IAI America LSA-S10SS User Manual

IAI America, Inc.

Linear Servo Actuator

LSA Series Shaft Type

Operating Manual

Third Edition

LSA-S6, S8, S10

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]

� This operating manual is original. � 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.

� The information contained in this operating manual is subject to change without notice for the

purpose of production improvement.

� 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.

� Using or copying all or a part of this operating manual without permission is prohibited. � The company names, names of products and trademarks of each company shown in the

sentences are registered trademarks.

Safety Guide........................................................................................................... 1

Caution in Handling ................................................................................................ 8

International Standards Compliances..................................................................... 9

Names of the Parts............................................................................................... 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. 16

1.2.3 No. of Encoder Pulses ......................................................................................... 17

1.2.4 Positioning Precision............................................................................................ 17

1.2.5 Allowable Load Moments of the Actuator ............................................................ 18

1.2.6 Duty Ratio in Continuous Operation .................................................................... 18

1.3 Operating conditions ......................................................................................................... 19

1.3.1 Available Conditions for Operation ...................................................................... 19

1.3.2 Availability Judgment for each Operational Condition ......................................... 20

1.3.3 Example for Judging Operation Availability by Operational Conditions............... 22

1.4 Option................................................................................................................................ 24

1.4.1 Cable Track Attachment Orientations 2 to 6 (Model: CT2 to CT6) ...................... 24

1.4.2 Cable Track for User S Type Attachment Orientations 1 to 6

(Model: US1 to US6)............................................................................................ 25

1.4.3 Cable Track for User M Type Attachment Orientations 1 to 6

(Model: UM1 to UM6)........................................................................................... 26

1.5 Motor • Encoder Cables .................................................................................................... 27

1.5.1 Motor • Encoder Cables for Linear Servo Actuator.............................................. 27

1.5.2 Cable in the bearer .............................................................................................. 29

2. Installation ...................................................................................................... 30

2.1 Transportation ................................................................................................................... 30

2.2 Installation and Storage • Preservation Environment........................................................ 32

2.3 How to Install..................................................................................................................... 33

2.3.1 Installation............................................................................................................ 33

2.3.2 Installation of Main Unit........................................................................................ 34

2.3.3 Attachment of Transported Object ....................................................................... 36

2.3.4 Installation Surface............................................................................................... 37

2.3.5 Mount of Connector Box and Others ................................................................... 38

3. Connecting with the Controller ....................................................................... 39

4. Operation........................................................................................................ 43

4.1 Home Return..................................................................................................................... 43

4.1.1 Principle of Home-Return Operation.................................................................... 43

4.1.2 Fine-tuning the Home Position............................................................................. 43

4.1.3 Changing the Home Direction.............................................................................. 43

5. Troubleshooting.............................................................................................. 44

5.1 Encoder Open Error (Error Code: D12) ............................................................................ 44

5.2 Driver Overload Error (Error Code: D0A).......................................................................... 45

5.3 Deviation Overflow Error (Error Code: C6B)..................................................................... 46

6. Maintenance and Inspection........................................................................... 47

6.1 Inspection Items and Schedule......................................................................................... 47

6.2 Visually Inspecting the Exterior......................................................................................... 47

6.3 Cleaning ............................................................................................................................ 47

6.4 Interior Inspection.............................................................................................................. 48

6.5 Cleaning the Interior.......................................................................................................... 48

6.6 Procedures for Replacement and Adjustment of Stainless Steel Sheet ........................... 49

6.6.1 Replacement Procedure for Stainless Sheet ........................................................... 50

6.6.2 Adjusting the Stainless Sheet Tension................................................................. 51

6.6.3 Operation Check .................................................................................................. 53

7. Life.................................................................................................................. 54

8. External Dimensions....................................................................................... 55

8.1 S6SS ................................................................................................................................. 55

8.1.1 Standard Type...................................................................................................... 55

8.1.2 Horizontally Oriented Wall Mount Type (Standard)(Option)................................. 56

8.1.3 Horizontally Oriented Wall Mount Type (Cable Track Opposite Type) (Option)... 57

8.2 S6SM................................................................................................................................. 58

8.2.1 Standard Type...................................................................................................... 58

8.2.2 Horizontally Oriented Wall Mount Type (Option).................................................. 59

8.3 S8SS ................................................................................................................................. 60

8.3.1 Standard Type...................................................................................................... 60

