KRF Stepper / Servo Driver Controller TSC/TLC/THC

Transcription

1 NEW ompact series KRF Stepper / Servo Driver ontroller TS/TL/TH For details, visit THK at Product information is updated regularly on the THK website.

2 ELETRI TUTOR ompact series ompact Series KRF Fully enclosed actuator, designed for dedicated controller. Intermediate flange ES Table cover Table Servo motor Strip seal Side cover Inner block KRF Full-cover structure KR/SKR QZ Lubricator all screw Outer rail Equivalent load for four directions, with high rigidity Outer rail of KR/SKR with proven history adopted Single axis actuator with high moment rigidity Supported size (guideline) KR/SKR 0 KRF System onfiguration Higher PL, etc. TS/TL/TH uses either TDO or D-STEP for setup. (vailable in Japanese and English) Digital operator TDO KRF main unit You can select KRF type without motor. Driver controller TS, TL or TH P setup tool D-STEP The P setup tool can be freely downloaded after logging in to the technical support website. (vailable in Japanese, English, and Simplified hinese)

3 ompact series ELETRI TUTOR Features Fully enclosed design Strip seals on the side cover and upper surface using magnetic attraction method provide a fully enclosed structure. It prevents any problems caused by entering of foreign materials from outside. s well, the top surface of the strip seal is less likely to generate dust by avoiding the contact. Strip seal Magnetic attraction method The magnet built in the side cover attracts the strip seal and prevents it from lifting, reducing the development of clearance. Magnet High rigidity Use of a steel outer rail with a cross-sectional U shape enables to receive larger moment. The actuator body's high rigidity allows for a compact, space-saving design. Displacement angle[ ] 0 - THK products comparison Economy series ES.. KRF Load moment 0 0 M Load moment [N m] Easy setup Setup is easy by combining with dedicated driver controller. Layout example of cantilever configuration Stepper driver controller TS Servo Driver controller 0W TL Servo Driver controller 00W TH

4 ELETRI TUTOR ompact series Lineup List (Stepper driver controller TS Specification) Model all screw lead [mm] Stroke [mm] Motor size Maximum load capacity [kg] Horizontal mount Wall mount Vertical mount KRF 0 to 00 Stepper motor. KRF 0 to Stepper motor 0 0 to Maximum load capacity and maximum speed vary dependent on usage conditions. For details, see "asic Specifications" and "Speed and Load apacity: Relationship Diagram" of each model. Series Specifications (Servo Driver ontroller TL/TH Specification) [KRF, ] [KRF] Model all screw lead [mm] Stroke [mm] Rated speed Motor capacity [mm/s] [W] Used driver controller Maximum load capacity [kg] Horizontal mount Wall mount Vertical mount KRF 0 to TL 9 KRF 0 to KRF to TH t rated motor speed (,000min - ). The maximum load capacity indicates the capacity at the rated speed under 0. G for Horizontal mount and wall mount and 0. G for vertical. The maximum speed is the value restricted by the motor rotational speed (at,000min - ) or by the permissible rotational speed of the ball screw.

5 ompact series ELETRI TUTOR Maximum speed for each stroke [mm/s] Stroke Maximum speed for each stroke [mm/s] Stroke

6 ELETRI TUTOR ompact series Model onfiguration KRF (type with motor) When combining with dedicated driver controller + Model R represents motor wrap. all screw lead KRF, and KRFR have ball screw lead of mm only. Stroke Design symbol ontrol device type ontrol device you can select differ depending on models. KRF : TS, TL KRF : TS, TL KRF : TH KRFR : TL KRFR : TL KRFR : TH * Separate order for the control device is required. Option Specify the option symbol by writing in the order of description from left adding -. *Valid only when KRF R is selected in model (). Motor size / motor rated output KRFR TH - MR-GR / M0 () () () () () () () KRF 0: mm 000: 0 mm TS: TS No symbol: None P : Stepper motor KRF 0: 0 mm 000: 00 mm TL: TL MR: Motor right wrap* P : Stepper motor KRF 00: 0 mm TH: TH ML: Motor left wrap* M0 : 0W KRFR 000: 00 mm MD: Motor down wrap* M0 : 00W KRFR 00: 0 mm GR: Gray cover P : Stepper motor with brake KRFR 000: 00 mm S: Slider base P : Stepper motor with brake 00: 0 mm : Sensor P : Stepper motor with brake 000: 00 mm M0 : 0W with brake 00: 0 mm M0 : 00W with brake 000: 00 mm 00: 0 mm 000: 00 mm 00: 0 mm 000: 00 mm 00: 0 mm 000: 00 mm Motors you can select differ depending on models. KRF : P, P, M0, M0 KRF : P, P, M0, M0 KRF : M0, M0 KRFR: M0, M0 KRFR: M0, M0 KRFR: M0, M0 Maximum stroke differs depending on models. KRF: 00mm KRF: 0mm KRF: 00mm hange the cover color to gray You can change the color of housing cover to gray. Standard: red When GR is selected: gray Sample model configuration When combining with dedicated controller (TS) When combining with dedicated controller (TL) When combining with dedicated controller (TH) KRF TS-GR-S-R/PD00S KRF-0-00-TL-GR-S-R/M0RD00F KRF TH-GR-R/M0RS0DH Pages for detailed description () Options S: With slider base P. : Sensor P. GR: hange the cover color to gray P.

7 ompact series ELETRI TUTOR Motor cable orientation Home position Power supply voltage able type and length L D00 D F () (9) (0) () No symbol : When D00 : Motor side No symbol: When selecting No symbol: None selecting TS R00 : Reverse motor side TS or TL S : Standard m R : Right S0 : Motor side D: 00 V S : Standard m L : Left S0 : Reverse motor side D: 00 V S : Standard 0 m U : Up F : Standard m D : Down F : Standard m F : Standard 0 m H : High flex m H : High flex m H : High flex 0 m If you select "MR" as an option, "R" cannot be selected. If you select "ML" as an option, "L" cannot be selected. If you select "MD" as an option, "U" cannot be selected. D00 and R00 are mechanical home seeking. S0 (external sensor specification) only when selecting TH. Only when selecting TH Indicates the type and length of attached cables. ables you can select differ depending on controllers. TS : S * TL : F *, H * TH : F *, H * Motor cable orientation Folded direction U (Up) Option symbol ML: Motor left wrap Option symbol MR: Motor right wrap L (Left) R (Right) D (Down) Option symbol MD: Motor down wrap Motor wrap direction (Seen from side ) Motor cable orientation (View from arrow )

8 ELETRI TUTOR ompact series KRF TS specifications + Model onfiguration Model all screw lead Stroke Design symbol ontrol device type Option Motor size Home position able type and length KRF TS - GR-S / P D00 S KRF 0: mm 000: 0mm TS: TS No symbol: None P : Stepper motor D00 : Motor side No symbol: None to GR: Gray cover P: Stepper motor R00 : Reverse motor side S: Standard m 000: 00 mm S: Slider base with brake S: Standard m : Sensor S: Standard 0 m asic Specifications Maximum load capacity [kg] ontrol device type TS Motor size all screw lead [mm] cceleration and deceleration rate Horizontal mount. 0.G Wall mount Vertical mount 0.G Electromagnetic brake retention [N] Running life [km] Horizontal/wall mount 0,000 Vertical mount,000 Positioning repeatability [mm] ±0.00 Lost motion [mm] 0. Static permissible moment [N m] M: M:. M:. The conditions for calculation are as follows: Under maximum load capacity at permissible overhang length. Stroke mm pplied point of moment load for M and M are the top face of the table, and that for M is the center of the table. Static Permissible Moment M M M Speed and Load apacity: Relationship Diagram Load capacity [kg] [Horizontal mount] Speed [mm/s] Load capacity [kg] [Wall mount] Speed [mm/s] Load capacity [kg]. [Vertical mount] Speed [mm/s] Permissible Overhang Length* Horizontal use Wall use Vertical use Horizontal mount [mm] Wall mount [mm] Vertical mount [mm] all screw lead [mm] Load mass [kg] all screw lead [mm] Load mass [kg] all screw lead [mm] Load mass [kg] This value is the overhang length whose running life is 0,000 km for horizontal direction/wall mount and,000 km for vertical direction. permissible value of the applied load in each direction.

9 ompact series ELETRI TUTOR KRF + TS Dimensions able length: 00mm Ensure R0 or more () () (Table cover width) Stroke () () Ensure 0mm or more (L) (.) (0.) (.) With brake (.) (). (0.) () (0) (9) () ().. N x L = L xn - M depth (Mounting hole) L. φh depth Elongated hole depth. L. ±0.0 (pplicable to M) (pplicable to φ) Stroke up to mechanical stopper. 9 ±0.0 (R) (R) M depth (Mounting hole) -φh depth (Dowel pin hole) Detailed Diagram: Table Detailed Diagram: Elongated Hole Stroke [mm] (Stroke between mechanical stoppers) 0 (0) 00 (0) 0 (0) 00 (0) 0 (0) 00 (0) Maximum speed [mm/s] all screw lead: mm 00 L.(0.) 9.(.).(0.) 9.(.).(0.) 9.(.) Dimensions [mm] L L L Mounting pitch count N Mounting hole count n Weight [kg].(.).9(.).(.).(.).(.0).(.) Load capacity and maximum speed vary dependent on usage conditions. For details, see Speed and Load apacity: Relationship Diagram. Dependent on permissible rotational speed of ball screw. Values when a brake is installed are shown in parentheses.

10 ELETRI TUTOR ompact series KRF TS specifications + Model onfiguration Model all screw lead Stroke Design symbol ontrol device type Option Motor size Home position able type and length KRF TS - GR-S / P D00 S KRF 0: mm 000: 0mm TS: TS No symbol: None P : Stepper motor D00 : Motor side No symbol: None 0: 0 mm to GR: Gray cover P: Stepper motor R00 : Reverse motor side S: Standard m 00: 0 mm S: Slider base with brake S: Standard m : Sensor S: Standard 0 m asic Specifications Maximum load capacity [kg] ontrol device type TS Motor size all screw lead [mm] 0 cceleration and deceleration rate Horizontal mount G Wall mount. 0 Vertical mount 0.G. Electromagnetic brake retention [N] Running life [km] Horizontal/wall mount 0,000 Vertical mount,000 Positioning repeatability [mm] ±0.00 Lost motion [mm] 0. Static permissible moment [N m] M: M:. M: 0. The conditions for calculation are as follows: Under maximum load capacity at permissible overhang length. Stroke mm pplied point of moment load for M and M are the top face of the table, and that for M is the center of the table. Static Permissible Moment M M M Speed and Load apacity: Relationship Diagram Load capacity [kg] Lead [Horizontal mount] 0 Lead Speed [mm/s] Load capacity [kg] Lead [Wall mount]. Lead Speed [mm/s] Load capacity [kg] 9 Lead [Vertical mount] Lead Speed [mm/s] Permissible Overhang Length* Horizontal use Wall use Vertical use Horizontal mount [mm] Wall mount [mm] Vertical mount [mm] 9 all screw lead [mm] 0 Load mass [kg] all screw lead [mm] Load mass [kg] all screw lead [mm] Load mass [kg] This value is the overhang length whose running life is 0,000 km for horizontal direction/wall mount and,000 km for vertical direction. permissible value of the applied load in each direction.

