Maximizes on AC Servo capabilities. - Intelligent · PDF file3 DS Dynamic Series The DS series was developed on the basis of single axis use but a 2-axis assembly unit can be used

1

DSDynamic Series

• Ultra compact, coupling-free design. (Example below: DS-SA4-50)

• Multiple positioning up to 500 points.

• Multi-task Control functions (8 programs).

• Number of programs: 32.

• Can be used as a positioner without using a program.

42.5mm

0mm

0mm

• Easy to mount the main body. (Setting is possible without removing the cover)

• Optional AQ Seal minimizes long term maintenance.

Grease is unnecessary.

• Equipped with Standard stainless sheet

Dust resistant

DSMaximizes on AC Servo capabilities.

• Simple program changeover.

• High degree of repeatability (±0.02mm or 0.05mm).

• Smooth acc./dec. control without shock during stop (trapezoid • S shape).

• 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.

2

Application Examples:

Feeding Different Parts Backstop Positioning Parts TransferXY Gantry Applications

Different shaped parts aresupplied by several partsfeeders. The DS is veryeffective in multiplepositioning.

The DS is used to positiona backstop to align partsfor processing. Thissystem is quick in settingup to accommodatedifferent sized parts.

The DS can be used ingantry-type configurations tohandle potting, palletizing,screwdriving,dispensing,and other lightweightapplications.

The DS arm type can beused to transfer parts.

Part Stacking Bar Code ReaderElevator/Indexer Sorting

The DS can be used tosafely transfer fragile partsat moderate speeds.

The DS can be used toposition a variety ofdevices at constantspeeds.

The DS can be used todifferentiate parts accordingto visual signals forplacement on separateconveyors.

The DS can be used as anelevator to increment partsvertically at set distances.

(Photo)

DS

Ultra compact, low cost, AC Servo high performance actuators

3

DSDynamic Series

The DS series was developed on the basis of single axis use but a2-axis assembly unit can be used if it suits the particular useconditions. We will offer the most appropriate system for your needsso feel free to ask your sales representative aboutstructure, configuration and connections.

DS Assembly Unit

Low cost 2-axis unitYou can assemble an extremelylow cost and versatile 2-axisstructure by assembling single DSactuators.

Control with 2 controllersWith a PLC, two controllers canbe controlled using discrete I/O forpoint to point (non-coordinated)movement.

Space saving, compact designTake advantage of the DScompact size to create an ultracompact 2-axis unit.

Controller wilth 1 ControllerWith Super SEL EDS/GDS, onecontroller can control 1~8 axeswith interpolated movement.

Can upgrade the systemEven if you are currently using asingle axis, you can select andpurchase component kits thatallow you to upgrade your systemto a 2-axis unit.

Assembly PartsWe sell our own assembly partskit for a single axis unit as well as10 other types of assembly units.

DS Controller

Ultra high speed capability through the use of 32 BIT RISC.

Multi-task ControlMulti-tasking control functions (8 programs) through Realtime OS.

High speed in motion controlbased on the Super SEL programming language.

Memory update function by utilization of Flash Memory.

Easy maintenanceDetailed alarm display and simplified base structure (removable cover).

Standard functionsinclude RS232 unit and brake switch. RS232 connector is now available

in standard type.

Software improvements (WINDOWS)New variation of Super SEL Languagewith a remote update function.

4

DS-SA 5 L -200-B E-AQ

50mm~200mm

50mm~200mmR Motor Coupled (Right)

L Motor Coupled (Left)

S (Standard)

Type Size Speed Stroke (50mm increments)

6

TotalWidth58mm L Low Speed/High Thrust

M Medium Speed

H High Speed

TotalWidth40mm

A Arm Type M Medium Speed4

L Low Speed/High ThrustR Motor Coupled (Right)


S (Standard)

50mm~600mm

50mm~600mm

50mm~600mm

50mm~200mm

50mm~200mm

50mm~200mm

50mm~200mm

Controller

PC Interface

Teaching Pendant

S-C1

S-T1

S-P1-C

S-P1-M

(WINDOWS exclusive) (PC Compliance)

(DOS Compliance)

DS Series Product Lineup*

5

TotalWidth50mm

R Motor Coupled (Right)


S (Standard)M Medium Speed



S (Standard)

100mm~200mm

50mm~200mm

50mm~200mm

100mm~200mm

50mm~200mm

50mm~200mm

6

TotalWidth56mm

R Motor Coupled (Right)


S (Standard)M Medium Speed



S (Standard)

100mm~200mm

50mm~200mm

50mm~200mm

100mm~200mm

50mm~200mm

50mm~200mm

TotalWidth50mm

50mm~500mm

L Low Speed/High Thrust 50mm~500mm

50mm~500mmM Medium Speed

H High Speed5

TotalWidth40mm

50mm~300mm

L Low Speed/High Thrust 50mm~300mm

50mm~300mmM Medium Speed

H High Speed4ActuatorDS SA Slider Type

Motor Coupling Direction

* DS-A-5M/5L- S -50 is not manufactured. Actuator home is on the motor side. If you wish home to be on the side opposite of the motor, please inform your sales representative when you place your order.

DS Actuator Series Model

Arm Type (Magnetic brake is standard)

DS-A 5 M--R-200-AQ1 2 3 4 5

Slider Type (Magnetic brake is optional)

1 2 3 4 5 6

* Please inquire your IAI representative regarding strokes other than mentioned.

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5

DSDynamic Series

The center of gravity exists at the halfway point of the overhang load length.

MA, MB, AND MC moments must be at or below the specification values.

The payload is defined as the value when the load is distributed uniformly onto theslide at an acceleration of 0.3 G (Slide Type) and 0.2 G (Arm Type). Be sure to keepthe payload within the actuator specifications. If the payload is off-center, the Momentand the Overhang Load Length must also be considered.

Payload

The thrust must be below the rated thrust specification. The moment must also betaken into consideration when dealing with thrust.

Rated Thrust

Moment

Overhang Load Length

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 asabsolute accuracy.

Repeatability

DS Actuator Specification Notes

Stroke The DS is available in 50mm increments up to the maximum stroke length.

VelocityThe velocity can be set in1mm/sec increments. Different velocities can be set foreach position. Velocities must be set within specifications. The acceleration/decel-eration can also be set separately for each position.

MA MB MC

MAMB MC

L

L

Slider Type

Arm Type

6

DS-SA• Positioning is achieved by the slide which

travels along the stroke length.

• Driven by an AC servo motor andballscrew for multiple positioning with ahigh 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 fromentering the actuator. Rigidity ismaintained because the guidemechanism is integrated into the base.

• The DS actuator comes in 3 types, a58mm width and a 40mm width. All arecompact, providing flexibility in systemlayout. • SA4 (Total width: 40mm) • SA5 (Total width: 50mm) • SA6 (Toral width: 58mm)

Slider Type

DS Slider TypePhoto

Slider

Stainless sheet

Aluminum cover

Steel Ball

Base (guide)

Ballscrew

7

DSDynamic Series

SA4M (Medium speed type)

SA4L (Low speed high thrust type)

MA, MC momentStandard position for offset

SA4H (High speed type)

DS-SA4

31.2

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8

DSA4 Standard Dimensional drawing (SA4H, SA4M, SA4L)

DSA4 with brake Dimensional drawing (SA4H, SA4M, SA4L)

5.1

14.5

13.3

383.

