"Instantaneous positioning" quick response direct drive actuator ABSODEX Direct drive actuator quick response type ABSODEX AX1000T, AX2000T, and AX4000T Series
DIRECT DRIVE ACTUATOR, QUICK RESPONSE TYPE, AX1000T, AX2000T, AX4000T SERIES
User friendly driver with serial communication
CC-Link DeviceNet PROFIBUS-DP
CC-995A 9
Advantages of TS/TH-type drivers
z Quick response z New encoder output The faster CPU in the driver improves response and drastically The new A-B phase output function that specifies reduces stabilization time. It helps you to reduce tact time. the current position makes it possible to easily and z Compact and light weight accurately control the position using pulse control. The volume of the large models (max. output torque of z UL/cUL Certified 1PRUKLJKHU KDVEHHQUHGXFHGWRRI&.' V equivalent conventional models. z Actuator The adoption of the resin body has reduced the weight. Conforms to UL1004-1. Conforms to CSA 22.2 No.100. ● There are mounting holes on )LOHQR ( the body. They eliminate the z Driver need for using mounting Conforms to UL508C. brackets, which saves setup Conforms to CSA 22.2 No.14. time. )LOHQR (
● 7 segment LED 2-digit display Alarm details have been added. ● Power supply separated They make maintenance easier. from control power supply The set value for gain It is now possible to cut adjustment will be shown on the off only the main power LED. This has improved supply for emergency. visibility considerably.
● Terminal for safety function A power cut off circuit can be provided easily with the STO function (safe torque off). ● Connector provided Easy wiring without crimped terminal. Risks of electric shock lowered Non-compatible STO function since the terminal is not driver compatible driver exposed. Switch Switch Non-compatible STO function ●6XSSRUWHG¿HOGEXV driver compatible driver Switch Switch CC-Link Ver1.10
DeviceNet
PROFIBUS DP Safety Safety Relay unit Relay unit ● Monitor with serial communication Program no, position and alarm could be monitored from the PLC. Contactor
Contactor $; 767+8 88
Current position Program no. Rotation speed Alarms and other information Installation of contactor for cutting Master unit off motor power can be eliminated. 3/&HWF
Start, stop, select program, etc.
Intro 3 Useful features z Additional functions on the quick response type z Starting adjustment support tool "AX Tools" ■ I/O function provided for free This tools enables you to make adjustments in less time. z Ready output ■ Teaching note z Servo state output z Create programs and set parameters z Encoder output z Origin offset z Servo ON input z Test operation z Position deviation counter clear input z 6HPLDXWRPDWLFWXQLQJ 76W\SHRQO\ Parameters ■ After auto tuning, you can increase the machine z Positioning completion signal output time setting performance by adjusting a single parameter. Setting in the range of 0 to 100 ms is possible.
z Mode selection of in-position output ■ Speed wave Select either ON at all times within the position Evaluate tuning by measuring the actual speed change deviation range or ON only when stopped. and convergence waveforms.
■ Additional program selection method ■ FFT z 6HOHFWSURJUDPVZLWKELWLQSXW WR Set a notch filter and low-pass filter to suppress z Start operation with start input + selection input mechanical resonance. Program number selection input can be omitted, which reduces the time from program selection to operation. ■ I/O check This reduces tact time. Evaluate the status of I/O communication with the host device. ■ Free-run prevention during alarms When an alarm indicating that the servo is in an uncontrollable state occurs during operation, this function decelerates and stops the servo to prevent accidents. z Return to origin not required The Absodex has a built-in absolute resolver that detects the current position when power is turned on, eliminating bothersome origin searches. You can also restart from the current position after an emergency stop. z Smooth cam curve drive Five types of cam curves are provided as a standard. Shock during movement and stopping is minimized. z Eco-friendly features ■ Energy saving z 0RGHOVHOHFWLRQVRIWZDUH IUHH Power is consumed only during indexing. Almost no Select the best model with ease. power is consumed while the output shaft is stopped.
■ No need to replace or dispose lubricant Bothersome lubricant replacement and waste oil disposal are no longer required. This also eliminates pollution that may be caused by oil leakage.
■ Compact, space saving No need for origin detection sensors, reducers, etc.
■ Easy specifications change and reusability Specifications can be changed by using an interactive terminal, PC, etc. Reuse, which is difficult with mechanical indexed actuator, is also possible.
Intro 4 6\VWHP&RQ¿JXUDWLRQ
z Basic setting items z Basic drive methods 1. Input the program from a personal computer or interactive terminal. 1. A program to be executed is selected at the PLC. 2. Specify required parameters in the same way. 2. Start signal is input at the PLC. 3. Set the gain adequately. 3. After driving is started, the driver outputs a positioning completion signal. Interactive terminal AX0180 (sold separately) Absodex actuator body
FG clamp FG clamp
Provided by the customer Absodex resolver cable
Provided by the customer Absodex motor cable Provided by Absodex driver the customer ABSODEX DRIVER T SERIES RS-232C MON. Circuit breaker Electromagnetic POWER G1 CHARGE G2 3-phase 200 VAC Noise filter contactor (option) for power L1 L2 Communication cable C L3 supply (sold N L1C 1 (sold separately) separately) L2C AC200 C -230V CN4 50/60Hz N 2 Safety Relay unit Surge protector FG clamp Ferrite core + S1 + S2 T (sold separately) B (sold separately) - S1 - S2 1 U Safety door switch, etc. V W
FG clamp CN5 I/O cable C N 3 PLC ABSODEX I/O connector Driver I/O power supply MODEL: AX9000TS SERIAL: 1234567 G CKD Corporation MADE IN JAPAN T (driver accessory) BK + (U0, U1 specifications) BK - B GND 2 24 VDC
To comply with CE marking requirements, the following parts as well as overcurrent protection, short-circuit protection, and other components are required. In addition, the driver must be installed inside the switchboard. For details on how to select these devices and how to install and ZLUHWKHVHGHYLFHVUHIHUWRWKHLQVWUXFWLRQPDQXDORUWKHWHFKQLFDOLQIRUPDWLRQ $%62'(;$;6HULHV767\SH7+7\SH7HFKQLFDO,QIRUPDWLRQ
Parts name Application Model no. Manufacturer 3-AC, 1-AC 200 VAC to 230 VAC 683()(5 Okaya Electric Noise filter 1-AC, 100 VAC to 115 VAC NF2015A-OD Soshin Electric Ferrite core Common 5& Soshin Electric Surge protector Common R/A/V-781BXZ-4 Okaya Electric FG clamp* Common FGC-5, FGC-8 .LWDJDZD,QGXVWULHV * FG clamp is used to ground the shield of motor and resolver cables.
&RQILJXUDWLRQ VHWPRGHOQRVHOHFWLRQ Name Quantity Actuator body 1 'ULYHU ZLWKFRQWUROOHU 1
Standard Motor cable and resolver cable 1 each configuration Accessories: I/O connector, power supply connector, motor cable connector Programming tool
z Interactive terminal "AX0180" is available. 1RWH &RQQHFWWKHLQWHUDFWLYHWHUPLQDORQO\ZKHQ z Starting adjustment support tool "AX Tools" is available. adjusting. Remove the cable from CN1 during :LQGRZVYHUVLRQIUHH normal operation. Absodex programs are created, parameters set, and 1RWH 'RQRWDOORZWKH3&WRHQWHUWKHVWDQGE\PRGH operation commands, etc., issued from the personal when a USB-serial adapter cable is connected. If computer. Created programs can be saved. it does, communication errors may result when the $3&FRPPXQLFDWLRQFDEOH PRGHO $;56& 3 LV PC returns from the standby mode. required. 1RWH 'RZQORDGWKHODWHVWYHUVLRQRIWKH6WDUWLQJ 1RWH 7KH3&FRPPXQLFDWLRQFDEOHLVGHVLJQHG adjustment support tool "AX Tools" from our specifically for Absodex. You cannot use a cable website. available on the market as it is. If you do, the driver or PC may be damaged. Intro 5 Example of a safety circuit timing chart
The Safe Torque Off function, a safety feature provided on this product, allows you to turn off the motor by the opening/closing of a contact of an external safety component. $QH[DPSOHRIDWLPLQJFKDUWXVLQJWKHVDIHW\WHUPLQDO 7% LVVKRZQEHORZ
STO input (contact with external component) Closed contact (STO disabled) Open contact (STO enabled) Closed contact (STO disabled) Servo ON input
Ready return input
Servo state output Servo ON Servo OFF Servo ON Ready output Turns off with STO input Turns on with ready return input
z In normal cases, use the safety feature with the servo OFF. z Be sure to conduct a risk assessment of the device when using the safety feature.
Usage example
Actuator
Stop/Low speed detection unit
Electromagnetic lock, Safety door switch
,QWUR ABSODEX compatible types Series Variation
7RUTXH 1P Series 6 9 12 18 22 45 75 150
AX1000T series
AX1022T AX1045T AX1075T AX1150T
AX2000T series Actuator
$;7 AX2012T AX2018T
AX4000T series
AX4009T AX4022T AX4045T AX4075T AX4150T
TS type driver
Compatible drivers TH type driver
Intro 7 Use cases ……Page 43 Safety precautions ……Page Intro 9 How to order related parts ……Page 41 Selection guide ……Page 45 7RUTXH 1P Index Applica- precision Repeatability Features Page 210 300 500 1000 VHF VHF tions AX1000T
z High precision model with indexing z Precision accuracy and run measurement out of output shaft z Turntable 1 z High-speed rotation ±15 ±5 z Inspection to (AX1022TS: 240 rpm,
machine AX2000T AX1045TS: 240 rpm, z Assembly AX1075TS: 140 rpm, AX1210T machine AX1150TH: 120 rpm, $;7+ USP AX4000T
z High speed rotation z USP P&P 7 AX9000TS z Small diameter and z Turntable ±30 ±5 to compact z Assembly z Large hollow shaft machine 10 ¡ AX9000TH
z High speed rotation Cable (AX4009TS: 240 rpm, AX4022TS: 240 rpm, z Turntable AX4045TS: 240 rpm, z Inspection $;76 USP 11 machine ±30 ±5 z Capable of handing to z Assembly loads with large machine 28 moment of inertia AX4300T AX4500T AX410WT z P&P AX0180 z Large hollow shaft, a variety of size options
One driver can operate actuators of any size that are compatible. 7KHFRQWUROOHUIXQFWLRQHQDEOHVWKHDFWXDWRU V 29 rotation angle, movement time and timer, etc., to to be set as desired with an NC program. M code output, encoder output, etc. can be used 37 to connect to an external PLC, motion controller, etc.
Intro 8 Safety Precautions Always read this section before use.
When designing and manufacturing devices using Absodex, the manufacturer has an obligation to manufacture DVDIHGHYLFHDQGWRFKHFNWKDWWKHVDIHW\RIWKHGHYLFH VPHFKDQLFDOPHFKDQLVPDQGWKHV\VWHPRSHUDWHGE\ the electrical control that controls the device is secured. ,WLVLPSRUWDQWWRVHOHFWXVHKDQGOHDQGPDLQWDLQWKHSURGXFWDSSURSULDWHO\WRHQVXUHWKDWWKH&.'SURGXFWLVXVHGVDIHO\ Observe warnings and precautions to ensure device safety. Check that device safety is ensured, and manufacture a safe device. Warning
This product is designed and manufactured as a general industrial machine part. It must be handled by an operator having sufficient knowledge and experience in handling. 8VHZLWKLQWKHSURGXFW VVSHFLILFDWLRQUDQJH This product must be used within its stated specifications. Do not attempt to modify or additionally machine the product. This product is intended for use as a general-purpose industrial device or part. It is not intended for use outdoors or for use under the following conditions or environment. 1RWHWKDWWKLVSURGXFWFDQEHXVHGZKHQ&.'LVFRQVXOWHGSULRUWRXVHDQGWKHFXVWRPHUFRQVHQWVWR&.' SURGXFWVSHFLILFDWLRQV7KHFXVWRPHUPXVWSURYLGHVDIHW\PHDVXUHVWRDYRLGULVNVLQWKHHYHQWRISUREOHPV Use for special applications including nuclear energy, railway, aircraft, marine vessel, vehicle, medical equipment, equipment or applications coming into contact with beverage or food, amusement equipment, emergency shutoff circuits, press machine, brake circuits, or for safeguard. Use for applications where life or assets could be adversely affected, and special safety measures are required. Observe corporate standards and regulations, etc., related to the safety of device design. Do not remove devices until safety is confirmed. Inspect and service the machine and devices after securing the safety of the system, such as by turning off the peripheral devices and other devices connected to this product. Exercise caution when inspecting, maintaining, and handling the product, as high temperature and charged parts can be present even when operation is stopped. Before starting device inspection or maintenance, turn off device power and other power to related devices, release compressed air, and check leakage current. Observe warnings and cautions in the instruction manual of each product. Do not rotate the actuator outputs shaft by 30 rpm or more while power is off. The driver could fail or electrical shock could result from actuator power generation. ,IWKHVHUYRPRWRULVWXUQHGRII LQFOXGLQJHPHUJHQF\VWRSRUDODUP RUEUDNHVDUHWXUQHGRIIZKLOHD rotational force, such as gravity, is applied, the output shaft may rotate by rotational force. Conduct these operations in a balanced condition where rotational force is not applied, or confirm safety before starting. Unexpected movement may occur during gain adjustment or test operation, so keep hands, etc., away from the outputs shaft. When conducting operations with the actuator not visible, confirm before starting that it is safe even if the outputs shaft turns. The brake built-in actuator series do not completely clamp the output axis in all cases. If safety must be ensured, such as in maintenance with an application that rotates the output shaft in unbalanced mode, or when stopping the machine for a long time, it may not be sufficient to stop the shaft with brakes alone. Make sure equipment is maintained balanced or provide a mechanical locking means. It may take several seconds to stop in an emergency, depending on rotation speed and load. To prevent electric shock, observe warnings and cautions. +LJKYROWDJHLVVXSSOLHGWRWKHWHUPLQDOEORFNDWWKHGULYHU VIURQWSDQHODQGWKHPRWRUFDEOHFRQQHFWLRQ terminal. For a terminal block, be sure to install the supplied terminal cover before operation. Do not touch the terminal block while power is on. Even after the power is turned off, a high voltage is applied until the charge accumulated in the internal capacitor is discharged. Wait at least five minutes after turning the power off before touching these sections. In work with side cover off, such as for maintenance and inspection or changing driver switches, turn power off and wait at least five minutes before starting work because a risk of electrical shock from high voltage exists. Do not connect or disconnect connectors while power is on. Misoperation, faults, or electrical shock may occur. Before restarting a machine or system, check that measures are taken so that parts do not come off.
Intro 9 Install an over-current protective device. ,QDFFRUGDQFHZLWK-,6% 6DIHW\RIPDFKLQHU\(OHFWULFDOHTXLSPHQWRIPDFKLQHV3DUW *HQHUDOUHTXLUHPHQWVLQVWDOORYHUFXUUHQWSURWHFWLYHGHYLFHV FLUFXLWEUHDNHUVHWF IRUWKHPDLQSRZHU and control power and I/O power. 7UDQVODWLRQRIDQH[FHUSWIURP-,6% *HQHUDO5HTXLUHPHQWV Overcurrent protection shall be provided where the current in a machine circuit can exceed either the rating of any component or the allowable current capacity of the conductors,whichever is the lesser value. The ratings or settings to be used are detailed in 7.2.10. Observe the cautions on the following pages to prevent accidents.
The safety cautions are ranked as "DANGER", "WARNING" and "CAUTION" in this section. DANGER: When a dangerous situation may occur if handling is mistaken leading to fatal or serious injuries, or when there is a high degree of emergency to a warning. WARNING: When a dangerous situation may occur if handling is mistaken leading to fatal or serious injuries. CAUTION: When a dangerous situation may occur if handling is mistaken leading to minor injuries or physical damage. Items listed under "caution" can also possibly lead to serious results depending on the situation. Important details are listed for each; please make sure to follow them.
