IAI America LSA-L15SS User Manual
IAI America, Inc.
Linear Servo Actuator
LSA Series
Operating Manual
Third Edition
Small Type:
Flat Type:
H8SS, H8SM, H8HS, H8HM
L15SS, S15SM
Please Read Before Use
Thank you for purchasing our product.
This Operating Manual explains the handling methods, structure and maintenance of this product,
among others, providing the information you need to know to use the product safely.
Before using the product, be sure to read this manual and fully understand the contents explained
herein to ensure safe use of the product.
The DVD that comes with the product contains Operating manuals for IAI products.
When using the product, refer to the necessary portions of the applicable instruction manual by
printing them out or displaying them on a PC.
After reading the Operating Manual, keep it in a convenient place so that whoever is handling this
product can reference it quickly when necessary.
[Important]
x This Operating Manual is original.
x This product is not to be used for any other purpose from what is noted in this Operating Manual.
IAI shall not be liable whatsoever for any loss or damage arising from the result of using the
product for any other purpose from what is noted in the manual.
x The information contained in this Operating Manual is subject to change without notice for the
purpose of production improvement.
x If you have any question or finding regarding the information contained in this Operating Manual,
contact our customer center or our sales office near you.
x Using or copying all or a part of this Operating Manual without permission is prohibited.
x The company names, names of products and trademarks of each company shown in the
sentences are registered trademarks.
Table of Contents
Safety Guide........................................................................................................... 1
Caution in Handling ................................................................................................ 8
International Standards Compliances..................................................................... 9
Names of the Parts............................................................................................... 10
1. Small Type H8SS, H8SM, H8HS, H8HM ....................................................................... 10
2. Flat Type L15SS, L15SM................................................................................................ 10
1. Specifications Check .......................................................................................11
1.1 Checking the Product.........................................................................................................11
1.1.1 Parts......................................................................................................................11
1.1.2 Operating Manuals for the Controllers Related to this Product ............................11
1.1.3 How to Read the Model Nameplate..................................................................... 12
1.1.4 How to Read the Model Number.......................................................................... 13
1.2 Specification ...................................................................................................................... 14
1.2.1 Speed................................................................................................................... 14
1.2.2 Maximum acceleration/deceleration, Maximum load capacity and Rated thrust. 15
1.2.3 No. of Encoder Pulses ......................................................................................... 16
1.2.4 Positioning Precision............................................................................................ 16
1.2.5 Allowable Load Moments of the Actuator ............................................................ 17
1.2.6 Duty Ratio in Continuous Operation .................................................................... 17
1.3 Operating conditions ......................................................................................................... 18
1.3.1 Available Conditions for Operation ...................................................................... 18
1.3.2 Availability Judgment for each Operational Condition ......................................... 19
1.3.3 Example for Judging Operation Availability by Operational Conditions............... 21
1.4 Option................................................................................................................................ 23
1.4.1 Cable Track Attachment Orientations 2 to 6 (Model: CT2 to CT6) ...................... 23
1.4.2 Cable Track for User S Type Attachment Orientations 1 to 6
(Model: US1 to US6)............................................................................................ 24
1.4.3 Cable Track for User M Type Attachment Orientations 1 to 6
(Model: UM1 to UM6)........................................................................................... 25
1.5 Motor • Encoder Cables .................................................................................................... 26
1.5.1 Motor • Encoder Cables for Linear Servo Actuator.............................................. 26
1.5.2 Cable in the bearer .............................................................................................. 28
2. Installation ...................................................................................................... 29
2.1 Transportation ................................................................................................................... 29
2.2 Installation and Storage • Preservation Environment........................................................ 31
2.3 How to Install..................................................................................................................... 32
2.3.1 Installation............................................................................................................ 32
2.3.2 Installation of Main Unit........................................................................................ 33
2.3.3 Attachment of Transported Object ....................................................................... 36
2.3.4 Installation Surface............................................................................................... 38
2.3.5 Mount of Connector Box and Others ................................................................... 39
