Oriental motor CRK Series User manual

Thank you for purchasing an Oriental Motor product.
This Manual describes product handling procedures and safety precautions.
•Please read it thoroughly to ensure safe operation.
•Always keep the manual where it is readily available.
HM-40112-9
5-phase stepping motor and driver package
CRK Series
Built-in Controller Type
USER MANUAL
R-REM-OMC-108
Introduction
Installation and
connection
Operation type and
setting
Method of control via I/O
Method of control via
Modbus RTU (RS-485
communication)
Method of control via
industrial network
Inspection,
troubleshooting and
remedial actions
Appendix

2
1 Introduction
1 Introduction .................................................................................................................................................................. 8
2 Overview of the product............................................................................................................................................. 9
3 System conguration ................................................................................................................................................11
4 Safety precautions .....................................................................................................................................................12
5 Precautions for use ....................................................................................................................................................14
6 General specications ...............................................................................................................................................16
7 Regulations and standards.......................................................................................................................................17
7-1 EU Directive............................................................................................................................................................................................. 17
7-2 Republic of Korea, Radio Waves Act............................................................................................................................................... 17
7-3 RoHS Directive ....................................................................................................................................................................................... 17
8 Preparation..................................................................................................................................................................18
8-1 Checking the product ......................................................................................................................................................................... 18
8-2 Combinations of motors and drivers............................................................................................................................................. 19
8-3 Names and functions of parts.......................................................................................................................................................... 21
2 Installation and connection
1 Installation...................................................................................................................................................................24
1-1 Location for installation...................................................................................................................................................................... 24
1-2 Installing the motor ............................................................................................................................................................................. 24
1-3 Installing a load ..................................................................................................................................................................................... 26
1-4 Permissible radial load and permissible axial load................................................................................................................... 27
1-5 Installing the driver.............................................................................................................................................................................. 30
1-6 Installing and wiring in compliance with EMC Directive........................................................................................................ 31
2 Connection ..................................................................................................................................................................33
2-1 Connecting the motor ........................................................................................................................................................................ 33
2-2 Connecting the connector-type motor........................................................................................................................................ 34
2-3 Connecting the electromagnetic brake ....................................................................................................................................... 36
2-4 Connecting the power supply and grounding the driver...................................................................................................... 37
2-5 Connecting the I/O signals................................................................................................................................................................ 38
2-6 Connecting the data setter ............................................................................................................................................................... 41
2-7 Connecting the encoder .................................................................................................................................................................... 41
2-8 Connecting the RS-485 communication cable.......................................................................................................................... 44
3 Explanation of I/O signals.........................................................................................................................................45
3-1 Input signals ........................................................................................................................................................................................... 45
3-2 Output signals........................................................................................................................................................................................ 51

3
3 Operation type and setting
1 Adjustment and setting............................................................................................................................................58
1-1 Step angle................................................................................................................................................................................................ 58
1-2 Operating current................................................................................................................................................................................. 58
1-3 Standstill current................................................................................................................................................................................... 59
1-4 Acceleration/deceleration rate ........................................................................................................................................................ 59
2 Operation.....................................................................................................................................................................60
2-1 Positioning operation.......................................................................................................................................................................... 61
2-2 Return-to-home operation................................................................................................................................................................ 70
2-3 Continuous operation......................................................................................................................................................................... 75
2-4 Other operation..................................................................................................................................................................................... 77
3 Operation data............................................................................................................................................................79
4 Parameter ....................................................................................................................................................................80
4-1 Parameter list.......................................................................................................................................................................................... 80
4-2 I/O parameter......................................................................................................................................................................................... 81
4-3 Motor parameter................................................................................................................................................................................... 82
4-4 Speed parameter .................................................................................................................................................................................. 82
4-5 Return-to-home parameter .............................................................................................................................................................. 83
4-6 Alarm/warning parameter................................................................................................................................................................. 83
4-7 Common parameter ............................................................................................................................................................................ 84
4-8 Operation setting parameter............................................................................................................................................................84
4-9 Communication parameter............................................................................................................................................................... 85
5 Related functions .......................................................................................................................................................86
5-1 Position control ..................................................................................................................................................................................... 86
5-2 Encoder input......................................................................................................................................................................................... 86
5-3 Misstep detection function............................................................................................................................................................... 87
4 Method of control via I/O
1 Guidance......................................................................................................................................................................92
2 Operation data............................................................................................................................................................95
3 Parameter ....................................................................................................................................................................96
3-1 Parameter list.......................................................................................................................................................................................... 96
3-2 I/O parameter......................................................................................................................................................................................... 97
3-3 Motor parameter................................................................................................................................................................................... 98
3-4 Speed parameter .................................................................................................................................................................................. 98
3-5 Return-to-home parameter .............................................................................................................................................................. 98
3-6 Alarm/warning parameter................................................................................................................................................................. 99
3-7 Common parameter ............................................................................................................................................................................ 99
3-8 Communication parameter............................................................................................................................................................... 99
3-9 Operation setting parameter..........................................................................................................................................................100
4 Timing charts ............................................................................................................................................................101

