Oriental motor DRL Series User manual

HP-1433-3
Compact linear actuator
DRL Series
CRD driver Photocoupler inputs
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.
1 Introduction.................................................. 2
2 Safety precautions ...................................... 4
3 Precautions for use..................................... 6
4 Preparation.................................................... 7
5 Installation...................................................12
6 Connection..................................................15
7 Setting...........................................................23
8 Inspection .................................................... 32
9 Troubleshooting and
remedial actions .......................................33
10 Option ..........................................................35

Introduction
▌2
1 Introduction
This product must be handled by qualied personnel with expert knowledge of electricaland mechanical
engineering. Before using the product, read "2 Safety precautions" carefullyto ensure correct use.
The product is designed and manufactured for use as an internal component for generalindustrial equipment. Do
not use the product for any other purpose.Oriental Motor shall not be liable whatsoever for any damage arising
from a failure toobserve this warning.
Composition and contents of this operating manual
This manual describes the drivers used with the DRL series.
To operate a DRL series actuator, the actuator and driver must be set up rst. Read the following operating manuals
regarding the DRL series and follow the instructions.
DRL Series Actuator Operating Manual
Explains the installation of the actuator and a load.
DRL Series Driver Operating Manual (this manual)
Explains the installation, connection, I/O, setting and troubleshooting of the driver.
Before using this product
Main features
The compact linear actuator DRL series is a family of linear motion actuators adopting a new mechanism: a 5-phase
stepping motor incorporating a ball screw.
Low-speed operation at low vibration levels
The DRL series adopts a micro-stepping driver oering the smooth drive function. Therefore, smooth operation with
minimal vibration can be achieved even at low speed.
Compact driver
The DRL series utilizes a compact driver using DC power supply input, making it ideal for use as an internal
component in general industrial equipment.
Preset resolution
With the DRL series actuators, you can select and set two actuator resolutions from among the 16 levels. page 23
Adjustable motor currents
The operating current and standstill current of the motor can be adjusted individually. page 26
Selectable pulse input mode
The 1-pulse input mode or 2-pulse input mode can be selected in accordance with the pulse output mode of the
controller. page 25
System conguration
Operating the DRL series requires a controller equipped with a pulse output function.
Actuator
CRD driver
Controller
DRL series
Motor leads
+LS sensor –LS sensor
I/O
DC power supply input *
* As for the voltage supply to the driver, use a DC power supply with reinforced insulation on both the primary and
secondary sides.

Introduction
3▐
Standards and CE marking
Applicable standards
Motor Model Applicable Standards Certication Body Standard File No.
SMP, SMM, SMPG, SMMG,
SMPM, SMMM, SMPH, SMMH,
SMPGM, SMMGM, SMPGH,
SMMGH
UL 60950
CSA C22.2 No.60950 UL E208200
*
in the motor model will contain a value representing the part number.
Driver Model Applicable Standards Certication Body Standard File No.
CRD5103P, CRD5107P, CRD5114P UL 60950
CSA C22.2 No.60950 UL E208200
The names of products certied to conform with relevant standards are represented by applicable unit model
motor and driver part numbers.
Approval conditions for UL 60950: Class III equipment, SELV circuit, Pollution degree 2
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 actions 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's power supply, use a DC power supply with reinforced insulation on its primary and secondary sides.
For EMC directive
This product bears the CE mark under the conditions specied in "Example of actuator and driver installation and
wiring" on p.14. Be sure to conduct EMC measures with the product assembled in your equipment by referring to "5-3
Installing and wiring in compliance with EMC directive" on p.13.
Hazardous substances
The products do not contain the substances exceeding the restriction values of RoHS Directive (2011/65/EU).

