CKD ABSODEX AX1022 User manual

Compact DD actuator with high torque for FA
Direct drive actuator
Eco-friendly
Absolute type DD actuator
CB-32A 7

Network compatible functions
Different networks are easily connectable with the
one-touch connection serial transmission slave.
Eco-friendly
Energy-saving, space-saving, oilless, reusable --
these all assist in constructing an eco-friendly
production system.
Precise/high-function
This high-precision absolute DD actuator enables
freely designed 360°indexing, and enables
complex intermittent and continuous rotation.
Eco-friendly and intelligent index
for your network

Interactive terminal
Dedicating driver
H type
S type: Compact
GH type: With compatibility
GS type: Compact/with compatibility
Body actuator
Return to origin no longer required
A built-in absolute resolver recognizes
the current position even without a
return to origin.
Outstanding operability
Indexing time is set directly in 0.01-
second units.
Compact and high torque
The torque does not drop even in high
speed areas.
(Excluding some models)
Easy installation and centering
A socket and spigot and screw holes
are provided on the rotary section and
fixed section for installation. Wiring can
be centralized with the hollow shaft.
Dust-proof structure
A seal is installed on the rotary section
of the actuator. (Excluding some models)
(AX8000 Series is IP65 compatible)
Smooth cam curve drive
Five types of cam curves, modified
sine (MS), modified trapezoidal (MT),
modified constant velocity (MC, MC2)
and trapecloid (TR) are selectable
depending on the application.
Precise positioning
High-precision indexing is possible with
high 540672-pulse–per-rotation resolution.
(Indexing repeatability: ±5")
Energy saving
Power is consumed only during indexing.
Almost no power is consumed while the
output shaft is stopped.
No need to replace or dispose lubricant
Bothersome lubricant replacement and
waste oil disposal are no longer required.
Environment pollution is prevented
because no oil leakage occurs.
Space saving
Compact device
No origin detection sensor, reduction
gears, motors, etc., are required.
Specifications are easy to change
and parts easy to reuse.
Specifications can be changed with an
interactive terminal or personal computer, and
the mechanical index enables parts to be reused.
Compatible with open
networks
Two open networks -- CC-Link and
DeviceNet -- are selectable.
Reduced wiring costs
Major reductions in wiring help reduce
wiring work-hours.
Drivers, actuators, and cables are
compatible. Maintenance and control are
facilitated by freely combined applications.
Precise/high-function
Eco-friendly
Network compatible
functions
AX2000G/
AX4000G Series
Five series are selectable to match your applications.
Easy-programming
with the handy type.
CC-Link DeviceNet
Compatibility
Serial transmission slave unit
AX1000 Series
Compatible type AX2000G Series AX2000 Series
Compatible type AX4000G Series AX4000 Series
AX5000 Series
AX8000 Series
System Configuration

Intro 3
Features
Return to origin not required
The direct drive actuator has a built-in absolute resolver that detects
the current position when power is turned on, eliminating bother-
some origin searches. After an emergency stop, operations are re-
started from the current position.
The direct drive actuator resolver consists of two sets -- one uses R/D con-
version to split the sine waveform detected every 2.7˚ (360˚/132) rotation
angle into 4096, and the other splits 360˚ into 4096 to detect the absolute
position on 360˚.
An origin search sensor is not needed as with the incremental method.
With this highly reliable detection, backup memory is not required because
position information is recognized when power is turned on.
Precise
High resolution of 540672 pulses per rotation
Index precision: ±15" (second), (±30" (second) for AX3000,
AX4000 Series)
Repeatability: ±5" (second) *
*1" (second) = 1˚/3600
High torque
This DD motor has outstanding torque properties that maintain
the torque even in high-speed ranges and uses a PM motor
suitable for indexing.
Space saving
With the direct drive motor, compact and space saving com-
pared to the circular table with a motor and reduction gear.
Cover (adopted for some models)
Hollow
Output shaft
Stator (coil)
Rotor (magnet)
Absolute resolver
(rpm)
Rotation
speed
(rpm)
Rotation
speed
Torque
Continuous output range
Short time rated area
Torque
PM type (permanent magnet type) VR type (variable magnetic resistance type)
Continuous output range
Example of index accuracy measurement (with brake)
Example of index accuracy measurement (without brake)
sec.
Model No.
Load table
Moving time
Index number
Measuring
device
Heidenhein
(Germany)
AX5022
400
ROD-800
1.0 sec.
sec.
Model No.
Load table
Moving time
Index number
Measuring
device
Heidenhein
(Germany)
AX1022
250
ROD-800
1.0 sec.
Torque-rotational speed characteristics
(When motor volume is same.)