5

1.5

31.5

13.344 13

46.553

.5

41.5

40

13.5

13.3

DS Aluminum base SA4

L: Brake cableMounting direction (Left side)

E: Brake cableMounting direction (End side)

R: Brake cableMounting direction (Right side)

21

70

2-φ3H10 depth 6

11.5

φ6.5 counterbore depth 3.5 (for mounting)4- 3.6

28

4-M3 depth 7p

92.5B

200

Bottom

PDX100C

46.5

A

0.5

53.5

50

F-φφ3H10 depth bottom by 5p y

80.5

L

E-M3 depth 5 (for mounting)

A

13 Stroke 70

40

40

A-Area Detail (2:1)

1

ekortS 05 001 051 002 052 003

L 5.242 5.292 5.243 5.293 5.244 5.294

A 641 691 642 692 643 693

B 221 271 222 272 223 273

C 27 22 27 22 27 22

D 0 1 1 2 2 3

E 2 4 4 6 6 8

F 1 2 2 2 2 2

9

DSDynamic Series





DS-SA5

39

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10

SA5 Standard Dimensional drawing (SA5H, SA5M, SA5L)

SA5 with brake Dimensional drawing (SA5H, SA5M, SA5L)

5

.1

3.3

0

0

2

6.5

.5

3.3 1.5

: Brake cableounting direction (left side)

: Brake cableounting direction (End side)

: Brake cableounting direction (Right side)

S aluminum base SA5

ekortS 05 001 051 002 052 003 053 004 054 005

L 5.742 5.792 5.743 5.793 5.744 5.794 5.745 5.795 5.746 5.796

A 271 222 272 223 273 224 274 225 275 226

B 241 291 242 292 243 293 244 294 245 295

C 29 24 29 24 29 24 29 24 29 24

D 0 1 1 2 2 3 3 4 4 5

E 2 4 4 6 6 8 8 01 01 21

F 1 2 2 2 2 2 2 2 2 2

30

4-φ4.5 thru φ8 counter depth 4.526 266

6

15.5115.5

2-φ4H10 depth 94-M4 depth 9dep

75.5

L

A

Stroke 94

60.5

150

40

C DX100 P

F-φ4H10 depth 5

50

11

DSDynamic Series


DS-SA6




40

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12

SA6 Standard Dimensional drawing (SA6H, SA6M, SA6L)

SA6 with brake Dimensional drawing (SA6H, SA6M, SASL)

0

1.5

7

3

8

5

.1

3.3

: Brake cableounting direction (Left side)

: Brake cableounting direction (End side)

S aluminum base SA6

: Brake cableounting direction (Right side)

ekortS 05 001 051 002 052 003 053 004 054 005 055 006

L 5.882 5.833 5.883 5.834 5.884 5.835 5.885 5.836 5.886 5.837 5.887 5.838

A 891 842 892 843 893 844 894 845 895 846 896 847

B 18 13 18 13 18 13 18 13 18 13 18 13

C 18 131 181 132 182 133 183 134 184 135 185 136

D 6 8 8 01 01 21 21 41 41 61 61 81

E 1 2 2 3 3 4 4 5 5 6 6 7

φ

3-φ4H10 depth 5

13

DSDynamic Series

• The DS-A is used to position parts andtools via an arm which extends out fromthe actuator body.

• Driven by an AC servo motor andballscrew for multiple positioning witha high degree of repeatability(± 0.02mm).

• A magnetic brake is standard andinstalled to prevent the arm fromdropping in the event of a power loss.The arm type can be used verticallyas well as horizontally.

• Can be used horizontally by extendingthe arm.

• The DS actuator is available in thefollowing 3 types:

• A4 (total width 40mm)• A5 (total width 50mm)• A6 (total width 56mm)

With its compact size, theDS actuator provides flexibilityin system layout.

Arm TypeDS-A

Aluminum cover

Arm slider(guide)

Aluminum baseBallscrew

Steel ball

14

A4M (Medium speed)

DS-A4

A4L (Low speed high thrust)

When using horizontally, apply the load in thedirection of the thrust as shown in the drawing at left.

MA moment is measured at the point where A=16mm from the end of theactuator. Please use within the following range: P x B < 2.7N·m(0.28kgf·m).

Thrust

MA

N (kgf)P

B (m)A

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15

DSDynamic Series

105

60

99

22

D

30 46

38

BXC90(for mounting)

L

5

4-M4 depth 5

2040 33

Stroke

35 A

2.2

Cross section of base mounting hole

52

373

1.5

10

59

52

46

9

D

L

BXC

229

30

105

60

38

90

Home

10

35 A

Stroke

5

33 20

4-M4 depth 5

40

1.537

3

E-3.6 drill 6.5 counterboredepth 3.3 (for mounting)

52

105

61.5

S Type Dimensional drawing (A4M, A4L)

R(L) Type Dimensional drawing (A4M, A4L)

ekortS 05 001 051 002

L 552 503 553 504

A 441 491 442 492

CXB 91X1 05X1 05X2 05X2

D 53 45 45 401

E 4 4 6 6

ekortS 05 001 051 002

L 552 503 553 504

A 441 491 442 492

CXB 91X1 05X1 05X2 05X2

D 53 45 45 401

E 4 4 6 6

16

A5L (Low speed high thrust)

MA moment is measured at the point where A=20mm from the end of theactuator. Please use within the following range:P x B < 4.5N·m (0.46kgf·m).

When using horizontally, apply the load in the direction of the thrust asshown in the drawing at left.

*50mm stroke does not apply to motor coupled S (standard) type, only the L, R types.

Thrust

MA

N (kgf)P

B (m)A

A5M (Medium speed)

DS-A5

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17

DSDynamic Series

7926

L

60

30

BXC D

11

46A

4.5

3.5

5 50

110

4252

38

449

26

53

Cross section of base mounting hole

4-M4 depth 5

Stroke

E-4.5 drill, 8 counterbore depth 4.5 (for mounting)

f


R(L) Type Dimensional drawing (A5M, A5L)

*In a 50mm stroke, there is only the L, R types.

ekortS 05* 001 051 002

L 082 033 083 034

A 691 642 692 643

CxB 03x1 05x1 05x2 05x2

D 65 68 68 631

E 4 4 6 6

52

46

9

D

L

BXC

229

30

105

60

38

90

10

35 A

5

33 2040

1.537

3

1052

105

61.5

4-M4 depth 5

Stroke

Home

E-3.6 drill 6.5 counterbore depth 3.3 (for mounting)

ekortS 001 051 002L 033 083 034A 642 692 643CxB 05x1 05x2 05x2D 68 68 631E 4 6 6

18

A6M (Medium speed)

DS-A6

A6L (Large speed)

MA moment is measured at the point where A=20mm from the end of theactuator. Please use within the following range:P x B < 8.1 N·m (0.8kgf·m).

When using horizontally, apply the load in the direction of the thrust asshown in the drawing at left.

Thrust

MA

N (kgf)P

B (m)A



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19

DSDynamic Series

3.3ME SE

(in case with lubricant seal: 3) Stroke

Home ME3

56

1313

49 31

5 10 4-M4 depth 6 E-φ6, φ9, 5 counterbore depth 7

130 BXCP DL

46

107

A3857

53.5

3.5

14.5

70 (Work mounting range)

50

75.5φ9.5

φ6

47

Base mounting hole Cross section

30


φ9.5

φ6

74

57

14.5

53.5

3.5

38 A 4670 (work mounting range)

LDBXCP130

SEHome33.3

ME SE(In case with lubricant seal: 3)

Stroke

56 49 31

5 10 4-M4 depth 6E-φ6, φ9, 5depth counterbore 7

51

75.5

7928

Base mounting holecross section

1313

30

R(L) Type Dimensional Drawing (A6M, A6L)

*In a 50mm stroke, there is only the L, R types.

ekortS 05* 001 051 002

L _ 053 004 054

A _ 662 613 663

CXB P _ 05X1 05X2 05X2

D _ 68 68 631

E _ 4 6 6

ekortS 05* 001 051 002

L 003 053 004 054

A 612 662 613 663

CXB P 03X1 05X1 05X2 05X2

D 65 68 68 631

E 4 4 6 6

20

DS-UnitDS Assembly Unit

• You can construct an extremely low costand versatile 2-axis structure by

assembling single DS actuators.

