w w w i n t e l l i g e n t a c t u a t o r c o m
Direct Drive Motor DD
High Torque Type
Large Hollow Bore Type
High Resolution Type
Newest Additionsto the Series
Newest Additionsto the Series
The Direct Drive Motor is a rotary actuator that directly drives a rotary table with a motor without using any speed reducing mechanism such as a belt or reduction gears
Eliminating the speed reducing mechanism explains why high speed and excellent response can be attained with such a compact frame
High Torque Type Large Hollow Bore Typemdash Latest Additions to the Series
1
2
Features
Slim type (Rated torque 84 N∙m) High torque type (Rated torque 25 N∙m)
Standard Hollow
bore type
T18 type H18 type
Large Hollow
bore type
LT18 type LH18 type
High Torque High PayloadThe series now includes models designed for high torque and high payload so you can choose an ideal model for your application
Hollow boreoslash205 mm
Hollow boreoslash205 mm
Hollow boreoslash470 mm
Hollow boreoslash470 mm
1
Allowable moment of inertia
017 kgmiddotmsup2
RCS2-RTC12L (reduction ratio 130)
25gkg
200 mm 200 mm
Allowable moment of inertia
060 kgmiddotmsup2 18 kgmiddotmsup2
DD-T18LT18 type
kg
200 mm 200 mm
Max instantaneous torque 86 Nmiddotm Max instantaneous torque 252 Nmiddotm
MAX270 kg
MAXMAX
200 mm 200 mm
Allowable moment of inertiaDD-H18LH18 type
Max instantaneous torque 75 Nmiddotm
High Speed High Payload High Accuracy and Easy to Control Introducing A Direct Drive Motor Boasting Ultimate Usability
The Direct Drive Motor comes in the index absolute type having an operating range of 0 to 359999 deg and the multi-rotation absolute type having an operating range of plusmn9999 deg Neither type requires a home return meaning that once the power has been turned on the actuator can move directly from the current position The index type does not need an absolute battery Max plusmn 2520 deg for the 20-bit specifications (T18PLT18PH18PLH18P)
Shorter positioning time means shorter cycle time of your equipment resulting in greater productivity
Operating conditions When a work part weighing 100 g is placed on an aluminum disc of 300 mm in diameter and 6 mm in thickness and rotated by 180 deg
ltComparison of Cycle Timesgt
Application Examples
3
High Resolution Type Added
Index Absolute Type or Multi-rotation Absolute Type Can be Selected
4
5
High Speed High AccelerationDeceleration
RCS2-RTC12L
DD-T18DD-LT18
DD-H18DD-LH18
05 secApprox
50shorter
Approx
42shorter
025 sec
014 sec
t 6 mm
oslash 300 mm
type
type
Range of operation
Home return
Unlimited rotations
Absolute battery
Index absolute type
0 to 359999 deg
Not required
Yes
Not required
Multi-rotation absolute type
plusmn9999 deg
Not required
No
Required
High resolution type Standard type
Model DD-18P DD-18S
Encoder resolution 20-bit1048576 pulsesrev
17-bit131072 pulsesrev
Positioning repeatability plusmn000103 degplusmn37 arcsec
plusmn00055 degplusmn198 arcsec
NEW
2
High Speed High Payload High Accuracy and Easy to Control Introducing A Direct Drive Motor Boasting Ultimate Usability
Index tableltSmall board inspection systemgt
Work part transferltTransfer of parts from conveyor to conveyorgt
Multi-rotation operationltTransfer of electronic componentsgt
DD Motor Series List
Model Description
3
DD Direct Drive Motor
Cable lengthEncodertype
Range ofoperation
Series Motor wattageDD
Applicablecontroller
360 T2Type
None3m5mSpeciedlength
NSM
X200600
200W600W
360 360 deg
Note Only SCON-CA can be selected for the encoder high-resolution type (20-bit)
SCON-CAXSEL-PQXSEL-RS
T2AI
AMIndex absoluteMulti-rotation absolute T18S
T18PLT18SLT18PH18SH18PLH18SLH18P
Type EncoderStandard bore slimStandard bore slimLarge bore slimLarge bore slimStandard bore high torqueStandard bore high torqueLarge bore high torqueLarge bore high torque
Standard (17-bit)High resolution (20-bit)Standard (17-bit)High resolution (20-bit)Standard (17-bit)High resolution (20-bit)Standard (17-bit)High resolution (20-bit)
Type Standard boreslim type
Large boreslim type
Standard borehigh torque type
Large borehigh torque type
Encoder Standard(17-bit)
Highresolution
(20-bit)Standard
(17-bit)High
resolution(20-bit)
Standard(17-bit)
Highresolution
(20-bit)Standard
(17-bit)High
resolution(20-bit)
Model DD-T18S DD-T18P DD-LT18S DD-LT18P DD-H18S DD-H18P DD-LH18S DD-LH18P
External view
Rated torque (N∙m) 84 25
Max instantaneous torque (N∙m) 252 75
Rated speed (degs) 1080 1440
Maximum speed (degs) 1800 1440
Allowable load inertia (kg∙m2) 06 18
Motor wattage (W) 200 600
Size (mm) 180 times 180 180 times 180
Height (mm) 53 63 125
Hollow bore (mm) oslash205 oslash47 oslash205 oslash47
Weight (kg) 5 6 136 13
Encoder type Index absoluteMulti-rotation absolute
Applicable controller XSELSCON-CA SCON-CA XSEL
SCON-CA SCON-CA XSELSCON-CA SCON-CA XSEL
SCON-CA SCON-CA
Reference page P4 P5 P6 P7
4
DD Direct Drive Motor
CAD drawings can be downloaded from the website wwwintelligentactuatorcom
DD-T18 Direct Drive MotorStandard bore Slim type
Model Specifications
Common Specifications Run-out of Output Shaft
Dimensional Drawing
Drive systemPositioning repeatability Allowable dynamic load moment (Note 2)
Encoder resolutionAllowable thrust load (Note 2)
Base materialAmbient operating temperaturehumidityWeight
Applicable Controller Specifications
Caution
Model number Encoder typeMotor wattage
(W)
Range of operation
(deg)Speed (Note 1)
(degs)Rated torque
(Nmiddotm) ()
Maximuminstantaneous torque (Nmiddotm)
Allowable load inertia (kgmiddotmsup2)
Rotor inertia(kgmiddotmsup2)
(Note 1) The value in ( ) indicates the maximum speed The maximum speed may not be reached if the moving distance is short(Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in ve years based on this load(Note 3) The maximum cable length is 30 m Specify a desired length in meters (Example X08 = 8m) (Note 4) Please consult IAI if you are considering a 20-bit actuator and using it under conditions where the allowable dynamic moment and allowable thrust load will be exceeded
➀ ➁ ➂
➂
DD-T18 - -200-360-T2- 200 3601 to 1080
(1 to 1800)Index absolute typeMulti-rotation absolute type 84 252 06 0001984
Direct Drive Motor17-bit plusmn00055 deg 20-bit plusmn000103 deg80 Nmiddotm17-bit 131072 (pulsesrev) 20-bit 1048576 (pulsesrev)3400 N [3100N for the high resolution type]Aluminum0 to 40degC 20 to 85 (Non-condensing)5 kg
XSEL-PQRS
SCON-CA2-axis Single-phase
1-axis
Program
Positioner200VAC Single-phase
8-axis Three-phase 200VAC Three-phase
200VAC Single-phase
ModelSpecicationItems
360200T18Range ofoperation
TypeSeries Encodertype
Motorwattage
Applicablecontroller
Cablelength
200 200W 360 360 deg T2 SCON-CA XSEL-PQ XSEL-RS
T2DD
N NoneS 3mM 5m
P High resolution (20-bit)
Note Only SCON-CA applys for T18P
S Standard (17-bit)
X Specied length
Applicable controllers Operating method Power supply voltageMax number ofcontrolled axes
Note For DD-T18P only SCON-CA controller applysNote For the three-phase XSEL-PQ type 6-axes is the maximum number of controlled axes
➀ ➁Legend Encoder resolution Encoder type Cable length () The value when installed on an IAI rated heat dissipating plate (Please see P9 for further details)
AI Index absolute typeAM Multi-rotation absolute type
Thrust (axial) run-out (no load) 30 μm
Radial run-out (no load) 30 μm
oslash200plusmn005
6-M
5 e
ectiv
e dep
th 5
(equ
ally d
istrib
uted
)oslash1
02plusmn0
1
2-oslash6H7
Encoderconnector
Motorconnector
2-M
4 e
ect
ive
dept
h 8
180
160plusmn
01
55deg
180160plusmn01
(500)32 or less
94
5
oslash11
(500)
2-oslash4H7 eective depth 3
(equally distributed)
oslash110 0 (h7)oslash95
oslash180
oslash205
12plusmn1
23
A
003C05
oslash120
A003
-0035
A
120
plusmn 2
(dist
ance
bet
wee
n ca
ble j
unct
ions
)Gr
ound
tap
30deg
481
5
53plusmn0
1
(50)
CAD drawings can be downloaded from the website wwwintelligentactuatorcom
DD-LT18 Direct Drive MotorLarge bore Slim type
Model Specifications
Common Specifications Run-out of Output Shaft
Dimensional Drawing
Drive systemPositioning repeatability Allowable dynamic load moment (Note 2)
Encoder resolutionAllowable thrust load (Note 2)
Base materialAmbient operating temperaturehumidityWeight
Applicable Controller Specifications
Caution
Model number Encoder typeMotor wattage
(W)
Range of operation
(deg)Speed (Note 1)
(degs)Rated torque
(Nmiddotm) ()
Maximuminstantaneous torque (Nmiddotm)
Allowable load inertia (kgmiddotmsup2)
Rotor inertia(kgmiddotmsup2)
(Note 1) The value in ( ) indicates the maximum speed The maximum speed may not be reached if the moving distance is short(Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in ve years based on this load(Note 3) The maximum cable length is 30 m Specify a desired length in meters (Example X08 = 8m) (Note 4) Please consult IAI if you are considering a 20-bit actuator and using it under conditions where the allowable dynamic moment and allowable thrust load will be exceeded
200 3601 to 1080
(1 to 1800)Index absolute typeMulti-rotation absolute type 84 252 06 0001984
Direct Drive Motor17-bit plusmn00055 deg 20-bit plusmn000103 deg80 Nmiddotm17-bit 131072 (pulsesrev) 20-bit 1048576 (pulsesrev)3400 N [3100N for the high resolution type]Aluminum0 to 40degC 20 to 85 (Non-condensing)6 kg
XSEL-PQRS
SCON-CA2-axis Single-phase
1-axis
Program
Positioner200VAC Single-phase
8-axis Three-phase 200VAC Three-phase
200VAC Single-phase
ModelSpecicationItems
360200LT18Range ofoperation
TypeSeries Encodertype
Motorwattage
Applicablecontroller
Cablelength
200 200W 360 360 deg T2 SCON-CA XSEL-PQ XSEL-RS
T2DD
N NoneS 3mM 5m
P High resolution (20-bit)
Note Only SCON-CA applys for LT18P
S Standard (17-bit)
X Specied length
Applicable controllers Operating method Power supply voltageMax number ofcontrolled axes
Note For DD-LT18P only SCON-CA controller applysNote For the three-phase XSEL-PQ type 6-axes is the maximum number of controlled axes
➀ ➁ ➂
➂
DD-LT18 - -200-360-T2-
➀ ➁Legend Encoder resolution Encoder type Cable length () The value when installed on an IAI rated heat dissipating plate (Please see P9 for further details)
AI Index absolute typeAM Multi-rotation absolute type
0 (h7)
55deg
(59
4)
30deg
Thrust (axial) run-out (no load) 30 μm
Radial run-out (no load) 30 μm
Encoderconnector
Motorconnector
12plusmn1
581
5
33
B
63plusmn0
1
B003B003
5
(500)32 or less
2-oslash4H7 eective depth 3
(equally distributed)
94
oslash102
plusmn01
oslash11
(500)2-M
4 e
ect
ive
dept
h 8
Grou
nd ta
p
180
160plusmn
01
oslash200plusmn005
2-oslash6H7
oslash95
oslash180
oslash47
180160plusmn01
C05
oslash120
oslash110 -0035
6-M
5 e
ectiv
e dep
th 5
(equ
ally d
istrib
uted
)
120
plusmn 2
(dist
ance
bet
wee
n ca
ble j
unct
ions
)
5
DD Direct Drive Motor
CAD drawings can be downloaded from the website wwwintelligentactuatorcom
DD-H18 Direct Drive MotorStandard bore High-torque type
Model Specifications
Common Specifications Run-out of Output Shaft
Dimensional Drawing
Drive systemPositioning repeatability Allowable dynamic load moment (Note 2)
Encoder resolutionAllowable thrust load (Note 2)
Base materialAmbient operating temperaturehumidityWeight
Applicable Controller Specifications
Caution
Model number Encoder typeMotor wattage
(W)
Range of operation
(deg)Speed (Note 1)
(degs)Rated torque
(Nmiddotm) ()
Maximuminstantaneous torque (Nmiddotm)
Allowable load inertia (kgmiddotmsup2)
Rotor inertia(kgmiddotmsup2)
(Note 1) The maximum speed may not be reached if the moving distance is short
(Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in ve years based on this load
(Note 3) The maximum cable length is 30 m Specify a desired length in meters (Example X08 = 8m) (Note 4) Please consult IAI if you are considering a 20-bit actuator and using it under conditions where the allowable dynamic moment and allowable thrust load will be exceeded
600 360 1 to 1440Index absolute typeMulti-rotation absolute type 25 75 18 00106
Direct Drive Motor17-bit plusmn00055 deg 20-bit plusmn000103 deg80 Nmiddotm17-bit 131072 (pulsesrev) 20-bit 1048576 (pulsesrev)3400 N [3100N for the high resolution type]Aluminum0 to 40degC 20 to 85 (Non-condensing)136 kg
XSEL-PQRS
SCON-CA1-axis Single-phase
1-axis
Program
Positioner200VAC Single-phase
2-axis Three-phase 200VAC Three-phase
200VAC Single-phase
ModelSpecicationItems
360600H18Range ofoperation
TypeSeries Encodertype
Motorwattage
Applicablecontroller
Cablelength
600 600W 360 360 deg T2 SCON-CA XSEL-PQ XSEL-RS
T2DD
N NoneS 3mM 5m
P High resolution (20-bit)
Note Only SCON-CA applys for H18P
S Standard (17-bit)
X Specied length
Applicable controllers Operating method Power supply voltageMax number ofcontrolled axes
Note For DD-H18P only SCON-CA controller applys
➀ ➁ ➂
➂
DD-H18 - -600-360-T2-
➀ ➁Legend Encoder resolution Encoder type Cable length () The value when installed on an IAI rated heat dissipating plate (Please see P9 for further details)
Thrust (axial) run-out (no load) 30 μm
Radial run-out (no load) 30 μm
5
94
34 or less
(500)
(500)
oslash11
120
plusmn 2
(dist
ance
bet
wee
n ca
ble j
unct
ions
)
Encoderconnector
Motorconnector
2-M4 eective depth 8Ground tap
2-oslash4H7 eective depth 4
(equally distributed)
C05
180
160plusmn
01
oslash120oslash110 -0035 (h7)
oslash93
oslash180
160plusmn01180
55deg
003 A
003 A
oslash101plusmn01
30deg
oslash200plusmn005
2-oslash6H7 6-M6 e
ectiv
e dep
th 9
(equall
y dist
ributed
)
13plusmn1
125plusmn
01
Aoslash205
0
118
15(1
20)
31
AI Index absolute typeAM Multi-rotation absolute type
6
DD Direct Drive Motor
CAD drawings can be downloaded from the website wwwintelligentactuatorcom
DD-LH18 Direct Drive MotorLarge bore High-torque type
Model Specifications
Common Specifications Run-out of Output Shaft
Dimensional Drawing
Drive systemPositioning repeatability Allowable dynamic load moment (Note 2)
Encoder resolutionAllowable thrust load (Note 2)
Base materialAmbient operating temperaturehumidityWeight
Applicable Controller Specifications
Caution
Model number Encoder typeMotor wattage
(W)
Range of operation
(deg)Speed (Note 1)
(degs)Rated torque
(Nmiddotm) ()
Maximuminstantaneous torque (Nmiddotm)
Allowable load inertia (kgmiddotmsup2)
Rotor inertia(kgmiddotmsup2)
600 360 1 to 1440Index absolute typeMulti-rotation absolute type 25 75 18 00106
Direct Drive Motor17-bit plusmn00055 deg 20-bit plusmn000103 deg80 Nmiddotm17-bit 131072 (pulsesrev) 20-bit 1048576 (pulsesrev)3400 N [3100N for the high resolution type]Aluminum0 to 40degC 20 to 85 (Non-condensing)13 kg
XSEL-PQRS
SCON-CA1-axis Single-phase
1-axis
Program
Positioner200VAC Single-phase
2-axis Three-phase 200VAC Three-phase
200VAC Single-phase
ModelSpecicationItems
360600LH18Range ofoperation
TypeSeries Encodertype
Motorwattage
Applicablecontroller
Cablelength
600 600W 360 360 deg T2 SCON-CA XSEL-PQ XSEL-RS
T2DD
N NoneS 3mM 5m
P High resolution (20-bit)
Note Only SCON-CA applys for LH18P
S Standard (17-bit)
X Specied length
Applicable controllers Operating method Power supply voltageMax number ofcontrolled axes
Note For DD-LH18P only SCON-CA controller applys
➀ ➁ ➂
➂
DD-LH18 - -600-360-T2-
➀ ➁Legend Encoder resolution Encoder type Cable length () The value when installed on an IAI rated heat dissipating plate (Please see P9 for further details)
(Note 1) The maximum speed may not be reached if the moving distance is short
(Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in ve years based on this load
(Note 3) The maximum cable length is 30 m Specify a desired length in meters (Example X08 = 8m) (Note 4) Please consult IAI if you are considering a 20-bit actuator and using it under conditions where the allowable dynamic moment and allowable thrust load will be exceeded
AI Index absolute typeAM Multi-rotation absolute type
Thrust (axial) run-out (no load) 30 μm
Radial run-out (no load) 30 μm
Encoderconnector
Motorconnector
94
(h7)
oslash180
180160plusmn01
(500)
A003
oslash120
A003
34 or less
2-oslash4H7 eective depth 3
(equally distributed)
120
plusmn 2
(dist
ance
bet
wee
n ca
ble j
unct
ions
)
oslash110 -0035
oslash47
180
160plusmn
01
oslash11
oslash200plusmn005
2-oslash6H7
55deg
C05
(500)
30deg
oslash93
oslash101plusmn01
6-M6 eecti
ve depth 5
(equally distributed)
2-M4 eective depth 8Ground tap
0
13plusmn1
(120
)
118
15
A
125plusmn
01
31
5
7
DD Direct Drive Motor
Model Number of Positioner Single-axis Type ltSCON-CAgt
Power-supplyvoltage
IO typeEncoder typeMotor typeTypeSeries OptionsSCON
IO cable length
A Absolute specication I
M
Index absolute type
Multi-rotation absolute type
For 200-watt motor (DD motor only)
For 600-watt motor
CA A 2
Model Number of Programmable Multi-axis Type ltXSELgt
Encoder type Encoder typeMotor type Motor typeNumber ofconnected axes
TypeSeries Options OptionsXSEL
600 For 600-watt motor
200
200S
600
For 200-watt motor
A Absolute specication I
M
Index absolute type
Multi-rotation absolute type
P
Q
R
S
6-axis type
6-axis global type
8-axis type
8-axis global type1
8
1 axis
8 axes
A A
(The PQ type can only accommodate up to 6 axes)
(Specs for axis 1) (Specs for axes 2~8)
A single controller can operate multiple actuators other thanthe DD motor (single-axis robot ROBO Cylinder) at the sametime For details on actuators other than the DD motor thatcan be connected refer to the page listing the XSEL modelnumbers in the ROBO Cylinder General Catalog
For the remaining part of the model number see the ROBO CylinderGeneral Catalog
Caution
Because the 200W driver for the SCON-CA for DD motors is larger than the regular 200-watt type the motor type will be 200S
The controller may be selected from the two models described below
When the XSEL controller is connected
SCON-CAPC
PLC(To be supplied by the customer)
PLC(To be supplied by the customer)
IO at cableModel CB-PAC-PIO020Standard 2 m
Be sure to use a noise filter on the power supply (For recommended models see the general catalog)
Encoder cableModel CB-X3-PA
PC softwareRS232 connection typeModel RCM-101-MWUSB connection typeModel RCM-101-USB
Teaching pendant Model TB-01-C
Regenerative resistor unitModel REU-2
Main power supply
Main power supply
Single-phase 200 VAC
Field network(For details see the ROBO Cylinder General Catalog)
Option
Comes with the actuator
Comes with the controller
Comes with the actuator Option
Option
OptionMotor CableModel CB-X-MA(T18LT18) CB-XMC-MA(H18LH18)
XSELPC
Be sure to use a noise filter on the power supply (For recommended models see the general catalog)
PC softwareRS232 connection typeModel IA-101-X-MWUSB connection typeModel IA-101-X-USBMW
Single-phase 200 VACThree-phase 200 VAC
Regenerative resistor unitModel REU-1
Option
Option
Field network(For details see the ROBO Cylinder General Catalog)
Option
IO at cableModel CB-X-PIO020Standard 2 m
Comes with the controller
Encoder cableModel CB-X3-PA
Comes with the actuator
Comes with the actuatorMotor CableModel CB-X-MA(T18LT18) CB-XMC-MA(H18LH18)
When the SCON controller is connected
See page 9 to nd out how many regenerative resistor units are needed
See page 9 to nd out how many regenerative resistor units are needed
Teaching pendant Model TB-01-S
Option
Controller Model Numbers
System Configuration
8
DD Direct Drive Motor
Notes Installation
Installation OrientationDo not install it in a vertical position or hung on the ceiling
Controllers The output of the DD motor is 200 watts but the outside dimensions of the SCON-CA controller are those of the 400-watt type (For details on the outside dimensions of the SCON-CA see the ROBO Cylinder General Catalog) One and two regenerative resistor unit(s) are required for T18LT18 and H18LH18 respectively to operate a DD motor with the SCON-CA When operating DD motor(s) with the XSEL controller regenerative resistor units are required as shown below
The number of DD motor(s) connectable to the XSEL controller are a max of 8 units for the T18LT18 types and a max of 2 units for the H18LH18 types Please note that when the DD motor is operated with the SCON-CA the motor cannot be connected to the ROBO Cylinder gateway function of the XSEL controller Calculation the for power supply value T18LT18 types single-phase 600W bull three-phase 200W H18LH18 types single-phase 1200W bull three-phase 600W
Operation TypesTwo operation types can be selected to suit specic operating conditionsCheck the features of the dierent types of DD motors and other notes before use
The high resolution specication can be connected only to the SCON-CA
When the XSEL absolute index type travels more than 180deg from the current position it rotates in a direction that requires a shorter travel to reach the target position Therefore please note that the direction of rotation changes according to the current position and travelIf you want to specify the direction of travel use the SCON-CA
The index type can be rotated in a given direction innitely but it actually cannot continue to rotate in the same direction without stopping like a regular motor does because the maximum travel distance per command from the XSEL controller is 180deg If you want to allow the motor to rotate continuously use the SCON-CA
Home return is required for the multi-rotation absolute encoder during the initial setting and replacement of the absolute battery
(1)
(2)
(3)
(4)
Operation typeController typeOperation rangeMaximum travel per travel commandInnite rotationHome returnAbsolute battery
Index absolute type
0 to 359999deg
Available (3)Not requiredNot required
SCON-CA
360deg
XSEL (1)
180deg (2)
Multi-rotation absolute type
Max plusmn9999deg (plusmn2520deg)Within the above operation range
Not availableNot required (4)
Required
SCON-CA XSEL (1)
160
Positioning hole for DD motor2-oslash4 reamed hole through
Mounting hole for DD motor4-oslash11 drilled through
oslash200
55deg
160
H
Installation surface
Ceiling mountVertical mount
Gra
vity
Horizontal mount
The height ldquoHrdquo measurements
mmT1823
LT1833
H1831
LH1831
(Note) Use this product by installing it on a mounting surfacehaving heat dissipating characteristics equivalent to those of an aluminum plate of 400 x 400 x t10 mm in sizeIf the installation conditions necessitate lower heat dissipating characteristics please consult IAI
( ) indicates at 20-bit resolution
Number of regenerative resistor units
1 2 3 4 5 6 7 81 2 3
(Cannot be connected)4
2 4
T18LT18
H18LH18
Number of DD motor(s)
9
DD Direct Drive Motor
Conditions for SelectionThe following should be checked to determine whether the DD motor can be used to suit the specic conditions required by the customer
Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DD motor specications to determine whether the DD motor can be used under the applicable operating conditions
The customer should conrm that the following three points under actual use do not exceed their maximum allowable levels as specied for the DD motor
The total load of device(s) mounted on the actuator
The total load moment of device(s) mounted on the actuator
The load inertia of device(s) mounted on the actuator
To calculate the load conditions calculate the load inertia of device(s) mounted on the actuator and check the details with the DD motor selection software The equations used to calculate the load inertia of typical shapes are shown below for reference purposes
Download the DD motor selection software from httpwwwintelligentactuatorcomdd-selection-software
Download the DD motor selection software from httpwwwintelligentactuatorcomdd-selection-software