Safety precautions
▌4
2 Safety precautions
The precautions provided in this section are intended to ensure safe and correct use of the product, thereby
preventing damage or injury to the user or other personnel. Fully understand the meaning of each item before using
the product.
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 safe use of the product.
General
Do not use the product in an atmosphere containing explosive, ammable or corrosive gases, in a place exposed
to water, or near ammable objects. Doing so may result in re or injury.
Provide a measure to retain the position of the moving parts of the equipment when the product is used in a
vertical application. The actuator loses its holding capability when the power is cut o. Without an appropriate
measure the moving parts will descend, resulting in injury or equipment damage.
Do not use the actuator's built-in electromagnetic brake mechani, SM 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.
Assign qualied personnel the task of installing, wiring, operating/controlling, inspecting and troubleshooting the
product. Failure to do so may result in re or injury.
Installation
Install the driver in an enclosure in order to prevent injury.
Connection
Always use the driver with a power supply of the rated voltage. Failure to do so may result in re or electric shock.
For the driver, use a DC power supply with reinforced insulation provided on the primary and secondary sides.
Failure to do so may result in electric shock.
Connect the product correctly and securely according to the wiring diagram. Failure to do so may result in re or
electric shock.
Do not forcibly bend, pull or pinch the power supply cable and the motor leads. Doing so may result in a re.
If the power supply cable or motor leads connected the driver are forcibly bent or pulled, the driver will receive
stress and may suer damage.
Operation
Turn o the power supply to the driver in case of a power failure. Failure to do so may result in injury or equipment
damage when the actuator starts suddenly upon power recovery.
Do not turn the A.W.OFF (All windings o) input to "ON" while the actuator is operating. If the input is turned "ON",
the actuator will stop and lose its holding capability, causing possible injury or equipment damage.
Set the operating speed and travel so that the screw shaft will not hit the stroke end or load. Failure to do so may
result in injury or equipment damage.
Do not set the motor operating current and standstill current too low. Doing so may cause the moving parts to fall,
resulting in injury or equipment damage.
Maintenance and inspection
Turn o the power to the driver when carrying out an inspection. Failure to do so may result in injury or equipment
damage.
Repair, disassembly and modication
Do not repair, disassemble or modify the driver. Doing so may result in injury.

Safety precautions
5▐
General
Do not touch the driver during operation or immediately after stopping. The surface is hot and may cause a burn.
Installation
Do not place ammable objects near the driver. Doing so may result in re or burns.
Do not place objects near the driver that may prevent proper ventilation. Doing so may result in equipment
damage.
Operation
Use the actuator and driver in the specied combination. Failure to do so may result in re.
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.
Turn on the power to the driver after making sure all control inputs of the driver are turned "OFF". Failure to do so
may cause the actuator to start accidentally, resulting in injury or equipment damage.
Do not touch the screw shaft during operation. Doing so may result in injury.
If the screw shaft must be moved directly by hand (for manual alignment, etc.), do so after conrming that the
driver's A.W.OFF (All windings o ) input is "ON". Failure to do so may result in injury.
Immediately when trouble has occurred, stop running and turn o the driver power. Failure to do so may result in
re or injury.
Disposal
To dispose of the driver, disassemble it into parts and components a, SMuch as possible and dispose of individual
parts/components as industrial waste.

Precautions for use
▌6
3 Precautions for use
This section covers the limitations and points to note regarding use of the driver.
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 re-sult in injury or damage to equipment.
Acceleration (acceleration/ deceleration rate)
The acceleration (acceleration/deceleration rate) when the actuator is started or stopped must be within the specied
range, irrespective of the loaded mass. Operating at an acceleration (acceleration/ deceleration rate) beyond the
specied range may result in a loss of position. page 29
Operating speed
The operating speed of the actuator must be within the specied range, including during acceleration. page 29
Do not let the screw shaft hit the stroke end or load
Do not let the screw shaft hit the stroke end or load during operation, since such an impact may damage the actuator.
Should the screw shaft hit the stroke end or load, return the potentiometer for adjusting the motor operating current
(RUN) to the factory set value and then retract the shaft by operating it in the reverse direction at the starting speed.
page 26
Driver connectors
Always use the supplied connectors for connecting the power supply, I/O signals and motor to the driver. When
crimp-tting the leads to the contact, secure a strong connection using a crimping tool as specied by the connector
manufacturer. Oriental Motor does not supply crimping tools.
Use an actuator with electromagnetic brake for an application involving up/down travel.
For a lifter or other device in which the load moves up and down, use the electromagnetic brake and provide
an additional safety-brake mechanism to hold the load in position. To hold the load in position, apply the
electromagnetic brake only after the actuator has stopped. Repeated braking for such a purpose will wear the brake
hub excessively, causing its holding ability to drop.
Preventing electrical noise
See "5-3 Installing and wiring in compliance with EMC directive" on p.13 for measures with regard to noise.

