Oriental motor DRL Series User manual

HL-14021-3
Compact Linear Actuators
DRL Series
Actuator with High-Strength Guide
CRD Driver
OPERATING MANUAL
KCC-REM-OMC-018
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..................................................... 9
6 Connection..................................................12
7 Setting...........................................................19
8 Inspection .................................................... 27
9 Troubleshooting and
remedial actions........................................28
10 Options (sold separately) .......................30

Introduction
▌2
1 Introduction
Before use
Only qualied personnel should work with the product.
Use the product correctly after thoroughly reading the "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.
Composition and contents of this operating manual
This manual describes the actuators used with the DRL series actuator with high-strength guide.
It is necessary to set up the actuator and the driver that are enclosed in the package in order to operate the DRL
series actuator with high-strength guide. Read the following operating manuals regarding the DRL series and follow
the instructions.
DRL Series Actuator with High-Strength Guide OPERATING MANUAL
Explains the installation of the actuator and a load.
DRL series Actuator with High-Strength Guide CRD Driver OPERATING MANUAL (this manual)
Explains the installation, connection, I/O, setting and troubleshooting of the driver.
Overview of the product
The DRL series compact linear actuators are actuators for linear driving employing a new mechanism − it incorporates
a ball screw into a 5-phase stepping motor.
Low-speed operation at low vibration levels
The driver 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
You can select and set two actuator resolutions from among the 16 levels (p.19).
Adjustable motor currents
The operating current and standstill current of the motor can be adjusted individually (p.21).
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 (p.20).
Standard and CE Marking
This product is recognized by UL and certied by CSA, and bears the CE Marking (EMC Directive) in compliance with
the EN Standards.
Applicable Standards
Model name Applicable standard Certication
Body
Standards
File No. CE Marking
Motor SM20P-C1, SM20PH-C1
SM28P-C11, SM28PH-C1
UL 60950
CSA C22.2 No.60950 UL E208200
EMC Directive
Driver CRD5103P, CRD5107P UL 60950-1
CSA C22.2 No.60950-1 UL E208200
The names of products certied to conform with relevant standards are represented by applicable unit model
motor and driver part numbers.
Certication condition ( UL 60950/UL 60950-1): Class III, SELV circuit, Pollution degree 2
For unit models, Oriental Motor declares conformance with the EMC Directive individually.

Introduction
3▐
Low Voltage Directive
Because the input power supply voltage of this product is 24 VDC, it is not subject to the Low Voltage Directive.
However, install and connect this product as follows.
The product is a type with machinery incorporated, 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.
EMC Directive
This product has received EMC measures under the conditions specied in "Example of actuator and driver installation
and wiring" on p.11. 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.10.
Hazardous substances
The products do not contain the substances exceeding the restriction values of RoHS Directive (2011/65/EU).
Republic of Korea, Radio Waves Act
Seller and user shall be noticed that this equipment is suitable for electromagnetic equipments for oce work (Class A)
and it can be used outside home.
이 기기는 업무용(A급) 전자파적합기기로서 판매자 또는 사용자는 이 점을 주의하시기 바라며, 가정외의 지역
에서 사용하는 것을 목적으로 합니다.
System conguration
Controllers with pulse output functions are needed to operate the DRL series.
Actuator
CRD driver
Controller
DC power supply∗1
DRL series
Motor lead wires
+LS sensor
- LS sensor∗2
(HOME sensor)
I/O
*1 As for the power supply to the driver, use a DC power supply with reinforced insulation on both the primary and
secondary sides.
*2 Optional home sensor set (sold separately) are available from Oriental Motor.

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.
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 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.
Assign qualied personnel the task of installing, wiring, operating/controlling, inspecting and troubleshooting the
product. Failure to do so may result in re, injury or damage to equipment.
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 holding torque when the power is shut o, allowing the moving parts to fall
and possibly cause injury or damage to equipment.
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.
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.
Do not forcibly bend, pull or pinch the power supply cable or motor lead wires. Doing so may result in re.
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 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 moving part 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.
Repair, disassembly and modication
Do not disassemble or modify the driver. This may cause injury. Refer all such internal inspections and repairs to
the branch or sales oce from which you purchased the product.

