Oriental motor RK Series User manual

HM-40029-6
5-Phase Stepping Motor Unit
RK Series
OPERATING MANUAL
Thank you for purchasing an Oriental Motor product.
This Operating Manual describes product handling procedures and safety precautions.
• Please read it thoroughly to ensure safe operation.
• Always keep the manual where it is readily available.

Table of contents
−2 −
1 Introduction.........................................3
2 Safety precautions..............................6
3 Precautions for use.............................8
4 Preparation.......................................10
4.1 Checking the product ............................10
4.2 How to identify the product model......... 11
4.3 Combinations of motors and drivers .....12
4.4 Names and functions of parts................15
5 Installation.........................................18
5.1 Location for installation..........................18
5.2 Installing the motor................................19
5.3 Installing a load .....................................20
5.4 Permissible overhung load and
permissible thrust load .......................... 22
5.5 Installing the driver................................24
5.6 Installing and wiring in compliance
with EMC Directive................................25
6 Connection........................................28
6.1 Connection example for a
standard type.........................................28
6.2 Connection example for a standard type
with electromagnetic brake ....................29
6.3 Connecting the power supply................31
6.4 Connecting the motor and driver,
grounding the motor..............................32
6.5 Connecting and grounding of
standard type terminal box....................33
6.6 Grounding the driver..............................34
6.7 Connecting the input/output signals......35
6.8 About input/output signals.....................37
6.9 Timing chart...........................................43
7 Setting...............................................44
7.1 Step angle............................................. 44
7.2 Adjusting motor currents....................... 45
7.3 Pulse input modes................................. 46
7.4 Automatic current off function ............... 46
7.5 Smooth drive function ........................... 47
7.6 Electromagnetic brake function and
energy saver mode (motors with an
electromagnetic brake only).................. 48
7.7 Operating the motor with an
electromagnetic brake........................... 49
8 Overheat protection function.............52
8.1 Stopping the motor operation................ 52
8.2 Allowing the motor operation to
continue................................................. 52
8.3 Canceling the O.H. (overheat) output... 52
9 Inspection .........................................53
10 Troubleshooting and remedial
actions ..............................................54
11 Specifications....................................56
12 Option (Sold separately)...................57

1 Introduction
−3 −
1 Introduction
 Before using the motor unit
Only qualified 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
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.
 Overview of the product
The RK series 5-phase stepping motors are unit products consisting of high-performance micro-stepping
driver and a 5-phase stepping motor of high-torque, low-vibration design. Oriental Motor has achieved
low-vibration and low-noise operation through the use of a micro-stepping drive that electrically divides the
motor’s basic step angle.
 Main features
• Capable of low-speed operation at a low vibration level
The RK series achieves smooth, low-speed operation at an extremely low vibration level as a result of
incorporating a micro-stepping drive, which enables very small angle stepping.
• Smooth drive
The smooth drive function automatically performs 16-division microstep drive inside the driver, without
changing the input pulse frequency and resolution, thereby ensuring low vibration and noise during low-speed
operation.
The factory setting is “OFF: Smooth drive disabled”.
• Built-in overheat protection
A driver’s internal temperature in excess of 80 °C (176 °F) triggers overheat protection whereby the O.H.
(overheat) output is turned to “OFF” (normally “ON” in order to warn the user of an abnormality).
As to the action to be taken when the overheat protection function is activated, the user may elect to stop the
motor (the factory setting A.C.O.- “Automatic current off” -enabled) or continue the operation (OFF:
disabled).
• Adjustable operating current
A digital switch adjusts the level of motor current during operation and in the stopped state.
• Preset and selectable resolution
Two motor resolution levels may be preset in 16 steps with a desired level selected via the controller.
• Energy saver mode (motors with an electromagnetic brake only)
Once the motor stops, its output current is turned OFF and the load is held in position with the
electromagnetic brake.
This is effective in reducing power consumption and limiting the heat generated by the motor and driver.

