DDA - iai-robot.co.th€¦ · reducing mechanism, such as a belt or speed reducer. · Compact, high-speed and responsive. · More affordable than the conventional DD series. Features

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DDADirect Drive Motor

wwwintelligentactuatorcom

The Direct Drive Motor DDA Series ismiddot The motor directly drives the rotary table without a speed

reducing mechanism such as a belt or speed reducermiddot Compact high-speed and responsivemiddot More affordable than the conventional DD series

Features

Without brake(StandardCleanroom

specification)

With brake(Standard)

LT18C Thin type (Rated torque 84Nmiddotm)

Hollow boreφ52mm

Hollow boreφ35mm

Hollow boreφ52mm

Hollow boreφ35mm

LH18C High torque type (Rated torque 25Nmiddotm)

5Standard type

Model number

Encoder resolution

Positioning repeatability

DDA-L18CP20-bit

1048576 pulsesrev

plusmn000103 deg(plusmn37s)

High resolution type

20-bitEncoder resolution

Indexingaccuracy

plusmn001249 deg(plusmn45s)

plusmn000833 deg(plusmn30s)

17-bit

DDA-L18CS17-bit

131072 pulsesrev

plusmn00055 deg(plusmn198s)

6 Corresponds to the indexing accuracyIt corresponds to the indexing accuracy when connected to SCON-CB and allows for more accurate positioning

4The high torque type has about three times more torque

MAX25kg

200mm 200mm

MAX90kg

200mm 200mm

MAX270kg

200mm 200mm

Shorter positioning time means shorter cycle time of your equipment resulting in greater productivity

DDA-LT18C type

DDA-LH18C type

Allowable inertia moment

017kgmiddotm2

RCS2-RTC12L (Deceleration ratio 130)

Allowable inertia moment

060kgmiddotm2

DDA-LT18C type

Allowable inertia moment

18kgmiddotm2

DDA-LH18C type

Max instantaneous torque 86N∙m Max instantaneous torque 252N∙m Max instantaneous torque 75N∙m

CleanlinessCleanliness CleanlinessCleanlinessClass ClassClass

10Class

25

Larg

e ho

llow

bor

e ty

pe

High speed high accelerationdeceleration

Brake-equipped specifications have been added to the flange-less high torquehollow type Cleanroom specifications are also available

Achieves a lower price

3

1

2The price has been reduced by about 33 as compared with the conventional DD series

RCS2-RTC12L

ltComparison of Cycle TimesgtOperating conditions When a work part weighing 100g is placed on an aluminum disc of 300mm in diameter and 6mm in thickness and rotated by 180deg

05sApprox

50Quicker

Approx

42Quicker

025s

014s

t6mm

φ300mm

About 33 less

DD-LT18C DDA-LT18C

(FedStd209D) (ISO14644-1)

High-resolution type is available

High torque high payload

High Speed High Payload High Accuracy and Easy to Control Introducing the Direct Drive Motor DDA Series Boasting Ultimate Usability

1

The Direct Drive Motor DDA Series ismiddot The motor directly drives the rotary table without a speed

reducing mechanism such as a belt or speed reducermiddot Compact high-speed and responsivemiddot More affordable than the conventional DD series

Features

Without brake(StandardCleanroom

specification)

With brake(Standard)

LT18C Thin type (Rated torque 84Nmiddotm)

Hollow boreφ52mm

Hollow boreφ35mm

Hollow boreφ52mm

Hollow boreφ35mm

LH18C High torque type (Rated torque 25Nmiddotm)

5Standard type

Model number

Encoder resolution

Positioning repeatability

DDA-L18CP20-bit

1048576 pulsesrev

plusmn000103 deg(plusmn37s)

High resolution type

20-bitEncoder resolution

Indexingaccuracy

plusmn001249 deg(plusmn45s)

plusmn000833 deg(plusmn30s)

17-bit

DDA-L18CS17-bit

131072 pulsesrev

plusmn00055 deg(plusmn198s)

6 Corresponds to the indexing accuracyIt corresponds to the indexing accuracy when connected to SCON-CB and allows for more accurate positioning

4The high torque type has about three times more torque

MAX25kg

200mm 200mm

MAX90kg

200mm 200mm

MAX270kg

200mm 200mm

Shorter positioning time means shorter cycle time of your equipment resulting in greater productivity

DDA-LT18C type

DDA-LH18C type

Allowable inertia moment

017kgmiddotm2

RCS2-RTC12L (Deceleration ratio 130)

Allowable inertia moment

060kgmiddotm2

DDA-LT18C type

Allowable inertia moment

18kgmiddotm2

DDA-LH18C type

Max instantaneous torque 86N∙m Max instantaneous torque 252N∙m Max instantaneous torque 75N∙m

CleanlinessCleanliness CleanlinessCleanlinessClass ClassClass

10Class

25

Larg

e ho

llow

bor

e ty

pe

High speed high accelerationdeceleration

Brake-equipped specifications have been added to the flange-less high torquehollow type Cleanroom specifications are also available

Achieves a lower price

3

1

2The price has been reduced by about 33 as compared with the conventional DD series

RCS2-RTC12L

ltComparison of Cycle TimesgtOperating conditions When a work part weighing 100g is placed on an aluminum disc of 300mm in diameter and 6mm in thickness and rotated by 180deg

05sApprox

50Quicker

Approx

42Quicker

025s

014s

t6mm

φ300mm

About 33 less

DD-LT18C DDA-LT18C

(FedStd209D) (ISO14644-1)

High-resolution type is available

High torque high payload

High Speed High Payload High Accuracy and Easy to Control Introducing the Direct Drive Motor DDA Series Boasting Ultimate Usability

2

DDA Motor Series List

Model Specification Items

Application Examples

Cable Length

Encoder Type

Operation Range

Series Motor Wattage

DDADDACR

Applicable Controllers

Options360 T2

Type

Type Encoder

Large bore slim

Large bore slim

Large bore high torqueLarge bore high torque

Standard (17-bit)

High resolution (20-bit)

Standard (17-bit)

High resolution (20-bit)

Index Table ltInspection device for small boardsgt

Transport of Workpieces ltTransporting parts from a conveyor to anothergt

Index TableltParts assembly devicegt

Multi-rotation OperationltTransporting electronic componentsgt

Type

Cleanroom specification only

Encoder

Modelnumber

Standard

Cleanroom spec

External view

Rated torque (N∙m)

Max instantaneous torque (N∙m)

Rated speed (degs)

Maximum speed (degs)

Motor wattage (W)

Size (φ)

Height(mm)

wo brakew brake

wo brake

w brake

wo brake

w brake

Hollow bore (φ)

Mass(kg)

Cleanliness

Encoder type

Applicable controller

Reference page

84

252

1080

1800

200φ180

70

115

φ52

φ35

58

87

Class 10 (FedStd209D)Class 25 or equivalent (ISO 14644-1 Standard)

Index absoluteMulti-rotation absolute

P5 P9

DDA-LT18CS

SCON-CBXSEL SCON-CB SCON-CB

XSEL SCON-CB

DDA-LT18CP DDA-LH18CS DDA-LH18CP

DDACR-LT18CS DDACR-LT18CP DDACR-LH18CS DDACR-LH18CP

Standard (17-bit)

High resolution(20-bit)

Standard (17-bit)

High resolution(20-bit)

Large bore slim type Large bore high torque type

DDA StandardDDACR Cleanroom specification

LT18CS

LT18CP

LH18CS

LH18CP

None

3m

5m

Specified length

N

S

M

X

Cable exits from the bottom

Cable exits from the side

Brake

Flange

A0

A1

B

FL

200

600

200W

600W

360 360 deg

NoteOnly SCON-CB can be selected for the high resolution encoder type (20-bit)

SCON

XSEL-PQ

XSEL-RS

T2AI

AM

Index absolute type

Multi-rotation absolute type

Assembling device

25

75

800

1440

600φ180

1228

1873

φ52

φ35

13

174

Class 10 (FedStd209D)Class 25 or equivalent (ISO 14644-1 Standard)

Index absoluteMulti-rotation absolute

3

DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

DDA Motor Series List

Model Specification Items

Application Examples

Cable Length

Encoder Type

Operation Range

Series Motor Wattage

DDADDACR

Applicable Controllers

Options360 T2

Type

Type Encoder

Large bore slim

Large bore slim

Large bore high torqueLarge bore high torque

Standard (17-bit)

High resolution (20-bit)

Standard (17-bit)

High resolution (20-bit)

Index Table ltInspection device for small boardsgt

Transport of Workpieces ltTransporting parts from a conveyor to anothergt

Index TableltParts assembly devicegt

Multi-rotation OperationltTransporting electronic componentsgt

Type

Cleanroom specification only

Encoder

Modelnumber

Standard

Cleanroom spec

External view

Rated torque (N∙m)

Max instantaneous torque (N∙m)

Rated speed (degs)

Maximum speed (degs)

Motor wattage (W)

Size (φ)

Height(mm)

wo brakew brake

wo brake

w brake

wo brake

w brake

Hollow bore (φ)

Mass(kg)

Cleanliness

Encoder type

Applicable controller

Reference page

84

252

1080

1800

200φ180

70

115

φ52

φ35

58

87

Class 10 (FedStd209D)Class 25 or equivalent (ISO 14644-1 Standard)

Index absoluteMulti-rotation absolute

P5 P9

DDA-LT18CS

SCON-CBXSEL SCON-CB SCON-CB

XSEL SCON-CB

DDA-LT18CP DDA-LH18CS DDA-LH18CP

DDACR-LT18CS DDACR-LT18CP DDACR-LH18CS DDACR-LH18CP

Standard (17-bit)

High resolution(20-bit)

Standard (17-bit)

High resolution(20-bit)

Large bore slim type Large bore high torque type

DDA StandardDDACR Cleanroom specification

LT18CS

LT18CP

LH18CS

LH18CP

None

3m

5m

Specified length

N

S

M

X

Cable exits from the bottom

Cable exits from the side

Brake

Flange

A0

A1

B

FL

200

600

200W

600W

360 360 deg

NoteOnly SCON-CB can be selected for the high resolution encoder type (20-bit)

SCON

XSEL-PQ

XSEL-RS

T2AI

AM

Index absolute type

Multi-rotation absolute type

Assembling device

25

75

800

1440

600φ180

1228

1873

φ52

φ35

13

174

Class 10 (FedStd209D)Class 25 or equivalent (ISO 14644-1 Standard)

Index absoluteMulti-rotation absolute

4

DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

DDA-LT18C

Controller is not included

P

O I N T

SelectionNotes

(Note 1) The value in ( ) indicates the maximum speed The maximum speed may not be reached if the moving distance is short

(Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in five years based on this load

(Note 3) The maximum cable length is 30m Specify a desired length in meters (Example X08 = 8m)

(Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control

(Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type

Legend Cable length Option

ModelSpecifications

(1) SCON and XSEL have different minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information

② Options

① Cable Length

Cable type Cable code

StandardS (3m)M (5m)

Specified length X06 (6m) ~X10 (10m)X11 (11m) ~X30 (30m)

Name Option code

Cable exits from the bottom A0

Cable exits from the side A1

Flange FL

Please refer to P18 for more information regarding the maintenance cables

1 Indexing accuracy is supported when connected to SCON-CB

DDACR-LT18C Clean Room Type

Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198s) 20-bit plusmn000103deg (plusmn37s)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45s) 20-bit plusmn000833deg (plusmn30s)Allowable load moment (Note 2) 80Nmiddotm

Encoder resolution 17-bit 131072 pulsesrev20-bit 1048576 pulsesrev

Allowable thrust load (Note 2) Forward 3100N Reverse 250NBase material AluminumAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)

Cleanroom specification

Cleanliness Class 10 (FedStd209D) class 25 or equivalent (ISO 14644-1 Standard)Suction amount 35Nℓmin

Weight 58kg

Common Specifications

Encoder type Model number Motor

wattage (W)

Operation range (deg) (1)

Speed (degs) (Note 1)

Rated torque (Nmiddotm) (2)

Maximum instantaneous torque (Nmiddotm)

Allowable inertia

moment (kgmiddotm2)

Rotor inertia (kgmiddotm2)

17-bit index absolute type DDA (CR)-LT18CS-AI-200-360-T2-① -②

200

0~359999 deg

1~1080 (1~1800) 84 252 06 00043

17-bit multi-rotation absolute type DDA (CR)-LT18CS-AM-200-360-T2-① -② plusmn9999 deg max

20-bit index absolute type DDA (CR)-LT18CP-AI-200-360-T2-① -② 0~359999 deg

20-bit multi-rotation absolute type DDA (CR)-LT18CP-AM-200-360-T2-① -② plusmn2520 deg max

(Note) A0 (cable exits from the bottom) option and FL (flange) option cannot be selected together

Thrust (axial) run-out (No load) 30μm

Radial run-out (No load) 30μm

Run-out of Output Shaft

Slim Type

Large Bore Type

Flange- Less Type

Please refer to P16 for more information on the installation method

Horizontal

Side

Vert

ical

Ceiling

n Model Specification Items

DDADDACR LT18C 200 360 T2

Series Type Encoder Type

Motor Type

Operation Range

Applicable Controllers

Cable Length Options

DDA StandardDDACR Cleanroom

specification

S Standard (17-bit)

P High resolution (20-bit)

AI Index absolute type

AM Multi-rotation absolute type

200 200W 360 360 deg T2 SCON XSEL-PQ XSEL-RS

Note Only SCON for LT18CP

N None S 3m M 5m Xpoundpound Specified

length

Please refer to the options table below Please make sure to

specify either A0 or A1 for the cable exit direction

5

DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

Motor connector

Encoder connector

32 or

less

11 500plusmn30

24

77

615

45

φ6 Compatible tube diameter

Air JointCR specication only

R100 or less

2-φ4 H7 depth 3For workpiece positioning

6-M5 effective depth 8For workpiece mounting

PCD102 plusmn01

φ 52

Hollo

w b

ore

28

φ 83

24

Air JointCR specification only

Motor connector

Encoder connector

Rotating part of the work mounting surface

φ180

φ110h7 -00350

70plusmn0

3

4

φ178h8 -00630

500plusmn30

(φ21

)

32 or less

138

158

φ116

35

003 A 003 A

A

75plusmn0

1

8-M6 effective depth 13PCD148 plusmn01

75plusmn0

1

225degφ5 H7 depth 5For body positioning

Body mounting surfaceBody positioning oblong hole

2

R25

5+00120 depth 5

Detail view of SS

CAD drawings can be downloaded from our websitewwwintelligentactuatorcom

2DCAD2DCAD

3DCAD3D

CAD

Dimensions

Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use

LT18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers

Name External view

Max number of controlled axes Power supply voltage Control method Maximum number of

positioning pointsReference

pagePositioner Pulse-train Program Network Option

SCON-CBCGB 1Single-phase

200VAC -

Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information

512 (768 for network spec)

P14

SCON-LCLCG 1Single-phase

200VAC- -

512 (768 for network spec)

P14

XSEL-PQRS 8Single-phase 200VACThree-phase 200VAC

- - 53332

(Depending on the type)P15

(Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side

6

DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

② Options

P

O I N T

SelectionNotes

(Note 1) The value in ( ) indicates the maximum speed The maximum speed may not be reached if the moving distance is short

(Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in five years based on this load

(Note 3) The maximum cable length is 20m Specify a desired length in meters (Example X08 = 8m)

(Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control

(Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type

(Note 6) The brake is used for retention purposes only so damage may be caused if it is actually used in attempts to slow or stop the actuator

ModelSpecifications

Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198s) 20-bit plusmn000103deg (plusmn37s)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45s) 20-bit plusmn000833deg (plusmn30s)Allowable load moment (Note 2) 80Nmiddotm

Encoder resolution 17-bit 131072 pulsesrev 20-bit 1048576 pulsesrev

Allowable thrust load (Note 2) Forward 3100N Reverse 250NBrake retaining torque 25NmiddotmBase material AluminumAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)Weight 87kg

Common Specifications

Thrust (axial) run-out (No load) 30μm

Radial run-out (No load) 30μm

Run-out of Output Shaft

① Cable Length

Cable type Cable code

StandardS (3m)M (5m)

Specified length X06 (6m) ~X10 (10m)X11 (11m) ~X20 (20m)

Please refer to P18 for more information regarding the maintenance cables

1 Indexing accuracy is supported when connected to SCON-CB

Encoder type Model number Motor

wattage (W)

Operation range (deg) (1)

Speed (degs) (Note 1)

Rated torque (Nmiddotm) (2)

Maximum instantaneous torque (Nmiddotm)

Allowable inertia

moment (kgmiddotm2)

Rotor inertia (kgmiddotm2)

17-bit index absolute type DDA-LT18CS-AI-200-360-T2-① -② -B

200

0~359999 deg

1~1080 (1~1800) 84 252 06 00043

17-bit multi-rotation absolute type DDA-LT18CS-AM-200-360-T2-① -② -B plusmn9999 deg max

20-bit index absolute type DDA-LT18CP-AI-200-360-T2-① -② -B 0~359999 deg

20-bit multi-rotation absolute type DDA-LT18CP-AM-200-360-T2-① -② -B plusmn2520 deg max

Name Option code

Cable exits from the bottom A0

Cable exits from the side A1

Brake (With brake box) 1 B

1 A brake cable is not supplied if N (None) is selected as the cable length Please order a brake cable as a separate item in that case

Controller is not included

DDA-LT18C-B Slim Type

Large Bore Type

Flange- Less Type

n Model Specification Items

DDA LT18C 200 360 T2 BSeries Type Encoder

TypeMotor Type

Operation Range

Applicable Controllers

Cable Length Options Option

S Standard (17-bit)

P High resolution (20-bit)

AI Index absolute type

AM Multi-rotation absolute type

200 200W 360 360 deg T2 SCON XSEL-PQ XSEL-RS

Note Only SCON for LT18CP

N None S 3m M 5m Xpoundpound Specified

length

Please refer to the options table below Please make sure to

specify either A0 or A1 for the cable exit direction

B Brake

(1) SCON and XSEL have different minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information

Legend Cable length Option

Please refer to P16 for more information on the installation method

Horizontal

Side

Vert

ical

Ceiling

7

DDA Direct Drive Motor

Dimensions

Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use

LT18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers

Name External view

Max number of controlled axes Power supply voltage Control method Maximum number of

positioning pointsReference

pagePositioner Pulse-train Program Network Option

SCON-CBCGB 1Single-phase

200VAC -

Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information

512 (768 for network spec)

P14

SCON-LCLCG 1Single-phase

200VAC- -

512 (768 for network spec)

P14

XSEL-PQRS 8Single-phase 200VACThree-phase 200VAC

- - 53332

(Depending on the type)P15

(Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side

Motor connector

Encoder connector

32 o

r les

s

500+500

φ1235

45 o

r les

s

500plusmn30

Brake connector

φ 35

Hol

low

bor

e

24

77

Motor connector

Encoder connector

45 o

r les

s

φ1235500+50

0

Brake connector

φ 35

Hol

low

bor

e

R100 or less

2-φ4 H7 depth 3For workpiece positioning

6-M5 effective depth 8For workpiece mounting

PCD102 plusmn01

φ 52

Hol

low

bor

e

φ 83

Rotating part of the work mounting surface

φ180

φ110h7 -00350

70plusmn0

3

4

φ178h8 -00630

500plusmn30

φ 21

32 or less

138

158

φ116

35

003 A 003 A

A

75plusmn0

1

8-M6 effective depth 13PCD148 plusmn01

75plusmn0

1

225degφ5 H7 depth 5For body positioning

Body mounting surfaceBody positioning oblong hole

S

2

R25

5+00120 depth 5

Detail view of S

24

CAD drawings can be downloaded from our websitewwwintelligentactuatorcom

2DCAD2DCAD

3DCAD3D

CAD

8

DDA Direct Drive Motor

P

O I N T

SelectionNotes

(Note 1) The value in ( ) indicates the maximum speed The maximum speed may not be reached if the moving distance is short

(Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in five years based on this load

(Note 3) The maximum cable length is 30m Specify a desired length in meters (Example X08 = 8m)

(Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control

(Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type

ModelSpecifications

① Cable Length

Cable type Cable code

StandardS (3m)M (5m)

Specified length X06 (6m) ~X10 (10m)X11 (11m) ~X30 (30m)

Please refer to P18 for more information regarding the maintenance cables

1 Indexing accuracy is supported when connected to SCON-CB

Thrust (axial) run-out (No load) 30μm

Radial run-out (No load) 30μm

Run-out of Output Shaft

Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198s) 20-bit plusmn000103deg (plusmn37s)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45s) 20-bit plusmn000833deg (plusmn30s)Allowable load moment (Note 2) 80Nmiddotm

Encoder resolution 17-bit 131072 pulsesrev20-bit 1048576 pulsesrev

Allowable thrust load (Note 2) Forward 3100N Reverse 250NBase material AluminumAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)

Cleanroom specification

Cleanliness Class 10 (FedStd209D) class 25 or equivalent (ISO 14644-1 Standard)Suction amount 35Nℓmin

Weight 13kg

Common Specifications

Encoder type Model number Motor

wattage (W)

Operation range (deg) (1)

Speed (degs) (Note 1)

Rated torque (Nmiddotm) (2)

Maximum instantaneous torque (Nmiddotm)

Allowable inertia

moment (kgmiddotm2)

Rotor inertia (kgmiddotm2)

17-bit index absolute type DDA (CR)-LH18CS-AI-600-360-T2-① -②

600

0~359999 deg

1~800 (1~1440) 25 75 18 00092

17-bit multi-rotation absolute type DDA (CR)-LH18CS-AM-600-360-T2-① -② plusmn9999 deg max

20-bit index absolute type DDA (CR)-LH18CP-AI-600-360-T2-① -② 0~359999 deg

20-bit multi-rotation absolute type DDA (CR)-LH18CP-AM-600-360-T2-① -② plusmn2520 deg max

② Options

Name Option code

Cable exits from the bottom A0

Cable exits from the side A1

Flange FL

(Note) A0 (cable exits from the bottom) option and FL (flange) option cannot be selected together

DDA-LH18C

Controller is not included

DDACR-LH18C Clean Room Type

High Torque

Type

Large Bore Type

Flange- Less Type

n Model Specification Items

DDADDACR LH18C 600 360 T2

Series Type Encoder Type

Motor Type

Operation Range

Applicable Controllers

Cable Length Options

DDA StandardDDACR Cleanroom

specification

S Standard (17-bit)

P High resolution (20-bit)

AI Index absolute type

AM Multi-rotation absolute type

600 600W 360 360 deg T2 SCON XSEL-PQ XSEL-RS

Note Only SCON for LH18CP

N None S 3m M 5m Xpoundpound Specified

length

Please refer to the options table below Please make sure to

specify either A0 or A1 for the cable exit direction

(1) SCON and XSEL have different minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information

Legend Cable length Option

Please refer to P16 for more information on the installation method

Horizontal

Side

Vert

ical

Ceiling

9

DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

Dimensions

Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use

LH18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers

Name External view

Max number of controlled axes Power supply voltage Control method Maximum number of

positioning pointsReference

pagePositioner Pulse-train Program Network Option

SCON-CBCGB 1Single-phase

200VAC -

Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information

512 (768 for network spec)

P14

SCON-LCLCG 1Single-phase

200VAC- -

512 (768 for network spec)

P14

XSEL-PQRS 8Single-phase 200VACThree-phase 200VAC

- - 53332

(Depending on the type)P15

(Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side

Encoder connector

Motor connector

45

615

24

77

φ6 Compatible tube diameter

Air JointCR specication only

32 o

r les

s11

500plusmn30

R100 or less

2-φ4 H7 depth 3For workpiece positioning

6-M6 effective depth 12For workpiece mounting

PCD102plusmn01

φ 52

Hol

low

bor

e

φ 83

2428

Rotating part of the work mounting surface Encoder connector

Motor connector

Air JointCR specification only

75plusmn0

1

8-M8 effective depth 16PCD148 plusmn01

75plusmn0

1

φ5 H7 depth 5For body positioning 225deg

Body mounting surfaceBody positioning oblong hole

φ110h7 -00350

φ116φ180

φ178h8 -00630

412

28

plusmn03

32 or less

φ 21

500plusmn30

35

138

158

003 A

003 A

A

5 +00120 depth 5

2

R25

Detail view of S

S

CAD drawings can be downloaded from our websitewwwintelligentactuatorcom

2DCAD2DCAD

3DCAD3D

CAD

10

DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

1 A brake cable is not supplied if N (None) is selected as the cable length Please order a brake cable as a separate item in that case

② Options

ModelSpecifications

Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198s) 20-bit plusmn000103deg (plusmn37s)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45s) 20-bit plusmn000833deg (plusmn30s)Allowable load moment (Note 2) 80Nmiddotm

Encoder resolution 17-bit 131072 pulsesrev20-bit 1048576 pulsesrev

Allowable thrust load (Note 2) Forward 3100N Reverse 250NBase material AluminumBrake retaining torque 50NmiddotmAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)Weight 174kg

Common Specifications

Thrust (axial) run-out (No load) 30μm

Radial run-out (No load) 30μm

Run-out of Output Shaft

Encoder type Model number Motor

wattage (W)

Operation range (deg) (1)

Speed (degs) (Note 1)

Rated torque (Nmiddotm) (2)

Maximum instantaneous torque (Nmiddotm)

Allowable inertia

moment (kgmiddotm2)

Rotor inertia (kgmiddotm2)

17-bit index absolute type DDA-LH18CS-AI-600-360-T2-① -② -B

600

0~359999 deg

1~800 (1~1440) 25 75 18 00092

17-bit multi-rotation absolute type DDA-LH18CS-AM-600-360-T2-① -② -B plusmn9999 deg max

20-bit index absolute type DDA-LH18CP-AI-600-360-T2-① -② -B 0~359999 deg

20-bit multi-rotation absolute type DDA-LH18CP-AM-600-360-T2-① -② -B plusmn2520 deg max

Name Option code

Cable exits from the bottom A0

Cable exits from the side A1

Brake (With brake box) 1 B

① Cable Length

Cable type Cable code

StandardS (3m)M (5m)

Specified length X06 (6m) ~X10 (10m)X11 (11m) ~X20 (20m)

Please refer to P18 for more information regarding the maintenance cables

1 Indexing accuracy is supported when connected to SCON-CB

Controller is not included

DDA-LH18C-B High Torque

Type

Large Bore Type

(1) SCON and XSEL have different minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information

Flange- Less Type

P

O I N T

SelectionNotes

(Note 1) The value in ( ) indicates the maximum speed The maximum speed may not be reached if the moving distance is short

(Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in five years based on this load

(Note 3) The maximum cable length is 20m Specify a desired length in meters (Example X08 = 8m)

(Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control

(Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type

(Note 6) The brake is used for retention purposes only so damage may be caused if it is actually used in attempts to slow or stop the actuator

Legend Cable length Option

Please refer to P16 for more information on the installation method

Horizontal

Side

Vert

ical

Ceiling

n Model Specification Items

DDA LH18C 600 360 T2 BSeries Type Encoder

TypeMotor Type

Operation Range

Applicable Controllers

Cable Length Options Option

S Standard (17-bit)

P High resolution (20-bit)

AI Index absolute type

AM Multi-rotation absolute type

600 600W 360 360 deg T2 SCON XSEL-PQ XSEL-RS

Note Only SCON for LH18CP

N None S 3m M 5m Xpoundpound Specified

length

Please refer to the options table below Please make sure to

specify either A0 or A1 for the cable exit direction

B Brake

11

DDA Direct Drive Motor

Dimensions

Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use

LH18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers

Name External view

Max number of controlled axes Power supply voltage Control method Maximum number of

positioning pointsReference

pagePositioner Pulse-train Program Network Option

SCON-CBCGB 1Single-phase

200VAC -

Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information

512 (768 for network spec)

P14

SCON-LCLCG 1Single-phase

200VAC- -

512 (768 for network spec)

P14

XSEL-PQRS 8Single-phase 200VACThree-phase 200VAC

- - 53332

(Depending on the type)P15

(Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side

Encoder connector

Motor connector

φ 35

Hol

low

bor

e

32 o

r les

s

φ1235

645

or l

ess

500+500

500plusmn30

Brake connector

24

77

Encoder connector

Motor connector

φ 35

Hol

low

bor

e64

5 o

r les

s

φ1235500+50

0

Brake connector

R100 or less

2-φ4 H7 depth 3For workpiece positioning

6-M6 effective depth 12For workpiece mounting

PCD102 plusmn01

φ 52

Hol

low

bor

e

φ 83

Rotating part of the work mounting surface

φ110h7 -00035

φ116φ180

φ178h8 -00063

412

28

plusmn03

32 or less

φ 21

500plusmn30

35

138

158

003 A

003 A

A

75plusmn0

1

8-M8 effective depth 16PCD148 plusmn01

75plusmn0

1

φ5 H7 depth 5For body positioning 225deg

Body mounting surfaceBody positioning oblong hole

S 5 +00120 depth 5

2

R25

Detail view of S24

CAD drawings can be downloaded from our websitewwwintelligentactuatorcom

2DCAD2DCAD

3DCAD3D

CAD

12

DDA Direct Drive Motor

OptionsIt is a retention mechanism for holding the stop position when the power or servo is OFF to prevent the workpieces and attachments from being damaged when used in side or vertical positions Be sure to connect a brake box for models with brake

A bracket that attaches to the body with bolts from the top side

Brake

Flange

Option Code B

Option Code FL

cent Brake Box

cent Wiring Diagram When Brake Box is Used

DDA-LT18CModel Number DDA-FL-LT18

Model Number IA-110-DD-4

DDA-LH18CModel Number DDA-FL-LH18

PCD200

PCD200

plusmn0075plusmn0075

55deg

55deg

180

180

180180

160

160

plusmn01

plusmn01

160160 plusmn01plusmn01

4-φ 1

14-φ 1

1thr

ough

thro

ugh

2- φ62- φ6

H7 through

H7 through

135

135

815

815

plusmn04

plusmn04

φ1245φ1245

55deg

55deg

PCD

PCD200plusmn0075200plusmn0075

180

180

180180160160 plusmn01plusmn01

160

160

plusmn01

plusmn01

2- φ62- φ6

H7 throughH7 through

4-φ1

14-φ1

1thr

ough

thro

ugh

155

15513

63

136

3plusmn0

4plusmn0

4

φ1245φ1245

PG OUTPWRON

BKOUT

+ - C E

BKRMT

RLSBKOUT

PG IN

PWRPE N L

MODEL IA-110-DD-4SN INPUT Single phase 100-240V

MADE IN JAPAN

5060Hz 10A maxOUTPUT 12VDC 06A

PG OUTPWRON

BKOUT

+ - C E

BKRMT

RLSBKOUT

PG IN

PWRPE N L

MODEL IA-110-DD-4SN INPUT Single phase 100-240V

MADE IN JAPAN

5060Hz 10A maxOUTPUT 12VDC 06A

ControllerSCON-CBXSEL-PQRSDDA

Motor cableModel CB-X(XMC)-MApoundpoundpound

Brake box

Encoder cableModel CB-X3-PA010(Comes with the brake box)

Encoder cableModel CB-X3-PApoundpoundpound

Brake cableModel CB-DDB-BKpoundpoundpound Main power supply

100VAC~240VAC

13

DDA (CR) Direct Drive Motor

Position Controller

Controller Model

System Configuration

Positioner Single-axis Type ltSCONgt Model

Power Supply Voltage

IO TypeEncoder Type Motor Type Type Series SCON

IO Cable Length

AIAM

2

The 200W motor used by the DDA is larger than a normal 200W motor so the motor type for the controller will be 200S and its size will be larger than the 400W motor

For 200W motorFor 600W motor

200S600

High-function typeSafety category compliant type

CBCGB

PLC equipped typeSafety category PLC equipped type

LCLCG

Motor cableModel CB-X-MA (LT18C) CB-XMC-MA (LH18C)

SCON PC

DDA

PLC(To be supplied by the customer)

IO flat cableModel CB-PAC-PIO020Standard 2m

Be sure to use a noise filter on the power supply

( )Encoder cableModel CB-X3-PA

PC compatible softwareRS232 connection versionModel RCM-101-MWUSB connection versionModel RCM-101-USB(Please contact IAI for more details)

Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)

Regenerative resistor unitModel RESU-2RESUD-2(Please contact IAI for more details)

1 The wiring diagram is different for models with brakes Please refer to P13 for more information

1

Single-phase 200VAC Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models

Main powersupply

Field network

Option

Supplied with the actuator

Supplied with the controller

Supplied with the actuator Option

Option

Option

When the SCON Controller is Connected

When a field network specification is selectedthe IO cable length will be 0

Index absolute typeMulti-rotation abs type

NPPN

PIO NPN (Standard)

PIO PNP

DVCN

DeviceNet

CompoNet

CC CC-Link

ML MECHATROLINK-I II

ML3PR

MECHATROLINK-III

PROFIBUS-DP

02

35

No cable2m (Standard)

3m5m

EC EtherCAT

EP EtherNetIP

PRT PROFINET IO

For recommended modelsplease contact IAI

Model

External view

IO type

IO type code

MECHATROLINK-III

connectionCompoNet connection

PROFIBUS-DP connection

CC-Linkconnection

DeviceNetconnection

PIO connection specification (1)

NPPN DV CC PR

Standard Field network type (1)

CN ML

SCON-CB

EtherNetIP connection

PROFINET IO connection

EtherCATconnection

EC EP PRT

List of Models

MECHATROLINK- III

connection

ML3

Applicable encoder type(Note) The index absolute type cannot be used in the pulse-train control and MECHATROLINK-III control(1) Please note that the network specifications cannot be operated on the PIO or pulse-train The PLC type (LCLCG) cannot be connected on the pulse-train

Index absoluteMulti-rotation absoluteIndex absolute Multi-rotation absolute

CBCGB CBCGB LCLCG

14

SCON Controller

Program Controller

List of Models

Model P Q R S

Type Large-capacity type Large-capacity type (Safety category specification) High-function type High-function type

(Safety category specification)

External view

DescriptionLarge-capacity type

that can control up to 6 axes 2400W

Large-capacity type thats compatible with the

safety category 4

High-function type that allows up to 8-axis operation

Safety category 4 compatible high-function type

Controller Model

System Configuration

Program Multi-axis Type ltXSELgt Model

Encoder Type

Encoder Type

Motor Type

Motor Type

Number ofConnected

AxesType Series Option Option

XSEL

200 For 200W motor

600 For 600W motor

B BrakePQRS

6-axis type6-axis safety category type8-axis type8-axis safety category type

8

1

~ ~

1 axis

8 axes

(PQ type is up to 6 axes)

(Details of the 1st axis) (Details of the 2nd~8th axis)

It can simultaneously operate actuators (single-axis robot and ROBO Cylinder) other than the DDA motor on a single controller For connectable actuators other than the DDA motor please contact IAI

For subsequent models please contact IAI

Notes

AIAM

Index absolute typeMulti-rotation absolute type

When the XSEL Controller is Connected

Be sure to use a noise filter on the power supply

Motor cableModel CB-X-MA (LT18C) CB-XMC-MA (LH18C)

XSELPC

PLC(To be supplied by the customer)

PC compatible softwareRS232 connection versionModel IA-101-X-MWUSB connection versionModel IA-101-X-USBMW(Please contact IAI for more details)

Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)

Single-phase 200VACThree-phase 200VAC

Regenerative resistor unitModel RESU-1RESUD-1(Please contact IAI for more details)

Option Option

Option

Field networkOption

IO flat cableModel CB-X-PIO020Standard 2m

Supplied with the controller

Encoder cableModel CB-X3-PA

Supplied with the actuator

Supplied with the actuator

Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models

The wiring diagram is different for models with brakes Please refer to P13 for more information

DDA

Main powersupply ( )For recommended models

please contact IAI

15

XSEL Controller

Precautions

Installation

Installation Orientation

Mountingsurface

For models with brake and cable exit direction to the bottom a clearance hole is required

Ceiling mount

Horizontal mount

Vertical mount

Gra

vity

Operation TypeThis product is available in 2 operation types depending on the operation conditions Please check the features and precautions on each type before use

(1)The high resolution specification can be connected only to the SCON-CB(2)When the XSEL index type travels more than 180deg from the current position it rotates in a direction that requires a shorter travel distance to

reach the target position Therefore please note that the direction of rotation changes according to the current position and travel distance If you want to specify the direction of travel use the SCON-CB

(3)The index type can be rotated in a given direction infinitely but it actually cannot continue to rotate in the same direction without stopping like a regular motor does because the maximum travel distance per command from the XSEL controller is 180deg If you want to allow the motor to rotate continuously use the SCON-CB

(4)Home return is required for the multi-rotation absolute encoder during the initial setting and replacement of the absolute battery

Absolute batteryHome return operationLimitless rotation

Maximum amount of movement in a single movement command

Operation rangeController typeOperation type

Not requiredNot required

Yes (3)

0~359999deg

Index absolute type

RequiredNot required (4)

No

Above operation rangeplusmn9999deg (plusmn2520deg) max

Multi-rotation absolute typeSCON-CB XSEL(1)

( ) is for 20-bit

(Note) Use this product by installing it on a mounting surface having heat dissipating characteristics equivalent to those of an aluminum plate of w450mm times d450mm times t12mm in size If the installation conditions necessitate lower heat dissipating characteristics please consult IAI

ControllersFor the DDA with 200W motor the outside dimensions of the SCON-CB controller will be the same as the size of the

400W motor (Please contact IAI for the details of the SCON-CB controller)One and two regenerative resistor unit(s) are required for LT18C and LH18C respectively to operate a DDA

motor with the SCON-CBWhen operating DDA motor(s) with the XSEL controller regenerative resistor units are required as shown below

The number of DDA motor(s) connectable to the XSEL controller is a max of 8 units for the LT18C type and a max of 2 units for the LH18C type

Please note that when the DDA motor is operated with the SCON-CB the motor cannot be connected to the ROBO Cylinder gateway function of the XSEL controller

Calculation for the power supply value LT18C type single-phase 600W three-phase 200W LH18C type single-phase 1200W three-phase 600W

Number of regenerative resistor units

1 2 3 4 5 6 7 81 2 3

(Cannot be connected)4

2 4LT18CLH18C

Number of DD motor(s)

360deg

SCON-CB XSEL(1)

180deg(2)

16

DDA (CR) Direct Drive Motor

Conditions for Selection

The followings should be checked to determine whether the DDA motor can be used to suit the specific conditions required by the customer

The customer should confirm that the following three points under actual use do not exceed their maximum allowable levels as specified for the DDA motor

The total load of device(s) mounted on the actuator

The total load moment of device(s) mounted on the actuator

The load inertia of device(s) mounted on the actuator

Check Load Conditions1

[1] Thrust load

[2] Load moment applied

[3] Load inertia

J = 18 times M times D 2 [kgm2]

Mass M [kg]

D [m]

Center of rotation

J = 112 times M times (a 2 + b 2) [kgm2]

a [m]

b [m]

Center of rotation

Mass M [kg]

J = M times R 2+ 18 times M times D 2 [kgm2]

Mass M [kg]

D [m]

R [m]

Cent

er o

fro

tatio

n

J = M times R 2+112 times M times (a 2 + b 2 )[kgm2]

a [m]

b [m]R [m]

Cent

er o

fro

tatio

n

Mass M [kg]

The travel time changes according to the load inertia See the tables below to check the travel time data

Travel Time Guide3

The data in the tables are for a reference only and do not guarantee the actual travel times

(Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

0

0005

009

012

017

022

0005

001

010

012

017

022

001

002

011

014

019

024

002

003

012

016

021

026

003

004

013

017

023

027

004

005

014

018

024

029

005

006

015

020

027

032

006

007

017

022

029

035

007

008

019

024

032

038

008

009

021

026

035

041

009

01

023

029

037

044

01

02

039

048

060

069

02

03

062

073

089

100

03

04

070

083

101

114

04

05

087

102

122

136

05

06

111

123

142

168

LH18C

LT18C

Continuous Operation Area

LT18C type LH18C type

(Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

0

0005

0098

0129

0192

0254

0005

001

0096

0128

019

0252

001

0015

0096

0127

019

0252

002

002

0097

0128

0191

0253

002

003

0099

0131

0193

0256

003

004

0104

0136

0199

0262

004

006

0113

0144

0207

027

006

008

012

0153

0215

0278

008

01

0126

0163

0225

0288

010

015

014

0184

0249

0312

015

02

0157

0208

0279

0341

02

03

0207

0268

0354

042

03

04

0257

0329

0428

0504

04

06

0352

044

0562

0655

06

08

0447

0549

0692

08

08

1

053

0646

0806

0925

10

12

0629

0758

0933

1064

12

14

0795

0941

1133

1274

14

18

0875

1035

1257

1415

Check Operating Conditions2Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DDA motor specifications to determine whether the DDA motor can be used under the applicable operating conditions Please contact IAI for assistance To

rque

(Nm

)

Curr

ent [

Arm

s]

Angular velocity [degs]

AccelerationDeceleration AreaAccelerationDeceleration Area

Torq

ue (N

m)

Curr

ent [

Arm

s]

Angular velocity [degs]

AccelerationDeceleration AreaAccelerationDeceleration Area

Rating areaRating area

270deg travel time [sec]180deg travel time [sec]

90deg travel time [sec]45deg travel time [sec]

Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

270deg travel time [sec]180deg travel time [sec]

90deg travel time [sec]45deg travel time [sec]

Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

Selecting the DD Motor

17

DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

(44) (167)

(80

)

31

(84)(293)

(92

)

31

(φ5

4)

J11SF-03V-KX J11SFM-03V-KXNoNo SignalSignal ColorColor WiringWiring

AWG20(crimped)

Red

Black

White

Red

Black

White

+

-

FG

+

-

FG

321

321

AWG20(crimped)

Controller side Actuator side(Front view)(Front view)

L

Conditions for Selection

The followings should be checked to determine whether the DDA motor can be used to suit the specific conditions required by the customer

The customer should confirm that the following three points under actual use do not exceed their maximum allowable levels as specified for the DDA motor

The total load of device(s) mounted on the actuator

The total load moment of device(s) mounted on the actuator

The load inertia of device(s) mounted on the actuator

Check Load Conditions1

[1] Thrust load

[2] Load moment applied

[3] Load inertia

J = 18 times M times D 2 [kgm2]

Mass M [kg]

D [m]

Center of rotation

J = 112 times M times (a 2 + b 2) [kgm2]

a [m]

b [m]

Center of rotation

Mass M [kg]

J = M times R 2+ 18 times M times D 2 [kgm2]

Mass M [kg]

D [m]

R [m]

Cent

er o

fro

tatio

n

J = M times R 2+112 times M times (a 2 + b 2 )[kgm2]

a [m]

b [m]R [m]

Cent

er o

fro

tatio

n

Mass M [kg]

The travel time changes according to the load inertia See the tables below to check the travel time data

Travel Time Guide3

The data in the tables are for a reference only and do not guarantee the actual travel times

(Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

0

0005

009

012

017

022

0005

001

010

012

017

022

001

002

011

014

019

024

002

003

012

016

021

026

003

004

013

017

023

027

004

005

014

018

024

029

005

006

015

020

027

032

006

007

017

022

029

035

007

008

019

024

032

038

008

009

021

026

035

041

009

01

023

029

037

044

01

02

039

048

060

069

02

03

062

073

089

100

03

04

070

083

101

114

04

05

087

102

122

136

05

06

111

123

142

168

LH18C

LT18C

Continuous Operation Area

LT18C type LH18C type

(Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

0

0005

0098

0129

0192

0254

0005

001

0096

0128

019

0252

001

0015

0096

0127

019

0252

002

002

0097

0128

0191

0253

002

003

0099

0131

0193

0256

003

004

0104

0136

0199

0262

004

006

0113

0144

0207

027

006

008

012

0153

0215

0278

008

01

0126

0163

0225

0288

010

015

014

0184

0249

0312

015

02

0157

0208

0279

0341

02

03

0207

0268

0354

042

03

04

0257

0329

0428

0504

04

06

0352

044

0562

0655

06

08

0447

0549

0692

08

08

1

053

0646

0806

0925

10

12

0629

0758

0933

1064

12

14

0795

0941

1133

1274

14

18

0875

1035

1257

1415

Check Operating Conditions2Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DDA motor specifications to determine whether the DDA motor can be used under the applicable operating conditions Please contact IAI for assistance To

rque

(Nm

)

Curr

ent [

Arm

s]

Angular velocity [degs]

AccelerationDeceleration AreaAccelerationDeceleration Area

Torq

ue (N

m)

Curr

ent [

Arm

s]

Angular velocity [degs]

AccelerationDeceleration AreaAccelerationDeceleration Area

Rating areaRating area

270deg travel time [sec]180deg travel time [sec]

90deg travel time [sec]45deg travel time [sec]

Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

270deg travel time [sec]180deg travel time [sec]

90deg travel time [sec]45deg travel time [sec]

Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

Cables

(Front view) (Front view)

Controller sideActuator side

(16)

(41)

(φ9) (2

1)

(20) (10)

(18)

L

4

1

1

4

075sq075sq

Wiring Color Signal No No WiringColorSignal

White

GreenRed

BlackV

PEU

W PE

VU

W3

12

43

12

4

White

Green

Red

Black (crimped)

Model Number CB-X-MApoundpoundpound Please indicate the cable length (L) in poundpoundpound maximum 30m eg) 080 = 8m

Minimum bending radius r = 51mm or more (Dynamic bending condition) Only robot cable is available for this model

L

4

1

1

4

(φ9)

(Front view)

(16)

(41)

(16)(21)

(11)

1

1

4

(φ9)

(16)

Controller side Actuator side

125sq125sq

Wiring Color Signal No No WiringColorSignal

White

GreenRed

BlackV

PEU

W PE

VU

W3

12

43

12

4

White

Green

Red

Black (crimped)

Model Number CB-XMC-MApoundpoundpound Please indicate the cable length (L) in poundpoundpound maximum 30m eg) 080 = 8m

Minimum bending radius r = 55mm or more (Dynamic bending condition) Only robot cable is available for this model

(Front view)(Front view)

AWG26(Soldered)

AWG26(crimped)

L

(13)

14

269

1

13

(37)

(41) (14)

(15)

(25)

1

(φ10

)

Yellow

Shield is clamp connected to the hoodDrain Wire and Braided Shield

BlueBlackRedGray

PurpleGreen

OrangeWhiteGrayWhitePurpleWhiteBlackWhiteRed

WhiteYellowWhiteBlue

RedGray

PurpleGreen

Orange

YellowBlue

WhiteGreenBlack

Drain

WhiteOrangeWhiteGrayWhitePurpleWhiteBlackWhiteRed

WhiteYellowWhiteBlue

WhiteOrangeWhiteGreen

Wiring Color Signal No

WiringColorSignalNo

Controller side Actuator side

Minimum bending radius r = 58mm or more (Dynamic bending condition) Only robot cable is available for this model

Model Number CB-X3-PApoundpoundpound

Model Number CB-DDB-BKpoundpoundpound

Please indicate the cable length (L) in poundpoundpound maximum 30m eg) 080 = 8m

Please indicate the cable length (L) in poundpoundpoundmaximum 20m eg) 080 = 8m

18

DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

Catalog No CE0242-1A (0916)

IAI America Inc 2690 W 237th Street Torrance CA 90505 (800) 736-1712 110 E State Pkwy Schaumburg IL 60173 (800) 944-0333

1220 Kennestone Circle Suite 108 Marietta GA 30066 (888) 354-9470

wwwintelligentactuatorcom

IAI Industrieroboter GmbHOber der Roumlth 4 D-65824 Schwalbach am Taunus Germany

IAI (Shanghai) Co LtdShanghai Jiahua Business Center A8-303 808Hongqiao Rd Shanghai 200030 China

IAI Robot (Thailand) Co Ltd825 Phairojkijja Tower 12th Floor Bangna-Trad RDBangna Bangna Bangkok 10260 Thailand

The information contained in this product brochure may change without prior notice due to product improvements

  • Features
  • Series List
  • Model Specification Items
  • Application Examples
  • DDA-LT18C
  • DDACR-LT18C
  • DDA-LT18C-B
  • DDA-LH18C
  • DDACR-LH18C
  • DDA-LH18C-B
  • Options
  • SCON-CB
  • X-SEL
  • Precautions
  • Selecting the DD Motor
  • Cables

    The Direct Drive Motor DDA Series ismiddot The motor directly drives the rotary table without a speed

    reducing mechanism such as a belt or speed reducermiddot Compact high-speed and responsivemiddot More affordable than the conventional DD series

    Features

    Without brake(StandardCleanroom

    specification)

    With brake(Standard)

    LT18C Thin type (Rated torque 84Nmiddotm)

    Hollow boreφ52mm

    Hollow boreφ35mm

    Hollow boreφ52mm

    Hollow boreφ35mm

    LH18C High torque type (Rated torque 25Nmiddotm)

    5Standard type

    Model number

    Encoder resolution

    Positioning repeatability

    DDA-L18CP20-bit

    1048576 pulsesrev

    plusmn000103 deg(plusmn37s)

    High resolution type

    20-bitEncoder resolution

    Indexingaccuracy

    plusmn001249 deg(plusmn45s)

    plusmn000833 deg(plusmn30s)

    17-bit

    DDA-L18CS17-bit

    131072 pulsesrev

    plusmn00055 deg(plusmn198s)

    6 Corresponds to the indexing accuracyIt corresponds to the indexing accuracy when connected to SCON-CB and allows for more accurate positioning

    4The high torque type has about three times more torque

    MAX25kg

    200mm 200mm

    MAX90kg

    200mm 200mm

    MAX270kg

    200mm 200mm

    Shorter positioning time means shorter cycle time of your equipment resulting in greater productivity

    DDA-LT18C type

    DDA-LH18C type

    Allowable inertia moment

    017kgmiddotm2

    RCS2-RTC12L (Deceleration ratio 130)

    Allowable inertia moment

    060kgmiddotm2

    DDA-LT18C type

    Allowable inertia moment

    18kgmiddotm2

    DDA-LH18C type

    Max instantaneous torque 86N∙m Max instantaneous torque 252N∙m Max instantaneous torque 75N∙m

    CleanlinessCleanliness CleanlinessCleanlinessClass ClassClass

    10Class

    25

    Larg

    e ho

    llow

    bor

    e ty

    pe

    High speed high accelerationdeceleration

    Brake-equipped specifications have been added to the flange-less high torquehollow type Cleanroom specifications are also available

    Achieves a lower price

    3

    1

    2The price has been reduced by about 33 as compared with the conventional DD series

    RCS2-RTC12L

    ltComparison of Cycle TimesgtOperating conditions When a work part weighing 100g is placed on an aluminum disc of 300mm in diameter and 6mm in thickness and rotated by 180deg

    05sApprox

    50Quicker

    Approx

    42Quicker

    025s

    014s

    t6mm

    φ300mm

    About 33 less

    DD-LT18C DDA-LT18C

    (FedStd209D) (ISO14644-1)

    High-resolution type is available

    High torque high payload

    High Speed High Payload High Accuracy and Easy to Control Introducing the Direct Drive Motor DDA Series Boasting Ultimate Usability

    1

    The Direct Drive Motor DDA Series ismiddot The motor directly drives the rotary table without a speed

    reducing mechanism such as a belt or speed reducermiddot Compact high-speed and responsivemiddot More affordable than the conventional DD series

    Features

    Without brake(StandardCleanroom

    specification)

    With brake(Standard)

    LT18C Thin type (Rated torque 84Nmiddotm)

    Hollow boreφ52mm

    Hollow boreφ35mm

    Hollow boreφ52mm

    Hollow boreφ35mm

    LH18C High torque type (Rated torque 25Nmiddotm)

    5Standard type

    Model number

    Encoder resolution

    Positioning repeatability

    DDA-L18CP20-bit

    1048576 pulsesrev

    plusmn000103 deg(plusmn37s)

    High resolution type

    20-bitEncoder resolution

    Indexingaccuracy

    plusmn001249 deg(plusmn45s)

    plusmn000833 deg(plusmn30s)

    17-bit

    DDA-L18CS17-bit

    131072 pulsesrev

    plusmn00055 deg(plusmn198s)

    6 Corresponds to the indexing accuracyIt corresponds to the indexing accuracy when connected to SCON-CB and allows for more accurate positioning

    4The high torque type has about three times more torque

    MAX25kg

    200mm 200mm

    MAX90kg

    200mm 200mm

    MAX270kg

    200mm 200mm

    Shorter positioning time means shorter cycle time of your equipment resulting in greater productivity

    DDA-LT18C type

    DDA-LH18C type

    Allowable inertia moment

    017kgmiddotm2

    RCS2-RTC12L (Deceleration ratio 130)

    Allowable inertia moment

    060kgmiddotm2

    DDA-LT18C type

    Allowable inertia moment

    18kgmiddotm2

    DDA-LH18C type

    Max instantaneous torque 86N∙m Max instantaneous torque 252N∙m Max instantaneous torque 75N∙m

    CleanlinessCleanliness CleanlinessCleanlinessClass ClassClass

    10Class

    25

    Larg

    e ho

    llow

    bor

    e ty

    pe

    High speed high accelerationdeceleration

    Brake-equipped specifications have been added to the flange-less high torquehollow type Cleanroom specifications are also available

    Achieves a lower price

    3

    1

    2The price has been reduced by about 33 as compared with the conventional DD series

    RCS2-RTC12L

    ltComparison of Cycle TimesgtOperating conditions When a work part weighing 100g is placed on an aluminum disc of 300mm in diameter and 6mm in thickness and rotated by 180deg

    05sApprox

    50Quicker

    Approx

    42Quicker

    025s

    014s

    t6mm

    φ300mm

    About 33 less

    DD-LT18C DDA-LT18C

    (FedStd209D) (ISO14644-1)

    High-resolution type is available

    High torque high payload

    High Speed High Payload High Accuracy and Easy to Control Introducing the Direct Drive Motor DDA Series Boasting Ultimate Usability

    2

    DDA Motor Series List

    Model Specification Items

    Application Examples

    Cable Length

    Encoder Type

    Operation Range

    Series Motor Wattage

    DDADDACR

    Applicable Controllers

    Options360 T2

    Type

    Type Encoder

    Large bore slim

    Large bore slim

    Large bore high torqueLarge bore high torque

    Standard (17-bit)

    High resolution (20-bit)

    Standard (17-bit)

    High resolution (20-bit)

    Index Table ltInspection device for small boardsgt

    Transport of Workpieces ltTransporting parts from a conveyor to anothergt

    Index TableltParts assembly devicegt

    Multi-rotation OperationltTransporting electronic componentsgt

    Type

    Cleanroom specification only

    Encoder

    Modelnumber

    Standard

    Cleanroom spec

    External view

    Rated torque (N∙m)

    Max instantaneous torque (N∙m)

    Rated speed (degs)

    Maximum speed (degs)

    Motor wattage (W)

    Size (φ)

    Height(mm)

    wo brakew brake

    wo brake

    w brake

    wo brake

    w brake

    Hollow bore (φ)

    Mass(kg)

    Cleanliness

    Encoder type

    Applicable controller

    Reference page

    84

    252

    1080

    1800

    200φ180

    70

    115

    φ52

    φ35

    58

    87

    Class 10 (FedStd209D)Class 25 or equivalent (ISO 14644-1 Standard)

    Index absoluteMulti-rotation absolute

    P5 P9

    DDA-LT18CS

    SCON-CBXSEL SCON-CB SCON-CB

    XSEL SCON-CB

    DDA-LT18CP DDA-LH18CS DDA-LH18CP

    DDACR-LT18CS DDACR-LT18CP DDACR-LH18CS DDACR-LH18CP

    Standard (17-bit)

    High resolution(20-bit)

    Standard (17-bit)

    High resolution(20-bit)

    Large bore slim type Large bore high torque type

    DDA StandardDDACR Cleanroom specification

    LT18CS

    LT18CP

    LH18CS

    LH18CP

    None

    3m

    5m

    Specified length

    N

    S

    M

    X

    Cable exits from the bottom

    Cable exits from the side

    Brake

    Flange

    A0

    A1

    B

    FL

    200

    600

    200W

    600W

    360 360 deg

    NoteOnly SCON-CB can be selected for the high resolution encoder type (20-bit)

    SCON

    XSEL-PQ

    XSEL-RS

    T2AI

    AM

    Index absolute type

    Multi-rotation absolute type

    Assembling device

    25

    75

    800

    1440

    600φ180

    1228

    1873

    φ52

    φ35

    13

    174

    Class 10 (FedStd209D)Class 25 or equivalent (ISO 14644-1 Standard)

    Index absoluteMulti-rotation absolute

    3

    DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

    DDA Motor Series List

    Model Specification Items

    Application Examples

    Cable Length

    Encoder Type

    Operation Range

    Series Motor Wattage

    DDADDACR

    Applicable Controllers

    Options360 T2

    Type

    Type Encoder

    Large bore slim

    Large bore slim

    Large bore high torqueLarge bore high torque

    Standard (17-bit)

    High resolution (20-bit)

    Standard (17-bit)

    High resolution (20-bit)

    Index Table ltInspection device for small boardsgt

    Transport of Workpieces ltTransporting parts from a conveyor to anothergt

    Index TableltParts assembly devicegt

    Multi-rotation OperationltTransporting electronic componentsgt

    Type

    Cleanroom specification only

    Encoder

    Modelnumber

    Standard

    Cleanroom spec

    External view

    Rated torque (N∙m)

    Max instantaneous torque (N∙m)

    Rated speed (degs)

    Maximum speed (degs)

    Motor wattage (W)

    Size (φ)

    Height(mm)

    wo brakew brake

    wo brake

    w brake

    wo brake

    w brake

    Hollow bore (φ)

    Mass(kg)

    Cleanliness

    Encoder type

    Applicable controller

    Reference page

    84

    252

    1080

    1800

    200φ180

    70

    115

    φ52

    φ35

    58

    87

    Class 10 (FedStd209D)Class 25 or equivalent (ISO 14644-1 Standard)

    Index absoluteMulti-rotation absolute

    P5 P9

    DDA-LT18CS

    SCON-CBXSEL SCON-CB SCON-CB

    XSEL SCON-CB

    DDA-LT18CP DDA-LH18CS DDA-LH18CP

    DDACR-LT18CS DDACR-LT18CP DDACR-LH18CS DDACR-LH18CP

    Standard (17-bit)

    High resolution(20-bit)

    Standard (17-bit)

    High resolution(20-bit)

    Large bore slim type Large bore high torque type

    DDA StandardDDACR Cleanroom specification

    LT18CS

    LT18CP

    LH18CS

    LH18CP

    None

    3m

    5m

    Specified length

    N

    S

    M

    X

    Cable exits from the bottom

    Cable exits from the side

    Brake

    Flange

    A0

    A1

    B

    FL

    200

    600

    200W

    600W

    360 360 deg

    NoteOnly SCON-CB can be selected for the high resolution encoder type (20-bit)

    SCON

    XSEL-PQ

    XSEL-RS

    T2AI

    AM

    Index absolute type

    Multi-rotation absolute type

    Assembling device

    25

    75

    800

    1440

    600φ180

    1228

    1873

    φ52

    φ35

    13

    174

    Class 10 (FedStd209D)Class 25 or equivalent (ISO 14644-1 Standard)

    Index absoluteMulti-rotation absolute

    4

    DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

    DDA-LT18C

    Controller is not included

    P

    O I N T

    SelectionNotes

    (Note 1) The value in ( ) indicates the maximum speed The maximum speed may not be reached if the moving distance is short

    (Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in five years based on this load

    (Note 3) The maximum cable length is 30m Specify a desired length in meters (Example X08 = 8m)

    (Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control

    (Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type

    Legend Cable length Option

    ModelSpecifications

    (1) SCON and XSEL have different minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information

    ② Options

    ① Cable Length

    Cable type Cable code

    StandardS (3m)M (5m)

    Specified length X06 (6m) ~X10 (10m)X11 (11m) ~X30 (30m)

    Name Option code

    Cable exits from the bottom A0

    Cable exits from the side A1

    Flange FL

    Please refer to P18 for more information regarding the maintenance cables

    1 Indexing accuracy is supported when connected to SCON-CB

    DDACR-LT18C Clean Room Type

    Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198s) 20-bit plusmn000103deg (plusmn37s)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45s) 20-bit plusmn000833deg (plusmn30s)Allowable load moment (Note 2) 80Nmiddotm

    Encoder resolution 17-bit 131072 pulsesrev20-bit 1048576 pulsesrev

    Allowable thrust load (Note 2) Forward 3100N Reverse 250NBase material AluminumAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)

    Cleanroom specification

    Cleanliness Class 10 (FedStd209D) class 25 or equivalent (ISO 14644-1 Standard)Suction amount 35Nℓmin

    Weight 58kg

    Common Specifications

    Encoder type Model number Motor

    wattage (W)

    Operation range (deg) (1)

    Speed (degs) (Note 1)

    Rated torque (Nmiddotm) (2)

    Maximum instantaneous torque (Nmiddotm)

    Allowable inertia

    moment (kgmiddotm2)

    Rotor inertia (kgmiddotm2)

    17-bit index absolute type DDA (CR)-LT18CS-AI-200-360-T2-① -②

    200

    0~359999 deg

    1~1080 (1~1800) 84 252 06 00043

    17-bit multi-rotation absolute type DDA (CR)-LT18CS-AM-200-360-T2-① -② plusmn9999 deg max

    20-bit index absolute type DDA (CR)-LT18CP-AI-200-360-T2-① -② 0~359999 deg

    20-bit multi-rotation absolute type DDA (CR)-LT18CP-AM-200-360-T2-① -② plusmn2520 deg max

    (Note) A0 (cable exits from the bottom) option and FL (flange) option cannot be selected together

    Thrust (axial) run-out (No load) 30μm

    Radial run-out (No load) 30μm

    Run-out of Output Shaft

    Slim Type

    Large Bore Type

    Flange- Less Type

    Please refer to P16 for more information on the installation method

    Horizontal

    Side

    Vert

    ical

    Ceiling

    n Model Specification Items

    DDADDACR LT18C 200 360 T2

    Series Type Encoder Type

    Motor Type

    Operation Range

    Applicable Controllers

    Cable Length Options

    DDA StandardDDACR Cleanroom

    specification

    S Standard (17-bit)

    P High resolution (20-bit)

    AI Index absolute type

    AM Multi-rotation absolute type

    200 200W 360 360 deg T2 SCON XSEL-PQ XSEL-RS

    Note Only SCON for LT18CP

    N None S 3m M 5m Xpoundpound Specified

    length

    Please refer to the options table below Please make sure to

    specify either A0 or A1 for the cable exit direction

    5

    DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

    Motor connector

    Encoder connector

    32 or

    less

    11 500plusmn30

    24

    77

    615

    45

    φ6 Compatible tube diameter

    Air JointCR specication only

    R100 or less

    2-φ4 H7 depth 3For workpiece positioning

    6-M5 effective depth 8For workpiece mounting

    PCD102 plusmn01

    φ 52

    Hollo

    w b

    ore

    28

    φ 83

    24

    Air JointCR specification only

    Motor connector

    Encoder connector

    Rotating part of the work mounting surface

    φ180

    φ110h7 -00350

    70plusmn0

    3

    4

    φ178h8 -00630

    500plusmn30

    (φ21

    )

    32 or less

    138

    158

    φ116

    35

    003 A 003 A

    A

    75plusmn0

    1

    8-M6 effective depth 13PCD148 plusmn01

    75plusmn0

    1

    225degφ5 H7 depth 5For body positioning

    Body mounting surfaceBody positioning oblong hole

    2

    R25

    5+00120 depth 5

    Detail view of SS

    CAD drawings can be downloaded from our websitewwwintelligentactuatorcom

    2DCAD2DCAD

    3DCAD3D

    CAD

    Dimensions

    Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use

    LT18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers

    Name External view

    Max number of controlled axes Power supply voltage Control method Maximum number of

    positioning pointsReference

    pagePositioner Pulse-train Program Network Option

    SCON-CBCGB 1Single-phase

    200VAC -

    Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information

    512 (768 for network spec)

    P14

    SCON-LCLCG 1Single-phase

    200VAC- -

    512 (768 for network spec)

    P14

    XSEL-PQRS 8Single-phase 200VACThree-phase 200VAC

    - - 53332

    (Depending on the type)P15

    (Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side

    6

    DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

    ② Options

    P

    O I N T

    SelectionNotes

    (Note 1) The value in ( ) indicates the maximum speed The maximum speed may not be reached if the moving distance is short

    (Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in five years based on this load

    (Note 3) The maximum cable length is 20m Specify a desired length in meters (Example X08 = 8m)

    (Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control

    (Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type

    (Note 6) The brake is used for retention purposes only so damage may be caused if it is actually used in attempts to slow or stop the actuator

    ModelSpecifications

    Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198s) 20-bit plusmn000103deg (plusmn37s)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45s) 20-bit plusmn000833deg (plusmn30s)Allowable load moment (Note 2) 80Nmiddotm

    Encoder resolution 17-bit 131072 pulsesrev 20-bit 1048576 pulsesrev

    Allowable thrust load (Note 2) Forward 3100N Reverse 250NBrake retaining torque 25NmiddotmBase material AluminumAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)Weight 87kg

    Common Specifications

    Thrust (axial) run-out (No load) 30μm

    Radial run-out (No load) 30μm

    Run-out of Output Shaft

    ① Cable Length

    Cable type Cable code

    StandardS (3m)M (5m)

    Specified length X06 (6m) ~X10 (10m)X11 (11m) ~X20 (20m)

    Please refer to P18 for more information regarding the maintenance cables

    1 Indexing accuracy is supported when connected to SCON-CB

    Encoder type Model number Motor

    wattage (W)

    Operation range (deg) (1)

    Speed (degs) (Note 1)

    Rated torque (Nmiddotm) (2)

    Maximum instantaneous torque (Nmiddotm)

    Allowable inertia

    moment (kgmiddotm2)

    Rotor inertia (kgmiddotm2)

    17-bit index absolute type DDA-LT18CS-AI-200-360-T2-① -② -B

    200

    0~359999 deg

    1~1080 (1~1800) 84 252 06 00043

    17-bit multi-rotation absolute type DDA-LT18CS-AM-200-360-T2-① -② -B plusmn9999 deg max

    20-bit index absolute type DDA-LT18CP-AI-200-360-T2-① -② -B 0~359999 deg

    20-bit multi-rotation absolute type DDA-LT18CP-AM-200-360-T2-① -② -B plusmn2520 deg max

    Name Option code

    Cable exits from the bottom A0

    Cable exits from the side A1

    Brake (With brake box) 1 B

    1 A brake cable is not supplied if N (None) is selected as the cable length Please order a brake cable as a separate item in that case

    Controller is not included

    DDA-LT18C-B Slim Type

    Large Bore Type

    Flange- Less Type

    n Model Specification Items

    DDA LT18C 200 360 T2 BSeries Type Encoder

    TypeMotor Type

    Operation Range

    Applicable Controllers

    Cable Length Options Option

    S Standard (17-bit)

    P High resolution (20-bit)

    AI Index absolute type

    AM Multi-rotation absolute type

    200 200W 360 360 deg T2 SCON XSEL-PQ XSEL-RS

    Note Only SCON for LT18CP

    N None S 3m M 5m Xpoundpound Specified

    length

    Please refer to the options table below Please make sure to

    specify either A0 or A1 for the cable exit direction

    B Brake

    (1) SCON and XSEL have different minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information

    Legend Cable length Option

    Please refer to P16 for more information on the installation method

    Horizontal

    Side

    Vert

    ical

    Ceiling

    7

    DDA Direct Drive Motor

    Dimensions

    Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use

    LT18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers

    Name External view

    Max number of controlled axes Power supply voltage Control method Maximum number of

    positioning pointsReference

    pagePositioner Pulse-train Program Network Option

    SCON-CBCGB 1Single-phase

    200VAC -

    Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information

    512 (768 for network spec)

    P14

    SCON-LCLCG 1Single-phase

    200VAC- -

    512 (768 for network spec)

    P14

    XSEL-PQRS 8Single-phase 200VACThree-phase 200VAC

    - - 53332

    (Depending on the type)P15

    (Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side

    Motor connector

    Encoder connector

    32 o

    r les

    s

    500+500

    φ1235

    45 o

    r les

    s

    500plusmn30

    Brake connector

    φ 35

    Hol

    low

    bor

    e

    24

    77

    Motor connector

    Encoder connector

    45 o

    r les

    s

    φ1235500+50

    0

    Brake connector

    φ 35

    Hol

    low

    bor

    e

    R100 or less

    2-φ4 H7 depth 3For workpiece positioning

    6-M5 effective depth 8For workpiece mounting

    PCD102 plusmn01

    φ 52

    Hol

    low

    bor

    e

    φ 83

    Rotating part of the work mounting surface

    φ180

    φ110h7 -00350

    70plusmn0

    3

    4

    φ178h8 -00630

    500plusmn30

    φ 21

    32 or less

    138

    158

    φ116

    35

    003 A 003 A

    A

    75plusmn0

    1

    8-M6 effective depth 13PCD148 plusmn01

    75plusmn0

    1

    225degφ5 H7 depth 5For body positioning

    Body mounting surfaceBody positioning oblong hole

    S

    2

    R25

    5+00120 depth 5

    Detail view of S

    24

    CAD drawings can be downloaded from our websitewwwintelligentactuatorcom

    2DCAD2DCAD

    3DCAD3D

    CAD

    8

    DDA Direct Drive Motor

    P

    O I N T

    SelectionNotes

    (Note 1) The value in ( ) indicates the maximum speed The maximum speed may not be reached if the moving distance is short

    (Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in five years based on this load

    (Note 3) The maximum cable length is 30m Specify a desired length in meters (Example X08 = 8m)

    (Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control

    (Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type

    ModelSpecifications

    ① Cable Length

    Cable type Cable code

    StandardS (3m)M (5m)

    Specified length X06 (6m) ~X10 (10m)X11 (11m) ~X30 (30m)

    Please refer to P18 for more information regarding the maintenance cables

    1 Indexing accuracy is supported when connected to SCON-CB

    Thrust (axial) run-out (No load) 30μm

    Radial run-out (No load) 30μm

    Run-out of Output Shaft

    Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198s) 20-bit plusmn000103deg (plusmn37s)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45s) 20-bit plusmn000833deg (plusmn30s)Allowable load moment (Note 2) 80Nmiddotm

    Encoder resolution 17-bit 131072 pulsesrev20-bit 1048576 pulsesrev

    Allowable thrust load (Note 2) Forward 3100N Reverse 250NBase material AluminumAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)

    Cleanroom specification

    Cleanliness Class 10 (FedStd209D) class 25 or equivalent (ISO 14644-1 Standard)Suction amount 35Nℓmin

    Weight 13kg

    Common Specifications

    Encoder type Model number Motor

    wattage (W)

    Operation range (deg) (1)

    Speed (degs) (Note 1)

    Rated torque (Nmiddotm) (2)

    Maximum instantaneous torque (Nmiddotm)

    Allowable inertia

    moment (kgmiddotm2)

    Rotor inertia (kgmiddotm2)

    17-bit index absolute type DDA (CR)-LH18CS-AI-600-360-T2-① -②

    600

    0~359999 deg

    1~800 (1~1440) 25 75 18 00092

    17-bit multi-rotation absolute type DDA (CR)-LH18CS-AM-600-360-T2-① -② plusmn9999 deg max

    20-bit index absolute type DDA (CR)-LH18CP-AI-600-360-T2-① -② 0~359999 deg

    20-bit multi-rotation absolute type DDA (CR)-LH18CP-AM-600-360-T2-① -② plusmn2520 deg max

    ② Options

    Name Option code

    Cable exits from the bottom A0

    Cable exits from the side A1

    Flange FL

    (Note) A0 (cable exits from the bottom) option and FL (flange) option cannot be selected together

    DDA-LH18C

    Controller is not included

    DDACR-LH18C Clean Room Type

    High Torque

    Type

    Large Bore Type

    Flange- Less Type

    n Model Specification Items

    DDADDACR LH18C 600 360 T2

    Series Type Encoder Type

    Motor Type

    Operation Range

    Applicable Controllers

    Cable Length Options

    DDA StandardDDACR Cleanroom

    specification

    S Standard (17-bit)

    P High resolution (20-bit)

    AI Index absolute type

    AM Multi-rotation absolute type

    600 600W 360 360 deg T2 SCON XSEL-PQ XSEL-RS

    Note Only SCON for LH18CP

    N None S 3m M 5m Xpoundpound Specified

    length

    Please refer to the options table below Please make sure to

    specify either A0 or A1 for the cable exit direction

    (1) SCON and XSEL have different minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information

    Legend Cable length Option

    Please refer to P16 for more information on the installation method

    Horizontal

    Side

    Vert

    ical

    Ceiling

    9

    DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

    Dimensions

    Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use

    LH18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers

    Name External view

    Max number of controlled axes Power supply voltage Control method Maximum number of

    positioning pointsReference

    pagePositioner Pulse-train Program Network Option

    SCON-CBCGB 1Single-phase

    200VAC -

    Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information

    512 (768 for network spec)

    P14

    SCON-LCLCG 1Single-phase

    200VAC- -

    512 (768 for network spec)

    P14

    XSEL-PQRS 8Single-phase 200VACThree-phase 200VAC

    - - 53332

    (Depending on the type)P15

    (Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side

    Encoder connector

    Motor connector

    45

    615

    24

    77

    φ6 Compatible tube diameter

    Air JointCR specication only

    32 o

    r les

    s11

    500plusmn30

    R100 or less

    2-φ4 H7 depth 3For workpiece positioning

    6-M6 effective depth 12For workpiece mounting

    PCD102plusmn01

    φ 52

    Hol

    low

    bor

    e

    φ 83

    2428

    Rotating part of the work mounting surface Encoder connector

    Motor connector

    Air JointCR specification only

    75plusmn0

    1

    8-M8 effective depth 16PCD148 plusmn01

    75plusmn0

    1

    φ5 H7 depth 5For body positioning 225deg

    Body mounting surfaceBody positioning oblong hole

    φ110h7 -00350

    φ116φ180

    φ178h8 -00630

    412

    28

    plusmn03

    32 or less

    φ 21

    500plusmn30

    35

    138

    158

    003 A

    003 A

    A

    5 +00120 depth 5

    2

    R25

    Detail view of S

    S

    CAD drawings can be downloaded from our websitewwwintelligentactuatorcom

    2DCAD2DCAD

    3DCAD3D

    CAD

    10

    DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

    1 A brake cable is not supplied if N (None) is selected as the cable length Please order a brake cable as a separate item in that case

    ② Options

    ModelSpecifications

    Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198s) 20-bit plusmn000103deg (plusmn37s)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45s) 20-bit plusmn000833deg (plusmn30s)Allowable load moment (Note 2) 80Nmiddotm

    Encoder resolution 17-bit 131072 pulsesrev20-bit 1048576 pulsesrev

    Allowable thrust load (Note 2) Forward 3100N Reverse 250NBase material AluminumBrake retaining torque 50NmiddotmAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)Weight 174kg

    Common Specifications

    Thrust (axial) run-out (No load) 30μm

    Radial run-out (No load) 30μm

    Run-out of Output Shaft

    Encoder type Model number Motor

    wattage (W)

    Operation range (deg) (1)

    Speed (degs) (Note 1)

    Rated torque (Nmiddotm) (2)

    Maximum instantaneous torque (Nmiddotm)

    Allowable inertia

    moment (kgmiddotm2)

    Rotor inertia (kgmiddotm2)

    17-bit index absolute type DDA-LH18CS-AI-600-360-T2-① -② -B

    600

    0~359999 deg

    1~800 (1~1440) 25 75 18 00092

    17-bit multi-rotation absolute type DDA-LH18CS-AM-600-360-T2-① -② -B plusmn9999 deg max

    20-bit index absolute type DDA-LH18CP-AI-600-360-T2-① -② -B 0~359999 deg

    20-bit multi-rotation absolute type DDA-LH18CP-AM-600-360-T2-① -② -B plusmn2520 deg max

    Name Option code

    Cable exits from the bottom A0

    Cable exits from the side A1

    Brake (With brake box) 1 B

    ① Cable Length

    Cable type Cable code

    StandardS (3m)M (5m)

    Specified length X06 (6m) ~X10 (10m)X11 (11m) ~X20 (20m)

    Please refer to P18 for more information regarding the maintenance cables

    1 Indexing accuracy is supported when connected to SCON-CB

    Controller is not included

    DDA-LH18C-B High Torque

    Type

    Large Bore Type

    (1) SCON and XSEL have different minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information

    Flange- Less Type

    P

    O I N T

    SelectionNotes

    (Note 1) The value in ( ) indicates the maximum speed The maximum speed may not be reached if the moving distance is short

    (Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in five years based on this load

    (Note 3) The maximum cable length is 20m Specify a desired length in meters (Example X08 = 8m)

    (Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control

    (Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type

    (Note 6) The brake is used for retention purposes only so damage may be caused if it is actually used in attempts to slow or stop the actuator

    Legend Cable length Option

    Please refer to P16 for more information on the installation method

    Horizontal

    Side

    Vert

    ical

    Ceiling

    n Model Specification Items

    DDA LH18C 600 360 T2 BSeries Type Encoder

    TypeMotor Type

    Operation Range

    Applicable Controllers

    Cable Length Options Option

    S Standard (17-bit)

    P High resolution (20-bit)

    AI Index absolute type

    AM Multi-rotation absolute type

    600 600W 360 360 deg T2 SCON XSEL-PQ XSEL-RS

    Note Only SCON for LH18CP

    N None S 3m M 5m Xpoundpound Specified

    length

    Please refer to the options table below Please make sure to

    specify either A0 or A1 for the cable exit direction

    B Brake

    11

    DDA Direct Drive Motor

    Dimensions

    Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use

    LH18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers

    Name External view

    Max number of controlled axes Power supply voltage Control method Maximum number of

    positioning pointsReference

    pagePositioner Pulse-train Program Network Option

    SCON-CBCGB 1Single-phase

    200VAC -

    Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information

    512 (768 for network spec)

    P14

    SCON-LCLCG 1Single-phase

    200VAC- -

    512 (768 for network spec)

