linear servo actuator
Post on 03-Feb-2022
9 Views
Preview:
TRANSCRIPT
www.intelligentactuator.com
Linear Servo Actuator
NOTE: Some images in this PDF version of the catalog have been modified to reduce download time.
~
~
SYSTEM CONFIGURATION
Follow these steps to configure the linear servo actuator system:
STEP
Selection ofcontroller type
Connection betweenactuator and controller
Connection betweencontroller and PLC
Data entry tocontroller
Connection tofield network
DESCRIPTION
Choose either the X-SEL (high-function type) controller or E-Con (positioner type) controller.
A standard three-meter (or five-meter) cable is provided for connecting the actuator andcontroller. (The length is determined by the type of actuator used.)
Use the PIO flat cable (two meters, connector not attached) provided with the controller toconnect the controller and any external device such as a PLC.
An optional teaching pendant or PC software is needed to enter programs and position data inthe controller.
When connecting the actuator to a field network, select a specification that supports theapplicable network.
REFERENCE PAGE(S)
Encoder cableType CB-RCBC-PA030-RB(3m cable comes standardwith actuator)
PIO flat cable (2 m)Type CB-RCBC-PIO020 (E-Con) CB-X-PIO020 (X-SEL)(Supplied with the controller)
Motor cableType CB-RCC-MA030-RB(3m cable comes standard with actuator)
5 m
5 m (E-Con)4 m (X-SEL)
*Connector not attachedt
PLC (provided by customer)
X-SEL
E-Con
AC power supplySingle-phase 100 V
AC power supplySingle-phase 100 VSingle-phase 200 V
PC connection cable (5 m)Type CB-RCA-SIO050 (E-Con)
CB-ST-E1MW(CW)050 (X-SEL)(Supplied with the PC software)
PC software (Optional)Type RCA-101-MW (E-Con)
IA-101-X-MW (X-SEL)*PC unit not included
CONTROLLER OPTIONS
CABLES
NAMETYPE
NAMETYPE
(*1)(*1)
(*2)
Teaching pendant
Teaching pendant (deadman switch specification)
PC software (DOS/V)
PC software (PC-98)
Motor cable
Encoder cable
PIO flat cable
PC connection cable
*2 The PC software for the E-Con controller comes with a cable (CB-RCA-SIO050) and a conversion adapter (RC-ADP-MW).
(25-pin 9-pin)
(25-pin 25-pin)
(Cable)
(PC-end adapter)
Teaching pendant (Optional)Type RCA-T/TD (E-Con)
IA-T-X/XD (X-SEL)
Connectornot attached
Connectornot attached
TYPES
UV
COLORRGREEN
RED
WIRE SIZE
0.75.sq
No.1234
NCONECTIONC
0.75.sq
No.1
ACTUATOR TYPE
CONTROLLER TYPE
Actuator type Controller type Controller option type(s) (only when applicable; see table at bottom of opposite page)
When ordering a linear servo actuator, please specify the types of the threecomponents listed below:
Series nameLS Series
Actuator type L : Large(Actuator size) S : Small
Motor output L : 300 WS : 150 W
Stroke L : 136 to 1576 mm (144-mm pitch)S : 120 to 1560 mm (120-mm pitch)
Controller L1 : X-SELtype E1: E-Con *Select the controller type to be used.
Encoder type I : Incremental encoder
Cable length S : 3 m (Standard)M : 5 mX : Specify length. (Enter an applicable length in up to 10 m. Example) X07 : 7 m
