INTRODUCTION

Stepping motors are digitally controlled motors used for precise

positioning. They enable simple, accurate control of rotation
angle and rotation speed, so they are suitable for wide variety of
applications. Oriental Motor has brought hybrid stepping motors
into its product line to provide better levels of precision and
performance when compared to other stepping motors. These
motors have been used in many applications ranging from
industrial equipment to office automation.
Oriental Motor also provides a complete product line with every
type of product, as well as optional equipment that a stepping
motor might need, from dedicated drivers, to controllers,
precision gears and more.
B-2 2000-2001 ORIENTAL MOTOR GENERAL CATALOG
An Introduction to Stepping Motors
FEATURES
1. Easy Angle and Speed Control
Stepping motors move by rotating in steps of predetermined
degrees called step angles. The degrees rotated and the speed
of rotation are easily controlled using electrical signals called
pulses.
Pulses
A pulse is an electrical signal that repeats ON and OFF voltages
as shown in the illustration below. Each cycle of ON and OFF
(1 cycle) is called a pulse. Normally, 5 volts is used. ON is high
and OFF is low.
2. High Torque/Good Response
Stepping motors are compact, but produce high torque.
This provides excellent acceleration and fast movement.
3. High Resolution/High Positioning
Precision
There are two types of stepping motors: the 5-phase stepping
motor, which rotates 0.72 for each pulse, and the 2-phase
stepping motor, which rotates 1.8 for each pulse. The angular
distance moved corresponds to the number of pulses input, with
a stopping accuracy of 3 arc minutes (0.05 with no load).
[5 arc minutes for the PMU and PMC series (0.08 with no
load).]
4. Holding Torque
Stepping motors produce high holding torque even while
stopped. The stop position can be held without relying on a
mechanical brake.
Applications
Factory Automation:
X-Y plotters, laser processors, electric discharge processors,
CNC machines, sewing machines, etc.
Semiconductor fabrication equipment:
Wafer processing devices, wafer conveyors, IC bonders,
dicing machines, IC inspection devices, etc.
Automation and labor-saving devices:
ATMs, ticket machines, postal sorters, laboratory systems,
bill counters, vending machines, etc.
Medical equipment:
Analytical instruments, blood pumps, centrifuges,
spectrographs, etc.
Office automation:
Copiers, faxes, word processors, printers, optical and
magnetic disk devices, etc.
5V
0V
Step Angle
Step Angle
0.72:
0.9:
1.8:
5-Phase Stepping Motor
2-Phase Stepping Motor
High-Resolution Type
2-Phase Stepping Motor
Standard Type
B-3 2000-2001 ORIENTAL MOTOR GENERAL CATALOG
USING STEPPING MOTORS
Stepping motors rotate according to the number of pulse signals,
so speed of rotation can be controlled by the speed (frequency)
of the pulse signal.
Degrees rotated
1pulse 10.72
2pulses 21.44
3500 pulses 3360
Speed of rotation
1500 Hz 160r/min
22000Hz 2240r/min
35000Hz 3600r/min
A specialized driver circuit is needed to run the stepping motor.
Oriental Motors drivers are designed for easy connection.
1. Drivers
Drivers are circuits that drive the stepping motor. They supply
the optimum current for the number of motor phases.
2. Controller (Oscillators)
Controllers are circuits that control the stepping motors angular
distance of rotation and rotation speed. They create pulse
signals according to settings.
STEPPING MOTOR AND DRIVER
PACKAGES
To get the most performance out of stepping motors, the best
combination of motor and driver are joined in a package. They
eliminate cumbersome initialization chores like adjusting the
motors operating current.
Device to control
movement of
overall system,
such as a
Programmable
Logic Controller
SC8800 or other
pulse generator
Stepping motor and driver package
START
CW/CCW
CW pulse
CCW pulse
5-Phase Stepping Motor
5-Phase Stepping Motor
B-4 2000-2001 ORIENTAL MOTOR GENERAL CATALOG
Types of Stepping Motor and Driver Packages
Host
Controller
Programmable Controller
Personal Computer
Motion Controller
Motor Accessories:
Mounting brackets
Flexible Couplings
Clean Dampers
Extension Cables
SC8800
SG8030J
UPKW
UPK
UFKW
PMU
CSK
START
STOP
DIRECTION
BUSY
OVERHEAT
Driver
Motor
Stepping Motor and Driver
Package
CW PULSE
CCW PULSE
OVERHEAT
These stepping motor and driver packages deliver optimally
matched motors and drivers together to fully realize the
performance potential of the stepping motor. These packages can
be divided into three types, five-phase stepping motors,
two-phase stepping motors, and the newly-developed
motors, which do not lose synchronization. Oriental Motor
provides a full product line, including the TH geared types, PN
geared types, and other high-precision, high-strength geared types,
high-resolution types, and the , which uses microstep
technology.
Standard types and high-speed types
For some motor and driver packages, there are high-speed
types available that emphasize the motor's high-speed
responsiveness.
These high-speed types are useful when motor installation
space is limited and torque is required at high-speed.
Be aware that the power supply capacity required for high-speed
types is greater than for standard types.
Standard types and high-resolution
types
The product line of stepping motor and driver packages includes
high-resolution types for which the two-phase stepping motor
basic step angle of 1.8/step is cut in half to 0.9/step (for full
step operation). These high-resolution types are useful when
stopping precision and high-precision positioning are required.
Full product line of geared types
Sometimes in low-speed stepping motor operation, the
distinctive intermittent step-like rotation is an issue. For these
applications, consider geared types. The gears not only reduce
speed and increase torque, but they also reduce the inertia of
the load by the square of the gear ratio, so they improve starting
and stopping responsiveness.
for low-vibration and low-
noise operation
Generally, the motor step angle is 0.72 for full-step operation,
but the can further partition this electrically to
resolutions as fine as 125,000 steps per revolution. This
provides quiet, smooth rotation, even for low-speed operation.
Example of system configuration
The configuration required for stepping motor operation is as
follows.
0.1 1 10 100
T
o
r
q
u
e

[
o
z
-
in
]
400
300
200
100
0
Pulse Speed [kHz]
T
o
r
q
u
e

[
N

m
]
Speed [r/min]
12
(6)
0 120
(60)
1200
(600)
Full Step
(Half Step)
3.0
2.5
2.0
1.5
1.0
0.5
0
Standard Type
UPK569AW2
High-Speed Type
UPK569AHW2
B-5 2000-2001 ORIENTAL MOTOR GENERAL CATALOG
BOX Type Driver
(Single-Phase 100-115 VAC Input)
Circuit Board Driver
(24 VDC Input)
Standard Type
High-Speed Type
TH Geared Type
PN Geared Type
Maximum 125,000 steps/rev.
Low vibration, low noise
Motor Frame Size 1.1 in. (28mm) sq.
Compact and lightweight motor
Standard Type
TH Geared Type
PN Geared Type
UFKW
UPKWSeries
High-Speed Type
Geared Type
Page B-61
Page B-151
PMU Series
Standard Type
UMK Series
Standard Type
SH Geared Type
CSK Series
Page B-233 Page B-209
High-Resolution Type
UMK Series
Page B-209
CSK Series
Page B-233
High-Resolution
Type
Standard Type
High-Speed Type
UPK Series
Page B-107
Page B-121
Standard Type
TH Geared Type
CSK Series
Page B-175
Maximum 125,000 steps/rev.
Low vibration, low noise
Standard Type
RFK
Page B-163
Motor Frame Size
1.1 in. (28mm) sq.
Compact and light-
weight motor
Standard Type
Geared Type
Page B-195
PMC Series
Round Shaft Type
ASC Series
Page B-43
Round Shaft Type
AS Series
Page B-43
N
E
W
2-Phase
Step Angle: 1.8
High Torque
2-Phase
Step Angle: 0.9
High Torque
5-Phase
Step Angle: 0.72
High Torque
No Missed Step
High Response
N
E
W
N
E
W
N
E
W
N
E
W
N
E
W
N
E
W
N
E
W
B-6 2000-2001 ORIENTAL MOTOR GENERAL CATALOG
The Basics of Stepping Motors
The figures above show two cross-sections of a 5-phase hybrid
stepping motor. Hybrid Stepping motors are composed primarily
of two parts, the stator and the rotor. The rotor in turn is
comprised of three components: rotor 1, rotor 2 and the
permanent magnet. The rotors are magnetized in the axial
direction, with rotor 1 polarized north and rotor 2 polarized south.
Motor Structure Diagram 1: Cross-Section Parallel to Shaft
(5-Phase Stepping Motor)
The stator contains 10 magnet poles with small teeth, each of
which is wrapped in wire to form a coil. The coil is connected to
the facing magnet pole and is wound so it becomes magnetized
to the same pole when current is run through it. (Running a
current through a given coil magnetizes the facing poles to the
same magnetism, either north pole or south pole.) The two
facing poles form a single phase. Since there are five phases, A
through E, the motor is called a 5-phase stepping motor. There
are 50 teeth on the outside of the rotor, with the teeth of rotor 1
and rotor 2 mechanically offset from each other by half a tooth
pitch.
Excite: Send current through the motor coil.
Magnet pole: The projections of the stator, magnetized by excitation.
Teeth: The teeth of the rotor and stator.
Winding
Stator
Shaft
Rotor 2
Permanent Magnet
Rotor 1
Ball-bearings B Phase
C Phase
D Phase
E Phase
A Phase
Stator
Shaft
Rotor
Motor Structure Diagram 2: Cross-Section Perpendicular to Shaft
(5-Phase Stepping Motor)
STRUCTURE
S
T
E
P
P
I
N
G

M
O
T
O
R
S
B-7 2000-2001 ORIENTAL MOTOR GENERAL CATALOG
When the excitation switches from phase A to phase B, the
phase B poles are magnetized north, attracting the south polarity
of rotor 2 and repelling the north polarity of rotor 1. In other
words, when excitation switches from phase A to phase B, the
rotor rotates 0.72. As excitation shifts from phase A, to phase B,
to phase C, to phase D, to E, to phase A, the stepping motor
rotates in precise 0.72 steps. To rotate it in reverse, reverse the
excitation order to phase A, phase E, phase D, phase C, phase
B, phase A.
The high (0.72) resolution is created by the mechanical offset of
the stator and rotor structures, which is why positioning can be
performed accurately without the use of an encoder or other
sensor. Since the only factors that might decrease stopping
precision are variations in the processing precision, assembly
precision, and DC resistance of the coil, a high stopping
precision of 3 arc minutes (with no load) is achievable. The
driver performs the role of switching the phases, and its timing is
supplied by the pulse signal input to the driver.
In the example above, excitation proceeds one phase at a time,
but for the most effective use of the coils, four or five phases
should be excited simultaneously.
PRINCIPLES OF OPERATION
The following figure helps describe the relationship of the
positions of the stator and rotor teeth when magnetized.
A 5-phase stepping motor is used in the example.
1. When Phase A Is Excited
When phase A is excited, its poles are magnetized south and
attract the teeth of rotor 1, which are magnetized north, while
repelling the teeth of rotor 2, which are magnetized south, which
balances it to a stop. The teeth of the phase B poles, which are
not excited, are misaligned with the south-polarized teeth of rotor
2 so they are offset by 0.72.
2. When Phase B Is Excited
0.72
3.6
7
.2

3
.6

0
.7
2

No offset
B phase
C phase
D phase
E phase
Current
No offset
N
N
S
N
N
N
S
Stator
Rotor 1
A phase
0.72
3
.6

