Compact DD actuator with high torque for FA
Direct drive actuator
Eco-friendly
Absolute type DD actuator
CB-32A 7
Eco-friendly and intelligent index
for your network
Precise/high-function
This high-precision absolute DD actuator enables
freely designed 360° indexing, and enables
complex intermittent and continuous rotation.
Eco-friendly
Energy-saving, space-saving, oilless, reusable -these all assist in constructing an eco-friendly
production system.
Network compatible functions
Different networks are easily connectable with the
one-touch connection serial transmission slave.
CC-Link
DeviceNet
Serial transmission slave unit
Dedicating driver
Precise/high-function
H type
S type: Compact
GH type: With compatibility
GS type: Compact/with compatibility
Interactive terminal
Easy-programming
with the handy type.
Return to origin no longer required
A built-in absolute resolver recognizes
the current position even without a
return to origin.
Body actuator
Five series are selectable to match your applications.
Outstanding operability
AX1000 Series
Compatible type AX2000G Series
Compatible type AX4000G Series
AX5000 Series
AX8000 Series
Indexing time is set directly in 0.01second units.
Compact and high torque
The torque does not drop even in high
speed areas.
(Excluding some models)
Precise positioning
High-precision indexing is possible with
high 540672-pulse–per-rotation resolution.
(Indexing repeatability: ±5")
Easy installation and centering
A 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.
Smooth cam curve drive
AX2000 Series
AX4000 Series
System Configuration
Eco-friendly
Energy saving
Power is consumed only during indexing.
Almost no power is consumed while the
output shaft is stopped.
Network compatible
functions
Compatible with open
networks
Two open networks -- CC-Link and
DeviceNet -- are selectable.
No need to replace or dispose lubricant
Bothersome lubricant replacement and
waste oil disposal are no longer required.
Environment pollution is prevented
because no oil leakage occurs.
Reduced wiring costs
Major reductions in wiring help reduce
wiring work-hours.
Five types of cam curves, modified
sine (MS), modified trapezoidal (MT),
modified constant velocity (MC, MC2)
and trapecloid (TR) are selectable
depending on the application.
Space saving
Compact device
Dust-proof structure
Specifications are easy to change
and parts easy to reuse.
AX2000G/
AX4000G Series
Specifications can be changed with an
interactive terminal or personal computer, and
the mechanical index enables parts to be reused.
Drivers, actuators, and cables are
compatible. Maintenance and control are
facilitated by freely combined applications.
A seal is installed on the rotary section
of the actuator. (Excluding some models)
(AX8000 Series is IP65 compatible)
No origin detection sensor, reduction
gears, motors, etc., are required.
Compatibility
Features
Return to origin not required
The direct drive actuator has a built-in absolute resolver that detects
the current position when power is turned on, eliminating bothersome origin searches. After an emergency stop, operations are restarted from the current position.
Output shaft
Hollow
Stator (coil)
Rotor (magnet)
The direct drive actuator resolver consists of two sets -- one uses R/D conversion 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.
Absolute resolver
Cover (adopted for some models)
Precise
High resolution of 540672 pulses per rotation
Index precision: ±15" (second), (±30" (second) for AX3000,
AX4000 Series)
Repeatability: ±5" (second) *
Example of index accuracy measurement (with brake)
sec.
Model No.
Load table
Moving time
AX5022
400
1.0 sec.
Index number
Measuring
device
*1" (second) = 1˚/3600
Heidenhein
(Germany)
ROD-800
Example of index accuracy measurement (without brake)
sec.
Model No.
Load table
Moving time
AX1022
250
1.0 sec.
Index number
Measuring
device
Continuous output range
Short time rated area
Rotation
speed
(rpm)
Continuous output range
Rotation
speed
(rpm)
Torque
PM type (permanent magnet type)
Intro 3
ROD-800
Torque-rotational speed characteristics
(When motor volume is same.)
High torque
This DD motor has outstanding torque properties that maintain
the torque even in high-speed ranges and uses a PM motor
suitable for indexing.
Space saving
With the direct drive motor, compact and space saving compared to the circular table with a motor and reduction gear.
Heidenhein
(Germany)
Torque
VR type (variable magnetic resistance type)
Features
Smooth cam curve drive is achieved.
Five types* of cam curves are provided as a standard. Shock during
movement 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 properties
shown below are selected using parameters, enabling smooth
transfer positioning not possible with simple acceleration/
deceleration time setting control.
Easy design
A socket and spigot on the main console and table mounting facilitate
alignment.
Cam curve characteristics and measuring examples
Name
Acceleration curve Vm
Am
Jm
Measuring example
MODIFIED SINE
MODIFIED
SINE
(MS)
Speed
Acceleration
MODIFIED TRAPEZOID
MODIFIED
TRAPEZOID
(MT)
Speed
Acceleration
MODIFIED CONSTANT VELOCITY
Easy connection
An integrated driver and controller eliminate the need for
connections.
Flexible programming
Positioning at a random point is possible with NC language. Up to
256 NC programs are saved in the driver.
Variety of external interfaces
Program input, parameter setting, and reading of internal states,
etc., are implemented with RS-232C serial communication.
Different external interfaces, including M codes, are provided for
PLC connection.
Using the serial transmission slave, two types of open networks -CC-Link and Device-Net -- are selectable.
Easily create programs
The equal index program is created easily by interactively inputting
the number of divisions and movement time, etc., with the optional
interactive terminal, so the system is ready for use right after installation.
If programs are created in NC language, even complex operations
are possible.
The driver stores up to 6000 characters of programs (256 programs).
Programs are created and saved using a personal computer and
Windows communication software Teaching Note.
CE marking
CE marking compatible parts (option) complying with Low Voltage
Directives and EMC Directives are used. Refer to the instruction
manual for information on installing the system to comply with standards, etc.
Refer to the CKD EU Standard Compatible Part Guide for details
on compatible models and standards.
MODIFIED
CONSTANT
VELOCITY
(MC)
Speed
Acceleration
TRAPECLOID
Speed
TRAPECLOID
(TR)
Acceleration
Conditions of measuring examples
Model No. AX1045
Operating conditions Index angle 90˚
Index time 0.5 second
Load moment of inertia 1.67 x 10-2 kg·m2
Large hollow diameter (AX4000, AX4000G Series)
Large hole diameter specifications are incorporated for easy
piping 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 is
clamped 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)
The Low Voltage Directive
EN60034-1, EN60034-5, EN50178
EMC directive
EN55011, EN61800-3, EN61000-6-2, EN61000-3-2
Certificating body
TÜV Rheinland
High-level dust-proof/waterproof structure (AX8000 Series)
Dowel hole convenient for positioning available
A flexible cable is used as an option for applications with cable
bends.
IP65* of IEC60529 standards compliant
TÜV Rheinland certified
Enhanced waterproofing is attained with air purging.
*Use low pressure (0.05 MPa) dry clean compressed air for air purging.
Intro 4
Direct drive actuator compatible type series variation
Series
Torque (N·m)
6
9
12
18
AX2012G
AX2018G
22
45
AX4022G
AX4045G
AX2000G Series
Actuator
AX2006G
AX4000G Series
AX4009G
Compatible drier
GS type driver
GH type driver
Intro 5
Not available
Applications:
Safety precautions:
Related parts model no. table:
Selection guide:
Torque (N·m)
150
300
500
Index precision Repeatability
(second)
(second)
±5
High speed rotation
(300rpm)
Small diameter and
compact
Large hollow diameter
( 30)
Applications
P&P
Turntable
Assembly
machine
Page
1 to 6
AX4000G
±30
Features
AX2000G
75
Intro 10
Intro 13
P. 73
P. 75
AX1000
AX4150G
AX4300G
AX4500G
7 to 20
AX4000
AX4075G
±5
Turntable
Inspection
machine
Assembly
machine
P&P
AX2000
±30
High speed rotation
(AX4009GS: 240rpm,
AX4022GS: 240rpm,
AX4045GS: 240rpm,
AX4075GS: 140rpm)
Compatible with large
moment of inertia loads
Hollow hole diameter is
large and a variety of
size options are
available.
AX5000
Not available
GS type
59
60
53
GH type
61 to 63
Not available
AX8000
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.
Driver type
Option
Serial transmission slave unit
Intro 6
Direct drive actuator series variation
Series
Torque (N·m)
6
9
12
22 (21)
45 (42)
75 (70)
AX1022
AX1045
AX1075
AX2021
AX2042
AX4022
AX4045
AX4075
AX5022
AX5045
AX5075
AX8045
AX8070
AX1000 Series
AX2000 Series
Actuator
AX2006
AX2012
AX4000 Series
AX4009
AX5000 Series
AX8000 Series
Compatible drier
S type driver
H type driver
Intro 7
The compact, high-function S type driver is recommended.
Applications:
Safety precautions:
Related parts model no. table:
Selection guide:
Torque (N·m)
210
300
500
Index precision Repeatability
(second)
(second)
±15
Turntable
P&P
Assembly
machine
27 to 32
±5
Hollow hole diameter is
large and a variety of
size options are
available.
Seven models 9 to
500N·m are selectable.
Turntable
Inspection
machine
Assembly
machine
P&P
33 to 42
AX4300
±5
Integrated pneumatic
brakes enable the
output shaft can be
clamped when
stopping.
Suitable for work in
which loads are applied
after stopping.
Precision
measuring
Turntable
Inspection
machine
Assembly
machine
(pressfit)
43 to 49
IP65 compliant
(IEC standards)
Ideal for rotary
positioning unit used in
machining or washing
processes or use in
dusty environments
Machining and
cutting such
as light cutting
51 to 55
Turntable
±5
Small diameter and
compact
(AX2006, AX2012)
The hollow fixed shaft
is convenient for cable
wiring and piping.
(AX2021, AX2042)
AX2000
AX4150
AX4500
AX5210
±5
Not available
S type
59
60
63
H type
61 to 63
Driver type
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.
AX8000
Note) Refer to
the precautions
on page 53.
AX5000
±15
AX4000
±15
AX5150
21 to 26
±5
AX1000
±30
Page
Precision
measuring
Turntable
Inspection
machine
Assembly
machine
High-precision specific
type with high indexing
accuracy and output
shaft run out
AX1210
±15
Applications
AX4000G
AX1150
Features
AX2000G
150
Intro 10
Intro 13
P. 73
P. 75
Option
Serial transmission slave unit
Intro 8
AX Series
System configuration
Basic settings
Basic drive methods
1. Input the program from a personal computer or interactive terminal.
1. Select the program to be executed from the PLC.
2. Set required parameters the same way.
2. Input the start signal from the PLC.
3. Set the appropriate gain.
3. The in-position signal is output from the driver after drive starts.
Interactive terminal
"AX0170H" (option)
Cable set (standard 4m)
(resolver cable)
PC
Driver
MON.
Direct drive actuator
(motor cable)
F1
F2
G1
POWER
F3
G2
CN1
200 VAC three phase
CN2
Noise filter
Computer communication software
" Teaching note " (Free software for Windows)
RS-232C
L1
POWER
3200-230 VAC
50/60HZ
L2
L3
CN3
FG
U
FG
V
ABSODEX
When I/O used
W
Noise filter for motor cable
I/O connector (MR-50LM)
I/O
BK+
AX driver power
24 VDC
BKABSODEX
MODEL: AX9000GH
SERIAL:
If the cable is longer
than 6 m, insert a
noise filter on the
motor cable.
CKD Corporation
Standard
configuration
Name
When network
used
Quantity
Actuator
1
Driver (with controller)
1
Cable set (4m)
1
Accessory/I/O connector (MR-50LM), driver installation bracket
Programming tool
• AX0170H is used as a programming terminal for S/GS and H/
GH drivers.
• "Teaching Note" software for personal computer communication is available. (Windows Version free software)
Direct drive actuator programs are created, parameters set,
and operation commands, etc., issued from the personal computer. Created programs are saved.
An RS-232C communication cable is required.
Note: The communication cable is wired exclusively for a direct 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 9
MADE IN JAPAN
AX-OPX
Configuration
RS-232C cable for communication (2m)
"AX-RS232C-9P" for D-sub 9 pin
(option)
PLC
PLC
Master
Remote I/O station
Slave unit power
AX driver power
24 VDC
AX Series
Applications
Example 1. Index unit for rotary table automatic machine
B
• When A and B process programs are created, and selected each
B
A
time, two types of workpieces are machined by one system.
A
A
B
B
(Merits of direct drive actuator)
• An absolute resolver eliminates the need for an origin detection
sensor.
A
• 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
Pneumatic cylinder
• 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.
Inspection equipment
Example 3. Small parts inspection
• When the middle hole is used, this is suitable for a system that removes
workpieces using forced air.
Air blow
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 10
AX Series
Applications (1)
Movement specifications 1 (Index unit movement)
Move 90˚ in 0.5 sec.
Movement specifications
4 indexes (equal index of 90˚)
Moving time 0.5 second
Index 1 in counter clockwise direction each time start is input from PLC.
Program example
Main program
O1;
Use program No. "1"
G11;
Set the time (sec.) in the NC code F unit
G10\ 1A4;
Split one rotation into 4
G91.1;
Set the incremental dimensions.
A0\ F0\ .5;
Move to the closest index station in 0.5 sec.
N1M0\ ;
Wait for the start signal input from the PLC.
A-1F0\ .5;
Move one index in 0.5 sec.
J1;
Jump to the sequence No. 1 block.
M30\ ;
Program end
(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.
Example of PLC operation signal
Initial process: Process to be done once at first
Process name
(1) Program No. to select
I/O signal name
PLC output
PLC input
Remarks
No. selection 0 bit
No. selection 1 bit
Select the program No. 1 (Select
No. selection 2 bit
the number of the program to run.
No. selection 3 bit
In this example, No. 1 is used.)
No. setting of the first digit
(2) Return process
Start signal
Positioning complete signal
Return process completed with
Start input waiting output
positioning complete signal
Index: Process per index
Process name
(3) Index
I/O signal name
Start signal
Positioning complete signal
Start input waiting output
PLC output
PLC input
Remarks
Return process completed with
positioning complete signal
(Note) Input the program No. selection and start signal when the start input waiting output turns ON.
Intro 11
AX Series
Applications (2)
Movement specifications 2 (Oscillator movement)
0˚
-45˚
45˚
Movement specifications
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)
Direct drive actuator
Program example
Main program
O2;
Use program No. "2"
G10\ 5;
Set the NC code A unit in angle (˚)
G11;
Set the NC code F unit in time (sec.)
G90\ ;
Set the absolute dimensions
N1M69;
Brake release
A45F0\ .7;
Move to 45˚ position in 0.7 sec.
M68;
Brake operation
M0\ ;
Start input waiting from PLC
M69;
Brake release
A-45F0\ .7;
Move to -45˚ position in 0.7 sec.
M68;
Brake operation
M0\ ;
Start input waiting from PLC
J1;
Jump to the sequence No.1 block
M30\ ;
Program end
Note 1: Use the direct drive actuator with brakes.
When using the type with optional magnetic brakes, refer to the section "Using the magnetic brakes".
Note 2: 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.
Brake release input
Start input
100msec and over
Positioning complete output
Intro 12
Safety precautions
Always read this section before starting use.
When designing and manufacturing devices using direct drive actuator, the manufacturer has an obligation to manufacture
a safe device, and to check that the safety of the device's mechanical mechanism and the system operated by the electrical
control 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.
WARNING
1
This product is designed and manufactured as a general industrial machine part. It must be handled by
an 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 for
use 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 product
specifications. 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, release
compressed 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 the
outputs shaft. When conducting operations with the actuator not visible, confirm before starting that it is safe even if
the 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 unbalanced
mode, or when stopping the machine for a long time, it may not be sufficient to stop the shaft with brakes alone. Use
the 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 before
operation. 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 is
discharged. 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 off
because 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
8
Intro 13
Before restarting a machine or system, check that measures are taken so that parts do not come off.
Observe precautions on the pages that follow to prevent accidents.
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 fatal
or 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 fatal
or serious injuries.
CAUTION :When a dangerous situation may occur if handling is mistaken leading to
minor injuries or physical damage.
Note that some items described as “CAUTION” may lead to serious results depending on the
situation.
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 other
ancillary 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 14
Design & Selection
CAUTION
1
The actuator -- excluding the AX8000 series -- and driver are
not waterproof. Provide waterproofing for use in places where
water or oil could come in contact with devices.
2
Current leakage and faults could occur if swarf or dust get
onto the actuator or driver. Check that these do not come in
contact with devices.
3
4
The cable enclosed as standard cannot be used with applications
involving repeated bending. Select the optional flexible cable for
these applications.
If cable is longer than 6 m, insert a noise filter to the motor
cable. Connect the IN side of the noise filter to the driver, and
install the filter as close to the driver as possible.
Model no.
8
If sufficient rigidity cannot be attained, machine resonance is
suppressed to some degree by installing dummy inertia as
close to the actuator as possible. Examples of adding dummy
inertia are shown below.
When extending the output shaft, the following dimensions
apply 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
Maker
AX**75 or less
LF-310KA
NEC Tokin (Corp.) Three phase 10A
AX*150 and over
LF-320KA
NEC Tokin (Corp.) Three phase 20A
Dummy inertia
5
If power is turned off and servomotor turnoff is executed while
the servomotor is on (holding), the output shaft may move
from the held position even without external force.
Optional magnetic brakes are used to enhance holding rigidity during output shaft stoppage.
Do not use these brakes to brake or stop a rotating output
shaft.
7 Equipment in which direct drive actuators are installed should
have sufficient rigidity to realize full direct drive actuator per6
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]
[Fig. 1] Installing the actuator
When coupling with a belt, gears, or spline, or when
joining with 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. 4] [Fig. 5]
Note: Install dummy inertia as large as possible within the
actuator's capacity. (Use steel that has a large specific
gravity.)
