Motorized Stage

Motorized Rotary Stage Guidance
Impressive lineup of attractive products including thenewest model.
Can be found the optimum stages.

Choosing an appropriate stage
Make sure it is driven repeatedly within plus or minus 10 degree.
P.1-169֐
Sinemotion rotary stage: KRB04/KRB06
High durability and high speed driving with ball screws.
The optimum repeatability driving of the minute angle.
Table size

Į40mm

Į60mm

Make sure to use 360 degree rotated.

P.1-177֐

Worm gear type rotary stage: KRW04360C/KRW06360C-Z/KS402/KRE
The optimum positiong on the wide angle accuracy or continuous operation in 360 degree.
Transmission type would be suitable for rotating polarizing elements and organization cables.
KRE series: Thin type٬Light weight٬Low price
Table size

Į40mm

Į60mm

P.1-025֐

Į75mm

Į100mm Į180mm

Make sure to use 360 degree high speed
rotated.:KS451
P.1-189֐
Direct drive type

Table size

Į39mm

The optimum rotation stages for use to rotate 360 degree with high speed.

High speed

1167

Worm gear type

Direct drive

Ball bearing type(֐40°/sec)(72°/sec)(102°/sec)How to use correetlyӨMounting
Fix corner position with supplied screw.
* KRB04յKRB06յKRW04360յKRW06360
KRE04360յKRE06360 are fixed in 3 position

ӨAbout the object that mounted on upper/bottom of stage
When a stage is mounted on uneven or an object that is uneven, the stage table may deformed, and may also affeted the accuracy. [Approximate
flatness: up to 10μm]

ӨPosition of stage mounting
All products SPEC shows must be shown flat setting condition.
Pay attention to mount such as up side down, vertical on the side and horizontal on the side.
Load capacity and accuracy might be changed by the posioning.
Load capacity or accuracy might be changed due to the mount position. Please check below table for using.
Please feel free to ask us how to best use.
ӧEach positioning characteristics
Products series

Inverted and reversed Side horizontal

Side vertical use

Sinmotion rotation stage

Ӱ

Ӱ

Ӱ

Worm gear type rotation stage

Ӱ×Ӱ

Direct drive type

Ӱ×

KRE04360յKRE06360

×

×

×

×

ӰAvailable under limit of load or moment
×Not available

Center of rotation
ӨHow to align the center of rotation
Use the full power of stages by aligned each center when mount to the other equipments.
Align the center as belows.:
٬Position the minimum point of eccentricity rotating the stage by using dial gauge, and then fix the work.
٬Can be issued to fine tune the center with XY stages.
* There is no surface based on mounting.

Center of rotation

1

168

Motorized Stage

Rotation Ball Screw GuidanceHigh-precision rotating stage using ball screws
Ideal for use in repeatability motion with good operation.

■Usage・For posture controlled
・For lens or LD panel bonding

Sine motion rotary stage guidance■High durability type

Backlash by the abrasion was concerned
about by the worm gear type when continued being driven at a microangle repeatedly.
We have succeeded in making travel mechanism a ball screw from a worm gear.
High durability has been achieved by adopting a sliding worm gear to a rolling ballscrew forthe moving mechanism.

Improved acceleration and deceleration
performance
Compared to worm gears, it has less sliding
resistance, enabling smooth rise and acceleration■Reduce the backlash

Reduce the backlash with preload mechanism.

■Travel distance and constant speed
The linear movement of a ball screw is converted into rotational movement by bearings in the stage. (Thetravel distance of ball screw is not the same as the travel angle of the stage because linear movement isconverted into rotational ovement).
As a result, the resolution per pulse is different between the stroke center and the end.
The rotation speed is not stable even when sending pulse signals at a constant speed.
■Equipment for calculating the travel distance*An equation on the basis of the stroke center.
(1) Travel angle=Arcsin((Input pulse*X)/P)(2) Input pulse=P*sin(travel distance)/X■Definition

P

Definition
Distance between supporting points P
Ball screw lead
Motor basic step angle
Ball screw travel length per pulse X

Value
17
1
0.72
0.002

Unit
mm
mm
Degreemm

P=Distance between supporting points（The distance between center rotation and bearing）* Distance between supporting points are different from the stage.

■Basic specification
Model
KRB04017M-□C
KRB06011M-□C

Motor basic step angle
0.72°
0.72°

Distance between supporting points P
17mm
27mm

Contact us for details of the equation.

For proper operation▽Mounting

KRB04017M/KRB06011MS：Fix 3 position with supplied screw.

・KRB04017M/KRB06011MS:
Fit the hole of the upper table with the installation hole.

KRB06011: Fix with supplied screws to 3 position of lower plate.

▽About the object that mounted on upper/bottom of stage.
When a stage is mounted on uneven or an object that is uneven,the stage table may deformed, and may also affeted the accuracy.
[Approximate flatness: up to 10μm]▽Position of stage mounting

1-KRB

001

All products SPEC shows must be shown flat setting condition.
Pay attention to mount such as up side down, vertical on the side and horizontal on the side.
Load capacity and accuracy might be changed by the posioning.
Please refer to the posture characteristics table by product on page 1-168 to determine whether or not a product can be used.
Please feel free to ask us for more information.

Motorized Rotary Stage

Sinemotion Rotary Stage φ40/φ60: KRB04/KRB06
High-precision rotating stage using ball screws
Ideal for use in repeatability motion with good operation.

KRB 04017 M □-L C □1

2

1 Stage table size
Code
04017
06011

Travel distance
±8.5°
±5.5°

2 Table shape
Circular
SquareNote: Only KRB06 is available

3 Motor option
Code

Specification

C
T

Standard(5 Phase stepping motor)
2 Phase stepping motor

3 Motor option
Code

3

ZA
数量

3

4

Cables P. 1-207 ～Electrical specification P.1- KRB-005～

4

4 Cable option(for motorless)

size
φ40mm
60×60mm
φ60mm

Blank
S

3

Specification

αSTEP（ AZ Series）

1～6

Code

4 Cable option(Motor option:ZA)
Cable
Model
－
D214-2-2E
D214-2-2EK
D214-2-4E
D214-2-4EK－
D214-2-2R
D214-2-2RK
D214-2-4R
D214-2-2RKSpecification

Blank
A
B
C
D
E
F
G
H
J

Cable is not included (Standard)
2m
2m One end loose
4m
4m One end loose
Only connector (Cable is not included)
Robot cable 2m
Robot cable 2m one end loose
Robot cable 4m
Robot cable 4m one end loose

2 phase Cable
type－－
DS1-2C-2-2EK－
DS1-2C-2-4EK－－
DS1-2C-2-2RK－
DS1-2C-2-4RK

Code
Blank
3
5
3A
5A

Specification
Sensor cable 2m One end loose wireSensor cable 3m One end loose wireSensor cable 5m One end loose wire
3A:Screwdriver (3m cable set)
3A:Screwdriver (5m cable set)

XY

* One end loose position to only stage opposite side.
*3A/5A does not include sensor cable, motor cable,
and motor driver.

Z
Horizontal
Z* One end loose position to only stage opposite side.
Note:For T-phase stepping, only one end rose (B, D, G, J) is supported.
Motor option: Accessories when ZA is selected.
Cable option code
Blank
3
5
3A
5A

Sensor cable model
HR10AP-S-SB-6-2
HR10AP-S-SB-6-3
HR10AP-S-SB-6-5
HR10AP-S-SB-6-3
HR10AP-S-SB-6-5

Motor Cable model－－－
CC030VZ2R2
CC050VZ2R2

XYZ

Driver model
－
－
－
AZD-K
AZD-K

Goniometer
RotarySpecification
日目発送
SPEC
Mechanical specification

Model
Travel distanceStage surface size
Travel mechanism (Reduction ratio)
Guide
Main materials-Finishing
WeightResolution※（ Pulse）Full
MAX speed
Repeatability positioning accuracy
Load capacity
Moment stiffness
Lost motion
BacklashParallelism
Limit sensor
Origin sensor
Slit origin sensor
Provided screw (Hexagon-headed bolt)

KRB04017M-LC
±8.5°
φ40mm

Accuracy specification

0.40kg≒0.0068°101.5°/sec［15kHz］
4.0kgf【39.2N】
0.52″/N・cm

Sensor3 of M3-25

X

KRB06011M-LC

KRB06011MS-LC

Unit

±5.5°

φ60mm
Ball screw φ6 lead 1
Combination angular ball bearing
Aluminum−Black alumite processing
0.62kg≒0.0043°
63.8°/sec［15kHz］
0.003°
6.0kgf【58.8N】
0.25″/N・cm
0.003°
0.01°
50μm
Available
Available－
3 of M4-25

60×60mmController

0.63kg

Ball
Screw

*
The SPEC varies depending on the motor.
*See page P.1-169 if you require exact calculations.
* The MAX speed becomes the theory speed at the time of the 15kHz drive for the traveling pulse of the full stroke.

Worm
Gear

Resolution・MAX speed・Weight
Motor code
Type
Motor model* 1

Step angle
KRB06011M
KRB06011MS
KRB04017M
MAX speed

KRB06011M
KRB06011MS
KRB04017M

WeightT

Standard

2 Phase stepping motor

C005C-90215P-1

SJA28N32-0674B-01

0.72°

KRB04017M
Resolution(Full)

C

1.8°

ZA

αSTEP（AZ）
AZM24AK
0.36°※2≒0.0068°≒0.0169°≒0.0034°※2≒0.0043°101.5°/sec［15kHz］≒0.0106°
76.1°/sec［4.5kHz］≒0.0021°※2
101.5°/sec［30kHz］

0.40kg0.40kg0.44kg≒0.0043°

63.8°/sec［15kHz］
63.8°/sec［15kHz］≒0.0106°

47.8°/sec［4.5kHz］
47.8°/sec［4.5kHz］≒0.0021°※2

φ39

φ40
φ59

63.8°/sec［30kHz］
63.8°/sec［30kHz］

φ60/□60
φ100

KRB06011M

0.62kg0.62kg0.66kg

KRB06011MS

0.63kg0.63kg0.67kg*1 Model is our own management model.
※2 1000P/R setting

Direct
Drive

φ75

φ180

Other

1-KRB

002

Motorized Stage

CAD
DATA

Dimensions

KRB04017M-LC

KRB06011M-LC
123.5

113
40

73
67

20
16
16
10 10

3-3.5THRU φ6C’BORE(Bolt hole for M3)

60
30
25
16

3-4.5THRU φ8C’BORE(Bolt hole for M4)

63.5
57.5
25
16

16

φ12

φ12

X

25

79

16

30

25

20
16
16
10 10

3-M4 6DP

59

Motorized Rotary Stage

Sinemotion Rotary Stage φ40/φ60: KRB04/KRB06

3-M3 6DP

8-M2 4DP

φ4(H7) 5DP

Z

φ40

φ60

Goniometer

14.5

35
27.5
20.5

28.5

14.5

35
27.5
20.5

Horizontal
Z
XYZ

8-M3 5DP

Transmission hole dia. 12(H7)

28.5

XY

KRB06011MS-LC
123.5

Rotary60

3-4.5THRU φ8C’BORE(Bolt hole for M4)

Unit

25
16

63.5
57.5

25
16

φ12

16

25

79

60

25

Controller

16

7-M4 7DP

φ4(H7) 5DP

Worm
Gear

28.5

14.5

35
27.5
20.5

Ball
Screw

4-M3 7DP

C Standard motor

T 2 Phase stepping motor

Motor model C005C-90215P-1

Motor model SJA28N32-0674B-01

Model

DirectDrive

φ39

KRB04017M-LC
KRB06011M-LC
KRB06011MS-LC
KRB04017M-LT
KRB06011M-LT
KRB06011MS-LT

A

LS
B

φ40

Stage table size
φ40
φ60
□60
φ40
φ60
□60

Motor

Motor size

A(mm)

C

□ 28

T

□ 28

Motor

Motor size

A(mm)

□ 28

10
10
10

ー
ー
ー
ー
ー
ー

B(mm)
ー
ー
5.5
ー
ー
5.5

LS(mm)
113
123.5
123.5
113
123.5
123.5

ZA αSTEP (AZ Series)

Motor model AZM24AK

φ59

Model

φ60/□60

KRB04017M-LZA
KRB06011M-LZA
KRB06011MS-LZA

φ75

φ100

A

φ180

Other

1-KRB

003

LS

Stage table size
φ40
φ60
□60

ZA

B(mm)
ー
ー
5.5

LS(mm)
135.5
146
146

Stage main body

C Standard motor

C Standard motor

When our controller is used requirement
Cable selection
Controller
Code: A,C,F,H
DS102/112

C Standard motor

Available for
P.1-205〜
motor and sensor
When not using our controller
Cable selection
Driver selection
Code: B,D,G,J

Motorized Rotary Stage

Motor option
Motor model

C005C-90215P-1

Stage main body

All customers are required to prepare
DC24V power, controller and PLC by themselves.

Power supply

Controller
Motor model

Available formotor and sensor

PLC

X

P.1-213〜

XY
Motor option

T 2 Phase stepping motor
Motor model

SJA28N32-0674B-01

Stage main body① T 2 Phase stepping motor② Cable selection
Code: B,D,G,J

All customers are required to prepare
DC24V power, controller and PLC by themselves.