    P14

    XSEL-PQRS 8Single-phase 200VACThree-phase 200VAC

    - - 53332

    (Depending on the type)P15

    (Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side

    Encoder connector

    Motor connector

    φ 35

    Hol

    low

    bor

    e

    32 o

    r les

    s

    φ1235

    645

    or l

    ess

    500+500

    500plusmn30

    Brake connector

    24

    77

    Encoder connector

    Motor connector

    φ 35

    Hol

    low

    bor

    e64

    5 o

    r les

    s

    φ1235500+50

    0

    Brake connector

    R100 or less

    2-φ4 H7 depth 3For workpiece positioning

    6-M6 effective depth 12For workpiece mounting

    PCD102 plusmn01

    φ 52

    Hol

    low

    bor

    e

    φ 83

    Rotating part of the work mounting surface

    φ110h7 -00035

    φ116φ180

    φ178h8 -00063

    412

    28

    plusmn03

    32 or less

    φ 21

    500plusmn30

    35

    138

    158

    003 A

    003 A

    A

    75plusmn0

    1

    8-M8 effective depth 16PCD148 plusmn01

    75plusmn0

    1

    φ5 H7 depth 5For body positioning 225deg

    Body mounting surfaceBody positioning oblong hole

    S 5 +00120 depth 5

    2

    R25

    Detail view of S24

    CAD drawings can be downloaded from our websitewwwintelligentactuatorcom

    2DCAD2DCAD

    3DCAD3D

    CAD

    12

    DDA Direct Drive Motor

    OptionsIt is a retention mechanism for holding the stop position when the power or servo is OFF to prevent the workpieces and attachments from being damaged when used in side or vertical positions Be sure to connect a brake box for models with brake

    A bracket that attaches to the body with bolts from the top side

    Brake

    Flange

    Option Code B

    Option Code FL

    cent Brake Box

    cent Wiring Diagram When Brake Box is Used

    DDA-LT18CModel Number DDA-FL-LT18

    Model Number IA-110-DD-4

    DDA-LH18CModel Number DDA-FL-LH18

    PCD200

    PCD200

    plusmn0075plusmn0075

    55deg

    55deg

    180

    180

    180180

    160

    160

    plusmn01

    plusmn01

    160160 plusmn01plusmn01

    4-φ 1

    14-φ 1

    1thr

    ough

    thro

    ugh

    2- φ62- φ6

    H7 through

    H7 through

    135

    135

    815

    815

    plusmn04

    plusmn04

    φ1245φ1245

    55deg

    55deg

    PCD

    PCD200plusmn0075200plusmn0075

    180

    180

    180180160160 plusmn01plusmn01

    160

    160

    plusmn01

    plusmn01

    2- φ62- φ6

    H7 throughH7 through

    4-φ1

    14-φ1

    1thr

    ough

    thro

    ugh

    155

    15513

    63

    136

    3plusmn0

    4plusmn0

    4

    φ1245φ1245

    PG OUTPWRON

    BKOUT

    + - C E

    BKRMT

    RLSBKOUT

    PG IN

    PWRPE N L

    MODEL IA-110-DD-4SN INPUT Single phase 100-240V

    MADE IN JAPAN

    5060Hz 10A maxOUTPUT 12VDC 06A

    PG OUTPWRON

    BKOUT

    + - C E

    BKRMT

    RLSBKOUT

    PG IN

    PWRPE N L

    MODEL IA-110-DD-4SN INPUT Single phase 100-240V

    MADE IN JAPAN

    5060Hz 10A maxOUTPUT 12VDC 06A

    ControllerSCON-CBXSEL-PQRSDDA

    Motor cableModel CB-X(XMC)-MApoundpoundpound

    Brake box

    Encoder cableModel CB-X3-PA010(Comes with the brake box)

    Encoder cableModel CB-X3-PApoundpoundpound

    Brake cableModel CB-DDB-BKpoundpoundpound Main power supply

    100VAC~240VAC

    13

    DDA (CR) Direct Drive Motor

    Position Controller

    Controller Model

    System Configuration

    Positioner Single-axis Type ltSCONgt Model

    Power Supply Voltage

    IO TypeEncoder Type Motor Type Type Series SCON

    IO Cable Length

    AIAM

    2

    The 200W motor used by the DDA is larger than a normal 200W motor so the motor type for the controller will be 200S and its size will be larger than the 400W motor

    For 200W motorFor 600W motor

    200S600

    High-function typeSafety category compliant type

    CBCGB

    PLC equipped typeSafety category PLC equipped type

    LCLCG

    Motor cableModel CB-X-MA (LT18C) CB-XMC-MA (LH18C)

    SCON PC

    DDA

    PLC(To be supplied by the customer)

    IO flat cableModel CB-PAC-PIO020Standard 2m

    Be sure to use a noise filter on the power supply

    ( )Encoder cableModel CB-X3-PA

    PC compatible softwareRS232 connection versionModel RCM-101-MWUSB connection versionModel RCM-101-USB(Please contact IAI for more details)

    Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)

    Regenerative resistor unitModel RESU-2RESUD-2(Please contact IAI for more details)

    1 The wiring diagram is different for models with brakes Please refer to P13 for more information

    1

    Single-phase 200VAC Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models

    Main powersupply

    Field network

    Option

    Supplied with the actuator

    Supplied with the controller

    Supplied with the actuator Option

    Option

    Option

    When the SCON Controller is Connected

    When a field network specification is selectedthe IO cable length will be 0

    Index absolute typeMulti-rotation abs type

    NPPN

    PIO NPN (Standard)

    PIO PNP

    DVCN

    DeviceNet

    CompoNet

    CC CC-Link

    ML MECHATROLINK-I II

    ML3PR

    MECHATROLINK-III

    PROFIBUS-DP

    02

    35

    No cable2m (Standard)

    3m5m

    EC EtherCAT

    EP EtherNetIP

    PRT PROFINET IO

    For recommended modelsplease contact IAI

    Model

    External view

    IO type

    IO type code

    MECHATROLINK-III

    connectionCompoNet connection

    PROFIBUS-DP connection

    CC-Linkconnection

    DeviceNetconnection

    PIO connection specification (1)

    NPPN DV CC PR

    Standard Field network type (1)

    CN ML

    SCON-CB

    EtherNetIP connection

    PROFINET IO connection

    EtherCATconnection

    EC EP PRT

    List of Models

    MECHATROLINK- III

    connection

    ML3

    Applicable encoder type(Note) The index absolute type cannot be used in the pulse-train control and MECHATROLINK-III control(1) Please note that the network specifications cannot be operated on the PIO or pulse-train The PLC type (LCLCG) cannot be connected on the pulse-train

    Index absoluteMulti-rotation absoluteIndex absolute Multi-rotation absolute

    CBCGB CBCGB LCLCG

    14

    SCON Controller

    Program Controller

    List of Models

    Model P Q R S

    Type Large-capacity type Large-capacity type (Safety category specification) High-function type High-function type

    (Safety category specification)

    External view

    DescriptionLarge-capacity type

    that can control up to 6 axes 2400W

    Large-capacity type thats compatible with the

    safety category 4

    High-function type that allows up to 8-axis operation

    Safety category 4 compatible high-function type

    Controller Model

    System Configuration

    Program Multi-axis Type ltXSELgt Model

    Encoder Type

    Encoder Type

    Motor Type

    Motor Type

    Number ofConnected

    AxesType Series Option Option

    XSEL

    200 For 200W motor

    600 For 600W motor

    B BrakePQRS

    6-axis type6-axis safety category type8-axis type8-axis safety category type

    8

    1

    ~ ~

    1 axis

    8 axes

    (PQ type is up to 6 axes)

    (Details of the 1st axis) (Details of the 2nd~8th axis)

    It can simultaneously operate actuators (single-axis robot and ROBO Cylinder) other than the DDA motor on a single controller For connectable actuators other than the DDA motor please contact IAI

    For subsequent models please contact IAI

    Notes

    AIAM

    Index absolute typeMulti-rotation absolute type

    When the XSEL Controller is Connected

    Be sure to use a noise filter on the power supply

    Motor cableModel CB-X-MA (LT18C) CB-XMC-MA (LH18C)

    XSELPC

    PLC(To be supplied by the customer)

    PC compatible softwareRS232 connection versionModel IA-101-X-MWUSB connection versionModel IA-101-X-USBMW(Please contact IAI for more details)

    Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)

    Single-phase 200VACThree-phase 200VAC

    Regenerative resistor unitModel RESU-1RESUD-1(Please contact IAI for more details)

    Option Option

    Option

    Field networkOption

    IO flat cableModel CB-X-PIO020Standard 2m

    Supplied with the controller

    Encoder cableModel CB-X3-PA

    Supplied with the actuator

    Supplied with the actuator

    Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models

    The wiring diagram is different for models with brakes Please refer to P13 for more information

    DDA

    Main powersupply ( )For recommended models

    please contact IAI

    15

    XSEL Controller

    Precautions

    Installation

    Installation Orientation

    Mountingsurface

    For models with brake and cable exit direction to the bottom a clearance hole is required

    Ceiling mount

    Horizontal mount

    Vertical mount

    Gra

    vity

    Operation TypeThis product is available in 2 operation types depending on the operation conditions Please check the features and precautions on each type before use

    (1)The high resolution specification can be connected only to the SCON-CB(2)When the XSEL index type travels more than 180deg from the current position it rotates in a direction that requires a shorter travel distance to

    reach the target position Therefore please note that the direction of rotation changes according to the current position and travel distance If you want to specify the direction of travel use the SCON-CB

    (3)The index type can be rotated in a given direction infinitely but it actually cannot continue to rotate in the same direction without stopping like a regular motor does because the maximum travel distance per command from the XSEL controller is 180deg If you want to allow the motor to rotate continuously use the SCON-CB

    (4)Home return is required for the multi-rotation absolute encoder during the initial setting and replacement of the absolute battery

    Absolute batteryHome return operationLimitless rotation

    Maximum amount of movement in a single movement command

    Operation rangeController typeOperation type

    Not requiredNot required

    Yes (3)

    0~359999deg

    Index absolute type

    RequiredNot required (4)

    No

    Above operation rangeplusmn9999deg (plusmn2520deg) max

    Multi-rotation absolute typeSCON-CB XSEL(1)

    ( ) is for 20-bit

    (Note) Use this product by installing it on a mounting surface having heat dissipating characteristics equivalent to those of an aluminum plate of w450mm times d450mm times t12mm in size If the installation conditions necessitate lower heat dissipating characteristics please consult IAI

    ControllersFor the DDA with 200W motor the outside dimensions of the SCON-CB controller will be the same as the size of the

    400W motor (Please contact IAI for the details of the SCON-CB controller)One and two regenerative resistor unit(s) are required for LT18C and LH18C respectively to operate a DDA

    motor with the SCON-CBWhen operating DDA motor(s) with the XSEL controller regenerative resistor units are required as shown below

    The number of DDA motor(s) connectable to the XSEL controller is a max of 8 units for the LT18C type and a max of 2 units for the LH18C type

    Please note that when the DDA motor is operated with the SCON-CB the motor cannot be connected to the ROBO Cylinder gateway function of the XSEL controller

    Calculation for the power supply value LT18C type single-phase 600W three-phase 200W LH18C type single-phase 1200W three-phase 600W

    Number of regenerative resistor units

    1 2 3 4 5 6 7 81 2 3

    (Cannot be connected)4

    2 4LT18CLH18C

    Number of DD motor(s)

    360deg

    SCON-CB XSEL(1)

    180deg(2)

    16

    DDA (CR) Direct Drive Motor

    Conditions for Selection

    The followings should be checked to determine whether the DDA motor can be used to suit the specific conditions required by the customer

    The customer should confirm that the following three points under actual use do not exceed their maximum allowable levels as specified for the DDA motor

    The total load of device(s) mounted on the actuator

    The total load moment of device(s) mounted on the actuator

    The load inertia of device(s) mounted on the actuator

    Check Load Conditions1

    [1] Thrust load

    [2] Load moment applied

    [3] Load inertia

    J = 18 times M times D 2 [kgm2]

    Mass M [kg]

    D [m]

    Center of rotation

    J = 112 times M times (a 2 + b 2) [kgm2]

    a [m]

    b [m]

    Center of rotation

    Mass M [kg]

    J = M times R 2+ 18 times M times D 2 [kgm2]

    Mass M [kg]

    D [m]

    R [m]

    Cent

    er o

    fro

    tatio

    n

    J = M times R 2+112 times M times (a 2 + b 2 )[kgm2]

    a [m]

    b [m]R [m]

    Cent

    er o

    fro

    tatio

    n

    Mass M [kg]

    The travel time changes according to the load inertia See the tables below to check the travel time data

    Travel Time Guide3

    The data in the tables are for a reference only and do not guarantee the actual travel times

    (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

    0

    0005

    009

    012

    017

    022

    0005

    001

    010

    012

    017

    022

    001

    002

    011

    014

    019

    024

    002

    003

    012

    016

    021

    026

    003

    004

    013

    017

    023

    027

    004

    005

    014

    018

    024

    029

    005

    006

    015

    020

    027

    032

    006

    007

    017

    022

    029

    035

    007

    008

    019

    024

    032

    038

    008

    009

    021

    026

    035

    041

    009

    01

    023

    029

    037

    044

    01

    02

    039

    048

    060

    069

    02

    03

    062

    073

    089

    100

    03

    04

    070

    083

    101

    114

    04

    05

    087

    102

    122

    136

    05

    06

    111

    123

    142

    168

    LH18C

    LT18C

    Continuous Operation Area

    LT18C type LH18C type

    (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

    0

    0005

    0098

    0129

    0192

    0254

    0005

    001

    0096

    0128

    019

    0252

    001

    0015

    0096

    0127

    019

    0252

    002

    002

    0097

    0128

    0191

    0253

    002

    003

    0099

    0131

    0193

    0256

    003

    004

    0104

    0136

    0199

    0262

    004

    006

    0113

    0144

    0207

    027

    006

    008

    012

    0153

    0215

    0278

    008

    01

    0126

    0163

    0225

    0288

    010

    015

    014

    0184

    0249

    0312

    015

    02

    0157

    0208

    0279

    0341

    02

    03

    0207

    0268

    0354

    042

    03

    04

    0257

    0329

    0428

    0504

    04

    06

    0352

    044

    0562

    0655

    06

    08

    0447

    0549

    0692

    08

    08

    1

    053

    0646

    0806

    0925

    10

    12

    0629

    0758

    0933

    1064

    12

    14

    0795

    0941

    1133

    1274

    14

    18

    0875

    1035

    1257

    1415

    Check Operating Conditions2Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DDA motor specifications to determine whether the DDA motor can be used under the applicable operating conditions Please contact IAI for assistance To

    rque

    (Nm

    )

    Curr

    ent [

    Arm

    s]

    Angular velocity [degs]

    AccelerationDeceleration AreaAccelerationDeceleration Area

    Torq

    ue (N

    m)

    Curr

    ent [

    Arm

    s]

    Angular velocity [degs]

    AccelerationDeceleration AreaAccelerationDeceleration Area

    Rating areaRating area

    270deg travel time [sec]180deg travel time [sec]

    90deg travel time [sec]45deg travel time [sec]

    Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

    270deg travel time [sec]180deg travel time [sec]

    90deg travel time [sec]45deg travel time [sec]

    Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

    Selecting the DD Motor

    17

    DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

    (44) (167)

    (80

    )

    31

    (84)(293)

    (92

    )

    31

    (φ5

    4)

    J11SF-03V-KX J11SFM-03V-KXNoNo SignalSignal ColorColor WiringWiring

    AWG20(crimped)

    Red

    Black

    White

    Red

    Black

    White

    +

    -

    FG

    +

    -

    FG

    321

    321

    AWG20(crimped)

    Controller side Actuator side(Front view)(Front view)

    L

    Conditions for Selection

    The followings should be checked to determine whether the DDA motor can be used to suit the specific conditions required by the customer

    The customer should confirm that the following three points under actual use do not exceed their maximum allowable levels as specified for the DDA motor

    The total load of device(s) mounted on the actuator

    The total load moment of device(s) mounted on the actuator

    The load inertia of device(s) mounted on the actuator

    Check Load Conditions1

    [1] Thrust load

    [2] Load moment applied

    [3] Load inertia

    J = 18 times M times D 2 [kgm2]

    Mass M [kg]

    D [m]

    Center of rotation

    J = 112 times M times (a 2 + b 2) [kgm2]

    a [m]

    b [m]

    Center of rotation

    Mass M [kg]

    J = M times R 2+ 18 times M times D 2 [kgm2]

    Mass M [kg]

    D [m]

    R [m]

    Cent

    er o

    fro

    tatio

    n

    J = M times R 2+112 times M times (a 2 + b 2 )[kgm2]

    a [m]

    b [m]R [m]

    Cent

    er o

    fro

    tatio

    n

    Mass M [kg]

    The travel time changes according to the load inertia See the tables below to check the travel time data

    Travel Time Guide3

    The data in the tables are for a reference only and do not guarantee the actual travel times

    (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

    0

    0005

    009

    012

    017

    022

    0005

    001

    010

    012

    017

    022

    001

    002

    011

    014

    019

    024

    002

    003

    012

    016

    021

    026

    003

    004

    013

    017

    023

    027

    004

    005

    014

    018

    024

    029

    005

    006

    015

    020

    027

    032

    006

    007

    017

    022

    029

    035

    007

    008

    019

    024

    032

    038

    008

    009

    021

    026

    035

    041

    009

    01

    023

    029

    037

    044

    01

    02

    039

    048

    060

    069

    02

    03

    062

    073

    089

    100

    03

    04

    070

    083

    101

    114

    04

    05

    087

    102

    122

    136

    05

    06

    111

    123

    142

    168

    LH18C

    LT18C

    Continuous Operation Area

    LT18C type LH18C type

    (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

    0

    0005

    0098

    0129

    0192

    0254

    0005

    001

    0096

    0128

    019

    0252

    001

    0015

    0096

    0127

    019

    0252

    002

    002

    0097

    0128

    0191

    0253

    002

    003

    0099

    0131

    0193

    0256

    003

    004

    0104

    0136

    0199

    0262

    004

    006

    0113

    0144

    0207

    027

    006

    008

    012

    0153

    0215

    0278

    008

    01

    0126

    0163

    0225

    0288

    010

    015

    014

    0184

    0249

    0312

    015

    02

    0157

    0208

    0279

    0341

    02

    03

    0207

    0268

    0354

    042

    03

    04

    0257

    0329

    0428

    0504

    04

    06

    0352

    044

    0562

    0655

    06

    08

    0447

    0549

    0692

    08

    08

    1

    053

    0646

    0806

    0925

    10

    12

    0629

    0758

    0933

    1064

    12

    14

    0795

    0941

    1133

    1274

    14

    18

    0875

    1035

    1257

    1415

    Check Operating Conditions2Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DDA motor specifications to determine whether the DDA motor can be used under the applicable operating conditions Please contact IAI for assistance To

    rque

    (Nm

    )

    Curr

    ent [

    Arm

    s]

    Angular velocity [degs]

    AccelerationDeceleration AreaAccelerationDeceleration Area

    Torq

    ue (N

    m)

    Curr

    ent [

    Arm

    s]

    Angular velocity [degs]

    AccelerationDeceleration AreaAccelerationDeceleration Area

    Rating areaRating area

    270deg travel time [sec]180deg travel time [sec]

    90deg travel time [sec]45deg travel time [sec]

    Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

    270deg travel time [sec]180deg travel time [sec]

    90deg travel time [sec]45deg travel time [sec]

    Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

    Cables

    (Front view) (Front view)

    Controller sideActuator side

    (16)

    (41)

    (φ9) (2

    1)

    (20) (10)

    (18)

    L

    4

    1

    1

    4

    075sq075sq

    Wiring Color Signal No No WiringColorSignal

    White

    GreenRed

    BlackV

    PEU

    W PE

    VU

    W3

    12

    43

    12

    4

    White

    Green

    Red

    Black (crimped)

    Model Number CB-X-MApoundpoundpound Please indicate the cable length (L) in poundpoundpound maximum 30m eg) 080 = 8m

    Minimum bending radius r = 51mm or more (Dynamic bending condition) Only robot cable is available for this model

    L

    4

    1

    1

    4

    (φ9)

    (Front view)

    (16)

    (41)

    (16)(21)

    (11)

    1

    1

    4

    (φ9)

    (16)

    Controller side Actuator side

    125sq125sq

    Wiring Color Signal No No WiringColorSignal

    White

    GreenRed

    BlackV

    PEU

    W PE

    VU

    W3

    12

    43

    12

    4

    White

    Green

    Red

    Black (crimped)

    Model Number CB-XMC-MApoundpoundpound Please indicate the cable length (L) in poundpoundpound maximum 30m eg) 080 = 8m

    Minimum bending radius r = 55mm or more (Dynamic bending condition) Only robot cable is available for this model

    (Front view)(Front view)

    AWG26(Soldered)

    AWG26(crimped)

    L

    (13)

    14

    269

    1

    13

    (37)

    (41) (14)

    (15)

    (25)

    1

    (φ10

    )

    Yellow

    Shield is clamp connected to the hoodDrain Wire and Braided Shield

    BlueBlackRedGray

    PurpleGreen

    OrangeWhiteGrayWhitePurpleWhiteBlackWhiteRed

    WhiteYellowWhiteBlue

    RedGray

    PurpleGreen

    Orange

    YellowBlue

    WhiteGreenBlack

    Drain

    WhiteOrangeWhiteGrayWhitePurpleWhiteBlackWhiteRed

    WhiteYellowWhiteBlue

    WhiteOrangeWhiteGreen

    Wiring Color Signal No

    WiringColorSignalNo

    Controller side Actuator side

    Minimum bending radius r = 58mm or more (Dynamic bending condition) Only robot cable is available for this model

    Model Number CB-X3-PApoundpoundpound

    Model Number CB-DDB-BKpoundpoundpound

    Please indicate the cable length (L) in poundpoundpound maximum 30m eg) 080 = 8m

    Please indicate the cable length (L) in poundpoundpoundmaximum 20m eg) 080 = 8m

    18

    DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

    Catalog No CE0242-1A (0916)

    IAI America Inc 2690 W 237th Street Torrance CA 90505 (800) 736-1712 110 E State Pkwy Schaumburg IL 60173 (800) 944-0333

    1220 Kennestone Circle Suite 108 Marietta GA 30066 (888) 354-9470

    wwwintelligentactuatorcom

    IAI Industrieroboter GmbHOber der Roumlth 4 D-65824 Schwalbach am Taunus Germany

    IAI (Shanghai) Co LtdShanghai Jiahua Business Center A8-303 808Hongqiao Rd Shanghai 200030 China

    IAI Robot (Thailand) Co Ltd825 Phairojkijja Tower 12th Floor Bangna-Trad RDBangna Bangna Bangkok 10260 Thailand

    The information contained in this product brochure may change without prior notice due to product improvements

    • Features
    • Series List
    • Model Specification Items
    • Application Examples
    • DDA-LT18C
    • DDACR-LT18C
    • DDA-LT18C-B
    • DDA-LH18C
    • DDACR-LH18C
    • DDA-LH18C-B
    • Options
    • SCON-CB
    • X-SEL
    • Precautions
    • Selecting the DD Motor
    • Cables

      The Direct Drive Motor DDA Series ismiddot The motor directly drives the rotary table without a speed

      reducing mechanism such as a belt or speed reducermiddot Compact high-speed and responsivemiddot More affordable than the conventional DD series

      Features

      Without brake(StandardCleanroom

      specification)

      With brake(Standard)

      LT18C Thin type (Rated torque 84Nmiddotm)

      Hollow boreφ52mm

      Hollow boreφ35mm

      Hollow boreφ52mm

      Hollow boreφ35mm

      LH18C High torque type (Rated torque 25Nmiddotm)

      5Standard type

      Model number

      Encoder resolution

      Positioning repeatability

      DDA-L18CP20-bit

      1048576 pulsesrev

      plusmn000103 deg(plusmn37s)

      High resolution type

      20-bitEncoder resolution

      Indexingaccuracy

      plusmn001249 deg(plusmn45s)

      plusmn000833 deg(plusmn30s)

      17-bit

      DDA-L18CS17-bit

      131072 pulsesrev

      plusmn00055 deg(plusmn198s)

      6 Corresponds to the indexing accuracyIt corresponds to the indexing accuracy when connected to SCON-CB and allows for more accurate positioning

      4The high torque type has about three times more torque

      MAX25kg

      200mm 200mm

      MAX90kg

      200mm 200mm

      MAX270kg

      200mm 200mm

      Shorter positioning time means shorter cycle time of your equipment resulting in greater productivity

      DDA-LT18C type

      DDA-LH18C type

      Allowable inertia moment

      017kgmiddotm2

      RCS2-RTC12L (Deceleration ratio 130)

      Allowable inertia moment

      060kgmiddotm2

      DDA-LT18C type

      Allowable inertia moment

      18kgmiddotm2

      DDA-LH18C type

      Max instantaneous torque 86N∙m Max instantaneous torque 252N∙m Max instantaneous torque 75N∙m

      CleanlinessCleanliness CleanlinessCleanlinessClass ClassClass

      10Class

      25

      Larg

      e ho

      llow

      bor

      e ty

      pe

      High speed high accelerationdeceleration

      Brake-equipped specifications have been added to the flange-less high torquehollow type Cleanroom specifications are also available

      Achieves a lower price

      3

      1

      2The price has been reduced by about 33 as compared with the conventional DD series

      RCS2-RTC12L

      ltComparison of Cycle TimesgtOperating conditions When a work part weighing 100g is placed on an aluminum disc of 300mm in diameter and 6mm in thickness and rotated by 180deg

      05sApprox

      50Quicker

      Approx

      42Quicker

      025s

      014s

      t6mm

      φ300mm

      About 33 less

      DD-LT18C DDA-LT18C

      (FedStd209D) (ISO14644-1)

      High-resolution type is available

      High torque high payload

      High Speed High Payload High Accuracy and Easy to Control Introducing the Direct Drive Motor DDA Series Boasting Ultimate Usability

      2

      DDA Motor Series List

      Model Specification Items

      Application Examples

      Cable Length

      Encoder Type

      Operation Range

      Series Motor Wattage

      DDADDACR

      Applicable Controllers

      Options360 T2

      Type

      Type Encoder

      Large bore slim

      Large bore slim

      Large bore high torqueLarge bore high torque

      Standard (17-bit)

      High resolution (20-bit)

      Standard (17-bit)

      High resolution (20-bit)

      Index Table ltInspection device for small boardsgt

      Transport of Workpieces ltTransporting parts from a conveyor to anothergt

      Index TableltParts assembly devicegt

      Multi-rotation OperationltTransporting electronic componentsgt

      Type

      Cleanroom specification only

      Encoder

      Modelnumber

      Standard

      Cleanroom spec

      External view

      Rated torque (N∙m)

      Max instantaneous torque (N∙m)

      Rated speed (degs)

      Maximum speed (degs)

      Motor wattage (W)

      Size (φ)

      Height(mm)

      wo brakew brake

      wo brake

      w brake

      wo brake

      w brake

      Hollow bore (φ)

      Mass(kg)

      Cleanliness

      Encoder type

      Applicable controller

      Reference page

      84

      252

      1080

      1800

      200φ180

      70

      115

      φ52

      φ35

      58

      87

      Class 10 (FedStd209D)Class 25 or equivalent (ISO 14644-1 Standard)

      Index absoluteMulti-rotation absolute

      P5 P9

      DDA-LT18CS

      SCON-CBXSEL SCON-CB SCON-CB

      XSEL SCON-CB

      DDA-LT18CP DDA-LH18CS DDA-LH18CP

      DDACR-LT18CS DDACR-LT18CP DDACR-LH18CS DDACR-LH18CP

      Standard (17-bit)

      High resolution(20-bit)

      Standard (17-bit)

      High resolution(20-bit)

      Large bore slim type Large bore high torque type

      DDA StandardDDACR Cleanroom specification

      LT18CS

      LT18CP

      LH18CS

      LH18CP

      None

      3m

      5m

      Specified length

      N

      S

      M

      X

      Cable exits from the bottom

      Cable exits from the side

      Brake

      Flange

      A0

      A1

      B

      FL

      200

      600

      200W

      600W

      360 360 deg

      NoteOnly SCON-CB can be selected for the high resolution encoder type (20-bit)

      SCON

      XSEL-PQ

      XSEL-RS

      T2AI

      AM

      Index absolute type

      Multi-rotation absolute type

      Assembling device

      25

      75

      800

      1440

      600φ180

      1228

      1873

      φ52

      φ35

      13

      174

      Class 10 (FedStd209D)Class 25 or equivalent (ISO 14644-1 Standard)

      Index absoluteMulti-rotation absolute

      3

      DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

      DDA Motor Series List

      Model Specification Items

      Application Examples

      Cable Length

      Encoder Type

      Operation Range

      Series Motor Wattage

      DDADDACR

      Applicable Controllers

      Options360 T2

      Type

      Type Encoder

      Large bore slim

      Large bore slim

      Large bore high torqueLarge bore high torque

      Standard (17-bit)

      High resolution (20-bit)

      Standard (17-bit)

      High resolution (20-bit)

      Index Table ltInspection device for small boardsgt

      Transport of Workpieces ltTransporting parts from a conveyor to anothergt

      Index TableltParts assembly devicegt

      Multi-rotation OperationltTransporting electronic componentsgt

      Type

      Cleanroom specification only

      Encoder

      Modelnumber

      Standard

      Cleanroom spec

      External view

      Rated torque (N∙m)

      Max instantaneous torque (N∙m)

      Rated speed (degs)

      Maximum speed (degs)

      Motor wattage (W)

      Size (φ)

      Height(mm)

      wo brakew brake

      wo brake

      w brake

      wo brake

      w brake

      Hollow bore (φ)

      Mass(kg)

      Cleanliness

      Encoder type

      Applicable controller

      Reference page

      84

      252

      1080

      1800

      200φ180

      70

      115

      φ52

      φ35

      58

      87

      Class 10 (FedStd209D)Class 25 or equivalent (ISO 14644-1 Standard)

      Index absoluteMulti-rotation absolute

      P5 P9

      DDA-LT18CS

      SCON-CBXSEL SCON-CB SCON-CB

      XSEL SCON-CB

      DDA-LT18CP DDA-LH18CS DDA-LH18CP

      DDACR-LT18CS DDACR-LT18CP DDACR-LH18CS DDACR-LH18CP

      Standard (17-bit)

      High resolution(20-bit)

      Standard (17-bit)

      High resolution(20-bit)

      Large bore slim type Large bore high torque type

      DDA StandardDDACR Cleanroom specification

      LT18CS

      LT18CP

      LH18CS

      LH18CP

      None

      3m

      5m

      Specified length

      N

      S

      M

      X

      Cable exits from the bottom

      Cable exits from the side

      Brake

      Flange

      A0

      A1

      B

      FL

      200

      600

      200W

      600W

      360 360 deg

      NoteOnly SCON-CB can be selected for the high resolution encoder type (20-bit)

      SCON

      XSEL-PQ

      XSEL-RS

      T2AI

      AM

      Index absolute type

      Multi-rotation absolute type

      Assembling device

      25

      75

      800

      1440

      600φ180

      1228

      1873

      φ52

      φ35

      13

      174

      Class 10 (FedStd209D)Class 25 or equivalent (ISO 14644-1 Standard)

      Index absoluteMulti-rotation absolute

      4

      DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

      DDA-LT18C

      Controller is not included

      P

      O I N T

      SelectionNotes

      (Note 1) The value in ( ) indicates the maximum speed The maximum speed may not be reached if the moving distance is short

      (Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in five years based on this load

      (Note 3) The maximum cable length is 30m Specify a desired length in meters (Example X08 = 8m)

      (Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control

      (Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type

      Legend Cable length Option

      ModelSpecifications

      (1) SCON and XSEL have different minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information

      ② Options

      ① Cable Length

      Cable type Cable code

      StandardS (3m)M (5m)

      Specified length X06 (6m) ~X10 (10m)X11 (11m) ~X30 (30m)

      Name Option code

      Cable exits from the bottom A0

      Cable exits from the side A1

      Flange FL

      Please refer to P18 for more information regarding the maintenance cables

      1 Indexing accuracy is supported when connected to SCON-CB

      DDACR-LT18C Clean Room Type

      Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198s) 20-bit plusmn000103deg (plusmn37s)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45s) 20-bit plusmn000833deg (plusmn30s)Allowable load moment (Note 2) 80Nmiddotm

      Encoder resolution 17-bit 131072 pulsesrev20-bit 1048576 pulsesrev

      Allowable thrust load (Note 2) Forward 3100N Reverse 250NBase material AluminumAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)

      Cleanroom specification

      Cleanliness Class 10 (FedStd209D) class 25 or equivalent (ISO 14644-1 Standard)Suction amount 35Nℓmin

      Weight 58kg

      Common Specifications

      Encoder type Model number Motor

      wattage (W)

      Operation range (deg) (1)

      Speed (degs) (Note 1)

      Rated torque (Nmiddotm) (2)

      Maximum instantaneous torque (Nmiddotm)

      Allowable inertia

      moment (kgmiddotm2)

      Rotor inertia (kgmiddotm2)

      17-bit index absolute type DDA (CR)-LT18CS-AI-200-360-T2-① -②

      200

      0~359999 deg

      1~1080 (1~1800) 84 252 06 00043

      17-bit multi-rotation absolute type DDA (CR)-LT18CS-AM-200-360-T2-① -② plusmn9999 deg max

      20-bit index absolute type DDA (CR)-LT18CP-AI-200-360-T2-① -② 0~359999 deg

      20-bit multi-rotation absolute type DDA (CR)-LT18CP-AM-200-360-T2-① -② plusmn2520 deg max

      (Note) A0 (cable exits from the bottom) option and FL (flange) option cannot be selected together

      Thrust (axial) run-out (No load) 30μm

      Radial run-out (No load) 30μm

      Run-out of Output Shaft

      Slim Type

      Large Bore Type

      Flange- Less Type

      Please refer to P16 for more information on the installation method

      Horizontal

      Side

      Vert

      ical

      Ceiling

      n Model Specification Items

      DDADDACR LT18C 200 360 T2

      Series Type Encoder Type

      Motor Type

      Operation Range

      Applicable Controllers

      Cable Length Options

      DDA StandardDDACR Cleanroom

      specification

      S Standard (17-bit)

      P High resolution (20-bit)

      AI Index absolute type

      AM Multi-rotation absolute type

      200 200W 360 360 deg T2 SCON XSEL-PQ XSEL-RS

      Note Only SCON for LT18CP

      N None S 3m M 5m Xpoundpound Specified

      length

      Please refer to the options table below Please make sure to

      specify either A0 or A1 for the cable exit direction

      5

      DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

      Motor connector

      Encoder connector

      32 or

      less

      11 500plusmn30

      24

      77

      615

      45

      φ6 Compatible tube diameter

      Air JointCR specication only

      R100 or less

      2-φ4 H7 depth 3For workpiece positioning

      6-M5 effective depth 8For workpiece mounting

      PCD102 plusmn01

      φ 52

      Hollo

      w b

      ore

      28

      φ 83

      24

      Air JointCR specification only

      Motor connector

      Encoder connector

      Rotating part of the work mounting surface

      φ180

      φ110h7 -00350

      70plusmn0

      3

      4

      φ178h8 -00630

      500plusmn30

      (φ21

      )

      32 or less

      138

      158

      φ116

      35

      003 A 003 A

      A

      75plusmn0

      1

      8-M6 effective depth 13PCD148 plusmn01

      75plusmn0

      1

      225degφ5 H7 depth 5For body positioning

      Body mounting surfaceBody positioning oblong hole

      2

      R25

      5+00120 depth 5

      Detail view of SS

      CAD drawings can be downloaded from our websitewwwintelligentactuatorcom

      2DCAD2DCAD

      3DCAD3D

      CAD

      Dimensions

      Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use

      LT18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers

      Name External view

      Max number of controlled axes Power supply voltage Control method Maximum number of

      positioning pointsReference

      pagePositioner Pulse-train Program Network Option

      SCON-CBCGB 1Single-phase

      200VAC -

      Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information

      512 (768 for network spec)

      P14

      SCON-LCLCG 1Single-phase

      200VAC- -

      512 (768 for network spec)

      P14

      XSEL-PQRS 8Single-phase 200VACThree-phase 200VAC

      - - 53332

      (Depending on the type)P15

      (Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side

      6

      DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

      ② Options

      P

      O I N T

      SelectionNotes

      (Note 1) The value in ( ) indicates the maximum speed The maximum speed may not be reached if the moving distance is short

      (Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in five years based on this load

      (Note 3) The maximum cable length is 20m Specify a desired length in meters (Example X08 = 8m)

      (Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control

      (Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type

      (Note 6) The brake is used for retention purposes only so damage may be caused if it is actually used in attempts to slow or stop the actuator

      ModelSpecifications

      Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198s) 20-bit plusmn000103deg (plusmn37s)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45s) 20-bit plusmn000833deg (plusmn30s)Allowable load moment (Note 2) 80Nmiddotm

      Encoder resolution 17-bit 131072 pulsesrev 20-bit 1048576 pulsesrev

      Allowable thrust load (Note 2) Forward 3100N Reverse 250NBrake retaining torque 25NmiddotmBase material AluminumAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)Weight 87kg

      Common Specifications

      Thrust (axial) run-out (No load) 30μm

      Radial run-out (No load) 30μm

      Run-out of Output Shaft

      ① Cable Length

      Cable type Cable code

      StandardS (3m)M (5m)

      Specified length X06 (6m) ~X10 (10m)X11 (11m) ~X20 (20m)

      Please refer to P18 for more information regarding the maintenance cables

      1 Indexing accuracy is supported when connected to SCON-CB

      Encoder type Model number Motor

      wattage (W)

      Operation range (deg) (1)

      Speed (degs) (Note 1)

      Rated torque (Nmiddotm) (2)

      Maximum instantaneous torque (Nmiddotm)

      Allowable inertia

      moment (kgmiddotm2)

      Rotor inertia (kgmiddotm2)

      17-bit index absolute type DDA-LT18CS-AI-200-360-T2-① -② -B

      200

      0~359999 deg

      1~1080 (1~1800) 84 252 06 00043

      17-bit multi-rotation absolute type DDA-LT18CS-AM-200-360-T2-① -② -B plusmn9999 deg max

      20-bit index absolute type DDA-LT18CP-AI-200-360-T2-① -② -B 0~359999 deg

      20-bit multi-rotation absolute type DDA-LT18CP-AM-200-360-T2-① -② -B plusmn2520 deg max

      Name Option code

      Cable exits from the bottom A0

      Cable exits from the side A1

      Brake (With brake box) 1 B

      1 A brake cable is not supplied if N (None) is selected as the cable length Please order a brake cable as a separate item in that case

      Controller is not included

      DDA-LT18C-B Slim Type

      Large Bore Type

      Flange- Less Type

      n Model Specification Items

      DDA LT18C 200 360 T2 BSeries Type Encoder

      TypeMotor Type

      Operation Range

      Applicable Controllers

      Cable Length Options Option

      S Standard (17-bit)

      P High resolution (20-bit)

      AI Index absolute type

      AM Multi-rotation absolute type

      200 200W 360 360 deg T2 SCON XSEL-PQ XSEL-RS

      Note Only SCON for LT18CP

      N None S 3m M 5m Xpoundpound Specified

      length

      Please refer to the options table below Please make sure to

      specify either A0 or A1 for the cable exit direction

      B Brake

      (1) SCON and XSEL have different minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information

      Legend Cable length Option

      Please refer to P16 for more information on the installation method

      Horizontal

      Side

      Vert

      ical

      Ceiling

      7

      DDA Direct Drive Motor

      Dimensions

      Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use

      LT18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers

      Name External view

      Max number of controlled axes Power supply voltage Control method Maximum number of

      positioning pointsReference

      pagePositioner Pulse-train Program Network Option

      SCON-CBCGB 1Single-phase

      200VAC -

      Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information

      512 (768 for network spec)

      P14

      SCON-LCLCG 1Single-phase

      200VAC- -

      512 (768 for network spec)

      P14

      XSEL-PQRS 8Single-phase 200VACThree-phase 200VAC

      - - 53332

      (Depending on the type)P15

      (Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side

      Motor connector

      Encoder connector

      32 o

      r les

      s

      500+500

      φ1235

      45 o

      r les

      s

      500plusmn30

      Brake connector

      φ 35

      Hol

      low

      bor

      e

      24

      77

      Motor connector

      Encoder connector

      45 o

      r les

      s

      φ1235500+50

      0

      Brake connector

      φ 35

      Hol

      low

      bor

      e

      R100 or less

      2-φ4 H7 depth 3For workpiece positioning

      6-M5 effective depth 8For workpiece mounting

      PCD102 plusmn01

      φ 52

      Hol

      low

      bor

      e

      φ 83

      Rotating part of the work mounting surface

      φ180

      φ110h7 -00350

      70plusmn0

      3

      4

      φ178h8 -00630

      500plusmn30

      φ 21

      32 or less

      138

      158

      φ116

      35

      003 A 003 A

      A

      75plusmn0

      1

      8-M6 effective depth 13PCD148 plusmn01

      75plusmn0

      1

      225degφ5 H7 depth 5For body positioning

      Body mounting surfaceBody positioning oblong hole

      S

      2

      R25

      5+00120 depth 5

      Detail view of S

      24

      CAD drawings can be downloaded from our websitewwwintelligentactuatorcom

      2DCAD2DCAD

      3DCAD3D

      CAD

      8

      DDA Direct Drive Motor

      P

      O I N T

      SelectionNotes

      (Note 1) The value in ( ) indicates the maximum speed The maximum speed may not be reached if the moving distance is short

      (Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in five years based on this load

      (Note 3) The maximum cable length is 30m Specify a desired length in meters (Example X08 = 8m)

      (Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control

      (Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type

      ModelSpecifications

      ① Cable Length

      Cable type Cable code

      StandardS (3m)M (5m)

      Specified length X06 (6m) ~X10 (10m)X11 (11m) ~X30 (30m)

      Please refer to P18 for more information regarding the maintenance cables

      1 Indexing accuracy is supported when connected to SCON-CB

      Thrust (axial) run-out (No load) 30μm

      Radial run-out (No load) 30μm

      Run-out of Output Shaft

      Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198s) 20-bit plusmn000103deg (plusmn37s)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45s) 20-bit plusmn000833deg (plusmn30s)Allowable load moment (Note 2) 80Nmiddotm

      Encoder resolution 17-bit 131072 pulsesrev20-bit 1048576 pulsesrev

      Allowable thrust load (Note 2) Forward 3100N Reverse 250NBase material AluminumAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)

      Cleanroom specification

      Cleanliness Class 10 (FedStd209D) class 25 or equivalent (ISO 14644-1 Standard)Suction amount 35Nℓmin

      Weight 13kg

      Common Specifications

      Encoder type Model number Motor

      wattage (W)

      Operation range (deg) (1)

      Speed (degs) (Note 1)

      Rated torque (Nmiddotm) (2)

      Maximum instantaneous torque (Nmiddotm)

      Allowable inertia

      moment (kgmiddotm2)

      Rotor inertia (kgmiddotm2)

      17-bit index absolute type DDA (CR)-LH18CS-AI-600-360-T2-① -②

      600

      0~359999 deg

      1~800 (1~1440) 25 75 18 00092

      17-bit multi-rotation absolute type DDA (CR)-LH18CS-AM-600-360-T2-① -② plusmn9999 deg max

      20-bit index absolute type DDA (CR)-LH18CP-AI-600-360-T2-① -② 0~359999 deg

      20-bit multi-rotation absolute type DDA (CR)-LH18CP-AM-600-360-T2-① -② plusmn2520 deg max

      ② Options

      Name Option code

      Cable exits from the bottom A0

      Cable exits from the side A1

      Flange FL

      (Note) A0 (cable exits from the bottom) option and FL (flange) option cannot be selected together

      DDA-LH18C

      Controller is not included

      DDACR-LH18C Clean Room Type

      High Torque

      Type

      Large Bore Type

      Flange- Less Type

      n Model Specification Items

      DDADDACR LH18C 600 360 T2

      Series Type Encoder Type

      Motor Type

      Operation Range

      Applicable Controllers

      Cable Length Options

      DDA StandardDDACR Cleanroom

      specification

      S Standard (17-bit)

      P High resolution (20-bit)

      AI Index absolute type

      AM Multi-rotation absolute type

      600 600W 360 360 deg T2 SCON XSEL-PQ XSEL-RS

      Note Only SCON for LH18CP

      N None S 3m M 5m Xpoundpound Specified

      length

      Please refer to the options table below Please make sure to

      specify either A0 or A1 for the cable exit direction

      (1) SCON and XSEL have different minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information

      Legend Cable length Option

      Please refer to P16 for more information on the installation method

      Horizontal

      Side

      Vert

      ical

      Ceiling

      9

      DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

      Dimensions

      Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use

      LH18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers

      Name External view

      Max number of controlled axes Power supply voltage Control method Maximum number of

      positioning pointsReference

      pagePositioner Pulse-train Program Network Option

      SCON-CBCGB 1Single-phase

      200VAC -

      Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information

      512 (768 for network spec)

      P14

      SCON-LCLCG 1Single-phase

      200VAC- -

      512 (768 for network spec)

      P14

      XSEL-PQRS 8Single-phase 200VACThree-phase 200VAC

      - - 53332

      (Depending on the type)P15

      (Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side

      Encoder connector

      Motor connector

      45

      615

      24

      77

      φ6 Compatible tube diameter

      Air JointCR specication only

      32 o

      r les

      s11

      500plusmn30

      R100 or less

      2-φ4 H7 depth 3For workpiece positioning

      6-M6 effective depth 12For workpiece mounting

      PCD102plusmn01

      φ 52

      Hol

      low

      bor

      e

      φ 83

      2428

      Rotating part of the work mounting surface Encoder connector

      Motor connector

      Air JointCR specification only

      75plusmn0

      1

      8-M8 effective depth 16PCD148 plusmn01

      75plusmn0

      1

      φ5 H7 depth 5For body positioning 225deg

      Body mounting surfaceBody positioning oblong hole

      φ110h7 -00350

      φ116φ180

      φ178h8 -00630

      412

      28

      plusmn03

      32 or less

      φ 21

      500plusmn30

      35

      138

      158

      003 A

      003 A

      A

      5 +00120 depth 5

      2

      R25

      Detail view of S

      S

      CAD drawings can be downloaded from our websitewwwintelligentactuatorcom

      2DCAD2DCAD

      3DCAD3D

      CAD

      10

      DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

      1 A brake cable is not supplied if N (None) is selected as the cable length Please order a brake cable as a separate item in that case

      ② Options

      ModelSpecifications

      Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198s) 20-bit plusmn000103deg (plusmn37s)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45s) 20-bit plusmn000833deg (plusmn30s)Allowable load moment (Note 2) 80Nmiddotm

      Encoder resolution 17-bit 131072 pulsesrev20-bit 1048576 pulsesrev

      Allowable thrust load (Note 2) Forward 3100N Reverse 250NBase material AluminumBrake retaining torque 50NmiddotmAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)Weight 174kg

      Common Specifications

      Thrust (axial) run-out (No load) 30μm

      Radial run-out (No load) 30μm

      Run-out of Output Shaft

      Encoder type Model number Motor

      wattage (W)

      Operation range (deg) (1)

      Speed (degs) (Note 1)

      Rated torque (Nmiddotm) (2)

      Maximum instantaneous torque (Nmiddotm)

      Allowable inertia

      moment (kgmiddotm2)

      Rotor inertia (kgmiddotm2)

      17-bit index absolute type DDA-LH18CS-AI-600-360-T2-① -② -B

      600

      0~359999 deg

      1~800 (1~1440) 25 75 18 00092

      17-bit multi-rotation absolute type DDA-LH18CS-AM-600-360-T2-① -② -B plusmn9999 deg max

      20-bit index absolute type DDA-LH18CP-AI-600-360-T2-① -② -B 0~359999 deg

      20-bit multi-rotation absolute type DDA-LH18CP-AM-600-360-T2-① -② -B plusmn2520 deg max

      Name Option code

      Cable exits from the bottom A0

      Cable exits from the side A1

      Brake (With brake box) 1 B

      ① Cable Length

      Cable type Cable code

      StandardS (3m)M (5m)

      Specified length X06 (6m) ~X10 (10m)X11 (11m) ~X20 (20m)

      Please refer to P18 for more information regarding the maintenance cables

      1 Indexing accuracy is supported when connected to SCON-CB

      Controller is not included

      DDA-LH18C-B High Torque

      Type

      Large Bore Type

      (1) SCON and XSEL have different minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information

      Flange- Less Type

      P

      O I N T

      SelectionNotes

      (Note 1) The value in ( ) indicates the maximum speed The maximum speed may not be reached if the moving distance is short

      (Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in five years based on this load

      (Note 3) The maximum cable length is 20m Specify a desired length in meters (Example X08 = 8m)

      (Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control

      (Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type

      (Note 6) The brake is used for retention purposes only so damage may be caused if it is actually used in attempts to slow or stop the actuator

      Legend Cable length Option

      Please refer to P16 for more information on the installation method

      Horizontal

      Side

      Vert

      ical

      Ceiling

      n Model Specification Items

      DDA LH18C 600 360 T2 BSeries Type Encoder

      TypeMotor Type

      Operation Range

      Applicable Controllers

      Cable Length Options Option

      S Standard (17-bit)

      P High resolution (20-bit)

      AI Index absolute type

      AM Multi-rotation absolute type

      600 600W 360 360 deg T2 SCON XSEL-PQ XSEL-RS

      Note Only SCON for LH18CP

      N None S 3m M 5m Xpoundpound Specified

      length

      Please refer to the options table below Please make sure to

      specify either A0 or A1 for the cable exit direction

      B Brake

      11

      DDA Direct Drive Motor

      Dimensions

      Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use

      LH18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers

      Name External view

      Max number of controlled axes Power supply voltage Control method Maximum number of

      positioning pointsReference

      pagePositioner Pulse-train Program Network Option

      SCON-CBCGB 1Single-phase

      200VAC -

      Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information

      512 (768 for network spec)

      P14

      SCON-LCLCG 1Single-phase

      200VAC- -

      512 (768 for network spec)

      P14

      XSEL-PQRS 8Single-phase 200VACThree-phase 200VAC

      - - 53332

      (Depending on the type)P15

      (Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side

      Encoder connector

      Motor connector

      φ 35

      Hol

      low

      bor

      e

      32 o

      r les

      s

      φ1235

      645

      or l

      ess

      500+500

      500plusmn30

      Brake connector

      24

      77

      Encoder connector

      Motor connector

      φ 35

      Hol

      low

      bor

      e64

      5 o

      r les

      s

      φ1235500+50

      0

      Brake connector

      R100 or less

      2-φ4 H7 depth 3For workpiece positioning

      6-M6 effective depth 12For workpiece mounting

      PCD102 plusmn01

      φ 52

      Hol

      low

      bor

      e

      φ 83

      Rotating part of the work mounting surface

      φ110h7 -00035

      φ116φ180

      φ178h8 -00063

      412

      28

      plusmn03

      32 or less

      φ 21

      500plusmn30

      35

      138

      158

      003 A

      003 A

      A

      75plusmn0

      1

      8-M8 effective depth 16PCD148 plusmn01

      75plusmn0

      1

      φ5 H7 depth 5For body positioning 225deg

      Body mounting surfaceBody positioning oblong hole

      S 5 +00120 depth 5

      2

      R25

      Detail view of S24

      CAD drawings can be downloaded from our websitewwwintelligentactuatorcom

      2DCAD2DCAD

      3DCAD3D

      CAD

      12

      DDA Direct Drive Motor

      OptionsIt is a retention mechanism for holding the stop position when the power or servo is OFF to prevent the workpieces and attachments from being damaged when used in side or vertical positions Be sure to connect a brake box for models with brake

      A bracket that attaches to the body with bolts from the top side

      Brake

      Flange

      Option Code B

      Option Code FL

      cent Brake Box

      cent Wiring Diagram When Brake Box is Used

      DDA-LT18CModel Number DDA-FL-LT18

      Model Number IA-110-DD-4

      DDA-LH18CModel Number DDA-FL-LH18

      PCD200

      PCD200

      plusmn0075plusmn0075

      55deg

      55deg

      180

      180

      180180

      160

      160

      plusmn01

      plusmn01

      160160 plusmn01plusmn01

      4-φ 1

      14-φ 1

      1thr

      ough

      thro

      ugh

      2- φ62- φ6

      H7 through

      H7 through

      135

      135

      815

      815

      plusmn04

      plusmn04

      φ1245φ1245

      55deg

      55deg

      PCD

      PCD200plusmn0075200plusmn0075

      180

      180

      180180160160 plusmn01plusmn01

      160

      160

      plusmn01

      plusmn01

      2- φ62- φ6

      H7 throughH7 through

      4-φ1

      14-φ1

      1thr

      ough

      thro

      ugh

      155

      15513

      63

      136

      3plusmn0

      4plusmn0

      4

      φ1245φ1245

      PG OUTPWRON

      BKOUT

      + - C E

      BKRMT

      RLSBKOUT

      PG IN

      PWRPE N L

      MODEL IA-110-DD-4SN INPUT Single phase 100-240V

      MADE IN JAPAN

      5060Hz 10A maxOUTPUT 12VDC 06A

      PG OUTPWRON

      BKOUT

      + - C E

      BKRMT

      RLSBKOUT

      PG IN

      PWRPE N L

      MODEL IA-110-DD-4SN INPUT Single phase 100-240V

      MADE IN JAPAN

      5060Hz 10A maxOUTPUT 12VDC 06A

      ControllerSCON-CBXSEL-PQRSDDA

      Motor cableModel CB-X(XMC)-MApoundpoundpound

      Brake box

      Encoder cableModel CB-X3-PA010(Comes with the brake box)

      Encoder cableModel CB-X3-PApoundpoundpound

      Brake cableModel CB-DDB-BKpoundpoundpound Main power supply

      100VAC~240VAC

      13

      DDA (CR) Direct Drive Motor

      Position Controller

      Controller Model

      System Configuration

      Positioner Single-axis Type ltSCONgt Model

      Power Supply Voltage

      IO TypeEncoder Type Motor Type Type Series SCON

      IO Cable Length

      AIAM

      2

      The 200W motor used by the DDA is larger than a normal 200W motor so the motor type for the controller will be 200S and its size will be larger than the 400W motor

      For 200W motorFor 600W motor

      200S600

      High-function typeSafety category compliant type

      CBCGB

      PLC equipped typeSafety category PLC equipped type

      LCLCG

      Motor cableModel CB-X-MA (LT18C) CB-XMC-MA (LH18C)

      SCON PC

      DDA

      PLC(To be supplied by the customer)

      IO flat cableModel CB-PAC-PIO020Standard 2m

      Be sure to use a noise filter on the power supply

      ( )Encoder cableModel CB-X3-PA

      PC compatible softwareRS232 connection versionModel RCM-101-MWUSB connection versionModel RCM-101-USB(Please contact IAI for more details)

      Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)

      Regenerative resistor unitModel RESU-2RESUD-2(Please contact IAI for more details)

      1 The wiring diagram is different for models with brakes Please refer to P13 for more information

      1

      Single-phase 200VAC Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models

      Main powersupply

      Field network

      Option

      Supplied with the actuator

      Supplied with the controller

      Supplied with the actuator Option

      Option

      Option

      When the SCON Controller is Connected

      When a field network specification is selectedthe IO cable length will be 0

      Index absolute typeMulti-rotation abs type

      NPPN

      PIO NPN (Standard)

      PIO PNP

      DVCN

      DeviceNet

      CompoNet

      CC CC-Link

      ML MECHATROLINK-I II

      ML3PR

      MECHATROLINK-III

      PROFIBUS-DP

      02

      35

      No cable2m (Standard)

      3m5m

      EC EtherCAT

      EP EtherNetIP

      PRT PROFINET IO

      For recommended modelsplease contact IAI

      Model

      External view

      IO type

      IO type code

      MECHATROLINK-III

      connectionCompoNet connection

      PROFIBUS-DP connection

      CC-Linkconnection

      DeviceNetconnection

      PIO connection specification (1)

      NPPN DV CC PR

      Standard Field network type (1)

      CN ML

      SCON-CB

      EtherNetIP connection

      PROFINET IO connection

      EtherCATconnection

      EC EP PRT

      List of Models

      MECHATROLINK- III

      connection

      ML3

      Applicable encoder type(Note) The index absolute type cannot be used in the pulse-train control and MECHATROLINK-III control(1) Please note that the network specifications cannot be operated on the PIO or pulse-train The PLC type (LCLCG) cannot be connected on the pulse-train

      Index absoluteMulti-rotation absoluteIndex absolute Multi-rotation absolute

      CBCGB CBCGB LCLCG

      14

      SCON Controller

      Program Controller

      List of Models

      Model P Q R S

      Type Large-capacity type Large-capacity type (Safety category specification) High-function type High-function type

      (Safety category specification)

      External view

      DescriptionLarge-capacity type

      that can control up to 6 axes 2400W

      Large-capacity type thats compatible with the

      safety category 4

      High-function type that allows up to 8-axis operation

      Safety category 4 compatible high-function type

      Controller Model

      System Configuration

      Program Multi-axis Type ltXSELgt Model

      Encoder Type

      Encoder Type

      Motor Type

      Motor Type

      Number ofConnected

      AxesType Series Option Option

      XSEL

      200 For 200W motor

      600 For 600W motor

      B BrakePQRS

      6-axis type6-axis safety category type8-axis type8-axis safety category type

      8

      1

      ~ ~

      1 axis

      8 axes

      (PQ type is up to 6 axes)

      (Details of the 1st axis) (Details of the 2nd~8th axis)

      It can simultaneously operate actuators (single-axis robot and ROBO Cylinder) other than the DDA motor on a single controller For connectable actuators other than the DDA motor please contact IAI

      For subsequent models please contact IAI

      Notes

      AIAM

      Index absolute typeMulti-rotation absolute type

      When the XSEL Controller is Connected

      Be sure to use a noise filter on the power supply

      Motor cableModel CB-X-MA (LT18C) CB-XMC-MA (LH18C)

      XSELPC

      PLC(To be supplied by the customer)

      PC compatible softwareRS232 connection versionModel IA-101-X-MWUSB connection versionModel IA-101-X-USBMW(Please contact IAI for more details)

      Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)

      Single-phase 200VACThree-phase 200VAC

      Regenerative resistor unitModel RESU-1RESUD-1(Please contact IAI for more details)

      Option Option

      Option

      Field networkOption

      IO flat cableModel CB-X-PIO020Standard 2m

      Supplied with the controller

      Encoder cableModel CB-X3-PA

      Supplied with the actuator

      Supplied with the actuator

      Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models

      The wiring diagram is different for models with brakes Please refer to P13 for more information

      DDA

      Main powersupply ( )For recommended models

      please contact IAI

      15

      XSEL Controller

      Precautions

      Installation

      Installation Orientation

      Mountingsurface

      For models with brake and cable exit direction to the bottom a clearance hole is required

      Ceiling mount

      Horizontal mount

      Vertical mount

      Gra

      vity

      Operation TypeThis product is available in 2 operation types depending on the operation conditions Please check the features and precautions on each type before use

      (1)The high resolution specification can be connected only to the SCON-CB(2)When the XSEL index type travels more than 180deg from the current position it rotates in a direction that requires a shorter travel distance to

      reach the target position Therefore please note that the direction of rotation changes according to the current position and travel distance If you want to specify the direction of travel use the SCON-CB

      (3)The index type can be rotated in a given direction infinitely but it actually cannot continue to rotate in the same direction without stopping like a regular motor does because the maximum travel distance per command from the XSEL controller is 180deg If you want to allow the motor to rotate continuously use the SCON-CB

      (4)Home return is required for the multi-rotation absolute encoder during the initial setting and replacement of the absolute battery

      Absolute batteryHome return operationLimitless rotation

      Maximum amount of movement in a single movement command

      Operation rangeController typeOperation type

      Not requiredNot required

      Yes (3)

      0~359999deg

      Index absolute type

      RequiredNot required (4)

      No

      Above operation rangeplusmn9999deg (plusmn2520deg) max

      Multi-rotation absolute typeSCON-CB XSEL(1)

      ( ) is for 20-bit

      (Note) Use this product by installing it on a mounting surface having heat dissipating characteristics equivalent to those of an aluminum plate of w450mm times d450mm times t12mm in size If the installation conditions necessitate lower heat dissipating characteristics please consult IAI

      ControllersFor the DDA with 200W motor the outside dimensions of the SCON-CB controller will be the same as the size of the

      400W motor (Please contact IAI for the details of the SCON-CB controller)One and two regenerative resistor unit(s) are required for LT18C and LH18C respectively to operate a DDA

      motor with the SCON-CBWhen operating DDA motor(s) with the XSEL controller regenerative resistor units are required as shown below

      The number of DDA motor(s) connectable to the XSEL controller is a max of 8 units for the LT18C type and a max of 2 units for the LH18C type

      Please note that when the DDA motor is operated with the SCON-CB the motor cannot be connected to the ROBO Cylinder gateway function of the XSEL controller

      Calculation for the power supply value LT18C type single-phase 600W three-phase 200W LH18C type single-phase 1200W three-phase 600W

      Number of regenerative resistor units

      1 2 3 4 5 6 7 81 2 3

      (Cannot be connected)4

      2 4LT18CLH18C

      Number of DD motor(s)

      360deg

      SCON-CB XSEL(1)

      180deg(2)

      16

      DDA (CR) Direct Drive Motor

      Conditions for Selection

      The followings should be checked to determine whether the DDA motor can be used to suit the specific conditions required by the customer

      The customer should confirm that the following three points under actual use do not exceed their maximum allowable levels as specified for the DDA motor

      The total load of device(s) mounted on the actuator

      The total load moment of device(s) mounted on the actuator

      The load inertia of device(s) mounted on the actuator

      Check Load Conditions1

      [1] Thrust load

      [2] Load moment applied

      [3] Load inertia

      J = 18 times M times D 2 [kgm2]

      Mass M [kg]

      D [m]

      Center of rotation

      J = 112 times M times (a 2 + b 2) [kgm2]

      a [m]

      b [m]

      Center of rotation

      Mass M [kg]

      J = M times R 2+ 18 times M times D 2 [kgm2]

      Mass M [kg]

      D [m]

      R [m]

      Cent

      er o

      fro

      tatio

      n

      J = M times R 2+112 times M times (a 2 + b 2 )[kgm2]

      a [m]

      b [m]R [m]

      Cent

      er o

      fro

      tatio

      n

      Mass M [kg]

      The travel time changes according to the load inertia See the tables below to check the travel time data

      Travel Time Guide3

      The data in the tables are for a reference only and do not guarantee the actual travel times

      (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

      0

      0005

      009

      012

      017

      022

      0005

      001

      010

      012

      017

      022

      001

      002

      011

      014

      019

      024

      002

      003

      012

      016

      021

      026

      003

      004

      013

      017

      023

      027

      004

      005

      014

      018

      024

      029

      005

      006

      015

      020

      027

      032

      006

      007

      017

      022

      029

      035

      007

      008

      019

      024

      032

      038

      008

      009

      021

      026

      035

      041

      009

      01

      023

      029

      037

      044

      01

      02

      039

      048

      060

      069

      02

      03

      062

      073

      089

      100

      03

      04

      070

      083

      101

      114

      04

      05

      087

      102

      122

      136

      05

      06

      111

      123

      142

      168

      LH18C

      LT18C

      Continuous Operation Area

      LT18C type LH18C type

      (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

      0

      0005

      0098

      0129

      0192

      0254

      0005

      001

      0096

      0128

      019

      0252

      001

      0015

      0096

      0127

      019

      0252

      002

      002

      0097

      0128

      0191

      0253

      002

      003

      0099

      0131

      0193

      0256

      003

      004

      0104

      0136

      0199

      0262

      004

      006

      0113

      0144

      0207

      027

      006

      008

      012

      0153

      0215

      0278

      008

      01

      0126

      0163

      0225

      0288

      010

      015

      014

      0184

      0249

      0312

      015

      02

      0157

      0208

      0279

      0341

      02

      03

      0207

      0268

      0354

      042

      03

      04

      0257

      0329

      0428

      0504

      04

      06

      0352

      044

      0562

      0655

      06

      08

      0447

      0549

      0692

      08

      08

      1

      053

      0646

      0806

      0925

      10

      12

      0629

      0758

      0933

      1064

      12

      14

      0795

      0941

      1133

      1274

      14

      18

      0875

      1035

      1257

      1415

      Check Operating Conditions2Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DDA motor specifications to determine whether the DDA motor can be used under the applicable operating conditions Please contact IAI for assistance To

      rque

      (Nm

      )

      Curr

      ent [

      Arm

      s]

      Angular velocity [degs]

      AccelerationDeceleration AreaAccelerationDeceleration Area

      Torq

      ue (N

      m)

      Curr

      ent [

      Arm

      s]

      Angular velocity [degs]

      AccelerationDeceleration AreaAccelerationDeceleration Area

      Rating areaRating area

      270deg travel time [sec]180deg travel time [sec]

      90deg travel time [sec]45deg travel time [sec]

      Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

      270deg travel time [sec]180deg travel time [sec]

      90deg travel time [sec]45deg travel time [sec]

      Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

      Selecting the DD Motor

      17

      DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

      (44) (167)

      (80

      )

      31

      (84)(293)

      (92

      )

      31

      (φ5

      4)

      J11SF-03V-KX J11SFM-03V-KXNoNo SignalSignal ColorColor WiringWiring

      AWG20(crimped)

      Red

      Black

      White

      Red

      Black

      White

      +

      -

      FG

      +

      -

      FG

      321

      321

      AWG20(crimped)

      Controller side Actuator side(Front view)(Front view)

      L

      Conditions for Selection

      The followings should be checked to determine whether the DDA motor can be used to suit the specific conditions required by the customer

      The customer should confirm that the following three points under actual use do not exceed their maximum allowable levels as specified for the DDA motor

      The total load of device(s) mounted on the actuator

      The total load moment of device(s) mounted on the actuator

      The load inertia of device(s) mounted on the actuator

      Check Load Conditions1

      [1] Thrust load

      [2] Load moment applied

      [3] Load inertia

      J = 18 times M times D 2 [kgm2]

      Mass M [kg]

      D [m]

      Center of rotation

      J = 112 times M times (a 2 + b 2) [kgm2]

      a [m]

      b [m]

      Center of rotation

      Mass M [kg]

      J = M times R 2+ 18 times M times D 2 [kgm2]

      Mass M [kg]

      D [m]

      R [m]

      Cent

      er o

      fro

      tatio

      n

      J = M times R 2+112 times M times (a 2 + b 2 )[kgm2]

      a [m]

      b [m]R [m]

      Cent

      er o

      fro

      tatio

      n

      Mass M [kg]

      The travel time changes according to the load inertia See the tables below to check the travel time data

      Travel Time Guide3

      The data in the tables are for a reference only and do not guarantee the actual travel times

      (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

      0

      0005

      009

      012

      017

      022

      0005

      001

      010

      012

      017

      022

      001

      002

      011

      014

      019

      024

      002

      003

      012

      016

      021

      026

      003

      004

      013

      017

      023

      027

      004

      005

      014

      018

      024

      029

      005

      006

      015

      020

      027

      032

      006

      007

      017

      022

      029

      035

      007

      008

      019

      024

      032

      038

      008

      009

      021

      026

      035

      041

      009

      01

      023

      029

      037

      044

      01

      02

      039

      048

      060

      069

      02

      03

      062

      073

      089

      100

      03

      04

      070

      083

      101

      114

      04

      05

      087

      102

      122

      136

      05

      06

      111

      123

      142

      168

      LH18C

      LT18C

      Continuous Operation Area

      LT18C type LH18C type

      (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

      0

      0005

      0098

      0129

      0192

      0254

      0005

      001

      0096

      0128

      019

      0252

      001

      0015

      0096

      0127

      019

      0252

      002

      002

      0097

      0128

      0191

      0253

      002

      003

      0099

      0131

      0193

      0256

      003

      004

      0104

      0136

      0199

      0262

      004

      006

      0113

      0144

      0207

      027

      006

      008

      012

      0153

      0215

      0278

      008

      01

      0126

      0163

      0225

      0288

      010

      015

      014

      0184

      0249

      0312

      015

      02

      0157

      0208

      0279

      0341

      02

      03

      0207

      0268

      0354

      042

      03

      04

      0257

      0329

      0428

      0504

      04

      06

      0352

      044

      0562

      0655

      06

      08

      0447

      0549

      0692

      08

      08

      1

      053

      0646

      0806

      0925

      10

      12

      0629

      0758

      0933

      1064

      12

      14

      0795

      0941

      1133

      1274

      14

      18

      0875

      1035

      1257

      1415

      Check Operating Conditions2Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DDA motor specifications to determine whether the DDA motor can be used under the applicable operating conditions Please contact IAI for assistance To

      rque

      (Nm

      )

      Curr

      ent [

      Arm

      s]

      Angular velocity [degs]

      AccelerationDeceleration AreaAccelerationDeceleration Area

      Torq

      ue (N

      m)

      Curr

      ent [

      Arm

      s]

      Angular velocity [degs]

      AccelerationDeceleration AreaAccelerationDeceleration Area

      Rating areaRating area

      270deg travel time [sec]180deg travel time [sec]

      90deg travel time [sec]45deg travel time [sec]

      Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

      270deg travel time [sec]180deg travel time [sec]

      90deg travel time [sec]45deg travel time [sec]

      Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

      Cables

      (Front view) (Front view)

      Controller sideActuator side

      (16)

      (41)

      (φ9) (2

      1)

      (20) (10)

      (18)

      L

      4

      1

      1

      4

      075sq075sq

      Wiring Color Signal No No WiringColorSignal

      White

      GreenRed

      BlackV

      PEU

      W PE

      VU

      W3

      12

      43

      12

      4

      White

      Green

      Red

      Black (crimped)

      Model Number CB-X-MApoundpoundpound Please indicate the cable length (L) in poundpoundpound maximum 30m eg) 080 = 8m

      Minimum bending radius r = 51mm or more (Dynamic bending condition) Only robot cable is available for this model

      L

      4

      1

      1

      4

      (φ9)

      (Front view)

      (16)

      (41)

      (16)(21)

      (11)

      1

      1

      4

      (φ9)

      (16)

      Controller side Actuator side

      125sq125sq

      Wiring Color Signal No No WiringColorSignal

      White

      GreenRed

      BlackV

      PEU

      W PE

      VU

      W3

      12

      43

      12

      4

      White

      Green

      Red

      Black (crimped)

      Model Number CB-XMC-MApoundpoundpound Please indicate the cable length (L) in poundpoundpound maximum 30m eg) 080 = 8m

      Minimum bending radius r = 55mm or more (Dynamic bending condition) Only robot cable is available for this model

      (Front view)(Front view)

      AWG26(Soldered)

      AWG26(crimped)

      L

      (13)

      14

      269

      1

      13

      (37)

      (41) (14)

      (15)

      (25)

      1

      (φ10

      )

      Yellow

      Shield is clamp connected to the hoodDrain Wire and Braided Shield

      BlueBlackRedGray

      PurpleGreen

      OrangeWhiteGrayWhitePurpleWhiteBlackWhiteRed

      WhiteYellowWhiteBlue

      RedGray

      PurpleGreen

      Orange

      YellowBlue

      WhiteGreenBlack

      Drain

      WhiteOrangeWhiteGrayWhitePurpleWhiteBlackWhiteRed

      WhiteYellowWhiteBlue

      WhiteOrangeWhiteGreen

      Wiring Color Signal No

      WiringColorSignalNo

      Controller side Actuator side

      Minimum bending radius r = 58mm or more (Dynamic bending condition) Only robot cable is available for this model

      Model Number CB-X3-PApoundpoundpound

      Model Number CB-DDB-BKpoundpoundpound

      Please indicate the cable length (L) in poundpoundpound maximum 30m eg) 080 = 8m

      Please indicate the cable length (L) in poundpoundpoundmaximum 20m eg) 080 = 8m

      18

      DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

      Catalog No CE0242-1A (0916)

      IAI America Inc 2690 W 237th Street Torrance CA 90505 (800) 736-1712 110 E State Pkwy Schaumburg IL 60173 (800) 944-0333

      1220 Kennestone Circle Suite 108 Marietta GA 30066 (888) 354-9470

      wwwintelligentactuatorcom

      IAI Industrieroboter GmbHOber der Roumlth 4 D-65824 Schwalbach am Taunus Germany

      IAI (Shanghai) Co LtdShanghai Jiahua Business Center A8-303 808Hongqiao Rd Shanghai 200030 China

      IAI Robot (Thailand) Co Ltd825 Phairojkijja Tower 12th Floor Bangna-Trad RDBangna Bangna Bangkok 10260 Thailand

      The information contained in this product brochure may change without prior notice due to product improvements

      • Features
      • Series List
      • Model Specification Items
      • Application Examples
      • DDA-LT18C
      • DDACR-LT18C
      • DDA-LT18C-B
      • DDA-LH18C
      • DDACR-LH18C
      • DDA-LH18C-B
      • Options
      • SCON-CB
      • X-SEL
      • Precautions
      • Selecting the DD Motor
      • Cables

        DDA Motor Series List

        Model Specification Items

        Application Examples

        Cable Length

        Encoder Type

        Operation Range

        Series Motor Wattage

        DDADDACR

        Applicable Controllers

        Options360 T2

        Type

        Type Encoder

        Large bore slim

        Large bore slim

        Large bore high torqueLarge bore high torque

        Standard (17-bit)

        High resolution (20-bit)

        Standard (17-bit)

        High resolution (20-bit)

        Index Table ltInspection device for small boardsgt

        Transport of Workpieces ltTransporting parts from a conveyor to anothergt

        Index TableltParts assembly devicegt

        Multi-rotation OperationltTransporting electronic componentsgt

        Type

        Cleanroom specification only

        Encoder

        Modelnumber

        Standard

        Cleanroom spec

        External view

        Rated torque (N∙m)

        Max instantaneous torque (N∙m)

        Rated speed (degs)

        Maximum speed (degs)

        Motor wattage (W)

        Size (φ)

        Height(mm)

        wo brakew brake

        wo brake

        w brake

        wo brake

        w brake

        Hollow bore (φ)

        Mass(kg)

        Cleanliness

        Encoder type

        Applicable controller

        Reference page

        84

        252

        1080

        1800

        200φ180

        70

        115

        φ52

        φ35

        58

        87

        Class 10 (FedStd209D)Class 25 or equivalent (ISO 14644-1 Standard)

        Index absoluteMulti-rotation absolute

        P5 P9

        DDA-LT18CS

        SCON-CBXSEL SCON-CB SCON-CB

        XSEL SCON-CB

        DDA-LT18CP DDA-LH18CS DDA-LH18CP

        DDACR-LT18CS DDACR-LT18CP DDACR-LH18CS DDACR-LH18CP

        Standard (17-bit)

        High resolution(20-bit)

        Standard (17-bit)

        High resolution(20-bit)

        Large bore slim type Large bore high torque type

        DDA StandardDDACR Cleanroom specification

        LT18CS

        LT18CP

        LH18CS

        LH18CP

        None

        3m

        5m

        Specified length

        N

        S

        M

        X

        Cable exits from the bottom

        Cable exits from the side

        Brake

        Flange

        A0

        A1

        B

        FL

        200

        600

        200W

        600W

        360 360 deg

        NoteOnly SCON-CB can be selected for the high resolution encoder type (20-bit)

        SCON

        XSEL-PQ

        XSEL-RS

        T2AI

        AM

        Index absolute type

        Multi-rotation absolute type

        Assembling device

        25

        75

        800

        1440

        600φ180

        1228

        1873

        φ52

        φ35

        13

        174

        Class 10 (FedStd209D)Class 25 or equivalent (ISO 14644-1 Standard)

        Index absoluteMulti-rotation absolute

        3

        DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

        DDA Motor Series List

        Model Specification Items

        Application Examples

        Cable Length

        Encoder Type

        Operation Range

        Series Motor Wattage

        DDADDACR

        Applicable Controllers

        Options360 T2

        Type

        Type Encoder

        Large bore slim

        Large bore slim

        Large bore high torqueLarge bore high torque

        Standard (17-bit)

        High resolution (20-bit)

        Standard (17-bit)

        High resolution (20-bit)

        Index Table ltInspection device for small boardsgt

        Transport of Workpieces ltTransporting parts from a conveyor to anothergt

        Index TableltParts assembly devicegt

        Multi-rotation OperationltTransporting electronic componentsgt

        Type

        Cleanroom specification only

        Encoder

        Modelnumber

        Standard

        Cleanroom spec

        External view

        Rated torque (N∙m)

        Max instantaneous torque (N∙m)

        Rated speed (degs)

        Maximum speed (degs)

        Motor wattage (W)

        Size (φ)

        Height(mm)

        wo brakew brake

        wo brake

        w brake

        wo brake

        w brake

        Hollow bore (φ)

        Mass(kg)

        Cleanliness

        Encoder type

        Applicable controller

        Reference page

        84

        252

        1080

        1800

        200φ180

        70

        115

        φ52

        φ35

        58

        87

        Class 10 (FedStd209D)Class 25 or equivalent (ISO 14644-1 Standard)

        Index absoluteMulti-rotation absolute

        P5 P9

        DDA-LT18CS

        SCON-CBXSEL SCON-CB SCON-CB

        XSEL SCON-CB

        DDA-LT18CP DDA-LH18CS DDA-LH18CP

        DDACR-LT18CS DDACR-LT18CP DDACR-LH18CS DDACR-LH18CP

        Standard (17-bit)

        High resolution(20-bit)

        Standard (17-bit)

        High resolution(20-bit)

        Large bore slim type Large bore high torque type

        DDA StandardDDACR Cleanroom specification

        LT18CS

        LT18CP

        LH18CS

        LH18CP

        None

        3m

        5m

        Specified length

        N

        S

        M

        X

        Cable exits from the bottom

        Cable exits from the side

        Brake

        Flange

        A0

        A1

        B

        FL

        200

        600

        200W

        600W

        360 360 deg

        NoteOnly SCON-CB can be selected for the high resolution encoder type (20-bit)

        SCON

        XSEL-PQ

        XSEL-RS

        T2AI

        AM

        Index absolute type

        Multi-rotation absolute type

        Assembling device

        25

        75

        800

        1440

        600φ180

        1228

        1873

        φ52

        φ35

        13

        174

        Class 10 (FedStd209D)Class 25 or equivalent (ISO 14644-1 Standard)

        Index absoluteMulti-rotation absolute

        4

        DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

        DDA-LT18C

        Controller is not included

        P

        O I N T

        SelectionNotes

        (Note 1) The value in ( ) indicates the maximum speed The maximum speed may not be reached if the moving distance is short

        (Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in five years based on this load

        (Note 3) The maximum cable length is 30m Specify a desired length in meters (Example X08 = 8m)

        (Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control

        (Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type

        Legend Cable length Option

        ModelSpecifications

        (1) SCON and XSEL have different minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information

        ② Options

        ① Cable Length

        Cable type Cable code

        StandardS (3m)M (5m)

        Specified length X06 (6m) ~X10 (10m)X11 (11m) ~X30 (30m)

        Name Option code

        Cable exits from the bottom A0

        Cable exits from the side A1

        Flange FL

        Please refer to P18 for more information regarding the maintenance cables

        1 Indexing accuracy is supported when connected to SCON-CB

        DDACR-LT18C Clean Room Type

        Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198s) 20-bit plusmn000103deg (plusmn37s)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45s) 20-bit plusmn000833deg (plusmn30s)Allowable load moment (Note 2) 80Nmiddotm

