Oriental motor CRD5103P-RS4 User manual

HM-40064
RS-485 Driver
with Built-in Controller Function
for 5-phase Stepping Motors
CRD5103P-RS4
CRD5107P-RS4
CRD5114P-RS4
USER MANUAL
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.

Table of contents
－2－
1Introduction.........................................3
1.1 Overview of the product .......................... 3
1.2 System configuration............................... 3
1.3 Standards and CE Marking ..................... 4
2Safety precaution................................ 5
3Precautions for use............................. 7
4Preparation .........................................9
4.1 Checking the product .............................. 9
4.2 Checking for applicable motors............... 9
4.3 Names of parts ...................................... 11
5Installation......................................... 12
5.1 Location for installation.......................... 12
5.2 Installing the motor ................................ 12
5.3 Installing a load ..................................... 14
5.4 Installing the driver ................................ 16
5.5 Installing and wiring in compliance with the
EMC Directive ....................................... 17
6Connection........................................20
6.1 Connection block diagram..................... 20
6.2 Connection example.............................. 21
6.3 Connector pin assignments................... 22
6.4 Internal circuits ...................................... 23
6.5 Setting switches .................................... 23
6.6 LED........................................................ 24
6.7 Applicable housings and contacts......... 25
6.8 Connecting the power supply................ 25
7Method of control via communication26
7.1 Communication specifications............... 26
7.2 Communication mode ........................... 26
7.3 Communication timing........................... 26
7.4 Frame structures ................................... 27
8Operating functions...........................31
8.1 Positioning operation (index operation). 31
8.2 Continuous operation (scan operation) . 32
8.3 Return to mechanical home operation
(home operation) ................................... 32
8.4 Relationship of starting speed and
operating speed..................................... 34
9Related function................................ 35
9.1 Stop ....................................................... 35
9.2 Soft limit................................................. 35
9.3 Limit sensor ........................................... 35
9.4 Excitation control ................................... 36
9.5 Current position control ......................... 36
9.6 Encoder input phase A, phase B........... 36
9.7 General-purpose output ........................ 36
9.8 Driver status indication .......................... 37
10 Command details ..............................38
10.1 No action (00h) ...................................... 38
10.2 Receive period (01h) ............................. 38
10.3 Response interval (02h) ........................ 39
10.4 Distance specification mode (10h) ........ 39
10.5 Home detection type (12h) .................... 40
10.6 Stop method (13h)................................. 40
10.7 Sensor logic setting (15h)...................... 41
10.8 Soft limit setting (17h)............................ 41
10.9 Acceleration/Deceleration patterns (19h)42
10.10 Counter clear (20h)............................ 43
10.11 Alarm clear (21h) ............................... 43
10.12 Excitation control (22h) ...................... 44
10.13 General-purpose output (32h) ........... 44
10.14 Status (3Ch)....................................... 45
10.15 Operating current (40h) ..................... 46
10.16 Standstill current (41h)....................... 46
10.17 Motor resolution (44h)........................ 47
10.18 Starting speed (80h) .......................... 48
10.19 Acceleration/Deceleration rate (81h) . 48
10.20 Operating speed (88h)....................... 49
10.21 Distance (A0h) ................................... 49
10.22 Current position (A1h)........................ 50
10.23 Encoder counter (A2h)....................... 50
10.24 Home offset (A8h).............................. 50
10.25 Soft limit CW (B8h) ............................ 51
10.26 Soft limit CCW (B9h).......................... 51
11 Timing charts.....................................52
11.1 Turning on the power supply ................. 52
11.2 Issuing commands................................. 52
11.3 Input signals .......................................... 55
12 Trouble shooting ...............................58
12.1 Actions to be taken upon alarms ........... 58
12.2 Detection of communication errors........ 59
13 Inspection .........................................60
14 Main specifications............................61
15 Options (Sold separately)..................62

1 Introduction
－3－
1 Introduction
The product is designed and manufactured for use as an internal component for general industrial equipment.
Do not use the product for any other purpose. For the driver, use a DC power source with reinforced
insulation provided on the primary and secondary sides. Oriental Motor Co., Ltd. is not responsible for any
damage caused through failure to observe this warning.
1.1 Overview of the product
This is a driver with built-in controller function for 5-phase stepping motors supporting RS-485
communication. Specifically, it is a small, low-vibration micro-step driver equipped with a smooth-drive
function.
1.2 System configuration
Encoder connector
24 VDC power supply
24 VDC
power supply
Power supply
connector
Driver
Programmable controller
and master equipment
Motor
Motor connector
Sensor
RS-485 communication
connector A
Master
indicates an item supplied
with the driver.
I/O connector
RS-485 communication
connector B
Driver n

