Oriental motor astep AR Series User manual

HM-60139-5
Closed Loop Stepping Motor and Driver Package
AR Series
DC power input Pulse input type
USER 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.

−2−
Table of contents
1 Safety precautions ...............................3
2 Overview of the product.......................5
3 System configuration ...........................6
4 Introduction ..........................................8
5 Precautions for use ..............................9
6 Preparation ........................................11
6.1 Checking the product ..........................11
6.2 How to identify the product model .......11
6.3 Combinations of motors and drivers ...12
6.4 Input/output power ratings ...................13
6.5 Names and functions of parts .............13
7 Installation .........................................15
7.1 Location for installation ........................15
7.2 Installing the motor ..............................15
7.3 Installing a load ...................................16
7.4 Permissible radial load and
permissible axial load ..........................17
7.5 Installing the driver ..............................18
7.6 Installing and wiring in compliance
with EMC Directive ..............................19
8 Connection ........................................21
8.1 Connecting the motor ..........................21
8.2 Connecting the electromagnetic
brake motor .........................................22
8.3 Connecting the I/O signals ..................23
8.4 Connecting the power supply and
grounding the driver ............................29
8.5 Connecting the data setter ..................30
9 Quick operations ................................31
10 Explanation of I/O signals ..................33
10.1 Input signals ........................................33
10.2 Output signals .....................................37
10.3 Timing chart ........................................39
11 Setting ...............................................40
11.1 Resolution ...........................................40
11.2 Pulse input mode ................................40
11.3 Operating current ................................41
11.4 Speed filter ..........................................41
12 Extended functions ............................42
Application parameters ..................................42
System parameters ......................................... 43
12.1 Setting .................................................43
Resolution ...................................................... 43
Pulse input mode ............................................44
Motor excitation at power ON .......................46
Automatic return operation ............................46
Setting the motor rotation direction ...............47
Setting the positioning completion (END)
signal offset ....................................................47
12.2 Operation ............................................48
Push-motion operation ...................................48
Test operation ................................................. 49
Return to electrical home operation ...............49
12.3 Adjustment ..........................................50
Control mode .................................................50
Operating current ...........................................50
Standstill current ............................................50
Speed filter ..................................................... 51
Smooth drive .................................................. 51
Speed error gain .............................................51
Position loop gain, speed loop gain,
speed loop integral time constant ...................51
Anti-vibration control ....................................51
13 Inspection ..........................................52
14 Alarms and warnings .........................53
14.1 Alarms .................................................53
Alarm reset .....................................................53
Descriptions of alarms ...................................54
14.2 Warnings .............................................56
Descriptions of warnings ...............................56
15 Troubleshooting and
remedial actions ................................57
16 General specifications .......................58
17 Accessories (sold separately) ...........59
18 Reference ..........................................63
18.1 Timing charts ......................................63
18.2 Function/parameter list ........................72
18.3 Warning/alarm lists ..............................78
Alarms (protective functions) ........................78
Warnings (warning functions) ........................ 80

Safety precautions
−3−
1 Safety precautions
The precautions described below are intended to prevent danger or injury to the user and other personnel through safe,
correct use of the product. Use the product only after carefully reading and fully understanding these instructions.
Handling the product without observing the instructions that accompany a "Warning"
symbol may result in serious injury or death.
Handling the product without observing the instructions that accompany a “Caution”
symbol may result in injury or property damage.
The items under this heading contain important handling instructions that the user should
observe to ensure safe use of the product.
General
•Do not use the product in explosive or corrosive environments, in the presence of flammable gases, locations
subjected to splashing water, or near combustibles. Doing so may result in fire 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, 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.
•When the driver generates an alarm (any of the driver's protective functions is triggered), first 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.
•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.
•Take measures to keep the moving parts in position for vertical operations such as elevator applications. The motor
loses holding torque when the power is shut off, allowing the moving parts to fall and possibly cause injury or
damage to equipment.
•The brake mechanism of an electromagnetic brake motor is used to keep the moving part and motor in position. Do
not use it as a deceleration/safety brake. Doing so may result in injury or damage to the equipment.
Installation
•Install the motor and driver in the enclosure in order to prevent injury.
•When installing the motor and driver, do not touch the driver without grounding the driver first. Failure to do so
may result in electric shock.
Connection
•Keep the driver's input power voltage within the specified range. Failure to do so may result in fire.
•For the driver’s power supply, use a DC power supply with reinforced insulation on its primary and secondary
sides. Failure to do so may result in electric shock.
•Connect the cables securely according to the wiring diagram. Failure to do so may result in fire.
•Do not forcibly bend, pull or pinch the cable. Doing so may cause fire.
Operation
•Turn off the driver power in the event of a power failure. Or the motor may suddenly start when the power is
restored and may cause injury or damage to equipment.
•Do not turn the FREE input to ON while the motor is operating. The motor will stop and lose its holding power.
Doing so may result in injury or damage to equipment.
Repair, disassembly and modification
•Do not disassemble or modify the motor and driver. Doing so may cause injury. Refer all such internal inspections
and repairs to the branch or sales office from which you purchased the product.

