Autonics GEARED TYPE 5 PHASE STEPPER MOTOR Instruction Manual

DRW161300AB

Autonics

GEARED 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. Fix the unit on the metal plate.

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

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

Failure to follow this instruction may result in re.

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

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

5. Check 'Connections' before wiring.

Failure to follow this instruction may result in re.

6. Do not disassemble or modify the unit.

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

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

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

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

Failure to follow this instruction may result in personal injury.

9. 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.

10. 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

Max. holding torque

Item

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.

M 4A 5 5 W10K

Motor phase

Rated current

Motor frame size

L

_______

G 5

-rl

Motor type

Shaft type

Motor length

4 42×42mm
6 60×60mm

Jf---------+--------+-----------1

9 85×85mm

Gear ratio

5 1:5

7.2 1:7.2
10 1:10

G Geared type

No mark Single shaft
W Dual shaft

5 47mm
6 59 5mm

~~

9 98mm

5 5 phase

S 0.75 A/Phase
M 1.4 A/Phase
G 2.8 A/Phase

kgf.cm (Refer to

Square

motor specication)

A Autonics motor

Specications Dimensions

Frame size 42mm

Model A10K-S545(W)-G5 A15K-S545(W)-G7.2 A15K-S545(W)-G10
Max. holding torque

F===+===~=====r:::===~

Rotor moment of

※

2

inertia
Rated current 0.75A/Phase

Basic step angle

Permissible speed
range

Backlash [min] ±35' (0.58

※

3

Weight

Frame size 60mm

Model A35K-M566(W)-G5
Max. holding torque
Rotor moment of

※

2

inertia
Rated current 1.4A/Phase

Basic step angle

Permissible speed
range

Backlash [min] ±20' (0.33

※

3

Weight

Frame size 85mm

Model

Max. holding

※

1

torque
Rotor moment

of inertia
Rated current 1.4A/Phase 2.8A/Phase 1.4A/Phase 2.8A/Phase 1.4A/Phase 2.8A/Phase
Basic step

angle
Permissible

speed range
Backlash [min] ±15' (0 25

※

3

Weight

※

1: Max. holding torque is standard torque when supply the rated current and stop the motor for

comparing the specifications of motors.

※

2: Moment of rotor inertia indicates a part, except Gear Head part.

※

3:

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

Common specications

Operation type Planetary Geared type
Insulation class B type (130℃)
Insulation resistance Over 100MΩ (at 500VDC megger) between motor coil-case

Dielectric strength

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 IP30 (IEC34-5 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.

~

Connection Diagram

00

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

E Phase

Black

D Phase B Phase

WI

Green

※

1

10 kgf cm (1.0 N.m) 1.5 kgf cm (1.5 N.m)

68 g.cm2 (68x10-7 kg m2)

0.144 /0.072

(Full/Half step)

0 to 360 rpm 0 to 250 rpm 0 to 180 rpm

)

Approx. 0.68kg (approx. 0.58kg)

※

1

35 kgf.cm (3.5 N.m) 40 kgf cm (4.0 N.m) 50 kgf.cm (5 0 N.m)

280 g.cm2 (280x10-7 kg.m2)

0.144 /0.072

(Full/Half step)

0 to 360 rpm 0 to 250 rpm 0 to 180 rpm

)

Approx. 1 57kg (approx. 1.3kg)

A140K­M599(W)-G5

140 kgf.cm (14 N.m) 200 kgf.cm (20 N.m)

2,700 g cm2 (2,700x10-7 kg m2)

※

2

0.144 / 0.072

(Full/Half step)

0 to 360 rpm 0 to 250 rpm 0 to 180 rpm

Approx. 4.88kg (approx. 4.4kg)

Ambient temp.

I

Ambient humi.

I

※

1

※

2

※

3

※

A140K­G599(W)-G5

I I I

I I I

)

1 kVAC (at 0.75 A/Phase is 0.5 kVAC) 50/60Hz for 1 min between motor coil-

case
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.

dial gauge during one complete revolution of monitored reference.

