2-Axis, 3-Axis, 4-Axis Added New-generation single-axis robot Comprehensive product range 21 models, 97 variations (Total of R Series and C Series) Al

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1 Product Range Multi-axis (2-axis, 3-axis, 4-axis) controller Product Range Belt drive type R Series, C Series Rotating type Product Range Catalog No.BKC0009 Fully Absolute Type as Standard on All Models DIN EN ISO 9001 JIS Z 9901 Certificate: Deutscher Akkreditierungs Rat DIN EN ISO 9001 JIS Z 9901 Certificate:

2 2-Axis, 3-Axis, 4-Axis Added New-generation single-axis robot Comprehensive product range 21 models, 97 variations (Total of R Series and C Series) All models use the full absolute method that eliminates the origin return operation. Low cost, against the concept of Absolute is expensive!. Fast speed, high precision, maximum speed increased by % (compared with our previous model). Repearability of 0.01mm (ABTC9, ABTC9H, ABFC, ABFC14, ABFC14H, ABFC17, ABFC) Meets class Note level clean room specifications (ABCC14, ABCC14H, ABCC17, ABCC) Note: Per 1cf (0.1m base), when using a suction blower Full Absolute Compatible Controller For R series ABERCX ABTR4 Single-axis robot controller Thin design, with width of 30mm 32 Bit RISC CPU Low price ABTR5 For C series ABSRCX Single-axis robot controller 32 Bit RISC CPU ABBC14H ABBC14 ABBC ABTC6 ABTC7 ABTC9 ABFC ABFC14 ABFC14H NEW product range For C series ABDRCX 2-axis robot controller 32 Bit RISC CPU Fully equipped palletizing function. CP and ARC interpolation available. Arching motion for reduced cycle time. NEW product range Long stroke belt drive type ABBC, ABBC14, ABBC14H added Maximum stroke 3050 mm (ABBC14, ABBC14H) Rotating type, 3 models added ABRC5, ABRC, ABRC added (Motor output 50W, 0W, 0W) NEW product range R series and C series multi-axis controller ABMFX-TRCX 2-axis, 3-axis, and 4-axis robot controller Can control both the R series and C series. (Certain combinations are restricted. See p.42.) Fully equipped with ABSRCX ABDRCX functions q

3 ABFC17 ABFC ABCC14 ABCC17 ABCC Product Range Introduction R series Model ABTR4 ABTR5 C series Clean specifications Model ABTC6 ABTC7 ABTC9 ABTC9H ABFC ABFC14 ABFC14H ABFC17 ABFC Note 1 ABBC Note 1 ABBC14 Note 1 ABBC14H ABCC14 ABCC14H ABCC17 ABCC Model Motor output Repeatability W mm Motor output Repeatability W mm Motor output W Stroke mm Stroke mm Repeatability Rotating range s ABRC5 Caution Maximum speed mm/s Maximum speed mm/s Maximum speed /s ABRC ABRC Safety Precaution e Handling Instructions and Precautions r R Series Mechanical Unit t Dimensions y C Series Mechanical Unit i Dimensions!2 R Series 1-Axis Controller #1 C Series 1-Axis Controller #4 C Series 2-Axis Controller #7 R series, C series Multi-Axis Controller #9 R series, C series Multi-Axis Robot $1 Additional Parts $9 Before use, be sure to read the instruction manuals included with the robot and controller. Also, be sure to read the Safety Precautions on p. 3. Payload for horizontal use kg Payload for horizontal use kg Payload for vertical use kg Payload for vertical use kg Maximum allowable interial moment kgm 2 Rated thrust N Rated thrust N Rated torque Nm R Series Single-Axis Mechanical Unit C Series Single-Axis Mechanical Unit R Series 1-Axis Controller C Series 1-Axis Controller C Series 2-Axis Controller R/C Series 2, 3, and 4-Axis Controller Multi-Axis Robot Additional Parts ABRC5 ABRC ABRC Note 2 Note Note Remark: Figures in parentheses ( ) are for two types availability of ball screw leads. Notes: 1. ABBC, ABBC14 and ABBC14H use belt drives. Equivalent screw lead is 25mm. They cannot be used for vertical applications or where thrust is required. 2. ABRC5, ABRC and ABRC are rotating types, the payload is the maximum allowable inertial moment, and the rated thrust is the rated torque. w

