Vexta aStep AS Series, aStep AS98, aStep AS69, aStep AS66, aStep AS911 Operating Manual

AS Series

HM-6159-11

OPERATING MANUAL

AS66, AS69, AS98, AS911

C

Table of Contents

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 14

Installation ............................................ Page 16

Location for installation ...................... Page 16

Installing the motor ............................ Page 16

Installing a load.................................. Page 17

Overhung load and thrust load .......... Page 18

Installing the driver ............................ Page 19

Installing and wiring in compliance

with EMC directive ...... Page 22

Connection ........................................... Page 25

Connection example for a

standard type .... Page 25

Connection example for an

electromagnetic-brake type .... Page 25

Connecting the driver ........................ Page 26

Connecting to the power supply ........ Page 28

Connecting the motor ........................ Page 31

Grounding the motor and driver......... Page 33

Connecting control input/output ......... Page 33

About control input/output.................. Page 36

Timing chart....................................... Page 42

Setting .................................................. Page 43

Resolution ......................................... Page 43

Pulse input modes ............................. Page 44

Operating current .............................. Page 44

Speed filter ........................................ Page 45

Protective functions .............................. Page 46

Inspection ............................................. Page 47

Troubleshooting and remedial actions .. Page 48

Main specifications ............................... Page 50

Appendix .............................................. Page 61

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.

1

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 AS series models are unit products consisting of a high-performance micro-stepping driver and a stepping motor ( ) with built-in rotor-position sensor. The AS series models incorporating are not subject to missteps, even when the load changes suddenly. The speed and amount of rotation are constantly monitored during operation, so that when an overload is about to cause the motor to misstep, any delay in response is corrected and operation continues at maximum torque. In addition to the four geared types ideal for low-speed, high-torque operation, a model equipped with an electromagnetic brake is also available, which is suitable for holding the load in position during up or down movement in applications involving vertical travel.

Standards and CE marking

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

Applicable standards

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



Motor

Driver

Applicable Standards UL1004, UL2111 CSA C22.2 No. 100 CSA C22.2 No. 77 EN60950 EN60034-1 EN60034-5 UL508C CSA C22.2 No. 14 EN60950 EN50178

∗

Certification body

UL

-

UL

-

Standards File No.

File No. E64199

-

File No. E171462

-

∗ For UL standard (UL508C), the product is recognized for the conditionof Maximum Surrounding Air Temperature 50°C

(122°F).

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

Installation conditions (EN standard)

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

For low v olta ge directive

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



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.

EMC directive

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



This product has received EMC measures under the conditions specified in “Example of motor and driver installation and wiring” on page 24. 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 22.

2

Main features

• Low-speed operation at low vibration levels

The AS series achieves smooth, low-speed operation with extremely low vibration, thanks to its micro-stepping drive, which enables stepping in very small angles.

• Built-in alarm function

Whenever a load greatly exceeding the motor rating is encountered, or when the motor’s output shaft is constrained during operation, the driver outputs a warning alarm. In a vertical-travel application, the electromagnetic brake may be triggered upon the detection of this alarm to prevent a moving section or the work from falling.

• Preset speed filter

The filter time constant that determines motor response can be set in 16 increments.

• Preset operating current

The level of motor current during operation can be set between 6 and 100% (maximum) in 16 increments.

• Preset resolution

The motor resolution levels can be set in four increments: 0.72°/pulse, 0.36°/pulse, 0.072°/pulse and 0.036°/pulse.

System configuration

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

Controller

(programmable controller

and others)

Control input

and output

Positioning controller

Pulse output and control

input/output

Shielded cable with

connectors (sold separately)

Driver

ASD24A-A

MOTOR

L

100115V

~

N

VEXTA

series

OPERATION

ALARM

CN1

Extension cable (sold separately)

500

1000

X1

X10

2P

1 2 3 4

1P

CURRENT

C

B

D

A

E

9

CN2

F

8

0

7

1

6

2

5

3

4

V.FIL

C

B

D

A

E

9

F

8

0

7

1

6

2

5

3

4

CN3

CN4 I

O

/

Motor

Control input and output

• Be sure to purchase the extension cable (for use in the model with electromagnetic brake), which is sold separately, when using the model with the electromagnetic brake. When the motor cable is directly connected to the driver, the electromagnetic brake will not work. Use a 24 VDC power source for the electromagnetic brake.

• The AS series is available in three input-power sources: single-phase 100-115 V, single-phase 200-230 V and three-phase 200-230 V.

3

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 motor loses holding torque when the power is shut off, allowing the moving parts to fall and possibly cause injury or damage to equipment.

• Do not use the motor’s built-in electromagnetic brake mechanism for stopping or for safety purposes. Using it for purposes other than holding the moving parts and motor in position may cause injury or damage to equipment.

• When the driver-protection function is triggered, the motor 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 motor, leading to injury or damage to equipment.

Installation

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

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

• Install the motor 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 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, or the motor 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 motor is operating. The motor will stop and lose its holding ability, which may result in injury or damage to equipment.

• If the driver’s OPERATION LED does not come on when the power is turned on, shut off the power immediately. The neutral-side fuse may be burnt out while the live-side fuse is intact, posing a risk of electric shock. For repair, contact the branch or sales office from which you purchased the product.

4

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 motor 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.

Caution

General

• Do not use the motor 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 motor and driver, or electric shock, injury or damage to equipment may result.

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

Transportation

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

Installation

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

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

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

Operation

• 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 control inputs to the driver to “OFF.” Otherwise, the motor may start suddenly and cause injury or damage to equipment.

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

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

• The motor’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.

Warning label

• 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 motor or driver, treat them as ordinary industrial waste.

5

Precautions for use

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

• Operate the motor at a level below the maximum torqu e.

Operating the motor beyond the maximum torque or placing a continuous constraint on the output shaft may damage the motor bearings (ball bearings). Be sure to keep the motor load below the maximum torque.

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

Be sure to operate the motor within the specified permissible limit of overhung load. Operating it under an excessive overhung load may damage the motor bearings (ball bearings).

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

The driver has an overheat-protection function, but the motor has no such feature. The motor case’s surface temperature may exceed 100°C (212°F) under certain conditions (ambient temperature, operating speed, duty cycle, etc.). Keeping the surface temperature of the motor casing below 100°C (212°F) will also maximize the life of the motor bearings (ball bearings).

• About maximum static torque at excitation

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

• Use an electromagnetic-brake type for an application involving up/down travel.

When the motor is used in an application involving up/down travel, such as a lifter, use an electromagnetic-brake type to hold the load in position. To hold the load in position, apply the electromagnetic brake only after the motor has stopped. Do not use the brake to bring the moving motor to a halt. Repeated braking for such a purpose will wear the brake hub excessively, causing its holding ability to drop. Since the electromagnetic brake is of the non-excitation type, it can also be used to hold the load in position upon the occurrence of a power failure. However, this is not a secure means of holding the load. Do not use the electromagnetic brake as a safety brake. When the driver-protection function is triggered, the motor stops as the current is turned off. The user must set a controller sequence that will cut off the power to the electromagnetic brake and hold the load in position upon detecting an “OFF” ALARM output.

• Connecting an electromagnetic-brake type

Be sure to use a junction cable (sold separately) for connection of an electromagnetic-brake type and driver. Direct connection of the motor cable to the driver will not provide the electromagnetic brake function. The electromagnetic brake operates via the ON/OFF status of the DC power supply. When connecting the lead wires of the electromagnetic brake extending from the junction cable, observe the correct polarity. Be sure to connect the supplied varistor (non-polarized) to protect the switch contacts and prevent noise.

• 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

6

• Preventing electrical noise

See “Installing and wiring in compliance with EMC directive” on page 22 for measures with regard to noise.

7

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 motor and driver against the number shown on the nameplate. The unit models and corresponding motor/driver combinations are listed on pages 10 to 13.

ASD24A-A

N

IO

T

A

R

E

P

O

∗

Illustration shows the round shaft type with electromagnetic brake. ∗ A parallel key (1 unit) is supplied

with all geared-type motors (excluding the AS66 TH geared type).

ALARM

1

N

C

1000

F/H

NORM

1P

C

B

A

9

8

7

CN2

R

C

O

T

B

O

M

A

9

8

7

3

N

C

L

00-

1

~

V

5

11

N

C I/O

VEXTA

Driver mounting brackets 2 pieces

500

4 3

X10

2

TEST

1

N O

2P

E

D

F

0

1

2

3

4

5

6

E

D

F

0

1

2

3

4

5

6

Control input/output connector

4

N

1 set

3

‑

A

5

8F

‑

C

5

Driver 1 UnitMotor 1 Unit

Varistor 1 piece

Varistor supplied with the motor with an electromagnetic-brake type

Screws for driver mounting brackets (M3) 4 pieces

Operating manual 1 copy

8

How to identify the product model

Geared type

A S 6 6 A A 2 - H 50

Motor type

A: Standard type M: With electromagnetic brake

Motor length

Motor size

6: 60 mm (2.36 in.) square 9: 90 mm (3.54 in.) square

Series name AS series

Gear ratio

Gear type

T: TH gear P: PL gear N: PN gear H: Harmonic gear

Power input

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

Round shaft type

A S 6 6 A A

Power input

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

Motor type

A: Standard type M: With electromagnetic brake

Motor length

Motor size

6: 60 mm (2.36 in.) square 9: 85 mm (3.35 in.) square

Series name AS series

Options (sold separately)

• Extension cable Pages 31, 32 and 61

Required for extending the distance between the motor and driver. Be sure to use the electromagnetic-brake extension cable to connect an electromagnetic-brake-type motor.

• Flexible cable Pages 32 and 61

Highly flexible extension cable.

• Shielded cable with connectors Pages 33 and 61

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

• DIN rail mounting plate Pages 21 and 61

Plate for mounting the driver to a DIN rail.

9

Combinations of motors and drivers

TH geared type

Standard type

Unit model

AS66AA-T3.6 AS66AA-T7.2 AS66AA-T10 AS66AA-T20 AS66AA-T30 AS66AC-T3.6 AS66AC-T7.2 AS66AC-T10 AS66AC-T20 AS66AC-T30 AS66AS-T3.6 AS66AS-T7.2 AS66AS-T10 AS66AS-T20 AS66AS-T30 AS98AA-T3.6 AS98AA-T7.2 AS98AA-T10 AS98AA-T20 AS98AA-T30 AS98AC-T3.6 AS98AC-T7.2 AS98AC-T10 AS98AC-T20 AS98AC-T30 AS98AS-T3.6 AS98AS-T7.2 AS98AS-T10 AS98AS-T20 AS98AS-T30

Motor model

ASM66AA-T3.6 ASM66AA-T7.2 ASM66AA-T10 ASM66AA-T20 ASM66AA-T30 ASM66AC-T3.6 ASM66AC-T7.2 ASM66AC-T10 ASM66AC-T20 ASM66AC-T30 ASM66AC-T3.6 ASM66AC-T7.2 ASM66AC-T10 ASM66AC-T20 ASM66AC-T30 ASM98AA-T3.6 ASM98AA-T7.2 ASM98AA-T10 ASM98AA-T20 ASM98AA-T30 ASM98AC-T3.6 ASM98AC-T7.2 ASM98AC-T10 ASM98AC-T20 ASM98AC-T30 ASM98AC-T3.6 ASM98AC-T7.2 ASM98AC-T10 ASM98AC-T20 ASM98AC-T30

Driver model

ASD24B-A ASD24B-A ASD24B-A ASD24C-A ASD24C-A ASD12B-C ASD12B-C ASD12B-C ASD12C-C ASD12C-C ASD12B-S ASD12B-S ASD12B-S ASD12C-S ASD12C-S ASD30A-A ASD30A-A ASD30A-A ASD30C-A ASD30C-A ASD16A-C ASD16A-C ASD16A-C ASD16C-C ASD16C-C ASD16A-S ASD16A-S ASD16A-S ASD16C-S ASD16C-S

Electromagnetic-brake type

Unit model

AS66MA-T3.6 AS66MA-T7.2 AS66MA-T10 AS66MA-T20 AS66MA-T30 AS66MC-T3.6 AS66MC-T7.2 AS66MC-T10 AS66MC-T20 AS66MC-T30 AS66MS-T3.6 AS66MS-T7.2 AS66MS-T10 AS66MS-T20 AS66MS-T30 AS98MA-T3.6 AS98MA-T7.2 AS98MA-T10 AS98MA-T20 AS98MA-T30 AS98MC-T3.6 AS98MC-T7.2 AS98MC-T10 AS98MC-T20 AS98MC-T30 AS98MS-T3.6 AS98MS-T7.2 AS98MS-T10 AS98MS-T20 AS98MS-T30

Motor model

ASM66MA-T3.6 ASM66MA-T7.2 ASM66MA-T10 ASM66MA-T20 ASM66MA-T30 ASM66MC-T3.6 ASM66MC-T7.2 ASM66MC-T10 ASM66MC-T20 ASM66MC-T30 ASM66MC-T3.6 ASM66MC-T7.2 ASM66MC-T10 ASM66MC-T20 ASM66MC-T30 ASM98MA-T3.6 ASM98MA-T7.2 ASM98MA-T10 ASM98MA-T20 ASM98MA-T30 ASM98MC-T3.6 ASM98MC-T7.2 ASM98MC-T10 ASM98MC-T20 ASM98MC-T30 ASM98MC-T3.6 ASM98MC-T7.2 ASM98MC-T10 ASM98MC-T20 ASM98MC-T30

