Slim & High-torque Standard Type Flangeless Direct Drive ...€¦ · reducing mechanism, such as a...
Transcript of Slim & High-torque Standard Type Flangeless Direct Drive ...€¦ · reducing mechanism, such as a...
w w w i n t e l l i g e n t a c t u a t o r d e
Flangeless Direct Drive MotorSlim amp High-torque Standard Type
Flangeless Direct Drive MotorSlim amp High-torque Cleanroom Type
DDA-LTLHDDACR-LTLH
GB
High-res
20-bit Encoder
Spec with over
1 Mio Pulses
Revolution
Flange and Brakefor RetentionPurposes availableas Option
The Direct Drive Motor DDA Series ismiddot The motor directly drives the rotary table without a speed
reducing mechanism such as a belt or speed reducermiddot Compact high-speed and responsivemiddot More aordable than the conventional DD series
Features
Without brake(StandardCleanroom
specication)
With brake(Standard)
LT18C Slim type (Rated torque 84Nmiddotm)
Hollow boreOslash52mm
Hollow boreOslash35mm
Hollow boreOslash52mm
Hollow boreOslash35mm
LH18C High-torque type (Rated torque 25Nmiddotm)
Shorter positioning time means shorter cycle time of your equipment resulting in greater productivity
DDA-LT18C type
DDA-LH18C type
lSOCleanliness
Class
lSOCleanliness
Class4 10M25
Larg
e ho
llow
bor
e ty
pe
High speed high accelerationdeceleration
Brake-equipped specications have been added tothe angeless high-torquelarge hollow bore typeCleanroom specications are also available
Achieves a lower price
3
1
2The price has been reduced by about 33 as compared with the conventional DD series
RCS2-RTC12L
ltComparison of Cycle TimesgtOperating conditions When a work part weighing 100g is placed on an aluminum disc of 300mm in diameter and 6mm in thickness and rotated by 180deg
05sApprox
50Quicker
Approx
42Quicker
025s
014s
t6mm
oslash300mm
About 33 less
DD-LT18C DDA-LT18C
(ISO14644-1) (FED STD 209DE)
Ab
DD-LT18C
ess
DDA-LT18C
High Speed High Payload High Accuracy and Easy to ControlIntroducing the Direct Drive Motor DDA Series Boasting Ultimate Usability
USCleanliness
Class
USCleanliness
Class
1
5Standard type
Model number
Encoder resolution
Positioning repeatability
DDA-L18CP20-bit
1 048 576 pulsesrev
plusmn000103 deg(plusmn37 arcsec)
High resolution type
20-bitEncoder resolution
Indexingaccuracy
plusmn001249 deg(plusmn45 arcsec)
plusmn000833 deg(plusmn30 arcsec)
17-bit
DDA-L18CS17-bit
131 072 pulsesrev
plusmn00055 deg(plusmn198 arcsec)
6 Corresponds to the indexing accuracyIt corresponds to the indexing accuracy when connected to SCON-CB and allows for more accurate positioning
4The high torque type has about three times more torque
MAX25kg
200mm 200mm
MAX90kg
200mm 200mm
MAX270kg
200mm 200mm
Allowable inertia moment
017kgmiddotm2
RCS2-RTC12L (Reduction ratio 130)
Allowable inertia moment
060kgmiddotm2
DDA-LT18C type
Allowable inertia moment
18kgmiddotm2
DDA-LH18C type
Max instantaneous torque 86N∙m Max instantaneous torque 252N∙m Max instantaneous torque 75N∙m
High-resolution type is available
High torque high payload
and Easy to Control Boasting Ultimate Usability
2
DDA Motor Series List
Model Specification Items
Cable Length
Encoder Type
Operation Range
Series Motor Wattage
DDADDACR
Applicable Controllers
Options360 T2
Type
Type Encoder
Large bore slim
Large bore slim
Large bore high torqueLarge bore high torque
Standard (17-bit)
High resolution (20-bit)
Standard (17-bit)
High resolution (20-bit)
Type
Cleanroom specication only
Encoder
ModelStandard
Cleanroom spec
External view
Rated speed (degs)
Maximum speed (degs)
Motor wattage (W)
Size (mm)
Height(mm)
wo brakew brake
wo brake
w brake
wo brake
w brake
Hollow bore (mm)
Mass(kg)
Cleanliness
Encoder type
Applicable controller
Reference page
84
252
1080
1800
200
oslash180
70
115
oslash52
oslash35
58
87
ISO class 4 (ISO 14644-1 Standard)US class 10M25 (US FED STD 209DE)
Index absoluteMulti-rotation absolute
P5 P9
DDA-LT18CS
SCON-CBXSEL SCON-CB SCON-CB
XSEL SCON-CB
DDA-LT18CP DDA-LH18CS DDA-LH18CP
DDACR-LT18CS DDACR-LT18CP DDACR-LH18CS DDACR-LH18CP
Standard (17-bit)
High resolution(20-bit)
Standard (17-bit)
High resolution(20-bit)
Large bore slim type Large bore high torque type
DDA StandardDDACR Cleanroom specification
LT18CS
LT18CP
LH18CS
LH18CP
None
3m
5m
Specied length
N
S
M
X
Cable exits from the bottom
Cable exits from the side
Brake
Flange
A0
A1
B
FL
200
600
200W
600W
360 360 deg
NoteOnly SCON-CB can be selected for the high resolution encoder type (20-bit)
SCON
XSEL-PQ
XSEL-RS
T2AI
AM
Index absolute type
Multi-rotation absolute type
25
75
800
1440
600
oslash180
1228
1873
oslash52
oslash35
13
174
ISO class 4 (ISO 14644-1 Standard)US class 10M25 (US FED STD 209DE)
Index absoluteMulti-rotation absolute
3
DDA (CR) Direct Drive Motor
Application Examples
Index Table ltInspection device for small boardsgt
Transport of Workpieces ltTransporting parts from a conveyor to anothergt
Index TableltParts assembly devicegt
Multi-rotation OperationltTransporting electronic componentsgt
Assembling device
4
DDA (CR) Direct Drive Motor
DDA-LT18C
Controller is not included
P
O I N T
SelectionNotes
(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 30m Specify a desired length in meters (Example X08 = 8m)
(Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control
(Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type
Legend Cable length Option
ModelSpecications
(1) SCON and XSEL have dierent minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information
Options
Cable Length
Name Option code
Cable exits from the bottom A0
Cable exits from the side A1
Flange FL
Please refer to P18 for more information regarding the maintenance cables
1 Indexing accuracy is supported when connected to SCON-CB
DDACR-LT18C
Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198arcsec) 20-bit plusmn000103deg (plusmn37arcsec)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45arcsec) 20-bit plusmn000833deg (plusmn30arcsec)Allowable load moment (Note 2) 80Nmiddotm
Encoder resolution 17-bit 131 072 pulsesrev20-bit 1 048 576 pulsesrev
Allowable thrust load (Note 2) Forward 3100N Reverse 250NBase material AluminumAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)
Cleanroom specication
Cleanliness ISO class 4 (US class 10M25 US FED STD 209DE)Suction amount 35Nℓmin
Weight 58kg
Common Specications
Encoder type Model number Motor
wattage (W)
Operation range (deg) (1)
Speed (degs) (Note 1)
Rated torque (Nmiddotm) (2)
Maximum instantaneous torque (Nmiddotm)
Allowable inertia
moment (kgmiddotm2)
Rotor inertia (kgmiddotm2)
17-bit index absolute type DDA (CR)-LT18CS-AI-200-360-T2-① -②
200
0~359999 deg
1~1080 (1~1800) 84 252 06 00043
17-bit multi-rotation absolute type DDA (CR)-LT18CS-AM-200-360-T2-① -② plusmn9999 deg max
20-bit index absolute type DDA (CR)-LT18CP-AI-200-360-T2-① -② 0~359999 deg
20-bit multi-rotation absolute type DDA (CR)-LT18CP-AM-200-360-T2-① -② plusmn2520 deg max
(Note) A0 (cable exits from the bottom) option and FL (ange) option cannot be selected together
Thrust (axial) run-out (No load) 30μm
Radial run-out (No load) 30μm
Run-out of Output Shaft
LargeHollow
Bore
SlimType
Please refer to P16 for more information on the installation method
Horizontal
Side
Vert
ical
Ceiling
Model Specication Items
DDADDACR LT18C 200 360 T2
Series Type Encoder Type
Motor Type
Operation Range
Applicable Controllers
Cable Length Options
DDA StandardDDACR Cleanroom
specication
S Standard (17-bit)
P High resolution (20-bit)
AI Index absolute type
AM Multi-rotation absolute type
200 200W 360 360 deg T2 SCON XSEL-PQ XSEL-RASA
Note Only SCONapplys forLT18CP
N None S 3m M 5m X Specied
length
Please refer to the options table below Please make sure to
specify either A0 or A1 for the cable exit direction
5
DDA(CR) Direct Drive Motor
BasiclyFlange-
less
LargeHollow
Bore
SlimType
BasiclyFlange-
less
Clean-roomSpec
Cable type
Cable code
Standard
S (3m) M (5m)
Specied length
X06 (6m) ~ X10 (10m) X11 (11m) ~ X30 (30m)
Motor connector
Encoder connector
32 or
less
11 500plusmn30
24
77
615
45
oslash6 Compatible tube diameter
Air JointCR speci cation only
R100 or less
2-oslash4 H7 depth 3For workpiece positioning
6-M5 effective depth 8For workpiece mounting
PCD102 plusmn01
oslash 52
Hollo
w b
ore
28
oslash 83
24
Air JointCR specification only
Motor connector
Encoder connector
Rotating part of the work mounting surface
oslash180
oslash110h7 -00350
70plusmn0
3
4
oslash178h8 -00630
500plusmn30
(oslash21
)
32 or less
138
158
oslash116
35
003 A 003 A
A
75plusmn0
1
8-M6 effective depth 13PCD148 plusmn01
75plusmn0
1
225degoslash5 H7 depth 5For body positioning
Body mounting surfaceBody positioning oblong hole
2
R25
5+00120 depth 5
Detail view of SS
CAD drawings can be downloaded from our website
wwwintelligentactuatorde2D
CAD2D
CAD3D
CAD3D
CAD
Dimensions
Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use
LT18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers
Name External view
Max number of controlled axes Power supply voltage Control method Maximum number of
positioning pointsReference
pagePositioner Pulse-train Program Network Option
SCON-CBCGB 1Single-phase
230VAC -
Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information
512 (768 for network spec)
P14
SCON-LCLCG 1Single-phase
230VAC- -
512 (768 for network spec)
P14
XSEL-PQRASA 8Single-phase 230VACThree-phase 230VAC
- - 53332
(Depending on the type)P15
(Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side
6
DDA(CR) Direct Drive Motor
Options
P
O I N T
SelectionNotes
(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 20m Specify a desired length in meters (Example X08 = 8m)
(Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control
(Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type
(Note 6) The brake is used for retention purposes only so damage may be caused if it is actually used in attempts to slow or stop the actuator
ModelSpecications
Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198arcsec) 20-bit plusmn000103deg (plusmn37arcsec)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45arcsec) 20-bit plusmn000833deg (plusmn30arcsec)Allowable load moment (Note 2) 80Nmiddotm
Encoder resolution 17-bit 131 072 pulsesrev 20-bit 1 048 576 pulsesrev
Allowable thrust load (Note 2) Forward 3100N Reverse 250NBrake retaining torque 25NmiddotmBase material AluminumAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)Weight 87kg
Common Specications
Thrust (axial) run-out (No load) 30μm
Radial run-out (No load) 30μm
Run-out of Output Shaft
1 Indexing accuracy is supported when connected to SCON-CB
Encoder type Model number Motor
wattage (W)
Operation range (deg) (1)
Speed (degs) (Note 1)
Rated torque (Nmiddotm) (2)
Maximum instantaneous torque (Nmiddotm)
Allowable inertia
moment (kgmiddotm2)
Rotor inertia (kgmiddotm2)
17-bit index absolute type DDA-LT18CS-AI-200-360-T2-① -② -B
200
0~359999 deg
1~1080 (1~1800) 84 252 06 00043
17-bit multi-rotation absolute type DDA-LT18CS-AM-200-360-T2-① -② -B plusmn9999 deg max
20-bit index absolute type DDA-LT18CP-AI-200-360-T2-① -② -B 0~359999 deg
20-bit multi-rotation absolute type DDA-LT18CP-AM-200-360-T2-① -② -B plusmn2520 deg max
Name Option code
Cable exits from the bottom A0
Cable exits from the side A1
Brake (With brake box) 1 B
1 A brake cable is not supplied if N (None) is selected as the cable length Please order a brake cable as a separate item in that case
Controller is not included
DDA-LT18C-B
Model Specication Items
DDA LT18C 200 360 T2 BSeries Type Encoder
TypeMotor Type
Operation Range
Applicable Controllers
Cable Length Options Option
S Standard (17-bit)
P High resolution (20-bit)
AI Index absolute type
AM Multi-rotation absolute type
200 200W 360 360 deg T2 SCON XSEL-PQ XSEL-RASA
Note Only SCONapplys forLT18CP
N None S 3m M 5m X Specied
length
Please refer to the options table below Please make sure to
specify either A0 or A1 for the cable exit direction
B Brake
(1) SCON and XSEL have dierent minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information
Legend Cable length Option
Please refer to P16 for more information on the installation method
Horizontal
Side
Vert
ical
Ceiling
7
DDA Direct Drive Motor
Flange-less withBrake
LargeHollow
Bore
SlimType
Without CE Conformity
X
Cable Length
Please refer to P18 for more information regarding the maintenance cables
Cable type
Cable code
Standard
S (3m) M (5m)
Specied length
X06 (6m) ~ X10 (10m) X11 (11m) ~ X20 (20m)
Dimensions
Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use
LT18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers
Name External view
Max number of controlled axes Power supply voltage Control method Maximum number of
positioning pointsReference
pagePositioner Pulse-train Program Network Option
SCON-CBCGB 1Single-phase
230VAC -
Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information
512 (768 for network spec)
P14
SCON-LCLCG 1Single-phase
230VAC- -
512 (768 for network spec)
P14
XSEL-PQRASA 8Single-phase 230VACThree-phase 230VAC
- - 53332
(Depending on the type)P15
(Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side
Motor connector
Encoder connector
32 o
r les
s
500+500
oslash1235
45 o
r les
s
500plusmn30
Brake connector
oslash 35
Hol
low
bor
e
24
77
Motor connector
Encoder connector
45 o
r les
s
oslash1235500+50
0
Brake connector
oslash35
Hol
low
bor
e
R100 or less
2-oslash4 H7 depth 3For workpiece positioning
6-M5 effective depth 8For workpiece mounting
PCD102 plusmn01
oslash 52
Hol
low
bor
e
oslash 83
Rotating part of the work mounting surface
oslash180
oslash110h7 -00350
70plusmn0
3
4
oslash178h8 -00630
500plusmn30
oslash21
32 or less
138
158
oslash116
35
003 A 003 A
A
75plusmn0
1
8-M6 effective depth 13PCD148 plusmn01
75plusmn0
1
225degoslash5 H7 depth 5For body positioning
Body mounting surfaceBody positioning oblong hole
S
2
R25
5+00120 depth 5
Detail view of S
24
CAD drawings can be downloaded from our website
wwwintelligentactuatorde2D
CAD2D
CAD3D
CAD3D
CAD
8
DDA Direct Drive Motor
P
O I N T
SelectionNotes
(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 30m Specify a desired length in meters (Example X08 = 8m)
(Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control
(Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type
ModelSpecications
1 Indexing accuracy is supported when connected to SCON-CB
Thrust (axial) run-out (No load) 30μm
Radial run-out (No load) 30μm
Run-out of Output Shaft
Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198arcsec) 20-bit plusmn000103deg (plusmn37arcsec)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45arcsec) 20-bit plusmn000833deg (plusmn30arcsec)Allowable load moment (Note 2) 80Nmiddotm
Encoder resolution 17-bit 131 072 pulsesrev20-bit 1 048 576 pulsesrev
Allowable thrust load (Note 2) Forward 3100N Reverse 250NBase material AluminumAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)
Cleanroom specication
Cleanliness ISO class 4 (US class 10M25 US FED STD 209DE)Suction amount 35Nℓmin
Weight 13kg
Common Specications
Encoder type Model number Motor
wattage (W)
Operation range (deg) (1)
Speed (degs) (Note 1)
Rated torque (Nmiddotm) (2)
Maximum instantaneous torque (Nmiddotm)
Allowable inertia
moment (kgmiddotm2)
Rotor inertia (kgmiddotm2)
17-bit index absolute type DDA (CR)-LH18CS-AI-600-360-T2-① -②
600
0~359999 deg
1~800 (1~1440) 25 75 18 00092
17-bit multi-rotation absolute type DDA (CR)-LH18CS-AM-600-360-T2-① -② plusmn9999 deg max
20-bit index absolute type DDA (CR)-LH18CP-AI-600-360-T2-① -② 0~359999 deg
20-bit multi-rotation absolute type DDA (CR)-LH18CP-AM-600-360-T2-① -② plusmn2520 deg max
Options
Name Option code
Cable exits from the bottom A0
Cable exits from the side A1
Flange FL
(Note) A0 (cable exits from the bottom) option and FL (ange) option cannot be selected together
DDA-LH18C
Controller is not included
DDACR-LH18C Model
Specication Items
DDADDACR LH18C 600 360 T2
Series Type Encoder Type
Motor Type
Operation Range
Applicable Controllers
Cable Length Options
DDA StandardDDACR Cleanroom
specication
S Standard (17-bit)
P High resolution (20-bit)
AI Index absolute type
AM Multi-rotation absolute type
600 600W 360 360 deg T2 SCON XSEL-PQ XSEL-RASA
Note Only SCONapplys forLH18CP
N None S 3m M 5m X Specied
length
Please refer to the options table below Please make sure to
specify either A0 or A1 for the cable exit direction
(1) SCON and XSEL have dierent minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information
Legend Cable length Option
Please refer to P16 for more information on the installation method
Horizontal
Side
Vert
ical
Ceiling
9
DDA(CR) Direct Drive Motor
Cable Length
Please refer to P18 for more information regarding the maintenance cables
Cable type
Cable code
Standard
S (3m) M (5m)
Specied length
X06 (6m) ~ X10 (10m) X11 (11m) ~ X30 (30m)
LargeHollow
Bore
HighTorque
Type
BasiclyFlange-
less
LargeHollow
Bore
HighTorque
Type
BasiclyFlange-
less
Clean-roomSpec
Dimensions
Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use
LH18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers
Name External view
Max number of controlled axes Power supply voltage Control method Maximum number of
positioning pointsReference
pagePositioner Pulse-train Program Network Option
SCON-CBCGB 1Single-phase
230VAC -
Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information
512 (768 for network spec)
P14
SCON-LCLCG 1Single-phase
230VAC- -
512 (768 for network spec)
P14
XSEL-PQRASA 8Single-phase 230VACThree-phase 230VAC
- - 53332
(Depending on the type)P15
(Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side
Encoder connector
Motor connector
45
615
24
77
oslash6 Compatible tube diameter
Air JointCR speci cation only
32 o
r les
s11
500plusmn30
R100 or less
2-oslash4 H7 depth 3For workpiece positioning
6-M6 effective depth 12For workpiece mounting
PCD102plusmn01
oslash 52
Hol
low
bor
e
oslash 83
2428
Rotating part of the work mounting surface Encoder connector
Motor connector
Air JointCR specification only
75plusmn0
1
8-M8 effective depth 16PCD148 plusmn01
75plusmn0
1
oslash5 H7 depth 5For body positioning 225deg
Body mounting surfaceBody positioning oblong hole
oslash110h7 -00350
oslash116oslash180
oslash178h8 -00630
412
28
plusmn03
32 or less
oslash 21
500plusmn30
35
138
158
003 A
003 A
A
5 +00120 depth 5
2
R25
Detail view of S
S
CAD drawings can be downloaded from our website
wwwintelligentactuatorde2D
CAD2D
CAD3D
CAD3D
CAD
10
DDA(CR) Direct Drive Motor
1 A brake cable is not supplied if N (None) is selected as the cable length Please order a brake cable as a separate item in that case
Options
ModelSpecications
Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198arcsec) 20-bit plusmn000103deg (plusmn37arcsec)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45arcsec) 20-bit plusmn000833deg (plusmn30arcsec)Allowable load moment (Note 2) 80Nmiddotm
Encoder resolution 17-bit 131 072 pulsesrev20-bit 1 048 576 pulsesrev
Allowable thrust load (Note 2) Forward 3100N Reverse 250NBase material AluminumBrake retaining torque 50NmiddotmAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)Weight 174kg
Common Specications
Thrust (axial) run-out (No load) 30μm
Radial run-out (No load) 30μm
Run-out of Output Shaft
Encoder type Model number Motor
wattage (W)
Operation range (deg) (1)
Speed (degs) (Note 1)
Rated torque (Nmiddotm) (2)
Maximum instantaneous torque (Nmiddotm)
Allowable inertia
moment (kgmiddotm2)
Rotor inertia (kgmiddotm2)
17-bit index absolute type DDA-LH18CS-AI-600-360-T2-① -② -B
600
0~359999 deg
1~800 (1~1440) 25 75 18 00092
17-bit multi-rotation absolute type DDA-LH18CS-AM-600-360-T2-① -② -B plusmn9999 deg max
20-bit index absolute type DDA-LH18CP-AI-600-360-T2-① -② -B 0~359999 deg
20-bit multi-rotation absolute type DDA-LH18CP-AM-600-360-T2-① -② -B plusmn2520 deg max
Name Option code
Cable exits from the bottom A0
Cable exits from the side A1
Brake (With brake box) 1 B
1 Indexing accuracy is supported when connected to SCON-CB
Controller is not included
DDA-LH18C-B
(1) SCON and XSEL have dierent minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information
P
O I N T
SelectionNotes
(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 20m Specify a desired length in meters (Example X08 = 8m)
(Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control
(Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type
(Note 6) The brake is used for retention purposes only so damagemay be caused if it is actually used in attempts to slow or stop the actuator
Legend Cable length Option
Please refer to P16 for more information on the installation method
Horizontal
Side
Vert
ical
Ceiling
Model Specication Items
DDA LH18C 600 360 T2 BSeries Type Encoder
TypeMotor Type
Operation Range
Applicable Controllers
Cable Length Options Option
S Standard (17-bit)
P High resolution (20-bit)
AI Index absolute type
AM Multi-rotation absolute type
600 600W 360 360 deg T2 SCON XSEL-PQ XSEL-RASA
Note Only SCONapplys forLH18CP
N None S 3m M 5m X Specied
length
Please refer to the options table below Please make sure to
specify either A0 or A1 for the cable exit direction
B Brake
11
DDA Direct Drive Motor
Flange-less withBrake
LargeHollow
Bore
HighTorque
Type Without CE Conformity
X
Cable Length
Please refer to P18 for more information regarding the maintenance cables
Cable type
Cable code
Standard
S (3m) M (5m)
Specied length
X06 (6m) ~ X10 (10m) X11 (11m) ~ X20 (20m)
Dimensions
Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use
LH18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers
Name External view
Max number of controlled axes Power supply voltage Control method Maximum number of
positioning pointsReference
pagePositioner Pulse-train Program Network Option
SCON-CBCGB 1Single-phase
230VAC -
Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information
512 (768 for network spec)
P14
SCON-LCLCG 1Single-phase
230VAC- -
512 (768 for network spec)
P14
XSEL-PQRASA 8Single-phase 230VACThree-phase 230VAC
- - 53332
(Depending on the type)P15
(Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side
Encoder connector
Motor connector
oslash 35
Hol
low
bor
e
32 o
r les
s
oslash1235
645
or l
ess
500+500
500plusmn30
Brake connector
24
77
Encoder connector
Motor connector
oslash 35
Hol
low
bor
e64
5 o
r les
s
oslash1235500+50
0
Brake connector
R100 or less
2-oslash4 H7 depth 3For workpiece positioning
6-M6 effective depth 12For workpiece mounting
PCD102 plusmn01
oslash 52
Hol
low
bor
e
oslash 83
Rotating part of the work mounting surface
oslash110h7 -00035
oslash116oslash180
oslash178h8 -00063
412
28
plusmn03
32 or less
oslash21
500plusmn30
35
138
158
003 A
003 A
A
75plusmn0
1
8-M8 effective depth 16PCD148 plusmn01
75plusmn0
1
oslash5 H7 depth 5For body positioning 225deg
Body mounting surfaceBody positioning oblong hole
S 5 +00120 depth 5
2
R25
Detail view of S24
CAD drawings can be downloaded from our website
wwwintelligentactuatorde2D
CAD2D
CAD3D
CAD3D
CAD
12
DDA Direct Drive Motor
OptionsIt is a retention mechanism for holding the stop position when the power or servo is OFF to prevent the workpieces and attachments from being damaged when used in side or vertical positions Be sure to connect a brake box for models with brake
A bracket that attaches to the body with bolts from the top side
Brake
Flange
Option Code B
Option Code FL
Brake Box
Wiring Diagram When Brake Box is Used
DDA-LT18CModel Number DDA-FL-LT18
Model Number IA-110-DD-4
DDA-LH18CModel Number DDA-FL-LH18
PCD200
PCD200
plusmn0075plusmn0075
55deg
55deg
180
180
180180
160
160
plusmn01
plusmn01
160160 plusmn01plusmn01
4-oslash1
1thr
ough
2-oslash6H
7 through
135
135
815
815
plusmn04
plusmn04
oslash1245
55deg
55deg
PCD
PCD200plusmn0075200plusmn0075
180
180
180180160160 plusmn01plusmn01
160
160
plusmn01
plusmn01
2-oslash6H7 through
4-oslash1
1thr
ough
155
15513
63
136
3plusmn0
4plusmn0
4
oslash1245
PWRON
BKOUT
+ - C E
BKRMT
RLSBKOUT
PWRPE N L
MODEL IA-110-DD-4SN INPUT Single phase 100-240V
MADE IN JAPAN
5060Hz 10A maxOUTPUT 12VDC 06A
PWRON
BKOUT
+ - C E
BKRMT
RLSBKOUT
PWRPE N L
MODEL IA-110-DD-4SN INPUT Single phase 100-240V
MADE IN JAPAN
5060Hz 10A maxOUTPUT 12VDC 06A
ControllerSCON-CBXSEL-PQRASADDA
Motor cableModel CB-X(EU)-MA CB-X(EU)MC-MA
Brake box
EU cable version w metal connector
Encoder cableModel CB-X(EU)3-PA010(Comes with the brake box)
Encoder cableModel CB-X(EU)3-PA
Brake cableModel CB-DDB-BK Main power supply
100VAC~240VAC
13
DDA(CR) Direct Drive Motor
Position Controller
Controller Model
System Configuration
Positioner Single-axis Type ltSCONgt Model
Power Supply Voltage
IO TypeEncoder Type Motor Type Type Series SCON
IO Cable Length
AIAM
2
The 200W motor used by the DDA is larger than a normal 200W motor so the motor type for the controller will be 200S and its size will be larger than the 400W motor
For 200W motorFor 600W motor
200S600
High-function typeSafety category compliant type
CBCGB
PLC equipped typeSafety category PLC equipped type
LCLCG
Motor cableModel CB-X(EU)-MA (LT18C)
CB-X(EU)MC-MA (LH18C)
SCON PC
DDA
PLC(To be supplied by the customer)
IO flat cableModel CB-PAC-PIO020Standard 2m
2 Be sure to use a noise filter on the power supply
( )Encoder cableModel CB-X(EU)3-PA
PC compatible softwareRS232 connection versionModel RCM-101-MWUSB connection versionModel RCM-101-USB(Please contact IAI for more details)
Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)
Regenerative resistor unitModel RESU-2RESUD-2(Please contact IAI for more details)
1 The wiring diagram is different for models with brakes Please refer to P13 for more information
1
Single-phase 230VAC Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models
Main powersupply 2
Field network
DDA
Option
Supplied with the actuator
Supplied with the controller
Supplied with the actuator Option
Option
Option
When the SCON Controller is Connected
When a eld network specication is selectedthe IO cable length will be 0
Index absolute typeMulti-rotation abs type
NPPN
PIO NPN (Standard)
PIO PNP
DVCN
DeviceNet
CompoNet
CC CC-Link
ML3PR
MECHATROLINK-III
PROFIBUS-DP
02
35
No cable2m (Standard)
3m5m
EC EtherCAT
EP EtherNetIP
PRT PROFINET IO
For recommended modelsplease contact IAI
Model
External view
IO type
IO type code
CompoNet connection
PROFIBUS-DP connection
CC-Linkconnection
DeviceNetconnection
PIO connection specification (1)
NPPN DV CC PR
Standard Field network type (1)
CN mdash
mdash
mdash
SCON-CB
EtherNetIP connection
PROFINET IO connection
EtherCATconnection
EC EP PRT
List of Models
MECHATROLINK- III
connection
ML3
Applicable encoder type(Note) The index absolute type cannot be used in the pulse-train control and MECHATROLINK-III control(1) Please note that the network specifications cannot be operated on the PIO or pulse-train The PLC type (LCLCG) cannot be connected on the pulse-train
Index absoluteMulti-rotation absoluteIndex absolute Multi-rotation absolute
CBCGB CBCGB LCLCG
14
SCON Controller
EU version w metal connector
Program Controller
List of Models
Model P Q RA SA
Type Large-capacity type Large-capacity type (Safety category specication) High-function type High-function type
(Safety category specication)
External view
DescriptionLarge-capacity type
that can control up to 6 axes 2400W
Large-capacity type thats compatible with the
safety category 4
High-function type that allows up to 8-axis operation
Safety category 4 compatible high-function type
Controller Model
System Configuration
Program Multi-axis Type ltXSELgt Model
Encoder Type
Encoder Type
Motor Type
Motor Type
Number ofConnected
AxesType Series Option Option
XSEL
200 For 200W motor
600 For 600W motor
B BrakePQRASA
6-axis type6-axis safety category type8-axis type8-axis safety category type
8
1
~ ~
1 axis
8 axes
(PQ type is up to 6 axes)
(Details of the 1st axis) (Details of the 2nd~8th axis)
It can simultaneously operate actuators (single-axis robot and RoboCylinder) otherthan the DDA motor on a single controller For connectable actuators other than the DDA motor please contact IAI
For subsequent models please contact IAI
Notes
AIAM
Index absolute typeMulti-rotation absolute type
When the XSEL Controller is Connected
2 Be sure to use a noise filter on the power supply
Motor cableModel CB-X(EU)-MA (LT18C) CB-X(EU)MC-MA (LH18C)
XSELPC
PLC(To be supplied by the customer)
PC compatible softwareRS232 connection versionModel IA-101-X-MWUSB connection versionModel IA-101-X-USBMW(Please contact IAI for more details)
Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)
Single-phase 230VACThree-phase 230VAC
Regenerative resistor unitModel RESU-1RESUD-1(Please contact IAI for more details)
Option Option
Option
Field networkOption
IO flat cableModel CB-X-PIO020Standard 2m
Supplied with the controller
Encoder cableModel CB-X(EU)3-PA
Supplied with the actuator
Supplied with the actuator
Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models
1
1 The wiring diagram is different for models with brakes Please refer to P13 for more information
DDA
Main powersupply 2 ( )For recommended models
please contact IAI
15
XSEL Controller
EU version w metal connector
Precautions
Installation
Installation Orientation
Mountingsurface
For models with brake and cable exit direction to the bottom a clearance hole is required
Ceiling mount
Horizontal mount
Vertical mount
Gra
vity
Operation TypeThis product is available in 2 operation types depending on the operation conditions Please check the features and precautions on each type before use
(1)The high resolution specification can be connected only to the SCON-CB(2)When the XSEL index type travels more than 180deg from the current position it rotates in a direction that requires a shorter travel distance to
reach the target position Therefore please note that the direction of rotation changes according to the current position and travel distance If you want to specify the direction of travel use the SCON-CB
(3)The index type can be rotated in a given direction infinitely 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-CB
(4)Home return is required for the multi-rotation absolute encoder during the initial setting and replacement of the absolute battery
Absolute batteryHome return operationLimitless rotation
Maximum amount of movement in a single movement command
Operation rangeController typeOperation type
Not requiredNot required
Yes (3)
0~359999deg
Index absolute type
RequiredNot required (4)
No
Above operation rangeplusmn9999deg (plusmn2520deg) max
Multi-rotation absolute typeSCON-CB XSEL(1)
( ) is for 20-bit
(Note) Use this product by installing it on a mounting surface having heat dissipating characteristics equivalent to those of an aluminum plate of w450mm times d450mm times t12mm in size If the installation conditions necessitate lower heat dissipating characteristics please consult IAI
ControllersFor the DDA with 200W motor the outside dimensions of the SCON-CB controller will be the same as the size of the
400W motor (Please contact IAI for the details of the SCON-CB controller)One and two regenerative resistor unit(s) are required for LT18C and LH18C respectively to operate a DDA
motor with the SCON-CBWhen operating DDA motor(s) with the XSEL controller regenerative resistor units are required as shown below
The number of DDA motor(s) connectable to the XSEL controller is a max of 8 units for the LT18C type and a max of 2 units for the LH18C type
Please note that when the DDA motor is operated with the SCON-CB the motor cannot be connected to the Robo Cylinder gateway function of the XSEL controller
Calculation for the power supply value LT18C type single-phase 600W three-phase 200W LH18C type single-phase 1200W three-phase 600W
Number of regenerative resistor units
1 2 3 4 5 6 7 81 2 3
(Cannot be connected)4
2 4LT18CLH18C
Number of DD motor(s)
360deg
SCON-CB XSEL(1)
180deg(2)
16
DDA(CR) Direct Drive Motor
Conditions for Selection
The followings should be checked to determine whether the DDA motor can be used to suit the specific conditions required by the customer
The customer should confirm that the following three points under actual use do not exceed their maximum allowable levels as specified for the DDA 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
Check Load Conditions1
[1] Thrust load
[2] Load moment applied
[3] Load inertia
J = 18 times M times D 2 [kgm2]
Mass M [kg]
D [m]
Center of rotation
J = 112 times M times (a 2 + b 2) [kgm2]
a [m]
b [m]
Center of rotation
Mass M [kg]
J = M times R 2+ 18 times M times D 2 [kgm2]
Mass M [kg]
D [m]
R [m]
Cent
er o
fro
tatio
n
J = M times R 2+112 times M times (a 2 + b 2 )[kgm2]
a [m]
b [m]R [m]
Cent
er o
fro
tatio
n
Mass M [kg]
The travel time changes according to the load inertia See the tables below to check the travel time data
Travel Time Guide3
The data in the tables are for a reference only and do not guarantee the actual travel times
(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)
0
0005
009
012
017
022
0005
001
010
012
017
022
001
002
011
014
019
024
002
003
012
016
021
026
003
004
013
017
023
027
004
005
014
018
024
029
005
006
015
020
027
032
006
007
017
022
029
035
007
008
019
024
032
038
008
009
021
026
035
041
009
01
023
029
037
044
01
02
039
048
060
069
02
03
062
073
089
100
03
04
070
083
101
114
04
05
087
102
122
136
05
06
111
123
142
168
LH18C
LT18C
Continuous Operation Area
LT18C type LH18C type
(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)
0
0005
0098
0129
0192
0254
0005
001
0096
0128
019
0252
001
0015
0096
0127
019
0252
002
002
0097
0128
0191
0253
002
003
0099
0131
0193
0256
003
004
0104
0136
0199
0262
004
006
0113
0144
0207
027
006
008
012
0153
0215
0278
008
01
0126
0163
0225
0288
010
015
014
0184
0249
0312
015
02
0157
0208
0279
0341
02
03
0207
0268
0354
042
03
04
0257
0329
0428
0504
04
06
0352
044
0562
0655
06
08
0447
0549
0692
08
08
1
053
0646
0806
0925
10
12
0629
0758
0933
1064
12
14
0795
0941
1133
1274
14
18
0875
1035
1257
1415
Check Operating Conditions2Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DDA motor specications to determine whether the DDA motor can be used under the applicable operating conditions Please contact IAI for assistance To
rque
(Nm
)
Curr
ent [
Arm
s]
Angular velocity [degs]
AccelerationDeceleration Area
Torq
ue (N
m)
Curr
ent [
Arm
s]
Angular velocity [degs]
AccelerationDeceleration Area
Rating areaRating area
270deg travel time [sec]180deg travel time [sec]
90deg travel time [sec]45deg travel time [sec]
Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]
270deg travel time [sec]180deg travel time [sec]
90deg travel time [sec]45deg travel time [sec]
Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]
Selecting the DD Motor
17
DDA(CR) Direct Drive Motor
CB-X-MACB-XEU-MA
Modelnumber
Motor robot cableEU motor robot cable
forDDA(CR)-LT18
L
Controller side
4
1
1
4
Wire
075sqGreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
GreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
PEUVW
No1234
Actuator side
(10)(20)
(Front view)(Front view)
(16)
(oslash9) (2
1)
(18)
(41)
Signal
Minimum bending R r = 51 mm or more (for movable use) If the cable must be guided in a cable track use a robot cable
Enter the cable length (L) into Compatible to a Maximum of 30 meters Ex 080 = 8m
Minimum bending R r = 51 mm or more (for movable use)Only robot cable is available for this model
1
(16)
(F (Front view)ront view)
(41)
(41)
234
1234
UVWPE
RedWhiteBlackGreen
PESignal NoWire
Controller side
075sq 075sq(crimped)
Color oN langiS Color Wire
UVW
GreenRed
WhiteBlack
Actuator side
(Fig Motor robot cable CB-X-MA with plastic connector)
(Fig EU motor robot cable CB-XEU-MA EU version with M18 plastic round connector)
4
17
L
1
2 3
1
Color Wire
075sq
No Signal Color
(crimped)
PEUVW
123
CB-XMC-MACB-XEUMC-MA
Modelnumber
Motor robot cableEU motor robot cable
forDDA(CR)-HT18
Controller side
Wire
125sqGreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
GreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
PEUVW
No1234
Actuator side
Signal
Minimum bending R r = 55 mm or more (for movable use) If the cable must be guided in a cable track use a robot cable
Enter the cable length (L) into Compatible to a Maximum of 30 meters Ex 080 = 8m
Minimum bending R r = 55 mm or more (for movable use)Only robot cable is available for this model
1
(16)
(F (Front view)ront view)
(41)
234
1234
UVWPE
RedWhiteBlackGreen
PESignal NoWire
Controller side
125sq 125sq(crimped)
Color oN langiS Color Wire
UVW
GreenRed
WhiteBlack
Actuator side
(Fig Motor robot cable CB-XMC-MA with plastic connector)
(Fig EU motor robot cable CB-XEUMC-MA EU version with M18 plastic round connector)
4
17
L
1
2 3
1
Color Wire
125sq
No Signal Color
(crimped)
PEUVW
123
Cables
L
4
1
1
4(Front view)
(16)(21)
(11)
(16)
18
DDA(CR) Direct Drive Motor
Maintenance Parts
(oslash9)
DDADDACR Series Catalogue No 1116-E Version CJ0242-1A
CB-DDB-BKModelnumber
forDDA(CR) with brake optionBrake cable
Enter the cable length (L) into Compatible to a Maximum of 20 meters Ex 080 = 8m
Maintenance Parts
(41) (14)(15)
Controller side
(13)
(37)
(Front view) (Front view)
(25)
Actuator side
13
114
26
Ground wire and braided shield
AWG26(crimped)
WhiteblueWhiteyellowWhiteredWhiteblackWhitepurpleWhitegray
Whiteorangendash
(Ground)Orange
GreenPurple
GrayRed
BlackWhitegreen
BlueYellow
No Signal Color Wire
The shield is connected to the hood by a clamp
AWG26 (soldered)
Wire10111213262524239
181912345678
14151617202122
123456789
101112131415161718
AĀBBZZ
LS+ndash
FGSDSD
BAT+BAT-VCCGNDLS-BK-BK+
ndashndash
E24VOVLS
CREEPOTRSV
ndashndashndash
A+A-B+B-Z+Z-
SRD+SRD-BAT+BAT-VCCGNDBKR-BKR+
ndash
ndashndashndash
WhitegreenWhiteorange
WhitegreenWhiteorange
Whitegreen
Whiteorange
ndashndashndashndashndashndash
WhiteblueWhiteyellowWhitered
WhiteblackWhitepurpleWhitegray
WhiteblueWhiteyellow Whiteblue
WhiteyellowWhiteredWhiteblackWhitepurpleWhitegray
WhiteredWhiteblackWhitepurpleWhitegray
OrangeGreenPurple
GrayRed
BlackBlue
Yellowndash
NoSignalColor(oslash
10)
L
1
9 18
10
Minimum bending R r = 58 mm or more (for movable use) If the cable must be guided in a cable track use a robot cable
(Fig Encoder robot cable CB-X3-PA with plastic connector)
Controller side Actuator side
Minimum bending R r = 58 mm or more (for movable use)
(Front view)
L (13)
(37)
1
13
14
26
(41)
Ground wire and braided shield
Color WireSignalNo
AWG26soldered
Blue
SD1 OrangeSD2
3456789
Green
VCC10
PurpleGND11 BlackBAT+12
Yellow
BAT-13 Grey
BK-141516
Red
BK+A shield is connected to shield soldered part
AWG26(soldered)
212017
22
6
16151487
3
54
21
25
1819
2324
9
1011121326
No
ndashBKR+BKR-GND
Z-
BAT+
VCCBATndash
SRD-SRD+
B+
Z+B-
Z-
B+
Z+B-
A-A+
A-A+
CREEP
ndashndashndash
OTRSV
E24V0VLS
LS+
LS-
ndashndash
---
------
BlueYellow
Orange
PurpleGreen
Black
GreyRed
-The shield is clamped to the hood
Color SignalWire
(Fig EU encoder robot cable CB-XEU3-PA EU version with metal connector)
(Front view)
4 1
16 13 10
9 5
14
CB-X3-PACB-XEU3-PA
Modelnumber
Encoder robot cableEU encoder robot cable
forDDA(CR)
Enter the cable length (L) into Compatible to a Maximum of 30 meters Ex 080 = 8m
31
31
J11SF-03V-KX J11SFM-03V-KXNoNo SignalSignal ColorColor WiringWiring
AWG20(crimped)
Red
Black
White
Red
Black
White
+
-
FG
+
-
FG
321
321
AWG20(crimped)
Controller side Actuator side
tor side(Front view) (Front view)
L
(44) (167)
(80
)
(84)(293)
(92
)
(oslash5
4)
IAI America IncIAI Industrieroboter GmbHEurope Headquarters Ober der Roumlth 4 D-65824 Schwalbach Germany
IAI CORPORATIONCorporate Headquarters577-1 Obane Shimizu-Ku Shizuoka 424-0103 Japan Phone +81-543-64-5105 Fax +81-543-64-5192
IAI (Shanghai) Co LtdChina HeadquartersShanghai Jiahua Business Centee A8-303808Hongqiao Rd Shanghai 200030 ChinaPhone +86-21-6448-4753 Fax +86-21-6448-3992
America Headquarters2690 W 237th Street Torrance CA 90505 USA
wwwintelligentactuatorde
Phone +49-6196-8895-0 Fax +49-6196-8895-24 Phone +1-310-891-6015 Fax +1-310-891-0815
The Direct Drive Motor DDA Series ismiddot The motor directly drives the rotary table without a speed
reducing mechanism such as a belt or speed reducermiddot Compact high-speed and responsivemiddot More aordable than the conventional DD series
Features
Without brake(StandardCleanroom
specication)
With brake(Standard)
LT18C Slim type (Rated torque 84Nmiddotm)
Hollow boreOslash52mm
Hollow boreOslash35mm
Hollow boreOslash52mm
Hollow boreOslash35mm
LH18C High-torque type (Rated torque 25Nmiddotm)
Shorter positioning time means shorter cycle time of your equipment resulting in greater productivity
DDA-LT18C type
DDA-LH18C type
lSOCleanliness
Class
lSOCleanliness
Class4 10M25
Larg
e ho
llow
bor
e ty
pe
High speed high accelerationdeceleration
Brake-equipped specications have been added tothe angeless high-torquelarge hollow bore typeCleanroom specications are also available
Achieves a lower price
3
1
2The price has been reduced by about 33 as compared with the conventional DD series
RCS2-RTC12L
ltComparison of Cycle TimesgtOperating conditions When a work part weighing 100g is placed on an aluminum disc of 300mm in diameter and 6mm in thickness and rotated by 180deg
05sApprox
50Quicker
Approx
42Quicker
025s
014s
t6mm
oslash300mm
About 33 less
DD-LT18C DDA-LT18C
(ISO14644-1) (FED STD 209DE)
Ab
DD-LT18C
ess
DDA-LT18C
High Speed High Payload High Accuracy and Easy to ControlIntroducing the Direct Drive Motor DDA Series Boasting Ultimate Usability
USCleanliness
Class
USCleanliness
Class
1
5Standard type
Model number
Encoder resolution
Positioning repeatability
DDA-L18CP20-bit
1 048 576 pulsesrev
plusmn000103 deg(plusmn37 arcsec)
High resolution type
20-bitEncoder resolution
Indexingaccuracy
plusmn001249 deg(plusmn45 arcsec)
plusmn000833 deg(plusmn30 arcsec)
17-bit
DDA-L18CS17-bit
131 072 pulsesrev
plusmn00055 deg(plusmn198 arcsec)
6 Corresponds to the indexing accuracyIt corresponds to the indexing accuracy when connected to SCON-CB and allows for more accurate positioning
4The high torque type has about three times more torque
MAX25kg
200mm 200mm
MAX90kg
200mm 200mm
MAX270kg
200mm 200mm
Allowable inertia moment
017kgmiddotm2
RCS2-RTC12L (Reduction ratio 130)
Allowable inertia moment
060kgmiddotm2
DDA-LT18C type
Allowable inertia moment
18kgmiddotm2
DDA-LH18C type
Max instantaneous torque 86N∙m Max instantaneous torque 252N∙m Max instantaneous torque 75N∙m
High-resolution type is available
High torque high payload
and Easy to Control Boasting Ultimate Usability
2
DDA Motor Series List
Model Specification Items
Cable Length
Encoder Type
Operation Range
Series Motor Wattage
DDADDACR
Applicable Controllers
Options360 T2
Type
Type Encoder
Large bore slim
Large bore slim
Large bore high torqueLarge bore high torque
Standard (17-bit)
High resolution (20-bit)
Standard (17-bit)
High resolution (20-bit)
Type
Cleanroom specication only
Encoder
ModelStandard
Cleanroom spec
External view
Rated speed (degs)
Maximum speed (degs)
Motor wattage (W)
Size (mm)
Height(mm)
wo brakew brake
wo brake
w brake
wo brake
w brake
Hollow bore (mm)
Mass(kg)
Cleanliness
Encoder type
Applicable controller
Reference page
84
252
1080
1800
200
oslash180
70
115
oslash52
oslash35
58
87
ISO class 4 (ISO 14644-1 Standard)US class 10M25 (US FED STD 209DE)
Index absoluteMulti-rotation absolute
P5 P9
DDA-LT18CS
SCON-CBXSEL SCON-CB SCON-CB
XSEL SCON-CB
DDA-LT18CP DDA-LH18CS DDA-LH18CP
DDACR-LT18CS DDACR-LT18CP DDACR-LH18CS DDACR-LH18CP
Standard (17-bit)
High resolution(20-bit)
Standard (17-bit)
High resolution(20-bit)
Large bore slim type Large bore high torque type
DDA StandardDDACR Cleanroom specification
LT18CS
LT18CP
LH18CS
LH18CP
None
3m
5m
Specied length
N
S
M
X
Cable exits from the bottom
Cable exits from the side
Brake
Flange
A0
A1
B
FL
200
600
200W
600W
360 360 deg
NoteOnly SCON-CB can be selected for the high resolution encoder type (20-bit)
SCON
XSEL-PQ
XSEL-RS
T2AI
AM
Index absolute type
Multi-rotation absolute type
25
75
800
1440
600
oslash180
1228
1873
oslash52
oslash35
13
174
ISO class 4 (ISO 14644-1 Standard)US class 10M25 (US FED STD 209DE)
Index absoluteMulti-rotation absolute
3
DDA (CR) Direct Drive Motor
Application Examples
Index Table ltInspection device for small boardsgt
Transport of Workpieces ltTransporting parts from a conveyor to anothergt
Index TableltParts assembly devicegt
Multi-rotation OperationltTransporting electronic componentsgt
Assembling device
4
DDA (CR) Direct Drive Motor
DDA-LT18C
Controller is not included
P
O I N T
SelectionNotes
(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 30m Specify a desired length in meters (Example X08 = 8m)
(Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control
(Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type
Legend Cable length Option
ModelSpecications
(1) SCON and XSEL have dierent minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information
Options
Cable Length
Name Option code
Cable exits from the bottom A0
Cable exits from the side A1
Flange FL
Please refer to P18 for more information regarding the maintenance cables
1 Indexing accuracy is supported when connected to SCON-CB
DDACR-LT18C
Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198arcsec) 20-bit plusmn000103deg (plusmn37arcsec)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45arcsec) 20-bit plusmn000833deg (plusmn30arcsec)Allowable load moment (Note 2) 80Nmiddotm
Encoder resolution 17-bit 131 072 pulsesrev20-bit 1 048 576 pulsesrev
Allowable thrust load (Note 2) Forward 3100N Reverse 250NBase material AluminumAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)
Cleanroom specication
Cleanliness ISO class 4 (US class 10M25 US FED STD 209DE)Suction amount 35Nℓmin
Weight 58kg
Common Specications
Encoder type Model number Motor
wattage (W)
Operation range (deg) (1)
Speed (degs) (Note 1)
Rated torque (Nmiddotm) (2)
Maximum instantaneous torque (Nmiddotm)
Allowable inertia
moment (kgmiddotm2)
Rotor inertia (kgmiddotm2)
17-bit index absolute type DDA (CR)-LT18CS-AI-200-360-T2-① -②
200
0~359999 deg
1~1080 (1~1800) 84 252 06 00043
17-bit multi-rotation absolute type DDA (CR)-LT18CS-AM-200-360-T2-① -② plusmn9999 deg max
20-bit index absolute type DDA (CR)-LT18CP-AI-200-360-T2-① -② 0~359999 deg
20-bit multi-rotation absolute type DDA (CR)-LT18CP-AM-200-360-T2-① -② plusmn2520 deg max
(Note) A0 (cable exits from the bottom) option and FL (ange) option cannot be selected together
Thrust (axial) run-out (No load) 30μm
Radial run-out (No load) 30μm
Run-out of Output Shaft
LargeHollow
Bore
SlimType
Please refer to P16 for more information on the installation method
Horizontal
Side
Vert
ical
Ceiling
Model Specication Items
DDADDACR LT18C 200 360 T2
Series Type Encoder Type
Motor Type
Operation Range
Applicable Controllers
Cable Length Options
DDA StandardDDACR Cleanroom
specication
S Standard (17-bit)
P High resolution (20-bit)
AI Index absolute type
AM Multi-rotation absolute type
200 200W 360 360 deg T2 SCON XSEL-PQ XSEL-RASA
Note Only SCONapplys forLT18CP
N None S 3m M 5m X Specied
length
Please refer to the options table below Please make sure to
specify either A0 or A1 for the cable exit direction
5
DDA(CR) Direct Drive Motor
BasiclyFlange-
less
LargeHollow
Bore
SlimType
BasiclyFlange-
less
Clean-roomSpec
Cable type
Cable code
Standard
S (3m) M (5m)
Specied length
X06 (6m) ~ X10 (10m) X11 (11m) ~ X30 (30m)
Motor connector
Encoder connector
32 or
less
11 500plusmn30
24
77
615
45
oslash6 Compatible tube diameter
Air JointCR speci cation only
R100 or less
2-oslash4 H7 depth 3For workpiece positioning
6-M5 effective depth 8For workpiece mounting
PCD102 plusmn01
oslash 52
Hollo
w b
ore
28
oslash 83
24
Air JointCR specification only
Motor connector
Encoder connector
Rotating part of the work mounting surface
oslash180
oslash110h7 -00350
70plusmn0
3
4
oslash178h8 -00630
500plusmn30
(oslash21
)
32 or less
138
158
oslash116
35
003 A 003 A
A
75plusmn0
1
8-M6 effective depth 13PCD148 plusmn01
75plusmn0
1
225degoslash5 H7 depth 5For body positioning
Body mounting surfaceBody positioning oblong hole
2
R25
5+00120 depth 5
Detail view of SS
CAD drawings can be downloaded from our website
wwwintelligentactuatorde2D
CAD2D
CAD3D
CAD3D
CAD
Dimensions
Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use
LT18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers
Name External view
Max number of controlled axes Power supply voltage Control method Maximum number of
positioning pointsReference
pagePositioner Pulse-train Program Network Option
SCON-CBCGB 1Single-phase
230VAC -
Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information
512 (768 for network spec)
P14
SCON-LCLCG 1Single-phase
230VAC- -
512 (768 for network spec)
P14
XSEL-PQRASA 8Single-phase 230VACThree-phase 230VAC
- - 53332
(Depending on the type)P15
(Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side
6
DDA(CR) Direct Drive Motor
Options
P
O I N T
SelectionNotes
(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 20m Specify a desired length in meters (Example X08 = 8m)
(Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control
(Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type
(Note 6) The brake is used for retention purposes only so damage may be caused if it is actually used in attempts to slow or stop the actuator
ModelSpecications
Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198arcsec) 20-bit plusmn000103deg (plusmn37arcsec)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45arcsec) 20-bit plusmn000833deg (plusmn30arcsec)Allowable load moment (Note 2) 80Nmiddotm
Encoder resolution 17-bit 131 072 pulsesrev 20-bit 1 048 576 pulsesrev
Allowable thrust load (Note 2) Forward 3100N Reverse 250NBrake retaining torque 25NmiddotmBase material AluminumAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)Weight 87kg
Common Specications
Thrust (axial) run-out (No load) 30μm
Radial run-out (No load) 30μm
Run-out of Output Shaft
1 Indexing accuracy is supported when connected to SCON-CB
Encoder type Model number Motor
wattage (W)
Operation range (deg) (1)
Speed (degs) (Note 1)
Rated torque (Nmiddotm) (2)
Maximum instantaneous torque (Nmiddotm)
Allowable inertia
moment (kgmiddotm2)
Rotor inertia (kgmiddotm2)
17-bit index absolute type DDA-LT18CS-AI-200-360-T2-① -② -B
200
0~359999 deg
1~1080 (1~1800) 84 252 06 00043
17-bit multi-rotation absolute type DDA-LT18CS-AM-200-360-T2-① -② -B plusmn9999 deg max
20-bit index absolute type DDA-LT18CP-AI-200-360-T2-① -② -B 0~359999 deg
20-bit multi-rotation absolute type DDA-LT18CP-AM-200-360-T2-① -② -B plusmn2520 deg max
Name Option code
Cable exits from the bottom A0
Cable exits from the side A1
Brake (With brake box) 1 B
1 A brake cable is not supplied if N (None) is selected as the cable length Please order a brake cable as a separate item in that case
Controller is not included
DDA-LT18C-B
Model Specication Items
DDA LT18C 200 360 T2 BSeries Type Encoder
TypeMotor Type
Operation Range
Applicable Controllers
Cable Length Options Option
S Standard (17-bit)
P High resolution (20-bit)
AI Index absolute type
AM Multi-rotation absolute type
200 200W 360 360 deg T2 SCON XSEL-PQ XSEL-RASA
Note Only SCONapplys forLT18CP
N None S 3m M 5m X Specied
length
Please refer to the options table below Please make sure to
specify either A0 or A1 for the cable exit direction
B Brake
(1) SCON and XSEL have dierent minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information
Legend Cable length Option
Please refer to P16 for more information on the installation method
Horizontal
Side
Vert
ical
Ceiling
7
DDA Direct Drive Motor
Flange-less withBrake
LargeHollow
Bore
SlimType
Without CE Conformity
X
Cable Length
Please refer to P18 for more information regarding the maintenance cables
Cable type
Cable code
Standard
S (3m) M (5m)
Specied length
X06 (6m) ~ X10 (10m) X11 (11m) ~ X20 (20m)
Dimensions
Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use
LT18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers
Name External view
Max number of controlled axes Power supply voltage Control method Maximum number of
positioning pointsReference
pagePositioner Pulse-train Program Network Option
SCON-CBCGB 1Single-phase
230VAC -
Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information
512 (768 for network spec)
P14
SCON-LCLCG 1Single-phase
230VAC- -
512 (768 for network spec)
P14
XSEL-PQRASA 8Single-phase 230VACThree-phase 230VAC
- - 53332
(Depending on the type)P15
(Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side
Motor connector
Encoder connector
32 o
r les
s
500+500
oslash1235
45 o
r les
s
500plusmn30
Brake connector
oslash 35
Hol
low
bor
e
24
77
Motor connector
Encoder connector
45 o
r les
s
oslash1235500+50
0
Brake connector
oslash35
Hol
low
bor
e
R100 or less
2-oslash4 H7 depth 3For workpiece positioning
6-M5 effective depth 8For workpiece mounting
PCD102 plusmn01
oslash 52
Hol
low
bor
e
oslash 83
Rotating part of the work mounting surface
oslash180
oslash110h7 -00350
70plusmn0
3
4
oslash178h8 -00630
500plusmn30
oslash21
32 or less
138
158
oslash116
35
003 A 003 A
A
75plusmn0
1
8-M6 effective depth 13PCD148 plusmn01
75plusmn0
1
225degoslash5 H7 depth 5For body positioning
Body mounting surfaceBody positioning oblong hole
S
2
R25
5+00120 depth 5
Detail view of S
24
CAD drawings can be downloaded from our website
wwwintelligentactuatorde2D
CAD2D
CAD3D
CAD3D
CAD
8
DDA Direct Drive Motor
P
O I N T
SelectionNotes
(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 30m Specify a desired length in meters (Example X08 = 8m)
(Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control
(Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type
ModelSpecications
1 Indexing accuracy is supported when connected to SCON-CB
Thrust (axial) run-out (No load) 30μm
Radial run-out (No load) 30μm
Run-out of Output Shaft
Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198arcsec) 20-bit plusmn000103deg (plusmn37arcsec)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45arcsec) 20-bit plusmn000833deg (plusmn30arcsec)Allowable load moment (Note 2) 80Nmiddotm
Encoder resolution 17-bit 131 072 pulsesrev20-bit 1 048 576 pulsesrev
Allowable thrust load (Note 2) Forward 3100N Reverse 250NBase material AluminumAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)
Cleanroom specication
Cleanliness ISO class 4 (US class 10M25 US FED STD 209DE)Suction amount 35Nℓmin
Weight 13kg
Common Specications
Encoder type Model number Motor
wattage (W)
Operation range (deg) (1)
Speed (degs) (Note 1)
Rated torque (Nmiddotm) (2)
Maximum instantaneous torque (Nmiddotm)
Allowable inertia
moment (kgmiddotm2)
Rotor inertia (kgmiddotm2)
17-bit index absolute type DDA (CR)-LH18CS-AI-600-360-T2-① -②
600
0~359999 deg
1~800 (1~1440) 25 75 18 00092
17-bit multi-rotation absolute type DDA (CR)-LH18CS-AM-600-360-T2-① -② plusmn9999 deg max
20-bit index absolute type DDA (CR)-LH18CP-AI-600-360-T2-① -② 0~359999 deg
20-bit multi-rotation absolute type DDA (CR)-LH18CP-AM-600-360-T2-① -② plusmn2520 deg max
Options
Name Option code
Cable exits from the bottom A0
Cable exits from the side A1
Flange FL
(Note) A0 (cable exits from the bottom) option and FL (ange) option cannot be selected together
DDA-LH18C
Controller is not included
DDACR-LH18C Model
Specication Items
DDADDACR LH18C 600 360 T2
Series Type Encoder Type
Motor Type
Operation Range
Applicable Controllers
Cable Length Options
DDA StandardDDACR Cleanroom
specication
S Standard (17-bit)
P High resolution (20-bit)
AI Index absolute type
AM Multi-rotation absolute type
600 600W 360 360 deg T2 SCON XSEL-PQ XSEL-RASA
Note Only SCONapplys forLH18CP
N None S 3m M 5m X Specied
length
Please refer to the options table below Please make sure to
specify either A0 or A1 for the cable exit direction
(1) SCON and XSEL have dierent minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information
Legend Cable length Option
Please refer to P16 for more information on the installation method
Horizontal
Side
Vert
ical
Ceiling
9
DDA(CR) Direct Drive Motor
Cable Length
Please refer to P18 for more information regarding the maintenance cables
Cable type
Cable code
Standard
S (3m) M (5m)
Specied length
X06 (6m) ~ X10 (10m) X11 (11m) ~ X30 (30m)
LargeHollow
Bore
HighTorque
Type
BasiclyFlange-
less
LargeHollow
Bore
HighTorque
Type
BasiclyFlange-
less
Clean-roomSpec
Dimensions
Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use
LH18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers
Name External view
Max number of controlled axes Power supply voltage Control method Maximum number of
positioning pointsReference
pagePositioner Pulse-train Program Network Option
SCON-CBCGB 1Single-phase
230VAC -
Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information
512 (768 for network spec)
P14
SCON-LCLCG 1Single-phase
230VAC- -
512 (768 for network spec)
P14
XSEL-PQRASA 8Single-phase 230VACThree-phase 230VAC
- - 53332
(Depending on the type)P15
(Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side
Encoder connector
Motor connector
45
615
24
77
oslash6 Compatible tube diameter
Air JointCR speci cation only
32 o
r les
s11
500plusmn30
R100 or less
2-oslash4 H7 depth 3For workpiece positioning
6-M6 effective depth 12For workpiece mounting
PCD102plusmn01
oslash 52
Hol
low
bor
e
oslash 83
2428
Rotating part of the work mounting surface Encoder connector
Motor connector
Air JointCR specification only
75plusmn0
1
8-M8 effective depth 16PCD148 plusmn01
75plusmn0
1
oslash5 H7 depth 5For body positioning 225deg
Body mounting surfaceBody positioning oblong hole
oslash110h7 -00350
oslash116oslash180
oslash178h8 -00630
412
28
plusmn03
32 or less
oslash 21
500plusmn30
35
138
158
003 A
003 A
A
5 +00120 depth 5
2
R25
Detail view of S
S
CAD drawings can be downloaded from our website
wwwintelligentactuatorde2D
CAD2D
CAD3D
CAD3D
CAD
10
DDA(CR) Direct Drive Motor
1 A brake cable is not supplied if N (None) is selected as the cable length Please order a brake cable as a separate item in that case
Options
ModelSpecications
Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198arcsec) 20-bit plusmn000103deg (plusmn37arcsec)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45arcsec) 20-bit plusmn000833deg (plusmn30arcsec)Allowable load moment (Note 2) 80Nmiddotm
Encoder resolution 17-bit 131 072 pulsesrev20-bit 1 048 576 pulsesrev
Allowable thrust load (Note 2) Forward 3100N Reverse 250NBase material AluminumBrake retaining torque 50NmiddotmAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)Weight 174kg
Common Specications
Thrust (axial) run-out (No load) 30μm
Radial run-out (No load) 30μm
Run-out of Output Shaft
Encoder type Model number Motor
wattage (W)
Operation range (deg) (1)
Speed (degs) (Note 1)
Rated torque (Nmiddotm) (2)
Maximum instantaneous torque (Nmiddotm)
Allowable inertia
moment (kgmiddotm2)
Rotor inertia (kgmiddotm2)
17-bit index absolute type DDA-LH18CS-AI-600-360-T2-① -② -B
600
0~359999 deg
1~800 (1~1440) 25 75 18 00092
17-bit multi-rotation absolute type DDA-LH18CS-AM-600-360-T2-① -② -B plusmn9999 deg max
20-bit index absolute type DDA-LH18CP-AI-600-360-T2-① -② -B 0~359999 deg
20-bit multi-rotation absolute type DDA-LH18CP-AM-600-360-T2-① -② -B plusmn2520 deg max
Name Option code
Cable exits from the bottom A0
Cable exits from the side A1
Brake (With brake box) 1 B
1 Indexing accuracy is supported when connected to SCON-CB
Controller is not included
DDA-LH18C-B
(1) SCON and XSEL have dierent minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information
