GB - ATB Automation
Transcript of GB - ATB Automation
w w w i n t e l l i g e n t a c t u a t o r d e
GB
DDDirect Drive Motor
High Torque Type
Large Hollow Bore Type
High Resolution Type
High Torque Type
Newest Additionsto the Series
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Newest Additionsto the Series
The Direct Drive Motor is a rotary actuator that directly drives a rotary table with a motor without using any speed reducing mechanism such as a belt or reduction gears
Eliminating the speed reducing mechanism explains why high speed and excellent response can be attained with such a compact frame
High Torque Type Large Hollow Bore Typemdash Latest Additions to the Series
1
2
Features
High torque type
Standard Hollow
bore type
T18 type H18 type
Large Hollow
bore type
LT18 type LH18 type
High Torque High PayloadThe series now includes models designed for high torque and high payload so you can choose an ideal model for your application
Hollow boreoslash205 mm
Hollow boreoslash205 mm
Hollow boreoslash470 mm
Hollow boreoslash470 mm
1
Allowable moment of inertia
017 kgmiddotmsup2
RCS2-RTC12L (reduction ratio 130)
25gkg
200 mm 200 mm
Allowable moment of inertia
060 kgmiddotmsup2 18 kgmiddotmsup2
DD-T18LT18 type
kg
200 mm 200 mm
Max instantaneous torque 86 Nmiddotm Max instantaneous torque 252 Nmiddotm
MAX270kg
MMAAXXXMMMAAXX
200 mm 200 mm
Allowable moment of inertiaDD-H18LH18 type
Max instantaneous torque 75 Nmiddotm
High Speed High Payload High Accuracy and Easy to Control Introducing A Direct Drive Motor Boasting Ultimate Usability
The Direct Drive Motor comes in the index absolute type having an operating range of 0 to 359999 deg and the multi-rotation absolute type having an operating range of plusmn9999 deg Neither type requires a home return meaning that once the power has been turned on the actuator can move directly from the current position The index type does not need an absolute battery () Max plusmn 2520 deg for the 20-bit speci cations (T18PLT18PH18PLH18P)
Shorter positioning time means shorter cycle time of your equipment resulting in greater productivity
Operating conditions When a work part weighing 100 g is placed on an aluminum disc of 300 mm in diameter and 6 mm in thickness and rotated by 180 deg
ltComparison of Cycle Timesgt
Application Examples
3
High Resolution Type Added
Index Type or Multi-rotation Absolute Type Can be Selected
4
5
High Speed High AccelerationDeceleration
RCS2-RTC12L
DD-T18DD-LT18
DD-H18DD-LH18
05 secApprox
50shorter
Approx
42shorter
025 sec
014 sec
t 6 mm
oslash 300 mm
type
type
Range of operation
Home return
Unlimited rotations
Absolute battery
Index absolute type
0 to 359999 deg
Not required
Yes
Not required
Multi-rotation absolute type
plusmn9999 deg()
Not required
No
Required
High resolution type Standard type
Model DD-18P DD-18S
Encoder resolution 20-bit1 048 576 pulsesrev
17-bit131 072 pulsesrev
Positioning repeatability plusmn000103 degplusmn37 arcsec
plusmn00055 degplusmn198 arcsec
2
High Speed High Payload High Accuracy and Easy to Control Ultimate Usability
Index tableltSmall board inspection systemgt
Work part transferltTransfer of parts from conveyor to conveyorgt
Multi-rotation operationltTransfer of electronic componentsgt
DD Motor Series List
Model Description
3
DD Direct Drive Motor
Cable lengthEncodertype
Oscillationangle
Series Motor wattageDD
Applicablecontroller
360 T2Type
None3m5m
length
NSM
X200600
200W600W
360 360 deg
Note Only SCON-CA can be selected for the encoder high-resolution type (20-bit)
SCON-CA
XSEL-PQT2
AIAM
Index absoluteMulti-rotation absolute T18S
T18PLT18SLT18PH18SH18PLH18SLH18P
Type EncoderStandard bore slimStandard bore slimLarge bore slimLarge bore slimStandard bore high torqueStandard bore high torqueLarge bore high torqueLarge bore high torque
Standard (17-bit)High resolution (20-bit)Standard (17-bit)High resolution (20-bit)Standard (17-bit)High resolution (20-bit)Standard (17-bit)High resolution (20-bit)
Type Standard boreslim type
Large boreslim type
Standard borehigh torque type
Large borehigh torque type
Encoder Standard(17-bit)
Highresolution
(20-bit)Standard
(17-bit)High
resolution(20-bit)
Standard(17-bit)
Highresolution
(20-bit)Standard
(17-bit)High
resolution(20-bit)
Model DD-T18S DD-T18P DD-LT18S DD-LT18P DD-H18S DD-H18P DD-LH18S DD-LH18P
External view
84 25
252 75
Rated speed (degs) 1080 1440
Maximum speed (degs) 1800 1440
2) 06 18
Motor wattage (W) 200 600
Size (mm) 180 times 180 180 times 180
Height (mm) 53 63 125
Hollow bore (mm) oslash205 oslash47 oslash205 oslash47
Weight (kg) 56 62 136 132
Encoder type Index absoluteMulti-rotation absolute
Applicable controller XSELSCON-CA SCON-CA XSEL
SCON-CA SCON-CA XSELSCON-CA SCON-CA XSEL
SCON-CA SCON-CA
Reference page P4 P5 P6 P7
4
DD Direct Drive Motor
CAD drawings can be downloaded from the website wwwintelligentactuatorde
DD-T18 Direct Drive Motor Slim typeStandard bore
Model Specifications
Common Specifications Run-out of Output Shaft
Dimensional Drawing
Drive systemPositioning repeatability Allowable dynamic load moment (Note 2)
(Note 3)
Encoder resolutionAllowable thrust load (Note 2)
(Note 4)
(Note 4)
Base materialAmbient operating temperaturehumidityWeight
Applicable Controller Specifications
Caution
Model number Encoder typeMotor wattage
(W)
Range of operation
(deg)Speed (Note 1)
(degs)Rated torque
(Nmiddotm) ()
Maximuminstantaneous torque (Nmiddotm)
Allowable load inertia (kgmiddotmsup2)
Rotor inertia(kgmiddotmsup2)
(Note 1) The maximum speed may not be reached due to the moving distance or load inertia condition(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
(Note 3) The maximum cable length is 30 m Specify a desired length in meters (Example X08 = 8m) (Note 4) Please consult IAI if you are considering a 20-bit actuator and using it under conditions where the allowable dynamic moment and allowable thrust load will be exceeded
Preview
Next planned DD seriesexpansion with same
like DD-T181) Flangeless Type DD-T18C2) Cleanroom Speci-
cleanliness class 4) DDCR-T18(C)Please contact IAI foravailability and further details
DD-T18 - -200-360-T2- 200 Refer toP9 1 to 1800
Index absolute typeMulti-rotation absolute type 84 252 06 0001984
Direct Drive Motor17-bit plusmn00055 deg 20-bit plusmn000103 deg80 Nmiddotm17-bit 131 072 (pulsesrev) 20-bit 1 048 576 (pulsesrev)Pressing 3400 N [3100 N for the high res type] Pulling 250 NAluminum0 to 40degC 20 to 85 (Non-condensing)56 kg
XSEL-PQ
SCON-CA2 Axes Single-phase
1 Axis
Program
Positioner230VAC Single-phase
6 Axes Three-phase 230VAC Three-phase
230VAC Single-phase
Model
Items
360200T18Oscillation
angleTypeSeries Encoder
typeMotor
wattageApplicablecontroller
Cablelength
200 200W 360 360 deg T2 SCON-CA XSEL-PQ
T2DD
N NoneS 3mM 5m
P High resolution (20-bit)
Note Only SCON-CA applys for T18P
S Standard (17-bit)
X
Applicable controllers Operating method Power supply voltageMax number ofcontrolled axes
Note For DD-T18P only SCON-CA controller applysNote The multi-rotation absolute type is not available for SCON-CA with pulse-train control mode
Legend Encoder resolution Encoder type Cable length () The value when installed on an IAI rated heat dissipating plate (Please see P9 for further details)
AI Index absolute typeAM Multi-rotation absolute type
Thrust (axial) run-out (no load) 30 μm
Radial run-out (no load) 30 μm
PCD oslash200plusmn005 (equ
ally d
istrib
uted
)P
CD
oslash10
2plusmn0
1
2-oslash6H7
Encoderconnector
Motorconnector
180
160plusmn
01
55deg
180160plusmn01
(500)32 or less
94
5
4-oslash11(500)
2-oslash(equally distributed)
oslash110 0 (h7)oslash95
oslash180
oslash205
12plusmn1
23
A
003C05
oslash120
A003
-0035
A
120
plusmn 2
(dist
ance
bet
wee
n ca
ble j
unct
ions
)Gr
ound
tap
30deg
481
5
53plusmn0
1
(49
5)
CAD drawings can be downloaded from the website wwwintelligentactuatorde
DD-LT18 Direct Drive Motor Slim typeLarge bore
Model Specifications
Common Specifications Run-out of Output Shaft
Dimensional Drawing
Drive systemPositioning repeatability Allowable dynamic load moment (Note 2)
Encoder resolutionAllowable thrust load (Note 2)
(Note 4)
(Note 4)
(Note 3)
Base materialAmbient operating temperaturehumidityWeight
Applicable Controller Specifications
Caution
Model number Encoder typeMotor wattage
(W)
Range of operation
(deg)Speed (Note 1)
(degs)Rated torque
(Nmiddotm) ()
Maximuminstantaneous torque (Nmiddotm)
Allowable load inertia (kgmiddotmsup2)
Rotor inertia(kgmiddotmsup2)
(Note 1) The maximum speed may not be reached due to the moving distance or load inertia condition(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
(Note 3) The maximum cable length is 30 m Specify a desired length in meters (Example X08 = 8m) (Note 4) Please consult IAI if you are considering a 20-bit actuator and using it under conditions where the allowable dynamic moment and allowable thrust load will be exceeded
200 1 to 1800Index absolute typeMulti-rotation absolute type 84 252 06 0001984
Direct Drive Motor17-bit plusmn00055 deg 20-bit plusmn000103 deg80 Nmiddotm17-bit 131 072 (pulsesrev) 20-bit 1 048 576 (pulsesrev)Pressing 3400 N [3100 N for the high res type] Pulling 250 NAluminum0 to 40degC 20 to 85 (Non-condensing)62 kg
XSEL-PQ
SCON-CA2 Axes Single-phase
1 Axis
Program
Positioner230VAC Single-phase
6 Axes Three-phase 230VAC Three-phase
230VAC Single-phase
Model
Items
360200LT18Oscillation
angleTypeSeries Encoder
typeMotor
wattageApplicablecontroller
Cablelength
200 200W 360 360 deg T2 SCON-CA XSEL-PQ
T2DD
N NoneS 3mM 5m
P High resolution (20-bit)
Note Only SCON-CA applys for LT18P
S Standard (17-bit)
X
Applicable controllers Operating method Power supply voltageMax number ofcontrolled axes
Note For DD-LT18P only SCON-CA controller applysNote The multi-rotation absolute type is not available for SCON-CA with pulse-train control mode
DD-LT18 - -200-360-T2-
Legend Encoder resolution Encoder type Cable length () The value when installed on an IAI rated heat dissipating plate (Please see P9 for further details)
AI Index absolute typeAM Multi-rotation absolute type
0 (h7)
55deg
(59
5)
30deg
Thrust (axial) run-out (no load) 30 μm
Radial run-out (no load) 30 μm
Encoderconnector
Motorconnector
12plusmn1
581
5
33
A
63plusmn0
1
A003A003
5
(500)32 or less
2-oslash(equally distributed)
94
(500)
Grou
nd ta
p
180
160plusmn
01
2-oslash6H7
oslash95
oslash180
oslash47
180160plusmn01
C05
oslash120
oslash110 -0035
(equ
ally d
istrib
uted
)
120
plusmn 2
(dist
ance
bet
wee
n ca
ble j
unct
ions
)
5
DD Direct Drive Motor
Preview
Next planned DD seriesexpansion with same
like DD-LT181) Flangeless Type DD-LT18C2) Cleanroom Speci-
cleanliness class 4) DDCR-LT18(C)Please contact IAI foravailability and further details
Refer toP9
PCD oslash200plusmn005 PC
D oslash
102plusmn
01
4-oslash11
CAD drawings can be downloaded from the website wwwintelligentactuatorde
DD-H18 Direct Drive Motor High-torque typeStandard bore
Model Specifications
Common Specifications Run-out of Output Shaft
Dimensional Drawing
Drive systemPositioning repeatability Allowable dynamic load moment (Note 2)
Encoder resolutionAllowable thrust load (Note 2)
(Note 4)
(Note 4)
(Note 3)
Base materialAmbient operating temperaturehumidityWeight
Applicable Controller Specifications
Model number Encoder typeMotor wattage
(W)
Range of operation
(deg)Speed (Note 1)
(degs)Rated torque
(Nmiddotm) ()
Maximuminstantaneous torque (Nmiddotm)
Allowable load inertia (kgmiddotmsup2)
Rotor inertia(kgmiddotmsup2)
600 1 to 1440Index absolute typeMulti-rotation absolute type 25 75 18 00106
Direct Drive Motor17-bit plusmn00055 deg 20-bit plusmn000103 deg80 Nmiddotm17-bit 131 072 (pulsesrev) 20-bit 1 048 576 (pulsesrev)Pressing 3400 N [3100 N for the high res type] Pulling 250 NAluminum0 to 40degC 20 to 85 (Non-condensing)136 kg
XSEL-PQ
SCON-CA1 Axis Single-phase
1 Axis
Program
Positioner230VAC Single-phase
2 Axes Three-phase 230VAC Three-phase
230VAC Single-phase
Model
Items
360600H18Oscillation
angleTypeSeries Encoder
typeMotor
wattageApplicablecontroller
Cablelength
600 600W 360 360 deg T2 SCON-CA XSEL-PQ
T2DD
N NoneS 3mM 5m
P High resolution (20-bit)
Note Only SCON-CA applys for H18P
S Standard (17-bit)
X
Applicable controllers Operating method Power supply voltageMax number ofcontrolled axes
DD-H18 - -600-360-T2-
Legend Encoder resolution Encoder type Cable length () The value when installed on an IAI rated heat dissipating plate (Please see P9 for further details)
Thrust (axial) run-out (no load) 30 μm
Radial run-out (no load) 30 μm
5
94
34 or less
(500)
(500)
120
plusmn 2
(dist
ance
bet
wee
n ca
ble j
unct
ions
)
Encoderconnector
Motorconnector
Ground tap
2-oslash(equally distributed)
C05
180
160plusmn
01
oslash120oslash110 -0035 (h7)
oslash93
oslash180
160plusmn01180
55deg
003 A
003 A
30deg
2-oslash6H7
(equall
y dist
ributed
)
13plusmn1
125 plusmn
01
Aoslash205
0
118
15(1
20)
31
AI Index absolute typeAM Multi-rotation absolute type
6
DD Direct Drive Motor
Note For DD-H18P only SCON-CA controller applysNote The multi-rotation absolute type is not available for SCON-CA with pulse-train control mode
Preview
Next planned DD seriesexpansion with same
like DD-H181) Flangeless Type DD-H18C2) Cleanroom Speci-
cleanliness class 4) DDCR-H18(C)Please contact IAI foravailability and further details
Refer toP9
PCD oslash200plusmn005 PCD
oslash10
1plusmn01
4-oslash11
Caution
(Note 1) The maximum speed may not be reached due to the moving distance or load inertia condition(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
(Note 3) The maximum cable length is 30 m Specify a desired length in meters (Example X08 = 8m) (Note 4) Please consult IAI if you are considering a 20-bit actuator and using it under conditions where the allowable dynamic moment and allowable thrust load will be exceeded
CAD drawings can be downloaded from the website wwwintelligentactuatorde
DD-LH18 Direct Drive Motor High-torque typeLarge bore
Model Specifications
Common Specifications Run-out of Output Shaft
Dimensional Drawing
Drive systemPositioning repeatability Allowable dynamic load moment (Note 2)
Encoder resolutionAllowable thrust load (Note 2)
(Note 4)
(Note 4)
(Note 3)
Base materialAmbient operating temperaturehumidityWeight
Applicable Controller Specifications
Model number Encoder typeMotor wattage
(W)
Range of operation
(deg)Speed (Note 1)
(degs)Rated torque
(Nmiddotm) ()
Maximuminstantaneous torque (Nmiddotm)
Allowable load inertia (kgmiddotmsup2)
Rotor inertia(kgmiddotmsup2)
600 1 to 1440Index absolute typeMulti-rotation absolute type 25 75 18 00106
Direct Drive Motor17-bit plusmn00055 deg 20-bit plusmn000103 deg80 Nmiddotm17-bit 131 072 (pulsesrev) 20-bit 1 048 576 (pulsesrev)Pressing 3400 N [3100 N for the high res type] Pulling 250 NAluminum0 to 40degC 20 to 85 (Non-condensing)132 kg
XSEL-PQ
SCON-CA1 Axis Single-phase
1 Axis
Program
Positioner230VAC Single-phase
2 Axes Three-phase 230VAC Three-phase
230VAC Single-phase
Model
Items
360600LH18Oscillation
angleTypeSeries Encoder
typeMotor
wattageApplicablecontroller
Cablelength
600 600W 360 360 deg T2 SCON-CA XSEL-PQ
T2DD
N NoneS 3mM 5m
P High resolution (20-bit)
Note Only SCON-CA applys for LH18P
S Standard (17-bit)
X
Applicable controllers Operating method Power supply voltageMax number ofcontrolled axes
Note For DD-LH18P only SCON-CA controller applysNote The multi-rotation absolute type is not available for SCON-CA with pulse-train control mode
DD-LH18 - -600-360-T2-
Legend Encoder resolution Encoder type Cable length () The value when installed on an IAI rated heat dissipating plate (Please see P9 for further details)
AI Index absolute typeAM Multi-rotation absolute type
Thrust (axial) run-out (no load) 30 μm
Radial run-out (no load) 30 μm
Encoderconnector
Motorconnector
94
(h7)
oslash180
180160plusmn01
(500)
A003
oslash120
A003
34 or less
2-oslash(equally distributed)
120
plusmn 2
(dist
ance
bet
wee
n ca
ble j
unct
ions
)
oslash110 -0035
oslash47
180
160plusmn
01
2-oslash6H7
55deg
C05
(500)
30deg
oslash93
(equally distributed)
Ground tap
0
13plusmn1
(120
)
118
15
A
125plusmn
01
31
5
7
DD Direct Drive Motor
Preview
Next planned DD seriesexpansion with same
like DD-LH181) Flangeless Type DD-LH18C2) Cleanroom Speci-
cleanliness class 4) DDCR-LH18(C)Please contact IAI foravailability and further details
Refer toP9
PCD oslash200plusmn005 PCD oslash10
1plusmn01
4-oslash11
Caution
(Note 1) The maximum speed may not be reached due to the moving distance or load inertia condition(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
(Note 3) The maximum cable length is 30 m Specify a desired length in meters (Example X08 = 8m) (Note 4) Please consult IAI if you are considering a 20-bit actuator and using it under conditions where the allowable dynamic moment and allowable thrust load will be exceeded
Model Number of Positioner Single-axis Type ltSCON-CAgt
Power-supplyvoltage
IO typeEncoder typeMotor typeTypeSeries OptionsSCON
IO cable length
A I
M
Index absolute type
Multi-rotation absolute type
For 200-watt motor (DD motor only)
For 600-watt motor
CA A 2
Model Number of Programmable Multi-axis Type ltXSELgt
Encoder type Encoder typeMotor type Motor typeNumber ofconnected axes
TypeSeries Options OptionsXSEL
600 For 600-watt motor
200
200S
600
For 200-watt motor
A I
M
Index absolute type
Multi-rotation absolute type
P
Q
6-axis standard type
6-axis global type
1
6
1 axis
6 axes
A A
(Specs for axis 1) (Specs for axes 2~6)
A single controller can operate multiple actuators other thanthe DD motor (single-axis robot RoboCylinder) at the sametime For details on actuators other than the DD motor thatcan be connected refer to the page listing the XSEL modelnumbers in the RoboCylinder general catalog
For the remaining part of the model number see the RoboCylindergeneral catalog
Caution
Because the 200W driver for the SCON-CA for DD motors is larger than the regular 200-watt type the motor type will be 200S
The controller may be selected from the two models described below
When the XSEL controller is connected
SCON-CAPC
PLC(To be supplied by the customer)
() TB-01-C-ENG coming soon with CE conformity
() TB-01-C-ENG coming soon with CE conformity
PLC(To be supplied by the customer)
Model CB-PAC-PIO020Standard 2 m
Be sure t ter on the power supply(For recommended models see the RC general catalog)
Encoder cableModel CB-X(EU)3-PA
PC softwareRS232 connection typeModel RCM-101-MW-ENGUSB connection typeModel RCM-101-USB-ENG
Teaching pendant Model TB-01-C-ENG ()
Regenerative resistor unitModel REU-2
Main power supply
Main power supply
Single-phase 230 VAC
Field network(For details see the RoboCylinder general catalog
Option
Comes with the actuator
Comes with the controller
Comes with the actuator Option
Option
OptionMotor CableModel CB-X(EU)-MA (T18LT18)
CB-X(EU)MC-MA (H18LH18)
XSELPC
Be sure t ter on the power supply(For recommended models see the RC general catalog)
PC softwareRS232 connection typeModel IA-101-X-MWUSB connection typeModel IA-101-X-USBMW
Single-phase 230 VACThree-phase 230 VAC
Regenerative resistor unitModel REU-1
Option
Option
Field network(For details see the RoboCylinder general catalog
Option
Model CB-X-PIO020Standard 2 m
Comes with the controller
Encoder cableModel CB-X(EU)3-PA
Comes with the actuator
Comes with the actuatorMotor CableModel CB-X(EU)-MA (T18LT18)
CB-X(EU)MC-MA (H18LH18)
EU version w metal connector
EU version w metal connector
When the SCON controller is connected
how many regenerative resistor units are needed
how many regenerative resistor units are needed
Teaching pendant Model TB-01-S-ENG ()
Option
Controller Model Numbers
8
DD Direct Drive Motor
Notes Installation
Installation Orientation
Controllers The output of the DD motor is 200 watts but the outside dimensions of the SCON-CA controller are those of the 400-watt type (For details on the outside dimensions of the SCON-CA see the RoboCylinder General Catalog) One and two regenerative resistor unit(s) are required for T18LT18 and H18LH18 respectively to operate a DD motor with the SCON-CA When operating DD motor(s) with the XSEL controller regenerative resistor units are required as shown below
The number of DD motor(s) connectable to the XSEL controller are a max of 6 units for the T18LT18 types and a max of 2 units for the H18LH18 types Please note that when the DD motor is operated with the SCON-CA the motor cannot be connected to the RoboCylinder gateway function of the XSEL controller Calculation the for power supply value T18LT18 types single-phase 600W bull three-phase 200W H18LH18 types single-phase 1200W bull three-phase 600W
Operation Types
When the XSEL absolute index type travels more than 180deg from the current position it rotates in a direction that requires a shorter travel to reach the target position Therefore please note that the direction of rotation changes according to the current position and travelIf you want to specify the direction of travel use the SCON-CA
like a regular motor does because the maximum travel distance per command from the XSEL controller is 180deg If you want to allow the motor to rotate continuously use the SCON-CA
Home return is required for the multi-rotation absolute encoder during the initial setting and replacement of the absolute battery
(1)
(2)
(3)
(4)
Operation typeController typeOperation rangeMaximum travel per travel command
Home returnAbsolute battery
Index absolute type
0 to 359999deg
Available (3)Not requiredNot required
SCON-CA
360deg
XSEL (1)
180deg (2)
Multi-rotation absolute type
Max plusmn9999deg (plusmn2520deg)Within the above operation range
Not availableNot required (4)
Required
SCON-CA XSEL (1)
160
Positioning hole for DD motor2-oslash4 reamed hole through
Mounting hole for DD motor4-oslash11 drilled through
oslash200
55deg
160
H
Installation surface
Ceiling mountVertical mount
Gra
vity
Horizontal mount
The height ldquoHrdquo measurements
mmT1823
LT1833
H1831
LH1831
(Note) Use this product by installing it on a mounting surfacehaving heat dissipating characteristics equivalent to those of an aluminum plate of 400 x 400 x t10 mm in sizeIf the installation conditions necessitate lower heat dissipating characteristics please consult IAI
( ) indicates at 20-bit resolution
Number of regenerative resistor units
1 2 3 4 5 61 2 3
(Cannot be connected)2 4
T18LT18
H18LH18
Number of DD motor(s)
9
DD Direct Drive Motor
Conditions for Selection
determine whether the DD motor can be used under the applicable operating conditions
The total load of device(s) mounted on the actuator
The total load moment of device(s) mounted on the actuator
The load inertia of device(s) mounted on the actuator
To calculate the load conditions calculate the load inertia of device(s) mounted on the actuator and check the details with the DD motor selection software The equations used to calculate the load inertia of typical shapes are shown below for reference purposes
Check Load Conditions1
Check Operating Conditions2
The travel time changes according to the load inertia See the tables below to check the travel time data The data in the tables is only intended as a guide so the travel time is not guaranteed
Travel Time Guide3
[1] Thrust load
[2] Load moment applied
[3] Load inertia
J = M x R2 + 112 x M x (a2 + b2)J = M x R2 + 18 x M x D2 J = 112 x M x (a2 + b2)J = 18 x M x D2
Weight M
D
Cent
er of
ro
tatio
n
a
b
Cent
er of
ro
tatio
n
Weight MWeight MCent
er o
f rot
atio
n
D
R Cent
er o
f rot
atio
n
a
bR
Weight M
