TTA-C4S□(G)-30-25
TTA-C4(G)-30-25

Product feature

Attachment orientation

Direction in which each axis moves

Main specification

HeadingContents
C4SL（G）C4SH（G）C4（G）
LeadBall screw lead (mm)X axis8Equivalent to 13.3Equivalent to 24
Y axis8Equivalent to 13.3Equivalent to 24
Z axisEquivalent to 2.14Equivalent to 512
R axisー
Maximum load capacity (kg)Z axis1576
R axis
Speed/ Acceleration/DecelerationMaximum speedX-axis (mm/s)600750700
Y-axis (mm/s)600800640
Z-axis (mm/s)170400400
R-axis (degrees/s)150015001000
Max. acceleration/deceleration (G)X axis0.20.30.2
Y axis0.30.30.2
Z axis0.30.50.2
R axis1.51.51.1
Pressing motionMax. pressing thrust (N)ーーー
Brake (equipped as standard on Z-axis)Brake specificationNon-excitation electromagnetic brake
Brake retention force (kgf)1576
StrokeX-axis (mm)300
Y-axis (mm)250
Z-axis (mm)100/150
R-axis (degrees)±180/±360

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

HeadingContents
C4SL（G）C4SH（G）C4（G）
Drive systemX axisBall screw φ12mm, rolled C5 equivalentBall screw φ12mm,
rolled C5 equivalent 1: 1.2 speed reduction with timing belt		Ball screw φ12mm,
rolled C10 equivalent 1.5: 1 speed increase with timing belt
Y axis
Z axisBall screw φ10mm, rolled C5 equivalentBall screw φ10mm, rolled C10
1:1.4 speed reduction
with timing belt		1:1.2 speed reduction
with timing belt
Accuracy of Repeating Positioning.X axis±0.005ｍｍ±0.01ｍｍ
Y axis
Z axis
R axis±0.008 degrees±0.01 degrees
Lost motionX axis0.025mm or less0.04ｍｍ and below0.05ｍｍ and below
Y axis
Z axis0.02ｍｍ and below
R axis0.06 degrees or less0.06 degrees or less
Allowable static moment valueZ axisMa:35.0N･m　Mb:35.0N･m　Mc:74.0N･m
R axis
Dynamic allowable momentZ axisMa:11.5N･m　Mb:11.5N･m　Mc:24.3N･m
R axis
Max. load moment of inertiaR axis0.01kg･m2
Ambient operating temperature and humidity0 - 40℃, RH 85% and below (no condensation)
Protection gradeー
Vibration resistant/Shock resistant4.9m/s2
Compatible to overseas standardsCE mark (safety category type only), RoHS Directive
Motor typeAC servo motorPulse motor
Encoder typeBattery-less absolute
Encoder pulse No.16384 pulse/rev8192 pulse/rev
DeliveryWritten in [Reference for delivery] section of the homepage

Correlation Diagram of Acceleration and Load Capacity

■ Servo motor equipped model C4SL (G)/C4SH (G)

X axis

Y axis

Z axis

Correlation diagram between payload and speed

■ Pulse motor equipped model C4 (G)

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

Please use the table below to confirm that your desired speed and payload are met.

The maximum speed of the X and Y axes changes depending on the payload of the Z-axis.

X axis

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

Y axis

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

Z axis

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

Correlation Diagram of Acceleration and Load Capacity

■ Servo motor equipped model C4SL (G)/C4SH (G)

Y axis

The payload of the Y-axis/ZR-axis changes depending on the acceleration/deceleration of the X-axis.

ZR-axis

ZR-axis

The payload of the ZR-axis changes depending on the acceleration/deceleration of the Y-axis.

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

■ Servo motor equipped model C4SL (G)/C4SH (G)

■ Pulse motor equipped model C4 (G)

Allowable load moment of inertiaAngular velocityAngular acceleration/deceleration
0.010kg･m2300 degrees/s0.05G
0.008kg･m2400 degrees/s0.1G
0.006kg･m2500 degrees/s0.2G
0.005kg･m2700 degrees/s0.5G
0.004kg･m21000 degrees/s1G
0.003kg･m21500 degrees/s1.5G
Allowable load moment of inertiaAngular velocityAngular acceleration/deceleration
0.010kg・m2100 degrees/s0.1G
0.010kg・m2200 degrees/s0.1G
0.010kg・m2300 degrees/s0.1G
0.008kg・m2400 degrees/s0.18G
0.006kg・m2500 degrees/s0.28G
0.005kg・m2600 degrees/s0.4G
0.004kg・m2700 degrees/s0.55G
0.004kg・m2800 degrees/s0.7G
0.003kg・m2900 degrees/s0.9G
0.003kg・m21000 degrees/s1.1G

Oversea specification

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

Important notes on selection

(1) The maximum acceleration/deceleration differs depending on the load capacity. (Refer to "Correlation diagram of acceleration/deceleration and payload capacity") The maximum speed cannot be achieved with the maximum payload setting when using a pulse motor. If increase speed, the load capacity will drop. Please note that the rotation axis may not reach the maximum speed depending on the load inertia moment value. (Refer to "Correlation diagram of payload and speed" and "Correlation diagram of R-axis allowable load moment of inertia and angular velocity")
(2) Repetitive positioning accuracy is effective only when the body temperature is constant. It will not guarantee the absolute accuracy.
(3) The value of the dynamic allowable moment is the value of each axis. Assumes a standard rated life of 5,000km and a standard load factor of 1.5. (Please refer to page 5-692 for dynamic allowable moments.)
(4) In the expansion I/O slots 1 and 2 columns of the model item, enter "E" if they are unused.

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Dimension drawing

ST： Stroke

M.E.： Mechanical end

S.E.： Stroke end

*1 If you select the option with cover (model: CO), a cover will be attached to the front of the Z-axis and the slider will be hidden.

(Note) When fixing a workpiece to the main body, make sure that there is a margin of 2 mm or more for the movement range of the support.

(Note) Please be careful while returning to the home position, for there is a chance of collision while having the slider returning to the M.E. position.

Mass

HeadingMass
AC servo motorPulse motor
Body weight39.3kg41.3kg
Table part loading weight (Note 2)60kg

(Note 2) The table section refers to the top surface of the main body. It is not the payload of the X axis.