Oriental motor DG Series User manual

HG-8032-4
Hollow Rotary Actuators
DG Series
OPERATING 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
1Introduction .................................. 2
2Safety precautions ....................... 5
3Precautions for use ...................... 8
4Preparation..................................11
4.1 Checking the product................... 11
4.2 Combinations of actuators and
drivers.......................................... 11
4.3 Names and functions of parts...... 12
5Installation .................................. 14
5.1 Location for installation................ 14
5.2 Installing the actuator ..................15
5.3 Securing the load to the output
table............................................. 16
5.4 Permissible moment load and
permissible thrust load.................17
5.5 Installing the driver ...................... 18
5.6 Installation of home-sensor set
(sold separately) .......................... 19
5.7 Installing and wiring in compliance
with EMC Directive ...................... 23
6Connection ................................. 26
6.1 Connection example....................26
6.2 Connecting to the power supply ..29
6.3 Connecting the actuator ..............30
6.4 Connecting control input/output...31
6.5 About control input/output............33
6.6 Timing chart .................................39
7Setting ........................................ 40
7.1 Resolution....................................40
7.2 Pulse-input mode.........................41
7.3 Operating current.........................42
7.4 Speed filter...................................43
8Protective functions .................... 44
8.1 Descriptions of protective functions
and numbers of LED blinks .........44
8.2 How to clear a protective
function ........................................45
9Inspection ................................... 46
10 Troubleshooting and remedial
actions ........................................ 47
11 Options (sold separately)............ 50

1 Introduction
－2－
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 page 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.
 Overview of the product
The DG series models are the hollow rotary actuator for high-precision positioning.
It uses the stepping motor, with a rotor position sensor, as its power unit.
(hereinafter referred to as “actuator”.)
 Standards and CE Marking
This product is recognized by UL and certified by CSA, and bears the CE Marking
(EMC Directive) in compliance with the EN Standards.
Model Applicable Standards Certification
Body
Standards
File No.
CE
Marking
Motor ASM34AK-D
ASM34BK-D
UL 60950
CSA C22.2 No.60950 E208200
UL 508C
CSA C22.2 No.14 E171462
Driver ASD10A-K UL 1950
CSA C22.2 No.950
UL
E208200
EMC
Directive
∗ Approval conditions for UL 60950 and UL 1950: Class III equipment, SELV circuit,
Pollution degree 2
∗ For unit models, Oriental Motor declares conformance with the EMC Directive individually.
• For Low Voltage Directive
This product is not subject to the EC’s Low Voltage Directive because its input
power supply voltage is 24 VDC. However, the user is advised to perform the
following steps when conducting product installation and connection.
• This product is designed for use within machinery, so it should be installed within
an enclosure.
• For the driver, use a power supply with reinforced insulation on its primary and
secondary sides.

1 Introduction
－3－
• For EMC Directive (89/336/EEC, 92/31/EEC)
This product has received EMC measures under the conditions specified in “Sample
installation and wiring for the DC power input specification” on page 25.
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 page
23.
 Hazardous substances
RoHS (Directive 2002/95/EC 27Jan.2003) compliant
 Main features
• Direct installation of a load axis
A table, arm or other load can be mounted directly on the output table. Thus, it
reduces the need for fastening members such as couplings and friction conclusion
tool, power-transmission members such as belt pulleys, and assembly man-hours.
• High-precision positioning without backlash
The non-backlash mechanism allows for highly precise positioning with 2´ (0.033°)
of lost motion.
• Hollow, large-diameter structure
The output table has a hollow structure with a diameter of 28 mm (1.10 in.). As a
result your equipment design can be simplified and installation space reduced by
routing tubes and wires through the hollow section.
• Quick response, high reliability
The stepping motor used in the DG series does not allow missteps, even
with a sudden change in load. The speed and amount of rotation are monitored
during operation, and when the possibility of a misstep is detected due to an
overload, etc., the response delay is corrected and operation continues within the
maximum operating torque range.