P
O I N T
SelectionNotes
(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 20m Specify a desired length in meters (Example X08 = 8m)
(Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control
(Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type
(Note 6) The brake is used for retention purposes only so damagemay be caused if it is actually used in attempts to slow or stop the actuator
Legend Cable length Option
Please refer to P16 for more information on the installation method
Horizontal
Side
Vert
ical
Ceiling
Model Specication Items
DDA LH18C 600 360 T2 BSeries Type Encoder
TypeMotor Type
Operation Range
Applicable Controllers
Cable Length Options Option
S Standard (17-bit)
P High resolution (20-bit)
AI Index absolute type
AM Multi-rotation absolute type
600 600W 360 360 deg T2 SCON XSEL-PQ XSEL-RASA
Note Only SCONapplys forLH18CP
N None S 3m M 5m X Specied
length
Please refer to the options table below Please make sure to
specify either A0 or A1 for the cable exit direction
B Brake
11
DDA Direct Drive Motor
Flange-less withBrake
LargeHollow
Bore
HighTorque
Type Without CE Conformity
X
Cable Length
Please refer to P18 for more information regarding the maintenance cables
Cable type
Cable code
Standard
S (3m) M (5m)
Specied length
X06 (6m) ~ X10 (10m) X11 (11m) ~ X20 (20m)
Dimensions
Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use
LH18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers
Name External view
Max number of controlled axes Power supply voltage Control method Maximum number of
positioning pointsReference
pagePositioner Pulse-train Program Network Option
SCON-CBCGB 1Single-phase
230VAC -
Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information
512 (768 for network spec)
P14
SCON-LCLCG 1Single-phase
230VAC- -
512 (768 for network spec)
P14
XSEL-PQRASA 8Single-phase 230VACThree-phase 230VAC
- - 53332
(Depending on the type)P15
(Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side
Encoder connector
Motor connector
oslash 35
Hol
low
bor
e
32 o
r les
s
oslash1235
645
or l
ess
500+500
500plusmn30
Brake connector
24
77
Encoder connector
Motor connector
oslash 35
Hol
low
bor
e64
5 o
r les
s
oslash1235500+50
0
Brake connector
R100 or less
2-oslash4 H7 depth 3For workpiece positioning
6-M6 effective depth 12For workpiece mounting
PCD102 plusmn01
oslash 52
Hol
low
bor
e
oslash 83
Rotating part of the work mounting surface
oslash110h7 -00035
oslash116oslash180
oslash178h8 -00063
412
28
plusmn03
32 or less
oslash21
500plusmn30
35
138
158
003 A
003 A
A
75plusmn0
1
8-M8 effective depth 16PCD148 plusmn01
75plusmn0
1
oslash5 H7 depth 5For body positioning 225deg
Body mounting surfaceBody positioning oblong hole
S 5 +00120 depth 5
2
R25
Detail view of S24
CAD drawings can be downloaded from our website
wwwintelligentactuatorde2D
CAD2D
CAD3D
CAD3D
CAD
12
DDA Direct Drive Motor
OptionsIt is a retention mechanism for holding the stop position when the power or servo is OFF to prevent the workpieces and attachments from being damaged when used in side or vertical positions Be sure to connect a brake box for models with brake
A bracket that attaches to the body with bolts from the top side
Brake
Flange
Option Code B
Option Code FL
Brake Box
Wiring Diagram When Brake Box is Used
DDA-LT18CModel Number DDA-FL-LT18
Model Number IA-110-DD-4
DDA-LH18CModel Number DDA-FL-LH18
PCD200
PCD200
plusmn0075plusmn0075
55deg
55deg
180
180
180180
160
160
plusmn01
plusmn01
160160 plusmn01plusmn01
4-oslash1
1thr
ough
2-oslash6H
7 through
135
135
815
815
plusmn04
plusmn04
oslash1245
55deg
55deg
PCD
PCD200plusmn0075200plusmn0075
180
180
180180160160 plusmn01plusmn01
160
160
plusmn01
plusmn01
2-oslash6H7 through
4-oslash1
1thr
ough
155
15513
63
136
3plusmn0
4plusmn0
4
oslash1245
PWRON
BKOUT
+ - C E
BKRMT
RLSBKOUT
PWRPE N L
MODEL IA-110-DD-4SN INPUT Single phase 100-240V
MADE IN JAPAN
5060Hz 10A maxOUTPUT 12VDC 06A
PWRON
BKOUT
+ - C E
BKRMT
RLSBKOUT
PWRPE N L
MODEL IA-110-DD-4SN INPUT Single phase 100-240V
MADE IN JAPAN
5060Hz 10A maxOUTPUT 12VDC 06A
ControllerSCON-CBXSEL-PQRASADDA
Motor cableModel CB-X(EU)-MA CB-X(EU)MC-MA
Brake box
EU cable version w metal connector
Encoder cableModel CB-X(EU)3-PA010(Comes with the brake box)
Encoder cableModel CB-X(EU)3-PA
Brake cableModel CB-DDB-BK Main power supply
100VAC~240VAC
13
DDA(CR) Direct Drive Motor
Position Controller
Controller Model
System Configuration
Positioner Single-axis Type ltSCONgt Model
Power Supply Voltage
IO TypeEncoder Type Motor Type Type Series SCON
IO Cable Length
AIAM
2
The 200W motor used by the DDA is larger than a normal 200W motor so the motor type for the controller will be 200S and its size will be larger than the 400W motor
For 200W motorFor 600W motor
200S600
High-function typeSafety category compliant type
CBCGB
PLC equipped typeSafety category PLC equipped type
LCLCG
Motor cableModel CB-X(EU)-MA (LT18C)
CB-X(EU)MC-MA (LH18C)
SCON PC
DDA
PLC(To be supplied by the customer)
IO flat cableModel CB-PAC-PIO020Standard 2m
2 Be sure to use a noise filter on the power supply
( )Encoder cableModel CB-X(EU)3-PA
PC compatible softwareRS232 connection versionModel RCM-101-MWUSB connection versionModel RCM-101-USB(Please contact IAI for more details)
Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)
Regenerative resistor unitModel RESU-2RESUD-2(Please contact IAI for more details)
1 The wiring diagram is different for models with brakes Please refer to P13 for more information
1
Single-phase 230VAC Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models
Main powersupply 2
Field network
DDA
Option
Supplied with the actuator
Supplied with the controller
Supplied with the actuator Option
Option
Option
When the SCON Controller is Connected
When a eld network specication is selectedthe IO cable length will be 0
Index absolute typeMulti-rotation abs type
NPPN
PIO NPN (Standard)
PIO PNP
DVCN
DeviceNet
CompoNet
CC CC-Link
ML3PR
MECHATROLINK-III
PROFIBUS-DP
02
35
No cable2m (Standard)
3m5m
EC EtherCAT
EP EtherNetIP
PRT PROFINET IO
For recommended modelsplease contact IAI
Model
External view
IO type
IO type code
CompoNet connection
PROFIBUS-DP connection
CC-Linkconnection
DeviceNetconnection
PIO connection specification (1)
NPPN DV CC PR
Standard Field network type (1)
CN mdash
mdash
mdash
SCON-CB
EtherNetIP connection
PROFINET IO connection
EtherCATconnection
EC EP PRT
List of Models
MECHATROLINK- III
connection
ML3
Applicable encoder type(Note) The index absolute type cannot be used in the pulse-train control and MECHATROLINK-III control(1) Please note that the network specifications cannot be operated on the PIO or pulse-train The PLC type (LCLCG) cannot be connected on the pulse-train
Index absoluteMulti-rotation absoluteIndex absolute Multi-rotation absolute
CBCGB CBCGB LCLCG
14
SCON Controller
EU version w metal connector
Program Controller
List of Models
Model P Q RA SA
Type Large-capacity type Large-capacity type (Safety category specication) High-function type High-function type
(Safety category specication)
External view
DescriptionLarge-capacity type
that can control up to 6 axes 2400W
Large-capacity type thats compatible with the
safety category 4
High-function type that allows up to 8-axis operation
Safety category 4 compatible high-function type
Controller Model
System Configuration
Program Multi-axis Type ltXSELgt Model
Encoder Type
Encoder Type
Motor Type
Motor Type
Number ofConnected
AxesType Series Option Option
XSEL
200 For 200W motor
600 For 600W motor
B BrakePQRASA
6-axis type6-axis safety category type8-axis type8-axis safety category type
8
1
~ ~
1 axis
8 axes
(PQ type is up to 6 axes)
(Details of the 1st axis) (Details of the 2nd~8th axis)
It can simultaneously operate actuators (single-axis robot and RoboCylinder) otherthan the DDA motor on a single controller For connectable actuators other than the DDA motor please contact IAI
For subsequent models please contact IAI
Notes
AIAM
Index absolute typeMulti-rotation absolute type
When the XSEL Controller is Connected
2 Be sure to use a noise filter on the power supply
Motor cableModel CB-X(EU)-MA (LT18C) CB-X(EU)MC-MA (LH18C)
XSELPC
PLC(To be supplied by the customer)
PC compatible softwareRS232 connection versionModel IA-101-X-MWUSB connection versionModel IA-101-X-USBMW(Please contact IAI for more details)
Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)
Single-phase 230VACThree-phase 230VAC
Regenerative resistor unitModel RESU-1RESUD-1(Please contact IAI for more details)
Option Option
Option
Field networkOption
IO flat cableModel CB-X-PIO020Standard 2m
Supplied with the controller
Encoder cableModel CB-X(EU)3-PA
Supplied with the actuator
Supplied with the actuator
Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models
1
1 The wiring diagram is different for models with brakes Please refer to P13 for more information
DDA
Main powersupply 2 ( )For recommended models
please contact IAI
15
XSEL Controller
EU version w metal connector
Precautions
Installation
Installation Orientation
Mountingsurface
For models with brake and cable exit direction to the bottom a clearance hole is required
Ceiling mount
Horizontal mount
Vertical mount
Gra
vity
Operation TypeThis product is available in 2 operation types depending on the operation conditions Please check the features and precautions on each type before use
(1)The high resolution specification can be connected only to the SCON-CB(2)When the XSEL index type travels more than 180deg from the current position it rotates in a direction that requires a shorter travel distance to
reach the target position Therefore please note that the direction of rotation changes according to the current position and travel distance If you want to specify the direction of travel use the SCON-CB
(3)The index type can be rotated in a given direction infinitely 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-CB
(4)Home return is required for the multi-rotation absolute encoder during the initial setting and replacement of the absolute battery
Absolute batteryHome return operationLimitless rotation
Maximum amount of movement in a single movement command
Operation rangeController typeOperation type
Not requiredNot required
Yes (3)
0~359999deg
Index absolute type
RequiredNot required (4)
No
Above operation rangeplusmn9999deg (plusmn2520deg) max
Multi-rotation absolute typeSCON-CB XSEL(1)
( ) is for 20-bit
(Note) Use this product by installing it on a mounting surface having heat dissipating characteristics equivalent to those of an aluminum plate of w450mm times d450mm times t12mm in size If the installation conditions necessitate lower heat dissipating characteristics please consult IAI
ControllersFor the DDA with 200W motor the outside dimensions of the SCON-CB controller will be the same as the size of the
400W motor (Please contact IAI for the details of the SCON-CB controller)One and two regenerative resistor unit(s) are required for LT18C and LH18C respectively to operate a DDA
motor with the SCON-CBWhen operating DDA motor(s) with the XSEL controller regenerative resistor units are required as shown below
The number of DDA motor(s) connectable to the XSEL controller is a max of 8 units for the LT18C type and a max of 2 units for the LH18C type
Please note that when the DDA motor is operated with the SCON-CB the motor cannot be connected to the Robo Cylinder gateway function of the XSEL controller
Calculation for the power supply value LT18C type single-phase 600W three-phase 200W LH18C type single-phase 1200W three-phase 600W
Number of regenerative resistor units
1 2 3 4 5 6 7 81 2 3
(Cannot be connected)4
2 4LT18CLH18C
Number of DD motor(s)
360deg
SCON-CB XSEL(1)
180deg(2)
16
DDA(CR) Direct Drive Motor
Conditions for Selection
The followings should be checked to determine whether the DDA motor can be used to suit the specific conditions required by the customer
The customer should confirm that the following three points under actual use do not exceed their maximum allowable levels as specified for the DDA 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
Check Load Conditions1
[1] Thrust load
[2] Load moment applied
[3] Load inertia
J = 18 times M times D 2 [kgm2]
Mass M [kg]
D [m]
Center of rotation
J = 112 times M times (a 2 + b 2) [kgm2]
a [m]
b [m]
Center of rotation
Mass M [kg]
J = M times R 2+ 18 times M times D 2 [kgm2]
Mass M [kg]
D [m]
R [m]
Cent
er o
fro
tatio
n
J = M times R 2+112 times M times (a 2 + b 2 )[kgm2]
a [m]
b [m]R [m]
Cent
er o
fro
tatio
n
Mass M [kg]
The travel time changes according to the load inertia See the tables below to check the travel time data
Travel Time Guide3
The data in the tables are for a reference only and do not guarantee the actual travel times
(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)
0
0005
009
012
017
022
0005
001
010
012
017
022
001
002
011
014
019
024
002
003
012
016
021
026
003
004
013
017
023
027
004
005
014
018
024
029
005
006
015
020
027
032
006
007
017
022
029
035
007
008
019
024
032
038
008
009
021
026
035
041
009
01
023
029
037
044
01
02
039
048
060
069
02
03
062
073
089
100
03
04
070
083
101
114
04
05
087
102
122
136
05
06
111
123
142
168
LH18C
LT18C
Continuous Operation Area
LT18C type LH18C type
(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)
0
0005
0098
0129
0192
0254
0005
001
0096
0128
019
0252
001
0015
0096
0127
019
0252
002
002
0097
0128
0191
0253
002
003
0099
0131
0193
0256
003
004
0104
0136
0199
0262
004
006
0113
0144
0207
027
006
008
012
0153
0215
0278
008
01
0126
0163
0225
0288
010
015
014
0184
0249
0312
015
02
0157
0208
0279
0341
02
03
0207
0268
0354
042
03
04
0257
0329
0428
0504
04
06
0352
044
0562
0655
06
08
0447
0549
0692
08
08
1
053
0646
0806
0925
10
12
0629
0758
0933
1064
12
14
0795
0941
1133
1274
14
18
0875
1035
1257
1415
Check Operating Conditions2Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DDA motor specications to determine whether the DDA motor can be used under the applicable operating conditions Please contact IAI for assistance To
rque
(Nm
)
Curr
ent [
Arm
s]
Angular velocity [degs]
AccelerationDeceleration Area
Torq
ue (N
m)
Curr
ent [
Arm
s]
Angular velocity [degs]
AccelerationDeceleration Area
Rating areaRating area
270deg travel time [sec]180deg travel time [sec]
90deg travel time [sec]45deg travel time [sec]
Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]
270deg travel time [sec]180deg travel time [sec]
90deg travel time [sec]45deg travel time [sec]
Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]
Selecting the DD Motor
17
DDA(CR) Direct Drive Motor
CB-X-MACB-XEU-MA
Modelnumber
Motor robot cableEU motor robot cable
forDDA(CR)-LT18
L
Controller side
4
1
1
4
Wire
075sqGreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
GreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
PEUVW
No1234
Actuator side
(10)(20)
(Front view)(Front view)
(16)
(oslash9) (2
1)
(18)
(41)
Signal
Minimum bending R r = 51 mm or more (for movable use) If the cable must be guided in a cable track use a robot cable
Enter the cable length (L) into Compatible to a Maximum of 30 meters Ex 080 = 8m
Minimum bending R r = 51 mm or more (for movable use)Only robot cable is available for this model
1
(16)
(F (Front view)ront view)
(41)
(41)
234
1234
UVWPE
RedWhiteBlackGreen
PESignal NoWire
Controller side
075sq 075sq(crimped)
Color oN langiS Color Wire
UVW
GreenRed
WhiteBlack
Actuator side
(Fig Motor robot cable CB-X-MA with plastic connector)
(Fig EU motor robot cable CB-XEU-MA EU version with M18 plastic round connector)
4
17
L
1
2 3
1
Color Wire
075sq
No Signal Color
(crimped)
PEUVW
123
CB-XMC-MACB-XEUMC-MA
Modelnumber
Motor robot cableEU motor robot cable
forDDA(CR)-HT18
Controller side
Wire
125sqGreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
GreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
PEUVW
No1234
Actuator side
Signal
Minimum bending R r = 55 mm or more (for movable use) If the cable must be guided in a cable track use a robot cable
Enter the cable length (L) into Compatible to a Maximum of 30 meters Ex 080 = 8m
Minimum bending R r = 55 mm or more (for movable use)Only robot cable is available for this model
1
(16)
(F (Front view)ront view)
(41)
234
1234
UVWPE
RedWhiteBlackGreen
PESignal NoWire
Controller side
125sq 125sq(crimped)
Color oN langiS Color Wire
UVW
GreenRed
WhiteBlack
Actuator side
(Fig Motor robot cable CB-XMC-MA with plastic connector)
(Fig EU motor robot cable CB-XEUMC-MA EU version with M18 plastic round connector)
4
17
L
1
2 3
1
Color Wire
125sq
No Signal Color
(crimped)
PEUVW
123
Cables
L
4
1
1
4(Front view)
(16)(21)
(11)
(16)
18
DDA(CR) Direct Drive Motor
Maintenance Parts
(oslash9)
DDADDACR Series Catalogue No 1116-E Version CJ0242-1A
CB-DDB-BKModelnumber
forDDA(CR) with brake optionBrake cable
Enter the cable length (L) into Compatible to a Maximum of 20 meters Ex 080 = 8m
Maintenance Parts
(41) (14)(15)
Controller side
(13)
(37)
(Front view) (Front view)
(25)
Actuator side
13
114
26
Ground wire and braided shield
AWG26(crimped)
WhiteblueWhiteyellowWhiteredWhiteblackWhitepurpleWhitegray
Whiteorangendash
(Ground)Orange
GreenPurple
GrayRed
BlackWhitegreen
BlueYellow
No Signal Color Wire
The shield is connected to the hood by a clamp
AWG26 (soldered)
Wire10111213262524239
181912345678
14151617202122
123456789
101112131415161718
AĀBBZZ
LS+ndash
FGSDSD
BAT+BAT-VCCGNDLS-BK-BK+
ndashndash
E24VOVLS
CREEPOTRSV
ndashndashndash
A+A-B+B-Z+Z-
SRD+SRD-BAT+BAT-VCCGNDBKR-BKR+
ndash
ndashndashndash
WhitegreenWhiteorange
WhitegreenWhiteorange
Whitegreen
Whiteorange
ndashndashndashndashndashndash
WhiteblueWhiteyellowWhitered
WhiteblackWhitepurpleWhitegray
WhiteblueWhiteyellow Whiteblue
WhiteyellowWhiteredWhiteblackWhitepurpleWhitegray
WhiteredWhiteblackWhitepurpleWhitegray
OrangeGreenPurple
GrayRed
BlackBlue
Yellowndash
NoSignalColor(oslash
10)
L
1
9 18
10
Minimum bending R r = 58 mm or more (for movable use) If the cable must be guided in a cable track use a robot cable
(Fig Encoder robot cable CB-X3-PA with plastic connector)
Controller side Actuator side
Minimum bending R r = 58 mm or more (for movable use)
(Front view)
L (13)
(37)
1
13
14
26
(41)
Ground wire and braided shield
Color WireSignalNo
AWG26soldered
Blue
SD1 OrangeSD2
3456789
Green
VCC10
PurpleGND11 BlackBAT+12
Yellow
BAT-13 Grey
BK-141516
Red
BK+A shield is connected to shield soldered part
AWG26(soldered)
212017
22
6
16151487
3
54
21
25
1819
2324
9
1011121326
No
ndashBKR+BKR-GND
Z-
BAT+
VCCBATndash
SRD-SRD+
B+
Z+B-
Z-
B+
Z+B-
A-A+
A-A+
CREEP
ndashndashndash
OTRSV
E24V0VLS
LS+
LS-
ndashndash
---
------
BlueYellow
Orange
PurpleGreen
Black
GreyRed
-The shield is clamped to the hood
Color SignalWire
(Fig EU encoder robot cable CB-XEU3-PA EU version with metal connector)
(Front view)
4 1
16 13 10
9 5
14
CB-X3-PACB-XEU3-PA
Modelnumber
Encoder robot cableEU encoder robot cable
forDDA(CR)
Enter the cable length (L) into Compatible to a Maximum of 30 meters Ex 080 = 8m
31
31
J11SF-03V-KX J11SFM-03V-KXNoNo SignalSignal ColorColor WiringWiring
AWG20(crimped)
Red
Black
White
Red
Black
White
+
-
FG
+
-
FG
321
321
AWG20(crimped)
Controller side Actuator side
tor side(Front view) (Front view)
L
(44) (167)
(80
)
(84)(293)
(92
)
(oslash5
4)
IAI America IncIAI Industrieroboter GmbHEurope Headquarters Ober der Roumlth 4 D-65824 Schwalbach Germany
IAI CORPORATIONCorporate Headquarters577-1 Obane Shimizu-Ku Shizuoka 424-0103 Japan Phone +81-543-64-5105 Fax +81-543-64-5192
IAI (Shanghai) Co LtdChina HeadquartersShanghai Jiahua Business Centee A8-303808Hongqiao Rd Shanghai 200030 ChinaPhone +86-21-6448-4753 Fax +86-21-6448-3992
America Headquarters2690 W 237th Street Torrance CA 90505 USA
wwwintelligentactuatorde
Phone +49-6196-8895-0 Fax +49-6196-8895-24 Phone +1-310-891-6015 Fax +1-310-891-0815
5Standard type
Model number
Encoder resolution
Positioning repeatability
DDA-L18CP20-bit
1 048 576 pulsesrev
plusmn000103 deg(plusmn37 arcsec)
High resolution type
20-bitEncoder resolution
Indexingaccuracy
plusmn001249 deg(plusmn45 arcsec)
plusmn000833 deg(plusmn30 arcsec)
17-bit
DDA-L18CS17-bit
131 072 pulsesrev
plusmn00055 deg(plusmn198 arcsec)
6 Corresponds to the indexing accuracyIt corresponds to the indexing accuracy when connected to SCON-CB and allows for more accurate positioning
4The high torque type has about three times more torque
MAX25kg
200mm 200mm
MAX90kg
200mm 200mm
MAX270kg
200mm 200mm
Allowable inertia moment
017kgmiddotm2
RCS2-RTC12L (Reduction ratio 130)
Allowable inertia moment
060kgmiddotm2
DDA-LT18C type
Allowable inertia moment
18kgmiddotm2
DDA-LH18C type
Max instantaneous torque 86N∙m Max instantaneous torque 252N∙m Max instantaneous torque 75N∙m
High-resolution type is available
High torque high payload
and Easy to Control Boasting Ultimate Usability
2
DDA Motor Series List
Model Specification Items
Cable Length
Encoder Type
Operation Range
Series Motor Wattage
DDADDACR
Applicable Controllers
Options360 T2
Type
Type Encoder
Large bore slim
Large bore slim
Large bore high torqueLarge bore high torque
Standard (17-bit)
High resolution (20-bit)
Standard (17-bit)
High resolution (20-bit)
Type
Cleanroom specication only
Encoder
ModelStandard
Cleanroom spec
External view
Rated speed (degs)
Maximum speed (degs)
Motor wattage (W)
Size (mm)
Height(mm)
wo brakew brake
wo brake
w brake
wo brake
w brake
Hollow bore (mm)
Mass(kg)
Cleanliness
Encoder type
Applicable controller
Reference page
84
252
1080
1800
200
oslash180
70
115
oslash52
oslash35
58
87
ISO class 4 (ISO 14644-1 Standard)US class 10M25 (US FED STD 209DE)
Index absoluteMulti-rotation absolute
P5 P9
DDA-LT18CS
SCON-CBXSEL SCON-CB SCON-CB
XSEL SCON-CB
DDA-LT18CP DDA-LH18CS DDA-LH18CP
DDACR-LT18CS DDACR-LT18CP DDACR-LH18CS DDACR-LH18CP
Standard (17-bit)
High resolution(20-bit)
Standard (17-bit)
High resolution(20-bit)
Large bore slim type Large bore high torque type
DDA StandardDDACR Cleanroom specification
LT18CS
LT18CP
LH18CS
LH18CP
None
3m
5m
Specied length
N
S
M
X
Cable exits from the bottom
Cable exits from the side
Brake
Flange
A0
A1
B
FL
200
600
200W
600W
360 360 deg
NoteOnly SCON-CB can be selected for the high resolution encoder type (20-bit)
SCON
XSEL-PQ
XSEL-RS
T2AI
AM
Index absolute type
Multi-rotation absolute type
25
75
800
1440
600
oslash180
1228
1873
oslash52
oslash35
13
174
ISO class 4 (ISO 14644-1 Standard)US class 10M25 (US FED STD 209DE)
Index absoluteMulti-rotation absolute
3
DDA (CR) Direct Drive Motor
Application Examples
Index Table ltInspection device for small boardsgt
Transport of Workpieces ltTransporting parts from a conveyor to anothergt
Index TableltParts assembly devicegt
Multi-rotation OperationltTransporting electronic componentsgt
Assembling device
4
DDA (CR) Direct Drive Motor
DDA-LT18C
Controller is not included
P
O I N T
SelectionNotes
(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 30m Specify a desired length in meters (Example X08 = 8m)
(Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control
(Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type
Legend Cable length Option
ModelSpecications
(1) SCON and XSEL have dierent minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information
Options
Cable Length
Name Option code
Cable exits from the bottom A0
Cable exits from the side A1
Flange FL
Please refer to P18 for more information regarding the maintenance cables
1 Indexing accuracy is supported when connected to SCON-CB
DDACR-LT18C
Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198arcsec) 20-bit plusmn000103deg (plusmn37arcsec)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45arcsec) 20-bit plusmn000833deg (plusmn30arcsec)Allowable load moment (Note 2) 80Nmiddotm
Encoder resolution 17-bit 131 072 pulsesrev20-bit 1 048 576 pulsesrev
Allowable thrust load (Note 2) Forward 3100N Reverse 250NBase material AluminumAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)
Cleanroom specication
Cleanliness ISO class 4 (US class 10M25 US FED STD 209DE)Suction amount 35Nℓmin
Weight 58kg
Common Specications
Encoder type Model number Motor
wattage (W)
Operation range (deg) (1)
Speed (degs) (Note 1)
Rated torque (Nmiddotm) (2)
Maximum instantaneous torque (Nmiddotm)
Allowable inertia
moment (kgmiddotm2)
Rotor inertia (kgmiddotm2)
17-bit index absolute type DDA (CR)-LT18CS-AI-200-360-T2-① -②
200
0~359999 deg
1~1080 (1~1800) 84 252 06 00043
17-bit multi-rotation absolute type DDA (CR)-LT18CS-AM-200-360-T2-① -② plusmn9999 deg max
20-bit index absolute type DDA (CR)-LT18CP-AI-200-360-T2-① -② 0~359999 deg
20-bit multi-rotation absolute type DDA (CR)-LT18CP-AM-200-360-T2-① -② plusmn2520 deg max
(Note) A0 (cable exits from the bottom) option and FL (ange) option cannot be selected together
Thrust (axial) run-out (No load) 30μm
Radial run-out (No load) 30μm
Run-out of Output Shaft
LargeHollow
Bore
SlimType
Please refer to P16 for more information on the installation method
Horizontal
Side
Vert
ical
Ceiling
Model Specication Items
DDADDACR LT18C 200 360 T2
Series Type Encoder Type
Motor Type
Operation Range
Applicable Controllers
Cable Length Options
DDA StandardDDACR Cleanroom
specication
S Standard (17-bit)
P High resolution (20-bit)
AI Index absolute type
AM Multi-rotation absolute type
200 200W 360 360 deg T2 SCON XSEL-PQ XSEL-RASA
Note Only SCONapplys forLT18CP
N None S 3m M 5m X Specied
length
Please refer to the options table below Please make sure to
specify either A0 or A1 for the cable exit direction
5
DDA(CR) Direct Drive Motor
BasiclyFlange-
less
LargeHollow
Bore
SlimType
BasiclyFlange-
less
Clean-roomSpec
Cable type
Cable code
Standard
S (3m) M (5m)
Specied length
X06 (6m) ~ X10 (10m) X11 (11m) ~ X30 (30m)
Motor connector
Encoder connector
32 or
less
11 500plusmn30
24
77
615
45
oslash6 Compatible tube diameter
Air JointCR speci cation only
R100 or less
2-oslash4 H7 depth 3For workpiece positioning
6-M5 effective depth 8For workpiece mounting
PCD102 plusmn01
oslash 52
Hollo
w b
ore
28
oslash 83
24
Air JointCR specification only
Motor connector
Encoder connector
Rotating part of the work mounting surface
oslash180
oslash110h7 -00350
70plusmn0
3
4
oslash178h8 -00630
500plusmn30
(oslash21
)
32 or less
138
158
oslash116
35
003 A 003 A
A
75plusmn0
1
8-M6 effective depth 13PCD148 plusmn01
75plusmn0
1
225degoslash5 H7 depth 5For body positioning
Body mounting surfaceBody positioning oblong hole
2
R25
5+00120 depth 5
Detail view of SS
CAD drawings can be downloaded from our website
wwwintelligentactuatorde2D
CAD2D
CAD3D
CAD3D
CAD
Dimensions
Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use
LT18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers
Name External view
Max number of controlled axes Power supply voltage Control method Maximum number of
positioning pointsReference
pagePositioner Pulse-train Program Network Option
SCON-CBCGB 1Single-phase
230VAC -
Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information
512 (768 for network spec)
P14
SCON-LCLCG 1Single-phase
230VAC- -
512 (768 for network spec)
P14
XSEL-PQRASA 8Single-phase 230VACThree-phase 230VAC
- - 53332
(Depending on the type)P15
(Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side
6
DDA(CR) Direct Drive Motor
Options
P
O I N T
SelectionNotes
(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 20m Specify a desired length in meters (Example X08 = 8m)
(Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control
(Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type
(Note 6) The brake is used for retention purposes only so damage may be caused if it is actually used in attempts to slow or stop the actuator
ModelSpecications
Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198arcsec) 20-bit plusmn000103deg (plusmn37arcsec)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45arcsec) 20-bit plusmn000833deg (plusmn30arcsec)Allowable load moment (Note 2) 80Nmiddotm
Encoder resolution 17-bit 131 072 pulsesrev 20-bit 1 048 576 pulsesrev
Allowable thrust load (Note 2) Forward 3100N Reverse 250NBrake retaining torque 25NmiddotmBase material AluminumAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)Weight 87kg
Common Specications
Thrust (axial) run-out (No load) 30μm
Radial run-out (No load) 30μm
Run-out of Output Shaft
1 Indexing accuracy is supported when connected to SCON-CB
Encoder type Model number Motor
wattage (W)
Operation range (deg) (1)
Speed (degs) (Note 1)
Rated torque (Nmiddotm) (2)
Maximum instantaneous torque (Nmiddotm)
Allowable inertia
moment (kgmiddotm2)
Rotor inertia (kgmiddotm2)
17-bit index absolute type DDA-LT18CS-AI-200-360-T2-① -② -B
200
0~359999 deg
1~1080 (1~1800) 84 252 06 00043
17-bit multi-rotation absolute type DDA-LT18CS-AM-200-360-T2-① -② -B plusmn9999 deg max
20-bit index absolute type DDA-LT18CP-AI-200-360-T2-① -② -B 0~359999 deg
20-bit multi-rotation absolute type DDA-LT18CP-AM-200-360-T2-① -② -B plusmn2520 deg max
Name Option code
Cable exits from the bottom A0
Cable exits from the side A1
Brake (With brake box) 1 B
1 A brake cable is not supplied if N (None) is selected as the cable length Please order a brake cable as a separate item in that case
Controller is not included
DDA-LT18C-B
Model Specication Items
DDA LT18C 200 360 T2 BSeries Type Encoder
TypeMotor Type
Operation Range
Applicable Controllers
Cable Length Options Option
S Standard (17-bit)
P High resolution (20-bit)
AI Index absolute type
AM Multi-rotation absolute type
200 200W 360 360 deg T2 SCON XSEL-PQ XSEL-RASA
Note Only SCONapplys forLT18CP
N None S 3m M 5m X Specied
length
Please refer to the options table below Please make sure to
specify either A0 or A1 for the cable exit direction
B Brake
(1) SCON and XSEL have dierent minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information
Legend Cable length Option
Please refer to P16 for more information on the installation method
Horizontal
Side
Vert
ical
Ceiling
7
DDA Direct Drive Motor
Flange-less withBrake
LargeHollow
Bore
SlimType
Without CE Conformity
X
Cable Length
Please refer to P18 for more information regarding the maintenance cables
Cable type
Cable code
Standard
S (3m) M (5m)
Specied length
X06 (6m) ~ X10 (10m) X11 (11m) ~ X20 (20m)
Dimensions
Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use
LT18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers
Name External view
Max number of controlled axes Power supply voltage Control method Maximum number of
positioning pointsReference
pagePositioner Pulse-train Program Network Option
SCON-CBCGB 1Single-phase
230VAC -
Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information
512 (768 for network spec)
P14
SCON-LCLCG 1Single-phase
230VAC- -
512 (768 for network spec)
P14
XSEL-PQRASA 8Single-phase 230VACThree-phase 230VAC
- - 53332
(Depending on the type)P15
(Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side
Motor connector
Encoder connector
32 o
r les
s
500+500
oslash1235
45 o
r les
s
500plusmn30
Brake connector
oslash 35
Hol
low
bor
e
24
77
Motor connector
Encoder connector
45 o
r les
s
oslash1235500+50
0
Brake connector
oslash35
Hol
low
bor
e
R100 or less
2-oslash4 H7 depth 3For workpiece positioning
6-M5 effective depth 8For workpiece mounting
PCD102 plusmn01
oslash 52
Hol
low
bor
e
oslash 83
Rotating part of the work mounting surface
oslash180
oslash110h7 -00350
70plusmn0
3
4
oslash178h8 -00630
500plusmn30
oslash21
32 or less
138
158
oslash116
35
003 A 003 A
A
75plusmn0
1
8-M6 effective depth 13PCD148 plusmn01
75plusmn0
1
225degoslash5 H7 depth 5For body positioning
Body mounting surfaceBody positioning oblong hole
S
2
R25
5+00120 depth 5
Detail view of S
24
CAD drawings can be downloaded from our website
wwwintelligentactuatorde2D
CAD2D
CAD3D
CAD3D
CAD
8
DDA Direct Drive Motor
P
O I N T
SelectionNotes
(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 30m Specify a desired length in meters (Example X08 = 8m)
(Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control
(Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type
ModelSpecications
1 Indexing accuracy is supported when connected to SCON-CB
Thrust (axial) run-out (No load) 30μm
Radial run-out (No load) 30μm
Run-out of Output Shaft
Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198arcsec) 20-bit plusmn000103deg (plusmn37arcsec)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45arcsec) 20-bit plusmn000833deg (plusmn30arcsec)Allowable load moment (Note 2) 80Nmiddotm
Encoder resolution 17-bit 131 072 pulsesrev20-bit 1 048 576 pulsesrev
Allowable thrust load (Note 2) Forward 3100N Reverse 250NBase material AluminumAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)
Cleanroom specication
Cleanliness ISO class 4 (US class 10M25 US FED STD 209DE)Suction amount 35Nℓmin
Weight 13kg
Common Specications
Encoder type Model number Motor
wattage (W)
Operation range (deg) (1)
Speed (degs) (Note 1)
Rated torque (Nmiddotm) (2)
Maximum instantaneous torque (Nmiddotm)
Allowable inertia
moment (kgmiddotm2)
Rotor inertia (kgmiddotm2)
17-bit index absolute type DDA (CR)-LH18CS-AI-600-360-T2-① -②
600
0~359999 deg
1~800 (1~1440) 25 75 18 00092
17-bit multi-rotation absolute type DDA (CR)-LH18CS-AM-600-360-T2-① -② plusmn9999 deg max
20-bit index absolute type DDA (CR)-LH18CP-AI-600-360-T2-① -② 0~359999 deg
20-bit multi-rotation absolute type DDA (CR)-LH18CP-AM-600-360-T2-① -② plusmn2520 deg max
Options
Name Option code
Cable exits from the bottom A0
Cable exits from the side A1
Flange FL
(Note) A0 (cable exits from the bottom) option and FL (ange) option cannot be selected together
DDA-LH18C
Controller is not included
DDACR-LH18C Model
Specication Items
DDADDACR LH18C 600 360 T2
Series Type Encoder Type
Motor Type
Operation Range
Applicable Controllers
Cable Length Options
DDA StandardDDACR Cleanroom
specication
S Standard (17-bit)
P High resolution (20-bit)
AI Index absolute type
AM Multi-rotation absolute type
600 600W 360 360 deg T2 SCON XSEL-PQ XSEL-RASA
Note Only SCONapplys forLH18CP
N None S 3m M 5m X Specied
length
Please refer to the options table below Please make sure to
specify either A0 or A1 for the cable exit direction
(1) SCON and XSEL have dierent minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information
Legend Cable length Option
Please refer to P16 for more information on the installation method
Horizontal
Side
Vert
ical
Ceiling
9
DDA(CR) Direct Drive Motor
Cable Length
Please refer to P18 for more information regarding the maintenance cables
Cable type
Cable code
Standard
S (3m) M (5m)
Specied length
X06 (6m) ~ X10 (10m) X11 (11m) ~ X30 (30m)
LargeHollow
Bore
HighTorque
Type
BasiclyFlange-
less
LargeHollow
Bore
HighTorque
Type
BasiclyFlange-
less
Clean-roomSpec
Dimensions
Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use
LH18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers
Name External view
Max number of controlled axes Power supply voltage Control method Maximum number of
positioning pointsReference
pagePositioner Pulse-train Program Network Option
SCON-CBCGB 1Single-phase
230VAC -
Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information
512 (768 for network spec)
P14
SCON-LCLCG 1Single-phase
230VAC- -
512 (768 for network spec)
P14
XSEL-PQRASA 8Single-phase 230VACThree-phase 230VAC
- - 53332
(Depending on the type)P15
(Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side
Encoder connector
Motor connector
45
615
24
77
oslash6 Compatible tube diameter
Air JointCR speci cation only
32 o
r les
s11
500plusmn30
R100 or less
2-oslash4 H7 depth 3For workpiece positioning
6-M6 effective depth 12For workpiece mounting
PCD102plusmn01
oslash 52
Hol
low
bor
e
oslash 83
2428
Rotating part of the work mounting surface Encoder connector
Motor connector
Air JointCR specification only
75plusmn0
1
8-M8 effective depth 16PCD148 plusmn01
75plusmn0
1
oslash5 H7 depth 5For body positioning 225deg
Body mounting surfaceBody positioning oblong hole
oslash110h7 -00350
oslash116oslash180
oslash178h8 -00630
412
28
plusmn03
32 or less
oslash 21
500plusmn30
35
138
158
003 A
003 A
A
5 +00120 depth 5
2
R25
Detail view of S
S
CAD drawings can be downloaded from our website
wwwintelligentactuatorde2D
CAD2D
CAD3D
CAD3D
CAD
10
DDA(CR) Direct Drive Motor
1 A brake cable is not supplied if N (None) is selected as the cable length Please order a brake cable as a separate item in that case
Options
ModelSpecications
Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198arcsec) 20-bit plusmn000103deg (plusmn37arcsec)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45arcsec) 20-bit plusmn000833deg (plusmn30arcsec)Allowable load moment (Note 2) 80Nmiddotm
Encoder resolution 17-bit 131 072 pulsesrev20-bit 1 048 576 pulsesrev
Allowable thrust load (Note 2) Forward 3100N Reverse 250NBase material AluminumBrake retaining torque 50NmiddotmAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)Weight 174kg
Common Specications
Thrust (axial) run-out (No load) 30μm
Radial run-out (No load) 30μm
Run-out of Output Shaft
Encoder type Model number Motor
wattage (W)
Operation range (deg) (1)
Speed (degs) (Note 1)
Rated torque (Nmiddotm) (2)
Maximum instantaneous torque (Nmiddotm)
Allowable inertia
moment (kgmiddotm2)
Rotor inertia (kgmiddotm2)
17-bit index absolute type DDA-LH18CS-AI-600-360-T2-① -② -B
600
0~359999 deg
1~800 (1~1440) 25 75 18 00092
17-bit multi-rotation absolute type DDA-LH18CS-AM-600-360-T2-① -② -B plusmn9999 deg max
20-bit index absolute type DDA-LH18CP-AI-600-360-T2-① -② -B 0~359999 deg
20-bit multi-rotation absolute type DDA-LH18CP-AM-600-360-T2-① -② -B plusmn2520 deg max
Name Option code
Cable exits from the bottom A0
Cable exits from the side A1
Brake (With brake box) 1 B
1 Indexing accuracy is supported when connected to SCON-CB
Controller is not included
DDA-LH18C-B
(1) SCON and XSEL have dierent minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information
P
O I N T
SelectionNotes
(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 20m Specify a desired length in meters (Example X08 = 8m)
(Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control
(Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type
(Note 6) The brake is used for retention purposes only so damagemay be caused if it is actually used in attempts to slow or stop the actuator
Legend Cable length Option
Please refer to P16 for more information on the installation method
Horizontal
Side
Vert
ical
Ceiling
Model Specication Items
DDA LH18C 600 360 T2 BSeries Type Encoder
TypeMotor Type
Operation Range
Applicable Controllers
Cable Length Options Option
S Standard (17-bit)
P High resolution (20-bit)
AI Index absolute type
AM Multi-rotation absolute type
600 600W 360 360 deg T2 SCON XSEL-PQ XSEL-RASA
Note Only SCONapplys forLH18CP
N None S 3m M 5m X Specied
length
Please refer to the options table below Please make sure to
specify either A0 or A1 for the cable exit direction
B Brake
11
DDA Direct Drive Motor
Flange-less withBrake
LargeHollow
Bore
HighTorque
Type Without CE Conformity
X
Cable Length
Please refer to P18 for more information regarding the maintenance cables
Cable type
Cable code
Standard
S (3m) M (5m)
Specied length
X06 (6m) ~ X10 (10m) X11 (11m) ~ X20 (20m)
Dimensions
Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use
LH18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers
Name External view
Max number of controlled axes Power supply voltage Control method Maximum number of
positioning pointsReference
pagePositioner Pulse-train Program Network Option
SCON-CBCGB 1Single-phase
230VAC -
Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information
512 (768 for network spec)
P14
SCON-LCLCG 1Single-phase
230VAC- -
512 (768 for network spec)
P14
XSEL-PQRASA 8Single-phase 230VACThree-phase 230VAC
- - 53332
(Depending on the type)P15
(Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side
Encoder connector
Motor connector
oslash 35
Hol
low
bor
e
32 o
r les
s
oslash1235
645
or l
ess
500+500
500plusmn30
Brake connector
24
77
Encoder connector
Motor connector
oslash 35
Hol
low
bor
e64
5 o
r les
s
oslash1235500+50
0
Brake connector
R100 or less
2-oslash4 H7 depth 3For workpiece positioning
6-M6 effective depth 12For workpiece mounting
PCD102 plusmn01
oslash 52
Hol
low
bor
e
oslash 83
Rotating part of the work mounting surface
oslash110h7 -00035
oslash116oslash180
oslash178h8 -00063
412
28
plusmn03
32 or less
oslash21
500plusmn30
35
138
158
003 A
003 A
A
75plusmn0
1
8-M8 effective depth 16PCD148 plusmn01
75plusmn0
1
oslash5 H7 depth 5For body positioning 225deg
Body mounting surfaceBody positioning oblong hole
S 5 +00120 depth 5
2
R25
Detail view of S24
CAD drawings can be downloaded from our website
wwwintelligentactuatorde2D
CAD2D
CAD3D
CAD3D
CAD
12
DDA Direct Drive Motor
OptionsIt is a retention mechanism for holding the stop position when the power or servo is OFF to prevent the workpieces and attachments from being damaged when used in side or vertical positions Be sure to connect a brake box for models with brake
A bracket that attaches to the body with bolts from the top side
Brake
Flange
Option Code B
Option Code FL
Brake Box
Wiring Diagram When Brake Box is Used
DDA-LT18CModel Number DDA-FL-LT18
Model Number IA-110-DD-4
DDA-LH18CModel Number DDA-FL-LH18
PCD200
PCD200
plusmn0075plusmn0075
55deg
55deg
180
180
180180
160
160
plusmn01
plusmn01
160160 plusmn01plusmn01
4-oslash1
1thr
ough
2-oslash6H
7 through
135
135
815
815
plusmn04
plusmn04
oslash1245
55deg
55deg
PCD
PCD200plusmn0075200plusmn0075
180
180
180180160160 plusmn01plusmn01
160
160
plusmn01
plusmn01
2-oslash6H7 through
4-oslash1
1thr
ough
155
15513
63
136
3plusmn0
4plusmn0
4
oslash1245
PWRON
BKOUT
+ - C E
BKRMT
RLSBKOUT
PWRPE N L
MODEL IA-110-DD-4SN INPUT Single phase 100-240V
MADE IN JAPAN
5060Hz 10A maxOUTPUT 12VDC 06A
PWRON
BKOUT
+ - C E
BKRMT
RLSBKOUT
PWRPE N L
MODEL IA-110-DD-4SN INPUT Single phase 100-240V
MADE IN JAPAN
5060Hz 10A maxOUTPUT 12VDC 06A
ControllerSCON-CBXSEL-PQRASADDA
Motor cableModel CB-X(EU)-MA CB-X(EU)MC-MA
Brake box
EU cable version w metal connector
Encoder cableModel CB-X(EU)3-PA010(Comes with the brake box)
Encoder cableModel CB-X(EU)3-PA
Brake cableModel CB-DDB-BK Main power supply
100VAC~240VAC
13
DDA(CR) Direct Drive Motor
Position Controller
Controller Model
System Configuration
Positioner Single-axis Type ltSCONgt Model
Power Supply Voltage
IO TypeEncoder Type Motor Type Type Series SCON
IO Cable Length
AIAM
2
The 200W motor used by the DDA is larger than a normal 200W motor so the motor type for the controller will be 200S and its size will be larger than the 400W motor
For 200W motorFor 600W motor
200S600
High-function typeSafety category compliant type
CBCGB
PLC equipped typeSafety category PLC equipped type
LCLCG
Motor cableModel CB-X(EU)-MA (LT18C)
CB-X(EU)MC-MA (LH18C)
SCON PC
DDA
PLC(To be supplied by the customer)
IO flat cableModel CB-PAC-PIO020Standard 2m
2 Be sure to use a noise filter on the power supply
( )Encoder cableModel CB-X(EU)3-PA
PC compatible softwareRS232 connection versionModel RCM-101-MWUSB connection versionModel RCM-101-USB(Please contact IAI for more details)
Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)
Regenerative resistor unitModel RESU-2RESUD-2(Please contact IAI for more details)
1 The wiring diagram is different for models with brakes Please refer to P13 for more information
1
Single-phase 230VAC Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models
Main powersupply 2
Field network
DDA
Option
Supplied with the actuator
Supplied with the controller
Supplied with the actuator Option
Option
Option
When the SCON Controller is Connected
When a eld network specication is selectedthe IO cable length will be 0
Index absolute typeMulti-rotation abs type
NPPN
PIO NPN (Standard)
PIO PNP
DVCN
DeviceNet
CompoNet
CC CC-Link
ML3PR
MECHATROLINK-III
PROFIBUS-DP
02
35
No cable2m (Standard)
3m5m
EC EtherCAT
EP EtherNetIP
PRT PROFINET IO
For recommended modelsplease contact IAI
Model
External view
IO type
IO type code
CompoNet connection
PROFIBUS-DP connection
CC-Linkconnection
DeviceNetconnection
PIO connection specification (1)
NPPN DV CC PR
Standard Field network type (1)
CN mdash
mdash
mdash
SCON-CB
EtherNetIP connection
PROFINET IO connection
EtherCATconnection
EC EP PRT
List of Models
MECHATROLINK- III
connection
ML3
Applicable encoder type(Note) The index absolute type cannot be used in the pulse-train control and MECHATROLINK-III control(1) Please note that the network specifications cannot be operated on the PIO or pulse-train The PLC type (LCLCG) cannot be connected on the pulse-train
Index absoluteMulti-rotation absoluteIndex absolute Multi-rotation absolute
CBCGB CBCGB LCLCG
14
SCON Controller
EU version w metal connector
Program Controller
List of Models
Model P Q RA SA
Type Large-capacity type Large-capacity type (Safety category specication) High-function type High-function type
(Safety category specication)
External view
DescriptionLarge-capacity type
that can control up to 6 axes 2400W
Large-capacity type thats compatible with the
safety category 4
High-function type that allows up to 8-axis operation
Safety category 4 compatible high-function type
Controller Model
System Configuration
Program Multi-axis Type ltXSELgt Model
Encoder Type
Encoder Type
Motor Type
Motor Type
Number ofConnected
AxesType Series Option Option
XSEL
200 For 200W motor
600 For 600W motor
B BrakePQRASA
6-axis type6-axis safety category type8-axis type8-axis safety category type
8
1
~ ~
1 axis
8 axes
(PQ type is up to 6 axes)
(Details of the 1st axis) (Details of the 2nd~8th axis)
It can simultaneously operate actuators (single-axis robot and RoboCylinder) otherthan the DDA motor on a single controller For connectable actuators other than the DDA motor please contact IAI
For subsequent models please contact IAI
Notes
AIAM
Index absolute typeMulti-rotation absolute type
When the XSEL Controller is Connected
2 Be sure to use a noise filter on the power supply
Motor cableModel CB-X(EU)-MA (LT18C) CB-X(EU)MC-MA (LH18C)
XSELPC
PLC(To be supplied by the customer)
PC compatible softwareRS232 connection versionModel IA-101-X-MWUSB connection versionModel IA-101-X-USBMW(Please contact IAI for more details)
Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)
Single-phase 230VACThree-phase 230VAC
Regenerative resistor unitModel RESU-1RESUD-1(Please contact IAI for more details)
Option Option
Option
Field networkOption
IO flat cableModel CB-X-PIO020Standard 2m
Supplied with the controller
Encoder cableModel CB-X(EU)3-PA
Supplied with the actuator
Supplied with the actuator
Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models
1
1 The wiring diagram is different for models with brakes Please refer to P13 for more information
DDA
Main powersupply 2 ( )For recommended models
please contact IAI
15
XSEL Controller
EU version w metal connector
Precautions
Installation
Installation Orientation
Mountingsurface
For models with brake and cable exit direction to the bottom a clearance hole is required
Ceiling mount
Horizontal mount
Vertical mount
Gra
vity
Operation TypeThis product is available in 2 operation types depending on the operation conditions Please check the features and precautions on each type before use
(1)The high resolution specification can be connected only to the SCON-CB(2)When the XSEL index type travels more than 180deg from the current position it rotates in a direction that requires a shorter travel distance to
reach the target position Therefore please note that the direction of rotation changes according to the current position and travel distance If you want to specify the direction of travel use the SCON-CB
(3)The index type can be rotated in a given direction infinitely 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-CB
(4)Home return is required for the multi-rotation absolute encoder during the initial setting and replacement of the absolute battery
Absolute batteryHome return operationLimitless rotation
Maximum amount of movement in a single movement command
Operation rangeController typeOperation type
Not requiredNot required
Yes (3)
0~359999deg
Index absolute type
RequiredNot required (4)
No
Above operation rangeplusmn9999deg (plusmn2520deg) max
Multi-rotation absolute typeSCON-CB XSEL(1)
( ) is for 20-bit
(Note) Use this product by installing it on a mounting surface having heat dissipating characteristics equivalent to those of an aluminum plate of w450mm times d450mm times t12mm in size If the installation conditions necessitate lower heat dissipating characteristics please consult IAI
ControllersFor the DDA with 200W motor the outside dimensions of the SCON-CB controller will be the same as the size of the
400W motor (Please contact IAI for the details of the SCON-CB controller)One and two regenerative resistor unit(s) are required for LT18C and LH18C respectively to operate a DDA
motor with the SCON-CBWhen operating DDA motor(s) with the XSEL controller regenerative resistor units are required as shown below
The number of DDA motor(s) connectable to the XSEL controller is a max of 8 units for the LT18C type and a max of 2 units for the LH18C type
Please note that when the DDA motor is operated with the SCON-CB the motor cannot be connected to the Robo Cylinder gateway function of the XSEL controller
Calculation for the power supply value LT18C type single-phase 600W three-phase 200W LH18C type single-phase 1200W three-phase 600W
Number of regenerative resistor units
1 2 3 4 5 6 7 81 2 3
(Cannot be connected)4
2 4LT18CLH18C
Number of DD motor(s)
360deg
SCON-CB XSEL(1)
180deg(2)
16
DDA(CR) Direct Drive Motor
Conditions for Selection
The followings should be checked to determine whether the DDA motor can be used to suit the specific conditions required by the customer
The customer should confirm that the following three points under actual use do not exceed their maximum allowable levels as specified for the DDA 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
Check Load Conditions1
[1] Thrust load
[2] Load moment applied
[3] Load inertia
J = 18 times M times D 2 [kgm2]
Mass M [kg]
D [m]
Center of rotation
J = 112 times M times (a 2 + b 2) [kgm2]
a [m]
b [m]
Center of rotation
Mass M [kg]
J = M times R 2+ 18 times M times D 2 [kgm2]
Mass M [kg]
D [m]
R [m]
Cent
er o
fro
tatio
n
J = M times R 2+112 times M times (a 2 + b 2 )[kgm2]
a [m]
b [m]R [m]
Cent
er o
fro
tatio
n
Mass M [kg]
The travel time changes according to the load inertia See the tables below to check the travel time data
Travel Time Guide3
The data in the tables are for a reference only and do not guarantee the actual travel times
(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)
0
0005
009
012
017
022
0005
001
010
012
017
022
001
002
011
014
019
024
002
003
012
016
021
026
003
004
013
017
023
027
004
005
014
018
024
029
005
006
015
020
027
032
006
007
017
022
029
035
007
008
019
024
032
038
008
009
021
026
035
041
009
01
023
029
037
044
01
02
039
048
060
069
02
03
062
073
089
100
03
04
070
083
101
114
04
05
087
102
122
136
05
06
111
123
142
168
LH18C
LT18C
Continuous Operation Area
LT18C type LH18C type
(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)
0
0005
0098
0129
0192
0254
0005
001
0096
0128
019
0252
001
0015
0096
0127
019
0252
002
002
0097
0128
0191
0253
002
003
0099
0131
0193
0256
003
004
0104
0136
0199
0262
004
006
0113
0144
0207
027
006
008
012
0153
0215
0278
008
01
0126
0163
0225
0288
010
015
014
0184
0249
0312
015
02
0157
0208
0279
0341
02
03
0207
0268
0354
042
03
04
0257
0329
0428
0504
04
06
0352
044
0562
0655
06
08
0447
0549
0692
08
08
1
053
0646
0806
0925
10
12
0629
0758
0933
1064
12
14
0795
0941
1133
1274
14
18
0875
1035
1257
1415
Check Operating Conditions2Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DDA motor specications to determine whether the DDA motor can be used under the applicable operating conditions Please contact IAI for assistance To
rque
(Nm
)
Curr
ent [
Arm
s]
Angular velocity [degs]
AccelerationDeceleration Area
Torq
ue (N
m)
Curr
ent [
Arm
s]
Angular velocity [degs]
AccelerationDeceleration Area
Rating areaRating area
270deg travel time [sec]180deg travel time [sec]
90deg travel time [sec]45deg travel time [sec]
Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]
270deg travel time [sec]180deg travel time [sec]
90deg travel time [sec]45deg travel time [sec]
Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]
Selecting the DD Motor
17
DDA(CR) Direct Drive Motor
CB-X-MACB-XEU-MA
Modelnumber
Motor robot cableEU motor robot cable
forDDA(CR)-LT18
L
Controller side
4
1
1
4
Wire
075sqGreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
GreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
PEUVW
No1234
Actuator side
(10)(20)
(Front view)(Front view)
(16)
(oslash9) (2
1)
(18)
(41)
Signal
Minimum bending R r = 51 mm or more (for movable use) If the cable must be guided in a cable track use a robot cable
Enter the cable length (L) into Compatible to a Maximum of 30 meters Ex 080 = 8m
Minimum bending R r = 51 mm or more (for movable use)Only robot cable is available for this model
1
(16)
(F (Front view)ront view)
(41)
(41)
234
1234
UVWPE
RedWhiteBlackGreen
PESignal NoWire
Controller side
075sq 075sq(crimped)
Color oN langiS Color Wire
UVW
GreenRed
WhiteBlack
Actuator side
(Fig Motor robot cable CB-X-MA with plastic connector)
(Fig EU motor robot cable CB-XEU-MA EU version with M18 plastic round connector)
4
17
L
1
2 3
1
Color Wire
075sq
No Signal Color
(crimped)
PEUVW
123
CB-XMC-MACB-XEUMC-MA
Modelnumber
Motor robot cableEU motor robot cable
forDDA(CR)-HT18
Controller side
Wire
125sqGreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
GreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
PEUVW
No1234
Actuator side
Signal
Minimum bending R r = 55 mm or more (for movable use) If the cable must be guided in a cable track use a robot cable
Enter the cable length (L) into Compatible to a Maximum of 30 meters Ex 080 = 8m
Minimum bending R r = 55 mm or more (for movable use)Only robot cable is available for this model
1
(16)
(F (Front view)ront view)
(41)
234
1234
UVWPE
RedWhiteBlackGreen
PESignal NoWire
Controller side
125sq 125sq(crimped)
Color oN langiS Color Wire
UVW
GreenRed
WhiteBlack
Actuator side
(Fig Motor robot cable CB-XMC-MA with plastic connector)
(Fig EU motor robot cable CB-XEUMC-MA EU version with M18 plastic round connector)
4
17
L
1
2 3
1
Color Wire
125sq
No Signal Color
(crimped)
PEUVW
123
Cables
L
4
1
1
4(Front view)
(16)(21)
(11)
(16)
18
DDA(CR) Direct Drive Motor
Maintenance Parts
(oslash9)
DDADDACR Series Catalogue No 1116-E Version CJ0242-1A
CB-DDB-BKModelnumber
forDDA(CR) with brake optionBrake cable
Enter the cable length (L) into Compatible to a Maximum of 20 meters Ex 080 = 8m
Maintenance Parts
(41) (14)(15)
Controller side
(13)
(37)
(Front view) (Front view)
(25)
Actuator side
13
114
26
Ground wire and braided shield
AWG26(crimped)
WhiteblueWhiteyellowWhiteredWhiteblackWhitepurpleWhitegray
Whiteorangendash
(Ground)Orange
GreenPurple
GrayRed
BlackWhitegreen
BlueYellow
No Signal Color Wire
The shield is connected to the hood by a clamp
AWG26 (soldered)
Wire10111213262524239
181912345678
14151617202122
123456789
101112131415161718
AĀBBZZ
LS+ndash
FGSDSD
BAT+BAT-VCCGNDLS-BK-BK+
ndashndash
E24VOVLS
CREEPOTRSV
ndashndashndash
A+A-B+B-Z+Z-
SRD+SRD-BAT+BAT-VCCGNDBKR-BKR+
ndash
ndashndashndash
WhitegreenWhiteorange
WhitegreenWhiteorange
Whitegreen
Whiteorange
ndashndashndashndashndashndash
WhiteblueWhiteyellowWhitered
WhiteblackWhitepurpleWhitegray
WhiteblueWhiteyellow Whiteblue
WhiteyellowWhiteredWhiteblackWhitepurpleWhitegray
WhiteredWhiteblackWhitepurpleWhitegray
OrangeGreenPurple
GrayRed
BlackBlue
Yellowndash
NoSignalColor(oslash
10)
L
1
9 18
10
Minimum bending R r = 58 mm or more (for movable use) If the cable must be guided in a cable track use a robot cable
(Fig Encoder robot cable CB-X3-PA with plastic connector)
Controller side Actuator side
Minimum bending R r = 58 mm or more (for movable use)
(Front view)
L (13)
(37)
1
13
14
26
(41)
Ground wire and braided shield
Color WireSignalNo
AWG26soldered
Blue
SD1 OrangeSD2
3456789
Green
VCC10
PurpleGND11 BlackBAT+12
Yellow
BAT-13 Grey
BK-141516
Red
BK+A shield is connected to shield soldered part
AWG26(soldered)
212017
22
6
16151487
3
54
21
25
1819
2324
9
1011121326
No
ndashBKR+BKR-GND
Z-
BAT+
VCCBATndash
SRD-SRD+
B+
Z+B-
Z-
B+
Z+B-
A-A+
A-A+
CREEP
ndashndashndash
OTRSV
E24V0VLS
LS+
LS-
ndashndash
---
------
BlueYellow
Orange
PurpleGreen
Black
GreyRed
-The shield is clamped to the hood
Color SignalWire
(Fig EU encoder robot cable CB-XEU3-PA EU version with metal connector)
(Front view)
4 1
16 13 10
9 5
14
CB-X3-PACB-XEU3-PA
Modelnumber
Encoder robot cableEU encoder robot cable
forDDA(CR)
Enter the cable length (L) into Compatible to a Maximum of 30 meters Ex 080 = 8m
31
31
J11SF-03V-KX J11SFM-03V-KXNoNo SignalSignal ColorColor WiringWiring
AWG20(crimped)
Red
Black
White
Red
Black
White
+
-
FG
+
-
FG
321
321
AWG20(crimped)
Controller side Actuator side
tor side(Front view) (Front view)
L
(44) (167)
(80
)
(84)(293)
(92
)
(oslash5
4)
IAI America IncIAI Industrieroboter GmbHEurope Headquarters Ober der Roumlth 4 D-65824 Schwalbach Germany
IAI CORPORATIONCorporate Headquarters577-1 Obane Shimizu-Ku Shizuoka 424-0103 Japan Phone +81-543-64-5105 Fax +81-543-64-5192
IAI (Shanghai) Co LtdChina HeadquartersShanghai Jiahua Business Centee A8-303808Hongqiao Rd Shanghai 200030 ChinaPhone +86-21-6448-4753 Fax +86-21-6448-3992
America Headquarters2690 W 237th Street Torrance CA 90505 USA
wwwintelligentactuatorde
Phone +49-6196-8895-0 Fax +49-6196-8895-24 Phone +1-310-891-6015 Fax +1-310-891-0815
DDA Motor Series List
Model Specification Items
Cable Length
Encoder Type
Operation Range
Series Motor Wattage
DDADDACR
Applicable Controllers
Options360 T2
Type
Type Encoder
Large bore slim
Large bore slim
Large bore high torqueLarge bore high torque
Standard (17-bit)
High resolution (20-bit)
Standard (17-bit)
High resolution (20-bit)
Type
Cleanroom specication only
Encoder
ModelStandard
Cleanroom spec
External view
Rated speed (degs)
Maximum speed (degs)
Motor wattage (W)
Size (mm)
Height(mm)
wo brakew brake
wo brake
w brake
wo brake
w brake
Hollow bore (mm)
Mass(kg)
Cleanliness
Encoder type
Applicable controller
Reference page
84
252
1080
1800
200
oslash180
70
115
oslash52
oslash35
58
87
ISO class 4 (ISO 14644-1 Standard)US class 10M25 (US FED STD 209DE)
Index absoluteMulti-rotation absolute
P5 P9
DDA-LT18CS
SCON-CBXSEL SCON-CB SCON-CB
XSEL SCON-CB
DDA-LT18CP DDA-LH18CS DDA-LH18CP
DDACR-LT18CS DDACR-LT18CP DDACR-LH18CS DDACR-LH18CP
Standard (17-bit)
High resolution(20-bit)
Standard (17-bit)
High resolution(20-bit)
Large bore slim type Large bore high torque type
DDA StandardDDACR Cleanroom specification
LT18CS
LT18CP
LH18CS
LH18CP
None
3m
5m
Specied length
N
S
M
X
Cable exits from the bottom
Cable exits from the side
Brake
Flange
A0
A1
B
FL
200
600
200W
600W
360 360 deg
NoteOnly SCON-CB can be selected for the high resolution encoder type (20-bit)
SCON
XSEL-PQ
XSEL-RS
T2AI
AM
Index absolute type
Multi-rotation absolute type
25
75
800
1440
600
oslash180
1228
1873
oslash52
oslash35
13
174
ISO class 4 (ISO 14644-1 Standard)US class 10M25 (US FED STD 209DE)
Index absoluteMulti-rotation absolute
3
DDA (CR) Direct Drive Motor
Application Examples
Index Table ltInspection device for small boardsgt
