Oriental motor DR Series User manual

Thank you for purchasing an Oriental Motor product.
This Manual describes product handling procedures and safety precautions.
•Please read it thoroughly to ensure safe operation.
•Always keep the manual where it is readily available.
HL-14102-2
Compact Motorized Cylinder
DR Series Wide table type
OPERATING MANUAL Actuator
1 Introduction ...................................2
2 Safety precautions ........................3
3 Precautions for use........................6
4 Preparation.....................................9
5 Installation................................... 12
6 Connection .................................. 18
7 Inspection and maintenance ... 19
8 Troubleshooting ......................... 23
9 Specications .............................. 24
10 Regulations and standards....... 26
11 Dimension.................................... 27

Introduction
2
1 Introduction
1-1 Before use
Only qualied personnel of electrical and mechanical engineering should work with the
product.
Use the product correctly after thoroughly reading the section "2 Safety precautions" on
p.3. In addition, be sure to observe the contents described in warning, caution, and note in
this manual.
The product described in this manual has been designed and manufactured to be
incorporated in general industrial equipment. Do not use for any other purpose. Oriental
Motor Co., Ltd. is not responsible for any damage caused through failure to observe this
warning.
1-2 Overview of the product
The compact motorized cylinder DR Series (hereinafter described as cylinder) is an actuator of
a linear motion mechanism that a stepping motor is integrated with a ball screw. The
AZ Series is adopted for the motor.
1-3 Related operating manuals
For operating manuals, download from Oriental Motor Website Download Page or contact
your nearest Oriental Motor sales oce.
•DR Series OPERATING MANUAL Actuator (this document)
•AZ Series/Motorized actuator equipped with AZ Series
OPERATING MANUAL Function Edition
•Motorized actuator Compact Motorized Cylinder
Function Setting Edition *
* Be sure to read the operating manual “Function Setting Edition” which is exclusively for
compact motorized cylinders.
Refer to the operating manual of the driver for contents not described in these manuals.

3
Safety precautions
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.
You must not operate the cylinder (operate the equipment for the specied purpose) if the
machine in which the cylinder is installed does not satisfy the related safety standards. The
factory safety manager or safety personnel in charge of the applicable machine must ensure
that the machine is operated only by qualied personnel who are familiar with the operation
of electronic equipment, and thereby prevent injury or damage to the equipment.
The term “qualied personnel” refers to persons who have received the necessary training
or education and have pertinent experience; who are familiar with the relevant standards,
regulations, accident-prevention rules and inspection conditions; who are authorized by the
factory safety manager to engage in the necessary activities; and who have the ability to
discern and prevent potential dangers.
Description of signs
Handling the product without observing the instructions that
accompany a“WARNING” symbol may result in serious injury or
death.
Handling the product without observing the instructions that
accompany a“CAUTION” symbol may result in injury or property
damage.
The items under this heading contain important handling
instructions that the user should observe to ensure the safe use of
the product.
Description of graphic symbols
Indicates "prohibited" actions that must not be performed.
Indicates "compulsory" actions that must be performed.

Safety precautions
4
•Do not use the cylinder in explosive or corrosive environments, in the
presence of ammable gases, locations subjected to splashing water, or near
combustibles. Doing so may result in re or injury.
•Do not transport, install, connect or inspect the cylinder while the power is
supplied. Doing so may result in electric shock.
•Do not forcibly bend, pull or pinch the cable. Doing so may result in re.
•Do not disassemble or modify the cylinder. Doing so may result in injury or
damage to equipment.
•Never use the cylinder in a medical device used in connection with the
maintenance or management of human life or health, or in a transportation
system whose purpose is to move or carry people.
•Be sure to provide a safety cage conforming to EN ISO 13857 to prevent
persons from entering the moving range of the cylinder while power
is supplied to the cylinder. Turn o the main power to the driver before
performing adjustment or inspection in which the moving part is moved
manually. Failure to do so may result in injury.
•Do not hit the ball screw with the mechanical stopper in operations other
than push-motion operation. Doing so may result in injury or damage to
equipment.
•Assign qualied personnel to the task of installing, wiring, operating/
controlling, inspecting and troubleshooting the cylinder. Failure to do so
may result in re, injury or damage to equipment.
•When setting the data, do so outside the safety cage. Failure to do so may
result in injury.
•Take measures to keep the moving part in position if the cylinder is used in
vertical operations such as elevating equipment. Failure to do so may result
in injury or damage to equipment.
•When an alarm is generated in the driver (any of the driver’s protective
functions is triggered), take measures to hold the moving part in a specic
position since the cylinder stops and loses its holding torque. Failure to do so
may result in injury or damage to equipment.
•Install the cylinder inside an enclosure. Failure to do so may result in injury.
•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.
•After replacing the driver, set the resolution, traveling direction or other
parameters before operating the cylinder. If the cylinder is operated without
setting parameters, the ball screw may move to unexpected directions or run
at unexpected speeds, causing injury or damage to equipment.

