IAI TTA Series Instruction Manual Download

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Table of Contents

Safety Guideꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ1

Caution in Handingꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ8

International Standards Compliances ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ9

Name and Function of Each Partꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 10

Chapter 1

Specifications Check ......................................................33

1.1

Product Check ...................................................................................................33

1.1.1

Parts.........................................................................................................................33

1.1.2

Instruction Manuals Related to This Product, which are Contained in the

Instruction Manual (DVD)........................................................................................34

1.1.3

How to Read the Model Plate..................................................................................34

1.1.4

How to Read the Model ...........................................................................................35

1.1.5

Model Codes for Option of Y-axis Mount Position Change .....................................37

1.1.6

Model Code for ZR Axis Front-Back Direction Position Change Option .................38

1.2

Mechanical Specifications .................................................................................39

1.2.1

Speed.......................................................................................................................39

[1] Work Moving Type Pulse Motor Specifications...............................................................39

[2] Work Fixing Type Pulse Motor Specifications.................................................................39

[3] Work Moving Type Servo Motor Low Lead Specifications .............................................39

[4] Work Moving Type Servo Motor High Lead specification...............................................39

[5] Work Fixing Type Servo Motor Low Lead Specifications ...............................................40

[6] Work Fixing Type Servo Motor High Lead specification.................................................40

1.2.2

Max. Speed, Max. Acceleration Speed and Transportable Mass ............................41

[1] Work Moving Type Pulse Motor Specifications...............................................................41

[2] Work Fixing Type Pulse Motor Specifications.................................................................41

[3] Work Moving Type Servo Motor Low Lead Specifications .............................................42

[4] Work Moving Type Servo Motor High Lead Specification ..............................................42

[5] Work Fixing Type Servo Motor Low Lead Specifications ...............................................43

[6] Work Fixing Type Servo Motor High Lead Specifications...............................................43

1.2.3

Driving System and Position Detector.....................................................................44

[1] Pulse Motor Standard Specifications..............................................................................44

[2] Pulse Motor High Resolution Specifications...................................................................44

[3] Servo Motor Low Lead Specifications ............................................................................44

[4] Servo Motor High Lead Specifications ...........................................................................44

1.2.4

Positioning Repeatability, Lost Motion (Note 1).......................................................45

[1] Pulse Motor Standard Specifications..............................................................................45

[2] Pulse Motor High Resolution Specifications...................................................................45

[3] Servo Motor Low Lead Specifications ............................................................................45

[4] Servo Motor High Lead Specifications ...........................................................................45

1.2.5

Relation between Current Limit Value and Pressing Force.....................................46

[1] Pulse Motor Specifications .............................................................................................46

[2] Servo Motor Specifications.............................................................................................48

1.2.6

Allowable Moment for Actuator................................................................................49

[1] Work Moving Type Pulse Motor Specifications..............................................................49

[2] Work Fixing Type Pulse Motor Specifications................................................................50

[3] Work Moving Type Servo Motor Specifications ..............................................................51

[4] Work Fixing Type Servo Motor Specifications................................................................52

1.2.7

Ma Direction Moment Offset Datum Position and the Moment Direction of

Each Axis.................................................................................................................53

1.2.8

Duty of Continuous Operation .................................................................................55

1.3

Electrical Specifications .....................................................................................60

1.3.1

Protection Circuit .....................................................................................................62

[1] Selection of Circuit Breaker............................................................................................62

[2] Selection of Leakage Breaker ........................................................................................63

Summary of Contents for TTA Series

Page 1: ...Tabletop Robot TTA Instruction Manual 12th Edition IAI Corporation ...

Page 2: ......

Page 3: ...al or display them using the personal computer After reading through this manual keep this Instruction Manual at hand so that the operator of this product can read it whenever necessary Important This Instruction Manual is original The product cannot be operated in any way unless expressly specified in this Instruction Manual IAI shall assume no responsibility for the outcome of any operation not ...

Page 4: ......

Page 5: ...eration Speed and Transportable Mass 41 1 Work Moving Type Pulse Motor Specifications 41 2 Work Fixing Type Pulse Motor Specifications 41 3 Work Moving Type Servo Motor Low Lead Specifications 42 4 Work Moving Type Servo Motor High Lead Specification 42 5 Work Fixing Type Servo Motor Low Lead Specifications 43 6 Work Fixing Type Servo Motor High Lead Specifications 43 1 2 3 Driving System and Posi...

Page 6: ...servation Environment 73 2 3 How to Install 74 2 3 1 Installation Orientation 74 2 3 2 How to Fix Unit 75 1 Work Moving Type 75 2 Work Fixing Type 76 2 3 3 Attachment of the Transported Object 77 2 3 4 Loadable Weight on Table 78 2 3 5 How to Attach Supportive Tools 79 2 4 Procedures to Detach Operation Part 80 Chapter 3 Wiring 83 3 1 Wiring Diagram 83 3 2 Power Supply Emergency Stop Circuit and E...

Page 7: ...1 4 4 Receiving and Forwarding of I O Signals Necessary for Operation 133 4 5 Position Table and Program Creation and Writing 136 4 6 How to Use Internal DIO 137 4 6 1 Internal DI and Dedicated Functions 137 4 6 2 7 Segment Display by User SEL Program 138 4 7 Standard Interface 141 4 8 Payload Adjusted for Setting Values 145 4 8 1 Work Moving Type Pulse Motor Specifications 146 4 8 2 Work Fixing T...

Page 8: ...mensions 303 9 1 Servo Motor Type Pulse Motor Type Battery less Absolute Specification 303 9 1 1 Work Moving Type 303 1 Two Axis X Y Axes 200mm Stroke 303 2 Two Axis X Y Axes 300mm Stroke 304 3 Two Axis X Y Axes 400mm Stroke 305 4 Two Axis X Y Axes 500mm Stroke 306 5 Three Axis X Y Axes 200mm Stroke Z Axis 100mm 150mm Stroke 307 6 Three Axis X Y Axes 300mm Stroke Z Axis 100mm 150mm Stroke 308 7 Th...

Page 9: ...Axis 100mm 150mm Stroke 336 11 Four Axis X Y Axes 400mm Stroke Z Axis 100mm 150mm Stroke 337 12 Four Axis X Y Axes 500mm Stroke Z Axis 100mm 150mm Stroke 338 9 2 2 Work Fixing Type 339 1 Two Axis X Axis 200mm Stroke Y Axis 150mm Stroke 339 2 Two Axis X Axis 300mm Stroke Y Axis 550mm Stroke 340 3 Two Axis X Axis 400mm Stroke Y Axis 350mm Stroke 341 4 Two Axis X Axis 500mm Stroke Y Axis 450mm Stroke...

Page 10: ...y Period 361 11 2 Scope of the Warranty 361 11 3 Honoring the Warranty 361 11 4 Limited Liability 361 11 5 Conditions of Conformance with Applicable Standards Regulations Etc and Applications 362 11 6 Other Items Excluded from Warranty 362 Change History 363 ...

Page 11: ... safety parts of machinery Safety device etc Do not use the product outside the specifications Failure to do so may considerably shorten the life of the product Do not use it in any of the following environments 1 Location where there is any inflammable gas inflammable object or explosive 2 Place with potential exposure to radiation 3 Location with the ambient temperature or relative humidity exce...

Page 12: ...t is suitable for the load Consider the safety factor of the hook in such factors as shear strength Do not get on the load that is hung on a crane Do not leave a load hung up with a crane Do not stand under the load that is hung up with a crane 3 Storage and Preservation The storage and preservation environment conforms to the installation environment However especially give consideration to the p...

Page 13: ...ive poles If the connection direction is not correct it might cause a fire product breakdown or malfunction Connect the cable connector securely so that there is no disconnection or looseness Failure to do so may cause a fire electric shock or malfunction of the product Never cut and or reconnect the cables supplied with the product for the purpose of extending or shortening the cable length Failu...

Page 14: ...ety shoes to secure safety Wear protection gloves goggle or safety shoes as necessary to secure safety Do not insert a finger or object in the openings in the product Failure to do so may cause an injury electric shock damage to the product or fire When releasing the brake on a vertically oriented actuator exercise precaution not to pinch your hand or damage the work parts with the axis dropped by...

Page 15: ...s setting switches in the power ON mode It may cause an accident due to unexpected motion caused as it is feasible to build a program to move the actuator in speed of 250mm s or more 7 Automatic Operation Check before starting the automatic operation or rebooting after operation stop that there is nobody in the safety protection fence Before starting automatic operation make sure that all peripher...

Page 16: ... slider or rod may get misaligned OFF the stop position if the servo is turned OFF Be careful not to get injured or damaged due to an unnecessary operation 4 44 holes at the back of TTA A3 S 50 50 TTA C3 S 50 45 are those necessary for machining inside but are not for use in normal use thus they are covered with grommets In case a grommet is lost cover the hole with adhesive tape and so on in orde...

Page 17: ...amage Caution Notice This indicates lower possibility for the injury but should be kept to use this product properly Notice Explanation of Caution Labels Attached on Devices The actuator you have purchased may have labels as shown below attached on the body If you have a model with such labels attached on make sure you understand the meanings well and pay attention in order to perform safe operati...

Page 18: ...ent abnormal noise or vibration failure or shorter life may result If it is extreme flaking may occur on the guide 6 Set the overhang length within the allowable range The overhang length load refer to 1 2 6 above the allowable range may cause vibration or abnormal noise 7 Back and forth operation in a short distance may cause wear of grease If the actuators are moved back and forth continuously o...

Page 19: ...getting stuck in this robot 1 Press the emergency stop switch and the X and Y axes stay at the position and Z axis will be available to make move manually by the brake release switch on the front panel or 2 After cutting off the power supply immediately by taking the power supply cord off the inlet it is available to release mechanically with the slider position tuning volume Z axis ...

Page 20: ...he emergency stop works when the entrance is opened and make sure to avoid entering from nowhere else but the entrance Rear Panel Side of Main Body Front Panel Side of Main Body Detail Power Supply Part Scale 1 4 Have an enclosure around the power supply switch and the power supply inlet so they can be operated from outside the fence Detail Emergency Stop Button Part Scale 1 4 Have an enclosure ar...

Page 21: ...st above the product dimensions for the dimensions of the safety protection fence Safety Fence Depth Depth of Product 200 or more 200 or more 200 or more Width of Product Width of Safety Fence Safety Fence Height Fence Height h of Product 200 or more 200 or more ...

Page 22: ... this product itself is declared to conform to EU under specific conditions as described below You can use this declaration for your facility EU Directives declared for conformity to EC EMC Directive 2014 30 EU Confirm with CE mark printed on the product label RoHS Directive 2011 65 EU Same as above Machinery Directive 2006 42 EC Confirm with attached Declaration of Conformity to EC There is Decla...

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Page 26: ... Axis Grease Supply Inlet Z Axis Y Axis T Grooves 2 T Grooves 2 T Groove X Axis Front Panel Grease Supply Inlet Y Axis Slider Position Adjustment Volume Y Axis T Grooves 2 T Grooves 2 T Groove Rear Panel Grease Supply Inlet Z Axis Slider Position Adjustment Volume X Axis Grease Supply Inlet X Axis ...

Page 27: ...uld be set downside BKNOM in ordinary use Switch Condition Description BKNOM Brake control by controller internal process Ordinary setting BKRLS Electromagnetic Brake Compulsory Release Caution This switch will not be activated unless the main power is turned on 1 Brake Releasing Switch 3rd axis 3 Operation Mode Switch 6 Function Switch Start Switch 5 Program Switch 2 Panel Window 7 USB Connector ...

Page 28: ...urce voltage E F 1 System down level error 8 8 8 8 2 Illumination test on all of 7 seg LEDs Initialization sequence l n 2 Initialization sequence number l n n 2 Display of field network board initializing sequence P r d 3 Writing data to the flash ROM E r G 4 Display switchover Emergency stop is being actuated except during the update mode e n b 4 Display switchover Enable switch deadman switch sa...

Page 29: ...arameter set it to MANU Mode and use a teaching tool PC software or teaching pendant to conduct the setting It is not available in AUTO Mode To start up the auto start program it is to be conducted in AUTO Mode It is not available in MANU Mode Status Description AUTO Automatic mode Used mainly in automatic operation MANU Manual mode Used mainly in teaching 4 Emergency Stop Switch It turns to the e...

Page 30: ...ted input it is available to use Input Port No 000 as a general purposed input by setting I O Parameter No 30 0 7 USB Connector This connector is used for USB connection Use it to connect the PC software to the controller via USB cable Applicable connector USB connector B 8 Teaching Tool Connector It is a D sub 25 pin connector that the optional teaching pendant or PC software is to be connected t...

Page 31: ...w to Take off Front Panel For Operation Part Removable Type OS 1 Detach the front base cap 2 Detach the front base cover by sliding it 3 Detach the screws 2 places Screw Screw Front Base Cap Front Base Cover ...

Page 32: ...FF 11 Expanded I O Slot 1 I O2 17 Expanded I O Slot 2 I O3 With the combination of extension DIO DeviceNet CC Link PROFIBUS DP and EtherNet IP etc two modules at the maximum are available to mount However only EtherNet IP is one module 13 Standard I O Service Power Supply Connector 16 Service Power Switch 14 System I O Connector 19 FG Terminal 9 AC Inlet 15 Motor Power Supply Connector 10 Power Sw...

Page 33: ...Error Orange Flashing One or more connection s in timeout NS Green Orange Flashing by turns In self diagnosis process Illuminated In normal operation Green Flashing There is no configuration information Or it is imperfect Illuminated Malfunction recovery impossible Orange Flashing Malfunction recovery possible MS Green Orange Flashing by turns In self diagnosis process CC Link Status LED Expanded ...

Page 34: ...more connection s established Green Flashing Online connection unestablished Illuminated IP address duplicated Critical error Orange Flashing One or more connection s in timeout NS Green O range OFF Power OFF IP address unset Illuminated In operational condition and under control of scanner master Green Flashing Construction information setting incomplete Or scanner master in idle condition Illumi...

Page 35: ...t power supply 14 System I O Connector ꞏꞏꞏ Refer to 2 3 2 It is a connector with two contacts of emergency stop input and two contacts of enable input Pin No Signal Name Description 1 ENBS2 Enable Contact Output 2 2 ENBS2 Enable Contact Output 2 3 ENBS1 Enable Contact Output 1 4 ENBS1 Enable Contact Output 1 5 ENBOUT Enable 24V Output 6 ENBIN Enable Input 7 EMGS2 Emergency Stop Contact Output 2 8 ...

Page 36: ... X axis Y axis motor drive power output 3 MPI Z axis R axis motor drive power input 4 MPI X axis Y axis motor drive powerintput 16 Service Power Switch By turning over this switch power supply of 24V DC 1A is available for purpose of external I O or sensors Turn over the switch while the main power is OFF No Status Description OFF Service power output is OFF 1 ON Service power output is ON 2 OFF N...

Page 37: ...rk coordinate system and tool coordinate system Note To use coordinate systems other than the each axis system it is necessary to activate the features for work and tool coordinate systems For details refer to Work and Tool Coordinate Systems for Liner Axis in Chapter 7 Appendix Each Axis System Base Coordinate System Coordinate System Work Coordinate System Tool Coordinate System 1 Each Axis Syst...

Page 38: ...n against the work piece mount face Work Coordinate System No 0 work coordinate system offset 0 Base Coordinate System X axis of Base Coordinate System is described as Xb Y axis as Yb Z axis as Zb and R axis as Rb Example TTA C4 XYZ Home Standard Specification The base coordinate system can be defined as shown below Work ...

Page 39: ... to the motion if viewed from the work piece Therefore the base coordinate system is shown as the figure below In below shows the definition related to the home of the base coordinate system and the direction of coordinates Home The position of the tool attachment datum point under condition that each axis system coordinates for all the unit constructing axes 0 Positive direction of coordinate The...

Page 40: ...escribed below by the axis structure of the coordinate system definition unit Xb Yb Xb Yb Rb Xwn Ywn Xwn Ywn Rオフセット量 0時の回転方向 R軸なし R軸あり Xb Yb Rb Xwn Ywn When no R axis in constructing axes Rotating Direction from Xb positive direction to Yb positive direction When there is R axis in constructing axes Rb Direction X Y Z Offset Distance from the base coordinate system home to the work coordinate syst...

Page 41: ...d Tool Coordinate System and operate the R axis with JOG operation and such movement as shown in the figure below can be performed Regarding directions of X and Y axes Xtn and Ytn in tool coordinate system With R Axis Varies relying on coordinates of R axis Without R Axis Always fixed the directions depends on R offset of tool coordinate system R axis Tool Tool Tip Xoftn X Tool Coordinate offset Y...

Page 42: ...32 ...

Page 43: ...depends on indication of I O cable length 4 System I O Connector DFMC1 5 6 ST 3 5 Supplier Phoenix Contact 1 Motor Power Connector For the AC Servo Motor Type B2L 3 50 04 180 SN OR BX Supplier Weidmüller 1 5 Motor Power Connector For the Pulse Motor Type FKIC2 5HC 2 ST 5 08 Supplier Phoenix Contact 1 6 CC Link Connector MSTB2 5 5 STF 5 08AU Supplier Phoenix Contact 1 or 2 Enclosed in CC Enclosed w...

Page 44: ...L T TD TG Instruction Manual Note 1 ME0183 6 DeviceNet Instruction Manual ME0124 7 CC Link Instruction Manual ME0123 8 PROFIBUS DP Instruction Manual ME0153 9 EtherNet IP Instruction Manual ME0308 Note 1 Applicable in Ver V1 16 and later with hardware revision 2 1 1 3 How to Read the Model Plate MODEL Including information such as stroke of each axis options extension slots Stroke of each axis is ...

Page 45: ...ge for model code for additional switch Power Supply Cable Specifications PU Only with plug on main unit side 1 Power supply cable for 100V AC 2m with 3 pin plug on one end 2 Power supply cable for 200V AC 2m Ring tongue terminal on one side I O Cable Length 0 None 2 2m 3 3m 5 5m Extension Slot 2 E Not use NP Extension I O board NPN type PN Extension I O board PNP type DV DeviceNet connection boar...

Page 46: ...cification A4SH Servo motor Work moving 4 axis High lead specification A4SHG Servo motor Work moving 4 axis High lead global specification C2SL Servo motor Work fixing 2 axis Low lead specification C2SLG Servo motor Work fixing 2 axis Low lead global specification C2SH Servo motor Work fixing 2 axis High lead specification C2SHG Servo motor Work fixing 2 axis High lead global specification C3SL Se...

Page 47: ...from standard Forward in 180mm from standard Model code for changed in Y axis mounting position in back and forth direction F1 F2 Y axis mounting position in height The figure below shows TTA in view from front Y axis position in back and forth direction The figure below shows TTA in view from top Standard Height 50mm 100mm Standard H1 Standard 50mm H2 Standard 100mm Standard F1 Forward in 90mm fr...

Page 48: ...ck 38 1 1 6 Model Code for ZR Axis Front Back Direction Position Change Option Standard 64 5mm forward to standard ZR Axis Front Back Direction Position Change Model Code FZ Standard Position 55 5mm 120mm FZ Forward in 64 5mm from standard Standard ...

Page 49: ...5B 18L 36L X 600 700 800 Y 540 640 800 Z 400 R 1000 deg sec 3 Work Moving Type Servo Motor Low Lead Specifications Restriction on Speed Unit mm s 2020 3030 4040 5050 2020 10B 15B 3030 10B 15B 4040 10B 15B 5050 10B 15B 2020 10B 15B R1 R2 3030 10B 15B R1 R2 4040 10B 15B 18L 36L 5050 10B 15B 18L 36L X 600 Y 600 Z 170 R 1500 deg sec 4 Work Moving Type Servo Motor High Lead specification Restriction on...

