STEPPING MOTOR SINGLE-AXIS ROBOTS

Transcription

1 Product ineup Series STEPPING MOTOR SINGE-XIS ROBOTS The newly developed vector control method delivers functions that are comparable to the performance of servomotors. Newly added space-saving models also allow a more efficient layout. SS type Slider type Straight model Space-saving model P.2 P.3 NEW SSH-S SS-S SS4-S SSH-R() SS-R() SS4-R() * See the Clean type page for clean room model. SR type Rod type Straight model Space-saving model P.8 P.9 NEW SR-S SR4-S SR3-S SR-R() SR4-R() SR3-R() Straight model (With support guide) Space-saving model (With support guide) P.72 P.73 NEW SRD-S SRD4-S SRD3-S SRD-U SRD4-U SRD3-U 4

2 Type Note 1 Size (mm) Model ead (mm) Maximum payload (kg) Note 2 Horizontal Vertical Maximum speed (mm/sec) Note 3 Stroke (mm) Detailed info page W49 H9 NEW SS4-S SS4-R() to 4 SS4-S : P.2 SS4-R() : P.3 SS type (Slider type) Straight model / Space-saving model W H W H NEW NEW SS-S SS-R() SSH-S SSH-R() (Horizontal) (Vertical) 3 (Horizontal) 12 4 (Vertical) to 8 to 8 SS-S : P.4 SS-R() : P. SSH-S : P. SSH-R() : P.7 W H. NEW NEW SR3-S SR3-R() SR3-U to 2 SR3-S : P.8 SR3-R() : P.9 SR3-U : P.7 SR type (Rod type) Straight model / Space-saving model W H8 NEW SR4-S SR4-R() to 3 SR4-S : P.74 SR4-R() : P.7 W.4 H71 NEW SR-S SR-R() to 3 SR-S : P.78 SR-R() : P.79 W H. NEW SRD3-S SRD3-U to 2 SRD3-S : P.72 SRD3-U : P.73 SR type (Rod type with support guide) Straight model / Space-saving model W13 H8 W7 H71 NEW NEW SRD4-S SRD4-U SRD-S SRD-U to 3 to 3 SRD4-S : P.7 SRD4-U : P.77 SRD-S : P.8 SRD-U : P.81 Note 1. Size is the approximate cross sectional size. Note 2. Maximum speed varies with the payload. See the SR type page for more details. Note 3. Maximum speed decreases due to ball screw critical speed when the stroke is long. Maximum operating speed may drop when an external force is applied or the support guide sliding resistance is large. See the SR type page for more details.

3 Product ineup Series Point 1 New control method combines the best features of servo and stepping motors! Stepping motors provide great features such as low cost, yet they have a drastic drop in torque at high speeds and heavy current consumption when stopped. The by YMH eliminates all these problems by adopting an innovative vector control method. In effect, the delivers the same functions of a servo motor while using a lower cost stepping motor. Energy saver! Control is basically the same as a servomotor so power consumption is kept to a minimum, which saves energy and helps cut down on CO2 emissions. Stepping motor Simple design & low cost No vibration when it stops High-pitched operating noise Drop in torque at high-speed Perfect stop! lso perfect stop can be achieved as the same as with ordinary stepping motors so choose this setting if needed. Servo Motors Smooth movement Constant torque at all speed range Energy saver Combines the best features of both types! Tiny vibrations when it stops Cost is high Point 2 Environmentally rugged resolver provides closed loop control The resolver used for detecting the motor position is the same reliable resolver as used in our high-level. Resolver offer stable position detection even in harsh environments containing dust or oil, etc. ddtionally the resolution of the resolver is 2 pulses per revolution. The resolver is a magnetic position detector. Its structure is simple with no electronic component and no optical elements. One great feature compared to ordinary optical encoders is that there are very few points where a failure might occur. Vast quantities of resolvers are used in fields like aviation and the automobile industry where reliability is essential and also because they are highly tough in harsh environments with a low failure rate. Slider type (SS type) Point Ideal 4-row circular-groove 2-point contact guide gives longen service life newly developed module guide is employed with a 4-row circular-groove 2-point contact guide built into a very compact actuator. The guide maintains a satisfactory rolling movement with minimal ball differential slip, even if a large momentum load is applied or the installation surface accuracy (flatness) is bad. Rugged design ensures that breakdowns from problems like abnormal wear will seldom occur. Ordinary model 2-row gothic-arch-groove 4-point contact guide arge differential slip tends to occur when a large momentum load is applied or installation surface accuracy is poor. (SS type) 4-row circular-arc-groove 2-point contact guide Utilizes a circular-arc-groove 2-point contact guide. Ball differential slip (spin) is minimal.

4 Point High-speed operation slashes production time! Making maximum use of advantages offered by the vector control method, the maintains a constant payload even in the high-speed range. This helps to drastically cut down on the tact time. By combining this feature with high-lead ball screws, the TRNSRERVO has achieved a maximum speed of 1 meter per second* which is faster than any single-axis servo motor. Point Space-saving models newly added to lineup Space-saving models allow a more efficient layout. Compared to a straight model, the overall length is reduced by up to 143.mm. This space saving is achieved by folding the motor and makes it possible to design a more efficient layout. * SS/SSH/SSC/SSCH (ead2mm) Ordinary type (SS type) Straight model SSH-2SB Payload Must use only small payloads during high speeds Payload Payload is always constant! Reduced by 143.mm Space-saving model SSH-2RB Rod type (SR type) Point ong-term maintenance free lubricator used in the ball screw and a contact scraper provides long-life and maintenance-free operation. maintenance free operation. Uses highly reliable resolver rugged and sturdy resolver is used as the position sensor. ll models are selectable with a brake. Ball screw lubricator The lubricator contains grease in a high-density fiber net so that it supplies just the right amount of grease where needed with no waste. ayered contact scraper Needs no maintenance for long periods Grease lubrication on the ball screw is usually lost a little bit at a time with ball screw movement. The SR type has a lubricator that supplies grease lost over long periods to ensure near maintenance-free operation Note. Note. The maintenance-free period is within the running life of the robot. Grease-saving lubrication system The lubricator uses a high-density fiber net that supplies just the right amount of grease in an eco-friendly lubrication system that wastes no grease. Prevents contaminant particles The dual-layer scraper in contact with the rod removes micro contaminant particles with near-perfect performance. It scrapes away tiny par ticles adhering to the rod in a multi-step operation that prevent trouble from contaminants that might otherwise penetrate to internal parts. Synthetic foam rubber with a selflubricating function ensures low-friction resistance. The dual-layer scraper prevents micro-contaminants adhering to the rod from penetrating to the inside. This is also effective in suppressing looseness or vibration in the rod. Robot Positioner Robot driver P.39 P. TS-S is a positioner type controller that only performs point trace. No program is needed. Operation is simple. fter setting point data, specify the point number and enter a STRT signal a from host controller. Positioning or pushing operation then begins. TS-S TS-SD is dedicated pulse train control allows eliminating operation via robot language. Supports open collector and line driver methods selectable by parameter setting and signal wiring connection and easily matches specs of the host device you want to use. TS-SD 7

