The TRANSERVO by YAMAHA! Stepping motor single-axis robots that break all the old rules!

Transcription

1 New Product information YMH Single-xis Robots Stepping Servo SS / SS / SS5 / SS5 / SS5H / SS5H The TRNSERVO by YMH! Stepping motor single-axis robots that break all the old rules!

2 The TRNSERVO Don t you know about it yet? Thanks for taking the time to check out our catalog! You are probably using single-axis robots for all kinds of applications with functions like positioning and push aren t you? Well, the TRNSERVO is a new type of compact single-axis robot that combines the best features of stepping motors and servomotors. In recent years, automated machinery is being subjected to ever tougher demands in terms of specifications, costs, and deadlines of delivery, which call for nearly superhuman efforts from designers. Well the TRNSERVO will prove the answer to all those design problems. New control method combines the best features of servo and stepping motors! Stepping motors have great features such as a low cost and no tiny vibrations while stopped. Yet they also have drawbacks such as a drastic drop in torque at high speeds and heavy current consumption while stopped. The TRNSERVO by YMH eliminates all these problems by adopting an innovative vector control method. In effect, the TRNSERVO delivers the same functions and low cost of a servomotor while using a stepping motor. High-speed operation slashes production time! TRNSERVO moves even a heavy workpiece quickly because the payload is constant up to its maximum speed. On ordinary equipment, with conventional control the upper model has to be selected to match the high-speed range, but now one model can do it all! Ordinary type TRNSERVO Environmentally rugged resolver provides closed loop control Of course "no step-out". The resolver used here for detecting the motor position is the same well-known and reliable resolver as used in our high-level robots. It offers stable position detection even in harsh environments containing dust or oil, etc. Moreover, it boasts a high resolving power of pulses per rotation. Payload Must use only small payloads during high speeds Speed (mm/s) Payload Payload is always constant! Speed (mm/s) Resolver 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. Energy saver! Perfect stop! ontrol is basically the same as a servomotor so power consumption is kept to a minimum, which saves energy and helps cut down on O emissions. lso perfect stop can be achieved as the same as with ordinary stepping motors so choose this setting if needed. Quiet operation Just like a servo motor! Robots using ordinary stepping motors have a characteristic "shrill" or high-pitched noise during operation. TRNSERVO operation, however, is extremely quiet, just like a servo motor! Ideal -line circular-groove -point contact guide gives longen service life newly developed module guide is employed, and a -line circular-groove -point contact guide, which has been used for high-level models, was built into a body that is just as compact as the previous models. 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. Stepping motor Servo Motors Simple design & low cost No vibration while stopped high-pitched operating noise drop in torque at high-speed Movement is smooth onstant torque at all speed range ombines the best features of both types! Ordinary model Tiny vibrations while stopped ost is high -line gothic-arch-groove -point contact guide Large differential slip tends to occur when a large momentum load is applied or installation surface accuracy is poor. -line circular-arc-groove -point contact guide TRNSERVO Utilizes a circular-arc-groove -point contact guide. all differential slip (spin) is minimal.

