Oriental motor AR Series FLEX DC User manual

HM-60190-7
Closed Loop Stepping Motor and Driver Package
AR Series
DC power input Built-in Controller 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−
1 Introduction
1 Introduction ................................................... 8
2 Operating Manuals for the AR Series .......... 9
3 Overview of the product ............................. 10
4 System conguration .................................. 12
5 Safety precautions ...................................... 13
6 Precautions for use ..................................... 16
7 General specications ................................ 18
8 CE Marking ................................................... 19
9 Preparation .................................................. 20
9.1 Checkingtheproduct................................... 20
9.2 Howtoidentifytheproductmodel............... 20
9.3 Combinationsofmotorsanddrivers............ 21
9.4 Namesandfunctionsofparts...................... 22
2 Installationand
connection
1 Installation ................................................... 26
1.1 Locationforinstallation................................ 26
1.2 Installingthemotor...................................... 26
1.3 Installingaload............................................ 27
1.4 Permissibleradialloadand
permissibleaxialload.................................. 28
1.5 Installingthedriver...................................... 29
1.6 Installingthebattery.................................... 30
1.7 Installingandwiringincompliancewith
EMCDirective.............................................. 30
2 Connection ................................................... 32
2.1 Connectionexample
(electromagneticbrakemotor)..................... 32
2.2 Groundingthemotoranddriver................... 36
2.3 Connectingthedatasetter.......................... 36
2.4 ConnectingtheRS-485communication
cable............................................................ 37
2.5 Connectingandchargingthebattery........... 38
3 Explanation of I/O signals .......................... 39
3.1 AssignmentofdirectI/O.............................. 39

Assignmenttotheinputterminals.....................39

Changingthelogiclevelsettingofinput
signals...............................................................40

Assignmenttotheoutputterminals...................41
3.2 AssignmentofnetworkI/O.......................... 43

Assignmentofinputsignals...............................43

Assignmenttotheoutputterminals...................45
3.3 Inputsignals................................................ 47
3.4 Outputsignals.............................................. 52
3.5 Sensorinput................................................ 56
3.6 Generalsignals(R0toR15)........................ 57
3 Operationtypeandsetting
1 Adjustment and setting .............................. 60
1.1 Resolution.................................................... 60
1.2 Operatingcurrent......................................... 61
1.3 Standstillcurrent.......................................... 61
1.4 Acceleration/decelerationrateand
acceleration/decelerationtime..................... 61
1.5 Smoothdrive............................................... 62
1.6 Speedlter.................................................. 62
1.7 Movingaveragelter................................... 63
1.8 Speederrorgain.......................................... 63
1.9 Controlmode............................................... 63
1.10 Positionloopgain,speedloopgain,
speedloopintegraltimeconstant................ 64
1.11 Absolute-positionbackupsystem................ 64
2 Operation ..................................................... 65
2.1 Positioningoperation................................... 66

Operationdata...................................................66

Startingmethodofpositioningoperation...........67

Operationfunction;Single-motion.....................71

Operationfunction;Linked-motionoperation.....72

Operationfunction;Linked-motionoperation2...73

Operationfunction;Push-motionoperation.......75
2.2 Return-to-homeoperation........................... 79

Additionalfunction.............................................79

Parametersrelatedtoreturn-to-home
operation............................................................80

Operationsequence..........................................81

Positionpreset...................................................86
2.3 Continuousoperation.................................. 86

Operationdata...................................................86

Startingmethodofcontinuousoperation...........87

Variablespeedoperation...................................89
2.4 Otheroperation............................................ 91

JOGoperation...................................................91

Testoperation....................................................92

Automaticreturnoperation................................92

Stopoperation...................................................93

Positioncoordinatemanagement......................93

Wrapfunction....................................................94
3 Operation data ............................................. 96
4 Parameter ..................................................... 97
4.1 Parameterlist.............................................. 97
4.2 I/Oparameter.............................................. 98
4.3 Motorparameter.......................................... 99
4.4 Operationparameter................................. 100
4.5 Return-to-homeparameter........................ 100
4.6 Alarm/warningparameter.......................... 101
4.7 Coordinationparameter............................. 101
4.8 Commonparameter................................... 101
4.9 I/Ofunctionparameter............................... 102
4.10 I/Ofunction[RS-485]parameter............... 103
4.11 Communicationparameter........................ 104