1 Introduction
－4－
1.3 Standards and CE Marking

Applicable Standards
This product is recognized by UL and certified by CSA, and bears the CE Marking (EMC Directives) in
compliance with the EN Standards.
Applicable Standards
Certification
Body
Standards
File No.
CE
Marking
High-resolution type UL 60950-1
CSA C22.2 No.60950-1
High-torque type UL 60950
CSA C22.2 No.60950
E208200
20 mm
(0.79 in.) ∗1
28 mm
(1.1 in.) ∗2
UL 60950
CSA C22.2 No.60950 E208200
42 mm
(1.65 in.) UL 1004, UL 2111
Motor Standard type
TH geared type
PL geared type
PN geared type
Harmonic geared
type 60 mm
(2.36 in.)
UL 1004, UL 2111
CSA C22.2 No.77
CSA C22.2 No.100
E64199
Driver UL 60950-1
CSA C22.2 No.60950-1
UL
E208200
EMC
Directive
∗1 Harmonic geared type only.
∗2 TH geared type and PN geared type only
• Approval conditions for UL 60950, UL 60950-1: Class III equipment, SELV circuit, Pollution degree 2
• Oriental Motor declares compliance with the EMC Directives based on motor and driver combinations.
 Low Voltage Directive
These products are not subject to the Low Voltage Directive, since their input power source voltage is 24
VDC or below. However, the product must satisfy the following conditions with regard to installation and
connection:
• The product is a type with machinery incorporated, so it should be installed within an enclosure.
• For the driver, use a DC power supply with reinforced insulation provided on the primary and secondary
sides.
 EMC Directive (89/336/EEC, 92/31/EEC)
This product has received EMC measures under the conditions specified in “Example of motor and driver
installation and wiring” on p.19.
Be sure to measure EMC (electromagnetic compatibility) with the product in your equipment, by referring to
5.5 “Installing and wiring in compliance with the EMC Directive” on p.17.
 Hazardous substances
RoHS (Directive 2002/95/EC 27Jan.2003) compliant

2 Safety precaution
－5－
2 Safety precaution
The precautions described below are intended to prevent injury to the user and other personnel through safe,
correct use of the product. Fully understand the meaning of each item before using the product.
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 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, injury or damage to equipment.
• The motor will lose its holding force when the power or excitation is turned off. If the motor is used in a lift
device, take appropriate measures to hold the moving part in position in the event of a sudden cutoff of
power or excitation. If such measures are not taken, the moving part may drop and cause injury or
equipment damage.
• If the driver detects an overvoltage, the motor will stop and lose its holding force, which may result in
injury or equipment damage.
• If an alarm occurs, remove the cause and then reset the alarm. If the driver is operated continuously without
removing the cause of the alarm, the motor and driver may malfunction, resulting in injury or equipment
damage.
Connection
• Keep the driver’s input-power voltage within the specified range to avoid fire.
• For the driver, use a DC power supply with reinforced insulation provided on the primary and secondary
sides. Failure to do so may result in electric shock.
• Connect the cables securely according to the wiring diagram in order to prevent fire.
• Do not forcibly bend, pull or pinch the cables. Doing so may fire.
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 off the excitation of the motor during operation. The motor will stop and lose its holding force,
which may result in injury or equipment damage.
• Provide an interlock circuit using a sequence program so that the entire system, including the driver, will
operate safely in the event of a RS-485 communication error.
Repair, disassembly and modification
• Do not disassemble or modify the motor or driver. This may cause injury. Refer all such internal
inspections and repairs to the branch or sales office from which you purchased the product.

