Oriental motor RKII 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-60085-6
5-Phase Stepping Motor
RKII Series/
Motorized actuator
equipped with RKII Series
Built-in Controller Type
USER MANUAL
KCC-REM-OMC-066
KCC-REM-OMC-067
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
Operation using the
OPX-2A
Inspection,
troubleshooting and
remedial actions
Appendix

▌2
1 Introduction
1 Introduction .................................................................................................................................................................. 8
2 Overview of the product...........................................................................................................................................10
3 System conguration ................................................................................................................................................13
4 Safety precautions .....................................................................................................................................................14
5 Precautions for use ....................................................................................................................................................17
6 General specications ...............................................................................................................................................20
7 Regulations and standards.......................................................................................................................................21
7-1 UL Standards .......................................................................................................................................................................................... 21
7-2 EU Directive............................................................................................................................................................................................. 21
7-3 Republic of Korea, Radio Waves Act............................................................................................................................................... 22
7-4 RoHS Directive ....................................................................................................................................................................................... 22
8 Preparation..................................................................................................................................................................23
8-1 Checking the product ......................................................................................................................................................................... 23
8-2 How to identify the product model............................................................................................................................................... 23
8-3 Combinations of motors and drivers............................................................................................................................................. 24
8-4 Names and functions of parts.......................................................................................................................................................... 28
2 Installation and connection
1 Installation...................................................................................................................................................................32
1-1 Location for installation...................................................................................................................................................................... 32
1-2 Installing the motor ............................................................................................................................................................................. 32
1-3 Installing a load ..................................................................................................................................................................................... 33
1-4 Permissible radial load and permissible axial load................................................................................................................... 34
1-5 Installing the driver.............................................................................................................................................................................. 36
2 Connection ..................................................................................................................................................................38
2-1 Connection example ........................................................................................................................................................................... 38
2-2 Grounding the motor and driver .................................................................................................................................................... 39
2-3 Connecting the main power supply.............................................................................................................................................. 40
2-4 Connecting the 24 VDC power supply and electomagnetic brake .................................................................................... 41
2-5 Connecting the I/O signals................................................................................................................................................................ 42
2-6 Connecting the data setter ............................................................................................................................................................... 45
2-7 Connecting the RS-485 communication cable.......................................................................................................................... 45
2-8 Noise measures ..................................................................................................................................................................................... 46
2-9 Conformity to the EMC Directive.................................................................................................................................................... 47
3 Explanation of I/O signals.........................................................................................................................................49
3-1 Assignment of direct I/O.................................................................................................................................................................... 49
3-2 Assignment of network I/O............................................................................................................................................................... 53
3-3 Input signals ........................................................................................................................................................................................... 57
3-4 Output signals........................................................................................................................................................................................ 63
3-5 Sensor input............................................................................................................................................................................................ 68
3-6 General signals (R0 to R15)................................................................................................................................................................ 69

