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Housed Direct Drive Rotary (DDR) Motore Rotary (DDR) Motor
            Housed Direct Driv




                                                                                                                                      Housed DDR Performance Data and Dimensions

                                                                                                                                      240 Vac Performance Data
                                                                                                                                                                                                                              Inertia (Jm)
                                                                                                                                         Housed DDR               Frame Size  Continuous Torque  Peak Torque  Maximum Speed  Weight  2
                                                                                                                                                                                                                                cm
                                                                                                                                           Motor    AKD Servo Drive  mm [in]  Nm [lb-in]  Nm [lb-in]   [RPM]        kg [lb]   [lb-in-s  x10- ] 3
                                                                                                                                                                                                                                  2
                                                           Housed DDR motors are multi-pole (16 to 32) hollow shaft motors with            D061      AKD-X00606   175 [6.90]   5.3 [46.9]  16.9 [150]   500        9.4 [20.7]  61 [54.0]
                                                           their own bearings and high-resolution encoder system. They are                 D062      AKD-X00606   175 [6.90]   9.8 [86.7]  33.5 [296]   500        11.3 [24.9]  71 [62.8]
                                                           coupled directly to the load and enable very precise and repeatable             D063      AKD-X00606   175 [6.90]  17.7 [157]   64.4 [570]   500        13.8 [30.4]  86 [76.1]
                                                           systems. Housed DDR motors are maintenance free and run more                    D081      AKD-X00606   217 [8.55]  15.9 [141]   45.0 [398]   500        17.9 [39.4]  144 [127]
   SER
   V
                                                           quietly and with better dynamics than systems that use gears, belts,            D082      AKD-X00606   217 [8.55]  25.9 [229]   92.2 [816]   300        21.5 [47.3]  194 [172]
                                                           cams or other mechanical transmission components.                               D083      AKD-X00606   217 [8.55]  50.4 [446]  160 [1420]    250        28.8 [63.4]  301 [266]
   O MO
   T
                                                                                                                                           D101      AKD-X00606   280 [11.0]  34.6 [306]  129 [1140]    300        31.5 [69.3]  693 [613]
                                                                                                                                           D102      AKD-X00606   280 [11.0]  63.4 [561]  227 [2010]    200        43.8 [96.4]  992 [878]
   ORS
                                                             Realized Housed DDR Motor Benefits                                            D103      AKD-X01206   280 [11.0]  115 [1020]  501 [4430]    120        60.8 [134]  1750 [1550]
                                                             The Direct Drive Advantage                                                    D141      AKD-X01206   362 [14.2]  108 [956]   367 [3250]    200        59.4 [131]  1630 [1440]
                                                                                                                                           D142      AKD-X01206   362 [14.2]  183 [1620]  519 [4590]    120        86.6 [191]  2740 [2430]
                                                             The following improvements were
                                                             observed compared to the previous design                                      D143      AKD-X02406   362 [14.2]  339 [3000]  1340 [11,900]  60        146 [321]   5420 [4800]
            Housed DDR Features                              that used a mechanical indexer:
                                                                                                                                      400/480 Vac Performance Data
            •  4 frame sizes
                                                             Improved Repeatability                                                      Housed DDR               Frame Size  Continuous Torque  Peak Torque  Maximum Speed  Weight  Inertia (Jm)
                                                                                                                                                                                                                                cm
            •  Robust cross-roller bearing                                                                                                 Motor    AKD Servo Drive  mm [in]  Nm [lb-in]  Nm [lb-in]    RPM         kg [lb]   [lb-in-s  x10- ] 3
                                                                                                                                                                                                                                  2
                                                                                                                                                                                                                                  2
            •  Dual bearing option                           The Housed DDR motor demonstrated a repeatability better than 1 arc-
                                                             second which was substantially better than the mechanical indexer.            DH061     AKD-X00607   175 [6.90]   5.3 [46.9]  16.9 [150]   800        9.4 [20.7]  61 [54.0]
            •  IP67 option                                                                                                                 DH062     AKD-X00607   175 [6.90]   9.8 [86.7]  33.5 [296]   800        11.3 [24.9]  71 [62.8]
            •  Continuous torque range: 5.8 Nm (4.3 lb-ft) to 339 Nm (250 lb-ft)  No Degradation                                           DH063     AKD-X00607   175 [6.90]  17.7 [157]   64.4 [570]   800        13.8 [30.4]  86 [76.1]