3 TRNSERVO Series Lineup maximum stroke up to mm. High lead types are also available on the SS5/SS5H for unmatchable speed! Model Lead (mm) Payload (kg) Horizontal Vertical and maximum speed (mm/s) SS SS SS5 SS SS5H SS5H Example: SS5-S-NN--1L-SNP SS5 S S Standard model Lead Type rake Origin position Grease option Stroke able length ontroller I/O SS SS5 SS5H : mm : mm 1: 1mm : mm S: Straight : With brake N: With no brake N: Standard origin position Z: on-motor side N: Standard grease : lean room grease SS: to SS5: to SS5H: to (mm pitch) 1L: 1 meter 3L: 3 meters 5L: 5 meters (flexible cables) S: NP: NPN PN: PNP : -Link DN: DeviceNet SS5 S S lean room model SS SS5 SS5H Lead : mm : mm 1: 1mm : mm Type S: Straight rake : With brake N: With no brake ir coupler position RJ: Right LJ: Left Origin position N: Standard origin position Z: on-motor side Stroke SS: to SS5: to SS5H: to (mm pitch) able length 1L: 1 meter 3L: 3 meters 5L: 5 meters (flexible cables) ontroller S: I/O NP: NPN PN: PNP : -Link DN: DeviceNet TRNSERVO asic Specifications asic Specifications Model No. SS/SS SS5/SS5 SS5H/SS5H Model No. Motor step motor Number of controllable axes 1 Repeatability (mm) ±. ontrollable robots TRNSERVO position detector Resolver Dimensions W3 H1 Dmm Deceleration mechanism all screw φ all screw φ1 Weight pprox. g all screw lead (mm) Input power supply voltage DV±1% Maximum Horizontal 3 Power capacity 7V speed (mm/s) Vertical Resolution pulses/rev Maximum Horizontal 1 1 ontrol method losed loop, vector control method payload (Kg) Vertical Number of points 55 Max. pressing force (N) Number of error logs to to to Operating emperature / storage temperature to / -1 to 5 Degree of cleanliness LSS 1 (.1 micron base; only for clean room models) system configuration Power supply Main power supply: DV Host controller (PL) I/O cable (supplied with NPN and PNP units) Options Handy Terminal: HT1 Model: HT1(standard) K-M511-E HT1-D(enable switch) K-M511-1E TRNSERVO Emergency stop circuit Data cables Model: K-M53F- (D-SU) K-M53F- (US) Support software: TS-Manager Model: K-M9-

4 Dedicated Robot Positioner 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 such as a PL. Positioning or pushing operation then begins. Main operation patterns Normal operation Merge operation Output pattern S (absolute) operation Pushing operation Speed Moves to a specified coordinate position. Position Moves to the target position relative to the origin point and completes positioning. Pushes at a fixed thrust Moves while pushing at a preset push force. IN (incremental) operation Pushing after decelerating Moves a specified distance from the current position urrent position Moves from the current position just by a distance specified in point data and completes positioning. Decelerates and then pushes Pushing starts after decelerating at a distance equal to "Near width (N)" from the target position. N Merge operation hanges speed with no deceleration P Moves to multiple points in succession. If different speeds were set, then the speeds are changed without decelerating and stopping to continue point-to-point operation. Zone output "Near width" output Output turns ON when a specified zone is entered ON OFF Zone for external I/O output can be set for each point. Specify position margin zone. "Near width" output zone can be set for each point as a position margin zone where "positioning complete" signal is to be output. TS series main functions Detailed data can be set for each point Settings such as acceleration, deceleration, zone output range, and position margin zone can be set for each point. Different operations can be easily specified by combining these settings with the above operation patterns. Setting items Setting item Description 1 Run type Specifies operation pattern such as S, IN, positioning, push, and point-to-point link. Position Specifies position or distance to move. 3 Speed Specifies maximum speed during operation. ccel. Specifies acceleration during operation. 5 Decel. Specifies deceleration during operation (Percentage of acceleration) Push Specifies motor current limitation during pushing operation. 7 Zone (-) Specifies upper and lower limits of "personal Zone (+) zone" for each point data. 9 Near width Specifies position margin zone where "near width" output should turn on. 1 Jump Specifies next movement destination after positioning or linked destination for point-to-point operation. 