Eco-friendly Absolute type DD actuator · Eco-friendly and intelligent index for your network....

Compact DD actuator with high torque for FA

Direct drive actuator

Eco-friendlyAbsolute type DD actuator

CB-32A 7

Network compatible functionsDifferent networks are easily connectable with the one-touch connection serial transmission slave.

Eco-friendlyEnergy-saving, space-saving, oilless, reusable -- these all assist in constructing an eco-friendly production system.

Precise/high-functionThis high-precision absolute DD actuator enables freely designed 360° indexing, and enables complex intermittent and continuous rotation.

Eco-friendly and intelligent index for your network

Interactive terminal

Dedicating driverH typeS type: CompactGH type: With compatibilityGS type: Compact/with compatibility

Body actuator

Return to origin no longer requiredA built-in absolute resolver recognizes the current position even without a return to origin.

Outstanding operabilityIndexing time is set directly in 0.01-second units.

Compact and high torqueThe torque does not drop even in high speed areas.(Excluding some models)

Easy installation and centeringA socket and spigot and screw holes are provided on the rotary section and fixed section for installation. Wiring can be centralized with the hollow shaft.

Dust-proof structureA seal is installed on the rotary section of the actuator. (Excluding some models)(AX8000 Series is IP65 compatible)

Smooth cam curve driveFive types of cam curves, modified sine (MS), modified trapezoidal (MT), modified constant velocity (MC, MC2) and trapecloid (TR) are selectable depending on the application.

Precise positioningHigh-precision indexing is possible with high 540672-pulse–per-rotation resolution.(Indexing repeatability: ±5")

Energy savingPower is consumed only during indexing. Almost no power is consumed while the output shaft is stopped.

No need to replace or dispose lubricantBothersome lubricant replacement and waste oil disposal are no longer required.Environment pollution is prevented because no oil leakage occurs.

Space saving Compact deviceNo origin detection sensor, reduction gears, motors, etc., are required.

Specifications are easy to change and parts easy to reuse.Specifications can be changed with an interactive terminal or personal computer, and the mechanical index enables parts to be reused.

Compatible with open networksTwo open networks -- CC-Link and DeviceNet -- are selectable.

Reduced wiring costsMajor reductions in wiring help reduce wiring work-hours.

Drivers, actuators, and cables are compatible. Maintenance and control are facilitated by freely combined applications.

Precise/high-function

Eco-friendly Network compatible functions

AX2000G/AX4000G Series

Five series are selectable to match your applications.

Easy-programming with the handy type.

CC-Link DeviceNet

Compatibility

Serial transmission slave unit

AX1000 SeriesCompatible type AX2000G Series AX2000 SeriesCompatible type AX4000G Series AX4000 SeriesAX5000 SeriesAX8000 Series

System Configuration

Intro 3

Features

Return to origin not requiredThe direct drive actuator has a built-in absolute resolver that detectsthe current position when power is turned on, eliminating bother-some origin searches. After an emergency stop, operations are re-started from the current position.The direct drive actuator resolver consists of two sets -- one uses R/D con-

version to split the sine waveform detected every 2.7˚ (360˚/132) rotation

angle into 4096, and the other splits 360˚ into 4096 to detect the absolute

position on 360˚.

An origin search sensor is not needed as with the incremental method.

With this highly reliable detection, backup memory is not required because

position information is recognized when power is turned on.

PreciseHigh resolution of 540672 pulses per rotationIndex precision: ±15" (second), (±30" (second) for AX3000,AX4000 Series)Repeatability: ±5" (second) **1" (second) = 1˚/3600

High torqueThis DD motor has outstanding torque properties that maintainthe torque even in high-speed ranges and uses a PM motorsuitable for indexing.

Space savingWith the direct drive motor, compact and space saving com-pared to the circular table with a motor and reduction gear.

Cover (adopted for some models)

Hollow

Output shaft

Stator (coil)

Rotor (magnet)

Absolute resolver

(rpm)

Rotation speed

(rpm)

Rotation speed

Torque

Continuous output range

Short time rated area

Torque

PM type (permanent magnet type) VR type (variable magnetic resistance type)

Continuous output range

Example of index accuracy measurement (with brake)

Example of index accuracy measurement (without brake)

sec. Model No.

Load table

Moving time

Index number

Measuringdevice

Heidenhein(Germany)

AX5022400

ROD-800

1.0 sec.

sec. Model No.

Load table

Moving time

Index number

Measuringdevice

Heidenhein(Germany)

AX1022250

ROD-800

1.0 sec.

Torque-rotational speed characteristics(When motor volume is same.)

Intro 4

Smooth cam curve drive is achieved.Five types* of cam curves are provided as a standard. Shock duringmovement and stopping is minimized.* Modified sine (MS), modified trapezoid (MT), modified constant

velocity (MC, MC2), and trapecloid (TR) are used.Four types of cam curves with the outstanding operation propertiesshown below are selected using parameters, enabling smoothtransfer positioning not possible with simple acceleration/deceleration time setting control.

Easy designA socket and spigot on the main console and table mounting facilitatealignment.

Easy connectionAn integrated driver and controller eliminate the need forconnections.

Flexible programmingPositioning at a random point is possible with NC language. Up to256 NC programs are saved in the driver.

Variety of external interfacesProgram input, parameter setting, and reading of internal states,etc., are implemented with RS-232C serial communication.Different external interfaces, including M codes, are provided forPLC connection.Using the serial transmission slave, two types of open networks --CC-Link and Device-Net -- are selectable.

Easily create programsThe equal index program is created easily by interactively inputtingthe number of divisions and movement time, etc., with the optionalinteractive terminal, so the system is ready for use right after instal-lation.If programs are created in NC language, even complex operationsare possible.The driver stores up to 6000 characters of programs (256 programs).Programs are created and saved using a personal computer andWindows communication software Teaching Note.

CE markingCE marking compatible parts (option) complying with Low VoltageDirectives and EMC Directives are used. Refer to the instructionmanual for information on installing the system to comply with stan-dards, etc.

Refer to the CKD EU Standard Compatible Part Guide for detailson compatible models and standards.

The Low Voltage DirectiveEN60034-1, EN60034-5, EN50178

EMC directiveEN55011, EN61800-3, EN61000-6-2, EN61000-3-2

Certificating bodyTÜV Rheinland

Dowel hole convenient for positioning available

A flexible cable is used as an option for applications with cablebends.

Conditions of measuring examplesModel No. AX1045

Operating conditions Index angle 90˚

Index time 0.5 second

Load moment of inertia 1.67 x 10-2 kg·m2

Vm Am JmName Acceleration curve Measuring example

MODIFIEDSINE(MS)

MODIFIEDTRAPEZOID(MT)

MODIFIEDCONSTANTVELOCITY(MC)

TRAPECLOID(TR)

Speed

Speed

Speed

Speed

Acceleration

Acceleration

Acceleration

Acceleration

MODIFIED SINE

MODIFIED TRAPEZOID

MODIFIED CONSTANT VELOCITY

TRAPECLOID

Large hollow diameter (AX4000, AX4000G Series)Large hole diameter specifications are incorporated for easypiping and wiring to the rotary table. A ball spline enables the

axis of the P&P mechanism to transfer small parts.(Consult with CKD for ball spline installation.)

Non-backlash negative actuation type with electromagnetic brake(option) is available. (AX4000, AX4000G Series)

Brake integrated type (AX5000, AX8000 Series)The integrated pneumatic brakes ensure the output shaft isclamped when stopping and holding rigidity is increased.

• This is used for work in which rotational force is applied to the table.

• Fine vibration in table rotation, caused by the servomotor, is suppressed.

• Holding torque exceeds the motor's maximum output torque. (At 0.5MPa compressed air)

High-level dust-proof/waterproof structure (AX8000 Series)

IP65* of IEC60529 standards compliantTÜV Rheinland certifiedEnhanced waterproofing is attained with air purging.*Use low pressure (0.05 MPa) dry clean compressed air for air purging.

Features

Cam curve characteristics and measuring examples

Intro 5

Direct drive actuator compatible type series variation

SeriesTorque (N·m)

6 129 18 22 45

AX2006G AX2012G AX2018G

AX4022G AX4045G

AX2000G Series

AX4000G Series

GH type driver

GS type driver

Act

uato

rC

ompa

tible

drie

r

Not available

AX4009G

Intro 6

AX

2000GA

X4000G

AX

1000A

X2000

AX

4000A

X5000

AX

8000D

river type

Op

tion


Features PageApplicationsRepeatability (second)

Index precision (second)

Torque (N·m)

300150 500

Applications: Intro 10 Safety precautions: Intro 13Related parts model no. table: P. 73Selection guide: P. 75

AX4300G AX4500G

±30 ±5

±30 ±5

Not available

Not available

AX4075G AX4150G

75

7 to 20

1 to 6

High speed rotation(AX4009GS: 240rpm,AX4022GS: 240rpm,AX4045GS: 240rpm,AX4075GS: 140rpm)Compatible with large moment of inertia loadsHollow hole diameter is large and a variety of size options are available.

High speed rotation (300rpm)Small diameter and compactLarge hollow diameter ( 30)

P&PTurntableAssembly machine

TurntableInspection machineAssembly machineP&P

GS type596053

GH type61 to 63

One driver is usable as all size-compatible actuators.The controller function enables the actuator's rotation angle, movement time and timer, etc., to be set as desired with an NC program.Data is exchanged with an external PLC using M code output, etc.

Intro 7

Direct drive actuator series variation

SeriesTorque (N·m)

6 9 12 22 (21) 45 (42) 75 (70)

AX1000 Series

AX1022 AX1045 AX1075

AX2006 AX2012 AX2021 AX2042

AX4009 AX4022 AX4045 AX4075

AX5022 AX5045 AX5075

AX8045 AX8070

AX2000 Series

AX4000 Series

AX5000 Series

AX8000 Series

H type driver

S type driver

Act

uato

rC

ompa

tible

drie

r

The compact, high-function S type driver is recommended.

Intro 8

AX

2000GA

X4000G

AX

1000A

X2000

AX

4000A

X5000

AX

8000D

river type

Op

tion


Features PageApplicationsIndex precision (second)

Repeatability (second)

Torque (N·m)

300210150 500

Applications: Intro 10 Safety precautions: Intro 13Related parts model no. table: P. 73Selection guide: P. 75

S type596063

H type61 to 63

AX1150 AX1210

AX4150 AX4300 AX4500

AX5150 AX5210

±15 ±5

±15 ±5

±30 ±5

±15 ±5

±15 ±5

Not available

High-precision specific type with high indexing accuracy and output shaft run out

Small diameter and compact(AX2006, AX2012)The hollow fixed shaft is convenient for cable wiring and piping.(AX2021, AX2042)

Hollow hole diameter is large and a variety of size options are available.Seven models 9 to 500N·m are selectable.

Integrated pneumatic brakes enable the output shaft can be clamped when stopping.Suitable for work in which loads are applied after stopping.

IP65 compliant(IEC standards)Ideal for rotary positioning unit used in machining or washing processes or use in dusty environments

Precision measuringTurntableInspection machineAssembly machine

TurntableP&PAssembly machine

TurntableInspection machineAssembly machineP&P

Precision measuringTurntableInspection machineAssembly machine (pressfit)

Machining and cutting such as light cuttingTurntable

21 to 26

27 to 32

33 to 42

43 to 49

51 to 55

The driver's controller function enables the actuator's rotation angle, movement time and timer, etc., to be set as desired with an NC program.Data is exchanged with an external PLC using M code output, etc.

Note) Refer to the precautions on page 53.

Intro 9

AX Series

Basic settings1. Input the program from a personal computer or interactive terminal.

2. Set required parameters the same way.

3. Set the appropriate gain.

Basic drive methods1. Select the program to be executed from the PLC.

2. Input the start signal from the PLC.

3. The in-position signal is output from the driver after drive starts.

System configuration

SERIAL:

MODEL: AX9000GH

ABSODEX

CKD Corporation MADE IN JAPAN

MON.

POWER

F1

L1

FG

U

V

W

BK+

BK-

L2

L3

F2

F3

CN2

CN3

CN1

G1

G2

ABSODEX

POWER3200-230 VAC

50/60HZ


Interactive terminal"AX0170H" (option)

RS-232C cable for communication (2m)"AX-RS232C-9P" for D-sub 9 pin(option)

(resolver cable)

(motor cable)

Noise filter for motor cable

If the cable is longer than 6 m, insert a noise filter on the motor cable.

Cable set (standard 4m)

200 VAC three phaseNoise filter

FG

PC

Computer communication software" Teaching note " (Free software for Windows)RS-232C

I/O connector (MR-50LM)

AX driver power24 VDC

I/O

Remote I/O station

PLC

Master

AX-OPX

When I/O used

When network used

Slave unit powerAX driver power24 VDC

PLC

Driver

Actuator

Driver (with controller)

Cable set (4m)

Accessory/I/O connector (MR-50LM), driver installation bracket

Stan

dard

co

nfigu

ratio

n

Configuration

1

1

1

Name Quantity

Programming tool• AX0170H is used as a programming terminal for S/GS and H/

GH drivers.

• "Teaching Note" software for personal computer communica-

tion is available. (Windows Version free software)

Direct drive actuator programs are created, parameters set,

and operation commands, etc., issued from the personal com-

puter. Created programs are saved.

An RS-232C communication cable is required.

Note: The communication cable is wired exclusively for a di-

rect drive actuator, so a commercial communication

cable cannot be used. The driver or personal computer

could fail if connected incorrectly.

a) for D-sub 9 pin (2m) (Model no.: AX-RS232C-9P)

b) for 14 pin half-pitch (2m) (Model no.: AX-RS232C-14P)

c) for D-sub 25 pin (2m) (Model no.: AX-RS232C-25P)

Intro 10

Example 1. Index unit for rotary table automatic machine

• When A and B process programs are created, and selected each

time, two types of workpieces are machined by one system.

(Merits of direct drive actuator)

• An absolute resolver eliminates the need for an origin detection

sensor.

• Equal division programs are input easily from the interactive

terminal.

• The program is created by inputting the number of divisions (or

angles) and movement time (or maximum speed), etc.

Example 2. axis for P&P unit

• By passing wiring and piping through the center hole, the system is

used as an intelligent P&P unit.

(Merit of ABSODEX)

• With the absolute resolver, return to origin is not required after turning

power on, and any position is moved to directly.

* Check when installing the mechanism.

Refer to precautions [design and selection] on page Intro 14.

A

B B

BB

A

A

A

Pneumatic cylinder

Air blow

Inspection equipmentExample 3. Small parts inspection

• When the middle hole is used, this is suitable for a system that removes

workpieces using forced air.

Applications

AX Series

Example 4. Large panel-turning transport

• Suitable for applications that turn and transport large panels.

Note: If the allowable load moment of inertia exceeds specifications,

use may be possible by adjusting parameters, etc. Consult with

CKD for details.

Intro 11

AX Series

Applications (1)

Movement specifications 1 (Index unit movement)

Program example

Move 90˚ in 0.5 sec.

4 indexes (equal index of 90˚)

Moving time 0.5 second

Index 1 in counter clockwise direction each time start is input from PLC.

Movement specifications

Main program

O1;

G11;

G10\ 1A4;

G91.1;

A0\ F0\ .5;

N1M0\ ;

A-1F0\ .5;

J1;

M30\ ;

Use program No. "1"

Set the time (sec.) in the NC code F unit

Split one rotation into 4

Set the incremental dimensions.

Move to the closest index station in 0.5 sec.

Wait for the start signal input from the PLC.

Move one index in 0.5 sec.

Jump to the sequence No. 1 block.

Program end

Example of PLC operation signalInitial process: Process to be done once at first

Process name

(1) Program No. to select No. selection 0 bit

No. selection 1 bit

No. selection 2 bit

No. selection 3 bit

No. setting of the first digit

Start signal

Positioning complete signal

Start input waiting output

(2) Return process

I/O signal name PLC output PLC input Remarks

Index: Process per index

(Note) Input the program No. selection and start signal when the start input waiting output turns ON.

Process name

(3) Index Start signal

Positioning complete signal


I/O signal name PLC output PLC input Remarks

(Note) When using the interactive terminal or Teaching Note, if the program No. 1 is input, O1 will be automatically set and does not need to be described.

Select the program No. 1 (Select

the number of the program to run.

In this example, No. 1 is used.)

Return process completed with

positioning complete signal

Return process completed with

positioning complete signal

Intro 12

AX Series

Applications (2)

Movement specifications 2 (Oscillator movement)

Program example

Movement between -45˚ and 45˚ is repeated each time

start is input from the PLC.

Movement time 0.7 sec.

Apply the brakes when stopping (Note 1)

Enable emergency stop input (Note 2)

Movement specifications

Main program

O2;

G10\ 5;

G11;

G90\ ;

N1M69;

A45F0\ .7;

M68;

M0\ ;

M69;

A-45F0\ .7;

M68;

M0\ ;

J1;

M30\ ;

Use program No. "2"

Set the NC code A unit in angle (˚)

Set the NC code F unit in time (sec.)

Set the absolute dimensions

Brake release

Move to 45˚ position in 0.7 sec.

Brake operation

Start input waiting from PLC

Brake release

Move to -45˚ position in 0.7 sec.

Brake operation

Start input waiting from PLC

Jump to the sequence No.1 block

Program end

Use the direct drive actuator with brakes.

When using the type with optional magnetic brakes, refer to the section "Using the magnetic brakes".

If an emergency stop is input during braking, the brakes will function even after the emergency stop is reset.

When inputting the start signal without selecting the program No. again, release the brakes with the brake

release signal, and then input the first start signal.

Note 1:

Note 2:

Brake release input

Start input

Positioning complete output


-45˚ 45˚

100msec and over

0˚

Intro 13

When designing and manufacturing devices using direct drive actuator, the manufacturer has an obligation to manufacturea safe device, and to check that the safety of the device's mechanical mechanism and the system operated by the electricalcontrol that controls the device is secured.It is important to select, use, handle, and maintain the product appropriately to ensure that the CKD product is used safely.Observe warnings and precautions to ensure device safety.Check that device safety is ensured, and manufacture a safe device.

