IAI TTA Series User manual

Tabletop Robot
TTA
Instruction Manual 12th Edition
IAI Cor
p
oration

Please Read Before Use
Thank you for purchasing our product.
This Instruction Manual describes all necessary information items to operate this product safely such as
the operation procedure, structure and maintenance procedure.
Before the operation, read this manual carefully and fully understand it to operate this product safely.
This product is designed assuming that installation to the factory equipment is held by educated
operators.
Please contact IAI if purposed for another use.
The enclosed DVD in this product package includes the Instruction Manual for this product.
For the operation of this product, print out the necessary sections in the Instruction Manual or display
them using the personal computer.
After reading through this manual, keep this Instruction Manual at hand so that the operator of this
product can read it whenever necessary.
[Important]
 This Instruction Manual is original.
 The product cannot be operated in any way unless expressly specified in this Instruction
Manual. IAI shall assume no responsibility for the outcome of any operation not specified
herein.
 Information contained in this Instruction Manual is subject to change without notice for the
purpose of product improvement.
 If you have any question or comment regarding the content of this manual, please contact the
IAI sales office near you.
 Using or copying all or part of this Instruction Manual without permission is prohibited.
 The company names, names of products and trademarks of each company shown in the
sentences are registered trademarks.

Table of Contents
Safety Guideꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ1
Caution in Handingꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ8
International Standards Compliances ꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ9
Name and Function of Each Partꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏꞏ 10
Chapter 1 Specifications Check ......................................................33
1.1 Product Check ...................................................................................................33
1.1.1 Parts.........................................................................................................................33
1.1.2 Instruction Manuals Related to This Product, which are Contained in the
Instruction Manual (DVD)........................................................................................34
1.1.3 How to Read the Model Plate..................................................................................34
1.1.4 How to Read the Model ...........................................................................................35
1.1.5 Model Codes for Option of Y-axis Mount Position Change .....................................37
1.1.6 Model Code for ZR Axis Front-Back Direction Position Change Option .................38
1.2 Mechanical Specifications .................................................................................39
1.2.1 Speed.......................................................................................................................39
[1] Work Moving Type Pulse Motor Specifications...............................................................39
[2] Work Fixing Type Pulse Motor Specifications.................................................................39
[3] Work Moving Type Servo Motor Low Lead Specifications .............................................39
[4] Work Moving Type Servo Motor High Lead specification...............................................39
[5] Work Fixing Type Servo Motor Low Lead Specifications ...............................................40
[6] Work Fixing Type Servo Motor High Lead specification.................................................40
1.2.2 Max. Speed, Max. Acceleration Speed and Transportable Mass ............................41
[1] Work Moving Type Pulse Motor Specifications...............................................................41
[2] Work Fixing Type Pulse Motor Specifications.................................................................41
[3] Work Moving Type Servo Motor Low Lead Specifications .............................................42
[4] Work Moving Type Servo Motor High Lead Specification ..............................................42
[5] Work Fixing Type Servo Motor Low Lead Specifications ...............................................43
[6] Work Fixing Type Servo Motor High Lead Specifications...............................................43
1.2.3 Driving System and Position Detector.....................................................................44
[1] Pulse Motor Standard Specifications..............................................................................44
[2] Pulse Motor High Resolution Specifications...................................................................44
[3] Servo Motor Low Lead Specifications ............................................................................44
[4] Servo Motor High Lead Specifications ...........................................................................44
1.2.4 Positioning Repeatability, Lost Motion (Note 1).......................................................45
[1] Pulse Motor Standard Specifications..............................................................................45
[2] Pulse Motor High Resolution Specifications...................................................................45
[3] Servo Motor Low Lead Specifications ............................................................................45
[4] Servo Motor High Lead Specifications ...........................................................................45
1.2.5 Relation between Current Limit Value and Pressing Force.....................................46
[1] Pulse Motor Specifications .............................................................................................46
[2] Servo Motor Specifications.............................................................................................48
1.2.6 Allowable Moment for Actuator................................................................................49
[1] Work Moving Type Pulse Motor Specifications ..............................................................49
[2] Work Fixing Type Pulse Motor Specifications................................................................50
[3] Work Moving Type Servo Motor Specifications ..............................................................51
[4] Work Fixing Type Servo Motor Specifications................................................................52
1.2.7 Ma Direction Moment Offset Datum Position and the Moment Direction of
Each Axis.................................................................................................................53
1.2.8 Duty of Continuous Operation .................................................................................55
1.3 Electrical Specifications .....................................................................................60
1.3.1 Protection Circuit .....................................................................................................62
[1] Selection of Circuit Breaker ............................................................................................62
[2] Selection of Leakage Breaker ........................................................................................63