Safety precautions
−4−
General
•Do not use the motor and driver beyond its specifications. Doing so may result in injury or damage to equipment.
•Keep your fingers and objects out of the openings in the motor and driver. Failure to do so may result in fire or
injury.
•Do not touch the motor and driver during operation or immediately after stopping. The surface is hot and may cause
a skin burn(s).
Transportation
•Do not carry the motor by holding the motor output shaft or motor cable. Doing so may cause injury.
Installation
•Provide a cover over the rotating parts (output shaft) of the motor. Failure to do so may result in injury.
•Do not leave anything around the motor and driver that would obstruct ventilation. Doing so may result in damage
to equipment.
Connection
•The main power supply connector (CN1), data edit connector (CN4) and I/O signal connector (CN5) of the driver
are not electrically insulated. When grounding the positive terminal of the power supply, do not connect any
equipment (PC, etc.) whose negative terminal is grounded. Doing so may cause the driver and these equipment to
short, damaging both.
Operation
•Do not touch the rotating part (output shaft) during operation. Doing so may cause injury.
•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.
•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).
•Before supplying power to the driver, turn all input signals to the driver OFF. Otherwise, the motor
may start suddenly at power ON and cause injury or damage to equipment.
Warning label
•Before moving the motor directly with the hands, confirm that the FREE input turns ON. Failure to do so may
result in injury.
•Immediately when trouble has occurred, stop running and turn off the driver power. Failure to do so may result in
fire or injury.
Maintenance and inspection
•To prevent the risk of electric shock, do not touch the terminals while performing the insulation resistance test or
dielectric strength test.
Disposal
•To dispose of the motor and driver, disassemble it into parts and components as much as possible and dispose of
individual parts/components as industrial waste.

Overview of the product
−5−
2 Overview of the product
This product is a motor and driver package product consisting of a stepping motor equipped with a rotor position
detection sensor, and a high-performance microstep driver.
When the AR Series is used with an accessory data setter OPX-2A (sold separately) or data setting software
MEXE02, push-motion operation can be performed in addition to accurate positioning operation.
Main features
•Introducing closed loop control
The AR Series can continue its operation even upon encountering quick acceleration or an abrupt change in load.
Monitoring the speed and amount of rotation while the motor is running, the AR Series performs the closed-loop
control under overload and similar conditions to continue its operation at the peak torque.
•Energy-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.
•Easy adjustment using a speed filter
Even after the motor has been installed in the equipment, the motor response can be adjusted to suppress vibration
using a digital switch with ease.
•Supporting sink output and source output
The driver supports both the current sink output circuit and the current source output circuit. (Line driver output is not
supported).
•Alarm 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).
Various operation modes
Positioning operation and return to electrical home operation can be performed. Push-motion operation can be
performed when using an accessory OPX-2A (sold separately) or MEXE02.
Extended functions
When used with the accessory OPX-2A (sold separately) or MEXE02, the AR Series driver lets you set desired
parameters, operation mode, resolution and other items according to your equipment. For details, refer to page 42.

System configuration
−6−
3 System conguration
GND
FG
All you need is to turn the C-ON input ON and i
nput pulses!
All you need is to turn the C-ON input ON and
input pulses!
Driver
AC power
supply DC power
supply
24 VDC
48 VDC
Connect to CN2.
Connect to CN5.
Connect to CN4.
Cable for motor
This cable is used to connect
the motor and driver.
Noise filter
Use a noise filter to
eliminate noise. It has
the effect of reducing
noise generated from the
power supply and driver.
• General cable
• Connector-terminal block
conversion unit
Both are optional (sold separately).

System configuration
−7−
PE
Motor
Easy setting using switches!Easy setting using switches!
Extend functions are made available through use of
options (sold separately)!
Extend functions are made available through use of
accessories!
OPX-2A
(sold separately)
Or
Controller
Connect a controller with pulse
oscillation function.
Set the operating current.
(CURRENT switch)
Restrict the torque/temperature
rise.
Set the speed filter.
(V-FIL switch)
Suppress motor vibration or
cause the motor to start/stop
smoothly.
Set the resolution.
(SW1-No.3/No.4 switches)
Change the resolution per
revolution of the motor output
shaft.
PC in which the MEXE02
has been installed
The PC must be supplied by the customer.
Use the communication cable for the data
setting software CC05IF-USB when
connecting the PC and driver.

