Motorized Stage

Horizonal Z-axis Stage: KHE04006-C/KHE06008-C(Linear ball guide)
Motorized Stage

KHE04006

KHE06008* 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

KHE 04006-C□

Controller

1

1 Table size
04
06

□40mm
□60mm

2 Travel length
006
008

6mm
8mm

LinearBall

2

Cable P.1-207〜
Electrical specification P.1-115〜

3

3 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.1-115〜* See page
P.1-207, 209〜 for more cable details.
* Please select "Code F or H" when connect with stepping
motor controller(DS102/112).

CAVE-X
Linear ball

Cross
Roller

SPEC

Slide
Guide

Mechanical specification Accuracy specification Sensor

Model
Travel length
Table size
Feed screw (Ball screw)
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)

□40
□50
□60
□70
□80
□100
□120
Other

1

113

KHE04006-C
6mm
40×40mm
φ6 lead 1

KHE06008-C
8mm
60×60mm
φ8 lead 1
Linear ball guide
Steel−Opposite side of the end face finishing

0.5kg

0.92kg2μm (Full)/1μm (Half)
10mm/sec−
Within ±5μm

3kgf [29N]

4kgf [39N]
Within 5μm
Within 80μm
Installed
Installed

3 of M3ー16

4 of M4ー14

CAD
DATA

Dimensional outline drawings

CAD
3D・2D

14.5

38.5

49
48
40
32

Motorized Stage1

KHE04006-C

4-M3 6 DP

32
40

12

6

65.8

12
11

19

49

60±3

X

32

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

4

XY
Z

32

Horizontal
Z
XYZ

KHE06008-C
Goniometer
4-M4 6 DP

Rotary

27

51

66
60
50

Unit

50
60

Controller

10

8

15

49

60±4

6

84.3

4-4.5 THRU
(Bolt hole for M4)

50

5

50

LinearBall

CAVE-X
Linear ball

Cross
Roller

Slide
Guide

□40
□50
□60
□70
□80
□100
□120
Other

1

114

Motorized Stage

Electrical Specification: KHE04006-C/KHE06008-C
Motorized Stage

Electrical specification
ModelsMotor (*1)

Connector

X
Sensor

KHE04006-C

XY

Control output

Z

Limit output logic
Origin output logic

Horizontal
Z

KHE06008-C
5 phase stepping motor 0.75A/Phase
Oriental Motor Co., Ltd.
PK523HPB-C17
0.72゜
HR10A-10R-12PC (71) (Hirose Electric Co., Ltd.)HR10A-10P-12S (73) (Hirose Electric Co., Ltd.)Installed
Installed
Photo microsensor EE-SX4320 (Omron Co., Ltd.)
DC5〜24V ±10%
Total 60mA 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)
Detection (Light): Output transistor ON (Continuity)

Type
Maker
Model (*2)
Step angle
Model
Receiving connector
Limit sensor
Origin sensor
Model
Power voltage
Consumption current*1 See page P.1-177~ for details of single motor specification*2 Model is our own management model.

XYZ
Goniometer

Pin allocation

Connection diagram

1

10

2

9

1 Motor lead
2 Motor lead
3 Motor lead
4 Motor lead
5 Motor lead
6 CCWLS output
7 CCWLS output
8 Open9 Power input (+)
10 ORG output
11 Power input (-)
12 OpenRotary
Unit

3

8

11

7

4

12

5

6

Controller

Blue
Red
Orange
Green
Black

MOTOR
Sensor substrate
CWLS

ORG
Regulator

Vin

Vout
CCWLS

GND

Timing chart
LinearBall

CCW Limit
Opposite end face

CCW Limit
Stroke center
The origin end face

Origin sensor (ORG1)

CAVE-XCW Limit

Linear ball

Mechanical stopper

Mechanical stopper

Undetected point(in the stage of light entrance)
Detection (light shield condition)
Undetected point(in the stage of light entrance)
Detection (light shield condition)
Undetected point(in the stage of light entrance)
Detection (light shield condition)