Check Load Conditions1
Check Operating Conditions2
The travel time changes according to the load inertia See the tables below to check the travel time data The data in the tables is only intended as a guide so the travel time is not guaranteed
Travel Time Guide3
[1] Thrust load
[2] Load moment applied
[3] Load inertia
J = M x R2 + 112 x M x (a2 + b2)J = M x R2 + 18 x M x D2 J = 112 x M x (a2 + b2)J = 18 x M x D2
Weight M
D
Cent
er of
ro
tatio
n
a
b
Cent
er of
ro
tatio
n
Weight MWeight MCent
er o
f rot
atio
n
D
R Cent
er o
f rot
atio
n
a
bR
Weight M
To calculate operating conditions use the DD motor selection software
DD Direct Drive Motor
10
Load inertia lower limit [kgm2] 0 0005 001 002 002 003 004 006 008 010 015 02 03 04 06 08 10 12 14
Load inertia upper limit [kgm2] 0005 001 0015 002 003 004 006 008 01 015 02 03 04 06 08 1 12 14 18
45deg travel time [sec] 0098 0096 0096 0097 0099 0104 0113 012 0126 014 0157 0207 0257 0352 0447 053 0629 0795 0875
90deg travel time [sec] 0129 0128 0127 0128 0131 0136 0144 0153 0163 0184 0208 0268 0329 044 0549 0646 0758 0941 1035
180deg travel time [sec] 0192 019 019 0191 0193 0199 0207 0215 0225 0249 0279 0354 0428 0562 0692 0806 0933 1133 1257
270deg travel time [sec] 0254 0252 0252 0253 0256 0262 027 0278 0288 0312 0341 042 0504 0655 08 0925 1064 1274 1415
DD-H18LH18
Load inertia lower limit [kgm2] 0 0005 001 002 003 004 005 006 007 008 009 01 02 03 04 05
Load inertia upper limit [kgm2] 0005 001 002 003 004 005 006 007 008 009 01 02 03 04 05 06
45deg travel time [sec] 009 010 011 012 013 014 015 017 019 021 023 039 062 070 087 111
90deg travel time [sec] 012 012 014 016 017 018 020 022 024 026 029 048 073 083 102 123
180deg travel time [sec] 017 017 019 021 023 024 027 029 032 035 037 060 089 101 122 142
270deg travel time [sec] 022 022 024 026 027 029 032 035 038 041 044 069 100 114 136 168
DD-T18LT18
(Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)
(Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)
CJ0199-2A-UST-1-0814
IAI America IncHeadquarters 2690 W 237th Street Torrance CA 90505 (800) 736-1712Chicago Office 110 East State Parkway Schaumburg IL 60173 (800) 944-0333Atlanta Office 1220 Kennestone Circle Suite 108 Marietta GA 30066 (888) 354-9470
wwwintelligentactuatorcom
IAI Industrieroboter GmbHOber der Roumlth 4 D-65824 Schwalbach am Taunus Germany
IAI Robot (Thailand) CO Ltd825 PhairojKijja Tower 12th Floor Bangna-Trad RDBangna Bangna Bangkok 10260 Thailand
The information contained in this product brochure may change without prior notice due to product improvements
The Direct Drive Motor is a rotary actuator that directly drives a rotary table with a motor without using any speed reducing mechanism such as a belt or reduction gears
Eliminating the speed reducing mechanism explains why high speed and excellent response can be attained with such a compact frame
High Torque Type Large Hollow Bore Typemdash Latest Additions to the Series
1
2
Features
Slim type (Rated torque 84 N∙m) High torque type (Rated torque 25 N∙m)
Standard Hollow
bore type
T18 type H18 type
Large Hollow
bore type
LT18 type LH18 type
High Torque High PayloadThe series now includes models designed for high torque and high payload so you can choose an ideal model for your application
Hollow boreoslash205 mm
Hollow boreoslash205 mm
Hollow boreoslash470 mm
Hollow boreoslash470 mm
1
Allowable moment of inertia
017 kgmiddotmsup2
RCS2-RTC12L (reduction ratio 130)
25gkg
200 mm 200 mm
Allowable moment of inertia
060 kgmiddotmsup2 18 kgmiddotmsup2
DD-T18LT18 type
kg
200 mm 200 mm
Max instantaneous torque 86 Nmiddotm Max instantaneous torque 252 Nmiddotm
MAX270 kg
MAXMAX
200 mm 200 mm
Allowable moment of inertiaDD-H18LH18 type
Max instantaneous torque 75 Nmiddotm
High Speed High Payload High Accuracy and Easy to Control Introducing A Direct Drive Motor Boasting Ultimate Usability
The Direct Drive Motor comes in the index absolute type having an operating range of 0 to 359999 deg and the multi-rotation absolute type having an operating range of plusmn9999 deg Neither type requires a home return meaning that once the power has been turned on the actuator can move directly from the current position The index type does not need an absolute battery Max plusmn 2520 deg for the 20-bit specifications (T18PLT18PH18PLH18P)
Shorter positioning time means shorter cycle time of your equipment resulting in greater productivity
Operating conditions When a work part weighing 100 g is placed on an aluminum disc of 300 mm in diameter and 6 mm in thickness and rotated by 180 deg
ltComparison of Cycle Timesgt
Application Examples
3
High Resolution Type Added
Index Absolute Type or Multi-rotation Absolute Type Can be Selected
4
5
High Speed High AccelerationDeceleration
RCS2-RTC12L
DD-T18DD-LT18
DD-H18DD-LH18
05 secApprox
50shorter
Approx
42shorter
025 sec
014 sec
t 6 mm
oslash 300 mm
type
type
Range of operation
Home return
Unlimited rotations
Absolute battery
Index absolute type
0 to 359999 deg
Not required
Yes
Not required
Multi-rotation absolute type
plusmn9999 deg
Not required
No
Required
High resolution type Standard type
Model DD-18P DD-18S
Encoder resolution 20-bit1048576 pulsesrev
17-bit131072 pulsesrev
Positioning repeatability plusmn000103 degplusmn37 arcsec
plusmn00055 degplusmn198 arcsec
NEW
2
High Speed High Payload High Accuracy and Easy to Control Introducing A Direct Drive Motor Boasting Ultimate Usability
Index tableltSmall board inspection systemgt
Work part transferltTransfer of parts from conveyor to conveyorgt
Multi-rotation operationltTransfer of electronic componentsgt
DD Motor Series List
Model Description
3
DD Direct Drive Motor
Cable lengthEncodertype
Range ofoperation
Series Motor wattageDD
Applicablecontroller
360 T2Type
None3m5mSpeciedlength
NSM
X200600
200W600W
360 360 deg
Note Only SCON-CA can be selected for the encoder high-resolution type (20-bit)
SCON-CAXSEL-PQXSEL-RS
T2AI
AMIndex absoluteMulti-rotation absolute T18S
T18PLT18SLT18PH18SH18PLH18SLH18P
Type EncoderStandard bore slimStandard bore slimLarge bore slimLarge bore slimStandard bore high torqueStandard bore high torqueLarge bore high torqueLarge bore high torque
Standard (17-bit)High resolution (20-bit)Standard (17-bit)High resolution (20-bit)Standard (17-bit)High resolution (20-bit)Standard (17-bit)High resolution (20-bit)
Type Standard boreslim type
Large boreslim type
Standard borehigh torque type
Large borehigh torque type
Encoder Standard(17-bit)
Highresolution
(20-bit)Standard
(17-bit)High
resolution(20-bit)
Standard(17-bit)
Highresolution
(20-bit)Standard
(17-bit)High
resolution(20-bit)
Model DD-T18S DD-T18P DD-LT18S DD-LT18P DD-H18S DD-H18P DD-LH18S DD-LH18P
External view
Rated torque (N∙m) 84 25
Max instantaneous torque (N∙m) 252 75
Rated speed (degs) 1080 1440
Maximum speed (degs) 1800 1440
Allowable load inertia (kg∙m2) 06 18
Motor wattage (W) 200 600
Size (mm) 180 times 180 180 times 180
Height (mm) 53 63 125
Hollow bore (mm) oslash205 oslash47 oslash205 oslash47
Weight (kg) 5 6 136 13
Encoder type Index absoluteMulti-rotation absolute
Applicable controller XSELSCON-CA SCON-CA XSEL
SCON-CA SCON-CA XSELSCON-CA SCON-CA XSEL
SCON-CA SCON-CA
Reference page P4 P5 P6 P7
4
DD Direct Drive Motor
CAD drawings can be downloaded from the website wwwintelligentactuatorcom
DD-T18 Direct Drive MotorStandard bore Slim type
Model Specifications
Common Specifications Run-out of Output Shaft
Dimensional Drawing
Drive systemPositioning repeatability Allowable dynamic load moment (Note 2)
Encoder resolutionAllowable thrust load (Note 2)
Base materialAmbient operating temperaturehumidityWeight
Applicable Controller Specifications
Caution
Model number Encoder typeMotor wattage
(W)
Range of operation
(deg)Speed (Note 1)
(degs)Rated torque
(Nmiddotm) ()
Maximuminstantaneous torque (Nmiddotm)
Allowable load inertia (kgmiddotmsup2)
Rotor inertia(kgmiddotmsup2)
(Note 1) The value in ( ) indicates the maximum speed The maximum speed may not be reached if the moving distance is short(Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in ve years based on this load(Note 3) The maximum cable length is 30 m Specify a desired length in meters (Example X08 = 8m) (Note 4) Please consult IAI if you are considering a 20-bit actuator and using it under conditions where the allowable dynamic moment and allowable thrust load will be exceeded
➀ ➁ ➂
➂
DD-T18 - -200-360-T2- 200 3601 to 1080
(1 to 1800)Index absolute typeMulti-rotation absolute type 84 252 06 0001984
Direct Drive Motor17-bit plusmn00055 deg 20-bit plusmn000103 deg80 Nmiddotm17-bit 131072 (pulsesrev) 20-bit 1048576 (pulsesrev)3400 N [3100N for the high resolution type]Aluminum0 to 40degC 20 to 85 (Non-condensing)5 kg
XSEL-PQRS
SCON-CA2-axis Single-phase
1-axis
Program
Positioner200VAC Single-phase
8-axis Three-phase 200VAC Three-phase
200VAC Single-phase
ModelSpecicationItems
360200T18Range ofoperation
TypeSeries Encodertype
Motorwattage
Applicablecontroller
Cablelength
200 200W 360 360 deg T2 SCON-CA XSEL-PQ XSEL-RS
T2DD
N NoneS 3mM 5m
P High resolution (20-bit)
Note Only SCON-CA applys for T18P
S Standard (17-bit)
X Specied length
Applicable controllers Operating method Power supply voltageMax number ofcontrolled axes
Note For DD-T18P only SCON-CA controller applysNote For the three-phase XSEL-PQ type 6-axes is the maximum number of controlled axes
➀ ➁Legend Encoder resolution Encoder type Cable length () The value when installed on an IAI rated heat dissipating plate (Please see P9 for further details)
AI Index absolute typeAM Multi-rotation absolute type
Thrust (axial) run-out (no load) 30 μm
Radial run-out (no load) 30 μm
oslash200plusmn005
6-M
5 e
ectiv
e dep
th 5
(equ
ally d
istrib
uted
)oslash1
02plusmn0
1
2-oslash6H7
Encoderconnector
Motorconnector
2-M
4 e
ect
ive
dept
h 8
180
160plusmn
01
55deg
180160plusmn01
(500)32 or less
94
5
oslash11
(500)
2-oslash4H7 eective depth 3
(equally distributed)
oslash110 0 (h7)oslash95
oslash180
oslash205
12plusmn1
23
A
003C05
oslash120
A003
-0035
A
120
plusmn 2
(dist
ance
bet
wee
n ca
ble j
unct
ions
)Gr
ound
tap
30deg
481
5
53plusmn0
1
(50)
CAD drawings can be downloaded from the website wwwintelligentactuatorcom
DD-LT18 Direct Drive MotorLarge bore Slim type
Model Specifications
Common Specifications Run-out of Output Shaft
Dimensional Drawing
Drive systemPositioning repeatability Allowable dynamic load moment (Note 2)
Encoder resolutionAllowable thrust load (Note 2)
Base materialAmbient operating temperaturehumidityWeight
Applicable Controller Specifications
Caution
Model number Encoder typeMotor wattage
(W)
Range of operation
(deg)Speed (Note 1)
(degs)Rated torque
(Nmiddotm) ()
Maximuminstantaneous torque (Nmiddotm)
Allowable load inertia (kgmiddotmsup2)
Rotor inertia(kgmiddotmsup2)
(Note 1) The value in ( ) indicates the maximum speed The maximum speed may not be reached if the moving distance is short(Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in ve years based on this load(Note 3) The maximum cable length is 30 m Specify a desired length in meters (Example X08 = 8m) (Note 4) Please consult IAI if you are considering a 20-bit actuator and using it under conditions where the allowable dynamic moment and allowable thrust load will be exceeded
200 3601 to 1080
(1 to 1800)Index absolute typeMulti-rotation absolute type 84 252 06 0001984
Direct Drive Motor17-bit plusmn00055 deg 20-bit plusmn000103 deg80 Nmiddotm17-bit 131072 (pulsesrev) 20-bit 1048576 (pulsesrev)3400 N [3100N for the high resolution type]Aluminum0 to 40degC 20 to 85 (Non-condensing)6 kg
XSEL-PQRS
SCON-CA2-axis Single-phase
1-axis
Program
Positioner200VAC Single-phase
8-axis Three-phase 200VAC Three-phase
200VAC Single-phase
ModelSpecicationItems
360200LT18Range ofoperation
TypeSeries Encodertype
Motorwattage
Applicablecontroller
Cablelength
200 200W 360 360 deg T2 SCON-CA XSEL-PQ XSEL-RS
T2DD
N NoneS 3mM 5m
P High resolution (20-bit)
Note Only SCON-CA applys for LT18P
S Standard (17-bit)
X Specied length
Applicable controllers Operating method Power supply voltageMax number ofcontrolled axes
Note For DD-LT18P only SCON-CA controller applysNote For the three-phase XSEL-PQ type 6-axes is the maximum number of controlled axes
➀ ➁ ➂
➂
DD-LT18 - -200-360-T2-
➀ ➁Legend Encoder resolution Encoder type Cable length () The value when installed on an IAI rated heat dissipating plate (Please see P9 for further details)
AI Index absolute typeAM Multi-rotation absolute type
0 (h7)
55deg
(59
4)
30deg
Thrust (axial) run-out (no load) 30 μm
Radial run-out (no load) 30 μm
Encoderconnector
Motorconnector
12plusmn1
581
5
33
B
63plusmn0
1
B003B003
5
(500)32 or less
2-oslash4H7 eective depth 3
(equally distributed)
94
oslash102
plusmn01
oslash11
(500)2-M
4 e
ect
ive
dept
h 8
Grou
nd ta
p
180
160plusmn
01
oslash200plusmn005
2-oslash6H7
oslash95
oslash180
oslash47
180160plusmn01
C05
oslash120
oslash110 -0035
6-M
5 e
ectiv
e dep
th 5
(equ
ally d
istrib
uted
)
120
plusmn 2
(dist
ance
bet
wee
n ca
ble j
unct
ions
)
5
DD Direct Drive Motor
CAD drawings can be downloaded from the website wwwintelligentactuatorcom
DD-H18 Direct Drive MotorStandard bore High-torque type
Model Specifications
Common Specifications Run-out of Output Shaft
Dimensional Drawing
Drive systemPositioning repeatability Allowable dynamic load moment (Note 2)
Encoder resolutionAllowable thrust load (Note 2)
Base materialAmbient operating temperaturehumidityWeight
Applicable Controller Specifications
Caution
Model number Encoder typeMotor wattage
(W)
Range of operation
(deg)Speed (Note 1)
(degs)Rated torque
(Nmiddotm) ()
Maximuminstantaneous torque (Nmiddotm)
Allowable load inertia (kgmiddotmsup2)
Rotor inertia(kgmiddotmsup2)
(Note 1) The maximum speed may not be reached if the moving distance is short
(Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in ve years based on this load
(Note 3) The maximum cable length is 30 m Specify a desired length in meters (Example X08 = 8m) (Note 4) Please consult IAI if you are considering a 20-bit actuator and using it under conditions where the allowable dynamic moment and allowable thrust load will be exceeded
600 360 1 to 1440Index absolute typeMulti-rotation absolute type 25 75 18 00106
Direct Drive Motor17-bit plusmn00055 deg 20-bit plusmn000103 deg80 Nmiddotm17-bit 131072 (pulsesrev) 20-bit 1048576 (pulsesrev)3400 N [3100N for the high resolution type]Aluminum0 to 40degC 20 to 85 (Non-condensing)136 kg
XSEL-PQRS
SCON-CA1-axis Single-phase
1-axis
Program
Positioner200VAC Single-phase
2-axis Three-phase 200VAC Three-phase
200VAC Single-phase
ModelSpecicationItems
360600H18Range ofoperation
TypeSeries Encodertype
Motorwattage
Applicablecontroller
Cablelength
600 600W 360 360 deg T2 SCON-CA XSEL-PQ XSEL-RS
T2DD
N NoneS 3mM 5m
P High resolution (20-bit)
Note Only SCON-CA applys for H18P
S Standard (17-bit)
X Specied length
Applicable controllers Operating method Power supply voltageMax number ofcontrolled axes
Note For DD-H18P only SCON-CA controller applys
➀ ➁ ➂
➂
DD-H18 - -600-360-T2-
➀ ➁Legend Encoder resolution Encoder type Cable length () The value when installed on an IAI rated heat dissipating plate (Please see P9 for further details)
Thrust (axial) run-out (no load) 30 μm
Radial run-out (no load) 30 μm
5
94
34 or less
(500)
(500)
oslash11
120
plusmn 2
(dist
ance
bet
wee
n ca
ble j
unct
ions
)
Encoderconnector
Motorconnector
2-M4 eective depth 8Ground tap
2-oslash4H7 eective depth 4
(equally distributed)
C05
180
160plusmn
01
oslash120oslash110 -0035 (h7)
oslash93
oslash180
160plusmn01180
55deg
003 A
003 A
oslash101plusmn01
30deg
oslash200plusmn005
2-oslash6H7 6-M6 e
ectiv
e dep
th 9
(equall
y dist
ributed
)
13plusmn1
125plusmn
01
Aoslash205
0
118
15(1
20)
31
AI Index absolute typeAM Multi-rotation absolute type
6
DD Direct Drive Motor
CAD drawings can be downloaded from the website wwwintelligentactuatorcom
DD-LH18 Direct Drive MotorLarge bore High-torque type
Model Specifications
Common Specifications Run-out of Output Shaft
Dimensional Drawing
Drive systemPositioning repeatability Allowable dynamic load moment (Note 2)
Encoder resolutionAllowable thrust load (Note 2)
Base materialAmbient operating temperaturehumidityWeight
Applicable Controller Specifications
Caution
Model number Encoder typeMotor wattage
(W)
Range of operation
(deg)Speed (Note 1)
(degs)Rated torque
(Nmiddotm) ()
Maximuminstantaneous torque (Nmiddotm)
Allowable load inertia (kgmiddotmsup2)
Rotor inertia(kgmiddotmsup2)
600 360 1 to 1440Index absolute typeMulti-rotation absolute type 25 75 18 00106
Direct Drive Motor17-bit plusmn00055 deg 20-bit plusmn000103 deg80 Nmiddotm17-bit 131072 (pulsesrev) 20-bit 1048576 (pulsesrev)3400 N [3100N for the high resolution type]Aluminum0 to 40degC 20 to 85 (Non-condensing)13 kg
XSEL-PQRS
SCON-CA1-axis Single-phase
1-axis
Program
Positioner200VAC Single-phase
2-axis Three-phase 200VAC Three-phase
200VAC Single-phase
ModelSpecicationItems
360600LH18Range ofoperation
TypeSeries Encodertype
Motorwattage
Applicablecontroller
Cablelength
600 600W 360 360 deg T2 SCON-CA XSEL-PQ XSEL-RS
T2DD
N NoneS 3mM 5m
P High resolution (20-bit)
Note Only SCON-CA applys for LH18P
S Standard (17-bit)
X Specied length
Applicable controllers Operating method Power supply voltageMax number ofcontrolled axes
Note For DD-LH18P only SCON-CA controller applys
➀ ➁ ➂
➂
DD-LH18 - -600-360-T2-
➀ ➁Legend Encoder resolution Encoder type Cable length () The value when installed on an IAI rated heat dissipating plate (Please see P9 for further details)
(Note 1) The maximum speed may not be reached if the moving distance is short
(Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in ve years based on this load
(Note 3) The maximum cable length is 30 m Specify a desired length in meters (Example X08 = 8m) (Note 4) Please consult IAI if you are considering a 20-bit actuator and using it under conditions where the allowable dynamic moment and allowable thrust load will be exceeded
AI Index absolute typeAM Multi-rotation absolute type
Thrust (axial) run-out (no load) 30 μm
Radial run-out (no load) 30 μm
Encoderconnector
Motorconnector
94
(h7)
oslash180
180160plusmn01
(500)
A003
oslash120
A003
34 or less
2-oslash4H7 eective depth 3
(equally distributed)
120
plusmn 2
(dist
ance
bet
wee
n ca
ble j
unct
ions
)
oslash110 -0035
oslash47
180
160plusmn
01
oslash11
oslash200plusmn005
2-oslash6H7
55deg
C05
(500)
30deg
oslash93
oslash101plusmn01
6-M6 eecti
ve depth 5
(equally distributed)
2-M4 eective depth 8Ground tap
0
13plusmn1
(120
)
118
15
A
125plusmn
01
31
5
7
DD Direct Drive Motor
Model Number of Positioner Single-axis Type ltSCON-CAgt
Power-supplyvoltage
IO typeEncoder typeMotor typeTypeSeries OptionsSCON
IO cable length
A Absolute specication I
M
Index absolute type
Multi-rotation absolute type
For 200-watt motor (DD motor only)
For 600-watt motor
CA A 2
Model Number of Programmable Multi-axis Type ltXSELgt
Encoder type Encoder typeMotor type Motor typeNumber ofconnected axes
TypeSeries Options OptionsXSEL
600 For 600-watt motor
200
200S
600
For 200-watt motor
A Absolute specication I
M
Index absolute type
Multi-rotation absolute type
P
Q
R
S
6-axis type
6-axis global type
8-axis type
8-axis global type1
8
1 axis
8 axes
A A
(The PQ type can only accommodate up to 6 axes)
(Specs for axis 1) (Specs for axes 2~8)
A single controller can operate multiple actuators other thanthe DD motor (single-axis robot ROBO Cylinder) at the sametime For details on actuators other than the DD motor thatcan be connected refer to the page listing the XSEL modelnumbers in the ROBO Cylinder General Catalog
For the remaining part of the model number see the ROBO CylinderGeneral Catalog
Caution
Because the 200W driver for the SCON-CA for DD motors is larger than the regular 200-watt type the motor type will be 200S
The controller may be selected from the two models described below
When the XSEL controller is connected
SCON-CAPC
PLC(To be supplied by the customer)
PLC(To be supplied by the customer)
IO at cableModel CB-PAC-PIO020Standard 2 m
Be sure to use a noise filter on the power supply (For recommended models see the general catalog)
Encoder cableModel CB-X3-PA
PC softwareRS232 connection typeModel RCM-101-MWUSB connection typeModel RCM-101-USB
Teaching pendant Model TB-01-C
Regenerative resistor unitModel REU-2
Main power supply
Main power supply
Single-phase 200 VAC
Field network(For details see the ROBO Cylinder General Catalog)
Option
Comes with the actuator
Comes with the controller
Comes with the actuator Option
Option
OptionMotor CableModel CB-X-MA(T18LT18) CB-XMC-MA(H18LH18)
XSELPC
Be sure to use a noise filter on the power supply (For recommended models see the general catalog)
PC softwareRS232 connection typeModel IA-101-X-MWUSB connection typeModel IA-101-X-USBMW
Single-phase 200 VACThree-phase 200 VAC
Regenerative resistor unitModel REU-1
Option
Option
Field network(For details see the ROBO Cylinder General Catalog)
Option
IO at cableModel CB-X-PIO020Standard 2 m
Comes with the controller
Encoder cableModel CB-X3-PA
Comes with the actuator
Comes with the actuatorMotor CableModel CB-X-MA(T18LT18) CB-XMC-MA(H18LH18)
When the SCON controller is connected
See page 9 to nd out how many regenerative resistor units are needed
See page 9 to nd out how many regenerative resistor units are needed
Teaching pendant Model TB-01-S
Option
Controller Model Numbers
System Configuration
8
DD Direct Drive Motor
Notes Installation
Installation OrientationDo not install it in a vertical position or hung on the ceiling
Controllers The output of the DD motor is 200 watts but the outside dimensions of the SCON-CA controller are those of the 400-watt type (For details on the outside dimensions of the SCON-CA see the ROBO Cylinder General Catalog) One and two regenerative resistor unit(s) are required for T18LT18 and H18LH18 respectively to operate a DD motor with the SCON-CA When operating DD motor(s) with the XSEL controller regenerative resistor units are required as shown below
The number of DD motor(s) connectable to the XSEL controller are a max of 8 units for the T18LT18 types and a max of 2 units for the H18LH18 types Please note that when the DD motor is operated with the SCON-CA the motor cannot be connected to the ROBO Cylinder gateway function of the XSEL controller Calculation the for power supply value T18LT18 types single-phase 600W bull three-phase 200W H18LH18 types single-phase 1200W bull three-phase 600W
Operation TypesTwo operation types can be selected to suit specic operating conditionsCheck the features of the dierent types of DD motors and other notes before use
The high resolution specication can be connected only to the SCON-CA
When the XSEL absolute index type travels more than 180deg from the current position it rotates in a direction that requires a shorter travel to reach the target position Therefore please note that the direction of rotation changes according to the current position and travelIf you want to specify the direction of travel use the SCON-CA
The index type can be rotated in a given direction innitely but it actually cannot continue to rotate in the same direction without stopping like a regular motor does because the maximum travel distance per command from the XSEL controller is 180deg If you want to allow the motor to rotate continuously use the SCON-CA
