Vexta aStep AS Series User manual

1
AS Series
OPERATING MANUAL
Thank you for purchasing an Oriental Motor product.
This Operating Manual describes product handling procedures and safety precautions.
• Please read it thoroughly to ensure safe operation.
• Always keep the manual where it is readily available.
HM-6159-11
AS66, AS69, AS98, AS911
Table of Contents
Introduction........................................... Page 2
Safety precautions................................ Page 4
Precautions for use............................... Page 6
Preparation........................................... Page 8
Checking the product......................... Page 8
Names and functions of parts ............ Page 14
Installation ............................................ Page 16
Location for installation ...................... Page 16
Installing the motor ............................ Page 16
Installing a load.................................. Page 17
Overhung load and thrust load .......... Page 18
Installing the driver ............................ Page 19
Installing and wiring in compliance
with EMC directive ...... Page 22
Connection ........................................... Page 25
Connection example for a
standard type .... Page 25
Connection example for an
electromagnetic-brake type .... Page 25
Connecting the driver ........................ Page 26
Connecting to the power supply ........ Page 28
Connecting the motor ........................ Page 31
Grounding the motor and driver......... Page 33
Connecting control input/output ......... Page 33
About control input/output.................. Page 36
Timing chart....................................... Page 42
Setting .................................................. Page 43
Resolution ......................................... Page 43
Pulse input modes ............................. Page 44
Operating current .............................. Page 44
Speed filter ........................................ Page 45
Protective functions .............................. Page 46
Inspection ............................................. Page 47
Troubleshooting and remedial actions .. Page 48
Main specifications ............................... Page 50
Appendix .............................................. Page 61
C

2
Introduction
Before using the motor unit
Only qualified personnel should work with the product.
Use the product correctly after thoroughly reading the section “Safety precautions.”
The product described in this manual has been designed and manufactured for use in general industrial machinery, and
must not be used for any other purpose. Oriental Motor Co., Ltd. is not responsible for any damage caused through
failure to observe this warning.
Overview of the product
The AS series models are unit products consisting of a high-performance micro-stepping driver and a stepping
motor ( ) with built-in rotor-position sensor. The AS series models incorporating are not subject to
missteps, even when the load changes suddenly. The speed and amount of rotation are constantly monitored during
operation, so that when an overload is about to cause the motor to misstep, any delay in response is corrected and
operation continues at maximum torque. In addition to the four geared types ideal for low-speed, high-torque
operation, a model equipped with an electromagnetic brake is also available, which is suitable for holding the load in
position during up or down movement in applications involving vertical travel.
Standards and CE marking
This product is recognized by UL. The CE marking (Low Voltage Directive and EMC Directive) is affixed to the product
in accordance with EN standards.


Applicable standards
Motor
Driver
Applicable Standards
UL1004, UL2111
CSA C22.2 No. 100
CSA C22.2 No. 77
EN60950
EN60034-1
EN60034-5
UL508C∗
CSA C22.2 No. 14
EN60950
EN50178
Certification body
UL
-
UL
-
Standards File No.
File No. E64199
-
File No. E171462
-
∗For UL standard (UL508C), the product is recognized for the conditionof Maximum Surrounding Air Temperature 50°C
(122°F).
• The names of products certified to conform with relevant standards are represented by applicable unit model motor
and driver part numbers.


Installation conditions (EN standard)
Motor and driver are to be used as a component within other equipment.
Overvoltage category: II
Pollution degree: Class 2
Class: I


For low voltage directive
The product is a type with machinery incorporated, so it should be installed within an enclosure.
Install the product within the enclosure in order to avoid contact with hands.
Be sure to maintain a protective ground in case hands should make contact with the product. Securely ground the
protective grounding terminals of the motor and driver.


EMC directive
This product has received EMC measures under the conditions specified in “Example of motor and driver installation
and wiring” on page 24.
Be sure to conduct EMC measures with the product assembled in your equipment by referring to “Installing and wiring
in compliance with EMC directive” on page 22.

3
System configuration
Controllers with pulse-output functions are needed to operate the AS series.
• Be sure to purchase the extension cable (for use in the model with electromagnetic brake), which is sold separately,
when using the model with the electromagnetic brake. When the motor cable is directly connected to the driver, the
electromagnetic brake will not work. Use a 24 VDC power source for the electromagnetic brake.
• The AS series is available in three input-power sources: single-phase 100-115 V, single-phase 200-230 V
and three-phase 200-230 V.
Main features
• Low-speed operation at low vibration levels
The AS series achieves smooth, low-speed operation with extremely low vibration, thanks to its micro-stepping
drive, which enables stepping in very small angles.
• Built-in alarm function
Whenever a load greatly exceeding the motor rating is encountered, or when the motor’s output shaft is constrained
during operation, the driver outputs a warning alarm.
In a vertical-travel application, the electromagnetic brake may be triggered upon the detection of this alarm to prevent
a moving section or the work from falling.
• Preset speed filter
The filter time constant that determines motor response can be set in 16 increments.
• Preset operating current
The level of motor current during operation can be set between 6 and 100% (maximum) in 16 increments.
• Preset resolution
The motor resolution levels can be set in four increments: 0.72°/pulse, 0.36°/pulse, 0.072°/pulse and 0.036°/pulse.
Controller
(programmable controller
and others)
Control input
and output
Positioning controller
Pulse output and control
input/output
Shielded cable with
connectors (sold separately)
series
Driver
Motor
Extension cable (sold separately)
OPERATION
ALARM
CN1
CN2
CN3
MOTOR
CURRENT
L
100-
115V
N
~
CN4
IO
/
V.FIL
1 2 3 4
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
1P
X1
1000 500
X10
2P
VEXTA
ASD24A-A
Control input and output