WARRANTY Terms of warranty Conditions related to the warranty term and scope are as follows: 1. Warranty period :DUUDQW\3HULRGRIWKLVSURGXFWLVRQH \HDUIURPWKHILUVWGHOLYHU\WRWKHFXVWRPHU 2QH\HDUDIWHUGHOLYHU\ ZKHUHRQHGD\ VRSHUDWLRQVKDOOEHZLWKLQHLJKWKRXUV,IGXUDELOLW\LVUHDFKHGZLWKLQRQH\HDUWKHZDUUDQW\WHUP VKDOOEHWHUPLQDWHGDWWKDWSRLQW 2. Scope of warranty ,IDQ\IDXOWVIRXQGWREHWKHUHVSRQVLELOLW\RIWKH&.'RFFXUGXULQJWKHDERYHZDUUDQW\WHUPWKHSDUWVKDOOEH UHSDLUHGLPPHGLDWHO\E\&.'IUHHRIFKDUJH Note that the following faults are excluded from the warranty term: Operation under the conditions or in the environment derailing from those specified in the product specifications. Failure caused by lack of attention or erroneous control. Failure caused by other than the delivered product. Failure caused by operation derailing from the purposes for which the product is designed. Failure caused by modification in the structure, performance, specification or other features made by other than us after delivery, or failure caused by repairs done by other than our designated contractor. Loss in our product assembled to your machine or equipment, which would be avoided if your machine or equipment were provided with general functions, structures or other features common in the industry. Faults caused by reason that is unforeseeable with technology put into practical use at the time of delivery Failure caused by fire, earthquake, flood, lightning, or other acts of God, earth shock, pollution, salt hazard, gas intoxication, excessive voltage, or other external causes. The warranty mentioned here covers the discrete delivered product. Only the scope of warranty shall not cover losses induced by the failure of the delivered product. 3. Warranty for exported products 3URGXFWVUHWXUQHGWRWKH&.'IDFWRU\RUWRDFRPSDQ\RUIDFWRU\GHVLJQDWHGE\&.'VKDOOEHUHSDLUHG Work and cost necessary for transportation shall not be compensated for. The repaired product shall be returned to a designated place in Japan with domestic packaging specifications. This warranty specifies basic conditions. If warranty details in individual specification drawings or specifications differ from these warranty conditions, specification drawings or specifications shall take priority. 4. Compatibility confirmation ,QQRHYHQWVKDOO&.'EHOLDEOHIRUPHUFKDQWDELOLW\RUILWQHVVIRUDSDUWLFXODUSXUSRVHQRWZLWKVWDQGLQJDQ\ GLVFORVXUHWR&.'RIWKHXVHWRZKLFKWKHSURGXFWLVWREHSXW Intro 10 Caution Design & Selection
Actuators and the drivers are not water-proof type. When extending the output shaft, refer to the references Provide waterproofing when using this where water or JLYHQLQ7DEOHIRUWKHH[WHQGHGVKDIW VGLDPHWHUDQG oil enters. length. In addition, add dummy inertia by using Fig. 3 as Current leakage and faults could occur if chips or dust a reference. get onto the actuator or driver. Check that these do not come in contact with devices. >7DEOH@([WHQGHGRXWVKDIW VGLDPHWHUJXLGHOLQH Frequent repetition of power-on and -off can cause damage to the elements inside the driver. Max. torque 6KDIWH[WHQVLRQ PP If power is turned off and servomotor turnoff is executed [N m] 50 100 200 300 500 ZKLOHWKHVHUYRPRWRULVRQ KROGLQJ WKHRXWSXWVKDIW ・ ø35 ø40 ¡ ø50 ¡ may move from the held position even without external 9,12 ø40 ¡ ø55 ¡ ø70 force. 18,22 ø45 ø55 ¡ ø70 ø80 Optional electromagnetic brakes enhance holding rigidity 45 ø55 ¡ ø75 ø85 ø95 when the output shaft is stopped. 75 ¡ ø75 ø90 ø95 ø110 Do not use these brakes to brake or stop a rotating 150 ø75 ø90 ø110 ø115 ø130 output shaft. 210 ø80 ø95 ø115 ø125 ø140 Actuators and drivers do not guarantee rustproofing. 300 ø90 ø105 ø125 ø140 ø155 Give careful consideration to storage, installation, and 500 ø100 ø120 ø145 ¡ ø180 environment. 1000 ø120 ø140 ø170 ø185 ø210 Equipment in which Absodexes are installed should have 1RWH 7KHILJXUHVLQWKHDERYHWDEOHDUHH[WHQGHG sufficient rigidity to realize full Absodex performance. RXWSXWVKDIW VGLDPHWHUUHIHUHQFHVIRUVWHHO ,IWKHORDGHTXLSPHQWRUIUDPH VPHFKDQLFDOXQLTXH PDWHULDOV VROLGVKDIWV YLEUDWLRQLVUHODWLYHO\ORZ WR+]RUOHVV &RQWDFW&.'IRUUHIHUHQFHVIRURWKHUPDWHULDOV resonance could occur in the Absodex and load and hollow shafts. equipment or frame. Secure the rotary table and main unit installation bolts, and ensure sufficient rigidity without loosening, etc. [Fig. 1]
[Fig. 1] Actuator Installation
Rotary table fixing
Mounting base
Gain must be adjusted based on load table size, etc. Even when the Absodex is not directly installed, it should be installed on a highly rigid frame. [Fig. 2]
[Fig. 2] Actuator attachment
Intro 11 Caution Design & Selection
If sufficient rigidity cannot be attained, machine The Absodex has a built-in absolute resolver (magnetic resonance is suppressed to some degree by installing SRVLWLRQGHWHFWRU dummy inertia as close to the actuator as possible. Do not place strong magnetic fields such as rare earth Examples of adding dummy inertia are shown below. magnets near the actuator. Do not pass high-current wiring through the hollow hole. z As a reference, dummy inertia is [load inertia] × (0.2 to If you do, the full performance may not be achieved, and >)LJ@ malfunction or fault may result. [Fig. 3] Dummy inertia installation example 1 We recommend that you install a surge protector if there is a possibility that the device may fail due to indirect lightning stroke surges.
Dummy inertia
For other precautions, be sure to read the precautions given in the following materials.
1. From the Internet AX_T Data Download Direct drive actuator quick response type ABSODEX z When coupling with a belt, gears, or spline, or when joining with a key, dummy inertia should be [load AX1000T/AX2000T/AX4000T LQHUWLD@î WR http://www.ckd.co.jp/kiki/caddata/ax_t.htm z If speed changes with belts or gears, use load inertia - Instruction manual, supplementary description as the actuator output shaft conversion value, and install dummy inertia on the actuator. 2. Ask us for the following material. [Fig. 4] [Fig. 5] ABSODEX AX Series TS Type/TH Type Technical Information 1RWH ,QVWDOOGXPP\LQHUWLDDVODUJHDVSRVVLEOHZLWKLQ WKHDFWXDWRU VFDSDFLW\ 8VHVWHHOWKDWKDVD ODUJHVSHFLILFJUDYLW\ [Fig. 4] Dummy inertia installation example 2
Gear Dummy inertia
[Fig. 5] Dummy inertia installation example 3
Ball spiine
Select gears with as large diameters (as possible. )
Dummy inertia
Intro 12 Caution Design & Selection
Connecting magnetic brakes
Absodex actuator body
(Resolver cable)
Blue lead wire (no polarity)
Protection element (Motor cable) (attached to actuator) Driver body
ABSODEX DRIVER T SERIES MON. Circuit breaker Noise filter Electromagnetic POWER G1 CHARGE G2 3-phase 200 VAC contactor (option) L1
L2 C L3 N 1 L1C
L2C AC100 C -115V CN4 50/60Hz N 2 Surge protector T Ferrite core B 1
U
V
W CN5 C N 3
ABSODEX MODEL: AX9000TS SERIAL: +25A1+25A1+25A1+25A1+25A1+25A1+25A1 CKD Corporation MADE IN JAPAN T BK + B GND BK - 2
TB2 24 VDC (relay drive)
24 VDC (power supply for electromagnetic brake) Relay
'RQRWXVHPDJQHWLFEUDNHVWREUDNHRUVWRSDURWDWLQJRXWSXWVKDIW 7KHGULYHUZLOOEHGDPDJHGLIWKHGULYHU V%.DQG%.DQGPDJQHWLFEUDNHVDUHGLUHFWO\FRQQHFWHG :KHQFRQQHFWLQJWKHIROORZLQJLQGXFWLYHORDGVXFKDVDUHOD\WRWKHH[WHUQDOFRQWDFWVHWWKHFRLOUDWHGYROWDJHWR9'&DQGWKH rated current to 100 mA or less, and provide measures against surge current.
ABSODEX ABSODEX Driver Driver
(Attached to actuator) 24 VDC (Attached to actuator) Protection element BK+ Protection element 24 VDC BK+ external power external power (not included) Electromagnetic brake Electromagnetic brake (not included) BKー BK- Surge Surge countermeasure 24 VDC Electromagnetic 24 VDC Electromagnetic countermeasure CR (diode, etc.) CR (diode, etc.) external power brake lead wire external power brake lead wire (blue, approx. 30 cm) (not included) (not included) (not included) (not included) (blue, approx. 30 cm)
External contact (relay, etc.) External contact (relay, etc.) (not included) (not included) z Control methods z Check that relay contact capacity is 10 times or more than the &RQWUROXVLQJD1&SURJUDP 0RU0 rated current. If less, use a multipole relay and use two or more ([HFXWHDQ0FRGHWRGLVFRQQHFWDFURVV%.DQG%. WR relay contacts serially. Reed life can be extended. DSSO\WKHEUDNH RUH[HFXWHDQ0 FRGHWRFRQQHFWDFURVV %.DQG%. WRUHOHDVHWKHEUDNH &RQWUROXVLQJEUDNHUHOHDVHLQSXW ,2FRQQHFWRUSLQ Supply a brake release input in a state with the applied brake to FRQQHFWDFURVV%.DQG%. WRUHOHDVHWKHEUDNH z ,IPDJQHWLFEUDNHVDUHXVHGIUHTXHQWO\ 212)) XVHDVROLG VWDWHUHOD\ 665 IRUWKHH[WHUQDOFRQWDFW 5HFRPPHQGHGPRGHO *1$'%'& 20521 Refer to the SSR instruction manual before using. :KHQSDVVLQJDVKDIWWKURXJKWKHKROORZKROHLQWKHW\SHZLWKPDJQHWLFEUDNHVXVHDQRQPDJQHWLFPDWHULDO 686HWF ,IPDJQHWLFPDWHULDO 6&HWF LVXVHGWKHVKDIWZLOOEHPDJQHWL]HG7KLVFRXOGFDXVHLURQSRZGHUWRVWLFNRQWKHGHYLFH or the peripheral devices to be affected by the magnetic properties. Note that the magnetic force of the electromagnetic brake may cause stuck iron powder or effects on measuring instruments, sensors or other devices. )RURWKHUSUHFDXWLRQVUHIHUWRWKHWHFKQLFDOLQIRUPDWLRQ $%62'(;$;6HULHV767\SH7+7\SH7HFKQLFDO,QIRUPDWLRQ
Intro 13 Safety precautions Labor saving mechanisms: Warnings, cautions Always read this section before use.
Caution Installation and adjustment
Connect the enclosed cable between the actuator and Compatible models driver. Check that excessive force is not applied and that z If the actuator and driver are combined mistakenly the cable is not damaged. Do not modify the enclosed DIWHUSURJUDPLQSXW SDUDPHWHUVHWWLQJ DODUPZLOOEH FDEOH FKDQJHWKHOHQJWKRUPDWHULDO EHFDXVHWKLVFRXOG generated. Check the actuator and driver combination. cause malfunction or faults. 1RWH $ODUPRFFXUVWRSUHYHQWPDOIXQFWLRQLIWKH actuator and driver combination differ from when Connect the correct power supply. Connecting a the program was input. Alarm 3 is reset when the nondesignated power supply could cause faults. Wait at program and parameters are input again. least 10 seconds after turning power off (check that the z If operation is started with an incorrect actuator and PRWRURXWSXWVKDIWLVVWRSSHG EHIRUHWXUQLQJLWRQDJDLQ driver combination after the program is input (after Securely fix the Absodex to the machine, and securely SDUDPHWHUVHWWLQJ PDOIXQFWLRQVFRXOGRFFXURU install loads such as the table before adjusting gain. equipment be damaged. Confirm that no interference occurs and that the state is z When changing the cable length, order the cable safe even when flexible sections are rotated. separately. Do not tap the output shaft with a hammer, nor assemble z If other than the compatible driver is connected, the it forcibly. Failure to observe this would prevent the actuator may be burned. expected accuracy or functions, and could cause faults. When using a circuit breaker, select one that has higher Do not place strong magnetic fields such as rare frequency measures for inverter use. earth magnets near the actuator. It may not be able to The position of the output shaft in the actuator dimension maintain expected accuracy. GUDZLQJGRHVQRWLQGLFDWHWKHDFWXDWRU VRULJLQ:KHQ The actuator may become hot depending on operating using it at the output shaft shown in dimension drawings, conditions. Provide a cover, etc., so that it will not be the origin must be adjusted to the origin offset. touched by accident. The cables for the AX4009T and AX2000T Series are The driver surface may become hot depending on not movable cables. Be sure to fix the cables at the operating conditions. Put it inside the switchboard, etc. connectors so that they do not move. Do not lift up the so that it cannot be touched. body by the cable or apply excessive force to the cable 'RQRWGULOOKROHVLQWRWKHDFWXDWRU&RQWDFW&.'ZKHQ as the cable may break. machining is required. For other precautions, conditions for compliance Do not get on the actuator or flexible parts such the with overseas standards, etc., refer to the technical rotary table on the actuator during maintenance, etc. information (ABSODEX AX Series TS Type/TH Type 7HFKQLFDO,QIRUPDWLRQ
Caution During use and maintenance
Do not disassemble the actuator, because this may For other precautions and troubleshooting of alarm compromise expected functions and accuracy. Especially, displays, refer to the technical information (ABSODEX the one with the resolver may lead to fatal damage. $;6HULHV767\SH7+7\SH7HFKQLFDO,QIRUPDWLRQ When testing withstand voltage of the machine or equipment containing the Absodex, disconnect the main power cable to the Absodex driver and check that the voltage is not applied to the driver. Doing so could For other precautions, be sure to read the prevent a failure. precautions given in the following materials. ,IDODUP DFWXDWRURYHUORDG HOHFWURQLFWKHUPDO LV generated, wait for the actuator temperature to drop 1. From the Internet before restarting. AX_T Data Download Alarm "4" could occur in the cases below. Remove the Direct drive actuator quick response type ABSODEX cause before resuming use. AX1000T/AX2000T/AX4000T z Resonance or vibration: Ensure sufficient installation http://www.ckd.co.jp/kiki/caddata/ax_t.htm rigidity. - Instruction manual, supplementary description z Tact or speed: Increase movement time or stopping time. 2. Ask us for the following material. z 6WUXFWXUHWKDWORFNVWKHRXWSXWVKDIW $GG00 ABSODEX AX Series TS Type/TH Type Technical commands. Information Actuator coordinates are recognized after power is turned on so check that the output shaft does not move for several seconds after power is turned on.
Intro 14 Direct drive actuator ABSODEX AX1000T Series +LJKSUHFLVLRQVSHFLILFDWLRQV LQGH[SUHFLVLRQUXQRXWRIRXWSXWVKDIWHWF z Max. torque: 22, 45, 75, 150, 210 N·m
Actuator specifications
Descriptions AX1022T AX1045T AX1075T AX1150T AX1210T
Max. output torque N·m 22 45 75 150 210 Continuous output torque N·m 7 15 25 50 70 Max. rotation speed rpm 1RWH 1RWH 1RWH Allowable axial load N 2200 Allowable moment load N·m 19 38 70 140 170 Output shaft moment of inertia kg·m2 0.00505 0.00790 0.05820 0.09280 Allowable load moment of inertia kg·m2 0.9 4.0 10.0 ,QGH[SUHFLVLRQ 1RWH sec. ±15 5HSHDWDELOLW\ 1RWH sec. ±5 Output shaft friction torque N·m 2.0 8.0 Resolution P/rev Motor insulation class F Motor withstand voltage 1500 VAC for 1 minute Motor insulation resistance 0ȍDQGRYHUDW9'& Operating ambient temperature WR& WR& 1RWH Operating ambient humidity WR5+ ZLWKQRGHZFRQGHQVDWLRQ Storage ambient temperature -20 to 80°C Storage ambient humidity WR 5+ ZLWKQRGHZFRQGHQVDWLRQ Atmosphere Free of corrosive and explosive gases and dust Weight kg 8.9 12.0 23.0 32.0 44.0 5XQRXWRIRXWSXWVKDIW 1RWH mm 0.01 6XUIDFHUXQRXWRIRXWSXWVKDIW 1RWH mm 0.01 Degree of protection IP20 Note 1: Use at 80 rpm or less during continuous rotary operation. Note 2: For details on index precision, repeatability, run out of output shaft, and surface run out of output shaft, refer to "Terminology" on page 42. Note 3: The temperature upper limit is 40°C when the product is being used as a UL certified product.
Read the precautions on Intro 9 to 14 before use. 1 AX1000T Series How to order How to order z 6HWPRGHOQR DFWXDWRUGULYHUDQGFDEOH Model Model no. of options
AX1 022 TS B C DM04 J1 P1 U0 AX1000T
H Interface specifications Model no. G Dowel hole Note 4 Actuator Symbol Descriptions A 6L]H PD[WRUTXH A Size PD[WRUTXH 022 22 N·m 045 45 N·m 075 75 N·m 150 150 N·m 210 210 N·m
B Driver type B Driver type TS With TS type driver Note 1 TH With TH type driver
C Mounting base C Mounting base Blank 6WDQGDUG ZLWKRXWPRXQWLQJEDVH B With blackening mounting base
D Connector installation direction D Connector installation direction Blank 6WDQGDUG FRQQHFWRUKRUL]RQWDOLQVWDOODWLRQ C Connector bottom installation
E Cable length E Cable length Note 3 DM02 2 m Note on model No. selection DM04 P VWDQGDUGOHQJWK Note 1: Refer to the table below and select the appropriate driver. DM06 P Driver power supply voltage table DM08 8 m DM10 10 m Driver TS type driver TH type driver DM15 15 m type 3-phase, 1-phase 1-phase 3-phase, 1-phase DM20 20 m 200 VAC to 100 VAC to 200 VAC to Model 230 VAC 115 VAC 230 VAC F Driver power supply voltage AX1022T Blank J1 F Driver power supply voltage Refer to the driver power supply voltage table on the left. AX1045T Blank J1 Note 1 AX1075T Blank Note 2 G Dowel hole AX1150T Blank Note 2 Blank 6WDQGDUG ZLWKRXWGRZHOKROH AX1210T Blank Note 2 P1 Top 1 piece Note 2: For models whose max. torque is 75 N·m or more, if you are P2 Bottom 1 piece using 1-AC 200 VAC, the calculation of the torque limit is P3 Both top and bottom sides 1 piece each GLIIHUHQWIURPWKHQRUP&RQWDFW&.'WRGHWHUPLQHZKHWKHUWKH H Interface specifications driver can be used. U0 3DUDOOHO,2 131VSHFLILFDWLRQV Note 3: The cable is a movable cable. U1 3DUDOOHO,2 313VSHFLILFDWLRQV Refer to page 38 for cable dimensions. U2 CC-Link Note 4: C For a "B" blackening mounting base, "P2" or "P3" cannot be U3 PROFIBUS-DP selected. U4 DeviceNet Note 5: In some cases, the dowel hole may not be surface-treated. z Actuator model no. z Driver model no. z Cable model no. y 200 to 230 VAC y Motor cable AX1 TB C P1 AX9000TS U0 AX CBLM5 DM04 D Connector A Size installation AX9000TH U0 Resolver cable direction y 100 to 115 VAC C Mounting G Dowel y AX CBLR5 DM04 base hole AX9000TS J1 U0 E Cable length Note: "04" if the cable H Interface specifications length is 4 m &XVWRPRUGHUPRGHOVZLOOQRWVXSSRUW&(8/F8/RU5R+6&RQVXOWZLWK&.'IRUGHWDLOV 2 AX1000T Series
Speed and max. torque characteristics z AX1022TS z AX1045TS [rpm] [rpm] 300 300
200 200 Continuous Intermittent Continuous Intermittent movement movement range movement movement range range range 100 100
0 0 0 5 10 15 20 25 [N·m] 0 10 20 30 40 50 [N·m] * This graph shows the characteristics for 3-phase 200 VAC. * This graph shows the characteristics for 3-phase 200 VAC.
z AX1075TS z AX1150TH [rpm] [rpm] 150 150
100 100 Continuous Intermittent Continuous Intermittent movement movement range movement movement range range range 50 50
0 0 0 20406080 [N·m] 0 50 100 150 [N·m] * This graph shows the characteristics for 3-phase 200 VAC. * This graph shows the characteristics for 3-phase 200 VAC.
z AX1210TH [rpm] 150
100 Continuous Intermittent movement movement range range 50
0 0 50 100 150 200 250 [N·m] * This graph shows the characteristics for 3-phase 200 VAC.
