Oriental motor CRK Series User manual

Thank you for purchasing an Oriental Motor product.

This Manual describes product handling procedures and safety precautions.

•Please read it thoroughly to ensure safe operation.

•Always keep the manual where it is readily available.

HP-4189-10

1 Introduction ...................................2

2 Safety precautions ........................4

3 Precautions for use........................6

4 Preparation.....................................8

5 Installation................................... 15

6 Connection .................................. 24

7 Setting .......................................... 38

8 Inspection .................................... 45

9 Troubleshooting and

remedial actions ......................... 46

10 Accessories (sold separately) ... 49

5-Phase Stepping Motor and Driver package

CRK Series

OPERATING MANUAL

Introduction

1 Introduction

Before using the product

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 driver’s 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.

Overview of the product

The CRK series is a motor and driver package product comprised of an open-case microstep

driver equipped with smooth drive function and a ve-phase stepping motor or various

geared motors designed for high torque and low vibration. The smooth drive function allows

microstep drive to be performed automatically within the driver without having to change

the pulse setting, thereby enabling low vibration, low noise operation.

Standards and CE Marking

This product is recognized by UL and bears the CE Marking (EMC Directive) in compliance with

the EN Standards.

zApplicable Standards

Motor

Motor type [unit: mm (in.)] Applicable

Standards *6

Certication

Body

Standard

File No. CE Marking

High-resolution type UL 60950-1

CSA C22.2 No.60950-1

E208200

EMC

Directive *7

High-torque type

Standard type

TH geared type

PL geared type

PS geared type

PN geared type

Harmonic

geared type

20 (0.79) *1

ø22 (0.87) *2

28 (1.10) *3

30 (1.18) *1

60 (2.36) *4

UL 60950-1

CSA C22.2 No.60950-1 E208200

42 (1.65) UL 1004-1, UL 2111

E64199

60 (2.36) *5

UL 1004-1, UL 2111

CSA C22.2 No.77

CSA C22.2 No.100

*1 Harmonic geared type only.

*2 PS geared type only.

*3 TH geared type, PS geared type and PN geared type only.

*4 CRK566HPB only.

*5 Excluding CRK566HPB.

*6 Approval conditions for UL 60950, UL 60950-1: Class III equipment, SELV circuit, Pollution degree 2.

*7 Oriental Motor declares compliance with the EMC Directives based on motor and driver

combinations.

Introduction

Driver

Applicable Standards *1 Certication Body Standard File No. CE Marking

UL 60950-1 *2

CSA C22.2 No.60950-1 *2 UL E208200 EMC Directive *3

*1 Approval conditions for UL 60950, UL 60950-1: Class III equipment, SELV circuit, Pollution

degree 2

*2 Excluding CRD5128PB.

*3 Oriental Motor declares compliance with the EMC Directives based on motor and driver

combinations.

zLow Voltage Directive

This product is not subject to the EC’s Low Voltage Directive because its input power supply

voltage is 24 VDC. However, the user is advised to perform the following actions when

conducting product installation and connection.

•This product is designed for use within machinery, so it should be installed within an

enclosure.

•For the driver’s power supply, use a DC power supply with reinforced insulation on its

primary and secondary sides.

zEMC Directive

This product has conducted EMC testing under the conditions specied in“Example of

installation and wiring”on p.36.

The compliance with the EMC Directive of the entire equipment will vary depending on such

factors as the conguration, wiring and installation condition of other control-system devices

or electrical parts used together with this product.

Therefore, be sure to conrm the compliance of the equipment in a nished condition that all

parts including this product are installed in the equipment.

Applicable Standards

EMI EN 61000-6-4, EN 55011

EMS EN 61000-6-2

Hazardous substances

The products do not contain the substances exceeding the restriction values of RoHS Directive

(2011/65/EU).

Safety precautions

2 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

ammable gases, locations subjected to splashing water, or near combustibles. Doing so

may result in re or injury.