1 This product is designed and manufactured as a general industrial machine part. It must be handled byan operator having sufficient knowledge and experience in handling.

2 Use this product in accordance of specifications.This product must be used within its stated specifications. It must not be modified or machined.This product is intended for use as a general-purpose industrial device or part. It is not intended for use outdoors or foruse under the following conditions or environment. (Note that this product can be used when CKD is consulted prior to use and the customer consents to CKD productspecifications. The customer must provide safety measures to avoid risks in the event of problems.)

Use for special applications including nuclear energy, railway, aircraft, marine vessel, vehicle, medicinal devices,devices coming into contact with beverages or foodstuffs, amusement devices, emergency cutoff circuits (cutoff,open, etc.), press machines, press circuits, or safety devices.

Use for applications where life or assets could be adversely affected, and special safety measures are required.

3 Observe association standards and regulations, etc., to ensure safe device design.

4 Do not remove devices until safety is confirmed. Inspect and service the machine and devices after confirming safety of the entire system related to this product. Note that there may be hot or charged sections even after operation is stopped. Before starting device inspection or maintenance, turn off device power and other power to related devices, releasecompressed air, and check leakage current.

5 Observe the Instruction Manual and Precautions for each product to prevent accidents. Do not rotate the actuator outputs shaft by 30 rpm or more while power is off.The driver could fail or electrical shock result from actuator power generation.

If the servomotor is turned off (including emergency stop or alarm) or brakes are turned off while a rotational force,such as gravity, is applied, the output shaft may rotate by rotational force.Conduct these operations flat where rotational force is not applied, or confirm safety before starting.

Unexpected movement may occur during gain adjustment or test operation, so keep hands, etc., away from theoutputs shaft. When conducting operations with the actuator not visible, confirm before starting that it is safe even ifthe outputs shaft turns.

The brakes of the type with brake do not necessarily hold the outputs shaft completely in all situations.If safety must be ensured, such as in maintenance with an application that rotates the output shaft in unbalancedmode, or when stopping the machine for a long time, it may not be sufficient to stop the shaft with brakes alone. Usethe system flat or provide a mechanical lock.

It may take several seconds to stop in an emergency, depending on rotation speed and load.

6 Observe the precautions to prevent electrical shock. High voltage is supplied to the terminal block at the driver's front panel. Install the enclosed terminal cover beforeoperation. Do not touch the terminal block while power is on.Even after the power is turned off, a high voltage is applied until the charge accumulated in the internal capacitor isdischarged. Wait at least five minutes after turning the power off before touching these sections.

In work with side cover off, such as for maintenance and inspection or changing driver switches, turn power offbecause a risk of electrical shock from high voltage exists.

Do not connect or disconnect connectors while power is on. Disoperation, faults, or electrical shock may occur.

7 Before restarting a machine or system, check that measures are taken so that parts do not come off.

8 Observe precautions on the pages that follow to prevent accidents.

WARNING

Safety precautionsAlways read this section before starting use.

Intro 14

The precautions are ranked as "DANGER", "WARNING" and "CAUTION" in this section.

DANGER :When a dangerous situation may occur if handling is mistaken leading to fatalor serious injuries, or when there is a high degree of emergency to a warning.

WARNING:When a dangerous situation may occur if handling is mistaken leading to fatalor serious injuries.

CAUTION :When a dangerous situation may occur if handling is mistaken leading tominor injuries or physical damage.

Note that some items described as “CAUTION” may lead to serious results depending on thesituation.In any case, important information that must be observed is explained.

Disclaimer

1. CKD cannot be held liable for any business interruption, loss of profit, personal injury, delay cost, or any otherancillary or indirect loss, cost, or damage resulting from the use of or faults in the use of CKD products.

2. CKD cannot be held responsible for the following damage:(1) Damage resulting from failure of CKD parts due to fire from reasons not attributable to CKD, or by intentional

or negligence of a third party or customer.(2) When a CKD product is assembled into customer equipment, damage that could have been avoided if

customer equipment was provided with functions and structure, etc., generally accepted in the industry.(3) Damage resulting from use exceeding the scope of specifications provided in CKD catalogs or instruction

manuals, etc., or from actions not following precautions for installation, adjustment, or maintenance, etc.(4) Damage resulting from product modifications not approved by CKD, or from faults due to combination with

other software or other connected devices.

Intro 15

CAUTION Design & Selection

1 The actuator -- excluding the AX8000 series -- and driver arenot waterproof. Provide waterproofing for use in places wherewater or oil could come in contact with devices.

2 Current leakage and faults could occur if swarf or dust getonto the actuator or driver. Check that these do not come incontact with devices.

3 The cable enclosed as standard cannot be used with applicationsinvolving repeated bending. Select the optional flexible cable forthese applications.

4 If cable is longer than 6 m, insert a noise filter to the motorcable. Connect the IN side of the noise filter to the driver, andinstall the filter as close to the driver as possible.

5 If power is turned off and servomotor turnoff is executed whilethe servomotor is on (holding), the output shaft may movefrom the held position even without external force.

6 Optional magnetic brakes are used to enhance holding rigid-ity during output shaft stoppage.

Do not use these brakes to brake or stop a rotating outputshaft.

7 Equipment in which direct drive actuators are installed should

have sufficient rigidity to realize full direct drive actuator per-

formance. If the load equipment or frame's mechanical unique

vibration is relatively low (200 to 300 Hz or less), resonance

could occur in the direct drive actuator and load equipment or

frame. Secure the rotary table and main unit installation bolts,

and ensure sufficient rigidity without loosening, etc. [Fig. 1]

Gain must be adjusted based on load table size, etc.Even when the direct drive actuator is not directly installed, it shouldbe installed on a highly rigid frame. [Fig. 2]

AX**75 or less

AX*150 and over

LF-310KA

LF-320KA

NEC Tokin (Corp.)

NEC Tokin (Corp.)

Three phase 10A

Three phase 20A

Model no. Maker

Dial plate fixing

Mounting base

8 If sufficient rigidity cannot be attained, machine resonance issuppressed to some degree by installing dummy inertia asclose to the actuator as possible. Examples of adding dummyinertia are shown below.

When extending the output shaft, the following dimensionsapply as a guide to the extended shaft's diameter:AX*006, AX*009, AX*012, AX*018,

AX*022, AX*045: 60mm and over,

AX*075, AX*150, AX*210, AX*300: 90mm and over,

AX*500: 150mm and over.

As a reference, dummy inertia is [load inertia] x (0.2 to 1).[Fig. 3]

[Fig. 3] Example 1. for dummy inertia installation

When coupling with a belt, gears, or spline, or whenjoining with a key, dummy inertia should be [load inertia]x (0.5 to 2).

If speed changes with belts or gears, use load inertia asthe actuator output shaft conversion value, and installdummy inertia on the actuator.[Fig. 4] [Fig. 5]

Note: Install dummy inertia as large as possible within theactuator's capacity. (Use steel that has a large specificgravity.)



Dummy inertia

Dummy inertia

Gear

Dummy inertia

Ball spline

Select gears with as large diameter as possible.

[Fig. 1] Installing the actuator

[Fig. 2] Mounting the actuator

Intro 16

Safety Precautions

Labor saving machine Warnings and PrecautionsAlways read this section before starting use.

CAUTION Design & Selection9 Connecting pneumatic brakes

1) The valve for pneumatic brakes is built into the direct drive actuator.

Supply 24 VDC power to external power input across pins 1, 2 and pins 3, 4 of the I/O connector (CN3) for valve power.

2) Supply 0.5 MPa clean compressed air to the brake air joint. Do not supply oil with the lubricator, etc.

3) Built-in brakes for the type with brakes enhance holding rigidity when the output shaft is stopped. Do not use these brakes to brake or stop

a rotating output shaft.

Recommended air circuit for air brakes

Air dryer

Direct drive actuator integrated

Clamp mechanism

Air filter5μm

Regulator0.5MPa

SERIAL:

MODEL: AX9000GH

ABSODEX


MON.

POWER

F1

L1

FG

U

V

W

BK+

BK-

L2

L3

F2

F3

CN2

CN3

CN1

G1

G2

ABSODEX

POWER3200-230 VAC

50/60HZ


Resolver cable (standard 4m)

(motor cable)

200 VAC three phaseNoise filter

FG

Noise filter for motor cableIf the cable is longer than 6 m, insert a noise filter on the motor cable.

Driver

Intro 17

CAUTION Design & SelectionConnecting magnetic brakes

Recommended circuit for magnetic brakes

SERIAL:

MODEL: AX9000GH

ABSODEX


MON.

POWER

F1

L1

FG

U

V

W

BK+

BK-

L2

L3

F2

F3

CN2

CN3

CN1

G1

G2

ABSODEX

POWER3200-230 VAC

50/60HZ


(Resolver cable)

Noise filter for motor cable

Cable set (standard 4m)

200 VAC three phase

24 VDC

Protection element(Enclosed with actuator body)

Blue lead wire (not polarized)

Relay

Noise filter

FG

If the cable is longer than 6 m, insert a noise filter on the motor cable.

Driver

(motor cable)

CN3

(user's preparation)External power 24 VDC

Driver

BK-

BK + (user's preparation)

External contact (such as relay)

(user's preparation)Surge as countermeasures (such as LED)(blue, approx. 30cm)

Electromagnetic brake lead wire


CRProtection element

Check that relay contact capacity is 10 times or more than the rated current. If less, use a multi-pole relay and use two or more relay contacts serially. Reed life is extended.

Ele

ctro

mag

netic

bra

ke

Enclosed with actuator body

CN3


Driver

BK-

BK + (user's preparation)Relay (4 poles)

(user's preparation)Surge as countermeasures (such as LED) (blue, approx. 30cm)



CR

Protection element

Ele

ctro

mag

netic

bra

ke

Enclosed with actuator body

Relay contact serial connection

Operation method1. Control with NC program (M68, M69)

When the "M68" code is executed, BK+ to BK- is not energized (brakes are applied), and when the "M69" code is executed, BK+ to BK- is energized (brakes are released).

2. Control with brake release input (I/O connector, 18-pin)If brake release is input while the brakes are applied, BK+ to BK- will be energized (brakes are released).If magnetic brakes are used frequently (frequently turned on and off), use a solid-state relay (SSR) for the external contact.Recommended model G3NA-D210B DC5-24 (OMRON)Refer to the SSR instruction manual before using.

11

12

When passing a shaft through the hollow hole in the type with magnetic brakes, use a non-magnetic material (SUS303, etc.).If magnetic material (S45C, etc.) is used, the shaft will be magnetized. This could cause iron powder to stick on the device or the peripheral devices to be affected by the magnetic properties.Note that around the magnetic brakes, iron powder, etc., could be attracted by the magnetic properties, or measuring instruments, sensors and other devices could be affected.

1) Do not use magnetic brakes to brake or stop a rotating output shaft.

2) The driver will be damaged if the driver's BK+ and BK- and magnetic brakes are directly connected.

3) When connecting the following inductive load, such as a relay, to the external contact, set the coil rated voltage to 24 VDC and the rated

current to 100 mA or less, and provide measures against surge current.

4) When using magnetic brakes, supply 24 VDC power to external power input across pins 1, 2 and pins 3, 4 of the I/O connector (CN3).

10

Intro 18

Safety Precautions

Labor saving machine Warnings and PrecautionsAlways read this section before starting use.

CAUTION Installation & Adjustment1 Use the actuator and driver with the same serial number combi-

nation. After opening the package, confirm that the actuator, driver,

and cable serial numbers match. When using several direct drive

actuators together, check that combinations are not installed in

reverse. Incorrect operation or faults could result if the actuator

and driver combination differs.

2 Connect the enclosed cable between the actuator and driver.

Check that excessive force is not applied and that the cable is

not damaged. Do not modify the enclosed cable (change the length

or material) because this could cause malfunction or faults.

3 Connect the correct power supply. Connecting a nondesignated

power supply could cause faults. Wait at least 5 seconds after

turning power off before turning it on again.

4 Securely fix the direct drive actuator to the machine, and securely

install loads such as the table before adjusting gain. Confirm that

no interference occurs and that the state is safe even when flex-

ible sections are rotated.

5 Do not tap the output shaft with a hammer, nor assemble it forc-

ibly. Failure to observe this would prevent the expected accuracy

or functions, and could cause faults.

6 Do not place strong magnetic fields such as rare earth magnets

near the actuator. Failure to observe this may cause failures to

maintain expected accuracy.

7 The actuator may become hot depending on operating conditions.

Provide a cover, etc., so that it will not be touched by accident.

CAUTION During Use & Maintenance1 Do not disassemble the actuator, because this may compromise

expected functions and accuracy. Any modification to the resolver

could cause critical damage.

2 When testing withstand voltage of the machine or equipment con-

taining the direct drive actuator, disconnect the main power cable

(L1, L2, L3) to the direct drive actuator driver and check that the

voltage is not applied to the driver. Failure to observe this could

cause faults.

8 Do not drill holes into the actuator. Contact CKD when machining

is required.

9 Do not get on the actuator or flexible parts such the rotary table

on the actuator during maintenance, etc.

10 Compatible AX****GS, AX****GH and conventional AX****S,

AX****H actuators and drivers cannot be connected.

11 Compatible type (AX****GS, AX****GH)

• If the actuator and driver are combined mistakenly after pro-

gram input (parameter setting), alarm 3 will be generated. Check

the actuator and driver combination.

Note: Alarm 3 occurs to prevent malfunction if the actuator and

driver combination differ from when the program was in-

put. Alarm 3 is reset when the program and parameters

are input again.

• If operation is started with an incorrect actuator and driver com-

bination after the program is input (after parameter setting),

malfunctions could occur or equipment could be damaged.

• When changing the cable length or type, order the cable sepa-

rately.

12 When using a circuit breaker, select one that has higher harmonic

measures for inverter use.

13 The position of the output shaft in the actuator dimension drawing

does not indicate the actuator's origin. When using it at the output

shaft shown in dimension drawings, the origin must be adjusted

to the origin offset.

3 If alarm "4" (actuator overload: electronic thermal) is generated,

wait for the actuator temperature to drop before restarting.

Alarm "4" could occur in the cases below. Remove the cause be-

fore resuming use.

• Resonance or vibration: Ensure sufficient installation rigidity.

• Tact or speed: Increase movement time or stopping time.

• Structure that locks the output shaft: Add M68, M69 commands.

4 Actuator coordinates are recognized after power is turned on so

check that the output shaft does not move for several seconds

after power is turned on.

Intro 19

WARRANTYWarranty Items

Conditions related to the warranty term and scope are as follows:

1. Term of warrantyWarranty term: One year after delivery, where one day's operation shall be within eight hours. If durability is reached within one year, the

warranty term shall be terminated at that point.

Durability (direct drive actuator)

10,000,000 times for direct drive actuator brakes with air brakes, piston packing and valve. Conditions: room temperature, room humidity,

rated voltage, rated pneumatic pressure

2. Scope of warrantyIf any faults found to be the responsibility of the CKD occur during the above warranty term, the part shall be repaired immediately by

CKD free of charge.

Note that the following faults are excluded from the warranty term:

(1) Faults due to use exceeding conditions and environments set forth in product specifications.

(2) Faults caused by careless or incorrect handling, or improper control.

(3) Faults caused by factors other than delivered parts.

(4) Faults caused by improper product use.

(5) Faults due to modifications to the product structure, performance, or specifications by a party other than CKD after the product is

delivered, or faults caused by repairs not designated by CKD.

(6) When using this product in the user's machine or equipment, damage that is avoided if the user's machine or equipment has

functions and structure, etc., considered normal within the industry.

(7) Faults caused by matters that could not be predicted with the technology applied when the product was delivered.

(8) Faults due to fires, earthquakes, water damage, lightning, other acts of nature, acts of God, pollution, salt damage, gas damage,

abnormal voltage, or other external factors.

The warranty here refers to the warranty of the actually delivered product, and does not include any damage resulting from a fault in the

delivered product.

3. Warranty for exported products(1) Products returned to the CKD factory or to a company or factory designated by CKD shall be repaired. All work and expenses

related to the return shall be excluded from compensation.

(2) The repaired product shall be returned to a designated place in Japan with domestic packaging specifications.

This warranty specifies basic conditions. If warranty details in individual specification drawings or specifications differ from these warranty

conditions, specification drawings or specifications shall take priority.

Intro 20

MEMO

1

Actuator specifications

Speed/max. torque characteristics

Descriptions AX2012GAX2006G

6.0

2.0

0.00575

0.3

4.7

0.6

AX2018G

18.0

6.0

0.00910

0.5

0.7

7.5

12.0

4.0

300

1000

40

0.00695

0.4

±30

±5

540672

Class F

1500 VAC for one minute

10MΩ and over 500 VDC

0 to 45˚C

20 to 85%RH with no dew condensation

-20 to 80˚C


5.8

0.03

0.03

Maximum output torque

Continuous output torque

Maximum rotation speed

Allowable axial load

Allowable moment load

Output shaft moment of inertia

Allowable load moment of inertia

Index accuracy (Note 1)

Repeatability

Output shaft friction torque

Resolver resolution

Motor insulation grade

Motor withstanding voltage

Motor insulation resistance

Working ambient temperature range

Working ambient humidity range

Storage ambient temperature range

Storage ambient humidity range

Weight

Runout of output shaft

Runout of output shaft surface

N·m

N·m

rpm

N

N·m

kg·m2

kg·m2

sec.

sec.

N·m

P/rev

kg

mm

mm

(rpm)350

300

250

200

150

100

50

00 15 20105 (N·m)

AX2006G

AX2012G

AX2018G

Refer to the safety precautions on Intro 13 to 20 before operating.

F

F

L

(Note) Moment load

M (N·m) = F (N) x L (m)M : Moment loadF : LoadL : Distance from center of output shaft

*This is characteristics at three phase 200 VAC . M (N·m) = F (N) x (L + 0.02) (m)M : Moment loadF : LoadL : Distance from output shaft flange surface

(Fig. a) (Fig. b)

L

Note 1: Refer to the "CKD Index Units General Catalog" (CB-019SA) "Technical explanation, Static index precision" for details on the index precision.

