Ultrasonic Motor Price List

Ultrasonic Motor Price List
of the Ultrasonic Motors

　　　　　　　　　　　　　　　　　　　　　　　　　　We changed the price of our products.
　　　　　　　　　　　　　　　　　　　　　　　　　　Please be careful that the price written in the catalog is old price.
　　　　　　　　　　　　　　　　　　　　　　　　　　New price of our product is as follows.

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Catalog	2005's Total Catalog	Download
Catalog	2000's Total Catalog	Download
User's Manual	USR30 Series
User's Manual	USR60 Series

<USR30 Serise >
(Motor cable and 8P harness included)
Model	Type	Motor only price	Motor and driver set price
USR30-B3	Built-in type single shaft	9,500yen	17,500yen
USR30-B4	Built-in type double shaft	9,500yen	17,500yen
USR30-S3	Standard single shaft	13,500yen	21,500yen
USR30-S4	Standard double shaft	14,500yen	22,500yen
USR30-E3a	Standard with 500[p/r] encoder	26,000yen	34,000yen
USR30-E3aT	Standard with 1000[p/r] encoder	30,000yen	38,000yen
USR30-S3N	Nonmagnetic single shaft	75,000yen	85,000yen
USR30-S4N	Nonmagnetic double shaft	75,000yen	85,000yen
USR30-E3N	Nonmagnetic with 500[p/r] encoder	90,000yen	100,000yen
USR30-E3NT	Nonmagnetic with 1000[p/r] encoder	94,000yen	104,000yen

<USR60 Serise>
(Motor cable included)
Model	Type	Motor only price	Motor and driver set price
USR60-S3	Standard single shaft	32,000yen	52,000yen
USR60-S4	Standard double shaft	32,000yen	52,000yen
USR60-E3	Standard with 500[p/r] encoder	44,000yen	64,000yen
USR60-E3T	Standard with 1000[p/r] encoder	48,000yen	68,000yen
USR60-S3N	Nonmagnetic single shaft	95,000yen	117,000yen
USR60-S4N	Nonmagnetic double shaft	95,000yen	117,000yen
USR60-E3N	Nonmagnetic with 500[p/r] encoder	112,000yen	134,000yen
USR60-E3NT	Nonmagnetic with 1000[p/r] encoder	116,000yen	138,000yen

All USR30 and USR60 Serise standard motors include 1m motor cable.
All USR30 and USR60 Serise nonmagnetic motor include 3m motor cable.
All USR30 and USR60 Serise motors with encoder include 1m encoder cable for standard types and 3m encoder cable for nonmagnetic types.
Extension cable are available as options. Please refer to the price list below.
For extension cables not listed below, please consult us.

***(1)Extension Motor Cables***
Includes adjustment costs	USR30		USR60
Includes adjustment costs	B3,B4	S3, S4, E3a, E3aT, S3N, S4N, E3N, E3NT	Common
to 1m	1,200yen	1,500yen	2,000yen
to 2m	1,700yen	2,000yen	2,500yen
to 3m	4,700yen	5,000yen	5,500yen
to 4m	5,200yen	5,500yen	6,000yen
to 5m	5,700yen	6 ,000yen	6,500yen

***(2)Extension Encoder Cables***
Includes adjustment costs	Common
to 1m	2,000yen
to 2m	2,500yen
to 3m	3,000yen
to 4m	3,500yen
to 5m	4,000yen

When switching from motor cables regularly equipped to extension cables, adjustment to match motor and driver is required. Therefore, in case motor cables are changed after purchase, products will have to be returned to us for adjustment. As there may be cases in which dismantling is difficult, please consider this at the time placing orders.

USR30 Series
of the Ultrasonic Motors

※Attention

The dimensions of the USR30 Series are smaller than the USR60 Serise.
S3 and S3N, S4 and S4N, and S3a and S3N have the same appearance but use partly different materials.
The 30 series is driven by its dedicated driver D6030.

*USR30-B3* Built-in Type These are cost reduced type ultrasonic motors first released in February 1994. From sample shipments to mass production, this lineup allows flexible selection corresponding to your needs!
	This built-in type ultrasonic motor, 9mm in thickness and 20g in weight, in the 30 series was developed on the premise that it could be mass produced. It comprises parts that are minimally required for an ultrasonic motor and does away with the casing and the base.
Nevertheless it has sufficient power with 1.3W output and 0.5Kgf-cm torque. The small and lightweight body with a simple structure that does not require a reduction gear nor electromagnetic brake is optimal for use in devices that require compressed motor space and weight conservation. Demands such as special processing of the shaft will be reflected upon request.

USR30-S3
Standard Single Shaft Type
USR30-S4
Standard Double Shaft Type

USR30-S3N
Nonmagnetic Single Shaft Type
USR30-S4N
Nonmagnetic Double Shaft Type

This is a standard type ultrasonic motor housed in a case. A new nonmagnetic type has also been added to this line.