Safety precautions
5▐
General
Do not use the driver beyond its specications, or injury or damage to equipment may result.
Keep your ngers and objects out of the openings in the driver, or re or injury may result.
Do not touch the driver during operation or immediately after stopping. The surface is hot and may cause a skin
burn(s).
If the connection cable or motor lead wires connected the driver are forcibly bent or pulled, the driver will receive
stress and may suer damage.
Installation
Keep the area around the driver free of combustible materials in order to prevent re or a skin burn(s).
To prevent the risk of damage to equipment, leave nothing around the driver that would obstruct ventilation.
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.
To prevent bodily injury, do not touch the moving part during operation.
If the moving part must be moved directly by hand (for manual alignment, etc.), do so after conrming that the
driver’s A.W.OFF input turnde 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 as much as possible and dispose of individual
parts/components as industrial waste.

Precautions for use
▌6
3 Precautions for use
This section covers limitations and requirements the user should consider when using the DRL series 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 result in injury or damage to equipment.
Acceleration (acceleration/deceleration rate)
The acceleration (acceleration/eceleration 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. See p.23 for details.
Operating speed
The operating speed of the actuator must be within the specied range, including during acceleration. See p.23 for
details.
Do not let the moving part hit the stroke end or load
Do not let the moving part hit the stroke end or equipment during operation, since such an impact may damage the
actuator. Should the moving part hit the stroke end or equipment, remove the load and retract the moving part at the
starting speed [0.2 mm/s (0.008 in/s)].
Driver connectors
Always use the supplied connectors for connecting the power supply, actuator and I/O signals 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.
Preventing electrical noise
See "5-3 Installing and wiring in compliance with EMC Directive" on p.10 for measures with regard to noise.

Preparation
7▐
4 Preparation
This chapter explains the items you should check, as well as the name and function of each part.
4-1 Checking the product
Verify that the items listed below are included. Report any missing or damaged items to the branch or sales oce
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.8.
Actuator ..................................................................................1 unit
Driver .......................................................................................1 unit
OPERATING MANUAL Actuator.......................................1 copy
OPERATING MANUAL Driver (this document)...........1 copy
Connector leads [0.6 m (2 ft.)].........................................1 pc. (DRL20 only)
Connector husing and contact.......................................1 set (packed in a bag)
Connector Connector husing (Molex) Contact (Molex)
For power supply 1pc. 51103-0200 (2 poles)
19 pcs. 50351-8100For actuator 1pc. 51103-0500 (5 poles)
For I/O signals 1pc. 51103-1200 (12 poles)
When removing the driver from the conductive protection bag, make sure your hands are not
charged with static electricity. This is to prevent damage to the driver due to static electricity.
4-2 How to read the model number
DRL 20 P B 1 V - 02 N G
DRL series
Motor type P: Standard type motor
A: Rolled ball screw
B: Grounded ball screw
Lead 1: 1 mm (0.039 in.)
Shape V: With high-strength guide
N: With adjustment-knob
None: No additional function
Driver type G: CRD (Photocoupler input)
None: Without driver
Actuator frame size 20: 20 mm (0.79 in.) square
28: 28 mm (1.1 in.) square
Stroke 02: 25 mm (0.98 in.) [DRL20]
03: 30 mm (1.18 in.) [DRL28]

