AR Series: DC Power Input Pulse Input Type User Manual

HM-60139-6
Closed Loop Stepping Motor and Driver Package
AR Series
DC power input Pulse input 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.
Table of contents
1 Safety precautions...............................3 10 Explanation of I/O signals..................33

2 Overview of the product ......................5 10.1 Input signals ........................................ 33
10.2 Output signals ..................................... 37
3 System configuration ...........................6 10.3 Timing chart......................................... 39
4 Introduction..........................................8 11 Setting ...............................................40
5 Precautions for use .............................9 11.1 Resolution ........................................... 40
11.2 Pulse input mode ................................ 40
6 Preparation ........................................11
11.3 Operating current ................................ 41
6.1 Checking the product .......................... 11
11.4 Speed filter .......................................... 41
6.2 How to identify the product model ....... 11
6.3 Combinations of motors and drivers ... 12 12 Extended functions ............................42
6.4 Input/output power ratings................... 13 12.1 Setting ................................................. 43
6.5 Names and functions of parts ............. 13 12.2 Operation ............................................ 48
12.3 Adjustment .......................................... 50
7 Installation .........................................15
7.1 Location for installation ....................... 15 13 Inspection ..........................................52
7.2 Installing the motor .............................. 15 14 Alarms and warnings .........................53
7.3 Installing a load ................................... 16 14.1 Alarms ................................................. 53
7.4 Permissible radial load and 14.2 Warnings ............................................. 56
permissible axial load .......................... 17
7.5 Installing the driver .............................. 18 15 Troubleshooting and remedial
7.6 Installing and wiring in compliance actions ...............................................57
with EMC Directive .............................. 19 16 General specifications .......................58
8 Connection ........................................21 17 Accessories (sold separately) ...........59
8.1 Connecting the motor .......................... 21
8.2 Connecting the electromagnetic
18 Reference ..........................................63
brake motor ......................................... 22 18.1 Timing charts ....................................... 63
8.3 Connecting the I/O signals .................. 23 18.2 Function/parameter list........................ 72
8.4 Connecting the power supply and 18.3 Warning/alarm lists .............................. 78
grounding the driver ............................ 29
8.5 Connecting the data setter .................. 30
9 Quick operations ...............................31
−2−
Safety precautions
1 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.
• 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.
• 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.
• 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.
Installation
• Install the motor and driver in the enclosure in order to prevent injury.
• When installing the motor and driver, do not touch the driver without grounding the driver first. Failure to do so
may result in electric shock.
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.
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.
−3−
Safety precautions
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).
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 main power supply connector (CN1), data edit connector (CN4) and I/O signal connector (CN5) 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.
Operation
• Do not touch the rotating part (output shaft) during operation. Doing so may cause injury.
• Use a motor and driver only in the specified combination. An incorrect combination may cause a fire.
• 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.
• The motor surface temperature may exceed 70 °C (158 °F) even under normal operating conditions.
If the operator is allowed to approach the running motor, attach a warning label as shown below in
a conspicuous position. Failure to do so may result in skin burn(s).
• Before supplying power to the driver, turn all input signals to the driver OFF. Otherwise, the motor Warning label
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.
−4−
Overview of the product
2 Overview of the product

This product is a motor and driver package product consisting of a stepping motor equipped with a rotor position
detection sensor, and a high-performance microstep driver.
When the AR Series is used with an accessory data setter OPX-2A (sold separately) or data setting software
MEXE02, push-motion operation can be performed in addition to accurate positioning operation.
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.
• 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.
• Easy adjustment using a speed filter
Even after the motor has been installed in the equipment, the motor response can be adjusted to suppress vibration
using a digital switch with ease.
• Supporting sink output and source output
The driver supports both the current sink output circuit and the current source output circuit. (Line driver output is not
supported).
• 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).
Various operation modes

Positioning operation and return to electrical home operation can be performed. Push-motion operation can be
performed when using an accessory OPX-2A (sold separately) or MEXE02.
Extended functions
When used with the accessory OPX-2A (sold separately) or MEXE02, the AR Series driver lets you set desired
parameters, operation mode, resolution and other items according to your equipment. For details, refer to page 42.
−5−
System configuration
3 System configuration
All you need is to turn the C-ON input ON and i

input pulses!
nput pulses!
Driver
Connect to CN4.
Connect to CN5.
• General cable
• Connector-terminal block
conversion unit
Both are optional (sold separately).
FG
Connect to CN2.
24 VDC
48 VDC Cable for motor
This cable is used to connect
the motor and driver.
GND
AC power Noise filter DC power

supply Use a noise filter to supply
eliminate noise. It has
the effect of reducing
noise generated from the
power supply and driver.
−6−
System configuration
Extend functions are made available through use of

options (sold separately)!
accessories!
OPX-2A PC in which the MEXE02

(sold separately) has been installed
The PC must be supplied by the customer.

Or Use the communication cable for the data
setting software CC05IF-USB when
connecting the PC and driver.
Easy setting using switches!

Set the operating current.
(CURRENT switch)
Restrict the torque/temperature
rise.
Set the speed filter.
(V-FIL switch)
Controller Suppress motor vibration or
Connect a controller with pulse cause the motor to start/stop
oscillation function. smoothly.
Set the resolution.
(SW1-No.3/No.4 switches)
Change the resolution per
revolution of the motor output
shaft.
Motor
PE
−7−
Introduction
4 Introduction
Before use
Only qualified personnel should work with the product.
Use the product correctly after thoroughly reading the section "1 Safety precautions" on page.3.
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.
Operating Manuals for the AR Series

Operating manuals for the AR Series 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 the above 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

OPERATING MANUAL Motor This manual explains the functions as well as the
(Supplied with motor) installation method and others for the motor.
AR Series OPERATING MANUAL Driver This manual explains the functions as well as the
DC power input (Supplied with driver) installation method and others for the driver.
Pulse input type This manual explains the function, installation and
USER MANUAL connection of the motor and driver as well as operating
method.
This manual explains how to set data using the
Data setter OPX-2A OPERATING MANUAL
accessory OPX-2A (sold separately).
Data setting software This manual explains how to set data using the
OPERATING MANUAL
MEXE02 accessory MEXE02.
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).
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 is conducted EMC testing under the conditions specified in "Example of motor and driver installation
and wiring" on page.20. The conformance of your mechanical equipment with the EMC Directive will vary depending
on such factors as the configuration, wiring, and layout for other control system devices and electrical parts used with
this product. It therefore must be verified through conducting EMC measures in a state where all parts including this
product have been installed in the equipment.
Applicable standards
EN 55011 group 1 class A
EMI
EN 61000-6-4, EN 61800-3
EMS EN 61000-6-2, EN 61800-3
This product is not intended to be used on a low-voltage public network which supplies domestic premises; radio
frequency interference is expected if used on such a network.
Hazardous substances
The products do not contain the substances exceeding the restriction values of RoHS Directive (2011/65/EU).
−8−
Precautions for use
5 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 page 59 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. See page 17 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.
• 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.
• 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.
• Preventing electrical noise
See "7.6 Installing and wiring in compliance with EMC Directive" on page.19 for measures with regard to noise.
• Saving data to the non-volatile memory
Do not turn off the main 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 an EEPROM error alarm to generate.
The non-volatile memory can be rewritten approximately 100,000 times.
• Motor excitation at power ON
Simply turning on the power will not excite the motor. To excite the motor, always turn the C-ON input ON.
It is possible to set the motor to be excited automatically after the power has been turned on, by changing the
applicable driver parameter using the data setter OPX-2A or data setting software MEXE02.
• Overvoltage alarm by regeneration energy
The overvoltage alarm will generate depending on the operating condition. When an alarm is generated, review the
operating conditions.
−9−
Precautions for use
• Note on connecting a power supply whose positive terminal is grounded

The main power supply connector (CN1), data edit connector (CN4) and I/O signal connector (CN5) 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 accessory OPX-2A to set data, etc.
• Do not perform push-motion operation with geared motors.
Doing so may result in damage to the motor or gear part.
• 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.
• 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.
Rotation direction
Type of gear Gear ratio
(relative to the motor rotation direction)
3.6, 7.2, 10 Same direction
TH geared
20, 30 Opposite direction
PS geared
All gear ratios Same direction
PN geared
Harmonic geared All gear ratios Opposite direction
−10−
Preparation
6 Preparation
This chapter explains the items you should check, as well as the name and function of each part.
6.1 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 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.
Model names for motor and driver combinations are shown on page 12.
• Motor.................................................1 unit
• Driver ................................................1 unit
• CN1 connector (3 pins) .....................1 pc.
• CN5 connector (36 pins) ...................1 pc.
• Motor OPERATING MANUAL .......1 copy
• Driver OPERATING MANUAL ......1 copy
• Cable for motor .................................1 pc.
• Cable for electromagnetic brake .......1 pc. (Supplied with electromagnetic brake motors)
• Parallel key........................................1 pc. (Supplied with geared types; except for the AR24, AR46TH and
AR66TH).
• Surge suppressor ...............................1 pc. (Supplied with electromagnetic brake motors)
6.2 How to identify the product model

AR 2 4 S A K - H 50 - 3
Number: Length of supplied connection cable (m)
None: Without connection cable
Gear ratio ∗2
T: TH geared type
PS: PS geared type
N: PN geared type
H: Harmonic geared type
Blank: Standard type
Power supply voltage K: 24/48 VDC
Motor type A: Single shaft
B: Double shaft
M: Electromagnetic brake type
S: IP20 type ∗1
Motor length
Motor size 1: 20 mm (0.79 in.)
2: 28 mm (1.10 in.) [30 mm (1.18 in) for Harmonic geared types]
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
*1 For IP20 type

*2 The model name is "7" for the gear ratio "7.2 : 1" of the PS geared type.
−11−
Preparation
6.3 Combinations of motors and drivers

•• in the model names indicates a number representing the gear ratio.
• When a connection cable is included,  in the model names indicates a number (-1, -2, -3) representing the cable
length.
Standard type
Model Motor model Driver model Model Motor model Driver model
AR14SAK ARM14SAK AR66SAK ARM66SAK
AR14SBK ARM14SBK AR66SBK ARM66SBK
AR15SAK ARM15SAK AR66SMK ARM66SMK
AR15SBK ARM15SBK AR66AK ARM66AK
AR24SAK ARM24SAK AR66BK ARM66BK
AR24SBK ARM24SBK AR66MK ARM66MK
AR24SMK ARM24SMK AR69SAK ARM69SAK
AR26SAK ARM26SAK AR69SBK ARM69SBK
ARD-K
AR26SBK ARM26SBK AR69SMK ARM69SMK
ARD-K
AR26SMK ARM26SMK AR69AK ARM69AK
AR46SAK ARM46SAK AR69BK ARM69BK
AR46SBK ARM46SBK AR69MK ARM69MK
AR46SMK ARM46SMK AR98SAK ARM98SAK
AR46AK ARM46AK AR98SBK ARM98SBK
AR46BK ARM46BK AR98SMK ARM98SMK
AR46MK ARM46MK AR98AK ARM98AK
AR98BK ARM98BK
AR98MK ARM98MK
TH geared type PN geared type

AR24SAK-T ARM24SAK-T AR24SAK-N ARM24SAK-N
AR24SMK-T ARM24SMK-T AR46SAK-N ARM46SAK-N
AR46SAK-T ARM46SAK-T AR46SMK-N ARM46SMK-N
AR46SMK-T ARM46SMK-T AR46AK-N ARM46AK-N
AR46AK-T ARM46AK-T AR46MK-N ARM46MK-N
AR46MK-T ARM46MK-T AR66SAK-N ARM66SAK-N
AR66SAK-T ARM66SAK-T AR66SMK-N ARM66SMK-N ARD-K
ARD-K
AR66MK-T ARM66MK-T AR98SAK-N ARM98SAK-N
AR98SAK-T ARM98SAK-T AR98SMK-N ARM98SMK-N
AR98MK-T ARM98MK-T
−12−
Preparation
PS geared type Harmonic geared type

AR24SAK-PS ARM24SAK-PS AR24SAK-H ARM24SAK-H
AR46SAK-PS ARM46SAK-PS AR24SMK-H ARM24SMK-H
AR46SMK-PS ARM46SMK-PS AR46SAK-H ARM46SAK-H
AR46AK-PS ARM46AK-PS AR46SMK-H ARM46SMK-H
AR46MK-PS ARM46MK-PS AR46AK-H ARM46AK-H
AR66SAK-PS ARM66SAK-PS AR46MK-H ARM46MK-H
AR66SMK-PS ARM66SMK-PS ARD-K AR66SAK-H ARM66SAK-H
ARD-K
AR98SAK-PS ARM98SAK-PS AR66MK-H ARM66MK-H
AR98SMK-PS ARM98SMK-PS AR98SAK-H ARM98SAK-H
AR98MK-H ARM98MK-H
6.4 Input/output power ratings

Frame size Input Output
Model Motor model Driver model
[mm (in.)] Voltage Current current
AR14 ARM14 0.4 A 0.43 A
20 (0.79)
AR15 ARM15 0.5 A 0.52 A
24 VDC
28 (1.10) AR24 ARM24
0.9 A 0.88 A
30 (1.18) AR26 ARM26
42 (1.65) AR46 ARM46 ARD-K 1.4 A 1.48 A
AR66 ARM66 3.1 A
60 (2.36) 24 VDC
AR69 ARM69 48 VDC 3.0 A
2.55 A
85 (3.35)
AR98 ARM98 2.5 A
90 (3.54)
6.5 Names and functions of parts

Motor (Example: ARM66SMK)
Motor Protective Earth Terminal (M4)
Mounting holes (4 locations)
Electromagnetic brake
Output shaft
Pilot Motor cable
Electromagnetic brake cable
−13−
Preparation
Driver
Current setting switch
POWER LED
ALARM LED
Speed filter setting switch
Data edit connector (CN4)

Resolution switches (SW1-No.3/No.4)
Control mode select switch

(SW1-No.2)
Motor connector (CN2) Pulse input mode select switch

(SW1-No.1)
I/O signals connector (CN5)
Main power supply

input terminals (CN1)
Frame Ground Terminal (CN1)
DIN lever
Name Description Ref.

