Oriental motor CRK524PMAP, CRK523PMAP, CRK523PMBP, PK523PMB, CRK524PMBP Operating Manual

HP-4189-2

5-Phase Stepping Motor Unit

CRK Series

OPERATING MANUAL

Thank you for purchasing an Oriental Motor product.
This Operating Manual describes product handling procedures and safety precautions.

• Please read it thoroughly to ensure safe operation.

• Always keep the manual where it is readily available.

Table of contents

1

Introduction .................................. 2

2 Safety precautions ....................... 4

3 Precautions for use ...................... 7

4 Preparation................................. 10

4.1 Checking the product ................10

4.2 Combinations of motors and

drivers .......................................10

4.3 Names and functions of parts ...13

5 Installation.................................. 15

5.1 Location for installation .............15

5.2 Installing the motor.................... 15

5.3 Installing a load ......................... 17

5.4 Permissible overhung load and

permissible thrust load .............. 17

5.5 Installing the driver....................19

5.6 Installing and wiring in compliance

with EMC Directive.................... 21

6 Connection..................................24

6.1 Connection example................. 24

6.2 Suitable contacts and

connector housings .................. 27

6.3 Connecting the power supply ... 29

6.4 Explanation of I/O signals......... 29

6.5 Timing chart.............................. 33

7 Setting.........................................34

7.1 Step angle ................................ 34

7.2 Pulse input modes.................... 36

7.3 Smooth drive function............... 36

7.4 Motor current ............................ 37

8 Inspection....................................42

9 Troubleshooting and remedial

actions ........................................43

10 Options (Sold separately)............46

1 Introduction

－2－

1 Introduction

 Before using the motor unit

The product described in this manual has been designed and manufactured for use in
general industrial machinery, and must not be used for any other purpose. For the
driver’s power supply, use a DC power supply with reinforced insulation on its
primary and secondary sides. Oriental Motor Co., Ltd. is not responsible for any
damage caused through failure to observe this warning.

 Overview of the product

The CRK series is a unit product comprised of an open-case microstep driver
equipped with smooth drive function and a five-phase stepping motor or various
geared motors designed for high torque and low vibration. The smooth drive
function allows microstep drive to be performed automatically within the driver
without having to change the pulse setting, thereby enabling low-vibration,
low-noise operation.

 Standards and CE Marking

This product is recognized by UL and certified by CSA, and bears the CE Marking
(EMC Directive) in compliance with the EN Standards.

• Applicable Standards

Applicable Standards

Certification

Body

Standard

File No.

CE

Marking

UL 60950
CSA C22.2 No.60950

E208200

Motor

UL 1004, UL 2111
CSA C22.2 No.77
CSA C22.2 No.100

E64199

Driver

UL 60950
CSA C22.2 No.60950

UL

E208200

EMC

Directive

∗ Approval conditions for UL 60950: Class III equipment, SELV circuit, Pollution degree 2

∗ For unit models, Oriental Motor declares conformance with the EMC Directive individually.

1 Introduction

－3－

• For Low Voltage Directive

This product is not subject to the EC’s Low Voltage Directive because its input
power supply voltage is 24 VDC. However, the user is advised to perform the
following actions when conducting product installation and connection.

• This product is designed for use within machinery, so it should be installed within
an enclosure.

• For the driver’s power supply, use a DC power supply with reinforced insulation
on its primary and secondary sides.

• For EMC Directive (89/336/EEC, 92/31/EEC)

This product bears the CE mark under the conditions specified in “Example of
motor and driver installation and wiring” on page 23.
Be sure to conduct EMC measures with the product assembled in your equipment by
referring to 5.6 “Installing and wiring in compliance with EMC Directive” on page

21.

 Hazardous substances

RoHS (Directive 2002/95/EC 27Jan.2003) compliant

2 Safety precautions

－4－

2 Safety precautions

The precautions described below are intended to prevent danger or injury to the user
and other personnel through safe, correct use of the product. Use the product only
after carefully reading and fully understanding these instructions.

Warning

Handling the product without observing the instructions
that accompany a “Warning” symbol may result in serious
injury or death.

Caution

Handling the product without observing the instructions
that accompany a “Caution” symbol may result in injury or
property damage.

Note

The items under this heading contain important handling
instructions that the user should observe to ensure safe
use of the product.

Warning

General

• Do not use the product in explosive or corrosive environments, in the presence of
flammable gases, locations subjected to splashing water, or near combustibles.
Doing so may result in fire or injury.

• Assign qualified personnel the task of installing, wiring, operating/controlling,
inspecting and troubleshooting the product. Failure to do so may result in fire or
injury.

• If this product is used in an elevator application, be sure to provide a measure for
the position retention of moving parts. The motor loses its holding torque when
the power supply is turned off. Failure to provide such a measure may cause the
moving parts to fall, resulting in injury or damage to the equipment.

Installation

• Install the motor and driver in their enclosures in order to prevent injury.

Connection

• Keep the driver’s power supply input voltage within the specified range to avoid
fire.

• For the driver’s power supply, use a DC power supply with reinforced insulation
on its primary and secondary sides. Failure to do so may result in electric shock.

• Connect the cables securely according to the wiring diagram in order to prevent fire.

• Do not forcibly bend, pull or pinch the power supply cable or motor cable. Doing

so may result in fire.

2 Safety precautions

－5－

Operation

• Turn off the driver power supply in the event of a power failure, or the motor may
suddenly start when the power is restored and may cause injury or damage to
equipment.

• Do not turn the A.W.OFF (All windings off) input to “ON” while the motor is
operating. The motor will stop and lose its holding ability, which may result in
injury or damage to the equipment.

Repair, disassembly and modification

• Do not disassemble or modify the motor or driver. This may cause injury. Refer
all such internal inspections and repairs to the branch or sales office from which
you purchased the product.

Caution

General

• Do not use the motor and driver beyond their specifications, or injury or damage
to equipment may result.

• Keep your fingers and objects out of the openings in the motor and driver, or fire
or injury.

• Do not touch the motor or driver during operation or immediately after stopping.
The surfaces are hot and may cause a burn.

• If the power supply cable or motor cable connected the driver are forcibly bent or
pulled, the driver will receive stress and may suffer damage.

Transportation

• Do not hold the motor output shaft or motor cable. This may cause injury.

Installation

• Keep the area around the motor and driver free of combustible materials in order
to prevent fire or a burn.

• To prevent the risk of damage to equipment, leave nothing around the motor and
driver that would obstruct ventilation.

• Provide a cover over the rotating parts (output shaft) of the motor to prevent
injury.

2 Safety precautions

－6－

Operation

• Use a motor and driver only in the specified combination. An incorrect
combination may cause a fire.

• Provide an emergency-stop device or emergency-stop circuit external to the
equipment so that the entire equipment will operate safely in the event of a system
failure or malfunction. Failure to do so may result in injury.

• Before supplying power to the driver, turn all input signals to the driver to “OFF.”
Otherwise, the motor may start suddenly and cause injury or damage to
equipment.

• Provide a cover over the rotating parts (output shaft) of the motor to prevent
injury.

• Before moving the motor directly with the hands (as in the case of manual
positioning), confirm that the driver A.W.OFF (All windings off) input is “ON” to
prevent injury.

• Immediately when trouble has occurred, stop running and turn off the driver
power. Failure to do so may result in fire or injury.

Disposal

• To dispose of the motor and driver, disassemble it into parts and components as
much as possible and dispose of individual parts/components as industrial waste.

3 Precautions for use

－7－

3 Precautions for use

This section covers limitations and requirements the user should consider when
using the CRK series.

• Conduct the insulation resistance measurement or withstand voltage
test separately on the motor and the driver.

Conducting the insulation resistance measurement or withstand voltage test with the
motor and driver connected may result in injury or damage to equipment.

• Do not apply an overhung load and thrust load in excess of the
specified permissible limit.

Be sure to operate the motor within the specified permissible limit of overhung load
and thrust load. Operating it under an excessive overhung load and thrust load may
damage the motor bearings (ball bearings). See page 17 for details.

• Operate the motor with a surface temperature not exceeding 100 °C
(212 °F).

The motor casing’s surface temperature may exceed 100 °C (212 °F) under certain
conditions (ambient temperature, operating speed, duty cycle, etc.). Keeping the
surface temperature of the motor casing below 100 °C (212 °F) will also maximize
the life of the motor bearings (ball bearings).
When a harmonic geared type is used, make sure the gear case temperature is kept at
70 °C (158 °F) or below to prevent degradation of grease applied to the gear.