5 PPICTION single-axis Single-axis NEW CONCEPT IN STEPPING MOTOR SINGE-XIS ROBOTS SERIES single-axis CONTENTS SPECIFICTION SHEET Robot ordering method description Robot ordering method terminology 1 Rod type: Bracket plates 1 Rod type: Grease gun nozzle tube for space-saving models 1 Rod type: Running life distance to life time conversion example 1 SS4 2 SS 4 SSH SR3 8 SRD3 72 SR4 74 SRD4 7 SR 78 SRD 8 Main functions P.4 9

6 PPICTION single-axis Single-axis single-axis SPECIFICTION SHEET SS type Slider type Type Slider type Model SS4 SS SSH SR type Type Rod type Model SR3 SRD3 SR4 SRD4 SR SRD ead (mm) Robot ordering method description In the order format for the YMH single-axis series, the notation (letters/numbers) for the mechanical section is shown linked to the controller section notation. [Example] Mechanical SS ead mm Model Straight Brake Yes Origin position Standard Stroke (mm) and maximum speed (mm/sec) Detailed info page Horizontal Vertical ead (mm) Rod type Stroke (mm) and maximum speed (mm/sec) Detailed info page Horizontal Vertical Grease Stroke Cable length Standard mm 1m TS-S Input /Output selection NPN P.2 P.4 P. P.8 P.72 P.74 P.7 P.78 P.8 Ordering Method SS SB NN 1 SNP Mechanical section section To find detailed controller information see the controller page. TS-S P.39, TS-SD P. SS type (Slider type) Model ead Model Brake Origin position Grease option Stroke Cable length SS4 SS SSH 2 2mm mm 12 12mm 2 2mm SR type (Rod type) S R Straight model Space-saving model (motor installed on right) Space-saving model (motor installed on left) N With no brake B With brake N Standard Z No- N Standard grease C Clean room grease 1 1m 3 3m m m Model ead Model Brake Origin position Bracket plate Stroke Cable length SR3 SRD3 SR4 SRD4 SR SRD 2 2mm mm 12 12mm S R U Straight model Space-saving model (motor installed on right) Space-saving model (motor installed on left) Space-saving model (motor installed on top) N With no brake B With brake N Standard Z No- N No plate H With plate V With flange 1 1m 3 3m m m

7 Robot ordering method terminology Model ead Model Brake Enter the robot unit model. Select the ball screw lead. Show the robot type by the motor installation position. S: Straight model R: Space-saving model (motor installed on right) : Space-saving model (motor installed on left) U: Space-saving model (motor installed on top) Select Brake or No-brake. Horizontal specs: No-brake Vertical specs: With Brake PPICTION single-axis Single-axis Origin position Grease option Bracket plate Stroke Cable length Rod type: Bracket plates Origin point position can be changed. Clean grease can be selected. (SS type) Bracket plate can be selected. (SR type) N: No plate H: With plate V: With flange Select the stroke for the robot operating range. Select the robot cable length for connecting the robot to the controller. 1: 1m (standard) 3: 3m : m : m single-axis SR3/SRD3 bracket plates SR4/SRD4 bracket plates SR/SRD bracket plates Feet (horizontal mount) Type Feet (2 plates per set) Flange (1 piece) Flange (vertical mount) Model No. KCU-M223F- KCU-M224F- Feet (horizontal mount) Flange (vertical mount) Type Model No. Feet (2 plates per set)* KCV-M223F- Flange (1 piece) KCV-M224F- * Comes with 12 mounting nuts for feet. Rod type: Grease gun nozzle tube for space-saving models When greasing the ball screw in the SR3-UB or SRD3-UB (motor installed on top / with brake), use a grease gun with a bent nozzle tube as shown below. Grease gun nozzle tube (YMH recommended nozzle tube) (12) (29) Feet (horizontal mount) Flange (vertical mount) Type Model No. Feet (2 plates per set)* KCW-M223F- Flange (1 piece) KCW-M224F- * Comes with 8 mounting nuts for feet. SR3-UB and SRD3-UB ( ) (PT1/8) Model KCU-M381- Note. This nozzle tube can be attached to a commercially available ordinary grease gun. This nozzle tube is even usable when there is little space around the grease port. For example, when the SR4 or SR space-saving model is used with the motor facing up, the grease port is positioned on the side of the robot body. This may make it difficult to refill grease depending on the positions of other or peripheral units. Rod type: Running life distance to life time conversion example This is an example of life time converted from the running life distance listed on each model page for the SR type. Model SR4-2SB, Vertical mount, kg payload ife distance km ife time : pprox. 3 years Operating conditions mm back-and-forth movement, shuttle time 1 seconds (duty: 2%) Word conditions 1 hours per day Work days 24 days per year Note. Make sure that the rod is not subjected to a radical load. 1