Introduction
−8−
4 Introduction
Before use
Only qualified personnel should work with the product.
Use the product correctly after thoroughly reading the section "1 Safety precautions" on page.3.
The product described in this manual has been designed and manufactured for use in general industrial equipment.
Do not use for any other purpose. Oriental Motor Co., Ltd. is not responsible for any damage caused through failure
to observe this warning.
Operating Manuals for the AR Series
Operating manuals for the AR Series are listed below.
The "USER MANUAL" does not come with the product. For details, contact your nearest Oriental Motor sales office
or download from Oriental Motor website download page.
After reading the above manuals, keep them in a convenient place so that you can reference them at any time.
Applicable product Type of operating manual Description of operating manual
AR Series
DC power input
Pulse input type
Motor OPERATING MANUAL
(Supplied with motor) This manual explains the functions as well as the installation method and others for the motor.
Driver OPERATING MANUAL
(Supplied with driver) This manual explains the functions as well as the installation method and others for the driver.
USER MANUALThis manual explains the function, installation and
connection of the motor and driver as well as operating
method.
Data setter OPX-2A OPERATING MANUAL This manual explains how to set data using the
accessory OPX-2A (sold separately).
Data setting software
MEXE02 OPERATING MANUAL This manual explains how to set data using the
accessory MEXE02.
With regard to the information required to be certified under the UL Standard, refer to the "APPENDIX UL Standards
for AR Series DC power input type" (the paper is supplied with the product).
CE Marking
•Low Voltage Directives
Because the input power supply voltage of this product is 24 VDC/48 VDC, it is not subject to the Low Voltage
Directive but install and connect this product as follows.
•This product is designed and manufactured to be installed within another device. Install the product in an enclosure.
•For the driver power supply, use a DC power supply with reinforced insulation on its primary and secondary sides.
•EMC Directive
This product has received EMC compliance under the conditions specified in "Example of motor and driver
installation and wiring" on page.20.
Since the compliance of the final machinery with the EMC Directive will depend on such factors as the configuration,
wiring, layout and risk involved in the control-system equipment and electrical parts, it therefore must be verified
through EMC measures by the customer of the machinery.
Applicable standards
EMI EN 61000-6-4, EN 61800-3
EN 55011 group 1 class A
EMS EN 61000-6-2, EN 61800-3
Hazardous substances
The products do not contain the substances exceeding the restriction values of RoHS Directive (2011/65/EU).

Precautions for use
−9−
5 Precautions for use
This section covers limitations and requirements the user should consider when using the product.
•Always use the cable (supplied or accessory) to connect the motor and driver.
Be sure to use the cable (supplied or accessory) to connect the motor and driver.
In the following condition, an appropriate accessory cable must be purchased separately. Refer to page 59 for details.
•If a flexible cable is to be used.
•If a cable of 3 m (9.8 ft.) or longer is to be used.
•If a motor and driver package without a cable was purchased.
•Perform the insulation resistance test or dielectric strength test separately on the motor and the
driver.
Performing the insulation resistance test or dielectric strength test with the motor and driver connected may result in
damage to the product.
•Do not apply a radial load and axial load in excess of the specified 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 specified permissible limit of radial load and axial load. See page 17 for details.
•Use the motor in conditions where its surface temperature will not exceed 100 °C (212 °F).
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 type 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.
If the motor is to be operated continuously, install the motor in a location where heat dissipation capacity equivalent
to a level achieved with a heat sink [made of aluminum, 250×250×6 mm (9.84×9.84×0.24 in.)] is ensured.
•Double shaft type motor
Do not apply load torque, radial load or axial load to the output shaft on the opposite side of the motor output shaft.
•Holding torque at standstill
The motor holding torque is reduced by the current cutback function of the driver at motor standstill. When selecting
a motor for your application, consider the fact that the holding torque will be reduced at motor standstill.
•Do 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 significantly and the braking force will drop. Since the power off activated type
electromagnetic brake is equipped, it helps maintain the position of the load when the power is cut off, but 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.
•Preventing electrical noise
See "7.6 Installing and wiring in compliance with EMC Directive" on page.19 for measures with regard to noise.
•Saving data to the non-volatile memory
Do not turn off the main 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.
The non-volatile memory can be rewritten approximately 100,000 times.
•Motor excitation at power ON
Simply turning on the power will not excite the motor. To excite the motor, always turn the C-ON input ON.
It is possible to set the motor to be excited automatically after the power has been turned on, by changing the
applicable driver parameter using the data setter OPX-2A or data setting software MEXE02.
•Overvoltage alarm by regeneration energy
The overvoltage alarm will generate depending on the operating condition. When an alarm is generated, review the
operating conditions.