Transport of Workpieces ltTransporting parts from a conveyor to anothergt
Index TableltParts assembly devicegt
Multi-rotation OperationltTransporting electronic componentsgt
Assembling device
4
DDA (CR) Direct Drive Motor
DDA-LT18C
Controller is not included
P
O I N T
SelectionNotes
(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 30m Specify a desired length in meters (Example X08 = 8m)
(Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control
(Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type
Legend Cable length Option
ModelSpecications
(1) SCON and XSEL have dierent minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information
Options
Cable Length
Name Option code
Cable exits from the bottom A0
Cable exits from the side A1
Flange FL
Please refer to P18 for more information regarding the maintenance cables
1 Indexing accuracy is supported when connected to SCON-CB
DDACR-LT18C
Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198arcsec) 20-bit plusmn000103deg (plusmn37arcsec)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45arcsec) 20-bit plusmn000833deg (plusmn30arcsec)Allowable load moment (Note 2) 80Nmiddotm
Encoder resolution 17-bit 131 072 pulsesrev20-bit 1 048 576 pulsesrev
Allowable thrust load (Note 2) Forward 3100N Reverse 250NBase material AluminumAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)
Cleanroom specication
Cleanliness ISO class 4 (US class 10M25 US FED STD 209DE)Suction amount 35Nℓmin
Weight 58kg
Common Specications
Encoder type Model number Motor
wattage (W)
Operation range (deg) (1)
Speed (degs) (Note 1)
Rated torque (Nmiddotm) (2)
Maximum instantaneous torque (Nmiddotm)
Allowable inertia
moment (kgmiddotm2)
Rotor inertia (kgmiddotm2)
17-bit index absolute type DDA (CR)-LT18CS-AI-200-360-T2-① -②
200
0~359999 deg
1~1080 (1~1800) 84 252 06 00043
17-bit multi-rotation absolute type DDA (CR)-LT18CS-AM-200-360-T2-① -② plusmn9999 deg max
20-bit index absolute type DDA (CR)-LT18CP-AI-200-360-T2-① -② 0~359999 deg
20-bit multi-rotation absolute type DDA (CR)-LT18CP-AM-200-360-T2-① -② plusmn2520 deg max
(Note) A0 (cable exits from the bottom) option and FL (ange) option cannot be selected together
Thrust (axial) run-out (No load) 30μm
Radial run-out (No load) 30μm
Run-out of Output Shaft
LargeHollow
Bore
SlimType
Please refer to P16 for more information on the installation method
Horizontal
Side
Vert
ical
Ceiling
Model Specication Items
DDADDACR LT18C 200 360 T2
Series Type Encoder Type
Motor Type
Operation Range
Applicable Controllers
Cable Length Options
DDA StandardDDACR Cleanroom
specication
S Standard (17-bit)
P High resolution (20-bit)
AI Index absolute type
AM Multi-rotation absolute type
200 200W 360 360 deg T2 SCON XSEL-PQ XSEL-RASA
Note Only SCONapplys forLT18CP
N None S 3m M 5m X Specied
length
Please refer to the options table below Please make sure to
specify either A0 or A1 for the cable exit direction
5
DDA(CR) Direct Drive Motor
BasiclyFlange-
less
LargeHollow
Bore
SlimType
BasiclyFlange-
less
Clean-roomSpec
Cable type
Cable code
Standard
S (3m) M (5m)
Specied length
X06 (6m) ~ X10 (10m) X11 (11m) ~ X30 (30m)
Motor connector
Encoder connector
32 or
less
11 500plusmn30
24
77
615
45
oslash6 Compatible tube diameter
Air JointCR speci cation only
R100 or less
2-oslash4 H7 depth 3For workpiece positioning
6-M5 effective depth 8For workpiece mounting
PCD102 plusmn01
oslash 52
Hollo
w b
ore
28
oslash 83
24
Air JointCR specification only
Motor connector
Encoder connector
Rotating part of the work mounting surface
oslash180
oslash110h7 -00350
70plusmn0
3
4
oslash178h8 -00630
500plusmn30
(oslash21
)
32 or less
138
158
oslash116
35
003 A 003 A
A
75plusmn0
1
8-M6 effective depth 13PCD148 plusmn01
75plusmn0
1
225degoslash5 H7 depth 5For body positioning
Body mounting surfaceBody positioning oblong hole
2
R25
5+00120 depth 5
Detail view of SS
CAD drawings can be downloaded from our website
wwwintelligentactuatorde2D
CAD2D
CAD3D
CAD3D
CAD
Dimensions
Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use
LT18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers
Name External view
Max number of controlled axes Power supply voltage Control method Maximum number of
positioning pointsReference
pagePositioner Pulse-train Program Network Option
SCON-CBCGB 1Single-phase
230VAC -
Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information
512 (768 for network spec)
P14
SCON-LCLCG 1Single-phase
230VAC- -
512 (768 for network spec)
P14
XSEL-PQRASA 8Single-phase 230VACThree-phase 230VAC
- - 53332
(Depending on the type)P15
(Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side
6
DDA(CR) Direct Drive Motor
Options
P
O I N T
SelectionNotes
(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 20m Specify a desired length in meters (Example X08 = 8m)
(Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control
(Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type
(Note 6) The brake is used for retention purposes only so damage may be caused if it is actually used in attempts to slow or stop the actuator
ModelSpecications
Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198arcsec) 20-bit plusmn000103deg (plusmn37arcsec)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45arcsec) 20-bit plusmn000833deg (plusmn30arcsec)Allowable load moment (Note 2) 80Nmiddotm
Encoder resolution 17-bit 131 072 pulsesrev 20-bit 1 048 576 pulsesrev
Allowable thrust load (Note 2) Forward 3100N Reverse 250NBrake retaining torque 25NmiddotmBase material AluminumAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)Weight 87kg
Common Specications
Thrust (axial) run-out (No load) 30μm
Radial run-out (No load) 30μm
Run-out of Output Shaft
1 Indexing accuracy is supported when connected to SCON-CB
Encoder type Model number Motor
wattage (W)
Operation range (deg) (1)
Speed (degs) (Note 1)
Rated torque (Nmiddotm) (2)
Maximum instantaneous torque (Nmiddotm)
Allowable inertia
moment (kgmiddotm2)
Rotor inertia (kgmiddotm2)
17-bit index absolute type DDA-LT18CS-AI-200-360-T2-① -② -B
200
0~359999 deg
1~1080 (1~1800) 84 252 06 00043
17-bit multi-rotation absolute type DDA-LT18CS-AM-200-360-T2-① -② -B plusmn9999 deg max
20-bit index absolute type DDA-LT18CP-AI-200-360-T2-① -② -B 0~359999 deg
20-bit multi-rotation absolute type DDA-LT18CP-AM-200-360-T2-① -② -B plusmn2520 deg max
Name Option code
Cable exits from the bottom A0
Cable exits from the side A1
Brake (With brake box) 1 B
1 A brake cable is not supplied if N (None) is selected as the cable length Please order a brake cable as a separate item in that case
Controller is not included
DDA-LT18C-B
Model Specication Items
DDA LT18C 200 360 T2 BSeries Type Encoder
TypeMotor Type
Operation Range
Applicable Controllers
Cable Length Options Option
S Standard (17-bit)
P High resolution (20-bit)
AI Index absolute type
AM Multi-rotation absolute type
200 200W 360 360 deg T2 SCON XSEL-PQ XSEL-RASA
Note Only SCONapplys forLT18CP
N None S 3m M 5m X Specied
length
Please refer to the options table below Please make sure to
specify either A0 or A1 for the cable exit direction
B Brake
(1) SCON and XSEL have dierent minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information
Legend Cable length Option
Please refer to P16 for more information on the installation method
Horizontal
Side
Vert
ical
Ceiling
7
DDA Direct Drive Motor
Flange-less withBrake
LargeHollow
Bore
SlimType
Without CE Conformity
X
Cable Length
Please refer to P18 for more information regarding the maintenance cables
Cable type
Cable code
Standard
S (3m) M (5m)
Specied length
X06 (6m) ~ X10 (10m) X11 (11m) ~ X20 (20m)
Dimensions
Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use
LT18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers
Name External view
Max number of controlled axes Power supply voltage Control method Maximum number of
positioning pointsReference
pagePositioner Pulse-train Program Network Option
SCON-CBCGB 1Single-phase
230VAC -
Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information
512 (768 for network spec)
P14
SCON-LCLCG 1Single-phase
230VAC- -
512 (768 for network spec)
P14
XSEL-PQRASA 8Single-phase 230VACThree-phase 230VAC
- - 53332
(Depending on the type)P15
(Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side
Motor connector
Encoder connector
32 o
r les
s
500+500
oslash1235
45 o
r les
s
500plusmn30
Brake connector
oslash 35
Hol
low
bor
e
24
77
Motor connector
Encoder connector
45 o
r les
s
oslash1235500+50
0
Brake connector
oslash35
Hol
low
bor
e
R100 or less
2-oslash4 H7 depth 3For workpiece positioning
6-M5 effective depth 8For workpiece mounting
PCD102 plusmn01
oslash 52
Hol
low
bor
e
oslash 83
Rotating part of the work mounting surface
oslash180
oslash110h7 -00350
70plusmn0
3
4
oslash178h8 -00630
500plusmn30
oslash21
32 or less
138
158
oslash116
35
003 A 003 A
A
75plusmn0
1
8-M6 effective depth 13PCD148 plusmn01
75plusmn0
1
225degoslash5 H7 depth 5For body positioning
Body mounting surfaceBody positioning oblong hole
S
2
R25
5+00120 depth 5
Detail view of S
24
CAD drawings can be downloaded from our website
wwwintelligentactuatorde2D
CAD2D
CAD3D
CAD3D
CAD
8
DDA Direct Drive Motor
P
O I N T
SelectionNotes
(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 30m Specify a desired length in meters (Example X08 = 8m)
(Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control
(Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type
ModelSpecications
1 Indexing accuracy is supported when connected to SCON-CB
Thrust (axial) run-out (No load) 30μm
Radial run-out (No load) 30μm
Run-out of Output Shaft
Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198arcsec) 20-bit plusmn000103deg (plusmn37arcsec)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45arcsec) 20-bit plusmn000833deg (plusmn30arcsec)Allowable load moment (Note 2) 80Nmiddotm
Encoder resolution 17-bit 131 072 pulsesrev20-bit 1 048 576 pulsesrev
Allowable thrust load (Note 2) Forward 3100N Reverse 250NBase material AluminumAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)
Cleanroom specication
Cleanliness ISO class 4 (US class 10M25 US FED STD 209DE)Suction amount 35Nℓmin
Weight 13kg
Common Specications
Encoder type Model number Motor
wattage (W)
Operation range (deg) (1)
Speed (degs) (Note 1)
Rated torque (Nmiddotm) (2)
Maximum instantaneous torque (Nmiddotm)
Allowable inertia
moment (kgmiddotm2)
Rotor inertia (kgmiddotm2)
17-bit index absolute type DDA (CR)-LH18CS-AI-600-360-T2-① -②
600
0~359999 deg
1~800 (1~1440) 25 75 18 00092
17-bit multi-rotation absolute type DDA (CR)-LH18CS-AM-600-360-T2-① -② plusmn9999 deg max
20-bit index absolute type DDA (CR)-LH18CP-AI-600-360-T2-① -② 0~359999 deg
20-bit multi-rotation absolute type DDA (CR)-LH18CP-AM-600-360-T2-① -② plusmn2520 deg max
Options
Name Option code
Cable exits from the bottom A0
Cable exits from the side A1
Flange FL
(Note) A0 (cable exits from the bottom) option and FL (ange) option cannot be selected together
DDA-LH18C
Controller is not included
DDACR-LH18C Model
Specication Items
DDADDACR LH18C 600 360 T2
Series Type Encoder Type
Motor Type
Operation Range
Applicable Controllers
Cable Length Options
DDA StandardDDACR Cleanroom
specication
S Standard (17-bit)
P High resolution (20-bit)
AI Index absolute type
AM Multi-rotation absolute type
600 600W 360 360 deg T2 SCON XSEL-PQ XSEL-RASA
Note Only SCONapplys forLH18CP
N None S 3m M 5m X Specied
length
Please refer to the options table below Please make sure to
specify either A0 or A1 for the cable exit direction
(1) SCON and XSEL have dierent minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information
Legend Cable length Option
Please refer to P16 for more information on the installation method
Horizontal
Side
Vert
ical
Ceiling
9
DDA(CR) Direct Drive Motor
Cable Length
Please refer to P18 for more information regarding the maintenance cables
Cable type
Cable code
Standard
S (3m) M (5m)
Specied length
X06 (6m) ~ X10 (10m) X11 (11m) ~ X30 (30m)
LargeHollow
Bore
HighTorque
Type
BasiclyFlange-
less
LargeHollow
Bore
HighTorque
Type
BasiclyFlange-
less
Clean-roomSpec
Dimensions
Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use
LH18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers
Name External view
Max number of controlled axes Power supply voltage Control method Maximum number of
positioning pointsReference
pagePositioner Pulse-train Program Network Option
SCON-CBCGB 1Single-phase
230VAC -
Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information
512 (768 for network spec)
P14
SCON-LCLCG 1Single-phase
230VAC- -
512 (768 for network spec)
P14
XSEL-PQRASA 8Single-phase 230VACThree-phase 230VAC
- - 53332
(Depending on the type)P15
(Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side
Encoder connector
Motor connector
45
615
24
77
oslash6 Compatible tube diameter
Air JointCR speci cation only
32 o
r les
s11
500plusmn30
R100 or less
2-oslash4 H7 depth 3For workpiece positioning
6-M6 effective depth 12For workpiece mounting
PCD102plusmn01
oslash 52
Hol
low
bor
e
oslash 83
2428
Rotating part of the work mounting surface Encoder connector
Motor connector
Air JointCR specification only
75plusmn0
1
8-M8 effective depth 16PCD148 plusmn01
75plusmn0
1
oslash5 H7 depth 5For body positioning 225deg
Body mounting surfaceBody positioning oblong hole
oslash110h7 -00350
oslash116oslash180
oslash178h8 -00630
412
28
plusmn03
32 or less
oslash 21
500plusmn30
35
138
158
003 A
003 A
A
5 +00120 depth 5
2
R25
Detail view of S
S
CAD drawings can be downloaded from our website
wwwintelligentactuatorde2D
CAD2D
CAD3D
CAD3D
CAD
10
DDA(CR) Direct Drive Motor
1 A brake cable is not supplied if N (None) is selected as the cable length Please order a brake cable as a separate item in that case
Options
ModelSpecications
Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198arcsec) 20-bit plusmn000103deg (plusmn37arcsec)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45arcsec) 20-bit plusmn000833deg (plusmn30arcsec)Allowable load moment (Note 2) 80Nmiddotm
Encoder resolution 17-bit 131 072 pulsesrev20-bit 1 048 576 pulsesrev
Allowable thrust load (Note 2) Forward 3100N Reverse 250NBase material AluminumBrake retaining torque 50NmiddotmAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)Weight 174kg
Common Specications
Thrust (axial) run-out (No load) 30μm
Radial run-out (No load) 30μm
Run-out of Output Shaft
Encoder type Model number Motor
wattage (W)
Operation range (deg) (1)
Speed (degs) (Note 1)
Rated torque (Nmiddotm) (2)
Maximum instantaneous torque (Nmiddotm)
Allowable inertia
moment (kgmiddotm2)
Rotor inertia (kgmiddotm2)
17-bit index absolute type DDA-LH18CS-AI-600-360-T2-① -② -B
600
0~359999 deg
1~800 (1~1440) 25 75 18 00092
17-bit multi-rotation absolute type DDA-LH18CS-AM-600-360-T2-① -② -B plusmn9999 deg max
20-bit index absolute type DDA-LH18CP-AI-600-360-T2-① -② -B 0~359999 deg
20-bit multi-rotation absolute type DDA-LH18CP-AM-600-360-T2-① -② -B plusmn2520 deg max
Name Option code
Cable exits from the bottom A0
Cable exits from the side A1
Brake (With brake box) 1 B
1 Indexing accuracy is supported when connected to SCON-CB
Controller is not included
DDA-LH18C-B
(1) SCON and XSEL have dierent minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information
P
O I N T
SelectionNotes
(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 20m Specify a desired length in meters (Example X08 = 8m)
(Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control
(Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type
(Note 6) The brake is used for retention purposes only so damagemay be caused if it is actually used in attempts to slow or stop the actuator
Legend Cable length Option
Please refer to P16 for more information on the installation method
Horizontal
Side
Vert
ical
Ceiling
Model Specication Items
DDA LH18C 600 360 T2 BSeries Type Encoder
TypeMotor Type
Operation Range
Applicable Controllers
Cable Length Options Option
S Standard (17-bit)
P High resolution (20-bit)
AI Index absolute type
AM Multi-rotation absolute type
600 600W 360 360 deg T2 SCON XSEL-PQ XSEL-RASA
Note Only SCONapplys forLH18CP
N None S 3m M 5m X Specied
length
Please refer to the options table below Please make sure to
specify either A0 or A1 for the cable exit direction
B Brake
11
DDA Direct Drive Motor
Flange-less withBrake
LargeHollow
Bore
HighTorque
Type Without CE Conformity
X
Cable Length
Please refer to P18 for more information regarding the maintenance cables
Cable type
Cable code
Standard
S (3m) M (5m)
Specied length
X06 (6m) ~ X10 (10m) X11 (11m) ~ X20 (20m)
Dimensions
Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use
LH18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers
Name External view
Max number of controlled axes Power supply voltage Control method Maximum number of
positioning pointsReference
pagePositioner Pulse-train Program Network Option
SCON-CBCGB 1Single-phase
230VAC -
Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information
512 (768 for network spec)
P14
SCON-LCLCG 1Single-phase
230VAC- -
512 (768 for network spec)
P14
XSEL-PQRASA 8Single-phase 230VACThree-phase 230VAC
- - 53332
(Depending on the type)P15
(Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side
Encoder connector
Motor connector
oslash 35
Hol
low
bor
e
32 o
r les
s
oslash1235
645
or l
ess
500+500
500plusmn30
Brake connector
24
77
Encoder connector
Motor connector
oslash 35
Hol
low
bor
e64
5 o
r les
s
oslash1235500+50
0
Brake connector
R100 or less
2-oslash4 H7 depth 3For workpiece positioning
6-M6 effective depth 12For workpiece mounting
PCD102 plusmn01
oslash 52
Hol
low
bor
e
oslash 83
Rotating part of the work mounting surface
oslash110h7 -00035
oslash116oslash180
oslash178h8 -00063
412
28
plusmn03
32 or less
oslash21
500plusmn30
35
138
158
003 A
003 A
A
75plusmn0
1
8-M8 effective depth 16PCD148 plusmn01
75plusmn0
1
oslash5 H7 depth 5For body positioning 225deg
Body mounting surfaceBody positioning oblong hole
S 5 +00120 depth 5
2
R25
Detail view of S24
CAD drawings can be downloaded from our website
wwwintelligentactuatorde2D
CAD2D
CAD3D
CAD3D
CAD
12
DDA Direct Drive Motor
OptionsIt is a retention mechanism for holding the stop position when the power or servo is OFF to prevent the workpieces and attachments from being damaged when used in side or vertical positions Be sure to connect a brake box for models with brake
A bracket that attaches to the body with bolts from the top side
Brake
Flange
Option Code B
Option Code FL
Brake Box
Wiring Diagram When Brake Box is Used
DDA-LT18CModel Number DDA-FL-LT18
Model Number IA-110-DD-4
DDA-LH18CModel Number DDA-FL-LH18
PCD200
PCD200
plusmn0075plusmn0075
55deg
55deg
180
180
180180
160
160
plusmn01
plusmn01
160160 plusmn01plusmn01
4-oslash1
1thr
ough
2-oslash6H
7 through
135
135
815
815
plusmn04
plusmn04
oslash1245
55deg
55deg
PCD
PCD200plusmn0075200plusmn0075
180
180
180180160160 plusmn01plusmn01
160
160
plusmn01
plusmn01
2-oslash6H7 through
4-oslash1
1thr
ough
155
15513
63
136
3plusmn0
4plusmn0
4
oslash1245
PWRON
BKOUT
+ - C E
BKRMT
RLSBKOUT
PWRPE N L
MODEL IA-110-DD-4SN INPUT Single phase 100-240V
MADE IN JAPAN
5060Hz 10A maxOUTPUT 12VDC 06A
PWRON
BKOUT
+ - C E
BKRMT
RLSBKOUT
PWRPE N L
MODEL IA-110-DD-4SN INPUT Single phase 100-240V
MADE IN JAPAN
5060Hz 10A maxOUTPUT 12VDC 06A
ControllerSCON-CBXSEL-PQRASADDA
Motor cableModel CB-X(EU)-MA CB-X(EU)MC-MA
Brake box
EU cable version w metal connector
Encoder cableModel CB-X(EU)3-PA010(Comes with the brake box)
Encoder cableModel CB-X(EU)3-PA
Brake cableModel CB-DDB-BK Main power supply
100VAC~240VAC
13
DDA(CR) Direct Drive Motor
Position Controller
Controller Model
System Configuration
Positioner Single-axis Type ltSCONgt Model
Power Supply Voltage
IO TypeEncoder Type Motor Type Type Series SCON
IO Cable Length
AIAM
2
The 200W motor used by the DDA is larger than a normal 200W motor so the motor type for the controller will be 200S and its size will be larger than the 400W motor
For 200W motorFor 600W motor
200S600
High-function typeSafety category compliant type
CBCGB
PLC equipped typeSafety category PLC equipped type
LCLCG
Motor cableModel CB-X(EU)-MA (LT18C)
CB-X(EU)MC-MA (LH18C)
SCON PC
DDA
PLC(To be supplied by the customer)
IO flat cableModel CB-PAC-PIO020Standard 2m
2 Be sure to use a noise filter on the power supply
( )Encoder cableModel CB-X(EU)3-PA
PC compatible softwareRS232 connection versionModel RCM-101-MWUSB connection versionModel RCM-101-USB(Please contact IAI for more details)
Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)
Regenerative resistor unitModel RESU-2RESUD-2(Please contact IAI for more details)
1 The wiring diagram is different for models with brakes Please refer to P13 for more information
1
Single-phase 230VAC Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models
Main powersupply 2
Field network
DDA
Option
Supplied with the actuator
Supplied with the controller
Supplied with the actuator Option
Option
Option
When the SCON Controller is Connected
When a eld network specication is selectedthe IO cable length will be 0
Index absolute typeMulti-rotation abs type
NPPN
PIO NPN (Standard)
PIO PNP
DVCN
DeviceNet
CompoNet
CC CC-Link
ML3PR
MECHATROLINK-III
PROFIBUS-DP
02
35
No cable2m (Standard)
3m5m
EC EtherCAT
EP EtherNetIP
PRT PROFINET IO
For recommended modelsplease contact IAI
Model
External view
IO type
IO type code
CompoNet connection
PROFIBUS-DP connection
CC-Linkconnection
DeviceNetconnection
PIO connection specification (1)
NPPN DV CC PR
Standard Field network type (1)
CN mdash
mdash
mdash
SCON-CB
EtherNetIP connection
PROFINET IO connection
EtherCATconnection
EC EP PRT
List of Models
MECHATROLINK- III
connection
ML3
Applicable encoder type(Note) The index absolute type cannot be used in the pulse-train control and MECHATROLINK-III control(1) Please note that the network specifications cannot be operated on the PIO or pulse-train The PLC type (LCLCG) cannot be connected on the pulse-train
Index absoluteMulti-rotation absoluteIndex absolute Multi-rotation absolute
CBCGB CBCGB LCLCG
14
SCON Controller
EU version w metal connector
Program Controller
List of Models
Model P Q RA SA
Type Large-capacity type Large-capacity type (Safety category specication) High-function type High-function type
(Safety category specication)
External view
DescriptionLarge-capacity type
that can control up to 6 axes 2400W
Large-capacity type thats compatible with the
safety category 4
High-function type that allows up to 8-axis operation
Safety category 4 compatible high-function type
Controller Model
System Configuration
Program Multi-axis Type ltXSELgt Model
Encoder Type
Encoder Type
Motor Type
Motor Type
Number ofConnected
AxesType Series Option Option
XSEL
200 For 200W motor
600 For 600W motor
B BrakePQRASA
6-axis type6-axis safety category type8-axis type8-axis safety category type
8
1
~ ~
1 axis
8 axes
(PQ type is up to 6 axes)
(Details of the 1st axis) (Details of the 2nd~8th axis)
It can simultaneously operate actuators (single-axis robot and RoboCylinder) otherthan the DDA motor on a single controller For connectable actuators other than the DDA motor please contact IAI
For subsequent models please contact IAI
Notes
AIAM
Index absolute typeMulti-rotation absolute type
When the XSEL Controller is Connected
2 Be sure to use a noise filter on the power supply
Motor cableModel CB-X(EU)-MA (LT18C) CB-X(EU)MC-MA (LH18C)
XSELPC
PLC(To be supplied by the customer)
PC compatible softwareRS232 connection versionModel IA-101-X-MWUSB connection versionModel IA-101-X-USBMW(Please contact IAI for more details)
Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)
Single-phase 230VACThree-phase 230VAC
Regenerative resistor unitModel RESU-1RESUD-1(Please contact IAI for more details)
Option Option
Option
Field networkOption
IO flat cableModel CB-X-PIO020Standard 2m
Supplied with the controller
Encoder cableModel CB-X(EU)3-PA
Supplied with the actuator
Supplied with the actuator
Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models
1
1 The wiring diagram is different for models with brakes Please refer to P13 for more information
DDA
Main powersupply 2 ( )For recommended models
please contact IAI
15
XSEL Controller
EU version w metal connector
Precautions
Installation
Installation Orientation
Mountingsurface
For models with brake and cable exit direction to the bottom a clearance hole is required
Ceiling mount
Horizontal mount
Vertical mount
Gra
vity
Operation TypeThis product is available in 2 operation types depending on the operation conditions Please check the features and precautions on each type before use
(1)The high resolution specification can be connected only to the SCON-CB(2)When the XSEL index type travels more than 180deg from the current position it rotates in a direction that requires a shorter travel distance to
reach the target position Therefore please note that the direction of rotation changes according to the current position and travel distance If you want to specify the direction of travel use the SCON-CB
(3)The index type can be rotated in a given direction infinitely 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-CB
(4)Home return is required for the multi-rotation absolute encoder during the initial setting and replacement of the absolute battery
Absolute batteryHome return operationLimitless rotation
Maximum amount of movement in a single movement command
Operation rangeController typeOperation type
Not requiredNot required
Yes (3)
0~359999deg
Index absolute type
RequiredNot required (4)
No
Above operation rangeplusmn9999deg (plusmn2520deg) max
Multi-rotation absolute typeSCON-CB XSEL(1)
( ) is for 20-bit
(Note) Use this product by installing it on a mounting surface having heat dissipating characteristics equivalent to those of an aluminum plate of w450mm times d450mm times t12mm in size If the installation conditions necessitate lower heat dissipating characteristics please consult IAI
ControllersFor the DDA with 200W motor the outside dimensions of the SCON-CB controller will be the same as the size of the
400W motor (Please contact IAI for the details of the SCON-CB controller)One and two regenerative resistor unit(s) are required for LT18C and LH18C respectively to operate a DDA
motor with the SCON-CBWhen operating DDA motor(s) with the XSEL controller regenerative resistor units are required as shown below
The number of DDA motor(s) connectable to the XSEL controller is a max of 8 units for the LT18C type and a max of 2 units for the LH18C type
Please note that when the DDA motor is operated with the SCON-CB the motor cannot be connected to the Robo Cylinder gateway function of the XSEL controller
Calculation for the power supply value LT18C type single-phase 600W three-phase 200W LH18C type single-phase 1200W three-phase 600W
Number of regenerative resistor units
1 2 3 4 5 6 7 81 2 3
(Cannot be connected)4
2 4LT18CLH18C
Number of DD motor(s)
360deg
SCON-CB XSEL(1)
180deg(2)
16
DDA(CR) Direct Drive Motor
Conditions for Selection
The followings should be checked to determine whether the DDA motor can be used to suit the specific conditions required by the customer
The customer should confirm that the following three points under actual use do not exceed their maximum allowable levels as specified for the DDA 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
Check Load Conditions1
[1] Thrust load
[2] Load moment applied
[3] Load inertia
J = 18 times M times D 2 [kgm2]
Mass M [kg]
D [m]
Center of rotation
J = 112 times M times (a 2 + b 2) [kgm2]
a [m]
b [m]
Center of rotation
Mass M [kg]
J = M times R 2+ 18 times M times D 2 [kgm2]
Mass M [kg]
D [m]
R [m]
Cent
er o
fro
tatio
n
J = M times R 2+112 times M times (a 2 + b 2 )[kgm2]
a [m]
b [m]R [m]
Cent
er o
fro
tatio
n
Mass M [kg]
The travel time changes according to the load inertia See the tables below to check the travel time data
Travel Time Guide3
The data in the tables are for a reference only and do not guarantee the actual travel times
(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)
0
0005
009
012
017
022
0005
001
010
012
017
022
001
002
011
014
019
024
002
003
012
016
021
026
003
004
013
017
023
027
004
005
014
018
024
029
005
006
015
020
027
032
006
007
017
022
029
035
007
008
019
024
032
038
008
009
021
026
035
041
009
01
023
029
037
044
01
02
039
048
060
069
02
03
062
073
089
100
03
04
070
083
101
114
04
05
087
102
122
136
05
06
111
123
142
168
LH18C
LT18C
Continuous Operation Area
LT18C type LH18C type
(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)
0
0005
0098
0129
0192
0254
0005
001
0096
0128
019
0252
001
0015
0096
0127
019
0252
002
002
0097
0128
0191
0253
002
003
0099
0131
0193
0256
003
004
0104
0136
0199
0262
004
006
0113
0144
0207
027
006
008
012
0153
0215
0278
008
01
0126
0163
0225
0288
010
015
014
0184
0249
0312
015
02
0157
0208
0279
0341
02
03
0207
0268
0354
042
03
04
0257
0329
0428
0504
04
06
0352
044
0562
0655
06
08
0447
0549
0692
08
08
1
053
0646
0806
0925
10
12
0629
0758
0933
1064
12
14
0795
0941
1133
1274
14
18
0875
1035
1257
1415
Check Operating Conditions2Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DDA motor specications to determine whether the DDA motor can be used under the applicable operating conditions Please contact IAI for assistance To
rque
(Nm
)
Curr
ent [
Arm
s]
Angular velocity [degs]
AccelerationDeceleration Area
Torq
ue (N
m)
Curr
ent [
Arm
s]
Angular velocity [degs]
AccelerationDeceleration Area
Rating areaRating area
270deg travel time [sec]180deg travel time [sec]
90deg travel time [sec]45deg travel time [sec]
Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]
270deg travel time [sec]180deg travel time [sec]
90deg travel time [sec]45deg travel time [sec]
Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]
Selecting the DD Motor
17
DDA(CR) Direct Drive Motor
CB-X-MACB-XEU-MA
Modelnumber
Motor robot cableEU motor robot cable
forDDA(CR)-LT18
L
Controller side
4
1
1
4
Wire
075sqGreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
GreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
PEUVW
No1234
Actuator side
(10)(20)
(Front view)(Front view)
(16)
(oslash9) (2
1)
(18)
(41)
Signal
Minimum bending R r = 51 mm or more (for movable use) If the cable must be guided in a cable track use a robot cable
Enter the cable length (L) into Compatible to a Maximum of 30 meters Ex 080 = 8m
Minimum bending R r = 51 mm or more (for movable use)Only robot cable is available for this model
1
(16)
(F (Front view)ront view)
(41)
(41)
234
1234
UVWPE
RedWhiteBlackGreen
PESignal NoWire
Controller side
075sq 075sq(crimped)
Color oN langiS Color Wire
UVW
GreenRed
WhiteBlack
Actuator side
(Fig Motor robot cable CB-X-MA with plastic connector)
(Fig EU motor robot cable CB-XEU-MA EU version with M18 plastic round connector)
4
17
L
1
2 3
1
Color Wire
075sq
No Signal Color
(crimped)
PEUVW
123
CB-XMC-MACB-XEUMC-MA
Modelnumber
Motor robot cableEU motor robot cable
forDDA(CR)-HT18
Controller side
Wire
125sqGreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
GreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
PEUVW
No1234
Actuator side
Signal
Minimum bending R r = 55 mm or more (for movable use) If the cable must be guided in a cable track use a robot cable
Enter the cable length (L) into Compatible to a Maximum of 30 meters Ex 080 = 8m
Minimum bending R r = 55 mm or more (for movable use)Only robot cable is available for this model
1
(16)
(F (Front view)ront view)
(41)
234
1234
UVWPE
RedWhiteBlackGreen
PESignal NoWire
Controller side
125sq 125sq(crimped)
Color oN langiS Color Wire
UVW
GreenRed
WhiteBlack
Actuator side
(Fig Motor robot cable CB-XMC-MA with plastic connector)
(Fig EU motor robot cable CB-XEUMC-MA EU version with M18 plastic round connector)
4
17
L
1
2 3
1
Color Wire
125sq
No Signal Color
(crimped)
PEUVW
123
Cables
L
4
1
1
4(Front view)
(16)(21)
(11)
(16)
18
DDA(CR) Direct Drive Motor
Maintenance Parts
(oslash9)
DDADDACR Series Catalogue No 1116-E Version CJ0242-1A
CB-DDB-BKModelnumber
forDDA(CR) with brake optionBrake cable
Enter the cable length (L) into Compatible to a Maximum of 20 meters Ex 080 = 8m
Maintenance Parts
(41) (14)(15)
Controller side
(13)
(37)
(Front view) (Front view)
(25)
Actuator side
13
114
26
Ground wire and braided shield
AWG26(crimped)
WhiteblueWhiteyellowWhiteredWhiteblackWhitepurpleWhitegray
Whiteorangendash
(Ground)Orange
GreenPurple
GrayRed
BlackWhitegreen
BlueYellow
No Signal Color Wire
The shield is connected to the hood by a clamp
AWG26 (soldered)
Wire10111213262524239
181912345678
14151617202122
123456789
101112131415161718
AĀBBZZ
LS+ndash
FGSDSD
BAT+BAT-VCCGNDLS-BK-BK+
ndashndash
E24VOVLS
CREEPOTRSV
ndashndashndash
A+A-B+B-Z+Z-
SRD+SRD-BAT+BAT-VCCGNDBKR-BKR+
ndash
ndashndashndash
WhitegreenWhiteorange
WhitegreenWhiteorange
Whitegreen
Whiteorange
ndashndashndashndashndashndash
WhiteblueWhiteyellowWhitered
WhiteblackWhitepurpleWhitegray
WhiteblueWhiteyellow Whiteblue
WhiteyellowWhiteredWhiteblackWhitepurpleWhitegray
WhiteredWhiteblackWhitepurpleWhitegray
OrangeGreenPurple
GrayRed
BlackBlue
Yellowndash
NoSignalColor(oslash
10)
L
1
9 18
10
Minimum bending R r = 58 mm or more (for movable use) If the cable must be guided in a cable track use a robot cable
(Fig Encoder robot cable CB-X3-PA with plastic connector)
Controller side Actuator side
Minimum bending R r = 58 mm or more (for movable use)
(Front view)
L (13)
(37)
1
13
14
26
(41)
Ground wire and braided shield
Color WireSignalNo
AWG26soldered
Blue
SD1 OrangeSD2
3456789
Green
VCC10
PurpleGND11 BlackBAT+12
Yellow
BAT-13 Grey
BK-141516
Red
BK+A shield is connected to shield soldered part
AWG26(soldered)
212017
22
6
16151487
3
54
21
25
1819
2324
9
1011121326
No
ndashBKR+BKR-GND
Z-
BAT+
VCCBATndash
SRD-SRD+
B+
Z+B-
Z-
B+
Z+B-
A-A+
A-A+
CREEP
ndashndashndash
OTRSV
E24V0VLS
LS+
LS-
ndashndash
---
------
BlueYellow
Orange
PurpleGreen
Black
GreyRed
-The shield is clamped to the hood
Color SignalWire
(Fig EU encoder robot cable CB-XEU3-PA EU version with metal connector)
(Front view)
4 1
16 13 10
9 5
14
CB-X3-PACB-XEU3-PA
Modelnumber
Encoder robot cableEU encoder robot cable
forDDA(CR)
Enter the cable length (L) into Compatible to a Maximum of 30 meters Ex 080 = 8m
31
31
J11SF-03V-KX J11SFM-03V-KXNoNo SignalSignal ColorColor WiringWiring
AWG20(crimped)
Red
Black
White
Red
Black
White
+
-
FG
+
-
FG
321
321
AWG20(crimped)
Controller side Actuator side
tor side(Front view) (Front view)
L
(44) (167)
(80
)
(84)(293)
(92
)
(oslash5
4)
IAI America IncIAI Industrieroboter GmbHEurope Headquarters Ober der Roumlth 4 D-65824 Schwalbach Germany
IAI CORPORATIONCorporate Headquarters577-1 Obane Shimizu-Ku Shizuoka 424-0103 Japan Phone +81-543-64-5105 Fax +81-543-64-5192
IAI (Shanghai) Co LtdChina HeadquartersShanghai Jiahua Business Centee A8-303808Hongqiao Rd Shanghai 200030 ChinaPhone +86-21-6448-4753 Fax +86-21-6448-3992
America Headquarters2690 W 237th Street Torrance CA 90505 USA
wwwintelligentactuatorde
Phone +49-6196-8895-0 Fax +49-6196-8895-24 Phone +1-310-891-6015 Fax +1-310-891-0815
Application Examples
Index Table ltInspection device for small boardsgt
Transport of Workpieces ltTransporting parts from a conveyor to anothergt
Index TableltParts assembly devicegt
Multi-rotation OperationltTransporting electronic componentsgt
Assembling device
4
DDA (CR) Direct Drive Motor
DDA-LT18C
Controller is not included
P
O I N T
SelectionNotes
(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 30m Specify a desired length in meters (Example X08 = 8m)
(Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control
(Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type
Legend Cable length Option
ModelSpecications
(1) SCON and XSEL have dierent minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information
Options
Cable Length
Name Option code
Cable exits from the bottom A0
Cable exits from the side A1
Flange FL
Please refer to P18 for more information regarding the maintenance cables
1 Indexing accuracy is supported when connected to SCON-CB
DDACR-LT18C
Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198arcsec) 20-bit plusmn000103deg (plusmn37arcsec)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45arcsec) 20-bit plusmn000833deg (plusmn30arcsec)Allowable load moment (Note 2) 80Nmiddotm
Encoder resolution 17-bit 131 072 pulsesrev20-bit 1 048 576 pulsesrev
Allowable thrust load (Note 2) Forward 3100N Reverse 250NBase material AluminumAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)
Cleanroom specication
Cleanliness ISO class 4 (US class 10M25 US FED STD 209DE)Suction amount 35Nℓmin
Weight 58kg
Common Specications
Encoder type Model number Motor
wattage (W)
Operation range (deg) (1)
Speed (degs) (Note 1)
Rated torque (Nmiddotm) (2)
Maximum instantaneous torque (Nmiddotm)
Allowable inertia
moment (kgmiddotm2)
Rotor inertia (kgmiddotm2)
17-bit index absolute type DDA (CR)-LT18CS-AI-200-360-T2-① -②
200
0~359999 deg
1~1080 (1~1800) 84 252 06 00043
17-bit multi-rotation absolute type DDA (CR)-LT18CS-AM-200-360-T2-① -② plusmn9999 deg max
20-bit index absolute type DDA (CR)-LT18CP-AI-200-360-T2-① -② 0~359999 deg
20-bit multi-rotation absolute type DDA (CR)-LT18CP-AM-200-360-T2-① -② plusmn2520 deg max
(Note) A0 (cable exits from the bottom) option and FL (ange) option cannot be selected together
Thrust (axial) run-out (No load) 30μm
Radial run-out (No load) 30μm
Run-out of Output Shaft
LargeHollow
Bore
SlimType
Please refer to P16 for more information on the installation method
Horizontal
Side
Vert
ical
Ceiling
Model Specication Items
DDADDACR LT18C 200 360 T2
Series Type Encoder Type
Motor Type
Operation Range
Applicable Controllers
Cable Length Options
DDA StandardDDACR Cleanroom
specication
S Standard (17-bit)
P High resolution (20-bit)
AI Index absolute type
AM Multi-rotation absolute type
200 200W 360 360 deg T2 SCON XSEL-PQ XSEL-RASA
Note Only SCONapplys forLT18CP
N None S 3m M 5m X Specied
length
Please refer to the options table below Please make sure to
specify either A0 or A1 for the cable exit direction
5
DDA(CR) Direct Drive Motor
BasiclyFlange-
less
LargeHollow
Bore
SlimType
BasiclyFlange-
less
Clean-roomSpec
Cable type
Cable code
Standard
S (3m) M (5m)
Specied length
X06 (6m) ~ X10 (10m) X11 (11m) ~ X30 (30m)
Motor connector
Encoder connector
32 or
less
11 500plusmn30
24
77
615
45
oslash6 Compatible tube diameter
Air JointCR speci cation only
R100 or less
2-oslash4 H7 depth 3For workpiece positioning
6-M5 effective depth 8For workpiece mounting
PCD102 plusmn01
oslash 52
Hollo
w b
ore
28
oslash 83
24
Air JointCR specification only
Motor connector
Encoder connector
Rotating part of the work mounting surface
oslash180
oslash110h7 -00350
70plusmn0
3
4
oslash178h8 -00630
500plusmn30
(oslash21
)
32 or less
138
158
oslash116
35
003 A 003 A
A
75plusmn0
1
8-M6 effective depth 13PCD148 plusmn01
75plusmn0
1
225degoslash5 H7 depth 5For body positioning
Body mounting surfaceBody positioning oblong hole
2
R25
5+00120 depth 5
Detail view of SS
CAD drawings can be downloaded from our website
wwwintelligentactuatorde2D
CAD2D
CAD3D
CAD3D
CAD
Dimensions
Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use
LT18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers
Name External view
Max number of controlled axes Power supply voltage Control method Maximum number of
positioning pointsReference
pagePositioner Pulse-train Program Network Option
SCON-CBCGB 1Single-phase
230VAC -
Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information
512 (768 for network spec)
P14
SCON-LCLCG 1Single-phase
230VAC- -
512 (768 for network spec)
P14
XSEL-PQRASA 8Single-phase 230VACThree-phase 230VAC
- - 53332
(Depending on the type)P15
(Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side
6
DDA(CR) Direct Drive Motor
Options
P
O I N T
SelectionNotes
(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 20m Specify a desired length in meters (Example X08 = 8m)
(Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control
(Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type
(Note 6) The brake is used for retention purposes only so damage may be caused if it is actually used in attempts to slow or stop the actuator
ModelSpecications
Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198arcsec) 20-bit plusmn000103deg (plusmn37arcsec)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45arcsec) 20-bit plusmn000833deg (plusmn30arcsec)Allowable load moment (Note 2) 80Nmiddotm
Encoder resolution 17-bit 131 072 pulsesrev 20-bit 1 048 576 pulsesrev
Allowable thrust load (Note 2) Forward 3100N Reverse 250NBrake retaining torque 25NmiddotmBase material AluminumAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)Weight 87kg
Common Specications
Thrust (axial) run-out (No load) 30μm
Radial run-out (No load) 30μm
Run-out of Output Shaft
1 Indexing accuracy is supported when connected to SCON-CB
Encoder type Model number Motor
wattage (W)
Operation range (deg) (1)
Speed (degs) (Note 1)
Rated torque (Nmiddotm) (2)
Maximum instantaneous torque (Nmiddotm)
Allowable inertia
moment (kgmiddotm2)
Rotor inertia (kgmiddotm2)
17-bit index absolute type DDA-LT18CS-AI-200-360-T2-① -② -B
200
0~359999 deg
1~1080 (1~1800) 84 252 06 00043
17-bit multi-rotation absolute type DDA-LT18CS-AM-200-360-T2-① -② -B plusmn9999 deg max
20-bit index absolute type DDA-LT18CP-AI-200-360-T2-① -② -B 0~359999 deg
20-bit multi-rotation absolute type DDA-LT18CP-AM-200-360-T2-① -② -B plusmn2520 deg max
Name Option code
Cable exits from the bottom A0
Cable exits from the side A1
Brake (With brake box) 1 B
1 A brake cable is not supplied if N (None) is selected as the cable length Please order a brake cable as a separate item in that case
Controller is not included
DDA-LT18C-B
Model Specication Items
DDA LT18C 200 360 T2 BSeries Type Encoder
TypeMotor Type
Operation Range
Applicable Controllers
Cable Length Options Option
S Standard (17-bit)
P High resolution (20-bit)
AI Index absolute type
AM Multi-rotation absolute type
200 200W 360 360 deg T2 SCON XSEL-PQ XSEL-RASA
Note Only SCONapplys forLT18CP
N None S 3m M 5m X Specied
length
Please refer to the options table below Please make sure to
specify either A0 or A1 for the cable exit direction
B Brake
(1) SCON and XSEL have dierent minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information
Legend Cable length Option
Please refer to P16 for more information on the installation method
Horizontal
Side
Vert
ical
Ceiling
7
DDA Direct Drive Motor
Flange-less withBrake
LargeHollow
Bore
SlimType
Without CE Conformity
X
Cable Length
Please refer to P18 for more information regarding the maintenance cables
Cable type
Cable code
Standard
S (3m) M (5m)
Specied length
X06 (6m) ~ X10 (10m) X11 (11m) ~ X20 (20m)
Dimensions
Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use
LT18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers
Name External view
Max number of controlled axes Power supply voltage Control method Maximum number of
positioning pointsReference
pagePositioner Pulse-train Program Network Option
SCON-CBCGB 1Single-phase
230VAC -
Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information
512 (768 for network spec)
P14
SCON-LCLCG 1Single-phase
230VAC- -
512 (768 for network spec)
P14
XSEL-PQRASA 8Single-phase 230VACThree-phase 230VAC
- - 53332
(Depending on the type)P15
(Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side
Motor connector
Encoder connector
32 o
r les
s
500+500
oslash1235
45 o
r les
s
500plusmn30
Brake connector
oslash 35
Hol
low
bor
e
24
77
Motor connector
Encoder connector
45 o
r les
s
oslash1235500+50
0
Brake connector
oslash35
Hol
low
bor
e
R100 or less
2-oslash4 H7 depth 3For workpiece positioning
6-M5 effective depth 8For workpiece mounting
PCD102 plusmn01
oslash 52
Hol
low
bor
e
oslash 83
Rotating part of the work mounting surface
oslash180
oslash110h7 -00350
70plusmn0
3
4
oslash178h8 -00630
500plusmn30
oslash21
32 or less
138
158
oslash116
35
003 A 003 A
A
75plusmn0
1
8-M6 effective depth 13PCD148 plusmn01
75plusmn0
1
225degoslash5 H7 depth 5For body positioning
Body mounting surfaceBody positioning oblong hole
S
2
R25
5+00120 depth 5
Detail view of S
24
CAD drawings can be downloaded from our website
wwwintelligentactuatorde2D
CAD2D
CAD3D
CAD3D
CAD
8
DDA Direct Drive Motor
P
O I N T
SelectionNotes
(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 30m Specify a desired length in meters (Example X08 = 8m)
(Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control
(Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type
ModelSpecications
1 Indexing accuracy is supported when connected to SCON-CB
Thrust (axial) run-out (No load) 30μm
Radial run-out (No load) 30μm
Run-out of Output Shaft
Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198arcsec) 20-bit plusmn000103deg (plusmn37arcsec)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45arcsec) 20-bit plusmn000833deg (plusmn30arcsec)Allowable load moment (Note 2) 80Nmiddotm
Encoder resolution 17-bit 131 072 pulsesrev20-bit 1 048 576 pulsesrev
Allowable thrust load (Note 2) Forward 3100N Reverse 250NBase material AluminumAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)
Cleanroom specication
Cleanliness ISO class 4 (US class 10M25 US FED STD 209DE)Suction amount 35Nℓmin
Weight 13kg
Common Specications
Encoder type Model number Motor
wattage (W)
Operation range (deg) (1)
Speed (degs) (Note 1)
Rated torque (Nmiddotm) (2)
Maximum instantaneous torque (Nmiddotm)
Allowable inertia
moment (kgmiddotm2)
Rotor inertia (kgmiddotm2)
17-bit index absolute type DDA (CR)-LH18CS-AI-600-360-T2-① -②
600
0~359999 deg
1~800 (1~1440) 25 75 18 00092
17-bit multi-rotation absolute type DDA (CR)-LH18CS-AM-600-360-T2-① -② plusmn9999 deg max
20-bit index absolute type DDA (CR)-LH18CP-AI-600-360-T2-① -② 0~359999 deg
20-bit multi-rotation absolute type DDA (CR)-LH18CP-AM-600-360-T2-① -② plusmn2520 deg max
Options
Name Option code
Cable exits from the bottom A0
Cable exits from the side A1
Flange FL
(Note) A0 (cable exits from the bottom) option and FL (ange) option cannot be selected together
DDA-LH18C
Controller is not included
DDACR-LH18C Model
Specication Items
DDADDACR LH18C 600 360 T2
Series Type Encoder Type
Motor Type
Operation Range
Applicable Controllers
Cable Length Options
DDA StandardDDACR Cleanroom
specication
S Standard (17-bit)
P High resolution (20-bit)
AI Index absolute type
AM Multi-rotation absolute type
600 600W 360 360 deg T2 SCON XSEL-PQ XSEL-RASA
Note Only SCONapplys forLH18CP
N None S 3m M 5m X Specied
length
Please refer to the options table below Please make sure to
specify either A0 or A1 for the cable exit direction
(1) SCON and XSEL have dierent minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information
Legend Cable length Option
Please refer to P16 for more information on the installation method
Horizontal
Side
Vert
ical
Ceiling
9
DDA(CR) Direct Drive Motor
Cable Length
Please refer to P18 for more information regarding the maintenance cables
Cable type
Cable code
Standard
S (3m) M (5m)
Specied length
X06 (6m) ~ X10 (10m) X11 (11m) ~ X30 (30m)
LargeHollow
Bore
HighTorque
Type
BasiclyFlange-
less
LargeHollow
Bore
HighTorque
Type
BasiclyFlange-
less
Clean-roomSpec
Dimensions
Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use
LH18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers
Name External view
Max number of controlled axes Power supply voltage Control method Maximum number of
positioning pointsReference
pagePositioner Pulse-train Program Network Option
SCON-CBCGB 1Single-phase
230VAC -
Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information
512 (768 for network spec)
P14
SCON-LCLCG 1Single-phase
230VAC- -
512 (768 for network spec)
P14
XSEL-PQRASA 8Single-phase 230VACThree-phase 230VAC
- - 53332
(Depending on the type)P15
(Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side
Encoder connector
Motor connector
45
615
24
77
oslash6 Compatible tube diameter
Air JointCR speci cation only
32 o
r les
s11
500plusmn30
R100 or less
2-oslash4 H7 depth 3For workpiece positioning
6-M6 effective depth 12For workpiece mounting
PCD102plusmn01
oslash 52
Hol
low
bor
e
oslash 83
2428
Rotating part of the work mounting surface Encoder connector
Motor connector
Air JointCR specification only
75plusmn0
1
8-M8 effective depth 16PCD148 plusmn01
75plusmn0
1
oslash5 H7 depth 5For body positioning 225deg
Body mounting surfaceBody positioning oblong hole
oslash110h7 -00350
oslash116oslash180
oslash178h8 -00630
412
28
plusmn03
32 or less
oslash 21
500plusmn30
35
138
158
003 A
003 A
A
5 +00120 depth 5
2
R25
Detail view of S
S
CAD drawings can be downloaded from our website
wwwintelligentactuatorde2D
CAD2D
CAD3D
CAD3D
CAD
10
DDA(CR) Direct Drive Motor
1 A brake cable is not supplied if N (None) is selected as the cable length Please order a brake cable as a separate item in that case
Options
ModelSpecications
Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198arcsec) 20-bit plusmn000103deg (plusmn37arcsec)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45arcsec) 20-bit plusmn000833deg (plusmn30arcsec)Allowable load moment (Note 2) 80Nmiddotm
Encoder resolution 17-bit 131 072 pulsesrev20-bit 1 048 576 pulsesrev
Allowable thrust load (Note 2) Forward 3100N Reverse 250NBase material AluminumBrake retaining torque 50NmiddotmAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)Weight 174kg
Common Specications
Thrust (axial) run-out (No load) 30μm
Radial run-out (No load) 30μm
Run-out of Output Shaft
Encoder type Model number Motor
wattage (W)
Operation range (deg) (1)
Speed (degs) (Note 1)
Rated torque (Nmiddotm) (2)
Maximum instantaneous torque (Nmiddotm)
Allowable inertia
moment (kgmiddotm2)
Rotor inertia (kgmiddotm2)
17-bit index absolute type DDA-LH18CS-AI-600-360-T2-① -② -B
600
0~359999 deg
1~800 (1~1440) 25 75 18 00092
17-bit multi-rotation absolute type DDA-LH18CS-AM-600-360-T2-① -② -B plusmn9999 deg max
20-bit index absolute type DDA-LH18CP-AI-600-360-T2-① -② -B 0~359999 deg
20-bit multi-rotation absolute type DDA-LH18CP-AM-600-360-T2-① -② -B plusmn2520 deg max
Name Option code
Cable exits from the bottom A0
Cable exits from the side A1
Brake (With brake box) 1 B
1 Indexing accuracy is supported when connected to SCON-CB
Controller is not included
DDA-LH18C-B
(1) SCON and XSEL have dierent minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information
P
O I N T
SelectionNotes
(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 20m Specify a desired length in meters (Example X08 = 8m)
(Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control
(Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type
(Note 6) The brake is used for retention purposes only so damagemay be caused if it is actually used in attempts to slow or stop the actuator
Legend Cable length Option
Please refer to P16 for more information on the installation method
Horizontal
Side
Vert
ical
Ceiling
Model Specication Items
DDA LH18C 600 360 T2 BSeries Type Encoder
TypeMotor Type
Operation Range
Applicable Controllers
Cable Length Options Option
S Standard (17-bit)
P High resolution (20-bit)
AI Index absolute type
AM Multi-rotation absolute type
600 600W 360 360 deg T2 SCON XSEL-PQ XSEL-RASA
Note Only SCONapplys forLH18CP
N None S 3m M 5m X Specied
length
Please refer to the options table below Please make sure to
specify either A0 or A1 for the cable exit direction
B Brake
11
DDA Direct Drive Motor
Flange-less withBrake
LargeHollow
Bore
HighTorque
Type Without CE Conformity
X
Cable Length
Please refer to P18 for more information regarding the maintenance cables
Cable type
Cable code
Standard
S (3m) M (5m)
Specied length
X06 (6m) ~ X10 (10m) X11 (11m) ~ X20 (20m)
Dimensions
Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use
LH18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers
Name External view
Max number of controlled axes Power supply voltage Control method Maximum number of
positioning pointsReference
pagePositioner Pulse-train Program Network Option
SCON-CBCGB 1Single-phase
230VAC -
Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information
512 (768 for network spec)
P14
SCON-LCLCG 1Single-phase
230VAC- -
512 (768 for network spec)
P14
XSEL-PQRASA 8Single-phase 230VACThree-phase 230VAC
- - 53332
(Depending on the type)P15
(Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side
Encoder connector
Motor connector
oslash 35
Hol
low
bor
e
32 o
r les
s
oslash1235
645
or l
ess
500+500
500plusmn30
Brake connector
24
77
Encoder connector
Motor connector
oslash 35
Hol
low
bor
e64
5 o
r les
s
oslash1235500+50
0
Brake connector
R100 or less
2-oslash4 H7 depth 3For workpiece positioning
6-M6 effective depth 12For workpiece mounting
PCD102 plusmn01
oslash 52
Hol
low
bor
e
oslash 83
Rotating part of the work mounting surface
oslash110h7 -00035
oslash116oslash180
oslash178h8 -00063
412
28
plusmn03
32 or less
oslash21
500plusmn30
35
138
158
003 A
003 A
A
75plusmn0
1
8-M8 effective depth 16PCD148 plusmn01
75plusmn0
1
oslash5 H7 depth 5For body positioning 225deg
Body mounting surfaceBody positioning oblong hole
S 5 +00120 depth 5
2
R25
Detail view of S24
CAD drawings can be downloaded from our website
wwwintelligentactuatorde2D
CAD2D
CAD3D
CAD3D
CAD
12
DDA Direct Drive Motor
OptionsIt is a retention mechanism for holding the stop position when the power or servo is OFF to prevent the workpieces and attachments from being damaged when used in side or vertical positions Be sure to connect a brake box for models with brake
A bracket that attaches to the body with bolts from the top side
Brake
Flange
Option Code B
Option Code FL
Brake Box
Wiring Diagram When Brake Box is Used
DDA-LT18CModel Number DDA-FL-LT18
Model Number IA-110-DD-4
DDA-LH18CModel Number DDA-FL-LH18
PCD200
PCD200
plusmn0075plusmn0075
55deg
55deg
180
180
180180
160
160
plusmn01
plusmn01
160160 plusmn01plusmn01
4-oslash1
1thr
ough
2-oslash6H
7 through
135
135
815
815
plusmn04
plusmn04
oslash1245
55deg
55deg
PCD
PCD200plusmn0075200plusmn0075
180
180
180180160160 plusmn01plusmn01
160
160
plusmn01
plusmn01
2-oslash6H7 through
4-oslash1
1thr
ough
155
15513
63
136
3plusmn0
4plusmn0
4
oslash1245
PWRON
BKOUT
+ - C E
BKRMT
RLSBKOUT
PWRPE N L
MODEL IA-110-DD-4SN INPUT Single phase 100-240V
MADE IN JAPAN
5060Hz 10A maxOUTPUT 12VDC 06A
PWRON
BKOUT
+ - C E
BKRMT
RLSBKOUT
PWRPE N L
MODEL IA-110-DD-4SN INPUT Single phase 100-240V
MADE IN JAPAN
5060Hz 10A maxOUTPUT 12VDC 06A
ControllerSCON-CBXSEL-PQRASADDA
Motor cableModel CB-X(EU)-MA CB-X(EU)MC-MA
Brake box
EU cable version w metal connector
Encoder cableModel CB-X(EU)3-PA010(Comes with the brake box)
Encoder cableModel CB-X(EU)3-PA
Brake cableModel CB-DDB-BK Main power supply
100VAC~240VAC
13
DDA(CR) Direct Drive Motor
Position Controller
Controller Model
System Configuration
Positioner Single-axis Type ltSCONgt Model
Power Supply Voltage
IO TypeEncoder Type Motor Type Type Series SCON
IO Cable Length
AIAM
2
The 200W motor used by the DDA is larger than a normal 200W motor so the motor type for the controller will be 200S and its size will be larger than the 400W motor
For 200W motorFor 600W motor
200S600
High-function typeSafety category compliant type
CBCGB
PLC equipped typeSafety category PLC equipped type
LCLCG
Motor cableModel CB-X(EU)-MA (LT18C)
CB-X(EU)MC-MA (LH18C)
SCON PC
DDA
PLC(To be supplied by the customer)
IO flat cableModel CB-PAC-PIO020Standard 2m
2 Be sure to use a noise filter on the power supply
( )Encoder cableModel CB-X(EU)3-PA
PC compatible softwareRS232 connection versionModel RCM-101-MWUSB connection versionModel RCM-101-USB(Please contact IAI for more details)
Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)
Regenerative resistor unitModel RESU-2RESUD-2(Please contact IAI for more details)
1 The wiring diagram is different for models with brakes Please refer to P13 for more information
1
Single-phase 230VAC Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models
Main powersupply 2
Field network
DDA
Option
Supplied with the actuator
Supplied with the controller
Supplied with the actuator Option
Option
Option
When the SCON Controller is Connected
When a eld network specication is selectedthe IO cable length will be 0
Index absolute typeMulti-rotation abs type
NPPN
PIO NPN (Standard)
PIO PNP
DVCN
DeviceNet
CompoNet
CC CC-Link
ML3PR
MECHATROLINK-III
PROFIBUS-DP
02
35
No cable2m (Standard)
3m5m
EC EtherCAT
EP EtherNetIP
PRT PROFINET IO
For recommended modelsplease contact IAI
Model
External view
IO type
IO type code
CompoNet connection
PROFIBUS-DP connection
CC-Linkconnection
DeviceNetconnection
PIO connection specification (1)
NPPN DV CC PR
Standard Field network type (1)
CN mdash
mdash
mdash
SCON-CB
EtherNetIP connection
PROFINET IO connection
EtherCATconnection
EC EP PRT
List of Models
MECHATROLINK- III
connection
ML3
Applicable encoder type(Note) The index absolute type cannot be used in the pulse-train control and MECHATROLINK-III control(1) Please note that the network specifications cannot be operated on the PIO or pulse-train The PLC type (LCLCG) cannot be connected on the pulse-train
Index absoluteMulti-rotation absoluteIndex absolute Multi-rotation absolute
CBCGB CBCGB LCLCG
14
SCON Controller
EU version w metal connector
Program Controller
List of Models
Model P Q RA SA
Type Large-capacity type Large-capacity type (Safety category specication) High-function type High-function type
(Safety category specication)
External view
DescriptionLarge-capacity type
that can control up to 6 axes 2400W
Large-capacity type thats compatible with the
safety category 4
High-function type that allows up to 8-axis operation
Safety category 4 compatible high-function type
Controller Model
System Configuration
Program Multi-axis Type ltXSELgt Model
Encoder Type
Encoder Type
Motor Type
Motor Type
Number ofConnected
AxesType Series Option Option
XSEL
200 For 200W motor
600 For 600W motor
B BrakePQRASA
6-axis type6-axis safety category type8-axis type8-axis safety category type
8
1
~ ~
1 axis
8 axes
(PQ type is up to 6 axes)
(Details of the 1st axis) (Details of the 2nd~8th axis)
It can simultaneously operate actuators (single-axis robot and RoboCylinder) otherthan the DDA motor on a single controller For connectable actuators other than the DDA motor please contact IAI
For subsequent models please contact IAI
Notes
AIAM
Index absolute typeMulti-rotation absolute type
When the XSEL Controller is Connected
2 Be sure to use a noise filter on the power supply
Motor cableModel CB-X(EU)-MA (LT18C) CB-X(EU)MC-MA (LH18C)
XSELPC
PLC(To be supplied by the customer)
PC compatible softwareRS232 connection versionModel IA-101-X-MWUSB connection versionModel IA-101-X-USBMW(Please contact IAI for more details)
Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)
Single-phase 230VACThree-phase 230VAC
Regenerative resistor unitModel RESU-1RESUD-1(Please contact IAI for more details)
Option Option
Option
Field networkOption
IO flat cableModel CB-X-PIO020Standard 2m
Supplied with the controller
Encoder cableModel CB-X(EU)3-PA
Supplied with the actuator
Supplied with the actuator
Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models
1
1 The wiring diagram is different for models with brakes Please refer to P13 for more information
DDA
Main powersupply 2 ( )For recommended models
please contact IAI
15
XSEL Controller
