DS
DS
Dynamic Series
Maximizes on AC Servo capabilities.
• Ultra compact, coupling-free design.
(Example below: DS-SA4-50)
• Easy to mount the main body.
(Setting is possible without removing the cover)
42.5mm
0mm
0mm
• Optional AQ Seal minimizes long
term maintenance.
• Equipped with Standard stainless sheet
Dust resistant
Grease is unnecessary.
• Multiple positioning up to 500 points.
• Multi-task Control functions (8 programs).
• Can be used as a positioner without
using a program.
• Number of programs: 32.
• Speed setting per each movement.
• Simple program changeover.
• Maintains constant speed even during
load flucturation.
• High degree of repeatability (±0.02mm or
0.05mm).
• Stable during 5 extreme low speed motion.
• Smooth acc./dec. control without shock
during stop (trapezoid • S shape).
• Receives radial load and moment load.
1
DS
(Photo)
Ultra compact, low cost, AC Servo high performance actuators
Application Examples:
2
Feeding Different Parts
Backstop Positioning
XY Gantry Applications
Parts Transfer
Different shaped parts are
supplied by several parts
feeders. The DS is very
effective in multiple
positioning.
The DS is used to position
a backstop to align parts
for processing. This
system is quick in setting
up to accommodate
different sized parts.
The DS can be used in
gantry-type configurations to
handle potting, palletizing,
screwdriving,dispensing,
and other lightweight
applications.
The DS arm type can be
used to transfer parts.
Part Stacking
Elevator/Indexer
Sorting
Bar Code Reader
The DS can be used to
safely transfer fragile parts
at moderate speeds.
The DS can be used as an
elevator to increment parts
vertically at set distances.
The DS can be used to
differentiate parts according
to visual signals for
placement on separate
conveyors.
The DS can be used to
position a variety of
devices at constant
speeds.
DS Assembly Unit
DS
Dynamic Series
Low cost 2-axis unit
You can assemble an extremely
low cost and versatile 2-axis
structure by assembling single DS
actuators.
Control with 2 controllers
With a PLC, two controllers can
be controlled using discrete I/O for
point to point (non-coordinated)
movement.
Space saving, compact design
Take advantage of the DS
compact size to create an ultra
compact 2-axis unit.
Controller wilth 1 Controller
With Super SEL EDS/GDS, one
controller can control 1~8 axes
with interpolated movement.
Can upgrade the system
Even if you are currently using a
single axis, you can select and
purchase component kits that
allow you to upgrade your system
to a 2-axis unit.
Assembly Parts
We sell our own assembly parts
kit for a single axis unit as well as
10 other types of assembly units.
The DS series was developed on the basis of single axis use but a
2-axis assembly unit can be used if it suits the particular use
conditions. We will offer the most appropriate system for your needs
so feel free to ask your sales representative about
structure, configuration and connections.
DS Controller
Ultra high speed capability through the use of 32 BIT RISC.
Multi-task Control
Multi-tasking control functions (8 programs) through Realtime OS.
High speed in motion control
based on the Super SEL programming language.
Memory update function by utilization of Flash Memory.
Easy maintenance
Detailed alarm display and simplified base structure (removable cover).
Standard functions
include RS232 unit and brake switch. RS232 connector is now available
in standard type.
Software improvements (WINDOWS)
New variation of Super SEL Language
with a remote update function.
3
DS Series Product Lineup*
Type
Actuator
DS
SA
Size Speed
4
Slider Type
Total
Width
40mm
50mm~300mm
M Medium Speed
50mm~300mm
L
5
Total
Width
50mm
6
Total
Width
58mm
Stroke (50mm increments)
H High Speed
Low Speed/High Thrust
50mm~300mm
H High Speed
50mm~500mm
M Medium Speed
50mm~500mm
L
50mm~500mm
Low Speed/High Thrust
H High Speed
50mm~600mm
M Medium Speed
50mm~600mm
L
Low Speed/High Thrust
50mm~600mm
Motor Coupling Direction
A
Controller
Total
Width
40mm
S-C1
Teaching Pendant
M Medium Speed
4
Arm Type
L
S-T1
PC Interface
S-P1-C
(WINDOWS exclusive)
(PC Compliance)
M Medium Speed
5
S-P1-M
Low Speed/High Thrust
L
* Please inquire your IAI representative
regarding strokes other than mentioned.
Low Speed/High Thrust
M Medium Speed
6
50mm~200mm
L Motor Coupled (Left)
50mm~200mm
S (Standard)
50mm~200mm
R Motor Coupled (Right)
50mm~200mm
L Motor Coupled (Left)
50mm~200mm
Low Speed/High Thrust
100mm~200mm
50mm~200mm
L Motor Coupled (Left)
50mm~200mm
S (Standard)
100mm~200mm
R Motor Coupled (Right)
50mm~200mm
L Motor Coupled (Left)
50mm~200mm
S (Standard)
R Motor Coupled (Right)
Total
Width
56mm
L
50mm~200mm
S (Standard)
R Motor Coupled (Right)
Total
Width
50mm
(DOS Compliance)
S (Standard)
R Motor Coupled (Right)
100mm~200mm
50mm~200mm
L Motor Coupled (Left)
50mm~200mm
S (Standard)
100mm~200mm
R Motor Coupled (Right)
50mm~200mm
L Motor Coupled (Left)
50mm~200mm
DS Actuator Series Model
* DS-A-5M/5L- S -50 is not manufactured. Actuator home is on the motor side. If you wish home to be on the side opposite of
the motor, please inform your sales representative when you place your order.
Slider Type (Magnetic brake is optional)
5 L -200-B E-AQ DS-SA
1
2
3
4
5
Arm Type (Magnetic brake is standard)
DS-A
5 M--R-200-AQ
1
4
2
3
4
5
6
1
Si ze 4: Total wi dth: 40mm
Si ze 5: Total wi dth: 50mm
Si ze 6: Total wi dth: 58mm
2
H: Hi gh speed
M: Medi um speed
L : L o w sp e e d
3
Stroke (mm)
4
Magneti c Brake (opti on)
5
Brake cable removal di recti on
R: Ri ght si de
L: Left si de
E: End si de
6
Wi th AQ Seal (opti on)
1
Si ze 4: Total wi dth: 40mm
Si ze 5: Total wi dth: 50mm
Si ze 6: Total wi dth: 56mm
2
M: Medi um speed
L: Low speed thrust
3
Motor coupli ng di recti on:
S: Standard*
R: Motor coupli ng to ri ght
L: Motor coupli ng to left
4
Stroke (mm)
5
Wi th AQ Seal (opi on)
DS
DS Actuator Specification Notes
Velocity
Stroke
Dynamic Series
The velocity can be set in1mm/sec increments. Different velocities can be set for
each position. Velocities must be set within specifications. The acceleration/deceleration can also be set separately for each position.
The DS is available in 50mm increments up to the maximum stroke length.
Repeatability
This is positioning repeatability. There are two levels of repeatability in the DS Series.
There are two types: ±0.05mm and ±0.02mm. Repeatability is not the same as
absolute accuracy.
Rated Thrust
The thrust must be below the rated thrust specification. The moment must also be
taken into consideration when dealing with thrust.
Payload
The payload is defined as the value when the load is distributed uniformly onto the
slide at an acceleration of 0.3 G (Slide Type) and 0.2 G (Arm Type). Be sure to keep
the payload within the actuator specifications. If the payload is off-center, the Moment
and the Overhang Load Length must also be considered.
MA, MB, AND MC moments must be at or below the specification values.
Slider Type
MB
MA
MC
Moment
Arm Type
MB
MA
MC
The center of gravity exists at the halfway point of the overhang load length.
Overhang Load
Length
L
L
5
DS Slider Type
Photo
DS-SA
Slider Type
Stainless sheet
Slider
• Positioning is achieved by the slide which
travels along the stroke length.
• Driven by an AC servo motor and
ballscrew for multiple positioning with a
high degree of repeatability (±0.02mm or
±0.05mm).
Aluminum cover
• Can also be used as a vertical axis
(brake option available).
Ballscrew
• A stainless steel sheet prevents dust from
entering the actuator. Rigidity is
maintained because the guide
mechanism is integrated into the base.
• The DS actuator comes in 3 types, a
58mm width and a 40mm width. All are
compact, providing flexibility in system
layout.