Intro 4
Smooth cam curve drive is achieved.
Five types* of cam curves are provided as a standard. Shock during
movement and stopping is minimized.
* Modified sine (MS), modified trapezoid (MT), modified constant
velocity (MC, MC2), and trapecloid (TR) are used.
Four types of cam curves with the outstanding operation properties
shown below are selected using parameters, enabling smooth
transfer positioning not possible with simple acceleration/
deceleration time setting control.
Easy design
A socket and spigot on the main console and table mounting facilitate
alignment.
Easy connection
An integrated driver and controller eliminate the need for
connections.
Flexible programming
Positioning at a random point is possible with NC language. Up to
256 NC programs are saved in the driver.
Variety of external interfaces
Program input, parameter setting, and reading of internal states,
etc., are implemented with RS-232C serial communication.
Different external interfaces, including M codes, are provided for
PLC connection.
Using the serial transmission slave, two types of open networks --
CC-Link and Device-Net -- are selectable.
Easily create programs
The equal index program is created easily by interactively inputting
the number of divisions and movement time, etc., with the optional
interactive terminal, so the system is ready for use right after instal-
lation.
If programs are created in NC language, even complex operations
are possible.
The driver stores up to 6000 characters of programs (256 programs).
Programs are created and saved using a personal computer and
Windows communication software Teaching Note.
CE marking
CE marking compatible parts (option) complying with Low Voltage
Directives and EMC Directives are used. Refer to the instruction
manual for information on installing the system to comply with stan-
dards, etc.
Refer to the CKD EU Standard Compatible Part Guide for details
on compatible models and standards.
The Low Voltage Directive
EN60034-1, EN60034-5, EN50178
EMC directive
EN55011, EN61800-3, EN61000-6-2, EN61000-3-2
Certificating body
TÜV Rheinland
Dowel hole convenient for positioning available
A flexible cable is used as an option for applications with cable
bends.
Conditions of measuring examples
Model No. AX1045
Operating conditions Index angle 90˚
Index time 0.5 second
Load moment of inertia 1.67 x 10-2 kg·m2
Vm Am Jm
Name
Acceleration curve
Measuring example
MODIFIED
SINE
(MS)
MODIFIED
TRAPEZOID
(MT)
MODIFIED
CONSTANT
VELOCITY
(MC)
TRAPECLOID
(TR)
Speed
Speed
Speed
Speed
Acceleration
Acceleration
Acceleration
Acceleration
MODIFIED SINE
MODIFIED TRAPEZOID
MODIFIED CONSTANT VELOCITY
TRAPECLOID
Large hollow diameter (AX4000, AX4000G Series)
Large hole diameter specifications are incorporated for easy
piping and wiring to the rotary table. A ball spline enables the
axis of the P&P mechanism to transfer small parts.
(Consult with CKD for ball spline installation.)
Non-backlash negative actuation type with electromagnetic brake
(option) is available. (AX4000, AX4000G Series)
Brake integrated type (AX5000, AX8000 Series)
The integrated pneumatic brakes ensure the output shaft is
clamped when stopping and holding rigidity is increased.
•
This is used for work in which rotational force is applied to the table.
• Fine vibration in table rotation, caused by the servomotor, is suppressed.
• Holding torque exceeds the motor's maximum output torque.
(At 0.5MPa compressed air)
High-level dust-proof/waterproof structure (AX8000 Series)
IP65* of IEC60529 standards compliant
TÜV Rheinland certified
Enhanced waterproofing is attained with air purging.
*Use low pressure (0.05 MPa) dry clean compressed air for air purging.
Features
Cam curve characteristics and measuring examples

Intro 5
Direct drive actuator compatible type series variation
Series Torque (N·m)
6129 182245
AX2006G AX2012G AX2018G
AX4022G AX4045G
AX2000G Series
AX4000G Series
GH type driver
GS type driver
ActuatorCompatible drier
Not available
AX4009G