To calculate operating conditions use the DD motor selection software
DD Direct Drive Motor
10
Load inertia lower limit [kgm2] 0 0005 001 002 002 003 004 006 008 010 015 02 03 04 06 08 10 12 14
Load inertia upper limit [kgm2] 0005 001 0015 002 003 004 006 008 01 015 02 03 04 06 08 1 12 14 18
45deg travel time [sec] 0098 0096 0096 0097 0099 0104 0113 012 0126 014 0157 0207 0257 0352 0447 053 0629 0795 0875
90deg travel time [sec] 0129 0128 0127 0128 0131 0136 0144 0153 0163 0184 0208 0268 0329 044 0549 0646 0758 0941 1035
180deg travel time [sec] 0192 019 019 0191 0193 0199 0207 0215 0225 0249 0279 0354 0428 0562 0692 0806 0933 1133 1257
270deg travel time [sec] 0254 0252 0252 0253 0256 0262 027 0278 0288 0312 0341 042 0504 0655 08 0925 1064 1274 1415
DD-H18LH18
Load inertia lower limit [kgm2] 0 0005 001 002 003 004 005 006 007 008 009 01 02 03 04 05
Load inertia upper limit [kgm2] 0005 001 002 003 004 005 006 007 008 009 01 02 03 04 05 06
45deg travel time [sec] 009 010 011 012 013 014 015 017 019 021 023 039 062 070 087 111
90deg travel time [sec] 012 012 014 016 017 018 020 022 024 026 029 048 073 083 102 123
180deg travel time [sec] 017 017 019 021 023 024 027 029 032 035 037 060 089 101 122 142
270deg travel time [sec] 022 022 024 026 027 029 032 035 038 041 044 069 100 114 136 168
DD-T18LT18
(Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)
(Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)
Download the DD motor selection software from the IAIlsquos websitewwwintelligentactuatorde -gt area ldquodownloadsoftwareldquo
Download the DD motor selection software from the IAIlsquos websitewwwintelligentactuatorde -gt area ldquodownloadsoftwareldquo
IAI Industrie r oboter GmbH Ober der Roumlth 4
D-658 2 4 Schwalb a ch Frankfurt Germany
T el+49- 6 1 96-8895-0 Fax+49- 6 1 96-8895- 2 4
E-Mail infoIAI-GmbHde Inte r net httpww w euIAI-GmbHde
IAI the IAI-logo RoboCylindertrade the RoboCylindertrade-logo Intel ligentActuatortrade and the IntelligentActuatortrade-logo are trademark s or product names of IAI Corporation or of the subsidiaries in USA ChinaThailand or Germany
IAI America Inc 2690 W 237th Street Torrance CA 90505 USAPhone +1-310-891-6015 Fax +1-310-891-0815
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IAI CORPORATION645-1 Shimizu Hirose Shizuoka 424-0102 JapanPhone +81-543-64-5105 Fax +81-543-64-5182
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The information contained in this catalogis subject to change without notice for the
purpose of product improvement
DD Series V2b
Catalogue No 0315-E
The Direct Drive Motor is a rotary actuator that directly drives a rotary table with a motor without using any speed reducing mechanism such as a belt or reduction gears
Eliminating the speed reducing mechanism explains why high speed and excellent response can be attained with such a compact frame
High Torque Type Large Hollow Bore Typemdash Latest Additions to the Series
1
2
Features
High torque type
Standard Hollow
bore type
T18 type H18 type
Large Hollow
bore type
LT18 type LH18 type
High Torque High PayloadThe series now includes models designed for high torque and high payload so you can choose an ideal model for your application
Hollow boreoslash205 mm
Hollow boreoslash205 mm
Hollow boreoslash470 mm
Hollow boreoslash470 mm
1
Allowable moment of inertia
017 kgmiddotmsup2
RCS2-RTC12L (reduction ratio 130)
25gkg
200 mm 200 mm
Allowable moment of inertia
060 kgmiddotmsup2 18 kgmiddotmsup2
DD-T18LT18 type
kg
200 mm 200 mm
Max instantaneous torque 86 Nmiddotm Max instantaneous torque 252 Nmiddotm
MAX270kg
MMAAXXXMMMAAXX
200 mm 200 mm
Allowable moment of inertiaDD-H18LH18 type
Max instantaneous torque 75 Nmiddotm
High Speed High Payload High Accuracy and Easy to Control Introducing A Direct Drive Motor Boasting Ultimate Usability
The Direct Drive Motor comes in the index absolute type having an operating range of 0 to 359999 deg and the multi-rotation absolute type having an operating range of plusmn9999 deg Neither type requires a home return meaning that once the power has been turned on the actuator can move directly from the current position The index type does not need an absolute battery () Max plusmn 2520 deg for the 20-bit speci cations (T18PLT18PH18PLH18P)
Shorter positioning time means shorter cycle time of your equipment resulting in greater productivity
Operating conditions When a work part weighing 100 g is placed on an aluminum disc of 300 mm in diameter and 6 mm in thickness and rotated by 180 deg
ltComparison of Cycle Timesgt
Application Examples
3
High Resolution Type Added
Index Type or Multi-rotation Absolute Type Can be Selected
4
5
High Speed High AccelerationDeceleration
RCS2-RTC12L
DD-T18DD-LT18
DD-H18DD-LH18
05 secApprox
50shorter
Approx
42shorter
025 sec
014 sec
t 6 mm
oslash 300 mm
type
type
Range of operation
Home return
Unlimited rotations
Absolute battery
Index absolute type
0 to 359999 deg
Not required
Yes
Not required
Multi-rotation absolute type
plusmn9999 deg()
Not required
No
Required
High resolution type Standard type
Model DD-18P DD-18S
Encoder resolution 20-bit1 048 576 pulsesrev
17-bit131 072 pulsesrev
Positioning repeatability plusmn000103 degplusmn37 arcsec
plusmn00055 degplusmn198 arcsec
2
High Speed High Payload High Accuracy and Easy to Control Ultimate Usability
Index tableltSmall board inspection systemgt
Work part transferltTransfer of parts from conveyor to conveyorgt
Multi-rotation operationltTransfer of electronic componentsgt
DD Motor Series List
Model Description
3
DD Direct Drive Motor
Cable lengthEncodertype
Oscillationangle
Series Motor wattageDD
Applicablecontroller
360 T2Type
None3m5m
length
NSM
X200600
200W600W
360 360 deg
Note Only SCON-CA can be selected for the encoder high-resolution type (20-bit)
SCON-CA
XSEL-PQT2
AIAM
Index absoluteMulti-rotation absolute T18S
T18PLT18SLT18PH18SH18PLH18SLH18P
Type EncoderStandard bore slimStandard bore slimLarge bore slimLarge bore slimStandard bore high torqueStandard bore high torqueLarge bore high torqueLarge bore high torque
Standard (17-bit)High resolution (20-bit)Standard (17-bit)High resolution (20-bit)Standard (17-bit)High resolution (20-bit)Standard (17-bit)High resolution (20-bit)
Type Standard boreslim type
Large boreslim type
Standard borehigh torque type
Large borehigh torque type
Encoder Standard(17-bit)
Highresolution
(20-bit)Standard
(17-bit)High
resolution(20-bit)
Standard(17-bit)
Highresolution
(20-bit)Standard
(17-bit)High
resolution(20-bit)
Model DD-T18S DD-T18P DD-LT18S DD-LT18P DD-H18S DD-H18P DD-LH18S DD-LH18P
External view
84 25
252 75
Rated speed (degs) 1080 1440
Maximum speed (degs) 1800 1440
2) 06 18
Motor wattage (W) 200 600
Size (mm) 180 times 180 180 times 180
Height (mm) 53 63 125
Hollow bore (mm) oslash205 oslash47 oslash205 oslash47
Weight (kg) 56 62 136 132
Encoder type Index absoluteMulti-rotation absolute
Applicable controller XSELSCON-CA SCON-CA XSEL
SCON-CA SCON-CA XSELSCON-CA SCON-CA XSEL
SCON-CA SCON-CA
Reference page P4 P5 P6 P7
4
DD Direct Drive Motor
CAD drawings can be downloaded from the website wwwintelligentactuatorde
DD-T18 Direct Drive Motor Slim typeStandard bore
Model Specifications
Common Specifications Run-out of Output Shaft
Dimensional Drawing
Drive systemPositioning repeatability Allowable dynamic load moment (Note 2)
(Note 3)
Encoder resolutionAllowable thrust load (Note 2)
(Note 4)
(Note 4)
Base materialAmbient operating temperaturehumidityWeight
Applicable Controller Specifications
Caution
Model number Encoder typeMotor wattage
(W)
Range of operation
(deg)Speed (Note 1)
(degs)Rated torque
(Nmiddotm) ()
Maximuminstantaneous torque (Nmiddotm)
Allowable load inertia (kgmiddotmsup2)
Rotor inertia(kgmiddotmsup2)
(Note 1) The maximum speed may not be reached due to the moving distance or load inertia condition(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
(Note 3) The maximum cable length is 30 m Specify a desired length in meters (Example X08 = 8m) (Note 4) Please consult IAI if you are considering a 20-bit actuator and using it under conditions where the allowable dynamic moment and allowable thrust load will be exceeded
Preview
Next planned DD seriesexpansion with same
like DD-T181) Flangeless Type DD-T18C2) Cleanroom Speci-
cleanliness class 4) DDCR-T18(C)Please contact IAI foravailability and further details
DD-T18 - -200-360-T2- 200 Refer toP9 1 to 1800
Index absolute typeMulti-rotation absolute type 84 252 06 0001984
Direct Drive Motor17-bit plusmn00055 deg 20-bit plusmn000103 deg80 Nmiddotm17-bit 131 072 (pulsesrev) 20-bit 1 048 576 (pulsesrev)Pressing 3400 N [3100 N for the high res type] Pulling 250 NAluminum0 to 40degC 20 to 85 (Non-condensing)56 kg
XSEL-PQ
SCON-CA2 Axes Single-phase
1 Axis
Program
Positioner230VAC Single-phase
6 Axes Three-phase 230VAC Three-phase
230VAC Single-phase
Model
Items
360200T18Oscillation
angleTypeSeries Encoder
typeMotor
wattageApplicablecontroller
Cablelength
200 200W 360 360 deg T2 SCON-CA XSEL-PQ
T2DD
N NoneS 3mM 5m
P High resolution (20-bit)
Note Only SCON-CA applys for T18P
S Standard (17-bit)
X
Applicable controllers Operating method Power supply voltageMax number ofcontrolled axes
Note For DD-T18P only SCON-CA controller applysNote The multi-rotation absolute type is not available for SCON-CA with pulse-train control mode
Legend Encoder resolution Encoder type Cable length () The value when installed on an IAI rated heat dissipating plate (Please see P9 for further details)
AI Index absolute typeAM Multi-rotation absolute type
Thrust (axial) run-out (no load) 30 μm
Radial run-out (no load) 30 μm
PCD oslash200plusmn005 (equ
ally d
istrib
uted
)P
CD
oslash10
2plusmn0
1
2-oslash6H7
Encoderconnector
Motorconnector
180
160plusmn
01
55deg
180160plusmn01
(500)32 or less
94
5
4-oslash11(500)
2-oslash(equally distributed)
oslash110 0 (h7)oslash95
oslash180
oslash205
12plusmn1
23
A
003C05
oslash120
A003
-0035
A
120
plusmn 2
(dist
ance
bet
wee
n ca
ble j
unct
ions
)Gr
ound
tap
30deg
481
5
53plusmn0
1
(49
5)
CAD drawings can be downloaded from the website wwwintelligentactuatorde
DD-LT18 Direct Drive Motor Slim typeLarge bore
Model Specifications
Common Specifications Run-out of Output Shaft
Dimensional Drawing
Drive systemPositioning repeatability Allowable dynamic load moment (Note 2)
Encoder resolutionAllowable thrust load (Note 2)
(Note 4)
(Note 4)
(Note 3)
Base materialAmbient operating temperaturehumidityWeight
Applicable Controller Specifications
Caution
Model number Encoder typeMotor wattage
(W)
Range of operation
(deg)Speed (Note 1)
(degs)Rated torque
(Nmiddotm) ()
Maximuminstantaneous torque (Nmiddotm)
Allowable load inertia (kgmiddotmsup2)
Rotor inertia(kgmiddotmsup2)
(Note 1) The maximum speed may not be reached due to the moving distance or load inertia condition(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
(Note 3) The maximum cable length is 30 m Specify a desired length in meters (Example X08 = 8m) (Note 4) Please consult IAI if you are considering a 20-bit actuator and using it under conditions where the allowable dynamic moment and allowable thrust load will be exceeded
200 1 to 1800Index absolute typeMulti-rotation absolute type 84 252 06 0001984
Direct Drive Motor17-bit plusmn00055 deg 20-bit plusmn000103 deg80 Nmiddotm17-bit 131 072 (pulsesrev) 20-bit 1 048 576 (pulsesrev)Pressing 3400 N [3100 N for the high res type] Pulling 250 NAluminum0 to 40degC 20 to 85 (Non-condensing)62 kg
XSEL-PQ
SCON-CA2 Axes Single-phase
1 Axis
Program
Positioner230VAC Single-phase
6 Axes Three-phase 230VAC Three-phase
230VAC Single-phase
Model
Items
360200LT18Oscillation
angleTypeSeries Encoder
typeMotor
wattageApplicablecontroller
Cablelength
200 200W 360 360 deg T2 SCON-CA XSEL-PQ
T2DD
N NoneS 3mM 5m
P High resolution (20-bit)
Note Only SCON-CA applys for LT18P
S Standard (17-bit)
X
Applicable controllers Operating method Power supply voltageMax number ofcontrolled axes
Note For DD-LT18P only SCON-CA controller applysNote The multi-rotation absolute type is not available for SCON-CA with pulse-train control mode
DD-LT18 - -200-360-T2-
Legend Encoder resolution Encoder type Cable length () The value when installed on an IAI rated heat dissipating plate (Please see P9 for further details)
AI Index absolute typeAM Multi-rotation absolute type
0 (h7)
55deg
(59
5)
30deg
Thrust (axial) run-out (no load) 30 μm
Radial run-out (no load) 30 μm
Encoderconnector
Motorconnector
12plusmn1
581
5
33
A
63plusmn0
1
A003A003
5
(500)32 or less
2-oslash(equally distributed)
94
(500)
Grou
nd ta
p
180
160plusmn
01
2-oslash6H7
oslash95
oslash180
oslash47
180160plusmn01
C05
oslash120
oslash110 -0035
(equ
ally d
istrib
uted
)
120
plusmn 2
(dist
ance
bet
wee
n ca
ble j
unct
ions
)
5
DD Direct Drive Motor
Preview
Next planned DD seriesexpansion with same
like DD-LT181) Flangeless Type DD-LT18C2) Cleanroom Speci-
cleanliness class 4) DDCR-LT18(C)Please contact IAI foravailability and further details
Refer toP9
PCD oslash200plusmn005 PC
D oslash
102plusmn
01
4-oslash11
CAD drawings can be downloaded from the website wwwintelligentactuatorde
DD-H18 Direct Drive Motor High-torque typeStandard bore
Model Specifications
Common Specifications Run-out of Output Shaft
Dimensional Drawing
Drive systemPositioning repeatability Allowable dynamic load moment (Note 2)
Encoder resolutionAllowable thrust load (Note 2)
(Note 4)
(Note 4)
(Note 3)
Base materialAmbient operating temperaturehumidityWeight
Applicable Controller Specifications
Model number Encoder typeMotor wattage
(W)
Range of operation
(deg)Speed (Note 1)
(degs)Rated torque
(Nmiddotm) ()
Maximuminstantaneous torque (Nmiddotm)
Allowable load inertia (kgmiddotmsup2)
Rotor inertia(kgmiddotmsup2)
600 1 to 1440Index absolute typeMulti-rotation absolute type 25 75 18 00106
Direct Drive Motor17-bit plusmn00055 deg 20-bit plusmn000103 deg80 Nmiddotm17-bit 131 072 (pulsesrev) 20-bit 1 048 576 (pulsesrev)Pressing 3400 N [3100 N for the high res type] Pulling 250 NAluminum0 to 40degC 20 to 85 (Non-condensing)136 kg
XSEL-PQ
SCON-CA1 Axis Single-phase
1 Axis
Program
Positioner230VAC Single-phase
2 Axes Three-phase 230VAC Three-phase
230VAC Single-phase
Model
Items
360600H18Oscillation
angleTypeSeries Encoder
typeMotor
wattageApplicablecontroller
Cablelength
600 600W 360 360 deg T2 SCON-CA XSEL-PQ
T2DD
N NoneS 3mM 5m
P High resolution (20-bit)
Note Only SCON-CA applys for H18P
S Standard (17-bit)
X
Applicable controllers Operating method Power supply voltageMax number ofcontrolled axes
DD-H18 - -600-360-T2-
Legend Encoder resolution Encoder type Cable length () The value when installed on an IAI rated heat dissipating plate (Please see P9 for further details)
Thrust (axial) run-out (no load) 30 μm
Radial run-out (no load) 30 μm
5
94
34 or less
(500)
(500)
120
plusmn 2
(dist
ance
bet
wee
n ca
ble j
unct
ions
)
Encoderconnector
Motorconnector
Ground tap
2-oslash(equally distributed)
C05
180
160plusmn
01
oslash120oslash110 -0035 (h7)
oslash93
oslash180
160plusmn01180
55deg
003 A
003 A
30deg
2-oslash6H7
(equall
y dist
ributed
)
13plusmn1
125 plusmn
01
Aoslash205
0
118
15(1
20)
31
AI Index absolute typeAM Multi-rotation absolute type
6
DD Direct Drive Motor
Note For DD-H18P only SCON-CA controller applysNote The multi-rotation absolute type is not available for SCON-CA with pulse-train control mode
Preview
Next planned DD seriesexpansion with same
like DD-H181) Flangeless Type DD-H18C2) Cleanroom Speci-
cleanliness class 4) DDCR-H18(C)Please contact IAI foravailability and further details
Refer toP9
PCD oslash200plusmn005 PCD
oslash10
1plusmn01
4-oslash11
Caution
(Note 1) The maximum speed may not be reached due to the moving distance or load inertia condition(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
(Note 3) The maximum cable length is 30 m Specify a desired length in meters (Example X08 = 8m) (Note 4) Please consult IAI if you are considering a 20-bit actuator and using it under conditions where the allowable dynamic moment and allowable thrust load will be exceeded
CAD drawings can be downloaded from the website wwwintelligentactuatorde
DD-LH18 Direct Drive Motor High-torque typeLarge bore
Model Specifications
Common Specifications Run-out of Output Shaft
Dimensional Drawing
Drive systemPositioning repeatability Allowable dynamic load moment (Note 2)
Encoder resolutionAllowable thrust load (Note 2)
(Note 4)
(Note 4)
(Note 3)
Base materialAmbient operating temperaturehumidityWeight
Applicable Controller Specifications
Model number Encoder typeMotor wattage
(W)
Range of operation
(deg)Speed (Note 1)
(degs)Rated torque
(Nmiddotm) ()
Maximuminstantaneous torque (Nmiddotm)
Allowable load inertia (kgmiddotmsup2)
Rotor inertia(kgmiddotmsup2)
600 1 to 1440Index absolute typeMulti-rotation absolute type 25 75 18 00106
Direct Drive Motor17-bit plusmn00055 deg 20-bit plusmn000103 deg80 Nmiddotm17-bit 131 072 (pulsesrev) 20-bit 1 048 576 (pulsesrev)Pressing 3400 N [3100 N for the high res type] Pulling 250 NAluminum0 to 40degC 20 to 85 (Non-condensing)132 kg
XSEL-PQ
SCON-CA1 Axis Single-phase
1 Axis
Program
Positioner230VAC Single-phase
2 Axes Three-phase 230VAC Three-phase
230VAC Single-phase
Model
Items
360600LH18Oscillation
angleTypeSeries Encoder
typeMotor
wattageApplicablecontroller
Cablelength
600 600W 360 360 deg T2 SCON-CA XSEL-PQ
T2DD
N NoneS 3mM 5m
P High resolution (20-bit)
Note Only SCON-CA applys for LH18P
S Standard (17-bit)
X
Applicable controllers Operating method Power supply voltageMax number ofcontrolled axes
Note For DD-LH18P only SCON-CA controller applysNote The multi-rotation absolute type is not available for SCON-CA with pulse-train control mode
DD-LH18 - -600-360-T2-
Legend Encoder resolution Encoder type Cable length () The value when installed on an IAI rated heat dissipating plate (Please see P9 for further details)
AI Index absolute typeAM Multi-rotation absolute type
Thrust (axial) run-out (no load) 30 μm
Radial run-out (no load) 30 μm
Encoderconnector
Motorconnector
94
(h7)
oslash180
180160plusmn01
(500)
A003
oslash120
A003
34 or less
2-oslash(equally distributed)
120
plusmn 2
(dist
ance
bet
wee
n ca
ble j
unct
ions
)
oslash110 -0035
oslash47
180
160plusmn
01
2-oslash6H7
55deg
C05
(500)
30deg
oslash93
(equally distributed)
Ground tap
0
13plusmn1
(120
)
118
15
A
125plusmn
01
31
5
7
DD Direct Drive Motor
Preview
Next planned DD seriesexpansion with same
like DD-LH181) Flangeless Type DD-LH18C2) Cleanroom Speci-
cleanliness class 4) DDCR-LH18(C)Please contact IAI foravailability and further details
Refer toP9
PCD oslash200plusmn005 PCD oslash10
1plusmn01
4-oslash11
Caution
(Note 1) The maximum speed may not be reached due to the moving distance or load inertia condition(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
(Note 3) The maximum cable length is 30 m Specify a desired length in meters (Example X08 = 8m) (Note 4) Please consult IAI if you are considering a 20-bit actuator and using it under conditions where the allowable dynamic moment and allowable thrust load will be exceeded
Model Number of Positioner Single-axis Type ltSCON-CAgt
Power-supplyvoltage
IO typeEncoder typeMotor typeTypeSeries OptionsSCON
IO cable length
A I
M
Index absolute type
Multi-rotation absolute type
For 200-watt motor (DD motor only)
For 600-watt motor
CA A 2
Model Number of Programmable Multi-axis Type ltXSELgt
Encoder type Encoder typeMotor type Motor typeNumber ofconnected axes
TypeSeries Options OptionsXSEL
600 For 600-watt motor
200
200S
600
For 200-watt motor
A I
M
Index absolute type
Multi-rotation absolute type
P
Q
6-axis standard type
6-axis global type
1
6
1 axis
6 axes
A A
(Specs for axis 1) (Specs for axes 2~6)
A single controller can operate multiple actuators other thanthe DD motor (single-axis robot RoboCylinder) at the sametime For details on actuators other than the DD motor thatcan be connected refer to the page listing the XSEL modelnumbers in the RoboCylinder general catalog
For the remaining part of the model number see the RoboCylindergeneral catalog
Caution
Because the 200W driver for the SCON-CA for DD motors is larger than the regular 200-watt type the motor type will be 200S
The controller may be selected from the two models described below
When the XSEL controller is connected
SCON-CAPC
PLC(To be supplied by the customer)
() TB-01-C-ENG coming soon with CE conformity
() TB-01-C-ENG coming soon with CE conformity
PLC(To be supplied by the customer)
Model CB-PAC-PIO020Standard 2 m
Be sure t ter on the power supply(For recommended models see the RC general catalog)
Encoder cableModel CB-X(EU)3-PA
PC softwareRS232 connection typeModel RCM-101-MW-ENGUSB connection typeModel RCM-101-USB-ENG
Teaching pendant Model TB-01-C-ENG ()
Regenerative resistor unitModel REU-2
Main power supply
Main power supply
Single-phase 230 VAC
Field network(For details see the RoboCylinder general catalog
Option
Comes with the actuator
Comes with the controller
Comes with the actuator Option
Option
OptionMotor CableModel CB-X(EU)-MA (T18LT18)
CB-X(EU)MC-MA (H18LH18)
XSELPC
Be sure t ter on the power supply(For recommended models see the RC general catalog)
PC softwareRS232 connection typeModel IA-101-X-MWUSB connection typeModel IA-101-X-USBMW
Single-phase 230 VACThree-phase 230 VAC
Regenerative resistor unitModel REU-1
Option
Option
Field network(For details see the RoboCylinder general catalog
Option
Model CB-X-PIO020Standard 2 m
Comes with the controller
Encoder cableModel CB-X(EU)3-PA
Comes with the actuator
Comes with the actuatorMotor CableModel CB-X(EU)-MA (T18LT18)
CB-X(EU)MC-MA (H18LH18)
EU version w metal connector
EU version w metal connector
When the SCON controller is connected
how many regenerative resistor units are needed
how many regenerative resistor units are needed
Teaching pendant Model TB-01-S-ENG ()
Option
Controller Model Numbers
8
DD Direct Drive Motor
Notes Installation
Installation Orientation
Controllers The output of the DD motor is 200 watts but the outside dimensions of the SCON-CA controller are those of the 400-watt type (For details on the outside dimensions of the SCON-CA see the RoboCylinder General Catalog) One and two regenerative resistor unit(s) are required for T18LT18 and H18LH18 respectively to operate a DD motor with the SCON-CA When operating DD motor(s) with the XSEL controller regenerative resistor units are required as shown below
The number of DD motor(s) connectable to the XSEL controller are a max of 6 units for the T18LT18 types and a max of 2 units for the H18LH18 types Please note that when the DD motor is operated with the SCON-CA the motor cannot be connected to the RoboCylinder gateway function of the XSEL controller Calculation the for power supply value T18LT18 types single-phase 600W bull three-phase 200W H18LH18 types single-phase 1200W bull three-phase 600W
Operation Types
When the XSEL absolute index type travels more than 180deg from the current position it rotates in a direction that requires a shorter travel to reach the target position Therefore please note that the direction of rotation changes according to the current position and travelIf you want to specify the direction of travel use the SCON-CA
like a regular motor does because the maximum travel distance per command from the XSEL controller is 180deg If you want to allow the motor to rotate continuously use the SCON-CA
Home return is required for the multi-rotation absolute encoder during the initial setting and replacement of the absolute battery
(1)
(2)
(3)
(4)
