w w w. i n t e l l i g e n t a c t u a t o r. d e тел.:(495) , GB T A B L E T O P R O B O TTT

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1 тел.:(495) , GB T A B L E T O P R O B O TTT High accuracy Types Numbers of axes Work envelope Number of positioning points ± 0.02 mm Gate / Cantilever 2 axes / 3 axes X 0 X 0 00 points w w w. i n t e l l i g e n t a c t u a t o r. d e

2 тел.:(495) , Tabletop Robot - Features A compact robot that is easy to use yet High-performance tabletop robot available at an amazingly low price Positioning repeatability of 0.02 mm An encoder eliminates the possibility of misstepping Adoption of a rigid base, ball screw and servo control motor Cross-sectional view of TT base The TT employs a rigid base made of aluminum extruded material. It also uses a high-accuracy ball screw and a servo control motor to allow precision and eliminate misstepping. Built-in X-L controller High path accuracy and constant speed The TT utilizes the high path accuracy and constant speed of the X-L controller. Additionally, it provides the same extensive functions and commands as the X-L controller. With the 3-axis specification, the TT lets you perform three-dimensional arc interpolation and path movement. You can also use the TT together with a teaching pendant, PC software or other tools. A maximum of 4 programs can be stored, and up to programs can be run simultaneously. Up to 3,000 positions can be registered. Three-dimensional path movement 3 PUSH Motion - Operation is possible For test with push motion and press-fitting The PUSH Motion-Operation available with RC series is also available with Tabletop. As with RC series, forces can be changed freely and it can be used for variety of application like test for pushing switch and press fitting of works. Adjustable push function for switch testing Tabletop Robot TT

3 тел.:(495) , highly functional 4 Gate type or cantilever type The gate type for high rigidity or the cantilever type for a savings in workspace 370mm The gate type has its fixed, so it withstands unbalanced loads well and is suitable in applications where the Z-axis receives a heavy load, as well as applications where a large portion of the load overhangs the slider. The cantilever type provides a wide, open work surface, so it is ideal when your equipment will be handling larger loads or loads with an irregular shape in a fixed condition. 5 3mm 5mm 2020 type type 570mm Gate type Cantilever type Select one of two operating ranges 2020 type ( mm) or type (0 mm) In addition to offering two model types (gate type and cantilever type), the TT also provides two selectable operating ranges. Choose mm x mm (2020 type) or 0 mm x 0 mm ( type) as the operating range (/ ) of the actuator. Whether your equipment is handling small loads or large loads, you can select an appropriate model to operate in the appropriate range. The TT is available in a 2-axis specification and a 3-axis specification. The 3-axis specification comes standard with a Z-axis brake, which prevents the slider from falling when the power is off. Supporting field networks (optional) Configured to support DeviceNet, CC-Link, ProfiBus and Ethernet The TT can be connected to a common field network such as DeviceNet, CC-Link, ProfiBus and Ethernet for the transmission and acquisition of position changes, production results and other data. Replacing programs Sending work data (IAI protocol) Send/receive I/O signals (Modbus/TCP) HAB HAB HAB PC /0Enter PLC Tabletop Robot TT 2

4 тел.:(495) , Tabletop Robot - Examples of Application Examples of Application Coating The TT's high-performance interpolation function makes it an ideal actuator for coating targets having a two- or three-dimensional shape. Soldering With its 00-point positioning capability, the TT can easily apply solder to circuit boards, etc. Applications Applying silicone to circuit boards, adhesive to speakers, sealant to fuel cells, etc. Applications Soldering electronic components. Driving screws The push-motion function of the Z-axis can be used to hold a screwdriver against the load to tighten screws. Circuit board inspection You can attach an image sensor to the Z-axis to inspect circuit boards and components. Applications Tightening screws into electronic components and automotive parts. Applications Checking circuit boards for mounting defects, inspecting processed parts. 3 Tabletop Robot TT

5 тел.:(495) , Tabletop Robot - Name of Each Part Name of Each Part slider opening The slider opening has a step that prevents the entry of foreign matter. Z-axis Emergency stop switch A lock switch used to stop all actuator operations. Digital program-selector switch A digital switch used to select the program you want to run. Function switch A pushbutton switch that can be used to start/pause a program. Panel window A 4-digit, 7-segment LED that displays the program number of the current program, error codes, etc. Brake-release switch A switch to forcibly release the Z-axis brake. Network connector socket (optional) A socket that accepts a field network connector. ( Refer to page 7.) Teaching connector A D-sub, 25-pin connector that accepts a teaching -pendant cable or PC cable. Z-axis brake A brake that prevents the slider from falling when the servo or power is switched off. Knob Used to fine-tune the slider position when the servo is off (One knob is provided on each of the X-, Y- and Z-axes.) I/O connector A 34-pin flat connector used for communicating with external equipment. ( Refer to page 5.) Power switch Power connector (A power plug is supplied with the actuator.) Tabletop Robot TT 4