−3−
4 MethodofcontrolviaI/O
1 Guidance .................................................... 106
2 Operation data ........................................... 108
3 Parameter ................................................... 109
3.1 Parameterlist............................................ 109
3.2 I/Oparameter............................................ 110
3.3 Motorparameter........................................ 110
3.4 Operationparameter..................................111
3.5 Return-to-homeparameter.........................111
3.6 Alarm/warningparameter.......................... 112
3.7 Coordinationparameter............................. 112
3.8 Commonparameter................................... 112
3.9 Communicationparameter........................ 112
3.10 I/Ofunctionparameter............................... 113
3.11 I/Ofunction[RS-485]parameter................ 114
4 Timing charts ............................................. 115
5 Methodofcontrolvia
ModbusRTU(RS-485
communication)
1 Guidance .................................................... 128
2 Communication specications ................ 130
3 Setting the switches .................................. 131
4 Setting the RS-485 communication ......... 133
5 Communication mode and
communication timing .............................. 134
5.1 Communicationmode................................ 134
5.2 Communicationtiming............................... 134
6 Message ..................................................... 135
6.1 Query......................................................... 135
6.2 Response.................................................. 137
7 Function code ............................................ 139
7.1 Readingfromaholdingregister(s)............ 139
7.2 Writingtoaholdingregister....................... 140
7.3 Diagnosis................................................... 141
7.4 Writingtomultipleholdingregisters........... 142
8 Register address list ................................. 143
8.1 Operationcommands................................ 143
8.2 Maintenancecommands........................... 144
8.3 Monitorcommands.................................... 145
8.4 ParameterR/Wcommands....................... 148

Operationdata.................................................148

Userparameters..............................................149
9 Group send ................................................ 158
10 Detection of communication errors ........ 160
10.1 Communicationerrors.............................. 160
10.2 Alarmsandwarnings................................ 160
11 Timing charts ............................................ 161
6 Methodofcontrolvia
industrialnetwork
1 Method of control via CC-Link
communication .......................................... 164
1.1 Guidance................................................... 164
1.2 Settingtheswitches................................... 167
1.3 Remoteregisterlist.................................... 168
1.4 AssignmentforremoteI/Oof6axes
connectionmode....................................... 168

AssignmentlistofremoteI/O..........................168

Input/outputofremoteI/O................................169

DetailsofremoteI/Oassignment....................170
1.5 AssignmentforremoteI/Oof12axes
connectionmode....................................... 171

AssignmentlistofremoteI/O..........................171

Input/outputofremoteI/O................................172

DetailsofremoteI/Oassignment....................174
2 Method of control via MECHATROLINK
communication .......................................... 176
2.1 Guidance................................................... 176
2.2 Settingtheswitches................................... 179
2.3 I/OeldmapfortheNETC01-M2............. 180
2.4 I/OeldmapfortheNETC01-M3............. 181
2.5 Communicationformat.............................. 182

RemoteI/Oinput.............................................182

RemoteI/Ooutput...........................................182

Remoteregisterinput......................................182

Remoteregisteroutput....................................183
3 Details of remote I/O ................................. 184
3.1 Inputsignalstothedriver.......................... 184
3.2 Outputsignalsfromthedriver................... 185
4 Command code list ................................... 186
4.1 Groupfunction........................................... 186
4.2 Maintenancecommand............................. 187
4.3 Monitorcommand...................................... 188
4.4 Operationdata........................................... 189
4.5 Userparameters........................................ 190