8 PPICTION single-axis Single-axis single-axis SS4 Slider type CE compliance Origin at non- SS4 Model ead Model Brake Origin position Grease option Stroke Cable length Note 1 12: 12mm S: Straight model N: With no brake N: Standard N: Standard grease to 4 1: 1m : mm R: Space-saving model B: With brake Z: Non- C: Clean room grease (mm pitch) 3: 3m 2: 2mm (motor installed on right) : m : Space-saving model (motor installed on left) : m Motor 42 Step motor Repeatability Note 1 (mm) +/-.2 Deceleration mechanism Ball screw ϕ8 (Class C) Maximum motor torque (N. m).27 Ball screw lead (mm) 12 2 Maximum speed (mm/sec) 3 Maximum Horizontal 2 4 payload (kg) Vertical Max. pressing force (N) 9 Stroke (mm) to 4 (mm pitch) Overall length Horizontal Stroke+21 (mm) Vertical Stroke+21 Maximum outside dimension of body cross-section (mm) W49 H9 Cable length (m) Standard: 1 / Option: 3,, Note 1. Positioning repeatability in one direction. SS4 Straight model 2. 8 Ordering method Note 1. The robot cable is flexible and resists bending. Note 2. See P.44 for DIN rail mounting bracket pprox. 2 (Cable length) 49 Cable securing position (Note 2) 9 B 11+/-2: When origin is on (11: When origin is on non-) 129+/-1 (Note 1) /-1 (with brake) (Note 1) 2+/-2 (with brake): When origin is on (2 with brake: When origin is on non-) C 8 32 Horizontal installation (Unit: mm) Wall installation (Unit: mm) Vertical installation (Unit: mm) B C B C C 1kg kg kg 47 2kg kg kg kg kg kg kg kg kg 7 7 4kg kg kg kg kg kg 3 3 kg 83 4 kg Note. Distance from center of slider upper surface to carrier center-of-gravity at a guide service life of, km (Service life is calculated for 4mm stroke models). ead ead 2 ead ead 2 2-ϕ3H7 Depth 4-M4 x.7 Depth 8 33 (between knocks +/-.2) C + (with brake) B ead ead 2 Effective stroke C S Note 2 MR MY Operation method TS-S I/O point trace / Remote command TS-SD Pulse train control (: When origin is on ) +/-2: When origin is on non- 23+/-1 (Note 1) 1 (Slider top face) I/O S: TS-S NP: NPN PN: PNP CC: CC-ink DN: DeviceNet SD 1 SD: TS-SD I/O cable 1: 1m Basic specifications llowable overhang Note Static loading moment Motor installation (Space-saving model) R type Motor installed on right type Motor installed on left SS4-S SS4-R MP (Unit: N. m) MY MP MR (with brake) 137. x B-M x.8 Depth8 R 12. ϕ4h7 ( +.12 ) Depth C 27. (with brake) Depth Effective stroke Note 1. Stop positions are determined by the mechanical stoppers at both ends Note 2. Secure the cable with a tie-band mm or less from unit s end face to prevent the cable from being subjected to excessive loads Note 3. The cable s minimum bend radius is R3. B Note 4. These are the weights without a brake. The weights are.2kg heavier when equipped with a brake. C Weight (kg) Note TS-S u 39 TS-SD u

9 SS4 PPICTION single-axis Single-axis single-axis (8) SS4 Space-saving model (24) (4) () (88.) SS4- Specifications (31) 1 1 Motor (82 +/-2: When origin is on ) (82: When origin is on non-) (Note 2) Cable securing position pprox. 2 (Cable length) 88. +/-1 (Note 1) 128. (with brake) (Tolerance between knocks +/-.2) 4-M4.7 Depth 8 2-ϕ3H7 Depth Effective stroke /-1 (Note 1) (: When origin is on ) +/-2: When origin is on non- 1 (Slider top face) B-M.8 Depth 12 R ϕ4h Depth 38 C Depth Effective stroke Note 1. Stop positions are determined by the mechanical stoppers at both ends Note 2. Secure the cable with a tie-band 8mm or less from unit s end face to prevent the cable from being subjected to excessive loads Note 3. The cable s minimum bend radius is R3. B Note 4. These are the weights without a brake. The weights are.2kg heavier when equipped with a brake. Note. The belt cover s left and right sides are asymmetrical. Therefore, if the motor mounting orientation is changed, the C cover cannot be attached. Weight (kg) Note TS-S u 39 TS-SD u 3

10 PPICTION single-axis Single-axis single-axis SS Slider type High lead: ead 2 CE compliance Origin at non- SS Model ead Model Brake Note 1 Origin position Grease option Stroke Cable length Note 2 2: 2mm S: Straight model N: With no brake N: Standard N: Standard grease to 8 1: 1m 12: 12mm R: Space-saving model B: With brake Z: Non- C: Clean room grease (mm pitch) 3: 3m : mm (motor installed on right) : m : Space-saving model (motor installed on left) : m Motor 42 Step motor Repeatability Note 1 (mm) +/-.2 Deceleration mechanism Ball screw ϕ12 (Class C) Maximum motor torque (N. m).27 Ball screw lead (mm) 2 12 Maximum speed Note 2 (mm/sec) 3 Maximum Horizontal 4 payload (kg) Vertical 1 2 Max. pressing force (N) 27 9 Stroke (mm) to 8 (mm pitch) Overall length Horizontal Stroke+23 (mm) Vertical Stroke+27 Maximum outside dimension of body cross-section (mm) W H Cable length (m) Standard: 1 / Option: 3,, Note 1. Positioning repeatability in one direction. Note 2. When the stroke is longer than mm, resonance of the ball screw may occur depending on the operation conditions (critical speed). In this case, reduce the speed setting on the program by referring to the maximum speeds shown in the table below. SS Straight model 2. 8 Ordering method Note 1. Brake-equipped models can be selected only when the lead is 12mm or mm. Note 2. The robot cable is flexible and resists bending. Note 3. See P.44 for DIN rail mounting bracket pprox. 2 (Cable length) Cable securing position (Note 2) 24 B 178+/-2: When origin is on (178: When origin is on non-) 14+/-1 (Note 1) 18+/-1 (with brake) (Note 1) 218+/-2 (with brake): When origin is on (218 with brake: When origin is on non-) 141. (with brake) 1. C Horizontal installation (Unit: mm) Wall installation (Unit: mm) Vertical installation (Unit: mm) B C B C C ead 2 ead 2kg kg kg kg kg kg kg kg kg kg kg kg 1 1 4kg kg kg kg kg kg ead 2 ead Note. Distance from center of slider upper surface to carrier center-of-gravity at a guide service life of, km (Service life is calculated for mm stroke models) C Effective stroke 2-ϕ4H7 Depth 4-M4 x.7 Depth8 42 (between knocks +/-.2) +4 (with brake) B x B-M x 1 Depth8 ead C S Note 3 MR MY Operation method TS-S I/O point trace / Remote command TS-SD Pulse train control (2: When origin is on ) 2+/-2: When origin is on non- 14+/-1 (Note 1) 7 (Slider top face) 1 I/O S: TS-S NP: NPN PN: PNP CC: CC-ink DN: DeviceNet SD 1 SD: TS-SD I/O cable 1: 1m Basic specifications llowable overhang Note Static loading moment Motor installation (Space-saving model) R type Motor installed on right type Motor installed on left SS-S SS-R MP (Unit: N. m) MY MP MR 33 3 R +.12 ϕ4h7 ( ) Depth 12. C 1. (with brake) Depth Effective stroke B C Weight (kg) Note Maximum speed for each stroke Note (mm/sec) ead ead ead Speed setting 93% 83% 73% 3% Note 1. Stop positions are determined by the mechanical stoppers at both ends. Note 2. Secure the cable with a tie-band mm or less from unit s end face to prevent the cable from being subjected to excessive loads. Note 3. The cable s minimum bend radius is R3. Note 4. These are the weights without a brake. The weights are.2kg heavier when equipped with a brake. Note. When the stroke is longer than mm, resonance of the ball screw may occur depending on the operation conditions (critical speed). In this case, reduce the speed setting on the program by referring to the maximum speeds shown in the table at the left. 4 TS-S u 39 TS-SD u