Dial plate fixing
[Fig. 4] Example 2. for dummy inertia installation
Gear
Dummy inertia
Mounting base
Gain must be adjusted based on load table size, etc.
Even when the direct drive actuator is not directly installed, it should
be installed on a highly rigid frame. [Fig. 2]
[Fig. 2] Mounting the actuator
[Fig. 5] Example 3. for dummy inertia installation
Ball spline
Select gears with as large
diameter as possible.
Dummy inertia
Intro 15
Safety Precautions
Labor saving machine Warnings and Precautions
Always read this section before starting use.
Design & Selection
CAUTION
9 Connecting pneumatic brakes
Resolver cable (standard 4m)
Driver
Direct drive actuator
MON.
F1
(motor cable)
F2
G1
POWER
F3
G2
CN1
200 VAC three phase
CN2
Noise filter
L1
POWER
3200-230 VAC
50/60HZ
L2
L3
CN3
FG
U
FG
ABSODEX
V
W
BK+
BKABSODEX
MODEL: AX9000GH
SERIAL:
CKD Corporation
MADE IN JAPAN
Noise filter for motor cable
If the cable is longer than 6 m,
insert a noise filter on the motor cable.
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
Direct drive actuator integrated
Clamp mechanism
Air dryer
Air filter
5μm
Regulator
0.5MPa
Intro 16
Design & Selection
CAUTION
10 Connecting magnetic brakes
Direct drive actuator
(Resolver cable)
Cable set (standard 4m)
Driver
Blue lead wire
(not polarized)
MON.
(motor cable)
F1
F2
Protection element
(Enclosed with actuator body)
G1
POWER
F3
G2
CN1
200 VAC three phase
CN2
Noise filter
L1
POWER
3200-230 VAC
50/60HZ
L2
L3
CN3
FG
U
FG
ABSODEX
V
W
BK+
BKABSODEX
MODEL: AX9000GH
24 VDC
SERIAL:
CKD Corporation
Relay
MADE IN JAPAN
Noise filter for motor cable
If the cable is longer than 6 m,
insert a noise filter on the motor cable.
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).
Recommended circuit for magnetic brakes
Relay contact serial connection
External power 24 VDC
(user's preparation)
External power 24 VDC
(user's preparation)
CN3
External contact (such as relay)
(user's preparation)
BK +
Protection element
Driver
CR
Enclosed with
actuator body
BKElectromagnetic brake lead wire
(blue, approx. 30cm)
Surge as countermeasures (such as LED)
(user's preparation)
Operation method
1. 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.
Electromagnetic brake
Electromagnetic brake
CN3
External power 24 VDC
(user's preparation)
External power 24 VDC
(user's preparation)
Relay (4 poles)
(user's preparation)
BK +
Driver
CR
BKProtection element Electromagnetic brake lead wire
(blue, approx. 30cm)
Enclosed with
actuator body
Surge as countermeasures (such as LED)
(user's preparation)
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.
11 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.
12 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.
Intro 17
Safety Precautions
Labor saving machine Warnings and Precautions
Always read this section before starting use.
CAUTION
Installation & Adjustment
1 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 flexible 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
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 program 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 input. Alarm 3 is reset when the program and parameters
are input again.
• If operation is started with an incorrect actuator and driver combination 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 separately.
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.
During Use & Maintenance
1 Do not disassemble the actuator, because this may compromise
3 If alarm "4" (actuator overload: electronic thermal) is generated,
expected functions and accuracy. Any modification to the resolver
could cause critical damage.
wait for the actuator temperature to drop before restarting.
Alarm "4" could occur in the cases below. Remove the cause before 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.
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.
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 18
WARRANTY
Warranty Items
Conditions related to the warranty term and scope are as follows:
1. Term of warranty
Warranty 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 warranty
If 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 19
MEMO
Intro 20
Direct drive actuator compatible type
AX2000G Series
Compatible function with free driver, actuator, and cable combinations
High-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
Actuator specifications
Descriptions
AX2006G
AX2012G
AX2018G
Maximum output torque
N·m
6.0
12.0
18.0
Continuous output torque
N·m
2.0
4.0
6.0
Maximum rotation speed
rpm
300
N
1000
Allowable axial load
Allowable moment load
N·m
40
Output shaft moment of inertia
kg·m2
0.00575
0.00695
0.00910
Allowable load moment of inertia
kg·m2
0.3
0.4
0.5
Index accuracy (Note 1)
sec.
Repeatability
sec.
Output shaft friction torque
N·m
Resolver resolution
±30
±5
0.6
0.7
P/rev
540672
Motor insulation grade
Class F
Motor withstanding voltage
1500 VAC for one minute
Motor insulation resistance
10MΩ and over 500 VDC
Working ambient temperature range
0 to 45˚C
Working ambient humidity range
20 to 85%RH with no dew condensation
Storage ambient temperature range
-20 to 80˚C
Storage ambient humidity range
20 to 90%RH with no dew condensation
Weight
kg
4.7
7.5
5.8
Runout of output shaft
mm
0.03
Runout of output shaft surface
mm
0.03
Note 1: Refer to the "CKD Index Units General Catalog" (CB-019SA) "Technical explanation, Static index precision" for details on the index precision.
Speed/max. torque characteristics
AX2006G
AX2012G
(rpm)
350
AX2018G
(Note) Moment load
300
F
L
F
L
250
200
150
100
50
0
0
5
10
15
20
*This is characteristics at three phase 200 VAC .
(N·m)
(Fig. a)
M (N·m) = F (N) x L (m)
M : Moment load
F : Load
L : Distance from center of output shaft
Refer to the safety precautions on Intro 13 to 20 before operating.
1
(Fig. b)
M (N·m) = F (N) x (L + 0.02) (m)
M : Moment load
F : Load
L : Distance from output shaft flange surface
AX2000G Series
How to order
How to order
018
AX2
AX2000G
Model
Model no. of options
GS
BS
D08
J1
K
P1
S
H
G
Body surface treatment
Note 3
Actuator
Model no.
Dowel hole
Note 4, Note 5
Symbol Descriptions
A
A
Size
(max. torque)
6 N·m
012
12 N·m
018
18 N·m
B
B
Driver type
Size (max. torque)
006
Driver type
GS
C
C
Mounting base
Note 3, Note 4
GS type driver
Mounting base (cannot be used with dowel holes P2 and P3)
Blank Standard (without mounting base)
B
BS
With blackening mounting base
Electroless nickel plating surface treatment mounting base
Use body surface treatment S together.
D
D
Cable change
Note 2
Cable change
Blank Standard (cable length 4 m)
D**
Cable length change
DM** Flexible cable length change
**cable length
02
2m
Blank
4m
06
6m
08
8m
10
10 m
15
15 m
20
20 m
E
E
Driver type
Power voltage
Note 1
F
F
CE marking
Note 1: Select the driver according to the table below.
Driver - power voltage table
Model
GS type driver
3 phase
Single phase
200 to 230 VAC 100 to 115 VAC
AX2006G
Blank
J1
AX2012G
Blank
J1
AX2018G
Blank
J1
[Note]
Use the noise filter for the
motor cable if the cable is
longer than 6 m.
Driver power voltage
Refer to the driver - power voltage table on the left.
Note on model no. selection
Driver type
Flexible cable 4 m: DM
CE marking
Blank Standard (CE marking not available)
K
G
CE marking
Dowel hole
Blank Standard (without dowel hole)
P1
1 on top
P2
1 on bottom
P3
1 each on both top and bottom
H
Body surface treatment
Blank Standard (blackening treatment)
S
Electroless nickel plating
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.
* Contact CKD when ordering parts individually for maintenance.
2
AX2000G Series
Cable specifications
Cable min. bending radius
Standard cable
Flexible cable
Resolver
cable
50mm
60mm
Motor cable
100mm
110mm
Resolver
cable
50mm
60mm
Motor cable
100mm
110mm
Cable dimensions
L (standard length 4m)
(20)
48
(15)
Resolver cable
(22)
41
(15)
Motor cable
18
100
(300)
CE marking
(15)
(15)
L (standard length 4m)
(20)
(22)
FG line
41
100
450
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.
3
AX2000G Series
Dimensions
Dimensions
AX2000G
AX2006G
Mounting base (option)
5H7 depth 8 (option)
0.04 A
4-
7
Actuator
50
Fixed section
95
6-M5 depth 10 (straight)
For dial plate mounting
P .C .
D .1 0
0
110
90h7
30.5
Rotational
section
A
(fixed shaft inner
diameter)
1
30H8
(fixed shaft inner diameter)
40
(option base inner diameter)
80h8
150
12.5
Note: The minimum bending
range at the cable lead-out
port is 20mm.
Fixed section
B
30
4-M6 depth 12 (straight)
4
45˚
60
.D.
P.C
6H7 depth 8 (option)
Not available if the option base is installed.
110
Body outlet cable length 500 mm (not flexible cable)
43.5
( 30H8 range)
3.5
100
95
90
(5)
95
0.04 B
Fixed section
40.5 x 21
19.5
28
Recommended positions for connector
holes for motor mounting base
Cable position
AX center
22
CAUTION :
When using a flexible
cable, fix the end of the
cable sheath.
35
42
Standard cable length 4m
4
AX2000G Series
Dimensions
AX2012G
Mounting base (option)
5H7 depth 8 (option)
0.04 A
4-
7
50
Fixed section
95
6-M5 depth 10 (straight)
For dial plate mounting
P .C .
D .1 0
0
110
90h7
30.5
Rotational
section
A
(fixed shaft inner
diameter)
1
30H8
(fixed shaft inner diameter)
40
(option base inner diameter)
80h8
150
12.5
Note: The minimum bending
range at the cable lead-out
port is 20mm.
Fixed section
B
30
4-M6 depth 12 (straight)
4
45˚
60
.D.
P.C
6H7 depth 8 (option)
Not available if the option base is
installed.
110
Body outlet cable length 500 mm (not flexible cable)
43.5
( 30H8 range)
3.5
120
115
110
(5)
95
0.04 B
Fixed section
CAUTION :
When using a flexible
cable, fix the end of the
cable sheath.
19.5
28
Recommended positions for
connector holes for motor
mounting base
Cable position
AX center
22
40.5 x 21
35
42
Standard cable length 4m
5
AX2000G Series
Dimensions
Dimensions
AX2000G
Mounting base (option)
AX2018G
5H7 depth 8 (option)
0.04 A
4- 7
Fixed section
Actuator
95
50
6-M5 depth 10 (straight)
For dial plate mounting
P .C .
D .1 0
0
95
110
90h7
A
30.5
(fixed shaft inner
diameter)
1
30H8
(fixed shaft inner diameter)
40
(option base inner diameter)
80h8
150
12.5
Note: The minimum bending
range at the cable lead-out
port is 20mm.
Fixed section
B
30
4-M6 depth 12 (straight)
4
45˚
60
.D.
P.C
6H7 depth 8 (option)
Not available if the option base is
installed.
110
0.04 B
40.5 x 21
CAUTION :
When using a flexible
cable, fix the end of the
cable sheath.
Fixed section
19.5
28
Recommended positions
for connector holes for
motor mounting base
Cable position
AX center
22
Body outlet cable length 500 mm (not flexible cable)
43.5
( 30H8 range)
3.5
155
150
145
(5)
Rotational
section
35
42
Standard cable length 4m
6
Direct drive actuator compatible type
AX4000G Series
Compatible with large load moment of inertia
Compatible function with free driver, actuator, and cable combinations
Different options including hollow diameter to facilitate cable wiring and piping.
Max. torque: 9, 22, 45, 75 N·m
Available driver: GS type driver
Actuator specifications
Descriptions
AX4009G
AX4022G
AX4045G
AX4075G
22
45
75
7
15
Maximum output torque
N·m
9
Continuous output torque
N·m
3
Maximum rotation speed
rpm
25
240
140
N
800
N·m
40
60
80
200
Output shaft moment of inertia
kg·m2
0.009
0.0206
0.0268
0.1490
Allowable load moment of inertia
kg·m2
0.35 (1.75) Note 2
0.60 (3.00) Note 2
0.90 (5.00) Note 2
5.00 (25.00) Note 2
Allowable axial load
Allowable moment load
Index accuracy (Note 1)
sec.
Repeatability
sec.
Output shaft friction torque
N·m
±30
±5
0.8
10.0
3.5
540672
P/rev
Resolver resolution
20000
3700
Class F
Motor insulation grade
Motor withstanding voltage
1500 VAC for one minute
Motor insulation resistance
10MΩ and over 500 VDC
Working ambient temperature range
0 to 45˚C
Working ambient humidity range
20 to 85%RH with no dew condensation
Storage ambient temperature range
-20 to 80˚C
Storage ambient humidity range
20 to 90%RH with no dew condensation
Weight
kg
5.5
12.3
15.0
36.0
Brake set total weight
kg
—
16.4
19.3
54.0
Runout of output shaft
mm
0.03
Runout of output shaft surface
mm
0.05
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.
Electromagnetic brake specifications (option)
Applicable model
AX4022G/AX4045G
Descriptions
Type
AX4075G
Non-backlash dry non-excitation operation type
Rated voltage
V
Power supply wattage
W
30
55
Rated current
A
1.25
2.30
35
200
Static friction torque
N·m
24 VDC
Armature release time (brake on)
msec
50 (reference value)
50 (reference value)
Armature suction time (brake off)
msec
150 (reference value)
250 (reference value)
Holding precision
Max. cycle rate
min.
time/min.
45 (reference value)
60
40
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.
Refer to the safety precautions on Intro 13 to 20 before operating.
7
AX4000G Series
How to order
How to order
Model
AX4
Model no. of options
022
GS
BS
DM08
EB
J1
K
G
Model no.
P1
S
AX4000G
I Body surface treatment
CE marking
Note 6
Note 3
H Dowel hole
Note 4, Note 5
Symbol Descriptions
A
A
Size
(max. torque)
22 N·m
045
45 N·m
075
75 N·m
Driver type
Driver type
GS
C
C
Mounting base
Note 3, Note 4,
Note 6
GS type driver
Mounting base (cannot be used with dowel holes P2 and P3)
Blank Standard (without mounting base)
B
BS
D
D
Actuator
9 N·m
022
B
B
Size (max. torque)
009
Cable change
Note 2
With blackening mounting base
Electroless nickel plating, surface treatment mounting base
Use with body surface treatment S.
Cable change
Blank Standard (cable length 4 m)
D**
Cable length change
DM** Flexible cable length change
**cable length
02
2m
Blank
4m
Flexible cable 4 m: DM
06
6m
[Note]
08
8m
Use the noise filter for the
10
10 m
motor cable if the cable is
15
15 m
longer than 6 m.
20
20 m
Note on model no. selection
Note 1: Select the driver according to the table below.
E
E
Driver - power voltage table
Driver
type
Model
GS type driver
Brake
Note 6
AX4009G
Blank
J1
AX4022G
Blank
J1
AX4045G
Blank
J1
AX4075G
Blank
EB
F
3 phases
Single phase
200 to 230 VAC 100 to 115 VAC
Brake
Blank Standard (without electromagnetic brake)
F
Driver power
voltage
Note 1
Refer to the driver - power voltage table on the left.
G
CE marking
Blank Standard (CE marking not available)
K
H
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.
Option table
AX4009G
X
Mounting base (-BS)
X
Brake
(-EB)
X
CE marking
(-K)
X
AX4022G
AX4045G
CE marking
Dowel hole
Blank Standard (without dowel hole)
I
P1
1 on top
P2
1 on bottom (2 on the bottom for AX4009G)
P3
1 each on both top and bottom
(1 on the top, 2 on the bottom for AX4009G)
Body surface treatment
Blank
Mounting base (-B)
With negative actuation type electromagnetic brake
Driver power voltage
AX4075G
S
Standard (rotational section - blackening,
fixing section casting surface plane - paint)
Rotational section: electroless nickel
plating treatment, fixing section: nitriding
* Contact CKD when ordering parts individually for maintenance.
8
AX4000G Series
Speed/max. torque characteristics
AX4009GS, AX4022GS, AX4045GS
AX4075GS
AX4009GS
AX4075GS
AX4022GS
(rpm)
250
(rpm)
250
AX4045GS
200
200
150
150
100
100
50
50
0
0
0
10
20
30
40
50
(N·m)
0
*This is characteristics at three phase 200 VAC .
20
40
60
80
(N·m)
*This is characteristics at three phase 200 VAC .
Cable specifications
Cable min. bending radius
AX4009G
Standard cable
Flexible cable
Resolver
cable
50mm
60mm
Motor cable
100mm
110mm
Cable dimensions
L (standard length 4m)
(20)
48
(15)
Resolver cable
(22)
41
(15)
Motor cable
18
100
(300)
Cable min. bending radius
AX4022G, AX4045G, AX4075G
Standard cable
Flexible cable
Resolver
cable
50mm
60mm
Motor cable
90mm
90mm
Resolver
cable
50mm
60mm
Motor cable
90mm
90mm
Cable dimensions
48
L (standard length 4m)
(18)
Resolver cable
(24)
41
18
Motor cable
100
CE marking
L (standard length 4m)
(18)
FG line
(24)
41
100
450
9
AX4000G Series
Safety precautions
Safety precautions
AX4000G
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)
Actuator
(Note) Moment load
F
L
L
F
M (N·m) = F (N) x L (m)
M: Moment load
F: Load
L: Distance from center of output shaft
(Fig. a)
M (N·m) = F (N) x (L + 0.02) (m)
M: Moment load
F: Load
L: Distance from output shaft flange surface
(Fig. b)
Refer to the safety precautions on Intro 13 to 20 before operating.