Undetected point(in the stage of light entrance)
Detection (light shield condition)
Undetected point(in the stage of light entrance)
Detection (light shield condition)
Undetected point(in the stage of light entrance)
Detection (light shield condition)

CW（Opposite side of the motor）

CCW(Motor side)

CW Limit

Mechanical CW
Limit
limit

Cross
Roller

Reference
coordinate

Direction of CW
Mechanicallimit

Return to origin

Unit [mm]
Slide
Guide
KHE04006-C

The origin Strokeend face center

Oppositeend face

CCW Limit

Origin sensor (ORG1)CW Limit

CCW Mechanical
Limit
limit

Direction of CCW
Mechanical
CCW Limit
limit

CW Limit

OriginStroke center

Opposite end
face

3

2.2

0

1

2

4.2

5

Stroke center

4

3.2

1

0

1

3.2

4

Return to origin

4

3.2

0

1

2

5.2

6

Stroke center

5

4.2

1

0

1

4.2

5

□40
□50

KHE06008-C□60* 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 mm.

□70
□80

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.

□100
□120
Other

1

115

Motorized StageKHE 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

for CW edge of ORG signal.
CCWLS

CWLS

Point a<Origin detection process>ORG
F speedL speedSD

JD*

L speedSD
L speedStarting
position 1

Point aXSD
L speedStarting position 2 Starting position 1

Starting
position 2

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

JD

F speedL speedF speedL speedSD
L speed

SD

JOG

JOG

JD

JD

Z

*
*

Starting position 3

L speedHorizontalZ

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

F speedL speedF speedL speedSD
L speedStarting
position 4

JD
F speedL speedL speedLD

XY

L speedJOG

F speed* Starting position 3

CWLS<Origin detection process>ORG
F speedL speedSD

L speed
JOG

JD

XYZ
Goniometer
RotaryStarting
position 4

Unit

JOG

[Type9] After finished Type3, perform detected process

Controller[Type10] After finished Type4, perform detected process

for CCW edge of TIMING signal.

for CW edge of TIMING signal.
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)

LinearBall

CRD5107P
1֐1/250 (16 steps)

Adaptive stepping motor controllerӖ Controller
Input power
AC100-240V
DC24V

CAVE-X

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

Linear ballDriver type (Divisions)
Normal (Full/Half)
Micro step (1~1/250 [16 steps])
DS102ANRDS102AMS
DS102ANR-IO
DS102AMS-IO
DS112ANR
DS112AMS
DS112ANR-IO
DS112AMS-IO

Cross
Roller
DS112/102

Slide
Guide

□40
□50
□60
□70
□80
□100
□120
Other

1

116

Motorized Stage

Horizontal Z-axis Cross Roller Guide: KHC06004F/KHC07004F/KS332
Motorized Stage

KHC06004F

KHC07004F※Can be used for KHC
See page P.009

KS332-8NC

KS332-12C

X
XY
Z■KHE series/Low-price motorized horizontal Z stage
P.1-113〜

Horizontal
Z
XYZ
Goniometer
RotaryModel

Selection code

Option code

5
KHC06004F-ӗ

Unit

1

Selection code

Model

KS332-ӗC-ӗ

4

2

Option code

4

3

Cable P.1-207〜
Electrical specification P.1-119〜

Controller
1 Table size
06
07

60mm
70mm

2 Travel
04F

3 Travel
4mm

8N
12

4 Cable option
8mm
12mm

LinearBall

CAVE-X

Mechanical specification

Model
Travel length
Table size
Feed screw
Guide
Main materials-Finishing
WeightResolution (Pulse)
MAX speed
Uni-directional positioning
accuracy
Repeatability positioning
accuracy
Load capacity

