Oriental motor DG Series User manual

HG-8034-6
Hollow Rotary Actuators
DG Series
DG85, DG130, DG200
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 ..............................4
3Precautions for use.............................6
4Preparation .........................................9
4.1 Checking the product .............................. 9
4.2 How to identify the product model........... 9
4.3 Combinations of actuators and drivers.. 10
4.4 Names and functions of parts................ 10
5Installation......................................... 12
5.1 Location for installation.......................... 12
5.2 Installing the actuator ............................ 12
5.3 Securing the load to the output table .... 13
5.4 Permissible moment load and
permissible thrust load .......................... 14
5.5 Installing the driver ................................ 14
5.6 Installation of home sensor set
(sold separately).................................... 17
5.7 Installing and wiring in compliance with
EMC Directive ....................................... 19
6Connection........................................22
6.1 Connecting the actuator ........................ 22
6.2 Connecting the electromagnetic brake
actuator ................................................. 23
6.3 Connection example for the control
input/output............................................ 24
6.4 Connecting to the power supply............ 27
6.5 Grounding the actuator and driver......... 28
6.6 Connecting control input/output............. 29
6.7 About control input/output ..................... 31
6.8 Operating the electromagnetic brake .... 36
6.9 Timing chart ........................................... 37
7Setting...............................................38
7.1 Resolution.............................................. 38
7.2 Pulse input modes................................. 39
7.3 Operating current................................... 39
7.4 Speed filter............................................. 40
8Protective functions...........................41
8.1 Descriptions of protective functions and
numbers of LED blinks .......................... 41
8.2 How to clear a protective function ......... 41
9Inspection .........................................42
10 Troubleshooting and remedial
actions ..............................................43
11 Main specifications............................45
12 Options (sold separately) ..................46

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 p.4.
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 (Low Voltage Directive
and EMC Directive) in compliance with the EN Standards.
• Applicable Standards
∗1 For UL standard (UL 508C), the product is recognized for the condition of Maximum Surrounding Air
Temperature 50 °C (122 °F).
∗2 DG85R-ASAA (Motor model: ASM46AA-D), DG85R-ASBA (Motor model: ASM46BA-D) is not recognized
by CSA Standards.
The names of products certified to conform with relevant standards are represented by applicable unit model
motor and driver part numbers.
• Installation conditions (EN Standard)
Actuator and driver are to be used as a component within other equipment.
Overvoltage category: II
Pollution degree: Class 2
Protection against electric shock: Class I
• For Low Voltage Directive
The product is a type with machinery incorporated, so it shall 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 actuator and driver.
• EMC Directive
This product has received EMC measures under the conditions specified in “Example of actuator and driver
installation and wiring” on p.21.
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.19.

Hazardous substances
The products do not contain the substances exceeding the restriction values of RoHS Directive (2011/65/EU).
Applicable Standards Certification Body Standards File No.
UL 1004-1, UL 1004-2, UL 1004-6
CSA C22.2 No.100∗2
CSA C22.2 No.77∗2UL E64199
Motor
EN 60950-1, EN 60034-1
EN 60034-5, IEC 60664-1 − −
UL 508C∗1
CSA C22.2 No.14 UL E171462
DriverEN 60950-1
EN 50178 −−

1 Introduction
−3−

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.
• A cross roller bearing for the output table
The high rigidity cross roller bearing is integrated with the output table to increase the permissible thrust load
and permissible moment load.
• High precision positioning without backlash
The non-backlash mechanism allows for highly precise positioning with ±15˝ (0.004°) repetitive positioning
accuracy and 2´ (0.033°) of lost motion.
• Hollow, large diameter structure
Hollow section of the output table:
Unit model Bore diameter [mm (in.)]
DG85 33 (1.30)
DG130 62 (2.44)
DG200 100 (3.94)
As a result your equipment design can be simplified and installation space reduced by routing tubes and wires
through the hollow section. (The hollow section does not rotate.)
• Quick response, high reliability
The 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.

