IAI TTA Series User manual
Table Top Type Robot TTA
First Step Guide Sixth Edition
Thank you for purchasing our product.
Make sure to read the Safety Guide and detailed Operation Manual (DVD) included with the product in
addition to this First Step Guide to ensure correct use.
This Operation Manual is original.
• Using or copying all or part of this Operation Manual without permission is prohibited.
• The company names, names of products and trademarks of each company shown in the sentences
are registered trademarks.
Product Check
This product is comprised of the following parts if it is of standard configuration.
If you find any fault in the contained model or any missing parts, contact us or our distributor.
1. Parts
No. Part Name Model Quantity Reference
1 Robot Main Unit (with
built-in controller)
Refer to “How to read the model
plate”, “How to read the model” 1
Accessories
2 Power Supply Plug AP-400-C 1 Enclosed in PU
3 I/O Flat Cable CB-PAC-PIO020 1 to 3
Length depends
on indication of
I/O cable length
4 System I/O Connector DFMC1.5/6-ST-3.5
(Supplier : Phoenix Contact) 1
Motor Power Connector
For the AC Servo Motor
Type
B2L 3.50/04/180 SN OR BX
(Supplier : Weidmüller) 1
5
Motor Power Connector
For the Pulse Motor Type
FKIC2.5HC/2-ST-5.08
(Supplier : Phoenix Contact)
1
6 CC-Link Connector MSTB2.5/5-STF-5.08AU
(Supplier : Phoenix Contact) 1 or 2 Enclosed in CC
7 DeviceNet Connector MSTB2.5/5-STF-5.08AUM
(Supplier : Phoenix Contact) 1 or 2 Enclosed in DV
8 Dummy Plug DP-2 1
Enclosed in
global
specification
TTA-A□G and
TTA-C□G
Power Cable
For the AC100V 1
Enclosed in 100V
AC type
9 Power Cable
For the AC200V 1
Enclosed in 200V
AC type
Main Body Mounting
Bracket
For the X-axis stroke
20/30
TTA-FT-4 4
10 Main Body Mounting
Bracket
For the X-axis stroke
40/50
TTA-FT-6 6
11 First Step Guide 1
12 Instruction Manual (DVD) 1
13 Safety Guide 1
2. Optional Components
No. Part Name Model
1 Main Body Mounting Bracket (with set bolts and nuts) TT-FT
3. Teaching Tool (Option)
The personal computer application software or teaching pendant is required for the
operations including program creation and setup such as position setting and parameter
setting with teaching. Use either of them.
No. Part Name Model Reference
1 PC Software
(with RS232C cable + Emergency stop box) IA-101-X-MW RS232C→RS232C*1
2
PC Software
(USB conversion adapter + RS232C cable +
Cable and emergency stop box)
IA-101-X-USBMW USB→RS232C*1
3 PC Software (with USB Cable + Dummy plug) IA-101-TTA-USB USB→USB*1
4 Touch panel teaching TB-01 –
5 Touch panel teaching (with deadman switch) TB-01D, TB01DR –
6 Teaching pendant SEL-T –
7 Teaching pendant (with deadman switch) SEL-TD –
*1 The communication port on the left is for the personal computer and on the right is for the TTA.
4. Instruction Manuals related to this product, which are contained in the DVD.
No. Name Manual No.
1 Table Top Type Robot TT Instruction Manual ME0320
2 PC software IA-101-X-MW Instruction Manual ME0154
3 Touch panel teaching TB-01, TB-01D, TB-01DR Instruction Manual ME0325
4 Teaching pendant SEL-T/TD Instruction Manual*1 ME0183
5 DeviceNet Instruction Manual ME0124
6 CC-Link Instruction Manual ME0123
7 PROFIBUS-DP Instruction Manual ME0153
8 EtherNet/IP Instruction Manual ME0308
9 EtherCAT Instruction Manual ME0309
*1 Applicable in Ver.1.16 and later with hardware revision “2”
5. How to read the model plate
6. How to read the model
Basic Specifications
[Common Specifications]
● Pulse Motor Type
Item Specifications
Surrounding air
temperature/humidity 0 to 40°C, Room Humidity 20 to 85% or less
Motor Type Stepping Motor (Servo Control)
Position detection method Battery-less Absolute Encoder or Incremental Encoder
Driving System Ball Screw (X, Y-axis : φ12mm Z-axis : φ10mm Rolled C10)
Ball Screw Lead X, Y-axis : 24 or equivalent, Z-axis : 12mm
Positioning Repeatability
± 0.02mm (X, Y, Z-axis), ± 0.015deg (R-axis) (Standard Specifications)
± 0.01mm (X, Y, Z-axis), ± 0.010deg (R-axis)
(High Resolution Specifications)
Backlash
0.1mm or less (X, Y, Z-axis), 0.06deg or less (R-axis)
