Oriental motor a STEP ARL Series User manual

HM-60010-2
ARL Series Built-In Controller Type
USER MANUAL
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.

Table of contents
−2−
1 Introduction.........................................3
2 Safety precautions..............................5
3 Precautions for use.............................8
4 Preparation.......................................11
4.1 Checking the product ............................ 11
4.2 Combinations of motors and drivers .....12
4.3 Names and functions of parts................13
5 Installation.........................................15
5.1 Location for installation..........................15
5.2 Installing the motor................................15
5.3 Installing a load .....................................16
5.4 Permissible radial load and
permissible axial load............................17
5.5 Installing the driver................................18
5.6 Installing the battery (sold separately) ..20
5.7 Installing and wiring in compliance with
EMC Directive .......................................20
6 Connection........................................23
6.1 Connecting the motor............................23
6.2 Connecting an electromagnetic brake
motor ................................................23
6.3 Grounding the motor and driver............24
6.4 Connecting the main power supply.......24
6.5 Connecting the control power supply
and emergency stop output...................25
6.6 Connecting/charging/disconnecting
the battery .............................................25
6.7 Composition of emergency stop
output ................................................26
6.8 Connecting the user I/O and
sensor I/O..............................................27
6.9 Connecting the communication cable...32
6.10 About control input/output (I/O)
[controller mode]..................................33
6.11 About control input/output (I/O)
[driver mode] .........................................43
6.12 Sensor I/O specification
[controller mode]....................................49
6.13 Turning on the power to the driver ........50
7 Operation..........................................51
7.1 Setting the switch ..................................51
7.2 Positioning operation
[controller mode]....................................52
7.3 Continuous operation
[controller mode]....................................55
7.4 Return-to-home operation
[controller mode]....................................55
7.5 Push-motion operation
[controller mode]....................................57
7.6 Manual operation...................................58
7.7 Stop operation .......................................58
7.8 Position management............................58
8 Setting parameters............................59
8.1 List of parameters..................................59
8.2 I/O parameters.......................................60
8.3 Motor parameters..................................60
8.4 Speed parameters.................................61
8.5 Home parameters [controller mode]......62
8.6 Common parameters.............................62
9 Inspection .........................................63
10 Alarm ................................................64
10.1 Driver alarm...........................................64
10.2 Alarm reset............................................67
11 Specifications....................................68
12 Options (sold separately)..................69

1 Introduction
−3−
1 Introduction

Before use
Only qualified personnel should work with the product.
Use the product correctly after thoroughly reading the section “2 Safety precautions” on p.5.
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.

Structure of the manual
The ARL series built-in controller type comes with the manuals specified below.
• ARL Series Motor OPERATING MANUAL
This manual explains the functions of motor components as well as the installation method.
• ARL Series Built-in Controller Type Driver OPERATING MANUAL
This manual explains the functions of driver components as well as the installation method.
• ARL Series Built-in Controller Type USER MANUAL (this document)
Explains the function, installation, connection and troubleshooting of the motor and driver.
• Teaching Pendant SETTING MANUAL
This manual explains the functions of the optional teaching pendant EZT1 (sold separately) as well as the procedures
to connect and operate a teaching pendant.
After reading the above manuals, keep them in a convenient place so that you can reference them at any time.

Description of keys
The keys on the teaching pendant EZT1 are enclosed in .
Example: MODE , ↑, ↓, SET

Overview of the product
The ARL series is a unit product consisting of a high-efficiency stepping motor with a built-in rotor position sensor
and a driver with a built-in controller function.
• Introducing closed loop control
The ARL series can continue its operation even upon encountering quick acceleration or an abrupt change in load.
The speed and amount of rotation are monitored while the motor is running. This unit performs the closed-loop
control under overload and similar conditions, and continues its operation at its maximum torque.
• Low-speed operation at low vibration levels
This driver utilizes micro-step control, which means the motor operates smoothly with minimal vibration even during
low-speed operation.
• Driver with built-in positioning function
It can perform positioning operation, return-to-home operation, continuous operation and push-motion operation in
response to the control data commands received from a host controller. The operation data is set using the optional
data setting software MEXE02 or teaching pendant EZT1 (sold separately).
When set in the driver mode, the driver can be operated using your pulse generator.
• Absolute specification by battery connection
By connecting an optional battery (sold separately), this driver can be used in the absolute specification.
Positions will be retained in the event of a power outage or after turning off the driver power.

1 Introduction
−4−

System configuration
Or
Teaching pendant
EZT1∗1
Main power supply
Control power supply
24 VDC
Battery
Sensor I/O connector (20 pins)
User I/O connector (36 pins)∗2
Driver
Motor
Motor cable
Connect for absolute
type only
PC in which the MEXE02
has been installed∗1
The PC must be supplies
by the customer.
∗1 One of these options is necessary for data setting.
∗2 A pulse generator is required if the driver is to be used in the driver mode.
• If you are using an electromagnetic brake motor, be sure to use a supplied cable or an optional extension cable for
electromagnetic brake (sold separately). Provide a dedicated 24 VDC power supply for the electromagnetic brake.
• There are two input power supplies available: single-phase 100-115 V and single-phase 200-230 V.
• To perform return-to-home operation, dedicated sensors will be required.

