IAI America TT-C3 User Manual

Tabletop Robot

TT

Operation Manual 6th Edition

10th Edition

INTELLIGENT ACTUATOR

Please Read Before Use

Thank you for purchasing our product.

This Operation 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 CD or DVD that comes with the product co ntains operation manuals for IAI products.
When using the product, refer to the necessary portions of the applicable operation manual by printing them out
or displaying them on a PC.

After reading the Operation Manual, keep it in a convenient place so that whoever is handling this product can
reference it quickly when necessary.

[Important]

This Operation Manual is original.
The product cannot be operated in any way unless expressly specified in this Operation Manual. IAI shall
assume no responsibility for the outcome of any operation not specified herein.
Information contained in this Operation Manual is subject to change without notice for the purpose of
product improvement.
If you have any question or comment regarding the content of this manual, please contact the IAI sales
office near you.
Using or copying all or part of this Operation Manual without permission is prohibited.
The company names, names of products and trademarks of each company shown in the sentences are
registered trademarks.

1. Notes on operation

m

To prevent pinching of fingers, do not bring your fingers near the following areas where a warning label is
attached while the actuator is moving.

[Gate type] [Cantilever type]

Warning label

2. Installation of safety cage

It is strongly recommended that the robot be enclosed by a safety cage to ensure safety of the operator. When
the robot is enclosed by a safety cage, the robot will satisfy the Machine Directives regardless of how it is used
by the operator.

Enclose by a safety cage.

3. The maximum sound pressure level of this robot is 76.4 dB.

4. After grease has been applied to the guide and ball screw during maintenance and
inspection, be sure to install the covers.

INTELLIGENT ACTUATOR

CE Marking

If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual
(ME0287) that is provided separately.

INTELLIGENT ACTUATOR

Before Use

Caution

 Caution

[1] Be sure to read this operation manual to ensure the proper use of this product.
[2] Unauthorized use or reproduction of a part or all of this operation manual is prohibited.
[3] Always handle or operate the product in manners specified in this operation manual, by assuming that

whatever is not specified herein is not feasible. The warranty does not cover any defect arising from a
handling or operation not specified in this operation manual.

[4] The information contained in this operation manual is subject to change without notice for the purpose of

modification and improvement.
* If you have purchased PC software:

Always back up the parameters after installing the product or changing the parameter settings.

[5] The specifications in this manual may not apply to a custom product.

Caution

 Action to Be Taken in Case of Emergency

If this product is found to be in a dangerous condition, immediately turn off all power switches of the main unit
and connected equipment or immediately disconnect all power cables from the outlets. (“Dangerous
condition” refers to a situation where the product is generating abnormal heat or smoke or has ignited and a
fire or danger to human health is anticipated.)

 Contact Us

This robot has been designed and manufactured with the utmost attention and care. Should you find any
defect, however, or have any question regarding the handling of the robot, please contact IAI at the address
and numbers specified at the end of this manual.

Table of Contents

INTELLIGENT ACTUATOR

Table of Contents

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

Chapter 1 Installation..................................................................................................... 9

1.1 Introduction ................................................................................................................... 9

1.2 Models .........................................................................................................................10

1.3 Safety Precautions.......................................................................................................11

1.4 Warranty........................................................................................................................12

1.4.1 Warranty Period....................................................................................................................12

1.4.2 Scope of Warranty................................................................................................................12

1.4.3 Honoring the Warranty......................................................................................................... 12

1.4.4 Limited Liability..................................................................................................................... 12

1.4.5

Conditions of Conformance with A pplicable Standards/Regulations, Etc., and Applications

1.4.6 Other Items Excluded from Warranty.................................................................................................. 13

2. Specifications ...........................................................................................................14

2.1 Basic Specifications.....................................................................................................14

2.2 Name and Function of Each Part.................................................................................15

2.2.1 Robot Body .......................................................................................................................... 15

2.2.2 Front Panel........................................................................................................................... 18

2.2.3 Codes Displayed on the Panel Window............................................................................... 21

2.2.4 Rear Panel ........................................................................................................................... 23