Option (Blank) : Without cable trackCT : With cable track
1. Position controller (See page 12 for details.) 2. High-function controller (See page 14 for details.)
Series name
Encoder type
Motor output Network Power-supplyvoltage
Series name
Controller Type
Numberof axes
Network Power-supplyvoltage
Motoroutput
CABLES
Motor Cable Type Encoder CableType
* Enter an applicable cable length (L) in up to 10 m. Example) 080 = 8 m
*
*Example) 080 = 8 m
*
Controller side
Machine side
Machine side
Type
--
-
RED18
(Crimped)
WIRE SIZE
0.15 sq(Crimped)
-
WIRE SIZE
COLORBROWN1
RED1ORANGE1YELLOW1GREEN1BLUE1
PURPLE1GRAY1WHITE1BLACK1
BROWN-2RED2
ORANGE2YELLOW2GREEN2BLUE2
PURPLE2
No.12
4567
910
12
1415
17
WIRE SIZE
Flat cablepressure-welded
COLORGRAY2WHITE2BLACK2
BROWN-3RED3
ORANGE3YELLOW3GREEN3BLUE3
PURPLE3GRAY3WHITE3BLACK3
BROWN-4RED4
ORANGE4YELLOW4
No.1819202122232425262728293031323334
BLACK4BROWN-5
RED5ORANGE5YELLOW5GREEN5BLUE5
PURPLE5GRAY5WHITE5BLACK5
4041424344454647484950
WIRE SIZE
Flat cablepressure-welded
WIRE SIZE
Flat cablepressure-welded
SIGNALCOM-OACOM-OACOM-OBCOM-OB
NCNCNCNC
TRAVELINGPM32
COLORBROWN-1
RED-1ORANGE-1YELLOW-1GREEN-1BLUE-1
PURPLE-1GRAY-1WHITE-1BLACK-1
No.12345678910
SIGNAL/EMGPM16/ALMPM8
ZONEPM4ZFINPM2PFINPM1
COLORBROWN-2
RED-2ORANGE-2YELLOW-2GREEN-2BLUE-2
PURPLE-2GRAY-2WHITE-2BLACK-2
No.11121314151617181920
SIGNALCOM-1ACOM-1ACOM-1BCOM-1B
NCNCNCNCNC
PM32
COLORBROWN-3
RED-3ORANGE-3YELLOW-3GREEN-3BLUE-3
PURPLE-3GRAY-3WHITE-3BLACK-3
No.21222324252627282930
SIGNALNC
PC16/ILKPC8
SVONPC4
RESETPC2
CSTRPC16
COLORBROWN-4
RED-4ORANGE-4YELLOW-4GREEN-4BLUE-4
PURPLE-4GRAY-4WHITE-4BLACK-4
No.31323334353637383940
5
tfta td
t tfta
t
td
FfFa
Fd
Speed
TimeTime
MODEL SELECTION METHOD
Condition The required thrust for acceleration must not exceed the maximum thrust of the linear servo actuator. must not exceed 0.6 times the rated thrust of the linear
servo actuator.
The above conditions are explained in the exampletrapezoidal operation below:
The operation pattern shown at left can be modified as belowwhen thrust is expressed by the vertical axis:
Thrust
Abbreviations:t : Operation time per cycle (s)ta : Acceleration time (s)tf : Travel time at constant speed (s)td : Deceleration time (s)tc : Settling time (0.15 s)
Abbreviations:Fa : Required thrust for acceleration (N)
Fd : Required thrust for deceleration (N)
Condition Maximum thrustFor the slider to accelerate as specified, the required thrust for acceleration Fa must be smaller than the maximum thrust of the linear servo actuator.The maximum thrust of the linear servo actuator varies, depending on the slider speed. Exercise caution when operating in the high-speed range where the maximum thrusttends to drop. (See the diagrams of F-N characteristics duringcontinuous operation, as shown on the opposite page.)
Fa is calculated through the following formula:
Fa = (M + m) a + Ff
M : Slider weight (4.3 kg with the large type, 2.3 kg with thesmall type)
m : Slider capacity (kg)a : Specified acceleration (m/s2)*Ff: Frictional force (N)
With the linear servo actuators, the travel resistance changes in accordance with the slider speed and is calculated by the empirical formulas shown below:
Travel resistance for the large type
V: Slider speed (m/s)
Travel resistance for the small type
V: Slider speed (m/s)
Condition is deemed satisfied if the value of Fa obtainedabove is smaller than the maximum thrust of the linear servoactuator.
Condition Thrust during continuous operation Confirm that the thrust during continuous operation Ft, which takes into account the applicable load and duty, is less than 0.6 times the rated thrust of the linear servoactuator. Calculate Ft through the following formula:
Here, Fd indicates the required thrust for deceleration andis calculated using the formula below:
Fd = (M + m) d - Ff
M : Slider weight (4.3 kg with the large type, 2.3 kg with the small type)m : Slider capacity (kg)d : Specified deceleration (m/s2)Ff: Travel resistance (N)
If the obtained thrust during continuous operation Ft is less than 0.6 times the rated thrust of the linear servo actuator (60 N with the large type, 40 N with the small type), the above operation can be performed.