4 Safety Precautions (Single-Axis Robot R Series, C Series) Before selecting and using product, please read all the Safety Precautions carefully to ensure proper product use. The Safety Precautions shown below are to help you use the product safely and correctly, and to prevent injury or damage to assets beforehand. Observe these precautions along with the safety regulations of JIS B 8433 (Industrial Robot Safety Regulations). The directions are ranked according to the degree of potential danger or damage: DANGER, WARNING, CAUTION, and ATTENTION. DANGER WARNING CAUTION ATTENTION Expresses situations that can be clearly predicted as dangerous. If the noted dangers are not avoided, they could result in death or serious injury. They could also result in damage or destruction of assets. Expresses situations that, while not immediately dangerous, could become dangerous. If the noted dangers are not avoided, they could result in death or serious injury. They could also result in damage or destruction of assets. Expresses situations that, while not immediately dangerous, could become dangerous. If the noted dangers are not avoided, they could result in light or semi-serious injury. They could also result in damage or destruction of assets. While there is little chance of injury, the content here is of points that should be observed for appropriate use of the product. This product was designed and manufactured as parts for use in General Industrial Machinery. For the selection and handling of the equipment, the system designer or other person with fully adequate knowledge and experience should always read the Safety Precautions, Catalog, User s Manual, and other relevant material before commencing handling. Making mistakes in handling is dangerous. In using this product, it is the customer's responsibility to verify and determine the compatibility of this product to customer s systems. After reading the Catalog, Instruction Manual, etc., always place them where they can be easily available for reference to users of this product. If transferring or lending this product to an another person, always attach the Catalog, Instruction Manual, etc., to the product where it is easily visible, to ensure that the new user can use the product safely and properly. The danger, warning, and caution items listed under these "Safety Precautions" do not cover all possible cases. Read the catalog and user's manual carefully, and always keep safety first. DANGER Do not use for the purposes listed below: 1. Medical equipment related to the maintenance or management of human lives or bodies. 2. Mechanical devices or equipment designed for the purpose of moving or transporting people. 3. Critical safety components in mechanical devices. This product has not been planned or designed for purposes that require advanced stages of safety. It could cause injury to human life. Do not use in locations with or near dangerous substances such as flammable or ignitable substances. It could ignite or burst into flames. Do not enter the operating range of the machinery when the product is in operation or in a state of operating readiness. The actuator can move suddenly, possibly resulting in injury. Persons who use a pacemaker, etc., should keep a distance of at least one meter away from the product. There is the possibility that the pacemaker will malfunction due to the strong magnet built into the product. When attaching the product, always ensure that it is securely fixed in place (including the workpiece). Dropping the product or improper operation could result in injury. Never attempt to rebuild the product. It could result in abnormal operation leading to injury, electric shock, fire, etc. Never attempt inappropriate disassembly or assembly related to the product's basic configurations, performance, or functions. It could result in injury, electric shock, fire, etc. Do not splash water on the product. Splashing it with water, washing it or using it underwater could result in malfunction of the product leading to injury, electric shock, fire, etc. WARNING Do not use this product in excess of its specification range. Such use could result in product breakdowns, cessation of function, or damage. Use safety circuits or system designs to prevent damage to machinery or injury to personnel when the machine shuts down due to emergency stop or electrical power failure. Always use No.3 type grounding (grounding resistance of 0 or less). A leakage of current could possibly result in electric shocks or malfunction. Always read these precautions carefully before use. Before supplying electricity to the device, and before starting operation, always conduct a safety check of the area of machine operation. Careless supply of power could possibly result in electric shocks, or in injury caused by contact with moving parts. Do not touch the terminal and the miscellaneous switches, etc., while it is plugged in. There is the possibility of electric shock and abnormal operation. Do not scratch the robot cable, etc. If a cable has been damaged, bent excessively, pulled, wrapped around something, put a heavy object placed on it, or has been inserted between items, it can be the cause of abnormal operation, electric shock, or fire due to poor conductivity or a short circuit. If abnormal noise occurs or vibrations become abnormally large, immediately cease operations. Continuation of use could lead to damage to products, or to abnormal or runaway operation due to damaged equipment. Do not allow the product to be thrown into fire. The product could explode and release toxic gases. Do not sit on the product, place your foot on it, or place other objects on it. Accidents such as falling and tipping over could result in injury. Dropping the product may damage or break the product resulting in abnormal, improper or erratic operation. When conducting any kind of operation for the product, such as inspection, repair or replacement, always shut off the power supply completely before starting. Always use within the recommended loads and specifications. CAUTION Do not use in locations under direct sunlight (ultraviolet), in locations subject to dust, salt, or iron powder, or in ambient atmospheres that contain organic solvents, phosphoric ester-based hydraulic fluids, sulfur dioxide gas, chlorine gas, or acids. These conditions could lead short-term functional shutdowns, sudden performance loss, or a shortened operating life. Use a lift or other support tool to firmly support the product during conveyance or mounting, or conduct the operation with a plural number of people, etc., and always be careful to ensure human safety. Do not use in atmospheres containing corrosive gases, flammable gases, or combustible liquids. The resulting rust could cause deteriorate body strength, while the motor could catch fire or explode. e

5 Take adequate shielding measures if using in the locations listed below. Failure to take such measures could possibly result in abnormal operation. 1. Locations subject to large electrical currents or magnetic fields 2. Locations subject to noise generated by static electricity, etc. 3. Locations that could be subject to radiation Mount the robot and controller in locations with low levels of dust and dirt. Mounting in locations with large amounts of dust and dirt could possibly result in abnormal operation. Do not mount in locations subject to large vibrations(4.9m/s 2 or more). Large vibrations transmitted to the product could possibly result in abnormal operation. When mounting the product, leave room for adequate working space around it. Failure to assure adequate working space will make it more difficult to conduct daily inspections or maintenance, which could eventually lead to system shutdown or damage to the product. Do not bring floppy disks and magnetic media, etc., within one meter of the product. There is the possibility that the data on the floppy disks will be destroyed due to the magnetism of the magnet. Do not scratch, dent, or deform the actuator by climbing on the product, using it as scaffold, or placing objects on top of it. It could result in damaged or broken products that result in operation shutdown or degraded performance. When performing mounting or adjustment work, put up now working signs to prevent unintentional inputs of electrical power, etc. Such accidental inputs may cause electrical shock, or sudden activation of the actuator that could result in physical injury. ATTENTION When considering the possibility of using this product in situations or environments not specifically noted in the Catalog or Instruction Manual, or in applications where safety is a particularly important requirement, such as airplane facility, combustion devices, leisure equipment, and other places where human life or assets may be greatly affected, take adequate safely precautions such as application with enough margins or fail-safe measures for ratings and performances. Please consult KOGANEI with any questions. If mounting the product in a vertical position for use, always use the vertical specifications (with brake). Use a protective cover, etc., to ensure that people s bodies do not come into direct contact with the operating portions of mechanical devices, etc. Do not make the controls in a way that would cause work to fall down during power outages. Make the controls so that the table, workpiece, etc. cannot fall if the mechanical device is subject to a power outage or an emergency power shutdown. For the wiring, check the Instruction Manual. When handling the product, wear protective gloves, safety glasses, and safety boots, etc., to ensure safety. When the product has become unusable, or is no longer necessary, dispose of it appropriately as industrial waste. For inquiries about the product, contact your nearest Koganei sales office or Koganei overseas division. The address and telephone number is shown on the back cover of this catalog. OTHER Always observe the following items. 1. When using this product in pneumatic systems, always use genuine KOGANEI parts or compatible parts (recommended parts). When conducting maintenance and repairs, always use genuine KOGANEI parts or compatible parts (recommended parts). Always observe the required procedures. 2. Do not attempt inappropriate disassembly or assembly related to the product's basic configurations, performance, or functions. Koganei cannot bear responsibility if these safety precautions are not completely observed. General Precautions and Handling CAUTION Read this before starting use. Mounting To improve the table's linear movement accuracy, and to ensure smooth movement of the ball screw and linear guide, pay attention to the items listed below. 1. Ensure that the flatness of the body mounting surface is at 0.1mm/500mm or less. 2. Secure a sufficient mounting surface to ensure robot rigidity. Environment 1. Avoid using in locations where the body and controller are subject to dripping water or dripping oil, etc., or to large amounts of dust. 2. Avoid using in locations subject to sulfuric acid, hydrochloric acid, or other corrosive gases. 3. Avoid using in locations subject to strong vibrations or shocks. Other Before starting use, always read the instruction manual attached to the robot and controller. r