0
.
7
2

3
.6

S
S
S
S
S
S
S
S
A phase
B phase
Stator
Rotor 1
C phase
D phase
E phase Current
N
N
N
N
N
N
N
B-8 2000-2001 ORIENTAL MOTOR GENERAL CATALOG
1Holding Torque
The holding torque is the maximum holding power (torque) the
stepping motor has when power is being supplied but the motor
is not rotating (rated current).
2Pullout Torque
Pullout torque is the maximum torque that can be output at a
given speed. When selecting a motor, be sure the required
torque falls within this curve.
3Maximum Response Frequency (fR)
This is the maximum pulse speed that the motor can be
operated at when gradually increasing or decreasing the speed,
when the frictional load and inertial load of the stepping motor
are 0.
4Maximum Starting Frequency (fS)
This is the maximum pulse speed at which the motor can start or
stop instantly (without an acceleration or deceleration period)
when the frictional load and inertial load of the stepping motor
are 0. Driving the motor at greater than this pulse speed requires
gradual acceleration or deceleration. This frequency drops when
there is an inertial load on the motor. (See the description of
inertial loads and starting frequency on the next page.)
CHARACTERISTICS
When using a stepping motor it must be determined that the
motor characteristics are suited to the required load. The two
main characteristics of stepping motor performance are:
Dynamic Characteristics:
Relating to speed and torque when the stepping motor starts
or is rotating.
Static Characteristics:
Relating to the changes in angle that take place when the
stepping motor is stopped or during motor standstill.
1. Dynamic Characteristics
(1) Speed vs. Torque Characteristics
This is the most common characteristic for expressing stepping
motor performance. On the graph of this characteristic, the
horizontal axis expresses pulse speed while the vertical axis
expresses torque.
Pulse speed equals the pulse rate, which is the number of
pulses per second. In stepping motors, the number of
revolutions per minute is proportional to pulse speed.
Speed vs. Torque Characteristics
The speed vs. torque characteristics are determined by the
motor and driver, so they vary greatly based upon the type of
driver used.
About the Logarithmic Scale:
Since the pulse speed range of the stepping motor extends from 10 Hz to
100 kHz, it becomes difficult to read the changes in torque below the
commonly used figure for actual speed of 20 kHz if an ordinary scale is
used. For that reason, a logarithmic scale is used to make the changes near
1 kHz and 10 kHz easier to read.
The following figure shows the speed torque characteristics of
the 5-phase stepping motor and driver UPK566BW2.
0.1 1 10 100
T
o
r
q
u
e

[
o
z
-
i
n
]
200
150
100
50
0
Pulse Speed [kHz]
T
o
r
q
u
e

[
N

m
]
With Damper D6CL-8.0: JL=1.01oz-in
2
(18510
7
kgm
2
)
Speed [r/min]
12
(6)
0 120
(60)
1200
(600)
Full Step
(Half Step)
Power Input: AC100V-115V
Current: 1.4A/ Phase (4Phases ON)
Full Step 0.72/step
Half Step 0.36/step
fs fs
1.4
1.2
1.0
0.8
0.6
0.4
0.2
0
Pullout torque at 0.36/step
Pullout torque at 0.72/step
Maximum starting frequency
at 0.36/step
Maximum starting frequency
at 0.72/step
Maximum
response
frequency
at 0.72/step
Maximum
response
frequency
at 0.36/step
UPK566BW2
2
Speed [kHz]
T
o
r
q
u
e

[
o
z
-
i
n
]
T
o
r
q
u
e

[
N

m
]
4
3
1
TH
fR
fs
B-9 2000-2001 ORIENTAL MOTOR GENERAL CATALOG
Changes in maximum starting pulse rate with load inertia may
be approximated by the following formula.
S: Maximum starting pulse rate (Hz) of the motor
: Maximum starting pulse rate (Hz) when applying
load inertia
J O: Rotor inertia (oz-in
2
) [kgm
2
]
J L: Load inertia (oz-in
2
) [kgm
2
]
(J GD
2
/4)
2500
2000
1500
1000
500
0
5 10 15 20 25
M
a
x
.

s
t
a
r
t
i
n
g

P
u
l
s
e

R
a
t
e


f
s

[
H
z
]
Inertial Load JL [oz-in
2
]
(10
4
[kg m
2
])
(3) Vibration Characteristics
When no pulse signal is input to driver, the stepping motor stops
with a holding brake force equivalent to the maximum value of
holding torque. As pulses are input, the motor operates in a
repeating stepwise manner as shown below.
(2) Inertial Load vs. Starting Frequency Characteristics
The figure below illustrates the changes in starting frequency
caused by inertial load. Since the stepping motor rotor and the
equipment have their own inertia, lags and advances occur on
the motor axis during instantaneous starts and stops. These
values change with the pulse speed, but the motor cannot keep
up with pulse speeds beyond a certain point and missteps result.
The pulse speed just before a misstep occurs is called the
maximum starting frequency.
Load Inertia vs. Starting Pulse Rate Characteristics
Rotation becomes smoother as the vibration level decreases.
There is an area around 200 Hz where vibration is most
pronounced, and should be avoided.
Single step response
1When a pulse signal is input, the motor accelerates towards
the next step angle
2Due to the influence of the rotor inertia and the load inertia,
the motor overshoots a certain angle, returns in the opposite
direction, and then repeats this action.
3After the motor has repeated sufficient damping oscillations, it
stops at the set position.
A step-like movement that produces this kind of damped
vibration is the cause of vibration at low speeds. The graph of
vibration characteristics below shows the characteristics
indicating the extent of vibration while the stepping motor is
running.
t
1
2 3
s : Step Angle
t : Rise Time
s
Reverse
Direction
Forward Direction
Settling Time
A
n
g
l
e
Time
Vibration Characteristics
0.1 1 10 100
Speed [kHz]
2.0
1.0


V
i
b
r
a
t
i
o
n

V
o
l
t
a
g
e

V
p

p

[
V
]
0
UPK566BW2
JL
1
J0

S
[Hz]
UPK566BW2
B-10 2000-2001 ORIENTAL MOTOR GENERAL CATALOG
The step angle error is 3 arc minutes (0.05) [For PMU and
PMC series, 5 minutes (0.08)], but only under no load. In
actual applications, there is always frictional load. The angle
precision in such cases is produced by the angular displacement
caused by angle-torque characteristics based upon the frictional
load. If frictional load is constant, the angle of displacement is
constant for rotation in one direction. When operating from both
forward and reverse, however, double the displacement angle is
produced by the round trip.
When stopping precision is required, always position from one
direction only.
2. Static Characteristics
(1) Torque vs. Angle Characteristics
Torque-angle characteristics are the relationship between the
angular displacement of the rotor and the torque which is applied
to the shaft when energizing the motor with rated voltage. The
curve for this characteristic is shown below.
Torque vs. Angle Characteristics
The illustrations below show the relationship of the positions of
rotor and stator teeth at the numbered points in the diagram
above.
Stator and rotor attraction
Rotor movement
When held stable at point 1, external application of a force to
the motor shaft will produce a torque T () to the left, trying to
return the shaft to stable point 1and the shaft will stop when
the external force equals this torque. 2If additional external
force is applied, there is an angle at which the torque produced
will hit a maximum. This torque is the holding torque TH. 3
When that external force is exceeded, the rotor moves to an
unstable point 5and beyond, producing a torque in the same
direction as the external force T (), so it moves to the next
stable point 1and stops.
Stable points:
Locations where the rotor stops, with stator and rotor teeth
exactly aligned. These points are extremely stable and the
rotor will always stop there if no external force is applied.
Unstable points:
Locations where the stator and rotor teeth are half a pitch out
of alignment. They are extremely unstable. A rotor at these
locations will move to the next stable point to the left or right
if even the slightest external force is applied.

TH
TH
Displacement Angle
Unstable Point
Stable Point
TH: Holding Torque
R: Rotor Teeth Pitch

T
o
r
q
u
e

T
R R
2 4
R
1 2 3 4
5 6 7 8
Rotor
Rotor
Stator
Stator
Actual stopping Position
Theoretical Stopping Position

Theoretical Stopping Position

0 0.72 1.44 2.16 2.88 360
0.745 1.425 2.17 2.885
Actual stopping Position
D
i
f
f
e
r
e
n
c
e

i
n

A
n
g
l
e
0.03
0.02
0.01
0
0.01
0.02
0.03
0.72 1.44 2.16 2.88 360
Stopping Angle
Accuracy
0.02
(2) Step Angle Accuracy
Under no-load conditions the stepping motor can maintain a step
angle accuracy within 3 arc minutes (0.05) [For PMU and
PMC series, 5 minutes (0.08)]. This slight error arises from
difference in the mechanical precision of the stator and rotor
teeth and variations in the electrical precision of the DC re
sistance of the stator coil.
Stopping Accuracy
This refers to the difference between the rotors theoretical
stopping position and its actual stopping position. A given rotor
stopping point is taken as the starting point, then the stopping
angle error is the difference between the maximum () value
and the minimum () value when measuring each step of a full
rotation.
B-11 2000-2001 ORIENTAL MOTOR GENERAL CATALOG
2. The difference between AC input and
DC input characteristics
A stepping motor is driven by a DC voltage applied through a
driver. In the case of Oriental Motors 24 VDC input drivers, 24
VDC is applied to the motor; in the case of 115 VAC and 230
VAC input, the input is rectified to DC and then approximately
140 VDC is applied to the motor (there are some products which
are exceptions to this).
This difference in the voltages applied to the motors appears as
a difference in the torque characteristics in the high speed
region. This is because the higher the applied voltage, the faster
the rise of current flowing through the motor coil, so that a fixed
current can flow even in the high speed region. Thus, the AC
input unit has superior torque characteristics throughout, from
the low speed region to the high speed region, and a large
speed ratio can be obtained.
It is recommended that this motor be used together with an AC
input unit that can respond to a variety of conditions.
AC Input Drivers and DC Input Drivers
There are two ways of driving stepping motors: constant-current
drive and constant-voltage drive. The circuitry of constant-
voltage drive is simpler, but it is harder to achieve torque at high
speeds. For that reason, constant-voltage drives are used less
often as equipment speeds have increased.
Constant-current drive is currently the most commonly used
drive method, since it provides excellent torque at high speeds.
All Oriental Motor stepping motor and driver packages use
constant-current drivers.
1. An introduction to constant-current
drivers
Stepping motors rotate by the switching of current flowing
through several coils. When the speed increases, the switching
also becomes faster and the current rise cannot keep up, so
torque drops. By chopping a DC voltage that is far higher than
the motors rated voltage, a constant current can be kept flowing
to the motor, even at high speeds.
The current flowing to the motor coil is compared to the
reference voltage. When the detection resistor the voltage is
lower than the reference voltage (when it hasnt reached the
rated current), the switching transistor (Tr2) stays on. When it is
higher than the reference voltage (when it exceeds the rated
current), Tr2 goes off, the current is controlled so that the rated
current is always flowing.
Basic circuit for constant current chopper driver
Relationship between voltage drive and constant current drive
Comparison of characteristics of AC input unit and DC input unit
VCC Tr2
Tr1
Motor Winding
Voltage Comparator
Reference
Voltage
Current Detecting
Resistor
Pulse Control
Circuit
t0 t1
t0 t1
Time
Time
V
o
l
t
a
g
e
C
u
r
r
e
n
t
0.1 1 10 100
200
150
100
50
0
Speed [kHz]
T
o
r
q
u
e