• About maximum static torque at excitation

Maximum static torque at excitation represents a value obtained when the motor is
excited using the rated current. When the motor is combined with a dedicated driver,
the maximum static torque at excitation drops to approximately 50% due to the
current cutback function that suppresses the rise in motor temperature in a standstill
state. Acceleration and operation at the maximum static torque at excitation is
possible in start-up, but it only has approximately 50% holding power after it has
stopped. When selecting a motor for your application, consider the fact that the
holding power will be reduced to approximately 50% after the motor has stopped.

• Preventing electrical noise

See 5.6 ”Installing and wiring in compliance with EMC Directive” on page 21 for
measures with regard to noise.

3 Precautions for use

－8－

• Geared type motors

Backlash

The TH gear output shaft is subject to backlash of 10 to 60 minutes. As for the PL
gear output shaft is subject to backlash of 15 to 35 minutes. As for the PN gear
output shaft is subject to backlash of 2 to 3 minutes. Backlash refers to the looseness
at the gear output shaft, as generated when the input side of the gear is fixed. To
reduce the effect of backlash, positioning should be from one direction only-either
from the CW direction or the CCW direction.

About maximum torque

Always operate geared types with loads not exceeding their maximum torque. If a
geared type is operated with a load exceeding the maximum torque, the gear will be
damaged.

Rotating direction of the gear output shaft

The relationship between the rotating direction of the motor shaft and that of the
gear output shaft changes as follows, depending on the gear type and gear ratio.

Rotating direction

(Relative to the motor rotation direction)

Motor size

Gear type

Gear

ratio

28 mm

(1.1 in.)

42 mm

(1.65 in.)

60 mm

(2.36 in.)

3.6:1

7.2:1
10:1

Opposite

direction

Same direction

TH gear

20:1
30:1

Same

direction

Opposite direction

PL gear
PN gear

5:1

7.2:1
10:1
25:1
36:1
50:1

Same direction

Harmonic gear

50:1

100:1

Opposite direction

About grease of geared motor

On rare occasions, a small amount of grease may ooze out from the geared motor.
If there is concern over possible environmental damage resulting from the leakage of
grease, check for grease stains during regular inspections. Alternatively, install an oil
pan or other device to prevent leakage from causing further damage. Oil leakage
may lead to problems in the customer’s equipment or products.

3 Precautions for use

－9－

• About regeneration

When a large inertial load is operated at high speed, regenerative energy will
generate and increase the power supply voltage, which can damage the driver.
Review the operating condition and make sure regenerative voltage will not
generate.

4 Preparation

－10－

4 Preparation

This section covers the points to be checked along with the names and functions of
the respective parts.

4.1 Checking the product

Upon opening the package, verify that the items listed below are included.
Report any missing or damaged items to the branch or sales office from which you
purchased the product. See pages 10 to 13 for the motor and driver combinations.

• Motor 1 unit

• Driver 1 unit

• Connector housing/contact 1 set (packed in a bag)

Driver model Connector Housing (Molex) Contact (Molex)

Power supply

1 piece 51103-0200
(2 poles)

I/O signals

1 piece 51103-1200
(12 poles)

CRD5103P
CRD5107P
CRD5114P

Motor

1 piece 51103-0500
(5 poles)

19 pieces

50351-8100

• Motor cable 0.6 m (2 ft.) 1 piece

∗

Motor cables are supplied only with unit products of a connector connection

system.

• Operating manual 1 copy

Note

When removing the driver from the conductive protection bag, make sure
your hands are not charged with static electricity. This is to prevent
damage to the driver due to static electricity.

4.2 Combinations of motors and drivers



High-resolution type

Unit model Motor model

Single shaft Double shaft Single shaft Double shaft

Driver
model

CRK523PMAP CRK523PMBP PK523PMA PK523PMB
CRK524PMAP CRK524PMBP PK524PMA PK524PMB

CRK525PMAP CRK525PMBP PK525PMA PK525PMB

CRD5103P

CRK544PMAP CRK544PMBP PK544PMA PK544PMB
CRK546PMAP CRK546PMBP PK546PMA PK546PMB

CRD5107P

CRK564PMAP CRK564PMBP PK564PMA PK564PMB
CRK566PMAP CRK566PMBP PK566PMA PK566PMB

CRK569PMAP CRK569PMBP PK569PMA PK569PMB

CRD5114P

4 Preparation

－11－

 High-torque type

Unit model Motor model

Single shaft Double shaft Single shaft Double shaft

Driver model

CRK513PAP CRK513PBP PK513PA PK513PB
CRK523PAP CRK523PBP PK523PA PK523PB

CRK525PAP CRK525PBP PK525PA PK525PB

CRD5103P

CRK544PAP CRK544PBP PK544PA PK544PB

CRK546PAP CRK546PBP PK546PA PK546PB

CRD5107P

 Standard type

Unit model Motor model

Single shaft Double shaft Single shaft Double shaft

Driver model

CRK543AP CRK543BP PK543NAW PK543NBW
CRK544AP CRK544BP PK544NAW PK544NBW

CRK545AP CRK545BP PK545NAW PK545NBW

CRD5107P

CRK564AP CRK564BP PK564NAW PK564NBW

CRK566AP CRK566BP PK566NAW PK566NBW
CRK569AP CRK569BP PK569NAW PK569NBW

CRD5114P

 TH geared type

Unit model Motor model

Single shaft Double shaft Single shaft Double shaft

Driver

model

CRK523PAP-T7.2 CRK523PBP-T7.2 PK523PA-T7.2 PK523PB-T7.2
CRK523PAP-T10 CRK523PBP-T10 PK523PA-T10 PK523PB-T10

CRK523PAP-T20 CRK523PBP-T20 PK523PA-T20 PK523PB-T20
CRK523PAP-T30 CRK523PBP-T30 PK523PA-T30 PK523PB-T30

CRD5103P

CRK543AP-T3.6 CRK543BP-T3.6 PK543AW-T3.6 PK543BW-T3.6
CRK543AP-T7.2 CRK543BP-T7.2 PK543AW-T7.2 PK543BW-T7.2

CRK543AP-T10 CRK543BP-T10 PK543AW-T10 PK543BW-T10
CRK543AP-T20 CRK543BP-T20 PK543AW-T20 PK543BW-T20

CRK543AP-T30 CRK543BP-T30 PK543AW-T30 PK543BW-T30

CRD5107P

CRK564AP-T3.6 CRK564BP-T3.6 PK564AW-T3.6 PK564BW-T3.6
CRK564AP-T7.2 CRK564BP-T7.2 PK564AW-T7.2 PK564BW-T7.2

CRK564AP-T10 CRK564BP-T10 PK564AW-T10 PK564BW-T10
CRK564AP-T20 CRK564BP-T20 PK564AW-T20 PK564BW-T20

CRK564AP-T30 CRK564BP-T30 PK564AW-T30 PK564BW-T30

CRD5114P

4 Preparation

－12－

 PL geared type

Unit model Motor model

Single shaft Double shaft Single shaft Double shaft

Driver
model

CRK545AP-P5 CRK545BP-P5 PK545AW-P5 PK545BW-P5
CRK545AP-P7.2 CRK545BP-P7.2 PK545AW-P7.2 PK545BW-P7.2
CRK545AP-P10 CRK545BP-P10 PK545AW-P10 PK545BW-P10
CRK543AP-P25 CRK543BP-P25 PK543AW-P25 PK543BW-P25
CRK543AP-P36 CRK543BP-P36 PK543AW-P36 PK543BW-P36
CRK543AP-P50 CRK543BP-P50 PK543AW-P50 PK543BW-P50

CRD5107P

CRK566AP-P5 CRK566BP-P5 PK566AW-P5 PK566BW-P5
CRK566AP-P7.2 CRK566BP-P7.2 PK566AW-P7.2 PK566BW-P7.2
CRK566AP-P10 CRK566BP-P10 PK566AW-P10 PK566BW-P10
CRK564AP-P25 CRK564BP-P25 PK564AW-P25 PK564BW-P25
CRK564AP-P36 CRK564BP-P36 PK564AW-P36 PK564BW-P36
CRK564AP-P50 CRK564BP-P50 PK564AW-P50 PK564BW-P50

CRD5114P

 PN geared type

Unit model Motor model

Single shaft Double shaft Single shaft Double shaft

Driver

model

CRK523PAP-N5 CRK523PBP-N5 PK523PA-N5 PK523PB-N5
CRK523PAP-N7.2 CRK523PBP-N7.2 PK523PA-N7.2 PK523PB-N7.2
CRK523PAP-N10 CRK523PBP-N10 PK523PA-N10 PK523PB-N10

CRD5103P

CRK544AP-N5 CRK544BP-N5 PK544AW-N5 PK544BW-N5
CRK544AP-N7.2 CRK544BP-N7.2 PK544AW-N7.2 PK544BW-N7.2
CRK544AP-N10 CRK544BP-N10 PK544AW-N10 PK544BW-N10

