IAI TTA-C2 Manuals

Manuals and User Guides for IAI TTA-C2. We have 1 IAI TTA-C2 manual available for free PDF download: Instruction Manual

IAI TTA-C2 Instruction Manual (377 pages)

Tabletop Robot

Brand: IAI | Category: Robotics | Size: 33 MB

Product Check
1
Basic Specifications
1
Optional Components
1
How to Read the Model
1
Names of the Parts
2
Installation Environment
2
Installation and Noise Elimination
2
Work Fixing Type Pulse Motor Type
2
Wiring Diagram
3
I/O Signal
3
Input and Output Type
3
Devicenet
4
CC-Link
4
Profibus-Dp
4
Ethernet/Ip
4
Troubleshooting
5
Tabletop Robot
6
Table of Contents
10
Safety Guide
16
Safety Precautions of Our Products
16
Alert Indication
22
Explanation of Caution Labels Attached on Devices
22
Caution on Handling
23
Rescue at Emergency
24
Rear Panel Side of Main Body
25
Front Panel Side of Main Body
25
Dimensions for Safety Protection Fence
26
Name and Function of each Part
31
Details of Front Panel
32
Brake Releasing Switch
32
Panel Window
33
Application Display Specifications
33
Operation Mode Switch
34
Emergency Stop Switch
34
Program Switch
34
Core Display Specifications
34
Function Switch
35
USB Connector
35
Teaching Tool Connector
35
How to Take off Front Panel
36
Details of Rear Panel
37
AC Inlet
37
Power Switch
37
Standard I/O Service Power Supply Connector
40
System I/O Connector
40
Motor Power Supply Connector
41
Pulse Motor Type
41
AC Servo Motor Type
41
Service Power Switch
41
About Coordinate System
42
Each Axis System
42
Base Coordinate System
43
Work Coordinate System
45
Tool Coordinate System
46
Specifications Check
48
Parts
48
Mechanical Specifications
54
Speed
54
Max. Speed, Max.acceleration Speed
56
Relation between Current Limit Value and Pressing Force
61
Pulse Motor Specifications
61
R-Axis
62
Servo Motor Specifications
63
Z-Axis
63
Current Limit Value
63
Allowable Moment for Actuator
64
Work Moving Type Pulse Motor Specifications
64
Work Fixing Type Pulse Motor Specifications
65
Work Moving Type Servo Motor Specifications
66
Work Fixing Type Servo Motor Specifications
67
Ma Direction Moment Offset Datum Position
68
Duty of Continuous Operation
70
How to Calculate Duty
70
How to Check Operation Pattern
70
Load Factor LF
70
Cycle Time Tc
71
Acceleration/Deceleration Time Ratio Tod
71
Duty
71
Electrical Specifications
75
Protection Circuit
77
Selection of Circuit Breaker
77
Selection of Leakage Breaker
78
Standard I/O Input and Output Interface
79
Standard I/O Connector Pin Assignment
80
Extension I/O Input and Output Interface
81
Extension I/O Connector Pin Assignment
82
Table for I/O Assignment
83
Specifications for Service Power Supply Output
85
Options
86
X, y and Z-Axes Options
86
Equipment Options
86
Installation
87
Transportation
87
How to Install
88
Installation Orientation
88
How to Fix Unit
89
Work Moving Type
89
Attachment of the Transported Object
91
Loadable Weight on Table
92
How to Attach Supportive Tools
93
Procedures to Detach Operation Part
94
Wiring
97
Power Supply, Emergency Stop Circuit and Enable Circuit
98
Global Specification
99
Internal Circuit Composition
105
Safety Circuit Timing Charts for TTA
112
Power on
112
Emergency Stop
113
Power on During Emergency Stop
114
Enable Input
115
System Shutdown Level Error
116
Cold Start Lever Error
117
Operation Cancellation Level Error
118
IO Circuit
119
Input and Output Ports Assignment Specification
119
I/O Assignment Parameter List
121
Standard I/O
124
PIO Connector
124
Extension I/O
127
Wiring Method
128
Wiring on AC Inlet for Power Supply
128
Wiring for the Teaching Tool
128
RS232C Interface
129
Terminal Assignments
129
USB Interface
130
USB/232 Switchover Circuit
130
Wiring for System I/O
131
Wiring for PIO
132
IO Cable Layout
132
IO Replacement Cable Layout
133
Grounding
134
Single-Phase
134
Wiring for SIO Module Communication Cable
135
Operation
137
Types of Operations
137
Teaching Tool
137
Starting the Controller
138
Power Supply and Cutoff
138
Power Supply Sequence
138
Power Cutoff Sequence
138
Panel Window Display
139
Program Operation
141
Auto Start Upon Power on
141
Starting a Program by Specifying Its Program Number
143
Receiving and Forwarding of I/O Signals Necessary for Operation
145
I/O Map
146
Position Table and Program Creation and Writing
148
How to Use Internal DIO
149
Internal DI and Dedicated Functions
149
7-Segment Display by User SEL Program
150
Standard Interface
153
Example for Assignment of Output Function Select
155
Example of Use
156
I/O Parameter Setting Value
156
Payload Adjusted for Setting Values
157
List of Parameters
166
I/O Parameters
167
Axis-Specific Parameters
192
Driver Card Parameters
198
Other Parameters
209
Work and Tool Coordinate System Features for Linear Axis
254
Coordinates for Coordinate System Definition Unit
255
Parameter Setting
275
Extension I/O Slot
275
How to Set Parameters
279
IAI Protocol Communication Individual Setting
279
Maintenance and Inspection
281
Inspection Items and Schedule
281
External Visual Inspection
281
Internal Visual Inspection
281
Grease Supply
282
Grease to Apply
282
Period of Time to Supply Grease
282
How to Supply the Grease
283
Replacement of Timing Belt
291
Inspecting the Belt
291
Applicable Belt
291
External Dimensions
312

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