Maximizes on AC Servo capabilities.

Transcription

1 DS DS Dynamic Series Maximizes on AC Servo capabilities. Ultra compact, coupling-free design. (Example below: DS-SA4-) 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 Grease is unnecessary. Dust resistant Multiple positioning up to 0 points. Multi-task Control functions (8 programs). Number of programs: 32. Simple program changeover. High degree of repeatability (±0.02mm or 0.05mm). Smooth acc./dec. control without shock during stop (trapezoid S shape). Can be used as a positioner without using a program. Speed setting per each movement. Maintains constant speed even during load flucturation. Stable during 5 extreme low speed motion. Receives radial load and moment load. 1

2 DS (Photo) Ultra compact, low cost, AC Servo high performance actuators Application Examples: 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. Part Stacking 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. Elevator/Indexer The DS can be used in gantry-type configurations to handle potting, palletizing, screwdriving,dispensing, and other lightweight applications. Sorting The DS arm type can be used to transfer parts. 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. 2

3 DS Assembly Unit Low cost 2-axis unit You can assemble an extremely low cost and versatile 2-axis structure by assembling single DS actuators. DS Dynamic Series 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 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

4 DS Series Product Lineup* Type Size Speed (mm increments) DS Actuator SA Slider Type 4 H High Speed mm~300mm Total Width M Medium Speed mm~300mm 40mm L Low Speed/High Thrust mm~300mm 5 Total Width mm H M High Speed Medium Speed mm~0mm mm~0mm L Low Speed/High Thrust mm~0mm Controller Teaching Pendant PC Interface (WINDOWS exclusive) * Please inquire your IAI representative regarding strokes other than mentioned. DS Actuator Series Model 6 H High Speed Total Width M Medium Speed 58mm L Low Speed/High Thrust A Arm Type 4 M Medium Speed S-C1 S-T1 S-P1-C (PC Compliance) S-P1-M (DOS Compliance) Total Width 40mm 5 Total Width mm 6 Total Width 56mm L M L M L Low Speed/High Thrust Medium Speed Low Speed/High Thrust Medium Speed Low Speed/High Thrust Motor Coupling Direction S (Standard) R Motor Coupled (Right) L Motor Coupled (Left) S (Standard) R Motor Coupled (Right) L Motor Coupled (Left) S (Standard) R Motor Coupled (Right) L Motor Coupled (Left) S (Standard) R Motor Coupled (Right) L Motor Coupled (Left) S (Standard) R Motor Coupled (Right) L Motor Coupled (Left) S (Standard) R Motor Coupled (Right) L Motor Coupled (Left) mm~600mm mm~600mm mm~600mm mm~200mm mm~200mm mm~200mm mm~200mm mm~200mm mm~200mm 0mm~200mm mm~200mm mm~200mm 0mm~200mm mm~200mm mm~200mm 0mm~200mm mm~200mm mm~200mm 0mm~200mm mm~200mm mm~200mm * DS-A-5M/5L- S - 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) DS-SA 5 L -200-B E-AQ Size 4: Total width: 40mm Size 5: Total width: mm Size 6: Total width: 58mm H: High speed M: Medium speed L: Low speed 3 (mm) 4 M agnetic Brake (option) 5 Brake cable removal direction R: Right side L: Left side E: End side 6 With AQ Seal (option) Arm Type (Magnetic brake is standard) DS-A 5 M--R-200-AQ Size 4: Total width: 40mm Size 5: Total width: mm Size 6: Total width: 56mm M: Medium speed L: Low speed thrust Motor coupling direction: S: Standard* R: Motor coupling to right L: Motor coupling to left 4 (mm) 5 With AQ Seal (opion) 4

5 DS Actuator Specification Notes DS Dynamic Series Velocity 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 mm 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 MA MB MC Moment Arm Type MA MB MC The center of gravity exists at the halfway point of the overhang load length. Overhang Load Length L L 5

6 DS Slider Type Photo DS-SA Slider Type Stainless sheet Positioning is achieved by the slide which travels along the stroke length. Slider Driven by an AC servo motor and ballscrew for multiple positioning with a high degree of repeatability (±0.02mm or ±0.05mm). Can also be used as a vertical axis (brake option available). 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: mm) SA6 (Toral width: 58mm) Ballscrew Base (guide) Aluminum cover Steel Ball 6

