Oriental motor AlphaStep AR Series User manual

1
Operating Manuals for the AR Series
Manual name Motor
function
Driver
function
Installing
the motor
Installing
the driver Connection Operation Troubleshooting
AR Series Motor OPERATING MANUAL
(Supplied with motor) ○ − ○ − − − −
AR Series DC power input
Pulse input type Driver
OPERATING MANUAL (this document)
− ○ − ○ ○ − −
AR Series DC power input
Pulse input type USER MANUAL ○ ○ ○ ○ ○ ○ ○
The "USER MANUAL" does not come with the product. For details, contact your nearest Oriental Motor sales ofce or download
from Oriental Motor website download page.
HM-40093-3
OPERATING MANUAL
Closed loop stepping motor and driver package 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.
AR Series
DC power input Pulse input type Driver
Introduction
Before use
Only qualied personnel should work with the product.
Use the product correctly after thoroughly reading the section
"Safety precautions.”
The product described in this manual has been designed and
manufactured for use 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.
Hazardous substances
The products do not contain the substances exceeding the
restriction values of RoHS Directive (2011/65/EU).
Checking the product
Verify that the items listed below are included. Report any
missing or damaged items to the branch or sales ofce from
which you purchased the product.
Driver ........................................................................1 unit
CN1 connector (3 pins) ............................................1 pc.
CN5 connector (36 pins) ..........................................1 pc.
OPERATING MANUAL Driver (this document) ........1 copy
Names of parts
Current setting switch
Speed filter setting switch
Control mode select
switch (SW1-No.2)
Resolution switches
(SW1-No.3/No.4)
Pulse input mode select
switch (SW1-No.1)
Data edit connector
(CN4)
Motor connector
(CN2)
POWER LED
ALARM LED
I/O signals connector
(CN5)
Main power supply
input terminals (CN1)
Frame Ground
Terminal (CN1)
DIN lever

2
Installation
Location for installation
The driver has been designed and manufactured to be
installed within another device. 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 +50 °C [+32 to +122 °F]
(non-freezing)
Operating ambient humidity 85% or less (non-condensing)
Area that is free of explosive atmosphere or toxic gas (such
as sulfuric gas) or liquid
Area not exposed to direct sun
Area free of excessive amount of dust, iron particles or the
like
Area not subject to splashing water (rain, water droplets), oil
(oil droplets) or other liquids
Area free of excessive salt
Area not subject to continuous vibration or excessive shocks
Area free of excessive electromagnetic noise (from welders,
power machinery, etc.)
Area free of radioactive materials, magnetic elds or vacuum
1000 m (3300 ft.) or lower above sea level
Installation method
Mount the driver to a 35 mm (1.38 in.) width DIN rail.
10 (0.39)
or more
25 (0.98) or more90 (3.54)
35 (1.38)
[Unit: mm (in.)]
Note
Install the driver in an enclosure
whose pollution degree is 2 or
better environment, or whose
degree of protection is IP54
minimum.
Do not install any equipment that
generates a large amount of heat
or noise near the driver.
Do not install the driver underneath
the controller or other equipment
vulnerable to heat.
Check ventilation if the ambient
temperature of the driver exceeds
50 °C (122 °F).
Be sure to install the driver
vertically (vertical position).
Connection
The following gure is a connection example when an electromagnetic brake motor is used.
Cable for OPX-2A or MEXE02
Cable for
electromagnetic brake
Electromagnetic
brake cable
Cable for motorMotor cable
I/O signals
Tightening torque:
0.3 to 0.35 N·m
(42 to 49 oz-in)
7 mm
(0.28 in.)
Lead wire
CN1 connector
1
2
17
18
19
20
35
36
Applicable lead wire
AWG28 to 26 (0.08 to 0.14 mm2)
Applicable lead wire
AWG24 to 16
(0.2 to 1.25 mm2)
+24 VDC
GND
FG
24 VDC±5%
DC power supply*
* The power supply current
capacities are as follows.
