thumb ORIENTIAL MOTORS PKP SERIES UNIPOLAR STEPPER MOTORS WITH ENCODERS
Unipolar 1.8° and 0.9° Stepper Motors
PKP Series with Encoders
Introducing the new 1.8° Standard and 0.9° High Resolution PKP Series stepper motors with an incremental Line Driver or Voltage output type encoder pre-assembled.
■Features ●Motor position information detection is possible Current position monitoring and position gap detection are possible by using an encoder type motor. For example, normal motor operation can be confirmed by comparing the current position and the command position.
●Compact Encoder
The Line Driver output offers excellent noise resistance because of the differential output and is capable of longer wiring distance compared to the voltage output. ● Main Specifications of Encoders • Output Circuit Format: Line Driver Output or Voltage Output type • Resolution: 200P/R (Standard Type), 400P/R (High-Resolution Type) • Output Signal: A-Phase, B-Phase, Z-Phase (3ch)
Contributing to overall space savings, the PKP Series features a standard size, compact encoder. ● Example of a 42 mm (1.65 in.) Encoder
20 (0.79) Max
13.5 (0.53)
●To reduce electrical noise, use the Line Driver Output type
■Product Lineup 20 mm (0.79 in.)
28 mm (1.10 in.)
Frame Size 35 mm (1.38 in.)
42 mm (1.65 in.)
56.4 mm (2.22 in.)
Bipolar
●
●
●
●
●
Basic step angle: 1.8° Encoder resolution: 200 P/R
Unipolar✽
●
●
●
●
●
High-resolution type
Bipolar
−
−
−
●
●
Basic step angle: 0.9° Encoder resolution: 400 P/R
Unipolar✽
−
−
−
●
●
Type
Connection Method
Standard type
✽See website for part number and specifications
■System Configuration ✽Not supplied
These accessories allow 1.8°/0.9° stepper motors to be used for various operations.
Accessories (Sold separately)
Required products (Sold separately)
Controller (Sold separately)
Drive
Controller
MCS Couplings
1.8°/0.9° PKP Series
Programmable Controller✽
Motor
A 0.6 m (2 ft.) motor connection cable and encoder connection cable is included with a connector-coupled motor.
Accessories (Sold separately)
Motor Mounting Brackets
Clean Dampers
Connection Cables
● The system configuration shown above is an example. Other combinations are also available.
2
■Product Number
PKP 2 4 3 M D 15 A - R2F L - L ① ① ②
② ③ ④ ⑤ ⑥
Series Name 2: 2-Phase Motor Frame Size
③ ④ ⑤ ⑥ ⑦ ⑧ ⑨ ⑩ ⑪
Motor Case Length Motor Type Number of Lead Wires Winding Specification Motor Shaft Configuration Encoder Resolution Encoder Output Circuit Type Connection Cable
⑦
⑧
⑨
⑩
⑪
PKP: PKP Series 1: 20 mm (0.79 in.) 2: 28 mm (1.10 in.) 3: 35 mm (1.38 in.) 4: 42 mm (1.65 in.) 6: 56.4 mm (2.22 in.) Blank: Standard Type M: High-Resolution Type D: 4 U: 5 or 6 A: Single Shaft A2: 28 mm (1.10 in.) R2E: 200P/R R2F: 400P/R L: Line Driver Output Blank: Voltage Output
■Product Line ●1.8° PKP Series – Line Driver Type Product Name PKP213U05A-R2EL-L PKP214U06A-R2EL-L PKP223U09A2-R2EL-L PKP225U09A2-R2EL-L PKP233U12A-R2EL-L PKP235U12A-R2EL-L PKP243U09A-R2EL-L PKP244U12A-R2EL-L PKP245U12A-R2EL-L PKP246U12A-R2EL-L PKP264U20A-R2EL-L PKP266U20A-R2EL-L PKP268U20A-R2EL-L
List Price $148.00 $155.00 $123.00 $133.00 $123.00 $130.00 $123.00 $124.00 $130.00 $132.00 $131.00 $137.00 $153.00
●0.9° PKP Series – Line Driver Type Product Name PKP243MU09A-R2FL-L PKP244MU12A-R2FL-L PKP264MU20A-R2FL-L PKP266MU20A-R2FL-L PKP268MU20A-R2FL-L
List Price $133.00 $134.00 $131.00 $137.00 $153.00
●1.8° PKP Series – Voltage Type Product Name PKP213U05A-R2E-L PKP214U06A-R2E-L PKP223U09A2-R2E-L PKP225U09A2-R2E-L PKP233U12A-R2E-L PKP235U12A-R2E-L PKP243U09A-R2E-L PKP244U12A-R2E-L PKP245U12A-R2E-L PKP246U12A-R2E-L PKP264U20A-R2E-L PKP266U20A-R2E-L PKP268U20A-R2E-L
List Price $148.00 $155.00 $123.00 $133.00 $123.00 $130.00 $123.00 $124.00 $130.00 $132.00 $131.00 $137.00 $153.00
●0.9° PKP Series – Voltage Type Product Name PKP243MU09A-R2F-L PKP244MU12A-R2F-L PKP264MU20A-R2F-L PKP266MU20A-R2F-L PKP268MU20A-R2F-L
List Price $133.00 $134.00 $131.00 $137.00 $153.00
The following items are included with each product. Motor, Motor Connection Cable✽, Encoder Connection Cable, Operating Manual ✽Except for motor frame size of 20 mm (0.79 in.).
3
Step Angle 1.8°
Frame Size 20 mm (0.79 in.) Unipolar 5 Lead Wires
■Specifications Holding Torque N·m (oz-in)
Product Name
Rated Current
Voltage
Resistance
Inductance
Rotor Inertia J kg·m2 (oz-in2)
Lead Wires
A/phase
VDC
Ω/phase
mH/phase
PKP213U05A-R2E□-L
0.014 (1.98)
0.5
4.25
8.5
2.9
1.66×10-7 (0.0088)
PKP214U06A-R2E□-L
0.026 (3.6)
0.6
4.2
7
2.4
2.96×10-7 (0.0159)
5
●Enter the encoder type (L for Line Driver output, blank for Voltage output) in the box (□) within the product name.
■Speed – Torque Characteristics
fs: Max. starting frequency
PKP213U05
0.020
PKP214U06
Unipolar Constant Current Driver Power Supply Voltage: 24 VDC Current: 0.5 A/Phase (At 2-phase excitation) Load Inertia: JL=0 kg·m2 (0 oz-in2)
0.015 Pullout Torque 0.010
0.005
3.0
2.0
Torque [N·m]
10
Pullout Torque
Torque [oz-in]
15
Full Step 1.8˚/step 0.025
Torque [N·m]
Torque [oz-in]
20
0.030 4.0
Full Step 1.8˚/step
25
Unipolar Constant Current Driver Power Supply Voltage: 24 VDC Current: 0.6 A/Phase (At 2-phase excitation) Load Inertia: JL=0 kg·m2 (0 oz-in2)
0.020 0.015 0.010
1.0
5
0.005 fs
fs 0 0
0
2000
0
4000 6000 Speed [r/min] 10
8000
0
10000
0
30 Full Step
20 Pulse Speed [kHz]
0 0
2000
4000 6000 Speed [r/min] 10
5
20 15 Pulse Speed [kHz]
8000 25
10000 Full Step
Note ●Depending on the driving conditions, a considerable amount of heat may be generated by the motor. Be sure to keep the temperature of the motor case under 100˚C (212˚F).
■Dimensions
Unit = mm (in.)
●Motor with Encoder Product Name PKP213U05A-R2E□-L PKP214U06A-R2E□-L
Motor Product Name L Mass kg (lb.) 2D CAD PKP213U05A-R2E□ 46.5 (1.83) 0.06 (0.132) B1100 PKP214U06A-R2E□ 56.5 (2.22) 0.08 (0.176) B1101
0
0
(ϕ0.5906−0.0007)
16±0.2 (0.630±0.008)
1.5 (0.06) 11.6 (0.46)
3.5 (0.14)
7.8 (0.31)
300 (12)
12 (0.47)
3 (0.12)
20 (0.79)
0 ϕ15−0.018
20 (0.79)
4×M2×2.5 (0.10) Deep 5 Motor Leads UL Style 3265, AWG26 ●Included Connection cable for encoder
600 (24) 8 1
Connector Housing 51021-0800 (Molex)
4
8 Encoder Lead Wires UL Style 3265, AWG26
16±0.2 (0.630±0.008)
8
16.5 (0.65) 20 (0.79) max.
5 (0.20)
1
10±1 (0.39±0.04) 7±0.25 (0.276±0.010)
0
L 20 (0.79) max.
3.5±0.15 (0.138±0.006)
Encoder 51021-0800 50079-8100 57067-3000
Connector Housing Contact Crimp Tool
ϕ4−0.012 (ϕ0.1575−0.0005)
●Applicable Connector (Molex)
Step Angle 1.8°
Frame size 28 mm (1.10 in.) Unipolar 6 Lead Wires
■Specifications Holding Torque N·m (oz-in)
Product Name
PKP223U09A2-R2E□-L
0.075 (10.6)
PKP225U09A2-R2E□-L
0.135 (19.1)
Rated Current
Voltage
Resistance
Inductance
Rotor Inertia J kg·m2 (oz-in2)
A/phase
VDC
Ω/phase
mH/phase
2.95
3.11
1.44
9×10-7 (0.049)
4.4
4.6
2.11
18×10-7 (0.098)
0.95
Lead Wires
6
●Enter the encoder type (L for Line Driver output, blank for Voltage output) in the box (□) within the product name. ●A motor connection cable 0.6 m (2 ft.) and encoder connection cable 0.6 m (2 ft.) are included with each product.