Operation typeController typeOperation rangeMaximum travel per travel command
Home returnAbsolute battery
Index absolute type
0 to 359999deg
Available (3)Not requiredNot required
SCON-CA
360deg
XSEL (1)
180deg (2)
Multi-rotation absolute type
Max plusmn9999deg (plusmn2520deg)Within the above operation range
Not availableNot required (4)
Required
SCON-CA XSEL (1)
160
Positioning hole for DD motor2-oslash4 reamed hole through
Mounting hole for DD motor4-oslash11 drilled through
oslash200
55deg
160
H
Installation surface
Ceiling mountVertical mount
Gra
vity
Horizontal mount
The height ldquoHrdquo measurements
mmT1823
LT1833
H1831
LH1831
(Note) Use this product by installing it on a mounting surfacehaving heat dissipating characteristics equivalent to those of an aluminum plate of 400 x 400 x t10 mm in sizeIf the installation conditions necessitate lower heat dissipating characteristics please consult IAI
( ) indicates at 20-bit resolution
Number of regenerative resistor units
1 2 3 4 5 61 2 3
(Cannot be connected)2 4
T18LT18
H18LH18
Number of DD motor(s)
9
DD Direct Drive Motor
Conditions for Selection
determine whether the DD motor can be used under the applicable operating conditions
The total load of device(s) mounted on the actuator
The total load moment of device(s) mounted on the actuator
The load inertia of device(s) mounted on the actuator
To calculate the load conditions calculate the load inertia of device(s) mounted on the actuator and check the details with the DD motor selection software The equations used to calculate the load inertia of typical shapes are shown below for reference purposes
Check Load Conditions1
Check Operating Conditions2
The travel time changes according to the load inertia See the tables below to check the travel time data The data in the tables is only intended as a guide so the travel time is not guaranteed
Travel Time Guide3
[1] Thrust load
[2] Load moment applied
[3] Load inertia
J = M x R2 + 112 x M x (a2 + b2)J = M x R2 + 18 x M x D2 J = 112 x M x (a2 + b2)J = 18 x M x D2
Weight M
D
Cent
er of
ro
tatio
n
a
b
Cent
er of
ro
tatio
n
Weight MWeight MCent
er o
f rot
atio
n
D
R Cent
er o
f rot
atio
n
a
bR
Weight M
To calculate operating conditions use the DD motor selection software
DD Direct Drive Motor
10
Load inertia lower limit [kgm2] 0 0005 001 002 002 003 004 006 008 010 015 02 03 04 06 08 10 12 14
Load inertia upper limit [kgm2] 0005 001 0015 002 003 004 006 008 01 015 02 03 04 06 08 1 12 14 18
45deg travel time [sec] 0098 0096 0096 0097 0099 0104 0113 012 0126 014 0157 0207 0257 0352 0447 053 0629 0795 0875
90deg travel time [sec] 0129 0128 0127 0128 0131 0136 0144 0153 0163 0184 0208 0268 0329 044 0549 0646 0758 0941 1035
180deg travel time [sec] 0192 019 019 0191 0193 0199 0207 0215 0225 0249 0279 0354 0428 0562 0692 0806 0933 1133 1257
270deg travel time [sec] 0254 0252 0252 0253 0256 0262 027 0278 0288 0312 0341 042 0504 0655 08 0925 1064 1274 1415
DD-H18LH18
Load inertia lower limit [kgm2] 0 0005 001 002 003 004 005 006 007 008 009 01 02 03 04 05
Load inertia upper limit [kgm2] 0005 001 002 003 004 005 006 007 008 009 01 02 03 04 05 06
45deg travel time [sec] 009 010 011 012 013 014 015 017 019 021 023 039 062 070 087 111
90deg travel time [sec] 012 012 014 016 017 018 020 022 024 026 029 048 073 083 102 123
180deg travel time [sec] 017 017 019 021 023 024 027 029 032 035 037 060 089 101 122 142
270deg travel time [sec] 022 022 024 026 027 029 032 035 038 041 044 069 100 114 136 168
DD-T18LT18
(Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)
(Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)
Download the DD motor selection software from the IAIlsquos websitewwwintelligentactuatorde -gt area ldquodownloadsoftwareldquo
Download the DD motor selection software from the IAIlsquos websitewwwintelligentactuatorde -gt area ldquodownloadsoftwareldquo
IAI Industrie r oboter GmbH Ober der Roumlth 4
D-658 2 4 Schwalb a ch Frankfurt Germany
T el+49- 6 1 96-8895-0 Fax+49- 6 1 96-8895- 2 4
E-Mail infoIAI-GmbHde Inte r net httpww w euIAI-GmbHde
IAI the IAI-logo RoboCylindertrade the RoboCylindertrade-logo Intel ligentActuatortrade and the IntelligentActuatortrade-logo are trademark s or product names of IAI Corporation or of the subsidiaries in USA ChinaThailand or Germany
IAI America Inc 2690 W 237th Street Torrance CA 90505 USAPhone +1-310-891-6015 Fax +1-310-891-0815
IAI (Shanghai) Co LtdShanghai Jiahua Business Centee A8-303808Hongqiao Rd Shanghai 200030 China Phone +86-21-6448-4753 Fax +86-21-6448-3992
IAI CORPORATION645-1 Shimizu Hirose Shizuoka 424-0102 JapanPhone +81-543-64-5105 Fax +81-543-64-5182
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The information contained in this catalogis subject to change without notice for the
purpose of product improvement
DD Series V2b
Catalogue No 0315-E
The Direct Drive Motor comes in the index absolute type having an operating range of 0 to 359999 deg and the multi-rotation absolute type having an operating range of plusmn9999 deg Neither type requires a home return meaning that once the power has been turned on the actuator can move directly from the current position The index type does not need an absolute battery () Max plusmn 2520 deg for the 20-bit speci cations (T18PLT18PH18PLH18P)
Shorter positioning time means shorter cycle time of your equipment resulting in greater productivity
Operating conditions When a work part weighing 100 g is placed on an aluminum disc of 300 mm in diameter and 6 mm in thickness and rotated by 180 deg
ltComparison of Cycle Timesgt
Application Examples
3
High Resolution Type Added
Index Type or Multi-rotation Absolute Type Can be Selected
4
5
High Speed High AccelerationDeceleration
RCS2-RTC12L
DD-T18DD-LT18
DD-H18DD-LH18
05 secApprox
50shorter
Approx
42shorter
025 sec
014 sec
t 6 mm
oslash 300 mm
type
type
Range of operation
Home return
Unlimited rotations
Absolute battery
Index absolute type
0 to 359999 deg
Not required
Yes
Not required
Multi-rotation absolute type
plusmn9999 deg()
Not required
No
Required
High resolution type Standard type
Model DD-18P DD-18S
Encoder resolution 20-bit1 048 576 pulsesrev
17-bit131 072 pulsesrev
Positioning repeatability plusmn000103 degplusmn37 arcsec
plusmn00055 degplusmn198 arcsec
2
High Speed High Payload High Accuracy and Easy to Control Ultimate Usability
Index tableltSmall board inspection systemgt
Work part transferltTransfer of parts from conveyor to conveyorgt
Multi-rotation operationltTransfer of electronic componentsgt
DD Motor Series List
Model Description
3
DD Direct Drive Motor
Cable lengthEncodertype
Oscillationangle
Series Motor wattageDD
Applicablecontroller
360 T2Type
None3m5m
length
NSM
X200600
200W600W
360 360 deg
Note Only SCON-CA can be selected for the encoder high-resolution type (20-bit)
SCON-CA
XSEL-PQT2
AIAM
Index absoluteMulti-rotation absolute T18S
T18PLT18SLT18PH18SH18PLH18SLH18P
Type EncoderStandard bore slimStandard bore slimLarge bore slimLarge bore slimStandard bore high torqueStandard bore high torqueLarge bore high torqueLarge bore high torque
Standard (17-bit)High resolution (20-bit)Standard (17-bit)High resolution (20-bit)Standard (17-bit)High resolution (20-bit)Standard (17-bit)High resolution (20-bit)
Type Standard boreslim type
Large boreslim type
Standard borehigh torque type
Large borehigh torque type
Encoder Standard(17-bit)
Highresolution
(20-bit)Standard
(17-bit)High
resolution(20-bit)
Standard(17-bit)
Highresolution
(20-bit)Standard
(17-bit)High
resolution(20-bit)
Model DD-T18S DD-T18P DD-LT18S DD-LT18P DD-H18S DD-H18P DD-LH18S DD-LH18P
External view
84 25
252 75
Rated speed (degs) 1080 1440
Maximum speed (degs) 1800 1440
2) 06 18
Motor wattage (W) 200 600
Size (mm) 180 times 180 180 times 180
Height (mm) 53 63 125
Hollow bore (mm) oslash205 oslash47 oslash205 oslash47
Weight (kg) 56 62 136 132
Encoder type Index absoluteMulti-rotation absolute
Applicable controller XSELSCON-CA SCON-CA XSEL
SCON-CA SCON-CA XSELSCON-CA SCON-CA XSEL
SCON-CA SCON-CA
Reference page P4 P5 P6 P7
4
DD Direct Drive Motor
CAD drawings can be downloaded from the website wwwintelligentactuatorde
DD-T18 Direct Drive Motor Slim typeStandard bore
Model Specifications
Common Specifications Run-out of Output Shaft
Dimensional Drawing
Drive systemPositioning repeatability Allowable dynamic load moment (Note 2)
(Note 3)
Encoder resolutionAllowable thrust load (Note 2)
(Note 4)
(Note 4)
Base materialAmbient operating temperaturehumidityWeight
Applicable Controller Specifications
Caution
Model number Encoder typeMotor wattage
(W)
Range of operation
(deg)Speed (Note 1)
(degs)Rated torque
(Nmiddotm) ()
Maximuminstantaneous torque (Nmiddotm)
Allowable load inertia (kgmiddotmsup2)
Rotor inertia(kgmiddotmsup2)
(Note 1) The maximum speed may not be reached due to the moving distance or load inertia condition(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
(Note 3) The maximum cable length is 30 m Specify a desired length in meters (Example X08 = 8m) (Note 4) Please consult IAI if you are considering a 20-bit actuator and using it under conditions where the allowable dynamic moment and allowable thrust load will be exceeded
Preview
Next planned DD seriesexpansion with same
like DD-T181) Flangeless Type DD-T18C2) Cleanroom Speci-
cleanliness class 4) DDCR-T18(C)Please contact IAI foravailability and further details
DD-T18 - -200-360-T2- 200 Refer toP9 1 to 1800
Index absolute typeMulti-rotation absolute type 84 252 06 0001984
Direct Drive Motor17-bit plusmn00055 deg 20-bit plusmn000103 deg80 Nmiddotm17-bit 131 072 (pulsesrev) 20-bit 1 048 576 (pulsesrev)Pressing 3400 N [3100 N for the high res type] Pulling 250 NAluminum0 to 40degC 20 to 85 (Non-condensing)56 kg
XSEL-PQ
SCON-CA2 Axes Single-phase
1 Axis
Program
Positioner230VAC Single-phase
6 Axes Three-phase 230VAC Three-phase
230VAC Single-phase
Model
Items
360200T18Oscillation
angleTypeSeries Encoder
typeMotor
wattageApplicablecontroller
Cablelength
200 200W 360 360 deg T2 SCON-CA XSEL-PQ
T2DD
N NoneS 3mM 5m
P High resolution (20-bit)
Note Only SCON-CA applys for T18P
S Standard (17-bit)
X
Applicable controllers Operating method Power supply voltageMax number ofcontrolled axes
Note For DD-T18P only SCON-CA controller applysNote The multi-rotation absolute type is not available for SCON-CA with pulse-train control mode
Legend Encoder resolution Encoder type Cable length () The value when installed on an IAI rated heat dissipating plate (Please see P9 for further details)
AI Index absolute typeAM Multi-rotation absolute type
Thrust (axial) run-out (no load) 30 μm
Radial run-out (no load) 30 μm
PCD oslash200plusmn005 (equ
ally d
istrib
uted
)P
CD
oslash10
2plusmn0
1
2-oslash6H7
Encoderconnector
Motorconnector
180
160plusmn
01
55deg
180160plusmn01
(500)32 or less
94
5
4-oslash11(500)
2-oslash(equally distributed)
oslash110 0 (h7)oslash95
oslash180
oslash205
12plusmn1
23
A
003C05
oslash120
A003
-0035
A
120
plusmn 2
(dist
ance
bet
wee
n ca
ble j
unct
ions
)Gr
ound
tap
30deg
481
5
53plusmn0
1
(49
5)
CAD drawings can be downloaded from the website wwwintelligentactuatorde
DD-LT18 Direct Drive Motor Slim typeLarge bore
Model Specifications
Common Specifications Run-out of Output Shaft
Dimensional Drawing
Drive systemPositioning repeatability Allowable dynamic load moment (Note 2)
Encoder resolutionAllowable thrust load (Note 2)
(Note 4)
(Note 4)
(Note 3)
Base materialAmbient operating temperaturehumidityWeight
Applicable Controller Specifications
Caution
Model number Encoder typeMotor wattage
(W)
Range of operation
(deg)Speed (Note 1)
(degs)Rated torque
(Nmiddotm) ()
Maximuminstantaneous torque (Nmiddotm)
Allowable load inertia (kgmiddotmsup2)
Rotor inertia(kgmiddotmsup2)
(Note 1) The maximum speed may not be reached due to the moving distance or load inertia condition(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
(Note 3) The maximum cable length is 30 m Specify a desired length in meters (Example X08 = 8m) (Note 4) Please consult IAI if you are considering a 20-bit actuator and using it under conditions where the allowable dynamic moment and allowable thrust load will be exceeded
200 1 to 1800Index absolute typeMulti-rotation absolute type 84 252 06 0001984
Direct Drive Motor17-bit plusmn00055 deg 20-bit plusmn000103 deg80 Nmiddotm17-bit 131 072 (pulsesrev) 20-bit 1 048 576 (pulsesrev)Pressing 3400 N [3100 N for the high res type] Pulling 250 NAluminum0 to 40degC 20 to 85 (Non-condensing)62 kg
XSEL-PQ
SCON-CA2 Axes Single-phase
1 Axis
Program
Positioner230VAC Single-phase
6 Axes Three-phase 230VAC Three-phase
230VAC Single-phase
Model
Items
360200LT18Oscillation
angleTypeSeries Encoder
typeMotor
wattageApplicablecontroller
Cablelength
200 200W 360 360 deg T2 SCON-CA XSEL-PQ
T2DD
N NoneS 3mM 5m
P High resolution (20-bit)
Note Only SCON-CA applys for LT18P
S Standard (17-bit)
X
Applicable controllers Operating method Power supply voltageMax number ofcontrolled axes
Note For DD-LT18P only SCON-CA controller applysNote The multi-rotation absolute type is not available for SCON-CA with pulse-train control mode
DD-LT18 - -200-360-T2-
Legend Encoder resolution Encoder type Cable length () The value when installed on an IAI rated heat dissipating plate (Please see P9 for further details)
AI Index absolute typeAM Multi-rotation absolute type
0 (h7)
55deg
(59
5)
30deg
Thrust (axial) run-out (no load) 30 μm
Radial run-out (no load) 30 μm
Encoderconnector
Motorconnector
12plusmn1
581
5
33
A
63plusmn0
1
A003A003
5
(500)32 or less
2-oslash(equally distributed)
94
(500)
Grou
nd ta
p
180
160plusmn
01
2-oslash6H7
oslash95
oslash180
oslash47
180160plusmn01
C05
oslash120
oslash110 -0035
(equ
ally d
istrib
uted
)
120
plusmn 2
(dist
ance
bet
wee
n ca
ble j
unct
ions
)
5
DD Direct Drive Motor
Preview
Next planned DD seriesexpansion with same
like DD-LT181) Flangeless Type DD-LT18C2) Cleanroom Speci-
cleanliness class 4) DDCR-LT18(C)Please contact IAI foravailability and further details
Refer toP9
PCD oslash200plusmn005 PC
D oslash
102plusmn
01
4-oslash11
CAD drawings can be downloaded from the website wwwintelligentactuatorde
DD-H18 Direct Drive Motor High-torque typeStandard bore
Model Specifications
Common Specifications Run-out of Output Shaft
Dimensional Drawing
Drive systemPositioning repeatability Allowable dynamic load moment (Note 2)
Encoder resolutionAllowable thrust load (Note 2)
(Note 4)
(Note 4)
(Note 3)
Base materialAmbient operating temperaturehumidityWeight
Applicable Controller Specifications
Model number Encoder typeMotor wattage
(W)
Range of operation
(deg)Speed (Note 1)
(degs)Rated torque
(Nmiddotm) ()
Maximuminstantaneous torque (Nmiddotm)
Allowable load inertia (kgmiddotmsup2)
Rotor inertia(kgmiddotmsup2)
600 1 to 1440Index absolute typeMulti-rotation absolute type 25 75 18 00106
Direct Drive Motor17-bit plusmn00055 deg 20-bit plusmn000103 deg80 Nmiddotm17-bit 131 072 (pulsesrev) 20-bit 1 048 576 (pulsesrev)Pressing 3400 N [3100 N for the high res type] Pulling 250 NAluminum0 to 40degC 20 to 85 (Non-condensing)136 kg
XSEL-PQ
SCON-CA1 Axis Single-phase
1 Axis
Program
Positioner230VAC Single-phase
2 Axes Three-phase 230VAC Three-phase
230VAC Single-phase
Model
Items
360600H18Oscillation
angleTypeSeries Encoder
typeMotor
wattageApplicablecontroller
Cablelength
600 600W 360 360 deg T2 SCON-CA XSEL-PQ
T2DD
N NoneS 3mM 5m
P High resolution (20-bit)
Note Only SCON-CA applys for H18P
S Standard (17-bit)
X
Applicable controllers Operating method Power supply voltageMax number ofcontrolled axes
DD-H18 - -600-360-T2-
Legend Encoder resolution Encoder type Cable length () The value when installed on an IAI rated heat dissipating plate (Please see P9 for further details)
Thrust (axial) run-out (no load) 30 μm
Radial run-out (no load) 30 μm
5
94
34 or less
(500)
(500)
120
plusmn 2
(dist
ance
bet
wee
n ca
ble j
unct
ions
)
Encoderconnector
Motorconnector
Ground tap
2-oslash(equally distributed)
C05
180
160plusmn
01
oslash120oslash110 -0035 (h7)
oslash93
oslash180
160plusmn01180
55deg
003 A
003 A
30deg
2-oslash6H7
(equall
y dist
ributed
)
13plusmn1
125 plusmn
01
Aoslash205
0
118
15(1
20)
31
AI Index absolute typeAM Multi-rotation absolute type
6
DD Direct Drive Motor
Note For DD-H18P only SCON-CA controller applysNote The multi-rotation absolute type is not available for SCON-CA with pulse-train control mode
Preview
Next planned DD seriesexpansion with same
like DD-H181) Flangeless Type DD-H18C2) Cleanroom Speci-
cleanliness class 4) DDCR-H18(C)Please contact IAI foravailability and further details
Refer toP9
PCD oslash200plusmn005 PCD
oslash10
1plusmn01
4-oslash11
Caution
(Note 1) The maximum speed may not be reached due to the moving distance or load inertia condition(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
(Note 3) The maximum cable length is 30 m Specify a desired length in meters (Example X08 = 8m) (Note 4) Please consult IAI if you are considering a 20-bit actuator and using it under conditions where the allowable dynamic moment and allowable thrust load will be exceeded
CAD drawings can be downloaded from the website wwwintelligentactuatorde
DD-LH18 Direct Drive Motor High-torque typeLarge bore
Model Specifications
Common Specifications Run-out of Output Shaft
Dimensional Drawing
Drive systemPositioning repeatability Allowable dynamic load moment (Note 2)
Encoder resolutionAllowable thrust load (Note 2)
(Note 4)
(Note 4)
(Note 3)
Base materialAmbient operating temperaturehumidityWeight
Applicable Controller Specifications
Model number Encoder typeMotor wattage
(W)
Range of operation
(deg)Speed (Note 1)
(degs)Rated torque
(Nmiddotm) ()
Maximuminstantaneous torque (Nmiddotm)
Allowable load inertia (kgmiddotmsup2)
Rotor inertia(kgmiddotmsup2)
600 1 to 1440Index absolute typeMulti-rotation absolute type 25 75 18 00106
Direct Drive Motor17-bit plusmn00055 deg 20-bit plusmn000103 deg80 Nmiddotm17-bit 131 072 (pulsesrev) 20-bit 1 048 576 (pulsesrev)Pressing 3400 N [3100 N for the high res type] Pulling 250 NAluminum0 to 40degC 20 to 85 (Non-condensing)132 kg
XSEL-PQ
SCON-CA1 Axis Single-phase
1 Axis
Program
Positioner230VAC Single-phase
2 Axes Three-phase 230VAC Three-phase
230VAC Single-phase
Model
Items
360600LH18Oscillation
angleTypeSeries Encoder
typeMotor
wattageApplicablecontroller
Cablelength
600 600W 360 360 deg T2 SCON-CA XSEL-PQ
T2DD
N NoneS 3mM 5m
P High resolution (20-bit)
Note Only SCON-CA applys for LH18P
S Standard (17-bit)
X
Applicable controllers Operating method Power supply voltageMax number ofcontrolled axes
Note For DD-LH18P only SCON-CA controller applysNote The multi-rotation absolute type is not available for SCON-CA with pulse-train control mode
DD-LH18 - -600-360-T2-
Legend Encoder resolution Encoder type Cable length () The value when installed on an IAI rated heat dissipating plate (Please see P9 for further details)
AI Index absolute typeAM Multi-rotation absolute type
Thrust (axial) run-out (no load) 30 μm
Radial run-out (no load) 30 μm
Encoderconnector
Motorconnector
94
(h7)
oslash180
180160plusmn01
(500)
A003
oslash120
A003
34 or less
2-oslash(equally distributed)
120
plusmn 2
(dist
ance
bet
wee
n ca
ble j
unct
ions
)
oslash110 -0035
oslash47
180
160plusmn
01
2-oslash6H7
55deg
C05
(500)
30deg
oslash93
(equally distributed)
Ground tap
0
13plusmn1
(120
)
118
15
A
125plusmn
01
31
5
7
DD Direct Drive Motor
Preview
Next planned DD seriesexpansion with same
like DD-LH181) Flangeless Type DD-LH18C2) Cleanroom Speci-
cleanliness class 4) DDCR-LH18(C)Please contact IAI foravailability and further details
Refer toP9
PCD oslash200plusmn005 PCD oslash10
1plusmn01
4-oslash11
Caution
(Note 1) The maximum speed may not be reached due to the moving distance or load inertia condition(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
(Note 3) The maximum cable length is 30 m Specify a desired length in meters (Example X08 = 8m) (Note 4) Please consult IAI if you are considering a 20-bit actuator and using it under conditions where the allowable dynamic moment and allowable thrust load will be exceeded
Model Number of Positioner Single-axis Type ltSCON-CAgt
Power-supplyvoltage
IO typeEncoder typeMotor typeTypeSeries OptionsSCON
IO cable length
A I
M
Index absolute type
Multi-rotation absolute type
For 200-watt motor (DD motor only)
For 600-watt motor
CA A 2
Model Number of Programmable Multi-axis Type ltXSELgt
Encoder type Encoder typeMotor type Motor typeNumber ofconnected axes
TypeSeries Options OptionsXSEL
600 For 600-watt motor
200
200S
600
For 200-watt motor
A I
M
Index absolute type
Multi-rotation absolute type
P
Q
6-axis standard type
6-axis global type
1
6
1 axis
6 axes
A A
(Specs for axis 1) (Specs for axes 2~6)
A single controller can operate multiple actuators other thanthe DD motor (single-axis robot RoboCylinder) at the sametime For details on actuators other than the DD motor thatcan be connected refer to the page listing the XSEL modelnumbers in the RoboCylinder general catalog
For the remaining part of the model number see the RoboCylindergeneral catalog
Caution
Because the 200W driver for the SCON-CA for DD motors is larger than the regular 200-watt type the motor type will be 200S
The controller may be selected from the two models described below
When the XSEL controller is connected
SCON-CAPC
PLC(To be supplied by the customer)
() TB-01-C-ENG coming soon with CE conformity
() TB-01-C-ENG coming soon with CE conformity
PLC(To be supplied by the customer)
Model CB-PAC-PIO020Standard 2 m
Be sure t ter on the power supply(For recommended models see the RC general catalog)
Encoder cableModel CB-X(EU)3-PA
PC softwareRS232 connection typeModel RCM-101-MW-ENGUSB connection typeModel RCM-101-USB-ENG
Teaching pendant Model TB-01-C-ENG ()
Regenerative resistor unitModel REU-2
Main power supply
Main power supply
Single-phase 230 VAC
Field network(For details see the RoboCylinder general catalog
Option
Comes with the actuator
Comes with the controller
Comes with the actuator Option
Option
OptionMotor CableModel CB-X(EU)-MA (T18LT18)
CB-X(EU)MC-MA (H18LH18)
XSELPC
Be sure t ter on the power supply(For recommended models see the RC general catalog)
PC softwareRS232 connection typeModel IA-101-X-MWUSB connection typeModel IA-101-X-USBMW
Single-phase 230 VACThree-phase 230 VAC
Regenerative resistor unitModel REU-1
Option
Option
Field network(For details see the RoboCylinder general catalog
Option
Model CB-X-PIO020Standard 2 m
Comes with the controller
Encoder cableModel CB-X(EU)3-PA
Comes with the actuator
Comes with the actuatorMotor CableModel CB-X(EU)-MA (T18LT18)
CB-X(EU)MC-MA (H18LH18)
EU version w metal connector
EU version w metal connector
When the SCON controller is connected
how many regenerative resistor units are needed
how many regenerative resistor units are needed
Teaching pendant Model TB-01-S-ENG ()
Option
Controller Model Numbers
8
DD Direct Drive Motor
Notes Installation
Installation Orientation
Controllers The output of the DD motor is 200 watts but the outside dimensions of the SCON-CA controller are those of the 400-watt type (For details on the outside dimensions of the SCON-CA see the RoboCylinder General Catalog) One and two regenerative resistor unit(s) are required for T18LT18 and H18LH18 respectively to operate a DD motor with the SCON-CA When operating DD motor(s) with the XSEL controller regenerative resistor units are required as shown below