• SA4 (Total width: 40mm)
• SA5 (Total width: 50mm)
• SA6 (Toral width: 58mm)
6
Steel Ball
Base (guide)
DS
DS-SA4
Dynamic Series
SA4H (High speed type)
Stroke
50mm
100m
150mm
200mm
250mm
300mm
Unit Weight
0.6kg
0.7kg
0.8kg
0.9kg
1.0kg
1.1kg
Velocity
1~665mm/sec
Repeatability
±0.05mm
Rated Thrust
19.6N (2.0kgf)
Payload
Horizontal use 4kg Vertical use 1kg (acceleration set to 0.3G)
Motor
AC Servo motor (encoder attached to motor) 20W
Ballscrew
ø8mm Lead10mm
Guide
Unique to DS Integrated into base
B ase
Extruded aluminum (A6NO1S-T5 equivalent) White alumite treatment
Moment
MA 2.7N • m (0.28kgf • m), MB 3.9N • m (0.4kgf •m), MC 6.8N • m (0.7kgf • m)
Brake
MA Direction under 120mm, MB • MC Direction under 120mm
SA4M (Medium speed type)
Stroke
50mm
100m
150mm
200mm
250mm
300mm
Unit Weight
0.6kg
0.7kg
0.8kg
0.9kg
1.0kg
1.1kg
Velocity
1~330mm/sec
Repeatability
±0.02mm
Rated Thrust
39.2N (4.0kgf)
Payload
Horizontal use 5kg Vertical use 2.5kg (acceleration set to 0.3G)
Motor
AC Servo motor (encoder attached to motor) 20W
Ballscrew
ø8mm Lead5mm
Guide
Unique to DS Integrated into base
B ase
Extruded aluminum (A6NO1S-T5 equivalent) White alumite treatment
Moment
MA 2.7N • m (0.28kgf • m), MB 3.9N • m (0.4kgf •m), MC 6.8N • m (0.7kgf • m)
Brake
MA Direction under 120mm, MB • MC Direction under 120mm
SA4L (Low speed high thrust type)
Stroke
50mm
100m
150mm
200mm
250mm
300mm
Unit Weight
0.6kg
0.7kg
0.8kg
0.9kg
1.0kg
1.1kg
Velocity
1~165mm/sec
Repeatability
±0.02mm
Rated Thrust
78.4N (8.0kgf)
Payload
Horizontal use 5kg Vertical use 4.5kg (acceleration set to 0.3G)
Motor
AC Servo motor (encoder attached to motor) 20W
Ballscrew
ø8mm Lead 2.5mm
Guide
Unique to DS Integrated into base
B ase
Extruded aluminum (A6NO1S-T5 equivalent) White alumite treatment
Moment
MA 2.7N • m (0.28kgf • m), MB 3.9N • m (0.4kgf •m), MC 6.8N • m (0.7kgf • m)
Brake
MA Direction under 120mm, MB • MC Direction under 120mm
31.2
MA, MC moment
Standard position for offset
7
DSA4 Standard Dimensional drawing (SA4H, SA4M, SA4L)
92.5
21
B
70
20
0
28
11.5
4- 3.6
φ6.5 counterbore depth 3.5 (for mounting)
4-M3 depth
p 7
2-φ3H10 depth 6
L
80.5
A
13
Stroke
70
46.5
40
53.5
A
40
Bottom
DX100 P
50
0.5
1
C
A-Area Detail (2:1)
F-φ
φ3H10 depth
p bottom byy 5
E-M3 depth 5 (for mounting)
Stroke
50
100
150
200
250
300
L
242.5
292.5
342.5
392.5
442.5
492.5
A
146
196
246
296
346
396
B
122
172
222
272
322
372
C
72
22
72
22
72
22
D
0
1
1
2
2
3
E
2
4
4
6
6
8
F
1
2
2
2
2
2
DSA4 with brake Dimensional drawing (SA4H, SA4M, SA4L)
5.1
R: Brake cable
Mounting direction (Right side)
E: Brake cable
Mounting direction (End side)
L: Brake cable
Mounting direction (Left side)
DS Aluminum base SA4
40
13.3
13.3
44
13
8
14.5
38
3.5
31.5
41.5
13.5
53.5
46.5
1.5
13.3
DS
DS-SA5
Dynamic Series
SA5H (High speed type)
Stroke
50mm
100m
150mm
200mm
250mm
300mm
350mm
400mm
450mm
500mm
Unit Weight
1.2kg
1.3kg
1.4kg
1.5kg
1.6kg
1.7kg
1.8kg
1.9kg
2.0kg
2.1kg
Velocity
1~800mm/sec
760mm/sec
Repeatability
±0.05mm
Rated Thrust
16.7N (1.7kgf)
Payload
Horizontal use 4kg Vertical use 1kg (acceleration set to 0.3G)
Motor
AC Servo motor (encoder attached to motor) 20W
Ballscrew
ø10mm Lead12mm
Guide
Unique to DS Integrated into base
B ase
Extruded aluminum (A6NO1S-T5 equivalent) White alumite treatment
Moment
MA 4.9N • m (0.5gf • m), MB 6.8N • m (0.7kgf •m), MC 11.7N • m (1.2kgf • m)
Brake
Mc 7.8N•m (0.8kgf•m)
MA Direction under 150mm, MB • MC Direction under 150mm
SA5M (Medium speed type)
Stroke
50mm
100m
150mm
200mm
250mm
300mm
350mm
400mm
450mm
500mm
Unit Weight
1.2kg
1.3kg
1.4kg
1.5kg
1.6kg
1.7kg
1.8kg
1.9kg
2.0kg
2.1kg
Velocity
1~400mm/sec
380mm/sec
Repeatability
±0.02mm
Rated Thrust
33.3N (3.4kgf)
Payload
Horizontal use 8kg Vertical use 2kg (acceleration set to 0.3G)
Motor
AC Servo motor (encoder attached to motor) 20W
Ballscrew
ø10mm Lead 6mm
Guide
Unique to DS Integrated into base
B ase
Extruded aluminum (A6NO1S-T5 equivalent) White alumite treatment
Moment
MA 4.9N • m (0.5gf • m), MB 6.8N • m (0.7kgf •m), MC 11.7N • m (1.2kgf • m)
Brake
Mc 7.8N•m (0.8kgf•m)
MA Direction under 150mm, MB • MC Direction under 150mm
SA5L (Low speed high thrust type)
Stroke
50mm
100m
150mm
200mm
250mm
300mm
350mm
400mm
450mm
500mm
Unit Weight
1.2kg
1.3kg
1.4kg
1.5kg
1.6kg
1.7kg
1.8kg
1.9kg
2.0kg
2.1kg
Velocity
1~200mm/sec
190mm/sec
Repeatability
±0.02mm
Rated Thrust
65.7N (6.7kgf)
Payload
Horizontal use 8kg Vertical use 4g (acceleration set to 0.2G)
Motor
AC Servo motor (encoder attached to motor) 20W
Ballscrew
ø10mm Lead3mm
Guide
Unique to DS Integrated into base
B ase
Extruded aluminum (A6NO1S-T5 equivalent) White alumite treatment
Moment
MA 4.9N • m (0.5gf • m), MB 6.8N • m (0.7kgf •m), MC 11.7N • m (1.2kgf • m)
Brake
Mc 7.8N•m (0.8kgf•m)
MA Direction under 150mm, MB • MC Direction under 150mm
39
MA, MC moment
Standard position for offset
9
SA5 Standard Dimensional drawing (SA5H, SA5M, SA5L)
30
75.5
6
26
6
1
15.5
26
15.5
4-M4 dep
depth 9
4-φ4.5 thru φ8 counter depth 4.5
2-φ4H10 depth 9
L
A
60.5
94
50
40
1
Stroke
C
DX100
P
50
F-φ4H10 depth 5
Stroke
50
100
150
200
250
300
350
400
450
500
L
247.5
297.5
347.5
397.5
447.5
497.5
547.5
597.5
647.5
697.5
A
172
222
272
322
372
422
472
522
572
622
B
142
192
242
292
342
392
442
492
542
592
C
92
42
92
42
92
42
92
42
92
42
D
0
1
1
2
2
3
3
4
4
5
E
2
4
4
6
6
8
8
10
10
12
F
1
2
2
2
2
2
2
2
2
2
SA5 with brake Dimensional drawing (SA5H, SA5M, SA5L)
: Brake cable
ounting direction (Right side)
3.3
: Brake cable
ounting direction (End side)
S aluminum base SA5
: Brake cable
ounting direction (left side)
.1
.5
5
0
6.5
3.3
0
2
10
1.5
DS
DS-SA6
Dynamic Series
SA6H (High speed type)
Stroke
50mm
100m
150mm
200mm
250mm
300mm
350mm
400mm
450mm
500mm
550mm
600mm
Unit Weight
1.3kg
1.5kg
1.7kg
1.9kg
2.1kg
2.3kg
2.5kg
2.7kg
2.9kg
3.1kg
3.3kg
3.5kg
760mm/sec
640mm/sec
540mm/sec
550mm
600mm
Velocity
800mm/sec
Repeatability
±0.05mm
Rated Thrust
24.2N (2.4kgf)
Payload
Horizontal use 6kgw Vertical use 1.5kgw (acceleration set to 0.3G)
Motor
AC Servo motor (encoder attached to motor) 30W
Ballscrew
ø10mm Lead12mm Rolled thread C10 Backlash 0.01mm or less
Guide
Unique to DS Integrated into base
B ase
Extruded aluminum (A6NO1S-T5 equivalent) White alumite treatment
Moment
MA 8.9N • m (0.9kgf • m), MB12.7N • m (1.3kgf •m), MC 18.6N • m (1.9kgf • m)
Brake
MA Direction under 220mm, MB • MC Direction under 220mm
SA6M (Medium speed type)
Stroke
50mm
100m
150mm
200mm
250mm
300mm
350mm
400mm
450mm
Unit Weight
1.3kg
1.5kg
1.7kg
1.9kg
2.1kg
2.3kg
2.5kg
2.7kg
2.9kg
Velocity
400mm/sec
500mm
3.1kg
3.3kg
3.5kg
380mm/sec
320mm/sec
270mm/sec
500mm
550mm
600mm
3.1kg
3.3kg
3.5kg
190mm/sec
160mm/sec
135mm/sec
Repeatability
±0.02mm
Rated Thrust
48.4N (4.9kgf)
Payload
Horizontal use 12kgw Vertical use 3kgw (acceleration set to 0.3G)
Motor
AC Servo motor (encoder attached to motor) 30W
Ballscrew
ø10mm Lead6mm Rolled thread C10 Backlash 0.01mm or less
Guide
Unique to DS Integrated into base
B ase
Extruded aluminum (A6NO1S-T5 equivalent) White alumite treatment
Moment
MA 8.9N • m (0.9kgf • m), MB12.7N • m (1.3kgf •m), MC 18.6N • m (1.9kgf • m)
Brake
MA Direction under 220mm, MB • MC Direction under 220mm
SA6L (Low speed high thrust type)
Stroke
50mm
100m
Unit Weight
1.3kg
1.5kg
Velocity
150mm 200mm 250mm 300mm 350mm 400mm 450mm
1.7kg
1.9kg
2.1kg
2.3kg
2.5kg
2.7kg
2.9kg
200mm/sec
Repeatability
±0.02mm
Rated Thrust
96.8N (9.8kgf)
Payload
Horizontal use 12kgw Vertical use 6kgw (acceleration set to 0.2G)
Motor
AC Servo motor (encoder attached to motor) 30W
Ballscrew
ø10mm Lead3mm Rolled thread C10 Backlash 0.01mm or less
Guide
Unique to DS Integrated into base
B ase
Extruded aluminum (A6NO1S-T5 equivalent) White alumite treatment
Moment
MA 8.9N • m (0.9kgf • m), MB12.7N • m (1.3kgf •m), MC 18.6N • m (1.9kgf • m)
Brake
MA Direction under 220mm, MB • MC Direction under 220mm
40
MA, MC moment
Standard position for offset
11
φ
SA6 Standard Dimensional drawing (SA6H, SA6M, SA6L)
3-φ4H10 depth 5
Stroke
50
100
150
200
250
300
350
400
450
500
550
600
L
288.5
338.5
388.5
438.5
488.5
538.5
588.5
638.5
688.5
738.5
788.5
838.5
A
198
248
298
348
398
448
498
548
598
648
698
748
B
81
31
81
31
81
31
81
31
81
31
81
31
C
81
131
181
231
281
331
381
431
481
531
581
631
D
6
8
8
10
10
12
12
14
14
16
16
18
E
1
2
2
3
3
4
4
5
5
6
6
7
SA6 with brake Dimensional drawing (SA6H, SA6M, SASL)
: Brake cable
ounting direction (Right side)
3.3
: Brake cable
ounting direction (End side)
S aluminum base SA6
: Brake cable
ounting direction (Left side)
.1
7
3
0
1.5
5
8
12
DS
Dynamic Series
DS-A
Arm Type
• The DS-A is used to position parts and
tools via an arm which extends out from
the actuator body.