1.3.2 Standard I/O Input and Output Interface..................................................................64
1.3.3 Standard I/O Connector Pin Assignment.................................................................65
1.3.4 Extension I/O Input and Output Interface ................................................................66
1.3.5 Extension I/O Connector Pin Assignment................................................................67
1.3.6 Table for I/O Assignment..........................................................................................68
1.3.7 Specifications for Service Power Supply Output .....................................................71
1.4 Options ..............................................................................................................72
1.4.1 X, Y and Z-Axes Options .........................................................................................72
[1] Home-Position Check Sensor (Model: HS) ..............................................................72
[2] Reversed-Home Specification (Model: NM) .............................................................72
[3] Brake Specification (Model: B)..................................................................................72
[4] With Cover Specification (dedicated for 4-axis type) (Model: CO) ...........................72
1.4.2 Equipment Options ..................................................................................................72
[1] Y Change in Y-Axis Mount Position (H1, H2, F1 and F2).........................................72
[2] Main-Unit Bracket-Equipped Type (Model: FT4, FT6)..............................................72
[3] Support Added for 2020 Type (Model: AP) ...............................................................72
[4] Detachable Operation Unit Type (Model: OS) ..........................................................72
[5] Side Slot Attachment Type (Model: SLT0, SLT)........................................................72
[6] Side Plate to Attach Devices (Model: PTH, PTN).....................................................72
[7] ZR-axis Mounting Position 64.5mm Forward (Model: FZ)........................................72
Chapter 2 Installation ......................................................................73
2.1 Transportation....................................................................................................73
2.2 Installation and Storage • Preservation Environment ........................................73
[1] Installation Environment ...........................................................................................73
[2] Storage • Preservation Environment.........................................................................73
2.3 How to Install .....................................................................................................74
2.3.1 Installation Orientation.............................................................................................74
2.3.2 How to Fix Unit ........................................................................................................75
[1] Work Moving Type ....................................................................................................75
[2] Work Fixing Type ......................................................................................................76
2.3.3 Attachment of the Transported Object.....................................................................77
2.3.4 Loadable Weight on Table .......................................................................................78
2.3.5 How to Attach Supportive Tools...............................................................................79
2.4 Procedures to Detach Operation Part................................................................80
Chapter 3 Wiring .............................................................................83
3.1 Wiring Diagram..................................................................................................83
3.2 Power Supply, Emergency Stop Circuit and Enable Circuit...............................84
3.2.1 Pulse Motor Type.....................................................................................................84
[1] Internal Circuit Composition......................................................................................84
[2] Example for Composition of Emergency Stop and Enable Circuits..........................86
3.2.2 AC Servo Motor Type ..............................................................................................91
[1] Internal Circuit Composition......................................................................................91
[2] Example for Composition of Emergency Stop and Enable Circuits..........................93
3.2.3 Safety Circuit Timing Charts for TTA (Pulse Motor, Servo Motor) ...........................98
3.3 IO Circuit..........................................................................................................105
3.3.1 Input and Output Ports Assignment Specification .................................................105
3.3.2 I/O Assignment Parameter List..............................................................................108
3.3.3 Example for Parameter Settings at Delivery .........................................................109
3.3.4 Standard I/O........................................................................................................... 111
[1] When Service Power Supply Switch is ON (Internal Power Source) ..................... 111
[2] When Service Power Supply Switch is ON (Internal Power Source) ..................... 112
[3] When Service Power Supply Switch is OFF (External Power Source) .................. 113
3.3.5 Extension I/O ......................................................................................................... 114
3.4 Wiring Method ................................................................................................. 115
3.4.1 Wiring on AC Inlet for Power Supply ..................................................................... 115

