Autonics Built-in BRAKE TYPE 5-PHASE STEPPER MOTOR Instruction Manual

DRW170417AB

Autonics

Built-in BRAKE TYPE

5-PHASE STEPPER MOTOR

I N S T R U C T I O N M A N U A L

[Frame size 42mm] [Frame size 60mm] [Frame size 85mm]

Please read the following safety considerations before use.

Safety Considerations

Please observe all safety considerations for safe and proper product operation to avoid

※

hazards.

symbol represents caution due to special circumstances in which hazards may occur.

※

Warning
Caution

Warning

1. Fail-safe device must be installed when using the unit with machinery that may
cause serious injury or substantial economic loss. (e.g. nuclear power control,
medical equipment, ships, vehicles, railways, aircraft, combustion apparatus, safety
equipment, crime/disaster prevention devices, etc.)

Failure to follow this instruction may result in re, personal injury, or economic loss.

2. Do not use the brake for safety.

Failure to follow this instruction may result in personal injury, or product and ambient

equipment damage.

3. Fix the unit on the metal plate.

Failure to follow this instruction may result in personal injury, or product and ambient

equipment damage.

4. Do not connect, repair, or inspect the unit while connected to a power source.

Failure to follow this instruction may result in re.

5. Install the unit after considering counter plan against power failure.

Failure to follow this instruction may result in personal injury, or economic loss.

6. Check 'Connections' before wiring.

Failure to follow this instruction may result in re.

7. Do not disassemble or modify the unit.

Failure to follow this instruction may result in electric shock or re.

8. Install the motor in the housing or ground it.

Failure to follow this instruction may result in electronic shock, re, or personal injury.

9. Make sure to install covers on motor rotating components.

Failure to follow this instruction may result in personal injury.

10. Do not touch the unit during or after operation for a while.

Failure to follow this instruction may result in burn due to high temperature of the surface.

11. Turn OFF the power directly when error occurs.

Failure to follow this instruction may result in electric shock, re, or personal injury.

Caution

1. Use the unit within the rated specications.

Failure to follow this instruction may result in re or product damage.

2. Use dry cloth to clean the unit, and do not use water or organic solvent.

Failure to follow this instruction may result in re.

3. Do not use the unit in the place where ammable/explosive/corrosive gas, humidity,

direct sunlight, radiant heat, vibration, impact, or salinity may be present.

Failure to follow this instruction may result in re or explosion.

4. The motor may overheat depending on the environment.

Install the unit at the well-ventilated environment and forced cooling with a cooling fan.

Failure to follow this instruction may result in product damage and degrada ion.

Ordering Information

A

8K

Max. holding torque

Item

※

Standard wiring is optional.

The above specications are subject to change and some models may be discontinued without notice.

※

Be sure to follow cautions written in the instruction manual and the technical descriptions

※

(catalog, homepage).

Thank you for choosing our Autonics product.

Failure to follow these instructions may result in serious injury or death.

Failure to follow these instructions may result in personal injury or product damage.

B

5

Motor frame size

Motor phase

6

Wire connection

Motor length

Motor type

4 42×42mm

6 60×60mm

9 85×85mm

B Built-in brake type

No mark Pentagon

※

1

S

3 33mm
4 39mm
5 47mm

4 48.5mm
6 59.5mm

9 89mm

6 68mm
9 98mm

13 128mm

5 5-phase

S 0.75 A/Phase
M 1.4 A/Phase
G 2 8 A/Phase

Square

A Autonics motor

Standard

kgf.cm

(Refer to motor specication)

M 6

Rated current

Specications Dimensions

Frame size 42mm

Model A1K-S543-B A2K-S544-B A3K-S545-B
Max. holding torque

Rotor moment of inertia

Rated current 0.75 A/Phase
Basic step angle 0.72

Rated excitation voltage 24VDC ±10%
Rated excitation current 0.2A
Static friction torque 1.8kgf.cm
Rotation part inertia 3×10
Insulation class B type (130℃)
B type brake Power on: brake is released, power off: brake is operating
Operating time Max. 25ms