11 ompact series ELETRI TUTOR KRF + TS Dimensions able length: 00mm Ensure R0 or more (0) () (9) (Table cover width) Ensure 0mm or more (L) () (.) (.) (9) () (.) (0.) With brake (.) (9.). () Stroke (0.) () 9. G N x L = L xn - M depth (Mounting hole) L. φh depth Elongated hole depth 9. L. 9 ±0.0 (pplicable to M) ±0.0 (pplicable to φ) (R) Stroke up to mechanical stopper. (R) M depth -φh depth (Mounting hole) (Dowel pin hole) Detailed Diagram: Table Detailed Diagram: Elongated Hole Stroke [mm] (Stroke between mechanical stoppers) 0 (0) 00 (0) 0 (0) 00 (0) Maximum speed all screw lead: mm 00 0 [mm/s] all screw lead: 0 mm 00 0 L. (.). (9.). (.). (9.) 0 (0). (.) 00 (0). (9.) 0 (0). (.) 00 (0). (9.) 0 (0). (.) 00 (0). (9.) Dimensions [mm] L L L G Mounting pitch count N Mounting hole count n Weight [kg]. (.). (.). (.9) Load capacity and maximum speed vary dependent on usage conditions. For details, see Speed and Load apacity: Relationship Diagram. Dependent on permissible rotational speed of ball screw. Values when a brake is installed are shown in parentheses.. (.).0 (.). (.). (.).0 (.). (.). (.) 0 (0). (9.).9 (.) 0

12 ELETRI TUTOR ompact series Pressing Force and Pressing Set Value for TS specification: Relationship Diagram Pressing force may vary depending on the pressing set value. Refer to the relationship diagram below. KRF 0 00 Lead Pressing force [N] % 0% 0% 0% 0% 0% 0% Pressing set value [%] KRF Pressing force [N] Lead Lead % 0% 0% 0% 0% 0% 0% Pressing set value [%]

13 ompact series ELETRI TUTOR MEMO

14 ELETRI TUTOR ompact series KRF TL specifications + Model onfiguration Model all screw lead Stroke Design symbol ontrol device Option Motor rated output Motor cable orientation Home position able type and length KRF TL - GR-S / M0 R D00 F KRF 0: mm 000: 0 mm TL: TL No symbol: Red cover M0 : 0W R : Right D00 : Motor side No symbol: None to GR: Gray cover M0 : 0W with brake L : Left R00 : Reverse motor side F : Standard m 000: 00 mm S: Slider base U : Up F : Standard m : Sensor D : Down F : Standard 0 m Note: If the GR is not included in the model configuration, cover will be red. H : High flex m H : High flex m H : High flex 0 m asic Specifications ontrol device type TL Motor rated output [W] 0 all screw lead [mm] Rated speed [mm/s] 00 cceleration Horizontal mount Maximum load capacity and 0.G Wall mount. [kg] deceleration rate Vertical mount 0.G Rated thrust [N] Maximum thrust [N] Electromagnetic brake retention [N] Horizontal/wall Running life [km] mount 0,000 Vertical mount,000 Positioning repeatability [mm] ±0.00 Lost motion [mm] 0. Static permissible moment [N m] M: M:. M:. t rated motor speed (,000min - ). t rated speed. t rated motor torque. Dependent on maximum peak torque and permissible load. The conditions for calculation are as follows: onditions: Under maximum load capacity at permissible overhang length Stroke mm pplied point of moment load for M and M are the top face of the table, and that for M is the center of the table. Static Permissible Moment M M M Permissible Overhang Length* Horizontal use Wall use Vertical use Horizontal mount [mm] Wall mount [mm] Vertical mount [mm] all screw lead [mm] Load mass [kg] all screw lead [mm] Load mass [kg] all screw lead [mm] Load mass [kg] This value is the overhang length whose running life is 0,000 km for horizontal and wall mount, and,000 km for vertical direction. permissible value of the applied load in each direction.

15 ompact series ELETRI TUTOR KRF + TL Motor rated output 0W Dimensions () () (Table cover width) (L) With brake (0.) () (). 0. N x L = L x n - M depth (Mounting hole) L. 9 φh depth. L Elongated hole depth (pplicable to M) (pplicable to φ) Stroke up to mechanical stopper.. (.) (.). Stroke (0.). ±0.0 9 ±0.0 (R) (R) M depth -φh depth (Mounting hole) (Dowel pin hole) Detailed Diagram: Table Detailed Diagram: Elongated Hole Stroke [mm] (Stroke between mechanical stoppers) 0 (0) Maximum speed [mm/s] all screw lead: mm 00 L (0.) (0.) (0.) (0.) (0.) (0.) Dimensions [mm] L L L Mounting pitch count N Mounting hole count n Weight [kg].(.).(.0).0(.).(.).(.).(.9) Dependent on motor speed (,000min - ) and permissible rotational speed of the ball screw. Values when a brake is installed are shown in parentheses. 00 (0) 0 (0) 00 (0) 0 (0) 00 (0)

16 ELETRI TUTOR ompact series KRFR TL specifications + Model onfiguration Model all screw lead Stroke Design symbol ontrol device type Option Motor rated output Motor cable orientation Home position able type and length KRFR TL - ML-GR / M0 R D00 F KRFR 0: mm 000: 0 mm TL: TL MR: Motor right wrap M0 : 0W R : Right D00 : Motor side No symbol: None to ML: Motor left wrap M0 : 0W with brake L : Left R00 : Reverse motor side F : Standard m 000: 00 mm MD: Motor down wrap U : Up F : Standard m GR: Gray cover D : Down F : Standard 0 m S: Slider base H : High flex m : Sensor H : High flex m H : High flex 0 m asic Specifications Maximum load capacity [kg] ontrol device type TL Motor rated output [W] 0 all screw lead [mm] Rated speed [mm/s] 00 cceleration and deceleration rate Horizontal mount 0.G Wall mount. Vertical mount 0.G Rated thrust [N] Maximum thrust [N] Electromagnetic brake retention [N] Running life [km] Horizontal/wall mount 0,000 Vertical mount,000 Positioning repeatability [mm] ±0.00 Lost motion [mm] 0. Static permissible moment [N m] M: M:. M:. ased on rated motor speed (,000min - ). t rated speed. t rated motor torque. Dependent on maximum peak torque and permissible load. The conditions for calculation are as follows: Under maximum load capacity at permissible overhang length. Stroke mm pplied point of moment load for M and M are the top face of the table, and that for M is the center of the table. Static Permissible Moment M M M Permissible Overhang Length* Horizontal use Wall use Vertical use Horizontal mount [mm] Wall mount [mm] Vertical mount [mm] all screw lead [mm] Load mass [kg] all screw lead [mm] Load mass [kg] all screw lead [mm] Load mass [kg] This value is the overhang length whose running life is 0,000 km for horizontal direction/wall mount and,000 km for vertical direction. permissible value of the applied load in each direction.

17 ompact series ELETRI TUTOR KRFR + TL Motor rated output 0W Dimensions (.) xn - M depth (Mounting hole). () (Table cover width) (L) (.). Stroke (0.) () () (0.) (.). L N x L = L () (0) (Distance between shafts) () (.9). (.) (0.) (.). φh depth Elongated hole depth L 0 () (0) (Distance between shafts). ±0.0 (pplicable to M) 9 ±0.0 (pplicable to φ) Stroke up to mechanical stopper. (R) 0. (R) (0.9) (.) ottom side wrap -M depth -φh depth (Mounting hole) (Dowel pin hole) Detailed Diagram: Table Detailed Diagram: Elongated Hole Stroke [mm] (Stroke between mechanical stoppers) 0 (0) 00 (0) 0 (0) 00 (0) 0 (0) 00 (0) Maximum speed [mm/s] all screw lead: mm 00 L Dimensions [mm] L L L Mounting pitch count N Mounting hole count n Weight [kg].(.).(.0).0(.).(.).(.).(.9) The maximum speed is the value restricted by the motor rotational speed (at,000min - ), or by the permissible rotational speed of the ball screw. Values when a brake is installed are shown in parentheses.

18 ELETRI TUTOR ompact series KRF TL specifications + Model onfiguration Model all screw lead Stroke Design symbol ontrol device Option Motor rated output Motor cable orientation Home position able type and length KRF TL - GR-S / M0 R D00 F KRF 0: mm 000: 0 mm TL: TL No symbol: Red cover M0 : 0W R : Right D00 : Motor side No symbol: None 0: 0 mm to GR: Gray cover M0 : 0W with brake L : Left R00 : Reverse motor side F : Standard m 00: 0 mm S: Slider base U : Up F : Standard m asic Specifications : Sensor D : Down F : Standard 0 m Note: If the GR is not included in the model configuration, cover will be red. H : High flex m H : High flex m H : High flex 0 m ontrol device type TL Motor rated output [W] 0 all screw lead [mm] 0 Rated speed [mm/s] cceleration Horizontal mount 9 Maximum load capacity and 0. G Wall mount. [kg] deceleration rate Vertical mount 0.G. Rated thrust [N] 0 Maximum thrust [N] 0 Electromagnetic brake retention [N] Horizontal/wall Running life [km] mount 0,000 Vertical mount,000 Positioning repeatability [mm] ±0.00 Lost motion [mm] 0. Static permissible moment [N m] M: M:. M: 0. t rated motor speed (,000min - ). t rated speed. t rated motor torque. Dependent on maximum peak torque and permissible load. The conditions for calculation are as follows: onditions: Under maximum load capacity at permissible overhang length Stroke mm pplied point of moment load for M and M are the top face of the table, and that for M is the center of the table. Static Permissible Moment M M M Permissible Overhang Length* Horizontal use Wall use Vertical use Horizontal mount [mm] Wall mount [mm] Vertical mount [mm] all screw lead [mm] Load mass [kg] all screw lead [mm] Load mass [kg] all screw lead [mm] Load mass [kg] This value is the overhang length whose running life is 0,000 km for horizontal and wall mount, and,000 km for vertical direction. permissible value of the applied load in each direction.

