TTA Series. Tabletop Robot. ZR-Axis Type Series Added

Transcription

1 GB Tabletop Robot TTA Series ZR-Axis Series Added

2 mproved Tabletop Robot for Cell Production Applications. Featuring Significantly Higher Payload, Maximum Speed and Rigidity! Enlarged variation with addition of ZR-axis type 1. Significantly Higher Payload and Maximum Speed Maximum payload (kg) Maximum speed (mm/sec) TT (Conventional model) TTA Work part side () Tool side (Z-axis) Y-axis Z-axis Up to 3 times Up to 2.6 times 2. Stores Much More Programs and Positions The larger memory lets you store much more programs and positions. The additional data recovery function enables original data recovery due to power failure during FLASH writing. TT (Conventional model) TTA Number of programs 64 2 Number of program steps Number of multi-tasking programs Number of display languages 2 (Japanese/English) 2 (Japanese/English) Number of positions times more programs 10 times more positions 3. Three Times as Many /O Points as Conventional s When the standard /O slot isn't enough, two additional /O expansion slots can be installed. nputs/outputs 16 points/16 points Up to 48 points/48 points 3 times more Supporting field networks 1

3 4. More Variations Gate and Cantilever are available in the lineup of TTA Series which are well-appraised with higher payload, maximum speed and rigidity. 8 Variety s for Various Operation Range There are four types of operation ranges to select from for each of TTA-A (gate type) and TTA-C (cantilever type). For 3-axis, we have prepared two types, 100mm and 10mm, for Z-axis. You can select a model ideal for the size of your work part. [TTA-A2] [TTA-C2] Difference between Gate TTA-A Series and Cantilever TTA-C Series [TTA-A3] Z-Axis Equipped Gate With work piece mounted on the slider. Work piece itself moves. [TTA-C3] Z-Axis Equipped Cantilever With work piece mounted on the base. Work piece itself does not move. CE Compliant s TTA- G, the global version, is compliant with CE.. Dedicated ZR- axis Now in Lineup We have prepared the dedicated rotary axis, which was not available for the tabletop robot previously. Range of application has been expanded by equipping a rotary axis (R-axis) at the tip of vertical axis (Z-axis). t is now possible to mount a camera on the slider of the Z-axis. 2

4 TTA Series Lineup Series A2G (2-axis global type with safety category ) TTA Gate type A3G (3-axis global type with safety category ) A4G (4-axis global type with ZR rotary axis and safety category ) (*1) Stroke X/Y-axis (mm) Stroke Z-axis (mm) Max. Y-axis speed (mm/s) Z-axis R-axis Load capacity (kg) Y-axis Z-axis R-axis Reference page 200x200 (Single pillar travel) (*2) 0x0 (Double pillar travel) 400x400 (Double pillar travel) C2G (2-axis global type with safety category ) 00x00 (Double pillar travel) 200x200 (Single pillar travel) (*2) 0x0 (Double pillar travel) 400x400 (Double pillar travel) C3G (3-axis global type with safety category ) 00x00 (Double pillar travel) 200x200 (Single pillar travel) (*2) 0x0 (Double pillar travel) 100/10 100/10 P. 8 P. 9 P. 10 P. 11 P. 16 P. 17 P. 18 P. 19 P. 24 Cantilever type 400x400 (Double pillar travel) deg./s x00 (Double pillar travel) C4G (4-axis global type with ZR rotary axis and safety category ) (*1) 3 Stroke X/Y-axis (mm) Stroke Z-axis (mm) Max. Y-axis speed (mm/s) Z-axis R-axis Load capacity (kg) Y-axis Z-axis R-axis 200x10 (Single pillar travel) (*2) 0x20 (Double pillar travel) 400x (Double pillar travel) 00x40 (Double pillar travel) 200x10 (Single pillar travel) (*2) 0x20 (Double pillar travel) 400x (Double pillar travel) 00x40 (Double pillar travel) 200x10 (Single pillar travel) (*2) 0x20 (Double pillar travel) 100/10 100/10 Reference page P. 12 P. 13 P. 14 P. 1 P. 20 P. 21 P. 22 P. 23 P. 26 (*1) All product types include power plug and power supply cable. (*2) Refer to Pg. 6 for additional pillar as option. 400x (Double pillar travel) deg./s x40 (Double pillar travel)

5 Additional Options Let You Change the Y-axis Height and Horizontal Position. Standard Standard + 0mm up Standard + 100mm up Y-axis height is selectable H1 H2 Standard Standard + mm forward Standard + 180mm forward Y-axis horizontal position is selectable F1 F2 * To change both the Y-axis height and Y-axis horizontal position, specify the type codes in alphabetical order together with other option codes. (Example: AP-F1-FT-H2-OS) * Y-axis position change option in front-back direction cannot be selected for TTA-C type. Y-axis height is selectable Standard height 0mm 100mm (Standard) H1 (Standard + 0mm) H2 (Standard + 100mm) Y-axis horizontal position is selectable (Only available for TTA-A type) Standard position mm 180mm (Standard) F1 (mm forward of standard position) F2 (180mm forward of standard position) Standard Standard + 64.mm forward ZR-axis horizontal position is selectable FZ ZR-axis horizontal position is selectable Standard position.mm 120mm (Standard) FZ (64.mm forward of standard position) Optional Detachable Operation Console The operation console can be separated from the product for handy operation. (Cable length: 0mm) 4

6 System Configuration Front Panel Wiring Layout Teaching Pendant (Option) : TB-01-S (*) (*) TB-01-S coming with CE conformity. For a safety category compliant system with deadman switch type TB-01-D(R) see TB-01 brochure. m m/3m PC Connection Cable (Supplied with the PC Software) : CB-ST-E1MW00 (m) CB-L-USB0 (3m) CB-ST-A1MW00 (m) PC Software (Option) : A-101-X-MW A-101-TTA-USB (**) A-101-X-USBMW A-101-XA-MW (***) Dummy Plug : DP-2 (**) (**) Enclosed in global and PC software (A-101-TTA-USB). (***) Safety category compliant system with safety circuit emergency stop connector type A-101-XA-MW including PC cable CB-ST-A1MW00. Back Panel Wiring Layout PLC Variety of Field Networks (Options) /O Flat Cable (Accessory) : CB-PAC-PO020 2m Emergency Stop Switch 100 to 2 VAC Select from those below for the power supply cable Only with plug on main unit side Power supply cable for 2 VAC (2m) Protective Grounding Expansion /O Slots Standard /O Service Power Supply connector Electromagnetic Relay Enable Switch * Emergency stop switch, enable switch, electromagnetic relay, and other external devices may be connected and wired if necessary. f no devices are connected or wired, the robot will still operate properly. Connectors with jumper wires are supplied.

7 Explanation of Series TTA 1 2 Encoder 3 Contents 4 Y-axis Contents 6 7 Z-axis Contents 8 9 R-axis Contents Standard /O Slot Expansion /O Slot 1 Expansion /O Slot 2 /O Cable Length Power Supply Cable Option Global A2G A3G A4G C2G C3G C4G stroke mm 0mm mm 0 00mm ncremental Y-axis stroke TTA-A Series TTA-C Series mm 1 10mm 0mm 2 20mm mm 3 mm 0 00mm 4 40mm Z-axis stroke mm 1 10mm 2-axis Gate 3-axis Gate 4-axis Gate (R180 deg., R3 deg. ) 2-axis Cantilever 3-axis Cantilever 4-axis Cantilever (R180 deg., R3 deg. ) (Note) The global types apply for CE marking and Safety Category B to 3. option HS confirmation sensor NM Non-motor side Y-axis option HS confirmation sensor NM Non-motor side Z-axis option B Brake (Standard equipment) With cover (dedicated for P. 2 CO 4-axis ) P. 27 HS confirmation sensor NM Non-motor side NP NPN PN PNP E NP PN DV CC PR EP R-axis stroke 18L ±180 deg. 36L ±3 deg. * Equipped with home limit switch Y-axis height and horizontal position change and additional option nstallation bracket options Side slot options Side plate options Not used Expansion PO board (NPN ) Expansion PO board (PNP ) DeviceNet connection board CC-Link connection board PROFBUS-DP connection board EtherNet/P connection board * The EtherNet/P connection board can be connected only in expansion slot 1. f another board is also used, it is installed in expansion slot 2. R-axis option ML Motor reversed to left MR Motor reversed to right * Either of them is described 0 None 2 2m 3 3m m PU Mating plug (No cable) Power supply cable 2 for 2 VAC (2m) (Ring tongue terminal on end) H1 Y-axis mounting position height 0mm up H2 Y-axis mounting position height 100mm up F1 Y-axis mounting position mm forward P. 4 F2 Y-axis mounting position 180mm forward AP Additional pillar for 20-1 and types FT4 Foot bracket equipped (4 pcs) FT6 Foot bracket equipped (6 pcs) P. 34 SLT0 Side slot 180mm installation SLT ndividual stroke side slot installation P. 3 PTH nstallation side plate (with hole) PTN nstallation side plate (without hole) P. 36 Operation part option OS Detachable operation console P. 4 ZR-axis position change option FZ ZR-axis attached position 64.mm forward P. 4 [Supplemental Explanation for Options] AP Additional pillar for 20-1 and types This option can make 20-1 and type, which are cantilever types in standard, a gate type. FT4 Foot bracket equipped (4 pcs) for stroke 20/ FT6 Foot bracket equipped (6 pcs) Option List for stroke 40/0 SLT0 Side slot 180mm installation confirmation sensor t is to be selected when changing to slot in selection of FT4 or FT6. Non-motor side 20/ type of stroke is equipped with 2 places of 180mm side slot and Y-axis mounting position height 0mm up 40/0 type with 4 places. Y-axis mounting position height 100mm up Y-axis mounting position mm forward SLT ndividual stroke side slot installation Y-axis mounting position 180mm forward t is to be selected when changing to the slot considering the size of Additional pillar for 20-1 and types the main unit. Foot bracket equipped (4 pcs) *t is not available to select for FT4 and FT6. Foot bracket equipped (6 pcs) PTH nstallation side plate (with hole) Y-axis installation position: Suitable size will be selected for each of standard, F1 and F2 * Only available for TTA-A type Side slot 180mm installation PTN nstallation side plate (without hole) ndividual stroke side slot installation Y-axis installation position: Suitable size will be selected for each of standard, F1 and F2 nstallation side plate (with hole) * Only available for TTA-A type nstallation side plate (without hole) <Notes> Detachable operation console The global types are enclosed with dummy plug [DP-2]. With Z-axis cover F1 and F2 options cannot be selected for TTA-C type. Option code HS NM H1 H2 F1 F2 AP FT4 FT6 SLT0 SLT PTH PTN OS CO 6

8 Notes Notes on Catalog s Speed Acceleration/Deceleration Duty cycle Positioning repeatability Dynamic allowable moment (Ma, Mb, Mc) "Speed" refers to the set speed when the actuator is in motion. 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" 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" (0.3G = 2940mm/sec², Rotary axis is 0.3G = 2940deg./sec²). The tabletop robot can be operated at a duty cycle of 100%. Operating time Duty cycle (%) = x 100 Operating time + Stopped time "Positioning repeatability" refers to the positioning accuracy when the actuator is repeatedly moved to a prestored position. t is different from "absolute positioning accuracy". The home is located on the motor side on the actuator for standard, or on the front side of the actuator in the non-motor side. During home return the slider moves until it contacts the mechanical end, and then it reversed its direction. Be careful to prevent contact with surrounding parts. The load moment is calculated by assuming a travel life of 000km. 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: 7