The number of DD motor(s) connectable to the XSEL controller are a max of 6 units for the T18LT18 types and a max of 2 units for the H18LH18 types Please note that when the DD motor is operated with the SCON-CA the motor cannot be connected to the RoboCylinder gateway function of the XSEL controller Calculation the for power supply value T18LT18 types single-phase 600W bull three-phase 200W H18LH18 types single-phase 1200W bull three-phase 600W
Operation Types
When the XSEL absolute index type travels more than 180deg from the current position it rotates in a direction that requires a shorter travel to reach the target position Therefore please note that the direction of rotation changes according to the current position and travelIf you want to specify the direction of travel use the SCON-CA
like a regular motor does because the maximum travel distance per command from the XSEL controller is 180deg If you want to allow the motor to rotate continuously use the SCON-CA
Home return is required for the multi-rotation absolute encoder during the initial setting and replacement of the absolute battery
(1)
(2)
(3)
(4)
Operation typeController typeOperation rangeMaximum travel per travel command
Home returnAbsolute battery
Index absolute type
0 to 359999deg
Available (3)Not requiredNot required
SCON-CA
360deg
XSEL (1)
180deg (2)
Multi-rotation absolute type
Max plusmn9999deg (plusmn2520deg)Within the above operation range
Not availableNot required (4)
Required
SCON-CA XSEL (1)
160
Positioning hole for DD motor2-oslash4 reamed hole through
Mounting hole for DD motor4-oslash11 drilled through
oslash200
55deg
160
H
Installation surface
Ceiling mountVertical mount
Gra
vity
Horizontal mount
The height ldquoHrdquo measurements
mmT1823
LT1833
H1831
LH1831
(Note) Use this product by installing it on a mounting surfacehaving heat dissipating characteristics equivalent to those of an aluminum plate of 400 x 400 x t10 mm in sizeIf the installation conditions necessitate lower heat dissipating characteristics please consult IAI
( ) indicates at 20-bit resolution
Number of regenerative resistor units
1 2 3 4 5 61 2 3
(Cannot be connected)2 4
T18LT18
H18LH18
Number of DD motor(s)
9
DD Direct Drive Motor
Conditions for Selection
determine whether the DD motor can be used under the applicable operating conditions
The total load of device(s) mounted on the actuator
The total load moment of device(s) mounted on the actuator
The load inertia of device(s) mounted on the actuator
To calculate the load conditions calculate the load inertia of device(s) mounted on the actuator and check the details with the DD motor selection software The equations used to calculate the load inertia of typical shapes are shown below for reference purposes
Check Load Conditions1
Check Operating Conditions2
The travel time changes according to the load inertia See the tables below to check the travel time data The data in the tables is only intended as a guide so the travel time is not guaranteed
Travel Time Guide3
[1] Thrust load
[2] Load moment applied
[3] Load inertia
J = M x R2 + 112 x M x (a2 + b2)J = M x R2 + 18 x M x D2 J = 112 x M x (a2 + b2)J = 18 x M x D2
Weight M
D
Cent
er of
ro
tatio
n
a
b
Cent
er of
ro
tatio
n
Weight MWeight MCent
er o
f rot
atio
n
D
R Cent
er o
f rot
atio
n
a
bR
Weight M
To calculate operating conditions use the DD motor selection software
DD Direct Drive Motor
10
Load inertia lower limit [kgm2] 0 0005 001 002 002 003 004 006 008 010 015 02 03 04 06 08 10 12 14
Load inertia upper limit [kgm2] 0005 001 0015 002 003 004 006 008 01 015 02 03 04 06 08 1 12 14 18
45deg travel time [sec] 0098 0096 0096 0097 0099 0104 0113 012 0126 014 0157 0207 0257 0352 0447 053 0629 0795 0875
90deg travel time [sec] 0129 0128 0127 0128 0131 0136 0144 0153 0163 0184 0208 0268 0329 044 0549 0646 0758 0941 1035
180deg travel time [sec] 0192 019 019 0191 0193 0199 0207 0215 0225 0249 0279 0354 0428 0562 0692 0806 0933 1133 1257
270deg travel time [sec] 0254 0252 0252 0253 0256 0262 027 0278 0288 0312 0341 042 0504 0655 08 0925 1064 1274 1415
DD-H18LH18
Load inertia lower limit [kgm2] 0 0005 001 002 003 004 005 006 007 008 009 01 02 03 04 05
Load inertia upper limit [kgm2] 0005 001 002 003 004 005 006 007 008 009 01 02 03 04 05 06
45deg travel time [sec] 009 010 011 012 013 014 015 017 019 021 023 039 062 070 087 111
90deg travel time [sec] 012 012 014 016 017 018 020 022 024 026 029 048 073 083 102 123
180deg travel time [sec] 017 017 019 021 023 024 027 029 032 035 037 060 089 101 122 142
270deg travel time [sec] 022 022 024 026 027 029 032 035 038 041 044 069 100 114 136 168
DD-T18LT18
(Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)
(Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)
Download the DD motor selection software from the IAIlsquos websitewwwintelligentactuatorde -gt area ldquodownloadsoftwareldquo
Download the DD motor selection software from the IAIlsquos websitewwwintelligentactuatorde -gt area ldquodownloadsoftwareldquo
IAI Industrie r oboter GmbH Ober der Roumlth 4
D-658 2 4 Schwalb a ch Frankfurt Germany
T el+49- 6 1 96-8895-0 Fax+49- 6 1 96-8895- 2 4
E-Mail infoIAI-GmbHde Inte r net httpww w euIAI-GmbHde
IAI the IAI-logo RoboCylindertrade the RoboCylindertrade-logo Intel ligentActuatortrade and the IntelligentActuatortrade-logo are trademark s or product names of IAI Corporation or of the subsidiaries in USA ChinaThailand or Germany
IAI America Inc 2690 W 237th Street Torrance CA 90505 USAPhone +1-310-891-6015 Fax +1-310-891-0815
IAI (Shanghai) Co LtdShanghai Jiahua Business Centee A8-303808Hongqiao Rd Shanghai 200030 China Phone +86-21-6448-4753 Fax +86-21-6448-3992
IAI CORPORATION645-1 Shimizu Hirose Shizuoka 424-0102 JapanPhone +81-543-64-5105 Fax +81-543-64-5182
IAI Robot (Thailand) Co Ltd825 PhairojKijja Tower 12th Floor Bangna-Trad RDBangna Bangna Bangkok 10260 ThailandPhone +66-2-361-4457 Fax +66-2-361-4456
The information contained in this catalogis subject to change without notice for the
purpose of product improvement
DD Series V2b
Catalogue No 0315-E
DD Motor Series List
Model Description
3
DD Direct Drive Motor
Cable lengthEncodertype
Oscillationangle
Series Motor wattageDD
Applicablecontroller
360 T2Type
None3m5m
length
NSM
X200600
200W600W
360 360 deg
Note Only SCON-CA can be selected for the encoder high-resolution type (20-bit)
SCON-CA
XSEL-PQT2
AIAM
Index absoluteMulti-rotation absolute T18S
T18PLT18SLT18PH18SH18PLH18SLH18P
Type EncoderStandard bore slimStandard bore slimLarge bore slimLarge bore slimStandard bore high torqueStandard bore high torqueLarge bore high torqueLarge bore high torque
Standard (17-bit)High resolution (20-bit)Standard (17-bit)High resolution (20-bit)Standard (17-bit)High resolution (20-bit)Standard (17-bit)High resolution (20-bit)
Type Standard boreslim type
Large boreslim type
Standard borehigh torque type
Large borehigh torque type
Encoder Standard(17-bit)
Highresolution
(20-bit)Standard
(17-bit)High
resolution(20-bit)
Standard(17-bit)
Highresolution
(20-bit)Standard
(17-bit)High
resolution(20-bit)
Model DD-T18S DD-T18P DD-LT18S DD-LT18P DD-H18S DD-H18P DD-LH18S DD-LH18P
External view
84 25
252 75
Rated speed (degs) 1080 1440
Maximum speed (degs) 1800 1440
2) 06 18
Motor wattage (W) 200 600
Size (mm) 180 times 180 180 times 180
Height (mm) 53 63 125
Hollow bore (mm) oslash205 oslash47 oslash205 oslash47
Weight (kg) 56 62 136 132
Encoder type Index absoluteMulti-rotation absolute
Applicable controller XSELSCON-CA SCON-CA XSEL
SCON-CA SCON-CA XSELSCON-CA SCON-CA XSEL
SCON-CA SCON-CA
Reference page P4 P5 P6 P7
4
DD Direct Drive Motor
CAD drawings can be downloaded from the website wwwintelligentactuatorde
DD-T18 Direct Drive Motor Slim typeStandard bore
Model Specifications
Common Specifications Run-out of Output Shaft
Dimensional Drawing
Drive systemPositioning repeatability Allowable dynamic load moment (Note 2)
(Note 3)
Encoder resolutionAllowable thrust load (Note 2)
(Note 4)
(Note 4)
Base materialAmbient operating temperaturehumidityWeight
Applicable Controller Specifications
Caution
Model number Encoder typeMotor wattage
(W)
Range of operation
(deg)Speed (Note 1)
(degs)Rated torque
(Nmiddotm) ()
Maximuminstantaneous torque (Nmiddotm)
Allowable load inertia (kgmiddotmsup2)
Rotor inertia(kgmiddotmsup2)
(Note 1) The maximum speed may not be reached due to the moving distance or load inertia condition(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
(Note 3) The maximum cable length is 30 m Specify a desired length in meters (Example X08 = 8m) (Note 4) Please consult IAI if you are considering a 20-bit actuator and using it under conditions where the allowable dynamic moment and allowable thrust load will be exceeded
Preview
Next planned DD seriesexpansion with same
like DD-T181) Flangeless Type DD-T18C2) Cleanroom Speci-
cleanliness class 4) DDCR-T18(C)Please contact IAI foravailability and further details
DD-T18 - -200-360-T2- 200 Refer toP9 1 to 1800
Index absolute typeMulti-rotation absolute type 84 252 06 0001984
Direct Drive Motor17-bit plusmn00055 deg 20-bit plusmn000103 deg80 Nmiddotm17-bit 131 072 (pulsesrev) 20-bit 1 048 576 (pulsesrev)Pressing 3400 N [3100 N for the high res type] Pulling 250 NAluminum0 to 40degC 20 to 85 (Non-condensing)56 kg
XSEL-PQ
SCON-CA2 Axes Single-phase
1 Axis
Program
Positioner230VAC Single-phase
6 Axes Three-phase 230VAC Three-phase
230VAC Single-phase
Model
Items
360200T18Oscillation
angleTypeSeries Encoder
typeMotor
wattageApplicablecontroller
Cablelength
200 200W 360 360 deg T2 SCON-CA XSEL-PQ
T2DD
N NoneS 3mM 5m
P High resolution (20-bit)
Note Only SCON-CA applys for T18P
S Standard (17-bit)
X
Applicable controllers Operating method Power supply voltageMax number ofcontrolled axes
Note For DD-T18P only SCON-CA controller applysNote The multi-rotation absolute type is not available for SCON-CA with pulse-train control mode
Legend Encoder resolution Encoder type Cable length () The value when installed on an IAI rated heat dissipating plate (Please see P9 for further details)
AI Index absolute typeAM Multi-rotation absolute type
Thrust (axial) run-out (no load) 30 μm
Radial run-out (no load) 30 μm
PCD oslash200plusmn005 (equ
ally d
istrib
uted
)P
CD
oslash10
2plusmn0
1
2-oslash6H7
Encoderconnector
Motorconnector
180
160plusmn
01
55deg
180160plusmn01
(500)32 or less
94
5
4-oslash11(500)
2-oslash(equally distributed)
oslash110 0 (h7)oslash95
oslash180
oslash205
12plusmn1
23
A
003C05
oslash120
A003
-0035
A
120
plusmn 2
(dist
ance
bet
wee
n ca
ble j
unct
ions
)Gr
ound
tap
30deg
481
5
53plusmn0
1
(49
5)
CAD drawings can be downloaded from the website wwwintelligentactuatorde
DD-LT18 Direct Drive Motor Slim typeLarge bore
Model Specifications
Common Specifications Run-out of Output Shaft
Dimensional Drawing
Drive systemPositioning repeatability Allowable dynamic load moment (Note 2)
Encoder resolutionAllowable thrust load (Note 2)
(Note 4)
(Note 4)
(Note 3)
Base materialAmbient operating temperaturehumidityWeight
Applicable Controller Specifications
Caution
Model number Encoder typeMotor wattage
(W)
Range of operation
(deg)Speed (Note 1)
(degs)Rated torque
(Nmiddotm) ()
Maximuminstantaneous torque (Nmiddotm)
Allowable load inertia (kgmiddotmsup2)
Rotor inertia(kgmiddotmsup2)
(Note 1) The maximum speed may not be reached due to the moving distance or load inertia condition(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
(Note 3) The maximum cable length is 30 m Specify a desired length in meters (Example X08 = 8m) (Note 4) Please consult IAI if you are considering a 20-bit actuator and using it under conditions where the allowable dynamic moment and allowable thrust load will be exceeded
200 1 to 1800Index absolute typeMulti-rotation absolute type 84 252 06 0001984
Direct Drive Motor17-bit plusmn00055 deg 20-bit plusmn000103 deg80 Nmiddotm17-bit 131 072 (pulsesrev) 20-bit 1 048 576 (pulsesrev)Pressing 3400 N [3100 N for the high res type] Pulling 250 NAluminum0 to 40degC 20 to 85 (Non-condensing)62 kg
XSEL-PQ
SCON-CA2 Axes Single-phase
1 Axis
Program
Positioner230VAC Single-phase
6 Axes Three-phase 230VAC Three-phase
230VAC Single-phase
Model
Items
360200LT18Oscillation
angleTypeSeries Encoder
typeMotor
wattageApplicablecontroller
Cablelength
200 200W 360 360 deg T2 SCON-CA XSEL-PQ
T2DD
N NoneS 3mM 5m
P High resolution (20-bit)
Note Only SCON-CA applys for LT18P
S Standard (17-bit)
X
Applicable controllers Operating method Power supply voltageMax number ofcontrolled axes
Note For DD-LT18P only SCON-CA controller applysNote The multi-rotation absolute type is not available for SCON-CA with pulse-train control mode
DD-LT18 - -200-360-T2-
Legend Encoder resolution Encoder type Cable length () The value when installed on an IAI rated heat dissipating plate (Please see P9 for further details)
AI Index absolute typeAM Multi-rotation absolute type
0 (h7)
55deg
(59
5)
30deg
Thrust (axial) run-out (no load) 30 μm
Radial run-out (no load) 30 μm
Encoderconnector
Motorconnector
12plusmn1
581
5
33
A
63plusmn0
1
A003A003
5
(500)32 or less
2-oslash(equally distributed)
94
(500)
Grou
nd ta
p
180
160plusmn
01
2-oslash6H7
oslash95
oslash180
oslash47
180160plusmn01
C05
oslash120
oslash110 -0035
(equ
ally d
istrib
uted
)
120
plusmn 2
(dist
ance
bet
wee
n ca
ble j
unct
ions
)
5
DD Direct Drive Motor
Preview
Next planned DD seriesexpansion with same
like DD-LT181) Flangeless Type DD-LT18C2) Cleanroom Speci-
cleanliness class 4) DDCR-LT18(C)Please contact IAI foravailability and further details
Refer toP9
PCD oslash200plusmn005 PC
D oslash
102plusmn
01
4-oslash11
CAD drawings can be downloaded from the website wwwintelligentactuatorde
DD-H18 Direct Drive Motor High-torque typeStandard bore
Model Specifications
Common Specifications Run-out of Output Shaft
Dimensional Drawing
Drive systemPositioning repeatability Allowable dynamic load moment (Note 2)
Encoder resolutionAllowable thrust load (Note 2)
(Note 4)
(Note 4)
(Note 3)
Base materialAmbient operating temperaturehumidityWeight
Applicable Controller Specifications
Model number Encoder typeMotor wattage
(W)
Range of operation
(deg)Speed (Note 1)
(degs)Rated torque
(Nmiddotm) ()
Maximuminstantaneous torque (Nmiddotm)
Allowable load inertia (kgmiddotmsup2)
Rotor inertia(kgmiddotmsup2)
600 1 to 1440Index absolute typeMulti-rotation absolute type 25 75 18 00106
Direct Drive Motor17-bit plusmn00055 deg 20-bit plusmn000103 deg80 Nmiddotm17-bit 131 072 (pulsesrev) 20-bit 1 048 576 (pulsesrev)Pressing 3400 N [3100 N for the high res type] Pulling 250 NAluminum0 to 40degC 20 to 85 (Non-condensing)136 kg
XSEL-PQ
SCON-CA1 Axis Single-phase
1 Axis
Program
Positioner230VAC Single-phase
2 Axes Three-phase 230VAC Three-phase
230VAC Single-phase
Model
Items
360600H18Oscillation
angleTypeSeries Encoder
typeMotor
wattageApplicablecontroller
Cablelength
600 600W 360 360 deg T2 SCON-CA XSEL-PQ
T2DD
N NoneS 3mM 5m
P High resolution (20-bit)
Note Only SCON-CA applys for H18P
S Standard (17-bit)
X
Applicable controllers Operating method Power supply voltageMax number ofcontrolled axes
DD-H18 - -600-360-T2-
Legend Encoder resolution Encoder type Cable length () The value when installed on an IAI rated heat dissipating plate (Please see P9 for further details)
Thrust (axial) run-out (no load) 30 μm
Radial run-out (no load) 30 μm
5
94
34 or less
(500)
(500)
120
plusmn 2
(dist
ance
bet
wee
n ca
ble j
unct
ions
)
Encoderconnector
Motorconnector
Ground tap
2-oslash(equally distributed)
C05
180
160plusmn
01
oslash120oslash110 -0035 (h7)
oslash93
oslash180
160plusmn01180
55deg
003 A
003 A
30deg
2-oslash6H7
(equall
y dist
ributed
)
13plusmn1
125 plusmn
01
Aoslash205
0
118
15(1
20)
31
AI Index absolute typeAM Multi-rotation absolute type
6
DD Direct Drive Motor
Note For DD-H18P only SCON-CA controller applysNote The multi-rotation absolute type is not available for SCON-CA with pulse-train control mode
Preview
Next planned DD seriesexpansion with same
like DD-H181) Flangeless Type DD-H18C2) Cleanroom Speci-
cleanliness class 4) DDCR-H18(C)Please contact IAI foravailability and further details
Refer toP9
PCD oslash200plusmn005 PCD
oslash10
1plusmn01
4-oslash11
Caution
(Note 1) The maximum speed may not be reached due to the moving distance or load inertia condition(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
(Note 3) The maximum cable length is 30 m Specify a desired length in meters (Example X08 = 8m) (Note 4) Please consult IAI if you are considering a 20-bit actuator and using it under conditions where the allowable dynamic moment and allowable thrust load will be exceeded
CAD drawings can be downloaded from the website wwwintelligentactuatorde
DD-LH18 Direct Drive Motor High-torque typeLarge bore
Model Specifications
Common Specifications Run-out of Output Shaft
Dimensional Drawing
Drive systemPositioning repeatability Allowable dynamic load moment (Note 2)
Encoder resolutionAllowable thrust load (Note 2)
(Note 4)
(Note 4)
(Note 3)
Base materialAmbient operating temperaturehumidityWeight
Applicable Controller Specifications
Model number Encoder typeMotor wattage
(W)
Range of operation
(deg)Speed (Note 1)
(degs)Rated torque
(Nmiddotm) ()
Maximuminstantaneous torque (Nmiddotm)
Allowable load inertia (kgmiddotmsup2)
Rotor inertia(kgmiddotmsup2)
600 1 to 1440Index absolute typeMulti-rotation absolute type 25 75 18 00106
Direct Drive Motor17-bit plusmn00055 deg 20-bit plusmn000103 deg80 Nmiddotm17-bit 131 072 (pulsesrev) 20-bit 1 048 576 (pulsesrev)Pressing 3400 N [3100 N for the high res type] Pulling 250 NAluminum0 to 40degC 20 to 85 (Non-condensing)132 kg
XSEL-PQ
SCON-CA1 Axis Single-phase
1 Axis
Program
Positioner230VAC Single-phase
2 Axes Three-phase 230VAC Three-phase
230VAC Single-phase
Model
Items
360600LH18Oscillation
angleTypeSeries Encoder
typeMotor
wattageApplicablecontroller
Cablelength
600 600W 360 360 deg T2 SCON-CA XSEL-PQ
T2DD
N NoneS 3mM 5m
P High resolution (20-bit)
Note Only SCON-CA applys for LH18P
S Standard (17-bit)
X
Applicable controllers Operating method Power supply voltageMax number ofcontrolled axes
Note For DD-LH18P only SCON-CA controller applysNote The multi-rotation absolute type is not available for SCON-CA with pulse-train control mode
DD-LH18 - -600-360-T2-
Legend Encoder resolution Encoder type Cable length () The value when installed on an IAI rated heat dissipating plate (Please see P9 for further details)
AI Index absolute typeAM Multi-rotation absolute type
Thrust (axial) run-out (no load) 30 μm
Radial run-out (no load) 30 μm
Encoderconnector
Motorconnector
94
(h7)
oslash180
180160plusmn01
(500)
A003
oslash120
A003
34 or less
2-oslash(equally distributed)
120
plusmn 2
(dist
ance
bet
wee
n ca
ble j
unct
ions
)
oslash110 -0035
oslash47
180
160plusmn
01
2-oslash6H7
55deg
C05
(500)
30deg
oslash93
(equally distributed)
Ground tap
0
13plusmn1
(120
)
118
15
A
125plusmn
01
31
5
7
DD Direct Drive Motor
Preview
Next planned DD seriesexpansion with same
like DD-LH181) Flangeless Type DD-LH18C2) Cleanroom Speci-
cleanliness class 4) DDCR-LH18(C)Please contact IAI foravailability and further details
Refer toP9
PCD oslash200plusmn005 PCD oslash10
1plusmn01
4-oslash11
Caution
(Note 1) The maximum speed may not be reached due to the moving distance or load inertia condition(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
(Note 3) The maximum cable length is 30 m Specify a desired length in meters (Example X08 = 8m) (Note 4) Please consult IAI if you are considering a 20-bit actuator and using it under conditions where the allowable dynamic moment and allowable thrust load will be exceeded
Model Number of Positioner Single-axis Type ltSCON-CAgt
Power-supplyvoltage
IO typeEncoder typeMotor typeTypeSeries OptionsSCON
IO cable length
A I
M
Index absolute type
Multi-rotation absolute type
For 200-watt motor (DD motor only)
For 600-watt motor
CA A 2
Model Number of Programmable Multi-axis Type ltXSELgt
Encoder type Encoder typeMotor type Motor typeNumber ofconnected axes
TypeSeries Options OptionsXSEL
600 For 600-watt motor
200
200S
600
For 200-watt motor
A I
M
Index absolute type
Multi-rotation absolute type
P
Q
6-axis standard type
6-axis global type
1
6
1 axis
6 axes
A A
(Specs for axis 1) (Specs for axes 2~6)
A single controller can operate multiple actuators other thanthe DD motor (single-axis robot RoboCylinder) at the sametime For details on actuators other than the DD motor thatcan be connected refer to the page listing the XSEL modelnumbers in the RoboCylinder general catalog
For the remaining part of the model number see the RoboCylindergeneral catalog
Caution
Because the 200W driver for the SCON-CA for DD motors is larger than the regular 200-watt type the motor type will be 200S
The controller may be selected from the two models described below
When the XSEL controller is connected
SCON-CAPC
PLC(To be supplied by the customer)
() TB-01-C-ENG coming soon with CE conformity
() TB-01-C-ENG coming soon with CE conformity
PLC(To be supplied by the customer)
Model CB-PAC-PIO020Standard 2 m
Be sure t ter on the power supply(For recommended models see the RC general catalog)
Encoder cableModel CB-X(EU)3-PA
PC softwareRS232 connection typeModel RCM-101-MW-ENGUSB connection typeModel RCM-101-USB-ENG
Teaching pendant Model TB-01-C-ENG ()
Regenerative resistor unitModel REU-2
Main power supply
Main power supply
Single-phase 230 VAC
Field network(For details see the RoboCylinder general catalog
Option
Comes with the actuator
Comes with the controller
Comes with the actuator Option
Option
OptionMotor CableModel CB-X(EU)-MA (T18LT18)
CB-X(EU)MC-MA (H18LH18)
XSELPC
Be sure t ter on the power supply(For recommended models see the RC general catalog)
PC softwareRS232 connection typeModel IA-101-X-MWUSB connection typeModel IA-101-X-USBMW
Single-phase 230 VACThree-phase 230 VAC
Regenerative resistor unitModel REU-1
Option
Option
Field network(For details see the RoboCylinder general catalog
Option
Model CB-X-PIO020Standard 2 m
Comes with the controller
Encoder cableModel CB-X(EU)3-PA
Comes with the actuator
Comes with the actuatorMotor CableModel CB-X(EU)-MA (T18LT18)
CB-X(EU)MC-MA (H18LH18)
EU version w metal connector
EU version w metal connector
When the SCON controller is connected
how many regenerative resistor units are needed
how many regenerative resistor units are needed
Teaching pendant Model TB-01-S-ENG ()
Option
Controller Model Numbers
8
DD Direct Drive Motor
Notes Installation
Installation Orientation
Controllers The output of the DD motor is 200 watts but the outside dimensions of the SCON-CA controller are those of the 400-watt type (For details on the outside dimensions of the SCON-CA see the RoboCylinder General Catalog) One and two regenerative resistor unit(s) are required for T18LT18 and H18LH18 respectively to operate a DD motor with the SCON-CA When operating DD motor(s) with the XSEL controller regenerative resistor units are required as shown below
The number of DD motor(s) connectable to the XSEL controller are a max of 6 units for the T18LT18 types and a max of 2 units for the H18LH18 types Please note that when the DD motor is operated with the SCON-CA the motor cannot be connected to the RoboCylinder gateway function of the XSEL controller Calculation the for power supply value T18LT18 types single-phase 600W bull three-phase 200W H18LH18 types single-phase 1200W bull three-phase 600W
Operation Types