Preparation
▌8
4-3 Combinations of actuators and drivers
Rolled ball screw
Unit model Actuator model Driver model
DRL28PA1V-03G DRL28PA1V-03 CRD5107P
DRL28PA1V-03NG DRL28PA1V-03N
Grounded ball screw
Unit model Actuator model Driver model
DRL20PB1V-02G DRL20PB1V-02 CRD5103P
DRL20PB1V-02NG DRL20PB1V-02N
DRL28PB1V-03G DRL28PB1V-03 CRD5107P
DRL28PB1V-03NG DRL28PB1V-03N
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.
MOSFET arrays
Mountint holes (4 locations)
2
3
7
4
5
6
8
1
No. Name Description Page
1 Power supply connector (CN1) Connect to a 24 VDC power supply. p.13
2 I/O signal connector (CN2) Connect to I/O signals. p.13
3 Actuator connector (CN3) Connect to the actuator’s motor leads. p.13
4Motor operating current
potentiometer (RUN)
Set the operating current of the actuator. If there is sucient thrust,
the current setting can be reduced to suppress increases in actuator/
driver temperatures. Factory setting is rated current.
p.22
5Motor standstill current
potentiometer (STOP)
Set the current when the motor is at a standstill (in the current
cutback state). Factory setting is 50% of the rated current. p.22
6Function select switches
(1P/2P, OFF/SD, R2/R1)
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.
p.20
p.21
p.19
7Resolution setting switches
(DATA1, DATA2)
You can set a desired resolution by selecting it from among the 16
resolutions. p.19
8 Power supply input indicator (LED) This LED remains lit while the power supply is input. −

Installation
9▐
5 Installation
This chapter explains the installation location and installation methods of the driver, as well as how to install a load.
The installation and wiring methods in compliance with the EMC Directive are also explained.
5-1 Installation location
The driver is 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: 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
5-2 Installation method
Install the driver on a at metal surface having excellent heat conductivity, and mount it vertically or horizontally.
Installing the driver under conditions other than this could reduce its heat radiation eect.
There must be a clearance of at least 25 mm (0.98 in.) and 50 mm (1.97 in.) clearances 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 50 mm (1.97 in.) clearances in the horizontal
and vertical directions, respectively.
The items shown below are necessary in order to mount the driver. (The items are not included and must be provided
by the customer.)
Tightening torque: 0.5 N·m (71 oz-in)
M3 screw.......................................................... 4 pcs.
M3 spring washer.........................................4 pcs.
M3 nut ..............................................................4 pcs. (Not necessary if tapped holes are provided in the enclosure.)
Spacers [5 mm (0.2 in.) or more] ............. 4 pcs.
Horizontal installation
M3 screw
Spring washe
r
Spacer
Metal plate
Vertical installation
Spacer
Metal plate
M3 screw
Spring washer

Installation
▌10
Install the driver in an enclosure.
Do not use any holes on the MOSFET arrays to install the drivers.
Do not install any equipment that generates a large amount of heat or noise near the driver.
Adjust the ventilation condition if the ambient temperature of the driver exceeds 40 °C (104 °F).
Review the operating conditions if the surface temperature of the MOSFET arrays exceeds 90 °C
(194 °F).
The case containing the MOSFET arrays is insulated.
5-3 Installing and wiring in compliance with EMC Directive
Eective measures must be taken with regard to EMI caused by the DRL series actuator and/or driver in the control
system equipment operating nearby and EMS of the DRL series actuator and/or driver. Failure to do so may result
in serious impairment of the machine’s functionality. The use of the following installation and wiring methods will
enable the DRL series actuator and/or driver to be compliant with the EMC Directive.
Oriental Motor conducts EMC measurements on its DRL series actuator and drivers in accordance with "Example of
actuator and driver installation and wiring" on p.11.
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 EN 55011 group 1 class A, EN 61000-6-4, EN61800-3
EMS EN 61000-6-2, EN 61800-3
Power supply
The DRL series CRD driver unit 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 AC input terminal of DC power supply as possible. Also, secure the I/O cables
(AWG18: 0.75 mm2or more) using cable clamps or the like so that the cables won’t lift from the surface of the
enclosure panel.
The cable used to ground the mains lter must be as thick and short to the grounding point as possible.
Do not wire the AC input cable (AWG18: 0.75 mm2or more) and the output cable of the mains 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
The cable used to ground the driver and mains lter must be as thick and short as possible so that no potential
dierence is generated. Choose a large, thick and uniformly conductive surface for the grounding point.
Install the actuator onto a grounded metal surface.
Wiring the power supply cable and signal cable
Use a shielded cable of AWG22 (0.3 mm2) or more for the power supply cable of driver, and keep it as short as possible.
Use a shielded cable of AWG24 (0.2 mm2) or more for the I/O signals cable, and keep it as short as possible.
To ground a power supply cable and I/O signals 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 gure.
Cable clamp
Shielded cable