            •  Optimized torque output with high-pole count efficient   Direct drive system performance, accuracy and repeatability do     DH081     AKD-X00607   217 [8.55]  15.9 [141]   45.0 [398]   500        17.9 [39.4]  144 [127]
   HOUSED DIRECT DRIVE RO
              electromagnetic design                         not degrade over time as they do with a mechanical indexer. With              DH082     AKD-X00607   217 [8.55]  25.9 [229]   92.2 [816]   500        21.5 [47.3]  194 [172]
   T
            •  Integrated high-resolution sine-encoder       a mechanical indexer, as parts wear over time, the accuracy and
   AR
                                                             repeatability degrade.                                                        DH083     AKD-X00607   217 [8.55]  50.4 [446]  160 [1420]    500        28.8 [63.4]  301 [266]
            •  134,217,728 counts per rev resolution, 27 bits
                                                                                                                                           DH101     AKD-X00607   280 [11.0]  34.6 [306]  129 [1140]    300        31.5 [69.3]  693 [613]
            •  Feedback accuracy: +/- 26 arc-sec             Immediate Stop                                                                DH102     AKD-X00607   280 [11.0]  63.4 [561]  227 [2010]    300        43.8 [96.4]  992 [878]
            •  Repeatability better than 1 arc second        The direct drive system can immediately stop if there is a process error.     DH103     AKD-X01207   280 [11.0]  115 [1020]  501 [4430]    250        60.8 [134]  1750 [1550]
                                                             The mechanical indexer required several cycles to stop which could cause      DH141     AKD-X01207   362 [14.2]  108 [956]   367 [3250]    300        59.4 [131]  1630 [1440]
            Housed DDR Motor Advantage                       tooling and machine damage.
   Y (DDR) MO
   T
            Consider how a Housed DDR motor improved a medical                                                                             DH142     AKD-X01207   362 [14.2]  183 [1620]  519 [4590]    300        86.6 [191]  2740 [2430]
                                                                                                                                                                                                        120
   OR
            manufacturing machine.                           Greatly Reduced Audible Noise                                                 DH143     AKD-X02407   362 [14.2]  339 [3000]  1340 [11,900]  Dimensions  146.0 [321]  5420 [4800]
            Product is located at the steel pins on the outside of the machine’s   With the mechanical indexer, the noise was at a level such that                                                            A      B      C      D
            turret as shown. The 115 kg load wheel has an inertia of 20 kg-m .   two people would have to yell to hear each other. By contrast, if   Flange Mount  Face Mount                         DDR   mm [in]  mm [in]  mm [in]  mm [in]
                                                      2
                                                             you turned your back to the Housed DDR motor, you could barely detect
            There are 96 steel pins for an index angle of 3.5 degrees to move.  that it was running.                                                                                                 D[H]061  130 [5.12]  175 [6.90]  220 [8.66]  126 [4.95]
            The move is accomplished in less than 100 ms.                                                                                                                                 D          D[H]062  140 [5.55]  175 [6.90]  220 [8.66]  126 [4.95]
                                                             Easy Profile Change                                                                                                                     D[H]063  164 [6.46]  175 [6.90]  220 [8.66]  126 [4.95]
            Housed DDR Benefits                                                                                                                                                                      D[H]081  145 [5.71]  217 [8.55]  260 [10.2]  147 [5.80]
                                                             Motion parameters such as index angle, speed, acceleration, and dwell are       C              B                                        D[H]082  165 [6.50]  217 [8.55]  260 [10.2]  147 [5.80]
            •  Transmission elements such as couplings, toothed belts,  very simple to change with the Housed DDR motor. The mechanical indexer                                                      D[H]083  206 [8.11]  217 [8.55]  260 [10.2]  147 [5.80]
              spindles, and other fitted components can be eliminated  does not support flexible motion profiles.                                                                                    D[H]101  153 [6.02]  280 [11.0]  330 [13.0]  181 [7.11]
                                                                                                                                                                                                     D[H]102  185 [7.28]  280 [11.0]  330 [13.0]  181 [7.11]
            •  Mechanical design is made much simpler        Better Value                                                                                         A                                  D[H]103  248 [9.76]  280 [11.0]  330 [13.0]  181 [7.11]
            •  Power transmission without backlash                                                                                                                        Ø 42.9 (1.69) Thru Bore    D[H]141  153 [6.02]  362 [14.2]  406 [16.0]  218 [8.59]
                                                             The Housed DDR motor is attractively priced compared to the mechanical                                         (Sine Encoder)
            •  More compact machinery assemblies             indexer it replaced. When the other advantages listed above are also                                                                    D[H]142  217 [8.52]  362 [14.2]  406 [16.0]  218 [8.59]
            •  Increased performance for the entire system   considered, the Housed DDR motor was the obvious choice.                 Note 1: Refer to page 166 for matching cables.                 D[H]143  344 [13.50]  362 [14.2]  406 [16.0]  218 [8.59]
                                                                                                                                      Note 2: For complete AKD and Housed DDR motor model nomenclature, refer to pages 178 and 184 respectively.




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