Oriental Motor 5-Phase Stepping Motor PK Series Op

HP-P020-3

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.

OPERATING MANUAL5-Phase Stepping Motor

PK Series

Introduction



Conduct the insulation resistance measurement or withstand voltage test

separately on the motor and the driver. Conducting the insulation

resistance measurement or withstand voltage test with the motor and driver

connected may result in injury or damage to equipment.



To prevent bodily injury, do not touch the rotating parts (output shaft) of

the motor during operation.



Immediately when trouble has occurred, stop running and turn off the

driver power. Failure to do so may result in fire or injury.



To dispose of the motor, disassemble it into parts and components as much

as possible and dispose of individual parts/components as industrial waste.



Before using the motor

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. For the power supply use a DC power supply with reinforced

insulation on its primary and secondary sides. Oriental Motor Co., Ltd. is not

responsible for any damage caused through failure to observe this warning.



Hazardous substances

Safety precautions

Checking the product

Open the package and confirm that all of the following items are available.

To verify that the unit you’ve purchased is the correct one, check the model

number shown on the nameplate. Should you find any item missing or

damaged, contact the Oriental Motor sales office where you purchased the

product.



1 pc.



Operating manual (this manual)......................1 copy

RoHS (Directive 2002/95/EC 27Jan.2003) compliant

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.

Precautions for use



Operate the motor with a surface temperature not exceeding 100 °C

(212 °F).

The motor case surface temperature may exceed 100 °C (212 °F) under

certain conditions (ambient temperature, operating speed, duty, 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).

Handling the product without observing the instructions that accompany a

“Warning” symbol may result in serious injury or death.



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 or injury.



Provide a means to hold moving parts in place for applications involving

vertical travel. The motor loses holding torque when the power is shut off,

allowing the moving parts to fall and possibly causing injury or damage to

equipment.



Install the motor in an enclosure in order to prevent injury.



Keep the input-power voltage within the specified range to avoid fire.



Connect the cables securely according to the wiring diagram in order to

prevent fire.



Do not forcibly bend or push the connector. Doing so may fire.



Do not forcibly bend, pull or pinch the cable. Doing so may fire.



For the 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.



Turn off the power in the event of a power failure, or the motor will

suddenly start when the power is restored and may cause injury or damage

to equipment.



Do not disassemble or modify the motor. This may cause injury. Refer all

such internal inspections and repairs to the branch or sales office from

which you purchased the product.



Do not apply strong physical impact to the motor’s shaft.

The motor’s shaft is equipped with an optical encoder. To prevent damage to

the encoder, when transporting the motor or connecting a load, please handle

the motor shaft carefully so as to protect it from strong impact.

Installation



Location for installation

The motor is designed and manufactured for installation in equipment. Install

it 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

–10 °C to +50 °C (+14 °F to +122 °F) (non-freezing)



Operating ambient humidity 85%, maximum (non-condensing)



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

Handling the product without observing the instructions that accompany a

“Caution” symbol may result in injury or property damage.



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.



Do not use the motor beyond its specifications, or injury or damage to

equipment may result.



Do not touch the motor during operation or immediately after stopping.

The surface is hot and may cause a burn.



Do not hold the motor output shaft or motor cable. This 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.

1

Installation method A

Metal platePermissible overhung load [N (lb.)]

Distance from tip of motor’s output shaft [mm (in.)]

0 5 10 15 20

(0) (0.2) (0.4) (0.6) (0.8)

 TH geared type

Motor type

PK523-T

Mounting holesPilot holder(countersunk or drilled through)

Installation method B

Mounting plate15 17

(3.3) (3.8)

PK543-T

10 14

(2.2) (3.1)

PK564-T

70 80

(15.7) (18)

PK596-T

220 250

(49) (56)

 PS geared, PN geared types

PK523-

45

(10.1)

109

(24)

73

(16.4)

100

(22)

330

(74)

200

(45)

250

(56)

850

(191)

850

(191)

930

(200)

930

(200)

1050

(230)

1050

(230)

480

(108)

480

(108)

480

(108)

60

(13.5)

127

(28)

84

(18.9)

120

(27)

360

(81)

220

(49)

270

(60)

940

(210)

940

(210)

1030

(230)

1030

(230)

1160

(260)

1160

(260)

540

(121)

520

(117)

540

(121)

20

(4.5)

20

(4.5)

100

(22)

300

(67)

80

(18)

150

(33)

100

(22)

150

(33)

400

(90)

250

(56)

300

(67)

1050

(230)

1050

(230)

1150

(250)

1150

(250)

1300

(290)

1300

(290)

600

(135)

550

(123)

600

(135)

23

(5.1)

30

(6.7)

120

(27)

350

(78)

100

(22)

184

(41)

123

(27)

190

(42)

450

(101)

280

(36)

340

(76)

1190

(260)

1110

(240)

1310

(290)

1220

(270)

1480

(330)

1380

(310)

680

(153)

580

(130)

680

(153)

−

−

150

(33)