5
Safety precautions
•Do not use the cylinder beyond its specications. Doing so may result in
injury or damage to equipment.
•Keep your ngers and objects out of the openings in the cylinder. Failure to
do so may result in re or injury.
•Do not touch the cylinder during operation or immediately after stopping.
Doing so may result in a skin burn(s).
•Do not carry the cylinder by holding the moving part or cable. Doing so may
cause injury.
•Keep the area around the cylinder free of combustible materials. Failure to
do so may result in re or a skin burn(s).
•Do not leave anything around the cylinder that would obstruct ventilation.
Doing so may result in damage to equipment.
•Do not touch the moving part during operation. Doing so may result in
injury.
•Do not touch the terminals while conducting the insulation resistance
measurement or dielectric strength test. Doing so may result in electric
shock.
•While the cylinder is operated, do not make the cable contact with the
moving part. Doing so may result in disconnection in the cable, leading to
damage.
•Use the cylinder and driver only in the specied combination. Failure to do
so may result in re.
•Wear a helmet, safety shoes, gloves or other protective gear when
transporting or installing the cylinder. Failure to do so may result in injury.
•The motor surface temperature may exceed 70 °C (158 °F)
even under normal operating conditions. If the operator is
allowed to approach the cylinder in operation, ax a warning
label shown in the gure on a conspicuous position. Failure to
do so may result in a skin burn(s).
Warning
label

Precautions for use
6
3 Precautions for use
This chapter covers restrictions and requirements the user should consider when using the
product.
General
zBe sure to use our cable to connect the cylinder and driver.
Check on the Oriental Motor Website for the model name of cables.
zDo not detach the table or loosen the screws.
If the table is detached or the screws secured the table is loosened, the installation accuracy
of the ball screw is deteriorated, resulting in malfunction or shorter service life of the cylinder.
Also, the home position set in the encoder (ABZO sensor) at the time of shipment may be
deviated, and this may cause unexpected movements, leading to damage to equipment.
zDo not install a guide for load transportation additionally on the customer side.
Misalignment of guides may cause damage to equipment.
zWhen conducting the insulation resistance measurement or the dielectric
strength test, be sure to separate the connection between the cylinder and the
driver.
Conducting the insulation resistance measurement or dielectric strength test with the cylinder
and driver connected may result in damage to the product.
zDo not make an impact on the cylinder.
Do not drop the cylinder. Also, do not hit or strike the cylinder. Making an impact on the
cylinder may cause the positioning accuracy to decrease, the motor to damage, or the lifetime
to reduce.
zMake sure not to hit or apply a strong impact on the encoder (ABZO sensor).
•Making a strong impact on an encoder (ABZO sensor) may cause the motor malfunction or
damage to the encoder (ABZO sensor).
•When transporting the cylinder or installing a load, handle the cylinder carefully not to
make a strong impact on the moving part.
•The warning label shown in the gure is indicated on
the motor.
Warning label
zMeshing noise of mechanical sensor
A gear type mechanical sensor is built into the encoder (ABZO sensor). Although the meshing
noise of gears may generate, it is not malfunction.