CRD5107P

CRK566AP-N5 CRK566BP-N5 PK566AW-N5 PK566BW-N5
CRK566AP-N7.2 CRK566BP-N7.2 PK566AW-N7.2 PK566BW-N7.2
CRK566AP-N10 CRK566BP-N10 PK566AW-N10 PK566BW-N10
CRK564AP-N25 CRK564BP-N25 PK564AW-N25 PK564BW-N25
CRK564AP-N36 CRK564BP-N36 PK564AW-N36 PK564BW-N36
CRK564AP-N50 CRK564BP-N50 PK564AW-N50 PK564BW-N50

CRD5114P

4 Preparation

－13－

 Harmonic geared type

Unit model Motor model

Single shaft Double shaft Single shaft Double shaft

Driver
model

CRK543AP-H50 CRK543BP-H50 PK543AW-H50S PK543BW-H50S
CRK543AP-H100 CRK543BP-H100 PK543AW-H100S PK543BW-H100S

CRD5107P

CRK564AP-H50 CRK564BP-H50 PK564AW-H50S PK564BW-H50S
CRK564AP-H100 CRK564BP-H100 PK564AW-H100S PK564BW-H100S

CRD5114P

4.3 Names and functions of parts

This section covers the names and functions of parts in the motor and driver.
See the reference page indicated for details on each part.

Motor

Illustration shows the PK56 type.

Pilot

Output shaft

Mounting holes
(4 locations)

Motor leads
(5 wires: blue, red, orange,
green and black)

4 Preparation

－14－

Driver

CRD5103P, CRD5107P, CRD5114P

CN3

RUN

DATA2

DATA

1

1

1

ON

Mounting holes

Mounting holes

1

2

3

MOSFET arrays

6

8

Mounting holes

7

4

5

1. Power supply connector (CN1) [P.26]
Connect to a 24 VDC power supply.

2. I/O signals connector (CN2) [P.26]
Connect to I/O signals.

3. Motor connector (CN3) [P.26]
Connect to motor leads.

4. Motor operating current potentiometer (RUN) [P.38]
Set the operating current of the motor.
If there is sufficient torque, the current setting can be reduced to suppress

increases in motor/driver temperatures. The potentiometer is factory set to [the
rated current].

5. Motor standstill current potentiometer (STOP) [P.40]
Set the current when the motor is at a standstill (in the current cutback state).
The potentiometer is factory set to [50% of the rated current].

6. Function select switches (1P/2P, OFF/SD, R2/R1) [P.34 to 36]

• Pulse input mode select switch (1P/2P): Switch the pulse input mode between
1-pulse input mode and 2-pulse input mode.

• Smooth drive function select switch (OFF/SD): Set or cancel the smooth drive
function.

• Resolution select switch (R2/R1): Switch the reference step angle between R1
and R2.

7. Step angle setting switch (DATA1, DATA2) [P.34]
You can set a desired step angle by selecting it from among the 16 step angles.

8. Power supply input indicator (LED)
This LED remains lit while the power supply is input.

5 Installation

－15－

5 Installation

This chapter explains the installation location and installation methods of the motor
and driver, as well as how to install a load. The installation and wiring methods in
compliance with the EMC Directive are also explained.

5.1 Location for installation

The motor and driver are designed and manufactured for installation in equipment.
Install them in a well-ventilated location that provides easy access for inspection.
The location must also satisfy the following conditions:

• Inside an enclosure that is installed indoors (provide vent holes)

• Operating ambient temperature

Motor:

-

10 to +50 °C (+14 to +122 °F) (non-freezing)
Harmonic geared type: 0 to +40 °C (+32 to +104 °F) (non-freezing)
Driver: 0 to +40 °C (+32 to +104 °F) (non-freezing)

• Operating ambient humidity 85% or less (non-condensing)

• Area that is free of explosive atmosphere or toxic gas (such as sulfuric gas) or liquid

• Area not exposed to direct sun

• Area free of excessive amount of dust, iron particles or the like

• Area not subject to splashing water (rains, water droplets), oil (oil droplets) or

other liquids

• Area free of excessive salt

• Area not subject to continuous vibration or excessive shocks

• Area free of excessive electromagnetic noise (from welders, power machinery, etc.)

• Area free of radioactive materials, magnetic fields or vacuum

5.2 Installing the motor



Installation direction

The motor can be installed in any direction.

 Installation method

Install the motor onto an appropriate flat metal plate having excellent vibration
resistance and heat conductivity.
When installing the motor, secure it with four bolts (not supplied) through the four
mounting holes provided. Do not leave a gap between the motor and metal plate.

Spot facing or
through hole for pilot

Metal plate

Mounting
holes

Installation method [A]

V

E

X

T

A

Metal plate

Screw holes

Installation method [B]

5 Installation

－16－

Bolt size, tightening torque and installation method

Motor model

Single shaft Double shaft

Bolt
size

Tightening

torque

[N·m (oz-in)]

Effective

depth of bolt

[mm (in.)]

Installation

method

PK513PA PK513PB M2 0.25 (35)
PK523PA

PK525PA
PK523PMA
PK524PMA
PK525PMA

PK523PB
PK525PB
PK523PMB
PK524PMB
PK525PMB

M2.5 0.5 (71)

2.5 (0.098)

PK544PA
PK546PA
PK544PMA
PK546PMA
PK543NAW
PK544NAW
PK545NAW

PK544PB
PK546PB
PK544PMB
PK546PMB
PK543NBW
PK544NBW
PK545NBW

M3 1 (142) 4.5 (0.177)

A

PK564PMA
PK566PMA
PK569PMA
PK564NAW
PK566NAW
PK569NAW

PK564PMB
PK566PMB
PK569PMB
PK564NBW
PK566NBW
PK569NBW

M4 2 (280)

-

B

PK523PA-T PK523PB-T M2.5 0.5 (71) 4 (0.157)
PK543AW-T

PK564AW-T
PK545AW-P
PK543AW-P

PK543BW-T
PK564BW-T
PK545BW-P
PK543BW-P

M4 2 (280) 8 (0.315)

PK566AW-P
PK564AW-P

PK566BW-P
PK564BW-P

M5 2.5 (350) 10 (0.394)

PK523PA-N PK523PB-N M3 1 (142) 6 (0.236)
PK544AW-N PK544BW-N M4 2 (280) 8 (0.315)
PK566AW-N

PK564AW-N

PK566BW-N
PK564BW-N

M5 2.5 (350) 10 (0.394)

PK543AW-HS PK543BW-HS M4 2 (280) 8 (0.315)
PK564AW-HS PK564BW-HS M5 2.5 (350) 10 (0.394)

A

∗ The square box in the motor model will contain a value representing the gear ratio.

Note

Insert the pilot located on the motor’s installation surface into the mounting
plate’s countersunk or through hole.

5 Installation

－17－

5.3 Installing a load

When connecting a load to the motor, align the centers of the motor’s output shaft
and load shaft. Also, keep the overhang load and thrust load to the permissible
values or below.

 Using a coupling

Align the centers of the motor’s output shaft and load shaft in a straight line.

 Using a belt drive

Align the motor’s output shaft and load shaft in parallel with each other, and
position both pulleys so that the line connecting their centers is at a right angle to the
shafts.

 Using a gear drive

Align the motor’s output shaft and gear shaft in parallel with each other, and let the
gears mesh at the center of the tooth widths.

 Using a geared motor

With a geared motor, to connect a load to the gear output shaft having a key groove,
first provide a key groove on the load and fix the load with the gear output shaft
using the supplied key.

Note

• When coupling the load to the motor, pay attention to the centering of

the shafts, belt tension, parallelism of the pulleys, and so on.
Securely tighten the coupling and pulley set screws.

• Be careful not to damage the output shaft or bearings when installing a

coupling or pulley to the motor’s output shaft.

• Do not modify or machine the motor’s output shaft.

Doing so may damage the bearings and destroy the motor.

• When inserting a parallel key into the gear output shaft, do not apply

excessive force by using a hammer or similar tool. Application of strong
impact may damage the output shaft or bearings.

5.4 Permissible overhung load and permissible
thrust load

The overhung load and the thrust load on the motor’s output shaft must be kept
under the permissible values listed page 18, 19.

Note

Failure due to fatigue may occur when the motor bearings and output
shaft are subject to repeated loading by an overhung or thrust load that is
in excess of the permissible limit.

5 Installation

－18－

Permissible overhung load and permissible thrust load

Permissible overhung load [N (lb.)]

Motor model

Distance from the tip motor’s

output shaft [mm (in.)]

