O BUZZERS PLASTIC ENCLOSURES TERMINAL BLO

OWER RELAYS SOCKETS SWITCH BOXES ANDON LIGHTS SIGNAL LIGHTS HOLE P
NDICATORS
OOT SWITCHES BEACONS
MINAL BLOCKS BARRIER TERMINAL
ABLE GLANDS
LED
HOLE PLUGS INDUSTRIA
TOWERRELAYLIGHTS
INDICATORS
MOTION
TEMINAL BLOCKS CABLE GLA
SCREW CLAMP DIODE TERMINAL BLO

RIAL AUTOMATION DEVICES SOLID STATE RELAYS

PLASTIC SWITCH BOXES TERMINAL
USHBUTTON RELAY TERMINALTOWER LIGHTS LIMIT SWITCHES POWER
LOCKS CABLE CHAINSAUTOMATION COMPONENTS LED INDIC
TERMINAL BLOCKSBARRIER TERMINAL PIEZO B
WITCHES
TORS SWITCH BOXES UL CE TUV RoHS EX IP67 ISO9001
PUSHBUTTON

TOWER LIGHTS
FUSE HOLDERS

HOLE PLUGS LED INDICAT

CPS BOXCO REVOLVING CHAIN
BLOCKS SWITCH BOXES INDUSTRIAL SWITCHES DIN R
O BUZZERS PLASTIC ENCLOSURES TERMINAL BLO
OWER RELAYS SOCKETS SWITCH BOXES ANDON LIGHTS SIGNAL LIGHTS HOLE P
NDICATORS
OOT SWITCHES
ABLE GLANDS
MINAL BLOCKS
BEACONS
BARRIER TERMINAL LED
HOLE PLUGS INDUSTRIA
TOWERRELAYLIGHTS
INDICATORS SCREW
MOTION
TEMINAL BLOCKS CABLE GLA
CLAMP DIODE TERMINAL BLO

RIAL AUTOMATION DEVICES SOLID STATE RELAYS

PLASTIC SWITCH BOXES TERMINAL
USHBUTTON RELAY TERMINALTOWER LIGHTS LIMIT SWITCHES POWER
LOCKS CABLE CHAINSAUTOMATION COMPONENTS LED INDIC
TERMINAL BLOCKSBARRIER TERMINAL PIEZO B
WITCHES
TORS SWITCH BOXES UL CE TUV RoHS EX IP67 ISO9001
PUSHBUTTON

TOWER LIGHTS
FUSE HOLDERS

HOLE PLUGS LED INDICAT

CPS BOXCO REVOLVING CHAIN
BLOCKS SWITCH BOXES INDUSTRIAL SWITCHES DIN R
MOTION DEVICE/CONTROL
OTION DEVICE/CONTRO 1
Closed Loop Stepper
AiC-D-CL Series
13 AiC-D Series
25 AiCA-D Series
37 AiS-D Series
49 AiSA-D Series
61 Ai-M Series

2 Phase Stepper
72 MD2 Series

5 phase Stepper
80 MD5 Series
101 AK Series
101 AK-B Series
109 AHK Series
112 AK-G Series
112 AK-GB Series
112 AK-R Series
112 AK-RB Series

Motion Control
116 PMC-2HSN/2HSP Series
122 PMC-1HS/2HS Series
129 PMC-4B-PCI Series
-|Transparent setting guide|-

AiC-D-CL Series

Controller Integrated 2-Phase Closed-Loop Stepper Motor Driver

SENSORS

▣ Features
● CC-Link communication type Ai-SERVO CONTROLLERS

● Real-time position control with closed-loop system

● Controllable maximum 42 axis
MOTION DEVICES
● Able to check alarm and status with Alarm/Status display part (7 segment)
● Motor driver and controller integral type
● Faster response and performing low-speed/high torque for short-distance continuous SOFTWARE
drive to compare with the servo system.
● Applicable to the precision equipment such as optical inspection equipment with the
features of having no micro vibration (hunting) in stop
● Dedicated Windows program (atMotion) provided for parameter setting and monitoring
● Easy and various gain setting supported through the program(GUI)
● Containing 10-level resolutions
● Frame size 20mm, 28mm, 35mm, 42mm, 56mm, 60mm motors supported
(applied motor: Ai-M Series) (Y)
Closed Loop
Stepper System

Please read “Safety Considerations”

in the instruction manual before using. (Z)
Stepper Motors

▣ Applications
(AA)
Drivers

● Filed requiring preciseness such as semiconductor equipment, 3D printer, optical inspection equipment, chip mounter, cartesian robot,
(AB)
conveying equipment, and alignment stage. Motion
Controllers

▣ Manual
For the detail information and instructions, please refer to user manual, user manual for communication manual and library manual
and be sure to follow cautions written in the technical descriptions (catalog, website).
Visit our website (www.autonics.com) to download manuals.

▣ Software (atMotion)
● atMotion is a comprehensive motion device management program that can be used with Autonics motion controllers.
● atMotion provides GUI control for easy and convenient parameter setting and monitoring data management of multiple devices.
● Visit our website (www.autonics.com) to download the user manual and software.

<Computer specification for using software> <atMotion screen>

Item Minimum requirements

System IBM PC compatible computer with Intel Pentium Ⅲ or above

Operations Microsoft Windows 98/NT/XP/Vista/7/8/10

Memory 256MB+
Hard disk 1GB+ of available hard disk space
VGA Resolution: 1024×768 or higher
Others RS-232 serial port (9-pin), USB port

1
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AiC-D-CL Series

▣ Ordering Information
Ai C D 42 L A CL
Comm. Type
CL CC-Link
Brake No mark Standard type
B※1 Built-in brake type

Encoder resolution A※2 4,000PPR (1,000PPR×4-multiply)

B※3 16,000PPR (4,000PPR×4-multiply)
Motor length A※4 10,000PPR (2,500PPR×4-multiply)

Standard type Built-in brake type

M 41.2mm -
20 20×20mm
L 53.1mm -
S 46mm -
28 28×28mm M 59mm -
L 65mm -
S 41.5mm -
35 35×35mm M 52mm -
L 68.5mm -

Motor frame size S 67.5mm 102.3mm

42 42×42mm M 73.5mm 108.3mm
L 81.5mm 116.3mm
S 77.3mm 112.1mm
56 57.2×57.2mm M 90.3mm 125.1mm
L 111.3mm 146.1mm
S 81.9mm 116.7mm
60 60×60mm M 102.8mm 137.6mm
L 119.8mm 154.6mm
Item
D Driver
Category
C Controller
Series
Ai Artificial intelligence

▣ Configuration Diagram

AiC-D-CL Series
(Controller Integrated
CC-Link cable
Motor Driver)

Ai-M Series
(Motor)
PLC
USB /
Brake cable Brake I/O
RS232C / RS485 cable
Wi-Fi
SCM Series I/O cable External I/O
Comm. Converter Rated current
Settings of start, stop, rotation direction, etc. Motor+Encoder cable
PC & atMotion

Power cable Power

2
-|Transparent setting guide|-

2-Phase Closed-Loop Stepper Motor Driver

▣ Specifications
- AiC-D-28SB-CL AiC-D-35SB-CL AiC-D-42SA(-B)-CL AiC-D-56SA(-B)-CL AiC-D-60SA(-B)-CL SENSORS

Model※1 AiC-D-20MA-CL AiC-D-28MB-CL AiC-D-35MB-CL AiC-D-42MA(-B)-CL AiC-D-56MA(-B)-CL AiC-D-60MA(-B)-CL

AiC-D-20LA-CL AiC-D-28LB-CL AiC-D-35LB-CL AiC-D-42LA(-B)-CL AiC-D-56LA(-B)-CL AiC-D-60LA(-B)-CL
Power supply 24VDCᜡ CONTROLLERS

Allowable voltage range 90 to 110% of the rated voltage

STOP※2 Max. 10W Max. 10W Max. 12W Max. 15W
Power MOTION DEVICES
Consumption Max. during
Max. 60W Max. 60W Max. 120W Max. 240W
operation※3
Max. RUN current※4 0.6A/Phase 1.0A/Phase 1.2A/Phase 1.7A/Phase 3.5A/Phase
SOFTWARE
STOP current※5 20 to 100% of max. RUN current (factory default: 50%)
Rotation speed 0 to 3000rpm
500(factory
default), 1000,
500(factory default), 1000,
1600, 2000,
※5 1600, 2000, 3600, 5000, 6400, 500 (factory default), 1000, 1600, 2000, 3200, 3600, 5000,
Resolution 3600, 4000,
7200, 10000, 16000 6400, 7200, 10000PPR
5000, 6400,
[Pulse/Rev]
7200, 10000
[Pulse/Rev] (Y)
Closed Loop
Speed filter※5 0 (disable), 2, 4, 6, 8, 10, 20, 40, 60 (factory default), 80, 100, 120, 140, 160, 180, 200ms Stepper System

※5 (P Gain, I Gain)=(1, 1), (2, 1), (3, 1), (4, 1), (5, 1), (1, 2), (2, 2), (3, 2), (4, 2), (5, 2), (1, 3), (2, 3), (3, 3), (4, 3), (5,
Positioning Gain
3), user setting (Z)
Stepper Motors
Positioning range -2,147,483,648 to +2,147,483,647
In-Position Fast Response: 0(factory default) to 7, Accurate Response: 0 to 7
Motor rotation direction※5 CW, CCW (AA)
Drivers
● Power/Alarm indicator: green/red LED ● In-Position indicator: yellow LED
Status indicator ● Servo On/Off indicator: orange LED ● Alarm/Warning status display part: red LED 7 segment
● CC-Link status indicator: red, green LED (AB)
Motion
I/O voltage level [H]: 5-30VDCᜡ, [L]: 0-2VDCᜡ Controllers

Input Exclusive input: 3, general input: 8

I/O
Output General output: 7
External power supply VEX(recommended: 24VDCᜡ), GEX(GND)
Operation mode Jog, Continuous, Index, Program mode
Index step numbers 64 steps
Step 256 steps
ABS (move absolute position), INC (move incremental position), HOM (home search),
Control
Program ICJ (jump input condition), IRD (waiting input), OPC (on/off of output port), OPT (on pulse from output port),
command
function JMP (jump), REP (start repetition), RPE (end repetition), END (end program), POS (position set), TIM (timer)
Start Power On Program auto-start function
Home search Power On Home Search auto-start function
Home search mode Home, limit home, zero home, torque home
RS485 comm. Comm. speed※5 9600, 19200, 38400, 57600, 115200(factory default) bps
Overcurrent, overspeed, position tracking, overload, overheat, motor connection, encoder connection,
regenerative voltage, motor misalignment, command speed, input voltage,in-position, memory,
Alarm output
emergency stop, program mode, index mode, home search mode, comm. station setting,
comm. mode setting, comm. station setting change, comm. mode setting change, comm. failure
Warning output ±software limit, ±hardware limit, overload
Insulation resistance Over 100MΩ (500VDCᜡ megger)
Dielectric strength 1,000VACᜠ 60Hz for 1 min
Vibration 1.5mm amplitude at frequency of 10 to 55Hz (for 1 min) in each X, Y, Z direction for 2 hours
Shock 300m/s2 (approx. 30G) in each X, Y, Z direction for 3 times
Ambient temp. 0 to 50℃, storage: -10 to 60℃
Environment
Ambient humi. 35 to 85%RH, storage: 10 to 90%RH
Protection structure IP20(IEC standard)
Approval ᜢ
Weight※6 Approx 470g (approx 320g)
※1: The model name indicates driver type. (none: standard type, B: built-in brake type)
E.g.) AiC-D-42LA-B-CL: built-in brake type stepping motor driver.
※2: Based on the ambient temperature 25℃, ambient humidity 55%RH, and STOP current 50%.
※3: Max. power consumption during operation. When changing the load rapidly, instantaneous peak current may increase.
The capacity of power supply should be over 1.5 to 2 times of max. power consumption.
※4: Run current varies depending on the input RUN frequency and max. RUN current at the moment varies also.
※5: Settable with the dedicated program (atMotion).
※6: The weight includes packaging. The weight in parenthesis is for unit only.
※Environment resistance is rated at no freezing or condensation.

3
-|Transparent setting guide|-

AiC-D-CL Series

▣ Dimensions
(unit: mm)
150
144

61.5
11.5
144
134 3.3 87.5
4.4

25.5
14.5
3

▣ Unit Descriptions 8 7 6

1 2 3 4 5

9 10 11
1. Power connector (CN1: PWR)
2. Motor+Encoder connector (CN2: Motor / Encoder)
3. I/O connector (CN3: Signal I/O)
4-1. RS485 Communication connector (CN4: RS485)
4-2. Brake connector (CN5: BRAKE)
5-1. Servo On/Off indicator (Servo, Orange)
5-2. In-Position indicator (INP, Yellow)
5-3. Power/Alarm indicator (PWR/AL, Green/Red)
6. Alarm/Warning status display part (7 segment, Red)
7: CC-Link status indicator (L.ERR/L.RUN, Red/Green)
8: CC-Link station setting DIP switch (SW1)
9: CC-Link comm. speed setting rotary switch (B-RATE)
10: CC-Link station setting rotary switch (STATION NO.)
11: CC-Link connector (CN6: DA DB DG SH FG)

4
-|Transparent setting guide|-

2-Phase Closed-Loop Stepper Motor Driver

▣ Status Indicators
SENSORS
Status indicator LED color Function Descriptions
Power indicator Turns ON when the unit operates normally after supplying power.
PWR Green
Warning indicator Flashes when limit signal is input or overload status is maintained CONTROLLERS
When alarm occurs, it flashes in various ways depending on the situation.
AL Red Alarm indicator
Refer to ' Control Input/Output → Output → 3. Alarm/Warning'.
INP. Yellow In-Position indicator Turns ON when motor is placed at command position after positioning input. MOTION DEVICES
SERVO Orange Servo On/Off indicator Turns ON when Servo is operating, turns OFF when servo is not operating.
L.RUN Green Turns ON when communication operates normally.
CC-Link comm. indicator
L.ERR Red Turns ON when communication failure. SOFTWARE

▣ Driver Setting
CC-Link station setting DIP switch (SW1) (Y)
Closed Loop
Stepper System

Setting CC-Link station setting

ON 2 stations occupied (Z)
Stepper Motors
OFF(factory default) 1 station occupied

CC-Link comm. speed setting rotary switch (B-RATE) (AA)

Drivers

Setting Comm. speed (bps) Setting Comm. speed (bps)

0 156k 5 (AB)
Motion
1 625k 6 Controllers

2 2.5M 7 Disable
3 5M 8
B-RATE
4 10M 9

CC-Link station setting rotary switch (STATION NO.)

※Set the CC-Link comm. station.
※Available setting range is 01 to 64.

Setting Station No. (×10) Setting Station No. (×1)

0 0×10 0 0
1 1×10 1 1
2 2×10 2 2
3 3×10 3 3
4 4×10 4 4
5 5×10 5 5
×10 6 6×10 ×1 6 6
7 7 7
8 Disable 8 8
9 9 9

5
-|Transparent setting guide|-

AiC-D-CL Series

▣ Control Input/Output
Inner signal of all input/output consists of photocoupler.
ON, [H]: photocoupler power ON
OFF, [L]: photocoupler power OFF
※Brake operation is only for built-in brake type.

Input
1. Exclusive input (3)
Signal name Descriptions Pin no.
ORG Home sensor 10
+Limit +direction limit sensor 11
-Limit -direction limit sensor 12

2. General input (8)

Signal name Descriptions Pin no.
IN0 General input 0 2
IN1 General input 1 3
IN2 General input 2 4
IN3 General input 3 5
IN4 General input 4 6
IN5 General input 5 7
IN6 General input 6 8
IN7 General input 7 9

Functions can be assigned in general input IN0 to IN7.

Assignable functions are as below.

Function Descriptions Function Descriptions

User Input0 +Jog + jog drive
User Input1 -Jog - jog drive
User Input2 Pause Puase
User Input3 Servo On/Off Servo ON/OFF
User input
User Input4 Home Home search
User Input5 Alarm Reset Alarm reset
User Input6 SD Slow Down
User Input7 Clear Pos. Clear position, set current position as 0
Reset Driver reset Step0
Start Program mode driver start Step1
Start Index Index drive start Step2 Step number setting
(the combination of 6 bit, 0 to 5,
Stop Drive stop Step3 selectable 0 to 64)
EMG Driver emergency stop Step4
+RUN + continuous drive Step5
-RUN - continuous drive -

3. Example of input circuit connection

-All input circuits are insulated with photocoupler, and separate external power (recommended: 24VDC) is necessary.
-Case of using external power 24VDC does not require RL.
-In case using external power over 24VDC, select RL value that IF (forward current of primary LED) of photocoupler to be around
2.5mA (max. 10mA).
VEX-1.25V VEX
※RL= - 10×103 Ω
0.0025A 10kΩ

RL
Input
N
signal Driver
※N: Input pin number of CN3

6
-|Transparent setting guide|-

2-Phase Closed-Loop Stepper Motor Driver

▣ Control Input/Output
Output SENSORS

1. In-Position
-In-Position output represents output is output of positioning completion signal.
CONTROLLERS
-If the gap between target position and real position is under In-Position setting value after position command pulse has finished,
In-Position output turns ON and In-Position indicator turns ON.
-In reverse, when the gap is over In-Position setting value, In-Position output turns OFF and the In-Position indicator turns OFF.
※For accurate drive, check the In-Position output again and execute the next drive. MOTION DEVICES

※Refer to '6. Example of output circuit connection'.

Fast Response Accurate Response SOFTWARE

Position
Setting Value Setting Value
0 (factory default) 0 8 0
1 ±1 9 ±1 Target
2 ±2 10 ±2 position
3 ±3 11 ±3 In-Position
4 ±4 12 ±4 (fast response)
Time
5 ±5 13 ±5 In-Position
6 ±6 14 ±6 (accurate response) (Y)
Time Closed Loop
7 ±7 15 ±7 Delay time: 50ms Stepper System

(Z)
2. Alarm/Warning Stepper Motors

● Alarm
-This function stops motor to protect driver, depending on the error status such as overcurrent or overspeed.
(AA)
-In case of normal status, output turns ON, and in case of alarming status, output turns OFF. Drivers
-When alarm occurs, brake operates.
-When supplying alarm reset, driver returns to the normal status.
(AB)
※Refer to '6. Example of output circuit connection'. Motion
Controllers
Alarm Motor Torque
Alarm type Descriptions
status status status
c1 Comm. station setting error CC-Link station setting error
c2 Comm. speed setting error CC-Link speed setting error
c3 Comm. station setting change CC-Link station setting change Remain Remain
c4 Comm. speed setting change CC-Link speed setting change
c5 Comm. failure Communication with CC-Link master is disconnected
e1 Overcurrent error When overcurrent flows at motor RUN element
e2 Overspeed error When motor speed is over 4,000rpm
When the gap between position command value and current position
e3 Position tracking error
value is over 90˚
e4 Overload error When applying load over the rated load for over 1 sec.
e5 Overheat error When driver inner temperature is over 80℃
e6 Motor connection error When motor cable connection error occurs at driver
Stop Release
e7 Encoder connection error When encoder cable connection error occurs at driver
e8 Regenerative voltage error When regenerative voltage is over 78V
e9 Motor misalignment When motor is in misalignment
ea Command speed error When command speed is over 3,500rpm
eb Input voltage error When input voltage is out of 24VDC ±10%
ec In-Position error When position error (over 1) is kept over 3 sec, after motor stopped
ed Memory error When memory error is detected as power supplied
ee Emergency stop When emergently stopped with emergency stop command
ef Program mode error When 'END' command is not exist at the last step
When other instruction is used but 'INC', 'ABS' Stop Remain
eg Index mode error
When index command is not completed due to the stop command
eh Home search mode error When failed to find home

※When ee to eh alarm occurs, the motor stops, but the current flowing into the motor is not blocked.

7
-|Transparent setting guide|-

AiC-D-CL Series

▣ Control Input/Output
● Warning
-This function notices dangers with the alarm indicator prior to motor stop with limit signal or overload alarm.
-When turning out from the alarming condition, driver returns to the normal status automatically.

Warning Motor Torque

Warning type Descriptions
status status status
w1 + software limit When normal direction (CW) software limit is ON
w2 - software limit When reverse direction (CCW) software limit is ON
Stop Remain
w3 + hardware limit When normal direction (CW) hardware limit is ON
w4 - hardware limit When reverse direction (CCW) hardware limit is ON
When maximum load is kept connected over 10 sec
w5 Overload warning Remain Remain
(motor or driver can be overheated)

※Even though warning occurs, it drives as normal status and it may cause damage by fire.
It is recommend not to use the unit during warning status.
※The alarm/warning flashes 0.4 sec repeatedly.
<In case of no. 3 alarm>
1 2 3 4 5 6
0.4 sec

3. General output (7)

Signal name Descriptions Pin no. Function Descriptions
OUT0 General output 0 13 User Output0
OUT1 General output 1 14 User Output1
OUT2 General output 2 15 User Output2
OUT3 General output 3 16 User Output3 User output
OUT4 General output 4 17 User Output4
OUT5 General output 5 18 User Output5
OUT6 General output 6 19 User Output6
In-Position In-Position output
Functions can be assigned in general output OUT0 to OUT7.
Assignable functions are as right table. Alarm Alarm output
Warning Warning output

VEX
4. Example of output circuit connection
-All output circuits are insulated with photocoupler. RL
-External power input is available from 5VDC to 80VDC with Output
N
the open collector method. signal
Select RL value that IC (collector current of secondary LED)
of photocoupler to be around 10mA.
※ VEX-0.7V Driver
R L=
0.01A GEX ※N: Output pin number of CN3

5. Brake output
-In order to reduce heat in the brake, connected to the motor, the driver outputs DC power to turn off the brake.
Power

Driver 24VDC
power 0VDC

24VDC
Brake 11.5VDC
power
0VDC
1 sec 0.2 sec Time

-When supplying power to the driver after connecting the driver and brake, the rated excitation voltage is supplied and the brake power is
released after approx. 1 sec.
Then after approx. 0.2 sec, the excitation voltage is decreased to 11.5VDC and the released brake power is maintained.
※While power is supplied to the driver, the brake is kept turning on, except in the Servo On status.

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2-Phase Closed-Loop Stepper Motor Driver

▣ Driver Connectors
SENSORS
Connector function
● CN1: Power connector ● CN2: Motor+Encoder connector
CONTROLLERS
Pin arrangement Pin no. Function Pin arrangement Pin no. Function Pin no. Function
1 24VDC 1 GND 8 +5VDC
2 14 13 ……… 9 8 2 Encoder A 9 Encoder A MOTION DEVICES
1 2 GND 3 Encoder B 10 Encoder B
4 Encoder Z 11 Encoder Z
5 F.G. 12 N.C SOFTWARE

7 6 ……… 2 1 6 Motor A 13 Motor B

7 Motor A 14 Motor B

● CN3: I/O connector

Pin arrangement Pin no. I/O Function Pin no. I/O Function
1 - VEX 11 Exclusive input +Limit
2 General input IN0 12 Exclusive input -Limit
(Y)
3 General input IN1 13 General output OUT0
11 .. 13... 14 .. 20 Closed Loop
Stepper System
4 General input IN2 14 General output OUT1
5 General input IN3 15 General output OUT2
(Z)
6 General input IN4 16 General output OUT3 Stepper Motors

7 General input IN5 17 General output OUT4

1 .. 4 ... 8 .. 10
8 General input IN6 18 General output OUT5 (AA)
9 General input IN7 19 General output OUT6 Drivers

10 Exclusive input ORG 20 - GEX

(AB)
※Functions can be assigned in general input/output. For more information, refer to 'user manual'. Motion
Controllers

● RS 485 comm. connector (CN4: RS485) ● Brake connector (CN5: BRAKE)

Pin arrangement Pin no. Function Pin arrangement Pin no. Function

1 RS485 DATA- 1 Brake-

2 1 2 RS485 DATA+ 2 1 2 Brake+

※RS485 comm. is for parameter setting and operation test instead of driver operation. ※Corresponding connector is built-in brake type only.
When operating with CC-Link, disconnect the RS485 comm. from the device.
● CC-Link comm. connector (CN6: DA DB DG SH FG)
Pin arrangement Pin no. Function Pin no. Function
1 F.G. 4 DB

2 SLD 5 DA
5 4 3 2 1 3 DG -

Connector specifications
Specifications
Type Manufacture
Connector Connector terminal Housing
Driver LAD1140-02 - -
CN1 HANLIM
Power CHD1140-02 CTD1140 -
Driver 35318-1420 -
CN2 - Molex
Motor+Encoder 5557-14R 5556T
Driver 10220-52A2 PL - -
3M
CN3 10150-3000PE - 10350-52F0-008
I/O connector
CO20-MP□-R (Sold separately) - - Autonics
Driver 053254-0270 - -
CN4
RS485 connector 51065-0200 50212-8000 -
Molex
Driver 5268-02A - -
CN5
Brake 5264-02 5263PBT -
Driver 2EHDRC-05P-OR※1 - -
CN6 Dinkle
CC-Link connector 2ESDV-05P-OR - -

※1: CC-Link dedicated cable must be used and performance can not be guaranteed when using other cables.
※ Above connectors are suitable for AiC-D-CL Series. The connectors can be used with equivalent or substitute.

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AiC-D-CL Series

▣ Communication Output
It is for parameter setting and monitoring via external devices (PC, PLC, etc.).
In CC-Link setting, the communication speed must be same between PLC and the driver.
The settable station number is 01 to 64, the station number must not be overlapped. (65 to 99 is not available)

Interface
Comm. standard CC-Link Ver.1.10 Max. transmit distance Depend on comm. speed
● 1 station occupied: Ryn/RXn 32 points each
Station type Remote Device station Remote I/O
● 2 stations occupied: Ryn/RXn 64 points each
● 1 station occupied: RWrn/RWwn 4 words each
Connection cable CC-Link dedicated cable Remote register
● 2 stations occupied: RWrn/RWwn 8 words each
Point table read/write, parameter read/write, read only,
Comm. speed 156k, 625k, 2.5M, 5M, 10M bps Command special command monitor only, network connection,
drive control, motion control, drive status
Station number 01 to 64 Comm. setting switch 10 bit rotary switch (0 to 9): 3, 1 bit DIP switch (ON/OFF)
Number of 1 station occupied,
-
occupied stations 2 stations occupied

▣ Sold Separately
※It is recommended to use ferrite core at power cable, I/O cable and Motor+Encoder cable.

Power cable
● CJ-PW-□
※ of model name indicates cable length (010, 020)
E.g.) CJ-PW-010: 1m power cable.

Motor+Encoder cable
● Normal: C1D14MB- , Moving: C1DF14MB-

※ of model name indicates cable length (1, 2, 3, 5, 7, 10, 15, 20)

(B) of model name indicates the built-in brake type, none indicates the standard type.
E.g.) C1DF14MB-10: 10m moving type, built-in brake type motor+encoder cable.

I/O cable
● CO20-MP□-R
(standard: AiC-CL TAG)

Pin Function Cable Dot line color- Pin Function Cable Dot line color-
no. (Name TAG) color numbers no. (Name TAG) color numbers
1 VEX Black-1 11 +Limit Black-1
2 IN0 Red-1 12 -Limit Red-1
3 IN1 Black-2 13 OUT0 Black-2
4 IN2 Red-2 14 OUT1 Red-2
5 IN3 Black-3 15 OUT2 Black-3
Yellow White
6 IN4 Red-3 16 OUT3 Red-3
7 IN5 Black-4 17 OUT4 Black-4
8 IN6 Red-4 18 OUT5 Red-4
9 IN7 Black-5 19 OUT6 Black-5
10 ORG Red-5 20 GEX Red-5
※ of model name indicates cable length (010, 020, 030, 050, 070, 100, 150, 200)
E.g.) CO20-MP070-R: 7m I/O cable.

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2-Phase Closed-Loop Stepper Motor Driver

▣ Connection for Motor and Driver

SENSORS

CONTROLLERS

MOTION DEVICES

CN4 CN5
RS485 DATA+ 2 24VDCᜡ 2 BRAKE+※1 SOFTWARE

RS485 DATA- 1 1 BRAKE-※1

CN2
(Y)
A Closed Loop
6 Stepper System
M
CN3 A
O 7 (Z)
10kΩ MOTOR Stepper Motors
VEX 1 T B
O 13
2 ENCODER (AA)
IN0~IN7 ~9 R B
14 Drivers

ORG 10 A (AB)
2 Motion
10kΩ Controllers
+Limit 11 E A
9
-Limit 12 N B
3
13 C B
OUT0~OUT6 ~19 10
O Z
GEX 20 4
D
Z
11
E
+5VDCᜡ
8
R
GND
1
CN6 F.G.
5
DA 5 N.C
12
DB 4

DG 3
CN1
SLD 2
1
※Index
+ POWER
1 - 24VDCᜡ : Input
F.G. 2
: Output
: I/O
: N.C

※1: Corresponding pins are only in built-in brake type.

※The Connection diagram is base on built-in brake type.

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AiC-D-CL Series

▣ Troubleshooting
Malfunction Causes Troubleshooting
The communication cable is not Check communication cable wiring.
When communication is not connected. Check communication cable connection correctly.
connected
The communication port or speed settings
Check communication port and speed settings are correct.
are not correct.
Check that servo On/Off input signal is Off.
Servo is not On.
When motor does not excite In case of On, servo is Off and excitation of motor is released.
Alarm occurs. Check the alarm type and remove the cause of alarm.
When motor rotates to the
opposite direction of the MotorDir parameter setting is not correct. Check the MotorDir parameter settings.
designated direction
Connection between motor and encoder
Check the Motor+Encoder connection cable.
When motor drive is unstable is unstable.
Motor gain value is not correct. Change the Motor Gain parameter as the certain value.

▣ Proper Usage
● Follow instructions in 'Proper Usage'.
Otherwise, It may cause unexpected accidents.
● 24VDC power supply should be insulated and limited voltage/current or Class 2, SELV power supply device.
● Re-supply power after min. 1 sec from disconnected power.
● In case communication is unstable due to the noise generated by supplied power or peripheral device,
use ferrite core at communication line.
● It is recommended to use 485 converter with the separate power.
(Autonics product, SCM Series recommended)
● The thickness of cable should be same or thicker than the motor cable's when extending the motor cable.
● Keep the distance between power cable and signal cable more than 10cm.
● Motor vibration and noise can occur in specific frequency period
① Change motor installation method or attach the damper.
② Use the unit out of the dedicated frequency range when vibration and noise occurs due to changing motor RUN speed.
● For using motor, it is recommended to maintenance and inspection regularly.
① Unwinding bolts and connection parts for the unit installation and load connection
② Strange sound from ball bearing of the unit
③ Damage and stress of lead cable of the unit
④ Connection error with motor
⑤ Inconsistency between the axis of motor output and the center, concentric (eccentric, declination) of the load, etc.
● This product does not prepare protection function for a motor.
● This unit may be used in the following environments.
① Indoors (in the environment condition rated in 'Specifications')
② Altitude max. 2,000m
③ Pollution degree 2
④ Installation category II

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AiC-D Series

Controller Integrated 2-Phase Closed-Loop Stepper Motor Driver

▣ Features SENSORS

Brake operation for safe control of vertical load at power OFF and alarm occur. (built-in brake type)
Motor driver and controller integral type FIELD
INSTRUMENTS
Competitive price compared to the servo motor and closed-loop function and fast response
for short-distance continuous drive
Controllable maximum 31 axis with RS485 communication CONTROLLERS
Realizing a wide variety of operation up to 256 steps using 14 control commands combination
4 type of operation mode: jog mode, continuous mode, index mode, program mode
Improved user convenience with providing 50 I/O pins MOTION DEVICES
C language library provided (32-bit, 64-bit)
Dedicated Windows program (atMotion) provided
Responding rapidly and maintaining torque in stop without hunting SOFTWARE
Easy to use without tuning (various gain settings via programming)
Applicable to the precision equipment such as optical inspection equipment with the features of
maintaining torque in stop and having no micro vibration (hunting)
Containing 10-level resolutions (electric gear)
Various alarms out
: overcurrent, overspeed, overheat, motor connection error, encoder connection error,
and etc., overall 17 types
Frame size 20mm, 28mm, 35mm, 42mm, 56mm, 60mm motors supported
(A)
Closed Loop
Please read “Safety Considerations” Stepper System
in the instruction manual before using.
(B)
Stepper Motors

▣ Applications
(C)
 iled requiring preciseness such as semiconductor equipment, 3D printer, optical inspection equipment, chip mounter, cartesian robot,
F Stepper Motor
conveying equipment, and alignment stage. Drivers

(D)

▣ Manual
Motion
Controllers

For the detail information and instructions, please refer to user manual, user manual for communication manual and library manual
and be sure to follow cautions written in the technical descriptions (catalog, website).
Visit our website (www.autonics.com) to download manuals.

▣ Software (atMotion)
atMotion is a comprehensive motion device management program that can be used with Autonics motion controllers.
atMotion provides GUI control for easy and convenient parameter setting and monitoring data management of multiple devices.
Visit our website (www.autonics.com) to download the user manual and software.

< Computer specification for using software> < atMotion screen >
Item Minimum requirements
IBM PC compatible computer with Intel Pentium Ⅲ
System
or above
Operations Microsoft Windows 98/NT/XP/Vista/7/8/10
Memory 256MB+
Hard disk 1GB+ of available hard disk space
VGA Resolution: 1024×768 or higher
Others RS-232 serial port (9-pin), USB port

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AiC-D Series

▣ Ordering Information

Ai C D 42 L A
Brake No mark Standard type
※1
B Built-in brake type
※2
A 4,000PPR(1,000PPR×4-multiply)
Encoder resolution ※3
B 16,000PPR(4,000PPR×4-multiply)
※4
A 10,000PPR(2,500PPR×4-multiply)
Motor length

Standard type Built-in brake type

M 41.2mm -
20 20×20mm
L 53.1mm -
S 46mm -
28 28×28mm M 59mm -
L 65mm -
S 41.5mm -
35 35×35mm M 52mm -
L 68.5mm -
Motor frame size S 67.5mm 102.3mm
42 42×42mm M 73.5mm 108.3mm
L 81.5mm 116.3mm
S 77.3mm 112.1mm
56 57.2×57.2mm M 90.3mm 125.1mm
L 111.3mm 146.1mm
S 81.9mm 116.7mm
60 60×60mm M 102.8mm 137.6mm
L 119.8mm 154.6mm
Item
D Driver
Category
C Controller
Series
Ai Artificial intelligence

▣ Configuration Diagram

AiC-D Series
(Controller Integrated
Motor driver)

Settings of start, stop,

rotation direction, etc. Ai-M Series
(Motor)
PLC
I/O Cable External I/O

USB /
RS232C / RS485 Rated current
Wi-Fi Motor+Encodere cable
SCM Series
Communication
PC & atMotion converter Power cable Power

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2-Phase Closed-Loop Stepper Motor Driver

▣ Specifications
- AiC-D-28SB AiC-D-35SB AiC-D-42SA(-B) AiC-D-56SA(-B) AiC-D-60SA(-B) SENSORS
※1
Model AiC-D-20MA AiC-D-28MB AiC-D-35MB AiC-D-42MA(-B) AiC-D-56MA(-B) AiC-D-60MA(-B)
AiC-D-20LA AiC-D-28LB AiC-D-35LB AiC-D-42LA(-B) AiC-D-56LA(-B) AiC-D-60LA(-B)
Power supply 24VDCᜡ FIELD
INSTRUMENTS
Allowable voltage range 90 to 110% of the rated voltage
※2
STOP Max. 10W Max. 10W Max. 12W Max. 15W
Power
Max. during CONTROLLERS
consumption ※3 Max. 60W Max. 60W Max. 120W Max. 240W
operation
※4
Max. RUN current 0.6A/Phase 1.0A/Phase 1.2A/Phase 1.7A/Phase 3.5A/Phase
※5
STOP current 20 to 100% of max. RUN current (factory default: 50%) MOTION DEVICES

Rotation speed 0 to 3000rpm

500 (factory
default), 1000, SOFTWARE
500 (factory default), 1000, 1600,
※5 1600, 2000, 500 (factory default), 1000, 1600, 2000, 3200, 3600,
Resolution 2000, 3600, 5000, 6400, 7200,
3600, 4000, 5000, 6400, 7200, 10000PPR
10000, 16000PPR
5000, 6400,
7200, 10000PPR
※5
Speed filter 0 (disable), 2, 4, 6, 8, 10, 20, 40, 60 (factory default), 80, 100, 120, 140, 160, 180, 200ms
※5 (P Gain, I Gain)=(1, 1), (2, 1), (3, 1), (4, 1), (5, 1), (1, 2), (2, 2), (3, 2), (4, 2), (5, 2), (1, 3), (2, 3), (3, 3), (4, 3),
Positioning Gain
(5, 3), user setting
Positioning range -2,147,483,648 to +2,147,483,647
(A)
In-Position Fast Response: 0(factory default) to 7, Accurate Response: 0 to 7 Closed Loop
※5 Stepper System
Motor rotation direction CW, CCW
● Power/Warning indicator: green LED ● Alarm indicator: red LED ● In-Position indicator: yellow LED
Status indicator
● Servo On/Off indicator: orange LED ● RS485 DATA IN/OUT indicator: green, yellow LED (B)
Stepper Motors
I/O voltage level [H]: 5-30VDCᜡ, [L]: 0-2VDCᜡ
Input※6 Exclusive input: 20, general input: 9
(C)
I/O ● Standard type - exclusive output: 4, general output: 10 Stepper Motor
Output
● Built-in brake type - exclusive output: 6, general output: 9 Drivers

External power supply VEX(recommended: 24VDCᜡ): 2, GEX(GND): 2

(D)
Operation mode Jog, Continuous, Index, Program mode Motion
Controllers
Index step numbers 64 stpes
Step 256 steps
ABS (move absolute position), INC (move incremental position), HOM (home search),
Control ICJ (jump input condition), IRD (waiting input), OPC (on/off of output port), OPT (on pulse from outuput port),
Program
command JMP (jump), REP (start repetition), RPE (end repetition), END (end program), POS (position set), TIM (timer),
function
CMP (compare output)
Start Power On Program auto-start function
Home search Power On Home Search auto-start function
Home search mode Home, limit home, zero home, torque home
※5
RS485 comm. Comm. speed 9600, 19200, 38400, 57600, 115200(factory default) bps
Multiaxial control 31-axis
ID setting switch 16-bit rotary switch (0 to F), 1-bit DIP switch (ON/OFF)
Overcurrent, overspeed, position tracking, overload, overheat, motor connection, encoder connection,
Alarm output regenerative voltage, motor misalignment, command speed, input voltage, in-position, memory,
emergency stop, program drive, index drive, home search drive
Warning output ±software limit, ±hardware limit, overload, position override
Insulation resistance Over 100MΩ (500VDC negger)
Dielectric strength 1,000VAC 60Hz for 1 min
Vibration 1.5mm amplitude at frequency of 10 to 55Hz (for 1 min) in each X, Y, Z direction for 2 hours
Shock 300m/s2 (approx. 30G) in each X, Y, Z direction for 3 times
Ambient temp. 0 to 50℃, storage: -10 to 60℃
Envoronment
Ambient humi. 35 to 85%RH, storage: 10 to 90%RH
Protection structure IP20(IEC standard)
Approval ᜢ
※6
Weight Approx 460g (approx 300g)
※1: The model name indicates driver type. (none: standard type, B: built-in brake type)
E.g.) AiC-D-42LA-B: built-in brake type stepping motor driver.
※2: Based on the ambient temperature 25℃, ambient humidity 55%RH, and STOP current 50%.
※3: Max. power consumption during operation. When changing the load rapidly, instantaneous peak current may increase.
The capacity of power supply should be over 1.5 to 2 times of max. power consumption.
※4: Run current varies depending on the input RUN frequency and max. RUN current at the moment varies also.
※5: Settable with the edicated program (atMotion).
※6: Brake ON/OFF function can be changed in general input IN8 in built-in brake type.
※7: The weight includes packaging. The weight in parenthesis is for unit only.
※Environment resistance is rated at no freezing or condensation.

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AiC-D Series

▣ Dimensions
(unit: mm)
150
144
73

4.4
11.5
144 2-R3
134 5.5 87.5
4.4

25.5
78 9
A
3 4 56

BCDE

14.5
F 1
2

▣ Unit Descriptions
7

7 8 9
A
3 4 5 6

BC DE

F
2

1
0

1 2 3 4 5 6

8 9
1. Power connector (CN1: PWR)
2. Motor+Encoder connector (CN2: Motor / Encoder)
3. I/O connector (CN3: Signal I/O)
4. Servo On/Off indicator (Servo, Orange)
5. In-Position indicator (INP., Yellow)
6. Power/Alarm indicator (PWR/AL, Green/Red)
7. Communication ID setting rotary switch (ID Selection SW1)
8. RS485 Communication connector (CN4: RS485 OUT / RS485 IN)
9. Communication ID setting/Terminating resistance setting DIP switch (SW2)

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2-Phase Closed-Loop Stepper Motor Driver

▣ Status Indicators
Status SENSORS
Location LED color Function Descriptions
indicator
Power indicator Turns ON when the unit operates normally after supplying power.
PWR Green FIELD
Warning indicator Flashes when limit signal is input or overload status is maintained INSTRUMENTS

When alarm occurs, it flashes in various ways depending on the situation.

AL Front Red Alarm indicator
Refer to ' Control Input/Output → Output → 3. Alarm/Warning'.
CONTROLLERS
INP. Yellow In-Position indicator Turns ON when motor is placed at command position after positioning input.
SERVO Orange Servo On/Off indicator Turns ON when Servo is operating, turns OFF when servo is not operating.
※1
RXD IN Yellow Flashes when receives data.
※1 Right side RS485 Data I/O display MOTION DEVICES
TXD OUT Green Flashes when sending data.
※1: Although RS485 OUT is disconnected, RXD IN/TXD OUT operates normally, if RS485 IN is communicating.
SOFTWARE

▣ Driver Setting
SW1: ID setting switch
※Set Node ID of the driver. (A)
※Depending on the 1 switch setting of the SW2, it is possible to connect max. 31-axis. Closed Loop
Stepper System
ID ID
Setting switch Setting Setting
SW2 1 OFF SW2 1 ON SW2 1 OFF SW2 1 ON (B)
0 Disable 16 8 8 24 Stepper Motors

78 9 1 1 (factory default) 17 9 9 25
2 2 18 A 10 26
A
3456

(C)
B CDE

Stepper Motor
3 3 19 B 11 27 Drivers
2

1 F
0
4 4 20 C 12 28
ID Selection 5 5 21 D 13 29 (D)
SW1 6 6 22 E 14 30 Motion
Controllers
7 7 23 F 15 31

SW2: ID setting/Terminating resistance DIP switch

※Set Node ID of the driver.
※Set to use terminating resistance.
Switch position
No. Function
ON OFF (factory default)
1 ID setting ID: 16 to 31 ID: 1 to 15
1 2
2 Terminating resistance Use terminating resistance (120Ω) Do not use terminating resistance

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AiC-D Series

▣ Control Input/Output
Inner signal of all input/output consists of photocoupler.
ON, [H]: photocoupler power ON
OFF, [L]: photocoupler power OFF
※Brake operation is only for built-in brake type.