•Assign qualied personnel the task of installing, wiring, operating/controlling, inspecting

and troubleshooting the product. Failure to do so may result in re or injury.

•If this product is used in an elevator application, be sure to provide a measure for the

position retention of moving parts. The motor loses its holding torque when the power

supply is turned o. Failure to provide such a measure may cause the moving parts to fall,

resulting in injury or damage to the equipment.

Installation

•Install the motor and driver in their enclosures in order to prevent injury.

Connection

•Keep the driver’s power supply input voltage within the specied range to avoid re.

•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 in order to prevent re.

•Do not forcibly bend, pull or pinch the power supply cable or motor cable. Doing so may

result in re.

Operation

•Turn o the driver power supply 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 A.W.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 the equipment.

Safety precautions

Repair, disassembly and modication

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

internal inspections and repairs to the branch or sales oce from which you purchased the

product.

General

•Do not use the motor and driver beyond their specications. Doing so may result in injury

or damage to equipment.

•Keep your ngers and objects out of the openings in the motor and driver. Failure to do so

may result in re or injury.

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

surfaces are hot and may cause a skin burn(s).

•If the power supply cable or motor cable connected the driver are forcibly bent or pulled,

the driver will receive stress and may suer damage.

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 re or a skin burn(s).

•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 specied combination. An incorrect combination may

cause a re.

•Provide an emergency stop device or emergency stop circuit external to the equipment

so that the entire equipment will operate safely in the event of a system failure or

malfunction. Failure to do so may result in injury.

•Before supplying power to the driver, turn all input signals to the driver to OFF. Otherwise,

the motor may start suddenly and cause injury or damage to equipment.

•Do not touch the rotating parts (output shaft) of the motor during operation. This may

cause injury.

•Before moving the motor output shaft directly with the hands (as in the case of manual

positioning), conrm that the driver A.W.OFF input is ON to prevent injury.

•Immediately when trouble has occurred, stop running and turn o the driver power

supply. Failure to do so may result in re or injury.

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.

Precautions for use

3 Precautions for use

This section covers limitations and requirements the user should consider when using the

CRK series.

zConduct 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.

zDo not apply an radial load and axial load in excess of the specied permissible

limit.

Be sure to operate the motor within the specied permissible limit of radial load and axial

load. Operating it under an excessive radial load and axial load may damage the motor

bearings (ball bearings). See p.18 for details.

zMotor case temperature

The motor casing’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).

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.

zHolding torque at standstill

The holding torque is reduced by the current cutback function of the driver at motor standstill.

When selecting a motor, check the holding torque at motor standstill in the specications on

the catalog.

zNoise measures

Refer to p.34 for the noise measures.

zMaximum torque of geared type motor

Always operate geared types with loads not exceeding their maximum torque. If a geared

type is operated with a load exceeding the maximum torque, the gear will be damaged.

Precautions for use

zRotating direction of the gear output shaft

The relationship between the rotating direction of the motor shaft and that of the gear output

shaft changes as follows, depending on the gear type and gear ratio.

Gear type Gear ratio

Rotating direction

(Relative to the motor rotation direction)

Motor size [mm (in.)]

20 (0.79)

ø22 (0.87)

28 (1.10)

30 (1.18) 42 (1.65) 60 (2.36)

TH gear

3.6

7.2

−Opposite

direction Same direction

30 −Same

direction Opposite direction

PL gear

PS gear

PN gear

All gear

ratio

Same direction

Harmonic gear Opposite direction

zGrease of geared motor

On rare occasions, a small amount of grease may ooze out from the geared motor.

If there is concern over possible environmental damage resulting from the leakage of grease,

check for grease stains during regular inspections. Alternatively, install an oil pan or other

device to prevent leakage from causing further damage. Oil leakage may lead to problems in

the customer’s equipment or products.

zRegeneration

When a large inertial load is operated at high speed, regenerative energy will generate and

increase the power supply voltage, which can damage the driver. Review the operating

condition and make sure regenerative voltage will not generate.

