IAI TT First Step Manual

Applicable to Field Network
Table Top Type Robot TT
First Step Guide
Third Edition
Thank you for purchasing our product.
Make sure to read the Safety Guide and detailed Instruction Manual as well as this First Step Guide to ensure correct use.
This Instruction Manual is original.
Warning : Read the instruction manual carefully and follow the instruction manual when handling this equipment.
Please downloaded the user's manual from our website.
You can download it free of change. User registration is required for first time users.
URL:www.iai-robot.co.jp/data_dl/CAD_MANUAL/
Keep a printout of the introduction manual near the equipment in which this product is installed so that
it can be checked at all times, or display it on your computer, tablet terminal, etc. so that you can
check it immediately.
If you need a bound copy of the instruction manual, order it from the nearest sales office listed in the
First Step Guide or at the end of the instruction manual. It will be provided for a fee.
• Using or copying all or part of this Instruction 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
Controller Main Body Refer to "How to read the model plate", "How to
1
(with a built-in controller) read the model No."
Accessories
2 Power Supply Plug AP-400-C (Supplier : Yamate Electric Co., Ltd.)
DeviceNet type
Field SMSTB2.5/5-ST-5.08AU
(Supplier : PHOENIX CONTACT)
3 Network CC-Link type
Connector
PROFIBUS-DP type Prepare Dsub 9-pin (female) connector.
Field DeviceNet type Prepare it if the controller is terminating device
Network
CC-Link type 130Ω1/2W, 110Ω1/2W enclosed one unit each
4
Terminal
PROFIBUS-DP type
Resistance
5 First Step Guide ME0276
6 Safety Guide M0194
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. Part Name Model
PC Software
1 IA-101-X-MW
(with RS232C Cable + Emergency Stop Box)
PC Software (USB conversion adapter + RS232C cable +
2 IA-101-X-USBMW
Cable and Emergency Stop Box)
PC Software (with USB Cable + Dummy Plug)
3 IA-101-TT-USB
4 Teaching pendant SEL-T
5 Teaching pendant (with deadman switch) SEL-TD
6 Teaching pendant (with deadman switch + TP Adapter (IA-LB-TG)) SEL-TG
7 Teaching pendant IA-T-X
8 Teaching pendant (with deadman switch) IA-T-XD
*1 The communication port on the left is for the personal computer and on the right is for the TT.
4. Instruction Manuals related to this product
No. Name
1 Table Top Type Robot TT Instruction Manual
2 PC software IA-101-X-MW Instruction Manual
3 Teaching pendant SEL-T/TD Instruction Manual
4 Teaching pendant IA-T-X/XD Instruction Manual
5 DeviceNet Instruction Manual
6 CC-Link Instruction Manual
7 PROFIBUS-DP Instruction Manual
5. How to read the model plate
Model
Serial number
3B
6. How to read the model No.
Model No. Example
1) Series 2) Type
A2 : Gate Type with
2-axis
C2 : Cantilever Type
with 2-axis
TT (Normal)
A3 : Gate Type with
3-axis
C3 : Cantilever Type
with 2-axis
[Common Specifications]
Item
Surrounding air temperature/humidity
Motor Type
Position detection method
Driving System
Positioning Repeatability
Backlash
Guide
Note 1
Allowable Load Moment
Note 1 Value found on the assumption of the life of 5000km run
[Individual Mechanism Specifications]
Stroke [mm]
Type
Reference X Y
Axis Axis
200 200
2-axis
400 400
Gate Type
200 200
with
3-axis
400 400
121Ω±1%, 1/4W 200 200
2-axis
400 400
Cantilever
200 200
Type with
3-axis
400 400
Note 1 The load capacity in the case of rated acceleration is shown (Gate Type: 0.3G, Cantilever Type: 0.2G)
Model
[Controller Specifications]
TT-FT
Item
Number of axes
Supply voltage
Power frequency
100V AC
Remarks
Power-source capacity
200V AC
*1
RS232C→RS232C
Maximum Current Note 1
Rush Current Note 2
USB→RS232C *1
Leakage Current
*1
USB→USB
Insulation Strength
－
Momentary Power Interruption Tolerance
－
Speed Setting
－
Acceleration Setting
－ Program language
Number of programs (Number of multitask programs) 64 programs (16 programs)
－
Number of program steps
Number of positions
Program Startup
Manual No.
Data storage device
ME0149
Standard I/O Board
ME0154
Applicable Field Network
ME0183
Protective functions
ME0160
ME0124
Note 1 The current reaches its maximum level when the servo-motor exciting phase is detected which is to be performed in
ME0123
the first servo-motor turning ON processing after the power injection. (Normal: Approx. 1 to 2sec, Max.: 10sec)
ME0153
Note 2 Rush current at the power connection continues for about 20ms. Consider the safety rate at the time when rush
current passes. The rush current value varies depending on the impedance of the power line.
Note 3 The SRAM data is not battery backed up. Accordingly, when the power is turned off, the data of flags and variables
used in the program, are not saved. Take the greatest care.
The same procedure is applied when the program or position data is not written on the Flash ROM.