POWER LED (Green) This LED is lit while the main power is input. −
This LED will blink when an alarm generates. It is possible to check the generated
ALARM LED (Red) p.53
alarm by counting the number of times the LED blinks.
Main power supply input
Connect the main power supply.
terminals (CN1) p.29
Frame Ground Terminal (CN1) Ground using a wire of AWG24 to 16 (0.2 to 1.25 mm2).
Motor connector (CN2) Connect the motor. p.21
Data edit connector (CN4) Connect a PC in which the MEXE02 has been installed, or OPX-2A. p.30
I/O signals connector (CN5) Connect the I/O signals of the controller. p.23
This switch adjusts the operating current. It is used to limit the torque and
Current setting switch temperature rise. A desired current can be set as a percentage (%) of the rated p.41
(CURRENT) output current. p.50
Factory setting: F
This switch adjusts the motor response. Use this switch if you want to suppress
motor vibration or cause the motor to start/stop smoothly. “0” and “F” correspond p.41
Speed filter setting switch (V-FIL)
to the minimum and maximum speed filter settings, respectively. p.51
Factory setting: 1
This switch is used to toggle between the 1-pulse input mode and 2-pulse input
mode according to the pulse output mode of the controller.
Pulse input mode select switch p.40
ON: 1-pulse input mode, low active
(SW1-No.1) p.44
OFF: 2-pulse input mode, low active
The factory setting of the pulse-input mode depends on the destination country.
This switch toggles the driver between the normal mode and current control
mode.
Control mode select switch OFF: Normal mode (Keep the switch in this position in normal conditions of use.)
p.50
(SW1-No.2) ON: Current control mode (Set the switch to this position if you want to suppress
noise or vibration.)
Factory setting: OFF (Normal mode).
These two switches are used to set the resolution per revolution of the motor
Resolution switches p.40
output shaft.
(SW1-No.3/No.4) p.43
Factory setting: OFF for No.3 and No.4 (1000 P/R).
DIN lever Install the driver to a DIN rail p.18
−14−
Installation
7 Installation
This chapter explains the installation location and installation methods of the motor and driver.
The installation and wiring methods in compliance with the EMC Directive are also explained.
7.1 Location for installation

The motor and driver has been designed and manufactured to be installed within another device. 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: −10 to +50 °C (non-freezing)
Harmonic geared type: 0 to +40 °C (non-freezing)
Driver: 0 to +50 °C (non-freezing)
• Operating ambient humidity 85% or less (non-condensing)
• Area that is free of explosive atmosphere or toxic gas (such as sulfuric gas) or liquid
• Area not exposed to direct sun
• Area free of excessive amount of dust, iron particles or the like
• Area not subject to splashing water (rain, 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 (3300 ft.) or lower above sea level
7.2 Installing the motor

The motor can be installed in any direction.
To allow for heat dissipation and prevent vibration, install the motor on a metal surface of sufficient strength.
Installation method A Installation method B
Through hole
Through hole for pilot
for pilot
Metal plate
Metal plate
Frame size Tightening torque Effective depth of Installation

Type Nominal size
[mm (in.)] [N·m (oz-in)] bolt [mm (in.)] method
20 (0.79) M2 0.25 (35) 2.5 (0.098)
28 (1.10) M2.5 0.5 (71) 2.5 (0.098) A
Standard 42 (1.65) M3 1 (142) 4.5 (0.177)
60 (2.36) M4 2 (280) −
B
85 (3.35) M6 3 (420) −
28 (1.10) M2.5 0.5 (71) 4 (0.157)
42 (1.65)
TH geared M4 2 (280) 8 (0.315)
60 (2.36)
90 (3.54) M8 4 (560) 15 (0.591)
28 (1.10) A
M3 1 (142) 6 (0.236)
30 (1.18)
PN geared
PS geared 42 (1.65) M4 2 (280) 8 (0.315)
Harmonic geared ∗1 60 (2.36) M5 2.5 (350) 10 (0.394)
90 (3.54) M8 4 (560) 15 (0.591)
Harmonic geared ∗2 90 (3.54) M8 4 (560) − B
*1 AR24, AR46 and AR66 type only.
*2 AR98 type only.
−15−
Installation
7.3 Installing a load

When connecting a load to the motor, align the centers of the motor output shaft and load shaft.
Flexible couplings are available as accessories.
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 bearings when installing a coupling or pulley to the
motor output shaft.
• Do not modify or machine the motor output shaft. Doing so may damage the bearings and
destroy the motor.
• Do not apply strong force using hammer or other tools when removing the parallel key. Doing so
may damage the motor output shaft and bearings (ball bearings).
Using a coupling
Align the centers of the motor output shaft and load shaft in a straight line.
Using a belt drive

Align the motor 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 output shaft and gear shaft in parallel with each other, and let the gears mesh at the center of the tooth
widths.
• Using a coupling • Using a belt drive • Using a gear drive
Using a parallel key (geared motor)

When connecting the load and gear output shaft with a key slot, secure the load using the key supplied with the gear
output shaft after machining the key slot on the load.
Installing on the flange surface (Harmonic geared type)

With a Harmonic geared type (excluding AR98), a load can be installed directly to the gear using the load mounting
holes provided on the flange surface.
Load
Load mounting holes
Flange Bolts
Metal plate
Number of Tightening torque Effective depth of

Model Bolt size
bolts [N·m (oz-in)] bolt [mm (in.)]
AR24 M3 4 1.4 (198) 4 (0.157)
AR46 M3 6 1.4 (198) 5 (0.197)
AR66 M4 6 2.5 (350) 6 (0.236)
Note • When installing a load on the flange surface, the load cannot be mounted using the key slot 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.
−16−
Installation
7.4 Permissible radial load and permissible axial load

Note • If the radial load or axial load exceeds the specified allowable value, repeated load applications
may cause the bearing (ball bearings) or output shaft of the motor to undergo a fatigue failure.
• With a double shaft type, do not apply load torque, radial load or axial load to the output shaft on
the opposite side of the motor output shaft.
• The permissible radial load and permissible axial load of the PS geared type and PN geared
type represent the value that the service life of the gear part satisfies 20,000 hours when either
of the radial load or axial load is applied to the gear output shaft.
Permissible radial load [N (lb.)]

Permissible axial
Type Model Gear ratio Distance from the tip of motor output shaft [mm (in.)]
load [N (lb.)]
0 (0) 5 (0.2) 10 (0.39) 15 (0.59) 20 (0.79)
AR14
12 (2.7) 15 (3.3) − − − 3 (0.67)
AR15
AR24
25 (5.6) 34 (7.6) 52 (11.7) − − 5 (1.12)
AR26
Standard −
AR46 35 (7.8) 44 (9.9) 58 (13) 85 (19.1) − 15 (3.3)
AR66
90 (20) 100 (22) 130 (29) 180 (40) 270 (60) 30 (6.7)
AR69
AR98 260 (58) 290 (65) 340 (76) 390 (87) 480 (108) 60 (13.5)
AR24 15 (3.3) 17 (3.8) 20 (4.5) 23 (5.1) − 10 (2.2)
AR46 10 (2.2) 14 (3.1) 20 (4.5) 30 (6.7) − 15 (3.3)
TH geared −
AR66 70 (15.7) 80 (18) 100 (22) 120 (27) 150 (33) 40 (9)
AR98 220 (49) 250 (56) 300 (67) 350 (78) 400 (90) 100 (22)
AR24 − 45 (10.1) 60 (13.5) 80 (18) 100 (22) − 40 (9)
5 70 (15.7) 80 (18) 95 (21) 120 (27) −
7.2 80 (18) 90 (20) 110 (24) 140 (31) −
10 85 (19.1) 100 (22) 120 (27) 150 (33) −
AR46 100 (22)
25 120 (27) 140 (31) 170 (38) 210 (47) −
36 130 (29) 160 (36) 190 (42) 240 (54) −
50 150 (33) 170 (38) 210 (47) 260 (58) −
5 170 (38) 200 (45) 230 (51) 270 (60) 320 (72)
7.2 200 (45) 220 (49) 260 (58) 310 (69) 370 (83)
PS geared 10 220 (49) 250 (56) 290 (65) 350 (78) 410 (92)
AR66 200 (45)
25 300 (67) 340 (76) 400 (90) 470 (105) 560 (126)
36 340 (76) 380 (85) 450 (101) 530 (119) 630 (141)
50 380 (85) 430 (96) 500 (112) 600 (135) 700 (157)
5 380 (85) 420 (94) 470 (105) 540 (121) 630 (141)
7.2 430 (96) 470 (105) 530 (119) 610 (137) 710 (159)
10 480 (108) 530 (119) 590 (132) 680 (153) 790 (177)
AR98 600 (135)
25 650 (146) 720 (162) 810 (182) 920 (200) 1070 (240)
36 730 (164) 810 (182) 910 (200) 1040 (230) 1210 (270)
50 820 (184) 910 (200) 1020 (220) 1160 (260) 1350 (300)
AR24 − 45 (10.1) 60 (13.5) 80 (18) 100 (22) − 40 (9)
5 80 (18) 95 (21) 120 (27) 160 (36) −
AR46 7.2 90 (20) 110 (24) 130 (29) 180 (40) − 100 (22)
10 100 (22) 120 (27) 150 (33) 200 (45) −
5 240 (54) 260 (58) 280 (63) 300 (67) 330 (74)
PN geared
7.2 270 (60) 290 (65) 310 (69) 340 (76) 370 (83)
10 300 (67) 320 (72) 350 (78) 380 (85) 410 (92)
AR66 200 (45)
25 410 (92) 440 (99) 470 (105) 520 (117) 560 (126)
36 360 (81) 410 (92) 480 (108) 570 (128) 640 (144)
50 360 (81) 410 (92) 480 (108) 570 (128) 700 (157)
−17−
Installation
Permissible radial load [N (lb.)]

Permissible axial
Type Model Gear ratio Distance from the tip of motor output shaft [mm (in.)]
load [N (lb.)]
0 (0) 5 (0.2) 10 (0.39) 15 (0.59) 20 (0.79)
5 370 (83) 390 (87) 410 (92) 430 (96) 460 (103)
7.2 410 (92) 440 (99) 460 (103) 490 (110) 520 (117)
10 460 (103) 490 (110) 520 (117) 550 (123) 580 (130)
PN geared AR98 600 (135)
25 630 (141) 660 (148) 700 (157) 740 (166) 790 (177)
36 710 (159) 750 (168) 790 (177) 840 (189) 900 (200)
50 790 (177) 840 (189) 890 (200) 940 (210) 1000 (220)
AR24 100 (22) 135 (30) 175 (39) 250 (56) − 140 (31)
AR46 180 (40) 220 (49) 270 (60) 360 (81) 510 (114) 220 (49)
Harmonic geared −
AR66 320 (72) 370 (83) 440 (99) 550 (123) 720 (162) 450 (101)
AR98 1090 (240) 1150 (250) 1230 (270) 1310 (290) 1410 (310) 1300 (290)
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 L
F
Permissible moment load
Model
[N·m (oz-in)]
AR24 2.9 (410)
AR46 5.6 (790)
AR66 11.6 (1640)
7.5 Installing the driver

Mount the driver to a 35 mm (1.38 in.) width DIN rail. 35 mm 10 mm (0.39 in.)
When two or more drivers are to be installed side by side, provide 10 mm (1.38 in.) or more
(0.39 in.) and 50 mm (1.97 in.) clearances in the horizontal and vertical
directions, respectively.
90 mm (3.54 in.)
Note • Install the driver in an enclosure whose pollution degree is 2
or better environment, or whose degree of protection is IP54
minimum.
• Do not install any equipment that generates a large amount
of heat or noise near the driver.
• Do not install the driver underneath the controller or other
equipment vulnerable to heat.
• Check ventilation if the ambient temperature of the driver
or more
25 mm (0.98 in.)
exceeds 50 °C (122 °F).

• Be sure to install the driver vertically (vertical position).
1. Pull down the DIN lever of the driver and lock it. Hang the hook at the rear to the DIN rail.
2. Hold the driver to the DIN rail, and push up the DIN lever to secure.
3. Secure both sides of the driver using end plates.
Hook
DIN rail
DIN rail
DIN lever End plate
DIN lever
−18−
Installation
Removing from DIN rail

Pull the DIN lever down until it locks using a flat tip screwdriver, and lift the bottom
of the driver to remove it from the rail. Use force of about 10 to 20 N (2.2 to 4.5 lb.)
to pull the DIN lever to lock it. Excessive force may damage the DIN lever.
7.6 Installing and wiring in compliance with EMC Directive

Effective measures must be taken against the EMI that the motor and driver may give to adjacent control-system
equipment, as well as the EMS of the motor and driver itself, in order to prevent a serious functional impediment
in the machinery. The use of the following installation and wiring methods will enable the motor and driver to be
compliant with the EMC directive. Refer to "CE Marking" on page.8 for the applicable standards.
Connecting noise filter for power supply line

• Connect a noise filter in the DC power supply input to prevent the noise generated in the driver from propagating
externally through the power supply line.
• When using a power supply transformer, be sure to connect a noise filter to the AC input side of the power supply
transformer.
Manufacturer Model
SOSHIN ELECTRIC CO.,LTD HF2010A-UPF
Schaffner EMC FN2070-10-06
• Install the noise filter as close to the AC input terminal of DC power supply as possible. Use cable clamps and other
means to secure the AC input cables (AWG18: 0.75 mm2 or more) and output cables (AWG18: 0.75 mm2 or more)
firmly to the surface of the enclosure.
• Connect the ground terminal of the noise filter to the grounding point, using as thick and short a wire as possible.
• Do not place the AC input cable parallel with the noise filter output cable. Parallel placement will reduce noise
filter effectiveness if the enclosure's internal noise is directly coupled to the power supply cable by means of stray
capacitance.
Connecting the main power supply

Use a DC power supply compliant with the EMC Directive.
Use a shielded cable for wiring and wire/ground the power supply over the shortest possible distance.
Refer to "Wiring the power supply cable and signal cable" below for how to ground the shielded cable.
How to ground
The cable used to ground the driver and noise filter must be as thick and short as possible so that no potential
difference is generated. Choose a large, thick and uniformly conductive surface for the grounding point.
• How to ground the driver
See page 29 for grounding the driver.
• How to ground the motor
When grounding the motor, use a protective earth.
For the grounding method, refer to the AR Series Motor OPERATING MANUAL.
Wiring the power supply cable and signal cable

Use a shielded cable of AWG28 (0.08 mm2) or more for the power supply cable, and keep it as short as possible.
An accessory driver cable is available (sold separately). Refer to page 61.
To ground a shielded cable, use a metal cable clamp or similar
device that will maintain contact with the entire circumference of Shielded cable
the cable. Attach a cable clamp as close to the end of the cable as Cable clamp
possible, and connect it as shown in the figure.
−19−
Installation
Notes about installation and wiring

• Connect the motor, driver and other peripheral control equipment directly to the grounding point so as to prevent a
potential difference from developing between grounds.
• When relays or electromagnetic switches are used together with the system, use noise filters and CR circuits to
suppress surges generated by them.
• Keep cables as short as possible without coiling and bundling extra lengths.
• Place the power cables such as the motor and power supply cables as far apart [100 to 200 mm (3.94 to 7.87 in.)]
as possible from the signal cables. If the power cables and signal cables have to cross, cross them at a right angle.
Place the AC input cable and output cable of a noise filter separately from each other.
• When extending the distance between the motor and driver, it is recommended that an accessory motor cable or
flexible motor cable (sold separately) should be used. The EMC measures are conducted using the Oriental Motor
extension cable.
Example of motor and driver installation and wiring

OPX-2A
Motor
Controller
Shielded
PE Driver cable
Motor cable
(Shielded cable)
Noise DC power
filter supply Shielded A Driver cable
AC A
cable
FG
FG
PE PE
FG Grounded panel
PE A: Cable clamp
Precautions about static electricity

Static electricity may cause the driver to malfunction or suffer damage. While the driver is receiving power, handle
the driver with care and do not come near or touch the driver.
Always use an insulated screwdriver to adjust the driver's switches.
Note The driver uses parts that are sensitive to electrostatic charge. Before touching the driver, turn off
the power to prevent electrostatic charge from generating. If an electrostatic charge is impressed
on the driver, the driver may be damaged.
−20−
Connection
8 Connection
This chapter explains how to connect the motor, I/O signals and power supply to the driver, as well as grounding
method.
8.1 Connecting the motor

Connect the motor to the driver.
1. Connect the "motor cable" and supplied "cable for motor".
2. Connect the "cable for motor" to the motor connector (CN2) on the driver.
Motor cable
Connect to CN2∗
Cable for motor
* Keep 30 m (98.4 ft.) or less for the wiring distance between the motor and driver.
Note • Have the connector plugged in securely. Insecure connector connection may cause malfunction
or damage to the motor or driver.
• When unplugging the connector, do so while pressing the latches on the connector.
• When plugging/unplugging the connector, turn off the power and wait for the POWER LED to
turn off before doing so.
• When installing the motor to a moving part, use an accessory flexible cable offering excellent
flexibility. For the flexible motor cable, refer to page 59.
−21−
Connection
8.2 Connecting the electromagnetic brake motor