Preparation

4 Preparation

This section covers the points to be checked along with the names and functions of the

respective parts.

4-1 Checking the product

Verify that the items listed below are included.

Report any missing or damaged items to the branch or sales oce from which you purchased

the product. See “4-2 Combinations of motors and drivers”on p.9 for the motor and driver

combinations.

•Motor .........................................................1 unit

•Driver .........................................................1 unit

•Connector leads 0.6 m (2 ft.) .............1 pc.

(Connector leads are supplied only with the connector coupled type motor and driver

package products.)

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

•Connector housing/contact..............1 set (packed in a bag)

Manufacturer: Molex Incorporated

Model Connector Housing Contact

CRD5103PB

CRD5107PB

CRD5107HPB

CRD5114PB

CRD5103P

CRD5107P

CRD5107HP

CRD5114P

For power supply 1 pc.

51103-0200 (2 poles)

19 pcs.

50351-8100

For I/O signals 1 pc.

51103-1200 (12 poles)

For motor 1 pc.

51103-0500 (5 poles)

CRD5128PB

For power supply 1 pc.

51067-0200 (2 poles)

2 pcs.

50217-9101

For I/O signals 1 pc.

51103-1200 (12 poles)

12 pcs.

50351-8100

For motor 1 pc.

51067-0500 (5 poles)

5 pcs.

50217-9101

When removing the driver from the conductive protection bag, make sure your

hands are not charged with static electricity. This is to prevent damage to the

driver due to static electricity.

Preparation

4-2 Combinations of motors and drivers

•indicates A(single shaft) or B(double shaft).

•represents a number indicating the gear ratio.

High-resolution type

Model Motor model Driver model

CRK523PMPPK523PMCRD5103P

CRK523PMPB CRD5103PB

CRK523HPMPPK523HPMCRD5107HP

CRK523HPMPB CRD5107HPB

CRK524PMPPK524PMCRD5103P

CRK524PMPB CRD5103PB

CRK524HPMPPK524HPMCRD5107HP

CRK524HPMPB CRD5107HPB

CRK525PMPPK525PMCRD5103P

CRK525PMPB CRD5103PB

CRK525HPMPPK525HPMCRD5107HP

CRK525HPMPB CRD5107HPB

CRK544PMPPK544PMCRD5107P

CRK544PMPB CRD5107PB

CRK546PMPPK546PMCRD5107P

CRK546PMPB CRD5107PB

CRK564PMPPK564PMCRD5114P

CRK564PMPB CRD5114PB

CRK566PMPPK566PMCRD5114P

CRK566PMPB CRD5114PB

CRK569PMPPK569PMCRD5114P

CRK569PMPB CRD5114PB

Preparation

High-torque type

Model Motor model Driver model

CRK513PPPK513PCRD5103P

CRK513PPB CRD5103PB

CRK523PPPK523PCRD5103P

CRK523PPB CRD5103PB

CRK523HPPPK523HPCRD5107HP

CRK523HPPB CRD5107HPB

CRK525PPPK525PCRD5103P

CRK525PPB CRD5103PB

CRK525HPPPK525HPCRD5107HP

CRK525HPPB CRD5107HPB

CRK544PPPK544PCRD5107P

CRK544PPB CRD5107PB

CRK546PPPK546PCRD5107P

CRK546PPB CRD5107PB

Standard type

Model Motor model Driver model

CRK543PPK543NWCRD5107P

CRK543PB CRD5107PB

CRK544PPK544NWCRD5107P

CRK544PB CRD5107PB

CRK545PPK545NWCRD5107P

CRK545PB CRD5107PB

CRK564PPK564NWCRD5114P

CRK564PB CRD5114PB

CRK566PPK566NWCRD5114P

CRK566PB CRD5114PB

CRK566HPB PK566HNW CRD5128PB

CRK569PPK569NWCRD5114P

CRK569PB CRD5114PB

CRK569HPB PK569HNW CRD5128PB

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