19 ompact series ELETRI TUTOR KRF + TL Motor rated output 0W Dimensions (0) (9) (Table cover width) 9. () (). 9 ±0.0 (pplicable to M) ±0.0 (pplicable to φ) Stroke up to mechanical stopper. 9 (.) (L) With brake (0.) (0.). Stroke (0.) 9 0. G L N x L = L x n - M depth (Mounting hole). 9. φh depth L Elongated hole depth (R) (R) M depth -φh depth (Mounting hole) (Dowel pin hole) Detailed Diagram: Table Detailed Diagram: Elongated Hole Stroke [mm] (Stroke between mechanical stoppers) Maximum speed [mm/s] 0 (0) 00 (0) 0 (0) 00 (0) 0 (0) all screw lead: mm 00 0 all screw lead: 0mm 00 0 L. (.). (.). (.). (.). (.) 00 (0). (.) 0 (0). (.) 00 (0). (.) 0 (0). (.) 00 (0). (.) Dimensions [mm] L L L G Mounting pitch count N Mounting hole count n Weight [kg]. (.).9 (.). (.). (.). (.0) Dependent on motor speed (,000min - ) and permissible rotational speed of the ball screw. Values when a brake is installed are shown in parentheses.. (.). (.). (.9).0 (.). (.) 0 (0). (.). (.)

20 ELETRI TUTOR ompact series KRFR TL specifications + Model onfiguration Model all screw lead Stroke Design symbol ontrol device Option Motor rated output Motor cable orientation Home position able type and length KRFR TL - ML-GR / M0 R D00 F KRFR 0: mm 000: 0mm TL: TL MR: Motor right wrap M0 : 0W R : Right D00 : Motor side No symbol: None 0: 0 mm to ML: Motor left wrap M0 : 0W with brake L : Left R00 : Reverse motor side F : Standard m 00: 0 mm MD: Motor down wrap U : Up F : Standard m asic Specifications GR: Gray cover D : Down F : Standard 0 m S: Slider base H : High flex m : Sensor H : High flex m H : High flex 0 m Maximum load capacity [kg] ontrol device type TL Motor rated output [W] 0 all screw lead [mm] 0 Rated speed [mm/s] cceleration and deceleration rate Horizontal mount 9 0. G Wall mount. Vertical mount 0.G. Rated thrust [N] 0 Maximum thrust [N] 0 Electromagnetic brake retention [N] Running life [km] Horizontal/wall mount 0,000 Vertical mount,000 Positioning repeatability [mm] ±0.00 Lost motion [mm] 0. Static permissible moment [N m] M: M:. M: 0. ased on rated motor speed (,000min - ). t rated speed. t rated motor torque. Dependent on maximum peak torque and permissible load. The conditions for calculation are as follows: Under maximum load capacity at permissible overhang length. Stroke mm pplied point of moment load for M and M are the top face of the table, and that for M is the center of the table. Static Permissible Moment M M M Permissible Overhang Length* Horizontal use Wall use Vertical use Horizontal mount [mm] Wall mount [mm] Vertical mount [mm] all screw lead [mm] 0 Load mass [kg] all screw lead [mm] Load mass [kg] all screw lead [mm] Load mass [kg] This value is the overhang length whose running life is 0,000 km for horizontal direction/wall mount and,000 km for vertical direction. permissible value of the applied load in each direction. 9

21 ompact series ELETRI TUTOR KRFR + TL Motor rated output 0W Dimensions (0) (Distance between shafts) (9) (Table cover width) (.9). G N x L = L xn - M depth (Mounting hole) L 9 (.) (0) (L) (.). Stroke (0.) () () (9.) (0.9) (.) (.) (9.) (9.). φh depth 9. Elongated hole depth L Stroke up to mechanical stopper. (0.9) 9 () (9.) ottom side wrap (0) (Distance between shafts) 9. 9 ±0.0 (pplicable to M) ±0.0 (pplicable to φ) -M depth -φh depth (Mounting hole) (Dowel pin hole) Detailed Diagram: Table (R) 0. (R) Detailed Diagram: Elongated Hole Stroke [mm] (Stroke between mechanical stoppers) Maximum speed [mm/s] 0 (0) 00 (0) 0 (0) 00 (0) all screw lead: mm 00 0 all screw lead: 0 mm 00 0 L L Dimensions L [mm] L G Mounting pitch count N Mounting hole count n Weight [kg]. (.). (.0). (.). (.) The maximum speed is the value restricted by the motor rotational speed (at,000min - ), or by the permissible rotational speed of the ball screw. Values when a brake is installed are shown in parentheses. 0 (0). (.0) 00 (0). (.) 0 (0). (.) 00 (0). (.9) 0 (0).0 (.) 00 (0). (.) 0 (0). (.) 0

22 ELETRI TUTOR ompact series KRF TH specifications + Model onfiguration Model - all screw lead - Stroke Design symbol ontrol device - Option / Motor rated output Motor cable orientation Home position Power supply voltage able type and length KRF TH - GR-S / M0 R D00 D F KRF 0: mm 000: 0 mm TH: TH No symbol: Red cover M0 : 00W R : Right D00: Motor side D: 00 V No symbol: None 0: 0 mm to GR: Gray cover M0: 00W with brake L : Left R00: Reverse motor side D: 00 V F : Standard m 000: 00 mm S: Slider base U : Up S0: Motor side F : Standard m : Sensor D : Down S0: Reverse motor side F : Standard 0 m asic Specifications ontrol device type TH Motor rated output [W] 00 all screw lead [mm] 0 Rated speed [mm/s] Horizontal mount 0 Maximum load capacity cceleration and 0. G Wall mount [kg] deceleration rate Vertical mount 0.G 0 Rated thrust [N] 0 Maximum thrust [N] 9 Electromagnetic brake retention [N] Running life [km] Horizontal/wall mount 0,000 Vertical mount,000 Positioning repeatability [mm] ±0.00 Lost motion [mm] 0. Static permissible moment [N m] M: M: 0. M: 9. Permissible Overhang Length* Horizontal use Wall use Vertical use Note: If the GR is not included in the model configuration, cover will be red. H : High flex m H : High flex m H : High flex 0 m t rated motor speed (,000min - ). t rated speed. t rated motor torque. Dependent on maximum peak torque and permissible load. The conditions for calculation are as follows: onditions: Under maximum load capacity at permissible overhang length Stroke mm pplied point of moment load for M and M are the top face of the table, and that for M is the center of the table. Static Permissible Moment M M M Horizontal mount [mm] Wall mount [mm] Vertical mount [mm] all screw Lead [mm] 0 Load mass [kg] all screw Lead [mm] Load mass [kg] all screw Lead [mm] Load mass [kg] * This value is the overhang length whose running life is 0,000 km for horizontal and wall mount, and,000 km for vertical direction. permissible value of the applied load in each direction. Dimensions Stroke [mm] (Stroke between mechanical stoppers) Maximum speed [mm/s] 0 (0) 00 (0) 0 (0) 00 (0) all screw lead: mm 00 all screw lead: 0mm 00 L (9.) (.) (9.) (.) (9.) (.) (9.) (.) L L Dimensions [mm] L L 00 G H Mounting pitch count N Mounting hole count n Weight [kg]. (.). (.).0 (.). (.).9 (.). (.). (.9). (.) Dependent on motor speed (,000min - ) and permissible rotational speed of the ball screw. Values when a brake is installed are shown in parentheses. 0 (0) 00 (0) 0 (0) 00 (0)

23 ompact series ELETRI TUTOR KRF + TH Motor rated output 00W Dimensions (9) () (Table cover width).... (.). With brake (9.) (9) (0) (0) G L N x L = L x n - M through (Mounting hole) φh depth H L Elongated hole depth Stroke up to mechanical stopper. (R) (R) (L) Stroke (.) 0 L (G) (pplicable to M) ±0.0 ±0.0 9 (pplicable to φ) 0 (pplicable to M.) M depth 0 -M. depth -φh depth (Mounting hole) (Sensor dog mounting hole) (Dowel pin hole) Detailed Diagram: Table Detailed Diagram: Elongated Hole Stroke [mm] (Stroke between mechanical stoppers) Maximum speed [mm/s] 0 (0) 00 (0) 0 (0) 00 (0) 0 (0) 00 (0) 0 (0) 00 (0) all screw lead: mm all screw lead: 0mm L (9.) (.) (9.) 9(9.) 9(99.) 0(0.) 0(09.) (.) L L Dimensions [mm] L L G H Mounting pitch count N Mounting hole count n Weight [kg]. (.).9 (.). (.). (.9). (.). (.).9 (9.) 9. (9.) Dependent on motor speed (,000min - ) and permissible rotational speed of the ball screw. Values when a brake is installed are shown in parentheses.