Direct drive actuator compatible type

AX2000G SeriesCompatible function with free driver, actuator, and cable combinationsHigh-speed rotation (maximum: 300 rpm), compact with small diameter, large hollow diameter (ø30)

Max. torque: 6, 12, 18 N·m Available driver: GS type driver

2

AX

2000GA

ctuator

Model no.

Size (max. torque)

A

Driver typeB

Cable changeNote 2

D

Mounting baseNote 3, Note 4

C

Driver typePower voltageNote 1

E

CE markingF

Dowel holeNote 4, Note 5

G

Body surface treatmentNote 3

H

How to order

AX2

A Size (max. torque)

Symbol Descriptions

006

012

018

6 N·m

12 N·m

18 N·m

B Driver type

GS GS type driver

C Mounting base (cannot be used with dowel holes P2 and P3)

Blank

B

BS

Standard (without mounting base)

With blackening mounting base

Electroless nickel plating surface treatment mounting base

Use body surface treatment S together.

D Cable change

Blank

D**

DM**

Standard (cable length 4 m)

Cable length change

Flexible cable length change

G Dowel hole

Blank

P1

P2

P3

Standard (without dowel hole)

1 on top

1 on bottom

1 each on both top and bottom

H Body surface treatment

Blank

S

Standard (blackening treatment)

Electroless nickel plating

018 D08 J1GS BS

Note on model no. selectionNote 1: Select the driver according to the table below.

Driver - power voltage table

* Contact CKD when ordering parts individually for maintenance.

Note 2: Use the optional flexible cable in applications where the cable is bent repeatedly.

Refer to page 3 for the cable dimensions.

Note 3: Designate body surface treatment and mounting base surface treatment with (C) and (H).

Note 4: "P2" and "P3" cannot be selected if "B" with blackening mounting base or

"BS"electroless nickel plating surface treatment mounting base is designated for (C) mounting base.

Note 5: Additionally machined sections may not have a treated surface.

Model

Driver type GS type driver

3 phase200 to 230 VAC

Single phase100 to 115 VAC

AX2006G

AX2012G

AX2018G

Blank

Blank

Blank

J1

J1

J1

E Driver power voltage

Refer to the driver - power voltage table on the left.

**cable length

02

Blank

06

08

10

15

20

2 m

4 m

6 m

8 m

10 m

15 m

20 m

Flexible cable 4 m: DM

[Note]

Use the noise filter for the

motor cable if the cable is

longer than 6 m.

P1 S

Model Model no. of options

F CE marking

Blank

K

Standard (CE marking not available)

CE marking

K

AX2000G SeriesHow to order

3

AX2000G Series

Cable specifications

Cable dimensions

Cable min. bending radius

Resolvercable

Resolvercable

50mm 60mm

Standard cable Flexible cable

50mm 60mm

Motor cable 100mm 110mm


Resolver cable

Motor cable

(15

)

(20)

(22)

(15

)

41

(300)

L (standard length 4m)

100

48

18

CE marking

41

100


450

FG line

(15

)

(22)

(20)

(15

)

Safety precautions

Use the noise filter for the motor cable if the cable is longer than 6 m.When connecting the motor cable and driver, check that the cable's mark tubes and driver's indications are correct.Use the optional flexible cable in applications where the cable is bent repeatedly. When using a flexible cable, fix the cable sheath near the actuator connector.When the flexible cable option is selected, flexible cable specifications apply between the driver and actuator connector. Standard cable specifications apply between the actuator and connector. Fix the cable so that it does not move.When connecting the cable, firmly insert the connector to the back. Firmly tighten the connector's set screws and fixing screws.Do not pull the outlet cable of the device.Do not modify the cable by cutting or extending it. Failure to observe this could result in faults or malfunction.

4

AX2000G SeriesDimensions

AX

2000GA

ctuator

Dimensions

AX2006G

Standard cable length 4m

Cable position

4-M6 depth 12 (straight)

Fixed section

Fixed section

For dial plate mounting

(option base inner diameter)

(fixed shaft inner diameter)

A

B

30.5 (fixed shaft inner diameter)

P.C.D.60

80h8

30H8

43.5

( 3

0H8

rang

e)4

19.5

28

90h7

Recommended positions for connector holes for motor mounting base

22

35

P.C.D.100


Mounting base (option)

95

95

50

30

5H7 depth 8 (option)

4- 7

110

95 90

3.5

Rotationalsection

(5)

150

40 12.5

1

100

45˚

Fixed section

6H7 depth 8 (option)Not available if the option base is installed.

40.5 x 21

110

AX center

Bod

y ou

tlet c

able

leng

th 5

00 m

m (

not f

lexi

ble

cabl

e)

CAUTION :

42

Note: The minimum bending range at the cable lead-out port is 20mm.

0.04 A

0.04 B

When using a flexible cable, fix the end of the cable sheath.

5

AX2000G Series

Dimensions

AX2012G

Fixed section

Fixed section





P.C.D.60

80h8

30H8

43.5

(

30H8

rang

e)4

19.528

90h7

Cable position


22

35

P.C.D.100



95

95


4- 7

110

115

110

3.5

Rotationalsection

(5)

150

40 12.5

1

120

45˚


40.5 x 21

110

AX center

Bod

y ou

tlet c

able

leng

th 5

00 m

m (

not f

lexi

ble

cabl

e)

Standard cable length 4m42


Fixed section

0.04 A

A

50

B

30

6H7 depth 8 (option)Not available if the option base isinstalled.

0.04 B

CAUTION :When using a flexible cable, fix the end of the cable sheath.

6


AX

2000GA

ctuator

Dimensions

AX2018G





P.C.D.60

80h8

30H8

43.5

(

30H8

rang

e)4

19.528

90h7

Cable position


22

35

P.C.D.100

Fixed section



95

95


4- 7

110

150

145

3.5

Rotationalsection

(5)

150

40 12.5

1

155

45˚

Fixed section


40.5 x 21

110

AX center

Bod

y ou

tlet c

able

leng

th 5

00 m

m (

not f

lexi

ble

cabl

e)

Standard cable length 4m42

Fixed section


0.04 A

A50

B

30


0.04 B


7


AX4000G SeriesCompatible with large load moment of inertiaCompatible function with free driver, actuator, and cable combinationsDifferent options including hollow diameter to facilitate cable wiring and piping.

Max. torque: 9, 22, 45, 75 N·m Available driver: GS type driver


Descriptions AX4045GAX4022G

22

7

240

60

0.0206

0.60 (3.00) Note 2

12.3

16.4

AX4009G

9

3

800

40

0.009

0.35 (1.75) Note 2

0.8

5.5

—

3700

AX4075G

75

25

140

20000

200

0.1490

5.00 (25.00) Note 2

10.0

36.0

54.0

±30

±5

3.5

540672

Class F



0 to 45˚C


-20 to 80˚C


0.03

0.05

45

15

80

0.0268

0.90 (5.00) Note 2

15.0

19.3









Repeatability


Resolver resolution








Weight

Brake set total weight



N·m

N·m

rpm

N

N·m

kg·m2

kg·m2

sec.

sec.

N·m

P/rev

kg

kg

mm

mm

Electromagnetic brake specifications (option)

DescriptionsApplicable model

AX4022G/AX4045G AX4075G

Non-backlash dry non-excitation operation type

24 VDC

45 (reference value)

55

2.30

200



40

30

1.25

35



60

Type

Rated voltage

Power supply wattage

Rated current

Static friction torque

Armature release time (brake on)

Armature suction time (brake off)

Holding precision

Max. cycle rate

V

W

A

N·m

msec

msec

min.

time/min.


Note 1: Refer to the "CKD Index Units General Catalog" (CB-019SA) "Technical explanation, Static index precision" for details on the index precision.Note 2: In the load conditions up to values in ( ), set parameter 72 (integral gain magnification) to 0.3 (reference).Note 3: Consult with CKD when using continuous rotary operation and parameter 72 (integral gain magnification) together.

Note 1: When the output shaft is rotating, rubbing may be generated at the electromagnetic brake's disk and fixing section.Note 2: When moving after brakes are turned OFF, the delay time parameter must be changed based on armature suction time.Note 3: This is a nonbacklash type, but it may be hard to hold a set position if load is applied in the direction of rotation.Note 4: When electromagnetic brakes function, the armature may contact the magnetic brake's fixed section and generate noise.Note 5: Brakes are manually released by alternately screwing screws into manual release taps (three positions). Lightly tighten screws until they

stop, then turn them another 90˚. When finished with manual release, remove the three bolts immediately and apply brakes.

8


AX

4000GA

ctuator

Model no.

Size (max. torque)

A

Driver typeB

Cable changeNote 2

D

Mounting baseNote 3, Note 4,Note 6

C

Driver powervoltageNote 1

F


H


I

BrakeNote 6

E

How to order

AX4


Symbol Descriptions

009

022

045

075

9 N·m

22 N·m

45 N·m

75 N·m

B Driver type

GS GS type driver


Blank

B

BS



Electroless nickel plating, surface treatment mounting baseUse with body surface treatment S.

D Cable change

Blank

D**

DM**


Cable length change


H Dowel hole

Blank

P1

P2

P3


1 on top

1 on bottom (2 on the bottom for AX4009G)

1 each on both top and bottom(1 on the top, 2 on the bottom for AX4009G)

I Body surface treatment

Blank

S Rotational section: electroless nickel plating treatment, fixing section: nitriding

Standard (rotational section - blackening, fixing section casting surface plane - paint)

E Brake

Blank

EB

Standard (without electromagnetic brake)

With negative actuation type electromagnetic brake

022 P1DM08 J1EBBSGS S

CE markingNote 6

G

K




Model

Driver type

GS type driver

3 phases200 to 230 VAC

Single phase100 to 115 VAC

AX4009G

AX4022G

AX4045G

AX4075G

Blank

Blank

Blank

Blank

J1

J1

J1

F Driver power voltage


**cable length

02

Blank

06

08

10

15

20

2 m

4 m

6 m

8 m

10 m

15 m

20 m



G CE marking

Blank

K


CE marking

AX4009G AX4022G AX4045G AX4075G

Mounting base (-B)

Mounting base (-BS)

Brake (-EB)

CE marking (-K)

X

X

X

X

Option table

[Note]

Use the noise filter for the

motor cable if the cable is

longer than 6 m.

Note 2: Use the optional flexible cable in applications where the cable is bent repeatedly. Refer to page 9 for the cable dimensions.Note 3: Designate body surface treatment and mounting base surface treatment with (C) and (I).Note 4: "P2" and "P3" cannot be selected if "B" with blackening mounting base or "BS" electroless

nickel plating surface treatment mounting base is designated for (C) mounting base.Note 5: Additionally machined sections may not have a treated surface.Note 6: Refer to the Option Table below and select required options.

9

AX4000G Series



Cable dimensions


Resolvercable

Motor cable

50mm 60mm


100mm 110mm


Resolvercable

Motor cable

50mm 60mm


90mm 90mm

Resolvercable

Motor cable

50mm 60mm

90mm 90mm

Resolver cable

Motor cable

(15

)

(20)

(22)

(15

)

41

(300)


100

48

18

Cable dimensions

Resolver cable

Motor cable

41


100

48

18

(18)

(24

)

CE marking

41

100


450

FG line (18)

(24

)

(rpm)250

200

150

100

50

00 5040 (N·m)

AX4009GS

AX4022GS

AX4045GS

*This is characteristics at three phase 200 VAC . *This is characteristics at three phase 200 VAC .

302010

AX4009GS, AX4022GS, AX4045GS

AX4022G, AX4045G, AX4075G

AX4009G

(rpm)250

200

150

100

50

00 8060 (N·m)

AX4075GS

4020

AX4075GS

10

AX

4000GA

ctuator

Safety precautions


F

F

L

(Note) Moment load

M (N·m) = F (N) x L (m)M: Moment loadF: LoadL: Distance from center of output shaft

M (N·m) = F (N) x (L + 0.02) (m)M: Moment loadF: LoadL: Distance from output shaft flange surface

(Fig. a) (Fig. b)

L

Use the noise filter for the motor cable if the cable is longer than 6 m.When connecting the motor cable and driver, check that the cable's mark tubes and driver's indications are correct.Use the optional flexible cable in applications where the cable is bent repeatedly. When using a flexible cable, fix the cable sheath near the actuator connector.When connecting the cable, firmly insert the connector to the back. Firmly tighten the connector's set screws and fixing screws.Do not modify the cable by cutting or extending it. Failure to observe this could result in faults or malfunction.When the flexible cable option is selected, flexible cable specifications apply between the driver and actuator connector. Standard cable specifications apply between the actuator and connector. Fix the cable so that it does not move.(Only AX4009G)Do not pull the outlet cable of the device. (Only AX4009G)

AX4000G SeriesSafety precautions

11

AX4000G Series

Dimensions

AX4009G

40.5

x t2

1

11035 50

(Note) Min. bending range of outlet cable is 20 mm.

Note) Do not remove. The noise resistance could drop.

146±0.03

120±

0.03

(Note)

When using a flexible cable, fix the end of the cable sheath.

Standard cable length 4 m

2- 6H7 (Option)

4- 7 5H7 depth 7 (Option)

Body outlet cable length 400 mm (Note) This is not a flexible cable.

6.5

(5)

184550

10

170

42

42.5

30

19.5

85

140

160

160

140

150h7168

A

A0.06

(Option: Dowel hole dimensions)

(Opti

on: D

owel

hole

dimen

sions

)

6-M5 depth 10 (straight)For dial plate mounting

Fixed section

Rotational section (including hollow section)

80

P.C.D.160

12


AX

4000GA

ctuator

Dimensions

AX4022G AX4022G-EBWith electromagnetic brakeRefer to the left drawing for other options.

Recommended value for lead wire relief dimensions

4-M6 depth 12 (straight)(Screw valid length 9)For dial plate mounting

Rotational section

(including hollow section)

170

180±2

140h7

100h7

5

P.C.D.160

(9.

5)95

28.5




P.C.D

. 160

170

180±2

140h7

100h7

119.

5

5

70

P.C.D.160

(9.

5)95

28.5


300 from outlet

25

5˚

3-M5 (straight)Electromagnetic brake for manual release

45˚

5˚

140

R8

45.2 10

Electromagnetic brake (protection element attached)

109.

5

C10

200

150


4-M6 depth 12 (straight)For option electromagnetic brake mounting

P.C.D.54

45˚

150

200

45

CAUTION: When using flexible cable,fix the end of cable sheath.

24


80

Cab

le b

endi

ng r

ange

(Cab

le b

endi

ng ra

nge

dow

nwar

d is

60.

)

24


65

44

4- 7


12


P.C.D. 160

P.C.D.125


For option electromagnetic brake mounting


Not available if the option base is installed.

88

63 63

32 32

115

(10

)20.545˚

0.06 A

0.06 B

A

B

8080

P.C.D. 122

37.5˚

13

AX4000G Series

Dimensions




(Screw valid length 9)For dial plate mounting

4-M6 depth 12 (straight)P.C.D. 160

180±2

140h7

P.C.D.160

(9.

5)

28.5



P.C.D

. 160

180±2

140h7

P.C.D.160

(9.

5)

28.5

Electromagnetic brake lead wire300 from outlet5˚

3-M5 (straight)

Electromagnetic brake for manual release

45˚

5˚

140

R8

45.2 10

Electromagnetic brake

(protection element attached)

C10

200

150




P.C.D.54

45˚

150

200





P.C.D.125


170

100h7

139.

5

5

70

115

25

115

5

100h7

170Rotational section


129.

5

CAUTION:When using flexible cable,fix the end of cable sheath.

24

80

Cab

le b

endi

ng r

ange

(Cab

le b

endi

ng

ran

ge d

ownw

ard

is 6

0.)

24

Standard cable length 4mStandard cable length 4m

45

44

6512

88

4- 7


83 83

32 32

(10

)20.545˚

115

0.06 A

A

B

0.06 B

80

80

37.5˚P.C.D. 122

14


AX

4000GA

ctuator

Dimensions


P.C.D. 255

Rotational section


280±3

(12

.5)

270

160h7

220h7

36.5

12.5

120




P.C.D. 255


280±3

(12

.5)

270160h7

220h7

36.5

Electromagnetic brake lead wire300 from outlet

12.5

120



P.C.D. 260

11858

158


(protection element attached)

29

81.5



240

280

240280

P.C.D.100


85

C15

4- 12


145

P.C.D.260


3-M8 depth 16 (straight)For option electromagnetic brakemounting

45˚

CAUTION:When using flexible cable, fix the end of cable sheath.

24

80

Cab

le b

endi

ng ra

nge

(Cab

le be

nding

r

ange

dow

nwar

d is

60.)

24

88

15

P.C.D.190

79 79



41 41

20.5 45˚10˚

163.

5 (

10)

0.06 A

127.5

A

B

130

0.06 B

Standard cable length 4m Standard cable length 4m

10˚

P.C.D. 181

15


Descriptions

Note 1: Refer to the "CKD Index Units General Catalog" (CB-019SA) "Technical explanation, Static index precision" for details on the index precision.Note 2: It is the large moment of inertia setting as default.

AX4300GAX4150G

150

50

300

0.2120

75.00 (Note 2)

44.0

63.0

100

10.0

AX4500G

500

160

70

500

0.7210

300.00 (Note 2)

15.0

115.0

-

300

100

20000

400

0.3260

180.00 (Note 2)

±30

±5

540672

Class F



0 to 45˚C


-20 to 80˚C


66.0

86.0

0.03

0.05









Repeatability


Resolver resolution








Weight




N·m

N·m

rpm

N

N·m

kg·m2

kg·m2

sec.

sec.

N·m

P/rev

kg

kg

mm

mm


DescriptionsApplicable model

AX4150G/AX4300G


24 VDC

55

2.30

200




40

Type

Rated voltage


Rated current




Holding precision

Max. cycle rate

V

W

A

N·m

msec

msec

min.

time/min.