(Note) moment load
L F
F L
(Fig. a) (Fig. b) M (N·m) = F (N) × (L) (m) M (N·m) = F (N) × (L + 0.02) (m) M: Moment load M: Moment load F: Load F: Load L: Distance from output shaft center L: Distance from output shaft flange
Read the precautions on Intro 9 to 14 before use. 3 AX1000T Series Dimensions Dimensions
z AX1022T z AX1045T
Mounting base Mounting base (option) (option) Rotary section 35 Rotary section 35
6-M6 depth 11 (equipartition) 6-M6 depth 11 (equipartition) AX1000T (including hollow section) (including hollow section) For mounting rotary table For mounting rotary table P.C.D. 70 P.C.D. 70 0.04 A 0.04 A
1 15°
5° 78 78 Actuator 17 20.7 17 20.7 185 185
P.C.D. 140(Cable bending range) P.C.D. 140(Cable bending range) P.C.D. 180 P.C.D. 180 ø6H7 depth 8 6-ø7 (equipartition) ø6H7 depth 8 6-ø7 (equipartition) (option) 6-M6 depth 9 (equipartition) (option) 6-M6 depth 9 (equipartition)
Note) Note) When the cable needs to be bent When the cable needs to be bent repeatedly, fix the cable sheath near repeatedly, fix the cable sheath the actuator connector. near the actuator connector.
Rotary section Rotary section (including hollow section) (including hollow section) ø160 ø160 ø152 ø152 ø120 ø120 ø85 ø85 ø40 h7 ø40 h7 A A ø25 5 23 ø25 12 8 5 23 12 8
ø24 ø24 103 91 126 138 55 22 55 12 (27) (32) 22 12 (32) (27)
ø22 5 11 102 22 ø22 5 ø120 h7 22 11 B 102 ø120 h7 ø200 B ø200
6-M6 depth 9 (equipartition) 6-M6 depth 9 (equipartition)
70 70
P.C.D.140 45° P.C.D.140 45°
ø6H7 depth 8 (option) 0.04 ø6H7 depth 8 (option) 0.04 B Not available if the optional mounting B Not available if the optional mounting base is installed. base is installed.
1RWH 7KHDFWXDWRU VRULJLQPD\GLIIHUIURPWKDWLQWKHGLPHQVLRQDOGUDZLQJ The origin offset feature enables you to set the origin at any position. 4 AX1000T Series
Dimensions
z AX1075T z AX1150T
Mounting base Mounting base (option) (option) 50 50 Rotary section 6-M8 depth 14 (equipartition) Rotary section 6-M8 depth 14 (equipartition) (including hollow section) For mounting rotary table (including hollow section) For mounting rotary table ø8H7 depth 10 (option) ø8H7 depth 10 (option)
P. C. D. 100 0.04 A P. C. D. 100 0.04 A
15° 15° 78 78 P. C. D. 220 P. C. D. 220 17 20.7 17 20.7 185 185 (Cable bending range) (Cable bending range) P. C. D. 265 P. C. D. 265 6-ø9 (equipartition) 6-ø9 (equipartition)
6-M8 depth 12 (equipartition) 6-M8 depth 12 (equipartition)
Note) Note) When the cable needs to be bent When the cable needs to be bent repeatedly, fix the cable sheath near repeatedly, fix the cable sheath the actuator connector. near the actuator connector.
Rotary section Rotary section (including hollow section) ø242 (including hollow section) ø242 ø234 ø234 ø200 ø200 ø125 ø70 h7 ø125 A
ø70 h7 ø40 8 15 A 12 ø40 8 15 12 2-M4 ø39
29 GND terminal ø39 29 145 160 (27) (32) 115 37 100 55 (27) (32) 55 37 15 15
ø37 8 8
14 ø37 146.5 22 22 14 ø200 h7 146.5 B ø200 h7 ø290 B ø290
6-M8 depth 12 (equipartition) 6-M8 depth 12 (equipartition)
110 110
45° 45° P.C.D.220 P.C.D.220 0.04 0.04
ø8H7 depth 10 (option) B ø8H7 depth 10 (option) B Not available if the optional mounting Not available if the optional mounting base is installed. base is installed.
1RWH 7KHDFWXDWRU VRULJLQPD\GLIIHUIURPWKDWLQWKHGLPHQVLRQDOGUDZLQJ The origin offset feature enables you to set the origin at any position. 5 AX1000T Series Dimensions and dimensions with options Dimensions Dimensions with options
z AX1210T z &RQQHFWRUERWWRPLQVWDOODWLRQ & AX1022T/AX1045T Mounting base ø25 (option)
50 AX1000T Rotary section 6-M8 depth 14 (equipartition) (including hollow section) For mounting rotary table ø8H7 depth 10 (option)
P. C. D. 100 0.04 A ø24
15° 78 Actuator P. C. D. 220 30 (11) 17 20.7 ø22 185 (Cable bending range) 37.5 P. C. D. 265 ø119 6-ø9 (equipartition)
6-M8 depth 12 (equipartition) 6-M6 depth 9 (equipartition) P.C.D.140
70 Note) When the cable needs to be bent repeatedly, fix the cable sheath near the actuator connector. 90° Rotary section (including hollow section) ø242
ø234 45° ø200 ø125 ø70 h7 A ø6H7 depth 8 (option) 0.04 ø40 8
15 Not available if the optional mounting B base is installed.
ø39 29 2-M4 AX1075T/AX1150T/AX1210T 190 GND terminal 205 ø40 (27) (32) 37 55 15 2-M4 GND terminal
8 (AX1150T and AX1210T only)
ø37 14 146.5 22 ø39 ø200 h7 B ø290
ø37 35 (14)
6-M8 depth 12 (equipartition) ø55
110 60 ø198
6-M8 depth 12 (equipartition) 110
45° P.C.D.220
0.04
ø8H7 depth 10 (option) B Not available if the optional mounting 90° base is installed.
45° P.C.D.220
0.04 ø8H7 depth 10 (option) B Not available if the optional mounting 1RWH 7KHDFWXDWRU VRULJLQPD\GLIIHUIURPWKDWLQWKHGLPHQVLRQDOGUDZLQJ base is installed. The origin offset feature enables you to set the origin at any position. Direct drive actuator ABSODEX AX2000T Series Compatible function with free combinations of driver, actuator, and cable +LJKVSHHG 0D[VSHHGUSP VPDOOGLDPHWHUDQGFRPSDFWDQGODUJHKROORZVKDIW ¡ z 0D[WRUTXH 1āP z Compatible driver: TS type driver
Actuator specifications
Descriptions AX2006T AX2012T AX2018T Max. output torque N·m 12 18 Continuous output torque N·m 2 4 Max. rotation speed rpm 1RWH Allowable axial load N 1000 Allowable moment load N·m 40 Output shaft moment of inertia kg·m2 0.00575 0.00910 Allowable load moment of inertia kg·m2 0.3 0.4 0.5 ,QGH[SUHFLVLRQ 1RWH sec. ±30 5HSHDWDELOLW\ 1RWH sec. ±5 Output shaft friction torque N·m 0.7 Resolution P/rev Motor insulation class F Motor withstand voltage 1500 VAC for 1 minute Motor insulation resistance 0ȍDQGRYHUDW9'& Operating ambient temperature WR& WR& 1RWH Operating ambient humidity WR5+ ZLWKQRGHZFRQGHQVDWLRQ Storage ambient temperature -20 to 80°C Storage ambient humidity WR 5+ ZLWKQRGHZFRQGHQVDWLRQ Atmosphere Free of corrosive and explosive gases and dust Weight kg 4.7 5.8 7.5 5XQRXWRIRXWSXWVKDIW 1RWH mm 0.03 6XUIDFHUXQRXWRIRXWSXWVKDIW 1RWH mm 0.03 Degree of protection IP20 Note 1: Use at 80 rpm or less during continuous rotary operation. Note 2: For details on index precision, repeatability, run out of output shaft, and surface run out of output shaft, refer to "Terminology" on page 42. Note 3: The temperature upper limit is 40°C when the product is being used as a UL certified product. Speed and max. torque characteristics z $;76 z AX2012TS [rpm] [rpm]
300 300
200 200 Continuous Intermittent Continuous Intermittent movement movement range movement movement range range range 100 100
0 0 0 2 4 6 [N·m] 0 5 10 15 [N·m] * This graph shows the characteristics for 3-phase 200 VAC. * This graph shows the characteristics for 3-phase 200 VAC.
z AX2018TS (Note) moment load [rpm] L F F 300 L
200 Continuous Intermittent movement movement range range 100 (Fig. a) (Fig. b) M (N m) = F (N) × (L) (m) M (N m) = F (N) × (L + 0.02) (m) 0 · · 0 5 1015 20 [N·m] M: Moment load M: Moment load F: Load F: Load * This graph shows the characteristics for 3-phase 200 VAC. L: Distance from output shaft center L: Distance from output shaft flange Read the precautions on Intro 9 to 14 before use.
7 AX2000T Series How to order How to order z Set model no. DFWXDWRUGULYHUDQGFDEOH Model Model no. of options
AX2 018 TS BS DM04 J1 P1 S U0
H Interface specifications Model no. G Body surface treatment Note 3 F Dowel hole
Notes 4, 5 Symbol Descriptions AX2000T A 6L]H PD[WRUTXH A Size 006 1āP PD[WRUTXH 012 12 N·m 018 18 N·m
B Driver type
B Actuator Driver type TS With TS type driver
C 0RXQWLQJEDVH FDQQRWEHXVHGZLWKGRZHOKROHV3DQG3 C Mounting base Blank 6WDQGDUG ZLWKRXWPRXQWLQJEDVH Notes 3, 4 B With blackening mounting base Electroless nickel plating Use with surface BS treatment mounting base body surface treatment S.
D Cable length D Cable length Note 2 DM02 2 m DM04 P VWDQGDUGOHQJWK DM06 P DM08 8 m DM10 10 m Note on model No. selection DM15 15 m Note 1: Refer to the table below and select the DM20 20 m appropriate driver. E Driver power supply voltage E Driver power Refer to the driver power supply voltage table on the left. Driver power supply voltage table supply voltage Driver TS type driver Note 1 F Dowel hole type 3-phase, 1-phase Blank 6WDQGDUG ZLWKRXWGRZHOKROH 1-phase 100 to P1 Top 1 piece Model 200 to 230 VAC 115 VAC P2 Bottom 1 piece $;7 Blank J1 P3 Both top and bottom sides 1 piece each AX2012T Blank J1 AX2018T Blank J1 G Body surface treatment Note 2: The cable is a movable cable. Blank 6WDQGDUG EODFNHQLQJWUHDWPHQW S Electroless nickel plating treatment Refer to page 38 for cable dimensions. The lead cables are not movable cables. H Interface specifications Note 3: Designate body surface treatment and mounting U0 3DUDOOHO,2 131VSHFLILFDWLRQV base surface treatment with C and H . If you select U1 3DUDOOHO,2 313VSHFLILFDWLRQV the optional electroless nickel plating treatment, U2 CC-Link you can expect higher rustproofing performance U3 PROFIBUS-DP than the standard specification. U4 DeviceNet Note 4: C For a "B" blackening mounting base or "BS" electroless nickel plating surface treatment mounting base, "P2" or "P3" cannot be selected. Note 5: In some cases, the dowel hole may not be surface-treated. z Actuator model no. z Driver model no. z Cable model no. y 200 to 230 VAC y Motor cable AX2 TB P1 S AX9000TS U0 AX CBLM6 DM04 A F Size Dowel 100 to 115 VAC Resolver cable hole y y C Mounting G Body surface AX9000TS J1 U0 AX CBLR6 DM04 base treatment H Interface specifications D Cable length Note: "04" if the cable length is 4 m &XVWRPRUGHUPRGHOVZLOOQRWVXSSRUW&(8/F8/RU5R+6&RQVXOWZLWK&.'IRUGHWDLOV 8 AX2000T Series
Dimensions
z $;7 z AX2012T Mounting base (option) Mounting base (option) ø5H7 depth 8 (option) ø5H7 depth 8 (option) 0.04 A 0.04 A 4-ø7 4-ø7
Fixed section Fixed section
50 6-M5 depth 10 (equipartition) 6-M5 depth 10 (equipartition) 50 For mounting rotary table For mounting rotary table 95 95 P.C.D.100 P.C.D.100
95 95
ø110 ø90h7 ø110 Rotary section A ø90h7 ø30.5 A Rotary section ø30.5 (5) (Fixed shaft inner diameter) (Fixed shaft inner diameter) (5) 115 110 120 95 90 100 3.5 3.5 43.5 1 43.5 1 (ø30H8 range) (ø30H8 range)
ø30H8 ø30H8 Note: Min. bending range Note: Min. bending range 12.5 12.5 of lead cable is 50 mm. of lead cable is 50 mm. (Fixed shaft inner diameter) (Fixed shaft inner diameter) ø40 ø40 (Option base inner diameter) Fixed section (Option base inner diameter) Fixed section ø80h8 ø80h8 B B ø150 ø150
30 4-M6 depth 12 (equipartition) 30 4-M6 depth 12 (equipartition)
P.C.D.60 P.C.D.60 45° 45° ø6H7 depth 8 (option) ø6H7 depth 8 (option) 4
4 Not available if the optional Not available if the optional mounting base is installed. mounting base is installed. 110 0.04 B 110 0.04 B
Fixed section Fixed section The 500 mm lead cable is not flexible. (Note) It a movable cable. The 500 mm lead cable is not flexible. (Note) It a movable cable. 19.5 19.5 40.5 × 21 40.5 × 21 28 28
Recommended positions Recommended positions for connector hole for for connector hole for mounting motor base Cable position mounting motor base Cable position AX center AX center 22 22 35 35 42 42
Note) Note) When the cable needs to be When the cable needs to be bent repeatedly, fix the cable bent repeatedly, fix the cable sheath near the actuator sheath near the actuator connector. connector.
1RWH 7KHDFWXDWRU VRULJLQPD\GLIIHUIURPWKDWLQWKHGLPHQVLRQDOGUDZLQJ The origin offset feature enables you to set the origin at any position. 9 AX2000T Series Dimensions Dimensions
AX2018T z Mounting base (option)
0.04 A ø5H7 depth 8 (option) 4-ø7 Fixed section
6-M5 depth 10 (equipartition) 50 For mounting rotary table 95 P.C.D.100 AX2000T
95
ø110 ø90h7 A Rotary section ø30.5 (Fixed shaft inner diameter) (5) Actuator 150 145 155 3.5 43.5 1 (ø30H8 range)
Note: Min. bending ø30H8 range of lead cable (Fixed shaft inner diameter) is 50 mm. 12.5 ø40 (Option base inner diameter) ø80h8 B Fixed section ø150
30 4-M6 depth 12 (equipartition)
P.C.D.60 45° ø6H7 depth 8 (option)
4 Not available if the optional mounting base is installed.
110 0.04 B
Fixed section The 500 mm lead cable is not flexible. (Note) It a movable cable. 19.5 40.5 × 21 28 Note) Recommended positions When the cable needs for connector hole for to be bent repeatedly, fix mounting motor base Cable position the cable sheath near AX center the actuator connector. 22 35 42
1RWH 7KHDFWXDWRU VRULJLQPD\GLIIHUIURPWKDWLQWKHGLPHQVLRQDOGUDZLQJ The origin offset feature enables you to set the origin at any position. 10 Direct drive actuator ABSODEX AX4000T Series Capable of handling loads with large moment of inertia Compatible function with free combinations of driver, actuator, and cable Large hollow shaft handy for cable wiring and piping, and a variety of options z Max. torque: 9, 22, 45, 75 N·m z Compatible driver: TS type driver
Actuator specifications
Descriptions AX4009T AX4022T AX4045T AX4075T
Max. output torque N·m 9 22 45 75 Continuous output torque N·m 3 7 15 25 Max. rotation speed rpm 1RWH 1RWH Allowable axial load N 800 3700 20000 Allowable moment load N·m 40 80 200 Output shaft moment of inertia kg·m2 0.009 0.1490 Allowable load moment of inertia kg·m2 0.35 (1.75) 1RWH ) 1RWH 0.90 (5.00) 1RWH 5.00 (25.00) 1RWH ,QGH[SUHFLVLRQ 1RWH sec. ±30 5HSHDWDELOLW\ 1RWH sec. ±5 Output shaft friction torque N·m 0.8 3.5 10.0 Resolution P/rev Motor insulation class F Motor withstand voltage 1500 VAC for 1 minute Motor insulation resistance 0ȍDQGRYHUDW9'& Operating ambient temperature WR& WR& 1RWH Operating ambient humidity WR5+ ZLWKQRGHZFRQGHQVDWLRQ Storage ambient temperature -20 to 80°C Storage ambient humidity WR 5+ ZLWKQRGHZFRQGHQVDWLRQ Atmosphere Free of corrosive and explosive gases and dust Weight kg 5.5 12.3 15.0 Weight when brake is set kg - 19.3 54.0 5XQRXWRIRXWSXWVKDIW 1RWH mm 0.03 6XUIDFHUXQRXWRIRXWSXWVKDIW 1RWH mm 0.05 Degree of protection IP20 Note 1: Use at 80 rpm or less during continuous rotary operation. 1RWH ,QWKHORDGFRQGLWLRQVXSWRYDOXHVLQ VHWSDUDPHWHU LQWHJUDOJDLQPDJQLILFDWLRQ WR UHIHUHQFH 1RWH &RQWDFW&.'ZKHQXVLQJFRQWLQXRXVURWDU\RSHUDWLRQDQGSDUDPHWHU LQWHJUDOJDLQPDJQLILFDWLRQ WRJHWKHU Note 4: For details on index precision, repeatability, run out of output shaft, and surface run out of output shaft, refer to "Terminology" on page 42. Note 5: The temperature upper limit is 40°C when the product is being used as a UL certified product. (OHFWURPDJQHWLFEUDNHVSHFLILFDWLRQV RSWLRQ Supported models AX4022T, AX4045T AX4075T Descriptions Type Non-backlash dry non-excitation activation type Rated voltage V 24 VDC Power supply capacity W 30 55 Rated current A 1.25 2.30 Static friction torque N·m 35 200 $PDWHXUUHOHDVHWLPH EUDNHRQ msec UHIHUHQFHYDOXH UHIHUHQFHYDOXH $PDWHXUDEVRUSWLRQWLPH EUDNHRII msec UHIHUHQFHYDOXH UHIHUHQFHYDOXH Retention precision min UHIHUHQFHYDOXH Max. usage frequency cycles/min 40 1RWH :KHQWKHRXWSXWVKDIWLVURWDWLQJUXEELQJVRXQGPD\EHJHQHUDWHGDWWKHHOHFWURPDJQHWLFEUDNH VGLVFDQGIL[LQJVHFWLRQ Note 2: When moving after brakes are turned OFF, the delay time parameter must be changed based on armature suction time. Note 3: This is a nonbacklash type, but it may be hard to hold a set position if load is applied in the direction of rotation. 1RWH :KHQHOHFWURPDJQHWLFEUDNHVIXQFWLRQWKHDUPDWXUHPD\FRQWDFWWKHPDJQHWLFEUDNH VIL[HGVHFWLRQDQGJHQHUDWHQRLVH 1RWH %UDNHVDUHPDQXDOO\UHOHDVHGE\DOWHUQDWHO\VFUHZLQJVFUHZVLQWRPDQXDOUHOHDVHWDSV WKUHHSRVLWLRQV /LJKWO\WLJKWHQ screws until they stop, then turn them another 90°. When finish ed with manual release, remove the three bolts immediately and apply brakes.