EU version w metal connector
Precautions
Installation
Installation Orientation
Mountingsurface
For models with brake and cable exit direction to the bottom a clearance hole is required
Ceiling mount
Horizontal mount
Vertical mount
Gra
vity
Operation TypeThis product is available in 2 operation types depending on the operation conditions Please check the features and precautions on each type before use
(1)The high resolution specification can be connected only to the SCON-CB(2)When the XSEL index type travels more than 180deg from the current position it rotates in a direction that requires a shorter travel distance to
reach the target position Therefore please note that the direction of rotation changes according to the current position and travel distance If you want to specify the direction of travel use the SCON-CB
(3)The index type can be rotated in a given direction infinitely 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-CB
(4)Home return is required for the multi-rotation absolute encoder during the initial setting and replacement of the absolute battery
Absolute batteryHome return operationLimitless rotation
Maximum amount of movement in a single movement command
Operation rangeController typeOperation type
Not requiredNot required
Yes (3)
0~359999deg
Index absolute type
RequiredNot required (4)
No
Above operation rangeplusmn9999deg (plusmn2520deg) max
Multi-rotation absolute typeSCON-CB XSEL(1)
( ) is for 20-bit
(Note) Use this product by installing it on a mounting surface having heat dissipating characteristics equivalent to those of an aluminum plate of w450mm times d450mm times t12mm in size If the installation conditions necessitate lower heat dissipating characteristics please consult IAI
ControllersFor the DDA with 200W motor the outside dimensions of the SCON-CB controller will be the same as the size of the
400W motor (Please contact IAI for the details of the SCON-CB controller)One and two regenerative resistor unit(s) are required for LT18C and LH18C respectively to operate a DDA
motor with the SCON-CBWhen operating DDA motor(s) with the XSEL controller regenerative resistor units are required as shown below
The number of DDA motor(s) connectable to the XSEL controller is a max of 8 units for the LT18C type and a max of 2 units for the LH18C type
Please note that when the DDA motor is operated with the SCON-CB the motor cannot be connected to the Robo Cylinder gateway function of the XSEL controller
Calculation for the power supply value LT18C type single-phase 600W three-phase 200W LH18C type single-phase 1200W three-phase 600W
Number of regenerative resistor units
1 2 3 4 5 6 7 81 2 3
(Cannot be connected)4
2 4LT18CLH18C
Number of DD motor(s)
360deg
SCON-CB XSEL(1)
180deg(2)
16
DDA(CR) Direct Drive Motor
Conditions for Selection
The followings should be checked to determine whether the DDA motor can be used to suit the specific conditions required by the customer
The customer should confirm that the following three points under actual use do not exceed their maximum allowable levels as specified for the DDA 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
Check Load Conditions1
[1] Thrust load
[2] Load moment applied
[3] Load inertia
J = 18 times M times D 2 [kgm2]
Mass M [kg]
D [m]
Center of rotation
J = 112 times M times (a 2 + b 2) [kgm2]
a [m]
b [m]
Center of rotation
Mass M [kg]
J = M times R 2+ 18 times M times D 2 [kgm2]
Mass M [kg]
D [m]
R [m]
Cent
er o
fro
tatio
n
J = M times R 2+112 times M times (a 2 + b 2 )[kgm2]
a [m]
b [m]R [m]
Cent
er o
fro
tatio
n
Mass M [kg]
The travel time changes according to the load inertia See the tables below to check the travel time data
Travel Time Guide3
The data in the tables are for a reference only and do not guarantee the actual travel times
(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)
0
0005
009
012
017
022
0005
001
010
012
017
022
001
002
011
014
019
024
002
003
012
016
021
026
003
004
013
017
023
027
004
005
014
018
024
029
005
006
015
020
027
032
006
007
017
022
029
035
007
008
019
024
032
038
008
009
021
026
035
041
009
01
023
029
037
044
01
02
039
048
060
069
02
03
062
073
089
100
03
04
070
083
101
114
04
05
087
102
122
136
05
06
111
123
142
168
LH18C
LT18C
Continuous Operation Area
LT18C type LH18C type
(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)
0
0005
0098
0129
0192
0254
0005
001
0096
0128
019
0252
001
0015
0096
0127
019
0252
002
002
0097
0128
0191
0253
002
003
0099
0131
0193
0256
003
004
0104
0136
0199
0262
004
006
0113
0144
0207
027
006
008
012
0153
0215
0278
008
01
0126
0163
0225
0288
010
015
014
0184
0249
0312
015
02
0157
0208
0279
0341
02
03
0207
0268
0354
042
03
04
0257
0329
0428
0504
04
06
0352
044
0562
0655
06
08
0447
0549
0692
08
08
1
053
0646
0806
0925
10
12
0629
0758
0933
1064
12
14
0795
0941
1133
1274
14
18
0875
1035
1257
1415
Check Operating Conditions2Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DDA motor specications to determine whether the DDA motor can be used under the applicable operating conditions Please contact IAI for assistance To
rque
(Nm
)
Curr
ent [
Arm
s]
Angular velocity [degs]
AccelerationDeceleration Area
Torq
ue (N
m)
Curr
ent [
Arm
s]
Angular velocity [degs]
AccelerationDeceleration Area
Rating areaRating area
270deg travel time [sec]180deg travel time [sec]
90deg travel time [sec]45deg travel time [sec]
Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]
270deg travel time [sec]180deg travel time [sec]
90deg travel time [sec]45deg travel time [sec]
Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]
Selecting the DD Motor
17
DDA(CR) Direct Drive Motor
CB-X-MACB-XEU-MA
Modelnumber
Motor robot cableEU motor robot cable
forDDA(CR)-LT18
L
Controller side
4
1
1
4
Wire
075sqGreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
GreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
PEUVW
No1234
Actuator side
(10)(20)
(Front view)(Front view)
(16)
(oslash9) (2
1)
(18)
(41)
Signal
Minimum bending R r = 51 mm or more (for movable use) If the cable must be guided in a cable track use a robot cable
Enter the cable length (L) into Compatible to a Maximum of 30 meters Ex 080 = 8m
Minimum bending R r = 51 mm or more (for movable use)Only robot cable is available for this model
1
(16)
(F (Front view)ront view)
(41)
(41)
234
1234
UVWPE
RedWhiteBlackGreen
PESignal NoWire
Controller side
075sq 075sq(crimped)
Color oN langiS Color Wire
UVW
GreenRed
WhiteBlack
Actuator side
(Fig Motor robot cable CB-X-MA with plastic connector)
(Fig EU motor robot cable CB-XEU-MA EU version with M18 plastic round connector)
4
17
L
1
2 3
1
Color Wire
075sq
No Signal Color
(crimped)
PEUVW
123
CB-XMC-MACB-XEUMC-MA
Modelnumber
Motor robot cableEU motor robot cable
forDDA(CR)-HT18
Controller side
Wire
125sqGreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
GreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
PEUVW
No1234
Actuator side
Signal
Minimum bending R r = 55 mm or more (for movable use) If the cable must be guided in a cable track use a robot cable
Enter the cable length (L) into Compatible to a Maximum of 30 meters Ex 080 = 8m
Minimum bending R r = 55 mm or more (for movable use)Only robot cable is available for this model
1
(16)
(F (Front view)ront view)
(41)
234
1234
UVWPE
RedWhiteBlackGreen
PESignal NoWire
Controller side
125sq 125sq(crimped)
Color oN langiS Color Wire
UVW
GreenRed
WhiteBlack
Actuator side
(Fig Motor robot cable CB-XMC-MA with plastic connector)
(Fig EU motor robot cable CB-XEUMC-MA EU version with M18 plastic round connector)
4
17
L
1
2 3
1
Color Wire
125sq
No Signal Color
(crimped)
PEUVW
123
Cables
L
4
1
1
4(Front view)
(16)(21)
(11)
(16)
18
DDA(CR) Direct Drive Motor
Maintenance Parts
(oslash9)
DDADDACR Series Catalogue No 1116-E Version CJ0242-1A
CB-DDB-BKModelnumber
forDDA(CR) with brake optionBrake cable
Enter the cable length (L) into Compatible to a Maximum of 20 meters Ex 080 = 8m
Maintenance Parts
(41) (14)(15)
Controller side
(13)
(37)
(Front view) (Front view)
(25)
Actuator side
13
114
26
Ground wire and braided shield
AWG26(crimped)
WhiteblueWhiteyellowWhiteredWhiteblackWhitepurpleWhitegray
Whiteorangendash
(Ground)Orange
GreenPurple
GrayRed
BlackWhitegreen
BlueYellow
No Signal Color Wire
The shield is connected to the hood by a clamp
AWG26 (soldered)
Wire10111213262524239
181912345678
14151617202122
123456789
101112131415161718
AĀBBZZ
LS+ndash
FGSDSD
BAT+BAT-VCCGNDLS-BK-BK+
ndashndash
E24VOVLS
CREEPOTRSV
ndashndashndash
A+A-B+B-Z+Z-
SRD+SRD-BAT+BAT-VCCGNDBKR-BKR+
ndash
ndashndashndash
WhitegreenWhiteorange
WhitegreenWhiteorange
Whitegreen
Whiteorange
ndashndashndashndashndashndash
WhiteblueWhiteyellowWhitered
WhiteblackWhitepurpleWhitegray
WhiteblueWhiteyellow Whiteblue
WhiteyellowWhiteredWhiteblackWhitepurpleWhitegray
WhiteredWhiteblackWhitepurpleWhitegray
OrangeGreenPurple
GrayRed
BlackBlue
Yellowndash
NoSignalColor(oslash
10)
L
1
9 18
10
Minimum bending R r = 58 mm or more (for movable use) If the cable must be guided in a cable track use a robot cable
(Fig Encoder robot cable CB-X3-PA with plastic connector)
Controller side Actuator side
Minimum bending R r = 58 mm or more (for movable use)
(Front view)
L (13)
(37)
1
13
14
26
(41)
Ground wire and braided shield
Color WireSignalNo
AWG26soldered
Blue
SD1 OrangeSD2
3456789
Green
VCC10
PurpleGND11 BlackBAT+12
Yellow
BAT-13 Grey
BK-141516
Red
BK+A shield is connected to shield soldered part
AWG26(soldered)
212017
22
6
16151487
3
54
21
25
1819
2324
9
1011121326
No
ndashBKR+BKR-GND
Z-
BAT+
VCCBATndash
SRD-SRD+
B+
Z+B-
Z-
B+
Z+B-
A-A+
A-A+
CREEP
ndashndashndash
OTRSV
E24V0VLS
LS+
LS-
ndashndash
---
------
BlueYellow
Orange
PurpleGreen
Black
GreyRed
-The shield is clamped to the hood
Color SignalWire
(Fig EU encoder robot cable CB-XEU3-PA EU version with metal connector)
(Front view)
4 1
16 13 10
9 5
14
CB-X3-PACB-XEU3-PA
Modelnumber
Encoder robot cableEU encoder robot cable
forDDA(CR)
Enter the cable length (L) into Compatible to a Maximum of 30 meters Ex 080 = 8m
31
31
J11SF-03V-KX J11SFM-03V-KXNoNo SignalSignal ColorColor WiringWiring
AWG20(crimped)
Red
Black
White
Red
Black
White
+
-
FG
+
-
FG
321
321
AWG20(crimped)
Controller side Actuator side
tor side(Front view) (Front view)
L
(44) (167)
(80
)
(84)(293)
(92
)
(oslash5
4)
IAI America IncIAI Industrieroboter GmbHEurope Headquarters Ober der Roumlth 4 D-65824 Schwalbach Germany
IAI CORPORATIONCorporate Headquarters577-1 Obane Shimizu-Ku Shizuoka 424-0103 Japan Phone +81-543-64-5105 Fax +81-543-64-5192
IAI (Shanghai) Co LtdChina HeadquartersShanghai Jiahua Business Centee A8-303808Hongqiao Rd Shanghai 200030 ChinaPhone +86-21-6448-4753 Fax +86-21-6448-3992
America Headquarters2690 W 237th Street Torrance CA 90505 USA
wwwintelligentactuatorde
Phone +49-6196-8895-0 Fax +49-6196-8895-24 Phone +1-310-891-6015 Fax +1-310-891-0815
DDA-LT18C
Controller is not included
P
O I N T
SelectionNotes
(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 30m Specify a desired length in meters (Example X08 = 8m)
(Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control
(Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type
Legend Cable length Option
ModelSpecications
(1) SCON and XSEL have dierent minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information
Options
Cable Length
Name Option code
Cable exits from the bottom A0
Cable exits from the side A1
Flange FL
Please refer to P18 for more information regarding the maintenance cables
1 Indexing accuracy is supported when connected to SCON-CB
DDACR-LT18C
Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198arcsec) 20-bit plusmn000103deg (plusmn37arcsec)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45arcsec) 20-bit plusmn000833deg (plusmn30arcsec)Allowable load moment (Note 2) 80Nmiddotm
Encoder resolution 17-bit 131 072 pulsesrev20-bit 1 048 576 pulsesrev
Allowable thrust load (Note 2) Forward 3100N Reverse 250NBase material AluminumAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)
Cleanroom specication
Cleanliness ISO class 4 (US class 10M25 US FED STD 209DE)Suction amount 35Nℓmin
Weight 58kg
Common Specications
Encoder type Model number Motor
wattage (W)
Operation range (deg) (1)
Speed (degs) (Note 1)
Rated torque (Nmiddotm) (2)
Maximum instantaneous torque (Nmiddotm)
Allowable inertia
moment (kgmiddotm2)
Rotor inertia (kgmiddotm2)
17-bit index absolute type DDA (CR)-LT18CS-AI-200-360-T2-① -②
200
0~359999 deg
1~1080 (1~1800) 84 252 06 00043
17-bit multi-rotation absolute type DDA (CR)-LT18CS-AM-200-360-T2-① -② plusmn9999 deg max
20-bit index absolute type DDA (CR)-LT18CP-AI-200-360-T2-① -② 0~359999 deg
20-bit multi-rotation absolute type DDA (CR)-LT18CP-AM-200-360-T2-① -② plusmn2520 deg max
(Note) A0 (cable exits from the bottom) option and FL (ange) option cannot be selected together
Thrust (axial) run-out (No load) 30μm
Radial run-out (No load) 30μm
Run-out of Output Shaft
LargeHollow
Bore
SlimType
Please refer to P16 for more information on the installation method
Horizontal
Side
Vert
ical
Ceiling
Model Specication Items
DDADDACR LT18C 200 360 T2
Series Type Encoder Type
Motor Type
Operation Range
Applicable Controllers
Cable Length Options
DDA StandardDDACR Cleanroom
specication
S Standard (17-bit)
P High resolution (20-bit)
AI Index absolute type
AM Multi-rotation absolute type
200 200W 360 360 deg T2 SCON XSEL-PQ XSEL-RASA
Note Only SCONapplys forLT18CP
N None S 3m M 5m X Specied
length
Please refer to the options table below Please make sure to
specify either A0 or A1 for the cable exit direction
5
DDA(CR) Direct Drive Motor
BasiclyFlange-
less
LargeHollow
Bore
SlimType
BasiclyFlange-
less
Clean-roomSpec
Cable type
Cable code
Standard
S (3m) M (5m)
Specied length
X06 (6m) ~ X10 (10m) X11 (11m) ~ X30 (30m)
Motor connector
Encoder connector
32 or
less
11 500plusmn30
24
77
615
45
oslash6 Compatible tube diameter
Air JointCR speci cation only
R100 or less
2-oslash4 H7 depth 3For workpiece positioning
6-M5 effective depth 8For workpiece mounting
PCD102 plusmn01
oslash 52
Hollo
w b
ore
28
oslash 83
24
Air JointCR specification only
Motor connector
Encoder connector
Rotating part of the work mounting surface
oslash180
oslash110h7 -00350
70plusmn0
3
4
oslash178h8 -00630
500plusmn30
(oslash21
)
32 or less
138
158
oslash116
35
003 A 003 A
A
75plusmn0
1
8-M6 effective depth 13PCD148 plusmn01
75plusmn0
1
225degoslash5 H7 depth 5For body positioning
Body mounting surfaceBody positioning oblong hole
2
R25
5+00120 depth 5
Detail view of SS
CAD drawings can be downloaded from our website
wwwintelligentactuatorde2D
CAD2D
CAD3D
CAD3D
CAD
Dimensions
Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use
LT18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers
Name External view
Max number of controlled axes Power supply voltage Control method Maximum number of
positioning pointsReference
pagePositioner Pulse-train Program Network Option
SCON-CBCGB 1Single-phase
230VAC -
Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information
512 (768 for network spec)
P14
SCON-LCLCG 1Single-phase
230VAC- -
512 (768 for network spec)
P14
XSEL-PQRASA 8Single-phase 230VACThree-phase 230VAC
- - 53332
(Depending on the type)P15
(Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side
6
DDA(CR) Direct Drive Motor
Options
P
O I N T
SelectionNotes
(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 20m Specify a desired length in meters (Example X08 = 8m)
(Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control
(Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type
(Note 6) The brake is used for retention purposes only so damage may be caused if it is actually used in attempts to slow or stop the actuator
ModelSpecications
Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198arcsec) 20-bit plusmn000103deg (plusmn37arcsec)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45arcsec) 20-bit plusmn000833deg (plusmn30arcsec)Allowable load moment (Note 2) 80Nmiddotm
Encoder resolution 17-bit 131 072 pulsesrev 20-bit 1 048 576 pulsesrev
Allowable thrust load (Note 2) Forward 3100N Reverse 250NBrake retaining torque 25NmiddotmBase material AluminumAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)Weight 87kg
Common Specications
Thrust (axial) run-out (No load) 30μm
Radial run-out (No load) 30μm
Run-out of Output Shaft
1 Indexing accuracy is supported when connected to SCON-CB
Encoder type Model number Motor
wattage (W)
Operation range (deg) (1)
Speed (degs) (Note 1)
Rated torque (Nmiddotm) (2)
Maximum instantaneous torque (Nmiddotm)
Allowable inertia
moment (kgmiddotm2)
Rotor inertia (kgmiddotm2)
17-bit index absolute type DDA-LT18CS-AI-200-360-T2-① -② -B
200
0~359999 deg
1~1080 (1~1800) 84 252 06 00043
17-bit multi-rotation absolute type DDA-LT18CS-AM-200-360-T2-① -② -B plusmn9999 deg max
20-bit index absolute type DDA-LT18CP-AI-200-360-T2-① -② -B 0~359999 deg
20-bit multi-rotation absolute type DDA-LT18CP-AM-200-360-T2-① -② -B plusmn2520 deg max
Name Option code
Cable exits from the bottom A0
Cable exits from the side A1
Brake (With brake box) 1 B
1 A brake cable is not supplied if N (None) is selected as the cable length Please order a brake cable as a separate item in that case
Controller is not included
DDA-LT18C-B
Model Specication Items
DDA LT18C 200 360 T2 BSeries Type Encoder
TypeMotor Type
Operation Range
Applicable Controllers
Cable Length Options Option
S Standard (17-bit)
P High resolution (20-bit)
AI Index absolute type
AM Multi-rotation absolute type
200 200W 360 360 deg T2 SCON XSEL-PQ XSEL-RASA
Note Only SCONapplys forLT18CP
N None S 3m M 5m X Specied
length
Please refer to the options table below Please make sure to
specify either A0 or A1 for the cable exit direction
B Brake
(1) SCON and XSEL have dierent minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information
Legend Cable length Option
Please refer to P16 for more information on the installation method
Horizontal
Side
Vert
ical
Ceiling
7
DDA Direct Drive Motor
Flange-less withBrake
LargeHollow
Bore
SlimType
Without CE Conformity
X
Cable Length
Please refer to P18 for more information regarding the maintenance cables
Cable type
Cable code
Standard
S (3m) M (5m)
Specied length
X06 (6m) ~ X10 (10m) X11 (11m) ~ X20 (20m)
Dimensions
Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use
LT18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers
Name External view
Max number of controlled axes Power supply voltage Control method Maximum number of
positioning pointsReference
pagePositioner Pulse-train Program Network Option
SCON-CBCGB 1Single-phase
230VAC -
Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information
512 (768 for network spec)
P14
SCON-LCLCG 1Single-phase
230VAC- -
512 (768 for network spec)
P14
XSEL-PQRASA 8Single-phase 230VACThree-phase 230VAC
- - 53332
(Depending on the type)P15
(Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side
Motor connector
Encoder connector
32 o
r les
s
500+500
oslash1235
45 o
r les
s
500plusmn30
Brake connector
oslash 35
Hol
low
bor
e
24
77
Motor connector
Encoder connector
45 o
r les
s
oslash1235500+50
0
Brake connector
oslash35
Hol
low
bor
e
R100 or less
2-oslash4 H7 depth 3For workpiece positioning
6-M5 effective depth 8For workpiece mounting
PCD102 plusmn01
oslash 52
Hol
low
bor
e
oslash 83
Rotating part of the work mounting surface
oslash180
oslash110h7 -00350
70plusmn0
3
4
oslash178h8 -00630
500plusmn30
oslash21
32 or less
138
158
oslash116
35
003 A 003 A
A
75plusmn0
1
8-M6 effective depth 13PCD148 plusmn01
75plusmn0
1
225degoslash5 H7 depth 5For body positioning
Body mounting surfaceBody positioning oblong hole
S
2
R25
5+00120 depth 5
Detail view of S
24
CAD drawings can be downloaded from our website
wwwintelligentactuatorde2D
CAD2D
CAD3D
CAD3D
CAD
8
DDA Direct Drive Motor
P
O I N T
SelectionNotes
(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 30m Specify a desired length in meters (Example X08 = 8m)
(Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control
(Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type
ModelSpecications
1 Indexing accuracy is supported when connected to SCON-CB
Thrust (axial) run-out (No load) 30μm
Radial run-out (No load) 30μm
Run-out of Output Shaft
Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198arcsec) 20-bit plusmn000103deg (plusmn37arcsec)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45arcsec) 20-bit plusmn000833deg (plusmn30arcsec)Allowable load moment (Note 2) 80Nmiddotm
Encoder resolution 17-bit 131 072 pulsesrev20-bit 1 048 576 pulsesrev
Allowable thrust load (Note 2) Forward 3100N Reverse 250NBase material AluminumAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)
Cleanroom specication
Cleanliness ISO class 4 (US class 10M25 US FED STD 209DE)Suction amount 35Nℓmin
Weight 13kg
Common Specications
Encoder type Model number Motor
wattage (W)
Operation range (deg) (1)
Speed (degs) (Note 1)
Rated torque (Nmiddotm) (2)
Maximum instantaneous torque (Nmiddotm)
Allowable inertia
moment (kgmiddotm2)
Rotor inertia (kgmiddotm2)
17-bit index absolute type DDA (CR)-LH18CS-AI-600-360-T2-① -②
600
0~359999 deg
1~800 (1~1440) 25 75 18 00092
17-bit multi-rotation absolute type DDA (CR)-LH18CS-AM-600-360-T2-① -② plusmn9999 deg max
20-bit index absolute type DDA (CR)-LH18CP-AI-600-360-T2-① -② 0~359999 deg
20-bit multi-rotation absolute type DDA (CR)-LH18CP-AM-600-360-T2-① -② plusmn2520 deg max
Options
Name Option code
Cable exits from the bottom A0
Cable exits from the side A1
Flange FL
(Note) A0 (cable exits from the bottom) option and FL (ange) option cannot be selected together
DDA-LH18C
Controller is not included
DDACR-LH18C Model
Specication Items
DDADDACR LH18C 600 360 T2
Series Type Encoder Type
Motor Type
Operation Range
Applicable Controllers
Cable Length Options
DDA StandardDDACR Cleanroom
specication
S Standard (17-bit)
P High resolution (20-bit)
AI Index absolute type
AM Multi-rotation absolute type
600 600W 360 360 deg T2 SCON XSEL-PQ XSEL-RASA
Note Only SCONapplys forLH18CP
N None S 3m M 5m X Specied
length
Please refer to the options table below Please make sure to
specify either A0 or A1 for the cable exit direction
(1) SCON and XSEL have dierent minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information
Legend Cable length Option
Please refer to P16 for more information on the installation method
Horizontal
Side
Vert
ical
Ceiling
9
DDA(CR) Direct Drive Motor
Cable Length
Please refer to P18 for more information regarding the maintenance cables
Cable type
Cable code
Standard
S (3m) M (5m)
Specied length
X06 (6m) ~ X10 (10m) X11 (11m) ~ X30 (30m)
LargeHollow
Bore
HighTorque
Type
BasiclyFlange-
less
LargeHollow
Bore
HighTorque
Type
BasiclyFlange-
less
Clean-roomSpec
Dimensions
Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use
LH18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers
Name External view
Max number of controlled axes Power supply voltage Control method Maximum number of
positioning pointsReference
pagePositioner Pulse-train Program Network Option
SCON-CBCGB 1Single-phase
230VAC -
Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information
512 (768 for network spec)
P14
SCON-LCLCG 1Single-phase
230VAC- -
512 (768 for network spec)
P14
XSEL-PQRASA 8Single-phase 230VACThree-phase 230VAC
- - 53332
(Depending on the type)P15
(Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side
Encoder connector
Motor connector
45
615
24
77
oslash6 Compatible tube diameter
Air JointCR speci cation only
32 o
r les
s11
500plusmn30
R100 or less
2-oslash4 H7 depth 3For workpiece positioning
6-M6 effective depth 12For workpiece mounting
PCD102plusmn01
oslash 52
Hol
low
bor
e
oslash 83
2428
Rotating part of the work mounting surface Encoder connector
Motor connector
Air JointCR specification only
75plusmn0
1
8-M8 effective depth 16PCD148 plusmn01
75plusmn0
1
oslash5 H7 depth 5For body positioning 225deg
Body mounting surfaceBody positioning oblong hole
oslash110h7 -00350
oslash116oslash180
oslash178h8 -00630
412
28
plusmn03
32 or less
oslash 21
500plusmn30
35
138
158
003 A
003 A
A
5 +00120 depth 5
2
R25
Detail view of S
S
CAD drawings can be downloaded from our website
wwwintelligentactuatorde2D
CAD2D
CAD3D
CAD3D
CAD
10
DDA(CR) Direct Drive Motor
1 A brake cable is not supplied if N (None) is selected as the cable length Please order a brake cable as a separate item in that case
Options
ModelSpecications
Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198arcsec) 20-bit plusmn000103deg (plusmn37arcsec)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45arcsec) 20-bit plusmn000833deg (plusmn30arcsec)Allowable load moment (Note 2) 80Nmiddotm
Encoder resolution 17-bit 131 072 pulsesrev20-bit 1 048 576 pulsesrev
Allowable thrust load (Note 2) Forward 3100N Reverse 250NBase material AluminumBrake retaining torque 50NmiddotmAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)Weight 174kg
Common Specications
Thrust (axial) run-out (No load) 30μm
Radial run-out (No load) 30μm
Run-out of Output Shaft
Encoder type Model number Motor
wattage (W)
Operation range (deg) (1)
Speed (degs) (Note 1)
Rated torque (Nmiddotm) (2)
Maximum instantaneous torque (Nmiddotm)
Allowable inertia
moment (kgmiddotm2)
Rotor inertia (kgmiddotm2)
17-bit index absolute type DDA-LH18CS-AI-600-360-T2-① -② -B
600
0~359999 deg
1~800 (1~1440) 25 75 18 00092
17-bit multi-rotation absolute type DDA-LH18CS-AM-600-360-T2-① -② -B plusmn9999 deg max
20-bit index absolute type DDA-LH18CP-AI-600-360-T2-① -② -B 0~359999 deg
20-bit multi-rotation absolute type DDA-LH18CP-AM-600-360-T2-① -② -B plusmn2520 deg max
Name Option code
Cable exits from the bottom A0
Cable exits from the side A1
Brake (With brake box) 1 B
1 Indexing accuracy is supported when connected to SCON-CB
Controller is not included
DDA-LH18C-B
(1) SCON and XSEL have dierent minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information
P
O I N T
SelectionNotes
(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 20m Specify a desired length in meters (Example X08 = 8m)
(Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control
(Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type
(Note 6) The brake is used for retention purposes only so damagemay be caused if it is actually used in attempts to slow or stop the actuator
Legend Cable length Option
Please refer to P16 for more information on the installation method
Horizontal
Side
Vert
ical
Ceiling
Model Specication Items
DDA LH18C 600 360 T2 BSeries Type Encoder
TypeMotor Type
Operation Range
Applicable Controllers
Cable Length Options Option
S Standard (17-bit)
P High resolution (20-bit)
AI Index absolute type
AM Multi-rotation absolute type
600 600W 360 360 deg T2 SCON XSEL-PQ XSEL-RASA
Note Only SCONapplys forLH18CP
N None S 3m M 5m X Specied
length
Please refer to the options table below Please make sure to
specify either A0 or A1 for the cable exit direction
B Brake
11
DDA Direct Drive Motor
Flange-less withBrake
LargeHollow
Bore
HighTorque
Type Without CE Conformity
X
Cable Length
Please refer to P18 for more information regarding the maintenance cables
Cable type
Cable code
Standard
S (3m) M (5m)
Specied length
X06 (6m) ~ X10 (10m) X11 (11m) ~ X20 (20m)
Dimensions
Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use
LH18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers
Name External view
Max number of controlled axes Power supply voltage Control method Maximum number of
positioning pointsReference
pagePositioner Pulse-train Program Network Option
SCON-CBCGB 1Single-phase
230VAC -
Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information
512 (768 for network spec)
P14
SCON-LCLCG 1Single-phase
230VAC- -
512 (768 for network spec)
P14
XSEL-PQRASA 8Single-phase 230VACThree-phase 230VAC
- - 53332
(Depending on the type)P15
(Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side
Encoder connector
Motor connector
oslash 35
Hol
low
bor
e
32 o
r les
s
oslash1235
645
or l
ess
500+500
500plusmn30
Brake connector
24
77
Encoder connector
Motor connector
oslash 35
Hol
low
bor
e64
5 o
r les
s
oslash1235500+50
0
Brake connector
R100 or less
2-oslash4 H7 depth 3For workpiece positioning
6-M6 effective depth 12For workpiece mounting
PCD102 plusmn01
oslash 52
Hol
low
bor
e
oslash 83
Rotating part of the work mounting surface
oslash110h7 -00035
oslash116oslash180
oslash178h8 -00063
412
28
plusmn03
32 or less
oslash21
500plusmn30
35
138
158
003 A
003 A
A
75plusmn0
1
8-M8 effective depth 16PCD148 plusmn01
75plusmn0
1
oslash5 H7 depth 5For body positioning 225deg
Body mounting surfaceBody positioning oblong hole
S 5 +00120 depth 5
2
R25
Detail view of S24
CAD drawings can be downloaded from our website
wwwintelligentactuatorde2D
CAD2D
CAD3D
CAD3D
CAD
12
DDA Direct Drive Motor
OptionsIt is a retention mechanism for holding the stop position when the power or servo is OFF to prevent the workpieces and attachments from being damaged when used in side or vertical positions Be sure to connect a brake box for models with brake
A bracket that attaches to the body with bolts from the top side
Brake
Flange
Option Code B
Option Code FL
Brake Box
Wiring Diagram When Brake Box is Used
DDA-LT18CModel Number DDA-FL-LT18
Model Number IA-110-DD-4
DDA-LH18CModel Number DDA-FL-LH18
PCD200
PCD200
plusmn0075plusmn0075
55deg
55deg
180
180
180180
160
160
plusmn01
plusmn01
160160 plusmn01plusmn01
4-oslash1
1thr
ough
2-oslash6H
7 through
135
135
815
815
plusmn04
plusmn04
oslash1245
55deg
55deg
PCD
PCD200plusmn0075200plusmn0075
180
180
180180160160 plusmn01plusmn01
160
160
plusmn01
plusmn01
2-oslash6H7 through
4-oslash1
1thr
ough
155
15513
63
136
3plusmn0
4plusmn0
4
oslash1245
PWRON
BKOUT
+ - C E
BKRMT
RLSBKOUT
PWRPE N L
MODEL IA-110-DD-4SN INPUT Single phase 100-240V
MADE IN JAPAN
5060Hz 10A maxOUTPUT 12VDC 06A
PWRON
BKOUT
+ - C E
BKRMT
RLSBKOUT
PWRPE N L
MODEL IA-110-DD-4SN INPUT Single phase 100-240V
MADE IN JAPAN
5060Hz 10A maxOUTPUT 12VDC 06A
ControllerSCON-CBXSEL-PQRASADDA
Motor cableModel CB-X(EU)-MA CB-X(EU)MC-MA
Brake box
EU cable version w metal connector
Encoder cableModel CB-X(EU)3-PA010(Comes with the brake box)
Encoder cableModel CB-X(EU)3-PA
Brake cableModel CB-DDB-BK Main power supply
100VAC~240VAC
13
DDA(CR) Direct Drive Motor
Position Controller
Controller Model
System Configuration
Positioner Single-axis Type ltSCONgt Model
Power Supply Voltage
IO TypeEncoder Type Motor Type Type Series SCON
IO Cable Length
AIAM
2
The 200W motor used by the DDA is larger than a normal 200W motor so the motor type for the controller will be 200S and its size will be larger than the 400W motor
For 200W motorFor 600W motor
200S600
High-function typeSafety category compliant type
CBCGB
PLC equipped typeSafety category PLC equipped type
LCLCG
Motor cableModel CB-X(EU)-MA (LT18C)
CB-X(EU)MC-MA (LH18C)
SCON PC
DDA
PLC(To be supplied by the customer)
IO flat cableModel CB-PAC-PIO020Standard 2m
2 Be sure to use a noise filter on the power supply
( )Encoder cableModel CB-X(EU)3-PA
PC compatible softwareRS232 connection versionModel RCM-101-MWUSB connection versionModel RCM-101-USB(Please contact IAI for more details)
Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)
Regenerative resistor unitModel RESU-2RESUD-2(Please contact IAI for more details)
1 The wiring diagram is different for models with brakes Please refer to P13 for more information
1
Single-phase 230VAC Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models
Main powersupply 2
Field network
DDA
Option
Supplied with the actuator
Supplied with the controller
Supplied with the actuator Option
Option
Option
When the SCON Controller is Connected
When a eld network specication is selectedthe IO cable length will be 0
Index absolute typeMulti-rotation abs type
NPPN
PIO NPN (Standard)
PIO PNP
DVCN
DeviceNet
CompoNet
CC CC-Link
ML3PR
MECHATROLINK-III
PROFIBUS-DP
02
35
No cable2m (Standard)
3m5m
EC EtherCAT
EP EtherNetIP
PRT PROFINET IO
For recommended modelsplease contact IAI
Model
External view
IO type
IO type code
CompoNet connection
PROFIBUS-DP connection
CC-Linkconnection
DeviceNetconnection
PIO connection specification (1)
NPPN DV CC PR
Standard Field network type (1)
CN mdash
mdash
mdash
SCON-CB
EtherNetIP connection
PROFINET IO connection
EtherCATconnection
EC EP PRT
List of Models
MECHATROLINK- III
connection
ML3
Applicable encoder type(Note) The index absolute type cannot be used in the pulse-train control and MECHATROLINK-III control(1) Please note that the network specifications cannot be operated on the PIO or pulse-train The PLC type (LCLCG) cannot be connected on the pulse-train
Index absoluteMulti-rotation absoluteIndex absolute Multi-rotation absolute
CBCGB CBCGB LCLCG
14
SCON Controller
EU version w metal connector
Program Controller
List of Models
Model P Q RA SA
Type Large-capacity type Large-capacity type (Safety category specication) High-function type High-function type
(Safety category specication)
External view
DescriptionLarge-capacity type
that can control up to 6 axes 2400W
Large-capacity type thats compatible with the
safety category 4
High-function type that allows up to 8-axis operation
Safety category 4 compatible high-function type
Controller Model
System Configuration
Program Multi-axis Type ltXSELgt Model
Encoder Type
Encoder Type
Motor Type
Motor Type
Number ofConnected
AxesType Series Option Option
XSEL
200 For 200W motor
600 For 600W motor
B BrakePQRASA
6-axis type6-axis safety category type8-axis type8-axis safety category type
8
1
~ ~
1 axis
8 axes
(PQ type is up to 6 axes)
(Details of the 1st axis) (Details of the 2nd~8th axis)
It can simultaneously operate actuators (single-axis robot and RoboCylinder) otherthan the DDA motor on a single controller For connectable actuators other than the DDA motor please contact IAI
For subsequent models please contact IAI
Notes
AIAM
Index absolute typeMulti-rotation absolute type
When the XSEL Controller is Connected
2 Be sure to use a noise filter on the power supply
Motor cableModel CB-X(EU)-MA (LT18C) CB-X(EU)MC-MA (LH18C)
XSELPC
PLC(To be supplied by the customer)
PC compatible softwareRS232 connection versionModel IA-101-X-MWUSB connection versionModel IA-101-X-USBMW(Please contact IAI for more details)
Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)
Single-phase 230VACThree-phase 230VAC
Regenerative resistor unitModel RESU-1RESUD-1(Please contact IAI for more details)
Option Option
Option
Field networkOption
IO flat cableModel CB-X-PIO020Standard 2m
Supplied with the controller
Encoder cableModel CB-X(EU)3-PA
Supplied with the actuator
Supplied with the actuator
Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models
1
1 The wiring diagram is different for models with brakes Please refer to P13 for more information
DDA
Main powersupply 2 ( )For recommended models
please contact IAI
15
XSEL Controller
EU version w metal connector
Precautions
Installation
Installation Orientation
Mountingsurface
For models with brake and cable exit direction to the bottom a clearance hole is required
Ceiling mount
Horizontal mount
Vertical mount
Gra
vity
Operation TypeThis product is available in 2 operation types depending on the operation conditions Please check the features and precautions on each type before use
(1)The high resolution specification can be connected only to the SCON-CB(2)When the XSEL index type travels more than 180deg from the current position it rotates in a direction that requires a shorter travel distance to
reach the target position Therefore please note that the direction of rotation changes according to the current position and travel distance If you want to specify the direction of travel use the SCON-CB
(3)The index type can be rotated in a given direction infinitely 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-CB
(4)Home return is required for the multi-rotation absolute encoder during the initial setting and replacement of the absolute battery
Absolute batteryHome return operationLimitless rotation
Maximum amount of movement in a single movement command
Operation rangeController typeOperation type
Not requiredNot required
Yes (3)
0~359999deg
Index absolute type
RequiredNot required (4)
No
Above operation rangeplusmn9999deg (plusmn2520deg) max
Multi-rotation absolute typeSCON-CB XSEL(1)
( ) is for 20-bit
(Note) Use this product by installing it on a mounting surface having heat dissipating characteristics equivalent to those of an aluminum plate of w450mm times d450mm times t12mm in size If the installation conditions necessitate lower heat dissipating characteristics please consult IAI
ControllersFor the DDA with 200W motor the outside dimensions of the SCON-CB controller will be the same as the size of the
400W motor (Please contact IAI for the details of the SCON-CB controller)One and two regenerative resistor unit(s) are required for LT18C and LH18C respectively to operate a DDA
motor with the SCON-CBWhen operating DDA motor(s) with the XSEL controller regenerative resistor units are required as shown below
The number of DDA motor(s) connectable to the XSEL controller is a max of 8 units for the LT18C type and a max of 2 units for the LH18C type
Please note that when the DDA motor is operated with the SCON-CB the motor cannot be connected to the Robo Cylinder gateway function of the XSEL controller
Calculation for the power supply value LT18C type single-phase 600W three-phase 200W LH18C type single-phase 1200W three-phase 600W
Number of regenerative resistor units
1 2 3 4 5 6 7 81 2 3
(Cannot be connected)4
2 4LT18CLH18C
Number of DD motor(s)
360deg
SCON-CB XSEL(1)
180deg(2)
16
DDA(CR) Direct Drive Motor
Conditions for Selection
The followings should be checked to determine whether the DDA motor can be used to suit the specific conditions required by the customer
The customer should confirm that the following three points under actual use do not exceed their maximum allowable levels as specified for the DDA 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
Check Load Conditions1
[1] Thrust load
[2] Load moment applied
[3] Load inertia
J = 18 times M times D 2 [kgm2]
Mass M [kg]
D [m]
Center of rotation
J = 112 times M times (a 2 + b 2) [kgm2]
a [m]
b [m]
Center of rotation
Mass M [kg]
J = M times R 2+ 18 times M times D 2 [kgm2]
Mass M [kg]
D [m]
R [m]
Cent
er o
fro
tatio
n
J = M times R 2+112 times M times (a 2 + b 2 )[kgm2]
a [m]
b [m]R [m]
Cent
er o
fro
tatio
n
Mass M [kg]
The travel time changes according to the load inertia See the tables below to check the travel time data
Travel Time Guide3
The data in the tables are for a reference only and do not guarantee the actual travel times
(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)
0
0005
009
012
017
022
0005
001
010
012
017
022
001
002
011
014
019
024
002
003
012
016
021
026
003
004
013
017
023
027
004
005
014
018
024
029
005
006
015
020
027
032
006
007
017
022
029
035
007
008
019
024
032
038
008
009
021
026
035
041
009
01
023
029
037
044
01
02
039
048
060
069
02
03
062
073
089
100
03
04
070
083
101
114
04
05
087
102
122
136
05
06
111
123
142
168
LH18C
LT18C
Continuous Operation Area
LT18C type LH18C type
(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)
0
0005
0098
0129
0192
0254
0005
001
0096
0128
019
0252
001
0015
0096
0127
019
0252
002
002
0097
0128
0191
0253
002
003
0099
0131
0193
0256
003
004
0104
0136
0199
0262
004
006
0113
0144
0207
027
006
008
012
0153
0215
0278
008
01
0126
0163
0225
0288
010
015
014
0184
0249
0312
015
02
0157
0208
0279
0341
02
03
0207
0268
0354
042
03
04
0257
0329
0428
0504
04
06
0352
044
0562
0655
06
08
0447
0549
0692
08
08
1
053
0646
0806
0925
10
12
0629
0758
0933
1064
12
14
0795
0941
1133
1274
14
18
0875
1035
1257
1415
Check Operating Conditions2Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DDA motor specications to determine whether the DDA motor can be used under the applicable operating conditions Please contact IAI for assistance To
rque
(Nm
)
Curr
ent [
Arm
s]
Angular velocity [degs]
AccelerationDeceleration Area
Torq
ue (N
m)
Curr
ent [
Arm
s]
Angular velocity [degs]
AccelerationDeceleration Area
Rating areaRating area
270deg travel time [sec]180deg travel time [sec]
90deg travel time [sec]45deg travel time [sec]
Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]
270deg travel time [sec]180deg travel time [sec]
90deg travel time [sec]45deg travel time [sec]
Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]
Selecting the DD Motor
17
DDA(CR) Direct Drive Motor
CB-X-MACB-XEU-MA
Modelnumber
Motor robot cableEU motor robot cable
forDDA(CR)-LT18
L
Controller side
4
1
1
4
Wire
075sqGreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
GreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
PEUVW
No1234
Actuator side
(10)(20)
(Front view)(Front view)
(16)
(oslash9) (2
1)
(18)
(41)
Signal
Minimum bending R r = 51 mm or more (for movable use) If the cable must be guided in a cable track use a robot cable
Enter the cable length (L) into Compatible to a Maximum of 30 meters Ex 080 = 8m
Minimum bending R r = 51 mm or more (for movable use)Only robot cable is available for this model
1
(16)
(F (Front view)ront view)
(41)
(41)
234
1234
UVWPE
RedWhiteBlackGreen
PESignal NoWire
Controller side
075sq 075sq(crimped)
Color oN langiS Color Wire
UVW
GreenRed
WhiteBlack
Actuator side
(Fig Motor robot cable CB-X-MA with plastic connector)
(Fig EU motor robot cable CB-XEU-MA EU version with M18 plastic round connector)
4
17
L
1
2 3
1
Color Wire
075sq
No Signal Color
(crimped)
PEUVW
123
CB-XMC-MACB-XEUMC-MA
Modelnumber
Motor robot cableEU motor robot cable
forDDA(CR)-HT18
Controller side
Wire
125sqGreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
GreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
PEUVW
No1234
Actuator side
Signal
Minimum bending R r = 55 mm or more (for movable use) If the cable must be guided in a cable track use a robot cable
Enter the cable length (L) into Compatible to a Maximum of 30 meters Ex 080 = 8m
Minimum bending R r = 55 mm or more (for movable use)Only robot cable is available for this model
1
(16)
(F (Front view)ront view)
(41)
234
1234
UVWPE
RedWhiteBlackGreen
PESignal NoWire
Controller side
125sq 125sq(crimped)
Color oN langiS Color Wire
UVW
GreenRed
WhiteBlack
Actuator side
(Fig Motor robot cable CB-XMC-MA with plastic connector)
(Fig EU motor robot cable CB-XEUMC-MA EU version with M18 plastic round connector)
4
17
L
1
2 3
1
Color Wire
125sq
No Signal Color
(crimped)
PEUVW
123
Cables
L
4
1
1
4(Front view)
(16)(21)
(11)
(16)
18
DDA(CR) Direct Drive Motor
Maintenance Parts
(oslash9)
DDADDACR Series Catalogue No 1116-E Version CJ0242-1A
CB-DDB-BKModelnumber
forDDA(CR) with brake optionBrake cable
Enter the cable length (L) into Compatible to a Maximum of 20 meters Ex 080 = 8m
Maintenance Parts
(41) (14)(15)
Controller side
(13)
(37)
(Front view) (Front view)
(25)
Actuator side
13
114
26
Ground wire and braided shield
AWG26(crimped)
WhiteblueWhiteyellowWhiteredWhiteblackWhitepurpleWhitegray
Whiteorangendash
(Ground)Orange
GreenPurple
GrayRed
BlackWhitegreen
BlueYellow
No Signal Color Wire
The shield is connected to the hood by a clamp
AWG26 (soldered)
Wire10111213262524239
181912345678
14151617202122
123456789
101112131415161718
AĀBBZZ
LS+ndash
FGSDSD
BAT+BAT-VCCGNDLS-BK-BK+
ndashndash
E24VOVLS
CREEPOTRSV
ndashndashndash
A+A-B+B-Z+Z-
SRD+SRD-BAT+BAT-VCCGNDBKR-BKR+
ndash
ndashndashndash
WhitegreenWhiteorange
WhitegreenWhiteorange
Whitegreen
Whiteorange
ndashndashndashndashndashndash
WhiteblueWhiteyellowWhitered
WhiteblackWhitepurpleWhitegray
WhiteblueWhiteyellow Whiteblue
WhiteyellowWhiteredWhiteblackWhitepurpleWhitegray
WhiteredWhiteblackWhitepurpleWhitegray
OrangeGreenPurple
GrayRed
BlackBlue
Yellowndash
NoSignalColor(oslash
10)
L
1
9 18
10
Minimum bending R r = 58 mm or more (for movable use) If the cable must be guided in a cable track use a robot cable
(Fig Encoder robot cable CB-X3-PA with plastic connector)
Controller side Actuator side
Minimum bending R r = 58 mm or more (for movable use)
(Front view)
L (13)
(37)
1
13
14
26
(41)
Ground wire and braided shield
Color WireSignalNo
AWG26soldered
Blue
SD1 OrangeSD2
3456789
Green
VCC10
PurpleGND11 BlackBAT+12
Yellow
BAT-13 Grey
BK-141516
Red
BK+A shield is connected to shield soldered part
AWG26(soldered)
212017
22
6
16151487
3
54
21
25
1819
2324
9
1011121326
No
ndashBKR+BKR-GND
Z-
BAT+
VCCBATndash
SRD-SRD+
B+
Z+B-
Z-
B+
Z+B-
A-A+
A-A+
CREEP
ndashndashndash
OTRSV
E24V0VLS
LS+
LS-
ndashndash
---
------
BlueYellow
Orange
PurpleGreen
Black
GreyRed
-The shield is clamped to the hood
Color SignalWire
(Fig EU encoder robot cable CB-XEU3-PA EU version with metal connector)
(Front view)
4 1
16 13 10
9 5
14
CB-X3-PACB-XEU3-PA
Modelnumber
Encoder robot cableEU encoder robot cable
forDDA(CR)
Enter the cable length (L) into Compatible to a Maximum of 30 meters Ex 080 = 8m
31
31
J11SF-03V-KX J11SFM-03V-KXNoNo SignalSignal ColorColor WiringWiring
AWG20(crimped)
Red
Black
White
Red
Black
White
+
-
FG
+
-
FG
321
321
AWG20(crimped)
Controller side Actuator side
tor side(Front view) (Front view)
L
(44) (167)
(80
)
(84)(293)
(92
)
(oslash5
4)
IAI America IncIAI Industrieroboter GmbHEurope Headquarters Ober der Roumlth 4 D-65824 Schwalbach Germany
IAI CORPORATIONCorporate Headquarters577-1 Obane Shimizu-Ku Shizuoka 424-0103 Japan Phone +81-543-64-5105 Fax +81-543-64-5192
IAI (Shanghai) Co LtdChina HeadquartersShanghai Jiahua Business Centee A8-303808Hongqiao Rd Shanghai 200030 ChinaPhone +86-21-6448-4753 Fax +86-21-6448-3992
America Headquarters2690 W 237th Street Torrance CA 90505 USA
wwwintelligentactuatorde
Phone +49-6196-8895-0 Fax +49-6196-8895-24 Phone +1-310-891-6015 Fax +1-310-891-0815
Motor connector
Encoder connector
32 or
less
11 500plusmn30
24
77
615
45
oslash6 Compatible tube diameter
Air JointCR speci cation only
R100 or less
2-oslash4 H7 depth 3For workpiece positioning
6-M5 effective depth 8For workpiece mounting
PCD102 plusmn01
oslash 52
Hollo
w b
ore
28
oslash 83
24
Air JointCR specification only
Motor connector
Encoder connector
Rotating part of the work mounting surface
oslash180
oslash110h7 -00350
70plusmn0
3
4
oslash178h8 -00630
500plusmn30
(oslash21
)
32 or less
138
158
oslash116
35
003 A 003 A
A
75plusmn0
1
8-M6 effective depth 13PCD148 plusmn01
75plusmn0
1
225degoslash5 H7 depth 5For body positioning
Body mounting surfaceBody positioning oblong hole
2
R25
5+00120 depth 5
Detail view of SS
CAD drawings can be downloaded from our website
wwwintelligentactuatorde2D
CAD2D
CAD3D
CAD3D
CAD
Dimensions
Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use
LT18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers
Name External view
Max number of controlled axes Power supply voltage Control method Maximum number of
positioning pointsReference
pagePositioner Pulse-train Program Network Option
SCON-CBCGB 1Single-phase
230VAC -
Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information
512 (768 for network spec)
P14
SCON-LCLCG 1Single-phase
230VAC- -
512 (768 for network spec)
P14
XSEL-PQRASA 8Single-phase 230VACThree-phase 230VAC
- - 53332
(Depending on the type)P15
(Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side
6
DDA(CR) Direct Drive Motor
Options
P
O I N T
SelectionNotes
(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 20m Specify a desired length in meters (Example X08 = 8m)
(Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control
(Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type
(Note 6) The brake is used for retention purposes only so damage may be caused if it is actually used in attempts to slow or stop the actuator
ModelSpecications
Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198arcsec) 20-bit plusmn000103deg (plusmn37arcsec)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45arcsec) 20-bit plusmn000833deg (plusmn30arcsec)Allowable load moment (Note 2) 80Nmiddotm
Encoder resolution 17-bit 131 072 pulsesrev 20-bit 1 048 576 pulsesrev
Allowable thrust load (Note 2) Forward 3100N Reverse 250NBrake retaining torque 25NmiddotmBase material AluminumAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)Weight 87kg
Common Specications
Thrust (axial) run-out (No load) 30μm
Radial run-out (No load) 30μm
Run-out of Output Shaft
1 Indexing accuracy is supported when connected to SCON-CB
Encoder type Model number Motor
wattage (W)
Operation range (deg) (1)
Speed (degs) (Note 1)
Rated torque (Nmiddotm) (2)
Maximum instantaneous torque (Nmiddotm)
Allowable inertia
moment (kgmiddotm2)
Rotor inertia (kgmiddotm2)
17-bit index absolute type DDA-LT18CS-AI-200-360-T2-① -② -B
200
0~359999 deg
1~1080 (1~1800) 84 252 06 00043
17-bit multi-rotation absolute type DDA-LT18CS-AM-200-360-T2-① -② -B plusmn9999 deg max
20-bit index absolute type DDA-LT18CP-AI-200-360-T2-① -② -B 0~359999 deg
20-bit multi-rotation absolute type DDA-LT18CP-AM-200-360-T2-① -② -B plusmn2520 deg max
Name Option code
Cable exits from the bottom A0
Cable exits from the side A1
Brake (With brake box) 1 B
1 A brake cable is not supplied if N (None) is selected as the cable length Please order a brake cable as a separate item in that case
Controller is not included
DDA-LT18C-B
Model Specication Items
DDA LT18C 200 360 T2 BSeries Type Encoder
TypeMotor Type
Operation Range
Applicable Controllers
Cable Length Options Option
S Standard (17-bit)
P High resolution (20-bit)
AI Index absolute type
AM Multi-rotation absolute type
200 200W 360 360 deg T2 SCON XSEL-PQ XSEL-RASA
Note Only SCONapplys forLT18CP
N None S 3m M 5m X Specied
length
Please refer to the options table below Please make sure to
specify either A0 or A1 for the cable exit direction
B Brake
(1) SCON and XSEL have dierent minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information
Legend Cable length Option
Please refer to P16 for more information on the installation method
Horizontal
Side
Vert
ical
Ceiling
7
DDA Direct Drive Motor
Flange-less withBrake
LargeHollow
Bore
SlimType
Without CE Conformity
X
Cable Length
Please refer to P18 for more information regarding the maintenance cables
Cable type
Cable code
Standard
S (3m) M (5m)
Specied length
X06 (6m) ~ X10 (10m) X11 (11m) ~ X20 (20m)
Dimensions
Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use
LT18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers
Name External view
Max number of controlled axes Power supply voltage Control method Maximum number of
positioning pointsReference
pagePositioner Pulse-train Program Network Option
SCON-CBCGB 1Single-phase
230VAC -
Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information
512 (768 for network spec)
P14
SCON-LCLCG 1Single-phase
230VAC- -
512 (768 for network spec)
P14
XSEL-PQRASA 8Single-phase 230VACThree-phase 230VAC
- - 53332
(Depending on the type)P15
(Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side
Motor connector
Encoder connector
32 o
r les
s
500+500
oslash1235
45 o
r les
s
500plusmn30
Brake connector
oslash 35
Hol
low
bor
e
24
77
Motor connector
Encoder connector
45 o
r les
s
oslash1235500+50
0
Brake connector
oslash35
Hol
low
bor
e
R100 or less
2-oslash4 H7 depth 3For workpiece positioning
6-M5 effective depth 8For workpiece mounting
PCD102 plusmn01
oslash 52
Hol
low
bor
e
oslash 83
Rotating part of the work mounting surface
oslash180
oslash110h7 -00350
70plusmn0
3
4
oslash178h8 -00630
500plusmn30
oslash21
32 or less
138
158
oslash116
35
003 A 003 A
A
75plusmn0
1
8-M6 effective depth 13PCD148 plusmn01
75plusmn0
1
225degoslash5 H7 depth 5For body positioning
Body mounting surfaceBody positioning oblong hole
S
2
R25
5+00120 depth 5
Detail view of S
24
CAD drawings can be downloaded from our website
wwwintelligentactuatorde2D
CAD2D
CAD3D
CAD3D
CAD
8
DDA Direct Drive Motor
P
O I N T
SelectionNotes
(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 30m Specify a desired length in meters (Example X08 = 8m)
(Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control
(Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type
ModelSpecications
1 Indexing accuracy is supported when connected to SCON-CB
Thrust (axial) run-out (No load) 30μm
Radial run-out (No load) 30μm
Run-out of Output Shaft
Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198arcsec) 20-bit plusmn000103deg (plusmn37arcsec)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45arcsec) 20-bit plusmn000833deg (plusmn30arcsec)Allowable load moment (Note 2) 80Nmiddotm
Encoder resolution 17-bit 131 072 pulsesrev20-bit 1 048 576 pulsesrev
Allowable thrust load (Note 2) Forward 3100N Reverse 250NBase material AluminumAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)
Cleanroom specication
Cleanliness ISO class 4 (US class 10M25 US FED STD 209DE)Suction amount 35Nℓmin
Weight 13kg
Common Specications
Encoder type Model number Motor
wattage (W)
Operation range (deg) (1)
Speed (degs) (Note 1)
Rated torque (Nmiddotm) (2)
Maximum instantaneous torque (Nmiddotm)
Allowable inertia
moment (kgmiddotm2)
Rotor inertia (kgmiddotm2)
17-bit index absolute type DDA (CR)-LH18CS-AI-600-360-T2-① -②
600
0~359999 deg
1~800 (1~1440) 25 75 18 00092
17-bit multi-rotation absolute type DDA (CR)-LH18CS-AM-600-360-T2-① -② plusmn9999 deg max
20-bit index absolute type DDA (CR)-LH18CP-AI-600-360-T2-① -② 0~359999 deg
20-bit multi-rotation absolute type DDA (CR)-LH18CP-AM-600-360-T2-① -② plusmn2520 deg max
Options
Name Option code
Cable exits from the bottom A0
Cable exits from the side A1
Flange FL
(Note) A0 (cable exits from the bottom) option and FL (ange) option cannot be selected together
DDA-LH18C
Controller is not included
DDACR-LH18C Model
Specication Items
DDADDACR LH18C 600 360 T2
Series Type Encoder Type
Motor Type
Operation Range
Applicable Controllers
Cable Length Options
DDA StandardDDACR Cleanroom
specication
S Standard (17-bit)
P High resolution (20-bit)
AI Index absolute type
AM Multi-rotation absolute type
600 600W 360 360 deg T2 SCON XSEL-PQ XSEL-RASA
Note Only SCONapplys forLH18CP
N None S 3m M 5m X Specied
length
Please refer to the options table below Please make sure to
specify either A0 or A1 for the cable exit direction
(1) SCON and XSEL have dierent minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information
Legend Cable length Option
Please refer to P16 for more information on the installation method
Horizontal
Side
Vert
ical
Ceiling
9
DDA(CR) Direct Drive Motor
Cable Length
Please refer to P18 for more information regarding the maintenance cables
Cable type
Cable code
Standard
S (3m) M (5m)
Specied length
X06 (6m) ~ X10 (10m) X11 (11m) ~ X30 (30m)
LargeHollow
Bore
HighTorque
Type
BasiclyFlange-
less
LargeHollow
Bore
HighTorque
Type
BasiclyFlange-
less
Clean-roomSpec
Dimensions
Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use
LH18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers
Name External view
Max number of controlled axes Power supply voltage Control method Maximum number of
positioning pointsReference
pagePositioner Pulse-train Program Network Option
SCON-CBCGB 1Single-phase
230VAC -
Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information
512 (768 for network spec)
P14
SCON-LCLCG 1Single-phase
230VAC- -
512 (768 for network spec)
P14
XSEL-PQRASA 8Single-phase 230VACThree-phase 230VAC
- - 53332
(Depending on the type)P15
(Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side
Encoder connector
Motor connector
45
615
24
77
oslash6 Compatible tube diameter
Air JointCR speci cation only
32 o
r les
s11
500plusmn30
R100 or less
2-oslash4 H7 depth 3For workpiece positioning
6-M6 effective depth 12For workpiece mounting
PCD102plusmn01
oslash 52
Hol
low
bor
e
oslash 83
2428
Rotating part of the work mounting surface Encoder connector
Motor connector
Air JointCR specification only
75plusmn0
1
8-M8 effective depth 16PCD148 plusmn01
75plusmn0
1
oslash5 H7 depth 5For body positioning 225deg
Body mounting surfaceBody positioning oblong hole
oslash110h7 -00350
oslash116oslash180
oslash178h8 -00630
412
28
plusmn03
32 or less
oslash 21
500plusmn30
35
138
158
003 A
003 A
A
5 +00120 depth 5
2
R25
Detail view of S
S
CAD drawings can be downloaded from our website
wwwintelligentactuatorde2D
CAD2D
CAD3D
CAD3D
CAD
10
DDA(CR) Direct Drive Motor
1 A brake cable is not supplied if N (None) is selected as the cable length Please order a brake cable as a separate item in that case
Options
ModelSpecications
Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198arcsec) 20-bit plusmn000103deg (plusmn37arcsec)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45arcsec) 20-bit plusmn000833deg (plusmn30arcsec)Allowable load moment (Note 2) 80Nmiddotm
Encoder resolution 17-bit 131 072 pulsesrev20-bit 1 048 576 pulsesrev
Allowable thrust load (Note 2) Forward 3100N Reverse 250NBase material AluminumBrake retaining torque 50NmiddotmAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)Weight 174kg
Common Specications
Thrust (axial) run-out (No load) 30μm
Radial run-out (No load) 30μm
Run-out of Output Shaft
Encoder type Model number Motor
wattage (W)
Operation range (deg) (1)
Speed (degs) (Note 1)
Rated torque (Nmiddotm) (2)
Maximum instantaneous torque (Nmiddotm)
Allowable inertia
moment (kgmiddotm2)
Rotor inertia (kgmiddotm2)
17-bit index absolute type DDA-LH18CS-AI-600-360-T2-① -② -B
600
0~359999 deg
1~800 (1~1440) 25 75 18 00092
17-bit multi-rotation absolute type DDA-LH18CS-AM-600-360-T2-① -② -B plusmn9999 deg max
20-bit index absolute type DDA-LH18CP-AI-600-360-T2-① -② -B 0~359999 deg
20-bit multi-rotation absolute type DDA-LH18CP-AM-600-360-T2-① -② -B plusmn2520 deg max
Name Option code
Cable exits from the bottom A0
Cable exits from the side A1
Brake (With brake box) 1 B
1 Indexing accuracy is supported when connected to SCON-CB
Controller is not included
DDA-LH18C-B
(1) SCON and XSEL have dierent minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information
P
O I N T
SelectionNotes
(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 20m Specify a desired length in meters (Example X08 = 8m)
(Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control
(Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type
(Note 6) The brake is used for retention purposes only so damagemay be caused if it is actually used in attempts to slow or stop the actuator
Legend Cable length Option
Please refer to P16 for more information on the installation method
Horizontal
Side
Vert
ical
Ceiling
Model Specication Items
DDA LH18C 600 360 T2 BSeries Type Encoder
TypeMotor Type
Operation Range
Applicable Controllers
Cable Length Options Option
S Standard (17-bit)
P High resolution (20-bit)
AI Index absolute type
AM Multi-rotation absolute type
600 600W 360 360 deg T2 SCON XSEL-PQ XSEL-RASA
Note Only SCONapplys forLH18CP
N None S 3m M 5m X Specied
length
Please refer to the options table below Please make sure to
specify either A0 or A1 for the cable exit direction
B Brake
11
DDA Direct Drive Motor
Flange-less withBrake
LargeHollow
Bore
HighTorque
Type Without CE Conformity
X
Cable Length
Please refer to P18 for more information regarding the maintenance cables
Cable type
Cable code
Standard
S (3m) M (5m)
Specied length
X06 (6m) ~ X10 (10m) X11 (11m) ~ X20 (20m)
Dimensions
Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use
LH18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers
Name External view
Max number of controlled axes Power supply voltage Control method Maximum number of