7 SA4H (High speed type) DS-SA4 mm 0m 1mm 200mm 2mm 300mm DS Dynamic Series Unit Weight Velocity Repeatability 0.6kg 0.7kg 0.8kg 0.9kg 1.0kg 1.1kg 1~665mm/sec ±0.05mm R ated Thrust 19.6N (2.0kgf) Payload Motor Horizontal use 4kg Vertical use 1kg (acceleration set to 0.3G) AC Servo motor (encoder attached to motor) 20W Ballscrew ø8mm Leadmm Guide Base Unique to DS Integrated into base 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) Unit Weight Velocity Repeatability mm 0m 1mm 200mm 2mm 300mm 0.6kg 0.7kg 0.8kg 0.9kg 1.0kg 1.1kg 1~330mm/sec ±0.02mm R ated Thrust 39.2N (4.0kgf) Payload Motor Ballscrew Guide Base Horizontal use 5kg Vertical use 2.5kg (acceleration set to 0.3G) AC Servo motor (encoder attached to motor) 20W Unique to DS ø8mm Lead5mm Integrated into base 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) Unit Weight Velocity Repeatability mm 0m 1mm 200mm 2mm 300mm 0.6kg 0.7kg 0.8kg 0.9kg 1.0kg 1.1kg 1~165mm/sec ±0.02mm R ated Thrust 78.4N (8.0kgf) Payload Motor Ballscrew Guide Base Horizontal use 5kg Vertical use 4.5kg (acceleration set to 0.3G) AC Servo motor (encoder attached to motor) 20W Unique to DS ø8mm Lead 2.5mm Integrated into base 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

8 DSA4 Standard Dimensional drawing (SA4H, SA4M, SA4L) 28 B 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 SA M3 depth 7 2-φ3H depth φ6.5 counterbore depth 3.5 (for mounting) A L 80.5 A Bottom C DX0 P A-Area Detail (2:1) F-φ3H depth bottom by 5 E-M3 depth 5 (for mounting) L A B C D E F

9 DS-SA5 DS Dynamic Series SA5H (High speed type) mm 0m 1mm 200mm 2mm 300mm 3mm 400mm 4mm 0mm Unit Weight Velocity Repeatability 1.2kg 1.3kg 1.4kg 1.5kg 1.6kg 1.7kg 1.8kg 1.9kg 2.0kg 2.1kg 1~800mm/sec 760mm/sec ±0.05mm R ated Thrust 16.7N (1.7kgf) Payload Motor Ballscrew Guide Base Horizontal use 4kg Vertical use 1kg (acceleration set to 0.3G) AC Servo motor (encoder attached to motor) 20W ømm Lead12mm Unique to DS Integrated into base Extruded aluminum (A6NO1S-T5 equivalent) White alumite treatment Moment MA 4.9N m (0.5gf m), MB 6.8N m (0.7kgf m), MC.7N m (1.2kgf m) Mc 7.8Nm (0.8kgfm) Brake MA Direction under 1mm, MB MC Direction under 1mm SA5M (Medium speed type) Unit Weight Velocity Repeatability mm 0m 1mm 200mm 2mm 300mm 3mm 400mm 4mm 0mm 1.2kg 1.3kg 1.4kg 1.5kg 1.6kg 1.7kg 1.8kg 1.9kg 2.0kg 2.1kg 1~400mm/sec 380mm/sec ±0.02mm R ated Thrust 33.3N (3.4kgf) Payload Motor Ballscrew Guide Base Horizontal use 8kg Vertical use 2kg (acceleration set to 0.3G) AC Servo motor (encoder attached to motor) 20W ømm Lead 6mm Unique to DS Integrated into base Extruded aluminum (A6NO1S-T5 equivalent) White alumite treatment Moment MA 4.9N m (0.5gf m), MB 6.8N m (0.7kgf m), MC.7N m (1.2kgf m) Mc 7.8Nm (0.8kgfm) Brake MA Direction under 1mm, MB MC Direction under 1mm SA5L (Low speed high thrust type) mm 0m 1mm 200mm 2mm 300mm 3mm 400mm 4mm 0mm Unit Weight Velocity Repeatability 1.2kg 1.3kg 1.4kg 1.5kg 1.6kg 1.7kg 1.8kg 1.9kg 2.0kg 2.1kg 1~200mm/sec 190mm/sec ±0.02mm R ated Thrust 65.7N (6.7kgf) Payload Motor Ballscrew Guide Base Horizontal use 8kg Vertical use 4g (acceleration set to 0.2G) AC Servo motor (encoder attached to motor) 20W Unique to DS ømm Lead3mm Integrated into base Extruded aluminum (A6NO1S-T5 equivalent) White alumite treatment Moment MA 4.9N m (0.5gf m), MB 6.8N m (0.7kgf m), MC.7N m (1.2kgf m) Mc 7.8Nm (0.8kgfm) Brake MA Direction under 1mm, MB MC Direction under 1mm 39 MA, MC moment Standard position for offset 9

10 SA5 Standard Dimensional drawing (SA5H, SA5M, SA5L) φ4.5 thru φ8 counter depth L A B C D E F SA5 with brake Dimensional drawing (SA5H, SA5M, SA5L) : Brake cable ounting direction (Right side) : Brake cable ounting direction (End side) 3.3 : Brake cable ounting direction (left side).1 S aluminum base SA M4 depth 9 2-φ4H depth 9 L A C DX0 P.5 F-φ4H depth 5 0 2