24 ELETRI TUTOR ompact series KRFR TH specifications + Model onfiguration Model - all screw lead - Stroke Design ontrol Motor cable Power supply - - Option / Motor rated output Home position symbol device type orientation voltage able type and length KRFR TH - ML-GR / M0 R D00 D F KRFR 0: mm 000: 0 mm TH: TH MR: Motor right wrap M0 : 00W R : Right D00: Motor side D: 00 V No symbol: None 0: 0 mm to ML: Motor left wrap M0: 00W with brake L : Left R00: Reverse motor side D: 00 V F : Standard m 000: 00 mm MD: Motor down wrap U : Up S0: Motor side F : Standard m GR: Gray cover D : Down S0: Reverse motor side F : Standard 0 m S: Slider base H : High flex m : Sensor H : High flex m H : High flex 0 m asic Specifications ontrol device type TH Motor rated output [W] 00 all screw lead [mm] 0 Rated speed [mm/s] cceleration Horizontal mount 0 Maximum load capacity and 0.G [kg] deceleration Wall mount rate Vertical mount 0.G 0 Rated thrust [N] 0 Maximum thrust [N] 9 Electromagnetic brake retention [N] Running life [km] Horizontal/wall mount 0,000 Vertical mount,000 Positioning repeatability [mm] ±0.00 Lost motion [mm] 0. Static permissible moment [N m] M: M: 0. M: 9. Permissible Overhang Length* Horizontal use Wall use Vertical use ased on rated motor speed (,000min - ). t rated speed. t rated motor torque. Dependent on maximum peak torque and permissible load. The conditions for calculation are as follows: Under maximum load capacity at permissible overhang length. Stroke mm pplied point of moment load for M and M are the top face of the table, and that for M is the center of the table. Static Permissible Moment M M M Horizontal mount [mm] Wall mount [mm] Vertical mount [mm] all screw lead [mm] 0 Load mass [kg] all screw lead [mm] Load mass [kg] all screw lead [mm] Load mass [kg] * This value is the overhang length whose running life is 0,000 km for horizontal direction/wall mount and,000 km for vertical direction. permissible value of the applied load in each direction. Dimensions Stroke [mm] (Stroke between mechanical stoppers) 0 (0) 00 (0) 0 (0) 00 (0) Maximum speed all screw lead: mm 00 [mm/s] all screw lead: 0 mm 00 L L L Dimensions [mm] L L 00 G H Mounting pitch count N Mounting hole count n Weight [kg].0(.).(.).(.0).(.).(.).0(.).(.).(.0) The maximum speed is the value restricted by the motor rotational speed (at,000min - ), or by the permissible rotational speed of the ball screw. Values when a brake is installed are shown in parentheses. 0 (0) 00 (0) 0 (0) 00 (0)

25 ompact series ELETRI TUTOR KRFR + TH Motor rated output 00W Dimensions () (Distance between shafts) () (Table cover width) (9) () (0) (0) 9 G L N x L = L L (G) xn - M depth. (Mounting hole) 0 () (L) (0.) (.) (.) Stroke (.) 0 (.). (.) () (.) φh depth Stroke up to mechanical stopper. H L Elongated hole depth (.) (.) (.) () (Distance between shafts) (pplicable to M) ±0.0 ±0.0 9 (pplicable to φ) 0 (pplicable to M.) -M depth 0 -M. depth -φh depth (Mounting hole) (Sensor dog mounting hole) (Dowel pin hole) (R) (R) ottom side wrap Detailed Diagram: Table Detailed Diagram: Elongated Hole Stroke [mm] (Stroke between mechanical stoppers) Maximum speed [mm/s] 0 (0) 00 (0) 0 (0) 00 (0) 0 (0) 00 (0) 0 (0) 00 (0) all screw lead: mm all screw lead: 0mm L L L Dimensions [mm] L L G H Mounting pitch count N Mounting hole count n Weight [kg].(.).(.9).0(.).(.).9(9.) 9.(9.) 9.(9.9) 0.(0.) The maximum speed is the value restricted by the motor rotational speed (at,000min - ), or by the permissible rotational speed of the ball screw. Values when a brake is installed are shown in parentheses.

26 ELETRI TUTOR ompact series Options S: Slider base THK provides slider bases for installing the KRF main unit from the top face. * The product is shipped with this optional assembled. R. R D x m - φ n through φ P counter bore depth Q E L F x L = L L 0 G φh depth (Dowel pin hole) L Elongated hole depth (Dowel pin hole) Elongated hole: detail Unit: mm Model D KRF / KRFR KRF / KRFR KRF / KRFR Note) When the slider base is mounted on KRF, the height of KRF will be 0mm higher than the standard product due to the thickness of slider base. Stroke L L L L KRF E. F KRFR G. m n. P Q. KRF KRFR KRF KRFR L L L L E F G 9. m n. P Q. L L L L E F G m n. P 9. Q.

27 ompact series ELETRI TUTOR : Sensors Optional proximity sensors and photo sensors are available for KRF. Models equipped with a sensor are also provided with a dedicated sensor rail. Please use the sensor with the following precautions (Notes to ) in mind. Note ) The customer should provide a sensor dog since it cannot be installed onto the actuator main unit. (Excluding KRF) Note ) Sensor dog is provided with KRF only. Note ) Sensor rails are pre-mounted, and sensors are provided with the product. Note ) When optional sensor is used, note the home position may differ from the position indicated by the dimension in this catalog, in considering using them. Note ) Proximity sensors placed too close to each other may not work properly. In such a case, please prepare a different frequency type of sensor. (For specifications, contact each manufacturer.) Note ) Mount the sensor/sensor rail on both sides if the stroke is not more than 00 mm. Description Model ccessory With sensor rail L/R Photo sensor * [x ] EE-SX (OMRON orporation) Mounting screw, nuts, sensor rail (x or ), mounting plates (x ), connectors (EE-00, x ) L/R Sensor N.O. contact [x ] GX-F (Panasonic Industrial Devices SUNX o., Ltd.) N.. contact [x ] GX-F (Panasonic Industrial Devices SUNX o., Ltd.) Mounting screw, nuts, sensor rail (x or ) L/R J Sensor N.O. contact [x ] GX-F-P (Panasonic Industrial Devices (PNP output) SUNX o., Ltd.) N.. contact [x ] (PNP output) GX-F-P (Panasonic Industrial Devices SUNX o., Ltd.) N.O. contact: Normally open contact point N.. contact: Normally closed contact point Sensors marked with a symbol "M", if combined with our controller, cannot be used as a home position sensor. * The photo sensors can be switched between ON when lit and ON when unlit. Symbol Mounting screw, nuts, sensor rail (x or ) L/R M The range of interference with the motor For wrap specifications, sensors cannot be mounted on the motor side within the range of interference with the motor. L-side L-side R-side R-side Option: Sensor symbol Symbol R * Symbol represents the mounting position for sensor rail and sensor. No symbol is given for the case of stroke 00mm or shorter. Symbol represents the types of sensors. Symbol : Sensor rail H H () () L L Unit: mm Model H () L KRF/KRFR. 0. KRF/KRFR. Stroke +0 KRF/KRFR.

28 ELETRI TUTOR ompact series Symbols J, M: Proximity sensor GX-F* (Panasonic Industrial Devices SUNX o., Ltd.) KRF/R//R KRF/R (9) (9.) (.) (.) (.) (9.) (.9) (.) (9.) (0.) (g) (h) (i) (k) (j) Sensor dog width: mm Unit: mm Model g h i j k KRF/KRFR..... KRF/KRFR Symbol : Photo sensor EE-SX (OMRON orporation) KRF/R//R (d) KRF/R (a) (b) (c) (e) (f) Sensor dog width: mm Unit: mm Model a b c d e f KRF/KRFR.... KRF/KRFR GR: hange the cover color to gray s an option for KRF, the cover color can be changed from red to gray. Housing- cover No symbol: red When GR is selected: gray If the GR is not included in the model configuration, cover will be red.

29 ompact series ELETRI TUTOR Stepper driver controller TS For single axis / Position type Features Ready to use by simplified setup. Simple Operation Use P setup tool D-STEP or digital operator TDO to access many useful functions. Functions - Selectable function modes (-position, external unit input instruction, -position, -position, Solenoid mode, and Solenoid mode ) - Step data count: Up to (depending on function mode) - larm history: Up to 0 (including power ON history) - Switching between uto/manual, brake release switch - Selectable control methods (positioning or pressing) hanges on the new version (design symbol ) TS is now updated to a new version that specified with in design symbol. Differences from conventional version, design symbol are shown below. - ehavior at Servo-On Design symbol Design symbol Motion Moves several millimeters Standstill - ompatibility Driver controller TS, and actuator cable does not have compatibility between and. * To use a 0m actuator cable, insert a noise filter to the TS power supply.

30 ELETRI TUTOR ompact series Model onfiguration Stepper driver controller *Separate order required. Model urrent Design symbol Type ombined ctuator ombined actuator ball screw lead Home position rake TS 0 MOD KRF 0 D () () () () () () () () TS 0:. MOD: Mode switching type KRF 0: mm D: Motor side No symbol: Without brake KRF 0: 0mm R: Reverse motor side : With brake asic Specifications asic Specifications Input power supply V D ±0% (Up to.) ontrol axis Single axis Motor type Stepper motor ( mm, mm, mm) ontrol ontrol method Feedback control (Semi-closed loop) Position detection method Incremental cceleration/deceleration method Trapezoid acceleration Function mode -position External unit input -position -position Solenoid mode Solenoid mode Program Step data count points points points points points points Data input/output method P setup tool D-STEP or Digital operator TDO Dedicated Input point points (Start, Return to home position, Pause, Reset, Servo ON, Specify step number, etc.) Input/output input/output Output point points (Return to home position completed, In position, Servo ready, larm, attery alarm, etc.) Input/output power supply V D ±0% (This should be prepared by yourself.) onnected device P setup tool D-STEP or Digital operator TDO ommunication Serial communication ommunication method RS Port count Mini DIN Usage conditions 0 to 0 (No freezing)/ 0 to (No freezing) Usage conditions Operating humidity/storage humidity 90% RH or below (No condensation) mbient condition Indoor (Free from direct sunlight, corrosive gas, flammable gas, oil mist, dust, water, oil and chemicals) Protective function Overload, overvoltage, excessive position deviation, software limit over error, etc. General specifications ccessories Options (sold separately) Power supply connector I/O connector Digital operator TDO (able length m) I/O cable m, m, m, and 0m P communication cable (Mini DIN US) Outer dimensions Weight * Varies depending on function mode. mm (W) 9.mm (H).mm (D) 00g or less 9

31 ompact series ELETRI TUTOR 0 F System onfiguration Higher PL, etc. TS needs either TDO or D-STEP for setting. n I/O connector is provided with TS. (vailable in Japanese and English) Digital operator TDO ctuator ables are provided with the actuator main unit. External V D power supply Note ) Power supply to be provided by customer. power supply connector is provided with TS. Note ) To use a 0m actuator cable, please insert a noise filter. Recommended noise filter is "RSN-00 (TDK- Lambda orporation)". Wiring to be provided by customer. Separate order required. ables provided with product. Stepper driver controller TS P setup tool D-STEP The P setup tool can be freely downloaded after logging in to the technical support website. (vailable in Japanese, English, and Simplified hinese) Dimensional Drawing of ontroller. ().. PWR SV/ LM RK OFF MOT RK OFF E D 9 I D MNU UTO. 9. R. * For details of the dimensional drawing, please contact THK. 0