2.2.5 I/O Connector Pin Assignments ........................................................................................... 25

2.3 Interfaces of the Tabletop Robot................................................................................. 26

2.3.1 Standard Interface (Main Application Version 0.18 or Earlier)............................................. 26

2.3.2 Standard Interface (Main Application Version 0.19 or Later) ............................................... 28

2.4 External I/O Specifications...........................................................................................32

2.4.1 NPN Specification ................................................................................................................ 32

2.4.2 PNP Specification................................................................................................................. 34

2.5 External Dimensions....................................................................................................36

3. Installation Environment, Noise Measures and Other.............................................. 44

3.1 Installation Environment ..............................................................................................44

3.2 Installation....................................................................................................................45

3.2.1 Brackets (Optional) .............................................................................................................. 45

3.2.2 Installing the Load, Etc......................................................................................................... 45

3.2.3 Using the T-grooves ............................................................................................................. 46

3.3 Power Source ..............................................................................................................46

3.4 Noise Measures and Grounding ..................................................................................47

3.4.1 Grounding ............................................................................................................................ 47

3.4.2 Noise sources and noise elimination ................................................................................... 47

4. System Setup .......................................................................................................... 49

4.1 Connecting the Tabletop Robot with Peripheral Equipment.........................................49

4.2 I/O Connection Diagram (External DIOs) ....................................................................50

4.2.1 NPN specification................................................................................................................. 50

4.2.2 PNP specification ................................................................................................................. 51

............................................................. 13

Table of Contents

INTELLIGENT ACTUATOR

Chapter 2 Operation.................................................................................................... 52

1. Operation................................................................................................................. 52

1.1 How to Start a Program ...............................................................................................52

1.2 Starting a Program by Auto-Start via Parameter Setting..............................................53

1.3 Starting via the Digital Program Selector Switch and Function Switch ........................54

2. Controller Data ........................................................................................................ 55

2.1 Data Structure..............................................................................................................55

2.2 Saving Data .................................................................................................................56

Chapter 3 X-SEL Language Data................................................................................ 58

1. Values and Symbols Used in SEL Language .......................................................... 58

2. Position Part ............................................................................................................ 71

3. Command Part ........................................................................................................ 72

Chapter 4 Commands ................................................................................................. 74

1. List of SEL Language Command Codes by Function.............................................. 74

1.1 List of Commands by Function ....................................................................................74

1.2 List of Commands in Alphabetical Order .....................................................................79

2. Explanation of Commands ...................................................................................... 84

3. Key Characteristics of Actuator Control Commands and Points to Note ............... 224

3.1 Continuous Movement Commands ...........................................................................224

3.2 PATH/PSPL Commands ............................................................................................226

3.3 CIR/ARC Commands................................................................................................. 226

3.4 CIR2/ARC2/ARCD/ARCC Commands ......................................................................226

4. Palletizing Function ............................................................................................... 227

4.1 How to Use ................................................................................................................227

4.2 Palletizing Setting ......................................................................................................227

4.3 Palletizing Calculation................................................................................................233

4.4 Palletizing Movement................................................................................................. 234

4.5 Program Examples ....................................................................................................236

5. Pseudo-Ladder Task.............................................................................................. 244

5.1 Basic Frame...............................................................................................................244

5.2 Ladder Statement Field..............................................................................................245

5.3 Points to Note ............................................................................................................245

5.4 Program Example ......................................................................................................246

Table of Contents

INTELLIGENT ACTUATOR

Chapter 5 Maintenance and Inspection..................................................................... 247

1. Inspection Items and Inspection Intervals.............................................................. 247

2. Visual Inspection of the Exterior ............................................................................ 247

3. Visual Inspection and Cleaning ............................................................................. 247

3.1 Cleaning.....................................................................................................................247

3.2 Interior Inspection ......................................................................................................248

3.3 Internal Cleaning........................................................................................................248

4. Greasing the Guides.............................................................................................. 248

4.1 Applicable Grease .....................................................................................................248

4.2 How to Apply Grease.................................................................................................248

5. Greasing the Ball Screw ........................................................................................ 249

5.1 Applicable Grease .....................................................................................................249