• Driven by an AC servo motor and
ballscrew for multiple positioning with
a high degree of repeatability
(± 0.02mm).
• A magnetic brake is standard and
installed to prevent the arm from
dropping in the event of a power loss.
The arm type can be used vertically
as well as horizontally.
Arm slider
(guide)
Steel ball
• Can be used horizontally by extending
the arm.
Aluminum cover
• The DS actuator is available in the
following 3 types:
• A4 (total width 40mm)
• A5 (total width 50mm)
• A6 (total width 56mm)
Aluminum base
With its compact size, the
DS actuator provides flexibility
in system layout.
Ballscrew
13
DS-A4
A4M (Medium speed)
Stroke
50mm
100m
150mm
200mm
Unit Weight
1.7kg
1.8kg
2.0kg
2.1kg
Velocity
1~330mm/sec
Repeatability
±0.02mm
Rated Thrust
39.2N (4.0kgf)
Payload
Vertical use 2.5kg (acceleration set to 0.2G)
Motor
AC Servo motor (encoder attached to motor) 20W
Ballscrew
ø8mm Lead10mm
Guide
Unique to DS Integrated into base
B ase
Extruded aluminum (A6NO1S-T5 equivalent) White alumite treatment
Moment
MA 2.7N • m (0.28kgf • m), MB 3.1N • m (0.32kgf •m), MC 2.9N • m (0.30kgf • m)
Brake
Magnetic brake - energized to release
A4L (Low speed high thrust)
Stroke
50mm
100m
150mm
200mm
Unit Weight
1.7kg
1.8kg
2.0kg
2.1kg
Velocity
1~165mm/sec
Repeatability
±0.02mm
Rated Thrust
78.4N (8.0kgf)
Payload
Vertical use 4.5kg (acceleration set to 0.2G)
Motor
AC Servo motor (encoder attached to motor) 20W
Ballscrew
ø8mm Lead5mm
Guide
Unique to DS Integrated into base
B ase
Extruded aluminum (A6NO1S-T5 equivalent) White alumite treatment
Moment
MA 2.7N • m (0.28kgf • m), MB 3.1N • m (0.32kgf •m), MC 2.9N • m (0.30kgf • m)
Brake
Magnetic brake - energized to release
MA
MA moment is measured at the point where A=16mm from the end of the
actuator. Please use within the following range: P x B < 2.7N·m
(0.28kgf·m).
P N (kgf)
B (m)
Thrust
14
A
When using horizontally, apply the load in the
direction of the thrust as shown in the drawing at left.
DS
S Type Dimensional drawing (A4M, A4L)
Dynamic Series
Home
Stroke
L
90
5
BXC
38
52
22
9
33
20
40
9
10
D
E-3.6 drill 6.5 counterbore
depth 3.3 (for mounting)
4-M4 depth 5
35
A
30
46
Stroke
50
100
150
200
L
255
305
355
405
A
144
194
244
294
BXC
1X 19
1X 50
2X 50
2X 50
D
35
54
54
104
E
4
4
6
6
61.5
105
105
1.5
37
3
52
60
R(L) Type Dimensional drawing (A4M, A4L)
60
38
22
9
20
33
40
9
105
10
59
5
(for mounting)
BXC
4-M4 depth 5
90
Stroke
D
L
35
A
30
46
37
2.2
Cross section of base
mounting hole
1.5
3
52
Stroke
50
100
150
200
L
255
305
355
405
A
144
194
244
294
BXC
1X 19
1X 50
2X 50
2X 50
D
35
54
54
104
E
4
4
6
6
15
DS-A5
A5M (Medium speed)
Stroke
*50mm
100m
150mm
200mm
Unit Weight
2.2kg
2.4kg
2.6kg
2.8kg
Velocity
1~400mm/sec
Repeatability
±0.02mm
Rated Thrust
33.3N (3.4kgf)
Payload
Vertical use 2kg (acceleration set to 0.2G)
Motor
AC Servo motor (encoder attached to motor) 20W
Ballscrew
ø10mm Lead12mm
Guide
Unique to DS Integrated into base
B ase
Extruded aluminum (A6N01S-T5 equivalent) White alumite treatment
Moment
MA 4.5N • m (0.46kgf • m), MB 5.4N • m (0.55kgf •m), MC 4.1N • m (0.42kgf • m)
Brake
Magnetic brake - energized to release
A5L (Low speed high thrust)
Stroke
*50mm
100m
150mm
200mm
Unit Weight
2.2kg
2.4kg
2.6kg
2.8kg
Velocity
1~200mm/sec
Repeatability
±0.02mm
Rated Thrust
65.7N (6.7kgf)
Payload
Vertical use 4kg (acceleration set to 0.2G)
Motor
AC Servo motor (encoder attached to motor) 20W
Ballscrew
ø10mm Lead6mm
Guide
Unique to DS Integrated into base
B ase
Extruded aluminum (A6NO1S-T5 equivalent) White alumite treatment
Moment
MA 4.5N • m (0.46kgf • m), MB 5.4N • m (0.55kgf •m), MC 4.1N • m (0.42kgf • m)
Brake
Magnetic brake - energized to release
*50mm stroke does not apply to motor coupled S (standard) type, only
the L, R types.
MA
MA moment is measured at the point where A=20mm from the end of the
actuator. Please use within the following range:
P x B < 4.5N·m (0.46kgf·m).
P N (kgf)
B (m)
Thrust
16
A
When using horizontally, apply the load in the direction of the thrust as
shown in the drawing at left.
DS
S Type Dimensional drawing (A5M, A5L)
Dynamic Series
Home
Stroke
L
90
38
9
52
22 9
10
D
20
33
40
5
BXC
E-3.6 drill 6.5 counterbore depth 3.3
(for mounting)
4-M4 depth 5
35
A
30
46
Stroke
100
150
200
L
330
380
430
A
246
296
346
BxC
1x50
2x50
2x50
D
86
86
136
E
4
6
6
61.5
105
105
1.5
37
10
3
52
60
R(L) Type Dimensional drawing (A5M, A5L)
Stroke
L
E-4.5 drill, 8 counterbore depth 4.5
(for mounting)
50
30
110
11
26
26
42
52
79
5
53
60
BXC
D
4-M4 depth 5
A
46
Stroke
*50
100
150
200
L
280
330
380
430
A
196
246
296
346
BxC
1x30
1x50
2x50
2x50
D
56
86
86
136
E
4
4
6
6
3.5
4.5
49
4
38
f
Cross section of base mounting hole
*In a 50mm stroke, there is only the L, R types.
17
DS-A6
A6M (Medium speed)
Stroke
50mm
100m
150mm
200mm
Unit Weight
3.0kg
3.3kg
3.6kg
3.9kg
Velocity
400mm/sec
Repeatability
±0.02mm
Rated Thrust
48.4N (4.9kgf)
Payload
Vertical use 3kg (acceleration set to 0.2G)
Motor
AC Servo motor (encoder attached to motor) 30W
Ballscrew
ø10mm Lead12mm Rolled thread C10 Backlash under 0.1mm
Guide
Unique to DS Integrated into base
B ase
Extruded aluminum (A6NO1S-T5 equivalent) White alumite treatment
Moment
MA 8.1N • m (0.8kgf • m), MB10.0N • m (1.0kgf •m), MC 6.5N • m (0.6kgf • m)
Brake
Magnetic brake - energized to release
A6L (Large speed)
Stroke
50mm
100m
150mm
200mm
Unit Weight
3.0kg
3.3kg
3.6kg
3.9kg
Velocity
200mm/sec
Repeatability
±0.02mm
Rated Thrust
96.8N (9.8kgf)
Payload
Vertical use 6kg (acceleration set to 0.2G)
Motor
AC Servo motor (encoder attached to motor) 30W
Ballscrew
ø10mm Lead6mm Rolled thread C10 Backlash under 0.1mm
Guide
Unique to DS Integrated into base
B ase
Extruded aluminum (A6NO1S-T5 equivalent) White alumite treatment
Moment
MA 8.1N • m (0.8kgf • m), MB10.0N • m (1.0kgf •m), MC 6.5N • m (0.6kgf • m)
Brake
Magnetic brake - energized to release
MA
MA moment is measured at the point where A=20mm from the end of the
actuator. Please use within the following range:
P x B < 8.1 N·m (0.8kgf·m).
P N (kgf)
B (m)
Thrust
18
A
When using horizontally, apply the load in the direction of the thrust as
shown in the drawing at left.
DS
S Type Dimensional drawing (A6M, A6L)
Dynamic Series
Stroke
(in case with lubricant seal: 3)
Home
SE
L
3
ME
P
130
D
BXC
13
30
56
49
31
13
3.3
ME
E-φ6, φ9, 5 counterbore depth 7
4-M4 depth 6
5 10
46
A
50
107
57
53.5
14.5
3.5
38
70 (Work mounting range)
75.5
4 7
φ9.5
φ6
Base mounting hole
Cross section
Stroke
*50
100
150
200
L
_
350
400
450
_
266
316
366
A
BXC
*In a 50mm stroke, there is only the L, R types.
