Oriental motor PK264-E2.0B, PK266-E2.0A, PK264M-E2.0A, PK264M-E2.08, PK266M-E2.0A Operating Manual

1

HP-4169-2

Introduction

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Before using the driver

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. For the 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.

OPERATING MANUAL

Microstep Driver for 2-Phase
Stepping Motor

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.

Caution

• Do not use the driver beyond its specification, or injury or damage
to equipment may result.

• Do not touch the driver’s heat sink during operation or immediately
after stopping. The surface is hot and may cause a burn.

• Keep the area around the 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 driver that would obstruct ventilation.

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

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

• 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.

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

• When disposing of the driver, treat it as industrial waste.

Precaution

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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.

• Driver 1 unit

• Operating manual 1 copy

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Overview of the product

This is a 2-phase microstep driver for use with a 2-phase stepping
motors. The use of a microstep drive, which electrically divides the
basic step angle of a 2-phase motor, offers reduced vibration and
noise in the low-speed range compared with the levels in full-step
mode.

• Do not turn the C.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.

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

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Names of parts

DC+

GND

A

A

B

B

FG

FUNCTION

STOP

POWER

1

4

RUN RES.

+
‑

STEP

+
‑

DIR.

+
‑

C.OFF

+
‑

RESET

+
‑
+
‑

ERR.

TIM.

２−ＰＨＡＳＥ ＤＲＩＶＥＲ

Ｄ２Ｄ２０４３−Ｓ

2

3

Function selector switch (FUNCTION)
Motor standstill current

adjustment switch (STOP)

Motor running current

adjustment switch (RUN) 

Step resolution switch (RES.)

I/O terminal block (TB1) Motor terminal block (TB3)

Mounting
cutouts

Power terminal block (TB2)

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

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

• 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.

• Install the driver in an enclosure in order to prevent injury.

• Keep the driver’s input-power 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 cable or motor lead
wire. Doing so may result in fire.

• Turn off the driver power 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.

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

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

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

Caution

Warning

Note

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

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Driver

Connection

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Power source connection

The power-supply input voltage is 24VDC

-

40VDC±10%. Use a power source that can supply the following current capacity.

Applicable lead wire diameter: AWG26 ~ 16 (0.14 ~ 1.5mm2)

Note

• Make the input-signal voltage 5VDC minimum and 24VDC maximum. When
the input-signal voltage is 5VDC, external resistor R1 is not necessary. If the
input-signal voltage is greater than 5VDC, connect external resistor R1, to
restrict the input current as follows:

PLS: 7mA ~ 14mA
DIR./C.OFF: 10mA ~ 14mA

• Use an output-signal voltage of 5VDC minimum and 30VDC maximum, and
use output-signal current of 5mA max. If the output-signal current is greater
than 5mA, connect external resistor R2, to restrict the current to no more than
5mA.

TB3

1

2

3

4

+5V

330Ω

R

1

R

1

R

1

R

2

330Ω

330Ω

24VDC

-

40VDC

GND

TB2

TB1

1

2

+5V

Controller

STEP input

DIR. input

C.OFF input

TI M. output

1

3

5

7

2

4

6

8

+

-

+



­+



-

+



-

1kΩ

1kΩ

1kΩ

8 lead wire type

1: Black/Orange
2: Green/Yellow
3: Red/Brown
4: Blue/White

Motor lead wire

4 lead wire type

1: Black
2: Green
3: Red
4: Blue

D2D2043-S

24VDC-40VDC±10% 5.3A

Microstep
Photocoupler input 5VDC, 14mA maximum, Input resistance 330Ω
Signal voltage Photocoupler ON: +4.2 ~ +6.0V

Photocoupler OFF: 0 ~ +0.7V
PLS, DIR, C.OFF, RESET
Photocoupler Open-collector output
Excitation monitor, Error: 30VDC maximum, 5mA maximum
Automatic current cutback, Overcurrent protection, Voltage-drop protection, Regenerative protection, Overheat protection

500

Natural ventilation

8.8 (0.25)

+32°F ~ +104°F (0°C ~ +40°C)

Driver model
Power input voltage
Excitation mode

Input signal

Output signal

Function
Maximum response pulse rate kHz
Driver cooling method
Mass oz (kg)
Ambient temperature range

• The input-power current supplied to the driver represents the maximum input value (which varies with pulse speed).