Horizontal
Z

DriverPower supply

Controller

PLC

Available formotor and sensor

Code

Motor modelT

SJA28N32-0674B-01

Z

XYZ
Goniometer
RotaryMotor・Sensor cable selection
B・D：DS1-2C-2-□EK
G・J：DS1-2C-2-□RK

Unit
Controller

Motor option

ZA αSTEP (AZ Series)
Motor model➂Sensor cable(Selection)

Stage main bodySensorAZM24AK① ZA αSTEP(AZ)

Code
ZA

All customers are required to prepare
DC24V power, controller and PLC by themselves.

①Motor modelAZM24AK②Motor cable selection
3A：CC030VZ2R2
5A：CC050VZ2R2
Blank・3・5：None➁Motor cable(Selection)➃Motor drive(Selection)③Sensor cable selection
3A・3：HR10AP-S-SB-6-3
5A・5：HR10AP-S-SB-6-5
Blank：HR10AP-S-SB-6-2

Power supply

Controller

PLC④Driver selection

Ball
Screw

3A・5A：AZD-K
Blank・3・5：None

Worm
Gear

Direct
Drive

φ39

φ40
φ59

φ60/□60
φ75

φ100

φ180

Other

1-KRB

004

Motorized Stage

Electrical Specification: KRB Series
Motorized Rotary Stage

Motor・Electrical specification(5/2 Phase stepping motor)
Motor code

Motor Specification（*1）

X
Connector

XY
Z

Sensor board

Horizontal
Z
XYZ

C

Stage modelType
FeatureModel*1
With electromagnetic brake
Manufacturer
Step angle
mass
□size
Motor size
L sizeMaximum static torque
Driver model
Driver power input
Brake power input
Panel mount
Receiving connector
Limit sensor
Origin sensor
Slit origin sensor
SensorPower-supply voltage
Current consumption
Control output
Output logic

T
KRB04/KRB06

5 phase stepping motor (0.75A/Phase)Standard
C005C-90215P-1
ー
Oriental Motor Co., Ltd.
0.72°

2 phase stepping motor (0.67A/Phase)ー
SJA28N32-0674B-01
ー
SURUGA SEIKI
1.8°
0.11kg□28mm
37mm

0.048N・m
CVD507-K-A9(Oriental Motor Co., Ltd.
DC24V±10% 1.4A(MAX)0.059N・m-ー

HR10A-10R-12P(73)（HRS）
HR10A-10P-12S(73)（HRS）

HR10A-10R-10P(73)（HRS）
HR10A-10P-10S(73)（HRS）

Available
AvailableーPhoto microsensor EE-SX4320 (Omron Co., Ltd.)
DC5～24V±5%
Total 60mA or less
NPN open collector output DC30V 10mA or less
On detection (light shield condition): Output transistor OFF (Non-continuity)*1 P.1-213〜 for details of single motor specification.
*2 Model is our own management model.

Goniometer
RotaryPin allocation・Connection diagram

Unit

φ40

Pin allocation
Connector model
HR10A-10R-12P(73)(HRS)C

Available for motor and sensor

Controller

Ball
Screw

Connection diagram

1

10

2

9

3

8

11

7

4

12

5

6

Pin allocation
Connector model
HR10A-10R-10P(73)(HRS)

T
DirectDrive

Available for motor and sensor

Worm
Gear

1
2

3
4

φ39

φ40
φ59

φ60/□60

φ75

φ100

φ180

Other

1-KRB

005

φ60/□60

1 Motor lead (Blue)
2 Motor lead (Red)
3 Motor lead (Orange)
4 Motor lead (Green)
5 Motor lead (Black)
6 CWLS output
7 CCWLS output
8 N.C.
9 Power input (V+)
10 ORG output
11 Power input GND
12 F.G.

Connection diagram

Blue
Red
OrangeGreenBlack

5 phasestepping motor

Sensor substrate
CWLS

ORG

Vin Vout

CCWLS

GND
Regulator

Connection diagram

8
9
10

7
6

5

−
1 Motor lead B (Blue)
2 Motor lead B (Red)−
3 Motor lead A (Green)
4 Motor lead A (Black)
5 Power input (V+)
6 Power input (V- )7 CWLS output
8 CCWLS output
9 ORG output
10 F.G.

1 Motor lead (Blue)
2 Motor lead (Red)
3 Motor lead (Orange)
4 Motor lead (Green)
5 Motor lead (Black)
6 CWLS output
7 CCWLS output
8 N.C.
9 Power input (V+)
10 ORG output
11 Power input GND
12 F.G.

Blue
Red
OrangeGreenBlack

5 phasestepping motor

Sensor substrate
CWLS

ORG

Vin

CCWLS

GND
Regulator

Connection diagram

Blue
Red
Green
Black

2 phasestepping motor

Regulator
Vin Vout
GND

CWLS

ORG

CCWLS

−
1 Motor lead B (Blue)
2 Motor lead B (Red)−
3 Motor lead A (Green)
4 Motor lead A (Black)
5 Power input (V+)
6 Power input (V- )7 CWLS output
8 CCWLS output
9 ORG output
10 F.G.

Blue
Red
Green
Black

2 phasestepping motor

Regulator
Vin
GND

CWLS

ORG

CCWLS

Motorized Rotary Stage

Motor・Electrical specification(αSTEP)
ZA

Motor code

Motor Specification（*1）

Stage modelType
FeatureModel*1
With electromagnetic brake
Manufacturer
Step angle
mass
□size
Motor size
L sizeMaximum static torque
Driver model
Driver power input
Brake power input

KRB04/KRB06
αSTEP (AZ Series)
Small step-out ,absolute
AZM24AKー
Oriental Motor Co., Ltd.
0.36°(Set to 1000P/R)
0.15kg28mm
45mm
0.095N・m
AZD-K(Oriental Motor Co., Ltd.)DC24V±5%ーMotor: DF62B-13EP-2.2C (Hirose Electric Co., Ltd.)
Sensor: HR10A-7R-6P(73) (Hirose Electric Co., Ltd.)
Motor: DF62C-13S-2.2C (Hirose Electric Co., Ltd.)
Sensor: HR10A-7P-6S(73) (Hirose Electric Co., Ltd.)
Available
AvailableーPhoto microsensor EE-SX4320 (Omron Co., Ltd.)
DC5～24V±5%
Total 60mA or less
NPN open collector output DC30V 10mA or less
On detection (light shield condition): Output transistor OFF (Non-continuity)

Panel mount
Connector
Receiving connector

Sensor board

Limit sensor
Origin sensor
Slit origin sensor
SensorPower-supply voltage
Current consumption
Control output
Output logic

X
XY
Z
Horizontal
Z
XYZ*1 P.1-213〜 for details of single motor specification.
*2 Model is our own management model.

Goniometer
RotaryPin allocation・Connection diagram【Receiver cable】Model：CC030VZ2R2(3m)/CC050VZ2R2(5m) * Flexible cable

Unit
Controller

Driver side
Connector:55100-0670(Molex)

Driver side
Connector:J11DF-06V-KX(J.S.T.MFG.)

3m , 5m

(φ8)

Motor

Motor side
Connector:DF62C-13S-2.2C(HRS)【Receiver cable】Model：HR10AP-S-SB-6-□※□：2(2m)/3(3m)/5(5m)* Fixed

ZA

φ40
Sensor side
Connector (Female): HR10A-7P-6S (73) (HRS)

SensorULAWM20276 AWG28 3P Black
+50

+50

Orange / Black
Orange / Red
Gray / Black
Gray / Red
White / BlackWhite / Red

Shield

Pin
1
2
3
4
5
6

1
2

6
5

3

4

Sensor substrate
CWLS

Regulator

1 CWLS output
2 CCWLS output
3 ORG output
4 N.C.
5 Power input V+
6 Power input GND

ORG

Signals
CWLS
CCWLS
ORG
NORG
V+
V−

φ60
・
□60

CCWLS
GND

1
2

6
5

3

4

DirectDrive

Sensor substrateCWLS

1 CWLS output
2 CCWLS output
3 ORG output
4 N.C.
5 Power input(+)
6 Power input(−)

Worm
Gear

Vin Vout【Pin allocation】Connector model：HR10A-7R-6P(73)(HRS)+150

2m -0 mm , 3m -0 mm , 5m -0 mm*The shields areconnected withthe connector shell.

Ball
Screw

【Pin allocation】Connector model：HR10A-7R-6P(73)(HRS)

ORG

Vin
GND
Regulator

CCWLS

φ39

φ40
φ59

φ60/□60
φ75

φ100

φ180

Other

1-KRB

006

Motorized Stage

Electrical specification KRB04/ KRB06
Motorized Rotary Stage

Timing chart
CW Limit

CCW Limit

The origin Opposite
end
end
face
face

Mechanicallimit
Mechanical stopper
Undetected point(in the stage of light entrance)
Detection(light shield condition)
Undetected point
Origin Sensor（ORG1）(in the stage of light entrance)
Detection(light shield condition)
Undetected point(in the stage of light entrance)
CW lim it
Detection(light shield condition)

CC W lim it

The origin end face
Stroke center

Opposite end face

CCW Limit

CW Limit

X
XY

CW limit

Horizontal
Z
XYZ
Goniometer
RotaryStroke center

CCW limit

The origin end face
Stroke center

Opposite end faceZ

Mechanicallimit

Unit［deg］

Direction of CW

Direction of CCW

Reference coordinate

CW Limit

The origin end face
Storke center

KRB04017M-L

Return to origin

9.0

0

4.5

9.0

KRB06011M-L

Return to origin

6.0

0

2.5

6.0

Opposite end face

CCW Limit* Return to origin means that is performed return to origin type 4 using DS102/DS112 series.(DS102/DS112 are dedicated to 5-phase motors)* The coordinate is a basis of design value. Dimension error may occur about plus or minus 0.5 deg.
Note: The timing chart shows only timing of sensor, it is not for output signal logic.
Refer to ON/OFF display of output transistor that shows on electrical specifications-sensor-output logic for output signal logic.
Output signal logic will be different depends on your controller.

Unit
Controller

Return to origin
Ball
Screw

Suruga's motorized stages are different from the specification depending on the models. Therefore return to origin method other than recommendation
may not be work correctly.
Set to the way of recommendation return origin when using our controller.

KRB04017/KRB06011 recommended return to origin
Worm
Gear

DirectDrive

Type 3: Detect in the direction of CCW and perform detected process for CCW edge of ORG signal.
Type 4: Detect in the direction of CW and perform detected process for CW edge of ORG signal.
Type 9: After finished Type3, perform detected process for CCW edge of TIMING signal.
Type 10: After finished Type4, perform detected process for CW edge of TIMING signal.
[Type3] Detect in the direction of CCW and perform detected
process for CCW edge (a point) of ORG signal.

<Origin detection CCWLS
process>
ORG

CWLS

Point aF speedL speed

φ39

SD

φ40

JD

φ59

*

φ60/□60

φ75

φ100

φ180

Other

1-KRB

007

Return to origin sequence P.1-201〜

LD

F speedL speed*Starting position 3* A solid line means the
setup a sudden stop, adotted line means the
setup a decelerating
and stopping.
JD

L speedSD
L speedJOG

F speedL speedSD
L speedJOG
F speedL speedSD
L speedStarting position 4
JD

JOG

Starting
position 1

Starting
position 2[Type4] Detect in the direction of CW and perform detected
process for CW edge of ORG signal.

<Origin detection CCWLS
process>
ORG
F speedL speedStarting
Starting
position 2 position 1

Point aCWLS

SD
L speedSD
JOG

F speedL speedSD
L speedJOG

L speedJD*
F speedL speed*Starting position 3 LD
JD

F speedL speedSD
L speedJOG* A solid line means the
setup a sudden stop, adotted line means the
setup a decelerating
and stopping.

Starting position 4
JD

Motorized Rotary Stage

Connectin example■ Connection example 1

Motorized Stage 1axis: When holding a terminal device (using control software)*USB cable connection between PC and controller.

PC
D214-2-□E
D214-2-□Ｒ (Robot cable)

DS102/112 Control software
DSCONTROL-WIN P.1-200

LINK■Connection example 2

DS102/112

Z
DT100（Handy terminal）

GoniometerPC

12 pin specification stageRS���C

LINK

DT���
（Handy terminal）

2-axisRS���C

12 pin specification stage

LINK

Control I/O General-purpose I/O

USBDS���/���

Ball
Screw

12 pin specification stage

Worm
Gear

(*1) It is possible to control up to 3 controllers (for a maximum of 6-axis control) with link function.

■Connection example 3

Controller

Handy terminalP.�-���

Control I/O General-purpose I/O

USBDS���-LINK�-�.�(*�)

12 pin specification stage

Cable
P.�-���～2-axisRS���CDS���/���RotaryUnit

D���-�-□E
D���-�-□Ｒ(Robot cable)

DS102/112 Control software
DSCONTROL-WIN P.1-200

DS���-USB-�.�

Horizontal
Z
XYZ

Motorized Stage 4axis: When holding a terminal device (using control software)*USB cable connection between PC and controller.

USB

X
XY

Handy terminal
P.1-199

Control I/O General-purpose I/O

USB

DS100-USB-1.8

Cable
P.1-207～2-axis

RS232C

RS232CUSB

12 pin specification stage

When controlling from the PLC I/O Unit.

*USB cable connection between PC and controller.