Note 1: When the output shaft is rotating, rubbing may be generated at the electromagnetic brake's disk and fixing section.Note 2: When moving after brakes are turned OFF, the delay time parameter must be changed based on armature suction time.Note 3: This is a nonbacklash type, but it may be hard to hold a set position if load is applied in the direction of rotation.Note 4: When electromagnetic brakes function, the armature may contact the magnetic brake's fixed section and generate noise.Note 5: Brakes are manually released by alternately screwing screws into manual release taps (three positions). Lightly tighten screws until they



AX4000G SeriesCompatible with large load moment of inertiaCompatible functions with free driver, actuator and cable combination.Different options including hollow diameter to facilitate cable wiring and piping.

Max. torque: 150, 300, 500N·m Available driver: GH type driver

16


AX

4000G

Model no.


Size (max. torque)

A

Driver typeB

Cable changeNote 2

D

Mounting baseNote 3, Note 4

C


G

BrakeNote 5

E

How to order

AX4


Symbol Descriptions

150

300

500

150 N·m

300 N·m

500 N·m

B Driver type

GH With GH type driver


Blank

B

BS




D Cable change

Blank

D**

DM**


Cable length change


Option table

Electromagnetic brake (-EB)

E Brake

Blank

EB

Standard (without electromagnetic brake)

With negative actuation type electromagnetic brake

300 DM08 EBBSGH


H

P1 S





Model

Driver type

GH type driver

3 phases200 to 230 VAC

AX4150G

AX4300G

AX4500G

Blank

Blank

Blank

**cable length

02

Blank

06

08

10

15

20

2 m

4 m

6 m

8 m

10 m

15 m

20 m


AX4150G AX4300G AX4500G

G Dowel hole

Blank

P1

P2

P3


1 on top

1 on bottom


H Body surface treatment

Blank

S


Rotational section: electroless nickel plating treatment, fixing section: nitriding

F CE marking

Blank

K


CE marking

K

CE markingF

[Note]Use the noise filter for the motor cable if the cable is longer than 6 m.

Note 2: Use the optional flexible cable in applications where the cable is bent repeatedly. Refer to page 17 for the cable dimensions.Note 3: Designate body surface treatment and mounting base surface treatment with (C) and (H).Note 4: "P2" and "P3" cannot be selected if "B" with blackening mounting base or

"BS"electroless nickel plating surface treatment mounting base is designated for (C) mounting base.

Note 5: Refer to the Option Table below and select required options.

Actuator

17

AX4000G Series



Safety precautions

F

F

L

(Note) Moment load


M (N·m) = F (N) x (L + 0.02) (m)M : Moment loadF : LoadL : Distance from output shaft flange surface

(Fig. a) (Fig. b)

LCable dimensions


Resolvercable

Resolvercable

50mm 60mm


50mm 60mm



Resolver cable

Motor cable

(15

)

(20)

(22)

(15

)

41

(300)


100

48

18

CE marking

41

100


450

FG line

(15

)

(22)

(20)

(15

)

Use the noise filter for the motor cable if the cable is longer than 6 m.When connecting the motor cable and driver, check that the cable's mark tubes and driver's indications are correct.Use the optional flexible cable in applications where the cable is bent repeatedly.When using a flexible cable, fix the cable sheath near the actuator connector.When connecting the cable, firmly insert the connector to the back. Firmly tighten the connector's set screws and fixing screws.Do not modify the cable by cutting or extending it. Failure to observe this could result in faults or malfunction.

(rpm)120

100

80

60

40

20

00 400 (N·m)

AX4150GH

AX4300GH120

100

80

60

40

20

0300200100

AX4150GH, AX4300GH

(rpm)

0 600100 200 300 400 500 (N·m)

AX4500GH AX4500GH

*This is characteristics at three phase 200 VAC . *This is characteristics at three phase 200 VAC .

18


AX

4000GA

ctuator

Dimensions


0.06 A

0.06 B

A

B

P.C.D.255


280±3 (12

.5)

270

160h7

220h7

36.5

12.5



P.C.D.255


280±3

(12

.5)

270

160h7

220h7

36.5




P.C.D.260

118

58

Electromagnetic brake (protection element attached)29

81.5


240

280

240

280

P.C.D.100

8H7 depth 10 (option)127.5

85

C15

4- 12


P.C.D.260

130



15

P.C.D.190


41 41

10˚

104

145

104

145

12.5

183



47.5

168

6.5116

26

(11

)

170

80

Cab

le b

endi

ng ra

nge

(The

ben

ding

ran

ge d

ownw

ard

is 60

.)

45˚

45˚10˚

P.C.D.181

19

AX4000G Series

Dimensions


0.06 A

0.06 B

A

B

(15

.5)

36.5

231

200

220h7

160h7

85

272

15.5

288±3


P.C.D.265


130

10H7 depth 12 (Option)


295

P.C.D.255

250

4- 14

Mounting base (Option)

C15

295

250



20

P.C.D.100

4-M8 depth 16 (straight)Option for electromagnetic brake mounting

3-M8 depth 16 (straight)Option for electromagnetic brake mounting

159

41

116

(15

.5)

36.5

200

220h7

160h7

272

288±3


P.C.D.265



P.C.D.255

4115

9

11858

29

81.5


26 6.5

47.5

(11

)16

8

80

Cabl

e be

ndin

g ra

nge

(The

ben

ding

rang

e do

wnwa

rd is

60.

)


10˚

244

15.5

30˚

30˚45˚

127.5

P.C.D. 190


10˚

P.C.D.181

20


AX

4000GA

ctuator

Dimensions

AX4500G

0.06 A

0.06 B

A

B300±3

P.C.D.255

15.5

282

160h7

335

(15

.5)

P.C.D. 265


85

220h7


366

36.5 Fixed section

Rotational section(including hollow section)


127.5

250

250


295

C15

295

4- 14

2013

0



4129

4

6.5116

26

(11

)

30˚

174



47.5

80

Cabl

e be

ndin

g ra

nge

(The

ben

ding

rang

e d

ownw

ard

is 60

.)

21


Precise specifications (such as runout of output shaft and index accuracy)Max. torque: 22/45/75/150/210N·m

AX1000 Series actuatorDirect drive actuator



Descriptions

(rpm)120

100

80

60

40

20

00 100 200 (N·m)

AX1022

AX1045

AX1075

AX1150

AX1210

AX1210AX1150AX1075AX1045AX1022

22

7

19

0.00505

0.6

8.9

100 (Note 2)

600

1000

2.0

45

15

38

0.00790

0.9

12.0

75

25

70

0.03660

4.0

±15

±5

540672

Class F



0 to 45˚C


-20 to 80˚C


23.0

0.01

0.01

150

50

100

2200

140

4000

0.05820

6.0

8.0

32.0

210

70

170

0.09280

10.0

44.0

N·m

N·m

rpm

N

N·m

N

kg·m2

kg·m2

sec.

sec.

N·m

P/rev

kg

mm

mm






Allowable radial load




Repeatability


Resolver resolution








Weight



F

F

L

(Note) Moment load



(Fig. a) (Fig. b)

L

*This is characteristics at three phase 200 VAC .

Note 1: Refer to the "CKD Index Units General Catalog" (CB-019SA) "Technical explanation, Static index precision" for details on the index precision.Note 2: Consult with CKD if rotation speed is 100 rpm or faster. (With models having a maximum torque of 45 N·m or less, the S type is used with special specifications up to 150 rpm and the H driver

up to 180 rpm. Contact CKD for details. Note that maximum speed cannot be changed after delivery.)

22

AX

1000

AX1000 Series

How to order

AX

1000A

ctuator

Size (max. torque)

Model no.


A

Driver typeNote 1

B

Dowel holeH

Mounting baseC

Cable changeNote 3

E

Driver power voltageNote 1

F

CE markingNote 2

G

Connector installation attitudeNote 2

D

How to order

AX1


Symbol Descriptions

022

045

075

150

210

22 N·m

45 N·m

75 N·m

150 N·m

210 N·m

B Driver type

S

H

S type driver

H type driver

C Mounting base

Blank

B



D Connector installation attitude

Blank

C

Standard (connector horizontal installation)

Connector bottom installation

E Cable change

Blank

D**

DM**


Cable length change


G CE marking

Blank

K


CE marking

H Dowel hole

Blank

P1


1 on top



** cable length Note: The length and type cannot be changed after delivery.

02

Blank

06

08

10

15

20

25

30

2 m

4 m

6 m

8 m

10 m

15 m

20 m

25 m

30 m


D08022 S B J1 P1C K


Model

Driver - power voltage tableDriver type S type driver H type driver

200 to 230 VAC 100 to 115 VAC 200 to 230 VAC 100 to 115 VAC

AX1022

AX1045

AX1075

AX1150

AX1210

Blank

Blank

Blank

J1

J1

Blank

Blank


* S type driver is recommended if the max. torque is 75 N·m or less. Contact CKD for details on the availability of the H type driver.

Note 2: Connector bottom installation (-C) and CE marking product (-K) can not be selected same time.


Refer to page 57 for dimensions of the cable.

23

AX1000 Series

Dimensions

AX1022 AX1045

(Option)


(rear side is the same.)

(cable bending range)


Rotational section

Mounting base

6- 7 (straight)


P.C.D.140

P.C.D.70

2 x 6-M6 depth 9 (straight)

P.C.D.180 120

78

19.5

19.5

(Option)





Rotational section

Mounting base

6- 7 (straight)


P.C.D.140

P.C.D.70


P.C.D.180 120

78

19.5

19.5

Rotational section


40h7

25

22

24

120h7

200

A

2322

91 103

5128

11

38.5

44

5

102 22.3

160

152

120

85

160

A

152

120

85

25

22

24

120h7

200

102 22.3

40h7


23 812

613

8

44

38.5

11

12

12

12

22

5

5



(Option)

6H7 depth 8

35

15˚

(Option)

6H7 depth 8

35

15˚0.04 A 0.04 A

24

AX

1000

AX1000 Series

Dimensions

Actuator

Dimensions

AX1075 AX1150




(Option)


120

P.C.D. 265

P.C.D. 100

P.C.D. 220

Mounting base


6- 9 (straight)


78

19.5

19.5

Rotational section




(Option)


120

P.C.D. 265

P.C.D. 100

P.C.D. 220

Mounting base


6- 9 (straight)


78

19.5

19.5

Rotational section




50

15˚


50

15˚

0.04 A 0.04 A


70h740

37

39

200h7

290

A

2937 10

011

51512 8

14

33.5

44

8

15

15

146.5 22.3

242234200125

Rotational section


70h740

37

39

200h7

290

A29

37

145

160

1512 814

33.5

44

8

146.5 22.3

242234200125

25

AX1000 Series

Dimensions

AX1210




(Option)


120

P.C.D. 265

P.C.D. 100

P.C.D. 220

Mounting base


6- 9 (straight)


78

19.5

19.5

Rotational section


24223420012570h7

40

29

1519

0

378

4433

.5

14

15

205

8

39

37

200h7146.5 22.3

290

A



50

15˚

0.04 A

26

AX

1000

AX1000 Series

Dimensions with options

Actuator

Dimensions with options

Connector bottom installation (C)AX1022/AX1045 AX1075/AX1150/AX1210

22

119

38

37.5

30 (

11)

37

198

60

55

35 (

14)

P.C.D 75

90˚

P.C.D 120

90˚

27


Small diameter to downsize (AX2006, AX2012)Types with a hollow fixed shaft are available (AX2021, AX2042), facilitating cable wiring.

Max. torque: 6/12/21/42 N·m




Descriptions

(rpm)120

100

80

60

40

20

00 20 4010 30 50 (N·m)

AX2006

AX2012

AX2021

AX2042

AX2042AX2021AX2012AX2006

6

2

0.00575

0.3

4.7

1000

40

0.4

2000

60

3.0

12

4

0.00695

0.4

5.8

100 (Note 2)

±15

±5

540672

Class F



0 to 45˚C


-20 to 80˚C


0.03

0.03

21

7

0.03450

0.6

13.0

42

14

0.04830

0.9

17.0

N·m

N·m

rpm

N

N·m

kg·m2

kg·m2

sec.

sec.

N·m

P/rev

kg

mm

mm









Repeatability


Resolver resolution








Weight



F

F

L

(Note) Moment load



(Fig. a) (Fig. b)

L


Note 1: Refer to the "CKD Index Units General Catalog" (CB-019SA) "Technical explanation, Static index precision" for details on the index precision.Note 2: Rotational speeds exceeding 100 rpm are compatible with the direct drive actuator compatible model (AX2***GS).

The S driver is used with special specifications up to 150 rpm and the H driver up to 180 rpm. Contact CKD for details. Note that max. rotational speed cannot be changed after delivery.

28

AX

2000

AX2000 Series

How to order

Actuator

Model no.

Size (max. torque)

A

Driver typeNote 1

B

Mounting baseNote 4

D

Hollow fixed shaftNote 2

C

Cable changeNote 3

E


F

CE markingG

How to order

AX2


Symbol Descriptions

006

012

021

042

6 N·m

12 N·m

21 N·m

42 N·m

B Driver type

S S type driver

D Mounting base (cannot be used with dowel holes P2 and P3)

Blank

B



G CE marking

Blank

K

AX2006 AX2012 AX2021 AX2042

Hallow fixed shaft (-A)

Flexible cable (-DM)

X X

X

X

X

X

X

X


CE marking

C Hollow fixed shaft

Blank

A

Standard

Hollow fixed shaft extension (Only AX2021, AX2042 available)

D08021 S BA J1 K


Model


Option table

Driver type

S type driver (including CE products)

H type driver

200 to 230 VAC 200 to 230 VAC 100 to 115 VAC100 VAC

AX2006

AX2012

AX2021

AX2042

Blank

Blank

Blank

Blank

J1

J1

J1

J1



H

P1

E Cable change

Blank

D**

DM**


Cable length change


H Dowel hole

Blank

P1

P2

P3


1 on top

1 on bottom





02

Blank

06

08

10

15

20

25

30

2 m

4 m

6 m

8 m

10 m

15 m

20 m

25 m

30 m


(Only AX2006, AX2012 available)



Note 2: Refer to the Option Table and select required options.

Note 3: Use the optional flexible cable in applications where the cable is bent repeatedly. (Only AX2006, AX2012 available) Refer to page 57 for dimensions of the cable.

Note 4: "P2" and "P3" cannot be selected if "B" with a blackening base is designated for (D) mounting base.


1 on top (-P1)

1 on bottom (-P2)

1 each on both top and bottom (-P3)

Dowel hole

29

AX2000 Series

Dimensions

AX2006 AX2012

Rotational section

35

22

Recommended connector holefor motor mounting base

Cable position

AX center

120

12.5

1

Fixed section

40 (option base inner diameter)

30H8 (fixed shaft inner diameter)

3.5

115

43.5

( 3

0H8

rang

e)

110

(5) 30.5 (fixed shaft inner diameter)

90h7

110

80h8150

95

95


4- 7

Fixed section


P.C.D.100

35

22

Recommended connector holefor motor mounting base

Cable position

AX center

Rotational section

Cabl

e le

ngth

400

mm

(thi

s is

not a

flex

ible

cab

le.)

100

12.5

1

Fixed section

40 (option base inner diameter)

30H8 (fixed shaft inner diameter)

3.5

95

43.5

(

30H8

rang

e)

90 (

5) 30.5 (fixed shaft inner diameter)

90h7

110

80h8150

CAUTION :Fix the end of cable sheath when using a flexible cable.

95

95


4- 7

Fixed section


P.C.D.100

A

B

B

A

5H7 depth 8 (option)0.04 A 5H7 depth 8 (option)0.04 A

5050

Cabl

e le

ngth

400

mm

(thi

s is

not a

flex

ible

cab

le.)

Note: The min. bending range at the cable lead-out port is 20mm.

CAUTION :Fix the end of cable sheath when using a flexible cable.


Note: The min. bending range at the cable lead-out port is 20mm.

P.C.D.60

4

19.528

45˚

Fixed section


P.C.D.60

4

19.528

45˚

Fixed section


30


0.04 B

30


0.04 B

Standard cablelength 4 m

Standard cablelength 4 m

30

AX

2000

AX2000 Series

Dimensions

Actuator

Dimensions

AX2021 AX2021-A

6- 7

Fixed section

6H7 depth 8


(Option)

Fixed section

74



P.C.D.130

P.C.D.180

P.C.D.110

6- 7

6H7 depth 8


(Option)

Fixed section


P.C.D.130

P.C.D.180

Fixed section

74


P.C.D.110

0.04 A 0.04 A

6565

Standard cable length 4 m Standard cable length 4 m

100h7

46 (fixed shaft inner diameter)

150

120h7

198

156

7

148

(8)

152

140

53

150

140

2

(8)

7

150

120h7

100h7

156

19815

53

150


60h7

230

A ARotational section

60 Cable

ben

ding

rang

e

60 Cable

ben

ding

rang

e

Rotationalsection

31

AX2000 Series

Dimensions

AX2042 AX2042-A

6- 7

Fixed section

6H7 depth 8


(Option)

Fixed section

74




P.C.D.130

P.C.D.180

P.C.D.110

30˚

Fixed section

74


P.C.D.110

30˚

6- 7

6H7 depth 8


(Option)

Fixed section


P.C.D.130

P.C.D.180

0.04 A 0.04 A

65 65


A A100h7


150

120h7

198

156

7

(8)

152

53

2

(8)

7

150

120h7

100h7

156

198

15

53


60h7

175

183

185 17

5

265

185

Rotational section

Rotationalsection

60 Cable

ben

ding

rang

e

60 Cable

ben

ding

rang

e

32

AX2000 Series

CE marking products dimensions

AX

2000A

ctuator


AX2021-K AX2042-K

120h7

156

80Ca

ble be

nding

rang

e

P.C.D.110

100h7

120h7

156

150

80Ca

ble be

nding

rang

e

P.C.D.110

100h7

150

6-M6 depth 10 (straight) 6-M6 depth 10 (straight)



753

140

(8)

148

753

175

183

(8)

Fixed section Fixed section

(32

)

(28) (16)

(32

)

(28) (16)

P.C.D.130


Fixed section

P.C.D.130


Fixed section


33

Large hollow shaft handy for cable wiring and piping, and a variety of options.