I/Oparameter..................................................190

Motorparameter..............................................191

Operationparameter.......................................191

Return-to-homeparameter..............................192

Alarm/warningparameter................................192

Coordinationparameter...................................192

Commonparameter.........................................193

I/Ofunctionparameter.....................................193

I/Ofunction[RS-485]parameter......................194

Communicationparameter..............................195

−4−
7 Inspection,
troubleshootingand
remedialactions
1 Inspection .................................................. 198
2 Alarms and warnings ................................ 199
2.1 Alarms....................................................... 199

Alarmreset......................................................199

Alarmrecords..................................................199

Alarmlist..........................................................200
2.2 Warnings................................................... 204

Warningrecords..............................................204

Warninglist......................................................204
2.3 Communicationerrors............................... 205

Communicationerrorrecords..........................205

Communicationerrorlist..................................205
3 Troubleshooting and remedial actions ... 206
8 Appendix
1 Accessories (sold separately) .................. 208

Motorcable......................................................208

Datasetter.......................................................210

Communicationcableforthedatasetting
software...........................................................210

RS-485communicationcable..........................210

Batteryset.......................................................210

−5−
Specication Change of Driver
Some specifications have been changed in this product. There are differences in data setting range, etc. between the
product after the change and before the change. For the driver before the specification change, contact your nearest
Oriental Motor sales office.
This manual describes contents of the driver which is after the specification change.
When using the driver which is before the specification change, take note of the following points.
1.Somesettingitemshavebeenchanged
Push current
Before the specification change After the specification change
0 to 500 (1=0.1%) 0 to 1000 (1=0.1%)
NET-IN input function
The following input signals can be assigned in the product after the specification change.
•24: ALM-RST
•25: P-PRESET
•26: P-CLR
Pay attention to the data update
•When the data is set using the MEXE02, use the MEXE02 which software version is 3.00 or later
If the MEXE02 is older version than 3.00, the value after the specification change can not be set.
•When the following data passing is performed, the most recent value will not be effective
1) When the MEXE02 data which has set the value after the specification change is opened
using the older MEXE02 than the Version 3.00
If the data is opened by the older MEXE02 than the Version 3.00, the data will be changed to the initial value.
Saves the data Opens the data
Data file
Initial value
MEXE02 Version 3.00 or later MEXE02 older than Version 3.00
Latest value Latest value
2) When the OPX-2A data which has set the value after the specification change is downloaded
to the driver that is before the specification change
The value which is after the specification change will not be updated to the driver which is before the specification
change, and the value presently set is kept.
Uploads the data Downloads the data
OPX-2A
Value before the change
Driver after the specification change Driver before the specification change
Latest valueLatest value

−6−
2.Theupperlimitofthealarmoutputhasbeenchanged
The maximum speed for push-motion operation has been changed. If push-motion operation is started after setting
higher speed than 30 r/min in the driver which is before the specification change, an operation data error alarm will
generate.
•Maximum speed for push-motion operation
Before the specification change After the specification change
30 r/min 500 r/min

1 Introduction
This part explains the composition of the operating manuals, the product overview, specifications and safety
standards as well as the name and function of each part and others.
Table of contents
1 Introduction ........................................ 8
2 Operating Manuals for the
AR Series ............................................. 9
3 Overview of the product .................. 10
4 System conguration ....................... 12
5 Safety precautions ........................... 13
6 Precautions for use .......................... 16
7 General specications ..................... 18
8 CE Marking ........................................ 19
9 Preparation ....................................... 20
9.1 Checking the product ............................20
9.2 How to identify the product model .........20
9.3 Combinations of motors and drivers .....21
9.4 Names and functions of parts ...............22

Introduction
−8−1Introduction
1 Introduction
Before use
Only qualified personnel should work with the product.
Use the product correctly after thoroughly reading the section "5 Safety precautions" on p.13.
The product described in this manual has been designed and manufactured for use in general industrial equipment.
Do not use for any other purpose. Oriental Motor Co., Ltd. is not responsible for any damage caused through failure
to observe this warning.
Hazardous substances
The products do not contain the substances exceeding the restriction values of RoHS Directive (2011/65/EU).
Notation rules
The following term is used in explanation of this manual.
Term Description
Master controller This is a generic name for a programmable controller, master module,
pulse generator and so on.