Intro 6
AX2000G AX4000G AX1000 AX2000 AX4000 AX5000 AX8000
Driver type Option
Serial transmission slave unit
Features PageApplications
Repeatability
(second)
Index precision
(second)
Torque (N·m)
300
150 500
Applications: Intro 10
Safety precautions: Intro 13
Related parts model no. table: P. 73
Selection guide: P. 75
AX4300G AX4500G
±30 ±5
±30 ±5
Not available
Not available
AX4075G AX4150G
75
7 to 20
1 to 6
High speed rotation
(AX4009GS: 240rpm,
AX4022GS: 240rpm,
AX4045GS: 240rpm,
AX4075GS: 140rpm)
Compatible with large
moment of inertia loads
Hollow hole diameter is
large and a variety of
size options are
available.
High speed rotation
(300rpm)
Small diameter and
compact
Large hollow diameter
( 30)
P&P
Turntable
Assembly
machine
Turntable
Inspection
machine
Assembly
machine
P&P
GS type
59
60
53
GH type
61 to 63
One driver is usable as all size-compatible actuators.
The controller function enables the actuator's rotation
angle, movement time and timer, etc., to be set as desired
with an NC program.
Data is exchanged with an external PLC using M code
output, etc.

Intro 7
Direct drive actuator series variation
Series Torque (N·m)
6 9 12 22 (21) 45 (42) 75 (70)
AX1000 Series
AX1022 AX1045 AX1075
AX2006 AX2012 AX2021 AX2042
AX4009 AX4022 AX4045 AX4075
AX5022 AX5045 AX5075
AX8045 AX8070
AX2000 Series
AX4000 Series
AX5000 Series
AX8000 Series
H type driver
S type driver
ActuatorCompatible drier
The compact, high-function S type driver is recommended.

Intro 8
AX2000G AX4000G AX1000 AX2000 AX4000 AX5000 AX8000
Driver type Option
Serial transmission slave unit
Features PageApplications
Index precision
(second) Repeatability (second)
Torque (N·m)
300
210150 500
Applications: Intro 10
Safety precautions: Intro 13
Related parts model no. table: P. 73
Selection guide: P. 75
S type
59
60
63
H type
61 to 63
AX1150 AX1210
AX4150 AX4300 AX4500
AX5150 AX5210
±15 ±5
±15 ±5
±30 ±5
±15 ±5
±15 ±5
Not available
High-precision specific
type with high indexing
accuracy and output
shaft run out
Small diameter and
compact
(AX2006, AX2012)
The hollow fixed shaft
is convenient for cable
wiring and piping.
(AX2021, AX2042)
Hollow hole diameter is
large and a variety of
size options are
available.
Seven models 9 to
500N·m are selectable.
Integrated pneumatic
brakes enable the
output shaft can be
clamped when
stopping.
Suitable for work in
which loads are applied
after stopping.
IP65 compliant
(IEC standards)
Ideal for rotary
positioning unit used in
machining or washing
processes or use in
dusty environments
Precision
measuring
Turntable
Inspection
machine
Assembly
machine
Turntable
P&P
Assembly
machine
Turntable
Inspection
machine
Assembly
machine
P&P
Precision
measuring
Turntable
Inspection
machine
Assembly
machine
(pressfit)
Machining and
cutting such
as light cutting
Turntable
21 to 26
27 to 32
33 to 42
43 to 49
51 to 55
The driver's controller function enables the actuator's
rotation angle, movement time and timer, etc., to be set as
desired with an NC program.
Data is exchanged with an external PLC using M code
output, etc.
Note) Refer to
the precautions
on page 53.

Intro 9
AX Series
Basic settings
1. Input the program from a personal computer or interactive terminal.
2. Set required parameters the same way.
3. Set the appropriate gain.
Basic drive methods
1. Select the program to be executed from the PLC.
2. Input the start signal from the PLC.
3.
The in-position signal is output from the driver after drive starts.
System configuration
SERIAL:
MODEL: AX9000GH
ABSODEX
CKDCorporation
MADEIN JAPAN
MON.
POWER
F1
L1
FG
U
V
W
BK+
BK-
L2
L3
F2
F3
CN2
CN3
CN1
G1
G2
ABSODEX
POWER
3200-230 VAC
50/60HZ
Direct drive actuator
Interactive terminal
"AX0170H" (option)
RS-232C cable for communication (2m)
"AX-RS232C-9P" for D-sub 9 pin
(option)
(resolver cable)
(motor cable)
Noise filter for motor cable
If the cable is longer
than 6 m, insert a
noise filter on the
motor cable.
Cable set (standard 4m)
200 VAC three phase
Noise filter
FG
PC
Computer communication software
" Teaching note " (Free software for Windows)
RS-232C
I/O connector (MR-50LM)
AX driver power
24 VDC
I/O
Remote I/O station
PLC
Master
AX-OPX
When I/O used
When network
used
Slave unit power
AX driver power
24 VDC
PLC
Driver
Actuator
Driver (with controller)
Cable set (4m)
Accessory/I/O connector (MR-50LM), driver installation bracket
Standard configuration
Configuration
1
1
1
Name Quantity
Programming tool
• AX0170H is used as a programming terminal for S/GS and H/
GH drivers.
• "Teaching Note" software for personal computer communica-
tion is available. (Windows Version free software)
Direct drive actuator programs are created, parameters set,
and operation commands, etc., issued from the personal com-
puter. Created programs are saved.
An RS-232C communication cable is required.
Note: The communication cable is wired exclusively for a di-
rect drive actuator, so a commercial communication
cable cannot be used. The driver or personal computer
could fail if connected incorrectly.
a) for D-sub 9 pin (2m) (Model no.: AX-RS232C-9P)
b) for 14 pin half-pitch (2m) (Model no.: AX-RS232C-14P)
c) for D-sub 25 pin (2m) (Model no.: AX-RS232C-25P)