32 ELETRI TUTOR ompact series TS Pin ssignment V + D power supply Encoder Input RS- ommunication Motor/brake Output Emergency stop switch 9 0 S S MPO MPI V 0V EMG PO PO GO GO VD + VD 0V 0V F.G. F.G. Input signal Output signal N/ External power supply input * For attached I/O connector pin numbers, see P.. * ustomer provides V D power supply for input/output circuitry. Input/Output ircuitry for TS () Input circuit Output circuit TS Internal circuit Internal circuit TS, Each output External V D power supply, Each input -.kω.9kω 0.0µF 0.0µF 9-, RL External V D power supply

33 ompact series ELETRI TUTOR TS Function Modes TS provides six modes to support various requirements and purposes. Function mode Overview Step data count Pressing operation 0: -position Multi-point positioning operation with points With area output, with P area output Multi-point positioning operation with points Multi-point positioning : External unit input instruction : -position I/O-based external unit instruction mode Without area output, with P area output Multi-point positioning operation with points Without area output, with P area output : -position Multi-point positioning operation with points Without area output, without P area output Electromagnetic valve : Solenoid mode : Solenoid mode Multi-point positioning operation with points Direct move command input With area output, with P area output Multi-point positioning operation with points Direct move command input With position sensor auto-switch output, area output and P area output Pin ssignment by Function Mode I/O Input Output Signal name pin number Function mode 0 Function mode Function mode Function mode Function mode Function mode -position External unit input -position -position Solenoid mode Solenoid mode PI 0 PI 0 PI 0 PI 0 ST 0 ST 0 PI PI PI PI ST ST PI PI PI PI ST ST PI PI PI PI ST PI PI PI PI ST PI PI PI PI ST 9 MODE PI PI ST 0 JOG/INHING PI PI JOG P PI KRL JOG N KRL KRL KRL KRL STRT STRT/PWRT STRT STRT MNU MNU MNU MNU MNU MNU HOME HOME HOME HOME HOME HOME PUSE PUSE PUSE PUSE PUSE PUSE REST REST REST REST REST REST SV-ON SV-ON SV-ON SV-ON SV-ON SV-ON 9 PO 0 PO 0 PO 0 PO 0 PE 0 LS 0 0 PO PO PO PO PE LS PO PO PO PO PE LS PO PO PO PO PE PO PO PO PO PE PO PO PO PO PE MOVE MOVE PO PO PE RE MODES PO PO RE RE P RE P RE P RE PO P RE P RE MNU S MNU S MNU S MNU S MNU S MNU S 9 HEND HEND HEND HEND HEND HEND 0 INPS INPS INPS INPS INPS LOD/TRQS WEND LOD/TRQS LOD/TRQS LOD/TRQS SVRDY SVRDY SVRDY SVRDY SVRDY SVRDY EMGS EMGS EMGS EMGS EMGS EMGS LM LM LM LM LM LM

34 ELETRI TUTOR ompact series Input Signal Functions Input Signal name Description Remarks MNU Operation mode Switches UTO/MNUL from I/O. MNUL when signal is on, and UTO when it is off. STRT Start Start signal of program step. Program starts when signal is on. PI0 to PI Instruction position number Input for specifying position numbers. Specifies programs at each signal level. Selects a program step and starts a program with STRT signal. PUSE Pause Temporarily interrupts the operation. PUSE input status when signal is off. (N.. connection specification) HOME Return to home position Starts the return to home position operation. Returning to home position is started when signal is on. It stops when it is off. SV-ON Servo on Turns the servo ON and OFF. Servo ON when signal is on, and servo OFF when signal is off. REST larm reset Resets alarm. Resets remaining travel distance during pause. Resets when it is on. KRL rake release Forcibly releases brake. Releases brake when it is on. MODE External unit input instruction mode Enters the instruction mode when signal is on. Instruction mode when signal is on. PWRT JOG/INHING JOG P JOG N ST0 to urrent position write with external unit input instruction Manual operation switch with external unit input instruction Moving direction + with external unit input instruction Moving direction - with external unit input instruction ylinder type STRT During the instruction mode, the position is written when this signal is greater than 0ms with the position for writing specified. Switching of manual operation during the instruction mode. Selects inching operation when it is on, and jog operation when it is off. Operating direction and operation start signal during the instruction mode. Moves in + direction to the soft limit when signal is on. Decelerates and stops when it is off while moving. Operating direction and operation start signal during the instruction mode. Moves in - direction to the soft limit when signal is on. Decelerates and stops when it is off while moving. Program start signal for position numbers from ST0 to ST. an select either Level or Edge for signal using parameter move command. Note that when more than two positions are on at the same time, the lowest-number signal takes precedence. Output Signal Functions Output Signal name Description Remarks MNU S Operation mode status Operation mode status outputs (UTO/MNUL). MNUL when signal is on, UTO when off. PO0 to PO End position number Outputs the position number arrived after positioning is completed (binary outputs). MOVE Moving Outputs signal during motor operation. INPS Positioning completed Outputs when motor comes within the positioning completed width. SVRDY Operation preparations completed Outputs signal when servo is on. LM larm larm output signal. MODES External unit input instruction mode status Output signal for judging instruction mode or regular operation mode. Instruction mode when signal is on. Regular operation mode when it is off. WEND Writing completed Signal is off after switching to the regular mode, and it is on for 0ms when writing of the PWRT signal is completed. HEND Return to home position completed Outputs signal when returning to home position is completed. RE Upper/lower area limit On when the current position of actuator is within a range specified by the parameter. P RE Position area On when the current position of actuator is within a range specified by the program step. EMGS Emergency stop status Outputs judgment for input of emergency stop. On during normal operation, and off when emergency stop circuit is shut off. LOD Load output judgment status On when a directive torque exceeds the threshold over a certain period within a judgment range. TRQS Torque level status On when the load threshold is reached while moving. Off while the load remains under the threshold. PE0 to PE ylinder type arrival completed output Signal generated after operation for position number is completed. LS0 to LS ylinder type position detection output Outputs when the current position comes within the positioning width for each of the three points. I/O onnector Pin Numbers 0 * ontroller connector port view

35 ompact series ELETRI TUTOR ctuator able TS actuator cable: L-TS--* *- (Standard) * * indicates cable length: 0 (m), 0 (m), or 0 (0m). * To use a 0m actuator cable, insert a noise filter to the TS power supply. Recommended noise filter is "RSN-00 (TDK-Lambda orporation)".

36 ELETRI TUTOR ompact series Low-capacity servo driver controller TL For single axis / Position type Features Ready to use, simplified setup. Simple Operation Use P setup tool D-STEP or digital operator TDO to access many useful functions. Functions - Selectable function modes (-position, external unit input instruction, -position, -position, Solenoid mode, and Solenoid mode ) - Step data count: Up to (depending on function mode) - larm history: Up to 0 (including power ON history) - Switching between uto/manual, brake release switch - Selectable control methods (positioning or pressing) - uto-tuning functionality built-in

37 ompact series ELETRI TUTOR ombined ontrol Device Model onfiguration (TL) ontrol device model apacity Power supply voltage Type Encoder type ctuator model Lead Home position TL D - MOD - - KRF D () () () () () () () () (9) (0) TL 00: 0W 0D: VD MOD: Mode switching type rake : bsolute KRF KRF 0: mm 0: 0mm D: Motor side R: Reverse No symbol: Without brake motor side : With brake Stroke Enter the stroke of the actuator model () Example) 000: 0mm TL Specifications Type of Model TL machine apacity 0W Main circuit Input power VD±0% ontrol circuit supply Power supply [] Rated (Max ) ontrol axis Single axis Motor servo motor ontrol ontrol Feedback control (Semi-closed loop) Position detection bsolute cceleration/deceleration Trapezoid acceleration, S-shape acceleration Function mode -position External unit input -position -position Solenoid mode Solenoid mode Program Step data count points points points points points points Data input/output P setup tool D-STEP or Digital operator TDO Dedicated Input points points (Start, Return to home position, Pause, Reset, Servo ON, Specify step number, etc.) * Input/output input/output Output points points (Return to home position completed, In position, Servo ready, larm, attery alarm, etc.) * Input/output power supply VD ±0% (This should be prepared by yourself.) Device Digital operator or P software Serial ommunication Method RS communication Ports Mini DIN Operating/storage temperature 0 to 0 (No freezing) / -0 to (No freezing) Usage Operating/storage humidity 90% RH or below (No condensation) conditions mbient condition Indoor (Free from direct sunlight, corrosive gas, flammable gas, oil mist, dust, water, oil and chemicals) Protective function Overload, overvoltage, excessive position deviation, software limit over error, etc. ccessories Power supply connector I/O connector General specifications Options (sold separately) External dimensions [mm] Weight (not including battery) * This count varies depending on function mode. Digital operator TDO (able length m) I/O cable m, m, m, and 0m ommunication cable (Mini DIN US).mm (W) 99.mm (H).mm (D) 0.kg or less

38 0 F ELETRI TUTOR ompact series System onfiguration Higher PL, etc. TL needs either TDO or D-STEP for setting. n I/O connector is provided with TL. (vailable in Japanese and English) ctuator ables are provided with the actuator main unit. Digital operator TDO V D power supply Power supply to be provided by customer. power supply connector is provided with TL. onnector for absolute battery Wiring to be provided by customer. Separate order required. ables provided with product. Servo driver controller TL P setup tool D-STEP The P setup tool can be freely downloaded after logging in to the technical support website. (vailable in Japanese, English, and Simplified hinese) Dimensional Drawing of ontroller TL (9.). ().. ø. (.) PWR SV/ LM RK OFF DK OFF MOT RK OFF E D 9 ID MNU UTO (99.) 9.. S S MPO MPI V 0V EMG- R.. ()

39 ompact series ELETRI TUTOR TL Pin ssignment Encoder input RS- communication Motor/brake output Emergency stop switch V D power supply attery 9 0 S S MPO MPI V 0V EMG T T+ PO PO GO GO V D +V D 0V 0V FG FG Input signal Output signal N/ External power supply input * For attached I/O connector pin numbers, see P.. * ustomer provides V D power supply for input/output circuitry. Input/Output ircuitry for TL () Input circuit Output circuit TL Internal circuit Internal circuit TL, Each output External V D power supply, Each input to.kω.9kω 0.0µF 0.0µF 9 to, RL External V D power supply