Preparation
7▐
4 Preparation
This section covers the points to be checked along with the names and functions of the respective parts.
4-1 Checking the product
Open the package and conrm that all of the following items are available. Should you nd any item missing or
damaged, contact the Oriental Motor oce where you purchased the product.
Check the model number of the unit against the model number on the package label. Check the model number of
the actuator and driver against the model number shown on the respective nameplates.
See the table on page 8 for the actuator and driver combinations for each unit model.
Actuator 1 unit
* Illustration shows the standard type of DRL60P.
Driver 1 unit
Operating manual (Actuator) 1 copy
Operating manual (Driver) 1 copy (this manual)
Motor cable 0.6 m (2 ft.) 1 piece (DRL20, DRL28M, DRL42M, DRL60M only)
Connector housings and contacts (Molex)
Connector Housing Contact
Power supply 1 piece 51103-0200 2 poles
19 piece 50351-8100Motor 1 piece 51103-0500 5 poles
I/O 1 piece 51103-1200 12 poles
Varistor (electromagnetic brake type only) 1piece
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.

Preparation
▌8
4-2 How to read the model number
123456789
DRL 42 P A 2 G - 04 M G
No. Meaning
1 Name of the series DRL series
2Actuator frame size 20: 20 mm (0.79 in.) square 28: 28 mm (1.1 in.) square 42: 42 mm (1.65 in.) square
60: 60 mm (2.36 in.) square
3 Motor type P: Stepping M: High-resolution types
4A: Rolled ball screw B: Grounded ball screw BL: Corrosion-resistant ground ball screw
5 Lead 1: 1 mm (0.039 in.) [DRL20, DRL28] 2: 2 mm (0.079 in.) [DRL42] 4: 4 mm (0.157 in.) [DRL60]
6 Guide G: With guide None: Without guide
7Stroke 02: 25 mm (0.98 in.) [DRL20] 03: 30 mm (1.18 in.) [DRL28] 04: 40 mm (1.57 in.) [DRL42]
05: 50 mm (1.97 in.) [DRL60] 06: 60 mm (2.36 in.) [DRL28] 10: 100 mm (3.94 in.) [DRL42, DRL60]
8M: With electromagnetic brake N: With adjustment-knob None: No additional function
9 Driver type G: CRD (Photocoupler inputs) None: Without driver
4-3 Combinations of actuators and drivers
Rolled ball screw
Unit model Actuator model Driver model
DRL28PA1-03G DRL28PA1-03
CRD5107P
DRL28PA1-06G DRL28PA1-06
DRL28PA1-03NG DRL28PA1-03N
DRL28PA1G-03G DRL28PA1G-03
DRL28PA1G-03NG DRL28PA1G-03N
DRL42PA2-04G DRL42PA2-04
DRL42PA2-10G DRL42PA2-10
DRL42PA2-04MG DRL42PA2-04M
DRL42PA2-04NG DRL42PA2-04N
DRL42PA2G-04G DRL42PA2G-04
DRL42PA2G-04MG DRL42PA2G-04M
DRL42PA2G-04NG DRL42PA2G-04N
DRL60PA4-05G DRL60PA4-05
CRD5114P
DRL60PA4-10G DRL60PA4-10
DRL60PA4-05MG DRL60PA4-05M
DRL60PA4-05NG DRL60PA4-05N
DRL60PA4G-05G DRL60PA4G-05
DRL60PA4G-05MG DRL60PA4G-05M
DRL60PA4G-05NG DRL60PA4G-05N

Preparation
9▐
Grounded ball screw
Unit model Actuator model Driver model
DRL20PB1-02G DRL20PB1-02
CRD5103P
DRL20PB1-02NG DRL20PB1-02N
DRL20PB1G-02G DRL20PB1G-02
DRL20PB1G-02NG DRL20PB1G-02N
DRL28PB1-03G DRL28PB1-03
CRD5107P
DRL28PB1-06G DRL28PB1-06
DRL28PB1-03NG DRL28PB1-03N
DRL28PB1G-03G DRL28PB1G-03
DRL28PB1G-03NG DRL28PB1G-03N
DRL28MB1-03G DRL28MB1-03
DRL28MB1-03NG DRL28MB1-03N
DRL28MB1G-03G DRL28MB1G-03
DRL28MB1G-03NG DRL28MB1G-03N
DRL42PB2-04G DRL42PB2-04
DRL42PB2-10G DRL42PB2-10
DRL42PB2-04MG DRL42PB2-04M
DRL42PB2-04NG DRL42PB2-04N
DRL42PB2G-04G DRL42PB2G-04
DRL42PB2G-04MG DRL42PB2G-04M
DRL42PB2G-04NG DRL42PB2G-04N
DRL42MB2-04G DRL42MB2-04
DRL42MB2-04MG DRL42MB2-04M
DRL42MB2-04NG DRL42MB2-04N
DRL42MB2G-04G DRL42MB2G-04
DRL42MB2G-04MG DRL42MB2G-04M
DRL42MB2G-04NG DRL42MB2G-04N
DRL60PB4-05G DRL60PB4-05
CRD5114P
DRL60PB4-10G DRL60PB4-10
DRL60PB4-05MG DRL60PB4-05M
DRL60PB4-05NG DRL60PB4-05N
DRL60PB4G-05G DRL60PB4G-05
DRL60PB4G-05MG DRL60PB4G-05M
DRL60PB4G-05NG DRL60PB4G-05N
DRL60MB4-05G DRL60MB4-05
DRL60MB4-05MG DRL60MB4-05M
DRL60MB4-05NG DRL60MB4-05N
DRL60MB4G-05G DRL60MB4G-05
DRL60MB4G-05MG DRL60MB4G-05M
DRL60MB4G-05NG DRL60MB4G-05N