11 Flag Specifies stop mode and others. Note: cceleration and deceleration can be set in easy-to-understand percentage (%) units (standard setup) or in SI units (custom setup) which make it easy to calculate the cycle time. Maximum acceleration auto setting cceleration is a critical parameter that determines how long the robot can continue operating (or service life). In worst cases, setting the acceleration too high may cause the robot to breakdown after a short time. On the TS series, the maximum acceleration is finely set by taking into account the service life span of the motor output and the guide for each robot model and payload. This eliminates any worry about setting the acceleration too high by mistake. Full range of monitor functions The TS-Manager software was developed exclusively for the TS series. esides data write and edit, data backup, and parameter settings, it has a cycle time simulator and various types of monitor functions. run distance monitor is also included as a standard feature, which helps determine maintenance schedules. Design stresses easy use and friendly operation. Main monitor displays Position Speed urrent Load factor Voltage Temperature Input information Output information Supports various field networks Select from the following I/O types to match the host controller specifications. ll hardware is built into the positioner unit so cabling and wire hookups are easy. Item NPN PNP -Link DeviceNet Description Input: 1 points, VD ± 1%, 5.1m/point, positive common Output: 1 points, VD ± 1%, m/point, sink type Input: 1 points, VD ± 1%, 5.1m/point, negative common Output: 1 points, VD ± 1%, m/point, source type Supports -Link Ver. 1.1, remote device station (1 station) DeviceNet slave node Scheduled to go on sale in September 9

5 onnection to Peripheral Units Input signal Output signal Signal name Meaning Description Meaning Description Point number used to perform positioning operation PIN to PIN7 Point number selection Point number to teach current position JOG+ JOG- MNUL ORG Jog (+) Jog (-) Manual mode Return-to-origin Jogs in plus (+) direction when ON. Jogs in plus (-) direction when ON. ON: manual mode Starts return-to-origin. Point number used to perform positioning operation Point number selection larm number when alarm has occurred ontrol output llocate the following outputs to OUT to OUT3. ontrol output 1 Zone output Personal zone output ontrol output Manual mode status Return-to-origin status Near width output Movement-in-progress output ontrol output 3 Push status Warning output /LOK STRT TEH RESET SERVO Interlock Start Teach Reset Servo ON ON: Movement possible, OFF: Movement impossible Starts moving to position specified by point number. Teaches current position to specified point number. Resets alarm. Resets point number output. lears remaining distance in relative positioning operation. ON: Servo ON, OFF: Servo OFF Zone output Turns ON while at the zone specified by parameter. Personal zone output Turns ON while at the zone specified by point setting. Manual mode status Turns ON when in manual mode. Return-to-origin status Turns ON when return-to-origin is complete. Push status Turns ON during push in pushing operation. Warning output Turns ON when warning is issued. Near width output Turns ON when near width (position margin zone) is entered. Movement in progress Turns on during movement. Operation in progress Outputs ON during operation. Operation complete Outputs operation result. Turns ON when operation has ended normally. larm Turns ON when operation is normal. Turns OFF when alarm has occurred. Servo status Outputs ON at servo-on. TS Series Options (for all TS series models) TS-X TS-P Handy Terminal: HT1 TS-Manager (support software) Data cables I/O cables (for maintenance tasks) Has graphic LD display with backlight for easy viewing. Model: HT1 (standard) K-M511-E HT1-D (enable switch) K-M511-1E esides data writing, editing and backup functions, the TS-Manager also offers cycle time simulation and various types of monitor functions. Model: K-M9- TS-Manager data cable Select from US cable or D-sub cable. Model: K-M53F-(D-sub) K-M53F- (US) NPN or PNP I/O cables olor-coded flat cables. Lattice type, conductors, total length meters, one end unterminated. (This cable is supplied with NPN and PNP units) Model: K-M1- TRNSERVO robot cable (flexible cable) (able specifically designed to connect to SS/SS5/SS5H/SS/SS5/SS5H) 7 φ [To controller] φ.3 able length selectable (1m / 3m / 5m) 9 [To robot] 1 Model: KK-M751-1 (1m) KK-M751-3 (3m) KK-M751- (5m) Note: The standard units of the TRNSERVO series robots and positioners are E compliant. 3 (7) 5 φ R.5

