Oriental motor DG, DG85, DG130, DG85R-ASBA, DG85R-ASAA Operating Manual

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Hollow Rotary Actuators

DG Series

OPERATING MANUAL

Introduction .................................................... Page 2

Safety precautions ......................................... Page 4

Precautions for use........................................ Page 6

Preparation .................................................... Page 8

Checking the product ................................. Page 8

Names and functions of parts .................... Page 10

Installation ..................................................... Page 12

Location for installation .............................. Page 12

Installing the hollow rotary actuators .......... Page 12

Installing the driver ..................................... Page 14

Installation of home-sensor set (option) ..... Page 17

Installing and wiring in compliance

with EMC directive .................... Page 19

Connection .................................................... Page 22

Connecting the hollow rotary actuators ...... Page 22

Connection example for the

control input/output .................... Page 23

Connecting to the power supply ................. Page 25

Grounding the hollow rotary actuators

and driver ................................................ Page 26

Connecting control input/output .................. Page 26

About control input/output .......................... Page 29

Timing chart ............................................... Page 34

Setting ........................................................... Page 35

Resolution .................................................. Page 35

Pulse input modes ..................................... Page 36

Operating current ....................................... Page 36

Speed filter ................................................. Page 37

Protective functions ....................................... Page 38

Descriptions of protective functions

and numbers of LED blinks ..................... Page 38

How to clear a protective function .............. Page 38

Inspection ...................................................... Page 39

Troubleshooting and remedial actions ........... Page 39

Main specifications ........................................ Page 41

Appendix

Options (sold separately) ........................... Page 43

HG-8034

DG85, DG130

Table of Contents

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.

Introduction

Before using the motor unit

Only qualified personnel should work with the product. Use the product correctly after thoroughly reading the section “Safety precautions.”

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. Oriental Motor Co., Ltd. is not responsible for any damage caused through failure to observe this warning.

Overview of the product

The DG series models are the hollow rotary actuator for high-precision positioning. It uses the stepping motor, with a rotor position sensor, as its power unit.

Standards and CE marking

This product is recognized by UL and by CSA. The CE marking (Low Voltage Directive and EMC Directive) is affixed to the product in accordance with EN standards.

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For low voltage directive

The product is a type with machinery incorporated, so it should be installed within an enclosure.

• Install the product within the enclosure in order to avoid contact with hands.

• Be sure to maintain a protective ground in case hands should make contact with the product. Securely ground the Protective grounding terminals of the motor and driver.

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EMC directive

This product has received EMC measures under the conditions specified in “Example of hollow rotary actuator and driver installation and wiring” on page 21. Be sure to conduct EMC measures with the product assembled in your equipment by referring to “Installing and wiring in compliance with EMC directive” on page 19.

∗1 For UL standard (UL508C), the product is recognized for the condition of Maximum Surrounding Air Temperature

50°C (122°F).

∗2 DG85R-ASAA (Moter Model: ASM46AA-D), DG85R-ASBA (Moter Model: ASM46BA-D) is not recognized by CSA

standards.

• The names of products certified to conform with relevant standards are represented by applicable unit model motor and driver part numbers.

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Applicable standards

Motor Model

ASM46AA-D

ASM46BA-D

ASM66AA-D

ASM66BA-D

ASM66AC-D

ASM66BC-D

Applicable Standards UL1004, UL2111

CSA C22.2 No. 100

∗

CSA C22.2 No. 77

∗

EN60950

EN60034-1

EN60034-5

Certification Body

Standards File No.

File No. E64199

Standards File No.

File No. E171462

Driver Model

ASD13B-A

ASD24A-A

ASD12A-C

ASD12A-S

Applicable Standards

UL508C

∗

CSA C22.2 No. 14

EN60950

EN50178

Certification Body

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Installation conditions (EN standard)

Motor and driver are to be used as a component within other equipment. Overvoltage category: II Pollution degree: Class 2 Protection against electric shock: Class I

System configuration

• The DG series is available in three input-power sources: single-phase 100-115 V, single-phase 200-230 V and three-phase 200-230 V (DG85: single-phase 100-115 V only).

• Home-detection sensors are required when the return to mechanical home is performed. For the application requiring home detection, the home-sensor set is available as an option (sold separately). Refer to page 43.

Main features

zDirect installation of a load axis

A table, arm or other load can be mounted directly on the output table. Thus, it reduces the need for fastening members such as couplings and friction conclusion tool, power-transmission members such as belt pulleys, and assembly man-hours.

zA cross roller bearing for the output table

The high-rigidity cross roller bearing is integrated with the output table to increase the permissible thrust load and permissible moment load.

zHigh-precision positioning without backlash

The non-backlash mechanism allows for highly precise positioning with ±15 sec (0.004°) repetitive positioning accuracy and 2 min (0.033°) of lost motion.

zHollow, large-diameter structure

The hollow section of the output table has a bore diameter of 33 mm (frame size: 85 mm) or 62 mm (frame size: 130 mm). As a result your equipment design can be simplified and installation space reduced by routing tubes and wires through the hollow section. (The hollow section does not rotate.)

zQuick response, high reliability

The

used in the DG series does not allow missteps, even with a sudden change in load. The speed and amount of rotation are monitored during operation, and when the possibility of a misstep is detected due to an overload, etc., the response delay is corrected and operation continues within the maximum operating torque range.

series

Hollow rotary actuator

OPERATION

ALARM

CN1

CN2

CN3

MOTOR

CURRENT

100115V

CN4 I

V.FIL

1 2 3 4

1000

500

X10

VEXTA

ASD24A-A

Home-sensor set (sold separately) 

Controller

(programmable controller

and others)

Control input

and output

Positioning controller

Pulse output and control

input/output

Shielded cable with

connectors (sold separately)

Control input and output

Driver

Extension cable (sold separately)

Controllers with pulse output functions are needed to operate the DG series.

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, electric shock 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, electric shock or injury.

• Do not transport, install the product, perform connections or inspections when the power is on. Always turn the power off before carrying out these operations. Failure to do so may result in electric shock.

• The terminals on the driver’s front panel marked with symbol indicate the presence of high voltage. Do not touch these terminals while the power is on to avoid the risk of fire or electric shock.

• Provide a means to hold the moving parts in place for applications involving vertical travel. The hollow rotary actuator loses holding torque when the power is shut off, allowing the moving parts to fall and possibly cause injury or damage to equipment.

• When the driver’s protection function is triggered, the hollow rotary actuator will stop and lose its holding torque, possibly causing injury or damage to equipment.

• When the driver’s protection function is triggered, first remove the cause and then clear the protection function. Continuing the operation without removing the cause of the problem may cause malfunction of the hollow rotary actuator, leading to injury or damage to equipment.

Installation

• To prevent the risk of electric shock, use the hollow rotary actuator and driver for class I equipment only.

• Install the hollow rotary actuator and driver in their enclosures in order to prevent electric shock or injury.

• Install the hollow rotary actuator and driver so as to avoid contact with hands, or ground them to prevent the risk of electric shock.

Connection

• Keep the driver’s input-power voltage within the specified range to avoid fire and electric shock.

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

• Do not forcibly bend, pull or pinch the cable. Doing so may result in fire and electric shock.

• To prevent electric shock, be sure to install the terminal cover (supplied) over the driver’s power supply terminals after making connections.

Operation

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

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

Caution

General

• Do not use the hollow rotary actuator and driver beyond their specifications, or electric shock, injury or damage to equipment may result.

• Keep your fingers and objects out of the openings in the hollow rotary actuator and driver, or electric shock, injury or damage to equipment may result.

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

Transportation

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

Installation

• Keep the area around the hollow rotary actuator 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 hollow rotary actuator and driver that would obstruct ventilation.

• Provide a cover over the rotating parts of the output table to prevent injury.

Operation

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

• To avoid injury, remain alert during operation so that the hollow rotary actuator can be stopped immediately in an emergency.

• Before supplying power to the driver, turn all control inputs to the driver to “OFF.” Otherwise, the hollow rotary actuator may start suddenly and cause injury or damage to equipment.

• To prevent bodily injury, do not touch the rotating parts (output table) of the motor during operation.

• Before moving the output table directly (as in the case of manual positioning), confirm that the driver C.OFF (All windings off) input is “ON” to prevent injury.

• The hollow rotary actuator’s surface temperature may exceed 70°C, even under normal operating conditions. If a motor is accessible during operation, post a warning label shown in the figure in a conspicuous position to prevent the risk of burns.

• When an abnormality is noted, stop the operation immediately, or fire, electric shock or injury may occur.

• To prevent electric shock, use only an insulated screwdriver to adjust the internal switches.

Maintenance and inspection

• To prevent the risk of electric shock, do not touch the terminals while measuring the insulation resistance or conducting a voltage-resistance test.

Disposal

• When disposing of the hollow rotary actuator or driver, treat them as ordinary industrial waste.

Warning label

Maintenance and inspection

• Do not touch the connection terminals of the driver immediately after the power is turned off (for a period of 10 seconds). The residual voltage may cause electric shock.

Repair, disassembly and modification

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

Precautions for use

This section covers limitations and requirements the user should consider when using the hollow rotary actuators DG series.

• Operate the actuator below the permissible torque.

Operating the DG series at torque outside the permissible range or keeping the output table locked may damage the gear mechanism. Be sure to operate the actuator below the permissible torque.

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

Be sure to operate the motor within the specified permissible limit of moment load and thrust load. Operating it under an excessive moment load and thrust load may damage the hollow rotary actuator bearings (cross roller bearing).