Max. torque: 9, 22, 45, 75, 150, 300, 500N·m




Descriptions AX4075AX4022

22

7

100 (Note 2)

60

0.0206

0.60

12.3

16.4

AX4045

45

15

80

0.0268

0.90

15.0

19.3

AX4150

150

50

100

300

0.2120

7.50

10.0

44.0

63.0

AX4300

300

100

400

0.3260

18.00

66.0

86.0

AX4500

500

160

70

500

0.7210

30.00

15.0

115.0

-

AX4009

9

3

800

40

0.0090

0.35

0.8

5.5

-

3700

3.5

20000

75

25

200

0.1490

5.00

±30

±5

540672

Class F



0 to 45˚C


-20 to 80˚C


36.0

54.0

0.03

0.05









Repeatability


Resolver resolution








Weight




N·m

N·m

rpm

N

N·m

kg·m2

kg·m2

sec.

sec.

N·m

P/rev

kg

kg

mm

mm


Descriptions

Applicable modelAX4022/AX4045 AX4075/AX4150/AX4300


24 VDC


55

2.30

200



40

30

1.25

35



60

Type

Rated voltage


Rated current




Holding precision

Max. cycle rate

V

W

A

N·m

msec

msec

min.

time/min.

Note 1: Refer to the "CKD Index Units General Catalog" (CB-019SA) "Technical explanation, Static index precision" for details on the index precision.Note 2: Rotational speed exceeding 100 rpm are compatible with the direct drive actuator compatible model (AX4***GS). With models having a max. torque of 45 N·m or less, the S driver is used with special specifications up to 150 rpm and the H driver up

to 180 rpm. Contact CKD for details. Note that max. speed cannot be changed after delivery.

Note 1: When the output shaft is rotating, rubbing may be generated at the electromagnetic brake's disk and fixing section.Note 2: When moving after brakes are turned OFF, the delay time parameter must be changed based on armature suction time.Note 3: This is a non-backlash type, but it may be hard to hold a set position if a load is applied on the rotational direction.Note 4: When electromagnetic brakes function, the armature may contact the magnetic brake's fixed section and generate noise.Note 5: Brakes are manually released by alternately screwing screws into manual release taps (three positions). Lightly tighten screws until they


34

AX4000 Series

How to order

AX

4000A

ctuator

Model no.

Size (max. torque)

A

Driver typeNote 1

B

Cable changeNote 2

D

Mounting baseNote 3, 4, 5

C


F Dowel holeNote 4, Note 6

H

Body surface treatmentICE markingGBrakeNote 5

E

How to order

AX4


Symbol Descriptions

009

022

045

075

150

300

500

9 N·m

22 N·m

45 N·m

75 N·m

150 N·m

300 N·m

500 N·m

B Driver type

S

H

S type driver

H type driver

C Mounting base

Blank

B

BS




D Cable change

Blank

D**

DM**


Cable length change


G CE marking

Blank

K

AX4009

Mounting base (-B)

Mounting base (-BS)

Brake (-EB)

X

X

X

AX4022 AX4045 AX4075 AX4150 AX4300 AX4500

X


CE marking

H Dowel hole

Blank

P1

P2

P3


1 on top

1 on bottom (2 on bottom for AX4009)


I Body surface treatment

Blank

S


Rotational section - electroless nickel plating treatment, fixing section - nitriding

E Brake

Blank

EB

Standard (without brake)

With negative actuation type electromagnetic brake (AX4009 and AX4500 cannot be selected)

022 S P1DM08 J1EBBS SK



Model


Option table

Driver type

S type driver H type driver

200 to 230 VAC 200 to 230 VAC100 to 115 VAC

AX4009

AX4022

AX4045

AX4075

AX4150

AX4300

AX4500

Blank

Blank

Blank

Blank

J1

J1

J1

100 to 115 VAC

Blank

Blank

Blank





02

Blank

06

08

10

15

20

25

30

2 m

4 m

6 m

8 m

10 m

15 m

20 m

25 m

30 m


(1 on top/2 on bottom for AX4009)


Note 2: Use the optional flexible cable in applications where the cable is bent repeatedly. Refer to page 57 for dimensions of the cable.

Note 3: Designate body surface treatment and mounting base surface treatment with (C) and (I).Note 4: "P2" and "P3" cannot be selected if "B" with blackening mounting base or "BS"

electroless nickel plating surface treatment mounting base is designated for (C) mounting base.

Note 5: Refer to the Option Table below and select required options.


35

AX4000 Series

F

F

L

(Note) Moment load



(Fig. a) (Fig. b)

L


(rpm)120

100

80

60

40

20

00 10050 (N·m)

AX4009

AX4022

AX4045

AX4075

AX4009, AX4022, AX4045, AX4075

(rpm)120

100

80

60

40

20

00 600400200 (N·m)

AX4150

AX4300

AX4500

AX4150, AX4300, AX4500



36

AX4000 Series

Dimensions

AX

4000A

ctuator

Dimensions

AX4009

0.06

A

A150h7

168

Cable length 400 mm (This is not a flexible cable.)

42

4- 7

140

160

10

45 (

5)

42.5

18

50

P.C.D. 160

170

30

146±0.03 (option dowel hole dimensions)

120±

0.03

(opt

ion

dow

el h

ole

dim

ensio

ns)

2- 6H7 (Option)

80

85

140

160

5H7 depth 7


(Option)


Fixed section

6.5

24

CAUTION: When using flexible cable,


fix the end of cable sheath.

37

AX4000 Series

P.C.D. 54

45˚

4- 7

Mounting base (option)150

200C10

4-M6 depth 12 (straight) (screw valid length 9)For dial plate mounting

Rotational section

28.5

3263

1265

45

(9.5

)5

95

109.

5

100h7

140h7

180±2

170

B

80

P.C.D. 160

P.C.D. 125


150

200


0.06 A

A

44

B0.06

1045.2

28.5

3263

95 (9

.5)

5

70


(including hollow section) (including hollow section)


140h7

180±2


119.

5

300 from lead wire outlet

Electromagnetic brake(protection element attached)

P.C.D. 160


45˚


Cable

ben

ding

rang

e (T

he b

endi

ng ra

nge

down

ward

is 6

0.)


80CAUTION :When using flexible cable,fix the end of cable sheath.

Dimensions

AX4022 AX4022-EBWith electromagnetic brakeRefer to the left drawing for other options.

24


24

P.C.D. 160


100h7

170

5˚

P.C.D

. 160


45˚

80


140

5˚R8


37.5˚P.C.D. 122

38

AX4000 Series

Dimensions

AX

4000A

ctuator

Dimensions


10

P.C.D. 160

115

45.2

70

139.

5

25

28.532

83

(9.5

)5

100h7

140h7

180±2

170



24



37.5˚5˚

300 from lead wire outletElectromagnetic brake

P.C.D. 1604-M6 depth 12 (straight)

45˚

45˚

4- 7


150

200

24


150

200

C10

Rotational section

28.5

12

45

3283

(9.5

)5

115

129.

5

100h7

140h7

180±2

170

B

A

80


B

P.C.D. 160


0.06


P.C.D. 125

A0.06

80


140

5˚R8

P.C.D. 160

P.C.D. 54

65

44


45˚



Cabl

e be

ndin

g ra

nge

(Cab

le b

endi

ng

rang

e do

wnwa

rd is

60.

)


80

CAUTION :When using flexible cable,fix the end of cable sheath.


P.C.D. 122

39

AX4000 Series

Dimensions



0.06 A

Cable

bend

ing ra

nge

(Cable

bend

ing ra

nge

down

ward

is 60.)



P.C.D. 255

127.5



80

24

240

280

C15240280

P.C.D. 100

4- 12CAUTION : When using flexible cable, fix the end of cable sheath.


(12.

5)12

.5

145

Rotational section

36.541

79

120

A

B220h7

160h7270

280±3

85

15


P.C.D. 260

130

45˚ 45˚


For dial plate mounting6-M8 depth 16 (straight)


P.C.D. 255


220h7

160h7118

270

12.5

280±3

Rotational section

58

158

81.5

(12.

5)

36.5

29


120

4179

Electromagnetic brake300 from lead wire outlet

P.C.D. 260


0.06 B

P.C.D. 190

10˚




10˚P.C.D. 181

40

AX4000 Series

Dimensions

AX

4000A

ctuator

Dimensions


45˚


P.C.D. 260

10˚

B

A

130

0.06 B

0.06 A

127.5


Cable

bend

ing ra

nge

(Cable

bend

ing ra

nge

down

ward

is 60.)



P.C.D. 255

240

280

4- 12


C15240280

80CAUTION : When using flexible cable,fix the end of cable sheath.

16 27


(12.

5)

220h7

160h7270

280±3

85

15

12.5

170

36.541

104

145

45˚




P.C.D. 255


(including hollow section) (1

2.5)

36.5

220h7

160h7118

27012

.5

280±3

Rotational section

5829

183

81.5

4110

4


145

(including hollow section)Rotational section


P.C.D. 100

P.C.D. 1903-M8 depth 16 (straight)For option electromagnetic brakemounting

P.C.D. 260



10˚P.C.D. 181

41

AX4000 Series

Dimensions



0.06 A

127.5


B

A


P.C.D. 255

4- 14


C15

16 27

295250

250

295

Cable

bend

ing ra

nge

(Cab

le be

nding

rang

e do

wnwa

rd is 6

0.)

P.C.D. 100


80CAUTION : When using flexible cable,fix the end of cable sheath.



(15.

5)

220h7

160h78515

.5

231

Rotational section

36.541

159

288±3

20

272

200



P.C.D. 265


P.C.D. 255


(including hollow section) (1

5.5)

36.541

159

220h7

160h7

118

15.5

Rotational section

5829

244

81.5


288±3

27220

0

P.C.D. 265


130

0.06 B

P.C.D. 1903-M8 depth 16 (straight)For option electromagnetic brakemounting


30˚45˚ 30˚10˚


10˚P.C.D. 181

42

AX4000 Series

Dimensions

AX

4000A

ctuator

Dimensions

AX4500


A

B

0.06 B


0.06 A

Cabl

e be

ndin

g ra

nge

(The

ben

ding

rang

e do

wnwa

rd is

60.

)

(15

.5) 220h7

160h78515

.536

6

Rotational section


130



4- 14


C15

80

CAUTION :When using flexible cable,fix the end of cable sheath.



295250

250

295

20

P.C.D. 265

335

16 27

282

300±3

30˚

36.541

294

127.5

P.C.D. 255

43

Pneumatic brakes are integrated so the output shaft is clamped when stopping.This is used for work in which a load is applied after stopping.

Max. torque: 22/45/75/150/210 N·m





Descriptions

(rpm)120

100

80

60

40

20

00 100 200 250 (N·m)

AX5022

AX5045

AX5075

AX5150

AX5210

AX5210AX5150AX5075AX5045AX5022

22

7

19

0.0056

0.6

16.0

100 (Note 2)

600

1000

2.0

45 150

45

15

38

0.0085

0.9

20.0

75

25

70

0.0403

4.0

±15

±5

540672

Class F



0 to 45˚C


-20 to 80˚C


40.0

0.01

0.01

150

50

100

2200

140

4000

0.0619

6.0

8.0

50.0

210

70

170

0.0987

10.0

65.0

210

N·m

N·m

rpm

N

N·m

N

kg·m2

kg·m2

sec.

sec.

N·m

P/rev

kg

mm

mm

N·m










Repeatability


Resolver resolution








Weight



Brake torque

50 150

F

F

L

(Note) Moment load



(Fig. a) (Fig. b)

L


Note 1: Refer to the "CKD Index Units General Catalog" (CB-019SA) "Technical explanation, Static index precision" for details on the index precision.Note 2: Consult with CKD if rotation speed is 100 rpm or faster. (With models having a maximum torque of 45 N·m or less, the S type is used with special specifications up to 150 rpm and the H driver

up to 180 rpm. Contact CKD for details. Note that maximum speed cannot be changed after delivery.)

44

AX5000 Series

How to order

AX

5000A

ctuator

Size (max. torque)

Model no.

A

Driver typeNote 1

B

Cable changeNote 2

C


D

CE markingE

How to order

AX5


Symbol Descriptions

022

045

075

150

210

22 N·m

45 N·m

75 N·m

150 N·m

210 N·m

B Driver type

S

H

S type driver

H type driver

E CE marking

Blank

K


CE marking

D08022 S J1 K


Model

Driver - power voltage tableDriver type S type driver H type driver

200 to 230 VAC 200 to 230 VAC100 to 115 VAC

AX5022

AX5045

AX5075

AX5150

AX5210

Blank

Blank

Blank

J1

J1

100 to 115 VAC

Blank

Blank


Dowel holeF

P1

F Dowel hole

Blank

P1


1 on top

C Cable change

Blank

D**

DM**


Cable length change


D Driver power voltageRefer to the driver - power voltage table below.


02

Blank

06

08

10

15

20

25

30

2 m

4 m

6 m

8 m

10 m

15 m

20 m

25 m

30 m





Refer to page 57 for dimensions of the cable.

45

AX5000 Series

Dimensions

AX5022

90 200

35

+0.203.3

232

12±0

.021

520

0 (

34)

32

120

(ca

ble

bend

ing

rang

e)

180

15˚



Rotational section


6H7 depth 8

85

2524

2296

64 (23)9

7

15 621

8323

4519

180h7

512

55

111

14 1218

42

Silencer for exhaust

Valve manual override section

Indicator (LED)

(Rc1/8)

(Rc1/8)

40h7

0.04 A

P.C.D.70216 (Option)

4-M8 depth 12 (rear side is the same.)


10

30 30

150

4-M8 depth 12

A

Rotational section


Joint 6 for air supply


46

AX5000 Series

Dimensions

AX

5000A

ctuator

AX5045

Dimensions

125 200

35

232

12±0

.021

520

0 (

34)

32

120

(ca

ble

bend

ing

rang

e)

180

15˚




Rotational section


6H7 depth 8


85

24

25

22

9664 (23)9

7

15 621

8323

4519

180h7

516

05

146

14

1218

42



Indicator (LED)

(Rc1/8)

(Rc1/8)

40h7

0.04 A

P.C.D.70216

(Option)



10

30 30

150

4-M8 depth 12

A

+0.203.3


47

AX5000 Series

AX5075

Dimensions

95 285

50

317

12±0

.021

5

285

(34

)32

120

(ca

ble

bend

ing

rang

e)

250

15˚

250

Rotational section



8H7 depth 10

125

40

39

37265 h7

(23)64922.5 96

293719

45

4215

108

18 15188312

214

0

9




Indicator (LED)

(Rc1/8)

(Rc1/8)

70h7

0.04 A

P.C.D.100306

(Option)



15

30 30

215

4-M10 depth 15

A

Rotational section



+0.203.3

48

AX5000 Series

Dimensions

AX

5000A

ctuator

Dimensions

AX5150

140285

50

317

12±0

.021

5285

(34

)32

120

(ca

ble

bend

ing

rang

e)

250

15˚250



8H7 depth 10

125

40

39

37265 h7

(23)64922.5 96

293719

45

4215

108

18 15188316

718

5

9




Indicator (LED)

(Rc1/8)

(Rc1/8)

70h7

0.04 A

P.C.D.100306 (Option)



15

30 30

215

4-M10 depth 15


A


+0.203.3

49

AX5000 Series

Dimensions

AX5210

190285

50

317

285 12

±0.0

215

(34)

32

120

250

15˚

250 (including hollow section)Rotational section


8H7 depth 10

125

40

39

37265h7

2310

9119

293719

46

15 10

823

1884

240

21725

8

9



Indicator (LED)

(Rc1/8)

(Rc1/8)

70h7

0.04 A

P.C.D.100 (Option)


4-M10 depth 15


15

215

A


(ca

ble

bend

ing

rang

e)

30 30306

+0.203.3


50

MEMO

51


IP65 conforming product (IEC standards)Suited for rotary positioning in environments where water could enter or where dust levels are high.

Max. torque: 45, 70N·m




Descriptions

(rpm)120

100

80

60

40

20

00 40 80 100 (N·m)

AX8045

AX8070

AX8070AX8045

45

15

100 (Note 2)

1200

38

1700

0.0330

0.9

5.0

35.0

80

±15

±5

540672

Class F



0 to 45˚C

-20 to 80˚C


IP65 (IEC60529) IP55 (IEC60034-5)

0.015

0.015

70

23

100

2200

73

4000

0.1540

4.0

10.0

80.0

210










Repeatability


Resolver resolution







Protective structure

Weight



Brake torque

N·m

N·m

rpm

N

N·m

N

kg·m2

kg·m2

sec.

sec.

N·m

P/rev

kg

mm

mm

N·m

20 60

Specification sizeInspection item

Straightness of table top (mm)

Runout of table top (mm)

Parallelism between table top and housing bottom (mm)

Perpendicularity of table top and housing side (mm)

Runout of table main shaft hole (mm)

0.015

0.015

0.02

0.02

0.015

Inspection standard

Note 1: Refer to the "CKD Index Units General Catalog" (CB-019SA) "Technical explanation, Static index precision" for details on the index precision.Note 2: Consult with CKD if rotation speed is 100 rpm or faster.

With models having a maximum torque of 45 N·m or less, the S type is used with special specifications up to 150 rpm and the H driver up to 180 rpm. Contact CKD for details. Note that maximum speed cannot be changed after delivery.

*This graph shows characteristics of three phase and 200 VAC .

High grade of dust and water proof IP65* of IEC529 standards compliant TÜV Rheinland certified Enhanced waterproofing is attained with air purging.

