Oriental motor RKII Series User Manual
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Oriental motor RKII Series User Manual

Oriental motor RKII Series User Manual

5-phase stepping motor
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5-Phase Stepping Motor
RKII Series/
Motorized actuator equipped with RKII Series
Pulse input type
USER MANUAL
1
Introduction .................................................. 2
2
Overview of the product .......................... 4
3
System configuration................................. 5
4
Safety precautions ...................................... 6
5
Precautions for use ..................................... 9
6
General specifications .............................12
7
Regulations and standards ....................13
8
Preparation ..................................................15
9
Installation ...................................................22
Thank you for purchasing an Oriental Motor product.
This 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.
KCC-REM-OMC-064
KCC-REM-OMC-065
10
11
12
13
14
15
16
17
Connection ..................................................28
Guidance ......................................................39
Explanation of I/O signals ......................42
Setting ...........................................................48
Inspection ....................................................51
Alarms ...........................................................52
actions ...........................................................54
Accessories ..................................................56
HM-60234-4

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Summary of Contents for Oriental motor RKII Series

  • Page 1: Table Of Contents

    Preparation ..........15 Accessories ..........56 Installation ...........22 Thank you for purchasing an Oriental Motor product. This 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.

  • Page 2: Introduction

    The product described in this manual has been designed and manufactured to be incorporated in general industrial equipment. Do not use for any other purpose. Oriental Motor Co., Ltd. is not responsible for any damage caused through failure to observe this warning.
  • Page 3 Introduction „ About terms and units Terms and units to be used vary depending on a motor or motorized actuator. This manual explains by using the terms of the motor. When the motorized actuator is used, read this manual by replacing the terms. Motor Motorized actuator Torque...

  • Page 4: Overview Of The Product

    Overview of the product Overview of the product This product is a motor and driver package product consisting, 5-phase stepping motor and high-performance microstep driver. „ Main features z Energy-saving Motor and driver losses have been substantially reduced to achieve low heat generation and save energy. Since the motor and driver generate much less heat, they can now be operated for longer hours at high speed, which was not possible with conventional motors/drivers.

  • Page 5: System Configuration

    System configuration System configuration 24 VDC power supply Be sure to connect a 24 VDC power supply if the motor is equipped with an electromagnetic brake. 24 VDC Connect to CN1 Connect to CN5 Connect to CN1 I/O signals Cable for Connect to CN4 electromagnetic brake This cable is used to connect the...

  • Page 6: Safety Precautions

    Safety precautions 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. Description of signs Handling the product without observing the instructions that accompany a "WARNING"...
  • Page 7 Safety precautions Install the product in an enclosure. Failure to do so may result in electric shock or injury. The motor and driver are designed with Class I equipment basic insulation. When installing the motor and driver, do not touch the product or be sure to ground them. Failure to do so may result in electric shock.
  • Page 8 Safety precautions The motor surface temperature may exceed 70 °C (158 °F) even under normal operating conditions. If the operator is allowed to approach the running motor, attach a warning label as shown below in a conspicuous position. Warning label Failure to do so may result in skin burn(s).

  • Page 9: Precautions For Use

    Precautions for use Precautions for use This section covers limitations and requirements the user should consider when using the product. z Always use the cable (included or accessory) to connect the motor and driver. Be sure to use the cable (included or accessory) to connect the motor and driver. If a cable other than the included cable or accessory cable is used, the driver may generate a large amount of heat.
  • Page 10 Precautions for use z Rotation direction of the output shaft The motor output shaft rotates in the figure at the factory setting. • 2-pulse input mode • 2-pulse input mode When the CCW input is turned from OFF to ON. When the CW input is turned from OFF to ON.
  • Page 11 Precautions for use z How to fix the cable Fix the cable at the positions near the connector so as to apply no stress on the connector part. Take measures so as to apply no stress on the connector by using wide clamps or by fixing at two places. In the case of a exible cable, this area is a movable range.