• Set the surface temperature of the hollow rotary actuators as follows:

The driver has an overheat-protection function, but the hollow rotary actuator has no such feature. When using the hollow rotary actuator, set its operating conditions (operating speed, operating duty, etc.) so that the following temperatures are maintained.

When the optional home-sensor set is not used

Use the actuator at the ambient operating temperature of 0 to +50°C and motor surface temperature of 100°C or less. If the motor surface temperature exceeds 100°C, the life of the bearing (ball bearing) employed in the motor will be diminished to a significant extent.

When the optional home-sensor set is used

Use the actuator at the ambient operating temperature of 0 to +40°C and motor surface temperature of 90°C or less. If the motor surface temperature exceeds 90°C, the temperatures of the photomicrosensors employed as home sensors will rise and the life of the sensor will be diminished to a significant extent.

• For use with a lift device, provide a means to prevent the moving part from dropping.

When the driver’s protective function is actuated, the current to the hollow rotary actuator will be cut off and the actuator will stop (i.e. the holding force will be lost). In a lift device such as a lifter, provide a means to prevent the moving part from dropping.

• About maximum static torque at excitation

The maximum static torque at excitation indicates the output table’s holding torque at standstill. The current-cutback function, which suppresses the increase in motor temperature, maintains the maximum static torque at excitation to below permissible torque. When selecting the hollow rotary actuator, consider the maximum static torque at excitation in addition to the permissible torque.

• About permissible speed

Use the hollow rotary actuator within the permissible speed. The permissible speed indicates the permissible speed (r/min) of the output table. If the hollow rotary actuator is operated at speeds exceeding the permissible speed, the life of the actuator may be diminished to a significant extent.

• About the DG series with double motor shafts

The DG series includes models with double motor shafts. With these models, do not apply load toque, overhung load or thrust load on the shaft opposite the motor’s output shaft.

• M2.5 screw holes for home sensor installation

The M2.5 screw holes provided in the gear mechanism and output table side of the hollow rotary actuator is used for installing the optional home-sensor set. Do not use these holes for any purpose other than installation of the home sensor.

• About the hollow rotary actuators screws

Do not loosen or remove the hollow rotary actuator screws. To do so may cause the positioning accuracy to drop or result in actuator damage.

• About the rotating direction of the hollow rotary actuators

The CW and CCW inputs provided as driver input signals indicate the opposite directions to the output table’s direction of rotation. When the CW input is active, the output table rotates counterclockwise. When the CCW input is active, the output table rotates clockwise.

Direction of rotation when CW input is active

Direction of rotation when CCW input is active

• About the hollow section

If the tube or wire routed through the hollow section is allowed to turn with the output table, provide a means to prevent friction, and consequential breakage, due to contact between the tube/wire and the inner walls of the hollow section.

• About protective earth terminal

The hollow rotary actuator come with a M4 protective ground terminal. Do not use this protective ground terminal for purposes other than grounding.

• Install the driver in a vertical orientation.

The driver’s heat-dissipation function is designed according to vertical orientation. Installing the driver in any other orientation may shorten the life of electronic parts due to temperature increases within the driver.

• Preventing leakage current

Stray capacitance exists between the driver’s current-carrying line and other current-carrying lines, the earth and the motor, respectively. A high-frequency current may leak out through such capacitance, having a detrimental effect on the surrounding equipment. The actual leakage current depends on the driver’s switching frequency, the length of wiring between the driver and motor, and so on. When providing a leakage current breaker, use the following products, for instance, which have high-frequency signal protection:

Mitsubishi Electric: NV series Fuji Electric: EG and SG series

• Preventing electrical noise

See “Installing and wiring in compliance with EMC directive” on page 19 for measures with regard to noise.

• About grease of hollow rotary actuators

On rare occasions, a small amount of grease may ooze out from the hollow rotary actuator. 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 pen or other device to prevent leakage from causing further damage. Oil leakage may lead to problems in the customer’s equipment or products.

Driver mounting brackets

2 pieces

Screws for driver mounting

brackets (M3) 4 pieces

Control input/output connector

1 set

Operating manual

1 copy

Hollow rotary actuator　1 Unit

Illustration shows the DG130R-ASAA.

ASD24A-A

ALARM

CN2

I/O

100

VEXTA

1000

500

TEST

X10

NORM

F/H

Driver 1 Unit

Preparation

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

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.

Verify the model number of the purchased unit against the number shown on the package label. Check the model number of the hollow rotary actuator and driver against the number shown on the nameplate. The unit models and corresponding motor/driver combinations are listed on page 9.

Options (sold separately)

• Extension cable Pages 22 and 43

Required to extend the distance between the hollow rotary actuator and driver.

• Flexible cable Pages 22 and 43

Highly flexible extension cable required to extend the distance between the hollow rotary actuator.

• Home-sensor set Pages 17 and 43

Use these sensors to perform the return-to-home operation. The home-sensor set comes with the brackets and mounting screws needed to install the sensors. Mount the sensors directly on the hollow rotary actuators.

• DIN rail mounting plate Pages 16 and 43

Plate for mounting the driver to a DIN rail.

• Shielded cable with connectors Pages 26 and 43

Cable with connectors for driver control input/output (36 pins), providing excellent noise resistance.

How to identify the product model

D G 1 3 0 R - A S A A

Output table support bearing type

R: Cross roller bearing

Frame size

85: 85 mm (3.35 in.) 130: 130 mm (5.12 in.)

Motor parts output shaft type

A: Single shaft B: Double shaft

Motor parts series name AS series

Unit model

DG85R-ASAA DG85R-ASBA DG130R-ASAA DG130R-ASBA DG130R-ASAC DG130R-ASBC DG130R-ASAS DG130R-ASBS

Hollow rotary actuators model

DGM85R-ASAA DGM85R-ASBA DGM130R-ASAA DGM130R-ASBA DGM130R-ASAC DGM130R-ASBC DGM130R-ASAC DGM130R-ASBC

Driver model

ASD13B-A ASD13B-A ASD24A-A ASD24A-A ASD12A-C ASD12A-C ASD12A-S ASD12A-S

Combinations of hollow rotary actuators and drivers

Power input

A: Single-phase 100-115 V C: Single-phase 200-230 V S : Three-phase 200-230 V

Series name DG series

Names and functions of parts

This section covers the names and functions of parts in the hollow rotary actuator and driver. For further details on each part, refer to the page shown in the square bracket.

Hollow rotary actuators

Output table

Load mounting pin holes (two locations) [P.13]

Load mounting screw holes (six locations) [P.13]

Positioning pin holes (four locations) [P.12]

Motor part

Home-sensor mounting bracket fixed screw holes

(two locations) [P.17]

Gear mechanism

Shield plate fixed screw holes

(two locations) [P.18]

Motor cable [P.22]

Mounting holes (two locations) [P.12]

Protective earth terminal [P.26

] Used for grounding via a grounding cable of AWG18 (0.75 mm

) or more.

OPERATION

ALARM

CN1

CN2

CN3

MOTOR

CURRENT

100115V

CN4

V.FIL

1 2 3 4

1000

500

X10

ASD24A-A

VEXTA

Resolution selection switches [P.35]

Use these two switches to select the hollow rotary actuator resolution. 1000/500: Switches hollow rotary actuator resolution between 18000 P/R "0.02˚/pulse" or 9000 P/R "0.04˚ //pulse." ×1/×10: Switches motor resolution between multipliers 1 and 10 of the value set by the 1000/500 switch. The factory setting is "1000: 18000 P/R" and "×1: Multiplier 1." Be sure to switch to "×1" when the resolution switching input "CN4 Pin No. 31, 32: ×10" is used.

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Pulse input mode selection switch [P.36]

Allows for the selection of 2-pulse input mode or 1-pulse input mode in accordance with the pulse output mode in the positioning controller. The factory setting is "2P: 2-Pulse Input Mode."

Front side of driver

Not used (CN1)

Motor connector (CN2) [P.22] 

Connect the motor cable's connector.

Regeneration unit connector (CN3)

Control input/output connector (CN4) [P.22, 26, 27, 28]

Used to connect to the hollow rotary actuator-positioning control and others.

Power supply terminal [P.25]

Connect the power supply cable.

OPERATION (green)

Lit when the power is on.

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ALARM (Red) [P.38, 39]

This alarm blinks when a protective function is triggered and the ALARM output turns "OFF." Count the number of blinks to ascertain the cause of triggering of the protective function.

Current setting switch [P.36]

Sets the motor's operating current. If there is extra torque, the current may be set to a lower level in order to suppress increases in motor temperature. The factory setting is "F: Driver's maximum output-current value."

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Speed-filter selection switch [P.37]

Sets the time constant for the filter that determines hollow rotary actuator response. A longer time constant will smooth out the hollow rotary actuator's rotation but render the setting time longer at motor standstill. The factory setting is "6: 1.20 ms."

Protective earth terminal [P.26]

Used for grounding via a grounding cable of AWG18 (0.75 mm

) or more.

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Rear side of driver

Mounting holes for the driver mounting brackets (M3, four locations) [P.14]

Mounting holes for the DIN rail mounting plate (M3, three locations) [P.16]

Driver

Note

• Do not loosen or remove the hollow rotary actuator screws. To do so may cause the positioning accuracy to drop or result in actuator damage.

• Be sure the positioning pins are secured to the mounting plate. Driving the pins into the hollow rotary actuator may damage the actuator due to impact.

• The hollow rotary actuator cannot be installed from below the mounting plate.

Installation

This section covers the environment and method of installing the hollow rotary actuator and driver, along with load installation. Also covered in this section are the installation and wiring methods that are in compliance with the relevant EMC directives (89/336/EEC, 92/31/EEC).