5.2 How to Apply Grease.................................................................................................249

6. Timing Belt............................................................................................................. 249

6.1 Inspecting the Belt .....................................................................................................249

6.2 Applicable Belt ...........................................................................................................249

6.3 Belt Replacement Procedure.....................................................................................250

Appendix .................................................................................................................. 251

~ How to Create a Program ........................................................................................ 251

1. Position Table ........................................................................................................ 251

2. Program Format .................................................................................................... 252

3. Positioning to Five Positions.................................................................................. 253

4. How to Use TAG and GOTO ................................................................................. 254

5. Moving Back and Forth between Two Points......................................................... 255

6. Path Operation ...................................................................................................... 256

7. Output Control during Path Movement .................................................................. 257

8. Circular/Arc Operation ........................................................................................... 258

9. Home-return Completion Output ........................................................................... 259

10. Moving an Axis Selectively based on Input and Outputting a Completion Signal .. 260

11. Changing the Moving Speed ................................................................................. 261

12. Changing the Speed during Movement ................................................................. 262

13. Local/Global Classification of Variables and Flags ................................................ 263

14. How to Use Subroutines........................................................................................ 264

15. Pausing the Operation........................................................................................... 265

16. Aborting the Operation 1 (CANC).......................................................................... 266

Table of Contents

INTELLIGENT ACTUATOR

17. Aborting the Operation 2 (STOP) .......................................................................... 267

18. Moving to a Specified Position Number ................................................................. 268

19. Conditional Jump................................................................................................... 269

20. Waiting for Multiple Inputs ..................................................................................... 270

21. How to Use Offset ................................................................................................. 271

22. Executing an Operation n Times ........................................................................... 272

23. Constant-pitch Feed Operation.............................................................................. 273

24. Jogging.................................................................................................................. 274

25. Switching Programs............................................................................................... 275

26. Aborting a Program ............................................................................................... 276

~ How to Use Internal DIOs ...................................................................................... 277

1. Internal DIs and Dedicated Functions.................................................................... 277

2. Showing User SEL Program Data on the 7-segment LED Display........................ 278

~ List of Parameters ................................................................................................. 281

1. I/O Parameters ...................................................................................................... 282

2. Parameters Common to All Axes........................................................................... 296

3. Axis-Specific Parameters....................................................................................... 299

4. Driver Card Parameters......................................................................................... 303

5. Encoder Parameters.............................................................................................. 307

6. I/O-Slot Card Parameters ...................................................................................... 308

7. Other Parameters.................................................................................................. 309

8. Manual Operation Types ....................................................................................... 314

9. Use Examples of Key Parameters......................................................................... 315

~ Error Level Control..................................................................................................... 317

~ Error List (Main application).......................................................................................319

~ Error List (Main core) .................................................................................................343

~ Troubleshooting of X-SEL Controller .........................................................................348

Trouble Report Sheet.........................................................................................................351

Change History ............................................................................................................ 352

INTELLIGENT ACTUATOR

Safety Guide

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Safety Precautions for Our Products

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1

INTELLIGENT ACTUATOR

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 operation 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

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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

2

INTELLIGENT ACTUATOR

3

No.

Operation

Description

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and Start

Description

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INTELLIGENT ACTUATOR

No.

4 Installation

Operation

Description

and Start

Description

(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

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robot under operation is touched, it may result in death or serious injury.

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VWRSSHGLPPHGLDWHO\LQDQHPHUJHQF\GXULQJWKHXQLWRSHUDWLRQ

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ON. Failure to do so may start up the machine suddenly and cause an

LQMXU\RUGDPDJHWRWKHSURGXFW

Ɣ Take the safety measure not to start up the machine only with the

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do so may result in an electric shock or injury due to unexpected power
input.

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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

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safety.

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DFWXDWRUGURSSHGE\JUDYLW\

 7HDFKLQJ 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.

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understand them well.

Ɣ When the operation is to be performed inside the safety protection fence,

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Ɣ When the operation is to be performed inside the safety protection fence,

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so that any third person can not operate the switches carelessly.