6 тел.:(495) , Lineup 2-axis Gate Type TT-A2 P7, P8 TT Series 3-axis TT-A3 P9, P 2-axis Cantilever Type TT-C2 P, P2 3-axis TT-C3 P3, P4 Table of Specifications Type Stroke Maximum speed (kg) Z-axis (mm/sec) Z-axis Positioning repeatability Page Gate Type Cantilever Type 2-axis 3-axis 2-axis 3-axis ±0.02 TT-A2-I-2020 TT-A2-I- TT-A3-I B TT-A3-I-2020-B TT-A3-I--05B TT-A3-I--B TT-C2-I-2020 TT-C2-I- TT-C3-I B TT-C3-I-2020-B TT-C3-I--05B TT-C3-I--B P7 P8 P9 P P P2 P3 P4 5 Tabletop Robot TT

7 тел.:(495) , T T - A 3 - I B - P R Series 2 Type 3 Encoder type 4 XY stroke 5 Z stroke Option TT A2 A3 C2 C3 I 2020 A3: 05B B C3: 05B B DV CC PR ET FT P Series Name of the series Type Shape and number of component axes A2 C2 Gate, 2 axes Cantilever, 2 axes A3 C3 Gate, 3 axes Cantilever, 3 axes Encoder type Type of encoder installed in the actuator Only "Incremental" is available with the tabletop type. I Incremental: Since the slider position data is erased once the power is turned off, home return will be required the next time the power is turned on. 5 XY stroke X- and stroke (The stroke is the same as the stroke.) Z stroke Z-axis stroke * Since the Z-axis comes standard with a brake, "B" is added after the number indicating the stroke B B mm 0mm mm 0mm Option Specify the options you want included in the actuator: DV CC FT DeviceNet connection specification CC-Link connection specification Actuator bracket specification PR ET P specification ProfiBus connection specification Ethernet connection External I/O PNP specification System Configuration Power supply: 2 VAC * The actuator comes with a power plug on the actuator side. The user must provide the power cable. PC software (optional) : IA--X-CW (incl. PC cable) Refer to P8 2m PLC I/O flat cable (supplied) : CB-DS-PIO020 Refer to P5 Teaching pendant (optional) : IA-T-X/XD/XA Refer to P8 5m PC cable : CB-ST m Various field networks (optional) DeviceNet CC-LINK ProfiBus Ethernet Refer to P7 Tabletop Robot TT

8 тел.:(495) , TT Tabletop Robot TT-A2-2020Tabletop Robot/ Gate 2-axis specification XY-axes: mm Type Gate, 2-axis Stroke : mm / : mm :kg / :5kg specification items Series Type Encoder type X stroke Option (Example) TT - A2 - I DV / Specifications TT-A2-I Axis configuration Encoder type Incremental Motor type Pulse motor Lead Stroke Speed (mm/sec) -0-0 (kg) (Note ) 5 * in the model number shown above indicates the applicable option(s). Options Name DeviceNet connection specification CC-Link connection specification ProfiBus connection specification Ethernet connection specification Actuator bracket specification DV CC PR ET FT Common Specifications Drive system Ball screw (Ømm, rolled C) Positioning repeatability ±0.02mm Backlash (Note 2) 0.mm or less Guide Direct-coupled endless cycling type Allowable load moment (Note 3) Ma :.5N m Mb : 9.3N m Mc :.4N m Ambient temperature/humidity 5 to C, 85%RH max. (non-condensing) Actuator weight 4.8 kg Dimensions * During home return the slider moves to the, so be careful to prevent contact with surrounding parts. : Stroke end : Mechanical end M5, depth 4-M4, depth 8 8 Yst: 80 HO M5, depth 4-M4, depth 8 slider installation hole slider installation hole Ø5 Ø8 hole T-groove (4 locations) HO 5 Xst: knob for Y-slider 5.8 knob Detail view of T-groove Applicable Controller Specifications Applicable Controller Maximum number of controlled axes Compatible encoder type Programs Power-supply voltage Page Built-in 2 axes Incremental 4 2V P5 Caution (Note ) The load capacity is based on operation at an acceleration of 0.3 G. (Note 2) Applicable to each axis of X or Y. (Note 3) The load moment is a per-axis value based on a travel life of 5,000 km. (Refer to page 9 for the load moment.) 7 TT-A2-2020