■Speed – Torque Characteristics PKP223U09
Full Step 1.8˚/step
Torque [oz-in]
Pullout Torque
0.05 0.04 0.03 0.02
2
10
5
0
Pullout Torque
0.10 0.08 0.06 0.04 0.02
0.01
0
Unipolar Constant Current Driver Power Supply Voltage: 24 VDC Current: 0.95 A/Phase (At 2-phase excitation) With Damper D4CL-5.0F: JL=34×10−7 kg·m2 (0.186 oz-in2)
0.12 15 Torque [N·m]
0.06 Torque [N·m]
Torque [oz-in]
4
0.14
Full Step 1.8˚/step
0.07
8 6
PKP225U09
Unipolar Constant Current Driver Power Supply Voltage: 24 VDC Current: 0.95 A/Phase (At 2-phase excitation) With Damper D4CL-5.0F: JL=34×10−7 kg·m2 (0.186 oz-in2)
0.08 10
fs: Max. starting frequency
0
fs 500 1000 1500 2000 2500 3000 3500 4000 4500 Speed [r/min]
0
4
8 Pulse Speed [kHz]
12
0
0
0
fs 500 1000 1500 2000 2500 3000 3500 4000 4500 Speed [r/min]
0
Full Step
4
8 Pulse Speed [kHz]
12
Full Step
Note ●Speed – Torque Characteristics are data that depends on the measurement conditions of the company. If the conditions are changed, the characteristics may change. ●Speed – Torque Characteristics are data from when external load inertia is used. ●Depending on the driving conditions, a considerable amount of heat may be generated by the motor. Be sure to keep the motor case temperature at 85˚C (185˚F) max. in order to protect the encoder.
■Dimensions
Unit = mm (in.)
Product Name Motor Product Name L Mass kg (lb.) 2D CAD PKP223U09A2-R2E□-L PKP223U09A2-R2E□ 47.5 (1.87) 0.12 (0.26) B1198 PKP225U09A2-R2E□-L PKP225U09A2-R2E□ 67 (2.64) 0.21 (0.46) B1199 ●Applicable connector (Molex)
Encoder 51021-0800 50079-8100 57067-3000 15±1 (0.59±0.04)
L 13.5±0.5 (0.53±0.2) 3.5 (0.14)
28 (1.10) 23±0.2 (0.906±0.008)
10±0.25 (0.394±0.010)
●Included Connection cable Product Name: LC2U06A
1.5 (0.06)
0 ϕ22−0.033 (ϕ0.8661−0.0013)
10.9 (0.43)
6
1
0
4.5±0.15 (0.177±0.006)
11.6 (0.46)
0 0 ϕ5−0.012 (ϕ0.1969−0.0005 )
8
5 (0.20)
1
20 (0.79) max.
5 (0.20)
20 (0.79) max.
23±0.2 (0.906±0.008) 28 (1.10)
Motor 51065-0600 50212-8100 57176-5000
Connector Housing Contact Crimp Tool
16.5 (0.65) 4×M2.5×2.5 (0.10) Deep
●Included Encoder connection cable
600 (24) 600 (24) 8
6
1 1
51065-0600 (Molex)
6 Motor Leads UL Style 3265, AWG24
Connector Housing 51021-0800 (Molex)
8 Encoder Leads UL Style 3265, AWG26
5
Step Angle 1.8°
Frame size 35 mm (1.38 in.) Unipolar 6 Lead Wires
■Specifications Holding Torque N·m (oz-in)
Product Name
PKP233U12A-R2E□-L
0.16 (22)
PKP235U12A-R2E□-L
0.3 (42)
Rated Current
Voltage
Resistance
Inductance
A/phase
VDC
Ω/phase
mH/phase
3.24
2.7
1.4
24×10-7 (0.131)
4.08
3.4
2
50×10-7 (0.27)
1.2
Rotor Inertia J kg·m2 (oz-in2)
Lead Wires
6
●Enter the encoder type (L for Line Driver output, blank for Voltage output) in the box (□) within the product name. ●A motor connection cable 0.6 m (2 ft.) and encoder connection cable 0.6 m (2 ft.) are included with each product.
■Speed – Torque Characteristics PKP233U12
PKP235U12
Unipolar Constant Current Driver Power Supply Voltage: 24 VDC Current: 1.2 A/Phase (At 2-phase excitation) With Damper D4CL-5.0F: JL=34×10−7 kg·m2 (0.186 oz-in2)
Full Step 1.8˚/step 0.25
Torque [oz-in]
10
Torque [N·m]
Torque [oz-in]
20 15
0.30
Pullout Torque
0.15
Unipolar Constant Current Driver Power Supply Voltage: 24 VDC Current: 1.2 A/Phase (At 2-phase excitation) With Damper D4CL-5.0F: JL=34×10−7 kg·m2 (0.186 oz-in2)
40
Full Step 1.8˚/step
25
0.10
0.05
30
Torque [N·m]
0.20
fs: Max. starting frequency
20
Pullout Torque
0.20 0.15 0.10
10
5
0.05 0
0
fs 500
0
0
2
1000 1500 Speed [r/min] 4 Pulse Speed [kHz]
2000
2500
6
0
0
fs 500
0
0
Full Step
1000 1500 Speed [r/min]
2
2000
4 Pulse Speed [kHz]
2500
6
Full Step
Note ●Depending on the driving conditions, a considerable amount of heat may be generated by the motor. Be sure to keep the motor case temperature at 85˚C (185˚F) max. in order to protect the encoder.
■Dimensions
Unit = mm (in.)
Product Name Motor Product Name L Mass kg (lb.) CAD PKP233U12A-R2E□-L PKP233U12A-R2E□ 50.5 (1.99) 0.19 (0.42) B1102 PKP235U12A-R2E□-L PKP235U12A-R2E□ 65.5 (2.57) 0.295 (0.65) B1103 ●Applicable Connector (Molex)
Motor 51103-0600 50351-8100 57295-5000
Encoder 51021-0800 50079-8100 57067-3000 20±1 (0.79±0.04)
L 3.5 (0.14)
13.5 (0.53)
35 (1.38) 29±0.2 (1.14±0.008)
15±0.25 (0.591±0.010)
●Included Motor connection cable Product Name: LC2U06B
0
0
ϕ22−0.033 (ϕ0.8661−0.0013)
1.5 (0.06)
0
17.5 (0.69)
0 ϕ5−0.012 (ϕ0.1969−0.0005 )
11.6 (0.46)
4.5±0.15 (0.177±0.006)
8
9 (0.35)
1
20 (0.79) max.
5 (0.20)
20 (0.79) max.
29±0.2 (1.14±0.008) 35 (1.38)
Connector Housing Contact Crimp Tool
6
1
23 (0.91) 4×M3×2.5 (0.10) Deep
●Included Encoder connection cable
600 (24) 600 (24) 8
6
1
1 51103-0600 (Molex)
6
6 Motor Leads UL Style 3265, AWG24
8 Encoder Leads UL Style 3265, AWG26 Connector Housing 51021-0800 (Molex)
Step Angle 1.8°
Frame size 42 mm (1.65 in.) Unipolar 6 Lead Wires
■Specifications Product Name
Holding Torque N·m (oz-in) 0.25 (35) 0.39 (55) 0.45 (63) 0.75 (106)
PKP243U09A-R2E□-L PKP244U12A-R2E□-L PKP245U12A-R2E□-L PKP246U12A-R2E□-L
Rated Current A/phase 0.95 1.2 1.2 1.2
Voltage VDC 4.47 4.8 4.56 7.2
Resistance Ω/phase 4.7 4 3.8 6
Inductance mH/phase 5 3.9 5 6.5
Rotor Inertia J kg·m2 (oz-in2) 36×10-7 (0.197) 57×10-7 (0.31) 83×10-7 (0.45) 114×10-7 (0.62)
Lead Wires
6
●Enter the encoder type (L for Line Driver output, blank for Voltage output) in the box (□) within the product name. ●A motor connection cable 0.6 m (2 ft.) and encoder connection cable 0.6 m (2 ft.) are included with each product.
■Speed – Torque Characteristics PKP243U09
PKP244U12
Unipolar Constant Current Driver Power Supply Voltage: 24 VDC Current: 0.95 A/Phase (At 2-phase excitation) With Damper D4CL-5.0F: JL=34×10−7 kg·m2 (0.186 oz-in2)
40
0.5
Full Step 1.8˚/step
Full Step 1.8˚/step
0.15 0.10
40
0.3 0.2
fs 0 0
500
0
1000 Speed [r/min] 2
1500
4 Pulse Speed [kHz]
0
0
2000
Pullout Torque 0.3 0.2 0.1
0.1
0.05 0
40
20
20
10
0.4
Pullout Torque Torque [oz-in]
Pullout Torque
60
0.4 Torque [N·m]
0.20
Torque [oz-in]
Torque [N·m]
Torque [oz-in]
30
0.5
Unipolar Constant Current Driver Power Supply Voltage: 24 VDC Current: 1.2 A/Phase (At 2-phase excitation) With Damper D4CL-5.0F: JL=34×10−7 kg·m2 (0.186 oz-in2)
Full Step 1.8˚/step 60
0.25
20
PKP245U12
Unipolar Constant Current Driver Power Supply Voltage: 24 VDC Current: 1.2 A/Phase (At 2-phase excitation) With Damper D4CL-5.0F: JL=34×10−7 kg·m2 (0.186 oz-in2)
Torque [N·m]
0.30
fs: Max. starting frequency
6 Full Step
fs
fs 500
0
0
1000 1500 Speed [r/min]
2
4 Pulse Speed [kHz]
2000 6
2500
0
0 0 0
Full Step
500
1000 Speed [r/min] 2
4 Pulse Speed [kHz]
1500
2000 6 Full Step
PKP246U12 Unipolar Constant Current Driver Power Supply Voltage: 24 VDC Current: 1.2 A/Phase (At 2-phase excitation) With Damper D4CL-5.0F: JL=34×10−7 kg·m2 (0.186 oz-in2)
0.8
Full Step 1.8˚/step
100 Pullout Torque
0.4
2
1500
4 Pulse Speed [kHz]
■Dimensions Product Name PKP243U09A-R2E□-L PKP244U12A-R2E□-L PKP245U12A-R2E□-L PKP246U12A-R2E□-L
Motor Product Name PKP243U09A-R2E□ PKP244U12A-R2E□ PKP245U12A-R2E□ PKP246U12A-R2E□ L
9 (0.35)
11.6 (0.46)
20 (0.79) max.