Home return is required for the multi-rotation absolute encoder during the initial setting and replacement of the absolute battery
(1)
(2)
(3)
(4)
Operation typeController typeOperation rangeMaximum travel per travel commandInnite rotationHome returnAbsolute battery
Index absolute type
0 to 359999deg
Available (3)Not requiredNot required
SCON-CA
360deg
XSEL (1)
180deg (2)
Multi-rotation absolute type
Max plusmn9999deg (plusmn2520deg)Within the above operation range
Not availableNot required (4)
Required
SCON-CA XSEL (1)
160
Positioning hole for DD motor2-oslash4 reamed hole through
Mounting hole for DD motor4-oslash11 drilled through
oslash200
55deg
160
H
Installation surface
Ceiling mountVertical mount
Gra
vity
Horizontal mount
The height ldquoHrdquo measurements
mmT1823
LT1833
H1831
LH1831
(Note) Use this product by installing it on a mounting surfacehaving heat dissipating characteristics equivalent to those of an aluminum plate of 400 x 400 x t10 mm in sizeIf the installation conditions necessitate lower heat dissipating characteristics please consult IAI
( ) indicates at 20-bit resolution
Number of regenerative resistor units
1 2 3 4 5 6 7 81 2 3
(Cannot be connected)4
2 4
T18LT18
H18LH18
Number of DD motor(s)
9
DD Direct Drive Motor
Conditions for SelectionThe following should be checked to determine whether the DD motor can be used to suit the specic conditions required by the customer
Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DD motor specications to determine whether the DD motor can be used under the applicable operating conditions
The customer should conrm that the following three points under actual use do not exceed their maximum allowable levels as specied for the DD motor
The total load of device(s) mounted on the actuator
The total load moment of device(s) mounted on the actuator
The load inertia of device(s) mounted on the actuator
To calculate the load conditions calculate the load inertia of device(s) mounted on the actuator and check the details with the DD motor selection software The equations used to calculate the load inertia of typical shapes are shown below for reference purposes
Download the DD motor selection software from httpwwwintelligentactuatorcomdd-selection-software
Download the DD motor selection software from httpwwwintelligentactuatorcomdd-selection-software
Check Load Conditions1
Check Operating Conditions2
The travel time changes according to the load inertia See the tables below to check the travel time data The data in the tables is only intended as a guide so the travel time is not guaranteed
Travel Time Guide3
[1] Thrust load
[2] Load moment applied
[3] Load inertia
J = M x R2 + 112 x M x (a2 + b2)J = M x R2 + 18 x M x D2 J = 112 x M x (a2 + b2)J = 18 x M x D2
Weight M
D
Cent
er of
ro
tatio
n
a
b
Cent
er of
ro
tatio
n
Weight MWeight MCent
er o
f rot
atio
n
D
R Cent
er o
f rot
atio
n
a
bR
Weight M
To calculate operating conditions use the DD motor selection software
DD Direct Drive Motor
10
Load inertia lower limit [kgm2] 0 0005 001 002 002 003 004 006 008 010 015 02 03 04 06 08 10 12 14
Load inertia upper limit [kgm2] 0005 001 0015 002 003 004 006 008 01 015 02 03 04 06 08 1 12 14 18
45deg travel time [sec] 0098 0096 0096 0097 0099 0104 0113 012 0126 014 0157 0207 0257 0352 0447 053 0629 0795 0875
90deg travel time [sec] 0129 0128 0127 0128 0131 0136 0144 0153 0163 0184 0208 0268 0329 044 0549 0646 0758 0941 1035
180deg travel time [sec] 0192 019 019 0191 0193 0199 0207 0215 0225 0249 0279 0354 0428 0562 0692 0806 0933 1133 1257
270deg travel time [sec] 0254 0252 0252 0253 0256 0262 027 0278 0288 0312 0341 042 0504 0655 08 0925 1064 1274 1415
DD-H18LH18
Load inertia lower limit [kgm2] 0 0005 001 002 003 004 005 006 007 008 009 01 02 03 04 05
Load inertia upper limit [kgm2] 0005 001 002 003 004 005 006 007 008 009 01 02 03 04 05 06
45deg travel time [sec] 009 010 011 012 013 014 015 017 019 021 023 039 062 070 087 111
90deg travel time [sec] 012 012 014 016 017 018 020 022 024 026 029 048 073 083 102 123
180deg travel time [sec] 017 017 019 021 023 024 027 029 032 035 037 060 089 101 122 142
270deg travel time [sec] 022 022 024 026 027 029 032 035 038 041 044 069 100 114 136 168
DD-T18LT18
(Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)
(Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)
CJ0199-2A-UST-1-0814
IAI America IncHeadquarters 2690 W 237th Street Torrance CA 90505 (800) 736-1712Chicago Office 110 East State Parkway Schaumburg IL 60173 (800) 944-0333Atlanta Office 1220 Kennestone Circle Suite 108 Marietta GA 30066 (888) 354-9470
wwwintelligentactuatorcom
IAI Industrieroboter GmbHOber der Roumlth 4 D-65824 Schwalbach am Taunus Germany
IAI Robot (Thailand) CO Ltd825 PhairojKijja Tower 12th Floor Bangna-Trad RDBangna Bangna Bangkok 10260 Thailand
The information contained in this product brochure may change without prior notice due to product improvements
The Direct Drive Motor comes in the index absolute type having an operating range of 0 to 359999 deg and the multi-rotation absolute type having an operating range of plusmn9999 deg Neither type requires a home return meaning that once the power has been turned on the actuator can move directly from the current position The index type does not need an absolute battery Max plusmn 2520 deg for the 20-bit specifications (T18PLT18PH18PLH18P)
Shorter positioning time means shorter cycle time of your equipment resulting in greater productivity
Operating conditions When a work part weighing 100 g is placed on an aluminum disc of 300 mm in diameter and 6 mm in thickness and rotated by 180 deg
ltComparison of Cycle Timesgt
Application Examples
3
High Resolution Type Added
Index Absolute Type or Multi-rotation Absolute Type Can be Selected
4
5
High Speed High AccelerationDeceleration
RCS2-RTC12L
DD-T18DD-LT18
DD-H18DD-LH18
05 secApprox
50shorter
Approx
42shorter
025 sec
014 sec
t 6 mm
oslash 300 mm
type
type
Range of operation
Home return
Unlimited rotations
Absolute battery
Index absolute type
0 to 359999 deg
Not required
Yes
Not required
Multi-rotation absolute type
plusmn9999 deg
Not required
No
Required
High resolution type Standard type
Model DD-18P DD-18S
Encoder resolution 20-bit1048576 pulsesrev
17-bit131072 pulsesrev
Positioning repeatability plusmn000103 degplusmn37 arcsec
plusmn00055 degplusmn198 arcsec
NEW
2
High Speed High Payload High Accuracy and Easy to Control Introducing A Direct Drive Motor Boasting Ultimate Usability
Index tableltSmall board inspection systemgt
Work part transferltTransfer of parts from conveyor to conveyorgt
Multi-rotation operationltTransfer of electronic componentsgt
DD Motor Series List
Model Description
3
DD Direct Drive Motor
Cable lengthEncodertype
Range ofoperation
Series Motor wattageDD
Applicablecontroller
360 T2Type
None3m5mSpeciedlength
NSM
X200600
200W600W
360 360 deg
Note Only SCON-CA can be selected for the encoder high-resolution type (20-bit)
SCON-CAXSEL-PQXSEL-RS
T2AI
AMIndex absoluteMulti-rotation absolute T18S
T18PLT18SLT18PH18SH18PLH18SLH18P
Type EncoderStandard bore slimStandard bore slimLarge bore slimLarge bore slimStandard bore high torqueStandard bore high torqueLarge bore high torqueLarge bore high torque
Standard (17-bit)High resolution (20-bit)Standard (17-bit)High resolution (20-bit)Standard (17-bit)High resolution (20-bit)Standard (17-bit)High resolution (20-bit)
Type Standard boreslim type
Large boreslim type
Standard borehigh torque type
Large borehigh torque type
Encoder Standard(17-bit)
Highresolution
(20-bit)Standard
(17-bit)High
resolution(20-bit)
Standard(17-bit)
Highresolution
(20-bit)Standard
(17-bit)High
resolution(20-bit)
Model DD-T18S DD-T18P DD-LT18S DD-LT18P DD-H18S DD-H18P DD-LH18S DD-LH18P
External view
Rated torque (N∙m) 84 25
Max instantaneous torque (N∙m) 252 75
Rated speed (degs) 1080 1440
Maximum speed (degs) 1800 1440
Allowable load inertia (kg∙m2) 06 18
Motor wattage (W) 200 600
Size (mm) 180 times 180 180 times 180
Height (mm) 53 63 125
Hollow bore (mm) oslash205 oslash47 oslash205 oslash47
Weight (kg) 5 6 136 13
Encoder type Index absoluteMulti-rotation absolute
Applicable controller XSELSCON-CA SCON-CA XSEL
SCON-CA SCON-CA XSELSCON-CA SCON-CA XSEL
SCON-CA SCON-CA
Reference page P4 P5 P6 P7
4
DD Direct Drive Motor
CAD drawings can be downloaded from the website wwwintelligentactuatorcom
DD-T18 Direct Drive MotorStandard bore Slim type
Model Specifications
Common Specifications Run-out of Output Shaft
Dimensional Drawing
Drive systemPositioning repeatability Allowable dynamic load moment (Note 2)
Encoder resolutionAllowable thrust load (Note 2)
Base materialAmbient operating temperaturehumidityWeight
Applicable Controller Specifications
Caution
Model number Encoder typeMotor wattage
(W)
Range of operation
(deg)Speed (Note 1)
(degs)Rated torque
(Nmiddotm) ()
Maximuminstantaneous torque (Nmiddotm)
Allowable load inertia (kgmiddotmsup2)
Rotor inertia(kgmiddotmsup2)
(Note 1) The value in ( ) indicates the maximum speed The maximum speed may not be reached if the moving distance is short(Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in ve years based on this load(Note 3) The maximum cable length is 30 m Specify a desired length in meters (Example X08 = 8m) (Note 4) Please consult IAI if you are considering a 20-bit actuator and using it under conditions where the allowable dynamic moment and allowable thrust load will be exceeded
➀ ➁ ➂
➂
DD-T18 - -200-360-T2- 200 3601 to 1080
(1 to 1800)Index absolute typeMulti-rotation absolute type 84 252 06 0001984
Direct Drive Motor17-bit plusmn00055 deg 20-bit plusmn000103 deg80 Nmiddotm17-bit 131072 (pulsesrev) 20-bit 1048576 (pulsesrev)3400 N [3100N for the high resolution type]Aluminum0 to 40degC 20 to 85 (Non-condensing)5 kg
XSEL-PQRS
SCON-CA2-axis Single-phase
1-axis
Program
Positioner200VAC Single-phase
8-axis Three-phase 200VAC Three-phase
200VAC Single-phase
ModelSpecicationItems
360200T18Range ofoperation
TypeSeries Encodertype
Motorwattage
Applicablecontroller
Cablelength
200 200W 360 360 deg T2 SCON-CA XSEL-PQ XSEL-RS
T2DD
N NoneS 3mM 5m
P High resolution (20-bit)
Note Only SCON-CA applys for T18P
S Standard (17-bit)
X Specied length
Applicable controllers Operating method Power supply voltageMax number ofcontrolled axes
Note For DD-T18P only SCON-CA controller applysNote For the three-phase XSEL-PQ type 6-axes is the maximum number of controlled axes
➀ ➁Legend Encoder resolution Encoder type Cable length () The value when installed on an IAI rated heat dissipating plate (Please see P9 for further details)
AI Index absolute typeAM Multi-rotation absolute type
Thrust (axial) run-out (no load) 30 μm
Radial run-out (no load) 30 μm
oslash200plusmn005
6-M
5 e
ectiv
e dep
th 5
(equ
ally d
istrib
uted
)oslash1
02plusmn0
1
2-oslash6H7
Encoderconnector
Motorconnector
2-M
4 e
ect
ive
dept
h 8
180
160plusmn
01
55deg
180160plusmn01
(500)32 or less
94
5
oslash11
(500)
2-oslash4H7 eective depth 3
(equally distributed)
oslash110 0 (h7)oslash95
oslash180
oslash205
12plusmn1
23
A
003C05
oslash120
A003
-0035
A
120
plusmn 2
(dist
ance
bet
wee
n ca
ble j
unct
ions
)Gr
ound
tap
30deg
481
5
53plusmn0
1
(50)
CAD drawings can be downloaded from the website wwwintelligentactuatorcom
DD-LT18 Direct Drive MotorLarge bore Slim type
Model Specifications
Common Specifications Run-out of Output Shaft
Dimensional Drawing
Drive systemPositioning repeatability Allowable dynamic load moment (Note 2)
Encoder resolutionAllowable thrust load (Note 2)
Base materialAmbient operating temperaturehumidityWeight
Applicable Controller Specifications
Caution
Model number Encoder typeMotor wattage
(W)
Range of operation
(deg)Speed (Note 1)
(degs)Rated torque
(Nmiddotm) ()
Maximuminstantaneous torque (Nmiddotm)
Allowable load inertia (kgmiddotmsup2)
Rotor inertia(kgmiddotmsup2)
(Note 1) The value in ( ) indicates the maximum speed The maximum speed may not be reached if the moving distance is short(Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in ve years based on this load(Note 3) The maximum cable length is 30 m Specify a desired length in meters (Example X08 = 8m) (Note 4) Please consult IAI if you are considering a 20-bit actuator and using it under conditions where the allowable dynamic moment and allowable thrust load will be exceeded
200 3601 to 1080
(1 to 1800)Index absolute typeMulti-rotation absolute type 84 252 06 0001984
Direct Drive Motor17-bit plusmn00055 deg 20-bit plusmn000103 deg80 Nmiddotm17-bit 131072 (pulsesrev) 20-bit 1048576 (pulsesrev)3400 N [3100N for the high resolution type]Aluminum0 to 40degC 20 to 85 (Non-condensing)6 kg
XSEL-PQRS
SCON-CA2-axis Single-phase
1-axis
Program
Positioner200VAC Single-phase
8-axis Three-phase 200VAC Three-phase
200VAC Single-phase
ModelSpecicationItems
360200LT18Range ofoperation
TypeSeries Encodertype
Motorwattage
Applicablecontroller
Cablelength
200 200W 360 360 deg T2 SCON-CA XSEL-PQ XSEL-RS
T2DD
N NoneS 3mM 5m
P High resolution (20-bit)
Note Only SCON-CA applys for LT18P
S Standard (17-bit)
X Specied length
Applicable controllers Operating method Power supply voltageMax number ofcontrolled axes
Note For DD-LT18P only SCON-CA controller applysNote For the three-phase XSEL-PQ type 6-axes is the maximum number of controlled axes
➀ ➁ ➂
➂
DD-LT18 - -200-360-T2-
➀ ➁Legend Encoder resolution Encoder type Cable length () The value when installed on an IAI rated heat dissipating plate (Please see P9 for further details)
AI Index absolute typeAM Multi-rotation absolute type
0 (h7)
55deg
(59
4)
30deg
Thrust (axial) run-out (no load) 30 μm
Radial run-out (no load) 30 μm
Encoderconnector
Motorconnector
12plusmn1
581
5
33
B
63plusmn0
1
B003B003
5
(500)32 or less
2-oslash4H7 eective depth 3
(equally distributed)
94
oslash102
plusmn01
oslash11
(500)2-M
4 e
ect
ive
dept
h 8
Grou
nd ta
p
180
160plusmn
01
oslash200plusmn005
2-oslash6H7
oslash95
oslash180
oslash47
180160plusmn01
C05
oslash120
oslash110 -0035
6-M
5 e
ectiv
e dep
th 5
(equ
ally d
istrib
uted
)
120
plusmn 2
(dist
ance
bet
wee
n ca
ble j
unct
ions
)
5
DD Direct Drive Motor
CAD drawings can be downloaded from the website wwwintelligentactuatorcom
DD-H18 Direct Drive MotorStandard bore High-torque type
Model Specifications
Common Specifications Run-out of Output Shaft
Dimensional Drawing
Drive systemPositioning repeatability Allowable dynamic load moment (Note 2)
Encoder resolutionAllowable thrust load (Note 2)
Base materialAmbient operating temperaturehumidityWeight
Applicable Controller Specifications
Caution
Model number Encoder typeMotor wattage
(W)
Range of operation
(deg)Speed (Note 1)
(degs)Rated torque
(Nmiddotm) ()
Maximuminstantaneous torque (Nmiddotm)
Allowable load inertia (kgmiddotmsup2)
Rotor inertia(kgmiddotmsup2)
(Note 1) The maximum speed may not be reached if the moving distance is short
(Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in ve years based on this load
(Note 3) The maximum cable length is 30 m Specify a desired length in meters (Example X08 = 8m) (Note 4) Please consult IAI if you are considering a 20-bit actuator and using it under conditions where the allowable dynamic moment and allowable thrust load will be exceeded
600 360 1 to 1440Index absolute typeMulti-rotation absolute type 25 75 18 00106
Direct Drive Motor17-bit plusmn00055 deg 20-bit plusmn000103 deg80 Nmiddotm17-bit 131072 (pulsesrev) 20-bit 1048576 (pulsesrev)3400 N [3100N for the high resolution type]Aluminum0 to 40degC 20 to 85 (Non-condensing)136 kg
XSEL-PQRS
SCON-CA1-axis Single-phase
1-axis
Program
Positioner200VAC Single-phase
2-axis Three-phase 200VAC Three-phase
200VAC Single-phase
ModelSpecicationItems
360600H18Range ofoperation
TypeSeries Encodertype
Motorwattage
Applicablecontroller
Cablelength
600 600W 360 360 deg T2 SCON-CA XSEL-PQ XSEL-RS
T2DD
N NoneS 3mM 5m
P High resolution (20-bit)
Note Only SCON-CA applys for H18P
S Standard (17-bit)
X Specied length
Applicable controllers Operating method Power supply voltageMax number ofcontrolled axes
Note For DD-H18P only SCON-CA controller applys
➀ ➁ ➂
➂
DD-H18 - -600-360-T2-
➀ ➁Legend Encoder resolution Encoder type Cable length () The value when installed on an IAI rated heat dissipating plate (Please see P9 for further details)
Thrust (axial) run-out (no load) 30 μm
Radial run-out (no load) 30 μm
5
94
34 or less
(500)
(500)
oslash11
120
plusmn 2
(dist
ance
bet
wee
n ca
ble j
unct
ions
)
Encoderconnector
Motorconnector
2-M4 eective depth 8Ground tap
2-oslash4H7 eective depth 4
(equally distributed)
C05
180
160plusmn
01
oslash120oslash110 -0035 (h7)
oslash93
oslash180
160plusmn01180
55deg
003 A
003 A
oslash101plusmn01
30deg
oslash200plusmn005
2-oslash6H7 6-M6 e
ectiv
e dep
th 9
(equall
y dist
ributed
)
13plusmn1
125plusmn
01
Aoslash205
0
118
15(1
20)
31
AI Index absolute typeAM Multi-rotation absolute type
6
DD Direct Drive Motor
CAD drawings can be downloaded from the website wwwintelligentactuatorcom
DD-LH18 Direct Drive MotorLarge bore High-torque type
Model Specifications
Common Specifications Run-out of Output Shaft
Dimensional Drawing
Drive systemPositioning repeatability Allowable dynamic load moment (Note 2)
Encoder resolutionAllowable thrust load (Note 2)
Base materialAmbient operating temperaturehumidityWeight
Applicable Controller Specifications
Caution
Model number Encoder typeMotor wattage
(W)
Range of operation
(deg)Speed (Note 1)
(degs)Rated torque
(Nmiddotm) ()
Maximuminstantaneous torque (Nmiddotm)
Allowable load inertia (kgmiddotmsup2)
Rotor inertia(kgmiddotmsup2)
600 360 1 to 1440Index absolute typeMulti-rotation absolute type 25 75 18 00106
Direct Drive Motor17-bit plusmn00055 deg 20-bit plusmn000103 deg80 Nmiddotm17-bit 131072 (pulsesrev) 20-bit 1048576 (pulsesrev)3400 N [3100N for the high resolution type]Aluminum0 to 40degC 20 to 85 (Non-condensing)13 kg
XSEL-PQRS
SCON-CA1-axis Single-phase
1-axis
Program
Positioner200VAC Single-phase
2-axis Three-phase 200VAC Three-phase
200VAC Single-phase
ModelSpecicationItems
360600LH18Range ofoperation
TypeSeries Encodertype
Motorwattage
Applicablecontroller
Cablelength
600 600W 360 360 deg T2 SCON-CA XSEL-PQ XSEL-RS
T2DD
N NoneS 3mM 5m
P High resolution (20-bit)
Note Only SCON-CA applys for LH18P
S Standard (17-bit)
X Specied length
Applicable controllers Operating method Power supply voltageMax number ofcontrolled axes
Note For DD-LH18P only SCON-CA controller applys
➀ ➁ ➂
➂
DD-LH18 - -600-360-T2-
➀ ➁Legend Encoder resolution Encoder type Cable length () The value when installed on an IAI rated heat dissipating plate (Please see P9 for further details)
(Note 1) The maximum speed may not be reached if the moving distance is short
(Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in ve years based on this load
(Note 3) The maximum cable length is 30 m Specify a desired length in meters (Example X08 = 8m) (Note 4) Please consult IAI if you are considering a 20-bit actuator and using it under conditions where the allowable dynamic moment and allowable thrust load will be exceeded
AI Index absolute typeAM Multi-rotation absolute type
Thrust (axial) run-out (no load) 30 μm
Radial run-out (no load) 30 μm
Encoderconnector
Motorconnector
94
(h7)
oslash180
180160plusmn01
(500)
A003
oslash120
A003
34 or less
2-oslash4H7 eective depth 3
(equally distributed)
120
plusmn 2
(dist
ance
bet
wee
n ca
ble j
unct
ions
)
oslash110 -0035
oslash47
180
160plusmn
01
oslash11
oslash200plusmn005
2-oslash6H7
55deg
C05
(500)
30deg
oslash93
oslash101plusmn01
6-M6 eecti
ve depth 5
(equally distributed)
2-M4 eective depth 8Ground tap
0
13plusmn1
(120
)
118
15
A
125plusmn
01
31
5
7
DD Direct Drive Motor
Model Number of Positioner Single-axis Type ltSCON-CAgt
Power-supplyvoltage
IO typeEncoder typeMotor typeTypeSeries OptionsSCON
IO cable length
A Absolute specication I
M
Index absolute type
Multi-rotation absolute type
For 200-watt motor (DD motor only)
For 600-watt motor
CA A 2
Model Number of Programmable Multi-axis Type ltXSELgt
Encoder type Encoder typeMotor type Motor typeNumber ofconnected axes
TypeSeries Options OptionsXSEL
600 For 600-watt motor
200
200S
600
For 200-watt motor
A Absolute specication I
M
Index absolute type
Multi-rotation absolute type
P
Q
R
S
6-axis type
6-axis global type
8-axis type
8-axis global type1
8
1 axis
8 axes
A A
(The PQ type can only accommodate up to 6 axes)
(Specs for axis 1) (Specs for axes 2~8)
A single controller can operate multiple actuators other thanthe DD motor (single-axis robot ROBO Cylinder) at the sametime For details on actuators other than the DD motor thatcan be connected refer to the page listing the XSEL modelnumbers in the ROBO Cylinder General Catalog
For the remaining part of the model number see the ROBO CylinderGeneral Catalog
Caution
Because the 200W driver for the SCON-CA for DD motors is larger than the regular 200-watt type the motor type will be 200S
The controller may be selected from the two models described below
When the XSEL controller is connected
SCON-CAPC
PLC(To be supplied by the customer)
PLC(To be supplied by the customer)
IO at cableModel CB-PAC-PIO020Standard 2 m
Be sure to use a noise filter on the power supply (For recommended models see the general catalog)
Encoder cableModel CB-X3-PA
PC softwareRS232 connection typeModel RCM-101-MWUSB connection typeModel RCM-101-USB
Teaching pendant Model TB-01-C
Regenerative resistor unitModel REU-2
Main power supply
Main power supply
Single-phase 200 VAC
Field network(For details see the ROBO Cylinder General Catalog)
Option
Comes with the actuator
Comes with the controller
Comes with the actuator Option
Option
OptionMotor CableModel CB-X-MA(T18LT18) CB-XMC-MA(H18LH18)
XSELPC
Be sure to use a noise filter on the power supply (For recommended models see the general catalog)
PC softwareRS232 connection typeModel IA-101-X-MWUSB connection typeModel IA-101-X-USBMW
Single-phase 200 VACThree-phase 200 VAC
Regenerative resistor unitModel REU-1
Option
Option
Field network(For details see the ROBO Cylinder General Catalog)
Option
IO at cableModel CB-X-PIO020Standard 2 m
Comes with the controller
Encoder cableModel CB-X3-PA
Comes with the actuator
Comes with the actuatorMotor CableModel CB-X-MA(T18LT18) CB-XMC-MA(H18LH18)
When the SCON controller is connected
See page 9 to nd out how many regenerative resistor units are needed
See page 9 to nd out how many regenerative resistor units are needed
Teaching pendant Model TB-01-S
Option
Controller Model Numbers
System Configuration
8
DD Direct Drive Motor
Notes Installation
Installation OrientationDo not install it in a vertical position or hung on the ceiling
Controllers The output of the DD motor is 200 watts but the outside dimensions of the SCON-CA controller are those of the 400-watt type (For details on the outside dimensions of the SCON-CA see the ROBO Cylinder General Catalog) One and two regenerative resistor unit(s) are required for T18LT18 and H18LH18 respectively to operate a DD motor with the SCON-CA When operating DD motor(s) with the XSEL controller regenerative resistor units are required as shown below
