to Read Characteristics Accessories Before Using a Stepping Motor Controllers DC Input ASC Series 81

82 PALP- Mass: 11 g M R Screws (Included) M4P.7 Length 1 mm 4 Pieces PAL4P- Mass: g R M Screws (Included) MP.8 Length 16 mm 4 Pieces 8

83 SOLB Mass: 8 g SOLA Mass: 1 g SOLB Mass: 1 g Thru Line-up Functions System Configuration Product Line AC Input AS Series 1 Screws (Included) M4P.7 Length 1 mm 4 Pieces (SOLA) MP.8 Length 1 mm 4 Pieces (SOLB) SOLB Mass: 7 g SOLA: 4 4. Thru SOLB: 4. Thru Characteristics Dimensions Connection and Operation List of Motor and Driver Combinations DC Input ASC Series Thru How to Read Characteristics Accessories Before Using a Stepping Motor Controllers 83

84 DIN Rail Mounting Plate This installation plate is convenient for installing the driver of AS Series on DIN rails with ease. Product Line Model PADP1 Applicable Product AS Series Driver DIN Rail Mounting Plate Dimensions (Unit = mm) PADP1 Mass: g Screws (Included) M3P. Length 8 mm 3 pieces DIN Rail Center

85 Before Using a Stepping Motor Motor Installation Direction of Mounting Motors can be mounted freely in any direction as shown below. Regardless of how the motor is mounted, take care not to apply an overhung load or thrust load on the shaft. Make sure the cable does not contact the mounting surface causing undesirable force on the cable. Notes: Do not disassemble the motors. Do not apply any shock to the motor. Sideways Facing Up Facing Down Mounting Method Considering heat radiation and vibration isolation as much as possible, mount the motor tightly against a metal surface. Through Hole Type Model AS66 E AS66A T AS66 EP AS66A TP ASC66 K AS69 E AS69A T AS69 EP AS69A TP AS98 E AS98A T AS98 EP AS98A TP AS911A E AS911A T AS911A EP AS911A TP AS98 E-H AS98 EP-H Flange Pilot Spot Facing or Through Hole for Pilot Mounting Plate Thickness of the Mounting Plate mm min. 8 mm min. 1 mm min. Enter A (standard) or M (electromagnetic brake) in the box ( ) within the model name. Enter the power supply voltage A, C or S in the box ( ) within the model name. Enter the gear ratio in the box ( ) within the model name. Tapped Hole Type AS46 A AS46 AP Flange Pilot Spot Facing or Through Hole for Pilot Applicable Motor AS Series ASC Series AS46 A-T AS46 AP-T AS46 A-P AS46 A-N AS46 AP-N AS46 A-H AS46 AP-H AS66 E-T AS66 EP-T AS66 E-P AS66 E-N AS66 EP-N AS66 E-H AS66 EP-H AS98 E-T AS98 EP-T AS98 E-P AS98 E-N AS98 EP-N ASC34AK ASC36AK ASC46 K ASC34AK-T ASC34AK-N ASC34AK-H ASC46 K-T ASC46 K-N ASC46 K-H ASC66 K-T ASC66 K-N ASC66 K-H Tapped Hole Mounting Plate Thickness of the Mounting Plate 3 mm min. mm min. 8 mm min. 1 mm min. Enter A (standard) or M (electromagnetic brake) in the box ( ) within the model name. Enter the power supply voltage A, C or S in the box ( ) within the model name. Enter the gear ratio in the box ( ) within the model name. Installation Conditions Install the motor in a location that meets the following conditions, or the product may be damaged. Indoors (This product is designed and manufactured to be installed within another device) Ambient temperature: C to C (nonfreezing) C to 4 C (nonfreezing): Harmonic geared type Ambient humidity: 8% or less (noncondensing) Not exposed to explosive, flammable, or corrosive gas Not exposed to direct sunlight Not exposed to dust Not exposed to water or oil (except for IP6 rated motor) A place where heat can escape easily Not exposed to continuous vibration or excessive impact Notes: When installing the motor in an enclosed space such as a control box, or somewhere close to a heat-radiating object, vent holes should be used to prevent the motor from overheating. Do not install the motor in a location where a source of vibration will cause the motor to vibrate. Line-up Functions System Configuration Product Line Characteristics Dimensions Connection and Operation List of Motor and Driver Combinations How to Read Characteristics Accessories Before Using a Stepping Motor Controllers AC Input AS Series DC Input ASC Series 8