DirectDrive

PC

DS102/112 Control software
DSCONTROL-WIN
P.1-200

D100-R9-2

Cable P.1-207～

I/O

I/O

LINK

DS102/112

Control I/O General-purpose I/O

(*1)

USB

DS100-USB-1.8

External
controlequipment

D214-2-□E
D214-2-□Ｒ (Robot cable)

12 pin specification stage

Cable
P.1-207～2-axis

RS232C

RS232CUSB

PLC（Sequencer）

φ39

φ40
φ59

φ60/□60
φ75

φ100

Handy terminal
P.1-199

Available connecting maximum 3 controllers by link function.

(*1) Using the USB hub, it is controllable in a single PC to up to four link networks (24-axis).

DT100（Handy terminal）

φ180

Other

1-KRB

008

Motorized Stage

New

Rotary Stage Į39/Į59/ӗ40/ӗ60KRW04/KRW06

Motorized Rotary Stage

KRW04360T-LC

KRW04360M-LC

KRW06360T-LC

KRW06360M-LC

KRW06360T-LC-Z

Vertical specifications(Z) are
not included.

*All image is for illustrative purposes only.

X
XY

KRW 04 360 M ӗ - ӗ C- ӗ - ӗ
1

Z

2

3

4

5

6

7

8

PA- ӗ

Horizontal
Z

6

Cable P.1-207֐
Electrical specificationP.C-055֐

7

XYZ
Goniometer

1 Stage size
04
06

Rotaryĕ39mm(ӗ40mm)
ĕ59mm(ӗ60mm)*Square specification size (stage surface shape) inparentheses

Unit

2 Travel distance360

Controller

5 Motor location specification

7 Cable option (Motor:C٬G)

Code
L
R

Code
Blank
A
B
C
D
E
F
G
H
J

L position
Opposite hand

6 Motor option
Code
C
G

360°

Specification

Specification
Standard
High resolution

3 Connector specifications

Specification
Calbe is not included (Standard)
2m
2m One end loose
4m
4m One end loose
Only connector (Cable is not included)
Robot cable 2m
Robot cable 2m one end loose
Robot cable 4m
Robot cable 4m one end loose

Cable typeD214-2-2E
D214-2-2EK
D214-2-4E
D214-2-4EK

D214-2-2R
D214-2-2RK
D214-2-4R
D214-2-4RK

8 MountingT

Pig tail

Code
Blank
Z

Specification
HorizonVertical*ZĮ 59mm/Compatible only with Standard Motor specification

M

Panel mount

6 Motor option

Ball
Screw

Code
PA
ZA
EA
UG
UA

4 Stage surface shape
Code
Blank
S

Specification
Circular
Square7 Cable option (Motor:PA٬ZA٬EA٬UG٬UA)
Code
Blank
3
5
3A
5A

SpecificationęSTEP (AR Series)ęSTEP (AZ Series)
for EtherCAT
Servo motor (MINAS A6)
Servo motor (J4)

Specification
Sensor cable 2m One end loose wireSensor cable 3m One end loose wireSensor cable 5m One end loose wire
Driver (Amplifier)/Cable set 3m
Driver (Amplifier)/Cable set 5m

Driver (Amplifier)٬Cable option combination

Worm
Gear

Code
Cable

Driver (Amplifier)٬Cable
Motor
SensorMotor
Encoder

Blank

3
5
PA/ZA/EA/UG/UA
2m
3m
5m

3A
5A
EA/UG/UA PA/ZA EA/UG/UA
3m
5m
3m
5m
3m
5m
‫٭‬
‫٭‬
Included

PA/ZA

Not included

Driver (Amplifier)

Not included

DirectDrive

Selection Example

Į39
Į40

Model

Į59

Stage size06Į59mm

Į60
Į75
KRW06360M-LC-B

Į100
Į180
Other

C

047



Connector specifications
MPanel mountStage surface shape
BlankCircularMotor location specification
LL positionMotor option
CStandard

Cable option
B2m One end loose

New
Motorized Rotary Stage

Specification

Mechanical specification

Model
Opposite hand
Travel distanceStage size(*1)
Connector type
Travel mechanism (Reduction ratio)
Guide
Main materials-Finishing
WeightResolution/Pulse
MAX speed
Positioning accuracy
Repeatability positioning accuracy
Load capacity
Moment stiffness
Lost motion
BacklashParallelism
Eccentricity
RunoutLimit sensor
Origin sensor
Slit origin sensor
Provided screw (Hexagon-headed bolt)

Accuracy specification
SensorSPEC
KRW04360T-LC KRW04360M-LC KRW06360T-LC KRW06360M-LC KRW06360T-LC-Z KRW06360M-LC-Z
KRW04360T-RC KRW04360M-RC KRW06360T-RC KRW06360M-RC KRW06360T-RC-Z KRW06360M-RC-Z
360°
Į39mm (40×40mm)
Į59mm (60×60mm)
Pig tail
Panel mountPig tail
Panel mountPig tail
Panel mountWorm gear(1/120)
Worm gear(1/180)
Deep groove ball bearing
AluminumBlack almite finishing
0.42kg0.39kg0.62kg0.59kg0.72kg0.69kg0.006°
0.004°
30°/sec
20°/sec
0.05°±0.01°
3kgfք29.4Nօ
1kgfք9.8Nօ
0.74ˢ/N٬cm
0.2ˢ/N٬cm
0.05°
0.1°
0.05°
50μm
5μm
30μm

僗

3 of M330
3 of M430
4 of M46

X
XY
Z
Horizontal
Z
XYZ
Goniometer*
Might be changed specification due to motors.
*1 The figure in parenthesis is the stage surface size when the Stage surface shape option: square (S) is selected.

RotaryUnit
Controller

Resolution٬MAX speed٬Weight
Motor code
Specification
Motor model *1
Step angle
KRW04
Resolution/Pulse
KRW06
MAX speed

WeightC
Standard
C005C-90215P-1

G
PK523HPMB-C1

0.72°
0.006°
0.004°

0.36°
0.003°
0.002°High resolution

KRW04
KRW06

30°/sec
20°/sec

KRW04360T (Pig tail)
KRW04360M (Panel mount)

0.42kg0.39kg

KRW06360T (Pig tail)
KRW06360M (Panel mount)

0.62kg0.59kg

KRW06360T-Z (Pig tail)
KRW06360M-Z (Panel mount)

Ball
Screw

0.72kg0.69kgMotor code

PA

ZA

EA

SpecificationęSTEP (AR)ARM24SAKęSTEP (AZ)
AZM24AKfor EtherCATMINAS A6

J4

STM28W100A

MSMF5AZL1A2

HG-KR053

23 Bit encoder(8388608P/R) ˥2

22 Bit encoder(4194304P/R) ˥3

Motor model ˥1
Resolution/Pulse
MAX speed

Weight0.003° (1000P/R setting
0.002° (1000P/R setting

KRW04
KRW06
KRW04

30°/sec

KRW06

20°/sec

UG

UA

Worm
Gear

DirectDrive

KRW04360T (Pig tail)0.46kg0.46kg0.43kg0.63kg

KRW04360M (Panel mount)

0.43kg0.43kg0.40kg0.60kg0.65kg0.62kg

KRW06360T (Pig tail)0.66kg0.66kg0.63kg0.83kg0.85kg

KRW06360M (Panel mount)

0.63kg0.63kg0.60kg0.80kg0.82kgĮ39
Į40*1 Model is our own management model.
*2 Optional encoder cable is for incremental system.
*3 When constructing an absolute system, it is necessary to install a battery in the amplifier.

Į59
Į60
Į75
Į100
Į180
Other

C

048

Motorized Stage

New

Rotary Stage Į39/Į59/ӗ40/ӗ60KRW04/KRW06

Motorized Rotary Stage

Dimensions

KRW04360T-LC

KRW04360TS-LC

3-3.5 THRU Į6 C'BORE
Bolt hole for M3
6.5
40
32
10 10

3-3.5 THRU Į3.5 C'BORE
Bolt hole for M3
6.5
40
32
10 10

3

4 -M3 5DP
Knob
Transmission hole dia. Į8 (H7)

16.5

16.5

Connector HR10A-10P-12S(HRS)
Connector HR10A-10J-12P(HRS)

35
25

3
35
25

XY

Knob
Transmission hole dia. Į8 (H7)

ĕ39

30.5

X

53
47
8 -M2 4DP

55

Į12

32
10 10

55

8 -M2 4DP93

Į12Connector HR10A-10P-12S(HRS)
Connector HR10A-10J-12P(HRS)

30.5

53
47

32
10 10

93

Z
Horizontal
Z

KRW04360M-LC

KRW04360MS-LC

6.5

XYZ

93

6.5

40
32

3-3.5 THRU Į6 C'BORE
Bolt hole for M3

53
47

10 10

27.3

Connector HR10A-10R-12P(HRS)
Connector HR10A-10P-12S(HRS)

93
40
32

3-3.5 THRU Į6 C'BORE
Bolt hole for M3

53
47
27.3

10 10

Goniometer

Connector HR10A-10R-12P(HRS)
Connector HR10A-10P-12S(HRS)

Į12

32
10 10

55

Į12

55

Rotary32
10 10

8-M2 4DP

Unit

6.5

16.5

KRW04360TS-RC

93

6.5

93

3

40
32
10 10

53
47
4 -M3 5DP

55
32
10 10

Connector HR10A-10P-12S(HRS)
Connector HR10A-10J-12P(HRS)

Connector HR10A-10P-12S(HRS)
Connector HR10A-10J-12P(HRS)
55
32
10 10

Knob
8 -M2 4DPKnob

8 -M2 4DP
Transmission hole dia. Į8 (H7)3-3.5 THRU Į6 C'BORE
Bolt hole for M3

16.5
30.5

16.5
30.5

35
25

35
25

Transmission hole dia. Į8 (H7)3-3.5 THRU Į6 C'BORE
Bolt hole for M3
ĕ39

Worm
Gear

Į12

53
47
Į12

40
32
10 10

3

35
25

30.5

16.5

35
25

Transmission hole dia. Į8 (H7)

KRW04360T-RC

Ball
Screw

Knob
4 -M3 5DP

ĕ39

30.5

Controller

3

3

Knob
Transmission hole dia. Į8 (H7)8 -M2 4DP

DirectDrive

KRW04360M-RC

KRW04360MS-RC
6.5

10 10

3

10 10

53
47
4 -M3 5DP

27.3
Į12

Į40

53
47

Į12

40
32

Į39

93
40
32

93

3

6.5

Į59

Connector HR10A-10P-12S(HRS)
Connector HR10A-10R-12P(HRS)
Transmission hole dia. Į8 (H7)8 -M2 4DP

Į100

3-3.5 THRU Į6 C'BORE
Bolt hole for M3

Į180

ĕ39

27.3
3-3.5 THRU Į6 C'BORE
Bolt hole for M3
Transmission hole dia. Į8 (H7)

35
25

16.5
30.5

C

049

35
25

Other

8 -M2 4DP

Connector HR10A-10P-12S(HRS)
Connector HR10A-10R-12P(HRS)

16.5
30.5

Į75

Knob

55
32
10 10

Knob

55
32
10 10

Į60

CAD
DATA

Dimensions

3-4.5 THRU Į8 C'BORE
Bolt hole for M4

KRW06360TS-LC
3-4.5 THRU Į8 C'BORE
Bolt hole for M4

113.5
60
50

20
16

47
41

6.5

25
20
16

Connector HR10A-10P-12S(HRS)
Connector HR10A-10J-12P(HRS)Knob

4 -M4 6DP
8 -M3 6DP

3

Į12
Knob

8 -M3 6DP

20
16

77
74
25
20
16

25
20
16
77
74
25
20
16
Transmission hole dia. Į30

3

47
41

20
16

Connector HR10A-10P-12S(HRS)
Connector HR10A-10J-12P(HRS)

113.5

60
50

20
16

Į12

6.5

Motorized Rotary Stage

KRW06360T-LC

New

Transmission hole dia. Į30

7.5

10

X

7.5

17

31

35
24.5
14

17

31

35
24.5
14

Φ59

10

40

40

XY

4 - M4 from the opossite 6 DP

4 - M4 from the opossite 6 DP

Z

KRW06360M-LC

KRW06360MS-LC

113.5
107

6.5
60
50
20
16

3-4.5 THRU Į8 C'BORE
Bolt hole for M4

113.5
107

6.5
47
41
26.3

20
16

Connector HR10A-10R-12P(HRS)20
16

3-4.5 THRU Į8 C'BORE
Bolt hole for M4

Horizontal
Z

47
41
26.3

60
50
20
16

Connector HR10A-10R-12P(HRS)XYZ

Connector HR10A-10P-12S(HRS)

Į12

20
16

Į12

77
74

50

50
20
16

RotaryUnit

8 -M3 6DP

Knob

3

77
74

Transmission hole dia. Į30
Φ59

3

Goniometer

20
16

20
16

Connector HR10A-10P-12S(HRS)Knob

4 -M4 6DP
8 -M3 6DP

Transmission hole dia. Į30

17

31

35
24.5
14
7.5

10
40
4 - M4 from the opossite 6 DP

KRW06360T-RC

1040
4 - M4 from the opossite 6 DP

KRW06360TS-RC

113.5
6.5

20
16

Į12

3

113.5

47
41

60
50
20
16

60
50
20
16

3

6.5

47
41
20
16

Į12

7.5

17

31

35
24.5
14

Controller

Connector HR10A-10P-12S(HRS)
Connector HR10A-10J-12P(HRS)