Precautions for use
−10−
•Note on connecting a power supply whose positive terminal is grounded
The main power supply connector (CN1), data edit connector (CN4) and I/O signal connector (CN5) of the driver are
not electrically insulated. When grounding the positive terminal of the power supply, do not connect any equipment
(PC, etc.) whose negative terminal is grounded. Doing so may cause the driver and these equipment to short,
damaging both. Use the accessory OPX-2A to set data, etc.
•Do not perform push-motion operation with geared motors.
Doing so may result in damage to the motor or gear part.
•Peak torque of geared type motor
Always operate the geared type motor under a load not exceeding the peak torque. If the load exceeds the peak torque,
the gear will be damaged.
•Grease of geared type motor
On rare occasions, a small amount of grease may ooze out from the geared type 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.
•Rotation direction of the gear output shaft
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.
Type of gear Gear ratio Rotation direction
(relative to the motor rotation direction)
TH geared 3.6, 7.2, 10 Same direction
20, 30 Opposite direction
PS geared
PN geared All gear ratios Same direction
Harmonic geared All gear ratios Opposite direction

Preparation
−11−
6 Preparation
This chapter explains the items you should check, as well as the name and function of each part.
6.1 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.
Model names for motor and driver combinations are shown on page 12.
•Motor .................................................1 unit
•Driver ................................................1 unit
•CN1 connector (3 pins) .....................1 pc.
•CN5 connector (36 pins) ...................1 pc.
•Motor OPERATING MANUAL .......1 copy
•Driver OPERATING MANUAL .......1 copy
•Cable for motor .................................1 pc.
•Cable for electromagnetic brake .......1 pc. (Supplied with electromagnetic brake motors)
•Parallel key ........................................1 pc. (Supplied with geared types; except for the AR24, AR46TH and
AR66TH).
•Surge suppressor ...............................1 pc. (Supplied with electromagnetic brake motors)
6.2 How to identify the product model
AR 2 4 S A K - H 50 - 3
S: IP20 type ∗1
Series name
Motor size 1: 20 mm (0.79 in.)
2: 28 mm (1.10 in.) [30 mm (1.18 in) for Harmonic geared types]
4: 42 mm (1.65 in.)
6: 60 mm (2.36 in.)
9: 85 mm (3.35 in.) [90 mm (3.54 in) for geared types]
Motor length
Motor type A: Single shaft
B: Double shaft
M: Electromagnetic brake type
Power supply voltage K: 24/48 VDC
Number: Length of supplied connection cable (m)
None: Without connection cable
Gear ratio ∗2
T: TH geared type
PS: PS geared type
N: PN geared type
H: Harmonic geared type
Blank: Standard type
*1 For IP20 type
*2 The model name is "7" for the gear ratio "7.2 : 1" of the PS geared type.

Preparation
−12−
6.3 Combinations of motors and drivers
•
• in the model names indicates a number representing the gear ratio.
•When a connection cable is included,  in the model names indicates a number (-1, -2, -3) representing the cable
length.
Standard type
Model Motor model Driver model Model Motor model Driver model
AR14SAKARM14SAK
ARD-K
AR66SAKARM66SAK
ARD-K
AR14SBKARM14SBK AR66SBKARM66SBK
AR15SAKARM15SAK AR66SMKARM66SMK
AR15SBKARM15SBK AR66AKARM66AK
AR24SAKARM24SAK AR66BKARM66BK
AR24SBKARM24SBK AR66MKARM66MK
AR24SMKARM24SMK AR69SAKARM69SAK
AR26SAKARM26SAK AR69SBKARM69SBK
AR26SBKARM26SBK AR69SMKARM69SMK
AR26SMKARM26SMK AR69AKARM69AK
AR46SAKARM46SAK AR69BKARM69BK
AR46SBKARM46SBK AR69MKARM69MK
AR46SMKARM46SMK AR98SAKARM98SAK
AR46AKARM46AK AR98SBKARM98SBK
AR46BKARM46BK AR98SMKARM98SMK
AR46MKARM46MK AR98AKARM98AK
AR98BKARM98BK
AR98MKARM98MK
TH geared type
PN geared type
Model Motor model Driver model Model Motor model Driver model
AR24SAK-TARM24SAK-T
ARD-K
AR24SAK-NARM24SAK-N
ARD-K
AR24SMK-TARM24SMK-TAR46SAK-NARM46SAK-N
AR46SAK-TARM46SAK-TAR46SMK-NARM46SMK-N
AR46SMK-TARM46SMK-TAR46AK-NARM46AK-N
AR46AK-TARM46AK-TAR46MK-NARM46MK-N
AR46MK-TARM46MK-TAR66SAK-NARM66SAK-N
AR66SAK-TARM66SAK-TAR66SMK-NARM66SMK-N
AR66SMK-TARM66SMK-TAR66AK-NARM66AK-N
AR66AK-TARM66AK-TAR66MK-NARM66MK-N
AR66MK-TARM66MK-TAR98SAK-NARM98SAK-N
AR98SAK-TARM98SAK-TAR98SMK-NARM98SMK-N
AR98SMK-TARM98SMK-TAR98AK-NARM98AK-N
AR98AK-TARM98AK-TAR98MK-NARM98MK-N
AR98MK-TARM98MK-T