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.
Warning
Handling the product without observing the instructions that accompany a “Warning” symbol may result in serious
injury or death.
Caution
Handling the product without observing the instructions that accompany a “Caution” symbol may result in injury or
property damage.
Note
The items under this heading contain important handling instructions that the user should observe to ensure safe use
of the product.
Warning
General
• Do not use the product in explosive or corrosive environments, in the presence of flammable gases, locations
subjected to splashing water, or near combustibles. Doing so may result in fire, electric shock or injury.
• Assign qualified personnel the task of installing, wiring, operating/controlling, inspecting and troubleshooting the
product. Failure to do so may result in fire, electric shock or injury.
• Do not transport, install the product, perform connections or inspections when the power is on. Always turn the power
off before carrying out these operations. Failure to do so may result in electric shock.
• The terminals on the driver’s front panel marked with symbol indicate the presence of high voltage.
Do not touch these terminals while the power is on to avoid the risk of fire or electric shock.
• Provide a means to hold the moving parts in place for applications involving vertical travel. The motor loses holding
torque when the power is shut off, allowing the moving parts to fall and possibly cause injury or damage to
equipment.
• Do not use the motor’s built-in electromagnetic brake mechanism for stopping or for safety purposes. Using it for
purposes other than holding the moving parts and motor in position may cause injury or damage to equipment.
• When the driver-protection function is triggered, the motor will stop and lose its holding torque, possibly causing injury
or damage to equipment.
• When the driver’s protection function 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, leading to
injury or damage to equipment.
Installation
• To prevent the risk of electric shock, use the motor and driver for class Iequipment only.
• Install the motor and driver in their enclosures in order to prevent electric shock or injury.
• Install the motor and driver so as to avoid contact with hands, or ground them to prevent the risk of electric shock.
Connection
• Keep the driver’s input-power voltage within the specified range to avoid fire and electric shock.
• Connect the cables securely according to the wiring diagram in order to prevent fire and electric shock.
• Do not forcibly bend, pull or pinch the cable. Doing so may fire and electric shock.
• To prevent electric shock, be sure to install the terminal cover (supplied) over the driver’s power-supply terminals
after making connections.
Operation
• Turn off the driver power in the event of a power failure, or the motor may suddenly start when the power is restored
and may cause injury or damage to equipment.
• Do not turn the C.OFF (All Windings Off) input to “ON” while the motor is operating. The motor will stop and lose its
holding ability, which may result in injury or damage to equipment.
• If the driver’s OPERATION LED does not come on when the power is turned on, shut off the power immediately. The
neutral-side fuse may be burnt out while the live-side fuse is intact, posing a risk of electric shock. For repair, contact
the branch or sales office from which you purchased the product.

5
Maintenance and inspection
• Do not touch the connection terminals of the driver immediately after the power is turned off (for a period of 10
seconds). The residual voltage may cause electric shock.
Repair, disassembly and modification
• Do not disassemble or modify the motor or driver. This may cause electric shock or injury. Refer all such internal
inspections and repairs to the branch or sales office from which you purchased the product.
Caution
General
• Do not use the motor and driver beyond their specifications, or electric shock, injury or damage to equipment may
result.
• Keep your fingers and objects out of the openings in the motor and driver, or electric shock, injury or damage to
equipment may result.
• Do not touch the motor or driver during operation or immediately after stopping. The surfaces are hot and may cause
a burn.
Transportation
• Do not hold the motor output shaft or motor cable. This may cause injury.
Installation
• Keep the area around the motor and driver free of combustible materials in order to prevent fire or a burn.
• To prevent the risk of damage to equipment, leave nothing around the motor and driver that would obstruct
ventilation.
• Provide a cover over the rotating parts (output shaft) of the motor to prevent injury.
Operation
• Use a motor and driver only in the specified combination. An incorrect combination may cause a fire.
• To avoid injury, remain alert during operation so that the motor can be stopped immediately in an emergency.
• Before supplying power to the driver, turn all control inputs to the driver to “OFF.” Otherwise, the motor may start
suddenly and cause injury or damage to equipment.
• To prevent bodily injury, do not touch the rotating parts (output shaft) of the motor during operation.
• Before moving the motor directly (as in the case of manual positioning), confirm that the driver C.OFF
(All Windings Off) input is “ON” to prevent injury.
• The motor’s surface temperature may exceed 70°C, even under normal operating conditions. If a motor is accessible
during operation, post a warning label shown in the figure in a conspicuous position to prevent the risk of burns.
• When an abnormality is noted, stop the operation immediately, or fire, electric shock or injury may occur.
• To prevent electric shock, use only an insulated screwdriver to adjust the internal switches.
Maintenance and inspection
• To prevent the risk of electric shock, do not touch the terminals while measuring the insulation resistance or
conducting a voltage-resistance test.
Disposal
• When disposing of the motor or driver, treat them as ordinary industrial waste.
Warning label