11 SA6H (High speed type) DS-SA6 mm 0m 1mm 200mm 2mm 300mm 3mm 400mm 4mm 0mm 5mm 600mm DS Dynamic Series Unit Weight Velocity Repeatability 1.3kg 1.5kg 1.7kg 1.9kg 2.1kg 2.3kg 2.5kg 2.7kg 2.9kg 3.1kg 3.3kg 3.5kg 800mm/sec 760mm/sec 640mm/sec 540mm/sec ±0.05mm R ated Thrust 24.2N (2.4kgf) Payload Motor Ballscrew Guide Base Horizontal use 6kgw Vertical use 1.5kgw (acceleration set to 0.3G) AC Servo motor (encoder attached to motor) 30W ømm Lead12mm Rolled thread C Backlash 0.01mm or less Unique to DS Integrated into base 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) Unit Weight Velocity Repeatability mm 0m 1mm 200mm 2mm 300mm 3mm 400mm 4mm 0mm 5mm 600mm 1.3kg 1.5kg 1.7kg 1.9kg 2.1kg 2.3kg 2.5kg 2.7kg 2.9kg 3.1kg 3.3kg 3.5kg 400mm/sec 380mm/sec 320mm/sec 270mm/sec ±0.02mm R ated Thrust 48.4N (4.9kgf) Payload Motor Ballscrew Guide Base Horizontal use 12kgw Vertical use 3kgw (acceleration set to 0.3G) ømm AC Servo motor (encoder attached to motor) 30W Lead6mm Rolled thread C Backlash 0.01mm or less Unique to DS Integrated into base 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) Unit Weight Velocity Repeatability mm 0m 1mm 200mm 2mm 300mm 3mm 400mm 4mm 0mm 5mm 600mm 1.3kg 1.5kg 1.7kg 1.9kg 2.1kg 2.3kg 2.5kg 2.7kg 2.9kg 3.1kg 3.3kg 3.5kg 200mm/sec 190mm/sec 160mm/sec 135mm/sec ±0.02mm R ated Thrust 96.8N (9.8kgf) Payload Motor Ballscrew Guide Base Horizontal use 12kgw Vertical use 6kgw (acceleration set to 0.2G) AC Servo motor (encoder attached to motor) 30W ømm Lead3mm Rolled thread C Backlash 0.01mm or less Unique to DS Integrated into base 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

12 SA6 Standard Dimensional drawing (SA6H, SA6M, SA6L) L A B C D E SA6 with brake Dimensional drawing (SA6H, SA6M, SASL) : Brake cable ounting direction (Right side) : Brake cable ounting direction (End side) φ 3-φ4H depth 5 : Brake cable ounting direction (Left side) S aluminum base SA

13 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. Can be used horizontally by extending the arm. The DS actuator is available in the following 3 types: Arm slider (guide) Steel ball Aluminum cover A4 (total width 40mm) A5 (total width mm) A6 (total width 56mm) With its compact size, the DS actuator provides flexibility in system layout. Aluminum base Ballscrew 13

14 DS-A4 A4M (Medium speed) Unit Weight Velocity Repeatability mm 0m 1mm 200mm 1.7kg 1.8kg 2.0kg 2.1kg 1~330mm/sec ±0.02mm R ated Thrust 39.2N (4.0kgf) P ayload Vertical use 2.5kg (acceleration set to 0.2G) Motor Ballscrew Guide Base AC Servo motor (encoder attached to motor) 20W Unique to DS ø8mm Leadmm Integrated into base 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) Unit Weight Velocity Repeatability mm 0m 1mm 200mm 1.7kg 1.8kg 2.0kg 2.1kg 1~165mm/sec ±0.02mm R ated Thrust 78.4N (8.0kgf) P ayload Vertical use 4.5kg (acceleration set to 0.2G) Motor Ballscrew Guide Base AC Servo motor (encoder attached to motor) 20W Unique to DS ø8mm Lead5mm Integrated into base 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 P N (kgf) B (m) A 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). Thrust When using horizontally, apply the load in the direction of the thrust as shown in the drawing at left. 14

15 S Type Dimensional drawing (A4M, A4L) DS Dynamic Series Home L 90 BXC D 5 38 E-3.6 drill 6.5 counterbore depth 3.3 (for mounting) A M4 depth L A BXC 1X19 1X 2X 2X 60 D E R(L) Type Dimensional drawing (A4M, A4L) M4 depth 5 90 (for mounting) BXC D L A L A Cross section of base mounting hole BXC 1X19 1X 2X 2X D E