400

(90)

Pilot holder(countersunk and

drilled through)−

−

−

−

520

(117)

320

(72)

390

(87)

1380

(310)

1190

(260)

1520

(340)

1300

(290)

1710

(380)

1490

(330)

790

(177)

620

(1239)

790

(177)

PK543-PS

Installation

method

PK545-PS

Motor type

Bolt

size

PK54-N

 Standard type

PK51 M2 0.25 (35) 2.5 (0.098) PK564-25

PK564-36

A

PK52 M2.5 0.5 (71) 2.5 (0.098)

PK564-50

PK54 M3 1 (142) 4.5 (0.177)

PK56 M4 2 (280)

PK566-5

− B

PK59 M5 3 (420)

PK566-PS7

 TH geared type

PK566-N7.2

PK523-T M2.5 0.5 (71) 4 (0.157)

PK566-10

PK543-T

A

M4 2 (280) 8 (0.315)

PK564-T

PK596-PS25

PK596-T M8 4 (560) 15 (0.591)

 PS geared, PN geared types

PK596-N25

PK523-M3 1 (142) 6 (0.236)

PK54-M4 2 (280) 8 (0.315)

PK596-PS36

A

PK56-M5 2.5 (350) 10 (0.394)

PK59-M8 (4 (560) 15 (0.591)

PK596-N36

 Harmonic geared type

PK513-HS M2 0.25 (35) 5 (0.197)

PK596-PS50

PK523-HS M3 1 (142) 6 (0.236)

A

PK543-HS M4 2 (280) 8 (0.315)

PK596-N50

PK564-HS M5 2.5 (350) 10 (0.394)

PK596-H M8 4 (560) − B

PK599-PS5

* The square box () in the motor type will contain letters and/or numbers

representing the motor length, motor type, gear type encoder model,

PK599-N5

electromagnetic brake model, terminal box model and single or double shaft

type motors.

PK599-7.2

PK599-10

Tightening

torque

[N·m (oz-in)]

Effective

depth

[mm (in.)]



Permissible overhung load and permissible 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. Please visit our website, ,

for more specific information for each motor type.

 Harmonic geared type

50 75

− − −

(11.2) (16.8)

110 135 175 250

PK523-HS

−

(24) (30) (39) (56)

180 220 270 360 510

PK543-HS

(40) (49) (60) (81) (114)

320 370 440 550 720

PK564-HS

(72) (83) (99) (123) (162)

1090 1150 1230 1310 1410

PK596-H

(240) (250) (270) (290) (310)

* The square box () in the motor type will contain letters and/or

numbers representing the motor length, motor type, gear type encoder

model, electromagnetic brake model, terminal box model and single or

double shaft type motors.

PK513-HS

Motor type

 Standard type

PK51

PK52

PK54

PK56

PK56PM

PK59

Permissible overhung load [N (lb.)]

Distance from tip of motor’s output shaft [mm (in.)]

0 5 10 15 20

(0) (0.2) (0.4) (0.6) (0.8)

12

(2.7)

25

(5.6)

20

(4.5)

63

(14.1)

90

(20)

260

(58)

15

(3.3)

34

(7.6)

25

(5.6)

75

(16.8)

100

(22)

290

(65)

−

52

(11.7)

34

(7.6)

95

(21)

130

(29)

340

(76)

−

−

52

(11.7)

130

(29)

180

(40)

390

(87)

−

−

−

190

(42)

270

(60)

480

(108)



Installing a load

When connecting a load to the motor, align the centers of the motor’s output

shaft and load shaft. Be careful not to damage the output shaft or the bearings

when installing a coupling or pulley to the motor’s output shaft.

NoteDo not apply strong impact to the motor’s shaft, since it

can damage the encoder.

2



Installing on the flange surface (Harmonic geared type)



Applicable motor connectors and cables

With a harmonic geared type, a load can be installed directly to the gear

using the load mounting holes provided on the flange surface.

Motor

type

Bolt size Number of

bolts

Tightening

Effective

torque

depth

Motor

type

Housing

(Molex)

Contact

(Molex)

Crimping

tool

(Molex)

Wire

size

PK51P

PK52P

512-810057176-5000AWG24

2(0.2mm)

PK54P PK56P

51103-0500 51144-0500

50351-8100 50539-8100

57295-5000 57189-5000

AWG22

2(0.3mm)

AWG22

2(0.3mm

[N·m (oz-in)]

[mm (in.)]

PK513 M2 3 0.35 (49) 3 (0.118)

PK523 M3 4 1.4 (198) 4 (0.157)

PK543 M3 6 1.4 (198) 5 (0.2)

PK564 M4 6 2.5 (350) 6 (0.24)

PK596 n/a

Note

 When installing a load on the flange surface, the load

cannot be affixed using the key groove 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.