  • Page 12: General Specifications

    General specifications General specifications Motor Driver Degree of protection IP20 IP20 −10 to +50 °C (+14 to +122 °F) (non-freezing) Ambient 0 to +55 °C (+32 to 131 °F) * temperature (non-freezing) Harmonic geared type: 0 to +40 °C (+32 to +104 °F) (non-freezing) Operation Humidity 85% or less (non-condensing)

  • Page 13: Regulations And Standards

    Regulations and standards Regulations and standards UL Standards Check the “APPENDIX UL Standards and CSA Standards for RKII Series” for recognition information about UL Standards. EU Directive „ CE Marking This product is affixed the CE Marking under the Low Voltage Directive and EMC Directive.
  • Page 14 Regulations and standards „ EMC Directive This product is conducted EMC testing under the conditions specified in "Example of motor and driver installation and wiring" on p.38. The conformance of your mechanical equipment with the EMC Directive will vary depending on such factors as the configuration, wiring, and layout for other control system devices and electrical parts used with this product.

  • Page 15: Preparation

    This chapter explains the items you should check, as well as the name and function of each part. Checking the product Verify that the items listed below are included. Report any missing or damaged items to the Oriental Motor sales office from which you purchased the product.
  • Page 16 Preparation Combinations of motors and drivers Verify the model number of the purchased product 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 box ( „ ) in the model name indicates A (single-phase 100-120 V) or C (single-phase 200-240 V). •...
  • Page 17 Preparation z TS geared type (with electromagnetic brake) Model Motor model Driver model RKS543M„-TS3.6 PKE543MC-TS3.6 RKS543M„-TS7.2 PKE543MC-TS7.2 RKS543M„-TS10 PKE543MC-TS10 RKSD503M-„ RKS543M„-TS20 PKE543MC-TS20 RKS543M„-TS30 PKE543MC-TS30 RKS564M„-TS3.6 PKE564MC-TS3.6 RKS564M„-TS7.2 PKE564MC-TS7.2 RKS564M„-TS10 PKE564MC-TS10 RKS564M„-TS20 PKE564MC-TS20 RKS564M„-TS30 PKE564MC-TS30 RKSD507M-„ RKS596M„-TS3.6 PKE596MC-TS3.6 RKS596M„-TS7.2 PKE596MC-TS7.2 RKS596M„-TS10 PKE596MC-TS10 RKS596M„-TS20...
  • Page 18 Preparation z PS geared type (single shaft) z PS geared type (double shaft) Model Motor model Driver model Model Motor model Driver model RKS545A„-PS5 PKE545AC-PS5 RKS545B„-PS5 PKE545BC-PS5 RKS545A„-PS7.2 PKE545AC-PS7.2 RKS545B„-PS7.2 PKE545BC-PS7.2 RKS545A„-PS10 PKE545AC-PS10 RKS545B„-PS10 PKE545BC-PS10 RKSD503-„ RKSD503-„ RKS543A„-PS25 PKE543AC-PS25 RKS543B„-PS25 PKE543BC-PS25 RKS543A„-PS36...
  • Page 19 Preparation z Harmonic geared type (single shaft) z Harmonic geared type (double shaft) Model Motor model Driver model Model Motor model Driver model RKS543A„-HS50 PKE543AC-HS50 RKS543B„-HS50 PKE543BC-HS50 RKSD503-„ RKSD503-„ RKS543A„-HS100 PKE543AC-HS100 RKS543B„-HS100 PKE543BC-HS100 RKS564A„-HS50 PKE564AC-HS50 RKS564B„-HS50 PKE564BC-HS50 RKS564A„-HS100 PKE564AC-HS100 RKS564B„-HS100 PKE564BC-HS100 RKSD507-„...
  • Page 20 Preparation Names and functions of parts „ Motor (example: electromagnetic brake motor) Protective Earth Terminal Motor Mounting holes (4 places) Electromagnetic brake Output shaft Motor cable Pilot Electromagnetic brake cable „ Driver front side (example: electromagnetic brake type) Function setting switch (SW1) POWER LED (Green) ALARM LED (Red) Operating current setting switch (RUN)
  • Page 21 Preparation Name Description POWER LED (Green) This LED is lit while the main power supply is input. − This LED will blink when an alarm generates. It is possible ALARM LED (Red) to check the generated alarm by counting the number of p.52 times the LED blinks.