Preparation
▌10
Corrosion-resistant ground ball screw
Unit model Actuator model Driver model
DRL28PBL1-03G DRL28PBL1-03
CRD5107P
DRL28PBL1-03NG DRL28PBL1-03N
DRL28PBL1G-03G DRL28PBL1G-03
DRL28PBL1G-03NG DRL28PBL1G-03N
DRL28MBL1-03G DRL28MBL1-03
DRL28MBL1-03NG DRL28MBL1-03N
DRL28MBL1G-03G DRL28MBL1G-03
DRL28MBL1G-03NG DRL28MBL1G-03N
DRL42PBL2-04G DRL42PBL2-04
DRL42PBL2-04MG DRL42PBL2-04M
DRL42PBL2-04NG DRL42PBL2-04N
DRL42PBL2G-04G DRL42PBL2G-04
DRL42PBL2G-04MG DRL42PBL2G-04M
DRL42PBL2G-04NG DRL42PBL2G-04N
DRL42MBL2-04G DRL42MBL2-04
DRL42MBL2-04MG DRL42MBL2-04M
DRL42MBL2-04NG DRL42MBL2-04N
DRL42MBL2G-04G DRL42MBL2G-04
DRL42MBL2G-04MG DRL42MBL2G-04M
DRL42MBL2G-04NG DRL42MBL2G-04N
DRL60PBL4-05G DRL60PBL4-05
CRD5114P
DRL60PBL4-05MG DRL60PBL4-05M
DRL60PBL4-05NG DRL60PBL4-05N
DRL60PBL4G-05G DRL60PBL4G-05
DRL60PBL4G-05MG DRL60PBL4G-05M
DRL60PBL4G-05NG DRL60PBL4G-05N
DRL60MBL4-05G DRL60MBL4-05
DRL60MBL4-05MG DRL60MBL4-05M
DRL60MBL4-05NG DRL60MBL4-05N
DRL60MBL4G-05G DRL60MBL4G-05
DRL60MBL4G-05MG DRL60MBL4G-05M
DRL60MBL4G-05NG DRL60MBL4G-05N

Preparation
11▐
4-4 Names and functions of parts
This section covers the names and functions of the driver's respective parts. See the reference page indicated for
details on each part.
Mounting holes
Mounting holes
1
2
3
MOSFET arrays
6
8
Mounting holes
7
4
5
1 Power supply connector (CN1) [p.16] Connect to a 24 VDC power supply.
2Input/output signal connector (CN2)
[p.18] Connect to I/O signals.
3 Motor connector (CN3) [p.17] Connect to motor leads.
4Motor operating current potentiometer
(RUN) [p.26]
Set the operating current of the motor. If there is sucient thrust,
the current setting can be reduced to suppress increases in motor/
driver temperatures. The potentiometer is factory set to the rated
current.
5Motor standstill current potentiometer
(STOP) [p.27]
Set the current when the motor is at a standstill (in the current
cutback state). The potentiometer is factory set to 50% of the
rated current.
6Function select switches
(1P/2P, OFF/SD, R2/R1) [p.23 to p.25]
Pulse input mode select switch (1P/2P): Switch the pulse input
mode between 1-pulse input mode and 2-pulse input mode.
Smooth drive function select switch (OFF/SD): Set or cancel the ,
smooth drive function.
Resolution select switch (R2/R1): Switch the reference resolution
between R1 and R2.
7Resolution setting switch
(DATA1, DATA2) [p.23]
You can set a desired resolution by selecting it from among the 16
resolutions.
8 Power supply input indicator (LED) This LED remains lit while the power supply is input.