1 Introduction
－4－
 System configuration
Controllers with pulse output functions are needed to operate the DG series.
Controller
(programmable
controller and
others)
Control input
and output
Positioning
controller
Pulse output and
control input/output
Driver cable
(sold separately)
Driver
Actuator
Extension cable
(sold separately)
Control input and output
Home-sensor set
(sold separately)
DG series
Home-detection sensors are required when the return to mechanical home is
performed. For the application requiring home detection, the home-sensor set is
available as an option (sold separately). Refer to page 50.

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 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 or
injury.
• Provide a means to hold the moving parts in place for applications involving
vertical travel. The actuator loses holding torque when the power is shut off,
allowing the moving parts to fall and possibly cause injury or damage to
equipment.
• When the driver’s protective function is triggered, the motor will stop and lose its
holding torque, possibly causing injury or damage to equipment.
• When the driver’s protective function is triggered, first remove the cause and then
clear the protective function. Continuing the operation without determining the
cause of the problem may cause malfunction of the actuator, leading to injury or
damage to equipment.
Installation
• Install the actuator and driver in their enclosures in order to prevent injury.

2 Safety precautions
－6－
Connection
• Keep the driver’s power supply input voltage within the specified range to avoid
fire.
• For the driver’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.
• Connect the cables securely according to the wiring diagram in order to prevent
fire.
• Do not forcibly bend, pull or pitch the cable. Doing so may result in fire.
Operation
• Turn off the driver power in the event of a power failure, otherwise the actuator
may suddenly start when the power is restored and may cause injury or damage to
equipment.
• Do not turn the C.OFF (All windings off) input to “ON” while the actuator is
operating. The actuator will stop and lose its holding ability, which may result in
injury or damage to equipment.
Repair, disassembly and modification
• Do not disassemble or modify the actuator 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.
Caution
General
• Do not use the actuator and driver beyond their specifications, or injury or damage
to equipment may result.
• Keep your fingers and objects out of the openings in the actuator and driver, or
fire or injury may occur.
• Do not touch the actuator or driver’s heat radiating plate during operation or
immediately after stopping. The surfaces are hot and may cause a burn.
Transportation
• Do not hold the output table or motor cable. This may cause injury.
Installation
• Keep the area around the actuator and driver free of combustible materials in
order to prevent fire or a burn.
• To prevent the risk of damage to equipment, leave nothing around the actuator and
driver that would obstruct ventilation.
• Provide a cover over the rotating parts of the output table to prevent injury.

2 Safety precautions
－7－
Operation
• Use the actuator 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 actuator may start suddenly and cause injury or damage to
equipment.
• To prevent bodily injury, do not touch the rotating parts (output table) of the
actuator during operation.
• Before moving the output table directly (as in the case of manual positioning),
confirm that the driver C.OFF (All windings off) input is “ON” to prevent injury.
• The actuator’s surface temperature may exceed 70 °C (158 °F),
even under normal operating conditions. If an actuator 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 or injury.
Disposal
• To dispose of the actuator or driver, disassemble it into parts and components as
much as possible and dispose of individual parts/components as industrial waste.

3 Precautions for use
－8－
3 Precautions for use
This section covers limitations and requirements the user should consider when
using the DG series.
• Conduct the insulation resistance measurement or withstand voltage
test separately on the actuator and the driver.
Conducting the insulation resistance measurement or withstand voltage test with the
actuator and driver connected may result in injury or damage to equipment.
• Do not apply moment load and thrust load in excess of the specified
permissible limit.
Be sure to operate the actuator within the specified permissible limit of moment load
and thrust load. Operating it under an excessive moment load and thrust load may
damage the actuator bearings (ball bearing). See page 17 for details.
• Set the surface temperature of the actuators as follows:
When using the actuator, set its operating conditions (operating speed, operating
duty, etc.) so that the following temperatures are maintained.
When the optional home-sensor set is not used
Use the actuator at the ambient operating temperature of 0 to +50 °C (+32 to
+122 °F) and motor surface temperature of 100 °C (212 °F) or less. If the motor
surface temperature exceeds 100 °C (212 °F), the life of the bearing (ball bearing)
employed in the motor will be diminished to a significant extent.
When the optional home-sensor set is used
Use the actuator at the ambient operating temperature of 0 to +40 °C (+32 to
+104 °F) and motor surface temperature of 90 °C (194 °F) or less. If the motor
surface temperature exceeds 90 °C (194 °F), the temperatures of the
photomicrosensors employed as home sensors will rise and the life of the sensor will
be diminished to a significant extent.
• For use with a lift device, provide a means to prevent the moving part
from dropping.
When the driver’s protective function is actuated, the current to the actuator will be
cut off and the actuator will stop (i.e. the holding force will be lost). In a lift device
such as a lifter, provide a means to prevent the moving part from dropping.
• About maximum static torque at excitation
The maximum static torque at excitation indicates the output table’s holding torque
at standstill. The current-cutback function, which suppresses the increase in motor
temperature, maintains the maximum static torque at excitation to approximately
50% of the permissible torque. When selecting the actuator, consider the maximum
static torque at excitation in addition to the permissible torque.