Preparation
−13−
PS geared type
Harmonic geared type
Model Motor model Driver model Model Motor model Driver model
AR24SAK-PSARM24SAK-PS
ARD-K
AR24SAK-HARM24SAK-H
ARD-K
AR46SAK-PSARM46SAK-PSAR24SMK-HARM24SMK-H
AR46SMK-PSARM46SMK-PSAR46SAK-HARM46SAK-H
AR46AK-PSARM46AK-PSAR46SMK-HARM46SMK-H
AR46MK-PSARM46MK-PSAR46AK-HARM46AK-H
AR66SAK-PSARM66SAK-PSAR46MK-HARM46MK-H
AR66SMK-PSARM66SMK-PSAR66SAK-HARM66SAK-H
AR66AK-PSARM66AK-PSAR66SMK-HARM66SMK-H
AR66MK-PSARM66MK-PSAR66AK-HARM66AK-H
AR98SAK-PSARM98SAK-PSAR66MK-HARM66MK-H
AR98SMK-PSARM98SMK-PSAR98SAK-HARM98SAK-H
AR98AK-PSARM98AK-PSAR98SMK-HARM98SMK-H
AR98MK-PSARM98MK-PSAR98AK-HARM98AK-H
AR98MK-HARM98MK-H
6.4 Input/output power ratings
Frame size
[mm (in.)] Model Motor model Driver model Input Output current
Voltage Current
20 (0.79) AR14 ARM14
ARD-K
24 VDC
0.4 A 0.43 A
AR15 ARM15 0.5 A 0.52 A
28 (1.10)
30 (1.18) AR24 ARM24 0.9 A 0.88 A
AR26 ARM26
42 (1.65) AR46 ARM46
24 VDC
48 VDC
1.4 A 1.48 A
60 (2.36) AR66 ARM66 3.1 A
2.55 A
AR69 ARM69 3.0 A
85 (3.35)
90 (3.54) AR98 ARM98 2.5 A
6.5 Names and functions of parts
Motor (Example: ARM66SMK)
Output shaft
Pilot Motor cable
Motor
Electromagnetic brake cable
Electromagnetic brake
Protective Earth Terminal (M4)
Mounting holes (4 locations)

Preparation
−14−
Driver
Control mode select switch
(SW1-No.2)
Resolution switches (SW1-No.3/No.4)
Pulse input mode select switch
(SW1-No.1)
POWER LED
ALARM LED
Frame Ground Terminal (CN1)
DIN lever
Motor connector (CN2)
I/O signals connector (CN5)
Main power supply
input terminals (CN1)
Current setting switch
Speed filter setting switch
Data edit connector (CN4)
Name Description Ref.
POWER LED (Green) This LED is lit while the main power is input. −
ALARM LED (Red) This LED will blink when an alarm generates. It is possible to check the generated
alarm by counting the number of times the LED blinks. p.53
Main power supply input
terminals (CN1) Connect the main power supply. p.29
Frame Ground Terminal (CN1) Ground using a wire of AWG24 to 16 (0.2 to 1.25 mm2).
Motor connector (CN2) Connect the motor. p.21
Data edit connector (CN4) Connect a PC in which the MEXE02 has been installed, or OPX-2A. p.30
I/O signals connector (CN5) Connect the I/O signals of the controller. p.23
Current setting switch
(CURRENT)
This switch adjusts the operating current. It is used to limit the torque and
temperature rise. A desired current can be set as a percentage (%) of the rated
output current.
Factory setting: F
p.41
p.50
Speed filter setting switch (V-FIL)
This switch adjusts the motor response. Use this switch if you want to suppress
motor vibration or cause the motor to start/stop smoothly. “0” and “F” correspond
to the minimum and maximum speed filter settings, respectively.
Factory setting: 1
p.41
p.51
Pulse input mode select switch
(SW1-No.1)
This switch is used to toggle between the 1-pulse input mode and 2-pulse input
mode according to the pulse output mode of the controller.
ON: 1-pulse input mode, low active
OFF: 2-pulse input mode, low active
The factory setting of the pulse-input mode depends on the destination country.
p.40
p.44
Control mode select switch
(SW1-No.2)
This switch toggles the driver between the normal mode and current control
mode.
OFF: Normal mode (Keep the switch in this position in normal conditions of use.)
ON: Current control mode (Set the switch to this position if you want to suppress
noise or vibration.)
Factory setting: OFF (Normal mode).
p.50
Resolution switches
(SW1-No.3/No.4)
These two switches are used to set the resolution per revolution of the motor
output shaft.
Factory setting: OFF for No.3 and No.4 (1000 P/R).
p.40
p.43
DIN lever Install the driver to a DIN rail p.18