4
5 Method of control via Modbus RTU (RS-485 communication)
1 Guidance....................................................................................................................................................................104
2 Communication specications ..............................................................................................................................106
3 Setting the switches ................................................................................................................................................107
4 Setting the RS-485 communication......................................................................................................................109
5 Communication mode and communication timing..........................................................................................110
5-1 Communication mode......................................................................................................................................................................110
5-2 Communication timing ....................................................................................................................................................................110
6 Message .....................................................................................................................................................................111
6-1 Query.......................................................................................................................................................................................................111
6-2 Response................................................................................................................................................................................................113
7 Function code ...........................................................................................................................................................115
7-1 Reading from a holding register(s)...............................................................................................................................................115
7-2 Writing to a holding register...........................................................................................................................................................116
7-3 Diagnosis ...............................................................................................................................................................................................116
7-4 Writing to multiple holding registers..........................................................................................................................................117
7-5 Control method selection................................................................................................................................................................118
8 Register address list.................................................................................................................................................119
8-1 Register address types......................................................................................................................................................................119
8-2 Operation area.....................................................................................................................................................................................120
8-3 Maintenance area ...............................................................................................................................................................................123
8-4 Monitor area .........................................................................................................................................................................................124
8-5 Parameter area.....................................................................................................................................................................................126
8-6 Operation data area...........................................................................................................................................................................129
9 Group send................................................................................................................................................................131
10 Detection of communication errors ....................................................................................................................133
10-1 Communication errors.....................................................................................................................................................................133
10-2 Alarms and warnings........................................................................................................................................................................133
11 Timing charts............................................................................................................................................................134
12 Example of communication setting.....................................................................................................................136
12-1 Positioning operation.......................................................................................................................................................................136
12-2 Continuous operation......................................................................................................................................................................138
12-3 Return-to-home operation.............................................................................................................................................................139
6 Method of control via industrial network
1 Method of control via CC-Link communication..................................................................................................142
1-1 Guidance................................................................................................................................................................................................142
1-2 Setting the switches ..........................................................................................................................................................................145
1-3 Remote register list ............................................................................................................................................................................146
1-4 Assignment for remote I/O of 6 axes connection mode ......................................................................................................146
1-5 Assignment for remote I/O of 12 axes connection mode....................................................................................................149