3.4.2 Wiring for the Teaching Tool ..................................................................................115
[1] RS232C Interface ................................................................................................... 116
[2] USB Interface..........................................................................................................117
3.4.3 Wiring of System I/O.............................................................................................. 118
3.4.4 Wiring for PIO ........................................................................................................ 119
[1] IO Cable Layout......................................................................................................119
[2] IO Replacement Cable Layout................................................................................120
3.4.5 Grounding ..............................................................................................................121
3.4.6 Wiring for SIO Module Communication Cable.......................................................122
[1] SIO Module 485 Communication Cable (one end with bare cut without
connectors with no terminal finishing) ....................................................................122
[2] SIO Module 485 Communication Cable (one end with bare cut without
connectors with terminal finishing)..........................................................................122
[3] SIO Module 232C Communication Cable (one end with bare cut without
connectors) .............................................................................................................123
Chapter 4 Operation......................................................................125
4.1 Types of Operations ........................................................................................125
4.2 Starting the Controller......................................................................................126
4.2.1 Power Supply and Cutoff.......................................................................................126
[1] Power Supply Sequence ........................................................................................126
[2] Power Cutoff Sequence..........................................................................................126
4.2.2 Panel Window Display...........................................................................................127
4.3 Program Operation ..........................................................................................129
4.3.1 Auto Start upon Power On.....................................................................................129
4.3.2 Starting a Program by Specifying its Program Number.........................................131
4.4 Receiving and Forwarding of I/O Signals Necessary for Operation ................ 133
4.5 Position Table and Program Creation and Writing........................................... 136
4.6 How to Use Internal DIO..................................................................................137
4.6.1 Internal DI and Dedicated Functions .....................................................................137
4.6.2 7-Segment Display by User SEL Program ............................................................138
4.7 Standard Interface ...........................................................................................141
4.8 Payload Adjusted for Setting Values................................................................145
4.8.1 Work Moving Type Pulse Motor Specifications...................................................146
4.8.2 Work Fixing Type Pulse Motor Specifications.....................................................147
4.8.3 Work Moving Type Servo Motor Low Lead Specifications .................................148
4.8.4 Work Moving Type Servo Motor High Lead specification ...................................150
4.8.5 Work Fixing Type Servo Motor Low Lead Specifications....................................151
4.8.6 Work Fixing Type Servo Motor High Lead specification .....................................153
Chapter 5 List of Parameters ........................................................155
5.1 I/O Parameters ................................................................................................156
5.2 All Axes Common Parameters.........................................................................177
5.3 Axis-Specific Parameters.................................................................................181
5.4 Driver Card Parameters...................................................................................187
5.5 Encoder Parameters........................................................................................192
5.6 I/O-Slot Card Parameters ................................................................................194
5.7 Other Parameters ............................................................................................198
5.8 Parameters for Linear / Rotation Controls .......................................................203
Chapter 6 Error List.......................................................................204
6.1 Error Level Control ..........................................................................................204
6.2 Error List (MAIN Application) ...........................................................................207
6.3 Error List (MAIN Core).....................................................................................240

Chapter 7 Appendix.......................................................................243
7.1 Work and Tool Coordinate System Features for Linear Axis ........................... 243
7.1.1 Coordinates for Coordinate System Definition Unit...............................................244
[1] Each Axis System ...................................................................................................245
[2] Base Coordinate System ........................................................................................246
[3] Work Coordinate System........................................................................................248
[4] Tool Coordinate System..........................................................................................253
7.1.2 Setting of parameters ............................................................................................257
7.1.3 Caution Note..........................................................................................................260
[1] Limitation in Coordinate System Constructing Axes...............................................260
[2] Note for Other Caution............................................................................................261
7.2 Extension SIO Features ..................................................................................262
7.2.1 Specification...........................................................................................................262
7.2.2 Functions ...............................................................................................................262
7.2.3 Caution...................................................................................................................263
7.2.4 Parameter Setting..................................................................................................264
7.2.5 Example of Use .....................................................................................................269
Chapter 8 Maintenance and Inspection.........................................271
8.1 Inspection Items and Schedule .......................................................................271
8.2 External visual inspection ................................................................................271
8.3 Internal visual inspection .................................................................................271
8.4 Cleaning ..........................................................................................................271
8.5 Grease Supply.................................................................................................272
8.5.1 Grease to Apply .....................................................................................................272
8.5.2 Period of Time to Supply Grease...........................................................................272
8.5.3 How to supply the grease ......................................................................................273
8.6 Replacement of Timing Belt.............................................................................281
8.6.1 Inspecting the Belt .................................................................................................281
8.6.2 Applicable Belt .......................................................................................................281
8.7 Period of Time for Fan Unit Replacement .......................................................301
Chapter 9 External Dimensions.....................................................303
9.1 Servo Motor Type, Pulse Motor Type (Battery-less Absolute Specification)....303
9.1.1 Work Moving Type .................................................................................................303
[1] Two-Axis: X & Y-Axes 200mm Stroke.....................................................................303
[2] Two-Axis: X & Y-Axes 300mm Stroke.....................................................................304
[3] Two-Axis: X & Y-Axes 400mm Stroke.....................................................................305
[4] Two-Axis: X & Y-Axes 500mm Stroke.....................................................................306
[5] Three-Axis: X & Y-Axes 200mm Stroke, Z-Axis 100mm/150mm Stroke ................307
[6] Three-Axis: X & Y-Axes 300mm Stroke, Z-Axis 100mm/150mm Stroke ................308
[7] Three-Axis: X & Y-Axes 400mm Stroke, Z-Axis 100mm/150mm Stroke ................309
[8] Three-Axis: X & Y-Axes 500mm Stroke, Z-Axis 100mm/150mm Stroke ................310
[9] Four-Axis: X & Y-Axes 200mm Stroke, Z-Axis 100mm/150mm Stroke .................. 311
[10] Four-Axis: X & Y-Axes 300mm Stroke, Z-Axis 100mm/150mm Stroke ..................312
[11] Four-Axis: X & Y-Axes 400mm Stroke, Z-Axis 100mm/150mm Stroke ..................313
[12] Four-Axis: X & Y-Axes 500mm Stroke, Z-Axis 100mm/150mm Stroke ..................314
9.1.2 Work Fixing Type...................................................................................................315
[1] Two-Axis: X- Axis 200mm Stroke, Y-Axis 150mm Stroke .......................................315
[2] Two-Axis: X- Axis 300mm Stroke, Y-Axis 250mm Stroke .......................................316
[3] Two-Axis: X- Axis 400mm Stroke, Y-Axis 350mm Stroke .......................................317
[4] Two-Axis: X- Axis 500mm Stroke, Y-Axis 450mm Stroke .......................................318
[5] Three-Axis: X- Axis 200mm Stroke, Y-Axis 150mm Stroke, Z-Axis 100mm/
150mm Stroke.........................................................................................................319
[6] Three-Axis: X- Axis 300mm Stroke, Y-Axis 250mm Stroke, Z-Axis 100mm/
150mm Stroke.........................................................................................................320