_
1X 50
2X 50
2X 50
D
_
86
86
136
E
_
4
6
6
Stroke
*50
100
150
200
450
P
R(L) Type Dimensional Drawing (A6M, A6L)
75.5
E-φ6, φ9, 5depth counterbore 7
4-M4 depth 6
13
28
30
56
49
31
13
79
51
5 10
SE
Home
(In case with lubricant seal: 3)
Stroke
SE
3
BXCP
130
D
L
A
46
57
53.5
14.5
3.5
38
70 (work mounting range)
φ9.5
4 7
ME
3.3
φ6
Base mounting hole
cross section
L
300
350
400
A
216
266
316
366
BXC P
1X 30
1X 50
2X 50
2X 50
D
56
86
86
136
E
4
4
6
6
19
DS-Unit
DS Assembly Unit
DS Assembly Unit
• You can construct an extremely low cost
and versatile 2-axis structure by
assembling single DS actuators.
• With a PLC, two controllers can be
controlled using discrete I/O for point to
point (non-coordinated) movement.
• We sell assembly parts kits for 10 types
of assembly units.
Model Type
Single Axis Unit
XY Unit
XY Table
20
DSDSDS-
X-1 -400
XY-1 -300- 100
XY-T2 -600- 200
Machine Name (X-1~4)
X-axis stroke
Machine Name (XY-1~4)
Y-axis stroke
Y-axis stroke
Machine Name (XY-T~T2)
X-axis stroke
Y-axis stroke
DS
Dynamic Series
DS Aluminum Base Assembly Unit Product Structure
X-1
DS-SA5-50~400
X-2
DS-SA5-50~400
X-3
DS-SA6-50~600
X-4
DS-SA6-50~600
Single Axis Unit
XY-1
X: Axis DS-SA5-50~400
Y: Axis DS-SA4-50~100
XY-2
X: Axis DS-SA5-50~400
Y: Axis DS-SA4-50~100
XY-3
X: Axis DS-SA6-50~600
Y: Axis DS-SA5-50~150
XY-4
X: Axis DS-SA6-50~600
Y: Axis DS-SA5-50~150
Single Axis Unit
XY-T
X: Axis DS-SA5-50~400
Y: Axis DS-SA4-50~150
XY-T2
X: Axis DS-SA6-50~600
Y: Axis DS-SA5-50~200
XY Table
21
DS Single Unit
X-1
Slider Payload Guidelines (kg)
Stroke
50
100
150
200
250
300
350
400
DS-SA5H
3
3
3
3
3
3
2
2
DS-SA5M
7
7
7
7
7
7
6
6
DS-SA5L
7
7
7
7
7
7
6
6
Actuator
Note: Values are when acceleration is set at 0.3G (0.2G for S5L).
Conditions will differ when the load from the slider has a large offset.
Kit Components
Cable track
Cable track rail
Slide bracket
Cable track bracket
1 set
1 set
1
1
*Nuts, bolts for mounting are included
(bolts for mounting cable track rail are not included).
X-1 Mechanical Drawings
6-φ6, M5 counter sink
30
17
50
C
13
75.5
13
62.5
10
13
12.5
102
52
19
30
Stroke
50, 150, 250, 350
B
DS-SA5* ***
A
106.5
Stroke
94
14
60.5
28
78.5
15
50
8
29
102
(75)
20
22
Stroke
50
100
150
200
250
300
350
400
A
247.5
297.5
347.5
397.5
447.5
497.5
547.5
597.5
B
218
218
318
318
418
418
518
518
C
142
142
242
242
342
342
442
442
DS
Dynamic Series
DS Single Unit
X-2
Slider Payload Guidelines (kg)
Stroke
50
100
150
200
250
300
350
400
DS-SA5H
2
2
2
2
2
2
1.5
1.5
DS-SA5M
6
6
6
6
6
6
5
5
DS-SA5L
6
6
6
6
6
6
5
5
Actuator
Note: Values are when acceleration is set at 0.3G (0.2G for S5L).
Conditions will differ when the load from the slider has a
large offset.
Kit Components
Cable track
Slide bracket
Cable track bracket
Mounting base
1 set
1
1
1 set
*Nuts, bolts for mounting are included.
X-2 Mechanical Drawings
2-φ7
20
Stroke+72
65.5
29
Stroke
94
60.5
8
58
109
51
41
10
20
Stroke+197.5
105.3
156.3
115
40
DS-SA5*-***
2
5
14
51
52
138
50
40
23
DS Single Unit
X-3
Slider Payload Guidelines (kg)
Stroke
50
100
150
200
250
300
350
400
450
500
550
600
DS-SA6H
5
5
5
5
5
5
5
5
5
5
5
5
DS-SA6M
11
11
11
11
11
11
11
11
11
11
11
11
DS-SA6L
11
11
11
11
11
11
11
11
11
11
11
11
Actuator
Note: Values are when acceleration is set at 0.3G (0.2G for SA6L).
Conditions will differ when the load from the slider has a large offset.
Kit Components
Cable track
Cable track rail
Slide bracket
Cable track bracket
1 set
1 set
1
1
*Nuts, bolts for mounting are included
X-3 Mechanical Drawings
D
6-φ6, M5 counter sink
23.5
C
10.5
50
84
13
13
71
21
Stroke
50, 150, 250
350, 450, 550
30
10
13
(Cable track fixed end Mounting location)
110
58
18
Track rail
Motor side
Stroke
100, 200
300, 400
500, 600
Stroke
50, 150
250, 350
450, 550
70
B
D-Area Details
DS-SA6*-***
(55)
110.5
A
Stroke
115
19
75.5
30
80.5
15
53
102
10
29
20
24
Stroke
50
100
150
200
250
300
350
400
450
500
550
600
A
288.5
338.5
388.5
438.5
488.5
538.5
588.5
638.5
688.5
738.5
788.5
838.5
B
257
257
357
357
457
457
557
557
657
657
757
757
C
181
181
281
281
381
381
481
481
581
581
681
681
DS
Dynamic Series
DS Single Unit
X-4
Slider Payload Guidelines (kg)
Stroke
50
100
150
200
250
300
350
400
450
500
550
600
DS-SA6H
4
4
4
4
4
4
4
4
4
4
4
4
DS-SA6M
10
10
10
10
10
10
10
10
10
10
10
10
DS-SA6L
10
10
10
10
10
10
10
10
10
10
10
10
Actuator
Note: Values are when acceleration is set at 0.3G (0.2G for SA6L).
Conditions will differ when the load from the slider has a
large offset.
Kit Components
Cable track
Slide bracket
Cable track bracket
Mounting base
1 set
1
2
See table below*`
* As for the DS Large Type unit, longer stroke will cause influences
on deflection and torque, if the base has just two fixed areas. To
prevent this, you will need to fixtuate the mid-portion of the stroke,
and therefore, the quantity of the mounting base will change.
*Nuts, bolts for mounting are included.
Stroke mm
X-4
Quantity
X-4 Mechanical Drawings
50
100
150
200
250
300
350
400
450
500
550
600
2
2
2
3
3
3
3
3
4
4
4
4
20
74
Setting according to stroke
2-φ7
20
Stroke +111
29
Stroke
115
94.5
51
10
114
41
53
63
10
13.5
Stroke+238.5
160.3
113
DS-SA6*-***
40
1
3
14
26
51
58
139
109.3
70
40
25
DS XY Unit
XY-1
Y Axis Slider Payload Guidelines (kg)
Y Axis Actuator
DS-SA4H
Y Axis Stroke (mm)
X
Axis
DS-SA4M
DS-SA4L
50
100
50
100
50
100
DS-SA5H-50~400
2.0
2.0
2.0
2.0
2.0
2.0
DS-SA5M-50~400
2.5
2.5
3.0
3.0
3.0
3.0
DS-SA5L-50~400
2.5
2.5
3.0
3.0
3.0
3.0
Note:
Values are when acceleration is
set at 0.3G. Conditions will differ
when the load from the slider
has a large offset.
Kit Components
Cable track
Track rail
Slide base
Track rail
Mounting frame (nuts for actuator mounting plate included)
1 set
1 set
1
1
1set
* Nuts, bolts for mounting are included
XY-1 Mechanical Drawing
X-stroke
50, 150, 250, 350
121.5
24
52
100
X-stroke +76
Y-stroke+105
DS-SA5*-***
2-φ3H10 depth 6
4-M3 depth 7
DS-SA4 *-***
(75)
X-stroke+197.5
Y-stroke+192.5
94
74.5
29
Y-stroke
70
93.5
30
50
8
X-stroke
15
26
30
X-stroke+62
30
60.5
3
120
3
DS
Dynamic Series
DS XY Unit
XY-2
Y Slider Payload Guidelines (kg)
Y Axis Actuator
DS-SA4H
Y Axis Stroke (mm)
X
Axis
DS-SA4M
DS-SA4L
50
100
50
100
50
100
DS-SA5H-50~400
2.0
2.0
2.0
2.0
2.0
2.0
DS-SA5M-50~400
2.0
2.0
2.5
2.5
2.5
2.5
DS-SA5L-50~400
2.0
2.0
2.5
2.5
2.5
2.5
Note:
Values are when acceleration is
set at 0.3G. Conditions will differ
when the load from the Z axis
slider has a large offset.
Kit Components
Cable track
Track rail
Slide base
Track rail
Mounting frame (nuts for actuator mounting plate included)
1 set
1 set
1
1
1 set
* Nuts, bolts for mounting are included
XY-2 Mechanical Drawings
X-stroke+47
X-stroke
50, 150, 250, 350
59.5
7
Y-stroke
DS-SA5*-***
Y-stroke+
52
106
51
29
DS-SA4*-***
Y-stroke+105
X-stroke+197.5
(40)
X-stroke
4-M3 depth 7
100.5
80.5
51
20
29
87.5
24
30
2-φ3H10 depth 6
15
30
X-stroke+62
30
60.5
3
120
3
27
DS XY Unit
XY-3
Y Axis Slider Payload Guidelines (kg)
Y Axis Actuator
DS-SA5H
Y Axis Stroke (mm)
X
Axis
DS-SA5M
DS-SA5L
50
100
150
50
100
150
50
100
150
DS-SA6H
3.0
3.0
2.5
3.0
3.0
2.5
3.0
3.0
2.5
DS-SA6M
3.5
3.5
3.5
5.0
5.0
5.0
5.0
5.0
5.0
DS-SA6L
3.5
3.5
3.5
5.0
5.0
5.0
5.0
5.0
5.0
Note:
Values are when acceleration is set
at 0.3G. Conditions will differ when
the load from the Y axis slider has a
large offset.
