CKD AX1000T Series Manual
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CKD AX1000T Series Manual

Quick response type direct drive actuator
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"Instantaneous positioning " quick response direct drive actuator
Quick response type direct drive actuator
AX1000T, AX2000T or AX4000T series
DIRECT DRIVE ACTUATOR, QUICK RESPONSE TYPE, AX1000T, AX2000T, AX4000T SERIES
User friendly driver with
serial communication
CC-Link
DeviceNet
PROFIBUS-DP
New product
CC-995A 4

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Summary of Contents for CKD AX1000T Series

  • Page 1 "Instantaneous positioning " quick response direct drive actuator Quick response type direct drive actuator AX1000T, AX2000T or AX4000T series New product DIRECT DRIVE ACTUATOR, QUICK RESPONSE TYPE, AX1000T, AX2000T, AX4000T SERIES User friendly driver with serial communication CC-Link DeviceNet PROFIBUS-DP CC-995A 4...
  • Page 2 “Instant positioning! Quick response absodex” with even easier setup! positioning setup High precision, Better compatibility Environmental design multi-functions for AX 1000T High precision absolute Easier service and Low profile, oil free, DD actuator that can maintenance thanks to reusable and energy index 360°anywhere and improved compatibility efficient..the features...
  • Page 3 1. Shorter tact time for your equipment Reduce time loss with improved response ”Instant positioning”; positioning time reduced by 75%. Reduce start up time by linking with peripheral component Easier to link with other components with the A/B phase encoder output. 2.
  • Page 4 Footprint of large models with max. output torque of The actuator is certified by the  150N•m ore more has been reduced by 65. following standards. (Compared to CKD's GH type driver) ・ UL1004-1 Due to, light weight was made. ・ CSA 22.2 No.100 （File no. ： E28765）...

  • Page 5: Additional Functions

    Convenience   Adjustment and installation support tool (AX Additional functions tools) comes standard. Input/output function ■ Get the right adjustments in less time. Ready output  Teaching note ■ Servo state output  Create programs and set parameter  Encoder output ...

  • Page 6: Programming Tool

    System configuration   Basic settings Basic drive methods 1. Input the program from a personal computer or from 1. The program which is selected to do wants from PLC. the teaching pendant. 2. Provide start signal from a PLC. 2.
  • Page 7 Example of a STO timing chart The Safe Torque Off function allows you to turn off the motor by the opening/closeing of a contact of an external safety component. An example of a timing chart using the STO terminal (TB1) is shown below. STO Input Opened contact(STO ineffective) Closed contact(STO effective)
  • Page 8 Direct drive actuator series variation Torque (N•m) Series AX1000T Series AX1022T AX1045T AX1075T AX1150T AX2000T Series AX2006T AX2012T AX2018T AX4000T Series AX4009T AX4022T AX4045T AX4075T AX4150T TS type Driver TH type Driver Intro7...
  • Page 9 Applications Page: 41 Safety precautions : Intro 9 Related parts model no. table Page: 9 Selection guide Page: 4 Index Torque (N•m) Repeatability accuracy Features Applications Page (sec.) 1000 (sec.) High precision  model with indexing Precision  accuracy and low measurment displacement Turntable...

  • Page 10: Safety Precautions

    (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.)

  • Page 11: Scope Of Warranty

    Absodex brake with air brake, piston packing, valves 2. Scope of warranty If any faults found to be the responsibility of 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: Product abuse/misuse contrary to conditions/environment recommended in its catalogs/specifications.

  • Page 12: Design & Selection

    CAUTION Design & Selection When extending the outuput shaft, refer to table 1 as T h e a c t u a t o r s a n d d r i v e r s a r e n o t w a t e r p r o o f . a reference for deciding the extended shaft diameter Provide waterproofing for use in places where water and length.
  • Page 13 CAUTION Design & Selection Do not place the actuator where it may contact strong If sufficient rigidity cannot be attained, machine magnetic field. r e s o n a n c e i s s u p p r e s s e d t o s o m e d e g r e e b y Do not pass cables with high voltage through the installing dummy inertia as close to the actuator as central hollow hole.
  • Page 14 Ferrite core + S2 - S1 - S2 A B S O D E X MODEL: AX9000TS +25A1+25A1+25A1+25A1+25A1+25A1+25A1 CKD Corporat i o n MADE I N JAPAN BK + BK - 24 VDC (relay drive) 24 VDC (power supply for) Relay 1) Do not use magnetic brakes to stop or control the rotating output shaft.