3. Connecting with the Controller ....................................................................... 40
4. Operation........................................................................................................ 44
4.1 Home Return..................................................................................................................... 44
4.1.1 Principle of Home-Return Operation.................................................................... 44
4.1.2 Fine-tuning the Home Position............................................................................. 44
4.1.3 Changing the Home Direction.............................................................................. 44
5. Troubleshooting.............................................................................................. 45
5.1 Encoder Open Error (Error Code: D12) ............................................................................ 45
5.2 Driver Overload Error (Error Code: D0A).......................................................................... 46
5.3 Deviation Overflow Error (Error Code: C6B)..................................................................... 47
6. Maintenance and Inspection........................................................................... 48
6.1 Inspection Items and Schedule......................................................................................... 48
6.2 Visually Inspecting the Exterior......................................................................................... 48
6.3 Cleaning ............................................................................................................................ 48
6.4 Interior Inspection.............................................................................................................. 49
6.4.1 Small Type H8SS, H8SM, H8HS, H8HM............................................................. 49
6.4.2 Flat Type L15SS, L15SM..................................................................................... 49
6.5 Procedures for Replacement and Adjustment of Stainless Steel Sheet ........................... 50
6.5.1 Replacement Procedure for Stainless Steel Sheet.............................................. 51
6.5.2 Adjusting the Stainless Steel Sheet Tension........................................................ 52
6.5.3 Operation Check .................................................................................................. 54
7. Life.................................................................................................................. 55
8. External Dimensions....................................................................................... 56
8.1 Small Type H8SS .............................................................................................................. 56
8.2 Small Type H8SM.............................................................................................................. 57
8.3 Small Type H8HS .............................................................................................................. 58
8.4 Small Type H8HM ............................................................................................................. 59
8.5 Flat Type L15SS................................................................................................................ 60
8.6 Flat Type L15SM ............................................................................................................... 61
9. Warranty......................................................................................................... 62
9.1 Warranty Period ................................................................................................................ 62
9.2 Scope of the Warranty....................................................................................................... 62
9.3 Honoring the Warranty...................................................................................................... 62
9.4 Limited Liability.................................................................................................................. 62
9.5 Conditions of Conformance with Applicable Standards/Regulations, Etc.,
and Applications ................................................................................................................ 63
9.6 Other Items Excluded from Warranty................................................................................ 63
Change History..................................................................................................... 64
1
Safety Guide
“Safety Guide” has been written to use the machine safely and so prevent personal injury or
property damage beforehand. Make sure to read it 1before the operation of this product.
Safety Precautions for Our Products
The common safety precautions for the use of any of our robots in each operation.
No.
Operation
Description
Description
1 Model
Selection
Ɣ This product has not been planned and designed for the application
where high level of safety is required, so the guarantee of the protection
of human life is impossible. Accordingly, do not use it in any of the
following applications.
1) Medical equipment used to maintain, control or otherwise affect human
life or physical health.
2) Mechanisms and machinery designed for the purpose of moving or
transporting people (For vehicle, railway facility or air navigation
facility)
3) Important safety parts of machinery (Safety device, etc.)
Ɣ Do not use the product outside the specifications. Failure to do so may
considerably shorten the life of the product.
Ɣ Do not use it in any of the following environments.
1) Location where there is any inflammable gas, inflammable object or
explosive
2) Place with potential exposure to radiation
3) Location with the ambient temperature or relative humidity exceeding
the specification range
4) Location where radiant heat is added from direct sunlight or other large
heat source
5) Location where condensation occurs due to abrupt temperature
changes
6) Location where there is any corrosive gas (sulfuric acid or hydrochloric
acid)
7) Location exposed to significant amount of dust, salt or iron powder
8) Location subject to direct vibration or impact
Ɣ For an actuator used in vertical orientation, select a model which is
equipped with a brake. If selecting a model with no brake, the moving
part may drop when the power is turned OFF and may cause an accident
such as an injury or damage on the work piece.
2
No.