Connector HR10A-10P-12S(HRS)
Connector HR10A-10J-12P(HRS)KRW06360M-RC

10
4 - M4 6 DP

31

40

DirectDrive

KRW06360MS-RC
60
50
20
16

60
50
20
16

20
16

47
41
25.3

Į12

20
16

113.5
107

6.5

47
41
25.3
3

6.5

20
16

Į60

50

77
74

Į59

Knob

20
16

Connector HR10A-10R-12P(HRS)

Į100

8 -M3 6DP

Į180
Other

17

31

35
24.5
14

31
17
40
4 - M4 6 DP

4 -M4 6DP

3-4.5 THRU Į8 C'BORE
Bolt hole for M4
Transmission hole dia. Į30

7.5

8 -M3 6DP
Φ59

35
24.5
14

3-4.5 THRU Į8 C'BORE
Bolt hole for M4
Transmission hole dia. Į30

Į75Connector HR10A-10P-12S(HRS)

Connector HR10A-10P-12S(HRS)
Connector HR10A-10R-12P(HRS)

7.5

Į40

20
16

50

77
74

20
16

Knob

Į39
Į12

113.5
107

3

Worm
Gear
17

7.5

31

17
10
40
4 - M4 6 DP

4 -M4 6DP
8 -M3 6DP

14

35
24.5

Transmission hole dia. Į30
3-Į4.5 THRU Į8 C'BORE
Bolt hole for M4

14
7.5

Ball
Screw

25
20
16

25
20
16
8 -M3 6DP
Transmission hole dia. Į30
3-4.5 THRU Į8 C'BORE
Bolt hole for M4
Φ59

35
24.5

Knob

77
74
25
20
16

77
74
25
20
16

Knob

10
4 - M4 6 DP

40

C

050

Motorized Stage

New

Rotary Stage Į39/Į59/ӗ40/ӗ60KRW04/KRW06

Motorized Rotary Stage

Dimensions

KRW06360T-LC-Z
113.5
12

20
16

35
18

14

Connector HR10A-10P-12S(HRS)

20
16

3

Knob

6.5

60

47
41

Φ59

16
20
36

8 -M3 6DP

X

80

16
20

Į12

Connector HR10A-10J-12P(HRS)

Transmission hole dia. Į30
50
60

1.5
6

XY

50

4-4.5 THRU Į8 C'BORE
Bolt hole for M4

Z
Horizontal
Z

KRW06360M-LC-Z
113.5
Knob

18

Connector HR10A-10R-12P(HRS)

Controller

Φ59

36

16
20

Unit

80

16
20

Connector HR10A-10P-12S(HRS)Į12

Rotary

35

12

20
16

14

Goniometer

6.5

60
20
16

3

47
41

XYZ

8 -M3 6DP
1.5
6Transmission hole dia. Į30
50

4-4.5 THRU Į8 C'BORE
Bolt hole for M4

50
60

KRW06360T-RC-Z
113.5
35

6.5

12

20
16

3

18

60

47
41

20
16

Knob
Connector HR10A-10P-12S(HRS)
Connector HR10A-10J-12P(HRS)20
16

8 -M3 6DP
Transmission hole dia. Į30

20
16

80

Φ59

Į12

14

Ball
Screw

6
1.5

36

Worm
Gear
50
60

DirectDrive

50
4-4.5 THRU Į8 C'BORE
Bolt hole for M4

KRW06360M-RC-Z
113.5
6.5

12

35

20
16

20
16

47
41

Knob
14

3

18

Į39

60

Į40

Į180

50
60

Other

C

051

20
16

Connector HR10A-10P-12S(HRS)

20
16
1.5

Į100

6

36

Į75

80

Φ59

Į60

Į12

Į59

4-4.5 THRU Į8 C'BORE
Bolt hole for M4

50

Connector HR10A-10R-12P(HRS)
8 -M3 6DP
Transmission hole dia. Į30

CAD
DATA

New
Motorized Rotary Stage

Dimensions
Side view

Top view :Connector :T(Pigtail)Top view :Connector :M(Panel Mount)

B

A
LS

C

C

C Standard motor

G High resolution

Motor model C005C-90215P-1

Motor model PK523HPMB-C1

Model
KRW04360*-*C
KRW04360*-*G
KRW06360*-*C
KRW06360*-*G

Stage size

Motor
C
G
C
G

Į39/ӗ40
Į59/ӗ60

X

Motor size

A(mm)

B(mm)

C(mm)

LS(mm)

ӗ28

‫٭‬

‫٭‬

3

99.5

ӗ28

‫٭‬

‫٭‬

3

113.5

XY
Z
Horizontal
Z
XYZ

PA ęSTEP(AR Series)

ZA ęSTEP(AZ Series)

Motor model ARM24SAK

Motor model AZM24AK

Goniometer
RotaryModel
KRW04360*-*PA
KRW04360*-*ZA
KRW06360*-*PA
KRW06360*-*ZA

Stage size

Motor

Motor size

A(mm)

B(mm)

C(mm)

LS(mm)

8.5
13
8.5
13

112.5
122
126.5
136

PA
ZA
PA
ZA

ӗ28

‫٭‬

‫٭‬

ӗ28

‫٭‬

‫٭‬

Stage size

Motor

Motor size

A(mm)

B(mm)

C(mm)

LS(mm)

Į39/ӗ40
Į59/ӗ60

EA

ӗ28

‫٭‬

‫٭‬

8.9

127.8
141.8

Į39/ӗ40
Į59/ӗ60

Unit
Controller

EA Motor for EtherCAT
Motor model STM28W100A

Model
KRW04360*-*EA
KRW06360*-*EA

Ball
Screw

Worm
Gear

UG Servo motor MINAS A6 (Panasonic)

UA Servo motor J4 (Mitsubishi Electric corporation)

Motor model MSMF5AZL1A2

Motor model HG-KR053

Model
KRW04360*-*UG
KRW04360*-*UA
KRW06360*-*UG
KRW06360*-*UAStage size
Į39/ӗ40
Į59/ӗ60

Motor

Motor size

A(mm)

B(mm)

C(mm)

LS(mm)

UG
UA
UG
UA

ӗ38
ӗ40
ӗ38
ӗ40

2.5
4.2
2
3.7

0.5
2
1
2.5

21
17.8
21
17.8

154.5
148.9
169
163.4

Direct
Drive

Į39
Į40
Į59
Į60
Į75
Į100
Į180
Other

C

052

Motorized Stage

New

Rotary Stage Į39/Į59/ӗ40/ӗ60KRW04/KRW06

Motorized Rotary Stage

Motor option

C Standard motor

Stage main body㻯 Standard motor
㻳 High resolution

When our controller is used requirement
Cable selection
Controller
Code: A,C,F,H
DS102/112

㻯 Standard motor
㻳 High resolution

Available for㻼㻚㻝㻙㻞㻜㻡ࠥmotor and sensor
㼃㼔㼑㼚㻌㼚㼛㼠㻌㼡㼟㼕㼚㼓㻌㼛㼡㼞㻌㼏㼛㼚㼠㼞㼛㼘㼘㼑㼞
Cable selection
Code: B,D,G,J
Driver selection

Motor model

C005C-90215P-1

G High resolution
Motor model

PK523HPMB-C1
Stage main body

All customers are required to prepare
DC24V power, controller and PLC by themselves.

Power supply

X

Controller
Available formotor and sensor

XY
Z

Motor option

Horizontal
Z

EA Motor for EtherCAT
Motor model

STM28W100A

㻼㻚㻝㻙㻞㻝㻟ࠥAll customers are required to prepare
DC24V power, controller and PLC by themselves.

④Sensor cable(Selection)

Stage main body

PLC

Sensor⑤Encoder(Selection)

XYZ

Power supply
Ζ EA Motor for EtherCAT

Goniometer②Motor cable(Selection)
Controller

PLC

RotaryUnit③Encoder cable(Selection)

Controller

Code

EA

Ball
Screw

Worm
Gear

Direct
Drive

Į39
Į40
Į59
Į60
Į75
Į100
Į180
Other

C

053

ΖMotor model

STM28W100A

ΗMotor cable selection

ΘEncoder cable selection

ΙSensor cable selection

3AD214-3-3R2

3AD214-3-3RE2

3A٬3HR10AP-S-SB-6-3

5AD214-3-5R2

5AD214-3-5RE2

5A٬5HR10AP-S-SB-6-5

Blank٬3٬5Not included

Blank٬3٬5Not included

BlankHR10AP-S-SB-6-2

ΚDriver selection
3A٬5ADS1000A-EC-28
Blank٬3٬5Not included

New
Motorized Rotary Stage

Motor option

Motor model

All customers are required to prepare
DC24V power, controller and PLC by themselves.

ΘSensor cable(Selection)

Stage main bodyPA ęSTEP (AR Series)
Sensor㻭㻾㻹㻞㻠㻿㻭㻷

ZA ęSTEP (AZ Series)

Power supply

Motor model䐟 PA ęSTEP(AR)ZA ęSTEP(AZ)

㻭㼆㻹㻞㻠㻭㻷

ΗMotor cable(Selection)

ΙMotor drive(Selection)
Controller

PLC

X
Code

ΖMotor modelPA

ARM24SAKZAΗMotor cable selection
3ACC030VA2R2
5ACC050VA2R2
Blank٬3٬5Not includedΙDriver selection
3A٬5AARD-K
Blank٬3٬5Not included

3A٬3HR10AP-S-SB-6-3
5A٬5HR10AP-S-SB-6-5
BlankHR10AP-S-SB-6-2

3ACC030VZ2R2
5ACC050VZ2R2
Blank٬3٬5Not included

AZM24AKΘSensor cable selection

3A٬5AAZD-K
Blank٬3٬5Not included

XY
Z
Horizontal
Z
XYZ

Motor option
ΙSensor cable(Selection)

Stage main body

All customers are required to prepare
DC24V power, controller and PLC by themselves.

UG Servo motor
Motor model

Goniometer

SensorMSMF5AZL1A2

UA Servo motor
Motor model

RotaryPower supply
Ζ UG Servo motor
UA Servo motor

ΗMotor cable(Selection)

ΚServo amplifier(Selection)

HG-KR053

Motion control
board

PLC

Unit
Controller

ΘEncoder cable(Selection)

Code
UG

UA

ΖMotor modelΗMotor cable selection

ΘEncoder cable selection

MSMF5AZL1A2

3AMFMCA0030EED
5AMFMCA0050EED
Blank٬3٬5Not included

3AMFECA0030EAD
5AMFECA0050EAD
Blank٬3٬5Not included

3ASVPM-J3HF1-B-3-02S
5ASVPM-J3HF1-B-5-02S
Blank٬3٬5Not included

3ASVEM-J3HF1-B-3
5ASVEM-J3HF1-B-5
Blank٬3٬5Not included

HG-KR053

ΙSensor cable selection

3A٬3HR10AP-S-SB-6-3
5A٬5HR10AP-S-SB-6-5
BlankHR10AP-S-SB-6-2

ΚAC servo amplifier selection
3A٬5AMADLT05SF
Blank٬3٬5Not included

Ball
Screw

3A٬5AMR-J4-10A
Blank٬3٬5Not included

Worm
Gear

Direct
Drive

Į39
Į40
Į59
Į60
Į75
Į100
Į180
Other

C

054

Motorized Stage

New

Electrical specificationKRW04/KRW06

Motorized Rotary Stage

Motor٬Electrical specification(5 phase stepping motor/ęSTEP)
Motor code

C

G

Model
Type
FeatureModel (*2)
Manufacturer
Motor
Specification
*1

5 phase stepping motor (0.75A/Phase)Standard
High resolution
C005C-90215P-1
PK523HPMB-C1

Step angle

0.72°

0.36°

Mass

0.11kg0.11kgӗsize
L sizeMax. Holding Torque
Driver model
Input power (Voltage٬frequency)

37mm
0.048N٬m

XYZ
Goniometer

Sensor board

RotaryęSTEP (AZ Series)
Small step-out ,absolute
AZM24AK

0.36°(1000P/R侇
0.15kg0.15kg45mm
0.055N٬m
ARD-K
DC24V±10%54.5mm
0.095N٬m
AZD-K
DC24V±5%CVD507-K-A9
DC24V±10% 1.4A(MAX)

Pigtail

HR10A-10J-12P(73)Hirose Electric Co., Ltd.

Motor:43025-1000 (MOLEX)
or 1-794617-0(TE Connectivity)
Sensor:HR10A-7J-6P(73)(HRS)

Motor:DF62B-13EP-2.2C(HRS)
Sensor:HR10A-7J-6P(73)(HRS)

Panel Mount

HR10A-10R-12P(73)Hirose Electric Co., Ltd.

Motor:43025-1000 (MOLEX)
or 1-794617-0(TE Connectivity)
Sensor:HR10A-7R-6P(73)(HRS)

Motor:DF62B-13EP-2.2C(HRS)
Sensor:HR10A-7R-6P(73)(HRS)

Receiving connector

HR10A-10P-12S(73)Hirose Electric Co., Ltd.

Motor:43020-1000 (MOLEX)
or 1-794615-0(TE Connectivity)
Sensor:HR10A-7P-6S(73) (HRS)

Motor:DF62C-13S-2.2C(HRS)
Sensor:HR10A-7P-6S(73)(HRS)

Connector

HorizontalZęSTEP (AR Series)
Small step-out ,incremental
ARM24SAK
Oriental Motor Co., Ltd.