40 ELETRI TUTOR ompact series TL Function Modes TL provides six modes to support various requirements and purposes. Multi-point positioning Electromagnetic valve Function mode Overview Step data count Pressing operation 0: -position : External unit input instruction : -position : -position : Solenoid mode : Solenoid mode Multi-point positioning operation with points With area output, with P area output Multi-point positioning operation with points I/O-based external unit instruction mode Without area output, with P area output Multi-point positioning operation with points Without area output, with P area output Multi-point positioning operation with points Without area output, without P area output Multi-point positioning operation with points Direct move command input With area output, with P area output Multi-point positioning operation with points Direct move command input With position sensor auto-switch output, area output and P area output Pin ssignment by Function Mode I/O Input Output pin number Signal name Function mode 0 Function mode Function mode Function mode Function mode Function mode -position External unit input -position -position Solenoid mode Solenoid mode PI 0 PI 0 PI 0 PI 0 ST 0 ST 0 PI PI PI PI ST ST PI PI PI PI ST ST PI PI PI PI ST PI PI PI PI ST PI PI PI PI ST 9 MODE PI PI ST 0 JOG/INHING PI PI JOG P PI KRL JOG N KRL KRL KRL KRL STRT STRT/PWRT STRT STRT MNU MNU MNU MNU MNU MNU HOME HOME HOME HOME HOME HOME PUSE PUSE PUSE PUSE PUSE PUSE REST REST REST REST REST REST SV-ON SV-ON SV-ON SV-ON SV-ON SV-ON 9 PO 0 PO 0 PO 0 PO 0 PE 0 LS 0 0 PO PO PO PO PE LS PO PO PO PO PE LS PO PO PO PO PE PO PO PO PO PE PO PO PO PO PE MOVE MOVE PO PO PE RE MODES PO PO RE RE P RE P RE P RE PO P RE P RE MNU S MNU S MNU S MNU S MNU S MNU S 9 HEND HEND HEND HEND HEND HEND 0 INPS INPS INPS INPS INPS LOD/TRQS WEND LOD/TRQS LOD/TRQS LOD/TRQS SVRDY SVRDY SVRDY SVRDY SVRDY SVRDY LM LM LM LM LM LM LM LM LM LM LM LM 9

41 ompact series ELETRI TUTOR Input Signal Functions Signal name Description Remarks MNU Operation mode Switches UTO/MNUL from I/O. MNUL when signal is on, and UTO when it is off. STRT Start Start signal of program step. Program starts when signal is on. Input PI0 to PI Instruction position number Input for specifying position numbers. Specifies programs at each signal level. Selects a program step and starts a program with "STRT" signal. PUSE Pause Temporarily interrupts the operation. PUSE input status when signal is off. (N.. connection specification) HOME Return to home position Starts the return to home position operation. Returning to home position is started when signal is on. It stops when it is off. SV-ON Servo on Turns the servo ON and OFF. Servo ON when signal is on, and servo OFF when signal is off. REST larm reset Resets alarm. Resets remaining travel distance during pause. Resets when it is on. KRL rake release Forcibly releases brake. Releases brake when it is on. MODE External unit input instruction mode Enters the instruction mode when signal is on. Instruction mode when signal is on. PWRT urrent position write with external During the instruction mode, the position is written when this signal is greater than 0ms with the unit input instruction position for writing specified. JOG/INHING Manual operation switch with Switching of manual operation during the instruction mode. Selects inching operation when it is external unit input instruction on, and jog operation when it is off. JOG P Moving direction + with external unit Operating direction and operation start signal during the instruction mode. Moves in + direction to input instruction the soft limit when signal is on. Decelerates and stops when it is off while moving. JOG N ST0 to Moving direction - with external unit input instruction ylinder type STRT Operating direction and operation start signal during the instruction mode. Moves in - direction to the soft limit when signal is on. Decelerates and stops when it is off while moving. Program start signal for position numbers from ST0 to ST. an select either Level or Edge for signal using parameter "move" command. Note that when more than two positions are on at the same time, the lowest-number signal takes precedence. Output Signal Functions Output Signal name Description Remarks MNU S Operation mode status Operation mode status outputs (UTO/MNUL). MNUL when signal is on, UTO when off. PO0 to PO End position number Outputs the position number arrived after positioning is completed (binary outputs). MOVE Moving Outputs signal during motor operation. INPS Positioning completed Outputs when motor comes within the positioning completed width. SVRDY Operation preparations completed Outputs signal when servo is on. LM larm larm output signal. MODES External unit input instruction mode status Output signal for judging instruction mode or regular operation mode. Instruction mode when signal is on. Regular operation mode when it is off. WEND Writing completed Signal is off after switching to the regular mode, and it is on for 0ms when writing of the PWRT signal is completed. HEND Return to home position completed Outputs signal when returning to home position is completed. RE Upper/lower area limit On when the current position of actuator is within a range specified by the parameter. P RE Position area On when the current position of actuator is within a range specified by the program step. LM Voltage reduction in battery Off when the battery voltage decreases. LOD Load output judgment status On when a directive torque exceeds the threshold over a certain period within a judgment range. TRQS Torque level status On when the load threshold is reached while moving. Off while the load remains under the threshold. PE0 to PE ylinder type arrival completed output Signal generated after operation for positioning is completed. LS0 to LS ylinder type position detection output Outputs when the current position comes within the positioning width for each of the three points. I/O onnector Pin Numbers 0 * ontroller connector port view 0

42 ELETRI TUTOR ompact series ctuator able Motor brake cable for TL: L-TL-P-** F (Standard) L-TL-P-** R (High flex) ** indicates cable length: 0 (m), 0 (m), or 0 (0m) () m φ. at maximum (Standard) φ. at maximum (High flex) (0) () () (9) () Encoder cable for TL: L-TL-S-** F (Standard) L-TL-S-** R (High flex) ** indicates cable length: 0 (m), 0 (m), or 0 (0m) m () φ. at maximum (Standard) φ. at maximum (High flex) (0) () () (9) (0) Motor brake extension cable for TL/TH: L-P-EXT0-** F (Standard) L-P-EXT0-** R (High flex) ** indicates cable length: 0 (m), 0 (m), or 0 (m) m φ. at maximum (Standard) φ. at maximum (High flex) Extension encoder cable for TL: L-S-EXT0-** F (Standard) L-S-EXT0-** R (High flex) ** indicates cable length: 0 (m), 0 (m), or 0 (m) m (9) φ. at maximum (Standard) φ. at maximum (High flex) (0) () () () () (9) (0) Note ) For use involving moving elements, select high flex type. The recommended bending radius at the core of cable is R9 or greater. (For use involving other than moving elements, R0 or greater is recommended.) Note ) When using the TL servo driver controller, motor brake cable and encoder cable should be no longer than m. Up to two extension cables can be connected.

43 ompact series ELETRI TUTOR Option Lithium ion battery (for maintenance) ERV (Toshiba Home ppliances orporation) This is required for the absolute system. When replacing the battery, order the above.

44 ELETRI TUTOR ompact series High-capacity servo driver controller TH For single axis / Position type Features Ready to use, simplified setup. Simple Operation Use P setup tool D-STEP or digital operator TDO to access many useful functions. Functions - Selectable function modes (-position, external unit input instruction, -position, -position, Solenoid mode, and Solenoid mode ) - Step data count: Up to (depending on function mode) - larm history: Up to 0 (including power ON history) - Switching between uto/manual, brake release switch - Selectable control methods (positioning or pressing) - uto-tuning functionality built-in

45 ompact series ELETRI TUTOR ombined ontrol Device Model onfiguration (TH) ontrol device model TH Specifications Model TH Type of 00V 00V machine apacity 00W 00W 00W 00W 00W 00W 0W 00V single-phase, 0/0Hz 00V single-phase, 0/0Hz Main circuit (Permissible voltage: 90 to 0V) (Permissible voltage: 0 to 0V) Input power 00V single-phase, 0/0Hz 00V single-phase, 0/0Hz supply ontrol circuit (Permissible voltage: 90 to 0V) (Permissible voltage: 0 to 0V) Power supply [kv] ontrol axis Single axis Motor servo motor ontrol ontrol Feedback control (Semi-closed loop) Position detection bsolute cceleration/deceleration Trapezoid acceleration, S-shape acceleration Function mode -position External unit input -position -position Solenoid mode Solenoid mode Program Step data count points points points points points points Data input/output P setup tool D-STEP or Digital operator TDO Dedicated Input points points (Start, Return to home position, Pause, Reset, Servo ON, Specify step number, etc.) * Input/output input/output Output points points (Return to home position completed, In position, Servo ready, larm, attery alarm, etc.) * Input/output power supply VD ±0% (This should be prepared by yourself.) Device Digital operator or P software Serial ommunication Method RS communication Ports Mini DIN Operating/storage temperature 0 to 0 (No freezing)/-0 to (No freezing) Usage Operating/storage humidity 90% RH or below (No condensation) conditions mbient condition Indoor (Free from direct sunlight, corrosive gas, flammable gas, oil mist, dust, water, oil and chemicals) pplicable standards E Marking Low voltage directive: EN00--, EM directive: EN00- Protective function Overload, overvoltage, excessive position deviation, software limit over error, etc. ccessories Power supply connector I/O connector General specifications apacity Power supply voltage Options (sold separately) Digital operator TDO (able length m) I/O cable m, m, m, and 0m ommunication cable (Mini DIN US) 00W or lower: mm (W) 0.mm (H) 0mm (D) External dimensions [mm] 00W or higher:.mm (W) 0.mm (H) 0mm (D) Weight (not including battery).kg or less.kg or less.kg or less.kg or less.kg or less.kg or less.kg or less * This count varies depending on function mode. Type Encoder type ctuator model Lead Home position rake Stroke Sensor TH MOD - - KRF D () () () () () () () () (9) (0) () TH 00: 00W 00: 00W 00: 00V 00: 00V MOD: Mode switching type : bsolute KRF KRFR 0: 0mm : mm D: Motor side R: Reverse No symbol: Without brake 00: 00W Direct coupling 0: 0 mm motor side : With 0: 0W KSF : mm brake KSF 0: 0 mm KSF 0: 0 mm KSF 0: 0 mm KSF0 Motor wrap KSFR KSFR KSFR KSFR KSF0R Select from the above also for KSF-T/U. Enter the stroke of the actuator model () Example) 000: 0m No symbol: None : With sensor

46 0 F 9 ELETRI TUTOR ompact series System onfiguration TH needs either TDO or D-STEP for setting. Higher PL, etc. n I/O connector is provided with TH. Power supply connector for brake (vailable in Japanese and English) 9 power supply connector for brake is provided with TH. Regeneration resistance Digital operator TDO Regeneration resistance may be needed when using TH. For details, see P.. ctuator ables are provided with the actuator main unit. P setup tool D-STEP The P setup tool can be freely downloaded after logging in to the technical support website. (vailable in Japanese, English, and Simplified hinese) onnector for emergency stop Servo driver controller TH 00V or 00V power supply Power supply to be provided by customer. power supply connector is provided with TH. onnector for absolute battery Wiring to be provided by customer. Separate order required. ables provided with product. ontroller TH (00W) () 0 SV/ LM ID DK OFF E D MNU EM G EM G UTO G P RKOFF PP PP HR 9 9. (0.). RK OFF P PE L L L L R.