3 Precautions for use
－9－
• About permissible speed
Use the actuator within the permissible speed. The permissible speed indicates the
permissible speed (r/min) of the output table. If the actuator is operated at speeds
exceeding the permissible speed, the life of the actuator may be diminished to a
significant extent.
• About the DG series with double motor shafts
The DG series includes models with double motor shafts. With these models, do not
apply load toque, overhung load or thrust load on the shaft opposite the motor’s
output shaft.
• M2.5 screw holes for home sensor installation
The M2.5 screw holes provided in the gear mechanism of the actuator is used for
installing the optional home-sensor set (sold separately). Do not use these holes for
any purpose other than installation of the home sensor.
• About the actuators screws
Do not loosen or remove the actuator screws. To do so may cause the positioning
accuracy to drop or result in actuator damage.
• About the rotating direction of the actuators
The CW and CCW inputs provided as driver input signals indicate the opposite
directions to the output table’s direction of rotation. When the CW input is active,
the output table rotates counterclockwise. When the CCW input is active, the output
table rotates clockwise.
Direction of
rotation when
CCW input is active
Direction of
rotation when
CW input is active
• About the hollow section
The hollow section rotates with the output table. When routing tubes or wires
through the hollow section, provide the means to prevent wear or wire breakage due
to contact with the interior walls of the hollow section.
• Preventing electrical noise
See 5.7 “Installing and wiring in compliance with EMC Directive” on page 23 for
measures with regard to noise.

3 Precautions for use
－10－
• About grease of actuators
On rare occasions, a small amount of grease may ooze out from the actuator. 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.

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
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.
• Actuator 1 unit
• Driver 1 unit
• Control input/output connector 1 set
• Power supply connector 5557-02R-210 (molex) 1 pc.
• Power supply connector crimp terminal 5556TL (molex) 2 pcs.
• Operating manual 1 copy
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.
Verify the model number of the purchased unit against the number shown on the
package label. Check the model number of the actuator and driver against the
number shown on the nameplate. The unit models and corresponding actuator/driver
combinations are listed below.
4.2 Combinations of actuators and drivers
Unit model Actuator model Driver model
DG60-ASAK DGM60-ASAK
DG60-ASBK DGM60-ASBK ASD10A-K

4 Preparation
－12－
4.3 Names and functions of parts
This section covers the names and functions of parts in the actuator and driver.
• Actuator
Positioning pin hole
Positioning pin hole
Motor cable
Motor parts
Gear mechanism
Output table
Pilot
Positioning pin hole
(four locations)
Two holes can be used as
positioning pin holes.
Home sensor mounting bracket
fixed screw holes (two locations)
Load mounting screw holes
(six locations)
Load mounting pin holes (two locations)
P. 1 5
P. 1 5
P. 1 9
P.16
P.16
P.15
P.30