Connect the motor to driver, and electromagnetic brake to the DC power supply.
1. Connect the "motor cable" and supplied "cable for motor".
2. Connect the "cable for motor" to the motor connector (CN2) on the driver.
3. Connect the "electromagnetic brake cable" and supplied "cable for electromagnetic brake".
4. Connect the surge suppressor (supplied with the motor) in parallel between the +24 VDC terminal of
the DC power supply and the ground terminal.
The surge suppressor does not have polarity.
5. Connect the lead wires of the "cable for electromagnetic brake" to the DC power supply.
Connect the white lead wire to +24 VDC terminal, and the black lead wire to GND terminal.
Switch DC power supply ∗2

Electromagnetic brake cable White
24 VDC±5%
Cable for electromagnetic brake Black
Varistor
(supplied)
Motor cable Connect to CN2 ∗1
Cable for motor
*1 Keep 30 m (98.4 ft.) or less for the wiring distance between the motor and driver.
*2 The power supply current capacities are as follows.
Model Power supply current capacity

AR24, AR26 0.05 A or more
AR46 0.08 A or more
AR66, AR69, AR98 0.25 A or more
Note • The lead wires of the "cable for electromagnetic brake" have polarities, so connect them
in the correct polarities. If the lead wires are connected with their polarities reversed, the
electromagnetic brake will not operate properly.
• If the distance between the motor and driver is extended to 20 m (65.6 ft.) or longer, use a power
supply of 24±4% VDC.
• Have the connector plugged in securely. Insecure connector connection may cause malfunction
or damage to the motor or driver.
• When unplugging the connector, do so while pressing the latches on the connector.
• When plugging/unplugging the connector, turn off the power and wait for the POWER LED to
turn off before doing so.
• When installing the motor to a moving part, use a flexible cable offering excellent flexibility. See
page 59.
−22−
Connection
8.3 Connecting the I/O signals

Solder the I/O signal cable (AWG28 to 24: 0.08 to 0.2 mm2) to the CN5 18 16 14 12 10 8 6 4 2
connector (36 pins) while checking the pin numbers in "Connector 17 15 13 11 9 7 5 3 1
function table" provided below.
Use a shielded cable for I/O signals.
We provide an accessory driver cable allowing simple and easy
connection with a driver, as well as connector-terminal block conversion
unit. Refer to page 61 for details.
36 34 32 30 28 26 24 22 20
35 33 31 29 27 25 23 21 19
Connector function table

Operating mode Name
Pin No Positioning Push-motion Ref.
Positioning operation Push-motion operation ∗1
operation operation ∗1
1 − − −
2 GND Ground connection −
3 ASG+
A-phase pulse output (Line driver)
4 ASG−
p.38
5 BSG+
B-phase pulse output (Line driver)
6 BSG−
7 TIM1+
Timing output (Line driver) p.38
8 TIM1−
9 ALM+
Alarm output p.39
10 ALM−
11 WNG+
Warning output p.39
12 WNG−
13 END+
Positioning completion output p.37
14 END−
15 READY+/AL0+ ∗1
Operation ready complete output/Alarm code output 0 p.37
16 READY−/AL0− ∗1
17 TLC+/AL1+ ∗1
Torque limit output/Alarm code output 1 p.37
18 TLC−/AL1− ∗1
19 TIM2+/AL2+ ∗1
Timing output (Open collector)/Alarm code output 2 p.38
20 TIM2−/AL2− ∗1
21 GND Ground connection −
22 IN-COM Input common −
23 C-ON ∗2 Current ON input p.33
24 CLR/ALM-RST Deviation clear input/Alarm reset input p.36
25 CCM Current control mode ON input p.36
26 CS T-MODE ∗1 Resolution selection input Push-motion operation ON p.34
27 − M0 ∗1 − p.36
Return to electrical home Push-current setting
28 RETURN M1 ∗1 p.35
operation selection input
29 P-RESET M2 ∗1 Position reset input p.35
30 FREE Excitation OFF p.34
31 CW+/PLS+
CW pulse input/Pulse input (+5 V or line driver)
32 CW−/PLS−
33 CW+24 V/PLS+24 V CW pulse input/Pulse input (+24 V)
p.33
34 CCW+24 V/DIR+24 V CCW pulse input/Direction input (+24 V)
35 CCW+/DIR+
CCW pulse input/Direction input (+5 V or line driver)
36 CCW−/ DIR−
*1 The signal will become effective if the applicable setting has been changed using the OPX-2A or MEXE02.
*2 Factory setting of the C-ON input logic is "normally open." Be sure to turn the C-ON input ON when operating the
motor. Set the C-ON input logic to "normally closed" when the C-ON input is not used.
−23−
Connection
Assembling the connector

Cable clamp
Screw (M2.5)
Screw (M2) Tightening torque:
I/O signal cable 0.5 to 0.55 N·m (71 to 78 oz-in)
Connector
Case
Place the spring washer

outside the case.
Screw (M2.5) Align the washer in the
depression in the case.
Connecting the connector

Insert the CN5 connector into the I/O signals connector (CN5) on the driver, and tighten the screw.
Tightening torque:0.3 to 0.35 N·m (42 to 49 oz-in)
CN5
Screw
Note Be certain the I/O signals cable is as short as possible. The maximum input frequency will
decrease as the cable length increases.
−24−
Connection
Connecting to a current sink output circuit

• When pulse input is of line driver type
Controller Driver
2.7 kΩ
33
10 kΩ 100 Ω
31
2.2 kΩ 100 Ω 10 kΩ
32
2.7 kΩ
34
10 kΩ 100 Ω
35
2.2 kΩ 100 Ω 10 kΩ
36
0V
5 to 24 VDC 3 kΩ
22
10 kΩ
23
3 kΩ
10 kΩ
24
3 kΩ
10 kΩ
25
3 kΩ
10 kΩ
26
3 kΩ
10 kΩ
27
3 kΩ
10 kΩ
28
3 kΩ
10 kΩ
29
3 kΩ
10 kΩ
30
0V
30 VDC or less
R0 10 mA or less
9
10
R0
11
12
R0
13
14
R0
15
16
R0
17
18
R0
19
20
0V
3
4
5
6
26C31 or equivalent
7
8
2
21
0V 0V
1 NC
Note • Use output signals at 30 VDC or less. If the current exceeds 10 mA, connect an external resistor
R0 .
• Connect a termination resistor of 100 Ω or more between the driver and the input of the line
receiver.
−25−
Connection
• When pulse input is of 5 VDC type

Controller Driver
5 VDC 2.7 kΩ
33
10 kΩ 100 Ω
31
2.2 kΩ 100 Ω 10 kΩ
32
2.7 kΩ
34
10 kΩ 100 Ω
35
2.2 kΩ 100 Ω 10 kΩ
36
0V

Controller Driver
24 VDC 2.7 kΩ
33
10 kΩ 100 Ω
31
2.2 kΩ 100 Ω 10 kΩ
32
2.7 kΩ
34
10 kΩ 100 Ω
35
2.2 kΩ 100 Ω 10 kΩ
36
0V
−26−
Connection
Connecting to a current source output circuit

• When pulse input is of line driver type
Controller Driver
2.7 kΩ
33
10 kΩ 100 Ω
31
2.2 kΩ 100 Ω 10 kΩ
32
2.7 kΩ
34
10 kΩ 100 Ω
35
2.2 kΩ 100 Ω 10 kΩ
36
0V
5 to 24 VDC 3 kΩ
22
0V 10 kΩ
23
3 kΩ
10 kΩ
24
3 kΩ
10 kΩ
25
3 kΩ
10 kΩ
26
3 kΩ
10 kΩ
27
3 kΩ
10 kΩ
28
3 kΩ
10 kΩ
29
3 kΩ
10 kΩ
30
30 VDC or less
10 mA or less
9
R0
10
11
R0
12
13
R0
14
15
R0
16
17
R0
18
19
R0
20
0V
3
4
5
6 26C31 or equivalent
7
8
2
21
0V 0V
1 NC
Note • Use output signals at 30 VDC or less. If the current exceeds 10 mA, connect an external resistor
R0 .
receiver.
−27−
Connection

Controller Driver
5 VDC
2.7 kΩ
33
10 kΩ 100 Ω
31
2.2 kΩ 100 Ω 10 kΩ
32
2.7 kΩ
34
10 kΩ 100 Ω
35
2.2 kΩ 100 Ω 10 kΩ
36
0V

Controller Driver
24 VDC
2.7 kΩ
33
10 kΩ 100 Ω
31
2.2 kΩ 100 Ω 10 kΩ
32
2.7 kΩ
34
10 kΩ 100 Ω
35
2.2 kΩ 100 Ω 10 kΩ
36
0V
−28−
Connection
8.4 Connecting the power supply and grounding the driver

Connecting the power supply
Use the CN1 connector (3 pins) to connect the power supply Power supply Power supply
cable (AWG24 to 16: 0.2 to 1.25 mm2) to the main power Model
input voltage current capacity
supply input connector (CN1) on the driver. AR14 0.4 A or more
Use a power supply that can supply the current capacity show
AR15 24 VDC±10% 0.5 A or more
in the table to the right.
AR24, AR26 0.9 A or more
AR46 1.4 A or more
AR98 2.5 A or more
Note • Pay attention to the polarity of the power supply. Reverse-polarity connection may cause
damage to the driver.
• Do not wire the power supply cable of the driver in the same cable duct with other power line or
motor cable. Doing so may cause malfunction due to noise.
• When cycle the power or plugging/unplugging the connector, turn off the power and wait for the
POWER LED to turn off.
Grounding the driver

Ground the frame ground terminal (FG) of driver as necessary.
Ground using a wire of AWG24 to 16 (0.2 to 1.25 mm2), and do not share the protective earth terminal with a welder
or any other power equipment.
CN1 connector
+24 VDC
Connect to CN1.
GND
FG
Connecting method
1. Strip the insulation cover of the lead wire by 7 mm (0.28 in.)
2. Insert each lead wire into the CN1 connector and tighten the screw using a screwdriver (connector
screw size: M2).
Tightening torque: 0.22 to 0.25 N·m (31 to 35 oz-in)
3. Insert the CN1 connector into CN1 on the driver and tighten the screws using a screwdriver (connector
screw size: M2.5).
Tightening torque: 0.4 N·m (56 oz-in)
Flat tip screwdriver

CN1
Lead wire
Lead wire
CN1 connector
7 mm (0.28 in.)
−29−
Connection
8.5 Connecting the data setter

Connect the OPX-2A cable or communication cable for the data setting software to the data edit connector (CN4) on
the driver.
Connect to CN4.
Cable for OPX-2A or communication

cable for the data setting software
The main power supply connector (CN1), data edit connector (CN4) and I/O signal
connector (CN5) 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.
−30−
Quick operations
9 Quick operations
If you are new to the AR Series driver, read this chapter and you will be able to perform basic motor operations
quickly.
Note Before operating the motor, check the condition of the surrounding area to ensure safety.
STEP 1 Check the installation and connection
Check Check
Motor connection C-ON input and CW (CCW) pulse
connection
Check
Motor and driver installation Pulse generator or
programmable controller
Check
Power supply
connection
STEP 2 Operate the motor
To suppress vibration and shock: V-FIL

Response Starting/stopping
becomes becomes smoother.
quicker.
To change the resolution: SW1-No.3, SW1-No.4

3. Confirm that the motor
rotates without problem. OFF ON OFF ON
OFF ON OFF OFF
Resolution 1000 P/R Resolution 500 P/R
OFF ON
ON ON
Resolution 10,000 P/R Resolution 5000 P/R
1. Turn the C-ON input ON to excite the motor.

2. Input pulses.
−31−
Quick operations
STEP 3 Were you able to operate the motor properly?

How did it go? Were you able to operate the motor properly? If the motor does not function, check the following
points:
• Is the C-ON input ON?
• Is any alarm present?
• Are the power supply and motor connected securely?
For more detailed settings and functions, refer to "12 Extended functions" on page.42.
−32−
Explanation of I/O signals
10 Explanation of I/O signals

Check the timing charts in, page 63.
10.1 Input signals

The following input signals of the driver are photocoupler inputs. The signal state represents the "ON: Carrying
current" or "OFF: Not carrying current" state of the internal photocoupler rather than the voltage level of the signal.
IN-COM, C-ON, CLR/ALM-RST,
CCM, CS, RETURN,
CW, CCW P-RESET, FREE
Driver internal circuit Driver internal circuit
2.7 kΩ 3 kΩ
24 VDC 33, 34 22
100 kΩ 100 Ω 10 kΩ
5 VDC 31, 35 23 to 30
2.2 kΩ 100 Ω 10 kΩ
32, 36
C-ON input
This signal is used to excite the motor (initial value: normally open).
When an electromagnetic brake motor is used, release the electromagnetic brake after the motor is excited.
With the OPX-2A or MEXE02, it is possible to set the C-ON input logic and the excitation position at the C-ON
input ON.
Refer to page 46 for details.
Note The factory setting of the C-ON input is normally open. Be sure to turn the C-ON input ON when
operating the motor. Set the C-ON input to normally closed when the C-ON input is not used.
CW/PLS input, CCW/DIR input

These input serve as the CW and CCW inputs in the 2-pulse input mode, or PLS and DIR inputs in the 1-pulse input
mode. They are common to all pulse input types including 5 VDC input, 24 VDC input and line driver input.
Note • When no pulse is input, be sure to keep the photocoupler in OFF state.
• The CW and CCW indicate the rotation direction of the motor, as seen from the output shaft. The
output shaft of the TH geared typed motors with ratios of 20 and 30, as well as all ratios of the
Harmonic geared type motors, rotate in the opposite direction of the motor shaft.
• 2-pulse input mode

When the CW input is turned ON, the motor will rotate by one step in CW direction.
When the CCW input is turned ON, the motor will rotate by one step in CCW direction.
∗
ON
CW input
OFF
ON
CCW input
OFF
CW
Motor operation
CCW
* The minimum interval time needed for switching the direction of rotation will vary, depending on the operating speed and
size of the load. Do not shorten the interval time more than necessary.
Note While one pulse is input, the other pulse should always be turned OFF. If both pulses are turned
ON simultaneously, no pulse will be input.
−33−

When the PLS input is turned ON while the DIR input is ON, the motor will rotate by one step in CW direction.
When the PLS input is turned ON while the DIR input is OFF, the motor will rotate by one step in CCW direction.
∗
ON
PLS input
OFF
ON
DIR input
OFF
CW
Motor operation
CCW
* The minimum interval time needed for switching the direction of rotation will vary, depending on the operating speed and
size of the load. Do not shorten the interval time more than necessary.
• Pulse signal 2 µs or more

Input a pulse with sharp rising and falling edges as shown in the ON 90%
figure. The figure shows the voltage levels of pulse signals.
10%
OFF
0.8 µs or more
0.8 µs or more
2 µs or less 2 µs or less
FREE input
When the FREE input is turned ON, current supplied to the motor will be cut off, thereby allowing the motor output
shaft to be turned by external force.
When the FREE input is turned OFF, current will be supplied to excite the motor and the holding torque will be
restored. The automatic return operation after turning the FREE input OFF can be set using the OPX-2A or MEXE02.
Refer to page 46.
Note When operating the motor, be sure to turn the FREE input OFF.
CS (T-MODE) input
The CS input is effective when positioning operation is performed.
When “push-motion operation” is selected with the OPX-2A or MEXE02, the T-MODE input will become effective.
• CS input
When the resolution switch (SW1-No.3) is set to OFF, the resolution setting can be changed according to the CS
input.
Resolution switch CS input OFF CS input ON

SW1-No.3: OFF The setting of SW1-No.3 OFF is selected. The setting of SW1-No.3 ON is selected.
SW1-No.4: OFF Factory setting: 1000 P/R Factory setting: 10000 P/R
SW1-No.3: OFF The setting of SW1-No.3 OFF is selected. The setting of SW1-No.3 ON is selected.
SW1-No.4: ON Factory setting: 500 P/R Factory setting: 5000 P/R
Note While the resolution switch (SW1-No.3) is set to ON, the CS input is disabled. The ON setting is
maintained.
• T-MODE input
When the T-MODE input is turned ON, the push-motion operation will be started.
−34−
RETURN (M1) input