6
Precautions for use
This section covers limitations and requirements the user should consider when using the AS series.
• Operate the motor at a level below the maximum torque.
Operating the motor beyond the maximum torque or placing a continuous constraint on the output shaft may damage
the motor bearings (ball bearings). Be sure to keep the motor load below the maximum torque.
• Do not apply an overhung load in excess of the specified permissible limit.
Be sure to operate the motor within the specified permissible limit of overhung load. Operating it under an excessive
overhung load may damage the motor bearings (ball bearings).
• Operate the motor with a surface temperature not exceeding 100°C (212°F).
The driver has an overheat-protection function, but the motor has no such feature. The motor case’s surface
temperature may exceed 100°C (212°F) under certain conditions (ambient temperature, operating speed, duty cycle,
etc.). Keeping the surface temperature of the motor casing below 100°C (212°F) will also maximize the life of the motor
bearings (ball bearings).
• About maximum static torque at excitation
Maximum static torque at excitation represents a value obtained when the motor is excited using a rated current. When
combined with a dedicated driver and while the motor is stopped motor-temperature increases are suppressed due to
a current-reduction of approximately 50% by the current-cutback function. Acceleration and operation at the maximum
static torque at excitation is possible in start-up, but it has approximately 50% holding power after it has stopped. When
selecting a motor for your application, consider the fact that the holding power will be reduced to approximately 50%
after the motor has stopped.
• Use an electromagnetic-brake type for an application involving up/down travel.
When the motor is used in an application involving up/down travel, such as a lifter, use an electromagnetic-brake type
to hold the load in position. To hold the load in position, apply the electromagnetic brake only after the motor has
stopped.
Do not use the brake to bring the moving motor to a halt. Repeated braking for such a purpose will wear the brake hub
excessively, causing its holding ability to drop.
Since the electromagnetic brake is of the non-excitation type, it can also be used to hold the load in position upon the
occurrence of a power failure. However, this is not a secure means of holding the load.
Do not use the electromagnetic brake as a safety brake.
When the driver-protection function is triggered, the motor stops as the current is turned off. The user must set a
controller sequence that will cut off the power to the electromagnetic brake and hold the load in position upon detecting
an “OFF” ALARM output.
• Connecting an electromagnetic-brake type
Be sure to use a junction cable (sold separately) for connection of an electromagnetic-brake type and driver. Direct
connection of the motor cable to the driver will not provide the electromagnetic brake function.
The electromagnetic brake operates via the ON/OFF status of the DC power supply. When connecting the lead wires
of the electromagnetic brake extending from the junction cable, observe the correct polarity. Be sure to connect the
supplied varistor (non-polarized) to protect the switch contacts and prevent noise.
• Install the driver in a vertical orientation.
The driver’s heat-dissipation function is designed according to vertical orientation. Installing the driver in any other
orientation may shorten the life of electronic parts due to temperature increases within the driver.
• Preventing leakage current
Stray capacitance exists between the driver’s current-carrying line and other current-carrying lines, the earth and the
motor, respectively. A high-frequency current may leak out through such capacitance, having a detrimental effect on the
surrounding equipment. The actual leakage current depends on the driver’s switching frequency, the length of wiring
between the driver and motor, and so on.
When providing a leakage current breaker, use the following products, for instance, which have high-frequency signal
protection:
Mitsubishi Electric: NV series
Fuji Electric: EG and SG series

7
• Preventing electrical noise
See “Installing and wiring in compliance with EMC directive” on page 22 for measures with regard to noise.

8
Preparation
This section covers the points to be checked along with the names and functions of respective parts.
Checking the product
Upon opening the package, verify that the items listed below are included.
Report any missing or damaged items to the branch or sales office from which you purchased the product.
Verify the model number of the purchased unit against the number shown on the package label.
Check the model number of the motor and driver against the number shown on the nameplate.
The unit models and corresponding motor/driver combinations are listed on pages 10 to 13.
Driver 1 UnitMotor 1 Unit ∗
ON
1234
OPERATION
ASD24A-A
ALARM
CN1
CN2
CN3
CN4
I/O
MOTOR
100-
115V
L
N
~
VEXTA
1000 500
2P
TEST
X10
NORM
F/H
1P
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
Illustration shows the round
shaft type with
electromagnetic brake.
∗A parallel key (1 unit) is supplied
with all geared-type motors
(excluding the AS66 TH geared
type).
Operating manual
1 copy
Varistor 1 piece
Screws for driver mounting
brackets (M3) 4 pieces
Control input/output connector
1 set
Driver mounting brackets
2 pieces
8F
5
C
‑
5
A
‑
3
Varistor supplied with the motor with
an electromagnetic-brake type

9
Options (sold separately)
• Extension cable Pages 31, 32 and 61
Required for extending the distance between the motor and driver.
Be sure to use the electromagnetic-brake extension cable to connect an electromagnetic-brake-type motor.
• Flexible cable Pages 32 and 61
Highly flexible extension cable.
• Shielded cable with connectors Pages 33 and 61
Cable with connectors for driver control input/output (36 pins), providing excellent noise resistance.
• DIN rail mounting plate Pages 21 and 61
Plate for mounting the driver to a DIN rail.
How to identify the product model
Geared type
A S 6 6 A A 2 - H 50
Motor length
Motor size
6: 60 mm (2.36 in.) square
9: 90 mm (3.54 in.) square
Series name AS series
Gear ratio
Gear type
T: TH gear
P: PL gear
N: PN gear
H: Harmonic gear
Power input
A: Single-phase 100-115 V
C: Single-phase 200-230 V
S: Three-phase 200-230 V
Motor type
A: Standard type
M: With electromagnetic brake
Round shaft type
A S 6 6 A A
Motor length
Motor size
6: 60 mm (2.36 in.) square
9: 85 mm (3.35 in.) square
Series name AS series
Power input
A: Single-phase 100-115 V
C: Single-phase 200-230 V
S: Three-phase 200-230 V
Motor type
A: Standard type
M: With electromagnetic brake