CE Marking
This product bears the CE Marking (Low Voltage Directive, EMC Directive) in compliance with the EN Standards.
• For Low Voltage Directive
The product is intended to be incorporated into machinery, 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.
Applicable standards
Motor: EN 60950-1, EN 60034-1, EN 60034-5, EN 60664-1
Driver: EN 50178
Installation conditions (EN Standard)
Driver is to be used as a component within other equipment.
Overvoltage category: II
Pollution degree: 2
Protection against electric shock: Class I
• EMC Directive
EMC of this product has been measured according to the configuration illustrated in “Example of motor and driver
installation and wiring” on p.22. Be sure to conduct EMC measures with the product assembled in your equipment by
referring to “5.7 Installing and wiring in compliance with EMC Directive” on p.20.

Hazardous substances
The products do not contain the substances exceeding the restriction values of RoHS Directive (2011/65/EU).

2 Safety precautions
−5−
2 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
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, injury or damage to equipment.
• 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 of the alarm and then clear the protection
function. Continuing the operation without removing the cause of the problem may cause malfunction of the motor
and driver, 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. This will also cause stress to
the connecting section and may result in damage to equipment.
• 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.
• Perform return-to-home operation or absolute positioning operation immediately after recovering from the battery
backup mode. Failure to do so may result in injury or equipment damage.
• If the motor is turned by an external force in the battery backup mode, the motor position achieved at the
completion of movement will be recognized as the origin for subsequent operation. If incremental positioning
operation is performed thereafter without any adjustment, the motor will stop at a position different from the
intended position because the home position is offset. Consequently, injury or equipment damage may result.
Maintenance and inspection
• Do not touch the driver immediately after the power is turned off (until the CHARGE LED turns off). The residual
voltage may cause electric shock.

2 Safety precautions
−6−
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 fire, electric shock or injury may
result.
• Do not touch the motor or driver during operation or immediately after stopping. The surfaces are hot and may
cause a skin burn(s)..
• To prevent injury or damage to equipment, do not use a battery other than the dedicated optional battery (sold
separately).
Transportation
• Do not hold the motor output shaft or motor cable. This may cause injury.
Installation
• Keep the area around the motor, driver and EZT1, 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, driver and EZT1 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.
• Provide an emergency stop device or emergency stop circuit external to the equipment so that the entire equipment
will operate safely in the event of a system failure or malfunction. Failure to do so may result in injury.
• Before supplying power to the driver, turn all control inputs to the driver to OFF. Otherwise when the power was
turned on, 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.
• If the motor’s output shaft must be moved directly by hand, do so after turning off the driver’s main power supply
or the motor current by using the FREE input. Failure to do so may result in injury.
• The motor’s surface temperature may exceed 70 °C (158 °F), 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 a skin burn(s)..
Warning label
• For the electromagnetic brake’s power supply, use a DC power supply with reinforced insulation on its primary and
secondary sides. Failure to do so may result in electric shock.
• Immediately when trouble has occurred, stop running the motor and turn off the driver power. Failure to do so may
result in fire, electric shock or injury.
• When the emergency stop button on the EZT1 is pressed, the driver cuts off the motor’s current. If an
electromagnetic brake motor is used, the brake is actuated and the position is held. However, if there is no
electromagnetic brake, the holding brake force is lost. If the load installed on the motor is likely to contact other
equipment before the motor stops, provide a safety mechanism on the machine side. Failure to do so may result in
injury or equipment damage.
• Use an insulated screwdriver to switch the driver’s switches.
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
• To dispose of the motor, driver or EZT1, disassemble it into parts and components as much as possible and dispose
of individual parts/components as industrial waste. The product uses nickel-cadmium batteries. Dispose of the used
batteries in accordance with local laws and regulations. If you have any questions regarding disposal of the product,
please contact any Oriental Motor branch or sales office.

2 Safety precautions
−7−

Warning display
Words of warning on handling are displayed on the driver and battery.
Be sure to observe the information written on the label/plate when handling the driver or battery.
• Connecting warning label for electric shock (battery)
Material: Polypropylene
• Connecting warning label for electric shock (driver)
Material: PET
• Battery rating plate
Material: PET