Location for installation

The hollow rotary actuator 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

• When the home-sensor set is not used Hollow rotary actuator: 0 to +50°C (+32 to +122°F) (non-freezing) Driver: 0 to +50°C (+32 to +122°F) (non-freezing)

• When the home-sensor set is used Hollow rotary actuator: 0 to +40°C (+32 to +104°F) (non-freezing) Driver: 0 to +50°C (+32 to +122°F) (non-freezing)

• Operating ambient humidity 85%, maximum (non-condensing)

• Area that is free from an explosive nature or toxic gas (such as sulfuric gas) or liquid

• Area not exposed to direct sun

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

• Area not subject to splashing water (storms, 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

• 1000 m (3280 ft.) or lower above sea level

Installing the hollow rotary actuators

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How to install the hollow rotary actuators

Install the hollow rotary actuator onto the mounting plate from the direction shown below. Use the four mounting holes to affix the actuator to the mounting plate with screws. Two positioning pin holes of Ø5H7 in diameter are provided in the mounting surface of the hollow rotary actuator. Use these positioning holes to locate the hollow rotary actuator with respect to the equipment. Provide a motor relief hole in the mounting plate.

+0.012

Screw

Positioning pin

Mounting hole

Orientation

Spring washer

Mounting plate

Unit model

DG85 DG130

Tightening torque 3 N·m (420 oz-in) 4 N·m (560 oz-in)

Mounting plate thickness and material

Iron/aluminum plate 8 mm or thicker Iron/aluminum plate 10 mm or thicker

Screw size

M6 M8

Note

Be sure the positioning pins are secured to the load. Driving the pins into the output table may damage the bearing due to impact or an excessive moment of inertia.

■■

■Permissible moment load and Permissible thrust load

The permissible moment load and permissible thrust load must not exceed the values shown in the table below. The moment load and thrust load can be calculated using the formulas below:

(Example 1) When external force F is applied at distance L from the center of the output table

Thrust load [N (lb.)] F

= F + Mass of load

Moment load [N·m (oz-in)] M = F × L

(Example 2) When external forces F

and F2 are applied at distance L from the mounting surface of the

output table

Thrust load [N (lb.)] F

= F1 + Jig and mass of load

Moment load [N·m (oz-in)] M = F2 × (L + a)

Unit model

DG85 DG130

0.02

0.03

Permissible moment load

N·m

(88 lb-in)

N·m

(440 lb-in)

Unit model

DG85 DG130

Permissible thrust load

500

(112.5 lb.)

2000

(450 lb.)

Effective depth of bolt

8 mm (0.315 in.) 8 mm (0.315 in.)

Unit model

DG85 DG130

Tightening torque 2 N·m (280 oz-in)

2.5 N·m (350 oz-in)

Material of load Irion or Aluminum Irion or Aluminum

Screw size

M4 M5

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Securing the load to the output table

Install the load with screws using the load-mounting screw holes (six locations) in the output table. The output table has two load-mounting pin holes of Ø5H7 in diameter and 6 mm in depth. These holes can be combined with the positioning pins for accurate positioning of the load.

+0.012

OPERATION

CN1

CN3

CN4 I/O

1000

ASD24A-A

5 0

1 0

M4 (not supplied)

VEXTA

Screws for driver mounting brackets M3 (provided)

Mounting brackets (two pieces)

Mounting holes for the driver mounting brackets (M3, four locations)

Installing the driver

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Orientation

The driver is designed so that heat is dissipated via air convection and conduction through the enclosure. When installing the driver in an enclosure, it must be placed in perpendicular (vertical) orientation using a DIN rail or driver mounting brackets.

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How to install the driver

Install the driver on a flat metal plate having excellent vibration resistance and heat conductivity. In the presence of a great amount of vibration, do not use a DIN rail. Screw down the driver directly through the use of driver mounting brackets. If a DIN rail is to be used, use a DIN rail mounting plate (sold separately).

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Using driver mounting brackets

1. Attaching the driver mounting brackets

Attach the driver mounting brackets to the four mounting holes provided in the back of the driver, using optional screws for the driver mounting brackets (M3, four pieces).

2. Installing the driver

Install the driver by securing it with four bolts (M4, not supplied) through the four mounting holes provided. Leave no gap between the driver and plate.

Note

• Install the driver in an enclosure.

• 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 50°C (122°F).

Note

• Do not use the mounting holes (M3, four locations) for the driver mounting brackets provided on the back of the driver for any purpose other than securing the driver mounting brackets.

• Be sure to use the supplied screws when securing the driver mounting brackets.

20 mm (0.79 in.) minimum

25 mm (0.98 in.) minimum

25 mm

(0.98 in.)

180 mm

(7.09 in.)

OPERATION

ALARM

CN1

CN2

CN3

MOTOR

CURRENT

100115V

CN4 I

V.FIL

1 2 3 4

1000

500

X10

OPERATION

ALARM

CN1

CN2

CN3

MOTOR

CURRENT

100115V

CN4 I

V.FIL

1 2 3 4

1000

500

X10

ASD24A-A

OPERATION

ALARM

CN1

CN2

CN3

MOTOR

CURRENT

100115V

CN4 I

V.FIL

1 2 3 4

1000

500

X10

OPERATION

ALARM

CN1

CN2

CN3

MOTOR

CURRENT

100115V

CN4 I

V.FIL

1 2 3 4

1000

500

X10

VEXTA

ASD24A-A

VEXTA

ASD24A-A

VEXTA

ASD24A-A

VEXTA

There must be a clearance of at least 25 mm (0.98 in.) in the horizontal and vertical directions, respectively, between the driver and enclosure or other equipment within the enclosure.

When two or more drivers are to be installed side by side, provide 20 mm (0.79 in.) and 25 mm (0.98 in.) clearances in the horizontal and vertical directions, respectively.

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Mounting to DIN rail

Use a DIN rail 35 mm (1.38 in.) wide to mount the driver.

1. Attach the DIN rail mounting plate (model number: PADP01) to the back of the driver using

the screws supplied with the plate.

2. Pull the DIN lever down, engage the upper hooks of the DIN rail mounting plate over the DIN

rail, and push the DIN lever until it locks in place.

DIN rail mounting plate

Mounting screws (M3)

Mounting holes for the DIN rail mounting plate (M3, three locations)

DIN rail

DIN lever

3. Removing from DIN rail

Pull the DIN lever down until it locks using a flat blade-parallel tip type screwdriver, and lift the bottom of the driver to remove it from the rail.

OPERATION

ALARM

CN1

CN2

CN3

MOTOR

CURRENT

100115V

CN4 I

V.FIL

1 2 3 4

1000

500

X10

ASD24A-A

End plate

VEXTA

Note

• Do not use the mounting holes (M3, three locations) for the DIN rail mounting plate provided in the back of the driver for any purpose other than securing the DIN rail mounting plate.

• Be sure to use the supplied screws when securing the DIN rail mounting plate. The use of screws that would penetrate 3 mm (0.12 in.) or more through the surface of the driver may cause damage to the driver.

Note

• Use force of about 10 to 20 N (2.2 to 4.5 lb.) to pull the DIN lever to lock it. Excessive force may damage the DIN lever.

• Use an end plate (not supplied) to secure the driver.

Note

• Do not install or remove the connector with cable while the power is being supplied. Doing so may damage the sensor.

• When removing the connector with a cable, do not pull it by the cables. Pull out the connector while pressing it firmly from the top and bottom.

• Wire the robot cable in such a way that it will not contact the hollow rotary actuator.

Installation of home-sensor set (option)





Home position sensor setting details

Home-sensor set (PADG-SB: NPN output, PADG-SBY: PNP output) of the following parts:

Photomicrosensor 1 piece

EE-SX673A (Supplied with PADG-SB, OMRON Corporation) EE-SX673R (Supplied with PADG-SBY, OMRON Corporation)

Connector with cables 1 piece

EE-1010-R (OMRON Corporation) length 2 m (6.6 ft.) Mounting bracket for sensor 1 piece Shield plate 1 piece Screw (M3, Spring washer, Washer) 2 pieces Hexagonal socket head screw (M2.5) 4 pieces





Installation the sensor

Install the home-sensor set to the hollow rotary actuator by following the procedure below

1.Affix the sensor to the sensor bracket using the supplied screws (M3 × 2).

Screw holes are provided in two locations on the right and left sides of the sensor bracket. The sensor can be installed on either side. However, ensure a line of sight between the installed sensor and the indicator lamp. Tightening torque: 0.6 N·m (85 oz-in)

2.Affix the bracket and sensor assembly to the gear mechanism of the hollow rotary actuator

using the supplied hexagonal socket head screws (M2.5 × 2). Tightening torque: 0.5 N·m (71 oz-in)

3.Plug the connector with cable into the sensor

Firmly insert the sensor connector by aligning its orientation with the connector.

Screw M3 × 6 mm (0.236 in.)

Hexagonal socket head screw M2.5 × 5 mm (0.197 in.)

ConnectorSensor

Note

Do not install the home-sensor set while the power is supplied. To do so may result in injury or equipment damage.

Note

• Be sure to install the sensor and shield plate in the direction shown in the figure. Installing them in the wrong direction may disable sensor detection or cause the shield plate to contact the sensor and result in sensor damage.

• When installing the sensor bracket and shield plate to the hollow rotary actuator, be sure to use the supplied screws.

• Do not use the M2.5 screw holes to install the home sensor, as provided in the hollow rotary actuator, for any purpose other than installation of the home-sensor set.