7
Precautions for use
zDo not move the encoder (ABZO sensor) toward a strong magnetic eld.
A magnetic sensor is built into the encoder (ABZO sensor). If the cylinder is installed close to
equipment which generates a strong magnetic eld, the encoder (ABZO sensor) may break
or malfunction. Make sure the environment at transportation and storage as well as the
installation location in use. Keep the magnetic ux density on the surface of the encoder (ABZO
sensor) so as not to exceed the values in the table.
Model Magnetic ux density
When transporting and storing When operating
DR28 5 mT 2 mT *
* When the magnetic ux density is exceeding 1 mT and 2 mT or less, use in an environment
where the operating ambient temperature is exceeding 20 °C (68 °F) and 40 °C (104 °F) or
less.
Temperature
zUse the cylinder in a condition where the motor surface temperature does not
exceed 80 °C (176 °F).
The motor surface temperature may exceed 80 °C (176 °F) under certain conditions (ambient
temperature, operating speed, duty cycle, etc.). In order to protect the encoder (ABZO sensor),
use the motor in a condition where the motor surface temperature does not exceed 80 °C
(176 °F).
If the encoder (ABZO sensor) temperature reaches the upper limit, the motor overheat
protection alarm will generate.
zOperate the cylinder in the range of the operating ambient temperature.
If the cylinder is used outside of the operating ambient temperature, it may not operate
properly.
Operation
zKeep 20 m (65.6 ft.) or less for the wiring distance between the cylinder and
driver.
To extend more than 20 m (65.6 ft.) may cause the thrust to reduce.
zHolding torque at standstill
The holding force at standstill for the cylinder is a value when the current cutback function
(stop current 50%) is enabled. Note the holding force is reduced in the current cutback state.
In addition, turning o the power supply causes the holding force of the cylinder to lose.
Make sure a load does not fall.
zDo not perform push-motion operation at the speed exceeding the maximum
push speed or the maximum push-motion return-to-home speed.
The mechanical impact may cause damage to the cylinder. If the ball screw was pressed at
high speed, take measures by referring to "8 Troubleshooting" on p.23.

Precautions for use
8
zDo not perform push-motion operation with the cylinder of ball screw lead
1 mm.
The TLC output may be turned ON before push-motion operation is complete. (Push-motion
return-to-home operation can be performed.)
Inspection
zGrease
Grease on the ball screw or linear guide may darken during the initial operation (one to three
weeks). Refer to p.20, and wipe o the dirty grease to apply new grease.
Notes when the connection cable is used
Note the following points when our cable is used.
zWhen inserting the connector
Hold the connector main body, and insert it in straight securely. Inserting the connector in an
inclined state may result in damage to terminals or a connection failure.
zWhen unplugging the connector
Pull out the connector in straight while releasing the lock part of the connector. Pulling out
the connector with holding the lead wire may result in damage to the connector.
zBending radius of cable
Use the cable in a state where the bending radius of
the cable is more than six times of the cable diameter.
Do not bend the lead wires part or x it with a clamp.
Doing so may cause damage to the connector.
More than 6 times
of cable diameter
Do not bend the
lead wires part
zHow to x the cable
Fix the cable near the connectors at two places as shown in the gure or x it with a wide
clamp to take measures to prevent stress from being applied to the connectors.
In the case of a exible cable,
this area is a movable range.
Fixing at two places
Do not bend the lead wires
part or x with a clamp
Driver
Fixing at two places
Cy
linder

9
Preparation
4 Preparation
4-1 Checking the product
Verify that the items listed below are included. Report any missing or damaged items to the
Oriental Motor sales oce from which you purchased the product.
•Compact motorized cylinder ..................................1 unit
•Instructions and Precautions for Safe Use..........1 copy
4-2 How to identify the product model
Verify the model number of the purchased against the number shown on the nameplate.
DR 28 W 2.5 BC 03 - AZ A K L
1 2 3 4 5 6 7 8 9 10
1 Series DR: DR Series
2 Frame size of the equipped motor 28: 28 mm
3 Type W: Wide table type
4 Ball screw lead 1: 1 mm
2.5: 2.5 mm
5 Ball screw type B: Precision ball screw
BC: Precision ball screw with cover
6 Stroke 03: 30 mm
7 Equipped motor AZ: AZ Series
8 Additional function A: None
9 Motor power supply type K: DC power supply input
10 Cable outlet direction * L: Left (Outlet position: Left side of motor)
* The cable outlet direction represents the
direction when the table is faced upward
and the motor is placed on the near side. Face the table
upward
Fa
ce the motor
to the near side
L: Left

Preparation
10
4-3 Information about nameplate
The gure shows an example.
Cy
linder model
Specication
Serial number
Manufacturing date
4-4 Names of parts
The area indicated in gray color represents a moving part.
Load positioning pin holes
(2 places)
L
oad positioning pin holes
(2 places)
Linear guide
Cable
Connecto
r
Table
Do not loosen
Do not loosen
Do not loosen
Do not remove
Load mounting holes in the
ball screw side (4 places)
Load mounting holes in the
linear guide side (6 places)
Motor
Mounting holes
(4 places)
Ball screw
Stopper
*
Positioning pin holes
(2 places)
Encoder
(ABZO sensor)
* This prevents the ball screw from retracting completely into the motor.

11
Preparation
With ball screw cover
Ball screw cove
r
4-5 Driver for possible combinations
Use the DR Series in combination with the AZ Series DC power input type driver.