Handling the battery
Always observe the following items when using the battery. Failure to handle the battery correctly may cause electric
shock, and the battery to leak or burst, resulting in injury or equipment damage.
Warning
• The battery is connected to the primary circuit, so do not touch the battery while the power is on. Do not touch
these terminals while the power is on.
• Do not heat the battery or throw it into a fire.
• Never short-circuit the battery or connect the positive and negative terminals in reverse.
• When carrying/storing the battery, do not place it together with metal necklaces, hairpins, coins, keys or other
conductive objects.
• When storing the battery, store it away from direct sunlight in a place not subject to high temperature or high
humidity.
• Do not disassemble or modify the battery.
• Do not apply solder directly to the battery.
• Do not cut or modify the battery cable.
• Use a dedicated driver to charge the battery.
• The battery has a vent structure for the release of internal gas. Do not apply a strong force to the battery, since it
may cause this structure to deform.
• When installing the battery into the machine, never place it inside a sealed structure. The battery sometimes
generates gas, which, if trapped, may cause a burst or an explosion due to ignition.
• The battery contains an alkali solution. If the alkali solution comes in contact with the skin or clothes, flush the
area thoroughly with clean water. If the alkali solution gets into the eyes, do not rub. Flush the eyes thoroughly
with clean water and seek immediate medical attention.
• Do not use the battery if there is leakage, discoloration, deformation or another abnormality.
• Do not immerse the battery in water or seawater, nor allow it to become wet. Doing so may cause the battery to
generate heat or rust.
• Do not scratch the battery. A scratched battery easily causes shorting, resulting in leakage, heat generation or
bursting.
• Disconnect the battery connector if the controller is not turned on for an extended period exceeding the data
retention period. Failure to do so may cause the battery fluid to leak or battery performance to drop.
• When storing the battery, disconnect the battery connector. Store the battery in a place with an ambient temperature
of −20 to +45 °C (−4 to +113 °F) [or −20 to +35 °C (−4 to +95 °F) if the battery is to be stored for 3 months or
more] where humidity is not excessively high. Failure to heed this instruction may result in leaked battery fluid,
rusting or performance deterioration of the battery.

3 Precautions for use
−8−
3 Precautions for use
This section covers limitations and requirements the user should consider when using the product.
• Use the supplied cable to connect the motor and driver.
Always use the supplied cable to connect the motor and driver.
If a flexible cable or cable of 3 m (9.8 ft.) or longer is to be used, the appropriate cable must be purchased separately.
See p.69 for details.
• Conduct the insulation resistance measurement or withstand voltage test separately on the
motor and the driver.
Conducting the insulation resistance measurement or withstand voltage test with the motor and driver connected may
result in injury or damage to equipment.
• Do not apply an radial load and axial load in excess of the specified permissible limit.
Be sure to operate the motor within the specified permissible limit of radial load and axial load. Operating it under an
excessive radial load and axial load may damage the motor bearings (ball bearings). See p.17 for details.
• 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).
Use the geared type motor in a condition where the gear case temperature does not exceed 70 °C (158 °F), in order to
prevent deterioration of grease in the gear.
• 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 a vertical applications.
• When the motor is used in a vertical applications, 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 electromagnetic 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’s protective 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 motor
When using an electromagnetic brake motor, provide separate power supplies for the I/O signals and the
electromagnetic brake.
• 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 value depends on the driver’s switching frequency, the length
of wiring between the driver and motor, and so on.
When installing a leakage current breaker, use the following products, for example, which have high-frequency signal
protection:
Mitsubishi Electric Corporation: NV series
Fuji Electric FA Components & Systems Co., Ltd.: EG and SG series

3 Precautions for use
−9−
• Preventing electrical noise
See “5.7 Installing and wiring in compliance with EMC Directive” on p.20 for measures with regard to noise.
• Maximum torque of geared type motor
Always operate the geared type motor under a load not exceeding the maximum torque. If the load exceeds the
maximum torque, the gear will be damaged.
• About grease of geared motor
On rare occasions, a small amount of grease may ooze out from the geared motor. If there is concern over possible
environmental damage resulting from the leakage of grease, check for grease stains during regular inspections.
Alternatively, install an oil pan or other device to prevent leakage from causing further damage. Oil leakage may lead
to problems in the customer’s equipment or products.
• Do not perform push-motion operation with geared type motors.
The motor or gearhead may be damaged as a result.
• Storing data in the NV memory
Do not turn off the control power while data is being written to the NV memory and for at least 5 seconds after
writing is completed. Doing so may generate a memory error alarm.
Rewrite life of the NV memory is approx. 100,000 writes.
• Axis number (ID) setting
When two or more drivers are connected via daisy chain (up to 16 drivers), set each driver’s axis-number setting
switch while making sure there is no duplication of numbers. When an EZT1 is connected to the drivers, the EZT1
starts checking the axis numbers of all connected drivers.
Upon detection of an axis number duplication, the EZT1 displays the error
message shown on the right, the color of the screen changes from green to
red; the operation will be disabled thereafter until the axis-number
duplication is rectified. Change the duplicated axis numbers to other unique
numbers by referring to “7.1 Setting the switch” on p.51. See TEACHING
PENDANT SETTING MANUAL for details on errors in the EZT1.
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• Do not turn off the driver power while the driver is communicating with the EZT1.
Do not cut off the power to the driver while driver data is being written, inserted, deleted or cleared via the EZT1.
Doing so damages the data written to the driver and results in an EEPROM error.
Examples of when not to cut off the power include:
• The moment the displayed value is confirmed with the ENT key when entering data, etc.
• The moment a data clear is confirmed.
• While any of the data-processing messages on the screen. (“XXXXX Wait for a moment.”)
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•Data insertion
•Clearing of all operation data
•Data deletion
•Initialization of all data
When an EEPROM error occurs, all data that has been written to memory will be lost.
If an EEPROM error occurs, “initialize all data” using the EZT1. If the error still persists, please contact the Oriental
Motor branch or sales office from which you purchased the product.