Although its appearance and external shape is identical to the preceding 30 series models, the nonmagnetic type generates no magnetic noise and is completely free of any magnetic influences as it uses absolutely no magnetic materials. The 30 series, including the nonmagnetic type is compact and lightweight, and provides low speed, high torque and silence with no gear noise. It also excels in actuation and stoppage responses as its rotor has small inertia.
Moreover, it is equipped with the distinct features of the ultrasonic motor such as the high controllability of less than 1msec damping time constant.

USR30-S3(S3N)

USR30-S4(S4N)

USR30-E3a
Standard with Encoder Type

USR30-E3N
Nonmagnetic with Encoder Type

This is an ultrasonic motor with a built-in encoder and is capable of higher precision in positioning and speed controllability. A new nonmagnetic type has also been added to this line.

USR30-E3a(E3N)

This is an ultrasonic motor with a built-in encoder and is capable of higher precision in positioning and speed controllability. A new nonmagnetic type has also been added to this line.
Although its appearance and external shape is identical to the preceeding 30 series models, the nonmagnetic type generates no magnetic noise and is completely free of any magnetic influences as it uses absolutely no magnetic materials.
The ultrasonic motor with a built-in encoder is suitable for devices that require precise positioning and speed settings.
This motor is suited for use in fields that require accuracy such as an actuator for robot hands and precision positioning on an XY table.

***<Encoder Specifications>***
Power source voltage	DC5V±10%
Detection method	Optical incremental
Output pulse rate	500 P/R
Output phase	A, B, Z

***<Motor Specifications>***
	Standard				Nonmagnetic
Driving frequency	50 KHz
Driving voltage	110 Vrms
Rated torque	0.05 Nm (0.5 Kgf-cm)
Rated output	1.3 W				1.0 W
Rated rotational speed	250 rpm				200 rpm
Maximum torque	0.1 Nm (1.0 Kgf-cm)
Holding torque	0.1 Nm (1.0 Kgf-cm)
Responsibility	1msec or below (no inertia load or driver sweep)
Rotational direction	CW, CCW
Longevity	2,000 Hrs				500 Hrs
Service temperature range	-10℃ to +55℃
Service temperature rise	70℃ at stator surface / 55℃ at case surface
Weight	USR30
	B3	S3	S4	E3a	S3N	S4N	E3N

	20g	45g		65g	45g		65g

***<Characteristics and Service Range>***

<Outline Drawings>

USR30-B3 (Built-in Type)

USR30-S3(S4) Standard Single Shaft (Double Shaft)
USR30-S3N(S4N) Nonmagnetic Single Shaft (Double Shaft)

USR30-E3a Standard with Encode
USR30-E3N Nonmagnetic with Encoder

***Dedicated Driver for USR30 Series***
	The D6030 driver is sold, in principle, with the USR30 series motor as a set. Each set is adjusted to secure optimal matching, and if the driver is used in combination with a motor that is not set properly malfunctioning may occur. As further adjustment is required in case an extension cable is used, please notify to this extent upon placing orders.
Please note that if an extension cable becomes nesessary after shipment has been made, the motor and its driver will have to be returned as they need to be readjusted.

***<Driver Specifications>***
Power source voltage	DC 24V± 0.5V
Demand	Maximum 0.7A
Motor drive voltage	110 V rms
Oscillation frequency	50 KHz
Oscillation waveform	Pseudo sine wave
No-load adjustable speed range	30 to 300 r/min
Speed setting volume	B10 K ohm (0.1W) No attachment
Speed setting external voltage	0 to 3.2V (DＣ）
Speed adjustment method	Frequency modulation method
Frequency control	Automatic tracking method using feedback of amplitude by vibration
Start-stop control	Both contact and contactless possible (No switchs supplied)
Starting response	50 msec (under no motor inertia load)
Stopping response	1 msec (under no motor inertia load)
Start-stop external voltage	Positive logic, H level 2.5V and above (5.5V and below) L level 0.4V and below
Storage temperature	-20℃ to +80℃
Working temperature	-10℃ to +55℃
Weight	105g

<Outline Drawings>

**[D6030 Basic Connection Diagram]**
VR1 : Minimum rotational speed adjustment (ZERO adjustment of speed setting volume) VR2 : Maximum rotational speed adjustment (SPAN adjustment of speed setting volume) VR3 : Balance correction (Unbalance correction of CW/CCW rotation at rated load) CN1 : 24/12V power source, start-stop switch, connector to speed setting volume CN2 : Motor connector LED : Power source indication light

**[D6030 Structural Diagram of Circuit]**

Driver case is not grounded to GND potential. Motor case is connected to GND black lead and grounded to GND potential of power source input DC 24/12V.

**[D6030 Timing Chart]**

100msec or more time duration is required from driver power source ON to CW/CCW start command ON. 10msec or more time interval is required when switching from CW to CCW or voice versa. Starting response time (under no inertia load) is approximately 50msec. Stopping response time (under no inertia load) is approximately 1msec. External speed command voltage may be applied either before of after CW/CCW rotation command.

USR60 Series
of the Ultrasonic Motors

※Attention

The dimensions of the USR60 Series are bigger than the USR30 Serise.
S3 and S3N,S4 and S4N, and E3 and E3N have the same appearance but use partly different materials.
The 60 series is driven by its dedicated driver D6060.