(Standard Specifications)
0.05mm or less (X, Y, Z-axis), 0.06deg or less (R-axis)
(High Resolution Specifications)
Guide Direct Driven Infinite Circulation Type
Allowable Load Moment * 1
X-axis: Ma:15.9N･m Mb: 15.9N･m Mc: 32.0N･m (
Gate-shaped Type
)
Y-a xi s: M a: 12. 6N ･m Mb: 12.6N･m Mc: 37.4N･m
Z-axis: Ma: 9.7N･m Mb: 9.7N･m Mc: 20.5N･m
ZR-axis: Ma: 9.7N･m Mb: 9.7N･m Mc: 20.5N･m
* 1 Value found on the assumption of the life of 5000km run
● AC Servo Motor Type
Item Specifications
Surrounding air
temperature/humidity 0 to 40°C, Room Humidity 20 to 85% or less
Motor Type AC Servo Motor
Position detection method Battery-less Absolute Encoder or Incremental Encoder
Driving System
Ball Screw (X, Y-axis : φ12mm Z-axis : φ10mm Rolled C10 C5 or
equivalent)
Ball Screw X, Y-axis : 8mm Z-axis : 3mm (Low Lead Specifications)
Ball Screw X, Y-axis : 16mm Z-axis : 6mm (High Lead Specifications)
Positioning Repeatability ± 0.005mm (X, Y, Z-axis), ± 0.015deg (R-axis) (Battery-less Absolute)
± 0.005mm (X, Y, Z-axis), ± 0.010deg (R-axis) (Absolute)
Backlash
0.025mm or less (X, Y, Z-axis), 0.06deg or less (R-axis) (Battery-less
Absolute) (Low Lead)
0.040mm or less (X, Y, Z-axis), 0.06deg or less (R-axis)
(Battery-less Absolute) (High Lead)
0.02mm or less (X, Y, Z-axis), 0.03deg or less (R-axis) (Absolute)
Guide Direct Driven Infinite Circulation Type
Allowable Load Moment * 1
X-axis: Ma:18.8N･m Mb: 18.8N･m Mc: 37.8N･m (
Gate-shaped Type
)
Y-a xi s: M a: 14. 9N ･m Mb: 14.9N･m Mc: 44.3N･m
Z-axis: Ma: 11.5N･m Mb: 11.5N･m Mc: 24.3N･m
ZR-axis: Ma: 11.5N･m Mb: 11.5N･m Mc: 24.3N･m
* 1 Value found on the assumption of the life of 5000km run
[Individual Mechanism Specifications]
● Work Moving Type Pulse Motor Type
*2 X Axis : 0.2G, Stroke 300mm or less, Y Axis : 0.4G, Stroke 700mm or less,
Z Axis : 0.2G, Stroke 50mm or less
Warning : Operation of this equipment requires detailed installation and operation instructions
which are provided on the DVD Manual included in the box this device was
packaged in. It should be retained with this device at all times.
A copy of the DVD Manual can be requested by contacting your nearest IAI Sales
Office listed at the back cover of the Instruction Manual or on the First Step Guide.
Stroke [mm] Max. Speed for Each Axes
[mm/sec]
Max. Load
Capacity [kg] *2
Type
X Axis Y Axis Z Axis R Axis X Axis Y Axis Z Axis R Axis
Max.
acceleration/
deceleration
speed [G] X
Axis
Y
Axis
Z
Axis
Weight
[kg] Model
200 200 – – – – 24.0 TTA-A2-*-2020
300 300 – – – – 31.0 TTA-A2-*-3030
400 400 – – – – 37.0 TTA-A2-*-4040
2-Axis
500 500 – – – – 44.0 TTA-A2-*-5050
200 200 – – 27.0 TTA-A3-*-2020
300 300 – – 34.0 TTA-A3-*-3030
400 400 – – 40.0 TTA-A3-*-4040
3-Axis
500 500 – – 47.0 TTA-A3-*-5050
200 200 28.0 TTA-A4-*-2020
300 300 35.0 TTA-A4-*-3030
400 400 41.0 TTA-A4-*-4040
4-Axis
500 500
100/
150
±180 /
±360
[deg]
800 800
400
1000
[deg/
sec]
X, Y axis : 0.4
Z axis : 0.2 20 10 6
48.0 TTA-A4-*-5050
● Work Fixing Type Pulse Motor Type
Stroke [mm] Max. Speed for Each Axes
[mm/sec]
Max. Load
Capacity [kg] *2
Type
X Axis Y Axis Z Axis R Axis X Axis Y Axis Z Axis R Axis
Max.
acceleration/
deceleration
speed [G] X
Axis
Y
Axis
Z
Axis
Weight
[kg] Model
200 150 600 540 24.0
TTA-C2-*-2015
300 250 700 640 31.0
TTA-C2-*-3025
400 350 37.0
TTA-C2-*-4035
2-Axis
500 450 800 800
10 10
44.0
TTA-C2-*-5045
200 150 600 540 27.0
TTA-C3-*-2015
300 250 700 640 34.0
TTA-C3-*-3025
400 350 40.0
TTA-C3-*-4035
3-Axis
500 450 800 800 47.0
TTA-C3-*-5045
200 150 600 540 28.0
TTA-C4-*-2015
300 250 700 640 35.0
TTA-C4-*-3025
400 350 41.0
TTA-C4-*-4035
4-Axis
500 450
100/150
±180 /
±360
[deg] 800 800
400
1000
[deg/
sec]
0.2
6 6 6
48.0
TTA-C4-*-5045
* 3 [2-Axis type] X Axis : 0.2G, Stroke 600mm or less, Y Axis : 0.2G, Stroke 700mm or less
[3, 4-Axis type] X Axis : 0.2G, Stroke 400mm or less, Z Axis : 0.2G, Stroke 50mm or less
● Work Moving Type Servo Motor Low Lead Specifications
● Work Fixing Type Servo Motor Low Lead Specifications
Stroke [mm] Max. Speed for Each Axes
[mm/sec]
Max. Load
Capacity [kg] *2
Type
X Axis Y Axis Z Axis R Axis X Axis Y Axis Z Axis R Axis
Max.