Input
1. Exclusive input (20)
Signal name Descriptions Pin no. Signal name Descriptions Pin no.
Reset Reset command 3 Pause Pause 15
Start Drive start command 4 Servo On/Off Servo On/Off 16
Stop Drive stop command 5 Home Home search 17
EMG Drive emergency stop command 6 Alarm Reset Alarm reset command 18
Step0/+Run/+Jog Step designate 0 / +Run / +Jog 7 +Limit +direction limit sensor 19
Step1/-Run/-Jog Step designate 1 / -Run / -Jog 8 -Limit -direction limit sensor 20
Step2/SSP0 Step designate 2 / Start speed designate 0 9 ORG Home sensor 21
Step3/SSP1 Step designate 3 / Start speed designate 1 10 SD Deceleration (deceleration stop) signal 22
Step designate 4 /
Step4/MSP0 11 Brake ON/OFF Brake ON/OFF 35
Max. speed designate 0
Step designate 5 /
Step5/MSP1 12
Max. speed designate 1
Operation mode designate 0 /
MD0/HMD0 13 -
Home search mode designate 0
Operation mode designate 1 /
MD1/HMD1 14
Home search mode designate 1
2. General input (9)
Signal name Descriptions Pin no.
IN0 to IN2 General input 0 to 2 26 to 28
IN3 to IN8 General input 3 to 8 30 to 35

3. Example of input circuit connection

-All input circuits are insulated with photocoupler, and separate external power (recommended: 24VDC) is necessary.
-Case of using external power 24VDC does not require RL.
-In case using external power over 24VDC, select RL value that IF (forward current of primary LED) of photocoupler to be around
2.5mA (max. 10mA).
VEX-1.25V VEX
※ R L= - 10×103 Ω 10kΩ
0.0025A

RL
Input
N
signal Driver

Output ※N: Input pin number of CN3

1. Exclusive output (AiC-D: 4, AiC-D-B: 6)
Signal name Descriptions Pin no. Signal name Descriptions Pin no.
Brake+ Brake output (24VDC) 1 Alarm Alarm output 38
Brake- Brake output (GND) 2 Compare1 (trigger) Comparison output1 39
In-Position Drive ending pulse 23 Compare2 (trigger) Comparison output2 40

2. In-Position
-In-Position output represents output is output of positioning completion signal.
-If the gap between target position and real position is under In-Position setting value after position command pulse has finished,
In-Position output turns ON and In-Position indicator turns ON.
-In reverse, when the gap is over In-Position setting value, In-Position output turns OFF and the In-Position indicator turns OFF.
※For accurate drive, check the In-Position output again and execute the next drive.
※Refer to '6. Example of output circuit connection'.
Fast Response Accurate Response
Setting Value Setting Value Position
0 (factory default) 0 8 0
1 ±1 9 ±1
Target
2 ±2 10 ±2 position
3 ±3 11 ±3
In-Position
4 ±4 12 ±4 (fast response)
Time
5 ±5 13 ±5
In-Position
6 ±6 14 ±6 (accurate response)
Time
7 ±7 15 ±7 Delay time: 50ms

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2-Phase Closed-Loop Stepper Motor Driver

▣ Control Input/Output
3. Alarm/Warning SENSORS
● Alarm
-This function stops motor to protect driver, depending on the error status such as overcurrent or overspeed.
-In case of normal status, output turns ON, and in case of alarming status, output turns OFF. FIELD
INSTRUMENTS
-When alarm occurs, brake operates.
-When supplying alarm reset, driver returns to the normal status.
※Refer to '6. Example of output circuit connection'.
CONTROLLERS
● Warning
-This function notices dangers with the alarm indicator prior to motor stop with limit signal or overload alarm.
-When turning out from the alarming condition, driver returns to the normal status automatically.
MOTION DEVICES
Alarm No. of Motor Torque Brake
Alarm type Descriptions
indicator flashing status status status
1 Overcurrent error When overcurrent flows at motor RUN element SOFTWARE
2 Overspeed error When motor speed is over 4,000rpm
When the gap between position command value and
3 Position tracking error
current position value is over 90˚
4 Overload error When applying load over the rated load for over 1 sec.
5 Overheat error When driver inner temperature is over 80℃
6 Motor connection error When motor cable connection error occurs at driver
Stop Release Lock
7 Encoder connection error When encoder cable connection error occurs at driver
8 Regenerative voltage error When regenerative voltage is over 78V (A)
AL Closed Loop
9 Motor misalignment When motor is in misalignment Stepper System
(red)
10 Command speed error When command speed is over 3,500rpm
11 Input voltage error When input voltage is out of 24VDC ±10% (B)
Stepper Motors
12 In-Position error When position error (over 1) is kept over 3 sec, after motor stopped
13 Memory error When memory error is detected as power supplied
(C)
14 Emergency stop When emergently stopped with emergency stop command Stepper Motor
Drivers
15 Program mode error When 'END' command is not exist at the last step
When other instruction is used but 'INC', 'ABS' Stop Remain Release
16 Index mode error (D)
When index command is not completed due to the stop command Motion
Controllers
17 Home search mode error When failed to find home
Warning No. of Motor Torque Brake
Warning type Descriptions
indicator flashing status status status
1 + software limit When normal direction (CW) software limit is ON
2 - software limit When reverse direction (CCW) software limit is ON
Stop Remain Release
3 + hardware limit When normal direction (CW) hardware limit is ON
PWR
(green) 4 - hardware limit When reverse direction (CCW) hardware limit is ON
When maximum load is kept connected over 10 sec
5 Overload warning Remain Remain Release
(motor or driver can be overheated)
6 Position override warning When position override is failed to operate Stop Remain Release
※Even though warning occurs, it drives as normal status and it may cause damage by fire.
It is recommend not to use the unit during warning status.
※Depending on alarm/warning type, it flashes 0.4 sec interval and it turns OFF for 0.8 sec repeatedly.
<In case of no. 3 alarm>
1 2 3 1 2 3
0.4 sec 0.8 sec

4. Comparison output (compare1, compare2)

Outputs trigger pulse on the certain interval that user has set.
Mode Descriptions
0 Not use comparison output.
1 Comparison output turns ON when the present absolute position value is same or bigger than the set position value.
2 Comparison output turns ON when the present absolute position value is same or smaller than the set position value.
3 Trigger pulses output with the set interval and width.
※Please refer to the user manual to learn how to set.
5. General output (AiC-D: 10, AiC-D-B: 9)
● Standard type
Signal name Descriptions Pin no.
OUT0 to OUT9 General output 0 to 9 41 to 50
● Built-in brake type
Signal name Descriptions Pin no.
OUT0 to OUT8 General output 0 to 8 41 to 49

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AiC-D Series

▣ Control Input/Output
VEX
6. Example of output circuit connection
-All output circuits are insulated with photocoupler. RL
-External power input is available from 5VDC to 80VDC with Output
N
the open collector method. signal
Select RL value that IC (collector current of secondary LED)
of photocoupler to be around 10mA.

※ RL= VEX-0.7V Driver

0.01A GEX ※N: Output pin number of CN3

7. Brake output
-In order to reduce heat in the brake, connected to the motor, the driver outputs DC power to turn off the brake.

Power
Driver 24VDC
power 0VDC

24VDC
Brake 11.5VDC
power
0VDC
1 sec 0.2 sec Time

-When supplying power to the driver after connecting the driver and brake, the rated excitation voltage is supplied and the brake power is
released after approx. 1 sec.
Then after approx. 0.2 sec, the excitation voltage is decreased to 11.5VDC and the released brake power is maintained.
※While power is supplied to the driver, the brake is kept turning on, except in the Servo On status.

▣ Communication Output
It is for parameter setting and monitoring via external devices (PC, PLC, etc.).

Interface
Comm. protocol Modbus RTU Comm. speed 9600, 19200, 38400, 57600, 115200 bps
Connection type RS485 Comm. response wait time 5 to 99ms
Application standard Compliance with EIA RS485 Start bit 1-bit (fixed)
Max. connection 31 units (address: 01 to 31) Data bit 8-bit (fixed)
Synchronous method Asynchronous Parity bit None, Odd, Even
Comm. method Two-wire half duplex Stop bit 1-bit, 2-bit
Comm. distance Max. 800m
※It is not allowed to set overlapping communication address at the same communication line.
Use twisted pair wire for RS485 communication.

Application of system organization

※Only for RS485 communication output model.
RS232C/
Terminating resistance
USB/Wi-Fi RS485
(100 to 120Ω) RS485
B(-)
DEVICE
A(+) #31
Comm.
converter A(+) B(-) A(+) B(-) A(+) B(-)
B(-)
RS485 RS485 RS485
Computer ON OFF DEVICE DEVICE DEVICE
#1 #2 #30
A(+)

※It is recommended to use Autonics communication converter;

SCM-WF48 (Wi-Fi to RS485·USB wireless communication converter, sold separately),
SCM-US48I (USB to RS485 converter, sold separately), SCM-38I (RS232C to RS485 converter, sold separately).
Please use twisted pair wire, which is suitable for RS485 communication, for SCM-WF48, SCM-US48I and SCM-38I.

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2-Phase Closed-Loop Stepper Motor Driver

▣ Driver Connectors
Connector function SENSORS
● CN1: Power connector ● CN2: Motor+Encoder connector
Pin arrangement Pin no. Function Pin arrangement Pin no. Function Pin no. Function
FIELD
1 GND 8 +5VDC INSTRUMENTS
2 GND
2 Encoder A 9 Encoder A
2 14 13 ……… 9 8
1 3 Encoder B 10 Encoder B
1 24VDC CONTROLLERS
4 Encoder Z 11 Encoder Z
5 F.G. 12 N.C
7 6 ……… 2 1 6 Motor A 13 Motor B MOTION DEVICES
7 Motor A 14 Motor B
● CN3: I/O connector
SOFTWARE
Pin arrangement Pin no. I/O Function Pin no. I/O Function
※1
1 Output Brake+ 26 Input IN0
※1
2 Output Brake- 27 Input IN1
3 Input Reset 28 Input IN2
4 Input Start 29 - N.C
5 Input Stop 30 Input IN3
6 Input EMG 31 Input IN4
7 Input Step0/+Run/+Jog 32 Input IN5
26
6 5 4 3 2 1

(A)
Closed Loop
8 Input Step1/-Run/-Jog 33 Input IN6 Stepper System
...

9 Input Step2/SSP0 34 Input IN7

31

※3
10 Input Step3/SSP1 35 Input IN8, Brake ON/OFF (B)
Stepper Motors
11 Input Step4/MSP0 36 Input VEX
12 Input Step5/MSP1 37 Input GEX
(C)
13 Input MD0/HMD0 38 Output Alarm Stepper Motor
.....
...

...

Drivers
14 Input MD1/HMD1 39 Output Compare1 (Trigger)
15 Input Pause 40 Output Compare2 (Trigger)
(D)
16 Input Servo On/Off 41 Output OUT0 Motion
Controllers
20

45

17 Input Home 42 Output OUT1

18 Input Alarm Reset 43 Output OUT2
...

...

19 Input +Limit 44 Output OUT3

25

50

20 Input -Limit 45 Output OUT4

21 Input ORG 46 Output OUT5
22 Input SD 47 Output OUT6
23 Output In-Position 48 Output OUT7
24 Input VEX 49 Output OUT8
※2
25 Input GEX 50 Output OUT9
※1: N.C for standard type motor.
※2: N.C for built-in brake type motor.
※3: Brake ON/OFF function cna be changed in built-in brake type.
● CN4: RS485 communication cable connector
Pin arrangement Pin no. I/O Function Pin no. I/O Function
1 - N.C 5 - N.C
2 - N.C 6 Input/Output RS485 DATA-
3 Input/Output RS485 DATA+ 7 - N.C
8 ... 1 8 ... 1 4 - N.C 8 - N.C

Connector specifications
Specifications
Type Manufacture
Connector Connector terminal Housing
Driver 3930-1020 (5569-02A2) - - Molex
CN1
Power CHD1140-02 CTD1140 - HANLIM
Driver 35318-1420 -
CN2 Frame size 20, 28, 35mm 5556T2 - Molex
Motor+Encoder 5557-14R
Frame size 42, 56, 60mm 5556T
Driver 10250-52A2 PL -
CN3 - 3M
I/O connector 10150-3000PE 10350-52F0-008
CN4 Driver KRM-U-02-8-8-4-7M5 - - KINNEXA
※Above connectors are suitable for AiC-D Series. You can use equivalent or substitute connectors.

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AiC-D Series

▣ Sold Separately
※It is recommended to use ferrite core at power cable, I/O cable and Motor+Encoder cable.

Power cable
CJ-PW-
+ 24V
※ of model name indicates cable length (010, 020)
GND

E.g.) CJ-PW-010: 1m power cable.

I/O cable
CO50-MP -R Pin Function Cable Dot line color- Pin Function Cable Dot line color-
(standard: AiC TAG) no. (name tag) color numbers no. (name tag) color numbers
1 Brake+ Black-1 26 IN0 Red-3
2 Brake- Red-1 27 IN1 Black-4
3 Reset Black-2 28 IN2 White Red-4
4 Start Red-2 29 N.C Black-5
5 Stop Black-3 30 IN3 Red-5
6 EMG Orange Red-3 31 IN4 Black-1
7 Step0/+RUN/+JOG Black-4 32 IN5 Red-1
8 Step1/-RUN/-JOG Red-4 33 IN6 Black-2
9 Step2/SSP0 Black-5 34 IN7 Red-2
IN8,
10 Step3/SSP1 Red-5 35 Black-3
Brake ON/OFF Gray
11 Step4/MSP0 Black-1 36 VEX Red-3
12 Step5/MSP1 Red-1 37 GEX Black-4
13 MD0/HMD0 Black-2 38 Alarm Red-4
14 MD1/HMD1 Red-2 39 Compare1 Black-5
15 Pause Black-3 40 Compare2 Red-5
Yellow
16 Servo On/Off Red-3 41 OUT0 Black-1
17 Home Black-4 42 OUT1 Red-1
18 Alarm Reset Red-4 43 OUT2 Black-2
19 +Limit Black-5 44 OUT3 Red-2
20 -Limit Red-5 45 OUT4 Black-3
Pink
21 ORG Black-1 46 OUT5 Red-3
22 SD Red-1 47 OUT6 Black-4
23 In-Position White Black-2 48 OUT7 Red-4
24 VEX Red-2 49 OUT8 Black-5
25 GEX Black-3 50 OUT9 Red-5
※ of model name indicates cable length (010, 020, 030, 050, 070, 100, 150, 200)
E.g.) CO50-MP070-R: 7m I/O cable.
Motor+Encoder cable
Normal: C1D14M- , Moving: C1DF14M-

※ of model name indicates cable length (1, 2, 3, 5, 7, 10, 15, 20)

E.g.) C1DF14M-10: 10m moving type motor+encoder cable.

Communication converter
SCM-WF48 SCM-US48I SCM-38I
(Wi-Fi to RS485·USB wireless (USB to RS485 converter) (RS232C to RS485 converter)
communication converter)

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2-Phase Closed-Loop Stepper Motor Driver

▣ Connection for Motor and Driver

SENSORS
CN3

24VDC 1 Brake+※1 FIELD

INSTRUMENTS
2 Brake-※1
10kΩ 24 VEX
36 CONTROLLERS

CN4 3 Reset

RS485 DATA+ 3 4 Start MOTION DEVICES

RS485 DATA- 6 5 Stop

SOFTWARE
1, 2 6 EMG
N.C 4, 5
7, 8
7 Step0/+Run/+Jog

8 Step1/-Run/-Jog
CN2

A 9 Step2/SSP0
6
A M 10 Step3/SSP1
7
o
Motor (A)
t 11 Step4/MSP0 Closed Loop
B Stepper System
13 o
Encoder r 12 Step5/MSP1
B
14 (B)
13 MD0/HMD0 Stepper Motors
A
2
14 MD1/HMD1
A (C)
9 Stepper Motor
15 Pause Drivers
B
3 E
n
16 Servo On/Off (D)
B Motion
10 c Controllers
o 17 Home
Z
4 d
e 18 Alarm Reset
Z r
11
19 +Limit
+5VDC
8
20 -Limit
GND
1
21 ORG
F.G.
5 22 SD
N.C 12 26
IN0 to 2
to 28

29 N.C
10kΩ 30
to 34 IN3 to 7
※2
35 IN8, Brake ON/OFF
25
37 GEX

CN1 23 In-Position
1
POWER +
24VDC - 38 Alarm
2
39 Compare1

40 Compare2 ※Index
41
: Input
to 49 OUT0 to 8 : Output
50 N.C※3 : I/O
: N.C

※1: Corresponding pins are N.C in standard type.

※2: In built-in brake type, the corresponding pin can be switched as Brake ON/OFF.
※3: It corresponds to OUT9(output) in standard type.
※The Connection diagram is base on built-in brake type.

23
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AiC-D Series

▣ Troubleshooting
1. When driver communication is failed
①Check whether the connection between driver and communication cable is correct.
②Check whether the port and communication speed is set correctly in the dedicated communication program.
2. When operation of motor is unstable
①Check that driver, motor, and brake are connected correctly.
②Check whether operation command is set correctly (e.g. speed, accel/deceleration speed).

▣ Proper Usage
Follow instructions in 'Proper Usage'.
Otherwise, It may cause unexpected accidents.
24VDC power supply should be insulated and limited voltage/current or Class 2, SELV power supply device.
R
 e-supply power after min. 1 sec from disconnected power.
In case communication is unstable due to the noise generated by supplied power or peripheral device,
use ferrite core at communication line.
It is recommended to use 485 converter with the separate power.
(Autonics product, SCM Series recommended)
The thickness of cable should be same or thicker than the motor cable's when extending the motor cable.
Keep the distance between power cable and signal cable more than 10cm.
Motor vibration and noise can occur in specific frequency period
① Change motor installation method or attach the damper.
② Use the unit out of the dedicated frequency range when vibration and noise occurs due to changing motor RUN speed.
For using motor, it is recommended to maintenance and inspection regularly.
① Unwinding bolts and connection parts for the unit installation and load connection
② Strange sound from ball bearing of the unit
③ Damage and stress of lead cable of the unit
④ Connection error with motor
⑤ Inconsistency between the axis of motor output and the center, concentric (eccentric, declination) of the load, etc.
This product does not prepare protection function for a motor.
This unit may be used in the following environments.
① Indoors (in the environment condition rated in 'Specifications')
② Altitude max. 2,000m
③ Pollution degree 2
④ Installation category II

24
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AiCA-D Series

AC Type Controller Integrated 2-Phase Closed-Loop Stepper Motor Driver

▣ Features
● Brake operation for safe control of vertical load at power OFF and alarm occur. (Built-in brake type)
● Real-time position controllable with closed-loop system
● Motor driver and controller integral type
● As AC power type, possible to omit SMPS and perform higher torque than DC power type
● Able to check alarm and status with Alarm/Status display part (7 segment)
● Controllable maximum 31 axis with RS485 communication
● Auto Current Down Mode available
● C language library provided (32-bit, 64-bit)
● Dedicated Windows program (atMotion) provided
● Easy to set various Gain with program (GUI)
● Applicable to the precision equipment such as optical inspection equipment with the features of
maintaining torque in stop and having no micro vibration (hunting)
● 10 levels of resolutions available
● Frame size 42mm, 56mm, 60mm motor supported (Applied motor: AiA-M Series)

Please read “Safety Considerations”

in the instruction manual before using.

▣ Applications
● Filed requiring preciseness such as semiconductor equipment, 3D printer, optical inspection equipment, chip mounter, cartesian robot,
conveying equipment, and alignment stage.

▣ Manual
For the detail information and instructions, please refer to user manual, user manual for communication manual and library manual and be
sure to follow cautions written in the technical descriptions (catalog, website).
Visit our website (www.autonics.com) to download manuals.

▣ Software (atMotion)
● atMotion is a comprehensive motion device management program that can be used with Autonics motion controllers.
● atMotion provides GUI control for easy and convenient parameter setting and monitoring data management of multiple devices.
● Visit our website (www.autonics.com) to download the user manual and software.
< Computer specification for using software> < atMotion screen >
Item Minimum requirements
System IBM PC compatible computer with Intel Pentium Ⅲ or above
Operations Microsoft Windows 98/NT/XP/Vista/7/8/10
Memory 256MB+
Hard disk 1GB+ of available hard disk space
VGA Resolution: 1024×768 or higher
Others RS-232 serial port (9-pin), USB port

▣ Ordering Information
Ai C A D 60 M A
Brake No mark Standard type
B Built-in brake type
Encoder resolution
A 10,000PPR(2,500PPR×4-multiply)
Motor axial length

M 48mm
60 (60×60mm)
Motor frame size L 69mm

M 60mm
86 (86×86mm)
L 75mm
Item
D Driver
Voltage
A AC power
Cateory C Controller
Series Ai Artificial intelligence

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AC Type Controller Integrated 2-Phase-Loop Stepper Motor Driver

▣ Configuration Diagram
※ is for built-in brake type only.
SENSORS

FIELD
INSTRUMENTS

Noise filter
for signal line
PLC PC (atMotion)
CONTROLLERS

CN1
24 VDCᜡ

USB /
MOTION DEVICES
CN3
AiA-M Series RS232C /
(motor) Wi-Fi
SOFTWARE

RS485
200-240 VACᜠ
RG1 CN2
SCM Series
(Comm. converter)
Regenerative RG2
Circuit resistance
breaker CN4

L
N
I/O Terminal Block
PE
(A)
Closed Loop

Noise filter
Stepper System

for power
AiCA-D Series
(motor driver) (B)
Stepper Motors
Surge protector

(C)
※ The thickness of cable should be same or thicker than the below specifications when connecting the cable for connector. Stepper Motor
Drivers
① CN1(motor+encoder connector): AWG22, AWG24
② CN2(power connector): AWG18 (D)
③ CN3(communication connector): AWG28 Motion
Controllers
④ CN4(I/O connector): AWG28
⑤ CN5(brake connector): AWG22
※ In case of unstable communication due to noise from peripherals and power, use ferrite core in the wiring.
※ is sold separately.
Noise filter for signal line
-Connect to wiring to suppress external noise.
-Depending on frequency, filtered noise may different.
Model Specification Manufacture
Motor line, I/O signal line 28A5776-0A2
Comm. line 28A2025-0A2 Lairdtech
Power line 28A5131-0A2

Regenerative resistance
-Connect Pin no. 1, 2 on power connector (CN2).
-Use in condition of the high inertia load or the short deceleration time.
-Forced cooling is required in condition of high surface temperature of regenerative resistance.
Model Specification Manufacture
Resistance: 100Ω ±5%,
IRC100 Rated Power: 60W(standby), 100W(heatsink attached) Rara Electronics Corp.

Noise filter for power

-Connect the power to suppress external noise.
-The wires should be connected as short as possible and grounded.
Model Specification Manufacture
Rated voltage: 250V
RNS-2006 Rated current: 6A Orient Electronics
Max. leakage current: 1mA

Surge protector
Protect the product from external noise and surge by connecting power.
※ Be sure to disconnect the surge protector when testing internal pressure.
It may result in porduct damage.
Model Specification Manufacture
Nomial discharge current: 2500A
LT-C12G801W Max. discharge current: 5000A OTOWA Electric Co. Ltd
Voltage protection level: 1.5kV

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AiCA-D Series

▣ Specifications
※1
Model AiCA-D-60MA(-B) AiCA-D-60LA(-B) AiCA-D-86MA(-B) AiCA-D-86LA(-B)
Power supply 200-240 VACᜠ 50/60 Hz
※2
STOP Max. 60 W Max. 65 W
Power
consumption Max. during
Max. 160 W Max. 220 W Max. 250 W Max. 300 W
operation
※3
Max. Run current 2.0 A/Phase
Auxiliary Power supply 24 VDCᜡ
※4
power Input current 0.3 A 0.5 A
STOP current 20 to 100 % of max. RUN current
※5
Rotation speed 0 to 3000 rpm
※5
Resolution 500 (factory default), 1000, 1600, 2000, 3200, 3600, 5000, 6400, 7200, 10000 PPR
Speed filter 0 (disable) (factory default), 2, 4, 6, 8, 10, 20, 40, 60, 80, 100, 120, 140, 160, 180, 200 ms
Motor GAIN 0 (factory default) to 30, Fine Gain
Positioning range -2,147,483,648 to +2,147,483,647
In-Position Fast Response: 0 (factory default) to 7, Accurate Response: 0 to 7
※5
Motor rotation direction CW, CCW
● Alarm/Status display part: orange LED 7seg. ● Power/Alarm indicator: green/red LED
Status indicator
● In-Position indicator: orange LED ● Servo On/Off indicator: blue LED
※6
Input Exclusive input: 20, general input: 9
I/O
Output Exclusive output: 4, general output: 10
External power supply VEX (24 VDCᜡ Fixed): 2, GEX (GND): 2
Operation mode Jog / Continuous / Index / Program / Position / Torque mode
Index step 64 steps
Step 256 steps
ABS (move absolute position), INC (move incremental position), HOM (home search),
ICJ (jump input condition), IRD (waiting input), OPC (ON/OFF of output port),
Program Control command
OPT (on pulse from output port), JMP (jump), REP (start repetition), RPE (end repetition),
function END (end program), POS (position set), TIM (timer), CMP (compare output), TOQ (torque control)
Start Power ON program auto-start function
Home start Power ON home search auto-start function
※5
RS485 Comm. Comm. Speed 9600, 19200, 38400, 57600, 115200 (factory default) bps
Multiaxial control 31-axis
ID setting switch 16-bit rotary switch (0 to F), 1-bit DIP switch (ON/OFF)
Overcurrent, overspeed, position tracking, overload, overheat, motor connection,
Alarm encoder connection, overvoltage, undervoltage, motor misalignment, command speed, in-position,
memory, emergency stop, program mode, index mode,home search mode, brake
Warning ±Software limit, ±hardware limit, overload
Input resistance 4.7 kΩ (Anode Pull-up)
Insulation resistance Over 200 MΩ (at 500 VDCᜡ megger)
Dielectric strength 1,500 VACᜠ 60 Hz for 1 min
Vibration 1.5 mm amplitude at frequency of 10 to 55 Hz (for 1 min) in each X, Y, Z direction for 2 hours
Shock 300 m/s2 (approx. 30 G) in each X, Y, Z direction for 3 times
Ambient temp. 0 to 50 ℃, storage: -10 to 60 ℃
Environment
Ambient humi. 35 to 85 %RH, storage: 10 to 90 %RH
Protection structure IP20 (IEC standard)
Approval ᜢ
※7 ● Standard type: Approx. 1,080 g (approx. 800 g)
Weight
● Built-in brake type: Approx. 1050 g (approx. 780 g)
※1: The model name indicates driver type. (none: standard type, B: built-in brake type)
E.g.) AiCA-D-60MA-B: built-in brake type stepping motor driver.
※2: Based on the ambient temperature 25 ℃, ambient humidity 55 %RH and STOP current 20 %.
※3: RUN current varies depending on the input RUN frequency and max. RUN current at the moment varies also.
※4: Auxiliary power is only available in built-in brake type. Corresponding specification is not available in standared type.
※5: Settable with the dedicated program (atMotion).
※6: Brake ON/OFF function can be changed in general input IN8 in case of built-in brake type only.
※7: The weight includes packaging. The weight in parenthesis is for unit only.
※ Environment resistance is rated at no freezing or condensation.

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AC Type Controller Integrated 2-Phase-Loop Stepper Motor Driver

▣ Dimensions
47 (Unit: mm) SENSORS

Panel cut-out
37 126 37 2-M5
FIELD
INSTRUMENTS

CONTROLLERS

MOTION DEVICES

SOFTWARE
150

160

150
(A)
Closed Loop
Stepper System

(B)
Stepper Motors

(C)
Stepper Motor
Drivers

▣ Installation (D)
Motion
Controllers
37 20 (Unit: mm)

※Install on the metal plate with high thermal conductivity for heat dissipation of the driver.
※Install in the well-ventilated area and install the cooling fan in the unventilated environment.
※Failure to heat dissipation may result in damage or malfunction due to the stress on the product.
150

Check the environment of use within the rated specifications and install on the well-heat dissipated area.
※In case of installing the drivers more than two,
keep distance at least 20mm in the horizontal direction and at least 25mm in the vertical direction.
25

28
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AiCA-D Series

▣ Unit Descriptions

2
1 3 1. Alarm/Status display part (orange)
4
5 2. Power/Alarm indicator (PWR/ALM) (green/red)

7 6 3. In-Position indicator (INP) (orange)

4. Servo On/Off indicator (SERVO) (blue)
11
5. Communication ID setting rotary switch (ID Sel setting: 0 to F)
6. Communication ID setting/Terminating resistance DIP switch (ID, TERM)
9
7. Motor+Encoder connector (CN1)
8. Power connector (CN2)
9. Communication cable connector (CN3)
10. I/O connector (CN4)
8
10 11. Brake connector (CN5)
※1

※1: Corresponding connector is for built-in brake type only.

▣ Driver Status Indicators

Indicator & LED
Function Descriptions
Display part color
Green Power indicator Turns ON when the unit operates normally after supplying power.
PWR/ALM When alarm occurs, it flashes in various ways depending on the situation.
Red Alarm indicator
Refer to ' Control Input/Output → Output → 3. Alarm/Warning'.
INP. Orange In-Position indicator Turns ON when motor is placed at command position after positioning input.
SERVO Blue Servo On/Off indicator Turns ON when Servo is operating, turns OFF when servo is not operating.
Alarm/Status
Red Alarm, status indicator Displays the corresponding number, status, model, etc. when Alarm occurs.
display part
※1
RxD IN Yellow Flashes when receiving data.
※1 RS485 Data I/O display
TxD OUT Green Flashes when sending data.
※1: Although RS485 OUT is disconnected, RXD IN/TXD OUT operates normally, if RS485 IN is communicating.

▣ Driver Setting
ID Sel: Communication ID setting switch
※Set Node ID of the driver.
※Depending on the ID setting of the ID/Term switch, it is possible to connect max. 31-axis.
ID ID
Setting switch Setting Setting
ID OFF ID ON ID OFF ID ON
0 Disable 16 8 8 24
1 1 (factory default) 17 9 9 25
2 2 18 A 10 26
3 3 19 B 11 27
4 4 20 C 12 28
ID Sel 5 5 21 D 13 29
6 6 22 E 14 30
7 7 23 F 15 31

ID, TERM: Communication ID setting/Terminating resistance DIP switch

※Set Node ID of the driver.
※Set to use terminating resistance.
Switch position
No. Function
ON OFF(factory default)
1 ID setting ID: 16~31 ID: 1~15
Te r m i n a t i n g
2 Use terminating resistance (120Ω) Do not use terminating resistance
resistance

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AC Type Controller Integrated 2-Phase-Loop Stepper Motor Driver

▣ Driver Connectors
Connector function SENSORS

● CN1: Motor+Encoder connector ● CN2: Power connector

FIELD
Pin arrangement Pin no. Fuction Pin no. Function Pin arrangement Pin no. Function INSTRUMENTS

1 GND 8 +5VDCᜡ 1 Connect

7 14 2 Encoder A 9 Encoder A regenerative
6 13 1 2 resistance CONTROLLERS
3 Encoder B 10 Encoder B 2
………

………

4 Encoder Z 11 Encoder Z 3 3 N.C

5 PE 12 N.C 4 4 MOTION DEVICES
2 9
6 Motor A 13 Motor B 5 AC power input
1 8 5
6
7 Motor A 14 Motor B SOFTWARE
6 PE
● CN3: RS485 Communication cable connector
Pin arrangement Pin no. Function Pin no. Function

1 N.C 5 N.C
8 ... 1

2 N.C 6 RS485 DATA-

3 RS485 DATA+ 7 N.C (A)

8 ... 1

Closed Loop
Stepper System
4 N.C 8 N.C
(B)
● CN4: I/O connector Stepper Motors

Pin arrangement Pin I/O Function Pin I/O Function Pin I/O Function Pin I/O Function
(C)
Compare2 Stepper Motor
1 - N·C 14 Input MD1/HMD1 27 Input IN1 40 Output Drivers
(Trigger)
2 - N·C 15 Input Pause 28 Input IN2 41 Output OUT0 (D)
3 Input Reset 16 Input Servo On/Off 29 - N·C 42 Output OUT1 Motion
Controllers
4 Input Start 17 Input Home 30 Input IN3 43 Output OUT2
31 .. 26
6 .. 1

5 Input Stop 18 Input Alarm Reset 31 Input IN4 44 Output OUT3

6 Input EMG 19 Input +Limit 32 Input IN5 45 Output OUT4
7 Input Step0/+Run/+Jog 20 Input -Limit 33 Input IN6 46 Output OUT5
...

...

8 Input Step1/-Run/-Jog 21 Input ORG 34 Input IN7 47 Output OUT6

IN8/
25 .. 20

50 .. 45

9 Input Step2/SSP0 22 Input SD 35 Input 48 Output OUT7

Brake ON/OFF※1
10 Input Step3/SSP1 23 Output In-Position 36 Input VEX 49 Output OUT8
11 Input Step4/MSP0 24 Input VEX 37 Input GEX 50 Output OUT9
12 Input Step5/MSP1 25 Input GEX 38 Output Alarm
Compare1 -
13 Input MD0/HMD0 26 Input IN0 39 Output
(Trigger)
※Brake ON/OFF function is added for built-in brake type.
● CN4: Brake connector
Pin arrangement Pin no. Function
1 24 VDCᜡ
4
3 2 GND
2 3 Brake+
1
4 Brake-
※Corresponding connector is for built-in brake type only.

Connector Specifications
Specifications
Type Manufacture
Connector Connector terminal Housing
CN1 Motor+Encoder 5557-14R 5556T - Molex
CN2 Power 5ESDVM-06P-OR - - Dinkle
CN3 Communication LS-CV-J45BBKZ - - EPN.
CN4 I/O connector 10150-3000PE - 10350-52F0-008 3M
CN5 Brake connector ESC250V-S2330704P - - Dinkle
※Above connectors are suitable for AiCA-D Series

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AiCA-D Series

▣ Sold Separately
※Recommended to use ferrite core at both ends of the I/O cable and Motor+Encoder cable.

I/O Cable
Dot line Dot line
 O50-MP -R
C Pin Function Cable
color-
Pin Function Cable
color-
no. (Name TAG) color no. (Name TAG) color
(Standard: AiC TAG) numbers numbers
1 Brake+ Black-1 26 IN0 Red-3
2 Brake- Red-1 27 IN1 Black-4
3 Reset Black-2 28 IN2 White Red-4
4 Start Red-2 29 N.C Black-5
5 Stop Black-3 30 IN3 Red-5
Orange
6 EMG Red-3 31 IN4 Black-1
7 Step0/+Run/+Jog Black-4 32 IN5 Red-1
8 Step1/-Run/-Jog Red-4 33 IN6 Black-2
9 Step2/SSP0 Black-5 34 IN7 Red-2
10 Step3/SSP1 Red-5 35 IN8/Brake ON/OFF Black-3
Gray
11 Step4/MSP0 Black-1 36 VEX Red-3
12 Step5/MSP1 Red-1 37 GEX Black-4
13 MD0/HMD0 Black-2 38 Alarm Red-4
14 MD1/HMD1 Red-2 39 Compare1 Black-5
15 Pause Black-3 40 Compare2 Red-5
Yellow
16 Servo On/Off Red-3 41 OUT0 Black-1
17 Home Black-4 42 OUT1 Red-1
18 Alarm Reset Red-4 43 OUT2 Black-2
19 +Limit Black-5 44 OUT3 Red-2
20 -Limit Red-5 45 OUT4 Black-3
Pink
21 ORG Black-1 46 OUT5 Red-3
22 SD Red-1 47 OUT6 Black-4
23 In-Position White Black-2 48 OUT7 Red-4
24 VEX Red-2 49 OUT8 Black-5
25 GEX Black-3 50 OUT9 Red-5
※ of model name indicates cable length (010, 020, 030, 050, 070, 100, 150, 200).
E.g.)CJ-MP50-HP070: 7m I/O cable

Motor+Encoder cable
Normal: C1D14M- , Moving: C1DF14M-

※ of model name indicates cable length (1, 2, 3, 5, 7, 10, 15, 20).

E.g.) C1DF14M-10: 10m moving type motor+encoder cable

Communication converter
● SCM-WF48 ● SCM-US48I ● SCM-38I
(Wi-Fi to RS485·USB wireless (USB to RS485 converter) (RS232C to RS485 converter)
communication converter)

31
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AC Type Controller Integrated 2-Phase-Loop Stepper Motor Driver

▣ Control Input/Output
Inner signal of all input/output consists of photocoupler.
SENSORS
ON [H]: photocoupler power ON
OFF [L]: photocoupler power OFF

Input FIELD
INSTRUMENTS
1. Exclusive input (20)
Signal name Descriptions Pin no. Signal name Descriptions Pin no.
CONTROLLERS
Reset Reset command 3 Pause Pause 15

Start Drive start command 4 Servo On/Off Servo On/Off 16 MOTION DEVICES

Stop Drive stop command 5 Home Home search 17

EMG Drive emergency stop command 6 Alarm Reset Alarm reset command 18 SOFTWARE
Step0/+Run/+Jog Step designate 0 / +Run / +Jog 7 +Limit +direction limit sensor 19
Step1/-Run/-Jog Step designate 1 / +Run / +Jog 8 -Limit -direction limit sensor 20
Step2/SSP0 Step designate 2 / Start speed designate 0 9 ORG Home sensor 21
Step3/SSP1 Step designate 3 / Start speed designate 1 10 SD Dceleration (deceleration stop) signal 22
Step4/MSP0 Step designate 4 / Max. Speed designate 0 11 Brake ON/OFF Brake ON/OFF 35
Step5/MSP1 Step designate 5 / Max. Speed designate 1 12
Operation mode designate 0 /
MD0/HMD0 13
Home search mode designate 0 - (A)
Closed Loop
Operation mode designate 1 /
MD1/HMD1 14 Stepper System
Home search mode designate 1

2. General input (9) (B)

Stepper Motors

Signal name Descriptions Pin no.

IN0~IN2 General input 0 to 2 26 to 28 (C)
Stepper Motor
IN3~IN8 General input 3 to 8 30 to 35 Drivers

3. Example of input circuit connection (D)

Motion
-In case of input, use external power (VEX) 24VDCᜡ. Controllers

VEX
10kΩ 24
36

N C
Driver Input signal
B
E
※N: Input pin number of CN4

Output
1. Exclusive output (4)
Signal name Descriptions Pin no. Signal name Descriptions Pin no.
In-Position Drive ending pulse 23 Compare1(Trigger) Comparison output 1 39
Alarm Alarm output 38 Compare2(Trigger) Comparison output 2 40

2. In-Position
-In-Position output represents output is output of positioning completion signal.
-If the gap between target position and real position is under In-Position setting value after position command pulse has finished,
In-Position output turns ON and In-Position indicator turns ON.
-In reverse, when the gap is over In-Position setting value, In-Position output turns OFF and the In-Position indicator turns OFF.
※For accurate drive, check the In-Position output again and execute the next drive.
※Refer to '6. example of output circuit connection'.
Fast Response Accurate Response
Setting Value Setting Value Position
0 (factory default) 0 8 0
1 ±1 9 ±1 Target
2 ±2 10 ±2 position

3 ±3 11 ±3 In-Position
(Fast Response)
4 ±4 12 ±4 Time
5 ±5 13 ±5 In-Position
6 ±6 14 ±6 (Accurate Response) Time
7 ±7 15 ±7 Delay time: 50ms

32
-|Transparent setting guide|-

AiCA-D Series

▣ Control Input/Output
3. Alarm/Warning
● Alarm
-This function stops motor to protect driver, depending on the error status such as overcurrent or overspeed.
-In case of normal status, output turns ON, and in case of alarming status, output turns OFF.
-When supplying alarm reset, driver returns to the normal status.
※Refer to '6. example of output circuit connection'.
● Warning
-This function notices dangers with the alarm indicator prior to motor stop with limit signal or overload alarm.
-When turning out from the alarming condition, driver returns to the normal status automatically.
● Alarm/Warning indicator
-When alarm occurs, the alarm indicator (ALM, red) flashes as the times of corresponding alarm type.
-The alarm/status display part displays the number of the corresponding alarm type.
Alarm/ Motor Torque Brake
Alarm type Descriptions
Status status status status※1
E1 Overcurrent error When overcurrent flows at motor RUN element
E2 Overspeed error When motor speed is over 4,000rpm
When the gap between position command value and current position
E3 Position tracking error
value is over 90
E4 Overload error When applying load over the rated load for over 1 sec
E5 Overheat error When heatsink temperature is over 80℃
E6 Motor connection error When motor cable connection error occurs at driver
E7 Encoder connection error When encoder cable connection error occurs at driver Stop Release Lock
E8 Overvoltage error When input voltage is over 240VACᜠ +10%
E9 Undervoltage error When input voltage is under 200VACᜠ -10%
EA Motor misalignment When motor is in misalignment
When input pulse is over 3,500rpm
EB Command pulse error
When pulse is input before initial alignment
EC In-Position error When position error (over 1) is kept over 3 sec, after motor stopped.
ED Memory error When memory error is detected as power supplied
EE Emergency stop When emergently stopped with emergency stop command
EF Program mode errer When 'END' command is not exist at the last step
When other instruction is used but 'INC', 'ABS' Stop Remain Release
EG Index mode error
When index command is not completed du to the stop command
EH Home search mode error When failed to find home
EJ Brake error※1 When brake failed to operate Stop Release Lock

※Depending on the alarm/warning type, it displays as a segment on the Alarm/Status display part.