        Encoder resolution 17-bit 131072 pulsesrev20-bit 1048576 pulsesrev

        Allowable thrust load (Note 2) Forward 3100N Reverse 250NBase material AluminumAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)

        Cleanroom specification

        Cleanliness Class 10 (FedStd209D) class 25 or equivalent (ISO 14644-1 Standard)Suction amount 35Nℓmin

        Weight 58kg

        Common Specifications

        Encoder type Model number Motor

        wattage (W)

        Operation range (deg) (1)

        Speed (degs) (Note 1)

        Rated torque (Nmiddotm) (2)

        Maximum instantaneous torque (Nmiddotm)

        Allowable inertia

        moment (kgmiddotm2)

        Rotor inertia (kgmiddotm2)

        17-bit index absolute type DDA (CR)-LT18CS-AI-200-360-T2-① -②

        200

        0~359999 deg

        1~1080 (1~1800) 84 252 06 00043

        17-bit multi-rotation absolute type DDA (CR)-LT18CS-AM-200-360-T2-① -② plusmn9999 deg max

        20-bit index absolute type DDA (CR)-LT18CP-AI-200-360-T2-① -② 0~359999 deg

        20-bit multi-rotation absolute type DDA (CR)-LT18CP-AM-200-360-T2-① -② plusmn2520 deg max

        (Note) A0 (cable exits from the bottom) option and FL (flange) option cannot be selected together

        Thrust (axial) run-out (No load) 30μm

        Radial run-out (No load) 30μm

        Run-out of Output Shaft

        Slim Type

        Large Bore Type

        Flange- Less Type

        Please refer to P16 for more information on the installation method

        Horizontal

        Side

        Vert

        ical

        Ceiling

        n Model Specification Items

        DDADDACR LT18C 200 360 T2

        Series Type Encoder Type

        Motor Type

        Operation Range

        Applicable Controllers

        Cable Length Options

        DDA StandardDDACR Cleanroom

        specification

        S Standard (17-bit)

        P High resolution (20-bit)

        AI Index absolute type

        AM Multi-rotation absolute type

        200 200W 360 360 deg T2 SCON XSEL-PQ XSEL-RS

        Note Only SCON for LT18CP

        N None S 3m M 5m Xpoundpound Specified

        length

        Please refer to the options table below Please make sure to

        specify either A0 or A1 for the cable exit direction

        5

        DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

        Motor connector

        Encoder connector

        32 or

        less

        11 500plusmn30

        24

        77

        615

        45

        φ6 Compatible tube diameter

        Air JointCR specication only

        R100 or less

        2-φ4 H7 depth 3For workpiece positioning

        6-M5 effective depth 8For workpiece mounting

        PCD102 plusmn01

        φ 52

        Hollo

        w b

        ore

        28

        φ 83

        24

        Air JointCR specification only

        Motor connector

        Encoder connector

        Rotating part of the work mounting surface

        φ180

        φ110h7 -00350

        70plusmn0

        3

        4

        φ178h8 -00630

        500plusmn30

        (φ21

        )

        32 or less

        138

        158

        φ116

        35

        003 A 003 A

        A

        75plusmn0

        1

        8-M6 effective depth 13PCD148 plusmn01

        75plusmn0

        1

        225degφ5 H7 depth 5For body positioning

        Body mounting surfaceBody positioning oblong hole

        2

        R25

        5+00120 depth 5

        Detail view of SS

        CAD drawings can be downloaded from our websitewwwintelligentactuatorcom

        2DCAD2DCAD

        3DCAD3D

        CAD

        Dimensions

        Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use

        LT18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers

        Name External view

        Max number of controlled axes Power supply voltage Control method Maximum number of

        positioning pointsReference

        pagePositioner Pulse-train Program Network Option

        SCON-CBCGB 1Single-phase

        200VAC -

        Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information

        512 (768 for network spec)

        P14

        SCON-LCLCG 1Single-phase

        200VAC- -

        512 (768 for network spec)

        P14

        XSEL-PQRS 8Single-phase 200VACThree-phase 200VAC

        - - 53332

        (Depending on the type)P15

        (Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side

        6

        DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

        ② Options

        P

        O I N T

        SelectionNotes

        (Note 1) The value in ( ) indicates the maximum speed The maximum speed may not be reached if the moving distance is short

        (Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in five years based on this load

        (Note 3) The maximum cable length is 20m Specify a desired length in meters (Example X08 = 8m)

        (Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control

        (Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type

        (Note 6) The brake is used for retention purposes only so damage may be caused if it is actually used in attempts to slow or stop the actuator

        ModelSpecifications

        Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198s) 20-bit plusmn000103deg (plusmn37s)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45s) 20-bit plusmn000833deg (plusmn30s)Allowable load moment (Note 2) 80Nmiddotm

        Encoder resolution 17-bit 131072 pulsesrev 20-bit 1048576 pulsesrev

        Allowable thrust load (Note 2) Forward 3100N Reverse 250NBrake retaining torque 25NmiddotmBase material AluminumAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)Weight 87kg

        Common Specifications

        Thrust (axial) run-out (No load) 30μm

        Radial run-out (No load) 30μm

        Run-out of Output Shaft

        ① Cable Length

        Cable type Cable code

        StandardS (3m)M (5m)

        Specified length X06 (6m) ~X10 (10m)X11 (11m) ~X20 (20m)

        Please refer to P18 for more information regarding the maintenance cables

        1 Indexing accuracy is supported when connected to SCON-CB

        Encoder type Model number Motor

        wattage (W)

        Operation range (deg) (1)

        Speed (degs) (Note 1)

        Rated torque (Nmiddotm) (2)

        Maximum instantaneous torque (Nmiddotm)

        Allowable inertia

        moment (kgmiddotm2)

        Rotor inertia (kgmiddotm2)

        17-bit index absolute type DDA-LT18CS-AI-200-360-T2-① -② -B

        200

        0~359999 deg

        1~1080 (1~1800) 84 252 06 00043

        17-bit multi-rotation absolute type DDA-LT18CS-AM-200-360-T2-① -② -B plusmn9999 deg max

        20-bit index absolute type DDA-LT18CP-AI-200-360-T2-① -② -B 0~359999 deg

        20-bit multi-rotation absolute type DDA-LT18CP-AM-200-360-T2-① -② -B plusmn2520 deg max

        Name Option code

        Cable exits from the bottom A0

        Cable exits from the side A1

        Brake (With brake box) 1 B

        1 A brake cable is not supplied if N (None) is selected as the cable length Please order a brake cable as a separate item in that case

        Controller is not included

        DDA-LT18C-B Slim Type

        Large Bore Type

        Flange- Less Type

        n Model Specification Items

        DDA LT18C 200 360 T2 BSeries Type Encoder

        TypeMotor Type

        Operation Range

        Applicable Controllers

        Cable Length Options Option

        S Standard (17-bit)

        P High resolution (20-bit)

        AI Index absolute type

        AM Multi-rotation absolute type

        200 200W 360 360 deg T2 SCON XSEL-PQ XSEL-RS

        Note Only SCON for LT18CP

        N None S 3m M 5m Xpoundpound Specified

        length

        Please refer to the options table below Please make sure to

        specify either A0 or A1 for the cable exit direction

        B Brake

        (1) SCON and XSEL have different minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information

        Legend Cable length Option

        Please refer to P16 for more information on the installation method

        Horizontal

        Side

        Vert

        ical

        Ceiling

        7

        DDA Direct Drive Motor

        Dimensions

        Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use

        LT18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers

        Name External view

        Max number of controlled axes Power supply voltage Control method Maximum number of

        positioning pointsReference

        pagePositioner Pulse-train Program Network Option

        SCON-CBCGB 1Single-phase

        200VAC -

        Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information

        512 (768 for network spec)

        P14

        SCON-LCLCG 1Single-phase

        200VAC- -

        512 (768 for network spec)

        P14

        XSEL-PQRS 8Single-phase 200VACThree-phase 200VAC

        - - 53332

        (Depending on the type)P15

        (Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side

        Motor connector

        Encoder connector

        32 o

        r les

        s

        500+500

        φ1235

        45 o

        r les

        s

        500plusmn30

        Brake connector

        φ 35

        Hol

        low

        bor

        e

        24

        77

        Motor connector

        Encoder connector

        45 o

        r les

        s

        φ1235500+50

        0

        Brake connector

        φ 35

        Hol

        low

        bor

        e

        R100 or less

        2-φ4 H7 depth 3For workpiece positioning

        6-M5 effective depth 8For workpiece mounting

        PCD102 plusmn01

        φ 52

        Hol

        low

        bor

        e

        φ 83

        Rotating part of the work mounting surface

        φ180

        φ110h7 -00350

        70plusmn0

        3

        4

        φ178h8 -00630

        500plusmn30

        φ 21

        32 or less

        138

        158

        φ116

        35

        003 A 003 A

        A

        75plusmn0

        1

        8-M6 effective depth 13PCD148 plusmn01

        75plusmn0

        1

        225degφ5 H7 depth 5For body positioning

        Body mounting surfaceBody positioning oblong hole

        S

        2

        R25

        5+00120 depth 5

        Detail view of S

        24

        CAD drawings can be downloaded from our websitewwwintelligentactuatorcom

        2DCAD2DCAD

        3DCAD3D

        CAD

        8

        DDA Direct Drive Motor

        P

        O I N T

        SelectionNotes

        (Note 1) The value in ( ) indicates the maximum speed The maximum speed may not be reached if the moving distance is short

        (Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in five years based on this load

        (Note 3) The maximum cable length is 30m Specify a desired length in meters (Example X08 = 8m)

        (Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control

        (Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type

        ModelSpecifications

        ① Cable Length

        Cable type Cable code

        StandardS (3m)M (5m)

        Specified length X06 (6m) ~X10 (10m)X11 (11m) ~X30 (30m)

        Please refer to P18 for more information regarding the maintenance cables

        1 Indexing accuracy is supported when connected to SCON-CB

        Thrust (axial) run-out (No load) 30μm

        Radial run-out (No load) 30μm

        Run-out of Output Shaft

        Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198s) 20-bit plusmn000103deg (plusmn37s)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45s) 20-bit plusmn000833deg (plusmn30s)Allowable load moment (Note 2) 80Nmiddotm

        Encoder resolution 17-bit 131072 pulsesrev20-bit 1048576 pulsesrev

        Allowable thrust load (Note 2) Forward 3100N Reverse 250NBase material AluminumAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)

        Cleanroom specification

        Cleanliness Class 10 (FedStd209D) class 25 or equivalent (ISO 14644-1 Standard)Suction amount 35Nℓmin

        Weight 13kg

        Common Specifications

        Encoder type Model number Motor

        wattage (W)

        Operation range (deg) (1)

        Speed (degs) (Note 1)

        Rated torque (Nmiddotm) (2)

        Maximum instantaneous torque (Nmiddotm)

        Allowable inertia

        moment (kgmiddotm2)

        Rotor inertia (kgmiddotm2)

        17-bit index absolute type DDA (CR)-LH18CS-AI-600-360-T2-① -②

        600

        0~359999 deg

        1~800 (1~1440) 25 75 18 00092

        17-bit multi-rotation absolute type DDA (CR)-LH18CS-AM-600-360-T2-① -② plusmn9999 deg max

        20-bit index absolute type DDA (CR)-LH18CP-AI-600-360-T2-① -② 0~359999 deg

        20-bit multi-rotation absolute type DDA (CR)-LH18CP-AM-600-360-T2-① -② plusmn2520 deg max

        ② Options

        Name Option code

        Cable exits from the bottom A0

        Cable exits from the side A1

        Flange FL

        (Note) A0 (cable exits from the bottom) option and FL (flange) option cannot be selected together

        DDA-LH18C

        Controller is not included

        DDACR-LH18C Clean Room Type

        High Torque

        Type

        Large Bore Type

        Flange- Less Type

        n Model Specification Items

        DDADDACR LH18C 600 360 T2

        Series Type Encoder Type

        Motor Type

        Operation Range

        Applicable Controllers

        Cable Length Options

        DDA StandardDDACR Cleanroom

        specification

        S Standard (17-bit)

        P High resolution (20-bit)

        AI Index absolute type

        AM Multi-rotation absolute type

        600 600W 360 360 deg T2 SCON XSEL-PQ XSEL-RS

        Note Only SCON for LH18CP

        N None S 3m M 5m Xpoundpound Specified

        length

        Please refer to the options table below Please make sure to

        specify either A0 or A1 for the cable exit direction

        (1) SCON and XSEL have different minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information

        Legend Cable length Option

        Please refer to P16 for more information on the installation method

        Horizontal

        Side

        Vert

        ical

        Ceiling

        9

        DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

        Dimensions

        Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use

        LH18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers

        Name External view

        Max number of controlled axes Power supply voltage Control method Maximum number of

        positioning pointsReference

        pagePositioner Pulse-train Program Network Option

        SCON-CBCGB 1Single-phase

        200VAC -

        Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information

        512 (768 for network spec)

        P14

        SCON-LCLCG 1Single-phase

        200VAC- -

        512 (768 for network spec)

        P14

        XSEL-PQRS 8Single-phase 200VACThree-phase 200VAC

        - - 53332

        (Depending on the type)P15

        (Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side

        Encoder connector

        Motor connector

        45

        615

        24

        77

        φ6 Compatible tube diameter

        Air JointCR specication only

        32 o

        r les

        s11

        500plusmn30

        R100 or less

        2-φ4 H7 depth 3For workpiece positioning

        6-M6 effective depth 12For workpiece mounting

        PCD102plusmn01

        φ 52

        Hol

        low

        bor

        e

        φ 83

        2428

        Rotating part of the work mounting surface Encoder connector

        Motor connector

        Air JointCR specification only

        75plusmn0

        1

        8-M8 effective depth 16PCD148 plusmn01

        75plusmn0

        1

        φ5 H7 depth 5For body positioning 225deg

        Body mounting surfaceBody positioning oblong hole

        φ110h7 -00350

        φ116φ180

        φ178h8 -00630

        412

        28

        plusmn03

        32 or less

        φ 21

        500plusmn30

        35

        138

        158

        003 A

        003 A

        A

        5 +00120 depth 5

        2

        R25

        Detail view of S

        S

        CAD drawings can be downloaded from our websitewwwintelligentactuatorcom

        2DCAD2DCAD

        3DCAD3D

        CAD

        10

        DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

        1 A brake cable is not supplied if N (None) is selected as the cable length Please order a brake cable as a separate item in that case

        ② Options

        ModelSpecifications

        Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198s) 20-bit plusmn000103deg (plusmn37s)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45s) 20-bit plusmn000833deg (plusmn30s)Allowable load moment (Note 2) 80Nmiddotm

        Encoder resolution 17-bit 131072 pulsesrev20-bit 1048576 pulsesrev

        Allowable thrust load (Note 2) Forward 3100N Reverse 250NBase material AluminumBrake retaining torque 50NmiddotmAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)Weight 174kg

        Common Specifications

        Thrust (axial) run-out (No load) 30μm

        Radial run-out (No load) 30μm

        Run-out of Output Shaft

        Encoder type Model number Motor

        wattage (W)

        Operation range (deg) (1)

        Speed (degs) (Note 1)

        Rated torque (Nmiddotm) (2)

        Maximum instantaneous torque (Nmiddotm)

        Allowable inertia

        moment (kgmiddotm2)

        Rotor inertia (kgmiddotm2)

        17-bit index absolute type DDA-LH18CS-AI-600-360-T2-① -② -B

        600

        0~359999 deg

        1~800 (1~1440) 25 75 18 00092

        17-bit multi-rotation absolute type DDA-LH18CS-AM-600-360-T2-① -② -B plusmn9999 deg max

        20-bit index absolute type DDA-LH18CP-AI-600-360-T2-① -② -B 0~359999 deg

        20-bit multi-rotation absolute type DDA-LH18CP-AM-600-360-T2-① -② -B plusmn2520 deg max

        Name Option code

        Cable exits from the bottom A0

        Cable exits from the side A1

        Brake (With brake box) 1 B

        ① Cable Length

        Cable type Cable code

        StandardS (3m)M (5m)

        Specified length X06 (6m) ~X10 (10m)X11 (11m) ~X20 (20m)

        Please refer to P18 for more information regarding the maintenance cables

        1 Indexing accuracy is supported when connected to SCON-CB

        Controller is not included

        DDA-LH18C-B High Torque

        Type

        Large Bore Type

        (1) SCON and XSEL have different minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information

        Flange- Less Type

        P

        O I N T

        SelectionNotes

        (Note 1) The value in ( ) indicates the maximum speed The maximum speed may not be reached if the moving distance is short

        (Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in five years based on this load

        (Note 3) The maximum cable length is 20m Specify a desired length in meters (Example X08 = 8m)

        (Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control

        (Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type

        (Note 6) The brake is used for retention purposes only so damage may be caused if it is actually used in attempts to slow or stop the actuator

        Legend Cable length Option

        Please refer to P16 for more information on the installation method

        Horizontal

        Side

        Vert

        ical

        Ceiling

        n Model Specification Items

        DDA LH18C 600 360 T2 BSeries Type Encoder

        TypeMotor Type

        Operation Range

        Applicable Controllers

        Cable Length Options Option

        S Standard (17-bit)

        P High resolution (20-bit)

        AI Index absolute type

        AM Multi-rotation absolute type

        600 600W 360 360 deg T2 SCON XSEL-PQ XSEL-RS

        Note Only SCON for LH18CP

        N None S 3m M 5m Xpoundpound Specified

        length

        Please refer to the options table below Please make sure to

        specify either A0 or A1 for the cable exit direction

        B Brake

        11

        DDA Direct Drive Motor

        Dimensions

        Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use

        LH18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers

        Name External view

        Max number of controlled axes Power supply voltage Control method Maximum number of

        positioning pointsReference

        pagePositioner Pulse-train Program Network Option

        SCON-CBCGB 1Single-phase

        200VAC -

        Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information

        512 (768 for network spec)

        P14

        SCON-LCLCG 1Single-phase

        200VAC- -

        512 (768 for network spec)

        P14

        XSEL-PQRS 8Single-phase 200VACThree-phase 200VAC

        - - 53332

        (Depending on the type)P15

        (Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side

        Encoder connector

        Motor connector

        φ 35

        Hol

        low

        bor

        e

        32 o

        r les

        s

        φ1235

        645

        or l

        ess

        500+500

        500plusmn30

        Brake connector

        24

        77

        Encoder connector

        Motor connector

        φ 35

        Hol

        low

        bor

        e64

        5 o

        r les

        s

        φ1235500+50

        0

        Brake connector

        R100 or less

        2-φ4 H7 depth 3For workpiece positioning

        6-M6 effective depth 12For workpiece mounting

        PCD102 plusmn01

        φ 52

        Hol

        low

        bor

        e

        φ 83

        Rotating part of the work mounting surface

        φ110h7 -00035

        φ116φ180

        φ178h8 -00063

        412

        28

        plusmn03

        32 or less

        φ 21

        500plusmn30

        35

        138

        158

        003 A

        003 A

        A

        75plusmn0

        1

        8-M8 effective depth 16PCD148 plusmn01

        75plusmn0

        1

        φ5 H7 depth 5For body positioning 225deg

        Body mounting surfaceBody positioning oblong hole

        S 5 +00120 depth 5

        2

        R25

        Detail view of S24

        CAD drawings can be downloaded from our websitewwwintelligentactuatorcom

        2DCAD2DCAD

        3DCAD3D

        CAD

        12

        DDA Direct Drive Motor

        OptionsIt is a retention mechanism for holding the stop position when the power or servo is OFF to prevent the workpieces and attachments from being damaged when used in side or vertical positions Be sure to connect a brake box for models with brake

        A bracket that attaches to the body with bolts from the top side

        Brake

        Flange

        Option Code B

        Option Code FL

        cent Brake Box

        cent Wiring Diagram When Brake Box is Used

        DDA-LT18CModel Number DDA-FL-LT18

        Model Number IA-110-DD-4

        DDA-LH18CModel Number DDA-FL-LH18

        PCD200

        PCD200

        plusmn0075plusmn0075

        55deg

        55deg

        180

        180

        180180

        160

        160

        plusmn01

        plusmn01

        160160 plusmn01plusmn01

        4-φ 1

        14-φ 1

        1thr

        ough

        thro

        ugh

        2- φ62- φ6

        H7 through

        H7 through

        135

        135

        815

        815

        plusmn04

        plusmn04

        φ1245φ1245

        55deg

        55deg

        PCD

        PCD200plusmn0075200plusmn0075

        180

        180

        180180160160 plusmn01plusmn01

        160

        160

        plusmn01

        plusmn01

        2- φ62- φ6

        H7 throughH7 through

        4-φ1

        14-φ1

        1thr

        ough

        thro

        ugh

        155

        15513

        63

        136

        3plusmn0

        4plusmn0

        4

        φ1245φ1245

        PG OUTPWRON

        BKOUT

        + - C E

        BKRMT

        RLSBKOUT

        PG IN

        PWRPE N L

        MODEL IA-110-DD-4SN INPUT Single phase 100-240V

        MADE IN JAPAN

        5060Hz 10A maxOUTPUT 12VDC 06A

        PG OUTPWRON

        BKOUT

        + - C E

        BKRMT

        RLSBKOUT

        PG IN

        PWRPE N L

        MODEL IA-110-DD-4SN INPUT Single phase 100-240V

        MADE IN JAPAN

        5060Hz 10A maxOUTPUT 12VDC 06A

        ControllerSCON-CBXSEL-PQRSDDA

        Motor cableModel CB-X(XMC)-MApoundpoundpound

        Brake box

        Encoder cableModel CB-X3-PA010(Comes with the brake box)

        Encoder cableModel CB-X3-PApoundpoundpound

        Brake cableModel CB-DDB-BKpoundpoundpound Main power supply

        100VAC~240VAC

        13

        DDA (CR) Direct Drive Motor

        Position Controller

        Controller Model

        System Configuration

        Positioner Single-axis Type ltSCONgt Model

        Power Supply Voltage

        IO TypeEncoder Type Motor Type Type Series SCON

        IO Cable Length

        AIAM

        2

        The 200W motor used by the DDA is larger than a normal 200W motor so the motor type for the controller will be 200S and its size will be larger than the 400W motor

        For 200W motorFor 600W motor

        200S600

        High-function typeSafety category compliant type

        CBCGB

        PLC equipped typeSafety category PLC equipped type

        LCLCG

        Motor cableModel CB-X-MA (LT18C) CB-XMC-MA (LH18C)

        SCON PC

        DDA

        PLC(To be supplied by the customer)

        IO flat cableModel CB-PAC-PIO020Standard 2m

        Be sure to use a noise filter on the power supply

        ( )Encoder cableModel CB-X3-PA

        PC compatible softwareRS232 connection versionModel RCM-101-MWUSB connection versionModel RCM-101-USB(Please contact IAI for more details)

        Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)

        Regenerative resistor unitModel RESU-2RESUD-2(Please contact IAI for more details)

        1 The wiring diagram is different for models with brakes Please refer to P13 for more information

        1

        Single-phase 200VAC Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models

        Main powersupply

        Field network

        Option

        Supplied with the actuator

        Supplied with the controller

        Supplied with the actuator Option

        Option

        Option

        When the SCON Controller is Connected

        When a field network specification is selectedthe IO cable length will be 0

        Index absolute typeMulti-rotation abs type

        NPPN

        PIO NPN (Standard)

        PIO PNP

        DVCN

        DeviceNet

        CompoNet

        CC CC-Link

        ML MECHATROLINK-I II

        ML3PR

        MECHATROLINK-III

        PROFIBUS-DP

        02

        35

        No cable2m (Standard)

        3m5m

        EC EtherCAT

        EP EtherNetIP

        PRT PROFINET IO

        For recommended modelsplease contact IAI

        Model

        External view

        IO type

        IO type code

        MECHATROLINK-III

        connectionCompoNet connection

        PROFIBUS-DP connection

        CC-Linkconnection

        DeviceNetconnection

        PIO connection specification (1)

        NPPN DV CC PR

        Standard Field network type (1)

        CN ML

        SCON-CB

        EtherNetIP connection

        PROFINET IO connection

        EtherCATconnection

        EC EP PRT

        List of Models

        MECHATROLINK- III

        connection

        ML3

        Applicable encoder type(Note) The index absolute type cannot be used in the pulse-train control and MECHATROLINK-III control(1) Please note that the network specifications cannot be operated on the PIO or pulse-train The PLC type (LCLCG) cannot be connected on the pulse-train

        Index absoluteMulti-rotation absoluteIndex absolute Multi-rotation absolute

        CBCGB CBCGB LCLCG

        14

        SCON Controller

        Program Controller

        List of Models

        Model P Q R S

        Type Large-capacity type Large-capacity type (Safety category specification) High-function type High-function type

        (Safety category specification)

        External view

        DescriptionLarge-capacity type

        that can control up to 6 axes 2400W

        Large-capacity type thats compatible with the

        safety category 4

        High-function type that allows up to 8-axis operation

        Safety category 4 compatible high-function type

        Controller Model

        System Configuration

        Program Multi-axis Type ltXSELgt Model

        Encoder Type

        Encoder Type

        Motor Type

        Motor Type

        Number ofConnected

        AxesType Series Option Option

        XSEL

        200 For 200W motor

        600 For 600W motor

        B BrakePQRS

        6-axis type6-axis safety category type8-axis type8-axis safety category type

        8

        1

        ~ ~

        1 axis

        8 axes

        (PQ type is up to 6 axes)

        (Details of the 1st axis) (Details of the 2nd~8th axis)

        It can simultaneously operate actuators (single-axis robot and ROBO Cylinder) other than the DDA motor on a single controller For connectable actuators other than the DDA motor please contact IAI

        For subsequent models please contact IAI

        Notes

        AIAM

        Index absolute typeMulti-rotation absolute type

        When the XSEL Controller is Connected

        Be sure to use a noise filter on the power supply

        Motor cableModel CB-X-MA (LT18C) CB-XMC-MA (LH18C)

        XSELPC

        PLC(To be supplied by the customer)

        PC compatible softwareRS232 connection versionModel IA-101-X-MWUSB connection versionModel IA-101-X-USBMW(Please contact IAI for more details)

        Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)

        Single-phase 200VACThree-phase 200VAC

        Regenerative resistor unitModel RESU-1RESUD-1(Please contact IAI for more details)

        Option Option

        Option

        Field networkOption

        IO flat cableModel CB-X-PIO020Standard 2m

        Supplied with the controller

        Encoder cableModel CB-X3-PA

        Supplied with the actuator

        Supplied with the actuator

        Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models

        The wiring diagram is different for models with brakes Please refer to P13 for more information

        DDA

        Main powersupply ( )For recommended models

        please contact IAI

        15

        XSEL Controller

        Precautions

        Installation

        Installation Orientation

        Mountingsurface

        For models with brake and cable exit direction to the bottom a clearance hole is required

        Ceiling mount

        Horizontal mount

        Vertical mount

        Gra

        vity

        Operation TypeThis product is available in 2 operation types depending on the operation conditions Please check the features and precautions on each type before use

        (1)The high resolution specification can be connected only to the SCON-CB(2)When the XSEL index type travels more than 180deg from the current position it rotates in a direction that requires a shorter travel distance to

        reach the target position Therefore please note that the direction of rotation changes according to the current position and travel distance If you want to specify the direction of travel use the SCON-CB

        (3)The index type can be rotated in a given direction infinitely but it actually cannot continue to rotate in the same direction without stopping like a regular motor does because the maximum travel distance per command from the XSEL controller is 180deg If you want to allow the motor to rotate continuously use the SCON-CB

        (4)Home return is required for the multi-rotation absolute encoder during the initial setting and replacement of the absolute battery

        Absolute batteryHome return operationLimitless rotation

        Maximum amount of movement in a single movement command

        Operation rangeController typeOperation type

        Not requiredNot required

        Yes (3)

        0~359999deg

        Index absolute type

        RequiredNot required (4)

        No

        Above operation rangeplusmn9999deg (plusmn2520deg) max

        Multi-rotation absolute typeSCON-CB XSEL(1)

        ( ) is for 20-bit

        (Note) Use this product by installing it on a mounting surface having heat dissipating characteristics equivalent to those of an aluminum plate of w450mm times d450mm times t12mm in size If the installation conditions necessitate lower heat dissipating characteristics please consult IAI

        ControllersFor the DDA with 200W motor the outside dimensions of the SCON-CB controller will be the same as the size of the

        400W motor (Please contact IAI for the details of the SCON-CB controller)One and two regenerative resistor unit(s) are required for LT18C and LH18C respectively to operate a DDA

        motor with the SCON-CBWhen operating DDA motor(s) with the XSEL controller regenerative resistor units are required as shown below

        The number of DDA motor(s) connectable to the XSEL controller is a max of 8 units for the LT18C type and a max of 2 units for the LH18C type

        Please note that when the DDA motor is operated with the SCON-CB the motor cannot be connected to the ROBO Cylinder gateway function of the XSEL controller

        Calculation for the power supply value LT18C type single-phase 600W three-phase 200W LH18C type single-phase 1200W three-phase 600W

        Number of regenerative resistor units

        1 2 3 4 5 6 7 81 2 3

        (Cannot be connected)4

        2 4LT18CLH18C

        Number of DD motor(s)

        360deg

        SCON-CB XSEL(1)

        180deg(2)

        16

        DDA (CR) Direct Drive Motor

        Conditions for Selection

        The followings should be checked to determine whether the DDA motor can be used to suit the specific conditions required by the customer

        The customer should confirm that the following three points under actual use do not exceed their maximum allowable levels as specified for the DDA motor

        The total load of device(s) mounted on the actuator

        The total load moment of device(s) mounted on the actuator

        The load inertia of device(s) mounted on the actuator

        Check Load Conditions1

        [1] Thrust load

        [2] Load moment applied

        [3] Load inertia

        J = 18 times M times D 2 [kgm2]

        Mass M [kg]

        D [m]

        Center of rotation

        J = 112 times M times (a 2 + b 2) [kgm2]

        a [m]

        b [m]

        Center of rotation

        Mass M [kg]

        J = M times R 2+ 18 times M times D 2 [kgm2]

        Mass M [kg]

        D [m]

        R [m]

        Cent

        er o

        fro

        tatio

        n

        J = M times R 2+112 times M times (a 2 + b 2 )[kgm2]

        a [m]

        b [m]R [m]

        Cent

        er o

        fro

        tatio

        n

        Mass M [kg]

        The travel time changes according to the load inertia See the tables below to check the travel time data

        Travel Time Guide3

        The data in the tables are for a reference only and do not guarantee the actual travel times

        (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

        0

        0005

        009

        012

        017

        022

        0005

        001

        010

        012

        017

        022

        001

        002

        011

        014

        019

        024

        002

        003

        012

        016

        021

        026

        003

        004

        013

        017

        023

        027

        004

        005

        014

        018

        024

        029

        005

        006

        015

        020

        027

        032

        006

        007

        017

        022

        029

        035

        007

        008

        019

        024

        032

        038

        008

        009

        021

        026

        035

        041

        009

        01

        023

        029

        037

        044

        01

        02

        039

        048

        060

        069

        02

        03

        062

        073

        089

        100

        03

        04

        070

        083

        101

        114

        04

        05

        087

        102

        122

        136

        05

        06

        111

        123

        142

        168

        LH18C

        LT18C

        Continuous Operation Area

        LT18C type LH18C type

        (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

        0

        0005

        0098

        0129

        0192

        0254

        0005

        001

        0096

        0128

        019

        0252

        001

        0015

        0096

        0127

        019

        0252

        002

        002

        0097

        0128

        0191

        0253

        002

        003

        0099

        0131

        0193

        0256

        003

        004

        0104

        0136

        0199

        0262

        004

        006

        0113

        0144

        0207

        027

        006

        008

        012

        0153

        0215

        0278

        008

        01

        0126

        0163

        0225

        0288

        010

        015

        014

        0184

        0249

        0312

        015

        02

        0157

        0208

        0279

        0341

        02

        03

        0207

        0268

        0354

        042

        03

        04

        0257

        0329

        0428

        0504

        04

        06

        0352

        044

        0562

        0655

        06

        08

        0447

        0549

        0692

        08

        08

        1

        053

        0646

        0806

        0925

        10

        12

        0629

        0758

        0933

        1064

        12

        14

        0795

        0941

        1133

        1274

        14

        18

        0875

        1035

        1257

        1415

        Check Operating Conditions2Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DDA motor specifications to determine whether the DDA motor can be used under the applicable operating conditions Please contact IAI for assistance To

        rque

        (Nm

        )

        Curr

        ent [

        Arm

        s]

        Angular velocity [degs]

        AccelerationDeceleration AreaAccelerationDeceleration Area

        Torq

        ue (N

        m)

        Curr

        ent [

        Arm

        s]

        Angular velocity [degs]

        AccelerationDeceleration AreaAccelerationDeceleration Area

        Rating areaRating area

        270deg travel time [sec]180deg travel time [sec]

        90deg travel time [sec]45deg travel time [sec]

        Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

        270deg travel time [sec]180deg travel time [sec]

        90deg travel time [sec]45deg travel time [sec]

        Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

        Selecting the DD Motor

        17

        DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

        (44) (167)

        (80

        )

        31

        (84)(293)

        (92

        )

        31

        (φ5

        4)

        J11SF-03V-KX J11SFM-03V-KXNoNo SignalSignal ColorColor WiringWiring

        AWG20(crimped)

        Red

        Black

        White

        Red

        Black

        White

        +

        -

        FG

        +

        -

        FG

        321

        321

        AWG20(crimped)

        Controller side Actuator side(Front view)(Front view)

        L

        Conditions for Selection

        The followings should be checked to determine whether the DDA motor can be used to suit the specific conditions required by the customer

        The customer should confirm that the following three points under actual use do not exceed their maximum allowable levels as specified for the DDA motor

        The total load of device(s) mounted on the actuator

        The total load moment of device(s) mounted on the actuator

        The load inertia of device(s) mounted on the actuator

        Check Load Conditions1

        [1] Thrust load

        [2] Load moment applied

        [3] Load inertia

        J = 18 times M times D 2 [kgm2]

        Mass M [kg]

        D [m]

        Center of rotation

        J = 112 times M times (a 2 + b 2) [kgm2]

        a [m]

        b [m]

        Center of rotation

        Mass M [kg]

        J = M times R 2+ 18 times M times D 2 [kgm2]

        Mass M [kg]

        D [m]

        R [m]

        Cent

        er o

        fro

        tatio

        n

        J = M times R 2+112 times M times (a 2 + b 2 )[kgm2]

        a [m]

        b [m]R [m]

        Cent

        er o

        fro

        tatio

        n

        Mass M [kg]

        The travel time changes according to the load inertia See the tables below to check the travel time data

        Travel Time Guide3

        The data in the tables are for a reference only and do not guarantee the actual travel times

        (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

        0

        0005

        009

        012

        017

        022

        0005

        001

        010

        012

        017

        022

        001

        002

        011

        014

        019

        024

        002

        003

        012

        016

        021

        026

        003

        004

        013

        017

        023

        027

        004

        005

        014

        018

        024

        029

        005

        006

        015

        020

        027

        032

        006

        007

        017

        022

        029

        035

        007

        008

        019

        024

        032

        038

        008

        009

        021

        026

        035

        041

        009

        01

        023

        029

        037

        044

        01

        02

        039

        048

        060

        069

        02

        03

        062

        073

        089

        100

        03

        04

        070

        083

        101

        114

        04

        05

        087

        102

        122

        136

        05

        06

        111

        123

        142

        168

        LH18C

        LT18C

        Continuous Operation Area

        LT18C type LH18C type

        (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

        0

        0005

        0098

        0129

        0192

        0254

        0005

        001

        0096

        0128

        019

        0252

        001

        0015

        0096

        0127

        019

        0252

        002

        002

        0097

        0128

        0191

        0253

        002

        003

        0099

        0131

        0193

        0256

        003

        004

        0104

        0136

        0199

        0262

        004

        006

        0113

        0144

        0207

        027

        006

        008

        012

        0153

        0215

        0278

        008

        01

        0126

        0163

        0225

        0288

        010

        015

        014

        0184

        0249

        0312

        015

        02

        0157

        0208

        0279

        0341

        02

        03

        0207

        0268

        0354

        042

        03

        04

        0257

        0329

        0428

        0504

        04

        06

        0352

        044

        0562

        0655

        06

        08

        0447

        0549

        0692

        08

        08

        1

        053

        0646

        0806

        0925

        10

        12

        0629

        0758

        0933

        1064

        12

        14

        0795

        0941

        1133

        1274

        14

        18

        0875

        1035

        1257

        1415

        Check Operating Conditions2Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DDA motor specifications to determine whether the DDA motor can be used under the applicable operating conditions Please contact IAI for assistance To

        rque

        (Nm

        )

        Curr

        ent [

        Arm

        s]

        Angular velocity [degs]

        AccelerationDeceleration AreaAccelerationDeceleration Area

        Torq

        ue (N

        m)

        Curr

        ent [

        Arm

        s]

        Angular velocity [degs]

        AccelerationDeceleration AreaAccelerationDeceleration Area

        Rating areaRating area

        270deg travel time [sec]180deg travel time [sec]

        90deg travel time [sec]45deg travel time [sec]

        Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

        270deg travel time [sec]180deg travel time [sec]

        90deg travel time [sec]45deg travel time [sec]

        Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

        Cables

        (Front view) (Front view)

        Controller sideActuator side

        (16)

        (41)

        (φ9) (2

        1)

        (20) (10)

        (18)

        L

        4

        1

        1

        4

        075sq075sq

        Wiring Color Signal No No WiringColorSignal

        White

        GreenRed

        BlackV

        PEU

        W PE

        VU

        W3

        12

        43

        12

        4

        White

        Green

        Red

        Black (crimped)

        Model Number CB-X-MApoundpoundpound Please indicate the cable length (L) in poundpoundpound maximum 30m eg) 080 = 8m

        Minimum bending radius r = 51mm or more (Dynamic bending condition) Only robot cable is available for this model

        L

        4

        1

        1

        4

        (φ9)

        (Front view)

        (16)

        (41)

        (16)(21)

        (11)

        1

        1

        4

        (φ9)

        (16)

        Controller side Actuator side

        125sq125sq

        Wiring Color Signal No No WiringColorSignal

        White

        GreenRed

        BlackV

        PEU

        W PE

        VU

        W3

        12

        43

        12

        4

        White

        Green

        Red

        Black (crimped)

        Model Number CB-XMC-MApoundpoundpound Please indicate the cable length (L) in poundpoundpound maximum 30m eg) 080 = 8m

        Minimum bending radius r = 55mm or more (Dynamic bending condition) Only robot cable is available for this model

        (Front view)(Front view)

        AWG26(Soldered)

        AWG26(crimped)

        L

        (13)

        14

        269

        1

        13

        (37)

        (41) (14)

        (15)

        (25)

        1

        (φ10

        )

        Yellow

        Shield is clamp connected to the hoodDrain Wire and Braided Shield

        BlueBlackRedGray

        PurpleGreen

        OrangeWhiteGrayWhitePurpleWhiteBlackWhiteRed

        WhiteYellowWhiteBlue

        RedGray

        PurpleGreen

        Orange

        YellowBlue

        WhiteGreenBlack

        Drain

        WhiteOrangeWhiteGrayWhitePurpleWhiteBlackWhiteRed

        WhiteYellowWhiteBlue

        WhiteOrangeWhiteGreen

        Wiring Color Signal No

        WiringColorSignalNo

        Controller side Actuator side

        Minimum bending radius r = 58mm or more (Dynamic bending condition) Only robot cable is available for this model

        Model Number CB-X3-PApoundpoundpound

        Model Number CB-DDB-BKpoundpoundpound

        Please indicate the cable length (L) in poundpoundpound maximum 30m eg) 080 = 8m

        Please indicate the cable length (L) in poundpoundpoundmaximum 20m eg) 080 = 8m

        18

        DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

        Catalog No CE0242-1A (0916)

        IAI America Inc 2690 W 237th Street Torrance CA 90505 (800) 736-1712 110 E State Pkwy Schaumburg IL 60173 (800) 944-0333

        1220 Kennestone Circle Suite 108 Marietta GA 30066 (888) 354-9470

        wwwintelligentactuatorcom

        IAI Industrieroboter GmbHOber der Roumlth 4 D-65824 Schwalbach am Taunus Germany

        IAI (Shanghai) Co LtdShanghai Jiahua Business Center A8-303 808Hongqiao Rd Shanghai 200030 China

        IAI Robot (Thailand) Co Ltd825 Phairojkijja Tower 12th Floor Bangna-Trad RDBangna Bangna Bangkok 10260 Thailand

        The information contained in this product brochure may change without prior notice due to product improvements

        • Features
        • Series List
        • Model Specification Items
        • Application Examples
        • DDA-LT18C
        • DDACR-LT18C
        • DDA-LT18C-B
        • DDA-LH18C
        • DDACR-LH18C
        • DDA-LH18C-B
        • Options
        • SCON-CB
        • X-SEL
        • Precautions
        • Selecting the DD Motor
        • Cables

          DDA Motor Series List

          Model Specification Items

          Application Examples

          Cable Length

          Encoder Type

          Operation Range

          Series Motor Wattage

          DDADDACR

          Applicable Controllers

          Options360 T2

          Type

          Type Encoder

          Large bore slim

          Large bore slim

          Large bore high torqueLarge bore high torque

          Standard (17-bit)

          High resolution (20-bit)

          Standard (17-bit)

          High resolution (20-bit)

          Index Table ltInspection device for small boardsgt

          Transport of Workpieces ltTransporting parts from a conveyor to anothergt

          Index TableltParts assembly devicegt

          Multi-rotation OperationltTransporting electronic componentsgt

          Type

          Cleanroom specification only

          Encoder

          Modelnumber

          Standard

          Cleanroom spec

          External view

          Rated torque (N∙m)

          Max instantaneous torque (N∙m)

          Rated speed (degs)

          Maximum speed (degs)

          Motor wattage (W)

          Size (φ)

          Height(mm)

          wo brakew brake

          wo brake

          w brake

          wo brake

          w brake

          Hollow bore (φ)

          Mass(kg)

          Cleanliness

          Encoder type

          Applicable controller

          Reference page

          84

          252

          1080

          1800

          200φ180

          70

          115

          φ52

          φ35

          58

          87

          Class 10 (FedStd209D)Class 25 or equivalent (ISO 14644-1 Standard)

          Index absoluteMulti-rotation absolute

          P5 P9

          DDA-LT18CS

          SCON-CBXSEL SCON-CB SCON-CB

          XSEL SCON-CB

          DDA-LT18CP DDA-LH18CS DDA-LH18CP

          DDACR-LT18CS DDACR-LT18CP DDACR-LH18CS DDACR-LH18CP

          Standard (17-bit)

          High resolution(20-bit)

          Standard (17-bit)

          High resolution(20-bit)

          Large bore slim type Large bore high torque type

          DDA StandardDDACR Cleanroom specification

          LT18CS

          LT18CP

          LH18CS

          LH18CP

          None

          3m

          5m

          Specified length

          N

          S

          M

          X

          Cable exits from the bottom

          Cable exits from the side

          Brake

          Flange

          A0

          A1

          B

          FL

          200

          600

          200W

          600W

          360 360 deg

          NoteOnly SCON-CB can be selected for the high resolution encoder type (20-bit)

          SCON

          XSEL-PQ

          XSEL-RS

          T2AI

          AM

          Index absolute type

          Multi-rotation absolute type

          Assembling device

          25

          75

          800

          1440

          600φ180

          1228

          1873

          φ52

          φ35

          13

          174

          Class 10 (FedStd209D)Class 25 or equivalent (ISO 14644-1 Standard)

          Index absoluteMulti-rotation absolute

          4

          DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

          DDA-LT18C

          Controller is not included

          P

          O I N T

          SelectionNotes

          (Note 1) The value in ( ) indicates the maximum speed The maximum speed may not be reached if the moving distance is short

          (Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in five years based on this load

          (Note 3) The maximum cable length is 30m Specify a desired length in meters (Example X08 = 8m)

          (Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control

          (Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type

          Legend Cable length Option

          ModelSpecifications

          (1) SCON and XSEL have different minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information

          ② Options

          ① Cable Length

          Cable type Cable code

          StandardS (3m)M (5m)

          Specified length X06 (6m) ~X10 (10m)X11 (11m) ~X30 (30m)

          Name Option code

          Cable exits from the bottom A0

          Cable exits from the side A1

          Flange FL

          Please refer to P18 for more information regarding the maintenance cables

          1 Indexing accuracy is supported when connected to SCON-CB

          DDACR-LT18C Clean Room Type

          Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198s) 20-bit plusmn000103deg (plusmn37s)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45s) 20-bit plusmn000833deg (plusmn30s)Allowable load moment (Note 2) 80Nmiddotm

          Encoder resolution 17-bit 131072 pulsesrev20-bit 1048576 pulsesrev

          Allowable thrust load (Note 2) Forward 3100N Reverse 250NBase material AluminumAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)

          Cleanroom specification

          Cleanliness Class 10 (FedStd209D) class 25 or equivalent (ISO 14644-1 Standard)Suction amount 35Nℓmin

          Weight 58kg

          Common Specifications

          Encoder type Model number Motor

          wattage (W)

          Operation range (deg) (1)

          Speed (degs) (Note 1)

          Rated torque (Nmiddotm) (2)

          Maximum instantaneous torque (Nmiddotm)

          Allowable inertia

          moment (kgmiddotm2)

          Rotor inertia (kgmiddotm2)

          17-bit index absolute type DDA (CR)-LT18CS-AI-200-360-T2-① -②

          200

          0~359999 deg

          1~1080 (1~1800) 84 252 06 00043

          17-bit multi-rotation absolute type DDA (CR)-LT18CS-AM-200-360-T2-① -② plusmn9999 deg max

          20-bit index absolute type DDA (CR)-LT18CP-AI-200-360-T2-① -② 0~359999 deg

          20-bit multi-rotation absolute type DDA (CR)-LT18CP-AM-200-360-T2-① -② plusmn2520 deg max

          (Note) A0 (cable exits from the bottom) option and FL (flange) option cannot be selected together

          Thrust (axial) run-out (No load) 30μm

          Radial run-out (No load) 30μm

          Run-out of Output Shaft

          Slim Type

          Large Bore Type

          Flange- Less Type

          Please refer to P16 for more information on the installation method

          Horizontal

          Side

          Vert

          ical

          Ceiling

          n Model Specification Items

          DDADDACR LT18C 200 360 T2

          Series Type Encoder Type

          Motor Type

          Operation Range

          Applicable Controllers

          Cable Length Options

          DDA StandardDDACR Cleanroom

          specification

          S Standard (17-bit)

          P High resolution (20-bit)

          AI Index absolute type

          AM Multi-rotation absolute type

          200 200W 360 360 deg T2 SCON XSEL-PQ XSEL-RS

          Note Only SCON for LT18CP

          N None S 3m M 5m Xpoundpound Specified

          length

          Please refer to the options table below Please make sure to

          specify either A0 or A1 for the cable exit direction

          5

          DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

          Motor connector

          Encoder connector

          32 or

          less

          11 500plusmn30

          24

          77

          615

          45

          φ6 Compatible tube diameter

          Air JointCR specication only

          R100 or less

          2-φ4 H7 depth 3For workpiece positioning

          6-M5 effective depth 8For workpiece mounting

          PCD102 plusmn01

          φ 52

          Hollo

          w b

          ore

          28

          φ 83

          24

          Air JointCR specification only

          Motor connector

          Encoder connector

          Rotating part of the work mounting surface

          φ180

          φ110h7 -00350

          70plusmn0

          3

          4

          φ178h8 -00630

          500plusmn30

          (φ21

          )

          32 or less

          138

          158

          φ116

          35

          003 A 003 A

          A

          75plusmn0

          1

          8-M6 effective depth 13PCD148 plusmn01

          75plusmn0

          1

          225degφ5 H7 depth 5For body positioning

          Body mounting surfaceBody positioning oblong hole

          2

          R25

          5+00120 depth 5

          Detail view of SS

          CAD drawings can be downloaded from our websitewwwintelligentactuatorcom

          2DCAD2DCAD

          3DCAD3D

          CAD

          Dimensions

          Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use

          LT18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers

          Name External view

          Max number of controlled axes Power supply voltage Control method Maximum number of

          positioning pointsReference

          pagePositioner Pulse-train Program Network Option

          SCON-CBCGB 1Single-phase

          200VAC -

          Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information

          512 (768 for network spec)

          P14

          SCON-LCLCG 1Single-phase

          200VAC- -

          512 (768 for network spec)

          P14

          XSEL-PQRS 8Single-phase 200VACThree-phase 200VAC

          - - 53332

          (Depending on the type)P15

          (Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side

          6

          DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

          ② Options

          P

          O I N T

          SelectionNotes

          (Note 1) The value in ( ) indicates the maximum speed The maximum speed may not be reached if the moving distance is short

          (Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in five years based on this load

          (Note 3) The maximum cable length is 20m Specify a desired length in meters (Example X08 = 8m)

          (Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control

          (Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type

          (Note 6) The brake is used for retention purposes only so damage may be caused if it is actually used in attempts to slow or stop the actuator

          ModelSpecifications

          Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198s) 20-bit plusmn000103deg (plusmn37s)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45s) 20-bit plusmn000833deg (plusmn30s)Allowable load moment (Note 2) 80Nmiddotm

          Encoder resolution 17-bit 131072 pulsesrev 20-bit 1048576 pulsesrev

          Allowable thrust load (Note 2) Forward 3100N Reverse 250NBrake retaining torque 25NmiddotmBase material AluminumAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)Weight 87kg

          Common Specifications

          Thrust (axial) run-out (No load) 30μm

          Radial run-out (No load) 30μm

          Run-out of Output Shaft

          ① Cable Length

          Cable type Cable code

          StandardS (3m)M (5m)

          Specified length X06 (6m) ~X10 (10m)X11 (11m) ~X20 (20m)

          Please refer to P18 for more information regarding the maintenance cables

          1 Indexing accuracy is supported when connected to SCON-CB

          Encoder type Model number Motor

          wattage (W)

          Operation range (deg) (1)

          Speed (degs) (Note 1)

          Rated torque (Nmiddotm) (2)

          Maximum instantaneous torque (Nmiddotm)

          Allowable inertia

          moment (kgmiddotm2)

          Rotor inertia (kgmiddotm2)

          17-bit index absolute type DDA-LT18CS-AI-200-360-T2-① -② -B

          200

          0~359999 deg

          1~1080 (1~1800) 84 252 06 00043

          17-bit multi-rotation absolute type DDA-LT18CS-AM-200-360-T2-① -② -B plusmn9999 deg max

          20-bit index absolute type DDA-LT18CP-AI-200-360-T2-① -② -B 0~359999 deg

          20-bit multi-rotation absolute type DDA-LT18CP-AM-200-360-T2-① -② -B plusmn2520 deg max

          Name Option code

          Cable exits from the bottom A0

          Cable exits from the side A1

          Brake (With brake box) 1 B

          1 A brake cable is not supplied if N (None) is selected as the cable length Please order a brake cable as a separate item in that case

          Controller is not included

          DDA-LT18C-B Slim Type

          Large Bore Type

          Flange- Less Type

          n Model Specification Items

          DDA LT18C 200 360 T2 BSeries Type Encoder

          TypeMotor Type

          Operation Range

          Applicable Controllers

          Cable Length Options Option

          S Standard (17-bit)

          P High resolution (20-bit)

          AI Index absolute type

          AM Multi-rotation absolute type

          200 200W 360 360 deg T2 SCON XSEL-PQ XSEL-RS

          Note Only SCON for LT18CP

          N None S 3m M 5m Xpoundpound Specified

          length

          Please refer to the options table below Please make sure to

          specify either A0 or A1 for the cable exit direction

          B Brake

          (1) SCON and XSEL have different minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information

          Legend Cable length Option

          Please refer to P16 for more information on the installation method

          Horizontal

          Side

          Vert

          ical

          Ceiling

          7

          DDA Direct Drive Motor

          Dimensions

          Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use

          LT18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers

          Name External view

          Max number of controlled axes Power supply voltage Control method Maximum number of

          positioning pointsReference

          pagePositioner Pulse-train Program Network Option

          SCON-CBCGB 1Single-phase

          200VAC -

          Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information

          512 (768 for network spec)

          P14

          SCON-LCLCG 1Single-phase

          200VAC- -

          512 (768 for network spec)

          P14

          XSEL-PQRS 8Single-phase 200VACThree-phase 200VAC

          - - 53332

          (Depending on the type)P15

          (Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side

          Motor connector

          Encoder connector

          32 o

          r les

          s

          500+500

          φ1235

          45 o

          r les

          s

          500plusmn30

          Brake connector

          φ 35

          Hol

          low

          bor

          e

          24

          77

          Motor connector

          Encoder connector

          45 o

          r les

          s

          φ1235500+50

          0

          Brake connector

          φ 35

          Hol

          low

          bor

          e

          R100 or less

          2-φ4 H7 depth 3For workpiece positioning

          6-M5 effective depth 8For workpiece mounting

          PCD102 plusmn01

          φ 52

          Hol

          low

          bor

          e

          φ 83

          Rotating part of the work mounting surface

          φ180

          φ110h7 -00350

          70plusmn0

          3

          4

          φ178h8 -00630

          500plusmn30

          φ 21

          32 or less

          138

          158

          φ116

          35

          003 A 003 A

          A

          75plusmn0

          1

          8-M6 effective depth 13PCD148 plusmn01

          75plusmn0

          1

          225degφ5 H7 depth 5For body positioning

          Body mounting surfaceBody positioning oblong hole

          S

          2

          R25

          5+00120 depth 5

          Detail view of S

          24

          CAD drawings can be downloaded from our websitewwwintelligentactuatorcom

          2DCAD2DCAD

          3DCAD3D

          CAD

          8

          DDA Direct Drive Motor

          P

          O I N T

          SelectionNotes

          (Note 1) The value in ( ) indicates the maximum speed The maximum speed may not be reached if the moving distance is short

          (Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in five years based on this load

          (Note 3) The maximum cable length is 30m Specify a desired length in meters (Example X08 = 8m)

          (Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control

          (Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type

          ModelSpecifications

          ① Cable Length

          Cable type Cable code

          StandardS (3m)M (5m)

          Specified length X06 (6m) ~X10 (10m)X11 (11m) ~X30 (30m)

          Please refer to P18 for more information regarding the maintenance cables

          1 Indexing accuracy is supported when connected to SCON-CB

          Thrust (axial) run-out (No load) 30μm

          Radial run-out (No load) 30μm

          Run-out of Output Shaft

          Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198s) 20-bit plusmn000103deg (plusmn37s)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45s) 20-bit plusmn000833deg (plusmn30s)Allowable load moment (Note 2) 80Nmiddotm

          Encoder resolution 17-bit 131072 pulsesrev20-bit 1048576 pulsesrev

          Allowable thrust load (Note 2) Forward 3100N Reverse 250NBase material AluminumAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)

          Cleanroom specification

          Cleanliness Class 10 (FedStd209D) class 25 or equivalent (ISO 14644-1 Standard)Suction amount 35Nℓmin

          Weight 13kg

          Common Specifications

          Encoder type Model number Motor

          wattage (W)

          Operation range (deg) (1)

          Speed (degs) (Note 1)

          Rated torque (Nmiddotm) (2)

          Maximum instantaneous torque (Nmiddotm)

          Allowable inertia

          moment (kgmiddotm2)

          Rotor inertia (kgmiddotm2)

          17-bit index absolute type DDA (CR)-LH18CS-AI-600-360-T2-① -②

          600

          0~359999 deg

          1~800 (1~1440) 25 75 18 00092

          17-bit multi-rotation absolute type DDA (CR)-LH18CS-AM-600-360-T2-① -② plusmn9999 deg max

          20-bit index absolute type DDA (CR)-LH18CP-AI-600-360-T2-① -② 0~359999 deg

          20-bit multi-rotation absolute type DDA (CR)-LH18CP-AM-600-360-T2-① -② plusmn2520 deg max

          ② Options

          Name Option code

          Cable exits from the bottom A0

          Cable exits from the side A1

          Flange FL

          (Note) A0 (cable exits from the bottom) option and FL (flange) option cannot be selected together

          DDA-LH18C

          Controller is not included

          DDACR-LH18C Clean Room Type

          High Torque

          Type

          Large Bore Type

          Flange- Less Type

          n Model Specification Items

          DDADDACR LH18C 600 360 T2

          Series Type Encoder Type

          Motor Type

          Operation Range

          Applicable Controllers

          Cable Length Options

          DDA StandardDDACR Cleanroom

          specification

          S Standard (17-bit)

          P High resolution (20-bit)

          AI Index absolute type

          AM Multi-rotation absolute type

          600 600W 360 360 deg T2 SCON XSEL-PQ XSEL-RS

          Note Only SCON for LH18CP

          N None S 3m M 5m Xpoundpound Specified

          length

          Please refer to the options table below Please make sure to

          specify either A0 or A1 for the cable exit direction

          (1) SCON and XSEL have different minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information

          Legend Cable length Option

          Please refer to P16 for more information on the installation method

          Horizontal

          Side

          Vert

          ical

          Ceiling

          9

          DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

          Dimensions

          Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use

          LH18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers

          Name External view

          Max number of controlled axes Power supply voltage Control method Maximum number of

          positioning pointsReference

          pagePositioner Pulse-train Program Network Option

          SCON-CBCGB 1Single-phase

          200VAC -

          Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information

          512 (768 for network spec)

          P14

          SCON-LCLCG 1Single-phase

          200VAC- -

          512 (768 for network spec)

          P14

          XSEL-PQRS 8Single-phase 200VACThree-phase 200VAC

          - - 53332

          (Depending on the type)P15

          (Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side

          Encoder connector

          Motor connector

          45

          615

          24

          77

          φ6 Compatible tube diameter

          Air JointCR specication only

          32 o

          r les

          s11

          500plusmn30

          R100 or less

          2-φ4 H7 depth 3For workpiece positioning

          6-M6 effective depth 12For workpiece mounting

          PCD102plusmn01

          φ 52

          Hol

          low

          bor

          e

          φ 83

          2428

          Rotating part of the work mounting surface Encoder connector

          Motor connector

          Air JointCR specification only

          75plusmn0

          1

          8-M8 effective depth 16PCD148 plusmn01

          75plusmn0

          1

          φ5 H7 depth 5For body positioning 225deg

          Body mounting surfaceBody positioning oblong hole

          φ110h7 -00350

          φ116φ180

          φ178h8 -00630

          412

          28

          plusmn03

          32 or less

          φ 21

          500plusmn30

          35

          138

          158

          003 A

          003 A

          A

          5 +00120 depth 5

          2

          R25

          Detail view of S

          S

          CAD drawings can be downloaded from our websitewwwintelligentactuatorcom

          2DCAD2DCAD

          3DCAD3D

          CAD

          10

          DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

          1 A brake cable is not supplied if N (None) is selected as the cable length Please order a brake cable as a separate item in that case

          ② Options

          ModelSpecifications

          Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198s) 20-bit plusmn000103deg (plusmn37s)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45s) 20-bit plusmn000833deg (plusmn30s)Allowable load moment (Note 2) 80Nmiddotm

          Encoder resolution 17-bit 131072 pulsesrev20-bit 1048576 pulsesrev

          Allowable thrust load (Note 2) Forward 3100N Reverse 250NBase material AluminumBrake retaining torque 50NmiddotmAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)Weight 174kg

          Common Specifications

          Thrust (axial) run-out (No load) 30μm

          Radial run-out (No load) 30μm

          Run-out of Output Shaft

          Encoder type Model number Motor

          wattage (W)

          Operation range (deg) (1)

          Speed (degs) (Note 1)

          Rated torque (Nmiddotm) (2)

          Maximum instantaneous torque (Nmiddotm)

          Allowable inertia

          moment (kgmiddotm2)

          Rotor inertia (kgmiddotm2)

          17-bit index absolute type DDA-LH18CS-AI-600-360-T2-① -② -B

          600

          0~359999 deg

          1~800 (1~1440) 25 75 18 00092

          17-bit multi-rotation absolute type DDA-LH18CS-AM-600-360-T2-① -② -B plusmn9999 deg max

          20-bit index absolute type DDA-LH18CP-AI-600-360-T2-① -② -B 0~359999 deg

          20-bit multi-rotation absolute type DDA-LH18CP-AM-600-360-T2-① -② -B plusmn2520 deg max

          Name Option code

          Cable exits from the bottom A0

          Cable exits from the side A1

          Brake (With brake box) 1 B

          ① Cable Length

          Cable type Cable code

          StandardS (3m)M (5m)

          Specified length X06 (6m) ~X10 (10m)X11 (11m) ~X20 (20m)

          Please refer to P18 for more information regarding the maintenance cables

          1 Indexing accuracy is supported when connected to SCON-CB

          Controller is not included

          DDA-LH18C-B High Torque

          Type

          Large Bore Type

          (1) SCON and XSEL have different minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information

          Flange- Less Type

          P

          O I N T

          SelectionNotes

          (Note 1) The value in ( ) indicates the maximum speed The maximum speed may not be reached if the moving distance is short

          (Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in five years based on this load

          (Note 3) The maximum cable length is 20m Specify a desired length in meters (Example X08 = 8m)

          (Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control

          (Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type

          (Note 6) The brake is used for retention purposes only so damage may be caused if it is actually used in attempts to slow or stop the actuator

          Legend Cable length Option

          Please refer to P16 for more information on the installation method

          Horizontal

          Side

          Vert

          ical

          Ceiling

          n Model Specification Items

          DDA LH18C 600 360 T2 BSeries Type Encoder

          TypeMotor Type

          Operation Range

          Applicable Controllers

          Cable Length Options Option

          S Standard (17-bit)

          P High resolution (20-bit)

          AI Index absolute type

          AM Multi-rotation absolute type

          600 600W 360 360 deg T2 SCON XSEL-PQ XSEL-RS

          Note Only SCON for LH18CP

          N None S 3m M 5m Xpoundpound Specified

          length

          Please refer to the options table below Please make sure to

          specify either A0 or A1 for the cable exit direction

          B Brake

          11

          DDA Direct Drive Motor

          Dimensions

          Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use

          LH18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers

          Name External view

          Max number of controlled axes Power supply voltage Control method Maximum number of

          positioning pointsReference

          pagePositioner Pulse-train Program Network Option

          SCON-CBCGB 1Single-phase

          200VAC -

          Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information

          512 (768 for network spec)

          P14

          SCON-LCLCG 1Single-phase

          200VAC- -

          512 (768 for network spec)

          P14

          XSEL-PQRS 8Single-phase 200VACThree-phase 200VAC

          - - 53332

          (Depending on the type)P15

          (Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side

          Encoder connector

          Motor connector

          φ 35

          Hol

          low

          bor

          e

          32 o

          r les

          s

          φ1235

          645

          or l

          ess

          500+500

          500plusmn30

          Brake connector

          24

          77

          Encoder connector

          Motor connector

          φ 35

          Hol

          low

          bor

          e64

          5 o

          r les

          s

          φ1235500+50

          0

          Brake connector

          R100 or less

          2-φ4 H7 depth 3For workpiece positioning

          6-M6 effective depth 12For workpiece mounting

          PCD102 plusmn01

          φ 52

          Hol

          low

          bor

          e

          φ 83

          Rotating part of the work mounting surface

          φ110h7 -00035

          φ116φ180

          φ178h8 -00063

          412

          28

          plusmn03

          32 or less

          φ 21

          500plusmn30

          35

          138

          158

          003 A

          003 A

          A

          75plusmn0

          1

          8-M8 effective depth 16PCD148 plusmn01

          75plusmn0

          1

          φ5 H7 depth 5For body positioning 225deg

          Body mounting surfaceBody positioning oblong hole

          S 5 +00120 depth 5

          2

          R25

          Detail view of S24

          CAD drawings can be downloaded from our websitewwwintelligentactuatorcom

          2DCAD2DCAD

          3DCAD3D

          CAD

          12

          DDA Direct Drive Motor

          OptionsIt is a retention mechanism for holding the stop position when the power or servo is OFF to prevent the workpieces and attachments from being damaged when used in side or vertical positions Be sure to connect a brake box for models with brake

          A bracket that attaches to the body with bolts from the top side

          Brake

          Flange

          Option Code B

          Option Code FL

          cent Brake Box

          cent Wiring Diagram When Brake Box is Used

          DDA-LT18CModel Number DDA-FL-LT18

          Model Number IA-110-DD-4

          DDA-LH18CModel Number DDA-FL-LH18

          PCD200

          PCD200

          plusmn0075plusmn0075

          55deg

          55deg

          180

          180

          180180

          160

          160

          plusmn01

          plusmn01

          160160 plusmn01plusmn01

          4-φ 1

          14-φ 1

          1thr

          ough

          thro

          ugh

          2- φ62- φ6

          H7 through

          H7 through

          135

          135

          815

          815

          plusmn04

          plusmn04

          φ1245φ1245

          55deg

          55deg

          PCD

          PCD200plusmn0075200plusmn0075

          180

          180

          180180160160 plusmn01plusmn01

          160

          160

          plusmn01

          plusmn01

          2- φ62- φ6

          H7 throughH7 through

          4-φ1

          14-φ1

          1thr

          ough

          thro

          ugh

          155

          15513

          63

          136

          3plusmn0

          4plusmn0

          4

          φ1245φ1245

          PG OUTPWRON

          BKOUT

          + - C E

          BKRMT

          RLSBKOUT

          PG IN

          PWRPE N L

          MODEL IA-110-DD-4SN INPUT Single phase 100-240V

          MADE IN JAPAN

          5060Hz 10A maxOUTPUT 12VDC 06A

          PG OUTPWRON

          BKOUT

          + - C E

          BKRMT

          RLSBKOUT

          PG IN

          PWRPE N L

          MODEL IA-110-DD-4SN INPUT Single phase 100-240V

          MADE IN JAPAN

          5060Hz 10A maxOUTPUT 12VDC 06A

          ControllerSCON-CBXSEL-PQRSDDA

          Motor cableModel CB-X(XMC)-MApoundpoundpound

          Brake box

          Encoder cableModel CB-X3-PA010(Comes with the brake box)

          Encoder cableModel CB-X3-PApoundpoundpound

          Brake cableModel CB-DDB-BKpoundpoundpound Main power supply

          100VAC~240VAC

          13

          DDA (CR) Direct Drive Motor

          Position Controller

          Controller Model

          System Configuration

          Positioner Single-axis Type ltSCONgt Model

          Power Supply Voltage

          IO TypeEncoder Type Motor Type Type Series SCON

          IO Cable Length

          AIAM

          2

          The 200W motor used by the DDA is larger than a normal 200W motor so the motor type for the controller will be 200S and its size will be larger than the 400W motor

          For 200W motorFor 600W motor

          200S600

          High-function typeSafety category compliant type

          CBCGB

          PLC equipped typeSafety category PLC equipped type

          LCLCG

          Motor cableModel CB-X-MA (LT18C) CB-XMC-MA (LH18C)

          SCON PC

          DDA

          PLC(To be supplied by the customer)

          IO flat cableModel CB-PAC-PIO020Standard 2m

          Be sure to use a noise filter on the power supply

          ( )Encoder cableModel CB-X3-PA

          PC compatible softwareRS232 connection versionModel RCM-101-MWUSB connection versionModel RCM-101-USB(Please contact IAI for more details)

          Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)

          Regenerative resistor unitModel RESU-2RESUD-2(Please contact IAI for more details)

          1 The wiring diagram is different for models with brakes Please refer to P13 for more information

          1

          Single-phase 200VAC Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models

          Main powersupply

          Field network

          Option

          Supplied with the actuator

          Supplied with the controller

          Supplied with the actuator Option

          Option

          Option

          When the SCON Controller is Connected

          When a field network specification is selectedthe IO cable length will be 0

          Index absolute typeMulti-rotation abs type

          NPPN

          PIO NPN (Standard)

          PIO PNP

          DVCN

          DeviceNet

          CompoNet

          CC CC-Link

          ML MECHATROLINK-I II

          ML3PR

          MECHATROLINK-III

          PROFIBUS-DP

          02

          35

          No cable2m (Standard)

          3m5m

          EC EtherCAT

          EP EtherNetIP

          PRT PROFINET IO

          For recommended modelsplease contact IAI

          Model

          External view

          IO type

          IO type code

          MECHATROLINK-III

          connectionCompoNet connection

          PROFIBUS-DP connection

          CC-Linkconnection

          DeviceNetconnection

          PIO connection specification (1)

          NPPN DV CC PR

          Standard Field network type (1)

          CN ML

          SCON-CB

          EtherNetIP connection

          PROFINET IO connection

          EtherCATconnection

          EC EP PRT

          List of Models

          MECHATROLINK- III

          connection

          ML3

          Applicable encoder type(Note) The index absolute type cannot be used in the pulse-train control and MECHATROLINK-III control(1) Please note that the network specifications cannot be operated on the PIO or pulse-train The PLC type (LCLCG) cannot be connected on the pulse-train

          Index absoluteMulti-rotation absoluteIndex absolute Multi-rotation absolute

          CBCGB CBCGB LCLCG

          14

          SCON Controller

          Program Controller

          List of Models

          Model P Q R S

          Type Large-capacity type Large-capacity type (Safety category specification) High-function type High-function type

          (Safety category specification)

          External view

          DescriptionLarge-capacity type

          that can control up to 6 axes 2400W

          Large-capacity type thats compatible with the

          safety category 4

          High-function type that allows up to 8-axis operation

          Safety category 4 compatible high-function type

          Controller Model

          System Configuration

          Program Multi-axis Type ltXSELgt Model

          Encoder Type

          Encoder Type

          Motor Type

          Motor Type

          Number ofConnected

          AxesType Series Option Option

          XSEL

          200 For 200W motor

          600 For 600W motor

          B BrakePQRS

          6-axis type6-axis safety category type8-axis type8-axis safety category type

          8

          1

          ~ ~

          1 axis

          8 axes

          (PQ type is up to 6 axes)

          (Details of the 1st axis) (Details of the 2nd~8th axis)

          It can simultaneously operate actuators (single-axis robot and ROBO Cylinder) other than the DDA motor on a single controller For connectable actuators other than the DDA motor please contact IAI

          For subsequent models please contact IAI

          Notes

          AIAM

          Index absolute typeMulti-rotation absolute type

          When the XSEL Controller is Connected

          Be sure to use a noise filter on the power supply

          Motor cableModel CB-X-MA (LT18C) CB-XMC-MA (LH18C)

          XSELPC

          PLC(To be supplied by the customer)

          PC compatible softwareRS232 connection versionModel IA-101-X-MWUSB connection versionModel IA-101-X-USBMW(Please contact IAI for more details)

          Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)

          Single-phase 200VACThree-phase 200VAC

          Regenerative resistor unitModel RESU-1RESUD-1(Please contact IAI for more details)

          Option Option

          Option

          Field networkOption

          IO flat cableModel CB-X-PIO020Standard 2m

          Supplied with the controller

          Encoder cableModel CB-X3-PA

          Supplied with the actuator

          Supplied with the actuator

          Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models

          The wiring diagram is different for models with brakes Please refer to P13 for more information

          DDA

          Main powersupply ( )For recommended models

          please contact IAI

          15

          XSEL Controller

          Precautions

          Installation

          Installation Orientation

          Mountingsurface

          For models with brake and cable exit direction to the bottom a clearance hole is required

          Ceiling mount

          Horizontal mount

          Vertical mount

          Gra

          vity

          Operation TypeThis product is available in 2 operation types depending on the operation conditions Please check the features and precautions on each type before use

          (1)The high resolution specification can be connected only to the SCON-CB(2)When the XSEL index type travels more than 180deg from the current position it rotates in a direction that requires a shorter travel distance to

          reach the target position Therefore please note that the direction of rotation changes according to the current position and travel distance If you want to specify the direction of travel use the SCON-CB

          (3)The index type can be rotated in a given direction infinitely but it actually cannot continue to rotate in the same direction without stopping like a regular motor does because the maximum travel distance per command from the XSEL controller is 180deg If you want to allow the motor to rotate continuously use the SCON-CB

          (4)Home return is required for the multi-rotation absolute encoder during the initial setting and replacement of the absolute battery

          Absolute batteryHome return operationLimitless rotation

          Maximum amount of movement in a single movement command

          Operation rangeController typeOperation type

          Not requiredNot required

          Yes (3)

          0~359999deg

          Index absolute type

          RequiredNot required (4)

          No

          Above operation rangeplusmn9999deg (plusmn2520deg) max

          Multi-rotation absolute typeSCON-CB XSEL(1)

          ( ) is for 20-bit

          (Note) Use this product by installing it on a mounting surface having heat dissipating characteristics equivalent to those of an aluminum plate of w450mm times d450mm times t12mm in size If the installation conditions necessitate lower heat dissipating characteristics please consult IAI

          ControllersFor the DDA with 200W motor the outside dimensions of the SCON-CB controller will be the same as the size of the

          400W motor (Please contact IAI for the details of the SCON-CB controller)One and two regenerative resistor unit(s) are required for LT18C and LH18C respectively to operate a DDA

          motor with the SCON-CBWhen operating DDA motor(s) with the XSEL controller regenerative resistor units are required as shown below

          The number of DDA motor(s) connectable to the XSEL controller is a max of 8 units for the LT18C type and a max of 2 units for the LH18C type

          Please note that when the DDA motor is operated with the SCON-CB the motor cannot be connected to the ROBO Cylinder gateway function of the XSEL controller

          Calculation for the power supply value LT18C type single-phase 600W three-phase 200W LH18C type single-phase 1200W three-phase 600W

          Number of regenerative resistor units

          1 2 3 4 5 6 7 81 2 3

          (Cannot be connected)4

          2 4LT18CLH18C

          Number of DD motor(s)

          360deg

          SCON-CB XSEL(1)

          180deg(2)

          16

          DDA (CR) Direct Drive Motor

          Conditions for Selection

          The followings should be checked to determine whether the DDA motor can be used to suit the specific conditions required by the customer

          The customer should confirm that the following three points under actual use do not exceed their maximum allowable levels as specified for the DDA motor

          The total load of device(s) mounted on the actuator

          The total load moment of device(s) mounted on the actuator

          The load inertia of device(s) mounted on the actuator

          Check Load Conditions1

          [1] Thrust load

          [2] Load moment applied

          [3] Load inertia

          J = 18 times M times D 2 [kgm2]

          Mass M [kg]

          D [m]

          Center of rotation

          J = 112 times M times (a 2 + b 2) [kgm2]

          a [m]

          b [m]

          Center of rotation

          Mass M [kg]

          J = M times R 2+ 18 times M times D 2 [kgm2]

          Mass M [kg]

          D [m]

          R [m]

          Cent

          er o

          fro

          tatio

          n

          J = M times R 2+112 times M times (a 2 + b 2 )[kgm2]

          a [m]

          b [m]R [m]

          Cent

          er o

          fro

          tatio

          n

          Mass M [kg]

          The travel time changes according to the load inertia See the tables below to check the travel time data

          Travel Time Guide3

          The data in the tables are for a reference only and do not guarantee the actual travel times

          (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

          0

          0005

          009

          012

          017

          022

          0005

          001

          010

          012

          017

          022

          001

          002

          011

          014

          019

          024

          002

          003

          012

          016

          021

          026

          003

          004

          013

          017

          023

          027

          004

          005

          014

          018

          024

          029

          005

          006

          015

          020

          027

          032

          006

          007

          017

          022

          029

          035

          007

          008

          019

          024

          032

          038

          008

          009

          021

          026

          035

          041

          009

          01

          023

          029

          037

          044

          01

          02

          039

          048

          060

          069

          02

          03

          062

          073

          089

          100

          03

          04

          070

          083

          101

          114

          04

          05

          087

          102

          122

          136

          05

          06

          111

          123

          142

          168

          LH18C

          LT18C

          Continuous Operation Area

          LT18C type LH18C type

          (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

          0

          0005

          0098

          0129

          0192

          0254

          0005

          001

          0096

          0128

          019

          0252

          001

          0015

          0096

          0127

          019

          0252

          002

          002

          0097

          0128

          0191

          0253

          002

          003

          0099

          0131

          0193

          0256

          003

          004

          0104

          0136

          0199

          0262

          004

          006

          0113

          0144

          0207

          027

          006

          008

          012

          0153

          0215

          0278

          008

          01

          0126

          0163

          0225

          0288

          010

          015

          014

          0184

          0249

          0312

          015

          02

          0157

          0208

          0279

          0341

          02

          03

          0207

          0268

          0354

          042

          03

          04

          0257

          0329

          0428

          0504

          04

          06

          0352

          044

          0562

          0655

          06

          08

          0447

          0549

          0692

          08

          08

          1

          053

          0646

          0806

          0925

          10

          12

          0629

          0758

          0933

          1064

          12

          14

          0795

          0941

          1133

          1274

          14

          18

          0875

          1035

          1257

          1415

          Check Operating Conditions2Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DDA motor specifications to determine whether the DDA motor can be used under the applicable operating conditions Please contact IAI for assistance To

          rque

          (Nm

          )

          Curr

          ent [

          Arm

          s]

          Angular velocity [degs]

          AccelerationDeceleration AreaAccelerationDeceleration Area

          Torq

          ue (N

          m)

          Curr

          ent [

          Arm

          s]

          Angular velocity [degs]

          AccelerationDeceleration AreaAccelerationDeceleration Area

          Rating areaRating area

          270deg travel time [sec]180deg travel time [sec]

          90deg travel time [sec]45deg travel time [sec]

          Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

          270deg travel time [sec]180deg travel time [sec]

          90deg travel time [sec]45deg travel time [sec]

          Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

          Selecting the DD Motor

          17

          DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

          (44) (167)

          (80

          )

          31

          (84)(293)

          (92

          )

          31

          (φ5

          4)

          J11SF-03V-KX J11SFM-03V-KXNoNo SignalSignal ColorColor WiringWiring

          AWG20(crimped)

          Red

          Black

          White

          Red

          Black

          White

          +

          -

          FG

          +

          -

          FG

          321

          321

          AWG20(crimped)

          Controller side Actuator side(Front view)(Front view)

          L

          Conditions for Selection

          The followings should be checked to determine whether the DDA motor can be used to suit the specific conditions required by the customer

          The customer should confirm that the following three points under actual use do not exceed their maximum allowable levels as specified for the DDA motor

          The total load of device(s) mounted on the actuator

          The total load moment of device(s) mounted on the actuator

          The load inertia of device(s) mounted on the actuator

          Check Load Conditions1

          [1] Thrust load

          [2] Load moment applied

          [3] Load inertia

          J = 18 times M times D 2 [kgm2]

          Mass M [kg]

          D [m]

          Center of rotation

          J = 112 times M times (a 2 + b 2) [kgm2]

          a [m]

          b [m]

          Center of rotation

          Mass M [kg]