6 SS Medium stroke E compliance SS S S Robot Lead Type rake Origin position Grease option Stroke able length* 1 ontroller I/O 1 : 1mm S: Straight : With brake N: Standard origin position N: Standard grease to 1L : 1m S : NP : NPN : mm N: With no brake Z: on-motor side : lean room grease (mm pitch) 3L : 3m PN : PNP : mm 5L : 5m : -Link DN : DeviceNet *1: The robot cable is flexible and resists bending. asic specifications llowable overhang* Static loading moment Motor Step motor Repeated positioning accuracy* 1 (mm) ±. Deceleration mechanism all screw φ(lass 1) all screw lead (mm) 1 Maximum speed (mm/sec) 3 1 Maximum payload (kg) Horizontal installation Vertical installation 1 Max. pressing force (N) 5 9 Horizontal installation Overall length (mm) Vertical installation Maximum outside dimension of body cross-section to ( pitch) Stroke+1 Stroke+1 W9 H59 able length (m) Standard : 1 / Option : 3, 5 *1: Positioning repeatability in one direction. Horizontal installation (Unit: mm) Wall installation (Unit: mm) Vertical installation (Unit: mm) Lead1 Lead 1kg Lead1 1kg kg 7 kg 7 17 kg kg kg kg kg 3 3 3kg kg 9 51 kg kg 57 5 kg kg Lead kg 3 kg * Service life is calculated for mm stroke models. Lead1 Lead kg kg 7 9 kg MR MY MP (Unit: N.m) MY MP MR ontroller ontroller Operation method Point trace SS 3.5 pprox. (able length) 11± : When origin is on motor side (11 : When origin is on non-motor side) able securing position (Note ) 19±1 (Note 1) 1 -φ3h7 Depth -Mx.7 Depth Effective stroke (55 : When origin is on motor side) 55± : When origin is on non-motor side 3±1(Note 1) ±1 (with brake) (Note 1) ± (with brake) : When origin is on motor side ( with brake : When origin is on non-motor side) (Tolerance between knocks±.) L L+5 (with brake) 51(Slider top face) (with brake) 7.5 x -M5x. Depth Depth R 1.5 φh7( +.1 )Depth 7.5 (with brake) +. Depth Effective stroke Note 1. Secure the cable with a tie-band 1mm or less from unit's end face to prevent the L cable from being subjected to excessive loads. Note. Secure the cable with a tie-band 1mm 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. These are the weights without a brake. The weights are.kg heavier when equipped with a brake. Weight (kg) (See note )

7 SS5 High lead: Lead Medium stroke E compliance SS5 S S Robot Lead Type rake Origin position Grease option Stroke able length* 1 ontroller I/O : mm S: Straight : With brake N: Standard origin position N: Standard grease to 1L : 1m S : NP : NPN 1 : 1mm N: With no brake Z: on-motor side : lean room grease (mm pitch) 3L : 3m PN : PNP : mm 5L : 5m : -Link DN : DeviceNet *1: rake-equipped models can be selected only when the lead is 1mm or mm. *: The robot cable is flexible and resists bending. asic specifications llowable overhang* Static loading moment Motor Step motor Repeated positioning accuracy* 1 (mm) ±. Deceleration mechanism all screw φ1(lass 1) all screw lead (mm) 1 Maximum speed (mm/sec)* 1 3 Maximum payload (kg) Horizontal installation 1 Vertical installation 1 Max. pressing force (N) to ( pitch) Horizontal installation Stroke+3 Overall length (mm Vertical installation Stroke+75 Maximum outside dimension of body cross-section W55 H5 able length (m) Standard : 1 / Option : 3, 5 *1: Positioning repeatability in one direction. *: When the stroke is longer than mm, the ball screw may resonate depending on the moving range (critical speed). In that case, reduce the speed by referring to the maximum speeds shown in the table under the dimensional drawing. Horizontal installation (Unit: mm) Wall installation (Unit: mm) Vertical installation (Unit: mm) Lead Lead1 kg 9 1 Lead Lead1 kg Lead1.5kg kg kg kg kg kg kg kg kg kg 1 1 kg kg 3 9 kg kg kg 3 9 kg * Service life is calculated for mm stroke models. MR MY MP (Unit: N.m) MY MP MR ontroller ontroller Operation method Point trace SS5 3.5 pprox. (able length) able securing position (Note ) 17±: When origin is on motor side (17 : When origin is on non-motor side) 1±1 (Note 1) 3 -φh7 Depth -Mx.7 Depth Effective stroke (55 : When origin is on motor side) 5± : When origin is on non-motor side 1±1(Note 1) ±1 (with brake) (Note 1) 1±(with brake) : When origin is on motor side (1 with brake : When origin is on non-motor side) 7 (Tolerance between knocks±.) L L+ (with brake) 57(Slider top face) (with brake) Mx1 Depth x R +.1 φh7( )Depth (with brake) +. Depth Effective stroke L Weight (kg) (See note ) Lead Maximum speed for each stroke Lead (mm / sec) Lead 3 19 (Note 5) Speed setting 93% 3% 73% 3% Note 1. Secure the cable with a tie-band 1mm or less from unit's end face to prevent the cable from being subjected to excessive loads. Note. Secure the cable with a tie-band 1mm 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. These are the weights without a brake. The weights are.kg heavier when equipped with a brake. Note 5. When the stroke is longer than mm, the ball screw may resonate depending on the moving range (critical speed). In that case, adjust to reduce the speed on the program by referring to the maximum speeds shown in the table at the left.

8 SS5H High lead: Lead Medium stroke E compliance SS5H S S Robot Lead Type rake Origin position Grease option Stroke able length* 1 ontroller I/O : mm S: Straight : With brake N: Standard origin position N: Standard grease to 1L : 1m S : NP : NPN 1 : 1mm N: With no brake Z: on-motor side : lean room grease (mm pitch) 3L : 3m PN : PNP : mm 5L : 5m : -Link DN : DeviceNet *1: rake-equipped models can be selected only when the lead is 1mm or mm. *: The robot cable is flexible and resists bending. asic specifications llowable overhang* Static loading moment Motor Step motor Repeated positioning accuracy* 1 (mm) ±. Deceleration mechanism all screw φ1(lass 1) all screw lead (mm) 1 Maximum Horizontal installation 1 3 speed (mm/sec) Vertical installation Maximum payload (kg) Horizontal installation 1 Vertical installation Max. pressing force (N) 3 1 Horizontal installation Overall length (mm) Vertical installation Maximum outside dimension of body cross-section to ( pitch) Stroke+ Stroke+331 W55 H5 able length (m) Standard : 1 / Option : 3, 5 *1: Positioning repeatability in one direction. *: When the stroke is longer than mm, the ball screw may resonate depending on the moving range (critical speed). In that case, reduce the speed by referring to the maximum speeds shown in the table under the dimensional drawing. Horizontal installation (Unit: mm) Wall installation (Unit: mm) Vertical installation (Unit: mm) Lead Lead1 kg Lead kg 3 55 Lead1 1kg 5 59 kg kg kg kg kg 71 9 kg Lead1 kg kg kg 3 5 kg kg kg 5 kg kg 1 1 kg kg 1 1 kg 39 1kg 7 7 1kg kg kg * Service life is calculated for mm stroke models. MR MY MP (Unit: N.m) MY MP MR ontroller ontroller Operation method Point trace SS5H 3.5 pprox. (able length) 3.5 : When origin is on motor side (3.5 : When origin is on non-motor side) able securing position (Note ) 175.5±1 (Note 1) 3 Effective stroke -φh7 Depth -M5x. Depth1 (.5 : When origin is on motor side).5±: When origin is on non-motor side 1.5±1(Note 1) ±1(with brake) (Note 1) 3.5± (with brake) : When origin is on motor side (3.5 with brake : When origin is on non-motor side) (Tolerance between knocks±.) L L+ (with brake) (Slider top face) (with brake) 11.5 x -Mx1 Depth R φh7( +.1 )Depth (with brake) +. Depth Effective stroke L Weight (kg) (See note ) Lead Maximum speed Lead 1 (Horizontal) 5 3 for each stroke Lead 1 (Vertical) 3 (mm / sec) (Note 5) Lead (Horizontal) 3 19 Lead (Vertical) 19 Note 1. Secure the cable with a tie-band 1mm or less from unit's end face to prevent the cable from being subjected to excessive loads. Note. Secure the cable with a tie-band 1mm 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. These are the weights without a brake. The weights are.kg heavier when equipped with a brake. Note 5. When the stroke is longer than mm, the ball screw may resonate depending on the moving range (critical speed). In that case, adjust to reduce the speed on the program by referring to the maximum speeds shown in the table at the left.