[
o
z
-
i
n
]
T
o
r
q
u
e

[
N

m
]
1.4
1.2
1.0
0.8
0.6
0.4
0.2
0
UPK566BW2
Power Input: AC100V115V
Current: 1.4A/ phase (4-phases ON)
CSK566-NBTA
Power Input: DC24V
Current: 1.4A/ phase (4-phases ON)
B-12 2000-2001 ORIENTAL MOTOR GENERAL CATALOG
Structure of the 2-Phase High-Resolution
Stepping Motor (0.9 per step)
Cross-Section Perpendicular to Shaft
STRUCTURE
The magnet coil is set in exactly the same position as in the
2-phase 1.8 stepping motor. But the number of teeth is doubled
to 100. See the following figures for structural details and the
cross-sectional structure of the 2-phase 0.9 stepping motor.
Winding
Stator
Shaft
Rotor 2
Permanent Magnet
Rotor 1
Ball-bearings
Advantages of High-Resolution
2-PHASE, HIGH-RESOLUTION
STEPPING MOTORS
The 2-phase, high-resolution (0.9 per step) stepping motor has
half the step angle of the standard (1.8 per step) stepping
motor. The high-resolution type increases motor resolution from
200 pulses (360 /1.8) to 400 pulses (360 /0.9). If an even
smaller step-angle is needed, half-step driving and micro-step
driving are other options. Such options, however, do not improve
accuracy. The excitation coil of the 2-phase, high-resolution
stepping motor is located in exactly the same position, the
number of rotor teeth is twice as many as standard stepping
motors. Other structures are exactly the same as the standard
motors.
FEATURES
1. High Resolution
Even with the same fundamental structure as the standard
stepping motor, doubling the number of rotor teeth (100 rotor
teeth) produces high-resolution with 0.9 per step (400 pulses
per revolution).
2. Improved Positional Accuracy
Positioning accuracy is important, especially in bi-directional
positioning. The high-resolution motor (0.9 per step) has higher
positioning accuracy than the standard stepping motor (1.8 per
step).
0.9
0.9 1.8
0.93' 1.83'
High Resolution Standard
400 pulses/rev.
B-13 2000-2001 ORIENTAL MOTOR GENERAL CATALOG
0.09deg
0
0.09deg
A
n
g
l
e

A
c
c
u
r
a
c
y
0 400
Step
(1) 2-Phase 0.9 Stepping Motor (Full Step)
(2) 2-Phase 1.8 Stepping Motor (Full Step)
0.09deg
0
0.09deg
A
n
g
l
e

A
c
c
u
r
a
c
y
0 800
Step
(3) 2-Phase 1.8 Stepping Motor (Half Step)
Figure 3 Angle Accuracy
FRICTIONAL LOAD DELIVERS
POSITIONAL ERRORS
The positional errors of machinery do not depend solely on the
angle accuracy of the motor. Different load levels for each step
naturally contribute to positional inaccuracy. Even under stable
loading, it creates positional inaccuracy when used in
bi-directional positioning. In such cases, the magnitude of the
positional accuracy is several times worse than the angle
inaccuracy of the motor itself.
The following figure shows one of the fundamental
characteristics of two stepping motors. Those curves compare
the 2-phase standard stepping motor and the 2-phase high-
resolution stepping motor, by showing their angle-torque
characteristics. The peak of each curve illustrates its holding
torque (maximum static torque at excitation).
These curves display the angle discrepancy between ideal and
actual positions, against loading under static excitation status.
The 2-phase high-resolution stepping motor reaches its peak at
half angle, comparing to the 2-phase standard motor. The slope
of the high-resolution motor's load-torque characteristic curve is
steeper than the one for the standard motor's. The former yields
half the discrepancy of the latter, even under the same load.
Since the slope of the curve varies, based on the number of
teeth and torque. The positional accuracy of the high-resolution
motor under actual load is quite higher. When a stepping motor
is used in practice for the purposes mentioned above, sufficiently
large torque is normally selected, in the attempt to minimize the
positional discrepancy on loading. The 2-phase high-resolution
stepping motor is the most suitable.
T
o
r
q
u
e
[
o
z
-
in
]
1.0
0.8
0.6
0.4
0.2
0
Angle-Torque Characteristics
Stopping position (angle) at the friction-load level of TL.
CSK266MBT
(Full step 0.9/step)
CSK266-BT
(Full step 1.8/step)
TL
0.9 1.8 2.7 3.6 angle[ ]
T
o
r
q
u
e
[
N
m
]
120
100
80
60
40
20
0
Angle-Torque Characteristics
STEP ANGLE ACCURACY
There are a variety of reasons why step angle errors can occur.
In most cases, angle differentials occur in conjunction with the
total accuracy of the machinery. Each part of the motor is
manufactured with high accuracy. However, when they are
assembled, composite errors usually occur. Static angle
differential is less than 3 (0.05), under no-load condition. The
angle discrepancy is closely related to the number of teeth.
About 0.5-1 % of the pitch angle of the teeth causes such errors.
The following figures show the static angle discrepancy for each
(1) full-step 2-phase high-resolution stepping motor, (2) full-step
2-phase standard stepping motor, (3) half-step 2-phase standard
stepping motor.
Even though (1) and (3) rotate with the same 0.9, (1) shows
smaller errors. Comparing (2) and (3) indicates that the half-step
driving of the standard stepping motor does not improve
accuracy.
In short, although it is possible to make each step-angle smaller
by the driver, it does not contribute to increasing accuracy.
Rather, angle discrepancy per step increases. The 2-phase
standard stepping motor (1.8 per step) can use half step driving
to achieve 0.9 per step. However, this does not produce the
same accuracy as the 2-phase high-resolution stepping motor
(0.9 per step) run at full step. Half-step driving is not for
improving accuracy, but for solving other problems like vibration
and irregular rotation.
0.09deg
0
0.09deg
A
n
g
l
e

A
c
c
u
r
a
c
y
0 400
Step
B-14 2000-2001 ORIENTAL MOTOR GENERAL CATALOG
Advantages of Geared Stepping Motors
Conveyor
Index Table
The work configuration is
1.18 in. (3cm) diameter 1.57 in. (4cm) thick.
Take-out unit
t1
t0
Time
P
u
l
s
e

S
p
e
e
d
0
f2
Speed reduction gearheads have come into wide use with the
general objectives of increasing torque and reducing speed.
However, they are also used in combination with stepping
motors requiring high positioning precision in order to achieve
higher resolution, lower vibration, high inertia drive and
downsizing.
Here we will explain the advantages of geared stepping motors
comparing the case for selecting the motor alone and the case
for selecting a geared type.
SELECTION CONDITIONS
In the following example, a geared motor will be selected for an
index table application with the following conditions:
Index table diameter 7.87 inches (20 cm)
Index table thickness 0.31 inch (0.8 cm)
Index table material Aluminum
Work diameter 1.18 inch (3 cm)
Work thickness 1.57 inch (4 cm)
Work material Steel
Work count 8
Total moment of inertia 203 oz-in
2
(37.1 kgcm
2
)
Resolution 0.4 max.
Positioning time 0.2 second max.
Positioning angle 45
SELECTION EXAMPLE
This selection procedure calculates the minimum positioning
time and calculates various parameters for two different
conditions: when the motor alone is selected for the motion of
the index table in the figure on the left, and when a geared motor
is selected.
1. Inertia
The ratio of the moment of inertia of the load converted for the
motor output shaft, and the rotor inertia is called the inertia ratio
and is expressed with the following equation.
If the inertia ratio is too large, this may affect the startup and
settling times due to overshoot and undershoot during starting
and stopping. For the UPKWseries, a maximum inertia ratio
of 10 is a good guideline.
Therefore, you could select a motor alone for this device that
would give you an inertia ratio under 10. For example, the
UPK5913AW2 would be appropriate, as it has an inertia ratio
of 9.3, as calculated below:
However, you could also select a smaller motor with a gearhead
attached, which would also give you an inertia ratio under 10.
For example, the UPK564AW-T7.2 would be appropriate, as it
has an inertia ratio of 4.1, as calculated below:
Below, we calculate various parameters for both types.
2. Positioning time
We will compare the minimum positioning time using a motor
alone and using a geared type. The drive pattern is a
triangularwave drive, like that shown in the figure, and the
acceleration/deceleration rate is 20 ms/kHz.
If the pulse velocity is f2, the positioning time t1, the operation
pulse count A, and the acceleration rate Tr, then the following
equation holds.
Inertia ratio =
total inertia
rotor inertid gear ratio
2
Inertia ratio = = 9.3
203 (oz-in
2
)
21.9 (oz-in
2
) 1
Inertia ratio = = 4.1
203 (oz-in
2
)
21.9 (oz-in
2
) 7.22
B-15 2000-2001 ORIENTAL MOTOR GENERAL CATALOG
3.68.08
(93.52)
1.26.04
(321)
.47 (12)
.
3
1
5
0

D
I
A
.
.
3
1
4
4

D
I
A
.
(

0
.
0
1
5
)
0
2.362.36.04
(601)
5.04.04
(1281)
1.46.04
(371)
.98.01
(250.25)
.
5
5
1
2

D
I
A
.
.
5
5
0
5

D
I
A
.
(

1
4

0
.
0
1
8
)
0
3.353.35.04
(851)
UPK564AW-T7.2 Dimensions
UPK5913AW2 Dimensions
UPK564AW-T7.2 Vibration data
UPK5913AW2 Vibration data
2 4 6 8 10 0
Speed [kHz]
0.5
1.0
V
i
b
r
a
t
i
o
n

