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CKD AX1000T Series, Manual

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DIRECT DRIVE ACTUATOR, QUICK RESPONSE TYPE, AX1000T, AX2000T, AX4000T SERIES

Quick response type direct drive actuator 

"Instantaneous positioning " quick response direct drive actuator

AX1000T, AX2000T or AX4000T series

New product

User  friendly  driver  with 

serial communication

CC-Link

DeviceNet

PROFIBUS-DP

 

CC-995A 4

 

Summary of Contents for AX1000T Series

Page 1: ...AX4000TSERIES Quick response type direct drive actuator Instantaneous positioning quick response direct drive actuator AX1000T AX2000T or AX4000T series New product User friendly driver with serial c...

Page 2: ...ecision absolute DD actuator that can index 360 anywhere and combine intermittent and continuous rotation Better compatibility for AX 1000T Easier service and maintenance thanks to improved compatibil...

Page 3: ...o time 5 Downsized GH WGH type drivers 65 smaller volume 50mm shorter depth Newly added semi automatic tuning function Increased I O signals Newly added ready output servo on etc Easier setup Adjustme...

Page 4: ...power supply and control power supply It is now possible to cut off only the main power supply 7 segment LED2 digit display I m p r o v e d v i s i b i l i t y a n d indication of alarm details makes...

Page 5: ...n achieve higher performance Speed wave Review the tuning by measuring the actual change in velocity and convergent time FFT Deter resonance of mechanisms by setting a notch filter and low pass filter...

Page 6: ...nt AX0180 available Adjustment and installation support tool AX tools available Free OS Windows Create and save programs set parameters enter commands using a PC Communication cable RS 232C for9 pin D...

Page 7: ...ch Stop low speed detection unit STO Input Servo ON input Ready return input Servo status output Ready output Opened contact STO ineffective Servo ON Servo OFF Servo ON Turns off with STO input Turns...

Page 8: ...ion Series Torque N m 6 9 12 18 22 45 75 150 Actuator AX1000T Series AX1022T AX1045T AX1075T AX1150T AX2000T Series AX2006T AX2012T AX2018T AX4000T Series AX4009T AX4022T AX4045T AX4075T AX4150T Compa...

Page 9: ...X410WT 30 5 High speed rotation AX4009TS 240rpm AX4022TS 240rpm AX4045TS 240rpm AX4075TS 140rpm Capable of handling load of large moment of inertia Hollow diameter is wide large size option Turntable...

Page 10: ...pection or maintenance turn off device power and other power to related devices release compressed air and check leakage current Observe the Instruction Manual and Precautions for each product to prev...

Page 11: ...than 8 hours a day The warranty will expire if the product reaches its durability shown below Durability direct drive actuator Absodex brake with air brake piston packing valves 2 Scope of warranty If...

Page 12: ...tor performance If the load equipment or frame s mechanical unique vibration is relatively low 200 to 300Hz or less resonance could occur in the direct drive actuator and load equipment or frame Secur...

Page 13: ...a key dummy inertia should be load inertia x 0 5 to 2 If speed changes with belts or gears use load inertia as the actuator output shaft conversion value and install dummy inertia on the actuator fig...

Page 14: ...included Surgesuchascountermeasures suchasdiode Approximate blue 30cm Lead wire not included External power 24 VDC not included External power 24 VDC CR Protection element Electromagnetic brake Attac...

Page 15: ...on is started with an incorrect actuator and driver combination after the program is input after parameter setting it may result in malfunctions and damages When changing the cable length or type orde...

Page 16: ...8 0 Resolver resolution P rev 540672 Motor isolations class Class F Motor withstanding voltage 1500 VAC for one minute Motor isolation resistance 10M 500 VDC and over Working ambient temperature rang...

Page 17: ...10 210N m B Driver type TS TS type driver TH TH type driver C Mounting base Blank Standard without mounting base B With blackened mounting base E Cable length DM02 2m DM04 4m standard length DM06 6m D...

Page 18: ...0V Continuous movement range PVGTOKVVGPV OQXGOGPV TCPIG TRO 0 O This graph shows the characteristics under 3 phase AC200V Continuous movement range PVGTOKVVGPV OQXGOGPV TCPIG TRO 0 O This graph shows...

Page 19: ...optional base is installed 6H7 depth 8 option 0 0 4 B 70 32 27 Option For mounting dial plate Cable bending range Including hollow section Rotating section Mounting base 6 7 straight 6 M6 depth 11 str...

Page 20: ...B 110 6 M8 depth 12 straight 17 32 27 Cable bending range For mounting dial plate Option Including hollow section 185 P C D 2 6 5 P C D 100 P C D 220 Mounting base 6 M8 depth 12 straight 6 9 straight...

Page 21: ...2 M4 GND for mounting 37 200h7 146 5 22 290 A 4 5 8H7 depth 10 option Not available if the optional base is installed P C D 220 0 0 4 B 110 6 M8 depth 12 straight 8H7 depth 10 option 50 15 0 04 A 20 7...