acceleration/
deceleration
speed [G] X
Axis
Y
Axis
Z
Axis
Weight
[kg] Model
200 150 25.0
TTA-C2SL-*-2015
300 250 33.0
TTA-C2SL-*-3025
400 350 40.0
TTA-C2SL-*-4035
2-Axis
500 450 47.0
TTA-C2SL-*-5045
200 150 29.3
TTA-C3SL-*-2015
300 250 37.3
TTA-C3SL-*-3025
400 350 44.3
TTA-C3SL-*-4035
3-Axis
500 450 51.3
TTA-C3SL-*-5045
200 150 31.3
TTA-C4SL-*-2015
300 250 39.3
TTA-C4SL-*-3025
400 350 46.3
TTA-C4SL-*-4035
4-Axis
500 450
100/150
±180 /
±360
[deg]
600 600 170
1500
[deg/
sec]
X axis : 0.2
Y, Z axis : 0.3 30 20 15
53.3
TTA-C4SL-*-5045
● Work Moving Type Servo Motor High Lead Specifications
● Work Fixing Type Servo Motor High Lead Specifications
Stroke [mm] Max. Speed for Each Axes
[mm/sec]
Max. Load
Capacity [kg] *2
Type
X Axis Y Axis Z Axis R Axis X Axis Y Axis Z Axis R Axis
Max.
acceleration/
deceleration
speed [G] X
Axis
Y
Axis
Z
Axis
Weight
[kg] Model
200 150 700 600 25.0
TTA-C2SH-*-2015
300 250 900 800 33.0
TTA-C2SH-*-3025
400 350 1000 1000 40.0
TTA-C2SH-*-4035
2-Axis
500 450 1000 1000 47.0
TTA-C2SH-*-5045
200 150 600 600 29.3
TTA-C3SH-*-2015
300 250 750 800 37.3
TTA-C3SH-*-3025
400 350 850 1000 44.3
TTA-C3SH-*-4035
3-Axis
500 450 1000 1000 51.3
TTA-C3SH-*-5045
200 150 600 600 31.3
TTA-C4SH-*-2015
300 250 750 800 39.3
TTA-C4SH-*-3025
400 350 850 1000 46.3
TTA-C4SH-*-4035
4-Axis
500 450
100/150
±180 /
±360
[deg]
1000 1000
400
1500
[deg/
sec]
X
, Y axis : 0.3
Z axis : 0.5 22 12 7
53.3
TTA-C4SH-*-5045
[Controller Specifications]
Item Specifications
Number of axes 2-axis 3-axis 4-axis
Supply voltage AC100 to 230V ±10%
Power frequenc
y
50Hz/60Hz ±5%
unt nutin 1.2A
Rush Current 15A (AC100V), 30A (AC200V)
Leakage Current 0.75mA or less
Insulation Strength 1500V AC for 1min.
Momentary Power Interruption 20ms or more
Speed Setting 1 to 300mm/sec
Acceleration Setting 0.01G to 0.3G
Program language Super SEL language
Number of programs (Number 255 programs (16 programs)
Number of program steps 9999 steps
Number of positions 30000 positions ( int yt y au)
Program Startup Special Digital Switch + Special Start Switch
Data storage device Flash ROM
+
SRAM
Standard I/O Board 16 Input Points / 16 Output Points
Applicable Field Bus DeviceNet, CC-Link, PROFIBUS, EtherNet/I
P
, EtherCAT
Names of the Parts
<Front Side>
< Rear Side>
Installation Environment
Do not use this product in the following environment.
• Location where the surrounding air temperature exceeds the range of 0 to 40°C
• Location where condensation occurs due to abrupt temperature changes
• Location where relative humidity exceeds 85%RH
• Location exposed to corrosive gases or combustible gases
• Location exposed to significant amount of dust, salt or iron powder
• Location subject to direct vibration or impact
• Location exposed to direct sunlight
• Location where the product may come in contact with water, oil or chemical droplets
• Environment that blocks the air vent [Refer to Installation and Noise Elimination Section]
When using the product in any of the locations specified below, provide a sufficient shield.
• Location subject to electrostatic noise
• Location where high electrical or magnetic field is present
• Location with the mains or power lines passing nearby
Installation and Noise Elimination
1. There is a cooling vent hole on the main body’s rear panel section. Do not close the vent
hole when the main body is installed.
2. When it required to fix the main body, fix it as follows using the optional mounting brackets
(Model TT-FT: 4 sets with secure bolts and nuts).
User supplied bolts to secure the brackets
to the mounting surface or table.