Installation
−15−
7 Installation
This chapter explains the installation location and installation methods of the motor and driver.
The installation and wiring methods in compliance with the EMC Directive are also explained.
7.1 Location for installation
The motor and driver has been designed and manufactured to be installed within another device. Install them in a
well-ventilated location that provides easy access for inspection.
The location must also satisfy the following conditions:
•Inside an enclosure that is installed indoors (provide vent holes)
•Operating ambient temperature Motor: −10 to +50 °C (non-freezing)
Harmonic geared type: 0 to +40 °C (non-freezing)
Driver: 0 to +50 °C (non-freezing)
•Operating ambient humidity 85% or less (non-condensing)
•Area that is free of explosive atmosphere or toxic gas (such as sulfuric gas) or liquid
•Area not exposed to direct sun
•Area free of excessive amount of dust, iron particles or the like
•Area not subject to splashing water (rain, water droplets), oil (oil droplets) or other liquids
•Area free of excessive salt
•Area not subject to continuous vibration or excessive shocks
•Area free of excessive electromagnetic noise (from welders, power machinery, etc.)
•Area free of radioactive materials, magnetic fields or vacuum
•1000 m (3300 ft.) or lower above sea level
7.2 Installing the motor
The motor can be installed in any direction.
To allow for heat dissipation and prevent vibration, install the motor on a metal surface of sufficient strength.
Installation method A
Metal plate
Through hole
for pilot
Installation method B
Metal plate
Through hole
for pilot
Type Frame size
[mm (in.)] Nominal size Tightening torque [N·m (oz-in)] Effective depth of bolt [mm (in.)] Installation method
Standard
20 (0.79) M2 0.25 (35) 2.5 (0.098) A28 (1.10) M2.5 0.5 (71) 2.5 (0.098)
42 (1.65) M3 1 (142) 4.5 (0.177)
60 (2.36) M4 2 (280) −B
85 (3.35) M6 3 (420) −
TH geared
28 (1.10) M2.5 0.5 (71) 4 (0.157)
A
42 (1.65)
60 (2.36) M4 2 (280) 8 (0.315)
90 (3.54) M8 4 (560) 15 (0.591)
PN geared
PS geared
Harmonic geared ∗1
28 (1.10)
30 (1.18) M3 1 (142) 6 (0.236)
42 (1.65) M4 2 (280) 8 (0.315)
60 (2.36) M5 2.5 (350) 10 (0.394)
90 (3.54) M8 4 (560) 15 (0.591)
Harmonic geared ∗290 (3.54) M8 4 (560) −B
*1 AR24, AR46 and AR66 type only.
*2 AR98 type only.

Installation
−16−
7.3 Installing a load
When connecting a load to the motor, align the centers of the motor output shaft and load shaft.
Flexible couplings are available as accessories.
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 bearings when installing a coupling or pulley to the
motor output shaft.
•Do not modify or machine the motor output shaft. Doing so may damage the bearings and
destroy the motor.
•Do not apply strong force using hammer or other tools when removing the parallel key. Doing so
may damage the motor output shaft and bearings (ball bearings).
Using a coupling
Align the centers of the motor output shaft and load shaft in a straight line.
Using a belt drive
Align the motor output shaft and load shaft in 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 output shaft and gear shaft in parallel with each other, and let the gears mesh at the center of the tooth
widths.
• Using a coupling • Using a belt drive • Using a gear drive
Using a parallel key (geared motor)
When connecting the load and gear output shaft with a key slot, secure the load using the key supplied with the gear
output shaft after machining the key slot on the load.
Installing on the ange surface (Harmonic geared type)
With a Harmonic geared type (excluding AR98), a load can be installed directly to the gear using the load mounting
holes provided on the flange surface.
Metal plate
Flange Bolts
Load Load mounting holes
Model Bolt size Number of
bolts Tightening torque [N·m (oz-in)] Effective depth of bolt [mm (in.)]
AR24 M3 4 1.4 (198) 4 (0.157)
AR46 M3 6 1.4 (198) 5 (0.197)
AR66 M4 6 2.5 (350) 6 (0.236)
Note
•When installing a load on the flange surface, the load cannot be mounted using the key slot in
the output shaft.
•Design an appropriate installation layout so that the load will not contact the metal plate or bolts
used for installing the motor.