Page 50: ... 18L 36L 5050 10B 15B 18L 36L X 600 Y 600 Z 170 R 1500 deg sec 6 Work Fixing Type Servo Motor High Lead specification Restriction on Speed Unit mm s 2020 3030 4040 5050 2020 10B 15B 3030 10B 15B 4040 10B 15B 5050 10B 15B 2020 10B 15B R1 R2 3030 10B 15B R1 R2 4040 10B 15B 18L 36L 5050 10B 15B 18L 36L 2 axis type 3 4 axis type 2 axis type 3 4 axis type 2 axis type 3 4 axis type X 700 600 900 750 100...

Page 51: ... 2 or less 10 8 3 4 axis Type Transportable Mass Unit kg Axis 50 or less 100 or less 200 or less 300 or less 400 or less 500 or less 600 or less 700 or less 800 or less X 0 2 or less 6 5 4 3 Y 0 2 or less 6 Z 0 2 or less 6 5 4 3 Caution Do not set speeds and accelerations decelerations equal to or greater than the respective ratings It may cause vibration malfunction or shortened life If any accel...

Page 52: ...00 0 010 300 1 000 0 008 400 1 778 0 006 500 2 778 0 005 600 4 000 0 004 700 5 444 0 004 800 7 111 0 003 900 9 000 0 003 1 000 11 111 3 Work Moving Type Servo Motor Low Lead Specifications When the transported weight is low the acceleration deceleration and speed can be increased Transportable Mass Unit kg Acceleration G Axis 0 15 or less 0 2 or less 0 3 or less 0 4 or less 0 5 or less X 30 17 10 ...

Page 53: ...eased Transportable Mass Unit kg Acceleration G Axis 0 15 or less 0 2 or less 0 3 or less 0 4 or less 0 5 or less X 22 17 12 Y 12 10 Z 7 5 5 4 3 R axis Type Transportable Mass Unit kgꞏm2 Axis Angular Velocity deg s 200 or less 300 or less 400 or less 500 or less 600 or less 700 or less 800 or less 900 or less 1000 or less R Allowable Load Moment of Inertia 0 01 0 008 0 006 0 005 0 004 0 003 R axis...

Page 54: ...Stepping motor 24 or equivalent 8192 Rolled 12 C10 Z 42 Stepping motor 12 8192 Rolled 10 C10 R 42 Stepping motor 8192 3 Servo Motor Low Lead Specifications Ball Screw Type Axis Motor Type Watt age Lead mm No of Encoder Pulses Type Diameter mm Accuracy X 56 AC servo motor 45W 8 16384 Rolled 12 C5 or equivalent Y 56 AC servo motor 45W 8 16384 Rolled 12 C5 or equivalent Z 42 AC servo motor 40W 3 1638...

Page 55: ...r Battery Less Absolute Encoder Absolute Encoder X 0 005 0 025 or less 0 020 or less Y 0 005 0 025 or less 0 020 or less Z 0 005 0 020 or less R 0 015 deg 0 010 deg 0 06deg or less 0 03deg or less 4 Servo Motor High Lead Specifications Positioning Repeatability mm Note 2 Lost Motion mm Axis Battery Less Absolute Encoder Absolute Encoder Battery Less Absolute Encoder Absolute Encoder X 0 005 0 040 ...

Page 56: ...g Force N Caution 1 The relation of the current limit value and the pressing force is a reference when assuming the speed is 20mm s 2 There is a little variance in the actual pressing force The variance of the pressing force becomes large when the current limit value is low 3 Use the product within the range in the graph for the current limit value Pressing force will not be stable if used below 2...

Page 57: ...orque Nꞏm 10 0 12 20 0 24 30 0 37 40 0 48 50 0 61 60 0 73 70 0 85 Fluctuation in Pressing Torque 10 F S Correlation Graph for Pressing Torque Current Limit Value Current Limit Value Pressing Torque N m 0 12 0 85 0 24 0 37 0 48 0 61 0 73 0 0 1 0 2 0 3 0 4 0 5 0 6 0 7 0 8 0 9 1 0 10 20 30 40 50 60 70 80 ...

Page 58: ... 10 F S Low Lead Specification Current Limit Value Pressing Force N High Lead Specification 0 180 160 140 120 100 80 60 40 20 0 10 20 30 40 50 60 70 80 17 26 40 60 80 100 120 140 34 43 52 60 R Axis Current Limit Value Pressing Torque Nꞏm 10 0 08 20 0 15 30 0 23 40 0 30 50 0 38 60 0 46 70 0 53 Fluctuation in Pressing Torque 10 F S Current Limit Value 0 0 70 0 60 0 50 0 40 0 30 0 20 0 10 0 00 10 20 ...

Page 59: ...ss Mb or Mc direction 240mm or less Y Z 35 0 35 0 74 0 9 7 9 7 20 5 Ma direction 75mm or less Mb or Mc direction 180mm or less 4 Axis Type Allowable Static Load Moment N m Allowable Dynamic Load Moment N m Axis Ma Mb Mc Ma Mb Mc Overhang load length L X 62 7 62 7 126 5 15 9 15 9 32 0 Ma direction 190mm or less Mb or Mc direction 240mm or less Y Z 74 0 20 5 Ma direction 75mm or less Mb or Mc direct...

Page 60: ...on 75mm or less Mb or Mc direction 180mm or less 4 Axis Type Allowable Static Load Moment N m Allowable Dynamic Load Moment N m Axis Ma Mb Mc Ma Mb Mc Overhang load length L X 47 9 47 9 142 1 12 6 12 6 37 4 Ma direction 190mm or less Mb or Mc direction 240mm or less Y Z 74 0 20 5 Ma direction 75mm or less Mb or Mc direction 180mm or less R 35 0 35 0 9 7 9 7 Radius 100mm or less Refer to 1 2 7 Ma D...

Page 61: ... 1 14 9 14 9 44 3 Z 35 0 35 0 74 0 11 5 11 5 24 3 Ma direction 75mm or less Mb or Mc direction 180mm or less 4 Axis Type Allowable Static Load Moment N m Allowable Dynamic Load Moment N m Axis Ma Mb Mc Ma Mb Mc Overhang load length L X 62 7 62 7 126 5 18 8 18 8 37 8 Ma direction 190mm or less Mb or Mc direction 240mm or less Y 47 9 47 9 142 1 14 9 14 9 44 3 Z 74 0 24 3 Ma direction 75mm or less Mb...

Page 62: ...on 75mm or less Mb or Mc direction 180mm or less 4 Axis Type Allowable Static Load Moment N m Allowable Dynamic Load Moment N m Axis Ma Mb Mc Ma Mb Mc Overhang load length L X 47 9 47 9 142 1 14 9 14 9 44 3 Ma direction 190mm or less Mb or Mc direction 240mm or less Y 47 9 47 9 142 1 14 9 14 9 44 3 Z 74 0 24 3 Ma direction 75mm or less Mb or Mc direction 180mm or less R 35 0 35 0 11 5 11 5 Radius ...

Page 63: ...Offset Datum Position Moment Direction of Each Axis Rotary direction for R Axis X Mb Z Mb X Ma X Mc Y Mb Z Mc Y Mc Z Ma Y Ma R Mb R Ma Direction Direction X Axis X Axis Y Axis Z Axis R Axis Y Axis Z Axis R Axis Z Axis Y Axis X Axis Y Axis Ma Direction Moment Offset Datum Position 40 X Axis Ma Direction Moment Offset Datum Position 49 7 Z Axis Ma Direction Moment Offset Datum Position 41 ...

Page 64: ...rection Moment Offset Datum Position Moment Direction of Each Axis Z Mb Z Axis Y Axis X Axis X Mb R Mb Y Mb Y Mc Z Mc R Ma Y Mc Z Mc Y Axis Ma Direction Moment Offset Datum Position 40 X Axis Ma Direction Moment Offset Datum Position 94 Z Axis Ma Direction Moment Offset Datum Position 41 ...

Page 65: ...the movement distance S Reached Velocity Vmax mm s Stroke St Set Accelerationα St mm x 9 800 mm S 2 Set Accelerationα G mm s As a result Set Velocity V Reached Velocity Vmax 1 Trapezoid Pattern Set Velocity V Reached Velocity Vmax 2 Triangle Pattern b Load Factor LF Load Factor LF M x α Mr x αr Set Payload Mr kg Max payload of set acceleration ar Set Acceleration αr G Acceleration when capable to ...

Page 66: ...nstant velocity range Acceleration timeta s Deceleration time tb s for acceleration deceleration range Positioning convergence time s 2 For Triangle Pattern Acceleration deceleration time ta tb Stroke St mm Acceleration deceleration at operationα G x 9800 mm s 2 Cycle time tct Acceleration timeta ta Deceleration time tb s Positioning convergence time s d Acceleration Deceleration Time Ratio tod 1 ...

Page 67: ...eleration α G mm s 500 x 9800 x 0 15 857 mm s Set Velocity V Reached Velocity Vmax 1 Trapezoid Pattern Figure out the load factor LF in b Load Factor LF M x α Mr x αr 30 x 0 15 x 9800 30 x 0 15 x 9800 1 100 Figure out the acceleration deceleration time ta tb constant velocity range movement distance S cycle time tcr Acceleration Deceleration Time ta tb Set Velocity V mm s Acceleration deceleration...

Page 68: ...n point should be at this duty or less Example 2 Y axis Calculate the duty of when Set Payload Mr kg 11 kg Set Acceleration Deceleration αr G 0 2 G Transported Mass of ZR axes M kg 7 7 kg Acceleration Deceleration at Operation α G 0 2 G Stroke St mm Movement Distance 100 mm Set Velocity V mm s 600 mm s Positioning convergence Time s 0 s Check the operation pattern in a Reached Velocity Vmax Stroke...

Page 69: ...me at Operation tb Cycle Time tct 0 23 0 23 0 61 0 75 75 In e the reference of the duty will be 90 when the load factor LF 70 and acceleration deceleration time ratio tod 75 according to the graph Use the actuator with consideration to select the velocity acceleration deceleration and payload so the actual operation point should be at this duty or less ...

Page 70: ...V 10mA or less Contact Output EMGS1 EMGS2 ENBS1 ENBS2 DC30V 0 5A or less Motor Control System Weak field magnet vector control Serial Communication Interface SIO Port Teaching Port Connector dedicated for teaching tool Serial communication protocol format B Connector D sub25 pin USB B connector Baud rate 9 6 19 2 38 4 57 6 76 8 115 2kbps Max cable length 10m RS232C 5m USB PIO Type Signal I O dedic...

Page 71: ... no condensation or freeze Temperature Range for Storage 20 to 70 C Surrounding environment There should be no corrosive gas especially no remarkable dust Maximum Operation Height 1 000m Vibration Vibration frequency 10 to 57Hz Vibration band 0 075mm Vibration frequency 57 to 150Hz Acceleration 9 8m s 2 XYZ each direction Sweep time 10min Times of sweeping 10 times Overvoltage Category Pollution D...

Page 72: ...ction of the circuit breaker 3 times of the rated current may flow to the controller during the acceleration deceleration Select one that would not trip when this current flows If it trips select a breaker in rated current one rank higher Check in the operation characteristics curve shown in the supplier catalog Select one that would not trip at in rush current Check in the operation characteristi...

Page 73: ...ry to have a clear purpose for selection such as a fire protection or protection of human body Leak current varies depending on the capacity of connected motor cable length and the surrounding environment Measure the leak current at the point where a ground fault circuit interrupter is to be installed when leakage protection is conducted ...

Page 74: ...on Type Photocoupler Insulation NPN External Power Source 24V DC 10 Input Terminal Internal Power External Power Source 24V DC 10 Load Output Terminal Internal Power PNP External Power Source 24V DC 10 Input Terminal Internal Power Internal Power External Power Source 24V DC 10 Output Terminal Load Note 1 The maximum load current total becomes 400mA for every 8 ports from Output Port No 316 Maximu...

Page 75: ...IN3 8B OUT7 9A IN4 9B OUT8 10A IN5 10B OUT9 11A IN6 11B OUT10 12A IN7 12B OUT11 13A IN8 13B OUT12 14A IN9 14B OUT13 15A IN10 15B OUT14 16A IN11 16B Output OUT15 17A IN12 17B 18A IN13 18B 19A IN14 19B 0V Note 1 N 20A Input IN15 20B 0V Note 1 N Note 1 24V and 0V are 24V power input when the service power output is off and 24V power output when the service power output is on Also do not attempt to ap...

Page 76: ...nt 4mA per output ON Min 18V DC ON OFF Voltage OFF Max 6V DC Load Current 50mA 1 per circuit Type Insulation Type Photocoupler Insulation Insulation Type Photocoupler Insulation NPN Load External Power Source 24V DC 10 Internal Power Output Terminal PNP Note 1 The maximum load current total becomes 400mA for every 8 ports from Output Port No 316 Maximum in every point is 100mA External Power Sourc...

Page 77: ...A 3B OUT2 4A 4B OUT3 5A IN0 5B OUT4 6A IN1 6B OUT5 7A IN2 7B OUT6 8A IN3 8B OUT7 9A IN4 9B OUT8 10A IN5 10B OUT9 11A IN6 11B OUT10 12A IN7 12B OUT11 13A IN8 13B OUT12 14A IN9 14B OUT13 15A IN10 15B OUT14 16A IN11 16B Output OUT15 17A IN12 17B 18A IN13 18B 19A IN14 19B 0V Note 1 N 20A Input IN15 20B 0V Note 1 N Note 1 24V and 0V are necessary to have the power supply even when the service power out...

Page 78: ...tion Tens place of the digital switch 314 System reservation Internal DI I O1 015 Switch No 4 Additional switch Home return etc Internal DO I O1 315 Internal DI No 015 ON OFF External DI I O1 016 to 031 General purpose input Standard I O Connector External DO I O1 316 to 331 General purpose output Standard I O Connector 032 332 7 segment user display digit specification 033 333 7 segment user disp...

Page 79: ...nal DI No 015 ON OFF External DI I O1 016 to 031 General purpose input Standard I O Connector External DO I O1 316 to 331 General purpose output Standard I O Connector 032 332 7 segment user display digit specification 033 333 7 segment user display digit specification 034 334 035 335 036 336 System reservation 037 337 7 segment display refresh 038 338 7 segment user system alternate display 039 3...

Page 80: ... though Switch No 1 additional seitch is not pressed The relations between each additional switch and port numbers are as described below Switch Port No Input Function Select Connected Output Port No Remark Switch No 1 Additional switch 001 I O Parameter No 31 0 General porpose input 1 Software reset 308 When the setting established in I O Parameter No 284 Input Function Select 001 Physical Input ...

Page 81: ... unnecessary to prepare I O power source externally Specifications for Service Power Supply Output Output Voltage 24V DC 10 Max Output Current 1A Insulation Not insulated against TP USB System I O and Motor drive power line Standard I O Circuit Service Power Relay Service Power Switch Standard I O Connector Internal 24V 1A P24 2A P24 19B N 20B N Simplified Circuit Diagram of Service Power Output H...

Page 82: ...hed in order to hide the slider part when the Z axis slider is not to be used in the four axis type 1 4 2 Equipment Options 1 Y Change in Y Axis Mount Position H1 H2 F1 and F2 Refer to Section 1 1 5 Model Codes for Option of Y axis Mount Position Change 2 Main Unit Bracket Equipped Type Model FT4 FT6 FT4 with 4 pieces of brackets FT6 with 6 pieces of brackets 3 Support Added for 2020 Type Model AP...

Page 83: ...H Where the actuator receives direct sunlight Where the actuator is exposed to corrosive or combustible gases Where the ambient air contains a large amount of powder dust salt or iron at level exceeding what is normally expected in an assembly plant Where the actuator is subject to splashed water oil including oil mist or cutting fluid or chemical solutions Where the actuator receives impact or vi...

Page 84: ...ll the actuator on your mechanical system 2 3 1 Installation Orientation Do pay attention to these items Available Not available Horizontal Installation Sideways lnstallation Ceiling Mount Installation Installation Orientation Horizontal Installation Sideways lnstallation Ceiling Mount Installation ...

Page 85: ... moves depending on the condition of use such as load weight or acceleration deceleration speed By using the optional fixing brackets move of the unit can be prevented Attached the fixing brackets to the T grooves on the body with M6 12 hex socket head cap screws 1 Work Moving Type 125 15 30 16 T Groove Length L2 A 10 10 L1 60 10 10 2 φ6 5 Through Model L1 L2 A 2020 400 430 380 3030 500 530 480 40...

Page 86: ...arge reaction force is applied to the platform to install a robot it is necessary to prepare a platform with enough stiffness Not only to endure the weight of the robot the platform needs to have enough stiffness to endure dynamic moment of inertia at the maximum speed operation Affix the platform on the floor so the platform will not move due to the robot operation Have a structure on the install...

Page 87: ... more details refer to the Chapter 8 External Dimensions Tightening screws Use hexagonal socket head bolts for the male threads for installing the attachment It is recommended to use high tensile bolts with ISO 10 9 or more Make sure to have the effective length of screw engagement described below or more for the tightening of a bolt and a female screw When female screw is on steel thread length s...

Page 88: ...A 5050 50 C 2015 40 C 3025 60 C 4035 80 C 5045 100 Secure 2mm or more of clearance to the frames on the main body when loading a work piece on the X slider Work Piece Secure 2mm or more clearance in these areas Caution Rubber feet to support the main unit get compressed by a work piece tools and table load The amount of compression is approximately 1 0mm when the maximum loaded weight is applied T...

Page 89: ...upport the Y axis By using a nut supportive tools can be attached It is recommended to apply a T nut or square nut on the T groove but a hexagon nut can also be used Pay attention to the screw length so the tip of the screw would not touch the bottom of the T groove when attaching T Groove on Frame T Groove on Main Unit 3 7 4 3 7 3 4 5 1 5 8 16 5 ...

Page 90: ...ion 2 4 Procedures to Detach Operation Part 80 2 4 Procedures to Detach Operation Part In this section explains how to detach the operation part in the detachable operation option Required Tools Measurement Equipment None ...

Page 91: ...2pcs on the front cover side Dedicated screws can be taken off with hand Detaching Operation Part Step 2 Pull the front cover to the front direction to take it off Detaching Operation Part Step 3 Take off the dedicated screws 2pcs on the operation part side Dedicated Screws Front Cover Front Cover Dedicated Screws Operation Part ...

Page 92: ...n part to the front direction The cable to connect the operation part and the main unit is stored in the cable case Detaching Operation Part Step 5 Attach the front cover if necessary Cable Case Chapter 2 Installation 2 4 Procedures to Detach Operation Part ...

Page 93: ...eaching Option Model IA 101 X MW IA 101 TT USB IA 101 X USBMW IA 101 XA MW PC Software Option Emergency Stop Switch Electromagnetic Contactor Enable Switch PC Connection Cable Enclosed in PC Software Model CB ST E1MW050 5m CB SEL USB030 3m CB ST AIMW050 5m AC100 to 230V Select from those below for power supply cable Only with plug on main unit side Power supply cable for 100V AC 2m Power supply ca...

Page 94: ...meter 0 5mm2 AWG20 or equiv or more for those interconnection cables 3 2 1 Pulse Motor Type 1 Internal Circuit Composition Standard Specification All the motor drive power supply lines are cut off by FET Switchover of active inactive on the emergency stop line on the connector for teaching can be performed with the bypass relay by detecting the connection of connector for teaching Switchover of ac...

