HP-P020-3

OPERATING MANUAL Thank you for purchasing an Oriental Motor product.

5-Phase Stepping Motor This Operating Manual describes product handling procedures and
safety precautions.
PK Series  Please read it thoroughly to ensure safe operation.
 Always keep the manual where it is readily available.

Introduction  Conduct the insulation resistance measurement or withstand voltage test

separately on the motor and the driver. Conducting the insulation
 Before using the motor resistance measurement or withstand voltage test with the motor and driver
Only qualified personnel should work with the product. connected may result in injury or damage to equipment.
Use the product correctly after thoroughly reading the section “Safety  To prevent bodily injury, do not touch the rotating parts (output shaft) of
precautions”. the motor during operation.
The product described in this manual has been designed and manufactured  Immediately when trouble has occurred, stop running and turn off the
for use in general industrial machinery, and must not be used for any other driver power. Failure to do so may result in fire or injury.
purpose. For the power supply use a DC power supply with reinforced  To dispose of the motor, disassemble it into parts and components as much
insulation on its primary and secondary sides. Oriental Motor Co., Ltd. is not as possible and dispose of individual parts/components as industrial waste.
responsible for any damage caused through failure to observe this warning.
Checking the product
 Hazardous substances Open the package and confirm that all of the following items are available.
RoHS (Directive 2002/95/EC 27Jan.2003) compliant 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
Safety precautions
damaged, contact the Oriental Motor sales office where you purchased the
The precautions described below are intended to prevent danger or injury to product.
the user and other personnel through safe, correct use of the product. Use the  Motor ............................................................... 1 pc.
product only after carefully reading and fully understanding these  Operating manual (this manual)...................... 1 copy
instructions.
Precautions for use
 Operate the motor with a surface temperature not exceeding 100 °C
Handling the product without observing the instructions that accompany a (212 °F).
“Warning” symbol may result in serious injury or death. The motor case surface temperature may exceed 100 °C (212 °F) under
certain conditions (ambient temperature, operating speed, duty, etc.).
 Do not use the product in explosive or corrosive environments, in the Keeping the surface temperature of the motor casing below 100 °C (212 °F)
presence of flammable gases, locations subjected to splashing water, or will also maximize the life of the motor bearings (ball bearings).
near combustibles. Doing so may result in fire or injury.
 Assign qualified personnel the task of installing, wiring,  Do not apply strong physical impact to the motor’s shaft.
operating/controlling, inspecting and troubleshooting the product. Failure The motor’s shaft is equipped with an optical encoder. To prevent damage to
to do so may result in fire or injury. the encoder, when transporting the motor or connecting a load, please handle
 Provide a means to hold moving parts in place for applications involving the motor shaft carefully so as to protect it from strong impact.
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 Installation
equipment.
 Install the motor in an enclosure in order to prevent injury.  Location for installation
 Keep the input-power voltage within the specified range to avoid fire. The motor is designed and manufactured for installation in equipment. Install
 Connect the cables securely according to the wiring diagram in order to it in a well-ventilated location that provides easy access for inspection. The
prevent fire. location must also satisfy the following conditions:
 Do not forcibly bend or push the connector. Doing so may fire.  Inside an enclosure that is installed indoors (provide vent holes)
 Do not forcibly bend, pull or pinch the cable. Doing so may fire.  Operating ambient temperature
 For the power supply use a DC power supply with reinforced insulation on –10 °C to +50 °C (+14 °F to +122 °F) (non-freezing)
its primary and secondary sides. Failure to do so may result in electric  Operating ambient humidity 85%, maximum (non-condensing)
shock.  Area that is free from an explosive nature or toxic gas (such as sulfuric
 Turn off the power in the event of a power failure, or the motor will gas) or liquid
suddenly start when the power is restored and may cause injury or damage  Area not exposed to direct sun
to equipment.  Area free of excessive amount dust, iron particles or the like
 Do not disassemble or modify the motor. This may cause injury. Refer all  Area not subject to splashing water (storms, water droplets), oil (oil
such internal inspections and repairs to the branch or sales office from droplets) or other liquids
which you purchased the product.  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
 Do not use the motor beyond its specifications, or injury or damage to
vibration resistance and heat conductivity. When installing the motor, secure
equipment may result.
it with four bolts (not supplied) through the four mounting holes provided.
 Do not touch the motor during operation or immediately after stopping.
Leave no gap between the motor and plate.
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 Permissible overhung load [N (lb.)]

