linear servo actuator

www.intelligentactuator.com

Linear Servo Actuator

NOTE: Some images in this PDF version of the catalog have been modified to reduce download time.

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SYSTEM CONFIGURATION

Follow these steps to configure the linear servo actuator system:

STEP

Selection ofcontroller type

Connection betweenactuator and controller

Connection betweencontroller and PLC

Data entry tocontroller

Connection tofield network

DESCRIPTION

Choose either the X-SEL (high-function type) controller or E-Con (positioner type) controller.

A standard three-meter (or five-meter) cable is provided for connecting the actuator andcontroller. (The length is determined by the type of actuator used.)

Use the PIO flat cable (two meters, connector not attached) provided with the controller toconnect the controller and any external device such as a PLC.

An optional teaching pendant or PC software is needed to enter programs and position data inthe controller.

When connecting the actuator to a field network, select a specification that supports theapplicable network.

REFERENCE PAGE(S)

Encoder cableType CB-RCBC-PA030-RB(3m cable comes standardwith actuator)

PIO flat cable (2 m)Type CB-RCBC-PIO020 (E-Con) CB-X-PIO020 (X-SEL)(Supplied with the controller)

Motor cableType CB-RCC-MA030-RB(3m cable comes standard with actuator)

5 m

5 m (E-Con)4 m (X-SEL)

*Connector not attachedt

PLC (provided by customer)

X-SEL

E-Con

AC power supplySingle-phase 100 V

AC power supplySingle-phase 100 VSingle-phase 200 V

PC connection cable (5 m)Type CB-RCA-SIO050 (E-Con)

CB-ST-E1MW(CW)050 (X-SEL)(Supplied with the PC software)

PC software (Optional)Type RCA-101-MW (E-Con)

IA-101-X-MW (X-SEL)*PC unit not included

CONTROLLER OPTIONS

CABLES

NAMETYPE

NAMETYPE

(*1)(*1)

(*2)

Teaching pendant

Teaching pendant (deadman switch specification)

PC software (DOS/V)

PC software (PC-98)

Motor cable

Encoder cable

PIO flat cable

PC connection cable

*2 The PC software for the E-Con controller comes with a cable (CB-RCA-SIO050) and a conversion adapter (RC-ADP-MW).

(25-pin 9-pin)

(25-pin 25-pin)

(Cable)

(PC-end adapter)

Teaching pendant (Optional)Type RCA-T/TD (E-Con)

IA-T-X/XD (X-SEL)

Connectornot attached

Connectornot attached

TYPES

UV

COLORRGREEN

RED

WIRE SIZE

0.75.sq

No.1234

NCONECTIONC

0.75.sq

No.1

ACTUATOR TYPE

CONTROLLER TYPE

Actuator type Controller type Controller option type(s) (only when applicable; see table at bottom of opposite page)

When ordering a linear servo actuator, please specify the types of the threecomponents listed below:

Series nameLS Series

Actuator type L : Large(Actuator size) S : Small

Motor output L : 300 WS : 150 W

Stroke L : 136 to 1576 mm (144-mm pitch)S : 120 to 1560 mm (120-mm pitch)

Controller L1 : X-SELtype E1: E-Con *Select the controller type to be used.

Encoder type I : Incremental encoder

Cable length S : 3 m (Standard)M : 5 mX : Specify length. (Enter an applicable length in up to 10 m. Example) X07 : 7 m

Option (Blank) : Without cable trackCT : With cable track

1. Position controller (See page 12 for details.) 2. High-function controller (See page 14 for details.)

Series name

Encoder type

Motor output Network Power-supplyvoltage

Series name

Controller Type

Numberof axes

Network Power-supplyvoltage

Motoroutput

CABLES

Motor Cable Type Encoder CableType

* Enter an applicable cable length (L) in up to 10 m. Example) 080 = 8 m

*

*Example) 080 = 8 m

*

Controller side

Machine side

Machine side

Type

--

-

RED18

(Crimped)

WIRE SIZE

0.15 sq(Crimped)