9 тел.:(495) , TT-A2-Tabletop Robot/ Gate 2-axis specification XY-axes: 0 mm TT Tabletop Robot Type Gate, 2-axis Stroke : 0 mm / : 0 mm : kg / : 5kg specification items Series Type Encoder type X stroke Option (Example) TT - A2 - I - - DV / Specifications TT-A2-I-- Axis configuration Encoder type Incremental Motor type Pulse motor Lead Stroke 0 0 Speed (mm/sec) -0-0 (kg) (Note ) 5 * in the model number shown above indicates the applicable option(s). Options Name DeviceNet connection specification CC-Link connection specification ProfiBus connection specification Ethernet connection specification Actuator bracket specification DV CC PR ET FT Common Specifications Drive system Ball screw (Ømm, rolled C) Positioning repeatability ±0.02mm Backlash (Note 2) 0.mm or less Guide Direct-coupled endless cycling type Allowable load moment (Note 3) Ma :.5N m Mb : 9.3N m Mc :.4N m Ambient temperature/humidity 5 to C, 85%RH max. (non-condensing) Actuator weight 33 kg Dimensions * During home return the slider moves to the, so be careful to prevent contact with surrounding parts. : Stroke end : Mechanical end Yst: M5, depth 4-M4, depth 8 slider installation hole HO M5, depth 4-M4, depth 8 slider installation hole Ø5 Ø8 hole knob for Y-slider knob T-groove (4 locations) Xst:0 5.8 HO Detail view of T-groove Applicable Controller Specifications Applicable Controller Maximum number of controlled axes Compatible encoder type Programs Power-supply voltage Page Built-in 2 axes Incremental 4 2V P5 Caution (Note ) The load capacity is based on operation at an acceleration of 0.3 G. (Note 2) Applicable to each axis of X or Y. (Note 3) The load moment is a per-axis value based on a travel life of 5,000 km. (Refer to page 9 for the load moment.) TT-A2-8

10 тел.:(495) , TT Tabletop Robot TT-A3-2020Tabletop Robot/ Gate 3-axis specification XY-axes: mm Z-axis: mm / 0mm Type Gate, 3-axis Stroke : mm / : mm / Z-axis: mm / 0mm : kg / Z-axis: 2kg specification items Series Type Encoder type X stroke (Example) TT - A3 - I Z-axis stroke Option 05B - DV / Specifications TT-A3-I * and in the model number shown above indicate the Z-axis stroke and applicable option(s), respectively. Options Name DeviceNet connection specification CC-Link connection specification ProfiBus connection specification Ethernet connection specification Actuator bracket specification Axis configuration Z-axis Encoder type Incremental DV CC PR ET FT Motor type Pulse motor Lead Common Specifications Stroke Speed (mm/sec) (kg) (Note ) /0-0 (Note 2) 2 Drive system Ball screw (Ømm, rolled C) Positioning repeatability ±0.02mm Backlash (Note 3) 0.mm or less Guide Direct-coupled endless cycling type Allowable load moment (Note 4) Ma :.5N m Mb : 9.3N m Mc :.4N m Ambient temperature/humidity 5 to C, 85%RH max. (non-condensing) Actuator weight.5kg Dimensions * During home return the slider moves to the, so be careful to prevent contact with surrounding parts. : Stroke end : Mechanical end M5, depth Yst: HO 70 4-M4, depth 8 Z-axis slider installation hole knob for Z-slider.2 4-M5, depth 4-M4, depth 8 slider installation hole T-groove (4 locations) = 0) Zst 7.3 (457.3 if = 0) (or 0) 5.8 Zst Zst: if 97.8( HO HO Xst: knob for Y-slider 5.8 Ø5 Ø8 hole knob (20) (Cable projection length) Detail view of T-groove Applicable Controller Specifications Applicable Controller Maximum number of controlled axes Compatible encoder type Programs Power-supply voltage Page Built-in 3 axes Incremental 4 2V P5 Caution (Note ) The load capacity is based on operation at an acceleration of 0.3 G. (Note 2) If the stroke is, the maximum speed will be capped at 280 mm/sec due to the shorter travel distance. (Note 3) Value for each of the X, Y and Z axes (Note 4) The load moment is a per-axis value based on a travel life of 5,000 km. (Refer to page 9 for the load moment.) 9 TT-A3-2020

11 тел.:(495) , TT-A3-Tabletop Robot/ Gate 3-axis specification XY-axes: 0 mm Z-axis: mm / 0mm TT Tabletop Robot Type Gate, 3-axis Stroke : 0 mm / : 0 mm / Z-axis: mm / 0mm : kg / Z-axis: 2kg specification items Series Type Encoder type X stroke (Example) TT - A3 - I - - Z-axis stroke Option 05B - DV / Specifications Axis configuration Encoder type Motor type Lead TT-A3-I-- - Incremental Pulse motor Z-axis * and in the model number shown above indicate the Z-axis stroke and applicable option(s), respectively. Options Common Specifications Name DeviceNet connection specification CC-Link connection specification ProfiBus connection specification Ethernet connection specification Actuator bracket specification DV CC PR ET FT Stroke Speed (mm/sec) (kg) (Note ) /0-0 (Note 2) 2 Drive system Ball screw (Ømm, rolled C) Positioning repeatability ±0.02mm Backlash (Note 3) 0.mm or less Guide Direct-coupled endless cycling type Allowable load moment (Note 4) Ma :.5N m Mb : 9.3N m Mc :.4N m Ambient temperature/humidity 5 to C, 85%RH max. (non-condensing) Actuator weight 35kg Dimensions * During home return the slider moves to the, so be careful to prevent contact with surrounding parts. : Stroke end : Mechanical end M5, depth 4-M4, depth 8 Z-axis slider installation hole Y st: HO knob for Z-slider M5, depth M4, depth 8 slider installation hole T-groove (4 locations) (20) 5 (Cable projection length) Zst Zst+47.8 Zst: (or0) HO.7 70 Xst:0 5.8 HO knob for Y-slider Ø5 Ø8 hole knob Detail view of T-groove Applicable Controller Specifications Applicable Controller Maximum number of controlled axes Compatible encoder type Programs Power-supply voltage Page Built-in 3 axes Incremental 4 2V P5 Caution (Note ) The load capacity is based on operation at an acceleration of 0.3 G. (Note 2) If the stroke is, the maximum speed will be capped at 280 mm/sec due to the shorter travel distance. (Note 3) Value for each of the X, Y and Z axes (Note 4) The load moment is a per-axis value based on a travel life of 5,000 km. (Refer to page 9 for the load moment.) TT-A3-