5 (0.20)
1 8
Note ●Depending on the driving conditions, a considerable amount of heat may be generated by the motor. Be sure to keep the motor case temperature at 85˚C (185˚F) max. in order to protect the encoder.
6 Full Step
Unit = mm (in.)
13.5 (0.53) 3.5 (0.14)
20 (0.79) max.
2000
L Mass kg (lb.) 46.5 (1.83) 0.26 (0.57) 52.5 (2.07) 0.31 (0.68) 60.5 (2.83) 0.40 (0.88) 72.5 (2.85) 0.51 (1.12)
20±1 (0.79±0.04) 15±0.25 (0.591±0.010)
1.5 15 (0.06) (0.59)
●Applicable Connector (Molex)
CAD B1104 B1105 B1106 B1107
Motor 51103-0600 50351-8100 57295-5000
Connector Housing Contact Crimp Tool
Encoder 51021-0800 50079-8100 57067-3000
42 (1.65) 31±0.2 (1.220±0.008)
●Included Motor connection cable Product Name: LC2U06B
42 (1.65)
0
1000 Speed [r/min]
6
1
31±0.2 (1.220±0.008)
fs 500
0
0 (ϕ0.8661−0.0013 )
0
0 ϕ22−0.033
0
(ϕ0.1969−00.0005)
0.2
0 ϕ5−0.012
25
4.5±0.15 (0.177±0.006)
50
Torque [N·m]
Torque [oz-in]
0.6 75
23 (0.91) 4×M3×4.5 (0.18) Deep
●Included Encoder connection cable
600 (24)
600 (24) 8
6
1 1 51103-0600 (Molex)
6 Motor Leads UL Style 3265, AWG24
8 Encoder Leads UL Style 3265, AWG26 Connector Housing 51021-0800 (Molex)
7
Step Angle 1.8°
Frame size 56.4 mm (2.22 in.) Unipolar 6 Lead Wires
■Specifications Holding Torque N·m (oz-in)
Product Name
PKP264U20A-R2E□-L
0.51 (72)
PKP266U20A-R2E□-L
1.1 (156)
PKP268U20A-R2E□-L
1.75 (240)
Rated Current
Voltage
Resistance
Inductance
A/phase
VDC
Ω/phase
mH/phase
2.9
1.45
1.8
120×10-7 (0.66)
4
2
2.9
290×10-7 (1.59)
4.4
490×10-7 (2.7)
2
4.9
2.45
Rotor Inertia J kg·m2 (oz-in2)
Lead Wires
6
●Enter the encoder type (L for Line Driver output, blank for Voltage output) in the box (□) within the product name. ●A motor connection cable 0.6 m (2 ft.) and encoder connection cable 0.6 m (2 ft.) are included with each product.
■Speed – Torque Characteristics PKP264U20
PKP266U20
Unipolar Constant Current Driver Power Supply Voltage: 24 VDC Current: 2.0 A/Phase (At 2-phase excitation) With Damper D6CL-8.0F: JL=140×10−7 kg·m2 (0.77 oz-in2)
1.2
Full Step 1.8˚/step
50 0.1 0
Full Step 1.8˚/step
1.4
0.8 0.6 0.4
Pullout Torque
fs 500
0
2
1000 1500 Speed [r/min] 4 Pulse Speed [kHz]
2000 6
0
0
2500
1.0 0.8 0.6 Pullout Torque 0.4 0.2
fs 500
0
0
Full Step
100
50
0.2
0
150
Torque [N·m]
0.2
100
Torque [N·m]
Pullout Torque 0.3
20
0
200
1.0
Unipolar Constant Current Driver Power Supply Voltage: 24 VDC Current: 2.0 A/Phase (At 2-phase excitation) With Damper D6CL-8.0F: JL=140×10−7 kg·m2 (0.77 oz-in2)
1.2 Torque [oz-in]
40
1.6
Full Step 1.8˚/step
150
0.4 Torque [N·m]
Torque [oz-in]
60
PKP268U20
Unipolar Constant Current Driver Power Supply Voltage: 24 VDC Current: 2.0 A/Phase (At 2-phase excitation) With Damper D6CL-8.0F: JL=140×10−7 kg·m2 (0.77 oz-in2)
Torque [oz-in]
0.5
fs: Max. starting frequency
2
1000 1500 Speed [r/min] 4 Pulse Speed [kHz]
2000 6
2500 Full Step
0
0
fs 0
0
500
1000 Speed [r/min] 2
4 Pulse Speed [kHz]
1500
2000 6 Full Step
Note ●Depending on the driving conditions, a considerable amount of heat may be generated by the motor. Be sure to keep the motor case temperature at 85˚C (185˚F) max. in order to protect the encoder.
■Dimensions
Unit = mm (in.)
Product Name Motor Product Name L PKP264U20A-R2E□-L PKP264U20A-R2E□ 55.5 (2.19) PKP266U20A-R2E□-L PKP266U20A-R2E□ 70.5 (2.78) PKP268U20A-R2E□-L PKP268U20A-R2E□ 92.5 (3.64)
●Applicable Connector (Molex)
Mass kg (lb.) CAD 0.47 (1.04) B1108 0.74 (1.63) B1109 1.11 (2.45) B1110
Connector Housing Contact Crimp Tool
24±1 (0.94±0.04)
L
Encoder 51021-0800 50079-8100
57189-5000 57190-5000
57067-3000
56.4 (2.22)
18.5 (0.73)
0
47.14±0.35 (1.86±0.014) 47.14±0.35 (1.86±0.014) 56.4 (2.22)
ϕ38.1±0.03 (ϕ1.5000±0.012)
20±0.25 (0.787±0.010)
0
11.6 (0.46)
5 1.6 (0.20) (0.063)
7.5±0.15 (0.295±0.006)
5 (0.20)
1 8
20 (0.79) max. 12 (0.47)
3.5 (0.14)
20 (0.79) max.
ϕ8−0.015 (ϕ0.3125−0.006)
16.5 (0.65)
Motor 51067-0600 50217-9101
6
1
29 (1.14) 4×ϕ4.5 (ϕ18) Thru
●Included Motor connection cable Product Name: LC2U06C
●Included Encoder connection cable
600 (24) 600 (24)
8 6
1 1 51067-0600 (Molex)
8
6 Motor Leads UL Style 3265, AWG22
8 Encoder Leads UL Style 3265, AWG26 Connector Housing 51021-0800 (Molex)
Step Angle 0.9°
Frame size 42 mm (1.65 in.) Unipolar 6 Lead Wires
■Specifications Holding Torque N·m (oz-in)
Product Name
Rated Current
Voltage
Resistance
Inductance
Rotor Inertia J kg·m2 (oz-in2)
A/phase
VDC
Ω/phase
mH/phase
PKP243MU09A-R2E□-L
0.25 (35)
0.95
4.47
4.7
6.6
36×10-7 (0.197)
PKP244MU12A-R2E□-L
0.35 (49)
1.2
4.8
4
6
57×10-7 (0.31)
Lead Wires
6
●Enter the encoder type (L for Line Driver output, blank for Voltage output) in the box (□) within the product name. ●A motor connection cable 0.6 m (2 ft.) and encoder connection cable 0.6 m (2 ft.) are included with each product.
■Speed – Torque Characteristics PKP243MU09
0.4
PKP244MU12
Unipolar Constant Current Driver Power Supply Voltage: 24 VDC Current: 0.95 A/Phase (At 2-phase exctation) With Damper D4CL-5.0F: JL=34×10−7 kg·m2 (0.186 oz-in2)
0.4
50 0.3
0.3
0.2
30 20
Torque [N·m]
40 Torque [oz-in]
Torque [N·m]
Torque [oz-in]
20
Unipolar Constant Current Driver Power Supply Voltage: 24 VDC Current: 1.2 A/Phase (At 2-phase exctation) With Damper D4CL-5.0F: JL=34×10−7 kg·m2 (0.186 oz-in2)
50
40 30
fs: Max. starting frequency
0.1
0.2
0.1
10
10
0
0
500 0
1000 1500 Speed [r/min] 4
2000
8 Pulse Speed [kHz]
0
2500
0
Full Step
12
500 0
1000 1500 Speed [r/min] 4
2000
8 Pulse Speed [kHz]
2500 Full Step
12
Note ●Depending on the driving conditions, a considerable amount of heat may be generated by the motor. Be sure to keep the motor case temperature at 85˚C (185˚F) max. in order to protect the encoder.
Unit = mm (in.) ●Applicable Connector (Molex)
Product Name Motor Product Name L Mass kg (lb.) CAD PKP243MU09A-R2F□-L PKP243MU09A-R2F□ 46.5 (1.83) 0.26 (0.57) B1104 PKP244MU12A-R2F□-L PKP244MU12A-R2F□ 52.5 (2.07) 0.31 (0.68) B1105
Motor 51103-0600 50351-8100 57295-5000
Encoder 51021-0800 50079-8100 57067-3000
42 (1.65)
●Included Motor connection cable Product Name: LC2U06B
42 (1.65)
0 (ϕ0.8661−0.0013 )
31±0.2 (1.220±0.008)
0 ϕ22−0.033
(ϕ0.1969−00.0005)
1.5 15 (0.06) (0.59)
0 ϕ5−0.012
9 (0.35)
11.6 (0.46)
20 (0.79) max.
