Home
IAI
Robotics
TTA Series
IAI TTA Series User Manual
5
of 1
of 1 rating
378 pages
Give review
Manual
Specs
To Next Page
To Next Page
Loading...
T
abletop Robot
T
TA
Instruction Manual 12th Edition
IAI Cor
p
oration
2
Table of Contents
Default Chapter
5
Table of Contents
5
Name and Function of each Part
26
Chapter 1 Specifications Check
43
Product Check
43
Parts
43
Instruction Manuals Related to this Product, Which Are Contained in the Instruction Manual (DVD)
44
How to Read the Model Plate
44
How to Read the Model
45
Model Codes for Option of Y-Axis Mount Position Change
47
Model Code for ZR Axis Front-Back Direction Position Change Option
48
Mechanical Specifications
49
Speed
49
Work Moving Type Pulse Motor Specifications
49
Work Fixing Type Pulse Motor Specifications
49
Work Moving Type Servo Motor Low Lead Specifications
49
Work Moving Type Servo Motor High Lead Specification
49
Work Fixing Type Servo Motor Low Lead Specifications
50
Work Fixing Type Servo Motor High Lead Specification
50
Max. Speed, Max. Acceleration Speed and Transportable Mass
51
Work Moving Type Pulse Motor Specifications
51
Work Fixing Type Pulse Motor Specifications
51
Work Moving Type Servo Motor Low Lead Specifications
52
Work Moving Type Servo Motor High Lead Specification
52
Work Fixing Type Servo Motor Low Lead Specifications
53
Work Fixing Type Servo Motor High Lead Specifications
53
Driving System and Position Detector
54
Pulse Motor Standard Specifications
54
Pulse Motor High Resolution Specifications
54
Servo Motor Low Lead Specifications
54
Servo Motor High Lead Specifications
54
Positioning Repeatability, Lost Motion (Note 1)
55
Pulse Motor Standard Specifications
55
Pulse Motor High Resolution Specifications
55
Servo Motor Low Lead Specifications
55
Servo Motor High Lead Specifications
55
Relation between Current Limit Value and Pressing Force
56
Pulse Motor Specifications
56
Servo Motor Specifications
58
Allowable Moment for Actuator
59
Work Moving Type Pulse Motor Specifications
59
Work Fixing Type Pulse Motor Specifications
60
Work Moving Type Servo Motor Specifications
61
Work Fixing Type Servo Motor Specifications
62
Ma Direction Moment Offset Datum Position and the Moment Direction of each Axis
63
Duty of Continuous Operation
65
Electrical Specifications
70
Protection Circuit
72
Selection of Circuit Breaker
72
Selection of Leakage Breaker
73
Standard I/O Input and Output Interface
74
Standard I/O Connector Pin Assignment
75
Extension I/O Input and Output Interface
76
Extension I/O Connector Pin Assignment
77
Table for I/O Assignment
78
Specifications for Service Power Supply Output
81
Options
82
X, y and Z-Axes Options
82
Home-Position Check Sensor (Model: HS)
82
Reversed-Home Specification (Model: NM)
82
Brake Specification (Model: B)
82
With Cover Specification (Dedicated for 4-Axis Type) (Model: CO)
82
Equipment Options
82
Y Change in Y-Axis Mount Position (H1, H2, F1 and F2)
82
Main-Unit Bracket-Equipped Type (Model: FT4, FT6)
82
Support Added for 2020 Type (Model: AP)
82
Chapter 2 Installation
83
Transportation
83
Installation and Storage • Preservation Environment
83
Installation Environment
83
Storage • Preservation Environment
83
How to Install
84
Installation Orientation
84
How to Fix Unit
85
Work Moving Type
85
Work Fixing Type
86
Attachment of the Transported Object
87
Loadable Weight on Table
88
How to Attach Supportive Tools
89
Procedures to Detach Operation Part
90
Chapter 3 Wiring
93
Wiring Diagram
93
Power Supply, Emergency Stop Circuit and Enable Circuit
94
Pulse Motor Type
94
Internal Circuit Composition
94
Example for Composition of Emergency Stop and Enable Circuits
96
AC Servo Motor Type
101
Internal Circuit Composition
101