Electro-Magnetic Brake

Releasing time Max. 15ms

※

2

Weight

Frame size 60mm

Model

Max. holding torque

Rotor moment of inertia

Rated current
Basic step angle 0.72 / 0.36 (Full/Half step)

Rated excitation voltage 24VDC ±10%
Rated excitation current 0.33A
Static friction torque 8kgf.cm
Rotation part inertia 29×10
Insulation class B type (130℃)
B type brake Power on: brake is released, power off: brake is operating
Operating time Max. 25ms

Electro-Magnetic Brake

Releasing time Max. 20ms

※

2

Weight

Frame size 85mm

Model

Max. holding torque

Rotor moment of inertia

Rated current
Basic step angle 0.72 / 0.36 (Full/Half step)

Rated excitation voltage 24VDC ±10%
Rated excitation current 0.62A
Static friction torque 40kgf cm
Rotation part inertia 153×10
Insulation class B type (130℃)
B type brake Power on: brake is released, power off: brake is operating
Operating time Max. 60ms

Electro-Magnetic Brake

Releasing time Max. 15ms

※

2

Weight

※

1: Max. holding torque is maintenance torque in stopping the motor when supply the rated current

and is standard method for comparing the performance of motors.

※

2: The weight includes packaging. The weight in parenthesis is for unit only.

Common specications

Insulation class B type (130℃)
Insulation resistance Over 100MΩ (at 500VDC megger) between motor coil-case
Dielectric strength 1 kVAC 50/60Hz for 1 min between motor coil-case

Temperature rise

Environ­ment

Stop angle error
Shaft vibration
Radial movement
Axial movement
Concentricity for

shaft of setup in-low
Perpendicularity of

set-up plate shaft
Protection structure P30 ( EC34-5 standard)

※

1: Specifications are for full-step angle, with no-load (values may vary by load size.)

※

2: T.I.R.(Total Indicator Reading) - The difference between the maximum and minimum readings of a

※

3: Amount of radial shaft displacement when adding a radial load (5N) to the tip of the motor shaft.

※

4: Amount of axial shaft displacement when adding a axial load (10N) to the shaft.

※

Rotation direction of the Motor and the Gear Head output axis is same.

※

Environment resistance is rated at no freezing or condensation.

Ambient temp.

I

Ambient humi.

I

※

1

※

2

※

3

※

※

1

1.3 kgf.cm (0.13 N.m) 1.8 kgf cm (0.18 N m) 2.4 kgf.cm (0.24 N.m)

2

35 g cm
(35×10-7 kg.m2)

/ 0.36 (Full/Half step)

---

-7

2

kg cm

Approx. 0.44kg

(approx. 0.39kg)

A4K­S564-B

※

1

4.2 kgf.cm (0.41 N.m) 8.3 kgf cm (0.81 N m)
175 g.cm

(175×10-7 kg.m2)

0.75 A/Phase

Approx. 1 03kg

(approx. 0.95kg)

A21K-

M596-B

※

1

21 kgf.cm (2.1 N.m) 41 kgf.cm (4 0 N m) 63 kgf cm (6.2 N.m)
1,400 g.cm

(1,400×10-7 kg.m2)

1.4A/Phase 2.8A/Phase 1.4A/Phase 2.8A/Phase 1.4A/Phase 2 8A/Phase

Approx. 2.74kg

(approx. 2.64kg)

5-phase excitation for rated current, below 80℃ at stopped

(resistance method)

-10 to 50℃, storage: -25 to 85℃
35 to 85%RH, storage: 35 to 85%RH

±3' (±0 05 )

0.05mm T.I.R.

Max. 0 025mm (Load 5N)
Max. 0 075mm (Load 10N)

0.075mm T.I.R.

0.075mm T.I.R.

Ø0 075 A

A4K­M564-B

I

2

1.4A/Phase

I

---

-7

2

kg.cm

A21K-

G596-B

I

2

l

---

-7

2

kg.cm

dial gauge during one complete revolution of monitored reference.