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)
DG series
Control input and output
Driver
Actuator
Extension cable (sold separately)
Home-sensor set (sold separately)
• Extension cables are available in two types: the standard type and the electromagnetic brake type. If you
are using an electromagnetic brake actuator, be sure to connect the actuator to the driver using an optional
extension cable for the electromagnetic brake. The electromagnetic brake will not function if the motor
cable is connected directly to the driver. Also, provide separate power supplies for the control input/output
and the electromagnetic brake.
• The DG series is available in three input power supply: single-phase 100-115 V, single-phase 200-230 V
and three-phase 200-230 V (DG85: single-phase 100-115 V only).
• Home detection sensors are required when the return to mechanical home is performed using the EMP400
series. Home sensor set is available as an option (sold separately). Refer to p.46.

2 Safety precautions
−4−
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 actuator
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 actuator’s built-in electromagnetic brake mechanism for stopping or for safety purposes.
Using it for purposes other than holding the moving parts and actuator in position may cause injury or
damage to equipment.
• When the driver protection function is triggered, the actuator will stop and lose its holding torque, possibly
causing injury or damage to equipment.
• When the driver’s protection function is triggered, first remove the cause and then clear the protection
function. Continuing the operation without removing the cause of the problem may cause malfunction of
the actuator, leading to injury or damage to equipment.
Installation
• To prevent the risk of electric shock, use the actuator and driver for class I equipment only.
• Install the actuator and driver in their enclosures in order to prevent electric shock or injury.
• Install the actuator and driver so as to avoid contact with hands, or ground them to prevent the risk of
electric shock.
Connection
• Keep the driver’s input power voltage within the specified range to avoid fire and electric shock.
• Connect the cables securely according to the wiring diagram in order to prevent fire and electric shock.
• Do not forcibly bend, pull or pinch the cable. Doing so may fire and electric shock.
• To prevent electric shock, be sure to install the terminal cover (supplied) over the driver’s power supply
terminals after making connections.
Operation
• Turn off the driver power in the event of a power failure, or the 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.

2 Safety precautions
−5−
Maintenance and inspection
• Do not touch the connection terminals of the driver immediately after the power is turned off (for a period
of 10 seconds). The residual voltage may cause electric shock.
Repair, disassembly and modification
• Do not disassemble or modify the actuator 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 actuator 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 actuator and driver, or fire, electric shock or injury
may result.
• Do not touch the actuator or driver during operation or immediately after stopping. The surfaces are hot and
may cause a skin burn(s).
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 skin
burn(s).
• 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.
Operation
• Use an 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 actuator 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 a motor is accessible during operation, post a warning label
shown in the figure in a conspicuous position to prevent the risk of skin burn(s).
Warning label
• For the power supply to the control input/output, use a DC power supply with reinforced insulation on the
primary side, and provide separate power supplies for the control input/output and the electromagnetic
brake. Failure to do so may result in electric shock.
• 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.
• To prevent electric shock, use only an insulated screwdriver to adjust the internal switches.
Maintenance and inspection
• To prevent the risk of electric shock, do not touch the terminals while measuring the insulation resistance or
conducting a voltage resistance test.
Disposal
• 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
−6−
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.
• Operate the actuator below the permissible torque.
Operating the DG series at torque outside the permissible range or keeping the output table locked may
damage the gear mechanism. Be sure to operate the actuator below the permissible torque.
• 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 (cross roller
bearing). See p.14 for details.
• Do not make an impact with the actuator.
Do not drop the actuator. Also, do not strike or hammer the motor unit and mechanical unit. Doing so may
cause the positioning accuracy decrease, the rotor position detection sensor damage and the actuator service
life reduction.
• Set the surface temperature of the actuators as follows:
The driver has an overheat protection function, but the actuator has no such feature. When using the actuator,
set its operating conditions (operating speed, operating duty, etc.) so that the following temperatures are
maintained.
When the home sensor set (sold separately) 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 home sensor set (sold separately) 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.
• Use an electromagnetic brake type for an application involving up/down travel.
When the actuator is used in an application involving up/down travel, such as a lifter, use an electromagnetic
brake type to hold the load in position. To hold the load in position, apply the electromagnetic brake only
after the actuator has stopped. Do not use the brake to bring the moving actuator to a halt. Repeated braking
for such a purpose will wear the brake hub excessively, causing its holding ability to drop.
Since the electromagnetic brake is of the non-excitation type, it can also be used to hold the load in position
upon the occurrence of a power failure. However, this is not a secure means of holding the load. Do not use
the electromagnetic brake as a safety brake.
When the driver protection function is triggered, the actuator 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 ALARM output turns OFF.
• Connecting an electromagnetic brake actuator
Provide separate power supplies for the control input/output and the electromagnetic brake.
Always use an optional extension cable for the electromagnetic brake type when connecting the actuator to
the driver. Connect the two lead wires for the electromagnetic brake, which extend from the extension cable,
to the DC power supply while ensuring the correct polarities of the leads.
Be sure to connect the supplied non-polarized varistor in order to protect the switch contacts and prevent
noise.