Single shaft Double shaft

0

(0) 5 (0.20)

10

(0.39)

15

(0.59)

20

(0.79)

Permissible

thrust load

[N (lb.)]

PK513PA PK513PB

12

(2.7)

15

(3.3)

-

-

-

0.05

(0.11)

∗

PK523PA PK523PB 0.11 (0.24)∗
PK525PA PK525PB 0.2 (0.44)∗
PK523PMA PK523PMB 0.11 (0.24)∗
PK524PMA PK524PMB 0.15 (0.33)∗
PK525PMA PK525PMB

25

(5.6)

34

(7.6)

52

(11.7)

-

-

0.2 (0.44)

∗

PK544PA PK544PB 0.3 (0.66)∗
PK546PA PK546PB 0.5 (1.1)∗
PK544PMA PK544PMB 0.3 (0.66)∗
PK546PMA PK546PMB 0.5 (1.1)∗
PK543NAW PK543NBW 0.21 (0.46)∗
PK544NAW PK544NBW 0.27 (0.59)∗
PK545NAW PK545NBW

20

(4.5)

25

(5.6)

34

(7.6)

52

(11.7)

-

0.35 (0.77)

∗

PK564PMA PK564PMB 0.65 (1.43)∗
PK566PMA PK566PMB 0.87 (1.91)∗
PK569PMA PK569PMB

90

(20)

100

(22)

130
(29)

180
(40)

270
(60)

1.5 (3.3)∗

PK564NAW PK564NBW 0.6 (1.32)∗
PK566NAW PK566NBW 0.8 (1.76)∗
PK569NAW PK569NBW

63

(14.1)

75

(16.8)

95

(21)

130
(29)

190
(42)

1.3 (2.9)∗

PK523PA-T PK523PB-T

15

(3.3)

17

(3.8)

20

(4.5)

23

(5.1)

-

10 (2.2)

PK543AW-T PK543BW-T

10

(2.2)

14

(3.1)

20

(4.5)

30

(6.7)

-

15 (3.3)

PK564AW-T PK564BW-T

70

(15.7)

80

(18)

100
(22)

120
(27)

150
(33)

40 (9)

PK545AW-P PK545BW-P

73

(16.4)

84

(18.9)

100
(22)

123
(27)

-

50 (11.2)

PK543AW-P PK543BW-P

109
(24)

127

(28)

150
(33)

184
(41)

-

50 (11.2)

PK566AW-P5 PK566BW-P5

200
(45)

220

(49)

250
(56)

280
(63)

320
(72)

100 (22)

PK566AW-P7.2 PK566BW-P7.2
PK566AW-P10 PK566BW-P10

250
(56)

270

(60)

300
(67)

340
(76)

390
(87)

100 (22)

PK564AW-P PK564BW-P

330
(74)

360

(81)

400
(90)

450

(101)

520

(117)

100 (22)

PK523PA-N PK523PB-N

45

(10.1)

60

(13.5)

80

(18)

100
(22)

-

20 (4.5)

5 Installation

－19－

Permissible overhung load [N (lb.)]

Motor model

Distance from the tip motor’s

output shaft [mm (in.)]

Single shaft Double shaft

0

(0) 5 (0.20)

10

(0.39)

15

(0.59)

20

(0.79)

Permissible

thrust load

[N (lb.)]

PK544AW-N PK544BW-N

100
(22)

120

(27)

150
(33)

190
(42)

-

100 (22)

PK566AW-N5 PK566BW-N5

200
(45)

220

(49)

250
(56)

280
(63)

320
(72)

100 (22)

PK566AW-N7.2 PK566BW-N7.2
PK566AW-N10 PK566BW-N10

250
(56)

270

(60)

300
(67)

340
(76)

390
(87)

100 (22)

PK564AW-N PK564BW-N

330
(74)

360

(81)

400
(90)

450

(101)

520

(117)

100 (22)

PK543AW-HS PK543BW-HS

180
(40)

220

(49)

270
(60)

360
(81)

510

(114)

220 (49)

PK564AW-HS PK564BW-HS

320
(72)

370

(83)

440
(99)

550

(123)

720

(162)

450 (101)

• The square box in the motor model will contain a value representing the gear ratio.

• The figures indicated by

∗

are the motor’s mass [kg (lb.)]. The thrust load should not exceed the

motor’s mass.

5.5 Installing the driver



Installation method

When installing the driver in the device, mount it vertically or horizontally.
Installing the driver under conditions other than this could reduce its radiation effect.
Fix the driver directly to the metal enclosure using screws.
The items shown below are necessary in order to mount the driver. (The items are
not included and must be provided by the customer.)

Driver model

CRD5103P
CRD5107P
CRD5114P

M3 crews 4 pieces
M3 spring washers 4 pieces
M3 nuts

(Not necessary if screw holes are provided in
the enclosure.)

4 pieces

Spacers [5 mm (0.2 in.) or more] 4 pieces

∗ Torque the mounting screw to 0.5 N·m (71 oz-in).

5 Installation

－20－

• Horizontal installation

CRD5103P, CRD5107P, CRD5114P

C

N

3

R

U

N

DATA2

DATA1

1

1

ON

M3 screws
Spring washers

Spacers (insulation)

Metal plate

• Vertical installation

CRD5103P, CRD5107P, CRD5114P

Spacers (insulation)

Metal plate

M3 screws

Spring washers

There must be a clearance of at least 25 mm (0.98 in.) and 50 mm (1.97 in.) in the
horizontal and vertical directions, respectively, between the driver and enclosure or
other equipment.
When two or more drivers are to be installed side by side, provide 20 mm (0.79 in.)
and 50 mm (1.97 in.) clearances in the horizontal and vertical directions,
respectively.

Note

• Install the driver in an enclosure.

• Do not use any holes on the MOSFET arrays of the CRD5103P,

CRD5107P and CRD5114P to install the drivers.

• Do not install any equipment that generates a large amount of heat near

the driver.

• Check ventilation if the ambient temperature of the driver exceeds 40 °C

(104 °F). If the surface temperature of the driver’s MOSFET array
exceeds 90 °C (194 °F), review the operating conditions.

• The case containing the MOSFET arrays is insulated.

5 Installation

－21－

5.6 Installing and wiring in compliance with EMC
Directive

Effective measures must be taken with regard to EMI (electromagnetic interference)
caused by the CRK series motor and/or driver in the control system equipment
operating nearby and EMS (electromagnetic susceptibility) of the CRK series motor
and/or driver. Failure to do so may result in serious impairment of the machine’s
functionality.
The use of the following installation and wiring methods will enable the CRK series
motor and/or driver to be compliant with the EMC Directive.
Oriental Motor conducts EMC measurement of its CRK series motors and drivers in
accordance with “Example of motor and driver installation and wiring” on page 23.
The user is responsible for ensuring the machine’s compliance with the EMC
Directive, based on the installation and wiring explained below.

Applicable standards

EMI
Emission Tests EN 61000-6-4
Radiated Emission Test EN 55011
EMS
Immunity Tests EN 61000-6-2
Radiation Field Immunity Test IEC 61000-4-3
Electrostatic Discharge Immunity Test IEC 61000-4-2
Fast Transient /Burst Immunity Test IEC 61000-4-4
Conductive Noise Immunity Test IEC 61000-4-6

 About power supply

The CRK series products are specifically designed for DC power supply input.
Use a DC power supply (such as a switching power supply) compliant with the
EMC Directive.

5 Installation

－22－

 Mains filter

Connect a mains filter on the input side of the DC power supply so as to prevent the
noise generated in the driver from being transmitted externally via the power supply
line.
When a power supply transformer is used, be sure to connect a mains filter on the
AC input side of the power supply transformer.
For mains filters, use 10ESK1 (Tyco Electronics CORCOM), ZAG2210-11S (TDK
Corporation), or an equivalent.

• Install the mains filter as close to the AC input terminal of DC power supply as
possible. Also, secure the I/O cables (AWG18: 0.75 mm

2

or more) using cable
clamps or the like so that the cables won’t lift from the surface of the enclosure
panel.

• The cable used to ground the mains filter must be as thick and short to the
grounding point as possible.

• Do not wire the AC input cable (AWG18: 0.75 mm

2

or more) and the output cable

of the mains filter (AWG18: 0.75 mm

2

or more) in parallel. If these two cables are
wired in parallel, noise inside the enclosure will be connected to the power supply
cable via stray capacitance, reducing the effect of the mains filter.

 Grounding method

When grounding the driver and mains filter, use a cable of the largest possible size
and connect to the ground point over the shortest distance so that no potential
difference will be generated at the grounded position. The ground point must be a
large, thick and uniform conductive surface. Install the motor onto a grounded metal
surface.