positioning pointsReference
pagePositioner Pulse-train Program Network Option
SCON-CBCGB 1Single-phase
230VAC -
Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information
512 (768 for network spec)
P14
SCON-LCLCG 1Single-phase
230VAC- -
512 (768 for network spec)
P14
XSEL-PQRASA 8Single-phase 230VACThree-phase 230VAC
- - 53332
(Depending on the type)P15
(Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side
Encoder connector
Motor connector
oslash 35
Hol
low
bor
e
32 o
r les
s
oslash1235
645
or l
ess
500+500
500plusmn30
Brake connector
24
77
Encoder connector
Motor connector
oslash 35
Hol
low
bor
e64
5 o
r les
s
oslash1235500+50
0
Brake connector
R100 or less
2-oslash4 H7 depth 3For workpiece positioning
6-M6 effective depth 12For workpiece mounting
PCD102 plusmn01
oslash 52
Hol
low
bor
e
oslash 83
Rotating part of the work mounting surface
oslash110h7 -00035
oslash116oslash180
oslash178h8 -00063
412
28
plusmn03
32 or less
oslash21
500plusmn30
35
138
158
003 A
003 A
A
75plusmn0
1
8-M8 effective depth 16PCD148 plusmn01
75plusmn0
1
oslash5 H7 depth 5For body positioning 225deg
Body mounting surfaceBody positioning oblong hole
S 5 +00120 depth 5
2
R25
Detail view of S24
CAD drawings can be downloaded from our website
wwwintelligentactuatorde2D
CAD2D
CAD3D
CAD3D
CAD
12
DDA Direct Drive Motor
OptionsIt is a retention mechanism for holding the stop position when the power or servo is OFF to prevent the workpieces and attachments from being damaged when used in side or vertical positions Be sure to connect a brake box for models with brake
A bracket that attaches to the body with bolts from the top side
Brake
Flange
Option Code B
Option Code FL
Brake Box
Wiring Diagram When Brake Box is Used
DDA-LT18CModel Number DDA-FL-LT18
Model Number IA-110-DD-4
DDA-LH18CModel Number DDA-FL-LH18
PCD200
PCD200
plusmn0075plusmn0075
55deg
55deg
180
180
180180
160
160
plusmn01
plusmn01
160160 plusmn01plusmn01
4-oslash1
1thr
ough
2-oslash6H
7 through
135
135
815
815
plusmn04
plusmn04
oslash1245
55deg
55deg
PCD
PCD200plusmn0075200plusmn0075
180
180
180180160160 plusmn01plusmn01
160
160
plusmn01
plusmn01
2-oslash6H7 through
4-oslash1
1thr
ough
155
15513
63
136
3plusmn0
4plusmn0
4
oslash1245
PWRON
BKOUT
+ - C E
BKRMT
RLSBKOUT
PWRPE N L
MODEL IA-110-DD-4SN INPUT Single phase 100-240V
MADE IN JAPAN
5060Hz 10A maxOUTPUT 12VDC 06A
PWRON
BKOUT
+ - C E
BKRMT
RLSBKOUT
PWRPE N L
MODEL IA-110-DD-4SN INPUT Single phase 100-240V
MADE IN JAPAN
5060Hz 10A maxOUTPUT 12VDC 06A
ControllerSCON-CBXSEL-PQRASADDA
Motor cableModel CB-X(EU)-MA CB-X(EU)MC-MA
Brake box
EU cable version w metal connector
Encoder cableModel CB-X(EU)3-PA010(Comes with the brake box)
Encoder cableModel CB-X(EU)3-PA
Brake cableModel CB-DDB-BK Main power supply
100VAC~240VAC
13
DDA(CR) Direct Drive Motor
Position Controller
Controller Model
System Configuration
Positioner Single-axis Type ltSCONgt Model
Power Supply Voltage
IO TypeEncoder Type Motor Type Type Series SCON
IO Cable Length
AIAM
2
The 200W motor used by the DDA is larger than a normal 200W motor so the motor type for the controller will be 200S and its size will be larger than the 400W motor
For 200W motorFor 600W motor
200S600
High-function typeSafety category compliant type
CBCGB
PLC equipped typeSafety category PLC equipped type
LCLCG
Motor cableModel CB-X(EU)-MA (LT18C)
CB-X(EU)MC-MA (LH18C)
SCON PC
DDA
PLC(To be supplied by the customer)
IO flat cableModel CB-PAC-PIO020Standard 2m
2 Be sure to use a noise filter on the power supply
( )Encoder cableModel CB-X(EU)3-PA
PC compatible softwareRS232 connection versionModel RCM-101-MWUSB connection versionModel RCM-101-USB(Please contact IAI for more details)
Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)
Regenerative resistor unitModel RESU-2RESUD-2(Please contact IAI for more details)
1 The wiring diagram is different for models with brakes Please refer to P13 for more information
1
Single-phase 230VAC Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models
Main powersupply 2
Field network
DDA
Option
Supplied with the actuator
Supplied with the controller
Supplied with the actuator Option
Option
Option
When the SCON Controller is Connected
When a eld network specication is selectedthe IO cable length will be 0
Index absolute typeMulti-rotation abs type
NPPN
PIO NPN (Standard)
PIO PNP
DVCN
DeviceNet
CompoNet
CC CC-Link
ML3PR
MECHATROLINK-III
PROFIBUS-DP
02
35
No cable2m (Standard)
3m5m
EC EtherCAT
EP EtherNetIP
PRT PROFINET IO
For recommended modelsplease contact IAI
Model
External view
IO type
IO type code
CompoNet connection
PROFIBUS-DP connection
CC-Linkconnection
DeviceNetconnection
PIO connection specification (1)
NPPN DV CC PR
Standard Field network type (1)
CN mdash
mdash
mdash
SCON-CB
EtherNetIP connection
PROFINET IO connection
EtherCATconnection
EC EP PRT
List of Models
MECHATROLINK- III
connection
ML3
Applicable encoder type(Note) The index absolute type cannot be used in the pulse-train control and MECHATROLINK-III control(1) Please note that the network specifications cannot be operated on the PIO or pulse-train The PLC type (LCLCG) cannot be connected on the pulse-train
Index absoluteMulti-rotation absoluteIndex absolute Multi-rotation absolute
CBCGB CBCGB LCLCG
14
SCON Controller
EU version w metal connector
Program Controller
List of Models
Model P Q RA SA
Type Large-capacity type Large-capacity type (Safety category specication) High-function type High-function type
(Safety category specication)
External view
DescriptionLarge-capacity type
that can control up to 6 axes 2400W
Large-capacity type thats compatible with the
safety category 4
High-function type that allows up to 8-axis operation
Safety category 4 compatible high-function type
Controller Model
System Configuration
Program Multi-axis Type ltXSELgt Model
Encoder Type
Encoder Type
Motor Type
Motor Type
Number ofConnected
AxesType Series Option Option
XSEL
200 For 200W motor
600 For 600W motor
B BrakePQRASA
6-axis type6-axis safety category type8-axis type8-axis safety category type
8
1
~ ~
1 axis
8 axes
(PQ type is up to 6 axes)
(Details of the 1st axis) (Details of the 2nd~8th axis)
It can simultaneously operate actuators (single-axis robot and RoboCylinder) otherthan the DDA motor on a single controller For connectable actuators other than the DDA motor please contact IAI
For subsequent models please contact IAI
Notes
AIAM
Index absolute typeMulti-rotation absolute type
When the XSEL Controller is Connected
2 Be sure to use a noise filter on the power supply
Motor cableModel CB-X(EU)-MA (LT18C) CB-X(EU)MC-MA (LH18C)
XSELPC
PLC(To be supplied by the customer)
PC compatible softwareRS232 connection versionModel IA-101-X-MWUSB connection versionModel IA-101-X-USBMW(Please contact IAI for more details)
Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)
Single-phase 230VACThree-phase 230VAC
Regenerative resistor unitModel RESU-1RESUD-1(Please contact IAI for more details)
Option Option
Option
Field networkOption
IO flat cableModel CB-X-PIO020Standard 2m
Supplied with the controller
Encoder cableModel CB-X(EU)3-PA
Supplied with the actuator
Supplied with the actuator
Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models
1
1 The wiring diagram is different for models with brakes Please refer to P13 for more information
DDA
Main powersupply 2 ( )For recommended models
please contact IAI
15
XSEL Controller
EU version w metal connector
Precautions
Installation
Installation Orientation
Mountingsurface
For models with brake and cable exit direction to the bottom a clearance hole is required
Ceiling mount
Horizontal mount
Vertical mount
Gra
vity
Operation TypeThis product is available in 2 operation types depending on the operation conditions Please check the features and precautions on each type before use
(1)The high resolution specification can be connected only to the SCON-CB(2)When the XSEL index type travels more than 180deg from the current position it rotates in a direction that requires a shorter travel distance to
reach the target position Therefore please note that the direction of rotation changes according to the current position and travel distance If you want to specify the direction of travel use the SCON-CB
(3)The index type can be rotated in a given direction infinitely 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-CB
(4)Home return is required for the multi-rotation absolute encoder during the initial setting and replacement of the absolute battery
Absolute batteryHome return operationLimitless rotation
Maximum amount of movement in a single movement command
Operation rangeController typeOperation type
Not requiredNot required
Yes (3)
0~359999deg
Index absolute type
RequiredNot required (4)
No
Above operation rangeplusmn9999deg (plusmn2520deg) max
Multi-rotation absolute typeSCON-CB XSEL(1)
( ) is for 20-bit
(Note) Use this product by installing it on a mounting surface having heat dissipating characteristics equivalent to those of an aluminum plate of w450mm times d450mm times t12mm in size If the installation conditions necessitate lower heat dissipating characteristics please consult IAI
ControllersFor the DDA with 200W motor the outside dimensions of the SCON-CB controller will be the same as the size of the
400W motor (Please contact IAI for the details of the SCON-CB controller)One and two regenerative resistor unit(s) are required for LT18C and LH18C respectively to operate a DDA
motor with the SCON-CBWhen operating DDA motor(s) with the XSEL controller regenerative resistor units are required as shown below
The number of DDA motor(s) connectable to the XSEL controller is a max of 8 units for the LT18C type and a max of 2 units for the LH18C type
Please note that when the DDA motor is operated with the SCON-CB the motor cannot be connected to the Robo Cylinder gateway function of the XSEL controller
Calculation for the power supply value LT18C type single-phase 600W three-phase 200W LH18C type single-phase 1200W three-phase 600W
Number of regenerative resistor units
1 2 3 4 5 6 7 81 2 3
(Cannot be connected)4
2 4LT18CLH18C
Number of DD motor(s)
360deg
SCON-CB XSEL(1)
180deg(2)
16
DDA(CR) Direct Drive Motor
Conditions for Selection
The followings should be checked to determine whether the DDA motor can be used to suit the specific conditions required by the customer
The customer should confirm that the following three points under actual use do not exceed their maximum allowable levels as specified for the DDA 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
Check Load Conditions1
[1] Thrust load
[2] Load moment applied
[3] Load inertia
J = 18 times M times D 2 [kgm2]
Mass M [kg]
D [m]
Center of rotation
J = 112 times M times (a 2 + b 2) [kgm2]
a [m]
b [m]
Center of rotation
Mass M [kg]
J = M times R 2+ 18 times M times D 2 [kgm2]
Mass M [kg]
D [m]
R [m]
Cent
er o
fro
tatio
n
J = M times R 2+112 times M times (a 2 + b 2 )[kgm2]
a [m]
b [m]R [m]
Cent
er o
fro
tatio
n
Mass M [kg]
The travel time changes according to the load inertia See the tables below to check the travel time data
Travel Time Guide3
The data in the tables are for a reference only and do not guarantee the actual travel times
(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)
0
0005
009
012
017
022
0005
001
010
012
017
022
001
002
011
014
019
024
002
003
012
016
021
026
003
004
013
017
023
027
004
005
014
018
024
029
005
006
015
020
027
032
006
007
017
022
029
035
007
008
019
024
032
038
008
009
021
026
035
041
009
01
023
029
037
044
01
02
039
048
060
069
02
03
062
073
089
100
03
04
070
083
101
114
04
05
087
102
122
136
05
06
111
123
142
168
LH18C
LT18C
Continuous Operation Area
LT18C type LH18C type
(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)
0
0005
0098
0129
0192
0254
0005
001
0096
0128
019
0252
001
0015
0096
0127
019
0252
002
002
0097
0128
0191
0253
002
003
0099
0131
0193
0256
003
004
0104
0136
0199
0262
004
006
0113
0144
0207
027
006
008
012
0153
0215
0278
008
01
0126
0163
0225
0288
010
015
014
0184
0249
0312
015
02
0157
0208
0279
0341
02
03
0207
0268
0354
042
03
04
0257
0329
0428
0504
04
06
0352
044
0562
0655
06
08
0447
0549
0692
08
08
1
053
0646
0806
0925
10
12
0629
0758
0933
1064
12
14
0795
0941
1133
1274
14
18
0875
1035
1257
1415
Check Operating Conditions2Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DDA motor specications to determine whether the DDA motor can be used under the applicable operating conditions Please contact IAI for assistance To
rque
(Nm
)
Curr
ent [
Arm
s]
Angular velocity [degs]
AccelerationDeceleration Area
Torq
ue (N
m)
Curr
ent [
Arm
s]
Angular velocity [degs]
AccelerationDeceleration Area
Rating areaRating area
270deg travel time [sec]180deg travel time [sec]
90deg travel time [sec]45deg travel time [sec]
Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]
270deg travel time [sec]180deg travel time [sec]
90deg travel time [sec]45deg travel time [sec]
Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]
Selecting the DD Motor
17
DDA(CR) Direct Drive Motor
CB-X-MACB-XEU-MA
Modelnumber
Motor robot cableEU motor robot cable
forDDA(CR)-LT18
L
Controller side
4
1
1
4
Wire
075sqGreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
GreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
PEUVW
No1234
Actuator side
(10)(20)
(Front view)(Front view)
(16)
(oslash9) (2
1)
(18)
(41)
Signal
Minimum bending R r = 51 mm or more (for movable use) If the cable must be guided in a cable track use a robot cable
Enter the cable length (L) into Compatible to a Maximum of 30 meters Ex 080 = 8m
Minimum bending R r = 51 mm or more (for movable use)Only robot cable is available for this model
1
(16)
(F (Front view)ront view)
(41)
(41)
234
1234
UVWPE
RedWhiteBlackGreen
PESignal NoWire
Controller side
075sq 075sq(crimped)
Color oN langiS Color Wire
UVW
GreenRed
WhiteBlack
Actuator side
(Fig Motor robot cable CB-X-MA with plastic connector)
(Fig EU motor robot cable CB-XEU-MA EU version with M18 plastic round connector)
4
17
L
1
2 3
1
Color Wire
075sq
No Signal Color
(crimped)
PEUVW
123
CB-XMC-MACB-XEUMC-MA
Modelnumber
Motor robot cableEU motor robot cable
forDDA(CR)-HT18
Controller side
Wire
125sqGreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
GreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
PEUVW
No1234
Actuator side
Signal
Minimum bending R r = 55 mm or more (for movable use) If the cable must be guided in a cable track use a robot cable
Enter the cable length (L) into Compatible to a Maximum of 30 meters Ex 080 = 8m
Minimum bending R r = 55 mm or more (for movable use)Only robot cable is available for this model
1
(16)
(F (Front view)ront view)
(41)
234
1234
UVWPE
RedWhiteBlackGreen
PESignal NoWire
Controller side
125sq 125sq(crimped)
Color oN langiS Color Wire
UVW
GreenRed
WhiteBlack
Actuator side
(Fig Motor robot cable CB-XMC-MA with plastic connector)
(Fig EU motor robot cable CB-XEUMC-MA EU version with M18 plastic round connector)
4
17
L
1
2 3
1
Color Wire
125sq
No Signal Color
(crimped)
PEUVW
123
Cables
L
4
1
1
4(Front view)
(16)(21)
(11)
(16)
18
DDA(CR) Direct Drive Motor
Maintenance Parts
(oslash9)
DDADDACR Series Catalogue No 1116-E Version CJ0242-1A
CB-DDB-BKModelnumber
forDDA(CR) with brake optionBrake cable
Enter the cable length (L) into Compatible to a Maximum of 20 meters Ex 080 = 8m
Maintenance Parts
(41) (14)(15)
Controller side
(13)
(37)
(Front view) (Front view)
(25)
Actuator side
13
114
26
Ground wire and braided shield
AWG26(crimped)
WhiteblueWhiteyellowWhiteredWhiteblackWhitepurpleWhitegray
Whiteorangendash
(Ground)Orange
GreenPurple
GrayRed
BlackWhitegreen
BlueYellow
No Signal Color Wire
The shield is connected to the hood by a clamp
AWG26 (soldered)
Wire10111213262524239
181912345678
14151617202122
123456789
101112131415161718
AĀBBZZ
LS+ndash
FGSDSD
BAT+BAT-VCCGNDLS-BK-BK+
ndashndash
E24VOVLS
CREEPOTRSV
ndashndashndash
A+A-B+B-Z+Z-
SRD+SRD-BAT+BAT-VCCGNDBKR-BKR+
ndash
ndashndashndash
WhitegreenWhiteorange
WhitegreenWhiteorange
Whitegreen
Whiteorange
ndashndashndashndashndashndash
WhiteblueWhiteyellowWhitered
WhiteblackWhitepurpleWhitegray
WhiteblueWhiteyellow Whiteblue
WhiteyellowWhiteredWhiteblackWhitepurpleWhitegray
WhiteredWhiteblackWhitepurpleWhitegray
OrangeGreenPurple
GrayRed
BlackBlue
Yellowndash
NoSignalColor(oslash
10)
L
1
9 18
10
Minimum bending R r = 58 mm or more (for movable use) If the cable must be guided in a cable track use a robot cable
(Fig Encoder robot cable CB-X3-PA with plastic connector)
Controller side Actuator side
Minimum bending R r = 58 mm or more (for movable use)
(Front view)
L (13)
(37)
1
13
14
26
(41)
Ground wire and braided shield
Color WireSignalNo
AWG26soldered
Blue
SD1 OrangeSD2
3456789
Green
VCC10
PurpleGND11 BlackBAT+12
Yellow
BAT-13 Grey
BK-141516
Red
BK+A shield is connected to shield soldered part
AWG26(soldered)
212017
22
6
16151487
3
54
21
25
1819
2324
9
1011121326
No
ndashBKR+BKR-GND
Z-
BAT+
VCCBATndash
SRD-SRD+
B+
Z+B-
Z-
B+
Z+B-
A-A+
A-A+
CREEP
ndashndashndash
OTRSV
E24V0VLS
LS+
LS-
ndashndash
---
------
BlueYellow
Orange
PurpleGreen
Black
GreyRed
-The shield is clamped to the hood
Color SignalWire
(Fig EU encoder robot cable CB-XEU3-PA EU version with metal connector)
(Front view)
4 1
16 13 10
9 5
14
CB-X3-PACB-XEU3-PA
Modelnumber
Encoder robot cableEU encoder robot cable
forDDA(CR)
Enter the cable length (L) into Compatible to a Maximum of 30 meters Ex 080 = 8m
31
31
J11SF-03V-KX J11SFM-03V-KXNoNo SignalSignal ColorColor WiringWiring
AWG20(crimped)
Red
Black
White
Red
Black
White
+
-
FG
+
-
FG
321
321
AWG20(crimped)
Controller side Actuator side
tor side(Front view) (Front view)
L
(44) (167)
(80
)
(84)(293)
(92
)
(oslash5
4)
IAI America IncIAI Industrieroboter GmbHEurope Headquarters Ober der Roumlth 4 D-65824 Schwalbach Germany
IAI CORPORATIONCorporate Headquarters577-1 Obane Shimizu-Ku Shizuoka 424-0103 Japan Phone +81-543-64-5105 Fax +81-543-64-5192
IAI (Shanghai) Co LtdChina HeadquartersShanghai Jiahua Business Centee A8-303808Hongqiao Rd Shanghai 200030 ChinaPhone +86-21-6448-4753 Fax +86-21-6448-3992
America Headquarters2690 W 237th Street Torrance CA 90505 USA
wwwintelligentactuatorde
Phone +49-6196-8895-0 Fax +49-6196-8895-24 Phone +1-310-891-6015 Fax +1-310-891-0815
Options
P
O I N T
SelectionNotes
(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 20m Specify a desired length in meters (Example X08 = 8m)
(Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control
(Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type
(Note 6) The brake is used for retention purposes only so damage may be caused if it is actually used in attempts to slow or stop the actuator
ModelSpecications
Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198arcsec) 20-bit plusmn000103deg (plusmn37arcsec)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45arcsec) 20-bit plusmn000833deg (plusmn30arcsec)Allowable load moment (Note 2) 80Nmiddotm
Encoder resolution 17-bit 131 072 pulsesrev 20-bit 1 048 576 pulsesrev
Allowable thrust load (Note 2) Forward 3100N Reverse 250NBrake retaining torque 25NmiddotmBase material AluminumAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)Weight 87kg
Common Specications
Thrust (axial) run-out (No load) 30μm
Radial run-out (No load) 30μm
Run-out of Output Shaft
1 Indexing accuracy is supported when connected to SCON-CB
Encoder type Model number Motor
wattage (W)
Operation range (deg) (1)
Speed (degs) (Note 1)
Rated torque (Nmiddotm) (2)
Maximum instantaneous torque (Nmiddotm)
Allowable inertia
moment (kgmiddotm2)
Rotor inertia (kgmiddotm2)
17-bit index absolute type DDA-LT18CS-AI-200-360-T2-① -② -B
200
0~359999 deg
1~1080 (1~1800) 84 252 06 00043
17-bit multi-rotation absolute type DDA-LT18CS-AM-200-360-T2-① -② -B plusmn9999 deg max
20-bit index absolute type DDA-LT18CP-AI-200-360-T2-① -② -B 0~359999 deg
20-bit multi-rotation absolute type DDA-LT18CP-AM-200-360-T2-① -② -B plusmn2520 deg max
Name Option code
Cable exits from the bottom A0
Cable exits from the side A1
Brake (With brake box) 1 B
1 A brake cable is not supplied if N (None) is selected as the cable length Please order a brake cable as a separate item in that case
Controller is not included
DDA-LT18C-B
Model Specication Items
DDA LT18C 200 360 T2 BSeries Type Encoder
TypeMotor Type
Operation Range
Applicable Controllers
Cable Length Options Option
S Standard (17-bit)
P High resolution (20-bit)
AI Index absolute type
AM Multi-rotation absolute type
200 200W 360 360 deg T2 SCON XSEL-PQ XSEL-RASA
Note Only SCONapplys forLT18CP
N None S 3m M 5m X Specied
length
Please refer to the options table below Please make sure to
specify either A0 or A1 for the cable exit direction
B Brake
(1) SCON and XSEL have dierent minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information
Legend Cable length Option
Please refer to P16 for more information on the installation method
Horizontal
Side
Vert
ical
Ceiling
7
DDA Direct Drive Motor
Flange-less withBrake
LargeHollow
Bore
SlimType
Without CE Conformity
X
Cable Length
Please refer to P18 for more information regarding the maintenance cables
Cable type
Cable code
Standard
S (3m) M (5m)
Specied length
X06 (6m) ~ X10 (10m) X11 (11m) ~ X20 (20m)
Dimensions
Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use
LT18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers
Name External view
Max number of controlled axes Power supply voltage Control method Maximum number of
positioning pointsReference
pagePositioner Pulse-train Program Network Option
SCON-CBCGB 1Single-phase
230VAC -
Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information
512 (768 for network spec)
P14
SCON-LCLCG 1Single-phase
230VAC- -
512 (768 for network spec)
P14
XSEL-PQRASA 8Single-phase 230VACThree-phase 230VAC
- - 53332
(Depending on the type)P15
(Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side
Motor connector
Encoder connector
32 o
r les
s
500+500
oslash1235
45 o
r les
s
500plusmn30
Brake connector
oslash 35
Hol
low
bor
e
24
77
Motor connector
Encoder connector
45 o
r les
s
oslash1235500+50
0
Brake connector
oslash35
Hol
low
bor
e
R100 or less
2-oslash4 H7 depth 3For workpiece positioning
6-M5 effective depth 8For workpiece mounting
PCD102 plusmn01
oslash 52
Hol
low
bor
e
oslash 83
Rotating part of the work mounting surface
oslash180
oslash110h7 -00350
70plusmn0
3
4
oslash178h8 -00630
500plusmn30
oslash21
32 or less
138
158
oslash116
35
003 A 003 A
A
75plusmn0
1
8-M6 effective depth 13PCD148 plusmn01
75plusmn0
1
225degoslash5 H7 depth 5For body positioning
Body mounting surfaceBody positioning oblong hole
S
2
R25
5+00120 depth 5
Detail view of S
24
CAD drawings can be downloaded from our website
wwwintelligentactuatorde2D
CAD2D
CAD3D
CAD3D
CAD
8
DDA Direct Drive Motor
P
O I N T
SelectionNotes
(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 30m Specify a desired length in meters (Example X08 = 8m)
(Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control
(Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type
ModelSpecications
1 Indexing accuracy is supported when connected to SCON-CB
Thrust (axial) run-out (No load) 30μm
Radial run-out (No load) 30μm
Run-out of Output Shaft
Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198arcsec) 20-bit plusmn000103deg (plusmn37arcsec)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45arcsec) 20-bit plusmn000833deg (plusmn30arcsec)Allowable load moment (Note 2) 80Nmiddotm
Encoder resolution 17-bit 131 072 pulsesrev20-bit 1 048 576 pulsesrev
Allowable thrust load (Note 2) Forward 3100N Reverse 250NBase material AluminumAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)
Cleanroom specication
Cleanliness ISO class 4 (US class 10M25 US FED STD 209DE)Suction amount 35Nℓmin
Weight 13kg
Common Specications
Encoder type Model number Motor
wattage (W)
Operation range (deg) (1)
Speed (degs) (Note 1)
Rated torque (Nmiddotm) (2)
Maximum instantaneous torque (Nmiddotm)
Allowable inertia
moment (kgmiddotm2)
Rotor inertia (kgmiddotm2)
17-bit index absolute type DDA (CR)-LH18CS-AI-600-360-T2-① -②
600
0~359999 deg
1~800 (1~1440) 25 75 18 00092
17-bit multi-rotation absolute type DDA (CR)-LH18CS-AM-600-360-T2-① -② plusmn9999 deg max
20-bit index absolute type DDA (CR)-LH18CP-AI-600-360-T2-① -② 0~359999 deg
20-bit multi-rotation absolute type DDA (CR)-LH18CP-AM-600-360-T2-① -② plusmn2520 deg max
Options
Name Option code
Cable exits from the bottom A0
Cable exits from the side A1
Flange FL
(Note) A0 (cable exits from the bottom) option and FL (ange) option cannot be selected together
DDA-LH18C
Controller is not included
DDACR-LH18C Model
Specication Items
DDADDACR LH18C 600 360 T2
Series Type Encoder Type
Motor Type
Operation Range
Applicable Controllers
Cable Length Options
DDA StandardDDACR Cleanroom
specication
S Standard (17-bit)
P High resolution (20-bit)
AI Index absolute type
AM Multi-rotation absolute type
600 600W 360 360 deg T2 SCON XSEL-PQ XSEL-RASA
Note Only SCONapplys forLH18CP
N None S 3m M 5m X Specied
length
Please refer to the options table below Please make sure to
specify either A0 or A1 for the cable exit direction
(1) SCON and XSEL have dierent minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information
Legend Cable length Option
Please refer to P16 for more information on the installation method
Horizontal
Side
Vert
ical
Ceiling
9
DDA(CR) Direct Drive Motor
Cable Length
Please refer to P18 for more information regarding the maintenance cables
Cable type
Cable code
Standard
S (3m) M (5m)
Specied length
X06 (6m) ~ X10 (10m) X11 (11m) ~ X30 (30m)
LargeHollow
Bore
HighTorque
Type
BasiclyFlange-
less
LargeHollow
Bore
HighTorque
Type
BasiclyFlange-
less
Clean-roomSpec
Dimensions
Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use
LH18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers
Name External view
Max number of controlled axes Power supply voltage Control method Maximum number of
positioning pointsReference
pagePositioner Pulse-train Program Network Option
SCON-CBCGB 1Single-phase
230VAC -
Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information
512 (768 for network spec)
P14
SCON-LCLCG 1Single-phase
230VAC- -
512 (768 for network spec)
P14
XSEL-PQRASA 8Single-phase 230VACThree-phase 230VAC
- - 53332
(Depending on the type)P15
(Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side
Encoder connector
Motor connector
45
615
24
77
oslash6 Compatible tube diameter
Air JointCR speci cation only
32 o
r les
s11
500plusmn30
R100 or less
2-oslash4 H7 depth 3For workpiece positioning
6-M6 effective depth 12For workpiece mounting
PCD102plusmn01
oslash 52
Hol
low
bor
e
oslash 83
2428
Rotating part of the work mounting surface Encoder connector
Motor connector
Air JointCR specification only
75plusmn0
1
8-M8 effective depth 16PCD148 plusmn01
75plusmn0
1
oslash5 H7 depth 5For body positioning 225deg
Body mounting surfaceBody positioning oblong hole
oslash110h7 -00350
oslash116oslash180
oslash178h8 -00630
412
28
plusmn03
32 or less
oslash 21
500plusmn30
35
138
158
003 A
003 A
A
5 +00120 depth 5
2
R25
Detail view of S
S
CAD drawings can be downloaded from our website
wwwintelligentactuatorde2D
CAD2D
CAD3D
CAD3D
CAD
10
DDA(CR) Direct Drive Motor
1 A brake cable is not supplied if N (None) is selected as the cable length Please order a brake cable as a separate item in that case
Options
ModelSpecications
Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198arcsec) 20-bit plusmn000103deg (plusmn37arcsec)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45arcsec) 20-bit plusmn000833deg (plusmn30arcsec)Allowable load moment (Note 2) 80Nmiddotm
Encoder resolution 17-bit 131 072 pulsesrev20-bit 1 048 576 pulsesrev
Allowable thrust load (Note 2) Forward 3100N Reverse 250NBase material AluminumBrake retaining torque 50NmiddotmAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)Weight 174kg
Common Specications
Thrust (axial) run-out (No load) 30μm
Radial run-out (No load) 30μm
Run-out of Output Shaft
Encoder type Model number Motor
wattage (W)
Operation range (deg) (1)
Speed (degs) (Note 1)
Rated torque (Nmiddotm) (2)
Maximum instantaneous torque (Nmiddotm)
Allowable inertia
moment (kgmiddotm2)
Rotor inertia (kgmiddotm2)
17-bit index absolute type DDA-LH18CS-AI-600-360-T2-① -② -B
600
0~359999 deg
1~800 (1~1440) 25 75 18 00092
17-bit multi-rotation absolute type DDA-LH18CS-AM-600-360-T2-① -② -B plusmn9999 deg max
20-bit index absolute type DDA-LH18CP-AI-600-360-T2-① -② -B 0~359999 deg
20-bit multi-rotation absolute type DDA-LH18CP-AM-600-360-T2-① -② -B plusmn2520 deg max
Name Option code
Cable exits from the bottom A0
Cable exits from the side A1
Brake (With brake box) 1 B
1 Indexing accuracy is supported when connected to SCON-CB
Controller is not included
DDA-LH18C-B
(1) SCON and XSEL have dierent minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information
P
O I N T
SelectionNotes
(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 20m Specify a desired length in meters (Example X08 = 8m)
(Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control
(Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type
(Note 6) The brake is used for retention purposes only so damagemay be caused if it is actually used in attempts to slow or stop the actuator
Legend Cable length Option
Please refer to P16 for more information on the installation method
Horizontal
Side
Vert
ical
Ceiling
Model Specication Items
DDA LH18C 600 360 T2 BSeries Type Encoder
TypeMotor Type
Operation Range
Applicable Controllers
Cable Length Options Option
S Standard (17-bit)
P High resolution (20-bit)
AI Index absolute type
AM Multi-rotation absolute type
600 600W 360 360 deg T2 SCON XSEL-PQ XSEL-RASA
Note Only SCONapplys forLH18CP
N None S 3m M 5m X Specied
length
Please refer to the options table below Please make sure to
specify either A0 or A1 for the cable exit direction
B Brake
11
DDA Direct Drive Motor
Flange-less withBrake
LargeHollow
Bore
HighTorque
Type Without CE Conformity
X
Cable Length
Please refer to P18 for more information regarding the maintenance cables
Cable type
Cable code
Standard
S (3m) M (5m)
Specied length
X06 (6m) ~ X10 (10m) X11 (11m) ~ X20 (20m)
Dimensions
Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use
LH18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers
Name External view
Max number of controlled axes Power supply voltage Control method Maximum number of
positioning pointsReference
pagePositioner Pulse-train Program Network Option
SCON-CBCGB 1Single-phase
230VAC -
Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information
512 (768 for network spec)
P14
SCON-LCLCG 1Single-phase
230VAC- -
512 (768 for network spec)
P14
XSEL-PQRASA 8Single-phase 230VACThree-phase 230VAC
- - 53332
(Depending on the type)P15
(Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side
Encoder connector
Motor connector
oslash 35
Hol
low
bor
e
32 o
r les
s
oslash1235
645
or l
ess
500+500
500plusmn30
Brake connector
24
77
Encoder connector
Motor connector
oslash 35
Hol
low
bor
e64
5 o
r les
s
oslash1235500+50
0
Brake connector
R100 or less
2-oslash4 H7 depth 3For workpiece positioning
6-M6 effective depth 12For workpiece mounting
PCD102 plusmn01
oslash 52
Hol
low
bor
e
oslash 83
Rotating part of the work mounting surface
oslash110h7 -00035
oslash116oslash180
oslash178h8 -00063
412
28
plusmn03
32 or less
oslash21
500plusmn30
35
138
158
003 A
003 A
A
75plusmn0
1
8-M8 effective depth 16PCD148 plusmn01
75plusmn0
1
oslash5 H7 depth 5For body positioning 225deg
Body mounting surfaceBody positioning oblong hole
S 5 +00120 depth 5
2
R25
Detail view of S24
CAD drawings can be downloaded from our website
wwwintelligentactuatorde2D
CAD2D
CAD3D
CAD3D
CAD
12
DDA Direct Drive Motor
OptionsIt is a retention mechanism for holding the stop position when the power or servo is OFF to prevent the workpieces and attachments from being damaged when used in side or vertical positions Be sure to connect a brake box for models with brake
A bracket that attaches to the body with bolts from the top side
Brake
Flange
Option Code B
Option Code FL
Brake Box
Wiring Diagram When Brake Box is Used
DDA-LT18CModel Number DDA-FL-LT18
Model Number IA-110-DD-4
DDA-LH18CModel Number DDA-FL-LH18
PCD200
PCD200
plusmn0075plusmn0075
55deg
55deg
180
180
180180
160
160
plusmn01
plusmn01
160160 plusmn01plusmn01
4-oslash1
1thr
ough
2-oslash6H
7 through
135
135
815
815
plusmn04
plusmn04
oslash1245
55deg
55deg
PCD
PCD200plusmn0075200plusmn0075
180
180
180180160160 plusmn01plusmn01
160
160
plusmn01
plusmn01
2-oslash6H7 through
4-oslash1
1thr
ough
155
15513
63
136
3plusmn0
4plusmn0
4
oslash1245
PWRON
BKOUT
+ - C E
BKRMT
RLSBKOUT
PWRPE N L
MODEL IA-110-DD-4SN INPUT Single phase 100-240V
MADE IN JAPAN
5060Hz 10A maxOUTPUT 12VDC 06A
PWRON
BKOUT
+ - C E
BKRMT
RLSBKOUT
PWRPE N L
MODEL IA-110-DD-4SN INPUT Single phase 100-240V
MADE IN JAPAN
5060Hz 10A maxOUTPUT 12VDC 06A
ControllerSCON-CBXSEL-PQRASADDA
Motor cableModel CB-X(EU)-MA CB-X(EU)MC-MA
Brake box
EU cable version w metal connector
Encoder cableModel CB-X(EU)3-PA010(Comes with the brake box)
Encoder cableModel CB-X(EU)3-PA
Brake cableModel CB-DDB-BK Main power supply
100VAC~240VAC
13
DDA(CR) Direct Drive Motor
Position Controller
Controller Model
System Configuration
Positioner Single-axis Type ltSCONgt Model
Power Supply Voltage
IO TypeEncoder Type Motor Type Type Series SCON
IO Cable Length
AIAM
2
The 200W motor used by the DDA is larger than a normal 200W motor so the motor type for the controller will be 200S and its size will be larger than the 400W motor
For 200W motorFor 600W motor
200S600
High-function typeSafety category compliant type
CBCGB
PLC equipped typeSafety category PLC equipped type
LCLCG
Motor cableModel CB-X(EU)-MA (LT18C)
CB-X(EU)MC-MA (LH18C)
SCON PC
DDA
PLC(To be supplied by the customer)
IO flat cableModel CB-PAC-PIO020Standard 2m
2 Be sure to use a noise filter on the power supply
( )Encoder cableModel CB-X(EU)3-PA
PC compatible softwareRS232 connection versionModel RCM-101-MWUSB connection versionModel RCM-101-USB(Please contact IAI for more details)
Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)
Regenerative resistor unitModel RESU-2RESUD-2(Please contact IAI for more details)
1 The wiring diagram is different for models with brakes Please refer to P13 for more information
1
Single-phase 230VAC Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models
Main powersupply 2
Field network
DDA
Option
Supplied with the actuator
Supplied with the controller
Supplied with the actuator Option
Option
Option
When the SCON Controller is Connected
When a eld network specication is selectedthe IO cable length will be 0
Index absolute typeMulti-rotation abs type
NPPN
PIO NPN (Standard)
PIO PNP
DVCN
DeviceNet
CompoNet
CC CC-Link
ML3PR
MECHATROLINK-III
PROFIBUS-DP
02
35
No cable2m (Standard)
3m5m
EC EtherCAT
EP EtherNetIP
PRT PROFINET IO
For recommended modelsplease contact IAI
Model
External view
IO type
IO type code
CompoNet connection
PROFIBUS-DP connection
CC-Linkconnection
DeviceNetconnection
PIO connection specification (1)
NPPN DV CC PR
Standard Field network type (1)
CN mdash
mdash
mdash
SCON-CB
EtherNetIP connection
PROFINET IO connection
EtherCATconnection
EC EP PRT
List of Models
MECHATROLINK- III
connection
ML3
Applicable encoder type(Note) The index absolute type cannot be used in the pulse-train control and MECHATROLINK-III control(1) Please note that the network specifications cannot be operated on the PIO or pulse-train The PLC type (LCLCG) cannot be connected on the pulse-train
Index absoluteMulti-rotation absoluteIndex absolute Multi-rotation absolute
CBCGB CBCGB LCLCG
14
SCON Controller
EU version w metal connector
Program Controller
List of Models
Model P Q RA SA
Type Large-capacity type Large-capacity type (Safety category specication) High-function type High-function type
(Safety category specication)
External view
DescriptionLarge-capacity type
that can control up to 6 axes 2400W
Large-capacity type thats compatible with the
safety category 4
High-function type that allows up to 8-axis operation
Safety category 4 compatible high-function type
Controller Model
System Configuration
Program Multi-axis Type ltXSELgt Model
Encoder Type
Encoder Type
Motor Type
Motor Type
Number ofConnected
AxesType Series Option Option
XSEL
200 For 200W motor
600 For 600W motor
B BrakePQRASA
6-axis type6-axis safety category type8-axis type8-axis safety category type
8
1
~ ~
1 axis
8 axes
(PQ type is up to 6 axes)
(Details of the 1st axis) (Details of the 2nd~8th axis)
It can simultaneously operate actuators (single-axis robot and RoboCylinder) otherthan the DDA motor on a single controller For connectable actuators other than the DDA motor please contact IAI
For subsequent models please contact IAI
Notes
AIAM
Index absolute typeMulti-rotation absolute type
When the XSEL Controller is Connected
2 Be sure to use a noise filter on the power supply
Motor cableModel CB-X(EU)-MA (LT18C) CB-X(EU)MC-MA (LH18C)
XSELPC
PLC(To be supplied by the customer)
PC compatible softwareRS232 connection versionModel IA-101-X-MWUSB connection versionModel IA-101-X-USBMW(Please contact IAI for more details)
Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)
Single-phase 230VACThree-phase 230VAC
Regenerative resistor unitModel RESU-1RESUD-1(Please contact IAI for more details)
Option Option
Option
Field networkOption
IO flat cableModel CB-X-PIO020Standard 2m
Supplied with the controller
Encoder cableModel CB-X(EU)3-PA
Supplied with the actuator
Supplied with the actuator
Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models
1
1 The wiring diagram is different for models with brakes Please refer to P13 for more information
DDA
Main powersupply 2 ( )For recommended models
please contact IAI
15
XSEL Controller
EU version w metal connector
Precautions
Installation
Installation Orientation
Mountingsurface
For models with brake and cable exit direction to the bottom a clearance hole is required
Ceiling mount
Horizontal mount
Vertical mount
Gra
vity
Operation TypeThis product is available in 2 operation types depending on the operation conditions Please check the features and precautions on each type before use
(1)The high resolution specification can be connected only to the SCON-CB(2)When the XSEL index type travels more than 180deg from the current position it rotates in a direction that requires a shorter travel distance to
reach the target position Therefore please note that the direction of rotation changes according to the current position and travel distance If you want to specify the direction of travel use the SCON-CB
(3)The index type can be rotated in a given direction infinitely 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-CB
(4)Home return is required for the multi-rotation absolute encoder during the initial setting and replacement of the absolute battery
Absolute batteryHome return operationLimitless rotation
Maximum amount of movement in a single movement command
Operation rangeController typeOperation type
Not requiredNot required
Yes (3)
0~359999deg
Index absolute type
RequiredNot required (4)
No
Above operation rangeplusmn9999deg (plusmn2520deg) max
Multi-rotation absolute typeSCON-CB XSEL(1)
( ) is for 20-bit
(Note) Use this product by installing it on a mounting surface having heat dissipating characteristics equivalent to those of an aluminum plate of w450mm times d450mm times t12mm in size If the installation conditions necessitate lower heat dissipating characteristics please consult IAI
ControllersFor the DDA with 200W motor the outside dimensions of the SCON-CB controller will be the same as the size of the
400W motor (Please contact IAI for the details of the SCON-CB controller)One and two regenerative resistor unit(s) are required for LT18C and LH18C respectively to operate a DDA
motor with the SCON-CBWhen operating DDA motor(s) with the XSEL controller regenerative resistor units are required as shown below
The number of DDA motor(s) connectable to the XSEL controller is a max of 8 units for the LT18C type and a max of 2 units for the LH18C type
Please note that when the DDA motor is operated with the SCON-CB the motor cannot be connected to the Robo Cylinder gateway function of the XSEL controller
Calculation for the power supply value LT18C type single-phase 600W three-phase 200W LH18C type single-phase 1200W three-phase 600W
Number of regenerative resistor units
1 2 3 4 5 6 7 81 2 3
(Cannot be connected)4
2 4LT18CLH18C
Number of DD motor(s)
360deg
SCON-CB XSEL(1)
180deg(2)
16
DDA(CR) Direct Drive Motor
Conditions for Selection
The followings should be checked to determine whether the DDA motor can be used to suit the specific conditions required by the customer
The customer should confirm that the following three points under actual use do not exceed their maximum allowable levels as specified for the DDA 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
Check Load Conditions1
[1] Thrust load
[2] Load moment applied
[3] Load inertia
J = 18 times M times D 2 [kgm2]
Mass M [kg]
D [m]
Center of rotation
J = 112 times M times (a 2 + b 2) [kgm2]
a [m]
b [m]
Center of rotation
Mass M [kg]
J = M times R 2+ 18 times M times D 2 [kgm2]
Mass M [kg]
D [m]
R [m]
Cent
er o
fro
tatio
n
J = M times R 2+112 times M times (a 2 + b 2 )[kgm2]
a [m]
b [m]R [m]
Cent
er o
fro
tatio
n
Mass M [kg]
The travel time changes according to the load inertia See the tables below to check the travel time data
Travel Time Guide3
The data in the tables are for a reference only and do not guarantee the actual travel times
(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)
0
0005
009
012
017
022
0005
001
010
012
017
022
001
002
011
014
019
024
002
003
012
016
021
026
003
004
013
017
023
027
004
005
014
018
024
029
005
006
015
020
027
032
006
007
017
022
029
035
007
008
019
024
032
038
008
009
021
026
035
041
009
01
023
029
037
044
01
02
039
048
060
069
02
03
062
073
089
100
03
04
070
083
101
114
04
05
087
102
122
136
05
06
111
123
142
168
LH18C
LT18C
Continuous Operation Area
LT18C type LH18C type
(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)
0
0005
0098
0129
0192
0254
0005
001
0096
0128
019
0252
001
0015
0096
0127
019
0252
002
002
0097
0128
0191
0253
002
003
0099
0131
0193
0256
003
004
0104
0136
0199
0262
004
006
0113
0144
0207
027
006
008
012
0153
0215
0278
008
01
0126
0163
0225
0288
010
015
014
0184
0249
0312
015
02
0157
0208
0279
0341
02
03
0207
0268
0354
042
03
04
0257
0329
0428
0504
04
06
0352
044
0562
0655
06
08
0447
0549
0692
08
08
1
053
0646
0806
0925
10
12
0629
0758
0933
1064
12
14
0795
0941
1133
1274
14
18
0875
1035
1257
1415
Check Operating Conditions2Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DDA motor specications to determine whether the DDA motor can be used under the applicable operating conditions Please contact IAI for assistance To
rque
(Nm
)
Curr
ent [
Arm
s]
Angular velocity [degs]
AccelerationDeceleration Area
Torq
ue (N
m)
Curr
ent [
Arm
s]
Angular velocity [degs]
AccelerationDeceleration Area
Rating areaRating area
270deg travel time [sec]180deg travel time [sec]
90deg travel time [sec]45deg travel time [sec]
Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]
270deg travel time [sec]180deg travel time [sec]
90deg travel time [sec]45deg travel time [sec]
Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]
Selecting the DD Motor
17
DDA(CR) Direct Drive Motor
CB-X-MACB-XEU-MA
Modelnumber
Motor robot cableEU motor robot cable
forDDA(CR)-LT18
L
Controller side
4
1
1
4
Wire
075sqGreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
GreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
PEUVW
No1234
Actuator side
(10)(20)
(Front view)(Front view)
(16)
(oslash9) (2
1)
(18)
(41)
Signal
Minimum bending R r = 51 mm or more (for movable use) If the cable must be guided in a cable track use a robot cable
Enter the cable length (L) into Compatible to a Maximum of 30 meters Ex 080 = 8m
Minimum bending R r = 51 mm or more (for movable use)Only robot cable is available for this model
1
(16)
(F (Front view)ront view)
(41)
(41)
234
1234
UVWPE
RedWhiteBlackGreen
PESignal NoWire
Controller side
075sq 075sq(crimped)
Color oN langiS Color Wire
UVW
GreenRed
WhiteBlack
Actuator side
(Fig Motor robot cable CB-X-MA with plastic connector)
(Fig EU motor robot cable CB-XEU-MA EU version with M18 plastic round connector)
4
17
L
1
2 3
1
Color Wire
075sq
No Signal Color
(crimped)
PEUVW
123
CB-XMC-MACB-XEUMC-MA
Modelnumber
Motor robot cableEU motor robot cable
forDDA(CR)-HT18
Controller side
Wire
125sqGreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
GreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
PEUVW
No1234
Actuator side
Signal
Minimum bending R r = 55 mm or more (for movable use) If the cable must be guided in a cable track use a robot cable
Enter the cable length (L) into Compatible to a Maximum of 30 meters Ex 080 = 8m
Minimum bending R r = 55 mm or more (for movable use)Only robot cable is available for this model
1
(16)
(F (Front view)ront view)
(41)
234
1234
UVWPE
RedWhiteBlackGreen
PESignal NoWire
Controller side
125sq 125sq(crimped)
Color oN langiS Color Wire
UVW
GreenRed
WhiteBlack
Actuator side
(Fig Motor robot cable CB-XMC-MA with plastic connector)
(Fig EU motor robot cable CB-XEUMC-MA EU version with M18 plastic round connector)
4
17
L
1
2 3
1
Color Wire
125sq
No Signal Color
(crimped)
PEUVW
123
Cables
L
4
1
1
4(Front view)
(16)(21)
(11)
(16)
18
DDA(CR) Direct Drive Motor
Maintenance Parts
(oslash9)
DDADDACR Series Catalogue No 1116-E Version CJ0242-1A
CB-DDB-BKModelnumber
forDDA(CR) with brake optionBrake cable
Enter the cable length (L) into Compatible to a Maximum of 20 meters Ex 080 = 8m
Maintenance Parts
(41) (14)(15)
Controller side
(13)
(37)
(Front view) (Front view)
(25)
Actuator side
13
114
26
Ground wire and braided shield
AWG26(crimped)
WhiteblueWhiteyellowWhiteredWhiteblackWhitepurpleWhitegray
Whiteorangendash
(Ground)Orange
GreenPurple
GrayRed
BlackWhitegreen
BlueYellow
No Signal Color Wire
The shield is connected to the hood by a clamp
AWG26 (soldered)
Wire10111213262524239
181912345678
14151617202122
123456789
101112131415161718
AĀBBZZ
LS+ndash
FGSDSD
BAT+BAT-VCCGNDLS-BK-BK+
ndashndash
E24VOVLS
CREEPOTRSV
ndashndashndash
A+A-B+B-Z+Z-
SRD+SRD-BAT+BAT-VCCGNDBKR-BKR+
ndash
ndashndashndash
WhitegreenWhiteorange
WhitegreenWhiteorange
Whitegreen
Whiteorange
ndashndashndashndashndashndash
WhiteblueWhiteyellowWhitered
WhiteblackWhitepurpleWhitegray
WhiteblueWhiteyellow Whiteblue
WhiteyellowWhiteredWhiteblackWhitepurpleWhitegray
WhiteredWhiteblackWhitepurpleWhitegray
OrangeGreenPurple
GrayRed
BlackBlue
Yellowndash
NoSignalColor(oslash
10)
L
1
9 18
10
Minimum bending R r = 58 mm or more (for movable use) If the cable must be guided in a cable track use a robot cable
(Fig Encoder robot cable CB-X3-PA with plastic connector)
Controller side Actuator side
Minimum bending R r = 58 mm or more (for movable use)
(Front view)
L (13)
(37)
1
13
14
26
(41)
Ground wire and braided shield
Color WireSignalNo
AWG26soldered
Blue
SD1 OrangeSD2
3456789
Green
VCC10
PurpleGND11 BlackBAT+12
Yellow
BAT-13 Grey
BK-141516
Red
BK+A shield is connected to shield soldered part
AWG26(soldered)
212017
22
6
16151487
3
54
21
25
1819
2324
9
1011121326
No
ndashBKR+BKR-GND
Z-
BAT+
VCCBATndash
SRD-SRD+
B+
Z+B-
Z-
B+
Z+B-
A-A+
A-A+
CREEP
ndashndashndash
OTRSV
E24V0VLS
LS+
LS-
ndashndash
---
------
BlueYellow
Orange
PurpleGreen
Black
GreyRed
-The shield is clamped to the hood
Color SignalWire
(Fig EU encoder robot cable CB-XEU3-PA EU version with metal connector)
(Front view)
4 1
16 13 10
9 5
14
CB-X3-PACB-XEU3-PA
Modelnumber
Encoder robot cableEU encoder robot cable
forDDA(CR)
Enter the cable length (L) into Compatible to a Maximum of 30 meters Ex 080 = 8m
31
31
J11SF-03V-KX J11SFM-03V-KXNoNo SignalSignal ColorColor WiringWiring
AWG20(crimped)
Red
Black
White
Red
Black
White
+
-
FG
+
-
FG
321
321
AWG20(crimped)
Controller side Actuator side
tor side(Front view) (Front view)
L
(44) (167)
(80
)
(84)(293)
(92
)
(oslash5
4)
IAI America IncIAI Industrieroboter GmbHEurope Headquarters Ober der Roumlth 4 D-65824 Schwalbach Germany
IAI CORPORATIONCorporate Headquarters577-1 Obane Shimizu-Ku Shizuoka 424-0103 Japan Phone +81-543-64-5105 Fax +81-543-64-5192
IAI (Shanghai) Co LtdChina HeadquartersShanghai Jiahua Business Centee A8-303808Hongqiao Rd Shanghai 200030 ChinaPhone +86-21-6448-4753 Fax +86-21-6448-3992
America Headquarters2690 W 237th Street Torrance CA 90505 USA
wwwintelligentactuatorde
Phone +49-6196-8895-0 Fax +49-6196-8895-24 Phone +1-310-891-6015 Fax +1-310-891-0815
Dimensions
Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use
LT18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers
Name External view
Max number of controlled axes Power supply voltage Control method Maximum number of
positioning pointsReference
pagePositioner Pulse-train Program Network Option
SCON-CBCGB 1Single-phase
230VAC -
Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information
512 (768 for network spec)
P14
SCON-LCLCG 1Single-phase
230VAC- -
512 (768 for network spec)
P14
XSEL-PQRASA 8Single-phase 230VACThree-phase 230VAC
- - 53332
(Depending on the type)P15
(Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side
Motor connector
Encoder connector
32 o
r les
s
500+500
oslash1235
45 o
r les
s
500plusmn30
Brake connector
oslash 35
Hol
low
bor
e
24
77
Motor connector
Encoder connector
45 o
r les
s
oslash1235500+50
0
Brake connector
oslash35
Hol
low
bor
e
R100 or less
2-oslash4 H7 depth 3For workpiece positioning
6-M5 effective depth 8For workpiece mounting
PCD102 plusmn01
oslash 52
Hol
low
bor
e
oslash 83
Rotating part of the work mounting surface
oslash180
oslash110h7 -00350
70plusmn0
3
4
oslash178h8 -00630
500plusmn30
oslash21
32 or less
138
158
oslash116
35
003 A 003 A
A
75plusmn0
1
8-M6 effective depth 13PCD148 plusmn01
75plusmn0
1
225degoslash5 H7 depth 5For body positioning
Body mounting surfaceBody positioning oblong hole
S
2
R25
5+00120 depth 5
Detail view of S
24
CAD drawings can be downloaded from our website
wwwintelligentactuatorde2D
CAD2D
CAD3D
CAD3D
CAD
8
DDA Direct Drive Motor
P
O I N T
SelectionNotes
(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 30m Specify a desired length in meters (Example X08 = 8m)
(Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control
(Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type
ModelSpecications
1 Indexing accuracy is supported when connected to SCON-CB
Thrust (axial) run-out (No load) 30μm
Radial run-out (No load) 30μm
Run-out of Output Shaft
Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198arcsec) 20-bit plusmn000103deg (plusmn37arcsec)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45arcsec) 20-bit plusmn000833deg (plusmn30arcsec)Allowable load moment (Note 2) 80Nmiddotm
Encoder resolution 17-bit 131 072 pulsesrev20-bit 1 048 576 pulsesrev
Allowable thrust load (Note 2) Forward 3100N Reverse 250NBase material AluminumAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)
Cleanroom specication
Cleanliness ISO class 4 (US class 10M25 US FED STD 209DE)Suction amount 35Nℓmin
Weight 13kg
Common Specications
Encoder type Model number Motor
wattage (W)
Operation range (deg) (1)
Speed (degs) (Note 1)
Rated torque (Nmiddotm) (2)
Maximum instantaneous torque (Nmiddotm)
Allowable inertia
moment (kgmiddotm2)
Rotor inertia (kgmiddotm2)
17-bit index absolute type DDA (CR)-LH18CS-AI-600-360-T2-① -②
600
0~359999 deg
1~800 (1~1440) 25 75 18 00092
17-bit multi-rotation absolute type DDA (CR)-LH18CS-AM-600-360-T2-① -② plusmn9999 deg max
20-bit index absolute type DDA (CR)-LH18CP-AI-600-360-T2-① -② 0~359999 deg
20-bit multi-rotation absolute type DDA (CR)-LH18CP-AM-600-360-T2-① -② plusmn2520 deg max
Options
Name Option code
Cable exits from the bottom A0
Cable exits from the side A1
Flange FL
(Note) A0 (cable exits from the bottom) option and FL (ange) option cannot be selected together
DDA-LH18C
Controller is not included
DDACR-LH18C Model
Specication Items
DDADDACR LH18C 600 360 T2
Series Type Encoder Type
Motor Type
Operation Range
Applicable Controllers
Cable Length Options
DDA StandardDDACR Cleanroom
specication
S Standard (17-bit)
P High resolution (20-bit)
AI Index absolute type
AM Multi-rotation absolute type
600 600W 360 360 deg T2 SCON XSEL-PQ XSEL-RASA
Note Only SCONapplys forLH18CP
N None S 3m M 5m X Specied
length
Please refer to the options table below Please make sure to
specify either A0 or A1 for the cable exit direction
(1) SCON and XSEL have dierent minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information
Legend Cable length Option
Please refer to P16 for more information on the installation method
Horizontal
Side
Vert
ical
Ceiling
9
DDA(CR) Direct Drive Motor
Cable Length
Please refer to P18 for more information regarding the maintenance cables
Cable type
Cable code
Standard
S (3m) M (5m)
Specied length
X06 (6m) ~ X10 (10m) X11 (11m) ~ X30 (30m)
LargeHollow
Bore
HighTorque
Type
BasiclyFlange-
less
LargeHollow
Bore
HighTorque
Type
BasiclyFlange-
less
Clean-roomSpec
Dimensions
Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use
LH18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers
Name External view
Max number of controlled axes Power supply voltage Control method Maximum number of
positioning pointsReference
pagePositioner Pulse-train Program Network Option
SCON-CBCGB 1Single-phase
230VAC -
Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information
512 (768 for network spec)
P14
SCON-LCLCG 1Single-phase
230VAC- -
512 (768 for network spec)
P14
XSEL-PQRASA 8Single-phase 230VACThree-phase 230VAC
- - 53332
(Depending on the type)P15
(Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side
Encoder connector
Motor connector
45
615
24
77
oslash6 Compatible tube diameter
Air JointCR speci cation only
32 o
r les
s11
500plusmn30
R100 or less
2-oslash4 H7 depth 3For workpiece positioning
6-M6 effective depth 12For workpiece mounting
PCD102plusmn01
oslash 52
Hol
low
bor
e
oslash 83
2428
Rotating part of the work mounting surface Encoder connector
Motor connector
Air JointCR specification only
75plusmn0
1
8-M8 effective depth 16PCD148 plusmn01
75plusmn0
1
oslash5 H7 depth 5For body positioning 225deg
Body mounting surfaceBody positioning oblong hole
oslash110h7 -00350
oslash116oslash180
oslash178h8 -00630
412
28
plusmn03
32 or less
oslash 21
500plusmn30
35
138
158
003 A
003 A
A
5 +00120 depth 5
2
R25
Detail view of S
S
CAD drawings can be downloaded from our website
wwwintelligentactuatorde2D
CAD2D
CAD3D
CAD3D
CAD
10
DDA(CR) Direct Drive Motor
1 A brake cable is not supplied if N (None) is selected as the cable length Please order a brake cable as a separate item in that case
Options
ModelSpecications
Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198arcsec) 20-bit plusmn000103deg (plusmn37arcsec)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45arcsec) 20-bit plusmn000833deg (plusmn30arcsec)Allowable load moment (Note 2) 80Nmiddotm
Encoder resolution 17-bit 131 072 pulsesrev20-bit 1 048 576 pulsesrev
Allowable thrust load (Note 2) Forward 3100N Reverse 250NBase material AluminumBrake retaining torque 50NmiddotmAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)Weight 174kg
Common Specications
Thrust (axial) run-out (No load) 30μm
Radial run-out (No load) 30μm
Run-out of Output Shaft
Encoder type Model number Motor
wattage (W)
Operation range (deg) (1)
Speed (degs) (Note 1)
Rated torque (Nmiddotm) (2)
Maximum instantaneous torque (Nmiddotm)
Allowable inertia
moment (kgmiddotm2)
Rotor inertia (kgmiddotm2)
17-bit index absolute type DDA-LH18CS-AI-600-360-T2-① -② -B
600
0~359999 deg
1~800 (1~1440) 25 75 18 00092
17-bit multi-rotation absolute type DDA-LH18CS-AM-600-360-T2-① -② -B plusmn9999 deg max
20-bit index absolute type DDA-LH18CP-AI-600-360-T2-① -② -B 0~359999 deg
20-bit multi-rotation absolute type DDA-LH18CP-AM-600-360-T2-① -② -B plusmn2520 deg max
Name Option code
Cable exits from the bottom A0
Cable exits from the side A1
Brake (With brake box) 1 B
1 Indexing accuracy is supported when connected to SCON-CB
Controller is not included
DDA-LH18C-B
(1) SCON and XSEL have dierent minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information
P
O I N T
SelectionNotes
(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 20m Specify a desired length in meters (Example X08 = 8m)
(Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control
(Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type
(Note 6) The brake is used for retention purposes only so damagemay be caused if it is actually used in attempts to slow or stop the actuator
Legend Cable length Option
Please refer to P16 for more information on the installation method
Horizontal
Side
Vert
ical
Ceiling
Model Specication Items
DDA LH18C 600 360 T2 BSeries Type Encoder
TypeMotor Type
Operation Range
Applicable Controllers
Cable Length Options Option
S Standard (17-bit)
P High resolution (20-bit)
AI Index absolute type
AM Multi-rotation absolute type
600 600W 360 360 deg T2 SCON XSEL-PQ XSEL-RASA
Note Only SCONapplys forLH18CP
N None S 3m M 5m X Specied
length
Please refer to the options table below Please make sure to
specify either A0 or A1 for the cable exit direction
B Brake
11
DDA Direct Drive Motor
Flange-less withBrake
LargeHollow
Bore
HighTorque
Type Without CE Conformity
X
Cable Length
Please refer to P18 for more information regarding the maintenance cables
Cable type
Cable code
Standard
S (3m) M (5m)
Specied length
X06 (6m) ~ X10 (10m) X11 (11m) ~ X20 (20m)
Dimensions
Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use
LH18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers
Name External view
Max number of controlled axes Power supply voltage Control method Maximum number of
positioning pointsReference
pagePositioner Pulse-train Program Network Option
SCON-CBCGB 1Single-phase
230VAC -
Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information
512 (768 for network spec)
P14
SCON-LCLCG 1Single-phase
230VAC- -
512 (768 for network spec)
P14
XSEL-PQRASA 8Single-phase 230VACThree-phase 230VAC
- - 53332
(Depending on the type)P15
(Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side
Encoder connector
Motor connector
oslash 35
Hol
low
bor
e
32 o
r les
s
oslash1235
645
or l
ess
500+500
500plusmn30
Brake connector
24
77
Encoder connector
Motor connector
oslash 35
Hol
low
bor
e64
5 o
r les
s
oslash1235500+50
0
Brake connector
R100 or less
2-oslash4 H7 depth 3For workpiece positioning
6-M6 effective depth 12For workpiece mounting
PCD102 plusmn01
oslash 52
Hol
low
bor
e
oslash 83
Rotating part of the work mounting surface
oslash110h7 -00035
oslash116oslash180
oslash178h8 -00063
412
28
plusmn03
32 or less
oslash21
500plusmn30
35
138
158
003 A
003 A
A
75plusmn0
1
8-M8 effective depth 16PCD148 plusmn01
75plusmn0
1
oslash5 H7 depth 5For body positioning 225deg
Body mounting surfaceBody positioning oblong hole
S 5 +00120 depth 5
2
R25
Detail view of S24
CAD drawings can be downloaded from our website
wwwintelligentactuatorde2D
CAD2D
CAD3D
CAD3D
CAD
12
DDA Direct Drive Motor
OptionsIt is a retention mechanism for holding the stop position when the power or servo is OFF to prevent the workpieces and attachments from being damaged when used in side or vertical positions Be sure to connect a brake box for models with brake