4 Preparation
－13－
• Driver
•Power supply connector (CN1)
Connect the power supply connector. 24 VDC±10%
•Motor connector (CN2)
Connect the motor cable connector.
•Control input/output connectors (CN3)
Used to connect to the position control and others.
•OPERATION LED (Green)
Lit when the power is on.
•ALARM LED (Red)
This alarm blinks when a protective function is
triggered and the ALARM output turns "OFF."
•Current setting switch (SW1)
Sets the operating current. The factory setting is
"F: Driver maximum output-current value."
•Speed-filter select switch (SW2)
Sets the time constant for the filter that determines
response. The factory setting is "6: 1.20 ms."
•Mounting holes
(two locations)
•Mounting cutouts
(two locations)
•Function select switch (SW3)
Allows for the selection of
actuator resolution and
pulse input mode.
䂹Resolution select switches
Use these two switches to select the actuator resolution.
The factory setting is "1000: 18000 P/R" and
"×1: Multiplier 1." Be sure to switch to "×1" when the
resolution switching input "CN3 Pin No.31, 32: ×10" is used.
䂹Pulse-input mode select switch
Allows for the selection of 2-pulse input mode or 1-pulse
input mode in accordance with the pulse output mode
in the positioning controller. The factory setting is
"2P: 2-Pulse Input Mode."
P.40
P.41
P.43
P.42
P.44
P.30
P.29
P.31

5 Installation
－14－
5 Installation
This section covers the environment and method of installing the actuator and driver,
along with load installation.
Also covered in this section are the installation and wiring methods that are in
compliance with the relevant EMC Directives.
5.1 Location for installation
The actuator 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
When the home-sensor set is not used
Actuator: 0 to +50 °C (+32 to +122 °F) (non-freezing)
Driver: 0 to +50 °C (+32 to +122 °F) (non-freezing)
When the home-sensor set is used
Actuator: 0 to +40 °C (+32 to +104 °F) (non-freezing)
Driver: 0 to +50 °C (+32 to +122 °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 Installation
－15－
5.2 Installing the actuator

Installation direction
The actuator can be installed in any direction.
 Installation method
Affix the actuator to the mounting plate with screws (M4) using the four mounting
holes.
Of the four mounting holes, two (the diagonal pair) have a size of Ø5 mm
(Ø0.196 9 in.). They can be combined with positioning pins to position the
actuator relative to the equipment.
Bolt size Tightening torque Mounting plate thickness and material
M4 2 N·m (280 oz-in) Iron/aluminum plate 5 mm (0.197 in.) or thicker
Note • Do not loosen or remove the actuator screws. To do so may cause the
positioning accuracy to drop or result in actuator damage.
• Do not diagonally insert or forcibly assemble the actuator into the holes
in the mounting plate. The pilot section may be scratched, resulting in
damage to the actuator.
• Be sure the positioning pins are secured to the mounting plate. Driving
the pins into the actuator may damage the actuator due to impact.
• When installing from above the mounting plate
Provide a motor relief hole in the mounting plate. The figure illustrates the use of
two mounting holes for accurate positioning in combination with the positioning
pins. All four mounting holes can be used to secure the actuator to the mounting
plate with screws.
Screw (M4)
Spring washer
Mounting hole
Positioning pin
Mounting plate
+ 0.012
0
+ 0.000 5
0

5 Installation
－16－
• When installing from below the mounting plate
Fit the pilot section of the actuator into the pilot-receiving cutout.
Screw (M4)
Spring
washer
Mounting
hole
Mounting plate
Note When the optional home-sensor set (sold separately) is used, the actuator
cannot be installed from below the mounting plate.
5.3 Securing the load to the output table
Install the load with screws using the load-mounting screw holes (six locations) in
the output table. The output table has two load-mounting pin holes of Ø5 mm
(Ø0.196 9 in.) in diameter and 6 mm (0.236 in.) in depth. These holes can be
combined with the positioning pins for accurate positioning of the load.
Bolt size Tightening torque Effective depth of
bolt Material of load
M3 1 N·m (142 oz-in) 8 mm (0.315 in.) Iron or Aluminum
Note Be sure the positioning pins are secured to the load. Driving the pins into
the output table may damage the bearing due to impact or an excessive
moment of inertia.
+ 0.012
0
+ 0.000 5
0