• The photomicrosensor is designed for use within equipment and therefore has no special means of protection against disturbances from external sources of light. If the actuator is to be used under an incandescent lamp or in conditions that are subject to disturbances from external light, provide the means to prevent such interference.

• Use the sensors after confirming that there is no looseness, play or other abnormality due to vibration, impact, etc.

• Place the power cables such as the motor and power supply cables as far apart as possible from the signal cables. If they have to cross, cross them at a right angle.

• To prevent sensor deterioration due to heat, set the operating conditions (speed and operating duty) of the hollow rotary actuator in such a way that the ambient operating temperature remains at 0 to +40°C and the motor surface temperature remains at 90°C or less.

•

To prevent malfunctioning due to the adhesion of dust on the sensors, clean and/or replace the sensors regularly.

• Use a common GND for the sensor power and user’s controller power. Any difference in GND potential will result in a sensor malfunction.





Sensor wire connection

Connection diagram when the home-sensor set PADG-SB is used

The power supply must be 5 VDC or more and 24 VDC or less. The current must be 100 mA or less. If the current exceeds 100 mA, connect an external resistor R0.

User controller

DC input

HOMELS

GND

Photomicrosensor (NPN)

HOMELS input

5 ~

24 V



+5 ~ +24 V

Brown

Pink

Black

Blue

Power supply for sensor

The pink lead (broken line) is connected to the brown lead if the sensor logic is N.C. (normally-closed). If the sensor logic is N.O. (normally-open), the pink lead is not connected.

Hexagonal socket head screw M2.5 × 5 mm (0.197 in.)

4.Affix the shield plate to the output table using the supplied hexagonal socket head screws

(M2.5 × 2).

Tightening torque: 0.5 N·m (71 oz-in)

Connection diagram when the home-sensor set PADG-SBY is used

The power supply must be 5 VDC or more and 24 VDC or less. The current must be 50 mA or less. If the current exceeds 50 mA, connect an external resistor R

HOMELS

GND

Photomicrosensor (PNP)

Brown

Pink

Black

Blue

User controller

DC input

HOMELS input

Power supply for sensor

+5 ~ +24 V

The pink lead (broken line) is connected to the brown lead if the sensor logic is N.C. (normally-closed). If the sensor logic is N.O. (normally-open), the pink lead is not connected.

Installing and wiring in compliance with EMC directive





General

EMC directive (89/336/EEC, 92/31/EEC)

The DG series has been designed and manufactured for incorporation in general industrial machinery. The EMC directive requires that the equipment incorporating this product comply with these directives. The installation and wiring method for the hollow rotary actuator and driver are the basic methods that would effectively allow the customer’s equipment to be compliant with the EMC directive. The compliance of the final machinery with the EMC directive will depend on such factors as the configuration, wiring, layout and risk involved in the control-system equipment and electrical parts. It therefore must be verified through EMC measures by the customer of the machinery.

Applicable standards

EMI

Emission Tests EN50081-2 Radiated Emission Test EN55011 Conducted Emission Test EN55011

EMS

Immunity Tests EN61000-6-2 Radiation Field Immunity Test IEC61000-4-3 Electrostatic Discharge Immunity Test IEC61000-4-2 Fast Transient/Burst Immunity Test IEC61000-4-4 Conductive Noise Immunity Test IEC61000-4-6 Surge Immunity Test IEC61000-4-5 Voltage Dip Immunity Test IEC61000-4-11 Voltage Interruption Immunity Test IEC61000-4-11





Installing and wiring

Effective measures must be taken against the EMI that the DG series may give to adjacent control-system equipment, as well as the EMS of the DG series itself, in order to prevent a serious functional impediment in the machinery. The use of the following installation and wiring methods will enable the DG series to be compliant with the EMC directive (the aforementioned compliance standards).



Connecting mains filter for power source line

Connect a mains filter in the AC input line to prevent the noise generated in the driver from propagating externally through the power source line. Use a mains filter or equivalent as below table.

Manufacturer

Schaffner Electronik AG EPCOS

Single-phase 100-115 V Single-phase 200-230 V

FN2070-10-06 B84113-C-B110

Three-phase 200-230 V

FN251-8-07

Install the mains filter as close to the driver as possible, and use cable clamps and other means to secure the input and output cables firmly to the surface of the enclosure. Connect the ground terminal of the mains filter to the grounding point, using as thick and short a wire as possible. Do not place the AC input cable (AWG18: 0.75 mm

or more) parallel with the mains-filter output

cable (AWG18: 0.75 mm

or more). Parallel placement will reduce mains-filter effectiveness if the enclosure’s internal noise is directly coupled to the power supply cable by means of stray capacitance.



Connecting surge arrester

Use a surge arrester or equivalent as below table.

Note

When measuring dielectric strength of the equipment, be sure to remove the surge arrester, or the surge arrester may be damaged.

Single-phase 100-115 V

PT2-PE/S120AC-ST

Single-phase 200-230 V

PT2-PE/S230AC-ST

R·A·V-781BWZ-2A, R·A·V-781BWZ-4, R·C·M-601BQZ-4

VAL-MS 230 VF ST

Manufacturer

OKAYA ELECTRIC INDUSTRIES CO., LTD

PHOENIX CONTACT GmbH & Co. KG

How to ground the hollow rotary actuators

Connect the protective ground terminal on the gear mechanism to the ground.



Wiring the signal cable

Use a shielded cable of AWG24 (0.2 mm

) or more in diameter for the driver signal cable, and keep it as short as possible. Contact the nearest sales office for a shielded cable (sold separately). To ground a shielded cable, use a metal clamp or similar device that will maintain contact with the entire circumference of the shielded cable. Attach a cable clamp as close to the end of the cable as possible, and connect it to an appropriate grounding point as shown in the figure.

OPERATION

I/O

MOTOR

1000

CURRENT

V.FIL

ASD12A-S

VEXTA

Use the protective earth terminal located on the side of the driver.

OPERATION

CN2

I/O

MOTOR

100115V

000

X10

CURRENT

V.FIL

ASD24A-A

VEXTA

Ground the power supply terminal using its ground terminal.

Cable clamp

Shielded cable



How to ground

The cable used to ground the driver, hollow rotary actuator and mains filter must be as thick and short to the grounding point as possible so that no potential difference is generated. Choose a large, thick and uniformly conductive surface for the grounding point.

How to ground the driver



Single-phase 100/200 V input



Three-phase 200 V input



Others

• Connect the hollow rotary actuator, driver and other peripheral control equipment directly to

the grounding point so as to prevent a potential difference from developing 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 cables as short as possible without coiling and bundling extra lengths.

• Place the power cables such as the motor and power supply cables as far apart [100 to

200 mm (3.94 to 7.87 in.)] as possible from the signal cables. If they have to cross, cross them at a right angle. Place the AC input cable and output cable of a mains filter separately from each other.

• If an extension cable is required between the hollow rotary actuator and driver, it is

recommended that an optional extension cable (sold separately) be used, since the EMC measures are conducted using the Oriental Motor extension cable.

Signal cable [2 m (6.6 ft.)]

Cable clamp

(Shielded cable)

User controller

Cable clamp

Power cable [1.9 m (6.2 ft.)]

(Shielded cable)

Mains filter

Cable clamp

Motor cable [0.4 m (1.3 ft.)]

Hollow rotary actuator

Grounded panel

Driver

Surge arrester



Example of hollow rotary actuators and driver installation and wiring





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 to adjust the driver’s built-in motor current switch.

Note

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

Note

• Have the connector plugged in securely. Insecure connector connection may cause malfunction or damage to the hollow rotary actuator or driver.

• To disconnect the plug, pull the plug while using the fingers to press the latches on the plug.

• When the hollow rotary actuator is to be installed in a moving part, thereby subjecting the motor cable to repeated bending and stretching, use an optional flexible cable (sold separately). Refer to page 43 of “Appendix” for the flexible cable.

• Minimize the length of the control I/O cable between the driver and controller. The longer this cable is, the lower the maximum input frequency becomes.

Hollow rotary actuator

OPERATION

ALARM

CN1

CN2

CN3

MOTOR

CURRENT

100115V

VEXTA

CN4

V.FIL

1 2 3 4

1000

500

X10

Motor cable or extension cable (sold separately)

Connect to

CN2

Single-phase

100-115 V 50/ 60 Hz

＋

10%

−

15%

Power input

Driver

Control input/output



Controller

Connect to CN4

Connection

This section covers the methods and examples of connecting and grounding the driver, hollow rotary actuator, power and controller, as well as the control input/output.

Connecting the hollow rotary actuators

Plug the connector of the motor cable or the extension cable into the driver’s motor connector (CN2). Push the plug until it clicks to ensure a solid connection. Use an optional extension cable (sold separately) to extend the distance between the hollow rotary actuator and driver.

Refer to page 43 of “Appendix” for the extension cable.

Note

• Be sure to use the same voltage for C.OFF, ×10 and ACL inputs and TIM.1/TIM.2, ASG1/ ASG2 and BSG1/BSG2 outputs. Connecting both 5 and 24 VDC power supplies may damage the driver and power supplies.

• The CW and CCW inputs provided as driver input signals indicate the opposite directions to the output table’s direction of rotation. When the CW input is active, the output table rotates counterclockwise. When the CCW input is active, the output table rotates clockwise.