Operating Manuals for the AR Series
−9−
1Introduction
2 Operating Manuals for the AR Series
Operating manuals for the AR Series FLEX DC power input built-in controller type 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 these 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 FLEX
DC power input
Built-in controller 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 MANUAL (this document)
This manual explains the functions, installation/
connection method and data setting method as well
as the operating method and others for the motor and
driver.
Data setting software
MEXE02 OPERATING MANUAL This manual explains how to set data using the
accessory MEXE02.
Data setter OPX-2A OPERATING MANUAL This manual explains the functions and installation/ connection method as well as data setting method and
others for the accessory OPX-2A (sold separately).
Network converter
CC-Link compatible
NETC01-CC
USER MANUAL
This manual explains the functions and installation/
connection method as well as the operating method
for the network converter.
MECHATROLINK-Ⅱcompatible
NETC01-M2
USER MANUAL
MECHATROLINK-Ⅲcompatible
NETC01-M3
USER MANUAL
EtherCAT compatible
NETC01-ECT
OPERATING MANUAL
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).

Overview of the product
−10−1Introduction
3 Overview of the product
This product is a motor and driver package product consisting of a high-efficiency stepping motor equipped with a
rotor position detection sensor, 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 the accessory OPX-2A (sold separately) or MEXE02, or via RS-
485 communication.
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.
•Three 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.
•Compatible 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.
•Absolute-position backup system
When connecting an accessory battery set BAT01B (sold separately), this product can be used in the absolute-position
backup system. Positions will be retained in the event of a power outage or after turning off the driver power.
•Automatic control of the electromagnetic brake
This driver controls the electromagnetic brake automatically. The control signal input or the troublesome ladder logic
design can be saved.
•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.
•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).
Accessories
The operation data and parameters can be set using the accessory OPX-2A (sold separately) or MEXE02, or via RS-
485 communication. Provide the OPX-2A or MEXE02 as necessary.
Related products
The AR Series FLEX DC power input built-in controller type can be used via various network when connecting to a
network converter.
Network converter Supported network
NETC01-CC CC-Link communication
NETC01-M2 MECHATROLINK-Ⅱcommunication
NETC01-M3 MECHATROLINK-Ⅲcommunication
NETC01-ECT EtherCAT communication

Overview of the product
−11−
1Introduction
Function list
Return-to-home operation • 2-sensor mode
• 3-sensor mode
• Monitor function
• Operation data setting
• Parameter setting
Other operations • JOG operation
• Automatic return operation
• Positioning operation
• Continuous operation
Single-motion operation
Linked-motion operation
Linked-motion operation 2
Push-motion
Operation function
Data number selecting operation
Direct positioning operation
Sequential positioning operation
Starting method
+
Main functions
[Setting by parameters]
Motor operation
[Setting by operation data
and parameters]
[Setting by parameters]
• Return-to-home function
Home position offset
External sensor signal detection
• Motor function setting
Operating current
Standstill current
Speed filter
Moving average filter
• Stop operation
STOP input action
Hardware overtravel
Software overtravel
• 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
• Operation start
• Operation data setting
• Parameter setting
• Monitor function
• Maintenance function
RS-485 communication
• Push-mode
• Data setting mode (Position preset)
• Test function
Test operation
Teaching
I/O test

System configuration
−12−1Introduction
4 System conguration
Connect to CN3
Connect to
CN4
Master controller
Connect when controlling
the system via RS-485
communication.
Master controller
Output signals: Connect to CN9
Input signals: Connect to CN8
Connect to CN5
Sensor
Connect to CN6 or CN7
DC power
supply
24 VDC
or
48 VDC
GND
Connect to CN2
Connect to CN1
Cable for motor
This cable is used to connect
the motor and driver.
Motor
PE
FG
Battery
This battery is an accessory
BAT01B (sold separately).
Connect this battery if you
want to operate the driver
in the absolute system.
Noise filter
Use a noise filter to
eliminate noise.
It has the effect of
reducing noise generated
from the power supply
and driver.
AC power
supply
OPX-2A
(sold separately)
Or
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.