6 Single-Axis Robot R series Mechanical Unit Order Code AB Alpha series single-axis robot Ball screw lead 022mm Note 1 066mm 1212mm Function BlankWithout brake B With brake Basic model Model Stroke TR4Ball screw, threaded guide body mount, R series TR5Ball screw, threaded guide body mount, R series ABTR4 ABTR5 50, 0, 150, 0, 250, , 0, 150, 0, 250, 300, 350, 400, 450, 500, 550, 600 Notes : 1. Not available in ABTR5. 2. Since a back-up battery is absolutely required for the controller, always select a controller with a backup battery when ordering a unit with a controller. Leave blank if selecting for a unit without a controller. Basic Mechanical Unit Specifications Item Motor type Motor output Maximum speed Maximum payload (kg) Repeatability Rated thrust Speed reduction mechanism Ball screw lead Guide mechanism Stroke Applicable controllers Model AC(W) (mm/s) For horizontal use For vertical use (mm) (N) (mm) (mm) ABTR ABTR Stroke ABTR Controller type Blank Without controller ERCXR series Cable length BlankWithout cable 3L3.5m 5L5m Lm AC servo motor Ball screw Linear guide ABERCX ABTR Back-up battery Note 2 Blankwithout battery 1 700mAh 2 00mAh ABTR t

7 ABTR4 Applicable controllers ABERCX 250 Motor cable length Stopper position Stroke L A M N Mass kg Note Screw height When mounting a brake Loading Mass and Overhang Distance Distance tolerance Stroke Stopper location Depth A Mounting hole: N-Back side 4.5, 8 Counter bore, Depth mm max. Note: Ensure that the under head length of the mouting bolt for the single axial robot is 12mm or less. B section details Note: Figures in parentheses ( ) show the mass with brake (-B). Horizontal use Unit : mm Wall installation use Unit : mm Vertical use Unit : mm Notes: 1. Distance between the center of the slider's upper surface and the center of gravity of the load. 2. The rigidity of the mounting arm should be sufficiently strong. 3. The loading mass should be less than the maximum payload of each robot type's mechanical unit specifications. R Series Single-Axis Mechanical Unit y

8 ABTR5 Applicable controllers ABERCX 250 Motor cable length Screw height (Stopper position) When mounting a brake 4-M40.7 Depth 9 2-3H7 Depth 6 Stroke Distance tolerance Loading Mass and Overhang Distance 50 Mounting hole: N-Back surface 4.5, 8 Counter bore, Depth 4.5 Stroke L A M N Mass kg Note Stopper position Depth 15mm max. Note: Ensure that the under head length of the mouting bolt for the single axial robot is 15mm or less. B section details Note: Figures in parentheses ( ) show the mass with brake (-B). Horizontal use Unit : mm Wall installation use Unit : mm Vertical use Unit : mm Notes: 1. Distance between the center of the slider's upper surface and the center of gravity of the load. 2. The rigidity of the mounting arm should be sufficiently strong. 3. The loading mass should be less than the maximum payload of each robot type's mechanical unit specifications. u

9 Single-Axis Robot C Series Mechanical Unit Order Code AB Alpha series single-axis robot Functions Note 2 Without brake B With brake Ball screw lead Note 1 L Motor mounted left side horizontal BlankBelt and rotating type Note 3 R Motor mounted right side horizontal 05 Note 3 LU Motor mounted left side up 06 Note 3 RUMotor mounted right side up Note 3 LD Motor mounted left side down 12 Note 3 RDMotor mounted right side down Note 3 Basic model TC6 Ball screw, threaded guide body mount, width 60 TC7 Ball screw, threaded guide body mount, width 70 TC9 Ball screw, threaded guide body mount, width 90 TC9H Ball screw, threaded guide body mount, width 90 FC Ball screw, frame body, width 0 FC14 Ball screw, frame body, width 140 FC14H Ball screw, frame body, width 140 FC17 Ball screw, frame body, width 170 FC Ball screw, frame body, width 0 BC Belt, frame body, width 0 BC14 Belt, frame body, width 140 BC14HBelt, frame body, width 140 RC5 Rotating type, motor output 50W RC Rotating type, motor output 0W RC Rotating type, motor output 0W CC14 Ball screw, clean specification, width 140 CC14HBall screw, clean specification,width 140 CC17 Ball screw, clean specification,width 170 CC Ball screw, clean specification,width 0 Single-Axis Robot C Series Configuration Table AB Basic model Ball screw Function Stroke TC6 TC7 TC9 TC9H FC FC14 FC14H FC17 FC BC BC14 BC14H RC5 RC RC CC14 CC14H CC17 CC 06 Blank 12 B Note Blank Blank Blank 05 Note Blank B Blank B Blank B L R LU RU LD RD L R LU RU LD RD Blank Blank B Blank B 50, 0, 150, 0, 250, , 400, 450, 500, 550, , 250, 350, 450, , 250, 350, 450, 550, , 850, 950, , 350, 450, 550, 650, , 950, 50, 1150, , 250, 350, 450, 550, , 850, 950, 50, , 1350, 1450, 1550, , 1850, 1950, 50, , 2350, 2450, , 250, 350, 450, 550, , 850, 950, 50, , 1350, 1450, 1550, , 1850, 1950, 50, , 2350, 2450, 2550, , 2850, 2950, , 250, 350, 450, 550, , 850, 950, , 350, 450, 550, 650, , 950, 50, Controller type Blank Without controller SRCXC series Cable length Blank Without cable 3L 3.5m 5L 5m L m Back-up battery Note 5 Blank Without battery 1700mAh 200mAh Stroke See the Single-Axis Robot C Series Configuration Table below. Rotating type is blank. Notes: 1. Some restrictions are imposed to combinations with basic type. See the Single-Axis Robot C Series Configuration Table below. 2. For vertical use, select with brake. 3. Only ABBC, ABBC14, and ABBC14H are available for selection. Always select from one of these. 4. Models and strokes that require a regenerative device should use with regenerative device ABRGU-2. The order code for controller units ordered separately (see the models with regenerative device, below) is ABSRCX. 5. Since the controller absolutely requires a back-up battery, always select a back-up battery when selecting with controller. If not using a controller, leave it blank. 6. For details about controllers and regenerative devices, see p.34. Cable length Blank 3L 5L L Controller type SRCX Blank Back-up battery 1 2 Blank Blank Note: For horizontal use, select mm. (See Mechanical Unit Specifications, and Note 5, on p..) C Series Single-Axis Mechanical Unit i

