Basic Specifications

Stacked installation is possible.
The mounting pitch is 16 mm.
* For details, please refer to "4-2-4. How to install the head" in the instruction manual.

We can provide delivery specification drawings upon request.

It can be downloaded in 2D (DXF) and 3D (IGS/STEP) formats.
You can navigate to the download site by clicking on the various download links.

Screw holes for mounting are located on both sides and on the underside. Sides: M4 depth 4 screw holes x2, ø4H7 depth 4 pin hole x1, 4H7 depth 4 elongated hole
Bottom: M3 depth 3 threaded holes x2

* Please be careful about the length of the mounting screw to prevent damage to internal components.
* Please refer to "4-2-4. How to install the head" in the instruction manual.

1 m, 3 m, and 5 m are available.
Up to two cables can be connected, so the maximum length is 10 m (5 m x2).

Cable model numbers
1m：PPR-FXC1
3m：PPR-FXC3
5m：PPR-FXC5

A nozzle is not provided.
We ask that the customer prepare a nozzle on their own.
Secure it to the side of the shaft using a V-groove or a tapped end.
For details, please refer to "5-3-2. Nozzle installation" in the instruction manual.

Calculations can be made based on the load information of the mounted object and the Z axis and θ axis operation conditions.
The following information is required, so please take note.

・Mass and inertia of the mounted object (nozzle + workpiece)
・Z axis operation patterns (reciprocating motion strokes and cycle time for pick and place operations)
・θ axis operation pattern (maximum movement angle and operation time)
・Z axis and θ axis rest time (duty ratio)

The basic specifications are as follows.

Mass and Inertia:
Loading mass: 80 g
Loading inertia: 2 kg/mm2
* The specifications are described in "10-1-1. Basic specifications" in the intruction manual.

For the Z axis, the servo can be turned on from any position.
The θ axis is DC-excited when the servo is on, which may cause large and abrupt movements.
Please turn on the servo when the θ axis can rotate 360° so that there is no interference when the θ axis rotates.

The z axis can turn on the servo almost on the spot because it is excited after searching the magnetic poles of the spot in the brake lock status.
Since the θ axis is DC-excited, when the servo is turned on, it operates rapidly to the excited position.

There is no jog operation, but there is inching.
Inching can be performed without homing.

Yes, you can use rotation control.

The stroke can rotate 360°.
Up to 100 rotations can be performed in a single sequence operation, and there is no limit to the number of rotations in the same direction.

It is not required.
It is required if the installation or operation conditions result in high internal temperatures (because, for example, in a stacked installation, heat tends to accumulate).

This function sets the values for the pressure, flow rate, and force sensors as the new zero when this function is executed.

Resolution: 0.01 N (1 g)
Minimum detectable value of contact stop is 0.15 N (15 g)

* The above results were measured at a Z axis travel speed of 1 mm/s.

Data is acquired in 100 µs cycles. (10 kHz)
Data continuously output to the PLC is in 500 µs cycles. (2 kHz)

EtherCAT and MECHATROLINK-III are 500 μs minimum.
EtherNet/IP is 1 ms minimum.
Ethernet (TCP/IP) is 10 ms minimum.

This section describes the functions during normal operation and when an abnormality occurs.
Data During Normal Operation:
The data is transmitted to the PLC in real time at 500 μs intervals during continuous operation with the PLC.
The dedicated PC application T-ACT can also be used to reference waveform data in sequence units.
Data When Abnormality Occurs:
When an alarm occurs and at any timing, waveforms can be saved for 10 seconds. The 10 seconds is broken down into 8 seconds before the trigger is applied and 2 seconds after.
This waveform data can be read from the PLC via the message communication function or from the event history function when T-ACT is connected.

The maximum number is dependent on the type of network.
Please confirm the specifications of each network for details.
In-house evaluations have confirmed operation with up to 8 axes.

Items that can be checked in cyclic communications are as follows:
Z axis: present position, command position, present speed, command speed, present current, command current
θ axis: present position, command position, present speed, command speed, present current, command current
Sensors: force sensor, pressure sensor, flow rate sensor, Z axis temperature, θ axis temperature, substrate temperature
(Described in "R-4 internal data" section of "Cyclic communications input data" on p. 116 of the instruction manual, etc.)

The target value pointer is set according to the input value set on the T-ACT, excluding the decimal point.
For example, if you want to set the Z axis position to 10.000 mm, set the pointer setting value to 10,000.
If you want to set the Θ axis position to 90.00°, set the pointer setting value to 9,000."

Open the cover and lubricate the LM Guide rail directly.
A maintenance manual is available; please contact us if required.