Driver

Controller

CN4

Twisted pair cable or shielded cable

+30 V maximum

+5 V

Photocoupler input 5 VDC Input current 7 ~ 20 mA

Photocoupler input 5 VDC Input current 16 mA

Photocoupler/open-collector output 30 VDC, maximum Output current 15 mA, maximum

Transistor/open-collector output 30 VDC, maximum Output current 15 mA, maximum

Line-driver output 26C31 or equivalent

CW input

CCW input

ACL input

×10 input ×10 input

C.OFF input

Vcc+5 V input

ALARM output

END output

TIM.1 output

GND

BSG1 output

TIM.2 output

ASG2 output

BSG2 output

GND

ASG1 output

GND

Driver

Controller

CN4

Twisted pair cable or shielded cable

30 V maximum

+24 V

CW input

CCW input

ACL input

×10 input

C.OFF input

Vcc+24 V input

ALARM output

END output

TIM.1 output

ASG1 output

BSG1 output

TIM.2 output

ASG2 output

BSG2 output

Photocoupler input 5 ~ 24 VDC Input current 7 ~ 20 mA

Photocoupler input 24 VDC Input current 5 mA

Photocoupler/open-collector output 30 VDC, maximum Output current 15 mA, maximum

Transistor/open-collector output 30 VDC, maximum Output current 15 mA, maximum

Line-driver output 26C31 or equivalent

GND

Connection example for the control input/output

• Either 5 or 24 VDC is selected as a signal voltage for the C.OFF input, ×10 input and ACL input.

• The TIM.1/TIM.2 outputs, ASG1/ASG2 outputs and BSG1/BSG2 outputs require a 5 or 24 VDC power.





In the case of current sourcing inputs and current sinking outputs

When ACL, resolution select, C.OFF controller power supply is 5 VDC.

When ACL, resolution select, C.OFF controller power supply is 24 VDC.

Note

The CW and CCW inputs are of the 5 VDC input specification. If V0 exceeds 5 V, connect external resistor R0.

Example) When V0 is 24 VDC

R0: 1.5 to 2.2 kΩ,

0.5 W min.





In the case of current sinking inputs and current sourcing outputs

Note

Be sure to use the same voltage for C.OFF, ×10 and ACL inputs and TIM.1/TIM.2, ASG1/ ASG2 and BSG1/BSG2 outputs. Connecting both 5 and 24 VDC power supplies may damage the driver and power supplies.

Driver

Controller

CN4

Twisted pair cable or shielded cable

∗ GND of TIM.1, ASG1, BSG1

is common. The output type of these signals is current sinking outputs. See page 32 for the wiring.

+5 V

Photocoupler input 5 VDC Input current 7 ~ 20 mA

Photocoupler input 5 VDC Input current 16 mA

Photocoupler/open-collector output 30 VDC, maximum Output current 15 mA, maximum

Transistor/open-collector output 30 VDC, maximum Output current 15 mA, maximum

Line-driver output 26C31 or equivalent

CW input

CCW input

ACL input

×10 input ×10 input

C.OFF input

Vcc+5 V input

ALARM output

END output

TIM.1 output

GND

BSG1 output

TIM.2 output

ASG2 output

BSG2 output

GND

ASG1 output

GND

Three-phase 200-230 V 50/60 Hz

100115V

Single-phase 100-115 V

50/60 Hz

Single-phase 200-230 V

50/60 Hz

Ø3.2 (0.13 DIA.) minimum

9 (0.35) minimum

6.2 (0.24) maximum

Connecting to the power supply

Connect the power cable to the L and N terminals or the L1, L2 and L3 terminals of the power supply terminals located on the driver.





For Single-phase 100-115 V unit • Single-phase 200-230 V unit

Connect the live side of the power cable to the L terminal and the neutral side to the N terminal. Connect the

terminal to the grounding point of the power source.





For three-phase 200-230 V unit

Connect the U, V and W phase lines of the three-phase 200-230 V power cable to the L1, L2 and L3 terminals, respectively.





Terminal screw size and cable size for power connection

Screw size: M3 Tightening torque: 0.8 to 1.0 N·m (113 to 142 oz-in) Cable size capacity: AWG18 (0.75 mm

)

Use round, insulated crimp terminals for connection.

Note

• Furnish a power supply capable of supplying adequate driver input current. If the current capacity is insufficient, the transformer may be damaged, or the motor may run erratically due to a drop in torque.

• Do not run the driver’s power cable through a conduit containing other power lines or motor cables.

• After shutting down the power, wait at least 10 seconds before turning it back on, unplugging, or plugging in the motor’s cable connector.

Unit name

DG85R-ASAA DG85R-ASBA DG130R-ASAA DG130R-ASBA DG130R-ASAC DG130R-ASBC

Current capacity

Single-phase 100-115 V 3.3 A or more

Single-phase 100-115 V 5 A or more

Single-phase 200-230 V 3 A or more

+10%

15%

+10%

15%

+10%

15%

Use a power supply capable of supplying the current capacity as shown below.

[Unit: mm (inch)]

Unit name

DG130R-ASAS DG130R-ASBS

Current capacity

Three-phase 200-230 V 1.5 A or more

+10%

15%

Grounding the hollow rotary actuators and driver





Grounding the hollow rotary actuators

Be sure to connect the protective ground terminal (thread size: M4) on the gear mechanism to the ground. Use a grounding cable of AWG18

(0.75 mm2) or more in diameter. Use a ground cable with insulated, covered round terminals and affix the terminal on each side using the supplied cross-head screw with a washer.

Protective earth terminal





Grounding the driver

Be sure to ground the protective earth terminal (screw size: M4) located on the driver side. Use a grounding cable of AWG18

(0.75 mm2) or more in diameter. Do not share the grounding cable with a welder or power equipment. Use a round, insulated crimp terminal to ground the cable near the driver.

Protective earth terminal

Tightening torque: 0.3 to 0.35 N·m (42.5 to 49.6 oz-in)

CN3

I/O

OTOR

100115V

Screws

Control input/output connector

Control input/output connector (CN4)

Connecting control input/output





Connecting control input/output connector

Connect the control input/output connector (supplied, 36 pins) to the driver. Solder the control input/output cable (AWG28: 0.08 mm

or more) to the connector. Assemble the connector and connector cover with the supplied screws. Use an optional shielded cable with connector (sold separately; page 43) or other shielded cable. Refer to page 27 of, “Assembling the control input/output connector”.

Insert the control input/output connector into the control input/output connector CN4 on the driver side, and tighten the screw with a flat blade-parallel tip type screwdriver.

Half-pitch connector

Connector pin

Control input/output cable

Cable clamp

Screw

Connector cover

Half-pitch connector

Place the spring washer outside the connector cover.

Screw (M2)

Align the washer in the depression in the connector cover.

Clamp with screws (M2.5) and hexagonal nuts. Tightening torque: 0.5 to 0.55

N·m (71 to 78 oz-in)





Assembling the control input/output connector

Solder the control input/output cable to the half-pitch connector (36 pins), then install the connector cover over the half-pitch connector.



Soldering the cable to the half-pitch connector

Solder the input/output signal cable

(AWG28: 0.08 mm2 or more) to the half-pitch connector (36 pins). For the pin assignments, refer to page 28.



Assembling the half-pitch connector and the connector cover

1.Attach the supplied screws (two pieces) to the connector cover and insert the half-pitch

connector with the control input/output cable soldered to it. Adjust the cable clamp to its correct position.

2.Attach the other connector cover and clamp both connector covers together with screws

and nuts.

2 4

810

357

232527

3335

12 14

131517

Viewed from the soldering side

Connector pin assignments

Note

• The functions shown in

parentheses are enabled when “1P: 1-Pulse Input Mode” is selected through the pulse-input mode selector switch.

• The CW and CCW

inputs provided as driver input signals indicate the opposite directions to the output table’s direction of rotation. When the CW input is active, the output table rotates counterclockwise. When the CCW input is active, the output table rotates clockwise.

• Be sure to use the

same voltage for C.OFF, ×10 and ACL inputs and TIM.1/TIM.2, ASG1/ASG2 and BSG1/BSG2 outputs. Connecting both 5 and 24 VDC power supplies may damage the driver and power supplies.





Connector pin functions

Direction

Input

Output

Input

Output

Input

Pin No.

1 2 3 4 5 6 7 8

9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36

Signal

Vcc+5 V GND Vcc+24 V

CCW (DRE) CCW (DRE) CW (PLS) CW (PLS) BSG1 GND ASG1 GND BSG2 BSG2 ASG2 ASG2 ACL ACL TIM.1 GND ALARM ALARM TIM.2 TIM.2 END END ×10 ×10 C.OFF C.OFF

Description

5 VDC GND 24 VDC Not used Not used Not used Not used Not used CCW pulse (ON: CW, OFF: CCW) CW pulse (Pulse) B-phase pulse output Open-collector A-phase pulse output Open-collector B-phase pulse output Line driver A-phase pulse output Line driver

Alarm clear

Timing Open-collector

Alarm

Timing Line driver

Positioning complete

Resolution switch

All Windings Off

Not used Not used

External power source

Note

• If no pulse is to be input, be sure to keep the photocoupler in “OFF” state. Do not input a CW pulse and CCW pulse simultaneously. If a pulse is input while the other photocoupler is in the “ON” state, the hollow rotary actuator will not operate properly.

CW, CCW ACL, ×10, C.OFF

9, 11

10, 12

22, 32, 34

21, 31, 33

Driver internal circuit

7 ∼ 20 mA

5 mA

16 mA

4.7 kΩ

220 Ω

90%

10%

1 µs minimum

2 µs minimum

2 µs maximum 2 µs maximum

ON: 4 ~ 5 V OFF: 0 ~ 0.5 V

OFF

Direction of rotation when CW input is active

Direction of rotation when CCW input is active

About control input/output





Input signals

All input signals of the driver are photocoupler inputs. For C.OFF input, ×10 input and ACL input a signal voltage of either 5 or 24 VDC can be selected. Be sure to use it with voltage of either 5 or 24 VDC. The signal state represents the “ON: Carrying current” or “OFF: Not carrying current” state of the internal photocoupler rather than the voltage level of the signal. The following explains the connection state in the case of current sink input.