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* Safety protection Fence : In the case that there is no safety protection

IHQFHWKHPRYDEOHUDQJHVKRXOGEHLQGLFDWHG

4

INTELLIGENT ACTUATOR

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.

INTELLIGENT ACTUATOR

No.

Operation

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

Description

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

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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.

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

according to the Operation 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.

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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.

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complies if necessary.

Ɣ For the handling of actuators and controllers, follow the dedicated

operation manual of each unit to ensure the safety.

6

INTELLIGENT ACTUATOR

7

Alert Indication

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INTELLIGENT ACTUATOR

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8

INTELLIGENT ACTUATOR

Chapter 1 Installation

Chapter 1 Installation

1.1 Introduction

Thank you for purchasing the Tabletop Robot.

Inappropriate use or handling will prevent this product from demonstrating its full function and may
even cause unexpected failure or result in a shortened service life. Please read this manual carefully,
and handle the product with due care and operate it correctly. Keep this manual in a safe place and
reference relevant items when needed.

The Tabletop Robot is an all-in-one actuator that can be used as an independent standalone robot.
The robot can also be used to control various peripheral equipment by utilizing the robot’s built-in
controller and supplied input/output (general-purpose input/output) connector. In general, connecting
additional equipment will make the system larger and more complex, which often increases the
probability of accident due to malfunction, carelessness, etc. If you are configuring the Tabletop Robot
to operate with other equipment, please take sufficient safety measures.

x Actuator duty

Based on the relationship of service life and precision, keep the duty to 50% or less for all actuators
of IAI as a guideline.
The duty is calculated by the formula below:

Chapter 1 Installation

Duty (%) =

hours Operating



hours Stopped hours Operating

X 100

x After turning off the main power, be sure to wait for at least 5 seconds before turning it on.

Any shorter interval may generate “E88: Power system error (Other).”

x Do not plug in/out the connectors while the power is still supplied to the controller. Doing so may

result in malfunction.

If you have purchased our optional PC software and/or teaching pendant, read the respective
operation manuals, as well.

* Utmost effort has been made to ensure that the information contained in this manual is true and

correct. However, should you find any error or if you have any comment regarding the content,
please contact IAI.

9

INTELLIGENT ACTUATOR

1.2 Models

Example of Model Code

Chapter 1 Installation

[1] [2] [3] [4] [5] [6]

Chapter 1 Installation

Model table

[1] Series [2] Type

TT

A2

(Gate 2-axis type)

C2

(Cantilever 2-axis

type)

A3

(Gate 3-axis type)

C3

(Cantilever 3-axis

type)

[3] Encoder

type

I

(Incremental)

[4] XY stroke

(mm)

2020

(200 mm)

4040

(400 mm)

[5] Z stroke [6] Options

DV

(DeviceNet)

CC

(CC-Link)

PR

(ProfiBus)

ET

05B

(50 mm)

10B

(100 mm)

(Ethernet)

FT

(Mounting bracket)

P

(External I/O: PNP

specification)

10

11

Chapter 1 Installation

Chapter 1 Installation

INTELLIGENT ACTUATOR

Caution

1.3 Safety Precautions

This system product was developed as a drive unit for an automated machine, etc., and as such the
maximum torque and speed are limited to levels acceptable for an automatically driven machine.
However, strict observance of the following items is requested to prevent unforeseen danger.

1. Do not handle this product in manners not specified in this manual. If you have any question
regarding the content of this manual, please contact IAI.

2. Do not enter the operation area of the machine while the machine is operating or ready to operate
(the controller power is on). If the machine is used in a place accessible to other people, provide an
appropriate safety measure such as enclosing the machine with a cage.

3. When assembling/adjusting or maintaining/inspecting the machine, always turn off the controller
power at the source beforehand. The operator should display in a conspicuous place a plate or
other sign saying that operation is in progress and that the power should not be turned on. The
operator should keep the entire power cable beside him or her to prevent another person from
inadvertently plugging in the cable.

4. When two or more operators are to work together, set call-out signals to ensure safety of all
personnel during the work. In particular, a person turning on/off the power or moving an axiseither
via a motor or manuallymust always say what he or she is going to do out loud and confirm the
responses from the others first before actually performing the operation.