Operation
Description
Description
2 Transportation Ɣ When carrying a heavy object, do the work with two or more persons or
utilize equipment such as crane.
Ɣ When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
Ɣ When in transportation, consider well about the positions to hold, weight
and weight balance and pay special attention to the carried object so it
would not get hit or dropped.
Ɣ Transport it using an appropriate transportation measure.
The actuators available for transportation with a crane have eyebolts
attached or there are tapped holes to attach bolts. Follow the instructions
in the Operating manual for each model.
Ɣ Do not step or sit on the package.
Ɣ Do not put any heavy thing that can deform the package, on it.
Ɣ When using a crane capable of 1t or more of weight, have an operator
who has qualifications for crane operation and sling work.
Ɣ When using a crane or equivalent equipments, make sure not to hang a
load that weighs more than the equipment’s capability limit.
Ɣ Use a hook that is suitable for the load. Consider the safety factor of the
hook in such factors as shear strength.
Ɣ Do not get on the load that is hung on a crane.
Ɣ Do not leave a load hung up with a crane.
Ɣ Do not stand under the load that is hung up with a crane.
3 Storage and
Preservation
Ɣ The storage and preservation environment conforms to the installation
environment. However, especially give consideration to the prevention of
condensation.
Ɣ Store the products with a consideration not to fall them over or drop due
to an act of God such as earthquake.
4 Installation
and Start
(1) Installation of Robot Main Body and Controller, etc.
Ɣ Make sure to securely hold and fix the product (including the work part). A
fall, drop or abnormal motion of the product may cause a damage or
injury.
Also, be equipped for a fall-over or drop due to an act of God such as
earthquake.
Ɣ Do not get on or put anything on the product. Failure to do so may cause
an accidental fall, injury or damage to the product due to a drop of
anything, malfunction of the product, performance degradation, or
shortening of its life.
Ɣ When using the product in any of the places specified below, provide a
sufficient shield.
1) Location where electric noise is generated
2) Location where high electrical or magnetic field is present
3) Location with the mains or power lines passing nearby
4) Location where the product may come in contact with water, oil or
chemical droplets
3
No.
Operation
Description
Description
(2) Cable Wiring
Ɣ Use our company’s genuine cables for connecting between the actuator
and controller, and for the teaching tool.
Ɣ Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not
coil it around. Do not insert it. Do not put any heavy thing on it. Failure to
do so may cause a fire, electric shock or malfunction due to leakage or
continuity error.
Ɣ Perform the wiring for the product, after turning OFF the power to the
unit, so that there is no wiring error.
Ɣ When the direct current power (+24V) is connected, take the great care
of the directions of positive and negative poles. If the connection direction
is not correct, it might cause a fire, product breakdown or malfunction.
Ɣ Connect the cable connector securely so that there is no disconnection
or looseness. Failure to do so may cause a fire, electric shock or
malfunction of the product.
Ɣ Never cut and/or reconnect the cables supplied with the product for the
purpose of extending or shortening the cable length. Failure to do so may
cause the product to malfunction or cause fire.
4 Installation
and Start
(3) Grounding
Ɣ The grounding operation should be performed to prevent an electric
shock or electrostatic charge, enhance the noise-resistance ability and
control the unnecessary electromagnetic radiation.
Ɣ For the ground terminal on the AC power cable of the controller and the
grounding plate in the control panel, make sure to use a twisted pair
cable with wire thickness 0.5mm
2
(AWG20 or equivalent) or more for
grounding work. For security grounding, it is necessary to select an
appropriate wire thickness suitable for the load. Perform wiring that
satisfies the specifications (electrical equipment technical standards).
Ɣ Perform Class D Grounding (former Class 3 Grounding with ground
resistance 100: or below).
4
No.
Operation
Description
Description
4 Installation
and Start
(4) Safety Measures
Ɣ When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
Ɣ When the product is under operation or in the ready mode, take the
safety measures (such as the installation of safety and protection fence)
so that nobody can enter the area within the robot’s movable range.
When the robot under operation is touched, it may result in death or
serious injury.