• With a PLC, two controllers can becontrolled using discrete I/O for point topoint (non-coordinated) movement.

• We sell assembly parts kits for 10 typesof assembly units.

DS Assembly Unit

XY Unit

XY Table

DS- X-1 -400DS- XY-1 -300- 100DS- XY-T2 -600- 200

Machine Name (X-1~4)

Machine Name (XY-1~4)

Machine Name (XY-T~T2)

X-axis stroke

Y-axis stroke

X-axis stroke Y-axis stroke

Y-axis stroke

Model Type

Single Axis Unit

21

DSDynamic Series

DS-SA5-50~400

Single Axis Unit

X-1

X-2

X-3

X-4

XY Table

XY-T

XY-T2

Single Axis Unit

XY-1

XY-2

XY-3

XY-4

DS-SA5-50~400

DS-SA6-50~600

DS-SA6-50~600

DS Aluminum Base Assembly Unit Product Structure

X: Axis DS-SA5-50~400Y: Axis DS-SA4-50~100






22

ekortSrotautcA 05 001 051 002 052 003 053 004

H5AS-SD 3 3 3 3 3 3 2 2

M5AS-SD 7 7 7 7 7 7 6 6

L5AS-SD 7 7 7 7 7 7 6 6

Slider Payload Guidelines (kg)

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 setCable track rail 1 setSlide bracket 1Cable track bracket 1

*Nuts, bolts for mounting are included (bolts for mounting cable track rail are not included).

X-1 Mechanical Drawings

DS Single Unit

X-1

ekortS 05 001 051 002 052 003 053 004

A 5.742 5.792 5.743 5.793 5.744 5.794 5.745 5.795

B 812 812 813 813 814 814 815 815

C 241 241 242 242 243 243 244 244

30

17 13

1030

19

6-φ6, M5 counter sink

50 75.5

13 62.5

13 12.5

B

106.5

60.5149429 Stroke

A(75)

28 78.5

20

C

52

Stroke50, 150, 250, 350

DS-SA5* ***

102

102

508

15

23

DSDynamic Series


Note:Values are when acceleration is set at 0.3G (0.2G for S5L).Conditions will differ when the load from the slider has alarge offset.

Kit Components

Cable track 1 setSlide bracket 1Cable track bracket 1Mounting base 1 set


X-2

*Nuts, bolts for mounting are included.

DS Single Unit

20 20 Stroke+72 65.5

29

40 40

50

Stroke 94 60.5

Stroke+197.5

1041

8

5158

109

2-φ7

52

DS-SA5*-***

138

5

115

2

14

5110

5.3

156.

3

ekortSrotautcA 05 001 051 002 052 003 053 004

H5AS-SD 2 2 2 2 2 2 5.1 5.1

M5AS-SD 6 6 6 6 6 6 5 5

L5AS-SD 6 6 6 6 6 6 5 5

24


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 setCable track rail 1 setSlide bracket 1Cable track bracket 1

*Nuts, bolts for mounting are included


X-3

DS Single Unit

ekortSrotautcA 05 001 051 002 052 003 053 004 054 005 055 006

H6AS-SD 5 5 5 5 5 5 5 5 5 5 5 5

M6AS-SD 11 11 11 11 11 11 11 11 11 11 11 11

L6AS-SD 11 11 11 11 11 11 11 11 11 11 11 11

ekortS 05 001 051 002 052 003 053 004 054 005 055 006

A 5.882 5.833 5.883 5.834 5.884 5.835 5.885 5.836 5.886 5.837 5.887 5.838

B 752 752 753 753 754 754 755 755 756 756 757 757

C 181 181 182 182 183 183 184 184 185 185 186 186

23.5 C 50 84

13 71

13 21

B

70

75.5

110.5

(Cable track fixed end Mounting location)

D-Area Details

30 80.519

20

11529 Stroke

(55) A

10.5 13

D

10

15

1053

102

3018

58

110

6-φ6, M5 counter sink

DS-SA6*-***

Stroke50, 150, 250350, 450, 550

Stroke50, 150250, 350450, 550

Stroke100, 200300, 400500, 600

Track rail

Motor side

25

DSDynamic Series


Note:Values are when acceleration is set at 0.3G (0.2G for SA6L).Conditions will differ when the load from the slider has alarge offset.


X-4

*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.

DS Single Unit

Kit Components

Cable track 1 setSlide bracket 1Cable track bracket 2Mounting base See table below*`

4-XmmekortS

05 001 051 002 052 003 053 004 054 005 055 006

ytitnauQ 2 2 2 3 3 3 3 3 4 4 4 4

20 Stroke +111 20 7413.5

29 Stroke 115 94.5

70

4040

Stroke+238.5

10

5163

114

4153

10

139

58

3 1

113

26

109.

351

14

160.

3

2-φ7

DS-SA6*-***

Setting according to stroke

ekortSrotautcA 05 001 051 002 052 003 053 004 054 005 055 006

H6AS-SD 4 4 4 4 4 4 4 4 4 4 4 4

M6AS-SD 01 01 01 01 01 01 01 01 01 01 01 01

L6AS-SD 01 01 01 01 01 01 01 01 01 01 01 01

26

Y Axis Slider Payload Guidelines (kg)

XY-1 Mechanical Drawing

DS XY Unit

XY-1

X-stroke +76

74.5

Y-stroke+192.5

29 Y-stroke 70 93.5

3 120 3

94X-stroke

(75) X-stroke+197.5

3015 X-stroke+62 30 60.5

121.5

52

2-φ3H10 depth 6

X-stroke50, 150, 250, 350

4-M3 depth 7

DS-SA4 *-***

DS-SA5*-***

100

Y-s

tro

ke+

105

8

50

30

24Kit 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

Note:Values are when acceleration is

set at 0.3G. Conditions will differ when the load from the slider has a large offset.

rotautcAsixAY H4AS-SD M4AS-SD L4AS-SD

)mm(ekortSsixAY 05 001 05 001 05 001

XsixA

004~05-H5AS-SD 0.2 0.2 0.2 0.2 0.2 0.2

004~05-M5AS-SD 5.2 5.2 0.3 0.3 0.3 0.3

004~05-L5AS-SD 5.2 5.2 0.3 0.3 0.3 0.3

27

DSDynamic Series

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.

Y Slider Payload Guidelines (kg)

XY-2 Mechanical Drawings

DS XY Unit

XY-2

51 59.5

52

X-stroke+47

X-stroke+197.5

X-stroke

X-stroke+62

2-φ3H10 depth 6

4-M3 depth 7

X-stroke50, 150, 250, 350

DS-SA5*-***

DS-SA4*-***

Y-s

tro

ke+

106

729

Y-s

tro

ke

(40)

2924

Y-stroke+105 87.5

1203 315 30 30 60.5

51

2080

.5

3010

0.5

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



)mm(ekortSsixAY 05 001 05 001 05 001

XsixA

004~05-H5AS-SD 0.2 0.2 0.2 0.2 0.2 0.2

004~05-M5AS-SD 0.2 0.2 5.2 5.2 5.2 5.2

004~05-L5AS-SD 0.2 0.2 5.2 5.2 5.2 5.2

28

Note:Values are when acceleration is setat 0.3G. Conditions will differ whenthe load from the Y axis slider has alarge offset.