5 (0.20)
1 8
20±1 (0.79±0.04) 15±0.25 (0.591±0.010)
4.5±0.15 (0.177±0.006)
L 13.5 (0.53) 3.5 (0.14)
20 (0.79) max.
Connector Housing Contact Crimp Tool
6
1
31±0.2 (1.220±0.008)
■Dimensions
23 (0.91) 4×M3×4.5 (0.18) Deep
●Included Encoder connection cable
600 (24) 600 (24) 8
6
1
1 51103-0600 (Molex)
6 Motor Leads UL Style 3265, AWG24
8 Encoder Leads UL Style 3265, AWG26 Connector Housing 51021-0800 (Molex)
9
Step Angle 0.9°
Frame size 56.4 mm (2.22 in.) Unipolar 6 Lead Wires
■Specifications Holding Torque N·m (oz-in)
Product Name
PKP264MU20A-R2F□-L
0.51 (72)
PKP266MU20A-R2F□-L
1.1 (155)
PKP268MU20A-R2F□-L
1.75 (247)
Rated Current
Voltage
Resistance
Inductance
A/phase
VDC
Ω/phase
mH/phase
2.9
1.45
2.1
120×10-7 (0.66)
4
2
3.9
290×10-7 (1.59)
5.6
490×10-7 (2.7)
2
4.9
2.45
Rotor Inertia J kg·m2 (oz-in2)
Lead Wires
6
●Enter the encoder type (L for Line Driver output, blank for Voltage output) in the box (□) within the product name. ●A motor connection cable 0.6 m (2 ft.) and encoder connection cable 0.6 m (2 ft.) are included with each product.
■Speed – Torque Characteristics PKP264MU20
1.2 150
50 0.1
1.4
0.6 0.4
500
0
4
1000 1500 Speed [r/min] 8 Pulse Speed [kHz]
2000 12
0
0
2500
1.0 0.8 0.6 0.4 0.2
0
500
0
Full Step
100
50
0.2
0
150
Torque [N·m]
0.8
Torque [oz-in]
100
Torque [N·m]
Torque [oz-in]
0.2
0
1.6 200
Unipolar Constant Current Driver Power Supply Voltage: 24 VDC Current: 2.0 A/Phase (At 2-phase exctation) With Damper D6CL-8.0F: JL=140×10−7 kg·m2 (0.77 oz-in2)
1.2
0.3
20
0
PKP268MU20
Unipolar Constant Current Driver Power Supply Voltage: 24 VDC Current: 2.0 A/Phase (At 2-phase exctation) With Damper D6CL-8.0F: JL=140×10−7 kg·m2 (0.77 oz-in2)
1.0
0.4 Torque [N·m]
Torque [oz-in]
PKP266MU20
Unipolar Constant Current Driver Power Supply Voltage: 24 VDC Current: 2.0 A/Phase (At 2-phase exctation) With Damper D6CL-8.0F: JL=140×10−7 kg·m2 (0.77 oz-in2)
0.5 60
40
fs: Max. starting frequency
4
1000 1500 Speed [r/min] 8 Pulse Speed [kHz]
2000 12
2500 Full Step
0
0
0
500
0
1000 Speed [r/min] 4
1500
8 Pulse Speed [kHz]
2000 12Full Step
Note ●Depending on the driving conditions, a considerable amount of heat may be generated by the motor. Be sure to keep the motor case temperature at 85˚C (185˚F) max. in order to protect the encoder.
Unit = mm (in.)
Product Name Motor Product Name L PKP264MU20A-R2F□-L PKP264MU20A-R2F□ 55.5 (2.18) PKP266MU20A-R2F□-L PKP266MU20A-R2F□ 70.5 (2.78) PKP268MU20A-R2F□-L PKP268MU20A-R2F□ 92.5 (3.64)
0 0
18.5 (0.73)
ϕ38.1±0.03 (ϕ1.5000±0.012)
20±0.25 (0.787±0.010)
7.5±0.15 (0.295±0.006)
11.6 (0.46)
5 1.6 (0.20) (0.063)
Crimp Tool
Motor 51067-0600 50217-9101
Encoder 51021-0800 50079-8100
57189-5000 57190-5000
57067-3000
56.4 (2.22)
ϕ8−0.015 (ϕ0.3125−0.006)
5 (0.20)
1 8
20 (0.79) max. 12 (0.47)
3.5 (0.14)
20 (0.79) max.
Connector Housing Contact
24±1 (0.94±0.04)
L 16.5 (0.65)
●Applicable Connector (Molex)
Mass kg (lb.) CAD 0.47 (1.04) B1108 0.74 (1.63) B1109 1.11 (2.45) B1110
47.14±0.35 (1.86±0.014) 47.14±0.35 (1.86±0.014) 56.4 (2.22)
■Dimensions
6
1
29 (1.14) 4×ϕ4.5 (ϕ18) Thru
●Included Motor connection cable Product Name: LC2U06C
●Included Encoder connection cable
600 (24) 600 (24)
8 6
1 1 51067-0600 (Molex)
10
6 Motor Leads UL Style 3265, AWG22
8 Encoder Leads UL Style 3265, AWG26 Connector Housing 51021-0800 (Molex)
■General Specifications Item
Specification 130 (B) 100 MΩ or more when 500 VDC megger is applied between the windings and the case under normal ambient temperature and humidity.
Heat-Resistant Class Insulation Resistance
Sufficient to withstand 1.0 kVAC at 60Hz applied between the windings and the case for 1 minute, under normal ambient temperature and humidity. (0.5 kV for models with a frame size of 42 mm (1.65 in.))
Dielectric Strength
Ambient Temperature −10∼+50˚C (+14∼+122˚F) (non-freezing) Ambient Humidity 85% max. (non-condensing) Atmosphere No corrosive gases or dust. The product should not be exposed to water, oil or other liquids.
Operating Environment (In operation)
· PKP21□, PKP243, PKP245: Temperature rise of the windings is 80˚C (176˚F) or less (measured by the resistance change method) at the rated voltage, at standstill, and 2-phases excited. · PK29□, PKP22□, PKP23□, PKP244, PKP246, PKP26□: Temperature rise of the windings is 80˚C (176˚F) or less (measured by the resistance change method) at the rated current, at standstill, and 2-phases excited. The following motors are measured with a radiation plate (material aluminum). PKP22□ and PKP23□: 115×115×5 mm (4.53×4.53×0.20 in.) PKP244 and PKP246: 175×175×5 mm (6.89×6.89×0.20 in.) PKP26□: 250×250×10 mm (9.84×9.84×0.39 in.)
Temperature Rise
Stop Position Accuracy✽1 Shaft Runout Radial Play✽2 Axial Play✽3 Concentricity of Installing Pilot to the Shaft Perpendicularity of Installation Surface to the Shaft
±3 arcmin (±0.05˚) [PKP21□: ±5 arcmin (±0.083˚)] 0.05 mm (0.002 in.) T.I.R.✽4 0.025 mm (0.001 in.) maximum (load 5 N (1.12 lb.)) 0.075 mm (0.003 in.) maximum (load 10 N (2.2 lb.)) [The load for PKP21□ is 1 N (0.225 lb.)] 0.075 mm (0.003 in.) T.I.R.✽4 0.075 mm (0.003 in.) T.I.R.✽4
✽1 This value is for full step under no load. (The value changes with the size of the load.) ✽2 Radial Play: Displacement in shaft position in the radial direction when a 5 N (1.12 lb.) load is applied in the vertical direction to the tip of the motor shaft. ✽3 Axial Play: Displacement in shaft position in the axial direction when a 10 N (2.2 lb.) [PKP21□ is 1 N (0.225 lb.)] load is applied to the motor shaft in the axial direction. ✽4 T. I. R. (Total Indicator Reading): The total dial gauge reading when the measurement section is rotated one revolution centered on the reference axis center. Note ●Do not measure insulation resistance or perform the dielectric strength test while the motor and driver are connected. Also, do not conduct these tests on the motor encoder section. ●For Radial load and Permissible Axial load, see 2015-2016 General Catalog, page A-262.
ϕ0.075 A 0.05
A
0.075
A
■Encoder Specifications Encoder Product Name Resolution Output Circuit Type Output Mode Output Signal Power Supply Voltage Current
R2EL 200 P/R
R2FL 400 P/R
Line Driver Incremental A-phase, B-phase, Z-phase (3ch) 5 VDC±10% 30 mA max.
●A voltage output type encoder output circuit is also available. For details, please contact the nearest Oriental Motor sales office.
■Inner Wiring Diagram for Motor ●Unipolar 6 Lead Wires (4) Black
Black Orange
(6) Green
A A
A A
(5) Yellow
●Unipolar 5 Lead Wires
Green
B B Red White Blue
Color of Lead Wire
(3)
Connector Terminal No.
(2)
(1)
B B Red
Blue
Color of Lead Wire
11
Specifications are subject to change without notice. This catalog was published in August, 2015.
