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DGII Series Closed Loop Hollow Rotary Actuators

AlphaStep DGII Series Hollow Rotary Actuators


DGII Series Closed Loop AR Series Hollow Rotary Actuators

The DGII Series is a line of of products that combine a high rigidity hollow rotary table with an AlphaStep closed loop stepper motor and driver package. It retains the ease of use of a stepper motor, while also allowing for highly accurate positioning of large inertia loads.

  • Integrated actuator and stepper motor makes design easier
  • Large-diameter hollow output table
  • Stepper motor provides excellent performance
    • Agile responsiveness
    • Stability at low speeds
    • Tuning-free
  • Pulse Input or Built-in Controller (Network) type drivers
  • AC or DC Input

Rotary Actuator Lineup

Frame Size

Driver Type

Power Supply



Permissible Speed

Permissible Moment Load

60 mm Rotary Actuator

60 mm (2.36 in.) Rotary Actuator

Built-in Controller (Network)

24 VDC

Single or Double Shaft

0.9 N·m

7.9 lb-in

200 r/min

2 N·m

17.7 lb-in

Pulse Input

85 mm Rotary Actuator

85 mm (3.35 in.)
Rotary Actuator

Built-in Controller (Network)

Single-Phase 100-120 VAC

Single or Double Shaft

2.8 N·m

24 lb-in

200 r/min

10 N·m

88 lb-in

Single-Phase 200-240 VAC

Pulse Input

Single-Phase 100-115 VAC

Single-Phase 200-230 VAC

Three-Phase 200-230 VAC

130 mm Rotary Actuator

130 mm (5.12 in.) Rotary Actuator

Built-in Controller (Network)

Single-Phase 100-120 VAC

Single or Double Shaft

Electromagnetic Brake

12 N·m

106 lb-in

200 r/min

50 N·m

440 lb-in

Single-Phase 200-240 VAC

Pulse Input

Single-Phase 100-115 VAC

Single-Phase 200-230 VAC

Three-Phase 200-230 VAC

200 mm Rotary Actuator

200 mm (7.87 in.)
Rotary Actuator

Built-in Controller (Network)

Single-Phase 100-120 VAC

Single or Double Shaft

Electromagnetic Brake

50 N·m

440 lb-in

110 r/min

100 N·m

880 lb-in

Single-Phase 200-240 VAC

Pulse Input

Single-Phase 100-115 VAC

Single-Phase 200-230 VAC

Three-Phase 200-230 VAC

Repetitive Positioning Accuracy = ±15 arcsec (±0.004°)

Lost Motion = 2 arcmin (0.033°)


Hollow Rotary Actuators

Hollow Rotary Actuators

High Positioning Accuracy

  • Non-Backlash
  • Repetitive Positioning Accuracy ±15 sec
  • Lost Motion 2 arc minutes

Note: The repetitive positioning accuracy is measured at a constant temperature (normal temperature) under a constant load.

Large-Diameter, Hollow Output Table Makes Simple Wiring and Piping Possible

The large diameter hollow hole (through-hole) helps reduce the complexity of wiring and piping, thus simplifying your equipment design.

Hollow Output Table

Contributes to Easier Equipment Design

The gear-reduction mechanism employs precision gears along with a proprietary adjustment mechanism that eliminates backlash. The repetitive positioning accuracy from a single direction is ±15 sec., while lost motion in a positioning operation from two directions is 2 arc minutes. These characteristics make the DGII series the ideal choice for applications in which accurate positioning is a must.

Rotary Actuator Features

High Power and Rigidity

The hollow output table is integrated with a high rigidity crossroller bearing*. The structure improves permissible thrust load and moment load while maintaining high torque.
*Excludes the DG60

The output table uses deep-groove ball bearings (two pieces) for the 2.36 in. (60 mm) frame size type, and a cross-roller bearing for the 3.35 in. (85 mm), 5.12 in. (130 mm) and 7.87 in. (200 mm) frame size types. As the frame size increases, the permissible moment load also increases but the displacement caused by the moment load decreases.

"Home Sensor Set" is Available as an Accessory

Since the sensor set comes with all the parts required for the return-to-home operation, less time is spent designing, fabricating and procuring parts related to sensor installation.