2 Safety precaution
－6－
Caution
General
• Do not use the motor and driver beyond their specifications, or injury or damage to equipment may result.
• Keep your fingers and objects out of the openings in the motor and driver, or fire 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 burn.
• Do not forcibly bend or pull the power supply cable or motor cable connected to the driver, as it may apply
stress to the driver and consequently damage the driver.
Transportation
• Do not hold the motor output shaft or motor cable. This may cause injury.
Installation
• Install the driver in an enclosure in order to prevent injury.
• Keep the area around the motor and driver free of combustible materials in order to prevent fire or a burn.
• 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, the motor
may start suddenly and cause injury or damage to equipment.
• Set the speed and acceleration/deceleration rate at levels within the allowable ranges. Use of an extreme
speed or acceleration/deceleration rate may cause the motor to lose synchronism and allow the moving part
to operate in an unexpected direction, resulting in injury or equipment damage.
• To prevent bodily injury, do not touch the rotating parts (output shaft) of the motor during operation.
• If the output shaft is to be turned by hand while the motor is at standstill, turn off the driver power or cut
off the motor current using an excitation control command. 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 burns.
Warning label
• Immediately when trouble has occurred, stop running and turn off the driver power. Failure to do so may
result in fire, electric shock or injury.
• Static electricity may cause the driver to malfunction or sustain damage. Do not touch the driver while the
power is being supplied. When adjusting the function setting switch or driver address switch 2, always use
an insulated screwdriver.
Disposal
• To dispose of the motor or driver, disassemble it into parts and components as much as possible and
dispose of individual parts/components as industrial waste. If you have any questions regarding disposal of
the product, please contact any Oriental Motor branch or sales office.

3 Precautions for use
－7－
3 Precautions for use
This section covers the limitations and points to note regarding use of the RS-485 driver.
 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 the product.
 Do not apply an overhung load or thrust load in excess of the
specified permissible limit.
Be sure to operate the motor within the specified permissible limit of overhung load and thrust load.
Operating it under an excessive overhung load and thrust load may damage the motor bearings (ball bearings).
See p.15 for details.
 Operate the motor with a surface temperature not exceeding 100 °C
(212 °F).
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 case below
100 °C (212 °F) will also maximize the life of the motor bearings (ball bearings).
Use the harmonic 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.
 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.
 Preventing electrical noise
See 5.5 “Installing and wiring in compliance with the EMC Directive” on p.17 for measures with regard to
noise.
 Geared type
• Backlash
The TH gear output shaft is subject to backlash of 10 to 60 minutes. As for the PL gear output shaft, it is
subject to backlash of 15 to 35 minutes. As for the PN gear output shaft, it is subject to backlash of 2 to 3
minutes. Backlash refers to the looseness at the gear output shaft, as generated when the input side of the gear
is fixed. To reduce the effect of backlash, positioning should be from one direction only-either from the CW
direction or the CCW direction.
• Ｍaximum torque
Always operate geared type motors with loads not exceeding their maximum torque. If a geared type motor is
operated with a load exceeding the maximum torque, the gear will be damaged.

3 Precautions for use
－8－
• Rotating direction of the gear output shaft
The relationship between the rotating direction of the motor shaft and that of the gear output shaft changes as
follows, depending on the gear type and gear ratio.
Rotating direction (relative to the motor rotation direction)
Motor size
Gear type Gear ratio 20 mm
(0.79 in.)
28 mm
(1.1 in.)
42 mm
(1.65 in.)
60 mm
(2.36 in.)
3.6: 1
7.2: 1
10: 1
– Opposite direction Same direction
TH gear
20: 1
30: 1 – Same direction Opposite direction
PL gear
PN gear
5: 1
7.2: 1
10: 1
25: 1
36: 1
50: 1
– Same direction
Harmonic gear 50: 1
100: 1 Opposite direction
• 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.
 Regeneration
When a large inertial load is operated at high speed, regenerative energy will generate and increase the power
supply voltage, which can damage the driver. Reduce the load or increase the acceleration/deceleration rate,
and make sure regenerative voltage will not generate.