3. Protective Ground
Rear Panel Section
Frame Ground
Connect it using a soft
copper wire with the
diameter of 1.6mm or more
Grounding resistance at 100Ωor less
120mm or more
Z-Axis
Slider Position Adjustment
Volume (Z-Axis)
Grease Supply Inlet
(Z-Axis)
Y-A xis
T-Grooves (×2)
T-Grooves (×2)
T-Groove
X-Axis
Front Panel
Grease Supply Inlet
(Y-Axis)
Slider Position Adjustment
Volume (Y-Axis)
T-Grooves (×2)
T-Grooves (×2)
T-Groove
Rear Panel
Grease Supply Inlet (Z-Axis)
Slider Position Adjustment
Volume (X-Axis)
Grease Supply Inlet (X-Axis)
Stroke [mm] Max. Speed for Each Axes
[mm/sec]
Max. Load
Capacity [kg] *2
Type
X Axis Y Axis Z Axis R Axis X Axis Y Axis Z Axis R Axis
Max.
acceleration/
deceleration
speed [G] X
Axis
Y
Axis
Z
Axis
Weight
[kg] Model
200 200 – – 24.0
TTA-A2SL-*-2020
300 300 – – 31.0
TTA-A2SL-*-3030
400 400 – – 37.0
TTA-A2SL -*-4040
2-Axis
500 500 – – 44.0
TTA-A2SL-*-5050
200 200 – 27.3
TTA-A3SL -*-2020
300 300 – 34.3
TTA-A3SL-*-3030
400 400 – 40.3
TTA-A3SL-*-4040
3-Axis
500 500 – 47.3
TTA-A3SL-*-5050
200 200 29.3
TTA-A4SL-*-2020
300 300 36.3
TTA-A4SL-*-3030
400 400 42.3
TTA-A4SL-*-4040
4-Axis
500 500
100/
150
±180 /
±360
[deg]
600 600 170
1500
[deg/
sec]
X, Y axis : 0.5
Z axis : 0.3 30 20 15
49.3
TTA-A4SL-*-5050
Stroke [mm] Max. Speed for Each Axes
[mm/sec]
Max. Load
Capacity [kg] *2
Type
X Axis Y Axis Z Axis R Axis X Axis Y Axis Z Axis R Axis
Max.
acceleration/
deceleration
speed [G] X
Axis
Y
Axis
Z
Axis
Weight
[kg] Model
200 200 – – 1000 1000 24.0
TTA-A2SH-*-2020
300 300 – – 1200 31.0
TTA-A2SH-*-3030
400 400 – – 1200 37.0
TTA-A2SH-*-4040
2-Axis
500 500 – –
1200
1200 44.0
TTA-A2SH-*-5050
200 200 – 1000 800 27.3
TTA-A3SH-*-2020
300 300 – 1000 34.3
TTA-A3SH-*-3030
400 400 – 1200 40.3
TTA-A3SH-*-4040
3-Axis
500 500 –
1200
1200 47.3
TTA-A3SH-*-5050
200 200 1000 700 29.3
TTA-A4SH-*-2020
300 300 900 36.3
TTA-A4SH-*-3030
400 400 1050 42.3
TTA-A4SH-*-4040
4-Axis
500 500
100/
150
±180 /
±360
[deg] 1200
1200
400
1500
[deg/
sec]
X, Y axis : 0.7
Z axis : 0.5 15 11 7
49.3
TTA-A4SH-*-5050
4. Noise Elimination Grounding (Frame Ground)
Connect it using a soft copper wire with the diameter of 1.6 mm or more to the frame ground
on the main body (Refer to the above figure).
Do not share the ground wire with or connect to other equipment. Ground each controller.
The same procedure is applied for the protective ground.
Table Top TT Table Top TT
Other equipment Other equipment Other equipment
5. Precautions Regarding wiring Method
Separate the I/O cable, communication line and power / driving cable each other
6. Noise Sources and Elimination
Carry out noise elimination measures for power
devices on the same power path and in the same
equipment. The following are examples of
measures to eliminate noise sources:
1) AC solenoid valves, magnet switches and relays
[Measure] Install a Surge Absorber parallel with
the coil.
2) DC solenoid valves, magnet switches and
relays
[Measure] Install a diode parallel with the coil.
Use a DC relay with a built-in diode.
Wiring Diagram
I/O Signal
Input
*1 Set the input function in I/O Parameters 30 to 45 (input function select 000 to 015), set the port numbers
that each set function is to be assigned in I/O Parameters 283 to 298.
*2 The start switch on the front panel would not function if Input Function Select 000 (Program Start) is
assigned to any port except for Port No. 000.
*3 The program select switch on the front panel would not function if Input Function Select 007 to 013
(Program Select Switch) is assigned to any port except for Port No. 007 to No. 013.Output
I/O Flat Cable (Accessories) CB-PAC-PIO020
Input and Output Type
Input Section Output Section
Item Type Item Type
Input Voltage 24V DC ±10% Load Voltage 24V DC
Input Current 7mA / per output MAX. load
current 100mA/1 point 400mA/8 points*6
NPN ON Voltage :MIN. DC16V
OFF Voltage :MAX. DC5V Leakage Current MAX. 0.1mA/1 point
Type
ON/OFF
Voltage PNP ON Voltage :MIN. DC8V
OFF Voltage :MAX. DC19V
*6 The maximum load current total becomes 400mA for
every 8 ports from Output Port No. 316.
N
P
N
P
N
P
I/O Circuit diagrams
NPN Type PNP Type
Load Load
Pin No. Pin No.
++
Pin
No.
Electric
wire color
Port
No.