Installation
11▐
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 cables as short as possible without coiling and bundling extra lengths.
Place the power cables such as the wire connecting the actuator and the driver 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 lter separately from each other.
Example of actuator and driver installation and wiring
Driver
PE
Actuator
FG
Mains
filter DC power supply
PE
FG
A
AA
Grounded panel
FG A: Cable clamp
Motor cable
FG
User
controller
FG
Power supply cable
(Shielded cable)
I/O signals cable
(Shielded cable)
Precautions about static electricity
Static electricity may cause the driver to malfunction or suer damage.
While the driver is receiving power, handle the driver with care and do not come near or touch the driver.
Always use an insulated screwdriver when adjusting the actuator current using the control on the driver.
Do not come close to or touch the driver while the power is on.

Connection
▌12
6 Connection
This section covers the methods and examples of connecting and grounding the driver, actuator, power supply and
controller, as well as the I/O signals.
DRL20 is the connector type actuator. Use the supplied connector leads. An optional connector lead wires and driver
cable set is available (sold separately). See p.30 for details.
6-1 Connection example
Blue
Red
Orange
Green
Black
V0(+5 to 24 VDC)
GND
24 VDC±10%
Connector
terminal No.
Lead wire color
Controller
Driver
R1
R1
R1
R1
R1
R2
220 Ω
220 Ω
220 Ω
220 Ω
220 Ω
TIMING
C.D.INH
C/S
A.W.OFF
CCW (DIR.)
CW (PLS)
11 22 33 44 55
1
2
CN1
CN3
CN2
9
10
8
1
2
3
4
7
6
5
11
12
0 V
0 V
0 V
0 V
0 V
0 V
V0(+5 to 24 VDC)
The power supply voltage for input signals should be 5 VDC. If the power supply exceeds 5 VDC,
connect an external resistor R1 to keep the input current to 10 to 20 mA.
Example) When V0 is 24 VDC R1: 1.5 to 2.2 kΩ, 0.5 W or more.
The output signal should be 5 to 24 VDC and the current should be 10 mA or less. If the output
signal current exceeds 10 mA, connect an external resistor R2 to keep the current to 10 mA or
below.
Be certain the I/O signals cable that connects the driver and controller is as short as possible. The
maximum input frequency will decrease as the cable length increases.

Connection
13▐
6-2 Connecting the power supply
Use a power supply that can supply the current capacity shown in below.
Driver model CRD5103P CRD5107P
Input power supply voltage +24 VDC±10%
Power supply current capacity 0.7 A or more 1.4 A or more
6-3 Connecting the actuator
Crimp-t the actuator connector onto the motor lead wires and insert the connector with leads into the actuator
connector (CN3).
To extend the motor lead wires, using a cable of AWG22 to 18 (0.3 to 0.75 mm2) and also by keeping the wiring length
within 10 m. See p.14 for details.
An optional connector lead wires and driver cable set is available (sold separately). See p.30 for details.
Connector type actuator (DRL20)
Use the supplied connector leads.
Orient the connector in the correct direction and insert it securely.
Connector
When disconnecting the connector type connector leads, pull the connector leads horizontally along
the screw shaft to remove. The actuator may be damaged if force is applied in any other direction.
6-4 Connecting the I/O signals
Connector pin assignments for driver
Connector No. Pin No. Direction Signal Description
CN1 1 Input POWER + +24 VDC
2 Input − GND
CN2
1 Input CW
（PLS）
* +CW pulse (pulse) input
2 Input −
3 Input CCW
（DIR.）
* +CCW pulse (direction) input
4 Input −
5 Input A.W.OFF +All windings o input
6 Input −
7 Input C/S +Resolution switching input
8 Input −
9 Input C.D.INH +Auto current down release input
10 Input −
11 Output TIMING +Excitation timing output
12 Output −
CN3
1 Output
MOTOR
Blue lead wire
2 Output Red lead wire
3 Output Orange lead wire
4 Output Green lead wire
5 Output Black lead wire
* When 2-pulse input mode, the inputs are CW pulse input and CCW pulse input.
When 1-pulse input mode, the inputs are the pulse input and the direction input.