Warning/ Motor Torque Brake

Warning type Descriptions
Stauts status status status※1
W1 +Software limit When normal direction (CW) software limit is ON.
W2 -Software limit When reverse direction (CCW) software limit is ON.
Stop Remain Release
W3 +Hardware limit When normal direction (CW) hardware limit is ON.
W4 -Hardware limit When reverse direction (CCW) hardware limit is ON.
When maximum load is kept connected over 10 sec.
W5 Overload warning Remain Remain Release
(may cause overheat on motor and driver)

W6 Position override warning When it is impossible to operate position override. Stop Remain Release

※1: Corresponding information is for built-in brake type only.

※ Even though warning occurs, it drives as normal status and it may cause damage by fire.
It is recommended not to use the unit during warning status.
※ When alarm/warning occurs, indicators flash with interval of 0.4 sec until the alarm/warning is cleared.
<E.g. when alarm no. 3 occurs>

1 2 3 1 2 3

0.4 sec 0.8 sec

33
-|Transparent setting guide|-

AC Type Controller Integrated 2-Phase-Loop Stepper Motor Driver

▣ Control Input/Output
4. Comparison output (Compare1, Compare2) SENSORS

It outputs trigger pulse at the designated cycle.

Mode Description FIELD

INSTRUMENTS
0 Not use comparison output.
1 Comparison output turns ON when the present absolute position value is same or bigger than the set position value.
2 Comparison output turns ON when the present absolute position value is same or smaller than the set position value. CONTROLLERS

3 Trigger pulses output with the set interval and width.

※Please refer to the user manual to learn how to set.
MOTION DEVICES

5. General output (10)

Signal name Descriptions Pin no. SOFTWARE
OUT0 to OUT9 General output 0 to 9 41 to 50

6. Example of output circuit connection

-In case of output, use external power (VEX) max. 12 to 24 VDCᜡ, 100mA.
When current exceeds 10mA, use an external resistor RL to adjust the current value.
VEX - 0.7V - VF
※RL =
0.01A
VEX
(A)
Closed Loop
Stepper System
RL
Output
N
signal
(B)
Stepper Motors

25
37 (C)
Driver Stepper Motor
Drivers

GEX
※N: Output pin numer of CN4 (D)
Motion
Controllers

▣ Communication Output
It is for parameter setting and monitoring via external devices (PC, PLC, etc.).

Interface
Comm. protocol Modbus RTU Comm. speed 9600, 19200, 38400, 57600, 115200 bps
Connection type RS485 Comm. response wait time 5 to 99ms
Application standard Compliance with EIA RS485 Start bit 1bit (fixed)
Max. connections 31 units (address: 01 to 31) Data bit 8bit (fixed)
Synchronous method Asynchronous Parity bit None, Even, Odd
Comm. method Two-wire half duplex Stop bit 1-bit, 2-bit
Comm. distance Max. 800m
※It is not allowed to set overlapping communication address at the same communication line.
Use twisted pair wire for RS485 communication.

Application of system organization

RS232C/ ※Only for RS485 communication output model.
USB/Wi-Fi RS485 Terminating resistance
(100 to 120Ω) B(-) RS485
DEVICE
A(+) #31
Comm.
Converter A(+) B(-) A(+) B(-) A(+) B(-)
B(-)
RS485 RS485 RS485
Computer ON OFF DEVICE DEVICE DEVICE
#1 #2 #30
A(+)
※It is recommended to use Autonics communication converter;
SCM-WF48 (Wi-Fi to RS485·USB wireless communication converter, sold separately),
SCM-US48I (USB to RS485 converter, sold separately), SCM-38I (RS232C to RS485 converter, sold separately).
Please use twisted pair wire, which is suitable for RS485 communication, for SCM-WF48, SCM-US48I and SCM-38I.

34
-|Transparent setting guide|-

AiCA-D Series

▣ Connection of Motor and Driver

※1
CN3 CN5
3 RS485 DATA+
1 Brake-
6 RS485 DATA-
2 Brake+
1, 2
4, 5 N.C
7, 8 3
POWER
CN4
24VDCᜡ
1 4
2 N.C
10kΩ 24
36
VEX

3 Reset

4 Start

5 Stop

6 EMG
CN1
7 Step0/+Run/+Jog
A
6
8 Step1/-Run/-Jog
A M
7 o
Motor 9 Step2/SSP0
t
B o
13 10 Step3/SSP1
Encoder r
B
14 11 Step4/MSP0

A 12 Step5/MSP1
2

A 13 MD0/HMD0
9

B 14 MD1/HMD1
3 E
B n 15 Pause
10 c
o 16 Servo On/Off
Z d
4
e 17 Home
Z r
11
18 Alarm Reset
+5VDCᜡ
8 19 +Limit
GND
1 20 -Limit
PE 21 ORG
5

22 SD
N.C 12
26
~28 IN0~2

29 N.C
10kΩ
CN2 30
~34 IN3~7
※2
Regenerative resistance 1 35 IN8, Brake ON/OFF
25
2 GEX
Regenerative resistance 37

23 In-Position
N.C 3

L 38 Alarm
Source
200-240VACᜠ 50/60Hz 39 Compare1
N ※Index
PE 40 Compare2 : Input
41 : Output
~50
OUT0~9
: I/O
: N.C

※1: Corresponding connector is for built-in brake type only.

※2: In built-in brake type, the corresponding pin can be swithed as Brake ON/OFF.

35
-|Transparent setting guide|-

AC Type Controller Integrated 2-Phase-Loop Stepper Motor Driver

▣ Troubleshooting
Malfunction Causes Troubleshooting SENSORS

The communication cable is not Check communication cable wiring.

When communication is connected. Check communication cable connection correctly.
FIELD
not connected The communication port or speed INSTRUMENTS
Check communication port and speed settings are correct.
settings are not correct.
Check that servo On/Off input signal is [L].
When motor does not Servo is not ON.
In case of [H], servo is off and excitation of motor is released. CONTROLLERS
excite
Alarm occurs. Check the alarm type and remove the cause of alarm.
When motor rotates to
MotorDir parameter setting is not MOTION DEVICES
the opposite direction of Check the MotorDir parameter settings.
correct.
the designated direction
Connection between motor and
When motor drive is Check the Motor+Encoder connection cable.
encoder is unstable. SOFTWARE
unstable
Motor gain value is not correct. Change the Motor Gain parameter as the certain value.

▣ Proper Usage
● Follow instructions in 'Proper Usage'.
Otherwise, It may cause unexpected accidents. (A)
Closed Loop
● It is recommended to use 485 converter with the separate power. Stepper System

(Autonics product, SCM-38I, recommended)

● Install vertically so that the Alarm/Status display part located on top. (B)
Stepper Motors
● Keep the distance between power cable and signal cable more than 10cm.
● Do not input external signal until the driver is initialized (In-Position LED ON) after power is applied. (C)
Stepper Motor
● Motor vibration and noise can occur in specific frequency period Drivers

① Change motor installation method or attach the damper.

(D)
② Use the unit out of the dedicated frequency range when vibration and noise occurs due to changing motor RUN speed. Motion
Controllers
● For using motor, it is recommended to maintenance and inspection regularly.
① Unwinding bolts and connection parts for the unit installation and load connection
② Strange sound from ball bearing of the unit
③ Damage and stress of lead cable of the unit
④ Connection error with motor
⑤ Inconsistency between the axis of motor output and the center, concentric (eccentric, declination) of the load, etc.
● This product does not prepare protection function for a motor.
● This unit may be used in the following environments.
① Indoors (in the environment condition rated in 'Specifications')
② Altitude max. 2,000m
③ Pollution degree 2
④ Installation category II

36
 AiS-D Series

2-Phase Closed-Loop Stepper Motor Driver

Features SENSORS

 rake operation for safe control of vertical load at power OFF and alarm occur. (built-in brake type)
B
Realized the closed loop with higher cost-efficiency compared to servo motor system CONTROLLERS
Rapid response which is advantageous for the short distance continuous operation
Able to implement Low frequency operation in low speed area and high torque
in high speed area MOTION DEVICES
Easy to use as much as unskilled people can use with tuning unnecessary method
(Gain setting with the switch)
Applicable to the precision equipment such as optical inspection equipment with the features of SOFTWARE
maintaining torque in stop and having no micro vibration (hunting)
Various resolutions
Various alarms out
: overcurrent, overspeed, motor connection error, encoder connection error,
and etc., overall 12 types
Frame size 20mm, 28mm, 35mm, 42mm, 56mm, 60mm motors supported

Please read “Safety Considerations” (Y)

in the instruction manual before using. Closed Loop
Stepper System

Applications (Z)
Stepper Motors
Filed requiring preciseness such as semiconductor equipment, 3D printer, optical inspection equipment, chip mounter,
cartesian robot, conveying equipment, and alignment stage.
(AA)
Drivers
Ordering Information
Ai S D 42 L A
(AB)
Motion
Controllers

Brake No mark Standard type

B※1 Built-in brake type
A※2 4,000PPR(1,000PPR×4-multiply)
Encoder resolution
B※3 16,000PPR(4,000PPR×4-multiply)
A※4 10,000PPR (2,500PPR×4-multiply)
Motor length

Standard type Built-in brake type

M 41.2mm -
20 20×20mm
L 53.1mm -

S 46mm -
28 28×28mm M 59mm -
L 65mm -
S 41.5mm -
35 35×35mm M 52mm -
Motor frame size L 68.5mm -
S 67.5mm 102.3mm
42 42×42mm M 73.5mm 108.3mm
L 81.5mm 116.3mm
S 77.3mm 112.1mm
56 57.2×57.2mm M 90.3mm 125.1mm
L 111.3mm 146.1mm
S 81.9mm 116.7mm
60 60×60mm M 102.8mm 137.6mm
L 119.8mm 154.6mm
Item
D Driver
Category
S Standard
Series
Ai Artificial intelligence
※1: Built-in brake type is only for frame size 42, 56, 60mm motors.
※2: E ncoder resolution for frame size 20mm motors.
Microstep control for AiS driver, it controls up to 10,000PPR.
※3: Encoder resolution for frame size 28, 35mm motors.
※4: Encoder resolution for frame size 42, 56, 60mm motors.

37
AiS-D Series

Specifications
AiS-D- AiS-D- AiS-D- AiS-D- AiS-D- AiS-D- AiS-D- AiS-D- AiS-D-
AiS-D- AiS-D- AiS-D- AiS-D- AiS-D- AiS-D- AiS-D- AiS-D-
Model 42SA- 42MA- 42LA- 56SA- 56MA- 56LA- 60SA- 60MA- 60LA-
20MA 20LA 28SB 28MB 28LB 35SB 35MB 35LB

Power supply 24VDCᜡ

Allowable voltage range 90 to 110% of the rated voltage
Standard Max. Max. Max. Max. Max. Max. Max. Max. Max.
Max. 10W
Power consumption

※1 type 7W 7.5W 8W 9.5W 10W 11W 12W 13W 14W

STOP
Built-in Max.
- Max. 16W Max. 23W Max. 25W Max. 26W
brake type 17W
Standard
Max. 50W Max. 60W
Max. during type
※2 Max. 60W Max. 120W Max. 240W
operation Built-in
-
brake type
※3
Max. RUN current 0.6A/Phase 1.0A/Phase 1.2A/Phase 1.7A/Phase 3.5A/Phase
STOP current 25% or 50% of max. RUN current (factory default: 50%)
Rotation speed 0 to 3,000rpm
500 (factory
default), 1000,
500 (factory default), 1000, 1600,
1600, 2000, 500 (factory default), 1000, 1600, 2000, 3200, 3600,
Resolution 2000, 3600, 5000, 6400, 7200,
3600, 4000, 5000, 6400, 7200, 10000PPR
10000, 16000PPR
5000, 6400,
7200, 10000PPR
Speed filter 0 (disable), 2, 4, 6, 8, 10, 20, 40, 60 (factory default), 80, 100, 120, 140, 160, 180, 200ms
Position control gain (P Gain, I Gain)=(1, 1), (2, 1), (3, 1), (4, 1), (5, 1), (6, 1), (1, 2), (2, 2), (3, 2), (4, 2), (5, 2), (1, 3), (2, 3), (3, 3), (4, 3), (5, 3)
In-Position Within the range of Fast response: 0 to 7 or Accurate response: 0 to 7
Pulse input method 1-pulse or 2-pulse input (factory default) method
Motor rotation direction CW (factory default), CCW
● Power/Warning indicator: green LED ● Alarm indicator: red LED
Status indicator
● In-position indicator: yellow LED ● Servo On/Off indicator: orange LED
Input signal RUN pulse, servo On/Off, alarm reset (photocoupler input)
● In-position, alarm out (photocoupler output),
● In-position, alarm out (photocoupler output), ● Encoder signal (A, A, B, B, Z, Z phase, corresponding
Output signal ● Encoder signal (A, A, B, B, Z, Z phase, to 26C31) (line driver output),
corresponding to 26C31) (line driver output), ● Brake (built-in brake type) (at supplying moment:
24VDC for 0.2 sec, in normal status: 11.5VDC ±10%)
● CW, CCW
: input pulse
frequency ● CW, CCW
duty 50% : input pulse frequency duty ● CW, CCW: input pulse frequency duty 50%,
specifications

Pulse width (min. 2㎲), 50% (min. 1.25㎲), ● Serve On/Off: min. 1ms,
Input pulse

● Serve On/Off ● Serve On/Off: min. 1ms, ● Alarm reset: min. 20ms
: min. 1ms, ● Alarm reset: min. 20ms
● Alarm reset
: min. 20ms
Rising/Falling time CW, CCW: max. 0.5μs
Pulse input voltage ● CW, CCW - [H]: 4-8VDCᜡ, [L]: 0-0.5VDC ● Servo On/Off, alarm reset - [H]: 24VDCᜡ, [L]: 0-0.5VDC
Max. input pulse freq.※4 CW, CCW: 500kHz
Input resistance 220Ω (CW, CCW), 10kΩ (servo On/Off, alarm reset)
Insulation resistance Over 100MΩ (at 500VDC megger)
Dielectric strength 1,000VAC 60Hz for 1 min
Vibration 1.5mm amplitude at frequency 10 to 55Hz (for 1 min) in each X, Y, Z direction for 2 hours
Shock 300m/s2 (approx. 30G) in each X, Y, Z direction for 3 times
0 to 50℃, storage: -10 to 60℃ (standard type),
Ambient temp. 0 to 50℃, storage: -20 to 70℃
Environment -20 to 70℃ (built-in brake type)
Ambient humi. 35 to 85%RH, storage: 10 to 90%RH
Approval
Protection structure IP20 (IEC standard)
※5
Weight Approx. 400g (approx. 290g)
※1: Based on the ambient temperature 25℃, ambient humidity 55%RH, and STOP current 50%.
※2: Max. power consumption during operation. When changing the load rapidly, instantaneous peak current may increase.
The capacity of power supply should be over 1.5 to 2 times of max. power consumption.
※3: RUN current varies depending on the input RUN frequency and max. RUN current at the moment varies also.
※4: Max. input pulse frequency is max. frequency to be input and is not the same as max. pull-out frequency or max. slewing frequency.
※5: The weight includes packaging. The weight in parenthesis is for unit only.
※Environment resistance is rated at no freezing or condensation.

38
 2-Phase Closed-Loop Stepper Motor Driver

Configuration Diagram Pulse signal

SENSORS
CABLE
I/O cable (sold separately)
Settings of CONTROLLERS
start, stop,
rotation Power
direction, Flexible coupling MOTION DEVICES

PLC etc. ERB Series (sold separately)

External I/O
Rated SOFTWARE
current
CABLE
PMC Series Motor+Encoder cable
(Motion controller) Power (sold separately)
AiS-D Series
(Motor driver)
PC & atMotion

Positioning completion signal/ Ai-M, Ai-M-B Series

Warning signal (Motor) (Y)
Closed Loop
Stepper System

Encoder feedback signal (Z)

Stepper Motors

Dimensions (unit: mm)

(AA)
Drivers

150
(AB)
Motion
144 Controllers
73

4.4

11.5

144

134 2-R3 3.4 87.5

4.4

25.5
14.5

Driver Status Indicators

Status indicator LED color Function Descriptions
Power indicator Turns ON when the unit operates normally after supplying power
PWR Green
Warning indicator Flashes when over load status is maintained
When alarm occurs, it flashes in various ways depending on the situation.
AL Red Alarm indicator
Refer to ' Control Input/Output → ◎ Output → 2. Alarm/Warning'
INP. Yellow In-Position indicator Turns ON when motor is placed at command position after positioning input.
SERVO Orange Servo On/Off indicator Turns ON when servo is operating, turns OFF when servo is not operating.

39
AiS-D Series

Driver Unit Descriptions Speed filter/position control

gain setting switch (SW1)
Power Motor+Encoder Resolution setting In-Position setting
connector (CN1) connector (CN2) I/O connector (CN3) switch (SW2) switch (SW3)

Servo On/Off
Mounting In-Position Mounting
indicator (orange)
hole indicator (yellow) hole

Alarm indicator (red)

Power/Warning indicator (green)

Function selection
DIP switch (SW4)

Driver Setting
SW1: Speed filter setting switch or position control gain setting switch
-SW1 shifts its mode between the speed filter setting or the position control gain setting, depending on 4th pin in SW4 as follows.
-Modified setting values are not applied in the running status, and the values will be applied after motor stopped.
4th pin in SW4 Setting
OFF Speed filter
ON Position control gain

Speed filter setting

-Speed filter decides operation responsiveness of the motor to input pulse.
-Set the delay time between the position of input pulse and the position of
motor to prevent load changing or disturbance with soft operation function.
※If the setting value is too high, the synchronous response by command is decreased.
<Graph for input speed and motor response>
Setting switch Setting Delay time Setting Delay time
0 Disable
※
8 1 60ms Position Input pulse
position
1 2ms 9 80ms
78 9 Motor position
2 4ms A 100ms
A
3456

BCDE

3 6ms B 120ms Delay time

4 8ms C 140ms
2

1 F
0
5 10ms D 160ms
S.F./Gain 6 20ms E 180ms
7 40ms F 200ms
※ Time

Position control gain setting

-Position control gain decides responsiveness of the motor to position command.
-Gain setting in motor stationary state, depending on load of motor, realizes rapid positioning and stabilized performance.
-P_Gain: Adjust vibration in running drive.
-I_Gain: Adjust vibration in accelerating/decelerating drive.
Gain Gain
Setting switch Setting Setting
P I P I
0 1 1 8 (factory default) 3 2
1 2 1 9 4 2
78 9
2 3 1 A 5 2
A
3456

BCDE

3 4 1 B 1 3
4 5 1 C 2 3
2

F 1
0
5 6 1 D 3 3
S.F./Gain
6 1 2 E 4 3
7 2 2 F 5 3

40
 2-Phase Closed-Loop Stepper Motor Driver
SW2: Resolution setting switch
-Set the resolution of driver.
-Refer to the table below for the number of pulses per 1 rotation by resolution. SENSORS
-Modified setting values are not applied in the running status, and the values will be applied after motor stopped.
Frame size 20mm Frame size 28/35mm Frame size 42/56/60mm
Setting switch Setting CONTROLLERS
Pulse/Revolution Resolution Pulse/Revolution Resolution Pulse/Revolution Resolution
0 (factory default) 500 2.5 500 2.5 500 2.5
1 1000 5 1000 5 1000 5
MOTION DEVICES
2 1600 8 1600 8 1600 8
5 6
4 3 2000 10 2000 10 2000 10
7 8
2 3

4 3600 18 3600 18 3200 16 SOFTWARE

1 9 5 4000 20 5000 25 3600 18
0
6 5000 25 6400 32 5000 25
RES. 7 6400 32 7200 36 6400 32
8 7200 36 10000 50 7200 36
9 10000 50 16000 80 10000 50

SW3: In-Position setting swtich

-After position command pulse has finished, if the gap between target position and real position is under In-Position setting value, (Y)
Closed Loop
positioning completion pulse is output. Stepper System
-Modified setting values are not applied in the running status, and the values will be applied after motor stopped.
Fast response Accurate response (Z)
Setting switch Stepper Motors
Setting Value Setting Value
0 (factory default) 0 8 0 Position
(AA)
1 ±1 9 ±1 Drivers
78 9
2 ±2 A ±2 Command
A
3456

B DE

3 ±3 B ±3 position (AB)
Motion
4 ±4 C ±4 In-Position Controllers
2

F 1
0 (fast response) Time
5 ±5 D ±5
INP. In-Position
6 ±6 E ±6 (accurate response) Time
7 ±7 F ±7 Delay time: 50ms

SW4: Function selection DIP switch

-Set rotation direction, pulse input method, STOP current, SW1 setting, and test mode.
Switch position
Setting switch No. Name Function
ON OFF (factory default)
※1
1 DIR Rotation direction CCW CW
※1
2 1P/2P Pulse input method 1-pulse input method 2-pulse input method
※2
ON
3 C.D. STOP current 25% of max. RUN current 50% of max. RUN current
※2
1 2 3 4 5 4 SW1 Mode SW1 setting Position control gain Speed filter
※3
5 Reserved Test mode Test mode Normal mode
※1: When motor runs or stops, modified setting values will be applied immediately.
※2: Modified setting values are not applied in the running status, and the values will be applied after motor stopped.
※3: Set to OFF when using the device. It is only for the operation test in manufacturing process.

Pulse input method

※1-pulse input method ※2-pulse input method
CW: rotation operation signal input CW: forward rotation signal input
CCW: rotation direction signal input CCW: reverse rotation signal input
([H]: forward rotation, [L]: reverse rotation)
[H] [H]
CW CW
[L] [L]
[H] [H]
CCW CCW
[L] [L]

Rotation angle Rotation angle

position CCW position
CW CW CCW

※[H]: photocoupler ON (voltage of both ends 4-8VDC) [L]: photocoupler OFF (voltage of both ends 0-0.5VDC)

STOP current
-In order to decrease motor heat and current consumption at motor stopping moment (in case there is no input during the time of the double
width of last input pulse), set the stop current supplied to the motor phase.

41
AiS-D Series

Control Input/Output
Inner signal of all input/output consists of photocoupler.
ON, [H]: photocoupler power ON / OFF, [L]: photocoupler power OFF.
※Brake operation is only for built-in brake type.

Input
1. Position command pulse
- Pulse input is selectable from 1-pulse input method and 2-pulse input method. (Refer to '◎ SW4: Function selection DIP switch'.)
- When using extending cable, it is recommended to connect Common mode choke coil (2mH) to the CW, CCW terminal in series connection.
2. Servo On/Off
-Servo On/Off signal maintains over 1ms as [H]: Regarded as Servo Off signal and phase current is cut to release torque.
The Servo On indicator, the In-Position output and indicator turns OFF. Brake operates.
-Servo On/Off signal maintains over 1ms as [L]: Regarded as Servo On signal and phase current is supplied to gain torque.
The Servo On indicator, the In-Position output and indicator turns ON. Brake is released.
※Use this function after stopping the motor.
※Refer to '4. Example of input circuit connection'.
3. Alarm Reset
-This signal is for clearing the alarm.
-Alarm reset signal maintains over 20ms as [H]: Alarm is cleared, the alarm indicator and alarm output turns OFF,
and the driver returns to normal status. Brake is released.
※If the causes of the alarm are not removed, driver may not be returned to the normal status even with alarm reset.
※Refer to '4. Example of input circuit connection'.

4. Example of input circuit connection

Input pulse (CW, CCW)
-It is recommended to use 5VDC at VCC and short the RL.
V -2.17V
-In case VCC is over 5VDC, calculate RL value using following formula and use VCC below 30VDC. ※RL= CC - 220Ω
-In case VCC is 12, 24VDC, refer to the table below for RL. 0.011A
VCC RL
12VDC 680Ω (min. 0.25W)
24VDC 1.8kΩ (min. 0.5W)

A. Pull-Up B. Pull-Down
VCC VCC
RL
+ +

220Ω RL 220Ω
- -
Driver Driver

C. Circuit with NPN (not-reversed) D. Circuit with PNP (reversed)

VCC VCC
RL E
+ B
RL
C +
220Ω
C -
B Driver
220Ω
-
E Driver

External input (Servo On/Off, Alarm Reset)

A. Pull-Up B. Pull-Down
+24VDC +24VDC
10kΩ 10kΩ
+ +

- -
Driver Driver

C. Circuit with NPN (not-reversed) D. Circuit with PNP (reversed)

+24VDC +24VDC
10kΩ E
+ B
10kΩ
C +

C -
B Driver
-
E Driver

42
 2-Phase Closed-Loop Stepper Motor Driver
Output
1. In-Position
-In-Position output is output condition of positioning completion signal. SENSORS

-If the gap between target position and real position is under In-Position setting value after position command pulse has finished,
In-Position output turns to [H] and the In-Position indicator turns ON.
-In reverse, when the gap is over In-Position setting value, In-Position output turns to [L] and In-Position indicator turns OFF. CONTROLLERS
-For accurate drive, check the In-Position output again and execute the next drive.
※Refer to '3. Example of output circuit connection'.
2. Alarm/Warning MOTION DEVICES

● Alarm
-This function stops motor to protect driver, depending on the error status such as over current or over speed.
-In case of normal status, output is [H], and in case of alarming status, output is [L]. SOFTWARE
-When supplying alarm reset, driver returns to the normal status.
※Refer to '3. Example of output circuit connection'.
● Warning
- This function notices dangers with the alarm indicator prior to over load alarm.
- When turning out from the alarming condition, driver returns to the normal status automatically.
Alarm No. of Motor Maintain
Alarm type Descriptions
indicator flashing stop torque
1 Overcurrent error When over current flows at motor RUN element
(Y)
2 Overspeed error When motor speed is over 4,000rpm Closed Loop
Stepper System
When the gap between position command value and current
3 Position tracking error
position value is over 90˚
4 Overload error When applying load over the rated load for over 1 sec (Z)
Stepper Motors
5 Overheat error When driver inner temperature is over 80℃
6 Motor connection error When motor cable connection error occurs at driver
(AA)
AL 7 Encoder connection error When encoder cable connection error occurs at driver
O × Drivers
(red) 8 Regenerative voltage error When regenerative voltage is over 78V
9 Motor misalignment When motor is in misalignment (AB)
Motion
10 Command pulse error Controllers
Frame size
Input When Input voltage is out of 21-27VDC ±5%
20, 28, 35mm
11 voltage
Frame size
error When Input voltage is out of 24VDC ±10%
42, 56, 60mm
12 In-Position error When position error (over 1) is kept over 3 sec, after motor stopped.
Warning No. of Motor Maintain
Warning type Descriptions
indicator flashing stop torque
PWR When maximum load is kept connected over 10 sec.
4 Overload warning × O
(green) (motor or driver can be overheated)
※Even though warning occurs, it drives as normal status and it may cause damage by fire.
It is recommend not to use the unit during warning status.
※Depending on the alarm/warning type, it flashes for 0.4 sec interval and it turns OFF for 0.8 sec repeatedly.
< E.g. case of alarm 3 > 1 2 3 1 2 3
0.4 sec 0.8 sec

3. Example of output circuit connection

-It is recommend to use below 50VDC at VCC.
Use the RL for IC (collector current of secondary detector) of photocoupler inside the driver to be within 25mA following the below formula.
V -0.3V-VF V -0.3V
※A: RL= CC - 10Ω ※B, C: RL= CC - 10Ω
0.025A 0.025A
(VF is LED forward voltage of primary photocoupler.)
A. Circuit with photocoupler
Controller VCC Driver
+

RL 10Ω
- +

B. Circuit with pull up (reversed) C. Circuit with pull down (not-reversed)

VCC VCC
10Ω Driver
RL Driver +
10Ω
+

-
- RL

43
AiS-D Series
4. Encoder output waveforms
Frame size 20, 28, 35mm Frame size 42, 56, 60mm
T T
[H] [H]
A phase A phase
[L] T T [L]
± T T
2 3 ±
[H] [H] 2 4
A phase A phase
[L] [L]
T T T T
±
[H] 4 4 [H] 4 ±8
B phase B phase
[L] [L]
[H] [H]
B phase B phase
[L] [L]

[H] [H]
Z phase Z phase
[L] T T [L] T
± T±
4 8 2
[H] [H]
Z phase [L] Z phase
[L]
Clockwise (CW) ※T=1 cycle of A, B phase Clockwise (CW) ※T=1 cycle of A, B phase

CW

※It is recommended to use Line driver output (corresponding to 26C32) at RECEIVER end of encoder output and terminating resisters
(100-150Ω) in parallel at both ends of each phase (A, A, B, B, Z, Z, corresponding to 26C31).

5. Brake output
-In order to reduce heat in the brake, connected to the motor, the driver outputs DC power to turn off the brake.
Power
Driver 24VDC -When supplying power to the driver after connecting the driver and brake,
power 0VDC the rated excitation voltage is supplied and the brake power is released after
approx. 1 sec.
24VDC Then after approx. 0.2 sec, the excitation voltage is decreased to 11.5VDC
Brake 11.5VDC and the released brake power is maintained.
power ※While power is supplied to the driver, the brake is kept turning on,
0VDC
1 sec 0.2 sec Time except in the Servo On status.

Driver Connectors
Connector function
● CN1: Power connector
Pin arrangement Pin no. Function
2 GND
2
1 1 24VDC

● CN2: Motor+Encoder Connector

Pin arrangement Pin no. Function Pin no. Function
1 GND 8 +5VDC
14 13 ……… 9 8 2 Encoder A 9 Encoder A
3 Encoder B 10 Encoder B
4 Encoder Z 11 Encoder Z
5 F.G. 12 N.C
7 6 ……… 2 1 6 Motor A 13 Motor B
7 Motor A 14 Motor B

44
 2-Phase Closed-Loop Stepper Motor Driver

Driver Connectors
● CN3: I/O connector SENSORS
Input/ Input/
Pin arrangement Pin no. Function Pin no. Function
Output Output
1 Input CW+ 11 Output In-Position+ CONTROLLERS

2 Input CW- 12 Output In-Position-

3 Input CCW+ 13 Output Brake+
10 …… 1 4 Input CCW- 14 Output Brake- MOTION DEVICES

5 Input Servo On/Off+ 15 Output Encoder A

6 Input Servo On/Off- 16 Output Encoder A
SOFTWARE
20 …… 11 7 Output Alarm Out+ 17 Output Encoder B
8 Output Alarm Out- 18 Output Encoder B
9 Input Alarm Reset+ 19 Output Encoder Z
10 Input Alarm Reset- 20 Output Encoder Z

Connector specifications
Specifications
Type Manufacture (Y)
Connector Connector terminal Housing Closed Loop
Stepper System
Driver 0039301020 - - Molex
CN1
Power CHD1140-02 CTD1140 - HANLIM (Z)
Driver 35318-1420 - - Molex Stepper Motors

CN2 Motor+ Frame size 20, 28, 35mm 5556T2

5557-14R - Molex
Encoder Frame size 42, 56, 60mm 5556T (AA)
Drivers
Driver 10220-52A2 PL - - 3M
10120-3000PE - 10320-52F0-008 3M
CN3 (AB)
I/O connector CJ-MP20-HP Motion
- - Autonics Controllers
(sold separately)
※Above connectors are suitable for AiS-D Series. You can use equivalent or substitute connectors.

Sold Separately
Power cable
CJ-PW-
※ of model name indicates cable length (010, 020)
E.g.) CJ-PW-010: 1m power cable.

I/O cable
C
 J-MP20-HP Pin Function Cable Dot line color- Pin Function Cable Dot line color-
(standard: AiS TAG) no. (name tag) color numbers no. (name tag) color numbers
1 CW+ Black-1 11 In-Position+ Black-1
2 CW- Red-1 12 In-Position- Red-1
3 CCW+ Black-2 13 Brake+ Black-2
4 CCW- Red-2 14 Brake- Red-2
5 Servo On/Off+ Black-3 15 Encoder A+ Black-3
Yellow White
6 Servo On/Off- Red-3 16 Encoder A- Red-3
7 Alarm Out+ Black-4 17 Encoder B+ Black-4
8 Alarm Out- Red-4 18 Encoder B- Red-4
9 Alarm Reset+ Black-5 19 Encoder Z+ Black-5
10 Alarm Reset- Red-5 20 Encoder Z- Red-5
※ of model name indicates cable length (010, 020, 030, 050, 070, 100, 150, 200)
E.g.) CJ-MP20-HP070: 7m I/O cable.

Motor+Encoder cable
Normal: C1D14M- , Moving: C1DF14M-

※ of model name indicates cable length (1, 2, 3, 5, 7, 10)

E.g.) C1DF14M-10: 10m moving type motor+encoder cable.

45
AiS-D Series

Connection for Motor and Driver

Standard type, Frame size 20, 28, 35mm

CN3

CW+ 1
CN2
220Ω
CW- 2
A
6
CCW+ 3
M A
O 7
220Ω T Motor
CCW- 4
O B
13
10kΩ R
Servo On/Off+ 5 Encoder
B
14

Servo On/Off- 6
A
2
10Ω
Alarm Out+ 7 A
9

Alarm Out- 8 B
3
E
10kΩ N B
Alarm Reset+ 9 C 10
O
D Z
Alarm Reset- 10 4
E
R Z
10Ω 11
In-Position+ 11
+5VDC
8
In-Position- 12
GND
1
N.C 13
GND EARTH
5
N.C 14

12 N.C
Encoder A 15

Encoder A 16

Encoder B 17
CN1
Encoder B 18
1
+ POWER
- 24VDC
Encoder Z 19 2
※Index
: Input
Encoder Z 20
: Output
: N.C

46
 2-Phase Closed-Loop Stepper Motor Driver

Connection for Motor and Driver

Standard / Brake type, Frame size 42, 56, 60mm SENSORS

CN3
CONTROLLERS

CW+ 1
CN2 MOTION DEVICES
220Ω
CW- 2
A
6
SOFTWARE
CCW+ 3 M
O A
7
220Ω T Motor
CCW- 4 O B
R 13
10kΩ Encoder
Servo On/Off+ 5 B
14

Servo On/Off- 6 (Y)

A Closed Loop
2 Stepper System
10Ω
Alarm Out+ 7 A (Z)
9 Stepper Motors

Alarm Out- 8 B
E 3
(AA)
10kΩ N Drivers
B
Alarm Reset+ 9 C 10
O (AB)
Motion
D Z Controllers
Alarm Reset- 10 4
E
R Z
10Ω 11
In-Position+ 11
+5VDC
8
In-Position- 12
GND
1
N.C / Brake+
※
13 24VDC
F.G.
5
N.C / Brake-
※
14

12 N.C
Encoder A 15

Encoder A 16

Encoder B 17
CN1
Encoder B 18
1
+ POWER
- 24VDC ※Index
Encoder Z 19 2
: Input
: Output
Encoder Z 20
: N.C

※For standard type, pin 13: N.C

pin 14: N.C
For brake type, pin 13: Brake+
pin 14: Brake-

47
AiS-D Series

Troubleshooting
1. When motor does not rotate
①Check the connection status between controller and driver, and pulse input specifications (voltage, width).
②Check the pulse and direction signal are connected correctly.
2. When motor rotates to the opposite direction of the designated direction
①When RUN mode is 1-pulse input method, CCW input [H] is for forward, [L] is for backward.
②When RUN mode is 2-pulse input method, check CW and CCW pulse input are changed or not.
3. When motor drive is unstable
①Check that driver and motor are connected correctly.
②Check the driver pulse input specifications (voltage, width).

Proper Usage
●F  ollow instructions in 'Proper Usage'. Otherwise, it may cause unexpected accidents.
●2  4VDC power supply should be insulated and limited voltage/current or Class 2, SELV power supply device.
●R  e-supply power after min. 1 sec from disconnected power.
●D  o not input CW, CCW signal at the same time in 2-pulse input method.
● When the signal input voltage is exceeded the rated voltage, connect additional resistance at the outside.
●U  se twisted pair (over 0.2mm2) for the signal cable which should be shorter than 2m.
●T he thickness of cable should be same or thicker than the motor cable's when extending the motor cable.
●K  eep the distance between power cable and signal cable more than 10cm.
●M  otor vibration and noise can occur in specific frequency period.
①Change motor installation method or attach the damper.
②Use the unit out of the dedicated frequency range when vibration and noise occurs due to changing motor RUN speed.
●F  or using motor, it is recommended to maintenance and inspection regularly.
①Unwinding bolts and connection parts for the unit installation and load connection
②Strange sound from ball bearing of the unit
③Damage and stress of lead cable of the unit
④Connection error with motor
⑤Inconsistency between the axis of motor output and the center, concentric (eccentric, declination) of the load, etc.
●T his product does not prepare protection function for a motor.
●T his unit may be used in the following environments.
①Indoors (in the environment condition rated in 'Specifications')
②Altitude max. 2,000m
③Pollution degree 2
④Installation category II

48
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AiSA-D Series

AC Type 2-Phase Closed-Loop Stepper Motor Driver

▣ Features
● Brake operation for safe control of vertical load at power OFF and alarm occur. (Built-in brake type)
● Higher cost-efficiency compared to servo motor drivers
● Torque control mode supported
● Able to check alarms and status with Alarm/Status display part (7 segment)
● Rapid response which is advantageous for the short distance continuous operation
● Able to implement Low frequency operation and high torque in low speed area
● Low current drive at middle.high speed area
● Max. stop torque at current down mode (available vertical load attaching)
● Easy to set various Gain with rotary switch
● Applicable to the precision equipment such as optical inspection equipment
with the features of maintaining torque in stop and having no micro vibration (hunting)
● Various resolutions
: 500, 1000, 1600, 2000, 3200, 3600, 5000, 6400, 7200, 10000 (10 steps)
● 10-levels of resolution setting
● Frame size 60mm, 86mm (Applied Motor: AiA-M Series)

Please read “Safety Considerations”

in the instruction manual before using.

▣ Applications
● Filed requiring preciseness such as semiconductor equipment, 3D printer, optical inspection equipment, chip mounter,
cartesian robot, conveying equipment, and alignment stage.

▣ Ordering Information

Ai S A D 60 M A
Brake No mark Standard type
B Built-in brake type
Encoder resolutions
A 10,000PPR(2,500PPR×4-multiply)
Motor axial length

M 48mm
60 60×60mm
Motor frame size L 69mm

M 60mm
86 86×86mm
L 75mm
Item
D Driver
Power
A AC Power
Category
S Standard
Series
Ai Artificial intelligence

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AC Type 2-Phase Closed-Loop Stepper Motor Driver

▣ Configuration Diagram
※ is for built-in brake type only.
SENSORS

FIELD
INSTRUMENTS

Noise filter
for signal line CONTROLLERS
CN1

24 VDCᜡ
CN4 MOTION DEVICES

AiA-M Series (motor)

SOFTWARE

200-240 VACᜠ
CN2 PLC
RG1

RG2
Regenerative
Circuit resistance
breaker CN3

L
N (A)
PE I/O Terminal Closed Loop
Stepper System
Noise filter
for power
AiSA-D Series
(B)
(motor driver) Stepper Motors
Surge protector

(C)
※ The thickness of cable should be same or thicker than the below specifications when connecting the cable for connector. Stepper Motor
Drivers
① CN1(motor+encoder connector): AWG22
② CN2(power connector): AWG18 (D)
③ CN3(I/O connector): AWG28 Motion
Controllers
④ CN4(brake connector): AWG22
※ In case of unwanted noise generating from peripherals and power, use ferrite core in the wiring.
※ is sold separately.

Noise filter for signal line

-Connect to wiring to suppress external noise.
-Depending on frequency, filtered noise may different.
Model Specification Manufacture
Motor line, I/O signal line 28A5776-0A2
Lairdtech
Power line 28A5131-0A2

Regenerative resistance
-Connect Pin no. 1, 2 on power connector (CN2).
-Use in condition of the high inertia load or the short deceleration time.
-Forced cooling is required in condition of high surface temperature of regenerative resistance.
Model Specification Manufacture
● Resistance: 100Ω ±5%,
IRC100 Rara Electronics Corp.
● Rated Power: 60W(standby), 100W(heatsink attached)

Noise filter for power

-Connect the power to suppress external noise.
-The wires should be connected as short as possible and grounded.
Model Specification Manufacture
● Rated voltage: 250V
RNS-2006 ● Rated current: 6A Orient Electronics
● Max. leakage current: 1mA

Surge protector
Protect the product from external noise and surge by connecting power.
※ Be sure to disconnect the surge protector when testing internal pressure.
It may result in porduct damage.
Model Specification Manufacture
● Nomial discharge current: 2500A
LT-C12G801W ● Max. discharge current: 5000A OTOWA Electric Co. Ltd
● Voltage protection level: 1.5kV

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AiSA-D Series

▣ Specifications
※1
Model AiSA-D-60MA(-B) AiSA-D-60LA(-B) AiSA-D-86MA(-B) AiSA-D-86LA(-B)
Power supply 200-240 VACᜠ 50/60 Hz
※2
Power STOP Max. 60 W Max. 65 W Max. 70 W
consumption Max. during operation Max. 160 W Max. 220 W Max. 250 W Max. 300 W
※3
Max. Run current 2.0 A/Phase
Auxiliary Power supply 24 VDCᜡ
※4
power Input current 0.3 A 0.5 A
Standard type 20% or 30% of max. RUN current (factory default: 30%)
STOP current
Built-in brake type 20 to 100% of max. RUN current
Rotation speed 0 to 3000 rpm
※5
Resolution 500 (factory default), 1000, 1600, 2000, 3200, 3600, 5000, 6400, 7200, 10000 PPR
※5
Speed filter 0 (disable) (factory default), 2, 4, 6, 8, 10, 20, 40, 60, 80, 100, 120, 140, 160, 180, 200 ms
※5 Standard type Within the range of motor gain: 1 to 32
Motor GAIN
Built-in brake type Standard GAIN: 0 to F, Inertia GAIN: 0 to F
※5
In-Position Fast Response: 0 (factory default) to 7, Accurate Response: 0 to 7
※5
Pulse input method 1-pulse or 2-pulse input (factory default) method
※5
Motor rotation direction CW (factory default), CCW
● Alarm/Status display part: orange LED 7 seg. (built-in brake type: red LED 8 seg.)
● Power/Alarm indicator: green/red LED
Status indicator
● In-Position indicator: orange LED
● Servo On/Off indicator: blue LED
CW, CCW (Run pulse)
Input Servo On/Off (photocoupler input) - [H]: 24 VDCᜡ, [L]: 0-0.5 VDCᜡ, Pulse width - min. 1 ms
I/O Alarm reset (photocoupler input) - [H]: 24 VDCᜡ, [L]: 0-0.5 VDCᜡ, Pulse width - min. 10 ms
● Photocoupler: In-Position, Alarm out
Output
● Line driver: encoder signal (phase A, A, B, B, Z, Z)
※4
Operation mode Standard, Torque mode
Pulse width CW, CCW: input pulse frequency duty 50 %,
Input pulse Rising/Falling time CW, CCW: max. 0.5 ㎲
specifications Pulse input voltage CW, CCW - [H]: 4-8 VDCᜡ, [L]: 0-0.5 VDCᜡ
※6
Max. input pulse freq. CW, CCW: 500 kHz
Overcurrent, overspeed, position tracking, overload, overheat, motor connection, encoder connection,
Alarm ※4
overvoltage, undervoltage, motor misalignment, command pulse, in-position, brake
Standard type 220Ω (CW, CCW), 10kΩ (Servo On/Off, alarm reset)
Input resistance
Built-in brake type 4.7 kΩ (Anode Pull-up)
Insulation Standard type Over 100MΩ (at 500VDCᜡ megger)
resistance Built-in brake type Over 200 MΩ (at 500 VDCᜡ megger)
Dielectric strength 1,500 VACᜠ 60 Hz for 1 min
Vibration 1.5 mm amplitude at frequency of 10 to 55 Hz (for 1 min) in each X, Y, Z direction for 2 hours
Shock 300 m/s2 (approx. 30 G) in each X, Y, Z direction for 3 times
Ambient temp. 0 to 50 ℃, storage: -10 to 60 ℃
Environment
Ambient humi. 35 to 85 %RH, storage: 10 to 90 %RH
Protection structure IP20 (IEC standard)
Approval ᜢᜥ
※7 Standard type Approx. 920 g (approx. 800 g)
Weight
Built-in brake type Approx. 1,020 g (approx. 780 g)
※1: The model name indicates driver type. (none: standard type, B: built-in brake type)
E.g.) AiSA-D-60MA-B: built-in brake type stepping motor driver.
※2: Based on the ambient temperature 25 ℃, ambient humidity 55 %RH, and STOP current 20 %.
※3: RUN current varies depending on the input RUN frequency and max. RUN current at the moment varies also.
※4: Corresponding specification is only available in built-in brake type and is not available in standared type.
※5: Settings are available with the switches located on the front. When setting, the power must not be applied and cannot be set after power
is applied.
※6: Max. input pulse frequency is max. frequency to be input and is not the same as max. pull-out frequency or max. slewing frequency.
※7: The weight includes packaging. The weight in parentheses is for unit only.
※ Environment resistance is rated at no freezing or condensation.