Function at Standard
Setting (when delivered)
1B Brown 3 316 nau utut
2B Red 3 317 nau utut
3B Orange 3 318 nau utut
4B Yellow 3 319 nau utut
5B Green 3 320 nau utut
6B Blue 3 321 nau utut
7B Purple 3 322 nau utut
8B Gray 3 323 nau utut
9B White 3 324 nau utut
10B Black 3 325 nau utut
11B Brown 4 326 nau utut
12B Red 4 327 nau utut
13B Orange 4 328 nau utut
14B Yellow 4 329 nau utut
15B Green 4 330 nau utut
16B Blue 4 331 nau utut
17B Purple 4 –
18B Gray 4 –
19B White 4 – I /O power supply 0V
20B Black 4 – I /O power supply 0V
Reference
It is set to general-purposed output at delivery, and input function can be changed in I/O parameter settings.
Parameter*4
No. Parameter name Function
46
331
utut untin tin 300*5
utut untin tin 300 (area 2) 0: General-purpose output
1: Output error of operation-cancellation level or higher (ON)
2: Output error of operation-cancellation level or higher (OFF)
3: Output error of operation-cancellation level or higher +
emergency stop (ON)
4: Output error of operation-cancellation level or higher +
emergency stop (OFF)
47
332
utut untin tin 301*5
utut untin tin 301 (area 2)
0: General-purpose output
1: READY output (PIO trigger program can be run)
2: READY output (PIO trigger program can be run and error of
operation-cancellation level or higher is not present)
3: READY output (PIO trigger program can be run and error of
cold-start level or higher is not present)
48
333
utut untin tin 302*5
utut untin tin 302 (area 2)
0: General-purpose output
1: Emergency stop output (ON)
2 :Emergency stop output (OFF)
49
334
utut untin tin 303*5
utut untin tin 303 (area 2)
0:General-purpose output
1: AUTO mode output
2: Output during automatic operation (The setting to “1“ the other
parameter No.12)
50
335
utut untin tin 304*5
utut untin tin 304 (area 2)
0: General-purpose output
1: Output if all valid axes are at home (= 0)
2: Output if all valid axes completed home return (coordinates
confirmed)
3: Output if all valid axes are at preset home coordinates
51
336
utut untin tin 305
utut untin tin 305 (area 2)
0: General-purpose output
2: Axis 1 in-position output
52
337
utut untin tin 306
utut untin tin 306 (area 2)
0: General-purpose output
2: Axis 2 in-position output
53
338
utut untin tin 307
utut untin tin 307 (area 2)
0: General-purpose output
2: Axis 3 in-position output
54
339
utut untin tin 308
utut untin tin 308 (area 2) 0: General-purpose output
55
340
utut untin tin 309
utut untin tin 309 (area 2) 0: General-purpose output
56
341
utut untin tin 310
utut untin tin 310 (area 2) 0: General-purpose output
57
342
utut untin tin 311
utut untin tin 311 (area 2) 0: General-purpose output
58
343
utut untin tin 312
utut untin tin 312 (area 2) 0: General-purpose output
59
344
utut untin tin 313
utut untin tin 313 (area 2) 0: General-purpose output
60
345
utut untin tin 314
utut untin tin 314 (area 2) 0: General-purpose output
61
346
utut untin tin 315
utut untin tin 315 (area 2) 0: General-purpose output
Pin
No.
Electric
wire color
Port
No.
Function at Standard
Setting (when delivered)
1A Brown 1 – I /O power supply+24V
2A Red 1 – I /O power supply+24V
3A Orange 1 –
4A Yellow 1 –
5A Green 1 016 nau inut
6A Blue 1 017 nau inut
7A Purple 1 018 nau inut
8A Gray 1 019 nau inut
9A White 1 020 nau inut
10A Black 1 021 nau inut
11A Brown 2 022 nau inut
12A Red 2 023 nau inut
13A Orange 2 024 nau inut
14A Yellow 2 025 nau inut
15A Green 2 026 nau inut
16A Blue 2 027 nau inut
17A Purple 2 028 nau inut
18A Gray 2 029 nau inut
19A White 2 030 nau inut
20A Black 2 031 nau inut
Reference
It is set to general-purposed input at delivery, and input function can be changed in I/O parameter settings.