Motor type Distance from tip of motor’s output shaft [mm (in.)]
Metal plate
0 5 10 15 20
(0) (0.2) (0.4) (0.6) (0.8)
 TH geared type
Pilot holder
PK523-T 15 17 20 23
(countersunk or −
drilled through)
Mounting holes
(3.3) (3.8) (4.5) (5.1)
PK543-T 10 14 20 30
−
(2.2) (3.1) (4.5) (6.7)
Installation method B
PK564-T 70 80 100 120 150
Mounting plate (15.7) (18) (22) (27) (33)
PK596-T 220 250 300 350 400
(49) (56) (67) (78) (90)
 PS geared, PN geared types
45 60 80 100
Pilot holder PK523- −
(countersunk and (10.1) (13.5) (18) (22)
drilled through)
109 127 150 184
PK543-PS −
(24) (28) (33) (41)
Tightening Effective 73 84 100 123
Bolt Installation PK545-PS −
Motor type torque depth (16.4) (18.9) (22) (27)
size method
[N·m (oz-in)] [mm (in.)] 100 120 150 190
PK54-N −
 Standard type (22) (27) (33) (42)
PK51 M2 0.25 (35) 2.5 (0.098) PK564-25
330 360 400 450 520
PK52 M2.5 0.5 (71) 2.5 (0.098) A PK564-36
(74) (81) (90) (101) (117)
PK54 M3 1 (142) 4.5 (0.177) PK564-50
PK56 M4 2 (280) 200 220 250 280 320
− B PK566-5
PK59 M5 3 (420) (45) (49) (56) (36) (72)
 TH geared type PK566-PS7
250 270 300 340 390
PK523-T M2.5 0.5 (71) 4 (0.157) PK566-N7.2
(56) (60) (67) (76) (87)
PK543-T PK566-10
M4 2 (280) 8 (0.315) A 850 940 1050 1190 1380
PK564-T PK596-PS25
PK596-T M8 4 (560) 15 (0.591) (191) (210) (230) (260) (310)
 PS geared, PN geared types 850 940 1050 1110 1190
PK596-N25
PK523- M3 1 (142) 6 (0.236) (191) (210) (230) (240) (260)
PK54- M4 2 (280) 8 (0.315) 930 1030 1150 1310 1520
A PK596-PS36
PK56- M5 2.5 (350) 10 (0.394) (200) (230) (250) (290) (340)
PK59- M8 (4 (560) 15 (0.591) 930 1030 1150 1220 1300
PK596-N36
 Harmonic geared type (200) (230) (250) (270) (290)
PK513-HS M2 0.25 (35) 5 (0.197) 1050 1160 1300 1480 1710
PK596-PS50
PK523-HS M3 1 (142) 6 (0.236) (230) (260) (290) (330) (380)
A 1050 1160 1300 1380 1490
PK543-HS M4 2 (280) 8 (0.315) PK596-N50
PK564-HS M5 2.5 (350) 10 (0.394) (230) (260) (290) (310) (330)
PK596-H M8 4 (560) − B 480 540 600 680 790
PK599-PS5
* The square box () in the motor type will contain letters and/or numbers (108) (121) (135) (153) (177)
representing the motor length, motor type, gear type encoder model, 480 520 550 580 620
PK599-N5
electromagnetic brake model, terminal box model and single or double shaft (108) (117) (123) (130) (1239)
type motors. PK599-7.2 480 540 600 680 790
PK599-10 (108) (121) (135) (153) (177)
 Permissible overhung load and permissible thrust load
The overhung load on the motor’s output shaft or gear output shaft must be  Harmonic geared type
kept within the permissible values listed below. The thrust load must not 50 75
PK513-HS − − −
exceed the motor’s mass. Please visit our website, www.orientalmotor.com, (11.2) (16.8)
for more specific information for each motor type. 110 135 175 250
PK523-HS −
Permissible overhung load [N (lb.)] (24) (30) (39) (56)
Distance from tip of motor’s output shaft [mm (in.)] 180 220 270 360 510
Motor type PK543-HS
0 5 10 15 20 (40) (49) (60) (81) (114)
(0) (0.2) (0.4) (0.6) (0.8) 320 370 440 550 720
PK564-HS
 Standard type (72) (83) (99) (123) (162)
12 15 1090 1150 1230 1310 1410
PK51 − − − PK596-H
(2.7) (3.3) (240) (250) (270) (290) (310)
25 34 52 * The square box () in the motor type will contain letters and/or
PK52 − − numbers representing the motor length, motor type, gear type encoder
(5.6) (7.6) (11.7)
20 25 34 52 model, electromagnetic brake model, terminal box model and single or
PK54 − double shaft type motors.
(4.5) (5.6) (7.6) (11.7)
63 75 95 130 190
PK56
(14.1) (16.8) (21) (29) (42)
 Installing a load
When connecting a load to the motor, align the centers of the motor’s output
90 100 130 180 270
PK56PM shaft and load shaft. Be careful not to damage the output shaft or the bearings
(20) (22) (29) (40) (60)
when installing a coupling or pulley to the motor’s output shaft.
260 290 340 390 480
PK59
(58) (65) (76) (87) (108) Note Do 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
Motor PK51P
using the load mounting holes provided on the flange surface. PK54P PK56P
type PK52P
Housing
51065-0500 51103-0500 51144-0500
(Molex)
Contact
50212-8100 50351-8100 50539-8100
(Molex)
Crimping
tool 57176-5000 57295-5000 57189-5000
(Molex)
Wire AWG24 AWG22 AWG22
Motor Bolt size Number of Tightening Effective size
2
(0.2mm )
2
(0.3mm ) (0.3mm
2