DG130 Sensor Installation Example

Home Sensor Set

Direct Coupling for Higher Reliability

Equipment tables and arms can be installed directly on the output table. This saves you the hassle and cost of designing an installation mechanism, arranging necessary parts, adjusting the belt tension, etc. when mechanical parts such as belt and pulley are used for installation.

Direct Coupling

High Reliability Plus High Efficiency AlphaStep AR Series Motors

High Efficiency and Energy Saving

A closed loop AlphaStep AR Series stepper motor and driver package has been adopted as the motor. This creates a more efficient and energy saving product compared with conventional models.

The AlphaStep AR Series uses Oriental Motor's closed loop control to maintain positioning operation even during abrupt load fluctuations and accelerations. The rotor position detection sensor monitors the rotation. When an overload condition is detected, the AR Series will instantaneously regain control using the closed loop mode. When an overload condition continues, the AlphaStep AR Series will output an alarm signal, thereby providing reliability equal to that of a servo motor.

Adoption of a Rotor Position Detection Sensor (Resolver) -

Because the sensor is compact and slim, the overall length of the motor has been reduced.

Performance such as heat resistance and vibration resistance is improved over regular optical encoders.

Because an encoder cable is not necessary, the motor and driver can be connected with just 1 cable.


Lower Heat Generation

Heat generation by the motor has been significantly reduced through higher efficiency.

Lower Heat

Surface Temperature

Continues Operation Even with Sudden Load Fluctuation and Sudden Acceleration

Operates synchronously with commands using open loop control during normal conditions. In an overload condition, changes immediately to closed loop control to correct the position.

Closed Loop

Alarm Signal Output in Case of Abnormality

If an overload is applied continuously, an alarm signal is output. When the positioning is complete, an END signal is output. This ensures the same level of reliability achieved by an advanced closed loop system or a servo motor.

Alarm Output


Power Consumption: 66% Less* Than Conventional Model

Power Consumption

Built-in Controller (Network) Type Driver

Built-in Controller (Stored Data) Type


Because the driver has the information necessary for actuator operation, the burden on the host PLC is reduced. The system configuration when using multi-axis control has been simplified.

Setting are configured using a control module (sold separately), data setting software or RS-485 communication.

How to Connect the Built-in Controller (Stored Data) Type

1. I/O

The positioning module (pulse generator) function is built into the driver, allowing the operation to use I/O by directly connecting to a switch box or PLC. Because a positioning module is not necessary on the PLC side, space is saved and the system is simplified.

Switch BoxPLCTouch Screen

2. Modbus (RTU)/RS-485

Operating data and parameters can be set and operation commands can be input using RS-485 communication. Up to 31 drivers can be connected to each serial communication module. Also, there is a function that enables the simultaneous start of multiple axes. The protocol supports Modbus (RTU), enabling connection with devices such as touch screen computers and PCs.

3. Factory Automation (FA) Network

Use of network converter (sold separately) enables support with CC-Link, MECHATROLINK or EtherCAT communication. Operating data and parameters can be set and operation commands can be input using various communication methods.

Operation Type

With built-in controller packages, the motor's operating speed and traveling amount are set with operating data and operations performed based on the selected operating data. The operation type is 4-pattern.




Control Method

Up to 31 drivers can be connected to the master controller

I/O Control

RS-485 communication

Network Converter Connection

Modbus RTU Protocol Connection

Position Command Input

Set with operating data number
Command range per point: -8388608~8388607 [steps] (setting unit: 1 [step])

Speed Command Input

Set with operating data number
Command range: 0 ~ 1000000 [Hz] (setting unit: 1 [Hz])

Acceleration / Deceleration Command Input

Set with operating data number or parameters.
Acceleration/deceleration rate [ms/kHz] or acceleration/deceleration time [s] can be selected.
Command range: 0.001 ~ 1000.000 [ms/kHz] (setting unit: 0.01 [ms/kHz])
0.001 ~ 1000.000 [s] (setting unit: 0.001 [s])

Acceleration / Deceleration Control

Velocity filter, moving average filter

Return-To-Home Operation

Return-To-Home Method

2-sensor mode

This is the return-to-home operation using limit sensors (+LS, -LS).

3-sensor mode

This is the return-to-hoe operation using limit sensors and HOME sensor.

Pushing mode*1

This is the return-to-home operation for pushing to the mechanical end of a linear slide, etc.

Position preset

This function allows a home position to be confirmed by inputting P-PRESET using an arbitrary position.