Switch
White
Black
Connector screw
size: M2
Tightening torque:
0.22 to 0.25 N·m
(31 to 35 oz-in)
Connector screw size: M2.5
Tightening torque: 0.4 N·m (56 oz-in)
Main power supply
Varistor
(supplied)
AR66
AR69
AR98
AR46
AR24
AR26
0.25 A or more
0.08 A or more
0.05 A or more
Model Power supply
current capacity

3
Main power supply current capacity
Model Input power
supply voltage
Power supply
current capacity
AR14
24 VDC±10%
0.4 A or more
AR15 0.5 A or more
AR24
AR26 0.9 A or more
AR46
24 VDC±10%
48 VDC±5%
1.4 A or more
AR66 3.1 A or more
AR69 3.0 A or more
AR98 2.5 A or more
Notes about connection
General
Have the connector plugged in securely. Insecure connector
connection may cause malfunction or damage to the motor
or driver.
When cycle the power or plugging/unplugging the connector,
turn off the power and wait for the POWER LED to turn off.
Connecting the motor
When unplugging the connector, do so while pressing the
latches on the connector.
When installing the motor to a moving part, use an
accessory exible cable offering excellent exibility.
If the distance between the motor and driver is extended to
20 m (65.6 ft.) or longer, use a power supply of 24±4% VDC.
The lead wires of the "cable for electromagnetic brake" have
polarities, so connect them in the correct polarities. If the
lead wires are connected with their polarities reversed, the
electromagnetic brake will not operate properly.
Connecting the I/O signals
Be certain the I/O signals cable is as short as possible. The
maximum input frequency will decrease as the cable length
increases.
Connecting the power supply
Do not wire the power supply cable of the driver in the same
cable duct with other power line or motor cable. Doing so may
cause malfunction due to noise.
Pay attention to the polarity of the power supply. Reverse-
polarity connection may cause damage to the driver.
The main power supply connector (CN1), data
edit connector (CN4) and I/O signal connector
(CN5) of the driver are not electrically
insulated. When grounding the positive
terminal of the power supply, do not connect
any equipment (PC, etc.) whose negative
terminal is grounded. Doing so may cause the
driver and these equipment to short, damaging
both.
I/O connector pin assignment
Pin
No
Operating mode Name
Positioning
operation
Push-motion
operation *1
Positioning
operation
Push-motion
operation *1
1 − −
2 GND Ground connection
3 ASG+ A-phase pulse output
(Line driver)
4 ASG−
5 BSG+ B-phase pulse output
(Line driver)
6 BSG−
7 TIM1+ Timing output (Line driver)
8 TIM1−
9 ALM+ Alarm output
10 ALM−
11 WNG+ Warning output
12 WNG−
13 END+ Positioning completion output
14 END−
15 READY+/AL0+ *1 Operation ready complete
output/Alarm code output 0
16 READY−/AL0− *1
17 TLC+/AL1+ *1 Torque limit output/
Alarm code output 1
18 TLC−/AL1− *1
19 TIM2+/AL2+ *1 Timing output (Open
collector)/Alarm code output 2
20 TIM2−/AL2− *1
21 GND Ground connection
22 IN-COM Input common
23 C-ON *2 Current ON input
24 CLR/ALM-RST Deviation clear input/
Alarm reset input
25 CCM Current control mode ON
input
26 CS T-MODE *1 Resolution
selection input
Push-motion
operation ON
27 − M0 *1 −
Push-current
setting
selection
input
28 RETURN M1 *1
Return to
electrical home
operation
29 P-RESET M2 *1 Position reset
input
30 FREE Excitation OFF
31 CW+/PLS+ CW pulse input/Pulse input
(+5 V or line driver)
32 CW−/PLS−
33 CW+24 V/PLS+24 V CW pulse input/Pulse input
(+24 V)
34 CCW+24 V/DIR+24 V CCW pulse input/Direction
input (+24 V)
35 CCW+/DIR+ CCW pulse input/Direction
input (+5 V or line driver)
36 CCW−/ DIR−
*1 The signal will become effective if the applicable setting
has been changed using the accessory OPX-2A (sold
separately) or MEXE02.
*2 Factory setting of the C-ON input logic is "normally open."