10
Combinations of motors and drivers
TH geared type
Unit model
AS66AA-T3.6
AS66AA-T7.2
AS66AA-T10
AS66AA-T20
AS66AA-T30
AS66AC-T3.6
AS66AC-T7.2
AS66AC-T10
AS66AC-T20
AS66AC-T30
AS66AS-T3.6
AS66AS-T7.2
AS66AS-T10
AS66AS-T20
AS66AS-T30
AS98AA-T3.6
AS98AA-T7.2
AS98AA-T10
AS98AA-T20
AS98AA-T30
AS98AC-T3.6
AS98AC-T7.2
AS98AC-T10
AS98AC-T20
AS98AC-T30
AS98AS-T3.6
AS98AS-T7.2
AS98AS-T10
AS98AS-T20
AS98AS-T30
Motor model
ASM66AA-T3.6
ASM66AA-T7.2
ASM66AA-T10
ASM66AA-T20
ASM66AA-T30
ASM66AC-T3.6
ASM66AC-T7.2
ASM66AC-T10
ASM66AC-T20
ASM66AC-T30
ASM66AC-T3.6
ASM66AC-T7.2
ASM66AC-T10
ASM66AC-T20
ASM66AC-T30
ASM98AA-T3.6
ASM98AA-T7.2
ASM98AA-T10
ASM98AA-T20
ASM98AA-T30
ASM98AC-T3.6
ASM98AC-T7.2
ASM98AC-T10
ASM98AC-T20
ASM98AC-T30
ASM98AC-T3.6
ASM98AC-T7.2
ASM98AC-T10
ASM98AC-T20
ASM98AC-T30
Driver model
ASD24B-A
ASD24B-A
ASD24B-A
ASD24C-A
ASD24C-A
ASD12B-C
ASD12B-C
ASD12B-C
ASD12C-C
ASD12C-C
ASD12B-S
ASD12B-S
ASD12B-S
ASD12C-S
ASD12C-S
ASD30A-A
ASD30A-A
ASD30A-A
ASD30C-A
ASD30C-A
ASD16A-C
ASD16A-C
ASD16A-C
ASD16C-C
ASD16C-C
ASD16A-S
ASD16A-S
ASD16A-S
ASD16C-S
ASD16C-S
Standard type Unit model
AS66MA-T3.6
AS66MA-T7.2
AS66MA-T10
AS66MA-T20
AS66MA-T30
AS66MC-T3.6
AS66MC-T7.2
AS66MC-T10
AS66MC-T20
AS66MC-T30
AS66MS-T3.6
AS66MS-T7.2
AS66MS-T10
AS66MS-T20
AS66MS-T30
AS98MA-T3.6
AS98MA-T7.2
AS98MA-T10
AS98MA-T20
AS98MA-T30
AS98MC-T3.6
AS98MC-T7.2
AS98MC-T10
AS98MC-T20
AS98MC-T30
AS98MS-T3.6
AS98MS-T7.2
AS98MS-T10
AS98MS-T20
AS98MS-T30
Motor model
ASM66MA-T3.6
ASM66MA-T7.2
ASM66MA-T10
ASM66MA-T20
ASM66MA-T30
ASM66MC-T3.6
ASM66MC-T7.2
ASM66MC-T10
ASM66MC-T20
ASM66MC-T30
ASM66MC-T3.6
ASM66MC-T7.2
ASM66MC-T10
ASM66MC-T20
ASM66MC-T30
ASM98MA-T3.6
ASM98MA-T7.2
ASM98MA-T10
ASM98MA-T20
ASM98MA-T30
ASM98MC-T3.6
ASM98MC-T7.2
ASM98MC-T10
ASM98MC-T20
ASM98MC-T30
ASM98MC-T3.6
ASM98MC-T7.2
ASM98MC-T10
ASM98MC-T20
ASM98MC-T30
Driver model
ASD24B-A
ASD24B-A
ASD24B-A
ASD24C-A
ASD24C-A
ASD12B-C
ASD12B-C
ASD12B-C
ASD12C-C
ASD12C-C
ASD12B-S
ASD12B-S
ASD12B-S
ASD12C-S
ASD12C-S
ASD30A-A
ASD30A-A
ASD30A-A
ASD30C-A
ASD30C-A
ASD16A-C
ASD16A-C
ASD16A-C
ASD16C-C
ASD16C-C
ASD16A-S
ASD16A-S
ASD16A-S
ASD16C-S
ASD16C-S
Electromagnetic-brake type

11
PL geared type
Unit model
AS66AA-P5
AS66AA-P7.2
AS66AA-P10
AS66AA-P25
AS66AA-P36
AS66AA-P50
AS66AC-P5
AS66AC-P7.2
AS66AC-P10
AS66AC-P25
AS66AC-P36
AS66AC-P50
AS66AS-P5
AS66AS-P7.2
AS66AS-P10
AS66AS-P25
AS66AS-P36
AS66AS-P50
AS98AA-P5
AS98AA-P7.2
AS98AA-P10
AS98AA-P25
AS98AA-P36
AS98AA-P50
AS98AC-P5
AS98AC-P7.2
AS98AC-P10
AS98AC-P25
AS98AC-P36
AS98AC-P50
AS98AS-P5
AS98AS-P7.2
AS98AS-P10
AS98AS-P25
AS98AS-P36
AS98AS-P50
Motor model
ASM66AA-P5
ASM66AA-P7.2
ASM66AA-P10
ASM66AA-P25
ASM66AA-P36
ASM66AA-P50
ASM66AC-P5
ASM66AC-P7.2
ASM66AC-P10
ASM66AC-P25
ASM66AC-P36
ASM66AC-P50
ASM66AC-P5
ASM66AC-P7.2
ASM66AC-P10
ASM66AC-P25
ASM66AC-P36
ASM66AC-P50
ASM98AA-P5
ASM98AA-P7.2
ASM98AA-P10
ASM98AA-P25
ASM98AA-P36
ASM98AA-P50
ASM98AC-P5
ASM98AC-P7.2
ASM98AC-P10
ASM98AC-P25
ASM98AC-P36
ASM98AC-P50
ASM98AC-P5
ASM98AC-P7.2
ASM98AC-P10
ASM98AC-P25
ASM98AC-P36
ASM98AC-P50
Driver model
ASD24A-A
ASD24A-A
ASD24A-A
ASD24B-A
ASD24C-A
ASD24C-A
ASD12A-C
ASD12A-C
ASD12A-C
ASD12B-C
ASD12C-C
ASD12C-C
ASD12A-S
ASD12A-S
ASD12A-S
ASD12B-S
ASD12C-S
ASD12C-S
ASD30A-A
ASD30A-A
ASD30A-A
ASD30A-A
ASD30B-A
ASD30B-A
ASD16A-C
ASD16A-C
ASD16A-C
ASD16A-C
ASD16B-C
ASD16B-C
ASD16A-S
ASD16A-S
ASD16A-S
ASD16A-S
ASD16B-S
ASD16B-S
Standard type Unit model
AS66MA-P5
AS66MA-P7.2
AS66MA-P10
AS66MA-P25
AS66MA-P36
AS66MA-P50
AS66MC-P5
AS66MC-P7.2
AS66MC-P10
AS66MC-P25
AS66MC-P36
AS66MC-P50
AS66MS-P5
AS66MS-P7.2
AS66MS-P10
AS66MS-P25
AS66MS-P36
AS66MS-P50
AS98MA-P5
AS98MA-P7.2
AS98MA-P10
AS98MA-P25
AS98MA-P36
AS98MA-P50
AS98MC-P5
AS98MC-P7.2
AS98MC-P10
AS98MC-P25
AS98MC-P36
AS98MC-P50
AS98MS-P5
AS98MS-P7.2
AS98MS-P10
AS98MS-P25
AS98MS-P36
AS98MS-P50
Motor model
ASM66MA-P5
ASM66MA-P7.2
ASM66MA-P10
ASM66MA-P25
ASM66MA-P36
ASM66MA-P50
ASM66MC-P5
ASM66MC-P7.2
ASM66MC-P10
ASM66MC-P25
ASM66MC-P36
ASM66MC-P50
ASM66MC-P5
ASM66MC-P7.2
ASM66MC-P10
ASM66MC-P25
ASM66MC-P36
ASM66MC-P50
ASM98MA-P5
ASM98MA-P7.2
ASM98MA-P10
ASM98MA-P25
ASM98MA-P36
ASM98MA-P50
ASM98MC-P5
ASM98MC-P7.2
ASM98MC-P10
ASM98MC-P25
ASM98MC-P36
ASM98MC-P50
ASM98MC-P5
ASM98MC-P7.2
ASM98MC-P10
ASM98MC-P25
ASM98MC-P36
ASM98MC-P50
Driver model
ASD24A-A
ASD24A-A
ASD24A-A
ASD24B-A
ASD24C-A
ASD24C-A
ASD12A-C
ASD12A-C
ASD12A-C
ASD12B-C
ASD12C-C
ASD12C-C
ASD12A-S
ASD12A-S
ASD12A-S
ASD12B-S
ASD12C-S
ASD12C-S
ASD30A-A
ASD30A-A
ASD30A-A
ASD30A-A
ASD30B-A
ASD30B-A
ASD16A-C
ASD16A-C
ASD16A-C
ASD16A-C
ASD16B-C
ASD16B-C
ASD16A-S
ASD16A-S
ASD16A-S
ASD16A-S
ASD16B-S
ASD16B-S
Electromagnetic-brake type