Set the input pulse voltage to the CW and CCW pulse inputs at 5 VDC. If the voltage exceeds 5 VDC, insert an external resistor to limit the input current to nearly 10 mA.

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

R =

220 [Ω]

10 mA

V-1.5

Note

Be sure to use the same voltage for C.OFF, ×10 and ACL inputs and TIM.1/TIM.2, ASG1/ ASG2 and BSG1/BSG2 outputs. Connecting both 5 and 24 VDC power supplies may damage the driver and power supplies.

Hollow rotary actuator movement

CCW



∗

The minimum interval time needed for

switching the direction of rotation will vary, depending on the operating speed and size of the load. Do not shorten the interval time any more than is necessary.

CW pulse input

CCW pulse input

OFF

∗



CW pulse input and CCW pulse input

With this driver either 2-pulse input mode or 1-pulse input mode may be selected in accordance with the controller used. Refer to page 36 for details on how to set the pulse-input mode. ALARM output is in the “OFF” state immediately after the driver power is turned on. Check to see that ALARM output has been turned from “OFF” to “ON” before inputting pulse signals.

2-pulse input mode (factory setting)

Connect the CW pulse and CCW pulse of the controller to pin No.12, “CW input,” and pin No. 10, “CCW input,” respectively.

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

actuator will rotate one step in the CW direction.

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

actuator will rotate one step in the CW direction.

90%

10%

1 µs minimum

2 µs minimum

2 µs maximum 2 µs maximum

ON: 4 ~ 5 V OFF: 0 ~ 0.5 V

OFF

CCW

Hollow rotary actuator movement

∗

The minimum interval time needed for

switching the direction of rotation will vary, depending on the operating speed and size of the load. Do not shorten the interval time any more than is necessary.

PLS input

(Pulse)

DRE input

(Rotating direction)

OFF

1-pulse input mode

Connect the pulse signal of the controller to pin No.11 and No.12, and the rotating direction signal to pin No.9 and No.10, respectively. Connect the positioning pulse input to pin No.12 PLS and the rotation direction input to pin No.10 DRE.

1.When the DRE input is “ON,” a rise of the “PLS input” from “OFF” to “ON” will rotate the

hollow rotary actuator one step in the CCW direction.

2.When the DRE input is “OFF,” a rise of the “PLS input” from “OFF” to “ON” will rotate the

hollow rotary actuator one step in the CW direction.

The voltage of pulse and rotation direction input to the PLS input and DRE input shall be 5 VDC. If the voltage exceeds 5 VDC, connect an external resistor to limit the input current to nearly 10 mA.

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

R =

220 [Ω]

10 mA

V-1.5



×10 (Resolution selection) input

Selects and switches to 10 times either of the resolution “500: 0.04°/pulse” or “1000: 0.02°/ pulse” that has been selected with the resolution selection switch. For instance, if “1000: 0.02°/pulse” has been selected, this signal can switch between the

0.02° step rotation and 0.002° step rotation. Refer to page 35 for the selection of the resolution selection switch.

The resolution selector switch [1000/500] is based on the motor resolution. The resolution of the hollow rotary actuator is 18 times the motor resolution. Refer to the table below.

Resolution selector switch Output table resolution 1 step rotation angle

500 × 1 9000 0.04° 1000 × 1 18000 0.02° 500 × 10 90000 0.004°

1000 × 10 180000 0.002°

1.Turning the ×10 input to “ON” will select/switch to “×10 resolution.”

2.Turning the ×10 input to “OFF” will select/switch to “×1 resolution.”

Warning

Resolution selection switch

1 2 3 4

1000

500

X10

Lever

ACL input

(Alarm clear)

ALARM output

(Alarm)

OFF

0.5 s maximum

0.1 s minimum



C.OFF (All windings off) input

Use the signal only when the output table must be rotated manually for position adjustment.

1.When the C.OFF input is turned “ON,” the driver will shut off the output current and the

hollow rotary actuator will lose its excitation static torque. This, however, will allow you to adjust the load position manually.

2.Turning the C.OFF input to “OFF” will cause the driver to resume current supply to the hollow

rotary actuator and to engage the brake. The C.OFF input must be “OFF” when operating the hollow rotary actuator.



ACL (Alarm clear) input

The input clears the ALARM output issued when a protective function has been triggered. The ALARM output remains “ON” when the driver is operating normally, then turns “OFF” when a protective function is triggered. For details, refer to “ALARM output” on page 32 and “Protective function” on page 38.

Setting the ACL input in the ON state clears the ALARM output. To cancel the ALARM output, be sure to remove the cause of the problem that has triggered the protective function before turning the power back on.

Note

• Normally, keep the C.OFF input in the “OFF” state or leave it disconnected.

• Turning the C.OFF input to “ON” resets the deviation counter in the driver.

Note

Be sure to set the resolution selection switch to “×1” when “×10 input” is used. If the switch is set to “×10,” the resolution will remain at 10 times, regardless of the “ON” or “OFF” resolution-selector input.

Note

• The overcurrent protection, EEPROM data error and system error protective functions cannot be cleared. When any of these functions are triggered, contact the nearest customer-service center, branch or sales office.

• Turning the power back on will clear the ALARM output. To cancel the ALARM output, be sure to remove the cause of the problem that has triggered the protective function before turning the power back on. After the power has been shut off, wait at least 10 seconds before turning the power back on.

ALARM, END

25, 29

26, 30

30 VDC 15 mA maximum

TIM1, TIM2, ASG1, ASG2, BSG1, BSG2

Driver internal circuit

Driver internal

circuit

+5 V

17, 19, 27

18, 20, 28

13, 15, 23

14, 16, 24

Line-driver output

Open-collector output

26C31 or

equivalent

END output

(Positioning complete)

OFF

Stop Stop

Movement

Hollow rotary actuator movement





Output signals

Driver output signals are photocoupler/open-collector output, transistor open-collector output for the TIM.1, ASG1 and BSG1 outputs, and line-driver output for the TIM.2, ASG2 and BSG2 outputs. The signal state represents the “ON: Carrying current” or “OFF: Not carrying current” state of the internal photocoupler rather than the voltage level of the signal.



ALARM output

ALARM output remains “ON” when the driver is operating normally, then turns “OFF” when a protective function is triggered. Detect this ALARM output on the controller side and cancel the command to operate the hollow rotary actuator thereafter.

Error detection by the driver, such as overload and overcurrent during hollow rotary actuator operation, turns the ALARM output “OFF,” blinks the ALARM LED on the driver, and simultaneously shuts off the hollow rotary actuators current to stop hollow rotary actuator operation. Count the number of the ALARM LED blinks to identify the particular protective function that has been triggered. For details, refer to “Protective functions” on page 38.



END (Positioning complete) output

The END output turns “ON” when hollow rotary actuator’s movement is complete.

Conditions for the issuance of END output are as follows: END output is issued when the pulse speed is 500 Hz or less, and the output table has positioned within ±0.1° of the commanded position.

Note

Be sure to use the same voltage for C.OFF, ×10 and ACL inputs and TIM.1/TIM.2, ASG1/ ASG2 and BSG1/BSG2 outputs.

Note

The operation of the photocoupler is reversed on the ALARM output only. The ALARM output turns “OFF” when protective function is triggered.

Note

The timing of the END output turning “ON” after the pulse stops will vary, depending on the conditions of the load, the pulse input, and the speed-filter setting.

Blink

ALARM LED

ALARM output

(Alarm)

The hollow rotary actuator stops due to inertial force.

OFF

When the driver is operating normally. When a protective function is triggered.

Hollow rotary actuator movement

TIM. output

(Timing)

OFF

Stop Stop

Movement

Hollow rotary actuator movement

ASG1 output

OFF

BSG1 output

OFF

90°



TIM. (Timing) output

TIM. output are available in two types: transistor open-collector output and line-driver output. Use either one to suit the input system of the positioning controller. The use of TIM. output requires separate 5 or 24 VDC power.

TIM. output turns “ON” whenever the output table rotates 0.4°.



ASG output and BSG output

ASG and BSG outputs are available in two types: transistor open-collector output and line-driver output. Use either type to suit the input system of the counter unit and other functions of the controller. The use of ASG and BSG outputs requires separate 5 or 24 VDC power.

The output-pulse resolution will be the same as the motor resolution at the time power is supplied to the driver (as set by the resolution selection switch).

Counting the ASG output pulses allows the hollow rotary actuator position to be monitored.

ASG output: Outputs pulses while the hollow rotary actuator operates. BSG output: Detects the direction of the hollow rotary actuator’s rotation. It has a 90° phase

difference with regard to ASG output. The level of the BSG output at the rise time of the ASG output indicates the direction of hollow rotary actuators rotation.

Note

If TIM. output is to be detected, set the pulse speed at 500 Hz or less. Use the ×10 (resolution selection)

input to switch the resolution only when TIM. output is in the “ON” state and the hollow rotary actuator stops. If the resolution is switched under any other conditions, TIM. output may not turn “ON” even when the output table has rotated 0.4°.

Note

The pulse output delays behind hollow rotary actuator rotation by up to 1 ms. The output may be used to verify the hollow rotary actuator’s stop position.