12 тел.:(495) , TT Tabletop Robot TT-C2-2020Tabletop Robot/ Cantilever 2-axis specification XY-axes: mm Type Cantilever 2-axis Stroke : mm / : mm : 4kg specification items Series Type Encoder type X stroke Option (Example) TT - C2 - I DV / Specifications TT-C2-I Axis configuration Encoder type Incremental Motor type Pulse motor Lead Stroke Speed (mm/sec) -0-0 (kg) (Note ) - 4 * in the model number shown above indicates the applicable option(s). Options Name DeviceNet connection specification CC-Link connection specification ProfiBus connection specification Ethernet connection specification Actuator bracket specification DV CC PR ET FT Common Specifications Drive system Ball screw (Ømm, rolled C) Positioning repeatability ±0.02mm Backlash (Note 2) 0.mm or less Guide Direct-coupled endless cycling type Allowable load moment (Note 3) Ma :.5N m Mb : 9.3N m Mc :.4N m Ambient temperature/humidity 5 to C, 85%RH max. (non-condensing) Actuator weight.3 kg Dimensions * During home return the slider moves to the, so be careful to prevent contact with surrounding parts. : Stroke end : Mechanical end Y st: 2 3. Xst: 20 HO 4-M5, depth HO 0 4-M4, depth M4, depth 4-M5, depth 84 Ø5 Ø8 hole slider installation hole knob knob for Y-slider volume for X-slider Detail view of T-groove T-groove (4 locations) Applicable Controller Specifications Applicable Controller Maximum number of controlled axes Compatible encoder type Programs Power-supply voltage Page Built-in 2 axes Incremental 4 2V P5 Caution (Note ) The load capacity is based on operation at an acceleration of 0.2 G. (Note 2) Applicable to each axis of X or Y. (Note 3) The load moment is a per-axis value based on a travel life of 5,000 km. (Refer to page 9 for the load moment.) TT-C2-2020

13 тел.:(495) , TT-C2-Tabletop Robot/ Cantilever 2-axis specification XY-axes: 0 mm TT Tabletop Robot Type Cantilever 2-axis Stroke : 0 mm / : 0 mm : 4kg specification items Series Type Encoder type X stroke Option (Example) TT - C2 - I - - DV / Specifications Axis configuration Encoder type TT-C2-I-- Incremental * in the model number shown above indicates the applicable option(s). Motor type Pulse motor Lead Stroke 0 0 Speed (mm/sec) -0-0 (kg) (Note ) - 4 Options Name DeviceNet connection specification CC-Link connection specification ProfiBus connection specification Ethernet connection specification Actuator bracket specification DV CC PR ET FT Common Specifications Drive system Ball screw (Ømm, rolled C) Positioning repeatability ±0.02mm Backlash (Note 2) 0.mm or less Guide Direct-coupled endless cycling type Allowable load moment (Note 3) Ma :.5N m Mb : 9.3N m Mc :.4N m Ambient temperature/humidity 5 to C, 85%RH max. (non-condensing) Actuator weight 35kg Dimensions * During home return the slider moves to the, so be careful to prevent contact with surrounding parts. : Stroke end : Mechanical end M4, depth M5, depth 8 4 Yst: Xst:0 HO M4, depth HO 4-M4, depth Ø5 Ø8 hole knob slider installation hole knob for Y-slider 58 volume for X-slider 7.3 Detail view of T-groove Cam follower Cam follower T-groove (4 locations) Applicable Controller Specifications Applicable Controller Maximum number of controlled axes Compatible encoder type Programs Power-supply voltage Page Built-in 2 axes Incremental 4 2V P5 Caution (Note ) The load capacity is based on operation at an acceleration of 0.2 G. (Note 2) Applicable to each axis of X or Y. (Note 3) The load moment is a per-axis value based on a travel life of 5,000 km. (Refer to page 9 for the load moment.) TT-C2-2