Be sure to turn the C-ON input ON when operating the
motor. Set the C-ON input logic to "normally closed" when
the C-ON input is not used.

4
Setting
Current setting switch (Factory setting: F)
Set a desired operating current. The operating
current to be set is the maximum output current
multiplied by the operating current rate (%).
Speed filter setting switch (Factory setting: 1)
The motor response to input pulses can be
adjusted.
Resolution switch (Factory setting: OFF)
Set a desired resolution per revolution of the
motor output shaft.
Pulse input mode select switch
Set a desired pulse input mode of the driver.
OFF: 2-pulse input mode
ON: 1-pulse input mode
Keep this switch in the OFF position.
Note
The new settings of the resolution switches or pulse input
mode select switch will become effective after the power is
cycled.
Excessively low operating current may cause a problem
in starting the motor or holding the load in position. Do not
lower the operating current more than necessary.
When changing the resolution using the CS input, use the
switches in "No.3: OFF"/"No.4: OFF" or "No.3: OFF"/"No.4:
ON" combination. If the CS input is turned ON when "No.3:
ON" is selected, the resolution will not be changed.
Resolution
OFF
OFF ON OFF ON
OFF ON
ON
Resolution
1000 P/R
(Factory setting)
Resolution
500 P/R Resolution 10000 P/R Resolution 5000 P/R
Operating current
Dial
setting
Operating
current rate (%)
Dial
setting
Operating current
rate (%)
0 6.3 8 56.3
1 12.5 9 62.5
2 18.8 A 68.8
3 25.0 B 75.0
4 31.3 C 81.3
5 37.5 D 87.5
6 43.8 E 93.8
7 50.0 F 100 (Factory setting)
Speed lter
Dial
setting
Speed lter time
constant (ms)
Dial
setting
Speed lter time
constant (ms)
0 0 8 30
1 1 (Factory setting) 9 50
2 2 A 70
3 3 B 100
4 5 C 120
5 7 D 150
6 10 E 170
7 20 F 200
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.
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. Failure
to do 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.
When the driver generates an alarm (protective functions is
triggered), take measures to hold the moving part in place
since the motor stops and loses its holding torque. Failure to
do so may result in injury or damage to equipment.
When the driver generates an alarm (protective functions
is triggered), rst remove the cause and then clear the
protection function. Continuing the operation without
removing the cause of the problem may cause malfunction
of the motor and driver, leading to injury or damage to
equipment.
Installation
Install the driver in the enclosure in order to prevent injury.
Connection
Keep the driver's input power voltage within the specied
range. Failure to do so may result in re.
For the driver’s power supply, use a DC power supply with
reinforced insulation on its primary and secondary sides.
Failure to do so may result in electric shock.
Connect the cables securely according to the wiring
diagram. Failure to do so may result in re.
Do not forcibly bend, pull or pinch the cable. Doing so may
cause re.
Operation
Turn off the driver power in the event of a power failure. Or
the motor may suddenly start when the power is restored
and may cause injury or damage to equipment.
Do not turn the FREE input to ON while the motor is
operating. The motor will stop and lose its holding power.
Doing so may result in injury or damage to equipment.
Repair, disassembly and modication
Do not disassemble or modify the driver. Doing so may
cause injury. Refer all such internal inspections and repairs
to the branch or sales ofce from which you purchased the
product.

5
Handling the product without observing the instructions that
accompany a “Caution” symbol may result in injury or property
damage.
General
Do not use the driver 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
driver. Failure to do so may result in re or injury.
Do not touch the driver during operation or immediately after
stopping. The surface is hot and may cause a skin burn(s).
Installation
Do not leave anything around the driver that would obstruct
ventilation. Doing so may result in damage to equipment.
Connection
The main power supply connector (CN1), data edit connector
(CN4) and I/O signal connector (CN5) of the driver are not
electrically insulated. When grounding the positive terminal
of the power supply, do not connect any equipment (PC,
etc.) whose negative terminal is grounded. Doing so may
cause the driver and these equipment to short, damaging
both.
Operation
Use a motor and driver only in the specied combination. An
incorrect combination may cause a 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.