10 Bending Directions for Belt Drive Type A The ABBC, ABBC14 and ABBC14H belt drive types take the configurations shown in the diagram below, depending on motor position. (The diagram below shows the unit viewing from the direction A.) Motor mounted right side up-ru M Models Included Regenerative Devices The models and strokes listed in the table below are equipped with regenerative device ABRGU-2. Model ABTC9--B---SRCX- ABTC9H--B---SRCX- ABFC--B---SRCX- ABFC14--B---SRCX- ABFC14H--B---SRCX- ABFC17--B---SRCX- Motor mounted right side horizontal-rmotor mounted right side down-rd Motor mounted left side up-lu Motor mounted left side horizontal-l Motor mounted left side down-ld M M M Stroke Stroke of 750mm or more All strokes Stroke of 750mm or more Stroke of 750mm or more All strokes All strokes M M Model ABFC--B---SRCX- ABBC14H---SRCX- When the motor is on the right, when viewing the single-axis robot from above, with the motor on top, it is treated as right side and when on the left, as left side. ABCC14--B---SRCX- ABCC14H--B---SRCX- ABCC17--B---SRCX- ABCC--B---SRCX- Motor left side Motor right side Stroke All strokes All strokes Stroke of 750mm or more All strokes All strokes All strokes o

11 Mechanical Unit Specifications (AC servo motor) Item Model Motor output AC(W) Maximum speed Note 1 (mm/s) For horizontal use Maximum payload (kg) For vertical use Repeatability Note 2 mm) Rated thrust (N) Speed reduction mechanism Ball screw lead mm) Guide mechanism Stroke mm) Applicable controllers Item Model Motor output AC(W) Maximum speed Note 1 (mm/s) For horizontal use Maximum payload (kg) For vertical use Repeatability Note 2 mm) Rated thrust (N) Speed reduction mechanism Ball screw lead mm) Guide mechanism Stroke mm) Applicable controllers Item Model Motor output AC(W) Maximum speed Note 1 (mm/s) For horizontal use Maximum payload (kg) For vertical use Repeatability Note 2 mm) Rated thrust (N) Speed reduction mechanism Ball screw lead mm) Guide mechanism Stroke mm) Applicable controllers ABTC Ball screw (Class C ) Linear guide ABSRCX-05 ABFC ABTC ABTC Ball screw (Class C ) 12 Linear guide ABSRCX-05 ABFC Ball screw (Class C 7) Linear guide ABSRCX-05 Note 3 ABTC9- ABTC9- ABTC Ball screw (Class C 7) Linear guide ABSRCX-05 Note 3 ABFC ABFC14H ABFC14H ABFC14H Ball screw (Class C 7) Linear guide ABSRCX- 5 Item Motor output Model AC(W) ABBC 0 ABBC14 0 ABBC14H 0 Maximum speed Note 1 (mm/s) 1875 Maximum payload For horizontal use 30 (kg) For vertical use Repeatability Note 2 mm) 0.04 Rated thrust (N) Speed reduction mechanism Ball screw lead mm) Belt (25 equivalent) Guide mechanism Linear guide Stroke mm) Applicable controllers ABSRCX-05 ABSRCX- Note ABFC ABFC17- ABFC Ball screw (Class C 7) Linear guide ABSRCX- ABTC9H ABTC9H ABTC9H Ball screw (Class C 7) Linear guide ABSRCX- 5 ABFC Ball screw (Class C 7) Linear guide ABSRCX-05 Note 3 ABFC ABFC- ABFC Note Ball screw (Class C 7) Linear guide ABSRCX- Item Model ABRC5 ABRC ABRC Motor output AC(W) Maximum speed (/s) 360 Repeatability Note 2 (s) 30 Maximum allowable interial moment (kgm 2 ) Rated torque (Nm) Speed reduction ratio Rotating range () 1/ Applicable controllers ABSRCX-05 ABSRCX- Notes: 1. The maximum speed is restricted due to the model and stroke. For details, see the maximum speeds by model and by stroke on p Repeating positioning accuracy under one-way movement. 3. For vertical use, the regenerative device ABRGU-2 might be required. 4. For vertical use, the regenerative device ABRGU-2 is required. 5. Consult us. 6. At speeds of 1250mm/s or more, the regenerative device ABRGU-2 is required. 5 C Series Single-Axis Mechanical Unit!0