          J = M times R 2+ 18 times M times D 2 [kgm2]

          Mass M [kg]

          D [m]

          R [m]

          Cent

          er o

          fro

          tatio

          n

          J = M times R 2+112 times M times (a 2 + b 2 )[kgm2]

          a [m]

          b [m]R [m]

          Cent

          er o

          fro

          tatio

          n

          Mass M [kg]

          The travel time changes according to the load inertia See the tables below to check the travel time data

          Travel Time Guide3

          The data in the tables are for a reference only and do not guarantee the actual travel times

          (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

          0

          0005

          009

          012

          017

          022

          0005

          001

          010

          012

          017

          022

          001

          002

          011

          014

          019

          024

          002

          003

          012

          016

          021

          026

          003

          004

          013

          017

          023

          027

          004

          005

          014

          018

          024

          029

          005

          006

          015

          020

          027

          032

          006

          007

          017

          022

          029

          035

          007

          008

          019

          024

          032

          038

          008

          009

          021

          026

          035

          041

          009

          01

          023

          029

          037

          044

          01

          02

          039

          048

          060

          069

          02

          03

          062

          073

          089

          100

          03

          04

          070

          083

          101

          114

          04

          05

          087

          102

          122

          136

          05

          06

          111

          123

          142

          168

          LH18C

          LT18C

          Continuous Operation Area

          LT18C type LH18C type

          (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

          0

          0005

          0098

          0129

          0192

          0254

          0005

          001

          0096

          0128

          019

          0252

          001

          0015

          0096

          0127

          019

          0252

          002

          002

          0097

          0128

          0191

          0253

          002

          003

          0099

          0131

          0193

          0256

          003

          004

          0104

          0136

          0199

          0262

          004

          006

          0113

          0144

          0207

          027

          006

          008

          012

          0153

          0215

          0278

          008

          01

          0126

          0163

          0225

          0288

          010

          015

          014

          0184

          0249

          0312

          015

          02

          0157

          0208

          0279

          0341

          02

          03

          0207

          0268

          0354

          042

          03

          04

          0257

          0329

          0428

          0504

          04

          06

          0352

          044

          0562

          0655

          06

          08

          0447

          0549

          0692

          08

          08

          1

          053

          0646

          0806

          0925

          10

          12

          0629

          0758

          0933

          1064

          12

          14

          0795

          0941

          1133

          1274

          14

          18

          0875

          1035

          1257

          1415

          Check Operating Conditions2Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DDA motor specifications to determine whether the DDA motor can be used under the applicable operating conditions Please contact IAI for assistance To

          rque

          (Nm

          )

          Curr

          ent [

          Arm

          s]

          Angular velocity [degs]

          AccelerationDeceleration AreaAccelerationDeceleration Area

          Torq

          ue (N

          m)

          Curr

          ent [

          Arm

          s]

          Angular velocity [degs]

          AccelerationDeceleration AreaAccelerationDeceleration Area

          Rating areaRating area

          270deg travel time [sec]180deg travel time [sec]

          90deg travel time [sec]45deg travel time [sec]

          Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

          270deg travel time [sec]180deg travel time [sec]

          90deg travel time [sec]45deg travel time [sec]

          Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

          Cables

          (Front view) (Front view)

          Controller sideActuator side

          (16)

          (41)

          (φ9) (2

          1)

          (20) (10)

          (18)

          L

          4

          1

          1

          4

          075sq075sq

          Wiring Color Signal No No WiringColorSignal

          White

          GreenRed

          BlackV

          PEU

          W PE

          VU

          W3

          12

          43

          12

          4

          White

          Green

          Red

          Black (crimped)

          Model Number CB-X-MApoundpoundpound Please indicate the cable length (L) in poundpoundpound maximum 30m eg) 080 = 8m

          Minimum bending radius r = 51mm or more (Dynamic bending condition) Only robot cable is available for this model

          L

          4

          1

          1

          4

          (φ9)

          (Front view)

          (16)

          (41)

          (16)(21)

          (11)

          1

          1

          4

          (φ9)

          (16)

          Controller side Actuator side

          125sq125sq

          Wiring Color Signal No No WiringColorSignal

          White

          GreenRed

          BlackV

          PEU

          W PE

          VU

          W3

          12

          43

          12

          4

          White

          Green

          Red

          Black (crimped)

          Model Number CB-XMC-MApoundpoundpound Please indicate the cable length (L) in poundpoundpound maximum 30m eg) 080 = 8m

          Minimum bending radius r = 55mm or more (Dynamic bending condition) Only robot cable is available for this model

          (Front view)(Front view)

          AWG26(Soldered)

          AWG26(crimped)

          L

          (13)

          14

          269

          1

          13

          (37)

          (41) (14)

          (15)

          (25)

          1

          (φ10

          )

          Yellow

          Shield is clamp connected to the hoodDrain Wire and Braided Shield

          BlueBlackRedGray

          PurpleGreen

          OrangeWhiteGrayWhitePurpleWhiteBlackWhiteRed

          WhiteYellowWhiteBlue

          RedGray

          PurpleGreen

          Orange

          YellowBlue

          WhiteGreenBlack

          Drain

          WhiteOrangeWhiteGrayWhitePurpleWhiteBlackWhiteRed

          WhiteYellowWhiteBlue

          WhiteOrangeWhiteGreen

          Wiring Color Signal No

          WiringColorSignalNo

          Controller side Actuator side

          Minimum bending radius r = 58mm or more (Dynamic bending condition) Only robot cable is available for this model

          Model Number CB-X3-PApoundpoundpound

          Model Number CB-DDB-BKpoundpoundpound

          Please indicate the cable length (L) in poundpoundpound maximum 30m eg) 080 = 8m

          Please indicate the cable length (L) in poundpoundpoundmaximum 20m eg) 080 = 8m

          18

          DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

          Catalog No CE0242-1A (0916)

          IAI America Inc 2690 W 237th Street Torrance CA 90505 (800) 736-1712 110 E State Pkwy Schaumburg IL 60173 (800) 944-0333

          1220 Kennestone Circle Suite 108 Marietta GA 30066 (888) 354-9470

          wwwintelligentactuatorcom

          IAI Industrieroboter GmbHOber der Roumlth 4 D-65824 Schwalbach am Taunus Germany

          IAI (Shanghai) Co LtdShanghai Jiahua Business Center A8-303 808Hongqiao Rd Shanghai 200030 China

          IAI Robot (Thailand) Co Ltd825 Phairojkijja Tower 12th Floor Bangna-Trad RDBangna Bangna Bangkok 10260 Thailand

          The information contained in this product brochure may change without prior notice due to product improvements

          • Features
          • Series List
          • Model Specification Items
          • Application Examples
          • DDA-LT18C
          • DDACR-LT18C
          • DDA-LT18C-B
          • DDA-LH18C
          • DDACR-LH18C
          • DDA-LH18C-B
          • Options
          • SCON-CB
          • X-SEL
          • Precautions
          • Selecting the DD Motor
          • Cables

            DDA-LT18C

            Controller is not included

            P

            O I N T

            SelectionNotes

            (Note 1) The value in ( ) indicates the maximum speed The maximum speed may not be reached if the moving distance is short

            (Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in five years based on this load

            (Note 3) The maximum cable length is 30m Specify a desired length in meters (Example X08 = 8m)

            (Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control

            (Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type

            Legend Cable length Option

            ModelSpecifications

            (1) SCON and XSEL have different minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information

            ② Options

            ① Cable Length

            Cable type Cable code

            StandardS (3m)M (5m)

            Specified length X06 (6m) ~X10 (10m)X11 (11m) ~X30 (30m)

            Name Option code

            Cable exits from the bottom A0

            Cable exits from the side A1

            Flange FL

            Please refer to P18 for more information regarding the maintenance cables

            1 Indexing accuracy is supported when connected to SCON-CB

            DDACR-LT18C Clean Room Type

            Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198s) 20-bit plusmn000103deg (plusmn37s)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45s) 20-bit plusmn000833deg (plusmn30s)Allowable load moment (Note 2) 80Nmiddotm

            Encoder resolution 17-bit 131072 pulsesrev20-bit 1048576 pulsesrev

            Allowable thrust load (Note 2) Forward 3100N Reverse 250NBase material AluminumAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)

            Cleanroom specification

            Cleanliness Class 10 (FedStd209D) class 25 or equivalent (ISO 14644-1 Standard)Suction amount 35Nℓmin

            Weight 58kg

            Common Specifications

            Encoder type Model number Motor

            wattage (W)

            Operation range (deg) (1)

            Speed (degs) (Note 1)

            Rated torque (Nmiddotm) (2)

            Maximum instantaneous torque (Nmiddotm)

            Allowable inertia

            moment (kgmiddotm2)

            Rotor inertia (kgmiddotm2)

            17-bit index absolute type DDA (CR)-LT18CS-AI-200-360-T2-① -②

            200

            0~359999 deg

            1~1080 (1~1800) 84 252 06 00043

            17-bit multi-rotation absolute type DDA (CR)-LT18CS-AM-200-360-T2-① -② plusmn9999 deg max

            20-bit index absolute type DDA (CR)-LT18CP-AI-200-360-T2-① -② 0~359999 deg

            20-bit multi-rotation absolute type DDA (CR)-LT18CP-AM-200-360-T2-① -② plusmn2520 deg max

            (Note) A0 (cable exits from the bottom) option and FL (flange) option cannot be selected together

            Thrust (axial) run-out (No load) 30μm

            Radial run-out (No load) 30μm

            Run-out of Output Shaft

            Slim Type

            Large Bore Type

            Flange- Less Type

            Please refer to P16 for more information on the installation method

            Horizontal

            Side

            Vert

            ical

            Ceiling

            n Model Specification Items

            DDADDACR LT18C 200 360 T2

            Series Type Encoder Type

            Motor Type

            Operation Range

            Applicable Controllers

            Cable Length Options

            DDA StandardDDACR Cleanroom

            specification

            S Standard (17-bit)

            P High resolution (20-bit)

            AI Index absolute type

            AM Multi-rotation absolute type

            200 200W 360 360 deg T2 SCON XSEL-PQ XSEL-RS

            Note Only SCON for LT18CP

            N None S 3m M 5m Xpoundpound Specified

            length

            Please refer to the options table below Please make sure to

            specify either A0 or A1 for the cable exit direction

            5

            DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

            Motor connector

            Encoder connector

            32 or

            less

            11 500plusmn30

            24

            77

            615

            45

            φ6 Compatible tube diameter

            Air JointCR specication only

            R100 or less

            2-φ4 H7 depth 3For workpiece positioning

            6-M5 effective depth 8For workpiece mounting

            PCD102 plusmn01

            φ 52

            Hollo

            w b

            ore

            28

            φ 83

            24

            Air JointCR specification only

            Motor connector

            Encoder connector

            Rotating part of the work mounting surface

            φ180

            φ110h7 -00350

            70plusmn0

            3

            4

            φ178h8 -00630

            500plusmn30

            (φ21

            )

            32 or less

            138

            158

            φ116

            35

            003 A 003 A

            A

            75plusmn0

            1

            8-M6 effective depth 13PCD148 plusmn01

            75plusmn0

            1

            225degφ5 H7 depth 5For body positioning

            Body mounting surfaceBody positioning oblong hole

            2

            R25

            5+00120 depth 5

            Detail view of SS

            CAD drawings can be downloaded from our websitewwwintelligentactuatorcom

            2DCAD2DCAD

            3DCAD3D

            CAD

            Dimensions

            Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use

            LT18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers

            Name External view

            Max number of controlled axes Power supply voltage Control method Maximum number of

            positioning pointsReference

            pagePositioner Pulse-train Program Network Option

            SCON-CBCGB 1Single-phase

            200VAC -

            Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information

            512 (768 for network spec)

            P14

            SCON-LCLCG 1Single-phase

            200VAC- -

            512 (768 for network spec)

            P14

            XSEL-PQRS 8Single-phase 200VACThree-phase 200VAC

            - - 53332

            (Depending on the type)P15

            (Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side

            6

            DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

            ② Options

            P

            O I N T

            SelectionNotes

            (Note 1) The value in ( ) indicates the maximum speed The maximum speed may not be reached if the moving distance is short

            (Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in five years based on this load

            (Note 3) The maximum cable length is 20m Specify a desired length in meters (Example X08 = 8m)

            (Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control

            (Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type

            (Note 6) The brake is used for retention purposes only so damage may be caused if it is actually used in attempts to slow or stop the actuator

            ModelSpecifications

            Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198s) 20-bit plusmn000103deg (plusmn37s)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45s) 20-bit plusmn000833deg (plusmn30s)Allowable load moment (Note 2) 80Nmiddotm

            Encoder resolution 17-bit 131072 pulsesrev 20-bit 1048576 pulsesrev

            Allowable thrust load (Note 2) Forward 3100N Reverse 250NBrake retaining torque 25NmiddotmBase material AluminumAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)Weight 87kg

            Common Specifications

            Thrust (axial) run-out (No load) 30μm

            Radial run-out (No load) 30μm

            Run-out of Output Shaft

            ① Cable Length

            Cable type Cable code

            StandardS (3m)M (5m)

            Specified length X06 (6m) ~X10 (10m)X11 (11m) ~X20 (20m)

            Please refer to P18 for more information regarding the maintenance cables

            1 Indexing accuracy is supported when connected to SCON-CB

            Encoder type Model number Motor

            wattage (W)

            Operation range (deg) (1)

            Speed (degs) (Note 1)

            Rated torque (Nmiddotm) (2)

            Maximum instantaneous torque (Nmiddotm)

            Allowable inertia

            moment (kgmiddotm2)

            Rotor inertia (kgmiddotm2)

            17-bit index absolute type DDA-LT18CS-AI-200-360-T2-① -② -B

            200

            0~359999 deg

            1~1080 (1~1800) 84 252 06 00043

            17-bit multi-rotation absolute type DDA-LT18CS-AM-200-360-T2-① -② -B plusmn9999 deg max

            20-bit index absolute type DDA-LT18CP-AI-200-360-T2-① -② -B 0~359999 deg

            20-bit multi-rotation absolute type DDA-LT18CP-AM-200-360-T2-① -② -B plusmn2520 deg max

            Name Option code

            Cable exits from the bottom A0

            Cable exits from the side A1

            Brake (With brake box) 1 B

            1 A brake cable is not supplied if N (None) is selected as the cable length Please order a brake cable as a separate item in that case

            Controller is not included

            DDA-LT18C-B Slim Type

            Large Bore Type

            Flange- Less Type

            n Model Specification Items

            DDA LT18C 200 360 T2 BSeries Type Encoder

            TypeMotor Type

            Operation Range

            Applicable Controllers

            Cable Length Options Option

            S Standard (17-bit)

            P High resolution (20-bit)

            AI Index absolute type

            AM Multi-rotation absolute type

            200 200W 360 360 deg T2 SCON XSEL-PQ XSEL-RS

            Note Only SCON for LT18CP

            N None S 3m M 5m Xpoundpound Specified

            length

            Please refer to the options table below Please make sure to

            specify either A0 or A1 for the cable exit direction

            B Brake

            (1) SCON and XSEL have different minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information

            Legend Cable length Option

            Please refer to P16 for more information on the installation method

            Horizontal

            Side

            Vert

            ical

            Ceiling

            7

            DDA Direct Drive Motor

            Dimensions

            Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use

            LT18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers

            Name External view

            Max number of controlled axes Power supply voltage Control method Maximum number of

            positioning pointsReference

            pagePositioner Pulse-train Program Network Option

            SCON-CBCGB 1Single-phase

            200VAC -

            Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information

            512 (768 for network spec)

            P14

            SCON-LCLCG 1Single-phase

            200VAC- -

            512 (768 for network spec)

            P14

            XSEL-PQRS 8Single-phase 200VACThree-phase 200VAC

            - - 53332

            (Depending on the type)P15

            (Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side

            Motor connector

            Encoder connector

            32 o

            r les

            s

            500+500

            φ1235

            45 o

            r les

            s

            500plusmn30

            Brake connector

            φ 35

            Hol

            low

            bor

            e

            24

            77

            Motor connector

            Encoder connector

            45 o

            r les

            s

            φ1235500+50

            0

            Brake connector

            φ 35

            Hol

            low

            bor

            e

            R100 or less

            2-φ4 H7 depth 3For workpiece positioning

            6-M5 effective depth 8For workpiece mounting

            PCD102 plusmn01

            φ 52

            Hol

            low

            bor

            e

            φ 83

            Rotating part of the work mounting surface

            φ180

            φ110h7 -00350

            70plusmn0

            3

            4

            φ178h8 -00630

            500plusmn30

            φ 21

            32 or less

            138

            158

            φ116

            35

            003 A 003 A

            A

            75plusmn0

            1

            8-M6 effective depth 13PCD148 plusmn01

            75plusmn0

            1

            225degφ5 H7 depth 5For body positioning

            Body mounting surfaceBody positioning oblong hole

            S

            2

            R25

            5+00120 depth 5

            Detail view of S

            24

            CAD drawings can be downloaded from our websitewwwintelligentactuatorcom

            2DCAD2DCAD

            3DCAD3D

            CAD

            8

            DDA Direct Drive Motor

            P

            O I N T

            SelectionNotes

            (Note 1) The value in ( ) indicates the maximum speed The maximum speed may not be reached if the moving distance is short

            (Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in five years based on this load

            (Note 3) The maximum cable length is 30m Specify a desired length in meters (Example X08 = 8m)

            (Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control

            (Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type

            ModelSpecifications

            ① Cable Length

            Cable type Cable code

            StandardS (3m)M (5m)

            Specified length X06 (6m) ~X10 (10m)X11 (11m) ~X30 (30m)

            Please refer to P18 for more information regarding the maintenance cables

            1 Indexing accuracy is supported when connected to SCON-CB

            Thrust (axial) run-out (No load) 30μm

            Radial run-out (No load) 30μm

            Run-out of Output Shaft

            Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198s) 20-bit plusmn000103deg (plusmn37s)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45s) 20-bit plusmn000833deg (plusmn30s)Allowable load moment (Note 2) 80Nmiddotm

            Encoder resolution 17-bit 131072 pulsesrev20-bit 1048576 pulsesrev

            Allowable thrust load (Note 2) Forward 3100N Reverse 250NBase material AluminumAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)

            Cleanroom specification

            Cleanliness Class 10 (FedStd209D) class 25 or equivalent (ISO 14644-1 Standard)Suction amount 35Nℓmin

            Weight 13kg

            Common Specifications

            Encoder type Model number Motor

            wattage (W)

            Operation range (deg) (1)

            Speed (degs) (Note 1)

            Rated torque (Nmiddotm) (2)

            Maximum instantaneous torque (Nmiddotm)

            Allowable inertia

            moment (kgmiddotm2)

            Rotor inertia (kgmiddotm2)

            17-bit index absolute type DDA (CR)-LH18CS-AI-600-360-T2-① -②

            600

            0~359999 deg

            1~800 (1~1440) 25 75 18 00092

            17-bit multi-rotation absolute type DDA (CR)-LH18CS-AM-600-360-T2-① -② plusmn9999 deg max

            20-bit index absolute type DDA (CR)-LH18CP-AI-600-360-T2-① -② 0~359999 deg

            20-bit multi-rotation absolute type DDA (CR)-LH18CP-AM-600-360-T2-① -② plusmn2520 deg max

            ② Options

            Name Option code

            Cable exits from the bottom A0

            Cable exits from the side A1

            Flange FL

            (Note) A0 (cable exits from the bottom) option and FL (flange) option cannot be selected together

            DDA-LH18C

            Controller is not included

            DDACR-LH18C Clean Room Type

            High Torque

            Type

            Large Bore Type

            Flange- Less Type

            n Model Specification Items

            DDADDACR LH18C 600 360 T2

            Series Type Encoder Type

            Motor Type

            Operation Range

            Applicable Controllers

            Cable Length Options

            DDA StandardDDACR Cleanroom

            specification

            S Standard (17-bit)

            P High resolution (20-bit)

            AI Index absolute type

            AM Multi-rotation absolute type

            600 600W 360 360 deg T2 SCON XSEL-PQ XSEL-RS

            Note Only SCON for LH18CP

            N None S 3m M 5m Xpoundpound Specified

            length

            Please refer to the options table below Please make sure to

            specify either A0 or A1 for the cable exit direction

            (1) SCON and XSEL have different minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information

            Legend Cable length Option

            Please refer to P16 for more information on the installation method

            Horizontal

            Side

            Vert

            ical

            Ceiling

            9

            DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

            Dimensions

            Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use

            LH18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers

            Name External view

            Max number of controlled axes Power supply voltage Control method Maximum number of

            positioning pointsReference

            pagePositioner Pulse-train Program Network Option

            SCON-CBCGB 1Single-phase

            200VAC -

            Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information

            512 (768 for network spec)

            P14

            SCON-LCLCG 1Single-phase

            200VAC- -

            512 (768 for network spec)

            P14

            XSEL-PQRS 8Single-phase 200VACThree-phase 200VAC

            - - 53332

            (Depending on the type)P15

            (Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side

            Encoder connector

            Motor connector

            45

            615

            24

            77

            φ6 Compatible tube diameter

            Air JointCR specication only

            32 o

            r les

            s11

            500plusmn30

            R100 or less

            2-φ4 H7 depth 3For workpiece positioning

            6-M6 effective depth 12For workpiece mounting

            PCD102plusmn01

            φ 52

            Hol

            low

            bor

            e

            φ 83

            2428

            Rotating part of the work mounting surface Encoder connector

            Motor connector

            Air JointCR specification only

            75plusmn0

            1

            8-M8 effective depth 16PCD148 plusmn01

            75plusmn0

            1

            φ5 H7 depth 5For body positioning 225deg

            Body mounting surfaceBody positioning oblong hole

            φ110h7 -00350

            φ116φ180

            φ178h8 -00630

            412

            28

            plusmn03

            32 or less

            φ 21

            500plusmn30

            35

            138

            158

            003 A

            003 A

            A

            5 +00120 depth 5

            2

            R25

            Detail view of S

            S

            CAD drawings can be downloaded from our websitewwwintelligentactuatorcom

            2DCAD2DCAD

            3DCAD3D

            CAD

            10

            DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

            1 A brake cable is not supplied if N (None) is selected as the cable length Please order a brake cable as a separate item in that case

            ② Options

            ModelSpecifications

            Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198s) 20-bit plusmn000103deg (plusmn37s)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45s) 20-bit plusmn000833deg (plusmn30s)Allowable load moment (Note 2) 80Nmiddotm

            Encoder resolution 17-bit 131072 pulsesrev20-bit 1048576 pulsesrev

            Allowable thrust load (Note 2) Forward 3100N Reverse 250NBase material AluminumBrake retaining torque 50NmiddotmAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)Weight 174kg

            Common Specifications

            Thrust (axial) run-out (No load) 30μm

            Radial run-out (No load) 30μm

            Run-out of Output Shaft

            Encoder type Model number Motor

            wattage (W)

            Operation range (deg) (1)

            Speed (degs) (Note 1)

            Rated torque (Nmiddotm) (2)

            Maximum instantaneous torque (Nmiddotm)

            Allowable inertia

            moment (kgmiddotm2)

            Rotor inertia (kgmiddotm2)

            17-bit index absolute type DDA-LH18CS-AI-600-360-T2-① -② -B

            600

            0~359999 deg

            1~800 (1~1440) 25 75 18 00092

            17-bit multi-rotation absolute type DDA-LH18CS-AM-600-360-T2-① -② -B plusmn9999 deg max

            20-bit index absolute type DDA-LH18CP-AI-600-360-T2-① -② -B 0~359999 deg

            20-bit multi-rotation absolute type DDA-LH18CP-AM-600-360-T2-① -② -B plusmn2520 deg max

            Name Option code

            Cable exits from the bottom A0

            Cable exits from the side A1

            Brake (With brake box) 1 B

            ① Cable Length

            Cable type Cable code

            StandardS (3m)M (5m)

            Specified length X06 (6m) ~X10 (10m)X11 (11m) ~X20 (20m)

            Please refer to P18 for more information regarding the maintenance cables

            1 Indexing accuracy is supported when connected to SCON-CB

            Controller is not included

            DDA-LH18C-B High Torque

            Type

            Large Bore Type

            (1) SCON and XSEL have different minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information

            Flange- Less Type

            P

            O I N T

            SelectionNotes

            (Note 1) The value in ( ) indicates the maximum speed The maximum speed may not be reached if the moving distance is short

            (Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in five years based on this load

            (Note 3) The maximum cable length is 20m Specify a desired length in meters (Example X08 = 8m)

            (Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control

            (Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type

            (Note 6) The brake is used for retention purposes only so damage may be caused if it is actually used in attempts to slow or stop the actuator

            Legend Cable length Option

            Please refer to P16 for more information on the installation method

            Horizontal

            Side

            Vert

            ical

            Ceiling

            n Model Specification Items

            DDA LH18C 600 360 T2 BSeries Type Encoder

            TypeMotor Type

            Operation Range

            Applicable Controllers

            Cable Length Options Option

            S Standard (17-bit)

            P High resolution (20-bit)

            AI Index absolute type

            AM Multi-rotation absolute type

            600 600W 360 360 deg T2 SCON XSEL-PQ XSEL-RS

            Note Only SCON for LH18CP

            N None S 3m M 5m Xpoundpound Specified

            length

            Please refer to the options table below Please make sure to

            specify either A0 or A1 for the cable exit direction

            B Brake

            11

            DDA Direct Drive Motor

            Dimensions

            Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use

            LH18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers

            Name External view

            Max number of controlled axes Power supply voltage Control method Maximum number of

            positioning pointsReference

            pagePositioner Pulse-train Program Network Option

            SCON-CBCGB 1Single-phase

            200VAC -

            Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information

            512 (768 for network spec)

            P14

            SCON-LCLCG 1Single-phase

            200VAC- -

            512 (768 for network spec)

            P14

            XSEL-PQRS 8Single-phase 200VACThree-phase 200VAC

            - - 53332

            (Depending on the type)P15

            (Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side

            Encoder connector

            Motor connector

            φ 35

            Hol

            low

            bor

            e

            32 o

            r les

            s

            φ1235

            645

            or l

            ess

            500+500

            500plusmn30

            Brake connector

            24

            77

            Encoder connector

            Motor connector

            φ 35

            Hol

            low

            bor

            e64

            5 o

            r les

            s

            φ1235500+50

            0

            Brake connector

            R100 or less

            2-φ4 H7 depth 3For workpiece positioning

            6-M6 effective depth 12For workpiece mounting

            PCD102 plusmn01

            φ 52

            Hol

            low

            bor

            e

            φ 83

            Rotating part of the work mounting surface

            φ110h7 -00035

            φ116φ180

            φ178h8 -00063

            412

            28

            plusmn03

            32 or less

            φ 21

            500plusmn30

            35

            138

            158

            003 A

            003 A

            A

            75plusmn0

            1

            8-M8 effective depth 16PCD148 plusmn01

            75plusmn0

            1

            φ5 H7 depth 5For body positioning 225deg

            Body mounting surfaceBody positioning oblong hole

            S 5 +00120 depth 5

            2

            R25

            Detail view of S24

            CAD drawings can be downloaded from our websitewwwintelligentactuatorcom

            2DCAD2DCAD

            3DCAD3D

            CAD

            12

            DDA Direct Drive Motor

            OptionsIt is a retention mechanism for holding the stop position when the power or servo is OFF to prevent the workpieces and attachments from being damaged when used in side or vertical positions Be sure to connect a brake box for models with brake

            A bracket that attaches to the body with bolts from the top side

            Brake

            Flange

            Option Code B

            Option Code FL

            cent Brake Box

            cent Wiring Diagram When Brake Box is Used

            DDA-LT18CModel Number DDA-FL-LT18

            Model Number IA-110-DD-4

            DDA-LH18CModel Number DDA-FL-LH18

            PCD200

            PCD200

            plusmn0075plusmn0075

            55deg

            55deg

            180

            180

            180180

            160

            160

            plusmn01

            plusmn01

            160160 plusmn01plusmn01

            4-φ 1

            14-φ 1

            1thr

            ough

            thro

            ugh

            2- φ62- φ6

            H7 through

            H7 through

            135

            135

            815

            815

            plusmn04

            plusmn04

            φ1245φ1245

            55deg

            55deg

            PCD

            PCD200plusmn0075200plusmn0075

            180

            180

            180180160160 plusmn01plusmn01

            160

            160

            plusmn01

            plusmn01

            2- φ62- φ6

            H7 throughH7 through

            4-φ1

            14-φ1

            1thr

            ough

            thro

            ugh

            155

            15513

            63

            136

            3plusmn0

            4plusmn0

            4

            φ1245φ1245

            PG OUTPWRON

            BKOUT

            + - C E

            BKRMT

            RLSBKOUT

            PG IN

            PWRPE N L

            MODEL IA-110-DD-4SN INPUT Single phase 100-240V

            MADE IN JAPAN

            5060Hz 10A maxOUTPUT 12VDC 06A

            PG OUTPWRON

            BKOUT

            + - C E

            BKRMT

            RLSBKOUT

            PG IN

            PWRPE N L

            MODEL IA-110-DD-4SN INPUT Single phase 100-240V

            MADE IN JAPAN

            5060Hz 10A maxOUTPUT 12VDC 06A

            ControllerSCON-CBXSEL-PQRSDDA

            Motor cableModel CB-X(XMC)-MApoundpoundpound

            Brake box

            Encoder cableModel CB-X3-PA010(Comes with the brake box)

            Encoder cableModel CB-X3-PApoundpoundpound

            Brake cableModel CB-DDB-BKpoundpoundpound Main power supply

            100VAC~240VAC

            13

            DDA (CR) Direct Drive Motor

            Position Controller

            Controller Model

            System Configuration

            Positioner Single-axis Type ltSCONgt Model

            Power Supply Voltage

            IO TypeEncoder Type Motor Type Type Series SCON

            IO Cable Length

            AIAM

            2

            The 200W motor used by the DDA is larger than a normal 200W motor so the motor type for the controller will be 200S and its size will be larger than the 400W motor

            For 200W motorFor 600W motor

            200S600

            High-function typeSafety category compliant type

            CBCGB

            PLC equipped typeSafety category PLC equipped type

            LCLCG

            Motor cableModel CB-X-MA (LT18C) CB-XMC-MA (LH18C)

            SCON PC

            DDA

            PLC(To be supplied by the customer)

            IO flat cableModel CB-PAC-PIO020Standard 2m

            Be sure to use a noise filter on the power supply

            ( )Encoder cableModel CB-X3-PA

            PC compatible softwareRS232 connection versionModel RCM-101-MWUSB connection versionModel RCM-101-USB(Please contact IAI for more details)

            Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)

            Regenerative resistor unitModel RESU-2RESUD-2(Please contact IAI for more details)

            1 The wiring diagram is different for models with brakes Please refer to P13 for more information

            1

            Single-phase 200VAC Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models

            Main powersupply

            Field network

            Option

            Supplied with the actuator

            Supplied with the controller

            Supplied with the actuator Option

            Option

            Option

            When the SCON Controller is Connected

            When a field network specification is selectedthe IO cable length will be 0

            Index absolute typeMulti-rotation abs type

            NPPN

            PIO NPN (Standard)

            PIO PNP

            DVCN

            DeviceNet

            CompoNet

            CC CC-Link

            ML MECHATROLINK-I II

            ML3PR

            MECHATROLINK-III

            PROFIBUS-DP

            02

            35

            No cable2m (Standard)

            3m5m

            EC EtherCAT

            EP EtherNetIP

            PRT PROFINET IO

            For recommended modelsplease contact IAI

            Model

            External view

            IO type

            IO type code

            MECHATROLINK-III

            connectionCompoNet connection

            PROFIBUS-DP connection

            CC-Linkconnection

            DeviceNetconnection

            PIO connection specification (1)

            NPPN DV CC PR

            Standard Field network type (1)

            CN ML

            SCON-CB

            EtherNetIP connection

            PROFINET IO connection

            EtherCATconnection

            EC EP PRT

            List of Models

            MECHATROLINK- III

            connection

            ML3

            Applicable encoder type(Note) The index absolute type cannot be used in the pulse-train control and MECHATROLINK-III control(1) Please note that the network specifications cannot be operated on the PIO or pulse-train The PLC type (LCLCG) cannot be connected on the pulse-train

            Index absoluteMulti-rotation absoluteIndex absolute Multi-rotation absolute

            CBCGB CBCGB LCLCG

            14

            SCON Controller

            Program Controller

            List of Models

            Model P Q R S

            Type Large-capacity type Large-capacity type (Safety category specification) High-function type High-function type

            (Safety category specification)

            External view

            DescriptionLarge-capacity type

            that can control up to 6 axes 2400W

            Large-capacity type thats compatible with the

            safety category 4

            High-function type that allows up to 8-axis operation

            Safety category 4 compatible high-function type

            Controller Model

            System Configuration

            Program Multi-axis Type ltXSELgt Model

            Encoder Type

            Encoder Type

            Motor Type

            Motor Type

            Number ofConnected

            AxesType Series Option Option

            XSEL

            200 For 200W motor

            600 For 600W motor

            B BrakePQRS

            6-axis type6-axis safety category type8-axis type8-axis safety category type

            8

            1

            ~ ~

            1 axis

            8 axes

            (PQ type is up to 6 axes)

            (Details of the 1st axis) (Details of the 2nd~8th axis)

            It can simultaneously operate actuators (single-axis robot and ROBO Cylinder) other than the DDA motor on a single controller For connectable actuators other than the DDA motor please contact IAI

            For subsequent models please contact IAI

            Notes

            AIAM

            Index absolute typeMulti-rotation absolute type

            When the XSEL Controller is Connected

            Be sure to use a noise filter on the power supply

            Motor cableModel CB-X-MA (LT18C) CB-XMC-MA (LH18C)

            XSELPC

            PLC(To be supplied by the customer)

            PC compatible softwareRS232 connection versionModel IA-101-X-MWUSB connection versionModel IA-101-X-USBMW(Please contact IAI for more details)

            Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)

            Single-phase 200VACThree-phase 200VAC

            Regenerative resistor unitModel RESU-1RESUD-1(Please contact IAI for more details)

            Option Option

            Option

            Field networkOption

            IO flat cableModel CB-X-PIO020Standard 2m

            Supplied with the controller

            Encoder cableModel CB-X3-PA

            Supplied with the actuator

            Supplied with the actuator

            Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models

            The wiring diagram is different for models with brakes Please refer to P13 for more information

            DDA

            Main powersupply ( )For recommended models

            please contact IAI

            15

            XSEL Controller

            Precautions

            Installation

            Installation Orientation

            Mountingsurface

            For models with brake and cable exit direction to the bottom a clearance hole is required

            Ceiling mount

            Horizontal mount

            Vertical mount

            Gra

            vity

            Operation TypeThis product is available in 2 operation types depending on the operation conditions Please check the features and precautions on each type before use

            (1)The high resolution specification can be connected only to the SCON-CB(2)When the XSEL index type travels more than 180deg from the current position it rotates in a direction that requires a shorter travel distance to

            reach the target position Therefore please note that the direction of rotation changes according to the current position and travel distance If you want to specify the direction of travel use the SCON-CB

            (3)The index type can be rotated in a given direction infinitely but it actually cannot continue to rotate in the same direction without stopping like a regular motor does because the maximum travel distance per command from the XSEL controller is 180deg If you want to allow the motor to rotate continuously use the SCON-CB

            (4)Home return is required for the multi-rotation absolute encoder during the initial setting and replacement of the absolute battery

            Absolute batteryHome return operationLimitless rotation

            Maximum amount of movement in a single movement command

            Operation rangeController typeOperation type

            Not requiredNot required

            Yes (3)

            0~359999deg

            Index absolute type

            RequiredNot required (4)

            No

            Above operation rangeplusmn9999deg (plusmn2520deg) max

            Multi-rotation absolute typeSCON-CB XSEL(1)

            ( ) is for 20-bit

            (Note) Use this product by installing it on a mounting surface having heat dissipating characteristics equivalent to those of an aluminum plate of w450mm times d450mm times t12mm in size If the installation conditions necessitate lower heat dissipating characteristics please consult IAI

            ControllersFor the DDA with 200W motor the outside dimensions of the SCON-CB controller will be the same as the size of the

            400W motor (Please contact IAI for the details of the SCON-CB controller)One and two regenerative resistor unit(s) are required for LT18C and LH18C respectively to operate a DDA

            motor with the SCON-CBWhen operating DDA motor(s) with the XSEL controller regenerative resistor units are required as shown below

            The number of DDA motor(s) connectable to the XSEL controller is a max of 8 units for the LT18C type and a max of 2 units for the LH18C type

            Please note that when the DDA motor is operated with the SCON-CB the motor cannot be connected to the ROBO Cylinder gateway function of the XSEL controller

            Calculation for the power supply value LT18C type single-phase 600W three-phase 200W LH18C type single-phase 1200W three-phase 600W

            Number of regenerative resistor units

            1 2 3 4 5 6 7 81 2 3

            (Cannot be connected)4

            2 4LT18CLH18C

            Number of DD motor(s)

            360deg

            SCON-CB XSEL(1)

            180deg(2)

            16

            DDA (CR) Direct Drive Motor

            Conditions for Selection

            The followings should be checked to determine whether the DDA motor can be used to suit the specific conditions required by the customer

            The customer should confirm that the following three points under actual use do not exceed their maximum allowable levels as specified for the DDA motor

            The total load of device(s) mounted on the actuator

            The total load moment of device(s) mounted on the actuator

            The load inertia of device(s) mounted on the actuator

            Check Load Conditions1

            [1] Thrust load

            [2] Load moment applied

            [3] Load inertia

            J = 18 times M times D 2 [kgm2]

            Mass M [kg]

            D [m]

            Center of rotation

            J = 112 times M times (a 2 + b 2) [kgm2]

            a [m]

            b [m]

            Center of rotation

            Mass M [kg]

            J = M times R 2+ 18 times M times D 2 [kgm2]

            Mass M [kg]

            D [m]

            R [m]

            Cent

            er o

            fro

            tatio

            n

            J = M times R 2+112 times M times (a 2 + b 2 )[kgm2]

            a [m]

            b [m]R [m]

            Cent

            er o

            fro

            tatio

            n

            Mass M [kg]

            The travel time changes according to the load inertia See the tables below to check the travel time data

            Travel Time Guide3

            The data in the tables are for a reference only and do not guarantee the actual travel times

            (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

            0

            0005

            009

            012

            017

            022

            0005

            001

            010

            012

            017

            022

            001

            002

            011

            014

            019

            024

            002

            003

            012

            016

            021

            026

            003

            004

            013

            017

            023

            027

            004

            005

            014

            018

            024

            029

            005

            006

            015

            020

            027

            032

            006

            007

            017

            022

            029

            035

            007

            008

            019

            024

            032

            038

            008

            009

            021

            026

            035

            041

            009

            01

            023

            029

            037

            044

            01

            02

            039

            048

            060

            069

            02

            03

            062

            073

            089

            100

            03

            04

            070

            083

            101

            114

            04

            05

            087

            102

            122

            136

            05

            06

            111

            123

            142

            168

            LH18C

            LT18C

            Continuous Operation Area

            LT18C type LH18C type

            (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

            0

            0005

            0098

            0129

            0192

            0254

            0005

            001

            0096

            0128

            019

            0252

            001

            0015

            0096

            0127

            019

            0252

            002

            002

            0097

            0128

            0191

            0253

            002

            003

            0099

            0131

            0193

            0256

            003

            004

            0104

            0136

            0199

            0262

            004

            006

            0113

            0144

            0207

            027

            006

            008

            012

            0153

            0215

            0278

            008

            01

            0126

            0163

            0225

            0288

            010

            015

            014

            0184

            0249

            0312

            015

            02

            0157

            0208

            0279

            0341

            02

            03

            0207

            0268

            0354

            042

            03

            04

            0257

            0329

            0428

            0504

            04

            06

            0352

            044

            0562

            0655

            06

            08

            0447

            0549

            0692

            08

            08

            1

            053

            0646

            0806

            0925

            10

            12

            0629

            0758

            0933

            1064

            12

            14

            0795

            0941

            1133

            1274

            14

            18

            0875

            1035

            1257

            1415

            Check Operating Conditions2Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DDA motor specifications to determine whether the DDA motor can be used under the applicable operating conditions Please contact IAI for assistance To

            rque

            (Nm

            )

            Curr

            ent [

            Arm

            s]

            Angular velocity [degs]

            AccelerationDeceleration AreaAccelerationDeceleration Area

            Torq

            ue (N

            m)

            Curr

            ent [

            Arm

            s]

            Angular velocity [degs]

            AccelerationDeceleration AreaAccelerationDeceleration Area

            Rating areaRating area

            270deg travel time [sec]180deg travel time [sec]

            90deg travel time [sec]45deg travel time [sec]

            Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

            270deg travel time [sec]180deg travel time [sec]

            90deg travel time [sec]45deg travel time [sec]

            Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

            Selecting the DD Motor

            17

            DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

            (44) (167)

            (80

            )

            31

            (84)(293)

            (92

            )

            31

            (φ5

            4)

            J11SF-03V-KX J11SFM-03V-KXNoNo SignalSignal ColorColor WiringWiring

            AWG20(crimped)

            Red

            Black

            White

            Red

            Black

            White

            +

            -

            FG

            +

            -

            FG

            321

            321

            AWG20(crimped)

            Controller side Actuator side(Front view)(Front view)

            L

            Conditions for Selection

            The followings should be checked to determine whether the DDA motor can be used to suit the specific conditions required by the customer

            The customer should confirm that the following three points under actual use do not exceed their maximum allowable levels as specified for the DDA motor

            The total load of device(s) mounted on the actuator

            The total load moment of device(s) mounted on the actuator

            The load inertia of device(s) mounted on the actuator

            Check Load Conditions1

            [1] Thrust load

            [2] Load moment applied

            [3] Load inertia

            J = 18 times M times D 2 [kgm2]

            Mass M [kg]

            D [m]

            Center of rotation

            J = 112 times M times (a 2 + b 2) [kgm2]

            a [m]

            b [m]

            Center of rotation

            Mass M [kg]

            J = M times R 2+ 18 times M times D 2 [kgm2]

            Mass M [kg]

            D [m]

            R [m]

            Cent

            er o

            fro

            tatio

            n

            J = M times R 2+112 times M times (a 2 + b 2 )[kgm2]

            a [m]

            b [m]R [m]

            Cent

            er o

            fro

            tatio

            n

            Mass M [kg]

            The travel time changes according to the load inertia See the tables below to check the travel time data

            Travel Time Guide3

            The data in the tables are for a reference only and do not guarantee the actual travel times

            (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

            0

            0005

            009

            012

            017

            022

            0005

            001

            010

            012

            017

            022

            001

            002

            011

            014

            019

            024

            002

            003

            012

            016

            021

            026

            003

            004

            013

            017

            023

            027

            004

            005

            014

            018

            024

            029

            005

            006

            015

            020

            027

            032

            006

            007

            017

            022

            029

            035

            007

            008

            019

            024

            032

            038

            008

            009

            021

            026

            035

            041

            009

            01

            023

            029

            037

            044

            01

            02

            039

            048

            060

            069

            02

            03

            062

            073

            089

            100

            03

            04

            070

            083

            101

            114

            04

            05

            087

            102

            122

            136

            05

            06

            111

            123

            142

            168

            LH18C

            LT18C

            Continuous Operation Area

            LT18C type LH18C type

            (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

            0

            0005

            0098

            0129

            0192

            0254

            0005

            001

            0096

            0128

            019

            0252

            001

            0015

            0096

            0127

            019

            0252

            002

            002

            0097

            0128

            0191

            0253

            002

            003

            0099

            0131

            0193

            0256

            003

            004

            0104

            0136

            0199

            0262

            004

            006

            0113

            0144

            0207

            027

            006

            008

            012

            0153

            0215

            0278

            008

            01

            0126

            0163

            0225

            0288

            010

            015

            014

            0184

            0249

            0312

            015

            02

            0157

            0208

            0279

            0341

            02

            03

            0207

            0268

            0354

            042

            03

            04

            0257

            0329

            0428

            0504

            04

            06

            0352

            044

            0562

            0655

            06

            08

            0447

            0549

            0692

            08

            08

            1

            053

            0646

            0806

            0925

            10

            12

            0629

            0758

            0933

            1064

            12

            14

            0795

            0941

            1133

            1274

            14

            18

            0875

            1035

            1257

            1415

            Check Operating Conditions2Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DDA motor specifications to determine whether the DDA motor can be used under the applicable operating conditions Please contact IAI for assistance To

            rque

            (Nm

            )

            Curr

            ent [

            Arm

            s]

            Angular velocity [degs]

            AccelerationDeceleration AreaAccelerationDeceleration Area

            Torq

            ue (N

            m)

            Curr

            ent [

            Arm

            s]

            Angular velocity [degs]

            AccelerationDeceleration AreaAccelerationDeceleration Area

            Rating areaRating area

            270deg travel time [sec]180deg travel time [sec]

            90deg travel time [sec]45deg travel time [sec]

            Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

            270deg travel time [sec]180deg travel time [sec]

            90deg travel time [sec]45deg travel time [sec]

            Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

            Cables

            (Front view) (Front view)

            Controller sideActuator side

            (16)

            (41)

            (φ9) (2

            1)

            (20) (10)

            (18)

            L

            4

            1

            1

            4

            075sq075sq

            Wiring Color Signal No No WiringColorSignal

            White

            GreenRed

            BlackV

            PEU

            W PE

            VU

            W3

            12

            43

            12

            4

            White

            Green

            Red

            Black (crimped)

            Model Number CB-X-MApoundpoundpound Please indicate the cable length (L) in poundpoundpound maximum 30m eg) 080 = 8m

            Minimum bending radius r = 51mm or more (Dynamic bending condition) Only robot cable is available for this model

            L

            4

            1

            1

            4

            (φ9)

            (Front view)

            (16)

            (41)

            (16)(21)

            (11)

            1

            1

            4

            (φ9)

            (16)

            Controller side Actuator side

            125sq125sq

            Wiring Color Signal No No WiringColorSignal

            White

            GreenRed

            BlackV

            PEU

            W PE

            VU

            W3

            12

            43

            12

            4

            White

            Green

            Red

            Black (crimped)

            Model Number CB-XMC-MApoundpoundpound Please indicate the cable length (L) in poundpoundpound maximum 30m eg) 080 = 8m

            Minimum bending radius r = 55mm or more (Dynamic bending condition) Only robot cable is available for this model

            (Front view)(Front view)

            AWG26(Soldered)

            AWG26(crimped)

            L

            (13)

            14

            269

            1

            13

            (37)

            (41) (14)

            (15)

            (25)

            1

            (φ10

            )

            Yellow

            Shield is clamp connected to the hoodDrain Wire and Braided Shield

            BlueBlackRedGray

            PurpleGreen

            OrangeWhiteGrayWhitePurpleWhiteBlackWhiteRed

            WhiteYellowWhiteBlue

            RedGray

            PurpleGreen

            Orange

            YellowBlue

            WhiteGreenBlack

            Drain

            WhiteOrangeWhiteGrayWhitePurpleWhiteBlackWhiteRed

            WhiteYellowWhiteBlue

            WhiteOrangeWhiteGreen

            Wiring Color Signal No

            WiringColorSignalNo

            Controller side Actuator side

            Minimum bending radius r = 58mm or more (Dynamic bending condition) Only robot cable is available for this model

            Model Number CB-X3-PApoundpoundpound

            Model Number CB-DDB-BKpoundpoundpound

            Please indicate the cable length (L) in poundpoundpound maximum 30m eg) 080 = 8m

            Please indicate the cable length (L) in poundpoundpoundmaximum 20m eg) 080 = 8m

            18

            DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

            Catalog No CE0242-1A (0916)

            IAI America Inc 2690 W 237th Street Torrance CA 90505 (800) 736-1712 110 E State Pkwy Schaumburg IL 60173 (800) 944-0333

            1220 Kennestone Circle Suite 108 Marietta GA 30066 (888) 354-9470

            wwwintelligentactuatorcom

            IAI Industrieroboter GmbHOber der Roumlth 4 D-65824 Schwalbach am Taunus Germany

            IAI (Shanghai) Co LtdShanghai Jiahua Business Center A8-303 808Hongqiao Rd Shanghai 200030 China

            IAI Robot (Thailand) Co Ltd825 Phairojkijja Tower 12th Floor Bangna-Trad RDBangna Bangna Bangkok 10260 Thailand

            The information contained in this product brochure may change without prior notice due to product improvements

            • Features
            • Series List
            • Model Specification Items
            • Application Examples
            • DDA-LT18C
            • DDACR-LT18C
            • DDA-LT18C-B
            • DDA-LH18C
            • DDACR-LH18C
            • DDA-LH18C-B
            • Options
            • SCON-CB
            • X-SEL
            • Precautions
            • Selecting the DD Motor
            • Cables

              Motor connector

              Encoder connector

              32 or

              less

              11 500plusmn30

              24

              77

              615

              45

              φ6 Compatible tube diameter

              Air JointCR specication only

              R100 or less

              2-φ4 H7 depth 3For workpiece positioning

              6-M5 effective depth 8For workpiece mounting

              PCD102 plusmn01

              φ 52

              Hollo

              w b

              ore

              28

              φ 83

              24

              Air JointCR specification only

              Motor connector

              Encoder connector

              Rotating part of the work mounting surface

              φ180

              φ110h7 -00350

              70plusmn0

              3

              4

              φ178h8 -00630

              500plusmn30

              (φ21

              )

              32 or less

              138

              158

              φ116

              35

              003 A 003 A

              A

              75plusmn0

              1

              8-M6 effective depth 13PCD148 plusmn01

              75plusmn0

              1

              225degφ5 H7 depth 5For body positioning

              Body mounting surfaceBody positioning oblong hole

              2

              R25

              5+00120 depth 5

              Detail view of SS

              CAD drawings can be downloaded from our websitewwwintelligentactuatorcom

              2DCAD2DCAD

              3DCAD3D

              CAD

              Dimensions

              Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use

              LT18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers

              Name External view

              Max number of controlled axes Power supply voltage Control method Maximum number of

              positioning pointsReference

              pagePositioner Pulse-train Program Network Option

              SCON-CBCGB 1Single-phase

              200VAC -

              Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information

              512 (768 for network spec)

              P14

              SCON-LCLCG 1Single-phase

              200VAC- -

              512 (768 for network spec)

              P14

              XSEL-PQRS 8Single-phase 200VACThree-phase 200VAC

              - - 53332

              (Depending on the type)P15

              (Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side

              6

              DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

              ② Options

              P

              O I N T

              SelectionNotes

              (Note 1) The value in ( ) indicates the maximum speed The maximum speed may not be reached if the moving distance is short

              (Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in five years based on this load

              (Note 3) The maximum cable length is 20m Specify a desired length in meters (Example X08 = 8m)

              (Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control

              (Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type

              (Note 6) The brake is used for retention purposes only so damage may be caused if it is actually used in attempts to slow or stop the actuator

              ModelSpecifications

              Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198s) 20-bit plusmn000103deg (plusmn37s)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45s) 20-bit plusmn000833deg (plusmn30s)Allowable load moment (Note 2) 80Nmiddotm

              Encoder resolution 17-bit 131072 pulsesrev 20-bit 1048576 pulsesrev

              Allowable thrust load (Note 2) Forward 3100N Reverse 250NBrake retaining torque 25NmiddotmBase material AluminumAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)Weight 87kg

              Common Specifications

              Thrust (axial) run-out (No load) 30μm

              Radial run-out (No load) 30μm

              Run-out of Output Shaft

              ① Cable Length

              Cable type Cable code

              StandardS (3m)M (5m)

              Specified length X06 (6m) ~X10 (10m)X11 (11m) ~X20 (20m)

              Please refer to P18 for more information regarding the maintenance cables

              1 Indexing accuracy is supported when connected to SCON-CB

              Encoder type Model number Motor

              wattage (W)

              Operation range (deg) (1)

              Speed (degs) (Note 1)

              Rated torque (Nmiddotm) (2)

              Maximum instantaneous torque (Nmiddotm)

              Allowable inertia

              moment (kgmiddotm2)

              Rotor inertia (kgmiddotm2)

              17-bit index absolute type DDA-LT18CS-AI-200-360-T2-① -② -B

              200

              0~359999 deg

              1~1080 (1~1800) 84 252 06 00043

              17-bit multi-rotation absolute type DDA-LT18CS-AM-200-360-T2-① -② -B plusmn9999 deg max

              20-bit index absolute type DDA-LT18CP-AI-200-360-T2-① -② -B 0~359999 deg

              20-bit multi-rotation absolute type DDA-LT18CP-AM-200-360-T2-① -② -B plusmn2520 deg max

              Name Option code

              Cable exits from the bottom A0

              Cable exits from the side A1

              Brake (With brake box) 1 B

              1 A brake cable is not supplied if N (None) is selected as the cable length Please order a brake cable as a separate item in that case

              Controller is not included

              DDA-LT18C-B Slim Type

              Large Bore Type

              Flange- Less Type

              n Model Specification Items

              DDA LT18C 200 360 T2 BSeries Type Encoder

              TypeMotor Type

              Operation Range

              Applicable Controllers

              Cable Length Options Option

              S Standard (17-bit)

              P High resolution (20-bit)

              AI Index absolute type

              AM Multi-rotation absolute type

              200 200W 360 360 deg T2 SCON XSEL-PQ XSEL-RS

              Note Only SCON for LT18CP

              N None S 3m M 5m Xpoundpound Specified

              length

              Please refer to the options table below Please make sure to

              specify either A0 or A1 for the cable exit direction

              B Brake

              (1) SCON and XSEL have different minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information

              Legend Cable length Option

              Please refer to P16 for more information on the installation method

              Horizontal

              Side

              Vert

              ical

              Ceiling

              7

              DDA Direct Drive Motor

              Dimensions

              Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use

              LT18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers

              Name External view

              Max number of controlled axes Power supply voltage Control method Maximum number of

              positioning pointsReference

              pagePositioner Pulse-train Program Network Option

              SCON-CBCGB 1Single-phase

              200VAC -

              Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information

              512 (768 for network spec)

              P14

              SCON-LCLCG 1Single-phase

              200VAC- -

              512 (768 for network spec)

              P14

              XSEL-PQRS 8Single-phase 200VACThree-phase 200VAC

              - - 53332

              (Depending on the type)P15

              (Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side

              Motor connector

              Encoder connector

              32 o

              r les

              s

              500+500

              φ1235

              45 o

              r les

              s

              500plusmn30

              Brake connector

              φ 35

              Hol

              low

              bor

              e

              24

              77

              Motor connector

              Encoder connector

              45 o

              r les

              s

              φ1235500+50

              0

              Brake connector

              φ 35

              Hol

              low

              bor

              e

              R100 or less

              2-φ4 H7 depth 3For workpiece positioning

              6-M5 effective depth 8For workpiece mounting

              PCD102 plusmn01

              φ 52

              Hol

              low

              bor

              e

              φ 83

              Rotating part of the work mounting surface

              φ180

              φ110h7 -00350

              70plusmn0

              3

              4

              φ178h8 -00630

              500plusmn30

              φ 21

              32 or less

              138

              158

              φ116

              35

              003 A 003 A

              A

              75plusmn0

              1

              8-M6 effective depth 13PCD148 plusmn01

              75plusmn0

              1

              225degφ5 H7 depth 5For body positioning

              Body mounting surfaceBody positioning oblong hole

              S

              2

              R25

              5+00120 depth 5

              Detail view of S

              24

              CAD drawings can be downloaded from our websitewwwintelligentactuatorcom

              2DCAD2DCAD

              3DCAD3D

              CAD

              8

              DDA Direct Drive Motor

              P

              O I N T

              SelectionNotes

              (Note 1) The value in ( ) indicates the maximum speed The maximum speed may not be reached if the moving distance is short

              (Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in five years based on this load

              (Note 3) The maximum cable length is 30m Specify a desired length in meters (Example X08 = 8m)

              (Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control

              (Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type

              ModelSpecifications

              ① Cable Length

              Cable type Cable code

              StandardS (3m)M (5m)

              Specified length X06 (6m) ~X10 (10m)X11 (11m) ~X30 (30m)

              Please refer to P18 for more information regarding the maintenance cables

              1 Indexing accuracy is supported when connected to SCON-CB

              Thrust (axial) run-out (No load) 30μm

              Radial run-out (No load) 30μm

              Run-out of Output Shaft

              Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198s) 20-bit plusmn000103deg (plusmn37s)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45s) 20-bit plusmn000833deg (plusmn30s)Allowable load moment (Note 2) 80Nmiddotm

              Encoder resolution 17-bit 131072 pulsesrev20-bit 1048576 pulsesrev

              Allowable thrust load (Note 2) Forward 3100N Reverse 250NBase material AluminumAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)

              Cleanroom specification

              Cleanliness Class 10 (FedStd209D) class 25 or equivalent (ISO 14644-1 Standard)Suction amount 35Nℓmin

              Weight 13kg

              Common Specifications

              Encoder type Model number Motor

              wattage (W)

              Operation range (deg) (1)

              Speed (degs) (Note 1)

              Rated torque (Nmiddotm) (2)

              Maximum instantaneous torque (Nmiddotm)

              Allowable inertia

              moment (kgmiddotm2)

              Rotor inertia (kgmiddotm2)

              17-bit index absolute type DDA (CR)-LH18CS-AI-600-360-T2-① -②

              600

              0~359999 deg

              1~800 (1~1440) 25 75 18 00092

              17-bit multi-rotation absolute type DDA (CR)-LH18CS-AM-600-360-T2-① -② plusmn9999 deg max

              20-bit index absolute type DDA (CR)-LH18CP-AI-600-360-T2-① -② 0~359999 deg

              20-bit multi-rotation absolute type DDA (CR)-LH18CP-AM-600-360-T2-① -② plusmn2520 deg max

              ② Options

              Name Option code

              Cable exits from the bottom A0

              Cable exits from the side A1

              Flange FL

              (Note) A0 (cable exits from the bottom) option and FL (flange) option cannot be selected together

              DDA-LH18C

              Controller is not included

              DDACR-LH18C Clean Room Type

              High Torque

              Type

              Large Bore Type

              Flange- Less Type

              n Model Specification Items

              DDADDACR LH18C 600 360 T2

              Series Type Encoder Type

              Motor Type

              Operation Range

              Applicable Controllers

              Cable Length Options

              DDA StandardDDACR Cleanroom

              specification

              S Standard (17-bit)

              P High resolution (20-bit)

              AI Index absolute type

              AM Multi-rotation absolute type

              600 600W 360 360 deg T2 SCON XSEL-PQ XSEL-RS

              Note Only SCON for LH18CP

              N None S 3m M 5m Xpoundpound Specified

              length

              Please refer to the options table below Please make sure to

              specify either A0 or A1 for the cable exit direction

              (1) SCON and XSEL have different minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information

              Legend Cable length Option

              Please refer to P16 for more information on the installation method

              Horizontal

              Side

              Vert

              ical

              Ceiling

              9

              DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

              Dimensions

              Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use

              LH18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers

              Name External view

              Max number of controlled axes Power supply voltage Control method Maximum number of

              positioning pointsReference

              pagePositioner Pulse-train Program Network Option

              SCON-CBCGB 1Single-phase

              200VAC -

              Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information

              512 (768 for network spec)

              P14

              SCON-LCLCG 1Single-phase

              200VAC- -

              512 (768 for network spec)

              P14

              XSEL-PQRS 8Single-phase 200VACThree-phase 200VAC

              - - 53332

              (Depending on the type)P15

              (Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side

              Encoder connector

              Motor connector

              45

              615

              24

              77

              φ6 Compatible tube diameter

              Air JointCR specication only

              32 o

              r les

              s11

              500plusmn30

              R100 or less

              2-φ4 H7 depth 3For workpiece positioning

              6-M6 effective depth 12For workpiece mounting

              PCD102plusmn01

              φ 52

              Hol

              low

              bor

              e

              φ 83

              2428

              Rotating part of the work mounting surface Encoder connector

              Motor connector

              Air JointCR specification only

              75plusmn0

              1

              8-M8 effective depth 16PCD148 plusmn01

              75plusmn0

              1

              φ5 H7 depth 5For body positioning 225deg

              Body mounting surfaceBody positioning oblong hole

              φ110h7 -00350

              φ116φ180

              φ178h8 -00630

              412

              28

              plusmn03

              32 or less

              φ 21

              500plusmn30

              35

              138

              158

              003 A

              003 A

              A

              5 +00120 depth 5

              2

              R25

              Detail view of S

              S

              CAD drawings can be downloaded from our websitewwwintelligentactuatorcom

              2DCAD2DCAD

              3DCAD3D

              CAD

              10

              DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

              1 A brake cable is not supplied if N (None) is selected as the cable length Please order a brake cable as a separate item in that case

              ② Options

              ModelSpecifications

              Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198s) 20-bit plusmn000103deg (plusmn37s)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45s) 20-bit plusmn000833deg (plusmn30s)Allowable load moment (Note 2) 80Nmiddotm

              Encoder resolution 17-bit 131072 pulsesrev20-bit 1048576 pulsesrev

              Allowable thrust load (Note 2) Forward 3100N Reverse 250NBase material AluminumBrake retaining torque 50NmiddotmAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)Weight 174kg

              Common Specifications

              Thrust (axial) run-out (No load) 30μm

              Radial run-out (No load) 30μm

              Run-out of Output Shaft

              Encoder type Model number Motor

              wattage (W)

              Operation range (deg) (1)

              Speed (degs) (Note 1)

              Rated torque (Nmiddotm) (2)

              Maximum instantaneous torque (Nmiddotm)

              Allowable inertia

              moment (kgmiddotm2)

              Rotor inertia (kgmiddotm2)

              17-bit index absolute type DDA-LH18CS-AI-600-360-T2-① -② -B

              600

              0~359999 deg

              1~800 (1~1440) 25 75 18 00092

              17-bit multi-rotation absolute type DDA-LH18CS-AM-600-360-T2-① -② -B plusmn9999 deg max

              20-bit index absolute type DDA-LH18CP-AI-600-360-T2-① -② -B 0~359999 deg

              20-bit multi-rotation absolute type DDA-LH18CP-AM-600-360-T2-① -② -B plusmn2520 deg max

              Name Option code

              Cable exits from the bottom A0

              Cable exits from the side A1

              Brake (With brake box) 1 B

              ① Cable Length

              Cable type Cable code

              StandardS (3m)M (5m)

              Specified length X06 (6m) ~X10 (10m)X11 (11m) ~X20 (20m)

              Please refer to P18 for more information regarding the maintenance cables

              1 Indexing accuracy is supported when connected to SCON-CB

              Controller is not included

              DDA-LH18C-B High Torque

              Type

              Large Bore Type

              (1) SCON and XSEL have different minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information

              Flange- Less Type

              P

              O I N T

              SelectionNotes

              (Note 1) The value in ( ) indicates the maximum speed The maximum speed may not be reached if the moving distance is short

              (Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in five years based on this load

              (Note 3) The maximum cable length is 20m Specify a desired length in meters (Example X08 = 8m)

              (Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control

              (Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type

              (Note 6) The brake is used for retention purposes only so damage may be caused if it is actually used in attempts to slow or stop the actuator

              Legend Cable length Option

              Please refer to P16 for more information on the installation method

              Horizontal

              Side

              Vert

              ical

              Ceiling

              n Model Specification Items

              DDA LH18C 600 360 T2 BSeries Type Encoder

              TypeMotor Type

              Operation Range

              Applicable Controllers

              Cable Length Options Option

              S Standard (17-bit)

              P High resolution (20-bit)

              AI Index absolute type

              AM Multi-rotation absolute type

              600 600W 360 360 deg T2 SCON XSEL-PQ XSEL-RS

              Note Only SCON for LH18CP

              N None S 3m M 5m Xpoundpound Specified

              length

              Please refer to the options table below Please make sure to

              specify either A0 or A1 for the cable exit direction

              B Brake

              11

              DDA Direct Drive Motor

              Dimensions

              Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use

              LH18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers

              Name External view

              Max number of controlled axes Power supply voltage Control method Maximum number of

              positioning pointsReference

              pagePositioner Pulse-train Program Network Option

              SCON-CBCGB 1Single-phase

              200VAC -

              Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information

              512 (768 for network spec)

              P14

              SCON-LCLCG 1Single-phase

              200VAC- -

              512 (768 for network spec)

              P14

              XSEL-PQRS 8Single-phase 200VACThree-phase 200VAC

              - - 53332

              (Depending on the type)P15

              (Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side

              Encoder connector

              Motor connector

              φ 35

              Hol

              low

              bor

              e

              32 o

              r les

              s

              φ1235

              645

              or l

              ess

              500+500

              500plusmn30

              Brake connector

              24

              77

              Encoder connector

              Motor connector

              φ 35

              Hol

              low

              bor

              e64

              5 o

              r les

              s

              φ1235500+50

              0

              Brake connector

              R100 or less

              2-φ4 H7 depth 3For workpiece positioning

              6-M6 effective depth 12For workpiece mounting

              PCD102 plusmn01

              φ 52

              Hol

              low

              bor

              e

              φ 83

              Rotating part of the work mounting surface

              φ110h7 -00035

              φ116φ180

              φ178h8 -00063

              412

              28

              plusmn03

              32 or less

              φ 21

              500plusmn30

              35

              138

              158

              003 A

              003 A

              A

              75plusmn0

              1

              8-M8 effective depth 16PCD148 plusmn01

              75plusmn0

              1

              φ5 H7 depth 5For body positioning 225deg

              Body mounting surfaceBody positioning oblong hole

              S 5 +00120 depth 5

              2

              R25

              Detail view of S24

              CAD drawings can be downloaded from our websitewwwintelligentactuatorcom

              2DCAD2DCAD

              3DCAD3D

              CAD

              12

              DDA Direct Drive Motor

              OptionsIt is a retention mechanism for holding the stop position when the power or servo is OFF to prevent the workpieces and attachments from being damaged when used in side or vertical positions Be sure to connect a brake box for models with brake

              A bracket that attaches to the body with bolts from the top side

              Brake

              Flange

              Option Code B

              Option Code FL

              cent Brake Box

              cent Wiring Diagram When Brake Box is Used

              DDA-LT18CModel Number DDA-FL-LT18

              Model Number IA-110-DD-4

              DDA-LH18CModel Number DDA-FL-LH18

              PCD200

              PCD200

              plusmn0075plusmn0075

              55deg

              55deg

              180

              180

              180180

              160

              160

              plusmn01

              plusmn01

              160160 plusmn01plusmn01

              4-φ 1

              14-φ 1

              1thr

              ough

              thro

              ugh

              2- φ62- φ6

              H7 through

              H7 through

              135

              135

              815

              815

              plusmn04

              plusmn04

              φ1245φ1245

              55deg

              55deg

              PCD

              PCD200plusmn0075200plusmn0075

              180

              180

              180180160160 plusmn01plusmn01

              160

              160

              plusmn01

              plusmn01

              2- φ62- φ6

              H7 throughH7 through

              4-φ1

              14-φ1

              1thr

              ough

              thro

              ugh

              155

              15513

              63

              136

              3plusmn0

              4plusmn0

              4

              φ1245φ1245

              PG OUTPWRON

              BKOUT

              + - C E

              BKRMT

              RLSBKOUT

              PG IN

              PWRPE N L

              MODEL IA-110-DD-4SN INPUT Single phase 100-240V

              MADE IN JAPAN

              5060Hz 10A maxOUTPUT 12VDC 06A

              PG OUTPWRON

              BKOUT

              + - C E

              BKRMT

              RLSBKOUT

              PG IN

              PWRPE N L

              MODEL IA-110-DD-4SN INPUT Single phase 100-240V

              MADE IN JAPAN

              5060Hz 10A maxOUTPUT 12VDC 06A

              ControllerSCON-CBXSEL-PQRSDDA

              Motor cableModel CB-X(XMC)-MApoundpoundpound

              Brake box

              Encoder cableModel CB-X3-PA010(Comes with the brake box)

              Encoder cableModel CB-X3-PApoundpoundpound

              Brake cableModel CB-DDB-BKpoundpoundpound Main power supply

              100VAC~240VAC

              13

              DDA (CR) Direct Drive Motor

              Position Controller

              Controller Model

              System Configuration

              Positioner Single-axis Type ltSCONgt Model

              Power Supply Voltage

              IO TypeEncoder Type Motor Type Type Series SCON

              IO Cable Length

              AIAM

              2

              The 200W motor used by the DDA is larger than a normal 200W motor so the motor type for the controller will be 200S and its size will be larger than the 400W motor

              For 200W motorFor 600W motor

              200S600

              High-function typeSafety category compliant type

              CBCGB

              PLC equipped typeSafety category PLC equipped type

              LCLCG

              Motor cableModel CB-X-MA (LT18C) CB-XMC-MA (LH18C)

              SCON PC

              DDA

              PLC(To be supplied by the customer)

              IO flat cableModel CB-PAC-PIO020Standard 2m

              Be sure to use a noise filter on the power supply

              ( )Encoder cableModel CB-X3-PA

              PC compatible softwareRS232 connection versionModel RCM-101-MWUSB connection versionModel RCM-101-USB(Please contact IAI for more details)

              Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)

              Regenerative resistor unitModel RESU-2RESUD-2(Please contact IAI for more details)

              1 The wiring diagram is different for models with brakes Please refer to P13 for more information

              1

              Single-phase 200VAC Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models

              Main powersupply

              Field network

              Option

              Supplied with the actuator

              Supplied with the controller

              Supplied with the actuator Option

              Option

              Option

              When the SCON Controller is Connected

              When a field network specification is selectedthe IO cable length will be 0

              Index absolute typeMulti-rotation abs type

              NPPN

              PIO NPN (Standard)

              PIO PNP

              DVCN

              DeviceNet

              CompoNet

              CC CC-Link

              ML MECHATROLINK-I II

              ML3PR

              MECHATROLINK-III

              PROFIBUS-DP

              02

              35

              No cable2m (Standard)

              3m5m

              EC EtherCAT

              EP EtherNetIP

              PRT PROFINET IO

              For recommended modelsplease contact IAI

              Model

              External view

              IO type

              IO type code

              MECHATROLINK-III

              connectionCompoNet connection

              PROFIBUS-DP connection

              CC-Linkconnection

              DeviceNetconnection

              PIO connection specification (1)

              NPPN DV CC PR

              Standard Field network type (1)

              CN ML

              SCON-CB

              EtherNetIP connection

              PROFINET IO connection

              EtherCATconnection

              EC EP PRT

              List of Models

              MECHATROLINK- III

              connection

              ML3

              Applicable encoder type(Note) The index absolute type cannot be used in the pulse-train control and MECHATROLINK-III control(1) Please note that the network specifications cannot be operated on the PIO or pulse-train The PLC type (LCLCG) cannot be connected on the pulse-train

              Index absoluteMulti-rotation absoluteIndex absolute Multi-rotation absolute

              CBCGB CBCGB LCLCG

              14

              SCON Controller

              Program Controller

              List of Models

              Model P Q R S

              Type Large-capacity type Large-capacity type (Safety category specification) High-function type High-function type

              (Safety category specification)

              External view

              DescriptionLarge-capacity type

              that can control up to 6 axes 2400W

              Large-capacity type thats compatible with the

              safety category 4

              High-function type that allows up to 8-axis operation

              Safety category 4 compatible high-function type

              Controller Model

              System Configuration

              Program Multi-axis Type ltXSELgt Model

              Encoder Type

              Encoder Type

              Motor Type

              Motor Type

              Number ofConnected

              AxesType Series Option Option

              XSEL

              200 For 200W motor

              600 For 600W motor

              B BrakePQRS

              6-axis type6-axis safety category type8-axis type8-axis safety category type

              8

              1

              ~ ~

              1 axis

              8 axes

              (PQ type is up to 6 axes)

              (Details of the 1st axis) (Details of the 2nd~8th axis)

              It can simultaneously operate actuators (single-axis robot and ROBO Cylinder) other than the DDA motor on a single controller For connectable actuators other than the DDA motor please contact IAI

              For subsequent models please contact IAI

              Notes

              AIAM

              Index absolute typeMulti-rotation absolute type

              When the XSEL Controller is Connected

              Be sure to use a noise filter on the power supply

              Motor cableModel CB-X-MA (LT18C) CB-XMC-MA (LH18C)

              XSELPC

              PLC(To be supplied by the customer)

              PC compatible softwareRS232 connection versionModel IA-101-X-MWUSB connection versionModel IA-101-X-USBMW(Please contact IAI for more details)

              Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)

              Single-phase 200VACThree-phase 200VAC

              Regenerative resistor unitModel RESU-1RESUD-1(Please contact IAI for more details)

              Option Option

              Option

              Field networkOption

              IO flat cableModel CB-X-PIO020Standard 2m

              Supplied with the controller

              Encoder cableModel CB-X3-PA

              Supplied with the actuator

              Supplied with the actuator

              Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models

              The wiring diagram is different for models with brakes Please refer to P13 for more information

              DDA

              Main powersupply ( )For recommended models

              please contact IAI

              15

              XSEL Controller

              Precautions

              Installation

              Installation Orientation

              Mountingsurface

              For models with brake and cable exit direction to the bottom a clearance hole is required

              Ceiling mount

              Horizontal mount

              Vertical mount

              Gra

              vity

              Operation TypeThis product is available in 2 operation types depending on the operation conditions Please check the features and precautions on each type before use

              (1)The high resolution specification can be connected only to the SCON-CB(2)When the XSEL index type travels more than 180deg from the current position it rotates in a direction that requires a shorter travel distance to

              reach the target position Therefore please note that the direction of rotation changes according to the current position and travel distance If you want to specify the direction of travel use the SCON-CB

              (3)The index type can be rotated in a given direction infinitely but it actually cannot continue to rotate in the same direction without stopping like a regular motor does because the maximum travel distance per command from the XSEL controller is 180deg If you want to allow the motor to rotate continuously use the SCON-CB

              (4)Home return is required for the multi-rotation absolute encoder during the initial setting and replacement of the absolute battery

              Absolute batteryHome return operationLimitless rotation

              Maximum amount of movement in a single movement command

              Operation rangeController typeOperation type

              Not requiredNot required

              Yes (3)

              0~359999deg

              Index absolute type

              RequiredNot required (4)

              No

              Above operation rangeplusmn9999deg (plusmn2520deg) max

              Multi-rotation absolute typeSCON-CB XSEL(1)

              ( ) is for 20-bit

              (Note) Use this product by installing it on a mounting surface having heat dissipating characteristics equivalent to those of an aluminum plate of w450mm times d450mm times t12mm in size If the installation conditions necessitate lower heat dissipating characteristics please consult IAI

              ControllersFor the DDA with 200W motor the outside dimensions of the SCON-CB controller will be the same as the size of the

              400W motor (Please contact IAI for the details of the SCON-CB controller)One and two regenerative resistor unit(s) are required for LT18C and LH18C respectively to operate a DDA

              motor with the SCON-CBWhen operating DDA motor(s) with the XSEL controller regenerative resistor units are required as shown below

              The number of DDA motor(s) connectable to the XSEL controller is a max of 8 units for the LT18C type and a max of 2 units for the LH18C type

              Please note that when the DDA motor is operated with the SCON-CB the motor cannot be connected to the ROBO Cylinder gateway function of the XSEL controller

              Calculation for the power supply value LT18C type single-phase 600W three-phase 200W LH18C type single-phase 1200W three-phase 600W

              Number of regenerative resistor units

              1 2 3 4 5 6 7 81 2 3

              (Cannot be connected)4

              2 4LT18CLH18C

              Number of DD motor(s)

              360deg

              SCON-CB XSEL(1)

              180deg(2)

              16

              DDA (CR) Direct Drive Motor

              Conditions for Selection

              The followings should be checked to determine whether the DDA motor can be used to suit the specific conditions required by the customer

              The customer should confirm that the following three points under actual use do not exceed their maximum allowable levels as specified for the DDA motor

              The total load of device(s) mounted on the actuator

              The total load moment of device(s) mounted on the actuator

              The load inertia of device(s) mounted on the actuator

              Check Load Conditions1

              [1] Thrust load

              [2] Load moment applied

              [3] Load inertia

              J = 18 times M times D 2 [kgm2]

              Mass M [kg]

              D [m]

              Center of rotation

              J = 112 times M times (a 2 + b 2) [kgm2]

              a [m]

              b [m]

              Center of rotation

              Mass M [kg]

              J = M times R 2+ 18 times M times D 2 [kgm2]

              Mass M [kg]

              D [m]

              R [m]

              Cent

              er o

              fro

              tatio

              n

              J = M times R 2+112 times M times (a 2 + b 2 )[kgm2]

              a [m]

              b [m]R [m]

              Cent

              er o

              fro

              tatio

              n

              Mass M [kg]

              The travel time changes according to the load inertia See the tables below to check the travel time data

              Travel Time Guide3

              The data in the tables are for a reference only and do not guarantee the actual travel times

              (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

              0

              0005

              009

              012

              017

              022

              0005

              001

              010

              012

              017

              022

              001

              002

              011

              014

              019

              024

              002

              003

              012

              016

              021

              026

              003

              004

              013

              017

              023

              027

              004

              005

              014

              018

              024

              029

              005

              006

              015

              020

              027

              032

              006

              007

              017

              022

              029

              035

              007

              008

              019

              024

              032

              038

              008

              009

              021

              026

              035

              041

              009

              01

              023

              029

              037

              044

              01

              02

              039

              048

              060

              069

              02

              03

              062

              073

              089

              100

              03

              04

              070

              083

              101

              114

              04

              05

              087

              102

              122

              136

              05

              06

              111

              123

              142

              168

              LH18C

              LT18C

              Continuous Operation Area

              LT18C type LH18C type

              (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

              0

              0005

              0098

              0129

              0192

              0254

              0005

              001

              0096

              0128

              019

              0252

              001

              0015

              0096

              0127

              019

              0252

              002

              002

              0097

              0128

              0191

              0253

              002

              003

              0099

              0131

              0193

              0256

              003

              004

              0104

              0136

              0199

              0262

              004

              006

              0113

              0144

              0207

              027

              006

              008

              012

              0153

              0215

              0278

              008

              01

              0126

              0163

              0225

              0288

              010

              015

              014

              0184

              0249

              0312

              015

              02

              0157

              0208

              0279

              0341

              02

              03

              0207

              0268

              0354

              042

              03

              04

              0257

              0329

              0428

              0504

              04

              06

              0352

              044

              0562

              0655

              06

              08

              0447

              0549

              0692

              08

              08

              1

              053

              0646

              0806

              0925

              10

              12

              0629

              0758

              0933

              1064

              12

              14

              0795

              0941

              1133

              1274

              14

              18

              0875

              1035

              1257

              1415

              Check Operating Conditions2Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DDA motor specifications to determine whether the DDA motor can be used under the applicable operating conditions Please contact IAI for assistance To

              rque

              (Nm

              )