3 Precautions for use
−10−
• Battery backup (absolute type)
Always charge the battery before using by referring to “6.6 Connecting/charging/disconnecting the battery” on p.25.
Data can be backed up with a charged battery for a period of up to 15 days.
Data may not be backed up correctly in the following conditions:
• The multi-rotation∗operation range (−41943 to +41943 revolutions) is exceeded.
• The electronic gear is changed after a movement by positioning operation, etc.
• The internal counter is reset to zero by turning ON the PRESET input during operation.
∗ This means repeating continuous operations or positioning operations in the same direction. One revolution in
multi-rotation operation refers to one revolution of the motor shaft.
Note • If the current position is preset, the multi-rotation operation range (−41943 to +41943 revolutions)
will not change because the driver retains the position (distance) from the home position in
memory.
• If the multi-rotation operation range (−41943 to +41943 revolutions) is exceeded, cycling the
control power will generate an absolute position loss error. The absolute position loss error can
be reset by the alarm clear operation. After resetting the alarm, perform return-to-home
operation or presetting.
• Note on connecting a power supply whose positive terminal is grounded
When grounding the positive terminal of the power supply, do not connect any equipment (PC, etc.) whose negative
terminal is grounded. Doing so may cause the driver and these equipment to short, damaging both. Use the EZT1 to
set data, etc.

4 Preparation
−11−
4 Preparation
This section covers the points to be checked along with the names and functions of respective parts.
4.1 Checking the product
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 p.12.
• Motor...............................................................................1 unit
• Driver...............................................................................1 unit
• Driver mounting brackets ................................................2 pcs.
• Screws for driver mounting brackets (M3)......................4 pcs.
• Sensor I/O connector (20 pins)........................................1 pc.
• User I/O connector (36 pins)............................................1 pc.
• Cable for motor................................................................1 pc.
• Cable for electromagnetic brake......................................1 pc. (supplied with electromagnetic brake motor)
• Varistor.............................................................................1 pc. (supplied with electromagnetic brake motor)
• OPERATING MANUAL Motor...................................1 copy
• OPERATING MANUAL Driver...................................1 copy
• USER MANUAL and
Teaching Pendant SETTING MANUAL (CD-ROM)......1 pc.
• Parallel key......................................................................1 pc. (supplied with geared types;
except for the ARL46TH and ARL66TH)

4 Preparation
−12−
4.2 Combinations of motors and drivers
• The box () will be filled with A(single shaft), B(double shaft) or M(with electromagnetic brake.)
For ARL911AD-and ARL911CD-, indicates A(single shaft) or B(double shaft).
For geared type, indicates A(single shaft) or M(with electromagnetic brake).
• indicates the length of supplied cable (1, 2, 3).
• Standard type
Unit model Motor model Driver model Unit model Motor model Driver model
ARL46AD-ARLM46A ARLD13A-AD ARL98AD-ARLM98A ARLD30A-AD
ARL46CD-ARLM46C ARLD07A-CD ARL98CD-ARLM98C ARLD16A-CD
ARL66AD-ARLM66A ARLD24A-AD ARL911AD-ARLM911A ARLD30E-AD
ARL66CD-ARLM66C ARLD12A-CD ARL911CD-ARLM911C ARLD20A-CD
ARL69AD-ARLM69A ARLD30D-AD
ARL69CD-ARLM69C ARLD16D-CD
• TH geared type
Unit model Motor model Driver model Unit model Motor model Driver model
ARL46AD-T3.6-ARLM46A-T3.6 ARL66CD-T3.6-ARLM66C-T3.6
ARL46AD-T7.2-ARLM46A-T7.2 ARL66CD-T7.2-ARLM66C-T7.2
ARL46AD-T10-ARLM46A-T10
ARLD13B-AD
ARL66CD-T10-ARLM66C-T10
ARLD12B-CD
ARL46AD-T20-ARLM46A-T20 ARL66CD-T20-ARLM66C-T20
ARL46AD-T30-ARLM46A-T30 ARLD13C-AD ARL66CD-T30-ARLM66C-T30 ARLD12C-CD
ARL46CD-T3.6-ARLM46C-T3.6 ARL98AD-T3.6-ARLM98A-T3.6
ARL46CD-T7.2-ARLM46C-T7.2 ARL98AD-T7.2-ARLM98A-T7.2
ARL46CD-T10-ARLM46C-T10
ARLD07B-CD
ARL98AD-T10-ARLM98A-T10
ARLD30A-AD
ARL46CD-T20-ARLM46C-T20 ARL98AD-T20-ARLM98A-T20
ARL46CD-T30-ARLM46C-T30 ARLD07C-CD ARL98AD-T30-ARLM98A-T30 ARLD30C-AD
ARL66AD-T3.6-ARLM66A-T3.6 ARL98CD-T3.6-ARLM98C-T3.6
ARL66AD-T7.2-ARLM66A-T7.2 ARL98CD-T7.2-ARLM98C-T7.2
ARL66AD-T10-ARLM66A-T10
ARLD24B-AD
ARL98CD-T10-ARLM98C-T10
ARLD16A-CD
ARL66AD-T20-ARLM66A-T20 ARL98CD-T20-ARLM98C-T20
ARL66AD-T30-ARLM66A-T30 ARLD24C-AD ARL98CD-T30-ARLM98C-T30 ARLD16C-CD
• PS geared type
Unit model Motor model Driver model Unit model Motor model Driver model
ARL46AD-PS5-ARLM46A-PS5 ARL66CD-PS5-ARLM66C-PS5
ARL46AD-PS7-ARLM46A-PS7 ARL66CD-PS7-ARLM66C-PS7
ARL46AD-PS10-ARLM46A-PS10 ARL66CD-PS10-ARLM66C-PS10
ARLD12A-CD
ARL46AD-PS25-ARLM46A-PS25
ARLD13A-AD
ARL66CD-PS25-ARLM66C-PS25 ARLD12B-CD
ARL46AD-PS36-ARLM46A-PS36 ARLD13B-AD ARL66CD-PS36-ARLM66C-PS36
ARL46AD-PS50-ARLM46A-PS50 ARLD13C-AD ARL66CD-PS50-ARLM66C-PS50 ARLD12C-CD
ARL46CD-PS5-ARLM46C-PS5 ARL98AD-PS5-ARLM98A-PS5
ARL46CD-PS7-ARLM46C-PS7 ARL98AD-PS7-ARLM98A-PS7
ARL46CD-PS10-ARLM46C-PS10 ARL98AD-PS10-ARLM98A-PS10
ARL46CD-PS25-ARLM46C-PS25
ARLD07A-CD
ARL98AD-PS25-ARLM98A-PS25
ARL46CD-PS36-ARLM46C-PS36 ARLD07B-CD ARL98AD-PS36-ARLM98A-PS36
ARLD30A-AD
ARL46CD-PS50-ARLM46C-PS50 ARLD07C-CD ARL98AD-PS50-ARLM98A-PS50 ARLD30B-AD
ARL66AD-PS5-ARLM66A-PS5 ARL98CD-PS5-ARLM98C-PS5
ARL66AD-PS7-ARLM66A-PS7 ARL98CD-PS7-ARLM98C-PS7
ARL66AD-PS10-ARLM66A-PS10
ARLD24A-AD
ARL98CD-PS10-ARLM98C-PS10
ARL66AD-PS25-ARLM66A-PS25 ARLD24B-AD ARL98CD-PS25-ARLM98C-PS25
ARL66AD-PS36-ARLM66A-PS36 ARL98CD-PS36-ARLM98C-PS36
ARLD16A-CD
ARL66AD-PS50-ARLM66A-PS50 ARLD24C-AD ARL98CD-PS50-ARLM98C-PS50 ARLD16B-CD