A bracket that attaches to the body with bolts from the top side
Brake
Flange
Option Code B
Option Code FL
Brake Box
Wiring Diagram When Brake Box is Used
DDA-LT18CModel Number DDA-FL-LT18
Model Number IA-110-DD-4
DDA-LH18CModel Number DDA-FL-LH18
PCD200
PCD200
plusmn0075plusmn0075
55deg
55deg
180
180
180180
160
160
plusmn01
plusmn01
160160 plusmn01plusmn01
4-oslash1
1thr
ough
2-oslash6H
7 through
135
135
815
815
plusmn04
plusmn04
oslash1245
55deg
55deg
PCD
PCD200plusmn0075200plusmn0075
180
180
180180160160 plusmn01plusmn01
160
160
plusmn01
plusmn01
2-oslash6H7 through
4-oslash1
1thr
ough
155
15513
63
136
3plusmn0
4plusmn0
4
oslash1245
PWRON
BKOUT
+ - C E
BKRMT
RLSBKOUT
PWRPE N L
MODEL IA-110-DD-4SN INPUT Single phase 100-240V
MADE IN JAPAN
5060Hz 10A maxOUTPUT 12VDC 06A
PWRON
BKOUT
+ - C E
BKRMT
RLSBKOUT
PWRPE N L
MODEL IA-110-DD-4SN INPUT Single phase 100-240V
MADE IN JAPAN
5060Hz 10A maxOUTPUT 12VDC 06A
ControllerSCON-CBXSEL-PQRASADDA
Motor cableModel CB-X(EU)-MA CB-X(EU)MC-MA
Brake box
EU cable version w metal connector
Encoder cableModel CB-X(EU)3-PA010(Comes with the brake box)
Encoder cableModel CB-X(EU)3-PA
Brake cableModel CB-DDB-BK Main power supply
100VAC~240VAC
13
DDA(CR) Direct Drive Motor
Position Controller
Controller Model
System Configuration
Positioner Single-axis Type ltSCONgt Model
Power Supply Voltage
IO TypeEncoder Type Motor Type Type Series SCON
IO Cable Length
AIAM
2
The 200W motor used by the DDA is larger than a normal 200W motor so the motor type for the controller will be 200S and its size will be larger than the 400W motor
For 200W motorFor 600W motor
200S600
High-function typeSafety category compliant type
CBCGB
PLC equipped typeSafety category PLC equipped type
LCLCG
Motor cableModel CB-X(EU)-MA (LT18C)
CB-X(EU)MC-MA (LH18C)
SCON PC
DDA
PLC(To be supplied by the customer)
IO flat cableModel CB-PAC-PIO020Standard 2m
2 Be sure to use a noise filter on the power supply
( )Encoder cableModel CB-X(EU)3-PA
PC compatible softwareRS232 connection versionModel RCM-101-MWUSB connection versionModel RCM-101-USB(Please contact IAI for more details)
Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)
Regenerative resistor unitModel RESU-2RESUD-2(Please contact IAI for more details)
1 The wiring diagram is different for models with brakes Please refer to P13 for more information
1
Single-phase 230VAC Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models
Main powersupply 2
Field network
DDA
Option
Supplied with the actuator
Supplied with the controller
Supplied with the actuator Option
Option
Option
When the SCON Controller is Connected
When a eld network specication is selectedthe IO cable length will be 0
Index absolute typeMulti-rotation abs type
NPPN
PIO NPN (Standard)
PIO PNP
DVCN
DeviceNet
CompoNet
CC CC-Link
ML3PR
MECHATROLINK-III
PROFIBUS-DP
02
35
No cable2m (Standard)
3m5m
EC EtherCAT
EP EtherNetIP
PRT PROFINET IO
For recommended modelsplease contact IAI
Model
External view
IO type
IO type code
CompoNet connection
PROFIBUS-DP connection
CC-Linkconnection
DeviceNetconnection
PIO connection specification (1)
NPPN DV CC PR
Standard Field network type (1)
CN mdash
mdash
mdash
SCON-CB
EtherNetIP connection
PROFINET IO connection
EtherCATconnection
EC EP PRT
List of Models
MECHATROLINK- III
connection
ML3
Applicable encoder type(Note) The index absolute type cannot be used in the pulse-train control and MECHATROLINK-III control(1) Please note that the network specifications cannot be operated on the PIO or pulse-train The PLC type (LCLCG) cannot be connected on the pulse-train
Index absoluteMulti-rotation absoluteIndex absolute Multi-rotation absolute
CBCGB CBCGB LCLCG
14
SCON Controller
EU version w metal connector
Program Controller
List of Models
Model P Q RA SA
Type Large-capacity type Large-capacity type (Safety category specication) High-function type High-function type
(Safety category specication)
External view
DescriptionLarge-capacity type
that can control up to 6 axes 2400W
Large-capacity type thats compatible with the
safety category 4
High-function type that allows up to 8-axis operation
Safety category 4 compatible high-function type
Controller Model
System Configuration
Program Multi-axis Type ltXSELgt Model
Encoder Type
Encoder Type
Motor Type
Motor Type
Number ofConnected
AxesType Series Option Option
XSEL
200 For 200W motor
600 For 600W motor
B BrakePQRASA
6-axis type6-axis safety category type8-axis type8-axis safety category type
8
1
~ ~
1 axis
8 axes
(PQ type is up to 6 axes)
(Details of the 1st axis) (Details of the 2nd~8th axis)
It can simultaneously operate actuators (single-axis robot and RoboCylinder) otherthan the DDA motor on a single controller For connectable actuators other than the DDA motor please contact IAI
For subsequent models please contact IAI
Notes
AIAM
Index absolute typeMulti-rotation absolute type
When the XSEL Controller is Connected
2 Be sure to use a noise filter on the power supply
Motor cableModel CB-X(EU)-MA (LT18C) CB-X(EU)MC-MA (LH18C)
XSELPC
PLC(To be supplied by the customer)
PC compatible softwareRS232 connection versionModel IA-101-X-MWUSB connection versionModel IA-101-X-USBMW(Please contact IAI for more details)
Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)
Single-phase 230VACThree-phase 230VAC
Regenerative resistor unitModel RESU-1RESUD-1(Please contact IAI for more details)
Option Option
Option
Field networkOption
IO flat cableModel CB-X-PIO020Standard 2m
Supplied with the controller
Encoder cableModel CB-X(EU)3-PA
Supplied with the actuator
Supplied with the actuator
Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models
1
1 The wiring diagram is different for models with brakes Please refer to P13 for more information
DDA
Main powersupply 2 ( )For recommended models
please contact IAI
15
XSEL Controller
EU version w metal connector
Precautions
Installation
Installation Orientation
Mountingsurface
For models with brake and cable exit direction to the bottom a clearance hole is required
Ceiling mount
Horizontal mount
Vertical mount
Gra
vity
Operation TypeThis product is available in 2 operation types depending on the operation conditions Please check the features and precautions on each type before use
(1)The high resolution specification can be connected only to the SCON-CB(2)When the XSEL index type travels more than 180deg from the current position it rotates in a direction that requires a shorter travel distance to
reach the target position Therefore please note that the direction of rotation changes according to the current position and travel distance If you want to specify the direction of travel use the SCON-CB
(3)The index type can be rotated in a given direction infinitely 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-CB
(4)Home return is required for the multi-rotation absolute encoder during the initial setting and replacement of the absolute battery
Absolute batteryHome return operationLimitless rotation
Maximum amount of movement in a single movement command
Operation rangeController typeOperation type
Not requiredNot required
Yes (3)
0~359999deg
Index absolute type
RequiredNot required (4)
No
Above operation rangeplusmn9999deg (plusmn2520deg) max
Multi-rotation absolute typeSCON-CB XSEL(1)
( ) is for 20-bit
(Note) Use this product by installing it on a mounting surface having heat dissipating characteristics equivalent to those of an aluminum plate of w450mm times d450mm times t12mm in size If the installation conditions necessitate lower heat dissipating characteristics please consult IAI
ControllersFor the DDA with 200W motor the outside dimensions of the SCON-CB controller will be the same as the size of the
400W motor (Please contact IAI for the details of the SCON-CB controller)One and two regenerative resistor unit(s) are required for LT18C and LH18C respectively to operate a DDA
motor with the SCON-CBWhen operating DDA motor(s) with the XSEL controller regenerative resistor units are required as shown below
The number of DDA motor(s) connectable to the XSEL controller is a max of 8 units for the LT18C type and a max of 2 units for the LH18C type
Please note that when the DDA motor is operated with the SCON-CB the motor cannot be connected to the Robo Cylinder gateway function of the XSEL controller
Calculation for the power supply value LT18C type single-phase 600W three-phase 200W LH18C type single-phase 1200W three-phase 600W
Number of regenerative resistor units
1 2 3 4 5 6 7 81 2 3
(Cannot be connected)4
2 4LT18CLH18C
Number of DD motor(s)
360deg
SCON-CB XSEL(1)
180deg(2)
16
DDA(CR) Direct Drive Motor
Conditions for Selection
The followings should be checked to determine whether the DDA motor can be used to suit the specific conditions required by the customer
The customer should confirm that the following three points under actual use do not exceed their maximum allowable levels as specified for the DDA 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
Check Load Conditions1
[1] Thrust load
[2] Load moment applied
[3] Load inertia
J = 18 times M times D 2 [kgm2]
Mass M [kg]
D [m]
Center of rotation
J = 112 times M times (a 2 + b 2) [kgm2]
a [m]
b [m]
Center of rotation
Mass M [kg]
J = M times R 2+ 18 times M times D 2 [kgm2]
Mass M [kg]
D [m]
R [m]
Cent
er o
fro
tatio
n
J = M times R 2+112 times M times (a 2 + b 2 )[kgm2]
a [m]
b [m]R [m]
Cent
er o
fro
tatio
n
Mass M [kg]
The travel time changes according to the load inertia See the tables below to check the travel time data
Travel Time Guide3
The data in the tables are for a reference only and do not guarantee the actual travel times
(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)
0
0005
009
012
017
022
0005
001
010
012
017
022
001
002
011
014
019
024
002
003
012
016
021
026
003
004
013
017
023
027
004
005
014
018
024
029
005
006
015
020
027
032
006
007
017
022
029
035
007
008
019
024
032
038
008
009
021
026
035
041
009
01
023
029
037
044
01
02
039
048
060
069
02
03
062
073
089
100
03
04
070
083
101
114
04
05
087
102
122
136
05
06
111
123
142
168
LH18C
LT18C
Continuous Operation Area
LT18C type LH18C type
(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)
0
0005
0098
0129
0192
0254
0005
001
0096
0128
019
0252
001
0015
0096
0127
019
0252
002
002
0097
0128
0191
0253
002
003
0099
0131
0193
0256
003
004
0104
0136
0199
0262
004
006
0113
0144
0207
027
006
008
012
0153
0215
0278
008
01
0126
0163
0225
0288
010
015
014
0184
0249
0312
015
02
0157
0208
0279
0341
02
03
0207
0268
0354
042
03
04
0257
0329
0428
0504
04
06
0352
044
0562
0655
06
08
0447
0549
0692
08
08
1
053
0646
0806
0925
10
12
0629
0758
0933
1064
12
14
0795
0941
1133
1274
14
18
0875
1035
1257
1415
Check Operating Conditions2Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DDA motor specications to determine whether the DDA motor can be used under the applicable operating conditions Please contact IAI for assistance To
rque
(Nm
)
Curr
ent [
Arm
s]
Angular velocity [degs]
AccelerationDeceleration Area
Torq
ue (N
m)
Curr
ent [
Arm
s]
Angular velocity [degs]
AccelerationDeceleration Area
Rating areaRating area
270deg travel time [sec]180deg travel time [sec]
90deg travel time [sec]45deg travel time [sec]
Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]
270deg travel time [sec]180deg travel time [sec]
90deg travel time [sec]45deg travel time [sec]
Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]
Selecting the DD Motor
17
DDA(CR) Direct Drive Motor
CB-X-MACB-XEU-MA
Modelnumber
Motor robot cableEU motor robot cable
forDDA(CR)-LT18
L
Controller side
4
1
1
4
Wire
075sqGreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
GreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
PEUVW
No1234
Actuator side
(10)(20)
(Front view)(Front view)
(16)
(oslash9) (2
1)
(18)
(41)
Signal
Minimum bending R r = 51 mm or more (for movable use) If the cable must be guided in a cable track use a robot cable
Enter the cable length (L) into Compatible to a Maximum of 30 meters Ex 080 = 8m
Minimum bending R r = 51 mm or more (for movable use)Only robot cable is available for this model
1
(16)
(F (Front view)ront view)
(41)
(41)
234
1234
UVWPE
RedWhiteBlackGreen
PESignal NoWire
Controller side
075sq 075sq(crimped)
Color oN langiS Color Wire
UVW
GreenRed
WhiteBlack
Actuator side
(Fig Motor robot cable CB-X-MA with plastic connector)
(Fig EU motor robot cable CB-XEU-MA EU version with M18 plastic round connector)
4
17
L
1
2 3
1
Color Wire
075sq
No Signal Color
(crimped)
PEUVW
123
CB-XMC-MACB-XEUMC-MA
Modelnumber
Motor robot cableEU motor robot cable
forDDA(CR)-HT18
Controller side
Wire
125sqGreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
GreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
PEUVW
No1234
Actuator side
Signal
Minimum bending R r = 55 mm or more (for movable use) If the cable must be guided in a cable track use a robot cable
Enter the cable length (L) into Compatible to a Maximum of 30 meters Ex 080 = 8m
Minimum bending R r = 55 mm or more (for movable use)Only robot cable is available for this model
1
(16)
(F (Front view)ront view)
(41)
234
1234
UVWPE
RedWhiteBlackGreen
PESignal NoWire
Controller side
125sq 125sq(crimped)
Color oN langiS Color Wire
UVW
GreenRed
WhiteBlack
Actuator side
(Fig Motor robot cable CB-XMC-MA with plastic connector)
(Fig EU motor robot cable CB-XEUMC-MA EU version with M18 plastic round connector)
4
17
L
1
2 3
1
Color Wire
125sq
No Signal Color
(crimped)
PEUVW
123
Cables
L
4
1
1
4(Front view)
(16)(21)
(11)
(16)
18
DDA(CR) Direct Drive Motor
Maintenance Parts
(oslash9)
DDADDACR Series Catalogue No 1116-E Version CJ0242-1A
CB-DDB-BKModelnumber
forDDA(CR) with brake optionBrake cable
Enter the cable length (L) into Compatible to a Maximum of 20 meters Ex 080 = 8m
Maintenance Parts
(41) (14)(15)
Controller side
(13)
(37)
(Front view) (Front view)
(25)
Actuator side
13
114
26
Ground wire and braided shield
AWG26(crimped)
WhiteblueWhiteyellowWhiteredWhiteblackWhitepurpleWhitegray
Whiteorangendash
(Ground)Orange
GreenPurple
GrayRed
BlackWhitegreen
BlueYellow
No Signal Color Wire
The shield is connected to the hood by a clamp
AWG26 (soldered)
Wire10111213262524239
181912345678
14151617202122
123456789
101112131415161718
AĀBBZZ
LS+ndash
FGSDSD
BAT+BAT-VCCGNDLS-BK-BK+
ndashndash
E24VOVLS
CREEPOTRSV
ndashndashndash
A+A-B+B-Z+Z-
SRD+SRD-BAT+BAT-VCCGNDBKR-BKR+
ndash
ndashndashndash
WhitegreenWhiteorange
WhitegreenWhiteorange
Whitegreen
Whiteorange
ndashndashndashndashndashndash
WhiteblueWhiteyellowWhitered
WhiteblackWhitepurpleWhitegray
WhiteblueWhiteyellow Whiteblue
WhiteyellowWhiteredWhiteblackWhitepurpleWhitegray
WhiteredWhiteblackWhitepurpleWhitegray
OrangeGreenPurple
GrayRed
BlackBlue
Yellowndash
NoSignalColor(oslash
10)
L
1
9 18
10
Minimum bending R r = 58 mm or more (for movable use) If the cable must be guided in a cable track use a robot cable
(Fig Encoder robot cable CB-X3-PA with plastic connector)
Controller side Actuator side
Minimum bending R r = 58 mm or more (for movable use)
(Front view)
L (13)
(37)
1
13
14
26
(41)
Ground wire and braided shield
Color WireSignalNo
AWG26soldered
Blue
SD1 OrangeSD2
3456789
Green
VCC10
PurpleGND11 BlackBAT+12
Yellow
BAT-13 Grey
BK-141516
Red
BK+A shield is connected to shield soldered part
AWG26(soldered)
212017
22
6
16151487
3
54
21
25
1819
2324
9
1011121326
No
ndashBKR+BKR-GND
Z-
BAT+
VCCBATndash
SRD-SRD+
B+
Z+B-
Z-
B+
Z+B-
A-A+
A-A+
CREEP
ndashndashndash
OTRSV
E24V0VLS
LS+
LS-
ndashndash
---
------
BlueYellow
Orange
PurpleGreen
Black
GreyRed
-The shield is clamped to the hood
Color SignalWire
(Fig EU encoder robot cable CB-XEU3-PA EU version with metal connector)
(Front view)
4 1
16 13 10
9 5
14
CB-X3-PACB-XEU3-PA
Modelnumber
Encoder robot cableEU encoder robot cable
forDDA(CR)
Enter the cable length (L) into Compatible to a Maximum of 30 meters Ex 080 = 8m
31
31
J11SF-03V-KX J11SFM-03V-KXNoNo SignalSignal ColorColor WiringWiring
AWG20(crimped)
Red
Black
White
Red
Black
White
+
-
FG
+
-
FG
321
321
AWG20(crimped)
Controller side Actuator side
tor side(Front view) (Front view)
L
(44) (167)
(80
)
(84)(293)
(92
)
(oslash5
4)
IAI America IncIAI Industrieroboter GmbHEurope Headquarters Ober der Roumlth 4 D-65824 Schwalbach Germany
IAI CORPORATIONCorporate Headquarters577-1 Obane Shimizu-Ku Shizuoka 424-0103 Japan Phone +81-543-64-5105 Fax +81-543-64-5192
IAI (Shanghai) Co LtdChina HeadquartersShanghai Jiahua Business Centee A8-303808Hongqiao Rd Shanghai 200030 ChinaPhone +86-21-6448-4753 Fax +86-21-6448-3992
America Headquarters2690 W 237th Street Torrance CA 90505 USA
wwwintelligentactuatorde
Phone +49-6196-8895-0 Fax +49-6196-8895-24 Phone +1-310-891-6015 Fax +1-310-891-0815
P
O I N T
SelectionNotes
(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 30m Specify a desired length in meters (Example X08 = 8m)
(Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control
(Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type
ModelSpecications
1 Indexing accuracy is supported when connected to SCON-CB
Thrust (axial) run-out (No load) 30μm
Radial run-out (No load) 30μm
Run-out of Output Shaft
Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198arcsec) 20-bit plusmn000103deg (plusmn37arcsec)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45arcsec) 20-bit plusmn000833deg (plusmn30arcsec)Allowable load moment (Note 2) 80Nmiddotm
Encoder resolution 17-bit 131 072 pulsesrev20-bit 1 048 576 pulsesrev
Allowable thrust load (Note 2) Forward 3100N Reverse 250NBase material AluminumAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)
Cleanroom specication
Cleanliness ISO class 4 (US class 10M25 US FED STD 209DE)Suction amount 35Nℓmin
Weight 13kg
Common Specications
Encoder type Model number Motor
wattage (W)
Operation range (deg) (1)
Speed (degs) (Note 1)
Rated torque (Nmiddotm) (2)
Maximum instantaneous torque (Nmiddotm)
Allowable inertia
moment (kgmiddotm2)
Rotor inertia (kgmiddotm2)
17-bit index absolute type DDA (CR)-LH18CS-AI-600-360-T2-① -②
600
0~359999 deg
1~800 (1~1440) 25 75 18 00092
17-bit multi-rotation absolute type DDA (CR)-LH18CS-AM-600-360-T2-① -② plusmn9999 deg max
20-bit index absolute type DDA (CR)-LH18CP-AI-600-360-T2-① -② 0~359999 deg
20-bit multi-rotation absolute type DDA (CR)-LH18CP-AM-600-360-T2-① -② plusmn2520 deg max
Options
Name Option code
Cable exits from the bottom A0
Cable exits from the side A1
Flange FL
(Note) A0 (cable exits from the bottom) option and FL (ange) option cannot be selected together
DDA-LH18C
Controller is not included
DDACR-LH18C Model
Specication Items
DDADDACR LH18C 600 360 T2
Series Type Encoder Type
Motor Type
Operation Range
Applicable Controllers
Cable Length Options
DDA StandardDDACR Cleanroom
specication
S Standard (17-bit)
P High resolution (20-bit)
AI Index absolute type
AM Multi-rotation absolute type
600 600W 360 360 deg T2 SCON XSEL-PQ XSEL-RASA
Note Only SCONapplys forLH18CP
N None S 3m M 5m X Specied
length
Please refer to the options table below Please make sure to
specify either A0 or A1 for the cable exit direction
(1) SCON and XSEL have dierent minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information
Legend Cable length Option
Please refer to P16 for more information on the installation method
Horizontal
Side
Vert
ical
Ceiling
9
DDA(CR) Direct Drive Motor
Cable Length
Please refer to P18 for more information regarding the maintenance cables
Cable type
Cable code
Standard
S (3m) M (5m)
Specied length
X06 (6m) ~ X10 (10m) X11 (11m) ~ X30 (30m)
LargeHollow
Bore
HighTorque
Type
BasiclyFlange-
less
LargeHollow
Bore
HighTorque
Type
BasiclyFlange-
less
Clean-roomSpec
Dimensions
Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use
LH18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers
Name External view
Max number of controlled axes Power supply voltage Control method Maximum number of
positioning pointsReference
pagePositioner Pulse-train Program Network Option
SCON-CBCGB 1Single-phase
230VAC -
Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information
512 (768 for network spec)
P14
SCON-LCLCG 1Single-phase
230VAC- -
512 (768 for network spec)
P14
XSEL-PQRASA 8Single-phase 230VACThree-phase 230VAC
- - 53332
(Depending on the type)P15
(Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side
Encoder connector
Motor connector
45
615
24
77
oslash6 Compatible tube diameter
Air JointCR speci cation only
32 o
r les
s11
500plusmn30
R100 or less
2-oslash4 H7 depth 3For workpiece positioning
6-M6 effective depth 12For workpiece mounting
PCD102plusmn01
oslash 52
Hol
low
bor
e
oslash 83
2428
Rotating part of the work mounting surface Encoder connector
Motor connector
Air JointCR specification only
75plusmn0
1
8-M8 effective depth 16PCD148 plusmn01
75plusmn0
1
oslash5 H7 depth 5For body positioning 225deg
Body mounting surfaceBody positioning oblong hole
oslash110h7 -00350
oslash116oslash180
oslash178h8 -00630
412
28
plusmn03
32 or less
oslash 21
500plusmn30
35
138
158
003 A
003 A
A
5 +00120 depth 5
2
R25
Detail view of S
S
CAD drawings can be downloaded from our website
wwwintelligentactuatorde2D
CAD2D
CAD3D
CAD3D
CAD
10
DDA(CR) Direct Drive Motor
1 A brake cable is not supplied if N (None) is selected as the cable length Please order a brake cable as a separate item in that case
Options
ModelSpecications
Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198arcsec) 20-bit plusmn000103deg (plusmn37arcsec)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45arcsec) 20-bit plusmn000833deg (plusmn30arcsec)Allowable load moment (Note 2) 80Nmiddotm
Encoder resolution 17-bit 131 072 pulsesrev20-bit 1 048 576 pulsesrev
Allowable thrust load (Note 2) Forward 3100N Reverse 250NBase material AluminumBrake retaining torque 50NmiddotmAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)Weight 174kg
Common Specications
Thrust (axial) run-out (No load) 30μm
Radial run-out (No load) 30μm
Run-out of Output Shaft
Encoder type Model number Motor
wattage (W)
Operation range (deg) (1)
Speed (degs) (Note 1)
Rated torque (Nmiddotm) (2)
Maximum instantaneous torque (Nmiddotm)
Allowable inertia
moment (kgmiddotm2)
Rotor inertia (kgmiddotm2)
17-bit index absolute type DDA-LH18CS-AI-600-360-T2-① -② -B
600
0~359999 deg
1~800 (1~1440) 25 75 18 00092
17-bit multi-rotation absolute type DDA-LH18CS-AM-600-360-T2-① -② -B plusmn9999 deg max
20-bit index absolute type DDA-LH18CP-AI-600-360-T2-① -② -B 0~359999 deg
20-bit multi-rotation absolute type DDA-LH18CP-AM-600-360-T2-① -② -B plusmn2520 deg max
Name Option code
Cable exits from the bottom A0
Cable exits from the side A1
Brake (With brake box) 1 B
1 Indexing accuracy is supported when connected to SCON-CB
Controller is not included
DDA-LH18C-B
(1) SCON and XSEL have dierent minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information
P
O I N T
SelectionNotes
(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 20m Specify a desired length in meters (Example X08 = 8m)
(Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control
(Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type
(Note 6) The brake is used for retention purposes only so damagemay be caused if it is actually used in attempts to slow or stop the actuator
Legend Cable length Option
Please refer to P16 for more information on the installation method
Horizontal
Side
Vert
ical
Ceiling
Model Specication Items
DDA LH18C 600 360 T2 BSeries Type Encoder
TypeMotor Type
Operation Range
Applicable Controllers
Cable Length Options Option
S Standard (17-bit)
P High resolution (20-bit)
AI Index absolute type
AM Multi-rotation absolute type
600 600W 360 360 deg T2 SCON XSEL-PQ XSEL-RASA
Note Only SCONapplys forLH18CP
N None S 3m M 5m X Specied
length
Please refer to the options table below Please make sure to
specify either A0 or A1 for the cable exit direction
B Brake
11
DDA Direct Drive Motor
Flange-less withBrake
LargeHollow
Bore
HighTorque
Type Without CE Conformity
X
Cable Length
Please refer to P18 for more information regarding the maintenance cables
Cable type
Cable code
Standard
S (3m) M (5m)
Specied length
X06 (6m) ~ X10 (10m) X11 (11m) ~ X20 (20m)
Dimensions
Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use
LH18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers
Name External view
Max number of controlled axes Power supply voltage Control method Maximum number of
positioning pointsReference
pagePositioner Pulse-train Program Network Option
SCON-CBCGB 1Single-phase
230VAC -
Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information
512 (768 for network spec)
P14
SCON-LCLCG 1Single-phase
230VAC- -
512 (768 for network spec)
P14
XSEL-PQRASA 8Single-phase 230VACThree-phase 230VAC
- - 53332
(Depending on the type)P15
(Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side
Encoder connector
Motor connector
oslash 35
Hol
low
bor
e
32 o
r les
s
oslash1235
645
or l
ess
500+500
500plusmn30
Brake connector
24
77
Encoder connector
Motor connector
oslash 35
Hol
low
bor
e64
5 o
r les
s
oslash1235500+50
0
Brake connector
R100 or less
2-oslash4 H7 depth 3For workpiece positioning
6-M6 effective depth 12For workpiece mounting
PCD102 plusmn01
oslash 52
Hol
low
bor
e
oslash 83
Rotating part of the work mounting surface
oslash110h7 -00035
oslash116oslash180
oslash178h8 -00063
412
28
plusmn03
32 or less
oslash21
500plusmn30
35
138
158
003 A
003 A
A
75plusmn0
1
8-M8 effective depth 16PCD148 plusmn01
75plusmn0
1
oslash5 H7 depth 5For body positioning 225deg
Body mounting surfaceBody positioning oblong hole
S 5 +00120 depth 5
2
R25
Detail view of S24
CAD drawings can be downloaded from our website
wwwintelligentactuatorde2D
CAD2D
CAD3D
CAD3D
CAD
12
DDA Direct Drive Motor
OptionsIt is a retention mechanism for holding the stop position when the power or servo is OFF to prevent the workpieces and attachments from being damaged when used in side or vertical positions Be sure to connect a brake box for models with brake
A bracket that attaches to the body with bolts from the top side
Brake
Flange
Option Code B
Option Code FL
Brake Box
Wiring Diagram When Brake Box is Used
DDA-LT18CModel Number DDA-FL-LT18
Model Number IA-110-DD-4
DDA-LH18CModel Number DDA-FL-LH18
PCD200
PCD200
plusmn0075plusmn0075
55deg
55deg
180
180
180180
160
160
plusmn01
plusmn01
160160 plusmn01plusmn01
4-oslash1
1thr
ough
2-oslash6H
7 through
135
135
815
815
plusmn04
plusmn04
oslash1245
55deg
55deg
PCD
PCD200plusmn0075200plusmn0075
180
180
180180160160 plusmn01plusmn01
160
160
plusmn01
plusmn01
2-oslash6H7 through
4-oslash1
1thr
ough
155
15513
63
136
3plusmn0
4plusmn0
4
oslash1245
PWRON
BKOUT
+ - C E
BKRMT
RLSBKOUT
PWRPE N L
MODEL IA-110-DD-4SN INPUT Single phase 100-240V
MADE IN JAPAN
5060Hz 10A maxOUTPUT 12VDC 06A
PWRON
BKOUT
+ - C E
BKRMT
RLSBKOUT
PWRPE N L
MODEL IA-110-DD-4SN INPUT Single phase 100-240V
MADE IN JAPAN
5060Hz 10A maxOUTPUT 12VDC 06A
ControllerSCON-CBXSEL-PQRASADDA
Motor cableModel CB-X(EU)-MA CB-X(EU)MC-MA
Brake box
EU cable version w metal connector
Encoder cableModel CB-X(EU)3-PA010(Comes with the brake box)
Encoder cableModel CB-X(EU)3-PA
Brake cableModel CB-DDB-BK Main power supply
100VAC~240VAC
13
DDA(CR) Direct Drive Motor
Position Controller
Controller Model
System Configuration
Positioner Single-axis Type ltSCONgt Model
Power Supply Voltage
IO TypeEncoder Type Motor Type Type Series SCON
IO Cable Length
AIAM
2
The 200W motor used by the DDA is larger than a normal 200W motor so the motor type for the controller will be 200S and its size will be larger than the 400W motor
For 200W motorFor 600W motor
200S600
High-function typeSafety category compliant type
CBCGB
PLC equipped typeSafety category PLC equipped type
LCLCG
Motor cableModel CB-X(EU)-MA (LT18C)
CB-X(EU)MC-MA (LH18C)
SCON PC
DDA
PLC(To be supplied by the customer)
IO flat cableModel CB-PAC-PIO020Standard 2m
2 Be sure to use a noise filter on the power supply
( )Encoder cableModel CB-X(EU)3-PA
PC compatible softwareRS232 connection versionModel RCM-101-MWUSB connection versionModel RCM-101-USB(Please contact IAI for more details)
Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)
Regenerative resistor unitModel RESU-2RESUD-2(Please contact IAI for more details)
1 The wiring diagram is different for models with brakes Please refer to P13 for more information
1
Single-phase 230VAC Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models
Main powersupply 2
Field network
DDA
Option
Supplied with the actuator
Supplied with the controller
Supplied with the actuator Option
Option
Option
When the SCON Controller is Connected
When a eld network specication is selectedthe IO cable length will be 0
Index absolute typeMulti-rotation abs type
NPPN
PIO NPN (Standard)
PIO PNP
DVCN
DeviceNet
CompoNet
CC CC-Link
ML3PR
MECHATROLINK-III
PROFIBUS-DP
02
35
No cable2m (Standard)
3m5m
EC EtherCAT
EP EtherNetIP
PRT PROFINET IO
For recommended modelsplease contact IAI
Model
External view
IO type
IO type code
CompoNet connection
PROFIBUS-DP connection
CC-Linkconnection
DeviceNetconnection
PIO connection specification (1)
NPPN DV CC PR
Standard Field network type (1)
CN mdash
mdash
mdash
SCON-CB
EtherNetIP connection
PROFINET IO connection
EtherCATconnection
EC EP PRT
List of Models
MECHATROLINK- III
connection
ML3
Applicable encoder type(Note) The index absolute type cannot be used in the pulse-train control and MECHATROLINK-III control(1) Please note that the network specifications cannot be operated on the PIO or pulse-train The PLC type (LCLCG) cannot be connected on the pulse-train
Index absoluteMulti-rotation absoluteIndex absolute Multi-rotation absolute
CBCGB CBCGB LCLCG
14
SCON Controller
EU version w metal connector
Program Controller
List of Models
Model P Q RA SA
Type Large-capacity type Large-capacity type (Safety category specication) High-function type High-function type
(Safety category specication)
External view
DescriptionLarge-capacity type
that can control up to 6 axes 2400W
Large-capacity type thats compatible with the
safety category 4
High-function type that allows up to 8-axis operation
Safety category 4 compatible high-function type
Controller Model
System Configuration
Program Multi-axis Type ltXSELgt Model
Encoder Type
Encoder Type
Motor Type
Motor Type
Number ofConnected
AxesType Series Option Option
XSEL
200 For 200W motor
600 For 600W motor
B BrakePQRASA
6-axis type6-axis safety category type8-axis type8-axis safety category type
8
1
~ ~
1 axis
8 axes
(PQ type is up to 6 axes)
(Details of the 1st axis) (Details of the 2nd~8th axis)
It can simultaneously operate actuators (single-axis robot and RoboCylinder) otherthan the DDA motor on a single controller For connectable actuators other than the DDA motor please contact IAI
For subsequent models please contact IAI
Notes
AIAM
Index absolute typeMulti-rotation absolute type
When the XSEL Controller is Connected
2 Be sure to use a noise filter on the power supply
Motor cableModel CB-X(EU)-MA (LT18C) CB-X(EU)MC-MA (LH18C)
XSELPC
PLC(To be supplied by the customer)
PC compatible softwareRS232 connection versionModel IA-101-X-MWUSB connection versionModel IA-101-X-USBMW(Please contact IAI for more details)
Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)
Single-phase 230VACThree-phase 230VAC
Regenerative resistor unitModel RESU-1RESUD-1(Please contact IAI for more details)
Option Option
Option
Field networkOption
IO flat cableModel CB-X-PIO020Standard 2m
Supplied with the controller
Encoder cableModel CB-X(EU)3-PA
Supplied with the actuator
Supplied with the actuator
Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models
1
1 The wiring diagram is different for models with brakes Please refer to P13 for more information
DDA
Main powersupply 2 ( )For recommended models
please contact IAI
15
XSEL Controller
EU version w metal connector
Precautions
Installation
Installation Orientation
Mountingsurface
For models with brake and cable exit direction to the bottom a clearance hole is required
Ceiling mount
Horizontal mount
Vertical mount
Gra
vity
Operation TypeThis product is available in 2 operation types depending on the operation conditions Please check the features and precautions on each type before use
(1)The high resolution specification can be connected only to the SCON-CB(2)When the XSEL index type travels more than 180deg from the current position it rotates in a direction that requires a shorter travel distance to
reach the target position Therefore please note that the direction of rotation changes according to the current position and travel distance If you want to specify the direction of travel use the SCON-CB
(3)The index type can be rotated in a given direction infinitely 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-CB
(4)Home return is required for the multi-rotation absolute encoder during the initial setting and replacement of the absolute battery
Absolute batteryHome return operationLimitless rotation
Maximum amount of movement in a single movement command
Operation rangeController typeOperation type
Not requiredNot required
Yes (3)
0~359999deg
Index absolute type
RequiredNot required (4)
No
Above operation rangeplusmn9999deg (plusmn2520deg) max
Multi-rotation absolute typeSCON-CB XSEL(1)
( ) is for 20-bit
(Note) Use this product by installing it on a mounting surface having heat dissipating characteristics equivalent to those of an aluminum plate of w450mm times d450mm times t12mm in size If the installation conditions necessitate lower heat dissipating characteristics please consult IAI
ControllersFor the DDA with 200W motor the outside dimensions of the SCON-CB controller will be the same as the size of the
400W motor (Please contact IAI for the details of the SCON-CB controller)One and two regenerative resistor unit(s) are required for LT18C and LH18C respectively to operate a DDA
motor with the SCON-CBWhen operating DDA motor(s) with the XSEL controller regenerative resistor units are required as shown below
The number of DDA motor(s) connectable to the XSEL controller is a max of 8 units for the LT18C type and a max of 2 units for the LH18C type
Please note that when the DDA motor is operated with the SCON-CB the motor cannot be connected to the Robo Cylinder gateway function of the XSEL controller
Calculation for the power supply value LT18C type single-phase 600W three-phase 200W LH18C type single-phase 1200W three-phase 600W
Number of regenerative resistor units
1 2 3 4 5 6 7 81 2 3
(Cannot be connected)4
2 4LT18CLH18C
Number of DD motor(s)
360deg
SCON-CB XSEL(1)
180deg(2)
16
DDA(CR) Direct Drive Motor
Conditions for Selection
The followings should be checked to determine whether the DDA motor can be used to suit the specific conditions required by the customer
The customer should confirm that the following three points under actual use do not exceed their maximum allowable levels as specified for the DDA 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
Check Load Conditions1
[1] Thrust load
[2] Load moment applied
[3] Load inertia
J = 18 times M times D 2 [kgm2]
Mass M [kg]
D [m]
Center of rotation
J = 112 times M times (a 2 + b 2) [kgm2]
a [m]
b [m]
Center of rotation
Mass M [kg]
J = M times R 2+ 18 times M times D 2 [kgm2]
Mass M [kg]
D [m]
R [m]
Cent
er o
fro
tatio
n
J = M times R 2+112 times M times (a 2 + b 2 )[kgm2]
a [m]
b [m]R [m]
Cent
er o
fro
tatio
n
Mass M [kg]
The travel time changes according to the load inertia See the tables below to check the travel time data
Travel Time Guide3
The data in the tables are for a reference only and do not guarantee the actual travel times
(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)
0
0005
009
012
017
022
0005
001
010
012
017
022
001
002
011
014
019
024
002
003
012
016
021
026
003
004
013
017
023
027
004
005
014
018
024
029
005
006
015
020
027
032
006
007
017
022
029
035
007
008
019
024
032
038
008
009
021
026
035
041
009
01
023
029
037
044
01
02
039
048
060
069
02
03
062
073
089
100
03
04
070
083
101
114
04
05
087
102
122
136
05
06
111
123
142
168
LH18C
LT18C
Continuous Operation Area
LT18C type LH18C type
(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)
0
0005
0098
0129
0192
0254
0005
001
0096
0128
019
0252
001
0015
0096
0127
019
0252
002
002
0097
0128
0191
0253
002
003
0099
0131
0193
0256
003
004
0104
0136
0199
0262
004
006
0113
0144
0207
027
006
008
012
0153
0215
0278
008
01
0126
0163
0225
0288
010
015
014
0184
0249
0312
015
02
0157
0208
0279
0341
02
03
0207
0268
0354
042
03
04
0257
0329
0428
0504
04
06
0352
044
0562
0655
06
08
0447
0549
0692
08
08
1
053
0646
0806
0925
10
12
0629
0758
0933
1064
12
14
0795
0941
1133
1274
14
18
0875
1035
1257
1415
Check Operating Conditions2Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DDA motor specications to determine whether the DDA motor can be used under the applicable operating conditions Please contact IAI for assistance To
rque
(Nm
)
Curr
ent [
Arm
s]
Angular velocity [degs]
AccelerationDeceleration Area
Torq
ue (N
m)
Curr
ent [
Arm
s]
Angular velocity [degs]
AccelerationDeceleration Area
Rating areaRating area
270deg travel time [sec]180deg travel time [sec]
90deg travel time [sec]45deg travel time [sec]
Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]
270deg travel time [sec]180deg travel time [sec]
90deg travel time [sec]45deg travel time [sec]
Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]
Selecting the DD Motor
17
DDA(CR) Direct Drive Motor
CB-X-MACB-XEU-MA
Modelnumber
Motor robot cableEU motor robot cable
forDDA(CR)-LT18
L
Controller side
4
1
1
4
Wire
075sqGreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
GreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
PEUVW
No1234
Actuator side
(10)(20)
(Front view)(Front view)
(16)
(oslash9) (2
1)
(18)
(41)
Signal
Minimum bending R r = 51 mm or more (for movable use) If the cable must be guided in a cable track use a robot cable
Enter the cable length (L) into Compatible to a Maximum of 30 meters Ex 080 = 8m
Minimum bending R r = 51 mm or more (for movable use)Only robot cable is available for this model
1
(16)
(F (Front view)ront view)
(41)
(41)
234
1234
UVWPE
RedWhiteBlackGreen
PESignal NoWire
Controller side
075sq 075sq(crimped)
Color oN langiS Color Wire
UVW
GreenRed
WhiteBlack
Actuator side
(Fig Motor robot cable CB-X-MA with plastic connector)
(Fig EU motor robot cable CB-XEU-MA EU version with M18 plastic round connector)
4
17
L
1
2 3
1
Color Wire
075sq
No Signal Color
(crimped)
PEUVW
123
CB-XMC-MACB-XEUMC-MA
Modelnumber
Motor robot cableEU motor robot cable
forDDA(CR)-HT18
Controller side
Wire
125sqGreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
GreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
PEUVW
No1234
Actuator side
Signal
Minimum bending R r = 55 mm or more (for movable use) If the cable must be guided in a cable track use a robot cable
Enter the cable length (L) into Compatible to a Maximum of 30 meters Ex 080 = 8m
Minimum bending R r = 55 mm or more (for movable use)Only robot cable is available for this model
1
(16)
(F (Front view)ront view)
(41)
234
1234
UVWPE
RedWhiteBlackGreen
PESignal NoWire
Controller side
125sq 125sq(crimped)
Color oN langiS Color Wire
UVW
GreenRed
WhiteBlack
Actuator side
(Fig Motor robot cable CB-XMC-MA with plastic connector)
(Fig EU motor robot cable CB-XEUMC-MA EU version with M18 plastic round connector)
4
17
L
1
2 3
1
Color Wire
125sq
No Signal Color
(crimped)
PEUVW
123
Cables
L
4
1
1
4(Front view)
(16)(21)
(11)
(16)
18
DDA(CR) Direct Drive Motor
Maintenance Parts
(oslash9)
DDADDACR Series Catalogue No 1116-E Version CJ0242-1A
CB-DDB-BKModelnumber
forDDA(CR) with brake optionBrake cable
Enter the cable length (L) into Compatible to a Maximum of 20 meters Ex 080 = 8m
Maintenance Parts
(41) (14)(15)
Controller side
(13)
(37)
(Front view) (Front view)
(25)
Actuator side
13
114
26
Ground wire and braided shield
AWG26(crimped)
WhiteblueWhiteyellowWhiteredWhiteblackWhitepurpleWhitegray
Whiteorangendash
(Ground)Orange
GreenPurple
GrayRed
BlackWhitegreen
BlueYellow
No Signal Color Wire
The shield is connected to the hood by a clamp
AWG26 (soldered)
Wire10111213262524239
181912345678
14151617202122
123456789
101112131415161718
AĀBBZZ
LS+ndash
FGSDSD
BAT+BAT-VCCGNDLS-BK-BK+
ndashndash
E24VOVLS
CREEPOTRSV
ndashndashndash
A+A-B+B-Z+Z-
SRD+SRD-BAT+BAT-VCCGNDBKR-BKR+
ndash
ndashndashndash
WhitegreenWhiteorange
WhitegreenWhiteorange
Whitegreen
Whiteorange
ndashndashndashndashndashndash
WhiteblueWhiteyellowWhitered
WhiteblackWhitepurpleWhitegray
WhiteblueWhiteyellow Whiteblue
WhiteyellowWhiteredWhiteblackWhitepurpleWhitegray
WhiteredWhiteblackWhitepurpleWhitegray
OrangeGreenPurple
GrayRed
BlackBlue
Yellowndash
NoSignalColor(oslash
10)
L
1
9 18
10
Minimum bending R r = 58 mm or more (for movable use) If the cable must be guided in a cable track use a robot cable
(Fig Encoder robot cable CB-X3-PA with plastic connector)
Controller side Actuator side
Minimum bending R r = 58 mm or more (for movable use)
(Front view)
L (13)
(37)
1
13
14
26
(41)
Ground wire and braided shield
Color WireSignalNo
AWG26soldered
Blue
SD1 OrangeSD2
3456789
Green
VCC10
PurpleGND11 BlackBAT+12
Yellow
BAT-13 Grey
BK-141516
Red
BK+A shield is connected to shield soldered part
AWG26(soldered)
212017
22
6
16151487
3
54
21
25
1819
2324
9
1011121326
No
ndashBKR+BKR-GND
Z-
BAT+
VCCBATndash
SRD-SRD+
B+
Z+B-
Z-
B+
Z+B-
A-A+
A-A+
CREEP
ndashndashndash
OTRSV
E24V0VLS
LS+
LS-
ndashndash
---
------
BlueYellow
Orange
PurpleGreen
Black
GreyRed
-The shield is clamped to the hood
Color SignalWire
(Fig EU encoder robot cable CB-XEU3-PA EU version with metal connector)
(Front view)
4 1
16 13 10
9 5
14
CB-X3-PACB-XEU3-PA
Modelnumber
Encoder robot cableEU encoder robot cable
forDDA(CR)
Enter the cable length (L) into Compatible to a Maximum of 30 meters Ex 080 = 8m
31
31
J11SF-03V-KX J11SFM-03V-KXNoNo SignalSignal ColorColor WiringWiring
AWG20(crimped)
Red
Black
White
Red
Black
White
+
-
FG
+
-
FG
321
321
AWG20(crimped)
Controller side Actuator side
tor side(Front view) (Front view)
L
(44) (167)
(80
)
(84)(293)
(92
)
(oslash5
4)
IAI America IncIAI Industrieroboter GmbHEurope Headquarters Ober der Roumlth 4 D-65824 Schwalbach Germany
IAI CORPORATIONCorporate Headquarters577-1 Obane Shimizu-Ku Shizuoka 424-0103 Japan Phone +81-543-64-5105 Fax +81-543-64-5192
IAI (Shanghai) Co LtdChina HeadquartersShanghai Jiahua Business Centee A8-303808Hongqiao Rd Shanghai 200030 ChinaPhone +86-21-6448-4753 Fax +86-21-6448-3992
America Headquarters2690 W 237th Street Torrance CA 90505 USA
wwwintelligentactuatorde
Phone +49-6196-8895-0 Fax +49-6196-8895-24 Phone +1-310-891-6015 Fax +1-310-891-0815
Dimensions
Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use
LH18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers
Name External view
Max number of controlled axes Power supply voltage Control method Maximum number of
positioning pointsReference
pagePositioner Pulse-train Program Network Option
SCON-CBCGB 1Single-phase
230VAC -
Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information
512 (768 for network spec)
P14
SCON-LCLCG 1Single-phase
230VAC- -
512 (768 for network spec)
P14
XSEL-PQRASA 8Single-phase 230VACThree-phase 230VAC
- - 53332
(Depending on the type)P15
(Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side
Encoder connector
Motor connector
45
615
24
77
oslash6 Compatible tube diameter
Air JointCR speci cation only
32 o
r les
s11
500plusmn30
R100 or less
2-oslash4 H7 depth 3For workpiece positioning
6-M6 effective depth 12For workpiece mounting
PCD102plusmn01
oslash 52
Hol
low
bor
e
oslash 83
2428
Rotating part of the work mounting surface Encoder connector
Motor connector
Air JointCR specification only
75plusmn0
1
8-M8 effective depth 16PCD148 plusmn01
75plusmn0
1
oslash5 H7 depth 5For body positioning 225deg
Body mounting surfaceBody positioning oblong hole
oslash110h7 -00350
oslash116oslash180
oslash178h8 -00630
412
28
plusmn03
32 or less
oslash 21
500plusmn30
35
138
158
003 A
003 A
A
5 +00120 depth 5
2
R25
Detail view of S
S
CAD drawings can be downloaded from our website
wwwintelligentactuatorde2D
CAD2D
CAD3D
CAD3D
CAD
10
DDA(CR) Direct Drive Motor
1 A brake cable is not supplied if N (None) is selected as the cable length Please order a brake cable as a separate item in that case
Options
ModelSpecications
Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198arcsec) 20-bit plusmn000103deg (plusmn37arcsec)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45arcsec) 20-bit plusmn000833deg (plusmn30arcsec)Allowable load moment (Note 2) 80Nmiddotm
Encoder resolution 17-bit 131 072 pulsesrev20-bit 1 048 576 pulsesrev
Allowable thrust load (Note 2) Forward 3100N Reverse 250NBase material AluminumBrake retaining torque 50NmiddotmAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)Weight 174kg
Common Specications
Thrust (axial) run-out (No load) 30μm
Radial run-out (No load) 30μm
Run-out of Output Shaft
Encoder type Model number Motor
wattage (W)
Operation range (deg) (1)
Speed (degs) (Note 1)
Rated torque (Nmiddotm) (2)
Maximum instantaneous torque (Nmiddotm)
Allowable inertia
moment (kgmiddotm2)
Rotor inertia (kgmiddotm2)
17-bit index absolute type DDA-LH18CS-AI-600-360-T2-① -② -B
600
0~359999 deg
1~800 (1~1440) 25 75 18 00092
17-bit multi-rotation absolute type DDA-LH18CS-AM-600-360-T2-① -② -B plusmn9999 deg max
20-bit index absolute type DDA-LH18CP-AI-600-360-T2-① -② -B 0~359999 deg
20-bit multi-rotation absolute type DDA-LH18CP-AM-600-360-T2-① -② -B plusmn2520 deg max
Name Option code
Cable exits from the bottom A0
Cable exits from the side A1
Brake (With brake box) 1 B
1 Indexing accuracy is supported when connected to SCON-CB
Controller is not included
DDA-LH18C-B
(1) SCON and XSEL have dierent minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information
P
O I N T
SelectionNotes
(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 20m Specify a desired length in meters (Example X08 = 8m)
(Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control
(Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type
(Note 6) The brake is used for retention purposes only so damagemay be caused if it is actually used in attempts to slow or stop the actuator
Legend Cable length Option
Please refer to P16 for more information on the installation method
Horizontal
Side
Vert
ical
Ceiling
Model Specication Items
DDA LH18C 600 360 T2 BSeries Type Encoder
TypeMotor Type
Operation Range
Applicable Controllers
Cable Length Options Option
S Standard (17-bit)
P High resolution (20-bit)
AI Index absolute type
AM Multi-rotation absolute type
600 600W 360 360 deg T2 SCON XSEL-PQ XSEL-RASA
Note Only SCONapplys forLH18CP
N None S 3m M 5m X Specied
length
Please refer to the options table below Please make sure to
specify either A0 or A1 for the cable exit direction
B Brake
11
DDA Direct Drive Motor
Flange-less withBrake
LargeHollow
Bore
HighTorque
Type Without CE Conformity
X
Cable Length
Please refer to P18 for more information regarding the maintenance cables
Cable type
Cable code
Standard
S (3m) M (5m)
Specied length
X06 (6m) ~ X10 (10m) X11 (11m) ~ X20 (20m)
Dimensions
Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use
LH18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers
Name External view
Max number of controlled axes Power supply voltage Control method Maximum number of
positioning pointsReference
pagePositioner Pulse-train Program Network Option
SCON-CBCGB 1Single-phase
230VAC -
Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information
512 (768 for network spec)
P14
SCON-LCLCG 1Single-phase
230VAC- -
512 (768 for network spec)
P14
XSEL-PQRASA 8Single-phase 230VACThree-phase 230VAC
- - 53332
(Depending on the type)P15
(Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side
Encoder connector
Motor connector
oslash 35
Hol
low
bor
e
32 o
r les
s
oslash1235
645
or l
ess
500+500
500plusmn30
Brake connector
24
77
Encoder connector
Motor connector
oslash 35
Hol
low
bor
e64
5 o
r les
s
oslash1235500+50
0
Brake connector
R100 or less
2-oslash4 H7 depth 3For workpiece positioning
6-M6 effective depth 12For workpiece mounting
PCD102 plusmn01
oslash 52
Hol
low
bor
e
oslash 83
Rotating part of the work mounting surface
oslash110h7 -00035
oslash116oslash180
oslash178h8 -00063
412
28
plusmn03
32 or less
oslash21
500plusmn30
35
138
158
003 A
003 A
A
75plusmn0
1
8-M8 effective depth 16PCD148 plusmn01
75plusmn0
1
oslash5 H7 depth 5For body positioning 225deg
Body mounting surfaceBody positioning oblong hole
S 5 +00120 depth 5
2
R25
Detail view of S24
CAD drawings can be downloaded from our website
wwwintelligentactuatorde2D
CAD2D
CAD3D
CAD3D
CAD
12
DDA Direct Drive Motor
OptionsIt is a retention mechanism for holding the stop position when the power or servo is OFF to prevent the workpieces and attachments from being damaged when used in side or vertical positions Be sure to connect a brake box for models with brake
A bracket that attaches to the body with bolts from the top side
Brake
Flange
Option Code B
Option Code FL
Brake Box
Wiring Diagram When Brake Box is Used
DDA-LT18CModel Number DDA-FL-LT18
Model Number IA-110-DD-4
DDA-LH18CModel Number DDA-FL-LH18
PCD200
PCD200
plusmn0075plusmn0075
55deg
55deg
180
180
180180
160
160
plusmn01
plusmn01
160160 plusmn01plusmn01
4-oslash1
1thr
ough
2-oslash6H
7 through
135
135
815
815
plusmn04
plusmn04
oslash1245
55deg
55deg
PCD
PCD200plusmn0075200plusmn0075
180
180
180180160160 plusmn01plusmn01
160
160
plusmn01
plusmn01
2-oslash6H7 through
4-oslash1
1thr
ough
155
15513
63
136
3plusmn0
4plusmn0
4
oslash1245
PWRON
BKOUT
+ - C E
BKRMT
RLSBKOUT
PWRPE N L
MODEL IA-110-DD-4SN INPUT Single phase 100-240V
MADE IN JAPAN
5060Hz 10A maxOUTPUT 12VDC 06A
PWRON
BKOUT
+ - C E
BKRMT
RLSBKOUT
PWRPE N L
MODEL IA-110-DD-4SN INPUT Single phase 100-240V
MADE IN JAPAN
5060Hz 10A maxOUTPUT 12VDC 06A
ControllerSCON-CBXSEL-PQRASADDA
Motor cableModel CB-X(EU)-MA CB-X(EU)MC-MA
Brake box
EU cable version w metal connector
Encoder cableModel CB-X(EU)3-PA010(Comes with the brake box)
Encoder cableModel CB-X(EU)3-PA
Brake cableModel CB-DDB-BK Main power supply
100VAC~240VAC
13
DDA(CR) Direct Drive Motor
Position Controller
Controller Model
System Configuration
Positioner Single-axis Type ltSCONgt Model
Power Supply Voltage
IO TypeEncoder Type Motor Type Type Series SCON
IO Cable Length
AIAM
2
The 200W motor used by the DDA is larger than a normal 200W motor so the motor type for the controller will be 200S and its size will be larger than the 400W motor
For 200W motorFor 600W motor
200S600
High-function typeSafety category compliant type
CBCGB
PLC equipped typeSafety category PLC equipped type
LCLCG
Motor cableModel CB-X(EU)-MA (LT18C)
CB-X(EU)MC-MA (LH18C)
SCON PC
DDA
PLC(To be supplied by the customer)
IO flat cableModel CB-PAC-PIO020Standard 2m
2 Be sure to use a noise filter on the power supply
( )Encoder cableModel CB-X(EU)3-PA
PC compatible softwareRS232 connection versionModel RCM-101-MWUSB connection versionModel RCM-101-USB(Please contact IAI for more details)
Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)
Regenerative resistor unitModel RESU-2RESUD-2(Please contact IAI for more details)
1 The wiring diagram is different for models with brakes Please refer to P13 for more information
1
Single-phase 230VAC Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models
Main powersupply 2
Field network
DDA
Option
Supplied with the actuator
Supplied with the controller
Supplied with the actuator Option
Option
Option
When the SCON Controller is Connected
When a eld network specication is selectedthe IO cable length will be 0
Index absolute typeMulti-rotation abs type
NPPN
PIO NPN (Standard)
PIO PNP
DVCN
DeviceNet
CompoNet
CC CC-Link
ML3PR
MECHATROLINK-III
PROFIBUS-DP
02
35
No cable2m (Standard)
3m5m
EC EtherCAT
EP EtherNetIP
PRT PROFINET IO
For recommended modelsplease contact IAI
Model
External view
IO type
IO type code
CompoNet connection
PROFIBUS-DP connection
CC-Linkconnection
DeviceNetconnection
PIO connection specification (1)
NPPN DV CC PR
Standard Field network type (1)
CN mdash
mdash
mdash
SCON-CB
EtherNetIP connection
PROFINET IO connection
EtherCATconnection
EC EP PRT
List of Models
MECHATROLINK- III
connection
ML3
Applicable encoder type(Note) The index absolute type cannot be used in the pulse-train control and MECHATROLINK-III control(1) Please note that the network specifications cannot be operated on the PIO or pulse-train The PLC type (LCLCG) cannot be connected on the pulse-train
Index absoluteMulti-rotation absoluteIndex absolute Multi-rotation absolute
CBCGB CBCGB LCLCG
14
SCON Controller
EU version w metal connector
Program Controller
List of Models
Model P Q RA SA
Type Large-capacity type Large-capacity type (Safety category specication) High-function type High-function type
(Safety category specication)
External view
DescriptionLarge-capacity type
that can control up to 6 axes 2400W
Large-capacity type thats compatible with the
safety category 4
High-function type that allows up to 8-axis operation
Safety category 4 compatible high-function type
Controller Model
System Configuration
Program Multi-axis Type ltXSELgt Model
Encoder Type
Encoder Type
Motor Type
Motor Type
Number ofConnected
AxesType Series Option Option
XSEL
200 For 200W motor
600 For 600W motor
B BrakePQRASA
6-axis type6-axis safety category type8-axis type8-axis safety category type
8
1
~ ~
1 axis
8 axes
(PQ type is up to 6 axes)
(Details of the 1st axis) (Details of the 2nd~8th axis)
It can simultaneously operate actuators (single-axis robot and RoboCylinder) otherthan the DDA motor on a single controller For connectable actuators other than the DDA motor please contact IAI
For subsequent models please contact IAI
Notes
AIAM
Index absolute typeMulti-rotation absolute type
When the XSEL Controller is Connected
2 Be sure to use a noise filter on the power supply
Motor cableModel CB-X(EU)-MA (LT18C) CB-X(EU)MC-MA (LH18C)
XSELPC
PLC(To be supplied by the customer)
PC compatible softwareRS232 connection versionModel IA-101-X-MWUSB connection versionModel IA-101-X-USBMW(Please contact IAI for more details)
Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)
Single-phase 230VACThree-phase 230VAC
Regenerative resistor unitModel RESU-1RESUD-1(Please contact IAI for more details)
Option Option
Option
Field networkOption
IO flat cableModel CB-X-PIO020Standard 2m
Supplied with the controller
Encoder cableModel CB-X(EU)3-PA
Supplied with the actuator
Supplied with the actuator
Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models
1
1 The wiring diagram is different for models with brakes Please refer to P13 for more information
DDA
Main powersupply 2 ( )For recommended models
please contact IAI
15
XSEL Controller
EU version w metal connector
Precautions
Installation
Installation Orientation
Mountingsurface
For models with brake and cable exit direction to the bottom a clearance hole is required
Ceiling mount
Horizontal mount
Vertical mount
Gra
vity
Operation TypeThis product is available in 2 operation types depending on the operation conditions Please check the features and precautions on each type before use
(1)The high resolution specification can be connected only to the SCON-CB(2)When the XSEL index type travels more than 180deg from the current position it rotates in a direction that requires a shorter travel distance to
reach the target position Therefore please note that the direction of rotation changes according to the current position and travel distance If you want to specify the direction of travel use the SCON-CB
(3)The index type can be rotated in a given direction infinitely 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-CB
(4)Home return is required for the multi-rotation absolute encoder during the initial setting and replacement of the absolute battery
Absolute batteryHome return operationLimitless rotation
Maximum amount of movement in a single movement command
Operation rangeController typeOperation type
Not requiredNot required
Yes (3)
0~359999deg
Index absolute type
RequiredNot required (4)
No
Above operation rangeplusmn9999deg (plusmn2520deg) max
Multi-rotation absolute typeSCON-CB XSEL(1)
( ) is for 20-bit
(Note) Use this product by installing it on a mounting surface having heat dissipating characteristics equivalent to those of an aluminum plate of w450mm times d450mm times t12mm in size If the installation conditions necessitate lower heat dissipating characteristics please consult IAI
ControllersFor the DDA with 200W motor the outside dimensions of the SCON-CB controller will be the same as the size of the
400W motor (Please contact IAI for the details of the SCON-CB controller)One and two regenerative resistor unit(s) are required for LT18C and LH18C respectively to operate a DDA
motor with the SCON-CBWhen operating DDA motor(s) with the XSEL controller regenerative resistor units are required as shown below
The number of DDA motor(s) connectable to the XSEL controller is a max of 8 units for the LT18C type and a max of 2 units for the LH18C type
Please note that when the DDA motor is operated with the SCON-CB the motor cannot be connected to the Robo Cylinder gateway function of the XSEL controller
Calculation for the power supply value LT18C type single-phase 600W three-phase 200W LH18C type single-phase 1200W three-phase 600W
Number of regenerative resistor units
1 2 3 4 5 6 7 81 2 3
(Cannot be connected)4
2 4LT18CLH18C
Number of DD motor(s)
360deg
SCON-CB XSEL(1)
180deg(2)
16
DDA(CR) Direct Drive Motor
Conditions for Selection
The followings should be checked to determine whether the DDA motor can be used to suit the specific conditions required by the customer
The customer should confirm that the following three points under actual use do not exceed their maximum allowable levels as specified for the DDA 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
Check Load Conditions1
[1] Thrust load
[2] Load moment applied
[3] Load inertia
J = 18 times M times D 2 [kgm2]
Mass M [kg]
D [m]
Center of rotation
J = 112 times M times (a 2 + b 2) [kgm2]
a [m]
b [m]
Center of rotation
Mass M [kg]
J = M times R 2+ 18 times M times D 2 [kgm2]
Mass M [kg]
D [m]
R [m]
Cent
er o
fro
tatio
n
J = M times R 2+112 times M times (a 2 + b 2 )[kgm2]
a [m]
b [m]R [m]
Cent
er o
fro
tatio
n
Mass M [kg]
The travel time changes according to the load inertia See the tables below to check the travel time data
Travel Time Guide3
The data in the tables are for a reference only and do not guarantee the actual travel times
(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)
0
0005
009
012
017
022
0005
001
010
012
017
022
001
002
011
014
019
024
002
003
012
016
021
026
003
004
013
017
023
027
004
005
014
018
024
029
005
006
015
020
027
032
006
007
017
022
029
035
007
008
019
024
032
038
008
009
021
026
035
041
009
01
023
029
037
044
01
02
039
048
060
069
02
03
062
073
089
100
03
04
070
083
101
114
04
05
087
102
122
136
05
06
111
123
142
168
LH18C
LT18C
Continuous Operation Area
LT18C type LH18C type
(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)
0
0005
0098
0129
0192
0254
0005
001
0096
0128
019
0252
001
0015
0096
0127
019
0252
002
002
0097
0128
0191
0253
002
003
0099
0131
0193
0256
003
004
0104
0136
0199
0262
004
006
0113
0144
0207
027
006
008
012