Driver model

ASD24B-A ASD24B-A ASD24B-A ASD24C-A ASD24C-A ASD12B-C ASD12B-C ASD12B-C ASD12C-C ASD12C-C ASD12B-S ASD12B-S ASD12B-S ASD12C-S ASD12C-S ASD30A-A ASD30A-A ASD30A-A ASD30C-A ASD30C-A ASD16A-C ASD16A-C ASD16A-C ASD16C-C ASD16C-C ASD16A-S ASD16A-S ASD16A-S ASD16C-S ASD16C-S

10

PL geared type

Unit model

AS66AA-P5 AS66AA-P7.2 AS66AA-P10 AS66AA-P25 AS66AA-P36 AS66AA-P50 AS66AC-P5 AS66AC-P7.2 AS66AC-P10 AS66AC-P25 AS66AC-P36 AS66AC-P50 AS66AS-P5 AS66AS-P7.2 AS66AS-P10 AS66AS-P25 AS66AS-P36 AS66AS-P50 AS98AA-P5 AS98AA-P7.2 AS98AA-P10 AS98AA-P25 AS98AA-P36 AS98AA-P50 AS98AC-P5 AS98AC-P7.2 AS98AC-P10 AS98AC-P25 AS98AC-P36 AS98AC-P50 AS98AS-P5 AS98AS-P7.2 AS98AS-P10 AS98AS-P25 AS98AS-P36 AS98AS-P50

Standard type

Motor model

ASM66AA-P5 ASM66AA-P7.2 ASM66AA-P10 ASM66AA-P25 ASM66AA-P36 ASM66AA-P50 ASM66AC-P5 ASM66AC-P7.2 ASM66AC-P10 ASM66AC-P25 ASM66AC-P36 ASM66AC-P50 ASM66AC-P5 ASM66AC-P7.2 ASM66AC-P10 ASM66AC-P25 ASM66AC-P36 ASM66AC-P50 ASM98AA-P5 ASM98AA-P7.2 ASM98AA-P10 ASM98AA-P25 ASM98AA-P36 ASM98AA-P50 ASM98AC-P5 ASM98AC-P7.2 ASM98AC-P10 ASM98AC-P25 ASM98AC-P36 ASM98AC-P50 ASM98AC-P5 ASM98AC-P7.2 ASM98AC-P10 ASM98AC-P25 ASM98AC-P36 ASM98AC-P50

Driver model

ASD24A-A ASD24A-A ASD24A-A ASD24B-A ASD24C-A ASD24C-A ASD12A-C ASD12A-C ASD12A-C ASD12B-C ASD12C-C ASD12C-C ASD12A-S ASD12A-S ASD12A-S ASD12B-S ASD12C-S ASD12C-S ASD30A-A ASD30A-A ASD30A-A ASD30A-A ASD30B-A ASD30B-A ASD16A-C ASD16A-C ASD16A-C ASD16A-C ASD16B-C ASD16B-C ASD16A-S ASD16A-S ASD16A-S ASD16A-S ASD16B-S ASD16B-S

Electromagnetic-brake type

Unit model

AS66MA-P5 AS66MA-P7.2 AS66MA-P10 AS66MA-P25 AS66MA-P36 AS66MA-P50 AS66MC-P5 AS66MC-P7.2 AS66MC-P10 AS66MC-P25 AS66MC-P36 AS66MC-P50 AS66MS-P5 AS66MS-P7.2 AS66MS-P10 AS66MS-P25 AS66MS-P36 AS66MS-P50 AS98MA-P5 AS98MA-P7.2 AS98MA-P10 AS98MA-P25 AS98MA-P36 AS98MA-P50 AS98MC-P5 AS98MC-P7.2 AS98MC-P10 AS98MC-P25 AS98MC-P36 AS98MC-P50 AS98MS-P5 AS98MS-P7.2 AS98MS-P10 AS98MS-P25 AS98MS-P36 AS98MS-P50

Motor model

ASM66MA-P5 ASM66MA-P7.2 ASM66MA-P10 ASM66MA-P25 ASM66MA-P36 ASM66MA-P50 ASM66MC-P5 ASM66MC-P7.2 ASM66MC-P10 ASM66MC-P25 ASM66MC-P36 ASM66MC-P50 ASM66MC-P5 ASM66MC-P7.2 ASM66MC-P10 ASM66MC-P25 ASM66MC-P36 ASM66MC-P50 ASM98MA-P5 ASM98MA-P7.2 ASM98MA-P10 ASM98MA-P25 ASM98MA-P36 ASM98MA-P50 ASM98MC-P5 ASM98MC-P7.2 ASM98MC-P10 ASM98MC-P25 ASM98MC-P36 ASM98MC-P50 ASM98MC-P5 ASM98MC-P7.2 ASM98MC-P10 ASM98MC-P25 ASM98MC-P36 ASM98MC-P50

Driver model

ASD24A-A ASD24A-A ASD24A-A ASD24B-A ASD24C-A ASD24C-A ASD12A-C ASD12A-C ASD12A-C ASD12B-C ASD12C-C ASD12C-C ASD12A-S ASD12A-S ASD12A-S ASD12B-S ASD12C-S ASD12C-S ASD30A-A ASD30A-A ASD30A-A ASD30A-A ASD30B-A ASD30B-A ASD16A-C ASD16A-C ASD16A-C ASD16A-C ASD16B-C ASD16B-C ASD16A-S ASD16A-S ASD16A-S ASD16A-S ASD16B-S ASD16B-S

11

PN geared type

Unit model

AS66AA-N5 AS66AA-N7.2 AS66AA-N10 AS66AA-N25 AS66AA-N36 AS66AA-N50 AS66AC-N5 AS66AC-N7.2 AS66AC-N10 AS66AC-N25 AS66AC-N36 AS66AC-N50 AS66AS-N5 AS66AS-N7.2 AS66AS-N10 AS66AS-N25 AS66AS-N36 AS66AS-N50 AS98AA-N5 AS98AA-N7.2 AS98AA-N10 AS98AA-N25 AS98AA-N36 AS98AA-N50 AS98AC-N5 AS98AC-N7.2 AS98AC-N10 AS98AC-N25 AS98AC-N36 AS98AC-N50 AS98AS-N5 AS98AS-N7.2 AS98AS-N10 AS98AS-N25 AS98AS-N36 AS98AS-N50

Standard type

Motor model

ASM66AA-N5 ASM66AA-N7.2 ASM66AA-N10 ASM66AA-N25 ASM66AA-N36 ASM66AA-N50 ASM66AC-N5 ASM66AC-N7.2 ASM66AC-N10 ASM66AC-N25 ASM66AC-N36 ASM66AC-N50 ASM66AC-N5 ASM66AC-N7.2 ASM66AC-N10 ASM66AC-N25 ASM66AC-N36 ASM66AC-N50 ASM98AA-N5 ASM98AA-N7.2 ASM98AA-N10 ASM98AA-N25 ASM98AA-N36 ASM98AA-N50 ASM98AC-N5 ASM98AC-N7.2 ASM98AC-N10 ASM98AC-N25 ASM98AC-N36 ASM98AC-N50 ASM98AC-N5 ASM98AC-N7.2 ASM98AC-N10 ASM98AC-N25 ASM98AC-N36 ASM98AC-N50

Driver model

ASD24A-A ASD24A-A ASD24A-A ASD24B-A ASD24C-A ASD24C-A ASD12A-C ASD12A-C ASD12A-C ASD12B-C ASD12C-C ASD12C-C ASD12A-S ASD12A-S ASD12A-S ASD12B-S ASD12C-S ASD12C-S ASD30A-A ASD30A-A ASD30A-A ASD30A-A ASD30B-A ASD30B-A ASD16A-C ASD16A-C ASD16A-C ASD16A-C ASD16B-C ASD16B-C ASD16A-S ASD16A-S ASD16A-S ASD16A-S ASD16B-S ASD16B-S

Electromagnetic-brake type

Unit model

AS66MA-N5 AS66MA-N7.2 AS66MA-N10 AS66MA-N25 AS66MA-N36 AS66MA-N50 AS66MC-N5 AS66MC-N7.2 AS66MC-N10 AS66MC-N25 AS66MC-N36 AS66MC-N50 AS66MS-N5 AS66MS-N7.2 AS66MS-N10 AS66MS-N25 AS66MS-N36 AS66MS-N50 AS98MA-N5 AS98MA-N7.2 AS98MA-N10 AS98MA-N25 AS98MA-N36 AS98MA-N50 AS98MC-N5 AS98MC-N7.2 AS98MC-N10 AS98MC-N25 AS98MC-N36 AS98MC-N50 AS98MS-N5 AS98MS-N7.2 AS98MS-N10 AS98MS-N25 AS98MS-N36 AS98MS-N50

Motor model

ASM66MA-N5 ASM66MA-N7.2 ASM66MA-N10 ASM66MA-N25 ASM66MA-N36 ASM66MA-N50 ASM66MC-N5 ASM66MC-N7.2 ASM66MC-N10 ASM66MC-N25 ASM66MC-N36 ASM66MC-N50 ASM66MC-N5 ASM66MC-N7.2 ASM66MC-N10 ASM66MC-N25 ASM66MC-N36 ASM66MC-N50 ASM98MA-N5 ASM98MA-N7.2 ASM98MA-N10 ASM98MA-N25 ASM98MA-N36 ASM98MA-N50 ASM98MC-N5 ASM98MC-N7.2 ASM98MC-N10 ASM98MC-N25 ASM98MC-N36 ASM98MC-N50 ASM98MC-N5 ASM98MC-N7.2 ASM98MC-N10 ASM98MC-N25 ASM98MC-N36 ASM98MC-N50

Driver model

ASD24A-A ASD24A-A ASD24A-A ASD24B-A ASD24C-A ASD24C-A ASD12A-C ASD12A-C ASD12A-C ASD12B-C ASD12C-C ASD12C-C ASD12A-S ASD12A-S ASD12A-S ASD12B-S ASD12C-S ASD12C-S ASD30A-A ASD30A-A ASD30A-A ASD30A-A ASD30B-A ASD30B-A ASD16A-C ASD16A-C ASD16A-C ASD16A-C ASD16B-C ASD16B-C ASD16A-S ASD16A-S ASD16A-S ASD16A-S ASD16B-S ASD16B-S

12

Harmonic geared type

Standard type

Unit model

AS66AA2-H50 AS66AA2-H100 AS66AC2-H50 AS66AC2-H100 AS66AS2-H50 AS66AS2-H100 AS66AA-H50 AS66AA-H100 AS66AC-H50 AS66AC-H100 AS66AS-H50 AS66AS-H100 AS98AA-H50 AS98AA-H100 AS98AC-H50 AS98AC-H100 AS98AS-H50 AS98AS-H100

Motor model

ASM66AA2-H50 ASM66AA2-H100 ASM66AC2-H50 ASM66AC2-H100 ASM66AC2-H50 ASM66AC2-H100 ASM66AA-H50 ASM66AA-H100 ASM66AC-H50 ASM66AC-H100 ASM66AC-H50 ASM66AC-H100 ASM98AA-H50 ASM98AA-H100 ASM98AC-H50 ASM98AC-H100 ASM98AC-H50 ASM98AC-H100

Round shaft type

Standard type

Unit model

AS66AA AS69AA AS66AC AS69AC AS66AS AS69AS AS98AA AS911AA AS98AC AS911AC AS98AS AS911AS

Motor model

ASM66AA ASM69AA ASM66AC ASM69AC ASM66AC ASM69AC ASM98AA ASM911AA ASM98AC ASM911AC ASM98AC ASM911AC

Driver model

ASD24B-A ASD24C-A ASD12B-C ASD12C-C ASD12B-S ASD12C-S ASD24C-A ASD24C-A ASD12C-C ASD12C-C ASD12C-S ASD12C-S ASD30B-A ASD30B-A ASD16B-C ASD16B-C ASD16B-S ASD16B-S

Driver model

ASD24A-A ASD30D-A ASD12A-C ASD16D-C ASD12A-S ASD16D-S ASD30A-A ASD30E-A ASD16A-C ASD20A-C ASD16A-S ASD20A-S

Electromagnetic-brake type

Unit model

AS66MA2-H50 AS66MA2-H100 AS66MC2-H50 AS66MC2-H100 AS66MS2-H50 AS66MS2-H100 AS66MA-H50 AS66MA-H100 AS66MC-H50 AS66MC-H100 AS66MS-H50 AS66MS-H100 AS98MA-H50 AS98MA-H100 AS98MC-H50 AS98MC-H100 AS98MS-H50 AS98MS-H100

Electromagnetic-brake type

Unit model

AS66MA AS69MA AS66MC AS69MC AS66MS AS69MS AS98MA AS98MC AS98MS

Motor model

ASM66MA2-H50 ASM66MA2-H100 ASM66MC2-H50 ASM66MC2-H100 ASM66MC2-H50 ASM66MC2-H100 ASM66MA-H50 ASM66MA-H100 ASM66MC-H50 ASM66MC-H100 ASM66MC-H50 ASM66MC-H100 ASM98MA-H50 ASM98MA-H100 ASM98MC-H50 ASM98MC-H100 ASM98MC-H50 ASM98MC-H100

Motor model

ASM66MA ASM69MA ASM66MC ASM69MC ASM66MC ASM69MC ASM98MA ASM98MC ASM98MC

Driver model

ASD24B-A ASD24C-A ASD12B-C ASD12C-C ASD12B-S ASD12C-S ASD24C-A ASD24C-A ASD12C-C ASD12C-C ASD12C-S ASD12C-S ASD30B-A ASD30B-A ASD16B-C ASD16B-C ASD16B-S ASD16B-S

Driver model

ASD24A-A ASD30D-A ASD12A-C ASD16D-C ASD12A-S ASD16D-S ASD30A-A ASD16A-C ASD16A-S

13

Names and functions of parts

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

Motor

Mounting holes (four locations) [P.16]

Electromagnetic brake [motor with an electromagnetic brake] [P.32,41] Non-excitation operation electromagnetic brake (24 VDC input)

Varistor

3

‑

A

5

8F

‑

C

5

Pilot

Motor cable [P.31,32]

Output shaft

An accessory supplied with the motor with an electromagnetic brake. Be sure to connect the varistor when wiring the electromagnetic brake.