The linear servo actuator will perform the operation as long as both conditions and are satisfied. If either condition cannot be satisfied, take appropriate measures such as reducing the slider capacity, decreasing the acceleration rate or lowering the payload.
*1G = 9.8 m/s2
503Ff = V
603
Ft =
Selection Criteria
Ft = 58.45 N
350
300
250
200
150
100
50
00 1000 2000 3000
300
350
250
200
150
100
50
00 1000 2000 3000
ta tf td
t
ta tf td
t = 1.5
V
T
Condition Obtain the maximum thrust.Apply the above operation pattern in the calculation formulafor maximum thrust as provided above.
Values Used:
M : Slider weight (4.3 kg with the large type)m : Slider capacity (kg) 3 kg in this examplea : Specified acceleration (m/s2) 19.6 m/s2 in this exampleFf : Travel resistance (N) 50 N in this example
Fa = 7.3 x 19.6 + 50 = 193.08 NBecause the maximum thrust of the large type operating at3000 mm/s is approximately 150 N, as shown by the thrust vs.speed diagram, the maximum thrust condition is not met.
To meet the condition, the slider speed is reduced to 2000mm/s.Fa is now calculated as follows:Fa = 7.3 x 19.6 + 33.33 = 176.41 NBecause the maximum thrust of the large type operating at2000 mm/s is approximately 220 N, as shown by the thrust vs.speed diagram, the maximum thrust condition is met.
Condition Obtain the thrust during continuous operation.Apply the above operation pattern in the calculation formulafor thrust during continuous operation as provided above.The slider speed is assumed as 2 m/s, based on the testresults for maximum thrust.
Values Used:Fa = 176.41, Ff = 33.33, Fd = 109.75,ta = td = 0.102 s, tf = 0.648 s, t = 1.002 s (including a settling time of 0.15 s)
From the values above, Ft is calculated as follows:
Because the obtained value exceeds 0.6 times the rated thrust of the large-type linear servo actuator, or 60 N, this operation pattern cannot be executed.
Let's lower the payload slightly.When calculation is performed again based on t = 1.5 s(including a settling time of 0.15 s), the following result isobtained:
Fa = (M + m) a + Ff
Ft = 71.51
F-N characteristics during continuous operation(Generated motor thrust with IAI's large-type linear servo actuator)
Slider speed (mm/s)
Slider speed (mm/s)
F-N characteristics during continuous operation(Generated motor thrust with IAI's small-type linear servo actuator)
Now, let's perform calculation by following the stepsin the selection method.
The operation pattern can thus be executed.
MaximumthrustRated thrust
MaximumthrustRated thrust
[Example]Let's select a motor based on the selection methodexplained above.
Selecting the motor: For large-type linear servo actuatorOperating condition
: 3 m/sAcceleration : 19.6 m/s2 (same value for deceleration)Travel distance : 1.5 mSlider capacity : 3 kgOperate the slider back and forth continuously over a strokeof 1.5 m.
*1G = 9 .8 m/s2
Speed
Time
Ft =
STROKELA
CDEF
120472452
1
4210202
240592572
410122
360712692
3528
61042
480832812
172
610162
600952
92
81082
72010721052
810202
84011921172
1010122
96013121292
65214
121042
172
1210162
120015521532
79216
141082
132016721652
1410202
144017921772
1610122
156019121892
95220
181042
LS-S-150- - -I- -mmW
mm/sec
mmkg
kgw
N• •
mm
120 240 360 480 600 720 840 960 1080 1200 1320 1440 1560
12.1 14.2 16.3 18.4 20.5 22.6 24.7 26.8 28.9 31.0 33.1 35.2 37.3
1503000
67
Optical incremental encoderpBuilt-in linear guideg
Special aluminum extruded material (A6N01S-T5 or equivalent) with black alumite treatmentp ( q )
Special aluminum extruded material (A6N01S-T5 or equivalent) with black alumite treatment( )Stainless201 (20.5)( )
2.5
)
82.5
(C)B X 200P ( )
(F)( )E
60
5
(165
)(
)
590
165
90
68.1
160
94
8
63
190
L
10 A
1
6
Mb
Ma
Mb, Mcdirection M directio
Mc
Small-Type Linear Servo Actuator
TypeActuator
typeMotoroutput
Stroke Controllertype type
Cablelength
Option
Stroke
pMaximum speedpp
Weightgggg
EncoderGuideBaseSliderSide coverStainless sheet
Maximum load capacity (*2, *3y )Load moment (*2, *4)
Overhang load length L (*5)
Ref
eren
ce n
otes
on
perf
orm
ance
lim
its
*1 Allowable value over three seconds in the stationary state.*2 The load on the slider must be uniformly distributed. Secure the base to a smooth, rigid frame.*3 Based on 2 G (acceleration), 2000 mm/s (speed), 1000 m (travel distance) and 50% (duty).*4 See the figures below for the directions of load moments.*5 When the center of gravity of the installed object is loca at the halfway point of the overhang.
