IAI TTA Series Instruction Manual

Table Top Type Robot TTA
First Step Guide Sixth Edition
Thank you for purchasing our product.
Make sure to read the Safety Guide and detailed Operation Manual (DVD) included with the product in
addition to this First Step Guide to ensure correct use.
This Operation Manual is original.
Warning : Operation of this equipment requires detailed installation and operation instructions
which are provided on the DVD Manual included in the box this device was
packaged in. It should be retained with this device at all times.
A copy of the DVD Manual can be requested by contacting your nearest IAI Sales
Office listed at the back cover of the Instruction Manual or on the First Step Guide.
• 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.

Product Check

This product is comprised of the following parts if it is of standard configuration.
If you find any fault in the contained model or any missing parts, contact us or our distributor.
1. Parts
No. Part Name Model
Robot Main Unit (with Refer to "How to read the model
1
built-in controller) plate", "How to read the model"
Accessories
2 Power Supply Plug AP-400-C
3 I/O Flat Cable CB-PAC-PIO020
DFMC1.5/6-ST-3.5
4 System I/O Connector
(Supplier : Phoenix Contact)
Motor Power Connector
B2L 3.50/04/180 SN OR BX
For the AC Servo Motor
(Supplier : Weidmüller)
5 Type
Motor Power Connector FKIC2.5HC/2-ST-5.08
For the Pulse Motor Type (Supplier : Phoenix Contact)
MSTB2.5/5-STF-5.08AU
6 Cc-Link Connector
(Supplier : Phoenix Contact)
MSTB2.5/5-STF-5.08AUM
7 Devicenet Connector
(Supplier : Phoenix Contact)
8 Dummy Plug DP-2
Power Cable
For the AC100V
9
Power Cable
For the AC200V
Main Body Mounting
Bracket
TTA-FT-4
For the X-axis stroke
20/30
10
Main Body Mounting
Bracket
TTA-FT-6
For the X-axis stroke
40/50
11 First Step Guide
12 Instruction Manual (DVD)
13 Safety Guide

2. Optional Components

No. Part Name
1 Main Body Mounting Bracket (with set bolts and nuts)
3. Teaching Tool (Option)
The personal computer application software or teaching pendant is required for the
Operations including program creation and setup such as position setting and parameter
setting with teaching. Use either of them.
No.
PC Software
1
(with RS232C cable + Emergency stop box)
PC Software
(USB conversion adapter + RS232C cable +
2
Cable and emergency stop box)
PC Software (with USB Cable + Dummy plug)
3
4 Touch panel teaching
5 Touch panel teaching (with deadman switch)
6 Teaching pendant
7 Teaching pendant (with deadman switch)
*1 The communication port on the left is for the personal computer and on the right is for the TTA.
4. Instruction Manuals related to this product, which are contained in the DVD.
No.
1 Table Top Type Robot TT Instruction Manual
2 PC software IA-101-X-MW Instruction Manual
3 Touch panel teaching TB-01, TB-01D, TB-01DR Instruction Manual
4 Teaching pendant SEL-T/TD Instruction Manual
5 DeviceNet Instruction Manual
6 CC-Link Instruction Manual
7 Profibus-Dp Instruction Manual
8 Ethernet/Ip Instruction Manual
9 EtherCAT Instruction Manual
*1 Applicable in Ver.1.16 and later with hardware revision "2"
Quantity Reference
5. How to read the model plate
1
1 Enclosed in PU
Length depends
1 to 3 on indication of
I/O cable length
1

6. How to read the model

1
1
1 or 2 Enclosed in CC
1 or 2 Enclosed in DV
Enclosed in
global
specification
1
TTA-A□G and
TTA-C□G
Enclosed in 100V
1
AC type
Enclosed in 200V
1
AC type
4
6
1
1
1
Model
TT-FT
Part Name Model Reference
IA-101-X-MW RS232C→RS232C *1
USB→RS232C *1
IA-101-X-USBMW
USB→USB *1
IA-101-TTA-USB
TB-01 –
TB-01D, TB01DR –
SEL-T –
SEL-TD –
Name Manual No.
ME0320
ME0154
ME0325
*1
ME0183
ME0124
ME0123
ME0153
ME0308
ME0309