14

Driver

Motor connector (CN2) [P.31,32]

Connect the motor cable's connector.

Regeneration unit connector (CN3)

Power supply terminal [P.28,29,30]

Connect the power-supply cable.



Front side of driver

ASD24A-A

OPERATION

CN1

CN2

MOTOR

CN3

L

100115V

~

N

ALARM

1000

CURRENT

V.FIL

OPERATION (green)

Lit when the power is on.



ALARM (Red) [P.46]

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.

Not used (CN1) Resolution selection switches [P.43]

500

X1

X10

2P

1 2 3 4

1P

Use these two switches to select the motor resolution. 1000/500: Switches motor resolution between 1000 P/R "0.36˚/pulse" or 500 P/R "0.72˚ //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: 1000 P/R" and "×1: Multiplier 1."

C

D

B

E

A

F

9

8

0

7

1

6

2

5

3

4

C

D

B

E

A

F

9

8

0

7

1

6

2

5

3

4

Be sure to switch to "×1" when the resolution switching input "CN4 Pin No. 31, 32: ×10" is used.



Pulse-input mode selection switch [P.44]

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."

Current setting switch [P.44]

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."



Speed-filter selection switch [P.45]

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

Protective earth terminal [P.33]

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

2

) or more.

•

Driver power-supply terminal Single-phase 100-115 V

Control input/output connectors (CN4) [P.25,26,27,33,34,35]

CN4

I

O

/

Used to connect to the motor-positioning control and others.

VEXTA

L

100115V

~

N

Mounting holes for the driver mounting brackets (M3, four locations) [P.19]

L

200230V

~

N

•

Driver power-supply terminal Single-phase 200-230 V

Rear side of driver

L1

L2

L3

•

Driver power-supply terminal Three-phase 200-230 V

Mounting holes for the DIN rail mounting plate (M3, three locations) [P.21]

15

Installation

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

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

• Operating ambient temperature Motor: 0°C to +50°C (+32°F to +122°F) (non-freezing) Harmonic geared type: 0°C to +40°C (+32°F to +104°F)

(non-freezing)

Driver: 0°C to +50°C (+32°F to +122°F) (non-freezing)

• Operating ambient humidity 85%, maximum (no condensation)

• 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 or lower above sea level

Note

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

Installing the motor

How to install the motor







Install the motor onto an appropriate flat metal plate having excellent vibration resistance and heat conductivity. When installing the motor, secure it with four bolts (not supplied) through the four mounting holes provided. Leave no gap between the motor and plate.

• Types of installation

A B

Spot facing or through hole for pilot

Spring washer

Hexagonal socket screw

Motor type

TH geared PL geared

PN geared

Harmonic geared AS66A2, AS66M2 Harmonic geared AS66A, AS98A

Round shaft

Frame size

60 mm (2.36 in.) 90 mm (3.54 in.)

60 mm (2.36 in.)

90 mm (3.54 in.) 60 mm (2.36 in.)

90 mm (3.54 in.) 60 mm (2.36 in.) 85 mm (3.35 in.)

Mounting plate

Bolt size

M4 M8

M5

M8 M5

M8 M4 M6

Spot facing or through hole for pilot

Hexagonal socket screw

Tightening torque 2 N·m (277 oz-in)

4 N·m (554 oz-in)

2.5 N·m (346 oz-in)

4 N·m (554 oz-in)

2.5 N·m (346 oz-in) 4 N·m (554 oz-in) 2 N·m (277 oz-in) 3 N·m (415 oz-in)

Effective depth of bolt

8 mm (0.315 in.)

15 mm (0.591 in.) 10 mm (0.394 in.)

15 mm (0.591 in.)

-

Hexagonal nut

Spring washer

Mounting plate

Types of

installation

A

B

16

Installing a load

When connecting a load to the motor, align the centers of the motor’s output shaft and load shaft. Optional flexible couplings are available (sold separately).

Direct coupling







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

Using a belt drive







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

Note

• When coupling the load to the motor, pay attention to the centering of the shafts, belt tension, parallelism of the pulleys, and so on. Securely tighten the coupling and pulley set screws.

• Be careful not to damage the output shaft or the bearings when installing a coupling or pulley to the motor’s output shaft.

• Do not modify or machine the motor’s output shaft. Doing so may damage the bearings and destroy the motor.

Using a gear drive







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

Using a geared motor







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

17

Note

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

Overhung load and thrust load

The overhung load on the motor’s output shaft or gear output shaft must be kept within the permissible values listed below. The thrust load must not exceed the motor’s mass.

Frame

size

60 mm

(2.36 in.)

85 mm

(3.35 in.)

90 mm

(3.54 in.)

• The square box in the unit type will contain a value representing the gear ratio.

∗Calculate half the motor’s mass for this value.

Unit type

AS66-T AS66-P5 AS66-P7.2 AS66-P10 AS66-P25 AS66-P36 AS66-P50 AS66-N5 AS66-N7.2 AS66-N10 AS66-N25 AS66-N36 AS66-N50 AS66A2-H AS66M2-H AS66-H AS66 AS69 AS98 AS911 AS98-T AS98-P5 AS98-P7.2 AS98-P10 AS98-P25 AS98-P36 AS98-P50 AS98-N5 AS98-N7.2 AS98-N10 AS98-N25 AS98-N36 AS98-N50 AS98-H

Distance from the tip of motor’s output shaft [mm (inch)]

0 (0)

70 (15.7)

200 (45) 250 (56)

330 (74)

200 (45) 250 (56)

330 (74)

320 (72) 300 (67)

63 (14.1)

260 (58) 220 (49)

480 (108)

850 (191) 930 (200)

1050 (230)

480 (108) 480 (108)

850 (191)

930 (200) 1050 (230) 1090 (240)

Overhung load [N (lb.)]

5 (0.2)

80 (18)

220 (49) 270 (60)

360 (81)

220 (49) 270 (60)

360 (81)

370 (83) 330 (74)

75 (16.8)

290 (65) 250 (56)

540 (121)

940 (210) 1030 (230) 1160 (260)

520 (117)

540 (121)

940 (210) 1030 (230) 1160 (260) 1150 (250)

10 (0.39)

100 (22) 250 (56)

300 (67)

400 (90)

250 (56) 300 (67)

400 (90)

440 (99) 370 (83)

95 (21)

340 (76) 300 (67)

600 (135)

1050 (230) 1150 (250) 1300 (290)

550 (123) 600 (135)

1050 (230) 1150 (250) 1300 (290) 1230 (270)

15 (0.59)

120 (27) 280 (63)

340 (76)

450 (101)

280 (63) 340 (76)

450 (101)

550 (123)

420 (94) 130 (29)

390 (87) 350 (78)

680 (153)

1 190 (260) 1310 (290) 1480 (330)

580 (130) 680 (153)

1110 (240) 1220 (270) 1380 (310) 1310 (290)

20 (0.79)

150 (33) 320 (72)

390 (87)

520 (117)

320 (72) 390 (87)

520 (117)

720 (162) 480 (108)

190 (42)

480 (108)

400 (90)

790 (177)

1380 (310) 1520 (340) 1710 (380)

620 (139) 790 (177)

1190 (260) 1300 (290) 1490 (330) 1410 (310)

Thrust

load

[N (lb.)]

40 (9)

100 (22)

470 (105)

400 (90)

∗

100 (22)

300 (67)

1300 (290)

18

Installing the driver

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.

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).

Using driver mounting brackets







1.Attaching the driver mounting brackets

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

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.

Mounting brackets (two pieces)

Screws for driver mounting brackets M3 (provided)

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

ASD24A-A

O

PER

ATIO

N

ALA

R

M

CN1

1000

500

X1

X

1

0

1P

2P

CURRENT

CN

2

M

O

TO

R

V.FIL

C

N

3

VEXTA

C

N

4

I/O

M4 (not supplied)

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.

19

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.

20 mm (0.79 in.) minimum

25 mm

(0.98 in.)

ASD24A-A

OPERATION

CN1

CN2

MOTOR

(7.09 in.)

CN3

L

100115V

~ N

180 mm

VEXTA

ASD24A-A

OPERATION

CN2

MOTOR

CN3

L

100115V

~

N

VEXTA

ASD24A-A

ALARM

500

1000

X1

X10

2P

1 2 3 4

1P

CURRENT

B

C

A

D

9

E

8

F

0

7

1

6

2

5

3

4

V.FIL

B

C

A

D

9

E

8

F

0

7

1

6

2

5

3

4

CN4 I

O

/

OPERATION

ALARM

CN1

500

1000

X1

X10

2P

1 2 3 4

1P

CURRENT

B

C

A

D

9

E

CN2

8

F

0

7

1

MOTOR

6

2

5

3

4

V.FIL

B

C

A

D

9

E

8

F

0

7

1

6

2

5

3

4

CN3

L

100115V

~ N

CN4 I

O

/

VEXTA

25 mm (0.98 in.) minimum

ASD24A-A

ALARM

CN1

1000

X1

1 2 3 4

1P

CURRENT

B

C

A

D

9

8

7

6

2

5

3

4

V.FIL

B

C

A

D

9

8

7

6

2

5

3

4

CN4 I

O

/

OPERATION

ALARM

CN1

500

X10

2P

E

F

0

1

E

F

0

1

500

1000 X1

X10

2P

1 2 3 4

1P

CURRENT

B

C

A

D

9

E

CN2

8

F

0

7

1

MOTOR

6

2

5

3

4

V.FIL

B

C

A

D

9

E

8

F

0

7

1

6

2

5

3

4

CN3

L

100115V

~ N

CN4

I

O

/

VEXTA

20

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.

DIN rail mounting plate

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

Mounting screws (M3)

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

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.

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.

ASD24A-A

OPERATION

ALARM

CN1

500

1000

X1

X10

2P

1 2 3 4

1P

CURRENT

C

B

D

A

E

9

CN2

F

8

0

7

1

MOTOR

6

2

5

3

4

V.FIL

C

B

D

A

E

9

F

8

0

7

1

6

2

5

3

4

CN3

L

100115V

~

N

VEXTA

CN4 I

O

/

End plate

Note

• Use force of about 10 to 20 N (2.2 to 4.41 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.

21

Installing and wiring in compliance with EMC directive

General







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

The AS 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 motor 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

Note

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

22

Installing and wiring







Effective measures must be taken against the EMI that the AS series may give to adjacent control-system equipment, as well as the EMS of the AS 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 AS 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

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 cable (AWG18: 0.75 mm 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.

Manufacturer

OKAYA ELECTRIC INDUSTRIES CO., L TD PHOENIX CONTACT GmbH & Co. KG



Power supply for electromagnetic brake (for electromagnetic-brake motor only)



If an external DC power source is required for the use of the electromagnetic brake, use a DC power source that complies with the EMC directive. Use a shielded cable for wiring, and keep the wiring and grounding as short as possible. Refer to “Wiring the signal cable” for details on how to ground the shielded cable.

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

FN2070-10-06 B84113-C-B110

2

or more). Parallel placement will reduce mains-filter effectiveness if

or more) parallel with the mains-filter output

Single-phase 100-115 V

PT2-PE/S120AC-ST

Three-phase 200-230 V

FN251-8-07

-

Single-phase 200-230 V

R·A·V-781BWZ-2A

PT2-PE/S230AC-ST

VAL-MS 230 VF ST



How to ground



The cable used to ground the driver, motor 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



Ground the power-supply terminal using its ground terminal.

ASD24A-A

CN2

MOTOR

C

L

-

100

V

115

~

N

VEXTA

OPERATION

ALARM

CN1

0

5

4 3

0

1

0

X

0

1

2

1

X

ON

P

2

P

1

D

E

C

F

0

B

1

A

2

CURRENT

9

3

8

4

7

5

6

D

E

C

F

0

B

1

V.FIL

A

2

9

3

8

4

7

5

6

3

N

Use the protective earth terminal located on the side

4

CN I/O

of the driver.

ASD12A-S

CN2

MOTOR

3

N

C

L1

L2

L3

VEXTA

CN1

OPERATION

CURRENT

ALARM

0

5

4

3

0

1

0

X

0

1

2

1

X

ON

P

2

P

1

D

E

C

F

0

B

1

A

2

9

3

8

4

7

5

6

D

E

C

F

0

B

1

V.FIL

A

2

9

3

8

4

7

5

6

4

CN I/O

How to ground the motor

Scrape the paint away from the mounting flange and connect the grounding cable along with a set screw to the grounding point, using an inner-clip washer.



Wiring the signal cable



Use a shielded cable of AWG24 (0.2 mm 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.

2

) or more in diameter for the driver signal cable, and

Shielded cable

Cable clamp



Others



• Connect the motor, 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 motor 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.

23



Example of motor and driver installation and wiring



Power input

L

N

Motor

F

D

A

G

B

F

Driver



ASD24A-A

OPERATION

C

ALARM

CN1

500

1000

X1

X1 TEST

NORM.