SE : Stroke endME: Mechanical endThe slider moves to the MEduring homing. Please becareful of contact withsurrounding objects.
Dimensions
Membrane grommetOrigin
D-M8 depth 20
8-M6 depth 15
2-8H10 reamer depth 5
M. E. S. E. M. E.
STROKEL
BCDE
136516
2786
400
280660
2
6400
424804
3
8600
568948928
411010800
7121052
5
121000
8561236
5
121000
10001380
6
141200
11441524
7
161400
12881668
723016
1400
1432
181600
157619561936
911820
1800
LS-L-300- - -I- -136 280 424 568 712 856 1000 1144 1288 1432 1576
16.2 19.0 22.0 24.8 27.7 30.5 33.4 36.3 39.1 42.0 44.8
3003000
100 (10.2)
Optical incremental encoderpBuilt-in linear guideg
Special aluminum extruded material (A6N01S-T5 or equivalent) with black alumite treatmentp ( q )Special aluminum extruded material (A6N01S-T5 or equivalent) with black alumite treatmentp ( q )Special aluminum extruded material (A6N01S-T5 or equivalent) with black alumite treatmentp ( q )
Stainless300 (30.6)( )
5
Ma: 84.75 Mc: 84.75 (8.6)
(96.
5)(
)96
.5
(C)( )E38
5
85.6
(193
)(
)
193
(C)( )38
260
185
L1010 A
121
99
56
120
5
Mb
Ma
Mb, Mcdirection M directio
Large-Type Linear Servo Actuator
TypeActuator
typeMotoroutput
Stroke Controllertype type
Cablelength
Option
Stroke
GuideBase
Side cover
Load moment (*2, *4)
(*5)
*1 Allowable value over three seconds in the stationary state.*2 The load on the slider must be uniformly distributed. Secure the base to a smooth, rigid frame.*3 Based on 2 G (acceleration), 2000 mm/s (speed), 1000 m (travel distance) and 50% (duty).*4 See the figures below for the directions of load moments.*5 When the center of gravity of the installed object is locat at the halfway point of the overhang.
SE : Stroke endME: Mechanical endThe slider moves to the MEduring homing. Please becareful of contact withsurrounding objects.
Dimensions
S
2-8H10 reamer depth 5
Membrane grommetgOrigin 2-8H10 depth 10
D-M8 depth 20
8-M8 depth 20p
mmW
mm/sec
mmkg
kgw
N· ·m)
mm
B X 200P
M. E. S. E. M. E.
Type LS-S-150- - -I- -CT
STROKELABCDEF
120472452
1212
4210202
2132
6
122
3528
42
480832812
3172
8610162
600
49210
82
720
421210
810202
513212
122
65214
42
1080
617214
162
792
721216
202
1440
813218
122
1560
95220
42
STROKELABCDE
136516496
2786
400
280660640
2
6400
424804784
3
8600
568948928
4
10800
71210521072
5
121000
85612361216
519812
1000
100013801360
6
141200
114415241504
78616
1400
128816681648
7
161400
143218121792
8
181600
157619561936
911820
1800
82
0.5
4.9
(C)( )
(F)( )E
60
190
165
90
68.1
16094
73
63
19012090
L
9
6
TKP00180-2B-R2896
108
(96.
5)(
)
E
260
85.6
(193
)(
)
(C)( )38
85 854025
60
185
L1010
B X 200p
121
99
612
0
Type LS-
S. E. M. E.M. E.
Stroke Controllertype
Cablelength
Stroke Controllertype
Cablelength
Dimensions
SE : Stroke endME: Mechanical end
operation is executed, theslider will move to the ME.Be careful not to let the slidercontact the surrounding parts.
SE : Stroke endME: Mechanical endThe slider moves to the MEduring homing. Please becareful of contact withsurrounding objects.
