Autonics SHAFT TYPE 5 PHASE STEPPER MOTOR Instruction Manual

DRW171405 A A

Autonics

SHAFT TYPE 5 PHASE

STEPPER MOTOR

INSTRUCTION MANUAL

24 42 60 85

Thank you for choosing our Autonics product.

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.

※

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

Warning
Caution

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

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

S 4A 5 3 W1K

Motor frame size
(width×length)

Motor phase

.______

Rated current

Max. Holding torque

Standard wiring is optional.(Except

※1:

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).

S

Wire connection

Shaft type

Motor length

24

□

2

(24×24mm)

42

□

4

(42×42mm)

60

□

6

(60×60mm)

85

□

9

(85×85mm)

_

24 motor model, A4K-G564(W), A8K-G566(W).)

□

_______J-------r====r=

□

No mark

Pentagon

1

※

S

Standard

No mark

Single shaft

W

Dual shaft

3

30.5mm

4

46.5mm

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

kgf.cm

Square

(Refer to motor specications)

A

utonics motor

________j=====::!

Specications

□24

I

Model 02K-S523(W) 04K-S525(W)

Max. Holding

1

※

torque

Rotor moment of
inertia

Rated current 0.75 A/Phase

Standard step angle 0.72 / 0 36 (Full/Half step)

2

※

Weight

□42

Model A1K-S543(W)-

Max. Holding

1

※

torque

Rotor moment of
inertia

Rated current 0.75 A/Phase

Standard step angle 0.72 /0.36 (Full/Half step)

2

※

Weight

□60

Model

Max. Holding

1

※

torque

Rotor moment
of inertia

Rated current

Standard step
angle

2

※

Weight

□85

Model

Max. Holding

1

※

torque

Rotor moment of
inertia

Rated current 1.4 A/Phase 2 8 A/Phase 1.4 A/Phase 2.8 A/Phase 1.4 A/Phase 2 8 A/Phase

Standard step angle 0.72 / 0 36 (Full/Half step)

2

※

Weight

1: Max. Holding torque is a retaining torque when 5 phase excitation stopped after the rated current

※

is flowed in motor.

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

※

Common specication

I

Insulation class B type (130℃)

Insulation resistance Over 100㏁ (at 500VDC megger) between Motor coil-case

Dielectric strength 1 kVAC(at 0.75 A/Phase is 0.5 kVAC) 50/60Hz for 1 minute between Motor coil-case

Temperature rise 5-Phase excitation for rated current, below 80℃ while stopped

Ambient
temperature

Ambient humidity 35 to 85%RH, Storage: 35 to 85%RH

Environment

I

Positional accuracy

Shaft vibration

Radial Movement

Axial Movement

Concentricity for shaft of
setup in-low

Perpendicularity of set­up plate shaft

Protection structure IP30 ( EC34-5 standards)

1: Specications are for full-step angle, with no-load. (Values may vary by load size.)

※

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

※

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

※

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

※

gauge during one complete revolution of the monitored reference.

Environment resistance is rated at no freezing or condensation.

※

0.18 kgf cm
(0.018 N.m)

2

4.2 g.cm
(4.2x10-7 kg m2)

Approx. 0.10kg (approx. 0.08kg) Approx. 0.16kg (approx. 0.12kg)

A4K­G564(W)

0.075

A2K-S544(W)-

1 8 kgf.cm
(0.18 N m)

54 g.cm
(54x10-7 kg m2)

Approx. 0.39kg
(approx. 0.3kg)

I

A8K­S566(W)-

8.3 kgf cm
(0.81 N.m)

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

0.75 A/Phase

A41K-

M599(W)-

□

41 kgf cm
(4.0 N m)

2,700 g cm
(2,700x10-7 kg.m2)

Approx. 3.25kg
(approx. 2.8kg)

A

A

□

1.3 kgf cm
(0.13 N.m)

2

35 g cm
(35x10-7 kg.m2)

Approx. 0 34kg
(approx. 0 25kg)

A4K-

A4K-

S564(W)-

M564(W)-

□

4 2 kgf.cm
(0.41 N m)