14 тел.:(495) , TT Tabletop Robot TT-C3-2020Tabletop Robot/ Cantilever 3-axis specification XY-axes: mm Z-axis: mm / 0mm Type Cantilever, 3-axis Stroke : mm / : mm / Z-axis: mm / 0mm Z-axis: 2kg specification items Series Type Encoder type X stroke (Example) TT - C3 - I Z-axis stroke Option 05B - DV / Specifications Axis configuration Encoder type Motor type Lead TT-C3-I Incremental Pulse motor Z-axis * and in the model number shown above indicate the Z-axis stroke and applicable option(s), respectively. Options Common Specifications Name DeviceNet connection specification CC-Link connection specification ProfiBus connection specification Ethernet connection specification Actuator bracket specification DV CC PR ET FT Stroke Speed (mm/sec) (kg) (Note ) /0-0 (Note 2) 2 Drive system Ball screw (Ømm, rolled C) Positioning repeatability ±0.02mm Backlash (Note 3) 0.mm or less Guide Direct-coupled endless cycling type Allowable load moment (Note 4) Ma :.5N m Mb : 9.3N m Mc :.4N m Ambient temperature/humidity 5 to C, 85%RH max. (non-condensing) Actuator weight 8 kg Dimensions * During home return the slider moves to the, so be careful to prevent contact with surrounding parts. : Stroke end : Mechanical end = 0) Zst 4-M5, depth 4-M4, depth Z-axis slider installation hole Yst:20 0 HO 3. Xst: 4-M4, depth HO 4-M5, depth knob for Z-slider Ø5 Ø8 hole if ( knob for X-slider = 0) Zst if ( ) 5.8 (or Zst: 4 HO knob for Y-slider knob T-groove (4 locations) 7.3 Detail view of T-groove (34) Applicable Controller Specifications Applicable Controller Maximum number of controlled axes Compatible encoder type Programs Power-supply voltage Page Built-in 3 axes Incremental 4 2V P5 Caution (Note ) The load capacity is based on operation at an acceleration of 0.2 G. (Note 2) If the stroke is, the maximum speed will be capped at 280 mm/sec due to the shorter travel distance. (Note 3) Value for each of the X, Y and Z axes (Note 4) The load moment is a per-axis value based on a travel life of 5,000 km. (Refer to page 9 for the load moment.) 3 TT-C3-2020

15 тел.:(495) , TT-C3-Tabletop Robot/ Cantilever 3-axis specification XY-axes: 0 mm Z-axis: mm / 0mm TT Tabletop Robot Type Cantilever, 3-axis Stroke :0 mm / :0 mm / Z-axis: mm / 0mm Z-axis: 2kg specification items Series Type Encoder type X stroke (Example) TT - C3 - I - - Z-axis stroke Option 05B - DV / Specifications TT-C3-I-- - * and in the model number shown above indicate the Z-axis stroke and applicable option(s), respectively. Options Name DeviceNet connection specification CC-Link connection specification ProfiBus connection specification Ethernet connection specification Actuator bracket specification Axis configuration Z-axis Encoder type Incremental DV CC PR ET FT Motor type Pulse motor Lead Common Specifications Stroke Speed (mm/sec) (kg) (Note ) /0-0 (Note 2) 2 Drive system Ball screw (Ømm, rolled C) Positioning repeatability ±0.02mm Backlash (Note 3) 0.mm or less Guide Direct-coupled endless cycling type Allowable load moment (Note 4) Ma :.5N m Mb : 9.3N m Mc :.4N m Ambient temperature/humidity 5 to C, 85%RH max. (non-condensing) Actuator weight 37 kg Dimensions * During home return the slider moves to the, so be careful to prevent contact with surrounding parts. : Stroke end : Mechanical end 4-M5, depth 4-M4, depth Z-axis slider installation hole 8 4 Yst:0 2 HO Xst:0 0 HO 4-M4, depth 8 4-M5, depth knob for Z-slider Ø5 Ø8 hole knob Zst Cam follower. 5 (44) (Cable projection length) 5 0 knob for X-slider Zst+47.8 Zst:5 (or0) HO Cam follower 45.2 knob for Y-slider T-groove (4 locations) 7.3 Detail view of T-groove Applicable Controller Specifications Applicable Controller Maximum number of controlled axes Compatible encoder type Programs Power-supply voltage Page Built-in 3 axes Incremental 4 2V P5 Caution (Note ) The load capacity is based on operation at an acceleration of 0.2 G. (Note 2) If the stroke is, the maximum speed will be capped at 280 mm/sec due to the shorter travel distance. (Note 3) Value for each of the X, Y and Z axes (Note 4) The load moment is a per-axis value based on a travel life of 5,000 km. (Refer to page 9 for the load moment.) TT-A3-4