Membrane grommet
Membrane grommet
Cable carrier by TsubakiOrigin
Stroke
D-M8 depth 20
8-M8 depth 20
2-8H10 reamer depth 5
2-8H10 depth 10p
Cable Carrier Specification for Small-Type Linear Servo Actuator
DimensionsCable Carrier Specification for Large-Type Linear Servo Actuator
B X 200pp
D-M8 depth 20
2-8H10 reamer depth 5
KP00180-2B-R28
M. E.M. E.ble carrier by Tsubaki
Origin
8M6 depth15
2-6H10 depth 8
Stroke
Either the E-Con (positioning) controller or X-SEL (high-function) controller can be selected for use with the linear servoactuator.
The E-Con controller stores a desired position and moves the slider to that position when a corresponding position numberis specified (entered) and the start signal is input.
The X-SEL controller controls the linear actuator operation as well as peripherals (I/O levels), based on programs entered(SEL language). It can also simultaneously control up to four axes of linear servo actuators and/or Intelligent Actuator's other motorized actuators.
Application/Condition Use an E-Con controller
Want to use a PLC to perform controlNumber of positioning points is 64 or lessWant to ensure easy operation without using programsWant to minimize cost
Application/Condition Use an X-SEL controller
PLC not usedWant to set as many positioning points as possibleWant to control peripherals using a linear controllerWant to synchronize with other motorized actuatorsWant to operate two to four linear actuator axes using a single controller
1 axis
64 points
Not available
10 dedicated input points,
12 dedicated output points
Specification of position number via I/O signal
E-Con X-SEL
CONTROLLER
Number of controlled axes
Number of positioning points
Simple sequencing function
Program capacity
Multitasking
Number of I/O points
Operation method
E-CON POSITIONING CONTROLLER
1. Ideal for operating IA Series high-performance single-axis robotsThe E-Con controller can operate the various actuators in the IA Series.
2. Easy positioning to a maximum of 64 points All that is needed is to store desired positions as position data and specify the corresponding position numbers from a PLC, etc. There is no need to
create complex programs.A maximum of 64 positions can be set.
Storing Positions - Use any of the following 3 methods:
3. Wide-ranging functionsThe E-Con controller provides various functions in addition to the normal positioning function.Different application needs can be answered by combining the necessary functions.
4. Supporting various field networksThe E-Con controller can be connected to field networks for communication with devices from other manufacturers,which eliminates the need for cumbersome wiring.
1. Pitch feed
The load can be fed at increments of aspecified distance from the current position.By specifying the same distance repeatedly,the load can be fed continuously at thesame pitch without being limited by themaximum number of positioning points.
2. Hold
The slider can be stopped temporarily usingexternal ON/OFF signals. Use this functionto pause the operation or set interlocks inrelation to peripherals.
3. Zone outputA signal is output when the slider enters thespecified range during operation. Use thisfunction to set a danger area or provide aquasi-sensor.
Enter coordinates (mm) directly. Move the slider to a desiredposition via jogging and storethe position where the slider isstopped.
Turn off the servo and manuallymove the slider to a desiredposition, and then store thatposition.
Explanation of Key Functions
The I/O signals to/from the PLC can be transmitted viathe DeviceNet system. Parallel I/O connection simplyrequires a dedicated DeviceNet cable (five-lead cable),which significantly reduces the number of cables andenables remote operation away from the PLC.*DeviceNet is a registered trademark of ODVA.*The controller is treated as a remote I/O terminal on DeviceNet.
The I/O signals to/from the PLC can be transmitted viathe CC-Link system. Parallel I/O connection simplyrequires a dedicated CC-Link cable (four-lead cable),which significantly reduces the number of cables andenables remote operation away from the PLC.*CC-Link is a registered trademark of Mitsubishi Electric Corporation.*The controller is treated as a remote I/O station on CC-Link.
Controller nameEncoder typeMotor outputNetwork typePower-supply voltage
ECONI:300: 300 W (Large) 150:150 W (Small)DV: Device Net/CC: CC-Link/(Blank): Network not supported1:100V/2:200V
ECON-I-300-DV-2
ECON-I- -DV-
ECON-I- -CC-
Motor outputPower-supply voltage (*1)
Power-supply frequencyPower-supply capacity
External dimensions (mm)Weight (kg)Operating temperature/humidityOperating environmentProtection functionsLED indicatorsI/O signals PIO Input
Output
Number of positionsTeaching methodAccessories
290 W
150 W 300 W
490 VA410 W
680 VA
50/60 Hz
88.2 (W) X 194 (H) X 129.1 (D)1.2
Temperature 0 C to 40 C, humidity 85%RH or lessIP10 (free from corrosive gases, etc.)