37mm
0.038N٬m

XY
Z

ZA

ӗ28mm

Motor size

X

PA
KRW04/KRW06

Limit sensor
Origin sensor
Slit origin sensor
Sensor modelPower-supply voltage
Current consumption
Control output
Output logic˓
Available˓Photo microsensor EE-SX4320 (Omron Co., Ltd.)DC5֐24V±5%
Total 35mA or less
NPN open collector output DC30V 10mA or less
On detection (light shield condition): Output transistor OFF (Non-continuity)*1 See page P.1-213֐ for details of single motor specification.
*2 Model is our own management model.

Unit
Controller

Pin allocation٬Connection diagram

Ball
Screw

Available for motor and sensor

C٬G

Motor Code

քPin allocation (common)օ

քPin allocation (common)օ
Pigtail HR10A-10J-12P(73)HRS
Panel MountHR10A-10R-12P(73)HRS
1

10

2

9

3

8

11

7

4

12

5

6

Blue
Red
OrangeGreenBlack

1 Motor lead (Blue)
2 Motor lead (Red)
3 Motor lead (Orange)
4 Motor lead (Green)
5 Motor lead (Black)
6 Not used (or CWLS)
7 Not used (or CCWLS)
8 N.C.
9 Power input V+
10 ORG output
11 Power input GND
12 F.G.

5-phasestepper motor

Sensor board
ORG

Vin
GND
Regulator

6pin,7pin are connected to GND inside the sensor board. If 6pin,7pin are not used,
it is recommended to insulate them or connect them to GND.

Motor٬Encoder

Sensor (common)

քReceiver cableօModel:CC030VA2R2(3m)/CC050VA2R2(5m) *Flexible cableքReceiver cableօModel:)3"144#ӗӗJTUIFMFOHUIGPSYJOH

Worm
Gear

Sensor side
Connector (Female): HR10A-7P-6S (73) (HRS)ULAWM20276 AWG28 3P Black
+50

+50

+150

2m -0 mm , 3m -0 mm , 5m -0 mm
Orange / Red
Gray / Black(Į8)

Direct
Drive

Motor

PA

Motor side
Driver side
Connector:43025-1000(Molex) Connector:43020-1000(Molex)
or 1-794617-0(TE Connectivity) or 1-794615-0(TE Connectivity)

Gray / Red

3m , 5m

White / Black*The shields areconnected withthe connector shell.

White / Red

ShieldPin

CWLS
12Signals CCWLS
ORG
3
NORG
4
V+
5
V−
6

Į39
քReceiver cableօModel:CC030VZ2R2(3m)/CC050VZ2R2(5m) *Flexible cable

Į40
Į59

Į100
Į180

Motor side
Connector:DF62C-13S-2.2C(HRS)

Driver side
Connector:J11DF-06V-KX(J.S.T.MFG.)
3m , 5m

Other

C

055

ք磵稗㍲օ

(Į8)

ZA

Motor

Į75

1
2

6
5

3

Driver side
Connector:55100-0670(Molex)

Į60

քPin allocation (common)օ
Pigtail:HR10A-7J-6P(73)HRS
Panel Mount:HR10A-7R-6P(73)HRS

1 Not used (or CWLS)
2 Not used (or CCWLS)
3 ORG output
4 N.C.
5 Power input V+
6 Power input GND

4
Sensor board
ORG

Vin
GND
Regulator

1pin,2pin are connected to GND inside the sensor board. If 1pin,2pin are not used, it isrecommended to insulate them or connect them to GND.

New

Motor٬Electrical specification(Motor for EtherCAT/Servo motor)
EA

UG

UA

Type
FeatureModel (*2)
Manufacturer

2 phase closed Loop stepping motor
Small step-out ,incremental,EtherCATSTM28W100ASURUGA SEIKI

KRW04/KRW06
Servo motor
High speed
MSMF5AZL1A2
Panasonic

Servo motor
High speed
HG-KR053
Mitsubishi Electric corporation

Step angle

0.36°(1000P/R侇

Both absolute and incremental 23 bits encoder(8388608P/R) (*3)

Both absolute and incremental 22 bits encoder(4194304P/R) (*4)

0.12kg0.32kg
ӗ28mm
ӗ38mm
59.3mm72mm
0.085N٬m˓
0.48N٬m˓
DS1000A-EC-28
MADLT05SF
DC24V±10%
Three and Single phase AC200-240V 50/60Hz
Motor:B06B-ZESK-DJSTմ
Motor: 172167-1(TE Connectivity)
Encoder:SM08B-GHS-TBJST
Encoder: 172169-1(TE Connectivity)
Sensor:HR10A-7J-6P(73)(HRS)
Sensor:HR10A-7J-6P(73)(HRS)
Driver I/O Connector Housing:PUDP-24V-S
Driver I/O Contact:SPUD-002T-P0.5:SPUD-002T-P0.5

0.34kgӗ40mm
66.4mm˓
0.56N٬m
MR-J4-10A
Three and Single phase AC200-240V 50/60Hz

Model

Motor
Specification
˥1

Mass
ӗsize
L sizeMax. Holding TorqueMaximum torque
Driver model
Input power (Voltage٬frequency)
Motor size

Pigtail

Connector
Panel Mount

Receiving connector

Sensor board

X

Motor: Manufacturer standard
Encoder: Manufacturer standard
Sensor:HR10A-7J-6P(73) (HRS)

XY

Motor:B06B-ZESK-DJST
Encoder:SM08B-GHS-TBJST
Sensor:HR10A-7R-6P(73)(HRS)
Driver I/O Connector Housing:PUDP-24V-S
Driver I/O Contact:SPUD-002T-P0.5

Motor: 172167-1TE Connectivity
Encoder: 172169-1TE Connectivity
Sensor:HR10A-7R-6P(73)(HRS)

Motor: Manufacturer standard
Encoder: Manufacturer standard
Sensor:HR10A-7R-6P(73)(HRS)

Motor:ZER-06V-SJST
Encoder:GHR-08V-SJST
Sensor:HR10A-7P-6S(73)(HRS)

Motor: 172159-1TE Connectivity
Encoder: 172161-1TE Connectivity
Sensor:HR10A-7P-6S(73)(HRS)

Motor:JN4FT04SJ1-RJST
Encoder: 1674320-1TE Connectivity
Sensor:HR10A-7P-6S(73)(HRS)

Limit sensor
Origin sensor
Slit origin sensor
Sensor modelPower-supply voltage
Current consumption
Control output
Output logic

Motorized Rotary Stage

Motor codeZ˓
Available˓Photo microsensor EE-SX4320 (Omron Co., Ltd.)DC5֐24V±5%
Total 35mA or less
NPN open collector output DC30V 10mA or less
On detection (light shield condition): Output transistor OFF (Non-continuity)

Horizontal
Z
XYZ
Goniometer
Rotary*1 See page P.1-213֐ for details of single motor specification.
*2 Model is our own management model.
*3 Optional encoder cable is for incremental system.
*4 When constructing an absolute system, it is necessary to install a battery in the amplifier.

Unit
Controller

Pin allocation٬Connection diagram
Motor CodeMotor٬Encoder

Sensor (common)

քReceiver cableօModel:D214-3-3R2(3m)/D214-3-5R2(5m) *Flexible cable

Sensor side
Connector (Female): HR10A-7P-6S (73) (HRS)ULAWM20276 AWG28 3P Black

(5.7)

Motor

Motor side
Connector:ZER-06V-S(J.S.T.MFG.)
Contact:SZE-002T-P0.3(J.S.T.MFG.)

Driver side
Connector:PAP-04V-S(J.S.T.MFG.)
Contact:SPHD-002T-P0.5(J.S.T.MFG.)

ORP-0.2SQX2P(2464)(Oki Electric Cable Co.,Ltd)

EA

քReceiver cableօModel:)3"144#ӗӗJTUIFMFOHUIGPSYJOH

3m,5m

+50

քReceiver cableօModel:D214-3-3RE2(3m)/D214-3-5RE2(5m) *Flexible cable

Orange / Red

Motor side
Connector:GHR-08V-S(J.S.T.MFG.)
Contact:SSHL-002T-P0.2(J.S.T.MFG.)

+150

Pi

Gray / Black
Gray / Red
White / BlackWhite / Red

ORP-0.2SZX4P(SB)(2464)(Oki Electric Cable Co., Ltd)

Shield*The shields areconnected withthe connector shell.

(6.9)

EncoderDriver side
Connector:PUDP-10V-S(J.S.T.MFG.)
Contact:SPUD-002T-P0.5(J.S.T.MFG.)+50

2m -0 mm , 3m -0 mm , 5m -0 mm

3m,5m

l CWLS

1 Si
2
3
4
5
6

CCWLS
ORG
NORG
V+
V−

Worm
Gear

քReceiver cableօModel:MFMCA0030EED(3m)/MFMCA0050EED(5m) *Flexible cable

3m , 5m

քPin allocation (common)օ
Pigtail:HR10A-7J-6P(73)HRS
Panel Mount:HR10A-7R-6P(73)HRS

(Į11)

Motor
(50mm)

UG(50mm)

Į6.5)

EncoderքReceiver cableօModel:MFECA0030EAD(3m)/MFECA0050EAD(5m) *for fixing

3m , 5m

քReceiver cableօModel:SVPM-J3HF1-B-ӗ-02S

Motor

Loose wire on
the servo amplifier side
U
V

200mm

UA

+150

3m -0 mm , 5m -0 mm

EncoderքReceiver cableօModel:SVEM-J3HF1-B-ӗ *Flexible cable
Motor (encoder)side Connector:1674320-1(TE Connectivity)
Servo amplifier side
Receptacle : 36210-0100FD (3M)
ShellKit: 36310-3200-008 (3M)
NAMFSB-23-3P (MISUMI)ULAWM2576 AWG23
+50

+150

3m -0 mm , 5m -0 mm

6
5

3

4

1 Not used (or CWLS)
2 Not used (or CCWLS)
3 ORG output
4 N.C.
5 Power input V+
6 Power input GND

NA3CTR-18-4(MISUMI)ULAWM2517 AWG18
+30

1
2

քConnection diagramօ*Flexible cable

Motor side
Connector: JN4FT04SJ1-R (JAE)

W
FG

Ball
Screw

* The load drawer

DirectDrive

Sensor board

Į39

ORG

Į40
Į59

Vin
GND
Regulator

Į60
Į75

1pin,2pin are connected to GND inside the sensor board. If 1pin,2pin are not used, it isrecommended to insulate them or connect them to GND.

Į100
Į180
Other

C

056

Motorized Stage

New

Electrical specificationKRW04/KRW06

Motorized Rotary Stage

Timing chart
Origin detected scale positiondeg.
KRW04360T(M)-L

0The end face of the origin: CCW side edge of shield plate
8 Opposite end faceմմմ : CW side edge of shield plate

KRW06360T(M)-L

0The end face of the origin: CCW side edge of shield plate8Opposite end faceմմմ : CW side edge of shield plate

*Return to origin means that is performed return to origin type 4 using DS102/DS112 series. (DS102/DS112 are dedicated products for 5-phase motors.)*The coordinate is a basis of design value. Dimension error may occur about plus or minus 0.5 deg.

X
Origin detected scale positiondeg.

XY
KRW04360T(M)-R

0(The end face of the origin: CW side edge of shield plate)
8 Opposite end faceմմմ : CCW side edge of shield plate

KRW06360T(M)-R

0The end face of the origin: CW side edge of shield plate8Opposite end faceմմմ : CCW side edge of shield plate

Z
Horizontal
Z*Return to origin means that is performed return to origin type 3 using DS102/DS112 series. (DS102/DS112 are dedicated products for 5-phase motors.)*The coordinate is a basis of design value. Dimension error may occur about plus or minus 0.5 deg.

XYZ
Goniometer
RotaryUnit
Controller

Return to origin method
Suruga’s motorized stages is different from the wire connection as the number of sensors depending on models. It is necessary to choose type to suitcorrectly as return to origin operation is devided into same types. Selected wrong type may be operated incorrectly. Choose your best one whatever
you need according to be recommended as below.

ӖKRW04360/KRW06360 recommended return to origin
Ball
Screw

P.1-201֐

Return to origin sequenceType 3: Detect in the direction of CCW and perform detected process for CCW edge of ORG signal.
Type 4: Detect in the direction of CW and perform detected process for CW edge of ORG signal.
Type 9: After finished Type3, perform detected process for CCW edge of TIMING signal.
Type 10: After finished Type4, perform detected process for CW edge of TIMING signal.
[Type3]Worm
Gear[Type4]
CCWLS

CCWLS

CWLS

Point a<Origin detection
process>
ORG

F speedL speedSD

Direct
Drive

JD

*
LD

*

Starting position 3

Į40
Į59

Starting position 4

Į75

JD

Į100
Į180
Other

C

057

Starting
position 2

Starting
position 2

Starting
position 1

SD
L speedSD

JOG

F speedL speedSD
L speedJOG
F speedL speedSD
L speedĮ60

Starting
position 1

JOG

CWLS

ORG
F speedL speedJOG

F speedL speed* A solid line means the
setup a sudden stop, adotted line means the
setup a decelerating
and stopping.
JDĮ39

L speedSD
L speedPoint a<Origin detection
process>

L speedJD
F speedL speedF speedL speedSD
L speed
JOG

Starting position 3

JD

F speedL speedSD
L speedJOG**
LD* A solid line means the
setup a sudden stop, adotted line means the
setup a decelerating
and stopping.