1 Introduction
−4 −
 System configuration
Controllers with pulse output functions are needed to operate the RK series 5-phase stepping motor units.
Controller
(programmable controller
and others)
Input and
output signal
Positioning controller
Pulse output and
input/output signal
RK series 5-phase stepping motor unit
Driver
Motor
Motor cable
Input and output signal
 Standards and CE Marking
This product is recognized by UL, and bears the CE Marking (Low Voltage Directive and EMC Directives) in
compliance with the EN Standards.
• Applicable Standards
Applicable Standards Certification Body Standards File No.
UL 1004-1, UL 1004-2
CSA C22.2 No.100
∗3
CSA C22.2 No.77
∗3
UL E64199
Motor EN 60950-1
EN 60034-1
EN 60034-5 VDE
∗2
License No.114293
UL 508C
∗1
CSA C22.2 No.14 UL E171462
Driver EN 50178 －－
∗1 For UL Standard (UL 508C), the product is recognized for the condition of Maximum SurroundingAir
Temperature 50 °C (122 °F).
∗2 RK54only (standard type, standard type with electromagnetic brake, TH geared type, PL geared type).
∗3 Excluding RK54.
• The names of products certified to conform with relevant standards are represented by applicable unit
model motor and driver part numbers.
• The temperature-rise test, as required by the VDE Standards, is conducted with the aluminum heat sink
attached. The size and thickness of the heat sink are as described below.
Motor frame size [mm (in.)] Size [mm (in.)] Thickness [mm (in.)]
42 (1.65) 80 × 80 (3.15 × 3.15)
60 (2.36) 160 × 160 (6.30 × 6.30)
85 (3.35), 90 (3.54) 250 × 250 (9.84 × 9.84) 10 (0.39)
• Drivers have no provision for motor over temperature protection. Motor over temperature protection is
required at end application.

1 Introduction
−5 −
• Installation conditions (EN Standard)
Motor Driver
Single-phase
100−115 V
Motor is to be used as a component
within other equipment.
Overvoltage category: III (II)
∗1
Pollution degree: 2 (3)
∗2
Protection against electric shock: Class I
Driver is to be used as a component
within other equipment.
Overvoltage category: III (II)
∗1
Pollution degree: 2
Protection against electric shock: Class I
Single-phase
200−230 V
Motor is to be used as a component
within other equipment.
Overvoltage category: II
Pollution degree: 2 (3)
∗2
Protection against electric shock: Class I
Driver is to be used as a component
within other equipment.
Overvoltage category: II
Pollution degree: 2
Protection against electric shock: Class I
∗1 The specifications for the RK54are shown in parentheses.
∗2 The specifications for the standard type terminal box are shown in parentheses.
• If a product of overvoltage category II is used and conformance to overvoltage category III is required,
supply power through an insulated transformer.
• If conformance to pollution degree of 3 is required with a non-standard type terminal box, install the motor
in an enclosure conforming to IP54.
• For Low Voltage Directive
This product is designed for use as a built-in component.
• Install the product within an enclosure in order to avoid contact with the hands.
• Be sure to maintain a Protective Earth in case the hands should make contact with the product. Securely
ground the Protective Earth Terminals of the motor and driver.
• For EMC Directive
This product has received EMC measures under the conditions specified in “Example of motor and driver
installation and wiring” on page 27.
Be sure to conduct EMC measures with the product assembled in your equipment by referring to “Installing
and wiring in compliance with EMC Directive” on page 25.
 Hazardous substances
The products do not contain the substances exceeding the restriction values of RoHS Directive (2011/65/EU).