The RETURN input is effective when positioning operation is performed.
When “push-motion operation” is selected with the OPX-2A or MEXE02, the M1 input will become effective.
• RETURN input
When the RETURN input is turned ON, the motor will start a return to electrical home operation.
Return to electrical home operation is a type of operation that moves the motor to its electrical home position (where
the cumulative value of command positions becomes “0”).
The electrical home position is initially at the motor position when the power is turned on and it can be changed to a
desired position using the P-RESET input.
• M1 input
Combine this input with the M0 and M2 inputs to select a desired current setting for push-motion operation.
Refer to page 48 for the current setting for push-motion operation.
P-RESET (M2) input

The P-RESET input is effective when positioning operation is performed.
When “push-motion operation” is selected with the OPX-2A or MEXE02, the M2 input will become effective.
• P-RESET input
When the P-RESET input is turned ON, the cumulative value of command positions will become “0” and the
electrical home position will be set. Input this signal while the motor is at standstill.
ON
CW/CCW input
OFF
5 ms or more
ON
P-RESET input
OFF
ON
END output OFF
5 ms or less
Cumulative position
commands
• M2 input
−35−
CLR/ALM-RST input
This input is used to clear the position deviation counter.
If an alarm generates, the CLR/ALM-RST input will function as an input signal to reset the alarm.
• CLR input
500 µs or more
ON
CLR input
OFF
5 ms or less 5 ms or less
ON
READY output
OFF
ON
END output
OFF
5 ms or less
±1.8°
Position deviation 0°
Position deviation occurs due to external force
Note • When performing a return to mechanical home operation using a stopper, etc., do not use the
CLR input. If the CLR input is used, the home position may become offset.
• Pulse input is disabled while the CLR input is ON.
• When the CLR input is turned ON, the automatic return operation and return to electrical home
operation will stop.
• ALM-RST input
When an alarm generates, the ALM output will turn OFF. When the ALM-RST input is turned from ON to OFF, the
ALM output will turn ON and the alarm will be reset. (The alarm will be reset at the OFF edge of the ALM-RST
input.) Before resetting an alarm, always remove the cause of the alarm and ensure safety.
For details, refer to "ALM output" on page.39, and "14.1 Alarms" on page.53.
5 ms or more
ON
ALM-RST input
OFF
5 ms or less
ON
ALM output
OFF
Note Alarms that cannot be reset with the ALM-RST input need to be reset by cycling the power. If a
normal condition cannot be restored after cycling the power, contact your nearest Oriental Motor
sales office.
CCM input
When the CCM input is turned ON, the control mode will change from the normal mode to the current control mode.
In the current control mode, noise and vibration can be reduced although the motor synchronicity drops.
Be sure to turn the CCM input ON/OFF after confirming that the motor has stopped.
Note Keep the control mode switch in the OFF (normal mode). If the switch is in the ON (current control
mode), the CCM input will be disabled.
M0 input
When “push-motion operation” is set with the OPX-2A or MEXE02, the M0 input will become effective.
−36−
10.2 Output signals

The driver outputs signals in the photocoupler/open-collector output mode or line driver output mode. The signal state
represents the "ON: Carrying current" or "OFF: Not carrying current" state of the internal photocoupler rather than
the voltage level of the signal.
ALM, WNG, END, READY/AL0
TLC/AL1, TIM2/AL2 ASG, BSG, TIM1
Driver internal circuit Driver internal circuit
9, 11, 13 10 mA or less
15, 17, 19 3, 5, 7
26C31 or equivalent
10, 12, 14 4, 6, 8
16, 18, 20
2
21
0V
Note The ASG output, BSG output and TIM1 output are line driver outputs. When connecting a line
driver output, receive the output signal using a line receiver. Also, be sure to connect pins 2 and 21
of the driver to the GND on the line receiver, and connect a termination resistor of 100 Ω or more
between the driver and the input of the line receiver.
Controller Driver
3
∗
4
5
∗
6 26C31 or
equivalent
7
∗
8
2
0V 21 0V
Termination resistor (∗)
of 100 Ω or more 1 NC
READY/AL0 output
When the driver becomes ready, the READY output turns ON. Input pulse signals to driver after the READY output
has turned ON.
If an alarm generates, an alarm code indicating the cause of the alarm can be output and checked via the combination
of AL0, AL1 and AL2 outputs. To use alarm codes, the applicable parameter must be changed using the OPX-2A or
MEXE02. For details, refer to page 53.
TLC/AL1 output
This signal will be output when the torque characteristic exceeds the specified range. If a push current is set using an
extended function, this signal is output while pushing.
END output
When the motor has completed its movement, the END output will turn ON. Specifically, the END output will turn
ON when the rotor position falls within ±1.8° of the command position while no pulse signal is input.
A desired output condition for the END signal can be set using the OPX-2A or MEXE02.
Refer to "18.2 Function/parameter list" on page.72.
Motor operation
ON
END output
OFF
* The output time of the END signal varies depending on the position command filter and operating speed.
−37−
TIM1 output
The TIM output will turn ON every time the motor output shaft rotates by 7.2°.
Two types of TIM outputs are available: the line driver output (TIM1 output), and the open collector output (TIM2
output). Change the TIM output according to the pulse input mode of the programmable controller.
1 20 40 (at 1000 P/R)
ON
Pulse input
OFF
Motor output shaft

ON
TIM output rotates by 7.2°
OFF
Motor operation
Note • The TIM1 output will turn ON when the pulse speed is 10 kHz or less, and the TIM2 output will
turn ON when the pulse speed is 500 Hz or less.
• When changing the resolution using the CS input, do so while the TIM output is ON and the
motor is at standstill. If the CS input is turned ON/OFF when one or both of these conditions are
unsatisfied, the TIM output will not turn ON even after the motor output shaft rotates by 7.2°.
TIM2/AL2 output
Refer to “TIM1 output” for the TIM2 output.
ASG output, BSG output

The ASG output is used to output pulses according to motor operation. The motor position can be monitored by
counting the ASG output pulses. The number of output pulses per motor revolution varies depending on the resolution
effective when turning the power on.
The BSG output has a 90° phase difference with respect to the ASG output.
The motor rotation direction can be determined by detecting the BSG output level at the rise of the ASG output.
CW rotation CCW rotation
ON
ASG output
OFF
90°
ON
BSG output
OFF
Note • The ASG output and BSG output are subject to a maximum delay of 0.1 ms with respect to
motor operation. Use these outputs to check the position at which the motor is stopped.
receiver.
Electrical characteristics of ASG output and BSG output
250 ns or more 250 ns or more 500 ns or more

ON
90%
ASG output
OFF 10%
250 ns or more 250 ns or more 250 ns or more
ON
90%
BSG output
OFF 10%
The electrical characteristics vary depending on the IC specification of the line driver.
−38−
WNG output
When a warning generates, the WNG output turns ON. The warning can be generated before a corresponding alarm
generates.
To use the WNG output, the applicable parameter must be changed using the OPX-2A or MEXE02. (The initial value
is to use the same conditions applicable to alarms.) For details, refer to page 56.
ALM output
When an alarm generates, the ALM output will turn OFF. At the same time, the ALARM LED of the driver will blink
and the motor current will be cut off and stop. ∗
Set the programmable controller so that it will stop motor operation commands upon detection of an OFF status of the
ALM output. The cause of the alarm can be checked by counting the number of times the ALARM LED blinks.
For details, refer to page 53.
* Abnormal operation data alarm is not supported by this function (because the current will not be cut off even after these
errors occur).
Blink
ALARM LED
ON
ALM output
OFF
Motor operation
The motor stops due to inertial force.
When the driver is When a protective

operating normally. function is triggered.
10.3 Timing chart

When turning the main power supply on and turning the C-ON input ON, the motor will be excited.
The READY output will turn ON and pulse input will be enabled.
10 s or more
ON
Main power supply
OFF
ON
CW/CCW input
OFF
Effective at 2 s or less
ON
C-ON input OFF
ON
READY output
OFF
600 ms or less
ON
ALM output
OFF
ON
WNG output
OFF
ON
END output
OFF
ON
Motor excitation
OFF
Motor operation
−39−
Setting
11 Setting
This chapter explains how to change and set the driver functions using the switches on the front face of the driver.
Current setting switch (Factory setting: F)
Speed filter setting switch (Factory setting: 1)
Resolution switch (Factory setting: OFF)
Keep this switch in the OFF position.

Pulse input mode select switch
Note Before operating any switch, turn off the driver power and wait for the POWER LED to turn off.
11.1 Resolution
Use the resolution switches (SW1-No.3/No.4) to set a desired resolution per revolution of the motor output shaft.
OFF ON OFF ON
OFF ON OFF OFF
OFF ON
ON ON
Note • The new settings of the resolution switches will become effective after the power is cycled.
• When changing the resolution using the CS input, use the switches in "No.3: OFF"/"No.4:
OFF" or "No.3: OFF"/"No.4: ON" combination. If the CS input is turned ON when "No.3: ON" is
selected, the resolution will not be changed.
• To change the basic resolution setting: Refer to page 43.
11.2 Pulse input mode

Set a desired pulse input mode of the driver according to the pulse output mode of the controller
(pulse generator) used with the driver. Set a desired mode using the pulse input mode select
switch (SW1-No.1).
OFF: 2-pulse input mode (when the CW input and CCW input are used)
ON: 1-pulse input mode (when the PLS input and DIR input are used) 2P 1P
Note • The new setting of the pulse input mode select switch will become effective after the power is
cycled.
• The factory setting of the pulse input mode depends on the destination country.
• To change the basic setting for pulse input mode: Refer to page 44.
−40−
Setting
11.3 Operating current

Set a desired operating current using the current setting switch
(CURRENT).
CURRENT
The operating current to be set is the maximum output current
multiplied by the operating current rate (%) set to each dial setting of
the current setting switch, where “F” corresponds to 100%.
One of 16 operating current levels from 0 to F can be set.
If the load is small and there is an ample allowance for torque, motor
temperature rise can be suppressed by setting a lower operating
current.
The dial settings and corresponding operating current rates are listed below.
Dial Operating current Dial Operating current Dial Operating current

setting rate (%) setting rate (%) setting rate (%)
0 6.3 5 37.5 A 68.8
1 12.5 6 43.8 B 75.0
2 18.8 7 50.0 C 81.3
3 25.0 8 56.3 D 87.5
4 31.3 9 62.5 E 93.8
F 100 (factory setting)
Note Excessively low operating current may cause a problem in starting the motor or holding the load in
position. Do not lower the operating current more than necessary.
• To change the basic setting for operating current: Refer to page 50.
11.4 Speed filter

The motor response to input pulses can be adjusted with the speed
filter setting switch (V-FIL).
One of 16 speed filter levels from 0 to F can be set.
V-FIL
When setting a higher value for the speed filter, lower vibration at
low speed operation or smoother operation at starting/stopping of the
motor can be achieved.
However, if this setting is too high, synchronization performance is
decreased. Set a suitable value based on the load or application.
Dial Speed filter time Dial Speed filter time

setting constant (ms) setting constant (ms)
0 0 8 30
1 1 (factory setting) 9 50
2 2 A 70
3 3 B 100
4 5 C 120
5 7 D 150
6 10 E 170
7 20 F 200
• Speed filter setting switch=0 (minimum) • Speed filter setting switch=F (maximum)
Command speed Command speed
Motor speed Motor speed

END output END output
• To change the basic setting for speed filter: Refer to page 51.
−41−
Extended functions
12 Extended functions
This chapter explains the extended functions that can be set with the accessory OPX-2A (sold separately) or
MEXE02.
Using the OPX-2A or MEXE02, the driver parameters can be changed, and also test operation and monitoring
operations can be performed. The key functions are listed below.
Parameter codes displayed on the OPX-2A screen are shown in brackets. Since these codes are also referenced in the
main text herein, use these codes as keywords.
Parameters that can be set with the OPX-2A can also be set with MEXE02.
For the method to set parameters with the OPX-2A or MEXE02, refer to the operating manual for each product.
Application parameters
Item Description OPX-2A screen display Ref.
Set each operating current rate assigned to the
Operating current [APP-0-00] to [APP-0-15] p.50
current setting switch.
Set each filter time constant assigned to the speed
Speed filter [APP-1-00] to [APP-1-15] p.51
filter setting switch.
Input signal mode Select the input signal mode. [APP-2-00] −
Change the setting to enable/disable of the alarm
Alarm code output [APP-2-01] p.53
code output .
C-ON input logic Change the C-ON input logic. [APP-2-02] p.46
Positioning completion (END)
Set the output condition for END signal. [APP-2-03] p.37
signal range
If the position at which the motor stops deviates
Positioning completion (END) from the theoretical position due to the effect of
[APP-2-04] p.47
signal offset the load, friction, etc., set an offset for the output
position corresponding to the END output.
Current for push-motion Set the operating current rate applicable to push-
[APP-2-05] to [APP-2-12] p.48
operation motion operation.
Set the standstill current as a percentage of the
Standstill current [APP-3-00] p.50
operating current.
Set the speed error gain. When this value is
Speed error gain 1 [APP-3-01]
increased, motor vibration will decrease.
Set the speed error gain. When this value is p.51
Speed error gain 2 increased, motor vibration at the time of speed [APP-3-02]
change will decrease.
Set the position loop gain. When this value is
Position loop gain increased, motor response will become quicker and [APP-4-00]
motor overshoot will decrease.
Set the speed loop gain. When this value is
Speed loop gain increased, motor response will become quicker and [APP-4-01] p.51
motor overshoot will decrease.
Set the integral time constant for speed loop.
Speed loop integral time
When this value is decreased, motor response will [APP-4-02]
constant
become quicker and motor overshoot will decrease.
Change the setting to enable/disable of the anti-
Anti-vibration control [APP-4-03]
vibration control.
p.51
Frequency of anti-vibration
Set the frequency of anti-vibration control. [APP-4-04]
control
Operating speed of return to Set the operating speed of return to electrical home
[APP-6-00]
electrical home operation operation.
Acceleration and deceleration
Set the acceleration and deceleration rate of return
rate of return to electrical home [APP-6-01] p.49
to electrical home operation.
operation
Starting speed of return to Set the starting speed of return to electrical home
[APP-6-02]
electrical home operation operation.
Operating speed of JOG
Set the operating speed of JOG operation. [APP-7-00]
operation
Acceleration and deceleration Set the acceleration and deceleration rate of JOG p.49
[APP-7-01]
rate of JOG operation operation.
Starting speed of JOG operation Set the starting speed of JOG operation. [APP-7-02]
−42−
Extended functions
System parameters
Item Description OPX-2A screen display Ref.
Electronic gear A1 to A4 Set the denominator of electric gear. [SyS-0-00] to [SyS-0-03]
p.43
Electronic gear B Set the numerator of electric gear. [SyS-0-04]
Pulse input mode Select the pulse input mode. [SyS-1-00] p.44
Change the setting to enable/disable of the smooth
Smooth drive [SyS-1-01] p.51
drive.
Excitation position at first Select the position at which the motor is excited after
[SyS-1-02] p.46
current ON the power has been turned on.
When the motor was in a state of current ON, set
Automatic return operation
whether or not to automatically return the motor to the [SyS-1-03] p.46
at current ON
position where it was stopped.
Motor rotation direction Select rotation direction of the motor. [SyS-1-04] p.47
Note When a system parameter has been changed, the new parameter will become effective after the power is cycled.
12.1 Setting
Resolution
The resolution can be set using the applicable driver switches or CS input.
• Using the switches
Use the resolution switches (SW1-No.3/No.4) to set a desired resolution per revolution of the motor output shaft.
OFF ON OFF ON
OFF ON OFF OFF
OFF ON
ON ON
Note The new settings of the resolution switches will become effective after the power is cycled.
The values of resolution switches (SW1-No.3/No.4) can be changed with the system parameters for electronic gear
[SyS-0-00] to [SyS-0-04] as shown in the table below. Note that the calculated value must fall within the setting range
specified below:
Resolution setting range: 100 to 10000 P/R
Factory setting: 1000 P/R
SW1-No.3
OFF ON
SW1-No.4
Electronic gear B [SyS-0-04] Electronic gear B [SyS-0-04]
OFF 1000 × 1000 ×
Electronic gear A1 [SyS-0-00] Electronic gear A2 [SyS-0-01]
Electronic gear B [SyS-0-04] Electronic gear B [SyS-0-04]
ON 1000 × 1000 ×
Electronic gear A3 [SyS-0-02] Electronic gear A4 [SyS-0-03]
Note • When a system parameter has been changed, the new parameter will become effective after the
power is cycled.
• If the calculated resolution exceeds the setting range, an electronic gear setting error warning
will generate. Check all of four combinations in the above table. Refer to page 56.
• If the power is cycled while an electronic gear setting error warning is present, an electronic gear
setting error alarm will generate. Refer to page 53.
−43−
Extended functions
• Using the CS input