Installation
▌12
5 Installation
This section covers the driver's installation location and method.
5-1 Location for installation
The driver is designed and manufactured for use as a built-in component in industrial equipment.
Install it in a well-ventilated place satisfying the following conditions, where the product can be easily accessed for
the purpose of inspection.
Inside an enclosure that is installed indoors (provide vent holes)
Operating ambient temperature
Grounded ball screw, Rolled ball screw : 0 to +40 °C (+32 to +104 °F) [non-freezing]
Corrosion-resistant ground ball screw : +5 to +40 °C (+41 to +104 °F)
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 material, magnetic elds or vacuum
5-2 Installing the driver
When installing the driver in the device, mount it vertically or horizontally. Installing the driver under conditions other
than this could reduce its radiation eect. Fix the driver directly to the metal enclosure using screws.
The items shown below are necessary in order to mount the driver. (The items are not included and must be provided
by the customer.)
M3 type screws 4 pieces
M3 type spring washer 4 pieces
M3 type nuts (Not necessary if tapped holes are provided in the enclosure.) 4 pieces
Spacers [5 mm (0.2 in.) or more] 4 pieces
* Torque the mounting screw to 0.5 N·m (71 oz-in).
Installation in the horizontal direction
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 installing two or more drivers in parallel, provide a
minimum clearance of 20 mm (0.79 in.) between adjacent
drivers.
M3 screw
Spring washer
Spacer (insulation)
Mounting plate

Installation
13▐
Installation in the vertical direction
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 installing two or more drivers in parallel, provide a minimum
clearance of 20 mm (0.79 in.) between adjacent drivers. Spacer (insulation)
Mounting plate
M3 screw
Spring washer
Do not install equipment generating signicant heat or noise in the vicinity of the driver.
Adjust the ventilation condition if the ambient temperature of the driver exceeds 40 °C (104 °F).
The case containing the MOSFET arrays is insulated.
5-3 Installing and wiring in compliance with EMC directive
Eective measure, must be taken with regard to EMI (electromagnetic interference) caused by the DRL series actuator
and/or driver in the control system equipment operating nearby and EMS (electromagnetic susceptibility) of the DRL
series actuator and/or driver. Failure to do so may result in serious impairment of the machine's functionality.
Oriental Motor conducts EMC measurement of its DRL series actuators and drivers in accordance with "Example of
actuator and driver installation and wiring" on p.14. The user is responsible for ensuring the machine's compliance with
the EMC directive, based on the installation and wiring explained below.
Applicable standards
EMI Emission Tests
Radiated Emission Test
EN 61000-6-4
EN 55011
EMS
Immunity Tests
Radiation Field Immunity Test
Electrostatic Discharge Immunity Test
Fast Transient /Burst Immunity Test
Conductive Noise Immunity Test
EN 61000-6-2
IEC 61000-4-3
IEC 61000-4-2
IEC 61000-4-4
IEC 61000-4-6
Power supply
The DRL series products are specically designed for DC power supply input. Use a DC power supply (such as a
switching power supply) compliant with the EMC directive.
Mains lter
Connect a mains lter on the input side of the DC power supply so as to prevent the noise generated in the driver
from being transmitted externally via the power supply line.
When a power supply transformer is used, be sure to connect a mains lter on the AC input side of the power
supply transformer. For mains lters, use HF2010A (SOSHIN ELECTRIC CO., LTD), FN2070-10-06 (Schaner EMC) or an
equivalent.
Install the mains lter as close to the driver as possible. Also, secure the input/output cables (AWG18: 0.75 mm2or
more) using cable clamps or the like so that the cables won't lift from the surface of the enclosure panel.
Connect the ground terminal of the mains lter to the ground point over the shortest distance using a cable of the
largest possible size.
Do not wire the AC input cable (AWG18: 0.75 mm2or more) and the output cable of the mains lter (AWG18:
0.75 mm2or more) in parallel. If these two cables are wired in parallel, noise inside the enclosure will be connected
to the power supply cable via stray capacitance, reducing the eect of the mains lter.
Grounding method
When grounding the driver and mains lter, use a cable of the largest possible size and connect to the ground point
over the shortest distance so that no potential dierence will be generated at the grounded position.
The ground point must be a large, thick and uniform conductive surface. Install the actuator onto a grounded metal
surface.