Intro 10
Example 1. Index unit for rotary table automatic machine
• When A and B process programs are created, and selected each
time, two types of workpieces are machined by one system.
(Merits of direct drive actuator)
• An absolute resolver eliminates the need for an origin detection
sensor.
• Equal division programs are input easily from the interactive
terminal.
• The program is created by inputting the number of divisions (or
angles) and movement time (or maximum speed), etc.
Example 2. axis for P&P unit
• By passing wiring and piping through the center hole, the system is
used as an intelligent P&P unit.
(Merit of ABSODEX)
• With the absolute resolver, return to origin is not required after turning
power on, and any position is moved to directly.
* Check when installing the mechanism.
Refer to precautions [design and selection] on page Intro 14.
A
BB
B
B
A
A
A
Pneumatic cylinder
Air blow
Inspection equipment
Example 3. Small parts inspection
• When the middle hole is used, this is suitable for a system that removes
workpieces using forced air.
Applications
AX Series
Example 4. Large panel-turning transport
• Suitable for applications that turn and transport large panels.
Note: If the allowable load moment of inertia exceeds specifications,
use may be possible by adjusting parameters, etc. Consult with
CKD for details.

Intro 11
AX Series
Applications (1)
Movement specifications 1 (Index unit movement)
Program example
Move 90˚ in 0.5 sec.
4 indexes (equal index of 90˚)
Moving time 0.5 second
Index 1 in counter clockwise direction each time start is input from PLC.
Movement specifications
Main program
O1;
G11;
G10
\1A4;
G91.1;
A0
\F0\.5;
N1M0\;
A-1F0
\.5;
J1;
M30
\;
Use program No. "1"
Set the time (sec.) in the NC code F unit
Split one rotation into 4
Set the incremental dimensions.
Move to the closest index station in 0.5 sec.
Wait for the start signal input from the PLC.
Move one index in 0.5 sec.
Jump to the sequence No. 1 block.
Program end
Example of PLC operation signal
Initial process: Process to be done once at first
Process name
(1) Program No. to select No. selection 0 bit
No. selection 1 bit
No. selection 2 bit
No. selection 3 bit
No. setting of the first digit
Start signal
Positioning complete signal
Start input waiting output
(2) Return process
I/O signal name PLC output PLC input Remarks
Index: Process per index
(Note) Input the program No. selection and start signal when the start input waiting output turns ON.
Process name
(3) Index
Start signal
Positioning complete signal
Start input waiting output
I/O signal name PLC output PLC input Remarks
(Note) When using the interactive terminal or Teaching Note, if the program No. 1 is input, O1 will be automatically set and does not need to be described.
Select the program No. 1 (Select
the number of the program to run.
In this example, No. 1 is used.)
Return process completed with
positioning complete signal
Return process completed with
positioning complete signal

Intro 12
AX Series
Applications (2)
Movement specifications 2 (Oscillator movement)
Program example
Movement between -45˚ and 45˚ is repeated each time
start is input from the PLC.
Movement time 0.7 sec.
Apply the brakes when stopping (Note 1)
Enable emergency stop input (Note 2)
Movement specifications
Main program
O2;
G10
\5;
G11;
G90
\;
N1M69;
A45F0
\.7;
M68;
M0
\;
M69;
A-45F0
\.7;
M68;
M0
\;
J1;
M30
\;
Use program No. "2"
Set the NC code A unit in angle (˚)
Set the NC code F unit in time (sec.)
Set the absolute dimensions
Brake release
Move to 45˚ position in 0.7 sec.
Brake operation
Start input waiting from PLC
Brake release
Move to -45˚ position in 0.7 sec.
Brake operation
Start input waiting from PLC
Jump to the sequence No.1 block
Program end
Use the direct drive actuator with brakes.
When using the type with optional magnetic brakes, refer to the section "Using the magnetic brakes".
If an emergency stop is input during braking, the brakes will function even after the emergency stop is reset.
When inputting the start signal without selecting the program No. again, release the brakes with the brake
release signal, and then input the first start signal.
Note 1:
Note 2:
Brake release input
Start input
Positioning complete output
Direct drive actuator
-45˚ 45˚
100msec and over
0˚