TT － A3 － I － 2020 － 05B － DV
1) 2) 3) 4) 5) 6)
3) Encoder type 4) XY Stroke 5) Z Stroke 6) Option
DV : DeviceNet Type
CC : CC-Link Type
-
2020
PR : PROFIBUS Type
200 × 200mm ET : Ethernet Type
I: Incremental FT : Main Body Mounting
05B
4040 Bracket included
50mm
400 × 400mm P : I/O PNP Type
10B
Not Specified
100mm
: I/O NPN Type
Basic Specifications
Specifications
0 to 40°C, Room Humidity 20 to 85% or less
Pulse Motor (Servo Control)
Incremental Encoder
Ball Screw (φ10mm, Rolled C10), Ball Screw Lead 6mm
±0.02mm
0.1mm or less
Direct Driven Infinite Circulation Type
Ma : 6.5N•m Mb : 9.3N•m Mc : 16.4N•m
Max. Speed for
Max. Load
each axes
Acceleration/
Capacity [kg] Note 1 Weight
[mm/sec] Deceleration Model
[kg]
[G]
Z X Y Z X Y Z
Axis Axis Axis Axis Axis Axis Axis
- 14.8 TT-A2-I-2020
300 0.3 10 5 -
- 33 TT-A2-I-4040
50 300 280 TT-A3-I-2020-05B
16.5
100 300 TT-A3-I-2020-10B
0.3 10 - 2
50 300 280 TT-A3-I-4040-05B
35
100 300 TT-A3-I-4040-10B
- 16.3 TT-C2-I-2020
300 0.2 - 4 -
- 35 TT-C2-I-4040
50 300 280 TT-C3-I-2020-05B
18
100 300 TT-C3-I-2020-10B
0.2 - - 2
50 300 280 TT-C3-I-4040-05B
37
100 300 TT-C3-I-4040-10B
Specifications
2-axis 3-axis
Single-phase 100 to 115V AC, 200 to 230V AC ±10%
50Hz/60Hz
150VA 210VA
155VA 215VA
3A (100V AC), 1.6A (200V AC) 4.2A (100V AC), 2.2A (200V AC)
15A (100V AC), 30A (200V AC)
0.75mA
2000V AC for 1min.
500μs or more
1 to 300mm/s
0.01 to 0.3G
SEL language
6000 steps (Total)
3000 positions (Total)
Special Digital Switch + Special Start Switch
Flash ROM + SRAM Note 3
16 Input Points / 16 Output Points
DeviceNet/CC-Link/PROFIBUS/Ethernet
Over-voltage, motor over current, motor overload, driver temperature
error, encoder error, etc.
External Dimensions
[Gate Type with 2-axis TT-A2]
X Axis
ME
SE : Stroke End
SE
ME : Mechanism End
50
42
30
70
Home
7.3
ME
4.3 4-M5 Depth 10
4-M4 Depth 8
2- φ 4H7 Depth 5 D
T-Groove Section 30 C
Y-Slider Set Hole Section
A
Y Axis
C
G
E
50
15
T-Groove
(Four Locations)
16.7 70 Xst
2.5
ME Home
10 35 F 35 10 X Axis
B
*1 Fine slider adjustment (for manual tweaking of position).
Model A B C D E
TT-A2-I-2020 369.7 330 338.5 133.3 185
TT-A2-I-4040 569.7 530 538.5 333.3 385
[Gate Type with 3-axis TT-A3]
ME
SE
37.4
30
4-M5 Depth 10
2- φ 4H7 Depth 5
70
Home
7.3
ME
4.3
4-M4 Depth 8
D
T-Groove Section
Z-Slider Set Hole Section 30 C
A
C
Z Axis
Y Axis
76.8 E 107
ME
37.4
Home
ME
SE
T-Groove
(Four Locations)
16.7 70 Xst
2.5
ME Home
X Axis
10
10 35 F 35
(20) B
(Cable Projection Length)
*1 Fine slider adjustment (for manual tweaking of position).
Model A B C D E
TT-A3-I-2020-05B 369.7 330 338.5 83.3 135
TT-A3-I-2020-10B 369.7 330 338.5 83.3 135
TT-A3-I-4040-05B 569.7 530 538.5 283.3 335
TT-A3-I-4040-10B 569.7 530 538.5 283.3 335
70
60
40
4-M5 Depth 10
2- φ 4H7 Depth 5
4-M4 Depth 8
1.2
X-Slider Set Hole Section
107
Y-Slider Position
*1
Fine Adjusting Access
51.8
2.5
SE ME
X-Slider Position
*1
Fine Adjusting Access
Rear Panel Section
(Unit mm)
F G Xst Yst
240 88.2 200 200
440 188.2 400 400
70
60
40
4-M5 Depth 10
2- φ 4H7 Depth 5
4-M4 Depth 8
Z-Slider Position
*1
Fine Adjusting Access X-Slider Set Hole Section
1.2
Y-Slider Position
*1
Fine Adjusting Access
51.8
ME
SE
X-Slider Position
*1
Fine Adjusting Access
Rear Panel Section
(Unit mm)
F Xst Yst Zst
240 200 200 50
240 200 200 100
440 400 400 50
440 400 400 100