Before supplying power to the driver, turn all input signals to
the driver OFF. Otherwise, the motor may start suddenly at
power ON and cause injury or damage to equipment.
Before moving the motor directly with the hands, conrm
that the FREE input turns ON. Failure to do so may result in
injury.
Immediately when trouble has occurred, stop running and
turn off 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
This section covers limitations and requirements the user
should consider when using the product.
•Always use the cable (supplied or accessory) to
connect the motor and driver.
Be sure to use the cable (supplied or accessory) to connect
the motor and driver. In the following condition, an appropriate
accessory cable must be purchased separately.
If a exible cable is to be used.
If a cable of 3 m (9.8 ft.) or longer is to be used.
If a motor and driver package without a cable was
purchased.
•Perform the insulation resistance test or dielectric
strength test separately on the motor and the driver.
Performing the insulation resistance test or dielectric strength
test with the motor and driver connected may result in damage
to the product.
•Saving data to the NV memory
Do not turn off the main power supply while writing the data to
the NV memory and 5 seconds after the completion of writing
the data. Doing so may abort writing the data and cause a
EEPROM error alarm to generate. The NV memory can be
rewritten approx. 100,000 times.
•Motor excitation at power ON
Simply turning on the power will not excite the motor. To excite
the motor, always turn the C-ON input ON.
It is possible to set the motor to be excited automatically after
the power has been turned on, by changing the applicable
driver parameter using the accessory OPX-2A (sold
separately) or MEXE02.
•Overvoltage alarm by regeneration energy
The overvoltage alarm will generate depending on the
operating condition. When an alarm is generated, review the
operating conditions.
•Note on connecting a power supply whose positive
terminal is grounded
The main power supply connector (CN1), data edit connector
(CN4) and I/O signal connector (CN5) of the driver are not
electrically insulated. When grounding the positive terminal
of the power supply, do not connect any equipment (PC, etc.)
whose negative terminal is grounded. Doing so may cause the
driver and these equipment to short, damaging both. Use the
accessory OPX-2A (sold separately) to set data, etc.
•Do not perform push-motion operation with geared
types.
Doing so may cause damage to the motor or gear part.

6
General specications
Operation
environment
Degree of
protection IP20
Ambient
temperature
0 to +50 °C (+32 to +122 °F)
(non-freezing)
Humidity 85% or less (non-condensing)
Altitude Up to 1000 m (3300 ft.) above sea
level
Surrounding
atmosphere
No corrosive gas, dust, water or
oil
Storage
environment
Shipping
environment
Ambient
temperature
−20 to +60 °C (−4 to +140 °F)
(non-freezing)
Humidity 85% or less (non-condensing)
Altitude Up to 3000 m (10000 ft.) above
sea level
Surrounding
atmosphere
No corrosive gas, dust, water or
oil
Combinations of motors and drivers
  will be lled with A (single shaft), B (double shaft) or M (with electromagnetic brake).
For AR14S and AR15S,  indicates A (single shaft) or B (double shaft).
For geared type,  indicates A (single shaft) or M (with electromagnetic brake).
  represents a number indicating the gear ratio.
  indicates the cable length (-1, -2, -3) when the connection cable is supplied.