2P

1 2 3 4

1P

CURRENT

C

D

B

A

E

9

F

CN2

8

0

7

1

MOTOR

6

2

5

3

4

V.FIL

C

D

B

A

E

9

F

8

0

7

1

6

2

5

3

4

CN3

L

100-

~

115V

N

CN4

I

O

/

VEXTA

E

C

D

A: Motor cable B: Mains filter



C: Cable clamp D: Protective earth cable E: Signal cable F: Power cable G: Surge arrester

Note

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

24

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.

Connection



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

Connection example for a standard type

Motor cable or extension cable (sold separately)

Motor

Connect to

CN2

Single-phase 100-115 V 50/60 Hz

＋

10%

−

15%

Power input

Driver

OPERATION

ALARM

CN1

1000

X1

1P

CURRENT

CN2

MOTOR

V.FIL

CN3

L

100115V

~

N

VEXTA



Protective earth

500 X10

2P

1 2 3 4

C

D

B

E

A

9

F

8

0

7

1

6

2

5

3

4

C

D

B

E

A

9

F

8

0

7

1

6

2

5

3

4

CN4

I

O

/

Control input/output Controller

Connect to CN4

Connection example for an electromagnetic-brake type

Power supply for an electromagnetic brake

+

24 VDC±5%

0.3 A or more

Control input/output

Controller

Connect to CN4

Extension cable, electromagnetic-brake type

(sold separately)

Motor

Connect to CN2

Single-phase 100-115 V 50/60 Hz

＋

10%

−

15%

Power input

Orange/black

Gray

Varistor (supplied)

Driver

OPERATION

ALARM

CN1

1000

X1

1P

CURRENT

CN2

MOTOR

V.FIL

CN3

L

100115V

~

N

VEXTA

Protective earth

C

B

A

9

8

7

6

5

4

C

B

A

9

8

7

6

5

4

CN4

I

/

D

3

D

3

O

500 X10

2P

1 2 3 4

E

F

0

1

2

E

F

0

1

2

Switch

Note

Be sure to use the extension cable for the electromagneticbrake type (sold separately) to connect the motor with an electromagnetic brake.

25

Note

Be sure to use the same voltage for C.OFF, ×10 and ACL inputs and TIM1/TIM2, ASG1/ASG2 and BSG1/BSG2 outputs. Connecting both 5 and 24 VDC power supplies may damage the driver and power supplies.

Connecting the driver

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

• The TIM1/TIM2 outputs, ASG1/ASG2 outputs and BSG1/BSG2 outputs require a 5 or 24 VDC power.

In case of current sourcing inputs and current sinking outputs







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

Controller

+30 V maximum

+5 V

Twisted pair cable or shielded cable

Vcc＋5 V input

CN4

CW input

CW input CCW input CCW input

ACL input ACL input

×10 input ×10 input

C.OFF input C.OFF input

GND

ALARM output ALARM output

END output END output

TIM1 output

GND

ASG1 output

GND

BSG1 output

GND

Driver

11 12

9 10 21 22 31 32 33 34

1

2

25 26 29 30 23 24 15 16 13 14

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

TIM2 output

TIM2 output ASG2 output ASG2 output BSG2 output BSG2 output

27 28 19 20 17 18

Line-driver output 26C31 or equivalent

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

CN4

11 12

10

22

32

34

25 26 29 30 23 24 15 16 13 14

Driver

9

3 2

Photocoupler input 5 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

Controller

+24 V

+30 V maximum

+5 V

Twisted pair cable or shielded cable

Vcc＋24 V input

ALARM output ALARM output

CW input

CW input CCW input CCW input

ACL input

×10 input

C.OFF input

GND

END output END output

TIM1 output

GND

ASG1 output

GND

BSG1 output

GND

26

TIM2 output

TIM2 output ASG2 output ASG2 output BSG2 output BSG2 output

27 28 19 20 17 18

Line-driver output 26C31 or equivalent

In case of current sinking inputs and current sourcing outputs







Controller

+5 V

Twisted pair cable or shielded cable

Vcc＋5 V input

CW input

CW input CCW input CCW input

ACL input ACL input

×10 input ×10 input

C.OFF input C.OFF input

GND

CN4

Driver

11 12

9 10 21 22 31 32 33 34

1

2

Photocoupler input 5 VDC Input current 7~20 mA

Photocoupler input 5 VDC Input current 16 mA

Note

Be sure to use the same voltage for C.OFF, ×10 and ACL inputs and TIM1/TIM2, ASG1/ASG2 and BSG1/BSG2 outputs.

Connecting both 5 and 24 VDC power supplies may damage the driver and power supplies.

∗ GND of TIM1, ASG1, BSG1

is common. The output type of these signals is current sinking outputs. See page 39 for the wiring.

ALARM output ALARM output

END output END output

TIM1 output

GND

ASG1 output

GND

BSG1 output

GND

TIM2 output

TIM2 output ASG2 output ASG2 output BSG2 output BSG2 output

25 26 29 30 23 24 15 16 13 14

27 28 19 20 17 18

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

27

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.

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







Connect the live side of the single-phase 100-115 V 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.

L

Single-phase 100-115 V 50/60 Hz

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

Unit name

Power/current capacity

AS66AA-T AS66MA-T AS66AA-P AS66MA-P AS66AA-N AS66MA-N AS66AA2-H

Single-phase 100-1 15 V

+10%

-

15%

AS66MA2-H AS66AA-H AS66MA-H AS66AA AS66MA AS69AA AS69MA

Single-phase 100-115 V

+10%

-

15%

AS98AA-T AS98MA-T AS98AA-P AS98MA-P AS98AA-N AS98MA-N

Single-phase 100-1 15 V

+10%

-

15%

AS98AA-H AS98MA-H AS98AA AS98MA AS911AA

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

Single-phase 100-115 V

+10%

-

15%

100115V

~

N

5 A or more

6.4 A or more

6 A or more

6.5 A or more

28

For single-phase 200-230 V unit







Connect the live side of the single-phase 200-230 V 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.

L

Single-phase 200-230 V 50/60 Hz

200230V

~

N

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

Unit name

Power/current capacity

AS66AC-T AS66MC-T AS66AC-P AS66MC-P AS66AC-N AS66MC-N AS66AC2-H

Single-phase 200-230 V

+10%

3 A or more

-

15%

AS66MC2-H AS66AC-H AS66MC-H AS66AC AS66MC AS69AC AS69MC

Single-phase 200-230 V

+10%

3.9 A or more

-

15%

AS98AC-T AS98MC-T AS98AC-P AS98MC-P AS98AC-N AS98MC-N

Single-phase 200-230 V

+10%

3.5 A or more

-

15%

AS98AC-H AS98MC-H AS98AC AS98MC AS911AC

Single-phase 200-230 V

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

+10%

4.5 A or more

-

15%

29

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.

Three-phase 200-230 V 50/60 Hz

L1

L2

L3

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

Unit name

Power/current capacity

AS66AS-T AS66MS-T AS66AS-P AS66MS-P AS66AS-N AS66MS-N AS66AS2-H

Single-phase 200-230 V

+10%

1.5 A or more

-

15%

AS66MS2-H AS66AS-H AS66MS-H AS66AS AS66MS AS69AS AS69MS

Single-phase 200-230 V

+10%

2.2 A or more

-

15%

AS98AS-T AS98MS-T AS98AS-P AS98MS-P AS98AS-N AS98MS-N

Single-phase 200-230 V

+10%

1.9 A or more

-

15%

AS98AS-H AS98MS-H AS98AS AS98MS AS911AS

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

Single-phase 200-230 V

+10%

2.4 A or more

-

15%

30

T erminal screw size and cable size for power connection







Screw size: M3 Tightening torque: 0.8 to 1.0 N·m (113 to 141 oz-in) Cable size capacity: AWG18 (0.75 mm

2

)

Use round, insulated crimp terminals for connection.

[Unit: mm (inch)]

Ø3.2 (0.13 DIA.) minimum

9 (0.35) minimum

6.2 (0.24) maximum

Connecting the motor

Standard type







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.

ASD24A-A

OPERATION

M

LAR

A

1

CN

500

4 3

X10

1000

2 1

X1

N O

2P

1P

D

E

C

F

0

B

1

A

2

CURRENT

9

3

8

4

7

5

6

CN2

D

E

C

F

0

B

1

V.FIL

MOTOR

A

2

9

3

8

4

7

5

6

3

N

C

Motor connector

(CN2)

L

100115V

~

N

VEXTA

4

N

C I/O

Motor cable

Extension cable

Use an optional extension cable (sold separately) to extend the distance between the motor and driver.

Connector

Note

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

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

• When the motor 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 61 of “Appendix” for the flexible cable.

Refer to page 61 of “Appendix” for the extension cable.

Electromagnetic-brake type







Plug the connector of the extension cable into the driver’s motor connector (CN2). Push the plug until it clicks to ensure connection.

ASD24A-A

N

OPERATIO

RM

ALA

CN1

500

4 3

X10

1000

2 1

X1

N O

2P

1P

D

E

C

F

0

B

1

A

Motor connector

(CN2)

L

100115V

~

N

CN2

MOTOR

3

N

C

VEXTA

2

CURRENT

9

3

8

4

7

5

6

D

E

C

F

0

B

1

V.FIL

A

2

9

3

8

4

7

5

6

4

N

C I/O

Connector

Electromagnetic-brake-type

extension cable

Refer to page 61 of “Appendix” for the extension cable.

Note

Be sure to purchase and use an optional electromagnetic-braketype extension cable (sold separately) to connect an electromagnetic-brake-type motor to the driver.

Direct connection to the motor cable will not operate the brake.

31

Note

+24 V

GND

DC power supply for electromagnetic brake

Varistor (provided)

GrayOrange/black

Electromagnetic-brake-type extension cable (sold separately)

Gray

Orange/black

+24 V

GND

DC power supply for electromagnetic brake

Varistor (provided)

Orange Gray

Electromagnetic-brake-type flexible cable (sold separately)

Orange

Gray

• Applying a voltage over the specification will increase the temperature rise in the electromagnetic brake and may damage the motor. Conversely, insufficient voltage may prevent the brake from releasing.

• Be sure to connect the varistor (non-polarized) to protect the switch contacts and prevent noise.

• The lead wires for the electromagnetic brake are polarized. Connecting the lead wires in reversed polarity will not properly operate the electromagnetic brake.

Connecting power supply for the electromagnetic brake







Provide a DC power-supply cable of 24 VDC±5% at 0.3 A or more. Use a shielded cable of AWG24 (0.2 mm

2

) or more in diameter to connect the electromagnetic

brake to the DC power supply, keeping the length as short as possible.



Using an electromagnetic-brake-type extension cable (sold separately)



Model: CC01AIPM, CC02AIPM, CC03AIPM, CC05AIPM, CC07AIPM, CC10AIPM,

CC15AIPM, CC20AIPM

Use two (orange/black and gray) lead wires [60 mm (2.36 in.)] from the driver’s connector side.

1. Connect the orange/black lead wire to the +24 V terminal of the DC power supply.

2. Connect the gray lead wire to the GND terminal of the DC power supply.

3. Connect the varistor in parallel across the +24 V and GND terminals of the DC power supply.

The varistor is non-polarized.



Using an electromagnetic-brake-type flexible cable (sold separately)



Model: CC01SARM2, CC02SARM2, CC03SARM2,

CC05SARM2, CC07SARM2, CC10SARM2

Use two (orange and gray) lead wires [60 mm (2.36 in.)] from the driver’s connector side.

1.Connect the orange lead wire to the +24 V terminal of the DC power supply.

2.Connect the gray lead wire to the GND terminal of the DC power supply.

3.Connect the varistor in parallel across the +24 V and GND terminals of the DC power supply.

The varistor is non-polarized.

32

Grounding the motor and driver

Grounding the motor







Ground the motor using one of its four mounting holes. Use a grounding cable of AWG18 Use a round, insulated crimp terminal in combination with an inner-clip washer and bolt it in place to secure the grounding connection.

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 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.

(0.75 mm2) or more in diameter.

Protective earth terminal

P.E.

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 the connector and connector cover with the supplied screws. Use a shielded cable, such as the optional shielded cable with connectors (sold separately). Refer to “Assembling the control input/output connector” on page 34.

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.

E

D

F

0

C

T

N

1

B

E

R

2

R

A

U

C

3

9

4

8

5

7

6

CN2

E

D

F

0

C

IL

.F

1

V

B

MOTOR

2

A

3

9

4

8

5

7

6

3

N

C

L

100115V

~

N

2

or more) to the connector. Assemble

Control input/output connector (CN4)

Control input/output connector

Screws

CN4 I/O

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

33

Assembling the control input/output connector

Half-pitch connector

Connector pin







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 35.



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.

Connector cover

Half-pitch connector

Screw

Cable clamp

Screw (M2)

Control input/output cable

Place the spring washer outside the connector cover.

Align the washer in the depression in the connector cover.

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

and nuts.

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

N·m (70.8 to 77.9 oz-in)

34

Connector pin functions

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 (DIR) CCW (DIR) CW (PLS) CW (PLS) BSG1 GND ASG1 GND BSG2 BSG2 ASG2 ASG2 ACL ACL TIM1 GND ALARM ALARM TIM2 TIM2 END END ×10 ×10 C.OFF C.OFF

-

Description

5 VDC GND 24 VDC

External power source

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

Direction

Input

-

Input

Output

Input

Output

Input

-

Note

• The functions shown in parentheses are enabled when “1P: 1-Pulse Input Mode” is selected through the pulseinput mode selector switch.

• Be sure to use the same voltage for C.OFF, ×10 and ACL inputs and TIM1/TIM2, ASG1/ ASG2 and BSG1/BSG2 outputs. Connecting both 5 and 24 VDC power supplies may damage the driver and power supplies.