Read the precautions on Intro 9 to 14 before use. 11 AX4000T Series How to order How to order z Set model no. DFWXDWRUGULYHUDQGFDEOH Model Model no. of options
AX4 022 TSBS DM04 EB J1 P1 S U0
E Brake G Dowel hole I Interface specifications Model no. Note 7 1RWHV D Cable length F Driver power H Body surface Note 3 supply voltage treatment Note 4 Note 1 Symbol Descriptions A 6L]H PD[WRUTXH A 6L]H PD[WRUTXH 009 9 N·m 022 22 N·m 045 45 N·m 075 75 N·m
B Driver type AX4000T B Driver type TS With TS type driver
C 0RXQWLQJEDVH FDQQRWEHXVHGZLWKGRZHOKROHV3DQG3 C Mounting base Blank 6WDQGDUG ZLWKRXWPRXQWLQJEDVH Notes 4, 5, 7 B With blackening mounting base Electroless nickel plating Use with surface BS treatment mounting base body surface treatment S. Note on model No. selection Actuator D Cable length Note 1: Refer to the table below and select the appropriate driver. DM02 2 m Driver power supply voltage table DM04 P VWDQGDUGOHQJWK Driver TS type driver DM06 P type 3-phase, 1-phase DM08 8 m 1-phase 100 to Model 200 to 230 VAC 115 VAC DM10 10 m AX4009T Blank J1 DM15 15 m AX4022T Blank J1 DM20 20 m AX4045T Blank J1 E Brake AX4075T Blank Note 2 Blank 6WDQGDUG QRHOHFWURPDJQHWLFEUDNH Note 2: For models whose max. torque is 75 N·m, if you are using 1-AC 200 VAC, EB With negative activation electromagnetic brake WKHFDOFXODWLRQRIWKHWRUTXHOLPLWLVGLIIHUHQWIURPWKHQRUP&RQWDFW&.'WR F Driver power supply voltage determine whether the driver can be used. Refer to the driver power supply voltage table on the left. Note 3: The cable is a movable cable. G Dowel hole Refer to page 38 for cable dimensions. Blank 6WDQGDUG ZLWKRXWGRZHOKROH The lead cables are not movable cables. P1 Top 1 piece Note 4: Designate body surface treatment and mounting base surface treatment with P2 %RWWRPSLHFH SLHFHVIRUWKH$; 7 C and H . If you select the optional electroless nickel plating treatment, you P3 %RWKWRSDQGERWWRPVLGHVSLHFHHDFK WRSSLHFHDQGERWWRPSLHFHVIRUWKH$; 7 can expect higher rustproofing performance than the standard specification. H Body surface treatment Note 5: C For a "B" blackening mounting base or "BS" electroless nickel plating Blank 6WDQGDUG URWDWLRQDOVHFWLRQEODFNHQLQJIL[HGVHFWLRQFDVWLQJVXUIDFHSODQHSDLQW surface treatment mounting base, "P2" or "P3" cannot be selected. S Rotational section: electroless nickel plating treatment, fixed section: nitriding 1RWH ,QVRPHFDVHVWKHGRZHOKROHPD\QRWEHVXUIDFHWUHDWHG I Interface specifications Note 7: Refer to the Option Table below and select required options. U0 3DUDOOHO,2 131VSHFLILFDWLRQV Option Table U1 3DUDOOHO,2 313VSHFLILFDWLRQV AX4009T AX4022T AX4045T AX4075T U2 CC-Link Mounting base % U3 PROFIBUS-DP Mounting base %6 U4 DeviceNet Brake (% z Actuator model no. z Driver model no. z Cable model no. y 200 to 230 VAC y Motor cable AX4 TB P1 S AX9000TS U0 AX CBLM6 DM04 A E H Size Brake Body surface 100 to 115 VAC Resolver cable treatment y y C Mounting G Dowel hole AX9000TS J1 U0 AX CBLR6 DM04 base I Interface specifications D Cable length Note: "04" if the cable length is 4 m &XVWRPRUGHUPRGHOVZLOOQRWVXSSRUW&(8/F8/RU5R+6&RQVXOWZLWK&.'IRUGHWDLOV 12 AX4000T Series
Speed and max. torque characteristics z AX4009TS z AX4022TS
[rpm] [rpm] 300 300
200 200 Continuous Intermittent Continuous Intermittent movement movement range movement movement range range range 100 100
0 0 0369 [N·m] 0 5 1015 20 25 [N·m] * This graph shows the characteristics for 3-phase 200 VAC. * This graph shows the characteristics for 3-phase 200 VAC.
z AX4045TS z AX4075TS
[rpm] [rpm] 300 150
200 Continuous Intermittent 100 movement movement range Continuous Intermittent range movement movement range range 100 50
0 0 0102030 40 50 [N·m] 0204060 80 [N·m] * This graph shows the characteristics for 3-phase 200 VAC. * This graph shows the characteristics for 3-phase 200 VAC.
(Note) moment load
L F
F L
M (N·m) = F (N) × (L) (m) M (N·m) = F (N) × (L + 0.02) (m) M: Moment load M: Moment load F: Load F: Load L: Distance from output shaft center L: Distance from output shaft flange
(Fig. a) (Fig. b)
Read the precautions on Intro 9 to 14 before use.
13 14 AX4000T Series
Dimensions
z AX4009T
ø5H7 depth 7 4-ø7 (option) 2-ø6H7 6-M5 depth 10 (equipartition) (option) Note) 0.06 A 85 For mounting rotary table When the cable needs to 400-mm lead cable be bent repeatedly, fix the (Note) It is not a movable cable. cable sheath near the actuator connector. 35 50 110 ø19.5 80
P.C.D.160 30 40.5 × t21
Note) Do not remove. The noise resistance could drop. 160 140
Note: Min. bending range of lead cable is 50 mm.
140 160
ø168 Rotational section ø150h7 A (including hollow ø42 section) (5) 6.5
Fixed section 50 45 18 ø42.5 10 ø170 120±0.03 (Option Dowel hole dimension)
146±0.03 (Option Dowel hole dimension)
1RWH 7KHDFWXDWRU VRULJLQPD\GLIIHUIURPWKDWLQWKHGLPHQVLRQDOGUDZLQJ The origin offset feature enables you to set the origin at any position. 15 AX4000T Series Dimensions Dimensions
z AX4022T z AX4022T-EB With electromagnetic brake For other options, refer to the drawing on the left.
200 C10 150
Mounting base (option)
4-M6 depth 12 (equipartition) P.C.D.160 For mounting optional electromagnetic brake
4-M6 depth 12 (equipartition) P.C.D.160 (Valid screw length 9) For mounting rotary table 200 150
80
45° 4-M6 depth 12 (equipartition) (Valid screw length 9) For mounting rotary table P.C.D.54 ø6H7 depth 8 (option) AX4000T
4-ø7 0.06 A
Note) When the cable needs to be 135 bent repeatedly, fix the cable sheath near the actuator Actuator Cable bending range connector.
ø170 ø170 ø100h7 ø100h7 ø70 A Rotary section Rotary section ø25 ø45 (including hollow section) (including hollow section) 5 5 65 63 63 95 95 119.5 109.5 Electromagnetic brake 32 32 28.5 12
28.5 (protection element attached)
ø44 10 (9.5) (9.5) ø140h7 45.2 B ø180±2 ø140h7 88 ø180±2
45° 25.6 27.3 25.6 27.3 (11) 45° Electromagnetic brake lead wire 300 from outlet 5° 37.5° 3-M6 depth 12 (equipartition) P.C.D. 122 For mounting optional 5° R8 electromagnetic brake 115 P.C.D.125 ø140
Recommended value for lead wire relief 3-M5 (equipartition) dimensions 80 For electromagnetic P.C.D. 160 brake manual release 4-M6 depth 12 (equipartition) 4-M6 depth 12 (equipartition) ø6H7 depth 8 (option) P.C.D. 160 0.06 B Not available if the optional mounting base is installed.
1RWH 7KHDFWXDWRU VRULJLQPD\GLIIHUIURPWKDWLQWKHGLPHQVLRQDOGUDZLQJ The origin offset feature enables you to set the origin at any position. AX4000T Series
Dimensions
z AX4045T z AX4045T-EB With electromagnetic brake For other options, refer to the drawing on the left.
200 C10 150
Mounting base (option)
4-M6 depth 12 (equipartition) For mounting optional electromagnetic brake P.C.D.160 4-M6 depth 12 (equipartition) P.C.D.160 (Valid screw length 9) For mounting rotary table 200 150
80 45° 4-M6 depth 12 (equipartition) (Valid screw length 9) P.C.D.54 For mounting rotary table
ø6H7 depth 8 (option)
4-ø7 0.06 A
Note) When the cable needs to be 135 bent repeatedly, fix the cable
sheath near the actuator Cable bending range connector.
ø170 ø170 ø100h7 ø100h7 ø70 Rotary section A Rotary section (including hollow section) ø45 (including hollow section) ø25 5 5 65 83 83 115 115 139.5 129.5 32 32
12 Electromagnetic brake 28.5 28.5 (protection element attached) ø44 10 (9.5) (9.5) ø140h7 45.2 B ø180±2 ø140h7
88 ø180±2
45° 25.6 27.3 25.6 27.3
(11) 45° Electromagnetic brake lead wire 5° 37.5° 300 from outlet P.C.D. 122 3-M6 depth 12 (equipartition) 5° For mounting optional R8 electromagnetic brake 115 P.C.D.125 ø140
Recommended value for lead wire relief 3-M5 (equipartition)
80 dimensions For electromagnetic 4-M6 depth 12 brake manual release P.C.D. 160 (equipartition) 4-M6 depth 12 (equipartition) ø6H7 depth 8 (option) P.C.D. 160 B 0.06 Not available if the optional mounting base is installed.
1RWH 7KHDFWXDWRU VRULJLQPD\GLIIHUIURPWKDWLQWKHGLPHQVLRQDOGUDZLQJ The origin offset feature enables you to set the origin at any position. 17 AX4000T Series Dimensions Dimensions
z AX4075T z AX4075T-EB With electromagnetic brake For other options, refer to the drawing on the left.
C15 280 240 P.C.D. 255 P.C.D. 255 4-M8 depth 16 (equipartition) For mounting optional electromagnetic brake Mounting base (option)
127.5 ø8H7 depth 10 (option)
280 240 0.06 A
P.C.D.100 6-M8 depth 16 (equipartition)
For mounting rotary table AX4000T 6-M8 depth 16 (equipartition) 4-ø12 For mounting rotary table Note) When the cable needs to be bent repeatedly, fix the 135
cable sheath near the Cable bending range actuator connector. Actuator
Rotary section Rotary section ø270 (including hollow section) ø270 (including hollow section) ø160h7 ø160h7 ø118 A ø58 ø85 12.5 12.5 79 79 158 120 145 120 41 41 15 36.5 36.5 Electromagnetic brake ø220h7 (protection element B 29 attached) ø280±3 81.5 (12.5) (12.5)
ø220h7 ø280±3
88 10° 25.6 27.3 45° Electromagnetic brake lead wire 25.6 27.3 45° (11) 300 from outlet 10°
P.C.D. 181 P.C.D.260 P.C.D. 260 163.5 P.C.D.190
4-M10 depth 20 (equipartition)
3-M8 (equipartition)
130 For electromagnetic brake manual release
3-M8 depth 16 (equipartition) 4-M10 depth 20 (equipartition) For mounting optional 0.06 B electromagnetic brake ø10H7 depth 12 (option) Not available if the optional mounting base is installed
1RWH 7KHDFWXDWRU VRULJLQPD\GLIIHUIURPWKDWLQWKHGLPHQVLRQDOGUDZLQJ The origin offset feature enables you to set the origin at any position. 18 Direct drive actuator ABSODEX AX4000T Series Capable of handling loads with large moment of inertia Compatible function with free combinations of driver, actuator, and cable Large hollow shaft handy for cable wiring and piping, and a variety of options z Max. torque: 150, 300, 500 N·m z Compatible driver: TH type driver
Actuator specifications
Descriptions AX4150T AX4300T AX4500T
Max. output torque N·m 150 300 500 Continuous output torque N·m 50 100 Max. rotation speed rpm 1RWH 70 Allowable axial load N 20000 Allowable moment load N·m 300 400 500 Output shaft moment of inertia kg·m2 0.2120 0.7210 Allowable load moment of inertia kg·m2 1RWH 1RWH 1RWH ,QGH[SUHFLVLRQ 1RWH sec. ±30 5HSHDWDELOLW\ 1RWH sec. ±5 Output shaft friction torque N·m 10.0 15.0 Resolution P/rev Motor insulation class F Motor withstand voltage 1500 VAC for 1 minute Motor insulation resistance 0ȍDQGRYHUDW9'& Operating ambient temperature WR& WR& 1RWH Operating ambient humidity WR5+ ZLWKQRGHZFRQGHQVDWLRQ Storage ambient temperature -20 to 80°C Storage ambient humidity WR 5+ ZLWKQRGHZFRQGHQVDWLRQ Atmosphere Free of corrosive and explosive gases and dust Weight kg 44.0 115.0 Weight when brake is set kg - 5XQRXWRIRXWSXWVKDIW 1RWH mm 0.03 6XUIDFHUXQRXWRIRXWSXWVKDIW 1RWH mm 0.05 Degree of protection IP20 Note 1: Use at 80 rpm or less during continuous rotary operation. Note 2: When shipped from the factory, the actuator is set to support large moment of inertia. Note 3: For details on index precision, repeatability, run out of output shaft, and surface run out of output shaft, refer to "Terminology" on page 42. Note 4: The temperature upper limit is 40°C when the product is being used as a UL certified product.
(OHFWURPDJQHWLFEUDNHVSHFLILFDWLRQV RSWLRQ Supported models AX4150T, AX4300T Descriptions Type Non-backlash dry non-excitation activation type Rated voltage V 24 VDC Power supply capacity W 55 Rated current A 2.30 Static friction torque N·m 200 $PDWHXUUHOHDVHWLPH EUDNHRQ msec UHIHUHQFHYDOXH $PDWHXUDEVRUSWLRQWLPH EUDNHRII msec UHIHUHQFHYDOXH Retention precision min UHIHUHQFHYDOXH Max. usage frequency cycles/min 40 1RWH :KHQWKHRXWSXWVKDIWLVURWDWLQJUXEELQJVRXQGPD\EHJHQHUDWHGDWWKHHOHFWURPDJQHWLFEUDNH VGLVFDQGIL[LQJVHFWLRQ Note 2: When moving after brakes are turned OFF, the delay time parameter must be changed based on armature suction time. Note 3: This is a nonbacklash type, but it may be hard to hold a set position if load is applied in the direction of rotation. 1RWH :KHQHOHFWURPDJQHWLFEUDNHVIXQFWLRQWKHDUPDWXUHPD\FRQWDFWWKHPDJQHWLFEUDNH VIL[HGVHFWLRQDQGJHQHUDWHQRLVH 1RWH %UDNHVDUHPDQXDOO\UHOHDVHGE\DOWHUQDWHO\VFUHZLQJVFUHZVLQWRPDQXDOUHOHDVHWDSV WKUHHSRVLWLRQV /LJKWO\WLJKWHQ screws until they stop, then turn them another 90°. When finish ed with manual release, remove the three bolts immediately and apply brakes. Read the precautions on Intro 9 to 14 before use.
19 AX4000T Series How to order How to order z Set model no. DFWXDWRUGULYHUDQGFDEOH Model Model no. of options
AX4 300 TH BS DM04 EB P1 S U0
F Dowel hole H Interface specifications Notes 5, 7 Model no. E Brake G Body surface treatment 1RWH Note 4
Symbol Descriptions A 6L]H PD[WRUTXH A Size 150 150 N·m PD[WRUTXH 300 300 N·m 500 500 N·m
B Driver type B Driver type TH With TH type driver AX4000T
C 0RXQWLQJEDVH FDQQRWEHXVHGZLWKGRZHOKROHV3DQG3 C Mounting base Notes 4, 5 Blank 6WDQGDUG ZLWKRXWPRXQWLQJEDVH B With blackening mounting base Electroless nickel plating Use with surface treat- BS ment mounting base body surface treatment S.
D Cable length Actuator D Cable length Note 3 DM02 2 m DM04 P VWDQGDUGOHQJWK DM06 P Note on model No. selection DM08 8 m Note 1: Refer to the table below and select the appropriate driver. DM10 10 m Driver power supply voltage table DM15 15 m DM20 20 m Driver TH type driver type 3-phase, 1-phase E Brake Model 200 to 230 VAC Blank 6WDQGDUG QRHOHFWURPDJQHWLFEUDNH AX4150T Blank Note 2 EB With negative activation electromagnetic brake AX4300T Blank Note 2 F AX4500T Blank Note 2 Dowel hole Blank 6WDQGDUG ZLWKRXWGRZHOKROH Note 2: When using 1-AC 200 VAC, the calculation of the torque limit is different P1 Top 1 piece IURPWKHQRUP&RQWDFW&.'WRGHWHUPLQHZKHWKHUWKHGULYHUFDQEHXVHG P2 Bottom 1 piece Note 3: The cable is a movable cable. P3 Both top and bottom sides 1 piece each Refer to page 38 for cable dimensions. G Body surface treatment Note 4: Designate body surface treatment and mounting base surface treatment with C Blank 6WDQGDUG URWDWLRQDOVHFWLRQEODFNHQLQJIL[HGVHFWLRQFDVWLQJVXUIDFHSODQHSDLQW and G . If you select the optional electroless nickel plating treatment, you can S Rotational section: electroless nickel plating treatment, fixed section: nitriding expect higher rustproofing performance than the standard specification. H Interface specifications Note 5: C For a "B" blackening mounting base or "BS" electroless nickel plating U0 3DUDOOHO,2 131VSHFLILFDWLRQV surface treatment mounting base, "P2" or "P3" cannot be selected. U1 3DUDOOHO,2 313VSHFLILFDWLRQV 1RWH 5HIHUWRWKH2SWLRQ7DEOHEHORZDQGVHOHFWUHTXLUHGRSWLRQV U2 CC-Link Option Table U3 PROFIBUS-DP AX4150T AX4300T AX4500T U4 DeviceNet Electromagnetic brake (% Note 7: In some cases, the dowel hole may not be surface-treated. z Actuator model no. z Driver model no. z Cable model no. y 200 to 230 VAC y Motor cable AX4 TB P1 S AX9000TH U0 AX CBLM6 DM04 A E G Size Brake Body surface y Resolver cable treatment H Interface specifications C Mounting F Dowel hole AX CBLR6 DM04 base D Cable length Note: "04" if the cable &XVWRPRUGHUPRGHOVZLOOQRWVXSSRUW&(8/F8/RU5R+6&RQVXOWZLWK&.'IRUGHWDLOV length is 4 m 20 AX4000T Series
Speed and max. torque characteristics z AX4150TH z AX4300TH [rpm] [rpm]
100 100 Continuous Continuous movement Intermittent movement Intermittent range movement range range movement range 50 50
0 0 0 50 100150 [N·m] 0 100 200300 [N·m] * This graph shows the characteristics for 3-phase 200 VAC. * This graph shows the characteristics for 3-phase 200 VAC.
z AX4500TH [rpm]
60 Continuous movement Intermittent range movement range 30
0 0 200 400600 [N·m] * This graph shows the characteristics for 3-phase 200 VAC.