Kit Components
Cable track
Cable track rail
Cable track bracket
Mounting frame
Slide base
1 set
1 set
1
See table below*
1 set
* As for the DS Large Type unit, longer stroke will cause influences
on deflection and torque, if the base has just two fixed areas. To
prevent this, you will need to fixtuate the mid-portion of the stroke,
and therefore, the quantity of the mounting base will change.
* Nuts, bolts for mounting are included
Stroke mm
XY-3
Quantity
XY-3 Mechanical Drawing
100
150
200
250
300
350
400
450
500
550
600
2
2
2
3
3
3
3
3
4
4
4
4
X-stroke
50, 150, 250
350, 450, 550
A
X-stroke+86.5
50
152
(Cable track fixed end Mounting location)
98
Cable rail
Motor side
X-stroke
50, 150, 250
350, 450, 550
X-stroke
100, 200, 300
400, 500, 600
30
A-Area Details
Y-stroke+130
2-φ4H10 depth 9
26
4-M4 depth 9
DS-SA5*-***
X-stroke+238.5
(55)
29
X-stroke
Y-stroke+197.5
115
94.5
29
Y-stroke
94
74 5
30
50
B
8.5
28
X-stroke+101
69
120
3
DS XY Unit
DS
Dynamic Series
XY-4
Y Slider Payload Guidelines (kg)
Y Axis Actuator
DS-SA5H
DS-SA5M
DS-SA5L
Y Axis Stroke (mm)
50
100
150
50
100
150
50
100
150
DS-SA6H
3.0
3.0
2.5
3.0
3.0
2.5
3.0
3.0
2.5
DS-SA6M
3.0
3.0
3.0
4.5
4.5
4.5
4.5
4.5
4.5
DS-SA6L
3.0
3.0
3.0
4.5
4.5
4.5
4.5
4.5
4.5
X
Axis
Note:
Values are when acceleration is set
at 0.3G. Conditions will differ when
the load from the Y axis slider has
a large offset.
Kit Components
Cable track
Cable track rail
Cable track bracket
Mounting frame
Slide base
Mid-Plate
1 set
1 set
1
See table below*
1
1
* As for the DS Large Type unit, longer stroke will cause influences
on deflection and torque, if the base has just two fixed areas. To
prevent this, you will need to fixtuate the mid-portion of the stroke,
and therefore, the quantity of the mounting base will change.
* Nuts, bolts for mounting are included
Stroke mm
XY-4
Quantity
XY-4 Mechanical Drawings
70
50
100
150
200
250
300
350
400
450
500
550
600
2
2
2
3
3
3
3
3
4
4
4
4
S-stroke
50, 150, 250
A
X-stroke+51.5
50
67
(Cable track fixed end Mounting location)
105
Cable rail
Motor side
58
X-stroke
50, 150, 250
350, 450, 550
X-stroke
100, 200, 300
400, 500, 600
Y-stroke
Y-stroke+228
A-Area Details
DS-SA5*-***
X-stroke+238.5
(55)
X-stroke
80.5
Y-stroke+130
11
30
94.5
4-M4 depth 9
117
91
64
26
29
30
2-φ4H10 depth 9
8.5
X-stroke+101
30
30
69
B
3
120
Setting according to stroke
29
DS XY Table
XY-T
Y Axis Slider Payload Guidelines (kg)
Y Axis Actuator
Y Axis Stroke (mm)
X
Axis
DS-SA4H
DS-SA4M
DS-SA4L
50
100
150
50
100
150
50
100
150
DS-SA5H 50~400
2.0
2.0
1.5
2.0
2.0
1.5
2.0
2.0
1.5
DS-SA5M 50~400
3.0
3.0
3.0
3.5
3.5
3.5
3.5
3.5
3.5
DS-SA5L~50~400
3.0
3.0
3.0
3.5
3.5
3.5
3.5
3.5
3.5
Kit Components
Cable track
Cable track rail
Cable track bracket
Cam follower unit
Mounting plate
Slide base
1 set
1 set
1
1 set
1 set
1
Note:
Values are when acceleration is set
at 0.3G. Conditions will differ when
the load from the slider has a large
offset.
In case you wish to apply upper
vertical load onto Y axis slider in
standstill state, the value needs
to be within a value in which the
Y axis slider payload is taken out
of the 5kg (However, the value
must be of uniform load above the
slider).
* Nuts, bolts for mounting are included
XY-T Mechanical Drawing
X-stroke
50, 150, 250, 350
121.5
24
16
52
99
Stroke+76
DS-SA5*-***
Y-stroke+105
2-φ
DS-SA4*-***
A-Area Detail
X-stroke
50, 150, 250, 350
(75)
Stroke+197.5
X-stroke
94
Y-stroke+192.5
74.5
Y-stroke
3.5
30
50
52
B
A
15
30
30
Stroke+62
30
60.5
Stroke+233
DS
DS XY Table
Dynamic Series
XY-T2
Y Slider Payload Guidelines (kg)
Y Axis Actuator
DS-SA5H
Y Axis Stroke (mm)
X
Axis
DS-SA5M
DS-SA5L
50
100
150
200
50
100
150
200
50
100
150
200
DS-SA6H
3.0
3.0
2.5
2.5
2.0
2.0
1.5
2.5
2.0
2.0
1.5
2.5
DS-SA6M
4.0
4.0
4.0
4.0
5.5
5.5
5.5
5.5
5.5
5.5
5.5
5.5
DS-SA6L
4.0
4.0
4.0
4.0
5.5
5.5
5.5
5.5
5.5
5.5
5.5
5.5
Note:
Values are when acceleration is set
at 0.3G. Conditions will differ when
the load from the slider has a large
offset.
In case you wish to apply upper
vertical load onto Y axis slider in
standstill state, the value needs
to be within a value in which the
Y axis slider payload is taken out
of the 8kg (However, the value
must be of uniform load above the
slider).
Kit Components
Cable track
Cable track rail
Cable track bracket
Cam follower unit
Mounting plate
Slide base
1 set
1 set
1
1 set
1 set
1
* Nuts, bolts for mounting are included
XY-T2 Mechanical Drawings
X-stroke
50, 150, 250
350, 450, 550
A
X stroke+86.5
152
(Cable track fixed end Mounting location)
58
98
Cable track
Motor side
Stroke
50, 150,
250, 350,
450, 550
DS-SA6*-***
Stroke
100, 200
300, 400,
500, 600
A-Area Details
Y-stroke+130
2-φ4H10 dep
26
4-M4 depth
DS-SA5*-***
X-stroke
50, 150, 250
350, 450, 550
Stroke+238.5
27
115
94.5
Y-stroke+197.5
29
94
74 5
C
8.5
30
X-stroke+101
30
69
30
6
53
57
113
B
Y-stroke
10
X-stroke
50
(55)
C-Area Details
Y-stroke+255
31
Cable Hose (option)
Model Type: CBH-010 (XY1, XY2, XY-T Compliance)
CBH-013 (XY3, XY4, XY-T2 Compliance)
This is an option for wiring treatment between XY. Mounting on the
main body is done on the user side.
Using the DS Assembly Unit:
Cable Hose
Kit components
The DS Series was originally designed for
single axis use but depending on the
application, it is possible to construct a
2-axis system for use. Please make note
of the following when using an assembled unit.
Cable hose (1m/1.3m)
Wire
Cable hose bracket
Cable hose connector
Cable hose hexagon nuts
Allen head bolts M6x20
Hexagon nuts M6
• Because there is one controller per
axis, the system will use point to point control
from a PLC or other external device.
1
1
2
2
2
1
2
• When the load is offset from the slider of the
last axis, the weight of the payload that can
be carried will change.
• The cable that comes with the actuator is not
a bend resistant robot cable. When wiring the
cables, please make sure they are not under
excessive stress. If the cables are encased in
a cable track, make sure there is ample
freedom of movement for the cables.
47
55
Allen head bolt
M6X20
ø1.6
Wire
8
4
• We have connector cables available so
please inquire about these if necessary.
Cable hose
(ø21.2Xø16.8)
20
24
40
2.3
45
Cable hose bracket
How to install the DS Assembly Unit:
Mounting Base (A), (C)
Nut (Size M5)
Mounting method
Use a bolt to slide in and mount the nut
into the T-slot of the frame.
All assembly units come with
4 spare nuts.
15
32
DS
Dynamic Series
DS-S-C1
DS Controller
• Ultra high speed with the use of 32 Bit RISC CPU.
• Improved Software (WINDOWS).
• Connection choice of either the position
(simple function) or program mode
(complex function).
• By the commands of other devices such as a
PLC, the position mode is used as a positioner.
• With the commands of other devices such as a
PLC, the program mode reduces the load of
other devices by using the following functions:
• Multi-task
Parallel processing of up to 8 programs to
control external devices.
• Variable calculation
Using variables, a common program can
be set for regulated movements.
• BCD or Binary I/O
allows more information to be exchanged.
• Accurate positioning
is obtainable by jogging the actuator to the
desired position and reading the current
value.
• Easy incremental movements
• Motion cancellation
is possible, even during movements.