Driver Installation AC Input Type Installation Direction and Method Drivers are designed to dissipate heat through natural convection. Install the driver vertically as shown in the photograph.

inserting noise filters or connecting the driver to a separate circuit. Take care that pieces of conductive material (filings, pins, pieces of wire, etc.) do not enter the drivers.

86 Driver Installation AC Input Type Installation Direction and Method Drivers are designed to dissipate heat through natural convection. Install the driver vertically as shown in the photograph. In situations where drivers are located close to a large noise source such as high frequency welding machines or large electromagnetic switches, take steps to prevent noise interference, either by inserting noise filters or connecting the driver to a separate circuit. Take care that pieces of conductive material (filings, pins, pieces of wire, etc.) do not enter the drivers. DC Input Type Installation Direction Considering heat radiation, install the driver vertically or board side down. Install the driver in a way that the power element side faces up and the aluminum electrolytic capacitor side faces down. Horizontal Installation Firmly install on a metal plate that has good heat conductivity, such as iron or aluminum mm or more in thickness. To directly install the driver without using the screws provided, pay particular attention to the length of the screws used for the tapped holes. For AS Series, the use of screw that would penetrate 3 mm or more through the surface of the driver may cause damage to the driver. Using Multiple Axes When using multiple stepping motor axes, driver temperature rise will cause ambient temperatures to rise. At least mm must be allowed between driver units and at least mm between drivers and other equipment or structures. Install a forced-air cooling fan if ambient temperatures exceed C [4 C for built-in controller (stored data) driver]. mm min. mm min. Vertical Installation Note: The driver can generate a great deal of heat depending on the operating conditions. Make sure that the temperature of the heat sink does not exceed 8 C. (When the temperature of the heat sink exceeds 8 C, forced cooling is required.) Installation Conditions Install the driver in a location that meets the following conditions, or the product may be damaged. Installation Conditions Install the driver in a location that meets the following conditions, or the product may be damaged. Indoors (This product is designed and manufactured to be installed within another device) Ambient temperature: C to C (nonfreezing): Pulse input driver C to 4 C (nonfreezing): Built-in controller (stored program) driver Ambient humidity: 8% or less (noncondensing) Not exposed to explosive, flammable, or corrosive gas Not exposed to direct sunlight Not exposed to dust Not exposed to water or oil A place where heat can escape easily Not exposed to continuous vibration or excessive impact Notes: When installing the driver in an enclosed space such as a control box, or somewhere close to a heat-radiating object, vent holes should be used to prevent the driver from overheating. Do not install the driver in a location where a source of vibration will cause the driver to vibrate. Indoors (This product is designed and manufactured to be installed within another device) Ambient temperature: C to 4 C (nonfreezing) Ambient humidity: 8% or less (noncondensing) Not exposed to explosive, flammable, or corrosive gas Not exposed to direct sunlight Not exposed to dust Not exposed to water or oil A place where heat can escape easily Not exposed to continuous vibration or excessive impact Notes: When installing the driver in an enclosed space such as a control box, or somewhere close to a heat-radiating object, vent holes should be used to prevent the driver from overheating. Do not install the driver in a location where a source of vibration will cause the driver to vibrate. In situations where drivers are located close to a large noise source such as high frequency welding machines or large electromagnetic switches, take steps to prevent noise interference, either by inserting noise filters or connecting the driver to a separate circuit. Take care that pieces of conductive material (filings, pins, pieces of wire, etc.) do not enter the drivers. 86

Controller for Stepping Motor SG83JY With the SG83JY, all operations including data setting can easily be performed using the four touch-screen buttons on the top panel.