1.4 Warranty

1.4.1 Warranty Period

One of the following periods, whichever is shorter:

1.4.2 Scope of Warranty

Our products are covered by warranty when all of the following conditions are met. Faulty products

Chapter 1 Installation

covered by warranty will be replaced or repaired free of charge:

(1) The breakdown or problem in question pertains to our product as delivered by us or our authorized

(2) The breakdown or problem in question occurred during the warranty period.

(3) The breakdown or problem in question occurred while the product was in use for an appropriate

(4) The breakdown of problem in question was caused by a specification defect or problem, or by a

Chapter 1 Installation

INTELLIGENT ACTUATOR

18 months after shipment from our company
12 months after delivery to the specified location

dealer.

purpose under the conditions and environment of use specified in the operation manual and catalog.

quality issue with our product.

Note that breakdowns due to any of the following reasons are excluded from the scope of warranty:

[1] Anything other than our product
[2] Modification or repair performed by a party other than us (unless we have approved such

modification or repair)

[3] Anything that could not be easily predicted with the level of science and technology available at

the time of shipment from our company
[4] A natural disaster, man-made disaster, incident or accident for which we are not liable
[5] Natural fading of paint or other symptoms of aging
[6] Wear, depletion or other expected result of use
[7] Operation noise, vibration or other subjective sensation not affecting function or maintenance

Note that the warranty only covers our product as delivered and that any secondary loss arising from a
breakdown of our product is excluded from the scope of warranty.

1.4.3 Honoring the Warranty

As a rule, the product must be brought to us for repair under warranty.

1.4.4 Limited Liability

(1) We shall assume no liability for any special damage, consequential loss or passive loss such as a

loss of expected profit arising from or in connection with our product.

(2) We shall not be liable for any program or control method created by the customer to operate our

product or for the result of such program or control method.

12

13

Chapter 1 Installation

Chapter 1 Installation

INTELLIGENT ACTUATOR

1.4.5 Conditions of Conformance with A pplicable Standards/Regulations, Etc., and Applications

(1) If our product is combined with another product or any system, device, etc., used by the customer,

the customer must first check the applicable standards, regulations and/or rules. The customer is also
responsible for confirming that such combination with our product conforms to the applicable
standards, etc. In such a case we will not be liable for the conformance of our product with the
applicable standards, etc.

(2) Our product is for general industrial use. It is not intended or designed for the applications specified

below, which require a high level of safety. Accordingly, as a rule our product cannot be used in these
applications. Contact us if you must use our product for any of these applications:

[1] Medical equipment pertaining to maintenance or management of human life or health
[2] A mechanism or mechanical equipment intended to move or transport people (such as a

vehicle, railway facility or aviation facility)
[3] Important safety parts of mechanical equipment (such as safety devices)
[4] Equipment used to handle cultural assets, art or other irreplaceable items

(3) Contact us at the earliest opportunity if our product is to be used in any condition or environment that

differs from what is specified in the catalog or operation manual.

1.4.6 Other Items Excluded from Warranty

The price of the product delivered to you does not include expenses associated with programming, the
dispatch of engineers, etc. Accordingly, a separate fee will be charged in the following cases even during
the warranty period:

[1] Guidance for installation/adjustment and witnessing of test operation
[2] Maintenance and inspection
[3] Technical guidance and education on operating/wiring methods, etc.
[4] Technical guidance and education on programming and other items related to programs

2. Speci¿cations

Chapter 1 Installation

INTELLIGENT ACTUATOR

2. Specifications

2.1 Basic Specifications

Item Description

Number of controlled axes Maximum 3 axes (Factory setting)

Power-source voltage

Power-source frequency 50 Hz/60 Hz

Withstand voltage 2000 V 1 minute

Rush current 15 A (100 VAC), 30 A (200 VAC)

Leak current 0.75 mA (60 Hz)

Resistance to momentary power failure

Electric-shock protection mechanism Class 1 basic isolation

Surrounding air temperature range

Surrounding humidity range 20% to 90% (Non-condensing)