3▐
3 Operation type and setting
1 Guidance......................................................................................................................................................................72
2 Adjustment and setting............................................................................................................................................75
2-1 Resolution................................................................................................................................................................................................ 75
2-2 Operating current................................................................................................................................................................................. 76
2-3 Standstill current................................................................................................................................................................................... 76
2-4 Acceleration/deceleration rate and acceleration/deceleration time................................................................................. 77
2-5 Speed lter.............................................................................................................................................................................................. 78
2-6 Moving average lter .......................................................................................................................................................................... 78
2-7 When a motor with an encoder is used........................................................................................................................................ 79
3 Operation type and function list.............................................................................................................................83
4 Positioning operation................................................................................................................................................84
4-1 Operation data....................................................................................................................................................................................... 84
4-2 Starting method of positioning operation.................................................................................................................................. 86
4-3 Operation function............................................................................................................................................................................... 90
5 Return-to-home operation.......................................................................................................................................94
5-1 About description of return-to-home operation ...................................................................................................................... 94
5-2 Operation sequence ............................................................................................................................................................................ 97
5-3 Position preset.....................................................................................................................................................................................100
6 Continuous operation .............................................................................................................................................101
6-1 Operation data.....................................................................................................................................................................................101
6-2 Starting method of continuous operation................................................................................................................................102
6-3 Variable speed operation.................................................................................................................................................................104
7 Other operation........................................................................................................................................................106
7-1 JOG operation......................................................................................................................................................................................106
7-2 Test operation ......................................................................................................................................................................................107
7-3 Stop operation.....................................................................................................................................................................................108
8 Coordinate management .......................................................................................................................................110
8-1 Position coordinate management................................................................................................................................................110
8-2 Wrap function ......................................................................................................................................................................................110
9 Operation data..........................................................................................................................................................112
10 Parameter ..................................................................................................................................................................113
10-1 Parameter list........................................................................................................................................................................................114
10-2 I/O parameter.......................................................................................................................................................................................115
10-3 Motor parameter.................................................................................................................................................................................116
10-4 Operation parameter.........................................................................................................................................................................116
10-5 Home operation parameter............................................................................................................................................................117
10-6 Alarm parameter.................................................................................................................................................................................118
10-7 Warning parameter............................................................................................................................................................................118
10-8 Coordinates parameter.....................................................................................................................................................................118
10-9 Common parameter ..........................................................................................................................................................................119
10-10 I/O function [Input] parameter ......................................................................................................................................................120
10-11 I/O function [Output] parameter ..................................................................................................................................................120

▌4
10-12 I/O function [RS-485] parameter...................................................................................................................................................121
10-13 Communication parameter.............................................................................................................................................................122
4 Method of control via I/O
1 Guidance....................................................................................................................................................................124
2 Operation data..........................................................................................................................................................126
3 Parameter ..................................................................................................................................................................127
3-1 Parameter list........................................................................................................................................................................................128
3-2 I/O parameter.......................................................................................................................................................................................129
3-3 Motor parameter.................................................................................................................................................................................129
3-4 Operation parameter.........................................................................................................................................................................130
3-5 Home operation parameter............................................................................................................................................................130
3-6 Alarm parameter.................................................................................................................................................................................131
3-7 Warning parameter............................................................................................................................................................................131
3-8 Coordinates parameter.....................................................................................................................................................................131
3-9 Common parameter ..........................................................................................................................................................................131
3-10 I/O function [Input] parameter......................................................................................................................................................132
3-11 I/O function [Output] parameter ..................................................................................................................................................132
3-12 I/O function [RS-485] parameter ...................................................................................................................................................133
3-13 Communication parameter............................................................................................................................................................134
4 Timing charts ............................................................................................................................................................135
5 Method of control via Modbus RTU (RS-485 communication)
1 Guidance....................................................................................................................................................................144
2 Communication specications ..............................................................................................................................149
3 Setting the switches ................................................................................................................................................151
4 Setting the RS-485 communication......................................................................................................................154
5 Communication mode and communication timing..........................................................................................155
5-1 Communication mode......................................................................................................................................................................155
5-2 Communication timing ....................................................................................................................................................................155
6 Message .....................................................................................................................................................................156
6-1 Query.......................................................................................................................................................................................................156
6-2 Response................................................................................................................................................................................................158
7 Function code ...........................................................................................................................................................160
7-1 Reading from a holding register(s) [03h] ...................................................................................................................................160
7-2 Writing to a holding register [06h]...............................................................................................................................................161
7-3 Diagnosis [08h]....................................................................................................................................................................................162
7-4 Writing to multiple holding registers [10h]...............................................................................................................................163
8 Register address list.................................................................................................................................................165
8-1 Operation commands.......................................................................................................................................................................165
8-2 Maintenance commands .................................................................................................................................................................167
8-3 Monitor commands ...........................................................................................................................................................................168