Installation
−17−
7.4 Permissible radial load and permissible axial load
Note
•If the radial load or axial load exceeds the specified allowable value, repeated load applications
may cause the bearing (ball bearings) or output shaft of the motor to undergo a fatigue failure.
•With a double shaft type, do not apply load torque, radial load or axial load to the output shaft on
the opposite side of the motor output shaft.
Type Model Gear ratio Permissible radial load [N (lb.)] Permissible axial
load [N (lb.)]
Distance from the tip of motor output shaft [mm (in.)]
0 (0) 5 (0.2) 10 (0.39) 15 (0.59) 20 (0.79)
Standard
AR14
−
12 (2.7) 15 (3.3) −−−0.7 (0.157)
AR15 0.9 (0.2)
AR24 25 (5.6) 34 (7.6) 52 (11.7) − −
1.5 (0.33)
<2.1 (0.47)> ∗
AR26 2.2 (0.49)
<2.7 (0.6)> ∗
AR46 35 (7.8) 44 (9.9) 58 (13) 85 (19.1) −4.6 (1.03)
<6.1 (1.37)> ∗
AR66 90 (20) 100 (22) 130 (29) 180 (40) 270 (60)
8.8 (1.98)
<11.8 (2.6)> ∗
AR69 13.7 (3)
<16.7 (3.7)> ∗
AR98 260 (58) 290 (65) 340 (76) 390 (87) 480 (108) 18 (4)
<24 (5.4)> ∗
TH geared
AR24
−
15 (3.3) 17 (3.8) 20 (4.5) 23 (5.1) −10 (2.2)
AR46 10 (2.2) 14 (3.1) 20 (4.5) 30 (6.7) −15 (3.3)
AR66 70 (15.7) 80 (18) 100 (22) 120 (27) 150 (33) 40 (9)
AR98 220 (49) 250 (56) 300 (67) 350 (78) 400 (90) 100 (22)
PS geared
AR24 −45 (10.1) 60 (13.5) 80 (18) 100 (22) −20 (4.5)
AR46
5
7.2
10 73 (16.4) 84 (18.9) 100 (22) 123 (27) −
50 (11.2)
25
36
50 109 (24) 127 (28) 150 (33) 184 (41) −
AR66
5 200 (45) 220 (49) 250 (56) 280 (63) 320 (72)
100 (22)
7.2
10 250 (56) 270 (60) 300 (67) 340 (76) 390 (87)
25
36
50 330 (74) 360 (81) 400 (90) 450 (101) 520 (117)
AR98
5
7.2
10 480 (108) 540 (121) 600 (135) 680 (153) 790 (177)
300 (67)
25 850 (191) 940 (210) 1050 (230) 1190 (260) 1380 (310)
36 930 (200) 1030 (230) 1150 (250) 1310 (290) 1520 (340)
50 1050 (230) 1160 (260) 1300 (290) 1480 (330) 1710 (380)
PN geared
AR24 −45 (10.1) 60 (13.5) 80 (18) 100 (22) −20 (4.5)
AR46 −100 (22) 120 (27) 150 (33) 190 (42) −
100 (22)
AR66
5 200 (45) 220 (49) 250 (56) 280 (63) 320 (72)
7.2
10 250 (56) 270 (60) 300 (67) 340 (76) 390 (87)
25
36
50 330 (74) 360 (81) 400 (90) 450 (101) 520 (117)
AR98
5 480 (108) 520 (117) 550 (123) 580 (130) 620 (139)
300 (67)
7.2
10 480 (108) 540 (121) 600 (135) 680 (153) 790 (177)
25 850 (191) 940 (210) 1050 (230) 1110 (240) 1190 (260)
36 930 (200) 1030 (230) 1150 (250) 1220 (270) 1300 (290)
50 1050 (230) 1160 (260) 1300 (290) 1380 (310) 1490 (330)
* The brackets < > indicate the value for the electromagnetic brake type.

Installation
−18−
Type Model Gear ratio Permissible radial load [N (lb.)] Permissible axial
load [N (lb.)]
Distance from the tip of motor output shaft [mm (in.)]
0 (0) 5 (0.2) 10 (0.39) 15 (0.59) 20 (0.79)
Harmonic geared
AR24
−
100 (22) 135 (30) 175 (39) 250 (56) −140 (31)
AR46 180 (40) 220 (49) 270 (60) 360 (81) 510 (114) 220 (49)
AR66 320 (72) 370 (83) 440 (99) 550 (123) 720 (162) 450 (101)
AR98 1090 (240) 1150 (250) 1230 (270) 1310 (290) 1410 (310) 1300 (290)
Permissible moment load of the Harmonic geared type
When installing an arm or table on the flange surface, calculate the moment load using the formula below if the flange
surface receives any eccentric load. The moment load should not exceed the permissible value specified in the table.
Moment load: M [N·m (oz-in)] = F × L
L
F
Model Permissible moment load
[N·m (oz-in)]
AR24 2.9 (410)
AR46 5.6 (790)
AR66 11.6 (1640)
7.5 Installing the driver
Mount the driver to a 35 mm (1.38 in.) width DIN rail.
When two or more drivers are to be installed side by side, provide 10 mm
(0.39 in.) and 50 mm (1.97 in.) clearances in the horizontal and vertical
directions, respectively.
10 mm (0.39 in.)
or more
90 mm (3.54 in.) 25 mm (0.98 in.)
or more
35 mm
(1.38 in.)
Note
•Install the driver in an enclosure whose pollution degree is 2
or better environment, or whose degree of protection is IP54
minimum.
•Do not install any equipment that generates a large amount
of heat or noise near the driver.
•Do not install the driver underneath the controller or other
equipment vulnerable to heat.
•Check ventilation if the ambient temperature of the driver
exceeds 50 °C (122 °F).
•Be sure to install the driver vertically (vertical position).
1. Pull down the DIN lever of the driver and lock it. Hang the hook at the rear to the DIN rail.
2. Hold the driver to the DIN rail, and push up the DIN lever to secure.
3. Secure both sides of the driver using end plates.
Hook
DIN rail
DIN lever
End plate
DIN lever
DIN rail