9 TTA-A2G tems TTA Series /s A2G: 2-axis global (Gate type) * Refer to P. 6 for the details of model items. Encoder type : ncremental Y-axis Tabletop Robot Gate 2-axis XY-axis: 200mm Y-axis Standard Expansion Expansion /O cable stroke option stroke option /O slot /O slot 1 /O slot 2 length 20: 200mm 20: 200mm NP: NPN 0: None PN: PNP 2: 2m HS: confirmation sensor NM: Non-motor side 3: 3m : m Refer to the expansion /O slot table below. * f the expansion /O slot is not used, enter E. Power supply cable PU: Mating plug (No cable) 2: Power supply cable for 2 VAC (2m) Option Refer to P. 6 number TTA-A2G Axis configuration Motor type Lead (mm) Stroke (mm) Speed (mm/sec) Payload (kg) (Note 1) 24 or equiv ~ ncremental Pulse motor Y-axis 24 or equiv ~ * n the above model number, 1 and 2 indicate the XY-axis options, 3 indicates the standard /O slot, 4 and indicate the expansion /O slots, 6 indicates the /O cable length, 7 indicates the power supply cable, and 8 indicates the selected option(s). Expansion /O Slot Not used Expansion PO board (NPN ) Expansion PO board (PNP ) DeviceNet connection board CC-Link connection board PROFBUS-DP connection board EtherNet/P connection board E NP PN DV CC PR EP Common s Drive system Ballscrew (ø12mm, rolled C10) Speed increased at 1.:1 using a timing belt Positioning repeatability ±0.02mm (Note 2) Lost motion 0.1mm or less Guide Ball-circulation type linear guide Dynamic allowable moment (Note 3) Ambient temperature/humidity Loadable weight on table* Actuator weight : Ma: 1.9Nm Mb: 1.9Nm Mc: 32.0Nm Y-axis: Ma: 12.6Nm Mb: 12.6Nm Mc: 37.4Nm 0 to 40ºC, 8% RH max. (non-condensing) 20kg 24kg * Table part is defined as the top surface on the main body except for the slider part. t is not the payload of. You can download CAD drawings from our website. 2D CAD AP (Additional Pillar Option) 210 * Refer to P. 7 for dimensions of T-groove. * During home return, the slider moves to the, so be careful to prevent contact with surrounding parts. : Stroke end : Mechanical end (401) Dial for Y-Slider U T-Groove B x 2 (Note 4) Xst: Yst: 20 0 S M, Dept h M4, Dept h Detailed Diagram S (Detail of Slider) ø H7, Dept h 2 - ø H7, Dept h M, Dept h 7 4-M4, Dept h 7 12 Detailed Diagram U (Detail of Y-axis Slider) T-Groove A (Same Shape on the Opposite Side) Applicable Controller s Applicable controller Maximum number of controlled axes Method of operation Power-supply voltage Built-in 2 axes ncremental Program 2 VAC P. 28 Page Caution (Note 1) The maximum speed cannot be achieved based on the maximum payload setting. The payload decreases when the speed is increased. Also note that the maximum acceleration/ deceleration varies depending on the payload. (Refer to P. 37.) (Note 2) t is limited to when the actuator temperature is constant. t does not guarantee the absolute accuracy. (Note 3) The dynamic allowable moment is a value of each axis assuming a traveling life of 000km. (Refer to P. 7 for the dynamic allowable moment.) (Note 4) Secure 2mm or more to the main body frames when mounting a work piece on X slider. TTA-A2G

10 TTA-A2G-- tems TTA Series A2G: 2-axis global (Gate type) * Refer to P. 6 for the details of model items. /s Expansion /O Slot Not used Expansion PO board (NPN ) Expansion PO board (PNP ) DeviceNet connection board CC-Link connection board PROFBUS-DP connection board EtherNet/P connection board Encoder type : ncremental Y-axis Tabletop Robot Gate 2-axis XY-axis: 0mm Y-axis Standard Expansion Expansion /O cable stroke option stroke option /O slot /O slot 1 /O slot 2 length : 0mm : 0mm NP: NPN 0: None PN: PNP 2: 2m HS: confirmation sensor NM: Non-motor side 3: 3m : m Refer to the expansion /O slot table below. * f the expansion /O slot is not used, enter E. Power supply cable PU: Mating plug (No cable) 2: Power supply cable for 2 VAC (2m) number Axis configuration Motor type Lead (mm) Stroke (mm) Speed (mm/sec) TTA-A2G E NP PN DV CC PR EP Common s Option Refer to P. 6 Drive system Ballscrew (ø12mm, rolled C10) Speed increased at 1.:1 using a timing belt Positioning repeatability ±0.02mm (Note 2) Lost motion 0.1mm or less Guide Ball-circulation type linear guide Dynamic allowable moment (Note 3) Ambient temperature/humidity Loadable weight on table* Actuator weight : Ma: 1.9Nm Mb: 1.9Nm Mc: 32.0Nm Y-axis: Ma: 12.6Nm Mb: 12.6Nm Mc: 37.4Nm 0 to 40ºC, 8% RH max. (non-condensing) kg 31kg Payload (kg) (Note 1) 24 or equiv. 0 1 ~ ncremental Pulse motor Y-axis 24 or equiv. 0 1 ~ * n the above model number, 1 and 2 indicate the XY-axis options, 3 indicates the standard /O slot, 4 and indicate the expansion /O slots, 6 indicates the /O cable length, 7 indicates the power supply cable, and 8 indicates the selected option(s). * Table part is defined as the top surface on the main body except for the slider part. t is not the payload of. 2-ø H7, Depth You can download CAD drawings from our website D CAD * Refer to P. 7 for dimensions of T-groove. * During home return, the slider moves to the, so be careful to prevent contact with surrounding parts. : Stroke end : Mechanical end (01) U T-Groove B x 2 80(Note 4) Dial for Y-Slider 178. T-Groove B x 2 (Same Shape on the Opposite Side on the Fram e) Xst: Yst: 0 S M, Dept h 7 6-M4, Dept h Detailed Diagram S (Detail of Slider) 2-ø H7, Depth M, Dept h 7 4-M4, Dept h 7 Detailed Diagram U (Detail of Y-axis Slider) T-Groove A (Sam e Shape on the Opposite Side) Applicable Controller s Applicable controller Maximum number of controlled axes Method of operation Power-supply voltage Built-in 2 axes ncremental Program 2 VAC P. 28 Page Caution (Note 1) The maximum speed cannot be achieved based on the maximum payload setting. The payload decreases when the speed is increased. Also note that the maximum acceleration/ deceleration varies depending on the payload. (Refer to P. 37.) (Note 2) t is limited to when the actuator temperature is constant. t does not guarantee the absolute accuracy. (Note 3) The dynamic allowable moment is a value of each axis assuming a traveling life of 000km. (Refer to P. 7 for the dynamic allowable moment.) (Note 4) Secure 2mm or more to the main body frames when mounting a work piece on X slider. 9 TTA-A2G--

11 TTA-A2G tems TTA Series /s A2G: 2-axis global (Gate type) * Refer to P. 6 for the details of model items. Encoder type : ncremental Tabletop Robot Gate 2-axis XY-axis: 400mm Y-axis Y-axis Standard Expansion Expansion /O cable stroke option stroke option /O slot /O slot 1 /O slot 2 length 40: 400mm 40: 400mm NP: NPN 0: None PN: PNP 2: 2m HS: confirmation sensor NM: Non-motor side 3: 3m : m Refer to the expansion /O slot table below. * f the expansion /O slot is not used, enter E. Power supply cable PU: Mating plug (No cable) 2: Power supply cable for 2 VAC (2m) Option Refer to P. 6 number TTA-A2G Axis configuration Motor type Lead (mm) Stroke (mm) Speed (mm/sec) Payload (kg) (Note 1) 24 or equiv ~ ncremental Pulse motor Y-axis 24 or equiv ~ * n the above model number, 1 and 2 indicate the XY-axis options, 3 indicates the standard /O slot, 4 and indicate the expansion /O slots, 6 indicates the /O cable length, 7 indicates the power supply cable, and 8 indicates the selected option(s). Expansion /O Slot Not used Expansion PO board (NPN ) Expansion PO board (PNP ) DeviceNet connection board CC-Link connection board PROFBUS-DP connection board EtherNet/P connection board E NP PN DV CC PR EP Common s Drive system Ballscrew (ø12mm, rolled C10) Speed increased at 1.:1 using a timing belt Positioning repeatability ±0.02mm (Note 2) Lost motion 0.1mm or less Guide Ball-circulation type linear guide Dynamic allowable moment (Note 3) Ambient temperature/humidity Loadable weight on table* Actuator weight : Ma: 1.9Nm Mb: 1.9Nm Mc: 32.0Nm Y-axis: Ma: 12.6Nm Mb: 12.6Nm Mc: 37.4Nm 0 to 40ºC, 8% RH max. (non-condensing) 40kg 37kg * Table part is defined as the top surface on the main body except for the slider part. t is not the payload of. 2-ø, H7, Depth You can download CAD drawings from our website. 2D CAD * Refer to P. 7 for dimensions of T-groove. * During home return, the slider moves to the, so be careful to prevent contact with surrounding parts. : Stroke end : Mechanical end 76 (1) Yst: S ø, H7, Depth T-Groove B x 2 (Same Shape on the Opposite Side on the Fram e) T-Groove B x 2 1(Note 4) Xst: M, Dept h 7 6-M4, Dept h Detailed Diagram S (Detail of Slider) M, Dept h 7 4-M4, Dept h 7 Dial for Y-Slider Detailed Diagram U (Detail of Y-axis Slider) U T-Groove A (Same Shape on the Opposite Side) Applicable Controller s Applicable controller Maximum number of controlled axes Method of operation Power-supply voltage Built-in 2 axes ncremental Program 2 VAC P. 28 Page Caution (Note 1) The maximum speed cannot be achieved based on the maximum payload setting. The payload decreases when the speed is increased. Also note that the maximum acceleration/ deceleration varies depending on the payload. (Refer to P. 37.) (Note 2) t is limited to when the actuator temperature is constant. t does not guarantee the absolute accuracy. (Note 3) The dynamic allowable moment is a value of each axis assuming a traveling life of 000km. (Refer to P. 7 for the dynamic allowable moment.) (Note 4) Secure 2mm or more to the main body frames when mounting a work piece on X slider. TTA-A2G

12 TTA-A2G-0-0 tems TTA Series /s A2G: 2-axis global (Gate type) * Refer to P. 6 for the details of model items. Encoder type : ncremental Tabletop Robot Gate 2-axis XY-axis: 00mm 0 0 Y-axis Y-axis Standard Expansion Expansion /O cable stroke option stroke option /O slot /O slot 1 /O slot 2 length 0: 00mm 0: 00mm NP: NPN 0: None PN: PNP 2: 2m HS: confirmation sensor NM: Non-motor side 3: 3m : m Refer to the expansion /O slot table below. * f the expansion /O slot is not used, enter E. Power supply cable PU: Mating plug (No cable) 2: Power supply cable for 2 VAC (2m) Option Refer to P. 6 number TTA-A2G Axis configuration Motor type Lead (mm) Stroke (mm) Speed (mm/sec) Payload (kg) (Note 1) 24 or equiv ~ ncremental Pulse motor Y-axis 24 or equiv ~ * n the above model number, 1 and 2 indicate the XY-axis options, 3 indicates the standard /O slot, 4 and indicate the expansion /O slots, 6 indicates the /O cable length, 7 indicates the power supply cable, and 8 indicates the selected option(s). Expansion /O Slot Not used Expansion PO board (NPN ) Expansion PO board (PNP ) DeviceNet connection board CC-Link connection board PROFBUS-DP connection board EtherNet/P connection board E NP PN DV CC PR EP Common s Drive system Ballscrew (ø12mm, rolled C10) Speed increased at 1.:1 using a timing belt Positioning repeatability ±0.02mm (Note 2) Lost motion 0.1mm or less Guide Ball-circulation type linear guide Dynamic allowable moment (Note 3) Ambient temperature/humidity Loadable weight on table* Actuator weight : Ma: 1.9Nm Mb: 1.9Nm Mc: 32.0Nm Y-axis: Ma: 12.6Nm Mb: 12.6Nm Mc: 37.4Nm 0 to 40ºC, 8% RH max. (non-condensing) 0kg 44kg * Table part is defined as the top surface on the main body except for the slider part. t is not the payload of ø, H7, Depth You can download CAD drawings from our website. 2D CAD * Refer to P. 7 for dimensions of T-groove. * During home return, the slider moves to the, so be careful to prevent contact with surrounding parts. : Stroke end : Mechanical end (1) 76 2-ø, H7, Depth U T-Groove B x 2 180(Note 4) T-Groove B x 2 (Same Shape on the Opposite Side on the Fram e) Xst: Yst: 0 0 S M, Dept h 7 6-M4, Dept h Detailed Diagram S (Detail of Slider) M, Dept h 7 4-M4, Dept h Dial for Y-Slider Detailed Diagram U (Detail of Y-axis Slider) T-Groove A (Same Shape on the Opposite Side) Applicable Controller s Applicable controller Maximum number of controlled axes Method of operation Power-supply voltage Built-in 2 axes ncremental Program 2 VAC P. 28 Page Caution (Note 1) The maximum speed cannot be achieved based on the maximum payload setting. The payload decreases when the speed is increased. Also note that the maximum acceleration/ deceleration varies depending on the payload. (Refer to P. 37.) (Note 2) t is limited to when the actuator temperature is constant. t does not guarantee the absolute accuracy. (Note 3) The dynamic allowable moment is a value of each axis assuming a traveling life of 000km. (Refer to P. 7 for the dynamic allowable moment.) (Note 4) Secure 2mm or more to the main body frames when mounting a work piece on X slider. 11 TTA-A2G-0-0