ORIENTAL MOTOR U.S.A. CORP. Western Sales and Customer Service Center
Midwest Sales and Customer Service Center
Eastern Sales and Customer Service Center
Tel: (310) 715-3301 Fax: (310) 225-2594
Tel: (847) 871-5900 Fax: (847) 472-2623
Tel: (781) 848-2426 Fax: (781) 848-2617
Los Angeles
Chicago
Boston
Tel: (310) 715-3301
Tel: (847) 871-5900
Tel: (781) 848-2426
San Jose
Dallas
Charlotte
Tel: (408) 392-9735
Tel: (214) 432-3386
Tel: (704) 766-1335
Seattle
Toronto
New York
Tel: (425) 214-7559
Tel: (905) 502-5333
Tel: (973) 359-1100
Technical Support Tel: (800) 468-3982 / 8:30 A.M. to 5:00 P.M., P.S.T. (M–F) 7:30 A.M. to 5:00 P.M., C.S.T. (M–F) E-mail: [email protected]
Obtain Specifications, Online Training and Purchase Products at: www.orientalmotor.com
Copyright ©2013 ORIENTAL MOTOR U.S.A. CORP.
Printed in USA 134 #477-Rev 2
PKP Series with Encoders
Introducing the new 1.8° Standard and 0.9° High Resolution PKP Series stepper motors with an incremental Line Driver or Voltage output type encoder pre-assembled.
■Features ●Motor position information detection is possible Current position monitoring and position gap detection are possible by using an encoder type motor. For example, normal motor operation can be confirmed by comparing the current position and the command position.
●Compact Encoder
The Line Driver output offers excellent noise resistance because of the differential output and is capable of longer wiring distance compared to the voltage output. ● Main Specifications of Encoders • Output Circuit Format: Line Driver Output or Voltage Output type • Resolution: 200P/R (Standard Type), 400P/R (High-Resolution Type) • Output Signal: A-Phase, B-Phase, Z-Phase (3ch)
Contributing to overall space savings, the PKP Series features a standard size, compact encoder. ● Example of a 42 mm (1.65 in.) Encoder
20 (0.79) Max
13.5 (0.53)
●To reduce electrical noise, use the Line Driver Output type
■Product Lineup 20 mm (0.79 in.)
28 mm (1.10 in.)
Frame Size 35 mm (1.38 in.)
42 mm (1.65 in.)
56.4 mm (2.22 in.)
Bipolar
●
●
●
●
●
Basic step angle: 1.8° Encoder resolution: 200 P/R
Unipolar✽
●
●
●
●
●
High-resolution type
Bipolar
−
−
−
●
●
Basic step angle: 0.9° Encoder resolution: 400 P/R
Unipolar✽
−
−
−
●
●
Type
Connection Method
Standard type
✽See website for part number and specifications
■System Configuration ✽Not supplied
These accessories allow 1.8°/0.9° stepper motors to be used for various operations.
Accessories (Sold separately)
Required products (Sold separately)
Controller (Sold separately)
Drive
Controller
MCS Couplings
1.8°/0.9° PKP Series
Programmable Controller✽
Motor
A 0.6 m (2 ft.) motor connection cable and encoder connection cable is included with a connector-coupled motor.
Accessories (Sold separately)
Motor Mounting Brackets
Clean Dampers
Connection Cables
● The system configuration shown above is an example. Other combinations are also available.
2
■Product Number
PKP 2 4 3 M D 15 A - R2F L - L ① ① ②
② ③ ④ ⑤ ⑥
Series Name 2: 2-Phase Motor Frame Size
③ ④ ⑤ ⑥ ⑦ ⑧ ⑨ ⑩ ⑪
Motor Case Length Motor Type Number of Lead Wires Winding Specification Motor Shaft Configuration Encoder Resolution Encoder Output Circuit Type Connection Cable
⑦
⑧
⑨
⑩
⑪
PKP: PKP Series 1: 20 mm (0.79 in.) 2: 28 mm (1.10 in.) 3: 35 mm (1.38 in.) 4: 42 mm (1.65 in.) 6: 56.4 mm (2.22 in.) Blank: Standard Type M: High-Resolution Type D: 4 U: 5 or 6 A: Single Shaft A2: 28 mm (1.10 in.) R2E: 200P/R R2F: 400P/R L: Line Driver Output Blank: Voltage Output
■Product Line ●1.8° PKP Series – Line Driver Type Product Name PKP213U05A-R2EL-L PKP214U06A-R2EL-L PKP223U09A2-R2EL-L PKP225U09A2-R2EL-L PKP233U12A-R2EL-L PKP235U12A-R2EL-L PKP243U09A-R2EL-L PKP244U12A-R2EL-L PKP245U12A-R2EL-L PKP246U12A-R2EL-L PKP264U20A-R2EL-L PKP266U20A-R2EL-L PKP268U20A-R2EL-L
List Price $148.00 $155.00 $123.00 $133.00 $123.00 $130.00 $123.00 $124.00 $130.00 $132.00 $131.00 $137.00 $153.00
●0.9° PKP Series – Line Driver Type Product Name PKP243MU09A-R2FL-L PKP244MU12A-R2FL-L PKP264MU20A-R2FL-L PKP266MU20A-R2FL-L PKP268MU20A-R2FL-L
List Price $133.00 $134.00 $131.00 $137.00 $153.00
●1.8° PKP Series – Voltage Type Product Name PKP213U05A-R2E-L PKP214U06A-R2E-L PKP223U09A2-R2E-L PKP225U09A2-R2E-L PKP233U12A-R2E-L PKP235U12A-R2E-L PKP243U09A-R2E-L PKP244U12A-R2E-L PKP245U12A-R2E-L PKP246U12A-R2E-L PKP264U20A-R2E-L PKP266U20A-R2E-L PKP268U20A-R2E-L
List Price $148.00 $155.00 $123.00 $133.00 $123.00 $130.00 $123.00 $124.00 $130.00 $132.00 $131.00 $137.00 $153.00
●0.9° PKP Series – Voltage Type Product Name PKP243MU09A-R2F-L PKP244MU12A-R2F-L PKP264MU20A-R2F-L PKP266MU20A-R2F-L PKP268MU20A-R2F-L
List Price $133.00 $134.00 $131.00 $137.00 $153.00
The following items are included with each product. Motor, Motor Connection Cable✽, Encoder Connection Cable, Operating Manual ✽Except for motor frame size of 20 mm (0.79 in.).
3
Step Angle 1.8°
Frame Size 20 mm (0.79 in.) Unipolar 5 Lead Wires
■Specifications Holding Torque N·m (oz-in)
Product Name
Rated Current
Voltage
Resistance
Inductance
Rotor Inertia J kg·m2 (oz-in2)
Lead Wires
A/phase
VDC
Ω/phase
mH/phase
PKP213U05A-R2E□-L
0.014 (1.98)
0.5
4.25
8.5
2.9
1.66×10-7 (0.0088)
PKP214U06A-R2E□-L
0.026 (3.6)
0.6
4.2
7
2.4
2.96×10-7 (0.0159)
5
●Enter the encoder type (L for Line Driver output, blank for Voltage output) in the box (□) within the product name.
■Speed – Torque Characteristics
fs: Max. starting frequency
PKP213U05
0.020
PKP214U06
Unipolar Constant Current Driver Power Supply Voltage: 24 VDC Current: 0.5 A/Phase (At 2-phase excitation) Load Inertia: JL=0 kg·m2 (0 oz-in2)
0.015 Pullout Torque 0.010
0.005
3.0
2.0
Torque [N·m]
10
Pullout Torque
Torque [oz-in]
15
Full Step 1.8˚/step 0.025
Torque [N·m]
Torque [oz-in]
20
0.030 4.0
Full Step 1.8˚/step
25
Unipolar Constant Current Driver Power Supply Voltage: 24 VDC Current: 0.6 A/Phase (At 2-phase excitation) Load Inertia: JL=0 kg·m2 (0 oz-in2)
0.020 0.015 0.010
1.0
5
0.005 fs
fs 0 0
0
2000
0
4000 6000 Speed [r/min] 10
8000
0
10000
0
30 Full Step
20 Pulse Speed [kHz]
0 0
2000
4000 6000 Speed [r/min] 10
5
20 15 Pulse Speed [kHz]
8000 25
10000 Full Step
Note ●Depending on the driving conditions, a considerable amount of heat may be generated by the motor. Be sure to keep the temperature of the motor case under 100˚C (212˚F).
■Dimensions
Unit = mm (in.)
●Motor with Encoder Product Name PKP213U05A-R2E□-L PKP214U06A-R2E□-L
Motor Product Name L Mass kg (lb.) 2D CAD PKP213U05A-R2E□ 46.5 (1.83) 0.06 (0.132) B1100 PKP214U06A-R2E□ 56.5 (2.22) 0.08 (0.176) B1101
0
0
(ϕ0.5906−0.0007)
16±0.2 (0.630±0.008)
1.5 (0.06) 11.6 (0.46)
3.5 (0.14)
7.8 (0.31)
300 (12)
12 (0.47)
3 (0.12)
20 (0.79)
0 ϕ15−0.018
20 (0.79)
4×M2×2.5 (0.10) Deep 5 Motor Leads UL Style 3265, AWG26 ●Included Connection cable for encoder
600 (24) 8 1
Connector Housing 51021-0800 (Molex)
4
8 Encoder Lead Wires UL Style 3265, AWG26
16±0.2 (0.630±0.008)
8
16.5 (0.65) 20 (0.79) max.
5 (0.20)
1
10±1 (0.39±0.04) 7±0.25 (0.276±0.010)
0
L 20 (0.79) max.
3.5±0.15 (0.138±0.006)
Encoder 51021-0800 50079-8100 57067-3000
Connector Housing Contact Crimp Tool
ϕ4−0.012 (ϕ0.1575−0.0005)
●Applicable Connector (Molex)
Step Angle 1.8°
Frame size 28 mm (1.10 in.) Unipolar 6 Lead Wires
■Specifications Holding Torque N·m (oz-in)
Product Name
PKP223U09A2-R2E□-L
0.075 (10.6)
PKP225U09A2-R2E□-L
0.135 (19.1)
Rated Current
Voltage
Resistance
Inductance
Rotor Inertia J kg·m2 (oz-in2)
A/phase
VDC
Ω/phase
mH/phase
2.95
3.11
1.44
9×10-7 (0.049)
4.4
4.6
2.11
18×10-7 (0.098)
0.95
Lead Wires
6
●Enter the encoder type (L for Line Driver output, blank for Voltage output) in the box (□) within the product name. ●A motor connection cable 0.6 m (2 ft.) and encoder connection cable 0.6 m (2 ft.) are included with each product.