-

WIRE SIZE

COLORBROWN1

RED1ORANGE1YELLOW1GREEN1BLUE1

PURPLE1GRAY1WHITE1BLACK1

BROWN-2RED2

ORANGE2YELLOW2GREEN2BLUE2

PURPLE2

No.12

4567

910

12

1415

17

WIRE SIZE

Flat cablepressure-welded

COLORGRAY2WHITE2BLACK2

BROWN-3RED3

ORANGE3YELLOW3GREEN3BLUE3


BROWN-4RED4

ORANGE4YELLOW4

No.1819202122232425262728293031323334

BLACK4BROWN-5

RED5ORANGE5YELLOW5GREEN5BLUE5


4041424344454647484950

WIRE SIZE


WIRE SIZE


SIGNALCOM-OACOM-OACOM-OBCOM-OB

NCNCNCNC

TRAVELINGPM32

COLORBROWN-1

RED-1ORANGE-1YELLOW-1GREEN-1BLUE-1

PURPLE-1GRAY-1WHITE-1BLACK-1

No.12345678910

SIGNAL/EMGPM16/ALMPM8

ZONEPM4ZFINPM2PFINPM1

COLORBROWN-2



No.11121314151617181920

SIGNALCOM-1ACOM-1ACOM-1BCOM-1B

NCNCNCNCNC

PM32

COLORBROWN-3



No.21222324252627282930

SIGNALNC

PC16/ILKPC8

SVONPC4

RESETPC2

CSTRPC16

COLORBROWN-4



No.31323334353637383940

5

tfta td

t tfta

t

td

FfFa

Fd

Speed

TimeTime

MODEL SELECTION METHOD

Condition The required thrust for acceleration must not exceed the maximum thrust of the linear servo actuator. must not exceed 0.6 times the rated thrust of the linear

servo actuator.

The above conditions are explained in the exampletrapezoidal operation below:

The operation pattern shown at left can be modified as belowwhen thrust is expressed by the vertical axis:

Thrust

Abbreviations:t : Operation time per cycle (s)ta : Acceleration time (s)tf : Travel time at constant speed (s)td : Deceleration time (s)tc : Settling time (0.15 s)

Abbreviations:Fa : Required thrust for acceleration (N)

Fd : Required thrust for deceleration (N)

Condition Maximum thrustFor the slider to accelerate as specified, the required thrust for acceleration Fa must be smaller than the maximum thrust of the linear servo actuator.The maximum thrust of the linear servo actuator varies, depending on the slider speed. Exercise caution when operating in the high-speed range where the maximum thrusttends to drop. (See the diagrams of F-N characteristics duringcontinuous operation, as shown on the opposite page.)

Fa is calculated through the following formula:

Fa = (M + m) a + Ff

M : Slider weight (4.3 kg with the large type, 2.3 kg with thesmall type)

m : Slider capacity (kg)a : Specified acceleration (m/s2)*Ff: Frictional force (N)

With the linear servo actuators, the travel resistance changes in accordance with the slider speed and is calculated by the empirical formulas shown below:

Travel resistance for the large type

V: Slider speed (m/s)

Travel resistance for the small type

V: Slider speed (m/s)

Condition is deemed satisfied if the value of Fa obtainedabove is smaller than the maximum thrust of the linear servoactuator.

Condition Thrust during continuous operation Confirm that the thrust during continuous operation Ft, which takes into account the applicable load and duty, is less than 0.6 times the rated thrust of the linear servoactuator. Calculate Ft through the following formula:

Here, Fd indicates the required thrust for deceleration andis calculated using the formula below:

Fd = (M + m) d - Ff

M : Slider weight (4.3 kg with the large type, 2.3 kg with the small type)m : Slider capacity (kg)d : Specified deceleration (m/s2)Ff: Travel resistance (N)

If the obtained thrust during continuous operation Ft is less than 0.6 times the rated thrust of the linear servo actuator (60 N with the large type, 40 N with the small type), the above operation can be performed.

The linear servo actuator will perform the operation as long as both conditions and are satisfied. If either condition cannot be satisfied, take appropriate measures such as reducing the slider capacity, decreasing the acceleration rate or lowering the payload.

*1G = 9.8 m/s2

503Ff = V

603

Ft =

Selection Criteria

Ft = 58.45 N

350

300

250

200

150

100

50

00 1000 2000 3000

300

350

250

200

150

100

50

00 1000 2000 3000

ta tf td

t

ta tf td

t = 1.5

V

T

Condition Obtain the maximum thrust.Apply the above operation pattern in the calculation formulafor maximum thrust as provided above.