47 ompact series ELETRI TUTOR TH Pin ssignment Encoder input RS- communication Motor/brake output Power supply for brake P G PO PO GO GO V D +V D 0V 0V FG FG Input signal Output signal N/ External power supply input Main circuit/control circuit power supply attery L L L L T T+ EMG EMG R+ R Emergency stop Regeneration resistance Input/Output ircuitry for TH () Input circuit Output circuit * For attached I/O connector pin numbers, see P.9. * ustomer provides V D power supply for input/output circuitry. TH Internal circuit Internal circuit TH, Each output External V D power supply, Each input to.kω.9kω 0.0µF 0.0µF 9 to, RL External V D power supply

48 ELETRI TUTOR ompact series TH Function Modes TH provides six modes to support various requirements and purposes. Multi-point positioning Electromagnetic valve Function mode Overview Step data count Pressing operation 0: -position : External unit input instruction : -position : -position : Solenoid mode : Solenoid mode Multi-point positioning operation with points With area output, with P area output Multi-point positioning operation with points I/O-based external unit instruction mode Without area output, with P area output Multi-point positioning operation with points Without area output, with P area output Multi-point positioning operation with points Without area output, without P area output Multi-point positioning operation with points Direct move command input With area output, with P area output Multi-point positioning operation with points Direct move command input With position sensor auto-switch output, area output and P area output Pin ssignment by Function Mode I/O Input Output pin number Signal name Function mode 0 Function mode Function mode Function mode Function mode Function mode -position External unit input -position -position Solenoid mode Solenoid mode PI 0 PI 0 PI 0 PI 0 ST 0 ST 0 PI PI PI PI ST ST PI PI PI PI ST ST PI PI PI PI ST PI PI PI PI ST PI PI PI PI ST 9 MODE PI PI ST 0 JOG/INHING PI PI JOG P PI KRL JOG N KRL KRL KRL KRL STRT STRT/PWRT STRT STRT MNU MNU MNU MNU MNU MNU HOME HOME HOME HOME HOME HOME PUSE PUSE PUSE PUSE PUSE PUSE REST REST REST REST REST REST SV-ON SV-ON SV-ON SV-ON SV-ON SV-ON 9 PO 0 PO 0 PO 0 PO 0 PE 0 LS 0 0 PO PO PO PO PE LS PO PO PO PO PE LS PO PO PO PO PE PO PO PO PO PE PO PO PO PO PE MOVE MOVE PO PO PE RE MODES PO PO RE RE P RE P RE P RE PO P RE P RE MNU S MNU S MNU S MNU S MNU S MNU S 9 HEND HEND HEND HEND HEND HEND 0 INPS INPS INPS INPS INPS LOD/TRQS WEND LOD/TRQS LOD/TRQS LOD/TRQS SVRDY SVRDY SVRDY SVRDY SVRDY SVRDY LM LM LM LM LM LM LM LM LM LM LM LM

49 ompact series ELETRI TUTOR Input Signal Functions Signal name Description Remarks MNU Operation mode Switches UTO/MNUL from I/O. MNUL when signal is on, and UTO when it is off. STRT Start Start signal of program step. Program starts when signal is on. Input PI0 - PI Instruction position number Input for specifying position numbers. Specifies programs at each signal level. Selects a program step and starts a program with "STRT" signal. PUSE Pause Temporarily interrupts the operation. PUSE input status when signal is off. (N.. connection specification) HOME Return to home position Starts the return to home position operation. Returning to home position is started when signal is on. It stops when it is off. SV-ON Servo on Turns the servo ON and OFF. Servo ON when signal is on, and servo OFF when signal is off. REST larm reset Resets alarm. Resets remaining travel distance during pause. Resets when it is on. KRL rake release Forcibly releases brake. Releases brake when it is on. MODE External unit input instruction mode Enters the instruction mode when signal is on. Instruction mode when signal is on. PWRT urrent position write with external During the instruction mode, the position is written when this signal is greater than 0ms with the unit input instruction position for writing specified. JOG/INHING Manual operation switch with Switching of manual operation during the instruction mode. Selects inching operation when it is external unit input instruction on, and jog operation when it is off. JOG P Moving direction + with external unit Operating direction and operation start signal during the instruction mode. Moves in + direction to input instruction the soft limit when signal is on. Decelerates and stops when it is off while moving. JOG N ST0 - Moving direction - with external unit input instruction ylinder type STRT Operating direction and operation start signal during the instruction mode. Moves in - direction to the soft limit when signal is on. Decelerates and stops when it is off while moving. Program start signal for position numbers from ST0 to ST. an select either Level or Edge for signal using parameter "move" command. Note that when more than two positions are on at the same time, the lowest-number signal takes precedence. Output Signal Functions Output Signal name Description Remarks MNU S Operation mode status Operation mode status outputs (UTO/MNUL). MNUL when signal is on, UTO when off. PO0 - PO End position number Outputs the position number arrived after positioning is completed (binary outputs). MOVE Moving Outputs signal during motor operation. INPS Positioning completed Outputs when motor comes within the positioning completed width. SVRDY Operation preparations completed Outputs signal when servo is on. LM larm larm output signal. MODES External unit input instruction mode status Output signal for judging instruction mode or regular operation mode. Instruction mode when signal is on. Regular operation mode when it is off. WEND Writing completed Signal is off after switching to the regular mode, and it is on for 0ms when writing of the PWRT signal is completed. HEND Return to home position completed Outputs signal when returning to home position is completed. RE Upper/lower area limit On when the current position of actuator is within a range specified by the parameter. P RE Position area On when the current position of actuator is within a range specified by the program step. LM Voltage reduction in battery Off when the battery voltage decreases. LOD Load output judgment status On when a directive torque exceeds the threshold over a certain period within a judgment range. TRQS Torque level status On when the load threshold is reached while moving. Off while the load remains under the threshold. PE0 - PE ylinder type arrival completed output Signal generated after operation for positioning is completed. LS0 - LS ylinder type position detection output Outputs when the current position comes within the positioning width for each of the three points. I/O onnector Pin Numbers 0 * ontroller connector port view

50 ELETRI TUTOR ompact series ctuator able Motor brake cable for TH: L-TH-P-** F (Standard) L-TH-P-** R (High flex) ** indicates cable length: 0 (m), 0 (m), or 0 (0m) m φ. at maximum (Standard) φ. at maximum (High flex) Encoder sensor cable for TH: L-TH-S-** F (Standard) L-TH-S-** R (High flex) ** indicates cable length: 0 (m), 0 (m), or 0 (0m) m () φ0.9 at maximum (Standard) φ0. at maximum (High flex) (0) () () () (0) (0) () (0) () (9) () () (0) () (0) Motor brake extension cable for TL/TH: L-P-EXT0-** F (Standard) L-P-EXT0-** R (High flex) ** indicates cable length: 0 (m), 0 (m), or 0 (m) m φ. at maximum (Standard) φ. at maximum (High flex) 9

51 ompact series ELETRI TUTOR Encoder sensor extension cable for TH: L-S-EXT0-** F (Standard) L-S-EXT0-** R (High flex) ** indicates cable length: 0 (m), 0 (m), or 0 (m) m () () (9) (9) () φ0.9 at maximum (Standard) φ0. at maximum (High flex) () (0) (0) (0) () () () () (0) () () Note ) For use involving moving elements, select high flex type. The recommended bending radius at the core of cable is R9 or greater. (For use involving other than moving elements, R0 or greater is recommended.) Note ) When using the TL servo driver controller, motor brake cable and encoder sensor cable should be no longer than m. Up to two extension cables can be connected. Note ) When using the TH servo driver controller, the lengths of motor brake cable and encoder sensor cable should be no longer than m. Up to two extension cables can be connected. Option Lithium ion battery (for maintenance) ERV (Toshiba Home ppliances orporation) This is required for the absolute system. When replacing the battery, order the above. 0

52 0 F 9 ELETRI TUTOR ompact series Optional (Regeneration Resistance) Regeneration resistance To make electrical actuator operate via the TH controller series, a regeneration resistance may be necessary depending on the operating conditions. The following table lists the required number of regeneration resistances just for reference. The customer should provide the required number of them. It is recommended that you use regeneration resistances manufactured by Iwaki Musen Kenkyusho o.,ltd. THK supplies regeneration resistance connection cables. The customer can order them separately as necessary. Regeneration resistance (Power-type cement resistor) Regeneration resistance connection cable (L- REG00-0F) ( ) x 00 onnector (female) FFSS-0V-KY (J.S.T. Mfg. o., Ltd.) onnector (female) EDGK-.0-0P (DEGSON) onnector (male) EDGKR-.0-0P (DEGSON) * able insertion jig (DG00-0P-9-00H) is provided. (The customer does not have to provide special tools) Name of item Manufacturer RH0 00Ω J Iwaki Musen RH0 0Ω J Kenkyusho o.,ltd. Model Length Manufacturer L-REG00-0F m THK o., Ltd. TH capacity Horizontal mount Orientation Vertical mount 00W x x 00W x x 00W x x 0W x x onfiguration Diagram SV/ LM G P 9 RKOFF Regeneration resistance connection cable PP PP HR ID DK OFF E D EM G EM G MNU UTO RK OFF P PE L L L L Regeneration resistance ontroller series TH * There is no polarity in wiring.