4 Preparation
−13−
• PN geared type
Unit model Motor model Driver model Unit model Motor model Driver model
ARL46AD-N5-ARLM46A-N5 ARL66CD-N25-ARLM66C-N25 ARLD12B-CD
ARL46AD-N7.2-ARLM46A-N7.2 ARL66CD-N36-ARLM66C-N36
ARL46AD-N10-ARLM46A-N10
ARLD13A-AD
ARL66CD-N50-ARLM66C-N50 ARLD12C-CD
ARL46CD-N5-ARLM46C-N5 ARL98AD-N5-ARLM98A-N5
ARL46CD-N7.2-ARLM46C-N7.2 ARL98AD-N7.2-ARLM98A-N7.2
ARL46CD-N10-ARLM46C-N10
ARLD07A-CD
ARL98AD-N10-ARLM98A-N10
ARL66AD-N5-ARLM66A-N5 ARL98AD-N25-ARLM98A-N25
ARL66AD-N7.2-ARLM66A-N7.2 ARL98AD-N36-ARLM98A-N36
ARLD30A-AD
ARL66AD-N10-ARLM66A-N10
ARLD24A-AD
ARL98AD-N50-ARLM98A-N50 ARLD30B-AD
ARL66AD-N25-ARLM66A-N25 ARLD24B-AD ARL98CD-N5-ARLM98C-N5
ARL66AD-N36-ARLM66A-N36 ARL98CD-N7.2-ARLM98C-N7.2
ARL66AD-N50-ARLM66A-N50 ARLD24C-AD ARL98CD-N10-ARLM98C-N10
ARL66CD-N5-ARLM66C-N5 ARL98CD-N25-ARLM98C-N25
ARL66CD-N7.2-ARLM66C-N7.2 ARL98CD-N36-ARLM98C-N36
ARLD16A-CD
ARL66CD-N10-ARLM66C-N10
ARLD12A-CD
ARL98CD-N50-ARLM98C-N50 ARLD16B-CD
• Harmonic geared type
Unit model Motor model Driver model Unit model Motor model Driver model
ARL46AD-H50-ARLM46A-H50 ARL66CD-H50-ARLM66C-H50 ARLD12B-CD
ARL46AD-H100-ARLM46A-H100 ARLD13A-AD ARL66CD-H100-ARLM66C-H100 ARLD12C-CD
ARL46CD-H50-ARLM46C-H50 ARL98AD-H50-ARLM98A-H50
ARL46CD-H100-ARLM46C-H100 ARLD07A-CD ARL98AD-H100-ARLM98A-H100 ARLD30B-AD
ARL66AD-H50-ARLM66A-H50 ARLD24B-AD ARL98CD-H50-ARLM98C-H50
ARL66AD-H100-ARLM66A-H100 ARLD24C-AD ARL98CD-H100-ARLM98C-H100 ARLD16B-CD
4.3 Names and functions of parts