175 g.cm
(175x10-7 kg m2)

0.75 A/Phase

0.72 /0 36 (Full/Half step)

Approx. 0.85kg (approx. 0 6kg) Approx. 1.05kg (approx. 0 8kg)

A21K-

M596(W)-

21 kgf.cm
(2.1 N.m)

1,400 g.cm
(1,400x10-7 kg m2)

Approx. 2.15kg
(approx. 1.7kg)

1

※

4

※

2

※

3

※

□

2

1.4 A/Phase 2.8 A/Phase

A21K-

G596(W)-

□

2

-10 to 50℃, Storage: -25 to 85

±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.

Ø

┻

0.28 kgf cm
(0.027 N.m)

2

8.2 g cm
(8.2x10-7 kg m2)

I

A8K­G566(W)

□

□

A

A3K-S545(W)-

2.4 kgf cm
(0 24 N.m)

2

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

Approx. 0.49kg
(approx. 0.4kg)

I

A16K­M569(W)-

16.6 kgf cm
(1.63 N.m)

560 g.cm
(560x10-7 kg.m2)

Approx. 1 55kg
(approx. 1.3kg)

A63K-

M5913(W)-

63 kgf.cm
(6 2 N.m)

4,000 g.cm
(4,000x10-7 kg m2)

Approx. 4 25kg
(approx. 3 8kg)

□

2

A8K­M566(W)-

□

2

1.4 A/Phase 2.8 A/Phase 1.4 A/Phase 2.8 A/Phase

A41K-

G599(W)-

□

2

℃

Ø0 075

◎

0 05

↗

□

A63K-

G5913(W)-

□

2

□

2

A16K­G569(W)-

Dimensions

The dimensions are for dual shaft models.

※

Single shaft models do not include shafts indicated in the dotted lines.

For flexible coupling (ERB Series) information, refer to the catalogue. (Except for

※

24

□

◎

4-M2.6

Depth

2.5

±0.25

AWG 26
UL 3265

42

□

◎

4-M3
Depth 4.5

±0.2

60

□

±0.3

50

85

□

Tap

AWG 24

UL 3266

AWG 22

UL 3266

31

AWG 26
UL 3266

70

□

◎

4-Ø4 5
Tap

□

◎

4-Ø6.5

±0.3

70

24

□

±0.25

19

0,o

19

42

□

±0.2

31

60

□

±0.3

50

85

□

±0.3

Sectioned A-A'

Model L
02K-S523(W) 30.5
04K-S525(W) 46.5

Sectioned A-A'

Model L

A1K-543(W)-

A2K-544(W)-

A3K-545(W)-

±0.15

7.5

90

±0.15

7.5

Sectioned A-A'

Model L

564(W)-

A4K-

□

A8K-

566(W)-

□

A16K-

□

±0.15

13

90

±0.15

13

Sectioned A-A'

Model L

596(W)-

A21K-

□

A41K-

599(W)-

□

A63K-

5913(W)-

□

±0.2

4 5

±0.15

4 5

569(W)-

□
□

±0.5

±0.5

A'

2

A

7

Ø5, 0.6m

Ø7, 0 6m

L

L

Ø5, 0 6m

±1

L

±1

L

±1

15

10

~

0

0

-0.025

-0.012

Ø5

Ø18

1 5

±0.5

20

±0.25

15

0

□
□
□

0

□
□

□

25

0

-0.0 6

0

-0.018

Ø14

Ø60

68

98

128

□

-0.021

Ø22

-0.039

Ø36

48 5

59 5

89

37

±0.25

A

0

-0.012

Ø5

A'

33

39

47

±1

24

±0.25

20

A

0

-0.015

Ø8

A'

1 5

±1

10

A

A'

2

Connection Diagram

Refer to the below for correlations of motor's each phase(coil) and the color of lead wire.
Note that Pentagon connection type is a standard model. Standard connection type is an option
model.

●

Pentagon connection type (Standard)

Blue

E phase

Black

D phase B phase

WI

Green

In case of connecting standard
connection type models to
motor drivers, make sure that
motor's lead wire connection
must be made as specified in
the table.