Connection
▌14
6-5 Applicable connector housing and contact
Connect the driver, using the supplied connector housings and contacts. Crimp motor lead wires to contact securely
using the crimping tool specied by the connector maker.
An optional connector leads and driver cable set are also available (sold separately). See p.30 for details.
Connector housing, contact, crimping tool (Molex)
Application Connector housing Contact Specied
crimping tool
For power supply 51103-0200
50351-8100 57295-5000For actuator 51103-0500
For I/O signals 51103-1200
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) or less] to suppress the eect of noise.
For the I/O signals cable, use a cable of AWG24 to 22 (0.2 to 0.3 mm2) and keep the wiring distance as short as
possible [2 m (6.6 ft) or less] to suppress the eect of noise.
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 connector.
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.
To cycle the power suppy or connect/disconnecot the connector, turn o the power and wait for at
least 5 seconds before turning on the power again.
Separate I/O signals cable at least 100 mm (3.94 in.) from electromagnetic relays and other than
inductance loads. Additionally, route I/O signals cable perpendicular to power supply cables and
motor lead wires, rather than in a parallel fashion.
If the motor lead wire or power supply cable generates an undesirable amount of noise, shield the
cable or install a ferrite core.
Connector housing, contact, crimping tool for connector type (Molex)
Unit model Connector housing Contact Specied
crimping tool
DRL20 51065-0500 50212-8100 57176-5000
When connecting a actuator, ax the lead wires at the connection part to prevent the connection
part from receiving stress due to the exing of the lead wires. Make the laed wire’s radius of curvature
as large as possible.

Connection
15▐
6-6 Description of I/O signals
Input signals
The signal states indicate the state of the internal photocoupler “ON: power conducted; OFF: power not conducted”.
CW, CCW, A.W.OFF
C/S, C.D.INH CW, CCW, A.W.OFF C/S, C.D.INH
1, 3, 5, 7, 9
2, 4, 6, 8, 10
1, 3, 5, 7, 9
2, 4, 6, 8, 10
+5 V
0 V 0 V
+5 V
•Example of connection with
a current sink output circuit •Example of connection with a current source output circuit
CW (CW pulse) input and CCW (CCW pulse) input
PLS (pulse) input and DIR. (direction) 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 p.20.
The minimum value for the interval time when switching the direction depends on the actuator’s
size, running speed and load moment of inertia. Do not shorten the interval time any more than is
necessary.
Always set the photocoupler to OFF when not inputting pulse signals. Otherwise, the driver can’t
shift to the motor standstill current.
Do not input CW input and CCW input at the same time. If one of these pulses is input when the
other is ON, the actuator will not run properly.
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).
When the DIR. input is ON, turning the pulse input from ON to OFF causes the moving part to move forward one
step.
When the DIR. input is OFF, turning the pulse input from ON to OFF causes the moving part to move backward one
step.
PLS input
DIR. input
Moving part
movement
ON
OFF
ON
OFF Forward
Backward
DIR. input OFF:
Backward
DIR. input ON:
Forward
Input pulse signals should have a waveform with sharp rise/fall edges, as shown below.
90%
10% 1 µs
or more
1 µs
or more
2 µs or less2 µs or less
20 µs
or more
DIR. input
ON
OFF
ON
OFF
PLS input