Motor
Illustration shows the standard type with electromagnetic brake.
Output shaft
Pilot Motor cable
Motor
Electromagnetic brake cable
Electromagnetic brake
Protective Earth Terminal (M4)
Mounting holes
(4 locations)

4 Preparation
−14−

Driver
OPERATION LED
ALARM LED
Control power supply input terminals
Axis-number setting switch
Function switches
Battery connector (CN4)
Sensor I/O connector (CN5)
User I/O connector (CN6)
CHARGE LED
Motor connector (CN3)
Link connector (CN2)
Communication connector (CN1)
Emergency stop output terminal
Main power supply input terminals
Protective Earth Terminal (M4)
Name Description Reference
OPERATION LED (green) Lit when control power is supplied. −
ALARM LED (red) Blinks when an alarm (protective function) is generated. You can check the generated alarm (triggered protective function)
by counting the number of times the LED blinks. p.64
Axis-number setting switch (ID)
Set an axis number for each driver (ID: 0 to 15) when two or
more drivers are connected with optional controller link cable
(sold separately). Each ID must be a unique number.
(factory setting: 0)
p.51
Function switches
Sets the driver function. When changing the dip switches,
cycle the driver’s main power supply and control power
supply.
SW1: CTRL [controller mode] / DRV [driver mode]
(factory setting: CTRL)
SW2: 2P [2-pulse input mode] / 1P [1-pulse input mode]
SW3, SW4: Not used (set switches to OFF)
p.51
Battery connector (CN4) Connects the battery. p.25
Sensor I/O connector (CN5) Connects the sensor.
User I/O connector (CN6) Connects the User I/O. p.27
Control power supply input
terminals Connects the driver’s control circuit power (24 VDC±10%). p.25
Emergency stop output terminal Used when configuring an emergency stop circuit for the
driver. p.26
Communication connector (CN1) Connects the EZT1 or PC in which the MEXE02 has been
installed.
Link connector (CN2) Connected via daisy chain with optional controller link cable
(sold separately), when two or more drivers are used with
single EZT1.
p.32
Motor connector (CN3) Connect the motor. p.23
CHARGE LED
Red when main power is supplied. Once the main power is
turned off, the LED will turn off when the residual voltage in
the driver drops to a safe level (which takes approximately
4 minutes).
−
Main power supply input terminals Connects the motor driving power supply. p.24
Protective Earth Terminal Make ground connection by installing a grounding wire of
AWG18 (0.75 mm
2
) or larger. p.24

5 Installation
−15−
5 Installation
This chapter explains the installation location and installation method of the motor and driver, as well as the method
for installing a battery. Also covered in this section are the installation and wiring methods that are in compliance
with the relevant EMC Directives.
5.1 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 to +50 °C (+32 to +122 °F) (non-freezing)
Harmonic geared type: 0 to +40 °C (+32 to +104 °F) (non-freezing)
Driver: 0 to +40 °C (+32 to +104 °F) (non-freezing)
• Operating ambient humidity 85% or less (non-condensing)
• Area that is free of 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 (rains, 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 (3300 ft.) or lower above sea level
5.2 Installing the motor

Installation direction
The motor can be installed in any direction.

Installation method
To allow for heat dissipation and prevent vibration, install the motor on a metal surface of sufficient strength.
When installing the motor, secure it with four bolts (not supplied) through the four mounting holes.
Do not leave a gap between the motor and metal plate.
• Installation methodA
Metal plate
Pilot
• Installation method B
Metal plate
Pilot
Note Insert the pilot located on the motor's installation surface into the mounting plate's.

5 Installation
−16−
Type Frame size
[mm (in.)] Nominal size Tightening
torque
[N·m (oz-in)]
Effective
depth of bolt
[mm (in.)]
Installation
method
42 (1.65) M3 1 (142) 4.5 (0.177) A
60 (2.36) M4 2 (280) −
Standard 85 (3.35) M6 3 (420) −B
42 (1.65)
60 (2.36) M4 2 (280) 8 (0.315)
TH geared 90 (3.54) M8 4 (560) 15 (0.591)
42 (1.65) M4 2 (280) 8 (0.315)
60 (2.36) M5 2.5 (350) 10 (0.394)
PS geared
PN geared
Harmonic geared (ARL46, ARL66)90 (3.54) M8 4 (560) 15 (0.591)
A
Harmonic geared (ARL98) 90 (3.54) M8 4 (560) −B
5.3 Installing a load
When connecting a load to the motor, align the centers of the motor’s output shaft and load shaft. Also, keep the
radial load and axial load to the permissible values or below.
Optional flexible couplings are available (sold separately).
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 bearings (ball bearing) 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.
• When inserting a parallel key into the gear output shaft, do not apply excessive force by using
a hammer or similar tool. Application of strong impact may damage the output shaft or
bearings.
• Using a 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.
• 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 coupling •Using a belt drive •Using a gear drive
• Using a fastening key (geared motor)
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.