Connector pin assignments

2 4

810

12 14

18

16

131517

18

36

32

36

34

30

3335

31

Viewed from the soldering side

6

9

11

28

26

29

1

357

22

24

20

19

232527

21

1

19

35

Note

Be sure to use the same voltage for C.OFF, ×10 and ACL inputs and TIM1/TIM2, ASG1/ASG2 and BSG1/BSG2 outputs. Connecting both 5 and 24 VDC power supplies may damage the driver and power supplies.

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 motor will not operate properly.

• The direction of rotation is defined as the rotation direction of the motor shaft. The output shaft of the TH geared typed motors with ratios of 20:1 and 30:1, as well as all ratios of the harmonic geared type motors, rotate in the opposite direction of the motor shaft.

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.

CW, CCW ACL, ×10, C.OFF

Driver internal circuit

9, 11

10, 12



CW pulse input and CCW pulse input



220 Ω

7∼20 mA

21, 31, 33

22, 32, 34

Driver internal circuit

5 mA

220 Ω

16 mA

4.7 kΩ

3

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 44 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. For the electromagnetic-brake type, wait at least 0.1 second after releasing the electromagnetic brake, then input pulse signals. When an electromagnetic brake type is used, also refer to “Operating the electromagnetic brake” at the end of this section.

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 motor will

rotate one step in the CW direction.

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

rotate one step in the CCW direction.

CW pulse input

CCW pulse input

ON

OFF

ON

OFF

∗

∗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.

36

CW

Motor operation

CCW

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.

V-1.5

R =

10 mA

-

220 [Ω]

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

H

90% 10%

L

2 µs minimum

1 µs minimum

2 µs maximum 2 µs maximum

H: 4~5 V L: 0~0.5 V

The figure shows the voltage levels of pulse signals.

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.

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

motor one step in the CW direction.

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

the motor one step in the CCW direction.

∗

∗The minimum interval time needed for

switching the direction of rotation will vary, depending on the operating speed

CCW

and size of the load. Do not shorten the interval time any more than is necessary.

PLS input

(Pulse)

DIR input

(Rotating direction)

Motor operation

ON

OFF

ON

OFF

CW

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

V-1.5

R = - 220 [Ω]

10 mA

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

H

90% 10%

L

2 µs minimum

1 µs minimum

2 µs maximum 2 µs maximum

H: 4~5 V L: 0~0.5 V

The figure shows the voltage levels of pulse signals.

37

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.



C.OFF (All windings off) input



Use the signal only when the motor’s output shaft must be rotated manually for position adjustment.

Warning

• 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 injury or damage to equipment.

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

motor will lose its excitation holding torque. This, however, will allow you to adjust the load position manually.

2.When the C.OFF input is turned “OFF,” the driver will turn the output current to “ON” again

and the motor’s excitation holding torque will be restored. The C.OFF input must be “OFF” when operating the motor.



×10 (Resolution selection) input



Selects and switches to 10 times either of the resolution “500: 0.72°/pulse” or “1000: 0.36°/ pulse” that has been selected with the resolution selection switch. For instance, if “1000: 0.36°/pulse” has been selected, this signal can switch between the

0.36° step rotation and 0.036° step rotation. Refer to page 43 for the selection of the resolution selection switch.

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

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.

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

1000

X1

1P



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 39 and “Protective function” on page 46.

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.

ACL input

(Alarm clear)

ALARM output

(Alarm)

500

X10

1 2 3 4

2P

ON

OFF

0.1 s minimum

ON

Resolution selection switch

0.5 s maximum

38

Output signals







Driver output signals are photocoupler/open-collector output, transistor open-collector output for the TIM1, ASG1 and BSG1 outputs, and line-driver output for the TIM2, 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.

Note

Be sure to use the same voltage for C.OFF, ×10 and ACL inputs and TIM1/TIM2, ASG1/ASG2 and BSG1/BSG2 outputs.

ALARM, END

Driver internal circuit

25, 29

26, 30

30 VDC 5 mA maximum



ALARM output



Line driver output

Open-collector output

TIM1, TIM2, ASG1, ASG2, BSG1, BSG2

Driver internal

1 3 2

17, 19, 27

18, 20, 28 13, 15, 23

14, 16, 24

circuit

26C31 or equivalent

30 VDC 15 mA maximum

+5 V

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 motor thereafter.

Error detection by the driver, such as overload and overcurrent during motor operation, turns the ALARM output “OFF,” blinks the ALARM LED on the driver, and simultaneously shuts off the motor current to stop motor 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 46.

Note

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

Blink

ALARM LED

(Alarm)

ON

OFF

The motor stops due to inertial force.

ALARM output

Motor movement

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



END (Positioning complete) output



END output turns “ON” when motor 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 rotor has positioned within ±1.8° of the commanded position.

Motor operation

END output

(Positioning complete)

Movement

ON

OFF

Movement

Stop Stop

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.

39

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 motor stops. If the resolution is switched under any other conditions, TIM output may not turn “ON” even when the output shaft has rotated 7.2°.

Note

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



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 motor’s output shaft rotates 7.2°.

Motor operation

TIM output

(Timing)



ASG output and BSG output



ON

OFF

Movement

Stop Stop

ASG and BSG outputs are available in two types: transistor open-collector output and linedriver 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 ASG output pulses allows the motor position to be monitored.

ASG1 output

BSG1 output

ON

OFF

90°

ON

OFF

ASG output:Outputs pulse while the motor operates. BSG output:Detects the direction of motor rotation. It has a 90° phase difference with regard

to ASG output. The level of BSG output at the rise time of ASG output indicates the direction of motor rotation.

40

Operating the electromagnetic brake







Operate the electromagnetic brake as follows:

1.ALARM output is in the “OFF” state immediately after the driver power is turned on.

Check to see that ALARM output has been reset (turned from OFF to ON), then turn on the electromagnetic brake.

2.Before inputting pulse signals to operate the motor, set the motor in the ready state by

“releasing” the electromagnetic brake.

3.To allow the electromagnetic brake to “hold” the load after the motor has completed its

operation, turn the electromagnetic brake off only after verifying that END (positioning complete) output has turned from “OFF” to “ON.”

Note

To hold the load in position, apply the electromagnetic brake only after the motor has stopped. Do not use the brake to bring the moving motor to a halt. Repeated braking for such a purpose will wear the brake hub excessively, causing a decrease in its ability to hold.

Driver power

ALARM output

Electromagnetic brake power

CW pulse input or CCW pulse input

END output

∗CCW pulse input is enabled when 2-pulse input mode is selected



About providing for ALARM output



ON

∗

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

0.5 s maximum 0 s minimum

Brake releasing

0.1 s minimum

When operation is started When operation is stopped

0.5 s minimum

0.1 s minimum

When the driver-protection function is triggered, the motor stops as the current is turned off. The motor loses its holding ability, which in a vertical-travel application may cause the load to fall.

The user must set a controller sequence that will cut off the power to the electromagnetic brake and hold the load in position upon detecting an “OFF” ALARM output.



Backlash of the electromagnetic brake



There is a backlash between the electromagnetic brake and motor shaft, but it is structurally necessary. When the driver power comes back on, the position of the motor’s output shaft may differ from the previous position, even though the position has been maintained by the electromagnetic brake. For that reason, after power-on be sure to detect the equipment’s home position before resuming operation.

41

Timing chart

Motor operation

Power input

ALARM output

(Alarm)

CW pulse input

CCW pulse input

END output

(Positioning complete)

TIM output

(Timing)

C.OFF input

(All windings off)

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

ON

OFF

∗2

CW

0.5 s maximum

0.1 s minimum

∗4

CCW

∗3 ∗3

CW

10 s minimum

∗1

∗3

2 s minimum

∗5

∗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 The turning of END output to “ON” does not necessarily mean the motor 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.

No accurate detection is possible at a speed over 500 Hz.

∗5 Turning C.OFF input “ON” shuts off the motor current, at which time the motor loses its holding ability.

It also clears the value on the deviation counter.

42



Setting

This section covers the selection and settings of driver functions.

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

Warning

• 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.

Driver front panel

CN2

MOTOR

CN3

CN1

CURRENT

V.FIL

1000

500

X1

X10

2P

1 2 3 4

1P

C

D

B

E

A

F

9

8

0

7

1

6

2

5

3

4

C

D

B

E

A

F

9

8

0

7

1

6

2

5

3

4

Not used (CN1)

Resolution selection switch

Pulse-input mode selection switch

Current-adjustment switch

Speed-filter selection switch

Resolution

Use the resolution selection switch “1000/500” and “×1/×10” to set the motor resolution.

Factory settings [1000]: 1000 P/R (0.36°/pulse) [×1]: Multiplier 1

1000

X1

1P

500

X10

1 2 3 4

2P

Resolution selection switch

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 resolution switching input is used.

The “×10” setting disables

resolution switching input.

A total of four resolution levels may be selected, with ×10 (resolution selection) input “CN4 Pin No. 31, 32” used to switch between 1,000 and 10,000 and between 500 and 5,000. Refer to page 38 for the use of ×10 input (resolution selection).

Refer to “Main specifications” on page 50 to 60 for details of the relationship between the setting of the resolution selection switch and resolution of the geared output shaft in the geared type.

43

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.

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

1000

X1

500

X10

Note

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

1P

1 2 3 4

2P

Pulse-input mode selection switch

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

1P 2P

When the motor is to be controlled through the PLS (pulse) and the DIR (rotating-direction) , set the pulse-input mode selection switch to “1P.”

1P 2P

Operating current

Use the operating-current adjustment switch “CURRENT” to set the motor’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 increases in motor temperature.

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

CURRENT

V.FIL

C

D

B

E

A

F

9

8

0

7

1

6

2

5

3

4

C

D

B

E

A

F

9

8

0

7

1

6

2

5

3

4

Operating-current adjustment switch

44

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

Dial setting

0 1 2 3 4 5 6 7 8 9 A B C D E F

Operating current rate [%]

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

100

Speed filter

Use the speed-filter selection switch “V .FIL” to select the filter time constant that determines the motor’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 motor is started and stopped, and will minimize low-speed vibration. An unnecessarily large filter time constant, however, will smooth out the motor movement further but with a reduced ability to synchronize to the pulse input and extended 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:

Dial setting

0 1 2 3 4 5 6 7 8

9 A B C D E F

CURRENT

V.FIL

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

C

D

B

E

A

F

9

8

0

7

1

6

2

5

3

4

C

D

B

E

A

F

9

8

0

7

1

6

2

5

3

4

Speed-filter selection switch

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

Command speed

Motor speed END output

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

Command speed

Motor speed END output

45

Protective functions

123 123

Interval

1.2 s

0.2 s

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

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 turning the power back on. After turning off the power, wait at least 10 seconds before turning the power back on.

・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.

Warning

• When the driver-protection function is triggered, the motor 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 motor, leading to injury or damage to equipment.

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-source or motor-cable connections, and the occurrence of operating errors. When a protective function is triggered, the ALARM LED on the front panel blinks, ALARM output turns OFF, and simultaneously the motor current is shut off in order to stop the motor. ALARM output remains “ON” when the dr i ver is operating normally, then turns “OFF” when a protective function is triggered. For details, refer to “ALARM output” on page 39.

OPERATION

ALARM

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.

No. of blinks

1

2

3

4

5 6

Protective function

Overheat protection

Overload protection

Overvoltage protection

Speed error protection

Overcurrent protection Overspeed

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 motor has not normally followed up on pulse input. When an excessive current flows through the driver inverter’s power element. When the motor shaft speed exceeds 5000 r/min.

Blink

Conditions

46

7

8

Continuous

EEPROM data error

Sensor error System error

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.

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.

• Turn the power back on.

Inspection

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

During inspection:

• Are any of the motor mounting screws loose?

• Check for any unusual noises in the motor’s bearings (ball bearings) or other moving parts.

• Are the motor’s output shaft (or gear output shaft) and load shaft out of alignment?

• 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.

47

Troubleshooting and remedial actions

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

If ALARM LED is not blinking

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

Phenomenon The motor is not excited. The motor can be turned with the hands.

The motor does not run.

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

The geared output shaft rotates in the direction opposite motor rotation.

Motor operation is unstable.

Vibration is great.

The electromagnetic brake does not hold.

The TIM output does not turn “ON.”

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 DIR input. Electromagnetic brake is holding (electromagnetic brake type only). 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.

A geared type is used whose rotating direction is opposite that of the motor shaft.

Bad connection of the pulse signal line.

Small load

The electromagnetic brake is turned on.

The “×10” input is turned “OFF” during operation.

Remedial action

Turn the C.OFF input to “OFF” and confirm that the motor is 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. Release the electromagnetic brake by turning the

power on. 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.

• TH geared type rotates in the direction opposite motor rotation at gear ratios of 20:1 and 30:1.

• All harmonic geared types rotate in the direction opposite motor rotation.

• Check the connections of the controller and driver.

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

Reduce the current by adjusting the driver’s current adjustment switch. If the motor’s output torque is too great for the load, vibration will increase. To use an electromagnetic brake to hold the load in position after the motor has stopped, turn off the electromagnetic brake. When the “×10” input is turned “OFF,” the TIM output may not turn “ON.”

48

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.

Number of

ALARM LED

Blinks

1

2

3

4

5

6

7

8

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.

Review motor’s operating condition and ventilation in the enclosure.

Reduce the motor load.

• Check power-source connections.

• Reduce 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 motor shaft at 5000 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.