XY-3 Mechanical Drawing

XY-3

A152

Y-stroke+197.5

29 Y-stroke 94 74 5

120 3

(55)

29 X-stroke 115 94.5

8.5 69

B

26

98

30

X-stroke+86.5

X-stroke+238.5

X-stroke+101

2-φ4H10 depth 9

4-M4 depth 9

X-stroke50, 150, 250350, 450, 550

X-stroke50, 150, 250350, 450, 550

X-stroke100, 200, 300400, 500, 600

DS-SA5*-***

Y-s

tro

ke+

130


A-Area Details

Cable rail

Motor side

50

30

DS XY Unit




Kit Components

Cable track 1 setCable track rail 1 set

Cable track bracket 1Mounting frame See table below*

Slide base 1 set


)mm(ekortSsixAY 05 001 051 05 001 051 05 001 051

XsixA

H6AS-SD 0.3 0.3 5.2 0.3 0.3 5.2 0.3 0.3 5.2

M6AS-SD 5.3 5.3 5.3 0.5 0.5 0.5 0.5 0.5 0.5

L6AS-SD 5.3 5.3 5.3 0.5 0.5 0.5 0.5 0.5 0.5

3-YXmmekortS

05 001 051 002 052 003 053 004 054 005 055 006

ytitnauQ 2 2 2 3 3 3 3 3 4 4 4 4

29

DSDynamic Series


XY-4 Mechanical Drawings

DS XY Unit

XY-4

Note:Values are when acceleration is setat 0.3G. Conditions will differ whenthe load from the Y axis slider hasa large offset.


Kit Components

Cable track 1 setCable track rail 1 setCable track bracket 1Mounting frame See table below*

Slide base 1Mid-Plate 1


4-YXmmekortS

05 001 051 002 052 003 053 004 054 005 055 006

ytitnauQ 2 2 2 3 3 3 3 3 4 4 4 4


)mm(ekortSsixAY 05 001 051 05 001 051 05 001 051

XsixA

H6AS-SD 0.3 0.3 5.2 0.3 0.3 5.2 0.3 0.3 5.2

M6AS-SD 0.3 0.3 0.3 5.4 5.4 5.4 5.4 5.4 5.4

L6AS-SD 0.3 0.3 0.3 5.4 5.4 5.4 5.4 5.4 5.4

A

70 50 67

58

105

Y-s

tro

ke64

26

91 117

30

X-stroke+51.5

X-stroke+238.5

X-stroke+101

2-φ4H10 depth 9

S-stroke50, 150, 250

DS-SA5*-***

Setting according to stroke

Y-s

tro

ke+

228

X-stroke50, 150, 250350, 450, 550

X-stroke100, 200, 300400, 500, 600


A-Area Details

Cable railMotor side

(55)

29 X-stroke 11

8.5 30 30 69 B

94.5

80.5

3 120

30

4-M4 depth 9

Y-stroke+130

30


XY-T Mechanical Drawing

DS XY Table

XY-T

Stroke+76 121.5

X-stroke50, 150, 250, 350

X-stroke50, 150, 250, 350

2-φ

DS-SA4*-***

DS-SA5*-***

Y-s

tro

ke+

105

99

1624

52

Stroke+197.5

Stroke+6230 30 60.515

(75)

X-stroke 94 74.5

Stroke+233

30

50

Y-stroke+192.5

Y-stroke 3.5

52

A

A-Area Detail

B

Kit Components

Cable track 1 setCable track rail 1 setCable track bracket 1Cam follower unit 1 setMounting plate 1 setSlide base 1



)mm(ekortSsixAY 05 001 051 05 001 051 05 001 051

XsixA

004~05H5AS-SD 0.2 0.2 5.1 0.2 0.2 5.1 0.2 0.2 5.1

004~05M5AS-SD 0.3 0.3 0.3 5.3 5.3 5.3 5.3 5.3 5.3

004~05~L5AS-SD 0.3 0.3 0.3 5.3 5.3 5.3 5.3 5.3 5.3

Note:Values are when acceleration is setat 0.3G. Conditions will differ whenthe load from the slider has a largeoffset.In case you wish to apply uppervertical load onto Y axis slider instandstill state, the value needsto be within a value in which theY axis slider payload is taken outof the 5kg (However, the valuemust be of uniform load above theslider).

31

DSDynamic Series

XY-T2 Mechanical Drawings

DS XY Table

XY-T2



)mm(ekortSsixAY 05 001 051 002 05 001 051 002 05 001 051 002

XsixA

H6AS-SD 0.3 0.3 5.2 5.2 0.2 0.2 5.1 5.2 0.2 0.2 5.1 5.2

M6AS-SD 0.4 0.4 0.4 0.4 5.5 5.5 5.5 5.5 5.5 5.5 5.5 5.5

L6AS-SD 0.4 0.4 0.4 0.4 5.5 5.5 5.5 5.5 5.5 5.5 5.5 5.5

Note:Values are when acceleration is setat 0.3G. Conditions will differ whenthe load from the slider has a largeoffset.In case you wish to apply uppervertical load onto Y axis slider instandstill state, the value needsto be within a value in which theY axis slider payload is taken outof the 8kg (However, the valuemust be of uniform load above theslider).

152

A

58

X-stroke50, 150, 250350, 450, 550

X-stroke50, 150, 250350, 450, 550

Y-s

tro

ke+

130

98

4-M4 depth

2-φ4H10 dep

DS-SA6*-***

DS-SA5*-***

Stroke+238.5(55)

X-stroke 94.5115

B

X-stroke+101308.5 6930

C

657

27

29

Y-stroke+197.5

Y-stroke 94 74 5

113

30

535010

Stroke100, 200300, 400,500, 600

Cable track


Motor side

Stroke50, 150,250, 350,450, 550

A-Area Details

C-Area Details

26

X stroke+86.5

Y-stroke+255


Kit Components

Cable track 1 setCable track rail 1 setCable track bracket 1Cam follower unit 1 setMounting plate 1 setSlide base 1

32

Using the DS Assembly Unit:

The DS Series was originally designed forsingle axis use but depending on theapplication, it is possible to construct a2-axis system for use. Please make noteof the following when using an assembled unit.

• Because there is one controller peraxis, the system will use point to point controlfrom a PLC or other external device.

• When the load is offset from the slider of thelast axis, the weight of the payload that canbe carried will change.

• The cable that comes with the actuator is nota bend resistant robot cable. When wiring thecables, please make sure they are not underexcessive stress. If the cables are encased ina cable track, make sure there is amplefreedom of movement for the cables.

• We have connector cables available soplease inquire about these if necessary.

Cable Hose

Kit components

Cable hose (1m/1.3m) 1Wire 1Cable hose bracket 2Cable hose connector 2Cable hose hexagon nuts 2Allen head bolts M6x20 1Hexagon nuts M6 2

Cable Hose (option)Model Type: CBH-010 (XY1, XY2, XY-T Compliance) CBH-013 (XY3, XY4, XY-T2 Compliance)This is an option for wiring treatment between XY. Mounting on themain body is done on the user side.