When the XSEL absolute index type travels more than 180deg from the current position it rotates in a direction that requires a shorter travel to reach the target position Therefore please note that the direction of rotation changes according to the current position and travelIf you want to specify the direction of travel use the SCON-CA
like a regular motor does because the maximum travel distance per command from the XSEL controller is 180deg If you want to allow the motor to rotate continuously use the SCON-CA
Home return is required for the multi-rotation absolute encoder during the initial setting and replacement of the absolute battery
(1)
(2)
(3)
(4)
Operation typeController typeOperation rangeMaximum travel per travel command
Home returnAbsolute battery
Index absolute type
0 to 359999deg
Available (3)Not requiredNot required
SCON-CA
360deg
XSEL (1)
180deg (2)
Multi-rotation absolute type
Max plusmn9999deg (plusmn2520deg)Within the above operation range
Not availableNot required (4)
Required
SCON-CA XSEL (1)
160
Positioning hole for DD motor2-oslash4 reamed hole through
Mounting hole for DD motor4-oslash11 drilled through
oslash200
55deg
160
H
Installation surface
Ceiling mountVertical mount
Gra
vity
Horizontal mount
The height ldquoHrdquo measurements
mmT1823
LT1833
H1831
LH1831
(Note) Use this product by installing it on a mounting surfacehaving heat dissipating characteristics equivalent to those of an aluminum plate of 400 x 400 x t10 mm in sizeIf the installation conditions necessitate lower heat dissipating characteristics please consult IAI
( ) indicates at 20-bit resolution
Number of regenerative resistor units
1 2 3 4 5 61 2 3
(Cannot be connected)2 4
T18LT18
H18LH18
Number of DD motor(s)
9
DD Direct Drive Motor
Conditions for Selection
determine whether the DD motor can be used under the applicable operating conditions
The total load of device(s) mounted on the actuator
The total load moment of device(s) mounted on the actuator
The load inertia of device(s) mounted on the actuator
To calculate the load conditions calculate the load inertia of device(s) mounted on the actuator and check the details with the DD motor selection software The equations used to calculate the load inertia of typical shapes are shown below for reference purposes
Check Load Conditions1
Check Operating Conditions2
The travel time changes according to the load inertia See the tables below to check the travel time data The data in the tables is only intended as a guide so the travel time is not guaranteed
Travel Time Guide3
[1] Thrust load
[2] Load moment applied
[3] Load inertia
J = M x R2 + 112 x M x (a2 + b2)J = M x R2 + 18 x M x D2 J = 112 x M x (a2 + b2)J = 18 x M x D2
Weight M
D
Cent
er of
ro
tatio
n
a
b
Cent
er of
ro
tatio
n
Weight MWeight MCent
er o
f rot
atio
n
D
R Cent
er o
f rot
atio
n
a
bR
Weight M
To calculate operating conditions use the DD motor selection software
DD Direct Drive Motor
10
Load inertia lower limit [kgm2] 0 0005 001 002 002 003 004 006 008 010 015 02 03 04 06 08 10 12 14
Load inertia upper limit [kgm2] 0005 001 0015 002 003 004 006 008 01 015 02 03 04 06 08 1 12 14 18
45deg travel time [sec] 0098 0096 0096 0097 0099 0104 0113 012 0126 014 0157 0207 0257 0352 0447 053 0629 0795 0875
90deg travel time [sec] 0129 0128 0127 0128 0131 0136 0144 0153 0163 0184 0208 0268 0329 044 0549 0646 0758 0941 1035
180deg travel time [sec] 0192 019 019 0191 0193 0199 0207 0215 0225 0249 0279 0354 0428 0562 0692 0806 0933 1133 1257
270deg travel time [sec] 0254 0252 0252 0253 0256 0262 027 0278 0288 0312 0341 042 0504 0655 08 0925 1064 1274 1415
DD-H18LH18
Load inertia lower limit [kgm2] 0 0005 001 002 003 004 005 006 007 008 009 01 02 03 04 05
Load inertia upper limit [kgm2] 0005 001 002 003 004 005 006 007 008 009 01 02 03 04 05 06
45deg travel time [sec] 009 010 011 012 013 014 015 017 019 021 023 039 062 070 087 111
90deg travel time [sec] 012 012 014 016 017 018 020 022 024 026 029 048 073 083 102 123
180deg travel time [sec] 017 017 019 021 023 024 027 029 032 035 037 060 089 101 122 142
270deg travel time [sec] 022 022 024 026 027 029 032 035 038 041 044 069 100 114 136 168
DD-T18LT18
(Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)
(Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)
Download the DD motor selection software from the IAIlsquos websitewwwintelligentactuatorde -gt area ldquodownloadsoftwareldquo
Download the DD motor selection software from the IAIlsquos websitewwwintelligentactuatorde -gt area ldquodownloadsoftwareldquo
IAI Industrie r oboter GmbH Ober der Roumlth 4
D-658 2 4 Schwalb a ch Frankfurt Germany
T el+49- 6 1 96-8895-0 Fax+49- 6 1 96-8895- 2 4
E-Mail infoIAI-GmbHde Inte r net httpww w euIAI-GmbHde
IAI the IAI-logo RoboCylindertrade the RoboCylindertrade-logo Intel ligentActuatortrade and the IntelligentActuatortrade-logo are trademark s or product names of IAI Corporation or of the subsidiaries in USA ChinaThailand or Germany
IAI America Inc 2690 W 237th Street Torrance CA 90505 USAPhone +1-310-891-6015 Fax +1-310-891-0815
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IAI CORPORATION645-1 Shimizu Hirose Shizuoka 424-0102 JapanPhone +81-543-64-5105 Fax +81-543-64-5182
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The information contained in this catalogis subject to change without notice for the
purpose of product improvement
DD Series V2b
Catalogue No 0315-E
4
DD Direct Drive Motor
CAD drawings can be downloaded from the website wwwintelligentactuatorde
DD-T18 Direct Drive Motor Slim typeStandard bore
Model Specifications
Common Specifications Run-out of Output Shaft
Dimensional Drawing
Drive systemPositioning repeatability Allowable dynamic load moment (Note 2)
(Note 3)
Encoder resolutionAllowable thrust load (Note 2)
(Note 4)
(Note 4)
Base materialAmbient operating temperaturehumidityWeight
Applicable Controller Specifications
Caution
Model number Encoder typeMotor wattage
(W)
Range of operation
(deg)Speed (Note 1)
(degs)Rated torque
(Nmiddotm) ()
Maximuminstantaneous torque (Nmiddotm)
Allowable load inertia (kgmiddotmsup2)
Rotor inertia(kgmiddotmsup2)
(Note 1) The maximum speed may not be reached due to the moving distance or load inertia condition(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
(Note 3) The maximum cable length is 30 m Specify a desired length in meters (Example X08 = 8m) (Note 4) Please consult IAI if you are considering a 20-bit actuator and using it under conditions where the allowable dynamic moment and allowable thrust load will be exceeded
Preview
Next planned DD seriesexpansion with same
like DD-T181) Flangeless Type DD-T18C2) Cleanroom Speci-
cleanliness class 4) DDCR-T18(C)Please contact IAI foravailability and further details
DD-T18 - -200-360-T2- 200 Refer toP9 1 to 1800
Index absolute typeMulti-rotation absolute type 84 252 06 0001984
Direct Drive Motor17-bit plusmn00055 deg 20-bit plusmn000103 deg80 Nmiddotm17-bit 131 072 (pulsesrev) 20-bit 1 048 576 (pulsesrev)Pressing 3400 N [3100 N for the high res type] Pulling 250 NAluminum0 to 40degC 20 to 85 (Non-condensing)56 kg
XSEL-PQ
SCON-CA2 Axes Single-phase
1 Axis
Program
Positioner230VAC Single-phase
6 Axes Three-phase 230VAC Three-phase
230VAC Single-phase
Model
Items
360200T18Oscillation
angleTypeSeries Encoder
typeMotor
wattageApplicablecontroller
Cablelength
200 200W 360 360 deg T2 SCON-CA XSEL-PQ
T2DD
N NoneS 3mM 5m
P High resolution (20-bit)
Note Only SCON-CA applys for T18P
S Standard (17-bit)
X
Applicable controllers Operating method Power supply voltageMax number ofcontrolled axes
Note For DD-T18P only SCON-CA controller applysNote The multi-rotation absolute type is not available for SCON-CA with pulse-train control mode
Legend Encoder resolution Encoder type Cable length () The value when installed on an IAI rated heat dissipating plate (Please see P9 for further details)
AI Index absolute typeAM Multi-rotation absolute type
Thrust (axial) run-out (no load) 30 μm
Radial run-out (no load) 30 μm
PCD oslash200plusmn005 (equ
ally d
istrib
uted
)P
CD
oslash10
2plusmn0
1
2-oslash6H7
Encoderconnector
Motorconnector
180
160plusmn
01
55deg
180160plusmn01
(500)32 or less
94
5
4-oslash11(500)
2-oslash(equally distributed)
oslash110 0 (h7)oslash95
oslash180
oslash205
12plusmn1
23
A
003C05
oslash120
A003
-0035
A
120
plusmn 2
(dist
ance
bet
wee
n ca
ble j
unct
ions
)Gr
ound
tap
30deg
481
5
53plusmn0
1
(49
5)
CAD drawings can be downloaded from the website wwwintelligentactuatorde
DD-LT18 Direct Drive Motor Slim typeLarge bore
Model Specifications
Common Specifications Run-out of Output Shaft
Dimensional Drawing
Drive systemPositioning repeatability Allowable dynamic load moment (Note 2)
Encoder resolutionAllowable thrust load (Note 2)
(Note 4)
(Note 4)
(Note 3)
Base materialAmbient operating temperaturehumidityWeight
Applicable Controller Specifications
Caution
Model number Encoder typeMotor wattage
(W)
Range of operation
(deg)Speed (Note 1)
(degs)Rated torque
(Nmiddotm) ()
Maximuminstantaneous torque (Nmiddotm)
Allowable load inertia (kgmiddotmsup2)
Rotor inertia(kgmiddotmsup2)
(Note 1) The maximum speed may not be reached due to the moving distance or load inertia condition(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
(Note 3) The maximum cable length is 30 m Specify a desired length in meters (Example X08 = 8m) (Note 4) Please consult IAI if you are considering a 20-bit actuator and using it under conditions where the allowable dynamic moment and allowable thrust load will be exceeded
200 1 to 1800Index absolute typeMulti-rotation absolute type 84 252 06 0001984
Direct Drive Motor17-bit plusmn00055 deg 20-bit plusmn000103 deg80 Nmiddotm17-bit 131 072 (pulsesrev) 20-bit 1 048 576 (pulsesrev)Pressing 3400 N [3100 N for the high res type] Pulling 250 NAluminum0 to 40degC 20 to 85 (Non-condensing)62 kg
XSEL-PQ
SCON-CA2 Axes Single-phase
1 Axis
Program
Positioner230VAC Single-phase
6 Axes Three-phase 230VAC Three-phase
230VAC Single-phase
Model
Items
360200LT18Oscillation
angleTypeSeries Encoder
typeMotor
wattageApplicablecontroller
Cablelength
200 200W 360 360 deg T2 SCON-CA XSEL-PQ
T2DD
N NoneS 3mM 5m
P High resolution (20-bit)
Note Only SCON-CA applys for LT18P
S Standard (17-bit)
X
Applicable controllers Operating method Power supply voltageMax number ofcontrolled axes
Note For DD-LT18P only SCON-CA controller applysNote The multi-rotation absolute type is not available for SCON-CA with pulse-train control mode
DD-LT18 - -200-360-T2-
Legend Encoder resolution Encoder type Cable length () The value when installed on an IAI rated heat dissipating plate (Please see P9 for further details)
AI Index absolute typeAM Multi-rotation absolute type
0 (h7)
55deg
(59
5)
30deg
Thrust (axial) run-out (no load) 30 μm
Radial run-out (no load) 30 μm
Encoderconnector
Motorconnector
12plusmn1
581
5
33
A
63plusmn0
1
A003A003
5
(500)32 or less
2-oslash(equally distributed)
94
(500)
Grou
nd ta
p
180
160plusmn
01
2-oslash6H7
oslash95
oslash180
oslash47
180160plusmn01
C05
oslash120
oslash110 -0035
(equ
ally d
istrib
uted
)
120
plusmn 2
(dist
ance
bet
wee
n ca
ble j
unct
ions
)
5
DD Direct Drive Motor
Preview
Next planned DD seriesexpansion with same
like DD-LT181) Flangeless Type DD-LT18C2) Cleanroom Speci-
cleanliness class 4) DDCR-LT18(C)Please contact IAI foravailability and further details
Refer toP9
PCD oslash200plusmn005 PC
D oslash
102plusmn
01
4-oslash11
CAD drawings can be downloaded from the website wwwintelligentactuatorde
DD-H18 Direct Drive Motor High-torque typeStandard bore
Model Specifications
Common Specifications Run-out of Output Shaft
Dimensional Drawing
Drive systemPositioning repeatability Allowable dynamic load moment (Note 2)
Encoder resolutionAllowable thrust load (Note 2)
(Note 4)
(Note 4)
(Note 3)
Base materialAmbient operating temperaturehumidityWeight
Applicable Controller Specifications
Model number Encoder typeMotor wattage
(W)
Range of operation
(deg)Speed (Note 1)
(degs)Rated torque
(Nmiddotm) ()
Maximuminstantaneous torque (Nmiddotm)
Allowable load inertia (kgmiddotmsup2)
Rotor inertia(kgmiddotmsup2)
600 1 to 1440Index absolute typeMulti-rotation absolute type 25 75 18 00106
Direct Drive Motor17-bit plusmn00055 deg 20-bit plusmn000103 deg80 Nmiddotm17-bit 131 072 (pulsesrev) 20-bit 1 048 576 (pulsesrev)Pressing 3400 N [3100 N for the high res type] Pulling 250 NAluminum0 to 40degC 20 to 85 (Non-condensing)136 kg
XSEL-PQ
SCON-CA1 Axis Single-phase
1 Axis
Program
Positioner230VAC Single-phase
2 Axes Three-phase 230VAC Three-phase
230VAC Single-phase
Model
Items
360600H18Oscillation
angleTypeSeries Encoder
typeMotor
wattageApplicablecontroller
Cablelength
600 600W 360 360 deg T2 SCON-CA XSEL-PQ
T2DD
N NoneS 3mM 5m
P High resolution (20-bit)
Note Only SCON-CA applys for H18P
S Standard (17-bit)
X
Applicable controllers Operating method Power supply voltageMax number ofcontrolled axes
DD-H18 - -600-360-T2-
Legend Encoder resolution Encoder type Cable length () The value when installed on an IAI rated heat dissipating plate (Please see P9 for further details)
Thrust (axial) run-out (no load) 30 μm
Radial run-out (no load) 30 μm
5
94
34 or less
(500)
(500)
120
plusmn 2
(dist
ance
bet
wee
n ca
ble j
unct
ions
)
Encoderconnector
Motorconnector
Ground tap
2-oslash(equally distributed)
C05
180
160plusmn
01
oslash120oslash110 -0035 (h7)
oslash93
oslash180
160plusmn01180
55deg
003 A
003 A
30deg
2-oslash6H7
(equall
y dist
ributed
)
13plusmn1
125 plusmn
01
Aoslash205
0
118
15(1
20)
31
AI Index absolute typeAM Multi-rotation absolute type
6
DD Direct Drive Motor
Note For DD-H18P only SCON-CA controller applysNote The multi-rotation absolute type is not available for SCON-CA with pulse-train control mode
Preview
Next planned DD seriesexpansion with same
like DD-H181) Flangeless Type DD-H18C2) Cleanroom Speci-
cleanliness class 4) DDCR-H18(C)Please contact IAI foravailability and further details
Refer toP9
PCD oslash200plusmn005 PCD
oslash10
1plusmn01
4-oslash11
Caution
(Note 1) The maximum speed may not be reached due to the moving distance or load inertia condition(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
(Note 3) The maximum cable length is 30 m Specify a desired length in meters (Example X08 = 8m) (Note 4) Please consult IAI if you are considering a 20-bit actuator and using it under conditions where the allowable dynamic moment and allowable thrust load will be exceeded
CAD drawings can be downloaded from the website wwwintelligentactuatorde
DD-LH18 Direct Drive Motor High-torque typeLarge bore
Model Specifications
Common Specifications Run-out of Output Shaft
Dimensional Drawing
Drive systemPositioning repeatability Allowable dynamic load moment (Note 2)
Encoder resolutionAllowable thrust load (Note 2)
(Note 4)
(Note 4)
(Note 3)
Base materialAmbient operating temperaturehumidityWeight
Applicable Controller Specifications
Model number Encoder typeMotor wattage
(W)
Range of operation
(deg)Speed (Note 1)
(degs)Rated torque
(Nmiddotm) ()
Maximuminstantaneous torque (Nmiddotm)
Allowable load inertia (kgmiddotmsup2)
Rotor inertia(kgmiddotmsup2)
600 1 to 1440Index absolute typeMulti-rotation absolute type 25 75 18 00106
Direct Drive Motor17-bit plusmn00055 deg 20-bit plusmn000103 deg80 Nmiddotm17-bit 131 072 (pulsesrev) 20-bit 1 048 576 (pulsesrev)Pressing 3400 N [3100 N for the high res type] Pulling 250 NAluminum0 to 40degC 20 to 85 (Non-condensing)132 kg
XSEL-PQ
SCON-CA1 Axis Single-phase
1 Axis
Program
Positioner230VAC Single-phase
2 Axes Three-phase 230VAC Three-phase
230VAC Single-phase
Model
Items
360600LH18Oscillation
angleTypeSeries Encoder
typeMotor
wattageApplicablecontroller
Cablelength
600 600W 360 360 deg T2 SCON-CA XSEL-PQ
T2DD
N NoneS 3mM 5m
P High resolution (20-bit)
Note Only SCON-CA applys for LH18P
S Standard (17-bit)
X
Applicable controllers Operating method Power supply voltageMax number ofcontrolled axes
Note For DD-LH18P only SCON-CA controller applysNote The multi-rotation absolute type is not available for SCON-CA with pulse-train control mode
DD-LH18 - -600-360-T2-
Legend Encoder resolution Encoder type Cable length () The value when installed on an IAI rated heat dissipating plate (Please see P9 for further details)
AI Index absolute typeAM Multi-rotation absolute type
Thrust (axial) run-out (no load) 30 μm
Radial run-out (no load) 30 μm
Encoderconnector
Motorconnector
94
(h7)
oslash180
180160plusmn01
(500)
A003
oslash120
A003
34 or less
2-oslash(equally distributed)
120
plusmn 2
(dist
ance
bet
wee
n ca
ble j
unct
ions
)
oslash110 -0035
oslash47
180
160plusmn
01
2-oslash6H7
55deg
C05
(500)
30deg
oslash93
(equally distributed)
Ground tap
0
13plusmn1
(120
)
118
15
A
125plusmn
01
31
5
7
DD Direct Drive Motor
Preview
Next planned DD seriesexpansion with same
like DD-LH181) Flangeless Type DD-LH18C2) Cleanroom Speci-
cleanliness class 4) DDCR-LH18(C)Please contact IAI foravailability and further details
Refer toP9
PCD oslash200plusmn005 PCD oslash10
1plusmn01
4-oslash11
Caution
(Note 1) The maximum speed may not be reached due to the moving distance or load inertia condition(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
(Note 3) The maximum cable length is 30 m Specify a desired length in meters (Example X08 = 8m) (Note 4) Please consult IAI if you are considering a 20-bit actuator and using it under conditions where the allowable dynamic moment and allowable thrust load will be exceeded
Model Number of Positioner Single-axis Type ltSCON-CAgt
Power-supplyvoltage
IO typeEncoder typeMotor typeTypeSeries OptionsSCON
IO cable length
A I
M
Index absolute type
Multi-rotation absolute type
For 200-watt motor (DD motor only)
For 600-watt motor
CA A 2
Model Number of Programmable Multi-axis Type ltXSELgt
Encoder type Encoder typeMotor type Motor typeNumber ofconnected axes
TypeSeries Options OptionsXSEL
600 For 600-watt motor
200
200S
600
For 200-watt motor
A I
M
Index absolute type
Multi-rotation absolute type
P
Q
6-axis standard type
6-axis global type
1
6
1 axis
6 axes
A A
(Specs for axis 1) (Specs for axes 2~6)
A single controller can operate multiple actuators other thanthe DD motor (single-axis robot RoboCylinder) at the sametime For details on actuators other than the DD motor thatcan be connected refer to the page listing the XSEL modelnumbers in the RoboCylinder general catalog
For the remaining part of the model number see the RoboCylindergeneral catalog
Caution
Because the 200W driver for the SCON-CA for DD motors is larger than the regular 200-watt type the motor type will be 200S
The controller may be selected from the two models described below
When the XSEL controller is connected
SCON-CAPC
PLC(To be supplied by the customer)
() TB-01-C-ENG coming soon with CE conformity
() TB-01-C-ENG coming soon with CE conformity
PLC(To be supplied by the customer)
Model CB-PAC-PIO020Standard 2 m
Be sure t ter on the power supply(For recommended models see the RC general catalog)
Encoder cableModel CB-X(EU)3-PA
PC softwareRS232 connection typeModel RCM-101-MW-ENGUSB connection typeModel RCM-101-USB-ENG
Teaching pendant Model TB-01-C-ENG ()
Regenerative resistor unitModel REU-2
Main power supply
Main power supply
Single-phase 230 VAC
Field network(For details see the RoboCylinder general catalog
Option
Comes with the actuator
Comes with the controller
Comes with the actuator Option
Option
OptionMotor CableModel CB-X(EU)-MA (T18LT18)
CB-X(EU)MC-MA (H18LH18)
XSELPC
Be sure t ter on the power supply(For recommended models see the RC general catalog)
PC softwareRS232 connection typeModel IA-101-X-MWUSB connection typeModel IA-101-X-USBMW
Single-phase 230 VACThree-phase 230 VAC
Regenerative resistor unitModel REU-1
Option
Option
Field network(For details see the RoboCylinder general catalog
Option
Model CB-X-PIO020Standard 2 m
Comes with the controller
Encoder cableModel CB-X(EU)3-PA
Comes with the actuator
Comes with the actuatorMotor CableModel CB-X(EU)-MA (T18LT18)
CB-X(EU)MC-MA (H18LH18)
EU version w metal connector
EU version w metal connector
When the SCON controller is connected
how many regenerative resistor units are needed
how many regenerative resistor units are needed
Teaching pendant Model TB-01-S-ENG ()
Option
Controller Model Numbers
8
DD Direct Drive Motor
Notes Installation
Installation Orientation
Controllers The output of the DD motor is 200 watts but the outside dimensions of the SCON-CA controller are those of the 400-watt type (For details on the outside dimensions of the SCON-CA see the RoboCylinder General Catalog) One and two regenerative resistor unit(s) are required for T18LT18 and H18LH18 respectively to operate a DD motor with the SCON-CA When operating DD motor(s) with the XSEL controller regenerative resistor units are required as shown below
The number of DD motor(s) connectable to the XSEL controller are a max of 6 units for the T18LT18 types and a max of 2 units for the H18LH18 types Please note that when the DD motor is operated with the SCON-CA the motor cannot be connected to the RoboCylinder gateway function of the XSEL controller Calculation the for power supply value T18LT18 types single-phase 600W bull three-phase 200W H18LH18 types single-phase 1200W bull three-phase 600W
Operation Types
When the XSEL absolute index type travels more than 180deg from the current position it rotates in a direction that requires a shorter travel to reach the target position Therefore please note that the direction of rotation changes according to the current position and travelIf you want to specify the direction of travel use the SCON-CA
like a regular motor does because the maximum travel distance per command from the XSEL controller is 180deg If you want to allow the motor to rotate continuously use the SCON-CA
Home return is required for the multi-rotation absolute encoder during the initial setting and replacement of the absolute battery
(1)
(2)
(3)
(4)
Operation typeController typeOperation rangeMaximum travel per travel command
Home returnAbsolute battery
Index absolute type
0 to 359999deg
Available (3)Not requiredNot required
SCON-CA
360deg
XSEL (1)
180deg (2)
Multi-rotation absolute type
Max plusmn9999deg (plusmn2520deg)Within the above operation range
Not availableNot required (4)
Required
SCON-CA XSEL (1)
160
Positioning hole for DD motor2-oslash4 reamed hole through
Mounting hole for DD motor4-oslash11 drilled through
oslash200
55deg
160
H
Installation surface
Ceiling mountVertical mount
Gra
vity
Horizontal mount
The height ldquoHrdquo measurements
mmT1823
LT1833
H1831
LH1831
(Note) Use this product by installing it on a mounting surfacehaving heat dissipating characteristics equivalent to those of an aluminum plate of 400 x 400 x t10 mm in sizeIf the installation conditions necessitate lower heat dissipating characteristics please consult IAI
( ) indicates at 20-bit resolution
Number of regenerative resistor units
1 2 3 4 5 61 2 3
(Cannot be connected)2 4
T18LT18
H18LH18
Number of DD motor(s)
9
DD Direct Drive Motor
Conditions for Selection
determine whether the DD motor can be used under the applicable operating conditions
The total load of device(s) mounted on the actuator
The total load moment of device(s) mounted on the actuator
The load inertia of device(s) mounted on the actuator
To calculate the load conditions calculate the load inertia of device(s) mounted on the actuator and check the details with the DD motor selection software The equations used to calculate the load inertia of typical shapes are shown below for reference purposes
Check Load Conditions1
Check Operating Conditions2