5
2 Method of control via MECHATROLINK communication..................................................................................154
2-1 Guidance................................................................................................................................................................................................154
2-2 Setting the switches ..........................................................................................................................................................................157
2-3 I/O eld map for the NETC01-M2..............................................................................................................................................158
2-4 I/O eld map for the NETC01-M3..............................................................................................................................................159
2-5 Communication format....................................................................................................................................................................160
3 Details of remote I/O ...............................................................................................................................................162
3-1 Input signals to the driver................................................................................................................................................................162
3-2 Output signals from the driver ......................................................................................................................................................162
4 Command code list ..................................................................................................................................................164
4-1 Group function ....................................................................................................................................................................................164
4-2 Maintenance command ...................................................................................................................................................................165
4-3 Monitor command .............................................................................................................................................................................166
4-4 Operation data.....................................................................................................................................................................................168
4-5 Application parameter......................................................................................................................................................................168
4-6 System parameter...............................................................................................................................................................................170
4-7 Operation command.........................................................................................................................................................................171
7 Inspection, troubleshooting and remedial actions
1 Inspection ..................................................................................................................................................................174
2 Alarms and warnings...............................................................................................................................................175
2-1 Alarms.....................................................................................................................................................................................................175
2-2 Warnings................................................................................................................................................................................................178
3 Troubleshooting and remedial actions................................................................................................................179
8 Appendix
1 Accessories ................................................................................................................................................................182
2 Method of control via GW protocol Version 1.....................................................................................................183
2-1 Guidance................................................................................................................................................................................................183
2-2 Communication specications ......................................................................................................................................................186
2-3 Setting the switches ..........................................................................................................................................................................187
2-4 Communication mode......................................................................................................................................................................188
2-5 Communication timing ....................................................................................................................................................................189
2-6 Frame structures .................................................................................................................................................................................189
2-7 Control method selection................................................................................................................................................................192
2-8 Example of communication setting.............................................................................................................................................193
2-9 Command list.......................................................................................................................................................................................196
2-10 Command types.................................................................................................................................................................................199
2-11 Command details...............................................................................................................................................................................200
2-12 Simultaneous send............................................................................................................................................................................220
2-13 Group send...........................................................................................................................................................................................220
2-14 Detection of communication errors ...........................................................................................................................................222
2-15 Timing charts.......................................................................................................................................................................................223

6

1 Introduction
This part explains the composition of the operating manuals, the product overview, specications and safety
standards as well as the name and function of each part and others.
Table of contents
1 Introduction ............................................. 8
2 Overview of the product........................ 9
3 System conguration............................ 11
4 Safety precautions ................................ 12
5 Precautions for use................................ 14
6 General specications .......................... 16
7 Regulations and standards.................. 17
7-1 EU Directive ...................................................... 17
7-2 Republic of Korea, Radio Waves Act......... 17
7-3 RoHS Directive ................................................. 17
8 Preparation............................................. 18
8-1 Checking the product ................................... 18
8-2 Combinations of motors and drivers....... 19
8-3 Names and functions of parts.................... 21

Introduction
8
1 Introduction
1 Introduction
Before use
Only qualied personnel of electrical and mechanical engineering should work with the product.
Use the product correctly after thoroughly reading the section “4 Safety precautions”on p.12. In addition, be sure to
observe the contents described in warning, caution, and note in this manual.
The product described in this manual has been designed and manufactured to be incorporated in general industrial
equipment. Do not use for any other purpose. For the driver’s power supply, use a DC power supply with reinforced
insulation on its primary and secondary sides. Oriental Motor Co., Ltd. is not responsible for any damage caused
through failure to observe this warning.
Related operating manuals
For operating manuals not included with the product, contact your nearest Oriental Motor sales oce or download
from Oriental Motor Website Download Page.
Operating manual name Included or not included
with product
CRK Series FLEX Built-in controller type OPERATING MANUAL Included
CRK Series FLEX Built-in controller type USER MANUAL (this document) Not included
Data setter OPX-2A OPERATING MANUAL Not included
Notation rules
The following term is used in explanation of this manual.
Term Description
Master controller This is a generic name for a programmable controller, master module,
pulse generator and so on.