The number of DD motor(s) connectable to the XSEL controller are a max of 8 units for the T18LT18 types and a max of 2 units for the H18LH18 types Please note that when the DD motor is operated with the SCON-CA the motor cannot be connected to the ROBO Cylinder gateway function of the XSEL controller Calculation the for power supply value T18LT18 types single-phase 600W bull three-phase 200W H18LH18 types single-phase 1200W bull three-phase 600W
Operation TypesTwo operation types can be selected to suit specic operating conditionsCheck the features of the dierent types of DD motors and other notes before use
The high resolution specication can be connected only to the SCON-CA
When the XSEL absolute index type travels more than 180deg from the current position it rotates in a direction that requires a shorter travel to reach the target position Therefore please note that the direction of rotation changes according to the current position and travelIf you want to specify the direction of travel use the SCON-CA
The index type can be rotated in a given direction innitely but it actually cannot continue to rotate in the same direction without stopping like a regular motor does because the maximum travel distance per command from the XSEL controller is 180deg If you want to allow the motor to rotate continuously use the SCON-CA
Home return is required for the multi-rotation absolute encoder during the initial setting and replacement of the absolute battery
(1)
(2)
(3)
(4)
Operation typeController typeOperation rangeMaximum travel per travel commandInnite rotationHome returnAbsolute battery
Index absolute type
0 to 359999deg
Available (3)Not requiredNot required
SCON-CA
360deg
XSEL (1)
180deg (2)
Multi-rotation absolute type
Max plusmn9999deg (plusmn2520deg)Within the above operation range
Not availableNot required (4)
Required
SCON-CA XSEL (1)
160
Positioning hole for DD motor2-oslash4 reamed hole through
Mounting hole for DD motor4-oslash11 drilled through
oslash200
55deg
160
H
Installation surface
Ceiling mountVertical mount
Gra
vity
Horizontal mount
The height ldquoHrdquo measurements
mmT1823
LT1833
H1831
LH1831
(Note) Use this product by installing it on a mounting surfacehaving heat dissipating characteristics equivalent to those of an aluminum plate of 400 x 400 x t10 mm in sizeIf the installation conditions necessitate lower heat dissipating characteristics please consult IAI
( ) indicates at 20-bit resolution
Number of regenerative resistor units
1 2 3 4 5 6 7 81 2 3
(Cannot be connected)4
2 4
T18LT18
H18LH18
Number of DD motor(s)
9
DD Direct Drive Motor
Conditions for SelectionThe following should be checked to determine whether the DD motor can be used to suit the specic conditions required by the customer
Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DD motor specications to determine whether the DD motor can be used under the applicable operating conditions
The customer should conrm that the following three points under actual use do not exceed their maximum allowable levels as specied for the DD motor
The total load of device(s) mounted on the actuator
The total load moment of device(s) mounted on the actuator
The load inertia of device(s) mounted on the actuator
To calculate the load conditions calculate the load inertia of device(s) mounted on the actuator and check the details with the DD motor selection software The equations used to calculate the load inertia of typical shapes are shown below for reference purposes
Download the DD motor selection software from httpwwwintelligentactuatorcomdd-selection-software
Download the DD motor selection software from httpwwwintelligentactuatorcomdd-selection-software
Check Load Conditions1
Check Operating Conditions2
The travel time changes according to the load inertia See the tables below to check the travel time data The data in the tables is only intended as a guide so the travel time is not guaranteed
Travel Time Guide3
[1] Thrust load
[2] Load moment applied
[3] Load inertia
J = M x R2 + 112 x M x (a2 + b2)J = M x R2 + 18 x M x D2 J = 112 x M x (a2 + b2)J = 18 x M x D2
Weight M
D
Cent
er of
ro
tatio
n
a
b
Cent
er of
ro
tatio
n
Weight MWeight MCent
er o
f rot
atio
n
D
R Cent
er o
f rot
atio
n
a
bR
Weight M
To calculate operating conditions use the DD motor selection software
DD Direct Drive Motor
10
Load inertia lower limit [kgm2] 0 0005 001 002 002 003 004 006 008 010 015 02 03 04 06 08 10 12 14
Load inertia upper limit [kgm2] 0005 001 0015 002 003 004 006 008 01 015 02 03 04 06 08 1 12 14 18
45deg travel time [sec] 0098 0096 0096 0097 0099 0104 0113 012 0126 014 0157 0207 0257 0352 0447 053 0629 0795 0875
90deg travel time [sec] 0129 0128 0127 0128 0131 0136 0144 0153 0163 0184 0208 0268 0329 044 0549 0646 0758 0941 1035
180deg travel time [sec] 0192 019 019 0191 0193 0199 0207 0215 0225 0249 0279 0354 0428 0562 0692 0806 0933 1133 1257
270deg travel time [sec] 0254 0252 0252 0253 0256 0262 027 0278 0288 0312 0341 042 0504 0655 08 0925 1064 1274 1415
DD-H18LH18
Load inertia lower limit [kgm2] 0 0005 001 002 003 004 005 006 007 008 009 01 02 03 04 05
Load inertia upper limit [kgm2] 0005 001 002 003 004 005 006 007 008 009 01 02 03 04 05 06
45deg travel time [sec] 009 010 011 012 013 014 015 017 019 021 023 039 062 070 087 111
90deg travel time [sec] 012 012 014 016 017 018 020 022 024 026 029 048 073 083 102 123
180deg travel time [sec] 017 017 019 021 023 024 027 029 032 035 037 060 089 101 122 142
270deg travel time [sec] 022 022 024 026 027 029 032 035 038 041 044 069 100 114 136 168
DD-T18LT18
(Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)
(Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)
CJ0199-2A-UST-1-0814
IAI America IncHeadquarters 2690 W 237th Street Torrance CA 90505 (800) 736-1712Chicago Office 110 East State Parkway Schaumburg IL 60173 (800) 944-0333Atlanta Office 1220 Kennestone Circle Suite 108 Marietta GA 30066 (888) 354-9470
wwwintelligentactuatorcom
IAI Industrieroboter GmbHOber der Roumlth 4 D-65824 Schwalbach am Taunus Germany
IAI Robot (Thailand) CO Ltd825 PhairojKijja Tower 12th Floor Bangna-Trad RDBangna Bangna Bangkok 10260 Thailand
The information contained in this product brochure may change without prior notice due to product improvements
DD Motor Series List
Model Description
3
DD Direct Drive Motor
Cable lengthEncodertype
Range ofoperation
Series Motor wattageDD
Applicablecontroller
360 T2Type
None3m5mSpeciedlength
NSM
X200600
200W600W
360 360 deg
Note Only SCON-CA can be selected for the encoder high-resolution type (20-bit)
SCON-CAXSEL-PQXSEL-RS
T2AI
AMIndex absoluteMulti-rotation absolute T18S
T18PLT18SLT18PH18SH18PLH18SLH18P
Type EncoderStandard bore slimStandard bore slimLarge bore slimLarge bore slimStandard bore high torqueStandard bore high torqueLarge bore high torqueLarge bore high torque
Standard (17-bit)High resolution (20-bit)Standard (17-bit)High resolution (20-bit)Standard (17-bit)High resolution (20-bit)Standard (17-bit)High resolution (20-bit)
Type Standard boreslim type
Large boreslim type
Standard borehigh torque type
Large borehigh torque type
Encoder Standard(17-bit)
Highresolution
(20-bit)Standard
(17-bit)High
resolution(20-bit)
Standard(17-bit)
Highresolution
(20-bit)Standard
(17-bit)High
resolution(20-bit)
Model DD-T18S DD-T18P DD-LT18S DD-LT18P DD-H18S DD-H18P DD-LH18S DD-LH18P
External view
Rated torque (N∙m) 84 25
Max instantaneous torque (N∙m) 252 75
Rated speed (degs) 1080 1440
Maximum speed (degs) 1800 1440
Allowable load inertia (kg∙m2) 06 18
Motor wattage (W) 200 600
Size (mm) 180 times 180 180 times 180
Height (mm) 53 63 125
Hollow bore (mm) oslash205 oslash47 oslash205 oslash47
Weight (kg) 5 6 136 13
Encoder type Index absoluteMulti-rotation absolute
Applicable controller XSELSCON-CA SCON-CA XSEL
SCON-CA SCON-CA XSELSCON-CA SCON-CA XSEL
SCON-CA SCON-CA
Reference page P4 P5 P6 P7
4
DD Direct Drive Motor
CAD drawings can be downloaded from the website wwwintelligentactuatorcom
DD-T18 Direct Drive MotorStandard bore Slim type
Model Specifications
Common Specifications Run-out of Output Shaft
Dimensional Drawing
Drive systemPositioning repeatability Allowable dynamic load moment (Note 2)
Encoder resolutionAllowable thrust load (Note 2)
Base materialAmbient operating temperaturehumidityWeight
Applicable Controller Specifications
Caution
Model number Encoder typeMotor wattage
(W)
Range of operation
(deg)Speed (Note 1)
(degs)Rated torque
(Nmiddotm) ()
Maximuminstantaneous torque (Nmiddotm)
Allowable load inertia (kgmiddotmsup2)
Rotor inertia(kgmiddotmsup2)
(Note 1) The value in ( ) indicates the maximum speed The maximum speed may not be reached if the moving distance is short(Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in ve years based on this load(Note 3) The maximum cable length is 30 m Specify a desired length in meters (Example X08 = 8m) (Note 4) Please consult IAI if you are considering a 20-bit actuator and using it under conditions where the allowable dynamic moment and allowable thrust load will be exceeded
➀ ➁ ➂
➂
DD-T18 - -200-360-T2- 200 3601 to 1080
(1 to 1800)Index absolute typeMulti-rotation absolute type 84 252 06 0001984
Direct Drive Motor17-bit plusmn00055 deg 20-bit plusmn000103 deg80 Nmiddotm17-bit 131072 (pulsesrev) 20-bit 1048576 (pulsesrev)3400 N [3100N for the high resolution type]Aluminum0 to 40degC 20 to 85 (Non-condensing)5 kg
XSEL-PQRS
SCON-CA2-axis Single-phase
1-axis
Program
Positioner200VAC Single-phase
8-axis Three-phase 200VAC Three-phase
200VAC Single-phase
ModelSpecicationItems
360200T18Range ofoperation
TypeSeries Encodertype
Motorwattage
Applicablecontroller
Cablelength
200 200W 360 360 deg T2 SCON-CA XSEL-PQ XSEL-RS
T2DD
N NoneS 3mM 5m
P High resolution (20-bit)
Note Only SCON-CA applys for T18P
S Standard (17-bit)
X Specied length
Applicable controllers Operating method Power supply voltageMax number ofcontrolled axes
Note For DD-T18P only SCON-CA controller applysNote For the three-phase XSEL-PQ type 6-axes is the maximum number of controlled axes
➀ ➁Legend Encoder resolution Encoder type Cable length () The value when installed on an IAI rated heat dissipating plate (Please see P9 for further details)
AI Index absolute typeAM Multi-rotation absolute type
Thrust (axial) run-out (no load) 30 μm
Radial run-out (no load) 30 μm
oslash200plusmn005
6-M
5 e
ectiv
e dep
th 5
(equ
ally d
istrib
uted
)oslash1
02plusmn0
1
2-oslash6H7
Encoderconnector
Motorconnector
2-M
4 e
ect
ive
dept
h 8
180
160plusmn
01
55deg
180160plusmn01
(500)32 or less
94
5
oslash11
(500)
2-oslash4H7 eective depth 3
(equally distributed)
oslash110 0 (h7)oslash95
oslash180
oslash205
12plusmn1
23
A
003C05
oslash120
A003
-0035
A
120
plusmn 2
(dist
ance
bet
wee
n ca
ble j
unct
ions
)Gr
ound
tap
30deg
481
5
53plusmn0
1
(50)
CAD drawings can be downloaded from the website wwwintelligentactuatorcom
DD-LT18 Direct Drive MotorLarge bore Slim type
Model Specifications
Common Specifications Run-out of Output Shaft
Dimensional Drawing
Drive systemPositioning repeatability Allowable dynamic load moment (Note 2)
Encoder resolutionAllowable thrust load (Note 2)
Base materialAmbient operating temperaturehumidityWeight
Applicable Controller Specifications
Caution
Model number Encoder typeMotor wattage
(W)
Range of operation
(deg)Speed (Note 1)
(degs)Rated torque
(Nmiddotm) ()
Maximuminstantaneous torque (Nmiddotm)
Allowable load inertia (kgmiddotmsup2)
Rotor inertia(kgmiddotmsup2)
(Note 1) The value in ( ) indicates the maximum speed The maximum speed may not be reached if the moving distance is short(Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in ve years based on this load(Note 3) The maximum cable length is 30 m Specify a desired length in meters (Example X08 = 8m) (Note 4) Please consult IAI if you are considering a 20-bit actuator and using it under conditions where the allowable dynamic moment and allowable thrust load will be exceeded
200 3601 to 1080
(1 to 1800)Index absolute typeMulti-rotation absolute type 84 252 06 0001984
Direct Drive Motor17-bit plusmn00055 deg 20-bit plusmn000103 deg80 Nmiddotm17-bit 131072 (pulsesrev) 20-bit 1048576 (pulsesrev)3400 N [3100N for the high resolution type]Aluminum0 to 40degC 20 to 85 (Non-condensing)6 kg
XSEL-PQRS
SCON-CA2-axis Single-phase
1-axis
Program
Positioner200VAC Single-phase
8-axis Three-phase 200VAC Three-phase
200VAC Single-phase
ModelSpecicationItems
360200LT18Range ofoperation
TypeSeries Encodertype
Motorwattage
Applicablecontroller
Cablelength
200 200W 360 360 deg T2 SCON-CA XSEL-PQ XSEL-RS
T2DD
N NoneS 3mM 5m
P High resolution (20-bit)
Note Only SCON-CA applys for LT18P
S Standard (17-bit)
X Specied length
Applicable controllers Operating method Power supply voltageMax number ofcontrolled axes
Note For DD-LT18P only SCON-CA controller applysNote For the three-phase XSEL-PQ type 6-axes is the maximum number of controlled axes
➀ ➁ ➂
➂
DD-LT18 - -200-360-T2-
➀ ➁Legend Encoder resolution Encoder type Cable length () The value when installed on an IAI rated heat dissipating plate (Please see P9 for further details)
AI Index absolute typeAM Multi-rotation absolute type
0 (h7)
55deg
(59
4)
30deg
Thrust (axial) run-out (no load) 30 μm
Radial run-out (no load) 30 μm
Encoderconnector
Motorconnector
12plusmn1
581
5
33
B
63plusmn0
1
B003B003
5
(500)32 or less
2-oslash4H7 eective depth 3
(equally distributed)
94
oslash102
plusmn01
oslash11
(500)2-M
4 e
ect
ive
dept
h 8
Grou
nd ta
p
180
160plusmn
01
oslash200plusmn005
2-oslash6H7
oslash95
oslash180
oslash47
180160plusmn01
C05
oslash120
oslash110 -0035
6-M
5 e
ectiv
e dep
th 5
(equ
ally d
istrib
uted
)
120
plusmn 2
(dist
ance
bet
wee
n ca
ble j
unct
ions
)
5
DD Direct Drive Motor
CAD drawings can be downloaded from the website wwwintelligentactuatorcom
DD-H18 Direct Drive MotorStandard bore High-torque type
Model Specifications
Common Specifications Run-out of Output Shaft
Dimensional Drawing
Drive systemPositioning repeatability Allowable dynamic load moment (Note 2)
Encoder resolutionAllowable thrust load (Note 2)
Base materialAmbient operating temperaturehumidityWeight
Applicable Controller Specifications
Caution
Model number Encoder typeMotor wattage
(W)
Range of operation
(deg)Speed (Note 1)
(degs)Rated torque
(Nmiddotm) ()
Maximuminstantaneous torque (Nmiddotm)
Allowable load inertia (kgmiddotmsup2)
Rotor inertia(kgmiddotmsup2)
(Note 1) The maximum speed may not be reached if the moving distance is short
(Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in ve years based on this load
(Note 3) The maximum cable length is 30 m Specify a desired length in meters (Example X08 = 8m) (Note 4) Please consult IAI if you are considering a 20-bit actuator and using it under conditions where the allowable dynamic moment and allowable thrust load will be exceeded
600 360 1 to 1440Index absolute typeMulti-rotation absolute type 25 75 18 00106
Direct Drive Motor17-bit plusmn00055 deg 20-bit plusmn000103 deg80 Nmiddotm17-bit 131072 (pulsesrev) 20-bit 1048576 (pulsesrev)3400 N [3100N for the high resolution type]Aluminum0 to 40degC 20 to 85 (Non-condensing)136 kg
XSEL-PQRS
SCON-CA1-axis Single-phase
1-axis
Program
Positioner200VAC Single-phase
2-axis Three-phase 200VAC Three-phase
200VAC Single-phase
ModelSpecicationItems
360600H18Range ofoperation
TypeSeries Encodertype
Motorwattage
Applicablecontroller
Cablelength
600 600W 360 360 deg T2 SCON-CA XSEL-PQ XSEL-RS
T2DD
N NoneS 3mM 5m
P High resolution (20-bit)
Note Only SCON-CA applys for H18P
S Standard (17-bit)
X Specied length
Applicable controllers Operating method Power supply voltageMax number ofcontrolled axes
Note For DD-H18P only SCON-CA controller applys
➀ ➁ ➂
➂
DD-H18 - -600-360-T2-
➀ ➁Legend Encoder resolution Encoder type Cable length () The value when installed on an IAI rated heat dissipating plate (Please see P9 for further details)
Thrust (axial) run-out (no load) 30 μm
Radial run-out (no load) 30 μm
5
94
34 or less
(500)
(500)
oslash11
120
plusmn 2
(dist
ance
bet
wee
n ca
ble j
unct
ions
)
Encoderconnector
Motorconnector
2-M4 eective depth 8Ground tap
2-oslash4H7 eective depth 4
(equally distributed)
C05
180
160plusmn
01
oslash120oslash110 -0035 (h7)
oslash93
oslash180
160plusmn01180
55deg
003 A
003 A
oslash101plusmn01
30deg
oslash200plusmn005
2-oslash6H7 6-M6 e
ectiv
e dep
th 9
(equall
y dist
ributed
)
13plusmn1
125plusmn
01
Aoslash205
0
118
15(1
20)
31
AI Index absolute typeAM Multi-rotation absolute type
6
DD Direct Drive Motor
CAD drawings can be downloaded from the website wwwintelligentactuatorcom
DD-LH18 Direct Drive MotorLarge bore High-torque type
Model Specifications
Common Specifications Run-out of Output Shaft
Dimensional Drawing
Drive systemPositioning repeatability Allowable dynamic load moment (Note 2)
Encoder resolutionAllowable thrust load (Note 2)
Base materialAmbient operating temperaturehumidityWeight
Applicable Controller Specifications
Caution
Model number Encoder typeMotor wattage
(W)
Range of operation
(deg)Speed (Note 1)
(degs)Rated torque
(Nmiddotm) ()
Maximuminstantaneous torque (Nmiddotm)
Allowable load inertia (kgmiddotmsup2)
Rotor inertia(kgmiddotmsup2)
600 360 1 to 1440Index absolute typeMulti-rotation absolute type 25 75 18 00106
Direct Drive Motor17-bit plusmn00055 deg 20-bit plusmn000103 deg80 Nmiddotm17-bit 131072 (pulsesrev) 20-bit 1048576 (pulsesrev)3400 N [3100N for the high resolution type]Aluminum0 to 40degC 20 to 85 (Non-condensing)13 kg
XSEL-PQRS
SCON-CA1-axis Single-phase
1-axis
Program
Positioner200VAC Single-phase
2-axis Three-phase 200VAC Three-phase
200VAC Single-phase
ModelSpecicationItems
360600LH18Range ofoperation
TypeSeries Encodertype
Motorwattage
Applicablecontroller
Cablelength
600 600W 360 360 deg T2 SCON-CA XSEL-PQ XSEL-RS
T2DD
N NoneS 3mM 5m
P High resolution (20-bit)
Note Only SCON-CA applys for LH18P
S Standard (17-bit)
X Specied length
Applicable controllers Operating method Power supply voltageMax number ofcontrolled axes
Note For DD-LH18P only SCON-CA controller applys
➀ ➁ ➂
➂
DD-LH18 - -600-360-T2-
➀ ➁Legend Encoder resolution Encoder type Cable length () The value when installed on an IAI rated heat dissipating plate (Please see P9 for further details)
(Note 1) The maximum speed may not be reached if the moving distance is short
(Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in ve years based on this load
(Note 3) The maximum cable length is 30 m Specify a desired length in meters (Example X08 = 8m) (Note 4) Please consult IAI if you are considering a 20-bit actuator and using it under conditions where the allowable dynamic moment and allowable thrust load will be exceeded
AI Index absolute typeAM Multi-rotation absolute type
Thrust (axial) run-out (no load) 30 μm
Radial run-out (no load) 30 μm
Encoderconnector
Motorconnector
94
(h7)
oslash180
180160plusmn01
(500)
A003
oslash120
A003
34 or less
2-oslash4H7 eective depth 3
(equally distributed)
120
plusmn 2
(dist
ance
bet
wee
n ca
ble j
unct
ions
)
oslash110 -0035
oslash47
180
160plusmn
01
oslash11
oslash200plusmn005
2-oslash6H7
55deg
C05
(500)
30deg
oslash93
oslash101plusmn01
6-M6 eecti
ve depth 5
(equally distributed)
2-M4 eective depth 8Ground tap
0
13plusmn1
(120
)
118
15
A
125plusmn
01
31
5
7
DD Direct Drive Motor
Model Number of Positioner Single-axis Type ltSCON-CAgt
Power-supplyvoltage
IO typeEncoder typeMotor typeTypeSeries OptionsSCON
IO cable length
A Absolute specication I
M
Index absolute type
Multi-rotation absolute type
For 200-watt motor (DD motor only)
For 600-watt motor
CA A 2
Model Number of Programmable Multi-axis Type ltXSELgt
Encoder type Encoder typeMotor type Motor typeNumber ofconnected axes
TypeSeries Options OptionsXSEL
600 For 600-watt motor
200
200S
600
For 200-watt motor
A Absolute specication I
M
Index absolute type
Multi-rotation absolute type
P
Q
R
S
6-axis type
6-axis global type
8-axis type
8-axis global type1
8
1 axis
8 axes
A A
(The PQ type can only accommodate up to 6 axes)
(Specs for axis 1) (Specs for axes 2~8)
A single controller can operate multiple actuators other thanthe DD motor (single-axis robot ROBO Cylinder) at the sametime For details on actuators other than the DD motor thatcan be connected refer to the page listing the XSEL modelnumbers in the ROBO Cylinder General Catalog
For the remaining part of the model number see the ROBO CylinderGeneral Catalog
Caution
Because the 200W driver for the SCON-CA for DD motors is larger than the regular 200-watt type the motor type will be 200S
The controller may be selected from the two models described below
When the XSEL controller is connected
SCON-CAPC
PLC(To be supplied by the customer)
PLC(To be supplied by the customer)
IO at cableModel CB-PAC-PIO020Standard 2 m
Be sure to use a noise filter on the power supply (For recommended models see the general catalog)
Encoder cableModel CB-X3-PA
PC softwareRS232 connection typeModel RCM-101-MWUSB connection typeModel RCM-101-USB
Teaching pendant Model TB-01-C
Regenerative resistor unitModel REU-2
Main power supply
Main power supply
Single-phase 200 VAC
Field network(For details see the ROBO Cylinder General Catalog)
Option
Comes with the actuator
Comes with the controller
Comes with the actuator Option
Option
OptionMotor CableModel CB-X-MA(T18LT18) CB-XMC-MA(H18LH18)
XSELPC
Be sure to use a noise filter on the power supply (For recommended models see the general catalog)
PC softwareRS232 connection typeModel IA-101-X-MWUSB connection typeModel IA-101-X-USBMW
Single-phase 200 VACThree-phase 200 VAC
Regenerative resistor unitModel REU-1
Option
Option
Field network(For details see the ROBO Cylinder General Catalog)
Option
IO at cableModel CB-X-PIO020Standard 2 m
Comes with the controller
Encoder cableModel CB-X3-PA
Comes with the actuator
Comes with the actuatorMotor CableModel CB-X-MA(T18LT18) CB-XMC-MA(H18LH18)
When the SCON controller is connected
See page 9 to nd out how many regenerative resistor units are needed
See page 9 to nd out how many regenerative resistor units are needed
Teaching pendant Model TB-01-S
Option
Controller Model Numbers
System Configuration
8
DD Direct Drive Motor
Notes Installation
Installation OrientationDo not install it in a vertical position or hung on the ceiling
Controllers The output of the DD motor is 200 watts but the outside dimensions of the SCON-CA controller are those of the 400-watt type (For details on the outside dimensions of the SCON-CA see the ROBO Cylinder General Catalog) One and two regenerative resistor unit(s) are required for T18LT18 and H18LH18 respectively to operate a DD motor with the SCON-CA When operating DD motor(s) with the XSEL controller regenerative resistor units are required as shown below
The number of DD motor(s) connectable to the XSEL controller are a max of 8 units for the T18LT18 types and a max of 2 units for the H18LH18 types Please note that when the DD motor is operated with the SCON-CA the motor cannot be connected to the ROBO Cylinder gateway function of the XSEL controller Calculation the for power supply value T18LT18 types single-phase 600W bull three-phase 200W H18LH18 types single-phase 1200W bull three-phase 600W
Operation TypesTwo operation types can be selected to suit specic operating conditionsCheck the features of the dierent types of DD motors and other notes before use
The high resolution specication can be connected only to the SCON-CA