12
PN geared type
Unit model
AS66AA-N5
AS66AA-N7.2
AS66AA-N10
AS66AA-N25
AS66AA-N36
AS66AA-N50
AS66AC-N5
AS66AC-N7.2
AS66AC-N10
AS66AC-N25
AS66AC-N36
AS66AC-N50
AS66AS-N5
AS66AS-N7.2
AS66AS-N10
AS66AS-N25
AS66AS-N36
AS66AS-N50
AS98AA-N5
AS98AA-N7.2
AS98AA-N10
AS98AA-N25
AS98AA-N36
AS98AA-N50
AS98AC-N5
AS98AC-N7.2
AS98AC-N10
AS98AC-N25
AS98AC-N36
AS98AC-N50
AS98AS-N5
AS98AS-N7.2
AS98AS-N10
AS98AS-N25
AS98AS-N36
AS98AS-N50
Motor model
ASM66AA-N5
ASM66AA-N7.2
ASM66AA-N10
ASM66AA-N25
ASM66AA-N36
ASM66AA-N50
ASM66AC-N5
ASM66AC-N7.2
ASM66AC-N10
ASM66AC-N25
ASM66AC-N36
ASM66AC-N50
ASM66AC-N5
ASM66AC-N7.2
ASM66AC-N10
ASM66AC-N25
ASM66AC-N36
ASM66AC-N50
ASM98AA-N5
ASM98AA-N7.2
ASM98AA-N10
ASM98AA-N25
ASM98AA-N36
ASM98AA-N50
ASM98AC-N5
ASM98AC-N7.2
ASM98AC-N10
ASM98AC-N25
ASM98AC-N36
ASM98AC-N50
ASM98AC-N5
ASM98AC-N7.2
ASM98AC-N10
ASM98AC-N25
ASM98AC-N36
ASM98AC-N50
Driver model
ASD24A-A
ASD24A-A
ASD24A-A
ASD24B-A
ASD24C-A
ASD24C-A
ASD12A-C
ASD12A-C
ASD12A-C
ASD12B-C
ASD12C-C
ASD12C-C
ASD12A-S
ASD12A-S
ASD12A-S
ASD12B-S
ASD12C-S
ASD12C-S
ASD30A-A
ASD30A-A
ASD30A-A
ASD30A-A
ASD30B-A
ASD30B-A
ASD16A-C
ASD16A-C
ASD16A-C
ASD16A-C
ASD16B-C
ASD16B-C
ASD16A-S
ASD16A-S
ASD16A-S
ASD16A-S
ASD16B-S
ASD16B-S
Standard type Unit model
AS66MA-N5
AS66MA-N7.2
AS66MA-N10
AS66MA-N25
AS66MA-N36
AS66MA-N50
AS66MC-N5
AS66MC-N7.2
AS66MC-N10
AS66MC-N25
AS66MC-N36
AS66MC-N50
AS66MS-N5
AS66MS-N7.2
AS66MS-N10
AS66MS-N25
AS66MS-N36
AS66MS-N50
AS98MA-N5
AS98MA-N7.2
AS98MA-N10
AS98MA-N25
AS98MA-N36
AS98MA-N50
AS98MC-N5
AS98MC-N7.2
AS98MC-N10
AS98MC-N25
AS98MC-N36
AS98MC-N50
AS98MS-N5
AS98MS-N7.2
AS98MS-N10
AS98MS-N25
AS98MS-N36
AS98MS-N50
Motor model
ASM66MA-N5
ASM66MA-N7.2
ASM66MA-N10
ASM66MA-N25
ASM66MA-N36
ASM66MA-N50
ASM66MC-N5
ASM66MC-N7.2
ASM66MC-N10
ASM66MC-N25
ASM66MC-N36
ASM66MC-N50
ASM66MC-N5
ASM66MC-N7.2
ASM66MC-N10
ASM66MC-N25
ASM66MC-N36
ASM66MC-N50
ASM98MA-N5
ASM98MA-N7.2
ASM98MA-N10
ASM98MA-N25
ASM98MA-N36
ASM98MA-N50
ASM98MC-N5
ASM98MC-N7.2
ASM98MC-N10
ASM98MC-N25
ASM98MC-N36
ASM98MC-N50
ASM98MC-N5
ASM98MC-N7.2
ASM98MC-N10
ASM98MC-N25
ASM98MC-N36
ASM98MC-N50
Driver model
ASD24A-A
ASD24A-A
ASD24A-A
ASD24B-A
ASD24C-A
ASD24C-A
ASD12A-C
ASD12A-C
ASD12A-C
ASD12B-C
ASD12C-C
ASD12C-C
ASD12A-S
ASD12A-S
ASD12A-S
ASD12B-S
ASD12C-S
ASD12C-S
ASD30A-A
ASD30A-A
ASD30A-A
ASD30A-A
ASD30B-A
ASD30B-A
ASD16A-C
ASD16A-C
ASD16A-C
ASD16A-C
ASD16B-C
ASD16B-C
ASD16A-S
ASD16A-S
ASD16A-S
ASD16A-S
ASD16B-S
ASD16B-S
Electromagnetic-brake type