Intro 13
When designing and manufacturing devices using direct drive actuator, the manufacturer has an obligation to manufacture
a safe device, and to check that the safety of the device's mechanical mechanism and the system operated by the electrical
control that controls the device is secured.
It is important to select, use, handle, and maintain the product appropriately to ensure that the CKD product is used safely.
Observe warnings and precautions to ensure device safety.
Check that device safety is ensured, and manufacture a safe device.
1
This product is designed and manufactured as a general industrial machine part. It must be handled by
an operator having sufficient knowledge and experience in handling.
2
Use this product in accordance of specifications.
This product must be used within its stated specifications. It must not be modified or machined.
This product is intended for use as a general-purpose industrial device or part. It is not intended for use outdoors or for
use under the following conditions or environment.
(Note that this product can be used when CKD is consulted prior to use and the customer consents to CKD product
specifications. The customer must provide safety measures to avoid risks in the event of problems.)
Use for special applications including nuclear energy, railway, aircraft, marine vessel, vehicle, medicinal devices,
devices coming into contact with beverages or foodstuffs, amusement devices, emergency cutoff circuits (cutoff,
open, etc.), press machines, press circuits, or safety devices.
Use for applications where life or assets could be adversely affected, and special safety measures are required.
3
Observe association standards and regulations, etc., to ensure safe device design.
4
Do not remove devices until safety is confirmed.
Inspect and service the machine and devices after confirming safety of the entire system related to this product.
Note that there may be hot or charged sections even after operation is stopped.
Before starting device inspection or maintenance, turn off device power and other power to related devices, release
compressed air, and check leakage current.
5
Observe the Instruction Manual and Precautions for each product to prevent accidents.
Do not rotate the actuator outputs shaft by 30 rpm or more while power is off.
The driver could fail or electrical shock result from actuator power generation.
If the servomotor is turned off (including emergency stop or alarm) or brakes are turned off while a rotational force,
such as gravity, is applied, the output shaft may rotate by rotational force.
Conduct these operations flat where rotational force is not applied, or confirm safety before starting.
Unexpected movement may occur during gain adjustment or test operation, so keep hands, etc., away from the
outputs shaft. When conducting operations with the actuator not visible, confirm before starting that it is safe even if
the outputs shaft turns.
The brakes of the type with brake do not necessarily hold the outputs shaft completely in all situations.
If safety must be ensured, such as in maintenance with an application that rotates the output shaft in unbalanced
mode, or when stopping the machine for a long time, it may not be sufficient to stop the shaft with brakes alone. Use
the system flat or provide a mechanical lock.
It may take several seconds to stop in an emergency, depending on rotation speed and load.
6
Observe the precautions to prevent electrical shock.
High voltage is supplied to the terminal block at the driver's front panel. Install the enclosed terminal cover before
operation. Do not touch the terminal block while power is on.
Even after the power is turned off, a high voltage is applied until the charge accumulated in the internal capacitor is
discharged. Wait at least five minutes after turning the power off before touching these sections.
In work with side cover off, such as for maintenance and inspection or changing driver switches, turn power off
because a risk of electrical shock from high voltage exists.
Do not connect or disconnect connectors while power is on. Disoperation, faults, or electrical shock may occur.
7
Before restarting a machine or system, check that measures are taken so that parts do not come off.
8
Observe precautions on the pages that follow to prevent accidents.
WARNING
Safety precautions
Always read this section before starting use.