Storage temperature range

Maximum speed 300 mm/sec

Rated acceleration Gate type: 0.3G, Cantilever type: 0.2G

Programming language Super SEL language

Program steps 6000 steps (total)

Number of positions 3000 positions

Number of programs 64 programs

Multi-tasking 16 programs

Standard inputs 16 points (General-purpose inputs, port Nos. 016 to 031)

Standard outputs 16 points (General-purpose outputs, port Nos. 316 to 331)

Dedicated inputs

Dedicated outputs

Serial communication For teaching pendant/PC connection

Supported Fieldbus standards

Single-phase, 100 to 230 VAC

Max 500

5

Cto40C

-10

Digital switch for program number input
Function switch, etc.

Alarm status indicator LED
Ready status indicator LED
Emergency-stop status indicator LED
Home-return completion status indicator LED, etc.

CC-LINK DeviceNet Profibus
ModBus/TCP Ethernet

s

Cto65C

10%

Note: The parameters are normally set to the above general-purpose input and general-purpose output

port numbers before shipment.

14

15

INTELLIGENT ACTUATOR

Chapter 1 Installation

2. Speci¿cations

2.2 Name and Function of Each Part

2.2.1 Robot Body

Gate 2-axis type

Y-axis (axis 2) actuator

Y slider

T-groove (4 locations)

Gate 3-axis type

Y-slider position
adjustment volume

X slider

Front panel

Rear panel

Y-axis (axis 2) actuator

T-groove (4 locations)

Z-slider position
adjustment volume

Z-axis (axis 3) actuator

Z slider

Y-slider position
adjustment volume

X slider

Front panel

INTELLIGENT ACTUATOR

Cantilever 2-axis type

Y-axis (axis 2) actuator Y slider

Chapter 1 Installation

X-axis (axis 1) actuator

Y-slider position
adjustment volume

X-slider position
adjustment volume

2. Speci¿cations

Front panel

Cantilever 3-axis type

T-groove

(4 locations)

Rear panel

Z-slider position
adjustment volume

16

Y-axis (axis 2) actuator

Front panel

Z-axis (axis 3) actuator

X-slider position
adjustment
volume

X-axis (axis 1) actuator

Y-slider position
adjustment
volume

T-groove (4 locations)

17

INTELLIGENT ACTUATOR

Chapter 1 Installation

2. Speci¿cations

x X-axis actuator

Various loads can be attached to the X-axis actuator of the gate-type robot.

x Y-axis actuator

Various tools can be attached to the Y-axis actuator of the 2-axis robot.

x Z-axis actuator

Various tools can be attached to the Z-axis actuator of the 3-axis robot.

x T-groove

Auxiliary tools can be attached by utilizing the T-grooves/T-slots and nuts.

x Position adjustment volume

You can fine-tune the slider position easily by turning this volume with a flathead screwdriver, etc.
This function is useful when manually adjusting the slider position to read position data.
This adjustment volume is provided on various actuators.

(Note) Before fine-tuning the slider position using this volume, be sure to actuate an emergency

stop.
Do not insert an adjustment tool, finger or other object into the operating range of the robot
while the servo is ON or slider is operating.

INTELLIGENT ACTUATOR

2.2.2 Front Panel

Chapter 1 Installation

2. Speci¿cations

[1] [2] [3] [4] [5]

[1]

Emergency button (emergency-stop button)

[6]

[7]

[8]

[9]

This switch is used to cut off the drive power when the robot must be stopped in case of
emergency.

[2] Digital program selector switch

This switch provides a 2-digit decimal digital switch input for selecting the program you want to
start from among the group of programs stored in the Tabletop Robot. Pressing the start switch [3]
will start the selected program.

[3] Start switch (function switch)

This switch issues a trigger to start the program set by the digital program selector switch [2].
(Factory setting)
This switch is enabled in the AUTO mode.
In the MANU mode, this switch is enabled after the teaching pendant or PC software has been
connected online. (Once the teaching pendant or PC software is connected online, the switch will
remain enabled until the robot is restarted (via software reset), even after the connection is
switched offline.)
(This switch turns ON/OFF input port No. 000. Since I/O parameter No. 30 is set to “1” at the
factory, input port No. 000 is used as the program start signal (dedicated input). You can use input
port No. 000 as a general-purpose input by setting I/O parameter No. 30 to “0.”)