13
Harmonic geared type
Unit model
AS66AA2-H50
AS66AA2-H100
AS66AC2-H50
AS66AC2-H100
AS66AS2-H50
AS66AS2-H100
AS66AA-H50
AS66AA-H100
AS66AC-H50
AS66AC-H100
AS66AS-H50
AS66AS-H100
AS98AA-H50
AS98AA-H100
AS98AC-H50
AS98AC-H100
AS98AS-H50
AS98AS-H100
Motor model
ASM66AA2-H50
ASM66AA2-H100
ASM66AC2-H50
ASM66AC2-H100
ASM66AC2-H50
ASM66AC2-H100
ASM66AA-H50
ASM66AA-H100
ASM66AC-H50
ASM66AC-H100
ASM66AC-H50
ASM66AC-H100
ASM98AA-H50
ASM98AA-H100
ASM98AC-H50
ASM98AC-H100
ASM98AC-H50
ASM98AC-H100
Driver model
ASD24B-A
ASD24C-A
ASD12B-C
ASD12C-C
ASD12B-S
ASD12C-S
ASD24C-A
ASD24C-A
ASD12C-C
ASD12C-C
ASD12C-S
ASD12C-S
ASD30B-A
ASD30B-A
ASD16B-C
ASD16B-C
ASD16B-S
ASD16B-S
Standard type Unit model
AS66MA2-H50
AS66MA2-H100
AS66MC2-H50
AS66MC2-H100
AS66MS2-H50
AS66MS2-H100
AS66MA-H50
AS66MA-H100
AS66MC-H50
AS66MC-H100
AS66MS-H50
AS66MS-H100
AS98MA-H50
AS98MA-H100
AS98MC-H50
AS98MC-H100
AS98MS-H50
AS98MS-H100
Motor model
ASM66MA2-H50
ASM66MA2-H100
ASM66MC2-H50
ASM66MC2-H100
ASM66MC2-H50
ASM66MC2-H100
ASM66MA-H50
ASM66MA-H100
ASM66MC-H50
ASM66MC-H100
ASM66MC-H50
ASM66MC-H100
ASM98MA-H50
ASM98MA-H100
ASM98MC-H50
ASM98MC-H100
ASM98MC-H50
ASM98MC-H100
Driver model
ASD24B-A
ASD24C-A
ASD12B-C
ASD12C-C
ASD12B-S
ASD12C-S
ASD24C-A
ASD24C-A
ASD12C-C
ASD12C-C
ASD12C-S
ASD12C-S
ASD30B-A
ASD30B-A
ASD16B-C
ASD16B-C
ASD16B-S
ASD16B-S
Electromagnetic-brake type
Round shaft type
Unit model
AS66AA
AS69AA
AS66AC
AS69AC
AS66AS
AS69AS
AS98AA
AS911AA
AS98AC
AS911AC
AS98AS
AS911AS
Motor model
ASM66AA
ASM69AA
ASM66AC
ASM69AC
ASM66AC
ASM69AC
ASM98AA
ASM911AA
ASM98AC
ASM911AC
ASM98AC
ASM911AC
Driver model
ASD24A-A
ASD30D-A
ASD12A-C
ASD16D-C
ASD12A-S
ASD16D-S
ASD30A-A
ASD30E-A
ASD16A-C
ASD20A-C
ASD16A-S
ASD20A-S
Standard type Unit model
AS66MA
AS69MA
AS66MC
AS69MC
AS66MS
AS69MS
AS98MA
AS98MC
AS98MS
Motor model
ASM66MA
ASM69MA
ASM66MC
ASM69MC
ASM66MC
ASM69MC
ASM98MA
ASM98MC
ASM98MC
Driver model
ASD24A-A
ASD30D-A
ASD12A-C
ASD16D-C
ASD12A-S
ASD16D-S
ASD30A-A
ASD16A-C
ASD16A-S
Electromagnetic-brake type

14
Pilot
Mounting holes (four locations) [P.16]
Output shaft
Motor cable [P.31,32]
Electromagnetic brake [motor with an electromagnetic brake] [P.32,41]
Non-excitation operation electromagnetic brake (24VDC input)
Names and functions of parts
This section covers the names and functions of parts in the motor and driver.
For further details on each part, refer to the page shown in the square bracket.
Motor
Varistor
8F
5
C
‑
5
A
‑
3
An accessory supplied with the motor with an electromagnetic brake.
Be sure to connect the varistor when wiring the electromagnetic brake.

15
OPERATION
ALARM
CN1
CN2
CN3
MOTOR
CURRENT
L
100-
115V
N
~
CN4
IO
/
V.FIL
1 2 3 4
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
1P
X1
1000 500
X10
2P
ASD24A-A
VEXTA
Resolution selection switches [P.43]
Use these two switches to select the motor resolution.
1000/500: Switches motor resolution between 1000 P/R
"0.36˚/pulse" or 500 P/R "0.72˚//pulse."
×1/ ×10: Switches motor resolution between multipliers 1 and
10 of the value set by the 1000/500 switch.
The factory setting is "1000: 1000 P/R" and "×1:Multiplier 1."
Be sure to switch to "×1" when the resolution switching input
"CN4 Pin No. 31, 32: ×10" is used.