9 SS Medium stroke E compliance SS S S Robot Lead Type rake Direction of air coupler installation Origin position Stroke able length* 1 ontroller I/O 1 : 1mm S: Straight : With brake RJ : Right (standarg) N: Standard origin position to 1L : 1m S : NP : NPN : mm N: With no brake LJ : Left Z: on-motor side (mm pitch) 3L : 3m PN : PNP : mm 5L : 5m : -Link DN : DeviceNet *1: The robot cable is flexible and resists bending. asic specifications llowable overhang* Static loading moment Motor Step motor Repeated positioning accuracy* 1 (mm) ±. Deceleration mechanism all screw φ(lass 1) Maximum motor torque.7 screw lead (mm) 1 Maximum speed (mm/sec) 3 1 Maximum payload (kg) Horizontal installation Vertical installation 1 Max. pressing force (N) 5 9 Horizontal installation Overall length (mm) Stroke+1 Vertical installation Maximum outside dimension of body cross-section to ( pitch) Stroke+1 W9 H59 able length (m) Standard : 1 / Option : 3, 5 leanliness class LSS 1* Suction amount ir Lead 1 Lead Lead 3 *1: Positioning repeatability in one direction. *: Per 1cf (.1μm base), when suction blower is used. Horizontal installation (Unit: mm) Wall installation (Unit: mm) Vertical installation (Unit: mm) Lead1 Lead 1kg Lead1 1kg kg 7 kg 7 17 kg kg kg kg kg 3 3 3kg kg 9 51 kg kg 57 5 kg kg Lead kg 3 kg * Service life is calculated for mm stroke models. Lead1 Lead kg kg 7 9 kg MR MY ontroller MP Operation method Point trace (Unit: N.m) MY MP MR ontroller SS 3.5 pprox. (able length) able securing position (Note 3) 11±: When origin is on motor side Effective stroke (11: When origin is on non-motor side) 1±1 (Note 1) 1 -φ3h7 Depth -Mx.7 Depth (55: When origin is on motor side) 55±: When origin is on non-motor side 1±1(Note 1) φ Suction air joint Mounting direction : RJ (Note ) 3.5 () 9 Mounting direction : LJ 59 19±1 (with brake) (Note 1) ± (with brake) : When origin is on motor side ( with brake : When origin is on non-motor side) 17 (with brake) 33 (Tolerance between knocks±.) 1 35 L L+5 (with brake) (φ3) 5 51(Slider top face) (with brake) 7.5 x -M5x. Depth R (with brake) φh7( +.1 )Depth D +. Depth Effective stroke Note 1. Secure the cable with a tie-band 1mm or less from unit's end face to prevent the cable from being subjected to excessive loads. L Note. Either right or left can be selected for the installation direction for suction air coupler This drawing shows the RJ (standard) direction of air coupler installation. Note 3. Secure the cable with a tie-band1mm or less from unit's end face to prevent the cable from being subjected to excessive loads. Note. The cable's minimum bend radius is R Note 5. These are the weights without a brake. The weights are.kgheavier when equipped with a brake. Weight (See note 5)