Connection
▌16
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).
Turning the CW input from ON to OFF causes the moving part to move forward one step.
Turning the CCW input from ON to OFF causes the moving part to move backward one step.
CW input
CCW input
Moving part
movement
ON
OFF
ON
OFF Forward
Backward
CCW input:
Backward
CW input:
Forward
Input pulse signals should have a waveform with sharp rise/fall edges, as shown below.
90%
10% 1 µs
or more
1 µs
or more
2 µs or less2 µs or less
10 µs
or more
CCW input
ON
OFF
ON
OFF
CW input
A.W.OFF (All windings o) input
This input is used during position adjustment by moving the screw shaft manually.
When the A.W.OFF input is ON, the driver cuts o the current supply to the actuator and the actuator loses its
holding torque. The position of the moving part can be adjusted manually.
When the A.W.OFF input is OFF, the driver resumes the current supply to the actuator and restores the actuator’s
holding torque.
When operating the actuator, always keep the A.W.OFF input is OFF.
C/S (Resolution switching) input
This input is used to select a desired resolution from the values set with the resolution setting switches (DATA1,
DATA2). For details on how to set the resolution setting switches, see p.19.
Turning the C/S input ON changes the resolution to the setting of the resolution setting switch DATA2.
Turning the C/S input OFF changes the resolution to the setting of the resolution setting switch DATA1.

Connection
17▐
Output signals
The driver’s output signals are photocoupler/open-collector outputs. The signal states indicate the state of the
internal photocoupler“ON: power conducted; OFF: power not conducted”.
V0(+5 to 24 VDC)V0(+5 to 24 VDC) TIMING TIMING
11
12 11 12
0 V 0 V
R2
R2
•Example of connection with
a current sink input circuit
•Example of connection with
a current source input circuit
TIMING (Excitation timing) output
This output is used to increase the accuracy of origin detection. The TIMING output turns ON each time the moving
part moves by 0.02 mm (0.00079 in.).
TIMING output ON
OFF
Move MoveStop
Moving part
movement
Example of TIMING output not turning ON
The chart below shows an operation in which the moving part is moved forward for 12 pulses at a resolution of
0.0002 mm (0.0000079 in.) and then moved backward for one pulse at a resolution of 0.002 mm (0.000079 in.).
Forward 12 pulse
0.0002 mm/step
(0.0000079 in/step)
Backward 1 pulse
0.002 mm/step
(0.000079 in/step)
Stop position
after the 12th pulse
0.002 mm (0.000079 in.)
Stop position after 1st pulse
TIMING output: None
Step 0
(TIMING output ON) 0.0002 mm (0.0000079 in.)
When using the TIMING output, set the number of input pulses or resolution as precisely as
possible in such a way that the moving part will stop at a position corresponding to an integer
multiple of the 0.02 mm (0.00079 in.).
When changing the resolution using the C/S input, do so when the actuator is stopped with the
driver’s TIMING output turned ON. Switching the C/S input in any other condition may sometimes
fail to turn the TIMING output ON.

Connection
▌18
6-7 Timing chart
CW input
DIR. input
CCW input
PLS input
A.W.OFF input
Power supply input
C/S input DATA2DATA1
2-pulse input mode
1-pulse input mode
300 µs or more
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
Forward Backward Backward
The section indicates that the photocoupler diode is emitting light.
300 µs or more∗2
5 s or more∗3
∗4
Moving part movement
10 µs or more∗1
10 µs or more∗110 µs or more∗1
*1 “10 μs or more”indicated in connection with the DIR. input select time (1-pulse input mode) or CW/CCW input
select time (2-pulse input mode) indicates a circuit response time. Set it to the time required for the actuator to
respond to the applicable pulse input.
*2 Do not input pulse signals immediately after switching the A.W.OFF input to OFF, given that it will aect the
actuator’s starting characteristics.
*3 After turning o the power supply, wait at least 5 seconds before turning the power supply back on.
*4 The specic duration varies depending on the load inertial moment, load torque, starting frequency, etc.