Page 95: ... EMGS2 _TP 16 EMGS2 _TP 13 EMGS1 _TP 12 EMGS1 _TP EMG SW ENB Status Detection ENBOK EMG Status Detection SDWN Motor Drive Circuit VP24S VP24S 24V MPO MPI 9 EMGS 1 10 EMGS 1 7 EMGS 2 8 EMGS 2 12 EMGIN 3 ENBS 1 4 ENBS 1 1 ENBS 2 2 ENBS 2 6 ENBIN 11 EMGOUT 5 ENBOUT TTA Pulse Motor Type Emergency Stop Enable Internal Circuit and External Wiring at Delevery 24V DC 10mA or less for EMGIN and ENBIN Conta...

Page 96: ...le circuit Example for Wiring when External Switch Installed 9 EMGS1 10 EMGS1 7 EMGS2 8 EMGS2 12 EMGIN 3 ENBS1 4 ENBS1 1 ENBS2 2 ENBS2 6 ENBIN 11 EMGOUT 5 ENBOUT MPO MPI Emergency Stop and Enable Circuits Example for Wiring when External Switch Installed TTA Pulse Motor Type Chapter 3 Wiring 3 2 Power Supply Emergency Stop Circuit and Enable Circuit ...

Page 97: ...ncy Stop and Enable Circuits Example for Wiring when External Switch with Reset Switch Installed Caution When using DP 1 or CB ST E1MW050 EB the enable line cannot construct a circuit using an external power source If it is desired to use an external power source to the enable line use TB 02 TB 01 SEL T TD or CB ST A1MW050 EB TTA Pulse Motor Type Chapter 3 Wiring 3 2 Power Supply Emergency Stop Ci...

Page 98: ...e contact in connector area for teaching there is a bypass relay connected thus it cannot be used as a safety circuit It can be applicable with a special order of with no bypass when using a contact on the connector area for teaching In such a case use a dummy plug DP 2 when the connector for teaching is not to be in use The power supply specifications between the terminals for MPO and MPI are as ...

Page 99: ...ng Considering Safety Category 2 Regarding the contact in connector area for teaching there is a bypass relay connected thus it cannot be used as a safety circuit It can be applicable with a special order of with no bypass when using a contact on the connector area for teaching In such a case use a dummy plug DP 2 when the connector for teaching is not to be in use The power supply specifications ...

Page 100: ...00V to 230V Emergency Stop and Enable Circuits Example for Wiring Considering Safety Category 3 Regarding the contact in connector area for teaching there is a bypass relay connected thus it cannot be used as a safety circuit It can be applicable with a special order of with no bypass when using a contact on the connector area for teaching In such a case use a dummy plug DP 2 when the connector fo...

Page 101: ...1 4 ENBS1 1 ENBS 2 2 ENBS2 6 ENBIN 11 EMGOUT 5 ENBOUT VP 24S VP 24S 12 EMGS1 _TP 13 EMGS1 _TP 16 EMGS2 _TP 24 EMGS2 _TP 17 ENBS1 _TP 19 ENBS1 _TP 3 2 4 3 2 4 21 ENBS2 _TP 22 ENBS1 _TP 6 5 7 6 5 7 4 RTS 5 CTS R Y R Y 2 3 5 6 MANU 3 4 6 7 AUTO ENBOK MPO _ A MPI_ A 24V AUTO TCPS EMG SW SDWN MPO _ B MPI_ B EMG ENB 3rd 4th axis 1st 2nd axis Status Detection Status Detection Motor Drive Circuit Motor Dr...

Page 102: ...BIN 11 EMGOUT 5 ENBOUT VP24S VP24S 12 EMGS1 _TP 13 EMGS1 _TP 16 EMGS2 _TP 24 EMGS2 _TP 17 ENBS 1 _TP 19 ENBS 1 _TP 21 ENBS 2 _TP 22 ENBS 1 _TP ENBOK MPO MPI 24V EMG SW SDWN MPO_B MPI_B 24V 3rd 4th axis 1st 2nd axis Motor Drive Circuit Motor Drive Circuit EMG Status Detection ENB Status Detection Emergency Stop Enable Internal Circuit and External Wiring at Delevery 24V DC 10mA or less for EMGIN an...

Page 103: ...Y 2 3 5 6 MANU 3 4 6 7 AUTO ENBOK MPO_ A MPI_A 24V AUTO TCPS EMG SW SDWN MPO_B MPI_B 24V 3rd 4th axis 1st 2nd axis Motor Drive Circuit Motor Drive Circuit EMG ENB Status Detection Status Detection 2 3 5 6 TP Connected 3 4 6 7 TP Unconnected Enable SW Emergency Stop SW Emergency Stop and Enable Circuits Example for Wiring when External Switch Installed Standard Specification Caution When using DP 1...

Page 104: ...O_B MPI_B 24 V 3rd 4th axis 1st 2nd axis Motor Drive Circuit Motor Drive Circuit EMG ENB Status Detection Status Detection 2 3 5 6 TP Connected 3 4 6 7 TP Unconnected Reset SW Enable SW Emergency Stop SW Emergency Stop and Enable Circuits Example for Wiring when External Switch with Reset Switch Installed Standard Specification Caution When using DP 1 or CB ST E1MW050 EB the enable line cannot con...

Page 105: ...ing Considering Safety Category 1 Global Specification Use a dummy plug DP 2 when the connector for teaching is not to be in use The power supply specifications between the terminals for MPO_A and MPI_A and between MPO_B and MPI_B are as described below Specification Voltage DC24V Built in Power Source Rated Current 2 axis type MPO_A 7A MPO_B 0A 3 axis type MPO_A 7A MPO_B 4A 4 axis type MPO_A 7A M...

Page 106: ...ergency Stop and Enable Circuits Example for Wiring Considering Safety Category 2 Global Specification Use a dummy plug DP 2 when the connector for teaching is not to be in use The power supply specifications between the terminals for MPO_A and MPI_A and between MPO_B and MPI_B are as described below Specification Voltage DC24V Built in Power Source Rated Current 2 axis type MPO_A 7A MPO_B 0A 3 ax...

Page 107: ...ng Category 3 Emergency Stop and Enable Circuits Example for Wiring Considering Safety Category 3 Global Specification Use a dummy plug DP 2 when the connector for teaching is not to be in use The power supply specifications between the terminals for MPO_A and MPI_A and between MPO_B and MPI_B are as described below Specification Voltage DC24V Built in Power Source Rated Current 2 axis type MPO_A ...

Page 108: ...ower on during emergency stop 4 Enable input 5 System shutdown level error 6 Cold start level error 7 Operation cansellation level error 1 Power on The drive source cutoff reset input is not used I O parameter No 47 3 Output function 301 READY output PIO program can be run and error of cold start level or higher is not present Chapter 3 Wiring 3 2 Power Supply Emergency Stop Circuit and Enable Cir...

Page 109: ...cutoff reset input is not used I O parameter No 47 3 Output function 301 READY output PIO program can be run and error of cold start level or higher is not present Chapter 3 Wiring 3 2 Power Supply Emergency Stop Circuit and Enable Circuit ...

Page 110: ... source cutoff reset input is not used I O parameter No 47 3 Output function 301 READY output PIO program can be run and error of cold start level or higher is not present Chapter 3 Wiring 3 2 Power Supply Emergency Stop Circuit and Enable Circuit ...

Page 111: ...utoff reset input is not used I O parameter No 47 3 Output function 301 READY output PIO program can be run and error of cold start level or higher is not present Chapter 3 Wiring 3 2 Power Supply Emergency Stop Circuit and Enable Circuit ...

Page 112: ...source cutoff reset input is not used I O parameter No 47 3 Output function 301 READY output PIO program can be run and error of cold start level or higher is not present Chapter 3 Wiring 3 2 Power Supply Emergency Stop Circuit and Enable Circuit ...

Page 113: ...rce cutoff reset input is not used I O parameter No 47 3 Output function 301 READY output PIO program can be run and error of cold start level or higher is not present Chapter 3 Wiring 3 2 Power Supply Emergency Stop Circuit and Enable Circuit ...

Page 114: ...ve source cutoff reset input is not used I O parameter No 47 3 Output function 301 READY output PIO program can be run and error of cold start level or higher is not present Chapter 3 Wiring 3 2 Power Supply Emergency Stop Circuit and Enable Circuit ...

Page 115: ...o 006 ON OFF 014 Program number specification Tens place of the digital switch 314 System reservation Internal DI I O1 015 Switch No 4 Additional switch Home return etc Internal DO I O1 315 Internal DI No 015 ON OFF External DI I O1 016 to 031 General purpose input Standard I O Connector External DO I O1 316 to 331 General purpose output Standard I O Connector 032 332 7 segment user display digit ...

Page 116: ...31 General purpose input Standard I O Connector External DO I O1 316 to 331 General purpose output Standard I O Connector 032 332 7 segment user display digit specification 033 333 7 segment user display digit specification 034 334 035 335 036 336 System reservation 037 337 7 segment display refresh 038 338 7 segment user system alternate display 039 339 7 segment user display specification 040 34...

Page 117: ...ressed The relations between each additional switch and port numbers are as described below Switch Port No Input Function Select Connected Output Port No Remark Switch No 1 Additional switch 001 I O Parameter No 31 0 General porpose input 1 Software reset 308 When the setting established in I O Parameter No 284 Input Function Select 001 Physical Input Port Number is 1 Physical Input Port No 001 to...

Page 118: ...Input port data select at I O2 fieldbus link error 0 Clear 1 Hold 121 Network attribute 2 C80000H 0H FFFFFFFFH Bits 8 to 11 Input port data select at I O3 fieldbus link error 0 Clear 1 Hold 225 Extension I O control 0H Reference only Bits 0 to 3 I O2 Module Type 0 Not mounted 1 CC Link 2 DeviceNet 3 PROFIBUS 4 to 6 System reservation 7 EtherNet IP 8 System reservation 9 PIO Bits 4 to 7 I O3 Module...

Page 119: ...c Input signal is recognized when the status is held for twice the period set by this parameter 120 Network attribute 1 640001H 0H FFFFFFFFH Bits 28 to 31 Input port data select at I O2 fieldbus link error 0 Clear 1 Hold 225 Extension I O control 9H Reference only Bits 0 to 3 I O2 Module Type 0 Not mounted 1 CC Link 2 DeviceNet 3 PROFIBUS 4 to 6 System reservation 7 EtherNet IP 8 System reservatio...

Page 120: ...9 PIO Bits 4 to 7 I O3 Module Type 0 Not mounted 1 I CC Link 2 DeviceNet 3 PROFIBUS 4 to 6 System reservation 7 EtherNet IP 8 System reservation 9 PIO EtherNet IP is unavailable for 2 piece mount at same time 233 Input port start number at I O3 affixed assignment 160 1 299 0 Multiple of 8 Invalid if a negative value is set 234 Output port start number at I O3 affixed assignment 460 1 599 300 Multi...

Page 121: ...ut Port 323 Universal Input Port 027 BR 2 11A IN11 OUT10 11B BR 4 Universal Output Port 324 Universal Input Port 028 RD 2 12A IN12 OUT11 12B RD 4 Universal Output Port 325 Universal Input Port 029 OR 2 13A IN13 OUT12 13B OR 4 Universal Output Port 326 Universal Input Port 030 YW 2 14A IN14 OUT13 14B YW 4 Universal Output Port 327 Universal Input Port 031 GN 2 15A IN15 OUT14 15B GN 4 Universal Outp...

Page 122: ...23 Universal Input Port 027 BR 2 11A IN11 OUT10 11B BR 4 Universal Output Port 324 Universal Input Port 028 RD 2 12A IN12 OUT11 12B RD 4 Universal Output Port 325 Universal Input Port 029 OR 2 13A IN13 OUT12 13B OR 4 Universal Output Port 326 Universal Input Port 030 YW 2 14A IN14 OUT13 14B YW 4 Universal Output Port 327 Universal Input Port 031 GN 2 15A IN15 OUT14 15B GN 4 Universal Output Port 3...

Page 123: ...l Output Port 324 Universal Input Port 028 RD 2 12A IN12 OUT11 12B RD 4 Universal Output Port 325 Universal Input Port 029 OR 2 13A IN13 OUT12 13B OR 4 Universal Output Port 326 Universal Input Port 030 YW 2 14A IN14 OUT13 14B YW 4 Universal Output Port 327 Universal Input Port 031 GN 2 15A IN15 OUT14 15B GN 4 Universal Output Port 328 BL 2 16A 16B BL 4 Universal Output Port 329 PL 2 17A N 17B PL ...

Page 124: ... Universal Input Port BR 2 11A IN11 OUT10 11B BR 4 Universal Output Port Universal Input Port RD 2 12A IN12 OUT11 12B RD 4 Universal Output Port Universal Input Port OR 2 13A IN13 OUT12 13B OR 4 Universal Output Port Universal Input Port YW 2 14A IN14 OUT13 14B YW 4 Universal Output Port Universal Input Port GN 2 15A IN15 OUT14 15B GN 4 Universal Output Port BL 2 16A 16B BL 4 Universal Output Port...

Page 125: ...ng Connector Interface Specifications Specification Remark Connecter RS232C DSUB 25 USB Type B XM3B 2542 502L by OMRON UBBS 4R D14 4D by JST Baud Rate 115 2 kbps max Maximum Connection Distance 10m RS232C 5m USB At 38 4Kbps Connected Unit PC or dedicated teaching pendant PC teaching pendant Power Supply RS232C 5V DC or 24V DC Each line is fitted with multiple fuses to protect against short circuit...

Page 126: ...GIN1 Emergency stop contact 1 14 NC Not connected 15 Out RSVVCC 24V teaching pendant power 16 Out EMGOUT2 Emergency stop contact 2 17 Out ENBVCC1 Enable drive power 1 18 Out VCC Power output teaching pendant power 19 In ENBTBX1 Enable input 1 20 In DTR Terminal ready 21 Out ENBVCC2 Enable drive power 2 22 In ENBTBX2 Enable input 2 23 Out EMGS Emergency stop status 24 In EMGIN2 Emergency stop conta...

Page 127: ...USB Since the enable line on the connector for teaching is made active by setting AUTO MANU Switch to MANU side the status becomes disabled in the condition that the connector for teaching is disconnected When operating the actuator in MANU status plug in a dummy plug or PC cable in the connector for teaching When not duplexing the system I O connector wiring for Safety Category 2 or below Plug in...

Page 128: ...utput 1 9 EMGS1 Emergency Stop Contact Output 1 8 EMGS2 Emergency Stop Contact Output 2 7 EMGS2 Emergency Stop Contact Output 2 6 ENBIN Enable input 5 ENBOUT 24V Output for Enable 4 ENBS1 Enable Contact Output 1 3 ENBS1 Enable Contact Output 1 2 ENBS2 Enable Contact Output 2 1 ENBS2 Enable Contact Output 2 Cable Specifications for Connector on Mating Component Item Specification Cable Size AWG16 A...

Page 129: ...B OUT3 Yellow 3 5A IN0 Green 1 5B OUT4 Green 3 6A IN1 Blue 1 6B OUT5 Blue 3 7A IN2 Purple 1 7B OUT6 Purple 3 8A IN3 Gray 1 8B OUT7 Gray 3 9A IN4 White 1 9B OUT8 White 3 10A IN5 Black 1 10B OUT9 Black 3 11A IN6 Brown 2 11B OUT10 Brown 4 12A IN7 Red 2 12B OUT11 Red 4 13A IN8 Orange 2 13B OUT12 Orange 4 14A IN9 Yellow 2 14B OUT13 Yellow 4 15A IN10 Green 2 15B OUT14 Green 4 16A IN11 Blue 2 16B OUT15 B...

Page 130: ...k 2 Flat Cable Press Welding Brown 3 OUT0 9B 1B OUT0 Brown 3 Red 3 OUT1 10A 2B OUT1 Red 3 Orange 3 OUT2 10B 3B OUT2 Orange 3 Yellow 3 OUT3 11A 4B OUT3 Yellow 3 Green 3 OUT4 11B 5B OUT4 Green 3 Blue 3 OUT5 12A 6B OUT5 Blue 3 Purple 3 OUT6 12B 7B OUT6 Purple 3 Gray 3 OUT7 13A 8B OUT7 Gray 3 White 3 OUT8 13B 9B OUT8 White 3 Black 3 OUT9 14A 10B OUT9 Black 3 Brown 4 OUT10 14B 11B OUT10 Brown 4 Red 4 O...

Page 131: ... Prevention Have grounding between grounding terminal and metal frame with a cable as fat and short as possible Metal Frame Class D Grounding Security Grounding E terminal on the inlet is a functional grounding Make sure to have grounding terminals protection grounding terminals around the inlet grounded Make it dedicated grounding Table top Table top Another Device Another Device Do not attempt t...

Page 132: ...7 2 Yellow Red SRD2 8 2 AWG28 Yellow Black SRD2 9 The Shield is clamped to the hood FG D Sub9 pin Socket XM3D 0921 Omron Hood XM2S 0913 Omron UL2464SR SB AWG28 5P Hanshin Electric Wire Cable Co Ltd 9 6 5 1 L 40mm 40mm 50 8m 25mm Bare Cut without Connectors Bare Cut without Connectors Wiring diagram Controller Side XM3D 0921 CH Color Dot Mark Color Signal No 1 Orange Red SRD1 1 1 Orange Black SRD1 ...

Page 133: ...lor Signal No 2 Orange Red RXD2 1 1 Orange Black RXD 2 1 White Red TXD 3 1 NC 4 1 Pink Red SG 5 1 NC 6 1 NC 7 1 NC 8 2 AWG28 Yellow Black TXD2 9 The Shield is clamped to the hood FG Bare Cut without Connectors 40mm 50 8m 25mm Bare Cut without Connectors UL2464SR SB AWG28 5P Hanshin Electric Wire Cable Co Ltd D Sub9 pin Socket XM3D 0921 Omron Hood XM2S 0913 Omron 5 1 9 6 Chapter 3 Wiring 3 4 Wiring...

Page 134: ...124 Chapter 3 Wiring 3 4 Wiring Method ...

Page 135: ...cable in hardware revision 2 These are the versions planned to be applicable as of Sep 3 2016 There may be a case the actual applicable version can differ Operation method Operation in a standalone independent mode Operation by program start switch Refer to the 4 3 1 Auto Start upon Power On Operation via I O interface Operation with PIO 24V I O Refer to the 4 3 2 Starting a Program by Specifying ...

Page 136: ... on or no connection is established At the delivery Main Power Initialization self diagnosis Normal operating condition Controller status Power supply for peripheral devices Status of power supply and connection diagnosed at initializing DIO power supply and fieldbus setting at delivery Prior Supply 2 Power Cutoff Sequence Cut the power off for the peripheral devices at the same time as or after c...

Page 137: ... LEDs Initialization sequence l n 2 Initialization sequence number l n n 2 Display of field network board initializing sequence P r d 3 Writing data to the flash ROM E r G 4 Display switchover Emergency stop is being actuated except during the update mode e n b 4 Display switchover Enable switch deadman switch safety gate OFF except in the update mode E E E D E 6 E 5 4 Display switchover Cold star...

Page 138: ...tion E E 1 Cold start level error E C 1 Operation cancellation level error E A 2 Message level error r U d 2 In updating mode J P A 2 Jump to the application C H F C 2 Core flash ROM check process C H F A 2 Application flash ROM check process C H S d 2 SDRAM check process Note 1 The smaller the value to be displayed the higher the priority ...