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Example of connection

∗1 S: Bipolar series P: Bipolar parallel
∗2 Specifications for the PK26M

• Set the current motor standstill so that it will be a maximum of 50% of the motor’s running current.

Motor model

PK264-E2.0A
PK264M-E2.0A
PK264-E2.0B
PK264M-E2.0B
PK266-E2.0A
PK266M-E2.0A
PK266-E2.0B
PK266M-E2.0B
PK268-E2.0A
PK268M-E2.0A
PK268-E2.0B
PK268M-E2.0B
PK296-F4.5A
PK296-F4.5B
PK299-F4.5A
PK299-F4.5B

PK2913-F4.0A
PK2913-F4.0B

PV264-D2.8AA
PV264-D2.8BA
PV266-D2.8AA
PV266-D2.8BA
PV267-D2.8AA
PV267-D2.8BA
PV269-D2.8AA
PV269-D2.8BA

Rated current ∗1 A/phase

Motor running current adjustment

Maximum holding torque ∗1

oz-in (N·m)

75 (0.55)

170 (1.25)

270 (1.9)

150 (1.06)

248 (1.75)

312 (2.2)

440 (3.1)

Voltage ∗1

VDC

S: 4.0
P: 2.0

S: 5.1
P: 2.6

S: 6.4
P: 3.2

S: 2.8
P: 1.4
S: 3.9
P: 1.9

S: 5.3
P: 2.6

2.1

2.8

3.4

4.2

Resistance per phase ∗1

Ω/phase

S: 2.8
P: 0.7

S: 3.6
P: 0.9

S: 4.5

P: 1.13

S: 0.96
P: 0.24
S: 1.32
P: 0.33

S: 1.94
P: 0.49

0.73

1

1.2

1.49

Rotor inertia

oz-in

2

(kg·m2)

0.657 (120 × 10

-7

)

1.65 (300× 10

-7

)

2.63 (480× 10

-7

)

7.66 (1400 × 10

-7

)

14.8 (2700 × 10

-7

)

21.9 (4000 × 10

-7

)

1.54 (280 × 10

-7

)

2.47 (450 × 10

-7

)

3.12 (570 × 10

-7

)

4.93 (900 × 10

-7

)

Basic step angle

deg

1.8 [0.9] ∗2

1.8

2.8

Switch 2: ON

RUN: 4

P: 2.8

Switch 2: ON

RUN: 4

P: 4.38

Switch 2: ON

RUN: F

P: 4.38

Switch 2: ON

RUN: F

S: 1.4

Switch 2: OFF

RUN: A

S: 3.1

Switch 2: ON

RUN: 6

S: 2.8

Switch 2: ON

RUN: 4

S: 420 (3.0)

S: 850 (6.0)

S: 1320 (9.3)

P: 290 (2.1)

P: 600 (4.2)

P: 900 (6.4)

Main specifications

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Motor (specifications of applicable motor)

Driver model
Motor type
Power-supply current capacity

PK26 type

2.7A minimum

D2D2043-S

PV26 type

3.2A minimum

PK29 type

5.3A minimum

3

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Connector configuration

Description
Frame GND

Power input

A phase output
A phase output
B phase output
B phase output

Pulse (CW pulse) input

Rotation direction (CCW pulse) input

ON: CW OFF: CCW

All windings off input

The excitation sequence is not reset.

Reset input

All windings off Excitation sequence reset, Error output reset

Excitation timing output

It is turned on when the excitation state indicates the excitation
home position.

Error output

In the following cases, it is turned on.

• When overcurrent protection function is active

• When voltage-drop protection function is active (18VDC maximum)

• When the regeneration protection function is active
Regenerative voltage: 56VDC minimum/Internal temperature of
driver: 75°C minimum

Terminal block

POWER

MOTOR

I/O

Terminal block No.

TB2

TB3

TB1

Pin No.

1
2
3
1
2
3
4
1
2
3
4
5
6
7
8

9

10

11

12

Input/output

Input

Output

Input

Output

Signal

FG

DC+

GND

A
A
B

B
STEP+
STEP

-

DIR.+

DIR.

­C.OFF+
C.OFF

­RESET+
RESET

-

TIM.+

TIM.