33
1. Specifications
Item
Description
Power Voltage
D C 24V ± 10%
Power Current
24W Rated/1A (Maximum 48W)
Ambient Temperature & Humidity
Temperature: 0~40°C Humidity 85% RH or less
Operating Environment
Free of corrosive gas, no excessive dust
Isolation Resistance
500V 10MΩ or more
Unit Weight
560g
Safety Features
(Motor excess current: Excess voltage • Driver temperature check)
Overload Check, software limit check
Motor
AC Servo Motor 20W
Control Functions
Multi-task Control Super SEL Controller
Memory Capacity
Total: 1000 steps, 500 positions
Memory Device
COMS RAM Battery Backup
Number of programs
32 programs, Multi-task function (maximum of 8 programs)
Driver alarm
2. Type
Description
Model
Controller Main Body
DS-SC1
Teaching Pendant
(Option)
DS-S-T1
PC Software
Spare parts
DS-S-P1-C (PC Compliance)
DS-S-P1-M (DOS-V Compliance)
(Connection cable included)
I/O color flat cable 34 core
AWG28 2m
Dedicated inputs: 8 (PRG No. 1, 2, 4, 8 ,10, 20)
Dedicated inputs: 1 (START)
User inputs: 15
Dedicated outputs: 2 (Ready, ALARM)
User outputs: 6
Input/Output (DC24V)
Non-insulated
Data Input Method
Teaching Pendant or RS232 Communication
Communication
EIA RS232 Standard Asychronous
Remote Update Functions
Software update (via network or floppy disk)
3. External Dimensions
Controller DS-S-C1
4
46
109
23
27
10
4
23
Teaching Pendant DS-S-T1
φ5
CONTROLLER
CODE
READY
ALARM
BAT
198
139
151
159
BRAKE
RELEASE
NORMAL
R2.5
TEAING/
RS232 PORT
ON
OFF
PORT
4
10
IAI Corporation
23
34
5
23
125
DS
Dynamic Series
4. Connecting Method
Teaching Pendant
(Option)
DS TEACHING BOX
F1
F2
F3
* You may not use other types of cables.
F4
RS232 Cable* (5m) is included in the PC Software
CONTROLL
CODE
READY
ALARM
BAT.
2m
BRAKE
RELEA
NORMA
Emergency Stop SW Box
TE
RS2
PC Software
(Option)
ON
OFF
PORT
Controller
IAI Corporation
BK
M
o
PG
1
PO
W
ER
24
G
EM
N
V
5m
POWER EMG
Servo Actuator
N 24V
POWER
MITUBISHI
INPUT
MITUBISHI
OUTPUT
EMG
24V Power SW
Over 2A
External Device
2m
35
5. Part Names and Function
(1) Part Names
36
Suitable power line
Solid wire (AWG 16)
Standard wire 1.25mm2 (AWG 16)
Usable power line range
Solid wire φ0.4 (AWG 26)~ φ1.2 (AWG 16)
Standard wire 0.3mm2 (AWG 22)~1.25mm2 (AWG 16)
Standard diameter φ0.18 or greater
Standard line length
11mm
Suitable tool for button operation
Slot screwdriver (axis diameter φ3, width of tip 2.6)
DS
(2) Function
Dynamic Series
CODE display
This is a 3-digit display device that indicates the operating status of the controller.
LED display
READY: This indicates that the controller is ready to be operated.
ALARM: This is the display when there is a malfunction in the equipment.
BAT. : This indicates battery voltage is low.
Brake release switch
RELEASE: The brake is released.
NORMAL: The brake is ON. (This is the normal setting)
The brake release switch is enabled during the servo free state indicated below:
1. From the time the power is turned ON until the homing command is given.
2. When [Svof] is selected during direct teaching.
3. When an alarm occurs.
PORT switch
ON: The TEACHING/RS232PORT is enabled. However, when the
TEACHING/RS232 PORT connector is not connected, an emergency stop
occurs.
OFF: The TEACHING/RS232PORT is disengaged. However, even when the
TEACHING/RS232PORT connector is not connected, the emergency stop is
controlled by the external E-Stop connection.
Note: When the controller is powered up, plug in or remove the TEACHING/
RS232PORT connector when the PORT switch is OFF.
Function switch
BAU.R : This is the switch for changing the Baud rate.
COPY : This is the switch for COPY from ROM to FLASH memory.
F/R
: This is the switch for changing FLASH and ROM.
Note: These switches are for software upgrade setting. At the time the unit is shipped, all
switches are set to OFF. For details, please refer to the PC software.
TEACHING/
RS232 PORT connector
This is the connector for connecting the PC or teaching pendant.
Brake connector
This is the connector for connecting the actuator brake.
.
.
Motor Encoder connector
This is the connector for connecting the actuator motor encoder.
I/O connector
This is the connector for connecting other devices such as a sequencer.
Ground terminal block
This is the M3 screw for the ground connection.
Power and emergency
stop terminal block
This is the terminal for POWER N and 24V power.
The two EMG terminals are for connecting the emergency stop switch.
(When the unit is shipped, the EMG terminal is shorted.)
POWER
EMG
)
N 24V
Note:
This controller does not have a power switch.
37
6. I/O Interface
Standard NPN (Sinking)
Terminal Block (4pin)
Pin No.
N
2
24V
3
24V
4
EMG SW
EMG SW
)
Program Mode
Signal Name
1
• •
I/O Connector (34 pin)
Section
1A
P 24
Port No.
Function
1B
PRG No. 1 Input
2A
PRG No. 2 Input
2B
PRG No. 4 Input
3A
PRG No. 8 Input
3B
PRG No. 10 Input
4A
PRG No. 20 Input
4B
NC
5A
CPU Reset
000
External Start Input
•
6A
001
User Input
•
6B
002
User Input
•
003
User Input
•
Input
7B
004
User Input
•
8A
005
User Input
•
8B
006
User Input
•
9A
007
User Input
•
•
9B
008
User Input
10A
009
User Input
10B
010
User Input
11A
011
User Input
•
•
11B
012
User Input
•
12A
013
User Input
•
12B
014
User Input
•
13A
015
User Input
•
13B
300
Alarm Output
•
14A
301
Ready Output
•
14B
302
User Output
15A
303
User Output
Output
PRG = Program
NC = No Contact
•
5B
7A
Note:
•
External current + 24V in out
Digital SW
Pin No.
15B
304
User Output
16A
305
User Output
16B
306
User Output
17A
307
User Output
17B
N24
External Current OV
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
OV
24V
* This is a sample wiring diagram.
38
DS
Terminal Block (4pin)
Standard NPN (Sinking)
Pin No.
Signal Name
1
N
2
24V
Position Mode
3
24V
4
EMG SW
Dynamic Series
)
EMG SW
• •
I/O Connector (34 pin)
Pin No.
Section
1A
P 24
Port No.
Function
External current + 24V in out
1B
NC
2A
NC
2B
NC
3A
NC
3B
NC
4A
NC
4B
NC
5A
•
CPU Reset
5B
000
External Start Input
•
6A
001
Hold Input
•
6B
002
NC
003
NC
7A
Input
7B
004
Position No. 1 Input
8A
005
Position No. 2 Input
•
8B
006
Position No. 4 Input
•
9A
007
Position No. 8 Input
•
9B
008
Position No. 10 Input
•
10A
009
Position No. 20 Input
•
10B
010
Position No. 40 Input
•
11A
011
Position No. 80 Input
•
11B
012
Position No. 100 Input
•
12A
013
Position No. 200 Input
•
12B
014
Position No. 400 Input
•
13A
015
NC
13B
300
Alarm Output
14A
301
Ready Output
14B
302
Position Completion Output
15A
303
NC
•
•
•
•
•
•
Output
Note:
NC = No Contact
15B
304
NC
16A
305
NC
16B
306
NC
17A
307
NC
17B
N24
External Current OV
•
OV
24V
* This is a sample wiring diagram.
39
External Input Circuit
Item
Specification
External Power Voltage
D C 24V ± 10%
Input Current
7mA 1 circuit
ON/OFF Voltage
Insulation
External Connection Device
ON voltage .... Min DC 18.0V
OFF voltage .... Max DC 6.0V
Non-insulated
No-voltage contact point (minimum load about DC5V·1mA)
Photoelectric·proximity sensor (NPN type)
PLC Transistor output (open collector type)
PLC Contact point output (minimum load about DC5V·1mA)
Note: When a no-contact circuit is connected to an external circuit, make sure that
the leakage current is under 1mA when the switch is OFF or, it could cause faulty
operation.
External Output Circuit
Item
Specification
Load Voltage
D C 24V
Maximum Load Current
100mA / 1 point 400mA peak (all current)
Leakage Current
Max 0.1mA / 1 point
Insulation
Non-insulated
External Connection Device
Miniature relay
Sequencer input unit (sink type)
Equivalent for
TD62084
Note 1: For all of the external outputs, a protective diode is connected on the inside.
Note 2: Take care when connecting because if the load short circuits or the current exceeds
the maximum load current, this will cause a failure in the output circuit.
7. Position Mode and Program Mode
The controller has two modes of operation:
Position Mode:
The DS Controller operates via the commands of external devices (example: sequencer).
Once the controller completes a movement, it sends a completion signal to the external device.
Program Mode:
By combining programs within the DS Controller, various tasks can be performed. By utilizing
the multi-task, it is easier to control other devices (at times, sequencer is unnecessary).
40
DS
Dynamic Series
(1) Mode and Software
The controller software has two areas to enter data:
Position Data: Stores all of the position data
Application Program: Stores and creates Move commands, I/O control and Multi-task control
The controller is operated by either the Positioning Mode or Program Mode. The chart below shows the relationship
between the two modes:
DS-S-C1
Position
Data
Position Data
Positioning Mode
Positions containment
area
Application Program
Move command,
I/O control and
programming area
(variable computing)
⇐
Data
Input
⇐
Position
Data
OR
Application
program
Program Mode
41
8. Position Mode
(1) Operation
Supply
Power
⇓
1
DS-S-C1
READY Signal output
⇓
2
External
device
Input
external start
⇓
DS-S-C1
↓
Upon completion,
output complete
signal
⇓
4
External
device
Section
1A
P 24
Input
position number
⇓
Port No.
Function
Cable Color
External current + 24V in out
1-Brown
1B
NC
1-Red
2A
NC
1-Orange
2B
NC
1-Yellow
3A
NC
1-Green
3B
NC
1-Blue
4A
NC
1-Purple
4B
Reserve
1-Gray
5A
CPU Reset
1-White
5B
000
External Start Input
1-Black
6A
001
Hold Input
2-Brown
6B
002
NC
2-Red
7A
Start Homing
3
Pin No.