51
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AC Type 2-Phase Closed-Loop Stepper Motor Driver

▣ Dimensions
47
126
◎ Panel cut-out SENSORS
37
37
2-M5
FIELD
INSTRUMENTS

CONTROLLERS

MOTION DEVICES

150
150
160

SOFTWARE

(A)
Closed Loop
Stepper System

(B)

▣ Installation Stepper Motors

37 20 (Unit: mm) (C)

Stepper Motor
Drivers

(D)
Motion
※Install on the metal plate with high thermal conductivity for heat dissipation of the driver. Controllers
※Install in the well-ventilated area and install the cooling fan in the unventilated environment.
※Failure to heat dissipation may result in damage or malfunction due to the stress on the product.
150

Check the environment of use within the rated specifications and install on the well-heat dissipated area.
※In case of installing the drivers more than two,
keep distance at least 20mm in the horizontal direction and at least 25mm in the vertical direction.
25

▣ Unit Descriptions
1. Alarm/Status display part (orange)

2 2
2. Power/Alarm indicator (PWR/ALM) (green/red)
1 3 1 3
4 4 3. In-Position indicator (INP) (orange)

5 4. Servo On/Off indicator (SERVO) (blue)

10 10
5. Function selection DIP switch
5 13
6. Resolution rotary switch (RES)
6 6 7. Motor gain setting rotary switch (GAIN)
7 7
8. Speed filter / Limit setting rotary switch (S.F) ※1
9 8
9. In-Position setting rotary switch (INP)
9
10. Motor+Encoder connector (CN1)
11 11 11. Power connector (CN2)
12 12 12. I/O connector (CN3)
13. Brake connector (CN4) ※1
※1: Corresponding connector and switch are for built-in brake type only.

52
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AiSA-D Series

▣ Driver Status Indicators

Indicator &
LED color Function Descriptions
Display part
Green Power indicator Turns ON when the unit operates normally after supplying power
PWR/ALM When alarm occurs, it flashes in various ways depending on the situation.
Red Alarm indicator
Refer to ' Control Input/Output → Output → 2. Alarm'.
INP Orange In-Position indicator Turns ON when motor is placed at command position after positioning input.
SERVO Blue Servo On/Off indicator Turns ON when Servo is operating, turns OFF when servo is not operating.
Alarm/Status Red When alarm occurs, it displays number of the corresponding alarm and the
Alarm, status indicator
display part (built-in brake type: orange) setting number of the rotary switches (RES/GAIN/INP)

▣ Driver Setting
Function selection DIP switch
-Set rotation direction, stop current, pulse input method, motor gain, torque mode and etc.
[Standard type]
Switch position
No. Name Function
ON OFF (factory default)
1 2 3 4 5

1 DIR Rotation direction CCW CW

2 1P/2P Pulse input method 1-pulse input method 2-pulse input method
3 CD STOP current 20% of max. RUN current 30% of max. RUN current
4 GM Gain setting High gain Low gain
ON

5※1 RVD Test mode Test mode Normal mode

※1: Set to OFF when using the device. It is only for the operation test in manufacturing process.
[Built-in brake type]
Switch position
No. Name Function
ON OFF (factory default)
1 2 3 4

1 DIR Rotation direction CCW CW

2 1P/2P Pulse input method 1-Pulse input method 2-Pulse input method
3 GS H/L Motor GAIN setting Inertia GAIN Standard GAIN
ON

4 TM Torque mode Torque mode Standard mode

● Pulse input method

※ 1-pulse input method ※ 2-pulse input method
CW: rotation operation signal input CW: forward rotation signal input
CCW: rotation direction signal input
CCW: reverse rotation signal input
([H]: forward rotation, [L]: reverse rotation)
[H] [H]
CW CW
[L] [L]
[H] [H]
CCW CCW
[L] [L]

Rotation angle Rotation angle

position CCW position
CW CW CCW
※ [H]: photocoupler ON (voltage of both ends 4-8VDC), [L]: photocoupler OFF (voltage of both ends 0-0.5VDC)
● STOP current
-In order to decrease motor heat and current consumption at motor stopping moment (in case there is no input during the time of the double
width of last input pulse), set the stop current supplied to the motor phase.

53
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AC Type 2-Phase Closed-Loop Stepper Motor Driver

RES: Resolution setting switch
-Set the resolution of driver.
SENSORS
-The number of pulses per 1 rotation by resolution is each 500, 1000, 1600, 2000, 3200, 3600, 5000, 6400, 7200, 10000.
-Modified setting values are not applied in the running status, and the values will be applied after motor stopped.

Setting Pulse/Revolution Resolution Setting Pulse/Revolution Resolution FIELD

INSTRUMENTS
7 8
0(factory default) 500 2.5 5 3600 18
9
5 6

1 1000 5 6 5000 25
0

2 1600 8 7 6400 32 CONTROLLERS

1
4

2 3
3 2000 10 8 7200 36
RES
4 3200 16 9 10000 50
MOTION DEVICES

GAIN: Motor gain setting switch

-Depending on GM OFF or GS H/L switch setting, the motor sets GAIN.
-Motor GAIN is selectable from 32 GAIN. SOFTWARE
-The larger gain is, the more improved transient response becomes and the less error occurs.
※ At the lowest system load status, raise the gain value until motor vibrates and set to 1 to 2 level lower.

Standard type GM OFF - Low GAIN GM ON - High GAIN

Built-in brake type GS H/L OFF - Standard GAIN GS H/L ON - Inertia GAIN

Speed
Setting GAIN Setting GAIN Setting GAIN Setting GAIN Proper
Under Over
0 ×1 8 ×9 0 ×17 8 ×25 GAIN
BCD 1 ×2 9 ×10 1 ×18 9 ×26 Status (A)
E

2 ×3 A ×11 2 ×19 A ×27

78 9A

Closed Loop
F

Stepper System
0

3 ×4 B ×12 3 ×20 B ×28

12
6

345
4 ×5 C ×13 4 ×21 C ×29
(B)
GAIN 5 ×6 D ×14 5 ×22 D ×30 GAIN Stepper Motors

6 ×7 E ×15 6 ×23 E ×31

7 ×8 F ×16 7 ×24 F ×32 (C)
Stepper Motor

S.F: Speed Filter / Limit setting switch Drivers

-Corresponding switch is only available in built-in brake type.

(D)
-Depending on TM switch setting, speed filter and speed limit function can be set. Motion
Controllers
● Speed Filter
-In standard mode, it sets the delay time between the command position and the motor position.
-It determines the responsiveness of the motor to the command and smoothly follows the speed even if the load changes or disturbance occurs.
● Speed Limit
-In torque mode, it sets the speed limit.
-When the rotation speed reaches the speed limit value, the torque control may become unstable. Set value greater than the speed to be limited.

Speed Filter (TM OFF) Speed Limit (TM ON) <Graph for input speed
Setting Delay time Setting Delay time Setting Limit speed Setting Limit speed and motor response>
Position

0 Disable 8 60 ms 0 10 rpm 8 90 rpm Input pulse

BCD 1 2 ms 9 80 ms 1 20 rpm 9 120 rpm position
E
78 9A

Motor position
F

2 4 ms A 100 ms 2 30 rpm A 150 rpm

0
12

3 6 ms B 120 ms 3 40 rpm B 200 rpm Delay time

6

345
4 8 ms C 140 ms 4 50 rpm C 250 rpm
GAIN
5 10 ms D 160 ms 5 60 rpm D 300 rpm
6 20 ms E 180 ms 6 70 rpm E 380 rpm
7 40 ms F 200 ms 7 80 rpm F 500 rpm
Time
INP: In-Position setting swtich
-After position command pulse has finished, if the gap between target position and real position is under In-Position setting value, positioning
completion pulse is output.
-Modified setting values are not applied in the running status, and the values will be applied after motor stopped.

Fast response Accurate response Position

Setting Value Setting Value
0 (factory default) 0 8 0 Command
BCD 1 ±1 9 ±1 position
E
78 9A

In-Position
F

2 ±2 A ±2 (fast response)
0
12

3 ±3 B ±3 Time
6

345
In-Position
4 ±4 C ±4 (accurate response)
INP Time
5 ±5 D ±5 Delay time: 50ms
6 ±6 E ±6
7 ±7 F ±7

54
-|Transparent setting guide|-

AiSA-D Series

▣ Driver Connectors
Connector function
● CN1: Motor+Encoder Connector ● CN2: Power connector
Pin no. Function Pin no. Function Pin no. Function
7 14 1 GND 8 +5VDC 1 1 Regenerative
6 13 2 Encoder A 9 Encoder A 2 2 resistance
3
N.C
………

………

3 Encoder B 10 Encoder B 3
4
4 Encoder Z 11 Encoder Z 5 4
Power
2 9 5 PE 12 N.C 6 5
1 8 6 Motor A 13 Motor B 6 PE
7 Motor A 14 Motor B

● CN3: I/O connector ● CN4: Brake connector

Pin no. I/O Function Pin no. I/O Function Pin no. Function
4
1 Input CW+ 11 Output In-Position+ 1 24 VDC
3
2 Input CW- 12 Output In-Position- 2 GND
2
3 Input CCW+ 13 - N.C 1 3 Brake+
1 11 4 Input CCW- 14 - N.C 4 Brake-
……

……

5 Input Servo On/Off+ 15 Output Encoder A ※Corresponding connector is for built-in brake type only.
10 20 6 Input Servo On/Off- 16 Output Encoder A
7 Output Alarm Out+ 17 Output Encoder B
8 Output Alarm Out- 18 Output Encoder B
9 Input Alarm Reset+ 19 Output Encoder Z
10 Input Alarm Reset- 20 Output Encoder Z

Connector specifications
Specifications
Type Manufacture
Connector Connector terminal Housing
CN1 Motor+Encoder 5557-14R 5556T - Molex
CN2 Power 5ESDVM-06P-OR - - Dinkle
CN3 I/O connector 10120-3000PE - 10320-52F0-008 3M
CN4 Brake connector ESC250V-S2330704P - - Dinkle
※Above connectors are suitable for AiSA-D Series.

▣ Sold Separately
※It is recommended to use ferrite core at I/O cable and Motor+Encoder cable.

I/O cable
● CO20-MP□-R Pin Function Cable Dot line color- Pin Function Cable Dot line color-
(standard: AiS TAG) no. (name tag) color numbers no. (name tag) color numbers
1 CW+ Black-1 11 In-Position+ Black-1
2 CW- Red-1 12 In-Position- Red-1
3 CCW+ Black-2 13 - Black-2
4 CCW- Red-2 14 - Red-2
5 Servo On/Off+ Black-3 15 Encoder A+ Black-3
Yellow White
6 Servo On/Off- Red-3 16 Encoder A- Red-3
7 Alarm Out+ Black-4 17 Encoder B+ Black-4
8 Alarm Out- Red-4 18 Encoder B- Red-4
9 Alarm Reset+ Black-5 19 Encoder Z+ Black-5
10 Alarm Reset- Red-5 20 Encoder Z- Red-5
※□ of model name indicates cable length (010, 020).
For corresponding EMC standard, cable length should be below 2m.
E.g.) CO20-MP020-R: 2m I/O cable.

Motor+Encoder cable
● Normal: C1D14M-□, Moving: C1DF14M-□

※□ of model name indicates cable length (1, 2, 3, 5, 7, 10)

E.g.) C1DF14M-10: 10m moving type motor+encoder cable.

55
-|Transparent setting guide|-

AC Type 2-Phase Closed-Loop Stepper Motor Driver

▣ Contol Input/Output
Inner signal of all input/output consists of photocoupler. SENSORS
ON, [H]: photocoupler power ON
OFF, [L]: photocoupler power OFF
Input FIELD
INSTRUMENTS
1. Position command pulse
-Pulse input is selectable from 1-pulse input method and 2-pulse input method.
(Refer to ' SW1: Function selection DIP switch'.) CONTROLLERS
-When using extending cable, it is recommended to connect Common mode choke coil (2mH) to the CW, CCW terminal in series connection.
2. Servo On/Off
-This signal is for rotating axis of motor using external force or used for manual positioning. MOTION DEVICES

-Servo On/Off signal maintains over 1ms as [H]

:R
 egarded as Servo Off signal and phase current is cut to release torque.
The Servo ON indicator, the In-Position output and indicator turns OFF. SOFTWARE
-Servo On/Off signal maintains over 1ms as [L]
:R
 egarded as Servo On signal and phase current is supplied to gain torque.
The Servo ON indicator, the In-Position output and indicator turns ON.
※Stop the motor for using the signal.
※Refer to '4. Example of input circuit connection'.
3. Alarm Reset
-This signal is for clearing the alarm.
-Alarm reset signal maintains over 20ms as [H]
: Alarm is cleared, the alarm indicator and alarm output turns OFF, and the driver returns to normal status. (A)
Closed Loop
※If the causes of the alarm are not removed, driver may not be returned to the normal status even with alarm reset. Stepper System
※Refer to '4. Example of input circuit connection'.
4. Example of input circuit connection (B)
[Standard type] Stepper Motors

● Input pulse (CW, CCW)

-It is recommended to use 5VDC at VCC and short the RL. (C)
Stepper Motor
-In case VCC is over 5VDC, calculate RL value using following formula and use VCC below 30VDC. Drivers

-In case Vcc is 12, 24VDC, refer to the table as follow.

(D)
VCC RL Motion
※RL= VCC-2.17V - 220Ω 12VDC 680Ω (min. 0.25W)
Controllers
0.011A
24VDC 1.8kΩ (min. 0.5W)
A. Pull-Up B. Pull-Down
VCC VCC
RL
+ +

220Ω RL 220Ω
- -
Driver Driver

C. Circuit with NPN (not-reversed) D. Circuit with PNP (reversed)

VCC VCC
RL E
+ B
RL
C +
220Ω
C -
B Driver
220Ω
-
E Driver

External input (Servo On/Off, Alarm Reset)

A. Pull-Up B. Pull-Down
+24VDC +24VDC
10kΩ 10kΩ
+ +

- -
Driver Driver

C. Circuit with NPN (not-reversed) D. Circuit with PNP (reversed)

+24VDC +24VDC
10kΩ E
+ B
10kΩ
C +

C -
B Driver
-
E Driver

56
-|Transparent setting guide|-

AiSA-D Series
[Built-in brake type]
● Input pulse (CW, CCW)
-Use external power (VEX) 5 VDCᜡ in pulse input.
-When input power is exceeded, it may result the product damage.
-In case the external pulse input power (VEX) is over 5VDC, use external resistor RL.
-In case the external pulse input power (VEX) is over 12, 24VDC, refer to the RL as table below.
VCC RL
※RL= VEX-2.17V - 220Ω 12VDC 680Ω(Min. 0.25W)
0.011A
24VDC 1.7kΩ(Min.0.5W)
A. Differential line driver B. Open collector VEX

2kΩ
2kΩ
+ +

- -
220Ω Driver 220Ω
Driver

● External Input (Servo On/Off, Alarm Reset)

-Use external power (VEX) 24 VDCᜡ in external input Servo On/Off and Alarm Reset.
A. PNP circuit VEX B. NPN circuit VEX

10kΩ 10kΩ
+ +

- -
Driver Driver

Output
1. In-Position
-In-Position output is output condition of positioning completion signal.
-If the gap between target position and real position is under In-Position setting value after position command pulse has finished, In-Position
output turns to [H] and the In-Position indicator turns ON.
-In reverse, when the gap is over In-Position setting value, In-Position output turns to [L] and the In-Position indicator turns OFF.
-For accurate drive, check the In-Position output again and execute the next drive.
※Refer to '3. Example of output circuit connection'.
2. Alarm
● Alarm
-This function stops motor to protect driver, depending on the error status such as overcurrent or overspeed.
-In case of normal status, output is [H], and in case of alarming status, output is [L].
-When supplying alarm reset, driver returns to the normal status.
※ Refer to '3. Example of output circuit connection'.
● Alarm/Status display
-When alarm occurs, the alarm indicator (ALM, red) flashes as the times of corresponding alarm type.
-The alarm/status display part displays the number of the corresponding alarm type.
No. of Alarm/ Motor Maintain
Alarm type Descriptions
flashing Status stop torque
1 E1 Overcurrent error When overcurrent flows at motor RUN element
2 E2 Overspeed error When motor speed is over 3,500rpm
E3 When the gap between position command value and current position value
3 Position tracking error
is over 90°
4 E4 Overload error When applying load over the rated load for over 1 sec
5 E5 Overheat error When heatsink temperature is over 90℃
6 E6 Motor connection error When motor cable connection error occurs at driver
7 E7 Encoder connection error When encoder cable connection error occurs at driver O X
8 E8 Overvoltage error When input voltage is over 240VAC +10%
※1
9 E9 Undervoltage error When input voltage is under 200VAC -10%
10 EA Motor misalignment When motor is in misalignment
When input pulse is over 3,500rpm
11 EB Command pulse error
When pulse is input before initial alignment
12 EC In-Position error When position error (over 1) is kept over 3 sec, after motor stopped.
※2
13 ED Brake error When brake failed to operate.
※1: When cutting off the power, the undervoltage error occurring is normal operation.
※2: Corresponding alarm is only available in built-in brake type.
※Depending on the alarm type, it flashes for 0.4 sec interval and it turns OFF for 0.8 sec repeatedly.
<E.g. case of alarm 3>
1 2 3 1 2 3
0.4 sec 0.8 sec

57
-|Transparent setting guide|-

AC Type 2-Phase Closed-Loop Stepper Motor Driver

3. Example of output circuit connection
[Standard type]
-It is recommended to use below 50VDC at VCC. Use the RL for IC (collector current of secondary detector) of photocoupler inside the driver to SENSORS
be within 25mA following the below formula.
V -0.3V-VF - 10Ω V -0.3V - 10Ω
※A: RL= CC ※B, C: RL= CC
0.025A 0.025A
A. Circuit with photocoupler FIELD
(VF is LED forward voltage of primary photocoupler.) INSTRUMENTS
Controller VCC Driver
+

RL 10Ω CONTROLLERS
- +

- MOTION DEVICES

B. Circuit with pull up (reversed) C. Circuit with pull down (not-reversed)

VCC VCC SOFTWARE
10Ω Driver
RL Driver +
10Ω
+

-
- RL

(A)
[Built-in brake type] Closed Loop
Stepper System
● External output signal ciruit ● Encoder output signal circuit
-Use external power (VCC) max. 30 VDC, 10mA for output. -Encoder output signal uses a line driver (26C32). (B)
-When current is over 10mA, use external resistor RL to control -Connect the terminal resistance RL of 100 to 150Ω in parallel to Stepper Motors
current. both ends (A, A, B, B, Z, Z) of each phase of encoder.
Open collector VCC Differential line driver (C)
Stepper Motor
Drivers

+
10Ω RL (D)
+ RL Motion
Controllers

-
Driver
-
Driver

※RL = VCC-0.7V-VF - 10Ω

0.01A
VF: LED forward voltage of primary photocoupler
4. Encoder output waveforms
T
[H]
A
[L] T T
2 ± 4
CW
[H]
A
[L]
T T
[H] ±
4 8
B
[L]
[H]
B
[L]
※It is recommended to use Line driver output
[H] (corresponding to 26C32) at RECEIVER end of
Z T
[L] T± encoder output and terminating resisters
2
[H] (100-150Ω) in parallel at both ends of each phase
Z
[L] (A, A, B, B, Z, Z, corresponding to 26C31).
Clockwise (CW) ※T: 1 cycle of A, B phase

58
-|Transparent setting guide|-

AiSA-D Series

▣ Connection for Motor and Driver

CN4※1
CN1
1 Brake+
A
6
2 Brake-
A M
Motor 7 o 3
B t POWER
13 o 4 24VDCᜡ
Encoder B r
14
A CN3
2
A
9 1 CW+
B E 2kΩ
3 n 2 CW-
B 220Ω
10 c
3 CCW+
Z o
4 2kΩ
Z
d 4 CCW-
11 e 220Ω
10kΩ
+5VDC r 5 Servo On/Off+
8
GND 6 Servo On/Off-
1
10Ω
PE 7 Alarm Out+
5
8 Alarm Out-
N.C 12
10kΩ
9 Alarm Reset+

CN2 10 Alarm Reset-

10Ω
11 In-Position+
Regenerative resistance 1
12 In-Position-

Regenerative resistance 2 10kΩ

13 N.C

14 N.C
N.C 3
15 Encoder A
L
Source 16 Encoder A
200-240VAC 50/60Hz
N 17 Encoder B

18 Encoder B
※Index PE
: Input 19 Encoder Z
: Output
: I/O 20 Encoder Z
: N.C

※1: Corresponding connector is for built-in brake type only.

59
-|Transparent setting guide|-

AC Type 2-Phase Closed-Loop Stepper Motor Driver

▣ Troubleshooting
Malfunction Causes Troubleshooting SENSORS

Check that servo On/Off input signal is [L].

When motor does not Servo is not ON.
In case of [H], servo is off and excitation of motor is released.
excite FIELD
Alarm occurs. Check the alarm type and remove the cause of alarm. INSTRUMENTS
When motor rotates to
the opposite direction of Rotation direction setting is not correct. Check the DIR setting in the function selection DIP switch.
the designated direction CONTROLLERS

When motor drive is Connection between motor and encoder is unstable. Check the Motor+Encoder connection cable.
unstable Motor gain value is not correct. Check motor GAIN setting rotary switch (GAIN) value.
MOTION DEVICES

▣ Proper Usage
SOFTWARE

● Follow instructions in 'Proper Usage'. Otherwise, it may cause unexpected accidents.

● Do not input CW, CCW signal at the same time in 2-pulse input method.
● When the signal input voltage is exceeded the rated voltage, connect additional resistance at the outside.
● To extend the motor+encoder cable, use the designated the cable.
● Keep the distance between power cable and signal cable more than 10cm.
● Install the unit vertically on the alarm/status display part upper side.
(A)
● For heat radiation of the driver, install a fan. Closed Loop
Stepper System
● Do not change any setting switches (function, resolution, motor gain, in-position switches) during the operation or after supplying power.
Failure to follow this instruction may result in malfunction.
(B)
● Do not input external signal until the driver is initialized (In-Position LED ON) after power is applied. Stepper Motors

● Motor vibration and noise can occur in specific frequency period.

① Change motor installation method or attach the damper. (C)
Stepper Motor
② Use and set the gain value. Drivers

● For using motor, it is recommended to maintenance and inspection regularly.

(D)
① Unwinding bolts and connection parts for the unit installation and load connection Motion
Controllers
② Strange sound from ball bearing of the unit
③ Damage and stress of lead cable of the unit
④ Connection error with motor
⑤ Inconsistency between the axis of motor output and the center, concentric (eccentric, declination) of the load, etc.
● This product does not prepare protection function for a motor.
● This unit may be used in the following environments.
① Indoors (in the environment condition rated in 'Specifications')
② Altitude max. 2,000m
③ Pollution degree 2
④ Installation category II

60
Ai-M Series

2-Phase Closed-Loop Stepper Motor

Features
 inimal heat generating, high torque motor
M
(control voltage 55V)
Higher cost-efficiency compared to conventional
servo motors
Available in motor frame size
20mm, 28mm, 35mm, 42mm, 56mm, 60mm Frame size
20 mm 28mm 35mm

Please read “Safety Considerations”

in the instruction manual before using.

Frame size
42 mm 56mm 60mm

Ordering Information
Ai M 42 L A
A※1 4,000PPR(1,000PPR×4-multiply)
Encoder resolution
B※2 16,000PPR(4,000PPR×4-multiply)
A※3 10,000PPR(2,500PPR×4-multiply)
Motor length

M 41.2mm
20 20×20mm
L 53.1mm

S 46mm
28 28×28mm M 59mm
L 65mm
S 41.5mm
35 35×35mm M 52mm
Motor frame size L 68.5mm
S 67.5mm
42 42×42mm M 73.5mm
L 81.5mm
S 77.3mm
56 57.2×57.2mm M 90.3mm
L 111.3mm
S 81.9mm
60 60×60mm M 102.8mm
L 119.8mm
Item
M Motor
Series
Ai Artificial intelligence

※1: E ncoder resolution for frame size 20mm motors.

Microstep control for AiS driver, it controls up to 10,000PPR.
※2: Encoder resolution for frame size 28, 35mm motors.
※3: Encoder resolution for frame size 42, 56, 60mm motors.

61
 2-Phase Closed-Loop Stepper Motor

Specifications
Motor SENSORS

Frame size 20mm

Model Ai-M-20MA Ai-M-20LA
CONTROLLERS
0.183kgf.cm (0.018N.m) 0.357kgf.cm (0.035N.m)
※1
Max. holding torque
Rotor moment of inertia 2g.cm2 (2×10-7kg.m2)
Rated current 0.6A/Phase MOTION DEVICES

Resistance 6.6Ω/Phase ±10% 10.5Ω/Phase ±10%

Inductance 2.1mH/Phase ±20% 4.0mH/Phase ±20%
※2 SOFTWARE
Weight Approx. 0.192kg (approx. 0.092kg) Approx. 0.219kg (approx. 0.120kg)

Frame size 28mm

Model Ai-M-28SB Ai-M-28MB Ai-M-28LB
0.51kgf.cm (0.05N.m) 1.42kgf.cm (0.14N.m) 1.63kgf.cm (0.16N.m)
※1
Max. holding torque
Rotor moment of inertia 9g.cm2 (9×10-7kg.m2) 12g.cm2 (12×10-7kg.m2) 18g.cm2 (18×10-7kg.m2)
Rated current 1.0A/Phase
Resistance 5.78Ω/Phase ±10% 8.8Ω/Phase ±10% 10.1Ω/Phase ±10% (Y)
Closed Loop
Inductance 3.2mH/Phase ±20% 6.0mH/Phase ±20% 6.2mH/Phase ±20% Stepper System
※2
Weight Approx. 0.260kg (approx. 0.162kg) Approx. 0.318kg (approx. 0.222kg) Approx. 0.342kg (approx. 0.248kg)
(Z)
Stepper Motors
Frame size 35mm
Model Ai-M-35SB Ai-M-35MB Ai-M-35LB
0.714kgf.cm (0.07N.m) 1.326kgf.cm (0.13N.m) 3.162kgf.cm (0.31N.m) (AA)
※1
Max. holding torque Drivers
Rotor moment of inertia 8g.cm2 (8×10-7kg.m2) 14g.cm2 (14×10-7kg.m2) 22g.cm2 (22×10-7kg.m2)
Rated current 1.2A/Phase (AB)
Motion
Resistance 2.1Ω/Phase ±10% 3.25Ω/Phase ±10% 5.0Ω/Phase ±10% Controllers

Inductance 1.25mH/Phase ±20% 2.85mH/Phase ±20% 5.6mH/Phase ±20%

※2
Weight Approx. 0.278g (approx. 0.180kg) Approx. 0.347kg (approx. 0.250kg) Approx. 0.456kg (approx. 0.366kg)

Frame size 42mm

Model Ai-M-42SA Ai-M-42MA Ai-M-42LA
2.55kgf.cm (0.25N.m) 4.08kgf.cm (0.4N.m) 4.89kgf.cm (0.48N.m)
※1
Max. holding torque
Rotor moment of inertia 35g.cm2 (35×10-7kg.m2) 54g.cm2 (54×10-7kg.m2) 77g.cm2 (77×10-7kg.m2)
Rated current 1.7A/Phase
Resistance 1.7Ω/Phase ±10% 1.85Ω/Phase ±10% 2.1Ω/Phase ±10%
Inductance 1.9mH/Phase ±20% 3.5mH/Phase ±20% 4.4mH/Phase ±20%
※2
Weight Approx. 0.45kg (approx. 0.34kg) Approx. 0.52kg (approx. 0.41kg) Approx. 0.59kg (approx. 0.48kg)

Frame size 56mm

Model Ai-M-56SA Ai-M-56MA Ai-M-56LA
6.12kgf.cm (0.6N.m) 12.24kgf.cm (1.2N.m) 20.39kgf.cm (2.0N.m)
※1
Max. holding torque
Rotor moment of inertia 140g.cm2 (140×10-7kg.m2) 280g.cm2 (280×10-7kg.m2) 480g.cm2 (480×10-7kg.m2)
Rated current 3.5A/Phase
Resistance 0.55Ω/Phase ±10% 0.57Ω/Phase ±10% 0.93Ω/Phase ±10%
Inductance 1.05mH/Phase ±20% 1.8mH/Phase ±20% 3.7mH/Phase ±20%
※2
Weight Approx. 0.76kg (approx. 0.62kg) Approx. 0.99kg (approx. 0.85kg) Approx. 1.36kg (approx. 1.22kg)

Frame size 60mm

Model Ai-M-60SA Ai-M-60MA Ai-M-60LA
11.22kgf.cm (1.1N.m) 22.43kgf.cm (2.2N.m) 29.57kgf.cm (2.9N.m)
※1
Max. holding torque
Rotor moment of inertia 240g.cm2 (240×10-7kg.m2) 490g.cm2 (490×10-7kg.m2) 690g.cm2 (690×10-7kg.m2)
Rated current 3.5A/Phase
Resistance 1.0Ω/Phase ±10% 1.23Ω/Phase ±10% 1.3Ω/Phase ±10%
Inductance 1.5mH/Phase ±20% 2.6mH/Phase ±20% 3.8mH/Phase ±20%
※2
Weight Approx. 0.89kg (approx. 0.75kg) Approx. 1.27kg (approx. 1.13kg) Approx. 1.58kg (approx. 1.44kg)
※1: Max. holding torque is maintenance torque of stopping the motor when supplying the rated current (2-phase excitation) and is the
standard for comparing the performance of motors.
※2: The weight includes packaging. The weight in parenthesis is for unit only.

62
Ai-M Series

Specifications
Common specifications
Standard step angle 1.8°/0.9° (Full/Half step)
Motor phase 2-phase
Run method Bipolar
Insulation class B type (130℃)
Insulation resistance Over 100MΩ (at 500VDC megger), between motor coil-case
Dielectric strength 500VAC 50/60Hz for 1 min between motor coil-case
Vibration 1.5mm amplitude at frequency 10 to 55Hz (for 1 min) in each X, Y, Z direction for 2 hours
Shock Approx. max. 50G
Ambient temperature 0 to 50℃, storage: -20 to 70℃
Environment
Ambient humidity 20 to 85%RH, storage: 15 to 90%RH
Approval
Protection structure IP30 (IEC34-5 standard)
※1
Stop angle error ±0.09°
※2
Shaft vibration 0.03mm T.I.R.
Radial Frame size 20, 28, 35mm Max. 0.025mm (load 450g)
※3
Movement Frame size 42, 56, 60mm Max. 0.025mm (load 25N)
Axial Frame size 20, 28, 35mm Max. 0.05mm (load 920g)
※4
Movement Frame size 42, 56, 60mm Max. 0.01mm (load 50N)
Concentricity for shaft of setup in-low 0.05mm T.I.R.
Perpendicularity of set-up plate shaft 0.075mm T.I.R.
※1: Specifications are for full-step angle, without load. (values may vary by load size) 0.05 A
※2: T.I.R. (Total Indicator Reading)
- Indicates total quantity of dial gauge in case of 1 rotation of measuring part around the 0.03 A
reference point.
※3: A
 mount of radial shaft displacement when adding a radial load (450g for frame size 20, 28, 35mm
and 25N for frame size 42, 56, 60mm) to the tip of the motor shaft.
※4: A
 mount of axial shaft displacement when adding a axial load (920g for frame size 20, 28, 35mm
and 50N for frame size 42, 56, 60mm) to the shaft.
※Environment resistance is rated at no freezing or condensation.
0.075 A

Encoder A
Frame size 20, 28, 35mm
Item Magnetic incremental rotary encoder
※
Frame size 20mm 1
4,000PPR (1,000PPR×4-multiply)
Resolution
16,000PPR (4,000PPR×4-multiply)
Frame size 28, 35mm
Output phase A, A, B, B, Z, Z phase
T T
Output duty rate ± (T=1 cycle of A phase)
2 3
Electrical specification

Output between A and B phase: _ ± __ (T=1 cycle of A phase)

T T
Phase difference of output
4 4
Control • [Low] - Load current: max. 20mA, residual voltage: max. 0.5VDCᜡ
Line driver output
output • [High] - Load current: max. -20mA, output voltage: min. 2.5VDCᜡ
Response time Frame size 20mm Max. 1.5μs (cable length: 2m, I sink = 20mA)
(rise, fall) Frame size 28, 35mm Max. 1μs (cable length: 2m, I sink = 20mA)
Max. response Frame size 20mm 200kHz
frequency Frame size 28, 35mm 1,000kHz
Power supply 5VDCᜡ ±5% (ripple P-P: max. 5%)
Current consumption Max. 50mA (disconnection of the load)
※1: Microstep control for AiS driver, it controls up to 10,000PPR.

Frame size 42, 56, 60mm

Item Incremental rotary encoder
Resolution 10,000PPR (2,500PPR×4-multiply)
Output phase A, A, B, B, Z, Z phase
T T
Output duty rate ± (T=1 cycle of A phase)
Electrical specification

2 4
Output between A and B phase: _ ± __ (T=1 cycle of A phase)
T T
Phase difference of output
4 8
• [Low] - Load current: max. 20mA, residual voltage: max. 0.5VDCᜡ
Control output Line driver output
• [High] - Load current: max. -20mA, output voltage: min. 2.5VDCᜡ
Response time (rise, fall) Max. 0.5μs (cable length: 2m, I sink = 20mA)
Max. response frequency 300kHz
Power supply 5VDCᜡ ±5% (ripple P-P: max. 5%)
Current consumption Max. 50mA (disconnection of the load)

63
 2-Phase Closed-Loop Stepper Motor

Encoder Control Output Diagram

Line driver output
SENSORS
Rotary encoder circuit Load connection
+V
CONTROLLERS

Main A phase output MOTION DEVICES

circuit
A phase output
0V SOFTWARE

※All output circuits of A, A, B, B, Z, Z phase are the same.

Encoder Output Waveforms

(Y)
Closed Loop
Frame size 20, 28, 35mm Frame size 42, 56, 60mm Stepper System

T T
(Z)
[H] [H] Stepper Motors
A phase A phase
[L] T T [L]
± T T
2 3 ±
[H] [H] 2 4 (AA)
A phase A phase Drivers
[L] [L]
T T T T
±
[H] 4 4 [H] 4 ±8 (AB)
B phase B phase Motion
[L] [L] Controllers

[H] [H]
B phase B phase
[L] [L]

[H] [H]
Z phase Z phase
[L] T T [L] T
± T±
4 8 2
[H] [H]
Z phase [L] Z phase
[L]
Clockwise (CW) ※T=1 cycle of A, B phase Clockwise (CW) ※T=1 cycle of A, B phase

CW

Connection Diagram
Autonics 2 phase closed-loop stepper motors take bipolar wiring methods.
The wiring colors for each phase and lead-wire are as the followings:
Red/Black(A) Yellow/Black(B)

Motor

-
Blue/Black(A)
-
White/Black(B)

64
Ai-M Series

Dimensions
Frame size 20mm
20 10±1 L±1.5
±0.2
16 4-M2 1.5

Ø4 -0.013
DP2.5

±0.1
7±0.2
0

3.5
Model L
Ø16 -0.03
0

Ai-M-20MA 41.2
Ai-M-20LA 53.1

Ø8.5, 0.4m

Frame size 28mm

28 15±1 L±1.5
±0.2
23 4-M2.5 1.7
-0.013

±0.1
0

DP2.5 ±0.2
10 Model L
4.5
Ø5

Ai-M-28SB 46
Ø22 -0.03
0

Ai-M-28MB 59
Ai-M-28LB 65

Ø8.5, 0.4m

Frame size 35mm

35 20±1 L±1.5
±0.2
26 4-M3 2.5
-0.013

±0.1

DP4
0

11±0.2 Model L
4.5
Ø5

Ai-M-35SB 41.5
Ø22 -0.03
0

Ai-M-35MB 52
Ai-M-35LB 68.5

Ø8.5, 0.4m

65
 2-Phase Closed-Loop Stepper Motor

Dimensions
(unit: mm)
Frame size 42mm SENSORS

42 20±1 L+33.4(±1.5)
31±0.2 1.8 L±1 CONTROLLERS

Ø5-0.012
4-M3×0.5

0
DP 4

4.5
Ø22 -0.03
MOTION DEVICES

0
15±0.2 Model L
Ai-M-42SA 34.1
SOFTWARE
Ai-M-42MA 40.1
Ai-M-42LA 48.1

Ø10, 0.18m
(Y)
Closed Loop
Stepper System

(Z)
Frame size 56mm Stepper Motors

57.15 20.6±1 L+33.8(±1.5) (AA)

Drivers
±0.2 ±1
47.14 1.6 L
4-Ø5 +0.3
Ø8 -0.013

0 (AB)
0

Motion
Controllers

15±0.2
7.5
Ø38.1±0.05

Model L
Ai-M-56SA 43.5
Ai-M-56MA 56.5
Ai-M-56LA 77.5

Ø10, 0.18m

Frame size 60mm

60 20.6±1 L+33.8(±1.5)

50±0.25 1.6 L±1

4-Ø5 +0.3
Ø8 -0.013

0
0

15±0.2
7.5
Ø38.1±0.05

Model L
Ai-M-60SA 48.1
Ai-M-60MA 69
Ai-M-60LA 86

Ø10, 0.18m

66
Ai-M Series

Motor Characteristics
Frame size 20mm Frame size 28mm
0.4 Ai-M-20LA 2
Ai-M-28LB
Torque[kgf.cm]

Torque[kgf.cm]
1.8
0.35
1.6 Ai-M-28MB
0.3
1.4
0.25 1.2
Ai-M-20MA
0.2 1 Ai-M-28SB
0.15 0.8
0.6
0.1
0.4
0.05 0.2
0 0
10 100 1000 10 100 1000
Speed [rpm] Speed [rpm]
Frame size 35mm
4.5
Torque[kgf.cm]

4
3.5 Ai-M-35LB
3
2.5
2 Ai-M-35MB
1.5
Ai-M-35SB
1
0.5
0
10 100 1000
Speed [rpm]

Frame size 42mm Frame size 56mm

6 25
Torque[kgf.cm]

Torque[kgf.cm]

5
Ai-M-42LA 20
Ai-M-56LA
4 Ai-M-42MA
15
3
Ai-M-42SA Ai-M-56MA
10
2
Ai-M-56SA

1 5

0 0
10 100 1000 3000 10 100 1000 3000
Speed [rpm] Speed [rpm]
Frame size 60mm
30
Torque[kgf.cm]

Ai-M-60LA

25

Ai-M-60MA
20

15

Ai-M-60SA
10

0
10 100 1000 3000
Speed [rpm]

67
 2-Phase Closed-Loop Stepper Motor

Motor Connectors
◎ CN2: Motor+Encoder Connector SENSORS

Pin arrangement Pin no. Function Pin no. Function

1 GND 8 +5VDC
CONTROLLERS
2 Encoder A 9 Encoder A
3 Encoder B 10 Encoder B
8 9 10 11 12 13 14 4 Encoder Z 11 Encoder Z
MOTION DEVICES
1 2 3 4 5 6 7 5 F.G. 12 N.C
6 Motor A 13 Motor B
7 Motor A 14 Motor B SOFTWARE

Specifications
Type Manufacture
Connector Connector terminal Housing
Motor+ Frame size 20, 28, 35mm 5556T2
CN2 5557-14R - Molex
Encoder Frame size 42, 56, 60mm 5556T
※Above connectors are suitable for Ai-M Series. You can use equivalent or substitute connectors.

◎ Cable (sold separately)

Type Model (Y)
Closed Loop
Motor+Encoder cable Normal Moving Stepper System

(Z)
Stepper Motors
※1 ※1
C1D14M- C1DF14M-

(AA)
Drivers

※1: indicates cable length (1, 2, 3, 5, 7, 10).

E.g.) C1DF14M-10: 10m moving type motor+encoder cable. (AB)
Motion
Controllers

Motor Installation
1. Mounting direction
Motor can be mounted in any directions-facing up, facing down and side ways.
No matter which direction motors to be mounted, make sure not to apply overhung or thrust load on the shaft.
Refer to the table below for allowable shaft overhung load / thrust load.