(Note) moment load
L F
F L
(Fig. a) (Fig. b) M (N·m) = F (N) × (L) (m) M (N·m) = F (N) × (L + 0.02) (m) M: Moment load M: Moment load F: Load F: Load L: Distance from output shaft center L: Distance from output shaft flange
Read the precautions on Intro 9 to 14 before use.
21 AX4000T Series Dimensions Dimensions
z AX4150T z AX4150T-EB With electromagnetic brake For other options, refer to the drawing on the left.
280 C15 240
P.C.D.255 P.C.D.255 4-M8 depth 16 (equipartition) For mounting optional electromagnetic brake Mounting base (option)
127.5 ø8H7 depth 10 (option)
280 240 0.06 A
P.C.D.100 6-M8 depth 16 (equipartition) 6-M8 depth 16 (equipartition) For mounting rotary table For mounting rotary table AX4000T 4-ø12
Note) When the cable needs to be bent repeatedly, fix the cable 135 sheath near the actuator connector. Cable bending range Actuator ø270 Rotary section Rotary section ø160h7 (including hollow section) ø270 (including hollow section) ø118 ø160h7 A ø58 ø85 12.5 12.5 145 104 183 170 145 104 41 41 36.5 15 36.5 Electromagnetic brake (protection element attached) ø220h7 29 B
ø280±3 81.5 (12.5) (12.5)
ø220h7 116 ø280±3 26 6.5 Electromagnetic brake lead wire 10° 45° (11) 300 from outlet 10°
P.C.D.260 45°
P.C.D.181 P.C.D.260
3-M8 depth 16 168 (equipartition) For mounting optional electromagnetic brake
P.C.D.190 3-M8 (equipartition) 130 For electromagnetic 4-M10 depth 20 brake manual release (equipartition) 4-M10 depth 20 (equipartition)
0.06 B ø10H7 depth 12 (option) Not available if the optional mounting base is installed
1RWH 7KHDFWXDWRU VRULJLQPD\GLIIHUIURPWKDWLQWKHGLPHQVLRQDOGUDZLQJ The origin offset feature enables you to set the origin at any position. 22 AX4000T Series
Dimensions
z AX4300T z AX4300T-EB With electromagnetic brake For other options, refer to the drawing on the left. 295 250 C15
P.C.D.255 4-M8 depth 16 (equipartition) For mounting optional electromagnetic brake Mounting base P.C.D.255 (option) 127.5 ø10H7 depth 12 (option) 295 250 0.06 A
P.C.D.100
6-M10 depth 20 (equipartition) 4-ø14 6-M10 depth 20 (equipartition) For mounting rotary table For mounting rotary table Note) When the cable needs to be bent repeatedly, fix the cable 135 sheath near the actuator Cable bending range connector.
ø272 Rotary section ø160h7 Rotary section ø272 (including hollow section) ø118 (including hollow section) ø160h7 ø58 A ø85 15.5 15.5 159 159 200 200 231 244 41 41 36.5 36.5 Electromagnetic brake 20 (protection element attached) ø220h7 29 2-M4 B GND terminal 81.5 ø288±3 (15.5) (15.5)
2-M4 ø220h7 GND terminal ø288±3
116 26 6.5 Electromagnetic brake lead wire 10° 30° (11) 300 from outlet 10° 45° 30° P.C.D. 190 P.C.D.181
3-M8 depth 16 (equipartition) 168 For mounting optional electromagnetic brake
P.C.D.265 P.C.D.265 3-M8 (equipartition) 130 For electromagnetic brake manual release 6-M12 depth 24 (equipartition) 6-M12 depth 24 (equipartition) ø10H7 depth 12 (option) 0.06 B Not available if the optional mounting base is installed.
1RWH 7KHDFWXDWRU VRULJLQPD\GLIIHUIURPWKDWLQWKHGLPHQVLRQDOGUDZLQJ The origin offset feature enables you to set the origin at any position. 23 AX4000T Series Dimensions Dimensions z AX4500T 295 C1 250 5
Mounting base P.C.D.255 (option)
ø10H7 depth 12 127.5 (option) 250 295 0.06 A
6-M10 depth 20 (equipartition) For mounting rotary table 4-ø14
Note) AX4000T When the cable needs to be bent repeatedly, fix the cable 135
sheath near the actuator Cable bending range connector.
ø282 Actuator ø160h7 A ø85 15.5
Rotational section (including hollow section) 335 294 366
Fixed section 36.5 41 20
ø220h7 B ø300±3 (15.5) 2-M4 GND terminal 116 26 6.5 (11)
30°
P.C.D. 265 174
6-M12 depth 24 (equipartition) 130
0.06 B ø10H7 depth 12 (option) Not available if the optional mounting base is installed. 1RWH 7KHDFWXDWRU VRULJLQPD\GLIIHUIURPWKDWLQWKHGLPHQVLRQDOGUDZLQJ The origin offset feature enables you to set the origin at any position. 24 Large type direct drive actuator ABSODEX AX400WT Series Max. torque 1000 N·m Interchangeable functions enabling free combinations of driver, actuator, and cable Large hollow shaft handy for cable wiring and piping, and a variety of options z Max. torque: 1000 N·m z Compatible driver: TH type driver
Actuator specifications Descriptions AX410WT Max. output torque N·m 1000 Continuous output torque N·m 330 Max. rotation speed rpm 30 Allowable axial load N 20000 Allowable moment load N·m 400 Output shaft moment of inertia kg·m2 2.72 Allowable load moment kg·m2 of inertia ,QGH[SUHFLVLRQ 1RWH sec. ±30 5HSHDWDELOLW\ 1RWH sec. ±5 Output shaft friction torque N·m 20.0 Resolution P/rev Motor insulation class F Motor withstand voltage 1500 VAC for 1 minute Motor insulation resistance 0ȍDQGRYHUDW9'& Operating ambient temperature WR& WR& 1RWH Operating ambient humidity WR5+ ZLWKQRGHZFRQGHQVDWLRQ Storage ambient temperature -20 to 80°C Storage ambient humidity WR 5+ ZLWKQRGHZFRQGHQVDWLRQ Atmosphere Free of corrosive and explosive gases and dust Weight kg 198 5XQRXWRIRXWSXWVKDIW 1RWH mm 0.03 Surface run out of output mm 0.08 VKDIW 1RWH Degree of protection IP20 Note 1: For details on index precision, repeatability, run out of output shaft, and surface run out of output shaft, refer to "Terminology" on page 42. Note 2: The temperature upper limit is 40°C when the product is being used as a UL certified product. Speed and max. torque characteristics z AX410WTH 1RWH PRPHQWORDG
[rpm] L F
F
30 L
20
10 Continuous Intermittent movement movement range range 0 (Fig. a) (Fig. b) 0 300 600900 1200 [N∙m] M (N·m) = F (N) × (L) (m) M (N·m) = F (N) × (L + 0.02) (m) * This graph shows the characteristics for 3-phase 200 VAC. M: Moment load M: Moment load F: Load F: Load Safety precautions L: Distance from output shaft center L: Distance from output shaft flange
Warning In an emergency stop, it may take several seconds to stop depending on the rotation speed and the load inertial moment. Read the precautions on Intro 9 to 14 before use. 25 AX400WT Series How to order How to order z Set model no. DFWXDWRUGULYHUDQGFDEOH Model Model no. of options
AX4 10W TH BS DM04 P1 S U0
E Dowel hole G Interface specifications Model no. Notes 4, 5 F Body surface treatment Note 3 Symbol Descriptions A 6L]H PD[WRUTXH A 6L]H PD[WRUTXH 10 W 1000 N・m
B Driver type B Driver type TH With TH type driver AX4000T C 0RXQWLQJEDVH FDQQRWEHXVHGZLWKGRZHOKROHV3DQG3 C Mounting base Notes 3, 4 Blank 6WDQGDUG ZLWKRXWPRXQWLQJEDVH B With blackening mounting base Surface treatment mounting base with electroless nickel plating treatment BS Use it with body surface treatment S. Actuator D Cable length D Cable length Note 2 DM02 2 m DM04 P VWDQGDUGOHQJWK DM06 P DM08 8 m DM10 10 m DM15 15 m Note on model No. selection DM20 20 m Note 1: When using 1-AC 200 VAC, the calculation E Dowel hole of the torque limit is different from the Blank 6WDQGDUG ZLWKRXWGRZHOKROH QRUP&RQWDFW&.'WRGHWHUPLQHZKHWKHU the driver can be used. P1 Top 1 piece Note 2: The cable is a movable cable. P2 Bottom 1 piece Refer to page 38 for cable dimensions. P3 Both top and bottom sides 1 piece each Note 3: Designate body surface treatment and F Body surface treatment mounting base surface treatment with C and E . Blank 6WDQGDUG URWDWLRQDOVHFWLRQEODFNHQLQJIL[HGVHFWLRQFDVWLQJVXUIDFHSODQHSDLQW If you select the optional electroless S Rotational section: electroless nickel plating treatment, fixed section: nitriding nickel plating treatment, you can expect G Interface specifications higher rustproofing performance than the U0 3DUDOOHO,2 131VSHFLILFDWLRQV standard specification. U1 3DUDOOHO,2 313VSHFLILFDWLRQV Note 4: C For a "B" blackening mounting base U2 CC-Link or "BS" electroless nickel plating surface U3 PROFIBUS-DP treatment mounting base, "P2" or "P3" U4 DeviceNet cannot be selected. Note 5: In some cases, the dowel hole may not be surface-treated. z Actuator model no. z Driver model no. z Cable model no. y 200 to 230 VAC y Motor cable AX410WTB P1 S AX9000TH U0 AX CBLM6 DM04 E Dowel y Resolver cable hole G Interface specifications C Mounting F Body surface AX CBLR6 DM04 base treatment D Cable length Note: "04" if the cable length is 4 m &XVWRPRUGHUPRGHOVZLOOQRWVXSSRUW&(8/F8/RU5R+6&RQVXOWZLWK&.'IRUGHWDLOV AX400WT Series
Dimensions AX410WT z 440 380 C15 4-ø18
4-M12 (Discrete mounting base lifting)
P.C.D.101 390 Mounting base (option)
P.C.D. 8-M10 depth 20 (equipartition) For mounting rotary table
440 380 320 0.06 A 195 11.25°
ø10H7 depth 12 (option)
4-M12 depth 24 (equipartition) Note) (Lifting) When the cable needs to be bent 135 repeatedly, fix the cable sheath Cable bending range near the actuator connector.
Rotary section (including hollow section) ø420 ø160h7 A ø85 (20) 275 240
Fixed section 44 36.5 25
15 ø350h7 B ø435±4 2-M4 116 GND terminal 26 6.5 (11)
30° 243
6-M12 depth 25 (equipartition) P.C.D.400 Platform for mounting 200
ø10H7 depth 12 (option) 0.06 B Not available if the optional mounting base is installed 1RWH 7KHDFWXDWRU VRULJLQPD\GLIIHUIURPWKDWLQWKHGLPHQVLRQDOGUDZLQJ The origin offset feature enables you to set the origin at any position. 27 28 Direct drive actuator ABSODEX TS/TH type driver ,QWHUIDFHVSHFLILFDWLRQV 3DUDOOHO,2 131VSHFLILFDWLRQV 3DUDOOHO,2 313VSHFLILFDWLRQV CC-Link PROFIBUS-DP DeviceNet
Features How to order y 200 to 230 VAC z Power supply separated into main power supply and control power supply AX9000TS U0 z Wiring method changed from terminal block to AX9000TH U0 connector y 100 to 115 VAC z &RPSDFWDQGOLJKW UHVLQERG\ z VHJPHQW/('GLJLWGLVSOD\ AX9000TS J1 U0 $GGLWLRQDOHQFRGHURXWSXW SDUDOOHO,2RQO\ z Interface specification z 6HULDOFRPPXQLFDWLRQRSWLRQ EXLOWLQWRFLUFXLWERDUG 8 3DUDOOHO,2 131 z Additional monitoring feature for positioning and alarms 8 3DUDOOHO,2 313 88DQG8RSWLRQVRQO\ U2: CC-Link U3: PROFIBUS-DP U4: DeviceNet Common specifications Performance specifications Model Descriptions Descriptions Descriptions TS type driver TS type driver Control shafts VKDIWSXOVHVURWDWLRQ AX9000TS AX9000TH Angle setting unit GHJUHHV SXOVHVLQGH[QXPEHUV Main power SKDVHSKDVH9$&WR9$& 1RWH Min. angle setting unit 0.001°, 1 pulse Power supply 9$&WR9$& -RSWLRQ 1RWH 1RWH Speed setting unit sec. rpm voltage Control 9$&WR9$& power supply 9$&WR9$& -RSWLRQ 1RWH 1RWH Speed setting range WRV WRUSP 1RWH Power frequency +] Equal divisions 1 to 255 200 VAC: 1.8 A Max. command value 7-digit number input ± 9999999 Rated input current 200 VAC: 5.0 A 100 VAC: 2.4 A Timer 0.01 s to 99.99 s Rated output current 1.9 A 5.0 A Program language NC language Structure ,QWHJUDWHGGULYHUDQGFRQWUROOHU RSHQW\SH Programming Data can be set with an interactive terminal or Operating ambient temperature 0 to 50°C method personal computer, etc., using the RS-232C port. Operating ambient humidity WR 5+ ZLWKQRGHZFRQGHQVDWLRQ Auto, MDI, job, single block, servo OFF, pulse string Operation Mode Storage ambient temperature WR& input Storage ambient humidity WR 5+ ZLWKQRGHZFRQGHQVDWLRQ Coordinates Absolute, incremental Atmosphere No corrosive gases or powder dust <5 types> 9 33 SXOVHZLGWKȝVULVLQJHGJHQV Noise resistance Acceleration curve 0RGLILHGVLQH 06 PRGLILHGFRQVWDQWYHORFLW\ 0& LPSXOVHQRLVHWHVWLQGXFWLRQQRLVH FDSDFLWLYHFRXSOLQJ 0& PRGLILHGWUDSH]RLGDO 07 DQGWUDSHFORLG 75 2 Vibration resistance 4.9 m/s Status display LED power display Weight $SSUR[NJ Approx. 2.1 kg Operating indication VHJPHQWV/('GLVSOD\ GLJLWV Degree of protection ,3; H[FOXGLQJ&1&1 Communication interface RS-232 compatible 1RWH )RUPRGHOVZKRVHPD[WRUTXHLV1āPRUPRUHLI\RXDUHXVLQJ I/O signals Refer to the relevant interface specifications page. 1-AC 200 VAC, the calculation of the torque limit is different from the QRUP&RQWDFW&.'WRGHWHUPLQHZKHWKHUWKHGULYHUFDQEHXVHG Program size $SSUR[FKDUDFWHUV OLQHV 1RWH ,I\RXFRQQHFW9$&WR9$&WRDGULYHUZLWK9$&WR Electronic thermal Actuator overheat protection 9$&SRZHUVXSSO\YROWDJHVSHFLILFDWLRQ -RSWLRQ WKHGULYHU V 1RWH Max. rotation speed varies depending on the actuator to be connected. internal circuitry will be damaged. 1RWH You cannot select "-J1" for models whose max. torque is 75 N·m or more. 1RWH ,IWKHPDLQSRZHUVXSSO\LVWXUQHGRIIZKLOHWKHDFWXDWRULVURWDWLQJWKH rotation may continue due to momentum. 1RWH $IWHUWKHPDLQSRZHULVWXUQHGRIIWKHPRWRUPD\GULYHGXHWRWKH voltage remaining in the driver. Breaker capacity TS type driver ,QUXVKFXUUHQW $ Breaker capacity Actuator Model Driver Model 1-phase 100 V 1-phase, 3-phase 200 V 5DWHGFXUUHQW $ $;7 AX1022T, AX2012T, AX2018T 1RWH AX4009T, AX4022T AX9000TS 1RWH 10 AX1045T, AX4045T AX1075T, AX4075T - 1RWH 7KHLQUXVKFXUUHQWYDOXHVDUHW\SLFDOYDOXHVIRUDQG9$& TH type driver ,QUXVKFXUUHQW $ Breaker capacity Actuator Model Driver Model 3-phase 200 V 5DWHGFXUUHQW $ AX1150T, AX4150T AX1210T, AX4300T AX9000TH 1RWH 20 AX4500T AX410WT 1RWH 7KHLQUXVKFXUUHQWYDOXHLVDW\SLFDOYDOXHIRU$&9 29 TS/TH type driver NPN specification 3DUDOOHO,2 131VSHFLILFDWLRQV CN3 Input signal CN3 output signal Pin no. Signal Logic Decision Pin no. Signal Logic 1 to 2 ([WHUQDOSRZHUVXSSO\LQSXW9 33 0FRGHRXWSXW ELW Positive 3 to 4 External power supply input GND 34 0FRGHRXWSXW ELW Positive 5 3URJUDPQXPEHUVHOHFWLRQLQSXW ELW Positive Level 35 0FRGHRXWSXW ELW Positive 3URJUDPQXPEHUVHOHFWLRQLQSXW ELW Positive Level 0FRGHRXWSXW ELW Positive 7 3URJUDPQXPEHUVHOHFWLRQLQSXW ELW Positive Level 37 0FRGHRXWSXW ELW Positive 8 3URJUDPQXPEHUVHOHFWLRQLQSXW ELW Positive Level 38 0FRGHRXWSXW ELW Positive Program number selection input 2nd digit/ Edge 39 0FRGHRXWSXW ELW Positive 9 Positive SURJUDPQXPEHUVHOHFWLRQLQSXW ELW Level 40 0FRGHRXWSXW ELW Positive Program number selection input 1st digit/ Edge 41 In-position output Positive 10 Positive SURJUDPQXPEHUVHOHFWLRQLQSXW ELW Level 42 Positioning completion output Positive 11 Reset input Positive Edge 43 Start input waiting output Positive 12 Origin return instruction input Positive Edge 44 Alarm output 1 Negative 13 Start input Positive Edge 45 Alarm output 2 Negative Servo ON input/ Level Intermediate index output 1/ origin output Positive 14 Positive program stop input Edge 47 Intermediate index output 2/servo state output Positive 15 Ready return/continuous rotation stop input Positive Edge 48 Ready output Positive Answer input/position deviation counter reset input Positive Edge 49 Segment position strobe output Positive 17 Emergency stop input Negative Level 50 M code strobe output Positive 18 Brake release Input Positive Level
CN3 pulse string input signal CN3 encoder output signal LQFUHPHQWDO Pin no. Signal Pin no. Signal
19 PULSE/UP/A phase 23 $SKDVH OLQHGULYHURXWSXW AX9000TS 20 -PULSE/-UP/-A phase 24 $SKDVH OLQHGULYHURXWSXW 21 DIR/DOWN/B phase 25 %SKDVH OLQHGULYHURXWSXW 22 -DIR/-DOWN/-B phase %SKDVH OLQHGULYHURXWSXW 27 =SKDVH OLQHGULYHURXWSXW I/O circuit specifications 28 =SKDVH OLQHGULYHURXWSXW 1 circuit Max. Max. Max. current Descriptions current points current consumption AX9000TH P$ FLUFXLW P$ P$ Input circuit 4 14 Output circuit 50 18 900 %UDNHRXWSXW %.%. 75 2 150 Driver * The max. number of simultaneous output points for the output circuits is 14 out of 18.