■Speed – Torque Characteristics PKP223U09
Full Step 1.8˚/step
Torque [oz-in]
Pullout Torque
0.05 0.04 0.03 0.02
2
10
5
0
Pullout Torque
0.10 0.08 0.06 0.04 0.02
0.01
0
Unipolar Constant Current Driver Power Supply Voltage: 24 VDC Current: 0.95 A/Phase (At 2-phase excitation) With Damper D4CL-5.0F: JL=34×10−7 kg·m2 (0.186 oz-in2)
0.12 15 Torque [N·m]
0.06 Torque [N·m]
Torque [oz-in]
4
0.14
Full Step 1.8˚/step
0.07
8 6
PKP225U09
Unipolar Constant Current Driver Power Supply Voltage: 24 VDC Current: 0.95 A/Phase (At 2-phase excitation) With Damper D4CL-5.0F: JL=34×10−7 kg·m2 (0.186 oz-in2)
0.08 10
fs: Max. starting frequency
0
fs 500 1000 1500 2000 2500 3000 3500 4000 4500 Speed [r/min]
0
4
8 Pulse Speed [kHz]
12
0
0
0
fs 500 1000 1500 2000 2500 3000 3500 4000 4500 Speed [r/min]
0
Full Step
4
8 Pulse Speed [kHz]
12
Full Step
Note ●Speed – Torque Characteristics are data that depends on the measurement conditions of the company. If the conditions are changed, the characteristics may change. ●Speed – Torque Characteristics are data from when external load inertia is used. ●Depending on the driving conditions, a considerable amount of heat may be generated by the motor. Be sure to keep the motor case temperature at 85˚C (185˚F) max. in order to protect the encoder.
■Dimensions
Unit = mm (in.)
Product Name Motor Product Name L Mass kg (lb.) 2D CAD PKP223U09A2-R2E□-L PKP223U09A2-R2E□ 47.5 (1.87) 0.12 (0.26) B1198 PKP225U09A2-R2E□-L PKP225U09A2-R2E□ 67 (2.64) 0.21 (0.46) B1199 ●Applicable connector (Molex)
Encoder 51021-0800 50079-8100 57067-3000 15±1 (0.59±0.04)
L 13.5±0.5 (0.53±0.2) 3.5 (0.14)
28 (1.10) 23±0.2 (0.906±0.008)
10±0.25 (0.394±0.010)
●Included Connection cable Product Name: LC2U06A
1.5 (0.06)
0 ϕ22−0.033 (ϕ0.8661−0.0013)
10.9 (0.43)
6
1
0
4.5±0.15 (0.177±0.006)
11.6 (0.46)
0 0 ϕ5−0.012 (ϕ0.1969−0.0005 )
8
5 (0.20)
1
20 (0.79) max.
5 (0.20)
20 (0.79) max.
23±0.2 (0.906±0.008) 28 (1.10)
Motor 51065-0600 50212-8100 57176-5000
Connector Housing Contact Crimp Tool
16.5 (0.65) 4×M2.5×2.5 (0.10) Deep
●Included Encoder connection cable
600 (24) 600 (24) 8
6
1 1
51065-0600 (Molex)
6 Motor Leads UL Style 3265, AWG24
Connector Housing 51021-0800 (Molex)
8 Encoder Leads UL Style 3265, AWG26
5
Step Angle 1.8°
Frame size 35 mm (1.38 in.) Unipolar 6 Lead Wires
■Specifications Holding Torque N·m (oz-in)
Product Name
PKP233U12A-R2E□-L
0.16 (22)
PKP235U12A-R2E□-L
0.3 (42)
Rated Current
Voltage
Resistance
Inductance
A/phase
VDC
Ω/phase
mH/phase
3.24
2.7
1.4
24×10-7 (0.131)
4.08
3.4
2
50×10-7 (0.27)
1.2
Rotor Inertia J kg·m2 (oz-in2)
Lead Wires
6
●Enter the encoder type (L for Line Driver output, blank for Voltage output) in the box (□) within the product name. ●A motor connection cable 0.6 m (2 ft.) and encoder connection cable 0.6 m (2 ft.) are included with each product.
■Speed – Torque Characteristics PKP233U12
PKP235U12
Unipolar Constant Current Driver Power Supply Voltage: 24 VDC Current: 1.2 A/Phase (At 2-phase excitation) With Damper D4CL-5.0F: JL=34×10−7 kg·m2 (0.186 oz-in2)
Full Step 1.8˚/step 0.25
Torque [oz-in]
10
Torque [N·m]
Torque [oz-in]
20 15
0.30
Pullout Torque
0.15
Unipolar Constant Current Driver Power Supply Voltage: 24 VDC Current: 1.2 A/Phase (At 2-phase excitation) With Damper D4CL-5.0F: JL=34×10−7 kg·m2 (0.186 oz-in2)
40
Full Step 1.8˚/step
25
0.10
0.05
30
Torque [N·m]
0.20
fs: Max. starting frequency
20
Pullout Torque
0.20 0.15 0.10
10
5
0.05 0
0
fs 500
0
0
2
1000 1500 Speed [r/min] 4 Pulse Speed [kHz]
2000
2500
6
0
0
fs 500
0
0
Full Step
1000 1500 Speed [r/min]
2
2000
4 Pulse Speed [kHz]
2500
6
Full Step
Note ●Depending on the driving conditions, a considerable amount of heat may be generated by the motor. Be sure to keep the motor case temperature at 85˚C (185˚F) max. in order to protect the encoder.
■Dimensions
Unit = mm (in.)
Product Name Motor Product Name L Mass kg (lb.) CAD PKP233U12A-R2E□-L PKP233U12A-R2E□ 50.5 (1.99) 0.19 (0.42) B1102 PKP235U12A-R2E□-L PKP235U12A-R2E□ 65.5 (2.57) 0.295 (0.65) B1103 ●Applicable Connector (Molex)
Motor 51103-0600 50351-8100 57295-5000
Encoder 51021-0800 50079-8100 57067-3000 20±1 (0.79±0.04)
L 3.5 (0.14)
13.5 (0.53)
35 (1.38) 29±0.2 (1.14±0.008)
15±0.25 (0.591±0.010)
●Included Motor connection cable Product Name: LC2U06B
0
0
ϕ22−0.033 (ϕ0.8661−0.0013)
1.5 (0.06)
0
17.5 (0.69)
0 ϕ5−0.012 (ϕ0.1969−0.0005 )
11.6 (0.46)
4.5±0.15 (0.177±0.006)
8
9 (0.35)
1
20 (0.79) max.
5 (0.20)
20 (0.79) max.
29±0.2 (1.14±0.008) 35 (1.38)
Connector Housing Contact Crimp Tool
6
1
23 (0.91) 4×M3×2.5 (0.10) Deep
●Included Encoder connection cable
600 (24) 600 (24) 8
6
1
1 51103-0600 (Molex)
6
6 Motor Leads UL Style 3265, AWG24
8 Encoder Leads UL Style 3265, AWG26 Connector Housing 51021-0800 (Molex)
Step Angle 1.8°
Frame size 42 mm (1.65 in.) Unipolar 6 Lead Wires
■Specifications Product Name
Holding Torque N·m (oz-in) 0.25 (35) 0.39 (55) 0.45 (63) 0.75 (106)
PKP243U09A-R2E□-L PKP244U12A-R2E□-L PKP245U12A-R2E□-L PKP246U12A-R2E□-L
Rated Current A/phase 0.95 1.2 1.2 1.2
Voltage VDC 4.47 4.8 4.56 7.2
Resistance Ω/phase 4.7 4 3.8 6
Inductance mH/phase 5 3.9 5 6.5
Rotor Inertia J kg·m2 (oz-in2) 36×10-7 (0.197) 57×10-7 (0.31) 83×10-7 (0.45) 114×10-7 (0.62)
Lead Wires
6
●Enter the encoder type (L for Line Driver output, blank for Voltage output) in the box (□) within the product name. ●A motor connection cable 0.6 m (2 ft.) and encoder connection cable 0.6 m (2 ft.) are included with each product.
■Speed – Torque Characteristics PKP243U09
PKP244U12
Unipolar Constant Current Driver Power Supply Voltage: 24 VDC Current: 0.95 A/Phase (At 2-phase excitation) With Damper D4CL-5.0F: JL=34×10−7 kg·m2 (0.186 oz-in2)
40
0.5
Full Step 1.8˚/step
Full Step 1.8˚/step
0.15 0.10
40
0.3 0.2
fs 0 0
500
0
1000 Speed [r/min] 2
1500
4 Pulse Speed [kHz]
0
0
2000
Pullout Torque 0.3 0.2 0.1
0.1
0.05 0
40
20
20
10
0.4
Pullout Torque Torque [oz-in]
Pullout Torque
60
0.4 Torque [N·m]
0.20
Torque [oz-in]
Torque [N·m]
Torque [oz-in]
30
0.5
Unipolar Constant Current Driver Power Supply Voltage: 24 VDC Current: 1.2 A/Phase (At 2-phase excitation) With Damper D4CL-5.0F: JL=34×10−7 kg·m2 (0.186 oz-in2)
Full Step 1.8˚/step 60
0.25
20
PKP245U12
Unipolar Constant Current Driver Power Supply Voltage: 24 VDC Current: 1.2 A/Phase (At 2-phase excitation) With Damper D4CL-5.0F: JL=34×10−7 kg·m2 (0.186 oz-in2)
Torque [N·m]
0.30
fs: Max. starting frequency
6 Full Step
fs
fs 500
0
0
1000 1500 Speed [r/min]
2
4 Pulse Speed [kHz]
2000 6
2500
0
0 0 0
Full Step
500
1000 Speed [r/min] 2
4 Pulse Speed [kHz]
1500
2000 6 Full Step
PKP246U12 Unipolar Constant Current Driver Power Supply Voltage: 24 VDC Current: 1.2 A/Phase (At 2-phase excitation) With Damper D4CL-5.0F: JL=34×10−7 kg·m2 (0.186 oz-in2)
0.8
Full Step 1.8˚/step
100 Pullout Torque
0.4
2
1500
4 Pulse Speed [kHz]
■Dimensions Product Name PKP243U09A-R2E□-L PKP244U12A-R2E□-L PKP245U12A-R2E□-L PKP246U12A-R2E□-L
Motor Product Name PKP243U09A-R2E□ PKP244U12A-R2E□ PKP245U12A-R2E□ PKP246U12A-R2E□ L
9 (0.35)
11.6 (0.46)
20 (0.79) max.
