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