16 DS-A5 A5M (Medium speed) Unit Weight Velocity Repeatability * mm 0m 1mm 200mm 2.2kg 2.4kg 2.6kg 2.8kg 1~400mm/sec ±0.02mm R ated Thrust 33.3N (3.4kgf) P ayload Vertical use 2kg (acceleration set to 0.2G) Motor Ballscrew Guide Base AC Servo motor (encoder attached to motor) 20W ømm Lead12mm Unique to DS Integrated into base 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) Unit Weight Velocity Repeatability * mm 0m 1mm 200mm 2.2kg 2.4kg 2.6kg 2.8kg 1~200mm/sec ±0.02mm R ated Thrust 65.7N (6.7kgf) P ayload Vertical use 4kg (acceleration set to 0.2G) Motor Ballscrew Guide Base AC Servo motor (encoder attached to motor) 20W ømm Lead6mm Unique to DS Integrated into base 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 *mm stroke does not apply to motor coupled S (standard) type, only the L, R types. MA P N (kgf) B (m) A 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). Thrust When using horizontally, apply the load in the direction of the thrust as shown in the drawing at left. 16

17 S Type Dimensional drawing (A5M, A5L) DS Dynamic Series Home L 90 BXC D 5 38 E-3.6 drill 6.5 counterbore depth 3.3 (for mounting) R(L) Type Dimensional drawing (A5M, A5L) L 60 5 E-4.5 drill, 8 counterbore depth 4.5 (for mounting) BXC D 38 A A M4 depth L A BxC 1x 2x 2x D E M4 depth 5 49 * L A BxC 1x30 1x 2x 2x D E Cross section of base mounting hole f *In a mm stroke, there is only the L, R types. 17

18 DS-A6 A6M (Medium speed) Unit Weight Velocity Repeatability mm 0m 1mm 200mm 3.0kg 3.3kg 3.6kg 3.9kg 400mm/sec ±0.02mm R ated Thrust 48.4N (4.9kgf) P ayload Vertical use 3kg (acceleration set to 0.2G) Motor Ballscrew Guide Base AC Servo motor (encoder attached to motor) 30W ømm Lead12mm Rolled thread C Backlash under 0.1mm Unique to DS Integrated into base Extruded aluminum (A6NO1S-T5 equivalent) White alumite treatment Moment MA 8.1N m (0.8kgf m), MB.0N m (1.0kgf m), MC 6.5N m (0.6kgf m) Brake Magnetic brake - energized to release A6L (Large speed) Unit Weight Velocity Repeatability mm 0m 1mm 200mm 3.0kg 3.3kg 3.6kg 3.9kg 200mm/sec ±0.02mm R ated Thrust 96.8N (9.8kgf) P ayload Vertical use 6kg (acceleration set to 0.2G) Motor Ballscrew Guide Base AC Servo motor (encoder attached to motor) 30W ømm Lead6mm Rolled thread C Backlash under 0.1mm Unique to DS Integrated into base Extruded aluminum (A6NO1S-T5 equivalent) White alumite treatment Moment MA 8.1N m (0.8kgf m), MB.0N m (1.0kgf m), MC 6.5N m (0.6kgf m) Brake Magnetic brake - energized to release MA P N (kgf) B (m) A 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). Thrust When using horizontally, apply the load in the direction of the thrust as shown in the drawing at left. 18

19 S Type Dimensional drawing (A6M, A6L) DS Dynamic Series 3.3 ME (in case with lubricant seal: 3) SE Home 3 ME L 130 BXC P D M4 depth 6 E-φ6, φ9, 5 counterbore depth (Work mounting range) A φ φ6 Base mounting hole Cross section * L _ A _ P BXC _ 1X 2X 2X D _ *In a mm stroke, there is only the L, R types. E _ R(L) Type Dimensional Drawing (A6M, A6L) 75.5 E-φ6, φ9, 5depth counterbore M4 depth 6 ME 3.3 SE Home (In case with lubricant seal: 3) SE BXC P L D 38 A (work mounting range) φ φ6 Base mounting hole cross section * L A P BXC 1X30 1X 2X 2X D E

20 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 types of assembly units. Model Type Single Axis Unit XY Unit XY Table DS- X Machine Name (X-1~4) DS- XY Machine Name (XY-1~4) DS- XY-T Machine Name (XY-T~T2) X-axis stroke Y-axis stroke X-axis stroke Y-axis stroke Y-axis stroke 20

21 DS Dynamic Series DS Aluminum Base Assembly Unit Product Structure Single Axis Unit X-1 X-2 DS-SA5 -~400 DS-SA5 -~400 X-3 DS-SA6 -~600 X-4 DS-SA6 -~600 Single Axis Unit XY-1 XY-2 X: Axis DS-SA5 -~400 Y: Axis DS-SA4 -~0 X: Axis DS-SA5 -~400 Y: Axis DS-SA4 -~0 XY-3 X: Axis DS-SA6 -~600 Y: Axis DS-SA5 -~1 XY-4 X: Axis DS-SA6 -~600 Y: Axis DS-SA5 -~1 XY Table XY-T XY-T2 X: Axis DS-SA5 -~400 Y: Axis DS-SA4 -~1 X: Axis DS-SA6 -~600 Y: Axis DS-SA5 -~200 21