Starting position 4
JD

New
Motorized Rotary Stage

Connectin example
Ӗ Connection example 1 Motorized Stage 1axis: When holding a terminal device (using control software)*USB cable connection between PC and controller.

PC

D214-2-ӗE
D214-2-ӗ (Robot cable)
DS102/112 Control software
DSCONTROL-WIN P.1-200

LINK

ӖConnection example 2

DS102/112

X
XY

Handy terminal
P.1-199

Control I/O General-purpose I/O

USB

DS100-USB-1.8

Cable
P.1-207֐

2-axis

RS232C

RS232CUSB

12 pin specification stageZ
DT100
Handy terminalMotorized Stage 4axis: When holding a terminal device (using control software)

Horizontal
Z
XYZ*USB cable connection between PC and controller.

Goniometer1$

12 pin specification stage

DS102/112 Control software
DSCONTROL-WIN P.1-200

64#

RotaryUnit%ӗ&%ӗ(Robot cable)

12 pin specification stage

Controller

34$

2-axis34$-*/,%4

%5
Handy terminal

2-axis34$

12 pin specification stage-*/,

Control I/O General-purpose I/O

64#%4-*/,


Handy terminal
1

Control I/O General-purpose I/O

64#%464#Cable1֐

%4

Ball
Screw

12 pin specification stage

Worm
Gear

(*1) It is possible to control up to 3 controllers (for a maximum of 6-axis control) with link function.

ӖConnection example 3 When controlling from the PLC I/O Unit.
*USB cable connection between PC and controller.

DirectDrive

PC

DS102/112 Control software
DSCONTROL-WIN
P.1-200

D100-R9-2

External
controlequipment

I/O

I/O

D214-2-ӗE
D214-2-ӗ (Robot cable)

12 pin specification stage

Į39
Į40

Cable
P.1-207֐

2-axis

RS232C

RS232CUSB

PLC
Sequencer

Į59
Į60

Cable P.1-207֐

LINK

DS102/112

Control I/O General-purpose I/O

(*1)

USB

DS100-USB-1.8

Į75
Į100
Handy terminal
P.1-199

Į180

DT100
Handy terminal

Available connecting maximum 3 controllers by link function.

(*1) Using the USB hub, it is controllable in a single PC to up to four link networks (24-axis).

Other

C

058

Motorized Stage

Rotary Stage: KRE04360/KRE06360
Motorized Rotary Stage

KRE04360

KRE06360* The photo shows an image.
The holes and the shape may differ in certain respects from the actual product.

X
XY
Z
Horizontal
Z
XYZ
Goniometer
RotaryModel

Unit

Selection code

Option code

KRE04360-C□

Controller

1

1 Table size
04
06

φ39mm
φ60mm

Cable P.1-207〜
Electrical specification P.1-179〜

2

2 Cable option
Code
F
G
H
J
Blank

Specification
Robot cable 2m
Robot cable 2m one end loose
Robot cable 4m
Robot cable 4m one end loose
Cable is not included (Standard)

Cable typeD214-2-2R
D214-2-2RK
D214-2-4R
D214-2-4RK−* If you choose the option specification, please add thedifference to standard price.
Electrical specification P.1-179〜* See page P.1-207, 209〜 for details of cable.
* Please select "Code F or H" when connect with stepping
motor controller(DS102/112).

Ball
Screw

Worm
Gear

DirectDrive

SPEC
Mechanical specification Accuracy specification Sensor

Model
Travel length
Table size
Travel mechanism (Reduction ratio)
Guide
Main materials-Finishing
WeightResolution (Pulse)
MAX speed
Positioning accuracy
Repeatability positioning accuracy
Load capacity
Lost motion
Parallelism
Limit sensor
Origin sensor
Provided screw (Hexagon-headed bolt)

φ39
φ40
φ59
φ60
φ75
φ100
φ180
Other

1

177

KRE04360-C

KRE06360-C
360°

φ39mm
Worm gear (Reduction ratio 1/90)

φ60mm
Worm gear (Reduction ratio 1/120)
Deep groove ball bearing
Aluminum−Black almite finishing

0.36kg0.008°(Full)
40°/sec

0.50kg0.006°(Full)
30°/sec
Within 0.1degree
Within ±0.05°
3kgf [29.4N]
Within 0.1degree
Within 50μm―
Installed

3 of M3ー25

3 of M4ー12

CAD
3D・2D

Dimensional outline drawings

540

Motorized Rotary Stage

KRE04360
55.5

16

16

49.5

φ12

55

16

16

3-3.5 THRU φ6 C'BORE(Bolt hole for M3)

X
XY

3

4-Mφ3 6 DP

Transmission hole dia.φ8

Z
φ39

14.5

20

30

28.5

Horizontal
Z
XYZ
Goniometer
RotaryUnit

KRE06360
Controller
60
25

25

74

25

3-φ4.5 THRU
(Bolt hole for M4)

45.5
39.5

φ12

25

Ball
Screw

3

4-Mφ4 6 DP

Worm
Gear

Transmission hole dia. φ16

Direct
Drive

6

14.5

30

28.5

φ60

φ39
φ40
φ59
φ60
φ75
φ100
φ180
Other

1

178

Motorized Stage

Electrical Specification: KRE04360/KRE06360
Motorized Rotary Stage

Electrical specification
ModelsMotor (*1)

Connector

X

Sensor

KRE04360-C

KRE06360-C
5 phase stepping motor 0.75A/Phase
Oriental Motor Co., Ltd.
C005C-90215P-1
0.72゜
HR10A-10R-12PC (71) (Hirose Electric Co., Ltd.)HR10A-10P-12S (73) (Hirose Electric Co., Ltd.)Installed
Photo microsensor EE-SX4320 (Omron Co., Ltd.)
DC5〜24V ±10%
Total 35mA or less
NPN open collector output DC5~24V 8ｍA or less
Residual voltage 0.3V or less when the load current is 2mA
On detection (light shield condition): Output transistor OFF (Non-continuity)

Type
Maker
Model (*2)
Step angle
Model
Receiving connector
Origin sensor
Model
Power voltage
Consumption current
Control output

XY

Output logic*1 See page P.1-213~ for details of single motor specification.
*2 Model is our own management model.

Z
Horizontal
Z
XYZ

Pin allocation

Connection diagram

Goniometer
Rotary
Unit

1

10

2

9

3

8

Controller
11

7

4

12

5

6

1 Motor lead
2 Motor lead
3 Motor lead
4 Motor lead
5 Motor lead
6 Open7 Open8 Open9 Power input (+)
10 ORG output
11 Power input (-)
12 OpenUnit [°]
Origin detected scale position［°］
KRE04360
KRE06360

Worm
Gear

0 (The end face of the origin: CCW side edge of the douser.)
6 (Opposite side of the end face: CW side edge of the douser.)
0 (The end face of the origin: CCW side edge of the douser.)
4 (Opposite side of the end face: CW side edge of the douser.)* Return to origin means that is performed return to origin type 4 using DS102/DS112 series.
* The coordinate value should be on the design. Dimension error may occur about plus or minus 0.5 deg.

Direct
Drive

φ39
φ40
φ59
φ60
φ75
φ100
φ180
Other

1

179

MOTOR
Sensor substrate
ORG

Regulator

Vin
GND* When use DS102/DS112 controller, setup thesensor logic as below.
• Limit sensor logic: A (N.O.)• Origin sensor logic: B (N.C.)

Timing chart
Ball
Screw

Blue
Red
Orange
Green
Black

Vout

Motorized Rotary StageKRE series recommendation return to origin method
Suruga’s motorized stages are different from the specification depending on the models. Therefore return to origin method other than recommendation
may not be work correctly. Set to the way of recommendation return origin when using our controller.
[Type3] Detect in the direction of CCW and perform detected process[Type4] Detect in the direction of CW and perform detected process

for CCW edge (a point) of ORG signal.
CCWLS

Point afor CW edge of ORG signal.
CCWLS

CWLS

L speed<Origin detection process>ORG
F speedL speedStarting
position 2

Starting
position 2<Origin detection process>ORG
F speedSD

JD*

L speedSD
L speedStarting
position 1

Starting
position 1*

Starting position 3* A solid line means the
setup a sudden stop, adotted line means the
setup a decelerating
and stopping.
JD

JD

SD

F speedL speedSD
L speed
JOG

JOGStarting position 3*

JD

F speedL speedSD
L speedJOG

XY

JD
F speedL speedF speedL speedSD
L speedX

L speedJOG

F speedL speedSD
L speedStarting
position 4

CWLS

SD
L speedJOG

F speedL speedLD

Point a*ZLD
* A solid line means the
setup a sudden stop, adotted line means the
setup a decelerating
and stopping.

Horizontal
Z
XYZ
Goniometer

Starting position 4

Rotary

JD

JOG

Unit

[Type9] After finished Type3, perform detected process[Typ10] After finished Type4, perform detected process

for CCW edge of TIMING signal.

for CW edge of TIMING signal.

Controller

Return to origin sequence

P.1-201֐

Adaptive driverӖ DriverP.1-205֐

DC24V type input
Model
Divisions

CVD507-K-A9
1֐1/250 (16 steps)

CRD5107P
1֐1/250 (16 steps)
Ball
Screw

Adaptive stepping motor controllerӖ Controller

P.1-197֐

GeneralInput power purpose input/
output port
Without
AC100-240V
With
Without
DC24V
With

Driver type (Divisions)
Normal (Full/Half)

Micro step (1~1/250 [16 steps])

DS102ANRDS102ANR-IO
DS112ANR
DS112ANR-IO

DS102AMS
DS102AMS-IO
DS112AMS
DS112AMS-IO

Worm
Gear
DS112/102

Direct
Drive

φ39
φ40
φ59
φ60
φ75
φ100
φ180
Other

1

180

Motorized Stage

Rotary Stage φ75/φ100/φ180: KS402
Motorized Rotary Stage

KS402-180C■Good for accuracy possitioning at wide
angle and 360°continuously rotation.

X
KS402-75G

KS402-100C■Transmission type would be suitable
for rotating polarizing elements andorganization cables.

XY
Z

Model

Horizontal
Z

Selection
code

Option code

5KS402-75G- □1

XYZ

Cable P.1-207〜
Electrical specification P.1-183〜

2

1 Table size

2 Cable option

Goniometer
75G
100C
180C

Rotary

φ75mm
φ100mm
φ180mmUnit
Controller

CodeSpecification

Cable type

Blank
1
2
3
4
5
6
7
8
9

2m
2m One end loose
4m
4m One end loose
Only connector (Cable is not included)
Cable is not included (Standard)
Robot cable 2m
Robot cable 4m
Robot cable 4m one end loose
Robot cable 2m one end loose

D214-2-2E
D214-2-2EK
D214-2-4E
D214-2-4EK−−
D214-2-2R
D214-2-4R
D214-2-4RK
D214-2-2RK* If you choose the option specification, please add thedifference to standard price.
* See page P.1-207, 209〜 for details of cable.
* Please select "blank, 2, 6 and 7" when connect with stepping
motor controller(DS102/112).

Selection Example

Ball
Screw

Your spec

Table size
φ100mm

Worm
Gear

＋

Attached cable

KS402-100C

2m

SPEC
Mechanical specification

Model
Travel length
Table size
Travel mechanism (Reduction ratio)
Guide
Main materials-Finishing
WeightResolution
MAX speed
Positioning accuracy
Repeatability positioning accuracy
Load capacity
Moment stiffness
Lost motion
BacklashParallelism
Eccentricity
RunoutLimit sensor
Origin sensor
Proximity origin sensor
Provided screw (Hexagon-headed bolt)

DirectDrive

Accuracy specification

φ39
φ40
φ59
φ60
φ75

KS402-75G-5
φ75mm
Worm gear (1/144)
Receiving cross roller axis
1.1kg
0.0025°/Pulse (Full)
25°/sec［10kHz］

φ180
Other

1

181

φ100mmWorm gear (1/180)
Combination angular ball bearing
Aluminum−Black almite finishing
2.5kg
0.004°/Pulse (Full)
20°/sec［5kHz］
Within 0.03°
Within ±0.005°

10kgf [98N]
0.15″/N・cm
Within 0.005°
Within 0.005°

15kgf [147N]
0.07″/N・cm
Within 0.004°
Within 0.004°
Within 120μm

KS402-180C-5
360°
φ180mmWorm gear (1/180)
Combination angular ball bearing
9.7kg
0.004°/Pulse (Full)
20°/sec［5kHz］
Within 0.05°
Within ±0.005°
30kgf [294N]
0.02″/N・cm
Within 0.01°
Within 0.01°
Within 100μm

Within 5μm
Within 20μm
Installed (Switch)

Sensor

φ100

KS402-100C-5
360°

4 of M4−12

Within 60μm
Installed (Switch)
Installed−
4 of M6−16

4 of M6−12

CAD
DATA

Dimensional outline drawings

Motorized Rotary Stage

KS402-75G
145.5

3
80
70

4-4.5 THRU
(Bolt hole for M4)

25
16

65.5
Connector HR10A-10R-12P(HRS)25
16

Limit swich

7.5
3.5

25
16

80
70

25
16

66.5

3

4-M3 6 DP

4-M4 6 DP

Douser clamp for sensor(M3)Tightening torque: 5cN٬m
մմ(Transmission hole dia. ĕ14
ĕ14 DP to 5.5 from the upper surface(H7)
ĕ75

XY
48.5

ĕ36

1.5

4-M3 5 DPZ
Horizontal
Z

1

21

50
42
11 16
7

X

40

XYZ

KS402-100C
4-7 THRU(Bolt hole for M6)

Connector HR10A-10R-12P
(HRS)

180
60

120
100
25 25

Goniometer
Rotary

120
100
25 25

92

Unit
Controller

Limit swich
8-M4 6 DP(Transmission hole dia. φ14)
φ16 DP to 8 from the upper surface (H7)

Douser clamp for sensor (M4)
Tightening torque: 25cN・m

φ100

240

270

22

60

φ36

70
（54）

300

8

Ball
Screw

KS402-180C
（65）

220
200
50
90
70

Worm
Gear

0
10

10
0

50

Connector HR10A-10R-12P
(HRS)
50
90
70
50

220
200

187

166．5

Direct
Drive

5°

φ36

φ39
φ40

62
180

8-M6 8 DP
φ60
Transmission hole

6

257．5

φ59

12-M4 6 DP

φ60
Douser clamp for sensor（M3 set bolt）

φ75

19

φ180

φ180

12
5

44

59

90

φ100

4-6.5 THRU φ11 C'BORE(Bolt hole for M6)

Other

1

182

Motorized Stage

Electrical Specification٬Option: KS402
Motorized Rotary Stage

Electrical specification
ModelsMotor (*1)

Connector

X
XY
Z
Horizontal
Z
XYZ

KS402-75G

Type
Model (*2)
Step angle
Modelapplicable connector on
acceptance side
Limit sensor
Origin sensor
Slit origin sensor
Model
Power voltage
Consumption current

KS402-100C
5 phase stepping motor 0.75A/Phase (Oriental Motor Co., Ltd.)PK544-PMB-C18(ӗ42mm)
PK544PB-C18(ӗ42mm)
0.36°
0.72°
HR10A-10R-12P (73) (Hirose Electric Co., Ltd.)