CN3 I/O circuit specifications Input circuit Pull string input circuit 1, 2 pin + 24 V ± 10% 240 Ω 19, 21 pin
510 Ω 5 to 18 pin 20, 22 pin Rated voltage 24 V ± 10% Max. input frequency Rated current 4 mA (for 24 VDC) Rated voltage 5 V ± 10% Line driver 1 Mpps Open collector 250 Kpps Output circuit Encoder output circuit 1, 2 pin + 24 V ± 10% 23, 25, 27 pin Load
24, 26, 28 pin 33 to 50 pin
3, 4 pin Output type: line driver Rated voltage 24 V ± 10% Line driver to use: DS26C31 Rated current 50 mA (max)
Read the precautions on Intro 9 to 14 before use.
* Custom order models will not support CE, UL/cUL, or RoHS. 30 TS/TH type driver
3DUDOOHO,2 313VSHFLILFDWLRQV CN3 Input signal CN3 output signal Pin no. Signal Logic Decision Pin no. Signal Logic 1 to 2 ([WHUQDOSRZHUVXSSO\LQSXW*1' 1RWH 33 0FRGHRXWSXW ELW Positive 3 to 4 ([WHUQDOSRZHUVXSSO\LQSXW9 1RWH 34 0FRGHRXWSXW ELW Positive 5 3URJUDPQXPEHUVHOHFWLRQLQSXW ELW Positive Level 35 0FRGHRXWSXW ELW Positive 3URJUDPQXPEHUVHOHFWLRQLQSXW ELW Positive Level 0FRGHRXWSXW ELW Positive 7 3URJUDPQXPEHUVHOHFWLRQLQSXW ELW Positive Level 37 0FRGHRXWSXW ELW Positive 8 3URJUDPQXPEHUVHOHFWLRQLQSXW ELW Positive Level 38 0FRGHRXWSXW ELW Positive Program number selection input 2nd digit/ Edge 39 0FRGHRXWSXW ELW Positive 9 Positive SURJUDPQXPEHUVHOHFWLRQLQSXW ELW Level 40 0FRGHRXWSXW ELW Positive Program number selection input 1st digit/ Edge 41 In-position output Positive 10 Positive SURJUDPQXPEHUVHOHFWLRQLQSXW ELW Level 42 Positioning completion output Positive 11 Reset input Positive Edge 43 Start input waiting output Positive 12 Origin return instruction input Positive Edge 44 Alarm output 1 Negative 13 Start input Positive Edge 45 Alarm output 2 Negative Servo ON input/ Level Intermediate index output 1/ origin output Positive 14 Positive program stop input Edge 47 Intermediate index output 2/servo state output Positive 15 Ready return/continuous rotation stop input Positive Edge 48 Ready output Positive Answer input/position deviation counter reset input Positive Edge 49 Segment position strobe output Positive 17 Emergency stop input Negative Level 50 M code strobe output Positive 18 Brake release Input Positive Level 1RWH 7KHZLULQJLVGLIIHUHQWIURPWKH313VSHFLILFDWLRQVRIWKH$; *6 AX9000GH. CN3 pulse string input signal CN3 encoder output signal LQFUHPHQWDO Pin no. Signal Pin no. Signal 19 PULSE/UP/A phase 23 $SKDVH OLQHGULYHURXWSXW 20 -PULSE/-UP/-A phase 24 $SKDVH OLQHGULYHURXWSXW 21 DIR/DOWN/B phase 25 %SKDVH OLQHGULYHURXWSXW 22 -DIR/-DOWN/-B phase %SKDVH OLQHGULYHURXWSXW 27 =SKDVH OLQHGULYHURXWSXW I/O circuit specifications 28 =SKDVH OLQHGULYHURXWSXW 1 circuit Max. Max. Max. current Descriptions current points current consumption P$ FLUFXLW P$ P$ Input circuit 4 14 Output circuit 50 18 900 %UDNHRXWSXW %.%. 75 2 150 * The max. number of simultaneous output points for the output circuits is 14 out of 18.
CN3 I/O circuit specifications Input circuit Pull string input circuit 5 to 18 pin +24 V ± 10% 240 Ω 19, 21 pin
510 Ω 1, 2 pin 20, 22 pin Rated voltage 24 V ± 10% Max. input frequency Rated current 4 mA (for 24 VDC) Rated voltage 5 V ± 10% Line driver 1 Mpps Open collector 250 Kpps Output circuit Encoder output circuit 3, 4 pin +24 V ± 10% 23, 25, 27 pin
33 to 50 pin 24, 26, 28 pin Load
1, 2 pin Output type: line driver Rated voltage 24 V ± 10% Line driver to use: DS26C31 Rated current 50 mA (max) Recommended line receiver: DS26C32 or equivalent
31 * Custom order models will not support CE, UL/cUL, or RoHS. TS/TH type driver CC-Link specification CC-Link specification Communication specifications I/O signals Item Specifications 3/&!$; ,QSXW $; 2XWSXW !3/& Device Device Power supply Supplies DC5 V from the servo amp Signal Logic Decision Signal Logic No. No. CC-Link version Ver.1.10 Program number selection input Occupied stations RYn0 Positive Level RXn0 0FRGHRXWSXW ELW Positive VWDWLRQV UHPRWHGHYLFHVWDWLRQ ELW VWDWLRQW\SH Program number selection input RYn1 Positive Level RXn1 0FRGHRXWSXW ELW Positive Remote input points 48 points ELW Remote output points 48 points Program number selection input RYn2 Positive Level RXn2 0FRGHRXWSXW ELW Positive Remote register I/O Input 8 words, output 8 words ELW Program number selection input Communication 000NNESV RYn3 Positive Level RXn3 0FRGHRXWSXW ELW Positive speed VHOHFWLRQE\SDUDPHWHU ELW CC-Link Ver.1.10-compatible cable Program number selection input 2nd digit/ Edge Coupling cable RYn4 Positive RXn4 0FRGHRXWSXW ELW Positive VKLHOGHGFRUHFDEOH SURJUDPQXPEHUVHOHFWLRQLQSXW ELW level Program number selection input 1st digit/ Edge Transmission format HDLC compliant RYn5 Positive RXn5 0FRGHRXWSXW ELW Positive SURJUDPQXPEHUVHOHFWLRQLQSXW ELW level Remote station No. WR VHWE\SDUDPHWHU 5HPRWHGHYLFHVWDWLRQV VWDWLRQV 5 7%LQSXWFLUFXLWVSHFLILFDWLRQV HPHUJHQF\VWRS 24 VDC external power (not included) EMG+ * +24V EMG- * External power supply can be used with the polarity reversed. Rated voltage 24 V ± 10%, rated current 5 mA or less Safety precautions 3URYLGHDGHTXDWHVSDFLQJEHWZHHQFRPPXQLFDWLRQFDEOHVDQGSRZHUOLQHV PRWRUFDEOHVSRZHUFDEOHVHWF If communication cables and power lines are brought close together or bundled, communication will become unstable, and communication errors and retransmission may occur due to noise. For details on laying communication cables, refer to the CC-Link laying manual and other related information. 32 TS/TH type driver DeviceNet specifications Communication specifications I/O signals Item Specifications 3/&!$; ,QSXW $; 2XWSXW !3/& Communication Byte Byte 11 to 25 VDC Signal Logic Decision Signal Logic power supply No. No. Communication power Program number selection input 50 mA or less 0.0 Positive Level 0.0 0FRGHRXWSXW ELW Positive supply current consumption ELW Program number selection input Communication 0.1 Positive Level 0.1 0FRGHRXWSXW ELW Positive DeviceNet compliant: Remote I/O ELW protocol Program number selection input 0.2 Positive Level 0.2 0FRGHRXWSXW ELW Positive Occupied nodes Input 8 bytes, output 8 bytes ELW Communication 500, 250, 125 kbps Program number selection input 0.3 Positive Level 0.3 0FRGHRXWSXW ELW Positive speed VHOHFWHGE\SDUDPHWHU ELW DeviceNet 3URJUDPQXPEHUVHOHFWLRQLQSXW ELW Level 0.4 Positive 0.4 0FRGHRXWSXW ELW Positive Coupling cable (shielded 5-core cable, 2 signal lines, program number selection input 2nd digit edge SRZHUOLQHVVKLHOG Program number selection input 1st digit/ Level 0.5 Positive 0.5 0FRGHRXWSXW ELW Positive Node address WR VHWE\SDUDPHWHU SURJUDPQXPEHUVHOHFWLRQLQSXW ELW edge Connections XQLWVPD[ LQFOXGLQJWKHPDVWHU Reset input Positive Edge 0FRGHRXWSXW ELW Positive Current position within 1 rotation GHJUHHVSXOVHV DPRXQWRISRVLWLRQ 0.7 Origin return instruction input Positive Edge 0.7 0FRGHRXWSXW ELW Positive Monitor function deviation, program number, electronic thermal, rotation speed, alarm 1.0 Start input Positive Edge 1.0 In-position output Positive Servo ON input/ Level Positioning 1.1 Positive 1.1 Positive program stop input edge completion output Ready return input/ Start input waiting 1.2 Positive Edge 1.2 Positive continuous rotation stop input output Answer input/ 1.3 Positive Edge 1.3 Alarm output 1 Negative position deviation counter reset input 1.4 Emergency stop input Negative Level 1.4 Alarm output 2 Negative Intermediate index output 1/ 1.5 Brake release Input Positive Level 1.5 Positive origin output Intermediate index output 2/ Not available Positive Servo state output 1.7 Not available 1.7 Ready output Positive Segment position 2.0 Positive strobe output 2.0 2.1 M code strobe output Positive to Not available 2.5 2.2 to Not available 2.5 Monitor output execution request Positive Level Monitoring Positive Instruction code 2.7 Instruction code execution request Positive Edge 2.7 Positive execution complete 7%LQSXWFLUFXLWVSHFLILFDWLRQV HPHUJHQF\VWRS 24 VDC external power (not included) EMG+ * +24V EMG- * External power supply can be used with the polarity reversed. Rated voltage 24 V ± 10%, rated current 5 mA or less Safety precautions 3URYLGHDGHTXDWHVSDFLQJEHWZHHQFRPPXQLFDWLRQFDEOHVDQGSRZHUOLQHV PRWRUFDEOHVSRZHUFDEOHVHWF If communication cables and power lines are brought close together or bundled, communication will become unstable, and communication errors and retransmission may occur due to noise. For details on laying communication cables, refer to the DeviceNet laying manual and other related information. 33 TS/TH type driver PROFIBUS-DP specifications PROFIBUS-DP specifications Communication specifications I/O signals Item Specifications 3/&!$; ,QSXW $; 2XWSXW !3/& Communication Byte Byte PROFIBUS DP-V0 compliant Signal Logic Decision Signal Logic protocol No. No. Program number selection input I/O data Input 8 bytes, output 8 bytes 0.0 Positive Level 0.0 0FRGHRXWSXW ELW Positive ELW 0000N Program number selection input Communication 187.5 k, 93.75 k, 45.45 k, 0.1 Positive Level 0.1 0FRGHRXWSXW ELW Positive ELW speed N NESV Program number selection input 0.2 Positive Level 0.2 0FRGHRXWSXW ELW Positive DXWREDXGUDWHIXQFWLRQ ELW PROFIBUS cable Program number selection input Coupling cable 0.3 Positive Level 0.3 0FRGHRXWSXW ELW Positive VKLHOGHGFRUHWZLVWSDLUFDEOH ELW Node address WR VHWE\SDUDPHWHU 3URJUDPQXPEHUVHOHFWLRQLQSXW ELW Level 0.4 Positive 0.4 0FRGHRXWSXW ELW Positive Without repeaters: /program number selection input 2nd digit edge 32 stations max. per segment Program number selection input 1st digit Level Connections 0.5 Positive 0.5 0FRGHRXWSXW ELW Positive With repeaters: SURJUDPQXPEHUVHOHFWLRQLQSXW ELW edge VWDWLRQVPD[LQWRWDO Reset input Positive Edge 0FRGHRXWSXW ELW Positive Current position within 1 rotation GHJUHHVSXOVHV DPRXQWRISRVLWLRQ 0.7 Origin return instruction input Positive Edge 0.7 0FRGHRXWSXW ELW Positive Monitor function deviation, program number, electronic thermal, rotation speed, alarm 1.0 Start input Positive Edge 1.0 In-position output Positive Servo ON input/ Level Positioning 1.1 Positive 1.1 Positive program stop input edge completion output Ready return input/ Start input waiting 1.2 Positive Edge 1.2 Positive continuous rotation stop input output Answer input/ 1.3 Positive Edge 1.3 Alarm output 1 Negative position deviation counter reset input 1.4 Emergency stop input Negative Level 1.4 Alarm output 2 Negative AX9000TS Intermediate index output 1/ 1.5 Brake release Input Positive Level 1.5 Positive origin output Intermediate index output 2/ Not available Positive Servo state output 1.7 Not available 1.7 Ready output Positive Segment position 2.0 Positive strobe output AX9000TH 2.0 2.1 M code strobe output Positive to Not available 2.5 2.2 to Not available 2.5 Driver Monitor output execution request Positive Level Monitoring Positive Instruction code 2.7 Instruction code execution request Positive Edge 2.7 Positive execution complete 7%LQSXWFLUFXLWVSHFLILFDWLRQV HPHUJHQF\VWRS 24 VDC external power (not included) EMG+ * +24V EMG- * External power supply can be used with the polarity reversed. Rated voltage 24 V ± 10%, rated current 5 mA or less Safety precautions For details on laying communication cables, refer to "Installation Guideline for PROFIBUS DP/FMS" issued by the PROFIBUS Organization, the PROFIBUS wiring guide, etc. 34 TS/TH type driver Dimensions z TS type driver 3-M4 (thread hole) 75 65±0.5 5 6 5 (Mounting pitch) ABSODEX DRIVER T SERIES MON. POWER G1 CHARGE G2 L1 L2 C L3 N L1C 1 L2C AC200 C -230V CN4 50/60Hz N 2 + S 1 220 + S 2 T 220 B - S1 - S2 1 (Mounting pitch) U V ±0.5 W CN5 C N 3 ABSODEX MODEL: AX9000TS SERIAL: 1234567 G CKD Corporation MADE IN JAPAN T BK + BK - B 2 Driver outline 160 (100) 75 (5) 210 Installation hole machining drawing (Note 1) z TH type driver 95 3-M4 (thread hole) 65±0.5 5 6 5 (Mounting pitch) ABSODEX DRIVER T SERIES MON. POWER G1 CHARGE G2 L1 L2 C L3 N L1C 1 L2C AC200 C -230V CN4 50/60Hz N 2 + S 1 T 220 220 + S 2 B - S1 - S2 1 (Mounting pitch) U V ±0.5 W CN5 C N 210 3 ABSODEX MODEL: AX9000TH SERIAL: 1234567 G CKD Corporation MADE IN JAPAN T BK + BK - B 2 Regenerative resistance Driver outline 160 (100) 95 (5) Installation hole machining drawing (Note 1) Driver accessories Power supply connector Motor cable connector Model no. Specifications CN3 connector &1 &1 3( SOXJ 3&67 3&67 AX9000TS-U0 3DUDOOHO,2 131 $ VKHOO PHOENIX CONTACT PHOENIX CONTACT Sumitomo 3M 3( SOXJ 3&67 3&67 AX9000TS-U1 3DUDOOHO,2 313 $ VKHOO PHOENIX CONTACT PHOENIX CONTACT Sumitomo 3M 3&67 3&67 BLZ5.08/FAU AX9000TS-U2 CC-Link specification PHOENIX CONTACT PHOENIX CONTACT Weidmüeller 3&67 3&67 AX9000TS-U3 PROFIBUS-DP specifications Not included PHOENIX CONTACT PHOENIX CONTACT 3&67 3&67 MSTB2.5/5-STF-5.08AUM AX9000TS-U4 DeviceNet specifications PHOENIX CONTACT PHOENIX CONTACT PHOENIX CONTACT To order additional parts, see the table for how to order. 