Remedial action

49

Main specifications

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

Protective range

Ambient temperature Operation environment

Humidity

Altitude

Surrounding atmosphere

Ambient temperature Storage environment

Shipping environment

Humidity

Altitude

Surrounding atmosphere

Ambient temperature

Humidity

Altitude

Surrounding atmosphere

Motor

IP20

0°C to +50°C (+32°F to +122°F) (non-freezing) Harmonic geared type: 0°C to +40°C (+32°F to +104°F) (non-freezing) 85% or less (non-condensing) Up to 1000 m (3280 ft.) above sea level No corrosive gas, dust, water or oil

-

20°C to +60°C (-4°F to +140°F) (non-freezing) 85% or less (non-condensing) Up to 3000 m (9842 ft.) above sea level No corrosive gas, dust, water or oil

-

20°C to +60°C (-4°F to +140°F) (non-freezing) 85% or less (non-condensing) Up to 3000 m (9842 ft.) above sea level No corrosive gas, dust, water or oil

Driver

IP10 0°C to +50°C (+32°F to +122°F)

(non-freezing)

-

25°C to +70°C (-13°F to +158°F)

(non-freezing)

-

25°C to +70°C (-13°F to +158°F)

(non-freezing)

50

TH geared type

Single-phase100-1 15 V

Standard type

Electromagnetic-

Unit model

brake type

Maximum holding torque Rotor inertia Backlash Output shaft rotation speed Gear ratio

∗

Resolution

(Resolution as set via the resolution selector switch.)

Permissible torque Driver’s power source input

4

∗

voltage

Input signal

Output signal

Electromagnetic brake

Power supply input voltage/current

Static friction torque N·m (lb-in)

Mass

Single-phase200-230 V Three-phase200-230 V Single-phase100-1 15 V Single-phase200-230 V Three-phase200-230 V

1

∗

N·m (Ib-in)

J: kg·m

Arc min (deg)

2

10000 P/R

3

∗

N·m (lb-in) Single-phase100-115 V Single-phase200-230 V Three-phase200-230 V

5

∗

Power consumption

Motor kg (lb.)

Driver kg (lb.)

2

(oz-in2)

1000 P/R

500 P/R

5000 P/R

AS66MA-T3.6

AS66MC-T3.6

AS66MS-T3.6

r/min

AS66AA-T3.6 AS66AC-T3.6 AS66AS-T3.6

1.25 (11)

35´ (0.584°)

0 ~ 500

3.6:1

0.1°/Pulse

0.01°/Pulse

0.2°/Pulse

0.02°/Pulse

1.25 (10.8)

AS66AA-T7.2 AS66AC-T7.2

AS66AS-T7.2 AS66MA-T7.2 AS66MC-T7.2 AS66MS-T7.2

2.5 (22) 405 × 10

15´ (0.25°)

0 ~ 250

7.2:1

0.05°/Pulse

0.005°/Pulse

0.1°/Pulse

0.01°/Pulse

2.5 (21.6)

AS66AA-T10 AS66AC-T10

AS66AS-T10

AS66MA-T10

AS66MC-T10

AS66MS-T10

3.0 (26)

-7

[564 × 10-7] (2.2 [3.1])

15´ (0.25°)

0 ~ 180

10:1

0.036°/Pulse

0.0036°/Pulse

0.072°/Pulse

0.0072°/Pulse

3.0 (26.0) Single-phase 100-115 V Single-phase 200-230 V Three-phase 200-230 V

+10%

50/60 Hz 5 A

-

15%

+10%

50/60 Hz 3 A

-

15%

+10%

50/60 Hz 1.5 A

-

15%

AS66AA-T20 AS66AC-T20 AS66AS-T20 AS66MA-T20

AS66MC-T20 AS66MS-T20

3.5 (30)

6

∗

10´ (0.167°)

0 ~ 90

20:1

0.018°/Pulse

0.0018°/Pulse

0.036°/Pulse

0.0036°/Pulse

3.5 (30.3)

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

• 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 TIM1, ASG1, BSG1

• Line driver output TIM2, ASG2, BSG2

Active when power is off

24 VDC±5% 0.25 A

6 W

0.62 (5.4)

1.25 (11) 1.5 (13.2) 1.75 (15.4) 2.0 (17.7)

6

1.25 [1.5] (2.75 [3.3])

∗

0.8 (1.76)

AS66AA-T30 AS66AC-T30

AS66AS-T30 AS66MA-T30 AS66MC-T30 AS66MS-T30

4.0 (35)

10´ (0.167°)

0 ~ 60

30:1

0.012°/Pulse

0.0012°/Pulse

0.024°/Pulse

0.0024°/Pulse

4.0 (34.7)

∗1 Maximum static torque at excitation is the maximum static torque at the rated motor current, modified in consideration of

permissible strength to the gears. The value is reduced to approximately 50% by the current-cutback function when the motor operates in combination with a dedicated driver.

∗2 The rotational directions of the motor shaft and gear output shaft will vary according to the gear ratio.

Same direction as the motor: Gear ratios 3.6:1, 7.2:1 and 10:1 Direction opposite the motor: Gear ratios 20:1 and 30:1

∗3 Permissible torque represents the limit of the gears’ mechanical strength. Keep all loading, including acceleration torque, below

the limit of torque.

∗4 The value for the driver’s power-supply input current represents the maximum input current, which varies with pulse speed. ∗5 These are specifications for the electromagnetic-brake type only. ∗6 The figures in parentheses [ ] are specifications for the electromagnetic-brake type.

51

TH geared type

Single-phase100-1 15 V

Standard type

Electromagnetic-

Unit model

brake type

Maximum holding torque Rotor inertia Backlash Output shaft rotation speed Gear ratio

∗

Resolution (Resolution as set via the resolution selector switch.)

Permissible torque Driver’s power source input

4

∗

voltage

Input signal

Output signal

Electromagnetic brake

Power supply input voltage/current

Static friction torque N·m (lb-in)

Mass

Single-phase200-230 V Three-phase200-230 V Single-phase100-1 15 V Single-phase200-230 V Three-phase200-230 V

1

∗

N·m (Ib-in)

J: kg·m

Arc min (deg)

2

10000 P/R

3

∗

N·m (lb-in) Single-phase100-115 V Single-phase200-230 V Three-phase200-230 V

5

∗

Power consumption

Motor kg (lb.)

Driver kg (lb.)

2

(oz-in2)

1000 P/R

500 P/R

5000 P/R

AS98AC-T3.6

AS98MA-T3.6

AS98MC-T3.6

AS98MS-T3.6

r/min

AS98AA-T3.6

AS98AS-T3.6

4.5 (39)

25´ (0.417°)

0 ~ 500

3.6:1

0.1°/Pulse

0.01°/Pulse

0.2°/Pulse

0.02°/Pulse

4.5 (39)

AS98AA-T7.2 AS98AC-T7.2

AS98AS-T7.2 AS98MA-T7.2 AS98MC-T7.2 AS98MS-T7.2

9 (79)

1400 × 10

15´ (0.25°)

0 ~ 250

7.2:1

0.05°/Pulse

0.005°/Pulse

0.1°/Pulse

0.01°/Pulse 9 (79)

AS98AA-T10 AS98AC-T10

AS98AS-T10 AS98MA-T10 AS98MC-T10

AS98MS-T10

9 (79)

-7

[1559 × 10-7] (7.7 [8.5])

15´ (0.25°)

0 ~ 180

10:1

0.036°/Pulse

0.0036°/Pulse

0.072°/Pulse

0.0072°/Pulse

9 (79) Single-phase 100-115 V Single-phase 200-230 V Three-phase 200-230 V

+10%

50/60 Hz 6 A

-

15%

+10%

50/60 Hz 3.5 A

-

15%

+10%

50/60 Hz 1.9 A

-

15%

AS98AA-T20 AS98AC-T20

AS98AS-T20 AS98MA-T20 AS98MC-T20 AS98MS-T20

12 (106)

6

∗

10´ (0.167°)

0 ~ 90

20:1

0.018°/Pulse

0.0018°/Pulse

0.036°/Pulse

0.0036°/Pulse

12 (106)

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

• 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 TIM1, ASG1, BSG1

• Line driver output TIM2, ASG2, BSG2

Active when power is off

24 VDC±5% 0.25 A

6 W

2.25 (19.9)

4.5 (39) 4.5 (39) 6.0 (53) 6.0 (53)

6

3 [3.4] (6.6 [7.48])

∗

0.8 (1.76)

AS98AA-T30

AS98AC-T30

AS98AS-T30 AS98MA-T30 AS98MC-T30 AS98MS-T30

12 (106)

10´ (0.167°)

0 ~ 60

30:1

0.012°/Pulse

0.0012°/Pulse

0.024°/Pulse

0.0024°/Pulse

12 (106)

52

∗1 Maximum static torque at excitation is the maximum static torque at the rated motor current, modified in consideration of

permissible strength to the gears. The value is reduced to approximately 50% by the current-cutback function when the motor operates in combination with a dedicated driver.

∗2 The rotational directions of the motor shaft and gear output shaft will vary according to the gear ratio.

Same direction as the motor: Gear ratios 3.6:1, 7.2:1 and 10:1 Direction opposite the motor: Gear ratios 20:1 and 30:1

∗3 Permissible torque represents the limit of the gears’ mechanical strength. Keep all loading, including acceleration torque, below

the limit of torque.

∗4 The value for the driver’s power-supply input current represents the maximum input current, which varies with pulse speed. ∗5 These are specifications for the electromagnetic-brake type only. ∗6 The figures in parentheses [ ] are specifications for the electromagnetic-brake type.

PL geared type

Single-phase100-1 15 V

Standard type

Electromagnetic-

Unit model

brake type

Maximum holding torque Rotor inertia Backlash Output shaft rotation speed Gear ratio Resolution

(Resolution as set via the resolution selector switch.)

Permissible torque Driver’s power source input

4

∗

voltage

Input signal

Output signal

Electromagnetic brake

Power supply input voltage/current

Static friction torque N·m (lb-in)

Mass

Single-phase200-230 V Three-phase200-230 V Single-phase100-1 15 V Single-phase200-230 V Three-phase200-230 V

1

∗

N·m (Ib-in)

J: kg·m

Arc min (deg)

2

∗

1000 P/R

10000 P/R

5000 P/R

3

∗

N·m (lb-in) Single-phase100-115 V Single-phase200-230 V Three-phase200-230 V

5

∗

Power consumption

Motor kg (lb.)

Driver kg (lb.)

2

(oz-in2)

r/min

500 P/R

AS66AA-P5 AS66AC-P5

AS66AS-P5 AS66MA-P5 AS66MC-P5

AS66MS-P5

3.5 (30)

AS66AA-P7.2 AS66AC-P7.2

AS66AS-P7.2 AS66MA-P7.2 AS66MC-P7.2 AS66MS-P7.2

4.0 (35) 405 × 10

AS66AA-P10 AS66AC-P10

AS66AS-P10 AS66MA-P10 AS66MC-P10

AS66MS-P10

5.0 (44)

-7

[564 × 10-7] (2.2 [3.1])

AS66AA-P25 AS66AC-P25

AS66AS-P25

AS66MA-P25

AS66MC-P25

AS66MS-P25

8.0 (70)

AS66AA-P36 AS66AC-P36

AS66AS-P36 AS66MA-P36 AS66MC-P36 AS66MS-P36

8.0 (70)

6

∗

AS66AA-P50

AS66AC-P50

AS66AS-P50

AS66MA-P50

AS66MC-P50

AS66MS-P50

8.0 (70)

20´ (0.33°)

0 ~ 360

5:1

0.072°/Pulse

0.0072°/Pulse

0.144°/Pulse

0.0144°/Pulse

3.5 (30)

0 ~ 250

7.2:1

0.05°/Pulse

0.005°/Pulse

0.1°/Pulse

0.01°/Pulse

4.0 (35)

0 ~ 180

10:1

0.036°/Pulse

0.0036°/Pulse

0.072°/Pulse

0.0072°/Pulse

5.0 (44) Single-phase 100-115 V Single-phase 200-230 V Three-phase 200-230 V

0 ~ 72

25:1

0.0144°/Pulse

0.00144°/Pulse

0.0288°/Pulse

0.00288°/Pulse

8.0 (70)

+10%

50/60 Hz 5 A

-

15%

+10%

50/60 Hz 3 A

-

15%

+10%

50/60 Hz 1.5 A

-

15%

0 ~ 50

36:1

0.01°/Pulse

0.001°/Pulse

0.02°/Pulse

0.002°/Pulse

8.0 (70)

0 ~ 36

50:1

0.0072°/Pulse

0.00072°/Pulse

0.0144°/Pulse

0.00144°/Pulse

8.0 (70)

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

• 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 TIM1, ASG1, BSG1

• Line driver output TIM2, ASG2, BSG2

Active when power is off

24 VDC±5% 0.25 A

6 W

1.75 (15.4)

2.0 (17.7) 2.5 (22) 4.0 (35) 4.0 (35)

6

1.25 [1.5] (2.75 [3.3])

∗

1.55 [1.8] (3.41 [3.96])

4.0 (35)

6

∗

0.8 (1.76)

∗1 Maximum static torque at excitation is the maximum static torque at the rated motor current, modified in consideration of

permissible strength to the gears. The value is reduced to approximately 50% by the current-cutback function when the motor operates in combination with a dedicated driver.

∗2 The rotational directions of the motor shaft and gear output shaft will be the same. ∗3 Permissible torque represents the limit of the gears’ mechanical strength. Keep all loading, including acceleration torque, below

the limit of torque.

∗4 The value for the driver’s power-supply input current represents the maximum input current, which varies with pulse speed. ∗5 These are specifications for the electromagnetic-brake type only. ∗6 The figures in parentheses [ ] are specifications for the electromagnetic-brake type.