4 Preparation
－9－
4 Preparation
This section covers the points to be checked along with the names and functions of respective parts.
4.1 Checking the product
Upon opening the package, verify that the items listed below are included. Report any missing or damaged
items to the branch or sales office from which you purchased the product.
• Driver ..................................................... 1 unit
• OPERATING MANUAL ....................... 1 copy
• Connector housing.................................. Refer to the table below.
• Contact 50351-8100 (Molex) ................. 31 pcs.
Connector Housing
Number
of poles
Number
of pcs.
Power supply connector (CN1) 51103-0200 (Molex) 2 1
RS-485 communication connector (CN2/CN3) 51103-0300 (Molex) 3 2
I/O connector (CN4) 51103-1000 (Molex) 10 1
Encoder connector (CN5) 51103-0800 (Molex) 8 1
Motor connector (CN6) 51103-0500 (Molex) 5 1
∗ Use the 57295-5000 crimping tool (Molex; not supplied).
Note When removing the driver from the conductive protection bag, make sure your hands are
not charged with static electricity. This is to prevent damage to the driver due to static
electricity.
4.2 Checking for applicable motors
The applicable motors vary depending on the driver. Make sure you select a motor and a driver in the correct
combination.
 Applicable motors for CRD5103P-RS4
Applicable motor model
Motor size Motor type Single shaft Double shaft
High-torque type PK513PA PK513PB20 mm
(0.79 in.) Harmonic geared type PK513PA-HS PK513PB-HS
PK523PMA PK523PMB
PK524PMA PK524PMB
High-resolution type
PK525PMA PK525PMB
PK523PA PK523PBHigh-torque type
PK525PA PK525PB
TH geared type PK523PA-TPK523PB-T
28 mm
(1.1 in.)
PN geared type PK523PA-NPK523PB-N
∗ in the motor model will contain a value representing the gear ratio.

4 Preparation
－10－
 Applicable motors for CRD5107P-RS4
Applicable motor model
Motor size Motor type Single shaft Double shaft
PK544PMA PK544PMBHigh-resolution type
PK546PMA PK546PMB
PK544PA PK544PBHigh-torque type
PK546PA PK546PB
PK543NAW PK543NBW
PK544NAW PK544NBW
Standard type
PK545NAW PK545NBW
TH geared type PK543AW-TPK543BW-T
PK543AW-PPK543BW-PPL geared type
PK545AW-PPK545BW-P
PN geared type PK544AW-NPK544BW-N
42 mm
(1.65 in.)
Harmonic geared type PK543AW-HS PK543BW-HS
∗ in the motor model will contain a value representing the gear ratio.
 Applicable motors for CRD5114P-RS4
Applicable motor model
Motor size Motor type Single shaft Double shaft
PK564PMA PK564PMB
PK566PMA PK566PMB
High-resolution type
PK569PMA PK569PMB
PK564NAW PK564NBW
PK566NAW PK566NBW
Standard type
PK569NAW PK569NBW
TH geared type PK564AW-TPK564BW-T
PK564AW-PPK564BW-PPL geared type
PK566AW-PPK566BW-P
PK564AW-NPK564BW-NPN geared type
PK566AW-NPK566BW-N
60 mm
(2.36 in.)
Harmonic geared type PK564AW-HS PK564BW-HS
∗ in the motor model will contain a value representing the gear ratio.

4 Preparation
－11－
4.3 Names of parts

Motor
Illustration shows the PK56type.
Pilot
Output shaft
Mounting holes
(four locations)
Motor leads
(five wires: blue, red, orange, green and black)
 Driver
CN1
Power supply connector
LED3
Timing LED (green)
SW2
Driver address
switch 2
CN5
Encoder connector
CN6
Motor connector
SW1
Function setting switches
CN4
I/O connector
CN2
RS-485 communication
connector A
LED2
A
larm LED (red)
CN3
RS-485 communication
connector B
LED1
Power LED (green)
Mounting holes (two locations)

5 Installation
－12－
5 Installation
This chapter explains the installation location and installation methods of the motor and driver, as well as how
to install a load. The installation and wiring methods in compliance with the EMC Directive are also
explained.
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: –10 to +50 °C (+14 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 explosive atmosphere or toxic gas (such as sulfuric gas) or liquid
• Area not exposed to direct sun
• Area free of excessive amount of 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
5.2 Installing the motor

Installation direction
The motor can be installed in any direction.
 Installation method
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.
Do not leave a gap between the motor and metal plate.
Insert the pilot located on the motor’s installation surface into the metal plate’s pilot holder.
Installation method [A]
Pilot holder
Metal plate
Screw holes
Installation method [B]
Metal plate
Screw holes