              Curr

              ent [

              Arm

              s]

              Angular velocity [degs]

              AccelerationDeceleration AreaAccelerationDeceleration Area

              Torq

              ue (N

              m)

              Curr

              ent [

              Arm

              s]

              Angular velocity [degs]

              AccelerationDeceleration AreaAccelerationDeceleration Area

              Rating areaRating area

              270deg travel time [sec]180deg travel time [sec]

              90deg travel time [sec]45deg travel time [sec]

              Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

              270deg travel time [sec]180deg travel time [sec]

              90deg travel time [sec]45deg travel time [sec]

              Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

              Selecting the DD Motor

              17

              DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

              (44) (167)

              (80

              )

              31

              (84)(293)

              (92

              )

              31

              (φ5

              4)

              J11SF-03V-KX J11SFM-03V-KXNoNo SignalSignal ColorColor WiringWiring

              AWG20(crimped)

              Red

              Black

              White

              Red

              Black

              White

              +

              -

              FG

              +

              -

              FG

              321

              321

              AWG20(crimped)

              Controller side Actuator side(Front view)(Front view)

              L

              Conditions for Selection

              The followings should be checked to determine whether the DDA motor can be used to suit the specific conditions required by the customer

              The customer should confirm that the following three points under actual use do not exceed their maximum allowable levels as specified for the DDA motor

              The total load of device(s) mounted on the actuator

              The total load moment of device(s) mounted on the actuator

              The load inertia of device(s) mounted on the actuator

              Check Load Conditions1

              [1] Thrust load

              [2] Load moment applied

              [3] Load inertia

              J = 18 times M times D 2 [kgm2]

              Mass M [kg]

              D [m]

              Center of rotation

              J = 112 times M times (a 2 + b 2) [kgm2]

              a [m]

              b [m]

              Center of rotation

              Mass M [kg]

              J = M times R 2+ 18 times M times D 2 [kgm2]

              Mass M [kg]

              D [m]

              R [m]

              Cent

              er o

              fro

              tatio

              n

              J = M times R 2+112 times M times (a 2 + b 2 )[kgm2]

              a [m]

              b [m]R [m]

              Cent

              er o

              fro

              tatio

              n

              Mass M [kg]

              The travel time changes according to the load inertia See the tables below to check the travel time data

              Travel Time Guide3

              The data in the tables are for a reference only and do not guarantee the actual travel times

              (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

              0

              0005

              009

              012

              017

              022

              0005

              001

              010

              012

              017

              022

              001

              002

              011

              014

              019

              024

              002

              003

              012

              016

              021

              026

              003

              004

              013

              017

              023

              027

              004

              005

              014

              018

              024

              029

              005

              006

              015

              020

              027

              032

              006

              007

              017

              022

              029

              035

              007

              008

              019

              024

              032

              038

              008

              009

              021

              026

              035

              041

              009

              01

              023

              029

              037

              044

              01

              02

              039

              048

              060

              069

              02

              03

              062

              073

              089

              100

              03

              04

              070

              083

              101

              114

              04

              05

              087

              102

              122

              136

              05

              06

              111

              123

              142

              168

              LH18C

              LT18C

              Continuous Operation Area

              LT18C type LH18C type

              (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

              0

              0005

              0098

              0129

              0192

              0254

              0005

              001

              0096

              0128

              019

              0252

              001

              0015

              0096

              0127

              019

              0252

              002

              002

              0097

              0128

              0191

              0253

              002

              003

              0099

              0131

              0193

              0256

              003

              004

              0104

              0136

              0199

              0262

              004

              006

              0113

              0144

              0207

              027

              006

              008

              012

              0153

              0215

              0278

              008

              01

              0126

              0163

              0225

              0288

              010

              015

              014

              0184

              0249

              0312

              015

              02

              0157

              0208

              0279

              0341

              02

              03

              0207

              0268

              0354

              042

              03

              04

              0257

              0329

              0428

              0504

              04

              06

              0352

              044

              0562

              0655

              06

              08

              0447

              0549

              0692

              08

              08

              1

              053

              0646

              0806

              0925

              10

              12

              0629

              0758

              0933

              1064

              12

              14

              0795

              0941

              1133

              1274

              14

              18

              0875

              1035

              1257

              1415

              Check Operating Conditions2Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DDA motor specifications to determine whether the DDA motor can be used under the applicable operating conditions Please contact IAI for assistance To

              rque

              (Nm

              )

              Curr

              ent [

              Arm

              s]

              Angular velocity [degs]

              AccelerationDeceleration AreaAccelerationDeceleration Area

              Torq

              ue (N

              m)

              Curr

              ent [

              Arm

              s]

              Angular velocity [degs]

              AccelerationDeceleration AreaAccelerationDeceleration Area

              Rating areaRating area

              270deg travel time [sec]180deg travel time [sec]

              90deg travel time [sec]45deg travel time [sec]

              Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

              270deg travel time [sec]180deg travel time [sec]

              90deg travel time [sec]45deg travel time [sec]

              Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

              Cables

              (Front view) (Front view)

              Controller sideActuator side

              (16)

              (41)

              (φ9) (2

              1)

              (20) (10)

              (18)

              L

              4

              1

              1

              4

              075sq075sq

              Wiring Color Signal No No WiringColorSignal

              White

              GreenRed

              BlackV

              PEU

              W PE

              VU

              W3

              12

              43

              12

              4

              White

              Green

              Red

              Black (crimped)

              Model Number CB-X-MApoundpoundpound Please indicate the cable length (L) in poundpoundpound maximum 30m eg) 080 = 8m

              Minimum bending radius r = 51mm or more (Dynamic bending condition) Only robot cable is available for this model

              L

              4

              1

              1

              4

              (φ9)

              (Front view)

              (16)

              (41)

              (16)(21)

              (11)

              1

              1

              4

              (φ9)

              (16)

              Controller side Actuator side

              125sq125sq

              Wiring Color Signal No No WiringColorSignal

              White

              GreenRed

              BlackV

              PEU

              W PE

              VU

              W3

              12

              43

              12

              4

              White

              Green

              Red

              Black (crimped)

              Model Number CB-XMC-MApoundpoundpound Please indicate the cable length (L) in poundpoundpound maximum 30m eg) 080 = 8m

              Minimum bending radius r = 55mm or more (Dynamic bending condition) Only robot cable is available for this model

              (Front view)(Front view)

              AWG26(Soldered)

              AWG26(crimped)

              L

              (13)

              14

              269

              1

              13

              (37)

              (41) (14)

              (15)

              (25)

              1

              (φ10

              )

              Yellow

              Shield is clamp connected to the hoodDrain Wire and Braided Shield

              BlueBlackRedGray

              PurpleGreen

              OrangeWhiteGrayWhitePurpleWhiteBlackWhiteRed

              WhiteYellowWhiteBlue

              RedGray

              PurpleGreen

              Orange

              YellowBlue

              WhiteGreenBlack

              Drain

              WhiteOrangeWhiteGrayWhitePurpleWhiteBlackWhiteRed

              WhiteYellowWhiteBlue

              WhiteOrangeWhiteGreen

              Wiring Color Signal No

              WiringColorSignalNo

              Controller side Actuator side

              Minimum bending radius r = 58mm or more (Dynamic bending condition) Only robot cable is available for this model

              Model Number CB-X3-PApoundpoundpound

              Model Number CB-DDB-BKpoundpoundpound

              Please indicate the cable length (L) in poundpoundpound maximum 30m eg) 080 = 8m

              Please indicate the cable length (L) in poundpoundpoundmaximum 20m eg) 080 = 8m

              18

              DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

              Catalog No CE0242-1A (0916)

              IAI America Inc 2690 W 237th Street Torrance CA 90505 (800) 736-1712 110 E State Pkwy Schaumburg IL 60173 (800) 944-0333

              1220 Kennestone Circle Suite 108 Marietta GA 30066 (888) 354-9470

              wwwintelligentactuatorcom

              IAI Industrieroboter GmbHOber der Roumlth 4 D-65824 Schwalbach am Taunus Germany

              IAI (Shanghai) Co LtdShanghai Jiahua Business Center A8-303 808Hongqiao Rd Shanghai 200030 China

              IAI Robot (Thailand) Co Ltd825 Phairojkijja Tower 12th Floor Bangna-Trad RDBangna Bangna Bangkok 10260 Thailand

              The information contained in this product brochure may change without prior notice due to product improvements

              • Features
              • Series List
              • Model Specification Items
              • Application Examples
              • DDA-LT18C
              • DDACR-LT18C
              • DDA-LT18C-B
              • DDA-LH18C
              • DDACR-LH18C
              • DDA-LH18C-B
              • Options
              • SCON-CB
              • X-SEL
              • Precautions
              • Selecting the DD Motor
              • Cables

                ② Options

                P

                O I N T

                SelectionNotes

                (Note 1) The value in ( ) indicates the maximum speed The maximum speed may not be reached if the moving distance is short

                (Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in five years based on this load

                (Note 3) The maximum cable length is 20m Specify a desired length in meters (Example X08 = 8m)

                (Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control

                (Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type

                (Note 6) The brake is used for retention purposes only so damage may be caused if it is actually used in attempts to slow or stop the actuator

                ModelSpecifications

                Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198s) 20-bit plusmn000103deg (plusmn37s)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45s) 20-bit plusmn000833deg (plusmn30s)Allowable load moment (Note 2) 80Nmiddotm

                Encoder resolution 17-bit 131072 pulsesrev 20-bit 1048576 pulsesrev

                Allowable thrust load (Note 2) Forward 3100N Reverse 250NBrake retaining torque 25NmiddotmBase material AluminumAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)Weight 87kg

                Common Specifications

                Thrust (axial) run-out (No load) 30μm

                Radial run-out (No load) 30μm

                Run-out of Output Shaft

                ① Cable Length

                Cable type Cable code

                StandardS (3m)M (5m)

                Specified length X06 (6m) ~X10 (10m)X11 (11m) ~X20 (20m)

                Please refer to P18 for more information regarding the maintenance cables

                1 Indexing accuracy is supported when connected to SCON-CB

                Encoder type Model number Motor

                wattage (W)

                Operation range (deg) (1)

                Speed (degs) (Note 1)

                Rated torque (Nmiddotm) (2)

                Maximum instantaneous torque (Nmiddotm)

                Allowable inertia

                moment (kgmiddotm2)

                Rotor inertia (kgmiddotm2)

                17-bit index absolute type DDA-LT18CS-AI-200-360-T2-① -② -B

                200

                0~359999 deg

                1~1080 (1~1800) 84 252 06 00043

                17-bit multi-rotation absolute type DDA-LT18CS-AM-200-360-T2-① -② -B plusmn9999 deg max

                20-bit index absolute type DDA-LT18CP-AI-200-360-T2-① -② -B 0~359999 deg

                20-bit multi-rotation absolute type DDA-LT18CP-AM-200-360-T2-① -② -B plusmn2520 deg max

                Name Option code

                Cable exits from the bottom A0

                Cable exits from the side A1

                Brake (With brake box) 1 B

                1 A brake cable is not supplied if N (None) is selected as the cable length Please order a brake cable as a separate item in that case

                Controller is not included

                DDA-LT18C-B Slim Type

                Large Bore Type

                Flange- Less Type

                n Model Specification Items

                DDA LT18C 200 360 T2 BSeries Type Encoder

                TypeMotor Type

                Operation Range

                Applicable Controllers

                Cable Length Options Option

                S Standard (17-bit)

                P High resolution (20-bit)

                AI Index absolute type

                AM Multi-rotation absolute type

                200 200W 360 360 deg T2 SCON XSEL-PQ XSEL-RS

                Note Only SCON for LT18CP

                N None S 3m M 5m Xpoundpound Specified

                length

                Please refer to the options table below Please make sure to

                specify either A0 or A1 for the cable exit direction

                B Brake

                (1) SCON and XSEL have different minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information

                Legend Cable length Option

                Please refer to P16 for more information on the installation method

                Horizontal

                Side

                Vert

                ical

                Ceiling

                7

                DDA Direct Drive Motor

                Dimensions

                Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use

                LT18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers

                Name External view

                Max number of controlled axes Power supply voltage Control method Maximum number of

                positioning pointsReference

                pagePositioner Pulse-train Program Network Option

                SCON-CBCGB 1Single-phase

                200VAC -

                Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information

                512 (768 for network spec)

                P14

                SCON-LCLCG 1Single-phase

                200VAC- -

                512 (768 for network spec)

                P14

                XSEL-PQRS 8Single-phase 200VACThree-phase 200VAC

                - - 53332

                (Depending on the type)P15

                (Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side

                Motor connector

                Encoder connector

                32 o

                r les

                s

                500+500

                φ1235

                45 o

                r les

                s

                500plusmn30

                Brake connector

                φ 35

                Hol

                low

                bor

                e

                24

                77

                Motor connector

                Encoder connector

                45 o

                r les

                s

                φ1235500+50

                0

                Brake connector

                φ 35

                Hol

                low

                bor

                e

                R100 or less

                2-φ4 H7 depth 3For workpiece positioning

                6-M5 effective depth 8For workpiece mounting

                PCD102 plusmn01

                φ 52

                Hol

                low

                bor

                e

                φ 83

                Rotating part of the work mounting surface

                φ180

                φ110h7 -00350

                70plusmn0

                3

                4

                φ178h8 -00630

                500plusmn30

                φ 21

                32 or less

                138

                158

                φ116

                35

                003 A 003 A

                A

                75plusmn0

                1

                8-M6 effective depth 13PCD148 plusmn01

                75plusmn0

                1

                225degφ5 H7 depth 5For body positioning

                Body mounting surfaceBody positioning oblong hole

                S

                2

                R25

                5+00120 depth 5

                Detail view of S

                24

                CAD drawings can be downloaded from our websitewwwintelligentactuatorcom

                2DCAD2DCAD

                3DCAD3D

                CAD

                8

                DDA Direct Drive Motor

                P

                O I N T

                SelectionNotes

                (Note 1) The value in ( ) indicates the maximum speed The maximum speed may not be reached if the moving distance is short

                (Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in five years based on this load

                (Note 3) The maximum cable length is 30m Specify a desired length in meters (Example X08 = 8m)

                (Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control

                (Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type

                ModelSpecifications

                ① Cable Length

                Cable type Cable code

                StandardS (3m)M (5m)

                Specified length X06 (6m) ~X10 (10m)X11 (11m) ~X30 (30m)

                Please refer to P18 for more information regarding the maintenance cables

                1 Indexing accuracy is supported when connected to SCON-CB

                Thrust (axial) run-out (No load) 30μm

                Radial run-out (No load) 30μm

                Run-out of Output Shaft

                Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198s) 20-bit plusmn000103deg (plusmn37s)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45s) 20-bit plusmn000833deg (plusmn30s)Allowable load moment (Note 2) 80Nmiddotm

                Encoder resolution 17-bit 131072 pulsesrev20-bit 1048576 pulsesrev

                Allowable thrust load (Note 2) Forward 3100N Reverse 250NBase material AluminumAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)

                Cleanroom specification

                Cleanliness Class 10 (FedStd209D) class 25 or equivalent (ISO 14644-1 Standard)Suction amount 35Nℓmin

                Weight 13kg

                Common Specifications

                Encoder type Model number Motor

                wattage (W)

                Operation range (deg) (1)

                Speed (degs) (Note 1)

                Rated torque (Nmiddotm) (2)

                Maximum instantaneous torque (Nmiddotm)

                Allowable inertia

                moment (kgmiddotm2)

                Rotor inertia (kgmiddotm2)

                17-bit index absolute type DDA (CR)-LH18CS-AI-600-360-T2-① -②

                600

                0~359999 deg

                1~800 (1~1440) 25 75 18 00092

                17-bit multi-rotation absolute type DDA (CR)-LH18CS-AM-600-360-T2-① -② plusmn9999 deg max

                20-bit index absolute type DDA (CR)-LH18CP-AI-600-360-T2-① -② 0~359999 deg

                20-bit multi-rotation absolute type DDA (CR)-LH18CP-AM-600-360-T2-① -② plusmn2520 deg max

                ② Options

                Name Option code

                Cable exits from the bottom A0

                Cable exits from the side A1

                Flange FL

                (Note) A0 (cable exits from the bottom) option and FL (flange) option cannot be selected together

                DDA-LH18C

                Controller is not included

                DDACR-LH18C Clean Room Type

                High Torque

                Type

                Large Bore Type

                Flange- Less Type

                n Model Specification Items

                DDADDACR LH18C 600 360 T2

                Series Type Encoder Type

                Motor Type

                Operation Range

                Applicable Controllers

                Cable Length Options

                DDA StandardDDACR Cleanroom

                specification

                S Standard (17-bit)

                P High resolution (20-bit)

                AI Index absolute type

                AM Multi-rotation absolute type

                600 600W 360 360 deg T2 SCON XSEL-PQ XSEL-RS

                Note Only SCON for LH18CP

                N None S 3m M 5m Xpoundpound Specified

                length

                Please refer to the options table below Please make sure to

                specify either A0 or A1 for the cable exit direction

                (1) SCON and XSEL have different minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information

                Legend Cable length Option

                Please refer to P16 for more information on the installation method

                Horizontal

                Side

                Vert

                ical

                Ceiling

                9

                DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

                Dimensions

                Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use

                LH18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers

                Name External view

                Max number of controlled axes Power supply voltage Control method Maximum number of

                positioning pointsReference

                pagePositioner Pulse-train Program Network Option

                SCON-CBCGB 1Single-phase

                200VAC -

                Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information

                512 (768 for network spec)

                P14

                SCON-LCLCG 1Single-phase

                200VAC- -

                512 (768 for network spec)

                P14

                XSEL-PQRS 8Single-phase 200VACThree-phase 200VAC

                - - 53332

                (Depending on the type)P15

                (Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side

                Encoder connector

                Motor connector

                45

                615

                24

                77

                φ6 Compatible tube diameter

                Air JointCR specication only

                32 o

                r les

                s11

                500plusmn30

                R100 or less

                2-φ4 H7 depth 3For workpiece positioning

                6-M6 effective depth 12For workpiece mounting

                PCD102plusmn01

                φ 52

                Hol

                low

                bor

                e

                φ 83

                2428

                Rotating part of the work mounting surface Encoder connector

                Motor connector

                Air JointCR specification only

                75plusmn0

                1

                8-M8 effective depth 16PCD148 plusmn01

                75plusmn0

                1

                φ5 H7 depth 5For body positioning 225deg

                Body mounting surfaceBody positioning oblong hole

                φ110h7 -00350

                φ116φ180

                φ178h8 -00630

                412

                28

                plusmn03

                32 or less

                φ 21

                500plusmn30

                35

                138

                158

                003 A

                003 A

                A

                5 +00120 depth 5

                2

                R25

                Detail view of S

                S

                CAD drawings can be downloaded from our websitewwwintelligentactuatorcom

                2DCAD2DCAD

                3DCAD3D

                CAD

                10

                DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

                1 A brake cable is not supplied if N (None) is selected as the cable length Please order a brake cable as a separate item in that case

                ② Options

                ModelSpecifications

                Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198s) 20-bit plusmn000103deg (plusmn37s)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45s) 20-bit plusmn000833deg (plusmn30s)Allowable load moment (Note 2) 80Nmiddotm

                Encoder resolution 17-bit 131072 pulsesrev20-bit 1048576 pulsesrev

                Allowable thrust load (Note 2) Forward 3100N Reverse 250NBase material AluminumBrake retaining torque 50NmiddotmAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)Weight 174kg

                Common Specifications

                Thrust (axial) run-out (No load) 30μm

                Radial run-out (No load) 30μm

                Run-out of Output Shaft

                Encoder type Model number Motor

                wattage (W)

                Operation range (deg) (1)

                Speed (degs) (Note 1)

                Rated torque (Nmiddotm) (2)

                Maximum instantaneous torque (Nmiddotm)

                Allowable inertia

                moment (kgmiddotm2)

                Rotor inertia (kgmiddotm2)

                17-bit index absolute type DDA-LH18CS-AI-600-360-T2-① -② -B

                600

                0~359999 deg

                1~800 (1~1440) 25 75 18 00092

                17-bit multi-rotation absolute type DDA-LH18CS-AM-600-360-T2-① -② -B plusmn9999 deg max

                20-bit index absolute type DDA-LH18CP-AI-600-360-T2-① -② -B 0~359999 deg

                20-bit multi-rotation absolute type DDA-LH18CP-AM-600-360-T2-① -② -B plusmn2520 deg max

                Name Option code

                Cable exits from the bottom A0

                Cable exits from the side A1

                Brake (With brake box) 1 B

                ① Cable Length

                Cable type Cable code

                StandardS (3m)M (5m)

                Specified length X06 (6m) ~X10 (10m)X11 (11m) ~X20 (20m)

                Please refer to P18 for more information regarding the maintenance cables

                1 Indexing accuracy is supported when connected to SCON-CB

                Controller is not included

                DDA-LH18C-B High Torque

                Type

                Large Bore Type

                (1) SCON and XSEL have different minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information

                Flange- Less Type

                P

                O I N T

                SelectionNotes

                (Note 1) The value in ( ) indicates the maximum speed The maximum speed may not be reached if the moving distance is short

                (Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in five years based on this load

                (Note 3) The maximum cable length is 20m Specify a desired length in meters (Example X08 = 8m)

                (Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control

                (Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type

                (Note 6) The brake is used for retention purposes only so damage may be caused if it is actually used in attempts to slow or stop the actuator

                Legend Cable length Option

                Please refer to P16 for more information on the installation method

                Horizontal

                Side

                Vert

                ical

                Ceiling

                n Model Specification Items

                DDA LH18C 600 360 T2 BSeries Type Encoder

                TypeMotor Type

                Operation Range

                Applicable Controllers

                Cable Length Options Option

                S Standard (17-bit)

                P High resolution (20-bit)

                AI Index absolute type

                AM Multi-rotation absolute type

                600 600W 360 360 deg T2 SCON XSEL-PQ XSEL-RS

                Note Only SCON for LH18CP

                N None S 3m M 5m Xpoundpound Specified

                length

                Please refer to the options table below Please make sure to

                specify either A0 or A1 for the cable exit direction

                B Brake

                11

                DDA Direct Drive Motor

                Dimensions

                Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use

                LH18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers

                Name External view

                Max number of controlled axes Power supply voltage Control method Maximum number of

                positioning pointsReference

                pagePositioner Pulse-train Program Network Option

                SCON-CBCGB 1Single-phase

                200VAC -

                Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information

                512 (768 for network spec)

                P14

                SCON-LCLCG 1Single-phase

                200VAC- -

                512 (768 for network spec)

                P14

                XSEL-PQRS 8Single-phase 200VACThree-phase 200VAC

                - - 53332

                (Depending on the type)P15

                (Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side

                Encoder connector

                Motor connector

                φ 35

                Hol

                low

                bor

                e

                32 o

                r les

                s

                φ1235

                645

                or l

                ess

                500+500

                500plusmn30

                Brake connector

                24

                77

                Encoder connector

                Motor connector

                φ 35

                Hol

                low

                bor

                e64

                5 o

                r les

                s

                φ1235500+50

                0

                Brake connector

                R100 or less

                2-φ4 H7 depth 3For workpiece positioning

                6-M6 effective depth 12For workpiece mounting

                PCD102 plusmn01

                φ 52

                Hol

                low

                bor

                e

                φ 83

                Rotating part of the work mounting surface

                φ110h7 -00035

                φ116φ180

                φ178h8 -00063

                412

                28

                plusmn03

                32 or less

                φ 21

                500plusmn30

                35

                138

                158

                003 A

                003 A

                A

                75plusmn0

                1

                8-M8 effective depth 16PCD148 plusmn01

                75plusmn0

                1

                φ5 H7 depth 5For body positioning 225deg

                Body mounting surfaceBody positioning oblong hole

                S 5 +00120 depth 5

                2

                R25

                Detail view of S24

                CAD drawings can be downloaded from our websitewwwintelligentactuatorcom

                2DCAD2DCAD

                3DCAD3D

                CAD

                12

                DDA Direct Drive Motor

                OptionsIt is a retention mechanism for holding the stop position when the power or servo is OFF to prevent the workpieces and attachments from being damaged when used in side or vertical positions Be sure to connect a brake box for models with brake

                A bracket that attaches to the body with bolts from the top side

                Brake

                Flange

                Option Code B

                Option Code FL

                cent Brake Box

                cent Wiring Diagram When Brake Box is Used

                DDA-LT18CModel Number DDA-FL-LT18

                Model Number IA-110-DD-4

                DDA-LH18CModel Number DDA-FL-LH18

                PCD200

                PCD200

                plusmn0075plusmn0075

                55deg

                55deg

                180

                180

                180180

                160

                160

                plusmn01

                plusmn01

                160160 plusmn01plusmn01

                4-φ 1

                14-φ 1

                1thr

                ough

                thro

                ugh

                2- φ62- φ6

                H7 through

                H7 through

                135

                135

                815

                815

                plusmn04

                plusmn04

                φ1245φ1245

                55deg

                55deg

                PCD

                PCD200plusmn0075200plusmn0075

                180

                180

                180180160160 plusmn01plusmn01

                160

                160

                plusmn01

                plusmn01

                2- φ62- φ6

                H7 throughH7 through

                4-φ1

                14-φ1

                1thr

                ough

                thro

                ugh

                155

                15513

                63

                136

                3plusmn0

                4plusmn0

                4

                φ1245φ1245

                PG OUTPWRON

                BKOUT

                + - C E

                BKRMT

                RLSBKOUT

                PG IN

                PWRPE N L

                MODEL IA-110-DD-4SN INPUT Single phase 100-240V

                MADE IN JAPAN

                5060Hz 10A maxOUTPUT 12VDC 06A

                PG OUTPWRON

                BKOUT

                + - C E

                BKRMT

                RLSBKOUT

                PG IN

                PWRPE N L

                MODEL IA-110-DD-4SN INPUT Single phase 100-240V

                MADE IN JAPAN

                5060Hz 10A maxOUTPUT 12VDC 06A

                ControllerSCON-CBXSEL-PQRSDDA

                Motor cableModel CB-X(XMC)-MApoundpoundpound

                Brake box

                Encoder cableModel CB-X3-PA010(Comes with the brake box)

                Encoder cableModel CB-X3-PApoundpoundpound

                Brake cableModel CB-DDB-BKpoundpoundpound Main power supply

                100VAC~240VAC

                13

                DDA (CR) Direct Drive Motor

                Position Controller

                Controller Model

                System Configuration

                Positioner Single-axis Type ltSCONgt Model

                Power Supply Voltage

                IO TypeEncoder Type Motor Type Type Series SCON

                IO Cable Length

                AIAM

                2

                The 200W motor used by the DDA is larger than a normal 200W motor so the motor type for the controller will be 200S and its size will be larger than the 400W motor

                For 200W motorFor 600W motor

                200S600

                High-function typeSafety category compliant type

                CBCGB

                PLC equipped typeSafety category PLC equipped type

                LCLCG

                Motor cableModel CB-X-MA (LT18C) CB-XMC-MA (LH18C)

                SCON PC

                DDA

                PLC(To be supplied by the customer)

                IO flat cableModel CB-PAC-PIO020Standard 2m

                Be sure to use a noise filter on the power supply

                ( )Encoder cableModel CB-X3-PA

                PC compatible softwareRS232 connection versionModel RCM-101-MWUSB connection versionModel RCM-101-USB(Please contact IAI for more details)

                Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)

                Regenerative resistor unitModel RESU-2RESUD-2(Please contact IAI for more details)

                1 The wiring diagram is different for models with brakes Please refer to P13 for more information

                1

                Single-phase 200VAC Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models

                Main powersupply

                Field network

                Option

                Supplied with the actuator

                Supplied with the controller

                Supplied with the actuator Option

                Option

                Option

                When the SCON Controller is Connected

                When a field network specification is selectedthe IO cable length will be 0

                Index absolute typeMulti-rotation abs type

                NPPN

                PIO NPN (Standard)

                PIO PNP

                DVCN

                DeviceNet

                CompoNet

                CC CC-Link

                ML MECHATROLINK-I II

                ML3PR

                MECHATROLINK-III

                PROFIBUS-DP

                02

                35

                No cable2m (Standard)

                3m5m

                EC EtherCAT

                EP EtherNetIP

                PRT PROFINET IO

                For recommended modelsplease contact IAI

                Model

                External view

                IO type

                IO type code

                MECHATROLINK-III

                connectionCompoNet connection

                PROFIBUS-DP connection

                CC-Linkconnection

                DeviceNetconnection

                PIO connection specification (1)

                NPPN DV CC PR

                Standard Field network type (1)

                CN ML

                SCON-CB

                EtherNetIP connection

                PROFINET IO connection

                EtherCATconnection

                EC EP PRT

                List of Models

                MECHATROLINK- III

                connection

                ML3

                Applicable encoder type(Note) The index absolute type cannot be used in the pulse-train control and MECHATROLINK-III control(1) Please note that the network specifications cannot be operated on the PIO or pulse-train The PLC type (LCLCG) cannot be connected on the pulse-train

                Index absoluteMulti-rotation absoluteIndex absolute Multi-rotation absolute

                CBCGB CBCGB LCLCG

                14

                SCON Controller

                Program Controller

                List of Models

                Model P Q R S

                Type Large-capacity type Large-capacity type (Safety category specification) High-function type High-function type

                (Safety category specification)

                External view

                DescriptionLarge-capacity type

                that can control up to 6 axes 2400W

                Large-capacity type thats compatible with the

                safety category 4

                High-function type that allows up to 8-axis operation

                Safety category 4 compatible high-function type

                Controller Model

                System Configuration

                Program Multi-axis Type ltXSELgt Model

                Encoder Type

                Encoder Type

                Motor Type

                Motor Type

                Number ofConnected

                AxesType Series Option Option

                XSEL

                200 For 200W motor

                600 For 600W motor

                B BrakePQRS

                6-axis type6-axis safety category type8-axis type8-axis safety category type

                8

                1

                ~ ~

                1 axis

                8 axes

                (PQ type is up to 6 axes)

                (Details of the 1st axis) (Details of the 2nd~8th axis)

                It can simultaneously operate actuators (single-axis robot and ROBO Cylinder) other than the DDA motor on a single controller For connectable actuators other than the DDA motor please contact IAI

                For subsequent models please contact IAI

                Notes

                AIAM

                Index absolute typeMulti-rotation absolute type

                When the XSEL Controller is Connected

                Be sure to use a noise filter on the power supply

                Motor cableModel CB-X-MA (LT18C) CB-XMC-MA (LH18C)

                XSELPC

                PLC(To be supplied by the customer)

                PC compatible softwareRS232 connection versionModel IA-101-X-MWUSB connection versionModel IA-101-X-USBMW(Please contact IAI for more details)

                Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)

                Single-phase 200VACThree-phase 200VAC

                Regenerative resistor unitModel RESU-1RESUD-1(Please contact IAI for more details)

                Option Option

                Option

                Field networkOption

                IO flat cableModel CB-X-PIO020Standard 2m

                Supplied with the controller

                Encoder cableModel CB-X3-PA

                Supplied with the actuator

                Supplied with the actuator

                Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models

                The wiring diagram is different for models with brakes Please refer to P13 for more information

                DDA

                Main powersupply ( )For recommended models

                please contact IAI

                15

                XSEL Controller

                Precautions

                Installation

                Installation Orientation

                Mountingsurface

                For models with brake and cable exit direction to the bottom a clearance hole is required

                Ceiling mount

                Horizontal mount

                Vertical mount

                Gra

                vity

                Operation TypeThis product is available in 2 operation types depending on the operation conditions Please check the features and precautions on each type before use

                (1)The high resolution specification can be connected only to the SCON-CB(2)When the XSEL index type travels more than 180deg from the current position it rotates in a direction that requires a shorter travel distance to

                reach the target position Therefore please note that the direction of rotation changes according to the current position and travel distance If you want to specify the direction of travel use the SCON-CB

                (3)The index type can be rotated in a given direction infinitely but it actually cannot continue to rotate in the same direction without stopping like a regular motor does because the maximum travel distance per command from the XSEL controller is 180deg If you want to allow the motor to rotate continuously use the SCON-CB

                (4)Home return is required for the multi-rotation absolute encoder during the initial setting and replacement of the absolute battery

                Absolute batteryHome return operationLimitless rotation

                Maximum amount of movement in a single movement command

                Operation rangeController typeOperation type

                Not requiredNot required

                Yes (3)

                0~359999deg

                Index absolute type

                RequiredNot required (4)

                No

                Above operation rangeplusmn9999deg (plusmn2520deg) max

                Multi-rotation absolute typeSCON-CB XSEL(1)

                ( ) is for 20-bit

                (Note) Use this product by installing it on a mounting surface having heat dissipating characteristics equivalent to those of an aluminum plate of w450mm times d450mm times t12mm in size If the installation conditions necessitate lower heat dissipating characteristics please consult IAI

                ControllersFor the DDA with 200W motor the outside dimensions of the SCON-CB controller will be the same as the size of the

                400W motor (Please contact IAI for the details of the SCON-CB controller)One and two regenerative resistor unit(s) are required for LT18C and LH18C respectively to operate a DDA

                motor with the SCON-CBWhen operating DDA motor(s) with the XSEL controller regenerative resistor units are required as shown below

                The number of DDA motor(s) connectable to the XSEL controller is a max of 8 units for the LT18C type and a max of 2 units for the LH18C type

                Please note that when the DDA motor is operated with the SCON-CB the motor cannot be connected to the ROBO Cylinder gateway function of the XSEL controller

                Calculation for the power supply value LT18C type single-phase 600W three-phase 200W LH18C type single-phase 1200W three-phase 600W

                Number of regenerative resistor units

                1 2 3 4 5 6 7 81 2 3

                (Cannot be connected)4

                2 4LT18CLH18C

                Number of DD motor(s)

                360deg

                SCON-CB XSEL(1)

                180deg(2)

                16

                DDA (CR) Direct Drive Motor

                Conditions for Selection

                The followings should be checked to determine whether the DDA motor can be used to suit the specific conditions required by the customer

                The customer should confirm that the following three points under actual use do not exceed their maximum allowable levels as specified for the DDA motor

                The total load of device(s) mounted on the actuator

                The total load moment of device(s) mounted on the actuator

                The load inertia of device(s) mounted on the actuator

                Check Load Conditions1

                [1] Thrust load

                [2] Load moment applied

                [3] Load inertia

                J = 18 times M times D 2 [kgm2]

                Mass M [kg]

                D [m]

                Center of rotation

                J = 112 times M times (a 2 + b 2) [kgm2]

                a [m]

                b [m]

                Center of rotation

                Mass M [kg]

                J = M times R 2+ 18 times M times D 2 [kgm2]

                Mass M [kg]

                D [m]

                R [m]

                Cent

                er o

                fro

                tatio

                n

                J = M times R 2+112 times M times (a 2 + b 2 )[kgm2]

                a [m]

                b [m]R [m]

                Cent

                er o

                fro

                tatio

                n

                Mass M [kg]

                The travel time changes according to the load inertia See the tables below to check the travel time data

                Travel Time Guide3

                The data in the tables are for a reference only and do not guarantee the actual travel times

                (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

                0

                0005

                009

                012

                017

                022

                0005

                001

                010

                012

                017

                022

                001

                002

                011

                014

                019

                024

                002

                003

                012

                016

                021

                026

                003

                004

                013

                017

                023

                027

                004

                005

                014

                018

                024

                029

                005

                006

                015

                020

                027

                032

                006

                007

                017

                022

                029

                035

                007

                008

                019

                024

                032

                038

                008

                009

                021

                026

                035

                041

                009

                01

                023

                029

                037

                044

                01

                02

                039

                048

                060

                069

                02

                03

                062

                073

                089

                100

                03

                04

                070

                083

                101

                114

                04

                05

                087

                102

                122

                136

                05

                06

                111

                123

                142

                168

                LH18C

                LT18C

                Continuous Operation Area

                LT18C type LH18C type

                (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

                0

                0005

                0098

                0129

                0192

                0254

                0005

                001

                0096

                0128

                019

                0252

                001

                0015

                0096

                0127

                019

                0252

                002

                002

                0097

                0128

                0191

                0253

                002

                003

                0099

                0131

                0193

                0256

                003

                004

                0104

                0136

                0199

                0262

                004

                006

                0113

                0144

                0207

                027

                006

                008

                012

                0153

                0215

                0278

                008

                01

                0126

                0163

                0225

                0288

                010

                015

                014

                0184

                0249

                0312

                015

                02

                0157

                0208

                0279

                0341

                02

                03

                0207

                0268

                0354

                042

                03

                04

                0257

                0329

                0428

                0504

                04

                06

                0352

                044

                0562

                0655

                06

                08

                0447

                0549

                0692

                08

                08

                1

                053

                0646

                0806

                0925

                10

                12

                0629

                0758

                0933

                1064

                12

                14

                0795

                0941

                1133

                1274

                14

                18

                0875

                1035

                1257

                1415

                Check Operating Conditions2Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DDA motor specifications to determine whether the DDA motor can be used under the applicable operating conditions Please contact IAI for assistance To

                rque

                (Nm

                )

                Curr

                ent [

                Arm

                s]

                Angular velocity [degs]

                AccelerationDeceleration AreaAccelerationDeceleration Area

                Torq

                ue (N

                m)

                Curr

                ent [

                Arm

                s]

                Angular velocity [degs]

                AccelerationDeceleration AreaAccelerationDeceleration Area

                Rating areaRating area

                270deg travel time [sec]180deg travel time [sec]

                90deg travel time [sec]45deg travel time [sec]

                Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

                270deg travel time [sec]180deg travel time [sec]

                90deg travel time [sec]45deg travel time [sec]

                Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

                Selecting the DD Motor

                17

                DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

                (44) (167)

                (80

                )

                31

                (84)(293)

                (92

                )

                31

                (φ5

                4)

                J11SF-03V-KX J11SFM-03V-KXNoNo SignalSignal ColorColor WiringWiring

                AWG20(crimped)

                Red

                Black

                White

                Red

                Black

                White

                +

                -

                FG

                +

                -

                FG

                321

                321

                AWG20(crimped)

                Controller side Actuator side(Front view)(Front view)

                L

                Conditions for Selection

                The followings should be checked to determine whether the DDA motor can be used to suit the specific conditions required by the customer

                The customer should confirm that the following three points under actual use do not exceed their maximum allowable levels as specified for the DDA motor

                The total load of device(s) mounted on the actuator

                The total load moment of device(s) mounted on the actuator

                The load inertia of device(s) mounted on the actuator

                Check Load Conditions1

                [1] Thrust load

                [2] Load moment applied

                [3] Load inertia

                J = 18 times M times D 2 [kgm2]

                Mass M [kg]

                D [m]

                Center of rotation

                J = 112 times M times (a 2 + b 2) [kgm2]

                a [m]

                b [m]

                Center of rotation

                Mass M [kg]

                J = M times R 2+ 18 times M times D 2 [kgm2]

                Mass M [kg]

                D [m]

                R [m]

                Cent

                er o

                fro

                tatio

                n

                J = M times R 2+112 times M times (a 2 + b 2 )[kgm2]

                a [m]

                b [m]R [m]

                Cent

                er o

                fro

                tatio

                n

                Mass M [kg]

                The travel time changes according to the load inertia See the tables below to check the travel time data

                Travel Time Guide3

                The data in the tables are for a reference only and do not guarantee the actual travel times

                (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

                0

                0005

                009

                012

                017

                022

                0005

                001

                010

                012

                017

                022

                001

                002

                011

                014

                019

                024

                002

                003

                012

                016

                021

                026

                003

                004

                013

                017

                023

                027

                004

                005

                014

                018

                024

                029

                005

                006

                015

                020

                027

                032

                006

                007

                017

                022

                029

                035

                007

                008

                019

                024

                032

                038

                008

                009

                021

                026

                035

                041

                009

                01

                023

                029

                037

                044

                01

                02

                039

                048

                060

                069

                02

                03

                062

                073

                089

                100

                03

                04

                070

                083

                101

                114

                04

                05

                087

                102

                122

                136

                05

                06

                111

                123

                142

                168

                LH18C

                LT18C

                Continuous Operation Area

                LT18C type LH18C type

                (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

                0

                0005

                0098

                0129

                0192

                0254

                0005

                001

                0096

                0128

                019

                0252

                001

                0015

                0096

                0127

                019

                0252

                002

                002

                0097

                0128

                0191

                0253

                002

                003

                0099

                0131

                0193

                0256

                003

                004

                0104

                0136

                0199

                0262

                004

                006

                0113

                0144

                0207

                027

                006

                008

                012

                0153

                0215

                0278

                008

                01

                0126

                0163

                0225

                0288

                010

                015

                014

                0184

                0249

                0312

                015

                02

                0157

                0208

                0279

                0341

                02

                03

                0207

                0268

                0354

                042

                03

                04

                0257

                0329

                0428

                0504

                04

                06

                0352

                044

                0562

                0655

                06

                08

                0447

                0549

                0692

                08

                08

                1

                053

                0646

                0806

                0925

                10

                12

                0629

                0758

                0933

                1064

                12

                14

                0795

                0941

                1133

                1274

                14

                18

                0875

                1035

                1257

                1415

                Check Operating Conditions2Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DDA motor specifications to determine whether the DDA motor can be used under the applicable operating conditions Please contact IAI for assistance To

                rque

                (Nm

                )

                Curr

                ent [

                Arm

                s]

                Angular velocity [degs]

                AccelerationDeceleration AreaAccelerationDeceleration Area

                Torq

                ue (N

                m)

                Curr

                ent [

                Arm

                s]

                Angular velocity [degs]

                AccelerationDeceleration AreaAccelerationDeceleration Area

                Rating areaRating area

                270deg travel time [sec]180deg travel time [sec]

                90deg travel time [sec]45deg travel time [sec]

                Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

                270deg travel time [sec]180deg travel time [sec]

                90deg travel time [sec]45deg travel time [sec]

                Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

                Cables

                (Front view) (Front view)

                Controller sideActuator side

                (16)

                (41)

                (φ9) (2

                1)

                (20) (10)

                (18)

                L

                4

                1

                1

                4

                075sq075sq

                Wiring Color Signal No No WiringColorSignal

                White

                GreenRed

                BlackV

                PEU

                W PE

                VU

                W3

                12

                43

                12

                4

                White

                Green

                Red

                Black (crimped)

                Model Number CB-X-MApoundpoundpound Please indicate the cable length (L) in poundpoundpound maximum 30m eg) 080 = 8m

                Minimum bending radius r = 51mm or more (Dynamic bending condition) Only robot cable is available for this model

                L

                4

                1

                1

                4

                (φ9)

                (Front view)

                (16)

                (41)

                (16)(21)

                (11)

                1

                1

                4

                (φ9)

                (16)

                Controller side Actuator side

                125sq125sq

                Wiring Color Signal No No WiringColorSignal

                White

                GreenRed

                BlackV

                PEU

                W PE

                VU

                W3

                12

                43

                12

                4

                White

                Green

                Red

                Black (crimped)

                Model Number CB-XMC-MApoundpoundpound Please indicate the cable length (L) in poundpoundpound maximum 30m eg) 080 = 8m

                Minimum bending radius r = 55mm or more (Dynamic bending condition) Only robot cable is available for this model

                (Front view)(Front view)

                AWG26(Soldered)

                AWG26(crimped)

                L

                (13)

                14

                269

                1

                13

                (37)

                (41) (14)

                (15)

                (25)

                1

                (φ10

                )

                Yellow

                Shield is clamp connected to the hoodDrain Wire and Braided Shield

                BlueBlackRedGray

                PurpleGreen

                OrangeWhiteGrayWhitePurpleWhiteBlackWhiteRed

                WhiteYellowWhiteBlue

                RedGray

                PurpleGreen

                Orange

                YellowBlue

                WhiteGreenBlack

                Drain

                WhiteOrangeWhiteGrayWhitePurpleWhiteBlackWhiteRed

                WhiteYellowWhiteBlue

                WhiteOrangeWhiteGreen

                Wiring Color Signal No

                WiringColorSignalNo

                Controller side Actuator side

                Minimum bending radius r = 58mm or more (Dynamic bending condition) Only robot cable is available for this model

                Model Number CB-X3-PApoundpoundpound

                Model Number CB-DDB-BKpoundpoundpound

                Please indicate the cable length (L) in poundpoundpound maximum 30m eg) 080 = 8m

                Please indicate the cable length (L) in poundpoundpoundmaximum 20m eg) 080 = 8m

                18

                DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

                Catalog No CE0242-1A (0916)

                IAI America Inc 2690 W 237th Street Torrance CA 90505 (800) 736-1712 110 E State Pkwy Schaumburg IL 60173 (800) 944-0333

                1220 Kennestone Circle Suite 108 Marietta GA 30066 (888) 354-9470

                wwwintelligentactuatorcom

                IAI Industrieroboter GmbHOber der Roumlth 4 D-65824 Schwalbach am Taunus Germany

                IAI (Shanghai) Co LtdShanghai Jiahua Business Center A8-303 808Hongqiao Rd Shanghai 200030 China

                IAI Robot (Thailand) Co Ltd825 Phairojkijja Tower 12th Floor Bangna-Trad RDBangna Bangna Bangkok 10260 Thailand

                The information contained in this product brochure may change without prior notice due to product improvements

                • Features
                • Series List
                • Model Specification Items
                • Application Examples
                • DDA-LT18C
                • DDACR-LT18C
                • DDA-LT18C-B
                • DDA-LH18C
                • DDACR-LH18C
                • DDA-LH18C-B
                • Options
                • SCON-CB
                • X-SEL
                • Precautions
                • Selecting the DD Motor
                • Cables

                  Dimensions

                  Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use

                  LT18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers

                  Name External view

                  Max number of controlled axes Power supply voltage Control method Maximum number of

                  positioning pointsReference

                  pagePositioner Pulse-train Program Network Option

                  SCON-CBCGB 1Single-phase

                  200VAC -

                  Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information

                  512 (768 for network spec)

                  P14

                  SCON-LCLCG 1Single-phase

                  200VAC- -

                  512 (768 for network spec)

                  P14

                  XSEL-PQRS 8Single-phase 200VACThree-phase 200VAC

                  - - 53332

                  (Depending on the type)P15

                  (Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side

                  Motor connector

                  Encoder connector

                  32 o

                  r les

                  s

                  500+500

                  φ1235

                  45 o

                  r les

                  s

                  500plusmn30

                  Brake connector

                  φ 35

                  Hol

                  low

                  bor

                  e

                  24

                  77

                  Motor connector

                  Encoder connector

                  45 o

                  r les

                  s

                  φ1235500+50

                  0

                  Brake connector

                  φ 35

                  Hol

                  low

                  bor

                  e

                  R100 or less

                  2-φ4 H7 depth 3For workpiece positioning

                  6-M5 effective depth 8For workpiece mounting

                  PCD102 plusmn01

                  φ 52

                  Hol

                  low

                  bor

                  e

                  φ 83

                  Rotating part of the work mounting surface

                  φ180

                  φ110h7 -00350

                  70plusmn0

                  3

                  4

                  φ178h8 -00630

                  500plusmn30

                  φ 21

                  32 or less

                  138

                  158

                  φ116

                  35

                  003 A 003 A

                  A

                  75plusmn0

                  1

                  8-M6 effective depth 13PCD148 plusmn01

                  75plusmn0

                  1

                  225degφ5 H7 depth 5For body positioning

                  Body mounting surfaceBody positioning oblong hole

                  S

                  2

                  R25

                  5+00120 depth 5

                  Detail view of S

                  24

                  CAD drawings can be downloaded from our websitewwwintelligentactuatorcom

                  2DCAD2DCAD

                  3DCAD3D

                  CAD

                  8

                  DDA Direct Drive Motor

                  P

                  O I N T

                  SelectionNotes

                  (Note 1) The value in ( ) indicates the maximum speed The maximum speed may not be reached if the moving distance is short

                  (Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in five years based on this load

                  (Note 3) The maximum cable length is 30m Specify a desired length in meters (Example X08 = 8m)

                  (Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control

                  (Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type

                  ModelSpecifications

                  ① Cable Length

                  Cable type Cable code

                  StandardS (3m)M (5m)

                  Specified length X06 (6m) ~X10 (10m)X11 (11m) ~X30 (30m)

                  Please refer to P18 for more information regarding the maintenance cables

                  1 Indexing accuracy is supported when connected to SCON-CB

                  Thrust (axial) run-out (No load) 30μm

                  Radial run-out (No load) 30μm

                  Run-out of Output Shaft

                  Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198s) 20-bit plusmn000103deg (plusmn37s)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45s) 20-bit plusmn000833deg (plusmn30s)Allowable load moment (Note 2) 80Nmiddotm

                  Encoder resolution 17-bit 131072 pulsesrev20-bit 1048576 pulsesrev

                  Allowable thrust load (Note 2) Forward 3100N Reverse 250NBase material AluminumAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)

                  Cleanroom specification

                  Cleanliness Class 10 (FedStd209D) class 25 or equivalent (ISO 14644-1 Standard)Suction amount 35Nℓmin

                  Weight 13kg

                  Common Specifications

                  Encoder type Model number Motor

                  wattage (W)

                  Operation range (deg) (1)

                  Speed (degs) (Note 1)

                  Rated torque (Nmiddotm) (2)

                  Maximum instantaneous torque (Nmiddotm)

                  Allowable inertia

                  moment (kgmiddotm2)

                  Rotor inertia (kgmiddotm2)

                  17-bit index absolute type DDA (CR)-LH18CS-AI-600-360-T2-① -②

                  600

                  0~359999 deg

                  1~800 (1~1440) 25 75 18 00092

                  17-bit multi-rotation absolute type DDA (CR)-LH18CS-AM-600-360-T2-① -② plusmn9999 deg max

                  20-bit index absolute type DDA (CR)-LH18CP-AI-600-360-T2-① -② 0~359999 deg

                  20-bit multi-rotation absolute type DDA (CR)-LH18CP-AM-600-360-T2-① -② plusmn2520 deg max

                  ② Options

                  Name Option code

                  Cable exits from the bottom A0

                  Cable exits from the side A1

                  Flange FL

                  (Note) A0 (cable exits from the bottom) option and FL (flange) option cannot be selected together

                  DDA-LH18C

                  Controller is not included

                  DDACR-LH18C Clean Room Type

                  High Torque

                  Type

                  Large Bore Type

                  Flange- Less Type

                  n Model Specification Items

                  DDADDACR LH18C 600 360 T2

                  Series Type Encoder Type

                  Motor Type

                  Operation Range

                  Applicable Controllers

                  Cable Length Options

                  DDA StandardDDACR Cleanroom

                  specification

                  S Standard (17-bit)

                  P High resolution (20-bit)

                  AI Index absolute type

                  AM Multi-rotation absolute type

                  600 600W 360 360 deg T2 SCON XSEL-PQ XSEL-RS

                  Note Only SCON for LH18CP

                  N None S 3m M 5m Xpoundpound Specified

                  length

                  Please refer to the options table below Please make sure to

                  specify either A0 or A1 for the cable exit direction

                  (1) SCON and XSEL have different minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information

                  Legend Cable length Option

                  Please refer to P16 for more information on the installation method

                  Horizontal

                  Side

                  Vert

                  ical

                  Ceiling

                  9

                  DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

                  Dimensions

                  Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use

                  LH18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers

                  Name External view

                  Max number of controlled axes Power supply voltage Control method Maximum number of

                  positioning pointsReference

                  pagePositioner Pulse-train Program Network Option

                  SCON-CBCGB 1Single-phase

                  200VAC -

                  Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information

                  512 (768 for network spec)

                  P14

                  SCON-LCLCG 1Single-phase

                  200VAC- -

                  512 (768 for network spec)

                  P14

                  XSEL-PQRS 8Single-phase 200VACThree-phase 200VAC

                  - - 53332

                  (Depending on the type)P15

                  (Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side

                  Encoder connector

                  Motor connector

                  45

                  615

                  24

                  77

                  φ6 Compatible tube diameter

                  Air JointCR specication only

                  32 o

                  r les

                  s11

                  500plusmn30

                  R100 or less

                  2-φ4 H7 depth 3For workpiece positioning

                  6-M6 effective depth 12For workpiece mounting

                  PCD102plusmn01

                  φ 52

                  Hol

                  low

                  bor

                  e

                  φ 83

                  2428

                  Rotating part of the work mounting surface Encoder connector

                  Motor connector

                  Air JointCR specification only

                  75plusmn0

                  1

                  8-M8 effective depth 16PCD148 plusmn01

                  75plusmn0

                  1

                  φ5 H7 depth 5For body positioning 225deg

                  Body mounting surfaceBody positioning oblong hole

                  φ110h7 -00350

                  φ116φ180

                  φ178h8 -00630

                  412

                  28

                  plusmn03

                  32 or less

                  φ 21

                  500plusmn30

                  35

                  138

                  158

                  003 A

                  003 A

                  A

                  5 +00120 depth 5

                  2

                  R25

                  Detail view of S

                  S

                  CAD drawings can be downloaded from our websitewwwintelligentactuatorcom

                  2DCAD2DCAD

                  3DCAD3D

                  CAD

                  10

                  DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

                  1 A brake cable is not supplied if N (None) is selected as the cable length Please order a brake cable as a separate item in that case

                  ② Options

                  ModelSpecifications

                  Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198s) 20-bit plusmn000103deg (plusmn37s)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45s) 20-bit plusmn000833deg (plusmn30s)Allowable load moment (Note 2) 80Nmiddotm

                  Encoder resolution 17-bit 131072 pulsesrev20-bit 1048576 pulsesrev

                  Allowable thrust load (Note 2) Forward 3100N Reverse 250NBase material AluminumBrake retaining torque 50NmiddotmAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)Weight 174kg

                  Common Specifications

                  Thrust (axial) run-out (No load) 30μm

                  Radial run-out (No load) 30μm

                  Run-out of Output Shaft

                  Encoder type Model number Motor

                  wattage (W)

                  Operation range (deg) (1)

                  Speed (degs) (Note 1)

                  Rated torque (Nmiddotm) (2)

                  Maximum instantaneous torque (Nmiddotm)

                  Allowable inertia

                  moment (kgmiddotm2)

                  Rotor inertia (kgmiddotm2)

                  17-bit index absolute type DDA-LH18CS-AI-600-360-T2-① -② -B

                  600

                  0~359999 deg

                  1~800 (1~1440) 25 75 18 00092

                  17-bit multi-rotation absolute type DDA-LH18CS-AM-600-360-T2-① -② -B plusmn9999 deg max

                  20-bit index absolute type DDA-LH18CP-AI-600-360-T2-① -② -B 0~359999 deg

                  20-bit multi-rotation absolute type DDA-LH18CP-AM-600-360-T2-① -② -B plusmn2520 deg max

                  Name Option code

                  Cable exits from the bottom A0

                  Cable exits from the side A1

                  Brake (With brake box) 1 B

                  ① Cable Length

                  Cable type Cable code

                  StandardS (3m)M (5m)

                  Specified length X06 (6m) ~X10 (10m)X11 (11m) ~X20 (20m)

                  Please refer to P18 for more information regarding the maintenance cables

                  1 Indexing accuracy is supported when connected to SCON-CB

                  Controller is not included

                  DDA-LH18C-B High Torque

                  Type

                  Large Bore Type

                  (1) SCON and XSEL have different minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information

                  Flange- Less Type

                  P

                  O I N T

                  SelectionNotes

                  (Note 1) The value in ( ) indicates the maximum speed The maximum speed may not be reached if the moving distance is short

                  (Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in five years based on this load

                  (Note 3) The maximum cable length is 20m Specify a desired length in meters (Example X08 = 8m)

                  (Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control

                  (Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type

                  (Note 6) The brake is used for retention purposes only so damage may be caused if it is actually used in attempts to slow or stop the actuator

                  Legend Cable length Option

                  Please refer to P16 for more information on the installation method

                  Horizontal

                  Side

                  Vert

                  ical

                  Ceiling

                  n Model Specification Items

                  DDA LH18C 600 360 T2 BSeries Type Encoder

                  TypeMotor Type

                  Operation Range

                  Applicable Controllers

                  Cable Length Options Option

                  S Standard (17-bit)

                  P High resolution (20-bit)

                  AI Index absolute type

                  AM Multi-rotation absolute type

                  600 600W 360 360 deg T2 SCON XSEL-PQ XSEL-RS

                  Note Only SCON for LH18CP

                  N None S 3m M 5m Xpoundpound Specified

                  length

                  Please refer to the options table below Please make sure to

                  specify either A0 or A1 for the cable exit direction

                  B Brake

                  11

                  DDA Direct Drive Motor

                  Dimensions

                  Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use

                  LH18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers

                  Name External view

                  Max number of controlled axes Power supply voltage Control method Maximum number of

                  positioning pointsReference

                  pagePositioner Pulse-train Program Network Option

                  SCON-CBCGB 1Single-phase

                  200VAC -

                  Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information

                  512 (768 for network spec)

                  P14

                  SCON-LCLCG 1Single-phase

                  200VAC- -

                  512 (768 for network spec)

                  P14

                  XSEL-PQRS 8Single-phase 200VACThree-phase 200VAC

                  - - 53332

                  (Depending on the type)P15

                  (Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side

                  Encoder connector

                  Motor connector

                  φ 35

                  Hol

                  low

                  bor

                  e

                  32 o

                  r les

                  s

                  φ1235

                  645

                  or l

                  ess

                  500+500

                  500plusmn30

                  Brake connector

                  24

                  77

                  Encoder connector

                  Motor connector

                  φ 35

                  Hol

                  low

                  bor

                  e64

                  5 o

                  r les

                  s

                  φ1235500+50

                  0

                  Brake connector

                  R100 or less

                  2-φ4 H7 depth 3For workpiece positioning

                  6-M6 effective depth 12For workpiece mounting

                  PCD102 plusmn01

                  φ 52

                  Hol

                  low

                  bor

                  e

                  φ 83

                  Rotating part of the work mounting surface

                  φ110h7 -00035

                  φ116φ180

                  φ178h8 -00063

                  412

                  28

                  plusmn03

                  32 or less

                  φ 21

                  500plusmn30

                  35

                  138

                  158

                  003 A

                  003 A

                  A

                  75plusmn0

                  1

                  8-M8 effective depth 16PCD148 plusmn01

                  75plusmn0

                  1

                  φ5 H7 depth 5For body positioning 225deg

                  Body mounting surfaceBody positioning oblong hole

                  S 5 +00120 depth 5

                  2

                  R25

                  Detail view of S24

                  CAD drawings can be downloaded from our websitewwwintelligentactuatorcom

                  2DCAD2DCAD

                  3DCAD3D

                  CAD

                  12

                  DDA Direct Drive Motor

                  OptionsIt is a retention mechanism for holding the stop position when the power or servo is OFF to prevent the workpieces and attachments from being damaged when used in side or vertical positions Be sure to connect a brake box for models with brake

                  A bracket that attaches to the body with bolts from the top side

                  Brake

                  Flange

                  Option Code B

                  Option Code FL

                  cent Brake Box

                  cent Wiring Diagram When Brake Box is Used

                  DDA-LT18CModel Number DDA-FL-LT18

                  Model Number IA-110-DD-4

                  DDA-LH18CModel Number DDA-FL-LH18

                  PCD200

                  PCD200

                  plusmn0075plusmn0075

                  55deg

                  55deg

                  180

                  180

                  180180

                  160

                  160

                  plusmn01

                  plusmn01

                  160160 plusmn01plusmn01

                  4-φ 1

                  14-φ 1

                  1thr

                  ough

                  thro

                  ugh

                  2- φ62- φ6

                  H7 through

                  H7 through

                  135

                  135

                  815

                  815

                  plusmn04

                  plusmn04

                  φ1245φ1245

                  55deg

                  55deg

                  PCD

                  PCD200plusmn0075200plusmn0075

                  180

                  180

                  180180160160 plusmn01plusmn01

                  160

                  160

                  plusmn01

                  plusmn01

                  2- φ62- φ6

                  H7 throughH7 through

                  4-φ1

                  14-φ1

                  1thr

                  ough

                  thro

                  ugh

                  155

                  15513

                  63

                  136

                  3plusmn0

                  4plusmn0

                  4

                  φ1245φ1245

                  PG OUTPWRON

                  BKOUT

                  + - C E

                  BKRMT

                  RLSBKOUT

                  PG IN

                  PWRPE N L

                  MODEL IA-110-DD-4SN INPUT Single phase 100-240V

                  MADE IN JAPAN

                  5060Hz 10A maxOUTPUT 12VDC 06A

                  PG OUTPWRON

                  BKOUT

                  + - C E

                  BKRMT

                  RLSBKOUT

                  PG IN

                  PWRPE N L

                  MODEL IA-110-DD-4SN INPUT Single phase 100-240V

                  MADE IN JAPAN

                  5060Hz 10A maxOUTPUT 12VDC 06A

                  ControllerSCON-CBXSEL-PQRSDDA

                  Motor cableModel CB-X(XMC)-MApoundpoundpound

                  Brake box

                  Encoder cableModel CB-X3-PA010(Comes with the brake box)

                  Encoder cableModel CB-X3-PApoundpoundpound

                  Brake cableModel CB-DDB-BKpoundpoundpound Main power supply

                  100VAC~240VAC

                  13

                  DDA (CR) Direct Drive Motor

                  Position Controller

                  Controller Model

                  System Configuration

                  Positioner Single-axis Type ltSCONgt Model

                  Power Supply Voltage

                  IO TypeEncoder Type Motor Type Type Series SCON

                  IO Cable Length

                  AIAM

                  2

                  The 200W motor used by the DDA is larger than a normal 200W motor so the motor type for the controller will be 200S and its size will be larger than the 400W motor

                  For 200W motorFor 600W motor

                  200S600

                  High-function typeSafety category compliant type

                  CBCGB

                  PLC equipped typeSafety category PLC equipped type

                  LCLCG

                  Motor cableModel CB-X-MA (LT18C) CB-XMC-MA (LH18C)

                  SCON PC

                  DDA

                  PLC(To be supplied by the customer)

                  IO flat cableModel CB-PAC-PIO020Standard 2m

                  Be sure to use a noise filter on the power supply

                  ( )Encoder cableModel CB-X3-PA

                  PC compatible softwareRS232 connection versionModel RCM-101-MWUSB connection versionModel RCM-101-USB(Please contact IAI for more details)

                  Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)

                  Regenerative resistor unitModel RESU-2RESUD-2(Please contact IAI for more details)

                  1 The wiring diagram is different for models with brakes Please refer to P13 for more information

                  1

                  Single-phase 200VAC Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models

                  Main powersupply

                  Field network

                  Option

                  Supplied with the actuator

                  Supplied with the controller

                  Supplied with the actuator Option

                  Option

                  Option

                  When the SCON Controller is Connected

                  When a field network specification is selectedthe IO cable length will be 0

                  Index absolute typeMulti-rotation abs type

                  NPPN

                  PIO NPN (Standard)

                  PIO PNP

                  DVCN

                  DeviceNet

                  CompoNet

                  CC CC-Link

                  ML MECHATROLINK-I II

                  ML3PR

                  MECHATROLINK-III

                  PROFIBUS-DP

                  02

                  35

                  No cable2m (Standard)

                  3m5m

                  EC EtherCAT

                  EP EtherNetIP

                  PRT PROFINET IO

                  For recommended modelsplease contact IAI

                  Model

                  External view

                  IO type

                  IO type code

                  MECHATROLINK-III

                  connectionCompoNet connection

                  PROFIBUS-DP connection

                  CC-Linkconnection

                  DeviceNetconnection

                  PIO connection specification (1)

                  NPPN DV CC PR

                  Standard Field network type (1)

                  CN ML

                  SCON-CB

                  EtherNetIP connection

                  PROFINET IO connection

                  EtherCATconnection

                  EC EP PRT

                  List of Models

                  MECHATROLINK- III

                  connection

                  ML3

                  Applicable encoder type(Note) The index absolute type cannot be used in the pulse-train control and MECHATROLINK-III control(1) Please note that the network specifications cannot be operated on the PIO or pulse-train The PLC type (LCLCG) cannot be connected on the pulse-train

                  Index absoluteMulti-rotation absoluteIndex absolute Multi-rotation absolute

                  CBCGB CBCGB LCLCG

                  14

                  SCON Controller

                  Program Controller

                  List of Models

                  Model P Q R S

                  Type Large-capacity type Large-capacity type (Safety category specification) High-function type High-function type

                  (Safety category specification)

                  External view

                  DescriptionLarge-capacity type

                  that can control up to 6 axes 2400W

                  Large-capacity type thats compatible with the

                  safety category 4

                  High-function type that allows up to 8-axis operation

                  Safety category 4 compatible high-function type

                  Controller Model

                  System Configuration

                  Program Multi-axis Type ltXSELgt Model

                  Encoder Type

                  Encoder Type

                  Motor Type

                  Motor Type

                  Number ofConnected

                  AxesType Series Option Option

                  XSEL

                  200 For 200W motor

                  600 For 600W motor

                  B BrakePQRS

                  6-axis type6-axis safety category type8-axis type8-axis safety category type

                  8

                  1

                  ~ ~

                  1 axis

                  8 axes

                  (PQ type is up to 6 axes)

                  (Details of the 1st axis) (Details of the 2nd~8th axis)

                  It can simultaneously operate actuators (single-axis robot and ROBO Cylinder) other than the DDA motor on a single controller For connectable actuators other than the DDA motor please contact IAI

                  For subsequent models please contact IAI

                  Notes

                  AIAM

                  Index absolute typeMulti-rotation absolute type

                  When the XSEL Controller is Connected

                  Be sure to use a noise filter on the power supply

                  Motor cableModel CB-X-MA (LT18C) CB-XMC-MA (LH18C)

                  XSELPC

                  PLC(To be supplied by the customer)

                  PC compatible softwareRS232 connection versionModel IA-101-X-MWUSB connection versionModel IA-101-X-USBMW(Please contact IAI for more details)

                  Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)

                  Single-phase 200VACThree-phase 200VAC

                  Regenerative resistor unitModel RESU-1RESUD-1(Please contact IAI for more details)

                  Option Option

                  Option

                  Field networkOption

                  IO flat cableModel CB-X-PIO020Standard 2m

                  Supplied with the controller

                  Encoder cableModel CB-X3-PA

                  Supplied with the actuator

                  Supplied with the actuator

                  Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models

                  The wiring diagram is different for models with brakes Please refer to P13 for more information

                  DDA

                  Main powersupply ( )For recommended models

                  please contact IAI

                  15

                  XSEL Controller

                  Precautions

                  Installation

                  Installation Orientation

                  Mountingsurface

                  For models with brake and cable exit direction to the bottom a clearance hole is required

                  Ceiling mount

                  Horizontal mount

                  Vertical mount

                  Gra

                  vity

                  Operation TypeThis product is available in 2 operation types depending on the operation conditions Please check the features and precautions on each type before use

                  (1)The high resolution specification can be connected only to the SCON-CB(2)When the XSEL index type travels more than 180deg from the current position it rotates in a direction that requires a shorter travel distance to

                  reach the target position Therefore please note that the direction of rotation changes according to the current position and travel distance If you want to specify the direction of travel use the SCON-CB

                  (3)The index type can be rotated in a given direction infinitely but it actually cannot continue to rotate in the same direction without stopping like a regular motor does because the maximum travel distance per command from the XSEL controller is 180deg If you want to allow the motor to rotate continuously use the SCON-CB

                  (4)Home return is required for the multi-rotation absolute encoder during the initial setting and replacement of the absolute battery

                  Absolute batteryHome return operationLimitless rotation

                  Maximum amount of movement in a single movement command

                  Operation rangeController typeOperation type

                  Not requiredNot required

                  Yes (3)

                  0~359999deg

                  Index absolute type

                  RequiredNot required (4)

                  No

                  Above operation rangeplusmn9999deg (plusmn2520deg) max

                  Multi-rotation absolute typeSCON-CB XSEL(1)

                  ( ) is for 20-bit

                  (Note) Use this product by installing it on a mounting surface having heat dissipating characteristics equivalent to those of an aluminum plate of w450mm times d450mm times t12mm in size If the installation conditions necessitate lower heat dissipating characteristics please consult IAI

                  ControllersFor the DDA with 200W motor the outside dimensions of the SCON-CB controller will be the same as the size of the

                  400W motor (Please contact IAI for the details of the SCON-CB controller)One and two regenerative resistor unit(s) are required for LT18C and LH18C respectively to operate a DDA

                  motor with the SCON-CBWhen operating DDA motor(s) with the XSEL controller regenerative resistor units are required as shown below

                  The number of DDA motor(s) connectable to the XSEL controller is a max of 8 units for the LT18C type and a max of 2 units for the LH18C type

                  Please note that when the DDA motor is operated with the SCON-CB the motor cannot be connected to the ROBO Cylinder gateway function of the XSEL controller

                  Calculation for the power supply value LT18C type single-phase 600W three-phase 200W LH18C type single-phase 1200W three-phase 600W

                  Number of regenerative resistor units

                  1 2 3 4 5 6 7 81 2 3

                  (Cannot be connected)4

                  2 4LT18CLH18C

                  Number of DD motor(s)

                  360deg

                  SCON-CB XSEL(1)

                  180deg(2)

                  16

                  DDA (CR) Direct Drive Motor

                  Conditions for Selection

                  The followings should be checked to determine whether the DDA motor can be used to suit the specific conditions required by the customer

                  The customer should confirm that the following three points under actual use do not exceed their maximum allowable levels as specified for the DDA motor

                  The total load of device(s) mounted on the actuator

                  The total load moment of device(s) mounted on the actuator

                  The load inertia of device(s) mounted on the actuator

                  Check Load Conditions1

                  [1] Thrust load

                  [2] Load moment applied

                  [3] Load inertia

                  J = 18 times M times D 2 [kgm2]

                  Mass M [kg]

                  D [m]

                  Center of rotation

                  J = 112 times M times (a 2 + b 2) [kgm2]

                  a [m]

                  b [m]

                  Center of rotation

                  Mass M [kg]

                  J = M times R 2+ 18 times M times D 2 [kgm2]

                  Mass M [kg]

                  D [m]

                  R [m]

                  Cent

                  er o

                  fro

                  tatio

                  n

                  J = M times R 2+112 times M times (a 2 + b 2 )[kgm2]

                  a [m]

                  b [m]R [m]

                  Cent

                  er o

                  fro

                  tatio

                  n

                  Mass M [kg]

                  The travel time changes according to the load inertia See the tables below to check the travel time data

                  Travel Time Guide3

                  The data in the tables are for a reference only and do not guarantee the actual travel times

                  (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

                  0

                  0005

                  009

                  012

                  017

                  022

                  0005

                  001

                  010

                  012

                  017

                  022

                  001

                  002

                  011

                  014

                  019

                  024

                  002

                  003

                  012

                  016

                  021

                  026

                  003

                  004

                  013

                  017

                  023

                  027

                  004

                  005

                  014

                  018

                  024

                  029

                  005

                  006

                  015

                  020

                  027

                  032

                  006

                  007

                  017

                  022

                  029

                  035

                  007

                  008

                  019

                  024

                  032

                  038

                  008

                  009

                  021

                  026

                  035

                  041

                  009

                  01

                  023

                  029

                  037

                  044

                  01

                  02

                  039

                  048

                  060

                  069

                  02

                  03

                  062

                  073

                  089

                  100

                  03

                  04

                  070

                  083

                  101

                  114

                  04

                  05

                  087

                  102

                  122

                  136

                  05

                  06

                  111

                  123

                  142

                  168

                  LH18C

                  LT18C

                  Continuous Operation Area

                  LT18C type LH18C type

                  (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

                  0

                  0005

                  0098

                  0129

                  0192

                  0254

                  0005

                  001

                  0096

                  0128

                  019

                  0252

                  001

                  0015

                  0096

                  0127

                  019

                  0252

                  002

                  002

                  0097

                  0128

                  0191

                  0253

                  002

                  003

                  0099

                  0131

                  0193

                  0256

                  003

                  004

                  0104

                  0136

                  0199

                  0262

                  004

                  006

                  0113

                  0144

                  0207

                  027

                  006

                  008

                  012

                  0153

                  0215

                  0278

                  008

                  01

                  0126

                  0163

                  0225

                  0288

                  010

                  015

                  014

                  0184

                  0249

                  0312

                  015

                  02

                  0157

                  0208

                  0279

                  0341

                  02

                  03

                  0207

                  0268

                  0354

                  042

                  03

                  04

                  0257

                  0329

                  0428

                  0504

                  04

                  06

                  0352

                  044

                  0562

                  0655

                  06

                  08

                  0447

                  0549

                  0692

                  08

                  08

                  1

                  053

                  0646

                  0806

                  0925

                  10

                  12

                  0629

                  0758

                  0933

                  1064

                  12

                  14

                  0795

                  0941

                  1133

                  1274

                  14

                  18

                  0875

                  1035

                  1257

                  1415

                  Check Operating Conditions2Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DDA motor specifications to determine whether the DDA motor can be used under the applicable operating conditions Please contact IAI for assistance To

                  rque

                  (Nm

                  )

                  Curr

                  ent [

                  Arm

                  s]

                  Angular velocity [degs]

                  AccelerationDeceleration AreaAccelerationDeceleration Area

                  Torq

                  ue (N

                  m)

                  Curr

                  ent [

                  Arm

                  s]

                  Angular velocity [degs]

                  AccelerationDeceleration AreaAccelerationDeceleration Area

                  Rating areaRating area

                  270deg travel time [sec]180deg travel time [sec]

                  90deg travel time [sec]45deg travel time [sec]

                  Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

                  270deg travel time [sec]180deg travel time [sec]

                  90deg travel time [sec]45deg travel time [sec]

                  Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

                  Selecting the DD Motor

                  17

                  DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

                  (44) (167)

                  (80

                  )

                  31

                  (84)(293)

                  (92

                  )

                  31

                  (φ5

                  4)

                  J11SF-03V-KX J11SFM-03V-KXNoNo SignalSignal ColorColor WiringWiring

                  AWG20(crimped)

                  Red

                  Black

                  White

                  Red

                  Black

                  White

                  +

                  -

                  FG

                  +

                  -

                  FG

                  321

                  321

                  AWG20(crimped)

                  Controller side Actuator side(Front view)(Front view)

                  L

                  Conditions for Selection

                  The followings should be checked to determine whether the DDA motor can be used to suit the specific conditions required by the customer

                  The customer should confirm that the following three points under actual use do not exceed their maximum allowable levels as specified for the DDA motor

                  The total load of device(s) mounted on the actuator

                  The total load moment of device(s) mounted on the actuator

                  The load inertia of device(s) mounted on the actuator

                  Check Load Conditions1

                  [1] Thrust load

                  [2] Load moment applied

                  [3] Load inertia

                  J = 18 times M times D 2 [kgm2]

                  Mass M [kg]

                  D [m]

                  Center of rotation

                  J = 112 times M times (a 2 + b 2) [kgm2]

                  a [m]

                  b [m]

                  Center of rotation

                  Mass M [kg]

                  J = M times R 2+ 18 times M times D 2 [kgm2]

                  Mass M [kg]

                  D [m]

                  R [m]

                  Cent

                  er o

                  fro

                  tatio

                  n

                  J = M times R 2+112 times M times (a 2 + b 2 )[kgm2]

                  a [m]

                  b [m]R [m]

                  Cent

                  er o

                  fro

                  tatio

                  n

                  Mass M [kg]

                  The travel time changes according to the load inertia See the tables below to check the travel time data

                  Travel Time Guide3

                  The data in the tables are for a reference only and do not guarantee the actual travel times

                  (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

                  0

                  0005

                  009

                  012

                  017

                  022

                  0005

                  001

                  010

                  012

                  017

                  022

                  001

                  002

                  011

                  014

                  019

                  024

                  002

                  003

                  012

                  016

                  021

                  026

                  003

                  004

                  013

                  017

                  023

                  027

                  004

                  005

                  014

                  018

                  024

                  029

                  005

                  006

                  015

                  020

                  027

                  032

                  006

                  007

                  017

                  022

                  029

                  035

                  007

                  008

                  019

                  024

                  032

                  038

                  008

                  009

                  021

                  026

                  035

                  041

                  009

                  01

                  023

                  029

                  037

                  044

                  01

                  02

                  039

                  048

                  060

                  069

                  02

                  03

                  062

                  073

                  089

                  100

                  03

                  04

                  070

                  083

                  101

                  114

                  04

                  05

                  087

                  102

                  122

                  136

                  05

                  06

                  111

                  123

                  142

                  168

                  LH18C

                  LT18C

                  Continuous Operation Area

                  LT18C type LH18C type

                  (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

                  0

                  0005

                  0098

                  0129

                  0192

                  0254

                  0005

                  001

                  0096

                  0128

                  019

                  0252

                  001

                  0015

                  0096

                  0127

                  019

                  0252

                  002

                  002

                  0097

                  0128

                  0191

                  0253

                  002

                  003

                  0099

                  0131

                  0193

                  0256

                  003

                  004

                  0104

                  0136

                  0199

                  0262

                  004

                  006

                  0113

                  0144

                  0207

                  027

                  006

                  008

                  012

                  0153

                  0215

                  0278

                  008

                  01

                  0126

                  0163

                  0225

                  0288

                  010

                  015

                  014

                  0184

                  0249

                  0312

                  015

                  02

                  0157

                  0208

                  0279

                  0341

                  02

                  03

                  0207

                  0268

                  0354

                  042

                  03

                  04

                  0257

                  0329

                  0428

                  0504

                  04

                  06

                  0352

                  044

                  0562

                  0655

                  06

                  08

                  0447

                  0549

                  0692

                  08

                  08

                  1

                  053

                  0646

                  0806

                  0925

                  10

                  12

                  0629

                  0758

                  0933

                  1064

                  12

                  14

                  0795

                  0941

                  1133

                  1274

                  14

                  18

                  0875

                  1035

                  1257

                  1415

                  Check Operating Conditions2Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DDA motor specifications to determine whether the DDA motor can be used under the applicable operating conditions Please contact IAI for assistance To

                  rque

                  (Nm

                  )

                  Curr

                  ent [

                  Arm

                  s]

                  Angular velocity [degs]

                  AccelerationDeceleration AreaAccelerationDeceleration Area

                  Torq

                  ue (N

                  m)

                  Curr

                  ent [

                  Arm

                  s]

                  Angular velocity [degs]

                  AccelerationDeceleration AreaAccelerationDeceleration Area

                  Rating areaRating area

                  270deg travel time [sec]180deg travel time [sec]

                  90deg travel time [sec]45deg travel time [sec]

                  Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

                  270deg travel time [sec]180deg travel time [sec]

                  90deg travel time [sec]45deg travel time [sec]

                  Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

                  Cables

                  (Front view) (Front view)

                  Controller sideActuator side

                  (16)

                  (41)

                  (φ9) (2

                  1)

                  (20) (10)

                  (18)