A

2

54 g.cm
(54×10-7 kg m2)

Approx. 0.49kg

(approx. 0.44kg)

A8K­S566-B

280 g cm
(280×10-7 kg.m2)

0.75 A/Phase

Approx. 1.33kg

(approx. 1 25kg)

A41K­M599-B

2,700 g cm
(2,700×10-7 kg.m2)

A8K­M566-B

I I

2

1.4A/Phase 1.4A/Phase 2 8A/Phase

I I

A41K­G599-B

I I

2

I I

Approx. 3.84kg

(approx. 3.74kg)

◎ Ø0 075 A

0.05

68 g.cm
(68×10-7 kg.m2)

Approx. 0.59kg

(approx. 0.54kg)

A16K­M569-B

16 6 kgf.cm (1 63 N m)
560 g.cm

(560×10-7 kg m2)

Approx. 1.73kg

(approx. 1.65kg)

A63K­M5913-B

4,000 g.cm
(4,000×10-7 kg m2)

Approx. 4.84kg

(approx. 4.74kg)

2

2

A16K­G569-B

A63K­G5913-B

2

Frame size 42mm

42

±0.2

31

4-M3 Tap
DP 4 5

AWG26
UL3266

Frame size 60mm

60

±0.3

50

4-Ø4.5
Hole

AWG24
UL3266

Frame size 85mm

85

±0.3

70

AWG22
UL3266

Connection Diagram

00

Autonics 5-phase stepper motors use pentagon wiring methods.
Therefore, it is a proper product for the 5-phase stepper motor driver which is working as a bipolar
pentagon driving method.
The connections of each phase and each color of the lead-wire are as follows:

< Pentagon wiring > < Standard wiring (option) >

E phase

Black

D phase B phase

Green

C phase

※

In case of connecting standard
connection type models to 5-phase
motor drivers, make sure that lead wire
of the motor must be connected as
specified in the right table.

Installation

00

1. Mounting direction

Motor can be mounted in any directions-facing up, facing down and side ways. No matter which
direction motors to be mounted, be sure not to apply overhung or thrust load on the shaft.
Refer to the table below for allowable shaft overhung load / thrust load.

Overhung

load

※

1

D

~

※

1: The distance from the shaft tip (mm)

Motor size

Frame size
42mm
Frame size
60mm
Frame size
85mm

Do not apply excessive force on motor cable when mounting motors.
Do not forcibly pull or insert the cable. It may cause poor connection or
disconnection of the cable.
In case of frequent cable movement required application, proper safety
countermeasures must be ensured.

The distance from the shaft in front (mm), Allowable overhung load [kgf (N)]

D=0 D=5 D=10 D=15 D=20

2 (20) 2.5 (25) 3.4 (33) 5.2 (51)

f--------------1

6.3 (62) 7.5 (74) 9 5 (93) 13 (127) 19 (186) 10 (98)

26 (255) 29 (284) 34 (333) 39 (382) 48 (470) 30 (294)

±0.15

4 5

Sectioned A-A’

Model L
A1K-S543-B 33

A2K-S544-B 39

A3K-S545-B 47

±0.15

7.5

90°

±0.15

7.5

Sectioned A-A’

Model L
A4K-

564-B 48.5

A8K-

566-B 59.5

A16K-

569-B 89

4-Ø6.5
Hole

Sectioned A-A’

Blue

Side ways

±0.15

13

90°

±0.15

13

Model L

A21K-

596-B 68

A41K-

599-B 98

A63K-

5913-B 128

A phase

Red

Orange
or Yellow

p

~I

±1

±0.5

L

20

2

0

-0.012

±0 25

15

Ø5

0

-0.021

A

A'

Ø22

Ø5, 0.6m

±1

24

1.5

±0.25

20

0

0

-0.039

-0.015

Ø8

Ø36

±1

37

2 10

±0.25

25

0

A

-0.046
0

-0.018

Ø60

A'

Ø14

Orange Black

Lead wire color for
Standard connection type

Gray+Red Blue
Yellow+Black Red
Orange+White Orange
Brown+Green Green
Blue+Purple Black

±1

L

7

A

A'