When the resolution switch (SW1-No.3) is set to OFF, the resolution setting can be changed according to the CS
input.
Resolution switch CS input OFF CS input ON

SW1-No.3: OFF Electronic gear B [SyS-0-04] Electronic gear B [SyS-0-04]
1000 × 1000 ×
SW1-No.4: OFF Electronic gear A1 [SyS-0-00] Electronic gear A2 [SyS-0-01]
SW1-No.3: OFF Electronic gear B [SyS-0-04] Electronic gear B [SyS-0-04]

1000 × 1000 ×
SW1-No.4: ON Electronic gear A3 [SyS-0-02] Electronic gear A4 [SyS-0-03]
Note • When the resolution switch (SW1-No.3) is set to ON, the CS input is disabled. The ON setting is
maintained.
• When the CS input is turned ON while the application parameter for abnormal operation data
warning [APP-5-00] is set to “Enable,” a return to electrical home operation will be disabled and
an abnormal operation data warning will generate. When performing a return to electrical home
operation after the CS input is turned ON, turn the P-RESET input ON to confirm the electrical
home position and then turn the RETURN input ON.
Pulse input mode

Set the desired pulse input mode of the driver according to the pulse output mode of the controller (pulse generator)
used with the driver. The pulse input mode is set using the applicable driver switch or parameter.
A pulse signal is input via the PLS input and the rotation direction is selected using the DIR input.
When a pulse signal is input via the CW input, the motor will rotate in forward direction. If a pulse signal is input
via the CCW input, the motor will rotate in reverse direction.
• Phase difference input mode (set by a parameter)
The motor will rotate in forward direction when the CCW input phase is delayed by 90° relative to the CW input.
The motor will rotate in reverse direction when the CCW input phase is advanced by 90° relative to the CW input.
• Using the switch
Set a desired mode using the pulse input mode select switch (SW1-No.1).
OFF: 2-pulse input mode, low active
ON: 1-pulse input mode, low active
Each mode can only be set with the low active using the pulse input mode select switch.
2P 1P
To select the high active, set the applicable parameter using the OPX-2A or MEXE02.
Note • The new setting of the pulse input mode select switch will become effective after the power is
cycled.
• The factory setting of the pulse input mode depends on the destination country.
−44−
Extended functions
• Using the parameter

Set a desired mode using the system parameter for pulse input mode [SyS-1-00].
Pulse input mode Input logic Timing charts

0.8 µs or more 0.8 µs or more
ON
PLS input
OFF
High active
ON
DIR input
OFF
Rotation direction Forward rotation Reverse rotation
1-pulse input mode
ON
PLS input
OFF
Low active
ON
DIR input
OFF
0.8 µs or more
ON
CW input
OFF
High active
ON
CCW input
OFF
2-pulse input mode
0.8 µs or more
ON
CW input
OFF
Low active
ON
CCW input
OFF
0.4 µs or more
ON
CW input
OFF
×1
ON
CCW input
OFF
0.4 µs or more
ON
CW input
OFF
Phase difference mode ×2
ON
CCW input
OFF
0.4 µs or more
ON
CW input
OFF
×4
ON
CCW input
OFF
Whether to cause the motor to rotate in CW direction or CCW direction when a forward direction pulse is input can
be set using the system parameter for rotation direction [SyS-1-04]. Refer to page 47.
Note When a system parameter has been changed, the new parameter will become effective after the
power is cycled.
−45−
Extended functions
• Pulse signal
Input a pulse with sharp rising and falling edges as shown in the figures. The figure shows the voltage levels of pulse
signals.
• 1-pulse input mode, 2-pulse input mode • Phase difference mode
2 µs or more 2 µs or more
ON 90% 2 µs or less 2 µs or less
10% 90%
OFF
0.8 µs or more
0.8 µs or more 10%
2 µs or less 2 µs or less 0.4 µs or more 0.4 µs or more
2 µs or less 2 µs or less
90%
10%
Motor excitation at power ON

When the power is turned on and the C-ON input switched ON, the motor will be excited at the current position. If
the system parameter for excite position at first current on [SyS-1-02] is set to “Electrical angle 0°,” the motor will be
excited at the position corresponding to electrical angle 0° (where the TIM output turns ON).
If the C-ON input is set to normally closed, however, the motor will be excited automatically at the electrical angle 0°
position after the power has been turned on.
The C-ON input logic can be set using the application parameter for C-ON input logic [APP-2-02].
Note • If the parameter for excite position at first current on [SyS-1-02] is set to “Electrical angle 0°”,
the motor output shaft may move by a maximum of 3.6° when the C-ON input is turned ON.
• When a system parameter has been changed, the new parameter will become effective after the
power is cycled.

This is a return operation when the motor is in a state of current ON.
If the system parameter for auto return [SyS-1-03] is set to “Enable,” the motor can automatically return, when the
C-ON input is turned ON or FREE input is turned OFF, to the position where it was stopped.
power is cycled.
−46−
Extended functions
Setting the motor rotation direction

Set a desired motor rotation direction using the system parameter for rotation direction [SyS-1-04].
Note • When a system parameter has been changed, the new parameter will become effective after the
power is cycled.
• The CW and CCW indicate the rotation direction of the motor, as seen from the output shaft. The
output shaft of the TH geared typed motors with ratios of 20 and 30, as well as all ratios of the
Harmonic geared type motors, rotate in the opposite direction of the motor shaft.
Setting of rotation direction

CW pulse is input CCW pulse is input
parameter [SyS-1-04]
• The command position increases. • The command position decreases.
• The motor rotates in CW direction. • The motor rotates in CCW direction.
When “+=CW” is set
• The command position increases. • The command position decreases.

• The motor rotates in CCW direction. • The motor rotates in CW direction.
When “+=CCW” is set
Setting the positioning completion (END) signal offset

The motor stops at the theoretical stopping position as a center point or thereabout.
If the motor stops at a position deviated from the theoretical stopping position due to the load, friction, etc., and the
deviation band exceeds the specified END signal range, the END output will not turn ON.
In this case, use the application parameter for END signal offset [APP-2-04] to compensate the deviation band.
−47−
Extended functions
12.2 Operation
Push-motion operation
Push-motion operation is a type of operation where pulses are input to pressurize the load continuously.
When selecting a push-motion operation with the application parameter for I/O input mode [APP-2-00], turning the
T-MODE input ON and inputting pulses, push-motion operation will start.
Pulses will be continuously input and accumulate even when the load is balanced with the torque.
Note • Do not perform push-motion operation with geared types. Doing so may cause damage to the
motor or gear part.
• If push-motion operation is performed for a long time while a large push-motion current is set,
the driver may increase the temperature rise and generate the overheat protection alarm.
• Setting the current for push-motion operation

Set a desired current for push-motion operation using any of the application parameters for push-motion current 0 to 7
(any one of [APP-2-05] to [APP-2-12]). The current value set in the parameter will be used to limit the output torque.
Select a desired current based on a combination of ON/OFF status of the M0 to M2 inputs.
Setting range: 0 to 100%
Push-motion current parameter Initial value (%) M2 M1 M0

0 [APP-2-05] 30.0 OFF OFF OFF
1 [APP-2-06] 40.0 OFF OFF ON
2 [APP-2-07] 50.0 OFF ON OFF
3 [APP-2-08] 60.0 OFF ON ON
4 [APP-2-09] 70.0 ON OFF OFF
5 [APP-2-10] 80.0 ON OFF ON
6 [APP-2-11] 90.0 ON ON OFF
7 [APP-2-12] 100.0 ON ON ON
• Performing the push-motion operation
1. Set the application parameter for I/O input mode [APP-2-00] to “Push-motion operation.”
2. Select a current value using the M0 to M2 inputs.
3. Turn the T-MODE input ON.
4. Input CW or CCW pulses.
The load is pressurized continuously while the T-MODE input is ON.
The output torque is limited at the current value selected for the parameter in step 2.
When the output torque reaches the current value selected for the parameter in step 2, the TLC output will turn
ON. Refer to page 65 and page 66 for the timing charts.
5. Stop the pulse input.
6. Turn the T-MODE input OFF.
Note • During push-motion operation, the automatic current cutback function does not operate even
when the pulse input is stopped. In other words, the value of push current selected for the
parameter is maintained.
• If the load is removed during push-motion operation, the motor will move at high speed the
number accumulated pulses.
• Since pulses are input continuously during push-motion operation, a prolonged push condition
may generate an excessive position deviation alarm. If the push condition continues for a
prolonged period, stop the pulse input. Whether or not the motor is pushing the load can be
determined using the TLC output.
−48−
Extended functions
Test operation
Test operation is performed using the OPX-2A or MEXE02.
Perform test operation (JOG operation) to check the levels of vibration and noise or to check how operate in a push-
motion operation and/or a return to electrical home operation.
Set the required conditions for JOG operation using the following parameters:
• Operating speed of JOG operation [APP-7-00]
• Acceleration and deceleration rate of JOG operation [APP-7-01]
• Starting speed of JOG operation [APP-7-02]
Note JOG operation is performed only while each applicable operation button is pressed on the
OPX-2A or clicked in MEXE02. External signals cannot be used to start/stop the motor.
Return to electrical home operation

When the RETURN input is turned ON, the motor will start a return to electrical home operation.
The electrical home (position) refers to the motor position effective when the driver power is turned on, or the position
when the P-RESET input is turned ON.
Set the required conditions for return to electrical home operation using the following parameters:
• Operating speed of return operation [APP-6-00]
• Acceleration and deceleration rate of return operation [APP-6-01]
• Starting speed of return operation [APP-6-02]
Refer to page 68 for the timing chart.
Note • Pulses are not counted during return to electrical home operation.
• When the CS input is turned ON while the application parameter for abnormal operation data
warning [APP-5-00] is set to “Enable,” a return to electrical home operation will be disabled and
an abnormal operation data warning will generate. When a return to electrical home operation
is to be performed after the CS input is turned ON, turn the P-RESET input ON to confirm the
electrical home position and then turn the RETURN input ON.
• Turning the P-RESET input ON while a return to electrical home operation is still in progress will
set the applicable position as the electrical home, and the motor will stop.
−49−
Extended functions
12.3 Adjustment
The operating current, motor operation at start/stop, and response in reaction to the command can be adjusted.
The items that can be adjusted vary between the normal mode and the current control mode.
Item Description Normal mode Current control mode

Operating current Adjust the current during operation. Can be adjusted
Standstill current Adjust the current at standstill. Can not be adjusted
Apply a filter to input pulses to make the
Speed filter
pulses smooth.
Can be adjusted Can be adjusted
Insert interpolation pulses between input
Smooth drive
pulses.
Suppress vibration while the motor is
Speed error gain Can not be adjusted
accelerating/decelerating operating.
Position loop gain
Vibration that generates while the motor is
Speed loop gain
accelerating/decelerating or at standstill can
Speed integral time be adjusted to an optimal level. Can not be
constant Can be adjusted
adjusted
Enclosure vibration that occurs with an
Anti-vibration control equipment of low rigidity can be adjusted to
an optimal level.
Control mode
The driver operates in one of two control modes: the normal mode, and the current control mode. The desired mode
can be set using the control mode select switch (SW1-No.2). If noise is heard during high-speed operation or there is
notable vibration, it may be effective to switch to the current control mode.
Note, however, that a slight delay may occur in the current control mode, compared
to the normal mode, depending on the condition of the load.
Keep the driver in the normal mode during normal conditions of use.
OFF: Normal mode (NORM) NORM CCM
ON: Current control mode (CCM)
Note • The new setting of the control mode select switch will become effective after the power is cycled.
• In the normal mode, the CCM input becomes effective.
Operating current
Set a desired operating current using the current setting switch
(CURRENT). The operating current to be set is the maximum output
CURRENT
current multiplied by the operating current rate (%) set to each dial
setting of the current setting switch, where “F” corresponds to 100%.
One of 16 operating current levels from 0 to F can be set. If the
load is small and there is an ample allowance for torque, the motor
temperature rise can be suppressed by setting a lower operating
current.
The value assigned to each dial setting of the current setting switch can be changed by using a corresponding
application parameter for operating current at CURRENT (one of [APP-0-00] to [APP-0-15]).
Note Excessively low operating current may cause a problem in starting the motor or holding the load in
position. Do not lower the operating current more than necessary.
Standstill current
When the motor stops, the current cutback function will be actuated to lower the motor current to the standstill
current.
The standstill current is a value that the operating current which was set with the current setting switch is multiplied
by a ratio of the standstill current.
Set a desired standstill current using the application parameter for standstill current [APP-3-00].
The initial value is 50%.
−50−
Extended functions
Speed filter
The motor response to input pulses can be adjusted using the speed
filter setting switch (V-FIL). One of 16 speed filter levels from 0 to
F can be set. When the speed filter level is raised, vibration can be
V-FIL
suppressed during low-speed operation, and starting/stopping of the
motor will become smooth.
Note, however, that an excessively high filter level will result in lower
synchronicity with commands.
Set an appropriate value according to the specific load and purpose. The value assigned to each dial setting of the
speed filter setting switch can be changed by using a corresponding application parameter for speed filter at V-FIL (one
of [APP-1-00] to [APP-1-15]).
Smooth drive
When the smooth drive function is used, the driver automatically implements microstep control over input pulses.
This helps suppress motor vibration.
If the smooth drive function is not used, vibration may increase in the low-speed range although starting
characteristics will improve.
Set whether or not to use the smooth drive using the system parameter for smooth drive [SyS-1-01].
power is cycled.
Speed error gain