11 SS PPICTION single-axis Single-axis single-axis (113) (4) (24) SS Space-saving model () (31) (88.) SS- Specifications Motor 94. +/-2: When origin is on (94.: When origin is on non-) (Note 2) Cable securing position pprox. 2 (Cable length) 128. (with brake) /-1 (Note 1) (Tolerance between knocks +/-.2) 4-M4.7 Depth 8 2-ϕ4H7 Depth Effective stroke 8 B-M 1. Depth /-1 (Note 1) (2: When origin is on ) 2 +/-2: When origin is on non- 7 (Slider top face) R ϕ4h Depth 42 C Effective stroke B C Weight (kg) Note Maximum speed for each stroke Note (mm/sec) ead ead ead Speed setting 93% 83% 73% 3% Depth Note 1. Stop positions are determined by the mechanical stoppers at both ends. Note 2. Secure the cable with a tie-band 8mm or less from unit s end face to prevent the cable from being subjected to excessive loads. Note 3. The cable s minimum bend radius is R3. Note 4. These are the weights without a brake. The weights are.2kg heavier when equipped with a brake. Note. When the stroke is longer than mm, resonance of the ball screw may occur depending on the operation conditions (critical speed). In this case, reduce the speed setting on the program by referring to the maximum speeds shown in the table at the left. Note. The belt cover s left and right sides are asymmetrical. Therefore, if the motor mounting orientation is changed, the cover cannot be attached. TS-S u 39 TS-SD u

12 PPICTION single-axis Single-axis single-axis SSH Slider type High lead: ead 2 CE compliance Origin at non- SSH Model ead Model Brake Note 1 Origin position Grease option Stroke Cable length Note 2 2: 2mm S: Straight model N: With no brake N: Standard N: Standard grease to 8 1: 1m 12: 12mm R: Space-saving model B: With brake Z: Non- C: Clean room grease (mm pitch) 3: 3m : mm (motor installed on right) : m : Space-saving model (motor installed on left) : m Motor 42 Step motor Repeatability Note 1 (mm) +/-.2 Deceleration mechanism Ball screw ϕ12 (Class C) Maximum motor torque (N. m).47 Ball screw lead (mm) 2 12 Maximum speed Note 2 Horizontal 3 (mm/sec) Vertical Maximum Horizontal 8 12 payload (kg) Vertical 2 4 Max. pressing force (N) 3 12 Stroke (mm) to 8 (pitch) Overall length Horizontal Stroke+28 (mm) Vertical Stroke+3 Maximum outside dimension of body cross-section (mm) W H Cable length (m) Standard: 1 / Option: 3,, Note 1. Positioning repeatability in one direction. Note 2. When the stroke is longer than mm, resonance of the ball screw may occur depending on the operation conditions (critical speed). In this case, reduce the speed setting on the program by referring to the maximum speeds shown in the table below. SSH Straight model 2. 8 Ordering method Note 1. Brake-equipped models can be selected only when the lead is 12mm or mm. Note 2. The robot cable is flexible and resists bending. Note 3. See P.44 for DIN rail mounting bracket. Motor installation (Space-saving model) R type Motor installed on right pprox. 2 (Cable length) 223.+/-2: When origin is on (223.: When origin is on non-) Cable securing position (Note 2) 17.+/-1 (Note 1) B 19.+/-1 (with brake) (Note 1) 243.+/-2 (with brake): When origin is on (243. with brake: When origin is on non-) 11. (with brake) 141. C Horizontal installation (Unit: mm) Wall installation (Unit: mm) Vertical installation (Unit: mm) B C B C C 2kg kg kg 8 9 4kg kg kg kg kg kg kg kg kg kg kg 8 3 8kg kg 3 kg kg kg 1 8kg kg kg kg kg ead 2 ead type Motor installed on left ead 2 ead 9 3 C Effective stroke 2-ϕ4H7 Depth 4-M x.8 Depth 43 (between knocks +/-.2) +2 (with brake) B x B-M x 1 Depth8 ead SSH-S Note. Distance from center of slider upper surface to carrier center-of-gravity at a guide service life of, km (Service life is calculated for mm stroke models). C S Note 3 MR MY Operation method TS-S I/O point trace / Remote command TS-SD Pulse train control (2.: When origin is on ) 2.+/-2: When origin is on non- 14.+/-1 (Note 1) (Slider top face) 1 I/O S: TS-S NP: NPN PN: PNP CC: CC-ink DN: DeviceNet SD 1 SD: TS-SD SSH-R I/O cable 1: 1m Basic specifications llowable overhang Note Static loading moment MP (Unit: N. m) MY MP MR R ϕ4h7 ( +.12 ) Depth 1. C 18. (with brake) Depth Maximum speed for each stroke Note (mm/sec) Effective stroke B C Weight (kg) Note ead ead12 (Horizontal) ead12 (Vertical) ead (Horizontal) ead (Vertical) Speed setting 93% 83% 73% 3% Note 1. Stop positions are determined by the mechanical stoppers at both ends. Note 2. Secure the cable with a tie-band mm or less from unit s end face to prevent the cable from being subjected to excessive loads. Note 3. The cable s minimum bend radius is R3. Note 4. These are the weights without a brake. The weights are.2kg heavier when equipped with a brake. Note. When the stroke is longer than mm, resonance of the ball screw may occur depending on the operation conditions (critical speed). In this case, reduce the speed setting on the program by referring to the maximum speeds shown in the table at the left. TS-S u 39 TS-SD u