-

ERR+

ERR

-

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Timing chart

∗1 When switching the power back again, wait at least 5sec.
∗2 When switching the C.OFF input to “ON,” the motor excitation ends and the holding-torque is removed.
∗3 The duration here may vary, depending on the motor’s size, running speed and the load’s moment of inertia.

The section indicates that the photocoupler diode is emitting light.

All windings off

1ms min.

1µs min.

100ms

min.

100ms min.

2-pulse input

＊

2

＊

3

CW

CW input

C.OFF input

CCW input

ON

OFF

ON

OFF

ON

OFF

Power input

CCW

Motor

＊

1

1µs min.

All windings off

1ms min.

1-pulse input

＊

2

100ms min.

100ms

min.

＊

3

CW CW

0s min.

CCW

CW

STEP input

C.OFF input

DIR input

ON

OFF

ON

OFF

ON

OFF

Power input

CCW

Motor

＊

1

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Function selector switch description

Function
Motor standstill current selector
Motor running current selector
Pulse-input mode selector
All windings off

Switch: ON

2.26 ~ 4.38A/phase

2.26 ~ 4.38A/phase
1-pulse input mode
L level: excitation OFF

Switch: OFF
0 ~ 2.12A/phase
0 ~ 2.12A/phase
2-pulse input mode
H level: excitation OFF

Factory setting

OFF
OFF

ON

OFF

Switch No.

1
2
3
4

4

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Pulse waveform diagram

ON

OFF

STEP input

5µs
min.

5µs
min.

2µs

max.

2µs

max.

90%

10%

• When pulses are input, the motor rotates one step as the pulses
start (pulse fall).

• The voltage of the pulse signal is ON: +4.5 to +5.5V, OFF: 0 to
+0.7V. Input-pulse signals should have a pulse width exceeding
1µsec, pulse rise/fall below 1µsec, and a pulse duty of less than
50%.

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Driving motor current

The D2D2043-S can drive motors with a rated current of up to

4.38A/phase. However, we recommend you follow the drive

conditions below in view of the rating of internal heat generation
(which affects product life).

(Running current)2 × X + (Standstill current)2 × (1 - X) < 7.5

X: Motor’s operating duty relative to operation time

Example) If the motor is used at an operating duty of 100% or

standstill current of 100%, the running current will be

2.12A/phase or less.

Setting

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Step resolution

Use this function when you want to reduce vibration and noise, or to
change the motor speed or feed rate without changing the input pulse
speed.
Factory setting

Step resolution switch: 0

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Motor current

Set the motor current in accordance with the motor’s rated current.
Factory setting

Motor running current adjustment switch: 0
Function selector switch
Switch 1: OFF
Switch 2: OFF

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

ORIENTAL MOTOR CO., LTD.

Headquarters Tokyo, Japan

Tel:[phone] Fax:[phone]

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

Printed on Recycled Paper

Setting value

0
1
2
3
4
5
6
7
8

9
A
B
C
D
E
F

Nos. of division

1
2
4
5

8
10
16
20
25
32
40
50
64
80

100
128

Step angle

1.8°

0.9°

0.45°

0.36°

0.225°

0.18°

0.1125°

0.09°

0.072°

0.05625°

0.045°

0.036°

0.028125°

0.0225°

0.018°

0.0140625°

• Set the current motor standstill so that it will be maximum 50% of
the motor’s running current.

Motor current setting (representative values)

Output current

setting

Motor current

adjustment switch

Setting

0
1
2
3
4
5
6
7
8

9
A
B
C
D
E

F

Switch 1:

OFF

0

0.14

0.28

0.42

0.57

0.71

0.85

0.99

1.13

1.27

1.41

1.56

1.70

1.84

1.98

2.12

Switch 1:

ON

2.26

2.40

2.55

2.69

2.83

2.97

3.11

3.25

3.39

3.54

3.68

3.82

3.96

4.10

4.24

4.38

Switch 2:

OFF

0

0.14

0.28

0.42

0.57

0.71

0.85

0.99

1.13

1.27

1.41

1.56

1.70

1.84

1.98

2.12

Switch 2:

ON

2.26

2.40

2.55

2.69

2.83

2.97

3.11

3.25

3.39

3.54

3.68

3.82

3.96

4.10

4.24

4.38

Function selector switch

Motor standstill

current value

A/phase

Motor running

current value

A/phase

=