 Wiring the power supply cable and I/O signals cable

Use a shielded cable of AWG22 (0.3 mm2) or
more in diameter for the driver power supply
cable. Use a shielded cable of AWG24
(0.2 mm

2

) or more in diameter for the driver
I/O signals cable, and keep it as short as
possible.
Use a metal cable clamp that contacts the
shielded cable along its entire circumference
to secure/ground the power supply cable or I/O
signals cable. Attach a cable clamp as close to
the end of the cable as possible, and connect it
as shown in the figure.

Cable clamp

Shielded cable

5 Installation

－23－

 Notes about installation and wiring

• Connect the motor, driver and any surrounding control system equipment directly

to the grounding point so as to prevent a potential difference from generating
between grounds.

• When relays or electromagnetic switches are used together with the system, use

mains filters and CR circuits to suppress surges generated by them.

• Keep the cable lengths as short as possible. Do not wind or bundle extra lengths.

• Separate the power source cables such as motor cable and power supply cable

from the signal cables, and wire them apart by around 100 to 200 mm (3.94 to

7.87 in.). If a power source cable must cross over a signal cable, wire them at right
angles. Keep an appropriate distance between the AC input cable and output cable
of the mains filter.

 Example of motor and driver installation and wiring

Motor

Driver

I/O signals
cable
[2 m (6.6 ft.)]

Mains
filter

DC
power
supply

Cable
clamp

(Grounded panel)

Motor cable

[2.6 m (8.5 ft.)]

Cable
clamp

(Shielded cable)

User
controller

Cable
clamp

Power supply

cable [2 m (6.6 ft.)]

(Shielded cable)

 Precautions about static electricity

Static electricity may cause the driver to malfunction or suffer damage. Be careful
when handling the driver with the power on.
Always use an insulated screwdriver when adjusting the motor current using the
control on the driver.

Note

Do not come close to or touch the driver while the power is on.

6 Connection

－24－

6 Connection

This section covers the methods of connecting the driver, motor, power supply and
controller, as well as the connection examples and I/O signals.
The motors of the high-resolution types, high-torque types and geared types
(CRK523P) use a motor leads connector connection system. Use the supplied motor
cable. Optional motor cables and driver cables (sold separately) are also available.
See page 46 for details.

6.1 Connection example



NPN-type

R

0

R

0

R

0

R

0

R

0

R

1

220 Ω

220 Ω

220 Ω

220 Ω

220 Ω

TIMING

C.D.INH

C/S

A.W.OFF

DIR.

PLS

(CCW)

1

Blue
Red

Orange

Green

Black

1

2

2

3

3

4

4

5

5

V0 (+5 to 24 VDC)

V

0

(+5 to 24 VDC)

1

2

GND

24 VDC±10%

Connector
terminal number

Lead color

Controller

CN1

CN3

CN2

Driver

9

10

8

1

2

3

4

7

6

5

11

12

0 V

(CW)

0 V

0 V

0 V

0 V

0 V

Note

• Use 5 VDC as input signal voltage. If the input signal voltage exceeds

5 VDC, connect an appropriate external resistance R0 in order to keep
the input current to 10 to 20 mA.
Example) When V0 is 24 VDC R0: 1.5 to 2.2 kΩ, 0.5 W or more.

• Use the output signal voltage V

0

between 5 VDC and 24 VDC. When V0
is equal to 5 VDC, the external resistance R1 is not necessary. When it is
above 5 VDC, connect R1 to keep the current below 10 mA or less.

• Be certain the I/O signals cable that connects the driver and controller is

as short as possible. The maximum input frequency will decrease as the
cable length increases.

6 Connection

－25－

 PNP-type

TIMING

C.D.INH

C/S

A.W.OFF

DIR.

(CW)

(CCW)

Blue
Red

Orange

Green

Black

1
2
3
4
5

GND

24 VDC±10%

Connector
terminal number

Lead color

Controller

CN1

CN3

CN2

Driver

R

0

0 V

0 V

PLS

1

2

1
2
3
4
5

220 Ω

R

0

220 Ω

220 Ω

220 Ω

220 Ω

R

0

R

0

R

0

1

2

3

4

5

6

7

8

9

10

11

12

R

1

V0 (+5 to 24 VDC)

V

0

(+5 to 24 VDC)

Note

• Use 5 VDC as input signal voltage. If the input signal voltage exceeds

5 VDC, connect an appropriate external resistance R0 in order to keep
the input current to 10 to 20 mA or below.
Example) When V0 is 24 VDC R0: 1.5 to 2.2 kΩ, 0.5 W or more.

• Use the output signal voltage V

0

between 5 VDC and 24 VDC. When V0
is equal to 5 VDC, the external resistance R1 is not necessary. When it
is above 5 VDC, connect R1 to keep the current below 10 mA or less.

• Be certain the I/O signals cable that connects the driver and controller is

as short as possible. The maximum input frequency will decrease as the
cable length increases.

6 Connection

－26－

 Connector pin assignments for driver

Connector No. Pin No. Type Signal Description

1 Input + +24 VDC

CN1

2 Input

POWER

-

GND
1 Input +
2 Input

PLS

(CW)

-

Pulse input
(CW pulse)

3 Input +
4 Input

DIR.

(CCW)

-

Rotation direction

input (CCW pulse)

5 Input +
6 Input

A.W.OFF

-

All windings off input

7 Input +
8 Input

C/S

-

Step angle select

input

9 Input +

10 Input

C.D.INH

-

Current cutback

release input

11 Output +

CN2

12 Output

TIMING

-

Excitation timing

output

1 Output Blue motor lead
2 Output Red motor lead
3 Output Orange motor lead
4 Output Green motor lead

CN3

5 Output

MOTOR

Black motor lead

∗ When this switch is set to 2-pulse input mode, the inputs are CW and CCW.

∗ When this switch is set to 1-pulse input mode, the inputs are the pulse input and the rotation

direction input.

6 Connection

－27－

 Connector pin assignments for connector-type motor

Terminal

No.

1 2 3 4 5

Motor-leads

color

Blue Red Orange Green Black

5 4 3 2 1

1

2

3

4

5

A

B

D

C

E

Note

When disconnecting the connector-type motor cable, pull the connector
horizontally along the output shaft to remove. The motor may be damaged
if force is applied in any other direction.
The motor cables that come with the CRK54P, CRK54PM and
CRK56PM have a connector with a lock mechanism. When removing
this type of cable, release the connector lock first. Forcibly pulling out the
cable without releasing the connector lock may damage the motor and
connector.

2. Pull out the cable
horizontally.

1. Release the lock.
(CRK54P, CRK54PM and CRK56PM only)

6.2 Suitable contacts and connector housings

Connect the driver, using the following suitable contacts and connector housings.
Optional motor cables and driver cables (sold separately) are also available. See
page 46 for details.
When crimping contacts for connectors, be sure to use the crimping tool specified by
the connector maker.

6 Connection

－28－

 Connector housing, contact and crimping tool for driver

(Molex)

Driver model

CRD5103P, CRD5107P, CRD5114P

For power

supply

connection

Connector housings
Contacts
Specified crimping tool

51103-0200
50351-8100
57295-5000

For

I/O signals

Connector housings
Contacts
Specified crimping tool

51103-1200
50351-8100
57295-5000

For motor

connection

Connector housings
Contacts
Specified crimping tool

51103-0500
50351-8100
57295-5000

∗ For the power supply cable, use a cable of AWG22 (0.3 mm2). Keep the wiring distance as

short as possible [less than 2 m (6.6 ft.)] to suppress the effect of noise.

∗ For the I/O signals cable, use a cable of AWG24 (0.2 mm

2

) to AWG 22 (0.3 mm2) and keep
the wiring distance as short as possible [less than 2 m (6.6 ft.)] to suppress the effect of
noise.

Note

• When connecting the cable, be careful regarding the polarity of the

power supply. Incorrect power supply polarity could damage the drivers.

• Have the connector plugged in securely. Insecure connection may

cause malfunction or damage to the motor or driver.

• When pulling out a connector, pull it out by slightly expanding the latch

part of the connectors using a precision screwdriver.

• Always wait at least 5 sec. after switching off the power supply before

switching it back on again or connecting/disconnecting the motor cables
connector.

• Separate I/O signals cable at least 100 mm (3.94 in.) from

electromagnetic relays and other than inductance loads. Additionally,
route I/O signals cable perpendicular to power supply cables and motor
cables, rather than in a parallel fashion.

• Do not route the power supply cables in the same conduits as other

power supply lines and motor cables.

• If the motor cable or power supply cable generates an undesirable

amount of noise after wiring/installation, shield the cable or install a
ferrite core.