13 SSH PPICTION single-axis Single-axis single-axis (113) SSH Space-saving model (4) (24) () (88.) SSH- Specifications (31) Motor (with brake) (Tolerance between knocks +/-.2) 2 +/ M.8 Depth (Note 1) 14. +/-1 (Note 1) +/-2: When origin is on 2-ϕ4 H7 Depth (2.: When origin is on ) (: When origin is on non-) Effective stroke 2. +/-2: When origin is on non (Note 2) Cable securing position pprox. 2 (Cable length) 8 B-M 1. Depth 12 R (Slider top face) ϕ4 H Depth 42 C Depth Maximum speed for each stroke Note (mm/sec) Effective stroke B C Weight (kg) Note ead ead12 (Horizontal) ead12 (Vertical) ead (Horizontal) ead (Vertical) Speed setting 93% 83% 73% 3% Note 1. Stop positions are determined by the mechanical stoppers at both ends. Note 2. Secure the cable with a tie-band 8mm or less from unit s end face to prevent the cable from being subjected to excessive loads. Note 3. The cable s minimum bend radius is R3. Note 4. These are the weights without a brake. The weights are.2kg heavier when equipped with a brake. Note. When the stroke is longer than mm, resonance of the ball screw may occur depending on the operation conditions (critical speed). In this case, reduce the speed setting on the program by referring to the maximum speeds shown in the table at the left. Note. The belt cover s left and right sides are asymmetrical. Therefore, if the motor mounting orientation is changed, the cover cannot be attached. TS-S u 39 TS-SD u 7

14 PPICTION single-axis Single-axis single-axis SR3 Rod type CE compliance Origin at non- Ordering method SR3 SR3-S Model ead Model Brake Origin position Bracket plate Stroke Cable length Note 1 12: 12mm S: Straight model N: With no brake N: Standard N: No plate to 2 1: 1m : mm R: Space-saving model Note 2 B: With brake Z: Non- H: With plate (mm pitch) 3: 3m (motor installed on right) V: With flange : m : Space-saving model Note 2 : m (motor installed on left) U: Space-saving model Note 2 (motor installed on top) Note 1. The robot cable is flexible and resists bending. Note 2. See P.1 for grease gun nozzles. Note 3. See P.44 for DIN rail mounting bracket. Basic specifications Speed vs. payload graph Motor 42 Step motor Repeatability (mm) +/-.2 Deceleration mechanism Ball screw ϕ8 (Class C) Ball screw lead (mm) 12 Maximum speed Note 1 (mm/sec) Maximum Horizontal 2 payload (kg) Vertical 4 8 Max. pressing force (N) 7 Stroke (mm) to 2 (pitch) ost motion.1mm or less Rotating backlash ( ) +/-1. Overall length Horizontal Stroke+23. (mm) Vertical Stroke+27. Maximum outside dimension of body cross-section (mm) W H. Cable length (m) Standard: 1 / Option: 3,, Note 1. Maximum speed varies with the payload. Refer to the Speed vs. payload graphs on the right. SR3 Straight model (21). 13 M8 1. pprox. (Cable length) 27 Horizontal Motor installation (Space-saving model) R type Motor installed on right See Note. M4x.7 Depth Vertical 9 8 ead type Motor installed on left 2 8. ead +4 (with brake) U type Motor installed on top Ball screw greasing port (φ.) 1 Running life () S Note 3 SR3-R I/O S: TS-S NP: NPN PN: PNP CC: CC-ink DN: DeviceNet SD 1 SD: TS-SD 7. (Width across flat part) M8 1. φ1 (7) 37.±2 Effective stroke () (.) (Width across flat) non- P.C.D.29 I/O cable 1: 1m km on models other than shown below. Running life of only the model shown below becomes shorter than km depending on the payload, so check the running life curve. Running life (km) Vertical Note. See P.1 for running life distance to life time conversion example. Operation method TS-S I/O point trace / Remote command Operation method TS-SD Pulse train control 3 4-M3. Depth (9 -equal division) 11 (Width across flat) () Dimensions of attached nut View * Contents of option: Plate, 2 pcs. 2 () (21) K-M3. Depth 4 4 Hex. socket head cap bolt (M3.), ength under head * Two bolts are required for one plate. 2-φ. (41) * See the bottom installation tap position. H Hex. socket head cap bolt (M3.), ength under head 14 (37.) 24 4-φ4. 41 Option: Vertical installation plate (flange) (21) Effective stroke H K 8 12 Weight (kg) Note Use the external guide together so that any radial load is not applied to the rod. Note2. The orientation of the width across flat part is undefined to the base surface. Note3. Use the support guide together to maintain the straightness. Note4. When running the cables, secure cables so that any load is not applied to them. Note. Remove the M4 hex. socket head cap set bolts and use them to secure the cables. (Effective screw thread depth ) Note. The cable s minimum bend radius is R3. Note7. Models with a brake will be.2kg heavier. Note8. Distance to mechanical stopper. 8 TS-S u 39 TS-SD u