10
AX4000G Series
Dimensions
AX4009G
4-
5H7 depth 7
(Option)
6-M5 depth 10 (straight)
For dial plate mounting
85
0.06 A
7
2- 6H7
(Option)
(Note)
35
50
110
30
0
160
140
P.C.D.16
Note) Do not remove. The noise resistance could drop.
(Note) Min. bending range of
outlet cable is 20 mm.
140
6.5
(5)
160
168
150h7
42
A
Rotational section (including hollow section)
10
50
45
18
Fixed section
42.5
(Option: Dowel hole dimensions)
120±0.03
170
146±0.03
(Option: Dowel hole dimensions)
11
When using a flexible cable,
fix the end of the cable sheath.
40.5 x t21
80
19.5
Body outlet cable length 400 mm
(Note) This is not a flexible cable.
Standard cable length 4 m
AX4000G Series
Dimensions
Dimensions
AX4022G
AX4022G-EB
With electromagnetic brake
Refer to the left drawing for other options.
200
10
C
150
AX4000G
Mounting base (option)
4-M6 depth 12 (straight)
For option electromagnetic brake mounting
.160
80
45˚
150
4-M6 depth 12 (straight)
P.C.D.16
0
(Screw valid length 9)
For dial plate mounting
4-M6 depth 12 (straight)
(Screw valid length 9)
For dial plate mounting
4
.D.5
P.C
7
CAUTION:
When using flexible cable,
fix the end of cable sheath.
24
80
4-
Cable bending range
(Cable bending range
downward is 60.)
6H7 depth 8 (option)
0.06 A
24
Standard cable length 4m
Standard cable length 4m
170
100h7
170
Rotational section
70
100h7
(including hollow
section)
A
25
Rotational section
(including hollow section)
63
95
28.5
Electromagnetic brake
(protection element attached)
10
45.2
44
140h7
(9.5)
12
28.5
32
119.5
63
95
(9.5)
32
109.5
65
5
5
45
B
180±2
140h7
180±2
45˚
20.5
(10)
88
45˚
5˚
P .C
115
3-M6 depth 12 (straight)
For option electromagnetic
brake mounting
.D
.
12
2
5˚
R8
140
P.C.D.12
5
37
.5˚
Electromagnetic brake lead wire
300 from outlet
80
Recommended value for
lead wire relief dimensions
160
.D.
P.C
3-M5 (straight)
Electromagnetic brake for manual release
4-M6 depth 12 (straight)
0.06 B
6H7 depth 8 (option)
Not available if the option base is installed.
P.
D
C.
.1
60
4-M6 depth 12 (straight)
12
Actuator
200
P.C.D
AX4000G Series
Dimensions
AX4045G
AX4045G-EB
With electromagnetic brake
Refer to the left drawing for other options.
200
C1
0
150
Mounting base (option)
4-M6 depth 12 (straight)
For option electromagnetic brake mounting
60
4-M6 depth 12 (straight)
(Screw valid length 9)
For dial plate mounting
P.C.D.1
60
45˚
150
200
P.C.D.1
80
4-M6 depth 12 (straight)
(Screw valid length 9)
For dial plate mounting
D.54
P.C.
4- 7
24
80
CAUTION:
When using flexible cable,
fix the end of cable sheath.
Cable bending range
(Cable bending
range downward is 60.)
6H7 depth 8 (option)
0.06 A
24
Standard cable length 4m
Standard cable length 4m
170
100h7
170
Rotational section
(including hollow
section)
70
100h7
Rotational section
(including hollow section)
A
5
25
28.5
83
115
B
180±2
140h7
88
180±2
20.5
(10)
45˚
Electromagnetic brake
(protection element
attached)
10
45.2
44
140h7
(9.5)
12
28.5
32
139.5
83
115
(9.5)
32
129.5
65
5
45
45˚
5˚
P.
C.
D.
12
2
3-M6 depth 12 (straight)
80
25
0
16
D.
.
C
P.
4-M6 depth 12 (straight)
3-M5 (straight)
Electromagnetic brake for
manual release
6H7 depth 8 (option)
0.06 B
13
R8
5˚
140
P.C.D.1
115
For option electromagnetic
brake mounting
37
.5˚
Electromagnetic brake
lead wire
300 from outlet
Not available if the option base is installed.
P.
D
C.
Recommended value for
lead wire relief dimensions
.1
60
4-M6 depth 12 (straight)
AX4000G Series
Dimensions
Dimensions
AX4075G
AX4075G-EB
With electromagnetic brake
Refer to the left drawing for other options.
P.
4-M8 depth 16 (straight)
P.C
.D.
255
C.
D.
For option electromagnetic brake mounting
25
AX4000G
15
C
280
240
5
Mounting base (option)
280
240
P .C
.D .1
Actuator
127.5
8H7 depth 10 (option)
0.06 A
00
6-M8 depth 16 (straight)
For dial plate mounting
Standard cable length 4m
Rotational section
(including hollow
section)
Standard cable length 4m
270
160h7
118
58
Rotational section
(including hollow section)
270
160h7
85
41
36.5
B
280±3
Electromagnetic brake
(protection element
attached)
29
(12.5)
220h7
81.5
(12.5)
15
41
36.5
158
120
79
A
145
120
79
12.5
24
12.5
80
24
Cable bending range
(Cable bending
range downward is 60.)
4- 12
CAUTION:
When using flexible cable,
fix the end of cable sheath.
6-M8 depth 16 (straight)
For dial plate mounting
220h7
280±3
Electromagnetic brake lead wire
300 from outlet
45˚
0
26
.D.
P.C
163.5
(10)
88
20.5
P.C.D.19
P.C
.D.
181
10˚
10˚
45˚
P
.
.D
.C
26
0
0
4-M10 depth 20 (straight)
130
3-M8 (straight)
Electromagnetic brake
for manual release
0.06 B
3-M8 depth 16 (straight)
For option electromagnetic brake
mounting
4-M10 depth 20 (straight)
10H7 depth 12 (option)
Not available if the option base is installed.
14
Direct drive actuator compatible type
AX4000G Series
Compatible with large load moment of inertia
Compatible 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
Actuator specifications
Descriptions
AX4150G
AX4300G
AX4500G
Maximum output torque
N·m
150
300
500
Continuous output torque
N·m
50
100
160
Maximum rotation speed
rpm
100
N
Allowable axial load
N·m
Allowable moment load
300
Output shaft moment of inertia kg·m2
Allowable load moment of inertia
kg·m2
Index accuracy (Note 1)
sec.
Repeatability
sec.
Output shaft friction torque
N·m
500
400
0.2120
0.3260
0.7210
75.00 (Note 2)
180.00 (Note 2)
300.00 (Note 2)
±30
±5
10.0
P/rev
Resolver resolution
70
20000
15.0
540672
Motor insulation grade
Class F
Motor withstanding voltage
1500 VAC for one minute
Motor insulation resistance
10MΩ and over 500 VDC
Working ambient temperature range
0 to 45˚C
Working ambient humidity range
20 to 85%RH with no dew condensation
Storage ambient temperature range
-20 to 80˚C
Storage ambient humidity range
20 to 90%RH with no dew condensation
Weight
kg
44.0
66.0
115.0
Brake set total weight
kg
63.0
86.0
-
Runout of output shaft
mm
0.03
Runout of output shaft surface
mm
0.05
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.
Electromagnetic brake specifications (option)
Applicable model
AX4150G/AX4300G
Descriptions
Type
Non-backlash dry non-excitation operation type
Rated voltage
V
Power supply wattage
W
55
Rated current
A
2.30
Static friction torque
24 VDC
N·m
200
Armature release time (brake on)
msec
50 (reference value)
Armature suction time (brake off)
msec
250 (reference value)
min.
45 (reference value)
Holding precision
Max. cycle rate
time/min.
40
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.
Refer to the safety precautions on Intro 13 to 20 before operating.
15
AX4000G Series
How to order
How to order
Model
AX4
300
Model no. of options
GH
BS
DM08
EB
K
P1
S
H
Model no.
Body surface treatment
Note 3
AX4000G
Symbol Descriptions
A
A
Size
(max. torque)
150 N·m
300
300 N·m
500
500 N·m
Driver type
C
C
Driver type
GH
Mounting base
Note 3, Note 4
Mounting base (cannot be used with dowel holes P2 and P3)
Blank Standard (without mounting base)
B
BS
D
D
With GH type driver
Cable change
Note 2
With blackening mounting base
Electroless nickel plating, surface treatment mounting base
Use with body surface treatment S.
Cable change
Blank Standard (cable length 4 m)
D**
Cable length change
DM** Flexible cable length change
**cable length
02
2m
Blank
4m
06
6m
08
8m
10
10 m
15
15 m
20
20 m
E
E
Brake
Note 5
CE marking
G
Model
GH type driver
3 phases
200 to 230 VAC
AX4150G
Blank
AX4300G
Blank
AX4500G
Blank
With negative actuation type electromagnetic brake
CE marking
Blank Standard (CE marking not available)
K
Driver - power voltage table
Driver
type
Brake
EB
Note on model no. selection
Note 1: Select the driver according to the table below.
[Note]
Use the noise filter for the
motor cable if the cable is
longer than 6 m.
Blank Standard (without electromagnetic brake)
F
F
Flexible cable 4 m: DM
CE marking
G Dowel hole
Dowel hole
Blank Standard (without dowel hole)
Note 4, Note 6
P1
1 on top
P2
1 on bottom
P3
1 each on both top and bottom
H
Body surface treatment
Blank
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.
S
Standard (rotational section - blackening,
fixing section casting surface plane - paint)
Rotational section: electroless nickel
plating treatment, fixing section: nitriding
Option table
AX4150G
AX4300G
AX4500G
Electromagnetic brake (-EB)
Note 6: Additionally machined sections may not have a treated surface.
* Contact CKD when ordering parts individually for maintenance.
16
Actuator
B
B
Size (max. torque)
150
AX4000G Series
Speed/max. torque characteristics
AX4150GH, AX4300GH
(rpm)
120
AX4150GH
AX4500GH
AX4300GH
(rpm)
120
100
100
80
80
60
60
40
40
20
20
0
AX4500GH
0
0
100
200
300
400
(N·m)
0
*This is characteristics at three phase 200 VAC .
100
200
300
400
500
600
(N·m)
*This is characteristics at three phase 200 VAC .
Cable specifications
Cable min. bending radius
Standard cable
Flexible cable
Resolver
cable
50mm
60mm
Motor cable
100mm
110mm
Resolver
cable
50mm
60mm
Motor cable
100mm
110mm
Cable dimensions
L (standard length 4m)
(20)
48
(15)
Resolver cable
(22)
41
(15)
Motor cable
18
100
(300)
(15)
(20)
(15)
CE marking
(22)
L (standard length 4m)
FG line
41
100
450
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 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.
(Note) Moment load
F
L
L
F
(Fig. a)
M (N·m) = F (N) x L (m)
M : Moment load
F : Load
L : Distance from center of output shaft
17
(Fig. b)
M (N·m) = F (N) x (L + 0.02) (m)
M : Moment load
F : Load
L : Distance from output shaft flange surface
AX4000G Series
Dimensions
Dimensions
AX4150G
AX4150G-EB
With electromagnetic brake
Refer to the left drawing for other options.
15
C
280
240
AX4000G
P.C
4-M8 depth 16 (straight)
.D
.25
For option electromagnetic brake mounting
5
Mounting base (option)
P.C
.D.2
55
0.06 A
0
D.10
P.C.
6-M8 depth 16 (straight)
For dial plate mounting
160h7
85
12.5
A
B
41
36.5
81.5
(12.5)
41
36.5
15
170
145
104
(12.5)
220h7
280±3
Electromagnetic brake
(protection element attached)
220h7
280±3
(11)
116
26 6.5
Electromagnetic brake lead wire
300 from outlet
10˚
10˚
45˚
45
˚
26
0
168
P.
C.
D.
270
160h7
118
58
Rotational section
(including hollow section)
270
183
12.5
Standard cable length 4 m
Rotational section
(including hollow
section)
29
47.5
80
CAUTION :
When using a flexible cable, fix the end of
the cable sheath.
145
104
4- 12
Cable bending range
(The bending
range downward is 60.)
6-M8 depth 16 (straight)
For dial plate mounting
P.C
.D.1
81
P.C
.D.
26
0
3-M8 depth 16 (straight)
For option electromagnetic brake
mounting
130
90
.D.1
P.C
3-M8 (straight)
Electromagnetic brake for manual release
4-M10 depth 20 (straight)
4-M10 depth 20 (straight)
0.06 B
10H7 depth 12 (option)
Not available if the option base is installed.
18
Actuator
280
240
127.5
8H7 depth 10 (option)
AX4000G Series
Dimensions
AX4300G
AX4300G-EB
With electromagnetic brake
Refer to the left drawing for other options.
295
C1
250
5
4-M8 depth 16 (straight)
Option for electromagnetic brake mounting
P.C
.D.
255
Mounting base
(Option)
5
0.06 A
.D.100
4- 14
80
47.5
CAUTION :
When using a flexible cable, fix the end
of the cable sheath.
6-M10 depth 20 (straight)
For dial plate mounting
6-M10 depth 20 (straight)
For dial plate mounting
Cable bending range
(The bending range
downward is 60.)
P.C
D .2 5
10H7 depth 12
(Option)
250
295
127.5
P .C .
Standard cable length 4 m
272
118
58
15.5
A
200
41
220h7
B
288±3
29
(15.5)
20
36.5
244
81.5
(15.5)
36.5
159
85
41
200
15.5
160h7
272
160h7
159
Rotational section
(including hollow section)
231
Rotational section
(including hollow section)
220h7
288±3
(11)
116
26 6.5
30˚
45
˚
168
P.C
.D.
190
3-M8 depth 16 (straight)
Option for electromagnetic
brake mounting
P.C
.D.
181
65
P.C.D.2
130
65
P.C.D.2
6-M12 depth 24 (straight)
0.06 B
19
Electromagnetic brake lead wire
300 from outlet
3-M8 (straight)
Electromagnetic brake for manual release
6-M12 depth 24 (straight)
10H7 depth 12 (option)
Not available if the option base is installed.
10˚
10˚
30˚
AX4000G Series
Dimensions
Dimensions
AX4500G
295
5
C1
250
D.25
Mounting base
(Option)
AX4000G
P .C .
5
10H7 depth 12
(Option)
250
295
127.5
0.06 A
Actuator
6-M10 depth 20 (straight)
For dial plate mounting
80
47.5
CAUTION :
When using a flexible cable, fix the end of the cable sheath.
Cable bending range
(The bending range
downward is 60.)
4- 14
Standard cable length 4 m
282
160h7
15.5
85
A
36.5
335
294
366
Rotational section
(including hollow section)
(15.5)
220h7
300±3
116
26 6.5
B
(11)
41
20
Fixed section
˚
30
174
P.C
.D.
265
130
6-M12 depth 24 (straight)
0.06 B
10H7 depth 12 (option)
Not available if the option base is installed.
20
Direct drive actuator
AX1000 Series actuator
Precise specifications (such as runout of output shaft and index accuracy)
Max. torque: 22/45/75/150/210N·m
Actuator specifications
Descriptions
AX1022
AX1045
AX1075
AX1150
AX1210
45
75
150
210
15
25
50
70
Maximum output torque
N·m
22
Continuous output torque
N·m
7
Maximum rotation speed
rpm
Allowable axial load
100 (Note 2)
N
Allowable moment load
600
N·m
Allowable radial load
100
19
N
2200
38
70
140
1000
170
4000
Output shaft moment of inertia kg·m2
0.00505
0.00790
0.03660
0.05820
0.09280
Allowable load moment of inertia kg·m2
0.6
0.9
4.0
6.0
10.0
Index accuracy (Note 1)
sec.
Repeatability
sec.
Output shaft friction torque
N·m
±15
±5
2.0
8.0
P/rev
Resolver resolution
540672
Motor insulation grade
Class F
Motor withstanding voltage
1500 VAC for one minute
Motor insulation resistance
10MΩ and over 500 VDC
Working ambient temperature range
0 to 45˚C
Working ambient humidity range
20 to 85%RH with no dew condensation
Storage ambient temperature range
-20 to 80˚C
Storage ambient humidity range
20 to 90%RH with no dew condensation
Weight
kg
8.9
12.0
32.0
23.0
Runout of output shaft
mm
0.01
Runout of output shaft surface
mm
0.01
44.0
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.)
Speed/max. torque characteristics
(rpm)
120
(Note) Moment load
AX1022
100
AX1075
60
AX1150
F
L
80
F
L
AX1045
AX1210
40
20
0
0
100
200
(N·m)
*This is characteristics at three phase 200 VAC .
(Fig. a)
M (N·m) = F (N) x L (m)
M : Moment load
F : Load
L : Distance from center of output shaft
Refer to the safety precautions on Intro 13 to 20 before operating.
21
(Fig. b)
M (N·m) = F (N) x (L + 0.02) (m)
M : Moment load
F : Load
L : Distance from output shaft flange surface
AX1000 Series
How to order
How to order
Model
022
S
B
C
D08
J1
K
AX1000
AX1
Model no. of options
P1
H
Dowel hole
Model no.
Symbol Descriptions
A
A
Size
(max. torque)
22 N·m
045
45 N·m
075
75 N·m
150
150 N·m
210
210 N·m
Driver type
Note 1
C
Mounting base
Driver type
S
S type driver
H
H type driver
Mounting base
Blank Standard (without mounting base)
B
D
D
Connector installation
attitude
Note 2
Connector installation attitude
Blank Standard (connector horizontal installation)
C
Cable change
Note 3
Connector bottom installation
Cable change
E
E
With blackening mounting base
Blank Standard (cable length 4 m)
D**
Cable length change
DM** Flexible cable length change
** cable length Note: The length and type cannot be changed after delivery.
02
2m
Blank
4m
06
6m
08
8m
10
10 m
15
15 m
20
20 m
25
25 m
30
30 m
F
F
Driver power voltage
Note 1
G
Note 1: Select the driver according to the table below.
