Product feature
Attachment orientation
Main specification
| Heading | Contents | |
|---|---|---|
| Rated torque (N⋅m) (Note 3) | 25 | |
| Max. instantaneous torque (N⋅m) | 75 | |
| Deceleration/acceleration (Note 4) | Rated speed (degree/s) | 800 |
| Maximum speed (degree/s) | 1440 | |
| Max. acceleration/deceleration (G) | 9.99 | |
| Cleanroom Compatible | Suction amount (Nl/min) | 35 |
| Operating range | Index type (degree) | 0 - 359.99 |
| Multi-rotation absolute type (degree) (Note 5) | ±9999 | |
(Note 3) This is a characteristic when mounted on our rated heat sink. Refer to page 1-267 for further details.
(Note 4) 1G≒9807degrees/2
(Note 5) It will be ± 2520 instead when the SCON and high resolution type (20bit) are connected.
| Heading | Contents | |
|---|---|---|
| Drive system | Direct drive | |
| Accuracy of Repeating Positioning. | 17bit | ±19.8 seconds (±0.0055 degrees) |
| 20bit | ±3.7 seconds (±0.00103 degrees) | |
| Indexing accuracy (Note 6) | 17bit | ±45 seconds (±0.01249 degrees) |
| 20bit | ±30 seconds (±0.00833 degrees) | |
| Homing method | Encoder home position detection method | |
| Homing precision | 17bit | ±19.8 seconds (±0.0055 degrees) |
| 20bit | ±3.7 seconds (±0.00103 degrees) | |
| Lost motion | 17bit | 39.6 seconds (0.011 degrees) or less |
| 20bit | 7.4 seconds (0.00206 degrees) or less | |
| Allowable thrust load | Forward | 3100N |
| Reversing | 250N | |
| Allowable load moment | 80N･m | |
| Rotor inertia | 0.0092kg･m2 | |
| Allowable moment of inertia | 1.8kg･m2 | |
| Radial rotation runout | 0.03mm | |
| Thrust rotation runout | 0.03mm | |
| Base material property | Aluminum with side surface coated | |
| Cleanliness | Class 10 (0.1 μm, Fed.Std.209D), Class 2.5-equivalent (ISO 14644-1 Standard) | |
| Ambient operating temperature and humidity | 0-40℃, 20-85%RH or less (no-condensation) | |
| Protection grade | IP40 | |
| Vibration resistant/Shock resistant | 4.9m/s2 | |
| Compatible to overseas standards | CE mark, RoHS compliant | |
| Motor output | 600W | |
| Encoder type | Absolute | |
| Encoder pulse No. | 17bit | 131072 pulse/rev |
| 20bit | 1048576 pulse/rev | |
| Delivery | Written in [Reference for delivery] section of the homepage | |
(Note 6) Indexing accuracy is of when connected to SCON-CB.
Rotary type moment direction and output shaft runout
Adaptive controller
The actuators introduced in this page are controllable using the controllers shown below. Please select their type based on intended usage.
| Name | Appearance | Max. connectable axis No. | Power source voltage | Control method | Maximum positioning points | ||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Positioner | Pulse train | Program | Network *Select | ||||||||||||||||
| DV | CC | CIE | PR | CN | ML | ML3 | EC | EP | PRT | SSN | ECM | ||||||||
| RCON |  | 16 (ML3,SSN,ECM is 8) | DC24V three-phase AC200V | － | － | － | ● | ● | ● | ● | － | － | ● | ● | ● | ● | ● | ● | 128 (Position data unavailable for ML3, SSN and ECM) |
| RSEL |  | 8 | － | － | ● | ● | ● | ● | ● | － | － | － | ● | ● | ● | － | － | 36000 | |
| SCON-CB/CGB |  | 1 | Single phase AC200V | ● | ● | － | ● | ● | ● | ● | ● | ● | ● | ● | ● | ● | － | ● | 512 (768 for network specification) |
| XSEL-P/Q |  | 6 | Single phase AC200V Three-phase AC200V | － | － | ● | ● | ● | － | ● | － | － | － | － | ● | － | － | － | 20000 |
| XSEL-RA/SA |  | 8 | － | － | ● | ● | ● | － | ● | － | － | － | ● | ● | － | － | － | 55000 (depending on type) | |
(Note) Refer to page 8-17 for network abbreviations such as DV and CC.
(Note) High resolution type cannot be connected to XSEL-P/Q.
(Note) See page 1-325 for precautions when selecting a controller.
(Note) Multi-rotation absolute actuators cannot be connected to RCON-SC.
(Note) The rotation axis index mode cannot be used with the ML3, SSN, and ECM type.
Oversea specification
Important notes on selection
 | (1) The value indicated for the load assures a life of 5 years, assuming that it operates at the rated rotation speed for 8 hours a day and operates smoothly without impact. (2) Index absolute type cannot be used during pulse train control and MECHATROLINK III/EtherCAT motion/SSCNET control. (3) Please note that only the short cut control is available when using XSEL with index absolute type. (4) High resolution type cannot be connected to XSEL-P/Q. (5) Safety measures may be required depending on the attachment orientation. Refer to page 1-261 for further details. |
Dimension drawing
Cable sideway exit type (option symbol A1)
*1 The position on the top view of the rotating part of the work mounting surface will be the home position. Home position mark sticker is affixed to the home position as a counter mark.
*2 The actuator cable is a robot cable.
Mass
| Heading | Contents |
|---|---|
| Mass | 13kg |
Cable bottom exit type (option symbol A0)
*1 The actuator cable is a robot cable.