87 Controller for Stepping Motor SG83JY With the SG83JY, all operations including data setting can easily be performed using the four touch-screen buttons on the top panel. In addition, the number of signal lines is reduced to a minimum for easy connection. Jerk Limiting Control Function Suppresses Motor Drive Vibrations The "Jerk limiting control function" effectively minimizes vibrations during motor drive and stop. This is especially useful in applications such as driving a belt pulley, to ensure smooth motion of transported works. Measurement conditions Application: Belt drive Operation mode: Positioning operation Load: 1 kg Motor vibrations when switching between acceleration/deceleration and constant speed cause mechanical vibrations. Motor shaft speed Time Linear controlled acceleration/deceleration pattern Motor shaft speed Motor vibrations when switching between acceleration/deceleration and constant speed are minimized, resulting in less mechanical vibrations. Time Jerk controlled acceleration/deceleration pattern These diagrams are simulated. Actual effect will differ depending on mechanical construction. To achieve the same positioning time with jerk controlled acceleration/ deceleration, set the acceleration/deceleration rate to 1/ that of linear controlled acceleration/ deceleration. Sequential Positioning Operation/External Signal Operation Possible In "Sequential positioning operation," the start signal always causes execution from step No. 1 in a preselected sequence. In "External signal operation," when the CW scan (or CCW scan) signal input goes ON, operation starts. When the signal goes OFF, slowdown stop occurs. This is useful for moving the work manually to a desired position. Step No.1 Step No. Step No.4 <Sequential Positioning> CW (CCW) Scan ON CW (CCW) Scan OFF Step No.3 Speed CW (CCW) Scan <Operation of External Signals> Time ON OFF Maximum Oscillation Frequency khz The "Maximum oscillation frequency of khz" allows motor control in micro steps. 1-Pulse Output/-Pulse Output Mode Select Possible In addition to the 1-pulse output mode, the controller can also provide -pulse operation mode, which makes it compatible with a wide range of motor drivers. Top Panel Single Interface for All Settings and Operation Checks All operations including setting of various data can be performed using the four touch-screen buttons on the top panel. You can also check the status of each operation simply by checking the display on the top panel. Touch-screen buttons mm DIN Size and Two Mounting Confi gurations are Provided. The unit is very compact, measuring only 48 (W) 48 (D) 84 (H) mm. Two mounting configurations are available, for DIN rail mounting and recessed mounting. 84 mm 48 mm <DIN Rail Mounting Model> System Configuration <Recessed Mounting Model> Configuration Example of Combination with Series Programmable Controller (Not supplied) DIN Rail Mounting Model Recessed Mounting Model (Sold Separately) AS Series, Pulse Input Package Page ASC Series Page 4 VDC Power Supply (Not supplied) Line-up Functions System Configuration Product Line Characteristics Dimensions Connection and Operation List of Motor and Driver Combinations How to Read Characteristics Accessories Before Using a Stepping Motor Controllers AC Input AS Series DC Input ASC Series SG83JY 87

88 Product Line Type DIN Rail Mounting Model Recessed Mounting Model Model SG83JY-D SG83JY-U Specifications Model Number of Control Axes Number of Settings Positioning Data Positioning Control Pulse Output Mode Setting Mode Setting Method SG83JY-D SG83JY-U 1 axis 4 steps Set with touch key on front panel (stored in EEPROM) Incremental mode (point to point) Mode Sequential-step positioning Step-select positioning Move Distance Setting Range Incremental pulses Starting Pulse Speed Setting Range (VS) 1 Hz 1 khz (1 Hz units) Operating Pulse Speed Setting Range (VR) 1 Hz khz (1 Hz units) Acceleration/Deceleration Rate Setting Range (TR) 1 1 ms/khz (8 rates: ) 1-pulse output/-pulse output mode select possible Operation Modes Control Modes Positioning operation (INDEX operation) Return to mechanical home operation (HOME operation) Continuous operation (SCAN operation) 1-Pulse operation (JOG operation: Test mode only) External input mode (EXT) Program mode (PROG) Test mode (TEST) Number of Maximum Return Pulses Mechanical Home Return Function Input Signals Sensor detection of home through designation of mechanical home detection direction of rotation 4 VDC photocoupler input, input resistance 4.7 kω Current sinking input Output Signals PNP transistor output linked to photocoupler 4 VDC max. ma max., Current sourcing output Power Supply Voltage 4 VDC % current consumption.1 A Ambient Temperature C 4 C (Nonfreezing) Ambient Humidity % 8% (Noncondensing) The following 8 acceleration/deceleration rates can be selected. [unit: ms/khz] 1,, 4,, 6, 8, 1, 1, 14, 1, 16, 18,,, 4,, 6, 8, 3, 3, 4, 4,, 6, 7, 8, 9, 1 Dimensions (Unit = mm) DIN Rail Mounting Model SG83JY-D Mass:.17 kg 83.7 max Flush Connection Socket (Included) 4. Thru max max max M Recessed Mounting Model SG83JY-U Mass:.1 kg Panel thickness range (1 4 mm) Recessed Mounting Adapter Rear Connection Socket Panel Mounting Cut-Out Dimensions max. 88