Values Used:

M : Slider weight (4.3 kg with the large type)m : Slider capacity (kg) 3 kg in this examplea : Specified acceleration (m/s2) 19.6 m/s2 in this exampleFf : Travel resistance (N) 50 N in this example

Fa = 7.3 x 19.6 + 50 = 193.08 NBecause the maximum thrust of the large type operating at3000 mm/s is approximately 150 N, as shown by the thrust vs.speed diagram, the maximum thrust condition is not met.

To meet the condition, the slider speed is reduced to 2000mm/s.Fa is now calculated as follows:Fa = 7.3 x 19.6 + 33.33 = 176.41 NBecause the maximum thrust of the large type operating at2000 mm/s is approximately 220 N, as shown by the thrust vs.speed diagram, the maximum thrust condition is met.

Condition Obtain the thrust during continuous operation.Apply the above operation pattern in the calculation formulafor thrust during continuous operation as provided above.The slider speed is assumed as 2 m/s, based on the testresults for maximum thrust.

Values Used:Fa = 176.41, Ff = 33.33, Fd = 109.75,ta = td = 0.102 s, tf = 0.648 s, t = 1.002 s (including a settling time of 0.15 s)

From the values above, Ft is calculated as follows:

Because the obtained value exceeds 0.6 times the rated thrust of the large-type linear servo actuator, or 60 N, this operation pattern cannot be executed.

Let's lower the payload slightly.When calculation is performed again based on t = 1.5 s(including a settling time of 0.15 s), the following result isobtained:

Fa = (M + m) a + Ff

Ft = 71.51

F-N characteristics during continuous operation(Generated motor thrust with IAI's large-type linear servo actuator)

Slider speed (mm/s)

Slider speed (mm/s)

F-N characteristics during continuous operation(Generated motor thrust with IAI's small-type linear servo actuator)

Now, let's perform calculation by following the stepsin the selection method.

The operation pattern can thus be executed.

MaximumthrustRated thrust

MaximumthrustRated thrust

[Example]Let's select a motor based on the selection methodexplained above.

Selecting the motor: For large-type linear servo actuatorOperating condition

: 3 m/sAcceleration : 19.6 m/s2 (same value for deceleration)Travel distance : 1.5 mSlider capacity : 3 kgOperate the slider back and forth continuously over a strokeof 1.5 m.

*1G = 9 .8 m/s2

Speed

Time

Ft =

STROKELA

CDEF

120472452

1

4210202

240592572

410122

360712692

3528

61042

480832812

172

610162

600952

92

81082

72010721052

810202

84011921172

1010122

96013121292

65214

121042

172

1210162

120015521532

79216

141082

132016721652

1410202

144017921772

1610122

156019121892

95220

181042

LS-S-150- - -I- -mmW

mm/sec

mmkg

kgw

N• •

mm

120 240 360 480 600 720 840 960 1080 1200 1320 1440 1560

12.1 14.2 16.3 18.4 20.5 22.6 24.7 26.8 28.9 31.0 33.1 35.2 37.3

1503000

67

Optical incremental encoderpBuilt-in linear guideg

Special aluminum extruded material (A6N01S-T5 or equivalent) with black alumite treatmentp ( q )

Special aluminum extruded material (A6N01S-T5 or equivalent) with black alumite treatment( )Stainless201 (20.5)( )

2.5

)

82.5

(C)B X 200P ( )

(F)( )E

60

5

(165

)(

)

590

165

90

68.1

160

94

8

63

190

L

10 A

1

6

Mb

Ma

Mb, Mcdirection M directio

Mc

Small-Type Linear Servo Actuator

TypeActuator

typeMotoroutput

Stroke Controllertype type

Cablelength

Option

Stroke

pMaximum speedpp

Weightgggg

EncoderGuideBaseSliderSide coverStainless sheet

Maximum load capacity (*2, *3y )Load moment (*2, *4)

Overhang load length L (*5)

Ref

eren

ce n

otes

on

perf

orm

ance

lim

its

*1 Allowable value over three seconds in the stationary state.*2 The load on the slider must be uniformly distributed. Secure the base to a smooth, rigid frame.*3 Based on 2 G (acceleration), 2000 mm/s (speed), 1000 m (travel distance) and 50% (duty).*4 See the figures below for the directions of load moments.*5 When the center of gravity of the installed object is loca at the halfway point of the overhang.