Parameter*1
No. Parameter name Function
30 nut untin tin 0002 1: a tat
31 nut untin tin 001 0: nau inut
1: Software reset signal
32 nut untin tin 002 0: nau inut
1: Servo ON signal
33 nut untin tin 003 0: nau inut
1: Program Automatic Start runs with power-on
reset / software reset in AUTO Mode
2: Auto-start program signal
34 nut untin tin 004 0: nau inut
1: All servo axis soft interlock (OFF level)
35 nut untin tin 005 0: nau inut
1:Operation-pause reset (ON edge)
36 nut untin tin 006 0: nau inut
1: Operation-pause reset signal (OFF level)
37 nut untin tin 0073 0: nau inut
1: Program number specification (LSB)
38 nut untin tin 0083 0: nau inut
1: Program number specification (Bit 2)
39 nut untin tin 0093 0: nau inut
1: Program number specification (Bit 3)
40 nut untin tin 0103 0: nau inut
1: Program number specification (Bit 4)
41 nut untin tin 0113 0: nau inut
1: Program number specification (Bit 5)
42 nut untin tin 0123 0: nau inut
1: Program number specification (Bit 6)
43 nut untin tin 0133 0: nau inut
1: Program number specification (MSB: Bit 7)
2: Error reset (ON edge)
44 nut untin tin 014 0: nau inut
1: Driving source cutoff cancellation input (ON edge)
45 nut untin tin 015 0: nau inut
1: Home return of all valid axes (ON edge)
2: Home return of all valid incremental axes (ON edge)
No. Signal
Name
Cable
Color Wiring
1A 24V Brown-1
2A 24V Red-1
3A - Orange-1
4A - Yellow-1
5A IN0 Green-1
6A IN1 Blue-1
7A IN2 Purple-1
8A IN3 Gray-1
9A IN4 White-1
10A IN5 Black-1
11A IN 6 Brown-2
12A IN7 Red-2
13A IN8 Orange-2
14A IN9 Yellow-2
15A IN10 Green-2
16A IN11 Blue-2
17A IN12 Purple-2
18A IN13 Gray-2
19A IN14 White-2
20A IN15 Black-2
Flat Cable A
(Press Welding)
No. Signal
Name
Cable
Color Wiring
1B OUT0 Brown-3
2B OUT1 Red-3
3B OUT2 Orange-3
4B OUT3 Yellow-3
5B OUT4 Green-3
6B OUT5 Blue-3
7B OUT6 Purple-3
8B OUT7 Gray-3
9B OUT8 White-3
10B OUT9 Black-3
11B OUT10 Brown -4
12B OUT11 Red-4
13B OUT12 Orange-4
14B OUT13 Yellow-4
15B OUT14 Green-4
16B OUT15 Blue-4
17B - Purple-4
18B - Gray-4
19B OV White-4
20B OV Black-4
Flat Cable B
(Press Welding)
AWG28
Pins No. 1A, 2A
(Note 2)
Input Terminal
Ports No.016 to 031
Internal Power
External Power
Source
560Ω
3.3KΩ
+
-
24V DC +10%
Pins No. 1A, 2A (Note2)
Pins No. 19B, 20B(Note2)
Ports No.
316 to 331
Load
Output
Terminal
External Power
Source
Surge Absorber
Output Circuit
D
10Ω
24V DC +10%
+
-
Internal Power
Internal Power
External Power
Source
560Ω
3.3KΩ
+
-
24V DC +10%
Pins No. 19B, 20B
(Note 2)
Ports No.016 to 031
Input Terminal
Internal Power
Pins No. 1A, 2A
(Note 2)
Pins No. 19B, 20B
(Note 2)
Ports No.
316 to 331
Output
Te rm i n a l
Load
External Power
Source
Surge Absorber
Output Circuit
10Ω
24V DC +10%
+
-
Input and output are the equivalent circuit that shows the logic.
Surge Absorber
Relay Coil
0V
R
C
+24V
0V
+24V
+−
Relay
Coil
Flat Cable (20-core) ×2
20A 20B
1A 1B
Half Pitch MIL Socket
HIF6-40D-1.27R (Hirose Electric)
A
B
L
No treatment
conducted
No treatment
conducted
*4 Set the input function in I/O Parameters 46 to 61 (output function select 300 to 315), set the port numbers
that each set function is to be assigned in I/O Parameters 299 to 314. Also, it is available to set the output
function in I/O Parameters 331 to 346 (Output Function Select 300 Area 2 to 315 Area 2), and set the port
numbers to assign each set function in I/O Parameters 315 to 330.
In case of outputting the system output to I/O in the table above, use Output Function Select Area 2.
*5 LEDs would not function in case that Parameters 46 to 50 are set as general-purposed output, or change
is made to the port number assignment in Parameters 299 to 303 as Output Function Select 300 to 304
are assigned to the LEDs on the panel window.
Front Panel Wiring Layout
Back Panel Wiring Layout
Variety of Fieldbus (Options) IO Flat Cable (Accessories)
Model: CB-PAC-PIO020
Model: TB-01-S
Touch Panel
Tea c hin g ( Opti on )
Model: IA-101-X-MW
IA-101-TTA-USB
IA-101-X-USBMW
IA-101-XA-MW
PC Software
(
O
p
tion
)
Emergency
Stop Switch
Electromagnet
ic Contactor
Enable Switch
PC Connection Cable
(Enclosed in PC Software)
Model: CB-ST-E1MW050 (5m)
CB-SEL-USB030 (3m)
CB-ST-AIMW050 (5m)
AC100 to 230V
Select from those below
for power supply cable
Only with plug on main
unit side
Power supply cable
for 100V AC (2m)
Power supply cable
for 200V AC (2m)
Protective
Grounding
Extension
I/O Slot
Standard I/O
Service Power
Supply Connector
* Emergency stop switch, enable switch, electromagnetic contactor and other considered devices are to be in
layout if necessary. Operation is available with the settings at delivery (short-circuit treatment).
Dummy Plug
Model: DP-2
* Enclosed in global type and PC Software (IA-101-TTA-USB)
Monitor
LED
CC-Link
Communication
Connector
Monitor LED
PROFIBUS-DP
Communication
Connector
DeviceNet
[Refer to the instruction manuals for DeviceNet]
Monitor LED Illuminating, ×OFF, Flashing
LED Color Indication
Status Indication Description
Online, Communication in normal condition
Green Online, No connection established
Critical link error
Orange Connection timeout
Green
Orange
(Illuminated
by turns)
Self-testing
NS
- × Offline / No power supply
Normal operation
Green Configuration setting not established or not
complete → test run required
An error that cannot be recovered
Orange An error that can be recovered
Green
Orange
(Illuminated
by turns)
Self-testing
MS
× No power supply
Connector Name DeviceNet Connector
Cable Side MSTB2.5/5-ST-5.08 ABGY AU Enclosed in standard package
Manufactured by PHOENIX CONTACT
Controller Side MSTBA2.5/5-G-5.08 ABGY AU
CC-Link
[Refer to the instruction manuals for CC-Link]
Monitor LED Illuminating, ×OFF, Flashing
LED Color Indication
Status Indication Description
Error in reception data to self station
Communication setting error (station setting, baud rate
setting, etc.)