Side ways Facing up, down

Overhung Thrust
load load

D※1 Thrust
load
※1: The distance from the shaft in front (mm)

The distance from the shaft in front (mm), Allowable overhung load [kgf (N)] Allowable
Motor size
D=0 D=5 D=10 D=15 thrust load
Frame size 20mm 1.22 (12) 1.53 (15) - -
Frame size 28mm 2.55 (25) 3.46 (34) 5.3 (52) -
Frame size 35mm 2 (20) 2.55 (25) 3.46 (34) 5.3 (52) Under the load of
Frame size 42mm 2 (20) 2.6 (25) 3.5 (34) 5.3 (52) motor
Frame size 56mm
5.5 (54) 6.8 (67) 9.1 (89) 13.3 (130)
Frame size 60mm
Do not apply excessive force to motor cable when mounting motors.
Do not forcibly pull or insert the cable. It may cause poor connection or disconnection of the cable by force.
In case of frequent cable movement required application, proper safety countermeasures must be ensured.

68
Ai-M Series

Motor Installation
2. Mounting method
With considering heat radiation and vibration isolation, mount the motor as tight as possible against a metal panel having high thermal
conductivity such as iron or aluminum.
When mounting motors, use hexagon socket screws, hexagon nuts, spring washers and flat washers.
Refer to the table below for allowable thickness of mounting plate and using bolt.

Frame size 20mm

Tap hole
16±0.2 Through hole

4-Ø2.3 Spring washer

(Through hole)
16±0.2

Hexagon socket
Ø16 +0.021
0
screw (M2)
Pilot for flange Mounting plate
(Counter bore or (thickness: min. 3mm)
[Mounting plate] Through hole)
※Do not draw the wire with over strength 5N after wiring the encoder.

Frame size 28mm

Tap hole
23±0.2
Through hole

4-Ø2.8 Spring washer

(Through hole)
23±0.2

+0.3
Hexagon socket
Ø22+0.1 screw (M2.5)
Pilot for flange Mounting plate
(Counter bore or (thickness: min. 4mm)
[Mounting plate] Through hole)
※Do not draw the wire with over strength 5N after wiring the encoder.

Frame size 35mm

Tap hole
26±0.2
Through hole

4-Ø3.3 Spring washer

(Through hole)
26±0.2

+0.3
Hexagon socket
Ø22 +0.1 screw (M3)
Pilot for flange Mounting plate
(Counter bore or (thickness: min. 4mm)
[Mounting plate] Through hole)
※Do not draw the wire with over strength 5N after wiring the encoder.

Frame size 42mm

Tap hole
31±0.2 Through hole

Ø3.5 Spring washer

(Through hole)
31±0.2

Hexagon socket
Ø22+0.021
0
screw (M3)
Pilot for flange Mounting plate
(Counter bore or (thickness: min. 4mm)
[Mounting plate] Through hole)
※Do not draw the wire with over strength 30N after wiring the encoder.

69
 2-Phase Closed-Loop Stepper Motor
Frame size 56mm/60mm
47.14/50±0.2
Hexagon socket screw (M4) Hexagon SENSORS
nut
Ø4.5
47.14/50±0.2

(Through hole) Spring

CONTROLLERS
Pilot for flange
(Counter bore or washer
+0.3
Ø38.1 +0.1 Through hole)
MOTION DEVICES

Through hole Mounting plate

[Mounting plate] (thickness: min. 5mm)
SOFTWARE

±0.2
47.14/50
Through hole Spring washer

M4 Hexagon
47.14/50±0.2

(Tap hole) socket

Pilot for flange
(Counter bore or screw (M4)
+0.3
Ø38.1 +0.1 Through hole)
(Y)
Closed Loop
Mounting plate Stepper System
Tap hole (thickness: min. 5mm)
[Mounting plate]
(Z)
※Do not draw the wire with over strength 30N after wiring the encoder. Stepper Motors

3. Connection with load (AA)

Drivers
When connecting the load, be sure of the center, tension of the belt, and parallel of the pulley.
When connecting the load such as a pulley, a belt, be sure of the allowable thrust load, radial load, and shock.
(AB)
Tighten the screw for a coupling or a pulley not to be unscrewed. Motion
Controllers
When connecting a coupling or a pulley on the motor shaft, be sure of damage of the motor shaft and the motor shaft bearing.
Do not disassemble or modify the motor shaft to connect with the load.
Direct load connection with coupling Load connection with pulley, belt, and wire Load connection with gear

Flexible coupling
Ball screw or TM screw
※Use Autonics flexible coupling
(ERB Series).

When connecting the load directly (ball screw,

TM screw, etc) to the motor shaft, use a The motor shaft and the load shaft should be
The motor shaft and the load shaft should be
flexible coupling as shown in the above figure. parallel.
parallel.
If the center of the load is not aligned with Connect the motor shaft and the line which
Connect the motor shaft to the center of gear
that of shaft, it may cause severe vibration, connects the center of two pulleys to a right
teeth side to be interlocked.
shaft damage or shorten life cycle of the shaft angle.
bearing.

4. Installation condition
Install the motor in a place that meets certain conditions specified below.
It may cause product damage if it is used out of following conditions.
①Inside of the housing which is installed indoors
(This unit is manufactured for the purpose of attaching to equipment. Install a ventilation device.)
②Within 0 to 50℃ (at non-freezing status) of ambient temperature
③Within 20 to 85%RH (at non-dew status) of ambient humidity
④The place without explosive, flammable and corrosive gas
⑤The place without direct ray of light
⑥The place where dust or metal scrap does not enter into the unit
⑦The place without contact with water, oil, or other liquid
⑧The place without contact with strong alkali or acidity
⑨The place where easy heat dissipation could be made
⑩The place without continuous vibration or severe shock
⑪The place with less salt content
⑫The place with less electronic noise occurs by welding machine, motor, etc.
⑬The place where no radioactive substances and magnetic fields exist. It shall be no vacuum status as well.

70
Ai-M Series

Troubleshooting
1. When motor does not rotate
①Check the connection status between controller and driver, and pulse input specifications (voltage, width).
②Check the pulse and direction signal are connected correctly.
2. When motor rotates to the opposite direction of the designated direction
①When RUN mode is 1-pulse input method, CCW input [H] is for forward, [L] is for backward.
②When RUN mode is 2-pulse input method, check CW and CCW pulse input are changed or not.
3. When motor drive is unstable
①Check that driver and motor are connected correctly.
②Check the driver pulse input specifications (voltage, width).

Proper Usage
● Follow instructions in 'Proper Usage'.
Otherwise, it may cause unexpected accidents.
● Using motors at low temperature may cause reducing ball bearing's grease consistency and friction torque is increased.
Start the motor in a steady manner since motor's torque is not to be influenced.
● If wiring encoder cable, separate it from high voltage line or power cable for preventing surge and inductive noise.
The cable length should be as short as possible.
Failure to follow this instruction may result in raised cable resistance, residual voltage, and output waveform noise
● Must connect the encoder shield cable to the F.G. terminal.
● For using motor, it is recommended to maintenance and inspection regularly.
①Unwinding bolts and connection parts for the unit installation and load connection
②Strange sound from ball bearing of the unit
③Damage and stress of lead cable of the unit
④Connection error with driver
⑤Inconsistency between the axis of motor output and the center, concentric (eccentric, declination) of the load, etc.
● This unit may be used in the following environments.
①Indoors (in the environment condition rated in 'Specifications')
②Altitude max. 2,000m
③Pollution degree 2
④Installation category II

71
 MD2U Series

Compact and High-Performance of 2-Phase Stepper Motor Driver

Features SENSORS

● Unipolar constant current drive type

● Enable to brake when it stops by STOP current CONTROLLERS

adjustment
● Low speed and precise control with microstep
MOTION DEVICES
(MD2U-MD20)
● Insulate using photocoupler to minimize the influence
by external noise SOFTWARE

● Power supply: 24-35VDC

Please read “Safety Considerations”
in the instruction manual before using.

Ordering Information MD2U-MD20 MD2U-ID20

MD 2 U M D 20
(Y)
RUN current Closed Loop
20 2A/Phase Stepper System
Power supply
D 24-35VDC
(Z)
Stepper Motors
Step method (resolution) M Micro Step (20-division)
I Intelligent type
Drive method (AA)
U Unipolar drive Drivers
Motor phase
2 2-phase
(AB)
Item Motion
MD Motor Driver Controllers

Specifications
Model MD2U-MD20 MD2U-ID20
※1
Power supply 24-35VDCᜡ
Allowable voltage range 90 to 110% of the rated voltage
※2
Max. current consumption 3A
※3
RUN current 0.5-2A/Phase
STOP current 20 to 70% of RUN current (set by STOP current volume)
Drive method Unipolar constant current drive type
Basic step angle 1.8˚/Step
Max. drive speed - 1500rpm
Resolution 1, 2, 4, 5, 8, 10, 16, 20-division (1.8˚ to 0.09˚/Step)
Input pulse width Min. 10μs (CW, CCW), min. 1ms (HOLD OFF)
characteristic

Duty rate 50% (CW, CCW)

Input pulse

Rising/Falling time Max. 0.5㎲ (CW, CCW) -

Pulse input voltage [H]: 4-8VDCᜡ, [L]: 0-0.5VDCᜡ
Max. input current 4mA (CW, CCW), 10mA (HOLD OFF)
※4
Max. input pulse freq. Max. 50kHz (CW, CCW)
Input resistance 300Ω (CW, CCW), 390Ω (HOLD OFF) 3.3kΩ (CW/CCW, RUN/STOP, HOLD OFF)
Insulation resistance Over 200MΩ (at 500VDC megger, between all terminals and case)
Dielectric strength 1000VAC 50/60Hz for 1 min (between all terminals and case)
Noise immunity ±500V the square wave noise (pulse width: 1μs) by the noise simulator
Vibration 1.5mm amplitude at frequency of 10 to 55Hz (for 1 min) in each X, Y, Z direction for 2 hours
Shock Vibration 300m/s² (approx. 30G) in each X, Y, Z direction for 3 times
Ambient temp. 0 to 50℃, storage: -10 to 60℃
Environment
Ambient humi. 35 to 85%RH, storage: 35 to 85%RH
Approval
※5
Weight Approx. 295g (approx. 180g) Approx. 303g (approx. 190g)
※1: Since torque characteristics are improved but the driver temperature rises with the 30VDC power supply, the driver should be installed
at the well ventilated environment. Torque is variable by power supply.
※2: Based on the ambient temperature 25℃, ambient humidity 55%RH.
※3: RUN current varies depending on the input RUN frequency, and the max. instantaneous RUN current varies also.
※4: Max. input pulse frequency is max. frequency to be input and is not same as max. pull-out frequency or max. slewing frequency.
※5: The weight includes packaging. The weight in parenthesis is for unit only.
※Environment resistance is rated at no freezing or condensation.

72
MD2U Series

2-Phase Micro Stepper Driver [MD2U-MD20]

Unit Descriptions
Power indicator

Function Input Motor Power

selection DIP switch terminal connection terminal
terminal
RUN current volume STOP current volume

※Refer to ' Secifications'.

Functions
Function selection DIP switch
● Microstep, pulse input method setting
Switch position
No. Name Function
ON OFF

MS1 MS2 MS3 Resolution

1 MS1 ON ON ON 1 (Full-step)
ON ON OFF 2-division
ON OFF ON 4-division
2 MS2 Microstep setting ON OFF OFF 5-division
OFF ON ON 8-division
OFF ON OFF 10-division
3 MS3 OFF OFF ON 16-division
OFF OFF OFF 20-division

1-pulse input 2-pulse input

4 1P/2P Pulse input method
method method

● Resolution setting (MS1/MS2/MS3)

Select the step angle (motor rotation angle per 1 pulse).
The set step angle is dividing basic step angle(1.8°) of 2-phase stepping motor by set resolution value.
Basic angle (1.8°)
E.g.) Set step angle =
Resolution
※Change resolution setting value only when the motor stops.

● 1P/2P
The switch is to select pulse input method.
1-pulse input method: CW → operating rotation signal input, CCW → rotation direction signal input ([H]: CW, [L]: CCW)
2-pulse input method: CW → CW rotation signal input, CCW → CCW rotation signal input.

Setting RUN current

RUN RUN current setting is for the current provided to the motor in running status.
CURRENT ※When RUN current is increased, RUN torque of the motor is also increased.
※When RUN current is set too high, the heat of the motor is increased.
※Set RUN current properly for the load within the rated current range of the motor.
※RUN current setting range: 0.5 to 2.0A
※RUN current setting method: Measure the voltage by connecting a DC voltage meter to both CT+ and
0.5A 2.0A CT- terminals while the motor is running (max. 150rpm)
2
E.g.) Input voltage (3V) × = 2A (motor excitation current)
3
CT CT
※Change RUN current only when the motor stops.

73
 2-Phase Unipolar Stepper Motor Driver
Setting STOP current
STOP STOP current setting is for the current provided to the motor in stopped status, preventing severe heat
SENSORS
CURRENT of the motor.
This function is for reducing the heat by variable resistance ratio setting within 0 to 100% of RUN
current setting range (actual setting range: 20 to 70%). CONTROLLERS
E.g.) In case of RUN current setting value is 2A and
20% 70%
STOP current setting value is 0% (actual setting range: 20%),
STOP current 2A × 0.2 = 0.4A MOTION DEVICES

※When STOP current is decreased, STOP torque of the motor is also decreased.
※When STOP current is set low, the heat of the motor is also low.
※Change STOP current only when the motor stops. SOFTWARE

HOLD OFF function

This signal is for rotating axis of the motor with external force or manual positioning.
When hold off signal maintains over 1ms as [H], motor excitation is released.
When hold off signal maintains over 1ms as [L], motor excitation is in a normal status.
※Use this function only when the motor stops.
※Refer to ' I/O Circuit and Connections'.
(Y)
Closed Loop
Stepper System

I/O Circuit and Connections

+5VDC ※1: If the power for driving pulse from external is over than (Z)
Stepper Motors
+5VDC, please connect resistor at the outside.
※1 (input power max. 24VDC, input current 10-20mA)
[Signal] (AA)
Drivers
1 ※CW
CW
300Ω 2-pulse input method (CW rotation signal input) (AB)

2 1-pulse input method (operating rotation signal input) Motion

Controllers

3 ※CCW
CCW
300Ω 2-pulse input method (CCW rotation signal input)
4 1-pulse input method (rotation direction signal input)
→[H]: CW, [L]: CCW

5 ※HOLD OFF
HOLD Control signal for motor excitation OFF
390Ω OFF
→ [H]: Motor excitation OFF
6
GND

[Motor] A-com (black)

1

B-com (white)
2

A (brown)
3
Motor
A (orange)
4

B (red)
5

B (yellow)
6

DC+
+
[Power] 24-35VDC
-
DC-

74
MD2U Series

Time Chart
● 1 pulse input method
[H]
CW
[L]
[H]
CCW
[L]

Rotation
position CCW
CW

● 2 pulse input method CW

[H]
CW
[L]

[H]
CCW
[L]

Rotation
position CW CCW

※Do not input CW, CCW signals at the same time in 2-pulse input method.
It may not operate properly if another direction signal is inputted when one of CW or CCW is [H].

Dimensions
(unit: mm)

86
76.5
74
4.5 38
100

100
105
94

20
39.5 4.5

75
 2-Phase Unipolar Intelligent Stepper Motor Driver

2-Phase Intelligent Stepper Motor Driver [MD2U-ID20]

Unit Descriptions START speed volume ACC time setting volume
SENSORS

RUN speed volume DEC time setting

volume
Power indicator CONTROLLERS

MOTION DEVICES

SOFTWARE

Function Input Motor Power

※Refer to '▣ Specifications'. selection DIP switch terminal connection terminal
terminal
RUN current volume STOP current volume
Intelligent type stepper motor driver?
MD2U-ID20 is an intelligent type stepper motor driver including all features to control 2-phase stepper motors so that no
controllers are required. (Y)
Closed Loop
● Realizing AC motor's driving features to stepper motors Stepper System

● Controlling START speed, RUN speed and ACC/DEC speed

● User-friendly design to realize various functions (front switch and volume) (Z)
Stepper Motors

Functions
Function selection DIP switch (AA)
Drivers
Switch position
No. Name Function
ON OFF
(AB)
SYM/ Motion
1 SYM/NORMAL Symmetry Asymmetry Controllers
NORMAL
Max. speed
2 MS2 MS2 MS3 H/L SPEED
(rpm)
Max. speed ON ON 1500
3 MS3 ON OFF 1350
ON 1 2 3 4 ON: High speed
OFF ON 1000
H/L OFF OFF 500
4 High/Low speed
SPEED D※1 D※1 OFF: Low speed 150

※1: D=Don't care

※Reboot the driver after changing function selection switch.
Selection of Symmetry/Asymmetry
※The function to make the ACC/DEC time of run-speed as asymmetry or symmetry using DIP switch No. 1.
Speed Asymmetry (normal) of accel/deceleration
(rpm)

A D A D
Time (sec)
ACC time and DEC time are repeated as a asymmetrical figure
Speed Symmetry of accel/deceleration
(rpm)

A D D A
Time (sec)
ACC time and DEC time are repeated as a symmetrical figure
※It is able to set the gradient (acceleration and deceleration time) as ACC/DEC time.
Selection of max. speed (MS2, MS3)
※The function to select the max. speed of motors.
※The max. speed of stepper motor is changed by MS2/MS3 and Hi/Low speed.
※The features of run and vibration are able to change depending on MS2, MS3.
※Lower the max. speed to run a motor smoothly.
Selection of H/L SPEED
※H/L SPEED mode selection switch
: Accel/deceleration control is not available in Low speed mode since all sections are included in Pull-in range.
※Low speed mode: It is able to drive a motor up to 150rpm of max. drive speed.
※High speed mode: It is able to drive a motor up to 1500rpm of max. drive speed.

76
MD2U Series
Setting RUN current
RUN RUN current setting is for the current provided to the motor in running status.
CURRENT ※When RUN current is increased, RUN torque of the motor is also increased.
※When RUN current is set too high, the heat of the motor is increased.
※Set RUN current properly for the load within the rated current range of the motor.
※RUN current setting range: 0.5 to 2.0A
※RUN current setting method: Measure the voltage by connecting a DC voltage meter to both CT+ and
0.5A 2.0A CT- terminals while the motor is running (max. 150rpm)
2
E.g.) Input voltage (3V) × = 2A (motor excitation current)
3
CT CT ※Change RUN current only when the motor stops.
Setting STOP current
STOP current setting is for the current provided to the motor in stopped status, preventing severe heat
STOP of the motor.
CURRENT This function is for reducing the heat by variable resistance ratio setting within 0 to 100% of RUN
current setting range (actual setting range: 20 to 70%).
E.g.) In case of RUN current setting value is 2A and
STOP current setting value is 0%(actual setting range: 20%),
20% 70%
STOP current 2A × 0.2 = 0.4A
※When STOP current is decreased, STOP torque of the motor is also decreased.
※When STOP current is set low, the heat of the motor is also low.
※Change STOP current only when the motor stops.

Setting RUN speed

※It sets max. RUN speed.
RUN SPEED
※Max. RUN speed can be different depending on max. speed setting (MS2, MS3) and driving mode
setting (Hi/Low speed).
※Since missing step can occur due to max. input pulse frequency of motors, consider motor type and
its RUN current when setting max. RUN speed.
0% 100% ※Set the value only when the motor stops.

Setting START speed

START SPEED ※It sets START speed.
※Max. START speed value is same with RUN speed value.
※Although START speed must be set within max. starting frequency, it is recommended to set up
START speed within 0 to 50% for stable driving.
※Set the value only when the motor stops.
0% 100%

Setting ACC time

※It sets the acceleration time from START speed to max. RUN speed.
ACC TIME ※Operates in AT_1 operation mode when ACC time is under 33.3%, AT_2 operation mode when
ACC time is under 66.6%, and AT_3 operation mode when ACC time is over 66.6%.
※AT_1 is 0.5 sec when RUN speed=100%, START speed=0%.
※AT_2 is 1 sec when RUN speed=100%, START speed=0%.
0% 100% ※AT_3 is 2 sec when RUN speed=100%, START speed=0%.
※Set the value only when the motor stops.

Setting DEC time

※It sets the deceleration time from max. RUN speed to STOP.
DEC TIME
※Operates in DT_1 operation mode when DEC time is under 33.3%, DT_2 operation mode when
DEC time is under 66.6%, and DT_3 operation mode when DEC time is over 66.6%.
※DT_1 is 0.5 sec when RUN speed=100%, START speed=0%.
※DT_2 is 1 sec when RUN speed=100%, START speed=0%.
0% 100% ※DT_3 is 2 sec when RUN speed=100%, START speed=0%.
※Set the value only when the motor stops.
※ACC Time and DEC Time are declined in proportion to the setting value of START speed.
※The figures above indicate the factory default for each value.

HOLD OFF function

This signal is for rotating axis of the motor with external force or manual positioning.
When hold off signal maintains over 1ms as [H], motor excitation is released.
When hold off signal maintains over 1ms as [L], motor excitation is in a normal status.
※Use this function only when the motor stops.
※Refer to '▣ I/O Circuit and Connections'.

77
 2-Phase Unipolar Intelligent Stepper Motor Driver

Time Chart
High speed mode SENSORS
ON
RUN/STOP
OFF
CONTROLLERS
ON
CW/CCW
OFF
ACC time CW MOTION DEVICES
(same as DEC time)
Rotation speed
and direction DEC SOFTWARE
(symmetry mode) ACC time time
Motor
CW stop CCW
※It accelerates up to RUN speed during ACC time after RUN signal is ON and decelerates during DEC time after it is OFF.
※It is disable to change the direction during the signal is ON.
※It takes 0.5sec for deceleration when DEC time is "0%".
(Y)
Low speed mode Closed Loop
Stepper System
Max. RUN speed is 150rpm and ACC and DEC time are not available.
It is same with High speed to change RUN/STOP and direction. (Z)
Stepper Motors

I/O Circuit and Connections

Inner power (24-35VDC) ※RUN/STOP signal input (AA)
Drivers
→ [ON]: RUN, [OFF]: STOP
(AB)

3.3kΩ
※Direction signal input Motion
Controllers
RUN/STOP
1 → [ON]: CW, [OFF]: CCW

3.3kΩ CW/CCW ※HOLD OFF signal iuput

2
→ [ON]: HOLD OFF, [OFF]: HOLD ON
3.3kΩ HOLD OFF ● Inner adjuster control
3
(Adjusting RUN speed with front VR)
COM Make the connection between terminal No.5 and No.6.
4 - COM 4
0-5VDC
+
5 ※External 5
RUN speed 5VDC (Inner) ※External voltage
adjuster control RUN speed 5VDC (Inner)
6 control 2kΩ
Inner (1 to 3kΩ) 6
adjuster
control ● External adjuster control (Adjusting RUN speed
with connecting external variable resistance)
A-com (black)
1 Connect variable resistance 2kΩ (1 to 3kΩ) for external
B-com (white)
adjuster control. If variable resistance is too low, full range
2 setting might not be possible. Make sure to adjust RUN
A (brown) speed VR to maximum for external adjuster control.
3
3
A (orange) Motor COM 4
4
B (red) 2
5 External adjuster
5
RUN speed 5VDC (Inner) 2kΩ (1 to 3kΩ)
B (yellow)
6 6 1

● External voltage control (Adjusting RUN speed

DC+
Power
+
24-35VDC
with external voltage input)
- Make sure to adjust RUN speed VR to maximum external
DC-
voltage control.

※Inner adjuster is correlated to external adjuster control and COM 4 - External voltage
external voltage control. Make sure that inner adjuster + 0-5VDC
must be set to maximum in order to set maximum RUN 5
RUN speed
speed using external adjuster and external voltage.
6

78
MD2U Series

Dimensions (unit: mm)

86
76.5
74
4.5
38

100

100

105
94
20
39.5 4.5

Proper Usage
Follow instructions in 'Proper Usage'. Otherwise, it may cause unexpected accidents.
24-35VDC power supply should be insulated and limited voltage/current or Class 2, SELV power supply device.
Re-supply power after min. 1 sec from disconnected power.
When the signal input voltage is exceeded the rated voltage, connect additional resistance at the outside.
Set RUN current within the range of motor's rated current depending on the load.
When the rated motor current is over, the heat may be increased and motor may be damaged.
If motor stops, switching for STOP current executed by the current down function.
When hold off signal is [H] or current down function is off, the switching does not execute.
Use twisted pair (over 0.2mm2) for the signal cable which should be shorter than 2m.
The thickness of cable should be same or thicker than the motor cable's when extending the motor cable.
Keep the distance between power cable and signal cable more than 10cm.
If the TEST switch is ON, the motor operates immediately and it may be dangerous.
Do not change any setting switches (function, run/stop current, resolution switches) during the operation or after
supplying power.
Failure to follow this instruction may result in malfunction.
Motor vibration and noise can occur in specific frequency period
①Change motor installation method or attach the damper.
②Use the unit out of the dedicated frequence range when vibration and noise occurs due to changing motor RUN speed.
For using motor, it is recommended to maintenance and inspection regularly.
①Unwinding bolts and connection parts for the unit installation and load connection
②Strange sound from ball bearing of the unit
③Damage and stress of lead cable of the unit
④Connection error with motor
⑤Inconsistency between the axis of motor output and the center, concentric (eccentric, declination) of the load, etc.
This product does not prepare protection function for a motor.
This unit may be used in the following environments.
①Indoors (in the environment condition rated in 'Specifications')
②Altitude max. 2,000m
③Pollution degree 2
④Installation category II

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MD5 Series

Small, Light, High Speed & Torque 5-Phase Stepper Motor Driver
Features
● Bipolar constant pentagon drive method
● Includes auto current down and self-diagnosis function
● Low speed rotation and high accuracy controlling with
microstep-driving (MD5-HD14, MD5-HF14, MD5-HF14-AO,
MD5-HF28)
[Max. resolution 250 division: In case of 5-phase stepper motor of
which basic step angle is 0.72°, it enables to control up to 0.00288°
per pulse and it requires 125,000 pulses per rotation.]
● Photocoupler input insulation method to minimize the
MD5-HF14 MD5-HD14
effects from external noise MD5-HF28 MD5-ND14
MD5-HF14-AO
Please read “Safety Considerations”
in the instruction manual before using.

Ordering Information
MD 5 H F 14 (only for MD5-HF14(-AO),
※1
No mark Zero point excitation output MD5-HF28 model)
Output AO Alarm output
RUN current 14 1.4A/Phase
28 2.8A/Phase
Power supply D 20-35VDC
F 100-220VAC
Step type (resolution) H Micro step (250-division)
N Normal Step ※KR-55MC can be replaced with MD5-HD14.
Motor phase ※KR-5MC can be replaced with MD5-ND14.
5 5-phase
Item ※MD5-MF14 can be replaced with MD5-HF14.
MD Motor Driver ※KR-505G can be replaced with MD5-HF28.
※1: Except MD5-ND14
Specifications
Model MD5-HD14 MD5-HF14 MD5-HF14-AO MD5-HF28 MD5-ND14
※ ※
Power supply 20-35VDCᜡ 1 100-220VACᜠ 50/60Hz 20-35VDCᜡ 1
Allowable voltage range 90 to 110% of the rated voltage
※
Max. current consumption 2 3A 5A 3A
※
RUN current 3 0.4-1.4A/Phase 1.0-2.8A/Phase 0.5-1.5A/Phase
25 to 75% of RUN
STOP current 27 to 90% of RUN current (set by STOP current switch) current (set by STOP
current volume)
Drive method Bipolar constant current pentagon drive
Basic step angle 0.72˚/step
Resolution 1, 2, 4, 5, 8, 10, 16, 20, 25, 40, 50, 80, 100, 125, 200, 250-division (0.72 to 0.00288 /Step) 1, 2-division (0.72, 0.36/step)
Pulse width Min. 1㎲ (CW, CCW), Min. 1ms (HOLD OFF) Min. 10㎲ (CW, CCW),
Min. 1ms (HOLD OFF)
characteristic

Duty rate 50% (CW, CCW)

Input pulse

Rising/Falling time Below 130ns (CW, CCW)

Pulse input voltage [H]: 4-8VDCᜡ, [L]: 0-0.5VDC
※4
Pulse input current 7.5-14mA (CW, CCW), 10-16mA (HOLD OFF, DIVISION SELECTION, ZERO OUT)
Max. input※pulse
frequency 5 Max. 500kHz (CW, CCW) Max. 50kHz (CW, CCW)
270Ω (CW, CCW),
270Ω (CW, CCW), 270Ω (CW, CCW),
390Ω (HOLD OFF, 390Ω
Input resistance 390Ω (HOLD OFF, DIVISION SELECTION), 390Ω (HOLD OFF),
DIVISION SELECTION), (CW, CCW, HOLD OFF)
10Ω (ZERO OUT) 10Ω (ALARM)
10Ω (ZERO OUT)
Insulation resistance Over 100MΩ (at 500VDC megger, between all terminals and case)
Dielectric strength 1000VAC 50/60Hz for 1min (between all terminals and case)
±500V the square wave ±500V the square wave
Noise immunity noise (pulse width: 1μs) ±2kV the square wave noise (pulse width: 1μs) by the noise simulator noise (pulse width: 1μs)
by the noise simulator by the noise simulator
Mechanical 1.5mm amplitude at frequency 5 to 60Hz (for 1 min) in each X, Y, Z direction for 2 hours
Vibration
Malfunction 1.5mm amplitude at frequency 5 to 60Hz (for 1 min) in each X, Y, Z direction for 10 min
0 to 40℃, 0 to 40℃,
Environ- Ambient temp. storage: -10 to 60℃ 0 to 50℃, storage: -10 to 60℃ storage: -10 to 60℃
ment
Ambient humi. 35 to 85%RH, storage: 35 to 85%RH
Approval ᜢ ᜢᜧ ᜢᜧ ᜢᜧ ᜢ
Weight 6
※ Approx. 327.5g Approx. 840g Approx. 820g Approx. 1.35kg Approx. 183g
(approx. 220g) (approx. 680g) (approx. 660g) (approx. 1.2kg) (approx. 130g)
※1: When using over 30VDC power supply, torque characteristics are improved but the driver temperature raise. The unit should be installed at the well ventilation
environment.
※2: Based on ambient temperature 25℃, ambient humidity 55%RH.
※3: RUN current varies depending on the input RUN frequency and max. RUN current at the moment varies also varies depending on the load.
※4: In case of MD5-HF14-AO, MD5-ND14, there are no DIVISION SELECTION, ZERO OUT function.
※5: Max. input pulse frequency is max. frequency to be input and is not same as max. pull-out frequency or max. slewing frequency.
※6: The weight includes packaging. The weight in parenthesis is for unit only. ※Environment resistance is rated at no freezing or condensation.

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5-Phase Stepper Motor Driver (1.4A/Phase, DC Power)

5-Phase Micro Stepper Motor Driver [MD5-HD14]

Unit Description Resolution switch RUN current switch
STOP current switch
SENSORS

FIELD
INSTRUMENTS

CONTROLLERS

MOTION DEVICES

Input
Power indicator terminal Motor
Function Zero connection Power SOFTWARE
selection output terminal terminal
DIP switch ※Refer to ' Specifications'.

Functions
Function selection DIP switch
Switch position
No. Name Function
ON OFF (default) (A)
Closed Loop
1 TEST Self diagnosis function 30rpm rotation Not use Stepper System
2 1/2 CLK Pulse input method 1-pulse input method 2-pulse input method
3 C/D Auto current down Not use Use (B)
Stepper Motors
TEST
Self diagnosis function is for motor and driver test.
(C)
This function makes the motor rotate with 30rpm in full step. Rotation speed varies with resolution settings. Stepper Motor
Rotation speed = 30rpm/resolution Drivers

In 1-pulse input method, it rotates to CCW, and in 2-pulse input method, it rotates to CW.
※Be sure that the TEST switch is OFF before supplying the power. (D)
Motion
If the TEST switch is ON, the motor operates immediately and it may be dangerous. Controllers

1/2 CLK
1/2 CLK switch is to select pulse input method.
1-pulse input method: CW → operating rotation signal input, CCW → rotation direction signal input ([H]: CW, [L]: CCW)
2-pulse input method: CW → CW rotation signal input, CCW → CCW rotation signal input.
C/D (auto current down)
 his function is to reduce the current provided for motor automatically for preventing severe motor's heat when motor stops.
T
If motor RUN pulse is not applied, the current provided for motor reduces as the set STOP current.
※Be sure that when motor RUN current is reduced, the stop torque of motor also reduced.
※Set the STOP current by the STOP current switch.

Setting RUN current

Switch No. 0 1 2 3 4 5 6 7 8 9 A B C D E F
Current 0.4 0.5 0.57 0.63 0.71 0.77 0.84 0.9 0.96 1.02 1.09 1.15 1.22 1.27 1.33 1.4
(A/Phase)
Setting RUN current is for the current provided for motor when the motor runs.
※When RUN current is increased, RUN torque of the motor is also increased.
※When RUN current is set too high, the heat is severe.
※Set RUN current within the range of motor's rated current according to its load.
※Change RUN current only when the motor stops.
Setting STOP current
Switch No. 0 1 2 3 4 5 6 7 8 9 A B C D E F

% 27 31 36 40 45 50 54 58 62 66 70 74 78 82 86 90

Setting STOP current is for the current provided for motor when the motor stops for preventing severe motor's heat.
This setting is applied when using C/D (current down) function.
Setting value of STOP current is percentage (%) ratio of the set RUN current.
E.g.) S
 et RUN current as 1.4A and STOP current as 40%.
STOP current is set as 1.4A×0.4=0.56A
※When STOP current is decreased, STOP torque of the motor is also decreased.
※When STOP current is set too low, the heat is lower.
※Change STOP current only when the motor stops.

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MD5 Series
Zero point excitation output signal (ZERO OUT)
ON
CW Pulse
OFF
ON
CCW Pulse
OFF
ON
ZERO OUT
OFF
0 1 2 3 4 5 6 7 8 9 0 1 2 1 0
 his output indicates the initial step of excitation order of stepper motor and rotation position of motor axis.
T
This signal outputs every 7.2° of rotation of the motor axis regardless of resolution.
(50 outputs per 1 rotation of the motor.)
E.g.) Full step: outputs one time by 10 pulses input, 20-division: outputs one time by 200 pulses input.

HOLD OFF function

 his signal is for rotating motor's axis using external force or used for manual positioning.
T
When hold off signal maintains over 1ms as [H], motor excitation is released.
When hold off signal maintains over 1ms as [L], motor excitation is in a normal status.
※Must stop the motor for using this function.
※Refer to ' I/O Circuit and Connections'.

Setting Microstep (microstep: resolution)

Switch No. 0 1 2 3 4 5 6 7 8 9 A B C D E F
Resolution 1 2 4 5 8 10 16 20 25 40 50 80 100 125 200 250
Step angle 0.72° 0.36° 0.18° 0.144° 0.09° 0.072° 0.045° 0.036° 0.0288° 0.018° 0.0144° 0.009° 0.0072° 0.00576° 0.0036° 0.00288°
Setting Resolution (same as MS1, MS2)
The MS1, MS2 switches is for resolution setting.
Select MS2 or MS2 by DIVISION SELECTION signal ([L]: MS1, [H]: MS2)
Select the step angle (motor rotation angle per 1 pulse).
The set step angle is dividing basic step angle (0.72°) of 5-phase stepper motor by setting value.
The calculation formula of divided step angle is as below.
Basic step angle (0.72°)
Set step angle =
Resolution
 hen using geared type motor, the angle is step angle divided by gear ratio.
W
Step angle / gear ratio = Step angle applied gear
E.g) 0.72° / 10 (1:10) = 0.072°
※Must stop the motor before changing the resolution.

I/O Circuit and Connections

[Signal] +5VDC
1 ※CW
270Ω CW 2-pulse input method (CW rotation signal input)
2 1-pulse input method (operating rotation signal input)
3 ※CCW
270Ω CCW 2-pulse input method (CCW rotation signal input)
4 1-pulse input method (rotation direction signal input)
5 → [H]: CW, [L]: CCW
390Ω HOLD
OFF ※HOLD OFF
6
Control signal for motor excitation OFF
7 → [H]: Motor excitation OFF
390Ω DIVISION
SELECTION ※DIVISION SELECTION
8 Division selection signal
GND
9 → [L]: Operated by MS1 setting resolution
10Ω [H]: Operated by MS2 setting resolution
ZERO OUT
10 ※ZERO OUT
Zero point excitation output signal → Zero point status ON
[Motor] Pentagon Standard
connection connection ※If the power for driving pulse from external is over
than +5VDC, please connect resistor at the outside.
BLUE 1 Blue Gray+Red
(input power max. 24VDC, input current 10-20mA)
RED 2 Red Yellow+Black

ORANGE 3 Orange Orange+White Motor

GREEN 4 Green Brown+Green
※This connection cable color is only for Autonics motors.
BLACK 5 Black Blue+Purple It may different cable color when using other motors.
1 +
[Power] Power
2 - 20-35VDC

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5-Phase Stepper Motor Driver (1.4A/Phase, DC Power)

Connections
SENSORS

FIELD
INSTRUMENTS

CONTROLLERS

MOTION DEVICES

SOFTWARE

+ -
POWER
20-35VDC
Division selection + Black
signal -
Green
Zero point +
CW+
CW-
CCW+
CCW-
HOLD OFF+
HOLD OFF-

(A)
excitation - Orange Closed Loop
User output signal Motor Stepper System
Red
Controller
Blue
(B)
Stepper Motors
※In case of standard connection,
refer to 'Stepper Motors' section.
(C)
Stepper Motor
Drivers

(D)
Motion
Controllers

Dimensions
(unit: mm)

86
76.5
74
4.5 38
100

100
105
94

20
4.5
39.5

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MD5 Series

5-Phase Micro Stepper Motor Driver [MD5-HF14]

Unit Description Function selection DIP switch STOP current switch Resolution
RUN current switch switch
Alarm indicator (red)
Input
Power indicator
terminal

Motor Power
connection terminal
terminal
※Refer to ' Specifications'.
Functions
Function selection DIP switch
Switch position
No. Name Function
ON OFF (default)
1 TEST Self diagnosis function 30rpm rotation Not use
2 2/1 CLK Pulse input method 1-pulse input method 2-pulse input method
3 C/D Auto current down Not use Use
TEST
Self diagnosis function is for motor and driver test.
This function makes the motor rotate with 30rpm in full step. Rotation speed varies with resolution settings.
Rotation speed = 30rpm/resolution
In 1-pulse input method, it rotates to CCW, and in 2-pulse input method, it rotates to CW.
※Be sure that the TEST switch is OFF before supplying the power.
If the TEST switch is ON, the motor operates immediately and it may be dangerous.
2/1 CLK
2/1 CLK switch is to select pulse input method.
1-pulse input method: CW → operating rotation signal input, CCW → rotation direction signal input ([H]: CW, [L]: CCW)
2-pulse input method: CW → CW rotation signal input, CCW → CCW rotation signal input.
C/D (auto current down)
 his function is to reduce the current provided for motor automatically for preventing severe motor's heat when motor stops.
T
If motor RUN pulse is not applied, the current provided for motor reduces as the set STOP current.
※Be sure that when motor RUN current is reduced, the stop torque of motor also reduced.
※Set the STOP current by the STOP current switch.
Setting RUN current
Switch No. 0 1 2 3 4 5 6 7 8 9 A B C D E F
Current 0.4 0.5 0.57 0.63 0.71 0.77 0.84 0.9 0.96 1.02 1.09 1.15 1.22 1.27 1.33 1.4
(A/Phase)
Setting RUN current is for the current provided for motor when the motor runs.
※When RUN current is increased, RUN torque of the motor is also increased.
※When RUN current is set too high, the heat is severe.
※Set RUN current within the range of motor's rated current according to its load.
※Change RUN current only when the motor stops.

Setting STOP current

Switch No. 0 1 2 3 4 5 6 7 8 9 A B C D E F

% 27 31 36 40 45 50 54 58 62 66 70 74 78 82 86 90

Setting STOP current is for the current provided for motor when the motor stops for preventing severe motor's heat.
This setting is applied when using C/D (current down) function.
Setting value of STOP current is percentage (%) ratio of the set RUN current.
E.g.) Set RUN current as 1.4A and STOP current as 40%.
STOP current is set as 1.4A×0.4=0.56A
※When STOP current is decreased, STOP torque of the motor is also decreased.
※When STOP current is set too low, the heat is lower.
※Change STOP current only when the motor stops.

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5-Phase Stepper Motor Driver (1.4A/Phase, AC Power)

Zero point excitation output signal (ZERO OUT)

ON
CW Pulse
OFF SENSORS

ON
CCW Pulse
OFF FIELD
INSTRUMENTS
ON
ZERO OUT
OFF
0 1 2 3 4 5 6 7 8 9 0 1 2 1 0
CONTROLLERS
 his output indicates the initial step of excitation order of stepper motor and rotation position of motor axis .
T
This signal outputs every 7.2° of rotation of the motor axis regardless of resolution.
(50 outputs per 1 rotation of the motor.)
MOTION DEVICES
E.g.) Full step: outputs one time by 10 pulses input, 20-division: outputs one time by 200 pulses input.
HOLD OFF function
 his signal is for rotating motor's axis using external force or used for manual positioning.
T SOFTWARE
When hold off signal maintains over 1ms as [H], motor excitation is released.
When hold off signal maintains over 1ms as [L], motor excitation is in a normal status.
※Must stop the motor for using this function.
※Refer to ' I/O Circuit and Connections'.
Setting Microstep (microstep: resolution)
Switch No. 0 1 2 3 4 5 6 7 8 9 A B C D E F
Resolution 1 2 4 5 8 10 16 20 25 40 50 80 100 125 200 250
(A)
Step angle 0.72° 0.36° 0.18° 0.144° 0.09° 0.072° 0.045° 0.036° 0.0288° 0.018° 0.0144° 0.009° 0.0072° 0.00576° 0.0036° 0.00288° Closed Loop
Stepper System
Setting Resolution (same as MS1, MS2)
The MS1, MS2 switches is for resolution setting.
(B)
Select MS2 or MS2 by DIVISION SELECTION signal ([L]: MS1, [H]: MS2) Stepper Motors
Select the step angle (motor rotation angle per 1 pulse).
The set step angle is dividing basic step angle (0.72°) of 5-phase stepper motor by setting value. (C)
The calculation formula of divided step angle is as follow. Basic step angle (0.72°) Stepper Motor
Set step angle = Drivers
Resolution
When using geared type motor, the angle is step angle divided by gear ratio.
Step angle / gear ratio = Step angle applied gear (D)
Motion
E.g) 0.72° / 10 (1:10) = 0.072° Controllers
※Must stop the motor before changing the resolution.
Alarm indication
Overheat: When the temperature of driver base is over 80℃, the alarm indicator (red) turns ON and motor stops with holding the excision.
Overcurrent: When overcurrent occurs due to motor damage by burn, driver damage, or error, the alarm indicator (red) turns ON and the
motor becomes HOLD OFF.
※Turn OFF the power and remove the causes of alarm. Re-supply the power and the alarm indicator turns OFF and the driver is normal
operation.