  • Page 15: Installation And Adjustment

    Also, refrain from operating conditions. applying excess force onto the cable or pulling on Do not drill holes into the actuator. Contact CKD the cable since it may damage it. when machining is required.

  • Page 16: Actuator Specifications

    IP20 Note1: The speed must be kept below 80rpm during continuous rotation. Contact CKD for CE certification requirements. Note2: Refer to "Technical explanations" on page 49 for the details on index accuracy and repeatability. Note: The max ambient temperature is 40°C if used as an UL certified product.
  • Page 17 AX CBLR5 DM04  Single phase 100 to 115 VAC Mounting base Dowel AX9000TS J1 hole Cable change Note: "04" for cable Interface specifications length 4 m *Custom orders are not CE, UL/cUL, RoHS certified. Consult with CKD for details.
  • Page 18 AX1000T Series Speed/max. torque characteristics   AX1022TS AX1045TS Continuous Continuous movement movement range range *This graph shows the characteristics under 3 phase AC200V *This graph shows the characteristics under 3 phase AC200V  AX1150TH Continuous Continuous movement movement range range *This graph shows the characteristics under 3 phase AC200V *This graph shows the characteristics under 3 phase AC200V...

  • Page 19: Series Dimensions

    AX1000T Series Dimensions Dimensions   AX1022T AX1045T Mounting base Mounting base (Option) (Option) Rotating section Rotating section 6-M6 depth 11 (straight) 6-M6 depth 11 (straight) (Including hollow section) (Including hollow section) For mounting dial plate For mounting dial plate 0.04 A 0.04 A (Cable bending range)
  • Page 20 AX1000T Series Dimensions   AX1075T AX1150T Mounting base Mounting base (Option) (Option) 6-M8 depth 14 (straight) Rotating section 6-M8 depth 14 (straight) Rotating section (For mounting dial plate) (Including hollow section) For mounting dial plate (Including hollow section) Φ8H7 depth 10 (option) Φ8H7 depth 10 (option) 0.04 0.04...
  • Page 21 AX1000T Series Standard dimensions and dimensions with options Dimensions Dimensions with options   AX1210T Bottom connector (C) AX1022T/AX1045T Mounting base Φ25 (Option) 6-M8 depth 14 (straight) Rotating section For mounting dial plate (Including hollow section) Φ8H7 depth 10 (option) 0.04 Φ24 Φ22...
  • Page 22 Direct drive actuator AX2000T Series High speed rotation(max. 300rpm). low profile, large hollow diameter (Φ30)  Max. torque: 6/12, 18 N•m  Compatible drier: TS type driver Actuator specifications Descriptions AX2006T AX2012T AX2018T Maximum output torque N•m 12.0 18.0 Continuous output torque N•m Max.
  • Page 23 Single phase 100 to 115 VAC Resolver cable hole AX9000TS J1 AX CBLR6 DM04 Mounting base Body surface treatment Interface specifications Cable change Note: "04" for cable *Custom orders are not CE, UL/cUL, RoHS certified. Consult with CKD for details. length 4 m...
  • Page 24 AX2000T Series Dimensions   AX2006T AX2012T Mounting base (option) Mounting base (option) Φ5H7 depth 8 (option) Φ5H7 depth 8 (option) 0.04 A 0.04 A 4-Φ7 4-Φ7 Fixed section Fixed section 6-M5 depth 10 (straight) 6-M5 depth 10 (straight) For mounting dial plate For mounting dial plate Φ110 Φ90h7...
  • Page 25 AX2000T Series Dimensions Dimensions  AX2018T Mounting base (option) Φ5H7 depth 8 (option) 0.04 A 4-Φ7 Fixed section 6-M5 depth 10 (straight) For mounting dial plate Φ110 Φ90h7 Φ30.5 Rotating section (Fi x ed shaft i n ner di a meter) (Note): Min.
  • Page 26 Note2: When using within the load conditions shown in the parenthesis, set parameter 72(multiplier for integral gain) to 0.(reference value). Note: Consult CKD each time when using parameter 72 (multiplier for integral gain) during continuous rotation. Note4: Refer to "Technical explanations" on page 49 for the details on index accuracy and repeatability.
  • Page 27 Single phase 100 to 115 VAC Resolver cable treatment AX9000TS J1 AX CBLR6 DM04 Mounting base Dowel hole Interface specifications Cable change Note: "04" for cable length 4 m *Custom orders are not CE, UL/cUL, RoHS certified. Consult with CKD for details.
  • Page 28 AX4000T Series Speed/max. torque characteristics   AX4009TS AX4022TS Continuous Continuous movement movement range range *This graph shows the characteristics under 3 phase AC200V *This graph shows the characteristics under 3 phase AC200V   AX4045TS AX4075TS Continuous Continuous movement movement range range...
  • Page 30 AX4000T Series Dimensions  AX4009T 4-Φ7 Φ5H7 depth 7 (Option) 2-Φ6H7 6-M5 depth 10 (straight) (Option) For mounting dial plate 0.06 Body outlet cable length 400 mm This is not a flexible cable. (Note): Fix the end of the cable sheath when bending repeatedly.
  • Page 31 AX4000T Series Dimensions Dimensions   AX4022T AX4022T-EB With electromagnetic brake Refer to the left drawings for options. Mounting base (option) 4-M6 depth 12 (straight) For mounting optional electromagnetic brake 4-M6 depth 12 (straight) (Screw valid length 9) For mounting dial plate 4-M6 depth 12 (straight) (Screw valid length 9) For mounting dial plate...
  • Page 32 AX4000T Series Dimensions   AX4045T AX4045T-EB With electromagnetic brake Refer to the left drawings for options. Mounting base (option) 4-M6 depth 12 (straight) For installing optional electromagnetic brake 4-M6 depth 12 (straight) (Screw valid length 9) For mounting dial plate 4-M6 depth 12 (straight) (Screw valid length 9) For mounting dial plate...
  • Page 33 AX4000T Series Dimensions Dimensions   AX4075T AX4075T-EB With electromagnetic brake Refer to the left drawings for options. 4-M8 depth 16 (straight) For installing optional electromagnetic brake Mounting base (option) 127.5 Φ8H7 depth 10 (option) 0.06 A 6-M8 depth 16 (straight) For mounting dial plate 6-M8 depth 16 (straight) 4-Φ12...
  • Page 34 Direct drive actuator AX4000T Series Capable of handling large moment inertia Wide variety of options Easier to pipe and wire with large inner diameter  Max. torque: 150/300/500N•m  Compatible drier: TH type driver Actuator specifications Descriptions AX4150T AX400T AX4500T Maximum output torque N•m Continuous output torque...