22 DS Single Unit X-1 Slider Payload Guidelines (kg) Actuator DS-SA5H DS-SA5M DS-SA5L 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 1 set Cable track rail 1 set Slide bracket 1 Cable track bracket 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 C , 1, 2, B DS-SA5* *** (75) A A B C

23 DS Single Unit DS Dynamic Series X-2 Slider Payload Guidelines (kg) Actuator DS-SA5H DS-SA5M DS-SA5L Kit Components 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. Cable track 1 set Slide bracket 1 Cable track bracket 1 Mounting base 1 set *Nuts, bolts for mounting are included. X-2 Mechanical Drawings 2-φ DS-SA5*-***

24 DS Single Unit X-3 Slider Payload Guidelines (kg) Actuator DS-SA6H DS-SA6M DS-SA6L 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 1 set Cable track rail 1 set Slide bracket 1 Cable track bracket 1 *Nuts, bolts for mounting are included X-3 Mechanical Drawings 6-φ6, M5 counter sink D 23.5 C , 1, 2 3, 4, (Cable track fixed end Mounting location) Track rail Motor side B 1 70 D-Area Details (55) A , 1 2, 3 4, 5 0, , 400 0, 600 DS-SA6*-*** A B C

25 DS Single Unit DS Dynamic Series X-4 Slider Payload Guidelines (kg) Actuator DS-SA6H DS-SA6M DS-SA6L Kit Components 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. Cable track 1 set Slide bracket 1 Cable track bracket 2 Mounting base See table below*` *Nuts, bolts for mounting are included. X-4 * 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. mm X-4 Mechanical Drawings Quantity Setting according to stroke φ DS-SA6*-*** 25

26 XY-1 DS XY Unit Y Axis Slider Payload Guidelines (kg) X Axis YAxis Actuator DS-SA4H DS-SA4M DS-SA4L YAxis (mm) DS-SA5H-~ DS-SA5M-~ DS-SA5L-~ 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 1 set Track rail 1 set Slide base 1 Track rail 1 Mounting frame (nuts for actuator mounting plate included) 1set * Nuts, bolts for mounting are included XY-1 Mechanical Drawing X-stroke X-stroke, 1, 2, DS-SA5*-*** 2-φ3H depth 6 4-M3 depth 7 DS-SA4 *-*** Y-stroke+5 (75) X-stroke Y-stroke X-stroke Y-stroke X-stroke

27 XY-2 DS XY Unit DS Dynamic Series Y Slider Payload Guidelines (kg) X Axis YAxis Actuator DS-SA4H DS-SA4M DS-SA4L YAxis (mm) DS-SA5H-~ DS-SA5M-~ DS-SA5L-~ 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 1 set Track rail 1 set Slide base 1 Track rail 1 Mounting frame (nuts for actuator mounting plate included) 1 set * Nuts, bolts for mounting are included XY-2 Mechanical Drawings X-stroke X-stroke, 1, 2, DS-SA5*-*** 7 Y-stroke+ DS-SA4*-*** 29 Y-stroke (40) X-stroke Y-stroke X-stroke M3 depth 7 2-φ3H depth X-stroke

28 XY-3 DS XY Unit Y Axis Slider Payload Guidelines (kg) X Axis YAxis Actuator DS-SA5H DS-SA5M DS-SA5L YAxis (mm) DS-SA6H DS-SA6M DS-SA6L 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 1 set Cable track rail 1 set Cable track bracket 1 Mounting frame See table below* Slide base 1 set * Nuts, bolts for mounting are included * 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. XY-3 mm XY-3 Mechanical Drawing Quantity A X-stroke X-stroke, 1, 2 3, 4, 5 (Cable track fixed end Mounting location) Cable rail Motor side X-stroke, 1, 2 3, 4, 5 X-stroke 0, 200, , 0, 600 A-Area Details 2-φ4H depth 9 4-M4 depth 9 26 Y-stroke+130 DS-SA5*-*** (55) X-stroke X-stroke Y-stroke Y-stroke B X-stroke

29 XY-4 DS XY Unit DS Dynamic Series Y Slider Payload Guidelines (kg) X Axis YAxis Actuator Kit Components DS-SA5H DS-SA5M DS-SA5L YAxis (mm) DS-SA6H DS-SA6M DS-SA6L 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. Cable track 1 set Cable track rail 1 set Cable track bracket 1 Mounting frame See table below* Slide base 1 Mid-Plate 1 * Nuts, bolts for mounting are included * 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. XY-4 mm XY-4 Mechanical Drawings Quantity A X-stroke S-stroke, 1, 2 (Cable track fixed end Mounting location) Cable rail Motor side 58 5 X-stroke, 1, 2 3, 4, 5 X-stroke 0, 200, , 0, 600 A-Area Details DS-SA5*-*** Y-stroke X-stroke Y-stroke+228 (55) Y-stroke X-stroke M4 depth 9 2-φ4H depth X-stroke B Setting according to stroke