Page 22: ...ent humidity range 20 to 90 RH with no dew condensation Atmosphere No corrosive gas flammable or powder dust Weight kg 4 7 5 8 7 5 Run out of output shaft mm 0 03 Surface run out of output shaft mm 0...

Page 23: ...100 115 to VAC AX2006T Blank J1 AX2012T Blank J1 AX2018T Blank J1 Note 2 The cable is a flexible cable Refer to page 35 for dimensions of a cable The body outlet cable is not a flexible cable Note 3...

Page 24: ...r Fixedshaftinnerdiameter For mounting dial plate Optionbaseinnerdiameter A B 30 5 P C D 60 80h8 30H8 43 5 30H8 range 4 19 5 28 90h7 Cable position Recommended positions for connector hole for mountin...

Page 25: ...5 1 155 4 5 Fixed section 4 M6 depth 12 straight 40 5 21 110 AX center The 500mm outlet cable is not flexible Note Note Fix the end of the cable sheath when bending repeatedly 42 Fixed section Note M...

Page 26: ...ns shown in the parenthesis set parameter 72 multiplier for integral gain to 0 3 reference value Note3 Consult CKD each time when using parameter 72 multiplier for integral gain during continuous rota...

Page 27: ...ltage Note 1 Symbol Descriptions A Size max torque 009 9 N m 022 22 N m 045 45 N m 075 75 N m B Driver type TS TS type driver C Mounting base can not be used with a dowel hole P2 P3 Blank Standard wit...

Page 28: ...S AX4022TS AX4045TS AX4075TS TRO 0 O This graph shows the characteristics under 3 phase AC200V Continuous movement range PVGTOKVVGPV OQXGOGPV TCPIG TRO 0 O This graph shows the characteristics under 3...

Page 29: ...14...

Page 30: ...7 Option Body outlet cable length 400 mm This is not a flexible cable 6 5 5 18 45 50 10 170 42 42 5 30 19 5 85 140 160 160 140 150h7 168 A A 0 06 Option dowel hole dimension Option dowel hole dimensio...

Page 31: ...w section 170 100h7 45 A 180 2 140h7 65 44 12 B Rotating section Including hollow section 119 5 5 9 5 95 28 5 45 2 10 63 32 170 100h7 70 25 180 2 140h7 Electromagnetic brake Protection element attache...

Page 32: ...ement attached C 1 0 200 150 6H7 depth 8 option 4 M6 depth 12 straight For installing optional electromagnetic brake P C D 54 4 5 150 200 6H7 depth 8 option Not available if the optional base is insta...

Page 33: ...netic brake Protection element attached 29 81 5 6 M8 depth 16 straight For mounting dial plate 240 280 240 280 P C D 100 8H7 depth 10 option 85 C 1 5 4 12 Mounting base option 145 P C D 260 10H7 depth...

Page 34: ...w 80rpm during continuous rotation Note2 The default setting will be large inertia moment compatible Note3 Refer to Technical explanations on page 49 for the details on index accuracy and repeatabilit...

Page 35: ...rake Note 2 The cable is a flexible cable Refer to page 35 for dimensions of a cable Note 3 Select surface treatment and mounting base surface treatment with C and G By selecting the optional electrol...

Page 36: ...haft flange Fig a Fig b L AX4150TH AX4300TH AX4500TH TRO 0 O This graph shows the characteristics under 3 phase AC200V Continuous movement range PVGTOKVVGPV OQXGOGPV TCPIG TRO 0 O This graph shows the...

Page 37: ...ic brake Protection element attached 29 81 5 6 M8 depth 16 straight For mounting dial plate 240 280 240 280 P C D 100 8H7 depth 10 option 127 5 85 C 1 5 4 12 Mounting base option P C D 260 130 10H7 de...

Page 38: ...ke 3 M8 depth 16 straight For installing optional electromagnetic brake 159 41 116 15 5 36 5 200 220h7 160h7 272 288 3 Rotating section Including hollow section P C D 265 6 M12 depth 24 straight 6 M10...

Page 39: ...n 6 M10 depth 20 straight For mounting dial plate 127 5 250 250 Mounting base Option 295 C 1 5 295 4 14 20 130 10H7 depth 12 option Not available if the optional base is installed 41 294 6 5 116 26 11...

Page 40: ...gas flammable or powder dust Weight kg 198 Run out of output shaft mm 0 03 Run out of output shaft surface mm 0 08 Protection IP20 Note1 Refer to Technical explanations on page 49 for the details on i...

Page 41: ...rd Rotating section blackening fixed section outside circumference paint S Rotating section electroless nickel plating fixed section nitrating A Size max torque B Driver type F Body surface treatment...

Page 42: ...95 A 420 160h7 85 hollow Cable bending range 145 Fixed section 25 B 11 243 350h7 2 M4 GND for mounting 435 4 6 5 26 30 116 200 6 M12 depth 25 straight Platform for mounting P C D 400 10H7 depth 12 opt...