I/O Circuit and Connections

+5VDC ※CW
[Signal] 2-pulse input method (CW rotation signal input)
1
270Ω CW 1-pulse input method (operating rotation signal input)
2 ※CCW
3 2-pulse input method (CCW rotation signal input)
270Ω CCW 1-pulse input method (rotation direction signal input)
4
→ [H]: CW, [L]: CCW
5 ※HOLD OFF
390Ω HOLD
OFF
Control signal for motor excitation OFF
6
→ [H]: Motor excitation OFF
7 ※DIVISION SELECTION
390Ω DIVISION SELECTION
8 +5VDC
Division selection signal
2kΩ
→ [L]: Operated by switch MS1
9 [H]: Operated by switch MS2
10Ω ZERO OUT
10
※ZERO OUT
Zero point excitation output signal → Zero point status ON
Pentagon Standard
[Motor] connection connection
BLUE ※If the power for driving pulse from external is over
1 Blue Gray+Red
than +5VDC, please connect resistor at the outside.
RED 2 Red Yellow+Black (input power max. 24VDC, input current 10-20mA)
ORANGE 3 Orange Orange+White Motor

GREEN 4 Green Brown+Green

BLACK 5 Black Blue+Purple ※This connection cable color is only for Autonics motors.
It may different cable color when using other motors.
[Power] L AC
Power 100-220VAC
50/60Hz
N AC
G
GND

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MD5 Series

Connections

Blue
Red F.G.
Orange
Motor 100-220VAC 50/60Hz
Green
Black

※In case of standard connection,

refer to 'Stepper Motors' section.
Division selection +
signal -
Zero point excitation +
output signal -
CW+
CW-
CCW+
CCW-
HOLD OFF+
HOLD OFF-

User
Controller

Dimensions
(unit: mm)

20 7 108
156

170

120

4-M4 Tap Depth: 8

5
40 5.4
122
42
133.5

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5-Phase Stepper Motor Driver (1.4A/Phase, AC Power, Alarm Output)

5-Phase Micro Stepper Motor Driver [MD5-HF14-AO]

Unit Description Function selection DIP switch STOP current switch SENSORS

RUN current switch

Alarm indicator (red)
Input/Output
Power indicator Resolution switch FIELD
terminal INSTRUMENTS

CONTROLLERS

MOTION DEVICES

SOFTWARE

Motor Power
connection terminal
terminal
※Refer to ' Specifications'.

Functions
Function selection DIP switch
Switch position (A)
No. Name Function Closed Loop
ON OFF (default) Stepper System
1 TEST Self diagnosis function 30rpm rotation Not use
2 2/1 CLK Pulse input method 1-pulse input method 2-pulse input method (B)
Stepper Motors
3 C/D Auto current down Not use Use
TEST (C)
Self diagnosis function is for motor and driver test. Stepper Motor
Drivers
This function makes the motor rotate with 30rpm in full step. Rotation speed varies with resolution settings.
Rotation speed = 30rpm/resolution
(D)
In 1-pulse input method, it rotates to CCW, and in 2-pulse input method, it rotates to CW. Motion
※Be sure that the TEST switch is OFF before supplying the power. Controllers

If the TEST switch is ON, the motor operates immediately and it may be dangerous.
2/1 CLK
2/1 CLK switch is to select pulse input method.
1-pulse input method: CW → operating rotation signal input, CCW → rotation direction signal input ([H]: CW, [L]: CCW)
2-pulse input method: CW → CW rotation signal input, CCW → CCW rotation signal input.
C/D (auto current down)
T
 his function is to reduce the current provided for motor automatically for preventing severe motor's heat when motor stops.
If motor RUN pulse is not applied, the current provided for motor reduces as the set STOP current.
※Be sure that when motor RUN current is reduced, the stop torque of motor also reduced.
※Set the STOP current by the STOP current switch.
Setting RUN current
Switch No. 0 1 2 3 4 5 6 7 8 9 A B C D E F
Current 0.4 0.5 0.57 0.63 0.71 0.77 0.84 0.9 0.96 1.02 1.09 1.15 1.22 1.27 1.33 1.4
(A/Phase)
Setting RUN current is for the current provided for motor when the motor runs.
※When RUN current is increased, RUN torque of the motor is also increased.
※When RUN current is set too high, the heat is severe.
※Set RUN current within the range of motor's rated current according to its load.
※Change RUN current only when the motor stops.
Setting STOP current
Switch No. 0 1 2 3 4 5 6 7 8 9 A B C D E F

% 27 31 36 40 45 50 54 58 62 66 70 74 78 82 86 90

Setting STOP current is for the current provided for motor when the motor stops for preventing severe motor's heat.
This setting is applied when using C/D (current down) function.
Setting value of STOP current is percentage (%) ratio of the set RUN current.
E.g.) S
 et RUN current as 1.4A and STOP current as 40%.
STOP current is set as 1.4A×0.4=0.56A
※When STOP current is decreased, STOP torque of the motor is also decreased.
※When STOP current is set too low, the heat is lower.
※Change STOP current only when the motor stops.

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MD5 Series
HOLD OFF function
 his signal is for rotating motor's axis using external force or used for manual positioning.
T
When hold off signal maintains over 1ms as [H], motor excitation is released.
When hold off signal maintains over 1ms as [L], motor excitation is in a normal status.
※Must stop the motor for using this function.
※Refer to ' I/O Circuit and Connections'.

Setting Microstep (microstep: resolution)

Switch No. 0 1 2 3 4 5 6 7 8 9 A B C D E F
Resolution 1 2 4 5 8 10 16 20 25 40 50 80 100 125 200 250
Step angle 0.72° 0.36° 0.18° 0.144° 0.09° 0.072° 0.045° 0.036° 0.0288° 0.018° 0.0144° 0.009° 0.0072° 0.00576° 0.0036° 0.00288°
Setting Resolution (MS1)
 he set step angle is dividing basic step angle (0.72°) of 5-phase stepper motor by setting value.
T
The calculation formula of divided step angle is as below.
Basic step angle (0.72°)
Set step angle =
Resolution
When using geared type motor, the angle is step angle divided by gear ratio.
Step angle / gear ratio = Step angle applied gear
E.g) 0.72° / 10 (1:10) = 0.072°
※Must stop the motor before changing the resolution.
Alarm indication/output
Overheat: When the temperature of driver base is over 80℃, the alarm indicator (red) turns ON and motor stops and alarm output turns
ON with holding the excision.
Overcurrent: When overcurrent occurs due to motor damage by burn, driver damage, or error, the alarm indicator (red) turns ON and
alarm output turns ON. The motor becomes HOLD OFF.
※Turn OFF the power and remove the causes of alarm. Re-supply the power and the alarm indicator turns OFF and alarm output turns OFF.
The driver is normal operation.

I/O Circuit and Connections

+5VDC ※If the power for driving pulse from external is over than +5VDC,
[Signal] please connect resistor at the outside.
1 (input power max. 24VDC, input current 10-24mA)
CW
270Ω
2 ※CW
2-pulse input method (CW rotation signal input)
3 1-pulse input method (operating rotation signal input)
CCW
270Ω ※CCW
4
2-pulse input method (CCW rotation signal input)
5 1-pulse input method (rotation direction signal input)
390Ω HOLD OFF → [H]: CW, [L]: CCW
6 5-24VDC ※HOLD OFF
Control signal for motor excitation OFF
7 → [H]: Motor excitation OFF
10Ω
Alarm OUT +
8 ※When alarm occurs, the motor becomes HOLD OFF. Turn OFF
2kΩ the power and remove the causes to normal operation.
Alarm OUT -
9
Over heat:
10
Over current:
Pentagon Standard
[Motor] connection connection
BLUE 1 Blue Gray+Red

RED 2 Red Yellow+Black

ORANGE 3 Orange Orange+White Motor

GREEN 4 Green Brown+Green

※This connection cable color is only for Autonics motors.
BLACK 5 Black Blue+Purple
It may different cable color when using other motors.

[Power]
L AC
Power 100-220VAC
N AC 50/60Hz

G
GND

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5-Phase Stepper Motor Driver (1.4A/Phase, AC Power, Alarm Output)

Connections
SENSORS

FIELD
INSTRUMENTS

CONTROLLERS

Blue
MOTION DEVICES
Red F.G.
Orange
Motor
Green 100-220VAC 50/60Hz
Black SOFTWARE

※In case of standard connection,

refer to 'Stepper Motors' section. Alarm -
5-24VDC
output +
CW+
CW-
CCW+
CCW-
HOLD OFF+
HOLD OFF-

(A)
Closed Loop
User Stepper System

Controller
(B)
Stepper Motors

(C)
Stepper Motor
Drivers

Dimensions (D)
Motion
(unit: mm) Controllers

20 7 108
170

120
156

4-M4 Tap Depth: 8

5 5.4
122
40 133.5
42

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MD5 Series

5-Phase Microstep Motor Driver [MD5-HF28]

Unit Description Resolution switch
RUN current switch
STOP current switch

Power indicator Function

Alarm indicator (red) selection
※KR-505G can be replaced with MD5-HF28. DIP switch
※Power supply 100-220VAC and socket type wire terminal blocks are
upgraded comparing to KR Series.
※Refer to ' Specifications'.

Functions
Function selection DIP switch
Switch position
No. Name Function
ON OFF (default)
1 TEST Self diagnosis function 30rpm rotation Not use
2 2/1 CLK Pulse input method 1-pulse input method 2-pulse input method
3 C/D Auto Current Down Not use Use
TEST
Self diagnosis function is for motor and driver test.
This function makes the motor rotate with 30rpm in full step. Rotation speed varies with resolution settings.
Rotation speed = 30rpm/resolution
In 1-pulse input method, it rotates to CCW, and in 2-pulse input method, it rotates to CW.
※Be sure that the TEST switch is OFF before supplying the power.
If the TEST switch is ON, the motor operates immediately and it may be dangerous.
2/1 CLK
2/1 CLK switch is to select pulse input method.
1-pulse input method: CW → operating rotation signal input, CCW → rotation direction signal input ([H]: CW, [L]: CCW)
2-pulse input method: CW → CW rotation signal input, CCW → CCW rotation signal input.
C/D (auto current down)
This function is to reduce the current provided for motor automatically for preventing severe motor's heat when motor stops.
If motor RUN pulse is not applied, the current provided for motor reduces as the set STOP current.
※Be sure that when motor RUN current is reduced, the stop torque of motor also reduced.
※Set the STOP current by the STOP current switch.
Setting RUN current
Switch No. 0 1 2 3 4 5 6 7 8 9 A B C D E F
Current
1.14 1.25 1.36 1.50 1.63 1.74 1.86 1.97 2.10 2.20 2.30 2.40 2.50 2.60 2.78 2.88
(A/Phase)
Setting RUN current is for the current provided for motor when the motor runs.
※When RUN current is increased, RUN torque of the motor is also increased.
※When RUN current is set too high, the heat is severe.
※Set RUN current within the range of motor's rated current according to its load.
※Change RUN current only when the motor stops.
Setting STOP current
Switch No. 0 1 2 3 4 5 6 7 8 9 A B C D E F

% 27 31 36 40 45 50 54 58 62 66 70 74 78 82 86 90

Setting STOP current is for the current provided for motor when the motor stops for preventing severe motor's heat.
This setting is applied when using C/D (current down) function.
Setting value of STOP current is percentage (%) ratio of the set RUN current.
E.g.) Set RUN current as 2.5A and STOP current as 40%.
STOP current is set as 2.5A×0.4=1A
※When STOP current is decreased, STOP torque of the motor is also decreased.
※When STOP current is set too low, the heat is lower.
※Change STOP current only when the motor stops.

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5-Phase Stepper Motor Driver (2.8A/Phase, AC Power)

Zero point excitation output signal (ZERO OUT)
ON
CW Pulse
OFF SENSORS

ON
CCW Pulse
OFF
FIELD
INSTRUMENTS
ON
ZERO OUT
OFF
0 1 2 3 4 5 6 7 8 9 0 1 2 1 0
 his output indicates the initial step of excitation order of stepper motor and rotation position of motor axis.
T CONTROLLERS

This signal outputs every 7.2° of rotation of the motor axis regardless of resolution.
(50 outputs per 1 rotation of the motor.)
E.g.) Full step: outputs one time by 10 pulses input, 20-division: outputs one time by 200 pulses input. MOTION DEVICES

HOLD OFF function

 his signal is for rotating motor's axis using external force or used for manual positioning.
T
SOFTWARE
When hold off signal maintains over 1ms as [H], motor excitation is released.
When hold off signal maintains over 1ms as [L], motor excitation is in a normal status.
※Must stop the motor for using this function.
※Refer to ' I/O Circuit and Connections'.
Setting Microstep (microstep: resolution)
Switch No. 0 1 2 3 4 5 6 7 8 9 A B C D E F
Resolution 1 2 4 5 8 10 16 20 25 40 50 80 100 125 200 250
Step angle 0.72° 0.36° 0.18° 0.144° 0.09° 0.072° 0.045° 0.036° 0.0288° 0.018° 0.0144° 0.009° 0.0072° 0.00576° 0.0036° 0.00288° (A)
Closed Loop
Setting Resolution (same as MS1, MS2) Stepper System

The MS1, MS2 switches is for resolution setting.

Select MS2 or MS2 by DIVISION SELECTION signal ([L]: MS1, [H]: MS2) (B)
Stepper Motors
Select the step angle (motor rotation angle per 1 pulse).
The set step angle is dividing basic step angle (0.72°) of 5-phase stepper motor by setting value.
The calculation formula of divided step angle is as follow. Basic step angle (0.72°) (C)
Set step angle = Stepper Motor
Resolution Drivers
When using geared type motor, the angle is step angle divided by gear ratio.
Step angle / gear ratio = Step angle applied gear E.g) 0.72° / 10 (1:10) = 0.072° (D)
※Must stop the motor before changing the resolution. Motion
Controllers
Alarm indication
Overheat: When the temperature of driver base is over 80℃, the alarm indicator (red) turns ON and motor stops with holding the excision.
Overcurrent: When overcurrent occurs due to motor damage by burn, driver damage, or error, the alarm indicator (red) turns ON and the
motor becomes HOLD OFF.
※Turn OFF the power and remove the causes of alarm. Re-supply the power and the alarm indicator turns OFF and the driver is normal
operation.

I/O Circuit and Connections

+5VDC
[Signal] ※CW
1 2-pulse input method (CW rotation signal input)
270Ω CW
2 1-pulse input method (operating rotation signal input)
※CCW
3
CCW 2-pulse input method (CCW rotation signal input)
270Ω
4 1-pulse input method (rotation direction signal input)
→ [H]: CW, [L]: CCW
5
390Ω HOLD ※HOLD OFF
6 OFF Control signal for motor excitation OFF
→ [H]: Motor excitation OFF
7
390Ω DIVISION SELECTION ※DIVISION SELECTION
8 +5VDC Division selection signal
2kΩ → [L]: Operated by switch MS1
9 [H]: Operated by switch MS2
10Ω ZERO OUT
※ZERO OUT
10
Zero point excitation output signal → Zero point status ON
Pentagon Standard ※If the power for driving pulse from external is over
[Motor] connection connection than +5VDC, please connect resistor at the outside.
BLUE 1 Blue Gray+Red
RED 2 Red Yellow+Black

ORANGE 3 Orange Orange+White Motor

GREEN 4 Green Brown+Green

5 Black Blue+Purple
BLACK ※This connection cable color is only for Autonics motors.
[Power] It may different cable color when using other motors.
L AC
Power 100-220VAC
N AC 50/60Hz

G
GND

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MD5 Series

Connections

F.G.
100-220VAC 50/60Hz

Black
Green
Orange Motor
Division selection+ Red
signal - Blue
Zero point excitation +
output signal -
※In case of standard connection,
CW+
CW-
CCW+
CCW-
HOLD OFF+
HOLD OFF-

refer to 'Stepper Motors' section.

User
Controller

Dimensions
(unit: mm)

49 145.3
20 127.5 10.5
5
5.5
163

200
185

211.5
4-Ø6

Ø5
4-R0.5
54.1

R5 146

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5-Phase Stepper Motor Driver (1.5A/Phase, DC Power)

5-Phase Stepper Motor Driver [MD5-ND14]

Unit Description SENSORS

FIELD
INSTRUMENTS

CONTROLLERS

MOTION DEVICES
Input
Motor
terminal
connection Power
RUN current
volume terminal terminal SOFTWARE
Function
selection
STOP DIP switch
※Refer to ' Specifications'. current
volume

Functions
Function selection DIP switch
Switch position
No. Nameplate Function (A)
ON OFF (default) Closed Loop
Stepper System
ON
1 2 1 1/2 CLK Pulse input method 1-pulse input method 2-pulse input method
2 FULL↔HALF Select resolution 1-division (0.72°) 2-division (0.36°) (B)
※Changing pulse input method or resolution is available only when stepper motor stops. Stepper Motors

If changing the resolution during operation, the motor may be out of phase.
(C)
1/2 CLK Stepper Motor
Drivers
1/2 CLK switch is to select pulse input method.
1-pulse input method: CW → operating rotation signal input, CCW → rotation direction signal input ([H]: CW, [L]: CCW) (D)
2-pulse input method: CW → CW rotation signal input, CCW → CCW rotation signal input. Motion
Controllers

FULL ↔ HALF
FULL ↔ HALF switch is to set basic step angle for 5-phase stepper motor.
※Change resolution only when the motor stops.

Setting RUN current

RUN CURRENT
Setting RUN current is for the current provided for motor when the motor runs.
1.0A
※When RUN current is increased, RUN torque of the motor is also increased.
※When RUN current is set too high, the heat is severe.
※Set RUN current within the range of motor's rated current according to its load.
※Change RUN current only when the motor stops.
0.5A 1.5A

Setting STOP current

Setting STOP current is for the current provided for motor when the motor stops.
STOP CURRENT Setting value of STOP current is percentage (%) ratio of the set RUN current.
E.g.) Set RUN current as 1.4A and STOP current as 40%.
STOP current is set as 1.4A×0.4=0.56A.
※When STOP current is decreased, STOP torque of the motor is also decreased.
※When STOP current is set too low, the heat is lower.
※Change STOP current only when the motor stops.
25% 75%

HOLD OFF function

 his signal is for rotating motor's axis using external force or used for manual positioning.
T
When hold off signal maintains over 1ms as [H], motor excitation is released.
When hold off signal maintains over 1ms as [L], motor excitation is in a normal status.
※Must stop the motor for using this function.
※Refer to ' I/O Circuit and Connections'.

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MD5 Series

I/O Circuit and Connections

[Signal] +5VDC

1 ※CW
CW 2-pulse input method (CW rotation signal input)
390Ω 1-pulse input method (operating rotation signal input)
2

※CCW
3 2-pulse input method (CCW rotation signal input)
CCW
1-pulse input method (rotation direction signal input)
390Ω
→ [H]: CW, [L]: CCW
4

※HOLD OFF
5 Control signal for motor excitation OFF
390Ω HOLD → [H]: Motor excitation OFF
OFF
6 ※If the power for driving pulse from external is over
GND than +5VDC, please connect resistor at the outside.
(input voltage max. 24VDC, input current 10-20mA)

※In case of standard connection, refer to 'Stepper Motors' section.

[Motor] Pentagon Standard

connection connection
BLUE 1 Blue Gray+Red

RED 2 Red Yellow+Black

ORANGE 3 Orange Orange+White Motor

GREEN 4 Green Brown+Green

※This connection cable color is only for Autonics motors.
BLACK 5 Black Blue+Purple It may different cable color when using other motors.

1 + Power
[Power]
2 - 20-35VDC

3 +5VDC Max. 30mA output

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5-Phase Stepper Motor Driver (1.5A/Phase, DC Power)

Time Chart
1-pulse input method SENSORS

[H] FIELD
CW INSTRUMENTS
[L]
[H]
CCW
[L] CONTROLLERS

MOTION DEVICES
Rotation
position CW CCW
SOFTWARE
CW
2-pulse input method
[H]
CW
[L]

[H]
CCW
[L] (A)
Closed Loop
Stepper System

Rotation
position (B)
CW CCW Stepper Motors

(C)
※Do not input CW, CCW signals at the same time in 2-pulse input method. Stepper Motor
Drivers
It may not operate properly if another direction signal is inputted when one of CW or CCW is [H].
(D)
Motion

Dimensions
Controllers

(unit: mm)
22.5

45
4.5

80

87

93 55.5
87
32
20
4.5

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MD5 Series

Low Noise, Low Vibration Multi-Axis 5-Phase Stepper Motor Driver

Features
● Simultaneous operation of 2, 3-axis by single power supply
20-35VDC
● Small, light weight and advanced quality by custom IC and
surface mounted circuit
● Realizing low noise, low vibration rotation with microstep-driving
● Low speed rotation and high accuracy controlling
with microstep-driving
● Max. resolution 250 division: In case of 5-phase stepper motor
of which basic step angle is 0.72°, it enables to control up to MD5-HD14-3X
0.00288° per pulse
● Includes auto current down and self-diagnosis function
● Photocoupler input insulation method to minimize the effects MD5-HD14-2X

from external noise

Please read “Safety Considerations”
in the instruction manual before using.

Ordering Information
MD 5 H D 14 2X
Axis 2X 2-axis
※1
3X 3-axis
RUN current
14 1.4A/Phase
Power supply
D 20-35VDC
Step type (resolution)
H Micro step (250-division)
Motor phase
5 5-phase
Item ※1: Built-in zero point excitation output
MD Motor Driver signal is optional.
Specifications
Model MD5-HD14-2X MD5-HD14-3X
※1
Power supply 20-35VDCᜡ
Allowable voltage fluctuation range 90 to 110% of the rated voltage
※2
Max. current consumption 5A 7A
※3
RUN current 0.4-1.4A/Phase
STOP current 27 to 90% of RUN current (set by STOP current switch)
Drive method Bipolar constant current pentagon drive
Basic step angle 0.72 /Step
Resolution 1, 2, 4, 5, 8, 10, 16, 20, 25, 40, 50, 80, 100, 125, 200, 250-division (0.72 to 0.00288 /Step)
Pulse width Min. 1μs (CW, CCW), Min. 1ms (HOLD OFF)
characteristic

Duty rate 50% (CW, CCW)

Input pulse

Rising/Falling time Below 130ns (CW, CCW)

Pulse input voltage [H]: 4-8VDCᜡ, [L]: 0-0.5VDC
Pulse input current 7.5-14mA (CW, CCW), 10-16mA (HOLD OFF, ZERO OUT)
※4
Max. input pulse frequency Max. 500kHz (CW, CCW)
Input resistance 270Ω (CW, CCW), 390Ω (HOLD OFF), 10Ω (ZERO OUT)
Insulation resistance Over 100MΩ (at 500VDC megger, between all terminals and base)
Dielectric strength 1,000VAC 50/60Hz for 1 min (between all terminals and base)
Noise immunity ±500V the square wave noise (pulse width: 1μs) by the noise simulator
Mechanical 1.5mm amplitude at frequency 5 to 60Hz (for 1 min) in each X, Y, Z direction for 2 hours
Vibration
Malfunction 1.5mm amplitude at frequency 5 to 60Hz (for 1 min) in each X, Y, Z direction for 10 min
Envi- Ambient temp. 0 to 40℃, storage: -10 to 60℃
ron-ment Ambient humi. 35 to 85%RH, storage: 35 to 85%RH
Approval
※5
Weight Approx. 446g (approx. 292g) Approx. 597g (approx. 411g)
※1: When using over 30VDC power supply, torque characteristics are improved but the driver temperature raise. The unit should be installed
at the well ventilation environment.
※2: Based on ambient temperature 25℃, ambient humidity 55%RH.
※3: RUN current varies depending on the input RUN frequency and max. RUN current at the moment varies also varies depending on the load.
※4: Max. input pulse frequency is max. frequency to be input and is not same as max. pull-out frequency or max. slewing frequency.
※5: The weight includes packaging. The weight in parenthesis is for unit only.
※Environment resistance is rated at no freezing or condensation.

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5-Phase Stepper Motor Driver (1.4A/Phase, DC Power, Multi-Axis)

Functions
Function selection DIP switch SENSORS
Switch position
No. Name Function
ON OFF (default)
1 TEST Self diagnosis function 30rpm rotation Not use FIELD
2 1/2 CLK Pulse input method 1-pulse input method 2-pulse input method INSTRUMENTS

3 C/D Auto Current Down Not use Use

TEST CONTROLLERS
Self diagnosis function is for motor and driver test.
This function makes the motor rotate with 30rpm in full step. Rotation speed varies with resolution settings.
Rotation speed = 30rpm/resolution
MOTION DEVICES
In 1-pulse input method, it rotates to CCW, and in 2-pulse input method, it rotates to CW.
※Be sure that the TEST switch is OFF before supplying the power.
If the TEST switch is ON, the motor operates immediately and it may be dangerous.
SOFTWARE
1/2 CLK
1/2 CLK switch is to select pulse input method.
1-pulse input method: CW → operating rotation signal input, CCW → rotation direction signal input ([H]: CW, [L]: CCW)
2-pulse input method: CW → CW rotation signal input, CCW → CCW rotation signal input.
C/D (auto current down)
This function is to reduce the current provided for motor automatically for preventing severe motor's heat when motor
stops.
If motor RUN pulse is not applied, the current provided for motor reduces as the set STOP current.
※Be sure that when motor RUN current is reduced, the stop torque of motor also reduced. (A)
Closed Loop
※Set the STOP current by the Setting STOP current switch. Stepper System

Setting RUN current

(B)
Switch No. 0 1 2 3 4 5 6 7 8 9 A B C D E F Stepper Motors

Current (A/Phase) 0.4 0.5 0.57 0.63 0.71 0.77 0.84 0.9 0.96 1.02 1.09 1.15 1.22 1.27 1.33 1.4
(C)
Stepper Motor
Setting RUN current is for the current provided for motor when the motor runs. Drivers
※When RUN current is increased, RUN torque of the motor is also increased.
※When RUN current is set too high, the heat is severe. (D)
※Set RUN current within the range of motor's rated current according to its load. Motion
Controllers
※Change RUN current only when the motor stops.
Setting STOP current
Switch No. 0 1 2 3 4 5 6 7 8 9 A B C D E F

% 27 31 36 40 45 50 54 58 62 66 70 74 78 82 86 90

Setting STOP current is for the current provided for motor when the motor stops.
This setting is applied when using C/D (current down) function.
Setting value of STOP current is percentage (%) ratio of the set RUN current.
E.g.) Set RUN current as 1.4A and STOP current as 40%.
STOP current is set as 1.4A×0.4=0.56A
※When STOP current is decreased, STOP torque of the motor is also decreased.
※When STOP current is set too low, the heat is lower.
※Change STOP current only when the motor stops.
Zero point excitation output signal (ZERO OUT) [Option]
ON
CW Pulse
OFF
ON
CCW Pulse
OFF
ON
ZERO OUT
OFF
0 1 2 3 4 5 6 7 8 9 0 1 2 1 0
 his output indicates the initial step of excitation order of stepper motor and rotation position of motor axis.
T
This signal outputs every 7.2° of rotation of the motor axis regardless of resolution.
(50 outputs per 1 rotation of the motor.)
E.g.) Full step: outputs one time by 10 pulses input,
20-division: outputs one time by 200 pulses input.
HOLD OFF function
 his signal is for rotating motor's axis using external force or used for manual positioning.
T
When hold off signal maintains over 1ms as [H], motor excitation is released.
When hold off signal maintains over 1ms as [L], motor excitation is in a normal status.
※Must stop the motor for using this function.
※Refer to ' I/O Circuit and Connections'.

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MD5 Series
Setting Microstep (microstep: resolution)
Switch No. 0 1 2 3 4 5 6 7 8 9 A B C D E F
Resolution 1 2 4 5 8 10 16 20 25 40 50 80 100 125 200 250
Step angle 0.72° 0.36° 0.18° 0.144° 0.09° 0.072° 0.045° 0.036° 0.0288° 0.018° 0.0144° 0.009° 0.0072° 0.00576° 0.0036° 0.00288°
Resolution (MS1)
 he set step angle is dividing basic step angle (0.72°) of 5-phase stepper motor by setting value.
T
The calculation formula of divided step angle is as below.
Basic step angle (0.72°)
Set step angle =
Resolution
When using geared type motor, the angle is step angle divided by gear ratio.
Step angle/gear ratio = Step angle applied gear
E.g) 0.72°/10 (1:10) = 0.072°
※Must stop the motor before changing the resolution.

I/O Circuit and Connections ※CW

+5VDC
[Signal] 2-pulse input method (CW rotation signal input)
1 1-pulse input method (operating rotation signal input)
270Ω CW
2 ※CCW
3 2-pulse input method (CCW rotation signal input)
270Ω CCW
1-pulse input method (rotation direction signal input)
4
→ [H]: CW, [L]: CCW
5
HOLD OFF
390Ω ※HOLD OFF
6
GND Control signal for motor excitation OFF
7 → [H]: Motor excitation OFF
10Ω
ZERO OUT
8 ※ZERO OUT (option)
Zero point excitation output signal → Zero point status ON
Pentagon Standard
[Motor] connection connection ※If the power for driving pulse from external is over
BLUE 1 Blue Gray+Red than +5VDC, please connect resistor at the outside.
RED 2 Red Yellow+Black (input voltage max. 24VDC, input current 10-20mA)
ORANGE 3 Orange Orange+White Motor ※In case of standard connection, refer to 'Stepper Motors' section
GREEN 4 Green Brown+Green
※This connection cable color is only for Autonics motors.
BLACK 5 Black Blue+Purple It may different cable color when using other motors.
+
※Power input of 2/3-axis are used as same and
1
[Power] Power I/O terminals are proportional to the number of axes.
2 20-35VDC
-

Unit Description
MD5-HD14-2X

2-axis 1-axis

MD5-HD14-3X

RUN current
switch

Resolution STOP current

switch switch
Function
selection
DIP switch

3-axis 2-axis 1-axis

Motor I/O terminal Power ※Each axis structure is same.

connector terminal terminal

98
-|Transparent setting guide|-

5-Phase Stepper Motor Driver (1.4A/Phase, DC Power, Multi-Axis)

Dimensions
MD5-HD14-2X (unit: mm) SENSORS
190
180 4-M3 Tap
FIELD
INSTRUMENTS

CONTROLLERS

80
66
5
MOTION DEVICES

C
2-axis B A SOFTWARE
1-axis

180

40
20
80 (A)
MD5-HD14-3X Closed Loop
Stepper System
260
249 4-M3 Tap (B)
Stepper Motors

(C)
Stepper Motor
66 Drivers
5

(D)
Motion
Controllers

C B A
3-axis 2-axis 1-axis

245

40
5

80
※Accessory connector specification
Connector Qty.
Accessory
Manufacturer Model No. MD5-HD14-2X MD5-HD14-3X
A Power 2-wire housing VHR-2N 1 1
B Motor 5-wire housing VHR-5N 2 3
C Signal 6-wire housing JST XAP-06V-1 2 3
- Power/Motor terminal pin SVH-21T-P1.1 12 17
- Signal terminal pin SXA -001T-P0.6 12 18

Time Chart 2-pulse input method

1-pulse input method
[H]
[H] CW [L]
CW
[L] CCW [H]
[H] [L]
CCW
[L]
Rotation
position CW CCW
Rotation
position CW CCW
CW

※Do not input CW, CCW signals at the same time in 2-pulse input method.
It may not operate properly if another direction signal is inputted when one of CW or CCW is [H].

99
-|Transparent setting guide|-

MD5 Series

Cautions during Use

(Common Specifications of 5-Phase Stepper Motor Driver)
1. For signal input 5. For installation
①Do not input CW, CCW signal at the same time in 2-pulse ①The unit must be installed with heat protection.
input method. Failure to follow this instruction may result in The conditions of ②, ③ should be satisfied.
malfunction. It may not operate properly if another direction signal (※MD5-ND14)
is inputted when one of CW or CCW is [H]. ②In order to increase heat protection efficiency of the driver,
②When the signal input voltage is exceeded the rated voltage, must install the heat sink close to metal panel and keep it well-
connect additional resistance at the outside. ventilated.
③Excessive heat generation may occur on driver. Keep the heat
2. For RUN current, STOP current setting sink under 80℃ when installing the unit.
①Set RUN current within the range of motor's rated current. Failure (at over 80℃, forcible cooling shall be required.)
to follow this instruction may result in severe heat of motor or ④If the unit is installed in distribution panel, enclosed space or
motor damage.
place with heat, it may cause product damage by heat. Install a
②I f motor stops, switching for STOP current executed by the ventilation. (only for MD5-HF28)
current down function. When hold off signal is [H] or current down ⑤For heat radiation of driver, install a fan as below figure. (distance
function is OFF, the switching does not execute. (except MD5-
between the ⓐ fan and the unit: approx. within 70mm, ⓑ min.
ND14)
airflow: 0.71m3/min at least)
③Use the power for supplying sufficient current to the motor.
(only for MD5-HF28)
④Check the polarity of power before operating the unit. (only for
MD5-HD14, HD14-2X/3X, ND14)
ⓐ
3. For rotating motor
(only for MD5-HD14, HD14-2X/3X, ND14)
①For rotating the motor when driver power turns OFF, separate the
motor from the driver.
(if not, the driver power turns ON)
ⓑ Air Flow
②For rotating the motor when driver power turns ON, use Hold
OFF function. 6. For using setting switches
①Be sure that the TEST switch is OFF before supplying the power.
4. For cable connection If the TEST switch is ON, the motor operates immediately and it
may be dangerous.
①Use twisted pair (over 0.2mm2) for the signal cable which should (except MD5-ND14)
be shorter than 2m.
②Do not change any setting switch during the operation or after
②The thickness of cable should be same or thicker than the motor supplying power. It may cause malfunction.
cable's when extending the motor cable.
③Must separate between the signal cable and the power cable
over 10cm.
7. Autonics motor driver does not prepare
protection function for a motor.

8. This product may be used in the following

environments.
① Indoors
② Altitude max. 2,000m
③ Pollution degree 2
④ Installation category Ⅱ

100
 AK/AK-B Series

Frame Size 24mm/42mm/60mm/85mm Shaft Type Motor

Frame Size 42mm/60mm/85mm Built-in Brake Type Motor SENSORS

Features
CONTROLLERS
● Compact design and light weight with high accuracy,
speed and torque
● Suitable for small-sized equipment applications MOTION DEVICES

● Frame size 42mm/60mm/85mm built-in brake

of shaft type for compact equipment (AK-B Series) SOFTWARE
● Brake force is released (AK-B Series) when applying
power on brake wire Frame size
● Cost-effective 24mm 42mm 60mm 85mm

Please read “Safety Considerations”

in the instruction manual before using.

(Y)
Closed Loop
Stepper System

(Z)
Frame size Stepper Motors

42mm Brake 60mm Brake 85mm Brake

built-in type built-in type built-in type
Dimensions (AA)
Drivers

※These dimensions are for dual shaft models. Single shaft models do not include shafts indicated in the dotted lines.
※For flexible coupling (ERB series) information, refer to 'ERB Series' in 'Rotary encoder'. (frame size 24mm, 48mm, 60mm (shaft type)) (AB)
Motion
※Brake is non-polar and be sure to observe rated excitation voltage (24VDC). (except frame size 24mm) Controllers
SW1 ON: brake release / SW1 OFF: brake execute

Frame size 24mm (unit: mm)

±0.5 ±1 ±1
24 15 L 10
19±0.25 1.5
4-M2.6 Tap
Ø5 -0.012

DP 2.5 10±0.5
0

4.5±0.2 A A
Ø18-0.025

(unit: mm)
Ø5 -0.012
0

Sectioned A-A' A' A'

Model L
02K-S523(W) 30.5
Min.200

AWG26
UL3265 04K-S525(W) 46.5

Frame size 42mm

42 20±0.5 L±1 15±1
31±0.2 2
4-M3 Tap
15±0.25
Ø5 -0.012

DP 4.5
0

4.5±0.15
A (unit: mm)
Ø22 -0.021

A
Ø5-0.012
0

Sectioned A-A' A' A' Model L

A1K-S543(W)- B 33
Ø5, 0.6m
A2K- 544(W)- B 39
AWG26
UL3266 <Standard type> A3K-S545(W)- B 47

20±0.5 L±1 23
2
15±0.25
Ø22 -0.021

A
Ø5-0.012

Ø37
0

A'

SW1
Ø5, 0.6m Ø1.5×2-wire, 0.6m

Brake lead wire

<Built-in brake type>

101
AK/AK-B Series

Dimensions
Frame size 60mm (unit: mm)

60
24±1 L±1 21±1
50±0.3
4-Ø4.5 1.5 7
Hole 20±0.25 20±0.25

Ø8 -0.015
7.5±0.15

0
°
A

90
A

Ø8 -0.015
Ø36-0.039
(unit: mm)

0
0
7.5±0.15 A' A'
Model L
A4K- 564(W)- B 48.5
Sectioned A-A' Ø5, 0.6m
AWG24 A8K- 566(W)- B 59.5
UL3266 A16K- 569(W)- B 89
<Standard type>

24±1 L±1 26.5

1.5 7
20±0.25

A
Ø36-0.039

-0.015

Ø55
0

0
Ø8

A'

SW1 Ø1.5×2-wire, 0.6m

Ø5, 0.6m
Brake lead wire

<Built-in brake type>

Frame size 85mm

85
37±1 L±1 32±1
70±0.3
4-Ø6.5 2 10
Hole 25±0.25 25±0.25
Ø14 -0.018
0

±0.15
13
°

A
90

A
Ø60 -0.046
Ø14 -0.018
0

0
13±0.15

A' A' (unit: mm)

Model L
Sectioned A-A'
Ø7, 0.6m A21K- 596(W)- B 68
AWG22 A41K- 599(W)- B 98
UL3266 A63K- 5913(W)- B 128
<Standard type>

37±1 L±1 35
2 10
25±0.25

A
Ø60 -0.046
Ø14 -0.018

Ø81
0

A'

SW1 Ø1.5×2-wire, 0.6m

Ø7, 0.6m

Brake lead wire

<Built-in brake type>

102
 5-Phase Stepper Motor

Characteristic
SENSORS
● 02K-S523 ● 04K-S525
Torque (gf.cm) ※fs: max. starting torque Torque (gf.cm) ※fs: max. starting torque
Driver MD5-ND14, Power 24VDC CONTROLLERS
FULL STEP FULL STEP
400 Setting current 0.75A/Phase 400
Driver MD5-HD14, Power 24VDC HALF STEP HALF STEP
Setting current 0.75A/Phase
Driver MD5-HF14, Power 220VAC
Setting current 0.75A/Phase MOTION DEVICES
300 300

200 200 SOFTWARE

Driver MD5-ND14, Power 24VDC

100 100 Setting current 0.75A/Phase
Driver MD5-HD14, Power 24VDC
Setting current 0.75A/Phase
Driver MD5-HF14, Power 220VAC
Setting current 0.75A/Phase
0 0
102 103 104 102 103 104
Speed (PPS) Speed (PPS)
fs Full Step: 3.6kpps, Half Step: 7.1kpps fs Full Step: 3.1kpps, Half Step: 6.1kpps
fs Full Step: 3.7kpps, Half Step: 7.2kpps fs Full Step: 3.2kpps, Half Step: 6.3kpps
(Y)
fs Full Step: 3.8kpps, Half Step: 7.5kpps fs Full Step: 3.3kpps, Half Step: 6.5kpps Closed Loop
Stepper System

(Z)
Stepper Motors

● A1K-S543 / A1K-S543-B ● A2K- 544 / A2K- 544-B (AA)

Drivers
Torque (kgf.cm) ※fs: max. starting torque Torque (kgf.cm) ※fs: max. starting torque

FULL STEP Driver MD5-ND14, Power 24VDC FULL STEP (AB)

2.0 Setting current 0.75A/Phase Motion
HALF STEP 4 HALF STEP
Driver MD5-HD14, Power 24VDC Controllers
Setting current 0.75A/phase
Driver MD5-HF14, Power 220VAC
Setting current 0.75A/phase
1.5 3

1.0 2

Driver MD5-ND14, Power 24VDC

0.5 Setting current 0.75A/Phase 1
Driver MD5-HD14, Power 24VDC
Setting current 0.75A/Phase
Driver MD5-HF14, Power 220VAC
Setting current 0.75A/Phase
0 0
102 103 104 102 103 104
Speed (PPS) Speed (PPS)
fs Full Step: 3.3kpps, Half Step: 6.6kpps fs Full Step: 3.2kpps, Half Step: 6.3kpps
fs Full Step: 3.4kpps, Half Step: 6.7kpps fs Full Step: 3.3kpps, Half Step: 6.5kpps
fs Full Step: 3.5kpps, Half Step: 6.8kpps fs Full Step: 3.4kpps, Half Step: 6.7kpps

● A3K-S545 / A3K-S545-B ● A4K- 564 / A4K-M564-B

Torque (kgf.cm) ※fs: max. starting torque Torque (kgf.cm) ※fs: max. starting torque
Driver MD5-ND14, Power 24VDC FULL STEP
Driver MD5-ND14, Power 24VDC FULL STEP
8 Setting current 1.4A/Phase
4 Setting current 0.75A/Phase Driver MD5-HD14, Power 24VDC HALF STEP
Driver MD5-HD14, Power 24VDC HALF STEP
Setting current 1.4A/Phase
Setting current 0.75A/Phase Driver MD5-HF14, Power 220VAC
Driver MD5-HF14, Power 220VAC
Setting current 1.4A/Phase
Setting current 0.75A/Phase Driver MD5-HF28, Power 220VAC
3 6
Setting current 2.8A/Phase

4
2

2
1

0
0
102 103 102 103 104
104 Speed (PPS)
Speed (PPS)
fs F
 ull Step: 2.7kpps, Half Step: 5.3kpps
fs F
 ull Step: 3kpps, Half Step: 5.9kpps
fs F
 ull Step: 2.7kpps, Half Step: 5.8kpps
fs F
 ull Step: 3.1kpps, Half Step: 6.1kpps
fs F
 ull Step: 3.7kpps, Half Step: 7.2kpps
fs F
 ull Step: 3.2kpps, Half Step: 6.4kpps
fs F
 ull Step: 3.4kpps, Half Step: 6.8kpps

103
AK/AK-B Series

Characteristic

● A8K- 566 / A8K-M566-B ● A16K- 569 / A16K- 569-B

Torque (kgf.cm) ※fs: max. starting torque Torque (kgf.cm) ※fs: max. starting torque
Driver MD5-ND14, Power 24VDC FULL STEP
FULL STEP
Setting current 1.4A/Phase
16 HALF STEP 20 HALF STEP
Driver MD5-HD14, Power 24VDC
Setting current 1.4A/Phase
Driver MD5-HF14, Power 220VAC
Setting current 1.4A/Phase
Driver MD5-HF28, Power 220VAC
12 15
Setting current 2.8A/Phase

8 10

4 5

0 0
102 103 104 102 103 104
Speed (PPS) Speed (PPS)
Driver MD5-ND14, Power 24VDC, Setting current 1.4A/Phase
fs F
 ull Step: 2.1kpps, Half Step: 4.1kpps
Driver MD5-HD14, Power 24VDC, Setting current 1.4A/Phase
fs F
 ull Step: 2.1kpps, Half Step: 4.2kpps
Driver MD5-HF14, Power 220VAC, Setting current 1.4A/Phase
fs F
 ull Step: 3.2kpps, Half Step: 6.3kpps
Driver MD5-HF28, Power 220VAC, Setting current 2.8A/Phase
fs F
 ull Step: 3.3kpps, Half Step: 6.6kpps
fs Full Step: 1.8kpps, Half Step: 3.5kpps
fs Full Step: 1.9kpps, Half Step: 3.5kpps
fs Full Step: 2.6kpps, Half Step: 5.2kpps
fs Full Step: 3.4kpps, Half Step: 6.8kpps

● A21K- 596 / A21K- 596-B ● A41K- 599 / A41K- 599-B

Torque (kgf.cm) ※fs: max. starting torque Torque (kgf.cm) ※fs: max. starting torque
Driver MD5-ND14, Power 24VDC FULL STEP Driver MD5-ND14, Power 24VDC FULL STEP
40 Setting current 1.4A/Phase HALF STEP 80 Setting current 1.4A/Phase HALF STEP
Driver MD5-HD14, Power 24VDC Driver MD5-HD14, Power 24VDC
Setting current 1.4A/Phase Setting current 1.4A/Phase
Driver MD5-HF14, Power 220VAC Driver MD5-HF14, Power 220VAC
Setting current 1.4A/Phase Setting current 1.4A/Phase
30 Driver MD5-HF28, Power 220VAC 60 Driver MD5-HF28, Power 220VAC
Setting current 2.8A/Phase Setting current 2.8A/Phase

20 40

10 20

0 0
102 103 104 102 103 104
Speed (PPS) Speed (PPS)
fs Full Step: 1.5kpps, Half Step: 2.9kpps fs Full Step: 1.4kpps, Half Step: 2.7kpps
fs Full Step: 1.6kpps, Half Step: 3.1kpps fs Full Step: 1.5kpps, Half Step: 2.9kpps
fs Full Step: 2.2kpps, Half Step: 4.4kpps fs Full Step: 1.8kpps, Half Step: 3.6kpps
fs Full Step: 2.3kpps, Half Step: 4.6kpps fs Full Step: 2.1kpps, Half Step: 4.3kpps

● A63K- 5913 / A63K- 5913-B

Torque (kgf.cm) ※fs: max. starting torque
FULL STEP
80 HALF STEP

60

40

20

0
102 103 104
Speed (PPS)
Driver MD5-ND14, Power 24VDC, Setting current 1.4A/Phase
Driver MD5-HD14, Power 24VDC, Setting current 1.4A/Phase
Driver MD5-HF14, Power 220VAC, Setting current 1.4A/Phase
Driver MD5-HF28, Power 220VAC, Setting current 2.8A/Phase
fs Full Step: 1kpps, Half Step: 2.1kpps
fs Full Step: 1.1kpps, Half Step: 2.2kpps
fs Full Step: 1.8kpps, Half Step: 3.6kpps
fs Full Step: 1.9kpps, Half Step: 3.8kpps

104
 AK/AK-B Series

Frame Size 24mm/42mm/60mm/85mm Shaft Type Motor

Frame Size 42mm/60mm/85mm Built-in Brake Type Motor SENSORS

Features
CONTROLLERS
● Compact design and light weight with high accuracy,
speed and torque
● Suitable for small-sized equipment applications MOTION DEVICES

● Frame size 42mm/60mm/85mm built-in brake

of shaft type for compact equipment (AK-B Series) SOFTWARE
● Brake force is released (AK-B Series) when applying
power on brake wire Frame size
● Cost-effective 24mm 42mm 60mm 85mm

Please read “Safety Considerations”

in the instruction manual before using.