10 SS5 Medium stroke E compliance SS5 S S Robot Lead Type rake Direction of air coupler installation Origin position Stroke able length* 1 ontroller I/O : mm S: Straight : With brake RJ : Right (standarg) N: Standard origin position to 1L : 1m S : NP : NPN 1 : 1mm N: With no brake LJ : Left Z: on-motor side (mm pitch) 3L : 3m PN : PNP : mm 5L : 5m : -Link DN : DeviceNet *1: The robot cable is flexible and resists bending. asic specifications llowable overhang* Static loading moment Motor Step motor Repeated positioning accuracy* 1 (mm) ±. Deceleration mechanism all screw φ1(lass 1) Maximum motor torque.7 all screw lead (mm) 1 Maximu mspeed (mm/sec)* 1 3 Maximum Horizontal installation 1 payload (kg) Vertical installation 1 Max. pressing force (N) to ( pitch) Horizontal installation Overall length (mm) Stroke+3 Vertical installation Maximum outside dimension of body cross-section Stroke+75 W55 H5 able length (m) Standard : 1 / Option : 3, 5 leanliness class LSS 1* 3 Lead Lead Lead Suction amount ir 3 *1: Positioning repeatability in one direction. *: When the stroke is longer than mm, the ball screw may resonate depending on the moving range (critical speed). In that case, reduce the speed by referring to the maximum speeds shown in the table under the dimensional drawing. maximum speeds shown in the table under the dimensional drawing. *3: Per 1cf (.1μm base), when suction blower is used. Horizontal installation (Unit: mm) Wall installation (Unit: mm) Vertical installation (Unit: mm) Lead Lead1 kg 9 1 Lead Lead1 kg Lead1.5kg kg kg kg kg kg kg kg kg kg 1 1 kg kg 3 9 kg kg kg 3 9 kg * Service life is calculated for mm stroke models. MY MR MP (Unit: N.m) MY MP MR ontroller ontroller Operation method Point trace SS5 3.5 pprox. (able length) able securing position (Note 3) 17±: When origin is on motor side (17: When origin is on non-motor side) 1±1 (Note 1) 3 Effective stroke -φh7 Depth -Mx.7 Depth (5: When origin is on motor side) 5±: When origin is on non-motor side 1±1(Note 1) φ Suction air joint Mounting direction : RJ (Note ) 3 (17) 55 Mounting direction : LJ 5 1±1 (with brake) (Note 1) 1± (with brake) : When origin is on motor side (1 with brake : When origin is on non-motor side) 17 (with brake) 7 (Tolerance between knocks±.) L L+ (with brake) (φ3) 51 57(Slider top face) (.5) (with brake) 11.5 x -Mx1 Depth R φh7( +.1 )Depth 1.5 D 1.5(with brake) +. Depth Effective stroke L Weight (See note 5) Maximum speed Lead for each stroke Lead (mm / sec) (Note ) Lead 3 19 Note 1. Secure the cable with a tie-band 1mm or less from unit's end face to prevent the cable from being subjected to excessive loads. Note. Either right or left can be selected for the installation direction for suction air coupler. This drawing shows the RJ (standard) direction of air coupler installation. Note 3. Secure the cable with a tie-band1mm or less from unit's end face to prevent thecable from being subjected to excessive loads. Note. The cable's minimum bend radius is R3. Note 5. These are the weights without a brake. The weights are.kg heavier when equipped with a brake. Note. When the stroke is longer than mm, the ball screw may resonate depending on the moving range (critical speed). In that case, adjust to reduce the speed on the program by referring to the maximum speeds shown in the table at the left.