Ɣ Make sure to install the emergency stop circuit so that the unit can be
stopped immediately in an emergency during the unit operation.
Ɣ Take the safety measure not to start up the unit only with the power
turning ON. Failure to do so may start up the machine suddenly and
cause an injury or damage to the product.
Ɣ Take the safety measure not to start up the machine only with the
emergency stop cancellation or recovery after the power failure. Failure
to do so may result in an electric shock or injury due to unexpected
power input.
Ɣ When the installation or adjustment operation is to be performed, give
clear warnings such as “Under Operation; Do not turn ON the power!”
etc. Sudden power input may cause an electric shock or injury.
Ɣ Take the measure so that the work part is not dropped in power failure or
emergency stop.
Ɣ Wear protection gloves, goggle or safety shoes, as necessary, to secure
safety.
Ɣ Do not insert a finger or object in the openings in the product. Failure to
do so may cause an injury, electric shock, damage to the product or fire.
Ɣ When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
5 Teaching Ɣ When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
Ɣ Perform the teaching operation from outside the safety protection fence,
if possible. In the case that the operation is to be performed unavoidably
inside the safety protection fence, prepare the “Stipulations for the
Operation” and make sure that all the workers acknowledge and
understand them well.
Ɣ When the operation is to be performed inside the safety protection fence,
the worker should have an emergency stop switch at hand with him so
that the unit can be stopped any time in an emergency.
Ɣ When the operation is to be performed inside the safety protection fence,
in addition to the workers, arrange a watchman so that the machine can
be stopped any time in an emergency. Also, keep watch on the operation
so that any third person can not operate the switches carelessly.
Ɣ Place a sign “Under Operation” at the position easy to see.
Ɣ When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
* Safety protection Fence : In the case that there is no safety protection fence,
the movable range should be indicated.
5
No.
Operation
Description
Description
6 Trial Operation Ɣ When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
Ɣ After the teaching or programming operation, perform the check
operation one step by one step and then shift to the automatic operation.
Ɣ When the check operation is to be performed inside the safety protection
fence, perform the check operation using the previously specified work
procedure like the teaching operation.
Ɣ Make sure to perform the programmed operation check at the safety
speed. Failure to do so may result in an accident due to unexpected
motion caused by a program error, etc.
Ɣ Do not touch the terminal block or any of the various setting switches in
the power ON mode. Failure to do so may result in an electric shock or
malfunction.
7 Automatic
Operation
Ɣ Check before starting the automatic operation or rebooting after
operation stop that there is nobody in the safety protection fence.
Ɣ Before starting automatic operation, make sure that all peripheral
equipment is in an automatic-operation-ready state and there is no alarm
indication.
Ɣ Make sure to operate automatic operation start from outside of the safety
protection fence.
Ɣ In the case that there is any abnormal heating, smoke, offensive smell, or
abnormal noise in the product, immediately stop the machine and turn
OFF the power switch. Failure to do so may result in a fire or damage to
the product.
Ɣ When a power failure occurs, turn OFF the power switch. Failure to do so
may cause an injury or damage to the product, due to a sudden motion of
the product in the recovery operation from the power failure.
6
No.
Operation
Description
Description
8 Maintenance
and Inspection
Ɣ When the work is carried out with 2 or more persons, make it clear who is
to be the leader and who to be the follower(s) and communicate well with
each other to ensure the safety of the workers.
Ɣ Perform the work out of the safety protection fence, if possible. In the
case that the operation is to be performed unavoidably inside the safety
protection fence, prepare the “Stipulations for the Operation” and make
sure that all the workers acknowledge and understand them well.
Ɣ When the work is to be performed inside the safety protection fence,
basically turn OFF the power switch.
Ɣ When the operation is to be performed inside the safety protection fence,
the worker should have an emergency stop switch at hand with him so
that the unit can be stopped any time in an emergency.
Ɣ When the operation is to be performed inside the safety protection fence,
in addition to the workers, arrange a watchman so that the machine can
be stopped any time in an emergency. Also, keep watch on the operation
so that any third person can not operate the switches carelessly.