Standard type
Model Motor model Driver model
AR14SKARM14SK
ARD-K
AR15SKARM15SK
AR24SKARM24SK
AR26SKARM26SK
AR46SKARM46SK
AR46KARM46K
AR66SKARM66SK
AR66KARM66K
AR69SKARM69SK
AR69KARM69K
AR98SKARM98SK
AR98KARM98K
TH geared type
Model Motor model Driver model
AR24SK-T ARM24SK-T
ARD-K
AR46SK-T ARM46SK-T
AR46K-T ARM46K-T
AR66SK-T ARM66SK-T
AR66K-T ARM66K-T
AR98SK-T ARM98SK-T
AR98K-T ARM98K-T
PS geared type
Model Motor model Driver model
AR24SAK-PS ARM24SAK-PS
ARD-K
AR46SK-PS ARM46SK-PS
AR46K-PS ARM46K-PS
AR66SK-PS ARM66SK-PS
AR66K-PS ARM66K-PS
AR98SK-PS ARM98SK-PS
AR98K-PS ARM98K-PS
PN geared type
Model Motor model Driver model
AR24SAK-N ARM24SAK-N
ARD-K
AR46SK-N ARM46SK-N
AR46K-N ARM46K-N
AR66SK-N ARM66SK-N
AR66K-N ARM66K-N
AR98SK-N ARM98SK-N
AR98K-N ARM98K-N
Harmonic geared type
Model Motor model Driver model
AR24SK-H ARM24SK-H
ARD-K
AR46SK-H ARM46SK-H
AR46K-H ARM46K-H
AR66SK-H ARM66SK-H
AR66K-H ARM66K-H
AR98SK-H ARM98SK-H
AR98K-H ARM98K-H

7
CE Marking
Low Voltage Directives
Because the input power supply voltage of this product is
24 VDC/48 VDC, it is not subject to the Low Voltage Directive
but install and connect this product as follows.
This product is designed and manufactured to be installed
within another device. Install the product in an enclosure.
For the driver power supply, use a DC power supply with
reinforced insulation on its primary and secondary sides.
EMC Directive
This product has received EMC compliance under the
conditions specied in “Example of motor and driver
installation and wiring” on USER MANUAL.
Since the compliance of the nal machinery with the EMC
Directive will depend on such factors as the conguration,
wiring, layout and risk involved in the control-system
equipment and electrical parts, it therefore must be veried
through EMC measures by the customer of the machinery.
•Applicable Standards
EMI
EN 61000-6-4
EN 61800-3
EN 55011 group 1 class A
EMS EN 61000-6-2
EN 61800-3
Input/output power ratings
Frame size
[mm (in.)] Model Motor model
Driver
model
Input Output
current
Voltage Current
20 (0.79) AR14 ARM14
ARD-K
24 VDC
0.4 A 0.43 A
AR15 ARM15 0.5 A 0.52 A
28 (1.10)
30 (1.18)
AR24 ARM24 0.9 A 0.88 A
AR26 ARM26
42 (1.65) AR46 ARM46
24 VDC
48 VDC
1.4 A 1.48 A
60 (2.36) AR66 ARM66 3.1 A
2.55 A
AR69 ARM69 3.0 A
85 (3.35)
90 (3.54) AR98 ARM98 2.5 A

8
Unauthorized reproduction or copying of all or part of this
manual is prohibited.
Oriental Motor shall not be liable whatsoever for any
problems relating to industrial property rights arising
from use of any information, circuit, equipment or device
provided or referenced in this manual.
Characteristics, specications and dimensions are subject
to change without notice.
While we make every effort to offer accurate information
in the manual, we welcome your input. Should you nd
unclear descriptions, errors or omissions, please contact
the nearest ofce.
 and are registered trademark or
trademark of Oriental Motor Co., Ltd., in Japan and other
countries.
© Copyright ORIENTAL MOTOR CO., LTD. 2011
Technical Support Tel:[phone]
8:30 A.M. to 5:00 P.M., P.S.T. (M-F)
7:30 A.M. to 5:00 P.M., C.S.T. (M-F)
www.orientalmotor.com
Headquarters Düsseldorf, Germany
Technical Support Tel:[phone]
www.orientalmotor.de
Tel:[phone]
www.oriental-motor.co.uk
Tel:[phone]
www.orientalmotor.fr
Tel:[phone]
www.orientalmotor.it
Tel:[phone]
www.orientalmotor.com.tw
Singapore
Tel:[phone]
www.orientalmotor.com.sg
Tel:[phone]
www.orientalmotor.com.my
Korea
Tel:[phone]
www.inaom.co.kr
Headquarters Tokyo, Japan
Tel:[phone]
www.orientalmotor.co.jp
Tel:[phone]
www.orientalmotor.co.th
Tel:[phone]
www.orientalmotor.com.cn
Tel:[phone]
www.orientalmotor.com.br
Tel:[phone]
www.orientalmotor.co.in
Hong Kong Branch
Tel:[phone]
• Please contact your nearest Oriental Motor oce for further information.