2 Safety precautions
−6 −
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.
Warning
Handling the product without observing the instructions that accompany a
“Warning” symbol may result in serious injury or death.
Caution
Handling the product without observing the instructions that accompany a
“Caution” symbol may result in injury or property damage.
Note
Note
The items under this heading contain important handling instructions that the user
should observe to ensure safe use of the product.
Warning
General
• Do not use the product in explosive or corrosive environments, in the presence of flammable gases,
locations subjected to splashing water, or near combustibles. Doing so may result in fire, electric shock or
injury.
• Assign qualified personnel the task of installing, wiring, operating/controlling, inspecting and troubleshooting
the product. Failure to do so may result in fire, electric shock, injury or damage to equipment.
• Do not transport, install the product, perform connections or inspections when the power is on. Always turn
the power off before carrying out these operations. Failure to do so may result in electric shock.
• The terminals on the driver’s front panel marked with a symbol indicate the presence of high
voltage. Do not touch these terminals while the power is on to avoid the risk of fire or electric shock.
• Provide a means to hold the moving parts in place for applications involving vertical travel. The motor
loses holding torque when the power is shut off, allowing the moving parts to fall and possibly causing
injury or damage to equipment.
• Do not use the motor’s built-in electromagnetic brake mechanism for stopping or for safety purposes.
Using it for purposes other than holding the moving parts and motor in position may cause injury or
damage to equipment.
• When the driver’s overheat-protection function is triggered, shut off the power immediately. Turn the
power back on only after determining the cause. Continuing the operation without determining the cause of
the problem may cause malfunction of the motor, leading to injury or damage to equipment.
Installation
• To prevent the risk of electric shock, use the motor and driver for class I equipment only.
• Install the motor and driver in their enclosures in order to prevent electric shock or injury.
• Install the motor and driver so as to avoid contact with hands, or ground them to prevent the risk of electric
shock.
Connection
• Keep the driver’s input power voltage within the specified range to avoid fire and electric shock.
• Connect the cables securely according to the wiring diagram in order to prevent fire and electric shock.
• Do not forcibly bend, pull or pinch the cable. Doing so may fire and electric shock.
• To prevent electric shock, be sure to install the terminal cover (supplied) over the driver’s power supply
terminals after making connections.
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.
• IfA.C.O. (Automatic current off) on the driver’s overheat-protection function is disabled, set it so that the
motor is stopped upon detection of O.H. (overheat) output in order to prevent the risk of fire.

2 Safety precautions
−7 −
• Do not turn theA.W.OFF (All windings off) input to “ON” while the motor is operating. The motor will
stop and lose its holding ability, which may result in injury or damage to equipment.
Maintenance and inspection
• Do not touch the connection terminals of the driver immediately after the power is turned off (for a period
of 15 seconds). The residual voltage may cause electric shock.
Repair, disassembly and modification
• Do not disassemble or modify the motor or driver. This may cause electric shock or injury. Refer all such
internal inspections and repairs to the branch or sales office from which you purchased the product.
Caution
General
• Do not use the motor and driver beyond their specifications, or electric shock, injury or damage to
equipment may result.
• Keep your fingers and objects out of the openings in the motor and driver, or fire, electric shock or injury
may result.
• Do not touch the motor or driver during operation or immediately after stopping. The surfaces are hot and
may cause a skin burn(s).
Transportation
• Do not hold the motor output shaft or motor cable. This may cause injury.
Installation
• Keep the area around the motor and driver free of combustible materials in order to prevent fire or a skin
burn(s).
• To prevent the risk of damage to equipment, leave nothing around the motor and driver that would obstruct
ventilation.
• Provide a cover over the rotating parts (output shaft) of the motor to prevent injury.
Operation
• Use a motor and driver only in the specified combination. An incorrect combination may cause a fire.
• 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 to “OFF.” Otherwise, the motor
may start suddenly and cause injury or damage to equipment.
• To prevent bodily injury, do not touch the rotating parts (output shaft) of the motor during operation.
• Before moving the motor with the hands (as in the case of manual positioning), confirm that the driver
A.W.OFF (All windings off) input is “ON” prevent injury.
• Immediately when trouble has occurred, stop running and turn off the driver power. Failure to do so may
result in fire, electric shock or injury.
• To prevent electric shock, use only an insulated screwdriver to adjust the driver switches.
• When operating the key-equipped motor by itself, be sure the key inserted into the output shaft is fixed in
position. Failure to do so may result in injury if the key should fly out.
• The motor’s surface temperature may exceed 70 °C (158 °F), even under normal
operating conditions. If a motor is accessible during operation, post the warning
label shown in the figure in a conspicuous position to prevent the risk of skin
burn(s).
Warning label
Maintenance and inspection
• To prevent the risk of electric shock, do not touch the terminals while measuring the insulation resistance or
conducting a voltage-resistance test.
Disposal
• To dispose of the motor or driver, disassemble it into parts and components as much as possible and
dispose of individual parts/components as industrial waste.