Example for Composition of Emergency Stop and Enable Circuits
103
Safety Circuit Timing Charts for TTA (Pulse Motor, Servo Motor)
108
IO Circuit
115
Input and Output Ports Assignment Specification
115
I/O Assignment Parameter List
118
Example for Parameter Settings at Delivery
119
Standard I/O
121
When Service Power Supply Switch Is on (Internal Power Source)
121
When Service Power Supply Switch Is on (Internal Power Source)
122
When Service Power Supply Switch Is off (External Power Source)
123
Extension I/O
124
Wiring Method
125
Wiring on AC Inlet for Power Supply
125
Wiring for the Teaching Tool
125
RS232C Interface
126
USB Interface
127
Wiring of System I/O
128
Wiring for PIO
129
IO Cable Layout
129
IO Replacement Cable Layout
130
Grounding
131
Wiring for SIO Module Communication Cable
132
SIO Module 485 Communication Cable (One End with Bare Cut Without Connectors with no Terminal Finishing)
132
SIO Module 485 Communication Cable (One End with Bare Cut Without Connectors with Terminal Finishing)
132
Connectors
133
SIO Module 232C Communication Cable (One End with Bare Cut Without Connectors)
133
Chapter 4 Operation
135
Types of Operations
135
Starting the Controller
136
Power Supply and Cutoff
136
Power Supply Sequence
136
Power Cutoff Sequence
136
Panel Window Display
137
Program Operation
139
Auto Start Upon Power on
139
Starting a Program by Specifying Its Program Number
141
Receiving and Forwarding of I/O Signals Necessary for Operation
143
Position Table and Program Creation and Writing
146
How to Use Internal DIO
147
Internal DI and Dedicated Functions
147
7-Segment Display by User SEL Program
148
Standard Interface
151
Payload Adjusted for Setting Values
155
Work Moving Type Pulse Motor Specifications
156
Work Fixing Type Pulse Motor Specifications
157
Work Moving Type Servo Motor Low Lead Specifications
158
Work Moving Type Servo Motor High Lead Specification
160
Work Fixing Type Servo Motor Low Lead Specifications
161
Work Fixing Type Servo Motor High Lead Specification
163
Chapter 5 List of Parameters
165
I/O Parameters
166
All Axes Common Parameters
187
Axis-Specific Parameters
191
Driver Card Parameters
197
Encoder Parameters
202
I/O-Slot Card Parameters
204
Other Parameters
208
Parameters for Linear / Rotation Controls
213
Chapter 6 Error List
214
Error Level Control
214
Error List (MAIN Application)
217
Error List (MAIN Core)
250
Chapter 7 Appendix
253
Work and Tool Coordinate System Features for Linear Axis
253
Coordinates for Coordinate System Definition Unit
254
Each Axis System
255
Base Coordinate System
256
Work Coordinate System
258
Tool Coordinate System
263
Setting of Parameters
267
Caution Note
270
Limitation in Coordinate System Constructing Axes
270
Note for Other Caution
271
Extension SIO Features
272
Specification
272
Functions
272
Caution
273
Parameter Setting
274
Example of Use
279
Chapter 8 Maintenance and Inspection
281
Inspection Items and Schedule
281
External Visual Inspection
281
Internal Visual Inspection
281
Cleaning
281
Grease Supply
282
Grease to Apply
282
Period of Time to Supply Grease
282
How to Supply the Grease
283
Replacement of Timing Belt
291
Inspecting the Belt
291
Applicable Belt
291
Period of Time for Fan Unit Replacement
311
Chapter 9 External Dimensions
313
Servo Motor Type, Pulse Motor Type (Battery-Less Absolute Specification)
313
Work Moving Type
313
Two-Axis: X & Y-Axes 200Mm Stroke
313
Two-Axis: X & Y-Axes 300Mm Stroke
314
Two-Axis: X & Y-Axes 400Mm Stroke
315
Two-Axis: X & Y-Axes 500Mm Stroke
316
Three-Axis: X & Y-Axes 200Mm Stroke, Z-Axis 100Mm/150Mm Stroke
317
Three-Axis: X & Y-Axes 300Mm Stroke, Z-Axis 100Mm/150Mm Stroke
318
Three-Axis: X & Y-Axes 400Mm Stroke, Z-Axis 100Mm/150Mm Stroke
319