6 Connection

－29－

 Connector housing, contact and crimping tool for motor

(Molex)

Motor type

PK513P

PK52P

PK52PM

PK54P

PK54PM

PK56PM

Connector housings 51065-0500 51103-0500 51144-0500

Contacts 50212-8100 50351-8100 50539-8100

Specified crimping tool 57176-5000 57295-5000 57189-5000

Note

When connecting a connector-type motor, affix the cable at the connection
part to prevent the connection part from receiving stress due to the flexing
of the cable. Make the cable’s radius of curvature as large as possible.

6.3 Connecting the power supply

Use a power supply that can supply the following current capacity.

Driver model CRD5103P CRD5107P CRD5114P

Power supply

input voltage

24 VDC±10%

Power supply

current capacity

0.7 A or more 1.4 A or more 2.5 A or more

6.4 Explanation of I/O signals



Input signals

The signal states indicate the state of the internal photocoupler (ON: power
conducted; OFF: power not conducted).

• PLS (CW) input and DIR. (CCW) input

This driver can select either 1-pulse input mode or 2-pulse input mode as the pulse
input mode to match the controller used. For details on how to set the pulse input
mode, see page 36, 7.2 “Pulse input modes.”

1-pulse input mode

The controller pulses are connected to the PLS+ input (pin No.1) or the PLS- input
(pin No.2), and the rotation direction is connected to the DIR.+ input (pin No.3) or
DIR. - input (pin No.4).

Example of connection with a
current source output circuit

+5 V

1, 3
2, 4

+5 V

1, 3
2, 4

0 V

0 V

Example of connection with a
current sink output circuit

6 Connection

－30－

1. When the DIR. input is “ON,” a fall of the pulse input from “ON” to “OFF”

will rotate the motor one step in the CW direction.

2. When the DIR. input is “OFF,” a fall of the pulse input from “ON” to

“OFF” will rotate the motor one step in the CCW direction.

Use an input pulse signal with a waveform having a sharp rise and fall, as shown in
the figure:

2

µs

or less

1

µs

or more

90%
10%

10

µs

or more

CCW CW

ON

OFF

DIR. input

ON

OFF

PLS input

2

µs

or less

Note

• Maintain driver temperature so that the surface temperature of the

MOSFET array does not exceed 90 °C (194 °F).

• The interval for switching the motor direction represents the response

time of the circuit. Set this interval to an appropriate time after which the
motor will respond.

2-pulse input mode

The controller’s CW pulses are connected to the CW+ (pin No.1) or the CW- (pin
No.2), while the CCW pulses are connected to the CCW+ (pin No.3) or the CCW

-

(pin No.4).

Example of connection with a
current source output circuit

+5 V

1㪃㩷3
2㪃㩷4

+5 V

1㪃㩷3
2㪃㩷4

0 V

0 V

Example of connection with a
current sink output circuit

1. When the CW pulse input changes from the “ON” state to “OFF” state,

the motor will rotate one step in the CW direction.

2. When the CCW pulse input changes from the “ON” state to “OFF” state,

the motor will rotate one step in the CCW direction.

Use an input pulse signal with a waveform having a sharp rise and fall, as shown in
the figure:

6 Connection

－31－

90%
10%

1 µs
or more

1 µs
or more

2 µs
or less

2 µs
or less

10 µs

or more

ON

OFF

CCW input

ON

OFF

CW input

Note

• Maintain driver temperature so that the surface temperature of the

MOSFET array does not exceed 90 °C (194 °F).

• The interval for switching the motor direction represents the response

time of the circuit. Set this interval to an appropriate time after which the
motor will respond.

• Always set the photocoupler to “OFF” when not inputting pulse signals.

Otherwise, the driver can’t shift to the motor stop setting current.

• Do not input CW input and CCW input at the same time.

If one of these pulses is input when the other is “ON” the motor will not
run properly.

 A.W.OFF (All windings off) input

Use this signal only when the motor’s shaft must be rotated mechanically for the
purpose of position adjustment. When the A.W.OFF input is turned “ON,” the driver
stops supplying current to the motor and the motor’s holding torque is lost. When
the A.W.OFF input is turned “OFF,” the current supply to the motor resumes,
thereby restoring the motor’s holding torque.

 C/S (step angle switching) input

This signal selects the step angle set with one of the two step angle setting switches
(DATA1 and DATA2).
For example, when DATA1 is set to [0: 0.72°] and DATA2 is set to [6: 0.072°], this
signal can switch between 0.72°-step operation and 0.072°-step operation. For
details on setting the step angle setting switch, see page 34, 7.1 “Step angle.”

1. When the C/S input is turned to “ON,” operation switches to the setting

for step angle setting switch DATA2.

2. When the C/S input is turned to “OFF,” operation switches to the setting

for step angle setting switch DATA1.

6 Connection

－32－

 Output signals

The driver’s output signals are photocoupler/open-collector outputs. The signal
states indicate the state of the internal photocoupler (ON: power conducted; OFF:
power not conducted).

• TIMING (excitation timing) output

When the motor-excitation state (combined phases of current flowing) is the
excitation home position (step [0]), the driver switches on the timing output. The
motor-excitation state is reset to the excitation home position when the power supply
is switched on.

When the motor has a base step angle of 0.72°/step, the TIMING output turns “ON”
with a rotation of every 7.2° from the excitation home position in synchronization
with a pulse input. The TIMING output behaves differently depending on the
combined motor and number of divisions.

(Example)

Number of divisions

Motor type

Number of
divisions 1

Number of

divisions 10

TIM. output

Motor with 0.72°/step base step angle

0.72° 0.072°

Every 7.2°

Motor with 0.36°/step base step angle

0.36° 0.036°

Every 3.6°

Geared motor with 1:7.2 gear ratio

0.1° 0.01°

Every 1°

Also, when detecting the mechanical home position for a mechanical device, by
making an AND circuit for the mechanical home position sensor and the timing
output, the variation in the motor stop position within the mechanical home position
sensor can be reduced and the mechanical home position made more precise.

Note

• When using the TIMING output, stop the motor’s output shaft at an

integer multiple of 7.2°.

• When switching the step angle using the C/S (step angle switching)

input, do this with the motor stopped and the timing output on.
If the C/S input is switched in any other condition, the timing output may
not turn “ON” even after the motor has rotated 0.72°.

6 Connection

－33－

6.5 Timing chart

∗4

DATA2

300 µs or more

300 µs or more

∗2

∗

1

10 µs or more

10 µs

or more

10 µs or more

0.5 s

or more

5 s or more

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

DIR. input

PLS input

A.W.OFF input

Motor operation

Power supply input

1-pulse input

The section indicates that the photocoupler diode is emitting light.

CW input

CCW input

2-pulse input

C/S input

∗3

DATA1

∗

1

∗1

CW

CCW

∗1 “10 µs or more” indicated in connection with the direction-signal select time (1-pulse input

mode) or CW/CCW-pulse select time (2-pulse input mode) indicates a circuit response time.
Set it to the time required for the motor to respond to the applicable pulse input.

∗2 The specific duration varies depending on the load inertial moment, load torque,

self-starting frequency, etc.

∗3 Do not input pulse signals immediately after switching the A.W.OFF input to “OFF”, given

that it will affect the motor’s starting characteristics.

∗4 After turning off the power supply, wait at least 5 sec. before turning the power supply back

on.

7 Setting

－34－

7 Setting

7.1 Step angle

When setting the motor’s step angle, use the step angle setting switches (DATA1,
DATA2) and the resolution select switches (R1, R2).

Factory settings: R1

Resolution select switch

1P

ー

OFF

R2

2P
SD
R1

ー

With each of the two switches, step angles can be preset in 16 steps and a desired
setting can be selected through C/S (step angle switching) input.
For further details on C/S input, refer to page 31.
To change the step angle, change the DATA1 or DATA2 dial setting using a
precision screwdriver.
Step angles 1 and 2 can be set to any one of 16 settings from [0] through [F],
respectively. The step angles corresponding to the respective graduations are shown
on page 35.
The step angles corresponding to the respective dial settings are identical for DATA1
and DATA2.

Factory settings

[DATA1：0]

[DATA2：0]

0

1

2

3

4

5

6

7

8

9

A

B

C

D

E

F

φDATA1

0

1

2

3

4

5

6

7

8

9

A

B

C

D

E

F

φDATA2

7 Setting

－35－

The table below applies to motors with a base step angle of 0.72°/step.
The step angle is calculated by dividing the base step angle by the number of
divisions.