Safety precautions
−13−
1Introduction
5 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.
•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.
•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.
Installation
•Install the motor and driver in the enclosure in order to prevent injury.
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.
•Turn off the power to both the PC and driver before connecting your PC to the driver. Failure to do so may cause
electric shock.
Operation
•Turn 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
−14−1Introduction
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).
•Do not use other batteries than the accessory dedicated battery BAT01B (sold separately). Doing so may result in
injury or damage to equipment.
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 power supply connector (CN1), data edit connector (CN3) 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.
•When connecting, check the silk screen of the driver and pay attention to the polarity of the power supply. Reverse-
polarity connection may cause damage to the driver. The power-supply circuit and the RS-485 communication
circuit are not insulated. Reverse-polarity connection may cause damage to the driver.
Operation
•Use a motor and driver only in the specified combination. An incorrect combination may cause a fire.
•Do not touch the rotating part (output shaft) during operation. Doing so may cause injury.
•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.
•For the power supply to the electromagnetic brake, use a DC power supply with reinforced insulation on its primary
and secondary sides. Failure to do so may result in electric shock.
•Before supplying power to the driver, turn all input signals to the driver OFF. Otherwise, the motor may start
suddenly at power ON and cause injury or damage to equipment.
•Before moving the motor directly with the hands, 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.

Safety precautions
−15−
1Introduction
Handling the battery
Be sure to observe the following instructions when using the accessory battery (sold separately). Handling the battery
without observing the instructions may cause the liquid leakage, heat generation and explosion, etc., which may result
in injury or damage to equipment.
•Do not heat the battery or throw it into a fire.
•Never short-circuit the battery or connect the positive and negative terminals in reverse.
•When carrying/storing the battery, do not place it together with metal necklaces, hairpins, coins, keys or other
conductive objects. When storing the battery, store it away from direct sunlight in a place not subject to high
temperature or high humidity.
•Do not disassemble or modify the battery.
•Do not apply solder directly to the battery.
•Use a dedicated driver to charge the battery.
•The battery has a vent structure for the release of internal gas. Do not apply a strong force to the battery, since it
may cause this structure to deform.
•When installing the battery into the machine, never place it inside a sealed structure. The battery sometimes
generates gas, which, if trapped, may cause a burst or an explosion due to ignition.
•The battery contains an alkali solution. If the alkali solution comes in contact with the skin or clothes, flush the area
thoroughly with clean water. If the alkali solution gets into the eyes, do not rub. Flush the eyes thoroughly with
clean water and seek immediate medical attention.
•Do not use the battery if there is leakage, discoloration, deformation or another abnormality.
•Do not immerse the battery in water or seawater, nor allow it to become wet. Doing so may cause the battery to
generate heat or rust.
•Do not scratch the battery and battery cable. A scratched battery easily causes shorting, resulting in leakage, heat
generation or bursting.
•The battery is connected to the primary circuit, so do not touch the battery while the power is on.
•Do not forcibly bend, pull or pinch the cable. Also, do not bend and flex the cable repeatedly.
•Do not make a continuous vibration or excessive impact.
Note
•Always charge the battery connecting to the driver before use. Refer to p.38 for charging method.
•Nickel-metal-hydride cell is used in this battery. Disposal of the used batteries is
subject to each country's regulations on environmental control. Contact your nearest
Oriental Motor office if you have any questions.

Precautions for use
−16−1Introduction
6 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 p.208 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. Refer to p.28 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.
•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.
•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.
•Preventing electrical noise
See "1.7 Installing and wiring in compliance with EMC Directive" on p.30 for measures with regard to noise.
•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.