12 Mechanical Unit Specifications (AC servo motor) Clean specifications Item Motor output Model AC(W) ABCC14- Maximum speed Note 1 (mm/s) 00 Maximum payload (kg) For horizontal use 30 For vertical use 4 Repeatability Note 2 (mm) ABCC14- ABCC14-05 ABCC14H- ABCC14H- ABCC14H-05 ABCC17- ABCC17- ABCC- ABCC Note Rated thrust (N) Speed reduction mechanism Ball screw (Class C 7) Ball screw (Class C 7) Ball screw (Class C 7) Ball screw (Class C 7) Ball screw lead (mm) 5 5 Guide mechanism Linear guide Linear guide Linear guide Linear guide Stroke (mm) Applicable controllers ABSRCX-05 Note 3 ABSRCX- ABSRCX- ABSRCX- Cleanliness rating CLASS Note 5 CLASS Note 5 CLASS Note 5 CLASS Note 5 Notes: 1. The maximum speed is restricted due to the model and stroke. For details, see below for the maximum speeds by model and by stroke. 2. Repeaing positioning accuracy under one-way movement. 3. For vertical use, the regenerative device ABRGU-2 might be needed. 4. For vertical use, the regenerative device ABRGU-2 is required. 5. Per 1cf (0.1m base), when using a suction blower. 6. Consult us. Maximum Speed by Model and Stroke To avoid resonance of the ball screw (danger speed), the maximum speed should be reduced to the values given in the table, by model and stroke. As this can be done either by reducing the SPEED setting for automatic operation, or by lowering speed in the program, fix the settings so that they can match the customer's application conditions. This procedure is not necessary, however, when there is no possibility of the danger speed is being reached, even for a long-stroke unit. There are no restrictions on (ABTC6 and ABTC7.) Model ABTC9, ABTC9H, ABFC, ABFC14, ABFC14H ABFC17, ABFC ABCC14, ABCC14H ABCC17, ABCC Maximum speed (mm/s) SPEED Maximum speed (mm/s) SPEED Maximum speed (mm/s) SPEED Maximum speed (mm/s) SPEED Strokemm 5 setting (%) setting (%) 5 setting (%) setting (%) Loading Mass and Overhang Distance The dimensional diagrams for each model are found on the pages listed below. See those pages for details. Model ABTC6 ABTC7 ABTC9 ABTC9H ABFC ABFC14 ABFC14H ABFC17 ABFC ABBC ABBC14 ABBC14H ABCC14 ABCC14H ABCC17 ABCC Page Maximum Allowable Interial Moment For the maximum allowable inertial moment of rotating type ABRC5, ABRC, and ABRC, see p. 26.!1

13 ABTC6 Applicable controllers ABSRCX-05 Loading Mass and Overhang Distance Horizontal use Unit : mm Wall installation use Unit : mm Vertical use Unit : mm Notes: 1. Distance between the center of the slider's upper surface and the center of gravity of conveyed load. 2. The rigidity of the mounting arm should be adequately strong. 3. The loading mass should be less than the maximum payload of each robot type's mechanical unit specifications. 4. Use of thrust only. Please consider to provide a supplemental guide mechanism Depth Stroke L A M N Mass kg Note Note: Figures in parentheses ( ) show the mass with brake -B). Y arrow view 12 6 Mounting holen - Back surface 4.5, 8 Counter bore, Depth Inter-knock tolerance Depth 6 Depth 12 6 B section details C Series Single-Axis Mechanical Unit!2

14 ABTC7 Applicable controllers ABSRCX-05 Loading Mass and Overhang Distance Horizontal use Unit : mm Wall installation use Unit : mm Vertical use Unit : mm Notes: 1. Distance between the center of the slider's upper surface and the center of gravity of conveyed load. 2. The rigidity of the mounting arm should be adequately strong. 3. The loading mass should be less than the maximum payload of each robot type's mechanical unit specifications. 4. Use of thrust only. Please consider to provide a supplemental guide mechanism Stroke L A N Mass kg Note 2 Notes: 1. Washers, etc., cannot be used in the counter bore hole for mounting the robot body. 2. Figures in parentheses ( ) show the mass with brake (-B) N B section details Note1 67Distance tolerance between knocks0.02 M5,5H7 Position 250 Motor cable length Stopper position 68 L N-1 60 B Note H7Depth Depth Depth 8 Two identical positions on the opposite side A!3

15 ABTC9 Applicable controllers ABSRCX-05 Loading Mass and Overhang Distance Horizontal use Unit : mm Wall installation use Unit : mm Vertical use Unit : mm Notes: 1. Distance between the center of the slider's upper surface and the center of gravity of conveyed load. 2. The rigidity of the mounting arm should be adequately strong. 3. The loading mass should be less than the maximum payload of each robot type's mechanical unit specifications. 4. Use of thrust only. Please consider to provide a supplemental guide mechanism Stroke L A N Mass kg Note 2 Notes: 1. Washers, etc., cannot be used in the counter bore hole for mounting the robot body. 2. Figures in parentheses ( ) show the mass with brake (-B) N-M81.25 B section details Note1 82Distance tolerance between knocks Motor cable length 5 115Stopper position 145Stopper position when mounting a brake Protection ground terminal 30 When mounting a brake Stroke When mounting a brake 4-M50.8Depth 4 Two identical positions on the opposite side N-1 A B Note1 195When mounting a brake H7Depth M61.0Depth 18 44Stopper position L C Series Single-Axis Mechanical Unit!4

16 !5 ABTC9H Applicable controllers ABSRCX- Loading Mass and Overhang Distance Horizontal use Unit : mm Wall installation use Unit : mm Vertical use Unit : mm Notes: 1. Distance between the center of the slider's upper surface and the center of gravity of conveyed load. 2. The rigidity of the mounting arm should be adequately strong. 3. The loading mass should be less than the maximum payload of each robot type's mechanical unit specifications. 4. Use of thrust only. Please consider to provide a supplemental guide mechanism B section details Note1 Stroke L A N Mass kg Note 2 Notes: 1. Washers, etc., cannot be used in the counter bore hole for mounting the robot body. 2. Figures in parentheses ( ) show the mass with brake (-B) N-M Distance tolerance between knocks Motor cable length Protection ground terminal 30 When mounting a brake 5 129Stopper position 159Stopper position when mounting a brake Stroke N-1 A B Note1 9When mounting a brake H7 Depth Stopper position when mounting a brake Depth 4 Two identical positions on the opposite side Depth 18 L 44Stopper position