5▐
8-4 Parameter R/W commands .............................................................................................................................................................171
9 Group send................................................................................................................................................................180
10 Example for setting of the operation ...................................................................................................................182
10-1 Positioning operation........................................................................................................................................................................182
10-2 Continuous operation.......................................................................................................................................................................185
10-3 Return-to-home operation..............................................................................................................................................................187
11 Detection of communication errors .....................................................................................................................189
11-1 Communication errors.....................................................................................................................................................................189
11-2 Alarms and warnings........................................................................................................................................................................189
12 Timing charts ............................................................................................................................................................190
6 Method of control via industrial network
1 Setting the switches ................................................................................................................................................194
1-1 Protocol ..................................................................................................................................................................................................194
1-2 Address number (slave address) ...................................................................................................................................................194
1-3 Transmission rate................................................................................................................................................................................195
1-4 Termination resistor...........................................................................................................................................................................195
2 Method of control via CC-Link communication..................................................................................................196
2-1 Guidance................................................................................................................................................................................................196
2-2 Basic operation procedure ..............................................................................................................................................................201
2-3 Remote register list of NETC01-CC ..........................................................................................................................................205
2-4 Assignment for remote I/O of 6-axes connection mode......................................................................................................205
2-5 Assignment for remote I/O of 12-axes connection mode....................................................................................................208
3 Method of control via MECHATROLINK communication..................................................................................213
3-1 Guidance................................................................................................................................................................................................213
3-2 Basic operation procedure ..............................................................................................................................................................218
3-3 I/O eld map for the NETC01-M2..............................................................................................................................................221
3-4 I/O eld map for the NETC01-M3..............................................................................................................................................222
3-5 Communication format....................................................................................................................................................................223
4 Details of remote I/O ...............................................................................................................................................225
4-1 Input signals to the driver................................................................................................................................................................225
4-2 Output signals from the driver ......................................................................................................................................................226
5 Command code list ..................................................................................................................................................228
5-1 Group function ....................................................................................................................................................................................228
5-2 Maintenance command...................................................................................................................................................................229
5-3 Monitor command .............................................................................................................................................................................230
5-4 Operation data.....................................................................................................................................................................................232
5-5 User parameters..................................................................................................................................................................................233

▌6
7 Operation using the OPX-2A
1 Overview of the OPX-2A........................................................................................................................................242
1-1 Names and functions of parts........................................................................................................................................................243
1-2 How to read the display ...................................................................................................................................................................243
1-3 OPX-2A error display.......................................................................................................................................................................244
2 Screen transitions.....................................................................................................................................................246
3 Monitor mode...........................................................................................................................................................252
3-1 Overview of the monitor mode.....................................................................................................................................................252
3-2 Monitor items.......................................................................................................................................................................................252
4 Data mode .................................................................................................................................................................254
4-1 Setting items ........................................................................................................................................................................................254
4-2 Setting example..................................................................................................................................................................................256
4-3 Initialization of the selected operation data.............................................................................................................................257
4-4 Initialization of all operation data.................................................................................................................................................257
5 Parameter mode.......................................................................................................................................................258
5-1 Setting example..................................................................................................................................................................................259
5-2 Parameter list........................................................................................................................................................................................260
5-3 Initializing parameters ......................................................................................................................................................................265
6 Test mode ..................................................................................................................................................................266
6-1 Overview of the test mode..............................................................................................................................................................266
6-2 Direct I/O test .......................................................................................................................................................................................267
6-3 JOG operation......................................................................................................................................................................................267
6-4 Data select operation........................................................................................................................................................................267
6-5 Return-to-home operation..............................................................................................................................................................268
6-6 Presetting the position.....................................................................................................................................................................268
6-7 Presetting the encoder counter ....................................................................................................................................................268
6-8 Teaching.................................................................................................................................................................................................268
7 Copy mode ................................................................................................................................................................269
7-1 Overview of the copy mode ...........................................................................................................................................................269
7-2 Error of the copy mode.....................................................................................................................................................................269
8 Inspection, troubleshooting and remedial actions
1 Inspection ..................................................................................................................................................................272
2 Alarms and warnings...............................................................................................................................................273
2-1 Alarms.....................................................................................................................................................................................................273
2-2 Warnings................................................................................................................................................................................................278
2-3 Communication errors......................................................................................................................................................................279
3 Troubleshooting and remedial actions................................................................................................................280
9 Appendix
1 Accessories ................................................................................................................................................................282