R1 R2

DATA1
DATA2

Number

of

divisions

1

Resolution 1 Step

angle 1

DATA1
DATA2

Number

of

divisions

2

Resolution

2

Step

angle 2

0 1 500 0.72° 0 ×2.5 200 1.8°
1 2 1000 0.36° 1 ×1.25 400 0.9°
2 2.5 1250 0.288° 2 1.6 800 0.45°
3 4 2000 0.18° 3 2 1000 0.36°
4 5 2500 0.144° 4 3.2 1600 0.225°
5 8 4000 0.09° 5 4 2000 0.18°
6 10 5000 0.072° 6 6.4 3200 0.1125°
7 20 10000 0.036° 7 10 5000 0.072°
8 25 12500 0.0288° 8 12.8 6400 0.05625°

9 40 20000 0.018° 9 20 10000 0.036°
A 50 25000 0.0144° A 25.6 12800 0.028125°
B 80 40000 0.009° B 40 20000 0.018°
C 100 50000 0.0072° C 50 25000 0.0144°
D 125 62500 0.00576° D 51.2 25600 0.0140625°
E 200 100,000 0.0036° E 100 50000 0.0072°
F 250 125,000 0.00288° F 102.4 51200 0.00703125°

Note

• Step angles are theoretical values.

• With the high-resolution type, the base step angle is set to 0.36° and the

resolution to 1000 (number of divisions: 1).

• If you are using a geared type, the actual step angle is calculated by

dividing the step angle by the gear ratio.

• The C/S (step angle switching) input is effective only with respect to the

division number selected for step angle 1 or step angle 2.

• Do not switch the C/S input or the step angle setting switch while the

motor is operating, or the motor may misstep and stall.

7 Setting

－36－

7.2 Pulse input modes

Either the 1-pulse or 2-pulse input mode may be selected in accordance with the
controller used.

Pulse input mode select switch

1P

ー

OFF

R2

2P
SD
R1

ー

• When the motor is to be controlled through the pulse signal and the rotation
direction signal that specifies the motor’s direction of rotation, set the pulse input
mode select switch to “1P.”

1P

1P 2P

• When the motor is to be controlled through 2-pulse signal input via the CW pulse
signal and CCW pulse signal, set the pulse input mode select switch to “2P.”

2P

1P 2P

Note

The factory setting of the pulse input mode depends on the destination
country. Check the pulse input mode setting in accordance with the pulse
mode in the controller used.

7.3 Smooth drive function

The smooth drive function achieves low-vibration, low-noise operation even in
full-step mode (0.72°).
With this function, each full step is automatically divided into 16 microsteps. This
provides extremely smooth operation. This function makes it not necessary to
change the pulse signals (speed, pulse count) from the controller.
The smooth drive function can be used only when the step angle is set to [DATA: 0]
though [DATA: 6] for [R1] or [DATA: 0] through [DATA: 7] for [R2] (the [DATA]
value indicates the [DATA1] or [DATA2] setting of the step angle setting switch on
page 34).

7 Setting

－37－

Factory setting: [SD: Smooth drive abled]

Smooth drive function select switch

1P

ー

OFF

R2

2P
SD
R1

ー

• When the smooth drive function is used

SD

OFF SD

• When the smooth drive function is not used

OFF

OFF SD

Note

The smooth drive function does not work if the step angle is set to a
division number greater than 10 (0.072°)∗. The [SD] setting is ignored (the
same effect as [OFF]).

∗

High-resolution type: 0.036°

7.4 Motor current

When the load is light and there is a margin for motor torque, the motor’s operating
vibration and the temperature increase of the motor and driver can be held down by
lowering the motor’s operating current and standstill current.
Factory settings RUN: Motor rated current
STOP: About 50% of motor’s rated current

 Connection of current-setting DC ammeter

Connect the DC ammeter to the blue motor lead wire and motor connection pin No.1
in series. Do not connect the red motor leads and connection pin No.2 or black
motor leads and connection pin No.5.

7 Setting

－38－

 Setting the motor operating current

1. Connect a DC ammeter between the motor and driver.

2. Turn the C.D.INH (current cutback release) input to “ON.” Do not apply

other input signals.

3. Turn on the driver’s power supply (24 VDC).

5-phase stepping motor

Current cutback
release signal

CN3

CN1

CN2

Blue

Motor leads

Driver

+24 VDC

GND

1

2

1

2

3

4

5

SW

5 VDC

∗

∗

㨪
㨪

9

10

Red

Orange

Green

Black

Note

∗Damage result if the red and black motor leads are touched. Provide an

insulation measure to protect against electric shock.

7 Setting

－39－

4. When the motor operating current potentiometer (RUN) is turned

counterclock wise, the current decreases.

0

0.1

0.2

0.3

0.4

0.5

0.6

0123456

Operating current [A/phase]

RUN potentiometer

[Representative values]

CRD5103P

0.35 A/phase
(Factory setting)

0

0.2

0.4

0.6

0.8

1

1.2

0123456

RUN potentiometer

Operating current [A/phase]

CRD5107P

[Representative values]

0.75 A/phase
(Factory setting)

0

0.2

0.4

0.6

0.8

1

1.2

1.4

1.6

1.8

2

0123456

Operating current [A/phase]

RUN potentiometer

CRD5114P

[Representative values]

1.4 A/phase
(Factory setting)

6

0

RUN

The scale values are not displayed on the control.

Current corresponding to a dual-phase value flows to the ammeter. A value of
one-half that which is indicated equals the single-phase current value.

Example:

• When the indication value on the ammeter shows 1.5 A, it stands for
the setting of 0.75 A/phase.

• When the indication value on the ammeter shows 0.7 A, it stands for
the setting of 0.35 A/phase.

5. Turn the C.D.INH (current cutback release) input to “OFF.”

6. Continue setting the current while the motor is at a standstill.

7 Setting

－40－

 Setting current at motor standstill

The current at motor standstill is factory set so that it will be about 50% of the
motor’s operating current (This proportion does not change, even if the motor’s
operating current is changed).
When changing the setting of current at motor standstill, use the motor stop current
potentiometer (STOP).

1. After connecting the motor and DC ammeter, turn the C.D.INH (current

cutback release) input to “OFF” and then input the power supply to the
driver.

2. When the motor stop current potentiometer (STOP) is turned

counterclockwise, the current at motor standstill decreases.

0

0.05

0.1

0.15

0.2

0.25

0123456

Standstill current [A/phase]

STOP potentiometer

CRD5103P

[Representative values]

0.175 A/phase
(Factory setting)

0

0.1

0.2

0.3

0.4

0.5

0.6

0123456

CRD5107P

STOP potentiometer

Standstill current [A/phase]

[Representative values]

0.375 A/phase
(Factory setting)

0

0.2

0.4

0.6

0.8

1

1.2

0123456

CRD5114P

STOP potentiometer

Standstill current [A/phase]

[Representative values]

0.7 A/phase
(Factory setting)

6

0

STOP

The scale values are not displayed on the control.

7 Setting

－41－

3. When the setting is complete, turn off the power supply.

After about 0.1 sec. has passed since the pulse was stopped, the motor’s operating
current automatically decreases to the set value of current at motor standstill.

Note

• Set the motor’s operating current to a value not exceeding the rated

current of the motor.
In case there is room in torque due to a comparatively light load,
adjusting the motor’s operating current to a slightly lower level could
raise the effect because temperature increase or vibration can be
minimized.

• If the motor current potentiometer is used to adjust current, set the

potentiometer graduation to 2 or more.
If the potentiometer is set too low, current will become zero and the
motor will lose its holding brake torque.

• A range of adjustment of the current at motor standstill is within one-half

the set value of motor operating current. When the current at motor
standstill is decreased too much, motor starting or maintenance of the
location may be hindered. Do not reduce it any more than is necessary.

• When operating the potentiometer, use a precision screwdriver.

• When setting the current at motor standstill, be sure to do so after

setting the motor’s operating current and turning off the power supply to
the driver.

8 Inspection

－42－

8 Inspection

It is recommended that periodic inspections be conducted for the items listed below
after each operation of the motor.
If an abnormal condition is noted, stop the use and contact your nearest office.

Inspection items

• Are the motor installation screws loose?

• Are there any abnormal sounds from the motor’s bearing section (ball bearings) or

elsewhere?

• Do any of the motor leads have damage or stress, or is there any play at the
section for connection with the driver?

• Is there any deviation between the centers of the motor’s output shaft and load
shaft?

• Are the driver installation screws or connector sections loose?

• Is there any dust or dirt on the driver?

• Are there any strange smells or other abnormalities at the driver?

Note

The driver uses semiconductor elements. Handle the driver carefully.
There is a danger of the driver being damaged by static electricity, etc.