[7] Three-Axis: X- Axis 400mm Stroke, Y-Axis 350mm Stroke, Z-Axis 100mm/
150mm Stroke.........................................................................................................321
[8] Three-Axis: X- Axis 500mm Stroke, Y-Axis 450mm Stroke, Z-Axis 100mm/
150mm Stroke.........................................................................................................322
[9] Four-Axis: X- Axis 300mm Stroke, Y-Axis 250mm Stroke, Z-Axis 100mm/
150mm Stroke.........................................................................................................323
[10] Four-Axis: X- Axis 300mm Stroke, Y-Axis 250mm Stroke, Z-Axis 100mm/
150mm Stroke.........................................................................................................324
[11] Four-Axis: X- Axis 400mm Stroke, Y-Axis 350mm Stroke, Z-Axis 100mm/
150mm Stroke.........................................................................................................325
[12] Four-Axis: X- Axis 500mm Stroke, Y-Axis 450mm Stroke, Z-Axis 100mm/
150mm Stroke.........................................................................................................326
9. 2 Pulse Motor Type (Incremental Specification) .................................................327
9.2.1 Work Moving Type .................................................................................................327
[1] Two-Axis: X & Y-Axes 200mm Stroke.....................................................................327
[2] Two-Axis: X & Y-Axes 300mm Stroke.....................................................................328
[3] Two-Axis: X & Y-Axes 400mm Stroke.....................................................................329
[4] Two-Axis: X & Y-Axes 500mm Stroke.....................................................................330
[5] Three-Axis: X & Y-Axes 200mm Stroke, Z- Axis 100mm/150mm Stroke ...............331
[6] Three-Axis: X & Y-Axes 300mm Stroke, Z- Axis 100mm/150mm Stroke ...............332
[7] Three-Axis: X & Y-Axes 400mm Stroke, Z- Axis 100mm/150mm Stroke ...............333
[8] Three-Axis: X & Y-Axes 500mm Stroke, Z- Axis 100mm/150mm Stroke ...............334
[9] Four-Axis: X & Y-Axes 200mm Stroke, Z- Axis 100mm/150mm Stroke .................335
[10] Four-Axis: X & Y-Axes 300mm Stroke, Z- Axis 100mm/150mm Stroke .................336
[11] Four-Axis: X & Y-Axes 400mm Stroke, Z- Axis 100mm/150mm Stroke .................337
[12] Four-Axis: X & Y-Axes 500mm Stroke,Z- Axis 100mm/150mm Stroke ..................338
9.2.2 Work Fixing Type ...................................................................................................339
[1] Two-Axis: X-Axis 200mm Stroke, Y-Axis 150mm Stroke ........................................339
[2] Two-Axis: X-Axis 300mm Stroke, Y-Axis 550mm Stroke ........................................340
[3] Two-Axis: X-Axis 400mm Stroke, Y-Axis 350mm Stroke ........................................341
[4] Two-Axis: X-Axis 500mm Stroke, Y-Axis 450mm Stroke ........................................342
[5] Three-Axis: X-Axis 200mm Stroke, Y-Axis 150mm Stroke, Z-Axis 100mm/
150mm Stroke.........................................................................................................343
[6] Three-Axis: X-Axis 300mm Stroke, Y-Axis 250mm Stroke, Z-Axis 100mm/
150mm Stroke.........................................................................................................344
[7] Three-Axis: X-Axis 400mm Stroke, Y-Axis 350mm Stroke, Z-Axis 100mm/
150mm Stroke.........................................................................................................345
[8] Three-Axis: X-Axis 500mm Stroke, Y-Axis 450mm Stroke, Z-Axis 100mm/
150mm Stroke.........................................................................................................346
[9] Four-Axis: X-Axis 200mm Stroke, Y-Axis 150mm Stroke, Z-Axis 100mm/
150mm Stroke.........................................................................................................347
[10] Four-Axis: X-Axis 300mm Stroke, Y-Axis 250mm Stroke, Z-Axis 100mm/
150mm Stroke.........................................................................................................348
[11] Four-Axis: X-Axis 400mm Stroke, Y-Axis 350mm Stroke, Z-Axis 100mm/
150mm Stroke.........................................................................................................349
[12] Four-Axis: X-Axis 500mm Stroke, Y-Axis 450mm Stroke, Z-Axis 100mm/
150mm Stroke.........................................................................................................350
9.3 Option ..............................................................................................................351
9.3.1 Work Moving Type .................................................................................................351
[1] Option .....................................................................................................................351
[2] Frame Option..........................................................................................................352
[3] Side Plate Option....................................................................................................353
[4] Side Slot Option......................................................................................................354
[5] Bracket-Equipped Option........................................................................................355
9.3.2 Work Fixing Type...................................................................................................356
[1] Frame Option..........................................................................................................356
[2] Side Slot Option......................................................................................................357