53 SV/ LM ID DK OFF EM G EM G MNU UTO RK OFF P PE F 0 E D 9 L L L L G P 9 RKOFF PP PP HR SV/ LM ID DK OFF EM G EM G MNU UTO RK OFF P PE F 0 E D 9 L L L L G P 9 RKOFF PP PP HR SV/ LM ID DK OFF EM G EM G MNU UTO RK OFF P PE F 0 E D 9 L L L L G P 9 RKOFF PP PP HR SV/ LM ID DK OFF EM G EM G MNU UTO RK OFF P PE 0 F E D 9 L L L L G P 9 RKOFF PP PP HR ompact series ELETRI TUTOR Regeneration Resistance External Drawing RH0 (90W, 00Ω) (90W, 0Ω) common to all φ SV/ LM ID DK OFF EM G EM G MNU UTO RK OFF P PE 0 F E D 9 L L L L G P 9 RKOFF PP PP HR SV/ LM ID DK OFF EM G EM G MNU UTO RK OFF P PE F 0 E D 9 L L L L G P 9 RKOFF PP PP HR Wiring Example (Using Two Regeneration Resistances) When you use two regeneration resistances, connect them in series. onnector (male) EDGKR-.0-0P (DEGSON) Regeneration resistance losed-end connectors Wires should be connected using closed-end connectors. Precautions on Selecting Resistance The customer should provide the required number of regeneration resistances for each TH. NG OK TH TH Regeneration resistance Regeneration resistance

54 ELETRI TUTOR ompact series ontroller Series Network Unit TNU/TJU Multiple-axis connection fieldbus compatible Less Wiring Required onnecting to a PL through a fieldbus network requires less wiring than an I/O cable connection. In addition, the network unit and each driver controller can be connected with a single dedicated cable. Up to xes an e onnected Up to axes of mixed THK driver controllers (TS, TL, and TH) can be connected using one TNU and TJU (branch unit) in combination. Direct Numerical ontrol Supported (Version. or later) Position, speed, and acceleration commands can be made directly from the PL. s well, information such as the current position can be monitored. * TS is supported with Version., TL/TH with Version.0 or later. * For TNU-E support, contact THK.

55 ompact series ELETRI TUTOR System onfiguration Digital operator TDO P setup tool D-STEP Fieldbus network Higher-level device Network unit TNU Emergency stop switch LINE IN LINE IN ranch unit TJU V D power supply LINE IN OUT/ PORT OUT/ PORT OUT/ PORT THK electrical actuator Up to axes Driver controller TS/TL/ TH Wiring to be provided by customer. Separate order required. Higher-level network communication connector for is provided with TNU. (TNU-,TNU-DV)

56 ELETRI TUTOR ompact series Model onfiguration Network unit ranch unit Tnet cable (between TJU and driver controller) Model Network type Model Model Type able length TNU () () TNU :-Link DV :DeviceNet E :EtherT EP :EtherNet/IP TJU () TJU L NW 0 () () () L NW 0:m 0:m Use an industrial Ethernet cable between TNU and TJU, and between TJUs. Specifications Fieldbus THK network Model TNU- TNU-DV TNU-E TNU-EP ommunication standard -Link Ver.0 -Link Ver.00 DeviceNet EtherT EtherNet/IP ommunication speed 0Mbps/Mbps/.Mbps/kbps/kbps 00kbps/0kbps/kbps 00M 0M/00M Number of occupied stations Remote device stations Remote device stations Number of occupied nodes: stations station, stations, stations, stations Number of occupied channels : input H output H pplicable controller Transmission channel type ommunication speed [bps] ommunication method TS/TL/TH RS-.k/.k/.k Half duplex Maximum trunk length [m] 0 Maximum number of connectable axes Input power supply V D ±0%, up to 0. Operating/storage temperature mbient condition Protective function Weight [g] 0 to (No freezing)/-0 to (No freezing) Indoor (Free from direct sunlight, corrosive gas, flammable gas, oil mist) Higher-level network communication error, communication error, system error 0(TJU:0) ーー * The number of occupied channel numbers is fixed. If using master devices with or fewer input occupied channels or or fewer output occupied channels, contact THK.

57 F 0 0 F ompact series ELETRI TUTOR Dimensions TNU.. ø STT x0 E D 9 x ID E D 9 9. MODE. (Mounting pitch) S S V 0V R. TJU.. ø LINE IN PORT PORT 9. PORT PORT. (Mounting pitch) PORT PORT /OUT TERM.ON OFF R. The external dimensions and mounting dimensions of TNU and TJU are the same.

58 ELETRI TUTOR ompact series omponents TNU- TNU-E TNU-DV TNU-EP () () () () () () () () () () () () EtherT version TJU () () () () () () () (9) (0) () Power-on display (red) () Higher-level network communication status display (green) () Tnet status display (green) () Error display (red) () Higher-level network ID setting switch () Higher-level network communication connector "" () Higher-level device selection switch () ommunication connector "" (9) ommunication connector "" (0) Power supply connector "" () Power-on display (red) () () Higher-level network communication status display (green) () Tnet status display () (green) () Error display (red) () () Higher-level network ID setting switch () Higher-level network (9) communication (0) connector "" () Higher-level device selection switch () () ommunication connector "" () (9) ommunication connector "" (0) LED (MS) () LED (NS) () Power supply connector "" () () () () (9) (0) () () () Power-on display (red) () Higher-level network communication status display (green) () Tnet status display (green) () Error display (red) () Higher-level network communication connector "" () LED (LINK) () Higher-level device selection switch () ommunication connector "" (9) ommunication connector "" (0) LED (MS) () LED (NS) () Power supply connector "" () () () Input port (higher-level connection) () Output port (lower-level connection) () Terminating resistance selection switch External Device onnection (TNU) -Link EtherT RS- communication (setup tool) Emergency stop switch V D (direct current) power supply D D SG EN ST_DET EMG EMG V S S V 0V D D DG SLD D D SG EN ST_DET EMG -Link RS- communication (lower-level device) RS- communication (setup tool) Emergency stop switch V D (direct current) power supply D D SG EN ST_DET EMG EMG V S S V 0V IN OUT D D SG EN ST_DET EMG EtherT RS- communication (lower-level device) EtherNet/IP DeviceNet RS- communication (setup tool) Emergency stop switch V D (direct current) power supply EtherNet/IP RS- communication (lower-level device) RS- communication (setup tool) Emergency stop switch V D (direct current) power supply DeviceNet RS- communication (lower-level device) Note: The emergency stop terminals (-S and S) are not used for power shutdown of TNU, but used for an emergency stop of the lower-level device (THK driver controller).

59 ompact series ELETRI TUTOR TDO Digital operator (separate order required) L with backlight Key sheet Features Simple, quick operations and settings of TS, TL and TH are possible without using a P. Simple Operation Key sheet with a straightforward design, L with backlight (0 digits lines). Functions - hecking and editing step data and parameters - Operation of actuator Enable switch (Return to home position, Jog operation, Inching operation, Program execution, Servo ON/OFF, Electromagnetic brake ON/OFF) - Monitor (I/O, urrent position, Position command, urrent command, Version display) - larm (History display, lear history, Interrupt display on occurrence, larm reset) - Settings (acklight luminance, LD contrast, eep tone, utomatic turn off of backlight) - Enable switch ( positions) - Protection structure IP (excluding cable connectors) - Display language (Japanese/English) Outer dimensions: 0mm (W).mm (H).mm (D) (excluding crests) Main unit weight: 00g (excluding cables) able length: m * TL/TH is supported with Version.0 or later. * TNU is supported with Version.0 or later. D-STEP P setup tool Model onfiguration Model Type TDO - N () () TDO N: ategory compliant type ISO 9- Three languages supported Features Supports multifunctional TS/TL/TH with user-friendly interface. Simple Operation User-friendly interface Operations and settings of TS, TL and TH are possible using a P. Equipped with functions useful for maintenance, such as backing up data or logging operating states. Functions - hecking, editing, backing up, or offline-editing of step data - hecking, editing, backing up, or offline-editing of parameters - Operations of actuator (Return to home position, Jog operation, Inching operation, Program execution, Servo ON/OFF) - Monitor (I/O, urrent position, Position command, urrent command) - Logging (Speed and current waveform display) - larm (History display, lear history, larm reset) - Display language (Japanese/English/Simplified hinese) Supported OS: Windows XP/Windows Vista/Windows D-STEP can be freely downloaded from the THK technical support website ( * TL/TH/TNU is supported with Version.0 or later.

60 ELETRI TUTOR ompact series able I/O cable: L-ON-IO-** (optional) ** indicates cable length: 0 (m), 0 (m), or 0 (0m). ables are used for TS, TL or TH. * ables are shipped with the discrete wire side terminals unprocessed. PO GO (cable length) - - P communications cable: L-OM-0 (optional) (000) (00) 9

61 ompact series ELETRI TUTOR MEMO 0

62 Precautions on Use Operation Do not unnecessarily disassemble the actuator or control device. Doing so may allow foreign objects to enter or reduce functionality. Do not drop or knock the actuator or control device. Doing so may cause injury or damage the unit. If the product is dropped or impacted, functionality may be reduced even if there is no surface damage. Environment Wrong environment can cause failures of the actuator and control devices. The best place to use the product is as follows: ctuator: place with an ambient temperature from 0 to 0 and humidity of 0% RH or lower that will not expose the product to freezing or condensation. ontroller: place with an ambient temperature from 0 to 0 and humidity of 90% RH or lower that will not expose the product to freezing or condensation. place free from corrosive gas and flammable gas. place free from electrically conductive powder (such as iron powder), dust, oil mist, cutting fluid, moisture, salt, and organic solvent. place free from direct sunlight and radiant heat. place free from strong electric and magnetic fields. place where vibration or impact is not transmitted to the unit. place that is easily accessible for service and cleaning purposes. Safety Precautions When the actuator is in motion or about to be in motion, do not touch any moving parts. Do not go near the actuator when it is in motion. efore performing installation, adjustment, checking, or services regarding and the connected peripherals, ensure that all power is disconnected. In addition, take countermeasures to prevent anyone other than the operator from turning on the power. If two or more people are involved in the operation, confirm the procedures such as sequences, signs, and abnormalities in advance, and appoint another person for monitoring the operation. efore operation, please read thoroughly and obey "Manipulating industrial robots - Safety" (JIS ) and "Ordinance on Industrial Safety and Health" (Ministry of Health, Labor and Welfare). Operation of the actuator over the torque limit value leads to damage of parts or injury. Please keep the torque limit settings of parameters within THK specifications. lthough a stopper is installed inside the product, it is intended to limit the stroke and therefore may be damaged in case of a hard collision. Lubrication Thoroughly remove anti-rust oil and feed lubricant before using the product. In order to effectively use the actuator, lubrication is required. Insufficient lubrication may increase abrasion on the rolling part and shorten service life. Do not use a mix of lubricants with different physical properties. Please contact THK if using special lubricants. When adopting oil lubrication, contact THK for details. The greasing interval may vary depending on the usage conditions, so THK recommends determining a greasing interval during the initial inspection.