30 DS XY Table XY-T Y Axis Slider Payload Guidelines (kg) X Axis YAxis Actuator Kit Components DS-SA4H DS-SA4M DS-SA4L YAxis (mm) DS-SA5H ~ DS-SA5M ~ DS-SA5L~~ Cable track 1 set Cable track rail 1 set Cable track bracket 1 Cam follower unit 1 set Mounting plate 1 set Slide base 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, 1, 2, 3 52 DS-SA5*-*** φ DS-SA4*-*** Y-stroke+5 99 A-Area Detail X-stroke, 1, 2, 3 (75) X-stroke Y-stroke Y-stroke 3.5 B A

31 DS XY Table DS Dynamic Series XY-T2 Y Slider Payload Guidelines (kg) YAxis Actuator DS-SA5H DS-SA5M DS-SA5L YAxis (mm) X Axis DS-SA6H DS-SA6M DS-SA6L Kit Components Cable track 1 set Cable track rail 1 set Cable track bracket 1 Cam follower unit 1 set Mounting plate 1 set Slide base 1 * Nuts, bolts for mounting are included 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). XY-T2 Mechanical Drawings A X stroke X-stroke, 1, 2 3, 4, 5 58 DS-SA6*-*** 2-φ4H dep 4-M4 depth 26 Y-stroke , 1, 2, 3, 4, 5 (Cable track fixed end Mounting location) A-Area Details Cable track Motor side 0, , 400, 0, 600 DS-SA5*-*** X-stroke, 1, 2 3, 4, 5 C-Area Details (55) Y-stroke X-stroke Y-stroke B C X-stroke Y-stroke

32 Using the DS Assembly Unit: 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. Because there is one controller per axis, the system will use point to point control from a PLC or other external device. Cable Hose (option) Model Type: CBH-0 (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. Cable Hose Kit components Cable hose (1m/1.3m) 1 Wire 1 Cable hose bracket 2 Cable hose connector 2 Cable hose hexagon nuts 2 Allen head bolts M6x20 1 Hexagon nuts M6 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. We have connector cables available so please inquire about these if necessary Cable hose (ø21.2xø16.8) Allen head bolt M6X ø1.6 Wire 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

33 DS-S-C1 DS Controller DS Dynamic Series 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

34 1. Specifications Item Description P ower Voltage DC24V±% P ower Current 24W Rated/1A (Maximum 48W) Ambient Temperature & Humidity Operating Environment Isolation Resistance Temperature: 0~40 C Humidity 85% RH or less Free of corrosive gas, no excessive dust 0V MΩ or more 2. Type Unit Weight 560g Description Model Safety Features Motor Control Functions Memory Capacity Memory Device Driver alarm (Motor excess current: Excess voltage Driver temperature check) Overload Check, software limit check AC Servo Motor 20W Multi-task Control Super SEL Controlle r Total: 00 steps, 0 positions COMS RAM Battery Backup N umber of programs 32 programs, Multi-task function (maximum of 8 programs) Controller Main Body DS-SC1 Teaching Pendant (Option) PC Software Spare parts DS-S-T1 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 Input/Output (DC24V) Non-insulated Data Input Method Communication Dedicated inputs: 8 (PRG No. 1, 2, 4, 8,, 20) Dedicated inputs: 1 (START) User inputs: 15 Dedicated outputs: 2 (Ready, ALARM) User outputs: 6 Teaching Pendant or RS232 Communicatio n EIA RS232 Standard Asychronou s R emote Update Functions Software update (via network or floppy disk) 3. External Dimensions Controller DS-S-C1 9 Teaching Pendant DS-S-T R2.5 4 CONTROLLER CODE READY ALARM BAT BRAKE RELEASE NORMAL TEAING/ RS232 PORT φ5 139 ON OFF PORT IAI Corporation

35 o 1 4. Connecting Method DS Dynamic Series Teaching Pendant (Option) DS TEACHING BOX F1 F2 F3 F4 * You may not use other types of cables. RS232 Cable* (5m) is included in the PC Software CONTROLL 2m CODE BRAKE RELEA NORMA READY ALARM BAT. Emergency Stop SW Box TE RS2 PC Software (Option) ON Controller OFF PORT IAI Corporation BKPOWER EMG MPG N 24V 5m Servo Actuator POWER EMG N 24V POWER MITUBISHI MITUBISHI INPUT OUTPUT 24V Power Over 2A EMG SW External Device 2m 35

36 5. Part Names and Function (1) Part Names Suitable power line Usable power line range Standard line length Solid wire (AWG 16) Standard wire 1.25mm 2 (AWG 16) Solid wire φ0.4 (AWG 26)~ φ1.2 (AWG 16) Standard wire 0.3mm 2 (AWG 22)~1.25mm 2 (AWG 16) Standard diameter φ0.18 or greater mm 36 Suitable tool for button operation Slot screwdriver (axis diameter φ3, width of tip 2.6)