5 (0.20)
1 8
Note ●Depending on the driving conditions, a considerable amount of heat may be generated by the motor. Be sure to keep the motor case temperature at 85˚C (185˚F) max. in order to protect the encoder.
6 Full Step
Unit = mm (in.)
13.5 (0.53) 3.5 (0.14)
20 (0.79) max.
2000
L Mass kg (lb.) 46.5 (1.83) 0.26 (0.57) 52.5 (2.07) 0.31 (0.68) 60.5 (2.83) 0.40 (0.88) 72.5 (2.85) 0.51 (1.12)
20±1 (0.79±0.04) 15±0.25 (0.591±0.010)
1.5 15 (0.06) (0.59)
●Applicable Connector (Molex)
CAD B1104 B1105 B1106 B1107
Motor 51103-0600 50351-8100 57295-5000
Connector Housing Contact Crimp Tool
Encoder 51021-0800 50079-8100 57067-3000
42 (1.65) 31±0.2 (1.220±0.008)
●Included Motor connection cable Product Name: LC2U06B
42 (1.65)
0
1000 Speed [r/min]
6
1
31±0.2 (1.220±0.008)
fs 500
0
0 (ϕ0.8661−0.0013 )
0
0 ϕ22−0.033
0
(ϕ0.1969−00.0005)
0.2
0 ϕ5−0.012
25
4.5±0.15 (0.177±0.006)
50
Torque [N·m]
Torque [oz-in]
0.6 75
23 (0.91) 4×M3×4.5 (0.18) Deep
●Included Encoder connection cable
600 (24)
600 (24) 8
6
1 1 51103-0600 (Molex)
6 Motor Leads UL Style 3265, AWG24
8 Encoder Leads UL Style 3265, AWG26 Connector Housing 51021-0800 (Molex)
7
Step Angle 1.8°
Frame size 56.4 mm (2.22 in.) Unipolar 6 Lead Wires
■Specifications Holding Torque N·m (oz-in)
Product Name
PKP264U20A-R2E□-L
0.51 (72)
PKP266U20A-R2E□-L
1.1 (156)
PKP268U20A-R2E□-L
1.75 (240)
Rated Current
Voltage
Resistance
Inductance
A/phase
VDC
Ω/phase
mH/phase
2.9
1.45
1.8
120×10-7 (0.66)
4
2
2.9
290×10-7 (1.59)
4.4
490×10-7 (2.7)
2
4.9
2.45
Rotor Inertia J kg·m2 (oz-in2)
Lead Wires
6
●Enter the encoder type (L for Line Driver output, blank for Voltage output) in the box (□) within the product name. ●A motor connection cable 0.6 m (2 ft.) and encoder connection cable 0.6 m (2 ft.) are included with each product.
■Speed – Torque Characteristics PKP264U20
PKP266U20
Unipolar Constant Current Driver Power Supply Voltage: 24 VDC Current: 2.0 A/Phase (At 2-phase excitation) With Damper D6CL-8.0F: JL=140×10−7 kg·m2 (0.77 oz-in2)
1.2
Full Step 1.8˚/step
50 0.1 0
Full Step 1.8˚/step
1.4
0.8 0.6 0.4
Pullout Torque
fs 500
0
2
1000 1500 Speed [r/min] 4 Pulse Speed [kHz]
2000 6
0
0
2500
1.0 0.8 0.6 Pullout Torque 0.4 0.2
fs 500
0
0
Full Step
100
50
0.2
0
150
Torque [N·m]
0.2
100
Torque [N·m]
Pullout Torque 0.3
20
0
200
1.0
Unipolar Constant Current Driver Power Supply Voltage: 24 VDC Current: 2.0 A/Phase (At 2-phase excitation) With Damper D6CL-8.0F: JL=140×10−7 kg·m2 (0.77 oz-in2)
1.2 Torque [oz-in]
40
1.6
Full Step 1.8˚/step
150
0.4 Torque [N·m]
Torque [oz-in]
60
PKP268U20
Unipolar Constant Current Driver Power Supply Voltage: 24 VDC Current: 2.0 A/Phase (At 2-phase excitation) With Damper D6CL-8.0F: JL=140×10−7 kg·m2 (0.77 oz-in2)
Torque [oz-in]
0.5
fs: Max. starting frequency
2
1000 1500 Speed [r/min] 4 Pulse Speed [kHz]
2000 6
2500 Full Step
0
0
fs 0
0
500
1000 Speed [r/min] 2
4 Pulse Speed [kHz]
1500
2000 6 Full Step
Note ●Depending on the driving conditions, a considerable amount of heat may be generated by the motor. Be sure to keep the motor case temperature at 85˚C (185˚F) max. in order to protect the encoder.
■Dimensions
Unit = mm (in.)
Product Name Motor Product Name L PKP264U20A-R2E□-L PKP264U20A-R2E□ 55.5 (2.19) PKP266U20A-R2E□-L PKP266U20A-R2E□ 70.5 (2.78) PKP268U20A-R2E□-L PKP268U20A-R2E□ 92.5 (3.64)
●Applicable Connector (Molex)
Mass kg (lb.) CAD 0.47 (1.04) B1108 0.74 (1.63) B1109 1.11 (2.45) B1110
Connector Housing Contact Crimp Tool
24±1 (0.94±0.04)
L
Encoder 51021-0800 50079-8100
57189-5000 57190-5000
57067-3000
56.4 (2.22)
18.5 (0.73)
0
47.14±0.35 (1.86±0.014) 47.14±0.35 (1.86±0.014) 56.4 (2.22)
ϕ38.1±0.03 (ϕ1.5000±0.012)
20±0.25 (0.787±0.010)
0
11.6 (0.46)
5 1.6 (0.20) (0.063)
7.5±0.15 (0.295±0.006)
5 (0.20)
1 8
20 (0.79) max. 12 (0.47)
3.5 (0.14)
20 (0.79) max.
ϕ8−0.015 (ϕ0.3125−0.006)
16.5 (0.65)
Motor 51067-0600 50217-9101
6
1
29 (1.14) 4×ϕ4.5 (ϕ18) Thru
●Included Motor connection cable Product Name: LC2U06C
●Included Encoder connection cable
600 (24) 600 (24)
8 6
1 1 51067-0600 (Molex)
8
6 Motor Leads UL Style 3265, AWG22
8 Encoder Leads UL Style 3265, AWG26 Connector Housing 51021-0800 (Molex)
Step Angle 0.9°
Frame size 42 mm (1.65 in.) Unipolar 6 Lead Wires
■Specifications Holding Torque N·m (oz-in)
Product Name
Rated Current
Voltage
Resistance
Inductance
Rotor Inertia J kg·m2 (oz-in2)
A/phase
VDC
Ω/phase
mH/phase
PKP243MU09A-R2E□-L
0.25 (35)
0.95
4.47
4.7
6.6
36×10-7 (0.197)
PKP244MU12A-R2E□-L
0.35 (49)
1.2
4.8
4
6
57×10-7 (0.31)
Lead Wires
6
●Enter the encoder type (L for Line Driver output, blank for Voltage output) in the box (□) within the product name. ●A motor connection cable 0.6 m (2 ft.) and encoder connection cable 0.6 m (2 ft.) are included with each product.
■Speed – Torque Characteristics PKP243MU09
0.4
PKP244MU12
Unipolar Constant Current Driver Power Supply Voltage: 24 VDC Current: 0.95 A/Phase (At 2-phase exctation) With Damper D4CL-5.0F: JL=34×10−7 kg·m2 (0.186 oz-in2)
0.4
50 0.3
0.3
0.2
30 20
Torque [N·m]
40 Torque [oz-in]
Torque [N·m]
Torque [oz-in]
20
Unipolar Constant Current Driver Power Supply Voltage: 24 VDC Current: 1.2 A/Phase (At 2-phase exctation) With Damper D4CL-5.0F: JL=34×10−7 kg·m2 (0.186 oz-in2)
50
40 30
fs: Max. starting frequency
0.1
0.2
0.1
10
10
0
0
500 0
1000 1500 Speed [r/min] 4
2000
8 Pulse Speed [kHz]
0
2500
0
Full Step
12
500 0
1000 1500 Speed [r/min] 4
2000
8 Pulse Speed [kHz]
2500 Full Step
12
Note ●Depending on the driving conditions, a considerable amount of heat may be generated by the motor. Be sure to keep the motor case temperature at 85˚C (185˚F) max. in order to protect the encoder.