Chapter 10 Life................................................................................359
Chapter 11 Warranty .......................................................................361
11.1 Warranty Period...............................................................................................361
11.2 Scope of the Warranty .....................................................................................361
11.3 Honoring the Warranty.....................................................................................361
11.4 Limited Liability................................................................................................361
11.5 Conditions of Conformance with Applicable Standards/Regulations, Etc.,
and Applications ..............................................................................................362
11.6 Other Items Excluded from Warranty ..............................................................362
Change History................................................................................363

1
Safety Guide
“Safety Guide” has been written to use the machine safely and so prevent personal injury or property
damage beforehand. Make sure to read it before the operation of this product.
Safety Precautions for Our Products
The common safety precautions for the use of any of our robots in each operation.
No. Operation
Description Description
1 Model
Selection
● This product has not been planned and designed for the application
where high level of safety is required, so the guarantee of the protection
of human life is impossible. Accordingly, do not use it in any of the
following applications.
1) Medical equipment used to maintain, control or otherwise affect
human life or physical health.
2) Mechanisms and machinery designed for the purpose of moving or
transporting people (For vehicle, railway facility or air navigation
facility)
3) Important safety parts of machinery (Safety device, etc.)
● Do not use the product outside the specifications. Failure to do so may
considerably shorten the life of the product.
● Do not use it in any of the following environments.
1) Location where there is any inflammable gas, inflammable object or
explosive
2) Place with potential exposure to radiation
3) Location with the ambient temperature or relative humidity exceeding
the specification range
4) Location where radiant heat is added from direct sunlight or other
large heat source
5) Location where condensation occurs due to abrupt temperature
changes
6) Location where there is any corrosive gas (sulfuric acid or
hydrochloric acid)
7) Location exposed to significant amount of dust, salt or iron powder
8) Location subject to direct vibration or impact
● An axis on a robot that is used in vertical is equipped with a brake in
standard. To apply a load with its weight more than the maximum
transportable weight may disable the brake, which may result in damage
on a work piece or an accident. Never attempt to do so.