KS402-180C
PK544PB(ӗ42mm)

HR10A-10P-12S (73) (Hirose Electric Co., Ltd.)Installed (PM-F25)
Installed (PM-F25)

Installed (PM-F25,R25)
Installed (PM-L25)−
Micro Photoelectric sensor PM-ӗ25 (Panasonic Industrial Devices SUNX)
DC5֐24V ±10
SensorTotal 45mA or less (Per 1 sensor 15mA)
NPN open collector output DC30V or less 50mA or lessControl output
Residual voltage 2V or less when the load current is 50mA
Residual voltage 1V or less when the load current is 16mA
CWLS,CCWLS On detection (light shield condition): Output transistor OFF (Non-continuity) On detection (light shield condition): Output transistor OFF
Output logic(Non-continuity)
ORG Light on: Output transistor becomes OFF (Non-continuity)*1 See page P.1-215~ for details of single motor specification.
*2 Model is our own management model.
ӰCan be reset the limit function in KS402-75G, 100C, 180C by the switch.
ӰCan be set any traveling angle because of changeable shield plate position

Goniometer
Pin allocation

Rotary
Unit

1

10

2

9

3

8

11

7

4

12

5

6

Controller

Ball
Screw

Connection diagram
KS402-75G/KS402-100C
1 Motor lead
2 Motor lead
3 Motor lead
4 Motor lead
5 Motor lead
6 CWLS output
7 CCWLS output
8 N.C.
9 Power input (+)
10 ORG output
11 Power input (-)
12 F.G.

Worm
Gear

Direct
Drive

Blue
Red
Orange
Green
Black

MOTOR

KS402-180C（Brown）CWLS
OUT1 (Black)（White）
OUT2(Blue)（Brown）CCWLS
OUT1 (Black)（White）
OUT2(Blue)（Brown）ORG
OUT1 (Black)（White）
OUT2(Blue)

1 Motor lead
2 Motor lead
3 Motor lead
4 Motor lead
5 Motor lead
6 CWLS output
7 CCWLS output
8 N.C.
9 Power input (+)
10 ORG output
11 Power input (-)
12 F.G.

φ39
φ40
Timing chart

φ59
φ60

KS402-75G, KS402-100C, KS402-180C (Detect only KS402-180C (dark))

φ75

Origin٬٬٬Detect in scale 0 (Ligth on)(Return to origin is performed type 4 of returning origin by use of DS102/DS112 controller)
CW and CCW limit٬٬٬Any changeable position

φ100
φ180
Other

1

183

Blue
Red
Orange
Green
Black

MOTOR

（Brown） CWLS
OUT1 (Black)
OUT2（White）(Blue)（Brown） CCWLS
OUT1 (Black)
OUT2（White）(Blue)（Brown） ORG
OUT1 (Black)
OUT2（White）(Blue)

Motorized Rotary Stage

Method for return to origin
Suruga's motorized stages are different from the specification depending on the models.
Therefore return to origin method other than recommendation may not be work correctly.
Set to the way of recommendation return origin when using our controller.

ӖKS402 series recommended return to origin Return to origin sequence

P.1-201֐

Type 3: Detect in the direction of CCW and perform detected process for CCW edge(a point) of ORG signal.
Type 4: Detect in the direction of CW and perform detected process for CW edge of ORG signal.
Type 9: After finished Type3, perform detected process for CCW edge of TIMING signal.
Type 10: After finished Type4, perform detected process for CW edge of TIMING signal[Type3] Detect in the direction of CCW and perform detected
CCWLS

process for CW edge of ORG signal.

CWLS

a point

CCWLS<Origin detection
process>
ORG
F speedL speedStarting
Starting
position 2 position 1

F speedL speedSD

L speedSD
L speedLD

Starting
position 2

Point aJOG

F speedL speed* Starting position 3* A solid line means the
setup a sudden stop, adotted line means the
setup a decelerating
and stopping.
JD

F speedL speedSD
L speedF speedL speedSD
L speed

JOG

JOGStarting position 4
JD

Z
HorizontalZ

L speedJD*
F speedL speed*Starting position 3 LD

JD

F speedL speedSD
L speedF speedL speedSD
L speed

CWLS

SD
L speed
SD
JOG

JD

*

Starting
position 1

XY[Type4] Detect in the direction of CW and perform detected

process for CCW edge (a point) of ORG signal.

<Origin detection
process>
ORG

X

JOG

XYZ

* A solid line means the
setup a sudden stop, adotted line means the
setup a decelerating
and stopping.

Goniometer
RotaryStarting position 4
JD

Unit

JOG

Controller
Adaptive driverӖ DriverP.1-205֐

DC24 type input
Model
Divisions

CVD507-K-A9
1֐1/250 (16 steps)

CRD5107P
1֐1/250 (16 steps)

Adaptive stepping motor controllerӖ Controller

Ball
Screw

P.1-197֐
General-purpose input/
output port
Without
With
Without
With

Input power
AC100-240V
DC24V

Full/Half
DS102ANRDS102ANR-IO
DS112ANR
DS112ANR-IO

Driver type1֐1/250 (16 steps)
DS102AMS
DS102AMS-IO
DS112AMS
DS112AMS-IO

Worm
Gear

ӖConnectin example

DirectDrive

PC

DS102/112 Control software
DSCONTROL-WIN
P.1-200

D100-R9-2

External
controlequipment

I/O

I/O

D214-2-ӗE
D214-2-ӗ (Robot cable)

12 pin specification stage

φ39
φ40

Cable
P.1-207֐

2-axis

RS232C

RS232CUSB

PLC
Sequencer

φ59
φ60

Cable P.1-207֐

LINK

DS102/112

Control I/O General-purpose I/O(Note 1)USB

DS100-USB-1.8(Note 1) Using the USB hub, it is controllable in a single
PC to up to four link networks (24-axis).

φ75
φ100
Handy terminal
P.1-199

φ180

DT100
Handy terminal

Other

Available connecting maximum 3 controllers by link function.

1

184

Motorized Stage
Motorized Rotary Stage：KRE10360

New
Motorized Rotary Stage

KRE10360* This photos shows a cover psition is an image.
The holes and the shape may differ in certain
respects from the actual product.

X
XY
Z
Horizontal
Z
XYZ
Goniometer
RotaryModel

Unit

Selection code

Option code

KRE10360-□

Controller

1

1 Table size
10

φ100mmCable P.1-207〜
Electrical specificationP.1-179〜

2

4 Cable option
Code
A
B
C
D
E
F
G
H
J
Blank

Ball
Screw

Specification

Cable type2m
D214-2-2E
2m One end loose
D214-2-2EK
4m
D214-2-4E
4m One end loose
D214-2-4EK
Only connector (Cable is not included)−
Cable is not included (Standard) D214-2-2R
Robot cable 2m one end loose D214-2-2RK
Robot cable 4m
D214-2-4R
Robot cable 4m one end loose D214-2-4RK
Cable is not included（Standard）−* The one end loose side might be on an opposite side ofstage.
* If you choose the option specification, please add thedifference to standard price.
See page Page P.1-207、209〜for more cable details.
* Please select "blank, A, C , F, H" when connect withstepping motor controller(DS102/112).

Worm
Gear

SPEC
Mechanical specification

Model
Travel legth
Table size
Travel mechanism (Reduction ratio)
Guide
Material of stage
Mass
Resolution
MAX speed
Positioning accuracy
Repeatability positioning accuracy
Load capacity
Moment stiffness
Lost motion
Back Rush
Paralleism
Eccentricity
RunoutProvided screw (Hexagon-headed bolt)
Limit sensor
Origin sensor

Direct
Drive

φ39
φ40

Accuracy specification

φ59
φ60
φ75
φ100
φ180
Other

Sensor

1

185

KRE10360
360°
φ100mmWorm gear(1/90)
Deep groove ball bearing
Aluminum−Al-Bronze
1.8kg
0.008°/Pulse(Full)
40°/sec[5kHz]
Within 0.05°
Within ±0.01°
15kgf【147N】
0.08″/N・cm
Within 0.02°
Within 0.02°
Within 120μm
Within 5μm
Within 35μm
4 of M6−16
Installed (Switch)
Installed

CAD
3D・2D

Dimensional outline awings

New

Douser clamp for sensor (M4)
Tightening torque：8ｃＮ·m
4-7THRU（Bolt hole for M6）

179
120
100
25

Motorized Rotary Stage

KRE103605925

Conector
HR10A-10R-12P

100

X
XY

25

120

25

98.9

Limit swich

Z
Horizontal
Z
φ14H7 13DP
φ12 DP to 8 from the upper surface (H7)

φ100

8-M4 DP6

XYZ

PK544PB

φ36

49.5

Rotary822（41.5）

50

Goniometer

Unit
Controller

Ball
Screw

Worm
Gear

Direct
Drive

φ39
φ40
φ59
φ60
φ75
φ100
φ180
Other

1

186

Motorized Stage

New

Electrical Specification・Option : KRE10360

Motorized Rotary Stage

Electrical specification
Model
Motor (*1)

Connector

X
SensorType
Model (*2)
Step angle
Model
Applicable connector on acceptance side
Limit sensor
Origin sensor
Slit origin sensor
Model
Power voltage
Consumption current

XY
Control output

Z
Horizontal
Z
XYZ

KRE10360
5 phase stepping motor 0.75A/Phase (Oriental Motor Co., Ltd.)PK544PB
0.72゜
HR10A-10R-12P (73) (Hirose Electric Co., Ltd. )HR10A-10P-12S (73) (Hirose Electric Co., Ltd. )Installed（PM-R25）
Installed（PM-F25）−
Micro Photoelectric Sensor PM-□25 (Panasonic Industrial Devices SUNX)
DC5〜24V ±10％
Total 45mA or less (Per 1 sensor 15mA)
NPN open collector output DC30V or less50mA or less
Residual voltage 2V or less when the load current is 50mA
Residual voltage 1V or less when the load current is 16mA
CWLS,CCWLS On detection (light shield condition): Output transistor OFF (Non-continuity)
ORG Light on: Output transistor becomes OFF (Non-continuity)

Output logic*1 See page 1-213~ for details of single motor specification*2 Model is our own management model.
○Can be set any traveling angle because of changeable shield plate position

Goniometer
Pin allocation

Connection diagram

Rotary
Unit

1

10

2

9

3

8

11

7

4

12

5

6

Controller

Ball
Screw

Timing chart
Origin・・・Detect in scale 0 (Light)(Return to origin is performed type 4 of returning origin by use of DS102/DS112 controller)
CW and CCW limit・・・Any changeable position

Worm
Gear

Direct
Drive

φ39
φ40
φ59
φ60
φ75
φ100
φ180
Other

1

187

1 Motor lead
2 Motor lead
3 Motor lead
4 Motor lead
5 Motor lead
6 CWLS output
7 CCWLS output
8 N.C.
9 Power input (+)
10 ORG output
11 Power input (-)
12 F.G.

Blue
Red
Orange
Green
Black

MOTOR

（Brown）CWLS
OUT1 (Black)（White）
OUT2(Blue)（Brown）CCWLS
OUT1 (Black)（White）
OUT2(Blue)（Brown）ORG
OUT1 (Black)（White）
OUT2(Blue)

Motorized Rotary Stage

Method for return to origin
Suruga's motorized stages are different from the specification depending on the models.
Therefore return to origin method other than recommendation may not be work correctly.
Set to the way of recommendation return origin when using our controller.
քType 3օ Detect in the direction of CCW and perform detected process for CCWedge (a point) of ORG signal.
CCWLS

քType 4օ Detect in the direction of CW and perform detected process for CW edge of
ORG signal.
CCWLS

CWLS

Point a<Origin detection process>
ORG
L speed<Origin detection process>ORG
F speedL speedStarting
position 2

Starting
position 2

F speedSD

JD*

L speedSD
L speedStarting
position 1

Point aStarting
position 1

LD

Starting position 3* A solid line means the
setup a sudden stop, adotted line means the
setup a decelerating
and stopping.
JD

F speedL speedSD
L speed
JOG

JOG

JD

Starting position 3*

JD

Z

*

HorizontalZ

LD* A solid line means the
setup a sudden stop, adotted line means the
setup a decelerating
and stopping.