Clamp reinforced of brake sectionClamp torque : 80N·m (AX8045) : 210N·m (AX8070)

* IP65The IP display indicating the dustproof and waterproof grade is specified in IEC60529 and IEC60034-5. The AX8000 Series is certified as IP65 compliant by TÜV Rheinland.IP6*: Indicates the grade of protection against contact and solid foreign matter entry. "6" is the highest grade, and indicates a "completely dustproof mechanism."IP*5: Indicates the grade of waterproof protection. "5" indicates "protective structure against water sprayed from all directions."

* Use low pressure (0.05 MPa) dry clean compressed air for air purging.

* Pneumatic brakes are integrated so the output shaft is clamped when stopping and holding rigidity is increased. Refer to the recommended air circuit diagram on page Intro 15.

Both vertical and horizontal installations are possible

52

AX8000 Series

How to order

AX

8000A

ctuator

Size (max. torque)

Model no.

A

Driver typeNote 1

B

Cable changeNote 2, Note 3

C


D

Dial plate shapeNote 4

E

How to order

AX8


Symbol Descriptions

045

070

45 N·m

70 N·m

B Driver type

S S type driver

C Cable change

Blank

D**

D**L

DM**

DM** L

Standard (water proof straight plug 4m)

Water proof straight plugCable length change

Water proof angle plugCable length change

Water proof straight plugFlexible cable cable length change

Water proof angle plugFlexible cable cable length change

E Dial plate shape

Blank

P

T

Flange table

Flange table with dowel hole

T slot table

DM08L045 J1 PS


Note 4: "P" and "T" can not be selected together.

Straight plug Angle plug

Model

Driver - power voltage tableDriver type

S type driver H type driver

200 to 230 VAC 100 to 115 VAC200 to 230 VAC100 VAC

AX8045

AX8070

Blank

Blank

J1


02

Blank

06

08

10

15

20

25

30

2 m

4 m

6 m

8 m

10 m

15 m

20 m

25 m

30 m






* S type driver is recommended if the max. torque is 70 N·m or less.Contact CKD for details on the availability of the H type driver.

Note 2: Use the optional flexible cable in applications where the cable is bent repeatedly. Refer to page 57 for dimensions of the cable.

Note 3: Refer to the drawing below for plug shapes.

53

AX8000 Series

Dimensions

AX8045

Angle plug installation dimensions

AX8045-T (T slot table)

A B

Joint for air supply 6

Silencer for exhaust (Rc1/8)* For air purge (Rc1/8)

12

0.5

40 (2) 96

100

18

60

20 (98)

60

15216

22

190

18

120

180h

740

160

170

200

4-12

160

200

4-M10 depth 15


(Rc1/8)

125

1013

0

2 x 4-M10 depth 15 (rear side is the same.)

12 ±0.0215

+ 0.2 0depth 3.3

P.C.D.100

21

6

3030

(30) (85)

170

C section details

19 + 2 0 8

+ 1

0

12H8 ( ) + 0.027 0

20

C section

40 (2) 96

100

18

60

20 (98)

60

15216

37

205

18

180h

7

40

160

170

200

4-12

160

200

4-M10 depth 15

P.C.D.100

(Rc1/8)

125

1013

0


30

12

30

21

6

depth 3.3

±0.0215

+ 0.2 0

A B

Joint for air supply 6

Silencer for exhaust (Rc1/8)

* Rc1/8 for air purge

27

170

40H7

40H7

* A space of 30 mm is required for connecting and disconnecting the angle plug.

* Use low-pressure (0.05 MPa) dry clean compressed air for air purging.


(cable bending range) (160)Rotational section

(cable bending range) (160)Rotational section

A

0.04 A


40 40100

50



54

AX8000 Series

Dimensions

AX

8000A

ctuator

Dimensions

AX8070

AX8070-T (T slot table)

5 Silencer for exhaust (Rc1/8)

Joint for air supply 6 (Rc1/8)

AB


104

67.5

355

285

250

70

250

142.

5

297.

5

P.C.D.12

5

275

155

22 (108) 24

754-M12

4- 18

9034

250h

7

160

70H7 38

126

15154

111

195

22.5

12154.5

130

12

3636


200

306


18h7 ( ) 0-0.018

Angle plug installation dimensions

(30) (85)

Silencer for exhaust (Rc1/8)

Joint for air supply 6 (Rc1/8)

AB


D section

54

104

67.5

355

285

250

70

250

142.

5

297.

5

18h7 ( )

275

155

(108) 24

75

4-M12 4- 18

9034

250h

7

70H7 38

4115

154

111

210

22.5

130

12

3636


154.5

0-0.018

27

200

54 142

306

D section details

19 + 2 0

8 + 1

0

12H8 ( ) + 0.027 0

20

5



* A space of 30 mm is required for connecting and disconnecting the angle plug.




Rotational section

(cable bending range) (160)

Rotational section

(cable bending range) (160)

62.5

0.04 A

A

55

AX8000 Series

Safety precautions

Safety precautions

F

F

L

(Note) Moment load



(Fig. a) (Fig. b)

L

The driver, handy terminal, and interactive terminal are not waterproof. Provide waterproofing when using this where water or oil enter. The actuator is not rustproof.If increased waterproofing is required, attach an air purging joint and supply low-pressure air (0.05 MPa) of the same quality as brakes in the motor. Abnormal noise may occur depending on the amount of air leakage. If this poses a problem, lower air pressure.NBR (nitryl rubber) is used for seal material. The seal's properties and life could be shortened depending on the fluid type.Steel (output shaft) and cast iron (housing) are used for actuator material. These are not rustproof. Contact CKD when treatment is required.When using built-in waterproof brakes as a circular table when machining a workpiece attached to the output shaft, apply brakes during machining. Note that machining is limited to light cutting.The actuator is designed for light cutting applications. Vibration may be generated if heavy cutting with large cutting resistance is done.The direct drive actuator cannot be used for applications in which a workpiece is rotated and machined.

56

MEMO

57


Cable dimensions

AX1000/AX5000 Series


AX2021, AX2042

AX4150, AX4300, AX4500

AX8000 Series

CE marking

CE marking

CE marking

CE marking

CE marking products are not available for AX8000 series.

The AX8000 series standard cable and flexible cable are provided with a flexible conduit to improve waterproofing.

Resolver cable

Motor cable

Resolver cable

Motor cable

Resolver cable

Motor cable

Resolver cable

Motor cable

Motor cable

Resolver cable

(15

)

(20)

(22) (15

)

41


41


100 (74)


(ap

prox

. 22

)

(ap

prox

. 22

)

(74)

Flexible conduit

Flexible conduit

41


(300)


(69)

45 (m

aximu

m diam

eter)

45 (m

aximu

m diam

eter)

45 (m

aximu

m diam

eter)

45 (m

aximu

m diam

eter)

(69)

(

22)

(

22)

(

38)

(

38)

(60)

(60)

100

10050

100

41

100

100

41

48

18

48

18

48

18

48

18

48

18

(18)

(24

)

41

41

41

100

41

100

100

100


450


450


450


450

FG line

BK + line

FG line

FG line

FG line

(15

)

(22)

(20)

(15

) (18)

(24

)

(18)

(24

)

(69)

(69) BK - line

58

Cable bending radiusStandard cable

Resolvercable

Resolvercable

Resolvercable

Resolvercable

Resolvercable

Motor cable

Flexible cable

60mm 60mm

100mm 110mm

Motor cable

50mm 60mm

90mm 90mm

Motor cable

60mm

90mm

Motor cable

50mm 60mm

100mm 110mm

Motor cable

60mm 100mm

100mm 110mm

Safety precautions

Use an actuator, driver, and cable with the same serial No.Contact CKD if the cable is damaged or broken, or if the cable length must be changed.

When connecting the motor cable and driver, check that the cable's mark tubes and driver's indications are correct.

Attach a noise filter for the motor cable on the motor cable near the driver if the cable is longer than 6 m.

Use the optional flexible cable in applications where the cable is bent repeatedly. When using the AX2000 or AX4000 series flexible cable, fix the cable sheath near the actuator connector.

When connecting the cable, firmly insert the connector to the back. Firmly tighten the connector's set screws and fixing screws.

Do not modify the cable by cutting or extending it. Failure to observe this could result in faults or malfunction.

When using a CE-compatible part (option), use an FG clamp, etc., for the cable shield on both the driver and actuator cases, and ground to the cabinet.

Refer to the cable length in How to order on cable length L.

Clamp for FG

59

GS/S type driverDirect drive actuator

Common specifications Performance specifications

CN3 input signal

CN3 pulse string input signal

CN3 output signal

Power voltage

Power frequency

Structure





Atmosphere

Noise-resistance

Vibration resistance

Weight

Note 2: Timing output cannot be used if the continuous rotation direction is CCW.

50/60Hz

Driver and controller integrated type (open frame)

0 to 50˚C

20 to 90%RH (with no dew condensation)

-20 to 80˚C


With no corrosive gas and powder dust

1000V (P-P), pulse amplitude 1μsec., start up 1nsec.

4.9m/s2

Approx. 2kg

1. 200 VAC -10% to 230 VAC +10% three phase (standard) (Note 1)

2. 100 VAC -10% to 115 VAC +10% single phase (-J1: Option)

DescriptionsModel

GS type driverAX9000GS

S type driverAX9***S

Number of control axis

Angle input increment

Min. angle input increment

Speed input increment

Speed setting range

Equal index number

Max. command value

Timer

Programming language

Programming method

Operation mode

Coordinates

Acceleration curve

Status display

Operating indication

Communication interface

I/O signal

Program capacity

Electronic thermal

1 axis, 540672 pulses/rotation (name: A axis)

˚ (degree), pulse, index number

0.001˚, pulse

Sec., rpm

1 to 255

7-digit input ±9999999

0.01 to 99.99 sec.

NC language

Data can be set with an interactive terminal or

personal computer, etc., using the RS-232-C port.

Automatic, MDI, jog, single block,

servo OFF, pulse string input mode

Absolute, incremental

<5 types>

Modified sine (MS), modified constant velocity (MC/MC2),

modified trapezoidal (MT), tropecloid (TR)

Power supply display with LED

Display with 7 segment LED

RS-232C conformed

<Input>Return to origin command, reset, start, stop, continuous rotation stop,

emergency stop, answer, program No. selection, brake release, program No. setting, pulse string input

<Output>Alarm 1/2, positioning complete, in-position, start input waiting

M code 8 point, during indexing 1 (Z phase output)/ during indexing 2,timing, M code strobing, index position strobing

6000 characters (256 programs)

Over heat protection of actuator

0.01 to 100 sec./0.01 to 100rpm (S type)0.01 to 100 sec./0.01 to 300rpm (Note) (GS type) (Note) The max. rotation speed differs depending on the actuator connected.

Pin No. Signal name Logic Judgment1 to 23 to 4

56789

101112131415161718

PositivePositivePositivePositivePositive

PositivePositivePositivePositivePositivePositivePositiveNegativePositive

LevelLevelLevelLevelLevelEdgeEdgeEdgeEdgeEdgeEdgeEdgeEdgeLevelLevel

External power input + 24V±10%External power input GNDProgram No. selection input (bit 0)Program No. selection input (bit 1)Program No. selection input (bit 2)Program No. selection input (bit 3)Program No. selection input (bit 4)/program No. setting input 2nd digitProgram No. setting input 1st digitReset inputReturn to origin command inputStart inputProgram stop inputContinuous rotation stop inputAnswer inputEmergency stop inputBrake release input

Pin No. Signal name Logic333435363738394041424344454647484950

PositivePositivePositivePositivePositivePositivePositivePositivePositivePositivePositiveNegativeNegativePositivePositivePositivePositivePositive

M code output (bit 0)M code output (bit 1)M code output (bit 2)M code output (bit 3)M code output (bit 4)M code output (bit 5)M code output (bit 6)M code output (bit 7)In-position outputPositioning complete outputStart input waiting outputAlarm output 1Alarm output 2Output during indexing 1/Z phase output (pulse string input mode)Output during indexing 2Output of time (Note 2)Index position strobing outputM code strobing output

Pin No. Signal name19202122

PULSE/UP/A phase-PULSE/-UP/-A phaseDIR/DOWN/B phase-DIR/-DOWN/-B phase

Power supply wattage / breaker capacity

S type driverBreaker capacity

Actuator model No. Driver model No.

0.5

0.5

0.50.8

Power supply wattage (KVA)Rated value Rated current (A)Max. value

0.8

1.0

1.52.0

10

AX*006AX*009, AX*012AX*021, AX*022AX*045, AX*042AX*070, AX*075

AX9006SAX9009S, AX9012SAX9021S, AX9022SAX9045S, AX9042SAX9070S, AX9075S

GS type driverBreaker capacity


0.5

0.5

0.50.8


0.8

1.0

1.52.0

10

AX2006GAX2012G, AX4009GAX2018G, AX4022GAX4045GAX4075G

AX9000GS

Descriptions

Note 1: Models with a max. torque of 50 N·m or less are used with single-phase 200 to 230 VAC.

60

GS/S type driverDimensions, etc.,

Driver typ

eS

type driver

CN3 I/O circuit specifications

Dimensions

GS/S type driver (with controller)

GS type driver S type driver GS and S type driver common

Panel explanation Note) The front panel designs of GS and S type driver are different.

GS/S type driver (with controller)

Input circuit Output circuit1, 2 pin +24V±10%

33 to 50 pin

Load

3, 4 pin

1, 2 pin +24V±10%

5 to 18 pin

19, 21 pin

20, 22 pin

Rated voltage 5V±10%Max. input frequencyLine driver 400KppsOpen collector 250Kpps

330

Rated voltage 24V ±10%, rated current 30mA (Max.)

Rated voltage 24V ±10%, rated current 5mA

Pulse string input circuit

For 200 VAC (50/60Hz) For 100 VAC (50/60Hz)

CN1

CN2

CN3

G2

G1ABSODEX

DRIVER S TYPE

L1

L2

L3

POWER

3AC200-230V

50/60Hz

POWER

ABSODEX

U

V

W

BK+

BK-

SERIAL: *******

MODEL: AX9***H

ABSODEX


240

50

75

5

(100) 160.5

220

17.5

17.5

2.3

2.3

CN1

CN2

CN3

G2

G1ABSODEXDRIVER GS TYPE

L1

L2

L3

POWER

3AC200-230V

50/60Hz

POWER

ABSODEX

U

V

W

BK+

BK-

SERIAL: *******

MODEL: AX9***H

ABSODEX


240

50

75

5

ABSODEX

MON MON

G1 G1

G2 G2

CN1 CN1

POWER

POWER POWER

ABSODEX ABSODEX

CN2 CN2L 1

L 2

L 3

U

V

W

BK+

BK-

AC200

-230V

50/60Hz

POWER

L 1

L 2

NC

U

V

W

BK+

BK-

AC100

-115V

50/60Hz

CN3 CN3

DRIVER S TYPE

ABSODEXDRIVER S TYPE

SERIAL: *******

MODEL: AX9***H

ABSODEX


SERIAL: *******

MODEL: AX9***H

ABSODEX


Name plate

Main power 100 VAC

R phase

S phase

NC

Protective ground

Actuator protective ground

Actuator U phase

Actuator V phase

Actuator W phase

+ 24V for brake

Ground for brake


Dip switch for gain 1 adjustment (convergence time)

Dip switch for gain 2 adjustment (load)

CN1Connector for RS232C

CN2Connector for resolver

CN3I/O connector

Name plate

Main power 200 VAC

R phase

S phase

T phase

Protective ground

Actuator protective ground

Actuator U phase

Actuator V phase

Actuator W phase

+ 24V for brake

Ground for brake


Dip switch for gain 1 adjustment(convergence time)




CN3I/O connector

1K

Usable with actuators whose max. torque is 75 N·m.

Usable with actuators whose max. torque is 50 N·m.

61

GH/H type driverDirect drive actuator

Common specifications Performance specifications

CN3 input signal

CN3 pulse string input signal

CN3 output signal

Power voltage

Power frequency

Structure





Atmosphere

Noise-resistance


Weight

50/60Hz

Driver and controller integrated type (open frame)

0 to 50˚C


-20 to 80˚C


With no corrosive gas and powder dust

1000V (P-P), pulse amplitude 1μsec., start up 1nsec.

4.9m/s2

Approx. 3.2kg

Descriptions Number of control axisAngle input incrementMin. angle input incrementSpeed input increment

Speed setting range

Equal index numberMax. command valueTimerProgramming language

Programming method

Operation mode

Coordinates

Acceleration curve

Status displayOperating indicationCommunication interface

I/O signal

Program capacityElectronic thermal

1 axis, 540672 pulses/rotation (name: A axis)˚ (degree), pulse, index number

0.001˚. pulseSec., rpm

0.01 to 100 sec. / 0.01 to 100rpm

1 to 2557-digit input ±9999999

0.01 to 99.99 sec.NC language

Data can be set with an interactive terminal or personal computer, etc., using the RS-232-C port.