Overview of the product
9
1 Introduction
2 Overview of the product
This product is a motor and driver package product consisting of a 5-phase stepping motor designed for high torque
and low vibration, and a driver with built-in controller function. The driver is compatible with I/O control, Modbus RTU
control (RS-485 communication), and FA network control via the network converter.
The operation data and parameters can be set using a support software MEXE02, an accessory data setter OPX-2A,
or via RS-485 communication.
Main features
zThree operating patterns
You can perform positioning operation, return-to-home operation and continuous operation.
Up to 63 operation data points can be set, and multi-point positioning is also possible.
zLow vibration, low noise
The micro-step driver with smooth drive function achieves low vibration and low noise.
zSupporting Modbus RTU (RS-485 communication)
You can set operation data and parameters or issue operation start/stop commands from the master station.
Up to 31 drivers can be connected to one master controller.
zDetection of misstep
If the deviation between the encoder counter value and driver command position reaches or exceeds the set value, a
STEPOUT output signal will be output.
zAlarm and warning functions
The driver provides alarms that are designed to protect the driver from overheating, poor connection, misoperation,
etc. (protective functions), as well as warnings that are output before the corresponding alarms generate (warning
functions).
Accessories
The operation data and parameters can be set using a MEXE02, accessory OPX-2A or via RS-485 communication.
Provide the MEXE02 or OPX-2A as necessary.
•MEXE02.....The MEXE02 can be downloaded from Oriental Motor Website Download Page.
When the MEXE02 is used, a communication cable for support software CC05IF-USB (accessory) is
needed to connect a PC and driver. Be sure to purchase it.
•OPX-2A......This product can be purchased separately.
Related products
You can connect the CRK Series FLEX built-in controller via the network converter so as to use in various network.
Network converter Supported network
NETC01-CC CC-Link Ver.1.1
NETC02-CC CC-Link Ver.2
NETC01-M2 MECHATROLINK-II
NETC01-M3 MECHATROLINK-III
NETC01-ECT EtherCAT

Overview of the product
10
1 Introduction
Function list
Return-to-home operation •2-sensor mode
• 3-sensor mode
• Monitor function
• Operation data setting
• Parameter setting
Other operations • JOG operation
• Positioning operation
• Continuous operation
Single-motion operation
Linked-motion operation
Linked-motion operation 2
Operation function
Data number selecting operation
Sequential positioning operation
Starting method
+
Main functions
[Setting by parameters]
Motor operation
[Setting by operation data
and parameters]
[Setting by parameters]
• Return-to-home function
Home position oset
External sensor signal detection
• Motor function setting
Operating current
Standstill current
• Stop operation
STOP input action
Hardware overtravel
Software overtravel
• I/O function
Output function selection
Input logic level setting
• Coordination setting
Motor resolution
Motor rotation direction
Encoder setting (Electronic gear)
• Protective function
Alarm detection
Warning detection
Support functions
[Setting by parameters]
• Data storing
• Download/Upload
• Data initialization
External interface
Data setter
• Operation start
• Operation data setting
• Parameter setting
• Monitor function
• Maintenance function
RS-485 communication
• Data setting mode (Position preset)
• Test function
Test operation
Teaching
I/O test

System conguration
11
1 Introduction
3 System conguration
Master controller
Encoder connec
tion
C
onnect a motor
with an encoder
if used
.
Motor
Connect to
CN6 or CN7.
Connect to CN3.
Connect to CN2.
Connect to CN4.
DC power
supply
Noise lter
Use a noise lter to
eliminate noise.
It has the eect of
reducing noise generated
from the power supply
and driver.
AC power
supply
Master controller
Connect master controller when controlling
the system via RS-485 communication.
Grounding
+24 V
GND
OPX-2A
PC in which the MEXE02
has been installed *
or
* The PC must be supplied by the user. Use the accessory communication cable for the support software when
connecting the PC and driver.

Safety precautions
12
1 Introduction
4 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, electric shock 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, electric shock or injury.
•The motor will lose its holding torque when its excitation or the power supply is turned o. Take measures to keep
the moving part in position if the product is used in vertical operations such as elevating equipment. The moving
part may drop, leading to injury or damage to equipment.
•Do not use the brake mechanism of the electromagnetic brake motor for braking or as a safety brake. The
electromagnetic brake is used for the purpose to hold the moving part and motor in position. Using it for braking
or as a safety brake may result in injury or damage to equipment.
•With certain types of alarms (protective functions), the motor may stop when the alarm generates and the holding
torque will be lost as a result. This will result in injury or damage to equipment.
•When an alarm is generated, rst remove the cause and then clear the alarm. 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.
Connection
•Always keep the power supply voltage of the driver 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 in order to prevent re.
•Do not forcibly bend, pull or pinch the cable or lead wire. Doing so may result in re. Repetitive stress or overstress
on the connection part may cause damage to the product.
•Turn o the power to both the PC and driver before connecting your PC to the driver. Failure to do so may cause
electric shock.
Operation
•Turn o the driver power in the event of a power failure. Otherwise, the motor may suddenly start when the power
is restored, causing injury or damage to equipment.
•Do not turn the excitation to o while the motor is operating. The motor will stop and lose its holding ability, which
may result in injury or damage to equipment.
•Congure an interlock circuit using a sequence program so that the entire system including the driver will operate
on the safe side if a RS-485 communication error occurs.
Repair, disassembly and modication
•Do not disassemble or modify the motor and driver. This may cause injury. Refer all such internal inspections and
repairs to the Oriental Motor sales oce from which you purchased the product.