3 Precautions for use
−7−
• M2.5 screw holes for home sensor installation
The M2.5 screw holes provided in the gear mechanism and output table side of the actuator is used for
installing the home sensor set (sold separately). Do not use these holes for any purpose other than installation
of the home sensor.
• 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 below permissible torque. When selecting the actuator, consider the maximum static torque at
excitation in addition to the permissible torque.
Also, the holding torque of the output table becomes zero in the non-excitation state. When the load is held in
position using the electromagnetic brake, the holding torque corresponds to the static friction torque of the
electromagnetic brake. See p.45 for details
• 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.
• DG series with double motor shafts
The DG series includes models with double motor shafts. With these models, do not apply load torque,
overhung load or thrust load on the shaft opposite the motor’s output shaft.
• 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.
• 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 CW input is active
Direction of rotation
when CCW input is active
• Hollow section
If the tube or wire routed through the hollow section is allowed to turn with the output table, provide a means
to prevent friction, and consequential breakage, due to contact between the tube/wire and the inner walls of
the hollow section.
• Protective Earth Terminal
The actuator come with a M4 Protective Earth Terminal. Do not use this Protective Earth Terminal for
purposes other than grounding.
• Install the driver in a vertical orientation.
The driver’s heat dissipation function is designed according to vertical orientation. Installing the driver in any
other orientation may shorten the life of electronic parts due to temperature increases within the driver.
• Preventing leakage current
Stray capacitance exists between the driver’s current carrying line and other current carrying lines, the earth
and the motor, respectively. A high frequency current may leak out through such capacitance, having a
detrimental effect on the surrounding equipment. The actual leakage current depends on the driver’s
switching frequency, the length of wiring between the driver and motor, and so on.
When providing a leakage current breaker, use the following products, for instance, which have high
frequency signal protection:
Mitsubishi Electric Corporation: NV series
Fuji Electric FA Components & Systems Co., Ltd.: EG and SG series

3 Precautions for use
−8−
• Preventing electrical noise
See 5.7 “Installing and wiring in compliance with EMC Directive” on p.19 for measures with regard to noise.
• 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
−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.
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 on p.10.
• Actuator 1 unit
Illustration shows the
DG130R-ASAA.
• Operating manual
(this manual) 1 copy
• Driver 1 unit
• Driver mounting brackets
2 pcs.
• Screws for driver
mounting brackets
(M3) 4 pcs.
• Control input/output
connector 1 set
• Varistor 1 pc.
(supplied with electromagnetic brake actuator)
4.2 How to identify the product model
DG 130 R - AS A A
Power input
A: Single-phase 100-115 V
C: Single-phase 200-230 V
S: Three-phase 200-230 V
A: Single shaft
B: Double shaft
M: With electromagnetic brake
Output table support bearing type
R: Cross roller bearing
Frame size
85: 85 mm (3.35 in.) square
130: 130 mm (5.12 in.) square
200: 200 mm (7.87 in.) square
Series name DG series
Motor parts series name

4 Preparation
−10−
4.3 Combinations of actuators and drivers
Unit model Actuator model Driver model
DG85R-ASAA DGM85R-ASAA
DG85R-ASBA DGM85R-ASBA ASD13B-A
DG130R-ASAA DGM130R-ASAA
DG130R-ASBA DGM130R-ASBA
DG130R-ASMA DGM130R-ASMA
ASD24A-A
DG130R-ASAC DGM130R-ASAC
DG130R-ASBC DGM130R-ASBC
DG130R-ASMC DGM130R-ASMC
ASD12A-C
DG130R-ASAS DGM130R-ASAC
DG130R-ASBS DGM130R-ASBC
DG130R-ASMS DGM130R-ASMC
ASD12A-S
DG200R-ASAA DGM200R-ASAA
DG200R-ASBA DGM200R-ASBA
DG200R-ASMA DGM200R-ASMA
ASD30E-A
DG200R-ASAC DGM200R-ASAC
DG200R-ASBC DGM200R-ASBC
DG200R-ASMC DGM200R-ASMC
ASD20A-C
DG200R-ASAS DGM200R-ASAC
DG200R-ASBS DGM200R-ASBC
DG200R-ASMS DGM200R-ASMC
ASD20A-S
4.4 Names and functions of parts
This section covers the names and functions of parts in the actuator and driver.