The speed error gain is used to suppress vibration while the motor is operating or accelerating/ decelerating.
Set the required conditions using the following application parameters:
• Speed error gain 1 [APP-3-01] .........This adjusts vibration during operation.
• Speed error gain 2 [APP-3-02] .........This adjusts vibration during acceleration/deceleration.
Note Since the initial values reflect results of adjustment, do not change the initial values in normal
conditions of use.
Position loop gain, speed loop gain, speed loop integral time constant
These items are effective in the current control mode.
Vibration that occurs while the motor is accelerating/decelerating or at standstill can be adjusted to an optimal value.
(The optimal value varies depending on the equipment and operating conditions.)
• Position loop gain [APP-4-00] .............................This adjusts the motor response in reaction to the position
deviation. When this value is increased, the motor response will
become quicker and motor overshoot will decrease. An excessively
high value may cause hunting.
• Speed loop gain [APP-4-01] ................................This adjusts the motor response in reaction to the speed deviation.
When this value is increased, motor response will become quicker
and motor overshoot will decrease. An excessively high value may
cause hunting.
• Speed loop integral time constant [APP-4-02] ....This decreases the deviation that cannot be adjusted with the speed
loop gain. When this value is decreased, motor response will
become quicker and motor overshoot will decrease. An excessively
low value may cause hunting.
Anti-vibration control
This item is effective in the current control mode.
Even when the motor is installed into a machine of low rigidity, residual vibration can be suppressed during
positioning, in order to shorten the positioning time. (The optimal value varies depending on the equipment and
operating conditions.)
• Anti-vibration control [APP-4-03] .............................Set whether or not to enable anti-vibration control.
• Frequency of anti-vibration control [APP-4-04]........Set the frequency of anti-vibration control.
−51−
Inspection
13 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 Oriental Motor sales office.
During inspection
• Are any of the motor mounting screws loose?
• Check for any unusual noises in the motor bearings (ball bearings) or other moving parts.
• Are there any scratches, signs of stress or loose driver connections in the motor lead wires?
• Are the motor output shaft and load shaft out of alignment?
• Check for a blocked opening of the driver case.
• Are any of the driver mounting screws or power connection terminal screws loose?
• Are there any strange smells or appearances within the driver?
Note The driver uses semiconductor elements. Handle the driver with care since static electricity may
damage semiconductor elements.
−52−
Alarms and warnings
14 Alarms and warnings

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).
14.1 Alarms
When an alarm generates, the ALM output will turn OFF and the motor will stop. (The motor will continue to operate
after generating the abnormal operation data alarm, because abnormal operation data alarm does not cut off the motor
current.)
When the application parameter for AL0-2 signal output [APP-2-01] is set to “Enable”, the READY output, TLC
output and TIM2 output will automatically switch to the AL0 output, AL1 output and AL2 output, respectively.
When an alarm generates, the ALARM LED will blink. The cause of the alarm can be checked by counting the
number of times the ALARM LED blinks.
Present alarms can be checked using the OPX-2A or MEXE02.
The alarm records of up to ten most recent alarms starting from the latest one can be checked and cleared.
Example: Overvoltage alarm (number of blinks: 3)
Approx. Approx.
200 ms 200 ms Approx. 1.4 s
Interval
Alarm reset
Perform one of the reset operations specified below.
Before resetting an alarm, always remove the cause of the alarm and ensure safety.
Refer to page 66 for the timing chart.
• Turn the ALM-RST input to ON and then OFF. (The alarm will be reset at the OFF edge of the input.)
• Perform an alarm reset using the OPX-2A or MEXE02.
• Cycle the power.
Note Some alarms cannot be reset with the ALM-RST input, OPX-2A or MEXE02. Check the following
table to identify which alarms meet this condition. To reset these alarms, cycle the power.
−53−
Alarms and warnings
Descriptions of alarms
See page 78 for more information about the alarm parameters.
Alarm code output Reset using the

No. of ALARM Motor operation
Alarm type Alarm code ALM-RST input/
LED blinks AL2 AL1 AL0 upon alarm ∗
OPX-2A/MEXE02
Overheat protection 21
Overload 30
2 OFF ON OFF Can reset
Overspeed 31
Command pulse error 34

×
Overvoltage protection 22 Cannot reset

3 OFF ON ON
Undervoltage 25
Excessive position deviation

10
during current ON
4 ON OFF OFF Can reset
Excessive position deviation

12
during current OFF
Abnormal operation data 70 

7 ON ON ON
Electronic gear setting error 71
Sensor error during

28
operation
Initial sensor error 42

× Cannot reset
8 OFF OFF OFF
Initial rotor rotation error 43
Motor combination error 45
EEPROM error 9 OFF OFF ON 41

* The symbols in the “Motor operation upon alarm” field are explained below.
×: When an alarm generates, the motor current will be cut off and the motor will lose its holding torque.
: Even when an alarm generates, the motor current will not be cut off and the motor position will be held.
−54−
Alarms and warnings
Cause Remedial action
The internal temperature of the driver exceeded 85 °C

Review the ventilation condition in the enclosure.
(185 °F).
• Reduce the load or increase the acceleration/deceleration
rate.
The cumulative value of applied loads exceeding the peak
• If the driver is in the current control mode, increase the
torque reached or exceeded the value set in the parameter for
current limit value.
overload [APP-5-03].
• Check if the electromagnetic brake is released during
operation.
• Check the electronic gear setting and reduce the speed of
The speed of the motor output shaft exceeded 4500 r/min the motor output shaft to 4500 r/min or less.
(excluding geared motors). • If the motor is overshooting at the time of acceleration,
increase the acceleration/deceleration rate.
• Set the command pulse frequency to 500 kHz or less.
The command pulse frequency exceeded the specified value. • Check the electronic gear setting and reduce the speed of
the motor output shaft to 4500 r/min or less.
• Check the input voltage of the main power supply.
• A voltage exceeding the specified value was applied. • If this alarm generates during operation, decrease the inertia
• A large inertial load was operated. load (inertial load 10 times less than the rotor inertia) or
increase the acceleration/deceleration rate.
The main power was cut off momentarily or the voltage
Check the input voltage of the main power supply.
became low.
• When the motor was in a state of current ON, the deviation
between the command position and actual position exceeded • Reduce the load or increase the acceleration/deceleration
the value set in the parameter for overflow rotation during rate.
current on [APP-5-01]. • If the driver is in the current control mode, increase the
• The load is large or acceleration/deceleration rate is too current limit value.
short.
• Do not turn the C-ON input ON while an excessive position
The C-ON input was turned ON while an excessive position deviation warning at current OFF is present.
deviation warning during current OFF was present.
• Set the parameter for auto return [SyS-1-03] to “Disable.”
Return to electrical home operation was performed while an Do not perform return to electrical home operation while an
abnormal operation data warning was present. abnormal operation data warning is present.
Turn on the power again after setting the "electronic gear"
The power was turned on when the resolution set by the
parameter correctly so that the resolution is in a range of "100
electronic gear was outside the specified range.
to 10000 P/R."
Turn off the power and check the connection of the motor cable
A sensor error occurred while the motor was operating.
and driver, and then cycle the power.
Turn off the power and check the connection of the motor cable
A sensor error occurred when the power was turned on.
and driver, and then cycle the power.
The motor output shaft rotated at a speed of 15 r/min or more
Adjust the load and make sure the motor output shaft does not
while the initialization was still in progress following a power
turn due to an external force when the power is turned on.
on.
Check the model name of motor and driver, and use the motor
A motor not supported by the driver is connected.
and driver in the correct combination.
The stored data was damaged. Initialize the all parameters using the OPX-2A or MEXE02.
−55−
Alarms and warnings
14.2 Warnings
When a warning generates, the WNG output will turn ON. The motor will continue to operate.
Once the cause of the warning is removed, the WNG output will turn OFF automatically.
Present warnings can be checked using the OPX-2A or MEXE02.
The warning records of up to ten most recent warnings starting from the latest one can be checked and cleared.
Note The warning records will also be cleared automatically by powering off the driver.
Descriptions of warnings
See page 80 for more information about the warning parameters.
Warning
Warning type Cause Remedial action
code
• When the motor was in a state of current ON,
the deviation between the command position
• Reduce the load or increase the
Excessive position and actual position exceeded the value set in
acceleration/deceleration rate
deviation warning 10 the parameter for overflow warning rotation
during current ON during current on [APP-5-04]. • If a torque limit is set using an extended
function, increase the setting value.
• The load is large or acceleration/ deceleration
rate is too short.
When the motor was in a state of current OFF,
the deviation between the command position • Reduce the amount of rotation at current
Excessive position and actual position exceeded the value set OFF to the specified setting value or less.
deviation warning 12 in the parameter for overflow rotation during Or, change the setting value.
during current OFF current off [APP-5-02]. (This warning is output • Turn the CLR input ON to clear the
when the parameter for auto return [SyS-1-03] position deviation.
is set to “Enable”.)
The temperature inside the driver exceeded the
Review the ventilation condition in the
Overheat 21 value set in the parameter for overheat warning
enclosure.
[APP-5-07].
• Check the input voltage of the main power
supply.
• The voltage of the main power supply
exceeded the value set in the parameter for • If this alarm generates during operation,
Overvoltage 22 overvoltage warning [APP-5-05]. decrease the inertia load (inertial load
10 times less than the rotor inertia) or
• A large inertial load was operated.
increase the acceleration/deceleration
rate.
• The main power supply voltage dropped from
the value set in the parameter for undervoltage
warning [APP-5-06]. Check the input voltage of the main power
Undervoltage 25
supply.
• The main power was cut off momentarily or
the voltage became low.
• Reduce the load or increase the
• A load exceeding the peak torque was applied acceleration/deceleration rate
for the time set in parameter for the overload
warning [APP-5-08] or longer. • If the driver is in the current control mode,
Overload 30
increase the current limit value.
• The load is large or acceleration/ deceleration
rate is too short. • Check if the electromagnetic brake is
released during operation.
• Check the electronic gear setting and
reduce the speed of the motor output shaft
The detected motor speed exceeded the value to the value set in the parameter or less.
Overspeed 31 set in the parameter for overspeed warning
[APP-5-09]. • If the motor is overshooting at the time of
acceleration, increase the acceleration/
deceleration rate.
The CS input was changed when the motor was Do not change the CS input when the
in a state of current ON. current is ON.
Abnormal operation The traveled distance from the electrical home
70 exceeded the control range (2,147,483,648
data Turn the P-RESET input ON and set the
pulses). [This alarm generates when the
electrical home, again.
application parameter for abnormal operation
data warning [APP-5-00] is set to “Enable”.]
Set the "electronic gear" parameter correctly
Electronic gear The resolution set by the electronic gear is
71 so that the resolution is in a range of "100
setting error outside the specified range.
to 10000 P/R."
−56−
Troubleshooting and remedial actions
15 Troubleshooting and remedial actions

During motor operation, the motor or driver may fail to function properly due to an improper speed setting or wiring.
When the motor cannot be operated correctly, refer to the contents provided in this section and take appropriate
action. If the problem persists, contact your nearest Oriental Motor sales office.
Phenomenon Possible cause Remedial action

• Turn the C-ON input ON and confirm that the
• The motor is not excited. motor will be excited.
The C-ON input is turned OFF.
• The motor output shaft can • Check the setting of the application parameter for
be moved by hand. C-ON input logic [APP-2-02].
The FREE input is turned ON. Turn the FREE input OFF.
The CLR input is turned ON. Turn the CLR input OFF.
• Check the connection between the controller and
The CW input or CCW input is not driver.
connected properly. • Check the pulse signal specifications (voltage,
width).
Each pulse signal input should specify either the
The CW input and CCW input are turned
The motor does not operate. ON simultaneously in the 2-pulse input CW input or CCW input, but not both. Make sure
the terminal not receiving the signal input remains
mode.
OFF.
The pulse signal is connected to DIR input
Connect the pulse signal to the PLS input.
in the 1-pulse input mode.
An electromagnetic brake motor is used and
Supply power to the electromagnetic brake to
the electromagnetic brake is in the holding
release it.
state.
The CW input and CCW input are
Connect CW pulse signals via the CW input, and
connected in reverse in the 2-pulse input
connect CCW pulse signals via the CCW input.
mode.
The motor rotates in the
Turn the DIR input ON to rotate the motor in CW
direction opposite to the The DIR input is set in reverse in the
direction, and turn the input OFF to rotate the motor
specified direction. 1-pulse input mode.
in CCW direction.
The system parameter for rotation direction Check the setting of the parameter for rotation
[SyS-1-04] is set wrong. direction [SyS-1-04].
• With TH geared motors, the gear output shaft
rotates in the direction opposite to the motor when
The gear output shaft rotates the gear ratio is 20 or 30.
A gear that rotates in the direction opposite
in the direction opposite to
the motor.
to the motor shaft is used. • With Harmonic geared motors, the gear output
shaft always rotates in the direction opposite to
the motor.
• Check the connection between the controller and
driver.
Motor operation is unstable. Pulse signals are not connected properly.
• Check the pulse signal specifications (voltage,
width).
Lower the current using the current setting switch.
Motor vibration is too great. Load is too small. If the motor output torque is too large relative to the
load, vibration will increase.
The TIM output does not turn The CS input was turned OFF while the The TIM output may not turn ON if the CS input is
ON. motor was operating. switched from ON to OFF.
Note I/O signals can be monitored using the OPX-2A or MEXE02. Use to check the wiring condition of the I/O signals.
−57−
General specifications
16 General specifications
Motor Driver
IP65 (Flexible extension cable set)
Degree of protection IP20 (Double shaft type, models including "S" in IP20
the motor name)
−10 to +50 °C (+14 to +122 °F) *1 (non-freezing)
Ambient 0 to +50 °C (+32 to +122 °F)
temperature Harmonic geared type: 0 to +40 °C (non-freezing)
(+32 to +104 °F) *1 (non-freezing)
Operation
Humidity 85% or less (non-condensing)
environment
Altitude Up to 1000 m (3300 ft.) above sea level
Surrounding
No corrosive gas, dust, water or oil
atmosphere
Ambient
−20 to +60 °C (−4 to +140 °F) (non-freezing)
temperature
Storage Humidity 85% or less (non-condensing)
environment Altitude Up to 3000 m (10000 ft.) above sea level
Surrounding
atmosphere
Ambient
−20 to +60 °C (−4 to +140 °F) (non-freezing)
temperature
Shipping Humidity 85% or less (non-condensing)
environment Altitude Up to 3000 m (10000 ft.) above sea level
Surrounding
atmosphere
100 MΩ or more when 500 VDC megger is
applied between the following places:
Insulation resistance −
Case - Motor and sensor windings
Case - Electromagnetic brake windings
Sufficient to withstand 1.0 kVAC at 50/60 Hz
applied between the following places for
Dielectric strength 1 minute: *2 −
Case - Motor and sensor windings
Case - Electromagnetic brake windings
*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
−58−
Accessories (sold separately)
17 Accessories (sold separately)
Motor cable
The cable supplied with the AR Series is all you need to connect the motor and driver.
Take note, however, that if you wish to connect the motor and driver over a distance of 3 m (9.8 ft.), the supplied cable
is not long enough and you must use a connection cable or extension cable.
When installing the motor on a moving part, use a flexible cable offering excellent flexibility.
• System configuration
Extending the wiring length using a connection cable

In this case, the supplied cable will not be used.
Connection cable set
Cable for electromagnetic brake∗
Cable for motor
* Only when the motor is of electromagnetic brake type.

Extending the wiring length using an extension cable
Use a supplied cable. And connect an extension cable to the supplied cable.
Extension cable set

Cable for electromagnetic brake
Cable for electromagnetic brake∗ (supplied)∗
Cable for motor Cable for motor (supplied)
* Only when the motor is of electromagnetic brake type.

