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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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
(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
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