Actuator
Illustration shows the DG130.
Output table
Load mounting pin
holes (two locations)
Load mounting screw
holes (six locations)
Positioning pin holes
(four locations)
Mounting holes
(four locations)
Protective Earth Terminal
Used for grounding via a
grounding wire of AWG18
(0.75 mm
2
) or more.
Motor part Motor cable
Home-sensor mounting bracket
fixed screw holes
(two locations)
Gear mechanism
Shield plate fixed
screw holes
(two locations)
P.18
P.17
P. 1 3
P.13
P.12
P.12
P.28
P.22

4 Preparation
−11−

Driver
Front side of driver
Resolution select switches
Use these two switches to select the actuator resolution.
1000/500: Switches actuator resolution between
18000 P/R "0.02°/pulse" or 9000 P/R "0.04°/pulse."
×1/×10: Switches motor resolution between multipliers 1
and 10 of the value set by the 1000/500 switch.
The factory setting is "1000: 18000 P/R" and
"×1: Multiplier 1." Be sure to switch to "×1" when the
resolution switching input "CN4 Pin No. 31, 32: ×10" is used.
Not used (CN1)
Not used (CN3)
Motor connector (CN2)
Connect the motor cable's
connector.
Control input/output connector (CN4)
Used to connect to the actuator-positioning control
and others.
Power supply terminal
Connect the power supply
cable.
OPERATION (green)
Lit when the power is on.
Current setting switch
Sets the motor's operating current. If there is extra torque,
the current may be set to a lower level in order to suppress
increases in motor temperature. The factory setting is
"F: Driver's maximum output-current value."
Protective Earth Terminal
Used for grounding via a
grounding wire of AWG18
(0.75 mm
2
) or more.
ALARM (red)
This alarm blinks when a protective function is triggered and
the ALARM output turns OFF.
Count the number of blinks to ascertain the cause of
triggering of the protective function.
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.
Speed filter select switch
Sets the time constant for the filter that determines
actuator response.
A longer time constant will smooth out the actuator's
rotation but render the setting time longer at motor
standstill.
The factory setting is "6".
Rear side of driver
Mounting holes for the
driver mounting brackets
(M3, four locations) Mounting holes for the DIN rail
mounting plate
(M3, three locations)
P.22
P.27
P.28
P.41, 44
P.38
P.39
P. 3 9
P.40
P.28
P.15
P. 1 6

5 Installation
−12−
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 Directive.
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 (rain, 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 actuator

Installation direction
The actuator can be installed in any direction.

How to install the actuator
Install the actuator onto the mounting plate from
the direction shown on p.13. Use the four
mounting holes to affix the actuator to the
mounting plate with screws. The positioning pin
holes are provided in the mounting surface of the
actuator. Use these positioning holes to locate the
actuator with respect to the equipment. Provide a
motor relief hole in the mounting plate.
Screw
Spring
washer
Mounting plate
Positioning
pin
Mounting
hole
Orientation
Unit model Bolt size Tightening torque
[N·m (lb-in)] Mounting plate thickness and material
DG85 M6 6 (53) Iron/Aluminum plate 8 mm (0.315 in.) or thicker
DG130 M8 13 (115) Iron/Aluminum plate 10 mm (0.394 in.) or thicker
DG200 M10 25 (220) Iron/Aluminum plate 15 mm (0.591 in.) or thicker