17 ABFC Applicable controllers ABSRCX-05 Stroke L A M N Mass kg Note 2 Notes: 1. Washers etc. cannot be used in the counter bore hole for mounting the robot body. 2. Figures in parentheses ( ) show the mass with brake (-B). Loading Mass and Overhang Distance Horizontal use Unit : mm Wall installation use Unit : mm Vertical use Unit : mm Notes: 1. Distance between the center of the slider's upper surface and the center of gravity of conveyed load. 2. The rigidity of the mounting arm should be adequately strong. 3. The loading mass should be less than the maximum payload of each robot type's mechanical unit specifications. 4. Use of thrust only. Please consider to provide a supplemental guide mechanism Robot cable outlet direction N-5.5 B section details Note Y arrow view 68 0Distance tolerance between knocks Stopper position when mounting a brake 147When mounting a brake Stroke When mounting a brake 4-M50.8Depth 9 Two identical positions on the opposite side 30 When mounting a brake 2-5H7Depth 15 4-M50.8Depth Stopper position 195When mounting a brake M0 A When mounting a brake 18 L B Note1 N-M50.8Depth M0 A Y C Series Single-Axis Mechanical Unit!6

18 !7 ABFC14 Applicable controllers ABSRCX-05 Robot cable outlet direction C section details Note2 Stroke L A M N B Mass kg Note 3 Notes: 1. Washers etc. cannot be used in the counter bore hole for mounting the robot body. 2. Do not use the T slot for the purpose of mounting the robot body in place. 3. Figures in parentheses ( ) show the mass with brake (-B). Loading Mass and Overhang Distance 130When mounting a brake 155When mounting a brake Horizontal use Unit : mm Wall installation use Unit : mm Vertical use Unit : mm Notes: 1. Distance between the center of the slider's upper surface and the center of gravity of conveyed load. 2. The rigidity of the mounting arm should be adequately strong. 3. The loading mass should be less than the maximum payload of each robot type's mechanical unit specifications. 4. Use of thrust only. Please consider to provide a supplemental guide mechanism. 5 1Distance tolerance between knocks Motor cable length 1Stopper position Stopper position 2-67Depth 8 8-M61.0Depth 8 02When mounting a brake 4-M50.8Depth 7 Two identical positions on the opposite side When mounting a brake N-M61.0Depth N-7 thru. Depth 9 Note1 2-7 Depth

19 ABFC14H Applicable controllers C section details Note 2 Stroke L A M N B Mass kg Note 3 Notes: 1. Washers etc. cannot be used in the counter bore hole for mounting the robot body. 2. Do not use the T slot for the purpose of mounting the robot body in place. 3. Figures in parentheses ( ) show the mass with brake (-B). Loading Mass and Overhang Distance ABSRCX- 1Distance tolerance between knocks When mounting a brake Horizontal use Unit : mm Wall installation use Unit : mm Vertical use Unit : mm Notes: 1. Distance between the center of the slider's upper surface and the center of gravity of conveyed load. 2. The rigidity of the mounting arm should be adequately strong. 3. The loading mass should be less than the maximum payload of each robot type's mechanical unit specifications. 4. Use of thrust only. Please consider to provide a supplemental guide mechanism. 5 Robot cable outlet direction N-M61.0Depth N-7 thru. Depth 9 Note Motor cable length Stroke 135Stopper position 2-6H7Depth 8 Depth 8 02When mounting a brake 4-M50.8Depth 7 Two identical positions on the opposite side When mounting a brake 143When mounting a brake 2-H7Depth C Series Single-Axis Mechanical Unit!8

20 ABFC17 Applicable controllers ABSRCX- B section details Note 2 Robot cable outlet direction Note Stroke L A M N Mass kg Note 3 Notes: 1. Washers etc. cannot be used in the counter bore hole for mounting the robot body. 2. Do not use the T slot for the purpose of mounting the robot body in place. 3. Figures in parentheses ( ) show the mass with brake (-B). Loading Mass and Overhang Distance Horizontal use Unit : mm Wall installation use Unit : mm Vertical use Unit : mm Notes: 1. Distance between the center of the slider's upper surface and the center of gravity of conveyed load. 2. The rigidity of the mounting arm should be adequately strong. 3. The loading mass should be less than the maximum payload of each robot type's mechanical unit specifications. 4. Use of thrust only. Please consider to provide a supplemental guide mechanism. Note: Figures in parentheses ( ) show the value with mounted the brake. 154Distance tolerance between knocks Motor cable length 157.5Stopper position 70When mounting a brake Stroke 2702When mounting a brake 4-M50.8Depth 12 Two identical positions on the opposite side When mounting a brake 2-6H7Depth N-9 thru. Depth 27 Note 1 8-M81.25Depth 25!9

21 ABFC Applicable controllers ABSRCX- Loading Mass and Overhang Distance Horizontal use Unit : mm Wall installation use Unit : mm Vertical use Unit : mm Notes: 1. Distance between the center of the slider's upper surface and the center of gravity of conveyed load. 2. The rigidity of the mounting arm should be adequately strong. 3. The loading mass should be less than the maximum payload of each robot type's mechanical unit specifications. Robot cable outlet direction Note B section details Note 2 Stroke L A M N Mass kg Note 3 Notes: 1. Washers etc. cannot be used in the counter bore hole for mounting the robot body. 2. Do not use the T slot for the purpose of mounting the robot body in place. 3. Figures in parentheses ( ) show the mass with brake (-B). Note: Figures in parentheses ( ) show the value with mounted the brake. 185Distance tolerance Motor cable length When mounting a brake 177Stopper position 3022When mounting a brake 4-M50.8Depth 15 Two identical positions on the opposite side 2When mounting a brake N-9 thru. Depth 33.5 Note 1 Stroke 2-8H7Depth 4-M81.25Depth 30 45Stopper position C Series Single-Axis Mechanical