Setting
19▐
7 Setting
This section explains the methods of switching or setting the drive function.
7-1 Resolution
When setting the actuator’s resolution, use the resolution setting switches (DATA1, DATA2) and the resolution select
switch.
Resolution setting switches
Resolution
setting switch
Resolution select switch
Resolution select
switch (R2/R1)
Factory setting Resolution setting switches : DATA1 and DATA2 are both 0.
Resolution select switch : R1 (ON side)
The table below lists the resolution that can be set.
Resolution
setting switches
DATA1/DATA2
Resolution select switch: R1 Resolution select switch: R2
No. of
divisions 1 Resolution 1 [mm (in.)] No. of divisions 2 Resolution 2 [mm (in.)]
0 1 0.002 (0.000079) ×2.5 0.005 (0.0002)
1 2 0.001 (0.000039) ×1.25 0.0025 (0.000098)
2 2.5 0.0008 (0.000031) 1.6 0.00125 (0.000049)
3 4 0.0005 (0.00002) 2 0.001 (0.000039)
4 5 0.0004 (0.000016) 3.2 0.000625 (0.000025)
5 8 0.00025 (0.0000098) 4 0.0005 (0.00002)
6 10 0.0002 (0.0000079) 6.4 0.0003125 (0.000012)
7 20 0.0001 (0.0000039) 10 0.0002 (0.0000079)
8 25 0.00008 (0.0000031) 12.8 0.00015625 (0.0000062)
9 40 0.00005 (0.000002) 20 0.0001 (0.0000039)
A 50 0.00004 (0.0000016) 25.6 0.000078125 (0.0000031)
B 80 0.000025 (0.00000098) 40 0.00005 (0.000002)
C 100 0.00002 (0.00000079) 50 0.00004 (0.0000016)
D 125 0.000016 (0.00000063) 51.2 0.0000390625 (0.0000015)
E 200 0.00001 (0.00000039) 100 0.00002 (0.00000079)
F 250 0.000008 (0.00000031) 102.4 0.00001953125 (0.00000077)
The resolutions are given as theoretical values.
The resolution is calculated by dividing the basic resolution by the division number.
Do not switch the C/S input or the resolution select switch while the actuator is operating, or the
actuator may misstep and stall.
The resolution corresponding to the resolution select switch settings of R1 and R2 cannot be set
simultaneously.

Setting
▌20
How to set the resolution
1. Set the resolution select switch to R1 (ON side) or R2 (OFF side).
R1 (ON side): Among the resolution shown in the table on the previous page, those corresponding to the
resolution select switch setting of "R1" can be used.
R2 (OFF side): Among the resolution shown in the table on the previous page, those corresponding to the
resolution select switch setting of "R2" can be used.
2. Set a desired resolution using the resolution setting switches.
You can set dierent resolutions using DATA1 and DATA2.
3. Using the C/S input, select whether to use the resolution corresponding to DATA1 or DATA2 to operate the
actuator.
Turning the C/S input ON select the DATA2 setting.
Turning the C/S input OFF select the DATA1 setting.
Setting example: Switch the resolution between 0.002 mm (0.000079 in.) and 0.0005 mm (0.00002 in.)
Using the table on the previous page, check the combinations of the switches when setting resolutions of 0.002 mm
(0.000079 in.) and 0.0005 mm (0.00002 in.). From the table, it is clear that DATA1 should be set to “0” and DATA2 to “5”
when the resolution select switch is R1 (ON side).
1. Set the resolution select switch to R1 (ON side).
2. Set the resolution setting switch DATA1 to 0 and DATA2 to 5.
3. To operate the actuator at 0.002 mm (0.000079 in.), turn the C/S input OFF.
Turning the C/S input OFF select the DATA1 setting.
4. To operate the actuator at 0.0005 mm (0.00002 in.), turn the C/S input ON.
Turning the C/S input ON select the DATA2 setting.
7-2 Pulse input mode
Either the 1-pulse or 2-pulse input mode may be selected in accordance with the
controller used.
Pulse input mode
switch (1P/2P)
When the actuator is to be controlled through the pulse signal and the rotation direction
signal that species the actuator’s moving direction, set the pulse input mode select switch
to “1P” (OFF side).
1P 2P
When the actuator is to be controlled through 2-pulse signal input via the CW pulse signal
and CCW pulse signal, set the pulse input mode select switch to“2P” (ON side). 1P 2P
The factory setting of the pulse input mode depends on the destination country. Check the pulse
input mode setting in accordance with the pulse mode in the controller used.