003
NC
2-Orange
7B
004
Position No. 1 Input
2-Yellow
8A
005
Position No. 2 Input
2-Green
Input
8B
006
Position No. 4 Input
2-Blue
9A
007
Positon No. 8 Input
2-Purple
9B
008
Positon No. 10 Input
2-Gray
10A
009
Position No. 20 Input
2-White
10B
010
Position No. 40 Input
2-Black
11A
011
Position No. 80 Input
3-Brown
11B
012
Position No. 100 Input
3-Red
12A
013
Position No. 200 Input
3-Orange
12B
014
Position No. 400 Input
3-Yellow
3-Green
13A
015
NC
13B
300
Alarm Output
3-Blue
14A
301
Ready Output
3-Purple
14B
302
Positioning Complete Output
3-Gray
15A
303
NC
3-White
304
NC
4-Black
4-Brown
Output
5
External
device
Input
external start
⇓
15B
16A
305
NC
16B
306
NC
4-Red
17A
307
NC
4-Orange
External Current OV
4-Yellow
17B
Move to
position number
6
DS-S-C1
↓
Upon completion,
output complete
signal
42
N24
Standard NPN (Sinking)
2,5
4
1
3,6
DS
Dynamic Series
(2) I/O Port
Port No.
Functions
CPU Reset Input
000
External Start Input
001
Hold Input
~
002
NC
004
Position No. 1 Input
005
Position No. 2 Input
006
Position No. 4 Input
007
Position No. 8 Input
008
Position No. 10 Input
009
Position No. 20 Input
010
Position No. 40 Input
011
Position No. 80 Input
012
Position No. 100 Input
013
Position No. 200 Input
014
Position No. 400 Input
015
NC
300
Emergency Stop / Alarm Output
301
Ready Output
302
Positioning Complete Output
003
Explanation
Restarts the controller.
As the moment input turns ON, the actuator
moves to the designated position.
When this turns ON, the actuator decelerates to a
stop.
002~003 changes to NC during the positioning
mode.
10° units 004~014 are used as BCD codes
to designate the position no.
The moment input port 000
101 units (external start input) turns ON, the
actuator moves to the designated
position.
Homing is performed when there
is no position number designation.
102 units
015 changes to NC during positioning mode.
This turns ON during an emergency stop or when an
error occurs.
This turns ON when the controller is ready.
This turns ON once positon move is complete.
~
303
NC
303~307 changes to NC during positioning mode.
307
43
(3) Timing of each signal
1. Starting
Timing for each signal
T1: The time from the READY signal
ON to homing start input ON.
Ready
Output
T1min = 50ms
P-End
Output
T2
Homing
Start
External
Start Input
T2: The time from the external start
signal ON to the P-End signal OFF.
T2max = 15ms
T3
T3: The time from the P-End signal ON
to when the external start signal
input can be entered.
T1
Position
No. Input
T3min = 50ms
Note:
2. Timing for Position No. Switching
Position 1
A
Moving
Please do not input Position No.
Input and External Start Input at the
same time.
Position 2
B
A:
Position 1 execution start
B:
Position 2 execution start
Moving
The timing for the position number shifting is the time from after the position presently being
executed is completed until the next external start input (start signal) can be input.
44
DS
Dynamic Series
9. Program Mode
(1) Operation
1. Automatic start by a parameter setting
The program number XX (PRG No. XX) is input into the parameter’s “automatic start program no.”
Supply
Power
⇒
Program No. XX
Start
I/O Connector (34 pin)
2. Start by an external device
Supply
Power
⇓
1
DS-S-C-1
READY Signal
Output
⇓
2
External
device
Input
Program No. XX
⇓
3
External
device
Input
External start
⇓
Start
Program No. XX
Pin No.
Section
1A
P 24
Port No.
Function
Cable Color
External current + 24V Input
1-Brown
1B
PRG No. 1 Input
1-Red
2A
PRG No. 2 Input
1-Orange
2B
PRG No. 4 Input
1-Yellow
3A
PRG No. 8 Input
1-Green
3B
PRG No. 10 Input
1-Blue
1-Purple
4A
PRG No. 20 Input
4B
Reserve
1-Gray
5A
CPU Set Input
1-White
5B
000
External Start Input
1-Black
6A
001
User Input
2-Brown
6B
002
User Input
2-Red
003
User Input
2-Orange
7B
7A
004
User Input
2-Yellow
8A
005
User Input
2-Green
8B
006
User Input
2-Blue
9A
007
User Input
2-Purple
9B
008
User Input
2-Gray
Input
10A
009
User Input
2-White
10B
010
User Input
2-Black
11A
011
User Input
3-Brown
11B
012
User Input
3-Red
12A
013
User Input
3-Orange
12B
014
User Input
3-Yellow
3-Green
13A
015
User Input
13B
300
Alarm Output
3-Blue
14A
301
Ready Output
3-Purple
14B
302
User Output
3-Gray
15A
303
User Output
3-White
304
User Output
4-Black
4-Brown
2
3
1
Output
15B
16A
305
User Output
16B
306
User Output
4-Red
17A
307
User Output
4-Orange
External Current OV
4-Yellow
17B
N24
Standard NPN (Sinking)
45
(2) I/O Port Chart
Port No.
Function
Explanation
PRG No. 01
10° units
PRG No. 02
Designated BCD inputs for start program.
The moment input port 000 (external start input)
turns ON, the designated program is executed.
PRG No. 04
PRG No. 08
PRG No. 10
101 units
PRG No. 20
Reserve
CPU Reset Input
000
Restarts the controller.
External Start Input
At the moment input turns ON, the designated program is executed.
001
~
User Input
The user can use this input as he chooses.
015
300
Emergency Stop / Alarm Output
301
Ready Output
This turns ON during an emergency stop or when an error occurs.
This turns ON when the controller is ready.
302
~
User Output
The user can use this output port as he chooses.
307
Note: Homing is executed within the program.
(3) Timing of each signal
1. Start
T1: The time from when the READY output
turns ON until the external start signal
can be input.
T1min = 30ms
Program 1
Program No.
Input
T2: The time from the program number is
input until the external start signal can
be input.
T2min = 30ms
External Start
Input
T3: The time from the input of the external
start signal.
T2
T1
T3min = 30ms
T3
2. Timing of motion using the hold signal
The servo actuator is decelerated to a stop
by turning the hold signal ON while the
actuator is moving, and starts up again by
turning the hold signal OFF.
Actuator
movement
↑
Decelerated to a stop
46
↑
Movement start
DS
4. Program Structure
Dynamic Series
(1) Program Structure
The program consists of “Position Data” which registers only the coordinate values, and “Application Program” which
executes all movements.
Application Program
Position Data
An area where all moving
coordinates are registered
The main application program
⇓
⇓
0.00
11
MOVP 001
12
MOVP 100
13
MOVP 020
225
XXX.XX
…
100.00
…
MOVP 200
… …
……
10
… …
100
C ommand
… …
001
Step
… …
Position D ata
……
Position N o.
⇑
Position numbers 1∼ 500 and Apllication program
1∼32 may be used.
In step 12, position No. 100 (100.00) is executed
by the move command.
(2) Program Structure
[Position Data]
It is not necessary to input the Position Data in an
ascending order. The order will be done in the
Application Program.
P1
P2
P3
P4
P5
50
150
200
250
350
Origin
100
200
300
Position No.
Position Data
0001
50.00
0002
150.00
0003
200.00
0004
250.00
0005
350.00
400
(3) Application Program
This programs commands that actually execute such
movements as Move, Output ON, Output OFF and Timer.
In addition, it registers up to 32 programs. The chart on
the right is a combination example using the Position Data
and Application Program.
[Application Program Example]
P1 → P2 → P3 → P4 → P5 → P1 (This path is repeated):
P1
P2
P3
P4
P5
Step
Command
1
SVON
Explanation
Turns the Servo ON
2
HOME
3
VEL
500
Executes Homing
4
TAG
01
Sets the velocity to 500mm/sec
5
MOVP
001
Moves to Position No. 1
6
MOVP
002
Moves to Position No. 2
7
MOVP
003
Moves to Position No. 3
8
MOVP
004
Moves to Position No. 4
9
MOVP
005
Moves to Position No. 5
10
GOTO
01
Jumps to TAG 01
47
5. SEL Language Commands
Category
Function
A ssi g n
Numeric
Calculations
Arithmatic
Calculations
Move
C LR
A dd
AD D
Subtract
SUB
Multiply
MULT
Figure remainder
Sine
Logi c
Operations
Compare
Timer
I/O · Flag
Operations
Program
Control
Position
Operations
SIN
Tangent
TAN
Arctangent
ATN
Function
Command
Set velocity
DIV
COS
Actuator
Control
Designation
VEL
Set velocity factor
OVRD
Set acceleration
AC C
Set S motion ratio
SCRV
Set offset
OFST
Declare pause port
HOLD
Square root
SQR
Declare stop complete port
Logic AND
AND
Acquire axis status
AXST
Servo [ON OFF]
SVXX
Homing
HOME
Move to designated position
MOVP
Logic OR
OR
Logic EXOR
EOR
Comparison
C PXX
Time wait
TIMW
Time wait cancel
TIMC
Acquire time
GTTM
Output·Flag [ON OFF NT]
BTXX
Input·Flag [ON OFF]
WTXX
Binary input (Max 15 bit)
Actuator
Control
Commands
IN
BCD input (Max 3 digits)
INB
Binary output (Max 6 bit)
OUT
CANCL
Move to designated position
MVPI
Path motion
PATH
Jog [FN FF BN BF]
JXWX
Axis slows to a halt
STOP
Compare character string branching
[EQ NE GT GE LT LE]
IFXX
BCD output (Max 1 digits)
OUTB
Jump
GOTO
Input/Output
Flag Operation Declare command execution
Commands
when conditions are unestablished
Declare IF ending
Declare jump target
TAG
Execute subroutine
EXSR
Start subroutine
BGSR
End subroutine
ED SR
EXIT
Start program
EXPG
Stop other programs
ABPG
Assign position to variable 199
PGET
Assign value of variable 199
PPUT
Clear point data
P C LR
Copy point data
PC PY
Read current position of axis
PRED
Confirm position data
PTST
Assign position velocity
PVEL
Assign position acceleration
PACC
Confirm position size
48
Catagory
MOD
Cosine
Terminate program
Task
Control
LE T
TRAN
Clear variables
Divide
Functional
Calculations
Command
PSIZ
Structure
DO
Commands
E LS E
EDIF
Loop [EQ NE GT GE LT LE]
DWXX
Escape from DO
LEAV
Repeat DO
ITER
Declare DO complete
ED D O
[DS exclusive commands]
Category
Actuator
Control
Commands
Function
Command
Directly designate move
MOVD
Incremental movement
MVDI
DS
Dynamic Series
10. Sample Programs
Sample program 1:
Upon homing, reciprocate move position number 1 and
number 2. Upon moving to Number 1, outputs 307.