13 TTA-C2G-20-1 tems TTA Series /s C2G: 2-axis global (Cantilever type) * Refer to P. 6 for the details of model items. Encoder type : ncremental Tabletop Robot Cantilever 2-axis : 200mm, Y-axis: 10mm 20 1 Y-axis Y-axis Standard Expansion Expansion /O cable stroke option stroke option /O slot /O slot 1 /O slot 2 length 20: 200mm 1: 10mm NP: NPN 0: None PN: PNP 2: 2m HS: confirmation sensor NM: Non-motor side 3: 3m : m Refer to the expansion /O slot table below. * f the expansion /O slot is not used, enter E. Power supply cable PU: Mating plug (No cable) 2: Power supply cable for 2 VAC (2m) number Axis configuration Motor type Lead (mm) Stroke (mm) Speed (mm/sec) TTA-C2G Option Refer to P. 6 Payload (kg) (Note 1) 24 or equiv ~0 ncremental Pulse motor Y-axis 24 or equiv ~40 10 * n the above model number, 1 and 2 indicate the XY-axis options, 3 indicates the standard /O slot, 4 and indicate the expansion /O slots, 6 indicates the /O cable length, 7 indicates the power supply cable, and 8 indicates the selected option(s). Expansion /O Slot Not used Expansion PO board (NPN ) Expansion PO board (PNP ) DeviceNet connection board CC-Link connection board PROFBUS-DP connection board EtherNet/P connection board E NP PN DV CC PR EP Common s Drive system Ballscrew (ø12mm, rolled C10) Speed increased at 1.:1 using a timing belt Positioning repeatability ±0.02mm (Note 2) Lost motion 0.1mm or less Guide Ball-circulation type linear guide Dynamic allowable moment (Note 3) Ambient temperature/humidity Loadable weight on table Actuator weight : Ma: 12.6Nm Mb: 12.6Nm Mc: 37.4Nm Y-axis: Ma: 12.6Nm Mb: 12.6Nm Mc: 37.4Nm 0 to 40ºC, 8% RH max. (non-condensing) 40kg 2kg You can download CAD drawings from our website. 2D CAD AP (Additional Pillar Option) 203 * Refer to P. 7 for dimensions of T-groove. * During home return, the slider moves to the, so be careful to prevent contact with surrounding parts. : Stroke end : Mechanical end 19 6 (436) Yst: M4, Dept h 8 Frame Surface x0p= 20 Operat ing Ranges 10 Xst: ø H7, Dept h View for Top Base Hole Allocation 1 3 (4.) Xst: U Dial for X-Slider T-Groove B x (19) Dial for Y-Slider ø H7, Dept h 6-M, Dept h 7 4-M4, Dept h Frame Surface T-Groove A (Same Shape on the Opposite Side) Detailed Diagram U (Detail of Y-axis Slider) Applicable Controller s Applicable controller Maximum number of controlled axes Method of operation Power-supply voltage Built-in 2 axes ncremental Program 2 VAC P. 28 Page Caution (Note 1) The maximum speed cannot be achieved based on the maximum payload setting. The payload decreases when the speed is increased. Also note that the maximum acceleration/ deceleration varies depending on the payload. (Refer to P. 37.) (Note 2) t is limited to when the actuator temperature is constant. t does not guarantee the absolute accuracy. (Note 3) The dynamic allowable moment is a value of each axis assuming a traveling life of 000km. (Refer to P. 7 for the dynamic allowable moment.) TTA-C2G

14 TTA-C2G--2 tems TTA Series /s C2G: 2-axis global (Cantilever type) * Refer to P. 6 for the details of model items. Encoder type : ncremental 2 Y-axis Tabletop Robot Cantilever 2-axis : 0mm, Y-axis: 20mm Y-axis Standard Expansion Expansion /O cable stroke option stroke option /O slot /O slot 1 /O slot 2 length : 0mm 2: 20mm NP: NPN 0: None PN: PNP 2: 2m HS: confirmation sensor NM: Non-motor side 3: 3m : m Refer to the expansion /O slot table below. * f the expansion /O slot is not used, enter E. Power supply cable PU: Mating plug (No cable) 2: Power supply cable for 2 VAC (2m) Option Refer to P. 6 number TTA-C2G Axis configuration Motor type Lead (mm) Stroke (mm) Speed (mm/sec) Payload (kg) (Note 1) 24 or equiv. 0 1 ~0 ncremental Pulse motor Y-axis 24 or equiv ~ * n the above model number, 1 and 2 indicate the XY-axis options, 3 indicates the standard /O slot, 4 and indicate the expansion /O slots, 6 indicates the /O cable length, 7 indicates the power supply cable, and 8 indicates the selected option(s). Expansion /O Slot Not used Expansion PO board (NPN ) Expansion PO board (PNP ) DeviceNet connection board CC-Link connection board PROFBUS-DP connection board EtherNet/P connection board E NP PN DV CC PR EP Common s Drive system Positioning repeatability ±0.02mm (Note 2) Lost motion 0.1mm or less Guide Dynamic allowable moment (Note 3) Ambient temperature/humidity Loadable weight on table Actuator weight Ballscrew (ø12mm, rolled C10) Speed increased at 1.:1 using a timing belt Ball-circulation type linear guide : Ma: 12.6Nm Mb: 12.6Nm Mc: 37.4Nm Y-axis: Ma: 12.6Nm Mb: 12.6Nm Mc: 37.4Nm 0 to 40ºC, 8% RH max. (non-condensing) kg 33kg 12. x7 p=37 12-M4, Depth 8 You can download CAD drawings from our website. 2D CAD * Refer to P. 7 for dimensions of T-groove. * During home return, the slider moves to the, so be careful to prevent contact with surrounding parts. : Stroke end : Mechanical end (36) Yst: (3) 8 10 Xst: Frame Surface. 13. Operat ing Ranges 10 Xst: ø H7, Depth View for Top Base Hole Allocation ø H7, Dept h U Dial for X-Slider T-Groove B x 2 19 (19) Dial for Y-Slider M, Dept h 7 4-M4, Dept h Frame Surface T-Groove A (Same Shape on the Opposite Side) Detailed Diagram U (Detail of Y-axis Slider) Applicable Controller s Applicable controller Maximum number of controlled axes Method of operation Power-supply voltage Built-in 2 axes ncremental Program 2 VAC P. 28 Page Caution (Note 1) The maximum speed cannot be achieved based on the maximum payload setting. The payload decreases when the speed is increased. Also note that the maximum acceleration/ deceleration varies depending on the payload. (Refer to P. 37.) (Note 2) t is limited to when the actuator temperature is constant. t does not guarantee the absolute accuracy. (Note 3) The dynamic allowable moment is a value of each axis assuming a traveling life of 000km. (Refer to P. 7 for the dynamic allowable moment.) 13 TTA-C2G--2

15 TTA-C2G-40-3 tems TTA Series /s C2G: 2-axis global (Cantilever type) * Refer to P. 6 for the details of model items. Encoder type : ncremental 40 3 Y-axis Tabletop Robot Cantilever 2-axis : 400mm, Y-axis: mm Y-axis Standard Expansion Expansion /O cable stroke option stroke option /O slot /O slot 1 /O slot 2 length 40: 400mm 3: mm NP: NPN 0: None PN: PNP 2: 2m HS: confirmation sensor NM: Non-motor side 3: 3m : m Refer to the expansion /O slot table below. * f the expansion /O slot is not used, enter E. Power supply cable PU: Mating plug (No cable) 2: Power supply cable for 2 VAC (2m) Option Refer to P. 6 number TTA-C2G Axis configuration Motor type Lead (mm) Stroke (mm) Speed (mm/sec) Payload (kg) (Note 1) 24 or equiv ~800 ncremental Pulse motor Y-axis 24 or equiv. 1 ~ * n the above model number, 1 and 2 indicate the XY-axis options, 3 indicates the standard /O slot, 4 and indicate the expansion /O slots, 6 indicates the /O cable length, 7 indicates the power supply cable, and 8 indicates the selected option(s). Expansion /O Slot Not used Expansion PO board (NPN ) Expansion PO board (PNP ) DeviceNet connection board CC-Link connection board PROFBUS-DP connection board EtherNet/P connection board E NP PN DV CC PR EP Common s Drive system Positioning repeatability ±0.02mm (Note 2) Lost motion 0.1mm or less Guide Ball-circulation type linear guide Dynamic allowable moment (Note 3) Ambient temperature/humidity Loadable weight on table Actuator weight Ballscrew (ø12mm, rolled C10) Speed increased at 1.:1 using a timing belt : Ma: 12.6Nm Mb: 12.6Nm Mc: 37.4Nm Y-axis: Ma: 12.6Nm Mb: 12.6Nm Mc: 37.4Nm 0 to 40ºC, 8% RH max. (non-condensing) 80kg 40kg 20 x10 0p=00 You can download CAD drawings from our website. 2D CAD * Refer to P. 7 for dimensions of T-groove. * During home return, the slider moves to the, so be careful to prevent contact with surrounding parts. : Stroke end : Mechanical end (636) Yst: 19 6 Operat ing Ranges 12 Xst: M, Depth 10 Frame Surface ø H7, Depth View for Top Base Hole Allocation 1 13 (17) 12 Xst: ø H7, Dept h U Dial for X-Slider T-Groove B x (24) Frame Surface T-Groove A (Same Shape on the Opposite Side) Dial for Y-Slider 80 3 Detailed Diagram U (Detail of Y-axis Slider) 6-M, Dept h 7 4-M4, Dept h 7 Applicable Controller s Applicable controller Maximum number of controlled axes Method of operation Power-supply voltage Built-in 2 axes ncremental Program 2 VAC P. 28 Page Caution (Note 1) The maximum speed cannot be achieved based on the maximum payload setting. The payload decreases when the speed is increased. Also note that the maximum acceleration/ deceleration varies depending on the payload. (Refer to P. 37.) (Note 2) t is limited to when the actuator temperature is constant. t does not guarantee the absolute accuracy. (Note 3) The dynamic allowable moment is a value of each axis assuming a traveling life of 000km. (Refer to P. 7 for the dynamic allowable moment.) TTA-C2G