Page 139: ...esignated as a general purpose input 1 factory default In the AUTO mode when the power is turned ON or the software reset is performed the program No set in parameter No 1 for others is executed The input port 019 can be used as a universal input port I O parameter No 33 2 When input port 019 is turned ON the program whose number is set in other parameter No 1 is executed When this port is turned ...

Page 140: ...ng 0 01sec has passed since the startup after RDY signal turns ON if in normal startup 5 The specified program starts RDY output Min 0 01sec Intput port 019 Program Program execution 4 3 output from the TTA Caution After the power is turned on unexpected movements of the robot may create dangerous situations For safety provide an interlock whereby the program is started only after a start confirma...

Page 141: ...LSB to 030 MSB with BCD turning ON the input port 016 starts up the program Turning ON the input port 016 for 0 1 sec or more I O parameter No 30 2 After the program number to be started up is set in the input port 023 LSB to 030 MSB with BCD turning ON the input port 016 starts up the program Turning ON the input port 016 for 0 1 sec or more Either of those from 0 to 2 0 Input ports 023 to 030 ar...

Page 142: ...uld not work as Program Start Signal When Input Function Select 007 to 013 Digi Switch are assigned to other input ports Program Switch on the front panel would not work as Program Start Indication Program Number RDY output output from the TTA Program No output from the host Program start output from the host Program Program execution 1 2 4 3 Program number 6 ...

Page 143: ... Whether to use PIO or Field Network is set by a parameter Refer to Section 3 3 4 for the I O interface For the Field Network Interface refer to each operation manual Host TTA I O unit Field Network Master unit Data exchange Data exchange 1 port Connected internally Assignments are set by parameters I O Ports Input Port Output Port Indicates flow of data I O interface Expansion I O board Field Net...

Page 144: ...DI No 005 ON OFF 013 313 Internal DI No 006 ON OFF 014 Program number specification Tens place of the digital switch 314 System reservation Internal DI I O1 015 Switch No 4 Additional switch Home return etc Internal DO I O1 315 Internal DI No 015 ON OFF External DI I O1 016 to 031 General purpose input Standard I O Connector External DO I O1 316 to 331 General purpose output Standard I O Connector...

Page 145: ...I O1 315 Internal DI No 015 ON OFF External DI I O1 016 to 031 General purpose input Standard I O Connector External DO I O1 316 to 331 General purpose output Standard I O Connector 032 332 7 segment user display digit specification 033 333 7 segment user display digit specification 034 334 035 335 036 336 System reservation 037 337 7 segment display refresh 038 338 7 segment user system alternate...

Page 146: ...e and create a program using the SEL language Perform the teaching etc and register the required coordinates in the position table Also create the program using the SEL language Refer to the separate SEL language programming manual Write the position table and program data in the controller Refer to the separate operation manual for your PC software ...

Page 147: ... Software Interlock IO Parameter No 034 312 005 Pause Release IO Parameter No 035 313 006 Pause IO Parameter No 036 314 014 Drive Source Release Input IO Parameter No 044 315 015 Home return etc IO Parameter No 045 For example when the SEL program below is executed the input port number turns ON BTON 308 TIMW 1 EXIT If DI No 001 is set to the software reset input the software reset reboot gets exe...

Page 148: ...stem reservation 335 System reservation 336 System reservation 337 7 segment display refresh 338 7 segment user system alternate display 339 7 segment user display specification 340 DT0 7 segment user display bit 341 DT1 7 segment user display bit 342 DT2 7 segment user display bit 343 DT3 7 segment user display bit 344 DT4 7 segment user display bit 345 DT5 7 segment user display bit 346 DT6 7 se...

Page 149: ... of DO No 337 The 7 seg pattern set in DO No 340 to 346 is shown on the digit set in DO No 332 and 333 Caution When DO No 338 is set to 0 and DO No 339 is set to 1 User display is shown and no switchover in every one second System display error display should be conducted when it occurs an operation cancel level error cold start level error or system shutdown level error System display error displ...

Page 150: ...play 3 BTOF 337 4 1st digit data set 5 LET 99 0 6 OUT 332 333 Indicate 1st digit 7 LET 99 3 3 Display Data 1 8 OUT 340 346 7 seg Pattern 1 9 BTON 337 Refresh ON 10 BTOF 337 Refresh OFF 11 2nd digit data set 12 LET 99 1 13 OUT 332 333 Indicate 2nd digit 14 LET 99 118 118 Display Data 2 15 OUT 340 346 7 seg Pattern 2 16 BTON 337 Refresh ON 17 BTOF 337 Refresh OFF 18 3rd digit data set 19 LET 99 2 20...

Page 151: ...meter No 283 Input Function Select 000 Physical Input Port Number For instance if 016 is set the function of Input Function Select 000 Start is assigned to Input Port No 016 The signal input port for Input Function Select 000 Start becomes Input Port 016 Input Port No 000 after the assignment becomes a general purpose input port However when 1 is set in the parameter the function inactivates and t...

Page 152: ...uld not turn on even in generation of ALM If Output Function Select 301 RDY is assigned to another output port the RDY LED in the panel window on the front panel would not work It would not turn on even in condition of RDY PIO program is ready to operate If Output Function Select 302 EMG is assigned to another output port the EMG LED in the panel window on the front panel would not work It would n...

Page 153: ...er No 315 Output Function Select 300 Area 2 Physical Output Port Number For instance if 316 is set the function of Output Function Select 300 Area 2 ALM is assigned to Output Port No 316 The signal of Output Function Select 300 ALM is to be output to Output Port 316 However it is ineffective when 0 is set in the parameter No signal would be output It becomes available to output ALM Signal to anoth...

Page 154: ... Error reset ON Edge 45 Input function select 015 1 1 All effective axes homing ON Edge 283 Input function select 000 Physical Input Port Number 16 Input port No 16 285 Input function select 002 Physical Input Port Number 17 Input port No 17 290 to 295 Input function select 007 Physical Input Port Number 18 to 23 Input port No 18 to 23 296 Input function select 013 Physical Input Port Number 24 In...

Page 155: ...the line closest to the actual value Select the servo gain based on the total of the payloads below Work Moving Type X Axis Load weight on the operation table Y Axis Load weight including weight of Z axis themselves Work Fixing Type X Axis Load weight including weight of Y axis and Z axis themselves Y Axis Load weight including weight of Z axis themselves Caution The adjustment parameters describe...

Page 156: ...city Loop Integrated Gain lower word 20kg 150 2DF 1D52 150 2DF 1D52 15kg 150 241 1709 150 241 1709 10kg 150 1A4 10BF 150 1A4 10BF 5kg 150 106 A76 150 106 A76 3 Stroke 400mm X Axis 1st Axis Y Axis 2nd Axis Driver Card Parameters number 42 Driver Card Parameters number 45 Driver Card Parameters number 47 Driver Card Parameters number 42 Driver Card Parameters number 45 Driver Card Parameters number ...

Page 157: ...elocity Loop Integrated Gain lower word 20kg 150 24C 662 150 2DF 1D52 15kg 150 1CE 504 150 241 1709 10kg 150 150 3A5 150 1A4 10BF 5kg 150 D1 247 150 106 A76 3 Stroke 400mm X Axis 1st Axis Y Axis 2nd Axis Driver Card Parameters number 42 Driver Card Parameters number 45 Driver Card Parameters number 47 Driver Card Parameters number 42 Driver Card Parameters number 45 Driver Card Parameters number 4...

Page 158: ... Parameters number 42 Driver Card Parameters number 45 Driver Card Parameters number 47 Load mass Torque Filter Time Constant Velocity Loop Proportional Gain lower word Velocity Loop Integrated Gain lower word Torque Filter Time Constant Velocity Loop Proportional Gain lower word Velocity Loop Integrated Gain lower word 30kg 0 EAE 472A 0 E8C 4686 25kg 0 CF2 3EBF 0 CD0 3E1B 20kg 0 B35 3654 0 B13 35...

Page 159: ...ard Parameters number 45 Driver Card Parameters number 47 Load mass Torque Filter Time Constant Velocity Loop Proportional Gain lower word Velocity Loop Integrated Gain lower word Torque Filter Time Constant Velocity Loop Proportional Gain lower word Velocity Loop Integrated Gain lower word 30kg 0 F25 4969 0 F03 48C5 25kg 0 D68 40FE 0 D46 405A 20kg 0 BAC 3893 0 B8A 37EF 15kg 0 9EF 3028 0 9CD 2F84 ...

Page 160: ...roportional Gain lower word Velocity Loop Integrated Gain lower word 15kg 150 1297 4ACF 150 1416 4CDE 10kg 150 D9E 36CD 150 E9A 37E2 5kg 150 8A5 22CB 150 91E 22E6 3 Stroke 400mm X Axis 1st Axis Y Axis 2nd Axis Driver Card Parameters number 42 Driver Card Parameters number 45 Driver Card Parameters number 47 Driver Card Parameters number 42 Driver Card Parameters number 45 Driver Card Parameters nu...

Page 161: ... Parameters number 42 Driver Card Parameters number 45 Driver Card Parameters number 47 Load mass Torque Filter Time Constant Velocity Loop Proportional Gain lower word Velocity Loop Integrated Gain lower word Torque Filter Time Constant Velocity Loop Proportional Gain lower word Velocity Loop Integrated Gain lower word 30kg 0 EAE 472A 0 EAE 472A 25kg 0 CF2 3EBF 0 CF2 3EBF 20kg 0 B35 3654 0 B35 36...

Page 162: ...ard Parameters number 45 Driver Card Parameters number 47 Load mass Torque Filter Time Constant Velocity Loop Proportional Gain lower word Velocity Loop Integrated Gain lower word Torque Filter Time Constant Velocity Loop Proportional Gain lower word Velocity Loop Integrated Gain lower word 30kg 0 F25 4969 0 F25 4969 25kg 0 D68 40FE 0 D68 40FE 20kg 0 BAC 3893 0 BAC 3893 15kg 0 9EF 3028 0 9EF 3028 ...

Page 163: ...word 22kg 100 1329 3465 100 1329 3465 20kg 100 11BD 3081 100 11BD 3081 15kg 100 E2F 26C9 100 E2F 26C9 10kg 100 AA1 1D11 100 AA1 1D11 5kg 100 713 1359 100 713 1359 3 Stroke 400mm X Axis 1st Axis Y Axis 2nd Axis Driver Card Parameters number 42 Driver Card Parameters number 45 Driver Card Parameters number 47 Driver Card Parameters number 42 Driver Card Parameters number 45 Driver Card Parameters nu...

Page 164: ...Chapter 4 Operation 4 8 Payload Adjusted for Setting Values 154 ...

Page 165: ...eters regularly as you back up the programs To make the new parameters effective write them to the flash ROM and then execute a software reset or reconnect the power The lists below are examples of default values displayed on the PC software The default parameter settings vary depending on the operating condition and actuators used The values in the Input range column represent input limitations o...

Page 166: ...he controller 11 System reservation Common 0H 0H FFFFFFFFH 12 System reservation Common 0H 0H FFFFFFFFH 13 System reservation Common 0H 0H FFFFFFFFH 14 Number of I O2 fieldbus remote input used ports Common 0 0 240 Multiple of 8 15 Number of I O2 fieldbus remote output used ports Common 0 0 240 Multiple of 8 16 Input port start number at I O2 affixed assignment Common 1 1 299 0 Multiple of 8 Inval...

Page 167: ...on 003 Common 1 0 5 0 General purpose input 1 General purpose input Start the auto start program upon power ON reset software reset in the AUTO mode 2 Auto start program start signal ON edge Start OFF edge Abort all operations programs excluding the I O processing program at operation program abort If this parameter is used as an auto start program start signal turn ON the signal for at least 100 ...

Page 168: ...port number assigned to this function can be changed using I O Parameter No 296 Physical input port number for input function selection 013 44 Input function selection 014 Common 2 0 5 0 General purpose input 2 Program number specified for program start Note The port number assigned to this function can be changed using I O Parameter No 297 Physical input port number for input function selection 0...

Page 169: ...ing push motion operation 2 Output when axis 1 servo is ON systemmonitored task output 3 System reservation Note The port number assigned to this function can be changed using I O Parameter No 304 Physical input port number for input function selection 305 52 Output function selection 306 Common 0 0 5 0 General purpose output 1 Axis 2 in position output OFF if the work part is missed during push m...

Page 170: ... this function can be changed using I O Parameter No 313 Physical input port number for input function selection 314 60 Output function selection 314 AC Servo Motor Type 0 0 5 0 General purpose output 1 At absolute data backup battery voltage drop warning level or below OR check on all axes Latched to power on reset software reset after error level detected The condition of output port No 314 Inte...

Page 171: ...put port number for acceptance permission of PC TP servo movement command Common 0 0 299 Important Invalid once operation is started Invalid if 0 is set 78 Input target axis pattern for acceptance permission of PC TP servo movement command Common 0 0B 11111111B Pulse Motor Type 0 0 299 System Mode MANU when indicated DI On or AUTO MANU SW MANU Invalid when 0 Necessary to combine with functional ap...

Page 172: ...IO channel 2 opened to user Extension Common 0 0H FFFFFFFFH Bits 0 3 Way to use channels 0 SEL program release 1 System reservation 2 IAI protocol B I O Parameter No 116 IAI Protocol Communication Attribute Bit 0 to 3 Available to set when IAI protocol multiple channel communication permission select 1 permitted Settable only Attribute 2 of SIO channel 2 opened to user Bits 4 11 IAI protocol respo...

Page 173: ...dbus link error 0 Clear 1 Hold 121 Network attribute 2 Common C80000H 0H FFFFFFFFH Bits 0 to 7 I O3 fieldbus link error check timer value 10ms Bits 8 to 11 Input port data select at I O3 fieldbus link error 0 Clear 1 Hold Bits 12 to 15 For future extension Bits 16 to 27 Link timeout value at fieldbus initialization 100msec Bits 28 to 31 EtherCAT PDO Mapping Type 122 Network attribute 3 Common 0 0H...

Page 174: ...thernet TCP IP message communication attribute Bits 0 to 7 CONNECT_TIMEOUT Change prohibited 0 prohibited sec Bits 8 to 15 Connection retry interval IAI protocol B TCP sec Bits 16 to 23 Send timeout value sec Bits 24 to 31 IAI protocol B SIO noncommunication confirmation timer value sec IAI protocol B TCP connection trigger I O Parameter No 116 IAI Protocol Communication Attribute Bits 0 to 3 Vali...

Page 175: ...set if client 154 IAI protocol B TCP IP address of connection destination AUTO mode H Common 192 0 255 Setting of 0 and 127 is prohibited 155 IAI protocol B TCP IP address of connection destination AUTO mode MH Common 168 0 255 156 IAI protocol B TCP IP address of connection destination AUTO mode ML Common 0 0 255 157 IAI protocol B TCP IP address of connection destination AUTO mode L Common 100 0...

Page 176: ...on Common 0 189 For extention Common 0 190 For extention Common 0 191 For extention Common 0 192 For extention Common 0 193 For extention Common 0 194 For extention Common 0 195 For extention Common 0 196 For extention Common 0 197 For extention Common 0 198 For extention Common 0 199 For extention Common 0 200 For extention Common 0 201 For extention Common 0 202 For extention Common 0 203 For ex...

Page 177: ...erNet IP 0 Auto negotiation 1 10Mbps Half duplex 2 10Mbps Full duplux 3 100Mbps Half duplex 4 100Mbps Full duplux Setting unnecessary when PROFIBUS Setting unnecessary when EtherCAT 228 For extention Common 0 229 For extention Common 0 230 For extention Common 0 231 Number of I O3 fieldbus remote input used ports Common 0 0 240 Multiple of 8 232 Number of I O3 fieldbus remote output used ports Com...

Page 178: ...ction will be assigned to input port No 0 284 Physical input port number to input function selection 001 Common 1 1 299 Specify the port number to be assigned to the function of I O Parameter No 31 Input function selection 001 If a negative value is set the function will be assigned to input port No 1 285 Physical input port number to input function selection 002 Common 1 1 299 Specify the port nu...

Page 179: ...ion selection 011 specify in this parameter an input port number whose LSB contains the program number specified for program start 295 Physical input port number to input function selection 012 Common 1 1 299 Specify the port number to be assigned to the function of I O Parameter No 42 Input function selection 012 If a negative value is set the function will be assigned to input port No 12 If Prog...

Page 180: ... output port number to output function selection 315 Common 0 0 599 Specify the port number to be assigned to the function of I O Parameter No 61 Output function selection 315 If 0 is set the function will be assigned to output port No 315 315 Physical output port number to output function selection 300 Area 2 Common 0 0 599 Specify the port number to be assigned to the function of I O Parameter N...

Page 181: ...evel or higher is not present 333 Output function selection 302 Area 2 Common 0 0 20 0 General purpose output 1 Emergency stop output ON 2 Emergency stop output OFF 334 Output function selection 303 Area 2 Common 0 0 5 0 General purpose output 1 AUTO mode output 2 Output during automatic operation Other Prameter No 12 Pulse Motor Type 0 0 5 0 General purpose output 1 Output if all valid axes are a...

Page 182: ...sion system I F1 image capturing command OFF delay timer value msec Bits 20 to 23 Vision system I F1 image capturing delay prediction timer value msec Bits 24 to 31 Number of vision system I F1 image capturing command retries No retry at 0 352 Vision system I F1 function selection 2 Common 0H 0H FFFFFFFFH Bits 0 to 7 Vision system I F1 communication format select 0 Format D 1 System reservation 2 ...

Page 183: ...on with reflecting the result from the operation during the pause of all the operations Invalid when 0 It is applicable for main application part V1 17 and later of the pulse motor type and from the first lot of the AC servomotor type 391 Invalid General Use Output Area 2 Number Max at All Operation Paused Servo Axis Software Interlock Output Port Software Interlock Common 0 0 599 It is applicable...

Page 184: ... and from the first lot of the AC servomotor type 688 Number of Connected Remote I O Units OUT Type Common 0 0 7 The number of ports to be used for output should be Number of connected remote I O units OUT type 32 It is applicable for main application part V1 17 and later of the pulse motor type and from the first lot of the AC servomotor type 689 Remote I O unit Input port start number at affixed...

Page 185: ...Invalid when a negative value or applicable slot DI not in use Automatic assignment conducted from I O Parameter No 707 when the setting in I O Parameter No 707 is valid and also I O Parameter No 709 711 and 713 are set negative Applicable only in DI used slots 708 Output port start number at extension I P unit slot 1 fixed assignment Common 1 1 599 300 multiple of 8 Invalid when a negative value ...

Page 186: ...eter No 708 is valid and also I O Parameter No 710 712 and 714 are set negative Applicable only in DO used slots Invalid in negative value when in conditions other than above 715 Extension I O unit error monitor Common 1 0 5 0 Unmonitored 1 Monitor 2 Monitor Not to monitor 24V I O power related errors 3 Monitor Monitor only 24V I O power related errors There are some exceptions When the setting is...

Page 187: ...ffective select Common 0 0 5 0 Deceleration Acceleration when the deceleration in the operation point data is 0 1 Deceleration 0 when the deceleration in the operation point data is 0 15 Maximum JOG speed when home return is incomplete Common 30 1 250 mm s 16 System reservation Common 0 0B 11111111B 17 System reservation Common 0 99999999 99999999 18 For extension Common 0 19 System reservation Co...

Page 188: ...reservation Common 0 1 100 48 System reservation Common 0 1 100 49 System reservation Common 0 1 100 50 System reservation Common 0 0 9999 51 System reservation Common 0H 0H FFFFFFFFH 52 For extension Common 0 53 System reservation Common 0 100 9999 54 All axis setting bit pattern 3 Common 0H 0H FFFFFFFFH Bits 0 to 3 System reservation Bits 4 to 7 Position output operation data valid select 0 Inva...