64 points
PIO flat cable, power connector, EMG connector
Motor overvoltage, motor overcurrent, abnormal driver temperature, encoder error, motor overload, etc.
Termi-BUS communication protocol
Teaching pendant or PC software
RDY (ready), RUN (run), ALM (alarm), ENC (encoder error)
24 VDC input, insulation type, 10 dedicated input pointsStart, command position number (6-bit binary), pause, reset, servo ON
24 VDC input, insulation type, 12 dedicated output pointsCompletion position number (6-bit binary), positioning completion, completion, zone,
emergency stop, alarm, traveling
ITEM SPECIFICATION/DESCRIPTION
DeviceNet Specification
CC-Link Specification
Type
Type
Type
Communication connectorSMSTB2.5/5-ST-5.08AU by Phoenix Contact is supplied.Status LEDMS: Module statusNS: Network status
DIP switches for various settingsNode address (MAC ID) settingTransfer rate setting
Rotary switches for various settingsBaud rate setting, station number setting
tatus LEDRUN/SD/RD/ERR
Communication connectorMC1.5-ST-3.81 by Phoenix Contact is supplied.
Main Specifications
Single-phase 100-115 VAC ±10%Single-phase 200-230 VAC ±10% Single-phase 200-230 VAC ±10%
*For the PNP specification, add " P" at the end.
SIO
Specifications
Type
External Dimensions
I/O Wiring Table
129.1 88.2
5
44.1 5
518
4
194
PIN NO.1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
SIGNAL NAMECOM-0A
COM-0A
COM-0B
COM-0B
NC
NC
NC
NC
Motion
PM32
/EMG
PM16
/ALM
PM8
ZONE
PM4
ZFIN
PM2
PFIN
PM1
DESCRIPTION
Output port power (*1)
Not used(Do not connect cables.)
In motion outputCompletion position output 32
Emergency stop output (B contact)Completion position output 16
Alarm output (B contact)Completion position output 8
ZoneCompletion position output 4
Return-to-origin completion outputCompletion position output 2Positioning completion outputCompletion position output 1
Output
PIN NO.21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
SIGNAL NAMECOM-IA
COM-IA
COM-IB
COM-IB
NC
NC
NC
NC
NC
PC32
NC
PC16
/ILK
PC8
SVON
PC4
RESET
PC2
CSTR
PC1
DESCRIPTION
Input port power (*2)
Not used(Do not connect cables.)
Specified position input 32Not used (Do not connect cables.)
Specified position input 16Pause input (B contact)
Specified position input 8Servo ON input
Specified position input 4Reset input
Specified position input 2Start input
Specified position input 1
Input
*2pins 23 and 24 are connected internally.
Teaching Pendant
• Provides all functions required in test operation/adjustment, such as position data entry, test run,
• Basic operations do not require a manual, as position values are easily entered via the dialogue-typeoperation panel.
perform a given operation.
RCA-T (Standard) RCA-TD (W/deadman switch)
PC Software
• Offers wide-ranging functions including jogging, inching, step operation and continuous operation for a dramatic improvement in the system's debugging process.* E-Con controllers cannot use Ver. 3.0.5.2 or earlier. If using PC software Ver. 3.0.5.2 or older, purchase upgrade version (RCA-101-VP).
RCA-101-MW (DOS/V) RCA-101VP(newer version)
Operating temperature/humidityOperating environmentWeightCable lengthDisplay
ITEM° °C, humidity 85%RH or less
Approx. 550 g (including cable)
21 characters x 16 lines, LCD
SPECIFICATION
[Content] • Floppy disks • PC communication cable [Content] • Floppy disks only
External view of incremental specification
Type
Features
Specifications
80
105 32.5 7.5
4.8
CONTROLLER
JI: Small, incrementalKI: General-purpose, incremental
1: 1 axis 3: 3 axes2: 2 axes 4: 4 axes
Network support
DV1 :CC1 to 3:
DeviceNetCC-Link
PR1: Profi Bus
20: 20 W200: 200 W
30: 30 W 300: 300 W 400: 400 W 600: 600 W 750: 750 W
60: 60 W 150: 150 W 100: 100 W
Power-supply voltage1: 100 V 2: 200 V
X-X-X S-S- ESES LELE -L-L KI--KI-3-3- -303-303 0000 -0-01- 501501 -10-10 50-150-1 D-D- VDVD 0-V0-V 2-21
1
7 8
2 3 4 5 6
2 3 4 5 6 7 8
The all-in-one X-SEL controller houses a driver, control unit, and control power supply. All you need to do to get started is toconnect the linear servo actuator to the controller via the motor/encoder cables and supply 100/200V power. Different typesof controllers are available for operating one to a maximum of four axes*. It is also possible to combine different IntelligentActuator product lines to meet the requirements of your application.