Pulse-input mode selection switch [P.44]
Allows for the selection of 2-pulse input mode or 1-pulse input
mode in accordance with the pulse-output mode in the
positioning controller.
The factory setting is "2P: 2-Pulse Input Mode."
Front side of driver
Not used (CN1)
Motor connector (CN2)
[P.31,32] 
Connect the motor cable's
connector.
Regeneration unit
connector (CN3)
Control input/output connectors (CN4) [P.25,26,27,33,34,35]
Used to connect to the motor-positioning control and others.
Power supply terminal
[P.28,29,30]
Connect the power-supply
cable.
OPERATION (green)
Lit when the power is on.

ALARM (Red) [P.46]
This alarm blinks when a protective function is triggered and
the ALARM output turns "OFF."
Count the number of blinks to ascertain the cause of triggering
of the protective function.
Current setting switch [P.44]
Sets the motor's operating current.
If there is extra torque, the current may be set to a lower level
in order to suppress increases in motor temperature.
The factory setting is "F: Driver's maximum output-current value."

Speed-filter selection switch [P.45]
Sets the time constant for the filter that determines motor response.
A longer time constant will smooth out the motor's rotation but
render the setting time longer at motor standstill.
The factory setting is "6: 1.20 ms."
Protective earth terminal [P.33]
Used for grounding via a
grounding cable of AWG18
(0.75 mm2) or more.

Rear side of driver
Mounting holes for the driver
mounting brackets
(M3, four locations) [P.19] Mounting holes for the DIN rail
mounting plate
(M3, three locations) [P.21]
•Driver power-supply terminal
Single-phase 100-115 V •
Driver power-supply terminal
Single-phase 200-230 V •
Driver power-supply terminal
Three-phase 200-230 V
L1
L2
L3
L
100-
115V
N
~
L
200-
230V
N
~
Driver

16
Hexagonal nut
Mounting plate
Spring washer
Spot facing or through hole for pilot
Hexagonal socket
screw
Note
Insert the pilot located on the
motor’s installation surface into
the mounting plate’s countersunk
or through hole.
Installation
This section covers the environment and method of installing the motor and driver, along with
load installation.
Also covered in this section are the installation and wiring methods that are in compliance with
the relevant EMC directives (89/336/EEC, 92/31/EEC).
Location for installation
The motor and driver are designed and manufactured for installation in equipment.
Install them in a well-ventilated location that provides easy access for inspection. The location
must also satisfy the following conditions:
• Inside an enclosure that is installed indoors (provide vent holes)
• Operating ambient temperature Motor: 0°C to +50°C (+32°F to +122°F) (non-freezing)
Harmonic geared type: 0°C to +40°C (+32°F to +104°F)
(non-freezing)
Driver: 0°C to +50°C (+32°F to +122°F) (non-freezing)
• Operating ambient humidity 85%, maximum (no condensation)
• Area that is free from an explosive nature or toxic gas (such as sulfuric gas) or liquid
• Area not exposed to direct sun
• Area free of excessive amount dust, iron particles or the like
• Area not subject to splashing water (storms, 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 or lower above sea level
Installing the motor


How to install the motor
Install the motor onto an appropriate flat metal plate having excellent vibration resistance and
heat conductivity.
When installing the motor, secure it with four bolts (not supplied) through the four mounting
holes provided. Leave no gap between the motor and plate.
•Types of installation
A B
Motor type
TH geared
PL geared
PN geared
Harmonic geared
AS66A2,AS66M2
Harmonic geared
AS66A,AS98A
Round shaft
Bolt size
M4
M8
M5
M8
M5
M8
M4
M6
Tightening torque
2 N·m (277 oz-in)
4 N·m (554 oz-in)
2.5 N·m (346 oz-in)
4 N·m (554 oz-in)
2.5 N·m (346 oz-in)
4 N·m (554 oz-in)
2 N·m (277 oz-in)
3 N·m (415 oz-in)
Effective depth of bolt
8 mm (0.315 in.)
15 mm (0.591 in.)
10 mm (0.394 in.)
15 mm (0.591 in.)
-
-
-
-
Types of
installation
A
A
B
B
Frame size
60 mm (2.36 in.)
90 mm (3.54 in.)
60 mm (2.36 in.)
90 mm (3.54 in.)
60 mm (2.36 in.)
90 mm (3.54 in.)
60 mm (2.36 in.)
85 mm (3.35 in.)
Hexagonal socket screw Mounting plate
Spot facing or through hole for pilot
Spring washer

17
Note
• When coupling the load to the
motor, pay attention to the
centering of the shafts, belt
tension, parallelism of the
pulleys, and so on.
Securely tighten the coupling
and pulley set screws.
• Be careful not to damage the
output shaft or the bearings
when installing a coupling or
pulley to the motor’s output
shaft.
• Do not modify or machine the
motor’s output shaft. Doing so
may damage the bearings and
destroy the motor.
Installing a load
When connecting a load to the motor, align the centers of the motor’s output shaft and load
shaft.
Optional flexible couplings are available (sold separately).


Direct coupling
Align the centers of the motor’s output shaft and load shaft in a straight line.


Using a belt drive
Align the motor’s output shaft and load shaft 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’s output shaft and gear shaft in parallel with each other, and let the gears mesh
at the center of the tooth widths.


Using a geared motor
With a geared motor, to connect a load to the gear output shaft having a key groove, first
provide a key groove on the load and fix the load with the gear output shaft using the supplied
key.