37 (2) Function CODE display LED display Brake release switch This is a 3-digit display device that indicates the operating status of the controller. 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. RELEASE: The brake is released. NORMAL: The brake is ON. (This is the normal setting) DS Dynamic Series 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 Motor Encoder connector This is the connector for connecting the actuator brake... This is the connector for connecting the actuator motor encoder. I/O connector Ground terminal block Power and emergency stop terminal block This is the connector for connecting other devices such as a sequencer. This is the M3 screw for the ground connection. 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

38 ) 6. I/O Interface Standard NPN (Sinking) Program Mode Terminal Block (4pin) Pin No. Signal Name 1 N 2 24V 3 24V I/O Connector (34 pin) 4 EMG SW EMG SW Pin No. 1A P24 1B S ection Port No. Function External current + 24V in out PRG No. 1 Input 2A PRG No. 2 Inpu t 2B PRG No. 4 Inpu t 3A PRG No. 8 Inpu t Digital SW 3B PRG No. Inpu t 4A PRG No. 20 Inpu t 4B 5A CPU Reset 5B 000 External Start Inpu t 6A 001 User Inpu t 6B 002 User Inpu t 7A Input 003 User Inpu t 7B 004 User Inpu t 8A 005 User Inpu t 8B 006 User Inpu t 9A 007 User Inpu t 9B 008 User Inpu t A 009 User Inpu t B 0 User Inpu t A 0 User Inpu t B 012 User Inpu t 12A 013 User Inpu t 12B 014 User Inpu t 13A 015 User Inpu t 13B 300 Alarm Output 14A 301 Ready Output Note: PRG = Program = No Contact 14B 302 User Output 15A 303 User Output Output 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

39 ) Standard NPN (Sinking) Position Mode Terminal Block (4pin) Pin No. Signal Name 1 N 2 24V 3 24V DS Dynamic Series I/O Connector (34 pin) 4 EMG SW EMG SW Pin No. S ection Port No. Function 1A P24 1B External current + 24V in out 2A 2B 3A 3B 4A 4B 5A CPU Reset 5B 000 External Start Inpu t 6A 001 Hold Inpu t 6B 002 7A Input 003 7B 004 Position No. 1 Inpu t 8A 005 Position No. 2 Inpu t 8B 006 Position No. 4 Inpu t 9A 007 Position No. 8 Inpu t 9B 008 Position No. Inpu t A 009 Position No. 20 Inpu t B 0 Position No. 40 Inpu t A 0 Position No. 80 Inpu t B 012 Position No. 0 Inpu t 12A 013 Position No. 200 Inpu t 12B 014 Position No. 400 Inpu t 13A B 300 Alarm Output 14A 301 Ready Output 14B 302 Position Completion Output 15A 303 Output 15B 304 Note: = No Contact 16A B A B N24 External Current OV OV 24V * This is a sample wiring diagram. 39

40 External Input Circuit Item Specificatio n E xternal Power Voltage DC24V ± % Input Current ON/OFF Voltage Insulation External Connection Device 7mA 1 circuit ON voltage... Min DC 18.0V OFF voltage... Max DC 6.0V Non-insulate d 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 Load Voltage Item DC24V Specificatio n M aximum Load Current 0mA / 1 point 400mA peak (all current ) Leakage Insulation Current External Connection Device Max 0.1mA / 1 point Non-insulate d 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

41 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 Data Input OR Move command, I/O control and programming area (variable computing) Position Data Application program Program Mode 41

42 8. Position Mode (1) Operation Supply Power Pin No. 1A P24 1B S ection Port No. Function External current + 24V in out Cable Color 1-Brown 1-Red 2A 2B 3A 1-Orang e 1-Yello w 1-Green 1 DS-S-C1 READY Signal output 3B 1-Blue 4A 1-Purple 4B Reserve 5A CPU Reset 1-Gray 1-White 2 External device Input external start 5B 000 External Start Inpu t 6A 001 Hold Inpu t 6B Black 2-Brown 2-Red 2,5 7A Input 003 7B 004 Position No. 1 Inpu t 2-Orang e 2-Yello w Start Homing 8A 005 Position No. 2 Inpu t 8B 006 Position No. 4 Inpu t 2-Green 2-Blue 3 DS-S-C1 Upon completion, output complete signal 9A 007 Positon No. 8 Inpu t 9B 008 Positon No. Inpu t A 009 Position No. 20 Inpu t B 0 Position No. 40 Inpu t 2-Purple 2-Gray 2-White 2-Black 4 A 0 Position No. 80 Inpu t 3-Brown B 012 Position No. 0 Inpu t 12A 013 Position No. 200 Inpu t 3-Red 3-Orang e 12B 014 Position No. 400 Inpu t 3-Yello w 4 5 External device External device Input position number Input external start 13A B 300 Alarm Output 14A 301 Ready Output 14B 302 Positioning Complete Output 15A 303 Output 15B A Green 3-Blue 3-Purple 3-Gray 3-White 4-Black 4-Brown 1 3,6 6 DS-S-C1 Move to position number Upon completion, output complete signal 16B A B N24 External Current OV 4-Red 4-Orang e 4-Yello w Standard NPN (Sinking) 42