type bolts torque depth

[N·m (oz-in)] [mm (in.)]
Note  Secure the motor connector cable in place so that the
PK513 M2 3 0.35 (49) 3 (0.118)
connection won’t be subjected to stress induced by a
PK523 M3 4 1.4 (198) 4 (0.157)
bent cable or the cable’s own mass. The cable’s radius
PK543 M3 6 1.4 (198) 5 (0.2) of curvature should be as large as possible.
PK564 M4 6 2.5 (350) 6 (0.24)
 When removing the motor cable, pull it out horizontally
PK596 n/a toward the output shaft. The motor may be damaged if
force is applied in any other direction. The motor cable
Note  When installing a load on the flange surface, the load (both supplied and sold separately) employs a
cannot be affixed using the key groove in the output connector with a lock. When removing this type of cable,
shaft. release the connector lock first. Forcibly pulling out the
 Design an appropriate installation layout so that the load cable without releasing the connector lock may damage
will not contact the metal plate or bolts used for the motor.
installing 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
 Permissible moment load of the harmonic geared type response frequency of 100 kHz
When installing an arm or table on the flange surface, calculate the moment The following characteristic values assume operation under the recommended
load using the formula below if the flange surface receives any eccentric load. operating conditions:
The moment load should not exceed the permissible value specified in the
table.  TTL output type encoders
Moment load: M [N·m (oz-in)] = F × L Item Value
Encoder
type Incremental
Motor Permissible moment load
type [N·m (oz-in)] Resolution
500 1000
PK513 0.7 (99) (P/R)
PK523 2.9 (410) Number of 2 3 2 3
PK543 5.6 (790) Channels (PK-R17) (PK-R27) (PK-R18) (PK-R28)
PK564 11.6 (1640) Output type A, B A, B, Index A, B A, B, Index
PK596 n/a Supplied
5.0
voltage (V)
Connection Supply
current 17 (typ.) 57 (typ.) 17 (typ.) 57 (typ.)
 Wiring diagram for 5-phase stepping motors (mA)
Output type TTL (Low: ≤0.4V, High: ≥2.0V)
Wiring diagram Pin assignments for motors with connectors
Response
frequency 100 (max)
(kHz)
 Connector pin assignments for TTL output type encoder

Pin Number Signal

1 GND
 Connector pin assignments for motor’s with a connector
2 Index
Pin Number Description
3 Channel A
1 Blue Motor Lead
4 +5VDC
2 Red Motor Lead
5 Channel B
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.

3
 Applicable TTL output type encoder connectors and  Differential (Line driver) output type waveform
cables
Part Manufacturer Model Number

Housing Molex 50-57-9405

X1+X2 = T/2 ±T/12
Contact Molex 16-02-0104 X3+X4 = T/2 ±T/12
2 Xn = T/4 ±T/12
AWG24 to 22 (0.33 to 0.2 mm ) T1= T/4 ±T/12
Cable outer diameter
Cable 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.)
Optional
LCR04060A (2 channel)
Preassembled Oriental Motor
LCR05060A (3 channel)
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
100 (max)
 While we make every effort to offer accurate information in the
(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
encoder
 is a registered trademark or trademark of Oriental
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 GND 8 Channel B +
4 N/C 9 Index -
5 Channel A - 10 Index +

 Applicable Differential output type encoder connectors

and cables
Part Manufacturer Model Number

Interim clip Molex 15-04-5104

Housing Molex 50-57-9305

Contact Molex 16-02-0104

2
AWG24 to 22 (0.33 to 0.2 mm )
Cable outer diameter
Cable 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.)
Optional
Preassembled Oriental Motor LCR09060A (3 channel)
Cables