18
Note
Failure due to fatigue may occur
if the motor’s bearings and
output shaft are subject to
repeated loading by an overhung
or thrust load that is in excess of
the permissible limit.
Overhung load and thrust load
The overhung load on the motor’s output shaft or gear output shaft must be kept within the
permissible values listed below.
The thrust load must not exceed the motor’s mass.
• The square box in the unit type will contain a value representing the gear ratio.
∗Calculate half the motor’s mass for this value.
Frame
size
60 mm
(2.36 in.)
85 mm
(3.35 in.)
90 mm
(3.54 in.)
Unit type
AS66-T
AS66-P5
AS66-P7.2
AS66-P10
AS66-P25
AS66-P36
AS66-P50
AS66-N5
AS66-N7.2
AS66-N10
AS66-N25
AS66-N36
AS66-N50
AS66A2-H
AS66M2-H
AS66-H
AS66
AS69
AS98
AS911
AS98-T
AS98-P5
AS98-P7.2
AS98-P10
AS98-P25
AS98-P36
AS98-P50
AS98-N5
AS98-N7.2
AS98-N10
AS98-N25
AS98-N36
AS98-N50
AS98-H
0 (0)
70 (15.7)
200 (45)
250 (56)
330 (74)
200 (45)
250 (56)
330 (74)
320 (72)
300 (67)
63 (14.1)
260 (58)
220 (49)
480 (108)
850 (191)
930 (200)
1050 (230)
480 (108)
480 (108)
850 (191)
930 (200)
1050 (230)
1090 (240)
Overhung load [N (lb.)]
Distance from the tip of motor’s output shaft [mm (inch)]
5 (0.2)
80 (18)
220 (49)
270 (60)
360 (81)
220 (49)
270 (60)
360 (81)
370 (83)
330 (74)
75 (16.8)
290 (65)
250 (56)
540 (121)
940 (210)
1030 (230)
1160 (260)
520 (117)
540 (121)
940 (210)
1030 (230)
1160 (260)
1150 (250)
10 (0.39)
100 (22)
250 (56)
300 (67)
400 (90)
250 (56)
300 (67)
400 (90)
440 (99)
370 (83)
95 (21)
340 (76)
300 (67)
600 (135)
1050 (230)
1150 (250)
1300 (290)
550 (123)
600 (135)
1050 (230)
1150 (250)
1300 (290)
1230 (270)
15 (0.59)
120 (27)
280 (63)
340 (76)
450 (101)
280 (63)
340 (76)
450 (101)
550 (123)
420 (94)
130 (29)
390 (87)
350 (78)
680 (153)
1190 (260)
1310 (290)
1480 (330)
580 (130)
680 (153)
1110 (240)
1220 (270)
1380 (310)
1310 (290)
20 (0.79)
150 (33)
320 (72)
390 (87)
520 (117)
320 (72)
390 (87)
520 (117)
720 (162)
480 (108)
190 (42)
480 (108)
400 (90)
790 (177)
1380 (310)
1520 (340)
1710 (380)
620 (139)
790 (177)
1190 (260)
1300 (290)
1490 (330)
1410 (310)
Thrust
load
[N (lb.)]
40 (9)
100 (22)
470 (105)
400 (90)
∗
∗
100 (22)
300 (67)
1300 (290)

19
Note
• Install the driver in an enclosure.
• Do not install any equipment
that generates a large amount
of heat near the driver.
• Check ventilation if the ambient
temperature of the driver
exceeds 50°C (122°F).
Installing the driver


Orientation
The driver is designed so that heat is dissipated via air convection and conduction through the
enclosure.
When installing the driver in an enclosure, it must be placed in perpendicular (vertical)
orientation using a DIN rail or driver mounting brackets.


How to install the driver
Install the driver on a flat metal plate having excellent vibration resistance and heat
conductivity.
In the presence of a great amount of vibration, do not use a DIN rail. Screw down the driver
directly through the use of driver mounting brackets.
If a DIN rail is to be used, use a DIN rail mounting plate (sold separately).


Using driver mounting brackets
1.Attaching the driver mounting brackets
OPERATION
ALARM
CN1
CN2
MOTOR
CURRENT
V.FIL
CN3
CN4
I/O
1000
ASD24A-A
X1
1P
500
X10
2P
M4 (not supplied)
VEXTA
Install the driver by securing it with four bolts (M4, not supplied) through the four mounting holes
provided. Leave no gap between the driver and plate.
Attach the driver mounting brackets to the four mounting holes provided in the back of the
driver, using optional screws for the driver mounting brackets (M3, four pieces).
2.Installing the driver
Screws for driver mounting brackets M3 (provided)
Mounting brackets (two pieces)
Mounting holes for the driver
mounting brackets (M3, four locations)
Note
• Do not use the mounting holes
(M3, four locations) for the driver
mounting brackets provided on
the back of the driver for any
purpose other than securing the
driver mounting brackets.
• Be sure to use the supplied
screws when securing the driver
mounting brackets.

20
20 mm (0.79 in.) minimum
25 mm (0.98 in.) minimum
25 mm (0.98 in.)
180 mm
(7.09 in.)
OPERATION
ALARM
CN1
CN2
CN3
MOTOR
CURRENT
L
100-
115V
N~
CN4
IO
/
V.FIL
1 2 3 4
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
1P
X1
1000 500
X10
2P
OPERATION
ALARM
CN1
CN2
CN3
MOTOR
CURRENT
L
100-
115V
N~
CN4
IO
/
V.FIL
1 2 3 4
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
1P
X1
1000 500
X10
2P
ASD24A-A
OPERATION
ALARM
CN1
CN2
CN3
MOTOR
CURRENT
L
100-
115V
N~
CN4
IO
/
V.FIL
1 2 3 4
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
1P
X1
1000 500
X10
2P
OPERATION
ALARM
CN1
CN2
CN3
MOTOR
CURRENT
L
100-
115V
N~
CN4
IO
/
V.FIL
1 2 3 4
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
1P
X1
1000 500
X10
2P
VEXTA
ASD24A-A
VEXTA
ASD24A-A
VEXTA
ASD24A-A
VEXTA
There must be a clearance of at least 25 mm (0.98 in.) in the horizontal and vertical directions,
respectively, between the driver and enclosure or other equipment within the enclosure.
When two or more drivers are to be installed side by side, provide 20 mm (0.79 in.) and 25 mm
(0.98 in.) clearances in the horizontal and vertical directions, respectively.