0153
0215
0278
008
01
0126
0163
0225
0288
010
015
014
0184
0249
0312
015
02
0157
0208
0279
0341
02
03
0207
0268
0354
042
03
04
0257
0329
0428
0504
04
06
0352
044
0562
0655
06
08
0447
0549
0692
08
08
1
053
0646
0806
0925
10
12
0629
0758
0933
1064
12
14
0795
0941
1133
1274
14
18
0875
1035
1257
1415
Check Operating Conditions2Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DDA motor specications to determine whether the DDA motor can be used under the applicable operating conditions Please contact IAI for assistance To
rque
(Nm
)
Curr
ent [
Arm
s]
Angular velocity [degs]
AccelerationDeceleration Area
Torq
ue (N
m)
Curr
ent [
Arm
s]
Angular velocity [degs]
AccelerationDeceleration Area
Rating areaRating area
270deg travel time [sec]180deg travel time [sec]
90deg travel time [sec]45deg travel time [sec]
Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]
270deg travel time [sec]180deg travel time [sec]
90deg travel time [sec]45deg travel time [sec]
Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]
Selecting the DD Motor
17
DDA(CR) Direct Drive Motor
CB-X-MACB-XEU-MA
Modelnumber
Motor robot cableEU motor robot cable
forDDA(CR)-LT18
L
Controller side
4
1
1
4
Wire
075sqGreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
GreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
PEUVW
No1234
Actuator side
(10)(20)
(Front view)(Front view)
(16)
(oslash9) (2
1)
(18)
(41)
Signal
Minimum bending R r = 51 mm or more (for movable use) If the cable must be guided in a cable track use a robot cable
Enter the cable length (L) into Compatible to a Maximum of 30 meters Ex 080 = 8m
Minimum bending R r = 51 mm or more (for movable use)Only robot cable is available for this model
1
(16)
(F (Front view)ront view)
(41)
(41)
234
1234
UVWPE
RedWhiteBlackGreen
PESignal NoWire
Controller side
075sq 075sq(crimped)
Color oN langiS Color Wire
UVW
GreenRed
WhiteBlack
Actuator side
(Fig Motor robot cable CB-X-MA with plastic connector)
(Fig EU motor robot cable CB-XEU-MA EU version with M18 plastic round connector)
4
17
L
1
2 3
1
Color Wire
075sq
No Signal Color
(crimped)
PEUVW
123
CB-XMC-MACB-XEUMC-MA
Modelnumber
Motor robot cableEU motor robot cable
forDDA(CR)-HT18
Controller side
Wire
125sqGreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
GreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
PEUVW
No1234
Actuator side
Signal
Minimum bending R r = 55 mm or more (for movable use) If the cable must be guided in a cable track use a robot cable
Enter the cable length (L) into Compatible to a Maximum of 30 meters Ex 080 = 8m
Minimum bending R r = 55 mm or more (for movable use)Only robot cable is available for this model
1
(16)
(F (Front view)ront view)
(41)
234
1234
UVWPE
RedWhiteBlackGreen
PESignal NoWire
Controller side
125sq 125sq(crimped)
Color oN langiS Color Wire
UVW
GreenRed
WhiteBlack
Actuator side
(Fig Motor robot cable CB-XMC-MA with plastic connector)
(Fig EU motor robot cable CB-XEUMC-MA EU version with M18 plastic round connector)
4
17
L
1
2 3
1
Color Wire
125sq
No Signal Color
(crimped)
PEUVW
123
Cables
L
4
1
1
4(Front view)
(16)(21)
(11)
(16)
18
DDA(CR) Direct Drive Motor
Maintenance Parts
(oslash9)
DDADDACR Series Catalogue No 1116-E Version CJ0242-1A
CB-DDB-BKModelnumber
forDDA(CR) with brake optionBrake cable
Enter the cable length (L) into Compatible to a Maximum of 20 meters Ex 080 = 8m
Maintenance Parts
(41) (14)(15)
Controller side
(13)
(37)
(Front view) (Front view)
(25)
Actuator side
13
114
26
Ground wire and braided shield
AWG26(crimped)
WhiteblueWhiteyellowWhiteredWhiteblackWhitepurpleWhitegray
Whiteorangendash
(Ground)Orange
GreenPurple
GrayRed
BlackWhitegreen
BlueYellow
No Signal Color Wire
The shield is connected to the hood by a clamp
AWG26 (soldered)
Wire10111213262524239
181912345678
14151617202122
123456789
101112131415161718
AĀBBZZ
LS+ndash
FGSDSD
BAT+BAT-VCCGNDLS-BK-BK+
ndashndash
E24VOVLS
CREEPOTRSV
ndashndashndash
A+A-B+B-Z+Z-
SRD+SRD-BAT+BAT-VCCGNDBKR-BKR+
ndash
ndashndashndash
WhitegreenWhiteorange
WhitegreenWhiteorange
Whitegreen
Whiteorange
ndashndashndashndashndashndash
WhiteblueWhiteyellowWhitered
WhiteblackWhitepurpleWhitegray
WhiteblueWhiteyellow Whiteblue
WhiteyellowWhiteredWhiteblackWhitepurpleWhitegray
WhiteredWhiteblackWhitepurpleWhitegray
OrangeGreenPurple
GrayRed
BlackBlue
Yellowndash
NoSignalColor(oslash
10)
L
1
9 18
10
Minimum bending R r = 58 mm or more (for movable use) If the cable must be guided in a cable track use a robot cable
(Fig Encoder robot cable CB-X3-PA with plastic connector)
Controller side Actuator side
Minimum bending R r = 58 mm or more (for movable use)
(Front view)
L (13)
(37)
1
13
14
26
(41)
Ground wire and braided shield
Color WireSignalNo
AWG26soldered
Blue
SD1 OrangeSD2
3456789
Green
VCC10
PurpleGND11 BlackBAT+12
Yellow
BAT-13 Grey
BK-141516
Red
BK+A shield is connected to shield soldered part
AWG26(soldered)
212017
22
6
16151487
3
54
21
25
1819
2324
9
1011121326
No
ndashBKR+BKR-GND
Z-
BAT+
VCCBATndash
SRD-SRD+
B+
Z+B-
Z-
B+
Z+B-
A-A+
A-A+
CREEP
ndashndashndash
OTRSV
E24V0VLS
LS+
LS-
ndashndash
---
------
BlueYellow
Orange
PurpleGreen
Black
GreyRed
-The shield is clamped to the hood
Color SignalWire
(Fig EU encoder robot cable CB-XEU3-PA EU version with metal connector)
(Front view)
4 1
16 13 10
9 5
14
CB-X3-PACB-XEU3-PA
Modelnumber
Encoder robot cableEU encoder robot cable
forDDA(CR)
Enter the cable length (L) into Compatible to a Maximum of 30 meters Ex 080 = 8m
31
31
J11SF-03V-KX J11SFM-03V-KXNoNo SignalSignal ColorColor WiringWiring
AWG20(crimped)
Red
Black
White
Red
Black
White
+
-
FG
+
-
FG
321
321
AWG20(crimped)
Controller side Actuator side
tor side(Front view) (Front view)
L
(44) (167)
(80
)
(84)(293)
(92
)
(oslash5
4)
IAI America IncIAI Industrieroboter GmbHEurope Headquarters Ober der Roumlth 4 D-65824 Schwalbach Germany
IAI CORPORATIONCorporate Headquarters577-1 Obane Shimizu-Ku Shizuoka 424-0103 Japan Phone +81-543-64-5105 Fax +81-543-64-5192
IAI (Shanghai) Co LtdChina HeadquartersShanghai Jiahua Business Centee A8-303808Hongqiao Rd Shanghai 200030 ChinaPhone +86-21-6448-4753 Fax +86-21-6448-3992
America Headquarters2690 W 237th Street Torrance CA 90505 USA
wwwintelligentactuatorde
Phone +49-6196-8895-0 Fax +49-6196-8895-24 Phone +1-310-891-6015 Fax +1-310-891-0815
1 A brake cable is not supplied if N (None) is selected as the cable length Please order a brake cable as a separate item in that case
Options
ModelSpecications
Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198arcsec) 20-bit plusmn000103deg (plusmn37arcsec)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45arcsec) 20-bit plusmn000833deg (plusmn30arcsec)Allowable load moment (Note 2) 80Nmiddotm
Encoder resolution 17-bit 131 072 pulsesrev20-bit 1 048 576 pulsesrev
Allowable thrust load (Note 2) Forward 3100N Reverse 250NBase material AluminumBrake retaining torque 50NmiddotmAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)Weight 174kg
Common Specications
Thrust (axial) run-out (No load) 30μm
Radial run-out (No load) 30μm
Run-out of Output Shaft
Encoder type Model number Motor
wattage (W)
Operation range (deg) (1)
Speed (degs) (Note 1)
Rated torque (Nmiddotm) (2)
Maximum instantaneous torque (Nmiddotm)
Allowable inertia
moment (kgmiddotm2)
Rotor inertia (kgmiddotm2)
17-bit index absolute type DDA-LH18CS-AI-600-360-T2-① -② -B
600
0~359999 deg
1~800 (1~1440) 25 75 18 00092
17-bit multi-rotation absolute type DDA-LH18CS-AM-600-360-T2-① -② -B plusmn9999 deg max
20-bit index absolute type DDA-LH18CP-AI-600-360-T2-① -② -B 0~359999 deg
20-bit multi-rotation absolute type DDA-LH18CP-AM-600-360-T2-① -② -B plusmn2520 deg max
Name Option code
Cable exits from the bottom A0
Cable exits from the side A1
Brake (With brake box) 1 B
1 Indexing accuracy is supported when connected to SCON-CB
Controller is not included
DDA-LH18C-B
(1) SCON and XSEL have dierent minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information
P
O I N T
SelectionNotes
(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 20m Specify a desired length in meters (Example X08 = 8m)
(Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control
(Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type
(Note 6) The brake is used for retention purposes only so damagemay be caused if it is actually used in attempts to slow or stop the actuator
Legend Cable length Option
Please refer to P16 for more information on the installation method
Horizontal
Side
Vert
ical
Ceiling
Model Specication Items
DDA LH18C 600 360 T2 BSeries Type Encoder
TypeMotor Type
Operation Range
Applicable Controllers
Cable Length Options Option
S Standard (17-bit)
P High resolution (20-bit)
AI Index absolute type
AM Multi-rotation absolute type
600 600W 360 360 deg T2 SCON XSEL-PQ XSEL-RASA
Note Only SCONapplys forLH18CP
N None S 3m M 5m X Specied
length
Please refer to the options table below Please make sure to
specify either A0 or A1 for the cable exit direction
B Brake
11
DDA Direct Drive Motor
Flange-less withBrake
LargeHollow
Bore
HighTorque
Type Without CE Conformity
X
Cable Length
Please refer to P18 for more information regarding the maintenance cables
Cable type
Cable code
Standard
S (3m) M (5m)
Specied length
X06 (6m) ~ X10 (10m) X11 (11m) ~ X20 (20m)
Dimensions
Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use
LH18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers
Name External view
Max number of controlled axes Power supply voltage Control method Maximum number of
positioning pointsReference
pagePositioner Pulse-train Program Network Option
SCON-CBCGB 1Single-phase
230VAC -
Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information
512 (768 for network spec)
P14
SCON-LCLCG 1Single-phase
230VAC- -
512 (768 for network spec)
P14
XSEL-PQRASA 8Single-phase 230VACThree-phase 230VAC
- - 53332
(Depending on the type)P15
(Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side
Encoder connector
Motor connector
oslash 35
Hol
low
bor
e
32 o
r les
s
oslash1235
645
or l
ess
500+500
500plusmn30
Brake connector
24
77
Encoder connector
Motor connector
oslash 35
Hol
low
bor
e64
5 o
r les
s
oslash1235500+50
0
Brake connector
R100 or less
2-oslash4 H7 depth 3For workpiece positioning
6-M6 effective depth 12For workpiece mounting
PCD102 plusmn01
oslash 52
Hol
low
bor
e
oslash 83
Rotating part of the work mounting surface
oslash110h7 -00035
oslash116oslash180
oslash178h8 -00063
412
28
plusmn03
32 or less
oslash21
500plusmn30
35
138
158
003 A
003 A
A
75plusmn0
1
8-M8 effective depth 16PCD148 plusmn01
75plusmn0
1
oslash5 H7 depth 5For body positioning 225deg
Body mounting surfaceBody positioning oblong hole
S 5 +00120 depth 5
2
R25
Detail view of S24
CAD drawings can be downloaded from our website
wwwintelligentactuatorde2D
CAD2D
CAD3D
CAD3D
CAD
12
DDA Direct Drive Motor
OptionsIt is a retention mechanism for holding the stop position when the power or servo is OFF to prevent the workpieces and attachments from being damaged when used in side or vertical positions Be sure to connect a brake box for models with brake
A bracket that attaches to the body with bolts from the top side
Brake
Flange
Option Code B
Option Code FL
Brake Box
Wiring Diagram When Brake Box is Used
DDA-LT18CModel Number DDA-FL-LT18
Model Number IA-110-DD-4
DDA-LH18CModel Number DDA-FL-LH18
PCD200
PCD200
plusmn0075plusmn0075
55deg
55deg
180
180
180180
160
160
plusmn01
plusmn01
160160 plusmn01plusmn01
4-oslash1
1thr
ough
2-oslash6H
7 through
135
135
815
815
plusmn04
plusmn04
oslash1245
55deg
55deg
PCD
PCD200plusmn0075200plusmn0075
180
180
180180160160 plusmn01plusmn01
160
160
plusmn01
plusmn01
2-oslash6H7 through
4-oslash1
1thr
ough
155
15513
63
136
3plusmn0
4plusmn0
4
oslash1245
PWRON
BKOUT
+ - C E
BKRMT
RLSBKOUT
PWRPE N L
MODEL IA-110-DD-4SN INPUT Single phase 100-240V
MADE IN JAPAN
5060Hz 10A maxOUTPUT 12VDC 06A
PWRON
BKOUT
+ - C E
BKRMT
RLSBKOUT
PWRPE N L
MODEL IA-110-DD-4SN INPUT Single phase 100-240V
MADE IN JAPAN
5060Hz 10A maxOUTPUT 12VDC 06A
ControllerSCON-CBXSEL-PQRASADDA
Motor cableModel CB-X(EU)-MA CB-X(EU)MC-MA
Brake box
EU cable version w metal connector
Encoder cableModel CB-X(EU)3-PA010(Comes with the brake box)
Encoder cableModel CB-X(EU)3-PA
Brake cableModel CB-DDB-BK Main power supply
100VAC~240VAC
13
DDA(CR) Direct Drive Motor
Position Controller
Controller Model
System Configuration
Positioner Single-axis Type ltSCONgt Model
Power Supply Voltage
IO TypeEncoder Type Motor Type Type Series SCON
IO Cable Length
AIAM
2
The 200W motor used by the DDA is larger than a normal 200W motor so the motor type for the controller will be 200S and its size will be larger than the 400W motor
For 200W motorFor 600W motor
200S600
High-function typeSafety category compliant type
CBCGB
PLC equipped typeSafety category PLC equipped type
LCLCG
Motor cableModel CB-X(EU)-MA (LT18C)
CB-X(EU)MC-MA (LH18C)
SCON PC
DDA
PLC(To be supplied by the customer)
IO flat cableModel CB-PAC-PIO020Standard 2m
2 Be sure to use a noise filter on the power supply
( )Encoder cableModel CB-X(EU)3-PA
PC compatible softwareRS232 connection versionModel RCM-101-MWUSB connection versionModel RCM-101-USB(Please contact IAI for more details)
Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)
Regenerative resistor unitModel RESU-2RESUD-2(Please contact IAI for more details)
1 The wiring diagram is different for models with brakes Please refer to P13 for more information
1
Single-phase 230VAC Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models
Main powersupply 2
Field network
DDA
Option
Supplied with the actuator
Supplied with the controller
Supplied with the actuator Option
Option
Option
When the SCON Controller is Connected
When a eld network specication is selectedthe IO cable length will be 0
Index absolute typeMulti-rotation abs type
NPPN
PIO NPN (Standard)
PIO PNP
DVCN
DeviceNet
CompoNet
CC CC-Link
ML3PR
MECHATROLINK-III
PROFIBUS-DP
02
35
No cable2m (Standard)
3m5m
EC EtherCAT
EP EtherNetIP
PRT PROFINET IO
For recommended modelsplease contact IAI
Model
External view
IO type
IO type code
CompoNet connection
PROFIBUS-DP connection
CC-Linkconnection
DeviceNetconnection
PIO connection specification (1)
NPPN DV CC PR
Standard Field network type (1)
CN mdash
mdash
mdash
SCON-CB
EtherNetIP connection
PROFINET IO connection
EtherCATconnection
EC EP PRT
List of Models
MECHATROLINK- III
connection
ML3
Applicable encoder type(Note) The index absolute type cannot be used in the pulse-train control and MECHATROLINK-III control(1) Please note that the network specifications cannot be operated on the PIO or pulse-train The PLC type (LCLCG) cannot be connected on the pulse-train
Index absoluteMulti-rotation absoluteIndex absolute Multi-rotation absolute
CBCGB CBCGB LCLCG
14
SCON Controller
EU version w metal connector
Program Controller
List of Models
Model P Q RA SA
Type Large-capacity type Large-capacity type (Safety category specication) High-function type High-function type
(Safety category specication)
External view
DescriptionLarge-capacity type
that can control up to 6 axes 2400W
Large-capacity type thats compatible with the
safety category 4
High-function type that allows up to 8-axis operation
Safety category 4 compatible high-function type
Controller Model
System Configuration
Program Multi-axis Type ltXSELgt Model
Encoder Type
Encoder Type
Motor Type
Motor Type
Number ofConnected
AxesType Series Option Option
XSEL
200 For 200W motor
600 For 600W motor
B BrakePQRASA
6-axis type6-axis safety category type8-axis type8-axis safety category type
8
1
~ ~
1 axis
8 axes
(PQ type is up to 6 axes)
(Details of the 1st axis) (Details of the 2nd~8th axis)
It can simultaneously operate actuators (single-axis robot and RoboCylinder) otherthan the DDA motor on a single controller For connectable actuators other than the DDA motor please contact IAI
For subsequent models please contact IAI
Notes
AIAM
Index absolute typeMulti-rotation absolute type
When the XSEL Controller is Connected
2 Be sure to use a noise filter on the power supply
Motor cableModel CB-X(EU)-MA (LT18C) CB-X(EU)MC-MA (LH18C)
XSELPC
PLC(To be supplied by the customer)
PC compatible softwareRS232 connection versionModel IA-101-X-MWUSB connection versionModel IA-101-X-USBMW(Please contact IAI for more details)
Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)
Single-phase 230VACThree-phase 230VAC
Regenerative resistor unitModel RESU-1RESUD-1(Please contact IAI for more details)
Option Option
Option
Field networkOption
IO flat cableModel CB-X-PIO020Standard 2m
Supplied with the controller
Encoder cableModel CB-X(EU)3-PA
Supplied with the actuator
Supplied with the actuator
Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models
1
1 The wiring diagram is different for models with brakes Please refer to P13 for more information
DDA
Main powersupply 2 ( )For recommended models
please contact IAI
15
XSEL Controller
EU version w metal connector
Precautions
Installation
Installation Orientation
Mountingsurface
For models with brake and cable exit direction to the bottom a clearance hole is required
Ceiling mount
Horizontal mount
Vertical mount
Gra
vity
Operation TypeThis product is available in 2 operation types depending on the operation conditions Please check the features and precautions on each type before use
(1)The high resolution specification can be connected only to the SCON-CB(2)When the XSEL index type travels more than 180deg from the current position it rotates in a direction that requires a shorter travel distance to
reach the target position Therefore please note that the direction of rotation changes according to the current position and travel distance If you want to specify the direction of travel use the SCON-CB
(3)The index type can be rotated in a given direction infinitely 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-CB
(4)Home return is required for the multi-rotation absolute encoder during the initial setting and replacement of the absolute battery
Absolute batteryHome return operationLimitless rotation
Maximum amount of movement in a single movement command
Operation rangeController typeOperation type
Not requiredNot required
Yes (3)
0~359999deg
Index absolute type
RequiredNot required (4)
No
Above operation rangeplusmn9999deg (plusmn2520deg) max
Multi-rotation absolute typeSCON-CB XSEL(1)
( ) is for 20-bit
(Note) Use this product by installing it on a mounting surface having heat dissipating characteristics equivalent to those of an aluminum plate of w450mm times d450mm times t12mm in size If the installation conditions necessitate lower heat dissipating characteristics please consult IAI
ControllersFor the DDA with 200W motor the outside dimensions of the SCON-CB controller will be the same as the size of the
400W motor (Please contact IAI for the details of the SCON-CB controller)One and two regenerative resistor unit(s) are required for LT18C and LH18C respectively to operate a DDA
motor with the SCON-CBWhen operating DDA motor(s) with the XSEL controller regenerative resistor units are required as shown below
The number of DDA motor(s) connectable to the XSEL controller is a max of 8 units for the LT18C type and a max of 2 units for the LH18C type
Please note that when the DDA motor is operated with the SCON-CB the motor cannot be connected to the Robo Cylinder gateway function of the XSEL controller
Calculation for the power supply value LT18C type single-phase 600W three-phase 200W LH18C type single-phase 1200W three-phase 600W
Number of regenerative resistor units
1 2 3 4 5 6 7 81 2 3
(Cannot be connected)4
2 4LT18CLH18C
Number of DD motor(s)
360deg
SCON-CB XSEL(1)
180deg(2)
16
DDA(CR) Direct Drive Motor
Conditions for Selection
The followings should be checked to determine whether the DDA motor can be used to suit the specific conditions required by the customer
The customer should confirm that the following three points under actual use do not exceed their maximum allowable levels as specified for the DDA 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
Check Load Conditions1
[1] Thrust load
[2] Load moment applied
[3] Load inertia
J = 18 times M times D 2 [kgm2]
Mass M [kg]
D [m]
Center of rotation
J = 112 times M times (a 2 + b 2) [kgm2]
a [m]
b [m]
Center of rotation
Mass M [kg]
J = M times R 2+ 18 times M times D 2 [kgm2]
Mass M [kg]
D [m]
R [m]
Cent
er o
fro
tatio
n
J = M times R 2+112 times M times (a 2 + b 2 )[kgm2]
a [m]
b [m]R [m]
Cent
er o
fro
tatio
n
Mass M [kg]
The travel time changes according to the load inertia See the tables below to check the travel time data
Travel Time Guide3
The data in the tables are for a reference only and do not guarantee the actual travel times
(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)
0
0005
009
012
017
022
0005
001
010
012
017
022
001
002
011
014
019
024
002
003
012
016
021
026
003
004
013
017
023
027
004
005
014
018
024
029
005
006
015
020
027
032
006
007
017
022
029
035
007
008
019
024
032
038
008
009
021
026
035
041
009
01
023
029
037
044
01
02
039
048
060
069
02
03
062
073
089
100
03
04
070
083
101
114
04
05
087
102
122
136
05
06
111
123
142
168
LH18C
LT18C
Continuous Operation Area
LT18C type LH18C type
(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)
0
0005
0098
0129
0192
0254
0005
001
0096
0128
019
0252
001
0015
0096
0127
019
0252
002
002
0097
0128
0191
0253
002
003
0099
0131
0193
0256
003
004
0104
0136
0199
0262
004
006
0113
0144
0207
027
006
008
012
0153
0215
0278
008
01
0126
0163
0225
0288
010
015
014
0184
0249
0312
015
02
0157
0208
0279
0341
02
03
0207
0268
0354
042
03
04
0257
0329
0428
0504
04
06
0352
044
0562
0655
06
08
0447
0549
0692
08
08
1
053
0646
0806
0925
10
12
0629
0758
0933
1064
12
14
0795
0941
1133
1274
14
18
0875
1035
1257
1415
Check Operating Conditions2Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DDA motor specications to determine whether the DDA motor can be used under the applicable operating conditions Please contact IAI for assistance To
rque
(Nm
)
Curr
ent [
Arm
s]
Angular velocity [degs]
AccelerationDeceleration Area
Torq
ue (N
m)
Curr
ent [
Arm
s]
Angular velocity [degs]
AccelerationDeceleration Area
Rating areaRating area
270deg travel time [sec]180deg travel time [sec]
90deg travel time [sec]45deg travel time [sec]
Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]
270deg travel time [sec]180deg travel time [sec]
90deg travel time [sec]45deg travel time [sec]
Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]
Selecting the DD Motor
17
DDA(CR) Direct Drive Motor
CB-X-MACB-XEU-MA
Modelnumber
Motor robot cableEU motor robot cable
forDDA(CR)-LT18
L
Controller side
4
1
1
4
Wire
075sqGreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
GreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
PEUVW
No1234
Actuator side
(10)(20)
(Front view)(Front view)
(16)
(oslash9) (2
1)
(18)
(41)
Signal
Minimum bending R r = 51 mm or more (for movable use) If the cable must be guided in a cable track use a robot cable
Enter the cable length (L) into Compatible to a Maximum of 30 meters Ex 080 = 8m
Minimum bending R r = 51 mm or more (for movable use)Only robot cable is available for this model
1
(16)
(F (Front view)ront view)
(41)
(41)
234
1234
UVWPE
RedWhiteBlackGreen
PESignal NoWire
Controller side
075sq 075sq(crimped)
Color oN langiS Color Wire
UVW
GreenRed
WhiteBlack
Actuator side
(Fig Motor robot cable CB-X-MA with plastic connector)
(Fig EU motor robot cable CB-XEU-MA EU version with M18 plastic round connector)
4
17
L
1
2 3
1
Color Wire
075sq
No Signal Color
(crimped)
PEUVW
123
CB-XMC-MACB-XEUMC-MA
Modelnumber
Motor robot cableEU motor robot cable
forDDA(CR)-HT18
Controller side
Wire
125sqGreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
GreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
PEUVW
No1234
Actuator side
Signal
Minimum bending R r = 55 mm or more (for movable use) If the cable must be guided in a cable track use a robot cable
Enter the cable length (L) into Compatible to a Maximum of 30 meters Ex 080 = 8m
Minimum bending R r = 55 mm or more (for movable use)Only robot cable is available for this model
1
(16)
(F (Front view)ront view)
(41)
234
1234
UVWPE
RedWhiteBlackGreen
PESignal NoWire
Controller side
125sq 125sq(crimped)
Color oN langiS Color Wire
UVW
GreenRed
WhiteBlack
Actuator side
(Fig Motor robot cable CB-XMC-MA with plastic connector)
(Fig EU motor robot cable CB-XEUMC-MA EU version with M18 plastic round connector)
4
17
L
1
2 3
1
Color Wire
125sq
No Signal Color
(crimped)
PEUVW
123
Cables
L
4
1
1
4(Front view)
(16)(21)
(11)
(16)
18
DDA(CR) Direct Drive Motor
Maintenance Parts
(oslash9)
DDADDACR Series Catalogue No 1116-E Version CJ0242-1A
CB-DDB-BKModelnumber
forDDA(CR) with brake optionBrake cable
Enter the cable length (L) into Compatible to a Maximum of 20 meters Ex 080 = 8m
Maintenance Parts
(41) (14)(15)
Controller side
(13)
(37)
(Front view) (Front view)
(25)
Actuator side
13
114
26
Ground wire and braided shield
AWG26(crimped)
WhiteblueWhiteyellowWhiteredWhiteblackWhitepurpleWhitegray
Whiteorangendash
(Ground)Orange
GreenPurple
GrayRed
BlackWhitegreen
BlueYellow
No Signal Color Wire
The shield is connected to the hood by a clamp
AWG26 (soldered)
Wire10111213262524239
181912345678
14151617202122
123456789
101112131415161718
AĀBBZZ
LS+ndash
FGSDSD
BAT+BAT-VCCGNDLS-BK-BK+
ndashndash
E24VOVLS
CREEPOTRSV
ndashndashndash
A+A-B+B-Z+Z-
SRD+SRD-BAT+BAT-VCCGNDBKR-BKR+
ndash
ndashndashndash
WhitegreenWhiteorange
WhitegreenWhiteorange
Whitegreen
Whiteorange
ndashndashndashndashndashndash
WhiteblueWhiteyellowWhitered
WhiteblackWhitepurpleWhitegray
WhiteblueWhiteyellow Whiteblue
WhiteyellowWhiteredWhiteblackWhitepurpleWhitegray
WhiteredWhiteblackWhitepurpleWhitegray
OrangeGreenPurple
GrayRed
BlackBlue
Yellowndash
NoSignalColor(oslash
10)
L
1
9 18
10
Minimum bending R r = 58 mm or more (for movable use) If the cable must be guided in a cable track use a robot cable
(Fig Encoder robot cable CB-X3-PA with plastic connector)
Controller side Actuator side
Minimum bending R r = 58 mm or more (for movable use)
(Front view)
L (13)
(37)
1
13
14
26
(41)
Ground wire and braided shield
Color WireSignalNo
AWG26soldered
Blue
SD1 OrangeSD2
3456789
Green
VCC10
PurpleGND11 BlackBAT+12
Yellow
BAT-13 Grey
BK-141516
Red
BK+A shield is connected to shield soldered part
AWG26(soldered)
212017
22
6
16151487
3
54
21
25
1819
2324
9
1011121326
No
ndashBKR+BKR-GND
Z-
BAT+
VCCBATndash
SRD-SRD+
B+
Z+B-
Z-
B+
Z+B-
A-A+
A-A+
CREEP
ndashndashndash
OTRSV
E24V0VLS
LS+
LS-
ndashndash
---
------
BlueYellow
Orange
PurpleGreen
Black
GreyRed
-The shield is clamped to the hood
Color SignalWire
(Fig EU encoder robot cable CB-XEU3-PA EU version with metal connector)
(Front view)
4 1
16 13 10
9 5
14
CB-X3-PACB-XEU3-PA
Modelnumber
Encoder robot cableEU encoder robot cable
forDDA(CR)
Enter the cable length (L) into Compatible to a Maximum of 30 meters Ex 080 = 8m
31
31
J11SF-03V-KX J11SFM-03V-KXNoNo SignalSignal ColorColor WiringWiring
AWG20(crimped)
Red
Black
White
Red
Black
White
+
-
FG
+
-
FG
321
321
AWG20(crimped)
Controller side Actuator side
tor side(Front view) (Front view)
L
(44) (167)
(80
)
(84)(293)
(92
)
(oslash5
4)
IAI America IncIAI Industrieroboter GmbHEurope Headquarters Ober der Roumlth 4 D-65824 Schwalbach Germany
IAI CORPORATIONCorporate Headquarters577-1 Obane Shimizu-Ku Shizuoka 424-0103 Japan Phone +81-543-64-5105 Fax +81-543-64-5192
IAI (Shanghai) Co LtdChina HeadquartersShanghai Jiahua Business Centee A8-303808Hongqiao Rd Shanghai 200030 ChinaPhone +86-21-6448-4753 Fax +86-21-6448-3992
America Headquarters2690 W 237th Street Torrance CA 90505 USA
wwwintelligentactuatorde
Phone +49-6196-8895-0 Fax +49-6196-8895-24 Phone +1-310-891-6015 Fax +1-310-891-0815
Dimensions
Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use
LH18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers
Name External view
Max number of controlled axes Power supply voltage Control method Maximum number of
positioning pointsReference
pagePositioner Pulse-train Program Network Option
SCON-CBCGB 1Single-phase
230VAC -
Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information
512 (768 for network spec)
P14
SCON-LCLCG 1Single-phase
230VAC- -
512 (768 for network spec)
P14
XSEL-PQRASA 8Single-phase 230VACThree-phase 230VAC
- - 53332
(Depending on the type)P15
(Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side
Encoder connector
Motor connector
oslash 35
Hol
low
bor
e
32 o
r les
s
oslash1235
645
or l
ess
500+500
500plusmn30
Brake connector
24
77
Encoder connector
Motor connector
oslash 35
Hol
low
bor
e64
5 o
r les
s
oslash1235500+50
0
Brake connector
R100 or less
2-oslash4 H7 depth 3For workpiece positioning
6-M6 effective depth 12For workpiece mounting
PCD102 plusmn01
oslash 52
Hol
low
bor
e
oslash 83
Rotating part of the work mounting surface
oslash110h7 -00035
oslash116oslash180
oslash178h8 -00063
412
28
plusmn03
32 or less
oslash21
500plusmn30
35
138
158
003 A
003 A
A
75plusmn0
1
8-M8 effective depth 16PCD148 plusmn01
75plusmn0
1
oslash5 H7 depth 5For body positioning 225deg
Body mounting surfaceBody positioning oblong hole
S 5 +00120 depth 5
2
R25
Detail view of S24
CAD drawings can be downloaded from our website
wwwintelligentactuatorde2D
CAD2D
CAD3D
CAD3D
CAD
12
DDA Direct Drive Motor
OptionsIt is a retention mechanism for holding the stop position when the power or servo is OFF to prevent the workpieces and attachments from being damaged when used in side or vertical positions Be sure to connect a brake box for models with brake
A bracket that attaches to the body with bolts from the top side
Brake
Flange
Option Code B
Option Code FL
Brake Box
Wiring Diagram When Brake Box is Used
DDA-LT18CModel Number DDA-FL-LT18
Model Number IA-110-DD-4
DDA-LH18CModel Number DDA-FL-LH18
PCD200
PCD200
plusmn0075plusmn0075
55deg
55deg
180
180
180180
160
160
plusmn01
plusmn01
160160 plusmn01plusmn01
4-oslash1
1thr
ough
2-oslash6H
7 through
135
135
815
815
plusmn04
plusmn04
oslash1245
55deg
55deg
PCD
PCD200plusmn0075200plusmn0075
180
180
180180160160 plusmn01plusmn01
160
160
plusmn01
plusmn01
2-oslash6H7 through
4-oslash1
1thr
ough
155
15513
63
136
3plusmn0
4plusmn0
4
oslash1245
PWRON
BKOUT
+ - C E
BKRMT
RLSBKOUT
PWRPE N L
MODEL IA-110-DD-4SN INPUT Single phase 100-240V
MADE IN JAPAN
5060Hz 10A maxOUTPUT 12VDC 06A
PWRON
BKOUT
+ - C E
BKRMT
RLSBKOUT
PWRPE N L
MODEL IA-110-DD-4SN INPUT Single phase 100-240V
MADE IN JAPAN
5060Hz 10A maxOUTPUT 12VDC 06A
ControllerSCON-CBXSEL-PQRASADDA
Motor cableModel CB-X(EU)-MA CB-X(EU)MC-MA
Brake box
EU cable version w metal connector
Encoder cableModel CB-X(EU)3-PA010(Comes with the brake box)
Encoder cableModel CB-X(EU)3-PA
Brake cableModel CB-DDB-BK Main power supply
100VAC~240VAC
13
DDA(CR) Direct Drive Motor
Position Controller
Controller Model
System Configuration
Positioner Single-axis Type ltSCONgt Model
Power Supply Voltage
IO TypeEncoder Type Motor Type Type Series SCON
IO Cable Length
AIAM
2
The 200W motor used by the DDA is larger than a normal 200W motor so the motor type for the controller will be 200S and its size will be larger than the 400W motor
For 200W motorFor 600W motor
200S600
High-function typeSafety category compliant type
CBCGB
PLC equipped typeSafety category PLC equipped type
LCLCG
Motor cableModel CB-X(EU)-MA (LT18C)
CB-X(EU)MC-MA (LH18C)
SCON PC
DDA
PLC(To be supplied by the customer)
IO flat cableModel CB-PAC-PIO020Standard 2m
2 Be sure to use a noise filter on the power supply
( )Encoder cableModel CB-X(EU)3-PA
PC compatible softwareRS232 connection versionModel RCM-101-MWUSB connection versionModel RCM-101-USB(Please contact IAI for more details)
Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)
Regenerative resistor unitModel RESU-2RESUD-2(Please contact IAI for more details)
1 The wiring diagram is different for models with brakes Please refer to P13 for more information
1
Single-phase 230VAC Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models
Main powersupply 2
Field network
DDA
Option
Supplied with the actuator
Supplied with the controller
Supplied with the actuator Option
Option
Option
When the SCON Controller is Connected
When a eld network specication is selectedthe IO cable length will be 0
Index absolute typeMulti-rotation abs type
NPPN
PIO NPN (Standard)
PIO PNP
DVCN
DeviceNet
CompoNet
CC CC-Link
ML3PR
MECHATROLINK-III
PROFIBUS-DP
02
35
No cable2m (Standard)
3m5m
EC EtherCAT
EP EtherNetIP
PRT PROFINET IO
For recommended modelsplease contact IAI
Model
External view
IO type
IO type code
CompoNet connection
PROFIBUS-DP connection
CC-Linkconnection
DeviceNetconnection
PIO connection specification (1)
NPPN DV CC PR
Standard Field network type (1)
CN mdash
mdash
mdash
SCON-CB
EtherNetIP connection
PROFINET IO connection
EtherCATconnection
EC EP PRT
List of Models
MECHATROLINK- III
connection
ML3
Applicable encoder type(Note) The index absolute type cannot be used in the pulse-train control and MECHATROLINK-III control(1) Please note that the network specifications cannot be operated on the PIO or pulse-train The PLC type (LCLCG) cannot be connected on the pulse-train
Index absoluteMulti-rotation absoluteIndex absolute Multi-rotation absolute
CBCGB CBCGB LCLCG
14
SCON Controller
EU version w metal connector
Program Controller
List of Models
Model P Q RA SA
Type Large-capacity type Large-capacity type (Safety category specication) High-function type High-function type
(Safety category specication)
External view
DescriptionLarge-capacity type
that can control up to 6 axes 2400W
Large-capacity type thats compatible with the
safety category 4
High-function type that allows up to 8-axis operation
Safety category 4 compatible high-function type
Controller Model
System Configuration
Program Multi-axis Type ltXSELgt Model
Encoder Type
Encoder Type
Motor Type
Motor Type
Number ofConnected
AxesType Series Option Option
XSEL
200 For 200W motor
600 For 600W motor
B BrakePQRASA
6-axis type6-axis safety category type8-axis type8-axis safety category type
8
1
~ ~
1 axis
8 axes
(PQ type is up to 6 axes)
(Details of the 1st axis) (Details of the 2nd~8th axis)
It can simultaneously operate actuators (single-axis robot and RoboCylinder) otherthan the DDA motor on a single controller For connectable actuators other than the DDA motor please contact IAI
For subsequent models please contact IAI
Notes
AIAM
Index absolute typeMulti-rotation absolute type
When the XSEL Controller is Connected
2 Be sure to use a noise filter on the power supply
Motor cableModel CB-X(EU)-MA (LT18C) CB-X(EU)MC-MA (LH18C)
XSELPC
PLC(To be supplied by the customer)
PC compatible softwareRS232 connection versionModel IA-101-X-MWUSB connection versionModel IA-101-X-USBMW(Please contact IAI for more details)
Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)
Single-phase 230VACThree-phase 230VAC
Regenerative resistor unitModel RESU-1RESUD-1(Please contact IAI for more details)
Option Option
Option
Field networkOption
IO flat cableModel CB-X-PIO020Standard 2m
Supplied with the controller
Encoder cableModel CB-X(EU)3-PA
Supplied with the actuator
Supplied with the actuator
Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models
1
1 The wiring diagram is different for models with brakes Please refer to P13 for more information
DDA
Main powersupply 2 ( )For recommended models
please contact IAI
15
XSEL Controller
EU version w metal connector
Precautions
Installation
Installation Orientation
Mountingsurface
For models with brake and cable exit direction to the bottom a clearance hole is required
Ceiling mount
Horizontal mount
Vertical mount
Gra
vity
Operation TypeThis product is available in 2 operation types depending on the operation conditions Please check the features and precautions on each type before use
(1)The high resolution specification can be connected only to the SCON-CB(2)When the XSEL index type travels more than 180deg from the current position it rotates in a direction that requires a shorter travel distance to
reach the target position Therefore please note that the direction of rotation changes according to the current position and travel distance If you want to specify the direction of travel use the SCON-CB
(3)The index type can be rotated in a given direction infinitely 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-CB
(4)Home return is required for the multi-rotation absolute encoder during the initial setting and replacement of the absolute battery
Absolute batteryHome return operationLimitless rotation
Maximum amount of movement in a single movement command
Operation rangeController typeOperation type
Not requiredNot required
Yes (3)
0~359999deg
Index absolute type
RequiredNot required (4)
No
Above operation rangeplusmn9999deg (plusmn2520deg) max
Multi-rotation absolute typeSCON-CB XSEL(1)
( ) is for 20-bit
(Note) Use this product by installing it on a mounting surface having heat dissipating characteristics equivalent to those of an aluminum plate of w450mm times d450mm times t12mm in size If the installation conditions necessitate lower heat dissipating characteristics please consult IAI
ControllersFor the DDA with 200W motor the outside dimensions of the SCON-CB controller will be the same as the size of the
400W motor (Please contact IAI for the details of the SCON-CB controller)One and two regenerative resistor unit(s) are required for LT18C and LH18C respectively to operate a DDA
motor with the SCON-CBWhen operating DDA motor(s) with the XSEL controller regenerative resistor units are required as shown below
The number of DDA motor(s) connectable to the XSEL controller is a max of 8 units for the LT18C type and a max of 2 units for the LH18C type
Please note that when the DDA motor is operated with the SCON-CB the motor cannot be connected to the Robo Cylinder gateway function of the XSEL controller
Calculation for the power supply value LT18C type single-phase 600W three-phase 200W LH18C type single-phase 1200W three-phase 600W
Number of regenerative resistor units
1 2 3 4 5 6 7 81 2 3
(Cannot be connected)4
2 4LT18CLH18C
Number of DD motor(s)
360deg
SCON-CB XSEL(1)
180deg(2)
16
DDA(CR) Direct Drive Motor
Conditions for Selection
The followings should be checked to determine whether the DDA motor can be used to suit the specific conditions required by the customer
The customer should confirm that the following three points under actual use do not exceed their maximum allowable levels as specified for the DDA 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
Check Load Conditions1
[1] Thrust load
[2] Load moment applied
[3] Load inertia
J = 18 times M times D 2 [kgm2]
Mass M [kg]
D [m]
Center of rotation
J = 112 times M times (a 2 + b 2) [kgm2]
a [m]
b [m]
Center of rotation
Mass M [kg]
J = M times R 2+ 18 times M times D 2 [kgm2]
Mass M [kg]
D [m]
R [m]
Cent
er o
fro
tatio
n
J = M times R 2+112 times M times (a 2 + b 2 )[kgm2]
a [m]
b [m]R [m]
Cent
er o
fro
tatio
n
Mass M [kg]
The travel time changes according to the load inertia See the tables below to check the travel time data
Travel Time Guide3
The data in the tables are for a reference only and do not guarantee the actual travel times
(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)
0
0005
009
012
017
022
0005
001
010
012
017
022
001
002
011
014
019
024
002
003
012
016
021
026
003
004
013
017
023
027
004
005
014
018
024
029
005
006
015
020
027
032
006
007
017
022
029
035
007
008
019
024
032
038
008
009
021
026
035
041
009
01
023
029
037
044
01
02
039
048
060
069
02
03
062
073
089
100
03
04
070
083
101
114
04
05
087
102
122
136
05
06
111
123
142
168
LH18C
LT18C
Continuous Operation Area
LT18C type LH18C type
(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)
0
0005
0098
0129
0192
0254
0005
001
0096
0128
019
0252
001
0015
0096
0127
019
0252
002
002
0097
0128
0191
0253
002
003
0099
0131
0193
0256
003
004
0104
0136
0199
0262
004
006
0113
0144
0207
027
006
008
012
0153
0215
0278
008
01
0126
0163
0225
0288
010
015
014
0184
0249
0312
015
02
0157
0208
0279
0341
02
03
0207
0268
0354
042
03
04
0257
0329
0428
0504
04
06
0352
044
0562
0655
06
08
0447
0549
0692
08
08
1
053
0646
0806
0925
10
12
0629
0758
0933
1064
12
14
0795
0941
1133
1274
14
18
0875
1035
1257
1415
Check Operating Conditions2Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DDA motor specications to determine whether the DDA motor can be used under the applicable operating conditions Please contact IAI for assistance To
rque
(Nm
)
Curr
ent [
Arm
s]
Angular velocity [degs]
AccelerationDeceleration Area
Torq
ue (N
m)
Curr
ent [
Arm
s]
Angular velocity [degs]
AccelerationDeceleration Area
Rating areaRating area
270deg travel time [sec]180deg travel time [sec]
90deg travel time [sec]45deg travel time [sec]
Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]
270deg travel time [sec]180deg travel time [sec]
90deg travel time [sec]45deg travel time [sec]
Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]
Selecting the DD Motor
17
DDA(CR) Direct Drive Motor
CB-X-MACB-XEU-MA
Modelnumber
Motor robot cableEU motor robot cable
forDDA(CR)-LT18
L
Controller side
4
1
1
4
Wire
075sqGreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
GreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
PEUVW
No1234
Actuator side
(10)(20)
(Front view)(Front view)
(16)
(oslash9) (2
1)
(18)
(41)
Signal
Minimum bending R r = 51 mm or more (for movable use) If the cable must be guided in a cable track use a robot cable
Enter the cable length (L) into Compatible to a Maximum of 30 meters Ex 080 = 8m
Minimum bending R r = 51 mm or more (for movable use)Only robot cable is available for this model
1
(16)
(F (Front view)ront view)
(41)
(41)
234
1234
UVWPE
RedWhiteBlackGreen
PESignal NoWire
Controller side
075sq 075sq(crimped)
Color oN langiS Color Wire
UVW
GreenRed
WhiteBlack
Actuator side
(Fig Motor robot cable CB-X-MA with plastic connector)
(Fig EU motor robot cable CB-XEU-MA EU version with M18 plastic round connector)
4
17
L
1
2 3
1
Color Wire
075sq
No Signal Color
(crimped)
PEUVW
123
CB-XMC-MACB-XEUMC-MA
Modelnumber
Motor robot cableEU motor robot cable
forDDA(CR)-HT18
Controller side
Wire
125sqGreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
GreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
PEUVW
No1234
Actuator side
Signal
Minimum bending R r = 55 mm or more (for movable use) If the cable must be guided in a cable track use a robot cable
Enter the cable length (L) into Compatible to a Maximum of 30 meters Ex 080 = 8m
Minimum bending R r = 55 mm or more (for movable use)Only robot cable is available for this model
1
(16)
(F (Front view)ront view)
(41)
234
1234
UVWPE
RedWhiteBlackGreen
PESignal NoWire
Controller side
125sq 125sq(crimped)
Color oN langiS Color Wire
UVW
GreenRed
WhiteBlack
Actuator side
(Fig Motor robot cable CB-XMC-MA with plastic connector)
(Fig EU motor robot cable CB-XEUMC-MA EU version with M18 plastic round connector)
4
17
L
1
2 3
1
Color Wire
125sq
No Signal Color
(crimped)
PEUVW
123
Cables
L
4
1
1
4(Front view)
(16)(21)
(11)
(16)
18
DDA(CR) Direct Drive Motor
Maintenance Parts
(oslash9)
DDADDACR Series Catalogue No 1116-E Version CJ0242-1A
CB-DDB-BKModelnumber
forDDA(CR) with brake optionBrake cable
Enter the cable length (L) into Compatible to a Maximum of 20 meters Ex 080 = 8m
Maintenance Parts
(41) (14)(15)
Controller side
(13)
(37)
(Front view) (Front view)
(25)
Actuator side
13
114
26
Ground wire and braided shield
AWG26(crimped)
WhiteblueWhiteyellowWhiteredWhiteblackWhitepurpleWhitegray
Whiteorangendash
(Ground)Orange
GreenPurple
GrayRed
BlackWhitegreen
BlueYellow
No Signal Color Wire
The shield is connected to the hood by a clamp
AWG26 (soldered)
Wire10111213262524239
181912345678
14151617202122
123456789
101112131415161718
AĀBBZZ
LS+ndash
FGSDSD
BAT+BAT-VCCGNDLS-BK-BK+
ndashndash
E24VOVLS
CREEPOTRSV
ndashndashndash
A+A-B+B-Z+Z-
SRD+SRD-BAT+BAT-VCCGNDBKR-BKR+
ndash
ndashndashndash
WhitegreenWhiteorange
WhitegreenWhiteorange
Whitegreen
Whiteorange
ndashndashndashndashndashndash
WhiteblueWhiteyellowWhitered
WhiteblackWhitepurpleWhitegray
WhiteblueWhiteyellow Whiteblue
WhiteyellowWhiteredWhiteblackWhitepurpleWhitegray
WhiteredWhiteblackWhitepurpleWhitegray
OrangeGreenPurple
GrayRed
BlackBlue
Yellowndash
NoSignalColor(oslash
10)
L
1
9 18
10
Minimum bending R r = 58 mm or more (for movable use) If the cable must be guided in a cable track use a robot cable
(Fig Encoder robot cable CB-X3-PA with plastic connector)
Controller side Actuator side
Minimum bending R r = 58 mm or more (for movable use)
(Front view)
L (13)
(37)
1
13
14
26
(41)
Ground wire and braided shield
Color WireSignalNo
AWG26soldered
Blue
SD1 OrangeSD2
3456789
Green
VCC10
PurpleGND11 BlackBAT+12
Yellow
BAT-13 Grey
BK-141516
Red
BK+A shield is connected to shield soldered part
AWG26(soldered)
212017
22
6
16151487
3
54
21
25
1819
2324
9
1011121326
No
ndashBKR+BKR-GND
Z-
BAT+
VCCBATndash
SRD-SRD+
B+
Z+B-
Z-
B+
Z+B-
A-A+
A-A+
CREEP
ndashndashndash
OTRSV
E24V0VLS
LS+
LS-
ndashndash
---
------
BlueYellow
Orange
PurpleGreen
Black
GreyRed
-The shield is clamped to the hood
Color SignalWire
(Fig EU encoder robot cable CB-XEU3-PA EU version with metal connector)
(Front view)
4 1
16 13 10
9 5
14
CB-X3-PACB-XEU3-PA
Modelnumber
Encoder robot cableEU encoder robot cable
forDDA(CR)
Enter the cable length (L) into Compatible to a Maximum of 30 meters Ex 080 = 8m
31
31
J11SF-03V-KX J11SFM-03V-KXNoNo SignalSignal ColorColor WiringWiring
AWG20(crimped)
Red
Black
White
Red
Black
White
+
-
FG
+
-
FG
321
321
AWG20(crimped)
Controller side Actuator side
tor side(Front view) (Front view)
L
(44) (167)
(80
)
(84)(293)
(92
)
(oslash5
4)
IAI America IncIAI Industrieroboter GmbHEurope Headquarters Ober der Roumlth 4 D-65824 Schwalbach Germany
IAI CORPORATIONCorporate Headquarters577-1 Obane Shimizu-Ku Shizuoka 424-0103 Japan Phone +81-543-64-5105 Fax +81-543-64-5192
IAI (Shanghai) Co LtdChina HeadquartersShanghai Jiahua Business Centee A8-303808Hongqiao Rd Shanghai 200030 ChinaPhone +86-21-6448-4753 Fax +86-21-6448-3992
America Headquarters2690 W 237th Street Torrance CA 90505 USA
wwwintelligentactuatorde
Phone +49-6196-8895-0 Fax +49-6196-8895-24 Phone +1-310-891-6015 Fax +1-310-891-0815
OptionsIt is a retention mechanism for holding the stop position when the power or servo is OFF to prevent the workpieces and attachments from being damaged when used in side or vertical positions Be sure to connect a brake box for models with brake
A bracket that attaches to the body with bolts from the top side
Brake
Flange
Option Code B
Option Code FL
Brake Box
Wiring Diagram When Brake Box is Used
DDA-LT18CModel Number DDA-FL-LT18
Model Number IA-110-DD-4
DDA-LH18CModel Number DDA-FL-LH18
PCD200
PCD200
plusmn0075plusmn0075
55deg
55deg
180
180
180180
160
160
plusmn01
plusmn01
160160 plusmn01plusmn01
4-oslash1
1thr
ough
2-oslash6H
7 through
135
135
815
815
plusmn04
plusmn04
oslash1245
55deg
55deg
PCD
PCD200plusmn0075200plusmn0075
180
180
180180160160 plusmn01plusmn01
160
160
plusmn01
plusmn01
2-oslash6H7 through
4-oslash1
1thr
ough
155
15513
63
136
3plusmn0
4plusmn0
4
oslash1245
PWRON
BKOUT
+ - C E
BKRMT
RLSBKOUT
PWRPE N L
MODEL IA-110-DD-4SN INPUT Single phase 100-240V
MADE IN JAPAN
5060Hz 10A maxOUTPUT 12VDC 06A
PWRON
BKOUT
+ - C E
BKRMT
RLSBKOUT
PWRPE N L
MODEL IA-110-DD-4SN INPUT Single phase 100-240V
MADE IN JAPAN
5060Hz 10A maxOUTPUT 12VDC 06A
ControllerSCON-CBXSEL-PQRASADDA
Motor cableModel CB-X(EU)-MA CB-X(EU)MC-MA
Brake box
EU cable version w metal connector
Encoder cableModel CB-X(EU)3-PA010(Comes with the brake box)
Encoder cableModel CB-X(EU)3-PA
Brake cableModel CB-DDB-BK Main power supply
100VAC~240VAC
13
DDA(CR) Direct Drive Motor
Position Controller
Controller Model
System Configuration
Positioner Single-axis Type ltSCONgt Model
Power Supply Voltage
IO TypeEncoder Type Motor Type Type Series SCON
IO Cable Length
AIAM
2
The 200W motor used by the DDA is larger than a normal 200W motor so the motor type for the controller will be 200S and its size will be larger than the 400W motor
For 200W motorFor 600W motor
200S600
High-function typeSafety category compliant type
CBCGB
PLC equipped typeSafety category PLC equipped type
LCLCG
Motor cableModel CB-X(EU)-MA (LT18C)
CB-X(EU)MC-MA (LH18C)
SCON PC
DDA
PLC(To be supplied by the customer)
IO flat cableModel CB-PAC-PIO020Standard 2m
2 Be sure to use a noise filter on the power supply
( )Encoder cableModel CB-X(EU)3-PA
PC compatible softwareRS232 connection versionModel RCM-101-MWUSB connection versionModel RCM-101-USB(Please contact IAI for more details)
Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)
Regenerative resistor unitModel RESU-2RESUD-2(Please contact IAI for more details)
1 The wiring diagram is different for models with brakes Please refer to P13 for more information
1
Single-phase 230VAC Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models
Main powersupply 2
Field network
DDA
Option
Supplied with the actuator
Supplied with the controller
Supplied with the actuator Option
Option
Option
When the SCON Controller is Connected
When a eld network specication is selectedthe IO cable length will be 0
Index absolute typeMulti-rotation abs type
NPPN
PIO NPN (Standard)
PIO PNP
DVCN
DeviceNet
CompoNet
CC CC-Link
ML3PR
MECHATROLINK-III
PROFIBUS-DP
02
35
No cable2m (Standard)
3m5m
EC EtherCAT
EP EtherNetIP
PRT PROFINET IO
For recommended modelsplease contact IAI
Model
External view
IO type
IO type code
CompoNet connection
PROFIBUS-DP connection
CC-Linkconnection
DeviceNetconnection
PIO connection specification (1)
NPPN DV CC PR
Standard Field network type (1)
CN mdash
mdash
mdash
SCON-CB
EtherNetIP connection
PROFINET IO connection
EtherCATconnection
EC EP PRT
List of Models
MECHATROLINK- III
connection
ML3
Applicable encoder type(Note) The index absolute type cannot be used in the pulse-train control and MECHATROLINK-III control(1) Please note that the network specifications cannot be operated on the PIO or pulse-train The PLC type (LCLCG) cannot be connected on the pulse-train
Index absoluteMulti-rotation absoluteIndex absolute Multi-rotation absolute
CBCGB CBCGB LCLCG
14
SCON Controller
EU version w metal connector
Program Controller
List of Models
Model P Q RA SA
Type Large-capacity type Large-capacity type (Safety category specication) High-function type High-function type
(Safety category specication)
External view
DescriptionLarge-capacity type
that can control up to 6 axes 2400W
Large-capacity type thats compatible with the
safety category 4
High-function type that allows up to 8-axis operation
Safety category 4 compatible high-function type
Controller Model
System Configuration
Program Multi-axis Type ltXSELgt Model
Encoder Type
Encoder Type
Motor Type
Motor Type
Number ofConnected
AxesType Series Option Option
XSEL
200 For 200W motor
600 For 600W motor
B BrakePQRASA
6-axis type6-axis safety category type8-axis type8-axis safety category type
8
1
~ ~
1 axis
8 axes
(PQ type is up to 6 axes)
(Details of the 1st axis) (Details of the 2nd~8th axis)
It can simultaneously operate actuators (single-axis robot and RoboCylinder) otherthan the DDA motor on a single controller For connectable actuators other than the DDA motor please contact IAI
For subsequent models please contact IAI
Notes
AIAM
Index absolute typeMulti-rotation absolute type
When the XSEL Controller is Connected
2 Be sure to use a noise filter on the power supply
Motor cableModel CB-X(EU)-MA (LT18C) CB-X(EU)MC-MA (LH18C)
XSELPC
PLC(To be supplied by the customer)
PC compatible softwareRS232 connection versionModel IA-101-X-MWUSB connection versionModel IA-101-X-USBMW(Please contact IAI for more details)
Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)
Single-phase 230VACThree-phase 230VAC
Regenerative resistor unitModel RESU-1RESUD-1(Please contact IAI for more details)
Option Option
Option
Field networkOption
IO flat cableModel CB-X-PIO020Standard 2m
Supplied with the controller
Encoder cableModel CB-X(EU)3-PA
Supplied with the actuator
Supplied with the actuator
Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models
1
1 The wiring diagram is different for models with brakes Please refer to P13 for more information
DDA
Main powersupply 2 ( )For recommended models
please contact IAI
15
XSEL Controller
EU version w metal connector
Precautions
Installation
Installation Orientation
Mountingsurface
For models with brake and cable exit direction to the bottom a clearance hole is required
Ceiling mount
Horizontal mount
Vertical mount
Gra
vity
Operation TypeThis product is available in 2 operation types depending on the operation conditions Please check the features and precautions on each type before use
(1)The high resolution specification can be connected only to the SCON-CB(2)When the XSEL index type travels more than 180deg from the current position it rotates in a direction that requires a shorter travel distance to
reach the target position Therefore please note that the direction of rotation changes according to the current position and travel distance If you want to specify the direction of travel use the SCON-CB
(3)The index type can be rotated in a given direction infinitely 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-CB
(4)Home return is required for the multi-rotation absolute encoder during the initial setting and replacement of the absolute battery
Absolute batteryHome return operationLimitless rotation
Maximum amount of movement in a single movement command
Operation rangeController typeOperation type
Not requiredNot required
Yes (3)
0~359999deg
Index absolute type
RequiredNot required (4)
No
Above operation rangeplusmn9999deg (plusmn2520deg) max
Multi-rotation absolute typeSCON-CB XSEL(1)
( ) is for 20-bit
(Note) Use this product by installing it on a mounting surface having heat dissipating characteristics equivalent to those of an aluminum plate of w450mm times d450mm times t12mm in size If the installation conditions necessitate lower heat dissipating characteristics please consult IAI
ControllersFor the DDA with 200W motor the outside dimensions of the SCON-CB controller will be the same as the size of the
400W motor (Please contact IAI for the details of the SCON-CB controller)One and two regenerative resistor unit(s) are required for LT18C and LH18C respectively to operate a DDA
motor with the SCON-CBWhen operating DDA motor(s) with the XSEL controller regenerative resistor units are required as shown below
The number of DDA motor(s) connectable to the XSEL controller is a max of 8 units for the LT18C type and a max of 2 units for the LH18C type
Please note that when the DDA motor is operated with the SCON-CB the motor cannot be connected to the Robo Cylinder gateway function of the XSEL controller
Calculation for the power supply value LT18C type single-phase 600W three-phase 200W LH18C type single-phase 1200W three-phase 600W
Number of regenerative resistor units
1 2 3 4 5 6 7 81 2 3
(Cannot be connected)4
2 4LT18CLH18C
Number of DD motor(s)
360deg
SCON-CB XSEL(1)
180deg(2)
16
DDA(CR) Direct Drive Motor
Conditions for Selection
The followings should be checked to determine whether the DDA motor can be used to suit the specific conditions required by the customer
The customer should confirm that the following three points under actual use do not exceed their maximum allowable levels as specified for the DDA 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
Check Load Conditions1
[1] Thrust load
[2] Load moment applied
[3] Load inertia
J = 18 times M times D 2 [kgm2]
Mass M [kg]
D [m]
Center of rotation
J = 112 times M times (a 2 + b 2) [kgm2]
a [m]
b [m]
Center of rotation
Mass M [kg]
J = M times R 2+ 18 times M times D 2 [kgm2]
Mass M [kg]
D [m]
R [m]
Cent
er o
fro
tatio
n
J = M times R 2+112 times M times (a 2 + b 2 )[kgm2]
a [m]
b [m]R [m]
Cent
er o
fro
tatio
n
Mass M [kg]
The travel time changes according to the load inertia See the tables below to check the travel time data
Travel Time Guide3
The data in the tables are for a reference only and do not guarantee the actual travel times
(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)
0
0005
009
012
017
022
0005
001
010
012
017
022
001
002
011
014
019
024
002
003
012
016
021
026
003
004
013
017
023
027
004
005
014
018
024
029
005
006
015
020
027
032
006
007
017
022
029
035
007
008
019
024
032
038
008
009
021
026
035
041
009
01
023
029
037
044
01
02
039
048
060
069
02
03
062
073
089
100
03
04
070
083
101
114
04
05
087
102
122
136
05
06
111
123
142
168
LH18C
LT18C
Continuous Operation Area
LT18C type LH18C type
(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)
0
0005
0098
0129
0192
0254
0005
001
0096
0128
019
0252
001
0015
0096
0127
019
0252
002
002
0097
0128
0191
0253
002
003
0099
0131
0193
0256
003
004
0104
0136
0199
0262
004
006
0113
0144
0207
027
006
008
012
0153
0215
0278
008
01
0126
0163
0225
0288
010
015
014
0184
0249
0312
015
02
0157
0208
0279
0341
02
03
0207
0268
0354
042
03
04
0257
0329
0428
0504
04
06
0352
044
0562
0655
06
08
0447
0549
0692
08
08
1
053
0646
0806
0925
10
12
0629
0758
0933
1064
12
14
0795
0941
1133
1274
14
18
0875
1035
1257
1415
Check Operating Conditions2Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DDA motor specications to determine whether the DDA motor can be used under the applicable operating conditions Please contact IAI for assistance To
rque
(Nm
)
Curr
ent [
Arm
s]
Angular velocity [degs]
AccelerationDeceleration Area
Torq
ue (N
m)
Curr
ent [
Arm
s]
Angular velocity [degs]
AccelerationDeceleration Area
Rating areaRating area
270deg travel time [sec]180deg travel time [sec]
90deg travel time [sec]45deg travel time [sec]
Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]
270deg travel time [sec]180deg travel time [sec]
90deg travel time [sec]45deg travel time [sec]
Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]
Selecting the DD Motor
17
DDA(CR) Direct Drive Motor
CB-X-MACB-XEU-MA
Modelnumber
Motor robot cableEU motor robot cable
forDDA(CR)-LT18
L
Controller side
4
1
1
4
Wire
075sqGreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
GreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
PEUVW
No1234
Actuator side
(10)(20)
(Front view)(Front view)
(16)
(oslash9) (2
1)
(18)
(41)
Signal
Minimum bending R r = 51 mm or more (for movable use) If the cable must be guided in a cable track use a robot cable
Enter the cable length (L) into Compatible to a Maximum of 30 meters Ex 080 = 8m
Minimum bending R r = 51 mm or more (for movable use)Only robot cable is available for this model
1
(16)
(F (Front view)ront view)
(41)
(41)
234
1234
UVWPE
RedWhiteBlackGreen
PESignal NoWire
Controller side
075sq 075sq(crimped)
Color oN langiS Color Wire
UVW
GreenRed
WhiteBlack
Actuator side
(Fig Motor robot cable CB-X-MA with plastic connector)
(Fig EU motor robot cable CB-XEU-MA EU version with M18 plastic round connector)
4
17
L
1
2 3
1
Color Wire
075sq
No Signal Color
(crimped)
PEUVW
123
CB-XMC-MACB-XEUMC-MA
Modelnumber
Motor robot cableEU motor robot cable
forDDA(CR)-HT18
Controller side
Wire
125sqGreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
GreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
PEUVW
No1234
Actuator side
Signal
Minimum bending R r = 55 mm or more (for movable use) If the cable must be guided in a cable track use a robot cable