Safety precautions
13
1 Introduction
General
•Do not use the motor and 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 motor and driver. Failure to do so may result in re or
injury.
•Do not touch the motor and driver during operation or immediately after stopping. The surface is hot and may
cause a skin burn(s).
Transportation
•Do not hold the motor output shaft, motor cable or lead wires. This may cause damage or injury.
Installation
•Install the motor and driver in an enclosure in order to prevent injury.
•Keep the area around the motor and driver free of combustible materials in order to prevent re or a skin burn(s).
•Provide a cover over the rotating parts (output shaft) of the motor to prevent injury.
Connection
•The driver’s power supply connector (CN1), I/O connector (CN2), data edit connector (CN3) and RS-485
communication connectors (CN6/CN7) 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 PC to short, damaging both.
•When connecting, check the silk screen of the driver and pay attention to the polarity of the power supply.
Reverse-polarity connection may cause damage to the driver. The power-supply circuit and the RS-485
communication circuit are not insulated. Therefore, when controlling multiple drivers via RS-485 communication,
the reverse polarity of the power supply will cause a short circuit and may result in damage to the drivers.
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 control inputs to the driver to OFF. Otherwise, the motor may
suddenly start when the power is turned on, leading to injury or damage to equipment.
•Set the speed and acceleration/deceleration rate at reasonable levels. Otherwise, the motor will misstep and the
moving part may move in an unexpected direction, resulting in injury or damage to equipment.
•Do not touch the rotating part (output shaft) during operation. This may cause injury.
•Before rotating the output shaft manually while the motor stops, shut o the power supply of the driver or turn the
excitation OFF to cut o the motor current. Failure to do so may result in injury.
•The motor surface temperature may exceed 70 °C (158 °F) even under normal operating
conditions. If the operator is allowed to approach the running motor, attach a warning label as
shown below in a conspicuous position. Failure to do so may result in skin burn(s).
Warning label
•Immediately when trouble has occurred, stop running and turn o the driver power. Failure to do so may result in
re or injury.
•Static electricity may cause the driver to malfunction or suer damage. While the driver is receiving power, do not
touch the driver. Use only an insulated slotted screwdriver to adjust the driver’s switches.
Disposal
•Dispose the product correctly in accordance with laws and regulations, or instructions of local governments.