Page 189: ...xtension Common 0 99 For extension Common 0 100 For extension Common 0 101 For extension Common 0 102 For extension Common 0 103 For extension Common 0 104 For extension Common 0 105 For extension Common 0 106 For extension Common 0 107 For extension Common 0 108 For extension Common 0 109 For extension Common 0 110 For extension Common 0 111 For extension Common 0 112 For extension Common 0 113 F...

Page 190: ...rohibited Bits 12 to 19 System reservation Change prohibited Bits 13 to 23 R axis tuning signal reverse 0 No signal reverse 1 Signal reversed Bits 24 to 31 Reserved 130 Vision system I F1 control 2 Common 0H 0H FFFFFFFFH Bits 0 to 7 Z axis direction position judgment datum distance 0 1mm Ineffective at 0 when mounted on robot Effective only when all axes common No 130 bit 8 to 11 1 Bits 8 to 11 Vi...

Page 191: ...ith an incremental encoder Pay attention to contact 2 Current position Preset home This parameter can be specified only with an incremental encoder Pay attention to contact 3 System reservation 4 Home position sensor detection range center point calculation method Main application Ver 1 06 or later 10 Home return method AC Servo Motor Type 0 0 5 0 Search phase Z after end search Offset operation a...

Page 192: ...mon 800 1 9999 mm s 29 VLMX speed Common 800 1 9999 mm s During VLMX operation the maximum operating speed of each axis or VLMX speed whichever is lower is used as the maximum speed of the applicable axis 30 Servo ON check time Common 20 0 5000 msec Brake equipped Time after receiving a servo ON start response until start of brake unlocking Brake not equipped Time after receiving a servo ON start ...

Page 193: ...ue Common 0 0 999 DRVVR 65 System reservation Common 0 0 8 66 Mode selection for rotational movement axis Common 0 0 5 0 Normal 1 Index mode 67 Short cut control selection for rotational movement axis Common 0 0 5 0 Do not select 1 Select Valid only in the index mode and when an incremental encoder is used 68 Mode selection for linear movement axis Common 0 0 5 0 Normal 1 Infinite stroke mode Note...

Page 194: ...imum Common 0 99999999 99999999 0 001mm Valid only when maximum minimum Must be inside the range for at least 3 msec 96 Zone 4 minimum Common 0 99999999 99999999 0 001mm Valid only when maximum minimum Must be inside the range for at least 3 msec 97 Zone 4 output number Common 0 0 899 Physical output port or global flag Output is invalid if 0 is set multiple specification is invalid Complete stop ...

Page 195: ...tension Common 0 170 For extension Common 0 171 System reservation Common 0 0 99999999 172 System reservation Common 0 99999999 99999999 173 System reservation Common 0 99999999 99999999 174 System reservation Common 0 0 99999999 175 System reservation Common 0 0 99999999 176 System reservation Common 0 0 99999999 177 System reservation Common 0 0 99999999 178 System reservation Common 0 0 9999999...

Page 196: ...s 0 231 Movement counts target value violation will be generated if Total movement counts in the maintenance information exceeds the setting of this parameter 222 Total operated distance target value Common 0 0 99999999 m Alert function is invalid when maintenance information alert function setting is 0 232 Operated distance target value violation will be generated if Total operated distance in th...

Page 197: ...H Encoder ID bit pattern 11 Function information 03 Hard System reservation Common 0000H 0000H FFFFH 12 Function information 04 Hard System reservation Common 0000H 0000H FFFFH 13 Function information 05 Hard System reservation Common 0000H 0000H FFFFH 14 Function information 06 Hard System reservation Common 0000H 0000H FFFFH 15 Function information 07 Soft Motor support information upper word Co...

Page 198: ...e 1418H 0000H FFFFH 32 Configuration information 10 Push torque limit at home return Common 40 0 100 33 Configuration information 11 Push torque limit at positioning Common 70 0 70 Pulse Motor Type B00H 0000H FFFFH Bits 0 to 7 System reservation Bit 8 Initial moving direction in excitation phase signal detection operation 0 CW 1 CCW Bit 9 Stop mode selection 0 Full servo mode 1 Complete stop mode ...

Page 199: ...ave drive design output multiplying factor Pulse Motor Type 0 0 1000 For pulse motor 49 System reservation AC Servo Motor Type 0 Drive transition judgment time Pulse Motor Type 0 0 2000 0 05ms For pulse motor 50 System reservation AC Servo Motor Type 0 51 System reservation Common 0H 0000H FFFFH 52 System reservation Common 0H 0000H FFFFH 53 System reservation Common 0H 0000H FFFFH 54 System reser...

Page 200: ... System reservation Common 0H 0000H FFFFH 83 System reservation Common 0H 0000H FFFFH 84 System reservation Common 0H 0000H FFFFH 85 System reservation Common 0H 0000H FFFFH 86 System reservation Common 0H 0000H FFFFH 87 System reservation Common 0H 0000H FFFFH 88 System reservation Common 0H 0000H FFFFH 89 System reservation Common 0H 0000H FFFFH 90 System reservation Common 0H 0000H FFFFH 91 Sys...

Page 201: ...servation Query information Common 0H 0000H FFFFH 106 System reservation Query information Common 0H 0000H FFFFH 107 System reservation Query information Common 0H 0000H FFFFH 108 System reservation Query information Common 0H 0000H FFFFH 109 System reservation Query information Common 0H 0000H FFFFH 110 System reservation Query information Common 0H 0000H FFFFH 111 System reservation Query inform...

Page 202: ...n information Common 0000H 0000H FFFFH Motor encoder ID bit number 12 Function information 04 Encoder resolution upper word Common 0000H 0000H FFFFH 13 Function information 05 Encoder resolution lower word Common 0000H 0000H FFFFH 14 Function information 06 Motor encoder characteristics word Common 0000H 0000H FFFFH 15 Function information 07 Motor encoder control word 1 nX E compatible Common 000...

Page 203: ...ter name Default value Reference Input range Unit Remarks 27 Card parameter By board type Common 0000H 0000H FFFFH 28 Card parameter By board type Common 0000H 0000H FFFFH 29 Card parameter By board type Common 0000H 0000H FFFFH 30 Card parameter By board type Common 0000H 0000H FFFFH ...

Page 204: ...FFFFH 12 Function information 04 By board type Common 0000H 0000H FFFFH 13 Function information 05 By board type Common 0000H 0000H FFFFH 14 Function information 06 By board type Common 0000H 0000H FFFFH 15 Function information 07 By board type Common 0000H 0000H FFFFH 16 Function information 08 By board type Common 0000H 0000H FFFFH 17 Function information 09 By board type Common 0000H 0000H FFFF...

Page 205: ... FFFFH 47 Card parameter By board type Common 0000H 0000H FFFFH 48 Card parameter By board type Common 0000H 0000H FFFFH 49 Card parameter By board type Common 0000H 0000H FFFFH 50 Card parameter By board type Common 0000H 0000H FFFFH 51 Card parameter By board type Common 0000H 0000H FFFFH 52 Card parameter By board type Common 0000H 0000H FFFFH 53 Card parameter By board type Common 0000H 0000H ...

Page 206: ...FFFH 83 Card parameter By board type Common 0000H 0000H FFFFH 84 Card parameter By board type Common 0000H 0000H FFFFH 85 Card parameter By board type Common 0000H 0000H FFFFH 86 Card parameter By board type Common 0000H 0000H FFFFH 87 Card parameter By board type Common 0000H 0000H FFFFH 88 Card parameter By board type Common 0000H 0000H FFFFH 89 Card parameter By board type Common 0000H 0000H FF...

Page 207: ...rd type Common 0000H 0000H FFFFH 106 Card parameter By board type Common 0000H 0000H FFFFH 107 Card parameter By board type Common 0000H 0000H FFFFH 108 Card parameter By board type Common 0000H 0000H FFFFH 109 Card parameter By board type Common 0000H 0000H FFFFH 110 Card parameter By board type Common 0000H 0000H FFFFH 111 Card parameter By board type Common 0000H 0000H FFFFH 112 Card parameter ...

Page 208: ...of operation cancellation level or higher Other Parameter No 4 0 is considered Only when a program is running 3 All operation cancellation factor Error of operation cancellation level or higher Other Parameter No 4 0 is considered Always 6 PC TP reconnection delay at software reset Common 11000 1 99999 msec Effective after the controller PC software or TP is restarted 7 For extension Common 0 8 Fo...

Page 209: ...ing selection 0 Retain 1 Not to retain Initialized to 0 at startup Main application part V2 00 or later Bits 12 to 15 Global string variables retaining selection 0 Retain 1 Not to retain Initialized to 0 at startup Main application part V2 00 or later 28 For extension Common 0 29 For extension Common 0 30 Option Password 00 Common 0H 0H FFFFFFFFH Change is prohibited unless instructed by the manuf...

Page 210: ...art is selected the next PIO program start input port 000 will not be accepted as long as a program with the same program number as the one started by the last PIO program start Input port 000 is running Bits 8 to 11 Permission of auto program start when all operation cancellation factor is present 0 Do not permit 1 Permit Bits 12 to 15 Permission of ON edge of PIO program start input port 000 whe...

Page 211: ...ase in proportion to the deceleration Example 9 8 mm sec at 1 0 G 4 9 mm sec at 0 5 G For items not specified above refer to the notes provided in the CHVL command section of the operation manual 47 Other setting bit pattern 2 Common 1H 0H FFFFFFFFH Bits 0 to 3 Calendar function use selection 0 Not in use 1 Use 2 Not in use Use the elapsed time after the reset Clear all data in error list when mak...

Page 212: ...ts 20 to 23 Protect range minimum number Program 100 s place BCD Bits 24 to 31 System reservation Referenced by the PC TP 57 PC TP data protect setting 3 Common 0H 0H FFFFFFFFH Bits 0 to 3 Protect range maximum number Position 10 s place BCD Bits 4 to 7 Protect range maximum number Position 100 s place BCD Bits 8 to 11 Protect range maximum number Position 1000 s place BCD Bits 12 to 15 Protect ra...

Page 213: ...000 to 9999 999 Rotary Disable Note 1 Disable Note 1 Distance mm Speed mm sec Acceleration Deceleration G 0 Normal Mode 0 Short cut control not selected Prohibited to select a number other than 0 in Normal Mode Counter Range Enable Enable 0 Short cut control not selected Counter Range 1 rotation movement axis Disable 1 Index Mode 1 Short cut control selection 0 to 359 999 Rotary Disable Fixed at 3...

Page 214: ...to AFF Battery and fieldbus errors will be registered in an error list Enabled Status display input error etc Main application Main core PC PC Update tool TP Main application 400 to 4CF Main core PC 4D0 to 4DF PC Update tool 4E0 to 4EF Operation cancellation level TP 4F0 to 4FF The program in which the error generated will be cancelled Except for axis errors a cancellation factor is present only f...

Page 215: ...bort will be cancelled Except for axis errors a cancellation factor is present only for the moment the error occurs Enabled Errors affecting operation The system will attempt to reset minor errors below this level using an auto reset function via external active command SIO PIO application only Main application 500 to 5CF Main core PC PC Update tool TP Main application 600 to 6CF Main core PC 6D0 ...

Page 216: ... Error LED output MAIN only Other parameter No 4 0 Other parameter No 4 1 Error reset Application only Remarks Main application Main core PC PC Update tool TP Main application FF0 to FBF Main core FC0 to FCF PC Update tool FD0 to FDF System down level TP FE0 to FEF All programs will be cancelled Not enabled The controller power must be reconnected MAIN only The CPU and OS will run properly ...

Page 217: ...e Clock data is lost due to power voltage drop in calendar IC Countermeasure Establish the clock setting again 229 RTC device access error Detail Cause It is a data access error to the RTC device Countermeasure In case the same error occurs even after power reboot there is a concern of noise disturbance or component malfunction 22A RTC device access error Detail Cause It is a clock data error off ...

Page 218: ...ted Countermeasure Contact IAI as there is a risk of generating heat due to the stop of the fan on the controller 236 Position data record format class error There is an error in the position data record format class 23C Coordinate system definition invalid error Detail Cause An operation related to coordinate system definition was attempted to be conducted while coordinate system definition was i...

Page 219: ... be specified or operated at the same time Check the axis pattern position data etc SCARA only 424 Size over error of position number data in response message Detail Cause The expanded point number in the received command is not supported so a response cannot be sent successfully Countermeasure Check the communication message and so on 42F Positioning timeout error when home position determined Po...

Page 220: ...the data initialized Contact IAI in case the same error occurs even after initializing 4A6 Maintenance information data sum check error Detail Cause An error was detected in maintenance information data stored in the retention memory Countermeasure The maintenance information data will not be initialized even if an error is detected To cancel the error have the data initialized Contact IAI in case...

Page 221: ...cation The update device number is invalid 635 Deadman enable switch requiring reset recovery open Reset the deadman enable switch and then reconnect the power 685 I O function selection port number error The I O port number setting specified for a given I O function selection is invalid Check the settings of I O parameter Nos 62 to 65 76 77 283 to 330 etc e g A value out of the range of input and...

Page 222: ...sh ROM from No 10001 Info 1 2 Data stored in the retention memory from No 1 to 10000 Countermeasure The position data will not be initialized even if an error is detected To cancel the error have the data initialized Also conduct the flash ROM writing if the error was detected in the flash ROM domain Contact IAI in case the same error occurs even after initializing flash ROM writing 6BB Deviation ...

Page 223: ...ror was detected in the flash ROM domain Contact IAI in case the same error occurs even after initializing flash ROM writing 6C7 SEL global data control domain sum check error Detail Cause An error was detected in SEL global data stored in the retention memory This may occur also when the power is accidently turned off during the initialization of SEL global data Countermeasure SEL global data wil...

Page 224: ...ing extension SIO Countermeasure Contact IAI if this occurs even after rebooting power 80B Extension SIO parity ER status at SEL receiving Detail Cause The parity error was detected while receiving extension SIO Countermeasure Check the noise prevention measures and communication settings on both receiving and sending devices 80C Extension SIO framing ER status at SEL receiving Detail Cause The fr...

Page 225: ...invalid 906 I O port flag number error The I O port flag number is invalid 910 Command error IAI protocol HT reception The command ID is not supported or invalid For future expansion 911 Message conversion error IAI protocol HT reception The transmitted message does not match the message format or contains invalid data For future expansion 912 PC TP servo movement command acceptance enable input O...

Page 226: ... Error writing the flash ROM A11 Invalid core code sector block ID error The core program already written to the flash ROM is invalid A12 Core code sector block ID erase count over The number of times the flash ROM can be erased was exceeded A13 Flash ROM write request error when erase is incomplete When updating a flash ROM write command was received before a flash ROM erase command Check the upd...

Page 227: ...gram run command refusal error in AUTO mode Programs cannot be run from the TP PC software connector in the AUTO mode A2C Program number error The program number is invalid A2D Inactive program resumption error A resumption request was received for a program currently not running A2E Inactive program pause error A pause request was received for a program currently not running A2F Breakpoint error ...

Page 228: ... A50 Drive source recovery request refusal error The drive source cutoff factor error deadman switch safety gate emergency stop etc has not been removed A51 Operation pause reset request refusal error The all operation pause factor drive source cutoff operation pause signal deadman switch safety gate emergency stop etc has not been removed A53 Refusal error due to servo ON A processing not permitt...

Page 229: ...d slave card A68 SCI parity error SIO bridge Communication failure Check for noise shorting circuit failure and slave card A69 Data change refusal error during operation An attempt was made to change data whose change is prohibited during operation program is running servo is in use etc A6A Software reset refusal error during write Software reset is prohibited while data is being written to the fl...

Page 230: ...sion SIO used by other task error Detail Cause A channel already open by another task was attempted to be open again Countermeasure Use in the same task or use another channel B07 Extension SIO not open error Detail Cause Operation was attempted in a channel not open in the task of itself Countermeasure Open the channel to use in its task B08 Extension SIO duplicated WRIT execution error Detail Ca...

Page 231: ...job busy error An attempt was made to start a new process when the Ethernet mailbox control job was busy B20 Ethernet non initialization device use error An attempt was made to use the Ethernet system when Ethernet device initialization was not yet complete Check I O parameter Nos 123 to 159 14 15 etc depending on the purpose of use B21 Ethernet IP address error An error will generate under the fo...

Page 232: ...n same at calibration and image capturing Check the positions at calibration and image capturing and also check All Axes Common Parameter No 130 Bit 0 to 7 Judgment Distance Cartesian axis only B44 Load mass setting error The load mass exceeds the maximum loading capacity of the robot Check the set mass SCARA only B4B Load mass change prohibited while servo is in use error The load mass currently ...

Page 233: ...d 2nd arms was indicated Check Each Axis Parameter No 138 Arm Length and the target value SCARA only B7F Servo use purpose error The purpose of the servo use is not ordinary B80 Indication prohibited axes error It is an axis forbidden to indicate Set an axis that is available to indicate B81 Each axis PTP multiple axes indication error Each axis PTP operation on multiple axes was indicated Each ax...

Page 234: ... Check the setting of how to use channels set in I O Parameter No 101 to 107 User Released SIO Channel n Attribute 2 Extension C02 Executable program count over error Execution requests were received for programs exceeding the number that can be executed simultaneously C03 Non registered program specification error The specified program is not registered C04 Program entry point non detection error...

Page 235: ...led C17 Expansion condition code error Input program step error The expansion condition code is invalid C18 Expansion condition LD simultaneous processing over error The number of LDs processed simultaneously exceeds the limit value C19 Expansion condition LD shortage error 1 There is not enough LD when expansion condition A or O is used C1A Expansion condition LD shortage error 2 There is not eno...

Page 236: ...3C Variable number error The variable number is invalid C3D String number error The string number is invalid C3E String variable data count specification error The specified number of string variables exceeds the area etc C40 String variable delimiter non detection error Delimiter cannot be detected in the string variable C41 String variable copy size over error The copy size of string variable is...

Page 237: ...r writing the flash ROM C5F Write source data buffer address error Flash ROM write Error writing the flash ROM C61 SEL data flash ROM erase count over error The number of times the flash ROM containing SEL data can be erased was exceeded C62 Operation command error at servo OFF An attempt was made to execute an operation command when the servo was OFF C63 Servo operation condition error The servo ...

Page 238: ...eeds a soft limit If this error occurred on a SCARA axis the axis may not have position data For coordinate system definition unit axes there is a concern of an axis that the position data does not exist C74 Actual position soft limit over error The actual position exceeds a soft limit by the soft limit actual position margin or more C75 Motion data packet generation logic error The motion data pa...

Page 239: ...fied by I O parameter for output function selection or the zone output port specified by axis specific parameter C94 PIO program number error The PIO specified program number is invalid C95 AUTO program number error The setting of Other parameter No 1 Auto start program number is invalid C97 Program number error for I O processing program at operation program abort The setting of Other parameter N...

Page 240: ...s has not been declared by PCHZ or ACHZ CB5 BGPA non declaration error during palletizing setting Palletizing setting cannot be performed without first declaring BGPA Declare BGPA CB6 Palletizing point error The palletizing points are invalid non Z axis components are absent etc CB7 Arch trigger non declaration error Declare arch triggers using PTRG or ATRG CB8 No 3 point teaching setting error at...

Page 241: ...xis whose drive source is cut off CCE Error axis use error An attempt was made to use an axis currently generating an error CCF Palletizing reference point valid axis mismatch error The PX PY PZ axes set by PASE PCHZ are not valid in the axis pattern of the reference point data set by PAST D07 Driver logic error The encoder is faulty or failure occurred in the encoder communication D09 Driver over...