Note When extending the wiring length by connecting an extension cable to the supplied cable, keep
the total cable length to 30 m (98.4 ft.) or less.
−59−
• Connection cable
A cable is needed to connect the motor and driver. Use a flexible connection cable in application where the cable is
bent and flexed repeatedly.
The cable set for electromagnetic brake motors consists of two cables, one for motor and the other for electromagnetic
brake.
• Connection cable set • Connection cable set

For standard motor For electromagnetic brake motor
Length Length
Model (IP65 type) Model (IP20 type) Model (IP65 type) Model (IP20 type)
[m (ft.)] [m (ft.)]
CC010VAF2 CC010VA2F2 1 (3.3) CC010VAFB2 CC010VA2FB2 1 (3.3)
CC070VAF2 CC070VA2F2 7 (23) CC070VAFB2 CC070VA2FB2 7 (23)
• Flexible connection cable set • Flexible connection cable set

Length Length
[m (ft.)] [m (ft.)]
CC010VAR2 CC010VA2R2 1 (3.3) CC010VARB2 CC010VA2RB2 1 (3.3)
CC070VAR2 CC070VA2R2 7 (23) CC070VARB2 CC070VA2RB2 7 (23)
Connector pin assignments of "cable for motor"

Pin No. Color Lead size • Motor side • Driver side
1 White
10 9 8 7 6 6 7 8 9 10
2 Black 2
AWG26 (0.14 mm )
3 Purple
4 Brown
5∗ Green
6 Red 5 4 3 2 1
1 2 3 4 5
7 Gray AWG22 (0.3 mm2)
8 Blue Model: 43020-1000 (Molex)
Model: 43025-1000 (Molex)
9 Orange
10 Drain wire AWG26 (0.14 mm2)
* No wiring for AR14, AR15, AR24 and AR26
Connector pin assignments of "cable for electromagnetic brake"
Pin No. Color Lead size 2
1 White
AWG20 (0.5 mm ) * 2
2 Black
* AWG21（0.5 mm2） for flexible cable 1
Model: 5559-02P-210 (Molex)
43020-0200 (Molex) for the cable of IP20 types
−60−
• Extension cable
This cable is needed to extend the wiring length between the motor and driver. Use a flexible extension cable in
application where the cable is bent and flexed repeatedly.
The cable set for electromagnetic brake motors consists of two cables, one for motor and the other for electromagnetic
brake.
• Extension cable set • Extension cable set

Length Length
[m (ft.)] [m (ft.)]
CC010VAFT2 CC010VA2F2 1 (3.3) CC010VAFBT2 CC010VA2FBT2 1 (3.3)
CC070VAFT2 CC070VA2F2 7 (23) CC070VAFBT2 CC070VA2FBT2 7 (23)
• Flexible extension cable set • Flexible extension cable set

Length Length
[m (ft.)] [m (ft.)]
CC010VART2 CC010VA2R2 1 (3.3) CC010VARBT2 CC010VA2RBT2 1 (3.3)
CC070VART2 CC070VA2R2 7 (23) CC070VARBT2 CC070VA2RBT2 7 (23)
Connector pin assignments of extension cable

The pin assignment is same with "Connection cable" on page.60
Data setter
The data setter lets you set parameters for your AR Series with ease and also functions as a monitor.
Model: OPX-2A
Communication cable for the data setting software

Be sure to purchase the communication cable for the data setting software when connecting a driver to the PC in
which the MEXE02 has been installed.
This is a set of a PC interface cable and USB cable. The cable is connected to the USB port on the PC.
Model: CC05IF-USB [5 m (16.4 ft.)]
The MEXE02 can be downloaded from Oriental Motor Website Download Page. Also, the MEXE02 is provided in
the form of a storage medium. For details, check out our web site or contact your nearest Oriental Motor sales office.
Driver cable
A shielded cable for driver I/O signals (36 pins) offering excellent noise resistance.
The ground wires useful to grounding are provided at both ends of the cable.
Model Connector type Length [m (ft.)]

CC36D1E 1 (3.3)
Straight
CC36D2E 2 (6.6)
CC36D1AE 1 (3.3)
Right Angle
CC36D2AE 2 (6.6)
−61−
Connector-terminal block conversion unit

The driver and programmable controller can be connected via a terminal block.
A shielded cable is used. The ground wires useful to grounding are provided at both ends of the cable.
Model Type Length [m (ft.)]

CC36T10E Single-row 1 (3.3)
−62−
Reference
18 Reference
18.1 Timing charts

Power input
ON
Main power supply
OFF
2 s or less 7 s or less
Output signals Confirmation of output
C-ON input
ON
Main power supply
OFF
Effective at 2 s or less
ON
C-ON input
OFF
ON
READY output
OFF
ON
Motor excitation
OFF
FREE input
ON
FREE input
OFF
ON
C-ON input
OFF
5 ms or less 250 ms or less 5 ms or less
ON
READY output
OFF
ON
Motor excitation
OFF
−63−
Reference
P-RESET input
Alarm Generation condition
ON
CW/CCW input OFF
5 ms or more 0 s or more
ON
P-RESET input
OFF
5 ms or less
ON
READY output
OFF
5 ms or less
Cumulative position
commands
• When the P-RESET input is turned ON, the cumulative value of position commands will be reset to “0” and the
current position will be set as the electrical home position.
• If an alarm generates, the P-RESET input will become invalid.
• Input the P-RESET signal while the motor is at standstill.
CS input
5 ms or more
ON
C-ON input
OFF
5 ms or more
ON
CS input ∗1
OFF
5 ms or more
ON
RETURN input
OFF
ON
READY output
OFF
5 ms or less
ON
WNG output
OFF
60 ms or less
ON
ALM output ∗2
OFF
200 ms or less
ON
Motor excitation
OFF
*1 If the CS input is changed while the C-ON input is ON, an abnormal operation data warning will generate.
*2 If a return to electrical home operation is performed while an abnormal operation data warning is present, an abnormal
operation data alarm will generate. Note that the motor will remain excited.
• This timing chart assumes that the application parameter for abnormal operation data warning [APP-5-00] is set to
“Enable.” If this parameter is set to “Disable,” no warning will be output and an alarm will generate straight away.
• Change the CS input when the motor is in a state of current OFF.
−64−
Reference
T-MODE input, M0 to M2 input

The motor current waveform in the following chart assumes that the standstill current is set to 50% while the push
current is set to 100%.
ON
T-MODE input
OFF
ON
M0 input
OFF
ON
M1 input
OFF
ON
M2 input
OFF
ON
READY output
OFF
5 ms or less 5 ms or less 5 ms or less 5 ms or less

100%
∗1 ∗3 ∗3 ∗3 ∗2
Motor current
50%
45 to 65 ms 5 ms or less 20 to 45 ms
0%
*1 When the T-MODE input is turned ON, the motor current is changed upto the value of push current at about 0.9 %/ms.
*2 When the T-MODE input is turned OFF, the motor current is changed upto the value of standstill current at about
1.8 %/ms.
*3 When the value of push current is changed using the M0 to M2 inputs, the change is reflected immediately.
• The combinations of M0 to M2 inputs and corresponding initial values of push-current percentage are shown
below.
M2 M1 M0 Initial value (%)

OFF OFF OFF 30.0
OFF OFF ON 40.0
OFF ON OFF 50.0
OFF ON ON 60.0
ON OFF OFF 70.0
ON OFF ON 80.0
ON ON OFF 90.0
ON ON ON 100.0
• When the T-MODE input is turned ON, the value of push current set by the M0 to M2 inputs will become effective
and the overload alarm will become invalid.
• Input the T-MODE signal while the motor is at standstill.
CLR input
500 µs or more
ON
CLR input
OFF
ON
READY output
OFF
ON
END output
OFF
5 ms or less
±1.8°
Position deviation occurs due to external force
−65−
Reference
ALM-RST input
Generation 0 s or more
condition
Alarm
10 ms or more∗1 5 ms or more
ON
ALM-RST input ∗2
OFF
ON
READY output
OFF
ON
ALM output
OFF
ON
Motor excitation
OFF
*1 The specific time varies depending on when an alarm record is saved.

*2 An alarm is reset at the OFF edge of the ALM-RST input.
• This timing chart assumes generation of an alarm that turns off motor excitation.
TLC output
• Normal mode
ON
CW input
OFF
ON
CCW input
OFF
ON
CCM input
OFF
∗1
ON
T-MODE input
OFF
ON
TLC output ∗2
OFF
±1.8°
Internal speed command
Push-motion operation is in progress
*1 Input the T-MODE signal while the motor is at standstill.

*2 When the position deviation exceeds ±1.8°, the TLC signal will be output even during acceleration/deceleration.
−66−
Reference
• Current control mode

ON
CW input
OFF
ON
CCW input
OFF
ON
CCM input
OFF
∗1
ON
T-MODE input
OFF
ON
TLC output ∗2
OFF
Current limit
Motor current
±1.8°
Push-motion operation is in progress
*1 Input the T-MODE signal while the motor is at standstill.

*2 When the motor current reaches the operating current, the TLC signal will be output even during acceleration/
deceleration.
END output
ON
CW/CCW input
OFF
5 ms or less 5 ms or less 5 ms or less ∗
ON
END output
OFF
±1.8°

External force is applied
under active speed filter
* The output time of the END signal varies depending on the speed filter and operating speed.
• The END output will turn ON when the position deviation becomes ±1.8° and internal speed command is “0.”
−67−
Reference
TIM1 output/TIM2 output

ON
CW/CCW input
OFF
150 µs or less 150 µs or less 50 µs or more 150 µs or less
ON
TIM1 output
OFF
5 ms or less 5 ms or less 800 µs or more 5 ms or less
ON
TIM2 output
OFF
∗ ∗
* When pulses corresponding to 1/50th the resolution are input (assuming that the resolution is a multiple of 50).
• This timing chart assumes that an operation starts from the position where the TIM output turns ON.
• The TIM1 output is a line driver output, while the TIM2 output is an open collector output.
Operation by pulse input

0 s or more
ON
CW/CCW input
OFF
ON
READY output
OFF
Return to electrical home operation

• When operation is interrupted
ON
C-ON input
OFF
5 ms or more 5 ms or more
ON
RETURN input
OFF
ON
READY output
OFF
ON
END output
OFF
ON
Motor excitation
OFF
Cumulative position
commands
Internal speed Operating speed of return to

command electrical home operation
Acceleration and deceleration rate of Acceleration and deceleration rate of

return to electrical home operation return to electrical home operation
• If the C-ON input is turned OFF while a return to electrical home operation is still in progress, the operation will be
interrupted. When the C-ON input is turned ON again and then the RETURN input is turned ON, the operation will
resume from the position where it was interrupted.
• Return to electrical home operation can also be interrupted with the FREE input or CLR input. Note, however, that
when a return to electrical home operation is interrupted using the CLR input, motor excitation will not turn off.
−68−
Reference
• Operation is terminated with the P-RESET input

ON
C-ON input
OFF
5 ms or more
ON
RETURN input
OFF
5 ms or more
ON
P-RESET input
OFF
∗
ON
READY output
OFF
5 ms or less ∗
ON
END output
OFF
ON
Motor excitation
OFF
5 ms or less
Cumulative position
commands
5 ms or less
Internal speed Operating speed of return to

command electrical home operation
Acceleration and deceleration rate of

return to electrical home operation
• When the P-RESET input is turned ON, the cumulative value of position commands will be reset to “0” and the
current position will be set as the electrical home position. Accordingly, the return to electrical home operation will
end.

• When position deviation is occurred by turning the C-ON input OFF
ON
C-ON input
OFF
5 ms or less ∗
ON
READY output
OFF
250 ms or less ∗
ON
END output
OFF
ON
Motor excitation
OFF
250 ms or less
Position deviation
Operating speed of
Internal speed return to electrical
command home operation
Position deviation occurs

Acceleration and deceleration rate
due to external force
of return to electrical home operation
• If the C-ON input is turned OFF while automatic return operation is still in progress, the operation will be
interrupted. When the C-ON input is turned ON again, the return operation will resume.
• Automatic return operation can also be interrupted using the FREE input.
−69−
Reference
• Operation is terminated with the CLR input

ON
C-ON input
OFF
500 µs or more
ON
CLR input
OFF
5 ms or less
ON
READY output
OFF
5 ms or less ∗
ON
END output
OFF
250 ms or less
ON
Motor excitation
OFF
5 ms or less
Position deviation
5 ms or less
Operating speed of
Internal speed return to electrical
command home operation
Acceleration and deceleration rate

of return to electrical home operation
• When the CLR input is turned ON, the position deviation will be cleared. Accordingly, the return operation will
end.
ALM output/WNG output

0 s or more Generation
condition
Alarm
Generation condition Generation condition

Warning
5 ms or less
ON
READY output
OFF
5 ms or less
ON
ALM output∗
OFF
5 ms or less 5 ms or less Whichever
1 ms or more is longer 5 ms or less
ON
WNG output
OFF
60 ms or less
ON
Motor excitation
OFF
* An alarm code is also output at the same timing.

• This timing chart assumes generation of an alarm that turns off motor excitation.
• Some alarms do not turn off motor excitation.
• Some alarms are not preceded by a warning.
−70−
Reference
−71−
Reference
18.2 Function/parameter list

Mode
Standard Extended
Item Overview Current
specification function Normal
control
Control mode Set the control mode.    
Set the resolution using the resolution switches. 
Change the electronic gear value assigned to each
resolution switch. The calculated value should fall
within the setting range specified below (the value
Resolution of electronic gear B is common):   
Resolution setting range: 100 to 10,000 P/R ×
Resolution = 1000 × (Electronic gear B / Electronic
gear A1 to A4)
Four resolutions can be set using different
combinations of resolution switches.
Set the operating current using the current setting
switch. The purpose of the setting varies depending
on the control mode.

Normal mode: An operating current is set.
Current control mode: A current limit value used for
limiting the torque and temperature rise is set.
Operating current   
Change the value assigned to each dial setting of

×
the current setting switch.
Standstill current Set the standstill current as a percentage of the

×   ×
percentage setting operating current.
Set the pulse input mode using the pulse input

mode select switch.
Pulse input mode   

Set the pulse input mode using the applicable
×
parameter.
Motor rotation direction Set the rotation direction of the motor. ×   
Excite the motor. 