  • Page 22: Installation

    Installation Installation This chapter explains the installation location and installation methods of the motor and driver, along with load installation. Location for installation The motor and driver are designed and manufactured to be incorporated in equipment. Install them in a well- ventilated location that provides easy access for inspection.
  • Page 23 Installation z Nominal size, tightening torque and installation method Nominal Tightening torque Effective depth of screw thread Installation Type Model size [N·m (oz-in)] [mm (in.)] method RKS54 1 (142) 4.5 (0.177) Standard RKS56 2 (280) − 3 (420) RKS59 RKS54 2 (280) 8 (0.315) TS geared...
  • Page 24 Installation z Installing on the flange surface (Harmonic geared type) With a Harmonic geared type (excluding PKE596), a load can be installed directly to the gear using the load mounting holes provided on the flange surface. Load Load mounting holes Flange Screws Metal plate...
  • Page 25 Installation Permissible radial load [N (lb.)] Permissible Motor Type Gear ratio Distance from the tip of motor output shaft [mm (in.)] axial load model [N (lb.)] 0 (0) 5 (0.20) 10 (0.39) 15 (0.59) 20 (0.79) 170 (38) 200 (45) 230 (51) 270 (60) 320 (72)
  • Page 26 Installation Installing the driver The driver is designed so that heat is dissipated via air convection and conduction through the enclosure. Install the driver on a flat metal plate [material: aluminium, 200×200×2 mm (7.87×7.87×0.08 in.) equivalent ] having excellent heat conductivity. There must be a clearance of at least 25 mm (0.98 in.) in the horizontal and vertical directions, between the driver and enclosure or other equipment within the enclosure.
  • Page 27 Installation Dimension [unit: mm (in.)] Mass: 0.8 kg (1.76 lb) Slits Slits 18 (0.71) ø4.5 [35 (1.38)] 120 (4.72) 11 (0.43) (ø0.177) 18.5 (0.73) 5 (0.20) hole 9 (0.35) (1.57) R2.25 (0.089) 30 (1.18) 5 (0.20) Protective Earth Terminal 2×M4 (0.19) (0.37)