3 Precautions for use
−8 −
3 Precautions for use
This section covers limitations and requirements the user should consider when using the RK series 5-phase
stepping motor unit.
• Conduct the insulation resistance measurement or withstand voltage test separately on
the motor and the driver.
Conducting the insulation resistance measurement or withstand voltage test with the motor and driver
connected may result in injury or damage to equipment.
• Do not apply an overhung load and thrust load in excess of the specified permissible limit.
Be sure to operate the motor within the specified permissible limit of overhung load and thrust load.
Operating it under an excessive overhung load and thrust load may damage the motor bearings (ball
bearings).
• Operate the motor with a surface temperature not exceeding 100 °C (212 °F).
The driver has an overheat-protection function, but the motor has no such feature. The motor casing’s 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 casing below 100 °C (212 °F) will also
maximize the life of the motor bearings (ball bearings). When a harmonic geared type is used, make sure the
gear case temperature is kept at 70 °C (158 °F) or below to prevent degradation of grease applied to the gear.
• About maximum static torque at excitation
Maximum static torque at excitation represents a value obtained when the motor is excited using the rated
current. When the motor is combined with a dedicated driver, the maximum static torque at excitation drops
to approximately 50% due to the current cutback function that suppresses the rise in motor temperature in a
standstill state. Acceleration and operation at the maximum static torque at excitation is possible in start-up,
but it only has approximately 50% holding power after it has stopped.
When selecting a motor for your application, consider the fact that the holding power will be reduced to
approximately 50% after the motor has stopped.
• Install the driver in a vertical position.
The driver’s heat-dissipation function is designed according to vertical orientation. Installing the driver in any
other orientation may shorten the life of electronic parts due to temperature increases within the driver.
• Use the motor equipped with an electromagnetic brake for an application involving
vertical travel.
For an application involving vertical travel, select a motor equipped with an electromagnetic brake so that the
load can be held in position. Use the electromagnetic brake to hold the load only after the motor stops. Do not
use the electromagnetic brake for the purpose of stopping the motor. Repeated use of the electromagnetic
brake for the purpose of stopping may cause excessive wear in the brake hub, thus reducing the brake’s
holding capability. Since the electromagnetic brake is of the non-excitation type, it can also be used to hold
the load in position in the event of a power failure. However, do not use the electromagnetic brake as a safety
brake of your equipment, since it is not designed as a mechanism capable of securely holding the load.
• Connecting a motor with an electromagnetic brake
The electromagnetic brake operates via the ON/OFF status of the driver’s internal DC power supply. When
connecting the motor, verify that the connection for the electromagnetic brake’s lead wires has the correct
polarity.
• Preventing leakage current
Stray capacitance exists between the driver’s current-carrying line and other current-carrying lines, the earth
and the motor, respectively. A high-frequency current may leak out through such capacitance, having a
detrimental effect on the surrounding equipment. The actual leakage current depends on the driver’s
switching frequency, the length of wiring between the driver and motor, and so on.
When providing a leakage current breaker, use the following products, for instance, which have
high-frequency signal protection:
Mitsubishi Electric Corporation: NV series
Fuji Electric FA Components & Systems Co., Ltd.: EG and SG series

3 Precautions for use
−9 −
• Preventing electrical noise
See 5.6 “Installing and wiring in compliance with EMC Directive” on page 25 for measures with regard to
noise.
• About maximum torque of geared motor
Always operate geared types with loads not exceeding their maximum torque. If a geared type is operated
with a load exceeding the maximum torque, the gear will be damaged.
• About grease of geared motor
On rare occasions, a small amount of grease may ooze out from of 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.