89 Connection and Operation Names and Functions of Controller Parts tmode key yup key qexternal input mode LED wprogram mode LED etest mode LED rdata display iset key udown key Connection Socket Signal Table q w e r t y u i EXT (LED): Lights up when external input is selected. PROG (LED): Lights up when program mode is selected. TEST (LED): Lights up when test mode is selected. Data display: Shows operation and setting status. MODE key key key SET key Pin No. Signal Designation I/O Function 1 Operation Mode Input Input S: Switching positioning/home detection operation D: Switching positioning/home detection operation and continuous operation GND Input GND connecting terminal 3 4V Input 4 VDC power supply input terminal 4 BUSY Output Output during pulse oscillation HOMELS Input Mechanical home detection sensor 6 Start Input Start signal 7 Pulse/CW Pulse Output 8 Rotation Direction/CCW Pulse Output 1 pulse output mode: Pulse pulse output mode: CW Pulse 1 pulse output mode: Direction of rotation pulse output mode: CCW Pulse 9 Emergency Stop Input Stop all operations (including busy output) S: CW Scan 1 D: M [CW Scan] S: CCW Scan 11 D: M1 [CCW Scan] Input Input Indications in brackets [ ] apply to state when mode switching signal was input. Only pins 1, 1, 11 differ for sequential positioning and selection positioning. "S" in the table indicates sequential positioning and "D" indicates selection positioning. Wiring Diagram Connection between SG83JY and 4 VDC Power Supply Programmable Controller E E E E 4 V GND SG83JY Pin No. Operation Mode Switch 1 GND 4 V 3 Pulse Busy 4 /CW Pulse 1 HOMELS Start External Stop CW Scan <M> CCW Scan <M1> Description of Input/Output Signal Output Signals to Driver Pin No. 7, 8 1 ma max. Constant Current Circuit 1 Ω V V S: CW continuous operation D: M data select signal [CW continuous operation] S: CCW continuous operation D: M1 data select signal [CCW continuous operation] 3 Rotation Direction /CCW Pulse AS Series, ASC Series Driver!1PLS(CW)!PLS(CW) odir.(ccw)!dir.(ccw) 1 Use normal open (NO) limit control of the mechanical home sensor. Power for the external stop input signal must always be ON during normal operation. When not using the external stop input signal, always connect to the 4 V terminal. 3 Designations in < > brackets are for data selection mode. Notes: External resistor does not need to be installed on the pulse outputs, because they contain constant current circuits. Note that the length of the pulse signal line increases, the maximum transmission frequency decreases. Input Signals from Programmable Controller and Limit Sensor Pin No. 1,, 6, 9, 1, kω 68 Ω V V Output Signals to Programmable Controller Pin No. 4 4 V 1 kω 1 kω V Line-up Functions System Configuration Product Line Characteristics Dimensions Connection and Operation List of Motor and Driver Combinations How to Read Characteristics Accessories Before Using a Stepping Motor Controllers AC Input AS Series DC Input ASC Series 89