Homing method and forward rotation direction
When viewed from the top of the rotating part, the clockwise rotation is the forward (+) direction.
Rotates clockwise during a homing.
Detects and stops at the home position.
Features of operation type by controller
| Controller type | SCON-CB | RCON | RSEL | XSEL-P/Q | XSEL-RA/SA | ||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Operation type | Index absolute | Multi-rotation absolute | Index absolute | Multi-rotation absolute | Index absolute | Multi-rotation absolute | Index absolute | Multi-rotation absolute | Index absolute | Multi-rotation absolute | |||||||||||
| Resolution | Standard (17bit) | High resolution (20bit) | Standard (17bit) | High resolution (20bit) | Standard (17bit) | High resolution (20bit) | Standard (17bit) | High resolution (20bit) | Standard (17bit) | High resolution (20bit) | Standard (17bit) | High resolution (20bit) | Standard (17bit) | High resolution (20bit) | Standard (17bit) | High resolution (20bit) | Standard (17bit) | High resolution (20bit) | Standard (17bit) | High resolution (20bit) | |
| Max. operating range | 0 - 359.999 degrees | ±9999 degrees | ±2520 degrees | 0 - 359.999 degrees | ― | 0 - 359.999 degrees | ― | 0 - 359.999 degrees | ― | ±9999 degrees | ― | 0 - 359.999 degrees | ±9999 degrees | ||||||||
| Max. movement per movement command | 360 degree | Within the above operating range | 360 degree | ― | 360 degree | ― | 180 degrees (Note 7) | ― | Within the above operating range | ― | 180 degrees (Note 7) | Within the above operating range | |||||||||
| Infinite rotation operation | Enabled | Unavailable | Enabled | ― | Enabled | ― | Enabled (Note 8) | ― | Unavailable | ― | Enabled (Note 8) | Unavailable | |||||||||
| Homing at initial operation/ after battery replacement | No more required | Required | No more required | ― | No more required | ― | No more required | ― | Required | ― | No more required | Required | |||||||||
| Absolute battery | No more required | Required | No more required | ― | No more required | ― | No more required | ― | Required | ― | No more required | Required | |||||||||
| Pulse train control | Unavailable | Enabled | Unavailable | ― | Unavailable | ― | Unavailable | ― | Unavailable | ― | Unavailable | ||||||||||
| Motion network compatibility | Unavailable | Enabled | Unavailable | ― | Unavailable | ― | Unavailable | ― | Unavailable | ― | Unavailable | ||||||||||
| Interpolation operation | Unavailable | Unavailable | ― | Enabled | ― | Enabled | ― | Enabled | ― | Enabled | |||||||||||
| Synchronized movement | Unavailable | Unavailable | ― | Unavailable | ― | Unavailable | ― | Enabled | ― | Unavailable | Enabled | ||||||||||
This product supports different types of operation and resolutions depending on the controller connected. Please check the items supported by each controller before using them.
(Note 7) When the index absolute type of XSEL moves 180 degrees or more from the current position, it rotates in the direction with less movement amount to move to the target position. Therefore, please note that the direction of rotation changes depending on the current position and the amount of movement.
(Note 8) The index absolute type can rotate infinitely in the same direction. However, the maximum amount of movement of XSEL at one time is 180 degrees. It cannot rotate continuously in the same direction without stopping like how a motor does.
Guideline for travel time
| Lower limit of load inertia (kg⋅m2) | 0 | 0.005 | 0.01 | 0.02 | 0.02 | 0.03 | 0.04 | 0.06 | 0.08 | 0.1 | 0.15 | 0.2 | 0.3 | 0.4 | 0.6 | 0.8 | 1 | 1.2 | 1.4 |
| Upper limit of load inertia (kg⋅m2) | 0.005 | 0.01 | 0.015 | 0.02 | 0.03 | 0.04 | 0.06 | 0.08 | 0.1 | 0.15 | 0.2 | 0.3 | 0.4 | 0.6 | 0.8 | 1 | 1.2 | 1.4 | 1.8 |
| 45 degree travel time (s) | 0.098 | 0.096 | 0.096 | 0.097 | 0.099 | 0.104 | 0.113 | 0.12 | 0.126 | 0.14 | 0.157 | 0.207 | 0.257 | 0.352 | 0.447 | 0.53 | 0.629 | 0.795 | 0.875 |
| 90 degree travel time (s) | 0.129 | 0.128 | 0.127 | 0.128 | 0.131 | 0.136 | 0.144 | 0.153 | 0.163 | 0.184 | 0.208 | 0.268 | 0.329 | 0.44 | 0.549 | 0.646 | 0.758 | 0.941 | 1.035 |
| 180 degree travel time (s) | 0.192 | 0.19 | 0.19 | 0.191 | 0.193 | 0.199 | 0.207 | 0.215 | 0.225 | 0.249 | 0.279 | 0.354 | 0.428 | 0.562 | 0.692 | 0.806 | 0.933 | 1.133 | 1.257 |
| 270 degree travel time (s) | 0.254 | 0.252 | 0.252 | 0.253 | 0.256 | 0.262 | 0.27 | 0.278 | 0.288 | 0.312 | 0.341 | 0.42 | 0.504 | 0.655 | 0.8 | 0.925 | 1.064 | 1.274 | 1.415 |
The travel time varies depending on the load inertia. Please check the estimated travel time from the table below.
(Note) The numbers indicated in the table are just the guidelines and does not guarantee the travel time.
(Note) The time indicated in the table is the time from receiving the move command to converging to the positioning width of 0.028 degrees (about 100 angle seconds).