SE : Stroke endME: Mechanical endThe slider moves to the MEduring homing. Please becareful of contact withsurrounding objects.

Dimensions

Membrane grommetOrigin

D-M8 depth 20

8-M6 depth 15

2-8H10 reamer depth 5

M. E. S. E. M. E.

STROKEL

BCDE

136516

2786

400

280660

2

6400

424804

3

8600

568948928

411010800

7121052

5

121000

8561236

5

121000

10001380

6

141200

11441524

7

161400

12881668

723016

1400

1432

181600

157619561936

911820

1800

LS-L-300- - -I- -136 280 424 568 712 856 1000 1144 1288 1432 1576

16.2 19.0 22.0 24.8 27.7 30.5 33.4 36.3 39.1 42.0 44.8

3003000

100 (10.2)

Optical incremental encoderpBuilt-in linear guideg

Special aluminum extruded material (A6N01S-T5 or equivalent) with black alumite treatmentp ( q )Special aluminum extruded material (A6N01S-T5 or equivalent) with black alumite treatmentp ( q )Special aluminum extruded material (A6N01S-T5 or equivalent) with black alumite treatmentp ( q )

Stainless300 (30.6)( )

5

Ma: 84.75 Mc: 84.75 (8.6)

(96.

5)(

)96

.5

(C)( )E38

5

85.6

(193

)(

)

193

(C)( )38

260

185

L1010 A

121

99

56

120

5

Mb

Ma

Mb, Mcdirection M directio

Large-Type Linear Servo Actuator

TypeActuator

typeMotoroutput

Stroke Controllertype type

Cablelength

Option

Stroke

GuideBase

Side cover

Load moment (*2, *4)

(*5)

*1 Allowable value over three seconds in the stationary state.*2 The load on the slider must be uniformly distributed. Secure the base to a smooth, rigid frame.*3 Based on 2 G (acceleration), 2000 mm/s (speed), 1000 m (travel distance) and 50% (duty).*4 See the figures below for the directions of load moments.*5 When the center of gravity of the installed object is locat at the halfway point of the overhang.


Dimensions

S


Membrane grommetgOrigin 2-8H10 depth 10

D-M8 depth 20

8-M8 depth 20p

mmW

mm/sec

mmkg

kgw

N· ·m)

mm

B X 200P

M. E. S. E. M. E.

Type LS-S-150- - -I- -CT

STROKELABCDEF

120472452

1212

4210202

2132

6

122

3528

42

480832812

3172

8610162

600

49210

82

720

421210

810202

513212

122

65214

42

1080

617214

162

792

721216

202

1440

813218

122

1560

95220

42

STROKELABCDE

136516496

2786

400

280660640

2

6400

424804784

3

8600

568948928

4

10800

71210521072

5

121000

85612361216

519812

1000

100013801360

6

141200

114415241504

78616

1400

128816681648

7

161400

143218121792

8

181600

157619561936

911820

1800

82

0.5

4.9

(C)( )

(F)( )E

60

190

165

90

68.1

16094

73

63

19012090

L

9

6

TKP00180-2B-R2896

108

(96.

5)(

)

E

260

85.6

(193

)(

)

(C)( )38

85 854025

60

185

L1010

B X 200p

121

99

612

0

Type LS-

S. E. M. E.M. E.

Stroke Controllertype

Cablelength

Stroke Controllertype

Cablelength

Dimensions

SE : Stroke endME: Mechanical end

operation is executed, theslider will move to the ME.Be careful not to let the slidercontact the surrounding parts.


Membrane grommet

Membrane grommet

Cable carrier by TsubakiOrigin

Stroke

D-M8 depth 20

8-M8 depth 20


2-8H10 depth 10p

Cable Carrier Specification for Small-Type Linear Servo Actuator

DimensionsCable Carrier Specification for Large-Type Linear Servo Actuator

B X 200pp

D-M8 depth 20


KP00180-2B-R28

M. E.M. E.ble carrier by Tsubaki

Origin

8M6 depth15

2-6H10 depth 8

Stroke

Either the E-Con (positioning) controller or X-SEL (high-function) controller can be selected for use with the linear servoactuator.