When the XSEL absolute index type travels more than 180deg from the current position it rotates in a direction that requires a shorter travel to reach the target position Therefore please note that the direction of rotation changes according to the current position and travelIf you want to specify the direction of travel use the SCON-CA
The index type can be rotated in a given direction innitely but it actually cannot continue to rotate in the same direction without stopping like a regular motor does because the maximum travel distance per command from the XSEL controller is 180deg If you want to allow the motor to rotate continuously use the SCON-CA
Home return is required for the multi-rotation absolute encoder during the initial setting and replacement of the absolute battery
(1)
(2)
(3)
(4)
Operation typeController typeOperation rangeMaximum travel per travel commandInnite rotationHome returnAbsolute battery
Index absolute type
0 to 359999deg
Available (3)Not requiredNot required
SCON-CA
360deg
XSEL (1)
180deg (2)
Multi-rotation absolute type
Max plusmn9999deg (plusmn2520deg)Within the above operation range
Not availableNot required (4)
Required
SCON-CA XSEL (1)
160
Positioning hole for DD motor2-oslash4 reamed hole through
Mounting hole for DD motor4-oslash11 drilled through
oslash200
55deg
160
H
Installation surface
Ceiling mountVertical mount
Gra
vity
Horizontal mount
The height ldquoHrdquo measurements
mmT1823
LT1833
H1831
LH1831
(Note) Use this product by installing it on a mounting surfacehaving heat dissipating characteristics equivalent to those of an aluminum plate of 400 x 400 x t10 mm in sizeIf the installation conditions necessitate lower heat dissipating characteristics please consult IAI
( ) indicates at 20-bit resolution
Number of regenerative resistor units
1 2 3 4 5 6 7 81 2 3
(Cannot be connected)4
2 4
T18LT18
H18LH18
Number of DD motor(s)
9
DD Direct Drive Motor
Conditions for SelectionThe following should be checked to determine whether the DD motor can be used to suit the specic conditions required by the customer
Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DD motor specications to determine whether the DD motor can be used under the applicable operating conditions
The customer should conrm that the following three points under actual use do not exceed their maximum allowable levels as specied for the DD motor
The total load of device(s) mounted on the actuator
The total load moment of device(s) mounted on the actuator
The load inertia of device(s) mounted on the actuator
To calculate the load conditions calculate the load inertia of device(s) mounted on the actuator and check the details with the DD motor selection software The equations used to calculate the load inertia of typical shapes are shown below for reference purposes
Download the DD motor selection software from httpwwwintelligentactuatorcomdd-selection-software
Download the DD motor selection software from httpwwwintelligentactuatorcomdd-selection-software
Check Load Conditions1
Check Operating Conditions2
The travel time changes according to the load inertia See the tables below to check the travel time data The data in the tables is only intended as a guide so the travel time is not guaranteed
Travel Time Guide3
[1] Thrust load
[2] Load moment applied
[3] Load inertia
J = M x R2 + 112 x M x (a2 + b2)J = M x R2 + 18 x M x D2 J = 112 x M x (a2 + b2)J = 18 x M x D2
Weight M
D
Cent
er of
ro
tatio
n
a
b
Cent
er of
ro
tatio
n
Weight MWeight MCent
er o
f rot
atio
n
D
R Cent
er o
f rot
atio
n
a
bR
Weight M
To calculate operating conditions use the DD motor selection software
DD Direct Drive Motor
10
Load inertia lower limit [kgm2] 0 0005 001 002 002 003 004 006 008 010 015 02 03 04 06 08 10 12 14
Load inertia upper limit [kgm2] 0005 001 0015 002 003 004 006 008 01 015 02 03 04 06 08 1 12 14 18
45deg travel time [sec] 0098 0096 0096 0097 0099 0104 0113 012 0126 014 0157 0207 0257 0352 0447 053 0629 0795 0875
90deg travel time [sec] 0129 0128 0127 0128 0131 0136 0144 0153 0163 0184 0208 0268 0329 044 0549 0646 0758 0941 1035
180deg travel time [sec] 0192 019 019 0191 0193 0199 0207 0215 0225 0249 0279 0354 0428 0562 0692 0806 0933 1133 1257
270deg travel time [sec] 0254 0252 0252 0253 0256 0262 027 0278 0288 0312 0341 042 0504 0655 08 0925 1064 1274 1415
DD-H18LH18
Load inertia lower limit [kgm2] 0 0005 001 002 003 004 005 006 007 008 009 01 02 03 04 05
Load inertia upper limit [kgm2] 0005 001 002 003 004 005 006 007 008 009 01 02 03 04 05 06
45deg travel time [sec] 009 010 011 012 013 014 015 017 019 021 023 039 062 070 087 111
90deg travel time [sec] 012 012 014 016 017 018 020 022 024 026 029 048 073 083 102 123
180deg travel time [sec] 017 017 019 021 023 024 027 029 032 035 037 060 089 101 122 142
270deg travel time [sec] 022 022 024 026 027 029 032 035 038 041 044 069 100 114 136 168
DD-T18LT18
(Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)
(Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)
CJ0199-2A-UST-1-0814
IAI America IncHeadquarters 2690 W 237th Street Torrance CA 90505 (800) 736-1712Chicago Office 110 East State Parkway Schaumburg IL 60173 (800) 944-0333Atlanta Office 1220 Kennestone Circle Suite 108 Marietta GA 30066 (888) 354-9470
wwwintelligentactuatorcom
IAI Industrieroboter GmbHOber der Roumlth 4 D-65824 Schwalbach am Taunus Germany
IAI Robot (Thailand) CO Ltd825 PhairojKijja Tower 12th Floor Bangna-Trad RDBangna Bangna Bangkok 10260 Thailand
The information contained in this product brochure may change without prior notice due to product improvements
4
DD Direct Drive Motor
CAD drawings can be downloaded from the website wwwintelligentactuatorcom
DD-T18 Direct Drive MotorStandard bore Slim type
Model Specifications
Common Specifications Run-out of Output Shaft
Dimensional Drawing
Drive systemPositioning repeatability Allowable dynamic load moment (Note 2)
Encoder resolutionAllowable thrust load (Note 2)
Base materialAmbient operating temperaturehumidityWeight
Applicable Controller Specifications
Caution
Model number Encoder typeMotor wattage
(W)
Range of operation
(deg)Speed (Note 1)
(degs)Rated torque
(Nmiddotm) ()
Maximuminstantaneous torque (Nmiddotm)
Allowable load inertia (kgmiddotmsup2)
Rotor inertia(kgmiddotmsup2)
(Note 1) The value in ( ) indicates the maximum speed The maximum speed may not be reached if the moving distance is short(Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in ve years based on this load(Note 3) The maximum cable length is 30 m Specify a desired length in meters (Example X08 = 8m) (Note 4) Please consult IAI if you are considering a 20-bit actuator and using it under conditions where the allowable dynamic moment and allowable thrust load will be exceeded
➀ ➁ ➂
➂
DD-T18 - -200-360-T2- 200 3601 to 1080
(1 to 1800)Index absolute typeMulti-rotation absolute type 84 252 06 0001984
Direct Drive Motor17-bit plusmn00055 deg 20-bit plusmn000103 deg80 Nmiddotm17-bit 131072 (pulsesrev) 20-bit 1048576 (pulsesrev)3400 N [3100N for the high resolution type]Aluminum0 to 40degC 20 to 85 (Non-condensing)5 kg
XSEL-PQRS
SCON-CA2-axis Single-phase
1-axis
Program
Positioner200VAC Single-phase
8-axis Three-phase 200VAC Three-phase
200VAC Single-phase
ModelSpecicationItems
360200T18Range ofoperation
TypeSeries Encodertype
Motorwattage
Applicablecontroller
Cablelength
200 200W 360 360 deg T2 SCON-CA XSEL-PQ XSEL-RS
T2DD
N NoneS 3mM 5m
P High resolution (20-bit)
Note Only SCON-CA applys for T18P
S Standard (17-bit)
X Specied length
Applicable controllers Operating method Power supply voltageMax number ofcontrolled axes
Note For DD-T18P only SCON-CA controller applysNote For the three-phase XSEL-PQ type 6-axes is the maximum number of controlled axes
➀ ➁Legend Encoder resolution Encoder type Cable length () The value when installed on an IAI rated heat dissipating plate (Please see P9 for further details)
AI Index absolute typeAM Multi-rotation absolute type
Thrust (axial) run-out (no load) 30 μm
Radial run-out (no load) 30 μm
oslash200plusmn005
6-M
5 e
ectiv
e dep
th 5
(equ
ally d
istrib
uted
)oslash1
02plusmn0
1
2-oslash6H7
Encoderconnector
Motorconnector
2-M
4 e
ect
ive
dept
h 8
180
160plusmn
01
55deg
180160plusmn01
(500)32 or less
94
5
oslash11
(500)
2-oslash4H7 eective depth 3
(equally distributed)
oslash110 0 (h7)oslash95
oslash180
oslash205
12plusmn1
23
A
003C05
oslash120
A003
-0035
A
120
plusmn 2
(dist
ance
bet
wee
n ca
ble j
unct
ions
)Gr
ound
tap
30deg
481
5
53plusmn0
1
(50)
CAD drawings can be downloaded from the website wwwintelligentactuatorcom
DD-LT18 Direct Drive MotorLarge bore Slim type
Model Specifications
Common Specifications Run-out of Output Shaft
Dimensional Drawing
Drive systemPositioning repeatability Allowable dynamic load moment (Note 2)
Encoder resolutionAllowable thrust load (Note 2)
Base materialAmbient operating temperaturehumidityWeight
Applicable Controller Specifications
Caution
Model number Encoder typeMotor wattage
(W)
Range of operation
(deg)Speed (Note 1)
(degs)Rated torque
(Nmiddotm) ()
Maximuminstantaneous torque (Nmiddotm)
Allowable load inertia (kgmiddotmsup2)
Rotor inertia(kgmiddotmsup2)
(Note 1) The value in ( ) indicates the maximum speed The maximum speed may not be reached if the moving distance is short(Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in ve years based on this load(Note 3) The maximum cable length is 30 m Specify a desired length in meters (Example X08 = 8m) (Note 4) Please consult IAI if you are considering a 20-bit actuator and using it under conditions where the allowable dynamic moment and allowable thrust load will be exceeded
200 3601 to 1080
(1 to 1800)Index absolute typeMulti-rotation absolute type 84 252 06 0001984
Direct Drive Motor17-bit plusmn00055 deg 20-bit plusmn000103 deg80 Nmiddotm17-bit 131072 (pulsesrev) 20-bit 1048576 (pulsesrev)3400 N [3100N for the high resolution type]Aluminum0 to 40degC 20 to 85 (Non-condensing)6 kg
XSEL-PQRS
SCON-CA2-axis Single-phase
1-axis
Program
Positioner200VAC Single-phase
8-axis Three-phase 200VAC Three-phase
200VAC Single-phase
ModelSpecicationItems
360200LT18Range ofoperation
TypeSeries Encodertype
Motorwattage
Applicablecontroller
Cablelength
200 200W 360 360 deg T2 SCON-CA XSEL-PQ XSEL-RS
T2DD
N NoneS 3mM 5m
P High resolution (20-bit)
Note Only SCON-CA applys for LT18P
S Standard (17-bit)
X Specied length
Applicable controllers Operating method Power supply voltageMax number ofcontrolled axes
Note For DD-LT18P only SCON-CA controller applysNote For the three-phase XSEL-PQ type 6-axes is the maximum number of controlled axes
➀ ➁ ➂
➂
DD-LT18 - -200-360-T2-
➀ ➁Legend Encoder resolution Encoder type Cable length () The value when installed on an IAI rated heat dissipating plate (Please see P9 for further details)
AI Index absolute typeAM Multi-rotation absolute type
0 (h7)
55deg
(59
4)
30deg
Thrust (axial) run-out (no load) 30 μm
Radial run-out (no load) 30 μm
Encoderconnector
Motorconnector
12plusmn1
581
5
33
B
63plusmn0
1
B003B003
5
(500)32 or less
2-oslash4H7 eective depth 3
(equally distributed)
94
oslash102
plusmn01
oslash11
(500)2-M
4 e
ect
ive
dept
h 8
Grou
nd ta
p
180
160plusmn
01
oslash200plusmn005
2-oslash6H7
oslash95
oslash180
oslash47
180160plusmn01
C05
oslash120
oslash110 -0035
6-M
5 e
ectiv
e dep
th 5
(equ
ally d
istrib
uted
)
120
plusmn 2
(dist
ance
bet
wee
n ca
ble j
unct
ions
)
5
DD Direct Drive Motor
CAD drawings can be downloaded from the website wwwintelligentactuatorcom
DD-H18 Direct Drive MotorStandard bore High-torque type
Model Specifications
Common Specifications Run-out of Output Shaft
Dimensional Drawing
Drive systemPositioning repeatability Allowable dynamic load moment (Note 2)
Encoder resolutionAllowable thrust load (Note 2)
Base materialAmbient operating temperaturehumidityWeight
Applicable Controller Specifications
Caution
Model number Encoder typeMotor wattage
(W)
Range of operation
(deg)Speed (Note 1)
(degs)Rated torque
(Nmiddotm) ()
Maximuminstantaneous torque (Nmiddotm)
Allowable load inertia (kgmiddotmsup2)
Rotor inertia(kgmiddotmsup2)
(Note 1) The maximum speed may not be reached if the moving distance is short
(Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in ve years based on this load
(Note 3) The maximum cable length is 30 m Specify a desired length in meters (Example X08 = 8m) (Note 4) Please consult IAI if you are considering a 20-bit actuator and using it under conditions where the allowable dynamic moment and allowable thrust load will be exceeded
600 360 1 to 1440Index absolute typeMulti-rotation absolute type 25 75 18 00106
Direct Drive Motor17-bit plusmn00055 deg 20-bit plusmn000103 deg80 Nmiddotm17-bit 131072 (pulsesrev) 20-bit 1048576 (pulsesrev)3400 N [3100N for the high resolution type]Aluminum0 to 40degC 20 to 85 (Non-condensing)136 kg
XSEL-PQRS
SCON-CA1-axis Single-phase
1-axis
Program
Positioner200VAC Single-phase
2-axis Three-phase 200VAC Three-phase
200VAC Single-phase
ModelSpecicationItems
360600H18Range ofoperation
TypeSeries Encodertype
Motorwattage
Applicablecontroller
Cablelength
600 600W 360 360 deg T2 SCON-CA XSEL-PQ XSEL-RS
T2DD
N NoneS 3mM 5m
P High resolution (20-bit)
Note Only SCON-CA applys for H18P
S Standard (17-bit)
X Specied length
Applicable controllers Operating method Power supply voltageMax number ofcontrolled axes
Note For DD-H18P only SCON-CA controller applys
➀ ➁ ➂
➂
DD-H18 - -600-360-T2-
➀ ➁Legend Encoder resolution Encoder type Cable length () The value when installed on an IAI rated heat dissipating plate (Please see P9 for further details)
Thrust (axial) run-out (no load) 30 μm
Radial run-out (no load) 30 μm
5
94
34 or less
(500)
(500)
oslash11
120
plusmn 2
(dist
ance
bet
wee
n ca
ble j
unct
ions
)
Encoderconnector
Motorconnector
2-M4 eective depth 8Ground tap
2-oslash4H7 eective depth 4
(equally distributed)
C05
180
160plusmn
01
oslash120oslash110 -0035 (h7)
oslash93
oslash180
160plusmn01180
55deg
003 A
003 A
oslash101plusmn01
30deg
oslash200plusmn005
2-oslash6H7 6-M6 e
ectiv
e dep
th 9
(equall
y dist
ributed
)
13plusmn1
125plusmn
01
Aoslash205
0
118
15(1
20)
31
AI Index absolute typeAM Multi-rotation absolute type
6
DD Direct Drive Motor
CAD drawings can be downloaded from the website wwwintelligentactuatorcom
DD-LH18 Direct Drive MotorLarge bore High-torque type
Model Specifications
Common Specifications Run-out of Output Shaft
Dimensional Drawing
Drive systemPositioning repeatability Allowable dynamic load moment (Note 2)
Encoder resolutionAllowable thrust load (Note 2)
Base materialAmbient operating temperaturehumidityWeight
Applicable Controller Specifications
Caution
Model number Encoder typeMotor wattage
(W)
Range of operation
(deg)Speed (Note 1)
(degs)Rated torque
(Nmiddotm) ()
Maximuminstantaneous torque (Nmiddotm)
Allowable load inertia (kgmiddotmsup2)
Rotor inertia(kgmiddotmsup2)
600 360 1 to 1440Index absolute typeMulti-rotation absolute type 25 75 18 00106
Direct Drive Motor17-bit plusmn00055 deg 20-bit plusmn000103 deg80 Nmiddotm17-bit 131072 (pulsesrev) 20-bit 1048576 (pulsesrev)3400 N [3100N for the high resolution type]Aluminum0 to 40degC 20 to 85 (Non-condensing)13 kg
XSEL-PQRS
SCON-CA1-axis Single-phase
1-axis
Program
Positioner200VAC Single-phase
2-axis Three-phase 200VAC Three-phase
200VAC Single-phase
ModelSpecicationItems
360600LH18Range ofoperation
TypeSeries Encodertype
Motorwattage
Applicablecontroller
Cablelength
600 600W 360 360 deg T2 SCON-CA XSEL-PQ XSEL-RS
T2DD
N NoneS 3mM 5m
P High resolution (20-bit)
Note Only SCON-CA applys for LH18P
S Standard (17-bit)
X Specied length
Applicable controllers Operating method Power supply voltageMax number ofcontrolled axes
Note For DD-LH18P only SCON-CA controller applys
➀ ➁ ➂
➂
DD-LH18 - -600-360-T2-
➀ ➁Legend Encoder resolution Encoder type Cable length () The value when installed on an IAI rated heat dissipating plate (Please see P9 for further details)
(Note 1) The maximum speed may not be reached if the moving distance is short
(Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in ve years based on this load
(Note 3) The maximum cable length is 30 m Specify a desired length in meters (Example X08 = 8m) (Note 4) Please consult IAI if you are considering a 20-bit actuator and using it under conditions where the allowable dynamic moment and allowable thrust load will be exceeded
AI Index absolute typeAM Multi-rotation absolute type
Thrust (axial) run-out (no load) 30 μm
Radial run-out (no load) 30 μm
Encoderconnector
Motorconnector
94
(h7)
oslash180
180160plusmn01
(500)
A003
oslash120
A003
34 or less
2-oslash4H7 eective depth 3
(equally distributed)
120
plusmn 2
(dist
ance
bet
wee
n ca
ble j
unct
ions
)
oslash110 -0035
oslash47
180
160plusmn
01
oslash11
oslash200plusmn005
2-oslash6H7
55deg
C05
(500)
30deg
oslash93
oslash101plusmn01
6-M6 eecti
ve depth 5
(equally distributed)
2-M4 eective depth 8Ground tap
0
13plusmn1
(120
)
118
15
A
125plusmn
01
31
5
7
DD Direct Drive Motor
Model Number of Positioner Single-axis Type ltSCON-CAgt
Power-supplyvoltage
IO typeEncoder typeMotor typeTypeSeries OptionsSCON
IO cable length
A Absolute specication I
M
Index absolute type
Multi-rotation absolute type
For 200-watt motor (DD motor only)
For 600-watt motor
CA A 2
Model Number of Programmable Multi-axis Type ltXSELgt
Encoder type Encoder typeMotor type Motor typeNumber ofconnected axes
TypeSeries Options OptionsXSEL
600 For 600-watt motor
200
200S
600
For 200-watt motor
A Absolute specication I
M
Index absolute type
Multi-rotation absolute type
P
Q
R
S
6-axis type
6-axis global type
8-axis type
8-axis global type1
8
1 axis
8 axes
A A
(The PQ type can only accommodate up to 6 axes)
(Specs for axis 1) (Specs for axes 2~8)
A single controller can operate multiple actuators other thanthe DD motor (single-axis robot ROBO Cylinder) at the sametime For details on actuators other than the DD motor thatcan be connected refer to the page listing the XSEL modelnumbers in the ROBO Cylinder General Catalog
For the remaining part of the model number see the ROBO CylinderGeneral Catalog
Caution
Because the 200W driver for the SCON-CA for DD motors is larger than the regular 200-watt type the motor type will be 200S
The controller may be selected from the two models described below
When the XSEL controller is connected
SCON-CAPC
PLC(To be supplied by the customer)
PLC(To be supplied by the customer)
IO at cableModel CB-PAC-PIO020Standard 2 m
Be sure to use a noise filter on the power supply (For recommended models see the general catalog)
Encoder cableModel CB-X3-PA
PC softwareRS232 connection typeModel RCM-101-MWUSB connection typeModel RCM-101-USB
Teaching pendant Model TB-01-C
Regenerative resistor unitModel REU-2
Main power supply
Main power supply
Single-phase 200 VAC
Field network(For details see the ROBO Cylinder General Catalog)
Option
Comes with the actuator
Comes with the controller
Comes with the actuator Option
Option
OptionMotor CableModel CB-X-MA(T18LT18) CB-XMC-MA(H18LH18)
XSELPC
Be sure to use a noise filter on the power supply (For recommended models see the general catalog)
PC softwareRS232 connection typeModel IA-101-X-MWUSB connection typeModel IA-101-X-USBMW
Single-phase 200 VACThree-phase 200 VAC
Regenerative resistor unitModel REU-1
Option
Option
Field network(For details see the ROBO Cylinder General Catalog)
Option
IO at cableModel CB-X-PIO020Standard 2 m
Comes with the controller
Encoder cableModel CB-X3-PA
Comes with the actuator
Comes with the actuatorMotor CableModel CB-X-MA(T18LT18) CB-XMC-MA(H18LH18)
When the SCON controller is connected
See page 9 to nd out how many regenerative resistor units are needed
See page 9 to nd out how many regenerative resistor units are needed
Teaching pendant Model TB-01-S
Option
Controller Model Numbers
System Configuration
8
DD Direct Drive Motor
Notes Installation
Installation OrientationDo not install it in a vertical position or hung on the ceiling
Controllers The output of the DD motor is 200 watts but the outside dimensions of the SCON-CA controller are those of the 400-watt type (For details on the outside dimensions of the SCON-CA see the ROBO Cylinder General Catalog) One and two regenerative resistor unit(s) are required for T18LT18 and H18LH18 respectively to operate a DD motor with the SCON-CA When operating DD motor(s) with the XSEL controller regenerative resistor units are required as shown below
The number of DD motor(s) connectable to the XSEL controller are a max of 8 units for the T18LT18 types and a max of 2 units for the H18LH18 types Please note that when the DD motor is operated with the SCON-CA the motor cannot be connected to the ROBO Cylinder gateway function of the XSEL controller Calculation the for power supply value T18LT18 types single-phase 600W bull three-phase 200W H18LH18 types single-phase 1200W bull three-phase 600W
Operation TypesTwo operation types can be selected to suit specic operating conditionsCheck the features of the dierent types of DD motors and other notes before use
The high resolution specication can be connected only to the SCON-CA
When the XSEL absolute index type travels more than 180deg from the current position it rotates in a direction that requires a shorter travel to reach the target position Therefore please note that the direction of rotation changes according to the current position and travelIf you want to specify the direction of travel use the SCON-CA
The index type can be rotated in a given direction innitely but it actually cannot continue to rotate in the same direction without stopping like a regular motor does because the maximum travel distance per command from the XSEL controller is 180deg If you want to allow the motor to rotate continuously use the SCON-CA
Home return is required for the multi-rotation absolute encoder during the initial setting and replacement of the absolute battery
(1)
(2)
(3)
(4)
Operation typeController typeOperation rangeMaximum travel per travel commandInnite rotationHome returnAbsolute battery
Index absolute type
0 to 359999deg
Available (3)Not requiredNot required
SCON-CA
360deg
XSEL (1)
180deg (2)
Multi-rotation absolute type
Max plusmn9999deg (plusmn2520deg)Within the above operation range
Not availableNot required (4)
Required
SCON-CA XSEL (1)
160
Positioning hole for DD motor2-oslash4 reamed hole through
Mounting hole for DD motor4-oslash11 drilled through
oslash200
55deg
160
H
Installation surface
Ceiling mountVertical mount
Gra
vity
Horizontal mount
The height ldquoHrdquo measurements
mmT1823
LT1833
H1831
LH1831
(Note) Use this product by installing it on a mounting surfacehaving heat dissipating characteristics equivalent to those of an aluminum plate of 400 x 400 x t10 mm in sizeIf the installation conditions necessitate lower heat dissipating characteristics please consult IAI
( ) indicates at 20-bit resolution
Number of regenerative resistor units
1 2 3 4 5 6 7 81 2 3
(Cannot be connected)4
2 4
T18LT18
H18LH18
Number of DD motor(s)
9
DD Direct Drive Motor
Conditions for SelectionThe following should be checked to determine whether the DD motor can be used to suit the specic conditions required by the customer
Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DD motor specications to determine whether the DD motor can be used under the applicable operating conditions
The customer should conrm that the following three points under actual use do not exceed their maximum allowable levels as specied for the DD motor