5 Installation
−17−
• Installing on the flange surface (harmonic geared type)
With a harmonic geared type (except an ARL98), a load can be installed directly to the gear using the load mounting
holes provided on the flange surface.
Metal plate
Flange
surface Bolts
Load Load mounting
holes
Unit model Nominal size Number of bolts Tightening torque
[N·m (oz-in)] Effective depth of bolt [mm (in.)]
ARL46 M3 6 1.4 (198) 5 (0.20)
ARL66 M4 6 2.5 (350) 6 (0.236)
Note • When installing a load on the flange surface, the load cannot also be affixed using the keyway
(or milled surface) in the output shaft.
• Design an appropriate installation layout so that the load will not contact the metal plate or bolts
used for installing the motor.
5.4 Permissible radial load and permissible axial load
The radial load and the axial load on the motor’s output shaft must be kept under the permissible values listed below.
Note • Failure due to fatigue may occur when the motor bearings and output shaft are subject to
repeated loading by an radial or axial load that is in excess of the permissible limit.
• With the double-shaft type products, the output shaft on the opposite side of the motor output
shaft is for installing the slit plate. Do not apply load torque, radial load or axial load on this
output shaft.
• The permissible radial load and permissible axial load of the PS geared type and PN geared
type represent the value that the service life of the gear part satisfies 20,000 hours when either
of the radial load or axial load is applied to the gear output shaft.
Permissible radial load [N (lb.)]
Distance from the tip of motor output shaft
Type Frame
size
[mm (in.)]
Unit
model Gear ratio 0 mm
(0 in.) 5 mm (0.20 in.) 10 mm (0.39 in.) 15 mm (0.59 in.) 20 mm (0.79 in.)
Permissible
axial load
[N (lb.)]
42 (1.65) ARL46 35 (7.8) 44 (9.9) 58 (13) 85 (19.1) −15 (3.3)
ARL66
60 (2.36) ARL69 90 (20) 100 (22) 130 (29) 180 (40) 270 (60) 30 (6.7)
ARL98
Standard
85 (3.35) ARL911
−
260 (58) 290 (65) 340 (76) 390 (87) 480 (108) 60 (13.5)
42 (1.65) ARL46 10 (2.2) 14 (3.1) 20 (4.5) 30 (6.7) −15 (3.3)
60 (2.36) ARL66 70 (15.7) 80 (18) 100 (22) 120 (27) 150 (33) 40 (9)
TH geared
90 (3.54) ARL98
3.6, 7.2,
10, 20, 30 220 (49) 250 (56) 300 (67) 350 (78) 400 (90) 100 (22)
5 70 (15.7) 80 (18) 95 (21) 120 (27) −
7.2 80 (18) 90 (20) 110 (24) 140 (31) −
10 85(19.1) 100 (22) 120 (27) 150 (33) −
25 120 (27) 140 (31) 170 (38) 210 (47) −
36 130(29) 160 (36) 190 (42) 240 (54) −
42 (1.65) ARL46
50 150 (33) 170 (38) 210 (47) 260 (58) −
100 (22)
5 170 (38) 200 (45) 230 (51) 270 (60) 320 (72)
7.2 200 (45) 220 (49) 260 (58) 310 (69) 370 (83)
10 220 (49) 250 (56) 290 (65) 350 (78) 410 (92)
25 300 (67) 340 (76) 400 (90) 470 (105) 560 (126)
36 340 (76) 380 (85) 450 (101) 530 (119) 630 (141)
60 (2.36) ARL66
50 380 (85) 430 (96) 500 (112) 600 (135) 700 (157)
200 (45)
5 380 (85) 420 (94) 470 (105) 540 (121) 630 (141)
7.2 430 (96) 470 (105) 530 (119) 610 (137) 710 (159)
PS geared
90 (3.54) ARL98
10 480 (108) 530 (119) 590 (132) 680 (153) 790 (177) 600 (135)