5 Installation
−13−
Positioning pin holes (as viewed from the actuator’s installation surface)
DG85, DG130
Pin
hole
Pin
hole
DG200
Pin
hole
Pin hole
(elongated
hole)
Unit model Pin hole diameter
[mm (in.)] Pin hole depth [mm (in.)] Number of pin hole
DG85 10.5 (0.413), through hole
DG130
Ø5
+0.012
0
(Ø0.1969
+0.0005
0
) 12 (0.472), through hole 2
DG200 Ø8
+0.015
0
(Ø0.3150
+0.0006
0
) 8 (0.315), blind hole
2 [one of those is an elongated
hole of 8
+0.015
0
mm (0.3150
+0.0006
0
in.)
wide]
Note • Do not loosen or remove the actuator screws. To do so may cause the positioning
accuracy to drop or result in actuator damage.
• Be sure the positioning pins are secured to the mounting plate. Driving the pins into the
actuator may damage the actuator due to impact.
• The actuator cannot be installed from below the mounting plate.
• Do not drop the actuator. Also, do not strike or hammer the motor unit and mechanical
unit. Doing so may cause the positioning accuracy decrease, the rotor position
detection sensor damage and the actuator service life reduction.
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 the load mounting pin holes.
These holes can be combined with the positioning pins for accurate positioning of the load.
Unit model Bolt size Tightening torque
[N·m (oz-in)]
Effective depth of bolt
[mm (in.)] Material of load
DG85 M4 2 (280)
DG130 M5 3.5 (490) 8 (0.315)
DG200 M6 6 (850) 10 (0.394)
Iron or aluminum
Unit model Pin hole diameter
[mm (in.)]
Pin hole depth
[mm (in.)] Number of pin hole
DG85
DG130
Ø5
+0.012
0
(Ø0.1969
+0.0005
0
) 6 (0.236)
DG200 Ø8
+0.015
0
(Ø0.3150
+0.0006
0
) 8 (0.315)
2
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.

5 Installation
−14−
5.4 Permissible moment load and permissible thrust load
The moment load and thrust load must not exceed the values shown in the table below.
Unit model Permissible thrust load
[N (lb.)]
Permissible moment load
[N·m (lb-in)]
DG85 500 (112.5) 10 (88)
DG130 2000 (450) 50 (440)
DG200 4000 (900) 100 (880)
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 (lb-in)] M = F × L
FL
Example 2: When external forces F1 and F2 are 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 (lb-in)] M = F2 × (L + a)
Unit model a [m (in.)]
DG85 0.02 (0.79)
DG130 0.03 (1.18)
DG200 0.04 (1.57)
F 1
L
F 2
5.5 Installing the driver

Installation direction
The driver is designed so that heat is dissipated via air
convection and conduction through the enclosure.
When installing the driver in an enclosure, it must be placed
in perpendicular (vertical) orientation using a DIN rail or
driver mounting brackets.
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 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 50 °C
(122 °F).
20 mm (0.79 in.)
or more
25 mm
(0.98 in.)
or more
25 mm
(0.98 in.)
180 mm (7.09 in.)

5 Installation
−15−

How to install the driver
Install the driver on a flat metal plate having excellent vibration resistance and heat conductivity.
In the presence of a great amount of vibration, do not use a DIN rail. Screw down the driver directly through
the use of driver mounting brackets.
If a DIN rail is to be used, use a DIN rail mounting plate (sold separately).
• Using driver mounting brackets
1. Attach the driver mounting brackets to the
four mounting holes provided in the back
of the driver, using optional screws for the
driver mounting brackets (M3, four pcs.).
Tightening torque: 0.5 to 0.6 N·m
(71 to 85 oz-in)
Screws for driver mounting
brackets M3 (provided)
Mounting brackets (two pcs.)
Mounting holes for
the driver mounting
brackets
(M3, four locations)
2. Install the driver by securing it with four
bolts (M4, not supplied) through the four
mounting holes provided. Leave no gap
between the driver and plate.
M4 (not supplied)
Note • Do not use the mounting holes (M3, four locations) for the driver mounting brackets
provided on the back of the driver for any purpose other than securing the driver
mounting brackets.
• Be sure to use the supplied screws when securing the driver mounting brackets.