CE marking
Note 2
Driver - power voltage table
Driver
type
S type driver
Driver power voltage
CE marking
Blank Standard (CE marking not available)
K
H
H type driver
CE marking
Dowel hole
Blank Standard (without dowel hole)
P1
Model
[Note]
Use the noise filter for the
motor cable if the cable is
longer than 6 m.
Refer to the driver - power voltage table on the left.
G
Note on model no. selection
Flexible cable 4 m: DM
1 on top
200 to 230 VAC 100 to 115 VAC 200 to 230 VAC 100 to 115 VAC
AX1022
Blank
J1
AX1045
Blank
J1
AX1075
Blank
AX1150
Blank
AX1210
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.
Note 3: Use the optional flexible cable in applications where the cable is bent repeatedly.
Refer to page 57 for dimensions of the cable.
22
Actuator
C
AX1000
B
B
Size (max. torque)
022
AX1000 Series
Dimensions
For dial plate mounting
P.C
.D.7
0
0.04 A
Standard cable
length 4 m
Rotational section
(including hollow section)
Mounting base
(Option)
6-M6 depth 11 (straight)
35
For dial plate mounting
P.C
.D.7
0
0.04 A
(cable bending range)
P.
0
14
D.
C.
Rotational section
(including hollow section)
160
152
152
120
120
85
40h7
85
40h7
25
22.3
200
126
138
102
120h7
200
23
44
22
12
22
120h7
22.3
11
102
11
22
5
8
12
38.5
5
12
22
44
24
A
24
91
103
25
23
A
5
160
5
Rotational section
(including hollow section)
6H7 depth 8
(Option)
2 x 6-M6 depth 9 (straight)
(rear side is the same.)
38.5
0
14
D.
C.
6- 7 (straight)
6H7 depth 8
(Option)
2 x 6-M6 depth 9 (straight)
(rear side is the same.)
8
12
P.
6- 7 (straight)
120
0
18
D.
C.
.
P
23
(cable bending range)
19.5
19.5
78
15˚
15˚
120
0
18
D.
C.
.
P
Standard cable
length 4 m
78
Mounting base
(Option)
6-M6 depth 11 (straight)
35
19.5
Rotational section
(including hollow section)
AX1045
19.5
AX1022
AX1000 Series
Dimensions
Dimensions
AX1075
AX1150
Rotational section
(including hollow section)
Mounting base
(Option)
6-M8 depth 14 (straight)
For dial plate mounting
50
120
(cable bending range)
19.5
0
22
.D.
C
.
P
120
(cable bending range)
6- 9 (straight)
5
26
5
26
2 x 6-M8 depth 12 (straight)
(rear side is the same.)
Rotational section
(including hollow section)
A
242
234
200
125
70h7
40
200h7
290
37
146.5
200h7
290
22.3
14
22.3
8
146.5
14
37
8
15
37
37 29
15
44
33.5
100
115
39
39
A
29
242
234
200
125
70h7
40
12
15
8
Rotational section
(including hollow section)
Actuator
(rear side is the same.)
12
15
8
2 x 6-M8 depth 12 (straight)
D.
C.
P.
D.
C.
P.
6- 9 (straight)
Standard cable
length 4 m
AX1000
19.5
78
15˚
15˚
0
22
.D.
C
.
P
0.04 A
78
0.04 A
8H7 depth 10 (option)
Standard cable
P.C.D
length 4 m
. 100
19.5
P.C.D
. 100
19.5
8H7 depth 10 (option)
44
33.5
145
160
Rotational section
(including hollow section)
Mounting base
(Option)
6-M8 depth 14 (straight)
For dial plate mounting
50
24
AX1000 Series
Dimensions
AX1210
Rotational section
(including hollow section)
Mounting base
(Option)
6-M8 depth 14 (straight)
For dial plate mounting
50
P.C.D
. 100
0.04 A
19.5
8H7 depth 10 (option)
19.5
78
15˚
0
22
.D.
C
.
P
120
(cable bending range)
D.
C.
P.
6- 9 (straight)
5
26
2 x 6-M8 depth 12 (straight)
(rear side is the same.)
37
25
146.5
200h7
290
14
44
33.5
15
37
190
205
39
8
15
A
29
242
234
200
125
70h7
40
8
Rotational section
(including hollow section)
Standard cable length 4 m
22.3
AX1000 Series
Dimensions with options
Dimensions with options
Connector bottom installation (C)
AX1022/AX1045
AX1 075/AX1150/AX1210
37
30
35
(11)
(14)
22
60
37.5
198
Actuator
P.C.D 75
P.C.D 120
90˚
119
90˚
AX1000
55
38
26
Direct drive actuator
AX2000 Series actuator
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
Actuator specifications
Descriptions
AX2006
AX2012
AX2021
AX2042
21
42
7
14
Maximum output torque
N·m
6
12
Continuous output torque
N·m
2
4
Maximum rotation speed
rpm
Allowable axial load
100 (Note 2)
N
Allowable moment load
1000
N·m
2000
40
60
Output shaft moment of inertia
kg·m2
0.00575
0.00695
Allowable load moment of inertia
kg·m2
0.3
0.4
Index accuracy (Note 1)
sec.
Repeatability
sec.
Output shaft friction torque
N·m
0.04830
0.6
0.9
±15
±5
0.4
3.0
P/rev
Resolver resolution
0.03450
540672
Motor insulation grade
Class F
Motor withstanding voltage
1500 VAC for one minute
Motor insulation resistance
10MΩ and over 500 VDC
Working ambient temperature range
0 to 45˚C
Working ambient humidity range
20 to 85%RH with no dew condensation
Storage ambient temperature range
-20 to 80˚C
Storage ambient humidity range
Weight
20 to 90%RH with no dew condensation
kg
4.7
5.8
13.0
Runout of output shaft
mm
0.03
Runout of output shaft surface
mm
0.03
17.0
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.
Speed/max. torque characteristics
(rpm)
120
(Note) Moment load
AX2006
100
AX2021
60
AX2042
F
L
80
F
L
AX2012
40
20
0
0
10
20
30
40
50 (N·m)
*This is characteristics at three phase 200 VAC .
(Fig. a)
M (N·m) = F (N) x L (m)
M : Moment load
F : Load
L : Distance from center of output shaft
Refer to the safety precautions on Intro 13 to 20 before operating.
27
(Fig. b)
M (N·m) = F (N) x (L + 0.02) (m)
M : Moment load
F : Load
L : Distance from output shaft flange surface
AX2000 Series
How to order
How to order
Model
Model no. of options
021
AX2
S
A
B
D08
J1
K
G
Model no.
F
P1
CE marking
Driver power voltage
Note 1
H
Dowel hole
Note 4, Note 5
Symbol Descriptions
A
A
Size
(max. torque)
6 N·m
012
12 N·m
021
21 N·m
042
42 N·m
B
B
Driver type
Note 1
Driver type
S
C
C
Size (max. torque)
006
Hollow fixed shaft
Note 2
Hollow fixed shaft
Blank Standard
D
Mounting base
Note 4
Mounting base (cannot be used with dowel holes P2 and P3)
Blank Standard (without mounting base)
Cable change
Note 3
With blackening mounting base
Actuator
B
Cable change
E
E
Hollow fixed shaft extension
(Only AX2021, AX2042 available)
Blank Standard (cable length 4 m)
D**
Cable length change
DM** Flexible cable length change
(Only AX2006,
AX2012 available)
** cable length Note: The length and type cannot be changed after delivery.
02
2m
Blank
4m
06
6m
Note on model no. selection
Note 1: Select the driver according to the table below.
Driver - power voltage table
Driver
type
S type driver
(including CE products)
200 to 230 VAC
100 VAC
AX2006
Blank
J1
AX2012
Blank
J1
AX2021
Blank
J1
AX2042
Blank
J1
Model
H type driver
200 to 230 VAC 100 to 115 VAC
Flexible cable (-DM)
08
8m
10
10 m
15
15 m
20
20 m
25
25 m
30
30 m
Flexible cable 4 m: DM
[Note]
Use the noise filter for the
motor cable if the cable is
longer than 6 m.
Driver power voltage
Refer to the driver - power voltage table on the left.
F
G
CE marking
Blank Standard (CE marking not available)
K
* S type driver is recommended if the max. torque is 42 N·m or less.
Contact CKD for details on the availability of the H type driver.
Note 2: Refer to the Option Table and select required options.
Option table
Hallow fixed shaft (-A)
AX2006
AX2012
X
X
AX2021
H
CE marking
Dowel hole
Blank Standard (without dowel hole)
AX2042
X
X
1 on bottom (-P2)
X
X
1 each on both top and bottom (-P3)
X
X
P1
1 on top
P2
1 on bottom
P3
1 each on both top and bottom
1 on top (-P1)
Dowel hole
AX2000
A
D
S type driver
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.
Note 5: Additionally machined sections may not have a treated surface.
28
AX2000 Series
Dimensions
AX2006
AX2012
Mounting base (option)
Mounting base (option)
5H7 depth 8 (option)
0.04 A
4-
5H7 depth 8 (option)
0.04 A
7
4-
Fixed section
50
50
Fixed section
6-M5 depth 10 (straight)
For dial plate mounting
95
95
6-M5 depth 10 (straight)
For dial plate mounting
P.C.D.1
00
P.C.D.1
00
95
95
110
110
Rotational section
90h7
30H8
40
80h8
150
4-M6 depth 12 (straight)
4
45˚
60
.D.
P.C
6H7 depth 8 (option)
Not available if the option base is installed.
120
1
Note:
The min. bending
range at the cable
lead-out port is 20mm.
30
19.5
Fixed section
0.04 B
CAUTION :
Fix the end of cable
sheath when using a
flexible cable.
19.5
28
Standard cable
length 4 m
28
Standard cable
length 4 m
Recommended connector hole
for motor mounting base
AX center
35
Cable position
22
22
Recommended connector hole
for motor mounting base
AX center
35
Note: The min. bending range at the cable lead-out port is 20mm.
29
4-M6 depth 12 (straight)
60
.D.
P.C
6H7 depth 8 (option)
Not available if the option
base is installed.
0.04 B
CAUTION :
Fix the end of cable sheath
when using a flexible cable.
12.5
30H8 (fixed shaft inner diameter)
(option base inner diameter)
40
80h8
B
150
4
30
Fixed
section
45˚
B
3.5
(fixed shaft inner diameter)
(option base inner diameter)
Cable length 400 mm (this is not a flexible cable.)
Note:
The minimum bending
range at the cable lead-out
port is 20mm.
A
30.5 (fixed shaft inner diameter)
(5)
115
110
100
Fixed
section
12.5
3.5
Cable length 400 mm (this is not a flexible cable.)
1
95
90
43.5
( 30H8 range)
(5)
A
30.5 (fixed shaft inner diameter)
90h7
43.5 ( 30H8 range)
Rotational section
7
Cable position
Fixed section
AX2000 Series
Dimensions
Dimensions
AX2021
AX2021-A
Mounting base
(Option)
0.04 A
Mounting base
(Option)
0.04 A
Fixed section
Fixed section
6-M6 depth 10 (straight)
For dial plate mounting
6H7 depth 8
(Option)
65
6-M6 depth 10 (straight)
For dial plate mounting
6H7 depth 8
(Option)
65
P.C.D.130
P.C.D.130
P.C.D.180
P.C.D.180
6- 7
6- 7
60h7
46
150
(fixed shaft inner diameter)
(8)
A
Rotational
section
100h7
A
120h7
156
198
2
15
Standard cable length 4 m
60
Cable bending range
15
7
7
2
53
53
150
140
150
148
140
60
Cable bending range
Actuator
230
(8)
150
100h7
46
AX2000
Rotational section
(fixed shaft inner diameter)
6-M6 depth 10 (straight)
74
74
6-M6 depth 10 (straight)
Standard cable length 4 m
120h7
156
198
P.C.D.110
Fixed section
P.C.D.110
Fixed section
30
AX2000 Series
Dimensions
AX2042
AX2042-A
Mounting base
(Option)
0.04 A
Fixed section
6H7 depth 8
(Option)
Mounting base
(Option)
0.04 A
Fixed section
6H7 depth 8
(Option)
6-M6 depth 10 (straight)
For dial plate mounting
30˚
30˚
6-M6 depth 10 (straight)
For dial plate mounting
65
65
P.C.D.130
P.C.D.130
P.C.D.180
P.C.D.180
6- 7
6- 7
60h7
46 (fixed shaft inner diameter)
A
(fixed shaft inner diameter)
(8)
150
100h7
46
Rotational
section
150
100h7
A
185
175
Standard cable length 4 m
156
198
74
6-M6 depth 10 (straight)
P.C.D.110
Fixed section
31
2
120h7
156
198
Standard cable length 4 m
6-M6 depth 10 (straight)
74
120h7
60
Cable bending range
60
Cable bending range
15
15
7
7
2
53
53
185
183
175
265
(8)
Rotational section
P.C.D.110
Fixed section
AX2000 Series
CE marking products dimensions
CE marking products dimensions
AX2021-K
AX2042-K
6-M6 depth 10 (straight)
For dial plate mounting
P.C.D
6-M6 depth 10 (straight)
For dial plate mounting
.130
P.C.D
Fixed section
.130
Fixed section
150
100h7
46
(8)
150
(8)
183
175
(fixed shaft inner
diameter)
120h7
156
Standard cable length 4 m
80
Cable bending range 7
80
Cable bending range 7
53
53
140
Actuator
120h7
156
Standard cable length 4 m
6-M6 depth 10 (straight)
6-M6 depth 10 (straight)
(32)
(32)
148
(fixed shaft inner
diameter)
AX2000
100h7
46
Fixed section
(16)
(28)
P.
C.
D.
11
0
Fixed section
(16)
(28)
P.
C.
D.
11
0
32
Direct drive actuator
AX4000 Series actuator
Large hollow shaft handy for cable wiring and piping,
and a variety of options.
Max. torque: 9, 22, 45, 75, 150, 300, 500N·m
Actuator specifications
Descriptions
AX4009
AX4022
AX4045
AX4075
AX4150
AX4300
AX4500
22
45
75
150
300
500
7
15
25
50
100
160
Maximum output torque
N·m
9
Continuous output torque
N·m
3
Maximum rotation speed
rpm
N
Allowable axial load
N·m
Allowable moment load
Output shaft moment of inertia kg·m2
Allowable load moment of inertia
kg·m2
Index accuracy (Note 1)
sec.
Repeatability
sec.
Output shaft friction torque
N·m
100 (Note 2)
800
3700
20000
40
60
80
200
300
400
500
0.0090
0.0206
0.0268
0.1490
0.2120
0.3260
0.7210
0.35
0.60
0.90
5.00
7.50
18.00
30.00
±30
±5
3.5
0.8
15.0
10.0
P/rev
Resolver resolution
70
100
540672
Motor insulation grade
Class F
Motor withstanding voltage
1500 VAC for one minute
Motor insulation resistance
10MΩ and over 500 VDC
Working ambient temperature range
0 to 45˚C
Working ambient humidity range
20 to 85%RH with no dew condensation
Storage ambient temperature range
-20 to 80˚C
Storage ambient humidity range
20 to 90%RH with no dew condensation
Weight
kg
5.5
12.3
15.0
36.0
44.0
66.0
115.0
Brake set total weight
kg
-
16.4
19.3
54.0
63.0
86.0
-
Runout of output shaft
mm
0.03
Runout of output shaft surface
mm
0.05
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.
Electromagnetic brake specifications (option)
Applicable model
AX4022/AX4045
Descriptions
Type
AX4075/AX4150/AX4300
Non-backlash dry non-excitation operation type
Rated voltage
V
Power supply wattage
W
30
55
Rated current
A
1.25
2.30
24 VDC
N·m
35
200
Armature release time (brake on)
msec
50 (reference value)
50 (reference value)
Armature suction time (brake off)
msec
150 (reference value)
Static friction torque
Holding precision
Max. cycle rate
min.
time/min.
250 (reference value)
45 (reference value)
60
40
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
stop, then turn them another 90˚. When finished with manual release, remove the three bolts immediately and apply brakes.
Refer to the safety precautions on Intro 13 to 20 before operating.
33
AX4000 Series
How to order
How to order
Model
AX4
Model no. of options
022
S
BS
DM08
EB
J1
K
P1
S
H Dowel hole
Driver power voltage
Note 4, Note 6
Note 1
G CE marking
I Body surface treatment
E Brake
Note 5
Symbol Descriptions
F
Model no.
A
A
Size
(max. torque)
9 N·m
022
22 N·m
045
45 N·m
075
75 N·m
150
150 N·m
300
300 N·m
500
500 N·m
B
B
Driver type
Note 1
C
C
Mounting base
Note 3, 4, 5
Size (max. torque)
009
Driver type
S
S type driver
H
H type driver
Mounting base
Blank Standard (without mounting base)
B
D
D
Cable change
Note 2
D**
02
2m
Blank
4m
06
6m
H type driver
200 to 230 VAC 100 to 115 VAC 200 to 230 VAC 100 to 115 VAC
08
8m
10
10 m
AX4009
Blank
J1
15
15 m
AX4022
Blank
J1
20
20 m
J1
25
25 m
30
30 m
AX4045
Blank
AX4075
Blank
Flexible cable 4 m: DM
[Note]
Use the noise filter for the
motor cable if the cable is
longer than 6 m.