The travel time changes according to the load inertia See the tables below to check the travel time data The data in the tables is only intended as a guide so the travel time is not guaranteed
Travel Time Guide3
[1] Thrust load
[2] Load moment applied
[3] Load inertia
J = M x R2 + 112 x M x (a2 + b2)J = M x R2 + 18 x M x D2 J = 112 x M x (a2 + b2)J = 18 x M x D2
Weight M
D
Cent
er of
ro
tatio
n
a
b
Cent
er of
ro
tatio
n
Weight MWeight MCent
er o
f rot
atio
n
D
R Cent
er o
f rot
atio
n
a
bR
Weight M
To calculate operating conditions use the DD motor selection software
DD Direct Drive Motor
10
Load inertia lower limit [kgm2] 0 0005 001 002 002 003 004 006 008 010 015 02 03 04 06 08 10 12 14
Load inertia upper limit [kgm2] 0005 001 0015 002 003 004 006 008 01 015 02 03 04 06 08 1 12 14 18
45deg travel time [sec] 0098 0096 0096 0097 0099 0104 0113 012 0126 014 0157 0207 0257 0352 0447 053 0629 0795 0875
90deg travel time [sec] 0129 0128 0127 0128 0131 0136 0144 0153 0163 0184 0208 0268 0329 044 0549 0646 0758 0941 1035
180deg travel time [sec] 0192 019 019 0191 0193 0199 0207 0215 0225 0249 0279 0354 0428 0562 0692 0806 0933 1133 1257
270deg travel time [sec] 0254 0252 0252 0253 0256 0262 027 0278 0288 0312 0341 042 0504 0655 08 0925 1064 1274 1415
DD-H18LH18
Load inertia lower limit [kgm2] 0 0005 001 002 003 004 005 006 007 008 009 01 02 03 04 05
Load inertia upper limit [kgm2] 0005 001 002 003 004 005 006 007 008 009 01 02 03 04 05 06
45deg travel time [sec] 009 010 011 012 013 014 015 017 019 021 023 039 062 070 087 111
90deg travel time [sec] 012 012 014 016 017 018 020 022 024 026 029 048 073 083 102 123
180deg travel time [sec] 017 017 019 021 023 024 027 029 032 035 037 060 089 101 122 142
270deg travel time [sec] 022 022 024 026 027 029 032 035 038 041 044 069 100 114 136 168
DD-T18LT18
(Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)
(Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)
Download the DD motor selection software from the IAIlsquos websitewwwintelligentactuatorde -gt area ldquodownloadsoftwareldquo
Download the DD motor selection software from the IAIlsquos websitewwwintelligentactuatorde -gt area ldquodownloadsoftwareldquo
IAI Industrie r oboter GmbH Ober der Roumlth 4
D-658 2 4 Schwalb a ch Frankfurt Germany
T el+49- 6 1 96-8895-0 Fax+49- 6 1 96-8895- 2 4
E-Mail infoIAI-GmbHde Inte r net httpww w euIAI-GmbHde
IAI the IAI-logo RoboCylindertrade the RoboCylindertrade-logo Intel ligentActuatortrade and the IntelligentActuatortrade-logo are trademark s or product names of IAI Corporation or of the subsidiaries in USA ChinaThailand or Germany
IAI America Inc 2690 W 237th Street Torrance CA 90505 USAPhone +1-310-891-6015 Fax +1-310-891-0815
IAI (Shanghai) Co LtdShanghai Jiahua Business Centee A8-303808Hongqiao Rd Shanghai 200030 China Phone +86-21-6448-4753 Fax +86-21-6448-3992
IAI CORPORATION645-1 Shimizu Hirose Shizuoka 424-0102 JapanPhone +81-543-64-5105 Fax +81-543-64-5182
IAI Robot (Thailand) Co Ltd825 PhairojKijja Tower 12th Floor Bangna-Trad RDBangna Bangna Bangkok 10260 ThailandPhone +66-2-361-4457 Fax +66-2-361-4456
The information contained in this catalogis subject to change without notice for the
purpose of product improvement
DD Series V2b
Catalogue No 0315-E
CAD drawings can be downloaded from the website wwwintelligentactuatorde
DD-LT18 Direct Drive Motor Slim typeLarge bore
Model Specifications
Common Specifications Run-out of Output Shaft
Dimensional Drawing
Drive systemPositioning repeatability Allowable dynamic load moment (Note 2)
Encoder resolutionAllowable thrust load (Note 2)
(Note 4)
(Note 4)
(Note 3)
Base materialAmbient operating temperaturehumidityWeight
Applicable Controller Specifications
Caution
Model number Encoder typeMotor wattage
(W)
Range of operation
(deg)Speed (Note 1)
(degs)Rated torque
(Nmiddotm) ()
Maximuminstantaneous torque (Nmiddotm)
Allowable load inertia (kgmiddotmsup2)
Rotor inertia(kgmiddotmsup2)
(Note 1) The maximum speed may not be reached due to the moving distance or load inertia condition(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
(Note 3) The maximum cable length is 30 m Specify a desired length in meters (Example X08 = 8m) (Note 4) Please consult IAI if you are considering a 20-bit actuator and using it under conditions where the allowable dynamic moment and allowable thrust load will be exceeded
200 1 to 1800Index absolute typeMulti-rotation absolute type 84 252 06 0001984
Direct Drive Motor17-bit plusmn00055 deg 20-bit plusmn000103 deg80 Nmiddotm17-bit 131 072 (pulsesrev) 20-bit 1 048 576 (pulsesrev)Pressing 3400 N [3100 N for the high res type] Pulling 250 NAluminum0 to 40degC 20 to 85 (Non-condensing)62 kg
XSEL-PQ
SCON-CA2 Axes Single-phase
1 Axis
Program
Positioner230VAC Single-phase
6 Axes Three-phase 230VAC Three-phase
230VAC Single-phase
Model
Items
360200LT18Oscillation
angleTypeSeries Encoder
typeMotor
wattageApplicablecontroller
Cablelength
200 200W 360 360 deg T2 SCON-CA XSEL-PQ
T2DD
N NoneS 3mM 5m
P High resolution (20-bit)
Note Only SCON-CA applys for LT18P
S Standard (17-bit)
X
Applicable controllers Operating method Power supply voltageMax number ofcontrolled axes
Note For DD-LT18P only SCON-CA controller applysNote The multi-rotation absolute type is not available for SCON-CA with pulse-train control mode
DD-LT18 - -200-360-T2-
Legend Encoder resolution Encoder type Cable length () The value when installed on an IAI rated heat dissipating plate (Please see P9 for further details)
AI Index absolute typeAM Multi-rotation absolute type
0 (h7)
55deg
(59
5)
30deg
Thrust (axial) run-out (no load) 30 μm
Radial run-out (no load) 30 μm
Encoderconnector
Motorconnector
12plusmn1
581
5
33
A
63plusmn0
1
A003A003
5
(500)32 or less
2-oslash(equally distributed)
94
(500)
Grou
nd ta
p
180
160plusmn
01
2-oslash6H7
oslash95
oslash180
oslash47
180160plusmn01
C05
oslash120
oslash110 -0035
(equ
ally d
istrib
uted
)
120
plusmn 2
(dist
ance
bet
wee
n ca
ble j
unct
ions
)
5
DD Direct Drive Motor
Preview
Next planned DD seriesexpansion with same
like DD-LT181) Flangeless Type DD-LT18C2) Cleanroom Speci-
cleanliness class 4) DDCR-LT18(C)Please contact IAI foravailability and further details
Refer toP9
PCD oslash200plusmn005 PC
D oslash
102plusmn
01
4-oslash11
CAD drawings can be downloaded from the website wwwintelligentactuatorde
DD-H18 Direct Drive Motor High-torque typeStandard bore
Model Specifications
Common Specifications Run-out of Output Shaft
Dimensional Drawing
Drive systemPositioning repeatability Allowable dynamic load moment (Note 2)
Encoder resolutionAllowable thrust load (Note 2)
(Note 4)
(Note 4)
(Note 3)
Base materialAmbient operating temperaturehumidityWeight
Applicable Controller Specifications
Model number Encoder typeMotor wattage
(W)
Range of operation
(deg)Speed (Note 1)
(degs)Rated torque
(Nmiddotm) ()
Maximuminstantaneous torque (Nmiddotm)
Allowable load inertia (kgmiddotmsup2)
Rotor inertia(kgmiddotmsup2)
600 1 to 1440Index absolute typeMulti-rotation absolute type 25 75 18 00106
Direct Drive Motor17-bit plusmn00055 deg 20-bit plusmn000103 deg80 Nmiddotm17-bit 131 072 (pulsesrev) 20-bit 1 048 576 (pulsesrev)Pressing 3400 N [3100 N for the high res type] Pulling 250 NAluminum0 to 40degC 20 to 85 (Non-condensing)136 kg
XSEL-PQ
SCON-CA1 Axis Single-phase
1 Axis
Program
Positioner230VAC Single-phase
2 Axes Three-phase 230VAC Three-phase
230VAC Single-phase
Model
Items
360600H18Oscillation
angleTypeSeries Encoder
typeMotor
wattageApplicablecontroller
Cablelength
600 600W 360 360 deg T2 SCON-CA XSEL-PQ
T2DD
N NoneS 3mM 5m
P High resolution (20-bit)
Note Only SCON-CA applys for H18P
S Standard (17-bit)
X
Applicable controllers Operating method Power supply voltageMax number ofcontrolled axes
DD-H18 - -600-360-T2-
Legend Encoder resolution Encoder type Cable length () The value when installed on an IAI rated heat dissipating plate (Please see P9 for further details)
Thrust (axial) run-out (no load) 30 μm
Radial run-out (no load) 30 μm
5
94
34 or less
(500)
(500)
120
plusmn 2
(dist
ance
bet
wee
n ca
ble j
unct
ions
)
Encoderconnector
Motorconnector
Ground tap
2-oslash(equally distributed)
C05
180
160plusmn
01
oslash120oslash110 -0035 (h7)
oslash93
oslash180
160plusmn01180
55deg
003 A
003 A
30deg
2-oslash6H7
(equall
y dist
ributed
)
13plusmn1
125 plusmn
01
Aoslash205
0
118
15(1
20)
31
AI Index absolute typeAM Multi-rotation absolute type
6
DD Direct Drive Motor
Note For DD-H18P only SCON-CA controller applysNote The multi-rotation absolute type is not available for SCON-CA with pulse-train control mode
Preview
Next planned DD seriesexpansion with same
like DD-H181) Flangeless Type DD-H18C2) Cleanroom Speci-
cleanliness class 4) DDCR-H18(C)Please contact IAI foravailability and further details
Refer toP9
PCD oslash200plusmn005 PCD
oslash10
1plusmn01
4-oslash11
Caution
(Note 1) The maximum speed may not be reached due to the moving distance or load inertia condition(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
(Note 3) The maximum cable length is 30 m Specify a desired length in meters (Example X08 = 8m) (Note 4) Please consult IAI if you are considering a 20-bit actuator and using it under conditions where the allowable dynamic moment and allowable thrust load will be exceeded
CAD drawings can be downloaded from the website wwwintelligentactuatorde
DD-LH18 Direct Drive Motor High-torque typeLarge bore
Model Specifications
Common Specifications Run-out of Output Shaft
Dimensional Drawing
Drive systemPositioning repeatability Allowable dynamic load moment (Note 2)
Encoder resolutionAllowable thrust load (Note 2)
(Note 4)
(Note 4)
(Note 3)
Base materialAmbient operating temperaturehumidityWeight
Applicable Controller Specifications
Model number Encoder typeMotor wattage
(W)
Range of operation
(deg)Speed (Note 1)
(degs)Rated torque
(Nmiddotm) ()
Maximuminstantaneous torque (Nmiddotm)
Allowable load inertia (kgmiddotmsup2)
Rotor inertia(kgmiddotmsup2)
600 1 to 1440Index absolute typeMulti-rotation absolute type 25 75 18 00106
Direct Drive Motor17-bit plusmn00055 deg 20-bit plusmn000103 deg80 Nmiddotm17-bit 131 072 (pulsesrev) 20-bit 1 048 576 (pulsesrev)Pressing 3400 N [3100 N for the high res type] Pulling 250 NAluminum0 to 40degC 20 to 85 (Non-condensing)132 kg
XSEL-PQ
SCON-CA1 Axis Single-phase
1 Axis
Program
Positioner230VAC Single-phase
2 Axes Three-phase 230VAC Three-phase
230VAC Single-phase
Model
Items
360600LH18Oscillation
angleTypeSeries Encoder
typeMotor
wattageApplicablecontroller
Cablelength
600 600W 360 360 deg T2 SCON-CA XSEL-PQ
T2DD
N NoneS 3mM 5m
P High resolution (20-bit)
Note Only SCON-CA applys for LH18P
S Standard (17-bit)
X
Applicable controllers Operating method Power supply voltageMax number ofcontrolled axes
Note For DD-LH18P only SCON-CA controller applysNote The multi-rotation absolute type is not available for SCON-CA with pulse-train control mode
DD-LH18 - -600-360-T2-
Legend Encoder resolution Encoder type Cable length () The value when installed on an IAI rated heat dissipating plate (Please see P9 for further details)
AI Index absolute typeAM Multi-rotation absolute type
Thrust (axial) run-out (no load) 30 μm
Radial run-out (no load) 30 μm
Encoderconnector
Motorconnector
94
(h7)
oslash180
180160plusmn01
(500)
A003
oslash120
A003
34 or less
2-oslash(equally distributed)
120
plusmn 2
(dist
ance
bet
wee
n ca
ble j
unct
ions
)
oslash110 -0035
oslash47
180
160plusmn
01
2-oslash6H7
55deg
C05
(500)
30deg
oslash93
(equally distributed)
Ground tap
0
13plusmn1
(120
)
118
15
A
125plusmn
01
31
5
7
DD Direct Drive Motor
Preview
Next planned DD seriesexpansion with same
like DD-LH181) Flangeless Type DD-LH18C2) Cleanroom Speci-
cleanliness class 4) DDCR-LH18(C)Please contact IAI foravailability and further details
Refer toP9
PCD oslash200plusmn005 PCD oslash10
1plusmn01
4-oslash11
Caution
(Note 1) The maximum speed may not be reached due to the moving distance or load inertia condition(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
(Note 3) The maximum cable length is 30 m Specify a desired length in meters (Example X08 = 8m) (Note 4) Please consult IAI if you are considering a 20-bit actuator and using it under conditions where the allowable dynamic moment and allowable thrust load will be exceeded
Model Number of Positioner Single-axis Type ltSCON-CAgt
Power-supplyvoltage
IO typeEncoder typeMotor typeTypeSeries OptionsSCON
IO cable length
A I
M
Index absolute type
Multi-rotation absolute type
For 200-watt motor (DD motor only)
For 600-watt motor
CA A 2
Model Number of Programmable Multi-axis Type ltXSELgt
Encoder type Encoder typeMotor type Motor typeNumber ofconnected axes
TypeSeries Options OptionsXSEL
600 For 600-watt motor
200
200S
600
For 200-watt motor
A I
M
Index absolute type
Multi-rotation absolute type
P
Q
6-axis standard type
6-axis global type
1
6
1 axis
6 axes
A A
(Specs for axis 1) (Specs for axes 2~6)
A single controller can operate multiple actuators other thanthe DD motor (single-axis robot RoboCylinder) at the sametime For details on actuators other than the DD motor thatcan be connected refer to the page listing the XSEL modelnumbers in the RoboCylinder general catalog
For the remaining part of the model number see the RoboCylindergeneral catalog
Caution
Because the 200W driver for the SCON-CA for DD motors is larger than the regular 200-watt type the motor type will be 200S
The controller may be selected from the two models described below
When the XSEL controller is connected
SCON-CAPC
PLC(To be supplied by the customer)
() TB-01-C-ENG coming soon with CE conformity
() TB-01-C-ENG coming soon with CE conformity
PLC(To be supplied by the customer)
Model CB-PAC-PIO020Standard 2 m
Be sure t ter on the power supply(For recommended models see the RC general catalog)
Encoder cableModel CB-X(EU)3-PA
PC softwareRS232 connection typeModel RCM-101-MW-ENGUSB connection typeModel RCM-101-USB-ENG
Teaching pendant Model TB-01-C-ENG ()
Regenerative resistor unitModel REU-2
Main power supply
Main power supply
Single-phase 230 VAC
Field network(For details see the RoboCylinder general catalog
Option
Comes with the actuator
Comes with the controller
Comes with the actuator Option
Option
OptionMotor CableModel CB-X(EU)-MA (T18LT18)
CB-X(EU)MC-MA (H18LH18)
XSELPC
Be sure t ter on the power supply(For recommended models see the RC general catalog)
PC softwareRS232 connection typeModel IA-101-X-MWUSB connection typeModel IA-101-X-USBMW
Single-phase 230 VACThree-phase 230 VAC
Regenerative resistor unitModel REU-1
Option
Option
Field network(For details see the RoboCylinder general catalog
Option
Model CB-X-PIO020Standard 2 m
Comes with the controller
Encoder cableModel CB-X(EU)3-PA
Comes with the actuator
Comes with the actuatorMotor CableModel CB-X(EU)-MA (T18LT18)
CB-X(EU)MC-MA (H18LH18)
EU version w metal connector
EU version w metal connector
When the SCON controller is connected
how many regenerative resistor units are needed
how many regenerative resistor units are needed
Teaching pendant Model TB-01-S-ENG ()
Option
Controller Model Numbers
8
DD Direct Drive Motor
Notes Installation
Installation Orientation
Controllers The output of the DD motor is 200 watts but the outside dimensions of the SCON-CA controller are those of the 400-watt type (For details on the outside dimensions of the SCON-CA see the RoboCylinder General Catalog) One and two regenerative resistor unit(s) are required for T18LT18 and H18LH18 respectively to operate a DD motor with the SCON-CA When operating DD motor(s) with the XSEL controller regenerative resistor units are required as shown below
The number of DD motor(s) connectable to the XSEL controller are a max of 6 units for the T18LT18 types and a max of 2 units for the H18LH18 types Please note that when the DD motor is operated with the SCON-CA the motor cannot be connected to the RoboCylinder gateway function of the XSEL controller Calculation the for power supply value T18LT18 types single-phase 600W bull three-phase 200W H18LH18 types single-phase 1200W bull three-phase 600W
Operation Types
When the XSEL absolute index type travels more than 180deg from the current position it rotates in a direction that requires a shorter travel to reach the target position Therefore please note that the direction of rotation changes according to the current position and travelIf you want to specify the direction of travel use the SCON-CA
like a regular motor does because the maximum travel distance per command from the XSEL controller is 180deg If you want to allow the motor to rotate continuously use the SCON-CA
Home return is required for the multi-rotation absolute encoder during the initial setting and replacement of the absolute battery
(1)
(2)
(3)
(4)
Operation typeController typeOperation rangeMaximum travel per travel command
Home returnAbsolute battery
Index absolute type
0 to 359999deg
Available (3)Not requiredNot required
SCON-CA
360deg
XSEL (1)
180deg (2)
Multi-rotation absolute type
Max plusmn9999deg (plusmn2520deg)Within the above operation range
Not availableNot required (4)
Required
SCON-CA XSEL (1)
160
Positioning hole for DD motor2-oslash4 reamed hole through
Mounting hole for DD motor4-oslash11 drilled through
oslash200
55deg
160
H
Installation surface
Ceiling mountVertical mount
Gra
vity
Horizontal mount
The height ldquoHrdquo measurements
mmT1823
LT1833
H1831
LH1831
(Note) Use this product by installing it on a mounting surfacehaving heat dissipating characteristics equivalent to those of an aluminum plate of 400 x 400 x t10 mm in sizeIf the installation conditions necessitate lower heat dissipating characteristics please consult IAI
( ) indicates at 20-bit resolution
Number of regenerative resistor units
1 2 3 4 5 61 2 3
(Cannot be connected)2 4
T18LT18
H18LH18
Number of DD motor(s)
9
DD Direct Drive Motor
Conditions for Selection
determine whether the DD motor can be used under the applicable operating conditions
The total load of device(s) mounted on the actuator
The total load moment of device(s) mounted on the actuator
The load inertia of device(s) mounted on the actuator
To calculate the load conditions calculate the load inertia of device(s) mounted on the actuator and check the details with the DD motor selection software The equations used to calculate the load inertia of typical shapes are shown below for reference purposes
Check Load Conditions1
Check Operating Conditions2
The travel time changes according to the load inertia See the tables below to check the travel time data The data in the tables is only intended as a guide so the travel time is not guaranteed
Travel Time Guide3
[1] Thrust load
[2] Load moment applied
[3] Load inertia
J = M x R2 + 112 x M x (a2 + b2)J = M x R2 + 18 x M x D2 J = 112 x M x (a2 + b2)J = 18 x M x D2
Weight M
D
Cent
er of
ro
tatio
n
a
b
Cent
er of
ro
tatio
n
Weight MWeight MCent
er o
f rot
atio
n
D
R Cent
er o
f rot
atio
n
a
bR
Weight M
To calculate operating conditions use the DD motor selection software
DD Direct Drive Motor
10
Load inertia lower limit [kgm2] 0 0005 001 002 002 003 004 006 008 010 015 02 03 04 06 08 10 12 14
Load inertia upper limit [kgm2] 0005 001 0015 002 003 004 006 008 01 015 02 03 04 06 08 1 12 14 18
45deg travel time [sec] 0098 0096 0096 0097 0099 0104 0113 012 0126 014 0157 0207 0257 0352 0447 053 0629 0795 0875
90deg travel time [sec] 0129 0128 0127 0128 0131 0136 0144 0153 0163 0184 0208 0268 0329 044 0549 0646 0758 0941 1035
180deg travel time [sec] 0192 019 019 0191 0193 0199 0207 0215 0225 0249 0279 0354 0428 0562 0692 0806 0933 1133 1257
270deg travel time [sec] 0254 0252 0252 0253 0256 0262 027 0278 0288 0312 0341 042 0504 0655 08 0925 1064 1274 1415
DD-H18LH18
Load inertia lower limit [kgm2] 0 0005 001 002 003 004 005 006 007 008 009 01 02 03 04 05
Load inertia upper limit [kgm2] 0005 001 002 003 004 005 006 007 008 009 01 02 03 04 05 06
45deg travel time [sec] 009 010 011 012 013 014 015 017 019 021 023 039 062 070 087 111
90deg travel time [sec] 012 012 014 016 017 018 020 022 024 026 029 048 073 083 102 123
180deg travel time [sec] 017 017 019 021 023 024 027 029 032 035 037 060 089 101 122 142
270deg travel time [sec] 022 022 024 026 027 029 032 035 038 041 044 069 100 114 136 168
DD-T18LT18
(Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)
(Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)
Download the DD motor selection software from the IAIlsquos websitewwwintelligentactuatorde -gt area ldquodownloadsoftwareldquo
Download the DD motor selection software from the IAIlsquos websitewwwintelligentactuatorde -gt area ldquodownloadsoftwareldquo
IAI Industrie r oboter GmbH Ober der Roumlth 4
D-658 2 4 Schwalb a ch Frankfurt Germany
T el+49- 6 1 96-8895-0 Fax+49- 6 1 96-8895- 2 4
E-Mail infoIAI-GmbHde Inte r net httpww w euIAI-GmbHde
IAI the IAI-logo RoboCylindertrade the RoboCylindertrade-logo Intel ligentActuatortrade and the IntelligentActuatortrade-logo are trademark s or product names of IAI Corporation or of the subsidiaries in USA ChinaThailand or Germany
IAI America Inc 2690 W 237th Street Torrance CA 90505 USAPhone +1-310-891-6015 Fax +1-310-891-0815
IAI (Shanghai) Co LtdShanghai Jiahua Business Centee A8-303808Hongqiao Rd Shanghai 200030 China Phone +86-21-6448-4753 Fax +86-21-6448-3992
IAI CORPORATION645-1 Shimizu Hirose Shizuoka 424-0102 JapanPhone +81-543-64-5105 Fax +81-543-64-5182
IAI Robot (Thailand) Co Ltd825 PhairojKijja Tower 12th Floor Bangna-Trad RDBangna Bangna Bangkok 10260 ThailandPhone +66-2-361-4457 Fax +66-2-361-4456
The information contained in this catalogis subject to change without notice for the
purpose of product improvement
DD Series V2b
Catalogue No 0315-E
CAD drawings can be downloaded from the website wwwintelligentactuatorde
DD-H18 Direct Drive Motor High-torque typeStandard bore
Model Specifications
Common Specifications Run-out of Output Shaft
Dimensional Drawing
Drive systemPositioning repeatability Allowable dynamic load moment (Note 2)
Encoder resolutionAllowable thrust load (Note 2)
(Note 4)
(Note 4)
(Note 3)
Base materialAmbient operating temperaturehumidityWeight
Applicable Controller Specifications
Model number Encoder typeMotor wattage
(W)
Range of operation
(deg)Speed (Note 1)
(degs)Rated torque
(Nmiddotm) ()
Maximuminstantaneous torque (Nmiddotm)
Allowable load inertia (kgmiddotmsup2)
Rotor inertia(kgmiddotmsup2)
600 1 to 1440Index absolute typeMulti-rotation absolute type 25 75 18 00106
Direct Drive Motor17-bit plusmn00055 deg 20-bit plusmn000103 deg80 Nmiddotm17-bit 131 072 (pulsesrev) 20-bit 1 048 576 (pulsesrev)Pressing 3400 N [3100 N for the high res type] Pulling 250 NAluminum0 to 40degC 20 to 85 (Non-condensing)136 kg
XSEL-PQ
SCON-CA1 Axis Single-phase
1 Axis
Program
Positioner230VAC Single-phase
2 Axes Three-phase 230VAC Three-phase
230VAC Single-phase
Model
Items
360600H18Oscillation
angleTypeSeries Encoder
typeMotor
wattageApplicablecontroller
Cablelength
600 600W 360 360 deg T2 SCON-CA XSEL-PQ
T2DD
N NoneS 3mM 5m
P High resolution (20-bit)
Note Only SCON-CA applys for H18P
S Standard (17-bit)
X
Applicable controllers Operating method Power supply voltageMax number ofcontrolled axes
DD-H18 - -600-360-T2-
Legend Encoder resolution Encoder type Cable length () The value when installed on an IAI rated heat dissipating plate (Please see P9 for further details)
Thrust (axial) run-out (no load) 30 μm
Radial run-out (no load) 30 μm
5
94
34 or less
(500)
(500)
120
plusmn 2
(dist
ance
bet
wee
n ca
ble j
unct
ions