Installation
−19−
Removing from DIN rail
Pull the DIN lever down until it locks using a flat tip screwdriver, and lift the bottom
of the driver to remove it from the rail. Use force of about 10 to 20 N (2.2 to 4.5 lb.)
to pull the DIN lever to lock it. Excessive force may damage the DIN lever.
7.6 Installing and wiring in compliance with EMC Directive
Effective measures must be taken against the EMI that the motor and driver may give to adjacent control-system
equipment, as well as the EMS of the motor and driver itself, in order to prevent a serious functional impediment
in the machinery. The use of the following installation and wiring methods will enable the motor and driver to be
compliant with the EMC directive. Refer to "CE Marking" on page.8 for the applicable standards.
Connecting noise lter for power supply line
•Connect a noise filter in the DC power supply input to prevent the noise generated in the driver from propagating
externally through the power supply line.
•When using a power supply transformer, be sure to connect a noise filter to the AC input side of the power supply
transformer.
Manufacturer Model
SOSHIN ELECTRIC CO.,LTD HF2010A-UPF
Schaffner EMC FN2070-10-06
•Install the noise filter as close to the AC input terminal of DC power supply as possible. Use cable clamps and other
means to secure the AC input cables (AWG18: 0.75 mm2 or more) and output cables (AWG18: 0.75 mm2 or more)
firmly to the surface of the enclosure.
•Connect the ground terminal of the noise filter to the grounding point, using as thick and short a wire as possible.
•Do not place the AC input cable parallel with the noise filter output cable. Parallel placement will reduce noise
filter effectiveness if the enclosure's internal noise is directly coupled to the power supply cable by means of stray
capacitance.
Connecting the main power supply
Use a DC power supply compliant with the EMC Directive.
Use a shielded cable for wiring and wire/ground the power supply over the shortest possible distance.
Refer to "Wiring the power supply cable and signal cable" below for how to ground the shielded cable.
How to ground
The cable used to ground the driver and noise filter must be as thick and short as possible so that no potential
difference is generated. Choose a large, thick and uniformly conductive surface for the grounding point.
•How to ground the driver
See page 29 for grounding the driver.
•How to ground the motor
When grounding the motor, use a protective earth.
For the grounding method, refer to the AR Series Motor OPERATING MANUAL.
Wiring the power supply cable and signal cable
Use a shielded cable of AWG28 (0.08 mm2) or more for the power supply cable, and keep it as short as possible.
An accessory driver cable is available (sold separately). Refer to page 61.
To ground a shielded cable, use a metal cable clamp or similar
device that will maintain contact with the entire circumference of
the cable. Attach a cable clamp as close to the end of the cable as
possible, and connect it as shown in the figure. Cable clamp
Shielded cable

Installation
−20−
Notes about installation and wiring
•Connect the motor, driver and other peripheral control equipment directly to the grounding point so as to prevent a
potential difference from developing between grounds.
•When relays or electromagnetic switches are used together with the system, use noise filters and CR circuits to
suppress surges generated by them.
•Keep cables as short as possible without coiling and bundling extra lengths.
•Place the power cables such as the motor and power supply cables as far apart [100 to 200 mm (3.94 to 7.87 in.)]
as possible from the signal cables. If the power cables and signal cables have to cross, cross them at a right angle.
Place the AC input cable and output cable of a noise filter separately from each other.
•When extending the distance between the motor and driver, it is recommended that an accessory motor cable or
flexible motor cable (sold separately) should be used. The EMC measures are conducted using the Oriental Motor
extension cable.
Example of motor and driver installation and wiring
OPX-2A
PE
AC
PE
FG
FG
FG
PE
AA
PE
Motor
Controller
A: Cable clamp
Driver
Shielded
cable
Shielded
cable
Motor cable
(Shielded cable)
Driver cable
Grounded panel
Noise
filter DC power supply
Precautions about static electricity
Static electricity may cause the driver to malfunction or suffer damage. While the driver is receiving power, handle
the driver with care and do not come near or touch the driver.
Always use an insulated screwdriver to adjust the driver's switches.
Note The driver uses parts that are sensitive to electrostatic charge. Before touching the driver, turn off
the power to prevent electrostatic charge from generating. If an electrostatic charge is impressed
on the driver, the driver may be damaged.