(Y)
Closed Loop
Stepper System

(Z)
Frame size Stepper Motors

42mm Brake 60mm Brake 85mm Brake

built-in type built-in type built-in type
Dimensions (AA)
Drivers

※These dimensions are for dual shaft models. Single shaft models do not include shafts indicated in the dotted lines.
※For flexible coupling (ERB series) information, refer to 'ERB Series' in 'Rotary encoder'. (frame size 24mm, 48mm, 60mm (shaft type)) (AB)
Motion
※Brake is non-polar and be sure to observe rated excitation voltage (24VDC). (except frame size 24mm) Controllers
SW1 ON: brake release / SW1 OFF: brake execute

Frame size 24mm (unit: mm)

±0.5 ±1 ±1
24 15 L 10
19±0.25 1.5
4-M2.6 Tap
Ø5 -0.012

DP 2.5 10±0.5
0

4.5±0.2 A A
Ø18-0.025

(unit: mm)
Ø5 -0.012
0

Sectioned A-A' A' A'

Model L
02K-S523(W) 30.5
Min.200

AWG26
UL3265 04K-S525(W) 46.5

Frame size 42mm

42 20±0.5 L±1 15±1
31±0.2 2
4-M3 Tap
15±0.25
Ø5 -0.012

DP 4.5
0

4.5±0.15
A (unit: mm)
Ø22 -0.021

A
Ø5-0.012
0

Sectioned A-A' A' A' Model L

A1K-S543(W)- B 33
Ø5, 0.6m
A2K- 544(W)- B 39
AWG26
UL3266 <Standard type> A3K-S545(W)- B 47

20±0.5 L±1 23
2
15±0.25
Ø22 -0.021

A
Ø5-0.012

Ø37
0

A'

SW1
Ø5, 0.6m Ø1.5×2-wire, 0.6m

Brake lead wire

<Built-in brake type>

105
AK/AK-B Series

Dimensions
Frame size 60mm (unit: mm)

60
24±1 L±1 21±1
50±0.3
4-Ø4.5 1.5 7
Hole 20±0.25 20±0.25

Ø8 -0.015
7.5±0.15

0
°
A

90
A

Ø8 -0.015
Ø36-0.039
(unit: mm)

0
0
7.5±0.15 A' A'
Model L
A4K- 564(W)- B 48.5
Sectioned A-A' Ø5, 0.6m
AWG24 A8K- 566(W)- B 59.5
UL3266 A16K- 569(W)- B 89
<Standard type>

24±1 L±1 26.5

1.5 7
20±0.25

A
Ø36-0.039

-0.015

Ø55
0

0
Ø8

A'

SW1 Ø1.5×2-wire, 0.6m

Ø5, 0.6m
Brake lead wire

<Built-in brake type>

Frame size 85mm

85
37±1 L±1 32±1
70±0.3
4-Ø6.5 2 10
Hole 25±0.25 25±0.25
Ø14 -0.018
0

±0.15
13
°

A
90

A
Ø60 -0.046
Ø14 -0.018
0

0
13±0.15

A' A' (unit: mm)

Model L
Sectioned A-A'
Ø7, 0.6m A21K- 596(W)- B 68
AWG22 A41K- 599(W)- B 98
UL3266 A63K- 5913(W)- B 128
<Standard type>

37±1 L±1 35
2 10
25±0.25

A
Ø60 -0.046
Ø14 -0.018

Ø81
0

A'

SW1 Ø1.5×2-wire, 0.6m

Ø7, 0.6m

Brake lead wire

<Built-in brake type>

106
 5-Phase Stepper Motor

Characteristic
SENSORS
● 02K-S523 ● 04K-S525
Torque (gf.cm) ※fs: max. starting torque Torque (gf.cm) ※fs: max. starting torque
Driver MD5-ND14, Power 24VDC CONTROLLERS
FULL STEP FULL STEP
400 Setting current 0.75A/Phase 400
Driver MD5-HD14, Power 24VDC HALF STEP HALF STEP
Setting current 0.75A/Phase
Driver MD5-HF14, Power 220VAC
Setting current 0.75A/Phase MOTION DEVICES
300 300

200 200 SOFTWARE

Driver MD5-ND14, Power 24VDC

100 100 Setting current 0.75A/Phase
Driver MD5-HD14, Power 24VDC
Setting current 0.75A/Phase
Driver MD5-HF14, Power 220VAC
Setting current 0.75A/Phase
0 0
102 103 104 102 103 104
Speed (PPS) Speed (PPS)
fs Full Step: 3.6kpps, Half Step: 7.1kpps fs Full Step: 3.1kpps, Half Step: 6.1kpps
fs Full Step: 3.7kpps, Half Step: 7.2kpps fs Full Step: 3.2kpps, Half Step: 6.3kpps
(Y)
fs Full Step: 3.8kpps, Half Step: 7.5kpps fs Full Step: 3.3kpps, Half Step: 6.5kpps Closed Loop
Stepper System

(Z)
Stepper Motors

● A1K-S543 / A1K-S543-B ● A2K- 544 / A2K- 544-B (AA)

Drivers
Torque (kgf.cm) ※fs: max. starting torque Torque (kgf.cm) ※fs: max. starting torque

FULL STEP Driver MD5-ND14, Power 24VDC FULL STEP (AB)

2.0 Setting current 0.75A/Phase Motion
HALF STEP 4 HALF STEP
Driver MD5-HD14, Power 24VDC Controllers
Setting current 0.75A/phase
Driver MD5-HF14, Power 220VAC
Setting current 0.75A/phase
1.5 3

1.0 2

Driver MD5-ND14, Power 24VDC

0.5 Setting current 0.75A/Phase 1
Driver MD5-HD14, Power 24VDC
Setting current 0.75A/Phase
Driver MD5-HF14, Power 220VAC
Setting current 0.75A/Phase
0 0
102 103 104 102 103 104
Speed (PPS) Speed (PPS)
fs Full Step: 3.3kpps, Half Step: 6.6kpps fs Full Step: 3.2kpps, Half Step: 6.3kpps
fs Full Step: 3.4kpps, Half Step: 6.7kpps fs Full Step: 3.3kpps, Half Step: 6.5kpps
fs Full Step: 3.5kpps, Half Step: 6.8kpps fs Full Step: 3.4kpps, Half Step: 6.7kpps

● A3K-S545 / A3K-S545-B ● A4K- 564 / A4K-M564-B

Torque (kgf.cm) ※fs: max. starting torque Torque (kgf.cm) ※fs: max. starting torque
Driver MD5-ND14, Power 24VDC FULL STEP
Driver MD5-ND14, Power 24VDC FULL STEP
8 Setting current 1.4A/Phase
4 Setting current 0.75A/Phase Driver MD5-HD14, Power 24VDC HALF STEP
Driver MD5-HD14, Power 24VDC HALF STEP
Setting current 1.4A/Phase
Setting current 0.75A/Phase Driver MD5-HF14, Power 220VAC
Driver MD5-HF14, Power 220VAC
Setting current 1.4A/Phase
Setting current 0.75A/Phase Driver MD5-HF28, Power 220VAC
3 6
Setting current 2.8A/Phase

4
2

2
1

0
0
102 103 102 103 104
104 Speed (PPS)
Speed (PPS)
fs F
 ull Step: 2.7kpps, Half Step: 5.3kpps
fs F
 ull Step: 3kpps, Half Step: 5.9kpps
fs F
 ull Step: 2.7kpps, Half Step: 5.8kpps
fs F
 ull Step: 3.1kpps, Half Step: 6.1kpps
fs F
 ull Step: 3.7kpps, Half Step: 7.2kpps
fs F
 ull Step: 3.2kpps, Half Step: 6.4kpps
fs F
 ull Step: 3.4kpps, Half Step: 6.8kpps

107
AK/AK-B Series

Characteristic

● A8K- 566 / A8K-M566-B ● A16K- 569 / A16K- 569-B

Torque (kgf.cm) ※fs: max. starting torque Torque (kgf.cm) ※fs: max. starting torque
Driver MD5-ND14, Power 24VDC FULL STEP
FULL STEP
Setting current 1.4A/Phase
16 HALF STEP 20 HALF STEP
Driver MD5-HD14, Power 24VDC
Setting current 1.4A/Phase
Driver MD5-HF14, Power 220VAC
Setting current 1.4A/Phase
Driver MD5-HF28, Power 220VAC
12 15
Setting current 2.8A/Phase

8 10

4 5

0 0
102 103 104 102 103 104
Speed (PPS) Speed (PPS)
Driver MD5-ND14, Power 24VDC, Setting current 1.4A/Phase
fs F
 ull Step: 2.1kpps, Half Step: 4.1kpps
Driver MD5-HD14, Power 24VDC, Setting current 1.4A/Phase
fs F
 ull Step: 2.1kpps, Half Step: 4.2kpps
Driver MD5-HF14, Power 220VAC, Setting current 1.4A/Phase
fs F
 ull Step: 3.2kpps, Half Step: 6.3kpps
Driver MD5-HF28, Power 220VAC, Setting current 2.8A/Phase
fs F
 ull Step: 3.3kpps, Half Step: 6.6kpps
fs Full Step: 1.8kpps, Half Step: 3.5kpps
fs Full Step: 1.9kpps, Half Step: 3.5kpps
fs Full Step: 2.6kpps, Half Step: 5.2kpps
fs Full Step: 3.4kpps, Half Step: 6.8kpps

● A21K- 596 / A21K- 596-B ● A41K- 599 / A41K- 599-B

Torque (kgf.cm) ※fs: max. starting torque Torque (kgf.cm) ※fs: max. starting torque
Driver MD5-ND14, Power 24VDC FULL STEP Driver MD5-ND14, Power 24VDC FULL STEP
40 Setting current 1.4A/Phase HALF STEP 80 Setting current 1.4A/Phase HALF STEP
Driver MD5-HD14, Power 24VDC Driver MD5-HD14, Power 24VDC
Setting current 1.4A/Phase Setting current 1.4A/Phase
Driver MD5-HF14, Power 220VAC Driver MD5-HF14, Power 220VAC
Setting current 1.4A/Phase Setting current 1.4A/Phase
30 Driver MD5-HF28, Power 220VAC 60 Driver MD5-HF28, Power 220VAC
Setting current 2.8A/Phase Setting current 2.8A/Phase

20 40

10 20

0 0
102 103 104 102 103 104
Speed (PPS) Speed (PPS)
fs Full Step: 1.5kpps, Half Step: 2.9kpps fs Full Step: 1.4kpps, Half Step: 2.7kpps
fs Full Step: 1.6kpps, Half Step: 3.1kpps fs Full Step: 1.5kpps, Half Step: 2.9kpps
fs Full Step: 2.2kpps, Half Step: 4.4kpps fs Full Step: 1.8kpps, Half Step: 3.6kpps
fs Full Step: 2.3kpps, Half Step: 4.6kpps fs Full Step: 2.1kpps, Half Step: 4.3kpps

● A63K- 5913 / A63K- 5913-B

Torque (kgf.cm) ※fs: max. starting torque
FULL STEP
80 HALF STEP

60

40

20

0
102 103 104
Speed (PPS)
Driver MD5-ND14, Power 24VDC, Setting current 1.4A/Phase
Driver MD5-HD14, Power 24VDC, Setting current 1.4A/Phase
Driver MD5-HF14, Power 220VAC, Setting current 1.4A/Phase
Driver MD5-HF28, Power 220VAC, Setting current 2.8A/Phase
fs Full Step: 1kpps, Half Step: 2.1kpps
fs Full Step: 1.1kpps, Half Step: 2.2kpps
fs Full Step: 1.8kpps, Half Step: 3.6kpps
fs Full Step: 1.9kpps, Half Step: 3.8kpps

108
 AHK Series

Frame Size 42mm/60mm/85mm Hollow Shaft Type Motor

Features SENSORS

● Removable coupling connecting Ball-screw,

TM-screw directly CONTROLLERS

● Remove resonance (vibration, noise) without coupling

● Compact design and light weight with high accuracy, MOTION DEVICES
speed and torque
● Suitable for small-sized equipment applications
● Cost-effective SOFTWARE
Frame size
Please read “Safety Considerations” 42mm 60mm 85mm
in the instruction manual before using.

Dimensions
※Depending on processing of shaft to be assembled, hollow shaft type can be used both single and dual shaft.
Frame size 42mm (unit: mm)
(Y)
42 ● Hole dimensions Closed Loop
Stepper System
31±0.2 8.5 A
4-M3 Tap B
Depth 4.5 (Z)
7 8 Stepper Motors
Taper 1/5

Ø6.2
(11.421186˚)
Ø28 - 0.021
- 0.01

(AA)
Drivers

Ø6 + 0.015
Ø7.4

0 (AB)
Motion
Controllers
Min. 600 Model A B
AH1K-S543- 33 38
AWG26
UL3266 AH2K-S544- 39 44
AH3K-S545- 47 52

Frame size 60mm

60 7.5 A 1.5 (unit: mm)
50±0.3 7
● Hole dimensions
4-Ø4.5 Hole B

Taper 1/5 10 10 3.5

(11.421186˚)
Ø36 - 0.025
Ø36 - 0.025

- 0.01
- 0.01

Ø12.2 + 0.2
Ø9 + 0.015

Ø9.2
Ø11

0
0

Min. 600
Model A B
AWG24 AH4K- 564(W)- 48.5 49.3
UL3266 AH8K- 566(W)- 59.5 60.3
AH16K- 569(W)- 89 89.8

Frame size 85mm

85 9 A
10 ● Hole dimensions (unit: mm)
70±0.3
4-Ø6.5 Hole B

15 18 8.7
Taper 1/5
(11.421186˚)
Ø60 -- 0.01
0.04

Ø10.2 + 00.1
Ø14.8
Ø10 + 0.015

Ø16.2 + 00.1
0

Min. 600
Model A B
AWG22
AH21K- 596(W)- 68 73
UL3266
AH41K- 599(W)- 98 102.5
AH63K- 5913(W)- 128 133

109
AHK Series

Characteristic
● AH1K-S543- ● AH2K-S544- ● AH3K-S545-
Torque (kgf·cm) ※fs : Max. starting torque Torque (kgf·cm) ※fs : Max. starting torque Torque (kgf·cm) ※fs : Max. starting torque
① Driver MD5-ND14, Power 24VDC ① Driver MD5-ND14, Power 24VDC FULL STEP
FULL STEP FULL STEP
2.0 HALF STEP 4 Setting current 0.75A/Phase
HALF STEP
4 Setting current 0.75A/Phase
HALF STEP
② Driver MD5-HD14, Power 24VDC ② Driver MD5-HD14, Power 24VDC
Setting current 0.75A/Phase Setting current 0.75A/Phase
① ③ ③ Driver MD5-HF14, Power 220VAC ③ Driver MD5-HF14, Power 220VAC
Setting current 0.75A/Phase Setting current 0.75A/Phase
1.5 3 3 ①
①
③ ③

1.0 2 2
②
① Driver MD5-ND14, Power 24VDC
Setting current 0.75A/Phase
0.5 ② Driver MD5-HD14, Power 24VDC
1 1
Setting current 0.75A/Phase
③ Driver MD5-HF14, Power 220VAC ② ②
Setting current 0.75A/Phase
0 0 0
102 103 104 Speed (PPS) 102 103 104 102 103 104
Speed (PPS) Speed (PPS)
① fs Full Step: 3.3kpps, Half Step: 6.6kpps ① fs Full Step: 3.2kpps, Half Step: 6.3kpps ① fs Full Step: 3kpps, Half Step: 5.9kpps
② fs Full Step: 3.4kpps, Half Step: 6.7kpps ② fs Full Step: 3.3kpps, Half Step: 6.5kpps ② fs Full Step: 3.1kpps, Half Step: 6.1kpps
③ fs Full Step: 3.5kpps, Half Step: 6.8kpps ③ fs Full Step: 3.4kpps, Half Step: 6.7kpps ③ fs Full Step: 3.2kpps, Half Step: 6.4kpps

● AH4K-S(M) 564(W)- ● AH8K-S(M) 566(W)- ● AH16K-M(G) 569(W)-

Torque (kgf·cm) ※fs : Max. starting torque Torque (kgf·cm) ※fs : Max. starting torque Torque (kgf·cm) ※fs : Max. starting torque
① Driver MD5-ND14, Power 24VDC FULL STEP ① Driver MD5-ND14, Power 24VDC FULL STEP FULL STEP ④
8 Setting current 1.4A/Phase
HALF STEP 16 Setting current 1.4A/Phase
HALF STEP 20 HALF STEP
② Driver MD5-HD14, Power 24VDC ② Driver MD5-HD14, Power 24VDC
Setting current 1.4A/Phase Setting current 1.4A/Phase
③ Driver MD5-HF14, Power 220VAC ③ Driver MD5-HF14, Power 220VAC
Setting current 1.4A/Phase Setting current 1.4A/Phase
6 12 15
③
③
4 8 10
①
①
2 4 5 ②

② ③
② ①
0 0 0
102 103 104 Speed (PPS) 102 103 104Speed (PPS) 102 103 104
Speed (PPS)
① fs Full Step: 2.7kpps, Half Step: 5.3kpps ① fs Full Step: 2.1kpps, Half Step: 4.1kpps ① Driver MD5-ND14, Power 24VDC, Setting current 1.4A/Phase
② fs Full Step: 2.7kpps, Half Step: 5.8kpps ② fs Full Step: 2.1kpps, Half Step: 4.2kpps ② Driver MD5-HD14, Power 24VDC, Setting current 1.4A/Phase
③ Driver MD5-HF14, Power 220VAC, Setting current 1.4A/Phase
③ fs Full Step: 3.7kpps, Half Step: 7.2kpps ③ fs Full Step: 3.2kpps, Half Step: 6.3kpps ④ Driver MD5-HF28, Power 220VAC, Setting current 2.8A/Phase

① fs Full Step: 1.8kpps, Half Step: 3.5kpps

② fs Full Step: 1.9kpps, Half Step: 3.5kpps
③ fs Full Step: 2.6kpps, Half Step: 5.2kpps
④ fs Full Step: 3.4kpps, Half Step: 6.8kpps

● AH21K-M(G) 596(W)- ● AH41K-M(G) 599(W)- ● AH63K-M(G)5913(W)-

Torque (kgf·cm) ※fs : Max. starting torque Torque (kgf·cm) ※fs : Max. starting torque Torque (kgf·cm) ※fs : Max. starting torque
① Driver MD5-ND14, Power 24VDC FULL STEP ① Driver MD5-ND14, Power 24VDC FULL STEP FULL STEP
40 Setting current 1.4A/Phase
② Driver MD5-HD14, Power 24VDC HALF STEP 80 Setting current 1.4A/Phase
HALF STEP 80 HALF STEP
② Driver MD5-HD14, Power 24VDC
Setting current 1.4A/Phase Setting current 1.4A/Phase
④
③ Driver MD5-HF14, Power 220VAC ③ Driver MD5-HF14, Power 220VAC
Setting current 1.4A/Phase Setting current 1.4A/Phase
30 ④ Driver MD5-HF28, Power 220VAC 60 ④ Driver MD5-HF28, Power 220VAC 60
Setting current 2.8A/Phase Setting current 2.8A/Phase ③
④ ③
④
20 40 40 ②
①

② ②
10 20 20
①
① ③
0 0 0
102 103 104 Speed (PPS) 102 103 104 Speed (PPS) 102 103 104 Speed (PPS)

① fs Full Step: 1.5kpps, Half Step: 2.9kpps ① fs Full Step: 1.4kpps, Half Step: 2.7kpps ① Driver MD5-ND14, Power 24VDC, Setting current 1.4A/Phase
② fs Full Step: 1.6kpps, Half Step: 3.1kpps ② fs Full Step: 1.5kpps, Half Step: 2.9kpps ② Driver MD5-HD14, Power 24VDC, Setting current 1.4A/Phase
③ Driver MD5-HF14, Power 220VAC, Setting current 1.4A/Phase
③ fs Full Step: 2.2kpps, Half Step: 4.4kpps ③ fs Full Step: 1.8kpps, Half Step: 3.6kpps ④ Driver MD5-HF28, Power 220VAC, Setting current 2.8A/Phase
④ fs Full Step: 2.3kpps, Half Step: 4.6kpps ④ fs Full Step: 2.1kpps, Half Step: 4.3kpps
① fs Full Step: 1kpps, Half Step: 2.1kpps
② fs Full Step: 1.1kpps, Half Step: 2.2kpps
③ fs Full Step: 1.8kpps, Half Step: 3.6kpps
④ fs Full Step: 1.9kpps, Half Step: 3.8kpps

110
 5-Phase Stepper Motor

Processing Example for Shaft Assembly

In order to assemble external shafts into Autonics motors, the shafts must be processed as shown in the figures below.
SENSORS

● Single shaft type of frame size 42mm (unit: mm)

Taper 1/5 A (unit: mm) CONTROLLERS
7 10 M6×0.5 4 Model A
O.D 5.8 AH1K-S543- 42.5
AH2K-S544- 48.5 MOTION DEVICES
Ø7.6 - 0.05
0

AH3K-S545- 56.5
※Lock nut is included. SOFTWARE

Ø5.8
Ø6.2

Ø6 -0.015
0

● Dual shaft type of frame size 42mm

A 15.5
Taper 1/5 (unit: mm)
7 10 4 M6×0.5 Model A
O.D 5.8 AH1K- 543W- 42.5
AH2K- 544W- 48.5
Ø7.6 - 0.05

(Y)
0

Closed Loop
AH3K- 545W- 56.5 Stepper System
※Lock nut is included.

0.01
Ø5 - 0.02
Ø6.2

Ø5.8
Ø6 -0.015

(Z)
0

Stepper Motors

● Single shaft type of frame size 60mm

A (AA)
(unit: mm) Drivers
Taper 1/5
10 12 M5×0.8 Model A
DP 8 AH4K- 564- 46
(AB)
Motion
Controllers
Ø11.2 - 0.05

AH8K- 566- 57
0

AH16K- 569- 86.5

※Hexagon wrench bolt, flat
Ø8.8
Ø9.2

Ø9 -0.015

washer, spring washer and

0

lock washer are included.

● Dual shaft type of frame size 60mm
A 22
Taper 1/5
(unit: mm)
10 12 7 M9×0.5
Model A
O.D 8.8
AH4K- 564W- 56.5
Ø11.2 - 0.05

AH8K- 566W- 67.5

0

AH16K- 569W- 97
※Lock nut is included.
Ø8 - 0.025
Ø8.8

- 0.01
Ø9.2

Ø9 -0.015
0

● Single shaft type of frame size 85mm

A (unit: mm)
Model A
Taper 1/5 15 20 M6×1.0
DP 10 AH21K- 596- 64.5
R1 AH41K- 599- 94
Ø15 - 0.015

AH63K- 5913- 124.5

0

※Hexagon wrench bolt, flat

Ø9.8

washer, spring washer and

-0.015
Ø12

lock washer are included.

Ø10

● Dual shaft type of frame size 85mm

A 32.5 (unit: mm)
8.5 M10×0.5 Model A
Taper 1/5 15 20
O.D 9.8 AH21K- 596W- 79.5
R1
AH41K- 599W- 109.5
Ø15 - 0.015

AH63K- 5913W- 139.5

0

※Lock nut is included.

- 0.01
Ø8 - 0.02
Ø9.8
-0.015
Ø12

0
Ø10

111
AK-G/AK-GB/AK-R/AK-RB Series

Frame Size 42mm/60mm/85mm Geared Type

/Geared+Built-in Brake Type Motor
Frame Size 60mm Rotary Actuator Type
/Rotary Actuator+Built-in Brake Type Motor

Features
● Compact design and light weight with high accuracy,
Frame size
speed and torque 42mm 60mm 85mm
● Cost-effective Geared type Geared type Geared type
● Backlash
Frame size 42mm: ±35' (0.58°),
60mm: ±20' (0.33°), 85mm: ±15' (0.25°)
● Brake force is released when applying 24VDC
on brake wire
● Basic step angle Frame size
1:5→ 0.144°, 1:7.2→ 0.1°, 1:10→ 0.072° 42mm Geared+ 60mm Geared+ 85mm Geared+
Built-in brake type Built-in brake type Built-in brake type
● Allowable speed
1:5→ 0 to 360rpm, 1:7.2→ 0 to 250rpm
1:10→ 0 to 180rpm

Please read “Safety Considerations”

in the instruction manual before using. Frame size
60mm Rotary 60mm Rotary Actuator+
Actuator type Built-in brake type

Dimensions
※These dimensions are for dual shaft models. Single shaft models do not include shafts indicated in the dotted lines.
※For flexible coupling (ERB series) information, refer to 'ERB Series' in 'Rotary encoder'.
(frame size 60mm, 85mm: geared type, geared+built-in brake type)
※Brake is non-polar and be sure to observe rated excitation voltage (24VDC).
※SW1 ON: brake release / SW1 OFF: brake execute

Frame size 42mm

(unit: mm)
42
±1
28 89.5
31±0.2
4-M4 Tap 12 10 74.5 15±1
DP 8
- 0.003
Ø15 - 0.008

7
4.5
A B
- 0.01
Ø26 - 0.02

Ø8 - 0.015
- 0.01

A' B'
Sectioned A-A' Sectioned B-B'

Ø5, 0.6m
AWG26
UL3266
<Geared type>

55.5 47±1 23

12 10 27.5

7
0.5

A
-0.015
Ø26 -0.02
-0.01

Ø25.5
Ø8 -0.01

Ø37

A'

SW1
Ø5, 0.6m Ø1.5×2-wire, 0.6m

Brake lead wire

<Geared+built-in brake type>

112
 5-Phase Stepper Motor

Dimensions
Frame size 60mm (unit: mm) SENSORS

±1 ±1
38±1 35 59.5 21
4-M5 Tap 60
25 10
DP 10 CONTROLLERS

Ø8 - 0.015
Ø70±0.5 0
20±0.25
±0.15

0
4 -0.03 7.5

°
A

90
B

Ø37 -0.025

-0.018
MOTION DEVICES

0
+ 0.1

Ø12
0
A' B'

7.5±0.15
2.5 SOFTWARE
Sectioned A-A'
Sectioned B-B'
Ø5, 0.6m
0
AWG24 25±0.2 4 -0.03
UL3266
<Geared type>
4 -0.03
0

Parallel key
38±1 35 59.5±1 26.5 ±1
(Y)
25 10 Closed Loop
Stepper System

(Z)
A Stepper Motors
Ø12 -0.018
Ø37-0.025

Ø55
0
0

A' (AA)
Drivers

SW1
Ø1.5×2-wire, 0.6m
Ø5, 0.6m (AB)
Motion
Controllers
Brake lead wire

<Geared+built-in brake type>

47.5

3 34
R15±0.01 4-M5 Hole 10 59.5±1 21±1
3.2 3
P.C.D. 72
4-M4 Tap DP 6
P.C.D. 19
20±0.25
Ø8 -0.015

4-M4 Hole 7.5±0.15

0

°
+0.018

90
-0.035

B
-0.025
-0.025

P.C.D. 70
60
0

0
0
0

Ø43
Ø44
Ø82
Ø60

0 B'
Ø13 -0.018 Hole
7.5±0.15

DP 3.5

Ø5, 0.6m Sectioned B-B'

4-M4 Tap DP 8
P.C.D. 53

<Rotary actuator type>

Ø3 +0.01
0 Hole
DP 3
47.5
3 34
3.2 3 10 59.5±1 26.5
Ø43 +0.018
Ø82 -0.035

-0.025

-0.025

60
Ø55
0

0
0

0
Ø44
Ø60

SW1
Ø5, 0.6m Ø1.5, 0.6m

Brake lead wire

<Rotary actuator+built-in brake type>

113
AK-G/AK-GB/AK-R/AK-RB Series

Dimensions
Frame size 85mm
(unit: mm)
47±1 47 98 32±1
88
4-M8 Tap 26 14
DP 16 Ø104±0.5 25
25±0.25

14 -0.018
13±0.15

0
6 0

°
-0.03

90
A B

Ø61 -0.03
-0.018

85
0

0
Ø18
3.5 +0.1
0

A' B'

13±0.15
Sectioned
Sectioned A-A' B-B'

25 ±0.2
6 -0.03
0
Ø7, 0.6m
AWG22
UL3266
6 - 0.03
0

Parallel key <Geared type>

47±1 47 98±1 35
26 14
25

A
Ø61 -0.03
Ø18 -0.018

Ø81
0

A'
SW1
Ø1.5×2-wire, 0.6m
Ø7, 0.6m
Brake lead wire

<Geared+built-in brake type>

114
 5-Phase Stepper Motor

Characteristic
● A10K-S545(W)-G5 ● A15K-S545(W)-G7.2 ● A15K-S545(W)-G10
A10K-S545-GB5 A15K-S545-GB7.2 A15K-S545-GB10
SENSORS

Torque (kgf·cm) ※fs: max. starting torque Torque (kgf·cm) ※fs: max. starting torque Torque (kgf·cm) ※fs: max. starting torque

20 20 CONTROLLERS
20
③ ③

15 15 15 MOTION DEVICES
③
10 10 10 ②
② ② SOFTWARE

5 5 5
① ①
①
0 120 240 360 Speed[rpm] 0 50 100 150 200 250 Speed[rpm] 0 60 120 180 Speed[rpm]
0 5 10 15 Full Step 0 3 6 9 12 15 Full Step 0 5 10 15 Full Step
(0) (10) (20) (30) (half step) (0) (6) (12) (18) (24) (30) (half step) (0) (10) (20) (30) (half step)
Driver input frequency[kHz] Driver input frequency[kHz] Driver input frequency[kHz]
① Driver MD5-ND14, Power 24VDC, ① fs: 3.1kpps ① Driver MD5-ND14, Power 24VDC, ① fs: 3.2kpps ① Driver MD5-ND14, Power 24VDC, ① fs: 3.3kpps
Setting current 1.4A/Phase ② fs: 3.2kpps Setting current 1.4A/Phase ② fs: 3.3kpps Setting current 1.4A/Phase ② fs: 3.3kpps
② Driver MD5-HD14, Power 24VDC, ② Driver MD5-HD14, Power 24VDC, ② Driver MD5-HD14, Power 24VDC, (Y)
③ fs: 3.2kpps ③ fs: 3.4kpps ③ fs: 3.4kpps
Setting current 1.4A/Phase Setting current 1.4A/Phase Setting current 1.4A/Phase Closed Loop
③ Driver MD5-HF14, Power 220VAC, ③ Driver MD5-HF14, Power 220VAC, ③ Driver MD5-HF14, Power 220VAC, Stepper System
Setting current 1.4A/Phase Setting current 1.4A/Phase Setting current 1.4A/Phase

(Z)
● A35K-M566(W)- 5 ● A40K-M566(W)- 7.2 ● A50K-M566(W)- 10 Stepper Motors

A35K-M566- B5 A40K-M566- B7.2 A50K-M566- B10

Torque (kgf·cm) ※fs: max. starting torque Torque (kgf·cm) ※fs: max. starting torque Torque (kgf·cm) ※fs: max. starting torque (AA)
Drivers

40 40
50
③ ③ (AB)
③ Motion
30 30 40 Controllers

② 30
20 20
②
20 ②
10 10
10 ①
① ①

0 120 240 360 Speed[rpm] 0 60 120 180 Speed[rpm]

0 50 100 150 200 250 Speed[rpm]
0 5 10 15 Full Step 0 5 10 15 Full Step
(0) (10) (20) (30) (half step) 0 3 6 9 12 15 Full Step (0) (10) (20) (30) (half step)
(0) (6) (12) (18) (24) (30) (half step)
Driver input frequency[kHz] Driver input frequency[kHz]
Driver input frequency[kHz]
① Driver MD5-ND14, Power 24VDC, ① fs: 2.3kpps ① Driver MD5-ND14, Power 24VDC, ① fs: 2.2kpps ① Driver MD5-ND14, Power 24VDC, ① fs: 2.3kpps
Setting current 1.4A/Phase ② fs: 2.3kpps Setting current 1.4A/Phase ② fs: 2.3kpps Setting current 1.4A/Phase ② fs: 2.3kpps
② Driver MD5-HD14, Power 24VDC, ③ fs: 2.6kpps ② Driver MD5-HD14, Power 24VDC, ③ fs: 2.6kpps ② Driver MD5-HD14, Power 24VDC, ③ fs: 2.8kpps
Setting current 1.4A/Phase Setting current 1.4A/Phase Setting current 1.4A/Phase
③ Driver MD5-HF14, Power 220VAC, ③ Driver MD5-HF14, Power 220VAC, ③ Driver MD5-HF14, Power 220VAC,
Setting current 1.4A/Phase Setting current 1.4A/Phase Setting current 1.4A/Phase

● A140K- 599(W)-G5 ● A200K- 599(W)-G7.2 ● A200K- 599(W)-G10

A140K- 599-GB5 A200K- 599-GB7.2 A200K- 599-GB10
Torque (kgf·cm) ※fs: max. starting torque Torque (kgf·cm) ※fs: max. starting torque Torque (kgf·cm) ※fs: max. starting torque

150 250 250

120 200 200 ②

②
90 150 ② 150

60 100 100
①
① ①
30 50 50

0 120 240 360 Speed[rpm] 0 50 100 150 200 250 Speed[rpm] 0 60 120 180 Speed[rpm]
0 5 10 15 Full Step 0 3 6 9 12 15 Full Step 0 5 10 15 Full Step
(0) (10) (20) (30) (half step) (0) (6) (12) (18) (24) (30) (half step) (0) (10) (20) (30) (half step)
Driver input frequency[kHz] Driver input frequency[kHz] Driver input frequency[kHz]
①드라이버 MD5-HF14, 전원전압 220VDC ① fs: 1.8kpps ① fs: 1.8kpps ① fs: 1.9kpps
① 설정전류
Driver MD5-HF14,
1.4A/相 Power 220VAC, ② fs: 2.1kpps ① Driver MD5-HF14, Power 220VAC, ② fs: 2.1kpps ① Driver MD5-HF14, Power 220VAC, ② fs: 2.1kpps
SettingMD5-HF28,
②드라이버 current 1.4A/Phase
전원전압 220VDC Setting current 1.4A/Phase Setting current 1.4A/Phase
② 설정전류
Driver MD5-HF28,
2.8A/相 Power 220VAC, ② Driver MD5-HF28, Power 220VAC, ② Driver MD5-HF28, Power 220VAC,
Setting current 2.8A/Phase Setting current 2.8A/Phase Setting current 2.8A/Phase

115
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PMC-2HSP/PMC-2HSN Series

2-axis High Speed Interpolation/Normal Motion Controller

▣ Features
● Independent 2-axis controlling with high operating speed of max. 4Mpps
● Linear/Circular interpolation control (PMC-2HSP)
● Realizing a wide variety of operation up to 200 steps using 17 control
commands combination (13 commands except arc/linear interpolation
command for PMC-2HSN series)
● Various control interface available (USB, RS232C, RS485, Parallel I/F)
● Controlling up to 32 axes (16-unit)
via RS485 serial communication (Modbus RTU)
● 4 operation modes: Jog, Continuous, Index, Program mode
● Symmetrical/asymmetrical trapezoid, S-shaped de/acceleration driving function
PMC-2HS -USB
Please read “Safety Considerations” PMC-2HS -485
in the instruction manual before using.
(except for PMC-2HS -485)

▣ User Manual
Please refer to user manual for detailed instructions and specifications.
Visit our website (www.autonics.com) to download user manual and software [atMotion].
User manual describes installing software, setting parameter and program, operation mode, and multi-axis operation, etc.
to operate motion controller.

▣ Software (atMotion)
atMotion is the windows software designed to operate motion control for motion device.
● Compatible with Microsoft Windows 98, NT, XP (32-bit, 64-bit), Vista (32-bit, 64-bit), 7 (32-bit, 64-bit),8 (32-bit, 64-bit)
and 10 (32-bit, 64-bit)
● Supports 1200, 2400, 4800, 9600, 19200, 38400, 57600, 115200 bps communication speeds
● Available to use on all OS supported COM ports (COM1 to COM256)
● Multilingual support (Korean, English)
● Provides the calculator for convenience (calculates PPS, center of interpolation, end coordinates)
< Computer specification for using software> < atMotion screen >
Item Minimum requirements
System IBM PC compatible computer with Intel Pentium Ⅲ or above
Operations Microsoft Windows 98/NT/XP/Vista/7/8/10
Memory 256MB+
Hard disk 1GB+ of available hard disk space
VGA Resolution: 1024×768 or higher
Others RS-232 serial port (9-pin), USB port

▣ Standard Operation Method

There are three methods to operate the motion controller.
● Operation by PC
Connect a PC and the controller with communication cable and run dedicated program (atMotion).
● Operation by Parallel I/F
Connect a sequence controller or switch to Parallel I/F.
● Operation by serial communication (dedicated communication protocol)
Using serial communication protocol, operate according to program writing by user.