8.3.2 Horizontally Oriented Wall Mount Type (Standard)(Option)................................. 61

8.3.3 Horizontally Oriented Wall Mount Type (Cable Track Opposite Type) (Option)... 62

8.4 S8HS ................................................................................................................................. 63

8.4.1 Standard Type...................................................................................................... 63

8.4.2 Horizontally Oriented Wall Mount Type (Standard)(Option)................................. 64

8.4.3 Horizontally Oriented Wall Mount Type (Cable Track Opposite Type) (Option)... 65

8.5 S8SM................................................................................................................................. 66

8.5.1 Standard Type...................................................................................................... 66

8.5.2 Horizontally Oriented Wall Mount Type (Option).................................................. 67

8.6 S8HM ................................................................................................................................ 68

8.6.1 Standard Type...................................................................................................... 68

8.6.2 Horizontally Oriented Wall Mount Type (Option).................................................. 69

8.7 S10SS ............................................................................................................................... 70

8.7.1 Standard Type...................................................................................................... 70

8.7.2 Horizontally Oriented Wall Mount Type (Option).................................................. 71

8.7.3 Horizontally Oriented Wall Mount Type (Cable Track Opposite Type) (Option)... 72

8.8 S10HS............................................................................................................................... 73

8.8.1 Standard Type...................................................................................................... 73

8.8.2 Horizontally Oriented Wall Mount Type (Standard) (Option)................................ 74

8.8.3 Horizontally Oriented Wall Mount Type (Cable Track Opposite Type) (Option)... 75

8.9 S10SM............................................................................................................................... 76

8.9.1 Standard Type...................................................................................................... 76

8.9.2 Horizontally Oriented Wall Mount Type (Option).................................................. 77

8.10 S10HM .............................................................................................................................. 78

8.10.1 Standard Type ...................................................................................................... 78

8.10.2 Horizontally Oriented Wall Mount Type (Option).................................................. 79

9. Warranty......................................................................................................... 80

9.1 Warranty Period ................................................................................................................ 80

9.2 Scope of the Warranty....................................................................................................... 80

9.3 Honoring the Warranty...................................................................................................... 80

9.4 Limited Liability.................................................................................................................. 80

9.5 Conditions of Conformance with Applicable Standards/Regulations, Etc.,

and Applications ................................................................................................................ 81

9.6 Other Items Excluded from Warranty................................................................................ 81

Change History..................................................................................................... 82

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

1 Model

Selection

� This p

roduct 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.)

�

Do not

use the product outside the specifications. Failure to do so may

considerably shorten the life of the product.

� 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

�

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.

No.

Operation

Description

2 Transportation � When carrying a heavy object, do the work with two or more persons or

utilize equipment such as crane.

� W

hen 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.

� 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.

� Tr

ansport 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.

� D

o not step or sit on the package. � Do not put any heavy thing that can deform the package, on it. � When using a crane capable of 1t or more of weight, have an operator

who has qualifications for crane operation and sling work.

� When

using a crane or equivalent equipments, make sure not to hang a

load that weighs more than the equipment’s capability limit.

� Use a

hook that is suitable for the load. Consider the safety factor of the

hook in such factors as shear strength.

� Do not

get on the load that is hung on a crane. � Do not leave a load hung up with a crane. � Do not stand under the load that is hung up with a crane.

3 Storage and

Preservation

� The sto

rage and preservation environment conforms to the installation environment. However, especially give consideration to the prevention of condensation.

� St

ore 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. � 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.

�

o 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.

� 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

No.

Operation

Description

(2) Cable Wiring � Use our company’s genuine cables for connecting between the actuator

and controller, and for the teaching tool.

� D

o 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.

� Perform the

wiring for the product, after turning OFF the power to the

unit, so that there is no wiring error.

� 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.

� Conne

ct 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.

� 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 � The groun

ding operation should be performed to prevent an electric shock or electrostatic charge, enhance the noise-resistance ability and control the unnecessary electromagnetic radiation.

� 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

(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).

�

erform Class D Grounding (former Class 3 Grounding with ground

resistance 100� or below).

No.

Operation

Description

4 Installation

and Start

(4) Safety Measures � 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.

� 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.

�

Make su

re to install the emergency stop circuit so that the unit can be

stopped immediately in an emergency during the unit operation.

� T

ake 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.

� T

ake 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.

� 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.