Precautions for use
14
1 Introduction
5 Precautions for use
This section covers limitations and requirements the user should consider when using the product.
zWhen conducting the insulation resistance measurement and the dielectric strength test, be sure to
separate the connection between the motor and the driver.
Conducting the insulation resistance measurement or dielectric strength test with the motor and driver connected
may result in damage to the product.
zDo not apply strong impact on the motor output shaft.
If you are using a motor with encoder, an optical encoder is housed in the motor. To prevent damage to the encoder,
handle the motor with care and avoid strong impact to the motor output shaft when transporting the motor or
installing the load.
zDo not apply a radial load and axial load in excess of the specied permissible limit
Operating it under an excessive radial load and axial load may damage the motor bearings (ball bearings). Be sure to
operate the motor within the specied permissible limit of radial load and axial load. See p.27 for details.
zMotor case temperature
•The motor case surface temperature may exceed 100 °C (212 °F) under certain conditions (ambient temperature,
operating speed, duty cycle, etc.). Keeping the surface temperature of the motor case below 100 °C (212 °F) will
also maximize the life of the motor bearings (ball bearings).
•Use the geared motor in a condition where the gear case temperature does not exceed 70 °C (158 °F), in order to
prevent deterioration of grease and parts in the gear case.
•When the motor with encoder is used, make sure the temperature of the encoder case does not exceed 80 °C
(176 °F).
zHolding torque at standstill
The motor holding torque is reduced by the current cutback function of the driver at motor standstill. When selecting
a motor, check the holding torque at motor standstill in the specications on the catalog.
zDo not use the electromagnetic brake to reduce speed or as a safety brake.
Do not use the electromagnetic brake as a means to decelerate and stop the motor. The brake hub of the
electromagnetic brake will wear signicantly and the braking force will drop if used to stop the motor.
The electromagnetic brake is a power-o activated type. This means that although it helps maintain the position of
the load in the event of power outage, etc., this brake cannot securely hold the load in place. Accordingly, do not use
the electromagnetic brake as a safety brake. To use the electromagnetic brake to hold the load in place, do so after
the motor has stopped.
zNote on connecting a power supply whose positive terminal is grounded
The driver’s power supply connector (CN1), I/O connector (CN2), data edit connector (CN3) and RS-485
communication connectors (CN6/CN7) 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 PC to short, damaging both.
zPreventing electrical noise
See “1-6 Installing and wiring in compliance with EMC Directive”on p.31 for measures with regard to noise.
zRegeneration
The overvoltage alarm will generate depending on the operating condition. When an alarm is generated, review the
operating conditions.
zSaving data to the non-volatile memory
Do not turn o the main power supply while data is being written to the non-volatile memory and ve seconds after
the completion of a data write. Doing so may abort the data write and cause a EEPROM error alarm to generate.
The non-volatile memory can be rewritten approximately 100,000 times.
zGrease of geared motor
On rare occasions, a small amount of grease may ooze out from the geared motor. If there is concern over possible
environmental damage resulting from the leakage of grease, check for grease stains during regular inspections.
Alternatively, install an oil pan or other device to prevent leakage from causing further damage. Oil leakage may lead
to problems in the customer’s equipment or products.

Precautions for use
15
1 Introduction
zRotating direction of the gear output shaft
The relationship between the rotating direction of the motor shaft and that of the gear output shaft changes as
follows, depending on the gear type and gear ratio.
Type of gear Gear ratio
Rotating direction (relative to the motor rotating direction)
Frame size [mm (in.)]
20 (0.79)
ø22 (0.87)
28 (1.10)
30 (1.18) 42 (1.65) 60 (2.36)
TH geared 3.6, 7.2, 10 − Opposite direction Same direction
20, 30 − Same direction Opposite direction
PS geared
PN geared All gear ratio Same direction
Harmonic geared All gear ratio Opposite direction

General specications
16
1 Introduction
6 General specications
Motor Driver
Degree of protection
•High-resolution type
•High-torque type
•High-torque type with encoder
•Geared type (CRK513P, CRK523P)
IP20
IP20
•Standard type
•Standard type with electromagnetic
brake
•Standard type with encoder
•Geared type (CRK543, CRK544,
CRK564, CRK566)
IP30
Operation
environment
Ambient
temperature
−10 to +50 °C (+14 to +122 °F)
PS geared type of ø22 mm (ø0.87 in.):
0 to +50 °C (+32 to +122 °F) (non-freezing)
Harmonic geared type:
0 to +40 °C (+32 to +104 °F) (non-freezing)
0 to +40 °C (+32 to +104 °F)
(non-freezing)
Humidity 85% or less (non-condensing)
Altitude Up to 1,000 m (3,300 ft.) above sea level
Surrounding
atmosphere No corrosive gas, dust, water or oil
Storage
environment
Ambient
temperature −20 to +60 °C (−4 to +140 °F) (non-freezing) −25 to +70 °C (−13 to +158 °F) (non-freezing)
Humidity 85% or less (non-condensing)
Altitude Up to 3,000 m (10,000 ft.) above sea level
Surrounding
atmosphere No corrosive gas, dust, water or oil
Shipping
environment
Ambient
temperature −20 to +60 °C (−4 to +140 °F) (non-freezing) −25 to +70 °C (−13 to +158 °F) (non-freezing)
Humidity 85% or less (non-condensing)
Altitude Up to 3,000 m (10,000 ft.) above sea level
Surrounding
atmosphere No corrosive gas, dust, water or oil
Insulation resistance 100 MΩ or more when 500 VDC megger is
applied between the windings and case.
100 MΩ or more when 500 VDC megger is
applied between the FG terminal and power
supply terminal.
Dielectric strength
Sucient to withstand the following between
the windings and case for 1 minute.
•PK513P, PK52PM, PK52P, PK54PM,
PK54P: 0.5 kVAC 50/60 Hz
•PK54: 1.0 kVAC 50/60 Hz
•PK52HPM, PK52HP, PK56PM, PK56:
1.5 kVAC 50/60 Hz
Sucient to withstand 500 VAC at 50 Hz or
60 Hz applied between the FG terminal and
power supply terminal for one minute.