Installation
12
5 Installation
5-1 Location for installation
The cylinder is designed and manufactured to be incorporated in equipment. Install it 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: 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 (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 elds or vacuum
•Up to 1,000 m (3,300 ft.) above sea level
If the cylinder is installed in an environment where a magnetic
eld is generated
A magnetic sensor is built into the encoder (ABZO sensor). If the cylinder is installed close to
equipment which generates a strong magnetic eld, the encoder (ABZO sensor) may break or
malfunction. Keep the magnetic ux density on the surface of the encoder (ABZO sensor) so
as not to exceed the values in the table.
Model Magnetic ux density
DR28 2 mT *
* When the magnetic ux density is exceeding 1 mT and 2 mT or less, use in an environment
where the operating ambient temperature is exceeding 20 °C (68 °F) and 40 °C (104 °F) or
less.
Do not install the cylinder close to equipment which generates a strong magnetic
eld.

13
Installation
Spaces required for installation
The encoder (ABZO sensor) is easily aected by a magnetic eld. Therefore, when cylinders are
installed side by side, ensure the distances from the encoder (ABZO sensor) in horizontal and
vertical directions as shown in the gure.
28 mm
Frame size of the
equipped motor: 28 mm
28 mm
28 mm
28 mm
28 mm
28 mm
28 mm

Installation
14
5-2 Design for mounting plate
The cylinder can be installed in any direction.
Install the cylinder onto an appropriate at mounting plate [thickness approximately 5 mm
(0.2 in.) or more] having excellent vibration resistance and heat conductivity. If a high accuracy
is required, design the thickness of the plate in consideration of installation conditions such as
load condition, rigidity, vibration, and others.
Values of the tightening torque are recommended. Tighten with an appropriate torque
according to the design conditions of the mounting plate and load.
The following shows the recommended design dimensions of a mounting plate required
when the cylinder is installed.
20±0.1
10±0.1
46±0.1
2×ø3
(P
ositioning pin holes)
4×ø3.4
Unit: mm
When the positioning pins are installed on the mounting plate, the height of the
positioning pins should be 2.9 mm or less from the upper surface of the mounting
plate. Exceeding 2.9 mm may cause the cylinder to break, leading to injury or
mechanical damage.
Mounting plate
2.9 mm or less
Positioning pins
zSpecication of mounting holes
Model Nominal size Tightening torque Eective depth of screw thread
DR28 M3 1 N•m (142 oz-in) 5 mm
zSpecication of positioning pin holes (Unit: mm)
Recommended size of positioning pin: ø3
0
– 0.01
A
1
Details of section A
ø3 +0.01
0
deep 3
3+0.01
0 deep 3

15
Installation
5-3 Installation method
1. Install the positioning pins on the mounting plate.
Be sure to install the positioning pins on the mounting plate. Pressing the
positioning pins into the cylinder may cause damage.
When a squareness is required with respect to the traveling direction of the table,
adjust the table so that it is perpendicular to the traveling direction using only the
round positioning pin hole.
2. Install the cylinder while the positioning pins are inserted into the positioning pin holes
of the cylinder, and secure the mounting holes with screws (not included).
Screws
Positioning pins
Mounting plate
Table
Do not loosen
Do not remove
Mounting holes
(4 places)
Po
sitioning pin holes
(2 places)
Do not detach the table or loosen the screws of the table. Doing so may
deteriorate the installation accuracy of the ball screw, resulting in malfunction or
shorter service life of the cylinder. Also, the home position set in the encoder (ABZO
sensor) at the time of shipment may be deviated, and this may cause unexpected
movements, leading to damage to equipment.

Installation
16
5-4 Installing a load
There are two load mounting surfaces, which are provided on the linear guide side and the
ball screw side.
Note when installing a load
Although the wide table type cylinder can receive a load moment, use it less than the
specications. Operating the cylinder under an excessive load moment may cause
malfunction or shorter service life of the cylinder. Check the specications of the products on
p.24.
When using load mounting holes in the linear guide side
zSpecication of load mounting holes
Model Nominal size Tightening torque Eective depth of screw thread
DR28 M3 1 N•m (142 oz-in) 5 mm
zInstallation method
Secure the load with screws (not included).
Load
Screws
Load positioning pin holes
(2 places)
Table
Do not loosen
Do not loosen
Do not remove
Lo
ad mounting holes
(6 places)