� Ta

ke the measure so that the work part is not dropped in power failure or

emergency stop.

� We

ar protection gloves, goggle or safety shoes, as necessary, to secure

safety.

� 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.

� 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 � 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.

�

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.

�

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.

� 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.

� Place a

sign “Under Operation” at the position easy to see.

� 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.

No.

Operation

Description

6 Trial Operation � 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.

�

After

the teaching or programming operation, perform the check

operation one step by one step and then shift to the automatic operation.

� 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.

� Make su

re 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.

� 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

� Check

before starting the automatic operation or rebooting after

operation stop that there is nobody in the safety protection fence.

� Before starting automatic operation, make sure that all peripheral

equipment is in an automatic-operation-ready state and there is no alarm indication.

� Make su

re to operate automatic operation start from outside of the safety

protection fence.

� I

n 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.

� 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.

No.

Operation

Description

8 Maintenance

and Inspection

� W

hen 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.

� P

erform 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.

� When

the work is to be performed inside the safety protection fence,

basically turn OFF the power switch.

� 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.

� When

� Place a

sign “Under Operation” at the position easy to see.

� For the grease for the guide or ball screw, use appropriate grease

according to the operating manual for each model.

� D

o not perform the dielectric strength test. Failure to do so may result in

a damage to the product.

� 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.

� The slid

er 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.

� 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

� Do not

modify, disassemble, assemble or use of maintenance parts not

specified based at your own discretion.

10 Disposal � When the product becomes no longer usable or necessary, dispose of it

properly as an industrial waste.

� When

removing the actuator for disposal, pay attention to drop of

components when detaching screws.

� Do not

put the product in a fire when disposing of it.

The product may burst or generate toxic gases.

11 Other � 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.

�

ee Overseas Specifications Compliance Manual to check whether

complies if necessary.

� For the

handling of actuators and controllers, follow the dedicated

operating manual of each unit to ensure the safety.

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

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

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

 

Names of the Parts

This manual defines the right and left of the actuator by putting it horizontally as shown in the figures below and viewing it from the top and home side. Also the front side means the opposite of the home side.

Side covers

Cable

Right

Slider cover

Stainless sheet

Left

Slider

Home

side

Cover

Drawings for Standard Type

(Reference) In the above figure, the cables are facing top, 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.

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 faulty 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.”

Accessories

Motor • encoder cables

(Note1)

1 set

3 First Step Guide 1

4 Operating Manual (DVD) 1

5 Safety Guide 1

Note1 The motor • encoder cables differ between the standard model and robot cable.

[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 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. Specications Check

(3) Manuals Related to SCON Controllers

No. Name Control

No. 1 Operating Manual for SCON Controller ME0161 2 Operating Manual for SCON-CA Controller SCON-CA 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 CON-PT/PD/PG ME0227 6 Operating Manual for Touch Panel Teaching CON-PTA/PDA/PGA ME0295 7 Operating Manual for Simplified 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

MODEL LSA-S6SS-I-100-48-T2-P-CT2

SERIAL No.600117640 MADE IN JAPAN

1. Specications Check

1.1.4 How to Read the Model Number

L S A - S 6 S S - I - 1 0 0 - 4 8 - T 2 - P - C T 2 - * *

Note 1 It may be displayed for IAI use. It is not a code to show the model type.

Series Name

<Type>

Shaft Type S6SS: width 60mm Single Slider S6SM: width 60mm Double Slider S8SS: width 80mm Single Slider S8SM: width 80mm Double Slider S8HS: width 80mm High-Thrust Single Slider S8HM: width 80mm High-Thrust Double Slider S10SS: width 100mm Single Slider S10SM: width 100mm Double Slider S10HS: width 100mm High-Thrust Single Slider S10HM: width 100mm High-Thrust Double Slider

I: Incremental

100: 100W 200: 200W 200S: 200W

Identification for IAI use only

(Note1)

None:

Cable Track Attachment Orientation (Standard Equipment)

CT2 to 6

Cable Track Attachment Orientations 2 to 6

US1 to 6

Cable Track for User S type Attachment Orientations 1 to 6

UM1 to 6

Cable Track for User M type Attachment Orientations 1 to 6

N : None P : 1m S : 3m M : 5m X��

Length Specification

T2 : SCON : SSEL : XSEL-P/Q

<Stroke> [Refer to 1.2 “Specifications”]