V
o
l
t
a
g
e

V
p
-
p

[
o
z
-
i
n
]
4 8 12 16 20 0
Speed [kHz]
0.5
1.0
V
i
b
r
a
t
i
o
n

V
o
l
t
a
g
e

V
p
-
p

[
o
z
-
i
n
]
Tr = = 20 (ms/kHz) (1)
A = t1 f2 (pulses) (2)
t0 = 2 t1 (ms) (3)
From Equations (1) and (2),
t1 = 20 x A (ms) (4)
For motor alone:
Half step of 0.36/step and operation pulse count A = 45/0.36 =
125.
From Equation (4), t1 = 50 milliseconds. Therefore, the position-
ing time t0 = 100 ms.
For geared motor:
Half step of 0.1/step and operation pulse count A = 45/0.1 =
450. Therefore, the positioning time t0 = 190 ms.
Product
UPK5913AW2
(half step)
Total moment of inertia
Operation pulse count
Operation pulse speed
Acceleration/deceleration time
Positioning time
Required torque
Inertia ratio
Acceleration/deceleration rate
UPK564AW-T7.2
(full step)
125 pulses
2500 Hz
50 msec
100 ms
369 oz-in (2.6 Nm)
9.3
20 ms/kHz
450 pulses
4700 Hz
95 msec
190 ms
1140 oz-in (8.1 Nm)
4.1
20 ms/kHz
203 oz-in
2
(37.1 kgcm
2
)
ADVANTAGES OF GEARED TYPES
Using geared motors provides the following advantages.
Downsizing
This does not mean just increasing the torque by using a geared
type motor. Rather, whereas the inertia that the motor itself can
drive is 10 times the rotor inertia, the geared type can drive this
inertia multiplied by the square of the gear ratio. Therefore, for
driving an inertial body such as in this case, selecting a geared
type makes it possible to reduce the installation dimension from
3.35 inch (85 mm) to 2.36 inch (60mm) square and the total
length from 5.04 inch (128 mm) to 3.68 inch (93.5 mm).
SELECTION RESULTS
The table below summarizes the results of these calculations.
Comparison of operation conditions
Reduced Vibration
Vibration can be reduced for the following reasons:
1The vibration characteristic itself is reduced.
2Through speed reduction, the low-speed region at which the
motor vibrates can be avoided.
3Because the motor is smaller, its own vibration is reduced.
Positioning time
Because this comparison uses an inertia structure that can be
driven by the motor itself, the advantages of geared motors for
acceleration were not obvious. However, the larger the inertia
body, the more the geared motor reduces the acceleration time.
Positioning angle
For a five-phase stepping motor alone, since the basic step
angle is 0.72, 30 and 60 positioning was not possible.
However, since 7.2 : 1, 36 : 1, and other gear ratios are available
for geared motors, 30 and 60 positioning is possible. This time,
to compare a motor alone and a geared motor under the same
conditions, 45 positioning was used because it can be used by
both types of motors.
T1 (ms)
f2 (kHz)
5. Select the motor
Make a provisional selection of a motor based on required torque. Determine the motor to be used from the
speed-torque characteristics. Select a motor whose speed-torque characteristics satisfy the requirement.
4. Calculate the required torque
Calculate load torque. Calculate acceleration torque. Calculate required torque. Calculate the load torque and
acceleration torque and find the required torque demanded by the motor.
B-16 2000-2001 ORIENTAL MOTOR GENERAL CATALOG
Selecting a Stepping Motor
This section describes certain items that must be
calculated to find the optimum stepping motor for
a particular application. This section shows the
selection procedure and gives examples.
Oriental Motor also provides selection services and will run calculations to check a selection. Use the Selection Request Form at
the end of the catalog.
For technical questions about selection calculations, contact your nearest Oriental Motor office. Engineers are available to
answer your questions.
Selection complete
SELECTION PROCEDURE
1. Determining the drive mechanism component
Determine the mechanism and required specifications. First, determine certain features of the design, such as
mechanism, rough dimensions, distances moved, and positioning period.
2. Calculate the required resolution
Find the resolution the motor requires. From the required resolution, determine whether a motor only or a
geared motor is to be used.
3. Determine the operating pattern
Determine the operating pattern that fulfills the required specifications. Find the acceleration (deceleration)
period and operating pulse speed in order to calculate the acceleration torque.
6. Check the selected motor
Confirm the acceleration/deceleration rate and inertia ratio. Check the acceleration/deceleration rate and
inertia ratio in order to determine the suitability of the selection.
B-17 2000-2001 ORIENTAL MOTOR GENERAL CATALOG
To move objects in a short period of time, a fast motor rotation speed
(pulse speed) is required. To accelerate up to that speed in a short period of
time requires a large force. That force is the acceleration torque, which is
described later.
The reason that a high horsepower sports car can accelerate quickly is that
it produces a large acceleration torque. Conversely, if the acceleration
period is long, a car can be powered with lower horsepower. In other
words, the length of time for accelerating a given object with a motor
(instead of the cars horsepower) is related to the size of the acceleration
torque.
Operating
speed
Acceleration
period
Deceleration
period
Positioning period
Operating Pattern
Movement
2For acceleration/deceleration operation
Acceleration/deceleration is a method of operation in which the
operating pulses of a motor being used in a medium- or high-
speed region are gradually changed. It is found by the equation
below. Usually, the acceleration (deceleration) period (t1) is set
as a proportion of acceleration torque at roughly 25% of the
respective positioning periods. For gentle speed changes, the
acceleration torque can be kept lower than in start-stop
operations.
APPROACHES TO SELECTION
CALCULATIONS
This section describes in detail the key concerns in the selection
procedure: the determination of the operating pattern, the
calculation of the required torque and the confirmation of the
selected motor.
1. Determining the Operating Pattern
The required changes in the movement of the drive mechanism
are translated into motor movement, creating an operating
pattern as shown in the figure below. Motor selection is based on
the operating pattern.
(1) Finding the number of operating pulses A [pulses]
The number of operating pulses is expressed as the number of
pulse signals that adds up to the angle that the motor must move
to get the work from point A to point B.
(2) Determining the operating pulse speed f2 [Hz]
The operating pulse speed is the pulse speed required to rotate
the motor the required number of operating pulses during the
positioning period. The operating pulse speed can be found from
the number of operating pulses, the positioning period and the
acceleration (deceleration) period.
1For start-stop operation
Start-stop is a method of operation in which the operating pulse
speed of a motor being used in a low-speed region is suddenly
increased without an acceleration period. It is found by the
following equation. Since rapid changes in speed are required,
the acceleration torque is very large.
Positioning period
Operating pulse
speed
Number of operating pulses
Positioning period
Acceleration
period
Deceleration
period
Operating pulse
speed
Starting pulse
speed
Number of
operating pulses
Operating pulse speed f2
[Hz]

Number of operatingpulses [pulses]

Positioning period [sec]

A
t0
Operating pulses A
[Pulses]

( per movement)
(Distance per motor rotation)

(No. of pulses
required for
1 motor rotation)

l
lrev

360
s
Distance
Operating pulse
speed f2

Number of
operating pulses
[pulses]

Starting pulse
speed [Hz]

Acceleration
(deceleration)
period [sec]
Positioning period [sec ]
Acceleration (deceleration)
period [sec]

A f1 1 t
t 0 t1
s : Step angle
Accelerationtorque
Ta [oz-in]

Inertia of rotor
[oz-in
2
] [oz-in
2
]

Total inertia
Weight acceleration [in./sec
2
]

Step angle [](Operatingpulse speed)
2
[Hz]
180coefficient

J0 JL
g

s f 2
2
180 n
B-18 2000-2001 ORIENTAL MOTOR GENERAL CATALOG
2. Calculating the Required Torque TM [oz-in]
Calculate the required torque from the operating pattern by the following procedure.
(1) Calculate the load torque TL [oz-in]
Load torque is the frictional resistance produced by the parts of the drive mechanism that come into contact with each other. It is the
torque constantly required when the motor is operating. Load torque varies greatly with the type of drive mechanism and the mass of the
work. See page B-28 for methods of finding the load torque for different drive mechanisms.
(2) Calculate the acceleration torque Ta [oz-in]
Acceleration torque is the torque only required in acceleration and deceleration operation of the motor. Find the acceleration torque
using the equations below depending on what slope is used for acceleration (deceleration) of the drive mechanisms total inertia.
See page B-29 for formulas that can be used to calculate the total inertia of the drive mechanism section.
For acceleration/deceleration operation
For start-stop operation
Acceleration torque
Ta [oz-in]

Inertia of rotor
[oz-in
2
] [oz-in
2
]

Total inertia
Gravitational acceleration [in./sec
2
]

Step angle []
180

(Operating pulse speed) [Hz] (Starting pulse speed) [Hz]
Acceleration (deceleration) period [sec]

J0 JL
g

s
180

f 2f1
t 1
(3) Calculate the required torque TM [kgcm]
The required torque is the sum of the load torque required by the stepping motor and the acceleration torque.
The motor requires the most torque during the acceleration portion of the operating pattern. During acceleration, load torque from the
frictional resistance and acceleration torque from the inertia are both required. To avoid problems when incorporating a stepping motor
into a device, an additional safety factor needs to be estimated. The required torque can be found from the following equation.
Select a motor for which this required torque falls within the
pull-out torque of the speed-torque characteristics.
Required torque
Pulse speed [kHz]
T
o
r
q
u
e


[
o
z
-
i
n
]
Required torque
TM [oz-in]

Load torque
[oz-in]

Accelerationtorque
[oz- in]

Safety
factor
(TL Ta )2
When a truck running at a given speed is suddenly stopped, a truck that is
carrying a load will take longer to stop than an unloaded truck (assuming the
same braking force) because the loaded truck has greater inertia that tends
to keep it in motion. To change the operating status of an object with a large
inertia (starts, stops, acceleration, deceleration), a large external force is
needed. This external force is called the acceleration torque. The size of the
acceleration torque required to move an object is related to the size of the
inertia and the size of the acceleration found from the operating speed and
acceleration period.
Inertia
Inertia is the size of the force requied to keep a moving object in
steady motion. Objects always have inertia.
W
B-19 2000-2001 ORIENTAL MOTOR GENERAL CATALOG
3. Checking the Motor Selection
Check the following two items for the selected motor in order to
ensure an optimal selection.
(1) Check the acceleration/deceleration rate
Most controllers, when set for acceleration or deceleration,
adjust the pulse speed in steps. For that reason, operation may
sometimes not be possible, even though it can be calculated.
The table below shows reference data for a stepping motor
combined with an Oriental Motor SG series controller. Calculate
the acceleration/deceleration rate from the following equation
and check that the value is at or above the acceleration/
deceleration rate in the table.
When these values are exceeded, we recommend a geared
motor. Using a geared motor can increase the drivable inertial
load.
(2) Check the inertia ratio
Large inertia ratios (inertial loads) cause large overshooting and
undershooting during starts and stops, which can affect startup
times and settling times. Depending on the conditions of usage,
operation may be impossible. Calculate the inertia ratio with the
following equation and check that the values found are at or
below the inertia ratios shown in the table.
Inertia ratio
Total inertia of the machine [oz-in
2
]
Inertia of the motor's rotor
[oz-in
2
]
(Gear ratio)
2

J
J i
L
2
O
Inertia ratio
Total inertia of the machine [oz-in
2
]
Inertia of the motor's rotor

J L
J 0
[oz-in
2
]
Acceleration/deceleration
rate TR [sec /kHz]

Acceleration (deceleration) period [sec]
Operating pulse
speed[kHz]

Starting pulse
speed [kHz]

t1
f2 f1
* Calculate the pulse speed in full-step equivalents.
Inertia Ratio (Reference values)
Applicable Products Inertia ratio
UPKWSeries
UFKW
UPK Series
RFK
CSK Series
UMK Series
PMU Series
PMC Series
10 maximum
5 maximum
Note:
These values are estimates of common conditions.
Your application conditions may vary. If in doubt, contact your
local Oriental Motor office for assistance.
If below the minimum value, change the operating patterns
acceleration (deceleration) period.
Acceleration Rate (Reference Values)
Motor Frame Size
inch (mm)
Applicable Products
Acceleration/deceleration
rate TR [sec/kHz]
1.1 (28)
1.65 (42)
2.22 (56.4)
2.36 (60)
3.35 (85)
3.54 (90)
UPKWSeries
UFKW
UPK Series
PMU Series
RFK
CSK Series
PMC Series
UMK Series
UPKWSeries
UFKW
UPK Series
CSK Series
UMK Series
20 minimum
30 minimum
2
1
t1
TR
S
p
e
e
d

[
k
H
z
]
B-20 2000-2001 ORIENTAL MOTOR GENERAL CATALOG
(3) Determining the operating pulse speed 2 [Hz]
4. Calculating the Required Torque TM
[oz-in] (See page B-18)
(1) Calculate the load torque TL [oz-in]
(See page B-28 for basic equations)
(2) Calculate the acceleration torque Ta [oz-in]
Calculate the total inertial moment JL [oz-in
2
]
(See page B-29 for basic equations)
SELECTION EXAMPLES
In these examples, 5-phase stepping motors and drivers in the
UPKWseries are selected for a ball screw system, an index
table system and a belt drive.
1. Determine the Drive Mechanism
Total mass of the table and work: W 90 lb (40 kg)
Frictional coefficient of sliding surfaces: 0.05
Ball screw efficiency: 0.9
Internal frictional coefficient of pilot pressure nut: 0 0.3
Ball screw shaft diameter: DB 0.6 inch (1.5cm)
Total length of ball screw: LB 23.6 inch (60cm)
Material of ball screw: Iron [density 4.64 oz/in
3
(7.910
-3
kg /cm
3
)]
Pitch of ball screw: PB 0.6 inch (1.5cm)
Resolution (feed per pulse): l 0.001 inch (0.03mm)./step
Feed: l 7.01 inch (180mm)
Positioning period: to 0.8
2. Calculating the Required Resolution
(see basic equations on page B-26)
A 5-phase stepping motor and driver in the UPKWseries can
be connected directly to the application.
3. Determine the Operating Pulse
(see basic equations on pages B-17, 26 and 27)
(1) Finding the number of operating pulses (A) [pulses]
(2) Determining the acceleration (deceleration)
period t1 [sec]
An acceleration (deceleration) period of 25% of the positioning
period is appropriate.
Example 1: Ball Screw
PB
W
D
B
Stepping
motor
Driver
Programmable
controller
Coupling
Direct
connection
Period [sec]
t1 t1
t0=0.8
O
p
e
r
a
t
i
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g

p
u
l
s
e

s
p
e
e
d


[
H
z
]
10000
0.2 0.2
6000 pulses
B-21 2000-2001 ORIENTAL MOTOR GENERAL CATALOG
6. Checking the Motor Selection (See Page B-19)
(1) Check the acceleration/deceleration rate
TR = 0.79 in-sec/kHz, so the motor can be used.
(2) Check the inertia ratio
Therefore, the motor can be used
Based on the above, the selection for this application is the
standard UPKWseries motor, UPK566BW2.
Calculate the acceleration torque Ta [oz-in]
(3) Calculate the required Torque TM [oz-in]
(2) Determine the motor from the speed-torque
characteristics
UPK566BW2
Select a motor for which the required torque falls within the
pull-out torque of the speed-torque characteristics.
5. Selecting a Motor
(1) Provisional motor selection
Model
Rotor Inertia
[oz-in
2
]
Required torque
UPK566BW2
UPK569BW2
1.53
3.06
68.8
73.8
0.48
0.52
[oz-in] [N m]
0.1 1 10 100
T
o
r
q
u
e

