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IAI | | TTA-A4S□(G)-30-30_TTA-A4(G)-30-30

TTA-A4S□(G)-30-30
TTA-A4(G)-30-30

Installation position


*Note: Some pictures on this page are still Japanese version and the English version pictures are coming soon.

Direction of movement of each axis

Main Specifications

item Contents
A4SL(G) A4SH(G) A4 (G)
Lead Ball screw lead (mm) X-Axis 8 16 Equivalent to 24
Y-Axis 8 16 Equivalent to 24
Z-axis Equivalent to 2.14 Equivalent to 5 12
R-axis -
Maximum payload (kg) X-Axis 30 15 20
Y-Axis - - -
Z-axis 15 7 6
R-axis
Speed/Acceleration Maximum speed X-axis (mm/s) 600 1200 800
Y axis (mm/s) 600 900 800
Z axis (mm/s) 170 400 400
R axis (deg/s) 1500 1500 1000
Maximum acceleration/deceleration (G) X-Axis 0.5 0.7 0.4
Y-Axis 0.5 0.7 0.4
Z-axis 0.3 0.5 0.2
R-axis 1.5 1.5 1.1
Press (Note 3) Maximum thrust when pressing Z-axis (N) 140 60 103
R-axis (N･m) 0.53 0.53 0.85
Brake (Z-axis standard equipment) Brake Specifications Non-excitation electromagnetic brake
Brake holding force (kgf) 15 7 6
stroke X-axis (mm) 300
Y axis (mm) 300
Z axis (mm) 100/150
R axis (degrees) ±180/±360

(Note 3) Pressing operation is possible only for the Z-axis and R-axis.

(Note) The guideline for the overhang load length is a radius of 100 mm or less on the R axis.

item Contents
A4SL(G) A4SH(G) A4 (G)
Drive system X-Axis Ball screw φ12mm Rolled C5 equivalent Ball Screw: φ12mm, Rolled C10
Speed Increase with Timing Belt: 1.5:1
Y-axis
X-axis Ball screw φ10mm, rolled C5 equivalent Ball screw φ10mm, rolled C10
Timing belt with
1:1.4 reduction		 Timing belt with
1:1.2 reduction
Repeat positioning accuracy X-axis ±0.005ｍｍ ±0.01ｍｍ
Y-axis
Z-axis
R-axis ±0.008 degrees ±0.01 degrees
Lost motion X-axis 0.025 mm or less 0.04 mm or less 0.05 mm or less
Y-axis
Z-axis 0.02 mm or less
R-axis 0.06 degrees or less 0.06 degrees or less
Static allowable moment X-axis Ma:62.7N･m　Mb:62.7N･m　Mc:126.5N･m
Z-axis Ma:35.0N･m　Mb:35.0N･m　Mc:74.0N･m
R-axis
Dynamic allowable moment X-axis Ma:18.8N･m　Mb:18.8N･m　Mc:37.8N･m
Z-axis Ma:11.5N･m　Mb:11.5N･m　Mc:24.3N･m
R-axis
Maximum load inertia moment R-axis 0.01kg･m2
Operating temperature and humidity 0 to 40°C, below 85% RH (without condensation）
Protection grade ー
Vibration resistance / Shock resistance 4.9m/s2
International standards compliance CE mark (only for safety category-compliant types), RoHS directive
Motor type AC servo motor Pulse motor
Types of encoders Battery-less absolute encoder
Encoder pulse count 16384 pulse/rev 8192 pulse/rev
Delivery time The delivery time is listed on the website under [Delivery Inquiry].

Correlation diagram between pressing force and current limit value

■ Servo motor equipped models A4SL(G)/A4SH(G)

Z-axis

(Note) The pressing force has a variation of ±10% of the maximum pressing force (dotted line).

R-axis

If you require press control on the rotary axis (R axis), please contact us.

(Note) The pressing force has a variation of ±10% of the maximum pressing force (dotted line).

■ Pulse motor equipped model A4 (G)

Z-axis

(Note) The pressing force has a variation of ±10% of the maximum pressing force (dotted line).