  • Page 28: Connection

    Connection 10 Connection This chapter explains how to connect the motor, I/O signals and power supply to the driver, as well as grounding method. The installation and wiring methods in compliance with the EMC Directive as well as protection against noise are also explained.
  • Page 29 Connection „ Standard type with electromagnetic brake 24 VDC Required power supply Connect to CN1 *1 Black I/O signals Cable for White Required Connect to CN5 electromagnetic brake *2 Connect to CN2 *1 Cable for motor *2 Pulse signals Connect to CN4 Connect to CN3 Main power supply Single-phase...
  • Page 30 Connection „ Power supply capacity Model Power supply voltage Current capacity RKS54 0.1 A or more RKS56 24 VDC±5% * 0.3 A or more 0.6 A or more RKS59 * If the distance between the motor and driver is extended to 15 to 20 m (49.2 to 65.6 ft.), use a power supply of 24 VDC±4%.
  • Page 31 Connection 10-4 Connecting the I/O signal „ Wiring method • Applicable lead wire: AWG26 to 16 (0.14 to 1.25 mm • Strip length of the insulation cover: 9 mm (0.35 in.) 1. Insert the lead wire while pushing the button of the orange color with a slotted screwdriver.
  • Page 32 Connection „ Connecting to a current source output circuit (PNP specifications) z When pulse input is of line driver type Controller Driver 12 to 24 VDC 10 k 10 k FREE 10 k ALM-RST 10 k IN-COM 10 mA or less READY Output saturated voltage 3 V max.
  • Page 33 Connection z When pulse input is of open-collector type (Input voltage: 5 VDC) Controller Driver 5 VDC CW (PLS) +24 V CW (PLS) +5 V 10 k CW (PLS) - Twisted pair cable CCW (DIR.) +24 V CCW (DIR.) +5 V 10 k CCW (DIR.) - When the 12 VDC is used, be sure to connect an external resistor R1 (470 Ω, 0.25 W or more) so that...
  • Page 34 Connection „ Connecting to a current sink output circuit (NPN specifications) z When pulse input is of line driver type Controller Driver 10 k 10 k FREE 10 k ALM-RST 10 k 12 to 24 VDC IN-COM 12 to 24 VDC READY 10 mA or less Output saturated...
  • Page 35 Connection z When pulse input is of open-collector type (Input voltage: 5 VDC) Controller Driver CW (PLS) +24 V 5 VDC Twisted pair cable CW (PLS) +5 V 10 k CW (PLS) - CCW (DIR.) +24 V CCW (DIR.) +5 V 10 k CCW (DIR.) - When the 12 VDC is used, be sure to connect an external resistor R1 (470 Ω, 0.25 W or more) so that...
  • Page 36 Connection „ Grounding the driver Be sure to ground the Protective Earth Terminal of the driver. • Screw size: M4 • Grounding wire: AWG16 to 14 (1.25 to 2.0 mm • Tightening torque: 1.2 N·m (170 oz-in) You can ground either of the two Protective Earth Terminals. The terminal that is not grounded is used as a service terminal.
  • Page 37 This cable is a shielded cable for good noise immunity to connect the driver and controller. The ground wires useful to grounding are provided at both ends of the cable. The EMC measures are conducted using the Oriental Motor driver cable.
  • Page 38 Connection z Connecting the power supply for the electromagnetic brake (electromagnetic brake motor only) When the DC power supply for the electromagnetic brake is needed, use a power supply being compliant with the EMC Directive. Use a shielded twisted pair cable for wiring. Refer to "Prevention of noise propagation" on p.36 for wire the shielded twisted pair cable.

  • Page 39: Guidance

    Guidance 11 Guidance If you are new to the RKII Series pulse input type, read this section to understand the operating methods along with the operation flow. Before operating the motor, check the condition of the surrounding area to ensure safety.
  • Page 40 Guidance STEP 3 Were you able to operate the motor properly? How did it go? Were you able to operate the motor properly? If the motor does not function, check the following points: • Is any alarm present? • Are the main power supply, motor and pulse signal connected securely? 11-2 Standard type with electromagnetic brake STEP 1...
  • Page 41 Guidance STEP 2 Turn on the power and operate the motor 24 VDC 1. Turn the 24 VDC power power supply supply on. 3. Input the pulse. Grounding 2. Turn the main power supply on. 4. Con rm that the motor Grounding rotates without problem.

  • Page 42: Explanation Of I/O Signals

    Explanation of I/O signals 12 Explanation of I/O signals 12-1 Input signals The following input signals of the driver are photocoupler inputs. 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. „...
  • Page 43 Explanation of I/O signals z Pulse signal 2 µs or more Input a pulse with sharp rising and falling edges as shown in the figure. The figure shows the voltage levels of pulse signals. 0.8 µs or more 0.8 µs or more 2 µs or less 2 µs or less „...
  • Page 44 Explanation of I/O signals „ ALM-RST input When an alarm generates, the motor will stop. When the ALM-RST input is turned from OFF to ON, the alarm will be reset. (This signal will become effective when turning from OFF to ON.) Always reset an alarm after removing the cause of the alarm and after ensuring safety.
  • Page 45 Explanation of I/O signals 12-2 Output signals The driver outputs signals are photocoupler/open-collector output. 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. „...
  • Page 46 Explanation of I/O signals 12-3 Timing charts „ Standard type 15 s or more Main power supply 1.2 s or less 10 s or less ALM output 1.5 s or less 1.2 s or less READY output 0 s or more 2-pulse input mode CW input 5 µs or more...
  • Page 47 Explanation of I/O signals „ Standard type with electromagnetic brake 1.2 s or more 0 s or more 24 VDC power supply 0 s or more 15 s or more Main power supply 1.2 s or less 10 s or less ALM output 4.4 s or less 1.2 s or less...

