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







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)







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







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







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

A

B

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