4 Preparation
−10 −
4 Preparation
This section covers the points to be checked along with the names and functions of respective parts.
4.1 Checking the product
Verify that the items listed below are included.
Report any missing or damaged items to the branch or sales office 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 motor and driver against the number shown on the nameplate.
The unit models and corresponding motor/driver combinations are listed on pages 12 to 14.
Motor∗1 unit
Illustration shows the standerd type
with electromagnetic brake.
Driver 1 unit
Illustration shows the driver
for RK56.
Input/output signal connector 1 set
Operating manual (this manual) 1 copy
∗ A parallel key (1 pc.) comes with all geared types (excluding TH geared types RK54and RK56and
PL geared type RK54).

4 Preparation
−11 −
4.2 How to identify the product model

Standard type, Standard type with electromagnetic brake
R K 5 6 6 A M A E
Motor identification
Blank: Standard type
M 䋺㩷Standard type with electromagnetic brake
Motor output shaft type A: Single shaft
B䋺Double shaft
The length of the motor
Frame size 4: 42 mm (1.65 in.)
6: 60 mm (2.36 in.)
9: 85 mm (3.35 in.)
5-phase
Series name RK series
Power input A: Single-phase 100-115 V
C㪑㩷Single-phase 200-230 V
 Geared type
RK 564AAE - H 50
Power input A: Single-phase 100-115 V
C㪑㩷Single-phase 200-230 V
Motor output shaft type A: Singleshaft
B䋺Doubleshaft
The length of the motor
Gear type T: TH gear
P: PL gear
PS: PS gear
N: PN gear
H: Harmonicgear
Frame size 4: 42mm (1.65 in.)
6: 60 mm (2.36 in.)
9: 90mm (3.54 in.)
5-phase
Series name RKseries
Gear ratio∗
Motor identification
∗ PS geared types with a gear ratio of 7.2 are indicated by “7” in the model name.

4 Preparation
−12 −
4.3 Combinations of motors and drivers
• indicates A(single shaft) or B(double shaft).
• represents a number indicating the gear ratio.
 Standard type
• Single-phase 100-115 V • Single-phase 200-230 V
Unit model Motor model Driver model Unit model Motor model Driver model
RK543A PK543W RK564C PK564W
RK544A PK544W RK564CE PK564E
RK545A PK545W
RKD507-A
RK566C PK566W
RK564A PK564W RK566CE PK566E
RK564AE PK564E RK569C PK569W
RK566A PK566W RK569CE PK569E
RKD514L-C
RK566AE PK566E RK596C PK596W
RK569A PK569W RK596CE PK596E
RK569AE PK569E
RKD514L-A
RK599C PK599W
RK596A PK596W RK599CE PK599E
RK596AE PK596E RK5913C PK5913W
RK599A PK599W RK5913CE PK5913E
RKD514H-C
RK599AE PK599E
RK5913A PK5913W
RK5913AE PK5913E
RKD514H-A
 Standard type with electromagnetic brake
• Single-phase 100-115 V • Single-phase 200-230 V
Unit model Motor model Driver model Unit model Motor model Driver model
RK543AMA PK543AWM RK564AMC PK564AWM
RK544AMA PK544AWM RK564AMCE PK564AEM
RK545AMA PK545AWM
RKD507M-A
RK566AMC PK566AWM
RK564AMA PK564AWM RK566AMCE PK566AEM
RK564AMAE PK564AEM RK569AMC PK569AWM
RK566AMA PK566AWM RK569AMCE PK569AEM
RKD514LM-C
RK566AMAE PK566AEM RK596AMC PK596AWM
RK569AMA PK569AWM RK596AMCE PK596AEM
RK569AMAE PK569AEM
RKD514LM-A
RK599AMC PK599AWM
RK596AMA PK596AWM RK599AMCE PK599AEM
RK596AMAE PK596AEM RK5913AMC PK5913AWM
RK599AMA PK599AWM RK5913AMCE PK5913AEM
RKD514HM-C
RK599AMAE PK599AEM
RK5913AMA PK5913AWM
RK5913AMAE PK5913AEM
RKD514HM-A