Ø5, 0.6m

±1

Ø7, 0 6m

Green

E phase

Blue Purple

D phase B phase

Red

White

Thrust

load

~

------,--------1

23

Ø37

Ø1.5×2-wire, 0.6m

Brake lea d wire

26.5

Ø55

Ø1.5×2-wire, 0.6m

Brake lea d wire

35L

Ø1.5×2-wire, 0.6m

Brake lea d wire

Gray

A phase

Brown

C phase

Lead wire color for
Pentagon connection type

Facing up, down

Yellow

ij

~

Allowable thrust

load [kgf (N)]

-

@

5 (49)

I

(unit: mm)

Ø81

Thrust

load

2. Motor mounting

With considering heat radiation and vibration isolation, mount the motor as tight as possible against
a metal panel having high thermal conductivity such as iron or aluminum.
When mounting motors, use hexagon socket screws, spring washers and flat washers.
Refer to the table below for allowable thickness of mounting plate and using bolt.

Hexagon socket screw

Flange In Low
(Counter bore or

Through hole)

3. Connection with load

When connecting the load, be sure of alignment of the center, tension of the belt, and parallel of the
pulley. When connecting the load such as a pulley or a belt, be cautious of the allowable thrust
load, radial load, and shock, as well as tighten the screw for a coupling or a pulley not to be
unscrewed.
When attach a coupling or a pulley to the shaft, be cautious of damage on shaft or bearings and it
is banned to disassemble or change structure of the device or the shaft for connecting with a load.
Please contact us if necessary.

Ball screw or TM screw Flexible coupling

When connecting a load such as Ball screw or Tm screw directly to the shaft of the motor,
use flexible coupling as image showing above. If the center of the load and the shaft is not aligned,
it may cause severe vibration, damage on shaft or shortened life cycle of bearings.

4. Installation condition

Install the motor in a place that meets certain conditions specified below.
It may cause product damage if instructions are not following.

①

The inner housing installed indoor

(This unit is manufactured and designed for attaching to equipment. Install a ventilation device.)

②

Within -10 to 50

③

Within 35 to 85%RH (at non-dew status) of ambient humidity

④

The place without explosive, flammable and corrosive gas

⑤

The place without direct ray of light

⑥

The place where dust or metal scrap does not enter into the unit

⑦

The place without contact with water

⑧

The place without contact with strong alkali or acid material

⑨

The place where easy heat dissipation could be made

⑩The place where no continuous vibration or severe shock

⑪

The place with less salt content

⑫

The place with less electronic noise occurs by welding machine, motor

⑬

The place where radioactive substances and magnetic fields does not exist and is not in the

vacuum status

Throught hole

Hexagon nut

Spring washers,
Flat washers

℃ (at non-freezing status) of ambient temperature

Mounting plate

※

Use Autonics flexible coupling (ERB Series).

, oil, or other liquid

Motor size

Frame size
42mm

Frame size
60mm

Frame size
85mm

The thickness of
mounting plate

Min. 4mm M3

Min. 5mm M4

Min. 8mm M6

, etc.

Using bolt

Cautions during Use

1. Follow instructions in 'Cautions during Use'.
Otherwise, It may cause unexpected accidents.

2. Using motors at low temperature may cause reducing ball bearing's grease consistency
and friction torque is increased.
Start the motor in a steady manner since motor's torque is not to be influenced.

3. When power is supplied or not to the brake, the unit may occur clack sound.

4. When drive the motor, supply power to electro-magnetic brake for releasing the brake.
When the brake pad is worn out, the product life cycle is shorten, he rated static friction
torque is reduced.

5. For using motor, it is recommended to maintenance and inspection regularly.

Unwinding bolts and connection parts for the unit installation and load connection

①

Strange sound from ball bearing of the unit

②

Damage and stress of lead cable of the unit

③

Connection error with driver

④

Inconsistency between the axis of motor output and the center, concentric (eccentric,

⑤

declination) of he load, etc.

6. This unit may be used in the following environments.

Indoors (in the environment condition rated in 'Specifications')

①

Al itude max. 2,000m

②

Pollution degree 2

③

Installa ion category II

④

1----00

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DR W170417AB