C-ON input   
Set the logic of the C-ON input. ×
Enable/disable of return Set whether or not to return the motor to its

operation to excitation excitation position (where the deviation becomes ×   
position at current ON “0”) when the motor is in a state of current ON.
I/O input signal mode Set whether or not to perform push-motion
×   
selection operation.
* : Available
×: Not available
−72−
Reference
Parameter
OPX-2A screen
Name Setting range Initial value
display
− − − −
− − − −
SyS-0-00 Electronic gear A1 10
SyS-0-02 Electronic gear A3 1 to 1000 20
SyS-0-04 Electronic gear B 10
− − − −
APP-0-00 Operating current at CURRENT ‘0’ 6.3

0.0 to 100.0 [%]
APP-0-10 Operating current at CURRENT ‘A’ 68.8
APP-0-11 Operating current at CURRENT ‘B’ 75.0
APP-0-12 Operating current at CURRENT ‘C’ 81.3
APP-0-13 Operating current at CURRENT ‘D’ 87.5
APP-0-14 Operating current at CURRENT ‘E’ 93.8
APP-0-15 Operating current at CURRENT ‘F’ 100.0
APP-3-00 Standstill current 0.0 to 50.0 [%] 50.0
− − − 2P
0: Setting by the pulse input mode select switch

1: 2-pulse input mode, low active
2: 2-pules input mode, high active
3: 1-pulse input mode, low active
SyS-1-00 Pulse input mode 0
4: 1-pules input mode, high active
5: Phase difference mode, ×1
0: + = CCW
SyS-1-04 Rotation direction 1
1: + = CW
− − − −
0: Normally open
APP-2-02 C-ON input logic 0
1: Normally closed
0: Disable
SyS-1-03 Auto return 0
1: Enable
0: Positioning operation (normal)

APP-2-00 I/O input mode 0
1: Push-motion operation
−73−
Reference
Mode
Standard Extended
control
Output a corresponding alarm code using the
Alarm code READY/AL0 output, TLC/AL1 output and TIM2/AL2 ×   
output when an alarm generates.
Positioning completion
Set the output band for END signal. ×   
signal range
Positioning completion
Set the offset for END signal. ×   
signal offset
Perform operation based on input of CW/CCW
Pulse input operation    
pulses.
Set the current for push-motion operation.
Push-motion operation Set the input signal mode.   
Select the current for push-motion operation using

the M0 to M2 inputs.
Output the TLC signal during push-motion
operation. The output condition varies depending
on the control mode:
Normal mode: The TLC output will turn ON when 
misstepping (±1.8° or more) is detected.
Current control mode: The TLC output will turn ON
when the specified torque is reached.
Set the operating speed of return to electrical home
operation.
Setting for return to Set the acceleration and deceleration rate of return
×   
electrical home operation to electrical home operation.
Set the starting speed of return to electrical home
operation.
ASG/BSG output Check the motor position.    
The TIM outputs (TIM1, TIM2) will turn ON every
TIM output    
time the motor output shaft rotates by 7.2° .
* : Available
×: Not available
−74−
Reference
Parameter
OPX-2A screen
display
0: Disable
APP-2-01 AL0-2 signal output 0
1: Enable
APP-2-03 END signal range 0.0 to 18.0 [°] 1.8
APP-2-04 END signal offset −1.8 to 1.8 [°] 0.0
− − − −
APP-2-05 Push-motion current 0 0.0 to 100.0 [%] 30.0

0: Positioning operation (normal)
APP-2-00 I/O input mode 0
1: Push-motion operation
− − − −
− − − −
APP-6-00 Operating speed of return operation 1 to 4000 [r/min] 30
Acceleration and deceleration rate of return

APP-6-01 0.01 to 1000.00 [ms/(1000 r/min)] 100.00
operation
APP-6-02 Starting speed of return operation 0 to 4000 [r/min] 30
− − − −
− − − −
−75−
Reference
Mode
Standard Extended
control
Apply a filter to the operation commands using the
speed filter setting switch. Adjust the filter according 
to the load condition.
Speed filter (V-FIL)

  
setting
Change the value assigned to each dial setting of
×
the speed filter setting switch.
Suppress vibration during rotation

Adjustment in normal
Suppress vibration during operation and ×   ×
mode
acceleration/deceleration.
Adjust the position loop gain.
Adjust the speed loop gain.
Gain adjustment in
Adjust the speed loop integral time constant ×  × 
current control mode
Set the frequency of anti-vibration control.
Set anti-vibration control to be enabled.
Smooth drive Set the smooth drive. ×   
Set the operating speed of JOG operation.
Set the acceleration and deceleration rate of JOG
JOG operation ×   
operation.
Set the starting speed of JOG operation.
Motor excitation position Select the position at which the motor is excited
×   
at power on after the power has been turned on.
Show the speed on the data setter with a sign or as
an absolute value.
Data setter ×   
Set the gear ratio for geared motor used for speed
monitor.
* : Available
×: Not available
−76−
Reference
Parameter
OPX-2A screen
display
− − − −
APP-1-00 Speed filter at V-FIL ‘0’ 0

0 to 200 [ms]
APP-1-10 Speed filter at V-FIL ‘A’ 70
APP-1-11 Speed filter at V-FIL ‘B’ 100
APP-1-12 Speed filter at V-FIL ‘C’ 120
APP-1-13 Speed filter at V-FIL ‘D’ 150
APP-1-14 Speed filter at V-FIL ‘E’ 170
APP-1-15 Speed filter at V-FIL ‘F’ 200
APP-3-01 Speed error gain 1
0 to 500 45
APP-3-02 Speed error gain 2
APP-4-00 Position loop gain 1 to 50 10

APP-4-01 Speed loop gain 10 to 200 180
APP-4-02 Speed loop integral time constant 10.0 to 200.0 [ms] 100.0
APP-4-04 Frequency of anti-vibration control 3.00 to 100.00 [Hz] 7.00
APP-4-03 Anti-vibration control 0: Disable 0
SyS-1-01 Smooth drive 1: Enable 1
APP-7-00 Operating speed of JOG operation 1 to 4000 [r/min] 30
Acceleration and deceleration rate of JOG
APP-7-01 0.01 to 1000.00 [ms/(1000 r/min)] 100.00
operation
APP-7-02 Starting speed of JOG operation 0 to 4000 [r/min] 30
0: Detected position
SyS-1-02 Excite position at first current on 0
1: Electrical angle 0°
0: Signed
APP-8-00 Displayed speed on OPX-2A 0
1: Unsigned
APP-8-01 Deceleration rate of speed monitor 1.0 to 100.0 1.0
−77−
Reference
18.3 Warning/alarm lists

Alarms (protective functions)
Item Overview/condition
When an alarm generates, the ALARM LED on the front face of the driver will
Alarm check function LED indicator blink. The number of times the LED blinks varies depending on the content of
the alarm.
ALM output ALM output This signal will be output when an alarm generates.
Alarm code output These outputs are used by the programmable controller to detect the content
(AL0 to AL2 outputs) of each alarm that has generated.
Alarm code output
Alarm code output
Set when outputting alarm codes.
enable/disable setting
Power cycle/
Cycle the main power to reset alarms.
Alarm reset reconnection
ALM-RST input Input the ALM-RST signal to reset alarms.
Excessive position Set the condition under which an excessive position deviation alarm generates
deviation alarm when the motor is in a state of current ON.
Alarm detection Set the condition under which an overload detection alarm generates when
condition setting the motor is in a state of current OFF. The overload condition varies depending
Overload on the control mode.
Normal mode: A position deviation of 1.8° or more has occurred.
Current control mode: The operating current has reached the limit.
Overheat protection The internal temperature of the driver exceeded 85 °C (185 °F).
The cumulative value of applied loads exceeding the peak torque reached or
Overload
exceeded the value set in the parameter for overload [APP-5-03].
The speed of the motor output shaft exceeded 4500 r/min (excluding geared
Overspeed
motors).
Command pulse error The command pulse frequency exceeded the specified value.
• A voltage exceeding the specified value was applied.
Overvoltage protection
Undervoltage The main power was cut off momentarily or the voltage became low.
• When the motor was in a state of current ON, the deviation between
Excessive position the command position and actual position exceeded the value set in the
deviation during current parameter for overflow rotation during current on [APP-5-01].
ON
• The load is large or acceleration/deceleration rate is low.
Descriptions of
alarms Excessive position
The C-ON input was turned ON while an excessive position deviation warning
deviation during current
at current OFF was present.
OFF
Return to electrical home operation was performed while an abnormal
Abnormal operation data
operation data warning was present.
Electronic gear setting The power was turned on when the resolution set by the electronic gear was
error outside the specified range.
Sensor error during
A sensor error occurred while the motor was operating.
operation
Initial sensor error A sensor error occurred when the power was turned on.
The motor output shaft rotated at a speed of 15 r/min or more while the
Initial rotor rotation error
initialization was still in progress following a power on.
Motor combination error A motor not supported by the driver is connected.
EEPROM error Data stored in the driver was damaged.
−78−
Reference
Mode Parameter
Standard Extended
specification function Current OPX-2A screen Initial
Normal Name Setting range
control display value
    − − − −
    − − − −
− − − −
×   
0: Disable
APP-2-01 AL0-2 signal output 0
1: Enable
− − − −
   
− − − −
Overflow rotation during 0.01 to 300.00
APP-5-01 3.00
current on [rev]
×   
APP-5-03 Overload 0.1 to 30.0 [s] 5.0
− − − −
− − − −
− − − −
− − − −
− − − −
− − − −
− − − −
   
− − − −
− − − −
− − − −
− − − −
− − − −
− − − −
− − − −
− − − −
* : Available
×: Not available
−79−
Reference
Warnings (warning functions)
Item Overview/condition
WNG output When a warning generates, the WNG output will turn ON.
Warning check Setting of enable/disable
function When the CS input is turned ON, a return to electrical home operation will be
for return to electrical
disabled and an abnormal operation data warning will generate.
home operation warning
Set the condition under which an excessive position deviation warning
Excessive position generates when the motor is in a state of current ON.
deviation warning Set the condition under which an excessive position deviation warning
generates when the motor is in a state of current OFF.
Overvoltage warning Set the condition under which an overvoltage warning generates.
Warning detection Undervoltage warning Set the condition under which an undervoltage warning generates.
condition setting Overheat warning Set the condition under which a driver overheat warning generates.
Set the condition under which an overload detection warning generates. The
overload condition varies depending on the control mode.
Overload warning
Normal mode: A position deviation of 1.8° or more has occurred.
Current control mode: The operating current has reached the limit.
Overspeed warning Set the condition under which a motor overspeed warning generates.
• When the motor was in a state of current ON, the deviation between
Excessive position the command position and actual position exceeded the value set in the
deviation during current parameter for overflow warning rotation during current on [APP-5-04].
ON
• The load is large or acceleration/deceleration rate is too short.
When the motor was in a state of current OFF, the deviation between
Excessive position
the command position and actual position exceeded the value set in the
deviation during current
parameter for overflow rotation during current off [APP-5-02]. (This warning is
OFF
output when the parameter for auto return [SyS-1-03] is set to “Enable.”)
The internal temperature of the driver exceeded the value set in the parameter
Overheat
for overheat warning [APP-5-07].
• The voltage of the main power supply exceeded the value set in the
Overvoltage parameter for overvoltage warning [APP-5-05].
Descriptions of • The voltage of the main power supply became lower than the value set in
warnings Undervoltage the parameter for undervoltage warning [APP-5-06].
• The main power was cut off momentarily or the voltage became low.
• A load exceeding the peak torque was applied for the time set in the
Overload parameter for overload warning [APP-5-08] or longer.
• The load is large or acceleration/deceleration rate is too short.
The detected motor speed exceeded the value set in the parameter for
Overspeed
overspeed warning [APP-5-09].
• The CS input was changed when the motor was in a state of current ON.
• The traveled distance from the electrical home exceeded the control
Operation data error range (2,147,483,648 pulses). (This alarm generates when the application
parameter for abnormal operation data warning [APP-5-00] is set to
“Enable.”)
Electronic gear setting
The resolution set by the electronic gear is outside the specified range.
error
−80−
Reference
Mode Parameter
Standard Extended
specification function Current OPX-2A screen Initial
Normal Name Setting range
control display value
− − − −
×    Abnormal operation data 0: Disable
APP-5-00 0
warning 1: Enable
Overflow rotation warning

APP-5-04 3.00
during current on 0.01 to 300.00
Overflow rotation warning [rev]
APP-5-02 100.00
during current off
APP-5-05 Overvoltage warning 63.0
15.0 to 63.0 [V]
APP-5-06 Undervoltage warning 18.0
×   
APP-5-07 Overheat warning 40 to 85 [° C] 85
APP-5-08 Overload warning 0.1 to 30.0 [s] 5.0
APP-5-09 Overspeed warning 1 to 5000 [r/min] 4500
− − − −
− − − −
− − − −
− − − −
×   
− − − −
− − − −
− − − −
− − − −
− − − −
* : Available
×: Not available
−81−
• Unauthorized reproduction or copying of all or part of this Operating Manual is prohibited.
If a new copy is required to replace an original manual that has been damaged or lost, please contact your nearest Oriental Motor
branch or sales office.
• Oriental Motor shall not be liable whatsoever for any problems relating to industrial property rights arising from use of any
information, circuit, equipment or device provided or referenced in this manual.
• Characteristics, specifications and dimensions are subject to change without notice.
• While we make every effort to offer accurate information in the manual, we welcome your input. Should you find unclear
descriptions, errors or omissions, please contact the nearest office.
• and are registered trademark or trademark of Oriental Motor Co., Ltd., in Japan and other countries.
Other product names and company names mentioned in this manual may be registered trademarks or trademarks of their respective
companies and are hereby acknowledged. The third-party products mentioned in this manual are recommended products, and
references to their names shall not be construed as any form of performance guarantee. Oriental Motor is not liable whatsoever for
the performance of these third-party products.
© Copyright ORIENTAL MOTOR CO., LTD. 2011
• Please contact your nearest Oriental Motor office for further information.
Technical Support Tel:(800)468-3982 Singapore Korea

8:30 A.M. to 5:00 P.M., P.S.T. (M-F) Tel:1800-8420280 Tel:080-777-2042
7:30 A.M. to 5:00 P.M., C.S.T. (M-F) www.orientalmotor.com.sg www.inaom.co.kr
www.orientalmotor.com
Tel:1800-806161 Hong Kong Branch
Tel:+55-11-3266-6018 www.orientalmotor.com.my Tel:+852-2427-9800
www.orientalmotor.com.br
Tel:1800-888-881 4-8-1 Higashiueno, Taito-ku, Tokyo
Schiessstraße 74, 40549 Düsseldorf, Germany www.orientalmotor.co.th 110-8536 Japan
Technical Support Tel:00 800/22 55 66 22 Tel:03-6744-0361
www.orientalmotor.de www.orientalmotor.co.jp
Tel:+91-80-41125586
www.orientalmotor.co.in
Tel:01256-347090
www.oriental-motor.co.uk
Tel:0800-060708
www.orientalmotor.com.tw
Tel:01 47 86 97 50
www.orientalmotor.fr
Tel:400-820-6516
www.orientalmotor.com.cn
Tel:02-93906346
www.orientalmotor.it

AR Series: DC Power Input Pulse Input Type User Manual

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HM-60139-6

Closed Loop Stepping Motor and Driver Package

Thank you for purchasing an Oriental Motor product.

1 Safety precautions...............................3 10 Explanation of I/O signals..................33

2 Overview of the product

 Various operation modes

All you need is to turn the C-ON input ON and i

AC power Noise filter DC power

Extend functions are made available through use of

OPX-2A PC in which the MEXE02

The PC must be supplied by the customer.

Easy setting using switches!

 Operating Manuals for the AR Series

Applicable product Type of operating manual Description of operating manual

5 Precautions for use

• Note on connecting a power supply whose positive terminal is grounded

6.1 Checking the product

6.2 How to identify the product model

*1 For IP20 type

6.3 Combinations of motors and drivers

 TH geared type  PN geared type

 PS geared type  Harmonic geared type

6.4 Input/output power ratings

6.5 Names and functions of parts

Mounting holes (4 locations)

Pilot Motor cable

Electromagnetic brake cable

Current setting switch

Data edit connector (CN4)

Control mode select switch

Motor connector (CN2) Pulse input mode select switch

I/O signals connector (CN5)

Main power supply

Frame Ground Terminal (CN1)

Name Description Ref.

7.1 Location for installation

7.2 Installing the motor

Frame size Tightening torque Effective depth of Installation

7.3 Installing a load

 Using a belt drive

 Using a gear drive

 Using a parallel key (geared motor)

 Installing on the flange surface (Harmonic geared type)

Number of Tightening torque Effective depth of

7.4 Permissible radial load and permissible axial load

Permissible radial load [N (lb.)]

Permissible radial load [N (lb.)]

 Permissible moment load of the Harmonic geared type

7.5 Installing the driver

exceeds 50 °C (122 °F).

DIN lever End plate

Removing from DIN rail

7.6 Installing and wiring in compliance with EMC Directive

 Connecting noise filter for power supply line

 Connecting the main power supply

 Wiring the power supply cable and signal cable

 Notes about installation and wiring

 Example of motor and driver installation and wiring

 Precautions about static electricity

Various operation modes

Operating Manuals for the AR Series

TH geared type PN geared type

PS geared type Harmonic geared type

Using a belt drive

Using a gear drive

Using a parallel key (geared motor)

Installing on the flange surface (Harmonic geared type)

Permissible moment load of the Harmonic geared type

Connecting noise filter for power supply line

Connecting the main power supply

Wiring the power supply cable and signal cable

Notes about installation and wiring

Example of motor and driver installation and wiring

Precautions about static electricity

Connector function table

Assembling the connector

Connecting the connector

Connecting to a current sink output circuit

Connecting to a current source output circuit

Grounding the driver

CW/PLS input, CCW/DIR input

RETURN (M1) input

P-RESET (M2) input

ASG output, BSG output

Pulse input mode

Motor excitation at power ON

Automatic return operation