Three-Axis: X & Y-Axes 500Mm Stroke, Z-Axis 100Mm/150Mm Stroke
320
Four-Axis: X & Y-Axes 200Mm Stroke, Z-Axis 100Mm/150Mm Stroke
321
Four-Axis: X & Y-Axes 300Mm Stroke, Z-Axis 100Mm/150Mm Stroke
322
Four-Axis: X & Y-Axes 400Mm Stroke, Z-Axis 100Mm/150Mm Stroke
323
Four-Axis: X & Y-Axes 500Mm Stroke, Z-Axis 100Mm/150Mm Stroke
324
Work Fixing Type
325
Two-Axis: X- Axis 200Mm Stroke, Y-Axis 150Mm Stroke
325
Two-Axis: X- Axis 300Mm Stroke, Y-Axis 250Mm Stroke
326
Two-Axis: X- Axis 400Mm Stroke, Y-Axis 350Mm Stroke
327
Two-Axis: X- Axis 500Mm Stroke, Y-Axis 450Mm Stroke
328
Three-Axis: X- Axis 200Mm Stroke, Y-Axis 150Mm Stroke, Z-Axis 100Mm/150Mm Stroke
329
Three-Axis: X- Axis 300Mm Stroke, Y-Axis 250Mm Stroke, Z-Axis 100Mm/150Mm Stroke
330
Three-Axis: X- Axis 400Mm Stroke, Y-Axis 350Mm Stroke, Z-Axis 100Mm/150Mm Stroke
331
Three-Axis: X- Axis 500Mm Stroke, Y-Axis 450Mm Stroke, Z-Axis 100Mm/150Mm Stroke
332
Four-Axis: X- Axis 300Mm Stroke, Y-Axis 250Mm Stroke, Z-Axis 100Mm/150Mm Stroke
333
Four-Axis: X- Axis 300Mm Stroke, Y-Axis 250Mm Stroke, Z-Axis 100Mm/150Mm Stroke
334
Four-Axis: X- Axis 400Mm Stroke, Y-Axis 350Mm Stroke, Z-Axis 100Mm/150Mm Stroke
335
Four-Axis: X- Axis 500Mm Stroke, Y-Axis 450Mm Stroke, Z-Axis 100Mm/150Mm Stroke
336
Pulse Motor Type (Incremental Specification)
337
Work Moving Type
337
Two-Axis: X & Y-Axes 200Mm Stroke
337
Two-Axis: X & Y-Axes 300Mm Stroke
338
Two-Axis: X & Y-Axes 400Mm Stroke
339
Two-Axis: X & Y-Axes 500Mm Stroke
340
Three-Axis: X & Y-Axes 200Mm Stroke, Z- Axis 100Mm/150Mm Stroke
341
Three-Axis: X & Y-Axes 300Mm Stroke, Z- Axis 100Mm/150Mm Stroke
342
Three-Axis: X & Y-Axes 400Mm Stroke, Z- Axis 100Mm/150Mm Stroke
343
Three-Axis: X & Y-Axes 500Mm Stroke, Z- Axis 100Mm/150Mm Stroke
344
Four-Axis: X & Y-Axes 200Mm Stroke, Z- Axis 100Mm/150Mm Stroke
345
Four-Axis: X & Y-Axes 300Mm Stroke, Z- Axis 100Mm/150Mm Stroke
346
Four-Axis: X & Y-Axes 400Mm Stroke, Z- Axis 100Mm/150Mm Stroke
347
Four-Axis: X & Y-Axes 500Mm Stroke,Z- Axis 100Mm/150Mm Stroke
348
Work Fixing Type
349
Two-Axis: X-Axis 200Mm Stroke, Y-Axis 150Mm Stroke
349
Two-Axis: X-Axis 300Mm Stroke, Y-Axis 550Mm Stroke
350
Two-Axis: X-Axis 400Mm Stroke, Y-Axis 350Mm Stroke
351
Two-Axis: X-Axis 500Mm Stroke, Y-Axis 450Mm Stroke
352
Three-Axis: X-Axis 200Mm Stroke, Y-Axis 150Mm Stroke, Z-Axis 100Mm/150Mm Stroke
353
Three-Axis: X-Axis 300Mm Stroke, Y-Axis 250Mm Stroke, Z-Axis 100Mm/150Mm Stroke
354
Three-Axis: X-Axis 400Mm Stroke, Y-Axis 350Mm Stroke, Z-Axis 100Mm/150Mm Stroke
355
Three-Axis: X-Axis 500Mm Stroke, Y-Axis 450Mm Stroke, Z-Axis 100Mm/150Mm Stroke
356
Four-Axis: X-Axis 200Mm Stroke, Y-Axis 150Mm Stroke, Z-Axis 100Mm/150Mm Stroke
357
Four-Axis: X-Axis 300Mm Stroke, Y-Axis 250Mm Stroke, Z-Axis 100Mm/150Mm Stroke
358
Four-Axis: X-Axis 400Mm Stroke, Y-Axis 350Mm Stroke, Z-Axis 100Mm/150Mm Stroke
359
Four-Axis: X-Axis 500Mm Stroke, Y-Axis 450Mm Stroke, Z-Axis 100Mm/150Mm Stroke
360
Work Moving Type
361
Option
361
Frame Option
362
Side Plate Option
363
Side Slot Option
364
Bracket-Equipped Option
365
Work Fixing Type
366
Frame Option
366
Side Slot Option
367
Chapter 10 Life
369
Chapter 11 Warranty
371
Warranty Period
371
Scope of the Warranty
371
Honoring the Warranty
371
Limited Liability
371
Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications
372
Other Items Excluded from Warranty
372
Change History
373
5
Based on 1 rating
Ask a question
Give review
Questions and Answers:
Need help?
Do you have a question about the IAI TTA Series and is the answer not in the manual?
Ask a question
IAI TTA Series Specifications
General
Type
Cartesian Robot
Actuator
Servo Motor
Repeatability
±0.01 mm
Environment
Cleanroom
Applications
Assembly, Inspection
Need help?
General
To Next Page