1 Introduction ........................................................8
2 Overview of the product ..................................10
3 System conguration .......................................13
4 Safety precautions............................................14
5 Precautions for use...........................................17
6 General specications ......................................20
7 Regulations and standards ..............................21
7-1 UL Standards..................................................................... 21
7-2 EU Directive ....................................................................... 21
7-3 Republic of Korea, Radio Waves Act ......................... 22
7-4 RoHS Directive.................................................................. 22
8 Preparation .......................................................23
8-1 Checking the product.................................................... 23
8-2 How to identify the product model.......................... 23
8-3 Combinations of motors and drivers........................ 24
8-4 Names and functions of parts..................................... 28
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

Introduction
1 Introduction
8
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.14. 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. Oriental Motor Co., Ltd. is not responsible for any damage caused
through failure to observe this warning.
Type of operating manual
OPERATING MANUALS for the RKII Series FLEX Bulit-in Controller Type are listed below.
After reading the manuals, keep them in a convenient place where they are readily available.
Description of operating manual
RKII Series
•OPERATING MANUAL Motor (included with the motor)
•OPERATING MANUAL Bulit-in Controller Type Driver
(included with the driver)
These manuals explain functions, installation methods
and others.
RKII Series/
Motorized actuator equipped with RKII Series
FLEX Bulit-in Controller Type
•USER MANUAL (this manual)
This manual explains operating methods of the OPX-2A,
troubleshooting, Modbus RTU control, industrial network
control, and others, in addition to functions, installation
and connection methods, data setting methods, and
operating methods for the motor and driver.
RKII Series UL APPENDIX
•APPENDIX UL Standards and CSA Standards for RKII Series
This appendix includes information required for
certication of the UL Standards and CSA standards.
Motorized actuator
•OPERATING MANUAL Actuator (included with the actuator)
•Function Setting Edition
The Motorized Actuator Edition explains installation
methods and maintenance for motorized actuators.
The Function Setting Edition explains settings of
parameters required for when an actuator is combined
with a driver.
Network converter
•USER MANUAL
This manual explains the functions and installation/
connection method as well as the operating method for
the network converter.

Introduction
1 Introduction
9
About terms and units
Terms and units to be used vary depending on a motor or motorized actuator. This manual explains by using the
terms of the motor. When the motorized actuator is used, read this manual by replacing the terms.
Motor Motorized actuator
Term
Torque Thrust force
Moment of inertia Mass
Rotation Movement
CW direction Forward direction
CCW direction Reverse direction
Rotation speed Speed
Resolution Minimum travel amount
Unit N·m N
kHz/s m/s2

Overview of the product
1 Introduction
10
2 Overview of the product
This product is a motor and driver package product consisting of a 5-phase stepping motor and a driver with built-in
controller function.
This product can be controlled via I/O, Modbus RTU (RS-485 communication) or industrial network communication
using the network converter.
The operation data and parameters can be set using a support software MEXE02 or accessory data setter OPX-2A,
or via RS-485 communication.
Main features
zEnergy-saving
Motor and driver losses have been substantially reduced to achieve low heat generation and save energy.
Since the motor and driver generate much less heat, they can now be operated for longer hours at high speed, which
was not possible with conventional motors/drivers.
zClosely installable compact, slim size driver
This compact size driver helps downsizing and space-saving for the control box and equipment.
Since the drivers are available to install closely, the limited space can eectively be utilized.
zSimple wiring
Screwless type connectors have adopted for connection of I/O signals.
The motor can be connected with ease using the dedicated cable/connector assembly.
zThree operating patterns
You can perform positioning operation, return-to-home operation and continuous operation.
Up to 64 operation data points can be set, and multi-point positioning is also possible.
zCompatible with Modbus RTU (RS-485 communication)
You can set operation data and parameters or issue operation start/stop commands from the master controller.
Up to 31 drivers can be connected to one master.
zLow vibration
Adopting a high performance microstep driver, this product achieved a smooth drive operation with ultra low-
vibration, even if the operation was at low speeds.
zAutomatic control of the electromagnetic brake (electromagnetic brake type only)
This driver controls the electromagnetic brake automatically. The control signal input or the troublesome ladder logic
design can be saved.
zAlarm and warning functions
The driver provides alarms that are designed to protect the driver from overheating, poor connection, error in
operation, 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 the MEXE02, OPX-2A (accessory) 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.