Regulations and standards
17
1 Introduction
7 Regulations and standards
7-1 EU Directive
CE Marking
zLow Voltage Directive
Although this product is exempt from the Low Voltage Directive since the input power supply voltage is 24 VDC,
perform the installation and connection as follows.
•This product is designed and manufactured to be incorporated in equipment. 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.
Installation conditions
Motor Driver
Overvoltage category I I
Pollution degree 2 2
Degree of protection
•High-resolution type
•High-torque type
•High-torque type with encoder
•Geared type (CRK513P, CRK523P)
IP20
IP20
•Standard type
•Standard type with encoder
•Standard type with electromagnetic brake
•Geared type (CRK543, CRK544, CRK564, CRK566)
IP30
zEMC Directive
This product is conducted EMC testing under the conditions specied in“Example of motor and driver installation and
wiring”on p.32. The conformance of your mechanical equipment with the EMC Directive will vary depending on
such factors as the conguration, wiring, and layout for other control system devices and electrical parts used with
this product. It therefore must be veried through conducting EMC measures in a state where all parts including this
product have been installed in the equipment.
Applicable standards
EMI EN 55011 group 1 class A
EN 61000-6-4
EMS EN 61000-6-2
This equipment is not intended for use in residential environments nor for use on a low-
voltage public network supplied in residential premises, and it may not provide
adequate protection to radio reception interference in such environments.
7-2 Republic of Korea, Radio Waves Act
This product is axed the KC Mark under the Republic of Korea, Radio Waves Act.
7-3 RoHS Directive
The products do not contain the substances exceeding the restriction values of RoHS Directive (2011/65/EU).

Preparation
18
1 Introduction
8 Preparation
This chapter explains the items you should check, as well as the name and function of each part.
8-1 Checking the product
Verify that the items listed below are included. Report any missing or damaged items to the Oriental Motor sales
oce from which you purchased the product.
The unit models and corresponding motor/driver combinations are listed on p.19.
zItems included with all unit models
•Motor ..............................................................................................................1 unit
•Driver ..............................................................................................................1 unit
•CN1 connector (3 pins).............................................................................1 pc.
•CN2 connector cable [1 m (3.3 ft.), 40 pins] ......................................1 pc.
•CN4 connector lead wires [0.6 m (2 ft.), 5 pins] ...............................1 pc.
•OPERATING MANUAL................................................................................1 copy
zItem included with motors with electromagnetic brake
•Varistor ...........................................................................................................1 pc.
zItems included with connector-type motor units
Applicable product: High-resolution type, high-torque type, high-torque type with encoder,
Geared type (CRK513P, CRK523P)
•Motor connector lead wires [0.6 m (2 ft.), 5 pins] ...........................1 pc.
zItems included with motor units with encoder [20 mm (0.79 in.), 28 mm (1.10 in.)]
Applicable product: High-torque type with encoder (CRK513PRKD2, CRK52PRKD2)
•Encoder connector lead wires [0.6 m (2 ft.), 8 pins].......................1 pc.
•CN5 connector lead wires [0.6 m (2 ft.), 9 pins] ...............................1 pc.
zItems included with motor units with encoder [42 mm (1.65 in.), 60 mm (2.36 in.)]
Applicable product: High-torque type with encoder (CRK54PRKD),
Standard type with encoder (CRK54RKD, CRK56RKD)
•CN5 connector lead wires [0.6 m (2 ft.), 9 pins] ...............................1 pc.