Installation
▌14
Wiring the power supply cable and I/O cable
Use a shielded cable of AWG22 (0.3 mm2) or more in diameter for the driver power supply cable. Use a shielded cable
of AWG24 (0.2 mm2) or more in diameter for the driver I/O cable, and keep it as short as possible.
When grounding a shielded cable, use a metal cable clamp that contacts
the shielded cable over the entire perimeter. Install the cable clamp at the
tip of the shielded cable and connect it to an appropriate ground point.
Cable cramp
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 dierence from developing between grounds.
When relays or electromagnetic switches are used together with the system, use mains lters and CR circuits to
suppress surges generated by them.
Keep the cable lengths as short as possible. Do not wind or bundle extra lengths.
Separate the power source cables such a, motor cable and power supply cable from the signal cables, and wire
them apart by around 100 to 200 mm (3.94 to 7.87 in.). If a power source cable must cross over a signal cable, wire
them at right angles. Keep an appropriate distance between the AC input cable and output cable of the mains
lter.
Example of actuator and driver installation and wiring
Driver
Mains
lter
DC power
supply
Cable
clamp
(Grounded panel)
Motor cable Cable
clamp I/O cable
(Shielded cable)
User controller
Cable
clamp
Power supply cable
(Shielded cable)
Actuator
FG
PE PE
FG
FG
FG FG
Precautions about static electricity
Static electricity may cause the driver to malfunction or suer damage. Be careful when handling the driver with the
power on.
Always use an insulated screwdriver to adjust the driver's built-in motor current potentiometer.

Connection
15▐
6 Connection
This section covers the methods of connecting the driver, actuator, power supply and controller, as well as the
connection examples and I/O.
DRL20, DRL28M, DRL42M, DRL60M are the connector connection cable. Use the supplied motor cable.
Optional motor cables and driver cables (sold separately) are also available. See page 35 for details.
6-1 Connection example
Current sink output circuit type
R0
R0
R0
R0
R0
R1
220 Ω
220 Ω
220 Ω
220 Ω
220 Ω
TIMING
C.D.INH
C/S
A.W.OFF
PLS (CW)
DIR. (CCW)
1
Blue
Red
Orange
Green
Black
1
22
33
44
55
V0 (+5 to 24 VDC)
V0 (+5 to 24 VDC)
1
2GND
24 VDC±10%
Connector terminal number
Lead color
Controller
CN1
CN3
CN2
Driver
1
2
3
4
5
6
7
8
9
10
11
12
0 V
0 V
0 V
0 V
0 V
0 V
Use 5 VDC as input signal voltage. If the input signal voltage exceeds 5 VDC, connect an
appropriate external resistance R0 in order to keep the input current to 10 to 20 mA or below.
Example) When V0 is 24 VDC R0: 1.5 to 2.2 kΩ, 0.5 W min.
Use the output signal voltage V0 between 5 VDC and 24 VDC. When V0 is equal to 5 VDC, the
external resistance R1 is not necessary. When it is above 5 VDC, connect R1 to keep the current
below 10 mA max.
Be certain the I/O cable that connects the driver and controller is as short as possible. The
maximum input frequency will decrease as the cable length increases.

Connection
▌16
Current source output circuit type
R0
R0
R0
R0
R0
R1
220 Ω
220 Ω
220 Ω
220 Ω
220 Ω
TIMING
C.D.INH
C/S
A.W.OFF
PLS (CW)
DIR. (CCW)
1
Blue
Red
Orange
Green
Black
1
22
33
44
55
V0 (+5 to 24 VDC)
V0 (+5 to 24 VDC)
1
2GND
24 VDC±10%
Connector terminal number
Lead color
Controller
CN1
CN3
CN2
Driver
1
2
3
4
5
6
7
8
9
10
11
12
0 V
0 V
0 V
0 V
0 V
0 V
Use 5 VDC as input signal voltage. If the input signal voltage exceeds 5 VDC, connect an
appropriate external resistance R0 in order to keep the input current to 10 to 20 mA or below.
Example) When V0 is 24 VDC R0: 1.5 to 2.2 kΩ, 0.5 W min.
Use the output signal voltage V0 between 5 VDC and 24 VDC. When V0 is equal to 5 VDC, the
external resistance R1 is not necessary. When it is above 5 VDC, connect R1 to keep the current
below 10 mA max.
Be certain the I/O cable that connects the driver and controller is as short as possible. The
maximum input frequency will decrease as the cable length increases.
6-2 Connecting the power supply
Use a power supply that can supply the following current capacity.
Driver model CRD5103P CRD5107P CRD5114P
Power supply input voltage 24 VDC±10%
Power supply current capacity 0.7 A or more 1.4 A or more 2.5 A or more