35 TS/TH type driver Installation dimensions Installation dimensions z TS type driver - The Absodex driver is not dustproof or waterproof. Protect the driver so that dust, water, oil, etc. do not enter the driver. - If you are installing the Absodex driver in the control box, make sure that the temperature inside the box does not exceed 50°C, and install the driver as shown in the following diagram to secure space around it. 50 or over 75 50 or over 50 or over ABSODEX DRIVER T SERIES MON. POWER G1 CHARGE G2 L1 L2 C L3 N L1C 1 L2C AC200 C -230V CN4 50/60Hz N 2 + S 1 + S 2 T 220 B - S1 - S2 1 U V W CN5 C N 3 AX9000TS ABSODEX MODEL: AX9000TS SERIAL: 1234567 G CKD Corporation MADE IN JAPAN T BK + BK - B 2 Note 1 (100) 50 or over AX9000TH z TH type driver Driver 50 or over 95 50 or over 50 or over ABSODEX DRIVER T SERIES MON. POWER G1 CHARGE G2 L1 L2 C L3 N L1C 1 L2C AC200 C -230V CN4 50/60Hz N 2 + S 1 220 + S 2 T B - S1 - S2 1 U V W CN5 C N 3 ABSODEX MODEL: AX9000TH SERIAL: 1234567 G CKD Corporation MADE IN JAPAN T BK + BK - B 2 Note 1 (100) 50 or over 1RWH 'HWHUPLQHDGLPHQVLRQWKDWLVVXIILFLHQWIRUWKHFDEOHWKDW\RXDUHXVLQJ TS/TH type driver Panel description z 3DUDOOHO,2 131313VSHFLILFDWLRQV y For 200 VAC y For 100 VAC Operating indication Operating indication 7 segment LED (2 digit) 7 segment LED (2 digit) Control power supply LED Control power supply LED DRIVER ABSODEX DRIVER ABSODEX T SERIES T SERIES MON. MON. Main power supply LED Main power supply LED POWER G1 POWER G1 Gain 1 dip switch Gain 1 dip switch CHARGE CHARGE G2 G2 (Convergence time) (Convergence time) L1 Main power supply L1 Main power supply L2 L2 C C L3 N N L1C 1 L1C 1 Control power supply Control power supply L2C L2C Gain 2 dip switch (Load) AC100 C AC200 C Gain 2 dip switch (Load) -115V CN4 -230V CN4 N N 50/60Hz 50/60Hz 2 2 CN1: RS-232C connector CN1: RS-232C connector + S 1 + S 1 + S 2 T + S 2 T B B - S1 - S1 - S2 1 - S2 1 CN2: Connector for resolver cable CN2: Connector for resolver cable U U V Actuator output V Actuator output W W TB1: Terminal for safety terminal TB1: Terminal for safety terminal CN5 CN5 C C N N 3 3 GND terminal GND terminal ABSODEX ABSODEX MODEL: AX9000TS -J1 MODEL: AX9000TS SERIAL: 1234567G 2-M4 SERIAL: 1234567 G 2-M4 CKD Corporation MADE IN JAPAN CKD Corporation MADE IN JAPAN T T CN3: I/O connector BK + CN3: I/O connector BK + B B BK - BK - 2 2 TB2: Brake terminal TB2: Brake terminal z CC-Link specification z PROFIBUS-DP specifications Operating indication Operating indication 7 segment LED (2 digit) 7 segment LED (2 digit) Control power supply LED Gain 1 dip switch Control power supply LED (Convergence time) ABSODEX DRIVER ABSODEX DRIVER Main power supply LED T SERIES T SERIES MON. MON. Main power supply LED POWER G1 POWER G1 Gain 1 dip switch CHARGE G2 CHARGE G2 Gain 2 dip switch (Load) (Convergence time) L1 L1 Main power supply L2 L2 C C L3 L3 N N Main power supply L1C 1 CN1: RS-232C connector L1C 1 L2C Control power supply L2C (2-M2.6) AC200 C AC200 C -230V CN4 -230V CN4 Gain 2 dip switch (Load) N N 50/60Hz 50/60Hz Control power supply 2 2 CN2: Connector for resolver cable CN1 RS-232C connector + S 1 + S 1 T T + S 2 + S 2 B B - S1 - S1 - S2 1 TB1: Terminal for safety - S2 1 CN2 resolver cable connector U U Actuator Actuator V V W output terminal W Transmission monitor LED Terminal for TB1 safety output terminal CN5 CN5 C C N N 3 Transmission monitor LED 3 CN3: Connector for PROFIBUS-DP (2-#4-40UNC) GND terminal ABSODEX ABSODEX GND terminal MODEL: AX9000TS MODEL: AX9000TS SERIAL: 1234567 G SERIAL: 1234567 G CN3 CC-Link connector CKD Corporation MADE IN JAPAN 2-M4 CKD Corporation MADE IN JAPAN T 2-M4 T BK + BK + B BK - B TB3: Terminal for emergency stop BK - 2 2 Terminal for TB3 emergency stop TB2 terminal TB2: Brake terminal z DeviceNet specifications Operating indication 7 segment LED (2 digit) Control power supply LED ABSODEX DRIVER T SERIES Main power supply LED MON. Gain 1 dip switch POWER G1 (Convergence time) CHARGE G2 Main power supply L1 L2 C L3 N Gain 2 dip switch (Load) Control power supply L1C 1 L2C AC200 C -230V CN4 50/60Hz N 2 CN1: RS-232C connector + S 1 + S 2 T B - S1 - S2 1 CN2: Connector for resolver cable U Actuator output V terminal W TB1: Terminal for safety CN5 C N 3 Transmission monitor LED Name plate ABSODEX MODEL: AX9000TS SERIAL: 1234567 G CKD Corporation MADE IN JAPAN T CN3: DeviceNet connector BK + BK - B GND terminal 2 2-M4 Terminal for TB3 emergency stop TB2: Brake terminal 37 AX Series Cable specifications Cable specifications Cable dimensions Min. cable bending radius z AX1000T Resolver cable PP L (cable length) (18.5) Resolver cable UN ø21 (43) diameter) (Maximum Motor cable (12) ø45 Motor cable 110 mm diameter) (Maximum (100) z AX2000T, AX4000T Resolver cable PP L (cable length) (16) Resolver cable (18.5) (14) (22) (43) (12) Motor cable (15) Motor cable 110 mm (100) Safety precautions z :KHQFRQQHFWLQJWKHPRWRUFDEOHDQGGULYHUFKHFNWKDWWKHFDEOH VPDUNWXEHVDQGWKHGULYHU VLQGLFDWLRQVDUHFRUUHFW z When the cable needs to be bent repeatedly, fix the cable sheath near the actuator connector. z The cables for the AX4009T and AX2000T Series are not movable cables. Be sure to fix the cables at the connectors so that they do not move. Do not lift up the body by the cable or apply excessive force to the cable as the cable may Cable break. z :KHQFRQQHFWLQJWKHFDEOHLQVHUWWKHFRQQHFWRUVHFXUHO\WRWKHEDFN7LJKWHQWKHFRQQHFWRU VVHWVFUHZVDQGIL[LQJ screws. z Do not modify the cable by cutting or extending it. Failure to observe this could result in faults or malfunctions. z For cable length L, refer to the cable lengths in "How to order". 38 'LUHFWGULYHDFWXDWRU$%62'(; ,QWHUDFWLYH7HUPLQDO AX0180 z For TS type and TH type drivers Features Specifications (1) Programming is easy. Descriptions AX0180 Equal index programs are created Operation mode Edit, view, parameter, operation, and copy easily by answering questions Program size (TXDOGLYLVLRQVRU1&SURJUDPFKDUDFWHUV SURJUDP interactively with the dialog terminal. Program no. Equal division programs: Program No. 0 to 999 (2) No dedicated power supply required. Display FKDUDFWHUVîOLQHV /&' Power is supplied from the Absodex. 17 keys Input keys (3) Backup is possible. 6WRSNH\ FRQWURONH\V QXPHULFNH\V Program parameters can be saved. Backup 6XSHUFDSDFLWRU DSSUR[KRXUV Programs can be copied. Power supply Supplied from the Absodex (4) Can be used with conventional models. Cable length 2 m This terminal can be used with S, GS, Operating ambient temperature 0 to 50°C H, GH, and WGH type drivers, in the Operating ambient humidity WR ZLWKQRGHZFRQGHQVDWLRQ same manner as the conventional Storage ambient temperature -20 to 80°C LQWHUDFWLYHWHUPLQDO $;+ Storage ambient humidity WR ZLWKQRGHZFRQGHQVDWLRQ Atmosphere No corrosive gases or powder dust Weight Terminal only approx. 140 g * The English version displays English messages. The operation panel keys are the same as those of the Japanese version. Dimensions z Dialog Terminal 86 24 How to order Model Model no. of options AX0180 E 140 Model no. Symbol Descriptions Blank 6WDQGDUG -DSDQHVHYHUVLRQ E English version 72 Cable length 2 m 39 AX0180 Dialog Terminal Dialog Terminal ■ Program editing Edit mode Equal division programs created interactively and operation programs created with NC codes are edited. Only one edited program can be saved. (Memory backup: 3 hours) After the equal division program is edited, parameters required for operation are edited. Up to 2000 letters are input for the NC program. Twelve sample programs are used for editing. ■ I/O state and current position display Display mode The Absodex driver's input/output signal CN3's input/output status, the current motor position, and the alarm status, etc., are displayed. Parameter setting Parameter ■ You can refer and set the parameters of the Absodex. mode * With the AX9000TS/AX9000TH serial communication option, you can set the station number, baud rate, etc. Operation mode ■ Push-in operation commands Operation Start and stop programs, execute one block, reset, set numbers, input and execute MDI data, mode communicate in terminal mode, brake ON and OFF, servo ON and OFF, return to origin, execute a JOG operation, set offset, etc. ■ Batch copying the programs Copy mode All programs stored in the Absodex driver are stored in another driver. ■ Absodex adjustment (AX9000TS only) Tuning mode Adjust the gain using the Absodex auto tuning function. Interactive programming Examples of use You can easily create programs by entering settings similar Try operating the Edit mode to those shown below. Absodex. Twelve types of sample programs [Program input example] are selectable, so try these during adjustment. New Program No. [0 to 999] Origin return position 1. Origin Create an Absodex Edit mode 2. Index program and store it in AX0180 Return direction 1. CW the Absodex. Programs and parameters are stored, 2. CCW and programs are copied. 3. Shortest route Start a program stored Return speed [1.0 to 20.0] rpm Operation mode in the Absodex. Divisions [1 to 255] Programs are created easily by inputting Movement time [0.01 to 100] sec the following setting items. Rotational direction 1. CW 2. CCW Use features of each Parameter mode cam curve. Stop process 1. Start wait Five types of cam curves are selectable. 2. Dwell Drives that use features of each type are Brake 1. Used realized in Push-in operation. Dialog Terminal 2. Not used Delay timer [0.01 to 99.99] sec Check the I/O ON/OFF Display mode M code 1. M code state. You can view the I/O state. 2. Segment position 40 AX Series How to order Absodex related parts z Related parts Part name Applicable model Model no. PC communication cable AX Series AX-RS232C-9P 1RWH 6WDUWLQJDGMXVWPHQWVXSSRUWWRRO$;7RROV :LQGRZVYHUVLRQ LVSURYLGHGIRUIUHH'RZQORDGWKHODWHVWYHUVLRQIURPRXUZHEVLWH http://www.ckd.co.jp/kiki/caddata/ax_t.htm z Mounting base Part name Applicable model Model no. Mounting base $;6HULHV 1RWH $;$;ƑƑƑƑ%$6(Ƒ 1RWH 1RWH 0RXQWLQJEDVHGRHVQRWVXSSRUWWKH$; 7 1RWH 3OHDVHFRQWDFWRXUVDOHVGHSDUWPHQWUHJDUGLQJPRXQWLQJEDVHPRGHOQXPEHUV z Noise filter Part name Applicable model Model no. 1RLVHILOWHUIRUSRZHUVXSSO\ $&$ AX Series $;16)683()(5 1RLVHILOWHUIRUSRZHUVXSSO\ $&$ AX Series AX-NSF-NF2015A-OD Surge protector AX Series AX-NSF-RAV-781BXZ-4 Ferrite core for motor cable AX Series $;16)5& 1RWH 7KHSDUWVOLVWHGRQWKLVSDJHFDQEHSXUFKDVHGIURP&.' 1RWH 7RFRPSO\ZLWK(86WDQGDUGV &(PDUNLQJ DQG8/VWDQGDUGVSHULSKHUDOFRPSRQHQWVVXFKDVFLUFXLWEUHDNHUVDQG)* clamps must be provided by the customer. For details, refer to the instruction manual or the technical information (ABSODEX $;6HULHV767\SH7+7\SH7HFKQLFDO,QIRUPDWLRQ z Others Part name Applicable model Model no. 3RZHUVXSSO\FRQQHFWRU &1 AX Series AX-CONNECTOR-PC45 0RWRUFDEOHFRQQHFWRU &1 AX Series AX-CONNECTOR-PC43 +RXVLQJ FRYHU &1 SRZHUFRQQHFWRU AX Series $;&29(5.**3& &RQQHFWRUKRXVLQJ FRYHU &1 0RWRUFDEOH AX Series $;&29(5.**3& ,2FRQQHFWRU &1 IRUSDUDOOHO,2 $;6HULHV 88 AX-CONNECTOR-MDR ,2FRQQHFWRU &1 IRU&&/LQN $;6HULHV 8 AX-CONNECTOR-BLZ5 ,2FRQQHFWRU &1 IRU'HYLFH1HW $;6HULHV 8 AX-CONNECTOR-MSTB Protection element for electromagnetic brake $;6HULHV (% $;3$5767159. 41 AX Series Terminology Terminology Index precision Example of index accuracy measurement The Absodex index precision is the difference between the target position set by an NC program and the actual stop position. 7KHWDUJHWSRVLWLRQLVDQDQJOH VHFRQGV IURPWKHUHIHUHQFHVWDWLRQ -18" -27" RULJLQUHWXUQSRVLWLRQ As shown in the diagram on the right, the index precision is calculated -7" -10" from the maximum and minimum values of the differences between 2 +5" the target positions and the actual stop positions. Measurement is 3 1 expressed in terms of the width using positive and negative seconds, 4 Reference station 6 as shown on the right. 5 A high precision encoder is used for the angular measurement. Repeatability Repeatability expresses the deviation in the angles of the stop positions measured repeatedly under the same conditions for the same WDUJHWSRVLWLRQ,WLVH[SUHVVHGDVDQDQJOH VHFRQGV Measuring position Measured value Depending on the precision characteristics that the machine requires, 1 0 repeatability and index precision must be used separately. 2 +5" Index precision 3 -10" ±16 4 -27" * Second: A unit used to express angles (degrees, minutes, and 5 -18" VHFRQGV GHJUHH PLQXWHV VHFRQGV 6 -7" Run out of output shaft The run-out accuracy of the inside-low section of the table installation surface. Run out of output shaft Surface run out of output shaft The run-out accuracy of the table installation surface. Surface run out 42 AX Series 8VHFDVHV 2SHUDWLRQVSHFLILFDWLRQV LQGH[XQLWRSHUDWLRQ Operation specifications Move 90° in z GLYLVLRQV HTXDOO\GLYLGHGE\ 0.5 sec. z Movement time 0.5 sec. z 1 index in counterclockwise direction each time start is input from a PLC. Program example Main program O1; Use program No. "1" G11; Set the time (sec.) in the NC code F unit. G10\ 1A4; Split one rotation into 4. G91.1; Set the incremental dimensions. A0\ F0\ .5; Move to the closest index station in 0.5 sec. N1M0\ ; Wait for the start signal input from the PLC. A-1F0\ .5; Move one index in 0.5 sec. J1; Jump to the sequence No. 1 block. M30\ ; Program end 1RWH :KHQXVLQJWKHLQWHUDFWLYHWHUPLQDORU7HDFKLQJ1RWHLIWKHSURJUDP1RLVLQSXW 1 will be automatically set and does not need to be described. PLC operation signal example Initial process: process done only once in the beginning Process name I/O signal name PLC output PLC input Remarks (1) Program no. selection - No. selection bit 0 Select program No. 1 (Select - No. selection bit 1 the program number you will - No. selection bit 2 be using. Program No.1 is - No. selection bit 3 selected in this example.) - No. setting first digit (2) Return process - Start signal Return complete by using - Positioning completion signal positioning complete signal - Start input waiting output Indexing process: process done each time when indexing Process name I/O signal name PLC output PLC input Remarks (3) Index - Start signal Index complete by using - Positioning completion signal positioning complete signal - Start input waiting output (Note) Input the program No. selection and start signal when the start input waiting output turns ON. 43 AX Series 8VHFDVHV 2SHUDWLRQVSHFLILFDWLRQV RVFLOODWRUXQLWRSHUDWLRQ 0° Operation specifications -45° 45° z Movement between -45° and 45° is repeated each time start is input from a PLC. z Movement time 0.7 sec. z $SSOLHVWKHEUDNHVZKHQVWRSSLQJ 1RWH z (QDEOHVHPHUJHQF\VWRSLQSXW 1RWH Direct drive actuator ABSODEX Program example Main program O2; Use program No. "2". G10\ 5; Set the unit of NC code A to angle (°). G11; Set the time (sec.) in the NC code F unit. G90\ ; Set the absolute dimensions. N1M69; Release brake. A45F0\ .7; Move to 45° in 0.7 sec.. M68; Activate brake. M0\ ; Wait for the start signal input from the PLC. M69; Release brake. A-45F0\ .7; Move to -45° in 0.7 sec.. M68; Activate brake. M0\ ; Wait for the start signal input from the PLC. J1; Jump to the sequence No. 1 block. M30\ ; Program end Note 1: Use an Absodex with brakes. When using the type with optional magnetic brakes, refer to the section "Using the PDJQHWLFEUDNHV RQSDJHLQWKHLQWURGXFWLRQ Note 2: If an emergency stop is input during braking, the brakes will function even after the emergency stop is reset. When inputting the start signal without selecting the program No. again, release the brakes with the brake release signal, and then input the first start signal. Brake release input Start input 100 msec and over Positioning completion output 44 AX Series 6HOHFWLRQJXLGH Selection guide Units and symbols for operation condition specifications 3. Load torque Load moment of inertia (kg·m2 J (a) The maximum load torque is obtained with the Movement angle ȥ following formula. ψ · Movement time V t1 Tm = [Am · (J + JM) · + TF + TW] · fc + TMF 2 180 · t1 Cycle time V t0 Load friction torque 1āP TF (b) The effective value of the load torque is obtained with the following formula. Work torque 1āP TW 1 Cam curve Select from MS, MC, MT, and TR t ψ · 2 2 Trms = · [r · Am · (J + JM) · 2 · fc] + (TF · fc + TW · fc + TMF) t0 180 · t1 1. Load moment of inertia Here, use the values in the following table for Vm, Am, and r. Calculate the load moment of inertia, and temporarily select Cam curve Vm Am r an actuator that handles moment of inertia. MS 5.53 0.707 MC 1.28 8.01 0.500 2. Rotation speed MT 2.00 4.89 The max. rotation speed Nmax is determined by TR 2.18 0.773 J , T , and f are as follows: ψ M MF Nmax = Vm · (rpm) 2 6·t1 JM : Output shaft moment of inertia (kg·m TMF : 2XWSXWVKDIWIULFWLRQWRUTXH 1āP where ȥ LVWKHPRYHPHQWDQJOHDQGW1 V LVWKHPRYHPHQW fc : 8VDJHIDFWRU IF XQGHUQRUPDOXVH time. Vm is a constant that is determined by the cam curve. &RQILUPWKDW1PD[GRHVQRWH[FHHGWKHDFWXDWRU VVSHFLILHG Regarding the actuator selected temporarily max. rotation speed. Max. load torque < Max. output torque Effective load torque value < Continuous output torque Speed 1RWH 7KHUHLVDWRUTXHOLPLWDUHDZKHUHWKHPD[WRUTXHLV reduced during high-speed rotation. When using the actuator in the torque limit area, use the model selection software to check whether the actuator can be used 1RWH 7KHZRUNWRUTXHH[SUHVVHVZLWKDWRUTXHYDOXHWKH external load, etc., applied on the output shaft as a Time Absodex movement instruction time load. Settling time Actual moving time Calculate the work torque TW using the following The settling time differs according to the working condition, but formula. generally is between 0.025 and 0.2 s. TW )W × RW 1āP Use the Absodex movement instruction time for the FW 1 : Force required for work movement time t1 in model selection. In addition, use the RW P : Work radius Absodex movement instruction time for the designation of ([DPSOH the movement time in an NC program. If the actuator is installed horizontally (the output VKDIWLVKRUL]RQWDO WDEOHZRUNDQGMLJHWFDUH 1RWH Frictional torque is applied to the output shaft due the work torque. to the bearing or sliding surface or other friction. Friction torque is calculated with a relational formula. 