5 Installation
−16−
• Mounting to DIN rail
Use a DIN rail 35 mm (1.38 in.) wide to mount the driver.
1. Attach the DIN rail mounting plate
(model number: PADP01) to the
back of the driver using the screws
supplied with the plate.
Tightening torque: 0.3 to 0.4 N·m
(42 to 56 oz-in)
DIN rail
mounting plate
Mounting
screw (M3)
Mounting holes for the
DIN rail mounting plate
(M3, three locations)
2. Pull the DIN lever down, engage
the upper hooks of the DIN rail
mounting plate over the DIN rail,
and push the DIN lever until it
locks in place.
DIN rail
DIN lever
Note • Do not use the mounting holes (M3, three locations) for the DIN rail mounting plate
provided in the back of the driver 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 (0.12 in.) or more through the surface of the driver
may cause damage to the driver.
• Use an end plate (not supplied) to secure the driver.
End plate
• Removing from DIN rail
Pull the DIN lever down until it locks using a flat blade parallel tip
type screwdriver, and lift the bottom of the driver to remove it from
the rail.
Note Use force of about 10 to 20 N (2.2 to 4.5 lb.) to pull
the DIN lever to lock it. Excessive force may damage
the DIN lever.

5 Installation
−17−
5.6 Installation of home sensor set (sold separately)

Home position sensor setting details
Home sensor set (PADG-SB: NPN output, PADG-SBY: PNP output) of the following parts:
• Photomicrosensor ......................................................1 pc.
EE-SX673A (Supplied with PADG-SB, OMRON Corporation)
EE-SX673R (Supplied with PADG-SBY, 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 the sensor
Install the home sensor set (PADG-SB or PADG-SBY) 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.
1. Affix the sensor to the sensor bracket
using the supplied screws (M3 × 2).
Screw holes are provided in two locations on
the right and left sides of the sensor bracket.
The sensor can be installed on either side.
However, ensure a line of sight between the
installed sensor and the indicator lamp.
Tightening torque: 0.6 N·m (85 oz-in)
Screw
M3 × 6 mm
(0.236 in.)
Sensor
Sensor bracket
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)
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.
Hexagonal socket
head screw
M2.5 × 5 mm (0.197 in.)
Illustration shows the DG130.
3. Plug the connector with cable into the
sensor.
Firmly insert the sensor connector by
aligning its orientation with the connector.
ConnectorSensor

5 Installation
−18−
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.
• Wire the robot cable in such a way that it will not contact the actuator.
4. Affix the shield plate to the output table
using the supplied hexagonal socket head
screws (M2.5 × 2).
Tightening torque: 0.5 N·m (71 oz-in)
Shield plate
Hexagonal socket
head screw
M2.5 × 5 mm (0.197 in.)
Note • The photomicrosensor is designed for use within equipment and therefore has no
special means of protection against disturbances from external supplys of light. If the
actuator is to be used under an incandescent lamp or in conditions that are subject to
disturbances from external light, provide the means to prevent such interference.
• Use the sensors after confirming that there is no looseness, play or other abnormality
due to vibration, impact, etc.
• Place the power cables such as the motor and power supply cables as far apart as
possible from the signal cables. If they have to cross, cross them at a right angle.
• To prevent sensor deterioration due to heat, set the operating conditions (speed and
operating duty) of the actuator in such a way that the ambient operating temperature
remains at 0 to +40 °C (+32 to +104 °F) and the motor surface temperature remains at
90 °C (194 °F) or less.
• To prevent malfunctioning due to the adhesion of dust on the sensors, clean and/or
replace the sensors regularly.
• Use a common GND for the sensor power and user’s controller power. Any difference in
GND potential will result in a sensor malfunction.

Sensor wire connection
• Connection diagram when the home sensor set PADG-SB is used.
The power supply must be 5 VDC or more and 24 VDC or less. The current must be 100 mA or less.
If the current exceeds 100 mA, connect an external resistor R0.
User controller
DC input
HOMELS
GND
0 V
Photomicrosensor (NPN)
HOMELS input
Power supply for sensor
+5 to +24 V
+5 to +24 V
R
0
Pink
Brown
Black
Blue
∗ The pink lead is connected to the brown lead if the sensor logic is N.C. (normally closed).
If the sensor logic is N.O. (normally open), the pink lead is not connected.