16 TTA-C2G-0-4 tems TTA Series /s C2G: 2-axis global (Cantilever type) * Refer to P. 6 for the details of model items. Encoder type : ncremental 0 4 Y-axis Tabletop Robot Cantilever 2-axis : 00mm, Y-axis: 40mm Y-axis Standard Expansion Expansion /O cable stroke option stroke option /O slot /O slot 1 /O slot 2 length 0: 00mm 4: 40mm NP: NPN 0: None PN: PNP 2: 2m HS: confirmation sensor NM: Non-motor side 3: 3m : m Refer to the expansion /O slot table below. * f the expansion /O slot is not used, enter E. Power supply cable PU: Mating plug (No cable) 2: Power supply cable for 2 VAC (2m) Option Refer to P. 6 number TTA-C2G Axis configuration Motor type Lead (mm) Stroke (mm) Speed (mm/sec) Payload (kg) (Note 1) 24 or equiv ~800 ncremental Pulse motor Y-axis 24 or equiv ~ * n the above model number, 1 and 2 indicate the XY-axis options, 3 indicates the standard /O slot, 4 and indicate the expansion /O slots, 6 indicates the /O cable length, 7 indicates the power supply cable, and 8 indicates the selected option(s). Expansion /O Slot Not used Expansion PO board (NPN ) Expansion PO board (PNP ) DeviceNet connection board CC-Link connection board PROFBUS-DP connection board EtherNet/P connection board E NP PN DV CC PR EP Common s Drive system Ballscrew (ø12mm, rolled C10) Speed increased at 1.:1 using a timing belt Positioning repeatability ±0.02mm (Note 2) Lost motion Guide Dynamic allowable moment (Note 3) Ambient temperature/humidity Loadable weight on table Actuator weight 0.1mm or less Ball-circulation type linear guide : Ma: 12.6Nm Mb: 12.6Nm Mc: 37.4Nm Y-axis: Ma: 12.6Nm Mb: 12.6Nm Mc: 37.4Nm 0 to 40ºC, 8% RH max. (non-condensing) 100kg 47kg You can download CAD drawings from our website. 18-M, Depth x12p=6 2 2D CAD * Refer to P. 7 for dimensions of T-groove. * During home return, the slider moves to the, so be careful to prevent contact with surrounding parts. : Stroke end : Mechanical end (736) Yst: Frame Surface Operat ing Ranges 12 Xst: ø H7, Depth View for Top Base Hole Allocation 1 18 (17) Xst: ø H7, Dept h U Dial for X-Slider T-Groove B x (24) Dial for Y-Slider M, Dept h 7 4-M4, Dept h T-Groove A (Same Shape on the Opposite Side) Frame Surface Detailed Diagram U (Detail of Y-axis Slider) Applicable Controller s Applicable controller Maximum number of controlled axes Method of operation Power-supply voltage Built-in 2 axes ncremental Program 2 VAC P. 28 Page Caution (Note 1) The maximum speed cannot be achieved based on the maximum payload setting. The payload decreases when the speed is increased. Also note that the maximum acceleration/ deceleration varies depending on the payload. (Refer to P. 37.) (Note 2) t is limited to when the actuator temperature is constant. t does not guarantee the absolute accuracy. (Note 3) The dynamic allowable moment is a value of each axis assuming a traveling life of 000km. (Refer to P. 7 for the dynamic allowable moment.) 1 TTA-C2G-0-4

17 TTA-A3G tems TTA Series /s A3G: 3-axis global (Gate type) * Refer to P. 6 for the details of model items. Encoder type : ncremental number Y-axis Y-axis Z-axis stroke option stroke option stroke 20: 200mm 20: 200mm 10: 100mm HS: confirmation sensor NM: Non-motor side Tabletop Robot Gate 3-axis XY-axis: 200mm, Z-axis: 100mm/10mm Z-axis Standard Expansion option /O slot /O slot 1 NP: NPN 1: 10mm PN: PNP B: Brake (Standard) HS: confirmation sensor NM: Non-motor side 24 or equiv ~ TTA-A3G B Y-axis ncremental Pulse motor 24 or equiv ~800 Z-axis /10 1~400 6 * n the above model number, 1 and 2 indicate the XY-axis options, 3 indicates the Z-axis stroke, 4 indicates the Z-axis option(s), indicates the standard /O slot, 6 and 7 indicate the expansion /O slots, 8 indicates the /O cable length, 9 indicates the power supply cable, and 10 indicates the selected option(s). Common s Expansion /O Slot X/Y/Z-axis ballscrew (X/Y-axis: ø12mm, Z-axis: ø10mm, rolled C10) Drive system and Y-axis speeds increased at 1.:1 using a timing belt Not used E Positioning repeatability ±0.02mm (Note 2) Expansion PO board (NPN ) NP Lost motion 0.1mm or less Expansion PO board (PNP ) PN Guide Ball-circulation type linear guide DeviceNet connection board DV Dynamic allowable moment : Ma: 1.9Nm Mb: 1.9Nm Mc: 32.0Nm CC-Link connection board CC (Note 3) Z-axis: Ma: 9.7Nm Mb: 9.7Nm Mc: 20.Nm PROFBUS-DP connection board PR Ambient temperature/humidity 0 to 40ºC, 8% RH max. (non-condensing) EtherNet/P connection board EP Loadable weight on table* 20kg Actuator weight 27kg * Table part is defined as the top surface on the main body except for the slider part. t is not the payload of. Expansion /O slot 2 Refer to the expansion /O slot table below. * f the expansion /O slot is not used, enter E. /O cable Power supply cable Option PU: Mating plug (No cable) 2: Power supply cable for 2 VAC (2m) Refer to P. 6 length 0: None 2: 2m 3: 3m : m Axis configuration Motor type Lead (mm) Stroke (mm) Speed (mm/sec) Payload (kg) (Note 1) You can download CAD drawings from our website Dial for Z-Slider 2 - ø H7, Depth 2D CAD AP (Additional Pillar Option) 210 (401) 61 Yst: ø H7, Dept h Zst= 10 0:3. Zst= 10:8. Zst= 10 0:27 0 Zst= 10: T-Groove B x 2 (Note 4) 93 Zst Zst: 10 0 Zst: Xst: S M, Dept h 7 6-M4, Dept h Detailed Diagram S (Detail of Slider) M, Dept h 7 4-M4, Dept h 7 U Dial for Y-Slider 0 2 Detailed Diagram U (Detail of Z-axis Slider) * Refer to P. 7 for dimensions of T-groove. * During home return, the slider moves to the, so be careful to prevent contact with surrounding parts. : Stroke end : Mechanical end (12) T-Groove A (Sam e Shape on the Opposite Side) Applicable Controller s Applicable controller Maximum number of controlled axes Method of operation Power-supply voltage Built-in 3 axes ncremental Program 2 VAC P. 28 Page Caution (Note 1) The maximum speed cannot be achieved based on the maximum payload setting. The payload decreases when the speed is increased. Also note that the maximum acceleration/ deceleration varies depending on the payload. (Refer to P. 37.) (Note 2) t is limited to when the actuator temperature is constant. t does not guarantee the absolute accuracy. (Note 3) The dynamic allowable moment is a value of each axis assuming a traveling life of 000km. (Refer to P. 7 for the dynamic allowable moment.) (Note 4) Secure 2mm or more to the main body frames when mounting a work piece on X slider. TTA-A3G

18 TTA-A3G-- tems Tabletop Robot Gate 3-axis XY-axis: 0mm, Z-axis: 100mm/10mm number Axis configuration Motor type Lead (mm) Stroke (mm) Speed (mm/sec) Payload (kg) (Note 1) 24 or equiv. 0 1~ TTA-A3G B Y-axis ncremental Pulse motor 24 or equiv. 0 1~800 Z-axis /10 1~400 6 * n the above model number, 1 and 2 indicate the XY-axis options, 3 indicates the Z-axis stroke, 4 indicates the Z-axis option(s), indicates the standard /O slot, 6 and 7 indicate the expansion /O slots, 8 indicates the /O cable length, 9 indicates the power supply cable, and 10 indicates the selected option(s). Common s Expansion /O Slot TTA Series /s A3G: 3-axis global (Gate type) * Refer to P. 6 for the details of model items. Not used Expansion PO board (NPN ) Expansion PO board (PNP ) DeviceNet connection board CC-Link connection board PROFBUS-DP connection board EtherNet/P connection board Encoder type : ncremental Y-axis Y-axis Z-axis stroke option stroke option stroke : 0mm : 0mm 10: 100mm E NP PN DV CC PR EP HS: confirmation sensor NM: Non-motor side Z-axis Standard Expansion option /O slot /O slot 1 NP: NPN 1: 10mm PN: PNP B: Brake (Standard) HS: confirmation sensor NM: Non-motor side Expansion /O slot 2 Refer to the expansion /O slot table below. * f the expansion /O slot is not used, enter E. Drive system X/Y/Z-axis ballscrew (X/Y-axis: ø12mm, Z-axis: ø10mm, rolled C10) and Y-axis speeds increased at 1.:1 using a timing belt Positioning repeatability ±0.02mm (Note 2) Lost motion 0.1mm or less Guide Ball-circulation type linear guide Dynamic allowable moment (Note 3) Ambient temperature/humidity /O cable Power supply cable Option PU: Mating plug (No cable) 2: Power supply cable for 2 VAC (2m) Refer to P. 6 length 0: None 2: 2m 3: 3m : m : Ma: 1.9Nm Mb: 1.9Nm Mc: 32.0Nm Z-axis: Ma: 9.7Nm Mb: 9.7Nm Mc: 20.Nm 0 to 40ºC, 8% RH max. (non-condensing) Loadable weight on table* kg Actuator weight 34kg * Table part is defined as the top surface on the main body except for the slider part. t is not the payload of. Dial for Z-Slider 2 - ø H7, Depth You can download CAD drawings from our website. 2D CAD (Note 4) Zst+ 18. Zst: 10 0 Zst: Xst: 0 T-Groove B x2 (Same Shape on the Opposite Side on the Fram e) Zst= 10 0: 3. Zst= 10:8. Zst= 10 0: 2 Zst=1 0:320 T-Groove B x * Refer to P. 7 for dimensions of T-groove. * During home return, the slider moves to the, so be careful to prevent contact with surrounding parts. : Stroke end : Mechanical end (01) Yst: 0 61 S 6-M, Depth 7 6-M4, Depth 7 4-M, Depth Detailed Diagram S (Detail of Slider) M, Depth ø H7, Depth Dial for Y-Slider 0 2 U Detailed Diagram U (Detail of Y-axis Slider) (12) T-Groove A (Same Shape on the Opposite Side) Applicable Controller s Applicable controller Maximum number of controlled axes Method of operation Power-supply voltage Built-in 3 axes ncremental Program 2 VAC P. 28 Page Caution (Note 1) The maximum speed cannot be achieved based on the maximum payload setting. The payload decreases when the speed is increased. Also note that the maximum acceleration/ deceleration varies depending on the payload. (Refer to P. 37.) (Note 2) t is limited to when the actuator temperature is constant. t does not guarantee the absolute accuracy. (Note 3) The dynamic allowable moment is a value of each axis assuming a traveling life of 000km. (Refer to P. 7 for the dynamic allowable moment.) (Note 4) Secure 2mm or more to the main body frames when mounting a work piece on X slider. 17 TTA-A3G--