Upon move to number 2, outputs 306. After 015 is
inputted into each number, begins move.
Step
A/O
OP-CODE
OPRND 1
OPRND 2
POST
Comment
1
HOME
2
VEL
200
Homing
3
TAG
1
4
WTON
015
Wait input 015
5
BTOF
306
306 is OFF
6
MOVP
1
7
BTON
307
307 is OFF
8
WTON
015
Move to position No.2
9
BTOF
307
307 is OFF
10
MOVP
2
11
BTON
306
306 is ON
12
GOTO
1
Go to Tag
Sample program 3:
Cycle move position number 1~
number 2, and end the program.
Speed setting 200mm/sec
Move to position No.1
Move to position No.2
Step
A/O
N
Step
A/O
OP-CODE
1
HOME
2
TAG
OPRND
1
OPRND
2
POST
Comment
Homing
3
GOTO3 Jump ahead
3
1
GOTO
1
If port 001 is ON, then go to TAG 1
4
2
If port 002 in ON, then go to TAG 2
GOTO
2
5
GOTO
3
To TAG 3
6
TAG
1
GOTO 1 Jump ahead
7
BTOF
302
8
VEL
100
303
Output 302~3030 OFF
Speed setting 100mm/sec
9
MOVD
50
Move to 50mm
10
BTON
302
302 is ON
11
GOTO
3
Go to TAG 3
12
TAG
2
GOTO 2 Jump ahead
13
BTOF
302
14
VEL
100
303
Output 302~303 OFF
Speed setting 100mm/sec
15
MOVD
100
Move to 100mm
16
BTON
303
303 is ON
17
GOTO
3
OPRND 1
OPRND 2
Goto TAG 3
POST
Comment
1
HOME
2
VEL
800
3
LE T
1
4
TAG
1
5
MOVP
1
Move to position No.1
6
MOVP
2
Move to position No.2
7
AD D
1
1
C PEQ
1
5
GOTO
2
IF Flag 600 is ON, then, go to TAG 2
GOTO
1
Goto TAG 1
11
TAG
2
12
EXIT
8
9
600
10
Sample program 4:
Upon homing, moves to 100mm
location at a speed of 200mm/sec.
Setting 100mm as a srandard point,
while 010 and forward 011 are
inputting, backward jog movement
is executed at a speed of 5mm/sec.
When 012 is inputted, returns
to standard point of 100mm at
a speed of 200mm/sec.
OP-CODE
Sample program 2:
Move to 50mm using 001 input, and
then, turn complete output 302 ON.
Step
A/O
N
OP-CODE
Homing
Speed setting 800mm/sec
0
Substitute 0 into variable 1
GOTO Jupm 1 ahead
Add 1 into variable 1
600
If value of variable 1 is 5, then flag 6000N
GOTO 2 Jump ahead
Program end
OPRND 1
1
HOME
2
TAG
1
OPRND 2
POST
Comment
Homing
3
VEL
200
Speed setting 200mm/sec
4
MOVD
100
Move to 100mm
5
TAG
2
6
VEL
5
N011
JFWN
1
010
8
N010
JBWN
1
011
9
N012
GOTO
2
If 012 is OFF, then go to TAG 2
GOTO
1
Goto TAG 1
7
10
GOTO 2 Jump ahead
Speed setting 5mm/sec
While 010 is ON and 011 is OFF, go forward
While 010 is OFF and 011 is ON, go forward
49
Technical Information
Positioning Time Calculation Method
A. Trapezoid Pattern
B. Triangle Pattern
A. Trapezoid Pattern
Speed
mm/sec
Speed
mm/sec
Setting time
(0.15 sec)
Acceleration. Rated speed range
range
Deceleration
range
Setting time
(0.15 sec)
Time
sec
Acceleration
range
Positioning time
Deceleration
range
Time
sec
Positioning Time
First, upon confirming either the trapezoid pattern or square patterns, calculations for each pattern is done according
to the calculation method listed below.
• Movement confirmation method:
In case you wish to move the transfer speed at a set rated speed, you may determine either the trapezoid
or triangle patterns, acccording to the reaching speed is large or small via setting speed.
Arrival speed (Vmax) =
Distance (Smm) X Acceleration
Arrival speed (Vmax) =
SmmX9,800mm/sec2 X Acceleration setting for actuator (G)
Thus, the result is listed below:
Rated speed (V) < Arrival speed (Vmax) • • • • • Trapezoid Pattern
Rated speed (V) > Arrival speed (Vmax) • • • • • • Triangle Pattern
• Positioning time calculation method:
A. Trapezoid Pattern:
Positioning time (T) =
Distance (mm)
Speed (mm/sec) +
Speed (mm)
Setting time (0.15sec)
Acceleration (mm/sec2) +
B. Triangle Pattern:
Positioning time (T) = 2
Distance (mm)
Acceleration (mm/sec2) +
Distance (mm)
Setting time (0.15sec)
Rated speed time = Speed (mm/sec2) Rated speed move distance =
Rated speed (mm/sec2) X (rated speed time [sec])2
2
Note:
Acceleration speed is attained by using ACC/DEC setting value (G) X9,800mm /sec of the controller. If the ACC/DEC setting
value of the controller is 0.3G, the calculation is as follows: 0.3X9,800mm/sec2=2,940mm/sec2 .
As for the setting time, we normally consider approximately 0.15 sec in terms of determining the
completion of movement to the desired location.
50
DS
Dynamic Series
Positioning Time Calculation Method (sec)
Transfer distance
Machine
Type
Max.
Speed
Rated
Speed
5
10
20
30
40
50
75
100
150
200
250
300
350
400
450
500
550
600
mm
mm
mm
mm
mm
mm
mm
mm
mm
mm
mm
mm
mm
mm
mm
mm
mm
mm
SA5H/SA6H
800mm
/sec
0.3G
0.08
0.12
0.16
0.20
0.23
0.26
0.32
0.37
0.45
0.52
0.58
0.65
0.71
0.77
0.83
0.92
1.08
1.29
SA5M/SA6M
400mm
/sec
0.3G
0.08
0.12
0.16
0.20
0.23
0.26
0.32
0.39
0.51
0.64
0.76
0.89
1.01
1.14
1.26
1.45
1.83
2.31
SA5L/SA6L
200mm
/sec
0.2G
0.10
0.14
0.20
0.25
0.30
0.35
0.48
0.60
0.85
1.10
1.35
1.60
1.85
2.10
2.35
2.73
3.52
4.51
S A 4H
665mm
/sec
0.3G
0.08
0.12
0.16
0.20
0.23
0.26
0.32
0.37
0.45
0.53
0.60
0.68
S A 4M
330mm
/sec
0.3G
0.08
0.12
0.16
0.20
0.23
0.26
0.34
0.42
0.57
0.72
0.87
1.02
S A 4L
165mm
/sec
0.2G
0.10
0.14
0.21
0.27
0.33
0.39
0.54
0.69
0.99
1.30
1.60
1.90
A5M/A6M
400mm
/sec
0.2G
0.10
0.20
0.25
0.29
0.32
0.39
0.45
0.58
0.70
A5L/A5L
200mm
/sec
0.2G
0.10
0.14
0.20
0.25
0.30
0.35
0.48
0.60
0.85
1.10
Triangle
A 4M
330mm
/sec
0.2G
0.10
0.14
0.20
0.25
0.29
0.32
0.40
0.47
0.62
0.77
Trapezoid
A 4L
165mm
/sec
0.2G
0.10
0.14
0.21 0.27
0.33
0.39
0.54
0.69
0.99
1.30
0.14
Note: Setting time (0.15sec) is not included.
Rated speed time
Speed mm/sec
1000
0.3G
900
800
SA5H, SA6H
700
SA4H
0.2G
600
500
400
A5M, A6M
SA5M, SA6M
SA4M
300
200
100
A4M
SA5L, SA6L, A5L, A6L
SA4L, A4L
0
0.1sec
0.2sec
0.3sec
51
DS Mounting Method
Slider Type
• SA4/SA5:
Fix by using the 4 thru holes located on the upper side
of the main body, or use bolts to fix to the tap holes
located on the bottom.
Upper side mounting holes:
DS-SA4
M3
DS-SA5
M4
Tap diameter for Bottom mounting:
DS-SA4
M3 Depth 5
DS-SA5
M4 Depth 7
• SA6:
Use bolts to fix to the tap holes from the bottom of the
main body (the upper side does not have any mounting holes).
DS-SA6
M5 Depth 9
Arm Type
The Arm Type has a built-in brake. Connect the actuator onto the controller and
release the brake using the brake release switch. While the brake is released, pull the
slider towards the stroke end and then, turn the power OFF. Remove the cover
using the 4 cover screws. Fix onto the mounting holes located on the
machine base.
DS-SA4
M3
DS-SA5
M4
DS-SA6
M5
Cable Treatment Method
Note 1:
Note 2:
The cable between the DS Actuator and controller
is equipped with built-in motor power line and encoder
line. Therefore, for maintain proper bending radius
according to the drawings below:
The cable is not a robot cable with high warp capability.
Therefore, application method which requires for the DS
actuator to move, please make sure that there’s no unnecessary impact on the cable treatment (see diagram below).
CONTROLLER
CONTROLLER
CODE
CODE
READY
ALARM
BAT
READY
ALARM
BAT
BRAKE
RELEASE
NORMAL
TEAING/
RS232 PORT
Wrong
ON
OFF
PORT
IAI Corporation
52
Correct
TEAING/
RS232 PORT
ON
OFF
PORT
Approximately
over 50mm
Over R30
Wrong
BRAKE
RELEASE
NORMAL
IAI Corporation
Correct