  • Page 35: How To Order

    DM04 Size Brake Body surface  Resolver cable treatment Interface specifications AX CBLR6 DM04 Mounting Dowel base hole Cable change Note: "04" for cable *Custom orders are not CE, UL/cUL, RoHS certified. Consult with CKD for details. length 4 m...
  • Page 36 AX4000T Series Speed/max. torque characteristics   AX4150TH AX400TH Continuous Continuous movement movement range range *This graph shows the characteristics under 3 phase AC200V *This graph shows the characteristics under 3 phase AC200V  AX4500TH Continuous movement range *This graph shows the characteristics under 3 phase AC200V (Note) moment load (Fig.
  • Page 37 AX4000T Series Dimensions Dimensions   AX4150T AX4150T-EB With electromagnetic brake Refer to the left drawings for options. 4-M8 depth 16 (straight) For installing optional electromagnetic brake Mounting base (option) 127.5 Φ8H7 depth 10 (option) 0.06 A 6-M8 depth 16 (straight) 6-M8 depth 16 (straight) For mounting dial plate For mounting dial plate...
  • Page 38 AX4000T Series Dimensions   AX400T AX400T-EB With electromagnetic brake Refer to the left drawings for options. 4-M8 depth 16 (straight) For installing optional electromagnetic brake Mounting base (Option) 127.5 Φ10H7 depth 12 (Option) 0.06 A 6-M10 depth 20 (straight) 6-M10 depth 20 (straight) For mounting dial plate 4-Φ14...
  • Page 39 AX4000T Series Dimensions Dimensions  AX4500T Mounting base (Option) Φ10H7 depth 12 127.5 (Option) 0.06 A 6-M10 depth 20 (straight) For mounting dial plate 4-Φ14 47.5 (Note): Fix the end of the cable sheath when bending repeatedly. Φ282 Φ160h7 Φ85 Rotating section (including hollow section) Fixed section...