11 SS5H High lead: Lead Medium stroke E compliance SS5H S S Robot Lead Type rake Direction of air coupler installation Origin position Stroke able length* 1 ontroller I/O : mm S: Straight : With brake RJ : Right (standarg) N: Standard origin position to 1L : 1m S : NP : NPN 1 : 1mm N: With no brake LJ : Left Z: on-motor side (mm pitch) 3L : 3m PN : PNP : mm 5L : 5m : -Link DN : DeviceNet *1: The robot cable is flexible and resists bending. asic specifications llowable overhang* Static loading moment Motor Step motor Repeated positioning accuracy* 1 (mm) ±. Deceleration mechanism all screw φ1(lass 1) Maximum motor torque.7 all screw lead (mm) 1 Maximum Horizontal installation 1 3 speed (mm/sec)* Vertical installation Maximum payload (kg) Horizontal installation 1 Vertical installation Max. pressing force (N) 3 1 Horizontal installation Overall length (mm) Stroke+ Vertical installation Maximum outside dimension of body cross-section to ( pitch) Stroke+331 W55 H5 able length (m) Standard : 1 / Option : 3, 5 leanliness class LSS 1* 3 Suction amount ir Lead Lead Lead 3 *1: Positioning repeatability in one direction. *: When the stroke is longer than mm, the ball screw may resonate depending on the moving range (critical speed). In that case, reduce the speed by referring to the maximum speeds shown in the table under the dimensional drawing. maximum speeds shown in the table under the dimensional drawing. *3: Per 1cf (.1μm base), when suction blower is used. SS5H 3.5 pprox. (able length) able securing position (Note 3) Horizontal installation (Unit: mm) Wall installation (Unit: mm) Vertical installation (Unit: mm) Lead Lead1 kg Lead kg 3 55 Lead1 1kg 5 59 kg kg kg kg kg 71 9 kg Lead1 kg kg kg 3 5 kg kg kg 5 kg kg 1 1 kg kg 1 1 kg 39 1kg 7 7 1kg kg kg * Service life is calculated for mm stroke models. 3.5±: When origin is on motor side (3.5: When origin is on non-motor side) 175.5±1 (Note 1) 3 Effective stroke -φh7 Depth -M5x. Depth1 MR MY ontroller (.5 When origin is on motor side) MP Operation method Point trace (Unit: N.m) MY MP MR ontroller.5±: When origin is on non-motor side 1.5±1(Note 1) φ Suction air joint Mounting direction : RJ (Note ) 3 (17) 55 Mounting direction : LJ ±1 (with brake) (Note 1) 3.5± (with brake) : When origin is on motor side (3.5 with brake : When origin is on non-motor side) 1 (with brake) (with brake) L L+ (with brake) 3 x -Mx1 Depth (Tolerance between knocks±.) (φ3) 51 ((Slider top face) (.5) R +.1 φh7( )Depth 1.5 D 1.5 (with brake) +. Depth Effective stroke L Weight (See note 5) Lead Maximum speed Lead 1 (Horizontal) 5 3 for each stroke Lead 1 (Vertical) 3 (mm / sec) (Note ) Lead (Horizontal) 3 19 Lead (Vertical) 19 Note 1. Secure the cable with a tie-band 1mm or less from unit's end face to prevent the cable from being subjected to excessive loads. Note. Either right or left can be selected for the installation direction for suction air coupler. This drawing shows the RJ (standard) direction of air coupler installation. Note 3. Secure the cable with a tie-band1mm or less from unit's end face to prevent thecable from being subjected to excessive loads. Note. The cable's minimum bend radius is R3. Note 5. These are the weights without a brake. The weights are.kg heavier when equipped with a brake. Note. When the stroke is longer than mm, the ball screw may resonate depending on the moving range (critical speed). In that case, adjust to reduce the speed on the program by referring to the maximum speeds shown in the table at the left.

12 Specifications and appearance are subject to change without prior notice. IM Operations Soude, Naka-ku, Hamamatsu, Shizuoka 35-5, Japan Tel Fax URL (June 9) In concideration of environment, this catalogue is made of recycled paper.