AX4150
Blank
E
AX4300
Blank
Blank Standard (without brake)
AX4500
Blank
EB
* 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.
F
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.
Option table
AX4009
AX4022
AX4045
AX4075
AX4150
AX4300
Brake
Driver power voltage
Refer to the driver - power voltage table on the left.
G
CE marking
Blank Standard (CE marking not available)
K
H
AX4500
Dowel hole
P1
1 on top
1 on bottom (2 on bottom for AX4009)
1 each on both top and bottom
Mounting base (-B)
X
Mounting base (-BS)
X
P3
Brake
X
Note 6: Additionally machined sections may not have a treated surface.
X
CE marking
Blank Standard (without dowel hole)
P2
(-EB)
With negative actuation type electromagnetic brake
(AX4009 and AX4500 cannot be selected)
I
(1 on top/2 on
bottom for AX4009)
Body surface treatment
Blank Standard (rotational section - blackening, fixing section casting surface plane - paint)
S
Rotational section - electroless nickel plating treatment, fixing section - nitriding
34
Actuator
DM** Flexible cable length change
Driver - power voltage table
Model
Cable length change
** cable length Note: The length and type cannot be changed after delivery.
Note 1: Select the driver according to the table below.
S type driver
Cable change
Blank Standard (cable length 4 m)
Note on model no. selection
Driver
type
Electroless nickel plating, surface treatment mounting base
Use with body surface treatment S.
AX4000
BS
With blackening mounting base
AX4000 Series
Speed/max. torque characteristics
AX4009, AX4022, AX4045, AX4075
(rpm)
120
AX4009
100
AX4022
80
AX4045
60
AX4075
40
20
0
0
50
100
(N·m)
*This is characteristics at three phase 200 VAC .
AX4150, AX4300, AX4500
(rpm)
120
AX4150
100
AX4300
80
AX4500
60
40
20
0
0
200
400
600
(N·m)
*This is characteristics at three phase 200 VAC .
(Note) Moment load
F
L
L
F
(Fig. a)
M (N·m) = F (N) x L (m)
M : Moment load
F : Load
L : Distance from center of output shaft
35
(Fig. b)
M (N·m) = F (N) x (L + 0.02) (m)
M : Moment load
F : Load
L : Distance from output shaft flange surface
AX4000 Series
Dimensions
Dimensions
0.06 A
AX4009
5H7 depth 7
(Option)
6-M5 depth 10 (straight)
For dial plate mounting
4- 7
2- 6H7
(Option)
30
80
85
160
140
P.C.D
. 160
24
Standard cable length 4 m
CAUTION: When using flexible cable,
fix the end of cable sheath.
140
160
A
6.5
(5)
AX4000
168
150h7
42
Rotational section (including hollow section)
Actuator
18
10
50
45
Fixed section
42.5
120±0.03 (option dowel hole dimensions)
170
Cable length 400 mm
(This is not a flexible cable.)
146±0.03 (option dowel hole dimensions)
36
AX4000 Series
Dimensions
AX4022
AX4022-EB
With electromagnetic brake
Refer to the left drawing for other options.
4-M6 depth 12 (straight)
For option electromagnetic brake mounting
0
C1
200
150
Mounting base (option)
4-M6 depth 12 (straight)
(screw valid length 9)
For dial plate mounting
P.C.D.
160
150
200
P.C.D.
160
80
45˚
4-M6 depth 12 (straight)
(screw valid length 9)
For dial plate mounting
. 54
6H7 depth 8 (option)
24
4- 7
CAUTION :
When using flexible cable,
fix the end of cable sheath.
Standard cable length 4 m
24
80
Cable bending range
(The bending range
downward is 60.)
D
P.C.
0.06 A
Standard cable length 4 m
170
100h7
170
Rotational section
(including hollow section)
70
25
Rotational section
(including hollow section)
A
63
32
12
28.5
119.5
95
28.5
95
Electromagnetic brake
(protection element attached)
B
10
45.2
140h7
180±2
(9.5)
44
(9.5)
32
109.5
63
65
5
5
100h7
45
140h7
3-M6 depth 12 (straight)
For option electromagnetic brake
mounting
45˚
180±2
P.C
.D.
160
45˚
P.C.D
. 125
D.
122
37.
5˚
Electromagnetic brake
300 from lead wire outlet
5˚
R8
80
140
P.C
.
5˚
4-M6 depth 12 (straight)
Recommended value for lead
wire relief dimensions
3-M5 (straight)
Electromagnetic brake for
manual release
4-M6 depth 12 (straight)
P.C
.D
.1
60
0.06 B
6H7 depth 8 (option)
Not available if the option base is installed.
37
AX4000 Series
Dimensions
Dimensions
AX4045
AX4045-EB
With electromagnetic brake
Refer to the left drawing for other options.
200
4-M6 depth 12 (straight)
For option electromagnetic brake mounting
C1
150
0
Mounting base (option)
P.C.D.
160
4-M6 depth 12 (straight)
(screw valid length 9)
For dial plate mounting
45˚
200
P.C.D
. 160
80
150
4-M6 depth 12 (straight)
(screw valid length 9)
For dial plate mounting
4
D. 5
P.C.
6H7 depth 8 (option)
24
80
Cable bending range
(Cable bending
range downward is 60.)
24
4- 7
CAUTION :
When using flexible cable,
fix the end of cable sheath.
Standard cable length 4 m
0.06 A
Standard cable length 4 m
170
100h7
70
Rotational section
(including hollow section)
A
25
5
Rotational section
(including hollow section)
AX4000
170
100h7
83
115
139.5
83
28.5
Electromagnetic brake
(protection element attached)
140h7
10
45.2
(9.5)
44
(9.5)
12
28.5
32
32
115
129.5
Actuator
65
5
45
140h7
B
180±2
180±2
45˚
160
.D.
P.C
45˚
P .C
.D .
122
Electromagnetic brake
300 from lead wire outlet
5˚
37.
5˚
5˚
R8
140
3-M6 depth 12 (straight)
For option electromagnetic brake
mounting
P.C.D
. 125
80
Recommended value for
lead wire relief dimensions
4-M6 depth 12 (straight)
0.06
B
6H7 depth 8 (option)
Not available if the option base is installed.
3-M5 (straight)
Electromagnetic brake
60
for manual release
.1
.D
C
.
P
4-M6 depth 12 (straight)
38
AX4000 Series
Dimensions
AX4075
AX4075-EB
With electromagnetic brake
Refer to the left drawing for other options.
5
C1
280
240
Mounting base (option)
5
P.C.D
. 255
240
280
127.5
8H7 depth 10 (option)
0.06
A
6-M8 depth 16 (straight)
For dial plate mounting
24
80
A
79
81.5
(12.5)
15
36.5
41
145
120
220h7
280±3
(12.5)
270
160h7
118
58
Rotational section
(including hollow section)
270
160h7
85
12.5
Standard cable length 4 m
B
36.5
Rotational section
(including hollow section)
4-M8 depth 16 (straight)
For option electromagnetic brake mounting
Electromagnetic brake
(protection element attached)
29
CAUTION :
When using flexible cable,
fix the end of cable sheath.
Standard cable length 4 m
6-M8 depth 16 (straight)
For dial plate mounting
12.5
4- 12
Cable bending range
(Cable bending range
downward is 60.)
0
D. 10
P.C.
158
120
41
79
P.C.
D. 2
5
220h7
280±3
10˚
45˚
.D.
P.C
P.C.
D. 19
0
260
P.C.
D. 1
81
45˚
10˚
.D.
P.C
Electromagnetic brake
300 from lead wire outlet
0
26
130
3-M8 depth 16 (straight)
For option electromagnetic brake
mounting
4-M10 depth 20 (straight)
0.06
39
B
10H7 depth 12 (option)
Not available if the option base is installed.
3-M8 (straight)
Electromagnetic brake for
manual release
4-M10 depth 20 (straight)
AX4000 Series
Dimensions
Dimensions
AX4150
AX4150-EB
With electromagnetic brake
Refer to the left drawing for other options.
280
240
C1
5
P.C.
D. 2
5
Mounting base (option)
5
P.C.
D. 2
5
240
280
127.5
8H7 depth 10 (option)
0.06
A
6-M8 depth 16 (straight)
For dial plate mounting
A
183
145
41
15
36.5
81.5
(12.5)
41
104
B
Electromagnetic brake
(protection element attached)
220h7
280±3
45˚
P.
P.C.
D. 19
0
. 26
C.D
0
10˚
P.C.
D. 1
8
130
3-M8 depth 16 (straight)
For option electromagnetic brake
mounting
4-M10 depth 20 (straight)
0.06
B
10H7 depth 12 (option)
Not available if the option base is installed.
45˚
10˚
Electromagnetic brake
300 from lead wire outlet
.
P.C
26
D.
0
1
3-M8 (straight)
Electromagnetic brake
for manual release
4-M10 depth 20 (straight)
40
Actuator
220h7
280±3
(12.5)
270
160h7
118
58
Rotational section
(including hollow section)
270
160h7
85
12.5
Standard cable length 4 m
AX4000
145
4-M8 depth 16 (straight)
For option electromagnetic brake mounting
29 36.5
Rotational section
(including hollow section)
27
12.5
16
6-M8 depth 16 (straight)
For dial plate mounting
104
CAUTION :
When using flexible cable,
fix the end of cable sheath.
Standard cable length 4 m
80
4- 12
Cable bending range
(Cable bending range
downward is 60.)
0
D. 10
P.C.
170
5
AX4000 Series
Dimensions
AX4300
AX4300-EB
With electromagnetic brake
Refer to the left drawing for other options.
5
C1
295
250
Mounting base (option)
P.C.D
. 255
P.C.D
. 255
295
250
127.5
0.06
A
6-M10 depth 20 (straight)
For dial plate mounting
Rotational section
(including hollow section)
Standard cable length 4 m
A
244
200
118
58
Electromagnetic brake
(protection element attached)
29
41
20
36.5
220h7
288±3
B
81.5
(15.5)
(15.5)
272
160h7
Rotational section
(including hollow section)
272
160h7
85
15.5
4-M8 depth 16 (straight)
For option electromagnetic brake mounting
159
41
200
27
36.5
16
15.5
CAUTION :
When using flexible cable,
fix the end of cable sheath.
Standard cable length 4 m
6-M10 depth 20 (straight)
For dial plate mounting
159
4- 14
80
Cable bending range
(Cable bending range
downward is 60.)
0
D. 10
P.C.
231
10H7 depth 12 (option)
220h7
288±3
30˚
45˚
10˚
P.C.
D. 1
8
P.C.
D. 19
0
3-M8 depth 16 (straight)
For option electromagnetic brake
mounting
Electromagnetic brake
300 from lead wire outlet
1
P.C.D. 265
P.C.D. 265
130
3-M8 (straight)
Electromagnetic brake
for manual release
6-M12 depth 24 (straight)
0.06
41
30˚
10˚
B
10H7 depth 12 (option)
Not available if the option base is installed.
6-M12 depth 24 (straight)
AX4000 Series
Dimensions
Dimensions
AX4500
15
C
295
250
Mounting base (option)
P .C .
D. 2
55
295
250
127.5
10H7 depth 12 (option)
0.06 A
16
27
80
4- 14
CAUTION :
When using flexible cable,
fix the end of cable sheath.
Standard cable length 4 m
Rotational section
(including hollow section)
15.5
282
160h7
85
Cable bending range
(The bending range
downward is 60.)
6-M10 depth 20 (straight)
For dial plate mounting
A
36.5
20
Actuator
(15.5)
41
366
335
294
AX4000
220h7
300±3
B
30˚
5
130
P.C.D. 26
6-M12 depth 24 (straight)
0.06 B
10H7 depth 12 (option)
Not available if the option base is installed.
42
Direct drive actuator
AX5000 Series actuator
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
Actuator specifications
Descriptions
AX5022
AX5045
AX5075
AX5150
AX5210
45
75
150
210
15
25
50
70
Maximum output torque
N·m
22
Continuous output torque
N·m
7
Maximum rotation speed
rpm
Allowable axial load
100 (Note 2)
N
Allowable moment load
600
N·m
Allowable radial load
19
Allowable load moment of inertia
sec.
Repeatability
sec.
Output shaft friction torque
N·m
70
170
4000
0.0056
0.0085
0.0403
0.0619
0.0987
0.6
0.9
4.0
6.0
10.0
±15
±5
2.0
8.0
P/rev
Resolver resolution
140
1000
kg·m2
Index accuracy (Note 1)
2200
38
N
Output shaft moment of inertia kg·m2
100
540672
Motor insulation grade
Class F
Motor withstanding voltage
1500 VAC for one minute
Motor insulation resistance
10MΩ and over 500 VDC
Working ambient temperature range
0 to 45˚C
Working ambient humidity range
20 to 85%RH with no dew condensation
Storage ambient temperature range
-20 to 80˚C
Storage ambient humidity range
20 to 90%RH with no dew condensation
Weight
kg
Runout of output shaft
16.0
20.0
50.0
40.0
mm
0.01
Runout of output shaft surface
mm
0.01
Brake torque
N·m
45
65.0
150
210
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.)
Speed/max. torque characteristics
(Note) Moment load
(rpm)
120
AX5022
100
F
L
AX5045
AX5075
60
AX5150
F
L
80
AX5210
40
20
0
0
50
100
150
200
250
(N·m)
*This is characteristics at three phase 200 VAC .
(Fig. a)
M (N·m) = F (N) x L (m)
M : Moment load
F : Load
L : Distance from center of output shaft
Refer to the safety precautions on Intro 13 to 20 before operating.
43
(Fig. b)
M (N·m) = F (N) x (L + 0.02) (m)
M : Moment load
F : Load
L : Distance from output shaft flange surface
AX5000 Series
How to order
How to order
Model
Model no. of options
022
AX5
S
D08
J1
K
P1
Model no.
Symbol Descriptions
A
A
Size
(max. torque)
22 N·m
045
45 N·m
075
75 N·m
150
150 N·m
210
210 N·m
B
B
Driver type
Note 1
C
C
Cable change
Note 2
Size (max. torque)
022
Driver type
S
S type driver
H
H type driver
Cable change
Blank Standard (cable length 4 m)
D**
Cable length change
DM** Flexible cable length change
** cable length
2m
Blank
4m
06
6m
8m
10
10 m
15
15 m
20
20 m
25
25 m
30
30 m
Flexible cable 4 m: DM
[Note]
Use the noise filter for the
motor cable if the cable is
longer than 6 m.
D Driver power voltage
Refer to the driver - power voltage table below.
Driver power voltage
Note 1
E
CE marking
CE marking
Blank Standard (CE marking not available)
K
F
F
Actuator
E
08
Note: The length and type cannot be changed after delivery.
AX5000
D
02
Dowel hole
CE marking
Dowel hole
Blank Standard (without dowel hole)
P1
1 on top
Note on model no. selection
Note 1: Select the driver according to the table below.
Driver - power voltage table
Driver
type
Model
S type driver
H type driver
200 to 230 VAC 100 to 115 VAC 200 to 230 VAC 100 to 115 VAC
AX5022
Blank
J1
AX5045
Blank
J1
AX5075
Blank
AX5150
Blank
AX5210
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: Use the optional flexible cable in applications where the cable is bent repeatedly.
Refer to page 57 for dimensions of the cable.
44
AX5000 Series
Dimensions
AX5022
10
90
200
Rotational section
4-M8 depth 12
Rotational section
180
(including hollow section)
(including hollow section)
35
0.04 A
Rotational section
21
P.
C.
D.
70
32
6
120
(cable bending range)
(34)
180
30
200
12±0.0215
232
30
3.3
15˚
150
(including hollow section)
+0.2
0
6H7 depth 8
(Option)
4-M8 depth 12
(rear side is the same.)
6-M6 depth 11 (straight)
For dial plate mounting
Standard cable length 4 m
85
40h7
25
23
21
19
45
83
12
14
125
Valve manual override section
111
42 18
Silencer for exhaust
(Rc1/8)
Joint 6 for air supply
(Rc1/8)
A
5
24
(23)
64
96
22
180h7
45
6
9
7
15
5
Indicator (LED)
AX5000 Series
Dimensions
Dimensions
AX5045
10
125
200
Rotational section
4-M8 depth 12
Rotational section
180
(including hollow section)
(including hollow section)
35
Rotational section
232
200
12±0.0215
150
30
21
P.C
.D
.7 0
6
4-M8 depth 12
(rear side is the same.)
6-M6 depth 11 (straight)
For dial plate mounting
32
120
(cable bending range)
(34)
6H7 depth 8
(Option)
Standard cable length 4 m
85
40h7
A
14
25
19
Indicator (LED)
Actuator
42
Valve manual override section
21
45
83
18
146
160
23
24
Joint 6 for air supply
(Rc1/8)
AX5000
12
5
Silencer for exhaust
(Rc1/8)
(23)
64
96
6
9
7
15
5
30
15˚
3.3
+0.2
0
180
0.04 A
(including hollow section)
22
180h7
46
AX5000 Series
Dimensions
AX5075
Rotational section
15
95
285
250
Rotational section
(including hollow section)
4-M10 depth 15
(including hollow section)
50
0.04 A
30
12±0.0215
317
285
215
30
15˚
3.3 +0.2
0
(including hollow section)
30
P.C
.D
.10
0
6
120
(cable bending range)
(34) 32
250
Rotational section
8H7 depth 10
(Option)
4-M10 depth 15
(rear side is the same.)