5 Installation
−19−
• Connection diagram when the home sensor set PADG-SBY is used
The power supply must be 5 VDC or more and 24 VDC or less. The current must be 50 mA or less. If the
current exceeds 50 mA, connect an external resistor R0.
User controller
DC input
0 V0 V
HOMELS
GND
0 V
Photomicrosensor (PNP)
HOMELS input
Power supply for sensor
+5 to +24 V
R
0
Pink
Brown
Black
Blue
∗ The pink lead is connected to the brown lead if the sensor logic is N.C. (normally closed).
If the sensor logic is N.O. (normally open), the pink lead is not connected.
5.7 Installing and wiring in compliance with EMC Directive

General
EMC Directive
The DG 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 actuator and driver are the basic methods that would effectively
allow the customer’s equipment to be compliant with the EMC Directive.
The compliance of the final machinery with the EMC Directive will depend on such factors as the
configuration, wiring, layout and risk involved in the control system equipment and electrical parts. It
therefore must be verified through EMC measures by the customer of the machinery.
Applicable Standards

Installing and wiring in compliance with EMC Directive
Effective measures must be taken against the EMI that the DG series may give to adjacent control system
equipment, as well as the EMS of the DG series itself, in order to prevent a serious functional impediment in
the machinery.
The use of the following installation and wiring methods will enable the DG series to be compliant with the
EMC Directive (the aforementioned compliance standards).
• Connecting mains filter for power supply line
Connect a mains filter in the AC input line to prevent the noise generated in the driver from propagating
externally through the power supply line.
Use a mains filter or equivalent as below table.

Manufacturer Single-phase 100-115 V
Single-phase 200-230 V
Three-phase 200-230 V

Schaffner EMC FN2070-10-06 FN3025HP-10-71
SOSHIN ELECTRIC CO.,LTD HF2010A-UPF HF-3010C-SZA
EMI EN 61000-6-4
EN 61800-3
EN 55011 group 1 class A
EMS
EN 61000-3-2
EN 61000-3-3
EN 61000-6-2
EN 61800-3

5 Installation
−20−
Install the mains filter as close to the driver as possible, and use cable clamps and other means to secure the
input and output cables firmly to the surface of the enclosure. Connect the ground terminal of the mains filter
to the grounding point, using as thick and short a wire as possible.
Do not place the AC input cable (AWG18: 0.75 mm2 or more) parallel with the mains filter output cable
(AWG18: 0.75 mm2 or more). Parallel placement will reduce mains filter effectiveness if the enclosure’s
internal noise is directly coupled to the power supply cable by means of stray capacitance.
• Connecting surge arrester
Use a surge arrester as below table.
Manufacturer Single-phase 100-115 V Single-phase 200-230 V
OKAYA ELECTRIC INDUSTRIES CO., LTD. R·A·V-781BWZ-4, R·C·M-601BQZ-4
PHOENIX CONTACT GmbH & Co. KG PT2-PE/S120AC-ST PT2-PE/S230AC-ST
Note When measuring dielectric strength of the equipment, be sure to remove the surge
arrester, or the surge arrester may be damaged.
• Power supply for electromagnetic brake (for electromagnetic brake type only)
Use a DC power supply that complies with the EMC Directive for an external DC power supply of the
electromagnetic brake. Use a shielded cable for wiring, and keep the wiring and grounding as short as
possible. Refer to “Wiring the signal cable” for details on how to ground the shielded cable.
• How to ground
The cable used to ground the driver, actuator and mains filter must be as thick and short as possible so that no
potential difference is generated. Choose a large, thick and uniformly conductive surface for the grounding
point.
How to ground the driver
Be sure to connect the Protective Earth Terminal located on the driver side to the ground.
Refer to p.28 for the way to ground the driver.
How to ground the actuator
Connect to the ground the Protective Earth Terminal on the gear mechanism for the DG85/DG130, or on the
motor for the DG200.
Refer to p.28 for the way to ground the actuator.
• Wiring the signal cable
Use a shielded cable of AWG24 (0.2 mm2) or more in diameter for the driver signal cable, and keep it as short
as possible. Contact the nearest sales office for a shielded cable (sold separately).
To ground a shielded cable, use a metal clamp or
similar device that will maintain contact with the
entire circumference of the shielded 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 actuator, driver and other peripheral control equipment directly to the grounding point so as to
prevent a potential difference from developing 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 cables as short as possible without coiling and bundling extra lengths.
• Place the power cables such as the motor and power supply cables as far apart [100 to 200 mm (3.94 to
7.87 in.)] as possible from the signal cables. If they have to cross, cross them at a right angle. Place the AC
input cable and output cable of a mains filter separately from each other.
• If an extension cable is required between the actuator and driver, it is recommended that an optional
extension cable (sold separately) be used, since the EMC measures are conducted using the Oriental Motor
extension cable.