Slide
Guide

Accuracy specification

□40
□50
□60
□70

Cable typeD214-2-2E
D214-2-2EK
D214-2-4E
D214-2-4EK−−
D214-2-2R
D214-2-4R
D214-2-4RK
D214-2-2RK

SPEC
KHC07004F-5

KHC06004F-5

KS332-8NC-5
KS332-12C-5
8mm
12mm
60×60mm70×70mm
80×100mm
120×120mm
Ball screwφ8 lead 1
Ball screwφ6 lead 1
Ball screwφ8 lead 1
Wedge type Crossed roller guide
Aluminum−Black almite finishingAluminum−White almite finish
Aluminum−Black almite finishing
1.14kg
1.18kg2.0kg
3.6kg
0.25μm (Full)/0.125μm (Half)≒0.73μm (Full)/0.365μm (Half)
2.5mm/sec≒3.7mm/sec
4mm−

Within 7μm
Within ±0.5μm
7kgf [68.6N]
Pitch 0.2/yaw 0.04/
roll 0.14［ ″/N・cm］

Moment stiffness

Lost motion
Parallelism
Limit sensor
Origin sensor
Slit origin sensor
Provided screw (Hexagon-headed bolt)□80

Specification
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* One end loose position to only stage opposite side.
* If you choose the option specification, please add the difference
to standard price.
* See page
P.1-207, 209〜 for more cable details.
* Please select "blank, 2, 6 and 7" when connect with stepping
motor controller(DS102/112).

Linear ball

Cross
Roller

Code
Blank
1
2
3
4
5
6
7
8
9

20kgf [196N]

□120
Other

1

117

Pitch 0.20/yaw 0.11/
roll 0.01［ ″/N・cm］

4 of M4−16

4 of M6−16

Within 1μm
Within 50μm
Installed
Installed−

Sensor□100

Pitch 0.24/yaw 0.12/
roll 0.03［ ″/N・cm］

4 of M4−12

4 of M4−6

CAD
3D・2D

Dimensional outline drawings

KHC06004F

Motorized Stage

30

50

60
50
32
30

3

183.5
96.5
87
90.5
5 25 25 25
66.3
14
32

4-M3 4DP

12
7.5

X
39

20

40±2

φ12

11-M4 6DPXY

50
4-4.5THRUφ8CʼBORE（Bolt hole for M4）

Z
Horizontal
Z
XYZ

KHC07004F

Goniometer
183.5
96.5
90.5
66.3

Rotary

35

Unit

60

70
60
50
40
35

5
10
15

87
76
60
25 25
40

Controller

4-M3 4DP

20

5.8
1.8

39

40±2

φ12

11-M4 6DP

60

4-4.5THRUφ8CʼBORE（Bolt hole for M4）

LinearBall

KS332-8NC

KS332-12C
CAVE-X
Linear ball
223．5

202.5
102.5

70

87
25

φ20

25

9

8
10

□40
□50
□60
□70
□80

31
52

10

90

70
25

16-M4 8 DP

85±6

100

120

Connector HR10A-10R-12P
（HRS）

9
27
48

25

Slide
Guide

φ20

25
25
6
10

67± 4

80

70

□70

70
25

4-4.5 THRU
(Bolt hole for M4)

Cross
Roller90

12-Ｍ4 6DP

15.5

88

4-M6 8 DP

4

25

103．5

100

ConnectorHR10A-10R-12P
（HRS）

100

120

□100

□100

4.7 THRU(Bolt hole for M6)

□120
Other

1

118

Motorized Stage

Electrical Specification: KHC06004F/KHC07004F/KS332-8NC/KS332-12C
Motorized Stage

Electrical specification
ModelsMotor (*1)

Connector

KHC06004F

X

ModelPower voltage
Consumption current

Sensor

XY

KHC07004F
KS332-8NC
KS332-12C
5 phase stepping motor 0.75A/Phase (Oriental Motor Co., Ltd.)PK525HPB-C1 (□28mm)
PK544PB-C18
0.72°
0.72°
HR10A-10R-12P (73) (Hirose Electric Co., Ltd.)