19 TTA-A3G tems * Refer to P. 6 for the details of model items. /s number Tabletop Robot Gate 3-axis XY-axis: 400mm, Z-axis: 100mm/10mm Payload (kg) (Note 1) 24 or equiv ~ TTA-A3G B Y-axis ncremental Pulse motor 24 or equiv ~800 Z-axis /10 1~400 6 * n the above model number, 1 and 2 indicate the XY-axis options, 3 indicates the Z-axis stroke, 4 indicates the Z-axis option(s), indicates the standard /O slot, 6 and 7 indicate the expansion /O slots, 8 indicates the /O cable length, 9 indicates the power supply cable, and 10 indicates the selected option(s). Common s Expansion /O Slot X/Y/Z-axis ballscrew (X/Y-axis: ø12mm, Z-axis: ø10mm, rolled C10) Drive system and Y-axis speeds increased at 1.:1 using a timing belt Not used E Positioning repeatability ±0.02mm (Note 2) Expansion PO board (NPN ) NP Lost motion 0.1mm or less Expansion PO board (PNP ) PN Guide Ball-circulation type linear guide DeviceNet connection board DV Dynamic allowable moment : Ma: 1.9Nm Mb: 1.9Nm Mc: 32.0Nm CC-Link connection board CC (Note 3) Z-axis: Ma: 9.7Nm Mb: 9.7Nm Mc: 20.Nm PROFBUS-DP connection board PR Ambient temperature/humidity 0 to 40ºC, 8% RH max. (non-condensing) EtherNet/P connection board EP Loadable weight on table* 40kg Actuator weight 40kg * Table part is defined as the top surface on the main body except for the slider part. t is not the payload of. You can download CAD drawings from our website. 2D CAD TTA Series A3G: 3-axis global (Gate type) Encoder type : ncremental Y-axis Y-axis Z-axis stroke option stroke option stroke 40: 400mm 40: 400mm 10: 100mm HS: confirmation sensor NM: Non-motor side 82 8 Z-axis Standard Expansion option /O slot /O slot 1 NP: NPN 1: 10mm PN: PNP B: Brake (Standard) HS: confirmation sensor NM: Non-motor side ø H7, Depth ø H7, Depth (Note 4) Zst+ 18. Zst: 10 0 Zst: Xst: T-Groove Bx2 (Same Shape on the Opposite Side on the Fram e) Expansion /O slot 2 Refer to the expansion /O slot table below. * f the expansion /O slot is not used, enter E. /O cable Power supply cable Option PU: Mating plug (No cable) 2: Power supply cable for 2 VAC (2m) Refer to P. 6 length 0: None 2: 2m 3: 3m : m Axis configuration Motor type Lead (mm) Stroke (mm) Speed (mm/sec) Dial for Z-Slider * Refer to P. 7 for dimensions of T-groove. * During home return, the slider moves to the, so be careful to prevent contact with surrounding parts. : Stroke end : Mechanical end (1) Yst: 40 0 S 6-M, Depth 7 6-M4, Depth Detailed Diagram S (Detail of Slider) M, Dept h 7 4-M4, Dept h Zst= 10 0: 8. Zst= 10:63. Zst= 10 0: 320 Zst=1 0:3 U T-Groove B x Dial for Y-Slider Detailed Diagram U (Detail of Z-axis Slider) (12) T-Groove A (Same Shape on the Opposite Side) Applicable Controller s Applicable controller Maximum number of controlled axes Method of operation Power-supply voltage Built-in 3 axes ncremental Program 2 VAC P. 28 Page Caution (Note 1) The maximum speed cannot be achieved based on the maximum payload setting. The payload decreases when the speed is increased. Also note that the maximum acceleration/ deceleration varies depending on the payload. (Refer to P. 37.) (Note 2) t is limited to when the actuator temperature is constant. t does not guarantee the absolute accuracy. (Note 3) The dynamic allowable moment is a value of each axis assuming a traveling life of 000km. (Refer to P. 7 for the dynamic allowable moment.) (Note 4) Secure 2mm or more to the main body frames when mounting a work piece on X slider. TTA-A3G

20 TTA-A3G-0-0 tems * Refer to P. 6 for the details of model items. /s Tabletop Robot Gate 3-axis XY-axis: 00mm, Z-axis: 100mm/10mm number Axis configuration Motor type Lead (mm) Stroke (mm) Speed (mm/sec) Payload (kg) (Note 1) 24 or equiv. 00 1~ TTA-A3G B Y-axis ncremental Pulse motor 24 or equiv. 00 1~800 Z-axis /10 1~400 6 * n the above model number, 1 and 2 indicate the XY-axis options, 3 indicates the Z-axis stroke, 4 indicates the Z-axis option(s), indicates the standard /O slot, 6 and 7 indicate the expansion /O slots, 8 indicates the /O cable length, 9 indicates the power supply cable, and 10 indicates the selected option(s). Common s Expansion /O Slot Not used Expansion PO board (NPN ) Expansion PO board (PNP ) DeviceNet connection board CC-Link connection board PROFBUS-DP connection board EtherNet/P connection board You can download CAD drawings from our website. 2D CAD TTA Series A3G: 3-axis global (Gate type) Encoder type : ncremental * Refer to P. 7 for dimensions of T-groove. * During home return, the slider moves to the, so be careful to prevent contact with surrounding parts. : Stroke end : Mechanical end 0 0 Y-axis Y-axis Z-axis stroke option stroke option stroke 0: 00mm 0: 00mm 10: 100mm E NP PN DV CC PR EP HS: confirmation sensor NM: Non-motor side (1) Zst= 10 0: 8. Zst= 10:6 3. Zst= 10 0: 320 Zst=1 0: T-Groove B x 2 180(Note 4) Zst: 10 0 Zst: Xst: Zst T-Groove Bx2 (Same Shape on the Opposite Side on the Fram e) Yst: Z-axis Standard Expansion option /O slot /O slot 1 NP: NPN 1: 10mm PN: PNP B: Brake (Standard) HS: confirmation sensor NM: Non-motor side S Drive system X/Y/Z-axis ballscrew (X/Y-axis: ø12mm, Z-axis: ø10mm, rolled C10) and Y-axis speeds increased at 1.:1 using a timing belt Positioning repeatability ±0.02mm (Note 2) Lost motion 0.1mm or less Guide Ball-circulation type linear guide Dynamic allowable moment : Ma: 1.9Nm Mb: 1.9Nm Mc: 32.0Nm (Note 3) Z-axis: Ma: 9.7Nm Mb: 9.7Nm Mc: 20.Nm Ambient temperature/humidity 0 to 40ºC, 8% RH max. (non-condensing) Loadable weight on table 0kg Actuator weight 47kg * Table part is defined as the top surface on the main body except for the slider part. t is not the payload of Expansion /O slot 2 Refer to the expansion /O slot table below. * f the expansion /O slot is not used, enter E. /O cable Power supply cable Option PU: Mating plug (No cable) 2: Power supply cable for 2 VAC (2m) Refer to P. 6 length 0: None 2: 2m 3: 3m : m Dial for Z-Slider M, Depth 7 6-M4, Depth 7 4-M, Depth 7 4-M4, Depth ø H7, Depth Detailed Diagram S (Detail of Slider) 2 - ø H7, Depth 0 2 U Dial for Y-Slider Detailed Diagram U (Detail of Y-axis Slider) (12) T-Groove A (Same Shape on the Opposite Side) Applicable Controller s Applicable controller Maximum number of controlled axes Method of operation Power-supply voltage Built-in 3 axes ncremental Program 2 VAC P. 28 Page Caution (Note 1) The maximum speed cannot be achieved based on the maximum payload setting. The payload decreases when the speed is increased. Also note that the maximum acceleration/ deceleration varies depending on the payload. (Refer to P. 37.) (Note 2) t is limited to when the actuator temperature is constant. t does not guarantee the absolute accuracy. (Note 3) The dynamic allowable moment is a value of each axis assuming a traveling life of 000km. (Refer to P. 7 for the dynamic allowable moment.) (Note 4) Secure 2mm or more to the main body frames when mounting a work piece on X slider. 19 TTA-A3G-0-0

21 TTA-C3G-20-1 tems TTA Series /s C3G: 3-axis global (Cantilever type) * Refer to P. 6 for the details of model items. Encoder type : ncremental number 20 1 Y-axis Y-axis Z-axis stroke option stroke option stroke 20: 200mm 1: 10mm 10: 100mm HS: confirmation sensor NM: Non-motor side Tabletop Robot Cantilever 3-axis : 200mm, Y-axis: 10mm, Z-axis: 100mm/10mm Z-axis Standard Expansion option /O slot /O slot 1 NP: NPN 1: 10mm PN: PNP B: Brake (Standard) HS: confirmation sensor NM: Non-motor side Payload (kg) (Note 1) 24 or equiv ~0 TTA-C3G B Y-axis ncremental Pulse motor 24 or equiv. 10 1~40 Z-axis /10 1~400 6 * n the above model number, 1 and 2 indicate the XY-axis options, 3 indicates the Z-axis stroke, 4 indicates the Z-axis option(s), indicates the standard /O slot, 6 and 7 indicate the expansion /O slots, 8 indicates the /O cable length, 9 indicates the power supply cable, and 10 indicates the selected option(s). Common s Expansion /O Slot X/Y/Z-axis ballscrew (X/Y-axis: ø12mm, Z-axis: ø10mm, rolled C10) Drive system and Y-axis speeds increased at 1.:1 using a timing belt Not used E Positioning repeatability ±0.02mm (Note 2) Expansion PO board (NPN ) NP Lost motion 0.1mm or less Expansion PO board (PNP ) PN Guide Ball-circulation type linear guide DeviceNet connection board DV Dynamic allowable moment : Ma: 12.6Nm Mb: 12.6Nm Mc: 37.4Nm CC-Link connection board CC (Note 3) Z-axis: Ma: 9.7Nm Mb: 9.7Nm Mc: 20.Nm PROFBUS-DP connection board PR Ambient temperature/humidity 0 to 40ºC, 8% RH max. (non-condensing) EtherNet/P connection board EP Loadable weight on table 40kg Actuator weight 29kg Expansion /O slot 2 Refer to the expansion /O slot table below. * f the expansion /O slot is not used, enter E. /O cable Power supply cable Option PU: Mating plug (No cable) 2: Power supply cable for 2 VAC (2m) Refer to P. 6 length 0: None 2: 2m 3: 3m : m Axis configuration Motor type Lead (mm) Stroke (mm) Speed (mm/sec) You can download CAD drawings from our website. 2D CAD Zst= 10 0: 74. Zst= 10:6 24. Zst= 10 0:34 0 Zst= 10:39 0 AP (Additional Pillar Option) * Refer to P. 7 for dimensions of T-groove. * During home return, the slider moves to the, so be careful to prevent contact with surrounding parts. : Stroke end : Mechanical end U Dial for X-Slider T-Groove B x (436) (163) Zst Yst: Zst: 10 0 Zst:10 77 (11.) Operat ing Ranges 0 Xst: 200 (34.7) 48 0 Xst: Operat ing Ranges 21. Dial for Z-Slider Dial for Y-Slider 2 12-M4, Dept h 8 Frame Surface 3 - ø H7, Depth M, Dept h 7 4-M4, Dept h x0p= 20 View for Top Base Hole Allocation ø H7, Dept h 126 Detailed Diagram U (Detail of Z-axis Slider) (16.8) Frame Surface T-Groove A (Same Shape on the Opposite Side) Applicable Controller s Applicable controller Maximum number of controlled axes Method of operation Power-supply voltage Built-in 3 axes ncremental Program 2 VAC P. 28 Page Caution (Note 1) The maximum speed cannot be achieved based on the maximum payload setting. The payload decreases when the speed is increased. Also note that the maximum acceleration/ deceleration varies depending on the payload. (Refer to P. 37.) (Note 2) t is limited to when the actuator temperature is constant. t does not guarantee the absolute accuracy. (Note 3) The dynamic allowable moment is a value of each axis assuming a traveling life of 000km. (Refer to P. 7 for the dynamic allowable moment.) TTA-C3G