*1 The output when maximum axes are connected will vary depending on the model and power-supply voltage. See the specification table for details (page 16).
Small Type
General-Purpose Type
1-axis specification 2-axis specification 3- or 4-axis specification(Only three motor/encoder connectors will beavailable on the 3-axis type.)
1- or 2-axis specification(Only one motor/encoder connector is necessaryfor use with the 1-axis type.)
3- or 4-axis specification(Only three motor/encoder connectors will be available on the 3-axis type.)
*For the PNP specification, add "-P" at the end.Type
Features of Each Model
15
CONTROLLER
4 3 553 10 10 12 13 14
15
16
1113
14
15
17 1881881798762 1716
4
3
11
J Type (Small) K Type (General-purpose)
98
Features
Type
Encoder type
Maximum number of axes
Total output *
I/O expansion
Network support
Power cutoff at emergency stop
NAMEALM
SVONBATT ALMTT ALM
MEANING OF EACH LED WHEN LITDriver has detected an error.Motor is being driven with servo ON.Absolute-encoder battery voltage is low.
COLOR
GreenOrangee
NAME EMG
ENBRDY
Emeergency stop input
Safety gate inputSysttem ready relay output
Operation is enabled when ON, emergency stop isexecuted when OFF.Operation is enabled when ON, servo OFF when OFF.For status output of this controller; cascade connectionpossible. Ready when shorted, not ready when open.
Name and Function of Each Part
*Based on a power-supply voltage of 200 V. (Output at 100 V is indicated in parentheses.)
Various Network Specifications
I/O Interface List
Specifications
16
TYPENumber of controlled axesOutput when maximum number ofaxes are connectedWeight
Operating power-supply voltage rangeg y g gPower-supply frequencyPower-supply capacity
Operating temperature rangeg gOperating humidity rangeg y g
Axis-control method
Speed settinggAcceleration/deceleration settinggProgramming languageg g g gProgram stepsg
Number of programsg
Storage devicegData entry methodyStandard inputsStandard outputs
Serial communicationOther inputs/outputProtection functions
yyAccessoryOptions
4 axes3 axes2 axes
° °
AC full digital servo
1 mm/sec to 3000 mm/sec0.01 G to 3 G
Super SEL language6000 steps (total)
64 programs16 programs
FLASH ROM + SRAM battery backupTeaching pendant or PC software
16 points (dedicated + general-purpose outputs total)
Available when SIO expansion board (optional) is used
Motor overcurrent, overload, motor-driver temperature check, overload check,encoder open detection, soft limit over, system error, battery error
I/O flat cableTeaching pendant, PC software, I/O expansion card, SIO expansion card, regenerative resistance unit
1 axis
2.6 kg 3.3 kg 5.0 kg 6.0 kg 7.0 kg
Max.800 W
Max. 1600 W (power-supply voltage: 200 V)4 axes3 axes2 axes1 axis
Max. 800 W (power-supply voltage: 200 V)
Max.830 VAVAV
Max.1750 VAVAV
Max.1690 VAVAV
Max.830 VAVAV
Max.1570 VAVAV
Max.2310 VAVAV
Max.3050 VAVAV
J TYPE (Small) K TYPE (General-purpose)JI KI
Non-expandable
p g p , , p , p , g
gg gg gg gg gggg
p g p pp y g gp g p pp y g gpp y q ypp y q y
p g p gp g p gp g y gp g y g
g
p gp ggg
p g gg g g gg g g gp ( )g pg p
p gp gp gp g
y pggg pyy
ppp ( g p p p )pp
pp ( p )
p pp p
p y yyy
g p p p gpp
Device Net CC-Link Profi Bus
Small, 1-axis type
I : IncrementalA : Absolute
Encoder I : Incremental: Absolute
IncrementalAbsolute
IncrementalA : Absolute
Encoder I : IncrementalA : Absolute
Small, 2-axis type
Small, 3- or 4-axis type
125.3(80)( )
191.9
120
175.9
195
180
Battery box(ABS specification)
112.5112.5
296.8
35.9125.3(80)( )
195
180
)Battery box(ABS specification)
159.4
2- 5143.4
120
5
125.3(80)( )
195
180
Battery box(ABS specification)
General-purpose, 1- or 2-axis type