43 DS Dynamic Series (2) I/O Port Port No. Functions 000 External Start Inpu t 001 Hold Inpu t 002 ~ 003 C PU Reset Input Restarts the controller. 004 Position No. 1 Inpu t 005 Position No. 2 Inpu t 006 Position No. 4 Inpu t 007 Position No. 8 Inpu t 008 Position No. Inpu t 009 Position No. 20 Inpu t 0 Position No. 40 Inpu t 0 Position No. 80 Inpu t 012 Position No. 0 Inpu t 013 Position No. 200 Inpu t 014 Position No. 400 Inpu t Explanation As the moment input turns ON, the actuator moves to the designated position. When this stop. 002~003 mode. turns ON, the actuator decelerates to a changes to during the positioning 015 N C 015 changes to during positioning mode. 300 Emergency Stop / Alarm Output This turns ON during an emergency stop or when an error occurs. 301 R eady Output This turns ON when the controller is ready. 302 P ositioning Complete Output This turns ON once positon move is complete. 303 ~ 307 units 1 units 2 units 004~014 are used as BCD codes to designate the position no. The moment input port 000 (external start input) turns ON, the actuator moves to the designated position. Homing is performed when there is no position number designation. N C 303~307 changes to during positioning mode. 43

44 (3) Timing of each signal 1. Starting Timing for each signal Ready Output T1: The time from the READY signal ON to homing start input ON. T1min = ms P-End Output External Start Input Homing Start T1 T3 T2 T2: The time from the external start signal ON to the P-End signal OFF. T2max = 15ms T3: The time from the P-End signal ON to when the external start signal input can be entered. Position No. Input T3min = ms 2. Timing for Position No. Switching Note: Please do not input Position No. Input and External Start Input at the same time. Position 1 Position 2 A B A: Position 1 execution start B: Position 2 execution start Moving 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

45 9. Program Mode DS Dynamic Series (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 Pin No. S ection Port No. Function Cable Color 1A P24 External current + 24V Inpu t 1-Brown Supply Power 1B PRG No. 1 Input 2A PRG No. 2 Inpu t 2B PRG No. 4 Inpu t 1-Red 1-Orang e 1-Yello w 2 3A PRG No. 8 Inpu t 1-Green 3B PRG No. Inpu t 4A PRG No. 20 Inpu t 1-Blue 1-Purple 4B Reserve 1-Gray 1 DS-S-C-1 READY Signal Output 5A CPU Set Inpu t 5B 000 External Start Inpu t 1-White 1-Black 3 6A 001 User Inpu t 2-Brown 6B 002 User Inpu t 7A Input 003 User Inpu t 2-Red 2-Orang e 2 External device Input Program No. XX 7B 004 User Inpu t 8A 005 User Inpu t 8B 006 User Inpu t 2-Yello w 2-Green 2-Blue 9A 007 User Inpu t 9B 008 User Inpu t 2-Purple 2-Gray 3 External device Input External start A 009 User Inpu t B 0 User Inpu t A 0 User Inpu t 2-White 2-Black 3-Brown B 012 User Inpu t 3-Red 12A 013 User Inpu t 3-Orang e 12B 014 User Inpu t 13A 015 User Inpu t 3-Yello w 3-Green Start Program No. XX 13B 300 Alarm Output 14A 301 Ready Output 3-Blue 3-Purple 1 14B 302 User Output 3-Gray 15A 303 User Output Output 15B 304 User Output 3-White 4-Black 16A 305 User Output 4-Brown 16B 306 User Output 4-Red 17A 307 User Output 4-Orang e 17B N24 External Current OV Standard NPN (Sinking) 4-Yello w 45

46 ~ ~ (2) I/O Port Chart Port No. Function PRG No. 01 PRG No. 02 PRG No. 04 PRG No. 08 PRG No. PRG No. 20 Reserve units Designated BCD inputs for start program. 1 units C PU Reset Input Restarts the controller. Explanation The moment input port 000 (external start input) turns ON, the designated program is executed. 000 E xternal Start Inpu t At the moment input turns ON, the designated program is executed U ser Input The user can use this input as he chooses. 300 E mergency Stop / Alarm Output This turns ON during an emergency stop or when an error occurs. 301 R eady Output This turns ON when the controller is ready U ser Output The user can use this output port as he chooses. (3) Timing of each signal Note: Homing is executed within the program. 1. Start Program No. Input Program 1 T1: The time from when the READY output turns ON until the external start signal can be input. T1min = 30ms T2: The time from the program number is input until the external start signal can be input. External Start Input T2 T2min = 30ms T3: The time from the input of the external start signal. T1 T3 T3min = 30ms 2. Timing of motion using the hold signal Actuator movement Decelerated to a stop Movement start 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. 46