Page 242: ...or The coordinate system data is destroyed Initialize the coordinate system data D42 Coordinate system data Sum check error The coordinate system data is destroyed Initialize the coordinate system data D43 Fan error Detail Cause Drop or stop in fan revolution has been detected Countermeasure Contact IAI as there is a risk of generating heat due to the stop of the fan on the controller D46 SCI send...

Page 243: ...y referring to the operation manual for your field network D5A Fieldbus error TOGGLE timeout A TOGGLE timeout was detected Check the status of the monitor LED on the front face of the board by referring to the operation manual for your field network D5B Fieldbus error Access privilege retry over An access privilege retry over error was detected Check the status of the monitor LED on the front face...

Page 244: ...e D6C Actual position soft limit over error The actual position exceeded a soft limit by the soft limit actual position margin or more D6D Logic error A logic error occurred D6E Motor drive source OFF error MPONSTR OFF An OFF status of the drive source MPONSTR OFF was detected in a non shutdown SHDWNSTR OFF state D6F Optional password error The optional function specified for use requires an optio...

Page 245: ...nsfer error E02 SCIF send buffer overflow error The SCIF send buffer overflowed E03 SCI send buffer overflow error The SCI send buffer overflowed E04 SCIF receive buffer overflow error The SCIF receive buffer overflowed Excessive data was received from outside E05 SCI receive buffer overflow error The SCI receive buffer overflowed Excessive data was received from the slave E06 Receive timeout erro...

Page 246: ...ID in the message received from the slave card is invalid E24 Response type error Slave communication The response type in the message received from the slave card is invalid E25 Command type error Slave communication The command type of the transmitting command is invalid E26 Target type error The target type is invalid E27 No target error Target Driver card I O card encoder or other slave card i...

Page 247: ...o control error DRVESR Error notification from the driver E55 Command error DRVESR Error notification from the driver E56 Motor temperature error DRVESR Error notification from the driver E58 Servo ON OFF timeout error Servo ON OFF cannot be confirmed E59 Brake ON OFF timeout error Brake ON OFF cannot be confirmed E5A Pole sense non detection error Motor magnetic pole cannot be detected E5B Detect...

Page 248: ... Magnetic pole sensor installation specification mismatch error The magnetic sensor installation specification in the system s axis specific parameter and that of the installed encoder do not match E78 Brake installation specification mismatch error The brake installation specification in the system s axis specific parameter and that of the installed encoder do not match E79 Abnormal response erro...

Page 249: ...ctly or written in an old incompatible application version E8F Fieldbus logic error It is a logic error in fieldbus initializing F00 Shutdown error hi_sysdwn definition A shutdown error hi_sysdwn definition was detected F03 to F58 Shutdown error OS call error A shutdown error OS call error was detected F60 System down level error call procedure error A system down level error call procedure error ...

Page 250: ...ion connect to a PC and use IAI s update tool A77 Motorola S record type error The update program file is invalid Check the file A78 Motorola S checksum error The update program file is invalid Check the file A79 Motorola S load address error The update program file is invalid Check the file A7A Motorola S write address over error The update program file is invalid Check the file A7B Flash timing ...

Page 251: ... the core Error erasing writing the flash ROM A8E Unit type error Detected by the core The unit type in the received command message is invalid or not supported CD0 Drive unit error Driver detection Error notification from the driver CD1 Encoder error Driver detection Error notification from the driver CD2 Driver CPU error Driver detection Error notification from the driver CD3 Servo control error...

Page 252: ...hile writing the flash ROM EA9 FROM write protect error Write operation to a write protected flash ROM area FRMWE bit in DEVCTR 1 was detected EAA SDRAM write read test error The SDRAM is faulty Contact the manufacturer EAB Application update SCIF send queue overflow error An overflow occurred in the send queue EAC Servo control underrun error A servo control underrun error was detected EAD Boot e...

Page 253: ...ool and Version for Linear Axis Work and Tool Coordinate System Features Tool Name Main Application Version PC soft V 12 03 00 00 or later TB 02 V 1 00 or later TB 01 V 1 50 or later The coordinate system definition unit axis usually makes positioning of the tool attachment datum point 1 or tool tip on the selected work coordinate system However it makes positioning of SEL language commands TMPI T...

Page 254: ...e premised that the physical axes applicable for each coordinate axis satisfy the following conditions Figure Example for orthogonal unit satisfying conditions above X axis Y axis and Z axis are laid orthogonally to each other The center axis of rotary for the R axis is laid orthogonally to XY plane It is parallel to Z axis if there is Z axis A tool is attached on the R axis if there is R axis It ...

Page 255: ... 1 Each Axis System Each axis system is the coordinate system specific for each linear axis In below shows each axis system in four axis type TTA for example Ｘj Ｙj ＲｊＺj Figure Example for Each Axis System in Four Axis Type TTA XYZ Home Standard Specification Left TTA C4 Right TTA A4 ...

Page 256: ... the datum point for tool installation against the work piece mount face Work Coordinate System No 0 work coordinate system offset 0 Base Coordinate System X axis of Base Coordinate System is described as Xb Y axis as Yb Z axis as Zb and R axis as Rb Example TTA C4 XYZ Home Standard Specification The base coordinate system can be defined as shown below Work Piece ...

Page 257: ...ection of each axis system the tool attachment datum point seems to move in opposite direction to the motion if viewed from the work piece Therefore the base coordinate system is shown as the figure below In below shows the definition related to the home of the base coordinate system and the direction of coordinates Home The position of the tool attachment datum point under condition that each axi...

Page 258: ...se coordinate system Work Coordinate System No 0 is reserved as Base Coordinate System Work Coordinate System Offset 0 by the system Set the offset of each axis as described below X Y Z Offset Distance from the base coordinate system home to the work coordinate system home along Xb Yb and Zb directions R Offset Amount of work coordinate system rotation when base coordinate system taken as the datu...

Page 259: ...as described below by the axis structure of the coordinate system definition unit Xb Yb Xb Yb Rb Xwn Ywn Xwn Ywn Rオフセット量 0時の回転方向 R軸なし R軸あり Xb Yb Rb Xwn Ywn When no R axis in constructing axes Rotating Direction from Xb positive direction to Yb positive direction When there is R axis in constructing axes Rb Direction Without R Axis With R Axis R Offset Direction of Rotation at 0 ...

Page 260: ...Work Coordinate System No 1 and No 2 as shown in the figure below The offset of Work Coordinate System No 1 and No 2 are to be set as shown in the table below Offset Work Coordinate System No X mm Y mm Z mm R deg 1 200 000 120 000 0 000 25 000 2 150 000 300 000 0 000 45 000 Home of Work Coordinate System No 2 Home of Work Coordinate System No 1 ...

Page 261: ... system number is valid after program complete and after rebooting 1 When having PTP positioning to Position No 5 and No 6 on Work Coordinate System No 1 Offset Work Coordinate System No X mm Y mm Z mm R deg 1 200 000 120 000 0 000 25 000 Coordinate Data Position No Axis1 X Axis2 Y Axis3 Z Axis4 R 5 0 000 0 000 0 000 0 000 6 50 000 40 000 0 000 45 000 Xw1 Yw1 50 40 45 25 Example for when the datum...

Page 262: ...ing PTP positioning to Position No 5 and No 6 on Work Coordinate System No 2 Offset Work Coordinate System No X mm Y mm Z mm R deg 2 150 000 300 000 0 000 45 000 Coordinate Data Position No Axis1 X Axis2 Y Axis3 Z Axis4 R 5 0 000 0 000 0 000 0 000 6 50 000 40 000 0 000 45 000 40 50 45 45 Xw2 Yw2 ...

Page 263: ... tool attached position Select the defined Tool Coordinate System and operate the R axis with JOG operation and such movement as shown in the figure below can be performed Regarding directions of X and Y axes Xtn and Ytn in tool coordinate system With R Axis Varies relying on coordinates of R axis Without R Axis Always fixed the directions depends on R offset of tool coordinate system R axis Tool ...

Page 264: ...stem No 1 as shown in the figure below The figure below is assumed to show that each axis system coordinates for all the unit constructing axes is 0 PT0 ツール先端 The offset of Tool Coordinate System No 1 are to be set as shown in the table below Offset Tool Coordinate System No X mm Y mm Z mm R deg 1 10 000 21 000 6 000 45 000 Tool tip X Y Z offset Distance from the tool attached position to the tool...

Page 265: ...rk coordinate system number is valid after program complete and after rebooting 1 When having the tool tip on Tool Coordinate System No 1 to perform PTP positioning from Position No 5 to No 6 in Work Coordinate System No 1 Offset Work Coordinate System No X mm Y mm Z mm R deg 1 200 000 120 000 0 000 25 000 Offset Tool Coordinate System No X mm Y mm Z mm R deg 1 10 000 21 000 6 000 45 000 Coordinat...

Page 266: ...ning from Position No 5 to No 6 in Work Coordinate System No 2 Offset Work Coordinate System No X mm Y mm Z mm R deg 2 150 000 300 000 0 000 45 000 Offset Tool Coordinate System No X mm Y mm Z mm R deg 1 10 000 21 000 6 000 45 000 Coordinate Data Position No Axis1 X Axis2 Y Axis3 Z Axis4 R 5 0 000 0 000 0 000 0 000 6 50 000 40 000 0 000 45 000 40 50 45 45 Xw2 Yw2 ...

Page 267: ...6 to 31 Reservation No applicable definition axis when Axis No 0 Stated below are the caution items regarding the setting of All Axes Parameter No 56 5C0 Coordinate System Setting Error will occur when there is an error in setting related to these caution items described below The patterns of constructing axes that are available to indicate should be either of XY XYZ XYZR and XYR Duplicated indica...

Page 268: ...coordinate system In case this parameter is not established correctly the axes will not operate as expected Pay attention when establish the setting for this parameter as the controller cannot judge right or wrong for the contents of the setting Establish the setting as described below for the value in All Axes Parameter No 57 Example In the construction below Rb positive direction clockwise is op...

Page 269: ... 1 Standard Reversed Specification NM 1 Reversed Specification NM Reversed Specification NM 0 Shown above are just examples for standard settings There would be no problem if change is made in the setting for All Axes Parameter No 56 and 57 as long as there is no contradiction to the composition of the axes In such a case make sure to check the caution items for each parameter so the settings can ...

Page 270: ...ment CIRS ARCS CIR ARC Circular Arc Movement 2 Arc Movement with Center Indication CIR2 ARC2 ARCC ARCD 2 1 Permitted only when operated physical axis is one axis to the indicated axis 2 Permitted only when operated axes are two axes in total Example To indicate X axis in PUSH Command 1 Work coordinate system R offset is 0 in such case as Work Coordinate System No 0 Available to indicate Only X axi...

Page 271: ... velocity and acceleration deceleration are the same the actual operation speed may tend to be slower as the tool length distance from the tool attachment datum point to the tool tip gets longer When attempted to perform CP operation or JOG operation on the work coordinate system or tool coordinate system while the coordinate system definition unit axis is out of the soft limit Error No C73 Target...

Page 272: ...15 2k 230 4k Data length 7 or 8 bit Start bit 1 bit Stop bit 1 or 2 bit Binary classification None Odd or even 7 2 2 Functions 1 SEL Program Communication It is a communication mode to send and receive data of the indicated SIO channels using SEL commands for communication OPEN READ WRIT CLOS TMRW and SCHA OPEN Command enables sending and receiving the indicated SIO channels and READ Command recei...

Page 273: ...Mode and no response in other invalid channels Communication disconnected in teaching tools and PC software Construct the user system in order to have only one channel to send the execution command When connecting a teaching tool or PC software to a channel not selected as the IAI protocol execution command valid channel I O Parameter No 116 in AUTO Mode it is necessary to use a software with the ...

Page 274: ...ot 2 I O3 Wiring Layout for RS232C Ports Pin No Direction Signal name Contents 1 In CD Carrier Detection Not use 2 In RD Received Data RXD 3 Out SD Sent Data TXD 4 Out ER Device Ready DTR 5 In SG Signal Ground 6 In DR Data Set Ready DSR 7 Out RS Sending Request RTS Not use 8 In CS Ready for Sending CTS Not use 9 Out NC Not use 5 1 9 6 Extension I O Slot 1 User Released SIO Channel Number Setting a...

Page 275: ...FFFFH F Bits 28 31 Baud rate type 0 9 6 1 19 2 2 38 4 3 57 6 4 76 8 5 115 2k 6 230 4kbps Bits 24 27 Data length 7 to 8 Bits 20 23 Stop bit length 1 to 2 Bits 16 19 Binary Classification 0 None 1 Odd 2 Even Bits 12 15 System reservation Bits 8 11 Reception Operation Classification 0 RS485 Reception compulsorily enabled straight after sending process RS232C Reception compulsorily enabled right befor...

Page 276: ...e Bit 0 to 3 Available to set when IAI protocol multiple channel communication permission select 1 permitted Settable only Attribute 2 of SIO channel 2 opened to user Bits 4 11 IAI protocol response minimum latency ms Valid only in IAI protocol Main application part V2 00 or later 103 Attribute 2 of SIO channel 3 opened to user Extension 0 0 FFFFFFFFH F Equivalent to the IO parameter No 101 Main a...

Page 277: ... attribute 10 0 FFFFFFFFH F Bits 0 3 IAI protocol multiple channel communication permission select 0 Unpermitted Communication exclusively in priority of Teaching port Ethernet 1 Permitted Bits 4 11 IAI protocol execution command communication valid channel select at AUTO Mode 01H Teaching Port 02H Extension SIO Attribute 2 of SIO channel 2 opened to user 26H Ethernet Valid when IAI protocol multi...

Page 278: ... 58100012h 2 IAI Protocol Communication Individual Setting A SEL Program Communication Set the way to use for the extension SIO user release channel number to be used I O Parameter 101 103 105 107 SIO Channel 2 Opened to User bit0 3 Example When having the SEL program communication in User Release Channel No 2 set as I O Parameter 101 User Release Channel 2 Attribute 2 bit 0 to 3 0 B IAI Protocol ...

Page 279: ... connector CH1 Indicate Extension SIO for the IAI protocol execution command communication valid channel in AUTO Mode PLC Touch Panel Display Device PC Teaching Tool Connector CH1 Teaching Tool Extension SIO CH2 Baud Rate 115 2kbps Data Length 8bi t Stop Bit Length 1bi t Varity Classification None I O Parameter Settings No100 User Released SIO Channel 2 Attribute 1 Extension 58100011H No101 User R...

Page 280: ...Chapter 7 Appendix 7 2 Extension SIO Features 270 ...

Page 281: ...spection An external visual inspection should check the following things Main unit Loose actuator mounting bolts other loose items Cables Scratches proper connections Overall Irregular noise vibration 8 3 Internal visual inspection Turn the power OFF Remove the screw cover and inspect inside visually When inspecting the interior check the following items Main unit Loose actuator mounting bolts oth...

Page 282: ...e number of months 5 Apart from the period of time indicated above supply grease once in 3 months after the start of first operation after delivery 6 In case of stored for a long period of time 6 months or more the grease may have got degraded Supply grease again before use 7 Regular Inspection Check the condition of the grease in every 6 months internal inspection and supply it if it is confirmed...

Page 283: ...short period 13 Also in usage in bad environment if the grease gets significantly dirty it is recommended to improve the environment 8 5 3 How to supply the grease Supply grease from the supply inlet 1 Detach the grommet 2 Move the slider until the grease nipple on the slider can be seen in the supply inlet 3 Put the grease gun into the grease supply inlet and supply grease on the grease nipple Su...

Page 284: ...e Motor 200 Stroke Type Model Code TTA A3 20 20 Required Tool Grease Gun Applicable for diameter 3 5 grease nipple hole nozzle outer diameter 7 5mm or below nozzle length 70mm or more The procedures to supply grease are in common for all the sizes For C Type the structure of the X axis differs from A Type Refer to procedures for grease supply on the Y axis of A Type for how to supply grease to X a...

Page 285: ...rease nipple on the X axis slider Supplying grease to this grease nipple will grease up both guide and ball screw X axis Step 3 Move the slider on the X axis to the stroke end and supply grease with using a grease gun Tool Grease gun Caution During supplying grease hold the slider or turn the servo on so the slider will not move Rubber Cap Grease Nipple Grease Gun ...

Page 286: ...e top grease nipple will grease up the top guide and ball screw while supplying grease to the bottom grease nipple will grease up the bottom guide and ball screw Y axis Step 3 Move the slider on the Y axis to the stroke end and supply grease with using a grease gun Tool Grease gun Caution During supplying grease hold the slider or turn the servo on so the slider will not move Grease Nipples Rubber...

Page 287: ...gun Caution During supplying grease hold the Z axis or turn the servo on so the Z axis will not move Z axis Step 1 View the Z axis from the front and take out the rubber cap on the right Z axis Step 2 Confirm the grease nipple on the right side of the Z axis slider Grease should be supplied to the guide and ball screw on the right side Z Axis Rubber Cap Grease Nipple Grease Gun ...

Page 288: ...th using a grease gun Tool Grease gun Caution During supplying grease hold the Z axis or turn the servo on so the Z axis will not move Z axis Step 4 View the Z axis from the front and take out the rubber cap on the left Z axis Step 5 Confirm the grease nipple on the left side of the Z axis slider Grease should be supplied to the guide and ball screw on the left side ...

Page 289: ... 279 Procedures to Supply Grease on ZR Axis Described below shows the procedures to supply grease to the ZR axis in TTA Required Tool Grease Gun Applicable for diameter 3 5 grease nipple hole nozzle outer diameter 7 5mm or below nozzle length 70mm or more ...

Page 290: ...e the R axis is at the home position Position 0 Supplying grease to this grease nipple will grease up the spline rod R axis Step 3 Supply grease with using a grease gun while the R axis is at home positon Position 0 Tool Grease gun Caution During supplying grease hold the ZR axis or turn the servo on so the ZR axis will not move R Axis Rubber Cap Grease Nipple Spline Rod Grease Gun ...

Page 291: ...placement of any belt used in your robot please contact IAI Timing belt Current Types TTA Model Code Axis Lead Model Code of Single Product Manufacturer Model Code Manufacturer X axis TB TTA PA X 02 243 3GT 6 Y axis TB TTA PAC XY 02 318 3GT 6 TTA A Pulse motor type Z axis TB TTA PAC Z 02 244 2GT 6 X axis TB TTA SA X 01 225 3GT 6 Y axis TB TTA SAC XYL 01 300 3GT 6 L TB TTA SAC ZL 01 232 2GT 6 TTA A...

Page 292: ...ed Tools Measurement Equipment Hexagon Wrench Phillips screwdriver Sonic Belt Tension Meter Model Code U 508 Spring Scale Tension 58N or more Cable Bands The procedures to replace the belt are in common for all the sizes For C Type the structure of the X axis differs from A Type Refer to procedures to replace the belt on the Y axis of A Type for how to replace the belt on X axis of C Type Refer to...

Page 293: ... pin for drop prevention and take the cap off X axis Step 2 Take off the operation box Remove the two screws on the top Tool Hexagon wrench X axis Step 3 Pull the front base cover out of the front base Caution If the cover is difficult to pull out hold the bottom of the front base to make the gap larger X Axis Front Base Cap Operation Box Front Base Cover Front Base ...

Page 294: ... of screws differ depending on the TTA size Tool Hexagon wrench X axis Step 5 Cables of the operation box go through in the front base Move the front base to the side of the main unit to avoid unnecessary load to the cables X axis Step 6 Take off Pulley Cover X Remove the screw on the front Tool Phillips screwdriver Hex Socket Head Screws 5 Pulley Cover X ...