16 тел.:(495) , Controller Specifications & I/O Assignments Controller Specifications Item Motor type Position detection method Power-supply voltage Power-supply frequency Power-supply capacity Speed setting Acceleration setting Programming language Number of programs (programs that can be run simultaneously) Number of program steps Number of positions Program start Data-storage device Data-input device Numbers of I/O (input/output) points I/O connector Supported field buses Protection functions Specified ambient temperature/humidity Accessories Gate type Cantilever type 2-axis specification 3-axis specification 2-axis specification 3-axis specification Pulse motor (servo control) Incremental encoder 0 to 5 VAC, to 2 VAC, single-phase, ±% Hz / 0Hz Rated power output: 5.2 W --- Maximum instantaneous output (2 times) to 0 mm/sec 0.0 to 0.3 G Super L language 4 programs ( programs) 000 steps (total) 00 positions (total) Dedicated digital switch + Dedicated start switch FLASH ROM Teaching pendant (model: IA-T-X) PC software (model: IA--X-MW) input points / output points (insulated DIO) 34-pin, flat DeviceNet / CC-Link / ProfiBus / Ethernet Motor overcurrent, overload, motor-driver temperature check, overload check, encoder open detection, etc. (Error codes are shown on the 7-segment LED on the front of the actuator.) 0 to C, 20 to 90% (non-condensing) Power connector, I/O flat cable I/O Signal Table Pin No Classification 24V Input Output 0V Port No Connected to 24V I/O power supply Connected to 0V I/O power supply I/O flat cable (accessory), model: CB-DS-PIO No Color Brown Red Orange Yellow Green Blue Purple Gray White Black Brown-2 Red 2 Orange 2 Yellow 2 Green 2 Blue 2 Purple 2 Wire Flat cable, pressure-welded No m Color Gray 2 White 2 Black 2 Brown-3 Red 3 Orange 3 Yellow 3 Green 3 Blue 3 Purple 3 Gray 3 White 3 Black 3 Brown-4 Red 4 Orange 4 Yellow 4 Flat cable (34-core) Wire Flat cable, pressure-welded No connector 5 Tabletop Robot TT

17 тел.:(495) , I/O Wiring Diagram Input Part: External input specification (NPN specification) Item Input power supply Input current ON/OFF voltages Insulation method Equipment connected externally Specification 24 VDC +%-5% 7 ma/circuit ON voltage---.0 VDC min., OFF voltage VDC max. Photocoupler insulation [] No-voltage contact (with a minimum load of approx. 5 VDC/ ma) [2] Photoelectric proximity sensor (NPN type) [3] Sequencer transistor output (open-collector type) [4] Sequencer contact output (with a minimum load of approx. 5 VDC/ ma) Output Part: External output specification (NPN specification) Item Load voltage Maximum load current Leak current 0. ma/point max. Insulation method Photocoupler insulation Equipment [] Miniature relay, [2] Sequencer input unit connected externally [Output circuit] Specification 24 VDC 0 ma/point TD2084 (or equivalent) 0 ma, peak (full current) P24* [Input circuit] External power supply: 24 VDC±% + _ P24* 3.3kΩ 50Ω Internal circuit Internal circuit Dk Ω Surge absorber Output terminal N* Load External power supply: 24 VDC ±% + _ Input terminal * P24 I//O interface pin No. * P24 I//O interface pin No. N I//O interface pin No. 34 Input Part: External input specification (PNP specification) Item Input power supply Input current ON/OFF voltages Insulation method Equipment connected externally [Input circuit] Specification 24 VDC ±% 7 ma/circuit ON voltage---8 VDC max., OFF voltage---9 VDC min. Photocoupler insulation [] No-voltage contact (with a minimum load of approx. 5 VDC/ ma) [2] Photoelectric proximity sensor (PNP type) [3] Sequencer transistor output (open-collector type) [4] Sequencer contact output (with a minimum load of approx. 5 VDC/ ma) Output Part: External output specification (PNP specification) Item Load voltage Maximum load current Leak current 0. ma/point max. Insulation method Photocoupler insulation Equipment [] Miniature relay, [2] Sequencer input unit connected externally Note) 0 ma is the maximum total load current for eight ports from output port No. 0. (Maximum total load current for output port No. 0+n through No. 0+n+7 = 0 ma; where n = 0 or multiple of 8) [Output circuit] Specification 24 VDC 0 ma/point TD2784 (or equivalent) 0 ma/8 ports (see note) P24* External power supply: 24 VDC±% + _ Input terminal N* 50Ω 3.3kΩ Internal circuit Internal circuit Ω Surge absorber Output terminal Load External power supply: 24 VDC ±% + _ * N I//O interface pin No. 34 * P24 I//O interface pin No. N I//O interface pin No. 34 Tabletop Robot TT