Timing chart

∗2

∗3 ∗3

∗5

∗3

∗1

CCW CCW

∗4

Power input

ALARM output

END output

(Positioning complete)

OFF

CW pulse input

CCW pulse input

C.OFF input

(All windings off)

TIM. output

(Timing)

0.5 s maximum

0.1 s minimum

10 s minimum

2 s minimum

Hollow rotary actuator movement

Note

∗1 After the power has been shut off, wait at least 10 seconds before turning the power back on.

∗2 To input the CW or CCW signal pulse, wait at least 0.1 second after clearing the ALARM output.

∗3 Turning the END output to “ON” does not necessarily mean the hollow rotary actuator has stopped.

Provide enough of a time delay for a halt, which will vary, depending on the acceleration/deceleration

rates and load condition.

The time for END output to turn “ON” after the pulse signal stops will vary, depending on the

pulse-signal input condition and speed-filter setting condition.

∗4 Detect TIM. output only at a pulse speed of 500 Hz or less.

Accurate detection is not possible at a speed over 500 Hz.

∗5 Turning C.OFF input “ON” shuts off the hollow rotary actuators current, at which time the hollow

rotary actuator’s loses its holding ability.

It also clears the value on the deviation counter.

A total of four resolution levels may be selected, with ×10 (resolution selection) input “CN4 Pin No.31, 32” used to switch between 1000 and 10000 and between 500 and 5000. Refer to page 31 for the use of ×10 input (resolution selection).

CN1

CN2

CN3

MOTOR

CURRENT

V.FIL

1 2 3 4

1000

500

X10

Resolution selection switch

Driver front panel

Not used (CN1)

Current setting switch

Speed-filter selection switch

Pulse input mode selection switch

Resolution selection switch

1 2 3 4

1000

500

X10

Lever

Setting

This section covers the selection and settings of the driver functions.

The various switches provided on the driver’s front panel allow for the setting of the resolution, pulse input mode, current level and speed filter.

• Before working on the system, shut off the power to the driver and wait 10 seconds. Failure to do so may result in electric shock.

Warning

Resolution

Use the resolution selection switch “1000/500” and “×1/×10” to set the hollow rotary actuator’s resolution. The resolution of the output table is 18 times the motor resolution.

Factory settings [1000]: 18000 P/R (0.02°/pulse) [×1]: Multiplier 1

Note

• Be sure to shut off the power before using the resolution selection switch. The new resolution takes effect when the power is turned on again.

• Be sure to switch to “×1” when the resolution switching input is used. The “×10” setting disables the resolution switching input.

Pulse input mode selection switch

1 2 3 4

1000

500

X10

Lever

CURRENT

V.FIL

Current setting switch

1P 2P

Operating current rate [%]

6 13 19 25 31 38 44 50 56 63 69 75 81 88 94

100

Dial setting

0 1 2 3 4 5 6 7 8

9 A B C D E

Pulse input modes

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

Factory setting [2P]: 2-Pulse Input Mode

When the hollow rotary actuator is to be controlled through the 2-pulse signal input via the CW pulse signal and CCW pulse signal, set the pulse input mode selection switch to “2P.”

When the hollow rotary actuator is to be controlled through the PLS (pulse) and the DRE (rotating-direction) inputs, set the pulse input mode selection switch to “1P.”

Operating current

Use the current setting switch “CURRENT” to set the hollow rotary actuator’s operating current. Set the operating current as a product of the maximum driver output current “F,” which is 100%, multiplied by the operating current percentage corresponding to the given dial. The switch provides a selection of 16 levels ranging between “0” and “F.” If there is extra torque, the current may be set to a lower level in order to suppress an increase in motor temperature.

Factory setting [F]: Driver’s maximum output-current value

The dial settings and corresponding levels of the operating current are as follows:

Note

Be sure to shut off the power before using the pulse input mode selection switch. The new pulse mode takes effect when the power is turned on again.

Note

An excessively low operating current level may cause a problem when starting the hollow rotary actuator or holding the load in position. Do not reduce the current any more than is necessary.

CURRENT

V.FIL

Speed-filter selection switch

When the speed-filter selection switch is set to "0"

Command speed

Hollow rotary actuator rotation speed

END output

When the speed-filter selection switch is set to "E"

Command speed

END output

Hollow rotary actuator rotation speed

Dial setting

0 1 2 3 4 5 6 7 8

9 A B

C D

E F

Filter time [ms]

None

0.12

0.16

0.27

0.41

0.82

1.20

1.60

2.70

4.10

8.20

12.0

16.0

27.0

41.0

82.0

Speed filter

Use the speed-filter selection switch “V.FIL” to select the filter time constant that determines the hollow rotary actuator’s response to pulse input. The switch provides a selection of 16 levels ranging between “0” and “F.” When a larger value is selected, it will reduce shock when the hollow rotary actuator is started and stopped, and will minimize low-speed vibration. An unnecessarily large filter time constant, however, will smooth out the hollow rotary actuator movement further, but with a reduced ability to synchronize to the pulse input and will extend the settling time when stopping. Select an optimal value to fit the load and application.

Factory setting [6]: 1.20 ms

The dial settings and corresponding levels of filter time constants are as follows:

• When the driver-protection function is triggered, the hollow rotary actuator will stop and lose its holding torque, possibly causing injury or damage to equipment.

Warning

123 123

Interval

1.2 s

0.2 s

OPERATION

ALARM

Blink

Conditions When a heat-radiating unit within the driver reaches approx. 85°C. When a load exceeding the maximum torque is applied to the motor for five seconds or more. When the driver inverter’s primary voltage exceeds a permissible value. When the hollow rotary actuator has not normally followed up on pulse input. When an excessive current flows through the driver inverter’s power element. When the output table speed exceeds 270 r/min.

When the motor parameter in the driver is damaged.

When power turns on without the connection of a motor cable to the driver. When the driver is out of order.

No. of blinks

Continuous

Protective function

Overheat protection

Overload protection

Overvoltage protection

Speed error protection

Overcurrent protection

Overspeed

EEPROM data error

Sensor error

System error

Protective functions

This section covers the driver-protection functions and methods used to clear the triggered function.

Descriptions of protective functions and numbers of LED

blinks

The driver is provided with functions that protect the driver from ambient temperature increases, improper power sources or motor cable connections, and the occurrence of operating errors. When a protective function is triggered, the ALARM LED on the front panel blinks, the ALARM output turns OFF, and simultaneously the hollow rotary actuator’s current is shut off in order to stop the hollow rotary actuator’s motion. The ALARM output remains “ON” when the driver is operating normally, then turns “OFF” when a protective function is triggered. For details, refer to “ALARM output” on page 32.

ALARM LED blinking cycle (example: for overvoltage protection)

The number of ALARM LED blinks varies according to the nature of the triggered protective function, thereby facilitating action and recovery from the abnormal conditions causing the function to be triggered. The table below gives descriptions of protective functions and their corresponding numbers of blinks.

How to clear a protective function

When a driver-protection function is triggered, turning the ALARM output OFF by employing either of the following methods may clear ALARM output (return to “ON”):

• Give a one-shot ACL (Alarm clear) input to clear the ALARM output.

• Cycle the power.

Note

• To clear the ALARM output, be sure to remove the cause of the problem that has triggered the protective function before either giving a one-shot ACL input or cycling the power on. After turning off the power, wait at least 10 seconds before cycling the power.

Inspection

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

During inspection:

• Are any of the hollow rotary actuator mounting screws loose?

• Check for any unusual noises in the hollow rotary actuator’s bearings (cross roller bearing) or

other moving parts.

• In sure that the screws used to tighten the output table and load are not loose.

• Are there any scratches, signs of stress or loose driver connections in the motor cable?

• Check for a blocked opening of the driver case.

• Are any of the driver mounting screws or power-connection terminal screws loose?

• Are there any strange smells or appearances in the power elements and filtering capacitors

within the driver?

Note

The driver uses semiconductor elements, so be extremely careful when handling them. Static electricity may damage the driver.

Number of

ALARM LED

Blinks

Continuous

Type of alarm and possible cause

Overheat protection. Driver ambient temperature exceeded 50°C (122°F). Overload protection. Overloading. Overvoltage protection. Incorrect power connection or loading beyond the regenerative ability of the driver. Speed error protection. Overloading or incorrect speed filter setting. Overcurrent protection. Short-circuited motor cable. Excessive speed. Excessively high operating-pulse speed.

EEPROM data error. Error in driver.

Sensor error. Bad motor-cable connection or open line.

System error. The driver is out of order.

Remedial action

Review hollow rotary actuator’s operating condition and ventilation in the enclosure.

Reduce the

hollow rotary actuator

load.

• Check the power source connections.

• Reduce the load in a vertical-travel application.

Reduce load or slightly reduce the speed-filter setting.

Check motor cables and connectors to the driver.

Set the speed of the output table at 200 r/min or less.

Turn on the driver power. If the error persists, contact the branch or sales office from which you purchased the product and request repair. Shut off the driver power and check the motor cable and driver connectors. Then turn the driver power back on. Turn the driver power on. If the error persists, contact the branch or sales office from which you purchased the product and request repair.

Troubleshooting and remedial actions

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





If the ALARM LED is blinking

If the ALARM LED is blinking, count the number of blinks and refer to the table below:

The ALARM LED blinks in two modes: blinking in groups of between 1 and 8 times (0.2 second on and 0.2 second off) and repeating the same number after 1.2 second each; and the continuous blinking mode.





If ALARM LED is not blinking

If the hollow rotary actuator does not operate properly, even though the ALARM LED is not blinking, refer to the table below:

Phenomenon

The motor windings are not excited, allowing the actuator to be turned by hand.

The hollow rotary actuator does not run.

The hollow rotary actuator rotates in the direction opposite that which is specified (The CW and CCW inputs provided as driver input signals indicate the opposite directions to the output table’s direction of rotation).