2
No. Operation
Description Description
2 Transportation ● When carrying a heavy object (approx. 20kg or more, with a heavy load
warning sign), do the work with two or more persons or utilize equipment
such as a hand cart or crane.
● When the work is carried out with 2 or more persons, make it clear who
is to be the leader and who to be the follower(s) and communicate well
with each other to ensure the safety of the workers.
● When in transportation, consider well about the positions to hold, weight
and weight balance and pay special attention to the carried object so it
would not get hit or dropped.
● Transport it using an appropriate transportation measure.
When using a crane, have tough cloth or ropes as a hanging tool, wrap
up the product considering the weight balance of it, and pay attention to
safety to transport the product.
● Do not step or sit on the package.
● Do not put any heavy thing that can deform the package, on it.
● When using a crane capable of 1t or more of weight, have an operator
who has qualifications for crane operation and sling work.
● When using a crane or equivalent equipments, make sure not to hang a
load that weighs more than the equipment’s capability limit.
● Use a hook that is suitable for the load. Consider the safety factor of the
hook in such factors as shear strength.
● Do not get on the load that is hung on a crane.
● Do not leave a load hung up with a crane.
● Do not stand under the load that is hung up with a crane.
3 Storage and
Preservation
● The storage and preservation environment conforms to the installation
environment. However, especially give consideration to the prevention
of condensation.
● Store the products with a consideration not to fall them over or drop due
to an act of God such as earthquake.
4 Installation
and Start
(1) Installation of Robot Main Body.
● Make sure to securely hold and fix the product (including the work part).
A fall, drop or abnormal motion of the product may cause a damage or
injury.
Also, be equipped for a fall-over or drop due to an act of God such as
earthquake.
● Do not get on or put anything on the product. Failure to do so may cause
an accidental fall, injury or damage to the product due to a drop of
anything, malfunction of the product, performance degradation, or
shortening of its life.
● When using the product in any of the places specified below, provide a
sufficient shield.
1) Location where electric noise is generated
2) Location where high electrical or magnetic field is present
3) Location with the mains or power lines passing nearby
4) Location where the product may come in contact with water, oil or
chemical droplets

3
No. Operation
Description Description
(2) Cable Wiring
● Use our company’s genuine cables for connecting power supply, and for
the teaching tool.
● Make sure that the wiring of the power supply cable with a ring tongue
terminal for 200V is conducted by a person who has knowledge of
electricity and make sure that there is no looseness in fastening. Failure
to do so may cause a fire, electric shock or error operation of the
product.
● Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not
coil it around. Do not insert it. Do not put any heavy thing on it. Failure to
do so may cause a fire, electric shock or malfunction due to leakage or
continuity error.
● Perform the wiring for the product, after turning OFF the power to the
unit, so that there is no wiring error.
● When the direct current power (+24V) is connected, take the great care
of the directions of positive and negative poles. If the connection
direction is not correct, it might cause a fire, product breakdown or
malfunction.
● Connect the cable connector securely so that there is no disconnection
or looseness. Failure to do so may cause a fire, electric shock or
malfunction of the product.
● Never cut and/or reconnect the cables supplied with the product for the
purpose of extending or shortening the cable length. Failure to do so
may cause the product to malfunction or cause fire.
4 Installation
and Start
(3) Grounding
● The grounding operation should be performed to prevent an electric
shock or electrostatic charge, enhance the noise-resistance ability and
control the unnecessary electromagnetic radiation.
● Make sure that grounding on the protection grounding terminal near the
rear face inlet is conducted by a person with license using a stranded
wires with 1.3mm2 of diameter (AWG16 or equivalent) or more. For
security grounding, it is necessary to select an appropriate wire
thickness suitable for the load. Perform wiring that satisfies the
specifications (electrical equipment technical standards).

4
No. Operation
Description Description
4 Installation
and Start
(4) Safety Measures
● When the work is carried out with 2 or more persons, make it clear who
is to be the leader and who to be the follower(s) and communicate well
with each other to ensure the safety of the workers.
● When the product is under operation or in the ready mode, take the
safety measures (such as the installation of safety and protection fence)
so that nobody can enter the area within the robot’s movable range.
When the robot under operation is touched, it may result in death or
serious injury.
Use a system I/O connector at the entrance of the safety protection
fence to equip with an interlock system which makes the emergency
stop works when the entrance is opened, and make sure to avoid
entering from nowhere else but the entrance.
● Make sure to install the emergency stop circuit so that the unit can be
stopped immediately in an emergency during the unit operation.
● Take the safety measure not to start up the unit only with the power
turning ON. Failure to do so may start up the machine suddenly and
cause an injury or damage to the product.
● Take the safety measure not to start up the machine only with the
emergency stop cancellation or recovery after the power failure. Failure
to do so may result in an electric shock or injury due to unexpected
power input.
● When having a work to install or tune the robot without operating, take
the power supply cable off the inlet. Sudden power input may cause an
electric shock or injury.
● If an operator is compelled to work in the safety protection fence, make
sure to wear helmet, goggle and safety shoes to secure safety.
● Wear protection gloves, goggle or safety shoes, as necessary, to secure
safety.
● Do not insert a finger or object in the openings in the product. Failure to
do so may cause an injury, electric shock, damage to the product or fire.
● When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
axis dropped by gravity.
● When you announce the EC Declaration of Conformity for the
equipment that this robot is in the structure, apply a clamp filter to each
fieldbus cable if necessary in order to comply with the EMC Directive.
5 Teaching ● When the work is carried out with 2 or more persons, make it clear who
is to be the leader and who to be the follower(s) and communicate well
with each other to ensure the safety of the workers.
● Perform the teaching operation from outside the safety protection fence,
if possible. In the case that the operation is to be performed unavoidably
inside the safety protection fence, prepare the “Stipulations for the
Operation” and make sure that all the workers acknowledge and
understand them well.
● When the operation is to be performed inside the safety protection
fence, the worker should have an emergency stop switch at hand with
him so that the unit can be stopped any time in an emergency.
● When the operation is to be performed inside the safety protection
fence, in addition to the workers, arrange a watchman so that the
machine can be stopped any time in an emergency. Also, keep watch on
the operation so that any third person can not operate the switches
carelessly.
● Place a sign “Under Operation” at the position easy to see.
● When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.