6-M8 depth 14 (straight)
For dial plate mounting
Standard cable length 4 m
125
70h7
40
8
22.5
45
(23)
9
64
96
37
19
9
37
265 h7
47
29
18
15
10
Indicator (LED)
15
Valve manual override section
39
140
122
83
42 18
Silencer for exhaust
(Rc1/8)
Joint 6 for air supply
(Rc1/8)
A
AX5000 Series
Dimensions
Dimensions
AX5150
15
140
Rotational section
(including hollow section)
4-M10 depth 15
Rotational section
(including hollow section)
285
250
50
Rotational section
(including hollow section)
0.04 A
250
30
12±0.0215
317
285
215
30
P.C
.D
.10
0
120
(cable bending range)
(34) 32
6
8H7 depth 10
(Option)
4-M10 depth 15
(rear side is the same.)
6-M8 depth 14 (straight)
For dial plate mounting
Standard cable length 4 m
A
AX5000
Indicator (LED)
9 64
96
(23)
37
19
45
185
167
83
15
42 18
22.5
Actuator
Valve manual override section
39
9
Silencer for exhaust
(Rc1/8)
Joint 6 for air supply
(Rc1/8)
29
18
15
8
125
70h7
40
10
30
15˚
3.3
+0.2
0
37
265 h7
48
AX5000 Series
Dimensions
AX5210
Rotational section
(including hollow section)
190
285
250
Rotational section
(including hollow section)
50
317
285
12±0.0215
15
30
30
3.3 +0.2
0
P.C
.D
.10
0
250
0.04 A
15˚
215
Rotational section
(including hollow section)
30
8H7 depth 10
(Option)
32
6
120
(cable bending range)
(34)
4-M10 depth 15
4-M10 depth 15
(rear side is the same.)
6-M8 depth 14 (straight)
For dial plate mounting
Standard cable length 4 m
29
A
23
8
125
70h7
40
Silencer for exhaust
(Rc1/8)
46
15
10
Indicator (LED)
10
23
9
119
37
265h7
49
9
37
19
258
Joint 6 for air supply
(Rc1/8)
240
217
84
18
39
MEMO
50
Direct drive actuator
AX8000 Series actuator
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
Actuator specifications
Descriptions
AX8045
AX8070
45
70
Maximum output torque
N·m
Continuous output torque
N·m
15
23
Maximum rotation speed
rpm
100 (Note 2)
100
1200
2200
N
Allowable axial load
N·m
Allowable moment load
38
73
1700
4000
Output shaft moment of inertia kg·m2
0.0330
0.1540
Allowable load moment of inertia kg·m2
0.9
N
Allowable radial load
Index accuracy (Note 1)
sec.
Repeatability
sec.
Output shaft friction torque
N·m
4.0
±15
±5
5.0
10.0
P/rev
Resolver resolution
540672
Motor insulation grade
Class F
Motor withstanding voltage
1500 VAC for one minute
Motor insulation resistance
10MΩ and over 500 VDC
Working ambient temperature range
0 to 45˚C
Storage ambient temperature range
-20 to 80˚C
Storage ambient humidity range
20 to 90%RH with no dew condensation
Protective structure
IP65 (IEC60529) IP55 (IEC60034-5)
kg
Weight
35.0
80.0
mm
0.015
Runout of output shaft surface
mm
0.015
Brake torque
N·m
Runout of output shaft
80
210
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.
Inspection standard
Inspection item
Specification size
Straightness of table top
(mm)
0.015
Runout of table top
(mm)
0.015
Parallelism between table top and housing bottom (mm)
0.02
Perpendicularity of table top and housing side
(mm)
0.02
Runout of table main shaft hole
(mm)
0.015
Speed/max. torque characteristics
(rpm)
120
AX8045
100
AX8070
80
60
*This graph shows
characteristics of three
phase and 200 VAC .
40
20
0
0
20
40
60
80
100
(N·m)
High grade of dust and water proof
IP65* of IEC529 standards compliant
TÜV Rheinland certified
Enhanced waterproofing is attained with air purging.
* Use low pressure (0.05 MPa) dry clean compressed
air for air purging.
* IP65
The 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."
Clamp reinforced of brake section
Clamp torque : 80N·m (AX8045)
: 210N·m (AX8070)
* 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
Refer to the safety precautions on Intro 13 to 20 before operating.
51
AX8000 Series
How to order
How to order
Model
Model no. of options
045
AX8
S
DM08L
J1
P
Symbol Descriptions
Model no.
A
A
Size
(max. torque)
045
45 N·m
070
70 N·m
B
B
Size (max. torque)
Driver type
Note 1
Driver type
S
C
C
Cable change
Note 2, Note 3
S type driver
Cable change
Blank Standard (water proof straight plug 4m)
D**
Water proof straight plug
Cable length change
D**L
Water proof angle plug
Cable length change
Water proof straight plug
DM** Flexible cable cable length change
Water proof angle plug
DM** L Flexible cable cable length change
** cable length Note: The length and type cannot be changed after delivery.
02
2m
Blank
4m
06
6m
F
D
Driver power voltage
Note 1
Note on model no. selection
10 m
15
15 m
20
20 m
25
25 m
30
30 m
[Note]
Use the noise filter for the
motor cable if the cable is
longer than 6 m.
Driver power voltage
Dial plate shape
AX8000
Dial plate shape
Note 4
8m
10
Refer to the driver - power voltage table on the left.
E
E
08
Flexible cable 4 m: DM
Blank Flange table
P
Flange table with dowel hole
T
T slot table
Note 1: Select the driver according to the table below.
Driver
type
S type driver
200 to 230 VAC
100 VAC
AX8045
Blank
J1
AX8070
Blank
Model
Actuator
Driver - power voltage table
H type driver
200 to 230 VAC
100 to 115 VAC
* 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.
Straight plug
Angle plug
Note 4: "P" and "T" can not be selected together.
52
AX8000 Series
Dimensions
.
P.C
8H7 depth 10
(Option)
170
0
D.1
Standard cable length 4 m
96
0
Rotational section
4-M10 depth 15
(160)
(cable bending range)
6-M8 depth 12 (straight)
For dial plate mounting
21
40 (2)
6
AX8045
200
160
170
180h7
A B
120
18
40H7
100
18
50
A
0.04 A
Joint for air supply 6
(Rc1/8)
Silencer for exhaust
(Rc1/8)
* For air purge (Rc1/8)
60
4-12
12
20
(98)
0.5
160
40
60
152
190
200
22
16
2 x 4-M10 depth 15
(rear side is the same.)
(85)
10
30
130
(30)
30
Angle plug installation dimensions
12 ±0.0215
depth 3.3 + 00.2
125
* Use low-pressure (0.05 MPa) dry clean compressed
air for air purging.
* A space of 30 mm is required for connecting and
disconnecting the angle plug.
100
40
160
170
180h7
18
A B
Joint for air supply 6
(Rc1/8)
Silencer for exhaust
(Rc1/8)
* Rc1/8 for air purge
170
60
4-12
27
20
(98)
160
40
60
152
200
37
C section
16
2 x 4-M10 depth 15
(rear side is the same.)
30
205
12H8 (+ 00.027 )
30
+1
0
+2
0
8
19
130
20
* Use low-pressure (0.05 MPa) dry clean compressed
air for air purging.
12 ±0.0215
depth 3.3 + 00.2
125
10
C section details
53
200
4-M10 depth 15
(160)
(cable bending range)
40
40H7
18
100
Rotational section
6
96
21
Standard cable length 4 m
40 (2)
00
.D.1
P.C
AX8045-T (T slot table)
AX8000 Series
Dimensions
Dimensions
AX8070
355
285
22
70
250
24
(108)
Standard cable length 4 m
* Rc1/8 for air purge
75
4-M12
4- 18
Rotational section
0.04 A
104
34
38
70H7
250h7
250
297.5
154.5
12
A
(160)
(cable bending range)
160
142.5
90
6-M8 depth 12 (straight)
For dial plate mounting
155
B A
5
67.5
62.5
5
P.C
.D
.1 2
8H7 depth 10
(Option)
0
18h7 (-0.018
)
6
30
275
Silencer for exhaust
(Rc1/8)
Joint for air supply 6
(Rc1/8)
2 x 4-M12 depth 24
(rear side is the same.)
22.5
111
1
26
154
15
195
12
36
130
36
Angle plug installation dimensions
200
(85)
* Use low-pressure (0.05 MPa) dry clean compressed
air for air purging.
(30)
* A space of 30 mm is required for connecting and
disconnecting the angle plug.
AX8070-T (T slot table)
355
285
24
(108)
70
* Rc1/8 for air purge
4- 18
Rotational section 4-M12
54
27
38
250h7
154.5
34
104
297.5
250
(160)
(cable bending range)
Actuator
142.5
142
70H7
54
90
Standard cable length 4 m
5
67.5
155
B A
Silencer for exhaust
(Rc1/8)
Joint for air supply 6
(Rc1/8)
0
18h7 (-0.018
)
6
30
275
D section
2 x 4-M12 depth 24
(rear side is the same.)
12H8 (
22.5
154
15
210
)
19
D section details
36
12
+2
0
8
+1
0
130
20
36
+ 0.027
0
111
41
AX8000
75
250
* Use low-pressure (0.05 MPa) dry clean compressed
air for air purging.
200
54
AX8000 Series
Safety precautions
Safety precautions
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.
(Note) Moment load
F
L
L
F
(Fig. a)
M (N·m) = F (N) x L (m)
M : Moment load
F : Load
L : Distance from center of output shaft
55
(Fig. b)
M (N·m) = F (N) x (L + 0.02) (m)
M : Moment load
F : Load
L : Distance from output shaft flange surface
MEMO
56
Cable specifications
Cable dimensions
CE marking
AX1000/AX5000 Series
L (standard length 4m)
45
45
(maximum diameter) (maximum diameter)
Resolver cable
48
45
45
(maximum diameter) (maximum diameter)
L (standard length 4m)
(69)
41
18
Motor cable
(69)
100
48
Resolver cable
(24)
(69)
41
100
450
BK - line
41
(18)
FG line
41
(24)
(18)
18
Motor cable
100
100
450
CE marking
AX2021, AX2042
L (standard length 4m)
L (standard length 4m)
(24)
Resolver cable
(60)
41
18
Motor cable
(60)
FG line
(18)
48
( 22)
(69)
L (standard length 4m)
L (standard length 4m)
( 22)
BK + line
CE marking
AX2000/AX4000 Series
41
100
100
450
CE marking
AX4150, AX4300, AX4500
L (standard length 4m)
(15)
(22)
41
Motor cable
(15)
(22)
FG line
48
Resolver cable
(20)
(15)
L (standard length 4m)
(20)
(15)
FG line
18
100
(300)
41
100
450
AX8000 Series
L (standard length 4m)
CE marking products are not available for
AX8000 series.
57
48
(74)
(approx. 22)
(74)
(approx. 22)
( 38)
( 38)
Resolver cable
Flexible conduit
41
100
Motor cable
Flexible conduit
50
100
18
The AX8000 series standard cable and
flexible cable are provided with a flexible
conduit to improve waterproofing.
Safety precautions
Cable bending radius
Resolver
cable
Motor cable
Standard cable
Flexible cable
60mm
60mm
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.
100mm
110mm
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.
Resolver
cable
Motor cable
50mm
90mm
60mm
90mm
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.
Resolver
cable
60mm
Clamp for FG
Motor cable
90mm
Resolver
cable
50mm
60mm
Motor cable
100mm
110mm
Resolver
cable
60mm
100mm
Motor cable
100mm
110mm
Refer to the cable length in How to order on cable length L.
58
Direct drive actuator
GS/S type driver
Performance specifications
Common specifications
Model
Descriptions
Power voltage
GS type driver
AX9000GS
Descriptions
S type driver
AX9***S
1. 200 VAC -10% to 230 VAC +10% three phase (standard) (Note 1)
Number of control axis
1 axis, 540672 pulses/rotation (name: A axis)
Angle input increment
˚ (degree), pulse, index number
Min. angle input increment
0.001˚, pulse
Speed input increment
Sec., rpm
Speed setting range
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.
2. 100 VAC -10% to 115 VAC +10% single phase (-J1: Option)
Power frequency
Structure
50/60Hz
Driver and controller integrated type (open frame)
Equal index number
Working ambient temperature range
0 to 50˚C
Working ambient humidity range
20 to 90%RH (with no dew condensation)
1 to 255
Max. command value
7-digit input ±9999999
Timer
0.01 to 99.99 sec.
Storage ambient temperature range
-20 to 80˚C
Storage ambient humidity range
20 to 90%RH (with no dew condensation)
Programming language
NC language
With no corrosive gas and powder dust
Programming method
Data can be set with an interactive terminal or
Atmosphere
Noise-resistance
personal computer, etc., using the RS-232-C port.
1000V (P-P), pulse amplitude 1μsec., start up 1nsec.
Operation mode
4.9m/s2
Vibration resistance
Weight
Note 1: Models with a max. torque of 50 N·m or less are used with single-phase 200
to 230 VAC.
Power supply wattage / breaker capacity
Actuator model No.
AX2006G
AX2012G, AX4009G
AX2018G, AX4022G
AX4045G
AX4075G
Coordinates
Absolute, incremental
<5 types>
Acceleration curve
modified trapezoidal (MT), tropecloid (TR)
Power supply wattage (KVA) Breaker capacity
Driver model No.
Max. value Rated value Rated current (A)
AX9000GS
0.8
0.5
1.0
0.5
1.5
2.0
0.5
0.8
AX*006
AX*009, AX*012
AX*021, AX*022
AX*045, AX*042
AX*070, AX*075
Driver model No.
AX9006S
AX9009S, AX9012S
AX9021S, AX9022S
AX9045S, AX9042S
AX9070S, AX9075S
0.8
0.5
1.0
0.5
1.5
2.0
0.5
0.8
10
11
12
13
14
15
16
17
18
<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
External power input + 24V±10%
External power input GND
Program 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 digit
Program No. setting input 1st digit
Reset input
Return to origin command input
Start input
Program stop input
Continuous rotation stop input
Answer input
Emergency stop input
Brake release input
CN3 pulse string input signal
19
20
21
22
59
Signal name
PULSE/UP/A phase
-PULSE/-UP/-A phase
DIR/DOWN/B phase
-DIR/-DOWN/-B phase
Program capacity
6000 characters (256 programs)
Electronic thermal
Over heat protection of actuator
10
CN3 output signal
Signal name
Pin No.
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
I/O signal
CN3 input signal
1 to 2
3 to 4
5
6
7
8
9
Display with 7 segment LED
Communication interface
10
Power supply wattage (KVA) Breaker capacity
Max. value Rated value Rated current (A)
Power supply display with LED
Operating indication
S type driver
Actuator model No.
Modified sine (MS), modified constant velocity (MC/MC2),
Status display
GS type driver
Pin No.
Automatic, MDI, jog, single block,
servo OFF, pulse string input mode
Approx. 2kg
Logic
Positive
Positive
Positive
Positive
Positive
Positive
Positive
Positive
Positive
Positive
Positive
Positive
Negative
Positive
Judgment
Level
Level
Level
Level
Level
Edge
Edge
Edge
Edge
Edge
Edge
Edge
Edge
Level
Level
Pin No.
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
Signal name
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 output
Positioning complete output
Start input waiting output
Alarm output 1
Alarm output 2
Output during indexing 1/Z phase output (pulse string input mode)
Output during indexing 2
Output of time (Note 2)
Index position strobing output
M code strobing output
Logic
Positive
Positive
Positive
Positive
Positive
Positive
Positive
Positive
Positive
Positive
Positive
Negative
Negative
Positive
Positive
Positive
Positive
Positive
Note 2: Timing output cannot be used if the continuous rotation direction is CCW.
GS/S type driver
Dimensions, etc.,
CN3 I/O circuit specifications
Output circuit
Input circuit
Pulse string input circuit
1, 2 pin +24V±10%
1, 2 pin +24V±10%
330
19, 21 pin
Load
1K
33 to 50 pin
5 to 18 pin
Rated voltage 24V ±10%,
rated current 5mA
20, 22 pin
Rated voltage 5V±10%
Max. input frequency
Line driver 400Kpps
Open collector 250Kpps
3, 4 pin
Rated voltage 24V ±10%,
rated current 30mA (Max.)
Dimensions
17.5
GS/S type driver (with controller)
ABSODEX
DRIVER GS TYPE
ABSODEX
DRIVER S TYPE
G1
G2
G1
G2
ABSODEX
ABSODEX
MODEL: AX9***H
MODEL: AX9***H
SERIAL: *******
SERIAL: *******
CKD Corporation
MADE IN JAPAN
MADE IN JAPAN
CN1
CN1
POWER
POWER
3AC200
-230V
50/60Hz
L1
CN2
L2
L1
CN2
L2
POWER
220
240
3AC200
-230V
50/60Hz
240
POWER
L3
L3
U
U
V
V
ABSODEX
ABSODEX
W
BK+
W
CN3
BK+
BK-
CN3
BK-
5
5
50
50
75
75
GS type driver
S type driver
Panel explanation
(100)
160.5
17.5
CKD Corporation
2.3
2.3
GS and S type driver common
Note) The front panel designs of GS and S type driver are different.
GS/S type driver (with controller)
MON
ABSODEX
DRIVER S TYPE
G1
Name plate
ABSODEX
Dip switch for gain 1
adjustment
(convergence time)
MODEL: AX9***H
MON
ABSODEX
DRIVER S TYPE
G2
Name plate
SERIAL: *******
CKD Corporation
POWER
+ 24V for brake
Ground for brake
Dip switch for gain 2
adjustment
(load)
AC200
-230V
CN1
Connector for RS232C
50/60Hz
L1
L2
CN2
POWER
L3
Actuator U phase
Actuator V phase
Actuator W phase
Dip switch for gain 1
adjustment
(convergence time)
MODEL: AX9***H
CN2
Connector for resolver
U
V
ABSODEX
W
BK+
CN3
CN3
I/O connector
BK-
For 200 VAC (50/60Hz)
Usable with actuators whose max.
torque is 75 N·m.