Ɣ Place a sign “Under Operation” at the position easy to see.
Ɣ For the grease for the guide or ball screw, use appropriate grease
according to the Operating Manual for each model.
Ɣ Do not perform the dielectric strength test. Failure to do so may result in
a damage to the product.
Ɣ When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
Ɣ The slider or rod may get misaligned OFF the stop position if the servo is
turned OFF. Be careful not to get injured or damaged due to an
unnecessary operation.
Ɣ Pay attention not to lose the cover or untightened screws, and make sure
to put the product back to the original condition after maintenance and
inspection works.
Use in incomplete condition may cause damage to the product or an
injury.
* Safety protection Fence : In the case that there is no safety protection
fence, the movable range should be indicated.
9 Modification
and Dismantle
Ɣ Do not modify, disassemble, assemble or use of maintenance parts not
specified based at your own discretion.
10 Disposal Ɣ When the product becomes no longer usable or necessary, dispose of it
properly as an industrial waste.
Ɣ When removing the actuator for disposal, pay attention to drop of
components when detaching screws.
Ɣ Do not put the product in a fire when disposing of it.
The product may burst or generate toxic gases.
11 Other Ɣ Do not come close to the product or the harnesses if you are a person
who requires a support of medical devices such as a pacemaker. Doing
so may affect the performance of your medical device.
Ɣ See Overseas Specifications Compliance Manual to check whether
complies if necessary.
Ɣ For the handling of actuators and controllers, follow the dedicated
Operating manual of each unit to ensure the safety.
7
Alert Indication
The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to
the warning level, as follows, and described in the Operating Manual for each model.
Level Degree of Danger and Damage Symbol
Danger
This indicates an imminently hazardous situation which, if the product
is not handled correctly, will result in death or serious injury.
Danger
Warning
This indicates a potentially hazardous situation which, if the product is
not handled correctly, could result in death or serious injury.
Warning
Caution
This indicates a potentially hazardous situation which, if the product is
not handled correctly, may result in minor injury or property damage.
Caution
Notice
This indicates lower possibility for the injury, but should be kept to use
this product properly.
Notice
8
Caution in Handling
1. Make sure to follow the usage condition, environment and specification
range of the product.
Operaton out of the guarantee could cause a drop in performance or malfunction of the
product.
2. Back and forth operation in a short distance may cause wear of grease.
If the actuators are moved back and forth continuously over a short distance of 30 mm or
less, grease film may run out. As a guide, move the actuators back and forth repeatedly for
around 5 cycles over a distance of 50 mm or more after every 5,000 to 10,000 cycles. Keep
using the actuators with the grease worn out may cause malfunction.
3. Make sure to attach the actuator properly by following this operating
manual.
Using the product with the actuator not being certainly retained or affixed may cause
abnormal noise, vibration, malfunction or shorten the product life.
Warning: Do not get closer than 30cm if you are a person who needs a support of a
medical device such as a pacemaker. This actuator uses high-performance
rare-earth permanent magnets. Therefore an unexpected operation may be
caused to a medical device especially when using such a device such as a
pacemaker.
Caution:
• Do not attempt to get a magnetic card close to the product. Having a magnetic
storage medium close to the product may disable the medium by destroying data.
• Do not attempt to get a precision instrument such as an electric watch close to the
product. Doing so may cause a trouble to the instrument
9
International Standards Compliances
This actuator complies with the following overseas standard.
Refer to Overseas Standard Compliance Manual (ME0287) for more detailed information.
RoHS Directive CE Marking
c ¯
10
Names of the Parts
In this manual, the right-left directions of the actuator are indicated by viewing the actuator from its
top and also from its home side, with the actuator placed horizontally. “Front” refers to the side
opposite to one on which the actuator home is located.
1. Small Type H8SS, H8SM
(Note 1)
, H8HS, H8HM
(Note 1)
Note 1 Multi-slider type: There are two sliders mounted.