22 ABBC Applicable controllers ABSRCX-05 Stroke L A B C D M N Mass kg Note 2 Stroke L A B C D M N Mass kg Note 2 ABBC-R (Motor mounted right side horizontal) For the loading mass and overhang distance, see p.24. Stroke 125 Stopper position 4-M50.8 Depth Two identical positions on the opposite side Stopper position 2-5H7 Depth 8 4-M50.8 Depth 8 D-H7 Depth Depth ABBC-RD (Motor mounted right side down) Stopper position The figure shows ABBC-RU (right-sided upper mounted motor type). The left-sided motor type (-L, -LU, -LD) is a type that flips it relative to the Z axis of the body. 86Distance tolerance between knocks0.02 M5, 5H7 E section details Note 1 Notes: 1. Do not use the T slot for the purpose of mounting the robot body in place. 2. In the L and R specifications of the motor position, the dimensional table L should be added 87.5mm on its value. 3. The cable outlet position can be set in any of four directions - top, bottom, front or

23 ABBC14 Applicable controllers ABSRCX-05 Stroke L M A B C D E F Mass kg Note 2 Stroke L M A B C D E F Mass kg Note 2 For the loading mass and overhang distance, see p.24. Protection ground terminal ABBC14-R (Motor mounted right side horizontal) Stroke Stopper position 4-M50.8 Depth 12 Two identical positions on the opposite side Stopper position 2-6H7 Depth 8-M61.0 Depth 16 F-H7 Depth 4.5 Stopper position ABBC14-RD (Motor mounted right side down) 134Distance tolerance between knocks0.02 M6, 6H7 The figure shows ABBC14-RU (right-sided upper mounted motor type). The left-sided motor type (-L, -LU, -LD) is a type that flips it relative to the Z axis of the body. Notes: 1. Do not use the T slot for the purpose of mounting the main robot in place. 2. In the L and R specifications of the motor position, the dimensional table L should be added 87.5mm on its value. 3. The cable outlet position can be set in any of four directions - top, bottom, front or back. G section details Note 1 C Series Single-Axis Mechanical

24 ABBC14H Applicable controllers Stroke L M A B C D E F Mass kg Note 2 Stroke L M A B C D E F Mass kg Note 2 ABSRCX- For the loading mass and overhang distance, see p.24. Protection ground terminal ABBC14H-R (Motor mounted right side horizontal) Stroke Stopper position 2-6H7 Depth 8-M61.0 Depth 16 Depth Two identical positions on the opposite side F-H7 Depth 4.5 Stopper position M-M61.0 Depth ABBC14H-RD (Motor mounted right side down) Stopper position Distance tolerance between knocks The figure shows ABBC14H- RU (right-sided upper mounted motor type). The left-sided motor type (-L, -LU, -LD) is a type that flips it relative to the Z axis of the body. Notes: 1. Do not use the T slot for the purpose of mounting the robot body in place. 2. In the L and R specifications of the motor position, the dimensional table L should be added 87.5mm on its value. 3. The cable outlet position can be set in any of four directions - top, bottom, front or back. G section details Note

25 Loading Mass and Overhang Distance ABBC Horizontal use Unit : mm Wall installation use Unit : mm When for vertical use Do not use ABBC in a vertical application. ABBC14 Horizontal use Unit : mm Wall installation use Unit : mm When for vertical use ABBC14H Horizontal use Unit : mm Wall installation use Unit : mm When for vertical use Do not use ABBC14 in a vertical application. Do not use ABBC14H in a vertical application. Notes: 1. Distance between the center of the slider's upper surface and the center of gravity of conveyed load. 2. The rigidity of the mounting arm should be adequately strong. 3. The loading mass should be less than the maximum payload of each robot type's mechanical unit specifications. C Series Single-Axis Mechanical

26 ABRC5 Applicable controllers ABSRCX-05 Mass kg 19Width across flats ABRC Applicable controllers ABSRCX-05 Depth Width across flats Depth Depth Depth h7 h7 4-6 thru. hole Approx150Cable length 9.5 Counter bore, Depth 25 Note 1 4-M61.0 Depth16 Notes: 1. Remove the cover when using a counter bore. 2. The position of the cable outlet can be changed thru. hole Approx.150Cable length 11 Counter bore, Depth 35 Note 1 4-M61.0 Depth 16 Note Note 2 Protection ground terminalm4 Protection ground terminalm4 Mass Notes: 1. Remove the cover when using a counter bore. 2. The position of the cable outlet can be changed.

27 ABRC Applicable controllers ABSRCX- Notes: 1. Remove the cover when using a counter bore. Mass kg 2. The position of the cable outlet can be changed. Maximum Allowable Interial Moment Maximum allowable interial moment (J) Unit : kgm 2 Model Mass parameter (W) kg ABRC5 ABRC ABRC When the tool and work mass mounted to the ABRC5, ABRC or ABRC shaft is Wkg, hold the value J of its inertial moment to lower than the value in the above table. If it is larger, enter the corresponding W value in the above table. (Example: In ABRC5, when W is 3kg and J is 0.05kgm 2, then entered value is 4kg) The above mass parameter is the value entered into the controller, and this value is used to automatically set the acceleration. 5-M81.25 Depth P.C.D h thru. hole Approx.150Cable length 11 Counter bore, Depth 40 Note1 Note Protection ground terminalm4 C Series Single-Axis Mechanical

28 @7 ABCC14 Applicable controllers ABSRCX-05 B section details Note 1 Stroke L A M N Mass kg Note 2 Notes: 1. Do not use the T slot for the purpose of mounting the robot body in place. 2. Figures in parentheses ( ) show the mass with brake (-B). Loading Mass and Overhang Distance Clean specifications Horizontal use Unit : mm Wall installation use Unit : mm Vertical use Unit : mm Notes: 1. Distance between the center of the slider's upper surface and the center of gravity of conveyed load. 2. The rigidity of the mounting arm should be adequately strong. 3. The loading mass should be less than the maximum payload of each robot type's mechanical unit specifications. 4. Use of thrust only. Please consider use of a supplemental guide mechanism Motor cable length Quick fitting Stopper position when mounting a brake When mounting a brake Stopper position Stroke When mounting a brake When mounting a brake 2-6H7Depth 4-M61.0Depth 12 84Distance tolerance between knocks0.02 Protection ground terminal (Also usable on the opposite side) N-M61.0Depth Stopper position 5 5