1. Specications Check

1.2 Specification

1.2.1 Speed

[1] S6SS

Speed limits (Unit: mm/s)

Stroke [mm]

Motor

Type

Minimum

Speed

48 96 144 192 240 288 336 384 432 480 528 576 624

2500

672 720 768 816 864 912 960 1008 1056 1104 1152 1200 1248

100 �

2500

[2] S6SM

Speed limits (Unit: mm/s)

Stroke [mm]

Motor

Type

Minimum

Speed

40 88 136 184 232 280 328 376 424 472 520

2500

568 616 664 712 760 808 856 904 952 1000 1048

100 �

2500

[3] S8SS

Speed limits (Unit: mm/s)

Stroke [mm]

Motor

Type

Minimum

Speed

60 120 180 240 300 360 420 480 540 600 660 720 780 840

2500

900 960 1020 1080 1140 1200 1260 1320 1380 1440 1500 1560 1620 -

100 �

2500 -

[4] S8SM

Speed limits (Unit: mm/s)

Stroke [mm]

Motor

Type

Minimum

Speed

60 120 180 240 300 360 420 480 540 600 660 720

2500

780 840 900 960 1020 1080 1140 1200 1260 1320 1380 1440

100W �

2500

[5] S8HS

Speed limits (Unit: mm/s)

Stroke [mm]

Motor

Type

Minimum

Speed

60 120 180 240 300 360 420 480 540 600 660 720 780 840

2500

900 960 1020 1080 1140 1200 1260 1320 1380 1440 1500 1560 1620 -

100 �

2500 -

[6] S8HM

Speed limits (Unit: mm/s)

Stroke [mm]

Motor

Type

Minimum

Speed

60 120 180 240 300 360 420 480 540 600 660 720

2500

780 840 900 960 1020 1080 1140 1200 1260 1320 1380 -

100 �

2500 -

1. Specications Check

[7] S10SS

Speed limits (Unit: mm/s)

Stroke [mm]

Motor

Type

Minimum

Speed

90 180 270 360 450 540 630 720 810 900 990 1080

2500

1170 1260 1350 1440 1530 1620 1710 1800 1890 1980 2070 -

200 �

2500 -

[8] S10SM

Speed limits (Unit: mm/s)

Stroke [mm]

Motor

Type

Minimum

Speed

60 150 240 330 420 510 600 690 780 870 960

2500

1050 1140 1230 1320 1410 1500 1590 1680 1770 1860 -

200 �

2500 -

[9] S10HS

Speed limits (Unit: mm/s)

Stroke [mm]

Motor

Type

Minimum

Speed

90 180 270 360 450 540 630 720 810 900 990 1080

2500

1170 1260 1350 1440 1530 1620 1710 1800 1890 1980 2070 -

200S �

2500 -

[10] S10HM

Speed limits (Unit: mm/s)

Stroke [mm]

Motor

Type

Minimum

Speed

105 195 285 375 465 555 645 735 825 915

2500

1005 1095 1185 1275 1365 1455 1545 1635 1725 1815

200S �

2500

1. Specications Check

1.2.2 Maximum acceleration/deceleration, Maximum load capacity and Rated thrust

Type Item Specifications

Maximum acceleration/deceleration

(Note 1)

Maximum load capacity

(Note 1)

3kg

S6SS, S6SM

Rated thrust 15N Maximum

acceleration/deceleration

(Note 1)

Maximum load capacity

(Note 1)

5kg

S8SS, S8SM

Rated thrust 25N Maximum

acceleration/deceleration

(Note 1)

Maximum load capacity

(Note 1)

7kg

S8HS, S8HM

Rated thrust 35N Maximum

acceleration/deceleration

(Note 1)

Maximum load capacity

(Note 1)

15kg

S10SS, S10SM

Rated thrust 65N Maximum

acceleration/deceleration

(Note 1)

Maximum load capacity

(Note 1)

20kg

S10HS, S10HM

Rated thrust 80N

Note 1 The available acceleration/deceleration and the transportable weight may differ

depending on the operational conditions. [Refer to 1.3 “Operating conditions”]

1. Specications Check

1.2.3 No. of Encoder Pulses

Type No. of Encoder Pulses Lead Length [mm]

S6SS, S6SM 48000 48 S8SS, S8SM 60000 60 S8HS, S8HM 60000 60 S10SS, S10SM 90000 90 S10HS, S10HM 90000 90