15 SR3 Space-saving model (motor installed on right) 128 (with brake) 88 Ball screw greasing port (ф.) M SR3 PPICTION single-axis () SR3 Space-saving model (motor installed on left) () (4) View (4) 94 (24) (31) * Contents of option: Plate, 2 pcs. 2-ф. (24) 94 (31) 42 * Contents of option: Plate, 2 pcs. 2-ф. (21) Hex. socket head cap bolt (M3.), ength under head * Two bolts are required for one plate. 2 (21) Hex. socket head cap bolt (M3.), ength under head * Two bolts are required for one plate. 2 4 (41) * See the bottom installation tap position. 4 (41) * See the bottom installation tap position. pprox. 2 (Cable length) pprox. 2 (Cable length) See Note. See Note. (37.) 1 H (21) 8. Option: Vertical installation plate (flange) Hex. socket head cap bolt (M3.), ength under head 14 (37.) (21) 24 4-ф (with brake) H 1 Option: Vertical installation plate (flange) Hex. socket head cap bolt (M3.), ength under head 14 4-ф4. (7(Note 8)) ((Note 8)) 37.+/-2 Effective stroke Ball screw greasing port (ф.) 24 (7(Note 8)) ((Note 8)) 37.+/-2 Effective stroke M8 1. M8 1. ф1 M non (Width across flat part) () M3. Depth (9 -equal division) ф1 non- (.) 11(Width across flat) (Width across flat part) 4-M3. Depth () 27. (9 -equal division) 41 11(Width across flat) () Dimensions of attached nut P.C.D (Width across flat) (.) 11 (Width across flat) K-M3. Depth 4 Effective stroke H K 8 12 Weight (kg) Note Use the external guide together so that any radial load is not applied to the rod. Note2. The orientation of the width across flat part is undefined to the base surface. Note3. Use the support guide together to maintain the straightness. Note4. When running the cables, secure cables so that any load is not applied to them. Note. Remove the M4 hex. socket head cap set bolts and use them to secure the cables. (Effective screw thread depth ) Note. The cable s minimum bend radius is R3. Note7. Models with a brake will be.2kg heavier. Note8. Distance to mechanical stopper. 2 P.C.D.29 () 3 Dimensions of attached nut Effective stroke K-M3. Depth H K 8 12 Weight (kg) Note Use the external guide together so that any radial load is not applied to the rod. Note2. The orientation of the width across flat part is undefined to the base surface. Note3. Use the support guide together to maintain the straightness. Note4. When running the cables, secure cables so that any load is not applied to them. Note. Remove the M4 hex. socket head cap set bolts and use them to secure the cables. (Effective screw thread depth ) Note. The cable s minimum bend radius is R3. Note7. Models with a brake will be.2kg heavier. Note8. Distance to mechanical stopper. Single-axis single-axis TS-S u 39 TS-SD u 9

16 PPICTION SR3 single-axis Single-axis single-axis SR3 Space-saving model (motor installed on top) 27 View () (4) pprox. 2 (Cable length) (with brake) 88 Ball screw greasing port (ф.) 37.+/-2 Effective stroke (7(Note 8)) ((Note 8)) non- M8 1. () 13 Dimensions of attached nut (31) (24) * Contents of option: Plate, 2 pcs. () 27. K-M3. Depth 4 M8 1. ф (Width across flat part) M3. Depth (9 -equal division) 11(Width across flat) P.C.D (Width across flat) (.) 38. (21) Hex. socket head cap bolt (M3.), ength under head * Two bolts are required for one plate ф. (41) * See the bottom installation tap position. (37.) (21) 24 Option: Vertical installation plate (flange) Hex. socket head cap bolt (M3.), ength under head 14 4-ф4. H 1 41 Effective stroke H K 8 12 Weight (kg) Note Use the external guide together so that any radial load is not applied to the rod. Note2. The orientation of the width across flat part is undefined to the base surface. Note3. Use the support guide together to maintain the straightness. Note4. When running the cables, secure cables so that any load is not applied to them. Note. Remove the M4 hex. socket head cap set bolts and use them to secure the cables. (Effective screw thread depth ) Note. The cable s minimum bend radius is R3. Note7. Models with a brake will be.2kg heavier. Note8. Distance to mechanical stopper. 7 TS-S u 39 TS-SD u

17 PPICTION single-axis Single-axis single-axis 71

18 PPICTION single-axis Single-axis single-axis SRD3 Rod CE compliance Origin at non-: ead, 12 Ordering method SRD3 type (With support guide) SRD3-S Model ead Model Brake Origin position Bracket plate Stroke Cable length Note 1 12: 12mm S: Straight model N: With no brake N: Standard N: No plate to 2 1: 1m : mm U: Space-saving model Note 2 (motor installed on top) B: With brake Z: Non- H: With plate (mm pitch) 3: 3m : m : m Note 1. The robot cable is flexible and resists bending. Note 2. See P.1 for grease gun nozzles. Note 3. See P.44 for DIN rail mounting bracket. Basic specifications Speed vs. payload graph Motor 42 Step motor Repeatability (mm) +/-.2 Deceleration mechanism Ball screw ϕ8 (Class C) Ball screw lead (mm) 12 Maximum speed Note 1 (mm/sec) Maximum Horizontal 2 payload (kg) Vertical Max. pressing force (N) 7 Stroke (mm) to 2 (pitch) ost motion.1mm or less Rotating backlash ( ) +/-. Overall length Horizontal Stroke+23. (mm) Vertical Stroke+27. Maximum outside dimension of body cross-section (mm) W H. Cable length (m) Standard: 1 / Option: 3,, Note 1. Maximum speed varies with the payload. Refer to the Speed vs. payload graphs on the right. SR3 SRD3 Straight model (21). pprox. (Cable length) See Note 3. Horizontal Vertical ead ead φ φ8 Ball screw greasing port (φ.) (with brake) 1 Effective stroke Running life S Note 3 I/O S: TS-S NP: NPN PN: PNP CC: CC-ink DN: DeviceNet SD 1 SD: TS-SD I/O cable 1: 1m SRD3-U km on models other than shown below. Running life of only the model shown below becomes shorter than km depending on the payload, so check the running life curve. Vertical Note. See P.1 for running life distance to life time conversion example. Running life (km) 37.±2 Effective stroke Operation method TS-S I/O point trace / Remote command (7) () (.) non Operation method TS-SD Pulse train control 8-M4.7 Depth (For user tool installation) 4-M4.7 (For main unit installation) K-M3. Depth 4 * Contents of option: Plate, 2 pcs. H 41 View 2 () 21 2-φ. Hex. socket head cap bolt (M3.), ength under head (41) * Two bolts are required for one plate. * See the bottom installation tap position. 4 Effective stroke H K 8 12 Weight (kg) Note Use the external guide together so that any radial load is not applied to the rod. Note2. When running the cables, secure cables so that any load is not applied to them. Note3. Remove the M4 hex. socket head cap set bolts and use them to secure the cables. (Effective screw thread depth ) Note4. The cable s minimum bend radius is R3. Note. Models with a brake will be.2kg heavier. Note. Distance to mechanical stopper. 72 TS-S u 39 TS-SD u