  • Page 48: Setting

    Setting 13 Setting Function setting switch (SW1) Function setting switch (SW1) No.4: Not used. No.3: Sets the command lter (OFF/FIL) No.2: Sets the pulse input mode (2P/1P) Operating current setting switch (RUN) No.1: Sets the step angle (R1/R2) Standstill current setting switch (STOP) Step angle setting switch (STEP) 13-1 Pulse input mode...
  • Page 49 Setting • Be sure to turn off the driver power before setting the switches. The new setting of the function setting switch will become effective after the power is cycled. • Step angles are theoretical values. • For the geared type, the actual step angle is the value divided the step angle by the gear ratio. 13-3 Operating current Set the maximum output current of the driver from among the 11 preset levels using the operating current...
  • Page 50 Setting • When installing two or more drivers in parallel, it is possible to install them closely in the horizontal direction. In this case, use the drivers in conditions that an ambient temperature is 0 to +40 °C (+32 to +104 °F) and the standstill current is 50% or less. •...

  • Page 51: 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 Oriental Motor sales office. „ During inspection • Are any of motor mounting screws loose? •...

  • Page 52: Alarms

    Alarms 15 Alarms When an alarm generates, the ALM output is turned OFF and the motor current is cut off, and thereby the motor holding torque will be lost. At the same time, the ALARM LED of the driver will blink. The cause of the alarm can be checked by counting the number of times the ALARM LED blinks.
  • Page 53 Error occurred in the CPU circuit error peripheral circuit. CPU error CPU malfunctioned. Cycle the power. If the alarm is not cleared even when these remedial actions have been performed, the driver may have been damaged. Contact your nearest Oriental Motor sales office.

  • Page 54: 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 Oriental Motor sales office. Phenomenon...
  • Page 55 Troubleshooting and remedial actions Phenomenon Possible cause Remedial action The centers of the motor’s output shaft Check the connection condition of the motor and load shaft are not aligned. output shaft and load shaft. If the vibration decreases when the operating Motor vibration is too great.

  • Page 56: Accessories

    „ Motor cable The RKII Series has models included with a “cable for motor” to connect the motor and driver, and also it has models without a “cable for motor. ” “If the distance between the motor and driver is extended more than 3 m (9.8 ft.) when using the model with a “”cable for motor, ”...
  • Page 57 Accessories • Flexible connection cable set • Flexible connection cable set For standard motor For electromagnetic brake motor Model Length [m (ft.)] Model Length [m (ft.)] CC010VPR 1 (3.3) CC010VPRB 1 (3.3) CC020VPR 2 (6.6) CC020VPRB 2 (6.6) CC030VPR 3 (9.8) CC030VPRB 3 (9.8) 5 (16.4)
  • Page 58 Accessories • Flexible extension cable set • Flexible extension cable set For standard motor For electromagnetic brake motor Model Length [m (ft.)] Model Length [m (ft.)] CC010VPR 1 (3.3) CC010VPRBT 1 (3.3) CC020VPR 2 (6.6) CC020VPRBT 2 (6.6) CC030VPR 3 (9.8) CC030VPRBT 3 (9.8) 5 (16.4)
  • Page 60 If a new copy is required to replace an original manual that has been damaged or lost, please contact your nearest Oriental Motor branch or sales office. • Oriental Motor shall not be liable whatsoever for any problems relating to industrial property rights arising from use of any information, circuit, equipment or device provided or referenced in this manual.

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