Intro 14
The precautions are ranked as "DANGER", "WARNING" and "CAUTION" in this section.
DANGER :When a dangerous situation may occur if handling is mistaken leading to fatal
or serious injuries, or when there is a high degree of emergency to a warning.
WARNING:When a dangerous situation may occur if handling is mistaken leading to fatal
or serious injuries.
CAUTION :When a dangerous situation may occur if handling is mistaken leading to
minor injuries or physical damage.
Note that some items described as “CAUTION” may lead to serious results depending on the
situation.
In any case, important information that must be observed is explained.
Disclaimer
1. CKD cannot be held liable for any business interruption, loss of profit, personal injury, delay cost, or any other
ancillary or indirect loss, cost, or damage resulting from the use of or faults in the use of CKD products.
2. CKD cannot be held responsible for the following damage:
(1) Damage resulting from failure of CKD parts due to fire from reasons not attributable to CKD, or by intentional
or negligence of a third party or customer.
(2) When a CKD product is assembled into customer equipment, damage that could have been avoided if
customer equipment was provided with functions and structure, etc., generally accepted in the industry.
(3) Damage resulting from use exceeding the scope of specifications provided in CKD catalogs or instruction
manuals, etc., or from actions not following precautions for installation, adjustment, or maintenance, etc.
(4) Damage resulting from product modifications not approved by CKD, or from faults due to combination with
other software or other connected devices.

Intro 15
CAUTION
Design & Selection
1The actuator -- excluding the AX8000 series -- and driver are
not waterproof. Provide waterproofing for use in places where
water or oil could come in contact with devices.
2Current leakage and faults could occur if swarf or dust get
onto the actuator or driver. Check that these do not come in
contact with devices.
3The cable enclosed as standard cannot be used with applications
involving repeated bending. Select the optional flexible cable for
these applications.
4If cable is longer than 6 m, insert a noise filter to the motor
cable. Connect the IN side of the noise filter to the driver, and
install the filter as close to the driver as possible.
5If power is turned off and servomotor turnoff is executed while
the servomotor is on (holding), the output shaft may move
from the held position even without external force.
6Optional magnetic brakes are used to enhance holding rigid-
ity during output shaft stoppage.
Do not use these brakes to brake or stop a rotating output
shaft.
7Equipment in which direct drive actuators are installed should
have sufficient rigidity to realize full direct drive actuator per-
formance. If the load equipment or frame's mechanical unique
vibration is relatively low (200 to 300 Hz or less), resonance
could occur in the direct drive actuator and load equipment or
frame. Secure the rotary table and main unit installation bolts,
and ensure sufficient rigidity without loosening, etc. [Fig. 1]
Gain must be adjusted based on load table size, etc.
Even when the direct drive actuator is not directly installed, it should
be installed on a highly rigid frame. [Fig. 2]
AX**75 or less
AX*150 and over
LF-310KA
LF-320KA
NEC Tokin (Corp.)
NEC Tokin (Corp.)
Three phase 10A
Three phase 20A
Model no. Maker
Dial plate fixing
Mounting base
8If sufficient rigidity cannot be attained, machine resonance is
suppressed to some degree by installing dummy inertia as
close to the actuator as possible. Examples of adding dummy
inertia are shown below.
When extending the output shaft, the following dimensions
apply as a guide to the extended shaft's diameter:
AX*006, AX*009, AX*012, AX*018,
AX*022, AX*045: 60mm and over,
AX*075, AX*150, AX*210, AX*300: 90mm and over,
AX*500: 150mm and over.
As a reference, dummy inertia is [load inertia] x (0.2 to 1).
[Fig. 3]
[Fig. 3] Example 1. for dummy inertia installation
When coupling with a belt, gears, or spline, or when
joining with a key, dummy inertia should be [load inertia]
x (0.5 to 2).
If speed changes with belts or gears, use load inertia as
the actuator output shaft conversion value, and install
dummy inertia on the actuator.[Fig. 4] [Fig. 5]
Note: Install dummy inertia as large as possible within the
actuator's capacity. (Use steel that has a large specific
gravity.)
[Fig. 4] Example 2. for dummy inertia installation
[Fig. 5] Example 3. for dummy inertia installation
Dummy inertia
Dummy inertia
Gear
Dummy inertia
Ball spline
Select gears with as large
diameter as possible.
[Fig. 1] Installing the actuator
[Fig. 2] Mounting the actuator

Intro 16
Safety Precautions
Labor saving machine Warnings and Precautions
Always read this section before starting use.
CAUTION
Design & Selection
9Connecting pneumatic brakes
1) The valve for pneumatic brakes is built into the direct drive actuator.
Supply 24 VDC power to external power input across pins 1, 2 and pins 3, 4 of the I/O connector (CN3) for valve power.
2) Supply 0.5 MPa clean compressed air to the brake air joint. Do not supply oil with the lubricator, etc.
3) Built-in brakes for the type with brakes enhance holding rigidity when the output shaft is stopped. Do not use these brakes to brake or stop
a rotating output shaft.
Recommended air circuit for air brakes
Air dryer
Direct drive actuator integrated
Clamp mechanism
Air filter
5μm
Regulator
0.5MPa
SERIAL:
MODEL: AX9000GH
ABSODEX
CKDCorporation
MADEIN JAPAN
MON.
POWER
F1
L1
FG
U
V
W
BK+
BK-
L2
L3
F2
F3
CN2
CN3
CN1
G1
G2
ABSODEX
POWER
3200-230 VAC
50/60HZ
Direct drive actuator
Resolver cable (standard 4m)
(motor cable)
200 VAC three phase Noise filter
FG
Noise filter for motor cable
If the cable is longer than 6 m,
insert a noise filter on the motor cable.
Driver