9 Troubleshooting and remedial actions

－43－

9 Troubleshooting and remedial

actions

During motor operation, the motor or driver may fail to function properly due to an
improper speed setting or wiring. When the motor cannot be operated correctly, refer
to the contents provided in this section and take appropriate action. If the problem
persists, contact your nearest office.

Phenomenon Possible cause Remedial action

Connection error in the
motor leads or power supply
cable

Double-check that the
connections between the
driver, motor and power
supply are correct.

Current potentiometer
incorrectly set. If the setting
is too low, the motor torque
will also be too low and
operation will be unstable

Return the current
potentiometer to its factory
setting and check.

• The motor is not

energized.

• The motor’s output

shaft can be turned
easily by hand.

The A.W.OFF input is set to
“ON”

Switch the A.W.OFF input to
“OFF” and confirm that the
motor is excited.

Pulse input line connection
error

• Check the controller and

driver connections.

• Check the pulse input

specifications (voltage and
width).

The motor does not run.

The CW input and the CCW
input came on at the same
time

Input either the CW input or
the CCW input, and always
switch the other terminal to
“OFF.”

The motor rotates in the
direction opposite that
which is specified.

The CW input and the CCW
input are connected in
reverse

Connect the CW pulses to the
CW input (pin No. 1 and 2),

and connect the CCW pulses
to the CCW input (pin No. 3
and 4).

Error in the motor’s cable
connection

Double-check that the driver
and motor connections are
correct.

Motor operation is
unstable.

Current potentiometer
incorrectly set. If the setting
is too low, the motor torque
will also be too low and
operation will be unstable

Return the current
potentiometer to its factory
setting and check.

9 Troubleshooting and remedial actions

－44－

Phenomenon Possible cause Remedial action

Motor operation is
unstable.

Pulse input line connection
error

• Check the controller and

driver connections.

• Check the pulse input

specifications (voltage and
width).

Slow motor start
(self-starting operation)

Effect of the smooth drive
function

Disable the smooth drive
function and check the

operation.
The centers of the motor’
output shaft and load shaft

are not aligned

Check the connection

condition of the motor output

shaft and load shaft.

The load or load fluctuation
is too high

Check for large load

fluctuations during motor

operation. If adjusting the

motor’s operating speed to

low and high torque eliminates

the problem, it is necessary to

review the load conditions.
The speed of the starting

pulse is too high

Lower the speed of the

starting pulse and set it again

to a speed at which stable

starting is possible.
The acceleration

(deceleration) time is too
short

Lengthen the acceleration

(deceleration) time in order to

reset it to a time at which

stable starting is possible.

Loss of synchronization
during acceleration or
running

Electrical noise Check running with only the

motor, driver and required

controller. If the impact of

noise is recognized, take

countermeasures, such as

rewiring for greater distance

from the noise source,

changing the signal cables to

shielded wire, or mounting a

ferrite core.
Mistake in switching C/S
(step angle switching) input

Check the C/S input switching

state.

Wrong step angle settings Check the settings of the step

angle setting switches

[DATA1] and [DATA2].

Motor does not move
the set amount.

Pulse output count is too low
or too high

Check whether or not the

number of pulses required for

operation at the set step angle

are being output.

9 Troubleshooting and remedial actions

－45－

Phenomenon Possible cause Remedial action

The current cutback release
input is set to “ON”

Switch current cutback

release input to “OFF.”

Current does not drop
when the motor stops.

CW input, CCW input or PLS
input set to “ON” after pulses
have stopped

After the pulses stop, always

switch to “OFF.”

The centers of the motor’s
output shaft and load shaft
are not aligned

Check the connection

condition of the motor output

shaft and load shaft.
Motor resonating If the vibration decreases

when the operating pulse

speed is changed, it means

the motor is resonating.

Change the operating pulse

speed setting or install a clean

damper (sold separately) to

suppress vibration.

Motor vibration too great

Load too small Turn the motor operating

current potentiometer slightly

in the counterclockwise

direction in order to lower the

current. Vibration will increase

if the motor’s output torque is

too large for the load.
Long continuous operation

time of the motor

Decrease the operation time

of the motor per session or

increase the standstill time.

Make sure that the motor case

temperature will not exceed

100 °C (212 °F).
The current cutback release

input is set to “ON”

Switch current cutback

release input to “OFF.”

Motor too hot

Motor standstill current
adjustment too high

Adjust the motor’s standstill

current to one-half of the

operating current or below.

Timing output not
output

C/S (step angle switching)
input switched to “ON” when
timing output is not being
output

Switch the C/S input to “ON”

when timing output is being

output.

10 Options (Sold separately)

－46－

10 Options (Sold separately)

 Motor cable

The lead wires come preassembled with a crimped connector for easy connection of
a connector-type motor.

∗ Unit models come standard with a 0.6 m (2 ft.) motor cable.

Model Length Applicable product

LC5N06A

0.6 m (2 ft.)

LC5N10A

1 m (3.3 ft.)

PK513P, PK523P, PK525P, PK523PM, PK524PM,
PK525PM, PK523P-T, PK523P-N

LC5N06B

0.6 m (2 ft.)

LC5N10B

1 m (3.3 ft.)

PK544P, PK546P, PK544PM, PK546PM

LC5N06C

0.6 m (2 ft.)

LC5N10C

1 m (3.3 ft.)

PK564PM, PK566PM, PK569PM

 Driver cable set

A set of lead wires (for power supply, I/O signals and motor connection; one each),
preassembled with a crimped connector matching the driver-side connector.

Model Length

LCS04SD5

0.6 m (2 ft.)

10 Options (Sold separately)

－47－

 Motor connector set (Molex)

A set of connector housings and contacts matching a connector-type motor.
Each bag contains enough housings and contacts for connecting 30 motors.

Model

Applicable

motor

Connector

housings

Contacts Applicable cable

CS5N30A PK513P

PK523P
PK525P
PK523PM
PK524PM
PK525PM
PK523P-T
PK523P-N

51065-0500 50212-8100

AWG30 to 24

∗

(0.05 to 0.2 mm

2

)
Outer diameter of
sheathed cable:
Ø1.4 mm (Ø0.06 in.)
or less.
Stripped length: 1.3 to

1.8 mm
(0.05 to 0.07 in.)

CS5N30B PK544P

PK546P
PK544PM
PK546PM

51103-0500 50351-8100

AWG28 to 22

∗

(0.08 to 0.3 mm

2

)
Outer diameter of
sheathed cable:
Ø1.15 to 1.8 mm
(Ø0.05 to 0.07 in.)
Stripped length: 2.3 to

2.8 mm
(0.09 to 0.11 in.)

CS5N30C PK564PM

PK566PM
PK569PM

51144-0500 50539-8100

AWG24 to 18

∗

(0.2 to 0.75 mm

2

)
Outer diameter of
sheathed cable:
Ø1.4 to 3 mm (Ø0.06
to 0.12 in.)
Stripped length: 3 to

3.5 mm
(0.12 to 0.14 in.)

∗ The driver’s motor connector (CN3) accepts cables of AWG24 (0.2 mm2) to AWG22

(0.3 mm

2

) in size.

• Unauthorized reproduction or copying of all or part of this Operating Manual is
prohibited.

If a new copy is required to replace an original manual that has been damaged or lost,

please contact your nearest Oriental Motor branch or sales office.

• Characteristics, specifications and dimensions are subject to change without notice.

• While we make every effort to offer accurate information in the manual, we welcome

your input. Should you find unclear descriptions, errors or omissions, please contact the
nearest office.

•

,

and are trademarks of Oriental Motor Co., Ltd., and are

registered in Japan and other countries.
Other product names and company names mentioned in this manual may be trademarks or
registered trademarks of their respective companies and are hereby acknowledged.
The third-party products mentioned in this manual are recommended products, and
references to their names shall not be construed as any form of performance guarantee.
Oriental Motor is not liable whatsoever for the performance of these third-party products.

© Copyright ORIENTAL MOTOR CO., LTD. 2006

Printed on Recycled Pape

r

• Please contact your nearest Oriental Motor office for further information.

ORIENTAL MOTOR U.S.A. CORP.

Technical Support Line Tel:[phone]

Available from 7:30 AM to 5:00 PM, P.S.T.
E-mail: [e-mail]
www.orientalmotor.com

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Headquarters and Düsseldorf Office

Tel:[phone] Fax:[phone]

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Tel:[phone] Fax:[phone]

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Tel:[phone] Fax:[phone]

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Tel:[phone] Fax:[phone]

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Tel:[phone] Fax:[phone]

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KOREA

Tel:[phone]~3 Fax:[phone]

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Headquarters Tokyo, Japan

Tel:[phone] Fax:[phone]

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Tel:[phone] Fax:[phone]