General-purpose, 3- or 4-axis type
186
77.2
454.4
77.2150150
180
195
125.3(80)
Battery box(ABS specification)
125.3(80)
180
195
5
186
150150
369.4
Battery box(ABS specification)
(24)
CONTROLLER
External Dimensions
Power-supply voltage: 1: 100 V, 2: 200 V
Power-supply voltage: 1: 100 V, 2: 200 V
Power-supply voltage: 1: 100 V, 2: 200 V
Power-supply voltage: 1: 100 V, 2: 200 V
Power-supply voltage: 1: 100 V2: 200 V
Output for axis 1 (20 to 750)
Output for axis 1 (20 to 750)
Output for axis 2 (20 to 750)
Output for axis 1 (20 to 750)
Output for axis 2 (20 to 750)
Output for axis 3 (20 to 750)
Output for axis 4 (20 to 750)
*Add "B" after the number if you require a brake.*If the power-supply voltage is 100 V, the maximum output will be limited to 400 W.
*If you require a brake, add "B" after the number of the axis for which the brake is required.*If the power-supply voltage is 100 V, the maximum total output will be limited to 400 W.
*If you require a brake, add "B" after the number of the axis for which the brake is required.*If the power-supply voltage is 100 V, the maximum total output will be limited to 400 W.
*If you require a brake, add "B" after the number of the axis for which the brake is required.*If the power-supply voltage is 200 V, the maximum total output will be 1600 W. If the power-supply voltage is 100 V, it will be limited to 800 W.
4: 4-axis specification
1: 1-axis specification2: 2-axis specificationp
Number of axes 3: 3-axis specification4: 4-axis specificationp
*If you require a brake, add "B" after the number of the axis for which the brake is required.*If the power-supply voltage is 200 V,
If the power-supply voltage is 100 V, it will be limited to 800 W.
5
5
3- 5
3- 5
Integrated with case.Specifications
I/O Expansion Board
SIO Expansion Board (General-purpose type)
Teaching device providing various functions such as program/position entry,test run and monitoring.Easy operation via user-friendly dialogue-type panel.Deadman switch specification for enhanced safety is also available.
IA-T-X (Standard)XIA-T-XD (W/deadman switch)
PC Software (Windows version)
Startup support software offering enhanced debugging features.Conveniently incorporates teaching and other functions required in debugging process.
Enables serial communication with external devices.The board has two port channels and supports three communication formats using the supplied joint cables.
A data backup battery used with the absolute encoder specification.Replace the battery when the controller battery alarm is generated.
Expands inputs/outputs.A maximum of three boards can be added to the general-purpose type. (Up to one board can be added to the smalltype, provided that it is of the 3- or 4-axis specification.)
Software (floppy disks) *Supports Windows 95, 98, NT, 2000 and ME.PC connection cable (5 m)
IA-101-X-CW (PC98)
IA-101-X-MW (DOS/V)
IA-105-X-MW-A (Board + joint cable x 2 (supplied))IA-105-X-MW-BIA-105-X-MW-C
IA-105-X-MW-A (for RS232C connection)
IA-105-X-MW-C(for RS485 connection)
ITEM
IA-103-X-32(32 input points/16 output points)
(16 input points/32 output points)
IA-XAB-BT
12222
Joi t cable Type:Joint cable Type: CB ST 232J001CB-ST-232J001 11 Joi t cable Type:Joint cable Type: CB ST 422J010CB-ST-422J010 2 2100 mm 1 m (1000 mm)
50 mm
XM2D-1501
*For the PNP specification, add " P" at the end.
45
90
265
120Options
Teaching PendantType
Features
Specifications
Type
Feature
Type
Features
Type
Features
Specifications
Type
Features
Specifications
Controller side Controller sideCable connector side
onnector not attached
*Connect to a terminal block, etc.
Light gray + red dots
top related