[
o
z
-
i
n
]
200
150
100
50
0
Pulse Speed [kHz]
T
o
r
q
u
e

[
N

m
]
With Damper D6CL-8.0: JL=1.01oz-in
2
(18510
7
kgm
2
)
Speed [r/min]
12
(6)
0 120
(60)
1200
(600)
Full Step
(Half Step)
1.4
1.2
1.0
0.8
0.6
0.4
0.2
0
Power Input: AC100V-115V
Current: 1.4A/ Phase (4Phases ON)
Full Step 0.72/step
Half Step 0.36/step
fs fs
Pullout Torque
B-22 2000-2001 ORIENTAL MOTOR GENERAL CATALOG
(2) Determining the acceleration (deceleration)
period t1 [sec]
An acceleration (deceleration) period of 25% of the positioning
period is appropriate.
Acceleration (declaration) period (t1) = 0.4 0.25 0.1 sec
(3) Determining the operating pulse speed 2 [Hz]
Example 2: Index Table
Geared stepping motors are suitable for systems with high
inertia, such as index tables.
1. Determine the Drive Mechanism
Diameter of index table: DT 11.8 inch (300mm)
Index table thickness: LT 0.39 inch (10mm)
Diameter of load: DW 1.18 inch (30mm)
Thickness of load: LW 1.57 inch (40mm)
Material of table and load: Iron [density 4.64 oz/in
3
(7.910
-3
kg /cm
3
)]
Number of load: 12 (one every 30)
Distance from center of index table
to center of load: l 4.92 inch (125mm)
Positioning angle: 30
Resolution: 0.04
Positioning period: t0 0.4
2. Calculating the Required Resolution
The PN geared UPKWSeries (gear ratio 36:1) can be used.
3. Determine the Operating Pulse
(see basic equations on pages B-17, 26 and 27)
(1) Finding the number of operating pulses (A) [pulses]
4. Calculating the Required Torque TM
[oz-in] (See page B-18)
(1) Calculate the load torque TL [oz-in]
(See page B-28 for basic equations)
Frictional load is omitted because it is negligible. Load torque is
considered 0.
(2) Calculate the acceleration torque Ta [oz-in]
Calculate the total inertia JL [oz-in
2
]
(See page B-29 for basic equations)
Period [sec]
t1 t1
t0=0.4
O
p
e
r
a
t
i
n
g

p
u
l
s
e

s
p
e
e
d

[
H
z
]
5000
0.1 0.1
DT=12 inch (300mm).
=5 inch (125mm)
Driver
Programmable
controller
B-23 2000-2001 ORIENTAL MOTOR GENERAL CATALOG
The center of the load is not on the center of rotation, so
since there are 12 pieces of work:
Basic Equations
6. Checking the Motor Selection (See Page B-19)
(1) Check the acceleration/deceleration rate
TR = 20 msec/kH3, so the motor can be used.
(2) Check the inertia ratio
Therefore, the motor can be used
Based on the above, the selection for this application is the PN
geared UPKWseries motor, UPK564BW-N36.
Calculate the acceleration torque Ta [oz-in]
(3) Calculate the required Torque TM [oz-in]
(2) Determine the motor from the speed-torque
characteristics
UPK564BW-N36
5. Selecting a Motor
(1) Provisional motor selection
Model
Rotor Inertia
[oz-in
2
]
Required torque
UPK564BW-N36 0.96 682.5
oz-in [N m]
4.82
0.1 1 10 100
T
o
r
q
u
e

[
l
b
-
i
n
]
Pulse Speed [kHz]
T
o
r
q
u
e

[
N

m
]
D
r
i
v
e
r

I
n
p
u
t

C
u
r
r
e
n
t

[
A
]
With Damper D6CL-8.0: JL=1.01oz-in
2
(18510
7
kgm
2
)
Speed [r/min]
0.33
(0.16)
0 3.33
(1.66)
33.3
(16.6)
Full Step
(Half Step)
Current
Power Input: AC100V-115V
Current: 1.4A/ Phase (4Phases ON)
fs
Permissible Torque
Full Step 0.02/step
Half Step 0.01/step
fs
125
100
75
50
25
0
14
12
10
8
6
4
2
0
7
6
5
4
3
2
1
0
Select a motor for which the required torque falls within the
pull-out torque of the speed-torque characteristics.
= 20 msec/kH3
B-24 2000-2001 ORIENTAL MOTOR GENERAL CATALOG
(2) Determining the operating pulse speed 2 [Hz]
(3) Determining the operating speed N [r/min]
4. Calculating the Required Torque TM
(See page B-18)
(1) Calculate the load torque TL [oz-in]
(See page B-26 for basic equations)
(2) Calculate the acceleration torque Ta [oz-in]
Calculate the total inertial moment JL [oz-in
2
]
(See page B-29 for basic equations)
In this example, the AS series is selected for a belt
drive system.
1. Determine the Drive Mechanism
Total mass of the table and work: W 3 lb. (48 oz)
External force: FA 0 lb.
Frictional coefficient of sliding surfaces: 0.05
Table tilt: 0
Belt and pulley efficiency: 0.8
Pulley diameter: DP 1.57 inch (40mm)
Length of pulley: LP 0.78 inch (20mm)
Material of belt drive: Aluminun [density 1.65 oz/in
3
2810
-3
kg/cm
3
)]
Resolution (feed per pulse): l 0.005 inch (0.127mm)/step
Feed: l 50inch (1270mm)
Positioning period: to 0.7 s
Acceleration and deceleration period: to 0.2 s
2. Calculating the Required Resolution
(see basic equations on page B-26)
3. Determine the Operating Pulse
(see basic equations on pages B-17, 26 and 27)
(1) Finding the number of operating pulses (A) [pulses]
Example 3: Belt Drive
Period [sec]
t 1 t 1
t 0=0.7
O
p
e
r
a
t
i
n
g

p
u
l
s
e

s
p
e
e
d


[
H
z
]
20000
0.2 0.2
10000 pulses
B-25 2000-2001 ORIENTAL MOTOR GENERAL CATALOG
Calculate the acceleration torque Ta [oz-in]
(3) Calculate the required Torque TM [oz-in]
(2) Determine the motor from the speed-torque
characteristics
AS66AA
Select a motor for which the required torque falls within the
pull-out torque of the speed-torque characteristics.
5. Selecting a Motor
(1) Provisional motor selection
Model
Rotor Inertia
oz-in
2
(kgcm
2
)
Required torque
AS66AA 2.22 (0.405) 88.2 0.64
oz-in N m
0
1000 2000 3000 4000
Pulse Speed [kHz]
(Resolution Setting: 1000P/R)
Speed [r/min]
10 20 30 40 50 60
0
50
100
150
200
0
0.5
1.0
1.5
2.0
T
o
r
q
u
e

[
o
z
-
i
n
]
T
o
r
q
u
e

[
N

m
]
250
B-26 2000-2001 ORIENTAL MOTOR GENERAL CATALOG
l = Resolution (minimum feed) [inch/step]
l0 = Unit of movement at final step [inch/]
s = Step angle [/step]
i = Gear ratio
PB = Lead pitch [inch/rev]
= Movement speed [inch/sec]
= Pulse speed [Hz]
D = Final pulley diameter [inch]
N = Number of pulses [pulse]
l = Movement [inch]
t = Positioning period [sec]
BASIC EQUATIONS
1. Basic calculation formulas
Basic
Belt drive
Ball screw
Drive mechanism Resolution (minimum feed) step angle Movement and number of pulses
s
l l0 [inch/step]
...............
1
i
D
s
l [inch/step]
.........
2
360 i
360 l i
D [inch]
.................
3
s
PB
s
l [inch/step]
.............
4
360 i
360 l i
PB [inch/rev]
.........
5
s
l A l [inch]
.............................
6
l t [inch]
...............................
7
l
N [pulse]
............................
8
l
N t [pulse]
..........................

J1
J2
J3
Timing belt
Timing Pulley
Roller
J4
J1
J2
J5
J3
Gear
Work
Table
Ball Screw
B-27 2000-2001 ORIENTAL MOTOR GENERAL CATALOG
Speed and pulse speed Final rotation speed and pulse speed Total inertia seen from the motor
l [inch/sec]
...............................
]

[Hz]
............................................
]
l
D s
[inch/sec]
.................
]
360 i
360 i
[Hz]
................................
]
D s
360 i
[Hz]
................................
]
PB s
PB s
[inch/sec]
.................
]
360 i
6 i N
[Hz]
............................
]
s
s

N [r/min]
............................
]
6 i
JL : Total inertia in motor shaft
equivalents
Jn : Inertia of parts
J2 J3
JL J1 [oz-in
2
]
...................
]
i
2
J2J3J4J5
JL J1 [oz-in
2
]
.........
]
i
2
Speed and pulse speed Final rotation speed and pulse speed Total inertia seen from the motor
B-28 2000-2001 ORIENTAL MOTOR GENERAL CATALOG
F = Weight in shaft direction [lb.]
F0 = Pilot pressure weight [lb.] ( 1/3 F)
0 = Internal friction coefficient of pilot pressure nut (0.1 to 0.3)
= Efficiency (0.85 to 0.95)
i = Gear ratio
PB = Ball screw pitch [inch/rev]
FA = External force [lb.]
FB = Force when main shaft begins to rotate [lb.]
W = Total mass of work and table [lb.]
= Frictional coefficient of sliding surfaces (0.05)
= Angle of inclination []
D = Final pulley diameter [inch]
Ball screw
Pulley
Wire belt drive, rack and
pinion drive
By actual measurement
2. Formulas for load torque
FPB 0F0PB 1
TL ( ) [oz-in]
............................................
,
2 2 i
F FA W(sin cos ) [lb.]
...............................................
,
FA W D
TL
2 i
(
FA W
)
D
[oz-in]
............................................................
,
2i
F D FD
TL [oz-in]
.....................................................
,
2 i 2i
F FA W(sin cos ) [lb.]
...............................................
,
FBD
TL [oz-in]
.........................................................................
,
2
F
A
F

W
W Direct coupling
FA
D
W FA
W
FA F
D
D
Pulley
Set
FB
Spring balance
F W FA
B-29 2000-2001 ORIENTAL MOTOR GENERAL CATALOG
3. Formulas for calculating inertial moments
Jx = Inertia on x axis [oz-in
2
]
Jy = Inertia on y axis [oz-in
2
]
Jx0 = Inertia on x0 axis [oz-in
2
]
W= Weight [lb.]
D1 = External diameter [inch]
D2 = Internal diameter [inch]
= Density [oz/in
3
]
L = Length [inch]
1
Jx WD1
2
LD1
4
[oz-in
2
]
..............................................................
,
8 32
A = Unit of movement [inch/rev]
1 D1
2
L
2
Jy W ( ) [oz-in
2
]
......................................................................
,
4 4 3
1
Jx W (D1
2
D2
2
) L (D1
4
D2
4
) [oz-in
2
]
..................................
,
8 32
1 D1
2
D2
2
L
2
Jy W ( ) [oz-in
2
]
.........................................................
,
4 4 3
1
Jx Jx0 W l
2
W ( A
2
B
2
12 l
2
) [oz-in
2
]
....................................