19 SRD3 PPICTION single-axis Single-axis single-axis SRD3 Space-saving model (motor installed on top) 27 View () (4) pprox. 2 (Cable length) 111. Ball screw greasing port (ф.) 128 (with brake) 88 ф8 ф Effective stroke /-2 Effective stroke (7(Note 8)) ((Note 8)) non-. 21 (31) (24) 3 3 (.) * Contents of option: Plate, 2 pcs. 4-M4.7 (For main unit installation) 8-M4x.7 Depth (For user tool installation) (21) Hex. socket head cap bolt (M3.), ength under head * Two bolts are required for one plate. K-M3. Depth 4 H ф. 2 4 (41) * See the bottom installation tap position. Effective stroke H K 8 12 Weight (kg) Note Use the external guide together so that any radial load is not applied to the rod. Note2. The orientation of the width across flat part is undefined to the base surface. Note3. Use the support guide together to maintain the straightness. Note4. When running the cables, secure cables so that any load is not applied to them. Note. Remove the M4 hex. socket head cap set bolts and use them to secure the cables. (Effective screw thread depth ) Note. The cable s minimum bend radius is R3. Note7. Models with a brake will be.2kg heavier. Note8. Distance to mechanical stopper. TS-S u 39 TS-SD u 73

20 PPICTION single-axis Single-axis single-axis SR4 Rod type CE compliance Origin at non-: ead, 12 Ordering method SR4 SR4-S Model ead Model Brake Origin position Note 1 Bracket plate Stroke Cable length Note 2 12: 12mm S: Straight model N: With no brake N: Standard N: No plate to 3 1: 1m : mm R: Space-saving model Note 3 B: With brake Z: Non- H: With plate (mm pitch) 3: 3m 2: 2mm (motor installed on right) V: With flange : m : Space-saving model Note 3 (motor installed on left) : m Note 1. When 2mm lead is selected, the origin position cannot be changed (to non-). Note 2. The robot cable is flexible and resists bending. Note 3. See P.1 for grease gun nozzles. Note 4. See P.44 for DIN rail mounting bracket. Basic specifications Speed vs. payload graph Motor 42 Step motor Repeatability (mm) +/-.2 Deceleration mechanism Ball screw ϕ8 Ball screw ϕ (Class C) (Class C) Ball screw lead (mm) 12 2 Maximum speed Note 1 (mm/sec) 8 Maximum Horizontal 4 payload (kg) Vertical 12 Max. pressing force (N) 3 Stroke (mm) to 3 (pitch) ost motion.1mm or less Rotating backlash ( ) +/-1. Overall length Horizontal Stroke+23 (mm) Vertical Stroke+33 Maximum outside dimension of body cross-section (mm) W H8 Cable length (m) Standard: 1 / Option: 3,, Note 1. Maximum speed varies with the payload. Maximum speed also decreases due to ball screw critical speed when the stroke is long. For more details, refer to the Speed payload graphs on the right or the maximum speed shown in the lower right table. SR4 Straight model (22.) 8 pprox. (Cable length) * Contents of option: Plate, 2 pcs., Nut, 12 pcs. See Note. Horizontal Motor installation (Space-saving model) R type Motor installed on right type Motor installed on left Vertical ead 2 ead 2 ead ead 7. Ball screw greasing port (φ.) 1(T-slot range) +4 (with brake) Option: Vertical installation plate (flange) Hex. socket head cap bolt (M4.7), ength under head 14 Running life () (Width across flat part) M 1. φ2 (7) 42.±2 Effective stroke 2.4. M3. Dimensions of attached square nut for T-slot ( pcs.) S Note 4 I/O S: TS-S NP: NPN PN: PNP CC: CC-ink DN: DeviceNet SD 1 SD: TS-SD View 28. I/O cable 1: 1m 14 (Width across flat) 4-M4.7 Depth () (9 -equal division) T-slot for M3 (8 locations) non- (7.8) Details of T-slot SR4-R km on models other than shown below. Running life of only the model shown below becomes shorter than km depending on the payload, so check the running life curve. Running life (km) Vertical ead 2 Vertical Note. See P.1 for running life distance to life time conversion example. Operation method TS-S I/O point trace / Remote command Running life (km) Operation method TS-SD Pulse train control 14 (Width across flat) 17 M 1. (19.) Dimensions of attached nut P.C.D.3 7 () 2-φ. (22.) 2 71 Installed within the T-slot range of the main unit. Hex. socket head cap bolt (M3.), ength under head *Six bolts are required for one plate. (42.) 4-φ. 73 (22.) Effective stroke Weight (kg) Note Maximum speed for each stroke Note 4 ead 22 1 (mm/sec) ead Use the external guide together so that any radial load is not applied to the rod. Note2. The orientation of the width across flat part is undefined to the base surface. Note3. Use the support guide together to maintain the straightness. Note4. For lead 2mm specifications, the origin on the non- cannot be set. Note. When running the cables, secure cables so that any load is not applied to them. Note. Remove the M4 hex. socket head cap set bolts and use them to secure the cables. (Effective screw thread depth ) Note7. The cable s minimum bend radius is R3. Note8. Models with a brake will be.2kg heavier. Note9. Distance to mechanical stopper. 74 TS-S u 39 TS-SD u