                  L

                  4

                  1

                  1

                  4

                  075sq075sq

                  Wiring Color Signal No No WiringColorSignal

                  White

                  GreenRed

                  BlackV

                  PEU

                  W PE

                  VU

                  W3

                  12

                  43

                  12

                  4

                  White

                  Green

                  Red

                  Black (crimped)

                  Model Number CB-X-MApoundpoundpound Please indicate the cable length (L) in poundpoundpound maximum 30m eg) 080 = 8m

                  Minimum bending radius r = 51mm or more (Dynamic bending condition) Only robot cable is available for this model

                  L

                  4

                  1

                  1

                  4

                  (φ9)

                  (Front view)

                  (16)

                  (41)

                  (16)(21)

                  (11)

                  1

                  1

                  4

                  (φ9)

                  (16)

                  Controller side Actuator side

                  125sq125sq

                  Wiring Color Signal No No WiringColorSignal

                  White

                  GreenRed

                  BlackV

                  PEU

                  W PE

                  VU

                  W3

                  12

                  43

                  12

                  4

                  White

                  Green

                  Red

                  Black (crimped)

                  Model Number CB-XMC-MApoundpoundpound Please indicate the cable length (L) in poundpoundpound maximum 30m eg) 080 = 8m

                  Minimum bending radius r = 55mm or more (Dynamic bending condition) Only robot cable is available for this model

                  (Front view)(Front view)

                  AWG26(Soldered)

                  AWG26(crimped)

                  L

                  (13)

                  14

                  269

                  1

                  13

                  (37)

                  (41) (14)

                  (15)

                  (25)

                  1

                  (φ10

                  )

                  Yellow

                  Shield is clamp connected to the hoodDrain Wire and Braided Shield

                  BlueBlackRedGray

                  PurpleGreen

                  OrangeWhiteGrayWhitePurpleWhiteBlackWhiteRed

                  WhiteYellowWhiteBlue

                  RedGray

                  PurpleGreen

                  Orange

                  YellowBlue

                  WhiteGreenBlack

                  Drain

                  WhiteOrangeWhiteGrayWhitePurpleWhiteBlackWhiteRed

                  WhiteYellowWhiteBlue

                  WhiteOrangeWhiteGreen

                  Wiring Color Signal No

                  WiringColorSignalNo

                  Controller side Actuator side

                  Minimum bending radius r = 58mm or more (Dynamic bending condition) Only robot cable is available for this model

                  Model Number CB-X3-PApoundpoundpound

                  Model Number CB-DDB-BKpoundpoundpound

                  Please indicate the cable length (L) in poundpoundpound maximum 30m eg) 080 = 8m

                  Please indicate the cable length (L) in poundpoundpoundmaximum 20m eg) 080 = 8m

                  18

                  DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

                  Catalog No CE0242-1A (0916)

                  IAI America Inc 2690 W 237th Street Torrance CA 90505 (800) 736-1712 110 E State Pkwy Schaumburg IL 60173 (800) 944-0333

                  1220 Kennestone Circle Suite 108 Marietta GA 30066 (888) 354-9470

                  wwwintelligentactuatorcom

                  IAI Industrieroboter GmbHOber der Roumlth 4 D-65824 Schwalbach am Taunus Germany

                  IAI (Shanghai) Co LtdShanghai Jiahua Business Center A8-303 808Hongqiao Rd Shanghai 200030 China

                  IAI Robot (Thailand) Co Ltd825 Phairojkijja Tower 12th Floor Bangna-Trad RDBangna Bangna Bangkok 10260 Thailand

                  The information contained in this product brochure may change without prior notice due to product improvements

                  • Features
                  • Series List
                  • Model Specification Items
                  • Application Examples
                  • DDA-LT18C
                  • DDACR-LT18C
                  • DDA-LT18C-B
                  • DDA-LH18C
                  • DDACR-LH18C
                  • DDA-LH18C-B
                  • Options
                  • SCON-CB
                  • X-SEL
                  • Precautions
                  • Selecting the DD Motor
                  • Cables

                    P

                    O I N T

                    SelectionNotes

                    (Note 1) The value in ( ) indicates the maximum speed The maximum speed may not be reached if the moving distance is short

                    (Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in five years based on this load

                    (Note 3) The maximum cable length is 30m Specify a desired length in meters (Example X08 = 8m)

                    (Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control

                    (Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type

                    ModelSpecifications

                    ① Cable Length

                    Cable type Cable code

                    StandardS (3m)M (5m)

                    Specified length X06 (6m) ~X10 (10m)X11 (11m) ~X30 (30m)

                    Please refer to P18 for more information regarding the maintenance cables

                    1 Indexing accuracy is supported when connected to SCON-CB

                    Thrust (axial) run-out (No load) 30μm

                    Radial run-out (No load) 30μm

                    Run-out of Output Shaft

                    Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198s) 20-bit plusmn000103deg (plusmn37s)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45s) 20-bit plusmn000833deg (plusmn30s)Allowable load moment (Note 2) 80Nmiddotm

                    Encoder resolution 17-bit 131072 pulsesrev20-bit 1048576 pulsesrev

                    Allowable thrust load (Note 2) Forward 3100N Reverse 250NBase material AluminumAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)

                    Cleanroom specification

                    Cleanliness Class 10 (FedStd209D) class 25 or equivalent (ISO 14644-1 Standard)Suction amount 35Nℓmin

                    Weight 13kg

                    Common Specifications

                    Encoder type Model number Motor

                    wattage (W)

                    Operation range (deg) (1)

                    Speed (degs) (Note 1)

                    Rated torque (Nmiddotm) (2)

                    Maximum instantaneous torque (Nmiddotm)

                    Allowable inertia

                    moment (kgmiddotm2)

                    Rotor inertia (kgmiddotm2)

                    17-bit index absolute type DDA (CR)-LH18CS-AI-600-360-T2-① -②

                    600

                    0~359999 deg

                    1~800 (1~1440) 25 75 18 00092

                    17-bit multi-rotation absolute type DDA (CR)-LH18CS-AM-600-360-T2-① -② plusmn9999 deg max

                    20-bit index absolute type DDA (CR)-LH18CP-AI-600-360-T2-① -② 0~359999 deg

                    20-bit multi-rotation absolute type DDA (CR)-LH18CP-AM-600-360-T2-① -② plusmn2520 deg max

                    ② Options

                    Name Option code

                    Cable exits from the bottom A0

                    Cable exits from the side A1

                    Flange FL

                    (Note) A0 (cable exits from the bottom) option and FL (flange) option cannot be selected together

                    DDA-LH18C

                    Controller is not included

                    DDACR-LH18C Clean Room Type

                    High Torque

                    Type

                    Large Bore Type

                    Flange- Less Type

                    n Model Specification Items

                    DDADDACR LH18C 600 360 T2

                    Series Type Encoder Type

                    Motor Type

                    Operation Range

                    Applicable Controllers

                    Cable Length Options

                    DDA StandardDDACR Cleanroom

                    specification

                    S Standard (17-bit)

                    P High resolution (20-bit)

                    AI Index absolute type

                    AM Multi-rotation absolute type

                    600 600W 360 360 deg T2 SCON XSEL-PQ XSEL-RS

                    Note Only SCON for LH18CP

                    N None S 3m M 5m Xpoundpound Specified

                    length

                    Please refer to the options table below Please make sure to

                    specify either A0 or A1 for the cable exit direction

                    (1) SCON and XSEL have different minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information

                    Legend Cable length Option

                    Please refer to P16 for more information on the installation method

                    Horizontal

                    Side

                    Vert

                    ical

                    Ceiling

                    9

                    DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

                    Dimensions

                    Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use

                    LH18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers

                    Name External view

                    Max number of controlled axes Power supply voltage Control method Maximum number of

                    positioning pointsReference

                    pagePositioner Pulse-train Program Network Option

                    SCON-CBCGB 1Single-phase

                    200VAC -

                    Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information

                    512 (768 for network spec)

                    P14

                    SCON-LCLCG 1Single-phase

                    200VAC- -

                    512 (768 for network spec)

                    P14

                    XSEL-PQRS 8Single-phase 200VACThree-phase 200VAC

                    - - 53332

                    (Depending on the type)P15

                    (Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side

                    Encoder connector

                    Motor connector

                    45

                    615

                    24

                    77

                    φ6 Compatible tube diameter

                    Air JointCR specication only

                    32 o

                    r les

                    s11

                    500plusmn30

                    R100 or less

                    2-φ4 H7 depth 3For workpiece positioning

                    6-M6 effective depth 12For workpiece mounting

                    PCD102plusmn01

                    φ 52

                    Hol

                    low

                    bor

                    e

                    φ 83

                    2428

                    Rotating part of the work mounting surface Encoder connector

                    Motor connector

                    Air JointCR specification only

                    75plusmn0

                    1

                    8-M8 effective depth 16PCD148 plusmn01

                    75plusmn0

                    1

                    φ5 H7 depth 5For body positioning 225deg

                    Body mounting surfaceBody positioning oblong hole

                    φ110h7 -00350

                    φ116φ180

                    φ178h8 -00630

                    412

                    28

                    plusmn03

                    32 or less

                    φ 21

                    500plusmn30

                    35

                    138

                    158

                    003 A

                    003 A

                    A

                    5 +00120 depth 5

                    2

                    R25

                    Detail view of S

                    S

                    CAD drawings can be downloaded from our websitewwwintelligentactuatorcom

                    2DCAD2DCAD

                    3DCAD3D

                    CAD

                    10

                    DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

                    1 A brake cable is not supplied if N (None) is selected as the cable length Please order a brake cable as a separate item in that case

                    ② Options

                    ModelSpecifications

                    Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198s) 20-bit plusmn000103deg (plusmn37s)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45s) 20-bit plusmn000833deg (plusmn30s)Allowable load moment (Note 2) 80Nmiddotm

                    Encoder resolution 17-bit 131072 pulsesrev20-bit 1048576 pulsesrev

                    Allowable thrust load (Note 2) Forward 3100N Reverse 250NBase material AluminumBrake retaining torque 50NmiddotmAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)Weight 174kg

                    Common Specifications

                    Thrust (axial) run-out (No load) 30μm

                    Radial run-out (No load) 30μm

                    Run-out of Output Shaft

                    Encoder type Model number Motor

                    wattage (W)

                    Operation range (deg) (1)

                    Speed (degs) (Note 1)

                    Rated torque (Nmiddotm) (2)

                    Maximum instantaneous torque (Nmiddotm)

                    Allowable inertia

                    moment (kgmiddotm2)

                    Rotor inertia (kgmiddotm2)

                    17-bit index absolute type DDA-LH18CS-AI-600-360-T2-① -② -B

                    600

                    0~359999 deg

                    1~800 (1~1440) 25 75 18 00092

                    17-bit multi-rotation absolute type DDA-LH18CS-AM-600-360-T2-① -② -B plusmn9999 deg max

                    20-bit index absolute type DDA-LH18CP-AI-600-360-T2-① -② -B 0~359999 deg

                    20-bit multi-rotation absolute type DDA-LH18CP-AM-600-360-T2-① -② -B plusmn2520 deg max

                    Name Option code

                    Cable exits from the bottom A0

                    Cable exits from the side A1

                    Brake (With brake box) 1 B

                    ① Cable Length

                    Cable type Cable code

                    StandardS (3m)M (5m)

                    Specified length X06 (6m) ~X10 (10m)X11 (11m) ~X20 (20m)

                    Please refer to P18 for more information regarding the maintenance cables

                    1 Indexing accuracy is supported when connected to SCON-CB

                    Controller is not included

                    DDA-LH18C-B High Torque

                    Type

                    Large Bore Type

                    (1) SCON and XSEL have different minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information

                    Flange- Less Type

                    P

                    O I N T

                    SelectionNotes

                    (Note 1) The value in ( ) indicates the maximum speed The maximum speed may not be reached if the moving distance is short

                    (Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in five years based on this load

                    (Note 3) The maximum cable length is 20m Specify a desired length in meters (Example X08 = 8m)

                    (Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control

                    (Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type

                    (Note 6) The brake is used for retention purposes only so damage may be caused if it is actually used in attempts to slow or stop the actuator

                    Legend Cable length Option

                    Please refer to P16 for more information on the installation method

                    Horizontal

                    Side

                    Vert

                    ical

                    Ceiling

                    n Model Specification Items

                    DDA LH18C 600 360 T2 BSeries Type Encoder

                    TypeMotor Type

                    Operation Range

                    Applicable Controllers

                    Cable Length Options Option

                    S Standard (17-bit)

                    P High resolution (20-bit)

                    AI Index absolute type

                    AM Multi-rotation absolute type

                    600 600W 360 360 deg T2 SCON XSEL-PQ XSEL-RS

                    Note Only SCON for LH18CP

                    N None S 3m M 5m Xpoundpound Specified

                    length

                    Please refer to the options table below Please make sure to

                    specify either A0 or A1 for the cable exit direction

                    B Brake

                    11

                    DDA Direct Drive Motor

                    Dimensions

                    Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use

                    LH18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers

                    Name External view

                    Max number of controlled axes Power supply voltage Control method Maximum number of

                    positioning pointsReference

                    pagePositioner Pulse-train Program Network Option

                    SCON-CBCGB 1Single-phase

                    200VAC -

                    Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information

                    512 (768 for network spec)

                    P14

                    SCON-LCLCG 1Single-phase

                    200VAC- -

                    512 (768 for network spec)

                    P14

                    XSEL-PQRS 8Single-phase 200VACThree-phase 200VAC

                    - - 53332

                    (Depending on the type)P15

                    (Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side

                    Encoder connector

                    Motor connector

                    φ 35

                    Hol

                    low

                    bor

                    e

                    32 o

                    r les

                    s

                    φ1235

                    645

                    or l

                    ess

                    500+500

                    500plusmn30

                    Brake connector

                    24

                    77

                    Encoder connector

                    Motor connector

                    φ 35

                    Hol

                    low

                    bor

                    e64

                    5 o

                    r les

                    s

                    φ1235500+50

                    0

                    Brake connector

                    R100 or less

                    2-φ4 H7 depth 3For workpiece positioning

                    6-M6 effective depth 12For workpiece mounting

                    PCD102 plusmn01

                    φ 52

                    Hol

                    low

                    bor

                    e

                    φ 83

                    Rotating part of the work mounting surface

                    φ110h7 -00035

                    φ116φ180

                    φ178h8 -00063

                    412

                    28

                    plusmn03

                    32 or less

                    φ 21

                    500plusmn30

                    35

                    138

                    158

                    003 A

                    003 A

                    A

                    75plusmn0

                    1

                    8-M8 effective depth 16PCD148 plusmn01

                    75plusmn0

                    1

                    φ5 H7 depth 5For body positioning 225deg

                    Body mounting surfaceBody positioning oblong hole

                    S 5 +00120 depth 5

                    2

                    R25

                    Detail view of S24

                    CAD drawings can be downloaded from our websitewwwintelligentactuatorcom

                    2DCAD2DCAD

                    3DCAD3D

                    CAD

                    12

                    DDA Direct Drive Motor

                    OptionsIt is a retention mechanism for holding the stop position when the power or servo is OFF to prevent the workpieces and attachments from being damaged when used in side or vertical positions Be sure to connect a brake box for models with brake

                    A bracket that attaches to the body with bolts from the top side

                    Brake

                    Flange

                    Option Code B

                    Option Code FL

                    cent Brake Box

                    cent Wiring Diagram When Brake Box is Used

                    DDA-LT18CModel Number DDA-FL-LT18

                    Model Number IA-110-DD-4

                    DDA-LH18CModel Number DDA-FL-LH18

                    PCD200

                    PCD200

                    plusmn0075plusmn0075

                    55deg

                    55deg

                    180

                    180

                    180180

                    160

                    160

                    plusmn01

                    plusmn01

                    160160 plusmn01plusmn01

                    4-φ 1

                    14-φ 1

                    1thr

                    ough

                    thro

                    ugh

                    2- φ62- φ6

                    H7 through

                    H7 through

                    135

                    135

                    815

                    815

                    plusmn04

                    plusmn04

                    φ1245φ1245

                    55deg

                    55deg

                    PCD

                    PCD200plusmn0075200plusmn0075

                    180

                    180

                    180180160160 plusmn01plusmn01

                    160

                    160

                    plusmn01

                    plusmn01

                    2- φ62- φ6

                    H7 throughH7 through

                    4-φ1

                    14-φ1

                    1thr

                    ough

                    thro

                    ugh

                    155

                    15513

                    63

                    136

                    3plusmn0

                    4plusmn0

                    4

                    φ1245φ1245

                    PG OUTPWRON

                    BKOUT

                    + - C E

                    BKRMT

                    RLSBKOUT

                    PG IN

                    PWRPE N L

                    MODEL IA-110-DD-4SN INPUT Single phase 100-240V

                    MADE IN JAPAN

                    5060Hz 10A maxOUTPUT 12VDC 06A

                    PG OUTPWRON

                    BKOUT

                    + - C E

                    BKRMT

                    RLSBKOUT

                    PG IN

                    PWRPE N L

                    MODEL IA-110-DD-4SN INPUT Single phase 100-240V

                    MADE IN JAPAN

                    5060Hz 10A maxOUTPUT 12VDC 06A

                    ControllerSCON-CBXSEL-PQRSDDA

                    Motor cableModel CB-X(XMC)-MApoundpoundpound

                    Brake box

                    Encoder cableModel CB-X3-PA010(Comes with the brake box)

                    Encoder cableModel CB-X3-PApoundpoundpound

                    Brake cableModel CB-DDB-BKpoundpoundpound Main power supply

                    100VAC~240VAC

                    13

                    DDA (CR) Direct Drive Motor

                    Position Controller

                    Controller Model

                    System Configuration

                    Positioner Single-axis Type ltSCONgt Model

                    Power Supply Voltage

                    IO TypeEncoder Type Motor Type Type Series SCON

                    IO Cable Length

                    AIAM

                    2

                    The 200W motor used by the DDA is larger than a normal 200W motor so the motor type for the controller will be 200S and its size will be larger than the 400W motor

                    For 200W motorFor 600W motor

                    200S600

                    High-function typeSafety category compliant type

                    CBCGB

                    PLC equipped typeSafety category PLC equipped type

                    LCLCG

                    Motor cableModel CB-X-MA (LT18C) CB-XMC-MA (LH18C)

                    SCON PC

                    DDA

                    PLC(To be supplied by the customer)

                    IO flat cableModel CB-PAC-PIO020Standard 2m

                    Be sure to use a noise filter on the power supply

                    ( )Encoder cableModel CB-X3-PA

                    PC compatible softwareRS232 connection versionModel RCM-101-MWUSB connection versionModel RCM-101-USB(Please contact IAI for more details)

                    Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)

                    Regenerative resistor unitModel RESU-2RESUD-2(Please contact IAI for more details)

                    1 The wiring diagram is different for models with brakes Please refer to P13 for more information

                    1

                    Single-phase 200VAC Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models

                    Main powersupply

                    Field network

                    Option

                    Supplied with the actuator

                    Supplied with the controller

                    Supplied with the actuator Option

                    Option

                    Option

                    When the SCON Controller is Connected

                    When a field network specification is selectedthe IO cable length will be 0

                    Index absolute typeMulti-rotation abs type

                    NPPN

                    PIO NPN (Standard)

                    PIO PNP

                    DVCN

                    DeviceNet

                    CompoNet

                    CC CC-Link

                    ML MECHATROLINK-I II

                    ML3PR

                    MECHATROLINK-III

                    PROFIBUS-DP

                    02

                    35

                    No cable2m (Standard)

                    3m5m

                    EC EtherCAT

                    EP EtherNetIP

                    PRT PROFINET IO

                    For recommended modelsplease contact IAI

                    Model

                    External view

                    IO type

                    IO type code

                    MECHATROLINK-III

                    connectionCompoNet connection

                    PROFIBUS-DP connection

                    CC-Linkconnection

                    DeviceNetconnection

                    PIO connection specification (1)

                    NPPN DV CC PR

                    Standard Field network type (1)

                    CN ML

                    SCON-CB

                    EtherNetIP connection

                    PROFINET IO connection

                    EtherCATconnection

                    EC EP PRT

                    List of Models

                    MECHATROLINK- III

                    connection

                    ML3

                    Applicable encoder type(Note) The index absolute type cannot be used in the pulse-train control and MECHATROLINK-III control(1) Please note that the network specifications cannot be operated on the PIO or pulse-train The PLC type (LCLCG) cannot be connected on the pulse-train

                    Index absoluteMulti-rotation absoluteIndex absolute Multi-rotation absolute

                    CBCGB CBCGB LCLCG

                    14

                    SCON Controller

                    Program Controller

                    List of Models

                    Model P Q R S

                    Type Large-capacity type Large-capacity type (Safety category specification) High-function type High-function type

                    (Safety category specification)

                    External view

                    DescriptionLarge-capacity type

                    that can control up to 6 axes 2400W

                    Large-capacity type thats compatible with the

                    safety category 4

                    High-function type that allows up to 8-axis operation

                    Safety category 4 compatible high-function type

                    Controller Model

                    System Configuration

                    Program Multi-axis Type ltXSELgt Model

                    Encoder Type

                    Encoder Type

                    Motor Type

                    Motor Type

                    Number ofConnected

                    AxesType Series Option Option

                    XSEL

                    200 For 200W motor

                    600 For 600W motor

                    B BrakePQRS

                    6-axis type6-axis safety category type8-axis type8-axis safety category type

                    8

                    1

                    ~ ~

                    1 axis

                    8 axes

                    (PQ type is up to 6 axes)

                    (Details of the 1st axis) (Details of the 2nd~8th axis)

                    It can simultaneously operate actuators (single-axis robot and ROBO Cylinder) other than the DDA motor on a single controller For connectable actuators other than the DDA motor please contact IAI

                    For subsequent models please contact IAI

                    Notes

                    AIAM

                    Index absolute typeMulti-rotation absolute type

                    When the XSEL Controller is Connected

                    Be sure to use a noise filter on the power supply

                    Motor cableModel CB-X-MA (LT18C) CB-XMC-MA (LH18C)

                    XSELPC

                    PLC(To be supplied by the customer)

                    PC compatible softwareRS232 connection versionModel IA-101-X-MWUSB connection versionModel IA-101-X-USBMW(Please contact IAI for more details)

                    Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)

                    Single-phase 200VACThree-phase 200VAC

                    Regenerative resistor unitModel RESU-1RESUD-1(Please contact IAI for more details)

                    Option Option

                    Option

                    Field networkOption

                    IO flat cableModel CB-X-PIO020Standard 2m

                    Supplied with the controller

                    Encoder cableModel CB-X3-PA

                    Supplied with the actuator

                    Supplied with the actuator

                    Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models

                    The wiring diagram is different for models with brakes Please refer to P13 for more information

                    DDA

                    Main powersupply ( )For recommended models

                    please contact IAI

                    15

                    XSEL Controller

                    Precautions

                    Installation

                    Installation Orientation

                    Mountingsurface

                    For models with brake and cable exit direction to the bottom a clearance hole is required

                    Ceiling mount

                    Horizontal mount

                    Vertical mount

                    Gra

                    vity

                    Operation TypeThis product is available in 2 operation types depending on the operation conditions Please check the features and precautions on each type before use

                    (1)The high resolution specification can be connected only to the SCON-CB(2)When the XSEL index type travels more than 180deg from the current position it rotates in a direction that requires a shorter travel distance to

                    reach the target position Therefore please note that the direction of rotation changes according to the current position and travel distance If you want to specify the direction of travel use the SCON-CB

                    (3)The index type can be rotated in a given direction infinitely but it actually cannot continue to rotate in the same direction without stopping like a regular motor does because the maximum travel distance per command from the XSEL controller is 180deg If you want to allow the motor to rotate continuously use the SCON-CB

                    (4)Home return is required for the multi-rotation absolute encoder during the initial setting and replacement of the absolute battery

                    Absolute batteryHome return operationLimitless rotation

                    Maximum amount of movement in a single movement command

                    Operation rangeController typeOperation type

                    Not requiredNot required

                    Yes (3)

                    0~359999deg

                    Index absolute type

                    RequiredNot required (4)

                    No

                    Above operation rangeplusmn9999deg (plusmn2520deg) max

                    Multi-rotation absolute typeSCON-CB XSEL(1)

                    ( ) is for 20-bit

                    (Note) Use this product by installing it on a mounting surface having heat dissipating characteristics equivalent to those of an aluminum plate of w450mm times d450mm times t12mm in size If the installation conditions necessitate lower heat dissipating characteristics please consult IAI

                    ControllersFor the DDA with 200W motor the outside dimensions of the SCON-CB controller will be the same as the size of the

                    400W motor (Please contact IAI for the details of the SCON-CB controller)One and two regenerative resistor unit(s) are required for LT18C and LH18C respectively to operate a DDA

                    motor with the SCON-CBWhen operating DDA motor(s) with the XSEL controller regenerative resistor units are required as shown below

                    The number of DDA motor(s) connectable to the XSEL controller is a max of 8 units for the LT18C type and a max of 2 units for the LH18C type

                    Please note that when the DDA motor is operated with the SCON-CB the motor cannot be connected to the ROBO Cylinder gateway function of the XSEL controller

                    Calculation for the power supply value LT18C type single-phase 600W three-phase 200W LH18C type single-phase 1200W three-phase 600W

                    Number of regenerative resistor units

                    1 2 3 4 5 6 7 81 2 3

                    (Cannot be connected)4

                    2 4LT18CLH18C

                    Number of DD motor(s)

                    360deg

                    SCON-CB XSEL(1)

                    180deg(2)

                    16

                    DDA (CR) Direct Drive Motor

                    Conditions for Selection

                    The followings should be checked to determine whether the DDA motor can be used to suit the specific conditions required by the customer

                    The customer should confirm that the following three points under actual use do not exceed their maximum allowable levels as specified for the DDA motor

                    The total load of device(s) mounted on the actuator

                    The total load moment of device(s) mounted on the actuator

                    The load inertia of device(s) mounted on the actuator

                    Check Load Conditions1

                    [1] Thrust load

                    [2] Load moment applied

                    [3] Load inertia

                    J = 18 times M times D 2 [kgm2]

                    Mass M [kg]

                    D [m]

                    Center of rotation

                    J = 112 times M times (a 2 + b 2) [kgm2]

                    a [m]

                    b [m]

                    Center of rotation

                    Mass M [kg]

                    J = M times R 2+ 18 times M times D 2 [kgm2]

                    Mass M [kg]

                    D [m]

                    R [m]

                    Cent

                    er o

                    fro

                    tatio

                    n

                    J = M times R 2+112 times M times (a 2 + b 2 )[kgm2]

                    a [m]

                    b [m]R [m]

                    Cent

                    er o

                    fro

                    tatio

                    n

                    Mass M [kg]

                    The travel time changes according to the load inertia See the tables below to check the travel time data

                    Travel Time Guide3

                    The data in the tables are for a reference only and do not guarantee the actual travel times

                    (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

                    0

                    0005

                    009

                    012

                    017

                    022

                    0005

                    001

                    010

                    012

                    017

                    022

                    001

                    002

                    011

                    014

                    019

                    024

                    002

                    003

                    012

                    016

                    021

                    026

                    003

                    004

                    013

                    017

                    023

                    027

                    004

                    005

                    014

                    018

                    024

                    029

                    005

                    006

                    015

                    020

                    027

                    032

                    006

                    007

                    017

                    022

                    029

                    035

                    007

                    008

                    019

                    024

                    032

                    038

                    008

                    009

                    021

                    026

                    035

                    041

                    009

                    01

                    023

                    029

                    037

                    044

                    01

                    02

                    039

                    048

                    060

                    069

                    02

                    03

                    062

                    073

                    089

                    100

                    03

                    04

                    070

                    083

                    101

                    114

                    04

                    05

                    087

                    102

                    122

                    136

                    05

                    06

                    111

                    123

                    142

                    168

                    LH18C

                    LT18C

                    Continuous Operation Area

                    LT18C type LH18C type

                    (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

                    0

                    0005

                    0098

                    0129

                    0192

                    0254

                    0005

                    001

                    0096

                    0128

                    019

                    0252

                    001

                    0015

                    0096

                    0127

                    019

                    0252

                    002

                    002

                    0097

                    0128

                    0191

                    0253

                    002

                    003

                    0099

                    0131

                    0193

                    0256

                    003

                    004

                    0104

                    0136

                    0199

                    0262

                    004

                    006

                    0113

                    0144

                    0207

                    027

                    006

                    008

                    012

                    0153

                    0215

                    0278

                    008

                    01

                    0126

                    0163

                    0225

                    0288

                    010

                    015

                    014

                    0184

                    0249

                    0312

                    015

                    02

                    0157

                    0208

                    0279

                    0341

                    02

                    03

                    0207

                    0268

                    0354

                    042

                    03

                    04

                    0257

                    0329

                    0428

                    0504

                    04

                    06

                    0352

                    044

                    0562

                    0655

                    06

                    08

                    0447

                    0549

                    0692

                    08

                    08

                    1

                    053

                    0646

                    0806

                    0925

                    10

                    12

                    0629

                    0758

                    0933

                    1064

                    12

                    14

                    0795

                    0941

                    1133

                    1274

                    14

                    18

                    0875

                    1035

                    1257

                    1415

                    Check Operating Conditions2Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DDA motor specifications to determine whether the DDA motor can be used under the applicable operating conditions Please contact IAI for assistance To

                    rque

                    (Nm

                    )

                    Curr

                    ent [

                    Arm

                    s]

                    Angular velocity [degs]

                    AccelerationDeceleration AreaAccelerationDeceleration Area

                    Torq

                    ue (N

                    m)

                    Curr

                    ent [

                    Arm

                    s]

                    Angular velocity [degs]

                    AccelerationDeceleration AreaAccelerationDeceleration Area

                    Rating areaRating area

                    270deg travel time [sec]180deg travel time [sec]

                    90deg travel time [sec]45deg travel time [sec]

                    Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

                    270deg travel time [sec]180deg travel time [sec]

                    90deg travel time [sec]45deg travel time [sec]

                    Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

                    Selecting the DD Motor

                    17

                    DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

                    (44) (167)

                    (80

                    )

                    31

                    (84)(293)

                    (92

                    )

                    31

                    (φ5

                    4)

                    J11SF-03V-KX J11SFM-03V-KXNoNo SignalSignal ColorColor WiringWiring

                    AWG20(crimped)

                    Red

                    Black

                    White

                    Red

                    Black

                    White

                    +

                    -

                    FG

                    +

                    -

                    FG

                    321

                    321

                    AWG20(crimped)

                    Controller side Actuator side(Front view)(Front view)

                    L

                    Conditions for Selection

                    The followings should be checked to determine whether the DDA motor can be used to suit the specific conditions required by the customer

                    The customer should confirm that the following three points under actual use do not exceed their maximum allowable levels as specified for the DDA motor

                    The total load of device(s) mounted on the actuator

                    The total load moment of device(s) mounted on the actuator

                    The load inertia of device(s) mounted on the actuator

                    Check Load Conditions1

                    [1] Thrust load

                    [2] Load moment applied

                    [3] Load inertia

                    J = 18 times M times D 2 [kgm2]

                    Mass M [kg]

                    D [m]

                    Center of rotation

                    J = 112 times M times (a 2 + b 2) [kgm2]

                    a [m]

                    b [m]

                    Center of rotation

                    Mass M [kg]

                    J = M times R 2+ 18 times M times D 2 [kgm2]

                    Mass M [kg]

                    D [m]

                    R [m]

                    Cent

                    er o

                    fro

                    tatio

                    n

                    J = M times R 2+112 times M times (a 2 + b 2 )[kgm2]

                    a [m]

                    b [m]R [m]

                    Cent

                    er o

                    fro

                    tatio

                    n

                    Mass M [kg]

                    The travel time changes according to the load inertia See the tables below to check the travel time data

                    Travel Time Guide3

                    The data in the tables are for a reference only and do not guarantee the actual travel times

                    (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

                    0

                    0005

                    009

                    012

                    017

                    022

                    0005

                    001

                    010

                    012

                    017

                    022

                    001

                    002

                    011

                    014

                    019

                    024

                    002

                    003

                    012

                    016

                    021

                    026

                    003

                    004

                    013

                    017

                    023

                    027

                    004

                    005

                    014

                    018

                    024

                    029

                    005

                    006

                    015

                    020

                    027

                    032

                    006

                    007

                    017

                    022

                    029

                    035

                    007

                    008

                    019

                    024

                    032

                    038

                    008

                    009

                    021

                    026

                    035

                    041

                    009

                    01

                    023

                    029

                    037

                    044

                    01

                    02

                    039

                    048

                    060

                    069

                    02

                    03

                    062

                    073

                    089

                    100

                    03

                    04

                    070

                    083

                    101

                    114

                    04

                    05

                    087

                    102

                    122

                    136

                    05

                    06

                    111

                    123

                    142

                    168

                    LH18C

                    LT18C

                    Continuous Operation Area

                    LT18C type LH18C type

                    (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

                    0

                    0005

                    0098

                    0129

                    0192

                    0254

                    0005

                    001

                    0096

                    0128

                    019

                    0252

                    001

                    0015

                    0096

                    0127

                    019

                    0252

                    002

                    002

                    0097

                    0128

                    0191

                    0253

                    002

                    003

                    0099

                    0131

                    0193

                    0256

                    003

                    004

                    0104

                    0136

                    0199

                    0262

                    004

                    006

                    0113

                    0144

                    0207

                    027

                    006

                    008

                    012

                    0153

                    0215

                    0278

                    008

                    01

                    0126

                    0163

                    0225

                    0288

                    010

                    015

                    014

                    0184

                    0249

                    0312

                    015

                    02

                    0157

                    0208

                    0279

                    0341

                    02

                    03

                    0207

                    0268

                    0354

                    042

                    03

                    04

                    0257

                    0329

                    0428

                    0504

                    04

                    06

                    0352

                    044

                    0562

                    0655

                    06

                    08

                    0447

                    0549

                    0692

                    08

                    08

                    1

                    053

                    0646

                    0806

                    0925

                    10

                    12

                    0629

                    0758

                    0933

                    1064

                    12

                    14

                    0795

                    0941

                    1133

                    1274

                    14

                    18

                    0875

                    1035

                    1257

                    1415

                    Check Operating Conditions2Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DDA motor specifications to determine whether the DDA motor can be used under the applicable operating conditions Please contact IAI for assistance To

                    rque

                    (Nm

                    )

                    Curr

                    ent [

                    Arm

                    s]

                    Angular velocity [degs]

                    AccelerationDeceleration AreaAccelerationDeceleration Area

                    Torq

                    ue (N

                    m)

                    Curr

                    ent [

                    Arm

                    s]

                    Angular velocity [degs]

                    AccelerationDeceleration AreaAccelerationDeceleration Area

                    Rating areaRating area

                    270deg travel time [sec]180deg travel time [sec]

                    90deg travel time [sec]45deg travel time [sec]

                    Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

                    270deg travel time [sec]180deg travel time [sec]

                    90deg travel time [sec]45deg travel time [sec]

                    Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

                    Cables

                    (Front view) (Front view)

                    Controller sideActuator side

                    (16)

                    (41)

                    (φ9) (2

                    1)

                    (20) (10)

                    (18)

                    L

                    4

                    1

                    1

                    4

                    075sq075sq

                    Wiring Color Signal No No WiringColorSignal

                    White

                    GreenRed

                    BlackV

                    PEU

                    W PE

                    VU

                    W3

                    12

                    43

                    12

                    4

                    White

                    Green

                    Red

                    Black (crimped)

                    Model Number CB-X-MApoundpoundpound Please indicate the cable length (L) in poundpoundpound maximum 30m eg) 080 = 8m

                    Minimum bending radius r = 51mm or more (Dynamic bending condition) Only robot cable is available for this model

                    L

                    4

                    1

                    1

                    4

                    (φ9)

                    (Front view)

                    (16)

                    (41)

                    (16)(21)

                    (11)

                    1

                    1

                    4

                    (φ9)

                    (16)

                    Controller side Actuator side

                    125sq125sq

                    Wiring Color Signal No No WiringColorSignal

                    White

                    GreenRed

                    BlackV

                    PEU

                    W PE

                    VU

                    W3

                    12

                    43

                    12

                    4

                    White

                    Green

                    Red

                    Black (crimped)

                    Model Number CB-XMC-MApoundpoundpound Please indicate the cable length (L) in poundpoundpound maximum 30m eg) 080 = 8m

                    Minimum bending radius r = 55mm or more (Dynamic bending condition) Only robot cable is available for this model

                    (Front view)(Front view)

                    AWG26(Soldered)

                    AWG26(crimped)

                    L

                    (13)

                    14

                    269

                    1

                    13

                    (37)

                    (41) (14)

                    (15)

                    (25)

                    1

                    (φ10

                    )

                    Yellow

                    Shield is clamp connected to the hoodDrain Wire and Braided Shield

                    BlueBlackRedGray

                    PurpleGreen

                    OrangeWhiteGrayWhitePurpleWhiteBlackWhiteRed

                    WhiteYellowWhiteBlue

                    RedGray

                    PurpleGreen

                    Orange

                    YellowBlue

                    WhiteGreenBlack

                    Drain

                    WhiteOrangeWhiteGrayWhitePurpleWhiteBlackWhiteRed

                    WhiteYellowWhiteBlue

                    WhiteOrangeWhiteGreen

                    Wiring Color Signal No

                    WiringColorSignalNo

                    Controller side Actuator side

                    Minimum bending radius r = 58mm or more (Dynamic bending condition) Only robot cable is available for this model

                    Model Number CB-X3-PApoundpoundpound

                    Model Number CB-DDB-BKpoundpoundpound

                    Please indicate the cable length (L) in poundpoundpound maximum 30m eg) 080 = 8m

                    Please indicate the cable length (L) in poundpoundpoundmaximum 20m eg) 080 = 8m

                    18

                    DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

                    Catalog No CE0242-1A (0916)

                    IAI America Inc 2690 W 237th Street Torrance CA 90505 (800) 736-1712 110 E State Pkwy Schaumburg IL 60173 (800) 944-0333

                    1220 Kennestone Circle Suite 108 Marietta GA 30066 (888) 354-9470

                    wwwintelligentactuatorcom

                    IAI Industrieroboter GmbHOber der Roumlth 4 D-65824 Schwalbach am Taunus Germany

                    IAI (Shanghai) Co LtdShanghai Jiahua Business Center A8-303 808Hongqiao Rd Shanghai 200030 China

                    IAI Robot (Thailand) Co Ltd825 Phairojkijja Tower 12th Floor Bangna-Trad RDBangna Bangna Bangkok 10260 Thailand

                    The information contained in this product brochure may change without prior notice due to product improvements

                    • Features
                    • Series List
                    • Model Specification Items
                    • Application Examples
                    • DDA-LT18C
                    • DDACR-LT18C
                    • DDA-LT18C-B
                    • DDA-LH18C
                    • DDACR-LH18C
                    • DDA-LH18C-B
                    • Options
                    • SCON-CB
                    • X-SEL
                    • Precautions
                    • Selecting the DD Motor
                    • Cables

                      Dimensions

                      Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use

                      LH18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers

                      Name External view

                      Max number of controlled axes Power supply voltage Control method Maximum number of

                      positioning pointsReference

                      pagePositioner Pulse-train Program Network Option

                      SCON-CBCGB 1Single-phase

                      200VAC -

                      Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information

                      512 (768 for network spec)

                      P14

                      SCON-LCLCG 1Single-phase

                      200VAC- -

                      512 (768 for network spec)

                      P14

                      XSEL-PQRS 8Single-phase 200VACThree-phase 200VAC

                      - - 53332

                      (Depending on the type)P15

                      (Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side

                      Encoder connector

                      Motor connector

                      45

                      615

                      24

                      77

                      φ6 Compatible tube diameter

                      Air JointCR specication only

                      32 o

                      r les

                      s11

                      500plusmn30

                      R100 or less

                      2-φ4 H7 depth 3For workpiece positioning

                      6-M6 effective depth 12For workpiece mounting

                      PCD102plusmn01

                      φ 52

                      Hol

                      low

                      bor

                      e

                      φ 83

                      2428

                      Rotating part of the work mounting surface Encoder connector

                      Motor connector

                      Air JointCR specification only

                      75plusmn0

                      1

                      8-M8 effective depth 16PCD148 plusmn01

                      75plusmn0

                      1

                      φ5 H7 depth 5For body positioning 225deg

                      Body mounting surfaceBody positioning oblong hole

                      φ110h7 -00350

                      φ116φ180

                      φ178h8 -00630

                      412

                      28

                      plusmn03

                      32 or less

                      φ 21

                      500plusmn30

                      35

                      138

                      158

                      003 A

                      003 A

                      A

                      5 +00120 depth 5

                      2

                      R25

                      Detail view of S

                      S

                      CAD drawings can be downloaded from our websitewwwintelligentactuatorcom

                      2DCAD2DCAD

                      3DCAD3D

                      CAD

                      10

                      DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

                      1 A brake cable is not supplied if N (None) is selected as the cable length Please order a brake cable as a separate item in that case

                      ② Options

                      ModelSpecifications

                      Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198s) 20-bit plusmn000103deg (plusmn37s)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45s) 20-bit plusmn000833deg (plusmn30s)Allowable load moment (Note 2) 80Nmiddotm

                      Encoder resolution 17-bit 131072 pulsesrev20-bit 1048576 pulsesrev

                      Allowable thrust load (Note 2) Forward 3100N Reverse 250NBase material AluminumBrake retaining torque 50NmiddotmAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)Weight 174kg

                      Common Specifications

                      Thrust (axial) run-out (No load) 30μm

                      Radial run-out (No load) 30μm

                      Run-out of Output Shaft

                      Encoder type Model number Motor

                      wattage (W)

                      Operation range (deg) (1)

                      Speed (degs) (Note 1)

                      Rated torque (Nmiddotm) (2)

                      Maximum instantaneous torque (Nmiddotm)

                      Allowable inertia

                      moment (kgmiddotm2)

                      Rotor inertia (kgmiddotm2)

                      17-bit index absolute type DDA-LH18CS-AI-600-360-T2-① -② -B

                      600

                      0~359999 deg

                      1~800 (1~1440) 25 75 18 00092

                      17-bit multi-rotation absolute type DDA-LH18CS-AM-600-360-T2-① -② -B plusmn9999 deg max

                      20-bit index absolute type DDA-LH18CP-AI-600-360-T2-① -② -B 0~359999 deg

                      20-bit multi-rotation absolute type DDA-LH18CP-AM-600-360-T2-① -② -B plusmn2520 deg max

                      Name Option code

                      Cable exits from the bottom A0

                      Cable exits from the side A1

                      Brake (With brake box) 1 B

                      ① Cable Length

                      Cable type Cable code

                      StandardS (3m)M (5m)

                      Specified length X06 (6m) ~X10 (10m)X11 (11m) ~X20 (20m)

                      Please refer to P18 for more information regarding the maintenance cables

                      1 Indexing accuracy is supported when connected to SCON-CB

                      Controller is not included

                      DDA-LH18C-B High Torque

                      Type

                      Large Bore Type

                      (1) SCON and XSEL have different minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information

                      Flange- Less Type

                      P

                      O I N T

                      SelectionNotes

                      (Note 1) The value in ( ) indicates the maximum speed The maximum speed may not be reached if the moving distance is short

                      (Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in five years based on this load

                      (Note 3) The maximum cable length is 20m Specify a desired length in meters (Example X08 = 8m)

                      (Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control

                      (Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type

                      (Note 6) The brake is used for retention purposes only so damage may be caused if it is actually used in attempts to slow or stop the actuator

                      Legend Cable length Option

                      Please refer to P16 for more information on the installation method

                      Horizontal

                      Side

                      Vert

                      ical

                      Ceiling

                      n Model Specification Items

                      DDA LH18C 600 360 T2 BSeries Type Encoder

                      TypeMotor Type

                      Operation Range

                      Applicable Controllers

                      Cable Length Options Option

                      S Standard (17-bit)

                      P High resolution (20-bit)

                      AI Index absolute type

                      AM Multi-rotation absolute type

                      600 600W 360 360 deg T2 SCON XSEL-PQ XSEL-RS

                      Note Only SCON for LH18CP

                      N None S 3m M 5m Xpoundpound Specified

                      length

                      Please refer to the options table below Please make sure to

                      specify either A0 or A1 for the cable exit direction

                      B Brake

                      11

                      DDA Direct Drive Motor

                      Dimensions

                      Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use

                      LH18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers

                      Name External view

                      Max number of controlled axes Power supply voltage Control method Maximum number of

                      positioning pointsReference

                      pagePositioner Pulse-train Program Network Option

                      SCON-CBCGB 1Single-phase

                      200VAC -

                      Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information

                      512 (768 for network spec)

                      P14

                      SCON-LCLCG 1Single-phase

                      200VAC- -

                      512 (768 for network spec)

                      P14

                      XSEL-PQRS 8Single-phase 200VACThree-phase 200VAC

                      - - 53332

                      (Depending on the type)P15

                      (Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side

                      Encoder connector

                      Motor connector

                      φ 35

                      Hol

                      low

                      bor

                      e

                      32 o

                      r les

                      s

                      φ1235

                      645

                      or l

                      ess

                      500+500

                      500plusmn30

                      Brake connector

                      24

                      77

                      Encoder connector

                      Motor connector

                      φ 35

                      Hol

                      low

                      bor

                      e64

                      5 o

                      r les

                      s

                      φ1235500+50

                      0

                      Brake connector

                      R100 or less

                      2-φ4 H7 depth 3For workpiece positioning

                      6-M6 effective depth 12For workpiece mounting

                      PCD102 plusmn01

                      φ 52

                      Hol

                      low

                      bor

                      e

                      φ 83

                      Rotating part of the work mounting surface

                      φ110h7 -00035

                      φ116φ180

                      φ178h8 -00063

                      412

                      28

                      plusmn03

                      32 or less

                      φ 21

                      500plusmn30

                      35

                      138

                      158

                      003 A

                      003 A

                      A

                      75plusmn0

                      1

                      8-M8 effective depth 16PCD148 plusmn01

                      75plusmn0

                      1

                      φ5 H7 depth 5For body positioning 225deg

                      Body mounting surfaceBody positioning oblong hole

                      S 5 +00120 depth 5

                      2

                      R25

                      Detail view of S24

                      CAD drawings can be downloaded from our websitewwwintelligentactuatorcom

                      2DCAD2DCAD

                      3DCAD3D

                      CAD

                      12

                      DDA Direct Drive Motor

                      OptionsIt is a retention mechanism for holding the stop position when the power or servo is OFF to prevent the workpieces and attachments from being damaged when used in side or vertical positions Be sure to connect a brake box for models with brake

                      A bracket that attaches to the body with bolts from the top side

                      Brake

                      Flange

                      Option Code B

                      Option Code FL

                      cent Brake Box

                      cent Wiring Diagram When Brake Box is Used

                      DDA-LT18CModel Number DDA-FL-LT18

                      Model Number IA-110-DD-4

                      DDA-LH18CModel Number DDA-FL-LH18

                      PCD200

                      PCD200

                      plusmn0075plusmn0075

                      55deg

                      55deg

                      180

                      180

                      180180

                      160

                      160

                      plusmn01

                      plusmn01

                      160160 plusmn01plusmn01

                      4-φ 1

                      14-φ 1

                      1thr

                      ough

                      thro

                      ugh

                      2- φ62- φ6

                      H7 through

                      H7 through

                      135

                      135

                      815

                      815

                      plusmn04

                      plusmn04

                      φ1245φ1245

                      55deg

                      55deg

                      PCD

                      PCD200plusmn0075200plusmn0075

                      180

                      180

                      180180160160 plusmn01plusmn01

                      160

                      160

                      plusmn01

                      plusmn01

                      2- φ62- φ6

                      H7 throughH7 through

                      4-φ1

                      14-φ1

                      1thr

                      ough

                      thro

                      ugh

                      155

                      15513

                      63

                      136

                      3plusmn0

                      4plusmn0

                      4

                      φ1245φ1245

                      PG OUTPWRON

                      BKOUT

                      + - C E

                      BKRMT

                      RLSBKOUT

                      PG IN

                      PWRPE N L

                      MODEL IA-110-DD-4SN INPUT Single phase 100-240V

                      MADE IN JAPAN

                      5060Hz 10A maxOUTPUT 12VDC 06A

                      PG OUTPWRON

                      BKOUT

                      + - C E

                      BKRMT

                      RLSBKOUT

                      PG IN

                      PWRPE N L

                      MODEL IA-110-DD-4SN INPUT Single phase 100-240V

                      MADE IN JAPAN

                      5060Hz 10A maxOUTPUT 12VDC 06A

                      ControllerSCON-CBXSEL-PQRSDDA

                      Motor cableModel CB-X(XMC)-MApoundpoundpound

                      Brake box

                      Encoder cableModel CB-X3-PA010(Comes with the brake box)

                      Encoder cableModel CB-X3-PApoundpoundpound

                      Brake cableModel CB-DDB-BKpoundpoundpound Main power supply

                      100VAC~240VAC

                      13

                      DDA (CR) Direct Drive Motor

                      Position Controller

                      Controller Model

                      System Configuration

                      Positioner Single-axis Type ltSCONgt Model

                      Power Supply Voltage

                      IO TypeEncoder Type Motor Type Type Series SCON

                      IO Cable Length

                      AIAM

                      2

                      The 200W motor used by the DDA is larger than a normal 200W motor so the motor type for the controller will be 200S and its size will be larger than the 400W motor

                      For 200W motorFor 600W motor

                      200S600

                      High-function typeSafety category compliant type

                      CBCGB

                      PLC equipped typeSafety category PLC equipped type

                      LCLCG

                      Motor cableModel CB-X-MA (LT18C) CB-XMC-MA (LH18C)

                      SCON PC

                      DDA

                      PLC(To be supplied by the customer)

                      IO flat cableModel CB-PAC-PIO020Standard 2m

                      Be sure to use a noise filter on the power supply

                      ( )Encoder cableModel CB-X3-PA

                      PC compatible softwareRS232 connection versionModel RCM-101-MWUSB connection versionModel RCM-101-USB(Please contact IAI for more details)

                      Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)

                      Regenerative resistor unitModel RESU-2RESUD-2(Please contact IAI for more details)

                      1 The wiring diagram is different for models with brakes Please refer to P13 for more information

                      1

                      Single-phase 200VAC Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models

                      Main powersupply

                      Field network

                      Option

                      Supplied with the actuator

                      Supplied with the controller

                      Supplied with the actuator Option

                      Option

                      Option

                      When the SCON Controller is Connected

                      When a field network specification is selectedthe IO cable length will be 0

                      Index absolute typeMulti-rotation abs type

                      NPPN

                      PIO NPN (Standard)

                      PIO PNP

                      DVCN

                      DeviceNet

                      CompoNet

                      CC CC-Link

                      ML MECHATROLINK-I II

                      ML3PR

                      MECHATROLINK-III

                      PROFIBUS-DP

                      02

                      35

                      No cable2m (Standard)

                      3m5m

                      EC EtherCAT

                      EP EtherNetIP

                      PRT PROFINET IO

                      For recommended modelsplease contact IAI

                      Model

                      External view

                      IO type

                      IO type code

                      MECHATROLINK-III

                      connectionCompoNet connection

                      PROFIBUS-DP connection

                      CC-Linkconnection

                      DeviceNetconnection

                      PIO connection specification (1)

                      NPPN DV CC PR

                      Standard Field network type (1)

                      CN ML

                      SCON-CB

                      EtherNetIP connection

                      PROFINET IO connection

                      EtherCATconnection

                      EC EP PRT

                      List of Models

                      MECHATROLINK- III

                      connection

                      ML3

                      Applicable encoder type(Note) The index absolute type cannot be used in the pulse-train control and MECHATROLINK-III control(1) Please note that the network specifications cannot be operated on the PIO or pulse-train The PLC type (LCLCG) cannot be connected on the pulse-train

                      Index absoluteMulti-rotation absoluteIndex absolute Multi-rotation absolute

                      CBCGB CBCGB LCLCG

                      14

                      SCON Controller

                      Program Controller

                      List of Models

                      Model P Q R S

                      Type Large-capacity type Large-capacity type (Safety category specification) High-function type High-function type

                      (Safety category specification)

                      External view

                      DescriptionLarge-capacity type

                      that can control up to 6 axes 2400W

                      Large-capacity type thats compatible with the

                      safety category 4

                      High-function type that allows up to 8-axis operation

                      Safety category 4 compatible high-function type

                      Controller Model

                      System Configuration

                      Program Multi-axis Type ltXSELgt Model

                      Encoder Type

                      Encoder Type

                      Motor Type

                      Motor Type

                      Number ofConnected

                      AxesType Series Option Option

                      XSEL

                      200 For 200W motor

                      600 For 600W motor

                      B BrakePQRS

                      6-axis type6-axis safety category type8-axis type8-axis safety category type

                      8

                      1

                      ~ ~

                      1 axis

                      8 axes

                      (PQ type is up to 6 axes)

                      (Details of the 1st axis) (Details of the 2nd~8th axis)

                      It can simultaneously operate actuators (single-axis robot and ROBO Cylinder) other than the DDA motor on a single controller For connectable actuators other than the DDA motor please contact IAI

                      For subsequent models please contact IAI

                      Notes

                      AIAM

                      Index absolute typeMulti-rotation absolute type

                      When the XSEL Controller is Connected

                      Be sure to use a noise filter on the power supply

                      Motor cableModel CB-X-MA (LT18C) CB-XMC-MA (LH18C)

                      XSELPC

                      PLC(To be supplied by the customer)

                      PC compatible softwareRS232 connection versionModel IA-101-X-MWUSB connection versionModel IA-101-X-USBMW(Please contact IAI for more details)

                      Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)

                      Single-phase 200VACThree-phase 200VAC

                      Regenerative resistor unitModel RESU-1RESUD-1(Please contact IAI for more details)

                      Option Option

                      Option

                      Field networkOption

                      IO flat cableModel CB-X-PIO020Standard 2m

                      Supplied with the controller

                      Encoder cableModel CB-X3-PA

                      Supplied with the actuator

                      Supplied with the actuator

                      Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models

                      The wiring diagram is different for models with brakes Please refer to P13 for more information

                      DDA

                      Main powersupply ( )For recommended models

                      please contact IAI

                      15

                      XSEL Controller

                      Precautions

                      Installation

                      Installation Orientation

                      Mountingsurface

                      For models with brake and cable exit direction to the bottom a clearance hole is required

                      Ceiling mount

                      Horizontal mount

                      Vertical mount

                      Gra

                      vity

                      Operation TypeThis product is available in 2 operation types depending on the operation conditions Please check the features and precautions on each type before use

                      (1)The high resolution specification can be connected only to the SCON-CB(2)When the XSEL index type travels more than 180deg from the current position it rotates in a direction that requires a shorter travel distance to

                      reach the target position Therefore please note that the direction of rotation changes according to the current position and travel distance If you want to specify the direction of travel use the SCON-CB

                      (3)The index type can be rotated in a given direction infinitely but it actually cannot continue to rotate in the same direction without stopping like a regular motor does because the maximum travel distance per command from the XSEL controller is 180deg If you want to allow the motor to rotate continuously use the SCON-CB

                      (4)Home return is required for the multi-rotation absolute encoder during the initial setting and replacement of the absolute battery

                      Absolute batteryHome return operationLimitless rotation

                      Maximum amount of movement in a single movement command

                      Operation rangeController typeOperation type

                      Not requiredNot required

                      Yes (3)

                      0~359999deg

                      Index absolute type

                      RequiredNot required (4)

                      No

                      Above operation rangeplusmn9999deg (plusmn2520deg) max

                      Multi-rotation absolute typeSCON-CB XSEL(1)

                      ( ) is for 20-bit

                      (Note) Use this product by installing it on a mounting surface having heat dissipating characteristics equivalent to those of an aluminum plate of w450mm times d450mm times t12mm in size If the installation conditions necessitate lower heat dissipating characteristics please consult IAI

                      ControllersFor the DDA with 200W motor the outside dimensions of the SCON-CB controller will be the same as the size of the

                      400W motor (Please contact IAI for the details of the SCON-CB controller)One and two regenerative resistor unit(s) are required for LT18C and LH18C respectively to operate a DDA

                      motor with the SCON-CBWhen operating DDA motor(s) with the XSEL controller regenerative resistor units are required as shown below

                      The number of DDA motor(s) connectable to the XSEL controller is a max of 8 units for the LT18C type and a max of 2 units for the LH18C type

                      Please note that when the DDA motor is operated with the SCON-CB the motor cannot be connected to the ROBO Cylinder gateway function of the XSEL controller

                      Calculation for the power supply value LT18C type single-phase 600W three-phase 200W LH18C type single-phase 1200W three-phase 600W

                      Number of regenerative resistor units

                      1 2 3 4 5 6 7 81 2 3

                      (Cannot be connected)4

                      2 4LT18CLH18C

                      Number of DD motor(s)

                      360deg

                      SCON-CB XSEL(1)

                      180deg(2)

                      16

                      DDA (CR) Direct Drive Motor

                      Conditions for Selection

                      The followings should be checked to determine whether the DDA motor can be used to suit the specific conditions required by the customer

                      The customer should confirm that the following three points under actual use do not exceed their maximum allowable levels as specified for the DDA motor

                      The total load of device(s) mounted on the actuator

                      The total load moment of device(s) mounted on the actuator

                      The load inertia of device(s) mounted on the actuator

                      Check Load Conditions1

                      [1] Thrust load

                      [2] Load moment applied

                      [3] Load inertia

                      J = 18 times M times D 2 [kgm2]

                      Mass M [kg]

                      D [m]

                      Center of rotation

                      J = 112 times M times (a 2 + b 2) [kgm2]

                      a [m]

                      b [m]

                      Center of rotation

                      Mass M [kg]

                      J = M times R 2+ 18 times M times D 2 [kgm2]

                      Mass M [kg]

                      D [m]

                      R [m]

                      Cent

                      er o

                      fro

                      tatio

                      n

                      J = M times R 2+112 times M times (a 2 + b 2 )[kgm2]

                      a [m]

                      b [m]R [m]

                      Cent

                      er o

                      fro

                      tatio

                      n

                      Mass M [kg]

                      The travel time changes according to the load inertia See the tables below to check the travel time data

                      Travel Time Guide3

                      The data in the tables are for a reference only and do not guarantee the actual travel times

                      (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

                      0

                      0005

                      009

                      012

                      017

                      022

                      0005

                      001

                      010

                      012

                      017

                      022

                      001

                      002

                      011

                      014

                      019

                      024

                      002

                      003

                      012

                      016

                      021

                      026

                      003

                      004

                      013

                      017

                      023

                      027

                      004

                      005

                      014

                      018

                      024

                      029

                      005

                      006

                      015

                      020

                      027

                      032

                      006

                      007

                      017

                      022

                      029

                      035

                      007

                      008

                      019

                      024

                      032

                      038

                      008

                      009

                      021

                      026

                      035

                      041

                      009

                      01

                      023

                      029

                      037

                      044

                      01

                      02

                      039

                      048

                      060

                      069

                      02

                      03

                      062

                      073

                      089

                      100

                      03

                      04

                      070

                      083

                      101

                      114

                      04

                      05

                      087

                      102

                      122

                      136

                      05

                      06

                      111

                      123

                      142

                      168

                      LH18C

                      LT18C

                      Continuous Operation Area

                      LT18C type LH18C type

                      (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

                      0

                      0005

                      0098

                      0129

                      0192

                      0254

                      0005

                      001

                      0096

                      0128

                      019

                      0252

                      001

                      0015

                      0096

                      0127

                      019

                      0252

                      002

                      002

                      0097

                      0128

                      0191

                      0253

                      002

                      003

                      0099

                      0131

                      0193

                      0256

                      003

                      004

                      0104

                      0136

                      0199

                      0262

                      004

                      006

                      0113

                      0144

                      0207

                      027

                      006

                      008

                      012

                      0153

                      0215

                      0278

                      008

                      01

                      0126

                      0163

                      0225

                      0288

                      010

                      015

                      014

                      0184

                      0249

                      0312

                      015

                      02

                      0157

                      0208

                      0279

                      0341

                      02

                      03

                      0207

                      0268

                      0354

                      042

                      03

                      04

                      0257

                      0329

                      0428

                      0504

                      04

                      06

                      0352

                      044

                      0562

                      0655

                      06

                      08

                      0447

                      0549

                      0692

                      08

                      08

                      1

                      053

                      0646

                      0806

                      0925

                      10

                      12

                      0629

                      0758

                      0933

                      1064

                      12

                      14

                      0795

                      0941

                      1133

                      1274

                      14

                      18

                      0875

                      1035

                      1257

                      1415

                      Check Operating Conditions2Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DDA motor specifications to determine whether the DDA motor can be used under the applicable operating conditions Please contact IAI for assistance To

                      rque

                      (Nm

                      )

                      Curr

                      ent [

                      Arm

                      s]

                      Angular velocity [degs]

                      AccelerationDeceleration AreaAccelerationDeceleration Area

                      Torq

                      ue (N

                      m)

                      Curr

                      ent [

                      Arm

                      s]

                      Angular velocity [degs]

                      AccelerationDeceleration AreaAccelerationDeceleration Area

                      Rating areaRating area

                      270deg travel time [sec]180deg travel time [sec]

                      90deg travel time [sec]45deg travel time [sec]

                      Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

                      270deg travel time [sec]180deg travel time [sec]

                      90deg travel time [sec]45deg travel time [sec]

                      Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

                      Selecting the DD Motor

                      17

                      DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

                      (44) (167)

                      (80

                      )

                      31

                      (84)(293)

                      (92

                      )

                      31

                      (φ5

                      4)

                      J11SF-03V-KX J11SFM-03V-KXNoNo SignalSignal ColorColor WiringWiring

                      AWG20(crimped)

                      Red

                      Black

                      White

                      Red

                      Black

                      White

                      +

                      -

                      FG

                      +

                      -

                      FG

                      321

                      321

                      AWG20(crimped)

                      Controller side Actuator side(Front view)(Front view)

                      L

                      Conditions for Selection

                      The followings should be checked to determine whether the DDA motor can be used to suit the specific conditions required by the customer

                      The customer should confirm that the following three points under actual use do not exceed their maximum allowable levels as specified for the DDA motor

                      The total load of device(s) mounted on the actuator

                      The total load moment of device(s) mounted on the actuator

                      The load inertia of device(s) mounted on the actuator

                      Check Load Conditions1

                      [1] Thrust load

                      [2] Load moment applied

                      [3] Load inertia

                      J = 18 times M times D 2 [kgm2]

                      Mass M [kg]

                      D [m]

                      Center of rotation

                      J = 112 times M times (a 2 + b 2) [kgm2]

                      a [m]

                      b [m]

                      Center of rotation

                      Mass M [kg]

                      J = M times R 2+ 18 times M times D 2 [kgm2]

                      Mass M [kg]

                      D [m]

                      R [m]

                      Cent

                      er o

                      fro

                      tatio

                      n

                      J = M times R 2+112 times M times (a 2 + b 2 )[kgm2]

                      a [m]

                      b [m]R [m]

                      Cent

                      er o

                      fro

                      tatio

                      n

                      Mass M [kg]

                      The travel time changes according to the load inertia See the tables below to check the travel time data

                      Travel Time Guide3

                      The data in the tables are for a reference only and do not guarantee the actual travel times

                      (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

                      0

                      0005

                      009

                      012

                      017

                      022

                      0005

                      001

                      010

                      012

                      017

                      022

                      001

                      002

                      011

                      014

                      019

                      024

                      002

                      003

                      012

                      016

                      021

                      026

                      003

                      004

                      013

                      017

                      023

                      027

                      004

                      005

                      014

                      018

                      024

                      029

                      005

                      006

                      015

                      020

                      027

                      032

                      006

                      007

                      017

                      022

                      029

                      035

                      007

                      008

                      019

                      024

                      032

                      038

                      008

                      009

                      021

                      026

                      035

                      041

                      009

                      01

                      023

                      029

                      037

                      044

                      01

                      02

                      039

                      048

                      060

                      069

                      02

                      03

                      062

                      073

                      089

                      100

                      03

                      04

                      070

                      083

                      101

                      114

                      04

                      05

                      087

                      102

                      122

                      136

                      05

                      06

                      111

                      123

                      142

                      168

                      LH18C

                      LT18C

                      Continuous Operation Area

                      LT18C type LH18C type

                      (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

                      0

                      0005

                      0098

                      0129

                      0192

                      0254

                      0005

                      001

                      0096

                      0128

                      019

                      0252

                      001

                      0015

                      0096

                      0127

                      019

                      0252

                      002

                      002

                      0097

                      0128

                      0191

                      0253

                      002

                      003

                      0099

                      0131

                      0193

                      0256

                      003

                      004

                      0104

                      0136

                      0199

                      0262

                      004

                      006

                      0113

                      0144

                      0207

                      027

                      006

                      008

                      012

                      0153

                      0215

                      0278

                      008

                      01

                      0126

                      0163

                      0225

                      0288

                      010

                      015

                      014

                      0184

                      0249

                      0312

                      015

                      02

                      0157

                      0208

                      0279

                      0341

                      02

                      03

                      0207

                      0268

                      0354

                      042

                      03

                      04

                      0257

                      0329

                      0428

                      0504

                      04

                      06

                      0352

                      044

                      0562

                      0655

                      06

                      08

                      0447

                      0549

                      0692

                      08

                      08

                      1

                      053

                      0646

                      0806

                      0925

                      10

                      12

                      0629

                      0758

                      0933

                      1064

                      12

                      14

                      0795

                      0941

                      1133

                      1274

                      14

                      18

                      0875

                      1035

                      1257

                      1415

                      Check Operating Conditions2Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DDA motor specifications to determine whether the DDA motor can be used under the applicable operating conditions Please contact IAI for assistance To

                      rque

                      (Nm

                      )

                      Curr

                      ent [

                      Arm

                      s]

                      Angular velocity [degs]

                      AccelerationDeceleration AreaAccelerationDeceleration Area

                      Torq

                      ue (N

                      m)

                      Curr

                      ent [

                      Arm

                      s]

                      Angular velocity [degs]

                      AccelerationDeceleration AreaAccelerationDeceleration Area

                      Rating areaRating area

                      270deg travel time [sec]180deg travel time [sec]

                      90deg travel time [sec]45deg travel time [sec]

                      Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

                      270deg travel time [sec]180deg travel time [sec]

                      90deg travel time [sec]45deg travel time [sec]

                      Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

                      Cables

                      (Front view) (Front view)

                      Controller sideActuator side

                      (16)

                      (41)

                      (φ9) (2

                      1)

                      (20) (10)

                      (18)

                      L

                      4

                      1

                      1

                      4

                      075sq075sq

                      Wiring Color Signal No No WiringColorSignal

                      White

                      GreenRed

                      BlackV

                      PEU

                      W PE

                      VU

                      W3

                      12

                      43

                      12

                      4

                      White

                      Green

                      Red

                      Black (crimped)

                      Model Number CB-X-MApoundpoundpound Please indicate the cable length (L) in poundpoundpound maximum 30m eg) 080 = 8m

                      Minimum bending radius r = 51mm or more (Dynamic bending condition) Only robot cable is available for this model

                      L

                      4

                      1

                      1

                      4

                      (φ9)

                      (Front view)

                      (16)

                      (41)

                      (16)(21)

                      (11)

                      1

                      1

                      4

                      (φ9)

                      (16)

                      Controller side Actuator side

                      125sq125sq

                      Wiring Color Signal No No WiringColorSignal

                      White

                      GreenRed

                      BlackV

                      PEU

                      W PE

                      VU

                      W3

                      12

                      43

                      12

                      4

                      White

                      Green

                      Red

                      Black (crimped)

                      Model Number CB-XMC-MApoundpoundpound Please indicate the cable length (L) in poundpoundpound maximum 30m eg) 080 = 8m

                      Minimum bending radius r = 55mm or more (Dynamic bending condition) Only robot cable is available for this model

                      (Front view)(Front view)

                      AWG26(Soldered)

                      AWG26(crimped)

                      L

                      (13)

                      14

                      269

                      1

                      13

                      (37)

                      (41) (14)

                      (15)

                      (25)

                      1

                      (φ10

                      )

                      Yellow

                      Shield is clamp connected to the hoodDrain Wire and Braided Shield

                      BlueBlackRedGray

                      PurpleGreen

                      OrangeWhiteGrayWhitePurpleWhiteBlackWhiteRed

                      WhiteYellowWhiteBlue

                      RedGray

                      PurpleGreen

                      Orange

                      YellowBlue

                      WhiteGreenBlack

                      Drain

                      WhiteOrangeWhiteGrayWhitePurpleWhiteBlackWhiteRed

                      WhiteYellowWhiteBlue

                      WhiteOrangeWhiteGreen

                      Wiring Color Signal No

                      WiringColorSignalNo

                      Controller side Actuator side

                      Minimum bending radius r = 58mm or more (Dynamic bending condition) Only robot cable is available for this model

                      Model Number CB-X3-PApoundpoundpound

                      Model Number CB-DDB-BKpoundpoundpound

                      Please indicate the cable length (L) in poundpoundpound maximum 30m eg) 080 = 8m

                      Please indicate the cable length (L) in poundpoundpoundmaximum 20m eg) 080 = 8m

                      18

                      DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

                      Catalog No CE0242-1A (0916)

                      IAI America Inc 2690 W 237th Street Torrance CA 90505 (800) 736-1712 110 E State Pkwy Schaumburg IL 60173 (800) 944-0333

                      1220 Kennestone Circle Suite 108 Marietta GA 30066 (888) 354-9470

                      wwwintelligentactuatorcom

                      IAI Industrieroboter GmbHOber der Roumlth 4 D-65824 Schwalbach am Taunus Germany

                      IAI (Shanghai) Co LtdShanghai Jiahua Business Center A8-303 808Hongqiao Rd Shanghai 200030 China

                      IAI Robot (Thailand) Co Ltd825 Phairojkijja Tower 12th Floor Bangna-Trad RDBangna Bangna Bangkok 10260 Thailand

                      The information contained in this product brochure may change without prior notice due to product improvements

                      • Features
                      • Series List
                      • Model Specification Items
                      • Application Examples
                      • DDA-LT18C
                      • DDACR-LT18C
                      • DDA-LT18C-B
                      • DDA-LH18C
                      • DDACR-LH18C
                      • DDA-LH18C-B
                      • Options
                      • SCON-CB
                      • X-SEL
                      • Precautions
                      • Selecting the DD Motor
                      • Cables

                        1 A brake cable is not supplied if N (None) is selected as the cable length Please order a brake cable as a separate item in that case

                        ② Options

                        ModelSpecifications

                        Item DescriptionDrive system Direct drive motorPositioning repeatability 17-bit plusmn00055deg (plusmn198s) 20-bit plusmn000103deg (plusmn37s)Indexing accuracy 1 17-bit plusmn001249deg (plusmn45s) 20-bit plusmn000833deg (plusmn30s)Allowable load moment (Note 2) 80Nmiddotm

                        Encoder resolution 17-bit 131072 pulsesrev20-bit 1048576 pulsesrev

                        Allowable thrust load (Note 2) Forward 3100N Reverse 250NBase material AluminumBrake retaining torque 50NmiddotmAmbient operating temp amp humidity 0~40degC 20~85 (Non-condensing)Weight 174kg

                        Common Specifications

                        Thrust (axial) run-out (No load) 30μm

                        Radial run-out (No load) 30μm

                        Run-out of Output Shaft

                        Encoder type Model number Motor

                        wattage (W)

                        Operation range (deg) (1)

                        Speed (degs) (Note 1)

                        Rated torque (Nmiddotm) (2)

                        Maximum instantaneous torque (Nmiddotm)

                        Allowable inertia

                        moment (kgmiddotm2)

                        Rotor inertia (kgmiddotm2)

                        17-bit index absolute type DDA-LH18CS-AI-600-360-T2-① -② -B

                        600

                        0~359999 deg

                        1~800 (1~1440) 25 75 18 00092

                        17-bit multi-rotation absolute type DDA-LH18CS-AM-600-360-T2-① -② -B plusmn9999 deg max

                        20-bit index absolute type DDA-LH18CP-AI-600-360-T2-① -② -B 0~359999 deg

                        20-bit multi-rotation absolute type DDA-LH18CP-AM-600-360-T2-① -② -B plusmn2520 deg max

                        Name Option code

                        Cable exits from the bottom A0

                        Cable exits from the side A1

                        Brake (With brake box) 1 B

                        ① Cable Length

                        Cable type Cable code

                        StandardS (3m)M (5m)

                        Specified length X06 (6m) ~X10 (10m)X11 (11m) ~X20 (20m)

                        Please refer to P18 for more information regarding the maintenance cables

                        1 Indexing accuracy is supported when connected to SCON-CB

                        Controller is not included

                        DDA-LH18C-B High Torque

                        Type

                        Large Bore Type

                        (1) SCON and XSEL have different minimum resolutions Please refer to the instruction manual for more information(2) The value when installed on an IAI rated heat dissipating plate Please refer to P16 for more information

                        Flange- Less Type

                        P

                        O I N T

                        SelectionNotes

                        (Note 1) The value in ( ) indicates the maximum speed The maximum speed may not be reached if the moving distance is short

                        (Note 2) Assuming that the actuator is operated 8 hours a day at the rated speed and smooth operation without shock the actuator will reach its life in five years based on this load

                        (Note 3) The maximum cable length is 20m Specify a desired length in meters (Example X08 = 8m)

                        (Note 4) The index absolute type cannot be used in the pulse-train control and MECHATROLINK III control

                        (Note 5) Note that only the short-cut control is allowed when using XSEL with the index absolute type

                        (Note 6) The brake is used for retention purposes only so damage may be caused if it is actually used in attempts to slow or stop the actuator

                        Legend Cable length Option

                        Please refer to P16 for more information on the installation method

                        Horizontal

                        Side

                        Vert

                        ical

                        Ceiling

                        n Model Specification Items

                        DDA LH18C 600 360 T2 BSeries Type Encoder

                        TypeMotor Type

                        Operation Range

                        Applicable Controllers

                        Cable Length Options Option

                        S Standard (17-bit)

                        P High resolution (20-bit)

                        AI Index absolute type

                        AM Multi-rotation absolute type

                        600 600W 360 360 deg T2 SCON XSEL-PQ XSEL-RS

                        Note Only SCON for LH18CP

                        N None S 3m M 5m Xpoundpound Specified

                        length

                        Please refer to the options table below Please make sure to

                        specify either A0 or A1 for the cable exit direction

                        B Brake

                        11

                        DDA Direct Drive Motor

                        Dimensions

                        Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use

                        LH18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers

                        Name External view

                        Max number of controlled axes Power supply voltage Control method Maximum number of

                        positioning pointsReference

                        pagePositioner Pulse-train Program Network Option

                        SCON-CBCGB 1Single-phase

                        200VAC -

                        Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information

                        512 (768 for network spec)

                        P14

                        SCON-LCLCG 1Single-phase

                        200VAC- -

                        512 (768 for network spec)

                        P14

                        XSEL-PQRS 8Single-phase 200VACThree-phase 200VAC

                        - - 53332

                        (Depending on the type)P15

                        (Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side

                        Encoder connector

                        Motor connector

                        φ 35

                        Hol

                        low

                        bor

                        e

                        32 o

                        r les

                        s

                        φ1235

                        645

                        or l

                        ess

                        500+500

                        500plusmn30

                        Brake connector

                        24

                        77

                        Encoder connector

                        Motor connector

                        φ 35

                        Hol

                        low

                        bor

                        e64

                        5 o

                        r les

                        s

                        φ1235500+50

                        0

                        Brake connector

                        R100 or less

                        2-φ4 H7 depth 3For workpiece positioning

                        6-M6 effective depth 12For workpiece mounting

                        PCD102 plusmn01

                        φ 52

                        Hol

                        low

                        bor

                        e

                        φ 83

                        Rotating part of the work mounting surface

                        φ110h7 -00035

                        φ116φ180

                        φ178h8 -00063

                        412

                        28

                        plusmn03

                        32 or less

                        φ 21

                        500plusmn30

                        35

                        138

                        158

                        003 A

                        003 A

                        A

                        75plusmn0

                        1

                        8-M8 effective depth 16PCD148 plusmn01

                        75plusmn0

                        1

                        φ5 H7 depth 5For body positioning 225deg

                        Body mounting surfaceBody positioning oblong hole

                        S 5 +00120 depth 5

                        2

                        R25

                        Detail view of S24

                        CAD drawings can be downloaded from our websitewwwintelligentactuatorcom

                        2DCAD2DCAD

                        3DCAD3D

                        CAD

                        12

                        DDA Direct Drive Motor

                        OptionsIt is a retention mechanism for holding the stop position when the power or servo is OFF to prevent the workpieces and attachments from being damaged when used in side or vertical positions Be sure to connect a brake box for models with brake

                        A bracket that attaches to the body with bolts from the top side

                        Brake

                        Flange

                        Option Code B

                        Option Code FL

                        cent Brake Box

                        cent Wiring Diagram When Brake Box is Used

                        DDA-LT18CModel Number DDA-FL-LT18

                        Model Number IA-110-DD-4

                        DDA-LH18CModel Number DDA-FL-LH18

                        PCD200

                        PCD200

                        plusmn0075plusmn0075

                        55deg

                        55deg

                        180

                        180

                        180180

                        160

                        160

                        plusmn01

                        plusmn01

                        160160 plusmn01plusmn01

                        4-φ 1

                        14-φ 1

                        1thr

                        ough

                        thro

                        ugh

                        2- φ62- φ6

                        H7 through

                        H7 through

                        135

                        135

                        815

                        815

                        plusmn04

                        plusmn04

                        φ1245φ1245

                        55deg

                        55deg

                        PCD

                        PCD200plusmn0075200plusmn0075

                        180

                        180

                        180180160160 plusmn01plusmn01

                        160

                        160

                        plusmn01

                        plusmn01

                        2- φ62- φ6

                        H7 throughH7 through

                        4-φ1

                        14-φ1

                        1thr

                        ough

                        thro

                        ugh

                        155

                        15513

                        63

                        136

                        3plusmn0

                        4plusmn0

                        4

                        φ1245φ1245

                        PG OUTPWRON

                        BKOUT

                        + - C E

                        BKRMT

                        RLSBKOUT

                        PG IN

                        PWRPE N L

                        MODEL IA-110-DD-4SN INPUT Single phase 100-240V

                        MADE IN JAPAN

                        5060Hz 10A maxOUTPUT 12VDC 06A

                        PG OUTPWRON

                        BKOUT

                        + - C E

                        BKRMT

                        RLSBKOUT

                        PG IN

                        PWRPE N L

                        MODEL IA-110-DD-4SN INPUT Single phase 100-240V

                        MADE IN JAPAN

                        5060Hz 10A maxOUTPUT 12VDC 06A

                        ControllerSCON-CBXSEL-PQRSDDA

                        Motor cableModel CB-X(XMC)-MApoundpoundpound

                        Brake box

                        Encoder cableModel CB-X3-PA010(Comes with the brake box)