4 Preparation
−13 −
 Standard type terminal box
• Single-phase 100-115 V • Single-phase 200-230 V
Unit model Motor model Driver model Unit model Motor model Driver model
RK564AAT PK564AT RK564ACT PK564AT
RK566AAT PK566AT RK566ACT PK566AT
RK569AAT PK569AT
RKD514L-A
RK569ACT PK569AT
RKD514L-C
RK596AAT PK596AT RK596ACT PK596AT
RK599AAT PK599AT RK599ACT PK599AT
RK5913AAT PK5913AT
RKD514H-A
RK5913ACT PK5913AT
RKD514H-C
 TH geared type
• Single-phase 100-115 V • Single-phase 200-230 V
Unit model Motor model Driver model Unit model Motor model Driver model
RK543A-TPK543W-TRKD507-A RK564CE-TPK564E-T
RK564AE-TPK564E-TRK564C-TPK564W-TRKD514L-C
RK564A-TPK564W-TRKD514L-A RK596CE-TPK596E1-T
RK596AE-TPK596E1-TRK596C-TPK596W1-TRKD514H-C
RK596A-TPK596W1-TRKD514H-A
 PL geared type
• Single-phase 100-115 V • Single-phase 200-230 V
Unit model Motor model Driver model Unit model Motor model Driver model
RK543A-PPK543W-PRK564CE-PPK564E-P
RK545A-PPK545W-PRKD507-A RK564C-PPK564W-P
RK564AE-PPK564E-PRK566CE-PPK566E-P
RK564A-PPK564W-PRK566C-PPK566W-P
RKD514L-C
RK566AE-PPK566E-PRK596CE-PPK596E-P
RK566A-PPK566W-P
RKD514L-A
RK596C-PPK596W-P
RK596AE-PPK596E-PRK599CE-PPK599E-P
RK596A-PPK596W-PRK599C-PPK599W-P
RKD514H-C
RK599AE-PPK599E-P
RK599A-PPK599W-P
RKD514H-A
 PS geared type
• Single-phase 100-115 V • Single-phase 200-230 V
Unit model Motor model Driver model Unit model Motor model Driver model
RK543A-PSPK543W-PSRK564CE-PSPK564E-PSRKD514L-C
RK545A-PSPK545W-PSRKD507-A RK566CE-PSPK566E-PS
RK564AE-PSPK564E-PSRK596CE-PSPK596E-PS
RK566AE-PSPK566E-PSRKD514L-A RK599CE-PSPK599E-PS
RKD514H-C
RK596AE-PSPK596E-PS
RK599AE-PSPK599E-PSRKD514H-A