21 SR4 Space-saving model (motor installed on right) () SR4 Space-saving model (motor installed on left) () 28. (4) (4) (24) View (31). (24) (31) 44. * Contents of option: Plate, 2 pcs., Nut, 12 pcs. 2-ф. 2 (22.) pprox. 2 (Cable length) Installed within the T-slot range of the main unit. (Hex. socket head cap bolt (M3.), ength under head ) * Six bolts are required for one plate. () 7 71 pprox. 2 (Cable length) 1. See Note. (42.) (22.) See Note. 2 (with brake) (with brake) 42.+/-2 Effective stroke ((Note 8)) 1(T-slot range) M3x. (7.8) Option: Vertical installation plate (flange) Hex. socket head cap bolt (M4.7), ength under head ф. Ball screw greasing port (ф.) 2.4 Dimensions of attached square nut for T-slot ( pcs.) (7(Note 8)) 9 22 () /-2 1(T-slot range) Ball screw greasing (7(Note 8)) port (ф.) Mx1. Effective stroke (19.) M 1. ф2 8. (Width across 14 flat part) (Width across flat) 17 M 1. ((Note 8)) Dimensions of attached nut non- (Note 9) 14(Width across flat) non- (Note 9) Detail of section B Dimensions of attached nut T-slot for M3 (8 locations) B Mx1. P.C.D.3 4-M4x.7 Depth (9 -equal division) (19.) Detail of section B B SR4. Effective stroke Weight (kg) Note Maximum speed for each stroke Note 9 ead 22 1 (mm/sec) ead Use the external guide together so that any radial load is not applied to the rod. Note2. The orientation of the width across flat part is undefined to the base surface. Note3. Use the support guide together to maintain the straightness. Note4. When running the cables, secure cables so that any load is not applied to them. Note. Remove the M4 hex. socket head cap set bolts and use them to secure the cables. (Effective screw thread depth ) Note. The cable s minimum bend radius is R3. Note7. Models with a brake will be.2kg heavier. Note8. Distance to mechanical stopper. Note9. For lead 2mm specifications, the origin on the non- cannot be set. Note. This unit can be installed with the motor facing up (turned 9 degrees from the position in this drawing). 17 T-slot for M3 (8 locations) 14 (Width across flat) P.C.D.3 1. PPICTION single-axis Single-axis single-axis. 2-ф * Contents of option: Plate, 2 pcs., Nut, 12 pcs. (22.) Installed within the T-slot range of the main unit. (Hex. socket head cap bolt (M3.), ength under head ) * Six bolts are required for one plate. () 7 71 (42.) 4-ф.. 73 M3x. (7.8) 2.4 Dimensions of attached square nut for T-slot ( pcs.) Option: Vertical installation plate (flange) Hex. socket head cap bolt (M4.7), ength under head 14 (22.) 9 22 () 32. ф2 8. (Width across flat part) M4x.7 Depth (9 -equal division) (Width across flat) Effective stroke Weight (kg) Note Maximum speed for each stroke ead 22 1 (mm/sec) Note 9 ead Use the external guide together so that any radial load is not applied to the rod. Note2. The orientation of the width across flat part is undefined to the base surface. Note3. Use the support guide together to maintain the straightness. Note4. When running the cables, secure cables so that any load is not applied to them. Note. Remove the M4 hex. socket head cap set bolts and use them to secure the cables. (Effective screw thread depth ) Note. The cable s minimum bend radius is R3. Note7. Models with a brake will be.2kg heavier. Note8. Distance to mechanical stopper. Note9. For lead 2mm specifications, the origin on the non- cannot be set. Note. This unit can be installed with the motor facing up (turned 9 degrees from the position in this drawing). TS-S u 39 TS-SD u 7

22 PPICTION single-axis Single-axis single-axis SRD4 Rod CE compliance Ordering method SRD4 SRD4 Straight model pprox. (Cable length) type (With support guide) See Note 3. φ19 φ Ball screw greasing port (φ.) 7. Effective stroke SRD4-S Model ead Model Brake Origin position Note 1 Bracket plate Stroke Cable length Note 2 12: 12mm S: Straight model N: With no brake N: Standard N: No plate to 3 1: 1m : mm U: Space-saving model Note 3 B: With brake Z: Non- H: With plate (mm pitch) 3: 3m 2: 2mm (motor installed on top) : m : m Motor 42 Step motor Repeatability (mm) +/-.2 Deceleration mechanism Ball screw ϕ8 (Class C) Ball screw ϕ (Class C) Ball screw lead (mm) 12 2 Maximum speed Note 1 (mm/sec) 8 Maximum Horizontal 4 payload (kg) Vertical Max. pressing force (N) 3 Stroke (mm) to 3 (pitch) ost motion.1mm or less Rotating backlash ( ) +/-. Overall length Horizontal Stroke+23 (mm) Vertical Stroke+33 Maximum outside dimension of body cross-section (mm) W H8 Cable length (m) Standard: 1 / Option: 3,, Note 1. Maximum speed varies with the payload. Maximum speed also decreases due to ball screw critical speed when the stroke is long. For more details, refer to the Speed payload graphs on the right or the maximum speed shown in the lower right table. Origin at non-: ead, 12 Note 1. When 2mm lead is selected, the origin position cannot be changed (to non-). Note 2. The robot cable is flexible and resists bending. Note 3. See P.1 for grease gun nozzles. Note 4. See P.44 for DIN rail mounting bracket. Basic specifications Speed vs. payload graph Horizontal Vertical 3 2 ead 2 ead 2 ead ead Running life 8-M.8 Depth 12 (For user tool installation) SRD4-U km on models other than shown below. Running life of only the model shown below becomes shorter than km depending on the payload, so check the running life curve. Vertical ead 2 Vertical M.8 (For main unit installation) 8 Running life (km) S Note 4 Note. See P.1 for running life distance to life time conversion example. Operation method TS-S I/O point trace / Remote command Running life (km) I/O S: TS-S NP: NPN PN: PNP CC: CC-ink DN: DeviceNet SD 1 SD: TS-SD I/O cable 1: 1m Operation method TS-SD Pulse train control (22.) * Contents of option: Plate, 2 pcs., Nut, 12 pcs. 7 () 2-φ. 2 (22.) (with brake) 1(T-slot range) Installed within the T-slot range of the main unit. Hex. socket head cap bolt (M3.), ength under head * Six bolts are required for one plate (7) 42.±2 (7.8) M3. Dimensions of attached square nut for T-slot ( pcs.) Effective stroke () non Details of T-slot T-slot for M3 (4 locations) 13 View Effective stroke Weight (kg) Note Maximum speed for each stroke Note 2 ead 22 1 (mm/sec) ead Use the external guide together so that any radial load is not applied to the rod. Note2. For lead 2mm specifications, the origin on the non- cannot be set. Note3. When running the cables, secure cables so that any load is not applied to them. Note4. Remove the M4 hex. socket head cap set bolts and use them to secure the cables. (Effective screw thread depth ) Note. The cable s minimum bend radius is R3. Note. Models with a brake will be.2kg heavier. Note7. Distance to mechanical stopper TS-S u 39 TS-SD u