Type
Model
Step angle
Model(*2)
applicable connector on
acceptance side
Limit sensor
Origin sensor (ORG1)Slit origin sensor (ORG2)

Control output

Z

Output logic(*)

Horizontal
Z

HR10A-10P-12S (73) (Hirose Electric Co., Ltd.)Installed
Installed—
Switches AV4044 (Panasonic) 0.1A 30V DC
Photo microsensor EE-SX671 (Omron Co., Ltd.)
DC5〜24V ±10％
Total 60mA or lessTotal 35mA or less
NPN open collector output DC5〜24V100mA or less
NPN open collector output DC5〜24V 8mA or less
Residual voltage 0.8V or less when the load current is 100mA
Residual voltage 0.3V or less when the load current is 2mA
Residual voltage 0.4V or less when the load current is 40mA
On detection (light shield condition)：Output transistor OFF（Non- On detection (light shield condition): Output transistor OFF (Noncontinuity）
continuity)
Micro photosensor EE-SX4320(Omron Co., Ltd.)*1 See page P.1-213~ for details of single motor specification*2 Model is our own management model.

XYZ
Goniometer
RotaryPin allocation

Connection diagram

Pin allocation

Connection diagram

Unit
KHC06004F/KH07004F

Controller

1

10

2

9

3

8

KHC06004F/KHC07004F
1 Motor lead (Blue)Blue

2 Motor lead (Red)Red

3 Motor lead (Orange)

Orange4 Motor lead (Green)

Green

5 Motor lead (Black)Black

KS332-8NC/KS332-12C
MOTOR

1

10

2

9

3

8

Sensor substrateCWLS

6 CWLS output

ORG1

7 CCWLS output

11

7

4

12

5

6

8 OpenRegulator

9 Power input (+)

Vin

10 ORG output (ORG1)
11 Power input (-)

LinearBall

CAVE-X
Linear ball

Cross
Roller

Slide
Guide

□40
□50
□60
□70
□80
□100
□120
Other

1

119

12 F.G.

GND

11

7

4

12

5

6

CCWLS

KS332-8NC/KS332-12C
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.GBlue
Red
Orange
Green
Black

MOTOR

CWLS
CCWLS
ORG
OUT

Motorized Stage

Timing chart
S

KHC06004F/KHC07004F
0QQPTJUFFOEGBDF

Slit origin(ORG2)
Mechanicalstopper
CCW Limit$$8-JNJU

0SJHJOTFOTPS

S…Interval of origin slit (detection)
Undetected point
Slit origin(in the stage of light entrance)
Detection (light shield condition) (ORG2)

Undetected point(in the stage of light entrance)
Detection (light shield condition)

Mechanicalstopper

Origin sensor(ORG1)

Undetected point(in the stage of light entrance)
Detection (light shield condition)
Undetected point(in the stage of light entrance)
Detection (light shield condition)

CW Limit

Undetected point(in the stage of light entrance)
Detection (light shield condition)

Undetected point(in the stage of light entrance)
CCW Limit
Detection (light shield condition)

Origin sensor
Undetected point(in the stage of light entrance)(ORG1)
Detection (light shield condition)
Undetected point
CW Limit(in the stage of light entrance)
Detection (light shield condition)（Down）CWCCW（Up）

5IFPSJHJOFOEGBDF$8-JNJU

Mechanical CW
limit
Limit

Opposite The origin
end face end face

CCW Mechanical
Limit
limit

Direction of CW

Unit [mm]Reference coordinate Mechanical limit
KHC06004F
KHC07004F

Return to origin
Return to origin

2.5
2.5

Direction of CCW
CW Limit

Opposite end
face

2.2
2.2

1.5
1.5

The origin end
face stroke
center00

X

CCW Limit

Mechanical
limit

XY

2.2
2.2

2.5
2.5

Z

*Return to origin means that is performed return to origin type 3 using DS102/DS112/D200 controller.
* The coordinate value should be on the design. Dimension error may occur about plus or minus 0.5 mm.