5
No. Operation
Description Description
6 Trial
Operation
● When the work is carried out with 2 or more persons, make it clear who
is to be the leader and who to be the follower(s) and communicate well
with each other to ensure the safety of the workers.
● After the teaching or programming operation, perform the check
operation one step by one step and then shift to the automatic
operation.
● When the check operation is to be performed inside the safety
protection fence, perform the check operation using the previously
specified work procedure like the teaching operation.
● Make sure to perform the programmed operation check at the safety
speed. Failure to do so may result in an accident due to unexpected
motion caused by a program error, etc.
● Do not touch the terminal block or any of the various setting switches in
the power ON mode. It may cause an accident due to unexpected
motion caused as it is feasible to build a program to move the actuator in
speed of 250mm/s or more.
7 Automatic
Operation
● Check before starting the automatic operation or rebooting after
operation stop that there is nobody in the safety protection fence.
● Before starting automatic operation, make sure that all peripheral
equipment is in an automatic-operation-ready state and there is no
alarm indication.
● Make sure to operate automatic operation start from outside of the
safety protection fence.
● Take the power supply cable off the inlet immediately if any abnormal
heat radiation, smoke emission, smell or noise is confirmed from the
product. Failure to do so may result in a fire or damage to the product.
● When a power failure occurs, turn OFF the power switch. Failure to do
so may cause an injury or damage to the product, due to a sudden
motion of the product in the recovery operation from the power failure.

6
No. Operation
Description Description
8 Maintenance
and
Inspection
● When the work is carried out with 2 or more persons, make it clear who
is to be the leader and who to be the follower(s) and communicate well
with each other to ensure the safety of the workers.
● Perform the work out of the safety protection fence, if possible. In the
case that the operation is to be performed unavoidably inside the safety
protection fence, prepare the “Stipulations for the Operation” and make
sure that all the workers acknowledge and understand them well.
● When the work is to be performed inside the safety protection fence,
turn OFF the power switch.
● When the operation is to be performed inside the safety protection
fence, the worker should have an emergency stop switch at hand with
him so that the unit can be stopped any time in an emergency.
● When the operation is to be performed inside the safety protection
fence, in addition to the workers, arrange a watchman so that the
machine can be stopped any time in an emergency. Also, keep watch on
the operation so that any third person can not operate the switches
carelessly.
● Place a sign “Under Operation” at the position easy to see.
● For the grease for the guide or ball screw, use appropriate grease
according to the instruction manual for each model.
● Do not perform the dielectric strength test. Failure to do so may result in
a damage to the product.
● When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
axis dropped by gravity.
● The slider or rod may get misaligned OFF the stop position if the servo
is turned OFF. Be careful not to get injured or damaged due to an
unnecessary operation.
● 4-44 holes at the back of TTA-A3(S)-50**-50**/TTA-C3(S)-50**-45**
are those necessary for machining inside, but are not for use in normal
use, thus they are covered with grommets. In case a grommet is lost,
cover the hole with adhesive tape and so on in order to protect from
small animals such as insects getting inside.
● Pay attention not to lose the cover or untightened screws, and make
sure to put the product back to the original condition after maintenance
and inspection works.
Use in incomplete condition may cause damage to the product or an injury.
9 Modification
and Dismantle
● Do not modify, disassemble, assemble or use of maintenance parts not
specified based at your own discretion.
10 Disposal ● When the product becomes no longer usable or necessary, dispose of it
properly as an industrial waste.
● When removing the robot for disposal, pay attention to drop of
components when detaching screws.
● Do not put the product in a fire when disposing of it.
The product may burst or generate toxic gases.
11 Other ● See Overseas Specifications Compliance Manual to check whether
complies if necessary.
● In order for you to use the device safely, it is recommended you
construct the emergency circuit and enable circuit (3.2.2 [5]) equivalent
to Safety Category 3 in your equipment.
● This product is designed assuming that installation to the factory
equipment is held by a specialist (who has read the contents of the
instruction manual narrowly and understands how to use, or who has
attended to the necessary trainings held by IAI).
● Work operation in any trouble or maintenance is also allowed only to the
specialists.