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

Motor Permissible moment loadtype [N·m (oz-in)]

PK513 0.7 (99)

PK523 2.9 (410)

PK543 5.6 (790)

PK564 11.6 (1640)

PK596 n/a

Connection



Wiring diagram for 5-phase stepping motors

Wiring diagram Pin assignments for motors with connectors



Connector pin assignments for motor’s with a connector

Pin Number Description

1 Blue Motor Lead

2 Red Motor Lead

3 Orange Motor Lead

4 Green Motor Lead

5 Black Motor Lead

For connector type motors, use the supplied motor cable. If you are using the

connector set or when you are providing your own connector or cable,

connect based on the pin numbers shown. The applicable connectors and the

cables are as follows.

Note Secure the motor connector cable in place so that the

connection won’t be subjected to stress induced by a

bent cable or the cable’s own mass. The cable’s radius

of curvature should be as large as possible.

 When removing the motor cable, pull it out horizontally

toward the output shaft. The motor may be damaged if

force is applied in any other direction. The motor cable

(both supplied and sold separately) employs a

connector with a lock. When removing this type of cable,

release the connector lock first. Forcibly pulling out the

cable without releasing the connector lock may damage

the motor.

Encoder specifications

Note Use the encoder motor within the encoder motors’

specifications.

 The encoder specifications are designed to guarantee

operation based on a response frequency of 100 kHz.

However, the encoder can be operated at a minimum

response frequency of 100 kHz

The following characteristic values assume operation under the recommended

operating conditions:



TTL output type encoders

Item Value

Encoder

type

Incremental

Resolution

(P/R)

500 1000

Number of 2 3 2 3

Channels (PK-R17)(PK-R27) (PK-R18) (PK-R28)

Output typeA, B A, B, Index A, B A, B, Index

Supplied

voltage (V)

5.0

Supply

current

17 (typ.) 57 (typ.) 17 (typ.) 57 (typ.)

(mA)

Output typeTTL (Low: ≤0.4V, High: ≥2.0V)

Response

frequency 100 (max)

(kHz)



Connector pin assignments for TTL output type encoder

Pin Number Signal

1 GND

2 Index

3 Channel A

4 +5VDC

5 Channel B

3



Applicable TTL output type encoder connectors and

cables



Differential (Line driver) output type waveform

Part Manufacturer Model Number

Housing Molex

Contact Molex

50-57-9405

16-02-0104

2Cable

AWG24 to 22 (0.33 to 0.2 mm)

Cable outer diameter

Ø1.09 to 1.65 mm (0.043 to 0.065 in.)

Cable Strip length

2.54 to 3.17 mm (0.1 to 0.125 in.)

Oriental Motor

LCR04060A (2 channel)

LCR05060A (3 channel)

X1+X2 = T/2 ±T/12

X3+X4 = T/2 ±T/12

Xn = T/4 ±T/12

T1= T/4 ±T/12

Optional

Preassembled

Cables



TTL type output waveform

Inspection

It is recommended that periodic inspections be conducted for the items listed

below after each operation of the motor. If an abnormal condition is noted,

discontinue any use and contact your nearest office.



Check for any unusual noises in the motor’s bearings (ball bearings) or

other moving parts.



Are there any loose connector connections, or any scratches or signs of



Differential (Line driver) output type encoders

stress in the motor cable?



Are the motor’s output shaft and load shaft out of alignment?

Item Value

Encoder type Incremental



Unauthorized reproduction or copying of all or part of this manual is

500 (PK-R27L)

prohibited.

Resolution (P/R)

1000 (PKM-R28L)



Oriental Motor shall not be liable whatsoever for any problems relating

Output type 3 Channels: A, B, Index

to industrial property rights arising from use of any information, circuit,

Supplied voltage (V) 5.0

equipment or device provided or referenced in this manual.

Supply current (mA) 58 (typ.)



Characteristics, specifications and dimensions are subject to change

Output type Differential (Low: ≤0.4V, High: ≥2.0V)

without notice.

Response frequency



While we make every effort to offer accurate information in the

100 (max)

(kHz)

manual, we welcome your input. Should you find unclear descriptions,

errors or omissions, please contact the nearest sales office.



Connector pin assignments for Differential (line driver)output type



is a registered trademark or trademark of Oriental

encoder

Motor Co., Ltd., in Japan and other countries.

Pin Number Signal

Pin Number Signal

© Copyright ORIENTAL MOTOR USA CORP., 2011

1

N/C 6 Channel A +

2

+5VDC 7 Channel B -

3

4

5

GND

Channel A -

8 Channel B +

N/C 9 Index -

10 Index +



Applicable Differential output type encoder connectors

and cables

Interim clip Molex 15-04-5104

Part Manufacturer Model Number

Housing Molex

Contact Molex

50-57-9305

16-02-0104

2Cable

AWG24 to 22 (0.33 to 0.2 mm)

Cable outer diameter

Ø1.09 to 1.65 mm (0.043 to 0.065 in.)

Cable Strip length

2.54 to 3.17 mm (0.1 to 0.125 in.)

Oriental Motor LCR09060A (3 channel)

Optional

Preassembled

Cables

4