53

PL geared type

Single-phase100-115 V

Standard type

Electromagnetic-

Unit model

brake type

Maximum holding torque Rotor inertia Backlash Output shaft rotation speed Gear ratio Resolution (Resolution as set via the resolution selector switch.) Permissible torque Driver’s power source input

4

∗

voltage

Input signal

Output signal

Electromagnetic brake

Power supply input voltage/current

Power consumption

Static friction torque N·m (lb-in)

Mass

Single-phase200-230 V Three-phase200-230 V Single-phase100-115V Single-phase200-230V Three-phase200-230V

1

∗

N·m (Ib-in)

J: kg·m

Arc min (deg)

2

∗

1000 P/R

10000 P/R

5000 P/R

3

∗

N·m (lb-in)

Single-phase100-115 V Single-phase200-230 V Three-phase200-230 V

5

∗

Motor kg (lb.)

Driver kg (lb.)

2

(oz-in2)

r/min

500 P/R

AS98AA-P5 AS98AC-P5

AS98AS-P5

AS98MA-P5 AS98MC-P5

AS98MS-P5

9.0 (79)

AS98AA-P7.2 AS98AC-P7.2

AS98AS-P7.2 AS98MA-P7.2 AS98MC-P7.2 AS98MS-P7.2

12.9 (114) 1400 × 10

AS98AA-P10 AS98AC-P10

AS98AS-P10 AS98MA-P10 AS98MC-P10 AS98MS-P10

AS98AA-P25 AS98AC-P25

AS98AS-P25 AS98MA-P25 AS98MC-P25

AS98MS-P25

18 (159)

-7

[1559 × 10-7] (7.7 [8.5])

37 (320)

AS98AA-P36 AS98AC-P36

AS98AS-P36 AS98MA-P36 AS98MC-P36

AS98MS-P36

37 (320)

6

∗

AS98AA-P50 AS98AC-P50 AS98AS-P50

AS98MA-P50

AS98MC-P50

AS98MS-P50

37 (320)

15´ (0.25°)

0 ~ 360

5:1

0.072°/Pulse

0.0072°/Pulse

0.144°/Pulse

0.0144°/Pulse

9.0 (79)

0 ~ 250

7.2:1

0.05°/Pulse

0.005°/Pulse

0.1°/Pulse

0.01°/Pulse

12.9 (114)

0 ~ 180

10:1

0.036°/Pulse

0.0036°/Pulse

0.072°/Pulse

0.0072°/Pulse 18 (159)

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

0 ~ 72

25:1

0.0144°/Pulse

0.00144°/Pulse

0.0288°/Pulse

0.00288°/Pulse 37 (320)

+10%

50/60 Hz 6 A

-

15%

+10%

50/60 Hz 3.5 A

-

15%

+10%

50/60 Hz 1.9 A

-

15%

0 ~ 50

36:1

0.01°/Pulse

0.001°/Pulse

0.02°/Pulse

0.002°/Pulse 37 (320)

0 ~ 36

50:1

0.0072°/Pulse

0.00072°/Pulse

0.0144°/Pulse

0.00144°/Pulse 37 (320)

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

• 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 TIM1, ASG1, BSG1

• Line driver output TIM2, ASG2, BSG2

Active when power is off

24 VDC±5% 0.25 A

6 W

4.5 (39)

6.45 (57) 9.0 (79) 18.5 (163) 18.5 (163)

6

3.2 [3.6] (7.04 [7.92])

∗

4.0 [4.4] (8.8 [9.68])

18.5 (163)

6

∗

0.8 (1.76)

54

∗1 Maximum static torque at excitation is the maximum static torque at the rated motor current, modified in consideration of

permissible strength to the gears. The value is reduced to approximately 50% by the current-cutback function when the motor operates in combination with a dedicated driver.

∗2 The rotational directions of the motor shaft and gear output shaft will be the same. ∗3 Permissible torque represents the limit of the gears’ mechanical strength. Keep all loading, including acceleration torque, below

the limit of torque.

∗4 The value for the driver’s power-supply input current represents the maximum input current, which varies with pulse speed. ∗5 These are specifications for the electromagnetic-brake type only. ∗6 The figures in parentheses [ ] are specifications for the electromagnetic-brake type.

PN geared type

Single-phase100-115 V

Standard type

Electromagnetic-

Unit model

brake type

Maximum holding torque Rotor inertia Backlash Rotary position error Output shaft rotation speed Gear ratio Resolution (Resolution as set via the resolution selector switch.) Permissible torque Driver’s power source input

4

∗

voltage

Input signal

Output signal

Electromagnetic brake

Power supply input voltage/current Power consumption Static friction torque N·m (lb-in)

Mass

Single-phase200-230 V Three-phase200-230 V Single-phase100-115 V Single-phase200-230 V Three-phase200-230 V

1

∗

N·m (Ib-in)

J: kg·m

Arc min (deg) Arc min (deg)

2

∗

1000 P/R

10000 P/R

5000 P/R

3

∗

N·m (lb-in) Single-phase100-1 15 V Single-phase200-230 V Three-phase200-230 V

5

∗

Motor kg (lb.)

Driver kg (lb.)

2

(oz-in2)

r/min

500 P/R

AS66AA-N5 AS66AC-N5

AS66AS-N5 AS66MA-N5 AS66MC-N5

AS66MS-N5

3.5 (30)

AS66AA-N7.2 AS66AC-N7.2 AS66AS-N7.2

AS66MA-N7.2

AS66MC-N7.2

AS66MS-N7.2

4.0 (35) 405 × 10-7 [564 × 10-7] (2.2 [3.1])

AS66AA-N10 AS66AC-N10

AS66AS-N10 AS66MA-N10 AS66MC-N10

AS66MS-N10

5.0 (44)

AS66AA-N25 AS66AC-N25

AS66AS-N25 AS66MA-N25 AS66MC-N25

AS66MS-N25

8.0 (70)

AS66AA-N36 AS66AC-N36 AS66AS-N36 AS66MA-N36

AS66MC-N36

AS66MS-N36

8.0 (70)

6

∗

AS66AA-N50 AS66AC-N50

AS66AS-N50 AS66MA-N50 AS66MC-N50

AS66MS-N50

8.0 (70)

3´ (0.05°)

6´ (0.1°)

0 ~ 360

5:1

0.072°/Pulse

0.0072°/Pulse

0.144°/Pulse

0.0144°/Pulse

3.5 (30)

0 ~ 250

7.2:1

0.05°/Pulse

0.005°/Pulse

0.1°/Pulse

0.01°/Pulse

4.0 (35)

0 ~ 180

10:1

0.036°/Pulse

0.0036°/Pulse

0.072°/Pulse

0.0072°/Pulse

5.0 (44) Single-phase 100-115 V Single-phase 200-230 V Three-phase 200-230 V

0 ~ 72

25:1

0.0144°/Pulse

0.00144°/Pulse

0.0288°/Pulse

0.00288°/Pulse

8.0 (70)

+10%

50/60 Hz 5 A

-

15%

+10%

50/60 Hz 3 A

-

15%

+10%

50/60 Hz 1.5 A

-

15%

0 ~ 50

36:1

0.01°/Pulse

0.001°/Pulse

0.02°/Pulse

0.002°/Pulse

8.0 (70)

0 ~ 36

50:1

0.0072°/Pulse

0.00072°/Pulse

0.0144°/Pulse

0.00144°/Pulse

8.0 (70)

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

• 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 TIM1, ASG1, BSG1

• Line driver output TIM2, ASG2, BSG2

Active when power is off

24 VDC±5% 0.25 A

6 W

1.75 (15)

2.0 (17.7) 2.5 (22) 4.0 (35) 4.0 (35)

6

1.5 [1.75] (3.3 [3.85])

∗

1.7 [1.95] (3.74 [4.29])

4.0 (35)

6

∗

0.8 (1.76)

∗1 Maximum static torque at excitation is the maximum static torque at the rated motor current, modified in consideration of

permissible strength to the gears. The value is reduced to approximately 50% by the current-cutback function when the motor operates in combination with a dedicated driver.

∗2 The rotational directions of the motor shaft and gear output shaft will be the same. ∗3 Permissible torque represents the limit of the gears’ mechanical strength. Keep all loading, including acceleration torque, below

the limit of torque.

∗4 The value for the driver’s power-supply input current represents the maximum input current, which varies with pulse speed. ∗5 These are specifications for the electromagnetic-brake type only. ∗6 The figures in parentheses [ ] are specifications for the electromagnetic-brake type.

55

PN geared type

Single-phase100-115 V

Standard type

Electromagnetic-

Unit model

brake type

Maximum holding torque Rotor inertia Backlash Rotary position error Output shaft rotation speed Gear ratio Resolution

(Resolution as set via the resolution

selector switch.) Permissible torque Driver’s power source input

4

∗

voltage

Input signal

Output signal

Electromagnetic brake

Power supply input voltage/current

Power consumption

Static friction torque N·m (lb-in)

Mass

Single-phase200-230 V Three-phase200-230 V Single-phase100-115 V Single-phase200-230 V Three-phase200-230 V

1

∗

N·m (Ib-in)

J: kg·m

Arc min (deg) Arc min (deg)

2

∗

1000 P/R

10000 P/R

5000 P/R

3

∗

N·m (lb-in) Single-phase100-115 V Single-phase200-230 V Three-phase200-230 V

5

∗

Motor kg (lb.)

Driver kg (lb.)

2

(oz-in2)

r/min

500 P/R

AS98AA-N5 AS98AC-N5

AS98AS-N5 AS98MA-N5 AS98MC-N5

AS98MS-N5

9.0 (79)

AS98AA-N7.2 AS98AC-N7.2

AS98AS-N7.2 AS98MA-N7.2 AS98MC-N7.2 AS98MS-N7.2

12.9 (114) 1400 × 10-7 [1559 × 10-7] (7.7 [8.5])

AS98AA-N10 AS98AC-N10

AS98AS-N10 AS98MA-N10 AS98MC-N10

AS98MS-N10

18 (159)

AS98AA-N25 AS98AC-N25

AS98AS-N25 AS98MA-N25 AS98MC-N25

AS98MS-N25

37 (320)

AS98AA-N36

AS98AC-N36

AS98AS-N36

AS98MA-N36

AS98MC-N36

AS98MS-N36

37 (320)

6

∗

AS98AA-N50 AS98AC-N50

AS98AS-N50

AS98MA-N50

AS98MC-N50

AS98MS-N50

37 (320)

3´ (0.05°)

6´ (0.1°)

0 ~ 360

5:1

0.072°/Pulse

0.0072°/Pulse

0.144°/Pulse

0.0144°/Pulse

9.0 (79)

0 ~ 250

7.2:1

0.05°/Pulse

0.005°/Pulse

0.1°/Pulse

0.01°/Pulse

12.9 (114)

0 ~ 180

10:1

0.036°/Pulse

0.0036°/Pulse

0.072°/Pulse

0.0072°/Pulse 18 (159)

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

0 ~ 72

25:1

0.0144°/Pulse

0.00144°/Pulse

0.0288°/Pulse

0.00288°/Pulse 37 (320)

+10%

50/60 Hz 6 A

-

15%

+10%

50/60 Hz 3.5 A

-

15%

+10%

50/60 Hz 1.9 A

-

15%

0 ~ 50

36:1

0.01°/Pulse

0.001°/Pulse

0.02°/Pulse

0.002°/Pulse 37 (320)

0 ~ 36

50:1

0.0072°/Pulse

0.00072°/Pulse

0.0144°/Pulse

0.00144°/Pulse 37 (320)

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

• 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 TIM1, ASG1, BSG1

• Line driver output TIM2, ASG2, BSG2

Active when power is off

24 VDC±5% 0.25 A

6 W

4.5 (39)

6.45 (57) 9.0 (79) 18.5 (163) 18.5 (163)

6

4.0 [4.4] (8.8 [9.68])

∗

4.7 [5.1] (10.4 [11.2])

18.5 (163)

6

∗

0.8 (1.76)

56

∗1 Maximum static torque at excitation is the maximum static torque at the rated motor current, modified in consideration of

permissible strength to the gears. The value is reduced to approximately 50% by the current-cutback function when the motor operates in combination with a dedicated driver.

∗2 The rotational directions of the motor shaft and gear output shaft will be the same. ∗3 Permissible torque represents the limit of the gears’ mechanical strength. Keep all loading, including acceleration torque, below

the limit of torque.

∗4 The value for the driver’s power-supply input current represents the maximum input current, which varies with pulse speed. ∗5 These are specifications for the electromagnetic-brake type only. ∗6 The figures in parentheses [ ] are specifications for the electromagnetic-brake type.

Harmonic geared type

Single-phase100-1 15 V

Standard type

Electromagnetic-

Unit model

brake type

Maximum holding torque Rotor inertia Lost motion (Load torque) Output shaft rotation speed Gear ratio

∗

Resolution (Resolution as set via the resolution selector switch.)

Permissible torque

Maximum torque

Driver’s power

source input

6

voltage

∗

Input signal

Output signal

Electromagnetic brake

Power supply input voltage/current

Power consumption

Static friction torque N·m (lb-in)

Mass

Single-phase200-230 V Three-phase200-230 V Single-phase100-1 15 V Single-phase200-230 V Three-phase200-230 V

1

∗

2

∗

3

N·m (Ib-in)

J: kg·m2 (oz-in2)

10000 P/R

4

∗

5

∗

N·m (lb-in)

N·m (lb-in) Single-phase100-115 V Single-phase200-230 V Three-phase200-230 V

7

∗

Motor kg (lb.)

Driver kg (lb.)