                        Encoder cableModel CB-X3-PApoundpoundpound

                        Brake cableModel CB-DDB-BKpoundpoundpound Main power supply

                        100VAC~240VAC

                        13

                        DDA (CR) Direct Drive Motor

                        Position Controller

                        Controller Model

                        System Configuration

                        Positioner Single-axis Type ltSCONgt Model

                        Power Supply Voltage

                        IO TypeEncoder Type Motor Type Type Series SCON

                        IO Cable Length

                        AIAM

                        2

                        The 200W motor used by the DDA is larger than a normal 200W motor so the motor type for the controller will be 200S and its size will be larger than the 400W motor

                        For 200W motorFor 600W motor

                        200S600

                        High-function typeSafety category compliant type

                        CBCGB

                        PLC equipped typeSafety category PLC equipped type

                        LCLCG

                        Motor cableModel CB-X-MA (LT18C) CB-XMC-MA (LH18C)

                        SCON PC

                        DDA

                        PLC(To be supplied by the customer)

                        IO flat cableModel CB-PAC-PIO020Standard 2m

                        Be sure to use a noise filter on the power supply

                        ( )Encoder cableModel CB-X3-PA

                        PC compatible softwareRS232 connection versionModel RCM-101-MWUSB connection versionModel RCM-101-USB(Please contact IAI for more details)

                        Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)

                        Regenerative resistor unitModel RESU-2RESUD-2(Please contact IAI for more details)

                        1 The wiring diagram is different for models with brakes Please refer to P13 for more information

                        1

                        Single-phase 200VAC Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models

                        Main powersupply

                        Field network

                        Option

                        Supplied with the actuator

                        Supplied with the controller

                        Supplied with the actuator Option

                        Option

                        Option

                        When the SCON Controller is Connected

                        When a field network specification is selectedthe IO cable length will be 0

                        Index absolute typeMulti-rotation abs type

                        NPPN

                        PIO NPN (Standard)

                        PIO PNP

                        DVCN

                        DeviceNet

                        CompoNet

                        CC CC-Link

                        ML MECHATROLINK-I II

                        ML3PR

                        MECHATROLINK-III

                        PROFIBUS-DP

                        02

                        35

                        No cable2m (Standard)

                        3m5m

                        EC EtherCAT

                        EP EtherNetIP

                        PRT PROFINET IO

                        For recommended modelsplease contact IAI

                        Model

                        External view

                        IO type

                        IO type code

                        MECHATROLINK-III

                        connectionCompoNet connection

                        PROFIBUS-DP connection

                        CC-Linkconnection

                        DeviceNetconnection

                        PIO connection specification (1)

                        NPPN DV CC PR

                        Standard Field network type (1)

                        CN ML

                        SCON-CB

                        EtherNetIP connection

                        PROFINET IO connection

                        EtherCATconnection

                        EC EP PRT

                        List of Models

                        MECHATROLINK- III

                        connection

                        ML3

                        Applicable encoder type(Note) The index absolute type cannot be used in the pulse-train control and MECHATROLINK-III control(1) Please note that the network specifications cannot be operated on the PIO or pulse-train The PLC type (LCLCG) cannot be connected on the pulse-train

                        Index absoluteMulti-rotation absoluteIndex absolute Multi-rotation absolute

                        CBCGB CBCGB LCLCG

                        14

                        SCON Controller

                        Program Controller

                        List of Models

                        Model P Q R S

                        Type Large-capacity type Large-capacity type (Safety category specification) High-function type High-function type

                        (Safety category specification)

                        External view

                        DescriptionLarge-capacity type

                        that can control up to 6 axes 2400W

                        Large-capacity type thats compatible with the

                        safety category 4

                        High-function type that allows up to 8-axis operation

                        Safety category 4 compatible high-function type

                        Controller Model

                        System Configuration

                        Program Multi-axis Type ltXSELgt Model

                        Encoder Type

                        Encoder Type

                        Motor Type

                        Motor Type

                        Number ofConnected

                        AxesType Series Option Option

                        XSEL

                        200 For 200W motor

                        600 For 600W motor

                        B BrakePQRS

                        6-axis type6-axis safety category type8-axis type8-axis safety category type

                        8

                        1

                        ~ ~

                        1 axis

                        8 axes

                        (PQ type is up to 6 axes)

                        (Details of the 1st axis) (Details of the 2nd~8th axis)

                        It can simultaneously operate actuators (single-axis robot and ROBO Cylinder) other than the DDA motor on a single controller For connectable actuators other than the DDA motor please contact IAI

                        For subsequent models please contact IAI

                        Notes

                        AIAM

                        Index absolute typeMulti-rotation absolute type

                        When the XSEL Controller is Connected

                        Be sure to use a noise filter on the power supply

                        Motor cableModel CB-X-MA (LT18C) CB-XMC-MA (LH18C)

                        XSELPC

                        PLC(To be supplied by the customer)

                        PC compatible softwareRS232 connection versionModel IA-101-X-MWUSB connection versionModel IA-101-X-USBMW(Please contact IAI for more details)

                        Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)

                        Single-phase 200VACThree-phase 200VAC

                        Regenerative resistor unitModel RESU-1RESUD-1(Please contact IAI for more details)

                        Option Option

                        Option

                        Field networkOption

                        IO flat cableModel CB-X-PIO020Standard 2m

                        Supplied with the controller

                        Encoder cableModel CB-X3-PA

                        Supplied with the actuator

                        Supplied with the actuator

                        Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models

                        The wiring diagram is different for models with brakes Please refer to P13 for more information

                        DDA

                        Main powersupply ( )For recommended models

                        please contact IAI

                        15

                        XSEL Controller

                        Precautions

                        Installation

                        Installation Orientation

                        Mountingsurface

                        For models with brake and cable exit direction to the bottom a clearance hole is required

                        Ceiling mount

                        Horizontal mount

                        Vertical mount

                        Gra

                        vity

                        Operation TypeThis product is available in 2 operation types depending on the operation conditions Please check the features and precautions on each type before use

                        (1)The high resolution specification can be connected only to the SCON-CB(2)When the XSEL index type travels more than 180deg from the current position it rotates in a direction that requires a shorter travel distance to

                        reach the target position Therefore please note that the direction of rotation changes according to the current position and travel distance If you want to specify the direction of travel use the SCON-CB

                        (3)The index type can be rotated in a given direction infinitely but it actually cannot continue to rotate in the same direction without stopping like a regular motor does because the maximum travel distance per command from the XSEL controller is 180deg If you want to allow the motor to rotate continuously use the SCON-CB

                        (4)Home return is required for the multi-rotation absolute encoder during the initial setting and replacement of the absolute battery

                        Absolute batteryHome return operationLimitless rotation

                        Maximum amount of movement in a single movement command

                        Operation rangeController typeOperation type

                        Not requiredNot required

                        Yes (3)

                        0~359999deg

                        Index absolute type

                        RequiredNot required (4)

                        No

                        Above operation rangeplusmn9999deg (plusmn2520deg) max

                        Multi-rotation absolute typeSCON-CB XSEL(1)

                        ( ) is for 20-bit

                        (Note) Use this product by installing it on a mounting surface having heat dissipating characteristics equivalent to those of an aluminum plate of w450mm times d450mm times t12mm in size If the installation conditions necessitate lower heat dissipating characteristics please consult IAI

                        ControllersFor the DDA with 200W motor the outside dimensions of the SCON-CB controller will be the same as the size of the

                        400W motor (Please contact IAI for the details of the SCON-CB controller)One and two regenerative resistor unit(s) are required for LT18C and LH18C respectively to operate a DDA

                        motor with the SCON-CBWhen operating DDA motor(s) with the XSEL controller regenerative resistor units are required as shown below

                        The number of DDA motor(s) connectable to the XSEL controller is a max of 8 units for the LT18C type and a max of 2 units for the LH18C type

                        Please note that when the DDA motor is operated with the SCON-CB the motor cannot be connected to the ROBO Cylinder gateway function of the XSEL controller

                        Calculation for the power supply value LT18C type single-phase 600W three-phase 200W LH18C type single-phase 1200W three-phase 600W

                        Number of regenerative resistor units

                        1 2 3 4 5 6 7 81 2 3

                        (Cannot be connected)4

                        2 4LT18CLH18C

                        Number of DD motor(s)

                        360deg

                        SCON-CB XSEL(1)

                        180deg(2)

                        16

                        DDA (CR) Direct Drive Motor

                        Conditions for Selection

                        The followings should be checked to determine whether the DDA motor can be used to suit the specific conditions required by the customer

                        The customer should confirm that the following three points under actual use do not exceed their maximum allowable levels as specified for the DDA motor

                        The total load of device(s) mounted on the actuator

                        The total load moment of device(s) mounted on the actuator

                        The load inertia of device(s) mounted on the actuator

                        Check Load Conditions1

                        [1] Thrust load

                        [2] Load moment applied

                        [3] Load inertia

                        J = 18 times M times D 2 [kgm2]

                        Mass M [kg]

                        D [m]

                        Center of rotation

                        J = 112 times M times (a 2 + b 2) [kgm2]

                        a [m]

                        b [m]

                        Center of rotation

                        Mass M [kg]

                        J = M times R 2+ 18 times M times D 2 [kgm2]

                        Mass M [kg]

                        D [m]

                        R [m]

                        Cent

                        er o

                        fro

                        tatio

                        n

                        J = M times R 2+112 times M times (a 2 + b 2 )[kgm2]

                        a [m]

                        b [m]R [m]

                        Cent

                        er o

                        fro

                        tatio

                        n

                        Mass M [kg]

                        The travel time changes according to the load inertia See the tables below to check the travel time data

                        Travel Time Guide3

                        The data in the tables are for a reference only and do not guarantee the actual travel times

                        (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

                        0

                        0005

                        009

                        012

                        017

                        022

                        0005

                        001

                        010

                        012

                        017

                        022

                        001

                        002

                        011

                        014

                        019

                        024

                        002

                        003

                        012

                        016

                        021

                        026

                        003

                        004

                        013

                        017

                        023

                        027

                        004

                        005

                        014

                        018

                        024

                        029

                        005

                        006

                        015

                        020

                        027

                        032

                        006

                        007

                        017

                        022

                        029

                        035

                        007

                        008

                        019

                        024

                        032

                        038

                        008

                        009

                        021

                        026

                        035

                        041

                        009

                        01

                        023

                        029

                        037

                        044

                        01

                        02

                        039

                        048

                        060

                        069

                        02

                        03

                        062

                        073

                        089

                        100

                        03

                        04

                        070

                        083

                        101

                        114

                        04

                        05

                        087

                        102

                        122

                        136

                        05

                        06

                        111

                        123

                        142

                        168

                        LH18C

                        LT18C

                        Continuous Operation Area

                        LT18C type LH18C type

                        (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

                        0

                        0005

                        0098

                        0129

                        0192

                        0254

                        0005

                        001

                        0096

                        0128

                        019

                        0252

                        001

                        0015

                        0096

                        0127

                        019

                        0252

                        002

                        002

                        0097

                        0128

                        0191

                        0253

                        002

                        003

                        0099

                        0131

                        0193

                        0256

                        003

                        004

                        0104

                        0136

                        0199

                        0262

                        004

                        006

                        0113

                        0144

                        0207

                        027

                        006

                        008

                        012

                        0153

                        0215

                        0278

                        008

                        01

                        0126

                        0163

                        0225

                        0288

                        010

                        015

                        014

                        0184

                        0249

                        0312

                        015

                        02

                        0157

                        0208

                        0279

                        0341

                        02

                        03

                        0207

                        0268

                        0354

                        042

                        03

                        04

                        0257

                        0329

                        0428

                        0504

                        04

                        06

                        0352

                        044

                        0562

                        0655

                        06

                        08

                        0447

                        0549

                        0692

                        08

                        08

                        1

                        053

                        0646

                        0806

                        0925

                        10

                        12

                        0629

                        0758

                        0933

                        1064

                        12

                        14

                        0795

                        0941

                        1133

                        1274

                        14

                        18

                        0875

                        1035

                        1257

                        1415

                        Check Operating Conditions2Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DDA motor specifications to determine whether the DDA motor can be used under the applicable operating conditions Please contact IAI for assistance To

                        rque

                        (Nm

                        )

                        Curr

                        ent [

                        Arm

                        s]

                        Angular velocity [degs]

                        AccelerationDeceleration AreaAccelerationDeceleration Area

                        Torq

                        ue (N

                        m)

                        Curr

                        ent [

                        Arm

                        s]

                        Angular velocity [degs]

                        AccelerationDeceleration AreaAccelerationDeceleration Area

                        Rating areaRating area

                        270deg travel time [sec]180deg travel time [sec]

                        90deg travel time [sec]45deg travel time [sec]

                        Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

                        270deg travel time [sec]180deg travel time [sec]

                        90deg travel time [sec]45deg travel time [sec]

                        Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

                        Selecting the DD Motor

                        17

                        DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

                        (44) (167)

                        (80

                        )

                        31

                        (84)(293)

                        (92

                        )

                        31

                        (φ5

                        4)

                        J11SF-03V-KX J11SFM-03V-KXNoNo SignalSignal ColorColor WiringWiring

                        AWG20(crimped)

                        Red

                        Black

                        White

                        Red

                        Black

                        White

                        +

                        -

                        FG

                        +

                        -

                        FG

                        321

                        321

                        AWG20(crimped)

                        Controller side Actuator side(Front view)(Front view)

                        L

                        Conditions for Selection

                        The followings should be checked to determine whether the DDA motor can be used to suit the specific conditions required by the customer

                        The customer should confirm that the following three points under actual use do not exceed their maximum allowable levels as specified for the DDA motor

                        The total load of device(s) mounted on the actuator

                        The total load moment of device(s) mounted on the actuator

                        The load inertia of device(s) mounted on the actuator

                        Check Load Conditions1

                        [1] Thrust load

                        [2] Load moment applied

                        [3] Load inertia

                        J = 18 times M times D 2 [kgm2]

                        Mass M [kg]

                        D [m]

                        Center of rotation

                        J = 112 times M times (a 2 + b 2) [kgm2]

                        a [m]

                        b [m]

                        Center of rotation

                        Mass M [kg]

                        J = M times R 2+ 18 times M times D 2 [kgm2]

                        Mass M [kg]

                        D [m]

                        R [m]

                        Cent

                        er o

                        fro

                        tatio

                        n

                        J = M times R 2+112 times M times (a 2 + b 2 )[kgm2]

                        a [m]

                        b [m]R [m]

                        Cent

                        er o

                        fro

                        tatio

                        n

                        Mass M [kg]

                        The travel time changes according to the load inertia See the tables below to check the travel time data

                        Travel Time Guide3

                        The data in the tables are for a reference only and do not guarantee the actual travel times

                        (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

                        0

                        0005

                        009

                        012

                        017

                        022

                        0005

                        001

                        010

                        012

                        017

                        022

                        001

                        002

                        011

                        014

                        019

                        024

                        002

                        003

                        012

                        016

                        021

                        026

                        003

                        004

                        013

                        017

                        023

                        027

                        004

                        005

                        014

                        018

                        024

                        029

                        005

                        006

                        015

                        020

                        027

                        032

                        006

                        007

                        017

                        022

                        029

                        035

                        007

                        008

                        019

                        024

                        032

                        038

                        008

                        009

                        021

                        026

                        035

                        041

                        009

                        01

                        023

                        029

                        037

                        044

                        01

                        02

                        039

                        048

                        060

                        069

                        02

                        03

                        062

                        073

                        089

                        100

                        03

                        04

                        070

                        083

                        101

                        114

                        04

                        05

                        087

                        102

                        122

                        136

                        05

                        06

                        111

                        123

                        142

                        168

                        LH18C

                        LT18C

                        Continuous Operation Area

                        LT18C type LH18C type

                        (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

                        0

                        0005

                        0098

                        0129

                        0192

                        0254

                        0005

                        001

                        0096

                        0128

                        019

                        0252

                        001

                        0015

                        0096

                        0127

                        019

                        0252

                        002

                        002

                        0097

                        0128

                        0191

                        0253

                        002

                        003

                        0099

                        0131

                        0193

                        0256

                        003

                        004

                        0104

                        0136

                        0199

                        0262

                        004

                        006

                        0113

                        0144

                        0207

                        027

                        006

                        008

                        012

                        0153

                        0215

                        0278

                        008

                        01

                        0126

                        0163

                        0225

                        0288

                        010

                        015

                        014

                        0184

                        0249

                        0312

                        015

                        02

                        0157

                        0208

                        0279

                        0341

                        02

                        03

                        0207

                        0268

                        0354

                        042

                        03

                        04

                        0257

                        0329

                        0428

                        0504

                        04

                        06

                        0352

                        044

                        0562

                        0655

                        06

                        08

                        0447

                        0549

                        0692

                        08

                        08

                        1

                        053

                        0646

                        0806

                        0925

                        10

                        12

                        0629

                        0758

                        0933

                        1064

                        12

                        14

                        0795

                        0941

                        1133

                        1274

                        14

                        18

                        0875

                        1035

                        1257

                        1415

                        Check Operating Conditions2Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DDA motor specifications to determine whether the DDA motor can be used under the applicable operating conditions Please contact IAI for assistance To

                        rque

                        (Nm

                        )

                        Curr

                        ent [

                        Arm

                        s]

                        Angular velocity [degs]

                        AccelerationDeceleration AreaAccelerationDeceleration Area

                        Torq

                        ue (N

                        m)

                        Curr

                        ent [

                        Arm

                        s]

                        Angular velocity [degs]

                        AccelerationDeceleration AreaAccelerationDeceleration Area

                        Rating areaRating area

                        270deg travel time [sec]180deg travel time [sec]

                        90deg travel time [sec]45deg travel time [sec]

                        Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

                        270deg travel time [sec]180deg travel time [sec]

                        90deg travel time [sec]45deg travel time [sec]

                        Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

                        Cables

                        (Front view) (Front view)

                        Controller sideActuator side

                        (16)

                        (41)

                        (φ9) (2

                        1)

                        (20) (10)

                        (18)

                        L

                        4

                        1

                        1

                        4

                        075sq075sq

                        Wiring Color Signal No No WiringColorSignal

                        White

                        GreenRed

                        BlackV

                        PEU

                        W PE

                        VU

                        W3

                        12

                        43

                        12

                        4

                        White

                        Green

                        Red

                        Black (crimped)

                        Model Number CB-X-MApoundpoundpound Please indicate the cable length (L) in poundpoundpound maximum 30m eg) 080 = 8m

                        Minimum bending radius r = 51mm or more (Dynamic bending condition) Only robot cable is available for this model

                        L

                        4

                        1

                        1

                        4

                        (φ9)

                        (Front view)

                        (16)

                        (41)

                        (16)(21)

                        (11)

                        1

                        1

                        4

                        (φ9)

                        (16)

                        Controller side Actuator side

                        125sq125sq

                        Wiring Color Signal No No WiringColorSignal

                        White

                        GreenRed

                        BlackV

                        PEU

                        W PE

                        VU

                        W3

                        12

                        43

                        12

                        4

                        White

                        Green

                        Red

                        Black (crimped)

                        Model Number CB-XMC-MApoundpoundpound Please indicate the cable length (L) in poundpoundpound maximum 30m eg) 080 = 8m

                        Minimum bending radius r = 55mm or more (Dynamic bending condition) Only robot cable is available for this model

                        (Front view)(Front view)

                        AWG26(Soldered)

                        AWG26(crimped)

                        L

                        (13)

                        14

                        269

                        1

                        13

                        (37)

                        (41) (14)

                        (15)

                        (25)

                        1

                        (φ10

                        )

                        Yellow

                        Shield is clamp connected to the hoodDrain Wire and Braided Shield

                        BlueBlackRedGray

                        PurpleGreen

                        OrangeWhiteGrayWhitePurpleWhiteBlackWhiteRed

                        WhiteYellowWhiteBlue

                        RedGray

                        PurpleGreen

                        Orange

                        YellowBlue

                        WhiteGreenBlack

                        Drain

                        WhiteOrangeWhiteGrayWhitePurpleWhiteBlackWhiteRed

                        WhiteYellowWhiteBlue

                        WhiteOrangeWhiteGreen

                        Wiring Color Signal No

                        WiringColorSignalNo

                        Controller side Actuator side

                        Minimum bending radius r = 58mm or more (Dynamic bending condition) Only robot cable is available for this model

                        Model Number CB-X3-PApoundpoundpound

                        Model Number CB-DDB-BKpoundpoundpound

                        Please indicate the cable length (L) in poundpoundpound maximum 30m eg) 080 = 8m

                        Please indicate the cable length (L) in poundpoundpoundmaximum 20m eg) 080 = 8m

                        18

                        DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

                        Catalog No CE0242-1A (0916)

                        IAI America Inc 2690 W 237th Street Torrance CA 90505 (800) 736-1712 110 E State Pkwy Schaumburg IL 60173 (800) 944-0333

                        1220 Kennestone Circle Suite 108 Marietta GA 30066 (888) 354-9470

                        wwwintelligentactuatorcom

                        IAI Industrieroboter GmbHOber der Roumlth 4 D-65824 Schwalbach am Taunus Germany

                        IAI (Shanghai) Co LtdShanghai Jiahua Business Center A8-303 808Hongqiao Rd Shanghai 200030 China

                        IAI Robot (Thailand) Co Ltd825 Phairojkijja Tower 12th Floor Bangna-Trad RDBangna Bangna Bangkok 10260 Thailand

                        The information contained in this product brochure may change without prior notice due to product improvements

                        • Features
                        • Series List
                        • Model Specification Items
                        • Application Examples
                        • DDA-LT18C
                        • DDACR-LT18C
                        • DDA-LT18C-B
                        • DDA-LH18C
                        • DDACR-LH18C
                        • DDA-LH18C-B
                        • Options
                        • SCON-CB
                        • X-SEL
                        • Precautions
                        • Selecting the DD Motor
                        • Cables

                          Dimensions

                          Applicable ControllersThe DDA series actuators can be operated by the controllers indicated below Please select the type depending on your intended use

                          LH18CP can only be operated by SCON Please refer to P16 for the precautions in selecting controllers

                          Name External view

                          Max number of controlled axes Power supply voltage Control method Maximum number of

                          positioning pointsReference

                          pagePositioner Pulse-train Program Network Option

                          SCON-CBCGB 1Single-phase

                          200VAC -

                          Note The type of compatible networks will vary depending on the controller Please refer to reference page for more information

                          512 (768 for network spec)

                          P14

                          SCON-LCLCG 1Single-phase

                          200VAC- -

                          512 (768 for network spec)

                          P14

                          XSEL-PQRS 8Single-phase 200VACThree-phase 200VAC

                          - - 53332

                          (Depending on the type)P15

                          (Option code A0) (Option code A1)Cable exits from the bottom Cable exits from the side

                          Encoder connector

                          Motor connector

                          φ 35

                          Hol

                          low

                          bor

                          e

                          32 o

                          r les

                          s

                          φ1235

                          645

                          or l

                          ess

                          500+500

                          500plusmn30

                          Brake connector

                          24

                          77

                          Encoder connector

                          Motor connector

                          φ 35

                          Hol

                          low

                          bor

                          e64

                          5 o

                          r les

                          s

                          φ1235500+50

                          0

                          Brake connector

                          R100 or less

                          2-φ4 H7 depth 3For workpiece positioning

                          6-M6 effective depth 12For workpiece mounting

                          PCD102 plusmn01

                          φ 52

                          Hol

                          low

                          bor

                          e

                          φ 83

                          Rotating part of the work mounting surface

                          φ110h7 -00035

                          φ116φ180

                          φ178h8 -00063

                          412

                          28

                          plusmn03

                          32 or less

                          φ 21

                          500plusmn30

                          35

                          138

                          158

                          003 A

                          003 A

                          A

                          75plusmn0

                          1

                          8-M8 effective depth 16PCD148 plusmn01

                          75plusmn0

                          1

                          φ5 H7 depth 5For body positioning 225deg

                          Body mounting surfaceBody positioning oblong hole

                          S 5 +00120 depth 5

                          2

                          R25

                          Detail view of S24

                          CAD drawings can be downloaded from our websitewwwintelligentactuatorcom

                          2DCAD2DCAD

                          3DCAD3D

                          CAD

                          12

                          DDA Direct Drive Motor

                          OptionsIt is a retention mechanism for holding the stop position when the power or servo is OFF to prevent the workpieces and attachments from being damaged when used in side or vertical positions Be sure to connect a brake box for models with brake

                          A bracket that attaches to the body with bolts from the top side

                          Brake

                          Flange

                          Option Code B

                          Option Code FL

                          cent Brake Box

                          cent Wiring Diagram When Brake Box is Used

                          DDA-LT18CModel Number DDA-FL-LT18

                          Model Number IA-110-DD-4

                          DDA-LH18CModel Number DDA-FL-LH18

                          PCD200

                          PCD200

                          plusmn0075plusmn0075

                          55deg

                          55deg

                          180

                          180

                          180180

                          160

                          160

                          plusmn01

                          plusmn01

                          160160 plusmn01plusmn01

                          4-φ 1

                          14-φ 1

                          1thr

                          ough

                          thro

                          ugh

                          2- φ62- φ6

                          H7 through

                          H7 through

                          135

                          135

                          815

                          815

                          plusmn04

                          plusmn04

                          φ1245φ1245

                          55deg

                          55deg

                          PCD

                          PCD200plusmn0075200plusmn0075

                          180

                          180

                          180180160160 plusmn01plusmn01

                          160

                          160

                          plusmn01

                          plusmn01

                          2- φ62- φ6

                          H7 throughH7 through

                          4-φ1

                          14-φ1

                          1thr

                          ough

                          thro

                          ugh

                          155

                          15513

                          63

                          136

                          3plusmn0

                          4plusmn0

                          4

                          φ1245φ1245

                          PG OUTPWRON

                          BKOUT

                          + - C E

                          BKRMT

                          RLSBKOUT

                          PG IN

                          PWRPE N L

                          MODEL IA-110-DD-4SN INPUT Single phase 100-240V

                          MADE IN JAPAN

                          5060Hz 10A maxOUTPUT 12VDC 06A

                          PG OUTPWRON

                          BKOUT

                          + - C E

                          BKRMT

                          RLSBKOUT

                          PG IN

                          PWRPE N L

                          MODEL IA-110-DD-4SN INPUT Single phase 100-240V

                          MADE IN JAPAN

                          5060Hz 10A maxOUTPUT 12VDC 06A

                          ControllerSCON-CBXSEL-PQRSDDA

                          Motor cableModel CB-X(XMC)-MApoundpoundpound

                          Brake box

                          Encoder cableModel CB-X3-PA010(Comes with the brake box)

                          Encoder cableModel CB-X3-PApoundpoundpound

                          Brake cableModel CB-DDB-BKpoundpoundpound Main power supply

                          100VAC~240VAC

                          13

                          DDA (CR) Direct Drive Motor

                          Position Controller

                          Controller Model

                          System Configuration

                          Positioner Single-axis Type ltSCONgt Model

                          Power Supply Voltage

                          IO TypeEncoder Type Motor Type Type Series SCON

                          IO Cable Length

                          AIAM

                          2

                          The 200W motor used by the DDA is larger than a normal 200W motor so the motor type for the controller will be 200S and its size will be larger than the 400W motor

                          For 200W motorFor 600W motor

                          200S600

                          High-function typeSafety category compliant type

                          CBCGB

                          PLC equipped typeSafety category PLC equipped type

                          LCLCG

                          Motor cableModel CB-X-MA (LT18C) CB-XMC-MA (LH18C)

                          SCON PC

                          DDA

                          PLC(To be supplied by the customer)

                          IO flat cableModel CB-PAC-PIO020Standard 2m

                          Be sure to use a noise filter on the power supply

                          ( )Encoder cableModel CB-X3-PA

                          PC compatible softwareRS232 connection versionModel RCM-101-MWUSB connection versionModel RCM-101-USB(Please contact IAI for more details)

                          Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)

                          Regenerative resistor unitModel RESU-2RESUD-2(Please contact IAI for more details)

                          1 The wiring diagram is different for models with brakes Please refer to P13 for more information

                          1

                          Single-phase 200VAC Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models

                          Main powersupply

                          Field network

                          Option

                          Supplied with the actuator

                          Supplied with the controller

                          Supplied with the actuator Option

                          Option

                          Option

                          When the SCON Controller is Connected

                          When a field network specification is selectedthe IO cable length will be 0

                          Index absolute typeMulti-rotation abs type

                          NPPN

                          PIO NPN (Standard)

                          PIO PNP

                          DVCN

                          DeviceNet

                          CompoNet

                          CC CC-Link

                          ML MECHATROLINK-I II

                          ML3PR

                          MECHATROLINK-III

                          PROFIBUS-DP

                          02

                          35

                          No cable2m (Standard)

                          3m5m

                          EC EtherCAT

                          EP EtherNetIP

                          PRT PROFINET IO

                          For recommended modelsplease contact IAI

                          Model

                          External view

                          IO type

                          IO type code

                          MECHATROLINK-III

                          connectionCompoNet connection

                          PROFIBUS-DP connection

                          CC-Linkconnection

                          DeviceNetconnection

                          PIO connection specification (1)

                          NPPN DV CC PR

                          Standard Field network type (1)

                          CN ML

                          SCON-CB

                          EtherNetIP connection

                          PROFINET IO connection

                          EtherCATconnection

                          EC EP PRT

                          List of Models

                          MECHATROLINK- III

                          connection

                          ML3

                          Applicable encoder type(Note) The index absolute type cannot be used in the pulse-train control and MECHATROLINK-III control(1) Please note that the network specifications cannot be operated on the PIO or pulse-train The PLC type (LCLCG) cannot be connected on the pulse-train

                          Index absoluteMulti-rotation absoluteIndex absolute Multi-rotation absolute

                          CBCGB CBCGB LCLCG

                          14

                          SCON Controller

                          Program Controller

                          List of Models

                          Model P Q R S

                          Type Large-capacity type Large-capacity type (Safety category specification) High-function type High-function type

                          (Safety category specification)

                          External view

                          DescriptionLarge-capacity type

                          that can control up to 6 axes 2400W

                          Large-capacity type thats compatible with the

                          safety category 4

                          High-function type that allows up to 8-axis operation

                          Safety category 4 compatible high-function type

                          Controller Model

                          System Configuration

                          Program Multi-axis Type ltXSELgt Model

                          Encoder Type

                          Encoder Type

                          Motor Type

                          Motor Type

                          Number ofConnected

                          AxesType Series Option Option

                          XSEL

                          200 For 200W motor

                          600 For 600W motor

                          B BrakePQRS

                          6-axis type6-axis safety category type8-axis type8-axis safety category type

                          8

                          1

                          ~ ~

                          1 axis

                          8 axes

                          (PQ type is up to 6 axes)

                          (Details of the 1st axis) (Details of the 2nd~8th axis)

                          It can simultaneously operate actuators (single-axis robot and ROBO Cylinder) other than the DDA motor on a single controller For connectable actuators other than the DDA motor please contact IAI

                          For subsequent models please contact IAI

                          Notes

                          AIAM

                          Index absolute typeMulti-rotation absolute type

                          When the XSEL Controller is Connected

                          Be sure to use a noise filter on the power supply

                          Motor cableModel CB-X-MA (LT18C) CB-XMC-MA (LH18C)

                          XSELPC

                          PLC(To be supplied by the customer)

                          PC compatible softwareRS232 connection versionModel IA-101-X-MWUSB connection versionModel IA-101-X-USBMW(Please contact IAI for more details)

                          Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)

                          Single-phase 200VACThree-phase 200VAC

                          Regenerative resistor unitModel RESU-1RESUD-1(Please contact IAI for more details)

                          Option Option

                          Option

                          Field networkOption

                          IO flat cableModel CB-X-PIO020Standard 2m

                          Supplied with the controller

                          Encoder cableModel CB-X3-PA

                          Supplied with the actuator

                          Supplied with the actuator

                          Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models

                          The wiring diagram is different for models with brakes Please refer to P13 for more information

                          DDA

                          Main powersupply ( )For recommended models

                          please contact IAI

                          15

                          XSEL Controller

                          Precautions

                          Installation

                          Installation Orientation

                          Mountingsurface

                          For models with brake and cable exit direction to the bottom a clearance hole is required

                          Ceiling mount

                          Horizontal mount

                          Vertical mount

                          Gra

                          vity

                          Operation TypeThis product is available in 2 operation types depending on the operation conditions Please check the features and precautions on each type before use

                          (1)The high resolution specification can be connected only to the SCON-CB(2)When the XSEL index type travels more than 180deg from the current position it rotates in a direction that requires a shorter travel distance to

                          reach the target position Therefore please note that the direction of rotation changes according to the current position and travel distance If you want to specify the direction of travel use the SCON-CB

                          (3)The index type can be rotated in a given direction infinitely but it actually cannot continue to rotate in the same direction without stopping like a regular motor does because the maximum travel distance per command from the XSEL controller is 180deg If you want to allow the motor to rotate continuously use the SCON-CB

                          (4)Home return is required for the multi-rotation absolute encoder during the initial setting and replacement of the absolute battery

                          Absolute batteryHome return operationLimitless rotation

                          Maximum amount of movement in a single movement command

                          Operation rangeController typeOperation type

                          Not requiredNot required

                          Yes (3)

                          0~359999deg

                          Index absolute type

                          RequiredNot required (4)

                          No

                          Above operation rangeplusmn9999deg (plusmn2520deg) max

                          Multi-rotation absolute typeSCON-CB XSEL(1)

                          ( ) is for 20-bit

                          (Note) Use this product by installing it on a mounting surface having heat dissipating characteristics equivalent to those of an aluminum plate of w450mm times d450mm times t12mm in size If the installation conditions necessitate lower heat dissipating characteristics please consult IAI

                          ControllersFor the DDA with 200W motor the outside dimensions of the SCON-CB controller will be the same as the size of the

                          400W motor (Please contact IAI for the details of the SCON-CB controller)One and two regenerative resistor unit(s) are required for LT18C and LH18C respectively to operate a DDA

                          motor with the SCON-CBWhen operating DDA motor(s) with the XSEL controller regenerative resistor units are required as shown below

                          The number of DDA motor(s) connectable to the XSEL controller is a max of 8 units for the LT18C type and a max of 2 units for the LH18C type

                          Please note that when the DDA motor is operated with the SCON-CB the motor cannot be connected to the ROBO Cylinder gateway function of the XSEL controller

                          Calculation for the power supply value LT18C type single-phase 600W three-phase 200W LH18C type single-phase 1200W three-phase 600W

                          Number of regenerative resistor units

                          1 2 3 4 5 6 7 81 2 3

                          (Cannot be connected)4

                          2 4LT18CLH18C

                          Number of DD motor(s)

                          360deg

                          SCON-CB XSEL(1)

                          180deg(2)

                          16

                          DDA (CR) Direct Drive Motor

                          Conditions for Selection

                          The followings should be checked to determine whether the DDA motor can be used to suit the specific conditions required by the customer

                          The customer should confirm that the following three points under actual use do not exceed their maximum allowable levels as specified for the DDA motor

                          The total load of device(s) mounted on the actuator

                          The total load moment of device(s) mounted on the actuator

                          The load inertia of device(s) mounted on the actuator

                          Check Load Conditions1

                          [1] Thrust load

                          [2] Load moment applied

                          [3] Load inertia

                          J = 18 times M times D 2 [kgm2]

                          Mass M [kg]

                          D [m]

                          Center of rotation

                          J = 112 times M times (a 2 + b 2) [kgm2]

                          a [m]

                          b [m]

                          Center of rotation

                          Mass M [kg]

                          J = M times R 2+ 18 times M times D 2 [kgm2]

                          Mass M [kg]

                          D [m]

                          R [m]

                          Cent

                          er o

                          fro

                          tatio

                          n

                          J = M times R 2+112 times M times (a 2 + b 2 )[kgm2]

                          a [m]

                          b [m]R [m]

                          Cent

                          er o

                          fro

                          tatio

                          n

                          Mass M [kg]

                          The travel time changes according to the load inertia See the tables below to check the travel time data

                          Travel Time Guide3

                          The data in the tables are for a reference only and do not guarantee the actual travel times

                          (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

                          0

                          0005

                          009

                          012

                          017

                          022

                          0005

                          001

                          010

                          012

                          017

                          022

                          001

                          002

                          011

                          014

                          019

                          024

                          002

                          003

                          012

                          016

                          021

                          026

                          003

                          004

                          013

                          017

                          023

                          027

                          004

                          005

                          014

                          018

                          024

                          029

                          005

                          006

                          015

                          020

                          027

                          032

                          006

                          007

                          017

                          022

                          029

                          035

                          007

                          008

                          019

                          024

                          032

                          038

                          008

                          009

                          021

                          026

                          035

                          041

                          009

                          01

                          023

                          029

                          037

                          044

                          01

                          02

                          039

                          048

                          060

                          069

                          02

                          03

                          062

                          073

                          089

                          100

                          03

                          04

                          070

                          083

                          101

                          114

                          04

                          05

                          087

                          102

                          122

                          136

                          05

                          06

                          111

                          123

                          142

                          168

                          LH18C

                          LT18C

                          Continuous Operation Area

                          LT18C type LH18C type

                          (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

                          0

                          0005

                          0098

                          0129

                          0192

                          0254

                          0005

                          001

                          0096

                          0128

                          019

                          0252

                          001

                          0015

                          0096

                          0127

                          019

                          0252

                          002

                          002

                          0097

                          0128

                          0191

                          0253

                          002

                          003

                          0099

                          0131

                          0193

                          0256

                          003

                          004

                          0104

                          0136

                          0199

                          0262

                          004

                          006

                          0113

                          0144

                          0207

                          027

                          006

                          008

                          012

                          0153

                          0215

                          0278

                          008

                          01

                          0126

                          0163

                          0225

                          0288

                          010

                          015

                          014

                          0184

                          0249

                          0312

                          015

                          02

                          0157

                          0208

                          0279

                          0341

                          02

                          03

                          0207

                          0268

                          0354

                          042

                          03

                          04

                          0257

                          0329

                          0428

                          0504

                          04

                          06

                          0352

                          044

                          0562

                          0655

                          06

                          08

                          0447

                          0549

                          0692

                          08

                          08

                          1

                          053

                          0646

                          0806

                          0925

                          10

                          12

                          0629

                          0758

                          0933

                          1064

                          12

                          14

                          0795

                          0941

                          1133

                          1274

                          14

                          18

                          0875

                          1035

                          1257

                          1415

                          Check Operating Conditions2Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DDA motor specifications to determine whether the DDA motor can be used under the applicable operating conditions Please contact IAI for assistance To

                          rque

                          (Nm

                          )

                          Curr

                          ent [

                          Arm

                          s]

                          Angular velocity [degs]

                          AccelerationDeceleration AreaAccelerationDeceleration Area

                          Torq

                          ue (N

                          m)

                          Curr

                          ent [

                          Arm

                          s]

                          Angular velocity [degs]

                          AccelerationDeceleration AreaAccelerationDeceleration Area

                          Rating areaRating area

                          270deg travel time [sec]180deg travel time [sec]

                          90deg travel time [sec]45deg travel time [sec]

                          Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

                          270deg travel time [sec]180deg travel time [sec]

                          90deg travel time [sec]45deg travel time [sec]

                          Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

                          Selecting the DD Motor

                          17

                          DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

                          (44) (167)

                          (80

                          )

                          31

                          (84)(293)

                          (92

                          )

                          31

                          (φ5

                          4)

                          J11SF-03V-KX J11SFM-03V-KXNoNo SignalSignal ColorColor WiringWiring

                          AWG20(crimped)

                          Red

                          Black

                          White

                          Red

                          Black

                          White

                          +

                          -

                          FG

                          +

                          -

                          FG

                          321

                          321

                          AWG20(crimped)

                          Controller side Actuator side(Front view)(Front view)

                          L

                          Conditions for Selection

                          The followings should be checked to determine whether the DDA motor can be used to suit the specific conditions required by the customer

                          The customer should confirm that the following three points under actual use do not exceed their maximum allowable levels as specified for the DDA motor

                          The total load of device(s) mounted on the actuator

                          The total load moment of device(s) mounted on the actuator

                          The load inertia of device(s) mounted on the actuator

                          Check Load Conditions1

                          [1] Thrust load

                          [2] Load moment applied

                          [3] Load inertia

                          J = 18 times M times D 2 [kgm2]

                          Mass M [kg]

                          D [m]

                          Center of rotation

                          J = 112 times M times (a 2 + b 2) [kgm2]

                          a [m]

                          b [m]

                          Center of rotation

                          Mass M [kg]

                          J = M times R 2+ 18 times M times D 2 [kgm2]

                          Mass M [kg]

                          D [m]

                          R [m]

                          Cent

                          er o

                          fro

                          tatio

                          n

                          J = M times R 2+112 times M times (a 2 + b 2 )[kgm2]

                          a [m]

                          b [m]R [m]

                          Cent

                          er o

                          fro

                          tatio

                          n

                          Mass M [kg]

                          The travel time changes according to the load inertia See the tables below to check the travel time data

                          Travel Time Guide3

                          The data in the tables are for a reference only and do not guarantee the actual travel times

                          (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

                          0

                          0005

                          009

                          012

                          017

                          022

                          0005

                          001

                          010

                          012

                          017

                          022

                          001

                          002

                          011

                          014

                          019

                          024

                          002

                          003

                          012

                          016

                          021

                          026

                          003

                          004

                          013

                          017

                          023

                          027

                          004

                          005

                          014

                          018

                          024

                          029

                          005

                          006

                          015

                          020

                          027

                          032

                          006

                          007

                          017

                          022

                          029

                          035

                          007

                          008

                          019

                          024

                          032

                          038

                          008

                          009

                          021

                          026

                          035

                          041

                          009

                          01

                          023

                          029

                          037

                          044

                          01

                          02

                          039

                          048

                          060

                          069

                          02

                          03

                          062

                          073

                          089

                          100

                          03

                          04

                          070

                          083

                          101

                          114

                          04

                          05

                          087

                          102

                          122

                          136

                          05

                          06

                          111

                          123

                          142

                          168

                          LH18C

                          LT18C

                          Continuous Operation Area

                          LT18C type LH18C type

                          (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

                          0

                          0005

                          0098

                          0129

                          0192

                          0254

                          0005

                          001

                          0096

                          0128

                          019

                          0252

                          001

                          0015

                          0096

                          0127

                          019

                          0252

                          002

                          002

                          0097

                          0128

                          0191

                          0253

                          002

                          003

                          0099

                          0131

                          0193

                          0256

                          003

                          004

                          0104

                          0136

                          0199

                          0262

                          004

                          006

                          0113

                          0144

                          0207

                          027

                          006

                          008

                          012

                          0153

                          0215

                          0278

                          008

                          01

                          0126

                          0163

                          0225

                          0288

                          010

                          015

                          014

                          0184

                          0249

                          0312

                          015

                          02

                          0157

                          0208

                          0279

                          0341

                          02

                          03

                          0207

                          0268

                          0354

                          042

                          03

                          04

                          0257

                          0329

                          0428

                          0504

                          04

                          06

                          0352

                          044

                          0562

                          0655

                          06

                          08

                          0447

                          0549

                          0692

                          08

                          08

                          1

                          053

                          0646

                          0806

                          0925

                          10

                          12

                          0629

                          0758

                          0933

                          1064

                          12

                          14

                          0795

                          0941

                          1133

                          1274

                          14

                          18

                          0875

                          1035

                          1257

                          1415

                          Check Operating Conditions2Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DDA motor specifications to determine whether the DDA motor can be used under the applicable operating conditions Please contact IAI for assistance To

                          rque

                          (Nm

                          )

                          Curr

                          ent [

                          Arm

                          s]

                          Angular velocity [degs]

                          AccelerationDeceleration AreaAccelerationDeceleration Area

                          Torq

                          ue (N

                          m)

                          Curr

                          ent [

                          Arm

                          s]

                          Angular velocity [degs]

                          AccelerationDeceleration AreaAccelerationDeceleration Area

                          Rating areaRating area

                          270deg travel time [sec]180deg travel time [sec]

                          90deg travel time [sec]45deg travel time [sec]

                          Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

                          270deg travel time [sec]180deg travel time [sec]

                          90deg travel time [sec]45deg travel time [sec]

                          Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

                          Cables

                          (Front view) (Front view)

                          Controller sideActuator side

                          (16)

                          (41)

                          (φ9) (2

                          1)

                          (20) (10)

                          (18)

                          L

                          4

                          1

                          1

                          4

                          075sq075sq

                          Wiring Color Signal No No WiringColorSignal

                          White

                          GreenRed

                          BlackV

                          PEU

                          W PE

                          VU

                          W3

                          12

                          43

                          12

                          4

                          White

                          Green

                          Red

                          Black (crimped)

                          Model Number CB-X-MApoundpoundpound Please indicate the cable length (L) in poundpoundpound maximum 30m eg) 080 = 8m

                          Minimum bending radius r = 51mm or more (Dynamic bending condition) Only robot cable is available for this model

                          L

                          4

                          1

                          1

                          4

                          (φ9)

                          (Front view)

                          (16)

                          (41)

                          (16)(21)

                          (11)

                          1

                          1

                          4

                          (φ9)

                          (16)

                          Controller side Actuator side

                          125sq125sq

                          Wiring Color Signal No No WiringColorSignal

                          White

                          GreenRed

                          BlackV

                          PEU

                          W PE

                          VU

                          W3

                          12

                          43

                          12

                          4

                          White

                          Green

                          Red

                          Black (crimped)

                          Model Number CB-XMC-MApoundpoundpound Please indicate the cable length (L) in poundpoundpound maximum 30m eg) 080 = 8m

                          Minimum bending radius r = 55mm or more (Dynamic bending condition) Only robot cable is available for this model

                          (Front view)(Front view)

                          AWG26(Soldered)

                          AWG26(crimped)

                          L

                          (13)

                          14

                          269

                          1

                          13

                          (37)

                          (41) (14)

                          (15)

                          (25)

                          1

                          (φ10

                          )

                          Yellow

                          Shield is clamp connected to the hoodDrain Wire and Braided Shield

                          BlueBlackRedGray

                          PurpleGreen

                          OrangeWhiteGrayWhitePurpleWhiteBlackWhiteRed

                          WhiteYellowWhiteBlue

                          RedGray

                          PurpleGreen

                          Orange

                          YellowBlue

                          WhiteGreenBlack

                          Drain

                          WhiteOrangeWhiteGrayWhitePurpleWhiteBlackWhiteRed

                          WhiteYellowWhiteBlue

                          WhiteOrangeWhiteGreen

                          Wiring Color Signal No

                          WiringColorSignalNo

                          Controller side Actuator side

                          Minimum bending radius r = 58mm or more (Dynamic bending condition) Only robot cable is available for this model

                          Model Number CB-X3-PApoundpoundpound

                          Model Number CB-DDB-BKpoundpoundpound

                          Please indicate the cable length (L) in poundpoundpound maximum 30m eg) 080 = 8m

                          Please indicate the cable length (L) in poundpoundpoundmaximum 20m eg) 080 = 8m

                          18

                          DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

                          Catalog No CE0242-1A (0916)

                          IAI America Inc 2690 W 237th Street Torrance CA 90505 (800) 736-1712 110 E State Pkwy Schaumburg IL 60173 (800) 944-0333

                          1220 Kennestone Circle Suite 108 Marietta GA 30066 (888) 354-9470

                          wwwintelligentactuatorcom

                          IAI Industrieroboter GmbHOber der Roumlth 4 D-65824 Schwalbach am Taunus Germany

                          IAI (Shanghai) Co LtdShanghai Jiahua Business Center A8-303 808Hongqiao Rd Shanghai 200030 China

                          IAI Robot (Thailand) Co Ltd825 Phairojkijja Tower 12th Floor Bangna-Trad RDBangna Bangna Bangkok 10260 Thailand

                          The information contained in this product brochure may change without prior notice due to product improvements

                          • Features
                          • Series List
                          • Model Specification Items
                          • Application Examples
                          • DDA-LT18C
                          • DDACR-LT18C
                          • DDA-LT18C-B
                          • DDA-LH18C
                          • DDACR-LH18C
                          • DDA-LH18C-B
                          • Options
                          • SCON-CB
                          • X-SEL
                          • Precautions
                          • Selecting the DD Motor
                          • Cables

                            OptionsIt is a retention mechanism for holding the stop position when the power or servo is OFF to prevent the workpieces and attachments from being damaged when used in side or vertical positions Be sure to connect a brake box for models with brake

                            A bracket that attaches to the body with bolts from the top side

                            Brake

                            Flange

                            Option Code B

                            Option Code FL

                            cent Brake Box

                            cent Wiring Diagram When Brake Box is Used

                            DDA-LT18CModel Number DDA-FL-LT18

                            Model Number IA-110-DD-4

                            DDA-LH18CModel Number DDA-FL-LH18

                            PCD200

                            PCD200

                            plusmn0075plusmn0075

                            55deg

                            55deg

                            180

                            180

                            180180

                            160

                            160

                            plusmn01

                            plusmn01

                            160160 plusmn01plusmn01

                            4-φ 1

                            14-φ 1

                            1thr

                            ough

                            thro

                            ugh

                            2- φ62- φ6

                            H7 through

                            H7 through

                            135

                            135

                            815

                            815

                            plusmn04

                            plusmn04

                            φ1245φ1245

                            55deg

                            55deg

                            PCD

                            PCD200plusmn0075200plusmn0075

                            180

                            180

                            180180160160 plusmn01plusmn01

                            160

                            160

                            plusmn01

                            plusmn01

                            2- φ62- φ6

                            H7 throughH7 through

                            4-φ1

                            14-φ1

                            1thr

                            ough

                            thro

                            ugh

                            155

                            15513

                            63

                            136

                            3plusmn0

                            4plusmn0

                            4

                            φ1245φ1245

                            PG OUTPWRON

                            BKOUT

                            + - C E

                            BKRMT

                            RLSBKOUT

                            PG IN

                            PWRPE N L

                            MODEL IA-110-DD-4SN INPUT Single phase 100-240V

                            MADE IN JAPAN

                            5060Hz 10A maxOUTPUT 12VDC 06A

                            PG OUTPWRON

                            BKOUT

                            + - C E

                            BKRMT

                            RLSBKOUT

                            PG IN

                            PWRPE N L

                            MODEL IA-110-DD-4SN INPUT Single phase 100-240V

                            MADE IN JAPAN

                            5060Hz 10A maxOUTPUT 12VDC 06A

                            ControllerSCON-CBXSEL-PQRSDDA

                            Motor cableModel CB-X(XMC)-MApoundpoundpound

                            Brake box

                            Encoder cableModel CB-X3-PA010(Comes with the brake box)

                            Encoder cableModel CB-X3-PApoundpoundpound

                            Brake cableModel CB-DDB-BKpoundpoundpound Main power supply

                            100VAC~240VAC

                            13

                            DDA (CR) Direct Drive Motor

                            Position Controller

                            Controller Model

                            System Configuration

                            Positioner Single-axis Type ltSCONgt Model

                            Power Supply Voltage

                            IO TypeEncoder Type Motor Type Type Series SCON

                            IO Cable Length

                            AIAM

                            2

                            The 200W motor used by the DDA is larger than a normal 200W motor so the motor type for the controller will be 200S and its size will be larger than the 400W motor

                            For 200W motorFor 600W motor

                            200S600

                            High-function typeSafety category compliant type

                            CBCGB

                            PLC equipped typeSafety category PLC equipped type

                            LCLCG

                            Motor cableModel CB-X-MA (LT18C) CB-XMC-MA (LH18C)

                            SCON PC

                            DDA

                            PLC(To be supplied by the customer)

                            IO flat cableModel CB-PAC-PIO020Standard 2m

                            Be sure to use a noise filter on the power supply

                            ( )Encoder cableModel CB-X3-PA

                            PC compatible softwareRS232 connection versionModel RCM-101-MWUSB connection versionModel RCM-101-USB(Please contact IAI for more details)

                            Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)

                            Regenerative resistor unitModel RESU-2RESUD-2(Please contact IAI for more details)

                            1 The wiring diagram is different for models with brakes Please refer to P13 for more information

                            1

                            Single-phase 200VAC Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models

                            Main powersupply

                            Field network

                            Option

                            Supplied with the actuator

                            Supplied with the controller

                            Supplied with the actuator Option

                            Option

                            Option

                            When the SCON Controller is Connected

                            When a field network specification is selectedthe IO cable length will be 0

                            Index absolute typeMulti-rotation abs type

                            NPPN

                            PIO NPN (Standard)

                            PIO PNP

                            DVCN

                            DeviceNet

                            CompoNet

                            CC CC-Link

                            ML MECHATROLINK-I II

                            ML3PR

                            MECHATROLINK-III

                            PROFIBUS-DP

                            02

                            35

                            No cable2m (Standard)

                            3m5m

                            EC EtherCAT

                            EP EtherNetIP

                            PRT PROFINET IO

                            For recommended modelsplease contact IAI

                            Model

                            External view

                            IO type

                            IO type code

                            MECHATROLINK-III

                            connectionCompoNet connection

                            PROFIBUS-DP connection

                            CC-Linkconnection

                            DeviceNetconnection

                            PIO connection specification (1)

                            NPPN DV CC PR

                            Standard Field network type (1)

                            CN ML

                            SCON-CB

                            EtherNetIP connection

                            PROFINET IO connection

                            EtherCATconnection

                            EC EP PRT

                            List of Models

                            MECHATROLINK- III

                            connection

                            ML3

                            Applicable encoder type(Note) The index absolute type cannot be used in the pulse-train control and MECHATROLINK-III control(1) Please note that the network specifications cannot be operated on the PIO or pulse-train The PLC type (LCLCG) cannot be connected on the pulse-train

                            Index absoluteMulti-rotation absoluteIndex absolute Multi-rotation absolute

                            CBCGB CBCGB LCLCG

                            14

                            SCON Controller

                            Program Controller

                            List of Models

                            Model P Q R S

                            Type Large-capacity type Large-capacity type (Safety category specification) High-function type High-function type

                            (Safety category specification)

                            External view

                            DescriptionLarge-capacity type

                            that can control up to 6 axes 2400W

                            Large-capacity type thats compatible with the

                            safety category 4

                            High-function type that allows up to 8-axis operation

                            Safety category 4 compatible high-function type

                            Controller Model

                            System Configuration

                            Program Multi-axis Type ltXSELgt Model

                            Encoder Type

                            Encoder Type

                            Motor Type

                            Motor Type

                            Number ofConnected

                            AxesType Series Option Option

                            XSEL

                            200 For 200W motor

                            600 For 600W motor

                            B BrakePQRS

                            6-axis type6-axis safety category type8-axis type8-axis safety category type

                            8

                            1

                            ~ ~

                            1 axis

                            8 axes

                            (PQ type is up to 6 axes)

                            (Details of the 1st axis) (Details of the 2nd~8th axis)

                            It can simultaneously operate actuators (single-axis robot and ROBO Cylinder) other than the DDA motor on a single controller For connectable actuators other than the DDA motor please contact IAI

                            For subsequent models please contact IAI

                            Notes

                            AIAM

                            Index absolute typeMulti-rotation absolute type

                            When the XSEL Controller is Connected

                            Be sure to use a noise filter on the power supply

                            Motor cableModel CB-X-MA (LT18C) CB-XMC-MA (LH18C)

                            XSELPC

                            PLC(To be supplied by the customer)

                            PC compatible softwareRS232 connection versionModel IA-101-X-MWUSB connection versionModel IA-101-X-USBMW(Please contact IAI for more details)

                            Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)

                            Single-phase 200VACThree-phase 200VAC

                            Regenerative resistor unitModel RESU-1RESUD-1(Please contact IAI for more details)

                            Option Option

                            Option

                            Field networkOption

                            IO flat cableModel CB-X-PIO020Standard 2m

                            Supplied with the controller

                            Encoder cableModel CB-X3-PA

                            Supplied with the actuator

                            Supplied with the actuator

                            Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models

                            The wiring diagram is different for models with brakes Please refer to P13 for more information

                            DDA

                            Main powersupply ( )For recommended models

                            please contact IAI

                            15

                            XSEL Controller

                            Precautions

                            Installation

                            Installation Orientation

                            Mountingsurface

                            For models with brake and cable exit direction to the bottom a clearance hole is required

                            Ceiling mount

                            Horizontal mount

                            Vertical mount

                            Gra

                            vity

                            Operation TypeThis product is available in 2 operation types depending on the operation conditions Please check the features and precautions on each type before use

                            (1)The high resolution specification can be connected only to the SCON-CB(2)When the XSEL index type travels more than 180deg from the current position it rotates in a direction that requires a shorter travel distance to

                            reach the target position Therefore please note that the direction of rotation changes according to the current position and travel distance If you want to specify the direction of travel use the SCON-CB

                            (3)The index type can be rotated in a given direction infinitely but it actually cannot continue to rotate in the same direction without stopping like a regular motor does because the maximum travel distance per command from the XSEL controller is 180deg If you want to allow the motor to rotate continuously use the SCON-CB

                            (4)Home return is required for the multi-rotation absolute encoder during the initial setting and replacement of the absolute battery

                            Absolute batteryHome return operationLimitless rotation

                            Maximum amount of movement in a single movement command

                            Operation rangeController typeOperation type

                            Not requiredNot required

                            Yes (3)

                            0~359999deg

                            Index absolute type

                            RequiredNot required (4)

                            No

                            Above operation rangeplusmn9999deg (plusmn2520deg) max

                            Multi-rotation absolute typeSCON-CB XSEL(1)

                            ( ) is for 20-bit

                            (Note) Use this product by installing it on a mounting surface having heat dissipating characteristics equivalent to those of an aluminum plate of w450mm times d450mm times t12mm in size If the installation conditions necessitate lower heat dissipating characteristics please consult IAI

                            ControllersFor the DDA with 200W motor the outside dimensions of the SCON-CB controller will be the same as the size of the

                            400W motor (Please contact IAI for the details of the SCON-CB controller)One and two regenerative resistor unit(s) are required for LT18C and LH18C respectively to operate a DDA

                            motor with the SCON-CBWhen operating DDA motor(s) with the XSEL controller regenerative resistor units are required as shown below

                            The number of DDA motor(s) connectable to the XSEL controller is a max of 8 units for the LT18C type and a max of 2 units for the LH18C type

                            Please note that when the DDA motor is operated with the SCON-CB the motor cannot be connected to the ROBO Cylinder gateway function of the XSEL controller

                            Calculation for the power supply value LT18C type single-phase 600W three-phase 200W LH18C type single-phase 1200W three-phase 600W

                            Number of regenerative resistor units

                            1 2 3 4 5 6 7 81 2 3

                            (Cannot be connected)4

                            2 4LT18CLH18C

                            Number of DD motor(s)

                            360deg

                            SCON-CB XSEL(1)

                            180deg(2)

                            16

                            DDA (CR) Direct Drive Motor

                            Conditions for Selection

                            The followings should be checked to determine whether the DDA motor can be used to suit the specific conditions required by the customer

                            The customer should confirm that the following three points under actual use do not exceed their maximum allowable levels as specified for the DDA motor

                            The total load of device(s) mounted on the actuator

                            The total load moment of device(s) mounted on the actuator

                            The load inertia of device(s) mounted on the actuator

                            Check Load Conditions1

                            [1] Thrust load

                            [2] Load moment applied

                            [3] Load inertia

                            J = 18 times M times D 2 [kgm2]

                            Mass M [kg]

                            D [m]

                            Center of rotation

                            J = 112 times M times (a 2 + b 2) [kgm2]

                            a [m]

                            b [m]

                            Center of rotation

                            Mass M [kg]

                            J = M times R 2+ 18 times M times D 2 [kgm2]

                            Mass M [kg]

                            D [m]

                            R [m]

                            Cent

                            er o

                            fro

                            tatio

                            n

                            J = M times R 2+112 times M times (a 2 + b 2 )[kgm2]

                            a [m]

                            b [m]R [m]

                            Cent

                            er o

                            fro

                            tatio

                            n

                            Mass M [kg]

                            The travel time changes according to the load inertia See the tables below to check the travel time data

                            Travel Time Guide3

                            The data in the tables are for a reference only and do not guarantee the actual travel times

                            (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

                            0

                            0005

                            009

                            012

                            017

                            022

                            0005

                            001

                            010

                            012

                            017

                            022

                            001

                            002

                            011

                            014

                            019

                            024

                            002

                            003

                            012

                            016

                            021

                            026

                            003

                            004

                            013

                            017

                            023

                            027

                            004

                            005

                            014

                            018

                            024

                            029

                            005

                            006

                            015

                            020

                            027

                            032

                            006

                            007

                            017

                            022

                            029

                            035

                            007

                            008

                            019

                            024

                            032

                            038

                            008

                            009

                            021

                            026

                            035

                            041

                            009

                            01

                            023

                            029

                            037

                            044

                            01

                            02

                            039

                            048

                            060

                            069

                            02

                            03

                            062

                            073

                            089

                            100

                            03

                            04

                            070

                            083

                            101

                            114

                            04

                            05

                            087

                            102

                            122

                            136

                            05

                            06

                            111

                            123

                            142

                            168

                            LH18C

                            LT18C

                            Continuous Operation Area

                            LT18C type LH18C type

                            (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

                            0

                            0005

                            0098

                            0129

                            0192

                            0254

                            0005

                            001

                            0096

                            0128

                            019

                            0252

                            001

                            0015

                            0096

                            0127

                            019

                            0252

                            002

                            002

                            0097

                            0128

                            0191

                            0253

                            002

                            003

                            0099

                            0131

                            0193

                            0256

                            003

                            004

                            0104

                            0136

                            0199

                            0262

                            004

                            006

                            0113

                            0144

                            0207

                            027

                            006

                            008

                            012

                            0153

                            0215

                            0278

                            008

                            01

                            0126

                            0163

                            0225

                            0288

                            010

                            015

                            014

                            0184

                            0249

                            0312

                            015

                            02

                            0157

                            0208

                            0279

                            0341

                            02

                            03

                            0207

                            0268

                            0354

                            042

                            03

                            04

                            0257

                            0329

                            0428

                            0504

                            04

                            06

                            0352

                            044

                            0562

                            0655

                            06

                            08

                            0447

                            0549

                            0692

                            08

                            08

                            1

                            053

                            0646

                            0806

                            0925

                            10

                            12

                            0629

                            0758

                            0933

                            1064

                            12

                            14

                            0795

                            0941

                            1133

                            1274

                            14

                            18

                            0875

                            1035

                            1257

                            1415

                            Check Operating Conditions2Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DDA motor specifications to determine whether the DDA motor can be used under the applicable operating conditions Please contact IAI for assistance To

                            rque

                            (Nm

                            )

                            Curr

                            ent [

                            Arm

                            s]

                            Angular velocity [degs]

                            AccelerationDeceleration AreaAccelerationDeceleration Area

                            Torq

                            ue (N

                            m)

                            Curr

                            ent [

                            Arm

                            s]

                            Angular velocity [degs]

                            AccelerationDeceleration AreaAccelerationDeceleration Area

                            Rating areaRating area

                            270deg travel time [sec]180deg travel time [sec]

                            90deg travel time [sec]45deg travel time [sec]

                            Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

                            270deg travel time [sec]180deg travel time [sec]

                            90deg travel time [sec]45deg travel time [sec]

                            Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

                            Selecting the DD Motor

                            17

                            DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

                            (44) (167)

                            (80

                            )

                            31

                            (84)(293)

                            (92

                            )

                            31

                            (φ5

                            4)

                            J11SF-03V-KX J11SFM-03V-KXNoNo SignalSignal ColorColor WiringWiring

                            AWG20(crimped)

                            Red

                            Black

                            White

                            Red

                            Black

                            White

                            +

                            -

                            FG

                            +

                            -

                            FG

                            321

                            321

                            AWG20(crimped)

                            Controller side Actuator side(Front view)(Front view)

                            L

                            Conditions for Selection

                            The followings should be checked to determine whether the DDA motor can be used to suit the specific conditions required by the customer

                            The customer should confirm that the following three points under actual use do not exceed their maximum allowable levels as specified for the DDA motor

                            The total load of device(s) mounted on the actuator

                            The total load moment of device(s) mounted on the actuator

                            The load inertia of device(s) mounted on the actuator

                            Check Load Conditions1

                            [1] Thrust load

                            [2] Load moment applied

                            [3] Load inertia

                            J = 18 times M times D 2 [kgm2]

                            Mass M [kg]

                            D [m]

                            Center of rotation

                            J = 112 times M times (a 2 + b 2) [kgm2]

                            a [m]

                            b [m]

                            Center of rotation

                            Mass M [kg]

                            J = M times R 2+ 18 times M times D 2 [kgm2]

                            Mass M [kg]

                            D [m]

                            R [m]

                            Cent

                            er o

                            fro

                            tatio

                            n

                            J = M times R 2+112 times M times (a 2 + b 2 )[kgm2]

                            a [m]

                            b [m]R [m]

                            Cent

                            er o

                            fro

                            tatio

                            n

                            Mass M [kg]

                            The travel time changes according to the load inertia See the tables below to check the travel time data

                            Travel Time Guide3

                            The data in the tables are for a reference only and do not guarantee the actual travel times

                            (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

                            0

                            0005

                            009

                            012

                            017

                            022

                            0005

                            001

                            010

                            012

                            017

                            022

                            001

                            002

                            011

                            014

                            019

                            024

                            002

                            003

                            012

                            016

                            021

                            026

                            003

                            004

                            013

                            017

                            023

                            027

                            004

                            005

                            014

                            018

                            024

                            029

                            005

                            006

                            015

                            020

                            027

                            032

                            006

                            007

                            017

                            022

                            029

                            035

                            007

                            008

                            019

                            024

                            032

                            038

                            008

                            009

                            021

                            026

                            035

                            041

                            009

                            01

                            023

                            029

                            037

                            044

                            01

                            02

                            039

                            048

                            060

                            069

                            02

                            03

                            062

                            073

                            089

                            100

                            03

                            04

                            070

                            083

                            101

                            114

                            04

                            05

                            087

                            102

                            122

                            136

                            05

                            06

                            111

                            123

                            142

                            168

                            LH18C

                            LT18C

                            Continuous Operation Area

                            LT18C type LH18C type

                            (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

                            0

                            0005

                            0098

                            0129

                            0192

                            0254

                            0005

                            001

                            0096

                            0128

                            019

                            0252

                            001

                            0015

                            0096

                            0127

                            019

                            0252

                            002

                            002

                            0097

                            0128

                            0191

                            0253

                            002

                            003

                            0099

                            0131

                            0193

                            0256

                            003

                            004

                            0104

                            0136

                            0199

                            0262

                            004

                            006

                            0113

                            0144

                            0207

                            027

                            006

                            008

                            012

                            0153

                            0215

                            0278

                            008

                            01

                            0126

                            0163

                            0225

                            0288

                            010

                            015

                            014

                            0184

                            0249

                            0312

                            015

                            02

                            0157

                            0208

                            0279

                            0341

                            02

                            03

                            0207

                            0268

                            0354

                            042

                            03

                            04

                            0257

                            0329

                            0428

                            0504

                            04

                            06

                            0352

                            044

                            0562

                            0655

                            06

                            08

                            0447

                            0549

                            0692

                            08

                            08

                            1

                            053

                            0646

                            0806

                            0925

                            10

                            12

                            0629

                            0758

                            0933

                            1064

                            12

                            14

                            0795

                            0941

                            1133

                            1274

                            14

                            18

                            0875

                            1035

                            1257

                            1415

                            Check Operating Conditions2Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DDA motor specifications to determine whether the DDA motor can be used under the applicable operating conditions Please contact IAI for assistance To

                            rque

                            (Nm

                            )

                            Curr

                            ent [

                            Arm

                            s]

                            Angular velocity [degs]

                            AccelerationDeceleration AreaAccelerationDeceleration Area

                            Torq

                            ue (N

                            m)

                            Curr

                            ent [

                            Arm

                            s]

                            Angular velocity [degs]

                            AccelerationDeceleration AreaAccelerationDeceleration Area

                            Rating areaRating area

                            270deg travel time [sec]180deg travel time [sec]

                            90deg travel time [sec]45deg travel time [sec]

                            Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

                            270deg travel time [sec]180deg travel time [sec]

                            90deg travel time [sec]45deg travel time [sec]

                            Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

                            Cables

                            (Front view) (Front view)

                            Controller sideActuator side

                            (16)

                            (41)

                            (φ9) (2

                            1)

                            (20) (10)

                            (18)

                            L

                            4

                            1

                            1

                            4

                            075sq075sq

                            Wiring Color Signal No No WiringColorSignal

                            White

                            GreenRed

                            BlackV

                            PEU

                            W PE

                            VU

                            W3

                            12

                            43

                            12

                            4

                            White

                            Green

                            Red

                            Black (crimped)

                            Model Number CB-X-MApoundpoundpound Please indicate the cable length (L) in poundpoundpound maximum 30m eg) 080 = 8m

                            Minimum bending radius r = 51mm or more (Dynamic bending condition) Only robot cable is available for this model

                            L

                            4

                            1

                            1

                            4

                            (φ9)

                            (Front view)

                            (16)

                            (41)

                            (16)(21)

                            (11)

                            1

                            1

                            4

                            (φ9)

                            (16)

                            Controller side Actuator side

                            125sq125sq

                            Wiring Color Signal No No WiringColorSignal

                            White

                            GreenRed

                            BlackV

                            PEU

                            W PE

                            VU

                            W3

                            12

                            43

                            12

                            4

                            White

                            Green

                            Red

                            Black (crimped)

                            Model Number CB-XMC-MApoundpoundpound Please indicate the cable length (L) in poundpoundpound maximum 30m eg) 080 = 8m

                            Minimum bending radius r = 55mm or more (Dynamic bending condition) Only robot cable is available for this model

                            (Front view)(Front view)

                            AWG26(Soldered)

                            AWG26(crimped)

                            L

                            (13)

                            14

                            269

                            1

                            13

                            (37)

                            (41) (14)

                            (15)

                            (25)

                            1

                            (φ10

                            )

                            Yellow

                            Shield is clamp connected to the hoodDrain Wire and Braided Shield

                            BlueBlackRedGray

                            PurpleGreen

                            OrangeWhiteGrayWhitePurpleWhiteBlackWhiteRed

                            WhiteYellowWhiteBlue

                            RedGray

                            PurpleGreen

                            Orange

                            YellowBlue

                            WhiteGreenBlack

                            Drain

                            WhiteOrangeWhiteGrayWhitePurpleWhiteBlackWhiteRed

                            WhiteYellowWhiteBlue

                            WhiteOrangeWhiteGreen

                            Wiring Color Signal No

                            WiringColorSignalNo

                            Controller side Actuator side

                            Minimum bending radius r = 58mm or more (Dynamic bending condition) Only robot cable is available for this model

                            Model Number CB-X3-PApoundpoundpound

                            Model Number CB-DDB-BKpoundpoundpound

                            Please indicate the cable length (L) in poundpoundpound maximum 30m eg) 080 = 8m

                            Please indicate the cable length (L) in poundpoundpoundmaximum 20m eg) 080 = 8m

                            18

                            DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

                            Catalog No CE0242-1A (0916)

                            IAI America Inc 2690 W 237th Street Torrance CA 90505 (800) 736-1712 110 E State Pkwy Schaumburg IL 60173 (800) 944-0333

                            1220 Kennestone Circle Suite 108 Marietta GA 30066 (888) 354-9470

                            wwwintelligentactuatorcom

                            IAI Industrieroboter GmbHOber der Roumlth 4 D-65824 Schwalbach am Taunus Germany

                            IAI (Shanghai) Co LtdShanghai Jiahua Business Center A8-303 808Hongqiao Rd Shanghai 200030 China

                            IAI Robot (Thailand) Co Ltd825 Phairojkijja Tower 12th Floor Bangna-Trad RDBangna Bangna Bangkok 10260 Thailand

                            The information contained in this product brochure may change without prior notice due to product improvements

                            • Features
                            • Series List
                            • Model Specification Items
                            • Application Examples
                            • DDA-LT18C
                            • DDACR-LT18C
                            • DDA-LT18C-B
                            • DDA-LH18C
                            • DDACR-LH18C
                            • DDA-LH18C-B
                            • Options
                            • SCON-CB
                            • X-SEL
                            • Precautions
                            • Selecting the DD Motor
                            • Cables

                              Position Controller

                              Controller Model

                              System Configuration

                              Positioner Single-axis Type ltSCONgt Model

                              Power Supply Voltage

                              IO TypeEncoder Type Motor Type Type Series SCON

                              IO Cable Length

                              AIAM

                              2

                              The 200W motor used by the DDA is larger than a normal 200W motor so the motor type for the controller will be 200S and its size will be larger than the 400W motor

                              For 200W motorFor 600W motor

                              200S600

                              High-function typeSafety category compliant type

                              CBCGB

                              PLC equipped typeSafety category PLC equipped type

                              LCLCG

                              Motor cableModel CB-X-MA (LT18C) CB-XMC-MA (LH18C)

                              SCON PC

                              DDA

                              PLC(To be supplied by the customer)

                              IO flat cableModel CB-PAC-PIO020Standard 2m

                              Be sure to use a noise filter on the power supply

                              ( )Encoder cableModel CB-X3-PA

                              PC compatible softwareRS232 connection versionModel RCM-101-MWUSB connection versionModel RCM-101-USB(Please contact IAI for more details)

                              Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)

                              Regenerative resistor unitModel RESU-2RESUD-2(Please contact IAI for more details)

                              1 The wiring diagram is different for models with brakes Please refer to P13 for more information

                              1

                              Single-phase 200VAC Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models

                              Main powersupply

                              Field network

                              Option

                              Supplied with the actuator

                              Supplied with the controller

                              Supplied with the actuator Option

                              Option

                              Option

                              When the SCON Controller is Connected

                              When a field network specification is selectedthe IO cable length will be 0

                              Index absolute typeMulti-rotation abs type

                              NPPN

                              PIO NPN (Standard)

                              PIO PNP

                              DVCN

                              DeviceNet

                              CompoNet

                              CC CC-Link

                              ML MECHATROLINK-I II

                              ML3PR

                              MECHATROLINK-III

                              PROFIBUS-DP

                              02

                              35

                              No cable2m (Standard)

                              3m5m

                              EC EtherCAT

                              EP EtherNetIP

                              PRT PROFINET IO

                              For recommended modelsplease contact IAI

                              Model

                              External view

                              IO type

                              IO type code

                              MECHATROLINK-III

                              connectionCompoNet connection

                              PROFIBUS-DP connection

                              CC-Linkconnection

                              DeviceNetconnection

                              PIO connection specification (1)

                              NPPN DV CC PR

                              Standard Field network type (1)

                              CN ML

                              SCON-CB

                              EtherNetIP connection

                              PROFINET IO connection

                              EtherCATconnection

                              EC EP PRT

                              List of Models

                              MECHATROLINK- III

                              connection

                              ML3

                              Applicable encoder type(Note) The index absolute type cannot be used in the pulse-train control and MECHATROLINK-III control(1) Please note that the network specifications cannot be operated on the PIO or pulse-train The PLC type (LCLCG) cannot be connected on the pulse-train

                              Index absoluteMulti-rotation absoluteIndex absolute Multi-rotation absolute

                              CBCGB CBCGB LCLCG

                              14

                              SCON Controller

                              Program Controller

                              List of Models

                              Model P Q R S

                              Type Large-capacity type Large-capacity type (Safety category specification) High-function type High-function type

                              (Safety category specification)

                              External view

                              DescriptionLarge-capacity type

                              that can control up to 6 axes 2400W

                              Large-capacity type thats compatible with the

                              safety category 4

                              High-function type that allows up to 8-axis operation

                              Safety category 4 compatible high-function type

                              Controller Model

                              System Configuration

                              Program Multi-axis Type ltXSELgt Model

                              Encoder Type

                              Encoder Type

                              Motor Type

                              Motor Type

                              Number ofConnected

                              AxesType Series Option Option

                              XSEL

                              200 For 200W motor

                              600 For 600W motor

                              B BrakePQRS

                              6-axis type6-axis safety category type8-axis type8-axis safety category type

                              8

                              1

                              ~ ~

                              1 axis

                              8 axes

                              (PQ type is up to 6 axes)

                              (Details of the 1st axis) (Details of the 2nd~8th axis)

                              It can simultaneously operate actuators (single-axis robot and ROBO Cylinder) other than the DDA motor on a single controller For connectable actuators other than the DDA motor please contact IAI

                              For subsequent models please contact IAI

                              Notes

                              AIAM

                              Index absolute typeMulti-rotation absolute type

                              When the XSEL Controller is Connected

                              Be sure to use a noise filter on the power supply

                              Motor cableModel CB-X-MA (LT18C) CB-XMC-MA (LH18C)

                              XSELPC

                              PLC(To be supplied by the customer)

                              PC compatible softwareRS232 connection versionModel IA-101-X-MWUSB connection versionModel IA-101-X-USBMW(Please contact IAI for more details)

                              Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)

                              Single-phase 200VACThree-phase 200VAC

                              Regenerative resistor unitModel RESU-1RESUD-1(Please contact IAI for more details)

                              Option Option

                              Option

                              Field networkOption

                              IO flat cableModel CB-X-PIO020Standard 2m

                              Supplied with the controller

                              Encoder cableModel CB-X3-PA

                              Supplied with the actuator

                              Supplied with the actuator

                              Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models

                              The wiring diagram is different for models with brakes Please refer to P13 for more information

                              DDA

                              Main powersupply ( )For recommended models

                              please contact IAI

                              15

                              XSEL Controller

                              Precautions

                              Installation

                              Installation Orientation

                              Mountingsurface

                              For models with brake and cable exit direction to the bottom a clearance hole is required

                              Ceiling mount

                              Horizontal mount

                              Vertical mount

                              Gra

                              vity

                              Operation TypeThis product is available in 2 operation types depending on the operation conditions Please check the features and precautions on each type before use

                              (1)The high resolution specification can be connected only to the SCON-CB(2)When the XSEL index type travels more than 180deg from the current position it rotates in a direction that requires a shorter travel distance to

                              reach the target position Therefore please note that the direction of rotation changes according to the current position and travel distance If you want to specify the direction of travel use the SCON-CB

                              (3)The index type can be rotated in a given direction infinitely but it actually cannot continue to rotate in the same direction without stopping like a regular motor does because the maximum travel distance per command from the XSEL controller is 180deg If you want to allow the motor to rotate continuously use the SCON-CB

                              (4)Home return is required for the multi-rotation absolute encoder during the initial setting and replacement of the absolute battery

                              Absolute batteryHome return operationLimitless rotation

                              Maximum amount of movement in a single movement command

                              Operation rangeController typeOperation type

                              Not requiredNot required

                              Yes (3)