7
Alert Indication
The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the
warning level, as follows, and described in the instruction manual for each model.
Level Degree of Danger and Damage Symbol
Danger
This indicates an imminently hazardous situation which, if the
product is not handled correctly, will result in death or serious
injury. Danger
Warning
This indicates a potentially hazardous situation which, if the
product is not handled correctly, could result in death or serious
injury. Warning
Caution
This indicates a potentially hazardous situation which, if the
product is not handled correctly, may result in minor injury or
property damage. Caution
Notice This indicates lower possibility for the injury, but should be kept to
use this product properly. Notice
Explanation of Caution Labels Attached on Devices
The actuator you have purchased may have labels as shown below attached on the body.
If you have a model with such labels attached on, make sure you understand the meanings well and
pay attention in order to perform safe operation.
1) Electric Shock Caution Label
2) Heavy Object Transport Caution Label
Electric Shock Caution
High pressure is applied on the live part for this model.
A
s there is a risk of getting an electric shock, make sure to
turn off the power before taking the connectors off for
service and maintenance purpose.
Heavy Object Transport Caution
This model is a heavy object with 20kg weight or more.
Make sure to have two persons or more when carrying in
order to avoid hurting your back.

8
Caution in Handling
1. Make sure to follow the usage condition, environment and specification range of
the product.
In case it is not secured, it may cause a drop in performance or malfunction of the product.
2. Do not conduct any treatment or operation that is not stated in this instruction
manual.
3. Make sure to attach the Tabletop Robot properly by following this instruction
manual.
Using the product with the robot not being certainly retained or affixed may cause abnormal noise,
vibration, malfunction or shorten the product life.
4. Do not attempt to establish the settings for the speed and acceleration/
deceleration above the allowable range.
If the robot is operated at a speed or acceleration/deceleration exceeding the allowable value,
abnormal noise or vibration, failure, or shorter life may result.
5. Keep the load moment within the allowable value.
If the actuator is operated under a load (refer to 1.2.6) equal to or greater than the allowable load
moment, abnormal noise or vibration, failure, or shorter life may result. If it is extreme, flaking may
occur on the guide.
6. Set the overhang length within the allowable range.
The overhang length load (refer to 1.2.6) above the allowable range may cause vibration or
abnormal noise.
7. Back and forth operation in a short distance may cause wear of grease.
If the actuators are moved back and forth continuously over a short distance of 30 mm or less,
grease film may run out. As a guide, move the actuators back and forth repeatedly for around 5
cycles over a distance of 50 mm or more after every 5,000 to 10,000 cycles. Continuously using
the actuators with the grease worn out may cause malfunction. If it is extreme, flaking may occur
on the guide.
8. Time till stop after pressing emergency stop button
Use it at the rated load or below. The stop time and the stop distance described below will differ
depending on the load.
TTA- A2/3/4G
C2/3/4G
A2S/3S/4SLG
C2S/3S/4SLG
A2S/3S/4SHG
C2S/3S/4SHG Remarks
Speed [mm/s] 800 600 1200 TTA Max. Speed
Emergency
Deceleration [G] 0.3 0.3 0.3 Default Value
Stop Time [s] 0.27 0.21 0.41 With no load
Stop Distance [m] 0.11 0.06 0.25 With no load

9
9. Rescue at Emergency
It is recommended to construct a safety protection fence by 2.4 around this robot and that an
operator works outside the safety protection fence. In case of you getting stuck in this robot;
1) Press the emergency stop switch, and the X and Y-axes stay at the position and Z-axis will be
available to make move manually by the brake release switch on the front panel, or
2) After cutting off the power supply immediately by taking the power supply cord off the inlet, it is
available to release mechanically with the slider position tuning volume (Z-axis).

10
About Safety Protection Fence
Considering safety, it is recommended to have a safety protection fence to prevent possible danger.
For Machinery Directive (2006/42/EC) in EU Directives, equip with safety protection fence.
Use a system I/O connector at the entrance of the safety protection fence to equip with an interlock
system which makes the emergency stop works when the entrance is opened, and make sure to avoid
entering from nowhere else but the entrance.
Rear Panel Side of Main Body Front Panel Side of Main Body
Detail Power Supply Part
Scale 1:4
Have an enclosure around the power
supply switch and the power supply
inlet so they can be operated from
outside the fence.
Detail Emergency Stop Button Part
Scale 1:4
Have an enclosure around the
emergency button so it can be
operated from outside the fence.
Entrance
Power Supply Switch
Power Supply Inlet
Emergency Stop Button