  • Page 40: Safety Precautions

    Large direct drive actuator AX400WT Series Max. torque 1000N•m large hollow shaft handy for cable wiring and piping, and a variety of options  Max. torque: 1000N•m  Compatible drier: TH type driver Actuator specifications Descriptions AX410WT Maximum output torque N•m 1000 Continuous output torque...
  • Page 41 AX CBLM6 DM04 Dowel  Resolver cable hole Interface specifications AX CBLR6 DM04 Mounting Body surface base treatment Cable change Note: "04" for cable length 4 m *Custom orders are not CE, UL/cUL, RoHS certified. Consult with CKD for details.
  • Page 42 AX400WT Series Dimensions  AX410WT 4-Φ18 4-M12 (discrete mounting base lifting) Mounting base (option) 8-M10 depth 20 (straight) For mounting dial plate 0.06 Φ10H7 depth 12 (option) 47.5 M12 depth 24 05 4- (straight) (Lifting) (Note): Fix the end of the cable sheath when bending repeatedly.

  • Page 44: Ts·th Type Driver

    Direct drive actuator TS·TH type driver Interface specifications: Parallel I/O (NPN specifications) Parallel I/O (PNP specifications)(Coming soon) CC-Link PROFIBUS-DP DeviceNet How to order Features  Three phase 200 to 20 VAC  Separated main and control power supply AX9000TS  Wiring methods changed from terminal block to connector ...

  • Page 45: I/O Circuit Specifications

    TS·TH type driver Specifications Parallel I/O (NPN specifications) CN input signal CN output signal Pin No. Signal name Logic Judgment Pin No. Signal name Logic 1 to 2 External power input + 24V±10% M code output (bit 0) Positive  to 4 External power input GND M code output (bit 1) Positive...
  • Page 46 TS·TH type driver Parallel I/O (PNP specifications)(coming soon) CN input signal CN output signal Pin No. Signal name Logic Judgment Pin No. Signal name Logic 1 to 2 External power input GND(Note 1) M code output (bit 0) Positive  to 4 External power input + 24V±10%(Note 1) M code output (bit 1) Positive...
  • Page 47 TS·TH type driver CC-Link Specifications CC-Link specifications Communication specifications I/O signal AX→PLC(Output) PLC→AX(Input) Device Device Descriptions Specifications Signal name Logic Signal name Logic Judgment Power supply DC5V supplied from servo amp RXn0 M code output (bit 0) Positive RYn0 Program no. selection input (bit 0) Positive Level CC-Link version Ver.1.10 Occupied station no.
  • Page 48 TS·TH type driver DeviceNet specifications (available soon) Communication specifications I/O signal AX→PLC(Output) PLC→AX(Input) Byte Byte Descriptions Specifications Signal name Logic Judgment Signal name Logic Power supply for 11 to 25 VDC Program no. selection input (bit 0) Positive Level M code output (bit 0) Positive communication Current consumption Program no.

  • Page 49: Communication Specifications

    TS·TH type driver PROFIBUS-DP specification Communication specifications I/O signal PLC→AX(Input) AX→PLC(Output) Byte Byte Description Specifications Signal name Logic Judgment Signal name Logic Communication PROFIBUS DP-V0 compliant protocol Program no. selection input (bit 0) Positive Level M code output (bit 0) Positive I/O data Input 8 byte/output 8 byte Program no.
  • Page 50 50/60Hz + S1 + S2 - S1 - S2 ABSODEX MODEL: AX9000TH ＳＥＲＩＡＬ：+25A1+25A1+25A1+25A1+25A1+25A1+25A1 CKD Corporat i o n MADE I N JAPAN BK + BK - Regenerative resistance Driver appearance (100) Installation hole machining drawing (Note 1) Note : The mounting pitch differs from conventional models (AX9000GS/AX9000GH)
  • Page 51 TS·TH type driver Footprint Footprint  TS type driver The driver is not dustproof and waterproof. Protect the direct driver to keep out dust,water and oil fumes if there is any in your environment. Keep the temperture of the control box below 50 ℃ and maintain space as shown below, if placed in a control box.　...

  • Page 52: Panel Explanation

    Output terminal Ground terminal Ground terminal ABSODEX 2-M4 2-M4 MODEL: AX9000TS CN3 I/0 connector CN3 I/0 connector ＳＥＲＩＡＬ：+25A1+25A1+25A1+25A1+25A1+25A1+25A1 CKD Corporati o n MADE IN JAPAN BK + BK - TB2 terminal TB2 terminal   CC-Link specifications DeviceNet specifications Operating indication...
  • Page 53 Series Cable specifications Cable specifications Cable dimensions Cable min. bending radius Movable cable  AX1000T Resolver cable 60mm L (cable length) L (cable length) Resolver cable Resolver cable (43) (43) (12) (12) Motor cable Motor cable Motor cable 110mm (100) (100) ...