Page 295: ...r end in this condition you will not be able to take the belt off the pulley on the ball screw end X axis Step 8 Take off the screw cover bracket only on front side Remove the two screws on the top Tool Hexagon wrench X axis Step 9 After removing the screws pull the bracket to the front direction Motor End Pulley Ball Screw End Pulley ...

Page 296: ... to loosen the timing belt and take the timing belt off X axis Step 13 Attach a timing belt for replacement in the same procedures X axis Step 11 Remove the motor fixture and loosen the timing belt Remove the four screws on the front Tool Hexagon wrench X axis Step 10 Now it is accessible to both pulleys ...

Page 297: ...y tension to the belt and then affix the motor X axis Step 15 Check the belt tension with using a sonic belt tension meter Tension to Pass Refer to documents described in Pg 279 to 280 Refer to Appendix for how to set up the sonic belt tension meter Measurement Equipment Sonic belt tension meter X axis Step 16 Assemble back each component in the back order of the porocedures Attach the front base ...

Page 298: ...off Motor Cover Y Remove the three screws on the top and bottom of the back side Tool Phillips screwdriver Y axis Step 2 Pull out Motor Cover Y to the rear direction Y axis Step 3 Take off Pulley Cover Y Remove the two screws on the side Tool Hexagon wrench Y Axis Motor Cover Y Pulley Cover Y ...

Page 299: ...fter the screws were removed Y axis Step 5 Loosen the timing belt and take it off Y axis Step 6 Attach a timing belt for replacement in the same procedures Y axis Step 7 Affix the motor while tension being applied to the belt Pull the motor part with using such thing as cable bands Apply force in parallel direction to the timing belt Tension Refer to documents described in Pg 279 to 280 Measuremen...

Page 300: ...elt tension will be reduced to the half of the tension applied at installation Y axis Step 9 Assemble back each component in the back order of the procedures When installing Motor Cover Y pay attention to the slits on Rubber Part 1 and Rubber Part 2 so Motor Cover Y will be hanged on them Also pay attention not to pinch the cables when installing Motor Cover Y Tools Hexagon wrench Phillips screwdr...

Page 301: ...e two screws on the top Tool Phillips screwdriver Z Axis BOX Cover Z axis Step 3 Take off Motor Cover Z Remove the three screws on the right and left sides and the back side Tool Phillips screwdriver Z axis Step 2 Remove the cable clamp Remove the two screws on the top Tool Hexagon wrench Cable Clamp Motor Cover Z ...

Page 302: ...oncern of wrong wiring as the connectors match with each mating end but for the four axis type there is a concern of wrong connection Apply markings before detaching in order to avoid wrong wiring Z axis Step 5 Pull out Motor Cover Z to the rear direction Z axis Step 6 Take off Pulley Cover Z Remove the two screws on the top Tool Hexagon wrench Pulley Cover Z ...

Page 303: ...will drop after the screws were removed Z axis Step 8 Loosen the timing belt and take it off Z axis Step 9 Attach a timing belt for replacement in the same procedures Z axis Step 10 Affix the motor while tension being applied to the belt Pull the motor part with using such thing as cable bands Apply force in parallel direction to the timing belt Tension Refer to documents described in Pg 279 to 28...

Page 304: ...Tension to Pass Refer to documents described in Pg 279 to 280 Measurement equipment Sonic belt tension meter Z axis Step 12 Assemble back each component in the back order of the procedures Pay attention not to pinch the cables when installing Motor Cover Z and BOX Cover Tools Hexagon wrench Phillips screwdriver ...

Page 305: ...nsion Meter Setting M 1 3 W 6 S 80 AC Servo Motor Battery less Absolute Type X Axis Belt Code 225 3GT 6 Tension 58N Tension to Pass 29N 5N Tension Meter Setting M 2 5 W 6 S 77 Y Axis Belt Code 300 3GT 6 Tension 58N Tension to Pass 29N 5N Tension Meter Setting M 2 5 W 6 S 115 Z Axis Belt Code 232 2GT 6 Low Lead Specifications 226 2GT 6 High Lead Specifications Tension 32N Tension to Pass 16N 5N Ten...

Page 306: ...ons 297 3GT 6 High Lead Specifications Tension 58N Tension to Pass 29N 5N Tension Meter Setting M 2 5 W 6 S 77 Althogh the belt to use will differ for each lead the tension and setting of tension meter will be the same Y Axis Belt Code 300 3GT 6 Low Lead Specifications 297 3GT 6 High Lead Specifications Tension 58N Tension to Pass 29N 5N Tension Meter Setting M 2 5 W 6 S 115 Althogh the belt to us...

Page 307: ...xis Described below shows the procedures to replace the R axis belt on the ZR axis in TTA Refer to Procedures to Replace Belt in TTA for the Z axis Required Tools Measurement Equipment Hexagon Wrench Phillips screwdriver Sonic Belt Tension Meter Model Code U 508 Spring Scale Tension 58N or more Cable Bands ...

Page 308: ...tep 2 Detach the fixture of the motor cover Remove the two screws on the bottom side Tool Hexagon wrench Caution In this process the motor cover is not to be taken off Remove only the two screws holding the motor cover R axis Step 3 Remove the motor fixture and loosen the timing belt Remove the four screws on the bottom side Tool Hexagon wrench R Axis Pulley Cover Motor Cover Timing Belt ...

Page 309: ...le attached on the motor cover is joined to the motor the motor cover will not be able to be taken off Pull up the motor cover to get enough space to put a cable band around R axis Step 7 Affix the motor while tension being applied to the belt Hang a spring scale on the cable band and pull the motor part Apply force in parallel direction to the timing belt Tension Refer to document described in Pg...

Page 310: ... 3 W 6 S 80 R axis Step 9 Assemble back each component in the back order of the procedures Tools Hexagon wrench Phillips screwdriver Document Belt Tension Tension to Pass and How to Set up Sonic Belt Tension Meter ZR Axis R axis Step 8 Check the belt tension Set a tension meter close to the belt and flick the belt with finger to check the tension Tension to Pass Refer to document described in Pg 2...

Page 311: ...tenance and Inspection 8 7 Period of Time for Fan Unit Replacement 301 8 7 Period of Time for Fan Unit Replacement It is recommended to replace the fan in approximately three years assuming 24 hour operation in 40 C ...

Page 312: ...Chapter 8 Maintenance and Inspection 8 7 Period of Time for Fan Unit Replacement 302 ...

Page 313: ... 35 35 55 100 50 110 90 110 45 V 8 16 5 3 7 27 5 25 60 3 5 5 6 M5 Depth 7 4 M4 Depth 7 H7 Depth 5 Detail Diagram U Detail of Y Axis Slider Reamer Pitch Tolerance 0 02 T Groove 2 X View T Groove on Side of Main Unit Profile of T Groove on Frame X View T Groove 2 HOME T Groove Same Profile on Opposite Side Same Profile on Opposite Side Dial for Y Slider Position Tuning Dial for X Slider Position Tun...

Page 314: ...4 Depth 7 H7 Depth 5 Detail Diagram U Detail of Y Axis Slider Reamer Pitch Tolerance 0 02 T Groove 2 X View T Groove on Side of Main Unit Profile of T Groove on Frame X View T Groove 2 Same Profile on Opposite Side Dial for X Slider Position Tuning Detail Diagram V Grounding Screw Detail Diagram Y Y slider side M4 for Grounding SE Stroke end ME Mechanical end 2 M3 Depth 5 6 M5 Depth 7 6 M4 Depth 7...

Page 315: ...epth 7 H7 Depth 5 Detail Diagram U Detail of Y Axis Slider Reamer Pitch Tolerance 0 02 T Groove 2 X View T Groove on Side of Main Unit X View Profile of T Groove on Frame Same Profile on Opposite Side Detail Diagram Y Y slider side 2 M3 Depth 5 HOME HOME T Groove Same Profile on Opposite Side Dial for Y Slider Position Tuning Same Profile on Opposite Side of Frame T Groove 2 Detail Diagram V Groun...

Page 316: ...M4 Depth 7 H7 Depth 5 Detail Diagram U Detail of Y Axis Slider Reamer Pitch Tolerance 0 02 X View T Groove on Side of Main Unit Profile of T Groove on Frame Same Profile on Opposite Side Detail Diagram Y Y slider side 2 M3 Depth 5 T Groove 2 T Groove 2 X View HOME HOME T Groove Same Profile on Opposite Side Dial for Y Slider Position Tuning Same Profile on Opposite Side of Frame T Groove 2 Detail ...

Page 317: ...5 43 30 2 φ 5 V 8 16 5 3 7 27 5 25 60 3 5 5 Reamer Pitch Tolerance 0 02 4 M5 Depth 7 4 M4 Depth 7 H7 Depth 5 Detail Diagram U Detail of Z Axis Slider Profile of T Groove on Frame X View T Groove on Side of Main Unit T Groove 2 X View T Groove 2 SE Stroke end ME Mechanical end Dial for X Slider Position Tuning HOME HOME HOME T Goove Same Profile on Opposite Side Dial for Y Slider Position Tuning 6 ...

Page 318: ...5 110 90 45 2 φ 5 55 50 100 110 60 3 5 5 Reamer Pitch Tolerance 0 02 4 M5 Depth 7 4 M4 Depth 7 H7 Depth 5 Detail Diagram U Detail of Z Axis Slider Profile of T Groove on Frame X View T Groove on Side of Main Unit T Groove 2 X View T Groove 2 Same Profile on Opposite Side Detail Diagram Y Y slider side 2 M3 Depth 5 HOME HOME HOME T Goove Same Profile on Opposite Side Dial for Y Slider Position Tuni...

Page 319: ...25 110 90 45 2 φ 5 55 50 100 110 3 5 5 60 Reamer Pitch Tolerance 0 02 4 M5 Depth 7 4 M4 Depth 7 H7 Depth 5 Detail Diagram U Detail of Z Axis Slider Profile of T Groove on Frame X View T Groove on Side of Main Unit T Groove 2 X View T Groove 2 Same Profile on Opposite Side Detail Diagram Y Y slider side 2 M3 Depth 5 HOME HOME HOME T Goove Same Profile on Opposite Side Dial for Y Slider Position Tun...

Page 320: ...25 110 90 45 2 φ 5 55 50 100 110 60 3 5 5 Reamer Pitch Tolerance 0 02 4 M5 Depth 7 4 M4 Depth 7 H7 Depth 5 Detail Diagram U Detail of Z Axis Slider Profile of T Groove on Frame X View T Groove on Side of Main Unit T Groove 2 X View T Groove 2 Same Profile on Opposite Side Detail Diagram Y Y slider side 2 M3 Depth 5 HOME HOME HOME T Goove Same Profile on Opposite Side Dial for Y Slider Position Tun...

Page 321: ... axis Datum Surface 4 M5 Depth 7 4 M4 Depth 7 Reamer Pitch Tolerance 0 02 H7 Depth 5 M5 Depth 10 X View T Groove on Side of Main Unit T Groove 2 Profile of T Groove on Frame Detail Diagram U Detail of Z Axis Slider X View T Groove 2 R axis on the Other Side HOME Detail Diagram V Grounding Screw M4 for Grounding 2 M3 Depth 5 Detail Diagram Y Side Surface of Y Axis Slider Same Profile on Opposite Si...

Page 322: ...7 5 25 4 M5 Depth 7 4 M4 Depth 7 Reamer Pitch Tolerance 0 02 H7 Depth 5 Drawing View View X Scale 1 2 5 Detail Diagram U Scale 2 2 5 T Groove 2 R axis Datum Surface M5 Depth 10 Profile of T Groove on Frame Detail Diagram W X View T Groove 2 HOME Z Slider ME Z Slider ME Z Slider SE Z Slider ME Spline ME Spline HOME Spline SE Spline HOME Dial for Y Slider Position Tuning T Goove Same Profile on Oppo...

Page 323: ...7 4 M4 Depth 7 Reamer Pitch Tolerance 0 02 H7 Depth 5 Drawing View View X Scale 1 2 5 Detail Diagram U Scale 2 2 5 T Groove 2 R axis Datum Surface M5 Depth 10 Profile of T Groove on Frame Detail Diagram W X View T Groove 2 R axis on the Other Side HOME Dial for Z Slider Position Tuning HOME Z Slider ME Z Slider ME Z Slider SE Z Slider ME Spline ME Spline HOME Spline SE Spline HOME Dial for Y Slide...

Page 324: ...ce 4 M5 Depth 7 4 M4 Depth 7 Reamer Pitch Tolerance 0 02 H7 Depth 5 M5 Depth 10 X View T Groove on Side of Main Unit T Groove 2 Profile of T Groove on Frame Detail Diagram U Detail of Z Axis Slider X View T Groove 2 HOME HOME HOME Z Slider ME Z Slider ME Z Slider SE Z Slider ME Spline ME Spline HOME Spline SE Spline Dial for Y Slider Position Tuning T Goove Same Profile on Opposite Side Same Profi...

Page 325: ...85 5 25 5x50p 250 50 100 100 27 5 25 60 3 5 5 2 M3 Depth 6 6 M5 Depth 7 4 M4 Depth 7 Dial for X Slider Position Tuning 2 φ 5 H7 Depth 5 Detail Diagram U Detail of Y Axis Slider Reamer Pitch Tolerance 0 02 T Groove 2 T Groove 2 Profile of T Groove on Frame X View X View Operating Range HOME HOME Frame Datum Surface Dial for Y Slider Position Tuning V View HOME Same Profile on Opposite Side Detail D...

Page 326: ...5 12 5 5x75p 375 50 150 150 3 5 5 60 6 M5 Depth 7 4 M4 Depth 7 Dial for X Slider Position Tuning 2 φ 5 H7 Depth 5 Detail Diagram U Detail of Y Axis Slider Reamer Pitch Tolerance 0 02 T Groove 2 T Groove 2 Profile of T Groove on Frame X View X View 2 M3 Depth 6 Operating Range HOME HOME Frame Datum Surface Dial for Y Slider Position Tuning V View HOME Same Profile on Opposite Side Detail Diagram Y ...

Page 327: ...x100p 500 70 200 200 27 5 25 3 5 5 60 6 M5 Depth 7 4 M4 Depth 7 Dial for X Slider Position Tuning 2 φ 5 H7 Depth 5 Detail Diagram U Detail of Y Axis Slider Reamer Pitch Tolerance 0 02 T Groove 2 T Groove 2 Profile of T Groove on Frame X View X View 2 M3 Depth 6 Operating Range HOME HOME HOME Frame Datum Surface Dial for Y Slider Position Tuning V View Same Profile on Opposite Side Detail Diagram Y...

Page 328: ... 90 190 5 90 70 250 250 27 5 25 3 5 5 60 6 M5 Depth 7 4 M4 Depth 7 Dial for X Slider Position Tuning 2 φ 5 H7 Depth 5 Detail Diagram U Detail of Y Axis Slider Reamer Pitch Tolerance 0 02 T Groove 2 T Groove 2 Profile of T Groove on Frame X View X View Operating Range HOME HOME HOME Frame Datum Surface Dial for Y Slider Position Tuning V View 2 M3 Depth 6 Same Profile on Opposite Side Detail Diagra...

Page 329: ...p 250 40 5 90 85 5 Pin Hole and Z Slider Position 60 3 5 5 Dial for X Slider Position Tuning Profile of T Groove on Frame Detail Diagram Y Side Surface of Y Axis Slider Same Profile on Opposite Side 2 M3 Depth 6 X View T Groove 2 T Groove 2 Dial for Z Slider Position Tuning Operating Range HOME HOME V View Frame Datum Surface Dial for Y Slider Position Tuning Operating Range HOME HOME T Goove Same...

Page 330: ...5p 375 50 150 150 3 7 8 16 5 60 3 5 5 2 φ 5 H7 Depth 5 Reamer Pitch Tolerance 0 02 T Groove 2 4 M5 Depth 7 4 M4 Depth 7 Profile of T Groove on Frame Detail Diagram U Detail of Z Axis Slider Dial for X Slider Position Tuning X View T Groove 2 Operating Range HOME HOME Dial for Z Slider Position Tuning V View Frame Datum Surface T Goove Same Profile on Opposite Side HOME HOME Dial for Y Slider Posit...

Page 331: ...0 70 200 200 3 7 8 16 5 60 3 5 5 2 φ 5 H7 Depth 5 Reamer Pitch Tolerance 0 02 T Groove 2 4 M5 Depth 7 4 M4 Depth 7 Profile of T Groove on Frame Detail Diagram U Detail of Z Axis Slider Dial for X Slider Position Tuning X View T Groove 2 Operating Range HOME HOME Dial for Z Slider Position Tuning V View Frame Datum Surface T Goove Same Profile on Opposite Side HOME HOME Dial for Y Slider Position T...

Page 332: ...625 70 250 250 3 7 8 16 5 60 3 5 5 2 φ 5 H7 Depth 5 Reamer Pitch Tolerance 0 02 T Groove 2 4 M5 Depth 7 4 M4 Depth 7 Profile of T Groove on Frame Detail Diagram U Detail of Z Axis Slider Dial for X Slider Position Tuning X View T Groove 2 X View Operating Range HOME HOME Dial for Z Slider Position Tuning V View Frame Datum Surface T Goove Same Profile on Opposite Side HOME HOME Dial for Y Slider P...

Page 333: ...60 3 5 5 HOME HOME R Slider Operating Range R Slider Operating Range T Groove 2 X View T Groove 2 X View Dial for Z Slider Position Tuning Profile of T Groove on Frame HOME HOME HOME HOME R Slider Operating Range Z Slider Operating Range T Goove Same Profile on Opposite Side Dial for Y Slider Position Tuning Frame Datum Surface V View HOME HOME Dial for Z Slider Position Tuning Z Slider Operating ...

Page 334: ...5 60 3 5 5 HOME HOME R Slider Operating Range R Slider Operating Range T Groove 2 X View T Groove 2 X View Dial for Z Slider Position Tuning HOME HOME Dial for Z Slider Position Tuning Z Slider Operating Range Profile of T Groove on Frame HOME HOME HOME HOME R Slider Operating Range Z Slider Operating Range T Goove Same Profile on Opposite Side Dial for Y Slider Position Tuning Frame Datum Surface...

Page 335: ...R Slider Operating Range R Slider Operating Range T Groove 2 X View T Groove 2 X View Dial for Z Slider Position Tuning Profile of T Groove on Frame HOME HOME HOME HOME R Slider Operating Range Z Slider Operating Range T Goove Same Profile on Opposite Side Dial for Y Slider Position Tuning Frame Datum Surface V View HOME HOME Dial for Z Slider Position Tuning Z Slider Operating Range 18 M5 Depth 1...

Page 336: ...6 5 3 7 20 φ 10 h7 19 Xst 500 90 Yst 450 5 5 90 5 5 50 ME SE ME ME SE ME 27 5 25 60 3 5 5 Xst 500 17 16 8 200 50 140 755 8 HOME R Slider Operating Range R Slider Operating Range T Groove 2 X View T Groove 2 X View Dial for Z Slider Position Tuning Profile of T Groove on Frame HOME HOME HOME HOME R Slider Operating Range Z Slider Operating Range T Goove Same Profile on Opposite Side Dial for Y Slid...

Page 337: ...55 100 50 110 90 110 45 V 8 16 5 3 7 27 5 25 6 M5 Depth 7 6 M4 Depth 7 Detail Diagram S Detail of X Axis Slider Reamer Pitch Tolerance 0 02 2 φ 5 H7 Depth 5 Dial for X Slider Position Tuning Detail Diagram V Grounding Screw M4 for Grounding HOME HOME T Groove Same Profile on Opposite Side Dial for Y Slider Position Tuning 6 M5 Depth 7 4 M4 Depth 7 2 φ 5 H7 Depth 5 Detail Diagram U Detail of Y Axis...