12
1 1
Jx W ( A
2
B
2
) ABC ( A
2
B
2
) [oz-in
2
]
................................

12 12
1 1
Jy W ( B
2
C
2
) ABC ( B
2
C
2
) [oz-in
2
]
................................

12 12
A
J W ( )
2
W ( )
2
[oz-in
2
]
..................................................................

2
Density
Iron 4.64 [oz/in
3
]
Aluminum 1.65 [oz/in
3
]
Bronze 5 [oz/in
3
]
Nylon 0.65 [oz/in
3
]
Inertia of a cylinder
Inertia of
a hollow cylinder
Inertia for offcentered axis of rotation
Inertia of
a rectangular pillar
Inertia of an object in linear motion
l = Distance between x and x0 axes [in.]
D1
x
L y
B
C
x
A
y
l
x
x0
C
A
B
L y
x
D1
D2
B-30 2000-2001 ORIENTAL MOTOR GENERAL CATALOG
Q1. A1.
Stepping Motors
At how high a temperature can stepping motors
be used ?
The permissible temperature for the coils is 266F
(130C), since the insulation of the motor is Class B.
The motor can be used if the motor surface
temperature is 212F (100C) or less. Try to use the
motor at the lowest temperature possible and mount it
to a metal plate that is a good heat conductor, since
heat does affect the life of the motors ball bearings.
Type A insulation 221F (105C) is a UL/CSA
certification condition.
When applying for UL/CSA certification as a set, use
with a motor case surface temperature no higher than
167F (75C).
Why does the motor move a little when the power
is turned on?
The rotor of the motor has 50 teeth and there are 50
locations where it can stop with stability. Depending
on where the rotor has stopped before the power is
turned on, it may move up to 3.6.
Q2. A2.
Are there ways to keep the motor temperature
down?
There are several ways:
1 Adjust the operating current (a margin of torque
must be present, since lowering the current
decreases the torque). This suppresses heat
generation during operation.
2 Use the driver functions. The "All Windings Off"
function and the "Automatic Current Cutback"
function suppress heat generation when the motor
is stopped.
3 Install the motor on a plate with good heat
conductivity.
4 Install a fan to cool the motor.
Q3. A3.
Q4. A4.
Is there any way to suppress vibration during
operation?
There are several ways:
1 Use a clean damper. Vibration is absorbed by
internal inert bodies and silicon gel.
2 Adjust the operating current. Vibration can be
suppressed by decreasing the torque.
3 Use microstep drive. Use the UFKW
or RFK 5-phase stepping motor and microstep
driver to suppress vibration.
4 Use geared motors. Geared motors suppress of
vibration.
B-31 2000-2001 ORIENTAL MOTOR GENERAL CATALOG
Q6. A6.
How long can the motors lead wires be
extended?
They can be extended to approximately 66 feet (20m)
when a stepping motor is being used. Extending them
further may lower the torques high-speed
characteristics. To extend the leads, use lead wire that
has the cross-sectional area for the current values
shown in the table below.
Q7. A7.
How far apart can the driver and controller (pulse
generator) be?
Oriental Motor drivers use photocouplers that are
resistant to the effects of external noise, so they may
be separated up to approximately 6.6 feet (2m). When
wiring is involved, always use either twisted pair wire
(0.008 inch
2
[0.2mm
2
] or larger) or shielded wire for
connections and keep it as far away as possible from
noise sources.
Q8. A8.
What is AWG22 motor lead wire? AWG stands for American Wiring Gage. The AWG
standards stipulate the core construction and
conductor cross-sectional area of lead wires as AWG
numbers. The larger the AWG number, the smaller the
cross-sectional area. The AWG number is shown on
the motors external appearance drawing.
Rated Current of Motor Lead Wire Cross-Section AWG No.
1 A or less
1 to 3 A or less
3 to 5 A or less
3.110
4
inch
2
(0.2mm
2
)
7.810
4
inch
2
(0.5mm
2
)
19.410
4
inch
2
(1.25mm
2
)
24
20
16
Conductor Cross-Section AWG No.
1.610
4
inch
2
(0.1mm
2
)
3.110
4
inch
2
(0.2mm
2
)
4.710
4
inch
2
(0.3mm
2
)
7.810
4
inch
2
(0.5mm
2
)
26
24
22
20
Is it alright to machine the motor shaft? When the shaft is machined, some impact may be felt
by the ball bearings within the motor. Therefore,
machining is not recommended. On a similar note, do
not disassemble the motor. (Disassembling the motor
will not only dramatically lower performance, it can
also cause it to cease functioning if foreign matter
gets inside.)
Q5. A5.
B-32 2000-2001 ORIENTAL MOTOR GENERAL CATALOG
Controller
The controller is a circuit that outputs pulse signals for controlling
the motor.
Maximum Permissible Speed
This refers to the maximum speed (in r/min) of the gear output
shaft.
Maximum Response Frequency (See Page B-8)
Maximum Starting Frequency (See Page B-8)
CW, CCW
The direction of motor rotation is expressed as CW (clockwise)
or CCW (counterclockwise). These directions are as seen from
the output shaft.
Vibration Characteristics (See Page B-9)
Step Angle
The step angle is the angular distance (in degrees) that the
motor moves at the input of one pulse from the driver. It differs
depending on the motor structure and excitation system.
Thrust Load (See Page B-36)
The thrust load is the load in the direction of the motor axis.
Acceleration, Deceleration
During motor startup and stopping, the pulse speed can be
changed gradually.
Stopping Accuracy (See Page B-10)
Insulation Class
The insulation class is a UL grade that rates the heat resistance
of the motor coils. Stepping motors use Grade B coils, so their
permissible coil temperature is 266F (130C). The surface of the
motor will be about 212F (100C) when this temperature is
reached at the coils.
Type A insulation 221F (105C) is a UL/CSA certification
condition.
When applying for UL/CSA certification as a set, use with a
motor case surface temperature no higher than 167F (75C).
Insulation Resistance
A value reflecting the extent of the insulation properties.
Withstand Voltage
The maximum voltage that the insulation can hold.
Photocoupler
Photocouplers are electronic components that relay electrical
signals as light. They are electronically insulated on the input
and output sides, so noise has little effect on them.
Open Collector
Open collectors are a type of signal circuit output. They can be
connected even when the power supply voltage differs on the
input and output sides.
Twisted Pair Leads
Twisted pair leads entwine two leads as shown in the figure
below. They are used to reduce noise in signal wires. Because
the leads face in opposite directions from each other and carry
the same current, noise from the ambient surroundings is
canceled out and noise effects reduced.
Emitter Common
This refers to a signal output in which the emitters of multiple
open collector outputs are shared.
Overhung Load (See page B-36)
The load on the motor shaft in the vertical direction.
Angle-Torque Characteristics (See page B-10)
Current Down
This function automatically lowers the current supplied to the
motor to a pre-set value after stopping. It serves to reduce the
heat generated by the motor while stopped.
Inertial Load
This refers to the total inertia of the drive mechanism that works
on the motors output shaft.
Inertial Load-Auto Starting Frequency Characteristics (See
Page B-9)
Resonance
This refers to the phenomenon in which vibration becomes
larger at specific speeds. For 2-phase stepping motors, the area
between 100-200 Hz is a resonance area; 5-phase stepping
motors, have lower levels of resonance in their resonance area.
Permissible Torque
The permissible torque is the maximum torque that can be
applied to the gears output shaft.
Glossary
Acceleration
Deceleration
Pulse speed
Time

5V
Twisted pair
leads
Pulse
input
Photocoupler
B-33 2000-2001 ORIENTAL MOTOR GENERAL CATALOG
Pulse Signals
Pulse signals are rectangular electric signals as shown below.
Number of Pulses
The number of pulse signals.
Pulse Speed
The number of pulses input in one second.
Full Step
The step angle determined by the motor structure. The basic
step angle is 0.72 for a 5-phase stepping motor.
Pullout Torque (See Page B-8)
Negative Logic Circuit
An input circuit that engages when an L level voltage is applied.
Frictional Load
The total frictional torque of the drive mechanism that works on
the motor output shaft.
Excitation
Refers to sending current to the motor coils.
Maximum Holding Torque (See Page B-8)
This refers to the holding power of the stepping motor at rest
(when excited at rated current).
Excitation Sequence
The excitation sequence is the order in which current is sent to
the motor coils. It varies with the type of motor and excitation
system.
Excitation Timing Output
This is a signal that indicates that the excitation sequence is
initialized; it is output every 7.2. For 5-phase stepping motors, it
is output every 10 pulses (for full step) or 20 pulses (for half
step).
Inertia of Rotor
The value that indicates the size of the inertia of the rotor itself.
1-Step Response (See Page B-9)
Speed-Torque Characteristics (See Page B-8)
This is a chart showing changes in torque caused by speed. It is
needed when selecting a motor.
Loss of Synchronism
Stepping motors are synchronized by pulses. They can lose their
synchronization when speed changes rapidly or an overload
occurs. Loss of synchronism is the term for losing
synchronization with the input pulse.
2-Pulse Input
This system uses two types of pulses, a CW pulse and a CCW
pulse.
1-Pulse Input
This system uses a pulse signal and a rotational direction
(CW/CCW) signal.
Rated Current
The rated current is determined by motor temperature rise. It is
the current value that can flow to the motor coils continuously
when stopped.
Constant-Current Driver (See Page B-11)
A control circuit that sends current to the motor at a constant
current level.
Driver
A control circuit that sends current to the stepping motor coils.
Backlash
This refers to the play in the gear output shaft when the motor
shaft is fixed. It affects positioning precision when positioning
occurs from both directions. The term originally referred to
looseness between gear teeth.
No Backlash
The absolute absence of backlash.
Low Backlash
Backlash is minimized. This can be achieved using special
mechanisms.
Half Step
Refers to half of the basic step. It is used to increase resolution
and promote smoother motion.
CW pulse
CCW pulse
2-pulse system
Forward
Reverse
Forward Reverse
Pulse
Rotation
direction
1-pulse system
5V
0V
Time
B-34 2000-2001 ORIENTAL MOTOR GENERAL CATALOG
SELECTING A POWER SUPPLY
TRANSFORMER
When using a stepping motor, the power supply will almost
always be either single-phase 115 VAC or single-phase 220-240
VAC. When using a motor in single-phase 220-240 VAC, use a
power supply transformer to bring the voltage down to single-
phase 115 VAC. Transformer capacitance is given by the
following equation.
The driver input current of the stepping motor can be found in
the specifications or in the speed-torque characteristics.
1. Specifications
Before Using a Stepping Motor
PRECAUTIONS
1. Precautions for Installation
Do not use in a place where there is flammable and/or
corrosive gas.
Products for use only in equipment of protection class .
(UPKW, UFKW)
The motor and the driver must be properly grounded.
When installing the motor into your equipment, ensure that the
motor lead wires are fixed and do not move. In addition, do not
apply any pressure to these lead wires.
Installation must be performed by a qualified installer.
Ensure the driver's terminal cover is attached before using.
For the five-phase and two-phase 24 VDC stepping motor and
driver package and stepping motors alone, use a DC power
supply with reinforced insulation for the primary side.
Otherwise, there is a danger of electrical shock.
2. Precautions for Operation
Always turn off the power to the driver before conducting
checks or performing work on the product.
The surface temperature of motors and drivers can exceed
158F (70C) (depending on operation conditions).
In case this product is accessible during operation, please
attach the following warning label so that it is clearly visible.
Do not touch these terminals while the power is ON. Contact
could cause electric shock or fire.
3. Precautions for Troubleshooting
Refer to the troubleshooting section of the operation manual if
the motor or driver is not functioning properly. If the problem
cannot be corrected, contact your nearest Oriental Motor office.
Do not disassemble the motor or driver.
The driver incorporates double-pole/neutral fusing for the power
input. If the driver POWER LED is OFF, it is possible that only
the neutral fuse is tripped. High voltage supplied on the hot
side may cause electric shock. Turn the power OFF
immediately and request service.
Warning Label
2. Speed vs. Torque Characteristics
UPK566AW2
UPK566BW2
115
0.83
1.53
28010
7
Motor & Driver
Holding torque
Rotor Inertia
Rated current
Basic step angle
Insulation class
Power source
Single shaft
Double shaft
oz-in
Nm
oz-in
2
kgm
2
A/phase
UPK564AW2
UPK564BW2
58.3
0.42
0.96
17510
7
UPK569AW2
UPK569BW2
230
1.66
3.07
56010
7
1.4
0.72
Class B [266F (130C)]
Single-phase 115 V 15%, 60 Hz, 4.8 A
Gives the maximum value for input current.
0.1 1 10 100
T
o
r
q
u
e