  • Page 54: Specifications

    Direct drive actuator Teaching Pendant AX0180  Common for TS/TH type driver Specifications Features (1) Easy programming Descriptions AX0180 Equal index programs are created Operation mode Edit, display, parameter, operation or copy easily by answering questions Program capacity Equal index or NC program 2000 character (1 program) interactively with the dialog Equal index program: program No.
  • Page 55 AX0180 Series Teaching Pendant Teaching Pendant ■ Editing program Edit mode Equal indexing programs are edited by the teaching pendant and operation programs are edited with NC codes. Only one edited program can be saved. Memory backup: 3hours. After the equal division program is edited, parameters required for operation can be edited. Up to 2000 characters can be input for the NC program.

  • Page 56: Related Parts

    Series Direct drive actuator related parts model no. table  Related parts Part name Model Model no. PC communication cable (DOS/V) AX Series AX-RS22C-9P (Note) This cable is not compact with C type drivers and old models (black drivers). Consult our sales representative when using for these drivers.
  • Page 57 Series Technical Explanations Explanation of technical term Index precision Example of index accuracy measurement The indexing accuracy of the Absodex is the gap between the target position set by the NC program and the actual position. T h i s t a r g e t p o s i t i o n i s t h e a n g l e ( s e c . ) f r o m t h e -18”...
  • Page 58 Series Applications (1) Movement specifications 1 (operation of index unit) Movement specifications 90°  4 index (equal index of 90°) Move in 0.5 seconds  Moving time 0.5 second  Index once counter clockwise every time there is a start signal from the PLC.

  • Page 59: Example Of Program

    Series Applications (2) Movement specifications 2 (operation of oscillator unit) 0° Movement specifications -45° 45°  Repeat -45°↔45°every time there is a start signal from the PLC.  Moving time 0.7 second  Apply the brakes when stopping (Note 1) ...

  • Page 60: Load Moment Of Inertia

    Series Selection guide (1) Selection guide . Load torque Unit of elements of operating condition and symbol Load moment of inertia (kg/m a) The maximum load torque is obtained with the following formula. Moving angle (° ) ψ ψ•π Tm=[Am•(J+J )•...
  • Page 61 Value if the main 100 VAC (-J1) 17.2 power runs on 100VAC Consult CKD if these conditions are not satisfied. For AX9000TH type driver ● For AX9000TH, there is a restriction of regenerative p o w e r d u e t o t h e p o w e r c o n s u m p t i o n o f t h e regenerative resistor.

  • Page 62: Load Torque

    Series Selection guide (1) (working conditions) (operation conditions) Table radius : R = 0.4 (m) Moving angle : ψ=90(°) Table weight : Wt = 79 (kg) Moving time =0.8(s) Jig radius of rotation : Re = 0.25 (m) Cycle time =4(s) Jig weight : Wj = 10 (kg/pc.)
  • Page 63 Series Selection guide (2) For "MC2 curve " selection guide When " continuous rotation " is selected What is MC2 curve? Continuous rotation. The MC2 curve has a constant velocity in movement the same Continuous rotation has with or less. as the MC (modified constant velocity) curve, but by setting an 1.
  • Page 64 Series Selection guide (2) Formula of moment of inertia : Weight of object (kg) A When rotation center is own shaft B When rotation center differs from own shaft Center of rotation 1. Circular plate 1. Shape of any (if small very well) (cylinder) Center of rotation 2.
  • Page 65 Direct drive actuator selection guide specifications check sheet (Note) Contact CKD for chain drives and gear drives. Table direct drive Your company name Your name Division ■ Operating conditions 1. Index 2. oscillator Movement angle Ψ (°) Moving time t1 (sec.) Cycle time t0 (sec.)

  • Page 66: Electric Component

    Electric component Related products Ample variations and space efficient Electric actuator ESSD / ELCR Series NEW Electric actuator with the usability of a pneumatic component Main features ●Build in controller ●Engineer it like a air cylinder ●Flexible actuation ●Easy programming ●Improved reliability...
  • Page 68 2009.12.DCC...

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