CKD Corporation
MADE IN JAPAN
CN1
Main power 100 VAC
R phase
S phase
NC
Protective ground
Actuator protective ground
POWER
AC100
-115V
CN1
Connector for RS232C
50/60Hz
L1
L2
CN2
POWER
NC
Actuator U phase
Actuator V phase
Actuator W phase
+ 24V for brake
Ground for brake
Dip switch for gain 2
adjustment
(load)
S type driver
S phase
T phase
Protective ground
Actuator protective ground
ABSODEX
Operating indication
SERIAL: *******
MADE IN JAPAN
CN1
Main power 200 VAC
R phase
G1
Driver type
G2
Operating indication
CN2
Connector for resolver
U
V
ABSODEX
W
BK+
CN3
CN3
I/O connector
BK-
For 100 VAC (50/60Hz)
Usable with actuators whose max.
torque is 50 N·m.
60
Direct drive actuator
GH/H type driver
Common specifications
Performance specifications
Model
Descriptions
Power voltage
GH type driver
AX9000GH
H type driver
AX9***H
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)
Power frequency
Structure
50/60Hz
Driver and controller integrated type (open frame)
Working ambient temperature range
0 to 50˚C
Working ambient humidity range
20 to 90%RH (with no dew condensation)
Storage ambient temperature range
-20 to 80˚C
Storage ambient humidity range
20 to 90%RH (with no dew condensation)
Noise-resistance
1000V (P-P), pulse amplitude 1μsec., start up 1nsec.
Vibration resistance
4.9m/s
Programming method
2
Operation mode
Approx. 3.2kg
Weight
Speed setting range
Equal index number
Max. command value
Timer
Programming language
With no corrosive gas and powder dust
Atmosphere
Descriptions
Number of control axis
Angle input increment
Min. angle input increment
Speed input increment
Note 1: Models with max. torque of 50 N·m or less are used with single-phase 200 to 230 VAC.
Coordinates
Power supply wattage / breaker capacity
Acceleration curve
GH type driver
Actuator model No.
AX4150G
AX4300G
AX4500G
Driver model No.
Power supply wattage (KVA) Breaker capacity
Max. value Rated value Rated current (A)
3.0
4.0
4.0
AX9000GH
0.8
1.5
2.0
20
H type driver
Actuator model No.
AX*006
AX*009, AX*012
AX*021, AX*022
AX*045, AX*042
AX*070, AX*075
AX*150
AX*210
AX*300
AX*500
Driver model No.
AX9006H
AX9009H, AX9012H
AX9021H, AX9022H
AX9045H, AX9042H
AX9070H, AX9075H
AX9150H
AX9210H
AX9300H
AX9500H
Power supply wattage (KVA) Breaker capacity
Max. value Rated value Rated current (A)
0.8
0.5
1.0
0.5
1.5
2.0
3.0
4.0
4.0
4.0
0.5
0.8
0.8
0.8
1.5
2.0
Status display
Operating indication
Communication interface
10
I/O signal
1 axis, 540672 pulses/rotation (name: A axis)
˚ (degree), pulse, index number
0.001˚. pulse
Sec., rpm
0.01 to 100 sec. / 0.01 to 100rpm
(Note) The max. rotation speed differs depending on the actuator connected.
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
Program capacity
Electronic thermal
6000 characters (256 programs)
Over heat protection of actuator
20
CN3 input signal
Pin No.
1 to 2
3 to 4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
Signal name
External power input + 24V±10%
External power input GND
Program 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 digit
Program No. setting input 1st digit
Reset input
Return to origin command input
Start input
Program stop input
Continuous rotation stop input
Answer input
Emergency stop input
Brake release input
CN3 pulse string input signal
Pin No.
19
20
21
22
61
Signal name
PULSE/UP/A phase
- PULSE/-UP/-A phase
DIR/DOWN/B phase
- DIR/-DOWN/-B phase
Logic
Judgment
Positive
Positive
Positive
Positive
Positive
Level
Level
Level
Level
Level
Edge
Edge
Edge
Edge
Edge
Edge
Edge
Edge
Level
Level
CN3 output signal
Positive
Positive
Positive
Positive
Positive
Positive
Positive
Negative
Positive
Pin No.
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
Signal name
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 output
Positioning complete output
Start input waiting output
Alarm output 1
Alarm output 2
Output during indexing 1/Z phase output
Output during indexing 2
Output of time (Note 2)
Index position strobing output
M code strobing output
Logic
Positive
Positive
Positive
Positive
Positive
Positive
Positive
Positive
Positive
Positive
Positive
Negative
Negative
Positive
Positive
Positive
Positive
Positive
Note 2: Timing output cannot be used if the continuous rotation direction is CCW.
GH/H type driver
Dimensions, etc.,
CN3 I/O circuit specifications
Output circuit
Input circuit
Pulse string input circuit
1, 2 pin +24V±10%
1, 2 pin +24V±10%
390
19, 21 pin
Load
1K
33 to 50 pin
5 to 18 pin
Rated voltage 24V±10%,
rated current 7.5mA
Time constant approx. 5msec
20, 22 pin
Rated voltage 5V±10%
Line driver 400Kpps
Open collector 250Kpps
3, 4 pin
Rated voltage 24V±10%,
rated current 150mA (Max.)
Dimensions
17.5
GH/H type driver (with controller)
ABSODEX
ABSODEX
DRIVER GH TYPE
DRIVER H TYPE
MON.
MON.
F1
F1
G1
G1
POWER
F2
F2
F3
F3
POWER
Products
Direct drive
Driver
Model
Serial No.
Front panel display
Power
Power
Working
G2
G2
Working
CN2
CN2
CN1
CN1
50/60Hz
0 to 50˚C
20 to 90%RH
(with no dew condensation)
Cautions
Cautions for combinations
L2
L2
L3
CN3
Incorrect wiring caution
There is a risk of faults.
CN3
FG
FG
U
U
ABSODEX
Water and oil contact caution
This product is not waterproof.
V
ABSODEX
V
W
W
BK+
BK+
BK-
BKABSODEX
MODEL: AX9***H
ABSODEX
MODEL: AX9***H
SERIAL: *******
SERIAL: *******
CKD Corporation
CKD Corporation
MADE IN JAPAN
MADE IN JAPAN
5
5
80
110
80
110
GH type driver
H type driver
Panel explanation
2.3
17.5
L3
High voltage caution
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.
2.3
POWER
3200-230 VAC
50/60Hz
L1
POWER
3200-230 VAC
50/60Hz
220
L1
240
240
Use an actuator, driver and cable with
the same serial No.
(100)
210
GH and H type driver common
Note) A front panel design of GH and H type drivers are different.
GH/H type driver (with controller)
F1
POWER
G2
CN2
Dip switch for gain 2
adjustment (load)
CN1
CN2
Connector for resolver
L1
POWER
3200-230 VAC
50/60Hz
L2
L3
CN1
Connector for RS232C
CN3
FG
U
ABSODEX
V
CN3
I/O connector
W
BK+
BK-
Dip switch for gain 1
adjustment (convergence time)
F3
G2
CN2
Dip switch for
gain 2 adjustment (load)
CN1
Main power 200V
R phase
S phase
T phase
Protective ground
Actuator U phase
Actuator V phase
Actuator W phase
24 VDC for brake
Ground for brake
CN2
Connector for resolver
L1
POWER
3200-230 VAC
50/60Hz
L2
L3
CN1
Connector for RS232C
CN3
FG
U
ABSODEX
V
CN3
I/O connector
W
BK+
BK-
ABSODEX
MODEL: AX9***H
-J1
SERIAL: *******
ABSODEX
MODEL: AX9***H
CKD Corporation
CKD Corporation
GH type driver
MADE IN JAPAN
H type driver
Main power 200V
R phase
S phase
T phase
Protective ground
Actuator U phase
Actuator V phase
Actuator W phase
24 VDC for brake
Ground for brake
POWER
F2
Dip switch for gain 1
adjustment (convergence time)
F3
Power display
G1
Fuse
F2
MON.
F1
Power display
G1
Fuse
Operating indication
7 segment LED
ABSODEX
DRIVER H TYPE
MON.
Driver type
Operating indication
7 segment LED
ABSODEX
DRIVER GH TYPE
SERIAL: *******
MADE IN JAPAN
H type driver
62
GS/S/GH/H type driver
CE marking products dimensions
GS/S type driver (-K)
2.3
17.5
2.3
PRODUCT
ABSODEX DRIVER
MODEL
SERIAL
Marked on the
front panel
POWER
SOURCE
3-200 to 230 VAC
POWER
FREQUENCY
50/60Hz
AMBIENT
0 to 50
TEMPERATURE
ABSODEX
MODEL: AX9S
-K
SERIAL:
CKD Corporation
AMBIENT
HUMIDITY
ABSODEX
MODEL: AX9000GS
-K
20 to 90%RH,
free from
condensation
SERIAL:
MADE IN JAPAN
CKD Corporation
MADE IN JAPAN
1 Earth connection
Protective earth
connection is
essential.
Do not use an earth
leakage breaker as
the sole protective
device.
3 Only RCD of Type B
allowed, see manual
for detail.
4 Do not touch the
terminal strip
in the front panel
and inside the driver
for 5 minutes after
power is turned off.
Note)
5
Note)
For ground cable connection
(M4 round head screw)
50
(100)
5
Note)
For ground cable connection
(M4 round head screw)
160.5
17.5
Note)
220
driver, and cable of
the same serial
number.
240
240
2 Combined cautions
50
75
75
GS type driver
S type driver
GS/S type driver common
Note) Fix a ground cable to ground cable fixing (M4) screw.
GH/H type driver (-K)
2.3
2.3
PRODUCT
ABSODEX DRIVER
MODEL
SERIAL
Marked on the
front panel
POWER
SOURCE
3-200 to 230 VAC
POWER
FREQUENCY
50/60Hz
AMBIENT
TEMPERATURE
0 to 50 ‹C
AMBIENT
HUMIDITY
20 to 90%RH,
free from
condensation
POWER
3-200 to 230 VAC
50/60Hz
2 Combined cautions
Use the actuator,
driver, and cable of
the same serial
number.
3 Only RCD of Type B
allowed, see manual
for detail.
4 Do not touch the
terminal strip
in the front panel
and inside the driver
for 5 minutes after
power is turned off.
Note)
Note)
ABSODEX
MODEL: AX9H
MODEL: AX9000GH@CR@-K
SERIAL:
CKD Corporation
30
Note) 2-M4
for ground
cable connection
SERIAL:
CKD Corporation
MADE IN JAPAN
5
80
110
30
Note) 2-M4
for ground
cable connection
GH type driver
5
MADE IN JAPAN
H type driver
(100)
210
GH and H type driver common
Note) Fix a ground cable to ground cable fixing (M4) screw.
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.
63
For rear panel
installation
(4)
80
110
For front panel
installation
Ground cable
220
POWER
3-200 to 230 VAC
50/60Hz
240
240
1 Earth connection
Protective earth
connection is
essential.
Do not use an earth
leakage breaker as
the sole protective
device.
MEMO
64
Direct drive actuator interactive terminal
AX0170H Series
Common with GS/GH/S/H type driver
Specifications
Features
(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.
Descriptions
Operation mode
Program capacity
Program No.
Indicator
Input key
AX0170H
Edition, display, parameter, operation, copy
Equal index or NC program 2000 characters (1 program)
Equal index program: program No. 0 to 999
Back up
Power supply
Cable length
Working ambient temperature range
Working ambient humidity range
Storage ambient temperature range
Storage ambient humidity range
Weight
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 driver
2m
0 to 50˚C
20 to 90% (with no dew condensation)
-20 to 80˚C
20 to 90% (with no dew condensation)
Only body approx. 140g
* With the English version, operation panel features and displayed messages are in English.
Note: Use the AX0170H for the GS, GH, S, and H drivers.
AX0162 and AX0165 cannot be used.
Dimensions
Interactive terminal
86
24
ABSODEX
DRIVER H TYPE
Interactive terminal
How to order
Model
Emergency stop
Model no. of options
AX0170H
140
Shift
E
A
F
7
J
L
4
N
Model no.
Symbol Descriptions
Mode
Delete
G
8
9
M
5
P
6
S
1
2
0
Space:
3
-
Blank Standard (Japanese ver.)
E
English version
72
Cable length 2 m
65
AX0170H Series
Interactive terminal
Interactive terminal
Edit mode
Editing of program
Equal 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 display
Display mode The direct drive actuator driver's input/output signal CN3's input/output status, the current motor position,
and the alarm status, etc., are displayed.
Operation
mode
Parameter
mode
Operation
mode
Copy mode
Parameter setting
40 types of parameters are referenced and set.
One-touch operation commands
Programs 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 programs
All programs stored in the direct drive actuator driver are stored in another driver.
Interactive programming
Programs are created easily by inputting the following setting
items:
Examples of use
Try operating the direct
drive actuator.
[Example of program input]
New
Return to origin potion
Return direction
Return speed
Index number
Moving time
Rotational direction
Stop process
Brake
Create a direct drive
actuator program and
store it in the direct drive
actuator.
Start a program stored in
the direct drive actuator.
Edit mode
Programs are input and stored in easy steps.
Operation mode
Programs are started easily by designating the
program number.
Use features of each
cam curve.
Parameter mode
Five types of cam curves are selectable.
Drives that use features of each type are
realized in one-touch operation.
Limit torque to protect
other devices.
Option
Delay timer
M code
program No. (0 to 999)
1. Origin
2. Index
1. CW
2. CCW
(1.0 to 100.0) rpm
(1 to 255)
(0.01 to 100) sec.
1. CW
2. CCW
1. start waiting
2. Dwell
1. used
2. Vacant
(0.01 to 99.99) sec.
1. M code
2. Index position
Edit mode
Twelve types of sample programs are
selectable, so try these during adjustment.
Parameter mode
66
Interactive terminal
The torque is set freely under max. output
torque.
This effectively limits torque when devices
interfere.
Serial transmission slave unit
CC-Link
AX-OPX-7G
Common with GS/GH/S/H type driver
Common specifications
Features
Descriptions
Connect the direct drive actuator to a Mitsubishi Electric PLC MELSECA or QnA Series field network CC-Link (ver. 1.10) by installing it on the
driver's I/O connector (CN3).
Specifications
Slave unit power
24 VDC ±10% and 100mA or less
AX driver power
24 VDC +10%, -5% or 450mA or less
Major reductions in wiring
I/O point
16 inputs, 14 outputs
Working ambient temperature range
5 to 50˚C
Working ambient humidity range
30 to 85% RH (with no dew condensation)
Whether to hold output if a communication error occurs or to turn all
points off is selected with the HLD/CLR switch.
Vibration resistance
4.9m/s2
Weight
0.15kg
Atmosphere
Five transmission speeds are selectable.
An external emergency stop input (b contact) is connected serially to
the emergency stop signal with serial communication.
How to order
Without corrosive gas and dust
Performance specifications
Model
Model no. of options
Descriptions
Communication subject
D02
AX-OPX-7G
Specifications
CC-Link system (Ver1.10) compliant
156K/625K/2.5M/5M/10M bps
Transmission speed
(select with a switch.)
Output No.
Symbol
Blank
D02
Descriptions
14 points
Input No.
Standard
16 points
Other inputs
Cable for pulse string input (2m) attached
Pulse string, emergency stop
Output insulation type
Operating indication
Accessory (plug)
Photo coupler insulation
LED (only display of slave unit power and communication state)
1 station (remote I/O station)
Occupied unit No.
1) BLZ5.08/5FAU (Weidmüller) 1 pc.
2) BL3.5/2F (Weidmüller) 2 pcs.
3) ZHR-6 (JST MFG CO. LTD.) 1 pc.
Station no., transmission speed, HLD/CLR,
Setting switch
Terminal ON/OFF
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.
Explanation of appearance
Setscrew (1 each on both top and bottom)
Guard
Station No. setting switch
Emergency stop pulse string
input connector
Transmission speed setting switch
Serial communication signal
line connector
2 3
DA
7 8
CH
END
DG
L ERR L RUN RD SD PW
5 6
0 1
DB
7 8
4
B
RATE
AX-OPX-7G
0 1
9
5 6
Terminal station setting switch
2 3
9
Output mode setting switch
Name plate
FG SLD
7 8
4
X
1
.ST No.
9
5 6
0 1
4
X
1.0
2 3
Slave unit power
67
Operating indication LED
0V 24V
Top view
(Inside of cover)
AX power
Power for AX driver
Serial transmission slave unit
DeviceNet
AX-OPX-7D
Common with GS/GH/S/H type driver
Common specifications
Features
Descriptions
The direct drive actuator is used with DeviceNet by installing it on the
driver's I/O connector (CN3).
Specifications
Slave unit power
24 VDC ±10% and 100mA or less
Major reductions in wiring
I/O point
16 inputs, 14 outputs
AX driver power
24 VDC +10%, -5% or 450mA or less
Working ambient temperature range
5 to 50˚C
Whether to hold output if a communication error occurs or to turn all
points off is selected with the HLD/CLR switch.
Working ambient humidity range
30 to 85%RH (with no dew condensation)
Three transmission speeds are selectable.
An external emergency stop input (b contact) is connected serially to
the emergency stop signal with serial communication.