Connection
17▐
6-3 Connecting the actuator
Crimp-t the motor connector onto the motor leads and insert the connector with leads into the motor connector
(CN3). To extend the motor leads, do so by using a cable of AWG22 (0.3 mm2) to AWG18 (0.75 mm2) in diameter and
also by keeping the wiring length within 10 m (32.8 ft.). See page 18 for details.
An optional motor cables and driver cables (sold separately) is available. See page 35 for details.
Case of the connector connection cable
Models adopting connector coupling Use the
supplied motor cable. Orient the connector in the
correct direction and insert it securely.
Connector
When disconnecting the connector-type motor cable, pull the connector horizontally along the
output shaft to remove. The actuator may be damaged if force is applied in any other direction.
The motor cables that come with the DRL42M, DRL60M have a connector with a lock mechanism.
When removing this type of cable, release the connector lock rst. Forcibly pulling out the cable
without releasing the connector lock may damage the actuator and connector.
2. Pull out the cable horizontally.
1. Release the lock.
(DRL42M, DRL60M only)
6-4 Connecting the electromagnetic brake (DRL42, DRL60 only)
Connect the two lead wires [600 mm (24 in.)] from the actuator to the DC power supply.
1. Connect the red/white lead wire to the +24 V terminal of the DC power supply.
2. Connect the black/white lead wire to the GND terminal of the DC power supply.
3. Connect the varistor in parallel across the +24 V and GND terminals of the DC power supply.
DRL42P, DRL60P
Varistor
Switch
Black/white
Red/white
Actuator
Motor leads
24 VDC
DRL42M, DRL60M
Varistor
Switch
Black/white
Red/white
Actuator
Motor leads
24 VDC
Connecting power supply for the electromagnetic brake
The electromagnetic brake operates via the ON/OFF status of the DC power supply.
For the electromagnetic brake, provide a power supply of 24 VDC±5%, 0.11 A or more if you are using the DRL42, or
one of 24 VDC±5%, 0.33 A or more in the case of the DRL60.
Use a shielded cable of AWG24 (0.2 mm2) or more in diameter to connect the electromagnetic brake to the DC power
supply, keeping the length as short as possible.

Connection
▌18
6-5 Connecting I/O signals
Connector pin assignments for driver
Connector No. Pin No. Type Signal Description
CN1 1 Input POWER + +24 VDC
2 Input − GND
CN2
1 Input PLS (CW) +Pulse input (CW pulse)
2 Input −
3 Input DIR. (CCW) +Rotation direction input (CCW pulse)
4 Input −
5 Input A.W.OFF +All windings o input
6 Input −
7 Input C/S +Resolution select input
8 Input −
9 Input C.D.INH +Current cutback release input
10 Input −
11 Output TIMING +Excitation timing output
12 Output −
CN3
1 Output
MOTOR
Blue motor lead
2 Output Red motor lead
3 Output Orange motor lead
4 Output Green motor lead
5 Output Black motor lead
When this switch is set to 1-pulse input mode, the inputs are the pulse input and the rotation direction input.
When this switch is set to 2-pulse input mode, the inputs are CW and CCW.
6-6 Suitable connector housings and contacts
Connect the driver, using the following suitable contacts and connector housings. Optional motor cables and driver
cables (sold separately) are also available. See page 35 for details.
When crimping contacts for connectors, be sure to use the crimping tool specied by the connector maker.
Connector housing, contact, and crimping tool for driver (Molex)
Connector housings Contacts Specied crimping tool
For power supply 51103-0200 50351-8100 57295-5000
For I/O signal 51103-1200 50351-8100 57295-5000
For motor 51103-0500 50351-8100 57295-5000
For the power supply cable, use a cable of AWG22 (0.3 mm2). Keep the wiring distance as short as possible [2 m
(6.6 ft.) maximum] to suppress the eect of noise.
For the I/O cable, use a cable of AWG24 (0.2 mm2) to AWG22 (0.3 mm2) and keep the wiring distance as short as
possible [2 m (6.6 ft.) maximum] to suppress the eect of noise.