Intro 17
CAUTION
Design & Selection
Connecting magnetic brakes
Recommended circuit for magnetic brakes
SERIAL:
MODEL: AX9000GH
ABSODEX
CKDCorporation
MADEIN JAPAN
MON.
POWER
F1
L1
FG
U
V
W
BK+
BK-
L2
L3
F2
F3
CN2
CN3
CN1
G1
G2
ABSODEX
POWER
3200-230 VAC
50/60HZ
Direct drive actuator
(Resolver cable)
Noise filter for motor cable
Cable set (standard 4m)
200 VAC three phase
24 VDC
Protection element
(Enclosed with actuator body)
Blue lead wire
(not polarized)
Relay
Noise filter
FG
If the cable is longer than 6 m,
insert a noise filter on the motor cable.
Driver
(motor cable)
CN3
(user's preparation)
External power 24 VDC
Driver
BK-
BK +
(user's preparation)
External contact (such as relay)
(user's preparation)
Surge as countermeasures (such as LED)
(blue, approx. 30cm)
Electromagnetic brake lead wire
(user's preparation)
External power 24 VDC
CR
Protection element
Check that relay contact capacity is 10 times or more than the rated
current. If less, use a multi-pole relay and use two or more relay
contacts serially. Reed life is extended.
Electromagnetic brake
Enclosed with
actuator body
CN3
(user's preparation)
External power 24 VDC
Driver
BK-
BK +
(user's preparation)
Relay (4 poles)
(user's preparation)
Surge as countermeasures (such as LED)
(blue, approx. 30cm)
Electromagnetic brake lead wire
(user's preparation)
External power 24 VDC
CR
Protection element
Electromagnetic brake
Enclosed with
actuator body
Relay contact serial connection
Operation method
1. Control with NC program (M68, M69)
When the "M68" code is executed, BK+ to BK- is not energized
(brakes are applied), and when the "M69" code is executed, BK+ to
BK- is energized (brakes are released).
2. Control with brake release input (I/O connector, 18-pin)
If brake release is input while the brakes are applied, BK+ to BK- will
be energized (brakes are released).
If magnetic brakes are used frequently (frequently turned on and
off), use a solid-state relay (SSR) for the external contact.
Recommended model G3NA-D210B DC5-24 (OMRON)
Refer to the SSR instruction manual before using.
11
12
When passing a shaft through the hollow hole in the type with magnetic brakes, use a non-magnetic material (SUS303, etc.).
If magnetic material (S45C, etc.) is used, the shaft will be magnetized. This could cause iron powder to stick on the device or the
peripheral devices to be affected by the magnetic properties.
Note that around the magnetic brakes, iron powder, etc., could be attracted by the magnetic properties, or measuring instruments,
sensors and other devices could be affected.
1) Do not use magnetic brakes to brake or stop a rotating output shaft.
2) The driver will be damaged if the driver's BK+ and BK- and magnetic brakes are directly connected.
3) When connecting the following inductive load, such as a relay, to the external contact, set the coil rated voltage to 24 VDC and the rated
current to 100 mA or less, and provide measures against surge current.
4) When using magnetic brakes, supply 24 VDC power to external power input across pins 1, 2 and pins 3, 4 of the I/O connector (CN3).
10