5 Installation
－13－
Bolt size, tightening torque and installation method
Motor model
Single shaft Double shaft Bolt size
Tightening
torque
[N·m (oz-in)]
Effective
depth of bolt
[mm (in.)]
Installation
method
PK513PA PK513PB M2 0.25 (35)
PK523PA PK523PB
PK525PA PK525PB
PK523PMA PK523PMB
PK524PMA PK524PMB
PK525PMA PK525PMB
M2.5 0.5 (71)
2.5 (0.098)
PK544PA PK544PB
PK546PA PK546PB
PK544PMA PK544PMB
PK546PMA PK546PMB
PK543NAW PK543NBW
PK544NAW PK544NBW
PK545NAW PK545NBW
M3 1 (142) 4.5 (0.177)
A
PK564PMA PK564PMB
PK566PMA PK566PMB
PK569PMA PK569PMB
PK564NAW PK564NBW
PK566NAW PK566NBW
PK569NAW PK569NBW
M4 2 (280) – B
PK523PA-TPK523PB-TM2.5 0.5 (71) 4 (0.157)
PK543AW-TPK543BW-T
PK564AW-TPK564BW-T
PK545AW-PPK545BW-P
PK543AW-PPK543BW-P
M4 2 (280) 8 (0.315)
PK566AW-PPK566BW-P
PK564AW-PPK564BW-PM5 2.5 (350) 10 (0.394)
PK523PA-NPK523PB-NM3 1 (142) 6 (0.236)
PK544AW-NPK544BW-NM4 2 (280) 8 (0.315)
PK566AW-NPK566BW-N
PK564AW-NPK564BW-NM5 2.5 (350) 10 (0.394)
PK513PA-HS PK513PB-HS M2 0.25 (35) 5 (0.2)
PK543AW-HS PK543BW-HS M4 2 (280) 8 (0.315)
PK564AW-HS PK564BW-HS M5 2.5 (350) 10 (0.394)
A
∗ in the motor model will contain a value representing the gear ratio.

5 Installation
－14－
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 overhang load and thrust load to the permissible values or below.
• 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.
• Connecting with a key (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.
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 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.
• Installing on the flange surface (Harmonic geared type)
With a harmonic geared type, a load can be installed directly to the gear using the load mounting holes
provided on the flange surface.
Metal plate
Flange Bolts
Load
Load mounting holes
Motor model Bolt size Number of bolts Tightening torque
[N·m (oz-in)]
Effective depth
of thread [mm (in.)]
PK513P-HSM2 3 0.35 (49) 3 (0.12)
PK543W-HSM3 6 1.4 (198) 5 (0.2)
PK564W-HSM4 6 2.5 (350) 6 (0.24)
Note • When installing a load on the flange surface, the load cannot be affixed using the key
groove (or flat 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 Installation
－15－
 Permissible overhung load and permissible thrust load
The overhung load and the thrust 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 overhung or thrust load that is in excess of the permissible limit.
Permissible overhung load [N (lb.)]
Motor model Distance from the tip motor’s output shaft [mm (in.)]
Single shaft Double shaft 0 (0) 5 (0.20) 10 (0.39) 15 (0.59) 20 (0.79)
Permissible
thrust load
[N (lb.)]
PK513PA PK513PB 12 (2.7) 15 (3.3) – – – 0.05 (0.11)∗
PK523PA PK523PB 0.11 (0.24)∗
PK525PA PK525PB 0.2 (0.44)∗
PK523PMA PK523PMB 0.11 (0.24)∗
PK524PMA PK524PMB 0.15 (0.33)∗
PK525PMA PK525PMB
25 (5.6) 34 (7.6) 52 (11.7) – –
0.2 (0.44)∗
PK544PA PK544PB 0.3 (0.66)∗
PK546PA PK546PB 0.5 (1.1)∗
PK544PMA PK544PMB 0.3 (0.66)∗
PK546PMA PK546PMB 0.5 (1.1)∗
PK543NAW PK543NBW 0.21 (0.46)∗
PK544NAW PK544NBW 0.27 (0.59)∗
PK545NAW PK545NBW
20 (4.5) 25 (5.6) 34 (7.6) 52 (11.7) –
0.35 (0.77)∗
PK564PMA PK564PMB 0.65 (1.43)∗
PK566PMA PK566PMB 0.87 (1.91)∗
PK569PMA PK569PMB
90 (20) 100 (22) 130 (29) 180 (40) 270 (60)
1.5 (3.3)∗
PK564NAW PK564NBW 0.6 (1.32)∗
PK566NAW PK566NBW 0.8 (1.76)∗
PK569NAW PK569NBW
63 (14.1) 75 (16.8) 95 (21) 130 (29) 190 (42)
1.3 (2.9)∗
PK523PA-TPK523PB-T15 (3.3) 17 (3.8) 20 (4.5) 23 (5.1) – 10 (2.2)
PK543AW-TPK543BW-T10 (2.2) 14 (3.1) 20 (4.5) 30 (6.7) – 15 (3.3)
PK564AW-TPK564BW-T70 (15.7) 80 (18) 100 (22) 120 (27) 150 (33) 40 (9)
PK545AW-PPK545BW-P73 (16.4) 84 (18.9) 100 (22) 123 (27) – 50 (11.2)
PK543AW-PPK543BW-P109 (24) 127 (28) 150 (33) 184 (41) – 50 (11.2)
PK566AW-P5 PK566BW-P5 200 (45) 220 (49) 250 (56) 280 (63) 320 (72) 100 (22)
PK566AW-P7.2 PK566BW-P7.2
PK566AW-P10 PK566BW-P10 250 (56) 270 (60) 300 (67) 340 (76) 390 (87) 100 (22)
PK564AW-PPK564BW-P330 (74) 360 (81) 400 (90) 450 (101) 520 (117) 100 (22)
PK523PA-NPK523PB-N45 (10.1) 60 (13.5) 80 (18) 100 (22) – 20 (4.5)
PK544AW-NPK544BW-N100 (22) 120 (27) 150 (33) 190 (42) – 100 (22)
PK566AW-N5 PK566BW-N5 200 (45) 220 (49) 250 (56) 280 (63) 320 (72) 100 (22)
PK566AW-N7.2 PK566BW-N7.2
PK566AW-N10 PK566BW-N10 250 (56) 270 (60) 300 (67) 340 (76) 390 (87) 100 (22)
PK564AW-NPK564BW-N330 (74) 360 (81) 400 (90) 450 (101) 520 (117) 100 (22)
PK513PA-HS PK513PB-HS 50 (11.2) 75 (16.8) – – – 60 (13.5)
PK543AW-HS PK543BW-HS 180 (40) 220 (49) 270 (60) 360 (81) 510 (114) 220 (49)
PK564AW-HS PK564BW-HS 320 (72) 370 (83) 440 (99) 550 (123) 720 (162) 450 (101)
• The figures indicated by ∗are the motor’s mass [kg (lb.)]. The thrust load should not exceed the motor’s
mass.
• in the motor model will contain a value representing the gear ratio.