[
o
z
-
i
n
]
200
150
100
50
0
Pulse Speed [kHz]
T
o
r
q
u
e

[
N

m
]
14
12
10
8
6
4
2
0
D
r
i
v
e
r

I
n
p
u
t

C
u
r
r
e
n
t

[
A
]
With Damper D6CL-8.0: JL=1.01oz-in
2
(18510
7
kgm
2
)
Speed [r/min]
12
(6)
0 120
(60)
1200
(600)
Full Step
(Half Step)
Current
Power Input: AC100V-115V
Current: 1.4A/ Phase (4Phases ON)
Full Step 0.72/step
Half Step 0.36/step
fs fs
1.4
1.2
1.0
0.8
0.6
0.4
0.2
0
Pullout Torque
Gives the changes in input current caused by speed
UPK566BW2
Transformer Capacitance Driver Power Driver Input

[VA] Voltage [V] Current [A]
B-35 2000-2001 ORIENTAL MOTOR GENERAL CATALOG
Oriental Motors SC series of controllers for stepping motors con-
tain built-in origin detection programs. Users can find the origin
simply by inputting a start signal.
DETECTING THE HOME POSITION
1. Home Position Detection
Stepping motor movements can be controlled accurately using
pulses. During startup or power outages, however, the motor
uses the position it was at when the power was turned on as its
origin. When there is a discrepancy between the logical origin
and the origin when the power is turned on, it is meaningless to
have the motor accurately follow instructions. For this reason, it
is imperative to have the motor return to the origin when the
power is turned on. The mechanical origin in this case is called
the home, and finding it is called home detection (origin return).
The figure below shows the handling of sensors and signals required to detect the home position with a single-axis ball screw.
Home detection requires the following three sensors, for which
photo-microsensors are usually used.
1. HOMELS (home sensor)
2. CWLS (overrun prevention sensor)
3. CCWLS (overrun prevention sensor)
2. Home Detection Methods
The home is where the following two signals are simultaneously
on.
1. HOMELS
2. TIMING (a signal output every time the motor rotates 7.2)
To prevent the effects of mechanical backlash, always search for
the home position in one direction. The point where the TIMING
signal is output while HOMELS is detected is where the motor
stops.
CCWLS HOMELS CWLS
Programmable
controller
SC8800 or
other controller Driver
CCW pulse
CW pulse
TIMING
CWLS HOMELS CCWLS Motor
movement
START
HOMELS
CW
CCW
TIMING 7.2
B-36 2000-2001 ORIENTAL MOTOR GENERAL CATALOG
NOTES FOR USE
Installation of Stepping Motor
1. Direction of mounting
There are no restrictions on the direction of mounting, but
motors are usually mounted sideways. They can also be
mounted facing up or down.
Regardless of how the motor is mounted, take care not to apply
an overhung load or thrust load on the shaft.
Note:
1. Do not disassemble the motors.
2. Do not apply any type of shock to the motor shaft.
2. Mounting
Mount the motor tightly against a metal surface with good
thermal conductivity such as steel or aluminum.
Secure the motor firmly using a hexagonal socket screw, nut,
etc.
Refer to the table below to determine the proper thickness of the
mounting plate.
Through Hole Type
Tapped Hole Type
Applicable
Motor
Model
Minimum Thickness
of the Mounting Plate
5 Phase
2 Phase
Low Speed
Synchronous
AS66A, ASC66AK
AS98A
UPK56W2, UPK56JW, UPK56,
UFK56W, RFK56, CSK56
UPK59W2, UPK59JW,
UPK59, UFK59W, CSK59
UMK26, UMK26M, CSK26,
CSK26M, PK26
UMK29, PK29
SMK237
SMK5100, SMK5160
0.2 inch (5mm)
0.31 inch (8mm)
0.2 inch (5mm)
0.31 inch (8mm)
0.16 inch (4mm)
0.31 inch (8mm)
0.16 inch (4mm)
0.31 inch (8mm)
Sideways Facing Up Facing Down
Spot Facing or Through
Hole for Pilot
Hexagonal Socket
Screw
Mounting Plate
Spring Washer
Hexagonal Nut
Spot Facing or Through
Hole for Pilot
Hexagonal Socket
Screw
Tapped Hole
Mounting Plate
3. Permissible Overhung Load and
Permissible Thrust Load
Overhung loads and thrust loads that exceed the permitted
values shorten bearing life and cause fatigue by repeated load
on the output shaft. Keep overhung loads to within the
values of the tables below. Keep thrust loads below the weight of
the motor used. (For geared types, see the motors
specifications.)
Overhung Load
Thrust Load
Applicable
Motor
Model
Minimum Thickness
of the Mounting Plate
5 Phase
2 Phase
Low Speed
Synchronous
ASC46AK
PMU3, PMC3
UPK54W2, UPK54JW, UPK54,
UFK54W, RFK54, CSK54,
PMU33MG, PMC33MG, CSK543TG
UPK543W-T, UPK564W-T,
UPK564JW-T, CSK564TG
UPK56W-N, UPK56JW-N,
UFK56W-N
UMK24, UMK24M, CSK24,
CSK24M, PK24, PK24M
CSK243SG
CSK264SG
SMK014
0.16 inch (4mm)
0.08 inch (2mm)
0.16 inch (4mm)
0.2 inch (5mm)
0.31 inch (8mm)
0.12 inch (3mm)
0.16 inch (4mm)
0.2 inch (5mm)
0.2 inch (5mm)
B-37 2000-2001 ORIENTAL MOTOR GENERAL CATALOG
Distance from shaft end inch (mm)
ASC46AK
AS66A, ASC66AK
AS98A
4. Recommended Location for Motor
Installation
Install motors in a location that meets the following conditions.
Indoors
Ambient temperature 14F (10C) 122F (50C) (non-freezing)
Ambient humidity less than 85% (non-condensing)
No excessive vibration or shocks
Free from water or oil (If water or oil is liable to come in contact with the motor,
install a cover.)
Free from corrosive gas or dust
Good ventilation and radiation
Motor Mounts (Optional)
Five varieties of stepping motor fixtures are available. See page B-296 for
details.
Permissible Overhung Load

0
4.4
(2)
13.8
(6.3)
57.3
(26)
0.2
(5)
5.51
(2.5)
16.5
(7.5)
63.9
(29)
0.39
(10)
7.49
(3.4)
20.9
(9.5)
74.9
(34)
0.59
(15)
11.4
(5.2)
28.6
(13)
85.9
(39)
0.79
(20)

41.8
(19)
105
(48)
[lb. (kg)]
2-Phase Stepping Motor
5-Phase Stepping Motor
Distance from shaft end inch (mm)
PMU3, PMC3
UPK54W, CSK54
UPK56W2, UPK56JW,
UFK56W, CSK56
UPK59W2, UPK59JW,
UFK59W, CSK59
PMU33MG, PMC33MG
UPK543W-T, CSK543TG
UPK564W-T, UPK564JW-T,
UFK564W-T, CSK564TG
UPK596W-T, UPK596JW-T,
UFK596W-T
UPK566W-N5, UPK566JW-N5,
UFK566W-N5
UPK566W-N7.2, UPK566JW-N7.2,
UFK566W-N7.2
UPK566W-N10, UPK566JW-N10,
UFK566W-N10
UPK566W-N25, UPK566JW-N25,
UFK566W-N25
UPK566W-N36, UPK566JW-N36,
UFK566W-N36
UPK566W-N50, UPK566JW-N50,
UFK566W-N50
0
5.51
(2.5)
4.4
(2)
13.8
(6.3)
57.3
(26)
2.02
(0.92)
2.2
(1)
15.4
(7)
48.5
(22)
44
(20)
55.1
(25)
72.7
(33)
0.2
(5)
7.49
(3.4)
5.51
(2.5)
16.5
(7.5)
63.9
(29)
2.51
(1.14)
3.08
(1.4)
17.6
(8)
55.1
(25)
48.5
(22)
59.5
(27)
79.3
(36)
0.39
(10)
11.4
(5.2)
7.49
(3.4)
20.9
(9.5)
74.9
(34)
3.3
(1.5)
4.4
(2)
22
(10)
66.1
(30)
55.1
(25)
66.1
(30)
88.1
(40)
0.59
(15)

11.4
(5.2)
28.6
(13)
85.9
(39)
4.82
(2.19)
6.61
(3)
26.4
(12)
77.1
(35)
61.7
(28)
74.9
(34)
99.2
(45)
0.79
(20)

41.8
(19)
105
(48)

33
(15)
88.1
(40)
70.5
(32)
85.9
(39)
114
(52)
[lb. (kg)]
Distance from shaft end inch (mm)
UMK24, UMK24M,
CSK24, CSK24M,
PK24, PK24M
UMK26, UMK26M,
CSK26, CSK26M,
PK26, PK26M
UMK29, PK29
CSK243SG, PK243SG
CSK264SG
PK264SG
PK296SG
0
4.41
(2)
11.9
(5.4)
57.3
(26)
2.2
(1)
6.61
(3)
17.6
(8)
48.5
(22)
0.2
(5)
5.51
(2.5)
14.7
(6.7)
63.9
(29)
3.3
(1.5)
8.81
(4)
22
(10)
55.1
(25)
0.39
(10)
7.49
(3.4)
19.6
(8.9)
74.9
(34)
4.4
(2)
11
(5)
26.4
(12)
66.1
(30)
0.59
(15)
11.4
(5.2)
28.6
(13)
85.9
(39)
6.61
(3)
13.2
(6)
30.8
(14)
77.1
(35)
0.79
(20)

105
(48)

15.4
(7)
35.2
(16)
88.1
(40)
[lb. (kg)]
3.6 ~ 10
18, 36
Low Speed Synchronous Motor
Distance from shaft end inch (mm)
SMK014
SMK237
SMK5100, SMK5160
0
4.41
(2)
11.9
(5.4)
57.3
(26)
0.2
(5)
5.51
(2.5)
14.7
(6.7)
63.9
(29)
0.39
(10)
7.49
(3.4)
19.6
(8.9)
74.9
(34)
0.59
(15)
11.4
(5.2)
28.6
(13)
85.9
(39)
0.79
(20)