The E-Con controller stores a desired position and moves the slider to that position when a corresponding position numberis specified (entered) and the start signal is input.

The X-SEL controller controls the linear actuator operation as well as peripherals (I/O levels), based on programs entered(SEL language). It can also simultaneously control up to four axes of linear servo actuators and/or Intelligent Actuator's other motorized actuators.

Application/Condition Use an E-Con controller

Want to use a PLC to perform controlNumber of positioning points is 64 or lessWant to ensure easy operation without using programsWant to minimize cost

Application/Condition Use an X-SEL controller

PLC not usedWant to set as many positioning points as possibleWant to control peripherals using a linear controllerWant to synchronize with other motorized actuatorsWant to operate two to four linear actuator axes using a single controller

1 axis

64 points

Not available

10 dedicated input points,

12 dedicated output points

Specification of position number via I/O signal

E-Con X-SEL

CONTROLLER

Number of controlled axes

Number of positioning points

Simple sequencing function

Program capacity

Multitasking

Number of I/O points

Operation method

E-CON POSITIONING CONTROLLER

1. Ideal for operating IA Series high-performance single-axis robotsThe E-Con controller can operate the various actuators in the IA Series.

2. Easy positioning to a maximum of 64 points All that is needed is to store desired positions as position data and specify the corresponding position numbers from a PLC, etc. There is no need to

create complex programs.A maximum of 64 positions can be set.

Storing Positions - Use any of the following 3 methods:

3. Wide-ranging functionsThe E-Con controller provides various functions in addition to the normal positioning function.Different application needs can be answered by combining the necessary functions.

4. Supporting various field networksThe E-Con controller can be connected to field networks for communication with devices from other manufacturers,which eliminates the need for cumbersome wiring.

1. Pitch feed

The load can be fed at increments of aspecified distance from the current position.By specifying the same distance repeatedly,the load can be fed continuously at thesame pitch without being limited by themaximum number of positioning points.

2. Hold

The slider can be stopped temporarily usingexternal ON/OFF signals. Use this functionto pause the operation or set interlocks inrelation to peripherals.

3. Zone outputA signal is output when the slider enters thespecified range during operation. Use thisfunction to set a danger area or provide aquasi-sensor.

Enter coordinates (mm) directly. Move the slider to a desiredposition via jogging and storethe position where the slider isstopped.

Turn off the servo and manuallymove the slider to a desiredposition, and then store thatposition.

Explanation of Key Functions

The I/O signals to/from the PLC can be transmitted viathe DeviceNet system. Parallel I/O connection simplyrequires a dedicated DeviceNet cable (five-lead cable),which significantly reduces the number of cables andenables remote operation away from the PLC.*DeviceNet is a registered trademark of ODVA.*The controller is treated as a remote I/O terminal on DeviceNet.

The I/O signals to/from the PLC can be transmitted viathe CC-Link system. Parallel I/O connection simplyrequires a dedicated CC-Link cable (four-lead cable),which significantly reduces the number of cables andenables remote operation away from the PLC.*CC-Link is a registered trademark of Mitsubishi Electric Corporation.*The controller is treated as a remote I/O station on CC-Link.

Controller nameEncoder typeMotor outputNetwork typePower-supply voltage

ECONI:300: 300 W (Large) 150:150 W (Small)DV: Device Net/CC: CC-Link/(Blank): Network not supported1:100V/2:200V

ECON-I-300-DV-2

ECON-I- -DV-

ECON-I- -CC-

Motor outputPower-supply voltage (*1)

Power-supply frequencyPower-supply capacity

External dimensions (mm)Weight (kg)Operating temperature/humidityOperating environmentProtection functionsLED indicatorsI/O signals PIO Input

Output

Number of positionsTeaching methodAccessories

290 W

150 W 300 W

490 VA410 W

680 VA

50/60 Hz

88.2 (W) X 194 (H) X 129.1 (D)1.2

Temperature 0 C to 40 C, humidity 85%RH or lessIP10 (free from corrosive gases, etc.)