5 Installation
－16－
 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.
Moment load：M [N·m (oz-in)] = F × L
Motor model Permissible moment load
[N·m (oz-in)]
PK513P-HS0.7 (99)
PK543W-HS5.6 (790)
PK564W-HS11.6 (1640)
L
F
5.4 Installing the driver

Installation method
Install the driver on a flat metal plate having excellent vibration resistance and heat conductivity.
There must be a clearance of at least 25 mm (0.98 in.) and 50 mm (1.97 in.) in the horizontal and vertical
directions, respectively, between the driver and enclosure or other equipment.
When two or more drivers are to be installed side by side, provide 20 mm (0.79 in.) and 50 mm (1.97 in.)
clearances in the horizontal and vertical directions, respectively.
20 mm (0.79 in.) or more
50 mm (1.97 in.)
or more
20 mm (0.79 in.) or more
50 mm (1.97 in.)
or more

5 Installation
－17－
When installing the driver, it must be placed vertically or horizontally using driver mounting holes.
Securely tighten the two screws (M3: not supplied) so as to leave no gaps between the driver’s installation
surface and the metal plate.
M3 screws
Note • Do not install any equipment that generates a large amount of heat or noise near the
driver.
• Check ventilation if the ambient temperature of the driver exceeds 40 °C (104 °F).
5.5 Installing and wiring in compliance with the EMC Directive
Effective measures must be taken with regard to EMI (electromagnetic interference) caused by the motor
and/or driver in the control system equipment operating nearby and EMS (electromagnetic susceptibility) of
the motor and/or driver. Failure to do so may result in serious impairment of the machine’s functionality.
The use of the following installation and wiring methods will enable the motor and/or driver to be compliant
with the EMC Directive.
Oriental Motor conducts EMC measurement of its motors and drivers in accordance with “Example of motor
and driver installation and wiring” on p.19.
The user is responsible for ensuring the machine’s compliance with the EMC Directive, based on the
installation and wiring explained below.
Applicable Standards
EMI Emission Tests
Radiated Emission Test
EN 61000-6-4
EN 55011
EMS Immunity Tests
Radiation Field Immunity Test
Electrostatic Discharge Immunity Test
Fast Transient/Burst Immunity Test
Conductive Noise Immunity Test
EN 61000-6-2
IEC 61000-4-3
IEC 61000-4-2
IEC 61000-4-4
IEC 61000-4-6
 Power supply
The driver is specifically designed for DC power supply input.
Use a DC power supply (such as a switching power supply) compliant with the EMC Directive.