Overview of the product
1 Introduction
11
Related products
The RKII Series FLEX built-in controller type can be used via various network when connecting to a network
converter.
Network converter Supported network
NETC01-CC CC-Link Ver.1.10
NETC02-CC CC-Link Ver.2.00
NETC01-M2 MECHATROLINK-II
NETC01-M3 MECHATROLINK-III
NETC01-ECT EtherCAT

Overview of the product
1 Introduction
12
Function list
·Monitor function
· Operation data setting
· Parameter setting
Main functions
· Return-to-home function
Home position oset
External sensor signal detection
· I/O function
Input function selection
Output function selection
Input logic level setting
· Coordination setting
Resolution (Electronic gear)
Wrap function
Motor rotation direction
· Protective function
Alarm detection
Warning detection
Support functions
[Setting by parameters]
· Data storing
·Download/Upload
· Data initialization
External interface
Data setter
RS-485 communication
· Test function
Test operation
Teaching
I/O test
· Motor function setting
Operating current
Standstill current
Speed lter
Moving average lter
· Stop operation
STOP input action
Overtravel
· Misstep detection function
Stepout detection action
Stepout detection band
Encoder resolution
· Operation start
· Operation data setting
·Monitor function· Parameter setting
·Maintenance function
Return-to-home operation ·2-sensor mode
Other operations ·JOG operation
· Positioning operation
· Continuous operation
Single-motion operation
Linked-motion operation
Linked-motion operation 2
Operation function
Data number selecting operation
Direct positioning operation
Sequential positioning operation
Starting method
+
[Setting by parameters]
Motor operation
[Setting by operation data
and parameters]
[Setting by parameters]
·Position preset· 3-sensor mode

System conguration
1 Introduction
13
3 System conguration
Connect to CN2
Connect to CN1 Black
White
Cable for electromagnetic
brake *1
This cable is used to connect the
electromagnetic brake and driver.
Connect to CN3
Single-phase 100-120 V
Single-phase 200-240 V
Grounding
Noise lter
Use a noise lter to
eliminate noise.
It has the eect of
reducing noise generated
from the power supply
and driver.
Power supply
Use the power supply
within the rated
voltage range.
Circuit breaker or
ground fault
interrupt circuit
Be sure to connect a
circuit breaker or
ground fault interrupt
circuit to protect the
wiring on the primary
side.
Cable for motor *1
This cable is used to
connect the motor and
driver.
Connect to CN1
24 VDC power supply
Be sure to connect it.
GND
24 VDC
OPX-2A (accessory)
Or
PC in which the MEXE02
has been installed *2
Grounding
Connect to CN4
Sensor signals
Connect to CN5
Master controller
Output signals
Connect to CN9
Input signals
Connect to CN8
Master controller
Connect when controlling the
system via RS-485 communication.
*1 Included with the product or an accessory.
*2 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
1 Introduction
14
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.
Description of signs
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 the safe use of the product.
Description of graphic symbols
Indicates "prohibited" actions that must
not be performed.
Indicates "compulsory" actions that must
be performed.
Do not use the product in explosive or corrosive environments, in the presence of ammable gases,
locations subjected to splashing water, or near combustibles.
This may cause re, electric shock or injury.
Do not transport, install the product, perform connections or inspections when the power is on.
This may cause electric shock.
Do not touch the driver while the power is on.
This may cause re or electric shock.
The terminals on the driver's front panel marked with symbol indicate the presence of high
voltage. Do not touch these terminals while the power is on.
This may cause re or electric shock.
Do not use the brake mechanism of an electromagnetic brake motor as a deceleration/safety brake.
This may cause injury or damage to the equipment.
Do not forcibly bend, pull or pinch the cable.
This may cause re or electric shock.
Do not turn the AWO input or FREE input to ON while the motor is operating.
This may cause injury or damage to equipment.
Do not touch the connection terminals on the driver immediately (within 10 minute) after the power is
turned o. Before making wiring connections or carrying out checks, also wait for the CHARGE LED to
turn o.
This may cause electric shock.
Do not disassemble or modify the product.
This may cause injury or damage to equipment.
Assign qualied personnel the task of installing, wiring, operating/controlling, inspecting and
troubleshooting the product.
Failure to do so may result in re, electric shock, injury or damage to equipment.
If this product is used in an vertical application, be sure to provide a measure for the position retention
of moving parts.
Failure to do so may result in injury or damage to equipment.
When the driver generates an alarm (any of the driver's 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.