17
Installation
•Do not detach the table or loosen the screws of the table. Doing so may
deteriorate the installation accuracy of the ball screw, resulting in malfunction
or shorter service life of the cylinder. Also, the home position set in the encoder
(ABZO sensor) at the time of shipment may be deviated, and this may cause
unexpected movements, leading to damage to equipment.
•The atness of the mounting surface on a load side should be 0.01 mm or less.
Poor atness may cause the table to deform, resulting in malfunction or damage
to product.
When using load mounting holes in the ball screw side
zSpecication of load mounting holes
Model Nominal size Tightening torque Eective depth of screw thread
DR28 M3 1 N•m (142 oz-in) 5.5 mm
zInstallation method
1. Retract the ball screw until the table stops.
2. Secure the load with screws (not included).
Load
Screws
Table
Do not loosen
Do not remove
Load mounting holes
(4 places)
L
oad positioning pin holes
(2 places)
Do not detach the table or loosen the screws of the table. Doing so may
deteriorate the installation accuracy of the ball screw, resulting in malfunction or
shorter service life of the cylinder. Also, the home position set in the encoder (ABZO
sensor) at the time of shipment may be deviated, and this may cause unexpected
movements, leading to damage to equipment.

Connection
18
Load positioning pin holes
Two types of load-positioning pin holes, which are an elongated hole and a round hole, are
provided on the table. If installation repeatability is required when installing a load, use the
load-positioning pin holes.
Be sure to secure the positioning pins to the load side. Pressing the positioning
pins into the table may cause the cylinder break.
When a squareness is required with respect to the table, adjust a load so that it is
perpendicular to the table using only the round positioning pin hole.
Specication of load positioning pin holes [Unit: mm]
Recommended size of positioning pin: ø3
0
– 0.01
A
Linear guide side Ball screw side
A
1
Details of section A
ø3 +0.01
0
deep 3 3+0.01
0 deep
3
6 Connection
Refer to the operating manual of the driver for how to connect with the driver and the wiring
distance between the cylinder and driver.

19
Inspection and maintenance
7 Inspection and maintenance
7-1 Maintenance item and timing
If the cylinder is operated eight hours a day, perform maintenance according to the applicable
period specied in the table. Reduce maintenance intervals accordingly if the operating rate is
high such as continuous operation for twenty-four hours.
Maintenance timing External
inspection
External
cleaning
Internal
inspection
When operated for the rst time   −
A week after initial operation 
Every a month thereafter 
External inspection
Check the items specied in table.
Item Inspection item Remedial action
Cylinder
•Check if any of the screws having
installed the cylinder comes loose.
•Check if any of the screws having
installed a load comes loose.
Tighten the screws securely.
Cable,
connector
•Check if a damage or stress is applied
on the cable.
•Check if the connection part between
the cylinder and driver comes loose.
•Replace the cable.
•Disconnect and reconnect
the connector.
Operation Check if an unusual noise or vibration is
generated from a bearing part.
Check the installation of the
load and operation speed.
External cleaning
Clean the exterior surface of the cylinder whenever necessary.
•Wipe o any dirt and stains using a soft cloth.
•Do not apply compressed air. Dust may enter from a space, resulting in malfunction.
•To remove stubborn stains, wipe the area using a soft cloth moistened with neutral
detergent.
•Do not use petroleum solvents, since they will damage the coated surface.

Inspection and maintenance
20
Internal inspection
Visually check the items specied in table. Even if the grease has turned brown, lubrication
condition is deemed appropriate if the running surface still appears glossy. Refer to "7-2
Applying grease" for how to apply grease.
Item Inspection item Remedial action
Ball screw
Check if any of foreign objects such as
dust is adhered. Remove the foreign matter.
Check if the grease has lost its gloss or
has been consumed.
Clean the ball screw with a soft
cloth and apply grease.
Linear guide
Check if any of foreign objects such as
dust is adhered. Remove the foreign matter.
Check if the grease has lost its gloss or
has been consumed.
Clean the linear guide with a
soft cloth and apply grease.
7-2 Applying grease
Wear protective goggles when applying grease. Pay attention to safety and handle
the grease carefully by following the instructions provided with that product. If
grease gets into the eyes or comes in contact with the skin, immediately ush the
area thoroughly with water.
1. Turn the ball screw by hand to draw from the motor.
Ball screw
2. Wipe o the old grease and any dirt completely with a soft cloth, and apply new grease to
the lubrication places shown in the gure.
Grease to be used : AFC grease (THK CO., LTD.)
Ball screw
Ball rolling grooves on the linear guide
(Also apply grease on the other side.)