Horizontal
Z

KS332-8NC/KS332-12C

XYZ

The origin end face

CCW Limit

Goniometer
Origin sensor

K332-8NC

Opposite end face

CW Limit

Mechanical stopper

Mechanical stopper

Undetected point

Undetected point
CCW Limit
Detection

Originsensor

Undetected point(in the stage of light entrance)
Detection (light shield condition)

Undetected point
Origin(in the stage of light entrance)
sensor
Detection (light shield condition)

CW Limit

Undetected point
Detection

Undetected point CW Limit
Detection

CCW Limit Detection（Down）CWCW Limit

Stroke center

CCW Limit

RotaryK332-12C

Mechanical limitOpposite end faceThe origin end face Mechanical limit

CCW（Up）

Mechanical limitOpposite end face Stroke center Mechanical limit

Mechanical stopper

Undetected point

Undetected point
CCW Limit
Detection

Undetected point(in the stage of light entrance)
Detection (light shield condition)

Undetected point
Origin(in the stage of light entrance)
sensor
Detection (light shield condition)

CCW Limit Detection
OriginsensorCW Limit

Undetected point CW Limit
Detection

Undetected point
Detection（Down）CWUnit

CW Limit The origin end face CCW Limit

Controller

CCW（Up）

Unit [mm]Direction of CW
Direction of CCW
Reference MechanicalThe origin
Opposite
Mechanicalcoordinate
limit CW Limit end face Stroke center end face CCW Limit limit
Return to origin
—
4.9
2.2
0.4
0
4.1
—
KS332-8NC
Stroke center
—
4.5
1.8
0
0.4
4.5
—

Unit [mm] Direction of CW
Direction of CCW
Reference MechanicalThe origin
Opposite
Mechanicalcoordinate
limit CW Limit end face Stroke center end face CCW Limit limit
Return to origin
—
7.6
2.2
1.1
0
5.4
—
KS332-12C
Stroke center
—
6.5
1.1
0
1.1
6.5
—

*Return to origin means that is performed return to origin Type 3 using DS102/DS112 series.
* The coordinate value should be on the design. Dimension error may occur about plus or minus 0.5 mm.

*Return to origin means that is performed return to origin Type 3 using DS102/DS112 series.
* The coordinate value should be on the design. Dimension error may occur about plus or minus 0.5 mm.

LinearBall

Method for return to origin
Suruga's motorized stages is different from the sensor specifications depends on models. As return to origin operation is devided into types, it is necessary to choose the correct type.
Selected wrong type may be operated uncorrectly.
Choose your best one whatever you need according to be recommended as below.

ӖKHC06004F/KHC07004F/KS332-8NC/KS332-12C recommended return to originReturn to origin sequence

CAVE-X
Linear ball

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.

Cross
Roller

Adaptive driver٬4UFQQJOHNPUPSDPOUSPMMFS

Slide
Guide

Ӗ DriverP.1-205֐

DC24V type input………CVD507-K-A9 CRD5107P (1֐1/250 16 steps)

□40
□50

Ӗ $POUSPMMFS P.1-197֐
AC100-240V input Without general I/O port………DS102ANR (Full/Half) DS102AMS (1֐1/250 16 steps)
With general I/O port………DS102ANR-IO (Full/Half) DS102AMS-IO (1֐1/250 16 steps)
DC24V input
Without general I/O port………DS112ANR (Full/Half) DS112AMS (1֐1/250 16 steps)
With general I/O port………DS112ANR-IO (Full/Half) DS112AMS-IO (1֐1/250 16 steps)

□60
□70
□80
□100
□120
Other

1

120