An arbitrary value can be set for the home position.

Positioning Operation

Number of Positioning Points

64 points (No. 0 ~ 63)

Operation Mode

Incremental mode (Relative positioning)

Absolute mode (Absolute positioning)

Operation Functions

One-shot operation

This is a PTP (Point to Point) positioning operation.

Linked operation

This is a multistep speed-change positioning operation linked to operating data.

Linked operation 2

This is a positioning operation with timer linked to operating data.
The timer (dwell time) can be set in the range of 0 ~ 50.000 [s].
(Setting unit: 0.001 [s])

Starting Methods

Operating data selection mode

The positioning operation starts when START is input after M0 ~ M5 has been selected.

Direct mode (direct positioning)

The positioning operation starts with the operating data number that was set with the parameters when MS0 ~ MS5 has been input.

Sequential mode (sequential positioning)

The positioning operation starts in order from operating data No. 0 every time SSTART is input.

Continuous Operation

Number of Speed Points

64 points (No. 0 ~ 63)

Speed-Change Method

This switches the operating data number.

Other Operations

JOG Operation

+JOG or -JOG is input, and regular feeding is performed.

Automatic Return Operation

This automatically returns to the original stopped position when the motor has become misaligned due to an external force during non-excitation.

Control Mode

The normal mode or the current control mode can be selected.

Absolute Backup

Using the battery (accessory) makes the absolute system.

Push motion operation cannot be used with this product.

Positioning Operation

Return to Home

Main Function



Motor Resolution Setting Function*1

The motor resolution can be changed by the driver without the mechanically operated speed reduction mechanism.
A desired setting can be made from 100~10000 [P/R].

How to obtain the resolution on the actuator

Group Send Function (RS-485 communication or via network converter)

Configure a group of multiple axes connected using RS-485 communication, and send commands by group.

Perform simultaneous start and simultaneous operation for multiple axes.

Round Function

When the command position is outside the setting value of the "round setting range" parameter, this function returns the command position and multiple rotation data to 0. Because the multiple rotation data is also returned to 0 you can perform position control even for continuous rotation operations in the same direction that use the absolute backup system.

*When building an absolute system, the accessory battery (sold separately) is necessary.

Hardware Overtravel

This function stops the actuator when the mechanical limit is exceeded.

Software Overtravel

This function stops the actuator when exceeding the limit set by the software. Depending on the setting, an alarm can also be output without stopping.

STOP Input (External stop)

This function forcibly stops operation when there is an abnormality or other issue. Select instantaneous stop, deceleration stop, or all windings off (actuator holding force is off) as the stopping method.

Alarm Code Output

Output alarm codes that are occurring.

Alarm History

Even if the power is turned off, up to 10 alarms that have occurred can be stored. This can be used for troubleshooting.

Velocity Filter

This is used to make adjustments when a smooth start/stop or smooth motion at low speed operation is required. Even for sudden operation command changes, this function controls the speed changes of the actuator to prevent them from becoming too large.

Teaching Function*1

Move the load to the target position and store the position data at this time as the positioning data.

I/O Monitoring*1

Check the ON/OFF status of the I/O signals.

Waveform Monitoring*2

Check the operating speed and I/O signals as a waveform.

*1 Can be performed with the control module sold separately (OPX-2A) or data setting software (MEXE02) (see Extended Functions).
*2 Can be performed with the data setting software (MEXE02) (see Extended Functions).

Extended Functions

Extended Functions

Extended Functions

You can combine a control module (OPX-2A) (sold separately) or data setting software* (MEXE02) both to change parameters, add functions and perform various monitoring operations according to the needs of your system.

  • Parameter Setting Adjustments
  • Monitoring
  • Return Operation
  • Push-Motion Operation

*Cable for connection to PC required for MEXE02 data setting software (sold separately**- see Accessories).

**One FREE CC05IF-USB communications cable is available per customer, contact Technical Support for more information.

Item Overview Basic

Selection of Pulse Input Mode

Select the 1-pulse input or 2-pulse input (negative logic) mode.

Yes Yes

In addition to the normal settings, phase difference input can be set.
- 1-pulse input mode (positive logic/negative logic)
- 2-pulse input mode (positive logic/negative logic)
- Phase difference input (1-multiplication/2-multiplication/4-multiplication)

- Yes

Resolution Setting

Select the resolution with the function switches (D0, D1, CS0, CS1).