)
Encoderconnector
Motorconnector
Ground tap
2-oslash(equally distributed)
C05
180
160plusmn
01
oslash120oslash110 -0035 (h7)
oslash93
oslash180
160plusmn01180
55deg
003 A
003 A
30deg
2-oslash6H7
(equall
y dist
ributed
)
13plusmn1
125 plusmn
01
Aoslash205
0
118
15(1
20)
31
AI Index absolute typeAM Multi-rotation absolute type
6
DD Direct Drive Motor
Note For DD-H18P only SCON-CA controller applysNote The multi-rotation absolute type is not available for SCON-CA with pulse-train control mode
Preview
Next planned DD seriesexpansion with same
like DD-H181) Flangeless Type DD-H18C2) Cleanroom Speci-
cleanliness class 4) DDCR-H18(C)Please contact IAI foravailability and further details
Refer toP9
PCD oslash200plusmn005 PCD
oslash10
1plusmn01
4-oslash11
Caution
(Note 1) The maximum speed may not be reached due to the moving distance or load inertia condition(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
(Note 3) The maximum cable length is 30 m Specify a desired length in meters (Example X08 = 8m) (Note 4) Please consult IAI if you are considering a 20-bit actuator and using it under conditions where the allowable dynamic moment and allowable thrust load will be exceeded
CAD drawings can be downloaded from the website wwwintelligentactuatorde
DD-LH18 Direct Drive Motor High-torque typeLarge bore
Model Specifications
Common Specifications Run-out of Output Shaft
Dimensional Drawing
Drive systemPositioning repeatability Allowable dynamic load moment (Note 2)
Encoder resolutionAllowable thrust load (Note 2)
(Note 4)
(Note 4)
(Note 3)
Base materialAmbient operating temperaturehumidityWeight
Applicable Controller Specifications
Model number Encoder typeMotor wattage
(W)
Range of operation
(deg)Speed (Note 1)
(degs)Rated torque
(Nmiddotm) ()
Maximuminstantaneous torque (Nmiddotm)
Allowable load inertia (kgmiddotmsup2)
Rotor inertia(kgmiddotmsup2)
600 1 to 1440Index absolute typeMulti-rotation absolute type 25 75 18 00106
Direct Drive Motor17-bit plusmn00055 deg 20-bit plusmn000103 deg80 Nmiddotm17-bit 131 072 (pulsesrev) 20-bit 1 048 576 (pulsesrev)Pressing 3400 N [3100 N for the high res type] Pulling 250 NAluminum0 to 40degC 20 to 85 (Non-condensing)132 kg
XSEL-PQ
SCON-CA1 Axis Single-phase
1 Axis
Program
Positioner230VAC Single-phase
2 Axes Three-phase 230VAC Three-phase
230VAC Single-phase
Model
Items
360600LH18Oscillation
angleTypeSeries Encoder
typeMotor
wattageApplicablecontroller
Cablelength
600 600W 360 360 deg T2 SCON-CA XSEL-PQ
T2DD
N NoneS 3mM 5m
P High resolution (20-bit)
Note Only SCON-CA applys for LH18P
S Standard (17-bit)
X
Applicable controllers Operating method Power supply voltageMax number ofcontrolled axes
Note For DD-LH18P only SCON-CA controller applysNote The multi-rotation absolute type is not available for SCON-CA with pulse-train control mode
DD-LH18 - -600-360-T2-
Legend Encoder resolution Encoder type Cable length () The value when installed on an IAI rated heat dissipating plate (Please see P9 for further details)
AI Index absolute typeAM Multi-rotation absolute type
Thrust (axial) run-out (no load) 30 μm
Radial run-out (no load) 30 μm
Encoderconnector
Motorconnector
94
(h7)
oslash180
180160plusmn01
(500)
A003
oslash120
A003
34 or less
2-oslash(equally distributed)
120
plusmn 2
(dist
ance
bet
wee
n ca
ble j
unct
ions
)
oslash110 -0035
oslash47
180
160plusmn
01
2-oslash6H7
55deg
C05
(500)
30deg
oslash93
(equally distributed)
Ground tap
0
13plusmn1
(120
)
118
15
A
125plusmn
01
31
5
7
DD Direct Drive Motor
Preview
Next planned DD seriesexpansion with same
like DD-LH181) Flangeless Type DD-LH18C2) Cleanroom Speci-
cleanliness class 4) DDCR-LH18(C)Please contact IAI foravailability and further details
Refer toP9
PCD oslash200plusmn005 PCD oslash10
1plusmn01
4-oslash11
Caution
(Note 1) The maximum speed may not be reached due to the moving distance or load inertia condition(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
(Note 3) The maximum cable length is 30 m Specify a desired length in meters (Example X08 = 8m) (Note 4) Please consult IAI if you are considering a 20-bit actuator and using it under conditions where the allowable dynamic moment and allowable thrust load will be exceeded
Model Number of Positioner Single-axis Type ltSCON-CAgt
Power-supplyvoltage
IO typeEncoder typeMotor typeTypeSeries OptionsSCON
IO cable length
A I
M
Index absolute type
Multi-rotation absolute type
For 200-watt motor (DD motor only)
For 600-watt motor
CA A 2
Model Number of Programmable Multi-axis Type ltXSELgt
Encoder type Encoder typeMotor type Motor typeNumber ofconnected axes
TypeSeries Options OptionsXSEL
600 For 600-watt motor
200
200S
600
For 200-watt motor
A I
M
Index absolute type
Multi-rotation absolute type
P
Q
6-axis standard type
6-axis global type
1
6
1 axis
6 axes
A A
(Specs for axis 1) (Specs for axes 2~6)
A single controller can operate multiple actuators other thanthe DD motor (single-axis robot RoboCylinder) at the sametime For details on actuators other than the DD motor thatcan be connected refer to the page listing the XSEL modelnumbers in the RoboCylinder general catalog
For the remaining part of the model number see the RoboCylindergeneral catalog
Caution
Because the 200W driver for the SCON-CA for DD motors is larger than the regular 200-watt type the motor type will be 200S
The controller may be selected from the two models described below
When the XSEL controller is connected
SCON-CAPC
PLC(To be supplied by the customer)
() TB-01-C-ENG coming soon with CE conformity
() TB-01-C-ENG coming soon with CE conformity
PLC(To be supplied by the customer)
Model CB-PAC-PIO020Standard 2 m
Be sure t ter on the power supply(For recommended models see the RC general catalog)
Encoder cableModel CB-X(EU)3-PA
PC softwareRS232 connection typeModel RCM-101-MW-ENGUSB connection typeModel RCM-101-USB-ENG
Teaching pendant Model TB-01-C-ENG ()
Regenerative resistor unitModel REU-2
Main power supply
Main power supply
Single-phase 230 VAC
Field network(For details see the RoboCylinder general catalog
Option
Comes with the actuator
Comes with the controller
Comes with the actuator Option
Option
OptionMotor CableModel CB-X(EU)-MA (T18LT18)
CB-X(EU)MC-MA (H18LH18)
XSELPC
Be sure t ter on the power supply(For recommended models see the RC general catalog)
PC softwareRS232 connection typeModel IA-101-X-MWUSB connection typeModel IA-101-X-USBMW
Single-phase 230 VACThree-phase 230 VAC
Regenerative resistor unitModel REU-1
Option
Option
Field network(For details see the RoboCylinder general catalog
Option
Model CB-X-PIO020Standard 2 m
Comes with the controller
Encoder cableModel CB-X(EU)3-PA
Comes with the actuator
Comes with the actuatorMotor CableModel CB-X(EU)-MA (T18LT18)
CB-X(EU)MC-MA (H18LH18)
EU version w metal connector
EU version w metal connector
When the SCON controller is connected
how many regenerative resistor units are needed
how many regenerative resistor units are needed
Teaching pendant Model TB-01-S-ENG ()
Option
Controller Model Numbers
8
DD Direct Drive Motor
Notes Installation
Installation Orientation
Controllers The output of the DD motor is 200 watts but the outside dimensions of the SCON-CA controller are those of the 400-watt type (For details on the outside dimensions of the SCON-CA see the RoboCylinder General Catalog) One and two regenerative resistor unit(s) are required for T18LT18 and H18LH18 respectively to operate a DD motor with the SCON-CA When operating DD motor(s) with the XSEL controller regenerative resistor units are required as shown below
The number of DD motor(s) connectable to the XSEL controller are a max of 6 units for the T18LT18 types and a max of 2 units for the H18LH18 types Please note that when the DD motor is operated with the SCON-CA the motor cannot be connected to the RoboCylinder gateway function of the XSEL controller Calculation the for power supply value T18LT18 types single-phase 600W bull three-phase 200W H18LH18 types single-phase 1200W bull three-phase 600W
Operation Types
When the XSEL absolute index type travels more than 180deg from the current position it rotates in a direction that requires a shorter travel to reach the target position Therefore please note that the direction of rotation changes according to the current position and travelIf you want to specify the direction of travel use the SCON-CA
like a regular motor does because the maximum travel distance per command from the XSEL controller is 180deg If you want to allow the motor to rotate continuously use the SCON-CA
Home return is required for the multi-rotation absolute encoder during the initial setting and replacement of the absolute battery
(1)
(2)
(3)
(4)
Operation typeController typeOperation rangeMaximum travel per travel command
Home returnAbsolute battery
Index absolute type
0 to 359999deg
Available (3)Not requiredNot required
SCON-CA
360deg
XSEL (1)
180deg (2)
Multi-rotation absolute type
Max plusmn9999deg (plusmn2520deg)Within the above operation range
Not availableNot required (4)
Required
SCON-CA XSEL (1)
160
Positioning hole for DD motor2-oslash4 reamed hole through
Mounting hole for DD motor4-oslash11 drilled through
oslash200
55deg
160
H
Installation surface
Ceiling mountVertical mount
Gra
vity
Horizontal mount
The height ldquoHrdquo measurements
mmT1823
LT1833
H1831
LH1831
(Note) Use this product by installing it on a mounting surfacehaving heat dissipating characteristics equivalent to those of an aluminum plate of 400 x 400 x t10 mm in sizeIf the installation conditions necessitate lower heat dissipating characteristics please consult IAI
( ) indicates at 20-bit resolution
Number of regenerative resistor units
1 2 3 4 5 61 2 3
(Cannot be connected)2 4
T18LT18
H18LH18
Number of DD motor(s)
9
DD Direct Drive Motor
Conditions for Selection
determine whether the DD motor can be used under the applicable operating conditions
The total load of device(s) mounted on the actuator
The total load moment of device(s) mounted on the actuator
The load inertia of device(s) mounted on the actuator
To calculate the load conditions calculate the load inertia of device(s) mounted on the actuator and check the details with the DD motor selection software The equations used to calculate the load inertia of typical shapes are shown below for reference purposes
Check Load Conditions1
Check Operating Conditions2
The travel time changes according to the load inertia See the tables below to check the travel time data The data in the tables is only intended as a guide so the travel time is not guaranteed
Travel Time Guide3
[1] Thrust load
[2] Load moment applied
[3] Load inertia
J = M x R2 + 112 x M x (a2 + b2)J = M x R2 + 18 x M x D2 J = 112 x M x (a2 + b2)J = 18 x M x D2
Weight M
D
Cent
er of
ro
tatio
n
a
b
Cent
er of
ro
tatio
n
Weight MWeight MCent
er o
f rot
atio
n
D
R Cent
er o
f rot
atio
n
a
bR
Weight M
To calculate operating conditions use the DD motor selection software
DD Direct Drive Motor
10
Load inertia lower limit [kgm2] 0 0005 001 002 002 003 004 006 008 010 015 02 03 04 06 08 10 12 14
Load inertia upper limit [kgm2] 0005 001 0015 002 003 004 006 008 01 015 02 03 04 06 08 1 12 14 18
45deg travel time [sec] 0098 0096 0096 0097 0099 0104 0113 012 0126 014 0157 0207 0257 0352 0447 053 0629 0795 0875
90deg travel time [sec] 0129 0128 0127 0128 0131 0136 0144 0153 0163 0184 0208 0268 0329 044 0549 0646 0758 0941 1035
180deg travel time [sec] 0192 019 019 0191 0193 0199 0207 0215 0225 0249 0279 0354 0428 0562 0692 0806 0933 1133 1257
270deg travel time [sec] 0254 0252 0252 0253 0256 0262 027 0278 0288 0312 0341 042 0504 0655 08 0925 1064 1274 1415
DD-H18LH18
Load inertia lower limit [kgm2] 0 0005 001 002 003 004 005 006 007 008 009 01 02 03 04 05
Load inertia upper limit [kgm2] 0005 001 002 003 004 005 006 007 008 009 01 02 03 04 05 06
45deg travel time [sec] 009 010 011 012 013 014 015 017 019 021 023 039 062 070 087 111
90deg travel time [sec] 012 012 014 016 017 018 020 022 024 026 029 048 073 083 102 123
180deg travel time [sec] 017 017 019 021 023 024 027 029 032 035 037 060 089 101 122 142
270deg travel time [sec] 022 022 024 026 027 029 032 035 038 041 044 069 100 114 136 168
DD-T18LT18
(Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)
(Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)
Download the DD motor selection software from the IAIlsquos websitewwwintelligentactuatorde -gt area ldquodownloadsoftwareldquo
Download the DD motor selection software from the IAIlsquos websitewwwintelligentactuatorde -gt area ldquodownloadsoftwareldquo
IAI Industrie r oboter GmbH Ober der Roumlth 4
D-658 2 4 Schwalb a ch Frankfurt Germany
T el+49- 6 1 96-8895-0 Fax+49- 6 1 96-8895- 2 4
E-Mail infoIAI-GmbHde Inte r net httpww w euIAI-GmbHde
IAI the IAI-logo RoboCylindertrade the RoboCylindertrade-logo Intel ligentActuatortrade and the IntelligentActuatortrade-logo are trademark s or product names of IAI Corporation or of the subsidiaries in USA ChinaThailand or Germany
IAI America Inc 2690 W 237th Street Torrance CA 90505 USAPhone +1-310-891-6015 Fax +1-310-891-0815
IAI (Shanghai) Co LtdShanghai Jiahua Business Centee A8-303808Hongqiao Rd Shanghai 200030 China Phone +86-21-6448-4753 Fax +86-21-6448-3992
IAI CORPORATION645-1 Shimizu Hirose Shizuoka 424-0102 JapanPhone +81-543-64-5105 Fax +81-543-64-5182
IAI Robot (Thailand) Co Ltd825 PhairojKijja Tower 12th Floor Bangna-Trad RDBangna Bangna Bangkok 10260 ThailandPhone +66-2-361-4457 Fax +66-2-361-4456
The information contained in this catalogis subject to change without notice for the
purpose of product improvement
DD Series V2b
Catalogue No 0315-E
CAD drawings can be downloaded from the website wwwintelligentactuatorde
DD-LH18 Direct Drive Motor High-torque typeLarge bore
Model Specifications
Common Specifications Run-out of Output Shaft
Dimensional Drawing
Drive systemPositioning repeatability Allowable dynamic load moment (Note 2)
Encoder resolutionAllowable thrust load (Note 2)
(Note 4)
(Note 4)
(Note 3)
Base materialAmbient operating temperaturehumidityWeight
Applicable Controller Specifications
Model number Encoder typeMotor wattage
(W)
Range of operation
(deg)Speed (Note 1)
(degs)Rated torque
(Nmiddotm) ()
Maximuminstantaneous torque (Nmiddotm)
Allowable load inertia (kgmiddotmsup2)
Rotor inertia(kgmiddotmsup2)
600 1 to 1440Index absolute typeMulti-rotation absolute type 25 75 18 00106
Direct Drive Motor17-bit plusmn00055 deg 20-bit plusmn000103 deg80 Nmiddotm17-bit 131 072 (pulsesrev) 20-bit 1 048 576 (pulsesrev)Pressing 3400 N [3100 N for the high res type] Pulling 250 NAluminum0 to 40degC 20 to 85 (Non-condensing)132 kg
XSEL-PQ
SCON-CA1 Axis Single-phase
1 Axis
Program
Positioner230VAC Single-phase
2 Axes Three-phase 230VAC Three-phase
230VAC Single-phase
Model
Items
360600LH18Oscillation
angleTypeSeries Encoder
typeMotor
wattageApplicablecontroller
Cablelength
600 600W 360 360 deg T2 SCON-CA XSEL-PQ
T2DD
N NoneS 3mM 5m
P High resolution (20-bit)
Note Only SCON-CA applys for LH18P
S Standard (17-bit)
X
Applicable controllers Operating method Power supply voltageMax number ofcontrolled axes
Note For DD-LH18P only SCON-CA controller applysNote The multi-rotation absolute type is not available for SCON-CA with pulse-train control mode
DD-LH18 - -600-360-T2-
Legend Encoder resolution Encoder type Cable length () The value when installed on an IAI rated heat dissipating plate (Please see P9 for further details)
AI Index absolute typeAM Multi-rotation absolute type
Thrust (axial) run-out (no load) 30 μm
Radial run-out (no load) 30 μm
Encoderconnector
Motorconnector
94
(h7)
oslash180
180160plusmn01
(500)
A003
oslash120
A003
34 or less
2-oslash(equally distributed)
120
plusmn 2
(dist
ance
bet
wee
n ca
ble j
unct
ions
)
oslash110 -0035
oslash47
180
160plusmn
01
2-oslash6H7
55deg
C05
(500)
30deg
oslash93
(equally distributed)
Ground tap
0
13plusmn1
(120
)
118
15
A
125plusmn
01
31
5
7
DD Direct Drive Motor
Preview
Next planned DD seriesexpansion with same
like DD-LH181) Flangeless Type DD-LH18C2) Cleanroom Speci-
cleanliness class 4) DDCR-LH18(C)Please contact IAI foravailability and further details
Refer toP9
PCD oslash200plusmn005 PCD oslash10
1plusmn01
4-oslash11
Caution
(Note 1) The maximum speed may not be reached due to the moving distance or load inertia condition(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
(Note 3) The maximum cable length is 30 m Specify a desired length in meters (Example X08 = 8m) (Note 4) Please consult IAI if you are considering a 20-bit actuator and using it under conditions where the allowable dynamic moment and allowable thrust load will be exceeded
Model Number of Positioner Single-axis Type ltSCON-CAgt
Power-supplyvoltage
IO typeEncoder typeMotor typeTypeSeries OptionsSCON
IO cable length
A I
M
Index absolute type
Multi-rotation absolute type
For 200-watt motor (DD motor only)
For 600-watt motor
CA A 2
Model Number of Programmable Multi-axis Type ltXSELgt
Encoder type Encoder typeMotor type Motor typeNumber ofconnected axes
TypeSeries Options OptionsXSEL
600 For 600-watt motor
200
200S
600
For 200-watt motor
A I
M
Index absolute type
Multi-rotation absolute type
P
Q
6-axis standard type
6-axis global type
1
6
1 axis
6 axes
A A
(Specs for axis 1) (Specs for axes 2~6)
A single controller can operate multiple actuators other thanthe DD motor (single-axis robot RoboCylinder) at the sametime For details on actuators other than the DD motor thatcan be connected refer to the page listing the XSEL modelnumbers in the RoboCylinder general catalog
For the remaining part of the model number see the RoboCylindergeneral catalog
Caution
Because the 200W driver for the SCON-CA for DD motors is larger than the regular 200-watt type the motor type will be 200S
The controller may be selected from the two models described below
When the XSEL controller is connected
SCON-CAPC
PLC(To be supplied by the customer)
() TB-01-C-ENG coming soon with CE conformity
() TB-01-C-ENG coming soon with CE conformity
PLC(To be supplied by the customer)
Model CB-PAC-PIO020Standard 2 m
Be sure t ter on the power supply(For recommended models see the RC general catalog)
Encoder cableModel CB-X(EU)3-PA
PC softwareRS232 connection typeModel RCM-101-MW-ENGUSB connection typeModel RCM-101-USB-ENG
Teaching pendant Model TB-01-C-ENG ()
Regenerative resistor unitModel REU-2
Main power supply
Main power supply
Single-phase 230 VAC
Field network(For details see the RoboCylinder general catalog
Option
Comes with the actuator
Comes with the controller
Comes with the actuator Option
Option
OptionMotor CableModel CB-X(EU)-MA (T18LT18)
CB-X(EU)MC-MA (H18LH18)
XSELPC
Be sure t ter on the power supply(For recommended models see the RC general catalog)
PC softwareRS232 connection typeModel IA-101-X-MWUSB connection typeModel IA-101-X-USBMW
Single-phase 230 VACThree-phase 230 VAC
Regenerative resistor unitModel REU-1
Option
Option
Field network(For details see the RoboCylinder general catalog
Option
Model CB-X-PIO020Standard 2 m
Comes with the controller
Encoder cableModel CB-X(EU)3-PA
Comes with the actuator
Comes with the actuatorMotor CableModel CB-X(EU)-MA (T18LT18)
CB-X(EU)MC-MA (H18LH18)
EU version w metal connector
EU version w metal connector
When the SCON controller is connected
how many regenerative resistor units are needed
how many regenerative resistor units are needed
Teaching pendant Model TB-01-S-ENG ()
Option
Controller Model Numbers
8
DD Direct Drive Motor
Notes Installation
Installation Orientation
Controllers The output of the DD motor is 200 watts but the outside dimensions of the SCON-CA controller are those of the 400-watt type (For details on the outside dimensions of the SCON-CA see the RoboCylinder General Catalog) One and two regenerative resistor unit(s) are required for T18LT18 and H18LH18 respectively to operate a DD motor with the SCON-CA When operating DD motor(s) with the XSEL controller regenerative resistor units are required as shown below
The number of DD motor(s) connectable to the XSEL controller are a max of 6 units for the T18LT18 types and a max of 2 units for the H18LH18 types Please note that when the DD motor is operated with the SCON-CA the motor cannot be connected to the RoboCylinder gateway function of the XSEL controller Calculation the for power supply value T18LT18 types single-phase 600W bull three-phase 200W H18LH18 types single-phase 1200W bull three-phase 600W
Operation Types
When the XSEL absolute index type travels more than 180deg from the current position it rotates in a direction that requires a shorter travel to reach the target position Therefore please note that the direction of rotation changes according to the current position and travelIf you want to specify the direction of travel use the SCON-CA
like a regular motor does because the maximum travel distance per command from the XSEL controller is 180deg If you want to allow the motor to rotate continuously use the SCON-CA
Home return is required for the multi-rotation absolute encoder during the initial setting and replacement of the absolute battery
(1)
(2)
(3)
(4)
Operation typeController typeOperation rangeMaximum travel per travel command
Home returnAbsolute battery
Index absolute type
0 to 359999deg
Available (3)Not requiredNot required
SCON-CA
360deg
XSEL (1)
180deg (2)
Multi-rotation absolute type
Max plusmn9999deg (plusmn2520deg)Within the above operation range
Not availableNot required (4)
Required
SCON-CA XSEL (1)
160
Positioning hole for DD motor2-oslash4 reamed hole through
Mounting hole for DD motor4-oslash11 drilled through
oslash200
55deg
160
H
Installation surface
Ceiling mountVertical mount
Gra
vity
Horizontal mount
The height ldquoHrdquo measurements
mmT1823
LT1833
H1831
LH1831
(Note) Use this product by installing it on a mounting surfacehaving heat dissipating characteristics equivalent to those of an aluminum plate of 400 x 400 x t10 mm in sizeIf the installation conditions necessitate lower heat dissipating characteristics please consult IAI
( ) indicates at 20-bit resolution
Number of regenerative resistor units
1 2 3 4 5 61 2 3
(Cannot be connected)2 4
T18LT18
H18LH18
Number of DD motor(s)
9
DD Direct Drive Motor
Conditions for Selection
determine whether the DD motor can be used under the applicable operating conditions
The total load of device(s) mounted on the actuator
The total load moment of device(s) mounted on the actuator
The load inertia of device(s) mounted on the actuator
To calculate the load conditions calculate the load inertia of device(s) mounted on the actuator and check the details with the DD motor selection software The equations used to calculate the load inertia of typical shapes are shown below for reference purposes
Check Load Conditions1
Check Operating Conditions2
The travel time changes according to the load inertia See the tables below to check the travel time data The data in the tables is only intended as a guide so the travel time is not guaranteed
Travel Time Guide3
[1] Thrust load
[2] Load moment applied
[3] Load inertia
J = M x R2 + 112 x M x (a2 + b2)J = M x R2 + 18 x M x D2 J = 112 x M x (a2 + b2)J = 18 x M x D2
Weight M
D
Cent
er of
ro
tatio
n
a
b
Cent
er of
ro
tatio
n
Weight MWeight MCent
er o
f rot
atio
n
D
R Cent
er o
f rot
atio
n
a
bR
Weight M
To calculate operating conditions use the DD motor selection software
DD Direct Drive Motor
10
Load inertia lower limit [kgm2] 0 0005 001 002 002 003 004 006 008 010 015 02 03 04 06 08 10 12 14