Ø0 075 A

0.1 /0.05

(Full/Half step)

A40K-M566(W)-G7.2 A50K-M566(W)-G10

0.1 /0 05

(Full/Half step)

A200K­M599(W)-G7.2

0.1 / 0 05

(Full/Half step)

A

A200K­G599(W)-G7.2

◎ Ø0.075 A

0.05

-----l

Blue

A Phase

Red

C Phase

Orange

or Yellow

0.072 /0.036

(Full/Half step)

0.072 /0 036

(Full/Half step)

A200K­M599(W)-G10

0.072 / 0 036

(Full/Half step)

A200K­G599(W)-G10

00

Frame size 42mm

42

□

0

※

±0.2

60

88

4-M4
DP 8

±0.2

-0.01

-0.02

31

0

4

-0.03

Sectioned A-A'

-0.01

Ø26

Sectioned A-A' Sectioned B-B'

±0.5

Ø70

0

0

-0.025

Ø37

0

+0.0

2.5

±0 5

Ø104

0

0

-0.03

Ø61

Sectioned A-A'

31

Frame size 60mm

□

4-M5
DP 10

Frame size 85mm

4-M8
DP 15

These dimensions are for dual shaft models. Single shaft models do not include shafts indicated in

the dotted lines.

Installation

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.

※

1: The distance from the shaft in front (mm)

Motor size

Frame size
42mm
Frame size
60mm

1 1 1 1 1 1 1 r

Frame size
85mm

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

Side ways

Overhung

load

1

※

n

ru

D

The distance from the shaft in front (mm), Allowable overhung load [kgf (N)]
D=0 D=5 D=10 D=15 D=20

7 3 (73) 8.4 (84) 10 (100) 12.3 (123)

25 (250) 27 (270) 30 (300) 34 (340) 39 (390) 10 (100)

48 (480) 54 (540) 60 (600) 68 (680) 79 (790) 30 (300)

-0 015

Ø8

-0 018

Ø12

-0.018

Ø18

6

7

4

+0.1

0

28

A

A'

38

25 10

A

A'

0

-0.03

±1

33

26

25

A

A'

0

+0.1

3.5

±1

±1

35

25

0

-0.03

4

Parallel key

4714

±0.2

25

Parallel key

Thrust

load

.)

~ y

89.5

74 51012

Min. 600

AWG 26
UL 3266

±1

59.5

7

.

---

Min. 600

±0.2

AWG 24
UL 3266

Sectioned B-B'

98

10

Min. 600

0

6

0

-0.03

-0.03

6

Facing up, down

-

15

B

B'

21

20

B

---

..

B'

7.5

AWG 22
UL 3266

Sectioned B-B'

Thrust

load

=

:q

(unit: mm)

±1

-0.003

-0.008

Ø5

4.5

±1

±0.25

0

-0.015

Ø8

- I

·~

±0.15

90

,

±0.15

7.5

±1

32

±0.25

25

0

-0 018

B

Ø14

85

B'

±0.15

13

90

±0.15

13

i·

Allowable
thrust load

5 (50)

i~

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

Mounting plate

Flange In Low
(Counter bore or Through hole)

3. Connection with load

When connecting the load, be sure of the center, tension of the belt, and parallel of the pulley.
When connecting the load such as a pulley
and shock. Tighten the screw for a coupling or a pulley not to be unscrewed.
If the center of the load is not matched to that of shaft, it may cause severe vibration, shaft damage
or shortened life cycle of bearings.
When connecting a coupling or a pulley on the motor shaft, be sure of damage of the motor shaft
and the motor shaft bearing.
Please contact us if necessary.

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 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 is not entered into the unit

⑦

The place where water

⑧

The place where strong alkali or acidity does not exist closely

⑨

The place where easy heat dissipation could be made

⑩

The 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 no radioactive substances and magnetic fields exist.

t shall be no vacuum status as well.

Do not disassemble or modify motor shaft to connect with the load.

Ball screw or TM screw

℃ (at non-freezing status) of ambient temperature

Flexible coupling

※

Use Autonics flexible coupling (ERB Series).

, oil, or other liquid are not touched

Motor size

Frame size
42mm

Frame size
60mm

Frame size
85mm

, a belt, be sure of the allowable thrust load, radial load,

The thickness of
mounting plate

Min. 5mm M4

Min. 8mm M5

Min. 12mm M8

, etc.

Using bolt

Cautions during Use

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

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

3. Be careful of backlash when positioning the motors in bo h CW/CCW directions.
Geared type stepper motor use he high accuracy gear for positioning and it realizes low
backlash. However, when positioning the motor in bo h CW/CCW directions, it may cause

problem.

Therefore, make sure that motor positioning will be made in one single direction in case of
geared type motors.

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

Unwinding bolts and connec

①

Strange sound from ball bearing of the unit

②

Damage and stress of lead cable of the unit

③

Connection error wi h driver

④

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

⑤

declination) of the load, etc.

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

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

①

Altitude max. 2,000m

②

Pollution degree 2

③

Installation category II

④

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~

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DRW16130 0A B