Page 338: ...Depth 5 6 M5 Depth 7 6 M4 Depth 7 Reamer Pitch Tolerance 0 02 Detail Diagram S Detail of X Axis Slider Dial for X Slider Position Tuning Detail Diagram V Grounding Screw M4 for Grounding HOME T Goove Same Profile on Opposite Side Dial for Y Slider Position Tuning Same Profile on Opposite Side of Frame T Groove 2 HOME 6 M5 Depth 7 4 M4 Depth 7 2 φ 5 H7 Depth 5 Detail Diagram U Detail of Y Axis Slid...

Page 339: ... Depth 5 6 M5 Depth 7 6 M4 Depth 7 Detail Diagram S Detail of X Axis Slider Reamer Pitch Tolerance 0 02 M4 for Grounding Detail Diagram V Grounding Screw Dial for X Slider Position Tuning HOME HOME T Groove 2 Dial for Y Slider Position Tuning Same Profile on Opposite Side of Frame T Goove Same Profile on Opposite Side X View 6 M5 Depth 7 4 M4 Depth 7 T Groove 2 2 T Groove Detail Diagram U Detail o...

Page 340: ... Depth 5 6 M5 Depth 7 6 M4 Depth 7 Reamer Pitch Tolerance 0 02 Detail Diagram S Detail of X Axis Slider Dial for X Slider Position Tuning Detail Diagram V Grounding Screw M4 for Grounding HOME T Groove 2 T Groove 2 HOME T Goove Same Profile on Opposite Side Dial for Y Slider Position Tuning Same Profile on Opposite Side of Frame X View 6 M5 Depth 7 4 M4 Depth 7 T Groove 2 Reamer Pitch Tolerance 0 ...

Page 341: ... 55 110 110 25 50 60 35 43 30 V 8 16 5 3 7 27 5 25 6 M5 Depth 7 6 M4 Depth 7 2 φ 5 H7 Depth 5 Reamer Pitch Tolerance 0 02 Detail Diagram S Detail of X Axis Slider Dial for X Slider Position Tuning Detail Diagram V Grounding Screw M4 for Grounding HOME HOME HOME T Goove Same Profile on Opposite Side Dial for Y Slider Position Tuning Dial for Z Slider Position Tuning SE Stroke end ME Mechanical end ...

Page 342: ...27 5 25 110 90 45 55 50 100 110 HOME HOME HOME 6 M5 Depth 7 6 M4 Depth 7 2 φ 5 H7 Depth 5 Reamer Pitch Tolerance 0 02 Detail Diagram S Detail of X Axis Slider T Groove 2 Same Profile on Opposite Side of Frame T Goove Same Profile on Opposite Side SE Stroke end ME Mechanical end Dial for X Slider Position Tuning Dial for Y Slider Position Tuning Detail Diagram V Grounding Screw M4 for Grounding Dia...

Page 343: ... 27 5 25 110 90 45 55 50 100 110 6 M5 Depth 7 6 M4 Depth 7 2 φ 5 H7 Depth 5 Reamer Pitch Tolerance 0 02 Detail Diagram S Detail of X Axis Slider Dial for X Slider Position Tuning Detail Diagram V Grounding Screw M4 for Grounding HOME HOME HOME T Groove 2 Dial for Z Slider Position Tuning Dial for Y Slider Position Tuning Same Profile on Opposite Side of Frame T Goove Same Profile on Opposite Side ...

Page 344: ...7 27 5 25 110 90 45 55 50 100 110 6 M5 Depth 7 6 M4 Depth 7 2 φ 5H7 Depth 5 Detail Diagram S Detail of X Axis Slider Reamer Pitch Tolerance 0 02 Detail Diagram V Grounding Screw M4 for Grounding Dial for X Slider Position Tuning Dial for Y Slider Position Tuning SE Stroke end ME Mechanical end Dial for Z Slider Position Tuning HOME HOME HOME T Groove 2 Same Profile on Opposite Side of Frame T Goov...

Page 345: ... 110 45 43 35 25 50 60 30 25 27 5 1 5 4 5 4 3 7 3 19 φ 10 h7 20 Detail Diagram W Detail of R axis tip end R axis Datum Surface 60 3 5 5 Detail Diagram V Grounding Screw M4 for Grounding 2 M3 Depth 5 Detail Diagram Y Side Surface of Y Axis Slider Same Profile on Opposite Side Detail Diagram S Detail of X Axis Slider 6 M5 Depth 7 6 M4 Depth 7 Reamer Pitch Tolerance 0 02 2 φ5 H7 Depth 5 Dial for Z Sl...

Page 346: ...etail Diagram Y Side Surface of Y Axis Slider Same Profile on Opposite Side Dial for X Slider Position Tuning SE Stroke end ME Mechanical end Dial for Y Slider Position Tuning T Groove 2 Same Profile on Opposite Side of Frame T Goove Same Profile on Opposite Side HOME Z Slider ME Z Slider ME Z Slider SE Z Slider ME Spline ME Spline HOME Spline SE Spline X View T Groove 2 Detail Diagram S Detail of...

Page 347: ...ram Y Side Surface of Y Axis Slider Same Profile on Opposite Side Dial for X Slider Position Tuning SE Stroke end ME Mechanical end Detail Diagram S Detail of X Axis Slider 6 M5 Depth 7 6 M4 Depth 7 Reamer Pitch Tolerance 0 02 2 φ5 H7 Depth 5 Dial for Z Slider Position Tuning HOME Dial for Y Slider Position Tuning T Groove 2 Same Profile on Opposite Side of Frame T Goove Same Profile on Opposite S...

Page 348: ...Depth 6 Detail Diagram Y Side Surface of Y Axis Slider Same Profile on Opposite Side Dial for X Slider Position Tuning SE Stroke end ME Mechanical end Detail Diagram S Detail of X Axis Slider Volume for Position Tuning in Turning Direction 6 M5 Depth 7 6 M4 Depth 7 Reamer Pitch Tolerance 0 02 2 φ5 H7 Depth 5 Dial for Z Slider Position Tuning Dial for Y Slider Position Tuning HOME HOME T Groove 2 S...

Page 349: ... 60 70 30 80 70 35 35 3 7 8 16 5 40 5 90 85 5 25 5x50p 250 50 100 100 Frame Datum Surface Frame Datum Surface View for Top Base Hole Allocation 27 5 25 Detail Diagram V Grounding Screw M4 for Grounding 12 M4 Depth 8 6 M5 Depth 7 4 M4 Depth 7 3 φ 5 H7 Depth 5 Dial for Y Slider Position Tuning Dial for X Slider Position Tuning HOME V View 2 φ 5 H7 Depth 5 Detail Diagram U Detail of Y Axis Slider Rea...

Page 350: ... 3 7 25 27 5 90 5 90 135 5 12 5 5x75p 375 50 150 150 Operating Range Frame Datum Surface Frame Datum Surface Detail Diagram V Grounding Screw M4 for Grounding 12 M4 Depth 8 3 φ 5 H7 Depth 5 Dial for Y Slider Position Tuning HOME V View SE Stroke end ME Mechanical end HOME HOME 6 M5 Depth 7 4 M4 Depth 7 2 φ 5 H7 Depth 5 Detail Diagram U Detail of Y Axis Slider Reamer Pitch Tolerance 0 02 T Groove 2...

Page 351: ... 3 7 25 27 5 90 5 90 135 5 12 5 5x75p 375 50 150 150 Operating Range Frame Datum Surface Frame Datum Surface Detail Diagram V Grounding Screw M4 for Grounding 12 M4 Depth 8 3 φ 5 H7 Depth 5 Dial for Y Slider Position Tuning HOME V View SE Stroke end ME Mechanical end HOME HOME 6 M5 Depth 7 4 M4 Depth 7 2 φ 5 H7 Depth 5 Detail Diagram U Detail of Y Axis Slider Reamer Pitch Tolerance 0 02 T Groove 2...

Page 352: ...7 7 5 5x125p 625 145 5 90 90 190 5 90 70 250 250 27 5 25 Frame Datum Surface Detail Diagram V Grounding Screw M4 for Grounding 18 M5 Depth 10 6 φ 5 H7 Depth 5 SE Stroke end ME Mechanical end Frame Datum Surface Dial for Y Slider Position Tuning V View Operating Range HOME HOME HOME 6 M5 Depth 7 4 M4 Depth 7 Dial for X Slider Position Tuning 2 φ 5 H7 Depth 5 Detail Diagram U Detail of Y Axis Slider...

Page 353: ...00 100 5x50p 250 40 5 90 85 5 60 3 5 5 2 φ 5 H7 Depth 5 Reamer Pitch Tolerance 0 02 4 M5 Depth 7 4 M4 Depth 7 Detail Diagram U Detail of Z Axis Slider M4 for Grounding X View Grounding Screw 12 M4 Depth 8 Frame Datum Surface Frame Datum Surface 3 φ 5 H7 Depth 5 Dial for Y Slider Position Tuning Dial for X Slider Position Tuning Dial for Z Slider Position Tuning Operating Range Operating Range HOME...

Page 354: ...375 50 150 150 3 7 8 16 5 60 3 5 5 12 M4 Depth 8 Frame Datum Surface 3 φ 5 H7 Depth 5 2 M3 Depth 6 Detail Diagram Y Side Surface of Y Axis Slider Same Profile on Opposite Side M4 for Grounding V View Grounding Screw Dial for Y Slider Position Tuning Dial for X Slider Position Tuning Dial for Z Slider Position Tuning V View Frame Datum Surface T Goove Same Profile on Opposite Side Operating Range O...

Page 355: ...140 5 90 70 200 200 3 7 8 16 5 60 3 5 5 18 M5 Depth 10 Frame Datum Surface 6 φ 5 H7 Depth 5 M4 for Grounding V View Grounding Screw SE Stroke end ME Mechanical end 2 M3 Depth 6 Detail Diagram Y Side Surface of Y Axis Slider Same Profile on Opposite Side V View Frame Datum Surface T Goove Same Profile on Opposite Side Operating Range Operating Range HOME HOME HOME Dial for Z Slider Position Tuning ...

Page 356: ...25p 625 70 250 250 3 7 8 16 5 60 3 5 5 18 M5 Depth 10 Frame Datum Surface 6 φ 5 H7 Depth 5 Detail Diagram Y Side Surface of Y Axis Slider Same Profile on Opposite Side M4 for Grounding V View Grounding Screw Dial for Y Slider Position Tuning SE Stroke end ME Mechanical end 2 M3 Depth 6 T Goove Same Profile on Opposite Side V View Frame Datum Surface Operating Range HOME HOME Operating Range HOME D...

Page 357: ...t 200 70 Yst 150 5 5 90 5 5 50 ME SE ME ME SE ME 25 27 5 60 3 5 5 12 M4 Depth 8 Frame Datum Surface 3 φ 5 H7 Depth 5 Dial for Z Slider Position Tuning R axis Datum Surface Detail Diagram S Detail of R Spline tip end M5 Depth 10 4 M5 Depth 7 4 M4 Depth 7 Reamer Pitch Tolerance 0 02 2 φ5 H7 Depth 5 Detail Diagram U Detail of Z Axis Slider SE Stroke end ME Mechanical end V View Grounding Screw M4 for...

Page 358: ... 5 25 60 3 5 5 Dial for R axis Rotation Position Tuning Frame Datum Surface 3 φ 5 H7 Depth 5 Dial for Z Slider Position Tuning R axis Datum Surface Detail Diagram W Detail of R Spline tip end M5 Depth 10 4 M5 Depth 7 4 M4 Depth 7 Reamer Pitch Tolerance 0 02 2 φ5 H7 Depth 5 Detail Diagram U Detail of Z Axis Slider SE Stroke end ME Mechanical end Detail Diagram Y Side Surface of Y Axis Slider Same P...

Page 359: ...5 60 3 5 5 Frame Datum Surface 6 φ 5 H7 Depth 5 18 M5 Depth 10 Dial for R axis Rotation Position Tuning R axis Datum Surface Detail Diagram W Detail of R Spline tip end M5 Depth 10 2 M3 Depth 6 Reamer Pitch Tolerance 0 02 2 φ 5 H7 Depth 5 4 M5 Depth 7 4 M4 Depth 7 Detail Diagram U Detail of Z Axis Slider SE Stroke end ME Mechanical end Detail Diagram Y Side Surface of Y Axis Slider Same Profile on...

Page 360: ... 60 3 5 5 Frame Datum Surface 6 φ 5 H7 Depth 5 18 M5 Depth 10 2 M3 Depth 6 Dial for R axis Rotation Position Tuning R axis Datum Surface Detail Diagram W Detail of R Spline tip end M5 Depth 10 Reamer Pitch Tolerance 0 02 2 φ 5 H7 Depth 5 4 M5 Depth 7 4 M4 Depth 7 Detail Diagram U Detail of Z Axis Slider SE Stroke end ME Mechanical end Detail Diagram Y Side Surface of Y Axis Slider Same Profile on ...

Page 361: ... 2020 10B 740 5 790 5 840 5 475 525 575 200 250 300 330 380 430 AA 2020 15B 790 5 840 5 890 5 525 575 625 AA 3030 10B 740 5 790 5 840 5 475 525 575 200 250 300 330 380 430 AA 3030 15B 790 5 840 5 890 5 525 575 625 AA 4040 10B 740 5 790 5 840 5 475 525 575 200 250 300 330 380 430 AA 4040 15B 790 5 840 5 890 5 525 575 625 AA 5050 10B 740 5 790 5 840 5 475 525 575 200 250 300 330 380 430 AA 5050 15B ...

Page 362: ...Frame Length Change Option M K J H A2 2020 125 175 225 A3 2020 10B 535 5 585 5 635 5 270 320 370 93 143 193 A3 2020 15B 585 5 635 5 685 5 320 370 420 A2 3030 125 175 225 A3 3030 10B 535 5 585 5 635 5 270 320 370 93 143 193 A3 3030 15B 585 5 635 5 685 5 320 370 420 A2 4040 175 225 275 A3 4040 10B 585 5 635 5 685 5 320 370 420 143 193 243 A3 4040 15B 635 5 685 5 735 5 370 420 470 A2 5050 175 225 275...

Page 363: ...tandard Type 50 H D 50 E Fx50p G M4 Depth 8 M M4 Depth 8 Hole Positions for Frame Position F1 Type Hole Positions for Frame Position F2 Type J Kx50p 50 N 126 157 31 Frame Height in common for all types A B C D 2020 250 5 12 45 3030 350 7 16 95 4040 450 9 20 145 5050 550 11 24 195 E F G H 2020 150 3 8 45 3030 250 5 12 95 4040 350 7 16 145 5050 450 9 20 195 J K M N 2020 50 1 4 45 3030 150 3 8 95 404...

Page 364: ...3 Option 354 4 Side Slot Option Front View of Type A Side View of Type A in common with Type C L1 29 5 30 97 5 127 5 X L2 Note The side slit part is in common for Type A and Type C 16 5 8 7 3 7 3 4 3 4 5 1 5 Detail Diagram X Scale 1 1 ...

Page 365: ...Chapter 9 External Dimensions 9 3 Option 355 5 Bracket Equipped Option 125 15 30 16 The Length of the T Ditch L2 A 10 10 L1 60 10 10 2 φ6 5 Through ...

Page 366: ...00 250 300 303 330 380 430 C4 3025 10B 709 5 759 5 809 5 601 651 701 C4 3025 15B 759 5 809 5 859 5 651 701 751 C2 4035 200 250 300 403 330 380 430 C4 4035 10B 709 5 759 5 809 5 601 651 701 C4 4035 15B 759 5 809 5 859 5 651 701 751 C2 5045 200 250 300 503 330 380 430 C2 5045 10B 709 5 759 5 809 5 601 651 701 C4 5045 15B 759 5 809 5 859 5 651 701 751 Models Standard Frame Height OP1 Frame Height OP2...

Page 367: ... 3 Option 357 2 Side Slot Option Front View of Type C L1 29 5 96 5 66 5 30 Side View of Type C in common with Type A L2 Note The side slit part is in common for Type A and Type C 16 5 8 7 3 7 3 4 3 4 5 1 5 Detail Diagram X Scale 1 1 ...

Page 368: ...Chapter 9 External Dimensions 9 3 Option 358 ...

Page 369: ...Chapter 10 Life 359 Chapter 10 Life Operation distance of 5 000km on either of the axis X Y or Z is a reference It is under assumption of operation in the maximum value of the dynamic allowable moment ...

Page 370: ...Chapter 10 Life 360 ...

Page 371: ...y of the following reasons are excluded from the scope of warranty 1 Anything other than our product 2 Modification or repair performed by a party other than us unless we have approved such modification or repair 3 Anything that could not be easily predicted with the level of science and technology available at the time of shipment from our company 4 A natural disaster man made disaster incident o...

Page 372: ...use our product for any of these applications 1 Medical equipment pertaining to maintenance or management of human life or health 2 A mechanism or mechanical equipment intended to move or transport people such as a vehicle railway facility or aviation facility 3 Important safety parts of mechanical equipment such as safety devices 4 Equipment used to handle cultural assets art or other irreplaceab...

Page 373: ...t Options 2 Main Unit Bracket Equipped Type Model FT4 FT6 added P50 3 2 2 Example for Composition of Emergency Stop and Enable Circuits 2 Example for Wiring when External Switch with Reset Switch Installed Caution added P51 3 Emergency Stop and Enable Circuits Example for Wiring Considering Safety Category 1 Change made from Dummy Plug DP 1 to Dummy Plug DP 2 in figure Caution added P52 4 Emergenc...

Page 374: ...ed 7 4 Position Output Operation Features deleted Correction made to other 2016 10 8th Edition Descriptions added in relation to AC servo motor type Corrections made to other descriptions 2017 01 8B Edition P42 Note added servomotor wattage P58 Contents added for servo motor in Current Consunption and Rush Current Contents added for Motor Drive Power Supply Line etc P64 Correction made from 5 6Ω t...

Page 375: ...rection made to accessories of 1 1 1 Parts P83 to 84 3 2 1 Pulse Motor Type 1 Internal Circuit Composition Global Specification added P128 to 129 4 3 2 Starting a Program by Specifying its Program Number description sentence Setting item and Caution added P136 4 6 2 7 Segment Display by User SEL Program description sentence added P142 to 150 4 8 Payload Adjusted for Setting Values added P157 I O P...

Page 376: ...cription revised in 1 3 1 Protection Circuit 2 Selection of Leakage Breaker P68 to 70 P105 to 107 P134 to 135 P137 P141 to 143 Change made to parameter setting at delivery for fieldbus type P139 4 6 2 7 Segment Display by User SEL Program Description revised in explanation for DO No 338 339 P281 8 6 Replacement of Timing Belt 8 6 2 Applicable Belt List added for timing belt information ...

Page 377: ......

Page 378: ...89524 SHANGHAI JIAHUA BUSINESS CENTER A8 303 808 Hongqiao Rd Shanghai 200030 China TEL 021 6448 4753 FAX 021 6448 3992 website www iai robot com Technical Support available in USA Europe and China Head Office 2690 W 237th Street Torrance CA 90505 TEL 310 891 6015 FAX 310 891 0815 Chicago Office 110 East State Parkway Schaumburg IL 60173 TEL 847 908 1400 FAX 847 908 1399 TEL 678 354 9470 FAX 678 35...

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IAI TTA Series, Instruction Manual

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