How to install the DS Assembly Unit:

Mounting Base (A), (C) Nut (Size M5)

Mounting method

All assembly units come with

Use a bolt to slide in and mount the nut into the T-slot of the frame.

4 spare nuts.

15

55478

45

2.3

4

2024

40

Cable hose(ø21.2Xø16.8)

ø1.6Wire

Cable hose bracket

Allen head boltM6X20

33

DSDynamic Series

DS-S-C1 DS Controller

• Multi-taskParallel processing of up to 8 programs tocontrol external devices.

• Variable calculationUsing variables, a common program canbe set for regulated movements.

• BCD or Binary I/Oallows more information to be exchanged.

• Accurate positioningis obtainable by jogging the actuator to thedesired position and reading the currentvalue.

• Easy incremental movements

• Motion cancellationis possible, even during movements.

• 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:

34

3. External Dimensions

2. Type

4 46 10923 23

4

1010

139

415

1

159

R2.

5

523 23

φ5

CONTROLLER

CODEREADYALARMBAT

BRAKERELEASENORMAL

TEAING/RS232 PORT

ONOFF

PORTIAI Corporation

125

2719

8

Controller DS-S-C1 Teaching Pendant DS-S-T1

1. Specifications

noitpircseD ledoM

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tnadnePgnihcaeT)noitpO( 1T-S-SD

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rotoM W02rotoMovreSCA

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yticapaCyromeM snoitisop005,spets0001:latoT

eciveDyromeM pukcaByrettaBMARSMOC

smargorpforebmuN )smargorp8fomumixam(noitcnufksat-itluM,smargorp23

)V42CD(tuptuO/tupnIdetalusni-noN

)02,01,8,4,2,1.oNGRP(8:stupnidetacideD)TRATS(1:stupnidetacideD

51:stupniresU)MRALA,ydaeR(2:stuptuodetacideD

6:stuptuoresU

dohteMtupnIataD noitacinummoC232SRrotnadnePgnihcaeT

noitacinummoC suonorhcysAdradnatS232SRAIE

snoitcnuFetadpUetomeR )ksidyppolfrokrowtenaiv(etadpuerawtfoS

Ω

35

DSDynamic Series

4. Connecting Method

MITUBISHI MITUBISHI

POWER

INPUT OUTPUT

F1 F2 F3 F4

DS TEACHING BOXTeaching Pendant(Option)

PC Software(Option)

Emergency Stop SW Box

ALARM

READY

BAT.

CODE

RELEA

NORMA

BRAKE

PORTOFF

ON

TE

RS2

IAI Corporation

CONTROLL

MPG

BK

POWER

EMG

N

24V

POWER EMG

N 24V

24V Power Over 2A

EMGSW

o 1

Controller

Servo Actuator

RS232 Cable* (5m) is included in the PC Software

5m

2m

2m

* You may not use other types of cables.

External Device

36

(1) Part Names

5. Part Names and Function

Solid wire φ0.4 (AWG 26)~ φ1.2 (AWG 16)Standard wire 0.3mm2 (AWG 22)~1.25mm2 (AWG 16)Standard diameter φ0.18 or greater

Suitable power line

Usable power line range

Standard line length

Suitable tool for button operation

Solid wire (AWG 16)Standard wire 1.25mm2 (AWG 16)

11mm

Slot screwdriver (axis diameter φ3, width of tip 2.6)

37

DSDynamic Series

Brake connector This is the connector for connecting the actuator brake.

Motor Encoder connector This is the connector for connecting the actuator motor encoder.

I/O connector This is the connector for connecting other devices such as a sequencer.

Ground terminal block This is the M3 screw for the ground connection.

Power and emergency This is the terminal for POWER N and 24V power.stop terminal block 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

CODE display This is a 3-digit display device that indicates the operating status of the controller.

LED display READY: This indicates that the controller is ready to be operated.ALARM: This is the display when there is a malfunction in the equipment.BAT. : This indicates battery voltage is low.

Brake release switch RELEASE: The brake is released.NORMAL: The brake is ON. (This is the normal setting)

The brake release switch is enabled during the servo free state indicated below:

1. From the time the power is turned ON until the homing command is given.2. When [Svof] is selected during direct teaching.3. When an alarm occurs.

PORT switch ON: The TEACHING/RS232PORT is enabled. However, when theTEACHING/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.

Note: This controller does not have a power switch.

(2) Function

)))) )

TEACHING/RS232 PORT connector This is the connector for connecting the PC or teaching pendant.

. .

38

.oNniP noitceS .oNtroP noitcnuF

A1 42P tuoniV42+tnerruclanretxE

B1

tupnI

tupnI1.oNGRP

A2 tupnI2.oNGRP

B2 tupnI4.oNGRP

A3 tupnI8.oNGRP

B3 tupnI01.oNGRP

A4 tupnI02.oNGRP

B4 CN

A5 teseRUPC

B5 000 tupnItratSlanretxE

A6 100 tupnIresU

B6 200 tupnIresU

A7 300 tupnIresU

B7 400 tupnIresU

A8 500 tupnIresU

B8 600 tupnIresU

A9 700 tupnIresU

B9 800 tupnIresU

A01 900 tupnIresU

B01 010 tupnIresU

A11 110 tupnIresU

B11 210 tupnIresU

A21 310 tupnIresU

B21 410 tupnIresU

A31 510 tupnIresU

B31

tuptuO

003 tuptuOmralA

A41 103 tuptuOydaeR

B41 203 tuptuOresU

A51 303 tuptuOresU

B51 403 tuptuOresU

A61 503 tuptuOresU

B61 603 tuptuOresU

A71 703 tuptuOresU

B71 42N VOtnerruClanretxE

6. I/O Interface

•

•

• •

Dig

ital S

W

•

•

•

•

EMG SW)

•

•

•

•

•

•

•

•

•

•

•

• •

••

•

•

•

•

••

• •

I/O Connector (34 pin)

OV 24V

Terminal Block (4pin)

Program Mode

Note:

PRG = ProgramNC = No Contact

* This is a sample wiring diagram.

•

•

•

•

•

•

•

•

•

.oNniP emaNlangiS

1 N

2 V42

3 V42

4 WSGME

Standard NPN (Sinking)

39

DSDynamic Series

.oNniP noitceS .oNtroP noitcnuF

A1 42P tuoniV42+tnerruclanretxE

B1

tupnI

CN

A2 CN

B2 CN

A3 CN

B3 CN

A4 CN

B4 CN

A5 teseRUPC

B5 000 tupnItratSlanretxE

A6 100 tupnIdloH

B6 200 CN

A7 300 CN

B7 400 tupnI1.oNnoitisoP

A8 500 tupnI2.oNnoitisoP










A31 510 CN

B31

tuptuO

003 tuptuOmralA

A41 103 tuptuOydaeR

B41 203 tuptuOnoitelpmoCnoitisoP

A51 303 CN

B51 403 CN

A61 503 CN

B61 603 CN

A71 703 CN

B71 42N VOtnerruClanretxE

• •

•

•

)

•

•

•

•

•

•

• •


OV 24V

Terminal Block (4pin)

Position Mode

Note:NC = No Contact

•

•

* This is a sample wiring diagram.

EMG SW

•

•

•

•

•

•

•

•

.oNniP emaNlangiS

1 N

2 V42

3 V42

4 WSGME


40

7. Position Mode and Program Mode

External Output Circuit

External Input Circuit

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.

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 utilizingthe multi-task, it is easier to control other devices (at times, sequencer is unnecessary).

Note: When a no-contact circuit is connected to an external circuit, make sure thatthe leakage current is under 1mA when the switch is OFF or, it could cause faultyoperation.