Load inertia upper limit [kgm2] 0005 001 0015 002 003 004 006 008 01 015 02 03 04 06 08 1 12 14 18
45deg travel time [sec] 0098 0096 0096 0097 0099 0104 0113 012 0126 014 0157 0207 0257 0352 0447 053 0629 0795 0875
90deg travel time [sec] 0129 0128 0127 0128 0131 0136 0144 0153 0163 0184 0208 0268 0329 044 0549 0646 0758 0941 1035
180deg travel time [sec] 0192 019 019 0191 0193 0199 0207 0215 0225 0249 0279 0354 0428 0562 0692 0806 0933 1133 1257
270deg travel time [sec] 0254 0252 0252 0253 0256 0262 027 0278 0288 0312 0341 042 0504 0655 08 0925 1064 1274 1415
DD-H18LH18
Load inertia lower limit [kgm2] 0 0005 001 002 003 004 005 006 007 008 009 01 02 03 04 05
Load inertia upper limit [kgm2] 0005 001 002 003 004 005 006 007 008 009 01 02 03 04 05 06
45deg travel time [sec] 009 010 011 012 013 014 015 017 019 021 023 039 062 070 087 111
90deg travel time [sec] 012 012 014 016 017 018 020 022 024 026 029 048 073 083 102 123
180deg travel time [sec] 017 017 019 021 023 024 027 029 032 035 037 060 089 101 122 142
270deg travel time [sec] 022 022 024 026 027 029 032 035 038 041 044 069 100 114 136 168
DD-T18LT18
(Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)
(Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)
Download the DD motor selection software from the IAIlsquos websitewwwintelligentactuatorde -gt area ldquodownloadsoftwareldquo
Download the DD motor selection software from the IAIlsquos websitewwwintelligentactuatorde -gt area ldquodownloadsoftwareldquo
IAI Industrie r oboter GmbH Ober der Roumlth 4
D-658 2 4 Schwalb a ch Frankfurt Germany
T el+49- 6 1 96-8895-0 Fax+49- 6 1 96-8895- 2 4
E-Mail infoIAI-GmbHde Inte r net httpww w euIAI-GmbHde
IAI the IAI-logo RoboCylindertrade the RoboCylindertrade-logo Intel ligentActuatortrade and the IntelligentActuatortrade-logo are trademark s or product names of IAI Corporation or of the subsidiaries in USA ChinaThailand or Germany
IAI America Inc 2690 W 237th Street Torrance CA 90505 USAPhone +1-310-891-6015 Fax +1-310-891-0815
IAI (Shanghai) Co LtdShanghai Jiahua Business Centee A8-303808Hongqiao Rd Shanghai 200030 China Phone +86-21-6448-4753 Fax +86-21-6448-3992
IAI CORPORATION645-1 Shimizu Hirose Shizuoka 424-0102 JapanPhone +81-543-64-5105 Fax +81-543-64-5182
IAI Robot (Thailand) Co Ltd825 PhairojKijja Tower 12th Floor Bangna-Trad RDBangna Bangna Bangkok 10260 ThailandPhone +66-2-361-4457 Fax +66-2-361-4456
The information contained in this catalogis subject to change without notice for the
purpose of product improvement
DD Series V2b
Catalogue No 0315-E
Model Number of Positioner Single-axis Type ltSCON-CAgt
Power-supplyvoltage
IO typeEncoder typeMotor typeTypeSeries OptionsSCON
IO cable length
A I
M
Index absolute type
Multi-rotation absolute type
For 200-watt motor (DD motor only)
For 600-watt motor
CA A 2
Model Number of Programmable Multi-axis Type ltXSELgt
Encoder type Encoder typeMotor type Motor typeNumber ofconnected axes
TypeSeries Options OptionsXSEL
600 For 600-watt motor
200
200S
600
For 200-watt motor
A I
M
Index absolute type
Multi-rotation absolute type
P
Q
6-axis standard type
6-axis global type
1
6
1 axis
6 axes
A A
(Specs for axis 1) (Specs for axes 2~6)
A single controller can operate multiple actuators other thanthe DD motor (single-axis robot RoboCylinder) at the sametime For details on actuators other than the DD motor thatcan be connected refer to the page listing the XSEL modelnumbers in the RoboCylinder general catalog
For the remaining part of the model number see the RoboCylindergeneral catalog
Caution
Because the 200W driver for the SCON-CA for DD motors is larger than the regular 200-watt type the motor type will be 200S
The controller may be selected from the two models described below
When the XSEL controller is connected
SCON-CAPC
PLC(To be supplied by the customer)
() TB-01-C-ENG coming soon with CE conformity
() TB-01-C-ENG coming soon with CE conformity
PLC(To be supplied by the customer)
Model CB-PAC-PIO020Standard 2 m
Be sure t ter on the power supply(For recommended models see the RC general catalog)
Encoder cableModel CB-X(EU)3-PA
PC softwareRS232 connection typeModel RCM-101-MW-ENGUSB connection typeModel RCM-101-USB-ENG
Teaching pendant Model TB-01-C-ENG ()
Regenerative resistor unitModel REU-2
Main power supply
Main power supply
Single-phase 230 VAC
Field network(For details see the RoboCylinder general catalog
Option
Comes with the actuator
Comes with the controller
Comes with the actuator Option
Option
OptionMotor CableModel CB-X(EU)-MA (T18LT18)
CB-X(EU)MC-MA (H18LH18)
XSELPC
Be sure t ter on the power supply(For recommended models see the RC general catalog)
PC softwareRS232 connection typeModel IA-101-X-MWUSB connection typeModel IA-101-X-USBMW
Single-phase 230 VACThree-phase 230 VAC
Regenerative resistor unitModel REU-1
Option
Option
Field network(For details see the RoboCylinder general catalog
Option
Model CB-X-PIO020Standard 2 m
Comes with the controller
Encoder cableModel CB-X(EU)3-PA
Comes with the actuator
Comes with the actuatorMotor CableModel CB-X(EU)-MA (T18LT18)
CB-X(EU)MC-MA (H18LH18)
EU version w metal connector
EU version w metal connector
When the SCON controller is connected
how many regenerative resistor units are needed
how many regenerative resistor units are needed
Teaching pendant Model TB-01-S-ENG ()
Option
Controller Model Numbers
8
DD Direct Drive Motor
Notes Installation
Installation Orientation
Controllers The output of the DD motor is 200 watts but the outside dimensions of the SCON-CA controller are those of the 400-watt type (For details on the outside dimensions of the SCON-CA see the RoboCylinder General Catalog) One and two regenerative resistor unit(s) are required for T18LT18 and H18LH18 respectively to operate a DD motor with the SCON-CA When operating DD motor(s) with the XSEL controller regenerative resistor units are required as shown below
The number of DD motor(s) connectable to the XSEL controller are a max of 6 units for the T18LT18 types and a max of 2 units for the H18LH18 types Please note that when the DD motor is operated with the SCON-CA the motor cannot be connected to the RoboCylinder gateway function of the XSEL controller Calculation the for power supply value T18LT18 types single-phase 600W bull three-phase 200W H18LH18 types single-phase 1200W bull three-phase 600W
Operation Types
When the XSEL absolute index type travels more than 180deg from the current position it rotates in a direction that requires a shorter travel to reach the target position Therefore please note that the direction of rotation changes according to the current position and travelIf you want to specify the direction of travel use the SCON-CA
like a regular motor does because the maximum travel distance per command from the XSEL controller is 180deg If you want to allow the motor to rotate continuously use the SCON-CA
Home return is required for the multi-rotation absolute encoder during the initial setting and replacement of the absolute battery
(1)
(2)
(3)
(4)
Operation typeController typeOperation rangeMaximum travel per travel command
Home returnAbsolute battery
Index absolute type
0 to 359999deg
Available (3)Not requiredNot required
SCON-CA
360deg
XSEL (1)
180deg (2)
Multi-rotation absolute type
Max plusmn9999deg (plusmn2520deg)Within the above operation range
Not availableNot required (4)
Required
SCON-CA XSEL (1)
160
Positioning hole for DD motor2-oslash4 reamed hole through
Mounting hole for DD motor4-oslash11 drilled through
oslash200
55deg
160
H
Installation surface
Ceiling mountVertical mount
Gra
vity
Horizontal mount
The height ldquoHrdquo measurements
mmT1823
LT1833
H1831
LH1831
(Note) Use this product by installing it on a mounting surfacehaving heat dissipating characteristics equivalent to those of an aluminum plate of 400 x 400 x t10 mm in sizeIf the installation conditions necessitate lower heat dissipating characteristics please consult IAI
( ) indicates at 20-bit resolution
Number of regenerative resistor units
1 2 3 4 5 61 2 3
(Cannot be connected)2 4
T18LT18
H18LH18
Number of DD motor(s)
9
DD Direct Drive Motor
Conditions for Selection
determine whether the DD motor can be used under the applicable operating conditions
The total load of device(s) mounted on the actuator
The total load moment of device(s) mounted on the actuator
The load inertia of device(s) mounted on the actuator
To calculate the load conditions calculate the load inertia of device(s) mounted on the actuator and check the details with the DD motor selection software The equations used to calculate the load inertia of typical shapes are shown below for reference purposes
Check Load Conditions1
Check Operating Conditions2
The travel time changes according to the load inertia See the tables below to check the travel time data The data in the tables is only intended as a guide so the travel time is not guaranteed
Travel Time Guide3
[1] Thrust load
[2] Load moment applied
[3] Load inertia
J = M x R2 + 112 x M x (a2 + b2)J = M x R2 + 18 x M x D2 J = 112 x M x (a2 + b2)J = 18 x M x D2
Weight M
D
Cent
er of
ro
tatio
n
a
b
Cent
er of
ro
tatio
n
Weight MWeight MCent
er o
f rot
atio
n
D
R Cent
er o
f rot
atio
n
a
bR
Weight M
To calculate operating conditions use the DD motor selection software
DD Direct Drive Motor
10
Load inertia lower limit [kgm2] 0 0005 001 002 002 003 004 006 008 010 015 02 03 04 06 08 10 12 14
Load inertia upper limit [kgm2] 0005 001 0015 002 003 004 006 008 01 015 02 03 04 06 08 1 12 14 18
45deg travel time [sec] 0098 0096 0096 0097 0099 0104 0113 012 0126 014 0157 0207 0257 0352 0447 053 0629 0795 0875
90deg travel time [sec] 0129 0128 0127 0128 0131 0136 0144 0153 0163 0184 0208 0268 0329 044 0549 0646 0758 0941 1035
180deg travel time [sec] 0192 019 019 0191 0193 0199 0207 0215 0225 0249 0279 0354 0428 0562 0692 0806 0933 1133 1257
270deg travel time [sec] 0254 0252 0252 0253 0256 0262 027 0278 0288 0312 0341 042 0504 0655 08 0925 1064 1274 1415
DD-H18LH18
Load inertia lower limit [kgm2] 0 0005 001 002 003 004 005 006 007 008 009 01 02 03 04 05
Load inertia upper limit [kgm2] 0005 001 002 003 004 005 006 007 008 009 01 02 03 04 05 06
45deg travel time [sec] 009 010 011 012 013 014 015 017 019 021 023 039 062 070 087 111
90deg travel time [sec] 012 012 014 016 017 018 020 022 024 026 029 048 073 083 102 123
180deg travel time [sec] 017 017 019 021 023 024 027 029 032 035 037 060 089 101 122 142
270deg travel time [sec] 022 022 024 026 027 029 032 035 038 041 044 069 100 114 136 168
DD-T18LT18
(Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)
(Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)
Download the DD motor selection software from the IAIlsquos websitewwwintelligentactuatorde -gt area ldquodownloadsoftwareldquo
Download the DD motor selection software from the IAIlsquos websitewwwintelligentactuatorde -gt area ldquodownloadsoftwareldquo
IAI Industrie r oboter GmbH Ober der Roumlth 4
D-658 2 4 Schwalb a ch Frankfurt Germany
T el+49- 6 1 96-8895-0 Fax+49- 6 1 96-8895- 2 4
E-Mail infoIAI-GmbHde Inte r net httpww w euIAI-GmbHde
IAI the IAI-logo RoboCylindertrade the RoboCylindertrade-logo Intel ligentActuatortrade and the IntelligentActuatortrade-logo are trademark s or product names of IAI Corporation or of the subsidiaries in USA ChinaThailand or Germany
IAI America Inc 2690 W 237th Street Torrance CA 90505 USAPhone +1-310-891-6015 Fax +1-310-891-0815
IAI (Shanghai) Co LtdShanghai Jiahua Business Centee A8-303808Hongqiao Rd Shanghai 200030 China Phone +86-21-6448-4753 Fax +86-21-6448-3992
IAI CORPORATION645-1 Shimizu Hirose Shizuoka 424-0102 JapanPhone +81-543-64-5105 Fax +81-543-64-5182
IAI Robot (Thailand) Co Ltd825 PhairojKijja Tower 12th Floor Bangna-Trad RDBangna Bangna Bangkok 10260 ThailandPhone +66-2-361-4457 Fax +66-2-361-4456
The information contained in this catalogis subject to change without notice for the
purpose of product improvement
DD Series V2b
Catalogue No 0315-E
Notes Installation
Installation Orientation
Controllers The output of the DD motor is 200 watts but the outside dimensions of the SCON-CA controller are those of the 400-watt type (For details on the outside dimensions of the SCON-CA see the RoboCylinder General Catalog) One and two regenerative resistor unit(s) are required for T18LT18 and H18LH18 respectively to operate a DD motor with the SCON-CA When operating DD motor(s) with the XSEL controller regenerative resistor units are required as shown below
The number of DD motor(s) connectable to the XSEL controller are a max of 6 units for the T18LT18 types and a max of 2 units for the H18LH18 types Please note that when the DD motor is operated with the SCON-CA the motor cannot be connected to the RoboCylinder gateway function of the XSEL controller Calculation the for power supply value T18LT18 types single-phase 600W bull three-phase 200W H18LH18 types single-phase 1200W bull three-phase 600W
Operation Types
When the XSEL absolute index type travels more than 180deg from the current position it rotates in a direction that requires a shorter travel to reach the target position Therefore please note that the direction of rotation changes according to the current position and travelIf you want to specify the direction of travel use the SCON-CA
like a regular motor does because the maximum travel distance per command from the XSEL controller is 180deg If you want to allow the motor to rotate continuously use the SCON-CA
Home return is required for the multi-rotation absolute encoder during the initial setting and replacement of the absolute battery
(1)
(2)
(3)
(4)
Operation typeController typeOperation rangeMaximum travel per travel command
Home returnAbsolute battery
Index absolute type
0 to 359999deg
Available (3)Not requiredNot required
SCON-CA
360deg
XSEL (1)
180deg (2)
Multi-rotation absolute type
Max plusmn9999deg (plusmn2520deg)Within the above operation range
Not availableNot required (4)
Required
SCON-CA XSEL (1)
160
Positioning hole for DD motor2-oslash4 reamed hole through
Mounting hole for DD motor4-oslash11 drilled through
oslash200
55deg
160
H
Installation surface
Ceiling mountVertical mount
Gra
vity
Horizontal mount
The height ldquoHrdquo measurements
mmT1823
LT1833
H1831
LH1831
(Note) Use this product by installing it on a mounting surfacehaving heat dissipating characteristics equivalent to those of an aluminum plate of 400 x 400 x t10 mm in sizeIf the installation conditions necessitate lower heat dissipating characteristics please consult IAI
( ) indicates at 20-bit resolution
Number of regenerative resistor units
1 2 3 4 5 61 2 3
(Cannot be connected)2 4
T18LT18
H18LH18
Number of DD motor(s)
9
DD Direct Drive Motor
Conditions for Selection
determine whether the DD motor can be used under the applicable operating conditions
The total load of device(s) mounted on the actuator
The total load moment of device(s) mounted on the actuator
The load inertia of device(s) mounted on the actuator
To calculate the load conditions calculate the load inertia of device(s) mounted on the actuator and check the details with the DD motor selection software The equations used to calculate the load inertia of typical shapes are shown below for reference purposes
Check Load Conditions1
Check Operating Conditions2
The travel time changes according to the load inertia See the tables below to check the travel time data The data in the tables is only intended as a guide so the travel time is not guaranteed
Travel Time Guide3
[1] Thrust load
[2] Load moment applied
[3] Load inertia
J = M x R2 + 112 x M x (a2 + b2)J = M x R2 + 18 x M x D2 J = 112 x M x (a2 + b2)J = 18 x M x D2
Weight M
D
Cent
er of
ro
tatio
n
a
b
Cent
er of
ro
tatio
n
Weight MWeight MCent
er o
f rot
atio
n
D
R Cent
er o
f rot
atio
n
a
bR
Weight M
To calculate operating conditions use the DD motor selection software
DD Direct Drive Motor
10
Load inertia lower limit [kgm2] 0 0005 001 002 002 003 004 006 008 010 015 02 03 04 06 08 10 12 14
Load inertia upper limit [kgm2] 0005 001 0015 002 003 004 006 008 01 015 02 03 04 06 08 1 12 14 18
45deg travel time [sec] 0098 0096 0096 0097 0099 0104 0113 012 0126 014 0157 0207 0257 0352 0447 053 0629 0795 0875
90deg travel time [sec] 0129 0128 0127 0128 0131 0136 0144 0153 0163 0184 0208 0268 0329 044 0549 0646 0758 0941 1035
180deg travel time [sec] 0192 019 019 0191 0193 0199 0207 0215 0225 0249 0279 0354 0428 0562 0692 0806 0933 1133 1257
270deg travel time [sec] 0254 0252 0252 0253 0256 0262 027 0278 0288 0312 0341 042 0504 0655 08 0925 1064 1274 1415
DD-H18LH18
Load inertia lower limit [kgm2] 0 0005 001 002 003 004 005 006 007 008 009 01 02 03 04 05
Load inertia upper limit [kgm2] 0005 001 002 003 004 005 006 007 008 009 01 02 03 04 05 06
45deg travel time [sec] 009 010 011 012 013 014 015 017 019 021 023 039 062 070 087 111
90deg travel time [sec] 012 012 014 016 017 018 020 022 024 026 029 048 073 083 102 123
180deg travel time [sec] 017 017 019 021 023 024 027 029 032 035 037 060 089 101 122 142
270deg travel time [sec] 022 022 024 026 027 029 032 035 038 041 044 069 100 114 136 168
DD-T18LT18
(Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)
(Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)
Download the DD motor selection software from the IAIlsquos websitewwwintelligentactuatorde -gt area ldquodownloadsoftwareldquo
Download the DD motor selection software from the IAIlsquos websitewwwintelligentactuatorde -gt area ldquodownloadsoftwareldquo
IAI Industrie r oboter GmbH Ober der Roumlth 4
D-658 2 4 Schwalb a ch Frankfurt Germany
T el+49- 6 1 96-8895-0 Fax+49- 6 1 96-8895- 2 4
E-Mail infoIAI-GmbHde Inte r net httpww w euIAI-GmbHde
IAI the IAI-logo RoboCylindertrade the RoboCylindertrade-logo Intel ligentActuatortrade and the IntelligentActuatortrade-logo are trademark s or product names of IAI Corporation or of the subsidiaries in USA ChinaThailand or Germany
IAI America Inc 2690 W 237th Street Torrance CA 90505 USAPhone +1-310-891-6015 Fax +1-310-891-0815
IAI (Shanghai) Co LtdShanghai Jiahua Business Centee A8-303808Hongqiao Rd Shanghai 200030 China Phone +86-21-6448-4753 Fax +86-21-6448-3992
IAI CORPORATION645-1 Shimizu Hirose Shizuoka 424-0102 JapanPhone +81-543-64-5105 Fax +81-543-64-5182
IAI Robot (Thailand) Co Ltd825 PhairojKijja Tower 12th Floor Bangna-Trad RDBangna Bangna Bangkok 10260 ThailandPhone +66-2-361-4457 Fax +66-2-361-4456
The information contained in this catalogis subject to change without notice for the
purpose of product improvement
DD Series V2b
Catalogue No 0315-E
Conditions for Selection
determine whether the DD motor can be used under the applicable operating conditions
The total load of device(s) mounted on the actuator
The total load moment of device(s) mounted on the actuator
The load inertia of device(s) mounted on the actuator
To calculate the load conditions calculate the load inertia of device(s) mounted on the actuator and check the details with the DD motor selection software The equations used to calculate the load inertia of typical shapes are shown below for reference purposes
Check Load Conditions1
Check Operating Conditions2
The travel time changes according to the load inertia See the tables below to check the travel time data The data in the tables is only intended as a guide so the travel time is not guaranteed
Travel Time Guide3
[1] Thrust load
[2] Load moment applied
[3] Load inertia
J = M x R2 + 112 x M x (a2 + b2)J = M x R2 + 18 x M x D2 J = 112 x M x (a2 + b2)J = 18 x M x D2
Weight M
D
Cent
er of
ro
tatio
n
a
b
Cent
er of
ro
tatio
n
Weight MWeight MCent
er o
f rot
atio
n
D
R Cent
er o
f rot
atio
n
a
bR
Weight M
To calculate operating conditions use the DD motor selection software
DD Direct Drive Motor
10
Load inertia lower limit [kgm2] 0 0005 001 002 002 003 004 006 008 010 015 02 03 04 06 08 10 12 14
Load inertia upper limit [kgm2] 0005 001 0015 002 003 004 006 008 01 015 02 03 04 06 08 1 12 14 18
45deg travel time [sec] 0098 0096 0096 0097 0099 0104 0113 012 0126 014 0157 0207 0257 0352 0447 053 0629 0795 0875
90deg travel time [sec] 0129 0128 0127 0128 0131 0136 0144 0153 0163 0184 0208 0268 0329 044 0549 0646 0758 0941 1035
180deg travel time [sec] 0192 019 019 0191 0193 0199 0207 0215 0225 0249 0279 0354 0428 0562 0692 0806 0933 1133 1257
270deg travel time [sec] 0254 0252 0252 0253 0256 0262 027 0278 0288 0312 0341 042 0504 0655 08 0925 1064 1274 1415
DD-H18LH18
Load inertia lower limit [kgm2] 0 0005 001 002 003 004 005 006 007 008 009 01 02 03 04 05
Load inertia upper limit [kgm2] 0005 001 002 003 004 005 006 007 008 009 01 02 03 04 05 06
45deg travel time [sec] 009 010 011 012 013 014 015 017 019 021 023 039 062 070 087 111
90deg travel time [sec] 012 012 014 016 017 018 020 022 024 026 029 048 073 083 102 123
180deg travel time [sec] 017 017 019 021 023 024 027 029 032 035 037 060 089 101 122 142
270deg travel time [sec] 022 022 024 026 027 029 032 035 038 041 044 069 100 114 136 168
DD-T18LT18
(Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)
(Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)
Download the DD motor selection software from the IAIlsquos websitewwwintelligentactuatorde -gt area ldquodownloadsoftwareldquo
Download the DD motor selection software from the IAIlsquos websitewwwintelligentactuatorde -gt area ldquodownloadsoftwareldquo
IAI Industrie r oboter GmbH Ober der Roumlth 4
D-658 2 4 Schwalb a ch Frankfurt Germany
T el+49- 6 1 96-8895-0 Fax+49- 6 1 96-8895- 2 4
E-Mail infoIAI-GmbHde Inte r net httpww w euIAI-GmbHde
IAI the IAI-logo RoboCylindertrade the RoboCylindertrade-logo Intel ligentActuatortrade and the IntelligentActuatortrade-logo are trademark s or product names of IAI Corporation or of the subsidiaries in USA ChinaThailand or Germany
IAI America Inc 2690 W 237th Street Torrance CA 90505 USAPhone +1-310-891-6015 Fax +1-310-891-0815
IAI (Shanghai) Co LtdShanghai Jiahua Business Centee A8-303808Hongqiao Rd Shanghai 200030 China Phone +86-21-6448-4753 Fax +86-21-6448-3992
IAI CORPORATION645-1 Shimizu Hirose Shizuoka 424-0102 JapanPhone +81-543-64-5105 Fax +81-543-64-5182
IAI Robot (Thailand) Co Ltd825 PhairojKijja Tower 12th Floor Bangna-Trad RDBangna Bangna Bangkok 10260 ThailandPhone +66-2-361-4457 Fax +66-2-361-4456
The information contained in this catalogis subject to change without notice for the
purpose of product improvement
DD Series V2b
Catalogue No 0315-E
IAI Industrie r oboter GmbH Ober der Roumlth 4
D-658 2 4 Schwalb a ch Frankfurt Germany
T el+49- 6 1 96-8895-0 Fax+49- 6 1 96-8895- 2 4
E-Mail infoIAI-GmbHde Inte r net httpww w euIAI-GmbHde
IAI the IAI-logo RoboCylindertrade the RoboCylindertrade-logo Intel ligentActuatortrade and the IntelligentActuatortrade-logo are trademark s or product names of IAI Corporation or of the subsidiaries in USA ChinaThailand or Germany
IAI America Inc 2690 W 237th Street Torrance CA 90505 USAPhone +1-310-891-6015 Fax +1-310-891-0815
IAI (Shanghai) Co LtdShanghai Jiahua Business Centee A8-303808Hongqiao Rd Shanghai 200030 China Phone +86-21-6448-4753 Fax +86-21-6448-3992
IAI CORPORATION645-1 Shimizu Hirose Shizuoka 424-0102 JapanPhone +81-543-64-5105 Fax +81-543-64-5182
IAI Robot (Thailand) Co Ltd825 PhairojKijja Tower 12th Floor Bangna-Trad RDBangna Bangna Bangkok 10260 ThailandPhone +66-2-361-4457 Fax +66-2-361-4456
The information contained in this catalogis subject to change without notice for the
purpose of product improvement
DD Series V2b
Catalogue No 0315-E