Yes Yes

Changes the value of the electronic gear corresponding to each function switch (D0, D1, CS0,CS1).

- Yes

Running Current Setting

Changes the running current setting with the current setting switch (CURRENT)

Yes Yes

Changes the value corresponding to each of 0~F (16 levels) for the current setting switch (CURRENT)

- Yes

Standstill Current Setting

Sets the ratio of the standstill current relative to the running current.

- Yes

Motor Rotational Coordinates Setting

Sets the rotational coordinates of the motor.

- Yes

All Windings On Signal (C-ON input)

The input signal for the excitation of the motor.

Yes Yes

Sets the C-ON input logic for when the power supply is input.

- Yes

Return to Excitation Position Operation during All Windings On Enable/Disable

Sets whether or not to return to the excitation position (deviation 0 position) during all windings on.

- Yes

Alarm Code Signal Enable/Disable

Set to output the code when an alarm occurs.

- Yes

END Output Signal Range Setting

Changes the END output signal range.

- Yes

END Output Signal Offset

Offsets the END output signal value.

- Yes

A-/B- Phase Output

Use for motor position verification

Yes Yes

Timing Output Signal

This is output each time the motor rotates 7.2° (0.4° for output table)

Yes Yes

Velocity Filter Setting

Applies a filter to the operation command to control the motor action.

Yes Yes

Change the value corresponding to each of 0~F (16 levels) for the setting switch.

- Yes

Vibration Suppression Function for Normal Mode

Set to suppress resonant vibration during rotation.

- Yes

Set to suppress vibration during acceleration, deceleration and stopping.

- Yes

Gain Adjustment for Current Control Mode*

Adjusts the position and speed loop gain.

- Yes

Adjusts the speed integration time constant.

- Yes

Sets the damping control vibration frequency.

- Yes

Sets whether to enable or disable damping control.

- Yes

Selection of Motor Excitation Position at Power On

Selects the motor excitation position for when the power is turned on.

- Yes

Control Module Setting

Select whether to use symbols or an absolute value display for the speed display of the control module.

- Yes

Sets the geared motor gear ratio for the speed monitor (The gear ratio for the DGII Series is 1:18)

- Yes

*Except when to further reduce heat generation or noise, using normal mode is recommended.

Network Gateways

Network Gateways

The communication protocol of the master controller, Factory Automation (FA) network, is converted to Oriental Motor's own RS-485 communication protocol. Connection to Oriental Motor's network compatible products is completed with one RS-485 communication cable.

  • Compatible Networks:

*For use with Stored Data (Network) type



SCX11 Universal Controller

universal controller

The SCX11 is a highly-functional and sophisticated controller equipped with program editing and execution functions. Use the SCX11 as a stored program controller to connect to any of Oriental Motor's standard pulse input drivers. The SCX11 is also able to control the motor via serial communications such as USB, RS-232C and CANopen.

*For use with Pulse Input Type driver.


RS-485 Communication Cable

RS-485 Communication Cable

These cables are used to link drivers when a built-in controller type is being operated in a multi-drop manner.

*For use with Stored Data (Network) type



Applicable Product(s)


0.33 ft. (100 mm)

DC Input


0.82 ft. (250 mm)

DC Input
AC Input


Battery Set

Battery Set

You can build an absolute system that detects absolute positions by connecting the accessory battery (sold separately).

*For use with Stored Data (Network) type



These cables are used to connect or extend the distance between the motor and driver.

Required (sold separately).

Use a flexible motor cable if the motor is installed on a moving part or its cable will be flexed.

Control Options - Support Software

Communication Cable for Data Setting Software

This communication cable is required for connecting to the computer on which the data setting software is installed.


Mounting Pedestal

Installation Pedestal

This is a useful installation pedestal that enables the DGII Series to be used as a direct drive motor. Applications that require height and installation from the side can also be performed, expanding the range of available operations.


Home Sensor Set

Home Sensor Set

A home-sensor set, which consists of a photomicro sensor, connector with cable, sensor mounting bracket, shielding plate and mounting screws, is provided to facilitate easy return to home operation.

Available in NPN or PNP sensor output.














System Configuration

System Configuration

System Configuration

CAD / Manual Search

To locate product CAD and Operator Manuals please search using the product Item Number.



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