Vibration resistance
4.9m/s2
Weight
0.15kg
Communication power
11 to 25 VDC 50mA or less
Atmosphere
Without corrosive gas and dust
CE marking
How to order
Performance specifications
Model
Model no. of options
Descriptions
Communication subject
D02
AX-OPX-7D
Specifications
DeviceNet conformed
125k/250k/500k bps
Communication speed
Symbol
Blank
D02
Descriptions
(select with a switch.)
Output No.
14 points
Standard
Input No.
Cable for pulse string input (2m) attached
Other inputs
16 points
Pulse string, emergency stop
Output insulation type
Accessory (plug)
Photo coupler insulation
LED (power and communication state display)
Operating indication
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.
Input: 2 bytes, output: 2 bytes
Occupied byte number
Output mode (HLD/CLR),
Setting switch
Node address and communication speed
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.
Explanation of appearance
Setscrew (1 each on both top and bottom)
Guard
Node address setting switch
NS MS
HC
Slave unit power
Serial transmission slave unit
AX-OPX-7D
NA
Output mode setting switch
DR
1
2
4
8
16
32
0
1
Serial communication signal
line connector
(including communication power line)
Name plate
0V 24V
Top view
(Inside of cover)
AX power
Power for AX driver
Operating indication LED
CC-Link/DeviceNet
Emergency stop pulse string
input connector
Communication speed
setting switch
68
AX-OPX Series
Slave unit/AX driver I/O signal table
I/O signal
Bit
AX
CN3
Pin No.
Slave unit input signal name
(AX output —> slave unit input)
AX
CN3
Pin No.
Slave unit output signal name
(slave unit output —> AX input)
0
33
M code output (bit 0)
5
Program No. selection input (bit 0)
1
34
M code output (bit 1)
6
Program No. selection input (bit 1)
2
35
M code output (bit 2)
7
Program No. selection input (bit 2)
3
36
M code output (bit 3)
8
Program No. selection input (bit 3)
4
37
M code output (bit 4)
9
Program No. selection input (bit 4)
/program No. setting input, 2nd digit
5
38
M code output (bit 5)
10
6
41
In-position output
11
Reset input
7
42
Positioning complete output
12
Return to origin command
8
43
Start input waiting output
13
Start input
9
44
Alarm output 1
14
Program stop input
A
45
Alarm output 2
15
Continuous rotation stop input
B
46
Output during indexing 1/Z phase output
16
Answer input
C
47
Output during indexing 2
17
Emergency stop input
D
48
Output of time
18
Brake release input
E
49
Index position strobing output
Vacant
F
50
M code strobing output
Vacant
Program No. setting input, 1st digit
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)
AX-OPX-7G
AX-OPX-7D
ST No.
63.5
X
10
X
1
B
RATE
CH
END
0V 24V
AX power
66 or less
16.5 or less
Connector section dimensions
25.5
69
0V 24V
AX power
DG
SLD
FG
70
L ERR L RUN RD
SD PW
DB
DA
83 or less
AX-OPX Series
How to install
Slave unit installation (for GS/S type driver)
Connect the direct drive actuator driver's I/O connector
(AX CN3) to the slave, then
tighten slave fixing screws.
I/O connector (AX CN3)
Slave unit set screw
L ERR L RUN RD
0V 24V
Slave unit power
SD PW
FG SLD
DG
Installation
DB
DA
Dismounting
Installation dimensions (for GS/S type driver)
Cautions for 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.
Fix the slave onto the driver with fixing screws.
Installing the GS and S type driver
CC-Link/DeviceNet
Set screw
Plug
AX-OPX-7G
AX-OPX-7D
68
Serial transmission slave unit
16.5
160.5 (210)
GS/S type driver
Note: Dimensions shown in ( ) are for GH/H type driver.
70
AX-OPX Series
Connections
Interactive terminal
Direct drive actuator
Resolver cable (standard 4m)
S type driver
MON
ABSODEX
DRIVER S TYPE
Actuator cable
(standard 4m)
RS-232C
G1
G2
CN1
POWER
200 VAC
three phase
Noise filter
3AC200V
-230V
50/60Hz
L1
POWER
L2
CN2
L3
FG
No. 3 class
ground and above
ABSODEX
0V
24 VDC
Slave unit power
0V
24 VDC
Power for AX driver
U
V
W
BK
N3
BK
CN3
* Serial
transmission
communication
line
Communication
device
* Refer to the following transmission I/F connector for details on connecting communication cables.
Transmission I/F connector (for installing on GS and S)
FG
V + (red)
SLD (bare)
CAN H (white)
DG (yellow)
SHIELD (no color)
DB (white)
CAN L (blue)
DA (blue)
V- (black)
AX-OPX-7G (CC-Link)
* The connector orientation is reversed when installing on the GH or H driver.
71
AX-OPX-7D (DeviceNet)
PLC
AX-OPX Series
Cautions on connection
Connecting the pulse string input connector (option)
Notch
Short connector
SLD
L ERR L RUN RD
FG
Connector (male)
SD PW
DG
Precise screw driver
DB
2120±50
DA
Electric wire size (AWG26)
When connecting a pulse string input cable (option model: AX-OPX-CABLE-D02), disconnect the short-circuit connector with a narrow flat-tipped
precision 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.
Safety precautions
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 electrical
shock, etc.
If the slave switch is set incorrectly, the direct drive actuator could malfunction. Carefully confirm switch settings before use. Check the slave
number, 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 the
cable 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 and
malfunction. 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.
CC-Link/DeviceNet
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.
GH/H type driver installation
The slave's vertical orientation is reversed when installed onto the GH or H
driver. The switch faces up.
Fix the slave on the driver with fixing screws.
Serial transmission slave unit
72
AX Series
Direct drive actuator related parts model no. table
Related parts
Part name
Model
Model No.
PC communication cable (DOS/V)
AX Series
AX-RS232C-9P
PC communication cable (old PC98) 14 pin half pitch
AX Series
AX-RS232C-14P
PC communication cable (old PC98) D-sub 25 pin
AX Series
AX-RS232C-25P
Maintenance part
Part name
Pneumatic valve (brake)
Model
AX5000/AX8000 Series
Fuse
GH/H driver
Model No.
AX-0002
AX-FUSE-0218010MXP
Other
Part name
Pulse row input cable
Model
AX-OPX Series
I/O connector
AX Series
Model No.
AX-OPX-CABLE-D02
AX-CONNECTOR-MR-50LM
Noise filter
Part name
Model
Model No.
Noise filter for power supply (three phase/10A)
AX Series
AX-NSF-LF-310
Noise filter for power supply (three phase/15A)
AX Series
AX-NSF-LF-315
Noise filter for power supply (single phase/10A)
AX Series
AX-NSF-LF-210
Noise filter for motor cable (20A)
AX Series
AX-NSF-LF-320KA
Noise filter for power supply (single phase/15A)
AX Series (CE)
AX-NSF-NF2015A-OD
Ferrite core for motor cable
AX Series (CE)
AX-NSF-RC5060
Mounting base
Part name
Mounting base
Model
AX Series (Note 1)
(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.
73
Model No.
AX-AX****-BASE-* (Note 2)
MEMO
74
AX Series
Selection guide (1)
Selection guide
3. Load torque
Unit of elements of operating condition and symbol
Moving angle
Moving time
Cycle time
Load friction torque
Working torque
Cam curve
(˚)
(s)
(s)
(N·m)
(N·m)
a) The max. load torque value is obtained with the following formula:
t1
t0
TF
TW
Selection from (MS, MC, MT, TR)
Tm = [Am· (J + JM) ·
+ TF + TW] · fc + TMF
180 · t12
b) The effective value of the load torque is obtained with the
following formula.
t1
· [r·Am· (J + JM) ·
· fc] 2+(TF·fc+TW· fc+TMF)2
t0
180 · t12
Trms =
1. Load moment of inertia
Vm Am r is the value below:
Calculate the load movement of inertia, and temporarily select an
actuator that handles inertia movement.
Cam curve
Vm
Am
r
2. Rotation speed
MS
MC
MT
TR
1.76
1.28
2.00
2.18
5.53
8.01
4.89
6.17
0.707
0.500
0.866
0.773
Max. rotation speed Nmax is obtained using movement angle
and movement time t1(s)
Nmax = Vm·
(˚)
JM TMF f is as follows:
(rpm)
6·t1
JM: Output shaft moment of inertia (kg/m2)
TMF: Output shaft friction torque (N·m)
Vm is a constant determined by the cam curve.
fc: Usage factor (fc = 1.5 during normal use)
Confirm that Nmax does not exceed the actuator's specified
max. rotation speed.
(Cautions)
Actual movement time is the direct drive actuator command
movement time plus settling.
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
Speed
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.
4. Regenerative power (Only AX4300, AX4500)
Time
Directive moving time of direct drive actuator
Actual moving time
Settling time
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.
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
Rolling friction
Sliding friction
μ = 0.03 to 0.05
μ = 0.1 to 0.3
Ff: Force (N) applied on sliding surface or bearings
Rf: Average friction radius (m)
m: Weight (kg)
g: Gravity acceleration (m/s2)
75
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:
W=(
W
2
Vm · ·
) ·
t1·180
(J+JM)
2·t0
(W)
40
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.
AX Series
Selection guide (1)
(operation conditions)
(working conditions)
Table radius
Table weight
Jig radius of rotation
Jig weight
Jig number
Movement angle
Moving time
Cycle time
Load friction torque
Working torque
Output shaft friction torque
: R = 0.4 (m)
: Wt = 79 (kg)
: Re = 0.325 (m)
: Wj = 10 (kg/pc.)
(Including workpiece weight)
:N=4
Cam curve
STEP 1
Calculation of moment
of inertia
STEP 2
Max. rotation speed
STEP 3
Load torque
:
:
:
:
:
:
= 90 (˚)
t1 = 0.8 (s)
t0 = 4 (s)
TF = 0 (N·m)
TW = 0 (N·m)
TMF (N·m)
Follows actuator specifications
: MS (modified sine)
79 0.42 = 6.32
Wt R2
=
2
2
a) Table
J1 =
b) Jig and workpiece
J2 = N
Wj Re2=4 10 0.3252 = 4.225
c) Total sum of moment of inertia J = J1 + J2 = 6.32 + 4.225 = 10.545
Nmax = Vm ·
6 · t1
= 1.76
6
90
= 33
0.8
(kg·m2)
(kg·m2)
(kg·m2)
(rpm)
Confirm that Nmax does not exceed the direct drive actuator's max. rotation speed.
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
Tm = [ Am · (J + JM) ·
= [ 5.53
= 231.3
·
+ TF + TW ] · fc + TMF
180 · t12
(10.545 + 0.326)
90
180 0.82
+ 0 + 0 ] 1.5 + 10
(N·m)
Effective load torque
Trms =
·
t1
· [r · Am · (J + JM) ·
· fc ]2 + ( TF · fc + TW ·fc + TMF)2
t0
180 · t12
0.8
4
= 70.7
Trms =
STEP 4
W=
STEP 5
5.53
=
( V t ·· 180· )
m
W
( 1.76
0.8
10.871
90
180 0.82
1.5 ]2 + (0
2
·
1.5 + 10)2
90
180
)
2
(J + JM)
2 · t0
10.871
= 16.23 (W)
2 4
40 (W)
Study whether the temporarily selected AX4300 is used.
Load total sum of moment of inertia 10.545
Selection guide
1.5 + 0
(N·m)
1
Regenerative
electric power
* Only for AX4300, AX4500
[0.707
18
Max. rotation speed
33
Max. load torque
231.3
Effective load torque
70.7
100
Regenerative electric power
15.68
40
(kg·m2)
(rpm)
100
300
(N·m)
(N·m)
(w)
AX4300 is used.
76
AX Series
Selection guide (2)
For "MC2 curve " selection guide
MC2 curve
The MC2 curve has a constant velocity in movement the same as
the MC (modified constant velocity) curve, but by setting an
(t0)
acceleration/deceleration time, the constant velocity is set freely.
4 (t1)
With the MC (general name: MCV50) curve, the constant velocity
0.5 (ta)
section is 50%.
0.5 (ta)
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.
In the example, acceleration/deceleration time (ta) is set to 0.5 sec.
Constant velocity
section (75%)
MC2
for movement time (t1): 4 sec., a speed pattern that sets the
constant velocity to 75% is created.
Selection method
With the MC2 curve, the model is selected using the following formula:
(˚)
: J (kg·m2)
Movement angle
:
Cycle time
: t0 (s)
Output shaft moment of inertia : JM (kg·m2)
Moving time
: t1 (s)
Friction torque
: Tf (N·m)
Working torque
: TW (N·m)
Output shaft friction torque
: TMF (N·m)
Load moment of inertia
Acceleration or deceleration time : ta (s)
Max. rotation speed
Nmax =
: Nmax (rpm)
6 (t1-0.863ta)
Load torque (max.): Tm (N·m)
· 1Tm = 5.53 (J + JM) ·
t1-2ta
t1-0.863ta
720 · ta2
·
+ Tf + TW · fc + TMF
Load torque (effective): Trms (N·m)
Trms =
77
2ta ·
3.91 (J + JM) ·
t0
· 1-
t1-2ta
t1-0.863ta
720 · ta2
2
·
· fc
+ [ (Tf + Tw) · fc + TMF] 2
AX Series
Selection guide (3)
When "continuous rotation" model is selected
What is continuous rotation?
The following functions are available for continuous rotation.
1 Continuous rotation : Continuously 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 rotation stop signal is input.
3 Output of time
: If used with equal division designation, the
timing output pulse is output at the equal
division during rotation.
t0
t1
ta
td
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.
Continuous
Selection method
For continuous rotation, select the model with the following formula.
: J (kg·m2)
Rotation speed
: N (rpm)
Load moment of inertia
Cycle time
: t0 (s)
Output shaft moment of inertia : JM (kg·m2)
Acceleration hour
: ta (s)
Friction torque
Deceleration hour
: td (s)
Working torque
: Tw (N·m)
Output shaft friction torque
: TMF (N·m)
: Tf (N·m)
Max. rotation speed : Nmax (rpm)
Nmax = N
Load torque (max.): Tm (N·m)
Tm = 5.53 (J + JM) ·
6.82N · ta ·
720 · ta2
+ Tf + Tw · fc + TMF
Load torque (effective): Trms (N·m)
Trms =
2ta
6.82N · ta ·
· 3.91 (J + JM) ·
t0
720 · ta2
The above formula applies for ta
2
· fc
+ [(Tf + Tw) · fc + TMF] 2
td. If ta > td, then replace ta with td, and select.
78
AX Series
Formula of moment of inertia
( m : Weight of object (kg))
A When rotation center is own shaft
1. Circular plate
(cylinder)
B When rotation center differs from own shaft
1. Any shape (if small very well)
Center of rotation
R
Center of rotation
I=
m
mR
2
2
Re
m
2. Hollow circular plate (hollow cylinder)
R
r
m ( R2 + r 2)
I=
2
m
3. Direct hexagonal side finish body
a
b
I=
m
I =m
R2
+ Re 2
2
I =m
R2 +r 2
+ Re 2
2
m
3. Hollow circular plate
(hollow cylinder)
R
Re
r
m
I=
m (4R 2 + 3 r 2 )
4
a
I =m
a 2 +b2
+ Re 2
12
I=m
3R2 +l 2
+ Re 2
12
I= m
R 2 +r 2 +l 2 3
+ Re 2
4
m
r
l
b
5. Cylinder
m
I=
m (3R 2 + l 2)
12
Re
5. Cylinder
R
6. Hollow cylinder
2
4. Direct hexagonal side finish body
Re
R
m
2. Circular plate (cylinder)
R
Re
m (a2 + b2)
12
4. Ring
I = mRe
l
m
l
R
m
m (R 2 + r 2+ l 2 /3)
I=
4
Re
6. Hollow cylinder l
m
R
r
r
R
For conveyer
m3
A
m4
79
m2
B
R
m1
m4
m4
m 1: Chain weight
) · R2
I = ( m 1 + m 2 + m3 +
m 2: Workpiece total weight
2
m 3: Jig (pallet) total weight
m 4: Sprocket A (drive) + B total weight
R : Drive side sprocket radius
Direct drive actuator selection guide specifications check sheet
Table direct drive
(Note) Contact CKD for chain drives and gear drives.
Your name
Your company name
Division
TEL
FAX
Operating conditions
1. Index 2. Oscillator
Movement angle
(˚)
Moving time
t1 (sec.)
Cycle time
t0 (sec.)
or, No. of indexes
cycle time = moving time + dwelling time
(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.
Dt
Dp
Load conditions
Workpiece
Table
Pallet jig
1. Steel 2. Aluminum
Appearance Dt (mm)
μ
ht
Material
Rf
Plate thickness ht (mm)
Weight
m1 (kg)
Workpiece
Quantity
nw (pc.)
Max. weight
mw (kg/pc.)
(Fig. 1) Load conditions
Installation center Dp (mm)
Pallet jig
Quantity
np (pc.)
Max. weight
mp (kg/pc.)
Other
Installation attitude
(Fig. 2) Installation attitude: Horizontal
(Fig. 3) Installation attitude: Vertical
1. Horizontal (Fig. 2) 2. Vertical (Fig. 3)
External job
1. NO / 2. YES
(Note) Eccentric load caused by gravity from vertical
installation, external load caused by caulking work
Dial plate support form bottom
1. NO / 2. YES
Coefficient of friction μ
Work radius Rf (mm)
(Fig. 4) Installation rigidity: Low
Equipment rigidity
1. High 2. Low (Note)
(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.
Extension with table shaft
1. NO / 2. YES (Fig. 5)
Actuator movement
1. NO / 2. YES
(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.
(Fig. 5) Extension with table shaft
(Note) The system overview and reference drawings should be attached to
select a highly precise model.
80
MEMO
81
MEMO
82
2007.11.DCC