90 PROG SET Before Using a Controller Installation Method SG83JY DIN Rail Mounting Using Flush Connection Socket 1. Mount the flush connection socket Fastening Hook ( ) to the DIN rail. (The DIN lever DIN Rail should face down.). Insert the controller terminals firmly into the flush connection socket. 3. Engage the fastening hooks (two DIN Lever places) of the flush connection socket on the controller to secure the assembly. Note: Mount the controller only after connecting all required leads to the terminals of the flush connection socket. Panel Mounting Using Rear Connection Socket The SG83JY can be affixed to a plate of 1 to 4 mm in thickness. 1. Push in the controller from the front side of the mounting plate.. Insert the burying-type adapter from the back and push it in until the gap with the mounting plate becomes minimal. 3. Affix with the fixing screws (two locations) of the burying-type adapter. 4. Insert the controller terminals firmly into the rear connection socket. SG83J Panel Mounting Cut-Out Dimensions (Unit = mm) MODE ORIENTAL MOTOR CO.,LTD MADE IN JAPAN EXT TEST CONTROLLER Flush Connection Socket Installation Location Indoors, ambient temperature C 4 C (Nonfreezing) If the ambient temperature exceeds 4 C, use a fan to provide forced cooling. Otherwise internal heat buildup may lead to damage. When attaching the controller in an enclosed space such as a control box, or somewhere close to a heat-radiating object, ventilation holes should be used to prevent the controllers from overheating. Ambient humidity 8% maximum (Noncondensing) Not exposed to corrosive gases or dust Take care that pieces of conductive material (filing, pins, pieces of wire, etc.) do not enter the controllers. Otherwise circuit damage may occur. Not exposed to water or oil Exposure to liquids can lead to corrosion or short-circuits. Not exposed to direct sunlight Not in the vicinity of noise sources In situations where controllers are located close to a large noise source such as high frequency welding machines or large electromagnetic switches, take steps to prevent noise interference, either by inserting noise filters, using shielded wires or connecting the controller to a separate circuit. Not in the vicinity of vibration sources When the controller is to be installed in a location where a source of vibration will cause the controller to be damaged. 9

Motorized Actuator Products Equipped with Hollow Rotary Actuator DG Series Stepping Motors To check the product details not featured in this catalogue, you must obtain a separate, individual

The DG-Series hollow rotary actuators are constructed to achieve quick, accurate positioning based on a simple design.

91 Motorized Actuator Products Equipped with Hollow Rotary Actuator DG Series Stepping Motors To check the product details not featured in this catalogue, you must obtain a separate, individual catalogue for the product. To request a catalogue, contact your nearest Oriental Motor sales office. The DG-Series hollow rotary actuators are constructed to achieve quick, accurate positioning based on a simple design. These actuators come in extensive variations with a choice of frame size of 6 mm or 13 mm. Frame size 6 mm Permissible Torque.9 N m Safety Standard Bearing Ball Bearing 4-VDC Input Driver Diameter of Hollow Section 8 mm (Rotational) Actuator Weight. kg Frame size 13 mm Diameter of Hollow Section 1 N m High Permissible- Thrust Load Bearing Cross-Roller Bearing Safety Standard Diameter of Hollow Section 6 mm (Rotational) AC Input Driver High Permissible- Moment Actuator Weight.6 kg Line-up Functions System Configuration Product Line Characteristics Dimensions Connection and Operation List of Motor and Driver Combinations AC Input AS Series DC Input ASC Series How to Read Characteristics Accessories Before Using a Stepping Motor Controllers 91

High-Efficiency AR Series. RK Series /0.72 /Geared. CRK Series. RBK Series. CMK Series. 2-Phase Stepping Motors A-278.

High-Efficiency AR Series. RK Series /0.72 /Geared. CRK Series. RBK Series. CMK Series. 2-Phase Stepping Motors A-278. A Stepping Motors Stepping Motors Introduction A-2 Introduction AC Power Supply Input Stepping Motor and Driver Packages A-17 DC Power Supply Input Stepping Motor and Driver Packages Stepping Motors (Motor