C phase

A phase

Orange

Yellow

I

Red

or

Lead wire color for Standard
connection type

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

●

Standard connection type (Option)

Green

E phase A phase

Orange Black

Joe

Blue Purple

D phase B phase

Red

3 C

:______re

White

C

phase

Lead wire color for Pentagon
connection type

85)

□

±1

Min. 200

(Unit: mm)

20

Gray

Brown

Yellow

±1

10

d

A

A'

±1

15

A

A'

±1

21

±0.25

A

A'

±1

32

±0.25

25

A

A'

Motor Installation

1. Motor installation direction

The motor can be installed in any direction horizontally, or vertically. Please take careful
consideration of shaft overhung load and thrust load under all conditions. Please refer to the table
below for permissible overhung load and thrust load of the shaft.

0

-0.012

Ø5

0

-0.012

Ø5

0

-0.015

Ø8

0

-0.018

Ø14

I

-[DUg~

Motor size

24 2(20) 2.5(25) 3.4(33) - -

□

42 2(20) 2.5(25) 3.4(33) 5 2(51) -

□

60 6.3(62) 7.5(74) 9 5(93) 13(127) 19(186)

□

85 26(255) 29(284) 34(333) 39(382) 48(470)

□

When installing the motor, make sure that excessive force is not applied
to the motor cable. Also, the motor cable must not be pulled or inserted
too tightly. If the motor is operated with excessive force applied on the
cable, it may result in failed contact or disconnection. Please take safety
measures when excessive force or continuous operation is required.

2. Motor installation method

When installing the motor, carefully consider heat radiation and vibration resistance. Mount the unit
tightly on the surface of a metal with high thermal conductivity. (steel, aluminum, etc.)
Use hexagon bolts, spring washers and flat washers when installing the motor.
Please refer to the table below for mounting plate size and bolt types.

●

Through hole type

Hexagon socket bolt

Flange In Low
(Counter bore or Through hole)

I

Motor size Mounting plate size (depth) Bolt type

24 Min. 3mm M2.6

□

42 Min. 4mm M3

□

60 Min. 5mm M4

□

85 Min. 8mm M6

□

3. Load connection

Use a flexible coupling when attaching a load (ball-screw, TM-screw, etc.) directly on the shaft of
the motor. If the center does not match the load, vibration, degradation of the bearing, motor shaft
damage, or other problems may occur. When attaching the load, do not modify or disassemble the
motor or the shaft. When attaching the load of pulleys or belt please consider the thrust load, radial
load, and shock.

※

For flexible coupling(ERB Series) information, refer to the catalogue.

4. Installation conditions

Please install the motor under the following conditions. Usage outside these conditions may result
in product damage.

Indoor environment (this product is inteded for use with machinery.)

①

Ambient temperature : -10℃ to 50℃ (non-freezing status)

②

Ambient humidity : 35% to 85%RH (non-condensation)

③

Environments without explosive, flammable, or corrosive gas

④

Environments without explosure to direct sunlight

⑤

Environments with minimal dust

⑥

Environments without direct contact with water or oil

⑦

Environments suitable for heat dissipation

⑧

Environments without concentrated vibration or excessive shock

⑨

Environments with low salinity

⑩

Environments with minimal electromagnetic noise from other machinery

⑪

Environments without radioactive substances or magnetic fields

⑫

Must be installed in a non-vacuum state.

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. 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, declination)

⑤

of the load, etc.

4. 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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I

Horizontal Vertical

Permissible overhung load [kgf(N)] by distance from shaft tip (mm)
0 5 10 15 20

Spring washer
Flat Washer
Hexagon nut

Through hole

Mounting plate

Ball screw or TM screw Flexible coupling

■

■

■

■

■

■

■

■

■

facing up

●

Tap hole type

Hexagon socket bolt

Flange In Low
(Counter bore or Through hole)

facing down

Stepper

Motor

Vertical

Unit: kgf(N)

Permissible
thrust load

Under the
load of motor

Tap hole

Mounting plate

-

-

-

DRW171405AA