Automatic, MDI, jog, single block,servo OFF, pulse string input mode

Absolute, incremental<5 types>

Modified sine (MS), modified constant velocity (MC/MC2),modified trapezoidal (MT), tropecloid (TR)

Power supply display with LEDDisplay with 7 segment LED

RS-232C conformed<Input>

Return to origin command, reset, start, stop, continuous rotation stop, emergency stop, answer, program No. selection, brake release,

program No. setting, pulse string input<Output>

Alarm 1/2, positioning complete, in-position, start input waitingM code 8 point, during indexing 1 (Z phase output)/during indexing 2,

timing, M code strobing, index position strobing

6000 characters (256 programs)Over heat protection of actuator

Pin No. Signal name Logic Judgment1 to 23 to 4

56789

101112131415161718

PositivePositivePositivePositivePositive

PositivePositivePositivePositivePositivePositivePositiveNegativePositive

LevelLevelLevelLevelLevelEdgeEdgeEdgeEdgeEdgeEdgeEdgeEdgeLevelLevel

External power input + 24V±10%External power input GNDProgram No. selection input (bit 0)Program No. selection input (bit 1)Program No. selection input (bit 2)Program No. selection input (bit 3)Program No. selection input (bit 4)/program No. setting input 2nd digitProgram No. setting input 1st digitReset inputReturn to origin command inputStart inputProgram stop inputContinuous rotation stop inputAnswer inputEmergency stop inputBrake release input

Pin No. Signal name Logic333435363738394041424344454647484950

PositivePositivePositivePositivePositivePositivePositivePositivePositivePositivePositiveNegativeNegativePositivePositivePositivePositivePositive

M code output (bit 0)M code output (bit 1)M code output (bit 2)M code output (bit 3)M code output (bit 4)M code output (bit 5)M code output (bit 6)M code output (bit 7)In-position outputPositioning complete outputStart input waiting outputAlarm output 1Alarm output 2Output during indexing 1/Z phase outputOutput during indexing 2Output of time (Note 2)Index position strobing outputM code strobing output

Pin No. Signal name19202122

PULSE/UP/A phase- PULSE/-UP/-A phase DIR/DOWN/B phase- DIR/-DOWN/-B phase

Power supply wattage / breaker capacity


0.5

0.5

0.50.80.80.81.52.0

0.8

1.0

1.52.03.04.04.04.0

10

20

AX*006AX*009, AX*012AX*021, AX*022AX*045, AX*042AX*070, AX*075AX*150AX*210AX*300AX*500

AX9006HAX9009H, AX9012HAX9021H, AX9022HAX9045H, AX9042HAX9070H, AX9075HAX9150HAX9210HAX9300HAX9500H

Breaker capacityPower supply wattage (KVA)Rated value Rated current (A)Max. value

Model

GH type driverAX9000GH

H type driverAX9***H

H type driver

GH type driverBreaker capacity


0.81.52.0


3.04.04.0

20AX4150GAX4300GAX4500G

AX9000GH

1. 200 VAC -10% to 230 VAC +10% three phase (standard) (Note 1)

2. 100 VAC -10% to 115 VAC + 10% single phase (-J1: Option)

(Note) The max. rotation speed differs depending on the actuator connected.

Note 2: Timing output cannot be used if the continuous rotation direction is CCW.

Note 1: Models with max. torque of 50 N·m or less are used with single-phase 200 to 230 VAC.

Descriptions

62

GH/H type driverDimensions, etc.,

Driver typ

eH

type driver

CN3 I/O circuit specifications

Dimensions

GH/H type driver (with controller)

GH/H type driver (with controller)

Input circuit Output circuit1, 2 pin +24V±10%

33 to 50 pin

Load

3, 4 pin

1, 2 pin +24V±10%

5 to 18 pin

19, 21 pin

20, 22 pin

Rated voltage 5V±10%Line driver 400KppsOpen collector 250Kpps

390

Rated voltage 24V±10%, rated current 150mA (Max.)

Rated voltage 24V±10%, rated current 7.5mATime constant approx. 5msec

Pulse string input circuit

GH type driver H type driver GH and H type driver common

Panel explanation Note) A front panel design of GH and H type drivers are different.

There is a risk of faults.

This product is not waterproof.

Do not touch the terminal block, etc., while the power is ON. This section is hazardous for approx. 10 seconds after the power is turned OFF.

Water and oil contact caution

Incorrect wiring caution

High voltage caution

Power

Use an actuator, driver and cable with

the same serial No.

Working

Working

Cautions for combinations

Cautions

(with no dew condensation)20 to 90%RH

0 to 50˚C

50/60Hz

Serial No.

Products

Power

Model

Front panel display

Driver Direct drive

17.5

2.3

(100)

2.3 17.5

220

240

11080

11080

5

240

ABSODEX

ABSODEX

DRIVER H TYPE MON.

G1

G2

F1

F2

F3

CN2

POWER

CN3

CN1

L1

POWER3200-230 VAC

50/60HzL2

L3

FG

U

V

W

ABSODEXMODEL: AX9***H

SERIAL: *******CKD Corporation MADE IN JAPAN

BK+

BK-

210

5



ABSODEX

ABSODEX

DRIVER GH TYPE MON.

G1

G2

F1

F2

F3

CN2

POWER

CN3

CN1

L1

POWER3200-230 VAC

50/60HzL2

L3

FG

U

V

W

BK+

BK-

Operating indication7 segment LED

Power display





CN3I/O connector

Operating indication7 segment LED

Power display





CN3I/O connector

Fuse



ABSODEX

ABSODEX

DRIVER H TYPE MON.

G1

G2

F1

F2

F3

CN2

POWER

CN3

CN1

L1

POWER3200-230 VAC

50/60HzL2

L3

FG

U

V

W

BK+

BK-

ABSODEXMODEL: AX9***H-J1SERIAL: *******CKD Corporation MADE IN JAPAN

ABSODEX

ABSODEX

DRIVER GH TYPE MON.

G1

G2

F1

F2

F3

CN2

POWER

CN3

CN1

L1

POWER3200-230 VAC

50/60HzL2

L3

FG

U

V

W

BK+

BK-

Main power 200VR phaseS phaseT phase

Protective groundActuator U phaseActuator V phaseActuator W phase24 VDC for brakeGround for brake

Fuse

Main power 200VR phaseS phaseT phase

Protective groundActuator U phaseActuator V phaseActuator W phase24 VDC for brakeGround for brake

GH type driver H type driver

1K

63

GS/S/GH/H type driver

Safety precautions

Check that foreign matter such as wire scraps does not get in during wiring. Consult with CKD when using this product where dust or oil fumes could get in the driver.


GS/S type driver (-K)

GH/H type driver (-K)

Note) Fix a ground cable to ground cable fixing (M4) screw.

GS type driver GS/S type driver commonS type driver

Note) Fix a ground cable to ground cable fixing (M4) screw.

MADE IN JAPAN

ABSODEXMODEL: AX9000GS

SERIAL:

CKD Corporation

-K

and inside the driverin the front panel

for 5 minutes afterpower is turned off.

terminal strip4 Do not touch the

ABSODEX DRIVERPRODUCT

Protective earth

driver, and cable of

3 Only RCD of Type Ballowed, see manual

Do not use an earthleakage breaker asthe sole protective

2 Combined cautions

number.the same serial

for detail.

essential.connection is

device.

Marked on thefront panel

3-200 to 230 VAC

20 to 90%RH,free fromcondensation

0 to 50 TEMPERATURE

1 Earth connection

AMBIENTHUMIDITY

MODELSERIAL

SOURCE

POWER

POWER

FREQUENCY

AMBIENT

50/60Hz

-K

CKD Corporation

SERIAL:

MADE IN JAPAN

MODEL: AX9SABSODEX

(100)

240

5

50

75

220

17.5160.5

17.5

2.3

2.3

Note) Note)

75

240

50

5Note) For ground cable connection(M4 round head screw)

Note) For ground cable connection(M4 round head screw)

CKD Corporation

S E R I A L :MADE IN JAPAN

M O D E L : A X 9 H

A B S O D E X

3-200 to 230 VACPOWER

50/60Hz

power is turned off.for 5 minutes after

in the front paneland inside the driver

terminal strip

S E R I A LM O D E L

P R O D U C T

A M B I E N T

F R E Q U E N C YP O W E R

S O U R C E

H U M I D I T YA M B I E N T

T E M P E R A T U R E

P O W E R

2 Combined cautions

allowed, see manual3 Only RCD of Type B

the same serialdriver, and cable ofUse the actuator,

4 Do not touch the

for detail.

number.

the sole protectiveleakage breaker asDo not use an earth

Protective earth1 Earth connection

device.

essential.connection is

3-200 to 230 VAC

condensationfree from20 to 90%RH,

0 to 50 ‹C

50/60Hz

front panelMarked on the

ABSODEX DRIVER

3-200 to 230 VACPOWER

50/60Hz

CKD Corporation

S E R I A L :

M O D E L : A X 9 0 0 0 G H @ C R @ - K

MADE IN JAPAN

Note)

Note) 2-M4for ground cable connection

GH type driver

530

110

80

H type driver

530

110

80

240

240

2.3

2.3

Ground cable For front panel installation

For rear panel installation

GH and H type driver common

(100) 210

(4)

220

Note) 2-M4for ground cable connection

Note)

64

MEMO

65

Common with GS/GH/S/H type driver

AX0170H SeriesDirect drive actuator interactive terminal

Specifications

DimensionsInteract ive terminal

* With the English version, operation panel features and displayed messages are in English.

DescriptionsOperation modeProgram capacityProgram No.IndicatorInput key

Back upPower supplyCable lengthWorking ambient temperature rangeWorking ambient humidity rangeStorage ambient temperature rangeStorage ambient humidity rangeWeight

16 characters x 2 lines (LCD display)17 keys

(emergency stop key: 1, control key: 5 characters, numerals key: 11)Super capacitor (3 hours)

Supply from direct drive actuator driver2m

0 to 50˚C20 to 90% (with no dew condensation)

-20 to 80˚C20 to 90% (with no dew condensation)

Only body approx. 140g

Edition, display, parameter, operation, copyEqual index or NC program 2000 characters (1 program)Equal index program: program No. 0 to 999

AX0170H

ABSODEX

Interactive terminalDRIVER H TYPE

Emergency stop

Shift A F G7 8 9

J L M4 5 6

N P S1 2 3

Mode -0 Space:Delete

2486

140

72

Cable length 2 m

Features

Model no.

How to order

AX0170H

Symbol Descriptions

Blank

E

Standard (Japanese ver.)

English version

E


(1) Easy programming Equal index programs are created easily by answering questions interactively with the interactive terminal.

(2) Dedicated power supply not required Power is supplied from the direct drive actuator.

(3) Back up possible Programs and parameters are stored, and programs are copied.

(4) Hazardous chemical substance is reduced. Lead free solder is used. Note that this does not apply to parts used on the semiconductor, etc.

Note: Use the AX0170H for the GS, GH, S, and H drivers.AX0162 and AX0165 cannot be used.

66

AX0170H Series


Edit mode

Display mode

Parametermode

Operation mode

Copy mode

Edit mode

Interactive programming

Operation mode

Editing of programEqual division programs created interactively and operation programs created with NC codes are edited.Only one edited program is saved. Memory backup: 3 hours.After the equal division program is edited, parameters required for operation are edited.Up to 2000 characters are input for the NC program.Twelve sample programs are used for editing.

I/O state and current position displayThe direct drive actuator driver's input/output signal CN3's input/output status, the current motor position, and the alarm status, etc., are displayed.

Parameter setting40 types of parameters are referenced and set.

One-touch operation commandsPrograms are started and stopped, executed one block at a time, reset, numbers set, MDI data input and executed, brakes turned ON and OFF, servo turned ON and OFF, return to origin executed, JOG operation and offset set, etc.

Batch copying of programsAll programs stored in the direct drive actuator driver are stored in another driver.

Programs are created easily by inputting the following setting items:

Examples of use

[Example of program input]

Edit mode

Programs are input and stored in easy steps.

Operation mode

Parameter mode

Parameter mode

Op

tion

New program No. (0 to 999)Return to origin potion 1. Origin 2. IndexReturn direction 1. CW 2. CCWReturn speed (1.0 to 100.0) rpmIndex number (1 to 255)Moving time (0.01 to 100) sec.Rotational direction 1. CW 2. CCWStop process 1. start waiting 2. DwellBrake 1. used 2. VacantDelay timer (0.01 to 99.99) sec.M code 1. M code 2. Index position

Try operating the direct drive actuator.

Create a direct drive actuator program and store it in the direct drive actuator.

Start a program stored in the direct drive actuator.

Use features of each cam curve.

Limit torque to protect other devices.

Twelve types of sample programs are selectable, so try these during adjustment.

Programs are started easily by designating the program number.

Five types of cam curves are selectable. Drives that use features of each type are realized in one-touch operation.

The torque is set freely under max. output torque.This effectively limits torque when devices interfere. Interactive term

inal


67

AX-OPX-7G

Serial transmission slave unitCC-Link


Connect the direct drive actuator to a Mitsubishi Electric PLC MELSEC-A or QnA Series field network CC-Link (ver. 1.10) by installing it on thedriver's I/O connector (CN3).

Major reductions in wiring

I/O point 16 inputs, 14 outputs

Whether to hold output if a communication error occurs or to turn allpoints off is selected with the HLD/CLR switch.

Five transmission speeds are selectable.

An external emergency stop input (b contact) is connected serially tothe emergency stop signal with serial communication.

FeaturesDescriptions Specifications

Slave unit power

AX driver power



Atmosphere


Weight

24 VDC ±10% and 100mA or less

24 VDC +10%, -5% or 450mA or less

5 to 50˚C

30 to 85% RH (with no dew condensation)

Without corrosive gas and dust

4.9m/s2

0.15kg

Common specifications

Descriptions SpecificationsCommunication subject

Transmission speed

Output No.

Input No.

Other inputs

Output insulation type


Occupied unit No.

Setting switch

CC-Link system (Ver1.10) compliant

156K/625K/2.5M/5M/10M bps

(select with a switch.)

14 points

16 points

Pulse string, emergency stop

Photo coupler insulation

LED (only display of slave unit power and communication state)

1 station (remote I/O station)

Station no., transmission speed, HLD/CLR,

Terminal ON/OFF

Performance specifications

Explanation of appearance

AX-OPX-7G D02

How to order

Accessory (plug)

1) BLZ5.08/5FAU (Weidmüller) 1 pc.2) BL3.5/2F (Weidmüller) 2 pcs.3) ZHR-6 (JST MFG CO. LTD.) 1 pc.

Note: When using emergency stop input from an external source, or when operating with a pulse string from an external pulse generator, designated the option model No.

Blank

D02

Standard

Cable for pulse string input (2m) attached

Symbol Descriptions


3 46

79

2

10

8

5

3 46

79

2

10

3 46

79

2

10

5

8

8

5

RATE

. ST N

o.

ENDC H

B

1X

1.0X

AX-O

PX- 7

G

0VAX

pow

er24

V

SLD

DG

DB

DAFG

L ER

RL

RUN

RD

SDPW

Station No. setting switch

Setscrew (1 each on both top and bottom)

Guard

Emergency stop pulse stringinput connector

Serial communication signal line connector

Slave unit power

Power for AX driver

Transmission speed setting switch

Output mode setting switch

Terminal station setting switch

Name plate

Operating indication LEDTop view

(Inside of cover)

68

AX-OPX-7D

Serial transmission slave unitDeviceNet

Serial transmission slave unitC

C-Link/D

eviceNet


Explanation of appearance

The direct drive actuator is used with DeviceNet by installing it on thedriver's I/O connector (CN3).

Major reductions in wiring

I/O point 16 inputs, 14 outputs

Whether to hold output if a communication error occurs or to turn allpoints off is selected with the HLD/CLR switch.

Three transmission speeds are selectable.

An external emergency stop input (b contact) is connected serially tothe emergency stop signal with serial communication.

CE marking

FeaturesDescriptions Specifications

Slave unit power

AX driver power

Communication power



Atmosphere


Weight

24 VDC ±10% and 100mA or less

24 VDC +10%, -5% or 450mA or less

11 to 25 VDC 50mA or less

5 to 50˚C


Without corrosive gas and dust

4.9m/s2

0.15kg

Common specifications

Descriptions SpecificationsCommunication subject

Communication speed

Output No.

Input No.

Other inputs

Output insulation type


Occupied byte number

Setting switch

DeviceNet conformed

125k/250k/500k bps

(select with a switch.)

14 points

16 points

Pulse string, emergency stop

Photo coupler insulation

LED (power and communication state display)

Input: 2 bytes, output: 2 bytes

Output mode (HLD/CLR),

Node address and communication speed

Performance specificationsHow to order

Accessory (plug)

1) MSTB2.5/5-STF-5.08AUDVM (Phoenix contact) 1 pc.2) BL3.5/2F (Weidmüller) 2 pcs.3) ZHR-6 (JST MFG CO. LTD.) 1 pc.

Blank

D02

Standard

Cable for pulse string input (2m) attached

Symbol Descriptions

AX-OPX-7D D02


Note: When using emergency stop input from an external source, or when operating with a pulse string from an external pulse generator, designated the option model No.

1248

1632

10

DRNA

H C AX-O

PX-7

D

0VAX

pow

er24

V

NS

MS

Node address setting switch

Setscrew (1 each on both top and bottom)

Guard

Emergency stop pulse stringinput connector

Serial communication signal line connector

Slave unit power

Power for AX driver

Communication speed setting switch

Output mode setting switch

Name plate

Operating indication LED

(including communication power line)

Top view(Inside of cover)

69

AX-OPX Series

Slave unit/AX driver I/O signal table

AX-OPX-7G

AX-OPX-7D

BitAX

CN3Pin No.

Slave unit input signal name (AX output —> slave unit input)

AXCN3

Pin No.

Slave unit output signal name (slave unit output —> AX input)

0

1

2

3

4

5

6

7

8

9

A

B

C

D

E

F

33

34

35

36

37

38

41

42

43

44

45

46

47

48

49

50

M code output (bit 0)






In-position output

Positioning complete output


Alarm output 1

Alarm output 2

Output during indexing 1/Z phase output

Output during indexing 2

Output of time

Index position strobing output

M code strobing output

5

6

7

8

9

10

11

12

13

14

15

16

17

18

Program No. selection input (bit 0)





/program No. setting input, 2nd digit

Program No. setting input, 1st digit

Reset input

Return to origin command

Start input

Program stop input

Continuous rotation stop input

Answer input

Emergency stop input

Brake release input

Vacant

Vacant

I/O signal

83 or less

66 o

r le

ss

63.5

70

25.5

16.5 or less

Connector section dimensions

0V24

VAX

pow

er0V

24V

AX p

ower

RATE

ST N

o.

ENDC H

B

1X

10X

ERR

LSD

PW

DB

RUN

LRD

DG

DA

FGSL

D

Note: The AX driver's M code output (bit 6) and M code output (bit 7) cannot be used.When using AX-OPX-7G, the slave input signals are bits 0 to F, and the slave output signals are bit 10 to 1F.

Dimensions (Common for CC-Link and DeviceNet)

70

AX-OPX Series

How to install


C-Link/D

eviceNet

The slave's depth is 68 mm, and the plug’s depth is 16.5mm. The slave is removed with the plug wired.