▣ Ordering Information
PMC 2HSP USB
Communication type USB USB / RS232C
485 RS485 / RS232C

Axis/Type 2HSP 2-axis high speed interpolation

2HSN 2-axis high speed normal
Item
PMC Programmable Motion Controller

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2-axis High Speed Interpolation/Normal Motion Controller

▣ Specifications
Model PMC-2HSP-USB PMC-2HSP-485 PMC-2HSN-USB PMC-2HSN-485 SENSORS

Control axes 2-axis

Motor for control Pulse train input stepper motor or servo motor
Power supply 24VDCᜡ CONTROLLERS

Allowable voltage range 90 to 110% of rated voltage

Power consumption Max. 6W
MOTION DEVICES
In-Position range -8,388,608 to 8,388,607 (selectable absolute/relative value, available pulse-scaling function)
Drive speed 1pps to 4Mpps (1 to 8,000pps×magnification 1 to 500)
Pulse output method 1-Pulse/2-Pulse output method (line driver output) SOFTWARE
Operation mode Jog / Continuous / Index / Program mode
Number of index steps 64 indexes per axis
Steps 200-step
Program Control command ABS, INC, HOM, LID※1, CID※1, FID※1, RID※1, TIM, JMP, REP, RPE, ICJ, IRD, OPC, OPT, NOP, END
function Start Available power On program auto start setting
Home search Available power On home search setting
High speed near home search (Step 1) → Low speed near home search (Step 2) →
Home search mode
Encoder Z phase search (Step 3) → Offset movement (Step 4) (Y)
Closed Loop
• Parallel I/F (CN3): 13 inputs, 4 outputs
I/O Stepper System
• X-axis (CN4) / Y-axis (CN5): 8 inputs, 6 outputs (general-purpose I/O, two of each)
Environ Ambient temperature 0 to 45℃, storage: -15 to 70℃ (Z)
-ment Ambient humidity 20 to 90%RH, storage: 20 to 90%RH Stepper Motors

• [Common] Power connector, I/O connector: 3 (PI/F, X-axis, Y-axis), RS232C communication cable (1.5m): 1
Accessory
• [USB type] USB communication cable 1m: 1 •[RS485 type] RS485 connector: 1 (AA)
Drivers
Approval ᜢᜣ ᜢ ᜢᜣ ᜢ
※2 Approx. 344g Approx. 308.7g Approx. 344g Approx. 308.7g
Weight
(approx. 101.5g) (approx. 101.6g) (approx. 101.5g) (approx. 101.6g) (AB)
Motion
※1: These commands are only for PMC-2HSP series. Controllers

※2: The weight includes packaging. The weight in parenthesis is for unit only.
※Environment resistance is rated at no freezing of condensation.

▣ Program Commands
Command type Code Description
ABS Move absolute position
INC Move relative position
HOM Home search
※1
Drive commands LID 2-axis linear interpolation
※1
CID 2-axis CW circular interpolation
※1
FID 2-axis CW arc interpolation
※1
RID 2-axis CCW arc interpolation
ICJ Jump input condition
IRD Stand-by external input
I/O commands
OPC ON/OFF output port
OPT ON pulse from output port
JMP Jump
REP Start repetition
Program control commands
RPE End repetition
END End program
TIM Timer
Others
NOP No operation
※1: These commands are only for PMC-2HSP series.

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PMC-2HSP/PMC-2HSN Series

▣ Connections

5-phase stepper motor

- direction limit HOME sensor + direction limit

sensor sensor

5-phase micro step XLMT- XSTOP1 XLMT+

motor driver
CW+ XP+P
CW- XP+N PMC-2HSP/
PMC-2HSN RS232C
CCW+ XP-P
RS485
CCW- XP-N USB PC

< Basic configuration of the motion controller (configuration only for X-axis) >

▣ Dimensions
(unit: mm)

35.5 64
5 4
35mm DIN rail
connectable
104
90
97

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2-axis High Speed Interpolation/Normal Motion Controller

▣ Unit Descriptions
PMC-2HS -USB PMC-2HS -485 1. Power / Status indicator SENSORS

Used to indicate power, communication status of the

controller, and operation status of each axis.
CONTROLLERS
3 3 2. Power connector terminal
4 4
Used to connect power for controller
2 2 3. RS232C connector terminal MOTION DEVICES
1 1
Used to connect RS232 serial (RJ12-DSUB9) connection cable
4. USB/RS485 connector terminal
Used to connect USB and RS485 connection cable SOFTWARE

5 5 5. External I/O connector terminal

Used to operate various drives through input and output of
Parallel I/F, X, Y
6 6. ID select switch
Used to set unique ID for each node in case of RS485
communication

(Y)
Closed Loop
Stepper System

▣ External I/O Terminal Connection

(Z)
PMC-2HS -USB PMC-2HS -485 Stepper Motors

● Connector
(AA)
Drivers
Connector no. Description
CN6 CN2
CN2 CN6 CN1 Power connector (AB)
CN1 CN1 Motion
CN2 RS232C connector Controllers

CN4 CN4 CN3 Parallel I/F connector

CN4 X-axis I/O connector
CN3 CN3 CN5 Y-axis I/O connector

CN5 CN5 PMC-2HSP/2HSN-USB: USB connector

CN6
PMC-2HSP/2HSN-485: RS485 connector
IDS
IDS ID selection switch

▣ CN1: Power Connector

Pin no. Signal name
1 24VDC
2 GND (0V)

▣ CN2: RS232C Connector

Pin no. Signal name I/O Description Connector
CN2 RS232C for PC
1 TXD Output Receiving data
connector Cable length 1.5m DCD
2 RXD Input Transmitting data 1
TXD RXD
3 GND - Ground 1 2
RXD 2 TXD
3
4 - - GND 3 DTR
4
5 - - N.C 4 5 GND
5 1
6 DSR
6 - - 6
6 7 RTS
※The internal connection diagram of RS232C 8
6-wire modular 6-wire CTS
communication cable is shown on the right. Cable 9
connector RI
connector
DE-9S
< Internal connection diagram of RS232C communication cable>

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PMC-2HSP/PMC-2HSN Series

▣ CN3: Parallel I/F Connector

The Parallel I/F connector which is connected with a sequencer or mechanical contacts operates motion controller same as
PC program. When input signal is ON, the input signal terminal and GEX terminal are connected by mechanical contacts or
open collector output and open collector output transistor is ON when the output signal is ON.
Pin no. Signal name I/O Description
1 RESET Input Reset
2 HOME Input Home search start command
3 STROBE Input Drive start command
4 X/JOG Y+ Input X-axis designate/Jog Y+
5 Y/JOG Y- Input Y-axis designate/Jog Y-
6 STEPSL0/RUN+/JOG X+ Input Register designate 0/Run+/Jog X+
7 STEPSL1/RUN-/JOG X- Input Register designate 1/Run-/Jog X-
8 STEPSL2/SPD0 Input Register designate 2/Drive speed designate 0
9 STEPSL3/SPD1 Input Register designate 3/Drive speed designate 1
10 STEPSL4/JOG Input Register designate 4/Jog designate
11 STEPSL5/STOP Input Register designate 5/Drive stop
12 MODE0 Input Operation mode designate 0
13 MODE1 Input Operation mode designate 1
14 X DRIVE/END Output X-axis drive/Drive end pulse
15 Y DRIVE/END Output Y-axis drive/Drive end pulse
16 X ERROR Output X-axis error
17 Y ERROR Output Y-axis error
18 GEX - Ground
19 GEX - Ground
20 VEX - Power supply for sensor (24VDC, max. 100mA)

<CN3 pin number>

20 19
18 17
16 15
[Hirose connector]: HIF3BA-20PA-2.54DS
14 13
[Connector socket specification]: Contact the manufacture for the socket and cable.
12 11
Specifications Manufacture
10 9 Connector socket HIF3BA-20D-2.54R Hirose Electric
8 7 I/O cable (sold separately) CO20-HP -L, CO20-HP -R Autonics

6 5
4 3
2 1 ◄

▣ Input/Output Connections of CN3

VEX (+24VDC) +24V

+5V
10k 2.7k Output
Inner
7.2k (14 to 17)
Input circuit
(1 to 13) 3.3k
3k GEX
(18, 19)
GEX
(18, 19)

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2-axis High Speed Interpolation/Normal Motion Controller

▣ CN4, CN5: X, Y-Axis Input/Output Connector

CN4 and CN5 are I/O signals for X-axis and Y-axis respectively. SENSORS
The pin arrangement of CN4 and CN5 are equal. 'n' in the table means X for CN4 and Y for CN5.
Pin no. Signal name I/O Description
CONTROLLERS
1 n P+P Output Drive pulse in the CW + direction <CN4, CN5 pin no.>
2 n P+N Output Drive pulse in the CW - direction ► 1 2
MOTION DEVICES
3 n P-P Output Drive pulse in the CCW + direction 3 4
4 n P-N Output Drive pulse in the CCW - direction 5 6
SOFTWARE
5 n OUT0 Output General output 0 7 8
9 10
6 n OUT1 Output General output 1
11 12
7 n IN0 Input General input 0
13 14
8 n IN1 Input General input 1
15 16
9 n STOP2 Input Encoder Z-phase
[Hirose connector]: HIF3BA-16PA-2.54DS
10 n STOP1 Input Home
[Connector socket specification]: Contact the manufacture for (Y)
Closed Loop
11 n STOP0 Input Near Home the socket and cable. Stepper System

12 n LMT+ Input + direction limit Specifications Manufacture

Connector socket HIF3BA-16D-2.54R Hirose Electric (Z)
13 n LMT- Input - direction limit Stepper Motors

14 EMG Input Emergency stop

(AA)
15 GEX - Ground Drivers

Power supply for sensor

16 VEX -
(24VDC, max. 100mA) (AB)
Motion
※CN4, 5 input/output is same as CN3 input/output connections. Controllers

Drive pulse output of motion controller which is inputted to motor driver is line driver output.

E.g. Connection with a motor driver E.g. Connect of Limit and Home signal
CN4, CN5 Motor driver CN4, CN5
1 CW+ 16 + direction limit switch
n P+P VEX (+24V)
2 n LMT+
n P+N 12
CW-
3 CCW+ - direction limit switch
n P-P
13
4 n LMT-
n P-N
CCW-

Home sensor

10
n STOP1
15
GEX

▣ CN6: RS485 Connector

Pin no. Signal name I/O Description
G
1 B (-) I/O Transmitting / Receiving data
A
2 A (+) I/O Transmitting / Receiving data
3 G - ※1 B

※1: Connect the ground when it is required depending on communication environments.

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PMC-1HS/PMC-2HS Series

1·2-Axis High Speed Programmable Motion Controller

▣ Features SENSORS

● Max. 4Mpps high-speed operation

● 4 operation modes: Jog, Continuous, Index, Program mode CONTROLLERS
● 12 control command and 64 steps of operations
● Parallel I/O terminal built in which is connectable on PLC
● Create and edit operating programs, parameters by MOTION DEVICES

dedicated software
● Easy to operation of X, Y stage with joy stick
● RS232C port for all types SOFTWARE

● Teaching and monitoring function by using teaching unit PMC-1HS PMC-1HS PMC-2HS PMC-2HS
(PMC-2TU-232, sold separately) (USB) (232) (USB) (232)
Please read “Safety Considerations”
in the instruction manual before using.

▣ Manual (Y)
For the detail information and instructions, please refer to user manual and Closed Loop

be sure to follow cautions written in the technical descriptions (catalog, website). PMC-2TU-232, Stepper System

Visit our website (www.autonics.com) to download manuals. sold separately

(Z)
Stepper Motors

▣ Software (atMotion)
a
 tMotion is a comprehensive motion device management program that can be used with Autonics motion controllers. (AA)
Drivers
atMotion provides GUI control for easy and convenient parameter setting and monitoring data management of multiple devices.
Visit our website (www.autonics.com) to download the user manual and software.
(AB)
Motion
Controllers
< Computer specification for using software> < atMotion screen >
Item Minimum requirements
System IBM PC compatible computer with Intel Pentium Ⅲ or above
Operations Microsoft Windows 98/NT/XP/Vista/7/8/10
Memory 256MB+
Hard disk 1GB+ of available hard disk space
VGA Resolution: 1024×768 or higher
Others RS-232 serial port (9-pin), USB port

▣ Standard Operation Method

There are four methods to operate PMC-1HS/PMC-2HS.
● Start with PC
Connect a PC and the motion controller body via a communication cable, starts the operation program.
● Start with Parallel I/F
Connect a sequence controller or switch to the Parallel I/F.
● Start with teaching unit (PMC-2TU-232, sold separately)
Connect a communication cable annexed to a teaching unit (PMC-2TU-232).
It is available to execute Jog output, home output and programs by drive operation of teaching unit.
● Control by serial communication
The PMC-1HS/2HS Series provides serial communication commands.
The PMC-1HS/2HS is connected to a PC or a sequence controller via an USB cable or RS-232C communication cable and it can control
axes by means of user's independent program.

▣ Ordering Information
PMC 2HS USB
Communication type 232 RS232C
USB USB, RS232C multiple use

Axis/Type 1HS 1-axis high speed stand-alone

2HS 2-axis high speed stand-alone
Item
PMC Programmable Motion Controller

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PMC-1HS/PMC-2HS Series

▣ Specifications
Model PMC-1HS-232 PMC-1HS-USB PMC-2HS-232 PMC-2HS-USB
2-axis
Control axes 1-axis
(Each axis can be independently programmed)
Motor for control Pulse train input stepper motor or servo motor
Power supply 24VDCᜡ ±10%
Power consumption Max. 6W
Operation mode Jog / Continuous / Index / Program mode
In-Position setting ABSOLUTE / INCREMENTAL method
Number of index steps 64 indexes per axis
In-Position range -8,388,608 to +8,388,607 (supports pulse scaling function)
Number of drive speed 4
Drive Speed 1pps to 4Mpps (1 to 8,000×magnification 1 to 500)
Pulse output method 2-pulse output method (line driver output)
High speed near home search (Step 1) → Low speed near home search (Step 2)
Home search mode → Encoder Z-phase search (Step 3) → Offset movement (Step 4).
Configuring the detection direction and Enable/Disable in each step.
Save EEPROM
Steps 64-step
Program
Control command ABS, INC, HOM, IJP, OUT, OTP, JMP, REP, RPE, END, TIM, NOP (12 types)
function
Start Available power ON program auto start setting
Home search Available power ON home search setting
General output 1-point 2-point
Control interface Parallel I/F
Environ- Ambient temp. 0 to 45℃
ment Ambient humidity 35 to 85%RH
Common User manual, CD
Power connector [CN1] MC1, 5/2-ST-3.5 (PHOENIX): 1
RS-232C
[CN2] RS-232C communication cable (1.5m): 1
connector
P I/F connector [CN3] 20P MIL standard, 2.54mm connector: 1
Accessory X-axis I/O
[CN4] 16P MIL standard, 2.54mm connector: 1 (In case of 2HS, using 2)
connector
Y-axis I/O
- [CN5] 16P MIL standard, 2.54mm connector: 1
connector
USB communication USB communication
USB connector - -
cable (1m): 1 cable (1m): 1
Approval
Approx. 386g Approx. 421.6g Approx. 393.6g Approx. 432.2g
Weight※1
(approx. 96.8g) (approx. 96.9g) (approx. 100.2g) (approx. 100.4g)
※1: The weight includes packing. The weight in parenthesis is for unit only.
※Environment resistance is rated at no freezing of condensation.

▣ Program Commands
Command type Code Description
ABS Move absolute position
Drive commands INC Move relative position
HOM Home search
IJP Jump input condition
I/O commands OUT ON/OFF of output port
OTP ON pulse from output port (certain time)
JMP Jump
REP Start repetition
Program control commands
RPE End repetition
END End program
TIM Timer
Others
NOP No operation

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1·2-Axis High Speed Programmable Motion Controller

▣ Connections
5-phase stepper motor SENSORS

CONTROLLERS

- direction HOME sensor + direction MOTION DEVICES

limit sensor limit sensor

SOFTWARE

5-phase micro step

motor driver XLMT- XSTOP1 XLMT+

CW+ XP+P RS232C

USB
CW- XP+N PMC-1HS/
CCW+ XP-P PMC-2HS
(Y)
CCW- XP-N PC Closed Loop
Stepper System

< Basic configuration of the motion controller (configuration only for X-axis) > (Z)
Stepper Motors

(AA)
Drivers

▣ Dimensions (unit: mm) (AB)

35.5 64 Motion
Controllers
5 4
35mm DIN rail
connectable
104
90
97

Sold separately (teaching unit, PMC-2TU-232)

61.7

23
150

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PMC-1HS/PMC-2HS Series

▣ Unit Descriptions

1. Power / Status indicator

3 4 Used to indicate power, communication status of the
2
controller, and operation status of each axis.
1 2. Power connector terminal
Used to connect power for controller
3. RS232C connector terminal
Used to connect RS232 serial (RJ12-DSUB9) connection cable
5
4. USB/RS485 connector terminal
Used to connect USB and RS485 connection cable
5. External I/O connector terminal
Used to operate various drives through input and output of
Parallel I/F, X, Y

▣ External I/O Terminal Connection

CN2 Connector No. Description
CN6
CN1 Power connector
CN1
CN2 RS232C connector (connect with PMC-2TU-232)
CN4 CN3 Parallel I/F connector
CN3 CN4 X-axis I/O connector
CN5 Y-axis I/O connector
CN6 USB connector
CN5 ※PMC-1HS-232 does not have CN5 and CN6,
PMC-1HS-USB does not have CN5, and
PMC-2HS-232 does not have CN6.

▣ CN1: Power Connector

Pin No. Signal name
1 24VDC
2 GND (0V)

▣ CN2: RS232C Connector

Pin No. Signal name Input/Output Description
PC connection connector
1 TXD Output Transmitting data
CN2 RS232C connector 1 DCD
2 RXD Input Receiving data Cable length 1.5m
TXD 1 2 RXD
3 GND - Ground RXD 2 3 TXD
4 - - GND 3 4 DTR
5 - - N.C 4 5 GND
1
6 - - 5 6 DSR
6
6 7 RTS
※The internal connection diagram of RS232C 6P modular 6P connector Cable 8 CTS
communication cable is as shown below. connector
9 RI
DE-9S
< Internal connection diagram of RS232C communication cable>

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1·2-Axis High Speed Programmable Motion Controller

▣ CN3: Parallel I/F Connector

Motion controller is controlled via Parallel I/F connected with a sequencer or mechanical junction as the dedicated program.
SENSORS
'The input signal is in the ON state' means that the input signal and GEX terminal is connected via a mechanical junction or an open collector.
'The output is in the ON state' means that an open collector output transistor becomes high.
Pin No. Signal name Input/Output Description CONTROLLERS
1 RESET Input Reset
2 HOME Input Home search start
MOTION DEVICES
3 STROBE Input Drive start
4 X/JOG Y+ Input X-axis setting/Jog 2 mode Y+
5 Y/JOG Y- Input Y-axis setting/Jog 2 mode Y- SOFTWARE

6 REGSL0/RUN+/JOG X+ Input Register setting 0/Run+/Jog 2 mode X+

7 REGSL1/RUN-/JOG X- Input Register setting 1/Run-/Jog 2 mode X-
8 REGSL2/SPD0 Input Register setting 2/Drive speed setting 0
9 REGSL3/SPD1 Input Register setting 3/Drive speed setting 1
10 REGSL4/JOG Input Register setting 4/Jog setting
11 REGSL5/STOP Input Register setting 5/Drive stop
12 MODE0 Input Operation mode setting 0 (Y)
Closed Loop
Stepper System
13 MODE1 Input Operation mode setting 1
14 X DRIVE/END Output X-axis drive/Drive end pulse
(Z)
15 Y DRIVE/END Output Y-axis drive/Drive end pulse Stepper Motors

16 X ERROR Output X-axis error

(AA)
17 Y ERROR Output Y-axis error Drivers
18 GEX 0V GND
19 GEX 0V GND (AB)
Motion
20 VEX +24V Power output for sensor (less than 24VDC, 100mA) Controllers

<CN3 pin number>

20 19
18 17
16 15 [Hirose connector]: HIF3BA-20PA-2.54DS
14 13 [Connector socket specification]: Contact the manufacture for the socket and cable.
12 11 Specifications Manufacture
10 9 Connector socket HIF3BA-20D-2.54R Hirose Electric
I/O cable (sold separately) CO20-HP -L, CO20-HP -R Autonics
8 7
6 5
4 3
2 1 ◄

▣ Input/Output Connections of CN3

VEX (+24VDC) +24V

+5V
Output
Inner circuit

10k 2.7k
(14 to 17)
Input 7.2k
(1 to 13) Inner
3.3k
circuit GEX
3k
(18, 19)
GEX
(18, 19)

< CN3 control input connections > < CN3 control output connections >

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PMC-1HS/PMC-2HS Series

▣ CN4, CN5: X, Y-Axis Input/Output Connector

CN4 and CN5 are the I/O signal connector for X-axis and Y-axis respectively.
The pin arrangement of CN4 and CN5 are equal. PMC-1HS does not have CN5.
'n' in the below table means X for CN4 and Y for CN5.
Pin No. Signal name Input/Output Description
1 nP+P Output CW +direction drive pulse
2 nP+N Output CW -direction drive pulse
3 nP-P Output CCW +direction drive pulse
4 nP-N Output CCW -direction drive pulse
5 n OUT0 Output General output 0/DCC
6 n INPOS Input Servo In-Position complete
7 n ALARM Input Servo alarm
8 GEX 0V GND
9 n STOP2 Input Encoder Z-phase
10 n STOP1 Input Home
11 n STOP0 Input Near Home
12 n LMT+ Input LMT+
13 n LMT- Input LMT-
14 EMG Input Emergency stop
15 GEX 0V GND
16 VEX +24V Power output for sensor (less than 24VDC, 100mA)
※CN4, 5 input/output circuit except drive pulse is same as CN3 input/output circuit.
Drive pulse output of motion controller which input by motor driver is line driver output.

<CN4, CN5 pin number>

► 1 2
3 4
5 6 [Hirose connector]: HIF3BA-16PA-2.54DS
7 8 [Connector socket specification]: Contact the manufacture for the socket and cable.

9 10 Specifications Manufacture
11 12 Connector socket HIF3BA-16D-2.54R Hirose Electric

13 14
15 16

E.g. Connection with a motor driver E.g. Connect of Limit and Home signal
CN4, CN5 Motor driver CN4, CN5
1 16
nP+P VEX (+24V)
2 nLMT+
nP+N 12 + direction limit

3
nP-P 13
4 nLMT-
- direction limit
nP-N

10 Home
nSTOP1

15
GEX

127
-|Transparent setting guide|-

1·2-Axis High Speed Programmable Motion Controller

▣ Teaching Unit PMC-2TU-232 (sold separately)

The teaching unit (PMC-2TU-232) is a device that builds the operation mode parameter and operation program for the SENSORS
main body without a PC. In addition, it can carry out the start of the operation program, the home search and Jog operation.
The teaching unit is used by connection the private cable (1.5m) to the RS-232C connector (CN2) of the main body.
CONTROLLERS

MOTION DEVICES

PMC-2TU-232
connection cable (accessory) SOFTWARE

Teaching unit consists of data edit mode and drive operation mode.
The data edit mode displays a register number to the REG of the display part, and the drive handling mode displays dp (drive operation).
(Y)
When turned on, it starts as the drive handling mode (dp display). Closed Loop
Stepper System
The [DP] button is used to convert the status of the data edit mode and the drive operation mode.
(Z)
Mode Operation REG display Stepper Motors

• Adding operation mode parameter and operation program

Data edit Register number
• Index drive operation (AA)
• Displaying the current position Drivers

Drive handling
• Jog operation DP
• Home search (drive operation) (AB)
Motion
• Program execution Controllers

The front panel of the teaching unit is as shown below;

2 3

1 4

6
5

1. Reset: Reset the controller and teaching unit.

2. X/Y display: Display the currently selected axis.
3. Register number display/dp
: Displays the currently selected register number when data is editing and dp when operating drive.
4. Data display
: Displays the data of each register when data is editing and the current position of the selected axis when operating
drive.
5. Input button
• X/Y: C onverts the selecting axis. It is used to convert the sign of an input value when the value is entered and a mode
data that the mode data is entered.
• REG: It is used to input the register number to display.
If this button is pressed on the data input, the data input is canceled and returns to the state before the data input.
• ↑↓: Increases / decreases the displayed register number.
• EXC: Runs the displayed command. However, this command is only valid for ABS, INC, OUT, OTP and HOM 1 to 4
commands.
• DP: Converts the drive handling status and the data edit status.
• WRT: Adds a value when data is editing.
6. Button display for drive operation
: Displays button function as yellow letters to the left or the top of the input button in drive handling status.
The top end and the bottom end of the button handle X-axis and Y-axis respectively.

128
 PMC-4B-PCI

4-axis Board Type Programmable Motion Controller

Features SENSORS

● Available to control 4-axis independent AC servo motor

and stepper motor
● PC-PCI card CONTROLLERS

● Auto home search and synchronous operation

● Interpolation on circular/linear, bit pattern/continuous/
accel/deceleration drive
MOTION DEVICES

● 2/3-axis constant linear velocity.

● Compatible with windows 98, NT, 2000, XP, 7 SOFTWARE
● Supports Labview library and help, C language library and
examples (download at Autonics website)
Please read “Safety Considerations” ※Visit our website (www.autonics.com) to
in the instruction manual before using. download manual and software.
Software (atMotion)
atMotion is the windows software designed to operate motion control for motion device.
● Compatible with Microsoft Windows 98, NT, XP (32-bit, 64-bit), Vista (32-bit, 64-bit), 7 (32-bit, 64-bit),
8 (32-bit, 64-bit) and 10 (32-bit, 64-bit) (Y)
Closed Loop
● Supports 1200, 2400, 4800, 9600, 19200, 38400, 57600, 115200 bps communication speeds Stepper System
● Available to use on all OS supported COM ports (COM1 to COM256)
● Multilingual support (korean, english) (Z)
● Provides the calculator for convenience (calculates PPS, center of interpolation, end coordinates) Stepper Motors

Ordering Information
(AA)
PMC 4B PCI Drivers

Connection type
PCI PCI (AB)
Motion
Axis/Type Controllers
4B 4-axis board type
Item
PMC Programmable motion controller

Specifications
Model PMC-4B-PCI
Control axes 4-axis
Power supply 5VDCᜡ (uses PC inner power)
External power supply 12-24VDCᜡ
Allowable voltage range 90 to 110% of rated voltage
CPU data bus 8/16-bit selectable
2/3-axis Range -2,147,483,648 to 2,147,483,647 for each axis
linear Speed 1pps to 4Mpps
interpolation Position accuracy Max. ±0.5LSB (within all interpolation range)
Range -2,147,483,648 to 2,147,483,647 for each axis
Circular
Speed 1pps to 4Mpps
interpolation
Position accuracy Max. ±1 LSB (within all interpolation range)
2/3-axis bit pattern
1 to 4Mpps (depends on CPU data setup time)
interpolation speed
Selectable the axis, constant linear velocity, consecutive interpolation, interpolation step transmission
Other interpolations
(command, external signal)
Output speed range: 1pps to 4Mpps
Output speed accuracy: max ±0.1% (for setting value)
Speed magnification: 1 to 500
S jerk speed: 954 to 62.5×106pps/sec (mag.=1)
(accel/decel increase rate) 477×103 to 31.25×109pps/sec (mag.=500)
Accel/Decel: 125 to 1×106pps/sec (mag.=1)
62.5×103 to 500×106pps/sec (mag.=500)
Driver pulse output Initial velocity: 1 to 8,000pps (mag.=1) / 500 to 4×106pps (mag.=500)
6
(X, Y-axis common specifications) Drive speed: 1 to 8,000pps (mag.=1) / 500 to 4×10 pps (mag.=500)
Number of output pulses: 0 to 4,294,967,295 (fixed pulse drive)
Speed curve: constant speed, symmetric/asymmetric linear accel/decel, parabola S curve drive
Fixed pulse drive deceleration mode auto deceleration (asymmetric linear accel/decel function)/
Manual deceleration
Changeable output pulse for driving, drive speed
Selectable individual 2-pulse/1-pulse direction method
Selectable drive pulse logic level, changeable output terminal
Encoder input pulse Inputtable 2-phase pulse/Up-Down pulse, selectable 2-phase pulse 1/2/4 multiply

129
PMC-4B-PCI

Specifications
Logic position counter (for output pulse) count range: -2,147,483,648 to +2,147,483,647
Position counter
Actual position counter (for input pulse) count range: -2,147,483,648 to 2,147,483,647
Comp. +register position comparison range: -2,147,483,648 to +2,147,483,647
Comp. -register position comparison range: -2,147,483,648 to +2,147,483,647
Compare register Output/Signal output when the present value of the counter and the user position counter are same by
comparing
Enables to operate as software limit
Auto home search High speed near home search (Step1) → Low speed near home search (Step2)
1 drive pulse output
when changing position counter ≥ Comp.-, when changing position counter ≥ Comp.+,
Interrupt function
when changing position counter < Comp.-, when changing position counter < Comp.+,
(except interpolation)
when starting constant speed in accel/decel drive, when ending constant speed in accel/decel
drive when ending drive, when ending auto home search, when running synchronous operation
Enable to fixed/continuous pulse drive of +/- direction by EXP+/EXP- signal
Drive adjustment by external signal
Enable to drive 2-phase encoder signal mode (encoder input)
External deceleration stop/ IN 0 to 3 each axis 4-point
immediate stop signal Selectable signal valid/invalid and logical level, usable as general input
Input signal for servo motor Selectable alarm, INPOS signal valid/invalid and logic level
General output signal OUT 4 to 7 each axis 4-point (uses same terminal with drive status output signal)
Drive status signal output ASND (accelerating), DSND (decelerating)
Selectable + direction, - direction each 1-point and logic level
Overrun limit signal input
At active, selectable immediate stop/decelerate stop
Emergency stop signal input EMG 1-point, stops drive pulse of all axes by low level
Integral filter Built-in integral filter at each input signal input terminal, selectable pass time (8 types)
Selectable the axis, constant linear velocity, consecutive interpolation,
Others
interpolation step transmission (command, external signal)
Ambient temperature 0 to 45℃, storage: -10 to 55℃
Environment
Ambient humidity 35 to 85%RH, storage: 35 to 85%RH
Approval
※1
Weight Approx. 654.4g (approx. 100.4g)
※1: The weight includes packaging. The weight in parenthesis is for unit only.
※Environment resistance is rated at no freezing of condensation.

System

Host controller Motion controller Drivers & Motor (example)

X-axis

Y-axis
Stepper
Stepper
motor driver
motor
&
&
Servo
Z-axis motor driver
Servo motor

PMC-4B-PCI
PC
U-axis

130
 4-axis Motion Controller

Dimensions
174.6 (unit: mm)
SENSORS

CONTROLLERS

MOTION DEVICES

106.7
SOFTWARE

Connections (Y)
Closed Loop

Connection of pulse output signal (nP+P/N, nP-P/N) Stepper System

Drive pulse output generates drive pulse signal of +/- direction using line driver (AM26c31) of differential output.
(Z)
Followings are examples of connection with motor drivers with photocoupler or line driver input. Stepper Motors

● Example for the connection with a motor driver of photocoupler input (AA)
Drivers
PMC-4B-PCI Motor driver
nP+P CW+ (AB)
Motion
Controllers
nP+N CW-

AM26c31
nP-P CCW+

nP-N CCW-

● Example for the connection with a motor driver of line driver

PMC-4B-PCI Motor driver
nP+P CW+

nP+N CW-

AM26c31
nP-P CCW+

nP-N CCW-

※It is recommended to use twisted pair shield wire for pulse output signal of driver operation regarding EMC.

Connection of common output signal (nOUT4 to 7)

Output signal is outputted by buffer (74LS06), and all outputs are OFF after reset.
PMC-4B-PCI

nOUT7

nOUT6

nOUT5

nOUT4

131
PMC-4B-PCI

Connections
Connection of input signal (nIN1 to 3, nINPOS, nALRAM, nEXP+/-, EMG)
PMC-4B-PCI

+5V VEX

Input signal

GND

Connection of encoder input signal (nECAP/N, nECBP/N) and nlNO+/- signal

● Example for the connection with line driver of differential output

PMC-4B-PCI Encoder output circuit

nECAP/nIN0+

EC-A
nECAP/nIN0-

● Example for the connection with encoder of NPN open collector output

PMC-4B-PCI R VEX
External External voltage Resistance (R)
GND power
nECAP/nIN0+ 5V 0
Encoder output circuit 12V 820Ω 1/4W
nECAP/nIN0- 24V 2kΩ 1W

EC-A

※Encoder A, B, Z phase are same connection.

Connection of limit input signal (nLMIT+/-)

The outgoing cable of limit signal can be affected by noise. Since it can not be removed only with photocoupler,
the filter circuit is built in PMC-4B-PCI. Please set enough passing time (FL=2, 3).

VEX
External
PMC-4B-PCI power
GND

VEX +
OUT
-
Noise XLIT+
removal filter

132
 4-axis Motion Controller

Input/Output Connections
A1 A50 SENSORS

B1 B50 CONTROLLERS

PMC-4B-PCI MOTION DEVICES

B50 A50 CCW- Black

B49 A49 CCW+ Green
Orange SOFTWARE
B48 A48 CW- Y-axis
Red
B47 A47 CW+ Blue stepper motor
B46 A46
B45 A45 Y-axis motor driver
B44 A44
B43 A43
B42 A42
B41 A41 CCW- Black (Y)
Closed Loop
B40 A40 CCW+ Green Stepper System
Orange X-axis
B39 A39 CW-
Red stepper motor
B38 A38 CW+ Blue (Z)
Stepper Motors
B37 A37
B36 A36 X-axis motor driver
(AA)
B35 A35 Drivers

B34 A34
B33 A33 (AB)
Motion
B32 A32 Controllers

B31 A31
B30 A30
B29 A29
B28 A28 Z-phase
B27 A27
B26 A26 B-phase
B25 A25
B24 A24 A-phase
B23 A23 Y-axis encoder
B22 A22
B21 A21
B20 A20 Z-phase
B19 A19
B18 A18 B-phase
B17 A17
B16 A16 A-phase
B15 A15
X-axis encoder
B14 A14
B13 A13
B12 A12 ※Connected resistance for no. 15, 17, 19,
B11 A11 23, 25, 27 is 1/2W 220Ω, for the other
B10 A10 numbers is 1/2W 3.3kΩ.
B9 A9 ※Diode specification for general output pin
B8 A8 should be over 50/0.1A.
B7 A7 ※Use NPN open collector output (+12VDC)
B6 A6 for encoder.
B5 A5 Power ※Only axis A 50-pin are shown on the figure.
B4 A4 24VDC Other 50-pin of axis B are having same
B3 A3 connection.
VEX GND
B2 A2 However, No. 2 of axis B is not for use.
※For connection, refer to ' Connections'.
B1 A1

133
PMC-4B-PCI

Input/Output Specifications
Pin no. Signal Description Pin no. Signal Pin description
A1 VEX 12-24VDC B1 VEX 12-24VDC
A2 EMG Emergency stop (4-axis stop) B2 - N.C
A3 XLMIT+ X-axis + direction limit B3 ZLMIT+ Z-axis + direction limit
A4 XLMIT- X-axis - direction limit B4 ZLMIT- Z-axis – direction limit
A5 XIN1 X-axis input signal (home signal) B5 ZIN1 Z-axis input signal (home signal)
A6 XIN0 X-axis input signal (near home signal) B6 ZIN0 Z-axis input signal (near home signal)
A7 XIN3 X-axis input signal (encoder Z phase signal) B7 ZIN3 Z-axis input signal (encoder Z phase signal)
A8 YLMIT+ Y-axis + direction limit B8 ULMIT+ U-axis +direction limit
A9 YLMIT- Y-axis - direction limit B9 ULMIT- U-axis -direction limit
A10 YIN1 Y-axis input signal (home signal) B10 UIN1 U-axis input signal (home signal)
A11 YIN0 Y-axis input signal (near home signal) B11 UIN0 U-axis input signal (near home signal)
A12 YIN3 Y-axis input signal (encoder Z phase signal) B12 UIN3 U-axis input signal (encoder Z phase signal)
A13 XINPOS X-axis In-Position input B13 ZINPOS Z-axis In-Position input
A14 XALRAM X-axis alarm input B14 ZALRAM Z-axis alarm input
A15 XECAP X-axis Encoder A phase+ B15 ZECAP Z-axis Encoder A phase+
A16 XECAN X-axis Encoder A phase- B16 ZECAN Z-axis Encoder A phase-
A17 XECBP X-axis Encoder B phase+ B17 ZECBP Z-axis Encoder B phase+
A18 XECBN X-axis Encoder B phase- B18 ZECBN Z-axis Encoder B phase-
A19 XECZP X-axis Encoder Z phase+ B19 ZECZP Z-axis Encoder Z phase+
A20 XECZN X-axis Encoder Z phase- B20 ZECZN Z-axis Encoder Z phase-
A21 YINPOS Y-axis In-Position input B21 UINPOS U-axis In-Position input
A22 YALARM Y-axis alarm input B22 UALARM U-axis alarm input
A23 YECAP Y-axis Encoder A phase+ B23 UECAP U-axis Encoder A phase+
A24 YECAN Y-axis Encoder A phase- B24 UECAN U-axis Encoder A phase-
A25 YECBP Y-axis Encoder B phase+ B25 UECBP U-axis Encoder B phase+
A26 YECBN Y-axis Encoder B phase- B26 UECBN U-axis Encoder B phase-
A27 YECZP Y-axis Encoder Z phase+ B27 UECZP U-axis Encoder Z phase+
A28 YECZN Y-axis Encoder Z phase- B28 UECZN U-axis Encoder Z phase-
A29 XEXP+ X-axis manual + drive B29 ZEXP+ Z-axis manual + drive
A30 XEXP- X-axis manual - drive B30 ZEXP- Z-axis manual - drive
A31 YEXP+ Y-axis manual + drive B31 UEXP+ U-axis manual + drive
A32 YEXP- Y-axis manual - drive B32 UEXP- U-axis manual - drive
A33 GND GND B33 GND GND
A34 XOUT4/CMPP X-axis general output B34 ZOUT4/CMPP Z-axis general output
A35 XOUT5/CMPM X-axis general output B35 ZOUT5/CMPM Z-axis general output
A36 XOUT6/ASND X-axis general output B36 ZOUT6/ASND Z-axis general output
A37 XOUT7/DSND X-axis general output B37 ZOUT7/ DSND Z-axis general output
A38 XP+P X-axis +direction +drive signal output B38 ZP+P Z-axis +direction +drive signal output
A39 XP+N X-axis +direction -drive signal output B39 ZP+N Z-axis +direction -drive signal output
A40 XP-P X-axis -direction +drive signal output B40 ZP-P Z-axis -direction +drive signal output
A41 XP-N X-axis -direction -drive signal output B41 ZP-N Z-axis -direction -drive signal output
A42 GND GND B42 GND GND
A43 YOUT4/CMPP Y-axis general output B43 UOUT4/CMPP U-axis general output
A44 YOUT5/CMPM Y-axis general output B44 UOUT5/CMPM U-axis general output
A45 YOUT6/ASND Y-axis general output B45 UOUT6/ASND U-axis general output
A46 YOUT7/DSND Y-axis general output B46 UOUT7/DSND U-axis general output
A47 YP+P Y-axis +direction +drive signal output B47 UP+P U-axis +direction +drive signal output
A48 YP+N Y-axis +direction -drive signal output B48 UP+N U-axis +direction -drive signal output
A49 YP-P Y-axis -direction +drive signal output B49 UP-P U-axis -direction +drive signal output
A50 YP-N Y-axis -direction -drive signal output B50 UP-N U-axis -direction -drive signal output

134
 MINAL BLOCKS KACON PUSHBUTTON
FUSE HOLDERS MENICS PIE SOLID STATE RELAYS
PLASTIC SWITCH BOXES
SWITCH BOXES
O BUZZERS RELAY TOWER LIGHTS LIMIT SWITCHES ENCLOSURE P
CABLE CHAINS PUSHBUTTONS LED
ICATORS TOWER LIGHTS ANDON LIGHTS SWITCH BOXES AUDIBLE ALARM CERAMIC FUSE
BEACON LIGHTS

AUTOMATION PARTSPLASTIC ENCLOSURES SCREW CLAMP DIODE TE RELAY TEMINAL BLOCKS

CHES TERMINAL BLOCKS PILOT LAMPS INDUST

FOOT SWITCHES HOLE PLUGS SOLID STATE RELAY P
UL CE TUV RoHS EX IP67 ISO9001PLASTIC SWITCH BOXES TERMINAL BSOLID STATE RELAYS

TOMATION PARTS HEAVY DUTY FOOT SWITCHES TOWER LIGHTS LIMIT

TE RELAYS ANDON LIGHTS PUSHBUTTONS LED INDICA
CERAMIC FUSE
BEACON LIGHTS

MOTION DEVICES ROBOT KITS INDUSTRIAL SWITCHES

BOXCO ALUMINUM SWITCH BOXES MICRO & LIMIT SWITCHES SWITCH BOXES
AUTOMATION PARTS SOLID STATE RELAYS TERMINAL
T
MINAL BLOCKS FUSE HOLDERS KACON PLASTIC SWITCH BOXESMENICS PIE
PUSHBUTTON SOLID STATE RELAYS

SWITCH BOXES
O BUZZERS RELAY TOWER LIGHTS LIMIT SWITCHES ENCLOSURE P
CABLE CHAINS PUSHBUTTONS LED
ICATORS TOWER LIGHTS ANDON LIGHTS SWITCH BOXES AUDIBLE ALARM CERAMIC FUSE
BEACON LIGHTS

AUTOMATION PARTSPLASTIC ENCLOSURES SCREW CLAMP DIODE TE RELAY TEMINAL BLOCKS

CHES TERMINAL BLOCKS PILOT LAMPS INDUST

FOOT SWITCHES HOLE PLUGS SOLID STATE RELAY P
UL CE TUV RoHS EX IP67 ISO9001PLASTIC SWITCH BOXES TERMINAL BSOLID STATE RELAYS

TOMATION PARTS HEAVY DUTY FOOT SWITCHES TOWER LIGHTS LIMIT

TE RELAYS ANDON LIGHTS PUSHBUTTONS LED INDICA
CERAMIC FUSE
BEACON LIGHTS

T
9 E College Dr,
Address 108 Terrace Drive,

MOTION DEVICES ROBOT KITS INDUSTRIAL SWITCHES

Arlington Heights,
Mundelein,
IL 60004 Illinois 60060

BOXCO ALUMINUM SWITCH BOXES MICRO & LIMIT SWITCHES SWITCH BOXES
Telephone
Facsimile
+1. 847. 388. 7189
+1. 847. 388. 7194

AUTOMATION PARTS SOLID STATE RELAYS TERMINAL

Email
Web
[email protected]
www.amerimation.net

192