The total load of device(s) mounted on the actuator
The total load moment of device(s) mounted on the actuator
The load inertia of device(s) mounted on the actuator
To calculate the load conditions calculate the load inertia of device(s) mounted on the actuator and check the details with the DD motor selection software The equations used to calculate the load inertia of typical shapes are shown below for reference purposes
Download the DD motor selection software from httpwwwintelligentactuatorcomdd-selection-software
Download the DD motor selection software from httpwwwintelligentactuatorcomdd-selection-software
Check Load Conditions1
Check Operating Conditions2
The travel time changes according to the load inertia See the tables below to check the travel time data The data in the tables is only intended as a guide so the travel time is not guaranteed
Travel Time Guide3
[1] Thrust load
[2] Load moment applied
[3] Load inertia
J = M x R2 + 112 x M x (a2 + b2)J = M x R2 + 18 x M x D2 J = 112 x M x (a2 + b2)J = 18 x M x D2
Weight M
D
Cent
er of
ro
tatio
n
a
b
Cent
er of
ro
tatio
n
Weight MWeight MCent
er o
f rot
atio
n
D
R Cent
er o
f rot
atio
n
a
bR
Weight M
To calculate operating conditions use the DD motor selection software
DD Direct Drive Motor
10
Load inertia lower limit [kgm2] 0 0005 001 002 002 003 004 006 008 010 015 02 03 04 06 08 10 12 14
Load inertia upper limit [kgm2] 0005 001 0015 002 003 004 006 008 01 015 02 03 04 06 08 1 12 14 18
45deg travel time [sec] 0098 0096 0096 0097 0099 0104 0113 012 0126 014 0157 0207 0257 0352 0447 053 0629 0795 0875
90deg travel time [sec] 0129 0128 0127 0128 0131 0136 0144 0153 0163 0184 0208 0268 0329 044 0549 0646 0758 0941 1035
180deg travel time [sec] 0192 019 019 0191 0193 0199 0207 0215 0225 0249 0279 0354 0428 0562 0692 0806 0933 1133 1257
270deg travel time [sec] 0254 0252 0252 0253 0256 0262 027 0278 0288 0312 0341 042 0504 0655 08 0925 1064 1274 1415
DD-H18LH18
Load inertia lower limit [kgm2] 0 0005 001 002 003 004 005 006 007 008 009 01 02 03 04 05
Load inertia upper limit [kgm2] 0005 001 002 003 004 005 006 007 008 009 01 02 03 04 05 06
45deg travel time [sec] 009 010 011 012 013 014 015 017 019 021 023 039 062 070 087 111
90deg travel time [sec] 012 012 014 016 017 018 020 022 024 026 029 048 073 083 102 123
180deg travel time [sec] 017 017 019 021 023 024 027 029 032 035 037 060 089 101 122 142
270deg travel time [sec] 022 022 024 026 027 029 032 035 038 041 044 069 100 114 136 168
DD-T18LT18
(Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)
(Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)
CJ0199-2A-UST-1-0814
IAI America IncHeadquarters 2690 W 237th Street Torrance CA 90505 (800) 736-1712Chicago Office 110 East State Parkway Schaumburg IL 60173 (800) 944-0333Atlanta Office 1220 Kennestone Circle Suite 108 Marietta GA 30066 (888) 354-9470
wwwintelligentactuatorcom
IAI Industrieroboter GmbHOber der Roumlth 4 D-65824 Schwalbach am Taunus Germany
IAI Robot (Thailand) CO Ltd825 PhairojKijja Tower 12th Floor Bangna-Trad RDBangna Bangna Bangkok 10260 Thailand
The information contained in this product brochure may change without prior notice due to product improvements
CAD drawings can be downloaded from the website wwwintelligentactuatorcom
DD-LT18 Direct Drive MotorLarge bore Slim type
Model Specifications
Common Specifications Run-out of Output Shaft
Dimensional Drawing
Drive systemPositioning repeatability Allowable dynamic load moment (Note 2)
Encoder resolutionAllowable thrust load (Note 2)
Base materialAmbient operating temperaturehumidityWeight
Applicable Controller Specifications
Caution
Model number Encoder typeMotor wattage
(W)
Range of operation
(deg)Speed (Note 1)
(degs)Rated torque
(Nmiddotm) ()
Maximuminstantaneous torque (Nmiddotm)
Allowable load inertia (kgmiddotmsup2)
Rotor inertia(kgmiddotmsup2)
(Note 1) The value in ( ) indicates the maximum speed The maximum speed may not be reached if the moving distance is short(Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in ve years based on this load(Note 3) The maximum cable length is 30 m Specify a desired length in meters (Example X08 = 8m) (Note 4) Please consult IAI if you are considering a 20-bit actuator and using it under conditions where the allowable dynamic moment and allowable thrust load will be exceeded
200 3601 to 1080
(1 to 1800)Index absolute typeMulti-rotation absolute type 84 252 06 0001984
Direct Drive Motor17-bit plusmn00055 deg 20-bit plusmn000103 deg80 Nmiddotm17-bit 131072 (pulsesrev) 20-bit 1048576 (pulsesrev)3400 N [3100N for the high resolution type]Aluminum0 to 40degC 20 to 85 (Non-condensing)6 kg
XSEL-PQRS
SCON-CA2-axis Single-phase
1-axis
Program
Positioner200VAC Single-phase
8-axis Three-phase 200VAC Three-phase
200VAC Single-phase
ModelSpecicationItems
360200LT18Range ofoperation
TypeSeries Encodertype
Motorwattage
Applicablecontroller
Cablelength
200 200W 360 360 deg T2 SCON-CA XSEL-PQ XSEL-RS
T2DD
N NoneS 3mM 5m
P High resolution (20-bit)
Note Only SCON-CA applys for LT18P
S Standard (17-bit)
X Specied length
Applicable controllers Operating method Power supply voltageMax number ofcontrolled axes
Note For DD-LT18P only SCON-CA controller applysNote For the three-phase XSEL-PQ type 6-axes is the maximum number of controlled axes
➀ ➁ ➂
➂
DD-LT18 - -200-360-T2-
➀ ➁Legend Encoder resolution Encoder type Cable length () The value when installed on an IAI rated heat dissipating plate (Please see P9 for further details)
AI Index absolute typeAM Multi-rotation absolute type
0 (h7)
55deg
(59
4)
30deg
Thrust (axial) run-out (no load) 30 μm
Radial run-out (no load) 30 μm
Encoderconnector
Motorconnector
12plusmn1
581
5
33
B
63plusmn0
1
B003B003
5
(500)32 or less
2-oslash4H7 eective depth 3
(equally distributed)
94
oslash102
plusmn01
oslash11
(500)2-M
4 e
ect
ive
dept
h 8
Grou
nd ta
p
180
160plusmn
01
oslash200plusmn005
2-oslash6H7
oslash95
oslash180
oslash47
180160plusmn01
C05
oslash120
oslash110 -0035
6-M
5 e
ectiv
e dep
th 5
(equ
ally d
istrib
uted
)
120
plusmn 2
(dist
ance
bet
wee
n ca
ble j
unct
ions
)
5
DD Direct Drive Motor
CAD drawings can be downloaded from the website wwwintelligentactuatorcom
DD-H18 Direct Drive MotorStandard bore High-torque type
Model Specifications
Common Specifications Run-out of Output Shaft
Dimensional Drawing
Drive systemPositioning repeatability Allowable dynamic load moment (Note 2)
Encoder resolutionAllowable thrust load (Note 2)
Base materialAmbient operating temperaturehumidityWeight
Applicable Controller Specifications
Caution
Model number Encoder typeMotor wattage
(W)
Range of operation
(deg)Speed (Note 1)
(degs)Rated torque
(Nmiddotm) ()
Maximuminstantaneous torque (Nmiddotm)
Allowable load inertia (kgmiddotmsup2)
Rotor inertia(kgmiddotmsup2)
(Note 1) The maximum speed may not be reached if the moving distance is short
(Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in ve years based on this load
(Note 3) The maximum cable length is 30 m Specify a desired length in meters (Example X08 = 8m) (Note 4) Please consult IAI if you are considering a 20-bit actuator and using it under conditions where the allowable dynamic moment and allowable thrust load will be exceeded
600 360 1 to 1440Index absolute typeMulti-rotation absolute type 25 75 18 00106
Direct Drive Motor17-bit plusmn00055 deg 20-bit plusmn000103 deg80 Nmiddotm17-bit 131072 (pulsesrev) 20-bit 1048576 (pulsesrev)3400 N [3100N for the high resolution type]Aluminum0 to 40degC 20 to 85 (Non-condensing)136 kg
XSEL-PQRS
SCON-CA1-axis Single-phase
1-axis
Program
Positioner200VAC Single-phase
2-axis Three-phase 200VAC Three-phase
200VAC Single-phase
ModelSpecicationItems
360600H18Range ofoperation
TypeSeries Encodertype
Motorwattage
Applicablecontroller
Cablelength
600 600W 360 360 deg T2 SCON-CA XSEL-PQ XSEL-RS
T2DD
N NoneS 3mM 5m
P High resolution (20-bit)
Note Only SCON-CA applys for H18P
S Standard (17-bit)
X Specied length
Applicable controllers Operating method Power supply voltageMax number ofcontrolled axes
Note For DD-H18P only SCON-CA controller applys
➀ ➁ ➂
➂
DD-H18 - -600-360-T2-
➀ ➁Legend Encoder resolution Encoder type Cable length () The value when installed on an IAI rated heat dissipating plate (Please see P9 for further details)
Thrust (axial) run-out (no load) 30 μm
Radial run-out (no load) 30 μm
5
94
34 or less
(500)
(500)
oslash11
120
plusmn 2
(dist
ance
bet
wee
n ca
ble j
unct
ions
)
Encoderconnector
Motorconnector
2-M4 eective depth 8Ground tap
2-oslash4H7 eective depth 4
(equally distributed)
C05
180
160plusmn
01
oslash120oslash110 -0035 (h7)
oslash93
oslash180
160plusmn01180
55deg
003 A
003 A
oslash101plusmn01
30deg
oslash200plusmn005
2-oslash6H7 6-M6 e
ectiv
e dep
th 9
(equall
y dist
ributed
)
13plusmn1
125plusmn
01
Aoslash205
0
118
15(1
20)
31
AI Index absolute typeAM Multi-rotation absolute type
6
DD Direct Drive Motor
CAD drawings can be downloaded from the website wwwintelligentactuatorcom
DD-LH18 Direct Drive MotorLarge bore High-torque type
Model Specifications
Common Specifications Run-out of Output Shaft
Dimensional Drawing
Drive systemPositioning repeatability Allowable dynamic load moment (Note 2)
Encoder resolutionAllowable thrust load (Note 2)
Base materialAmbient operating temperaturehumidityWeight
Applicable Controller Specifications
Caution
Model number Encoder typeMotor wattage
(W)
Range of operation
(deg)Speed (Note 1)
(degs)Rated torque
(Nmiddotm) ()
Maximuminstantaneous torque (Nmiddotm)
Allowable load inertia (kgmiddotmsup2)
Rotor inertia(kgmiddotmsup2)
600 360 1 to 1440Index absolute typeMulti-rotation absolute type 25 75 18 00106
Direct Drive Motor17-bit plusmn00055 deg 20-bit plusmn000103 deg80 Nmiddotm17-bit 131072 (pulsesrev) 20-bit 1048576 (pulsesrev)3400 N [3100N for the high resolution type]Aluminum0 to 40degC 20 to 85 (Non-condensing)13 kg
XSEL-PQRS
SCON-CA1-axis Single-phase
1-axis
Program
Positioner200VAC Single-phase
2-axis Three-phase 200VAC Three-phase
200VAC Single-phase
ModelSpecicationItems
360600LH18Range ofoperation
TypeSeries Encodertype
Motorwattage
Applicablecontroller
Cablelength
600 600W 360 360 deg T2 SCON-CA XSEL-PQ XSEL-RS
T2DD
N NoneS 3mM 5m
P High resolution (20-bit)
Note Only SCON-CA applys for LH18P
S Standard (17-bit)
X Specied length
Applicable controllers Operating method Power supply voltageMax number ofcontrolled axes
Note For DD-LH18P only SCON-CA controller applys
➀ ➁ ➂
➂
DD-LH18 - -600-360-T2-
➀ ➁Legend Encoder resolution Encoder type Cable length () The value when installed on an IAI rated heat dissipating plate (Please see P9 for further details)
(Note 1) The maximum speed may not be reached if the moving distance is short
(Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in ve years based on this load
(Note 3) The maximum cable length is 30 m Specify a desired length in meters (Example X08 = 8m) (Note 4) Please consult IAI if you are considering a 20-bit actuator and using it under conditions where the allowable dynamic moment and allowable thrust load will be exceeded
AI Index absolute typeAM Multi-rotation absolute type
Thrust (axial) run-out (no load) 30 μm
Radial run-out (no load) 30 μm
Encoderconnector
Motorconnector
94
(h7)
oslash180
180160plusmn01
(500)
A003
oslash120
A003
34 or less
2-oslash4H7 eective depth 3
(equally distributed)
120
plusmn 2
(dist
ance
bet
wee
n ca
ble j
unct
ions
)
oslash110 -0035
oslash47
180
160plusmn
01
oslash11
oslash200plusmn005
2-oslash6H7
55deg
C05
(500)
30deg
oslash93
oslash101plusmn01
6-M6 eecti
ve depth 5
(equally distributed)
2-M4 eective depth 8Ground tap
0
13plusmn1
(120
)
118
15
A
125plusmn
01
31
5
7
DD Direct Drive Motor
Model Number of Positioner Single-axis Type ltSCON-CAgt
Power-supplyvoltage
IO typeEncoder typeMotor typeTypeSeries OptionsSCON
IO cable length
A Absolute specication I
M
Index absolute type
Multi-rotation absolute type
For 200-watt motor (DD motor only)
For 600-watt motor
CA A 2
Model Number of Programmable Multi-axis Type ltXSELgt
Encoder type Encoder typeMotor type Motor typeNumber ofconnected axes
TypeSeries Options OptionsXSEL
600 For 600-watt motor
200
200S
600
For 200-watt motor
A Absolute specication I
M
Index absolute type
Multi-rotation absolute type
P
Q
R
S
6-axis type
6-axis global type
8-axis type
8-axis global type1
8
1 axis
8 axes
A A
(The PQ type can only accommodate up to 6 axes)
(Specs for axis 1) (Specs for axes 2~8)
A single controller can operate multiple actuators other thanthe DD motor (single-axis robot ROBO Cylinder) at the sametime For details on actuators other than the DD motor thatcan be connected refer to the page listing the XSEL modelnumbers in the ROBO Cylinder General Catalog
For the remaining part of the model number see the ROBO CylinderGeneral Catalog
Caution
Because the 200W driver for the SCON-CA for DD motors is larger than the regular 200-watt type the motor type will be 200S
The controller may be selected from the two models described below
When the XSEL controller is connected
SCON-CAPC
PLC(To be supplied by the customer)
PLC(To be supplied by the customer)
IO at cableModel CB-PAC-PIO020Standard 2 m
Be sure to use a noise filter on the power supply (For recommended models see the general catalog)
Encoder cableModel CB-X3-PA
PC softwareRS232 connection typeModel RCM-101-MWUSB connection typeModel RCM-101-USB
Teaching pendant Model TB-01-C
Regenerative resistor unitModel REU-2
Main power supply
Main power supply
Single-phase 200 VAC
Field network(For details see the ROBO Cylinder General Catalog)
Option
Comes with the actuator
Comes with the controller
Comes with the actuator Option
Option
OptionMotor CableModel CB-X-MA(T18LT18) CB-XMC-MA(H18LH18)
XSELPC
Be sure to use a noise filter on the power supply (For recommended models see the general catalog)
PC softwareRS232 connection typeModel IA-101-X-MWUSB connection typeModel IA-101-X-USBMW
Single-phase 200 VACThree-phase 200 VAC
Regenerative resistor unitModel REU-1
Option
Option
Field network(For details see the ROBO Cylinder General Catalog)
Option
IO at cableModel CB-X-PIO020Standard 2 m
Comes with the controller
Encoder cableModel CB-X3-PA
Comes with the actuator
Comes with the actuatorMotor CableModel CB-X-MA(T18LT18) CB-XMC-MA(H18LH18)
When the SCON controller is connected
See page 9 to nd out how many regenerative resistor units are needed
See page 9 to nd out how many regenerative resistor units are needed
Teaching pendant Model TB-01-S
Option
Controller Model Numbers
System Configuration
8
DD Direct Drive Motor
Notes Installation
Installation OrientationDo not install it in a vertical position or hung on the ceiling
Controllers The output of the DD motor is 200 watts but the outside dimensions of the SCON-CA controller are those of the 400-watt type (For details on the outside dimensions of the SCON-CA see the ROBO Cylinder General Catalog) One and two regenerative resistor unit(s) are required for T18LT18 and H18LH18 respectively to operate a DD motor with the SCON-CA When operating DD motor(s) with the XSEL controller regenerative resistor units are required as shown below
The number of DD motor(s) connectable to the XSEL controller are a max of 8 units for the T18LT18 types and a max of 2 units for the H18LH18 types Please note that when the DD motor is operated with the SCON-CA the motor cannot be connected to the ROBO Cylinder gateway function of the XSEL controller Calculation the for power supply value T18LT18 types single-phase 600W bull three-phase 200W H18LH18 types single-phase 1200W bull three-phase 600W
Operation TypesTwo operation types can be selected to suit specic operating conditionsCheck the features of the dierent types of DD motors and other notes before use
The high resolution specication can be connected only to the SCON-CA
When the XSEL absolute index type travels more than 180deg from the current position it rotates in a direction that requires a shorter travel to reach the target position Therefore please note that the direction of rotation changes according to the current position and travelIf you want to specify the direction of travel use the SCON-CA
The index type can be rotated in a given direction innitely but it actually cannot continue to rotate in the same direction without stopping like a regular motor does because the maximum travel distance per command from the XSEL controller is 180deg If you want to allow the motor to rotate continuously use the SCON-CA
Home return is required for the multi-rotation absolute encoder during the initial setting and replacement of the absolute battery
(1)
(2)
(3)
(4)
Operation typeController typeOperation rangeMaximum travel per travel commandInnite rotationHome returnAbsolute battery
Index absolute type
0 to 359999deg
Available (3)Not requiredNot required
SCON-CA
360deg
XSEL (1)
180deg (2)
Multi-rotation absolute type
Max plusmn9999deg (plusmn2520deg)Within the above operation range
Not availableNot required (4)
Required
SCON-CA XSEL (1)
160
Positioning hole for DD motor2-oslash4 reamed hole through
Mounting hole for DD motor4-oslash11 drilled through
oslash200
55deg
160
H
Installation surface
Ceiling mountVertical mount
Gra
vity
Horizontal mount
The height ldquoHrdquo measurements
mmT1823
LT1833
H1831
LH1831
(Note) Use this product by installing it on a mounting surfacehaving heat dissipating characteristics equivalent to those of an aluminum plate of 400 x 400 x t10 mm in sizeIf the installation conditions necessitate lower heat dissipating characteristics please consult IAI
( ) indicates at 20-bit resolution
Number of regenerative resistor units
1 2 3 4 5 6 7 81 2 3
(Cannot be connected)4
2 4
T18LT18
H18LH18
Number of DD motor(s)
9
DD Direct Drive Motor
Conditions for SelectionThe following should be checked to determine whether the DD motor can be used to suit the specic conditions required by the customer
Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DD motor specications to determine whether the DD motor can be used under the applicable operating conditions
The customer should conrm that the following three points under actual use do not exceed their maximum allowable levels as specied for the DD motor
The total load of device(s) mounted on the actuator
The total load moment of device(s) mounted on the actuator
The load inertia of device(s) mounted on the actuator
To calculate the load conditions calculate the load inertia of device(s) mounted on the actuator and check the details with the DD motor selection software The equations used to calculate the load inertia of typical shapes are shown below for reference purposes
Download the DD motor selection software from httpwwwintelligentactuatorcomdd-selection-software
Download the DD motor selection software from httpwwwintelligentactuatorcomdd-selection-software
Check Load Conditions1
Check Operating Conditions2
The travel time changes according to the load inertia See the tables below to check the travel time data The data in the tables is only intended as a guide so the travel time is not guaranteed
Travel Time Guide3
[1] Thrust load
[2] Load moment applied
[3] Load inertia
J = M x R2 + 112 x M x (a2 + b2)J = M x R2 + 18 x M x D2 J = 112 x M x (a2 + b2)J = 18 x M x D2
Weight M
D
Cent
er of
ro
tatio
n
a
b
Cent
er of
ro
tatio
n
Weight MWeight MCent
er o
f rot
atio
n
D
R Cent
er o
f rot
atio
n
a
bR
Weight M
To calculate operating conditions use the DD motor selection software
DD Direct Drive Motor
10
Load inertia lower limit [kgm2] 0 0005 001 002 002 003 004 006 008 010 015 02 03 04 06 08 10 12 14
Load inertia upper limit [kgm2] 0005 001 0015 002 003 004 006 008 01 015 02 03 04 06 08 1 12 14 18
45deg travel time [sec] 0098 0096 0096 0097 0099 0104 0113 012 0126 014 0157 0207 0257 0352 0447 053 0629 0795 0875
90deg travel time [sec] 0129 0128 0127 0128 0131 0136 0144 0153 0163 0184 0208 0268 0329 044 0549 0646 0758 0941 1035
180deg travel time [sec] 0192 019 019 0191 0193 0199 0207 0215 0225 0249 0279 0354 0428 0562 0692 0806 0933 1133 1257
270deg travel time [sec] 0254 0252 0252 0253 0256 0262 027 0278 0288 0312 0341 042 0504 0655 08 0925 1064 1274 1415
DD-H18LH18
Load inertia lower limit [kgm2] 0 0005 001 002 003 004 005 006 007 008 009 01 02 03 04 05
Load inertia upper limit [kgm2] 0005 001 002 003 004 005 006 007 008 009 01 02 03 04 05 06
45deg travel time [sec] 009 010 011 012 013 014 015 017 019 021 023 039 062 070 087 111
90deg travel time [sec] 012 012 014 016 017 018 020 022 024 026 029 048 073 083 102 123
180deg travel time [sec] 017 017 019 021 023 024 027 029 032 035 037 060 089 101 122 142
270deg travel time [sec] 022 022 024 026 027 029 032 035 038 041 044 069 100 114 136 168
DD-T18LT18
(Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)
(Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)
CJ0199-2A-UST-1-0814
IAI America IncHeadquarters 2690 W 237th Street Torrance CA 90505 (800) 736-1712Chicago Office 110 East State Parkway Schaumburg IL 60173 (800) 944-0333Atlanta Office 1220 Kennestone Circle Suite 108 Marietta GA 30066 (888) 354-9470
wwwintelligentactuatorcom
IAI Industrieroboter GmbHOber der Roumlth 4 D-65824 Schwalbach am Taunus Germany
IAI Robot (Thailand) CO Ltd825 PhairojKijja Tower 12th Floor Bangna-Trad RDBangna Bangna Bangkok 10260 Thailand
The information contained in this product brochure may change without prior notice due to product improvements
CAD drawings can be downloaded from the website wwwintelligentactuatorcom
DD-H18 Direct Drive MotorStandard bore High-torque type
Model Specifications
Common Specifications Run-out of Output Shaft
Dimensional Drawing
Drive systemPositioning repeatability Allowable dynamic load moment (Note 2)
Encoder resolutionAllowable thrust load (Note 2)
Base materialAmbient operating temperaturehumidityWeight
Applicable Controller Specifications
Caution
Model number Encoder typeMotor wattage
(W)
Range of operation
(deg)Speed (Note 1)
(degs)Rated torque
(Nmiddotm) ()
Maximuminstantaneous torque (Nmiddotm)
Allowable load inertia (kgmiddotmsup2)
Rotor inertia(kgmiddotmsup2)
(Note 1) The maximum speed may not be reached if the moving distance is short
(Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in ve years based on this load
(Note 3) The maximum cable length is 30 m Specify a desired length in meters (Example X08 = 8m) (Note 4) Please consult IAI if you are considering a 20-bit actuator and using it under conditions where the allowable dynamic moment and allowable thrust load will be exceeded
600 360 1 to 1440Index absolute typeMulti-rotation absolute type 25 75 18 00106
Direct Drive Motor17-bit plusmn00055 deg 20-bit plusmn000103 deg80 Nmiddotm17-bit 131072 (pulsesrev) 20-bit 1048576 (pulsesrev)3400 N [3100N for the high resolution type]Aluminum0 to 40degC 20 to 85 (Non-condensing)136 kg
XSEL-PQRS
SCON-CA1-axis Single-phase
1-axis
Program
Positioner200VAC Single-phase
2-axis Three-phase 200VAC Three-phase
200VAC Single-phase
ModelSpecicationItems
360600H18Range ofoperation
TypeSeries Encodertype
Motorwattage
Applicablecontroller
Cablelength
600 600W 360 360 deg T2 SCON-CA XSEL-PQ XSEL-RS
T2DD
N NoneS 3mM 5m
P High resolution (20-bit)
Note Only SCON-CA applys for H18P
S Standard (17-bit)
X Specied length
Applicable controllers Operating method Power supply voltageMax number ofcontrolled axes