Precautions for use
−17−
1Introduction
•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
•Do not perform push-motion operation with geared types.
Doing so may cause damage to the motor or gear part.
•Saving data to the non-volatile memory
Do not turn off 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 a EEPROM error alarm to generate.
The non-volatile memory can be rewritten approximately 100,000 times.
•Motor excitation at power ON
The motor is excited when the power is on. If the motor is required to be in non-excitation status when turning on the
power, assign the C-ON input to the direct I/O or network I/O.
•Overvoltage alarm by regeneration energy
The overvoltage alarm will generate depending on the operating condition. When an alarm is generated, review the
operating conditions.
•Note on connecting a power supply whose positive terminal is grounded
The power supply connector (CN1), data edit connector (CN3) 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 OPX-2A to set data, etc.

General specifications
−18−1Introduction
7 General specications
Motor Driver
Degree of protection
IP65 (Excluding the motor mounting
surface and connectors)
IP20 (Double shaft type, models
including "S" in the motor identification
of motor name.)
IP10
Operation
environment
Ambient
temperature
−10 to +50 °C (+14 to +122 °F)
(non-freezing) ∗1
Harmonic geared type: 0 to +40 °C
(+32 to +104 °F) (non-freezing) ∗1
0 to +50 °C (+32 to +122 °F)
(non-freezing)
Humidity 85% or less (non-condensing)
Altitude Up to 1000 m (3300 ft.) above sea level
Surrounding
atmosphere No corrosive gas, dust, water or oil
Storage
environment
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 3000 m (10000 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 3000 m (10000 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 and sensor
windings
· Case - Electromagnetic brake windings
100 MΩ or more when 500 VDC megger
is applied between the following places:
· FG terminal - Power supply terminal
Dielectric strength
Sufficient to withstand 1.0 kVAC at
50 Hz or 60 Hz applied between the
following places for 1 minute: ∗2
· Case - Motor windings and sensor
windings
· Case - Electromagnetic brake
windings"
Sufficient to withstand 500 VAC at
50 Hz or 60 Hz applied between the
following places for 1 minute:
· FG terminal - Power supply terminal
*1 When installing a motor to a heat sink of a capacity at least equivalent to an aluminum plate [100×100 mm
(3.94×3.94 in.), thickness 6 mm (0.24 in.)].
*2 0.5 kVAC for the ARM14, ARM15, ARM24 and ARM26 types

CE Marking
−19−
1Introduction
8 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 p.31. 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

Preparation
−20−1Introduction
9 Preparation
This chapter explains the items you should check, as well as the name and function of each part.
9.1 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 product 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 p.22.
•Motor .................................................1 unit
•Parallel key ........................................1 pc. (Supplied with geared types; except for the AR24, AR46TH and
AR66TH)
•Cable for motor .................................1 pc. (Supplied with a motor and driver package)
•Cable for electromagnetic brake .......1 pc. (Supplied with an electromagnetic brake motor and driver package)
•Driver ................................................1 unit
•CN1 connector ..................................1 pc. (for power supply input terminals; 5 pins)
•CN5 connector ..................................1 pc. (for sensor signals; 5 pins)
•CN8 connector ..................................1 pc. (for input signals; 9 pins)
•CN9 connector ..................................1 pc. (for output signals; 7 pins)
•Motor OPERATING MANUAL .......1 copy
•Driver OPERATING MANUAL .......1 copy
9.2 How to identify the product model
AR 2 4 S A K D - H 50 - 3
Gear ratio∗
Power input K: 24 VDC/48 VDC
Driver type D: Built-in Controller Type
T: TH geared type㻌H: Harmonic geared type
PS: PS geared type㻌Blank: Standard type
N: PN geared type
Motor type A: Single shaft
B: Double shaft
M: With electromagnetic brake
Number: Length of supplied connection cable (m)
None: Without connection cable
Motor length
Motor identification
Motor size 1: 20 mm (0.79 in.)
2: 28 mm (1.10 in.) [30 mm (1.18 in.) for Harmonic geared type]
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]
Series name AR Series
* The model name is "7" for the gear ratio "7.2" of the PS geared type.