R-axis

If you require press control on the rotary axis (R axis), please contact us.

(Note) The pressing force has a variation of ±10% of the maximum pressing force (dotted line).

Correlation diagram between acceleration/deceleration and payload

■ Servo motor equipped models A4SL(G)/A4SH(G)

X-Axis

Y-Axis

Z-axis

Correlation diagram between payload and speed

■ Pulse motor equipped model A4 (G)

Due to the characteristics of pulse motors, the payload capacity decreases as the speed increases.

Check the table below to see if your desired speed and load capacity are met.

X-Axis

Please refer to the table below for the acceleration/deceleration settings.

Y-Axis

The set acceleration/deceleration should be 0.4G or less.

Z-axis

The set acceleration/deceleration should be 0.2G or less.

Payload capacity and acceleration/deceleration

Payload capacity Acceleration/Deceleration
20kg 0.2G or less
18kg 0.2G or less
15kg 0.3G or less
12kg 0.3G or less
10kg 0.4G or less
8kg 0.4G or less

Correlation diagram between acceleration/deceleration and payload

■ Servo motor equipped models A4SL(G)/A4SH(G)

ZR axis

The load capacity of the ZR axis changes depending on the acceleration/deceleration of the Y axis.

Correlation diagram between allowable load moment of inertia and angular velocity of R axis

■ Servo motor equipped models A4SL(G)/A4SH(G)

■ Pulse motor equipped model A4 (G)

Allowable load moment of inertia Angular acceleration Angular Acceleration/Deceleration
0.010kg/ m2 300 degrees/s 0.05G
0.008kg･m2 400 degrees/s 0.1G
0.006kg/ m2 500 degrees/s 0.2G
0.005kg/ m2 700 degrees/s 0.5G
0.004kg/ m2 1000 degrees/s 1G
0.003kg/ m2 1500 degrees/s 1.5G
Allowable load moment of inertia Angular acceleration Angular Acceleration/Deceleration
0.010kg m2 100 degrees/s 0.1G
0.010kg m2 200 degrees/s 0.1G
0.010kg m2 300 degrees/s 0.1G
0.008kg m2 400 degrees/s 0.18G
0.006kg m2 500 degrees/s 0.28G
0.005kg m2 600 degrees/s 0.4G
0.004kg m2 700 degrees/s 0.55G
0.004kg m2 800 degrees/s 0.7G
0.003kg m2 900 degrees/s 0.9G
0.003kg m2 1000 degrees/s 1.1G

International Standards

(Note) CE is only compatible with safety category specifications.

Selection considerations

(1) The maximum acceleration/deceleration varies depending on the payload. (See "Correlation diagram of acceleration/deceleration and payload.") Also, stepper motors cannot reach their maximum speed at the maximum payload setting. Increasing the speed reduces the payload. Please note that the rotating axis cannot reach its maximum speed depending on the load moment of inertia value. (See "Correlation diagram of payload and speed" and "Correlation diagram of R-axis allowable load moment of inertia and angular velocity.")
(2) Repeated positioning accuracy is only valid when the body temperature is constant. Absolute accuracy is not guaranteed.
(3) The dynamic allowable moment values ​​are for each axis. For a standard rated life of 5,000 km and a standard load factor of 1.5. (For details on dynamic allowable moment, see page 5-692
.) (4) In the model item, enter "E" in the expansion I/O slots 1 and 2 columns if they are unused.

Dimensions

ST: Stroke

ME: Mechanical end

SE: Stroke end

*1 When placing a workpiece on the X-slider, make sure there is a clearance of 2 mm or more from the main frame.

*2 When the cover option (model: CO) is selected, a cover will be attached to the front of the Z-axis to hide the slider.

(Note) When performing origin return, the slider will move to the ME, so please be careful not to interfere with the surroundings.

mass

item mass
AC servo motor Pulse motor
Body weight 36.3kg 35.3kg
Table load capacity (Note 4) 30kg

(Note 4) The table section refers to the upper surface of the main body excluding the slider section. It is not the payload capacity of the X-axis.

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