Fix the slave onto the driver with fixing screws.

Installing the GS and S type driver

Installation dimensions (for GS/S type driver)

Cautions for installation

Slave unit installation (for GS/S type driver)

0VSlave unit power

24V

SLDFG

DADG

RDRUN

L

DB

PWSD

ERRL

Installation

Dismounting

I/O connector (AX CN3)

Slave unit set screw

Connect the direct drive ac-tuator driver's I/O connector(AX CN3) to the slave, thentighten slave fixing screws.

160.5 (210)6816.5

AX-OPX-7GAX-OPX-7D

Plug

Set screw

GS/S type driver

Note: Dimensions shown in ( ) are for GH/H type driver.

71

AX-OPX Series

Connections

Transmission I/F connector (for installing on GS and S)

* Refer to the following transmission I/F connector for details on connecting communication cables.

* The connector orientation is reversed when installing on the GH or H driver.

PLC

Noise filter

Resolver cable (standard 4m)

Actuator cable(standard 4m)


RS-232C

200 VAC three phase

FG


No. 3 class ground and above

ABSODEXDRIVER S TYPE G1

CN2

CN1

N3

BK

ABSODEX

POWER

POWER

L1

L2

MON

3AC200V

V

-230V

W

L3

U

G2

50/60Hz

0V24 VDC

Slave unit power

Power for AX driver0V24 VDC

BK

CommunicationdeviceSerial

transmission communication line

CN3

S type driver

*

FG

SLD (bare)

DG (yellow)

DB (white)

DA (blue)

V + (red)

CAN H (white)

SHIELD (no color)

CAN L (blue)

V- (black)

AX-OPX-7G (CC-Link) AX-OPX-7D (DeviceNet)

72

AX-OPX Series

Cautions on connection


C-Link/D

eviceNet

Connecting the pulse string input connector (option)

When connecting a pulse string input cable (option model: AX-OPX-CABLE-D02), disconnect the short-circuit connector with a narrow flat-tippedprecision screwdriver , align notches on the male and female connectors, and insert the connector.Do not disconnect the short-circuit connector by pulling on the short-circuit jumper wire.

Refer to "Safety Precautions" in the instruction manual before use.

Read through the instruction manual for the communication system and be sure you understand it before use.

Do not install this product where water, moisture, dust, or oil fumes are generated. Failure to observe this could cause fire, faults or electricalshock, etc.

If the slave switch is set incorrectly, the direct drive actuator could malfunction. Carefully confirm switch settings before use. Check the slavenumber, transmission speed and output settings at communication error when power is turned on.

Turn power off before starting wiring.

When connecting the cable to the connector, the cable could move to the back instead of the connector tightening side, so always loosen thecable fixing screw sufficiently.

If a connector fixing screw is provided, tighten it when inserting the connector. If the screw is not tightened, the connector could deviate andmalfunction. If a connector fixing screw is not provided, confirm that connector latches are caught firmly.

Provide sufficient bending radius for the communication cable so it is not bent forcibly.

Disconnecting the slave by pulling on the cable or connector could cause wire breakage or damage. Hold the slave when removing it.

Touching electric connections (live parts) could cause electrical shock.

The AX driver's M code output (bit 6) and M code output (bit 7) cannot be used.

Safety precautions

SLDFG

DA

DG

RDL

RUN

DB

PWSD

LERR

Precise screw driver

Short connector

Connector (male)

2120±50

Electric wire size (AWG26)

Notch

Installation

The slave's depth is 68 mm and the plug's depth is 16.5 mm.The slave is removed with the plug wired.

The slave's vertical orientation is reversed when installed onto the GH or Hdriver. The switch faces up.

Fix the slave on the driver with fixing screws.

GH/H type driver installation

73

AX Series

Related partsPart name Model No.Model

PC communication cable (DOS/V)

PC communication cable (old PC98) 14 pin half pitch

PC communication cable (old PC98) D-sub 25 pin

AX-RS232C-9P

AX-RS232C-14P

AX-RS232C-25P

AX Series

AX Series

AX Series

Maintenance partPart name Model No.Model

Pneumatic valve (brake)

Fuse

AX-0002

AX-FUSE-0218010MXP


GH/H driver

Mounting basePart name Model No.Model

Mounting base

(Note 1) The base is not compatible with the AX5000 Series, AX8000 Series, or AX4009 Series. (Note 2) Contact the CKD Sales Office for details on the mounting base model No.

AX-AX****-BASE-* (Note 2)AX Series (Note 1)

OtherPart name Model No.Model

Pulse row input cable

I/O connector

AX-OPX-CABLE-D02

AX-CONNECTOR-MR-50LM

AX-OPX Series

AX Series

Noise filterPart name Model No.Model

Noise filter for power supply (three phase/10A)

Noise filter for power supply (three phase/15A)

Noise filter for power supply (single phase/10A)

Noise filter for motor cable (20A)

Noise filter for power supply (single phase/15A)

Ferrite core for motor cable

AX-NSF-LF-310

AX-NSF-LF-315

AX-NSF-LF-210

AX-NSF-LF-320KA

AX-NSF-NF2015A-OD

AX-NSF-RC5060

AX Series

AX Series

AX Series

AX Series

AX Series (CE)

AX Series (CE)

Direct drive actuator related parts model no. table

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AX Series

Selection guide (1)

Selection guide

1. Load moment of inertia

2. Rotation speed

3. Load torqueUnit of elements of operating condition and symbol

Moving angle (˚)Moving time (s)Cycle time (s)Load friction torque (N·m)Working torque (N·m)Cam curve

t1

t0

TF

TW

Selection from (MS, MC, MT, TR)

a) The max. load torque value is obtained with the following formula:

Vm Am r is the value below:

JM TMF f is as follows:

JM: Output shaft moment of inertia (kg/m2)

TMF: Output shaft friction torque (N·m)

fc: Usage factor (fc = 1.5 during normal use)

b) The effective value of the load torque is obtained with the following formula.

Tm = [Am· (J + JM) ·

Trms = · fc] 2+(TF·fc+TW· fc+TMF)2· [r·Am· (J + JM) ·

+ TF + TW] · fc + TMF180 · t1

2

(Cautions)

Nmax = Vm·6·t1

(rpm)

Settling timeDirective moving time of direct drive actuator

Actual moving time

t1

t0 180 · t12

4. Regenerative power (Only AX4300, AX4500)

W = ( )2 ·

W 40

(W)Vm · · (J+JM)

t1·180 2·t0

Cam curve

MSMCMTTR

1.761.282.002.18

5.538.014.896.17

0.7070.5000.8660.773

Vm Am r

Time

Speed

Rolling friction

μ = 0.03 to 0.05

Sliding friction

μ = 0.1 to 0.3

Calculate the load movement of inertia, and temporarily select an

actuator that handles inertia movement.

Max. rotation speed Nmax is obtained using movement angle (˚)

and movement time t1(s)

Vm is a constant determined by the cam curve.

Confirm that Nmax does not exceed the actuator's specified

max. rotation speed.

Actual movement time is the direct drive actuator command

movement time plus settling.

Note: Frictional torque is applied to the output shaft due to

the bearing or sliding surface or other friction.

Friction torque is calculated with a relational formula.

Tf = μ·Ff·Rf (N·m)

Ff = m·g

Where μ: Friction coefficient

Ff: Force (N) applied on sliding surface or bearings

Rf: Average friction radius (m)

m: Weight (kg)

g: Gravity acceleration (m/s2)

The settling time differs based on the working condition, but generally is between 0.05 and 0.2 s.Movement time t1 used for selecting the model should be the direct drive actuator command movement time. The direct drive actuator command movement time is also used for setting the movement time in the NC program.

If the temporarily selected actuator does not satisfy either of the

following conditions, increase the actuator size and calculate

again:

Max. load torque < max. output torque

Effective value of load torque < continuous output torque

Note: For the AX4300 and AX4500, torque speed gradually

decreases, and the use range is limited.

If max. speed is 50 rpm or faster, check with model

selection software.

With AX4300 and AX4500, the power regenerated by the

consumption capacity of the regenerative resistor is limited.

The limit is obtained with the following simple expression:

If this condition is not satisfied, reconsider operation and load

conditions.

Note: The working torque expresses, with a torque value, the

external load, etc., applied on the output shaft as a load.

Working torque TW is calculated with the following formula:

TW = FW x RW (N·m)

FW (N) : Force required for work

RW (m) : Radius for work

(Example)

When setting the output shaft horizontal, the table,

workpiece, and jig, etc., are the working torque.

76

AX Series

Selection guide (1)

(working conditions)

STEP 1Calculation of moment of inertia

STEP 2Max. rotation speed

STEP 3Load torque

STEP 5Selection guide

STEP 4Regenerative electric power* Only for AX4300, AX4500

a) Table J1 = = 6.322

Wt R2

279 0.42

b) Jig and workpiece (kg·m2)

(kg·m2)

(kg·m2)

J2 = N Wj Re2=4 10 0.3252 = 4.225

c) Total sum of moment of inertia

Nmax = Vm ·

Confirm that Nmax does not exceed the direct drive actuator's max. rotation speed.

Load total sum of moment of inertia

Max. rotation speed

Max. load torque

Effective load torque

Regenerative electric power

10.545 18

33 100

231.3 300

70.7 100

15.68 40

(kg·m2)

(rpm)

(N·m)

(N·m)

(w)

AX4300 is used.

Study whether the temporarily selected AX4300 is used.

Tm = [ Am · (J + JM) ·

Trms =

= [ 5.53 (10.545 + 0.326)

= 231.3 (N·m)

= 70.7 (N·m)

+ 0 + 0 ] 1.5 + 10

+ TF + TW ] · fc + TMF

(rpm) = 1.76 = 336 · t1 6 0.8

90

J = J1 + J2 = 6.32 + 4.225 = 10.545

180 · t12

180 0.82

90

t1

t0

Trms =0.84

W = (

W 40 (W)

(W)

)2

)2

Vm (J + JM)t1 · 180 2 · t0

= ( 1.76 900.8 180

= 16.2310.8712 4

Table radius : R = 0.4 (m)Table weight : Wt = 79 (kg)Jig radius of rotation : Re = 0.325 (m)Jig weight : Wj = 10 (kg/pc.) (Including workpiece weight)Jig number : N = 4

(operation conditions)

Movement angle : = 90 (˚)Moving time : t1 = 0.8 (s)Cycle time : t0 = 4 (s)Load friction torque : TF = 0 (N·m)Working torque : TW = 0 (N·m)Output shaft friction torque : TMF (N·m) Follows actuator specificationsCam curve : MS (modified sine)

=

Calculate the smallest model that can tolerate the load moment of inertia.

The AX4300 allowable moment of inertia is 18.0 (kg·m2) or over, so this load is allowable.

Max. load torque

·

··

180 · t12

·

180 0.82

90

Effective load torque

· [r · Am · (J + JM) · · fc ]2 + ( TF · fc + TW ·fc + TMF)2

[0.707 5.53 10.871 1.5 ]2 + (0 1.5 + 0 1.5 + 10)2

·

77

AX Series

Selection guide (2)

For "MC2 curve " selection guideMC2 curve

Selection method

4 (t1)

0.5 (ta) 0.5 (ta)

(t0)

Constant velocity

section (75%)MC2

With the MC2 curve, the model is selected using the following formula:

Movement angle : (˚)

Cycle time : t0 (s)

Moving time : t1 (s)

Acceleration or deceleration time : ta (s)

Max. rotation speed : Nmax (rpm)

Load moment of inertia : J (kg·m2)

Output shaft moment of inertia : JM (kg·m2)

Friction torque : Tf (N·m)

Working torque : TW (N·m)

Output shaft friction torque : TMF (N·m)

Nmax =6 (t1-0.863ta)

Tm =

Trms =

5.53 (J + JM) · · fc + TMF + Tf + TW

720 · ta2

· ·1-t1-0.863ta

t1-2ta

Load torque (max.): Tm (N·m)

Load torque (effective): Trms (N·m)

3.91 (J + JM) · + [ (Tf + Tw) · fc + TMF] 2· fc720 · ta2

1-t1-0.863ta

t02ta

t1-2ta 2

The MC2 curve has a constant velocity in movement the same as

the MC (modified constant velocity) curve, but by setting an

acceleration/deceleration time, the constant velocity is set freely.

With the MC (general name: MCV50) curve, the constant velocity

section is 50%.

In the example, acceleration/deceleration time (ta) is set to 0.5 sec.

for movement time (t1): 4 sec., a speed pattern that sets the

constant velocity to 75% is created.

Note: Acceleration/deceleration time is set to one-half or less of

movement time. If acceleration/deceleration time setting

exceeds one-half of movement time, the cam curve is

automatically changed to an MS (modified sine wave) curve.

· ··

78

AX Series

Selection guide (3)

When "continuous rotation" model is selectedWhat is continuous rotation?

Selection method

t1

ta td

t0

Continuous

The following functions are available for continuous rotation.

For continuous rotation, select the model with the following formula.

Rotation speed : N (rpm)

Cycle time : t0 (s)

Acceleration hour : ta (s)

Deceleration hour : td (s)

Max. rotation speed : Nmax (rpm)

Load torque (max.): Tm (N·m)

Load moment of inertia : J (kg·m2)

Output shaft moment of inertia : JM (kg·m2)

Friction torque : Tf (N·m)

Working torque : Tw (N·m)

Output shaft friction torque : TMF (N·m)

Nmax = N

Tm =

Trms = ·

5.53 (J + JM) · + Tf + Tw · fc + TMF

· fc

720 · ta2

6.82N · ta ·

Load torque (effective): Trms (N·m)

The above formula applies for ta td. If ta > td, then replace ta with td, and select.

3.91 (J + JM) · + [(Tf + Tw) · fc + TMF] 2

720 · ta2

6.82N · ta · t0

2ta 2

Continuous rotation

Equal index position stop

Output of time

1

2

3

In the example, the shaft accelerates at acceleration time: ta to set speed: N, and when a continuous rotation stop is input, stops with deceleration time: td.

: Continuously rotates at a set speed until the continuous rotation stop signal is input.

: If used with equal division designation, stops at an equal division when the continuous rotation stop signal is input.

: If used with equal division designation, the timing output pulse is output at the equal division during rotation.

79

AX Series

Formula of moment of inertia

A When rotation center is own shaft

For conveyer

1. Circular plate (cylinder)

2. Hollow circular plate (hollow cylinder)

3. Direct hexagonal side finish body

4. Ring

5. Cylinder

6. Hollow cylinder

B When rotation center differs from own shaft

1. Any shape (if small very well)

2. Circular plate (cylinder)

3. Hollow circular plate (hollow cylinder)

4. Direct hexagonal side finish body

5. Cylinder

6. Hollow cylinder

( m : Weight of object (kg))

m 1

m 2

m 3

m 4

: Chain weight: Workpiece total weight: Jig (pallet) total weight: Sprocket A (drive) + B total weight: Drive side sprocket radiusR

I = ( m 1 m 2 + m3 + +m 4

2· R 2)

Center of rotation

A R B

m 4m 1

m 2m 3

m 4

r +Re

lR

RelR

mI

mI

r R

m

l

ReR

m

l

lrRmI

rR

m

l

Reba

mI

Re

b

m

a

l +RmI

R

m

l

RmI

R

r

m

RerR

mI

m

rReR

bamI

a

m

b +

2

r +RmI

m

rR Re

RmI

Re

m

R

mReIm

Re

+ +

= + + ( =

= (3

(4 + +

+ +

=

= =

+ +

=

=

=

+ =

=2

222 2

2 2 2

2 22

2 2

2 22 2

2

2 22

22

22

2 2

2

) (

12

123

43

12)

4)3 +

12) (

2

2

Re

/3)4

Center of rotation

mR

mI =

2

R

r

80

Direct drive actuator selection guide specifications check sheetTable direct drive

(Note) Contact CKD for chain drives and gear drives.

Operating conditions

1. Index 2. Oscillator

Movement angle (˚)

Moving time t1 (sec.)

Cycle time t0 (sec.)

(Note) Index time is movement time + settling time.

The settling time differs according to the working condition, but generally is between 0.05 and 0.20s.

Your company name

Division

TEL

Your name

FAX

Load conditions

Table

Material 1. Steel 2. Aluminum

Appearance Dt (mm)

Plate thickness ht (mm)

Weight m1 (kg)

Workpiece

Quantity nw (pc.)

Max. weight mw (kg/pc.)

Installation center Dp (mm)

Pallet jig

Quantity np (pc.)

Max. weight mp (kg/pc.)

Other

(Fig. 4) Installation rigidity: Low

(Fig. 1) Load conditions

(Fig. 2) Installation attitude: Horizontal (Fig. 3) Installation attitude: Vertical

(Fig. 5) Extension with table shaft

Dp

Rf

μ

Dt

ht

Workpiece

Pallet jig

or, No. of indexes

cycle time = moving time + dwelling time

(Note) When actuator is mounted on X-Y table or vertical mechanism, etc., and mounted actuator moves.

(Note) If 2 is selected for any item, contact CKD.

(Note) When using a spline, when unit cannot be fixed directly onto the device (Fig. 4), when there is a mechanism such as a chuck on the table.

Actuator movement

1. NO / 2. YES

Extension with table shaft

1. NO / 2. YES (Fig. 5)

Equipment rigidity

1. High 2. Low (Note)

(Note) Eccentric load caused by gravity from vertical

installation, external load caused by caulking work

External job

1. NO / 2. YES

Installation attitude

1. Horizontal (Fig. 2) 2. Vertical (Fig. 3)

Dial plate support form bottom

1. NO / 2. YES

Coefficient of friction μ

Work radius Rf (mm)

(Note) The system overview and reference drawings should be attached to select a highly precise model.

81

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82

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2007.11.DCC

Eco-friendly Absolute type DD actuator · Eco-friendly and intelligent index for your network....

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Transcript of Eco-friendly Absolute type DD actuator · Eco-friendly and intelligent index for your network....