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