Enter the cable length (L) into Compatible to a Maximum of 30 meters Ex 080 = 8m
Minimum bending R r = 55 mm or more (for movable use)Only robot cable is available for this model
1
(16)
(F (Front view)ront view)
(41)
234
1234
UVWPE
RedWhiteBlackGreen
PESignal NoWire
Controller side
125sq 125sq(crimped)
Color oN langiS Color Wire
UVW
GreenRed
WhiteBlack
Actuator side
(Fig Motor robot cable CB-XMC-MA with plastic connector)
(Fig EU motor robot cable CB-XEUMC-MA EU version with M18 plastic round connector)
4
17
L
1
2 3
1
Color Wire
125sq
No Signal Color
(crimped)
PEUVW
123
Cables
L
4
1
1
4(Front view)
(16)(21)
(11)
(16)
18
DDA(CR) Direct Drive Motor
Maintenance Parts
(oslash9)
DDADDACR Series Catalogue No 1116-E Version CJ0242-1A
CB-DDB-BKModelnumber
forDDA(CR) with brake optionBrake cable
Enter the cable length (L) into Compatible to a Maximum of 20 meters Ex 080 = 8m
Maintenance Parts
(41) (14)(15)
Controller side
(13)
(37)
(Front view) (Front view)
(25)
Actuator side
13
114
26
Ground wire and braided shield
AWG26(crimped)
WhiteblueWhiteyellowWhiteredWhiteblackWhitepurpleWhitegray
Whiteorangendash
(Ground)Orange
GreenPurple
GrayRed
BlackWhitegreen
BlueYellow
No Signal Color Wire
The shield is connected to the hood by a clamp
AWG26 (soldered)
Wire10111213262524239
181912345678
14151617202122
123456789
101112131415161718
AĀBBZZ
LS+ndash
FGSDSD
BAT+BAT-VCCGNDLS-BK-BK+
ndashndash
E24VOVLS
CREEPOTRSV
ndashndashndash
A+A-B+B-Z+Z-
SRD+SRD-BAT+BAT-VCCGNDBKR-BKR+
ndash
ndashndashndash
WhitegreenWhiteorange
WhitegreenWhiteorange
Whitegreen
Whiteorange
ndashndashndashndashndashndash
WhiteblueWhiteyellowWhitered
WhiteblackWhitepurpleWhitegray
WhiteblueWhiteyellow Whiteblue
WhiteyellowWhiteredWhiteblackWhitepurpleWhitegray
WhiteredWhiteblackWhitepurpleWhitegray
OrangeGreenPurple
GrayRed
BlackBlue
Yellowndash
NoSignalColor(oslash
10)
L
1
9 18
10
Minimum bending R r = 58 mm or more (for movable use) If the cable must be guided in a cable track use a robot cable
(Fig Encoder robot cable CB-X3-PA with plastic connector)
Controller side Actuator side
Minimum bending R r = 58 mm or more (for movable use)
(Front view)
L (13)
(37)
1
13
14
26
(41)
Ground wire and braided shield
Color WireSignalNo
AWG26soldered
Blue
SD1 OrangeSD2
3456789
Green
VCC10
PurpleGND11 BlackBAT+12
Yellow
BAT-13 Grey
BK-141516
Red
BK+A shield is connected to shield soldered part
AWG26(soldered)
212017
22
6
16151487
3
54
21
25
1819
2324
9
1011121326
No
ndashBKR+BKR-GND
Z-
BAT+
VCCBATndash
SRD-SRD+
B+
Z+B-
Z-
B+
Z+B-
A-A+
A-A+
CREEP
ndashndashndash
OTRSV
E24V0VLS
LS+
LS-
ndashndash
---
------
BlueYellow
Orange
PurpleGreen
Black
GreyRed
-The shield is clamped to the hood
Color SignalWire
(Fig EU encoder robot cable CB-XEU3-PA EU version with metal connector)
(Front view)
4 1
16 13 10
9 5
14
CB-X3-PACB-XEU3-PA
Modelnumber
Encoder robot cableEU encoder robot cable
forDDA(CR)
Enter the cable length (L) into Compatible to a Maximum of 30 meters Ex 080 = 8m
31
31
J11SF-03V-KX J11SFM-03V-KXNoNo SignalSignal ColorColor WiringWiring
AWG20(crimped)
Red
Black
White
Red
Black
White
+
-
FG
+
-
FG
321
321
AWG20(crimped)
Controller side Actuator side
tor side(Front view) (Front view)
L
(44) (167)
(80
)
(84)(293)
(92
)
(oslash5
4)
IAI America IncIAI Industrieroboter GmbHEurope Headquarters Ober der Roumlth 4 D-65824 Schwalbach Germany
IAI CORPORATIONCorporate Headquarters577-1 Obane Shimizu-Ku Shizuoka 424-0103 Japan Phone +81-543-64-5105 Fax +81-543-64-5192
IAI (Shanghai) Co LtdChina HeadquartersShanghai Jiahua Business Centee A8-303808Hongqiao Rd Shanghai 200030 ChinaPhone +86-21-6448-4753 Fax +86-21-6448-3992
America Headquarters2690 W 237th Street Torrance CA 90505 USA
wwwintelligentactuatorde
Phone +49-6196-8895-0 Fax +49-6196-8895-24 Phone +1-310-891-6015 Fax +1-310-891-0815
Position Controller
Controller Model
System Configuration
Positioner Single-axis Type ltSCONgt Model
Power Supply Voltage
IO TypeEncoder Type Motor Type Type Series SCON
IO Cable Length
AIAM
2
The 200W motor used by the DDA is larger than a normal 200W motor so the motor type for the controller will be 200S and its size will be larger than the 400W motor
For 200W motorFor 600W motor
200S600
High-function typeSafety category compliant type
CBCGB
PLC equipped typeSafety category PLC equipped type
LCLCG
Motor cableModel CB-X(EU)-MA (LT18C)
CB-X(EU)MC-MA (LH18C)
SCON PC
DDA
PLC(To be supplied by the customer)
IO flat cableModel CB-PAC-PIO020Standard 2m
2 Be sure to use a noise filter on the power supply
( )Encoder cableModel CB-X(EU)3-PA
PC compatible softwareRS232 connection versionModel RCM-101-MWUSB connection versionModel RCM-101-USB(Please contact IAI for more details)
Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)
Regenerative resistor unitModel RESU-2RESUD-2(Please contact IAI for more details)
1 The wiring diagram is different for models with brakes Please refer to P13 for more information
1
Single-phase 230VAC Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models
Main powersupply 2
Field network
DDA
Option
Supplied with the actuator
Supplied with the controller
Supplied with the actuator Option
Option
Option
When the SCON Controller is Connected
When a eld network specication is selectedthe IO cable length will be 0
Index absolute typeMulti-rotation abs type
NPPN
PIO NPN (Standard)
PIO PNP
DVCN
DeviceNet
CompoNet
CC CC-Link
ML3PR
MECHATROLINK-III
PROFIBUS-DP
02
35
No cable2m (Standard)
3m5m
EC EtherCAT
EP EtherNetIP
PRT PROFINET IO
For recommended modelsplease contact IAI
Model
External view
IO type
IO type code
CompoNet connection
PROFIBUS-DP connection
CC-Linkconnection
DeviceNetconnection
PIO connection specification (1)
NPPN DV CC PR
Standard Field network type (1)
CN mdash
mdash
mdash
SCON-CB
EtherNetIP connection
PROFINET IO connection
EtherCATconnection
EC EP PRT
List of Models
MECHATROLINK- III
connection
ML3
Applicable encoder type(Note) The index absolute type cannot be used in the pulse-train control and MECHATROLINK-III control(1) Please note that the network specifications cannot be operated on the PIO or pulse-train The PLC type (LCLCG) cannot be connected on the pulse-train
Index absoluteMulti-rotation absoluteIndex absolute Multi-rotation absolute
CBCGB CBCGB LCLCG
14
SCON Controller
EU version w metal connector
Program Controller
List of Models
Model P Q RA SA
Type Large-capacity type Large-capacity type (Safety category specication) High-function type High-function type
(Safety category specication)
External view
DescriptionLarge-capacity type
that can control up to 6 axes 2400W
Large-capacity type thats compatible with the
safety category 4
High-function type that allows up to 8-axis operation
Safety category 4 compatible high-function type
Controller Model
System Configuration
Program Multi-axis Type ltXSELgt Model
Encoder Type
Encoder Type
Motor Type
Motor Type
Number ofConnected
AxesType Series Option Option
XSEL
200 For 200W motor
600 For 600W motor
B BrakePQRASA
6-axis type6-axis safety category type8-axis type8-axis safety category type
8
1
~ ~
1 axis
8 axes
(PQ type is up to 6 axes)
(Details of the 1st axis) (Details of the 2nd~8th axis)
It can simultaneously operate actuators (single-axis robot and RoboCylinder) otherthan the DDA motor on a single controller For connectable actuators other than the DDA motor please contact IAI
For subsequent models please contact IAI
Notes
AIAM
Index absolute typeMulti-rotation absolute type
When the XSEL Controller is Connected
2 Be sure to use a noise filter on the power supply
Motor cableModel CB-X(EU)-MA (LT18C) CB-X(EU)MC-MA (LH18C)
XSELPC
PLC(To be supplied by the customer)
PC compatible softwareRS232 connection versionModel IA-101-X-MWUSB connection versionModel IA-101-X-USBMW(Please contact IAI for more details)
Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)
Single-phase 230VACThree-phase 230VAC
Regenerative resistor unitModel RESU-1RESUD-1(Please contact IAI for more details)
Option Option
Option
Field networkOption
IO flat cableModel CB-X-PIO020Standard 2m
Supplied with the controller
Encoder cableModel CB-X(EU)3-PA
Supplied with the actuator
Supplied with the actuator
Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models
1
1 The wiring diagram is different for models with brakes Please refer to P13 for more information
DDA
Main powersupply 2 ( )For recommended models
please contact IAI
15
XSEL Controller
EU version w metal connector
Precautions
Installation
Installation Orientation
Mountingsurface
For models with brake and cable exit direction to the bottom a clearance hole is required
Ceiling mount
Horizontal mount
Vertical mount
Gra
vity
Operation TypeThis product is available in 2 operation types depending on the operation conditions Please check the features and precautions on each type before use
(1)The high resolution specification can be connected only to the SCON-CB(2)When the XSEL index type travels more than 180deg from the current position it rotates in a direction that requires a shorter travel distance to
reach the target position Therefore please note that the direction of rotation changes according to the current position and travel distance If you want to specify the direction of travel use the SCON-CB
(3)The index type can be rotated in a given direction infinitely 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-CB
(4)Home return is required for the multi-rotation absolute encoder during the initial setting and replacement of the absolute battery
Absolute batteryHome return operationLimitless rotation
Maximum amount of movement in a single movement command
Operation rangeController typeOperation type
Not requiredNot required
Yes (3)
0~359999deg
Index absolute type
RequiredNot required (4)
No
Above operation rangeplusmn9999deg (plusmn2520deg) max
Multi-rotation absolute typeSCON-CB XSEL(1)
( ) is for 20-bit
(Note) Use this product by installing it on a mounting surface having heat dissipating characteristics equivalent to those of an aluminum plate of w450mm times d450mm times t12mm in size If the installation conditions necessitate lower heat dissipating characteristics please consult IAI
ControllersFor the DDA with 200W motor the outside dimensions of the SCON-CB controller will be the same as the size of the
400W motor (Please contact IAI for the details of the SCON-CB controller)One and two regenerative resistor unit(s) are required for LT18C and LH18C respectively to operate a DDA
motor with the SCON-CBWhen operating DDA motor(s) with the XSEL controller regenerative resistor units are required as shown below
The number of DDA motor(s) connectable to the XSEL controller is a max of 8 units for the LT18C type and a max of 2 units for the LH18C type
Please note that when the DDA motor is operated with the SCON-CB the motor cannot be connected to the Robo Cylinder gateway function of the XSEL controller
Calculation for the power supply value LT18C type single-phase 600W three-phase 200W LH18C type single-phase 1200W three-phase 600W
Number of regenerative resistor units
1 2 3 4 5 6 7 81 2 3
(Cannot be connected)4
2 4LT18CLH18C
Number of DD motor(s)
360deg
SCON-CB XSEL(1)
180deg(2)
16
DDA(CR) Direct Drive Motor
Conditions for Selection
The followings should be checked to determine whether the DDA motor can be used to suit the specific conditions required by the customer
The customer should confirm that the following three points under actual use do not exceed their maximum allowable levels as specified for the DDA 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
Check Load Conditions1
[1] Thrust load
[2] Load moment applied
[3] Load inertia
J = 18 times M times D 2 [kgm2]
Mass M [kg]
D [m]
Center of rotation
J = 112 times M times (a 2 + b 2) [kgm2]
a [m]
b [m]
Center of rotation
Mass M [kg]
J = M times R 2+ 18 times M times D 2 [kgm2]
Mass M [kg]
D [m]
R [m]
Cent
er o
fro
tatio
n
J = M times R 2+112 times M times (a 2 + b 2 )[kgm2]
a [m]
b [m]R [m]
Cent
er o
fro
tatio
n
Mass M [kg]
The travel time changes according to the load inertia See the tables below to check the travel time data
Travel Time Guide3
The data in the tables are for a reference only and do not guarantee the actual travel times
(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)
0
0005
009
012
017
022
0005
001
010
012
017
022
001
002
011
014
019
024
002
003
012
016
021
026
003
004
013
017
023
027
004
005
014
018
024
029
005
006
015
020
027
032
006
007
017
022
029
035
007
008
019
024
032
038
008
009
021
026
035
041
009
01
023
029
037
044
01
02
039
048
060
069
02
03
062
073
089
100
03
04
070
083
101
114
04
05
087
102
122
136
05
06
111
123
142
168
LH18C
LT18C
Continuous Operation Area
LT18C type LH18C type
(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)
0
0005
0098
0129
0192
0254
0005
001
0096
0128
019
0252
001
0015
0096
0127
019
0252
002
002
0097
0128
0191
0253
002
003
0099
0131
0193
0256
003
004
0104
0136
0199
0262
004
006
0113
0144
0207
027
006
008
012
0153
0215
0278
008
01
0126
0163
0225
0288
010
015
014
0184
0249
0312
015
02
0157
0208
0279
0341
02
03
0207
0268
0354
042
03
04
0257
0329
0428
0504
04
06
0352
044
0562
0655
06
08
0447
0549
0692
08
08
1
053
0646
0806
0925
10
12
0629
0758
0933
1064
12
14
0795
0941
1133
1274
14
18
0875
1035
1257
1415
Check Operating Conditions2Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DDA motor specications to determine whether the DDA motor can be used under the applicable operating conditions Please contact IAI for assistance To
rque
(Nm
)
Curr
ent [
Arm
s]
Angular velocity [degs]
AccelerationDeceleration Area
Torq
ue (N
m)
Curr
ent [
Arm
s]
Angular velocity [degs]
AccelerationDeceleration Area
Rating areaRating area
270deg travel time [sec]180deg travel time [sec]
90deg travel time [sec]45deg travel time [sec]
Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]
270deg travel time [sec]180deg travel time [sec]
90deg travel time [sec]45deg travel time [sec]
Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]
Selecting the DD Motor
17
DDA(CR) Direct Drive Motor
CB-X-MACB-XEU-MA
Modelnumber
Motor robot cableEU motor robot cable
forDDA(CR)-LT18
L
Controller side
4
1
1
4
Wire
075sqGreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
GreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
PEUVW
No1234
Actuator side
(10)(20)
(Front view)(Front view)
(16)
(oslash9) (2
1)
(18)
(41)
Signal
Minimum bending R r = 51 mm or more (for movable use) If the cable must be guided in a cable track use a robot cable
Enter the cable length (L) into Compatible to a Maximum of 30 meters Ex 080 = 8m
Minimum bending R r = 51 mm or more (for movable use)Only robot cable is available for this model
1
(16)
(F (Front view)ront view)
(41)
(41)
234
1234
UVWPE
RedWhiteBlackGreen
PESignal NoWire
Controller side
075sq 075sq(crimped)
Color oN langiS Color Wire
UVW
GreenRed
WhiteBlack
Actuator side
(Fig Motor robot cable CB-X-MA with plastic connector)
(Fig EU motor robot cable CB-XEU-MA EU version with M18 plastic round connector)
4
17
L
1
2 3
1
Color Wire
075sq
No Signal Color
(crimped)
PEUVW
123
CB-XMC-MACB-XEUMC-MA
Modelnumber
Motor robot cableEU motor robot cable
forDDA(CR)-HT18
Controller side
Wire
125sqGreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
GreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
PEUVW
No1234
Actuator side
Signal
Minimum bending R r = 55 mm or more (for movable use) If the cable must be guided in a cable track use a robot cable
Enter the cable length (L) into Compatible to a Maximum of 30 meters Ex 080 = 8m
Minimum bending R r = 55 mm or more (for movable use)Only robot cable is available for this model
1
(16)
(F (Front view)ront view)
(41)
234
1234
UVWPE
RedWhiteBlackGreen
PESignal NoWire
Controller side
125sq 125sq(crimped)
Color oN langiS Color Wire
UVW
GreenRed
WhiteBlack
Actuator side
(Fig Motor robot cable CB-XMC-MA with plastic connector)
(Fig EU motor robot cable CB-XEUMC-MA EU version with M18 plastic round connector)
4
17
L
1
2 3
1
Color Wire
125sq
No Signal Color
(crimped)
PEUVW
123
Cables
L
4
1
1
4(Front view)
(16)(21)
(11)
(16)
18
DDA(CR) Direct Drive Motor
Maintenance Parts
(oslash9)
DDADDACR Series Catalogue No 1116-E Version CJ0242-1A
CB-DDB-BKModelnumber
forDDA(CR) with brake optionBrake cable
Enter the cable length (L) into Compatible to a Maximum of 20 meters Ex 080 = 8m
Maintenance Parts
(41) (14)(15)
Controller side
(13)
(37)
(Front view) (Front view)
(25)
Actuator side
13
114
26
Ground wire and braided shield
AWG26(crimped)
WhiteblueWhiteyellowWhiteredWhiteblackWhitepurpleWhitegray
Whiteorangendash
(Ground)Orange
GreenPurple
GrayRed
BlackWhitegreen
BlueYellow
No Signal Color Wire
The shield is connected to the hood by a clamp
AWG26 (soldered)
Wire10111213262524239
181912345678
14151617202122
123456789
101112131415161718
AĀBBZZ
LS+ndash
FGSDSD
BAT+BAT-VCCGNDLS-BK-BK+
ndashndash
E24VOVLS
CREEPOTRSV
ndashndashndash
A+A-B+B-Z+Z-
SRD+SRD-BAT+BAT-VCCGNDBKR-BKR+
ndash
ndashndashndash
WhitegreenWhiteorange
WhitegreenWhiteorange
Whitegreen
Whiteorange
ndashndashndashndashndashndash
WhiteblueWhiteyellowWhitered
WhiteblackWhitepurpleWhitegray
WhiteblueWhiteyellow Whiteblue
WhiteyellowWhiteredWhiteblackWhitepurpleWhitegray
WhiteredWhiteblackWhitepurpleWhitegray
OrangeGreenPurple
GrayRed
BlackBlue
Yellowndash
NoSignalColor(oslash
10)
L
1
9 18
10
Minimum bending R r = 58 mm or more (for movable use) If the cable must be guided in a cable track use a robot cable
(Fig Encoder robot cable CB-X3-PA with plastic connector)
Controller side Actuator side
Minimum bending R r = 58 mm or more (for movable use)
(Front view)
L (13)
(37)
1
13
14
26
(41)
Ground wire and braided shield
Color WireSignalNo
AWG26soldered
Blue
SD1 OrangeSD2
3456789
Green
VCC10
PurpleGND11 BlackBAT+12
Yellow
BAT-13 Grey
BK-141516
Red
BK+A shield is connected to shield soldered part
AWG26(soldered)
212017
22
6
16151487
3
54
21
25
1819
2324
9
1011121326
No
ndashBKR+BKR-GND
Z-
BAT+
VCCBATndash
SRD-SRD+
B+
Z+B-
Z-
B+
Z+B-
A-A+
A-A+
CREEP
ndashndashndash
OTRSV
E24V0VLS
LS+
LS-
ndashndash
---
------
BlueYellow
Orange
PurpleGreen
Black
GreyRed
-The shield is clamped to the hood
Color SignalWire
(Fig EU encoder robot cable CB-XEU3-PA EU version with metal connector)
(Front view)
4 1
16 13 10
9 5
14
CB-X3-PACB-XEU3-PA
Modelnumber
Encoder robot cableEU encoder robot cable
forDDA(CR)
Enter the cable length (L) into Compatible to a Maximum of 30 meters Ex 080 = 8m
31
31
J11SF-03V-KX J11SFM-03V-KXNoNo SignalSignal ColorColor WiringWiring
AWG20(crimped)
Red
Black
White
Red
Black
White
+
-
FG
+
-
FG
321
321
AWG20(crimped)
Controller side Actuator side
tor side(Front view) (Front view)
L
(44) (167)
(80
)
(84)(293)
(92
)
(oslash5
4)
IAI America IncIAI Industrieroboter GmbHEurope Headquarters Ober der Roumlth 4 D-65824 Schwalbach Germany
IAI CORPORATIONCorporate Headquarters577-1 Obane Shimizu-Ku Shizuoka 424-0103 Japan Phone +81-543-64-5105 Fax +81-543-64-5192
IAI (Shanghai) Co LtdChina HeadquartersShanghai Jiahua Business Centee A8-303808Hongqiao Rd Shanghai 200030 ChinaPhone +86-21-6448-4753 Fax +86-21-6448-3992
America Headquarters2690 W 237th Street Torrance CA 90505 USA
wwwintelligentactuatorde
Phone +49-6196-8895-0 Fax +49-6196-8895-24 Phone +1-310-891-6015 Fax +1-310-891-0815
Program Controller
List of Models
Model P Q RA SA
Type Large-capacity type Large-capacity type (Safety category specication) High-function type High-function type
(Safety category specication)
External view
DescriptionLarge-capacity type
that can control up to 6 axes 2400W
Large-capacity type thats compatible with the
safety category 4
High-function type that allows up to 8-axis operation
Safety category 4 compatible high-function type
Controller Model
System Configuration
Program Multi-axis Type ltXSELgt Model
Encoder Type
Encoder Type
Motor Type
Motor Type
Number ofConnected
AxesType Series Option Option
XSEL
200 For 200W motor
600 For 600W motor
B BrakePQRASA
6-axis type6-axis safety category type8-axis type8-axis safety category type
8
1
~ ~
1 axis
8 axes
(PQ type is up to 6 axes)
(Details of the 1st axis) (Details of the 2nd~8th axis)
It can simultaneously operate actuators (single-axis robot and RoboCylinder) otherthan the DDA motor on a single controller For connectable actuators other than the DDA motor please contact IAI
For subsequent models please contact IAI
Notes
AIAM
Index absolute typeMulti-rotation absolute type
When the XSEL Controller is Connected
2 Be sure to use a noise filter on the power supply
Motor cableModel CB-X(EU)-MA (LT18C) CB-X(EU)MC-MA (LH18C)
XSELPC
PLC(To be supplied by the customer)
PC compatible softwareRS232 connection versionModel IA-101-X-MWUSB connection versionModel IA-101-X-USBMW(Please contact IAI for more details)
Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)
Single-phase 230VACThree-phase 230VAC
Regenerative resistor unitModel RESU-1RESUD-1(Please contact IAI for more details)
Option Option
Option
Field networkOption
IO flat cableModel CB-X-PIO020Standard 2m
Supplied with the controller
Encoder cableModel CB-X(EU)3-PA
Supplied with the actuator
Supplied with the actuator
Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models
1
1 The wiring diagram is different for models with brakes Please refer to P13 for more information
DDA
Main powersupply 2 ( )For recommended models
please contact IAI
15
XSEL Controller
EU version w metal connector
Precautions
Installation
Installation Orientation
Mountingsurface
For models with brake and cable exit direction to the bottom a clearance hole is required
Ceiling mount
Horizontal mount
Vertical mount
Gra
vity
Operation TypeThis product is available in 2 operation types depending on the operation conditions Please check the features and precautions on each type before use
(1)The high resolution specification can be connected only to the SCON-CB(2)When the XSEL index type travels more than 180deg from the current position it rotates in a direction that requires a shorter travel distance to
reach the target position Therefore please note that the direction of rotation changes according to the current position and travel distance If you want to specify the direction of travel use the SCON-CB
(3)The index type can be rotated in a given direction infinitely 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-CB
(4)Home return is required for the multi-rotation absolute encoder during the initial setting and replacement of the absolute battery
Absolute batteryHome return operationLimitless rotation
Maximum amount of movement in a single movement command
Operation rangeController typeOperation type
Not requiredNot required
Yes (3)
0~359999deg
Index absolute type
RequiredNot required (4)
No
Above operation rangeplusmn9999deg (plusmn2520deg) max
Multi-rotation absolute typeSCON-CB XSEL(1)
( ) is for 20-bit
(Note) Use this product by installing it on a mounting surface having heat dissipating characteristics equivalent to those of an aluminum plate of w450mm times d450mm times t12mm in size If the installation conditions necessitate lower heat dissipating characteristics please consult IAI
ControllersFor the DDA with 200W motor the outside dimensions of the SCON-CB controller will be the same as the size of the
400W motor (Please contact IAI for the details of the SCON-CB controller)One and two regenerative resistor unit(s) are required for LT18C and LH18C respectively to operate a DDA
motor with the SCON-CBWhen operating DDA motor(s) with the XSEL controller regenerative resistor units are required as shown below
The number of DDA motor(s) connectable to the XSEL controller is a max of 8 units for the LT18C type and a max of 2 units for the LH18C type
Please note that when the DDA motor is operated with the SCON-CB the motor cannot be connected to the Robo Cylinder gateway function of the XSEL controller
Calculation for the power supply value LT18C type single-phase 600W three-phase 200W LH18C type single-phase 1200W three-phase 600W
Number of regenerative resistor units
1 2 3 4 5 6 7 81 2 3
(Cannot be connected)4
2 4LT18CLH18C
Number of DD motor(s)
360deg
SCON-CB XSEL(1)
180deg(2)
16
DDA(CR) Direct Drive Motor
Conditions for Selection
The followings should be checked to determine whether the DDA motor can be used to suit the specific conditions required by the customer
The customer should confirm that the following three points under actual use do not exceed their maximum allowable levels as specified for the DDA 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
Check Load Conditions1
[1] Thrust load
[2] Load moment applied
[3] Load inertia
J = 18 times M times D 2 [kgm2]
Mass M [kg]
D [m]
Center of rotation
J = 112 times M times (a 2 + b 2) [kgm2]
a [m]
b [m]
Center of rotation
Mass M [kg]
J = M times R 2+ 18 times M times D 2 [kgm2]
Mass M [kg]
D [m]
R [m]
Cent
er o
fro
tatio
n
J = M times R 2+112 times M times (a 2 + b 2 )[kgm2]
a [m]
b [m]R [m]
Cent
er o
fro
tatio
n
Mass M [kg]
The travel time changes according to the load inertia See the tables below to check the travel time data
Travel Time Guide3
The data in the tables are for a reference only and do not guarantee the actual travel times
(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)
0
0005
009
012
017
022
0005
001
010
012
017
022
001
002
011
014
019
024
002
003
012
016
021
026
003
004
013
017
023
027
004
005
014
018
024
029
005
006
015
020
027
032
006
007
017
022
029
035
007
008
019
024
032
038
008
009
021
026
035
041
009
01
023
029
037
044
01
02
039
048
060
069
02
03
062
073
089
100
03
04
070
083
101
114
04
05
087
102
122
136
05
06
111
123
142
168
LH18C
LT18C
Continuous Operation Area
LT18C type LH18C type
(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)
0
0005
0098
0129
0192
0254
0005
001
0096
0128
019
0252
001
0015
0096
0127
019
0252
002
002
0097
0128
0191
0253
002
003
0099
0131
0193
0256
003
004
0104
0136
0199
0262
004
006
0113
0144
0207
027
006
008
012
0153
0215
0278
008
01
0126
0163
0225
0288
010
015
014
0184
0249
0312
015
02
0157
0208
0279
0341
02
03
0207
0268
0354
042
03
04
0257
0329
0428
0504
04
06
0352
044
0562
0655
06
08
0447
0549
0692
08
08
1
053
0646
0806
0925
10
12
0629
0758
0933
1064
12
14
0795
0941
1133
1274
14
18
0875
1035
1257
1415
Check Operating Conditions2Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DDA motor specications to determine whether the DDA motor can be used under the applicable operating conditions Please contact IAI for assistance To
rque
(Nm
)
Curr
ent [
Arm
s]
Angular velocity [degs]
AccelerationDeceleration Area
Torq
ue (N
m)
Curr
ent [
Arm
s]
Angular velocity [degs]
AccelerationDeceleration Area
Rating areaRating area
270deg travel time [sec]180deg travel time [sec]
90deg travel time [sec]45deg travel time [sec]
Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]
270deg travel time [sec]180deg travel time [sec]
90deg travel time [sec]45deg travel time [sec]
Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]
Selecting the DD Motor
17
DDA(CR) Direct Drive Motor
CB-X-MACB-XEU-MA
Modelnumber
Motor robot cableEU motor robot cable
forDDA(CR)-LT18
L
Controller side
4
1
1
4
Wire
075sqGreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
GreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
PEUVW
No1234
Actuator side
(10)(20)
(Front view)(Front view)
(16)
(oslash9) (2
1)
(18)
(41)
Signal
Minimum bending R r = 51 mm or more (for movable use) If the cable must be guided in a cable track use a robot cable
Enter the cable length (L) into Compatible to a Maximum of 30 meters Ex 080 = 8m
Minimum bending R r = 51 mm or more (for movable use)Only robot cable is available for this model
1
(16)
(F (Front view)ront view)
(41)
(41)
234
1234
UVWPE
RedWhiteBlackGreen
PESignal NoWire
Controller side
075sq 075sq(crimped)
Color oN langiS Color Wire
UVW
GreenRed
WhiteBlack
Actuator side
(Fig Motor robot cable CB-X-MA with plastic connector)
(Fig EU motor robot cable CB-XEU-MA EU version with M18 plastic round connector)
4
17
L
1
2 3
1
Color Wire
075sq
No Signal Color
(crimped)
PEUVW
123
CB-XMC-MACB-XEUMC-MA
Modelnumber
Motor robot cableEU motor robot cable
forDDA(CR)-HT18
Controller side
Wire
125sqGreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
GreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
PEUVW
No1234
Actuator side
Signal
Minimum bending R r = 55 mm or more (for movable use) If the cable must be guided in a cable track use a robot cable
Enter the cable length (L) into Compatible to a Maximum of 30 meters Ex 080 = 8m
Minimum bending R r = 55 mm or more (for movable use)Only robot cable is available for this model
1
(16)
(F (Front view)ront view)
(41)
234
1234
UVWPE
RedWhiteBlackGreen
PESignal NoWire
Controller side
125sq 125sq(crimped)
Color oN langiS Color Wire
UVW
GreenRed
WhiteBlack
Actuator side
(Fig Motor robot cable CB-XMC-MA with plastic connector)
(Fig EU motor robot cable CB-XEUMC-MA EU version with M18 plastic round connector)
4
17
L
1
2 3
1
Color Wire
125sq
No Signal Color
(crimped)
PEUVW
123
Cables
L
4
1
1
4(Front view)
(16)(21)
(11)
(16)
18
DDA(CR) Direct Drive Motor
Maintenance Parts
(oslash9)
DDADDACR Series Catalogue No 1116-E Version CJ0242-1A
CB-DDB-BKModelnumber
forDDA(CR) with brake optionBrake cable
Enter the cable length (L) into Compatible to a Maximum of 20 meters Ex 080 = 8m
Maintenance Parts
(41) (14)(15)
Controller side
(13)
(37)
(Front view) (Front view)
(25)
Actuator side
13
114
26
Ground wire and braided shield
AWG26(crimped)
WhiteblueWhiteyellowWhiteredWhiteblackWhitepurpleWhitegray
Whiteorangendash
(Ground)Orange
GreenPurple
GrayRed
BlackWhitegreen
BlueYellow
No Signal Color Wire
The shield is connected to the hood by a clamp
AWG26 (soldered)
Wire10111213262524239
181912345678
14151617202122
123456789
101112131415161718
AĀBBZZ
LS+ndash
FGSDSD
BAT+BAT-VCCGNDLS-BK-BK+
ndashndash
E24VOVLS
CREEPOTRSV
ndashndashndash
A+A-B+B-Z+Z-
SRD+SRD-BAT+BAT-VCCGNDBKR-BKR+
ndash
ndashndashndash
WhitegreenWhiteorange
WhitegreenWhiteorange
Whitegreen
Whiteorange
ndashndashndashndashndashndash
WhiteblueWhiteyellowWhitered
WhiteblackWhitepurpleWhitegray
WhiteblueWhiteyellow Whiteblue
WhiteyellowWhiteredWhiteblackWhitepurpleWhitegray
WhiteredWhiteblackWhitepurpleWhitegray
OrangeGreenPurple
GrayRed
BlackBlue
Yellowndash
NoSignalColor(oslash
10)
L
1
9 18
10
Minimum bending R r = 58 mm or more (for movable use) If the cable must be guided in a cable track use a robot cable
(Fig Encoder robot cable CB-X3-PA with plastic connector)
Controller side Actuator side
Minimum bending R r = 58 mm or more (for movable use)
(Front view)
L (13)
(37)
1
13
14
26
(41)
Ground wire and braided shield
Color WireSignalNo
AWG26soldered
Blue
SD1 OrangeSD2
3456789
Green
VCC10
PurpleGND11 BlackBAT+12
Yellow
BAT-13 Grey
BK-141516
Red
BK+A shield is connected to shield soldered part
AWG26(soldered)
212017
22
6
16151487
3
54
21
25
1819
2324
9
1011121326
No
ndashBKR+BKR-GND
Z-
BAT+
VCCBATndash
SRD-SRD+
B+
Z+B-
Z-
B+
Z+B-
A-A+
A-A+
CREEP
ndashndashndash
OTRSV
E24V0VLS
LS+
LS-
ndashndash
---
------
BlueYellow
Orange
PurpleGreen
Black
GreyRed
-The shield is clamped to the hood
Color SignalWire
(Fig EU encoder robot cable CB-XEU3-PA EU version with metal connector)
(Front view)
4 1
16 13 10
9 5
14
CB-X3-PACB-XEU3-PA
Modelnumber
Encoder robot cableEU encoder robot cable
forDDA(CR)
Enter the cable length (L) into Compatible to a Maximum of 30 meters Ex 080 = 8m
31
31
J11SF-03V-KX J11SFM-03V-KXNoNo SignalSignal ColorColor WiringWiring
AWG20(crimped)
Red
Black
White
Red
Black
White
+
-
FG
+
-
FG
321
321
AWG20(crimped)
Controller side Actuator side
tor side(Front view) (Front view)
L
(44) (167)
(80
)
(84)(293)
(92
)
(oslash5
4)
IAI America IncIAI Industrieroboter GmbHEurope Headquarters Ober der Roumlth 4 D-65824 Schwalbach Germany
IAI CORPORATIONCorporate Headquarters577-1 Obane Shimizu-Ku Shizuoka 424-0103 Japan Phone +81-543-64-5105 Fax +81-543-64-5192
IAI (Shanghai) Co LtdChina HeadquartersShanghai Jiahua Business Centee A8-303808Hongqiao Rd Shanghai 200030 ChinaPhone +86-21-6448-4753 Fax +86-21-6448-3992
America Headquarters2690 W 237th Street Torrance CA 90505 USA
wwwintelligentactuatorde
Phone +49-6196-8895-0 Fax +49-6196-8895-24 Phone +1-310-891-6015 Fax +1-310-891-0815
Precautions
Installation
Installation Orientation
Mountingsurface
For models with brake and cable exit direction to the bottom a clearance hole is required
Ceiling mount
Horizontal mount
Vertical mount
Gra
vity
Operation TypeThis product is available in 2 operation types depending on the operation conditions Please check the features and precautions on each type before use
(1)The high resolution specification can be connected only to the SCON-CB(2)When the XSEL index type travels more than 180deg from the current position it rotates in a direction that requires a shorter travel distance to
reach the target position Therefore please note that the direction of rotation changes according to the current position and travel distance If you want to specify the direction of travel use the SCON-CB
(3)The index type can be rotated in a given direction infinitely 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-CB
(4)Home return is required for the multi-rotation absolute encoder during the initial setting and replacement of the absolute battery
Absolute batteryHome return operationLimitless rotation
Maximum amount of movement in a single movement command
Operation rangeController typeOperation type
Not requiredNot required
Yes (3)
0~359999deg
Index absolute type
RequiredNot required (4)
No
Above operation rangeplusmn9999deg (plusmn2520deg) max
Multi-rotation absolute typeSCON-CB XSEL(1)
( ) is for 20-bit
(Note) Use this product by installing it on a mounting surface having heat dissipating characteristics equivalent to those of an aluminum plate of w450mm times d450mm times t12mm in size If the installation conditions necessitate lower heat dissipating characteristics please consult IAI
ControllersFor the DDA with 200W motor the outside dimensions of the SCON-CB controller will be the same as the size of the
400W motor (Please contact IAI for the details of the SCON-CB controller)One and two regenerative resistor unit(s) are required for LT18C and LH18C respectively to operate a DDA
motor with the SCON-CBWhen operating DDA motor(s) with the XSEL controller regenerative resistor units are required as shown below
The number of DDA motor(s) connectable to the XSEL controller is a max of 8 units for the LT18C type and a max of 2 units for the LH18C type
Please note that when the DDA motor is operated with the SCON-CB the motor cannot be connected to the Robo Cylinder gateway function of the XSEL controller
Calculation for the power supply value LT18C type single-phase 600W three-phase 200W LH18C type single-phase 1200W three-phase 600W
Number of regenerative resistor units
1 2 3 4 5 6 7 81 2 3
(Cannot be connected)4
2 4LT18CLH18C
Number of DD motor(s)
360deg
SCON-CB XSEL(1)
180deg(2)
16
DDA(CR) Direct Drive Motor
Conditions for Selection
The followings should be checked to determine whether the DDA motor can be used to suit the specific conditions required by the customer
The customer should confirm that the following three points under actual use do not exceed their maximum allowable levels as specified for the DDA 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
Check Load Conditions1
[1] Thrust load
[2] Load moment applied
[3] Load inertia
J = 18 times M times D 2 [kgm2]
Mass M [kg]
D [m]
Center of rotation
J = 112 times M times (a 2 + b 2) [kgm2]
a [m]
b [m]
Center of rotation
Mass M [kg]
J = M times R 2+ 18 times M times D 2 [kgm2]
Mass M [kg]
D [m]
R [m]
Cent
er o
fro
tatio
n
J = M times R 2+112 times M times (a 2 + b 2 )[kgm2]
a [m]
b [m]R [m]
Cent
er o
fro
tatio
n
Mass M [kg]
The travel time changes according to the load inertia See the tables below to check the travel time data
Travel Time Guide3
The data in the tables are for a reference only and do not guarantee the actual travel times
(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)
0
0005
009
012
017
022
0005
001
010
012
017
022
001
002
011
014
019
024
002
003
012
016
021
026
003
004
013
017
023
027
004
005
014
018
024
029
005
006
015
020
027
032
006
007
017
022
029
035
007
008
019
024
032
038
008
009
021
026
035
041
009
01
023
029
037
044
01
02
039
048
060
069
02
03
062
073
089
100
03
04
070
083
101
114
04
05
087
102
122
136
05
06
111
123
142
168
LH18C
LT18C
Continuous Operation Area
LT18C type LH18C type
(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)
0
0005
0098
0129
0192
0254
0005
001
0096
0128
019
0252
001
0015
0096
0127
019
0252
002
002
0097
0128
0191
0253
002
003
0099
0131
0193
0256
003
004
0104
0136
0199
0262
004
006
0113
0144
0207
027
006
008
012
0153
0215
0278
008
01
0126
0163
0225
0288
010
015
014
0184
0249
0312
015
02
0157
0208
0279
0341
02
03
0207
0268
0354
042
03
04
0257
0329
0428
0504
04
06
0352
044
0562
0655
06
08
0447
0549
0692
08
08
1
053
0646
0806
0925
10
12
0629
0758
0933
1064
12
14
0795
0941
1133
1274
14
18
0875
1035
1257
1415
Check Operating Conditions2Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DDA motor specications to determine whether the DDA motor can be used under the applicable operating conditions Please contact IAI for assistance To
rque
(Nm
)
Curr
ent [
Arm
s]
Angular velocity [degs]
AccelerationDeceleration Area
Torq
ue (N
m)
Curr
ent [
Arm
s]
Angular velocity [degs]
AccelerationDeceleration Area
Rating areaRating area
270deg travel time [sec]180deg travel time [sec]
90deg travel time [sec]45deg travel time [sec]
Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]
270deg travel time [sec]180deg travel time [sec]
90deg travel time [sec]45deg travel time [sec]
Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]
Selecting the DD Motor
17
DDA(CR) Direct Drive Motor
CB-X-MACB-XEU-MA
Modelnumber
Motor robot cableEU motor robot cable
forDDA(CR)-LT18
L
Controller side
4
1
1
4
Wire
075sqGreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
GreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
PEUVW
No1234
Actuator side
(10)(20)
(Front view)(Front view)
(16)
(oslash9) (2
1)
(18)
(41)
Signal
Minimum bending R r = 51 mm or more (for movable use) If the cable must be guided in a cable track use a robot cable
Enter the cable length (L) into Compatible to a Maximum of 30 meters Ex 080 = 8m
Minimum bending R r = 51 mm or more (for movable use)Only robot cable is available for this model
1
(16)
(F (Front view)ront view)
(41)
(41)
234
1234
UVWPE
RedWhiteBlackGreen
PESignal NoWire
Controller side
075sq 075sq(crimped)
Color oN langiS Color Wire
UVW
GreenRed
WhiteBlack
Actuator side
(Fig Motor robot cable CB-X-MA with plastic connector)
(Fig EU motor robot cable CB-XEU-MA EU version with M18 plastic round connector)
4
17
L
1
2 3
1
Color Wire
075sq
No Signal Color
(crimped)
PEUVW
123
CB-XMC-MACB-XEUMC-MA
Modelnumber
Motor robot cableEU motor robot cable
forDDA(CR)-HT18
Controller side
Wire
125sqGreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
GreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
PEUVW
No1234
Actuator side
Signal
Minimum bending R r = 55 mm or more (for movable use) If the cable must be guided in a cable track use a robot cable
Enter the cable length (L) into Compatible to a Maximum of 30 meters Ex 080 = 8m
Minimum bending R r = 55 mm or more (for movable use)Only robot cable is available for this model
1
(16)
(F (Front view)ront view)
(41)
234
1234
UVWPE
RedWhiteBlackGreen
PESignal NoWire
Controller side
125sq 125sq(crimped)
Color oN langiS Color Wire
UVW
GreenRed
WhiteBlack
Actuator side
(Fig Motor robot cable CB-XMC-MA with plastic connector)
(Fig EU motor robot cable CB-XEUMC-MA EU version with M18 plastic round connector)
4
17
L
1
2 3
1
Color Wire
125sq
No Signal Color
(crimped)
PEUVW
123
Cables
L
4
1
1
4(Front view)
(16)(21)
(11)
(16)
18
DDA(CR) Direct Drive Motor
Maintenance Parts
(oslash9)
DDADDACR Series Catalogue No 1116-E Version CJ0242-1A
CB-DDB-BKModelnumber
forDDA(CR) with brake optionBrake cable
Enter the cable length (L) into Compatible to a Maximum of 20 meters Ex 080 = 8m
Maintenance Parts
(41) (14)(15)
Controller side
(13)
(37)
(Front view) (Front view)
(25)
Actuator side
13
114
26
Ground wire and braided shield
AWG26(crimped)
WhiteblueWhiteyellowWhiteredWhiteblackWhitepurpleWhitegray
Whiteorangendash
(Ground)Orange
GreenPurple
GrayRed
BlackWhitegreen
BlueYellow
No Signal Color Wire
The shield is connected to the hood by a clamp
AWG26 (soldered)
Wire10111213262524239
181912345678
14151617202122
123456789
101112131415161718
AĀBBZZ
LS+ndash
FGSDSD
BAT+BAT-VCCGNDLS-BK-BK+
ndashndash
E24VOVLS
CREEPOTRSV
ndashndashndash
A+A-B+B-Z+Z-
SRD+SRD-BAT+BAT-VCCGNDBKR-BKR+
ndash
ndashndashndash
WhitegreenWhiteorange
WhitegreenWhiteorange
Whitegreen
Whiteorange
ndashndashndashndashndashndash
WhiteblueWhiteyellowWhitered
WhiteblackWhitepurpleWhitegray
WhiteblueWhiteyellow Whiteblue
WhiteyellowWhiteredWhiteblackWhitepurpleWhitegray
WhiteredWhiteblackWhitepurpleWhitegray
OrangeGreenPurple
GrayRed
BlackBlue
Yellowndash
NoSignalColor(oslash
10)
L
1
9 18
10
Minimum bending R r = 58 mm or more (for movable use) If the cable must be guided in a cable track use a robot cable
(Fig Encoder robot cable CB-X3-PA with plastic connector)
Controller side Actuator side
Minimum bending R r = 58 mm or more (for movable use)
(Front view)
L (13)
(37)
1
13
14
26
(41)
Ground wire and braided shield
Color WireSignalNo
AWG26soldered
Blue
SD1 OrangeSD2
3456789
Green
VCC10
PurpleGND11 BlackBAT+12
Yellow
BAT-13 Grey
BK-141516
Red
BK+A shield is connected to shield soldered part
AWG26(soldered)
212017
22
6
16151487
3
54
21
25
1819
2324
9
1011121326
No
ndashBKR+BKR-GND
Z-
BAT+
VCCBATndash
SRD-SRD+
B+
Z+B-
Z-
B+
Z+B-
A-A+
A-A+
CREEP
ndashndashndash
OTRSV
E24V0VLS
LS+
LS-
ndashndash
---
------
BlueYellow
Orange
PurpleGreen
Black
GreyRed
-The shield is clamped to the hood
Color SignalWire
(Fig EU encoder robot cable CB-XEU3-PA EU version with metal connector)
(Front view)
4 1
16 13 10
9 5
14
CB-X3-PACB-XEU3-PA
Modelnumber
Encoder robot cableEU encoder robot cable
forDDA(CR)
Enter the cable length (L) into Compatible to a Maximum of 30 meters Ex 080 = 8m
31
31
J11SF-03V-KX J11SFM-03V-KXNoNo SignalSignal ColorColor WiringWiring
AWG20(crimped)
Red
Black
White
Red
Black
White
+
-
FG
+
-
FG
321
321
AWG20(crimped)
Controller side Actuator side
tor side(Front view) (Front view)
L
(44) (167)
(80
)
(84)(293)
(92
)
(oslash5
4)
IAI America IncIAI Industrieroboter GmbHEurope Headquarters Ober der Roumlth 4 D-65824 Schwalbach Germany
IAI CORPORATIONCorporate Headquarters577-1 Obane Shimizu-Ku Shizuoka 424-0103 Japan Phone +81-543-64-5105 Fax +81-543-64-5192
IAI (Shanghai) Co LtdChina HeadquartersShanghai Jiahua Business Centee A8-303808Hongqiao Rd Shanghai 200030 ChinaPhone +86-21-6448-4753 Fax +86-21-6448-3992
America Headquarters2690 W 237th Street Torrance CA 90505 USA
wwwintelligentactuatorde
Phone +49-6196-8895-0 Fax +49-6196-8895-24 Phone +1-310-891-6015 Fax +1-310-891-0815
Conditions for Selection
The followings should be checked to determine whether the DDA motor can be used to suit the specific conditions required by the customer
The customer should confirm that the following three points under actual use do not exceed their maximum allowable levels as specified for the DDA 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
Check Load Conditions1
[1] Thrust load
[2] Load moment applied
[3] Load inertia
J = 18 times M times D 2 [kgm2]
Mass M [kg]
D [m]
Center of rotation
J = 112 times M times (a 2 + b 2) [kgm2]
a [m]
b [m]
Center of rotation
Mass M [kg]
J = M times R 2+ 18 times M times D 2 [kgm2]
Mass M [kg]
D [m]
R [m]
Cent
er o
fro
tatio
n
J = M times R 2+112 times M times (a 2 + b 2 )[kgm2]
a [m]
b [m]R [m]
Cent
er o
fro
tatio
n
Mass M [kg]
The travel time changes according to the load inertia See the tables below to check the travel time data
Travel Time Guide3
The data in the tables are for a reference only and do not guarantee the actual travel times
(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)
0
0005
009
012
017
022
0005
001
010
012
017
022
001
002
011
014
019
024
002
003
012
016
021
026
003
004
013
017
023
027
004
005
014
018
024
029
005
006
015
020
027
032
006
007
017
022
029
035
007
008
019
024
032
038
008
009
021
026
035
041
009
01
023
029
037
044
01
02
039
048
060
069
02
03
062
073
089
100
03
04
070
083
101
114
04
05
087
102
122
136
05
06
111
123
142
168
LH18C
LT18C
Continuous Operation Area
LT18C type LH18C type
(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)
0
0005
0098
0129
0192
0254
0005
001
0096
0128
019
0252
001
0015
0096
0127
019
0252
002
002
0097
0128
0191
0253
002
003
0099
0131
0193
0256
003
004
0104
0136
0199
0262
004
006
0113
0144
0207
027
006
008
012
0153
0215
0278
008
01
0126
0163
0225
0288
010
015
014
0184
0249
0312
015
02
0157
0208
0279
0341
02
03
0207
0268
0354
042
03
04
0257
0329
0428
0504
04
06
0352
044
0562
0655
06
08
0447
0549
0692
08
08
1
053
0646
0806
0925
10
12
0629
0758
0933
1064
12
14
0795
0941
1133
1274
14
18
0875
1035
1257
1415
Check Operating Conditions2Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DDA motor specications to determine whether the DDA motor can be used under the applicable operating conditions Please contact IAI for assistance To
rque
(Nm
)
Curr
ent [
Arm
s]
Angular velocity [degs]
AccelerationDeceleration Area
Torq
ue (N
m)
Curr
ent [
Arm
s]
Angular velocity [degs]
AccelerationDeceleration Area
Rating areaRating area
270deg travel time [sec]180deg travel time [sec]
90deg travel time [sec]45deg travel time [sec]
Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]
270deg travel time [sec]180deg travel time [sec]
90deg travel time [sec]45deg travel time [sec]
Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]
Selecting the DD Motor
17
DDA(CR) Direct Drive Motor
CB-X-MACB-XEU-MA
Modelnumber
Motor robot cableEU motor robot cable
forDDA(CR)-LT18
L
Controller side
4
1
1
4
Wire
075sqGreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
GreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
PEUVW
No1234
Actuator side
(10)(20)
(Front view)(Front view)
(16)
(oslash9) (2
1)
(18)
(41)
Signal
Minimum bending R r = 51 mm or more (for movable use) If the cable must be guided in a cable track use a robot cable
Enter the cable length (L) into Compatible to a Maximum of 30 meters Ex 080 = 8m
Minimum bending R r = 51 mm or more (for movable use)Only robot cable is available for this model
1
(16)
(F (Front view)ront view)
(41)
(41)
234
1234
UVWPE
RedWhiteBlackGreen
PESignal NoWire
Controller side
075sq 075sq(crimped)
Color oN langiS Color Wire
UVW
GreenRed
WhiteBlack
Actuator side
(Fig Motor robot cable CB-X-MA with plastic connector)
(Fig EU motor robot cable CB-XEU-MA EU version with M18 plastic round connector)
4
17
L
1
2 3
1
Color Wire
075sq
No Signal Color
(crimped)
PEUVW
123
CB-XMC-MACB-XEUMC-MA
Modelnumber
Motor robot cableEU motor robot cable
forDDA(CR)-HT18
Controller side
Wire
125sqGreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
GreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
PEUVW
No1234
Actuator side
Signal
Minimum bending R r = 55 mm or more (for movable use) If the cable must be guided in a cable track use a robot cable
Enter the cable length (L) into Compatible to a Maximum of 30 meters Ex 080 = 8m
Minimum bending R r = 55 mm or more (for movable use)Only robot cable is available for this model
1
(16)
(F (Front view)ront view)
(41)
234
1234
UVWPE
RedWhiteBlackGreen
PESignal NoWire
Controller side
125sq 125sq(crimped)
Color oN langiS Color Wire
UVW
GreenRed
WhiteBlack
Actuator side
(Fig Motor robot cable CB-XMC-MA with plastic connector)
(Fig EU motor robot cable CB-XEUMC-MA EU version with M18 plastic round connector)
4
17
L
1
2 3
1
Color Wire
125sq
No Signal Color
(crimped)
PEUVW
123
Cables
L
4
1
1
4(Front view)
(16)(21)
(11)
(16)
18
DDA(CR) Direct Drive Motor
Maintenance Parts
(oslash9)
DDADDACR Series Catalogue No 1116-E Version CJ0242-1A
CB-DDB-BKModelnumber
forDDA(CR) with brake optionBrake cable
Enter the cable length (L) into Compatible to a Maximum of 20 meters Ex 080 = 8m
Maintenance Parts
(41) (14)(15)
Controller side
(13)
(37)
(Front view) (Front view)
(25)
Actuator side
13
114
26
Ground wire and braided shield
AWG26(crimped)
WhiteblueWhiteyellowWhiteredWhiteblackWhitepurpleWhitegray
Whiteorangendash
(Ground)Orange
GreenPurple
GrayRed
BlackWhitegreen
BlueYellow
No Signal Color Wire
The shield is connected to the hood by a clamp
AWG26 (soldered)
Wire10111213262524239
181912345678
14151617202122
123456789
101112131415161718
AĀBBZZ
LS+ndash
FGSDSD
BAT+BAT-VCCGNDLS-BK-BK+
ndashndash
E24VOVLS
CREEPOTRSV
ndashndashndash
A+A-B+B-Z+Z-
SRD+SRD-BAT+BAT-VCCGNDBKR-BKR+
ndash
ndashndashndash
WhitegreenWhiteorange
WhitegreenWhiteorange
Whitegreen
Whiteorange
ndashndashndashndashndashndash
WhiteblueWhiteyellowWhitered
WhiteblackWhitepurpleWhitegray
WhiteblueWhiteyellow Whiteblue
WhiteyellowWhiteredWhiteblackWhitepurpleWhitegray
WhiteredWhiteblackWhitepurpleWhitegray
OrangeGreenPurple
GrayRed
BlackBlue
Yellowndash
NoSignalColor(oslash
10)
L
1
9 18
10
Minimum bending R r = 58 mm or more (for movable use) If the cable must be guided in a cable track use a robot cable
(Fig Encoder robot cable CB-X3-PA with plastic connector)
Controller side Actuator side
Minimum bending R r = 58 mm or more (for movable use)
(Front view)
L (13)
(37)
1
13
14
26
(41)
Ground wire and braided shield
Color WireSignalNo
AWG26soldered
Blue
SD1 OrangeSD2
3456789
Green
VCC10
PurpleGND11 BlackBAT+12
Yellow
BAT-13 Grey
BK-141516
Red
BK+A shield is connected to shield soldered part
AWG26(soldered)
212017
22
6
16151487
3
54
21
25
1819
2324
9
1011121326
No
ndashBKR+BKR-GND
Z-
BAT+
VCCBATndash
SRD-SRD+
B+
Z+B-
Z-
B+
Z+B-
A-A+
A-A+
CREEP
ndashndashndash
OTRSV
E24V0VLS
LS+
LS-
ndashndash
---
------
BlueYellow
Orange
PurpleGreen
Black
GreyRed
-The shield is clamped to the hood
Color SignalWire
(Fig EU encoder robot cable CB-XEU3-PA EU version with metal connector)
(Front view)
4 1
16 13 10
9 5
14
CB-X3-PACB-XEU3-PA
Modelnumber
Encoder robot cableEU encoder robot cable
forDDA(CR)
Enter the cable length (L) into Compatible to a Maximum of 30 meters Ex 080 = 8m
31
31
J11SF-03V-KX J11SFM-03V-KXNoNo SignalSignal ColorColor WiringWiring
AWG20(crimped)
Red
Black
White
Red
Black
White
+
-
FG
+
-
FG
321
321
AWG20(crimped)
Controller side Actuator side
tor side(Front view) (Front view)
L
(44) (167)
(80
)
(84)(293)
(92
)
(oslash5
4)
IAI America IncIAI Industrieroboter GmbHEurope Headquarters Ober der Roumlth 4 D-65824 Schwalbach Germany
IAI CORPORATIONCorporate Headquarters577-1 Obane Shimizu-Ku Shizuoka 424-0103 Japan Phone +81-543-64-5105 Fax +81-543-64-5192
IAI (Shanghai) Co LtdChina HeadquartersShanghai Jiahua Business Centee A8-303808Hongqiao Rd Shanghai 200030 ChinaPhone +86-21-6448-4753 Fax +86-21-6448-3992
America Headquarters2690 W 237th Street Torrance CA 90505 USA
wwwintelligentactuatorde
Phone +49-6196-8895-0 Fax +49-6196-8895-24 Phone +1-310-891-6015 Fax +1-310-891-0815
CB-X-MACB-XEU-MA
Modelnumber
Motor robot cableEU motor robot cable
forDDA(CR)-LT18
L
Controller side
4
1
1
4
Wire
075sqGreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
GreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
PEUVW
No1234
Actuator side
(10)(20)
(Front view)(Front view)
(16)
(oslash9) (2
1)
(18)
(41)
Signal
Minimum bending R r = 51 mm or more (for movable use) If the cable must be guided in a cable track use a robot cable
Enter the cable length (L) into Compatible to a Maximum of 30 meters Ex 080 = 8m
Minimum bending R r = 51 mm or more (for movable use)Only robot cable is available for this model
1
(16)
(F (Front view)ront view)
(41)
(41)
234
1234
UVWPE
RedWhiteBlackGreen
PESignal NoWire
Controller side
075sq 075sq(crimped)
Color oN langiS Color Wire
UVW
GreenRed
WhiteBlack
Actuator side
(Fig Motor robot cable CB-X-MA with plastic connector)
(Fig EU motor robot cable CB-XEU-MA EU version with M18 plastic round connector)
4
17
L
1
2 3
1
Color Wire
075sq
No Signal Color
(crimped)
PEUVW
123
CB-XMC-MACB-XEUMC-MA
Modelnumber
Motor robot cableEU motor robot cable
forDDA(CR)-HT18
Controller side
Wire
125sqGreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
GreenyellowBlackwhiteldquo1ldquoBlackwhiteldquo2ldquoBlackwhiteldquo3ldquo
PEUVW
No1234
Actuator side
Signal
Minimum bending R r = 55 mm or more (for movable use) If the cable must be guided in a cable track use a robot cable
Enter the cable length (L) into Compatible to a Maximum of 30 meters Ex 080 = 8m
Minimum bending R r = 55 mm or more (for movable use)Only robot cable is available for this model
1
(16)
(F (Front view)ront view)
(41)
234
1234
UVWPE
RedWhiteBlackGreen
PESignal NoWire
Controller side
125sq 125sq(crimped)
Color oN langiS Color Wire
UVW
GreenRed
WhiteBlack
Actuator side
(Fig Motor robot cable CB-XMC-MA with plastic connector)
(Fig EU motor robot cable CB-XEUMC-MA EU version with M18 plastic round connector)
4
17
L
1
2 3
1
Color Wire
125sq
No Signal Color
(crimped)
PEUVW
123
Cables
L
4
1
1
4(Front view)
(16)(21)
(11)
(16)
18
DDA(CR) Direct Drive Motor
Maintenance Parts
(oslash9)
DDADDACR Series Catalogue No 1116-E Version CJ0242-1A
CB-DDB-BKModelnumber
forDDA(CR) with brake optionBrake cable
Enter the cable length (L) into Compatible to a Maximum of 20 meters Ex 080 = 8m
Maintenance Parts
(41) (14)(15)
Controller side
(13)
(37)
(Front view) (Front view)
(25)
Actuator side
13
114
26
Ground wire and braided shield
AWG26(crimped)
WhiteblueWhiteyellowWhiteredWhiteblackWhitepurpleWhitegray
Whiteorangendash
(Ground)Orange
GreenPurple
GrayRed
BlackWhitegreen
BlueYellow
No Signal Color Wire
The shield is connected to the hood by a clamp
AWG26 (soldered)
Wire10111213262524239
181912345678
14151617202122
123456789
101112131415161718
AĀBBZZ
LS+ndash
FGSDSD
BAT+BAT-VCCGNDLS-BK-BK+
ndashndash
E24VOVLS
CREEPOTRSV
ndashndashndash
A+A-B+B-Z+Z-
SRD+SRD-BAT+BAT-VCCGNDBKR-BKR+
ndash
ndashndashndash
WhitegreenWhiteorange
WhitegreenWhiteorange
Whitegreen
Whiteorange
ndashndashndashndashndashndash
WhiteblueWhiteyellowWhitered
WhiteblackWhitepurpleWhitegray
WhiteblueWhiteyellow Whiteblue
WhiteyellowWhiteredWhiteblackWhitepurpleWhitegray
WhiteredWhiteblackWhitepurpleWhitegray
OrangeGreenPurple
GrayRed
BlackBlue
Yellowndash
NoSignalColor(oslash
10)
L
1
9 18
10
Minimum bending R r = 58 mm or more (for movable use) If the cable must be guided in a cable track use a robot cable
(Fig Encoder robot cable CB-X3-PA with plastic connector)
Controller side Actuator side
Minimum bending R r = 58 mm or more (for movable use)
(Front view)
L (13)
(37)
1
13
14
26
(41)
Ground wire and braided shield
Color WireSignalNo
AWG26soldered
Blue
SD1 OrangeSD2
3456789
Green
VCC10
PurpleGND11 BlackBAT+12
Yellow
BAT-13 Grey
BK-141516
Red
BK+A shield is connected to shield soldered part
AWG26(soldered)
212017
22
6
16151487
3
54
21
25
1819
2324
9
1011121326
No
ndashBKR+BKR-GND
Z-
BAT+
VCCBATndash
SRD-SRD+
B+
Z+B-
Z-
B+
Z+B-
A-A+
A-A+
CREEP
ndashndashndash
OTRSV
E24V0VLS
LS+
LS-
ndashndash
---
------
BlueYellow
Orange
PurpleGreen
Black
GreyRed
-The shield is clamped to the hood
Color SignalWire
(Fig EU encoder robot cable CB-XEU3-PA EU version with metal connector)
(Front view)
4 1
16 13 10
9 5
14
CB-X3-PACB-XEU3-PA
Modelnumber
Encoder robot cableEU encoder robot cable
forDDA(CR)
Enter the cable length (L) into Compatible to a Maximum of 30 meters Ex 080 = 8m
31
31
J11SF-03V-KX J11SFM-03V-KXNoNo SignalSignal ColorColor WiringWiring
AWG20(crimped)
Red
Black
White
Red
Black
White
+
-
FG
+
-
FG
321
321
AWG20(crimped)
Controller side Actuator side
tor side(Front view) (Front view)
L
(44) (167)
(80
)
(84)(293)
(92
)
(oslash5
4)
IAI America IncIAI Industrieroboter GmbHEurope Headquarters Ober der Roumlth 4 D-65824 Schwalbach Germany
IAI CORPORATIONCorporate Headquarters577-1 Obane Shimizu-Ku Shizuoka 424-0103 Japan Phone +81-543-64-5105 Fax +81-543-64-5192
IAI (Shanghai) Co LtdChina HeadquartersShanghai Jiahua Business Centee A8-303808Hongqiao Rd Shanghai 200030 ChinaPhone +86-21-6448-4753 Fax +86-21-6448-3992
America Headquarters2690 W 237th Street Torrance CA 90505 USA
wwwintelligentactuatorde
Phone +49-6196-8895-0 Fax +49-6196-8895-24 Phone +1-310-891-6015 Fax +1-310-891-0815
DDADDACR Series Catalogue No 1116-E Version CJ0242-1A
CB-DDB-BKModelnumber
forDDA(CR) with brake optionBrake cable
Enter the cable length (L) into Compatible to a Maximum of 20 meters Ex 080 = 8m
Maintenance Parts
(41) (14)(15)
Controller side
(13)
(37)
(Front view) (Front view)
(25)
Actuator side
13
114
26
Ground wire and braided shield
AWG26(crimped)
WhiteblueWhiteyellowWhiteredWhiteblackWhitepurpleWhitegray
Whiteorangendash
(Ground)Orange
GreenPurple
GrayRed
BlackWhitegreen
BlueYellow
No Signal Color Wire
The shield is connected to the hood by a clamp
AWG26 (soldered)
Wire10111213262524239
181912345678
14151617202122
123456789
101112131415161718
AĀBBZZ
LS+ndash
FGSDSD
BAT+BAT-VCCGNDLS-BK-BK+
ndashndash
E24VOVLS
CREEPOTRSV
ndashndashndash
A+A-B+B-Z+Z-
SRD+SRD-BAT+BAT-VCCGNDBKR-BKR+
ndash
ndashndashndash
WhitegreenWhiteorange
WhitegreenWhiteorange
Whitegreen
Whiteorange
ndashndashndashndashndashndash
WhiteblueWhiteyellowWhitered
WhiteblackWhitepurpleWhitegray
WhiteblueWhiteyellow Whiteblue
WhiteyellowWhiteredWhiteblackWhitepurpleWhitegray
WhiteredWhiteblackWhitepurpleWhitegray
OrangeGreenPurple
GrayRed
BlackBlue
Yellowndash
NoSignalColor(oslash
10)
L
1
9 18
10
Minimum bending R r = 58 mm or more (for movable use) If the cable must be guided in a cable track use a robot cable
(Fig Encoder robot cable CB-X3-PA with plastic connector)
Controller side Actuator side
Minimum bending R r = 58 mm or more (for movable use)
(Front view)
L (13)
(37)
1
13
14
26
(41)
Ground wire and braided shield
Color WireSignalNo
AWG26soldered
Blue
SD1 OrangeSD2
3456789
Green
VCC10
PurpleGND11 BlackBAT+12
Yellow
BAT-13 Grey
BK-141516
Red
BK+A shield is connected to shield soldered part
AWG26(soldered)
212017
22
6
16151487
3
54
21
25
1819
2324
9
1011121326
No
ndashBKR+BKR-GND
Z-
BAT+
VCCBATndash
SRD-SRD+
B+
Z+B-
Z-
B+
Z+B-
A-A+
A-A+
CREEP
ndashndashndash
OTRSV
E24V0VLS
LS+
LS-
ndashndash
---
------
BlueYellow
Orange
PurpleGreen
Black
GreyRed
-The shield is clamped to the hood
Color SignalWire
(Fig EU encoder robot cable CB-XEU3-PA EU version with metal connector)
(Front view)
4 1
16 13 10
9 5
14
CB-X3-PACB-XEU3-PA
Modelnumber
Encoder robot cableEU encoder robot cable
forDDA(CR)
Enter the cable length (L) into Compatible to a Maximum of 30 meters Ex 080 = 8m
31
31
J11SF-03V-KX J11SFM-03V-KXNoNo SignalSignal ColorColor WiringWiring
AWG20(crimped)
Red
Black
White
Red
Black
White
+
-
FG
+
-
FG
321
321
AWG20(crimped)
Controller side Actuator side
tor side(Front view) (Front view)
L
(44) (167)
(80
)
(84)(293)
(92
)
(oslash5
4)
IAI America IncIAI Industrieroboter GmbHEurope Headquarters Ober der Roumlth 4 D-65824 Schwalbach Germany
IAI CORPORATIONCorporate Headquarters577-1 Obane Shimizu-Ku Shizuoka 424-0103 Japan Phone +81-543-64-5105 Fax +81-543-64-5192
IAI (Shanghai) Co LtdChina HeadquartersShanghai Jiahua Business Centee A8-303808Hongqiao Rd Shanghai 200030 ChinaPhone +86-21-6448-4753 Fax +86-21-6448-3992
America Headquarters2690 W 237th Street Torrance CA 90505 USA
wwwintelligentactuatorde
Phone +49-6196-8895-0 Fax +49-6196-8895-24 Phone +1-310-891-6015 Fax +1-310-891-0815