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41

DSDynamic 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 relationshipbetween the two modes:

Position Data

DS-S-C1

Positions containment area

Move command,I/O control andprogramming area(variable computing)

Application Program⇐

Program Mode

Position Data

Position Data

Application program

Positioning Mode

OR Data

Input ⇐

42

.oNniP noitceS .oNtroP noitcnuF roloCelbaC

A1 42P tuoniV42+tnerruclanretxE nworB-1

B1

tupnI

CN deR-1

A2 CN egnarO-1

B2 CN wolleY-1

A3 CN neerG-1

B3 CN eulB-1

A4 CN elpruP-1

B4 evreseR yarG-1

A5 teseRUPC etihW-1

B5 000 tupnItratSlanretxE kcalB-1

A6 100 tupnIdloH nworB-2

B6 200 CN deR-2

A7 300 CN egnarO-2

B7 400 tupnI1.oNnoitisoP wolleY-2

A8 500 tupnI2.oNnoitisoP neerG-2

B8 600 tupnI4.oNnoitisoP eulB-2

A9 700 tupnI8.oNnotisoP elpruP-2

B9 800 tupnI01.oNnotisoP yarG-2

A01 900 tupnI02.oNnoitisoP etihW-2

B01 010 tupnI04.oNnoitisoP kcalB-2

A11 110 tupnI08.oNnoitisoP nworB-3

B11 210 tupnI001.oNnoitisoP deR-3

A21 310 tupnI002.oNnoitisoP egnarO-3

B21 410 tupnI004.oNnoitisoP wolleY-3

A31 510 CN neerG-3

B31

tuptuO

003 tuptuOmralA eulB-3

A41 103 tuptuOydaeR elpruP-3

B41 203 tuptuOetelpmoCgninoitisoP yarG-3

A51 303 CN etihW-3

B51 403 CN kcalB-4

A61 503 CN nworB-4

B61 603 CN deR-4

A71 703 CN egnarO-4

B71 42N VOtnerruClanretxE wolleY-4

(1) Operation

Supply Power

DS-S-C1 READY Signal output

Input external start

External device

Start Homing

Upon completion, output complete signal

DS-S-C1

External device

Input position number

External device

Input external start

DS-S-C1

Move to position number

Upon completion, output complete signal

⇓⇓⇓⇓⇓

⇓⇓⇓⇓⇓

⇓⇓⇓⇓⇓

⇓⇓⇓⇓⇓

⇓⇓⇓⇓⇓

⇓⇓⇓⇓⇓

↓↓↓↓↓

↓↓↓↓↓

1

2

3

4

5

6

2,5

4

13,6

8. Position Mode


43

DSDynamic Series

.oNtroP snoitcnuF noitanalpxE

tupnIteseRUPC .rellortnocehtstratseR

000 tupnItratSlanretxE rotautcaeht,NOsnruttupnitnemomehtsA.noitisopdetangisedehtotsevom

100 tupnIdloH aotsetarelecedrotautcaeht,NOsnrutsihtnehW.pots

200

300CN gninoitisopehtgnirudCNotsegnahc300~200

.edom

400 tupnI1.oNnoitisoP











510 CN .edomgninoitisopgnirudCNotsegnahc510

003 tuptuOmralA/potSycnegremE nanehwropotsycnegremenagnirudNOsnrutsihT.sruccororre

103 tuptuOydaeR .ydaersirellortnocehtnehwNOsnrutsihT

203 tuptuOetelpmoCgninoitisoP .etelpmocsievomnotisopecnoNOsnrutsihT

303

703CN .edomgninoitisopgnirudCNotsegnahc703~303

(2) I/O Port~

~

10° units

101 units

102 units

004~014 are used as BCD codesto designate the position no.

The moment input port 000(external start input) turns ON, theactuator moves to the designatedposition.

Homing is performed when thereis no position number designation.

44

B

Moving Moving

A: Position 1 execution start

B: Position 2 execution start

The timing for the position number shifting is the time from after the position presently beingexecuted is completed until the next external start input (start signal) can be input.

Position 1 Position 2

T1: The time from the READY signalON to homing start input ON.

T1min = 50ms

T2: The time from the external startsignal 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.

T3min = 50ms

T2

T3

T1

ReadyOutput

P-EndOutput

ExternalStart Input

PositionNo. Input

A

2. Timing for Position No. Switching

1. StartingTiming for each signal

(3) Timing of each signal

Homing Start

Note: Please do not input Position No.Input and External Start Input at thesame time.

45

DSDynamic Series

.oNniP noitceS .oNtroP noitcnuF roloCelbaC

A1 42P tupnIV42+tnerruclanretxE nworB-1

B1

tupnI

tupnI1.oNGRP deR-1

A2 tupnI2.oNGRP egnarO-1

B2 tupnI4.oNGRP wolleY-1

A3 tupnI8.oNGRP neerG-1

B3 tupnI01.oNGRP eulB-1

A4 tupnI02.oNGRP elpruP-1

B4 evreseR yarG-1

A5 tupnIteSUPC etihW-1

B5 000 tupnItratSlanretxE kcalB-1

A6 100 tupnIresU nworB-2

B6 200 tupnIresU deR-2

A7 300 tupnIresU egnarO-2

B7 400 tupnIresU wolleY-2

A8 500 tupnIresU neerG-2

B8 600 tupnIresU eulB-2

A9 700 tupnIresU elpruP-2

B9 800 tupnIresU yarG-2

A01 900 tupnIresU etihW-2

B01 010 tupnIresU kcalB-2

A11 110 tupnIresU nworB-3

B11 210 tupnIresU deR-3

A21 310 tupnIresU egnarO-3

B21 410 tupnIresU wolleY-3

A31 510 tupnIresU neerG-3

B31

tuptuO

003 tuptuOmralA eulB-3

A41 103 tuptuOydaeR elpruP-3

B41 203 tuptuOresU yarG-3

A51 303 tuptuOresU etihW-3

B51 403 tuptuOresU kcalB-4

A61 503 tuptuOresU nworB-4

B61 603 tuptuOresU deR-4

A71 703 tuptuOresU egnarO-4

B71 42N VOtnerruClanretxE wolleY-4

1. Automatic start by a parameter setting

Supply Power

DS-S-C-1 READY Signal Output

External device

Input Program No. XX

⇓⇓⇓⇓⇓

⇓⇓⇓⇓⇓

1

2

2

1

3

The program number XX (PRG No. XX) is input into the parameter’s “automatic start program no.”

Program No. XX Start

2. Start by an external device

Supply Power

⇓⇓⇓⇓⇓

Start Program No. XX


⇒⇒⇒⇒⇒

(1) Operation

9. Program Mode

3 External device

Input External start

⇓⇓⇓⇓⇓


46

T1: The time from when the READY outputturns ON until the external start signalcan be input.

T1min = 30ms

T2: The time from the program number isinput until the external start signal canbe input.

T2min = 30ms

T3: The time from the input of the externalstart signal.

T3min = 30ms

T2

T1 T3

Program No.Input

External Start Input

Program 1

↑↑↑↑↑ ↑↑↑↑↑

Actuatormovement

Decelerated to a stop Movement start

The servo actuator is decelerated to a stopby turning the hold signal ON while theactuator is moving, and starts up again byturning the hold signal OFF.

Note: Homing is executed within the program.

(2) I/O Port Chart

(3) Timing of each signal

10° units Designated BCD inputs for start program.