5 Installation
－17－
5.4 Permissible moment load and permissible thrust
load
The permissible moment load and permissible thrust load must not exceed the values
shown in the table below.
Permissible moment load Permissible thrust load
2 N·m (280 oz-in) 100 N (22 lb.)
The moment load and thrust load can be calculated using the formulas below:
Example 1: When external force F is applied at distance L from the
center of the output table
Thrust load [N (lb.)] Fs = F + Mass of load × g (acceleration of gravity)
Moment load [N·m (oz-in)] M = F × L
F
L
Example 2: When external forces F1and F2are applied at distance L
from the mounting surface of the output table
Thrust load [N (lb.)] Fs = F1+ Jig and mass of load × g (acceleration of gravity)
Moment load [N·m (oz-in)] M = F2× (L + 0.01)
F 1
L
F 2

5 Installation
－18－
5.5 Installing the driver

Installation direction
Since the driver remains in operation even when the actuator is at rest, and therefore
generates a larger amount of heat than other control system equipment, provide
ventilation near the driver.
Install the driver on a flat metal plate having excellent vibration resistance and heat
conductivity.
Install the driver in vertical or horizontal orientation by securing it with two bolts
(M3, not supplied) through the driver’s mounting holes or mounting cutouts. Leave
no gap between the driver and metal plate. Any other installation method will reduce
the driver’s ability to dissipate heat.
 Installation method
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.
Note • Install the driver in an enclosure.
• Do not install any equipment that generates a large amount of heat near
the driver.
• Check ventilation if the ambient temperature of the driver exceeds 40 °C
(104 °F).
• Horizontal installation
Screw (M3)
Screw (M3)
•When using mounting holes •When using mounting cutouts

5 Installation
－19－
• Vertical installation
Screw (M3)
Screw (M3)
•When using mounting holes •When using mounting cutouts
5.6 Installation of home-sensor set (sold separately)

Home position sensor setting details
Home-sensor set (PADG-SA: NPN output, PADG-SAY: PNP output) of the
following parts:
Photomicrosensor...................................................................................1 pc.
EE-SX672A (Supplied with PADG-SA, OMRON Corporation)
EE-SX672R (Supplied with PADG-SAY, OMRON Corporation)
Connector with cables ............................................................................1 pc.
EE-1010-R (OMRON Corporation) length 2 m (6.6 ft.)
Mounting bracket for sensor...................................................................1 pc.
Shield plate.............................................................................................1 pc.
Screw (M3, Spring washer, Washer) ......................................................2 pcs.
Hexagonal socket head screw (M2.5).....................................................4 pcs.
 Installation method
Install the home-sensor set (PADG-SA or PADG-SAY) to the actuator by following
the procedure below
Note • Do not install the home-sensor set while the power is supplied. To do so
may result in injury or equipment damage.
• Be sure to install the sensor and shield plate in the direction shown in
the figure. Installing them in the wrong direction may disable sensor
detection or cause the shield plate to contact the sensor and result in
sensor damage.
• When installing the sensor bracket and shield plate to the actuator, be
sure to use the supplied screws.

5 Installation
－20－
1. Affix the sensor to the sensor bracket
using the supplied screws (M3 × 2).
Tightening torque: 0.6 N·m (85 oz-in)
Screw (M3)
2. Affix the bracket and sensor assembly
to the gear mechanism of the actuator
using the supplied hexagonal socket
head screws (M2.5 × 2).
Tightening torque: 0.5 N·m (71 oz-in)
Hexagonal
socket head
screw (M2.5)
Note Do not use the M2.5 screw holes to install the home sensor, as provided
in the actuator, for any purpose other than installation of the home-sensor
set.
3. Plug the connector with cable into the
sensor.
Firmly insert the sensor connector by
aligning its orientation with the connector.
Connecto
r
Sensor
Note • Do not install or remove the connector with cable while the power is
being supplied. Doing so may damage the sensor.
• When removing the connector with a cable, do not pull it by the cables.
Pull out the connector while pressing it firmly from the top and bottom.