29 ABCC14H Applicable controllers ABSRCX- Stroke L A M N Mass kg Note 2 Notes: 1. Do not use the T slot for the purpose of mounting the robot body in place. 2. Figures in parentheses ( ) show the mass with brake (-B). Loading Mass and Overhang Distance Horizontal use Unit : mm Wall installation use Unit : mm Vertical use Unit : mm Notes: 1. Distance between the center of the slider's upper surface and the center of gravity of conveyed load. 2. The rigidity of the mounting arm should be adequately strong. 3. The loading mass should be less than the maximum payload of each robot type's mechanical unit specifications. 4. Use of thrust only. Please consider use of a supplemental guide mechanism. 5 B section details Note 1 Quick fitting Motor cable length When mounting a brake Clean specifications Stopper position 134Stopper position when mounting a brake Stroke When mounting a brake Protection ground terminal (Also usable on the opposite side) 9When mounting a brake 2-6H7Depth 4-M61.0Depth 12 84Distance tolerance between knocks0.02 Stopper position N-M61.0Depth 5 5 C Series Single-Axis Mechanical

30 ABCC17 Applicable controllers ABSRCX- 250 Motor cable length Stroke L A M N Mass kg Note 2 Notes: 1. Do not use the T slot for the purpose of mounting the robot body in place. 2. Figures in parentheses ( ) show the mass with brake (-B). Loading Mass and Overhang Distance When mounting a brake Protection ground terminal (Also usable on the opposite side) N-M81.25Depth 18 When mounting a brake Horizontal use Unit : mm Wall installation use Unit : mm Vertical use Unit : mm Notes: 1. Distance between the center of the slider's upper surface and the center of gravity of conveyed load. 2. The rigidity of the mounting arm should be adequately strong. 3. The loading mass should be less than the maximum payload of each robot type's mechanical unit specifications. B section details Note 1 Quick fitting Clean specifications Stopper position 157.5Stopper position when mounting a brake When mounting a brake Stroke 4M61.0Depth 18 4-M81.25Depth Depth 121Distance tolerance between knocks0.02 Stopper

31 ABCC Applicable controllers ABSRCX- B section details Note 1 Stroke L A M N Mass kg Note 2 Notes: 1. Do not use the T slot for the purpose of mounting the robot body in place. 2. Figures in parentheses ( ) show the mass with brake (-B). Loading Mass and Overhang Distance Quick fitting Motor cable length Stroke When mounting a brake 173Stopper position 3Stopper position when mounting a brake 3182When mounting a brake Protection ground terminal (Also usable on the opposite side) Horizontal use Unit : mm Wall installation use Unit : mm Vertical use Unit : mm Notes: 1. Distance between the center of the slider's upper surface and the center of gravity of conveyed load. 2. The rigidity of the mounting arm should be adequately strong. 3. The loading mass should be less than the maximum payload of each robot type's mechanical unit specifications. Clean specifications When mounting a brake 4-M61.0Depth 18 4-M81.25Depth Distance tolerance between knocks H7 Depth Depth 52Stopper position C Series Single-Axis Mechanical Unit #0

32 R Series 1-Axis Controller Controller Order Code AB ERCX - alpha series Controller type single-axis robot System Configuration Controller Servo control ABERCX Power source DC24V Input General 16-signal/custom 8-signal Output General 13-signal/custom 3-signal Solenoid valve Air cylinder, gripper, etc. Back-up battery RS232C communications control RS232C or communications control communications cable 24V I/O control NEW single-axis robot Notes: 1. For additional parts, see p For the PC off-line program, see p.50. Back-up battery BlankWithout battery Note 1700mAh 200mAh Note: The absolute function cannot be used unless a back-up battery is installed in the controller. Programming board IC memory card ABTPB Note 64K Note additional parts additional parts General purpose PC PC off-line program POPCOM Note 2 External control The controller is standard equipment with the mechanical unit. The programming board ABTPB is sold separately. Small and Compact The one-board design achieves a 30mm thin body. In addition, the height and depth dimensions are the same as the earlier ABSRCH and ABDRCH models, it enables easy installation in the control console. Full Absolute ABERCX Equipped with a resolver, an absolute position detector. Using a multi-turn data back-up function, to achieve full absolute method. Fast Speed, High Precision Servo Uses a 32BIT RISC CPU to achieve fast speed, high precision and fine control. Software Compatibility Can use the point data and programs of previous models (ABSRC, ABSRCA, ABERC and ABSRCH). Moreover, programming devices (ABTPB), as well as POPCOM and other optional support software can be used by upgrading them. One Unit Capable of Dual Uses The programming language is an easy-to-use BASIC-style language, so that even first-time users can easily begin programming. Moreover, an even simpler method that requires no programming at all can be achieved, involving point teaching only, and followed by movement commands issued by the sequencer I/O. Functions Offering a maximum of 00 points, a maximum of 16/13 general input and output signals, and a multi-tasking function List of Commands Function Start designated task End designated task Move to the designated point (absolute position movement) Move to the designated point (incremental position movement) Move until input of the designated DI number arrives Jump to the designated program label If conditional jump input matches the set value, jump to the designated program label If input of the designated DI number matches the set value, jump to the designated program label By axial positional relation, jump to the designated label Call up and execute another program Switch ON/OFF general output, internal memory output Wait for input/output conditions Set waiting time Set location label Set execution point number Adds 1 to an execution point number Subtracts 1 from an execution point number Return to origin Turns servo ON/OFF Temporarily interrupts program execution #1