18 тел.:(495) , Options DeviceNet Connection Specification (Actuator model)-dv CC-Link Connection Specification (Actuator model)-cc Item Specification Numbers of input/output points Maximum 25 input points / Maximum 25 output points Communication standard An interface module certified under DeviceNet 2.0 is used. Communication speed 0K / 2K / 25Kbps Number of occupied node node Connector type (controller end) MSTBA/5-G-5.08-AUM by Phoenix Contact (*) * Cable-end connector: SMSTB/5-ST-5.08AU by Phoenix Contact (standard accessory) Item Specification Numbers of input/output points Maximum 25 input points / Maximum 25 output points Communication standard CC-Link, Ver.. (certified) Communication speed M / 5M / M / 25K / 5Kbps Station type Remote device station Number of occupied stations to 3 stations (selectable) Connector type (controller end) MSTBA/5-G-5.08-AUM by Phoenix Contact (*) * Cable-end connector: SMSTB/5-ST-5.08AU by Phoenix Contact (standard accessory) ProfiBus Connection Specification (Actuator model)-pr Ethernet Connection Specification (Actuator model)-et Item Numbers of input/output points Communication standard Communication speed Address of occupied node Connector type (controller end) Specification Maximum 25 input points / Maximum 25 output points An interface module certified under ProfiBus-DP. is used. 2M/.5M/0K/87.5K/93.75K/9.2K/9.Kbps address ( to 99; settable using the rotary switch on the board) D-sub, 9-pin connector Item Network specification Communication standard Communication speed Connector Cable Specification BA-T / 0BA-T (auto negotiation) IEEE M/0Mbps RJ-45 Category 5 UTP twisted cable Actuator Bracket (A set of 4 pieces; supplied with bolts/nuts for installation to actuator) TT-FT Dimensions 8-Ø7 hole Tabletop Robot TT

19 тел.:(495) , Teaching Pendant IA-T-X (standard) IA-T-XD (with deadman switch) Dimensions A teaching device equipped with program/position input, test operation, monitoring and other functions. The interactive unit realizes easy operation. A deadman switch specification offering added safety is also available. 25 Item Operating temperature, humidity Operating environment Weight Cable length Display Specification Temperature: 0 to C, humidity: 85%RH max) Not subject to corrosive gases or significant powder dust Approx. g 4m LCD with 20 characters x 4 lines Note * Ver..4 and older cannot be used with the TT Series. 90 Teaching Pendant Conforming to ANSI Standard/CE Mark (for general-purpose actuators only) IA-T-XA A teaching device with a 3-position enable switch conforming to the ANSI Standard and CE Mark. The large LCD screen and interactive operation guidance allow even a beginner to safely and easily teach a robot. Dimensions Item Specified ambient temperature, humidity Protection class Weight Cable length Display Specification Temperature: 0 to C, humidity: to 85%RH (non-condensing) IP54 (excluding cable connectors) 00 g max. (excluding cables) 5m LCD with 32 characters x 8 lines Note * Ver..04 and older cannot be used with the TT Series. 80 PC Software (for Windows PCs only) IA--X-CW (PC version) * Please consult IAI for DOS version. Note: From version software is compatible to TT Series. * Ver and older cannot be used with the TT Series. A startup support software equipped with program/position input, test operation, monitoring and other functions. The functions needed for debugging have been enhanced significantly, thus reducing the startup time. The software runs on Windows 95, 98, NT, 0, and XP. PC cable, 5 m (: CB-ST-9-25); with emergency-stop box as option (: CB-ST-EMW0) Content PC connector cable (type: CB-ST-9-25) Note To order spare PC cables for maintenance purposes, please specify "CB-ST-9-25." When ordering the PC cable together with the emergency-stop box, specify "CB-ST-EMW0." Dimensions m with emergency stop connector (type: CB-ST-EMW0) Tabletop Robot TT 8

20 тел.:(495) , Notes Notes on Catalog Specifications Speed "Speed" refers to the set speed at which the actuator slider is moved. The slider accelerates from a stationary state. Once the set speed is reached, the slider will move at that speed until immediately before the target position (specified position), where the slider will decelerate to a stop. Acceleration /deceleration "Acceleration" refers to the rate of change of speed from a stationary state until the set speed is reached. "Deceleration" refers to the rate of change of speed from the set speed until the slider stops. Acceleration and deceleration are set in "G" (0.3 G = 29 mm/sec 2 ). Duty Positioning repeatability Home Allowable load moment (Ma, Mb, Mc) IAI recommends that our actuators to be used at a duty of % or less as a guideline in view of the relationship of service life and accuracy. Duty (%) = Motion time X0 Motion time + Inactivity time "Positioning repeatability" refers to the positioning accuracy when the actuator is repeatedly moved to a pre-stored position. It is different from "absolute positioning accuracy." The home is located on the motor side on the actuator for standard specification, or on the counter-motor side of the actuator in the reversed-home specification. During home return the slider moves until it contacts the mechanical end, and then it reverses its direction. Be careful to prevent contact with surrounding parts. The load moment is calculated by assuming a travel life of 5,000 km. Note that if the specified moment value is exceeded, the service life of the guide will be reduced. The direction of each moment and applicable reference point are shown below: : Mb direction : Ma direction Z-axis: Mc direction 3 : Mb direction Z-axis Reference position for Z-axis Ma moment Z-axis: Mb direction Z-axis: Ma direction : Mc direction : Mc direction : Ma direction 8 Reference position for Ma moment 7.5 Reference position for Ma moment 9 Tabletop Robot TT