Arc min

r/min

1000 P/R

500 P/R

5000 P/R

AS66AA2-H50 AS66AC2-H50

AS66AS2-H50 AS66MA2-H50 AS66MC2-H50

AS66MS2-H50

5.5 (48) 405 × 10

0.4´~ 1.5´

±0.28 N·m (39 oz-in)

0 ~ 70

50:1

0.0072°/Pulse

0.00072°/Pulse

0.0144°/Pulse

0.00144°/Pulse

5.5 (48)

18 (159)

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

-7

[564 × 10-7] (2.2 [3.1])

+10%

-

15%

+10%

-

15%

+10%

-

15%

AS66AA2-H100 AS66AC2-H100

AS66AS2-H100 AS66MA2-H100 AS66MC2-H100

AS66MS2-H100

8.0 (70)

8

∗

0.4

±0.4 N·m (56 oz-in)

0 ~ 35

100:1

0.0036°/Pulse

0.00036°/Pulse

0.0072°/Pulse

0.00072°/Pulse

8.0 (70)

28 (247) 50/60 Hz 5 A 50/60 Hz 3 A

50/60 Hz 1.5 A

´ ~ 1.5´

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

• 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 TIM1, ASG1, BSG1

• Line driver output TIM2, ASG2, BSG2

Active when power is off

24 VDC±5% 0.25 A

6 W

2.75 (24) 4 (35)

8

1.4 [1.65] (3.08 [3.63])

∗

0.8 (1.76)

∗1 Maximum static torque at excitation is the maximum static torque at the rated motor current, modified in consideration of

permissible strength to the gears. The value is reduced to approximately 50% by the current-cutback function when the motor operates in combination with a dedicated driver.

∗2 The rotor’s inertial moment is the sum total of the gear inertial moment as converted to the motor shaft, and the motor rotor’s

moment of inertia.

∗3 The rotational direction of the motor shaft will be opposite that of the gear output shaft. ∗4 Permissible torque represents the limit of the gears’ mechanical strength. Keep the load torque below the limit of torque. ∗5 The maximum torque is the permissible strength against a momentary load (acceleration torque) in driving an inertial load. ∗6 The value for the driver’s power-supply input current represents the maximum input current, which varies with pulse speed. ∗7 These are specifications for the electromagnetic-brake type only. ∗8 The figures in parentheses [ ] are specifications for the electromagnetic-brake type.

57

Harmonic geared type

Single-phase100-1 15 V

Standard type

Electromagnetic-

Unit model

brake type

Maximum holding torque Rotor inertia Lost motion (Load torque) Output shaft rotation speed Gear ratio

∗

Resolution (Resolution as set via the resolution selector switch.)

Permissible torque

Maximum torque

Driver’s power

source input

6

voltage

∗

Input signal

Output signal

Electromagnetic brake

Power supply input voltage/current

Power consumption

Static friction torque N·m (lb-in)

Mass

Single-phase200-230 V Three-phase200-230 V Single-phase100-1 15 V Single-phase200-230 V Three-phase200-230 V

1

∗

2

∗

3

N·m (Ib-in)

J: kg·m2 (oz-in2)

10000 P/R

4

∗

5

∗

N·m (lb-in)

N·m (lb-in) Single-phase100-115 V Single-phase200-230 V Three-phase200-230 V

7

∗

Motor kg (lb.)

Driver kg (lb.)

Arc min

r/min

1000 P/R

500 P/R

5000 P/R

AS66AA-H50 AS66AC-H50

AS66AS-H50 AS66MA-H50 AS66MC-H50

AS66MS-H50

5.5 (48)

405 × 10

-7

[564 × 10-7] (2.2 [3.1])

0.4´ ~ 1.5´

±0.28 N·m (39 oz-in)

0 ~ 70

50:1

0.0072°/Pulse

0.00072°/Pulse

0.0144°/Pulse

0.00144°/Pulse

5.5 (48) 10 (88)

Single-phase100-115 V

Single-phase200-230 V

Three-phase200-230 V

AS66AA-H100 AS66AC-H100

AS66AS-H100

AS66MA-H100

AS66MC-H100

AS66MS-H100

8.0 (70)

8

∗

0.4´ ~ 1.5´

±0.4 N·m (56 oz-in)

0 ~ 35

100:1

0.0036°/Pulse

0.00036°/Pulse

0.0072°/Pulse

0.00072°/Pulse

8.0 (70)

15 (132)

+10%

50/60 Hz 5 A

-

15%

+10%

50/60 Hz 3 A

-

15%

+10%

50/60 Hz 1.5 A

-

15%

AS98AA-H50 AS98AC-H50

AS98AS-H50 AS98MA-H50 AS98MC-H50

AS98MS-H50

25 (220)

1400 × 10

-7

[1559 × 10-7] (7.7 [8.5])

0.4

´~ 1.5´

±1 N·m (142 oz-in)

0 ~ 70

50:1

0.0072°/Pulse

0.00072°/Pulse

0.0144°/Pulse

0.00144°/Pulse 25 (220) 35 (300)

Single-phase100-115 V

Single-phase200-230 V

Three-phase200-230 V

AS98AA-H100 AS98AC-H100 AS98AS-H100

AS98MA-H100

AS98MC-H100

AS98MS-H100

37 (320)

0.4

´ ~ 1.5´

±1.2 N·m (170 oz-in)

0 ~ 35

100:1

0.0036°/Pulse

0.00036°/Pulse

0.0072°/Pulse

0.00072°/Pulse 37 (320) 55 (480)

+10%

50/60 Hz 6 A

-

15%

+10%

50/60 Hz 3.5 A

-

15%

+10%

50/60 Hz 1.9 A

-

15%

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

• 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 TIM1, ASG1, BSG1

• Line driver output TIM2, ASG2, BSG2

Active when power is off

24 VDC±5% 0.25 A

6 W

2.75 (24)

1.4 [1.65] (3.08 [3.63])

4.0 (35) 12.5 (110) 18.5 (163)

8

∗

3.9 [4.3] (8.58 [9.46])

∗

0.8 (1.76)

8

∗

8

58

∗1 Maximum static torque at excitation is the maximum static torque at the rated motor current, modified in consideration of

permissible strength to the gears. The value is reduced to approximately 50% by the current-cutback function when the motor operates in combination with a dedicated driver.

∗2 The rotor’s inertial moment is the sum total of the gear inertial moment as converted to the motor shaft, and the motor rotor’s

moment of inertia.

∗3 The rotational direction of the motor shaft will be opposite that of the gear output shaft. ∗4 Permissible torque represents the limit of the gears’ mechanical strength. Keep the load torque below the limit of torque. ∗5 The maximum torque is the permissible strength against a momentary load (acceleration torque) in driving an inertial load. ∗6 The value for the driver’s power-supply input current represents the maximum input current, which varies with pulse speed. ∗7 These are specifications for the electromagnetic-brake type only. ∗8 The figures in parentheses [ ] are specifications for the electromagnetic-brake type.

Round shaft type

Single-phase100-1 15 V

Standard type

Electromagnetic-

Unit model

brake type

Maximum holding torque Rotor inertia

Stop position accuracy Resolution (Resolution as set via the resolution selector switch.) Driver’s power source input

2

∗

voltage

Input signal

Output signal

Electromagnetic brake

Power supply input voltage/current

Static friction torque N·m (oz-in)

Mass

Single-phase200-230 V Three-phase200-230 V Single-phase100-1 15 V Single-phase200-230 V Three-phase200-230 V

1

∗

N·m (oz-in)

J: kg·m

(oz-in2)

Arc minutes

1000 P/R

10000 P/R

500 P/R

5000 P/R Single-phase100-115 V Single-phase200-230 V Three-phase200-230 V

3

∗

Power consumption

Motor kg (lb.)

Driver kg (lb.)

AS66AA AS66AC

AS66AS AS66MA AS66MC

AS66MS

1.2 (170)

2

405 × 10-7 [564 × 10-7]

(2.2 [3.1])

4

∗

4

∗

802 × 10

AS69AA AS69AC

AS69AS AS69MA AS69MC

AS69MS

2.0 (280)

-7

[961 × 10-7]

(4.4 [5.3])

∗

4

∗

±5

0.36°/Pulse

0.036°/Pulse

0.72°/Pulse

0.072°/Pulse 50/60 Hz 5 A 50/60 Hz 3 A

Single-phase100-115 V

Single-phase200-230 V

Three-phase200-230 V

+10%

50/60 Hz 6.4 A

-

15%

+10%

50/60 Hz 3.9 A

-

15%

+10%

50/60 Hz 2.2 A

-

15%

Single-phase100-115 V Single-phase200-230 V Three-phase200-230 V

+10%

-

15%

+10%

-

15%

+10%

50/60 Hz 1.5 A

-

15%

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

• 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 TIM1, ASG1, BSG1

• Line driver output TIM2, ASG2, BSG2

Active when power is off

24 VDC±5% 0.25 A

6 W

0.6 (85)

0.85 [1.1] (1.87 [2.42])

4

∗

1.4 [1.65] (3.08 [3.63])

1.0 (142)

∗

0.8 (1.76)

4

∗1 The value is reduced to approximately 50% by the current-cutback function when the motor operates in combination with a

dedicated driver.

∗2 The value for the driver’s power-supply input current represents the maximum input current, which varies with pulse speed. ∗3 These are specifications for the electromagnetic-brake type only. ∗4 The figures in parentheses [ ] are specifications for the electromagnetic-brake type.

59

Round shaft type

Single-phase100-1 15 V

Standard type

Electromagnetic-

Unit model

brake type

Maximum holding torque Rotor inertia

Stop position accuracy Resolution (Resolution as set via the resolution selector switch.) Driver’s power source input

2

∗

voltage

Input signal

Output signal

Electromagnetic brake

Power supply input voltage/current

Static friction torque N·m (oz-in)

Mass

Single-phase200-230 V Three-phase200-230 V Single-phase100-1 15 V Single-phase200-230 V Three-phase200-230 V

1

∗

N·m (oz-in)

J: kg·m

Arc minutes

1000 P/R

10000 P/R

500 P/R

5000 P/R Single-phase100-115 V Single-phase200-230 V Three-phase200-230 V

3

∗

Power consumption

Motor kg (lb.)

Driver kg (lb.)

(oz-in2)

AS98AA AS98AC

AS98AS AS98MA AS98MC AS98MS

2.0 (280)

2

1400 × 10

-7

[1559 × 10-7]

(7.7 [8.5])

4

∗

4

∗

AS911AA AS911AC AS911AS

-

4.0 (560)

2710 × 10

(14.8)

-7

4

∗

4

∗

±5

0.36°/Pulse

0.036°/Pulse

0.72°/Pulse

Single-phase100-115 V

Single-phase200-230 V

Three-phase200-230 V

+10%

50/60 Hz 6 A

-

15%

+10%

50/60 Hz 3.5 A

-

15%

+10%

50/60 Hz 1.9 A

-

15%

0.072°/Pulse Single-phase100-115 V Single-phase200-230 V Three-phase200-230 V

+10%

50/60 Hz 6.5 A

-

15%

+10%

50/60 Hz 4.5 A

-

15%

+10%

50/60 Hz 2.4 A

-

15%

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

• 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 TIM1, ASG1, BSG1

• Line driver output TIM2, ASG2, BSG2

Active when power is off

24 VDC±5% 0.25 A

6 W

1.0 (142)

1.8 [2.2] (3.96 [4.84])

∗

4

-

3.0 (6.6)

0.8 (1.76)

∗1 The value is reduced to approximately 50% by the current-cutback function when the motor operates in combination with a

dedicated driver.

∗2 The value for the driver’s power-supply input current represents the maximum input current, which varies with pulse speed. ∗3 These are specifications for the electromagnetic-brake type only. ∗4 The figures in parentheses [ ] are specifications for the electromagnetic-brake type.

60

Appendix

Options (sold separately)

Extension cable







Required to extend the distance between the motor and driver.

Electromagnetic-brake typeStandard type

Flexible cable







Model

CC01AIP CC02AIP CC03AIP CC05AIP CC07AIP CC10AIP CC15AIP CC20AIP

Length [m (ft.)]

1 (3.2) 2 (6.5) 3 (9.8)

5 (16) 7 (22)

10 (32) 15 (49.2) 20 (65.6)

Model

CC01AIPM CC02AIPM CC03AIPM CC05AIPM CC07AIPM CC10AIPM CC15AIPM CC20AIPM

Length [m (ft.)]

Highly flexible extension cable required to extend the distance between the motor and driver.

Electromagnetic-brake typeStandard type

Model

CC01SAR CC02SAR CC03SAR CC05SAR CC07SAR CC10SAR

Length [m (ft.)]

1 (3.2) 2 (6.5) 3 (9.8)

5 (16) 7 (22)

10 (32)

Model

CC01SARM2 CC02SARM2 CC03SARM2 CC05SARM2 CC07SARM2 CC10SARM2

Length [m (ft.)]

1 (3.2) 2 (6.5) 3 (9.8)

5 (16) 7 (22)

10 (32) 15 (49.2) 20 (65.6)

1 (3.2) 2 (6.5) 3 (9.8)

5 (16) 7 (22)

10 (32)

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

CC36D1-1 CC36D2-1

Length [m (ft.)]

1 (3.2) 2 (6.5)

61

626364

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• 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.

• is a trademark of Oriental Motor Co., Ltd., and is registered in Japan and other countries.

is a trademark of Oriental Motor Co., Ltd., and is registered in Japan.

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.

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

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) LTD.

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

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Tel:02-3390541 Fax:02-33910033

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

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

ORIENTAL MOTOR (MALAYSIA) SDN BHD

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

INA OM LTD.

KOREA

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

ORIENTAL MOTOR CO., LTD.

Headquarters

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

Tokyo, Japan

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