22 TTA-C3G--2 tems TTA Series /s Tabletop Robot Cantilever 3-axis : 0mm, Y-axis: 20mm, Z-axis: 100mm/10mm number Axis configuration Motor type Lead (mm) Stroke (mm) Speed (mm/sec) Payload (kg) (Note 1) 24 or equiv. 0 1~0 TTA-C3G B Y-axis ncremental Pulse motor 24 or equiv. 20 1~640 Z-axis /10 1~400 6 * n the above model number, 1 and 2 indicate the XY-axis options, 3 indicates the Z-axis stroke, 4 indicates the Z-axis option(s), indicates the standard /O slot, 6 and 7 indicate the expansion /O slots, 8 indicates the /O cable length, 9 indicates the power supply cable, and 10 indicates the selected option(s). Common s Expansion /O Slot C3G: 3-axis global (Cantilever type) * Refer to P. 6 for the details of model items. Not used Expansion PO board (NPN ) Expansion PO board (PNP ) DeviceNet connection board CC-Link connection board PROFBUS-DP connection board EtherNet/P connection board Encoder type : ncremental 2 Y-axis Y-axis Z-axis stroke option stroke option stroke : 0mm 2: 20mm 10: 100mm E NP PN DV CC PR EP HS: confirmation sensor NM: Non-motor side Z-axis Standard Expansion option /O slot /O slot 1 NP: NPN 1: 10mm PN: PNP B: Brake (Standard) HS: confirmation sensor NM: Non-motor side Expansion /O slot 2 Refer to the expansion /O slot table below. * f the expansion /O slot is not used, enter E. Drive system X/Y/Z-axis ballscrew (X/Y-axis: ø12mm, Z-axis: ø10mm, rolled C10) and Y-axis speeds increased at 1.:1 using a timing belt Positioning repeatability ±0.02mm (Note 2) Lost motion 0.1mm or less Guide Dynamic allowable moment (Note 3) Ambient temperature/humidity Loadable weight on table Actuator weight /O cable Power supply cable Option PU: Mating plug (No cable) 2: Power supply cable for 2 VAC (2m) Refer to P. 6 length 0: None 2: 2m 3: 3m : m Ball-circulation type linear guide : Ma: 12.6Nm Mb: 12.6Nm Mc: 37.4Nm Z-axis: Ma: 9.7Nm Mb: 9.7Nm Mc: 20.Nm 0 to 40ºC, 8% RH max. (non-condensing) kg 37kg Dial for Z-Slider 12. x7 p=37 You can download CAD drawings from our website M4, Depth 8 Frame Surface 2D CAD * Refer to P. 7 for dimensions of T-groove. * During home return, the slider moves to the, so be careful to prevent contact with surrounding parts. : Stroke end : Mechanical end (36) Yst: Operati ng Ranges Xst: ø H7, Depth View for Top Base Hole Allocation Zst= 10 0: 74. Zst= 10:62 4. Zst= 10 0:340 Zst= 10: U Dial for X-Slider T-Groove B x Zst+ 18. (163) 108. Zst: 10 0 Zst:10 77 (3) 8 0 Xst: Operat ing Ranges Dial for Y-Slider 4-M, Dept h 7 4-M4, Dept h ø H7, Depth 126 Detailed Diagram U (Detail of Z-axis Slider) (16.8) T-Groove A (Same Shape on the Opposite Side) Frame Surface Applicable Controller s Applicable controller Maximum number of controlled axes Method of operation Power-supply voltage Built-in 3 axes ncremental Program 2 VAC P. 28 Page Caution (Note 1) The maximum speed cannot be achieved based on the maximum payload setting. The payload decreases when the speed is increased. Also note that the maximum acceleration/ deceleration varies depending on the payload. (Refer to P. 37.) (Note 2) t is limited to when the actuator temperature is constant. t does not guarantee the absolute accuracy. (Note 3) The dynamic allowable moment is a value of each axis assuming a traveling life of 000km. (Refer to P. 7 for the dynamic allowable moment.) 21 TTA-C3G--2

23 TTA-C3G-40-3 tems TTA Series /s C3G: 3-axis global (Cantilever type) * Refer to P. 6 for the details of model items. Encoder type : ncremental number 40 3 Y-axis Y-axis Z-axis stroke option stroke option stroke 40: 400mm 3: mm 10: 100mm HS: confirmation sensor NM: Non-motor side Tabletop Robot Cantilever 3-axis : 400mm, Y-axis: mm, Z-axis: 100mm/10mm Z-axis Standard Expansion option /O slot /O slot 1 NP: NPN 1: 10mm PN: PNP B: Brake (Standard) HS: confirmation sensor NM: Non-motor side Payload (kg) (Note 1) 24 or equiv ~800 TTA-C3G B Y-axis ncremental Pulse motor 24 or equiv. 1~800 Z-axis /10 1~400 6 * n the above model number, 1 and 2 indicate the XY-axis options, 3 indicates the Z-axis stroke, 4 indicates the Z-axis option(s), indicates the standard /O slot, 6 and 7 indicate the expansion /O slots, 8 indicates the /O cable length, 9 indicates the power supply cable, and 10 indicates the selected option(s). Common s Expansion /O Slot X/Y/Z-axis ballscrew (X/Y-axis: ø12mm, Z-axis: ø10mm, rolled C10) Drive system and Y-axis speeds increased at 1.:1 using a timing belt Not used E Positioning repeatability ±0.02mm (Note 2) Expansion PO board (NPN ) NP Lost motion 0.1mm or less Expansion PO board (PNP ) PN Guide Ball-circulation type linear guide DeviceNet connection board DV Dynamic allowable moment : Ma: 12.6Nm Mb: 12.6Nm Mc: 37.4Nm CC-Link connection board CC (Note 3) Z-axis: Ma: 9.7Nm Mb: 9.7Nm Mc: 20.Nm PROFBUS-DP connection board PR Ambient temperature/humidity 0 to 40ºC, 8% RH max. (non-condensing) EtherNet/P connection board EP Loadable weight on table 80kg Actuator weight 44kg Expansion /O slot 2 Refer to the expansion /O slot table below. * f the expansion /O slot is not used, enter E. /O cable Power supply cable Option PU: Mating plug (No cable) 2: Power supply cable for 2 VAC (2m) Refer to P. 6 length 0: None 2: 2m 3: 3m : m Axis configuration Motor type Lead (mm) Stroke (mm) Speed (mm/sec) Dial for Z-Slider 20 x100p=00 You can download CAD drawings from our website M, Dept h 10 Frame Surface 2D CAD * Refer to P. 7 for dimensions of T-groove. * During home return, the slider moves to the, so be careful to prevent contact with surrounding parts. : Stroke end : Mechanical end (636) Yst: Operat ing Ranges Xst: ø H7, Depth View for Top Base Hole Allocation Zst= 10 0:624. Zst= 10:674. Zst= 10 0:39 0 Zst= 10: U Dial for X-Slider T-Groove B x Zst+ 18. (213) 108. Zst: 10 0 Zst:10 77 Xst: Operat ing Ranges (17) Dial for Y-Slider 4-M, Dept h 7 4-M4, Dept h (Reame r Pitch Toleranc e ±0.02) 2 - ø H7, Depth 126 Detailed Diagram U (Detail of Z-axis Slider) (16.8) T-Groove A (Same Shape on the Opposite Side) Frame Surface Applicable Controller s Applicable controller Maximum number of controlled axes Method of operation Power-supply voltage Built-in 3 axes ncremental Program 2 VAC P. 28 Page Caution (Note 1) The maximum speed cannot be achieved based on the maximum payload setting. The payload decreases when the speed is increased. Also note that the maximum acceleration/ deceleration varies depending on the payload. (Refer to P. 37.) (Note 2) t is limited to when the actuator temperature is constant. t does not guarantee the absolute accuracy. (Note 3) The dynamic allowable moment is a value of each axis assuming a traveling life of 000km. (Refer to P. 7 for the dynamic allowable moment.) TTA-C3G

24 TTA-C3G-0-4 tems TTA Series /s Tabletop Robot Cantilever 3-axis : 00mm, Y-axis: 40mm, Z-axis: 100mm/10mm number Axis configuration Motor type Lead (mm) Stroke (mm) Speed (mm/sec) Payload (kg) (Note 1) 24 or equiv. 00 1~800 TTA-C3G B Y-axis ncremental Pulse motor 24 or equiv. 40 1~800 Z-axis /10 1~400 6 * n the above model number, 1 and 2 indicate the XY-axis options, 3 indicates the Z-axis stroke, 4 indicates the Z-axis option(s), indicates the standard /O slot, 6 and 7 indicate the expansion /O slots, 8 indicates the /O cable length, 9 indicates the power supply cable, and 10 indicates the selected option(s). Common s Expansion /O Slot C3G: 3-axis global (Cantilever type) * Refer to P. 6 for the details of model items. Not used Expansion PO board (NPN ) Expansion PO board (PNP ) DeviceNet connection board CC-Link connection board PROFBUS-DP connection board EtherNet/P connection board Encoder type : ncremental 0 4 Y-axis Y-axis Z-axis stroke option stroke option stroke 0: 00mm 4: 40mm 10: 100mm E NP PN DV CC PR EP HS: confirmation sensor NM: Non-motor side Z-axis Standard Expansion option /O slot /O slot 1 NP: NPN 1: 10mm PN: PNP B: Brake (Standard) HS: confirmation sensor NM: Non-motor side Expansion /O slot 2 Refer to the expansion /O slot table below. * f the expansion /O slot is not used, enter E. Drive system X/Y/Z-axis ballscrew (X/Y-axis: ø12mm, Z-axis: ø10mm, rolled C10) and Y-axis speeds increased at 1.:1 using a timing belt Positioning repeatability ±0.02mm (Note 2) Lost motion 0.1mm or less Guide Dynamic allowable moment (Note 3) Ambient temperature/humidity Loadable weight on table Actuator weight /O cable Power supply cable Option PU: Mating plug (No cable) 2: Power supply cable for 2 VAC (2m) Refer to P. 6 length 0: None 2: 2m 3: 3m : m Ball-circulation type linear guide : Ma: 12.6Nm Mb: 12.6Nm Mc: 37.4Nm Z-axis: Ma: 9.7Nm Mb: 9.7Nm Mc: 20.Nm 0 to 40ºC, 8% RH max. (non-condensing) 100kg 1kg Dial for Z-Slider 7. x12p=62 You can download CAD drawings from our website M, Depth 10 Frame Surface 2D CAD Zst= 10 0:624. Zst= 10: Zst+ 18. (213) 108. Zst: 10 0 Zst: Xst: Operat ing Ranges (17) Dial for Y-Slider * Refer to P. 7 for dimensions of T-groove. * During home return, the slider moves to the, so be careful to prevent contact with surrounding parts. (736) Yst: 40 : Stroke end : Mechanical end Operat ing Ranges Xst: ø H7, Depth View for Top Base Hole Allocation Zst= 10 0:39 0 Zst= 10:44 0 U Dial for X-Slider T-Groove B x M, Dept h 7 4-M4, Dept h (Reame r Pitch Toleranc e ±0.02) 2 - ø H7, Depth (16.8) T-Groove A (Sam e Shape on the Opposite Side) Frame Surface Detailed Diagram U (Detail of Z-axis Slider) Applicable Controller s Applicable controller Maximum number of controlled axes Method of operation Power-supply voltage Built-in 3 axes ncremental Program 2 VAC P. 28 Page Caution (Note 1) The maximum speed cannot be achieved based on the maximum payload setting. The payload decreases when the speed is increased. Also note that the maximum acceleration/ deceleration varies depending on the payload. (Refer to P. 37.) (Note 2) t is limited to when the actuator temperature is constant. t does not guarantee the absolute accuracy. (Note 3) The dynamic allowable moment is a value of each axis assuming a traveling life of 000km. (Refer to P. 7 for the dynamic allowable moment.) 23 TTA-C3G-0-4