USR60-S3(S3N)

Please refer to USR30-S3(S3N)
with a more detail explanation.

USR60-S4(S4N)

Please refer to USR30-S4(S4N)
with a more detail explanation.

USR60-E3(E3N)
(Output pulse rate : 500 P/R)

Please refer to USR30-E3(E3N)
with a more detail explanation.

Oputional USR60
(Output pulse rate : 1000 P/R)

USR60,used 1000P/R encoder is oputional

***<Encoder Specifications>***
Power source voltage	DC5V±10%
Detection method	Optical incremental
Output pulse rate	500 P/R (E3/E3N)・1000 P/R (Opution)
Output phase	A, B, Z

***<Motor Specifications>***
	Standard			Nonmagnetioc
Driving frequency	40 KHz
Driving voltage	130 Vrms
Rated torque	0.5 Nm (5 Kgf-cm)
Rated output	5.0 W
Rated rotational speed	100 rpm
Maximum torque	1.0 Nm and above (1.0 Kgf-cm)


Holding torque	1.0 Nm and above (1.0 Kgf-cm)
Responsibility	1msec or below (no inertia load or driver sweep)
Rotational direction	CW, CCW
Longevity	1,000 Hrs
Service temperature range	-10℃ to +55℃
Service temperature rise	70℃ at stator surface / 55℃at case surface
Weight	USR60
	S3	S4	E3	S3N	S4N	E3N

	260g		275g	260g		275g

***<Characteristics and Service Range>***

<Outline Drawings>

USR60-S3(S4) Standard Single Shaft (Double Shaft)
USR60-S3N(S4N) Nonmagnetic Single Shaft (Double Shaft)

USR60-E3 Standard with Encode
USR60-E3N Nonmagnetic with Encoder

Optional USR60

***Dedicated Driver for USR60 Series***
	The D6060 driver is sold, in principle, with the USR60 series motor as a set. Each set is adjusted to secure optimal matching, and if the driver is used in combination with a motor that is not set properly malfunctioning may occur. As further adjustment is required in case an extension cable is used, please notify to this extent upon placing orders.
Please note that if an extension cable becomes nesessary after shipment has been made, the motor and its driver will have to be returned as they need to be readjusted.

***<Driver Specifications>***
	D6060E Encoder controlled driver	D6060 Standerd driver
Power source voltage	DC 24V ± 0.5 V
Demand	2A max
Motor drive voltage	130 V rms・Sin.Cos 2
Oscillation frequency	40 KHz
Oscillation waveform	Pseudo sine wave
No-load adjustable speed range	15～150 r/min	30～150 r/min
Speed setting volume	B10 K ohm (0.1W) No attachment
Speed setting external voltage	DC 0 to 3.2V
Speed adjustment method	Frequency modulation method

Start-stop control	Both contact and contactless possible (No switchs supplied)
Starting response	20 msec (under no motor inertia load)
Stopping response	1 msec (under no motor inertia load)
Overcurrent protection	2A Fuse (5.2 in diameter midget type glass tube fuse)
Insulation resistance	10M ohm or above (Not connected to motor. Applied to casing and between terminals.)
Dielectric strength	1KV AC (Not connected to motor. Applied to casing and between terminals.)
Storage temperature	-20℃ to +80℃
Working temperature	-10℃ to +55℃
Weight	230g

<Outline Drawings>

**[D6060 Basic Connection Diagram]**

Encodetr connector Controller connector Motor connection terminals Connect by matching colors with motor cables. length of motor cable should not exceed 10m. Speed setting volume connection terminals Speed can be set by connecting B10K ohm (0.1W) variable resistor. Start/stop switch terminals For contact switching, use such switches as snap switch (for microcurrent) with single-pole double-throw center OFF format. when designing connention with multiple relays ets., make sure CW and CCW will not switch ON at the same time. Power source connection terminals Should be connected to DC 24V/12V. Use devices with sufficient current capacity. (Note) Avoid motor start/stop switching with this power source ON/OFF switch.
A. LED indication light (green) This stays on while the power is on. It will not turn on if the internal fuse is blown. B. LED indication light (red) This will turn on when the motor falls into an overload state and shuts the motor down. For resetting, turn the power souce or the on-off switch off once,remove the cause and then turn on the motor. C. Balance adjustment volume This is a volume to adjust rotational speed difference between CW and CCW. (not necessary for D6060E) D. Max rotation setting volume No-load rotation is adjusted to 150 r/min. E. Min rotation setting volume No-load rotation is adjusted to 30 r/min (15 r/min for D6060E)

**[D6060 Circuit Diagram]**

Driver case is not grounded to GND potential. Motor case is connected to GND black lead and grounded to GND potential of power source input.

**[D6060 Timing Chart]**

1.100msec or time duration is required from driver power source On to CW/CCW start command ON. 2. 10msec or more time interval is required when switching from CW to CCW or vice versa. In case external voltage is used to control speed, drop speed command voltage to 0V once during this interval. 3. Starting response time (under no inertia load) is approximately 20msec. 4. Stopping response time (under no inertia load) is within 1msec. 5. 10sec interval is required after the power is turned OFF when restarting from motor shut-down due to overload.