5 Installation
−18−
Permissible radial load [N (lb.)]
Distance from the tip of motor output shaft
Type Frame size
[mm (in.)]
Unit
model Gear ratio 0 mm
(0 in.) 5 mm (0.20 in.) 10 mm (0.39 in.) 15 mm (0.59 in.) 20 mm (0.79 in.)
Permissible
axial load
[N (lb.)]
25 650 (146) 720 (162) 810 (182) 920 (200) 1070 (240)
36 730 (164) 810 (182) 910 (200) 1040 (230) 1210 (270)
PS geared 90 (3.54) ARL98
50 820 (184) 910 (200) 1020 (220) 1160 (260) 1350 (300) 600 (135)
5 80 (18) 95 (21) 120 (27) 160 (36) −
7.2 90 (20) 110 (24) 130 (29) 180 (40) −
42 (1.65) ARL46
10 100 (22) 120 (27) 150 (33) 200 (45) −100 (22)
5 240 (54) 260 (58) 280 (63) 300 (67) 330 (74)
7.2 270 (60) 290 (65) 310 (69) 340 (76) 370 (83)
10 300 (67) 320 (72) 350 (78) 380 (85) 410 (92)
25 410 (92) 440 (99) 470 (105) 520 (117) 560 (126)
36 360 (81) 410 (92) 480 (108) 570 (128) 640 (144)
60 (2.36) ARL66
50 360 (81) 410 (92) 480 (108) 570 (128) 700 (157)
200 (45)
5 370 (83) 390 (87) 410 (92) 430 (96) 460 (103)
7.2 410 (92) 440 (99) 460 (103) 490 (110) 520 (117)
10 460 (103) 490 (110) 520 (117) 550 (123) 580 (130)
25 630 (141) 660 (148) 700 (157) 740 (166) 790 (177)
36 710 (159) 750 (168) 790 (177) 840 (189) 900 (200)
PN geared
90 (3.54) ARL98
50 790 (177) 840 (189) 890 (200) 940 (210) 1000 (220)
600 (135)
42 (1.65) ARL46 180 (40) 220 (49) 270 (60) 360 (81) 510 (114) 220 (49)
60 (2.36) ARL66 320 (72) 370 (83) 440 (99) 550 (123) 720 (162) 450 (101)
Harmonic
geared 90 (3.54) ARL98
50, 100 1090 (240) 1150 (250) 1230 (270) 1310 (290) 1410 (310) 1300 (290)
Permissible moment load of the harmonic geared type
When installing an arm or table on the flange surface, calculate the moment load using the formula below if the
flange surface receives any eccentric load. The moment load should not exceed the permissible value specified in the
table below.
Moment load: M [N·m (oz-in)] = F × L
Unit mode Permissible moment load
[N·m (oz-in)]
ARL46 5.6 (790)
ARL66 11.6 (1640)
L
F
5.5 Installing the driver
When installing the driver in an enclosure, be sure to install
vertically.
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.
Note • Install the driver in an enclosure.
• Do not install any equipment that generates a
large amount of heat or noise near the driver.
• Do not install the driver underneath the
controller or other equipment vulnerable to heat.
• Check ventilation if the ambient temperature of
the driver exceeds 40 °C (104 °F).
• Install the driver vertically.
20 mm (0.79 in.)
or more
25 mm (0.98 in.) or more
180 mm (7.09 in.)
25 mm
(0.98 in.)

5 Installation
−19−

Installation method
To install a driver, attach it to a metal plate using driver mounting brackets or mount it to a DIN rail. In the presence
of a great amount of vibration, do not use a DIN rail. Screw down the driver directly through the use of the driver
mounting brackets.
• Mounting to DIN rail
When mounting the driver to a DIN rail, use an optional DIN rail mounting plate (sold separately) and attach it to a
35 mm (1.38 in.) wide DIN rail.
1. Attach the DIN rail mounting plate to the back of the driver with the screws.
Screws are supplied with DIN rail mounting plate.
Tightening torque: 0.3 to 0.4 N·m (42 to 56 oz-in)
2. Pulling the DIN lever downward, hook the tab of the DIN rail mounting plate on the DIN rail and push
the driver until the DIN lever locks.
3. Secure the driver using end plates.
DIN rail mounting plate
Mounting screws (M3)
M3-3 locations
End plate
DIN rail
DIN lever
Note • Do not use the mounting holes for the DIN rail mounting plate 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 (0.118 in.) or more through the surface of the driver may
cause damage to the driver.
• Removing from DIN rail
Pull the DIN lever down until it locks using a flat-head screwdriver, and lift
the bottom of the driver to remove it from the rail.
Note Use a force of about 10 to 20 N (2.2 to 4.5 lb.) to pull the DIN
lever down to lock it. Excessive force may damage the DIN
lever.

5 Installation
−20−
• Using driver mounting brackets
Install the driver on a flat metal plate having excellent vibration resistance and heat conductivity.
1. Attach the driver mounting brackets to the
back of the driver, using supplied screws for
the brackets (M3, four pcs.)
Tightening torque: 0.5 to 0.6 N·m (71 to 85 oz-in)
2. Install the driver by securing it with four bolts
(not supplied) to the metal plate.
Leave no gap between the driver and plate.
Mounting screws (M3)
M3-4 locations
Driver mounting
brackets (2 pcs.)
Note • Do not use the mounting holes for the driver mounting brackets for any purpose other than
securing the driver mounting brackets.
• Be sure to use the supplied screws when securing the driver mounting brackets. The use of
screws that would penetrate 3 mm (0.118 in.) or more through the surface of the driver may
cause damage to the driver.
5.6 Installing the battery (sold separately)
The battery has a built-in protective circuit. Use the optional battery holder to secure the battery.
Battery installation dimensions
13±0.3 mm
(0.51±0.012 in.)
2×M4
5.7 Installing and wiring in compliance with EMC Directive

Introduction
EMC Directive
The ARL 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.
This product has conducted EMC testing under the conditions specified in "Example of motor and driver installation
and wiring" on p 22
The compliance with the EMC Directive of the entire equipment will vary depending on such factors as the
configuration, wiring and installation condition of other control-system devices or electrical parts used together with
this product. Therefore, be sure to confirm the compliance of the equipment in a finished condition that all parts
including this product are installed in the equipment.
Applicable Standards
EMI EN 55011 group 1 class A
EN 61000-3-2
EN 61000-3-3
EMS EN 61000-6-2
EN 61800-3
This type of PDS is not intended to be used on a low-voltage public network which supplies domestic premises; radio
frequency interference is expected if used on such a network.