64 points

PIO flat cable, power connector, EMG connector

Motor overvoltage, motor overcurrent, abnormal driver temperature, encoder error, motor overload, etc.

Termi-BUS communication protocol

Teaching pendant or PC software

RDY (ready), RUN (run), ALM (alarm), ENC (encoder error)

24 VDC input, insulation type, 10 dedicated input pointsStart, command position number (6-bit binary), pause, reset, servo ON

24 VDC input, insulation type, 12 dedicated output pointsCompletion position number (6-bit binary), positioning completion, completion, zone,

emergency stop, alarm, traveling

ITEM SPECIFICATION/DESCRIPTION

DeviceNet Specification

CC-Link Specification

Type

Type

Type

Communication connectorSMSTB2.5/5-ST-5.08AU by Phoenix Contact is supplied.Status LEDMS: Module statusNS: Network status

DIP switches for various settingsNode address (MAC ID) settingTransfer rate setting

Rotary switches for various settingsBaud rate setting, station number setting

tatus LEDRUN/SD/RD/ERR

Communication connectorMC1.5-ST-3.81 by Phoenix Contact is supplied.

Main Specifications

Single-phase 100-115 VAC ±10%Single-phase 200-230 VAC ±10% Single-phase 200-230 VAC ±10%

*For the PNP specification, add " P" at the end.

SIO

Specifications

Type

External Dimensions

I/O Wiring Table

129.1 88.2

5

44.1 5

518

4

194

PIN NO.1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

16

17

18

19

20

SIGNAL NAMECOM-0A

COM-0A

COM-0B

COM-0B

NC

NC

NC

NC

Motion

PM32

/EMG

PM16

/ALM

PM8

ZONE

PM4

ZFIN

PM2

PFIN

PM1

DESCRIPTION

Output port power (*1)

Not used(Do not connect cables.)

In motion outputCompletion position output 32

Emergency stop output (B contact)Completion position output 16

Alarm output (B contact)Completion position output 8

ZoneCompletion position output 4

Return-to-origin completion outputCompletion position output 2Positioning completion outputCompletion position output 1

Output

PIN NO.21

22

23

24

25

26

27

28

29

30

31

32

33

34

35

36

37

38

39

40

SIGNAL NAMECOM-IA

COM-IA

COM-IB

COM-IB

NC

NC

NC

NC

NC

PC32

NC

PC16

/ILK

PC8

SVON

PC4

RESET

PC2

CSTR

PC1

DESCRIPTION

Input port power (*2)

Not used(Do not connect cables.)

Specified position input 32Not used (Do not connect cables.)

Specified position input 16Pause input (B contact)

Specified position input 8Servo ON input

Specified position input 4Reset input

Specified position input 2Start input

Specified position input 1

Input

*2pins 23 and 24 are connected internally.

Teaching Pendant

• Provides all functions required in test operation/adjustment, such as position data entry, test run,

• Basic operations do not require a manual, as position values are easily entered via the dialogue-typeoperation panel.

perform a given operation.

RCA-T (Standard) RCA-TD (W/deadman switch)

PC Software

• Offers wide-ranging functions including jogging, inching, step operation and continuous operation for a dramatic improvement in the system's debugging process.* E-Con controllers cannot use Ver. 3.0.5.2 or earlier. If using PC software Ver. 3.0.5.2 or older, purchase upgrade version (RCA-101-VP).

RCA-101-MW (DOS/V) RCA-101VP(newer version)

Operating temperature/humidityOperating environmentWeightCable lengthDisplay

ITEM° °C, humidity 85%RH or less

Approx. 550 g (including cable)

21 characters x 16 lines, LCD

SPECIFICATION

[Content] • Floppy disks • PC communication cable [Content] • Floppy disks only

External view of incremental specification

Type

Features

Specifications

80

105 32.5 7.5

4.8

CONTROLLER

JI: Small, incrementalKI: General-purpose, incremental

1: 1 axis 3: 3 axes2: 2 axes 4: 4 axes

Network support

DV1 :CC1 to 3:

DeviceNetCC-Link

PR1: Profi Bus

20: 20 W200: 200 W

30: 30 W 300: 300 W 400: 400 W 600: 600 W 750: 750 W

60: 60 W 150: 150 W 100: 100 W

Power-supply voltage1: 100 V 2: 200 V

X-X-X S-S- ESES LELE -L-L KI--KI-3-3- -303-303 0000 -0-01- 501501 -10-10 50-150-1 D-D- VDVD 0-V0-V 2-21

1

7 8

2 3 4 5 6

2 3 4 5 6 7 8

The all-in-one X-SEL controller houses a driver, control unit, and control power supply. All you need to do to get started is toconnect the linear servo actuator to the controller via the motor/encoder cables and supply 100/200V power. Different typesof controllers are available for operating one to a maximum of four axes*. It is also possible to combine different IntelligentActuator product lines to meet the requirements of your application.

*1 The output when maximum axes are connected will vary depending on the model and power-supply voltage. See the specification table for details (page 16).

Small Type

General-Purpose Type

1-axis specification 2-axis specification 3- or 4-axis specification(Only three motor/encoder connectors will beavailable on the 3-axis type.)

1- or 2-axis specification(Only one motor/encoder connector is necessaryfor use with the 1-axis type.)

3- or 4-axis specification(Only three motor/encoder connectors will be available on the 3-axis type.)

*For the PNP specification, add "-P" at the end.Type

Features of Each Model

15

CONTROLLER

4 3 553 10 10 12 13 14

15

16

1113

14

15

17 1881881798762 1716

4

3

11

J Type (Small) K Type (General-purpose)

98

Features

Type

Encoder type

Maximum number of axes

Total output *

I/O expansion

Network support

Power cutoff at emergency stop

NAMEALM

SVONBATT ALMTT ALM

MEANING OF EACH LED WHEN LITDriver has detected an error.Motor is being driven with servo ON.Absolute-encoder battery voltage is low.

COLOR

GreenOrangee

NAME EMG

ENBRDY

Emeergency stop input

Safety gate inputSysttem ready relay output

Operation is enabled when ON, emergency stop isexecuted when OFF.Operation is enabled when ON, servo OFF when OFF.For status output of this controller; cascade connectionpossible. Ready when shorted, not ready when open.

Name and Function of Each Part

*Based on a power-supply voltage of 200 V. (Output at 100 V is indicated in parentheses.)

Various Network Specifications

I/O Interface List

Specifications

16

TYPENumber of controlled axesOutput when maximum number ofaxes are connectedWeight

Operating power-supply voltage rangeg y g gPower-supply frequencyPower-supply capacity

Operating temperature rangeg gOperating humidity rangeg y g

Axis-control method

Speed settinggAcceleration/deceleration settinggProgramming languageg g g gProgram stepsg

Number of programsg

Storage devicegData entry methodyStandard inputsStandard outputs

Serial communicationOther inputs/outputProtection functions

yyAccessoryOptions

4 axes3 axes2 axes

° °

AC full digital servo

1 mm/sec to 3000 mm/sec0.01 G to 3 G

Super SEL language6000 steps (total)

64 programs16 programs

FLASH ROM + SRAM battery backupTeaching pendant or PC software

16 points (dedicated + general-purpose outputs total)

Available when SIO expansion board (optional) is used

Motor overcurrent, overload, motor-driver temperature check, overload check,encoder open detection, soft limit over, system error, battery error

I/O flat cableTeaching pendant, PC software, I/O expansion card, SIO expansion card, regenerative resistance unit

1 axis

2.6 kg 3.3 kg 5.0 kg 6.0 kg 7.0 kg

Max.800 W

Max. 1600 W (power-supply voltage: 200 V)4 axes3 axes2 axes1 axis

Max. 800 W (power-supply voltage: 200 V)