Note: The parameters are normally set to the above input port numbers before shipment.

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19

Chapter 1 Installation

2. Speci¿cations

INTELLIGENT ACTUATOR

[4] Panel window

The panel window consists of a 4-digit, 7-segment LED display and four LED lamps indicating the
status of the robot.
The status indicated by each LED lamp when the lamp is lit is explained below:
RDY: The robot is ready to perform PIO program operation.

(This lamp is connected to dedicated output No. 301.)

ALM: An error of operation-cancellation level or higher has occurred.

(This lamp is connected to dedicated output No. 300.)

EMG: An emergency stop has been actuated.

(This lamp is connected to dedicated output No. 302.)

HPS: All axes have completed their home return.

(This lamp is connected to dedicated output No. 304.)
For the specific codes shown on the 4-digit, 7-segment LED display, refer to 2.2.3, “Codes
Displayed on the Panel Window” or the “Error Code Table.”

Note: The parameters are normally set to the above output port numbers before shipment.

[5] LED indicator lamps

The status indicated by each LED lamp when the lamp is lit is explained below:
CKE: System clock error
ALM: CPU alarm (system-down level error)
PWR: Power ON

[6] Brake switch

This switch is used to release the axis brake.
Tilt the switch upward (BKRLS side) to forcibly release the brake, or tilt it downward (BKNOM
side) to allow the brake to be controlled automatically by the controller. Set this switch to the
BKNOM side in normal conditions of use.

[7] USB connector

This connector is used for USB connection. Use it to connect the PC software to the controller via
USB cable.
Applicable connector: USB connector B: XM7B-0442
Mating connector: USB cable

Notes
x If the USB port is used, all TT robots comprising the system must be connected one by

one to install the USB driver included in the CD-ROM “X-SEL PC Software IA-101-TT­USB.” For details on how to install the driver, refer to the operation manual for X-SEL PC
software.

x If the USB port is used, a dummy plug must be connected to the teaching connector [9].

Dummy plug model: DP-1

[8] Mode switch

This switch is used to specify the operation mode of the Tabletop Robot.
Tilt the switch upward to select the MANU mode (manual mode), or tilt it downward to select the
AUTO mode (automatic mode).
Operations from the teaching pendant or PC software (such as teaching) must be performed in
the MANU mode. (They cannot be performed in the AUTO mode.)
Auto program start is enabled in the AUTO mode. (The function cannot be used in the MANU
mode.)

2. Speci¿cations

Chapter 1 Installation

INTELLIGENT ACTUATOR

[9] Teaching connector When an optional teaching pendant or PC is connected, this D-sub, 25-

pin connector will be used to input program and position data in the
MANU mode.

Interface Specifications of Teaching Serial Interface

Item Description
Connector name TP
Connector DSUB-25 XM3B-2542-502L (Omron)

Communication
method

RS232C-compliant, start-stop synchronous

method
Baud rate 38.4 kbps max.; half-duplex communication
Maximum

connection distance

10 m (38.4 kbps)

Interface standard RS232C
Connected to X-SEL teaching pendant

Interface Specifications of Teaching Serial Interface

Item No. Direction Signal name Description

Terminal

assignments

1 FG Frame ground
2 Out TXD Transmitted data
3 In RXD Received data
4 Out RTS Request to send
5 In CTS Clear to send
6 Out DSR Equipment ready
7 SG Signal ground
8

9 In Connection prohibited
10 In Connection prohibited
11
12 Out EMGOUT Emergency stop
13 In EMGIN
14
15 Out Connection prohibited
16 Out Connection prohibited
17 Out Connection prohibited

Power output

18 Out VCC

(5-V power source for
teaching pendant)

19 In ENBTBX Enable input
20 In DTR Terminal ready
21
22
23 Out EMGS Emergency-stop status
24
25 SG Signal ground

20