Unit = mm (in.) ●Applicable Connector (Molex)
Product Name Motor Product Name L Mass kg (lb.) CAD PKP243MU09A-R2F□-L PKP243MU09A-R2F□ 46.5 (1.83) 0.26 (0.57) B1104 PKP244MU12A-R2F□-L PKP244MU12A-R2F□ 52.5 (2.07) 0.31 (0.68) B1105
Motor 51103-0600 50351-8100 57295-5000
Encoder 51021-0800 50079-8100 57067-3000
42 (1.65)
●Included Motor connection cable Product Name: LC2U06B
42 (1.65)
0 (ϕ0.8661−0.0013 )
31±0.2 (1.220±0.008)
0 ϕ22−0.033
(ϕ0.1969−00.0005)
1.5 15 (0.06) (0.59)
0 ϕ5−0.012
9 (0.35)
11.6 (0.46)
20 (0.79) max.
5 (0.20)
1 8
20±1 (0.79±0.04) 15±0.25 (0.591±0.010)
4.5±0.15 (0.177±0.006)
L 13.5 (0.53) 3.5 (0.14)
20 (0.79) max.
Connector Housing Contact Crimp Tool
6
1
31±0.2 (1.220±0.008)
■Dimensions
23 (0.91) 4×M3×4.5 (0.18) Deep
●Included Encoder connection cable
600 (24) 600 (24) 8
6
1
1 51103-0600 (Molex)
6 Motor Leads UL Style 3265, AWG24
8 Encoder Leads UL Style 3265, AWG26 Connector Housing 51021-0800 (Molex)
9
Step Angle 0.9°
Frame size 56.4 mm (2.22 in.) Unipolar 6 Lead Wires
■Specifications Holding Torque N·m (oz-in)
Product Name
PKP264MU20A-R2F□-L
0.51 (72)
PKP266MU20A-R2F□-L
1.1 (155)
PKP268MU20A-R2F□-L
1.75 (247)
Rated Current
Voltage
Resistance
Inductance
A/phase
VDC
Ω/phase
mH/phase
2.9
1.45
2.1
120×10-7 (0.66)
4
2
3.9
290×10-7 (1.59)
5.6
490×10-7 (2.7)
2
4.9
2.45
Rotor Inertia J kg·m2 (oz-in2)
Lead Wires
6
●Enter the encoder type (L for Line Driver output, blank for Voltage output) in the box (□) within the product name. ●A motor connection cable 0.6 m (2 ft.) and encoder connection cable 0.6 m (2 ft.) are included with each product.
■Speed – Torque Characteristics PKP264MU20
1.2 150
50 0.1
1.4
0.6 0.4
500
0
4
1000 1500 Speed [r/min] 8 Pulse Speed [kHz]
2000 12
0
0
2500
1.0 0.8 0.6 0.4 0.2
0
500
0
Full Step
100
50
0.2
0
150
Torque [N·m]
0.8
Torque [oz-in]
100
Torque [N·m]
Torque [oz-in]
0.2
0
1.6 200
Unipolar Constant Current Driver Power Supply Voltage: 24 VDC Current: 2.0 A/Phase (At 2-phase exctation) With Damper D6CL-8.0F: JL=140×10−7 kg·m2 (0.77 oz-in2)
1.2
0.3
20
0
PKP268MU20
Unipolar Constant Current Driver Power Supply Voltage: 24 VDC Current: 2.0 A/Phase (At 2-phase exctation) With Damper D6CL-8.0F: JL=140×10−7 kg·m2 (0.77 oz-in2)
1.0
0.4 Torque [N·m]
Torque [oz-in]
PKP266MU20
Unipolar Constant Current Driver Power Supply Voltage: 24 VDC Current: 2.0 A/Phase (At 2-phase exctation) With Damper D6CL-8.0F: JL=140×10−7 kg·m2 (0.77 oz-in2)
0.5 60
40
fs: Max. starting frequency
4
1000 1500 Speed [r/min] 8 Pulse Speed [kHz]
2000 12
2500 Full Step
0
0
0
500
0
1000 Speed [r/min] 4
1500
8 Pulse Speed [kHz]
2000 12Full Step
Note ●Depending on the driving conditions, a considerable amount of heat may be generated by the motor. Be sure to keep the motor case temperature at 85˚C (185˚F) max. in order to protect the encoder.
Unit = mm (in.)
Product Name Motor Product Name L PKP264MU20A-R2F□-L PKP264MU20A-R2F□ 55.5 (2.18) PKP266MU20A-R2F□-L PKP266MU20A-R2F□ 70.5 (2.78) PKP268MU20A-R2F□-L PKP268MU20A-R2F□ 92.5 (3.64)
0 0
18.5 (0.73)
ϕ38.1±0.03 (ϕ1.5000±0.012)
20±0.25 (0.787±0.010)
7.5±0.15 (0.295±0.006)
11.6 (0.46)
5 1.6 (0.20) (0.063)
Crimp Tool
Motor 51067-0600 50217-9101
Encoder 51021-0800 50079-8100
57189-5000 57190-5000
57067-3000
56.4 (2.22)
ϕ8−0.015 (ϕ0.3125−0.006)
5 (0.20)
1 8
20 (0.79) max. 12 (0.47)
3.5 (0.14)
20 (0.79) max.
Connector Housing Contact
24±1 (0.94±0.04)
L 16.5 (0.65)
●Applicable Connector (Molex)
Mass kg (lb.) CAD 0.47 (1.04) B1108 0.74 (1.63) B1109 1.11 (2.45) B1110
47.14±0.35 (1.86±0.014) 47.14±0.35 (1.86±0.014) 56.4 (2.22)
■Dimensions
6
1
29 (1.14) 4×ϕ4.5 (ϕ18) Thru
●Included Motor connection cable Product Name: LC2U06C
●Included Encoder connection cable
600 (24) 600 (24)
8 6
1 1 51067-0600 (Molex)
10
6 Motor Leads UL Style 3265, AWG22
8 Encoder Leads UL Style 3265, AWG26 Connector Housing 51021-0800 (Molex)
■General Specifications Item
Specification 130 (B) 100 MΩ or more when 500 VDC megger is applied between the windings and the case under normal ambient temperature and humidity.
Heat-Resistant Class Insulation Resistance
Sufficient to withstand 1.0 kVAC at 60Hz applied between the windings and the case for 1 minute, under normal ambient temperature and humidity. (0.5 kV for models with a frame size of 42 mm (1.65 in.))
Dielectric Strength
Ambient Temperature −10∼+50˚C (+14∼+122˚F) (non-freezing) Ambient Humidity 85% max. (non-condensing) Atmosphere No corrosive gases or dust. The product should not be exposed to water, oil or other liquids.
Operating Environment (In operation)
· PKP21□, PKP243, PKP245: Temperature rise of the windings is 80˚C (176˚F) or less (measured by the resistance change method) at the rated voltage, at standstill, and 2-phases excited. · PK29□, PKP22□, PKP23□, PKP244, PKP246, PKP26□: Temperature rise of the windings is 80˚C (176˚F) or less (measured by the resistance change method) at the rated current, at standstill, and 2-phases excited. The following motors are measured with a radiation plate (material aluminum). PKP22□ and PKP23□: 115×115×5 mm (4.53×4.53×0.20 in.) PKP244 and PKP246: 175×175×5 mm (6.89×6.89×0.20 in.) PKP26□: 250×250×10 mm (9.84×9.84×0.39 in.)
Temperature Rise
Stop Position Accuracy✽1 Shaft Runout Radial Play✽2 Axial Play✽3 Concentricity of Installing Pilot to the Shaft Perpendicularity of Installation Surface to the Shaft
±3 arcmin (±0.05˚) [PKP21□: ±5 arcmin (±0.083˚)] 0.05 mm (0.002 in.) T.I.R.✽4 0.025 mm (0.001 in.) maximum (load 5 N (1.12 lb.)) 0.075 mm (0.003 in.) maximum (load 10 N (2.2 lb.)) [The load for PKP21□ is 1 N (0.225 lb.)] 0.075 mm (0.003 in.) T.I.R.✽4 0.075 mm (0.003 in.) T.I.R.✽4
✽1 This value is for full step under no load. (The value changes with the size of the load.) ✽2 Radial Play: Displacement in shaft position in the radial direction when a 5 N (1.12 lb.) load is applied in the vertical direction to the tip of the motor shaft. ✽3 Axial Play: Displacement in shaft position in the axial direction when a 10 N (2.2 lb.) [PKP21□ is 1 N (0.225 lb.)] load is applied to the motor shaft in the axial direction. ✽4 T. I. R. (Total Indicator Reading): The total dial gauge reading when the measurement section is rotated one revolution centered on the reference axis center. Note ●Do not measure insulation resistance or perform the dielectric strength test while the motor and driver are connected. Also, do not conduct these tests on the motor encoder section. ●For Radial load and Permissible Axial load, see 2015-2016 General Catalog, page A-262.
ϕ0.075 A 0.05
A
0.075
A
■Encoder Specifications Encoder Product Name Resolution Output Circuit Type Output Mode Output Signal Power Supply Voltage Current
R2EL 200 P/R
R2FL 400 P/R
Line Driver Incremental A-phase, B-phase, Z-phase (3ch) 5 VDC±10% 30 mA max.
●A voltage output type encoder output circuit is also available. For details, please contact the nearest Oriental Motor sales office.
■Inner Wiring Diagram for Motor ●Unipolar 6 Lead Wires (4) Black
Black Orange
(6) Green
A A
A A
(5) Yellow
●Unipolar 5 Lead Wires
Green
B B Red White Blue
Color of Lead Wire
(3)
Connector Terminal No.
(2)
(1)
B B Red
Blue
Color of Lead Wire
11
Specifications are subject to change without notice. This catalog was published in August, 2015.
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Copyright ©2013 ORIENTAL MOTOR U.S.A. CORP.
Printed in USA 134 #477-Rev 2