Safety precautions
1 Introduction
15
When the driver generates an alarm (any of the driver's 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.
Install the product in an enclosure.
Failure to do so may result in electric shock or injury.
The motor and driver are designed with Class I equipment basic insulation. When installing the motor
and driver, do not touch the product or be sure to ground them.
Failure to do so may result in electric shock.
Keep the driver’s input-power voltage within the specied range.
Failure to do so may result in re or electric shock.
Connect the cables securely according to the wiring diagram.
Failure to do so may result in re or electric shock.
Turn o the driver power in the event of a power failure.
Failure to do so may result in injury or damage to equipment.
Do not use the product beyond its specications.
This may cause injury, electric shock or damage to equipment.
Keep your ngers and objects out of the openings in the product.
Failure to do so may result in re, electric shock or injury.
Do not touch the product during operation or immediately after stopping.
This may cause a skin burn(s).
Do not forcibly bend or pull the cable that was connected to the driver.
Doing so may cause damage.
Do not hold the motor output shaft or motor cable.
This may cause injury.
Keep the area around the product free of combustible materials.
Failure to do so may result in re or a skin burn(s).
Leave nothing around the product that would obstruct ventilation.
Failure to do so may result in damage to equipment.
The data edit connector (CN4) and RS-485 communication connector (CN6/CN7) 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.
This may cause the driver and these equipment to short, damaging both.
Do not touch the rotating parts (output shaft etc.) during operation.
This may cause injury.
Do not touch the terminals while performing the insulation resistance test or dielectric strength test.
This may cause electric shock.
Provide a cover over the rotating parts (output shaft etc.).
Failure to do so may result in injury.
Use a motor and driver only in the specied combination.
Failure to do so may result in re.
For the 24 VDC 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.
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.
Failure to do so may result in injury or damage to equipment.
Before moving the motor directly with the hands, conrm that the AWO input or FREE input turns ON.
Failure to do so may result in injury.

Safety precautions
1 Introduction
16
When an abnormal condition has occurred, immediately stop operation and turn o the driver power.
Failure to do so may result in re, electric shock or injury.
Use only an insulated slotted screwdriver to adjust the driver's switches.
Failure to do so may result in electric shock.
Dispose the product correctly in accordance with laws and regulations, or instructions of local
governments.
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
Warning information
A warning label with handling instructions is attached on the driver. Be
sure to observe the instructions on the label when handling the driver.
Material: PET

Precautions for use
1 Introduction
17
5 Precautions for use
This section covers limitations and requirements the user should consider when using the product.
zAlways use the cable (included or accessory) to connect the motor and driver.
Be sure to use the cable (included or accessory) to connect the motor and driver.
If a cable other than the included cable or accessory cable is used, the driver may generate a large amount of heat.
In the following condition, an appropriate accessory cable must be purchased separately. Refer to p.282 for details.
•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.
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 equipment.
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 the motor under an excessive radial load or 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. Refer to p.34 for
details.
zMotor case temperature
•The driver has an overheat protection function, but the motor has no such feature. The motor surface temperature
may exceed 100 °C (212 °F) under certain conditions (ambient temperature, operating speed, duty cycle, etc.).
To prevent the motor bearings (ball bearings) from reaching its usable life quickly, use the motor in conditions
where the surface temperature will not exceed 100 °C (212 °F).
•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.
•In the case of a motor with an encoder, use it in a condition where the motor surface temperature will not exceed
85 °C (185 °F) in order to protect the encoder.
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.
zPreventing 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 eect 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 connecting an earth leakage breaker, use one of the following products oering resistance against high
frequency current:
Mitsubishi Electric Corporation: NV series
zPreventing electrical noise
See "2-8 Noise measures" on p.46 for measures with regard to noise.
zSaving data to the non-volatile memory
Do not turn o the power supply while writing the data to the non-volatile memory and 5 seconds after the
completion of writing the data. Doing so may abort writing the data and cause an EEPROM error alarm to generate.