25 Vertical Axis + Rotation TTA-A4G ZR ZR with 4 axes is now added to the lineup of TTA Series (Gate ). t is equipped with rotary axis (R-axis) on the end of the vertical axis (Z-axis). ZR-axis tems TTA Series A4G: 4-axis ZR type global Encoder type : ncremental stroke 20: 200mm : 0mm 40: 400mm 0: 00mm option Y-axis Y-axis stroke option 20: 200mm : 0mm 40: 400mm 0: 00mm HS: confirmation sensor NM: Non-motor side Z-axis stroke 10: 100mm 1: 10mm Z-axis option B: Brake (Standard) CO: With cover HS: confirmation sensor NM: Non-motor side R-axis stroke 18L:±180deg. 36L:±3deg. (Equipped with home limit switch) R-axis option Standard /O slot NP: NPN PN: PNP ML: Motor Reversed to Left (Standard) MR: Motor Reversed to Right Expansion /O slot 1 Expansion /O slot 2 Refer to the expansion /O slot table below. * f the expansion /O slot is not used, enter E. /O cable length 0: None 2: 2m 3: 3m : m Power supply cable PU: Mating plug (No cable) 2: Power supply cable for 2 VAC (2m) Option Refer to P. 6 * Refer to P. 6 for the details of model items. /s number TTA-A4G TTA-A4G-- - TTA-A4G TTA-A4G--0-0 Axis configuration Lead (mm) Stroke (mm) Speed (mm/sec) Payload (kg) (Note 1) Max. Load Moment of nertia (kg m 2 ) 24 or equiv ~ Y-axis 24 or equiv ~800 Z-axis /10 1~400 R-axis 18L : ±180deg deg./s 36L : ±3deg or equiv. 0 1~ Y-axis 24 or equiv. 0 1~800 Z-axis /10 1~400 R-axis 18L : ±180deg deg./s 36L : ±3deg or equiv ~ Y-axis 24 or equiv ~800 Z-axis /10 1~400 R-axis 18L: ±180deg deg./s 36L: ±3deg or equiv. 00 1~ Y-axis 24 or equiv. 00 1~800 Z-axis /10 1~400 R-axis 18L: ±180deg deg./s 36L : ±3deg Expansion /O Slot Not used Expansion PO board (NPN ) Expansion PO board (PNP ) DeviceNet connection board CC-Link connection board PROFBUS-DP connection board EtherNet/P connection board Applicable Controller s Applicable controller Maximum number of controlled axes E NP PN DV CC PR EP Method of operation Power-supply voltage Built-in 4 axes ncremental Program 2 VAC P.28 Page Common s Drive system Positioning repeatability Lost motion Guide Dynamic allowable moment (Note 3) Overhang load length Ambient temperature/humidity Loadable weight on table* Actuator weight Caution X/Y/Z-axis ballscrew (X/Y-axis: ø12mm, Z-axis: ø10mm, rolled C10) and Y-axis speeds increased at 1.:1 using a timing belt X/Y/Z-axis: ±0.02mm R-axis: ±0.01deg. (Note 2) X/Y/Z-axis: 0.1mm or less R-axis: 0.06deg. or less Ball-circulation type linear guide : Ma: 1.9Nm Mb: 1.9Nm Mc: 32.0Nm Z-axis: Ma: 9.7Nm Mb: 9.7Nm Mc: 20.Nm Z-axis: Ma: 7mm or less Mb: 180mm or less Mc: 180mm or less R-axis: Radius 100mm or less 0 to 40ºC, 8% RH max. (non-condensing) 20-20: 20kg -: kg 40-40: 40kg 0-0: 0kg 20-20: 28kg -: 3kg 40-40: 41kg 0-0: 48kg * Table part is defined as the top surface on the main body except for the slider part. t is not the payload of. (Note 1) The maximum speed cannot be achieved based on the maximum payload setting. The payload decreases when the speed is increased. Also note that the maximum acceleration/deceleration varies depending on the payload. (Refer to P. 37) Note that the rotary axis may not be able to perform the maximum velocity depending on the value of the load moment of inertia. (Refer to P. 38) (Note 2) t is limited to when the actuator temperature is constant. t does not guarantee the absolute accuracy. (Note 3) The dynamic allowable moment is a value of each axis assuming a traveling life of 000km. (Refer to P. 7 for the dynamic allowable moment.) (Note 4) Secure 2mm or more to the main body frames when mounting a work piece on X slider. TTA-A4G- - 24

26 TTA-A4G A You can download CAD drawings from our website. 2D CAD 8 82 Dial for Z-Slider * Refer to P. 7 for dimensions of T-groove. * During home return, the slider moves to the, so be careful to prevent contact with surrounding parts. : Stroke end : Mechanical end B C 61 Yst: D S M E When option cover (model code: CO) is selected, a cover is attached on the front of Z-axis and the slider is hidden. J K Zst= 10 0:74 0. Zst= 10:79 0. Zst= 10 0:47 Zst= 10:2 W U T-Groove B x 2 F(Note 4) 23. * Zst= 100: 100 Zst= 10: Zst= 10 0: 383. Zst= 10:433. (200) Zst: 10 0 Zst:10 14 Zst: 10 0 Zst:10 3. :Z-Slider :Z-Slider :Z-Slider :Z-Slider :Spline :S pline :Spline :Spline Xst:L Dial for Y-Slider T-Groove x 2 (Same Shape on Opposite Side of Fram e) G H (12) T-Groove A (Same Shape on the Opposite Side) * Does not apply to 2020 type 4 - ø H7, Depth 3 (Reamer PitchTolerance ±0.02) 43 R-axis Rotational Position Adjusting Dial 20 M, Dept h 10 ø10 h7 19 R-axis Surface 4-M, Dept h 7 4-M4, Dept h ø H7, Dept h M, Dept h 7 Detailed Diagram W (Detail of R Spline End) Detailed Diagram U (Detail of Z-axis Slider) 6-M4, Dept h Detailed Diagram S (Detail of Slider) 2 TTA-A4G- - Stroke type A B C D E F G H J K L M

27 Vertical Axis + Rotation ZR TTA-C4G ZR with 4 axes is now added to the lineup of TTA Series (Cantilever ). t is equipped with rotary axis (R-axis) on the end of the vertical axis (Z-axis). ZR-axis tems TTA Series C4G: 4-axis ZR type global Encoder type : ncremental stroke 20: 200mm : 0mm 40: 400mm 0: 00mm option Y-axis Y-axis stroke option 1: 10mm 2: 20mm 3: mm 4: 40mm HS: confirmation sensor NM: Non-motor side Z-axis stroke 10: 100mm 1: 10mm Z-axis option B: Brake (Standard) CO: With cover HS: confirmation sensor NM: Non-motor side R-axis stroke 18L:±180deg. 36L:±3deg. (Equipped with home limit switch) R-axis option Standard /O slot NP: NPN PN: PNP MR: Motor Reversed to Right (Standard) Expansion /O slot 1 Expansion /O slot 2 Refer to the expansion /O slot table below. * f the expansion /O slot is not used, enter E. /O cable length 0: None 2: 2m 3: 3m : m Power supply cable PU: Mating plug (No cable) 2: Power supply cable for 2 VAC (2m) Option Refer to P. 6 * Refer to P. 6 for the details of model items. /s number TTA-C4G TTA-C4G-- -2 TTA-C4G TTA-C4G--0-4 Expansion /O Slot Not used Expansion PO board (NPN ) Expansion PO board (PNP ) DeviceNet connection board CC-Link connection board PROFBUS-DP connection board EtherNet/P connection board E NP PN DV CC PR EP Axis configuration Lead (mm) Common s Drive system Positioning repeatability Lost motion Guide Dynamic allowable moment (Note 3) Overhang load length Ambient temperature/humidity Loadable weight on table Actuator weight Stroke (mm) Speed (mm/sec) Payload (kg) (Note 1) X/Y/Z-axis ballscrew (X/Y-axis: ø12mm, Z-axis: ø10mm, rolled C10) and Y-axis speeds increased at 1.:1 using a timing belt X/Y/Z-axis: ±0.02mm R-axis: ±0.01deg. (Note 2) X/Y/Z-axis: 0.1mm or less R-axis: 0.06deg. or less Ball-circulation type linear guide : Ma: 12.6Nm Mb: 12.6Nm Mc: 37.4Nm Z-axis: Ma: 9.7Nm Mb: 9.7Nm Mc: 20.Nm Z-axis: Ma: 7mm or less Mb: 180mm or less Mc: 180mm or less R-axis: Radius 100mm or less 0 to 40ºC, 8% RH max. (non-condensing) 20-1: 40kg -2: kg 40-3: 80kg 0-4: 100kg 20-1: 36kg -2: 41kg 40-3: 48kg 0-4: 6kg Max. Load Moment of nertia (kg m 2 ) 24 or equiv ~0 Y-axis 24 or equiv. 10 1~40 Z-axis /10 1~400 R-axis 18L : ±180deg deg./s 36L : ±3deg or equiv. 0 1~0 Y-axis 24 or equiv. 20 1~640 Z-axis /10 1~400 R-axis 18L : ±180deg deg./s 36L : ±3deg or equiv ~800 Y-axis 24 or equiv. 1~800 Z-axis /10 1~400 R-axis 18L : ±180deg deg./s 36L : ±3deg or equiv. 00 1~800 Y-axis 24 or equiv. 40 1~800 Z-axis /10 1~400 R-axis 18L : ±180deg deg./s 36L : ±3deg Applicable Controller s Applicable controller Maximum number of controlled axes Method of operation Power-supply voltage Built-in 4 axes ncremental Program 2 VAC P.28 Page Caution (Note 1) The maximum speed cannot be achieved based on the maximum payload setting. The payload decreases when the speed is increased. Also note that the maximum acceleration/deceleration varies depending on the payload. (Refer to P. 37) Note that the rotary axis may not be able to perform the maximum velocity depending on the value of the load moment of inertia. (Refer to P. 38) (Note 2) t is limited to when the actuator temperature is constant. t does not guarantee the absolute accuracy. (Note 3) The dynamic allowable moment is a value of each axis assuming a traveling life of 000km. (Refer to P. 7 for the dynamic allowable moment.) TTA-C4G- - 26

28 Dial for Z-Slider Dial for X-Slider 1 L 108. (Q) S R Xst:D Z-Slider Operating Ranges Zst= 10 0: 9. Zst= 10:79. Zst= 10 0:47 Zst= 10:2 (0) T-Groove B x 2 (200) Zst+24 8 Zst: 10 0 Zst:10 Rst+ 3. Rst: 10 0 Rst: Rst= 10 0:10 0 Rst= 10:0 3. L 14 A (Xst:D) 7 Dial for Y-Slider 126 TTA-C4G - - You can download CAD drawings from our website. 2D CAD * Refer to P. 7 for dimensions of T-groove. * During home return, the slider moves to the, so be careful to prevent contact with surrounding parts. : Stroke end : Mechanical end F 201 / 2 stroke type G= H 0 Yst:B R Spline Operating Ranges A Xst: C R Spline Operation Range (B) Yst:C 0 Z-Slider R Operating Ranges Xst: D E 21. Frame Surface J 3 - ø H7, Depth 0 K K View for Top Base Hole Allocation When optional cover (model code : CO) is selected, a cover is at tache d on the front of Z-axis and the slider is hidden. F 18-M, Depth 10 Frame Surface 403 / 04 stroke type V W * R Spline Operating Ranges 1** * J x G= H 6 - ø H7, Depth K K View for Top Base Hole Allocation M N P (16.8) T-Groove A (Same Shape on the Opposite Side) Frame Surface * Does not apply to 201 type * Does not apply to 201 type ** When 201 type is selected R-axis Surface TTA-C4G- - M Dept h 10 ø10 H7 Detailed Diagram W (Detail of R Spline End) R-axis Rotation al Position Adjusting Dial 43 3 (Reamer Pitch Tolerance ±0.02) 4-M, Dept h 7 4-M4, Depth ø H7, Depth 0 2 Detailed Diagram V (Detail of Z-axis Slider) Stroke type A B C D E F G H J K L M N P Q R 0 0 S T