21 тел.:(495) , PUSH Motion - Operation The push force used during push-motion operation can be changed freely by changing the controllers current-limit value. Please confirm the required push force from the graphs below. Please pay attention in using PUSH Motion-Operation: Tabletop Correlation Diagrams of Push Force and Current-Limiting Value. A PUSH command only moves a single axis. Two axes or more can not be operated with PUSH command. 2. The force against axis during PUSH Motion-Operation should be less than 80% of the moments for each axis described in this catalogue Push force (N) 0 3. If Z axis is used for PUSH Motion-Operation, please use Gate Type. If cantilever type is used for Z axis PUSH Motion-Operation, please take the moments of X and Y axis into consideration Current-Limiting value (%) Programming Super L Language Super L is one of the simplest of many robot languages available today. Super L has single-handedly resolved the age-old challenge of "embodying advanced controls using simple language." Super L employs the step method in which all steps are executed one by one from the top. Since commands are input in the order of operations, even a beginner can easily create a program. Programming in Super L involves two types of data: the "program data" used for executing axis movement commands, external communication commands and various other commands; and the "position data" consisting of the record of positions to which each axis will be moved. Up to 000 steps of program data can be input, and these command steps can be divided into a maximum of 4 individual programs. Up to 00 positions can be registered, with each position consisting of data corresponding to three axes. To move each axis, simply include a movement command in the program data and specify the number corresponding to the desired position data. The axis will then move to the position registered under the specified position data number. Program data Position data Tabletop Robot TT 20

22 тел.:(495) , Sample Program Soldering Operation Overview Register solder positions as position data and move the soldering head (attached to the Z-axis) using a program to the registered positions sequentially. Operation sequence P P P P2 P2 P2 P3 P3 P3 P P8 P4 P4 P4 P5 P5 P5 P P P P7 P7 P7 P8 P8 P8 (Back to P) P2 P7 P P3 P2 P4 P7 P5 P8 P P3 P P4 P5 P P3 P2 P4 P7 P5 P8 P Z-axis Top view of circuit board Side view of circuit board Position data P P2 P3 P4 P5 P P7 P Z-axis P P2 P3 P4 P5 P P7 P Z-axis Program Step Extension condition Input condition Command HO HO VEL ACC TAG WTON MOVP MOVP TIMW MOVP MOVP MOVP TIMW MOVP Operand Operand 2 Output condition Comment Bring only the Z-axis to home Bring the X- and Y-axes to home Set the speed to 0 mm/sec. Set the acceleration to 0.3 G Destination of GOTO in step 32 Stop until start button input turns on Move to above position (= position ) Move (descend) to position Stop for 3 seconds Move (ascend) to position Move to above position 2 (= position 2) Move (descend) to position 2 Stop for 3 seconds Move (ascend) to position MOVP MOVP TIMW MOVP GOTO Move to above position 8 (= position 8) Move (descend) to position 8 Stop for 3 seconds Move (ascend) to above position 8 Jump to TAG 2 Tabletop Robot TT

23 тел.:(495) , Sample Program 2 Coating Operation Overview Apply sealant to a plate along the path illustrated below. The actuator moves continuously, without stopping, from position to position 9 based on the movement path. Operation sequence P P P2 P3 P2 P4 P5 P P7 P8 P9 P P9 P8 P5 P4 * Move from P to P9 without stopping P7 P P P2 P3 Z-axis P Top view of plate Side view of plate Position data P P2 P3 P4 P5 P P7 P8 P9 P Z-axis 0 Program Step Extension condition Input condition Command HO HO VEL ACC TAG WTON MOVP MOVP PATH MOVP GOTO Operand Operand 2 9 Output condition Comment Bring only the Z-axis to home Bring the X- and Y-axes to home Set the speed to 0 mm/sec. Set the acceleration to 0.3 G Destination of GOTO in step Stop until start button input turns on Move to above position (= position ) Move (descend) to position Move continuously from position being the point of origin, to position 9 Move to above position (= position ) Jump to TAG Tabletop Robot TT 22

24 тел.:(495) , TT Series Catalogue No. 020-E The information contained in this catalog is subject to change without notice for the pupose of product inprovement Providing quality products since 98 IAI Industrieroboter GmbH Ober der Röth 4 D-5824 Schwalbach / Frankfurt Germany Tel.: Fax: info@iai-gmbh.de Internet: IAI America Inc. 290 W. 237th Street, Torrance, CA 905, U.S.A Tel.: Fax: IAI CORPORATION 45- Shimizu Hirose, Shizuoka , Japan Tel.: Fax: IAI, the IAI-logo, RoboCylinder, the RoboCylinder -logo, IntelligentActuator and the IntelligentActuator -logo are trademarks or product names of IAI Corporation or of the subsidiaries in USA or Germany