The hollow rotary actuator’s operation are unstable.

Excessive vibration.

The TIM. output does not turn “ON.”

Positioning accuracy is poor.

Possible cause

C.OFF input is “ON.”

Bad connection for CW or CCW input.

In 2-pulse input mode, the CW and CCW pulse inputs are both “ON” at the same time. In 1-pulse input mode, the pulse signal is connected to the DRE input. When 2-pulse input mode is selected, the CW and CCW pulse inputs are connected in reverse.

When 1-pulse input mode is selected, the rotating direction input is set in reverse.

Bad connection of the pulse signal line.

Small load

The “×10” input is turned “OFF” during operation. The screws affixing the hollow rotary actuator or load are skewed. The pulse count input is incorrect. Bad connection of the pulse signal line. The load’s friction torque is excessive.

Remedial action

Turn the C.OFF input to “OFF” and confirm that the motor windings are excited.

• Check the connections of the controller and driver.

• Review the specifications (voltage and width) for the input pulse.

Input the pulse signal either to the CW or CCW input. Make sure the terminal with no input is set to “OFF.”

Connect the pulse signal to the PLS input.

Connect the CW pulse input to the CW pulse input and CCW pulse input to CCW pulse input.

Set to “ON” when setting the CW direction or “OFF” when setting the CCW direction.

• Check the connections of the controller and driver.

• Review the specifications (voltage and width) for the input pulse.

If the hollow rotary actuator’s output torque are too great for the load, vibration will increase. Adjust the current value. When the “×10” input is turned “OFF,” the TIM. output may not turn “ON.”

Tighten the screws to the specified torque.

Check the pulse count setting.

Check the connections of the controller and driver.

Reduce the friction torque or perform positioning from one direction only.

Main specifications

This section covers the main specifications of the DG series. Refer to the catalog for detailed specifications, torque characteristics and dimensions.

Operation

environment

Storage

environment

Shipping

environment

Ambient temperature

Humidity

Altitude

Surrounding atmosphere

Ambient temperature

Humidity

Altitude

Surrounding atmosphere

Ambient temperature

Humidity

Altitude

Surrounding atmosphere

Hollow rotary actuators

IP40 (Motor cable countor IP20)

Driver

IP10

0 to +50°C (+32 to +122°F)

(non-freezing)

Home-sensor set attachment

0 to +40°C (+32 to +104°F)

(non-freezing)

85% or less (non-condensing)

Up to 1000 m (3300 ft.) above sea level

No corrosive gas, dust, water or oil

20 to +60°C (-4 to +140°F)

(non-freezing)

85% or less (non-condensing)

Up to 3000 m (10000 ft.) above sea level

No corrosive gas, dust, water or oil

20 to +60°C (-4 to +140°F)

(non-freezing)

85% or less (non-condensing)

Up to 3000 m (10000 ft.) above sea level

No corrosive gas, dust, water or oil

Protective range

0 to +50°C (+32 to +122°F)

(non-freezing)

25 to +70°C (-13 to +158°F)

(non-freezing)

25 to +70°C (-13 to +158°F)

(non-freezing)

∗1 The permissible torque indicates the maximum mechanical strength of the gear mechanism. Keep the torque,

including acceleration torque, below the permissible torque.

∗2 The maximum static torque at excitation indicates the output table’s holding torque at standstill. ∗3 The moment of inertia is the sum of the inertial moment of the rotor in the motor and the inertial moment of the gear

mechanism, as converted to the output table value.

∗4 The resolution can be set to one of four modes using the driver resolution selector switch or the driver resolution switch

input signal. Factory driver settings: [1000] [x1], 18000 P/R (0.02°/pulse)

∗5 The value for the driver’s power supply input current represents the maximum input current, which varies with pulse

speed.

DG130R-ASAA DG130R-ASBA DG130R-ASAC DG130R-ASBC DG130R-ASAS

DG130R-ASBS

12 (106) 12 (106)

15874 × 10

-6

870

Single-phase 100-115 V 50/60Hz 5 A　 Single-phase 200-230 V 50/60Hz 3 A　 Three-phase 200-230 V 50/60Hz 1.5 A

DG85R-ASAA DG85R-ASBA

2.8 (2.0)

1.8 (15.9)

2534 × 10

-6

139

Single-phase 100-115 V 50/60Hz 3.3 A

Single-phase 100-115 V

Unit model Single-phase 200-230 V

Three-phase 200-230 V

Output table support bearing Permissible torque

∗1

Maximum static torque

∗2

Moment of inertia

∗3

Permissible speed

Resolution

∗4

Repetitive positioning accuracy Lost motion Angle transfer error Output table surface runout Output table inner-diameter (hollow-section) runout Output table parallelism (reference: mounting surface) Driver’s power Single-phase 100-115 V source input Single-phase 200-230 V voltage

∗5

Three-phase 200-230 V

Input signal

Output signal

N·m (lb-in) N·m (lb-in)

J: kg·m

(oz-in)

r/min

sec min min mm

+10%

15%

+10%

15%

+10%

15%

+10%

15%

Cross roller bearing

200

9000 P/R (0.04°/Pulse [500] [ × 1])

18000 P/R (0.02°/Pulse [1000] [ × 1])

90000 P/R (0.004°/Pulse [500] [ × 10])

180000 P/R (0.002°/Pulse [1000] [ × 10])

±15 (±0.004°)

2 (0.033°) 4 (0.067°)

0.015

0.03

• Photocoupler input 5 VDC, 7 ~ 20 mA CW (PLS), CCW (DRE)

• Photocoupler input 5 VDC or 24 VDC, 16 mA, maximum C.OFF, ×10, ACL

• Photocoupler/Open-collector output 30 VDC, maximum, 15 mA, maximum END, ALARM

• Transistor/Open-collector output (current sink output) 30 VDC, maximum 15 mA, maximum TIM.1, ASG1, BSG1

• Line-driver output TIM.2, ASG2, BSG2





Home-sensor set

Used to perform the return-to-home operation. Model: PADG-SB (NPN output)

PADG-SBY (PNP output)

Appendix

Options (sold separately)





Extension cable

Required to extend the distance between the hollow rotary actuator and driver.





Flexible cable

Highly flexible extension cable required to extend the distance between the hollow rotary actuator and driver.





DIN rail mounting plate

Plate for mounting the driver to a DIN rail [35 mm (1.38 in.)]. Model: PADP01





Shielded cable with connectors

Cable with connectors for driver control input/output (36 pins), providing excellent noise resistance.

Model

CC01SAR CC02SAR CC03SAR CC05SAR CC07SAR CC10SAR

Length [m (ft.)]

1 (3.3) 2 (6.6)

3 (9.8) 5 (16.4) 7 (23.0)

10 (32.8)

Model

CC36D1-1 CC36D2-1

Length [m (ft.)]

1 (3.3) 2 (6.6)

Model

CC01AIP CC02AIP CC03AIP CC05AIP CC07AIP CC10AIP CC15AIP CC20AIP

Length [m (ft.)]

1 (3.3)

2 (6.6)

3 (9.8) 5 (16.4) 7 (23.0)

10 (32.8) 15 (49.2) 20 (65.6)

• Unauthorized reproduction or copying of all or part of this instruction manual is prohibited. If a new copy is required to replace an original manual that has been damaged or lost, please contact your nearest branch or sales office.

• This Operating Manual is subject to change without prior notice for the purpose of product improvement or changes in specifications, or to improve its general content.

• 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. Contact information may be found at the end of this operatiing manual.

•

, , , and are trademarks of Oriental Motor Co., Ltd., and are registered in Japan and other countries. All other product names and company names are the trademarks or registered trademarks of their respective companies. Any reference made in this Operating Manual to the names of products manufactured by companies other than Oriental Motor is done so for reference purposes only and is not intended to enforce or recommend the use thereof. Oriental Motor shall not be liable in anyway whatsoever for the performance or use of products made by other companies.

ORIENTAL MOTOR U.S.A. CORP.

Technical Support Line Tel:(800)468-3982

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

ORIENTAL MOTOR (EUROPA) GmbH

Headquarters and Düsseldorf Office

Tel:0211-5206700 Fax:0211-52067099

Munich Office

Tel:08131-59880 Fax:08131-598888

Hamburg Office

Tel:040-76910443 Fax:040-76910445

ORIENTAL MOTOR (UK) LT D.

Tel:01256-347090 Fax:01256-347099

ORIENTAL MOTOR (FRANCE) SARL

Tel:01 47 86 97 50 Fax:01 47 82 45 16

ORIENTAL MOTOR ITALIA s.r.l.

Tel:02-93906346 Fax:02-93906348

TAIWAN ORIENTAL MOTOR CO., LTD.

Tel:(02)8228-0707 Fax:(02)8228-0708

SINGAPORE ORIENTAL MOTOR PTE. LTD.

Tel:(6745)7344 Fax:(6745)9405

INA ORIENTAL MOTOR CO., LTD.

KOREA

Tel:(032)822-2042~3 Fax:(032)819-8745

ORIENTAL MOTOR CO., LTD.

Headquarters

Tokyo, Japan

Tel:(03)3835-0684 Fax:(03)3835-1890

• Please contact your nearest ORIENTAL MOTOR office for further information.

Printed on Recycled Paper

ORIENTAL MOTOR (MALAYSIA) SDN. BHD.

Tel:(03)79545778 Fax:(03)79541528

Oriental motor DG, DG85, DG130, DG85R-ASBA, DG85R-ASAA Operating Manual

Specifications and Main Features

Frequently Asked Questions

User Manual