29 Tabletop Robot Series Controller s Controller s Motor type Applicable encoder Data-storage device tem Number of program steps 9999 Number of positions 000 Number of programs 2 Number of multi-tasking programs 16 Operation mode Serial communication Program Positioner Pulse train Communication method Pulse motor (Servo control) ncremental encoder Flash ROM/FRAM RS232 SO interface Baud rate 9.6, 19.2, 38.4, 7.6, 76.8, 11.2kbps Live wire TP port insertion/removal USB Number of input 16 points nput voltage DC24V ±10% nput current 7mA per circuit nput ON voltage Min. DC16V OFF voltage Max. DCV Leak current Allowable leak current: 1mA max. Standard /O solation method Photocoupler isolation nterface Number of output 16 points Load voltage DC24V ±10% Output Maximum current 100mA per point, 400mA per 8 points (Note 1) Saturated voltage Max.3V Leak current Max 0.1mA solation method Photocoupler isolation Expansion PO NPN (16N/16OUT) Expansion PO PNP (16N/16OUT) Conforming expansion /O CC-Link (remote device) interface DeviceNet PROFBUS-DP EtherNet/P Brake output voltage DC24V ±10% Connectable brake power Max.W Calendar/clock function Retention time Approx. 10 days Charge time Approx. 100 hours Protective functions Monitoring of overcurrent, fan speed drop, etc. Power supply capacity 2V: 1.2A (Note 1) The total load current for every 8 points from Standard /O No. 316 is 400mA. (The maximum value per point is 100mA.) 28

30 Tabletop Robot Series PO Signal Tables PO Signal Table Standard PO Connector Pin Layout Pin No. Classification Assignment Pin No. Classification Assignment 1A 24V * P24 1B OUT0 2A 24V * P24 2B OUT1 3A - - 3B OUT2 4A - - 4B OUT3 A N0 B OUT4 6A N1 6B OUT 7A N2 7B OUT6 8A N3 8B OUT7 Output 9A N4 9B OUT8 10A N 10B OUT9 11A N6 11B OUT10 12A N7 12B OUT11 nput 13A N8 13B OUT12 14A N9 14B OUT13 1A N10 1B OUT14 16A N11 16B OUT1 17A N12 17B A N13 18B A N14 19B 0V * N 20A N1 20B 0V * N * [24V]/[0V] indicates the 24V power input when the service power output is OFF, or 24V power output when the service power output is ON. * [24V]/[0V] must not be connected to an external power supply when the service power output is ON. Expansion PO Connector Pin Layout Pin No. Classification Assignment Pin No. Classification Assignment 1A 24V * P24 1B OUT0 2A 24V * P24 2B OUT1 3A - - 3B OUT2 4A - - 4B OUT3 A N0 B OUT4 6A N1 6B OUT 7A N2 7B OUT6 8A N3 8B OUT7 Output 9A N4 9B OUT8 10A N 10B OUT9 11A N6 11B OUT10 12A N7 12B OUT11 nput 13A N8 13B OUT12 14A N9 14B OUT13 1A N10 1B OUT14 16A N11 16B OUT1 17A N12 17B A N13 18B A N14 19B 0V * N 20A N1 20B 0V * N * [24V]/[0V] (not connected to the service power) must be supplied with power even when the service power output is ON. /O cable (CB-PAC-PO ) * Enter the cable length (L) in. Lengths up to 10 m are supported. Example) 080 = 8 m HF6-40D-1.27R No Signal Cable Color 1A 24V Brown-1 Wiring No Signal Cable Color 1B OUT0 Brown-3 Wiring No connector 2A 24V Red-1 2B OUT1 Red-3 3A - Orange-1 3B OUT2 Orange-3 4A - Yellow-1 4B OUT3 Yellow-3 A N0 Green-1 B OUT4 Green-3 6A N1 Blue-1 6B OUT Blue-3 No connector Flat Cable (20-core) x 2 Half Pitch ML Socket HF6-40D-1.27R (Hirose) 7A N2 Purple-1 7B OUT6 Purple-3 8A N3 Gray-1 8B OUT7 Gray-3 9A N4 White-1 9B OUT8 White-3 Flat Cable A 10A N Black-1 10B OUT9 Black-3 (Crimped) 11A N6 Brown-2 11B OUT10 Brown-4 12A N7 Red-2 12B OUT11 Red-4 Flat Cable B (Crimped) AWG28 13A N8 Orange-2 13B OUT12 Orange-4 14A N9 Yellow-2 14B OUT13 Yellow-4 1A N10 Green-2 1B OUT14 Green-4 16A N11 Blue-2 16B OUT1 Blue-4 17A N12 Purple-2 17B - Purple-4 18A N13 Gray-2 18B - Gray-4 19A N14 White-2 19B 0V White-4 20A N1 Black-2 20B 0V Black-4 29

31 /O Wiring Diagrams (Standard PO) nput Part: External input (NPN ) tem nput voltage 24 VDC + 10% nput current 7 ma/circuit ON/OFF voltages ON voltage VDC min., OFF voltage---.0 VDC max. solation method Photocoupler isolation * The circuit diagram below assumes that the power is input externally (the service power output is OFF). * n the circuit diagram below, the port numbers conform to the standard factory settings. * The allowable leak current is 1 ma when the input is OFF. Output Part: External output (NPN ) tem Load voltage 24 VDC TD62084 Maximum load current 100 ma/point, 400 ma/8 ports Note) (or equivalent) Leak current 0.1 ma/point max. solation method Photocoupler isolation * The circuit diagram assumes that the power is input externally (the service power output is OFF). * n the circuit diagram below, the port numbers conform to the standard factory settings. Note: The total load current for every 8 points from Standard /O No. 316 is 400 ma. (Max. per point: 100 ma.) [nput circuit] Pin No.1A, 2A [Output circuit] Pin No.1A, 2A nternal circuit nput terminal Port No.016 to 031 External power supply: 24 VDC ±10% nternal circuit Output terminal Port No. 316 to 331 Load Pin No. 19B, 20B External power supply: 24 VDC ±10% nput Part: External input (PNP ) tem nput voltage 24 VDC + 10% nput current 7 ma/circuit ON/OFF voltages ON voltage VDC max., OFF voltage VDC min. solation method Photocoupler isolation * The circuit diagram below assumes that the power is input externally (the service power output is OFF). * n the circuit diagram below, the port numbers conform to the standard factory settings. * The allowable leak current is 1 ma when the input is OFF. Output Part: External output (PNP ) tem Load voltage 24 VDC Maximum load current 100 ma/point, 400 ma/8 ports Note) TD62783 (or equivalent) Leak current 0.1 ma/point max. solation method Photocoupler isolation * The circuit diagram assumes that the power is input externally (the service power output is OFF). * n the circuit diagram below, the port numbers conform to the standard factory settings. Note: The total load current for every 8 points from Standard /O No. 316 is 400 ma. (Max. per point: 100 ma.) [nput circuit] nput terminal [Output circuit] Pin No.1A, 2A nternal circuit Port No.016 to 031 External power supply: 24 VDC ±10% nternal circuit Output terminal Port No. 316 to 331 Load External power supply: 24 VDC ±10% Pin No. 19B, 20B /O Wiring Diagrams (Expansion PO) nput Part: External input Output Part: External output tem tem Number of input 16 points Number of output 16 points nput voltage 24 VDC + 10% Rated load voltage 24 VDC nput current 4 ma/circuit Maximum current 0 ma/circuit ON/OFF voltages ON voltage VDC min. (3. ma), OFF voltage VDC max. (1 ma) solation method Photocoupler isolation solation method Photocoupler isolation [NPN ] [NPN ] Each input Each input Logic circuit nternal circuit nternal circuit Output terminal Load External power supply: 24 VDC [PNP ] [PNP ] Each input Each input Logic circuit nternal circuit nternal circuit External power Output supply: 24 VDC terminal Load

32 Tabletop Robot Series of Each Part Front Brake Release Switch (Axis 3) Panel Window Mode Switch Rear Teaching Connector Power nlet and Power Switch USB Connector Protective Ground Terminal Function Switch (Start Switch) Digital Program Selector Switch Expansion /O Slot 1 (/O 2) Emergency Stop Pushbutton Switch Expansion /O Slot 1 (/O 2) Status LED Expansion /O Slot 2 (/O 3) Status LED Expansion /O Slot 2 (/O 3) Standard /O Slot (/O 1) System /O Connector Service Power Switch Motor Drive Power Line Connector /O nterface 31 Standard /O slot Standard PO (nput 16 points/output 16 points) Expansion /O slot 1 [Option] Expansion PO (nput 16 points/output 16 points), or Field Network (*1) Expansion /O slot 2 [Option] Expansion PO (nput 16 points/output 16 points), or Field Network (*1) System /O slot Motor power /O connector Emergency stop input 2 contacts, enable input 2 contacts For cutting off external drive power *1: For field network (CC-Link, DeviceNet, PROFBUS-DP or EtherNet/P) connection, the maximum number of input points is 240 and maximum number of output points is 240. EtherNet/P (slot 1) + EtherNet/P (slot 2) is not supported. f you use a vision system, connect it to EtherNet/P.

33 Tabletop Robot Series Examples of Applications Coating The TTA's high-performance interpolation function makes it an ideal actuator for coating targets having a 2- or 3-dimensional shape. Soldering With its 000-point positioning capability, the TTA 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. 32

34 Tabletop Robot Series Options Teaching Pendant Features: A teaching device offering program/position input, trial operation and monitoring functions. : TB-01-S Configuration: * This model is the standard. f you are interested in the deadman switch specifiction, specify the model number of the applicable teaching pendant (TB-01D-N/TB-01DR-N) and that of the cable (CB-TB1-X00). ** TB-01-S is coming soon with CE conformity s: tem Rated voltage Power consumption Ambient operating temperature Ambient operating humidity Environmental endurance Weight TB-01-S DC24V 3.6W or less (10mA or less) 0~0ºC 20~8% RH (non-condensing) P40 (in initial state) 07g (TB-01-S; teaching pendant only) CB-TB01-X00 PC Compatible Software (for Windows PCs only) Features: A startup support software program offering program/position input function, test operation function, monitoring function, and more. The functions needed for debugging have been enhanced to help reduce the startup time. Note: The TTA series only supports version or later. : A-101-X-MW (RS232C cable included) (Note) Configuration: m : Configuration: A-101-TTA-USB (USB cable included) 3m Dummy plug DP 2 PC compatible software (CD) RS232C cable CB-ST-E1MW00-EB PC compatible software (CD) USB cable CB-L-USB0 : Configuration: PC compatible software (CD) A-101-X-USBMW (USB conversion adapter + cable included) (Note) USB Conversion Adapter A-CV-USB 3m USB cable CB-L-USB0 m RS232C cable CB-ST-E1MW00-EB <Note> The RS232C standard cable CB-ST-E1MW00-EB cannot be used when Building an enable system that uses a system /O connector and external power supply or Building a redundant safety circuit. (The RS232C safety category cable CB-ST-A1MW00-EB or the software kit A-101-XA-MW must be used instead.) : A-101-XA-MW (With Safety Category 4-compliant cable) Configuration: PC compatible software (CD) m Safety Category-compliant cable CB-ST-A1MW00-EB <f you have A-101-TT-USB> t can be used with TTA by upgrading the version of the software. Dummy plug [DP-1] enclosed in A-101-TT-USB is not applicable for Safety Categories. To make it applicable, [DP-2] is necessary. Dummy Plug Features: Connect this plug to the teaching connector to cut off the enable circuit when the TTA series is linked to a PC using a USB cable. : DP-2 This is a part enclosed in global type (TTA-A G and TTA-C G) and PC compatible software (: A-101-TTA-USB). The plug supports emergency stop/enable circuit redundancy (up to category 3). 33