Starting position 4

Rotary

JD

Unit

JOG

քType 9օ After finished Type3, perform detected process for CCW edge of TIMING
signal.

XYZ
GoniometerF speedL speedSD
L speedJOG

XY

L speedJD
F speedL speedF speedL speedSD
L speedStarting
position 4

SD

JOG

F speedL speedSD
L speedXSD
L speedJOG

F speedL speed*CWLSքType 10օAfter finished Type4, perform detected process for CW edge of TIMING

Controller

signal.

Adaptive driverӖ DriverP.1-205֐

DC24V type input
Model
Divisions

CVD507-K-A9
1֐1/250 (16 steps)

CRD5107P
1֐1/250 (16 steps)

Ball
Screw

Adaptive stepping motor controllerӖ Controller

P.1-197֐

Input power
AC100-240V
DC24V

General-purpose input/
output port
Without
With
Without
With

Driver type
Full/Half
DS102ANRDS102ANR-IO
DS112ANR
DS112ANR-IO

1֐1/250[16 steps]
DS102AMS
DS102AMS-IO
DS112AMS
DS112AMS-IO

Worm
Gear
DS112/102

Direct
Drive

φ39
φ40
φ59
φ60
φ75
φ100
φ180
Other

1

188

Motorized Stage

Rotary Stage φ39: KS451
Motorized Rotary Stage

KS451-40■Good for accuracy possitioning
360°continuously rotation.

X
XY
Z
Model

Horizontal
Z

Option code

5□KS451-40-□

XYZ

1

Goniometer

Cable P.1-207〜
Electrical specification P.1-191〜

2

1 Cable option

RotaryUnit
Controller

2 Attached substrate specification

Code

Specification

Cable type

Blank
1
2
3
4
5
6
7
8
9

2m
2m One end loose
4m
4m One end loose
Only connector (Cable is not included)
Cable is not included (Standard)
Robot cable 2m
Robot cable 4m
Robot cable 4m one end loose
Robot cable 2m one end loose

D214-2-2E
D214-2-2EK
D214-2-4E
D214-2-4EK−−
D214-2-2R
D214-2-4R
D214-2-4RK
D214-2-2RK

Code
Blank
V

Specification
Not available 24V supported substrate
Substrate for 24V
Included K-PCBA24※KS451: Sensor voltage 5V
Consider to use sensor amprifier substrate when you control
without our controller.

* If you choose the option specification, please add thedifference to standard price.
* See page P.1-207, 209〜 for details of cable.
* Please select "blank, 2, 6 and 7" when connect withstepping motor controller(DS102/112).

Selection Example

Ball
Screw

Your spec

Table size
φ39mm

Worm
Gear

＋

Attached cable
2m One end Loose＋

Attached substratespecification

KS451-40-1V

With substrate for 24V

SPEC
Mechanical specification

Model
Travel length
Table size
Travel mechanism
Guide
Main materials-Finishing
WeightDirectDrive

Resolution
MAX speed
Positioning accuracy
Repeatability positioning accuracy
Load capacity
Moment stiffness
Lost motion
BacklashParallelism
RunoutLimit sensor
Origin sensor
Proximity origin sensor
Provided screw (Hexagon-headed bolt)
Accuracy specification

φ39
φ40
φ59
φ60
φ75

Sensor

φ100
φ180
Other

1

189

KS451-40-5
360°
φ39mm
Direct drive motor
Ball bearing (Deep groove ball bearing)Aluminum−Black almite finishing , stainless steel
0.3kg
0.72°/Pulse (Full)
0.36°/Pulse (Half)
72°/sec［100Hz］——
1.0kgf [9.8N]
2.50″/N・cm
Within 0.05°—
Within 100μm
Within 50μm—
Installed—
3 of M3−28

CAD
3D・2D

Dimensional outline drawings

Motorized Rotary Stage

KS451-40
3-3.5 THRU φ6 C'BORE(Bolt hole for M3)

32

32

22.5 22.5
16 16
10 10

22.5 22.5
16 16
10 10

8-Ｍ2 4 DP
Connector HR10A-10P-12S(HRS)
Connector HR10A-10J-12P(HRS)

4-Ｍ2.6 4 DP

Transmission hole dia. φ8 (H7)

35
28.2
23.7

φ55
φ39

X
XY
Z
Instruction
ManualSensor amplifier substrate for 24V: K-PCBA24

Horizontal
Z

K-PCBA is needed to drive a motorized stage with EE-SX1101 sensor when using PC or sequencer's motion control module and not using our controller. EE-SX11 sensor is operated
with 5V input voltage and there is only about 1mA of output current. When using controlling equipment such as PC and sequencer, it is common to use photo coupler for sensor inputterminal and often needs about 10mA of terminal current. Therefore a motorized stage with EE-SX1101 sensor cannot be direvtly connected. In this case, K-PCBA is effective in being
assembled as sensor amplifier so that input voltage becomes 24V and max. Output current is available up to 500mA.

XYZ
Goniometer
RotaryDimensional outline drawings■Full diagram
Stage

16

K-PCBA24

Unit

To the motor driver

17

5

K-PCBA24
J1

J2

Controller

40

Control circuit
4-φ3.5 THRU

J1

D214-2-2EKJ2

5Supplied cable (*)
Supplied cable (*)
5405* Crimping connection of accessory
connector needs to be done by a customer

mark indicates the positionof connector 1 pin.

■Connection sensor amplifier and driver example●Note that sensor damage<Motor driver>（Motor driver for your use）
*1

Power input*1

Motor lead Blue

1

1 Motor lead Blue

Motor lead Red

2

2 Motor lead Red

Motor lead Orange 3

3 Motor lead Orange

44 Motor lead Green

Motor lead Green

Motor output
For each controller
I/O signal〈2ｍ One end loose〉(D214-2-2EK)<Stage>(KS451-40)

Motor lead Black55 Motor lead BlackCWLS output

6

6 CWLS output

CCWLS output

7

7 CCWLS output

Open

8

8 OpenPower input (+)

9

9 Power input (+)

ORG output

10

10 ORG output

Power input (-)

11

11 Power input (-)

F.G.

12

12 F.G.

*See sensor specification for
the exclude and include thissubstrate.
*There are stages that no needthis substrate.

Power

*1
Control
制御回路
circuit

Worm
Gear

*2

Blue
Red
Orange〈Sensor ampliﬁer substrate〉(K-PCBA24)

Green
Black
Brown
Yellow
Gray
Purple
White

Ball
Screw

J1

J2

CWLS output

1

1 CWLS output

CWLS output

1

1 CWLS output

CCWLS output

2

2 CCWLS output

CCWLS output

2

2 CCWLS output

Power input (-) 3

3 Power input (-)

Power input (-) 3

3 Power input (-)

PowerPower input (+) 4

4 Power input (+)

Power input (+) 4

4 Power input (+)

DC24V (+) output

5 ORG output

ORG output

6 Power input (-)

Power input (-) 6

ORG output

5Power input (-) 6

5〈Accessory connector〉

5 ORG output
6 Power input (-)

DirectDrive

DC24V (-) output〈Accessory connector〉*1.When connecting, refer to operation manual of motor driver in application.
*2.When connecting, follow the control circuit in application.

φ39
φ40

SPEC
Model
Dimension
Connector typeCompatible connector
Power voltage
Consumption current
Control output
Specification environment
Accessories

K-PCBA24
50 (W) ×50 (D) ×16 (H) mm
171825-6 (Tyco Electronics Japan G.K. )171822-6 (Accessories)
DC24V±10％30mA or less
NPN open collector output DC24V 500mA or less
0〜40℃,20〜80％RH (non-dew)
2 of connector 171822-6 (Tyco Electronics Japan G.K. )12 of contact terminal 170204-1 (Tyco Electronics Japan G.K.)*Connector processing needs to be done by customer. Please use electric wire of which diameter is more than 0.2mm for wire arrangement.

φ59
φ60
φ75
φ100
φ180
Other

1

190

Motorized Stage

Electrical Specification・Option: KS451
Motorized Rotary Stage

Electrical specification
Model
Type
Model
Step angle
Modelapplicable connector on
acceptance side
Limit sensor
Origin sensor
Slit origin sensor
Model
Power voltage
Consumption current

Motor

Connector

X
SensorXY
Control output

Z

Output logic

Horizontal
Z

KS451-40
5 phase stepping motor 0.75A/Phase
Special specification
0.72°
HR10A-10J-12P (73) (Hirose Electric Co., Ltd.)HR10A-10P-12S (73) (Hirose Electric Co., Ltd.)—Installed—
Photo microsensor EE-SX1103 (Omron Co., Ltd.)
DC5V
Total 25mA or less
NPN open collector output
DC5V or less1.2mA or less
Residual voltage 0.4V or less when the load current is 0.3mA
On detection (light shield condition): Output transistor OFF (Non-continuity)* Please use microstep when reduce the vibration or return to origin. (Driver: CVD507-K-A9/CRD5107P

P.1-205〜)

XYZ
Goniometer

Pin allocation

Connection diagram

1

10

2

9

3

8

11

7

4

12

5

6

KS451-40
1 Motor lead
2 Motor lead
3 Motor lead
4 Motor lead
5 Motor lead
6 CWLS output
7 CCWLS output
8 LSCOM
9 Power input (+)
10 ORG output
11 Power input (-)
12 F.G

RotaryUnit
Controller

Blue
Red
Orange
Green
Black

MOTOR

ORG
(Sensor substrate)

Timing chart
KS451-40
Ball
Screw

Range of origin detection［°］
KS451-40

Worm
Gear

Direct
Drive

φ39
φ40
φ59
φ60
φ75
φ100
φ180
Other

1

191

0〜11°

Note: The direction of CW/CCW in timing chart shows motor rotation.
Upper plate rotation in CW as below.
KS451-40: CWMotorized Rotary Stage

Method for return to origin
Suruga's motorized stages are different from the specification depending on the models.
Therefore return to origin method other than recommendation may not be work correctly.
Set to the way of recommendation return origin when using our controller.

ӖKS451 recommended return to origin

Return to origin sequence

P.1-201֐

Type 3: Detect in the direction of CCW and perform detected process for CCW edge(a point) of ORG signal.
Type 4: Detect in the direction of CW and perform detected process for CW edge of ORG signal.
Type 9: After finished Type3, perform detected process for CCW edge of TIMING signal.
Type 10: After finished Type4, perform detected process for CW edge of TIMING signal.

[Type3] Detect in the direction of CCW and perform detected

process for CW edge of ORG signal.

CWLS

a point<Origin detection
process>
ORG

CCWLS

Point aF speedL speedSD

L speedSD
L speedLD

F speedL speedSD
L speedF speedL speedSD
L speed

JOG

JOGStarting
position 4
JD

Z
HorizontalZ

L speed
JD

JOG

XYZ

*
F speedL speed*Starting position 3 LD

JD

* A solid line means the
setup a sudden stop, adotted line means the
setup a decelerating
and stopping.

Goniometer
RotaryF speedL speedSD
L speedF speedL speedSD
L speed

CWLS

SD
L speedSD

JOG

F speedL speed* Starting position 3* A solid line means the
setup a sudden stop, adotted line means the
setup a decelerating
and stopping.
JD

Starting
Starting
position 2 position 1

Starting
position 2

JOG

JD

*

Starting
position 1

XY[Type4] Detect in the direction of CW and perform detected

process for CCW edge (a point) of ORG signal.

<Origin detection CCWLS
process>
ORG

X

Starting position 4
JD

Unit

JOG

Controller
Adaptive driverӖ DriverP.1-205֐

DC24V type input
Model
Divisions

CVD507-K-A9
1֐1/250 (16 steps)

CRD5107P
1֐1/250 (16 steps)

Adaptive stepping motor controller

Ball
Screw

P.1-197֐Ӗ Controller

General-purpose input/
output port
Without
With
Without
With

Input power
AC100-240V
DC24V

Full/Half
DS102ANRDS102ANR-IO
DS112ANR
DS112ANR-IO

Driver type1֐1/250 (16 steps)
DS102AMS
DS102AMS-IO
DS112AMS
DS112AMS-IO

ӖConnectin example

DirectDrive

PC

DS102/112 Control software
DSCONTROL-WIN
P.1-200

D100-R9-2

PLC
Sequencer

External
controlequipment

I/O

I/O

D214-2-ӗE
D214-2-ӗ (Robot cable)

12 pin specification stage

φ39
φ40

Cable
P.1-207֐

2-axis

RS232C

RS232C

USB

Worm
Gear

φ59
φ60

Cable P.1-207֐

LINK(Note 1) Using the USB hub, it is controllable in a single
PC to up to four link networks (24-axis).

DS102/112

Control I/O General-purpose I/O(Note 1)USB

DS100-USB-1.8

Available connecting maximum 3 controllers by link function.

φ75
φ100
Handy terminal
P.1-199

φ180
DT100
Handy terminal

Other

1

192