Basic Specifications

[Common Specifications]
● Pulse Motor Type
Item Specifications
Surrounding air
0 to 40°C, Room Humidity 20 to 85% or less
temperature/humidity
Motor Type Stepping Motor (Servo Control)
Position detection method Battery-less Absolute Encoder or Incremental Encoder
Ball Screw (X, Y-axis : φ12mm Z-axis : φ10mm Rolled C10)
Driving System
Ball Screw Lead X, Y-axis : 24 or equivalent, Z-axis : 12mm
± 0.02mm (X, Y, Z-axis), ± 0.015deg (R-axis) (Standard Specifications)
Positioning Repeatability ± 0.01mm (X, Y, Z-axis), ± 0.010deg (R-axis)
(High Resolution Specifications)
0.1mm or less (X, Y, Z-axis), 0.06deg or less (R-axis)
(Standard Specifications)
Backlash
0.05mm or less (X, Y, Z-axis), 0.06deg or less (R-axis)
(High Resolution Specifications)
Direct Driven Infinite Circulation Type
Guide
X-axis: Ma:15.9N･m Mb: 15.9N･m
Y-axis: Ma:12.6N･m Mb: 12.6N･m
Allowable Load Moment * 1
Z-Axis: Ma: 9.7N･m Mb: 9.7N･m
ZR-axis: Ma: 9.7N･m Mb: 9.7N･m
* 1 Value found on the assumption of the life of 5000km run
● AC Servo Motor Type
Item Specifications
Surrounding air
0 to 40°C, Room Humidity 20 to 85% or less
temperature/humidity
Motor Type AC Servo Motor
Position detection method Battery-less Absolute Encoder or Incremental Encoder
Ball Screw (X, Y-axis : φ12mm Z-axis : φ10mm Rolled C10 C5 or
equivalent)
Driving System
Ball Screw X, Y-axis : 8mm Z-axis : 3mm (Low Lead Specifications)
Ball Screw X, Y-axis : 16mm Z-axis : 6mm (High Lead Specifications)
± 0.005mm (X, Y, Z-axis), ± 0.015deg (R-axis) (Battery-less Absolute)
Positioning Repeatability
± 0.005mm (X, Y, Z-axis), ± 0.010deg (R-axis) (Absolute)
0.025mm or less (X, Y, Z-axis), 0.06deg or less (R-axis) (Battery-less
Absolute) (Low Lead)
Backlash 0.040mm or less (X, Y, Z-axis), 0.06deg or less (R-axis)
(Battery-less Absolute) (High Lead)
0.02mm or less (X, Y, Z-axis), 0.03deg or less (R-axis) (Absolute)
Guide Direct Driven Infinite Circulation Type
X-axis: Ma:18.8N･m Mb: 18.8N･m
Y-axis: Ma:14.9N･m Mb: 14.9N･m
Allowable Load Moment * 1
Z-axis: Ma: 11.5N･m Mb: 11.5N･m
ZR-axis: Ma: 11.5N･m Mb: 11.5N･m
* 1 Value found on the assumption of the life of 5000km run
[Individual Mechanism Specifications]
● Work Moving Type Pulse Motor Type
Max. Speed for Each Axes Max.
Stroke [mm]
[mm/sec]
acceleration/
Type
deceleration
X Axis Y Axis Z Axis R Axis X Axis Y Axis Z Axis R Axis
Speed [G]
200 200 – – – –
300 300 – – – –
2-Axis
400 400 – – – –
500 500 – – – –
200 200 – –
300 300 – –
X, Y axis : 0.4
3-Axis 800 800
400 400 – – Z axis : 0.2
500 500 – –
100/
400
200 200 150
1000
±180 /
300 300
4-Axis ±360 [deg /
400 400
[deg]
sec]
500 500
*2 X Axis : 0.2G, Stroke 300mm or less, Y Axis : 0.4G, Stroke 700mm or less,
Z Axis : 0.2G, Stroke 50mm or less
Mc: 32.0N･m (Gate-shaped Type)
Mc: 37.4N･m
Mc: 20.5N･m
Mc: 20.5N･m
Mc: 37.8N･m (Gate-shaped Type)
Mc: 44.3N･m
Mc: 24.3N･m
Mc: 24.3N･m
Max. Load
Capacity [kg] *2
Weight
Model
[kg]
X Y Z
Axis Axis Axis
24.0 TTA-A2-*-2020
31.0 TTA-A2-*-3030
37.0 TTA-A2-*-4040
44.0 TTA-A2-*-5050
27.0 TTA-A3-*-2020
34.0 TTA-A3-*-3030
20 10 6
40.0 TTA-A3-*-4040
47.0 TTA-A3-*-5050
28.0 TTA-A4-*-2020
35.0 TTA-A4-*-3030
41.0 TTA-A4-*-4040
48.0 TTA-A4-*-5050