Page 43: ...28...

Page 44: ...le block servo OFF pulse string input mode Coordinates Absolute incremental Acceleration curve 5 type Modified sine MS modified constant velocity MC MC2 modified trapezoidal MT Trapecloid TR Status di...

Page 45: ...put bit 3 Positive Level 9 Program no setting input 2nd digit program no selection input bit 4 Positive Edge Level 10 Program no setting input 1st digit program no selection input bit 5 Positive Edge...

Page 46: ...m no setting input 2nd digit program no selection input bit 4 Positive Edge Level 10 Program no setting input 1st digit program no selection input bit 5 Positive Edge Level 11 Reset input Positive Edg...

Page 47: ...e Bus type EIA RS 485 compliant Incorrect control method CRC X16 X12 X6 1 Connection cable CC Link Ver 1 10 cable shielded 3 wire twisted pair cable Transmission format HDLC compliant Remote station n...

Page 48: ...1 5 Brake release input Positive Level 1 6 Not available 1 7 Not available 2 0 to 2 5 Not available 2 6 Monitor output action request Positive Level 2 7 Command execution request Positive Edge Commun...

Page 49: ...sitive Level edge 0 5 Program no setting input the first digit program no selection input bit 5 Positive Level edge 0 6 Reset input Positive Edge 0 7 Return to origin command input Positive Edge 1 0 S...

Page 50: ...ABSODEX 25A1 25A1 25A1 25A1 25A1 25A1 25A1 5 5 95 65 0 5 Mounting pitch 5 210 0 5 mounting pitch 220 6 100 160 220 95 Installation hole machining drawing Note 1 3 M4 thread hole Driver appearance Reg...

Page 51: ...CHARGE POWER T SERIES MON G2 G1 DRIVER 3AC200 230V 50 60Hz L1C L2C L3 L1 L2 ABSODEX Footprint TS type driver TH type driver Note 1 Provide extra space depending on your cable The driver is not dustpr...

Page 52: ...d terminal 2 M4 Operating indication 7 segment LED 2 digit Control power supply LED Gain 1 dip switch Convergence time CN1 RS 232C connector Gain 2 dip switch Load CN2 resolver cable connector Termina...

Page 53: ...ely to the back Tighten the connector s set screws and fixing screws Do not modify cable by cutting or extending it as it may lead to faults or malfunctions Refer to How to order for cable length of L...

Page 54: ...rogram 2000 character 1 program Program No Equal index program program No 0 to 999 Indicator 16 character x 2 line LCD display Input key 17key Emergency stop key 1 control key 5 characters numerals ke...

Page 55: ...ffset set etc Batch copying of programs All programs stored in the direct drive actuator driver are stored in another driver Adjustment of the direct drive actuator The function only for AX9000TS The...

Page 56: ...r the model number of the mounting base Noise filter Part name Model Model no Noise filter for power supply three phase 10A AX Series AX NSF 3SUP EF10 ER 6 Noise filter for power supply single phase 1...

Page 57: ...is calculated from the target position and the remainder of the actual result with the smallest and largest value A high precision encoder is used to measure the angle Repeat accuracy is the maximum d...

Page 58: ...by entering program no 1 Example of PLC operation signal Initial process process done only once in the beginning Process name 1 Program no selection No selection 0 bit No selection 1 bit No selection...

Page 59: ...ase Move to 45 in 0 7 seconds Brake operation Waiting for start input from PLC Brake release Move to 45 in 0 7 seconds Brake operation Waiting for start input from PLC Jump to block of sequence No 1 P...

Page 60: ...ulated with a relational formula Tf Ff and Rf N m Ff m g Coefficient of friction Rolling friction Sliding friction 0 03 to 0 05 0 1 to 0 3 Ff Force applied on sliding surface or bearings N Rf Average...

Page 61: ...e power consumption of the regenerative resistor Calculate using the simplified formula below W W 40 W 2 Vm J JM t1 180 2 t0 If this condition is not satisfied reconsider operation and load conditions...

Page 62: ...ent of inertia N max Confirm that Nmax does not exceed the direct drive actuator s maximum rotation speed Calculate the smallest model that can tolerate the load moment of inertia The AX allowable mom...

Page 63: ...inuously rotates at a set speed until the continuous rotation stop signal is input 2 Equal index position stop If used with equal division designation stops at an equal division when the continuous ro...

Page 64: ...ide finish body 5 Cylinder 6 Hollow cylinder Weight of object kg m 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 radiu...

Page 65: ...de 1 Horizontal fig 2 2 vertical fig 3 External job 1 NO 2 YES note Dial plate support form bottom 1 NO 2 YES Coefficient of friction Work radius Rf mm Device rigidity 1 High 2 Low note note Extension...

Page 66: ...ylinder Flexible actuation Easy programming Improved reliability Main features Electric actuator ESSD ELCR Series NEW Electric actuator with the usability of a pneumatic component Ample variations and...

Page 67: ...52...

Page 68: ...2009 12 DCC...

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