Max.830 VAVAV

Max.1750 VAVAV

Max.1690 VAVAV

Max.830 VAVAV

Max.1570 VAVAV

Max.2310 VAVAV

Max.3050 VAVAV

J TYPE (Small) K TYPE (General-purpose)JI KI

Non-expandable

p g p , , p , p , g

gg gg gg gg gggg

p g p pp y g gp g p pp y g gpp y q ypp y q y

p g p gp g p gp g y gp g y g

g

p gp ggg

p g gg g g gg g g gp ( )g pg p

p gp gp gp g

y pggg pyy

ppp ( g p p p )pp

pp ( p )

p pp p

p y yyy

g p p p gpp

Device Net CC-Link Profi Bus

Small, 1-axis type

I : IncrementalA : Absolute

Encoder I : Incremental: Absolute

IncrementalAbsolute

IncrementalA : Absolute

Encoder I : IncrementalA : Absolute

Small, 2-axis type

Small, 3- or 4-axis type

125.3(80)( )

191.9

120

175.9

195

180

Battery box(ABS specification)

112.5112.5

296.8

35.9125.3(80)( )

195

180

)Battery box(ABS specification)

159.4

2- 5143.4

120

5

125.3(80)( )

195

180


General-purpose, 1- or 2-axis type

General-purpose, 3- or 4-axis type

186

77.2

454.4

77.2150150

180

195

125.3(80)


125.3(80)

180

195

5

186

150150

369.4


(24)

CONTROLLER

External Dimensions

Power-supply voltage: 1: 100 V, 2: 200 V




Power-supply voltage: 1: 100 V2: 200 V

Output for axis 1 (20 to 750)







*Add "B" after the number if you require a brake.*If the power-supply voltage is 100 V, the maximum output will be limited to 400 W.

*If you require a brake, add "B" after the number of the axis for which the brake is required.*If the power-supply voltage is 100 V, the maximum total output will be limited to 400 W.

*If you require a brake, add "B" after the number of the axis for which the brake is required.*If the power-supply voltage is 100 V, the maximum total output will be limited to 400 W.

*If you require a brake, add "B" after the number of the axis for which the brake is required.*If the power-supply voltage is 200 V, the maximum total output will be 1600 W. If the power-supply voltage is 100 V, it will be limited to 800 W.

4: 4-axis specification

1: 1-axis specification2: 2-axis specificationp

Number of axes 3: 3-axis specification4: 4-axis specificationp

*If you require a brake, add "B" after the number of the axis for which the brake is required.*If the power-supply voltage is 200 V,

If the power-supply voltage is 100 V, it will be limited to 800 W.

5

5

3- 5

3- 5

Integrated with case.Specifications

I/O Expansion Board

SIO Expansion Board (General-purpose type)

Teaching device providing various functions such as program/position entry,test run and monitoring.Easy operation via user-friendly dialogue-type panel.Deadman switch specification for enhanced safety is also available.

IA-T-X (Standard)XIA-T-XD (W/deadman switch)

PC Software (Windows version)

Startup support software offering enhanced debugging features.Conveniently incorporates teaching and other functions required in debugging process.

Enables serial communication with external devices.The board has two port channels and supports three communication formats using the supplied joint cables.

A data backup battery used with the absolute encoder specification.Replace the battery when the controller battery alarm is generated.

Expands inputs/outputs.A maximum of three boards can be added to the general-purpose type. (Up to one board can be added to the smalltype, provided that it is of the 3- or 4-axis specification.)

Software (floppy disks) *Supports Windows 95, 98, NT, 2000 and ME.PC connection cable (5 m)

IA-101-X-CW (PC98)

IA-101-X-MW (DOS/V)

IA-105-X-MW-A (Board + joint cable x 2 (supplied))IA-105-X-MW-BIA-105-X-MW-C

IA-105-X-MW-A (for RS232C connection)

IA-105-X-MW-C(for RS485 connection)

ITEM

IA-103-X-32(32 input points/16 output points)

(16 input points/32 output points)

IA-XAB-BT

12222

Joi t cable Type:Joint cable Type: CB ST 232J001CB-ST-232J001 11 Joi t cable Type:Joint cable Type: CB ST 422J010CB-ST-422J010 2 2100 mm 1 m (1000 mm)

50 mm

XM2D-1501

*For the PNP specification, add " P" at the end.

45

90

265

120Options

Teaching PendantType

Features

Specifications

Type

Feature

Type

Features

Type

Features

Specifications

Type

Features

Specifications

Controller side Controller sideCable connector side

onnector not attached

*Connect to a terminal block, etc.

Light gray + red dots

linear servo actuator

Documents