Cable track
Stainless
steel sheet
Slider cover
Side cover
Cable in the bearer
Right
Left
Slider
End cover
Home side
2. Flat Type L15SS, L15SM
(Note 1)
Note 1 Multi-slider type: There are two sliders mounted.
Cable in the bearer
Cable track
Right
Left
Home side
Slider
End cover
End cover
Linear guide
(Reference)
In the above figure, the cables are facing up or the top side, while the home is located on the
right side. The actuator is shipped with its home adjusted to the side specified by the customer.
Accordingly, the home position on your actuator may be different from the direction shown in the
figure.
11
1. Specifications Check
1.1 Checking the Product
The standard configuration of this product is comprised of the following parts.
See the component list for the details of the enclosed components. If you find any fault or missing
parts, contact your local IAI distributor.
1.1.1 Parts
No. Name Model number Quantity Remarks
1 Actuator
Refer to “How to Read the Model
Nameplate” and “How to Read
the Model Number.”
1
Accessories
2
Motor • encoder cables
(Note1)
1set
3 First Step Guide 1
4 Operating Manual (DVD) 1
5 Safety Guide 1
Note1 [Refer to 1.5, “Motor • Encoder Cables.”]
1.1.2 Operating Manuals for the Controllers Related to this Product
(1) Manuals Related to XSEL-P/Q controllers
No. Name Control No.
1 Operating Manual for XSEL-P/Q/PCT/QCT Controller ME0148
2 Operating Manual for XSEL-P/Q/PX/QX RC Gateway Function ME0188
3 Operating Manual for PC Software IA-101-X-MW/IA-101-X-USBMW ME0154
4 Operating Manual for Teaching Pendant SEL-T/TD/TG ME0183
5 Operating Manual for Teaching Pendant IA-T-X/XD ME0160
6 Operating Manual for DeviceNet ME0124
7 Operating Manual for CC-Link ME0123
8 Operating Manual for PROFIBUS-DP ME0153
(2) Manuals Related to SSEL controllers
No. Name Control No.
1 Operating Manual for SSEL Controller ME0157
2 Operating Manual for PC Software IA-101-X-MW/IA-101-X-USBMW ME0154
3 Operating Manual for Teaching Pendant SEL-T/TD/TG ME0183
4 Operating Manual for Teaching Pendant IA-T-X/XD ME0160
5 Operating Manual for DeviceNet ME0124
6 Operating Manual for CC-Link ME0123
7 Operating Manual for PROFIBUS-DP ME0153
1. Specications Check
1. Specications Check
12
(3) Manuals Related to SCON controllers
No. Name Control No.
1 Operating Manual for SCON Controller ME0161
2 Operating Manual for SCON-CA Controller ME0243
3 Operating Manual for PC Software RCM-101-MW/RCM-101-USB ME0155
4 Operating Manual for Teaching Pendant CON-T/TG ME0178
5 Operating Manual for Touch Panel Teaching Pendant CON-PT/PD/PG ME0227
6 Operating Manual for Touch Panel Teaching Pendant CON-PTA/PDA/PGA ME0295
7 Operating Manual for Simple Teaching Pendant RCM-E ME0174
8 Operating Manual for Data Setter RCM-P ME0175
9 Operating Manual for Touch Panel Display RCM-PM-01 ME0182
10 Operating Manual for DeviceNet ME0124
11 Operating Manual for CC-Link ME0123
12 Operating Manual for PROFIBUS-DP ME0153
1.1.3 How to Read the Model Nameplate
Model
Serial numbe
r
MODEL LSA-H8SS-I-200-50-T2-P-CT2
SERIAL No.600117640 MADE IN JAPAN
13
1.1.4 How to Read the Model Number
LSA㧙H8SS㧙I㧙200㧙50㧙T2㧙P㧙CT2
㧙
Note 1 Identification for IAI use only : It may be displayed for IAI use. It is not a code to show the
model type.