4 Preparation
−14 −
 PN geared type
• Single-phase 100-115 V • Single-phase 200-230 V
Unit model Motor model Driver model Unit model Motor model Driver model
RK544A-NPK544W-NRKD507-A RK564CE-NPK564E-N
RK564AE-NPK564E-NRK564C-NPK564W-N
RK564A-NPK564W-NRK566CE-NPK566E-N
RK566AE-NPK566E-NRK566C-NPK566W-N
RKD514L-C
RK566A-NPK566W-N
RKD514L-A
RK596CE-NPK596E-N
RK596AE-NPK596E-NRK596C-NPK596W-N
RK596A-NPK596W-NRK599CE-NPK599E-N
RK599AE-NPK599E-NRK599C-NPK599W-N
RKD514H-C
RK599A-NPK599W-N
RKD514H-A
 Harmonic geared type
• Single-phase 100-115 V • Single-phase 200-230 V
Unit model Motor model Driver model Unit model Motor model Driver model
RK543A-HPK543W-HS RKD507-A RK564CE-HPK564E-HS
RK564AE-HPK564E-HS RK564C-HPK564W-HS RKD514L-C
RK564A-HPK564W-HS RKD514L-A RK596CE-HPK596E1-H
RK596AE-HPK596E1-HRK596C-HPK596W1-HRKD514H-C
RK596A-HPK596W1-HRKD514H-A

4 Preparation
−15 −
4.4 Names and functions of parts
This section covers the names and functions of parts in the driver and motor.
Motor
Illustration shows the standard type with electromagnetic brake (RK56).
Electromagneticbrake
(Onlyfor the standard type with electromagneticbrake)
Motor cable
Mounting holes
(four locations)
Output shaft
Pilot
External Protective Earth Terminal
Standard type terminal box
Cableclamp
Terminal block
Mounting holes (four locations)
Output shaft
Pilot
External Protective Earth Terminal
Terminals of standard type terminal box (View with the terminal block removed)
Internal Protective
Earth Terminal
Terminal block
O-ring
 RK56RK59

4 Preparation
−16 −
Driver
Illustration shows the driver for RK56.
1
5
6
7
8
9
10
11
12
13
14
15
2
3
4
No. Names Description
1 Mounting holes －
2 Motor to power supply connection
terminal Connect the motor leads to the power input cable.
3 Protective Earth Terminal Used for grounding via grounding wire ofAWG18 (0.75 mm
2
)
or more
4 Mounting cutout －
5 POWER LED (green) Lit when the power is on.
6 TIM. LED (green) Lit when the TIM. (excitation timing) output is “ON.”
7 O.H. LED (red) Lit when overheat protection is activated and the O.H.
(overheat) output turns “OFF.”
8 Pulse input mode select switch
Allows for the selection of 2-pulse input mode or 1-pulse input
mode in accordance with the pulse output mode in the
positioning controller.
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.
9 A.C.O. function select switch Set to “OFF” if continuous motor operation is desired when overheat protection is triggered.
The factory setting is “A.C.O.: Automatic current off.”
10 Smooth drive function select
switch
The smooth drive function offers low-vibration, low-noise
features during low-speed operation without changing the step
angle setting. With this function the step angle is automatically
divided into 16 microsteps, according to the pulse signal.
This function makes it unnecessary to change the pulse signal
(speed, pulse count) from the controller.
This factory setting is “OFF: Smooth drive disabled.”

4 Preparation
−17 −
No. Names Description
11
Electromagnetic brake function
select switch
(motors with an electromagnetic
brake only)
12 Energy saver mode select switch
(motors with an electromagnetic
brake only)
The mode of the electromagnetic brake function is changed
based on a combination of the switches.
Power-failure position-holding mode: [11] M.B.F., [12] OFF
Energy saver mode: [11] M.B.F., [12] E.S.
Electromagnetic brake control mode: [11] OFF, [12] Either
The factory setting is the power-failure position-holding mode.
13 Motor current adjustment switches
RUN: Adjusts the motor's operating current.
The factory setting is the rated current “F”
STOP:Adjusts the motor’s stopped-state current between 12%
and 56% (10% and 55% for RK54) of operating
current. The factory setting is “9”, which is 56% (55% for
RK54) of operating current.
14 Step angle setting switches
Sets the motor's step angle. Each of the two switches allows
for a setting of 16 step angles. Selection is made through C/S
(step angle switching) input.
The factory settings is “0: 0.72°” with both switches.
15 Input/output signal connectors Used to connect to the motor-positioning control and others.