Intro 18
Safety Precautions
Labor saving machine Warnings and Precautions
Always read this section before starting use.
CAUTION
Installation & Adjustment
1Use the actuator and driver with the same serial number combi-
nation. After opening the package, confirm that the actuator, driver,
and cable serial numbers match. When using several direct drive
actuators together, check that combinations are not installed in
reverse. Incorrect operation or faults could result if the actuator
and driver combination differs.
2Connect the enclosed cable between the actuator and driver.
Check that excessive force is not applied and that the cable is
not damaged. Do not modify the enclosed cable (change the length
or material) because this could cause malfunction or faults.
3Connect the correct power supply. Connecting a nondesignated
power supply could cause faults. Wait at least 5 seconds after
turning power off before turning it on again.
4Securely fix the direct drive actuator to the machine, and securely
install loads such as the table before adjusting gain. Confirm that
no interference occurs and that the state is safe even when flex-
ible sections are rotated.
5Do not tap the output shaft with a hammer, nor assemble it forc-
ibly. Failure to observe this would prevent the expected accuracy
or functions, and could cause faults.
6Do not place strong magnetic fields such as rare earth magnets
near the actuator. Failure to observe this may cause failures to
maintain expected accuracy.
7The actuator may become hot depending on operating conditions.
Provide a cover, etc., so that it will not be touched by accident.
CAUTION
During Use & Maintenance
1Do not disassemble the actuator, because this may compromise
expected functions and accuracy. Any modification to the resolver
could cause critical damage.
2When testing withstand voltage of the machine or equipment con-
taining the direct drive actuator, disconnect the main power cable
(L1, L2, L3) to the direct drive actuator driver and check that the
voltage is not applied to the driver. Failure to observe this could
cause faults.
8Do not drill holes into the actuator. Contact CKD when machining
is required.
9Do not get on the actuator or flexible parts such the rotary table
on the actuator during maintenance, etc.
10 Compatible AX****GS, AX****GH and conventional AX****S,
AX****H actuators and drivers cannot be connected.
11 Compatible type (AX****GS, AX****GH)
• If the actuator and driver are combined mistakenly after pro-
gram input (parameter setting), alarm 3 will be generated. Check
the actuator and driver combination.
Note: Alarm 3 occurs to prevent malfunction if the actuator and
driver combination differ from when the program was in-
put. Alarm 3 is reset when the program and parameters
are input again.
• If operation is started with an incorrect actuator and driver com-
bination after the program is input (after parameter setting),
malfunctions could occur or equipment could be damaged.
• When changing the cable length or type, order the cable sepa-
rately.
12 When using a circuit breaker, select one that has higher harmonic
measures for inverter use.
13 The position of the output shaft in the actuator dimension drawing
does not indicate the actuator's origin. When using it at the output
shaft shown in dimension drawings, the origin must be adjusted
to the origin offset.
3If alarm "4" (actuator overload: electronic thermal) is generated,
wait for the actuator temperature to drop before restarting.
Alarm "4" could occur in the cases below. Remove the cause be-
fore resuming use.
• Resonance or vibration: Ensure sufficient installation rigidity.
• Tact or speed: Increase movement time or stopping time.
• Structure that locks the output shaft: Add M68, M69 commands.
4Actuator coordinates are recognized after power is turned on so
check that the output shaft does not move for several seconds
after power is turned on.

Intro 19
WARRANTY
Warranty Items
Conditions related to the warranty term and scope are as follows:
1. Term of warranty
Warranty term: One year after delivery, where one day's operation shall be within eight hours. If durability is reached within one year, the
warranty term shall be terminated at that point.
Durability (direct drive actuator)
10,000,000 times for direct drive actuator brakes with air brakes, piston packing and valve. Conditions: room temperature, room humidity,
rated voltage, rated pneumatic pressure
2. Scope of warranty
If any faults found to be the responsibility of the CKD occur during the above warranty term, the part shall be repaired immediately by
CKD free of charge.
Note that the following faults are excluded from the warranty term:
(1) Faults due to use exceeding conditions and environments set forth in product specifications.
(2) Faults caused by careless or incorrect handling, or improper control.
(3) Faults caused by factors other than delivered parts.
(4) Faults caused by improper product use.
(5) Faults due to modifications to the product structure, performance, or specifications by a party other than CKD after the product is
delivered, or faults caused by repairs not designated by CKD.
(6) When using this product in the user's machine or equipment, damage that is avoided if the user's machine or equipment has
functions and structure, etc., considered normal within the industry.
(7) Faults caused by matters that could not be predicted with the technology applied when the product was delivered.
(8) Faults due to fires, earthquakes, water damage, lightning, other acts of nature, acts of God, pollution, salt damage, gas damage,
abnormal voltage, or other external factors.
The warranty here refers to the warranty of the actually delivered product, and does not include any damage resulting from a fault in the
delivered product.
3. Warranty for exported products
(1) Products returned to the CKD factory or to a company or factory designated by CKD shall be repaired. All work and expenses
related to the return shall be excluded from compensation.
(2) The repaired product shall be returned to a designated place in Japan with domestic packaging specifications.
This warranty specifies basic conditions. If warranty details in individual specification drawings or specifications differ from these warranty
conditions, specification drawings or specifications shall take priority.