105
(48)
[lb. (kg)]
B-38 2000-2001 ORIENTAL MOTOR GENERAL CATALOG
3. Recommended Location for Driver
Installation
Install drivers in a location that meets the following conditions.
Indoors
Ambient temperature 32F (0C) 122F (50C) (non-freezing)
[32F (0C) 104F (40C) for UMK series driver
(UDK2109A, UDK2112A, UDK2120A)]
Ambient humidity less than 85% (non-condensing)
Free from corrosive gas or dust
Free from water or oil
When attaching the driver in a close space such as a control box, or somewhere
close to a heat-radiating object, vent holes should be uses to prevent
overheating of the drivers.
When the driver is to be installed in a location where a source of vibration will
cause the driver to vibrate as well, install a shock absorber.
In situations where drivers are located close to a large noise source such as
high frequency weldering machines or large electromagnetic switches, take
steps to prevent noise interferance, eitherby inserting noise filters or connecting
the driver to a separate circuit.
Take care that pieces of conductive material (filings, pins, pieces of wireings,
etc.) Do not enter the drivers.
2. Using Multiple Axes
When using multiple stepping motor axes, internal temperature
rises will make the drivers hotter than the ambient temperature.
At least 0.8inch (20mm) must be allowed between driver units
and at least 1inch (25mm) between drivers and other equipment
or structures. Install a forced-air cooling fan if ambient
temperatures exceed 122F (104F for some products).
0
.7
9
in
c
h
(2
0
m
m
)
m
in
im
u
m
0
.7
9
in
c
h
(2
0
m
m
)
m
in
im
u
m
DRIVER INSTALLATION: AC Input Types
1. Installation Direction and Method
Drivers are designed to dissipate heat through natural
convection (UDK5128NW2 has a built-in fan), so be sure to
follow the instructions below when installing them. When
installing the driver vertically in the device, use bracket A; when
installing the driver parallel to the bottom, use bracket B.
(1) Models With Built-in Brackets
Driver Model
UPKWSeries: UDK5107NW2, UDK5114NW2, UDK5128NW2
UDK5214NW
UFKW: DFU1514W
RFK: DFR1507A, DFR1514A
Using bracket B Using bracket A
Firmly install on a metal plate that has good heat conductance, such as an iron
or aluminum 0.08in. (2mm) or more in thickness
To directly install the driver itself without using the screws provided, pay
particular attention to the length of the screws.
(2) Installation Bracket Models
Driver Model
: ASD24A-A, ASD30A-A, ASD12A-C, ASD16A-C
(Only available bracket A)
UPKSeries: UDK5107NA, UDK5114NA, UDK5128NA
UMKSeries: UDK2109A, UDK2112A, UDK2120A
UMK2160A
PMUSeries: PMD07A
RFK Driver UPKW, UFKWDriver
B-39 2000-2001 ORIENTAL MOTOR GENERAL CATALOG
DRIVER INSTALLTION: DC Input Types
1. Mounting Direction
Install the driver in the following manner to control overheating,
as much as possible.
(1) Horizontal Installation
(2) Vertical Installation
Caution:
The driver can generate a great deal of heat depending on the operating
conditions. Make sure that the temperature of the heat sink does not exceed 176F
(80C). [194F (90C) for CSD5808N-T]
When the temperature of the heat sink exceeds 176F (80C), forced cooling is
required. Make sure that the temperature of the motor case does not exceed 212F
(80C).
2. Securing the driver
(1) Mounting with the circuit board
CSD5807N-T, CSD5814N-T, CSD2109N-T, CSD2112N-T, CSD2120N-T
3.03 (77)
2.8.01 (710.3)
.12
(3)
.14 DIA. ( 3.5)4 HOLES
.
1
2
(
3
)
2
.
8
3

(
7
2
)
2
.
6

.
0
1

(
6
6

0
.
3
)
0.39inch (10mm) or more
No.4-40 UNC Screws
No.4-40 UNC Nut
Spring Washer
Insulation Type Spacer
Chassis
CSD5828N-T CSD5807N-T
CSD5814N-T
PMD03C CSD2109N-T
CSD2112N-T
CSD2120N-T
PMD03C
ASD18A-K
ASD36A-K
CSD5828N-T CSD5807N-T
CSD5814N-T
ASD18A-K
ASD36A-K
PMD03C CSD2109N-T
CSD2112N-T
CSD2120N-T
2.2 (56)
.12
(3)
1.97.01 (500.3)
.
1
2
(
3
)
2
.
8
3

(
7
2
)
2
.
6

.
0
1

(
6
6

0
.
3
)
.13 DIA. ( 3.2)4 HOLES
M3 Screws
M3 Nut
Spring Washer
Insulation Type
Spacer
Note: Always use insulation type spacer when securing the driver to your
equipment.
Note: Always use insulation type spacer when securing the driver to your
equipment.
Unit = inch (mm)
Unit = inch (mm)
B-40 2000-2001 ORIENTAL MOTOR GENERAL CATALOG
3. Recommended Location for Driver
Installation
Install drivers in a location that meets the following conditions.
Indoors
Ambient temperature 32F (0C) 104F (40C) (non-freezing)
Ambient humidity less than 85% (non-condensing)
Free from corrosive gas or dust
Free from water or oil
When attaching the driver in a close space such as a control box, or somewhere
close to a heat-radiating object, vent holes should be uses to prevent
overheating of the drivers.
In situations where drivers are located close to a large noise source such as
high frequency weldering machines or large electromagnetic switches, take step
to prevent noise interferance, eitherby inserting noise filters or connecting the
driver to a separate circuit.
(2) Mounting with the heatsink
(The heat sink should always be installed to good heat conducting metal)
Note : When using long screws, be sure they dont touch any components. The
screw length should be less than the thickness of the chassis plus 0.2inch
(5mm).
A
3.03 (77)
.787.004
(200.1)
.14 DIA. ( 3.5)4 HOLES
.
2
(
5
)
2
.
8
3

(
7
2
)
2
.
6

.
0
0
4

(
6
6

0
.
1
)
Heat sink
Chassis
Spring Washer
M3 Screw
(Effective length of tap
in heat sink is 0.2)
CSD58N-T
CSD21-T
A
0.96
(24.4)
1.71
(43.4)
CSD5807N-T, CSD5814N-T, CSD2109N-T, CSD2112N-T, CSD2120N-T
When installing at the side
ASD18A-K, ASD36A-K, CSD5828N-T
This driver is designed to be used screwed directly to the metal
chassis (box-shaped object) in order to ensure heat radiation.
Always install the driver bottom surface or side surface against
the metal chassis.
When installing at the bottom
4
.
7
2

(
1
2
0
)
4
.
4
5

(
1
1
3
)
.71
(18)
1.42 (36)
.
1
4
(
3
.
5
)
.14
(3.5)
4.33 (110)
3.98.01 (1010.3)
.18
(4.5)
.14 DIA. ( 3.5)2 PLACES
2
.
7
6

(
7
0
)
.
7
3
(
1
8
.
5
)
1
.
8
5

.
0
1

(
4
7

0
.
3
)
4
.
3
3

(
1
1
0
)
3
.
9
8

.
0
1

(
1
0
1

0
.
3
)
.79
(20)
1.42 (36)
.
1
4
(
3
.
5
)
.14
(3.5)
Note : When using long screws, be sure they dont touch any components. The
screw length should be less than the thickness of the chassis plus 0.2inch
(5mm).
4.72 (120)
4.37 (111)
.18
(4.5)
.14 DIA. ( 3.5)2 PLACES
2
.
7
6

(
7
0
)
.
7
3
(
1
8
.
5
)
1
.
8
5

(
4
7
)
Unit = inch (mm)
Unit = inch (mm)
ASD18A-D, ASD36A-K
ASD18A-K, ASD36A-K
CSD5828N-T
CSD5828N-T
Unit = inch (mm)
B-41 2000-2001 ORIENTAL MOTOR GENERAL CATALOG
Shaft Runout
Perpendicularity
Concentrictly
Shaft Radial Play *
2
Shaft Axial Play
3
Step Accuracy
4
Insulation Resistance
Dielectric Strength
5
Insulation Class
Temperature Rise
Ambient Temperature Renge
0.002 inch (0.05mm) T.I.R at top of output shaft
1
0.003 inch (0.075mm) T.I.R
1
0.003 inch (0.075mm) T.I.R
1
0.001 inch (0.025mm) max. of 1.1 lb. (0.5kg)
0.003 inch (0.075mm) max. of 2.2 lb. (1kg)
0.05 degrees 0.08 degrees 0.05 degrees
100M minimum under normal temeprature and humidity, when measured by a DC500V megger between the motor coils and
the motor casing.
Sufficient to withstand 1.0kV, 60Hz applied between the motor coils and casing for one minute, under normal ambient
temperature and humidity.
Class B [266F (130C)]
6
144F (80C) or less as measured by the Resistance Change Method after the rated voltage is applied to the stepping motor at
rest.
14F (10C) 122F (50C)
Item
5-phase stepping motor 2-phase stepping motor
Package : UPKW, UPK,
UFKW, RFK,
CSK
Package : PMU, PMC Package : UMK, CSK
Motor : PK
General Specifications

1 T.I.R( Total Indicator Reading):It refers to the total dial gage reading when the measurement section is rotated 1 revolution centered on the reference axis center.

2 Radial Play:It refers to the displacement in shaft position in the radial direction when a 1.1lb. (0.5kg) load is applied in the radial direction to the motor shaft tip.

3 Axial Play:It refers to the displacement in shaft position in the axial direction when a 2.2lb. (1kg) load is applied to the motor shaft in the axial direction.

4 This value is for full step with no load. (The value changes with size of load.)

5 For motors with a motor size of 1.65inch (42mm)1.65inch (42mm) or less, 60Hz, 0.5kV for 1minute.

6 UL and CSA standards recognized products are recognized as A category [221F (105C)].
B-42 2000-2001 ORIENTAL MOTOR GENERAL CATALOG
Lead Wire Specifications
Package Model
UPK54W, UPK543W-T
UPK56W2, UPK56JW, UPK59W2,
UPK59JW, UPK564W-T, UPK564JW-T,
UPK596W-T, UPK596JW-T,
UPK56W-N, UPK56JW-N
UPK54
UPK56, UPK59
UFK56W, UFK59W,
UFK564W-T, UFK596W-T,
UFK56W-N
PMU3H2, PMU33H-MG
RFK54
RFK56
CSK54, CSK543TG
CSK56, CSK59, CSK564TG
PMC32
PMC33H2, PMC33MG
UMK24, UMK24M
UMK26, UMK26M
UMK29
CSK24, CSK24M, CSK243SG
CSK26, CSK26M, CSK264SG
PK24, PK24M, PK243SG
PK26, PK26M, PK264SG
PK29, PK296SG
PK26-E
PK29-F
Lead Wire Specifications

1 UL3265: Rated Voltage 150V

UL3266: Rated Voltage 300V
AWG No.
26
22
26
22
22
26
26
22
26
22
28
26
24
22
20
24
22
24
22
20
24
22
UL Style
No.

3265

3265
3266
3265
3265
3265
3265
3265
3265
3265
3265
3265
3265
3265
3265
Number
of
Lead
Wires
5
6
8
Type of
Motor
AC Input
Package
DC Input
Package
AC Input
Package
DC Input
Package
Motor
Series
UPKW
UPK
NanoStep
UFKW
PMU
NanoStep
RFK
CSK
PMC
UMK
CSK
PK
5
-
P
h
a
s
e
2
-
P
h
a
s
e