                              0~359999deg

                              Index absolute type

                              RequiredNot required (4)

                              No

                              Above operation rangeplusmn9999deg (plusmn2520deg) max

                              Multi-rotation absolute typeSCON-CB XSEL(1)

                              ( ) is for 20-bit

                              (Note) Use this product by installing it on a mounting surface having heat dissipating characteristics equivalent to those of an aluminum plate of w450mm times d450mm times t12mm in size If the installation conditions necessitate lower heat dissipating characteristics please consult IAI

                              ControllersFor the DDA with 200W motor the outside dimensions of the SCON-CB controller will be the same as the size of the

                              400W motor (Please contact IAI for the details of the SCON-CB controller)One and two regenerative resistor unit(s) are required for LT18C and LH18C respectively to operate a DDA

                              motor with the SCON-CBWhen operating DDA motor(s) with the XSEL controller regenerative resistor units are required as shown below

                              The number of DDA motor(s) connectable to the XSEL controller is a max of 8 units for the LT18C type and a max of 2 units for the LH18C type

                              Please note that when the DDA motor is operated with the SCON-CB the motor cannot be connected to the ROBO Cylinder gateway function of the XSEL controller

                              Calculation for the power supply value LT18C type single-phase 600W three-phase 200W LH18C type single-phase 1200W three-phase 600W

                              Number of regenerative resistor units

                              1 2 3 4 5 6 7 81 2 3

                              (Cannot be connected)4

                              2 4LT18CLH18C

                              Number of DD motor(s)

                              360deg

                              SCON-CB XSEL(1)

                              180deg(2)

                              16

                              DDA (CR) Direct Drive Motor

                              Conditions for Selection

                              The followings should be checked to determine whether the DDA motor can be used to suit the specific conditions required by the customer

                              The customer should confirm that the following three points under actual use do not exceed their maximum allowable levels as specified for the DDA motor

                              The total load of device(s) mounted on the actuator

                              The total load moment of device(s) mounted on the actuator

                              The load inertia of device(s) mounted on the actuator

                              Check Load Conditions1

                              [1] Thrust load

                              [2] Load moment applied

                              [3] Load inertia

                              J = 18 times M times D 2 [kgm2]

                              Mass M [kg]

                              D [m]

                              Center of rotation

                              J = 112 times M times (a 2 + b 2) [kgm2]

                              a [m]

                              b [m]

                              Center of rotation

                              Mass M [kg]

                              J = M times R 2+ 18 times M times D 2 [kgm2]

                              Mass M [kg]

                              D [m]

                              R [m]

                              Cent

                              er o

                              fro

                              tatio

                              n

                              J = M times R 2+112 times M times (a 2 + b 2 )[kgm2]

                              a [m]

                              b [m]R [m]

                              Cent

                              er o

                              fro

                              tatio

                              n

                              Mass M [kg]

                              The travel time changes according to the load inertia See the tables below to check the travel time data

                              Travel Time Guide3

                              The data in the tables are for a reference only and do not guarantee the actual travel times

                              (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

                              0

                              0005

                              009

                              012

                              017

                              022

                              0005

                              001

                              010

                              012

                              017

                              022

                              001

                              002

                              011

                              014

                              019

                              024

                              002

                              003

                              012

                              016

                              021

                              026

                              003

                              004

                              013

                              017

                              023

                              027

                              004

                              005

                              014

                              018

                              024

                              029

                              005

                              006

                              015

                              020

                              027

                              032

                              006

                              007

                              017

                              022

                              029

                              035

                              007

                              008

                              019

                              024

                              032

                              038

                              008

                              009

                              021

                              026

                              035

                              041

                              009

                              01

                              023

                              029

                              037

                              044

                              01

                              02

                              039

                              048

                              060

                              069

                              02

                              03

                              062

                              073

                              089

                              100

                              03

                              04

                              070

                              083

                              101

                              114

                              04

                              05

                              087

                              102

                              122

                              136

                              05

                              06

                              111

                              123

                              142

                              168

                              LH18C

                              LT18C

                              Continuous Operation Area

                              LT18C type LH18C type

                              (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

                              0

                              0005

                              0098

                              0129

                              0192

                              0254

                              0005

                              001

                              0096

                              0128

                              019

                              0252

                              001

                              0015

                              0096

                              0127

                              019

                              0252

                              002

                              002

                              0097

                              0128

                              0191

                              0253

                              002

                              003

                              0099

                              0131

                              0193

                              0256

                              003

                              004

                              0104

                              0136

                              0199

                              0262

                              004

                              006

                              0113

                              0144

                              0207

                              027

                              006

                              008

                              012

                              0153

                              0215

                              0278

                              008

                              01

                              0126

                              0163

                              0225

                              0288

                              010

                              015

                              014

                              0184

                              0249

                              0312

                              015

                              02

                              0157

                              0208

                              0279

                              0341

                              02

                              03

                              0207

                              0268

                              0354

                              042

                              03

                              04

                              0257

                              0329

                              0428

                              0504

                              04

                              06

                              0352

                              044

                              0562

                              0655

                              06

                              08

                              0447

                              0549

                              0692

                              08

                              08

                              1

                              053

                              0646

                              0806

                              0925

                              10

                              12

                              0629

                              0758

                              0933

                              1064

                              12

                              14

                              0795

                              0941

                              1133

                              1274

                              14

                              18

                              0875

                              1035

                              1257

                              1415

                              Check Operating Conditions2Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DDA motor specifications to determine whether the DDA motor can be used under the applicable operating conditions Please contact IAI for assistance To

                              rque

                              (Nm

                              )

                              Curr

                              ent [

                              Arm

                              s]

                              Angular velocity [degs]

                              AccelerationDeceleration AreaAccelerationDeceleration Area

                              Torq

                              ue (N

                              m)

                              Curr

                              ent [

                              Arm

                              s]

                              Angular velocity [degs]

                              AccelerationDeceleration AreaAccelerationDeceleration Area

                              Rating areaRating area

                              270deg travel time [sec]180deg travel time [sec]

                              90deg travel time [sec]45deg travel time [sec]

                              Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

                              270deg travel time [sec]180deg travel time [sec]

                              90deg travel time [sec]45deg travel time [sec]

                              Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

                              Selecting the DD Motor

                              17

                              DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

                              (44) (167)

                              (80

                              )

                              31

                              (84)(293)

                              (92

                              )

                              31

                              (φ5

                              4)

                              J11SF-03V-KX J11SFM-03V-KXNoNo SignalSignal ColorColor WiringWiring

                              AWG20(crimped)

                              Red

                              Black

                              White

                              Red

                              Black

                              White

                              +

                              -

                              FG

                              +

                              -

                              FG

                              321

                              321

                              AWG20(crimped)

                              Controller side Actuator side(Front view)(Front view)

                              L

                              Conditions for Selection

                              The followings should be checked to determine whether the DDA motor can be used to suit the specific conditions required by the customer

                              The customer should confirm that the following three points under actual use do not exceed their maximum allowable levels as specified for the DDA motor

                              The total load of device(s) mounted on the actuator

                              The total load moment of device(s) mounted on the actuator

                              The load inertia of device(s) mounted on the actuator

                              Check Load Conditions1

                              [1] Thrust load

                              [2] Load moment applied

                              [3] Load inertia

                              J = 18 times M times D 2 [kgm2]

                              Mass M [kg]

                              D [m]

                              Center of rotation

                              J = 112 times M times (a 2 + b 2) [kgm2]

                              a [m]

                              b [m]

                              Center of rotation

                              Mass M [kg]

                              J = M times R 2+ 18 times M times D 2 [kgm2]

                              Mass M [kg]

                              D [m]

                              R [m]

                              Cent

                              er o

                              fro

                              tatio

                              n

                              J = M times R 2+112 times M times (a 2 + b 2 )[kgm2]

                              a [m]

                              b [m]R [m]

                              Cent

                              er o

                              fro

                              tatio

                              n

                              Mass M [kg]

                              The travel time changes according to the load inertia See the tables below to check the travel time data

                              Travel Time Guide3

                              The data in the tables are for a reference only and do not guarantee the actual travel times

                              (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

                              0

                              0005

                              009

                              012

                              017

                              022

                              0005

                              001

                              010

                              012

                              017

                              022

                              001

                              002

                              011

                              014

                              019

                              024

                              002

                              003

                              012

                              016

                              021

                              026

                              003

                              004

                              013

                              017

                              023

                              027

                              004

                              005

                              014

                              018

                              024

                              029

                              005

                              006

                              015

                              020

                              027

                              032

                              006

                              007

                              017

                              022

                              029

                              035

                              007

                              008

                              019

                              024

                              032

                              038

                              008

                              009

                              021

                              026

                              035

                              041

                              009

                              01

                              023

                              029

                              037

                              044

                              01

                              02

                              039

                              048

                              060

                              069

                              02

                              03

                              062

                              073

                              089

                              100

                              03

                              04

                              070

                              083

                              101

                              114

                              04

                              05

                              087

                              102

                              122

                              136

                              05

                              06

                              111

                              123

                              142

                              168

                              LH18C

                              LT18C

                              Continuous Operation Area

                              LT18C type LH18C type

                              (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

                              0

                              0005

                              0098

                              0129

                              0192

                              0254

                              0005

                              001

                              0096

                              0128

                              019

                              0252

                              001

                              0015

                              0096

                              0127

                              019

                              0252

                              002

                              002

                              0097

                              0128

                              0191

                              0253

                              002

                              003

                              0099

                              0131

                              0193

                              0256

                              003

                              004

                              0104

                              0136

                              0199

                              0262

                              004

                              006

                              0113

                              0144

                              0207

                              027

                              006

                              008

                              012

                              0153

                              0215

                              0278

                              008

                              01

                              0126

                              0163

                              0225

                              0288

                              010

                              015

                              014

                              0184

                              0249

                              0312

                              015

                              02

                              0157

                              0208

                              0279

                              0341

                              02

                              03

                              0207

                              0268

                              0354

                              042

                              03

                              04

                              0257

                              0329

                              0428

                              0504

                              04

                              06

                              0352

                              044

                              0562

                              0655

                              06

                              08

                              0447

                              0549

                              0692

                              08

                              08

                              1

                              053

                              0646

                              0806

                              0925

                              10

                              12

                              0629

                              0758

                              0933

                              1064

                              12

                              14

                              0795

                              0941

                              1133

                              1274

                              14

                              18

                              0875

                              1035

                              1257

                              1415

                              Check Operating Conditions2Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DDA motor specifications to determine whether the DDA motor can be used under the applicable operating conditions Please contact IAI for assistance To

                              rque

                              (Nm

                              )

                              Curr

                              ent [

                              Arm

                              s]

                              Angular velocity [degs]

                              AccelerationDeceleration AreaAccelerationDeceleration Area

                              Torq

                              ue (N

                              m)

                              Curr

                              ent [

                              Arm

                              s]

                              Angular velocity [degs]

                              AccelerationDeceleration AreaAccelerationDeceleration Area

                              Rating areaRating area

                              270deg travel time [sec]180deg travel time [sec]

                              90deg travel time [sec]45deg travel time [sec]

                              Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

                              270deg travel time [sec]180deg travel time [sec]

                              90deg travel time [sec]45deg travel time [sec]

                              Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

                              Cables

                              (Front view) (Front view)

                              Controller sideActuator side

                              (16)

                              (41)

                              (φ9) (2

                              1)

                              (20) (10)

                              (18)

                              L

                              4

                              1

                              1

                              4

                              075sq075sq

                              Wiring Color Signal No No WiringColorSignal

                              White

                              GreenRed

                              BlackV

                              PEU

                              W PE

                              VU

                              W3

                              12

                              43

                              12

                              4

                              White

                              Green

                              Red

                              Black (crimped)

                              Model Number CB-X-MApoundpoundpound Please indicate the cable length (L) in poundpoundpound maximum 30m eg) 080 = 8m

                              Minimum bending radius r = 51mm or more (Dynamic bending condition) Only robot cable is available for this model

                              L

                              4

                              1

                              1

                              4

                              (φ9)

                              (Front view)

                              (16)

                              (41)

                              (16)(21)

                              (11)

                              1

                              1

                              4

                              (φ9)

                              (16)

                              Controller side Actuator side

                              125sq125sq

                              Wiring Color Signal No No WiringColorSignal

                              White

                              GreenRed

                              BlackV

                              PEU

                              W PE

                              VU

                              W3

                              12

                              43

                              12

                              4

                              White

                              Green

                              Red

                              Black (crimped)

                              Model Number CB-XMC-MApoundpoundpound Please indicate the cable length (L) in poundpoundpound maximum 30m eg) 080 = 8m

                              Minimum bending radius r = 55mm or more (Dynamic bending condition) Only robot cable is available for this model

                              (Front view)(Front view)

                              AWG26(Soldered)

                              AWG26(crimped)

                              L

                              (13)

                              14

                              269

                              1

                              13

                              (37)

                              (41) (14)

                              (15)

                              (25)

                              1

                              (φ10

                              )

                              Yellow

                              Shield is clamp connected to the hoodDrain Wire and Braided Shield

                              BlueBlackRedGray

                              PurpleGreen

                              OrangeWhiteGrayWhitePurpleWhiteBlackWhiteRed

                              WhiteYellowWhiteBlue

                              RedGray

                              PurpleGreen

                              Orange

                              YellowBlue

                              WhiteGreenBlack

                              Drain

                              WhiteOrangeWhiteGrayWhitePurpleWhiteBlackWhiteRed

                              WhiteYellowWhiteBlue

                              WhiteOrangeWhiteGreen

                              Wiring Color Signal No

                              WiringColorSignalNo

                              Controller side Actuator side

                              Minimum bending radius r = 58mm or more (Dynamic bending condition) Only robot cable is available for this model

                              Model Number CB-X3-PApoundpoundpound

                              Model Number CB-DDB-BKpoundpoundpound

                              Please indicate the cable length (L) in poundpoundpound maximum 30m eg) 080 = 8m

                              Please indicate the cable length (L) in poundpoundpoundmaximum 20m eg) 080 = 8m

                              18

                              DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

                              Catalog No CE0242-1A (0916)

                              IAI America Inc 2690 W 237th Street Torrance CA 90505 (800) 736-1712 110 E State Pkwy Schaumburg IL 60173 (800) 944-0333

                              1220 Kennestone Circle Suite 108 Marietta GA 30066 (888) 354-9470

                              wwwintelligentactuatorcom

                              IAI Industrieroboter GmbHOber der Roumlth 4 D-65824 Schwalbach am Taunus Germany

                              IAI (Shanghai) Co LtdShanghai Jiahua Business Center A8-303 808Hongqiao Rd Shanghai 200030 China

                              IAI Robot (Thailand) Co Ltd825 Phairojkijja Tower 12th Floor Bangna-Trad RDBangna Bangna Bangkok 10260 Thailand

                              The information contained in this product brochure may change without prior notice due to product improvements

                              • Features
                              • Series List
                              • Model Specification Items
                              • Application Examples
                              • DDA-LT18C
                              • DDACR-LT18C
                              • DDA-LT18C-B
                              • DDA-LH18C
                              • DDACR-LH18C
                              • DDA-LH18C-B
                              • Options
                              • SCON-CB
                              • X-SEL
                              • Precautions
                              • Selecting the DD Motor
                              • Cables

                                Program Controller

                                List of Models

                                Model P Q R S

                                Type Large-capacity type Large-capacity type (Safety category specification) High-function type High-function type

                                (Safety category specification)

                                External view

                                DescriptionLarge-capacity type

                                that can control up to 6 axes 2400W

                                Large-capacity type thats compatible with the

                                safety category 4

                                High-function type that allows up to 8-axis operation

                                Safety category 4 compatible high-function type

                                Controller Model

                                System Configuration

                                Program Multi-axis Type ltXSELgt Model

                                Encoder Type

                                Encoder Type

                                Motor Type

                                Motor Type

                                Number ofConnected

                                AxesType Series Option Option

                                XSEL

                                200 For 200W motor

                                600 For 600W motor

                                B BrakePQRS

                                6-axis type6-axis safety category type8-axis type8-axis safety category type

                                8

                                1

                                ~ ~

                                1 axis

                                8 axes

                                (PQ type is up to 6 axes)

                                (Details of the 1st axis) (Details of the 2nd~8th axis)

                                It can simultaneously operate actuators (single-axis robot and ROBO Cylinder) other than the DDA motor on a single controller For connectable actuators other than the DDA motor please contact IAI

                                For subsequent models please contact IAI

                                Notes

                                AIAM

                                Index absolute typeMulti-rotation absolute type

                                When the XSEL Controller is Connected

                                Be sure to use a noise filter on the power supply

                                Motor cableModel CB-X-MA (LT18C) CB-XMC-MA (LH18C)

                                XSELPC

                                PLC(To be supplied by the customer)

                                PC compatible softwareRS232 connection versionModel IA-101-X-MWUSB connection versionModel IA-101-X-USBMW(Please contact IAI for more details)

                                Touch panel teaching pendantModel TB-02-(Please see individual TB-02 catalog for more details)

                                Single-phase 200VACThree-phase 200VAC

                                Regenerative resistor unitModel RESU-1RESUD-1(Please contact IAI for more details)

                                Option Option

                                Option

                                Field networkOption

                                IO flat cableModel CB-X-PIO020Standard 2m

                                Supplied with the controller

                                Encoder cableModel CB-X3-PA

                                Supplied with the actuator

                                Supplied with the actuator

                                Drive source cutoff circuit (to be supplied by the customer) Only required by the safety category compliant models

                                The wiring diagram is different for models with brakes Please refer to P13 for more information

                                DDA

                                Main powersupply ( )For recommended models

                                please contact IAI

                                15

                                XSEL Controller

                                Precautions

                                Installation

                                Installation Orientation

                                Mountingsurface

                                For models with brake and cable exit direction to the bottom a clearance hole is required

                                Ceiling mount

                                Horizontal mount

                                Vertical mount

                                Gra

                                vity

                                Operation TypeThis product is available in 2 operation types depending on the operation conditions Please check the features and precautions on each type before use

                                (1)The high resolution specification can be connected only to the SCON-CB(2)When the XSEL index type travels more than 180deg from the current position it rotates in a direction that requires a shorter travel distance to

                                reach the target position Therefore please note that the direction of rotation changes according to the current position and travel distance If you want to specify the direction of travel use the SCON-CB

                                (3)The index type can be rotated in a given direction infinitely but it actually cannot continue to rotate in the same direction without stopping like a regular motor does because the maximum travel distance per command from the XSEL controller is 180deg If you want to allow the motor to rotate continuously use the SCON-CB

                                (4)Home return is required for the multi-rotation absolute encoder during the initial setting and replacement of the absolute battery

                                Absolute batteryHome return operationLimitless rotation

                                Maximum amount of movement in a single movement command

                                Operation rangeController typeOperation type

                                Not requiredNot required

                                Yes (3)

                                0~359999deg

                                Index absolute type

                                RequiredNot required (4)

                                No

                                Above operation rangeplusmn9999deg (plusmn2520deg) max

                                Multi-rotation absolute typeSCON-CB XSEL(1)

                                ( ) is for 20-bit

                                (Note) Use this product by installing it on a mounting surface having heat dissipating characteristics equivalent to those of an aluminum plate of w450mm times d450mm times t12mm in size If the installation conditions necessitate lower heat dissipating characteristics please consult IAI

                                ControllersFor the DDA with 200W motor the outside dimensions of the SCON-CB controller will be the same as the size of the

                                400W motor (Please contact IAI for the details of the SCON-CB controller)One and two regenerative resistor unit(s) are required for LT18C and LH18C respectively to operate a DDA

                                motor with the SCON-CBWhen operating DDA motor(s) with the XSEL controller regenerative resistor units are required as shown below

                                The number of DDA motor(s) connectable to the XSEL controller is a max of 8 units for the LT18C type and a max of 2 units for the LH18C type

                                Please note that when the DDA motor is operated with the SCON-CB the motor cannot be connected to the ROBO Cylinder gateway function of the XSEL controller

                                Calculation for the power supply value LT18C type single-phase 600W three-phase 200W LH18C type single-phase 1200W three-phase 600W

                                Number of regenerative resistor units

                                1 2 3 4 5 6 7 81 2 3

                                (Cannot be connected)4

                                2 4LT18CLH18C

                                Number of DD motor(s)

                                360deg

                                SCON-CB XSEL(1)

                                180deg(2)

                                16

                                DDA (CR) Direct Drive Motor

                                Conditions for Selection

                                The followings should be checked to determine whether the DDA motor can be used to suit the specific conditions required by the customer

                                The customer should confirm that the following three points under actual use do not exceed their maximum allowable levels as specified for the DDA motor

                                The total load of device(s) mounted on the actuator

                                The total load moment of device(s) mounted on the actuator

                                The load inertia of device(s) mounted on the actuator

                                Check Load Conditions1

                                [1] Thrust load

                                [2] Load moment applied

                                [3] Load inertia

                                J = 18 times M times D 2 [kgm2]

                                Mass M [kg]

                                D [m]

                                Center of rotation

                                J = 112 times M times (a 2 + b 2) [kgm2]

                                a [m]

                                b [m]

                                Center of rotation

                                Mass M [kg]

                                J = M times R 2+ 18 times M times D 2 [kgm2]

                                Mass M [kg]

                                D [m]

                                R [m]

                                Cent

                                er o

                                fro

                                tatio

                                n

                                J = M times R 2+112 times M times (a 2 + b 2 )[kgm2]

                                a [m]

                                b [m]R [m]

                                Cent

                                er o

                                fro

                                tatio

                                n

                                Mass M [kg]

                                The travel time changes according to the load inertia See the tables below to check the travel time data

                                Travel Time Guide3

                                The data in the tables are for a reference only and do not guarantee the actual travel times

                                (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

                                0

                                0005

                                009

                                012

                                017

                                022

                                0005

                                001

                                010

                                012

                                017

                                022

                                001

                                002

                                011

                                014

                                019

                                024

                                002

                                003

                                012

                                016

                                021

                                026

                                003

                                004

                                013

                                017

                                023

                                027

                                004

                                005

                                014

                                018

                                024

                                029

                                005

                                006

                                015

                                020

                                027

                                032

                                006

                                007

                                017

                                022

                                029

                                035

                                007

                                008

                                019

                                024

                                032

                                038

                                008

                                009

                                021

                                026

                                035

                                041

                                009

                                01

                                023

                                029

                                037

                                044

                                01

                                02

                                039

                                048

                                060

                                069

                                02

                                03

                                062

                                073

                                089

                                100

                                03

                                04

                                070

                                083

                                101

                                114

                                04

                                05

                                087

                                102

                                122

                                136

                                05

                                06

                                111

                                123

                                142

                                168

                                LH18C

                                LT18C

                                Continuous Operation Area

                                LT18C type LH18C type

                                (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

                                0

                                0005

                                0098

                                0129

                                0192

                                0254

                                0005

                                001

                                0096

                                0128

                                019

                                0252

                                001

                                0015

                                0096

                                0127

                                019

                                0252

                                002

                                002

                                0097

                                0128

                                0191

                                0253

                                002

                                003

                                0099

                                0131

                                0193

                                0256

                                003

                                004

                                0104

                                0136

                                0199

                                0262

                                004

                                006

                                0113

                                0144

                                0207

                                027

                                006

                                008

                                012

                                0153

                                0215

                                0278

                                008

                                01

                                0126

                                0163

                                0225

                                0288

                                010

                                015

                                014

                                0184

                                0249

                                0312

                                015

                                02

                                0157

                                0208

                                0279

                                0341

                                02

                                03

                                0207

                                0268

                                0354

                                042

                                03

                                04

                                0257

                                0329

                                0428

                                0504

                                04

                                06

                                0352

                                044

                                0562

                                0655

                                06

                                08

                                0447

                                0549

                                0692

                                08

                                08

                                1

                                053

                                0646

                                0806

                                0925

                                10

                                12

                                0629

                                0758

                                0933

                                1064

                                12

                                14

                                0795

                                0941

                                1133

                                1274

                                14

                                18

                                0875

                                1035

                                1257

                                1415

                                Check Operating Conditions2Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DDA motor specifications to determine whether the DDA motor can be used under the applicable operating conditions Please contact IAI for assistance To

                                rque

                                (Nm

                                )

                                Curr

                                ent [

                                Arm

                                s]

                                Angular velocity [degs]

                                AccelerationDeceleration AreaAccelerationDeceleration Area

                                Torq

                                ue (N

                                m)

                                Curr

                                ent [

                                Arm

                                s]

                                Angular velocity [degs]

                                AccelerationDeceleration AreaAccelerationDeceleration Area

                                Rating areaRating area

                                270deg travel time [sec]180deg travel time [sec]

                                90deg travel time [sec]45deg travel time [sec]

                                Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

                                270deg travel time [sec]180deg travel time [sec]

                                90deg travel time [sec]45deg travel time [sec]

                                Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

                                Selecting the DD Motor

                                17

                                DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

                                (44) (167)

                                (80

                                )

                                31

                                (84)(293)

                                (92

                                )

                                31

                                (φ5

                                4)

                                J11SF-03V-KX J11SFM-03V-KXNoNo SignalSignal ColorColor WiringWiring

                                AWG20(crimped)

                                Red

                                Black

                                White

                                Red

                                Black

                                White

                                +

                                -

                                FG

                                +

                                -

                                FG

                                321

                                321

                                AWG20(crimped)

                                Controller side Actuator side(Front view)(Front view)

                                L

                                Conditions for Selection

                                The followings should be checked to determine whether the DDA motor can be used to suit the specific conditions required by the customer

                                The customer should confirm that the following three points under actual use do not exceed their maximum allowable levels as specified for the DDA motor

                                The total load of device(s) mounted on the actuator

                                The total load moment of device(s) mounted on the actuator

                                The load inertia of device(s) mounted on the actuator

                                Check Load Conditions1

                                [1] Thrust load

                                [2] Load moment applied

                                [3] Load inertia

                                J = 18 times M times D 2 [kgm2]

                                Mass M [kg]

                                D [m]

                                Center of rotation

                                J = 112 times M times (a 2 + b 2) [kgm2]

                                a [m]

                                b [m]

                                Center of rotation

                                Mass M [kg]

                                J = M times R 2+ 18 times M times D 2 [kgm2]

                                Mass M [kg]

                                D [m]

                                R [m]

                                Cent

                                er o

                                fro

                                tatio

                                n

                                J = M times R 2+112 times M times (a 2 + b 2 )[kgm2]

                                a [m]

                                b [m]R [m]

                                Cent

                                er o

                                fro

                                tatio

                                n

                                Mass M [kg]

                                The travel time changes according to the load inertia See the tables below to check the travel time data

                                Travel Time Guide3

                                The data in the tables are for a reference only and do not guarantee the actual travel times

                                (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

                                0

                                0005

                                009

                                012

                                017

                                022

                                0005

                                001

                                010

                                012

                                017

                                022

                                001

                                002

                                011

                                014

                                019

                                024

                                002

                                003

                                012

                                016

                                021

                                026

                                003

                                004

                                013

                                017

                                023

                                027

                                004

                                005

                                014

                                018

                                024

                                029

                                005

                                006

                                015

                                020

                                027

                                032

                                006

                                007

                                017

                                022

                                029

                                035

                                007

                                008

                                019

                                024

                                032

                                038

                                008

                                009

                                021

                                026

                                035

                                041

                                009

                                01

                                023

                                029

                                037

                                044

                                01

                                02

                                039

                                048

                                060

                                069

                                02

                                03

                                062

                                073

                                089

                                100

                                03

                                04

                                070

                                083

                                101

                                114

                                04

                                05

                                087

                                102

                                122

                                136

                                05

                                06

                                111

                                123

                                142

                                168

                                LH18C

                                LT18C

                                Continuous Operation Area

                                LT18C type LH18C type

                                (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

                                0

                                0005

                                0098

                                0129

                                0192

                                0254

                                0005

                                001

                                0096

                                0128

                                019

                                0252

                                001

                                0015

                                0096

                                0127

                                019

                                0252

                                002

                                002

                                0097

                                0128

                                0191

                                0253

                                002

                                003

                                0099

                                0131

                                0193

                                0256

                                003

                                004

                                0104

                                0136

                                0199

                                0262

                                004

                                006

                                0113

                                0144

                                0207

                                027

                                006

                                008

                                012

                                0153

                                0215

                                0278

                                008

                                01

                                0126

                                0163

                                0225

                                0288

                                010

                                015

                                014

                                0184

                                0249

                                0312

                                015

                                02

                                0157

                                0208

                                0279

                                0341

                                02

                                03

                                0207

                                0268

                                0354

                                042

                                03

                                04

                                0257

                                0329

                                0428

                                0504

                                04

                                06

                                0352

                                044

                                0562

                                0655

                                06

                                08

                                0447

                                0549

                                0692

                                08

                                08

                                1

                                053

                                0646

                                0806

                                0925

                                10

                                12

                                0629

                                0758

                                0933

                                1064

                                12

                                14

                                0795

                                0941

                                1133

                                1274

                                14

                                18

                                0875

                                1035

                                1257

                                1415

                                Check Operating Conditions2Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DDA motor specifications to determine whether the DDA motor can be used under the applicable operating conditions Please contact IAI for assistance To

                                rque

                                (Nm

                                )

                                Curr

                                ent [

                                Arm

                                s]

                                Angular velocity [degs]

                                AccelerationDeceleration AreaAccelerationDeceleration Area

                                Torq

                                ue (N

                                m)

                                Curr

                                ent [

                                Arm

                                s]

                                Angular velocity [degs]

                                AccelerationDeceleration AreaAccelerationDeceleration Area

                                Rating areaRating area

                                270deg travel time [sec]180deg travel time [sec]

                                90deg travel time [sec]45deg travel time [sec]

                                Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

                                270deg travel time [sec]180deg travel time [sec]

                                90deg travel time [sec]45deg travel time [sec]

                                Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

                                Cables

                                (Front view) (Front view)

                                Controller sideActuator side

                                (16)

                                (41)

                                (φ9) (2

                                1)

                                (20) (10)

                                (18)

                                L

                                4

                                1

                                1

                                4

                                075sq075sq

                                Wiring Color Signal No No WiringColorSignal

                                White

                                GreenRed

                                BlackV

                                PEU

                                W PE

                                VU

                                W3

                                12

                                43

                                12

                                4

                                White

                                Green

                                Red

                                Black (crimped)

                                Model Number CB-X-MApoundpoundpound Please indicate the cable length (L) in poundpoundpound maximum 30m eg) 080 = 8m

                                Minimum bending radius r = 51mm or more (Dynamic bending condition) Only robot cable is available for this model

                                L

                                4

                                1

                                1

                                4

                                (φ9)

                                (Front view)

                                (16)

                                (41)

                                (16)(21)

                                (11)

                                1

                                1

                                4

                                (φ9)

                                (16)

                                Controller side Actuator side

                                125sq125sq

                                Wiring Color Signal No No WiringColorSignal

                                White

                                GreenRed

                                BlackV

                                PEU

                                W PE

                                VU

                                W3

                                12

                                43

                                12

                                4

                                White

                                Green

                                Red

                                Black (crimped)

                                Model Number CB-XMC-MApoundpoundpound Please indicate the cable length (L) in poundpoundpound maximum 30m eg) 080 = 8m

                                Minimum bending radius r = 55mm or more (Dynamic bending condition) Only robot cable is available for this model

                                (Front view)(Front view)

                                AWG26(Soldered)

                                AWG26(crimped)

                                L

                                (13)

                                14

                                269

                                1

                                13

                                (37)

                                (41) (14)

                                (15)

                                (25)

                                1

                                (φ10

                                )

                                Yellow

                                Shield is clamp connected to the hoodDrain Wire and Braided Shield

                                BlueBlackRedGray

                                PurpleGreen

                                OrangeWhiteGrayWhitePurpleWhiteBlackWhiteRed

                                WhiteYellowWhiteBlue

                                RedGray

                                PurpleGreen

                                Orange

                                YellowBlue

                                WhiteGreenBlack

                                Drain

                                WhiteOrangeWhiteGrayWhitePurpleWhiteBlackWhiteRed

                                WhiteYellowWhiteBlue

                                WhiteOrangeWhiteGreen

                                Wiring Color Signal No

                                WiringColorSignalNo

                                Controller side Actuator side

                                Minimum bending radius r = 58mm or more (Dynamic bending condition) Only robot cable is available for this model

                                Model Number CB-X3-PApoundpoundpound

                                Model Number CB-DDB-BKpoundpoundpound

                                Please indicate the cable length (L) in poundpoundpound maximum 30m eg) 080 = 8m

                                Please indicate the cable length (L) in poundpoundpoundmaximum 20m eg) 080 = 8m

                                18

                                DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

                                Catalog No CE0242-1A (0916)

                                IAI America Inc 2690 W 237th Street Torrance CA 90505 (800) 736-1712 110 E State Pkwy Schaumburg IL 60173 (800) 944-0333

                                1220 Kennestone Circle Suite 108 Marietta GA 30066 (888) 354-9470

                                wwwintelligentactuatorcom

                                IAI Industrieroboter GmbHOber der Roumlth 4 D-65824 Schwalbach am Taunus Germany

                                IAI (Shanghai) Co LtdShanghai Jiahua Business Center A8-303 808Hongqiao Rd Shanghai 200030 China

                                IAI Robot (Thailand) Co Ltd825 Phairojkijja Tower 12th Floor Bangna-Trad RDBangna Bangna Bangkok 10260 Thailand

                                The information contained in this product brochure may change without prior notice due to product improvements

                                • Features
                                • Series List
                                • Model Specification Items
                                • Application Examples
                                • DDA-LT18C
                                • DDACR-LT18C
                                • DDA-LT18C-B
                                • DDA-LH18C
                                • DDACR-LH18C
                                • DDA-LH18C-B
                                • Options
                                • SCON-CB
                                • X-SEL
                                • Precautions
                                • Selecting the DD Motor
                                • Cables

                                  Precautions

                                  Installation

                                  Installation Orientation

                                  Mountingsurface

                                  For models with brake and cable exit direction to the bottom a clearance hole is required

                                  Ceiling mount

                                  Horizontal mount

                                  Vertical mount

                                  Gra

                                  vity

                                  Operation TypeThis product is available in 2 operation types depending on the operation conditions Please check the features and precautions on each type before use

                                  (1)The high resolution specification can be connected only to the SCON-CB(2)When the XSEL index type travels more than 180deg from the current position it rotates in a direction that requires a shorter travel distance to

                                  reach the target position Therefore please note that the direction of rotation changes according to the current position and travel distance If you want to specify the direction of travel use the SCON-CB

                                  (3)The index type can be rotated in a given direction infinitely but it actually cannot continue to rotate in the same direction without stopping like a regular motor does because the maximum travel distance per command from the XSEL controller is 180deg If you want to allow the motor to rotate continuously use the SCON-CB

                                  (4)Home return is required for the multi-rotation absolute encoder during the initial setting and replacement of the absolute battery

                                  Absolute batteryHome return operationLimitless rotation

                                  Maximum amount of movement in a single movement command

                                  Operation rangeController typeOperation type

                                  Not requiredNot required

                                  Yes (3)

                                  0~359999deg

                                  Index absolute type

                                  RequiredNot required (4)

                                  No

                                  Above operation rangeplusmn9999deg (plusmn2520deg) max

                                  Multi-rotation absolute typeSCON-CB XSEL(1)

                                  ( ) is for 20-bit

                                  (Note) Use this product by installing it on a mounting surface having heat dissipating characteristics equivalent to those of an aluminum plate of w450mm times d450mm times t12mm in size If the installation conditions necessitate lower heat dissipating characteristics please consult IAI

                                  ControllersFor the DDA with 200W motor the outside dimensions of the SCON-CB controller will be the same as the size of the

                                  400W motor (Please contact IAI for the details of the SCON-CB controller)One and two regenerative resistor unit(s) are required for LT18C and LH18C respectively to operate a DDA

                                  motor with the SCON-CBWhen operating DDA motor(s) with the XSEL controller regenerative resistor units are required as shown below

                                  The number of DDA motor(s) connectable to the XSEL controller is a max of 8 units for the LT18C type and a max of 2 units for the LH18C type

                                  Please note that when the DDA motor is operated with the SCON-CB the motor cannot be connected to the ROBO Cylinder gateway function of the XSEL controller

                                  Calculation for the power supply value LT18C type single-phase 600W three-phase 200W LH18C type single-phase 1200W three-phase 600W

                                  Number of regenerative resistor units

                                  1 2 3 4 5 6 7 81 2 3

                                  (Cannot be connected)4

                                  2 4LT18CLH18C

                                  Number of DD motor(s)

                                  360deg

                                  SCON-CB XSEL(1)

                                  180deg(2)

                                  16

                                  DDA (CR) Direct Drive Motor

                                  Conditions for Selection

                                  The followings should be checked to determine whether the DDA motor can be used to suit the specific conditions required by the customer

                                  The customer should confirm that the following three points under actual use do not exceed their maximum allowable levels as specified for the DDA motor

                                  The total load of device(s) mounted on the actuator

                                  The total load moment of device(s) mounted on the actuator

                                  The load inertia of device(s) mounted on the actuator

                                  Check Load Conditions1

                                  [1] Thrust load

                                  [2] Load moment applied

                                  [3] Load inertia

                                  J = 18 times M times D 2 [kgm2]

                                  Mass M [kg]

                                  D [m]

                                  Center of rotation

                                  J = 112 times M times (a 2 + b 2) [kgm2]

                                  a [m]

                                  b [m]

                                  Center of rotation

                                  Mass M [kg]

                                  J = M times R 2+ 18 times M times D 2 [kgm2]

                                  Mass M [kg]

                                  D [m]

                                  R [m]

                                  Cent

                                  er o

                                  fro

                                  tatio

                                  n

                                  J = M times R 2+112 times M times (a 2 + b 2 )[kgm2]

                                  a [m]

                                  b [m]R [m]

                                  Cent

                                  er o

                                  fro

                                  tatio

                                  n

                                  Mass M [kg]

                                  The travel time changes according to the load inertia See the tables below to check the travel time data

                                  Travel Time Guide3

                                  The data in the tables are for a reference only and do not guarantee the actual travel times

                                  (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

                                  0

                                  0005

                                  009

                                  012

                                  017

                                  022

                                  0005

                                  001

                                  010

                                  012

                                  017

                                  022

                                  001

                                  002

                                  011

                                  014

                                  019

                                  024

                                  002

                                  003

                                  012

                                  016

                                  021

                                  026

                                  003

                                  004

                                  013

                                  017

                                  023

                                  027

                                  004

                                  005

                                  014

                                  018

                                  024

                                  029

                                  005

                                  006

                                  015

                                  020

                                  027

                                  032

                                  006

                                  007

                                  017

                                  022

                                  029

                                  035

                                  007

                                  008

                                  019

                                  024

                                  032

                                  038

                                  008

                                  009

                                  021

                                  026

                                  035

                                  041

                                  009

                                  01

                                  023

                                  029

                                  037

                                  044

                                  01

                                  02

                                  039

                                  048

                                  060

                                  069

                                  02

                                  03

                                  062

                                  073

                                  089

                                  100

                                  03

                                  04

                                  070

                                  083

                                  101

                                  114

                                  04

                                  05

                                  087

                                  102

                                  122

                                  136

                                  05

                                  06

                                  111

                                  123

                                  142

                                  168

                                  LH18C

                                  LT18C

                                  Continuous Operation Area

                                  LT18C type LH18C type

                                  (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

                                  0

                                  0005

                                  0098

                                  0129

                                  0192

                                  0254

                                  0005

                                  001

                                  0096

                                  0128

                                  019

                                  0252

                                  001

                                  0015

                                  0096

                                  0127

                                  019

                                  0252

                                  002

                                  002

                                  0097

                                  0128

                                  0191

                                  0253

                                  002

                                  003

                                  0099

                                  0131

                                  0193

                                  0256

                                  003

                                  004

                                  0104

                                  0136

                                  0199

                                  0262

                                  004

                                  006

                                  0113

                                  0144

                                  0207

                                  027

                                  006

                                  008

                                  012

                                  0153

                                  0215

                                  0278

                                  008

                                  01

                                  0126

                                  0163

                                  0225

                                  0288

                                  010

                                  015

                                  014

                                  0184

                                  0249

                                  0312

                                  015

                                  02

                                  0157

                                  0208

                                  0279

                                  0341

                                  02

                                  03

                                  0207

                                  0268

                                  0354

                                  042

                                  03

                                  04

                                  0257

                                  0329

                                  0428

                                  0504

                                  04

                                  06

                                  0352

                                  044

                                  0562

                                  0655

                                  06

                                  08

                                  0447

                                  0549

                                  0692

                                  08

                                  08

                                  1

                                  053

                                  0646

                                  0806

                                  0925

                                  10

                                  12

                                  0629

                                  0758

                                  0933

                                  1064

                                  12

                                  14

                                  0795

                                  0941

                                  1133

                                  1274

                                  14

                                  18

                                  0875

                                  1035

                                  1257

                                  1415

                                  Check Operating Conditions2Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DDA motor specifications to determine whether the DDA motor can be used under the applicable operating conditions Please contact IAI for assistance To

                                  rque

                                  (Nm

                                  )

                                  Curr

                                  ent [

                                  Arm

                                  s]

                                  Angular velocity [degs]

                                  AccelerationDeceleration AreaAccelerationDeceleration Area

                                  Torq

                                  ue (N

                                  m)

                                  Curr

                                  ent [

                                  Arm

                                  s]

                                  Angular velocity [degs]

                                  AccelerationDeceleration AreaAccelerationDeceleration Area

                                  Rating areaRating area

                                  270deg travel time [sec]180deg travel time [sec]

                                  90deg travel time [sec]45deg travel time [sec]

                                  Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

                                  270deg travel time [sec]180deg travel time [sec]

                                  90deg travel time [sec]45deg travel time [sec]

                                  Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

                                  Selecting the DD Motor

                                  17

                                  DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

                                  (44) (167)

                                  (80

                                  )

                                  31

                                  (84)(293)

                                  (92

                                  )

                                  31

                                  (φ5

                                  4)

                                  J11SF-03V-KX J11SFM-03V-KXNoNo SignalSignal ColorColor WiringWiring

                                  AWG20(crimped)

                                  Red

                                  Black

                                  White

                                  Red

                                  Black

                                  White

                                  +

                                  -

                                  FG

                                  +

                                  -

                                  FG

                                  321

                                  321

                                  AWG20(crimped)

                                  Controller side Actuator side(Front view)(Front view)

                                  L

                                  Conditions for Selection

                                  The followings should be checked to determine whether the DDA motor can be used to suit the specific conditions required by the customer

                                  The customer should confirm that the following three points under actual use do not exceed their maximum allowable levels as specified for the DDA motor

                                  The total load of device(s) mounted on the actuator

                                  The total load moment of device(s) mounted on the actuator

                                  The load inertia of device(s) mounted on the actuator

                                  Check Load Conditions1

                                  [1] Thrust load

                                  [2] Load moment applied

                                  [3] Load inertia

                                  J = 18 times M times D 2 [kgm2]

                                  Mass M [kg]

                                  D [m]

                                  Center of rotation

                                  J = 112 times M times (a 2 + b 2) [kgm2]

                                  a [m]

                                  b [m]

                                  Center of rotation

                                  Mass M [kg]

                                  J = M times R 2+ 18 times M times D 2 [kgm2]

                                  Mass M [kg]

                                  D [m]

                                  R [m]

                                  Cent

                                  er o

                                  fro

                                  tatio

                                  n

                                  J = M times R 2+112 times M times (a 2 + b 2 )[kgm2]

                                  a [m]

                                  b [m]R [m]

                                  Cent

                                  er o

                                  fro

                                  tatio

                                  n

                                  Mass M [kg]

                                  The travel time changes according to the load inertia See the tables below to check the travel time data

                                  Travel Time Guide3

                                  The data in the tables are for a reference only and do not guarantee the actual travel times

                                  (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

                                  0

                                  0005

                                  009

                                  012

                                  017

                                  022

                                  0005

                                  001

                                  010

                                  012

                                  017

                                  022

                                  001

                                  002

                                  011

                                  014

                                  019

                                  024

                                  002

                                  003

                                  012

                                  016

                                  021

                                  026

                                  003

                                  004

                                  013

                                  017

                                  023

                                  027

                                  004

                                  005

                                  014

                                  018

                                  024

                                  029

                                  005

                                  006

                                  015

                                  020

                                  027

                                  032

                                  006

                                  007

                                  017

                                  022

                                  029

                                  035

                                  007

                                  008

                                  019

                                  024

                                  032

                                  038

                                  008

                                  009

                                  021

                                  026

                                  035

                                  041

                                  009

                                  01

                                  023

                                  029

                                  037

                                  044

                                  01

                                  02

                                  039

                                  048

                                  060

                                  069

                                  02

                                  03

                                  062

                                  073

                                  089

                                  100

                                  03

                                  04

                                  070

                                  083

                                  101

                                  114

                                  04

                                  05

                                  087

                                  102

                                  122

                                  136

                                  05

                                  06

                                  111

                                  123

                                  142

                                  168

                                  LH18C

                                  LT18C

                                  Continuous Operation Area

                                  LT18C type LH18C type

                                  (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

                                  0

                                  0005

                                  0098

                                  0129

                                  0192

                                  0254

                                  0005

                                  001

                                  0096

                                  0128

                                  019

                                  0252

                                  001

                                  0015

                                  0096

                                  0127

                                  019

                                  0252

                                  002

                                  002

                                  0097

                                  0128

                                  0191

                                  0253

                                  002

                                  003

                                  0099

                                  0131

                                  0193

                                  0256

                                  003

                                  004

                                  0104

                                  0136

                                  0199

                                  0262

                                  004

                                  006

                                  0113

                                  0144

                                  0207

                                  027

                                  006

                                  008

                                  012

                                  0153

                                  0215

                                  0278

                                  008

                                  01

                                  0126

                                  0163

                                  0225

                                  0288

                                  010

                                  015

                                  014

                                  0184

                                  0249

                                  0312

                                  015

                                  02

                                  0157

                                  0208

                                  0279

                                  0341

                                  02

                                  03

                                  0207

                                  0268

                                  0354

                                  042

                                  03

                                  04

                                  0257

                                  0329

                                  0428

                                  0504

                                  04

                                  06

                                  0352

                                  044

                                  0562

                                  0655

                                  06

                                  08

                                  0447

                                  0549

                                  0692

                                  08

                                  08

                                  1

                                  053

                                  0646

                                  0806

                                  0925

                                  10

                                  12

                                  0629

                                  0758

                                  0933

                                  1064

                                  12

                                  14

                                  0795

                                  0941

                                  1133

                                  1274

                                  14

                                  18

                                  0875

                                  1035

                                  1257

                                  1415

                                  Check Operating Conditions2Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DDA motor specifications to determine whether the DDA motor can be used under the applicable operating conditions Please contact IAI for assistance To

                                  rque

                                  (Nm

                                  )

                                  Curr

                                  ent [

                                  Arm

                                  s]

                                  Angular velocity [degs]

                                  AccelerationDeceleration AreaAccelerationDeceleration Area

                                  Torq

                                  ue (N

                                  m)

                                  Curr

                                  ent [

                                  Arm

                                  s]

                                  Angular velocity [degs]

                                  AccelerationDeceleration AreaAccelerationDeceleration Area

                                  Rating areaRating area

                                  270deg travel time [sec]180deg travel time [sec]

                                  90deg travel time [sec]45deg travel time [sec]

                                  Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

                                  270deg travel time [sec]180deg travel time [sec]

                                  90deg travel time [sec]45deg travel time [sec]

                                  Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

                                  Cables

                                  (Front view) (Front view)

                                  Controller sideActuator side

                                  (16)

                                  (41)

                                  (φ9) (2

                                  1)

                                  (20) (10)

                                  (18)

                                  L

                                  4

                                  1

                                  1

                                  4

                                  075sq075sq

                                  Wiring Color Signal No No WiringColorSignal

                                  White

                                  GreenRed

                                  BlackV

                                  PEU

                                  W PE

                                  VU

                                  W3

                                  12

                                  43

                                  12

                                  4

                                  White

                                  Green

                                  Red

                                  Black (crimped)

                                  Model Number CB-X-MApoundpoundpound Please indicate the cable length (L) in poundpoundpound maximum 30m eg) 080 = 8m

                                  Minimum bending radius r = 51mm or more (Dynamic bending condition) Only robot cable is available for this model

                                  L

                                  4

                                  1

                                  1

                                  4

                                  (φ9)

                                  (Front view)

                                  (16)

                                  (41)

                                  (16)(21)

                                  (11)

                                  1

                                  1

                                  4

                                  (φ9)

                                  (16)

                                  Controller side Actuator side

                                  125sq125sq

                                  Wiring Color Signal No No WiringColorSignal

                                  White

                                  GreenRed

                                  BlackV

                                  PEU

                                  W PE

                                  VU

                                  W3

                                  12

                                  43

                                  12

                                  4

                                  White

                                  Green

                                  Red

                                  Black (crimped)

                                  Model Number CB-XMC-MApoundpoundpound Please indicate the cable length (L) in poundpoundpound maximum 30m eg) 080 = 8m

                                  Minimum bending radius r = 55mm or more (Dynamic bending condition) Only robot cable is available for this model

                                  (Front view)(Front view)

                                  AWG26(Soldered)

                                  AWG26(crimped)

                                  L

                                  (13)

                                  14

                                  269

                                  1

                                  13

                                  (37)

                                  (41) (14)

                                  (15)

                                  (25)

                                  1

                                  (φ10

                                  )

                                  Yellow

                                  Shield is clamp connected to the hoodDrain Wire and Braided Shield

                                  BlueBlackRedGray

                                  PurpleGreen

                                  OrangeWhiteGrayWhitePurpleWhiteBlackWhiteRed

                                  WhiteYellowWhiteBlue

                                  RedGray

                                  PurpleGreen

                                  Orange

                                  YellowBlue

                                  WhiteGreenBlack

                                  Drain

                                  WhiteOrangeWhiteGrayWhitePurpleWhiteBlackWhiteRed

                                  WhiteYellowWhiteBlue

                                  WhiteOrangeWhiteGreen

                                  Wiring Color Signal No

                                  WiringColorSignalNo

                                  Controller side Actuator side

                                  Minimum bending radius r = 58mm or more (Dynamic bending condition) Only robot cable is available for this model

                                  Model Number CB-X3-PApoundpoundpound

                                  Model Number CB-DDB-BKpoundpoundpound

                                  Please indicate the cable length (L) in poundpoundpound maximum 30m eg) 080 = 8m

                                  Please indicate the cable length (L) in poundpoundpoundmaximum 20m eg) 080 = 8m

                                  18

                                  DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

                                  Catalog No CE0242-1A (0916)

                                  IAI America Inc 2690 W 237th Street Torrance CA 90505 (800) 736-1712 110 E State Pkwy Schaumburg IL 60173 (800) 944-0333

                                  1220 Kennestone Circle Suite 108 Marietta GA 30066 (888) 354-9470

                                  wwwintelligentactuatorcom

                                  IAI Industrieroboter GmbHOber der Roumlth 4 D-65824 Schwalbach am Taunus Germany

                                  IAI (Shanghai) Co LtdShanghai Jiahua Business Center A8-303 808Hongqiao Rd Shanghai 200030 China

                                  IAI Robot (Thailand) Co Ltd825 Phairojkijja Tower 12th Floor Bangna-Trad RDBangna Bangna Bangkok 10260 Thailand

                                  The information contained in this product brochure may change without prior notice due to product improvements

                                  • Features
                                  • Series List
                                  • Model Specification Items
                                  • Application Examples
                                  • DDA-LT18C
                                  • DDACR-LT18C
                                  • DDA-LT18C-B
                                  • DDA-LH18C
                                  • DDACR-LH18C
                                  • DDA-LH18C-B
                                  • Options
                                  • SCON-CB
                                  • X-SEL
                                  • Precautions
                                  • Selecting the DD Motor
                                  • Cables

                                    Conditions for Selection

                                    The followings should be checked to determine whether the DDA motor can be used to suit the specific conditions required by the customer

                                    The customer should confirm that the following three points under actual use do not exceed their maximum allowable levels as specified for the DDA motor

                                    The total load of device(s) mounted on the actuator

                                    The total load moment of device(s) mounted on the actuator

                                    The load inertia of device(s) mounted on the actuator

                                    Check Load Conditions1

                                    [1] Thrust load

                                    [2] Load moment applied

                                    [3] Load inertia

                                    J = 18 times M times D 2 [kgm2]

                                    Mass M [kg]

                                    D [m]

                                    Center of rotation

                                    J = 112 times M times (a 2 + b 2) [kgm2]

                                    a [m]

                                    b [m]

                                    Center of rotation

                                    Mass M [kg]

                                    J = M times R 2+ 18 times M times D 2 [kgm2]

                                    Mass M [kg]

                                    D [m]

                                    R [m]

                                    Cent

                                    er o

                                    fro

                                    tatio

                                    n

                                    J = M times R 2+112 times M times (a 2 + b 2 )[kgm2]

                                    a [m]

                                    b [m]R [m]

                                    Cent

                                    er o

                                    fro

                                    tatio

                                    n

                                    Mass M [kg]

                                    The travel time changes according to the load inertia See the tables below to check the travel time data

                                    Travel Time Guide3

                                    The data in the tables are for a reference only and do not guarantee the actual travel times

                                    (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

                                    0

                                    0005

                                    009

                                    012

                                    017

                                    022

                                    0005

                                    001

                                    010

                                    012

                                    017

                                    022

                                    001

                                    002

                                    011

                                    014

                                    019

                                    024

                                    002

                                    003

                                    012

                                    016

                                    021

                                    026

                                    003

                                    004

                                    013

                                    017

                                    023

                                    027

                                    004

                                    005

                                    014

                                    018

                                    024

                                    029

                                    005

                                    006

                                    015

                                    020

                                    027

                                    032

                                    006

                                    007

                                    017

                                    022

                                    029

                                    035

                                    007

                                    008

                                    019

                                    024

                                    032

                                    038

                                    008

                                    009

                                    021

                                    026

                                    035

                                    041

                                    009

                                    01

                                    023

                                    029

                                    037

                                    044

                                    01

                                    02

                                    039

                                    048

                                    060

                                    069

                                    02

                                    03

                                    062

                                    073

                                    089

                                    100

                                    03

                                    04

                                    070

                                    083

                                    101

                                    114

                                    04

                                    05

                                    087

                                    102

                                    122

                                    136

                                    05

                                    06

                                    111

                                    123

                                    142

                                    168

                                    LH18C

                                    LT18C

                                    Continuous Operation Area

                                    LT18C type LH18C type

                                    (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

                                    0

                                    0005

                                    0098

                                    0129

                                    0192

                                    0254

                                    0005

                                    001

                                    0096

                                    0128

                                    019

                                    0252

                                    001

                                    0015

                                    0096

                                    0127

                                    019

                                    0252

                                    002

                                    002

                                    0097

                                    0128

                                    0191

                                    0253

                                    002

                                    003

                                    0099

                                    0131

                                    0193

                                    0256

                                    003

                                    004

                                    0104

                                    0136

                                    0199

                                    0262

                                    004

                                    006

                                    0113

                                    0144

                                    0207

                                    027

                                    006

                                    008

                                    012

                                    0153

                                    0215

                                    0278

                                    008

                                    01

                                    0126

                                    0163

                                    0225

                                    0288

                                    010

                                    015

                                    014

                                    0184

                                    0249

                                    0312

                                    015

                                    02

                                    0157

                                    0208

                                    0279

                                    0341

                                    02

                                    03

                                    0207

                                    0268

                                    0354

                                    042

                                    03

                                    04

                                    0257

                                    0329

                                    0428

                                    0504

                                    04

                                    06

                                    0352

                                    044

                                    0562

                                    0655

                                    06

                                    08

                                    0447

                                    0549

                                    0692

                                    08

                                    08

                                    1

                                    053

                                    0646

                                    0806

                                    0925

                                    10

                                    12

                                    0629

                                    0758

                                    0933

                                    1064

                                    12

                                    14

                                    0795

                                    0941

                                    1133

                                    1274

                                    14

                                    18

                                    0875

                                    1035

                                    1257

                                    1415

                                    Check Operating Conditions2Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DDA motor specifications to determine whether the DDA motor can be used under the applicable operating conditions Please contact IAI for assistance To

                                    rque

                                    (Nm

                                    )

                                    Curr

                                    ent [

                                    Arm

                                    s]

                                    Angular velocity [degs]

                                    AccelerationDeceleration AreaAccelerationDeceleration Area

                                    Torq

                                    ue (N

                                    m)

                                    Curr

                                    ent [

                                    Arm

                                    s]

                                    Angular velocity [degs]

                                    AccelerationDeceleration AreaAccelerationDeceleration Area

                                    Rating areaRating area

                                    270deg travel time [sec]180deg travel time [sec]

                                    90deg travel time [sec]45deg travel time [sec]

                                    Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

                                    270deg travel time [sec]180deg travel time [sec]

                                    90deg travel time [sec]45deg travel time [sec]

                                    Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

                                    Selecting the DD Motor

                                    17

                                    DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

                                    (44) (167)

                                    (80

                                    )

                                    31

                                    (84)(293)

                                    (92

                                    )

                                    31

                                    (φ5

                                    4)

                                    J11SF-03V-KX J11SFM-03V-KXNoNo SignalSignal ColorColor WiringWiring

                                    AWG20(crimped)

                                    Red

                                    Black

                                    White

                                    Red

                                    Black

                                    White

                                    +

                                    -

                                    FG

                                    +

                                    -

                                    FG

                                    321

                                    321

                                    AWG20(crimped)

                                    Controller side Actuator side(Front view)(Front view)

                                    L

                                    Conditions for Selection

                                    The followings should be checked to determine whether the DDA motor can be used to suit the specific conditions required by the customer

                                    The customer should confirm that the following three points under actual use do not exceed their maximum allowable levels as specified for the DDA motor

                                    The total load of device(s) mounted on the actuator

                                    The total load moment of device(s) mounted on the actuator

                                    The load inertia of device(s) mounted on the actuator

                                    Check Load Conditions1

                                    [1] Thrust load

                                    [2] Load moment applied

                                    [3] Load inertia

                                    J = 18 times M times D 2 [kgm2]

                                    Mass M [kg]

                                    D [m]

                                    Center of rotation

                                    J = 112 times M times (a 2 + b 2) [kgm2]

                                    a [m]

                                    b [m]

                                    Center of rotation

                                    Mass M [kg]

                                    J = M times R 2+ 18 times M times D 2 [kgm2]

                                    Mass M [kg]

                                    D [m]

                                    R [m]

                                    Cent

                                    er o

                                    fro

                                    tatio

                                    n

                                    J = M times R 2+112 times M times (a 2 + b 2 )[kgm2]

                                    a [m]

                                    b [m]R [m]

                                    Cent

                                    er o

                                    fro

                                    tatio

                                    n

                                    Mass M [kg]

                                    The travel time changes according to the load inertia See the tables below to check the travel time data

                                    Travel Time Guide3

                                    The data in the tables are for a reference only and do not guarantee the actual travel times

                                    (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

                                    0

                                    0005

                                    009

                                    012

                                    017

                                    022

                                    0005

                                    001

                                    010

                                    012

                                    017

                                    022

                                    001

                                    002

                                    011

                                    014

                                    019

                                    024

                                    002

                                    003

                                    012

                                    016

                                    021

                                    026

                                    003

                                    004

                                    013

                                    017

                                    023

                                    027

                                    004

                                    005

                                    014

                                    018

                                    024

                                    029

                                    005

                                    006

                                    015

                                    020

                                    027

                                    032

                                    006

                                    007

                                    017

                                    022

                                    029

                                    035

                                    007

                                    008

                                    019

                                    024

                                    032

                                    038

                                    008

                                    009

                                    021

                                    026

                                    035

                                    041

                                    009

                                    01

                                    023

                                    029

                                    037

                                    044

                                    01

                                    02

                                    039

                                    048

                                    060

                                    069

                                    02

                                    03

                                    062

                                    073

                                    089

                                    100

                                    03

                                    04

                                    070

                                    083

                                    101

                                    114

                                    04

                                    05

                                    087

                                    102

                                    122

                                    136

                                    05

                                    06

                                    111

                                    123

                                    142

                                    168

                                    LH18C

                                    LT18C

                                    Continuous Operation Area

                                    LT18C type LH18C type

                                    (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

                                    0

                                    0005

                                    0098

                                    0129

                                    0192

                                    0254

                                    0005

                                    001

                                    0096

                                    0128

                                    019

                                    0252

                                    001

                                    0015

                                    0096

                                    0127

                                    019

                                    0252

                                    002

                                    002

                                    0097

                                    0128

                                    0191

                                    0253

                                    002

                                    003

                                    0099

                                    0131

                                    0193

                                    0256

                                    003

                                    004

                                    0104

                                    0136

                                    0199

                                    0262

                                    004

                                    006

                                    0113

                                    0144

                                    0207

                                    027

                                    006

                                    008

                                    012

                                    0153

                                    0215

                                    0278

                                    008

                                    01

                                    0126

                                    0163

                                    0225

                                    0288

                                    010

                                    015

                                    014

                                    0184

                                    0249

                                    0312

                                    015

                                    02

                                    0157

                                    0208

                                    0279

                                    0341

                                    02

                                    03

                                    0207

                                    0268

                                    0354

                                    042

                                    03

                                    04

                                    0257

                                    0329

                                    0428

                                    0504

                                    04

                                    06

                                    0352

                                    044

                                    0562

                                    0655

                                    06

                                    08

                                    0447

                                    0549

                                    0692

                                    08

                                    08

                                    1

                                    053

                                    0646

                                    0806

                                    0925

                                    10

                                    12

                                    0629

                                    0758

                                    0933

                                    1064

                                    12

                                    14

                                    0795

                                    0941

                                    1133

                                    1274

                                    14

                                    18

                                    0875

                                    1035

                                    1257

                                    1415

                                    Check Operating Conditions2Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DDA motor specifications to determine whether the DDA motor can be used under the applicable operating conditions Please contact IAI for assistance To

                                    rque

                                    (Nm

                                    )

                                    Curr

                                    ent [

                                    Arm

                                    s]

                                    Angular velocity [degs]

                                    AccelerationDeceleration AreaAccelerationDeceleration Area

                                    Torq

                                    ue (N

                                    m)

                                    Curr

                                    ent [

                                    Arm

                                    s]

                                    Angular velocity [degs]

                                    AccelerationDeceleration AreaAccelerationDeceleration Area

                                    Rating areaRating area

                                    270deg travel time [sec]180deg travel time [sec]

                                    90deg travel time [sec]45deg travel time [sec]

                                    Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

                                    270deg travel time [sec]180deg travel time [sec]

                                    90deg travel time [sec]45deg travel time [sec]

                                    Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

                                    Cables

                                    (Front view) (Front view)

                                    Controller sideActuator side

                                    (16)

                                    (41)

                                    (φ9) (2

                                    1)

                                    (20) (10)

                                    (18)

                                    L

                                    4

                                    1

                                    1

                                    4

                                    075sq075sq

                                    Wiring Color Signal No No WiringColorSignal

                                    White

                                    GreenRed

                                    BlackV

                                    PEU

                                    W PE

                                    VU

                                    W3

                                    12

                                    43

                                    12

                                    4

                                    White

                                    Green

                                    Red

                                    Black (crimped)

                                    Model Number CB-X-MApoundpoundpound Please indicate the cable length (L) in poundpoundpound maximum 30m eg) 080 = 8m

                                    Minimum bending radius r = 51mm or more (Dynamic bending condition) Only robot cable is available for this model

                                    L

                                    4

                                    1

                                    1

                                    4

                                    (φ9)

                                    (Front view)

                                    (16)

                                    (41)

                                    (16)(21)

                                    (11)

                                    1

                                    1

                                    4

                                    (φ9)

                                    (16)

                                    Controller side Actuator side

                                    125sq125sq

                                    Wiring Color Signal No No WiringColorSignal

                                    White

                                    GreenRed

                                    BlackV

                                    PEU

                                    W PE

                                    VU

                                    W3

                                    12

                                    43

                                    12

                                    4

                                    White

                                    Green

                                    Red

                                    Black (crimped)

                                    Model Number CB-XMC-MApoundpoundpound Please indicate the cable length (L) in poundpoundpound maximum 30m eg) 080 = 8m

                                    Minimum bending radius r = 55mm or more (Dynamic bending condition) Only robot cable is available for this model

                                    (Front view)(Front view)

                                    AWG26(Soldered)

                                    AWG26(crimped)

                                    L

                                    (13)

                                    14

                                    269

                                    1

                                    13

                                    (37)

                                    (41) (14)

                                    (15)

                                    (25)

                                    1

                                    (φ10

                                    )

                                    Yellow

                                    Shield is clamp connected to the hoodDrain Wire and Braided Shield

                                    BlueBlackRedGray

                                    PurpleGreen

                                    OrangeWhiteGrayWhitePurpleWhiteBlackWhiteRed

                                    WhiteYellowWhiteBlue

                                    RedGray

                                    PurpleGreen

                                    Orange

                                    YellowBlue

                                    WhiteGreenBlack

                                    Drain

                                    WhiteOrangeWhiteGrayWhitePurpleWhiteBlackWhiteRed

                                    WhiteYellowWhiteBlue

                                    WhiteOrangeWhiteGreen

                                    Wiring Color Signal No

                                    WiringColorSignalNo

                                    Controller side Actuator side

                                    Minimum bending radius r = 58mm or more (Dynamic bending condition) Only robot cable is available for this model

                                    Model Number CB-X3-PApoundpoundpound

                                    Model Number CB-DDB-BKpoundpoundpound

                                    Please indicate the cable length (L) in poundpoundpound maximum 30m eg) 080 = 8m

                                    Please indicate the cable length (L) in poundpoundpoundmaximum 20m eg) 080 = 8m

                                    18

                                    DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

                                    Catalog No CE0242-1A (0916)

                                    IAI America Inc 2690 W 237th Street Torrance CA 90505 (800) 736-1712 110 E State Pkwy Schaumburg IL 60173 (800) 944-0333

                                    1220 Kennestone Circle Suite 108 Marietta GA 30066 (888) 354-9470

                                    wwwintelligentactuatorcom

                                    IAI Industrieroboter GmbHOber der Roumlth 4 D-65824 Schwalbach am Taunus Germany

                                    IAI (Shanghai) Co LtdShanghai Jiahua Business Center A8-303 808Hongqiao Rd Shanghai 200030 China

                                    IAI Robot (Thailand) Co Ltd825 Phairojkijja Tower 12th Floor Bangna-Trad RDBangna Bangna Bangkok 10260 Thailand

                                    The information contained in this product brochure may change without prior notice due to product improvements

                                    • Features
                                    • Series List
                                    • Model Specification Items
                                    • Application Examples
                                    • DDA-LT18C
                                    • DDACR-LT18C
                                    • DDA-LT18C-B
                                    • DDA-LH18C
                                    • DDACR-LH18C
                                    • DDA-LH18C-B
                                    • Options
                                    • SCON-CB
                                    • X-SEL
                                    • Precautions
                                    • Selecting the DD Motor
                                    • Cables

                                      (44) (167)

                                      (80

                                      )

                                      31

                                      (84)(293)

                                      (92

                                      )

                                      31

                                      (φ5

                                      4)

                                      J11SF-03V-KX J11SFM-03V-KXNoNo SignalSignal ColorColor WiringWiring

                                      AWG20(crimped)

                                      Red

                                      Black

                                      White

                                      Red

                                      Black

                                      White

                                      +

                                      -

                                      FG

                                      +

                                      -

                                      FG

                                      321

                                      321

                                      AWG20(crimped)

                                      Controller side Actuator side(Front view)(Front view)

                                      L

                                      Conditions for Selection

                                      The followings should be checked to determine whether the DDA motor can be used to suit the specific conditions required by the customer

                                      The customer should confirm that the following three points under actual use do not exceed their maximum allowable levels as specified for the DDA motor

                                      The total load of device(s) mounted on the actuator

                                      The total load moment of device(s) mounted on the actuator

                                      The load inertia of device(s) mounted on the actuator

                                      Check Load Conditions1

                                      [1] Thrust load

                                      [2] Load moment applied

                                      [3] Load inertia

                                      J = 18 times M times D 2 [kgm2]

                                      Mass M [kg]

                                      D [m]

                                      Center of rotation

                                      J = 112 times M times (a 2 + b 2) [kgm2]

                                      a [m]

                                      b [m]

                                      Center of rotation

                                      Mass M [kg]

                                      J = M times R 2+ 18 times M times D 2 [kgm2]

                                      Mass M [kg]

                                      D [m]

                                      R [m]

                                      Cent

                                      er o

                                      fro

                                      tatio

                                      n

                                      J = M times R 2+112 times M times (a 2 + b 2 )[kgm2]

                                      a [m]

                                      b [m]R [m]

                                      Cent

                                      er o

                                      fro

                                      tatio

                                      n

                                      Mass M [kg]

                                      The travel time changes according to the load inertia See the tables below to check the travel time data

                                      Travel Time Guide3

                                      The data in the tables are for a reference only and do not guarantee the actual travel times

                                      (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

                                      0

                                      0005

                                      009

                                      012

                                      017

                                      022

                                      0005

                                      001

                                      010

                                      012

                                      017

                                      022

                                      001

                                      002

                                      011

                                      014

                                      019

                                      024

                                      002

                                      003

                                      012

                                      016

                                      021

                                      026

                                      003

                                      004

                                      013

                                      017

                                      023

                                      027

                                      004

                                      005

                                      014

                                      018

                                      024

                                      029

                                      005

                                      006

                                      015

                                      020

                                      027

                                      032

                                      006

                                      007

                                      017

                                      022

                                      029

                                      035

                                      007

                                      008

                                      019

                                      024

                                      032

                                      038

                                      008

                                      009

                                      021

                                      026

                                      035

                                      041

                                      009

                                      01

                                      023

                                      029

                                      037

                                      044

                                      01

                                      02

                                      039

                                      048

                                      060

                                      069

                                      02

                                      03

                                      062

                                      073

                                      089

                                      100

                                      03

                                      04

                                      070

                                      083

                                      101

                                      114

                                      04

                                      05

                                      087

                                      102

                                      122

                                      136

                                      05

                                      06

                                      111

                                      123

                                      142

                                      168

                                      LH18C

                                      LT18C

                                      Continuous Operation Area

                                      LT18C type LH18C type

                                      (Note) The time listed in the above table is the duration from the reception of a travel command until convergence within the positioning band of 0028 degrees (approximately 100 arcseconds)

                                      0

                                      0005

                                      0098

                                      0129

                                      0192

                                      0254

                                      0005

                                      001

                                      0096

                                      0128

                                      019

                                      0252

                                      001

                                      0015

                                      0096

                                      0127

                                      019

                                      0252

                                      002

                                      002

                                      0097

                                      0128

                                      0191

                                      0253

                                      002

                                      003

                                      0099

                                      0131

                                      0193

                                      0256

                                      003

                                      004

                                      0104

                                      0136

                                      0199

                                      0262

                                      004

                                      006

                                      0113

                                      0144

                                      0207

                                      027

                                      006

                                      008

                                      012

                                      0153

                                      0215

                                      0278

                                      008

                                      01

                                      0126

                                      0163

                                      0225

                                      0288

                                      010

                                      015

                                      014

                                      0184

                                      0249

                                      0312

                                      015

                                      02

                                      0157

                                      0208

                                      0279

                                      0341

                                      02

                                      03

                                      0207

                                      0268

                                      0354

                                      042

                                      03

                                      04

                                      0257

                                      0329

                                      0428

                                      0504

                                      04

                                      06

                                      0352

                                      044

                                      0562

                                      0655

                                      06

                                      08

                                      0447

                                      0549

                                      0692

                                      08

                                      08

                                      1

                                      053

                                      0646

                                      0806

                                      0925

                                      10

                                      12

                                      0629

                                      0758

                                      0933

                                      1064

                                      12

                                      14

                                      0795

                                      0941

                                      1133

                                      1274

                                      14

                                      18

                                      0875

                                      1035

                                      1257

                                      1415

                                      Check Operating Conditions2Check the distance speed acceleration deceleration stop time and other conditions in actual operation against the DDA motor specifications to determine whether the DDA motor can be used under the applicable operating conditions Please contact IAI for assistance To

                                      rque

                                      (Nm

                                      )

                                      Curr

                                      ent [

                                      Arm

                                      s]

                                      Angular velocity [degs]

                                      AccelerationDeceleration AreaAccelerationDeceleration Area

                                      Torq

                                      ue (N

                                      m)

                                      Curr

                                      ent [

                                      Arm

                                      s]

                                      Angular velocity [degs]

                                      AccelerationDeceleration AreaAccelerationDeceleration Area

                                      Rating areaRating area

                                      270deg travel time [sec]180deg travel time [sec]

                                      90deg travel time [sec]45deg travel time [sec]

                                      Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

                                      270deg travel time [sec]180deg travel time [sec]

                                      90deg travel time [sec]45deg travel time [sec]

                                      Load inertia upper limit [kgm2]Load inertia lower limit [kgm2]

                                      Cables

                                      (Front view) (Front view)

                                      Controller sideActuator side

                                      (16)

                                      (41)

                                      (φ9) (2

                                      1)

                                      (20) (10)

                                      (18)

                                      L

                                      4

                                      1

                                      1

                                      4

                                      075sq075sq

                                      Wiring Color Signal No No WiringColorSignal

                                      White

                                      GreenRed

                                      BlackV

                                      PEU

                                      W PE

                                      VU

                                      W3

                                      12

                                      43

                                      12

                                      4

                                      White

                                      Green

                                      Red

                                      Black (crimped)

                                      Model Number CB-X-MApoundpoundpound Please indicate the cable length (L) in poundpoundpound maximum 30m eg) 080 = 8m

                                      Minimum bending radius r = 51mm or more (Dynamic bending condition) Only robot cable is available for this model

                                      L

                                      4

                                      1

                                      1

                                      4

                                      (φ9)

                                      (Front view)

                                      (16)

                                      (41)

                                      (16)(21)

                                      (11)

                                      1

                                      1

                                      4

                                      (φ9)

                                      (16)

                                      Controller side Actuator side

                                      125sq125sq

                                      Wiring Color Signal No No WiringColorSignal

                                      White

                                      GreenRed

                                      BlackV

                                      PEU

                                      W PE

                                      VU

                                      W3

                                      12

                                      43

                                      12

                                      4

                                      White

                                      Green

                                      Red

                                      Black (crimped)

                                      Model Number CB-XMC-MApoundpoundpound Please indicate the cable length (L) in poundpoundpound maximum 30m eg) 080 = 8m

                                      Minimum bending radius r = 55mm or more (Dynamic bending condition) Only robot cable is available for this model

                                      (Front view)(Front view)

                                      AWG26(Soldered)

                                      AWG26(crimped)

                                      L

                                      (13)

                                      14

                                      269

                                      1

                                      13

                                      (37)

                                      (41) (14)

                                      (15)

                                      (25)

                                      1

                                      (φ10

                                      )

                                      Yellow

                                      Shield is clamp connected to the hoodDrain Wire and Braided Shield

                                      BlueBlackRedGray

                                      PurpleGreen

                                      OrangeWhiteGrayWhitePurpleWhiteBlackWhiteRed

                                      WhiteYellowWhiteBlue

                                      RedGray

                                      PurpleGreen

                                      Orange

                                      YellowBlue

                                      WhiteGreenBlack

                                      Drain

                                      WhiteOrangeWhiteGrayWhitePurpleWhiteBlackWhiteRed

                                      WhiteYellowWhiteBlue

                                      WhiteOrangeWhiteGreen

                                      Wiring Color Signal No

                                      WiringColorSignalNo

                                      Controller side Actuator side

                                      Minimum bending radius r = 58mm or more (Dynamic bending condition) Only robot cable is available for this model

                                      Model Number CB-X3-PApoundpoundpound

                                      Model Number CB-DDB-BKpoundpoundpound

                                      Please indicate the cable length (L) in poundpoundpound maximum 30m eg) 080 = 8m

                                      Please indicate the cable length (L) in poundpoundpoundmaximum 20m eg) 080 = 8m

                                      18

                                      DDA (CR) Direct Drive Motor DDA (CR) Direct Drive Motor

                                      Catalog No CE0242-1A (0916)

                                      IAI America Inc 2690 W 237th Street Torrance CA 90505 (800) 736-1712 110 E State Pkwy Schaumburg IL 60173 (800) 944-0333

                                      1220 Kennestone Circle Suite 108 Marietta GA 30066 (888) 354-9470

                                      wwwintelligentactuatorcom

                                      IAI Industrieroboter GmbHOber der Roumlth 4 D-65824 Schwalbach am Taunus Germany

                                      IAI (Shanghai) Co LtdShanghai Jiahua Business Center A8-303 808Hongqiao Rd Shanghai 200030 China

                                      IAI Robot (Thailand) Co Ltd825 Phairojkijja Tower 12th Floor Bangna-Trad RDBangna Bangna Bangkok 10260 Thailand

                                      The information contained in this product brochure may change without prior notice due to product improvements

                                      • Features
                                      • Series List
                                      • Model Specification Items
                                      • Application Examples
                                      • DDA-LT18C
                                      • DDACR-LT18C
                                      • DDA-LT18C-B
                                      • DDA-LH18C
                                      • DDACR-LH18C
                                      • DDA-LH18C-B
                                      • Options
                                      • SCON-CB
                                      • X-SEL
                                      • Precautions
                                      • Selecting the DD Motor
                                      • Cables

                                        Catalog No CE0242-1A (0916)

                                        IAI America Inc 2690 W 237th Street Torrance CA 90505 (800) 736-1712 110 E State Pkwy Schaumburg IL 60173 (800) 944-0333

                                        1220 Kennestone Circle Suite 108 Marietta GA 30066 (888) 354-9470

                                        wwwintelligentactuatorcom

                                        IAI Industrieroboter GmbHOber der Roumlth 4 D-65824 Schwalbach am Taunus Germany

                                        IAI (Shanghai) Co LtdShanghai Jiahua Business Center A8-303 808Hongqiao Rd Shanghai 200030 China

                                        IAI Robot (Thailand) Co Ltd825 Phairojkijja Tower 12th Floor Bangna-Trad RDBangna Bangna Bangkok 10260 Thailand

                                        The information contained in this product brochure may change without prior notice due to product improvements

                                        • Features
                                        • Series List
                                        • Model Specification Items
                                        • Application Examples
                                        • DDA-LT18C
                                        • DDACR-LT18C
                                        • DDA-LT18C-B
                                        • DDA-LH18C
                                        • DDACR-LH18C
                                        • DDA-LH18C-B
                                        • Options
                                        • SCON-CB
                                        • X-SEL
                                        • Precautions
                                        • Selecting the DD Motor
                                        • Cables

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