Note For DD-H18P only SCON-CA controller applys
➀ ➁ ➂
➂
DD-H18 - -600-360-T2-
➀ ➁Legend Encoder resolution Encoder type Cable length () The value when installed on an IAI rated heat dissipating plate (Please see P9 for further details)
Thrust (axial) run-out (no load) 30 μm
Radial run-out (no load) 30 μm
5
94
34 or less
(500)
(500)
oslash11
120
plusmn 2
(dist
ance
bet
wee
n ca
ble j
unct
ions
)
Encoderconnector
Motorconnector
2-M4 eective depth 8Ground tap
2-oslash4H7 eective depth 4
(equally distributed)
C05
180
160plusmn
01
oslash120oslash110 -0035 (h7)
oslash93
oslash180
160plusmn01180
55deg
003 A
003 A
oslash101plusmn01
30deg
oslash200plusmn005
2-oslash6H7 6-M6 e
ectiv
e dep
th 9
(equall
y dist
ributed
)
13plusmn1
125plusmn
01
Aoslash205
0
118
15(1
20)
31
AI Index absolute typeAM Multi-rotation absolute type
6
DD Direct Drive Motor
CAD drawings can be downloaded from the website wwwintelligentactuatorcom
DD-LH18 Direct Drive MotorLarge bore High-torque type
Model Specifications
Common Specifications Run-out of Output Shaft
Dimensional Drawing
Drive systemPositioning repeatability Allowable dynamic load moment (Note 2)
Encoder resolutionAllowable thrust load (Note 2)
Base materialAmbient operating temperaturehumidityWeight
Applicable Controller Specifications
Caution
Model number Encoder typeMotor wattage
(W)
Range of operation
(deg)Speed (Note 1)
(degs)Rated torque
(Nmiddotm) ()
Maximuminstantaneous torque (Nmiddotm)
Allowable load inertia (kgmiddotmsup2)
Rotor inertia(kgmiddotmsup2)
600 360 1 to 1440Index absolute typeMulti-rotation absolute type 25 75 18 00106
Direct Drive Motor17-bit plusmn00055 deg 20-bit plusmn000103 deg80 Nmiddotm17-bit 131072 (pulsesrev) 20-bit 1048576 (pulsesrev)3400 N [3100N for the high resolution type]Aluminum0 to 40degC 20 to 85 (Non-condensing)13 kg
XSEL-PQRS
SCON-CA1-axis Single-phase
1-axis
Program
Positioner200VAC Single-phase
2-axis Three-phase 200VAC Three-phase
200VAC Single-phase
ModelSpecicationItems
360600LH18Range ofoperation
TypeSeries Encodertype
Motorwattage
Applicablecontroller
Cablelength
600 600W 360 360 deg T2 SCON-CA XSEL-PQ XSEL-RS
T2DD
N NoneS 3mM 5m
P High resolution (20-bit)
Note Only SCON-CA applys for LH18P
S Standard (17-bit)
X Specied length
Applicable controllers Operating method Power supply voltageMax number ofcontrolled axes
Note For DD-LH18P only SCON-CA controller applys
➀ ➁ ➂
➂
DD-LH18 - -600-360-T2-
➀ ➁Legend Encoder resolution Encoder type Cable length () The value when installed on an IAI rated heat dissipating plate (Please see P9 for further details)
(Note 1) The maximum speed may not be reached if the moving distance is short
(Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in ve years based on this load
(Note 3) The maximum cable length is 30 m Specify a desired length in meters (Example X08 = 8m) (Note 4) Please consult IAI if you are considering a 20-bit actuator and using it under conditions where the allowable dynamic moment and allowable thrust load will be exceeded
AI Index absolute typeAM Multi-rotation absolute type
Thrust (axial) run-out (no load) 30 μm
Radial run-out (no load) 30 μm
Encoderconnector
Motorconnector
94
(h7)
oslash180
180160plusmn01
(500)
A003
oslash120
A003
34 or less
2-oslash4H7 eective depth 3
(equally distributed)
120
plusmn 2
(dist
ance
bet
wee
n ca
ble j
unct
ions
)
oslash110 -0035
oslash47
180
160plusmn
01
oslash11
oslash200plusmn005
2-oslash6H7
55deg
C05
(500)
30deg
oslash93
oslash101plusmn01
6-M6 eecti
ve depth 5
(equally distributed)
2-M4 eective depth 8Ground tap
0
13plusmn1
(120
)
118
15
A
125plusmn
01
31
5
7
DD Direct Drive Motor
Model Number of Positioner Single-axis Type ltSCON-CAgt
Power-supplyvoltage
IO typeEncoder typeMotor typeTypeSeries OptionsSCON
IO cable length
A Absolute specication I
M
Index absolute type
Multi-rotation absolute type
For 200-watt motor (DD motor only)
For 600-watt motor
CA A 2
Model Number of Programmable Multi-axis Type ltXSELgt
Encoder type Encoder typeMotor type Motor typeNumber ofconnected axes
TypeSeries Options OptionsXSEL
600 For 600-watt motor
200
200S
600
For 200-watt motor
A Absolute specication I
M
Index absolute type
Multi-rotation absolute type
P
Q
R
S
6-axis type
6-axis global type
8-axis type
8-axis global type1
8
1 axis
8 axes
A A
(The PQ type can only accommodate up to 6 axes)
(Specs for axis 1) (Specs for axes 2~8)
A single controller can operate multiple actuators other thanthe DD motor (single-axis robot ROBO Cylinder) at the sametime For details on actuators other than the DD motor thatcan be connected refer to the page listing the XSEL modelnumbers in the ROBO Cylinder General Catalog
For the remaining part of the model number see the ROBO CylinderGeneral Catalog
Caution
Because the 200W driver for the SCON-CA for DD motors is larger than the regular 200-watt type the motor type will be 200S
The controller may be selected from the two models described below
When the XSEL controller is connected
SCON-CAPC
PLC(To be supplied by the customer)
PLC(To be supplied by the customer)
IO at cableModel CB-PAC-PIO020Standard 2 m
Be sure to use a noise filter on the power supply (For recommended models see the general catalog)
Encoder cableModel CB-X3-PA
PC softwareRS232 connection typeModel RCM-101-MWUSB connection typeModel RCM-101-USB
Teaching pendant Model TB-01-C
Regenerative resistor unitModel REU-2
Main power supply
Main power supply
Single-phase 200 VAC
Field network(For details see the ROBO Cylinder General Catalog)
Option
Comes with the actuator
Comes with the controller
Comes with the actuator Option
Option
OptionMotor CableModel CB-X-MA(T18LT18) CB-XMC-MA(H18LH18)
XSELPC
Be sure to use a noise filter on the power supply (For recommended models see the general catalog)
PC softwareRS232 connection typeModel IA-101-X-MWUSB connection typeModel IA-101-X-USBMW
Single-phase 200 VACThree-phase 200 VAC
Regenerative resistor unitModel REU-1
Option
Option
Field network(For details see the ROBO Cylinder General Catalog)
Option
IO at cableModel CB-X-PIO020Standard 2 m
Comes with the controller
Encoder cableModel CB-X3-PA
Comes with the actuator
Comes with the actuatorMotor CableModel CB-X-MA(T18LT18) CB-XMC-MA(H18LH18)
When the SCON controller is connected
See page 9 to nd out how many regenerative resistor units are needed
See page 9 to nd out how many regenerative resistor units are needed
Teaching pendant Model TB-01-S
Option
Controller Model Numbers
System Configuration
8
DD Direct Drive Motor
Notes Installation
Installation OrientationDo not install it in a vertical position or hung on the ceiling
Controllers The output of the DD motor is 200 watts but the outside dimensions of the SCON-CA controller are those of the 400-watt type (For details on the outside dimensions of the SCON-CA see the ROBO Cylinder General Catalog) One and two regenerative resistor unit(s) are required for T18LT18 and H18LH18 respectively to operate a DD motor with the SCON-CA When operating DD motor(s) with the XSEL controller regenerative resistor units are required as shown below
The number of DD motor(s) connectable to the XSEL controller are a max of 8 units for the T18LT18 types and a max of 2 units for the H18LH18 types Please note that when the DD motor is operated with the SCON-CA the motor cannot be connected to the ROBO Cylinder gateway function of the XSEL controller Calculation the for power supply value T18LT18 types single-phase 600W bull three-phase 200W H18LH18 types single-phase 1200W bull three-phase 600W
Operation TypesTwo operation types can be selected to suit specic operating conditionsCheck the features of the dierent types of DD motors and other notes before use
The high resolution specication can be connected only to the SCON-CA
When the XSEL absolute index type travels more than 180deg from the current position it rotates in a direction that requires a shorter travel to reach the target position Therefore please note that the direction of rotation changes according to the current position and travelIf you want to specify the direction of travel use the SCON-CA
The index type can be rotated in a given direction innitely but it actually cannot continue to rotate in the same direction without stopping like a regular motor does because the maximum travel distance per command from the XSEL controller is 180deg If you want to allow the motor to rotate continuously use the SCON-CA
Home return is required for the multi-rotation absolute encoder during the initial setting and replacement of the absolute battery
(1)
(2)
(3)
(4)
Operation typeController typeOperation rangeMaximum travel per travel commandInnite rotationHome returnAbsolute battery
Index absolute type
0 to 359999deg
Available (3)Not requiredNot required
SCON-CA
360deg
XSEL (1)
180deg (2)
Multi-rotation absolute type
Max plusmn9999deg (plusmn2520deg)Within the above operation range
Not availableNot required (4)
Required
SCON-CA XSEL (1)
160
Positioning hole for DD motor2-oslash4 reamed hole through
Mounting hole for DD motor4-oslash11 drilled through
oslash200
55deg
160
H
Installation surface
Ceiling mountVertical mount
Gra
vity
Horizontal mount
The height ldquoHrdquo measurements
mmT1823
LT1833
H1831
LH1831
(Note) Use this product by installing it on a mounting surfacehaving heat dissipating characteristics equivalent to those of an aluminum plate of 400 x 400 x t10 mm in sizeIf the installation conditions necessitate lower heat dissipating characteristics please consult IAI
( ) indicates at 20-bit resolution
Number of regenerative resistor units
1 2 3 4 5 6 7 81 2 3
(Cannot be connected)4
2 4
T18LT18
H18LH18
Number of DD motor(s)
9
DD Direct Drive Motor
Conditions for SelectionThe following should be checked to determine whether the DD motor can be used to suit the specic conditions required by the customer
Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DD motor specications to determine whether the DD motor can be used under the applicable operating conditions
The customer should conrm that the following three points under actual use do not exceed their maximum allowable levels as specied for the DD motor
The total load of device(s) mounted on the actuator
The total load moment of device(s) mounted on the actuator
The load inertia of device(s) mounted on the actuator
To calculate the load conditions calculate the load inertia of device(s) mounted on the actuator and check the details with the DD motor selection software The equations used to calculate the load inertia of typical shapes are shown below for reference purposes
Download the DD motor selection software from httpwwwintelligentactuatorcomdd-selection-software
Download the DD motor selection software from httpwwwintelligentactuatorcomdd-selection-software
Check Load Conditions1
Check Operating Conditions2
The travel time changes according to the load inertia See the tables below to check the travel time data The data in the tables is only intended as a guide so the travel time is not guaranteed
Travel Time Guide3
[1] Thrust load
[2] Load moment applied
[3] Load inertia
J = M x R2 + 112 x M x (a2 + b2)J = M x R2 + 18 x M x D2 J = 112 x M x (a2 + b2)J = 18 x M x D2
Weight M
D
Cent
er of
ro
tatio
n
a
b
Cent
er of
ro
tatio
n
Weight MWeight MCent
er o
f rot
atio
n
D
R Cent
er o
f rot
atio
n
a
bR
Weight M
To calculate operating conditions use the DD motor selection software
DD Direct Drive Motor
10
Load inertia lower limit [kgm2] 0 0005 001 002 002 003 004 006 008 010 015 02 03 04 06 08 10 12 14
Load inertia upper limit [kgm2] 0005 001 0015 002 003 004 006 008 01 015 02 03 04 06 08 1 12 14 18
45deg travel time [sec] 0098 0096 0096 0097 0099 0104 0113 012 0126 014 0157 0207 0257 0352 0447 053 0629 0795 0875
90deg travel time [sec] 0129 0128 0127 0128 0131 0136 0144 0153 0163 0184 0208 0268 0329 044 0549 0646 0758 0941 1035
180deg travel time [sec] 0192 019 019 0191 0193 0199 0207 0215 0225 0249 0279 0354 0428 0562 0692 0806 0933 1133 1257
270deg travel time [sec] 0254 0252 0252 0253 0256 0262 027 0278 0288 0312 0341 042 0504 0655 08 0925 1064 1274 1415
DD-H18LH18
Load inertia lower limit [kgm2] 0 0005 001 002 003 004 005 006 007 008 009 01 02 03 04 05
Load inertia upper limit [kgm2] 0005 001 002 003 004 005 006 007 008 009 01 02 03 04 05 06
45deg travel time [sec] 009 010 011 012 013 014 015 017 019 021 023 039 062 070 087 111
90deg travel time [sec] 012 012 014 016 017 018 020 022 024 026 029 048 073 083 102 123
180deg travel time [sec] 017 017 019 021 023 024 027 029 032 035 037 060 089 101 122 142
270deg travel time [sec] 022 022 024 026 027 029 032 035 038 041 044 069 100 114 136 168
DD-T18LT18
(Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)
(Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)
CJ0199-2A-UST-1-0814
IAI America IncHeadquarters 2690 W 237th Street Torrance CA 90505 (800) 736-1712Chicago Office 110 East State Parkway Schaumburg IL 60173 (800) 944-0333Atlanta Office 1220 Kennestone Circle Suite 108 Marietta GA 30066 (888) 354-9470
wwwintelligentactuatorcom
IAI Industrieroboter GmbHOber der Roumlth 4 D-65824 Schwalbach am Taunus Germany
IAI Robot (Thailand) CO Ltd825 PhairojKijja Tower 12th Floor Bangna-Trad RDBangna Bangna Bangkok 10260 Thailand
The information contained in this product brochure may change without prior notice due to product improvements
CAD drawings can be downloaded from the website wwwintelligentactuatorcom
DD-LH18 Direct Drive MotorLarge bore High-torque type
Model Specifications
Common Specifications Run-out of Output Shaft
Dimensional Drawing
Drive systemPositioning repeatability Allowable dynamic load moment (Note 2)
Encoder resolutionAllowable thrust load (Note 2)
Base materialAmbient operating temperaturehumidityWeight
Applicable Controller Specifications
Caution
Model number Encoder typeMotor wattage
(W)
Range of operation
(deg)Speed (Note 1)
(degs)Rated torque
(Nmiddotm) ()
Maximuminstantaneous torque (Nmiddotm)
Allowable load inertia (kgmiddotmsup2)
Rotor inertia(kgmiddotmsup2)
600 360 1 to 1440Index absolute typeMulti-rotation absolute type 25 75 18 00106
Direct Drive Motor17-bit plusmn00055 deg 20-bit plusmn000103 deg80 Nmiddotm17-bit 131072 (pulsesrev) 20-bit 1048576 (pulsesrev)3400 N [3100N for the high resolution type]Aluminum0 to 40degC 20 to 85 (Non-condensing)13 kg
XSEL-PQRS
SCON-CA1-axis Single-phase
1-axis
Program
Positioner200VAC Single-phase
2-axis Three-phase 200VAC Three-phase
200VAC Single-phase
ModelSpecicationItems
360600LH18Range ofoperation
TypeSeries Encodertype
Motorwattage
Applicablecontroller
Cablelength
600 600W 360 360 deg T2 SCON-CA XSEL-PQ XSEL-RS
T2DD
N NoneS 3mM 5m
P High resolution (20-bit)
Note Only SCON-CA applys for LH18P
S Standard (17-bit)
X Specied length
Applicable controllers Operating method Power supply voltageMax number ofcontrolled axes
Note For DD-LH18P only SCON-CA controller applys
➀ ➁ ➂
➂
DD-LH18 - -600-360-T2-
➀ ➁Legend Encoder resolution Encoder type Cable length () The value when installed on an IAI rated heat dissipating plate (Please see P9 for further details)
(Note 1) The maximum speed may not be reached if the moving distance is short
(Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in ve years based on this load
(Note 3) The maximum cable length is 30 m Specify a desired length in meters (Example X08 = 8m) (Note 4) Please consult IAI if you are considering a 20-bit actuator and using it under conditions where the allowable dynamic moment and allowable thrust load will be exceeded
AI Index absolute typeAM Multi-rotation absolute type
Thrust (axial) run-out (no load) 30 μm
Radial run-out (no load) 30 μm
Encoderconnector
Motorconnector
94
(h7)
oslash180
180160plusmn01
(500)
A003
oslash120
A003
34 or less
2-oslash4H7 eective depth 3
(equally distributed)
120
plusmn 2
(dist
ance
bet
wee
n ca
ble j
unct
ions
)
oslash110 -0035
oslash47
180
160plusmn
01
oslash11
oslash200plusmn005
2-oslash6H7
55deg
C05
(500)
30deg
oslash93
oslash101plusmn01
6-M6 eecti
ve depth 5
(equally distributed)
2-M4 eective depth 8Ground tap
0
13plusmn1
(120
)
118
15
A
125plusmn
01
31
5
7
DD Direct Drive Motor
Model Number of Positioner Single-axis Type ltSCON-CAgt
Power-supplyvoltage
IO typeEncoder typeMotor typeTypeSeries OptionsSCON
IO cable length
A Absolute specication I
M
Index absolute type
Multi-rotation absolute type
For 200-watt motor (DD motor only)
For 600-watt motor
CA A 2
Model Number of Programmable Multi-axis Type ltXSELgt
Encoder type Encoder typeMotor type Motor typeNumber ofconnected axes
TypeSeries Options OptionsXSEL
600 For 600-watt motor
200
200S
600
For 200-watt motor
A Absolute specication I
M
Index absolute type
Multi-rotation absolute type
P
Q
R
S
6-axis type
6-axis global type
8-axis type
8-axis global type1
8
1 axis
8 axes
A A
(The PQ type can only accommodate up to 6 axes)
(Specs for axis 1) (Specs for axes 2~8)
A single controller can operate multiple actuators other thanthe DD motor (single-axis robot ROBO Cylinder) at the sametime For details on actuators other than the DD motor thatcan be connected refer to the page listing the XSEL modelnumbers in the ROBO Cylinder General Catalog
For the remaining part of the model number see the ROBO CylinderGeneral Catalog
Caution
Because the 200W driver for the SCON-CA for DD motors is larger than the regular 200-watt type the motor type will be 200S
The controller may be selected from the two models described below
When the XSEL controller is connected
SCON-CAPC
PLC(To be supplied by the customer)
PLC(To be supplied by the customer)
IO at cableModel CB-PAC-PIO020Standard 2 m
Be sure to use a noise filter on the power supply (For recommended models see the general catalog)
Encoder cableModel CB-X3-PA
PC softwareRS232 connection typeModel RCM-101-MWUSB connection typeModel RCM-101-USB
Teaching pendant Model TB-01-C
Regenerative resistor unitModel REU-2
Main power supply
Main power supply
Single-phase 200 VAC
Field network(For details see the ROBO Cylinder General Catalog)
Option
Comes with the actuator
Comes with the controller
Comes with the actuator Option
Option
OptionMotor CableModel CB-X-MA(T18LT18) CB-XMC-MA(H18LH18)
XSELPC
Be sure to use a noise filter on the power supply (For recommended models see the general catalog)
PC softwareRS232 connection typeModel IA-101-X-MWUSB connection typeModel IA-101-X-USBMW
Single-phase 200 VACThree-phase 200 VAC
Regenerative resistor unitModel REU-1
Option
Option
Field network(For details see the ROBO Cylinder General Catalog)
Option
IO at cableModel CB-X-PIO020Standard 2 m
Comes with the controller
Encoder cableModel CB-X3-PA
Comes with the actuator
Comes with the actuatorMotor CableModel CB-X-MA(T18LT18) CB-XMC-MA(H18LH18)
When the SCON controller is connected
See page 9 to nd out how many regenerative resistor units are needed
See page 9 to nd out how many regenerative resistor units are needed
Teaching pendant Model TB-01-S
Option
Controller Model Numbers
System Configuration
8
DD Direct Drive Motor
Notes Installation
Installation OrientationDo not install it in a vertical position or hung on the ceiling
Controllers The output of the DD motor is 200 watts but the outside dimensions of the SCON-CA controller are those of the 400-watt type (For details on the outside dimensions of the SCON-CA see the ROBO Cylinder General Catalog) One and two regenerative resistor unit(s) are required for T18LT18 and H18LH18 respectively to operate a DD motor with the SCON-CA When operating DD motor(s) with the XSEL controller regenerative resistor units are required as shown below
The number of DD motor(s) connectable to the XSEL controller are a max of 8 units for the T18LT18 types and a max of 2 units for the H18LH18 types Please note that when the DD motor is operated with the SCON-CA the motor cannot be connected to the ROBO Cylinder gateway function of the XSEL controller Calculation the for power supply value T18LT18 types single-phase 600W bull three-phase 200W H18LH18 types single-phase 1200W bull three-phase 600W
Operation TypesTwo operation types can be selected to suit specic operating conditionsCheck the features of the dierent types of DD motors and other notes before use
The high resolution specication can be connected only to the SCON-CA
When the XSEL absolute index type travels more than 180deg from the current position it rotates in a direction that requires a shorter travel to reach the target position Therefore please note that the direction of rotation changes according to the current position and travelIf you want to specify the direction of travel use the SCON-CA
The index type can be rotated in a given direction innitely but it actually cannot continue to rotate in the same direction without stopping like a regular motor does because the maximum travel distance per command from the XSEL controller is 180deg If you want to allow the motor to rotate continuously use the SCON-CA
Home return is required for the multi-rotation absolute encoder during the initial setting and replacement of the absolute battery
(1)
(2)
(3)
(4)
Operation typeController typeOperation rangeMaximum travel per travel commandInnite rotationHome returnAbsolute battery
Index absolute type
0 to 359999deg
Available (3)Not requiredNot required
SCON-CA
360deg
XSEL (1)
180deg (2)
Multi-rotation absolute type
Max plusmn9999deg (plusmn2520deg)Within the above operation range
Not availableNot required (4)
Required
SCON-CA XSEL (1)
160
Positioning hole for DD motor2-oslash4 reamed hole through
Mounting hole for DD motor4-oslash11 drilled through
oslash200
55deg
160
H
Installation surface
Ceiling mountVertical mount
Gra
vity
Horizontal mount
The height ldquoHrdquo measurements
mmT1823
LT1833
H1831
LH1831
(Note) Use this product by installing it on a mounting surfacehaving heat dissipating characteristics equivalent to those of an aluminum plate of 400 x 400 x t10 mm in sizeIf the installation conditions necessitate lower heat dissipating characteristics please consult IAI
( ) indicates at 20-bit resolution
Number of regenerative resistor units
1 2 3 4 5 6 7 81 2 3
(Cannot be connected)4
2 4
T18LT18
H18LH18
Number of DD motor(s)
9
DD Direct Drive Motor
Conditions for SelectionThe following should be checked to determine whether the DD motor can be used to suit the specic conditions required by the customer
Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DD motor specications to determine whether the DD motor can be used under the applicable operating conditions
The customer should conrm that the following three points under actual use do not exceed their maximum allowable levels as specied for the DD motor
The total load of device(s) mounted on the actuator
The total load moment of device(s) mounted on the actuator
The load inertia of device(s) mounted on the actuator
To calculate the load conditions calculate the load inertia of device(s) mounted on the actuator and check the details with the DD motor selection software The equations used to calculate the load inertia of typical shapes are shown below for reference purposes
Download the DD motor selection software from httpwwwintelligentactuatorcomdd-selection-software
Download the DD motor selection software from httpwwwintelligentactuatorcomdd-selection-software
Check Load Conditions1
Check Operating Conditions2