7I ȝā)Iā5I 1āP )I PāJ where, ȝ : Coefficient of friction Rolling friction Sliding friction ȝ WR ȝ WR Ff : Force applied to rolling surface and EHDULQJVHWF 1 Rf : $YHUDJHIULFWLRQUDGLXV P m:0DVV NJ g : Gravitational acceleration (m/s2 45 AX Series 6HOHFWLRQJXLGH 4. Regenerative power For AX9000TS and AX9000TH type drivers, use the following simplified formula to calculate the regenerative power and determine whether the drivers can be used. ● AX9000TS type driver AX9000TS type driver does not have a built-in regenerative resistor. Therefore, check that the energy that can be charged ZLWKWKHFDSDFLWRU WDEOHEHORZ GRHVQRWH[FHHGWKH regenerative energy value determined using the simplified formula below. Vm · ψ · 2 (J+JM) E = · (J) ( t1 · 180 ) 2 Power Processable Remarks specifications UHJHQHUDWLYHHQHUJ\ - When the input voltage to the 200 VAC 17.2 main voltage supply is 200 VAC When the input voltage to the 9$& - 17.2 main voltage supply is 100 VAC ,IWKLVFRQGLWLRQFDQQRWEHPHWFRQVXOWZLWK&.' ● AX9000TH type driver With AX9000TH type driver, the power regenerated by the consumption capacity of the regenerative resistor is limited. It is determined using the following simplified formula. Vm · ψ · 2 (J+JM) W = · (W) ( t1 · 180 ) 2 · t0 W ≤ 40 If this condition is not satisfied, reconsider operation and load conditions. AX Series 6HOHFWLRQJXLGH 2 2 Wt × R 79 × 0.4 (a) Table J1 == =6.32 (kg·m2) STEP 1 2 2 2 2 Calculation of (b) Jig and workpieceJ2 = N × Wj × Re = 4 × 10 × 0.325 = 4.225 (kg·m2) moment of inertia (c) Total sum of moment of inertia J + J1 + J2 = 6.32 + 4.225 = 10.545 (kg·m2) ψ 90 STEP 2 Nmax = Vm · = 1.76 ×=33 (rpm) 6 · t1 6 × 0.8 Max. rotation speed Confirm that Nmax does not exceed the Absodex's maximum rotation speed. STEP 3 Calculate the smallest model that can tolerate the load moment of inertia. The AX4300T allowable moment of inertia is 180 (kg·m2) or over, so this load is allowable. Load torque Max. load torque ψ · m m M F W MF T = [A · (J + J ) · 2 + T + T ] · fc + T 180 · t1 90 × = [5.53 × (10.545 + 0.326) × + 0 + 0] × 1.5 + 10 180 × 0.82 = 231.3 (N·m) Effective load torque 1 t ψ · 2 2 Trms = · [r · Am · (J + JM) · 2 · fc] + (TF · fc + TW · fc + TMF) t0 180 · t1 0.8 90 × 2 2 Trms =×× [0.707 × 5.53 × 10.871 × 1.5] + (0 × 1.5 + 0 × 1.5 + 10) 4 180 × 0.82 = 70.7 (N·m) Vm · ψ · 2 (J+JM) STEP 4 W = · ( t1 · 180 ) 2 · t0 Regenerative 1.76 × 90 × 2 10.871 = × = 16.23 (W) power ( 0.8 × 100 ) 2 × 4 W ≤ 40 (W) STEP 5 Determine if the selected AX4300T can be used. Total sum of load moment of inertia 10.545 ≤ 180 (kg·m2) Selection guide Max. rotation speed 33 ≤ 100 (rpm) Max. load torque 231.3 ≤ 300 (N·m) Effective load torque 70.7 ≤ 100 (N·m) Regenerative power 16.23 ≤ 40 (w) Thus, AX4300T can be used. 47 AX Series 6HOHFWLRQJXLGH When selecting a model for "MC2 curve" When selecting a model for "continuous rotation" What is the MC2 curve? What is continuous rotation? The MC2 curve has a constant velocity in movement the Continuous rotation has the following features. VDPHDVWKH0& PRGLILHGFRQVWDQWYHORFLW\ FXUYHEXWE\ 1. Continuous : To continuously rotates at a set speed setting an acceleration/deceleration time, the constant ve- rotation until the continuous rotation stop locity is set freely. signal is input. :LWKWKH0& JHQHUDOQDPH 0&9 FXUYHWKHFRQVWDQW 2. Equal division : To stop at an equal division when YHORFLW\VHFWLRQLV position stop the continuous rotation stop signal Note. Acceleration/deceleration time is set to one-half is input if used with equal division designation. or less of movement time. If acceleration/deceleration time setting exceeds one-half of movement time, the In the example, the shaft accelerates at acceleration time cam curve is automatically changed to an MS (modified ta to set speed N, and when a continuous rotation stop is VLQHZDYH FXUYH input, stops with deceleration time td. ,QWKHH[DPSOHDFFHOHUDWLRQGHFHOHUDWLRQWLPH WD LVVHWWR 0 0.5 sec. for movement time (t1 VHFDVSHHGSDWWHUQWKDW t VHWVWKHFRQVWDQWYHORFLW\WRLVFUHDWHG t1 (t0) ta td 4(t1) 0.5(ta) 0.5(ta) Continuous Constant velocity section (75%) MC2 Selection procedure With continuous rotation, the model is selected using the Selection procedure following formula: With the MC2 curve, the model is selected using the Rotation speed : 1 USP Cycle time : t V following formula: 0 Acceleration time : WD V Movement angle : ȥ Deceleration time : WG V Cycle time : t V 0 Load moment of inertia : J (kg·m2 Movement time : t V 1 Output shaft moment of inertia : J (kg·m2 Acceleration/deceleration time : WD V M Friction torque : 7I 1āP Load moment of inertia : J (kg·m2 Work torque : 7Z 1āP Output shaft moment of inertia : J (kg·m2 M Output shaft friction torque : T 1āP Friction torque : 7I 1āP MF Work torque : Tw 1āP 0D[VSHHG 1PD[ USP 1RWH Output shaft friction torque : TMF 1āP 1PD[ 1 0D[VSHHG 1PD[ USP /RDGWRUTXH PD[ 7P 1āP ψ Nmax = 6 (t1 - 0.863ta) 6.82N · ta · Tm = 5.53 (J + JM) · + Tf + Tw · fc + TMF 720 · ta2 /RDGWRUTXH PD[ 7m 1āP /RDGWRUTXH PLQ 7UPV 1āP t1 - 2ta 2 ψ · 1 - · 2ta 6.82N · ta · 2 M MF t1 - 0.863ta Trms = · 3.91 (J + J ) · 2 · fc + [(Tf + Tw) · fc + T ] Tm = 5.53 (J + JM) · + Tf + TW · fc + TMF t0 720 · ta 720 · ta2 7KHDERYHIRUPXODDSSOLHVIRUWKHFDVHRIWDWG,IWD!WG then replace ta with td, and select. /RDGWRUTXH PLQ 7UPV 1āP 2 1RWH :KHQFRQWLQXRXVURWDWLRQLVXVHGWKHPD[VSHHGLV t1 - 2ta ψ · 1 - · limited. Follow the actuator specifications. 2ta t1 - 0.863ta 2 M MF Trms = · 3.91 (J + J ) · 2 · fc + [(Tf + Tw) · fc + T ] t0 720 · ta 48 AX Series 6HOHFWLRQJXLGH Inertia moment formulas [ m : Weight of object (kg)] A When rotation center is own shaft B When rotation center differs from own shaft 1. Circular plate Center of rotation 1. Any shape (if sufficiently small) (cylinder) R Center of rotation mR 2 I = Re 2 I = mRe 2 m m 2. Hollow circular plate(hollow cylinder) 2. Circular plate (cylinder) R Re R 2 R I = m + Re 2 r 2 m ( R22+ r ) I = m m 2 3. Hollow circular plate 3. Cuboid (hollow cylinder) R Re 22 R + r 2 r I = m + Re b a 2 m ( a 2 + b 2 ) I = m 12 m 4. Ring 4. Cuboid Re R m 22 m (4 R + 3 r ) a a 22+ b I = I = m + Re 2 4 12 r m l b 5. Cylinder m (3R 22+ l ) Re m I = 12 5. Cylinder 3 R 22+ l l I = m + Re 2 R 12 l m 6. Hollow m m ( R 222+ r + l /3) R Re cylinder I = R 22+ r + l 2 /3 4 6. Hollow l I= m + Re 2 R cylinder 4 r m r R For conveyor m 2 m 1 : Chain weight m 4 2 m 3 I=(m 1+ m 2++m3 )·R m 2 : Workpiece total weight 2 m 3 : Jig (pallet) total weight A R B m 4 : Sprocket A (drive) + B total weight R : Drive side sprocket radius m 4 m 4 m 1 49 Absodex selection guide specifications check sheet (Note) Contact CKD for chain drives and gear drives. Table direct drive Your company name Name Department TEL FAX ■ Operating conditions 1. Index 2. Oscillator Movement angle Ψ (°) or, Index numbers Movement time t1 (sec) Cycle time t0 (sec) Cycle time = Moving time + Dwelling time (Note) Index time is movement time + settling time. The settling time differs according to the working condition, but generally is between 0.025 and 0.20 s. Dt ■ Load conditions Dp Workpiece Table Pallet jig Material 1. Steel 2. Aluminum Outline Dt (mm) μ ht Plate thickness ht (mm) Rf Weight m1 (kg) Workpiece Quantity nw (pcs) (Fig.1) Load conditions Max. weight mw (kg/pcs) Installation center Dp (mm) Pallet jig Quantity np (pcs) Max. weight mw (kg/pcs) ■ Others Mounting orientation (Fig.2) Installation direction: Horizontal (Fig.3) Installation direction: Vertical 1. Horizontal (Fig.2) 2. Vertical (Fig. 3) External work 1. No 2. Yes (Note) Eccentric load caused by gravity from vertical installation, external load caused by caulking work. Dial plate support form bottom 1. No 2. Yes Coefficient of friction μ Work radius Rf (mm) (Fig.4) Installation rigidity: Low Device rigidity 1. High 2. Low (Note) (Note) When using a spline, when unit cannot be fixed directly onto the device (Fig. 4), when there is a mechanism such as a chuck on the table. Extension with table shaft 1. No 2. Yes (Fig. 5) Actuator movement 1. No 2. Yes (Note) When actuator is mounted on X-Y table or vertical mechanism, etc., and mounted actuator moves. (Fig. 5) Extension with shaft (Note) If 2 is selected for any item, contact CKD. (Note) Attach system outline and reference drawings so that the optimal model can be selected. 50 Related products $EVRGH[&RPSDFWW\SH$;0VHULHV Catalog No.CC-1148A ■ Space saving With the smallest dimensions in the industry and the concentric FLUFOHVKDSH WKHURWDWLRQD[LVDQGWKH¿[HGD[LVDUHWKHVDPH \RX can design space-saving compact equipment. ■ Flexible The extensive programing features enable your desired operations. Simple operation settings are also supported including automatic FUHDWLRQRISRLQWVSHFL¿FDWLRQSURJUDPV ■ Highly reliable and maintenance free 7KHGLUHFWGULYHPHWKRG QRJHDUV SURYLGHVVWDEOHRSHUDWLRQZLWKRXW accuracy degradation through damage or attrition of gears during overloaded operation. Electric driven actuator ERL2/ESD2 series ■ Free combination Catalog No.CC-1219A ● Common controller for all models ● Automatic recognition of actuator Less spare parts required ■ Controller ●SRLQWSRVLWLRQLQJQRZDYDLODEOH ● Most compact model in the industry ■ Optional selection tool ● Setting software "E Tools" for easy setting ● Easy operation with the teaching pendant The next button to be pressed is indicated by illumination. Easy even for novices Electric driven actuator motor-less type ■ Ball screw driven type ETS series ● Motor size: 8 types, Lead: 7 types, Motor mounting orientation: 5 types &DWDORJ1R&&$&&$&&$ ● Install your favorite motor ● 6HOHFWDEOHLQVWDOODWLRQVSHFL¿FDWLRQVRIWKHRULJLQVHQVRUDQGWKHOLPLWVHQVRU ●WRPP PPSLWFK VWURNHVDUHVHOHFWDEOH ● Wide range of use with a maximum load capacity of 150 kg and a maximum speed of 2000 mm/s ■ Ball screw driven type Low dust generation ECS series ● Based on the ETS series, this model realizes low dust generation with the fully covered structure and suction ports. ● Motor size: 7 types, Lead: 7 types, Motor mounting orientation: 5 types ● Install your favorite motor ● 6HOHFWDEOHLQVWDOODWLRQVSHFL¿FDWLRQVRIWKHRULJLQVHQVRUDQGWKHOLPLWVHQVRU ●WRPP PPSLWFK VWURNHVDUHVHOHFWDEOH ● Wide range of use with a maximum load capacity of 150 kg and a maximum speed of 2000 mm/s ■ Belt-driven type ETV series ● Belt-driven type based on the ETS series. ● $VWURNHRIWRPP PPSLWFK FDQEHVHOHFWHG/RQJVWURNHV and high speeds are realized with a maximum speed of 2000 mm/s. ● 0RWRUVL]H W\SHV0RWRUPRXQWLQJRULHQWDWLRQ W\SHV ● Install your favorite motor 51 (OHFWULFGULYHQDFWXDWRU.%=VHULHV Catalog No.CC-1102A ■ High tact Operation with a maximum speed of 800 mm/s ■ Use of servo motors Servo motors are used with compact shafts. Realization of high speed, high acceleration/deceleration and a high load capacity through a servo motor ■$EVROXWHVSHFL¿FDWLRQV $GRSWLQJDQDEVROXWHVSHFL¿FDWLRQZLWKQRRULJLQUHWXUQUHTXLUHG ■ Compact controller Thorough downsizing has been made. Electric driven actuator ESSD/ELCR series Catalog No.CC-1002A ■ Space saving With the built-in controller, the controller space and wiring are not necessary. ■ Install it like a pneumatic cylinder External shape, controls, and the usage are like a pneumatic cylinder. ■ Flexible control of operation Three control modes, speed and acceleration controls, and a SRVLWLRQLQJFRPSOHWLRQUDQJH LQSRVLWLRQ FDQEHVHW ■ Easy teaching +DQG\GLUHFWWHDFKLQJZLWK¿YHEXWWRQV (OHFWULFGULYHQDFWXDWRU.%%VHULHV Catalog No.CC-783A ■ High tact 0D[LPXPRIPPV WLPLQJEHOWGULYHQ ■ High precision 5HSHDWDELOLW\ PP EDOOVFUHZGULYHQ ■$EVROXWHVSHFL¿FDWLRQV $OOPRGHOVXVHORQJOLIHOLWKLXPEDWWHU\ OLIHVSDQ KRXUV DQG do not require origin returning. ■ High-performance processing with high-speed CPU The high-speed CPU provides high performance. ■ Abundant variations %DOOVFUHZ W\SHV7LPLQJEHOW W\SHV Motor mounting position: 4 directions are provided for each axis. 52 CKD（SHANGHAI） CORPORATION CKD KOREA CORPORATION CKD EUROPE BRANCH CKD UK OFFICE CKD USA CORPORATION TAIWAN CKD CORPORATION CKD VIETNAM ENGINEERING CO.,LTD CKD FRANKFURT M-CKD PRECISION SDN.BHD. OFFICE CKD GERMANY OFFICE PT CKD TRADING INDONESIA CKD CORPORATION CKD CZECH OFFICE INDIA LIAISON OFFICE CKD SINGAPORE PTE. LTD. (BANGALORE,DELHI) CKD CORPORATION BRANCH OFFICE CKD THAI CORPORATION LTD. ：Distributors Website http://www.ckd.co.jp/ □ 2-250 Ouji Komaki, Aichi 485-8551, Japan □ PHONE +81-(0)568-74-1338 FAX +81-(0)568-77-3461 U.S.A. Singapore China CKD USA CORPORATION CKD SINGAPORE PTE. LTD. 喜開理（上海）機器有限公司 ●CHICAGO HEADQUARTERS No.33 Tannery Lane #04-01 Hoesteel Industrial CKD(SHANGHAI)CORPORATION 4080 Winnetka Avenue, Rolling Meadows, IL 60008, USA Building, Singapore 347789, Singapore PHONE +65-67442623 FAX +65-67442486 ●営業部 / 上海浦西事務所（SALES HEADQUARTERS / SHANGHAI PUXI OFFICE） PHONE +1-847-368-0539 FAX +1-847-788-0575 Room 601 6th Floor, Yuanzhongkeyan Building, No. 1905 ・CINCINNATI OFFICE CKD CORPORATION BRANCH OFFICE Hongmei Road, Xinhui District, Shanghai 200233, China ・SAN ANTONIO OFFICE No.33 Tannery Lane #04-01 Hoesteel Industrial PHONE +86-(0)21-61911888 FAX +86-(0)21-60905356 ・SAN JOSE OFFICE Building, Singapore 347789, Singapore ・上海浦東事務所（SHANGHAI PUDONG OFFICE） ・DETROIT OFFICE PHONE +65-67447260 FAX +65-68421022 ・INDIA LIAISON OFFICE BANGALORE ・無錫事務所（WUXI OFFICE） Europe ・INDIA LIAISON OFFICE DELHI ・杭州事務所（HANGZHOU OFFICE） CKD CORPORATION EUROPE BRANCH ・寧波事務所（NINGBO OFFICE） De Fruittuinen 28 Hoofddorp, the Netherlands Indonesia ・南京事務所（NANJING OFFICE） PHONE +31-(0)23-5541490 FAX +31-(0)23-5541491 PT CKD TRADING INDONESIA ・蘇州事務所（SUZHOU OFFICE） ・CZECH OFFICE Wisma Keiai, 17th Floor, Jl. 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If the goods and their replicas, or the technology and software in this catalog are to be exported, laws require the exporter to make sure they will never be used for the development or the manufacture of weapons for mass destruction. Specifications are subject to change without notice. CKD Corporation 2015 All copy rights reserved. Ɣ 2015.08