The station No. and baud rate set values are changed
from ones set at the time of reset cancellation (flashes in
0.4sec cycle)
STATUS1 Orange
× In normal communication
STATUS0 Green
Turns on when communication is started, and turns off
when communication is disconnected for the specified
time
Connector Name CC-Link Connector
Cable Side MSTB2.5/5-ST-5.08AU Enclosed in standard package
Manufactured by PHOENIX
CONTACT
Controller Side MSTBA2.5/5-G-5.08AU
PROFIBUS-DP
[Refer to the instruction manuals for PROFIBUS-DP]
Monitor LED Illuminating, ×OFF, Flashing
LED Color Indication
Status Indication Description
Online (Communication in normal condition)
Green Online (Cleared)
(1HZ) Parameterizing data error
Orange (2HZ) Configuration error
Operation
Mode
- × Online / No power supply
Completed
Green Completed (with network check event)
Orange exceptional error
Status
- × No power supply / Initializing not executed
Connector Name PROFIBUS-DP Connector
Cable Side 9-pin D-sub Connector (Male) Please prepare separately
Controller Side 9-pin D-sub Connector (Female)
EtherNet/IP
[Refer to the instruction manuals for EtherNet/IP]
Connector Name EtherNet/IP Connector
Cable Side 8P8C Module Plug
Controller Side 8P8C Module Jack
Pin No. Signal Name Description Applicable Cable Diameter
1 TD+ Data transmitted +
2 TD- Data transmitted -
3 RD+ Data received +
4 - Not used
5 - Not used
6 RD- Data received -
7 - Not used
8 - Not used
For EtherNet cable, use a straight STP
cable that possesses the performance of
Category 5e or more.
EtherCAT
[Refer to the instruction manuals for EtherCAT]
Monitor LED Illuminating, ×OFF, Flashing
Connector Name EtherCAT Connector
Cable Side 8P8C modular plug
Controller Side 8P8C modular jack
Starting Procedures
When using this product for the first time, pursue work while making sure to avoid omission
and incorrect wiring by referring to the procedure below.
LED Color Indication
Status Indication Description
Communication in normal condition
(in OPERATION condition)
0.2sec cycle Configuration condition
(in PRE-OPERATION condition)
Green
ON 0.2sec
/ OFF 1sec
Configuration complete condition
(in SAFE-OPERATION condition)
Orange Error impossible to recover
RUN
× In initialized condition (in INIT condition)
/ No power supply
Error impossible to recover
0.2sec cycle Network construction error
Orange ON 0.2sec
2times / OFF 1sec
Communication error
(Watch dock time-out)
ERR
× No power supply / No error
Linked (Communication traffic not
detected)
Green
0.05sec cycle Linked (Communication traffic detected )
Link/
Activity
× No link / No power supply
No→
•
To ensure safety, it is recommended that safety
speed be enabled during initial movements.
Point Check Item
• Is frame ground (FG) connected?
• Has the noise countermeasure been taken?
Yes
No →
→
Power Supply and Alarm Check
Connect the personal computer or teaching
pendant, set the AUTO/MANU switch to the
[MANU] side and inject the power.
Deal with each condition
depending on the status
display.
Servo ON
Turn ON the servo motor with the
personal computer or teaching
pendant operation.
Check Item
Check that SV is ON in
Position Edit Window on PC
software or teaching
pendant.
During the alarm output, confirm the alarm
description and deal with the condition with the
personal computer or teaching pendant
operation.
No →
→
Yes
Check Item
Is the status display
showing [ ] ?
Parameter Settings [Refer to Chapter 6]
Set the parameters including I/O parameter with the personal computer or teaching pendant operation.
[Reference] Set I/O Parameters No. 10 to 11 to 0 (Not to Monitor Errors) if starting up the system without connecting I/O
24V power supply for PIO Type. Set either of I/O Parameter No. 18 or 235 to 0 (Not to Monitor Errors) if starting up the
system without connecting Fieldbus for Fieldbus Type.
Check of Packed Items
Has everything been received?
Yes
No→
Confirming the operation of the actuato
r
Confirm that the full stroke operation is performed without any
trouble with the jog operation.
Yes
Check of Safety Circuit
Does the emergency stop circuit (drive cutoff circuit) work
properly and turn the servo OFF?
Installation and Wiring
Perform the installation and wiring according
to the instruction manual and this guide.
Contact us or our distributor.
Yes
Check the emergency stop circuit.
Set-up for operation is complete.
Establish the setting that suits to your operation patterns.
Monitor LED
RD
WT
None
BL
BK
DeviceNet
Communication
Connector
5 1
9 6
Cable
Shield
Red B line (Positive side)
Green A line (Negative side)
Shield
BL (CAN L)
RD (V+)
WT (CAN H)
BK (V-)
Slave Devices
XSEL
V+
Drain
(Shield)
CAN_H
CAN_L
V-
RD
WT
BL
BK
RD
WT
BL
BK
V+
Drain
(Shield)
CAN_H
CAN_L
Class D grounding
(Formerly Class-III grounding: Grounding resistance
at 100Ωor less)
V+
Drain
(Shield)
CAN_H
CAN_L
V-
RD
WT
BL
BK
Communication power needs to be
supplied by an external device.