101 units

1. Start

2. Timing of motion using the hold signal

~

~

The moment input port 000 (external start input)turns ON, the designated program is executed.

.oNtroP noitcnuF noitanalpxE

10.oNGRP

20.oNGRP

40.oNGRP

80.oNGRP

01.oNGRP

02.oNGRP

evreseR

tupnIteseRUPC .rellortnocehtstratseR

000 tupnItratSlanretxE .detucexesimargorpdetangisedeht,NOsnruttupnitnemomehttA

100

510tupnIresU .sesoohcehsatupnisihtesunacresuehT

003 tuptuOmralA/potSycnegremE .sruccororrenanehwropotsycnegremenagnirudNOsnrutsihT

103 tuptuOydaeR .ydaersirellortnocehtnehwNOsnrutsihT

203

703tuptuOresU .sesoohcehsatroptuptuosihtesunacresuehT

47

DSDynamic Series

petS dnammoC

01 002PVOM

11 100PVOM

21 001PVOM

31 020PVOM

4. Program Structure

(1) Program Structure

The program consists of “Position Data” which registers only the coordinate values, and “Application Program” whichexecutes all movements.

Position Data

An area where all moving coordinates are registered

Application Program

The main application program

⇓⇓⇓⇓⇓ ⇓⇓⇓⇓⇓

………… …………… …

………… …………… …

………… …………… …………… …

………… …

………… …………… …

………… …

………… …………… …

………… …

Position numbers 1∼ 500 and Apllication program1∼ 32 may be used.

In step 12, position No. 100 (100.00) is executedby the move command.

⇑⇑⇑⇑⇑

It is not necessary to input the Position Data in anascending order. The order will be done in theApplication Program.

(2) Program Structure [Position Data]

Origin 100 300 400200

350 25020015050

P1 P2 P3 P4 P5

(3) Application Program

This programs commands that actually execute suchmovements as Move, Output ON, Output OFF and Timer.In addition, it registers up to 32 programs. The chart onthe right is a combination example using the Position Dataand Application Program.

[Application Program Example]

P1 → P2 → P3 → P4 → P5 → P1 (This path is repeated):

P1 P2 P3 P5P4

.oNnoitisoP ataDnoitisoP

100 00.0

001 00.001

522 XX.XXX

.oNnoitisoP ataDnoitisoP

1000 00.05

2000 00.051

3000 00.002

4000 00.052

5000 00.053

petS dnammoC noitanalpxE

1 NOVS NOovreSehtsnruT

2 EMOH gnimoHsetucexE

3 LEV 005 ces/mm005otyticolevehtsteS

4 GAT 10

5 PVOM 100 1.oNnoitisoPotsevoM





01 OTOG 10 10GATotspmuJ

48

yrogataC noitcnuF dnammoC

rotautcAlortnoCnoitangiseD

yticolevteS LEV

rotcafyticolevteS DRVO

noitareleccateS CCA

oitarnoitomSteS VRCS

tesffoteS TSFO

tropesuaperalceD DLOH

tropetelpmocpotseralceD LCNAC

sutatssixaeriuqcA TSXA

rotautcAlortnoCsdnammoC

]FFONO[ovreS XXVS

gnimoH EMOH

noitisopdetangisedotevoM PVOM

noitisopdetangisedotevoM IPVM

noitomhtaP HTAP

]FBNBFFNF[goJ XWXJ

tlahaotswolssixA POTS

tuptuO/tupnInoitarepOgalFsdnammoC

gnihcnarbgnirtsretcarahcerapmoC]ELTLEGTGENQE[ XXFI

noitucexednammoceralceDdehsilbatsenuerasnoitidnocnehw ESLE

gnidneFIeralceD FIDE

erutcurtSOD

sdnammoC

]ELTLEGTGENQE[pooL XXWD

ODmorfepacsE VAEL

ODtaepeR RETI

etelpmocODeralceD ODDE

[DS exclusive commands]

5. SEL Language CommandsyrogetaC noitcnuF dnammoC

ciremuNsnoitaluclaC

ngissA TEL

evoM NART

selbairavraelC RLC

citamhtirAsnoitaluclaC

ddA DDA

tcartbuS BUS

ylpitluM TLUM

ediviD VID

redniamererugiF DOM

lanoitcnuFsnoitaluclaC

eniS NIS

enisoC SOC

tnegnaT NAT

tnegnatcrA NTA

toorerauqS RQS

cigoLsnoitarepO

DNAcigoL DNA

ROcigoL RO

ROXEcigoL ROE

erapmoC nosirapmoC XXPC

remiT

tiawemiT WMIT

lecnactiawemiT CMIT

emiteriuqcA MTTG

galF·O/IsnoitarepO

]TNFFONO[galF·tuptuO XXTB

]FFONO[galF·tupnI XXTW

)tib51xaM(tupniyraniB NI

)stigid3xaM(tupniDCB BNI

)tib6xaM(tuptuoyraniB TUO

)stigid1xaM(tuptuoDCB BTUO

margorPlortnoC

pmuJ OTOG

tegratpmujeralceD GAT

enituorbusetucexE RSXE

enituorbustratS RSGB

enituorbusdnE RSDE

ksaTlortnoC

margorpetanimreT TIXE

margorptratS GPXE

smargorprehtopotS GPBA

noitisoPsnoitarepO

991elbairavotnoitisopngissA TEGP

991elbairavfoeulavngissA TUPP

atadtniopraelC RLCP

atadtniopypoC YPCP

sixafonoitisoptnerrucdaeR DERP

atadnoitisopmrifnoC TSTP

yticolevnoitisopngissA LEVP

noitareleccanoitisopngissA CCAP

ezisnoitisopmrifnoC ZISP

yrogetaC noitcnuF dnammoC

rotautcAlortnoCsdnammoC

evometangisedyltceriD DVOM

tnemevomlatnemercnI IDVM

49

DSDynamic Series

Sample program 3:Cycle move position number 1~number 2, and end the program.

Sample program 4:Upon homing, moves to 100mmlocation at a speed of 200mm/sec.Setting 100mm as a srandard point,while 010 and forward 011 areinputting, backward jog movementis executed at a speed of 5mm/sec.When 012 is inputted, returnsto standard point of 100mm ata speed of 200mm/sec.

10. Sample Programs

Sample program 1:Upon homing, reciprocate move position number 1 andnumber 2. Upon moving to Number 1, outputs 307.Upon move to number 2, outputs 306. After 015 isinputted into each number, begins move.