Connection
19▐
Pay attention to polarity when connecting the power supply. Connecting the power supply in
reverse polarity may damage the driver.
Firmly insert the connector in position. Incomplete connection of the connector may cause
operation failure, or may damage the actuator or driver.
When pulling out a connector, pull it out by slightly expanding the latch part of the connectors
using a precision screwdriver.
Do not wire the driver's power supply cable in the same conduit in which another power supply
line or the motor cable is wired.
After turning o the power supply, wait at least 5 sec. before turning it on again.
Separate I/O cables at least 100 mm (3.94 in.) from electromagnetic relays and other than
inductance loads. Additionally, route I/O cables perpendicular to power supply cables and motor
cables, rather than in a parallel fashion.
If the motor cable or power supply cable generates an undesirable amount of noise after wiring/
installation, shield the cable or install a ferrite core.
Connector housing, contact and crimping tool for connector-type actuator (Molex)
Connector housings Contacts Specied crimping tool
DRL20, DRL28M 51065-0500 50212-8100 57176-5000
DRL42M 51103-0500 50351-8100 57295-5000
DRL60M 51144-0500 50539-8100 57189-5000
When connecting a actuator, ax the cable at the connection part to prevent the connection part
from receiving stress due to the exing of the cable. Make the cable's radius of curvature as large as
possible.
6-7 Explanation of I/O signals
Input signals
The signal states indicate the state of the internal photocoupler "ON: power conducted; OFF: power not conducted".
PLS (CW) input and DIR. (CCW) input
This driver can select either 1-pulse input mode or 2-pulse input mode as the pulse input mode to match the
controller used. For details on how to set the pulse input mode, see "7-2 Pulse input modes" on p.25.
1-pulse input mode
The controller pulses are connected to the PLS+ input (pin No.1) or the PLS− input (pin No.2), and the rotation
direction is connected to the DIR.+ input (pin No.3) or DIR.− input (pin No.4).
+5 V 1, 3
2, 4
+5 V
1, 3
2, 4
0 V
0 V
Example of connection with
a current sink output circuit
Example of connection with
a current source output circuit
When the DIR. input is "ON," turning the pulse input
from "ON to OFF" causes the screw shaft to move
forward one step.
When the DIR. input is "OFF," turning the pulse input
from "ON to OFF" causes the screw shaft to move
backward one step.
ON
OFF
ON
OFF
CW
Screw shaft behavior
CCW
PLS input
DIR. input BackwardForward
Forward
Backward

Connection
▌20
DIR. input ON:
Forward
DIR. input OFF:
Backward
DIR. input ON:
Forward
DIR. input OFF:
Backward
Standard type Guide type
Input pulse signals should have a waveform with sharp rise/fall edges, as shown below.
2 μs max. 2 μs max.
1 μs min.1 μs min.
90%
10%
10 μs min. 10 μs min.
CCW CWDIR. input
ON
OFF
ON
OFF
PLS input
Maintain driver temperature so that the surface temperature of the MOSFET array does not exceed
90 °C (194 °F).
The minimum value for the interval time when switching the rotational direction depends on the
actuator's size, running speed and load moment of inertia.
Always set the photocoupler to "OFF" when not inputting pulse signals. Otherwise, the driver can
not shift to the actuator stop setting current.
Do not input PLS input and DIR. input at the same time. If one of these pulses is input when the
other is "ON" the actuator will not run properly.
2-pulse input mode
The controller's CW pulses are connected to the CW+ (pin No.1) or the CW− (pin No.2), while the CCW pulses are
connected to the CCW+ (pin No.3) or the CCW− (pin No.4).
+5 V 1, 3
2, 4
+5 V
1, 3
2, 4
0 V
0 V
Example of connection with
a current sink output circuit
Example of connection with
a current source output circuit
Turning the CW input from "ON to OFF" causes the
screw shaft to move forward one step.
Turning the CCW input from "ON to OFF" causes the
screw shaft to move backward one step.
ON
OFF
ON
OFF
Screw shaft behavior
CW input
CCW input
Forward
Backward
Input pulse signals should have a waveform with sharp rise/fall edges, as shown below.
2 μs max. 2 μs max.
1 μs min.1 μs min.
90%
10%
10 μs min. 10 μs min.
CCW CWDIR. input
ON
OFF
ON
OFF
PLS input