The travel time changes according to the load inertia See the tables below to check the travel time data The data in the tables is only intended as a guide so the travel time is not guaranteed
Travel Time Guide3
[1] Thrust load
[2] Load moment applied
[3] Load inertia
J = M x R2 + 112 x M x (a2 + b2)J = M x R2 + 18 x M x D2 J = 112 x M x (a2 + b2)J = 18 x M x D2
Weight M
D
Cent
er of
ro
tatio
n
a
b
Cent
er of
ro
tatio
n
Weight MWeight MCent
er o
f rot
atio
n
D
R Cent
er o
f rot
atio
n
a
bR
Weight M
To calculate operating conditions use the DD motor selection software
DD Direct Drive Motor
10
Load inertia lower limit [kgm2] 0 0005 001 002 002 003 004 006 008 010 015 02 03 04 06 08 10 12 14
Load inertia upper limit [kgm2] 0005 001 0015 002 003 004 006 008 01 015 02 03 04 06 08 1 12 14 18
45deg travel time [sec] 0098 0096 0096 0097 0099 0104 0113 012 0126 014 0157 0207 0257 0352 0447 053 0629 0795 0875
90deg travel time [sec] 0129 0128 0127 0128 0131 0136 0144 0153 0163 0184 0208 0268 0329 044 0549 0646 0758 0941 1035
180deg travel time [sec] 0192 019 019 0191 0193 0199 0207 0215 0225 0249 0279 0354 0428 0562 0692 0806 0933 1133 1257
270deg travel time [sec] 0254 0252 0252 0253 0256 0262 027 0278 0288 0312 0341 042 0504 0655 08 0925 1064 1274 1415
DD-H18LH18
Load inertia lower limit [kgm2] 0 0005 001 002 003 004 005 006 007 008 009 01 02 03 04 05
Load inertia upper limit [kgm2] 0005 001 002 003 004 005 006 007 008 009 01 02 03 04 05 06
45deg travel time [sec] 009 010 011 012 013 014 015 017 019 021 023 039 062 070 087 111
90deg travel time [sec] 012 012 014 016 017 018 020 022 024 026 029 048 073 083 102 123
180deg travel time [sec] 017 017 019 021 023 024 027 029 032 035 037 060 089 101 122 142
270deg travel time [sec] 022 022 024 026 027 029 032 035 038 041 044 069 100 114 136 168
DD-T18LT18
(Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)
(Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)
CJ0199-2A-UST-1-0814
IAI America IncHeadquarters 2690 W 237th Street Torrance CA 90505 (800) 736-1712Chicago Office 110 East State Parkway Schaumburg IL 60173 (800) 944-0333Atlanta Office 1220 Kennestone Circle Suite 108 Marietta GA 30066 (888) 354-9470
wwwintelligentactuatorcom
IAI Industrieroboter GmbHOber der Roumlth 4 D-65824 Schwalbach am Taunus Germany
IAI Robot (Thailand) CO Ltd825 PhairojKijja Tower 12th Floor Bangna-Trad RDBangna Bangna Bangkok 10260 Thailand
The information contained in this product brochure may change without prior notice due to product improvements
Model Number of Positioner Single-axis Type ltSCON-CAgt
Power-supplyvoltage
IO typeEncoder typeMotor typeTypeSeries OptionsSCON
IO cable length
A Absolute specication I
M
Index absolute type
Multi-rotation absolute type
For 200-watt motor (DD motor only)
For 600-watt motor
CA A 2
Model Number of Programmable Multi-axis Type ltXSELgt
Encoder type Encoder typeMotor type Motor typeNumber ofconnected axes
TypeSeries Options OptionsXSEL
600 For 600-watt motor
200
200S
600
For 200-watt motor
A Absolute specication I
M
Index absolute type
Multi-rotation absolute type
P
Q
R
S
6-axis type
6-axis global type
8-axis type
8-axis global type1
8
1 axis
8 axes
A A
(The PQ type can only accommodate up to 6 axes)
(Specs for axis 1) (Specs for axes 2~8)
A single controller can operate multiple actuators other thanthe DD motor (single-axis robot ROBO Cylinder) at the sametime For details on actuators other than the DD motor thatcan be connected refer to the page listing the XSEL modelnumbers in the ROBO Cylinder General Catalog
For the remaining part of the model number see the ROBO CylinderGeneral Catalog
Caution
Because the 200W driver for the SCON-CA for DD motors is larger than the regular 200-watt type the motor type will be 200S
The controller may be selected from the two models described below
When the XSEL controller is connected
SCON-CAPC
PLC(To be supplied by the customer)
PLC(To be supplied by the customer)
IO at cableModel CB-PAC-PIO020Standard 2 m
Be sure to use a noise filter on the power supply (For recommended models see the general catalog)
Encoder cableModel CB-X3-PA
PC softwareRS232 connection typeModel RCM-101-MWUSB connection typeModel RCM-101-USB
Teaching pendant Model TB-01-C
Regenerative resistor unitModel REU-2
Main power supply
Main power supply
Single-phase 200 VAC
Field network(For details see the ROBO Cylinder General Catalog)
Option
Comes with the actuator
Comes with the controller
Comes with the actuator Option
Option
OptionMotor CableModel CB-X-MA(T18LT18) CB-XMC-MA(H18LH18)
XSELPC
Be sure to use a noise filter on the power supply (For recommended models see the general catalog)
PC softwareRS232 connection typeModel IA-101-X-MWUSB connection typeModel IA-101-X-USBMW
Single-phase 200 VACThree-phase 200 VAC
Regenerative resistor unitModel REU-1
Option
Option
Field network(For details see the ROBO Cylinder General Catalog)
Option
IO at cableModel CB-X-PIO020Standard 2 m
Comes with the controller
Encoder cableModel CB-X3-PA
Comes with the actuator
Comes with the actuatorMotor CableModel CB-X-MA(T18LT18) CB-XMC-MA(H18LH18)
When the SCON controller is connected
See page 9 to nd out how many regenerative resistor units are needed
See page 9 to nd out how many regenerative resistor units are needed
Teaching pendant Model TB-01-S
Option
Controller Model Numbers
System Configuration
8
DD Direct Drive Motor
Notes Installation
Installation OrientationDo not install it in a vertical position or hung on the ceiling
Controllers The output of the DD motor is 200 watts but the outside dimensions of the SCON-CA controller are those of the 400-watt type (For details on the outside dimensions of the SCON-CA see the ROBO Cylinder General Catalog) One and two regenerative resistor unit(s) are required for T18LT18 and H18LH18 respectively to operate a DD motor with the SCON-CA When operating DD motor(s) with the XSEL controller regenerative resistor units are required as shown below
The number of DD motor(s) connectable to the XSEL controller are a max of 8 units for the T18LT18 types and a max of 2 units for the H18LH18 types Please note that when the DD motor is operated with the SCON-CA the motor cannot be connected to the ROBO Cylinder gateway function of the XSEL controller Calculation the for power supply value T18LT18 types single-phase 600W bull three-phase 200W H18LH18 types single-phase 1200W bull three-phase 600W
Operation TypesTwo operation types can be selected to suit specic operating conditionsCheck the features of the dierent types of DD motors and other notes before use
The high resolution specication can be connected only to the SCON-CA
When the XSEL absolute index type travels more than 180deg from the current position it rotates in a direction that requires a shorter travel to reach the target position Therefore please note that the direction of rotation changes according to the current position and travelIf you want to specify the direction of travel use the SCON-CA
The index type can be rotated in a given direction innitely but it actually cannot continue to rotate in the same direction without stopping like a regular motor does because the maximum travel distance per command from the XSEL controller is 180deg If you want to allow the motor to rotate continuously use the SCON-CA
Home return is required for the multi-rotation absolute encoder during the initial setting and replacement of the absolute battery
(1)
(2)
(3)
(4)
Operation typeController typeOperation rangeMaximum travel per travel commandInnite rotationHome returnAbsolute battery
Index absolute type
0 to 359999deg
Available (3)Not requiredNot required
SCON-CA
360deg
XSEL (1)
180deg (2)
Multi-rotation absolute type
Max plusmn9999deg (plusmn2520deg)Within the above operation range
Not availableNot required (4)
Required
SCON-CA XSEL (1)
160
Positioning hole for DD motor2-oslash4 reamed hole through
Mounting hole for DD motor4-oslash11 drilled through
oslash200
55deg
160
H
Installation surface
Ceiling mountVertical mount
Gra
vity
Horizontal mount
The height ldquoHrdquo measurements
mmT1823
LT1833
H1831
LH1831
(Note) Use this product by installing it on a mounting surfacehaving heat dissipating characteristics equivalent to those of an aluminum plate of 400 x 400 x t10 mm in sizeIf the installation conditions necessitate lower heat dissipating characteristics please consult IAI
( ) indicates at 20-bit resolution
Number of regenerative resistor units
1 2 3 4 5 6 7 81 2 3
(Cannot be connected)4
2 4
T18LT18
H18LH18
Number of DD motor(s)
9
DD Direct Drive Motor
Conditions for SelectionThe following should be checked to determine whether the DD motor can be used to suit the specic conditions required by the customer
Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DD motor specications to determine whether the DD motor can be used under the applicable operating conditions
The customer should conrm that the following three points under actual use do not exceed their maximum allowable levels as specied for the DD motor
The total load of device(s) mounted on the actuator
The total load moment of device(s) mounted on the actuator
The load inertia of device(s) mounted on the actuator
To calculate the load conditions calculate the load inertia of device(s) mounted on the actuator and check the details with the DD motor selection software The equations used to calculate the load inertia of typical shapes are shown below for reference purposes
Download the DD motor selection software from httpwwwintelligentactuatorcomdd-selection-software
Download the DD motor selection software from httpwwwintelligentactuatorcomdd-selection-software
Check Load Conditions1
Check Operating Conditions2
The travel time changes according to the load inertia See the tables below to check the travel time data The data in the tables is only intended as a guide so the travel time is not guaranteed
Travel Time Guide3
[1] Thrust load
[2] Load moment applied
[3] Load inertia
J = M x R2 + 112 x M x (a2 + b2)J = M x R2 + 18 x M x D2 J = 112 x M x (a2 + b2)J = 18 x M x D2
Weight M
D
Cent
er of
ro
tatio
n
a
b
Cent
er of
ro
tatio
n
Weight MWeight MCent
er o
f rot
atio
n
D
R Cent
er o
f rot
atio
n
a
bR
Weight M
To calculate operating conditions use the DD motor selection software
DD Direct Drive Motor
10
Load inertia lower limit [kgm2] 0 0005 001 002 002 003 004 006 008 010 015 02 03 04 06 08 10 12 14
Load inertia upper limit [kgm2] 0005 001 0015 002 003 004 006 008 01 015 02 03 04 06 08 1 12 14 18
45deg travel time [sec] 0098 0096 0096 0097 0099 0104 0113 012 0126 014 0157 0207 0257 0352 0447 053 0629 0795 0875
90deg travel time [sec] 0129 0128 0127 0128 0131 0136 0144 0153 0163 0184 0208 0268 0329 044 0549 0646 0758 0941 1035
180deg travel time [sec] 0192 019 019 0191 0193 0199 0207 0215 0225 0249 0279 0354 0428 0562 0692 0806 0933 1133 1257
270deg travel time [sec] 0254 0252 0252 0253 0256 0262 027 0278 0288 0312 0341 042 0504 0655 08 0925 1064 1274 1415
DD-H18LH18
Load inertia lower limit [kgm2] 0 0005 001 002 003 004 005 006 007 008 009 01 02 03 04 05
Load inertia upper limit [kgm2] 0005 001 002 003 004 005 006 007 008 009 01 02 03 04 05 06
45deg travel time [sec] 009 010 011 012 013 014 015 017 019 021 023 039 062 070 087 111
90deg travel time [sec] 012 012 014 016 017 018 020 022 024 026 029 048 073 083 102 123
180deg travel time [sec] 017 017 019 021 023 024 027 029 032 035 037 060 089 101 122 142
270deg travel time [sec] 022 022 024 026 027 029 032 035 038 041 044 069 100 114 136 168
DD-T18LT18
(Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)
(Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)
CJ0199-2A-UST-1-0814
IAI America IncHeadquarters 2690 W 237th Street Torrance CA 90505 (800) 736-1712Chicago Office 110 East State Parkway Schaumburg IL 60173 (800) 944-0333Atlanta Office 1220 Kennestone Circle Suite 108 Marietta GA 30066 (888) 354-9470
wwwintelligentactuatorcom
IAI Industrieroboter GmbHOber der Roumlth 4 D-65824 Schwalbach am Taunus Germany
IAI Robot (Thailand) CO Ltd825 PhairojKijja Tower 12th Floor Bangna-Trad RDBangna Bangna Bangkok 10260 Thailand
The information contained in this product brochure may change without prior notice due to product improvements
Notes Installation
Installation OrientationDo not install it in a vertical position or hung on the ceiling
Controllers The output of the DD motor is 200 watts but the outside dimensions of the SCON-CA controller are those of the 400-watt type (For details on the outside dimensions of the SCON-CA see the ROBO Cylinder General Catalog) One and two regenerative resistor unit(s) are required for T18LT18 and H18LH18 respectively to operate a DD motor with the SCON-CA When operating DD motor(s) with the XSEL controller regenerative resistor units are required as shown below
The number of DD motor(s) connectable to the XSEL controller are a max of 8 units for the T18LT18 types and a max of 2 units for the H18LH18 types Please note that when the DD motor is operated with the SCON-CA the motor cannot be connected to the ROBO Cylinder gateway function of the XSEL controller Calculation the for power supply value T18LT18 types single-phase 600W bull three-phase 200W H18LH18 types single-phase 1200W bull three-phase 600W
Operation TypesTwo operation types can be selected to suit specic operating conditionsCheck the features of the dierent types of DD motors and other notes before use
The high resolution specication can be connected only to the SCON-CA
When the XSEL absolute index type travels more than 180deg from the current position it rotates in a direction that requires a shorter travel to reach the target position Therefore please note that the direction of rotation changes according to the current position and travelIf you want to specify the direction of travel use the SCON-CA
The index type can be rotated in a given direction innitely but it actually cannot continue to rotate in the same direction without stopping like a regular motor does because the maximum travel distance per command from the XSEL controller is 180deg If you want to allow the motor to rotate continuously use the SCON-CA
Home return is required for the multi-rotation absolute encoder during the initial setting and replacement of the absolute battery
(1)
(2)
(3)
(4)
Operation typeController typeOperation rangeMaximum travel per travel commandInnite rotationHome returnAbsolute battery
Index absolute type
0 to 359999deg
Available (3)Not requiredNot required
SCON-CA
360deg
XSEL (1)
180deg (2)
Multi-rotation absolute type
Max plusmn9999deg (plusmn2520deg)Within the above operation range
Not availableNot required (4)
Required
SCON-CA XSEL (1)
160
Positioning hole for DD motor2-oslash4 reamed hole through
Mounting hole for DD motor4-oslash11 drilled through
oslash200
55deg
160
H
Installation surface
Ceiling mountVertical mount
Gra
vity
Horizontal mount
The height ldquoHrdquo measurements
mmT1823
LT1833
H1831
LH1831
(Note) Use this product by installing it on a mounting surfacehaving heat dissipating characteristics equivalent to those of an aluminum plate of 400 x 400 x t10 mm in sizeIf the installation conditions necessitate lower heat dissipating characteristics please consult IAI
( ) indicates at 20-bit resolution
Number of regenerative resistor units
1 2 3 4 5 6 7 81 2 3
(Cannot be connected)4
2 4
T18LT18
H18LH18
Number of DD motor(s)
9
DD Direct Drive Motor
Conditions for SelectionThe following should be checked to determine whether the DD motor can be used to suit the specic conditions required by the customer
Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DD motor specications to determine whether the DD motor can be used under the applicable operating conditions
The customer should conrm that the following three points under actual use do not exceed their maximum allowable levels as specied for the DD motor
The total load of device(s) mounted on the actuator
The total load moment of device(s) mounted on the actuator
The load inertia of device(s) mounted on the actuator
To calculate the load conditions calculate the load inertia of device(s) mounted on the actuator and check the details with the DD motor selection software The equations used to calculate the load inertia of typical shapes are shown below for reference purposes
Download the DD motor selection software from httpwwwintelligentactuatorcomdd-selection-software
Download the DD motor selection software from httpwwwintelligentactuatorcomdd-selection-software
Check Load Conditions1
Check Operating Conditions2
The travel time changes according to the load inertia See the tables below to check the travel time data The data in the tables is only intended as a guide so the travel time is not guaranteed
Travel Time Guide3
[1] Thrust load
[2] Load moment applied
[3] Load inertia
J = M x R2 + 112 x M x (a2 + b2)J = M x R2 + 18 x M x D2 J = 112 x M x (a2 + b2)J = 18 x M x D2
Weight M
D
Cent
er of
ro
tatio
n
a
b
Cent
er of
ro
tatio
n
Weight MWeight MCent
er o
f rot
atio
n
D
R Cent
er o
f rot
atio
n
a
bR
Weight M
To calculate operating conditions use the DD motor selection software
DD Direct Drive Motor
10
Load inertia lower limit [kgm2] 0 0005 001 002 002 003 004 006 008 010 015 02 03 04 06 08 10 12 14
Load inertia upper limit [kgm2] 0005 001 0015 002 003 004 006 008 01 015 02 03 04 06 08 1 12 14 18
45deg travel time [sec] 0098 0096 0096 0097 0099 0104 0113 012 0126 014 0157 0207 0257 0352 0447 053 0629 0795 0875
90deg travel time [sec] 0129 0128 0127 0128 0131 0136 0144 0153 0163 0184 0208 0268 0329 044 0549 0646 0758 0941 1035
180deg travel time [sec] 0192 019 019 0191 0193 0199 0207 0215 0225 0249 0279 0354 0428 0562 0692 0806 0933 1133 1257
270deg travel time [sec] 0254 0252 0252 0253 0256 0262 027 0278 0288 0312 0341 042 0504 0655 08 0925 1064 1274 1415
DD-H18LH18
Load inertia lower limit [kgm2] 0 0005 001 002 003 004 005 006 007 008 009 01 02 03 04 05
Load inertia upper limit [kgm2] 0005 001 002 003 004 005 006 007 008 009 01 02 03 04 05 06
45deg travel time [sec] 009 010 011 012 013 014 015 017 019 021 023 039 062 070 087 111
90deg travel time [sec] 012 012 014 016 017 018 020 022 024 026 029 048 073 083 102 123
180deg travel time [sec] 017 017 019 021 023 024 027 029 032 035 037 060 089 101 122 142
270deg travel time [sec] 022 022 024 026 027 029 032 035 038 041 044 069 100 114 136 168
DD-T18LT18
(Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)
(Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)
CJ0199-2A-UST-1-0814
IAI America IncHeadquarters 2690 W 237th Street Torrance CA 90505 (800) 736-1712Chicago Office 110 East State Parkway Schaumburg IL 60173 (800) 944-0333Atlanta Office 1220 Kennestone Circle Suite 108 Marietta GA 30066 (888) 354-9470
wwwintelligentactuatorcom
IAI Industrieroboter GmbHOber der Roumlth 4 D-65824 Schwalbach am Taunus Germany
IAI Robot (Thailand) CO Ltd825 PhairojKijja Tower 12th Floor Bangna-Trad RDBangna Bangna Bangkok 10260 Thailand
The information contained in this product brochure may change without prior notice due to product improvements
Conditions for SelectionThe following should be checked to determine whether the DD motor can be used to suit the specic conditions required by the customer
Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DD motor specications to determine whether the DD motor can be used under the applicable operating conditions
The customer should conrm that the following three points under actual use do not exceed their maximum allowable levels as specied for the DD motor
The total load of device(s) mounted on the actuator
The total load moment of device(s) mounted on the actuator
The load inertia of device(s) mounted on the actuator
To calculate the load conditions calculate the load inertia of device(s) mounted on the actuator and check the details with the DD motor selection software The equations used to calculate the load inertia of typical shapes are shown below for reference purposes
Download the DD motor selection software from httpwwwintelligentactuatorcomdd-selection-software
Download the DD motor selection software from httpwwwintelligentactuatorcomdd-selection-software
Check Load Conditions1
Check Operating Conditions2
The travel time changes according to the load inertia See the tables below to check the travel time data The data in the tables is only intended as a guide so the travel time is not guaranteed
Travel Time Guide3
[1] Thrust load
[2] Load moment applied
[3] Load inertia
J = M x R2 + 112 x M x (a2 + b2)J = M x R2 + 18 x M x D2 J = 112 x M x (a2 + b2)J = 18 x M x D2
Weight M
D
Cent
er of
ro
tatio
n
a
b
Cent
er of
ro
tatio
n
Weight MWeight MCent
er o
f rot
atio
n
D
R Cent
er o
f rot
atio
n
a
bR
Weight M
To calculate operating conditions use the DD motor selection software
DD Direct Drive Motor
10
Load inertia lower limit [kgm2] 0 0005 001 002 002 003 004 006 008 010 015 02 03 04 06 08 10 12 14
Load inertia upper limit [kgm2] 0005 001 0015 002 003 004 006 008 01 015 02 03 04 06 08 1 12 14 18
45deg travel time [sec] 0098 0096 0096 0097 0099 0104 0113 012 0126 014 0157 0207 0257 0352 0447 053 0629 0795 0875
90deg travel time [sec] 0129 0128 0127 0128 0131 0136 0144 0153 0163 0184 0208 0268 0329 044 0549 0646 0758 0941 1035
180deg travel time [sec] 0192 019 019 0191 0193 0199 0207 0215 0225 0249 0279 0354 0428 0562 0692 0806 0933 1133 1257
270deg travel time [sec] 0254 0252 0252 0253 0256 0262 027 0278 0288 0312 0341 042 0504 0655 08 0925 1064 1274 1415
DD-H18LH18
Load inertia lower limit [kgm2] 0 0005 001 002 003 004 005 006 007 008 009 01 02 03 04 05
Load inertia upper limit [kgm2] 0005 001 002 003 004 005 006 007 008 009 01 02 03 04 05 06
45deg travel time [sec] 009 010 011 012 013 014 015 017 019 021 023 039 062 070 087 111
90deg travel time [sec] 012 012 014 016 017 018 020 022 024 026 029 048 073 083 102 123
180deg travel time [sec] 017 017 019 021 023 024 027 029 032 035 037 060 089 101 122 142
270deg travel time [sec] 022 022 024 026 027 029 032 035 038 041 044 069 100 114 136 168
DD-T18LT18
(Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)
(Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)
CJ0199-2A-UST-1-0814
IAI America IncHeadquarters 2690 W 237th Street Torrance CA 90505 (800) 736-1712Chicago Office 110 East State Parkway Schaumburg IL 60173 (800) 944-0333Atlanta Office 1220 Kennestone Circle Suite 108 Marietta GA 30066 (888) 354-9470
wwwintelligentactuatorcom
IAI Industrieroboter GmbHOber der Roumlth 4 D-65824 Schwalbach am Taunus Germany
IAI Robot (Thailand) CO Ltd825 PhairojKijja Tower 12th Floor Bangna-Trad RDBangna Bangna Bangkok 10260 Thailand
The information contained in this product brochure may change without prior notice due to product improvements
CJ0199-2A-UST-1-0814
IAI America IncHeadquarters 2690 W 237th Street Torrance CA 90505 (800) 736-1712Chicago Office 110 East State Parkway Schaumburg IL 60173 (800) 944-0333Atlanta Office 1220 Kennestone Circle Suite 108 Marietta GA 30066 (888) 354-9470
wwwintelligentactuatorcom
IAI Industrieroboter GmbHOber der Roumlth 4 D-65824 Schwalbach am Taunus Germany
IAI Robot (Thailand) CO Ltd825 PhairojKijja Tower 12th Floor Bangna-Trad RDBangna Bangna Bangkok 10260 Thailand
The information contained in this product brochure may change without prior notice due to product improvements