Preparation
19
1 Introduction
8-2 Combinations of motors and drivers
Verify the model number of the purchased unit against the number shown on the package label.
Check the model number of the motor and driver against the number shown on the nameplate.
•The box () in the model name indicates A(single shaft) or B(double shaft)
•For geared type, the box () in the model name indicates a number of the gear ratio.
High-resolution type
Frame size [mm (in.)] Model Motor model Driver model
28 (1.10)
CRK523PMKD PK523PM
CRD503-KDCRK524PMKD PK524PM
CRK525PMKD PK525PM
CRK523HPMKD PK523HPM
CRD507H-KDCRK524HPMKD PK524HPM
CRK525HPMKD PK525HPM
42 (1.65) CRK544PMKD PK544PM
CRD507-KD
CRK546PMKD PK546PM
60 (2.36)
CRK564PMKD PK564PM
CRD514-KDCRK566PMKD PK566PM
CRK569PMKD PK569PM
High-torque type
Frame size [mm (in.)] Model Motor model Driver model
20 (0.79) CRK513PKD PK513PCRD503-KD
28 (1.10)
CRK523PKD PK523P
CRD503-KD
CRK525PKD PK525P
CRK523HPKD PK523HP
CRD507H-KD
CRK525HPKD PK525HP
42 (1.65) CRK544PKD PK544P
CRD507-KD
CRK546PKD PK546P
High-torque type with encoder
Frame size [mm (in.)] Model Motor model Driver model
20 (0.79) CRK513PRKD2 PK513PA-R2GL CRD503-KD
28 (1.10)
CRK523PRKD2 PK523PA-R2GL CRD503-KD
CRK525PRKD2 PK525PA-R2GL
CRK523HPRKD2 PK523HPA-R2GL CRD507H-KD
CRK525HPRKD2 PK525HPA-R2GL
42 (1.65) CRK544PRKD PK544PA-R23L CRD507-KD
CRK546PRKD PK546PA-R23L

Preparation
20
1 Introduction
Standard type with encoder
Frame size [mm (in.)] Model Motor model Driver model
42 (1.65)
CRK543RKD PK543AW-R23L
CRD507-KDCRK544RKD PK544AW-R23L
CRK545RKD PK545AW-R23L
60 (2.36)
CRK564RKD PK564AW-R23L
CRD514-KDCRK566RKD PK566AW-R23L
CRK569RKD PK569AW-R23L
Standard type with electromagnetic brake
Frame size [mm (in.)] Model Motor model Driver model
42 (1.65)
CRK543AMKD PK543AWM
CRD507-KDCRK544AMKD PK544AWM
CRK545AMKD PK545AWM
60 (2.36)
CRK564AMKD PK564AWM
CRD514-KDCRK566AMKD PK566AWM
CRK569AMKD PK569AWM
Standard type
Frame size [mm (in.)] Model Motor model Driver model
42 (1.65)
CRK543KD PK543W
CRD507-KDCRK544KD PK544W
CRK545KD PK545W
60 (2.36)
CRK564KD PK564W
CRD514-KDCRK566KD PK566W
CRK569KD PK569W
TH geared type
Frame size [mm (in.)] Model Motor model Driver model
28 (1.10) CRK523PAKD-TPK523PA-TCRD503-KD
42 (1.65) CRK543AKD-TPK543AW-TCRD507-KD
60 (2.36) CRK564AKD-TPK564AW-TCRD514-KD
PS geared type
Frame size [mm (in.)] Model Motor model Driver model
ø22 (0.87) CRK513PAKD-PSPK513PA-PSCRD503-KD
28 (1.10) CRK523PAKD-PSPK523PA-PSCRD503-KD
42 (1.65) CRK543AKD-PSPK543AW-PS
CRD507-KD
CRK545AKD-PSPK545AW-PS
60 (2.36) CRK564AKD-PSPK564AW-PS
CRD514-KD
CRK566AKD-PSPK566AW-PS