5 Installation
−18 −
5 Installation
This section covers the environment and method of installing the motor and driver, along with load
installation.
Also covered in this section are the installation and wiring methods that are in compliance with the relevant
EMC Directives.
5.1 Location for installation
The motor and driver are 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
Motor: −10 to +50 °C (+14 to +122 °F) (non-freezing)
Harmonic geared type: 0 to +40 °C (+32 to +104 °F) (non-freezing)
Driver: 0 to +50 °C (+32 to +122 °F) (non-freezing)
• Operating ambient humidity 85% or less (non-condensing)
• Operating surrounding atmosphere
Motor, driver:
Area that is free of explosive atmosphere or toxic gas (such as sulfuric gas) or liquid
Area free of excessive amount of dust, iron particles or the like
Area not subject to splashing water (rains, water droplets), oil (oil droplets) or other
liquids
Standard type terminal box:
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 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 fields or vacuum

5 Installation
−19 −
5.2 Installing the motor

Installation direction
The motor can be installed in any direction.
 Installation method
Install the motor onto an appropriate flat metal plate having excellent vibration resistance and heat
conductivity. When installing the motor, secure it with four bolts (not supplied) through the four mounting
holes provided. Leave no gap between the motor and plate.
Optional motor mounting brackets are available (sold separately).
Note Insert the pilot located on the motor’s installation surface into the mounting plate’s.
Installation method [A]
Metal plate
Pilot holder
Installation method [B]
Metal plate
Pilot holder
Motor type Frame size
[mm (in.)] Bolt size Tightening torque
[N·m (oz-in)]
Effective
depth of bolt
[mm (in.)]
Type of
installation
42 (1.65) M3 1 (142) 4.5 (0.177) A
60 (2.36) M4 2 (280)
Standard type
Standard type with
electromagnetic brake 85 (3.35) M6 3 (420) －B
60 (2.36) M4 2 (280)
Standard type
terminal box 85 (3.35) M6 3 (420) －B
42 (1.65)
60 (2.36) M4 2 (280) 8 (0.315)
TH geared type
90 (3.54) M8 4 (560) 15 (0.591) A
42 (1.65) M4 2 (280) 8 (0.315)
60 (2.36) M5 2.5 (350) 10 (0.394)
PL geared type
PS geared type
PN geared type 90 (3.54) M8 4 (560) 15 (0.591) A
42 (1.65) M4 2 (280) 8 (0.315)
60 (2.36) M5 2.5 (350) 10 (0.394) A
Harmonic geared type
90 (3.54) M8 4 (560) －B

5 Installation
−20 −
5.3 Installing a load
When connecting a load to the motor, align the centers of the motor’s output shaft and load shaft.
Also, keep the overhang load and thrust load to the permissible values or below.
Optional flexible couplings are available (sold separately).
Note • When coupling the load to the motor, pay attention to the centering of the shafts, belt
tension, parallelism of the pulleys, and so on. Securely tighten the coupling and pulley
set screws.
• Be careful not to damage the output shaft or the bearings when installing a coupling or
pulley to the motor’s output shaft.
• Do not modify or machine the motor’s output shaft. Doing so may damage the bearings
and destroy the motor.
• When inserting a parallel key into the gear output shaft, do not apply excessive force by
using a hammer or similar tool. Application of strong impact may damage the output
shaft or bearings.
 Using a coupling
Align the centers of the motor’s output shaft and
load shaft in a straight line.
 Using a belt drive
Align the motor’s output shaft and load shaft
parallel with each other, and position both pulleys
so that the line connecting their centers is at a
right angle to the shafts.
 Using a gear drive
Align the motor’s output shaft and gear shaft
parallel with each other, and let the gears mesh at
the center of the tooth widths.
 Connecting with a key (Geared motor)
With a geared motor, to connect a load to the gear output shaft having a key groove, first provide a key
groove on the load and fix the load with the gear output shaft using the supplied key.