Precautions for use
1 Introduction
18
The non-volatile memory can be rewritten approximately 100,000 times.
zMotor excitation at power ON
The motor is excited when the 24 VDC power and main power is on. If the motor is required to be in non-excitation
status when turning on the power, assign the AWO input to the direct I/O or network I/O.
zNote on connecting a power supply whose positive terminal is grounded
The data edit connector (CN4) and RS-485 communication connector (CN6/CN7) 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
data setter OPX-2A to set data, etc.
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.
zRotation direction of the output shaft
The motor output shaft rotates in the gure below at the factory setting. The rotation direction can be changed with
the parameter setting.
•When setting the position (travel amount)
to a positive value
CW
direction
•When setting the position (travel amount)
to a negative value
CC
W direction
For geared type, the relationship between the rotation direction of the motor shaft and that of the gear output shaft
changes as follows, depending on the gear type and gear ratio. Check with the following table.
Type of gear Gear ratio Rotation direction
(relative to the motor rotation direction)
TS geared 3.6, 7.2, 10 Same direction
20, 30 Opposite direction
FC geared All gear ratios Same direction
PS geared All gear ratios Same direction
Harmonic geared All gear ratios Opposite direction
zPeak torque of geared motor
Always operate the geared motor under a load not exceeding the peak torque. If the load exceeds the peak torque,
the gear will be damaged.

Precautions for use
1 Introduction
19
Notes for when the connection cable is used
Note the following points when a included cable or an accessory cable is used.
zWhen inserting the connector
Hold the connector main body, and insert it in straight securely.
Inserting the connector in an inclined state may result in damage to terminals or a connection failure.
zWhen unplugging the connector
Pull out the connector in straight while releasing the lock part of the connector. Pulling out the connector with
holding the cable may result in damage to the connector.
zBending radius of cable
Use the cable in a state where the bending radius of the
cable is more than six times of the cable diameter.
Mo
re than 6 times of cable diameter
zHow to x the cable
Fix the cable at the positions near the connector so as to apply no stress on the connector part.
Take measures so as to apply no stress on the connector by using wide clamps or by xing at two places.
In the case of a exible cable,
this area is a movable range.
Fix
Fix

General specications
1 Introduction
20
6 General specications
Motor Driver
Degree of protection IP20 IP10
Operation
environment
Ambient
temperature
−10 to +50 °C (+14 to +122 °F) (non-freezing)
Standard type with encoder:
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 +55 °C (+32 to 131 °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 following places:
•Case - Motor windings
•Case - Electromagnetic brake windings
100 MΩ or more when 500 VDC megger is
applied between the following places:
•PE Terminal - Power supply terminals
•Signal I/O terminals - Power supply terminals
Dielectric strength
Sucient to withstand the following for
1 minute
•Case - Motor windings;
1.5 kVAC 50/60 Hz
•Case - Electromagnetic brake windings;
1.5 kVAC 50/60 Hz
Sucient to withstand the following for
1 minute:
•PE Terminal - Power supply terminals;
1.5 kVAC 50/60 Hz
•Signal I/O terminals - Power supply terminals;
1.8 kVAC 50/60 Hz
* When installing a driver on a heat sink. [material: aluminium, 200×200×2 mm (7.87×7.87×0.08 in.) equivalent]