Sample program 2:Move to 50mm using 001 input, andthen, turn complete output 302 ON.

petS O/A EDOC-PO 1DNRPO 2DNRPO TSOP tnemmoC

1 EMOH gnimoH

2 LEV 002 ces/mm002gnittesdeepS

3 GAT 1

4 NOTW 510 510tupnitiaW

5 FOTB 603 FFOsi603

6 PVOM 1 1.oNnoitisopotevoM

7 NOTB 703 FFOsi703

8 NOTW 510 2.oNnoitisopotevoM

9 FOTB 703 FFOsi703


11 NOTB 603 NOsi603

21 OTOG 1 gaTotoG

-etSp O/A -OC-PO

EDDNRPO

1DNRPO

2-OPTS tnemmoC

1 EMOH gnimoH

2 GAT 3 daehapmuJ3OTOG

3 1 OTOG 1 1GATotogneht,NOsi100tropfI

4 2 OTOG 2 2GATotogneht,NOni200tropfI

5 OTOG 3 3GAToT


7 FOTB 203 303 FFO0303~203tuptuO


9 DVOM 05 mm05otevoM

01 NOTB 203 NOsi203

11 OTOG 3 3GATotoG


31 FOTB 203 303 FFO303~203tuptuO



61 NOTB 303 NOsi303

71 OTOG 3 3GATotoG

petS O/A N EDOC-PO 1DNRPO 2DNRPO TSOP tnemmoC

1 EMOH gnimoH


3 TEL 1 0 1elbairavotni0etutitsbuS

4 GAT 1 daeha1mpuJOTOG



7 DDA 1 1 1elbairavotni1ddA

8 QEPC 1 5 006 N0006galfneht,5si1elbairavfoeulavfI

9 006 OTOG 2 2GATotog,neht,NOsi006galFFI

01 OTOG 1 1GATotoG


21 TIXE dnemargorP

petS O/A N EDOC-PO 1DNRPO 2DNRPO TSOP tnemmoC

1 EMOH gnimoH

2 GAT 1





7 110N NWFJ 1 010 drawrofog,FFOsi110dnaNOsi010elihW

8 010N NWBJ 1 110 drawrofog,NOsi110dnaFFOsi010elihW

9 210N OTOG 2 2GATotogneht,FFOsi210fI

01 OTOG 1 1GATotoG

50

First, upon confirming either the trapezoid pattern or square patterns, calculations for each pattern is done accordingto the calculation method listed below.

• Movement confirmation method:

In case you wish to move the transfer speed at a set rated speed, you may determine either the trapezoidor triangle patterns, acccording to the reaching speed is large or small via setting speed.

Arrival speed (Vmax) = Distance (Smm) X Acceleration

Arrival speed (Vmax) = SmmX9,800mm/sec2 X Acceleration setting for actuator (G)

Thus, the result is listed below:

Rated speed (V) < Arrival speed (Vmax) • • • • • Trapezoid PatternRated speed (V) > Arrival speed (Vmax) • • • • • • Triangle Pattern

• Positioning time calculation method:

A. Trapezoid Pattern:

Positioning time (T) = + +

B. Triangle Pattern:

Positioning time (T) = 2 +

A. Trapezoid Pattern

B. Triangle PatternA. Trapezoid Pattern

Distance (mm) Speed (mm/sec)

Speed (mm) Acceleration (mm/sec2) Setting time (0.15sec)

Distance (mm) Acceleration (mm/sec2)

Rated speed time = Rated speed move distance = Distance (mm) Speed (mm/sec2)

Rated speed (mm/sec2) X (rated speed time [sec])2

2

Note:Acceleration speed is attained by using ACC/DEC setting value (G) X9,800mm /sec of the controller. If the ACC/DEC settingvalue of the controller is 0.3G, the calculation is as follows: 0.3X9,800mm/sec2=2,940mm/sec2 .

As for the setting time, we normally consider approximately 0.15 sec in terms of determining thecompletion of movement to the desired location.

Positioning Time Calculation Method

Technical Information

Speedmm/sec

Accelerationrange

Positioning Time

Deceleration range

Timesec

Setting time (0.15 sec)

Setting time (0.15sec)

Speedmm/sec

Acceleration. range

Rated speed range

Positioning time

Decelerationrange

Timesec

Setting time (0.15 sec)

51

DSDynamic Series

enihcaMepyT

.xaMdeepS

detaRdeepS

5mm

01mm

02mm

03mm

04mm

05mm

57mm

001mm

051mm

002mm

052mm

003mm

053mm

004mm

054mm

005mm

055mm

006mm

H6AS/H5ASmm008ces/ G3.0 80.0 21.0 61.0 02.0 32.0 62.0 23.0 73.0 54.0 25.0 85.0 56.0 17.0 77.0 38.0 29.0 80.1 92.1

M6AS/M5ASmm004ces/ G3.0 80.0 21.0 61.0 02.0 32.0 62.0 23.0 93.0 15.0 46.0 67.0 98.0 10.1 41.1 62.1 54.1 38.1 13.2

L6AS/L5ASmm002ces/ G2.0 01.0 41.0 02.0 52.0 03.0 53.0 84.0 06.0 58.0 01.1 53.1 06.1 58.1 01.2 53.2 37.2 25.3 15.4

H4ASmm566ces/ G3.0 80.0 21.0 61.0 02.0 32.0 62.0 23.0 73.0 54.0 35.0 06.0 86.0

M4ASmm033ces/ G3.0 80.0 21.0 61.0 02.0 32.0 62.0 43.0 24.0 75.0 27.0 78.0 20.1

L4ASmm561ces/ G2.0 01.0 41.0 12.0 72.0 33.0 93.0 45.0 96.0 99.0 03.1 06.1 09.1

M6A/M5Amm004ces/ G2.0 01.0 41.0 02.0 52.0 92.0 23.0 93.0 54.0 85.0 07.0

L5A/L5Amm002ces/ G2.0 01.0 41.0 02.0 52.0 03.0 53.0 84.0 06.0 58.0 01.1

M4Amm033ces/ G2.0 01.0 41.0 02.0 52.0 92.0 23.0 04.0 74.0 26.0 77.0

L4Amm561ces/ G2.0 01.0 41.0 12.0 72.0 33.0 93.0 45.0 96.0 99.0 03.1

Rated speed time

Triangle

Trapezoid

Positioning Time Calculation Method (sec)

Transfer distance

Triangle

Trapezoid

Note: Setting time (0.15sec) is not included.

1000

900

800

700

600

500

400

300

200

100

00.1sec

Speed

0.2sec 0.3sec

SA4L, A4L

A4M

A5M, A6M

SA4M

SA5M, SA6M

SA4H

SA5H, SA6H

0.3G

0.2G

SA5L, SA6L, A5L, A6L

mm/sec

52

• SA4/SA5:Fix by using the 4 thru holes located on the upper sideof the main body, or use bolts to fix to the tap holeslocated on the bottom.

Upper side mounting holes:

Tap diameter for Bottom mounting:

• SA6:Use bolts to fix to the tap holes from the bottom of themain body (the upper side does not have any mounting holes).

Arm Type

The Arm Type has a built-in brake. Connect the actuator onto the controller andrelease the brake using the brake release switch. While the brake is released, pull theslider towards the stroke end and then, turn the power OFF. Remove the coverusing the 4 cover screws. Fix onto the mounting holes located on themachine base.

Slider Type

DS Mounting Method

Cable Treatment Method

CONTROLLER

CODEREADYALARMBAT

BRAKERELEASENORMAL

TEAING/RS232 PORT

ONOFF

PORTIAI Corporation

CONTROLLER

CODEREADYALARMBAT

BRAKERELEASENORMAL

TEAING/RS232 PORT

ONOFF

PORTIAI Corporation

App

roxi

mat

ely

over

50m

m

Note 1:The cable between the DS Actuator and controlleris equipped with built-in motor power line and encoderline. Therefore, for maintain proper bending radiusaccording to the drawings below:

Note 2:The cable is not a robot cable with high warp capability.Therefore, application method which requires for the DSactuator to move, please make sure that there’s no unneces-sary impact on the cable treatment (see diagram below).

CorrectWrong

CorrectWrong

Over R30

4AS-SD 3M

5AS-SD 4M

4AS-SD 5htpeD3M

5AS-SD 7htpeD4M

6AS-SD 9htpeD5M

4AS-SD 3M

5AS-SD 4M

6AS-SD 5M

Documents

Maximizes on AC Servo capabilities. - Intelligent · PDF file3 DS Dynamic Series The DS series was developed on the basis of single axis use but a 2-axis assembly unit can be used