5 Installation
－18－
 Mains filter
Connect a mains filter on the input side of the DC power supply so as to prevent the noise generated in the
driver from being transmitted externally via the power supply line.
When a power supply transformer is used, be sure to connect a mains filter on the AC input side of the power
supply transformer.
For mains filters, use 10ESK1 (Tyco Electronics CORCOM), ZAG2210-11S (TDK Corporation), or an
equivalent.
• Install the mains filter as close to the AC input terminal of DC power supply as possible. Also, secure the
I/O cables (AWG18: 0.75 mm2or more) using cable clamps or the like so that the cables won’t lift from the
surface of the enclosure panel.
• The cable used to ground the mains filter must be as thick and short to the grounding point as possible.
• Do not wire the AC input cable (AWG18: 0.75 mm2or more) and the output cable of the mains filter
(AWG18: 0.75 mm2or more) in parallel. If these two cables are wired in parallel, noise inside the enclosure
will be connected to the power supply cable via stray capacitance, reducing the effect of the mains filter.
 Grounding method
When grounding the driver and mains filter, use a cable of the largest possible size and connect to the ground
point over the shortest distance so that no potential difference will be generated at the grounded position. The
ground point must be a large, thick and uniform conductive surface. Install the motor onto a grounded metal
surface.
 Wiring the power supply cable and I/O cable
Use a shielded cable of AWG22 (0.3 mm2) or more in diameter
for the driver power supply cable. Use a shielded cable of
AWG24 (0.2 mm2) or more in diameter for the driver I/O
cable, and keep it as short as possible. Use a metal cable clamp
that contacts the shielded cable along its entire circumference
to secure/ground the power supply cable or I/O cable. Attach a
cable clamp as close to the end of the cable as possible, and
connect it as shown in the figure.
Cable clamp
Shielded cable
 Notes about installation and wiring
• Connect the motor, driver and any surrounding control system equipment directly to the grounding point so
as to prevent a potential difference from generating between grounds.
• When relays or electromagnetic switches are used together with the system, use mains filters and CR
circuits to suppress surges generated by them.
• Keep the cable lengths as short as possible. Do not wind or bundle extra lengths.
• Separate the power source cables such as motor cable and power supply cable from the signal cables, and
wire them apart by around 100 to 200 mm (3.94 to 7.87 in.). If a power source cable must cross over a
signal cable, wire them at right angles. Keep an appropriate distance between the AC input cable and output
cable of the mains filter.

5 Installation
－19－
 Example of motor and driver installation and wiring
Motor
Driver
Mains
filter
DC
power
supply
Motor cable [10 m (33 ft.)]
User controller
(Master)
PE PE
FG
FG
FG
Communication cable
[50 m (165 ft.)]
Cable
clamp
Grounded panel
Power supply
cable [2 m (6.6 ft.)]
(Shielded cable)
 Precautions about static electricity
Static electricity may cause the driver to malfunction or suffer damage. Be careful when handling the driver
with the power on.
Always use an insulated screwdriver when adjusting the motor current using the control on the driver.
Note Do not come close to or touch the driver while the power is on.

6 Connection
－20－
6 Connection
This chapter explains how to connect the driver, motor and power supply, provides connection examples, and
describes the I/O interface.
Our high-resolution motors, high-torque motors and geared motors (PK513P and PK523P) adopt the
connector coupling method. If you are using any of these motors, provide appropriate connectors and
leadwires. The connector-fitted leadwires and motor connector set is available as an option (sold separately).
For details, refer to p.62.
6.1 Connection block diagram
Host controller
RS-485
IN
OUT
MOTOR ENC
STOP
CCWLS
CWLS
HOMELS
TR+
TR
-
TR+
TR
-
TR+
TR
-
TR+
TR
-
CRD51P-RS4
(Driver 0)
CRD51P-RS4
(Driver 1)
24 VDC power supply
(for main power supply)
24 VDC power supply
(for input signals)
CRD51P-RS4
(Driver 31)
External sensor
Motor Encoder
+24 V
GND
+24 V
+5 V
GND
GND