Terminal Resistance is required
to be mounted on the terminal.
V-
Terminal Resistance
121Ω
Master Unit
Terminal Resistance
121Ω
24V
Power Supply
Grounding resistance at 100 or less
WT (DB)
BL (DA)
Shield (SLD)
YW (DG)
Slave Devices
XSEL
SLD and FG are internally connected.
Terminal Resistance is required
to be mounted on the terminal.
The terminal resistor differs depending on the type
of the dedicated cable for CC-Link.
• Cable FANC-SBH···130Ω1/2W
(High Performance Cable
dedicated for CC-Link)
• Cable FANC-SB······110Ω1/2W
(CC-Link Dedicated Cable)
Master Unit Terminal
Resistance
Terminal
Resistance
Class D grounding
(Formerly Class-III grounding:
Grounding resistance at 100Ωor less)
Grounding resistance at 100 or less
Controller Side
Connector Front View
EtherNet Straight Cable Category 5e or more
Double shielded cable braided with aluminum foil recommended
at nit
itin u
Slave Device
EtherNet/IP iiatin
Link/Activity
EtherCATポート
(IN)
Link/Activity
EtherCATポート
(OUT)
1
8
EtherCAT Port
(OUT)
Link/Activity
EtherCAT Port
(IN)
Link/Activity
Troubleshooting
The following alarm displays are frequently generated at the start-up operation.
Deal with each of them referring to the following table.
Status display Status contents Cause and Remedy
During
Emergency-stop
It is not an alarm.
• It is caused when the emergency stop button is not cleared on the
front panel. Clear it.
• It is generated when the emergency stop switch in the teaching
pendant or the personal computer application software is not
cancelled. In such case, cancel it.
• It is generated when the personal computer cable is not
connected to the emergency stop box.
Deadman switch OFF It is not an alarm.
• It generated when the AUTO/MANU switch has been set to
“MANU” and the personal computer or the teaching pendant is
not connected. Connect the personal computer or the teaching
pendant or set the AUTO/MANU switch to “AUTO”.
• When the actuator is to be started up, hold the deadman switch
on the teaching pendant to turn it on.
AC Power nterruption
Momentary Power
Failure Power Voltage
Drop
It is generated when the power voltage is not supplied. Check the
power supply.
24V I/O Error It is generated when the +24V power for I/O is not supplied. Check
the power supply.
(Procedure for starting up I/O 24V power unit without connection)
Set both the I/O parameter No. 10 and No. 12 to “0”.
In this case, the I/O connection is invalid.
Field Bus Error It is generated when the field bus link connection is not established.
Check the link cable connection, I/O parameter and PLC parameter
settings.
(How to start up the controller without connecting the field bus)
Set both the I/O parameter No. 10 and No. 12 to “0”.
Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan
TEL +81-54-364-5105 FAX +81-54-364-2589
website: www.iai-robot.co.jp/
Ober der Röth 4, D-65824 Schwalbach am Taunus, Germany
TEL 06196-88950 FAX 06196-889524
SHANGHAI JIAHUA BUSINESS CENTER A8-303, 808, Hongqiao Rd. Shanghai 200030, China
TEL 021-6448-4753 FAX 021-6448-3992
website: www.iai-robot.com
Technical Support available in USA, Europe and China
Head Office: 2690 W. 237th Street, Torrance, CA 90505
TEL (310) 891-6015 FAX (310) 891-0815
Chicago Office: 110 East State Parkway, Schaumburg, IL 60173
TEL(847) 908-1400 FAX (847) 908-1399
TEL (678) 354-9470 FAX (678) 354-9471
website: www.intelligentactuator.com
Atlanta Office: 1220 Kennestone Circle, Suite 108, Marietta, GA 30066
825 PhairojKijja Tower 12th Floor, Bangna-Trad RD., Bangna, Bangna, Bangkok 10260, Thailand
TEL +66-2-361-4458 FAX +66-2-361-4456
Manual No.: ME0321-6A
Tabletop Robot
TTA
Instruction Manual 11th Edition
IAI Cor
p
oration
aet recautions or ur roducts
Other manuals for TTA Series
1
This manual suits for next models
6
Table of contents
Other IAI Robotics manuals
Popular Robotics manuals by other brands
Erector
Erector SpyKee instruction manual
Innovation First
Innovation First HEXBUG BATTLEBOTS WITCH DOCTOR 413-5186 instructions
fischertechnik
fischertechnik Smart Robots Pro Assembly instructions
Estun
Estun Mini Series Operation instructions
Wifibot
Wifibot SC quick start guide
ROKAE
ROKAE XB10 Series product manual
YASKAWA
YASKAWA MOTOMAN-MA1900 instructions
ABB
ABB DressPack IRB 6640 product manual
fruitcore robotics
fruitcore robotics HORST900 Assembly instructions
Toshiba
Toshiba TH Series instruction manual
RoboSpecies
RoboSpecies RobotriX Electronica instructions
Innovation First
Innovation First HEXBUG VEX ROBOTICS MOBILE LAB 406-6106 manual