Series
<Type>
Small Type
H8SS:
width 80mm Single Slider
H8SM:
width 80mm Double Slider
H8HS:
width 80mm High-Thrust Single
Slider
H8HM:
width 80mm High-Thrust Double
Slider
Flat Type
L15SS:
width 145mm Single Slider
L15SM:
width 145mm Double Slider
<Encoder type>
I : Incremental
<Motor Type>
200: 200W
Identification for IAI use only
(Note1)
<Options>
None:
Cable Track
Attachment Orientation㧝
(Standard Equipment)
CT2 to 6㧦
Cable Track
Attachment Orientations 2 to 6
US1 to 6㧦
Cable Track for User S type
Attachment Orientations 1 to 6
UM1 to 6㧦
Cable Track for User M type
Attachment Orientations 1 to 6
<Cable length>
N : None
P : 1m
S : 3m
M : 5m
XƑƑ : Length Specification
<Controller>
T2 : SCON
: SSEL
: XSEL-P/Q
<Stroke>
[Refer to 1.2 “Specifications”]
1. Specications Check
1. Specications Check
14
1.2 Specification
1.2.1 Speed
[1] H8SS
Speed limits (Unit: mm/s)
Stroke [mm]
Motor
Type
Minimum
Speed
50 150 250 350 450 550 650 750 850
2500
950 1050 1150 1250 1350 1450 1550 1650 -
200 㧝
2500 -
[2] H8SM
Speed limits (Unit: mm/s)
Stroke [mm]
Motor
Type
Minimum
Speed
130 230 330 430 530 630 730
2500
830 930 1030 1130 1230 1330 1430
200 㧝
2500
[3] H8HS
Speed limits (Unit: mm/s)
Stroke [mm]
Motor
Type
Minimum
Speed
50 150 250 350 450 550 650 750
2500
850 950 1050 1150 1250 1350 1450 1550
200 㧝
2500
[4] H8HM
Speed limits (Unit: mm/s)
Stroke [mm]
Motor
Type
Minimum
Speed
130 230 330 430 530 630
2500
730 830 930 1030 1130 1230
200 㧝
2500
[5] L15SS
Speed limits (Unit: mm/s)
Stroke [mm]
Motor
Type
Minimum
Speed
150 250 350 450 550 650 750 850
2500
950 1050 1150 1250 1350 1450 1550 1650
200 㧝
2500
[6] L15SM
Speed limits (Unit: mm/s)
Stroke [mm]
Motor
Type
Minimum
Speed
50 150 250 350 450 550 650 750
2500
850 950 1050 1150 1250 1350 1450 -
200 㧝
2500 -
15
1.2.2 Maximum acceleration/deceleration, Maximum load capacity and Rated
thrust
Type Item Specifications
Maximum acceleration/deceleration
(Note 1)
3G
Maximum load capacity
(Note 1)
5kg
H8SS, H8SM
Rated thrust 30N
Maximum acceleration/deceleration
(Note 1)
3G
Maximum load capacity
(Note 1)
8kg
H8HS, H8HM
Rated thrust 60N
Maximum acceleration/deceleration
(Note 1)
3G
Maximum load capacity
(Note 1)
5kg
L15SS, L15SM
Rated thrust 30N
Note 1 The available acceleration/deceleration and the load capacity may differ depending
on the operational conditions.
[Refer to 1.3 “Operating conditions”]
1. Specications Check
1. Specications Check
16
1.2.3 No. of Encoder Pulses
Type No. of Encoder Pulses Lead Length [mm]
H8SS, H8SM 50000 50
H8HS, H8HM 50000 50
L15SS, L15SM 50000 50
1.2.4 Positioning Precision
Type Item Specifications
Positioning Repeatability ±0.005mm
H8SS, H8SM
Lost Motion 0.02mm or less
Positioning Repeatability ±0.005mm
H8HS, H8HM
Lost Motion 0.02mm or less
Positioning Repeatability ±0.005mm
L15SS, L15SM
Lost Motion 0.02mm or less
The values shown above are the accuracy at the delivery from the factory.
It does not include the consideration of time-dependent change as it is used.
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