New Product

Compact sizeMinimal WiringNo control boxSimple operation

CAT. NO. 394

Simple Actuator

The RT (Robot Technology) achieves compact size, minimal wiring, no control-box driving, and simple operation.

PCS9SShort slider type

PCS9RDRod type

PCS9SLSlider type

PCS9GPGripper type

PCS9DLong slider type

Belt drive

Small COM controller drivers are dispersively arranged.

No control box required

Only a single cablebetween each axis

Minimal WiringSimple and compact units

Compact size

SEED Editor is easy to use even for beginners.

Simple operation

Sliding screw drive

Simple actuatorwith multi-axis controller

Actuator

SolutionDesign concept

Actuator lineupLineup

No control box required

PC

Compact modularmotor controller driver

SEED DriverSEED Driver is a motor controlling unit invented during the joint development with JAXA. Although JAXA and THK had been aiming to develop a compact and high power robot hand, it was impossible to achieve by relying on conventional motors and control devices. After much difficulty and effort, the "palm-sized" and "wire-saving" SEED Driver has been developed.

1

2. Wire-savingEmploying CAN communication allows for a daisy-chain connection (up to 14 axes), eliminating complicated wiring. Only a single cable (ultrathin 4-core cable) is required.

SEED Editor allows for the control of the setting/scripts via PC.

Features

SEED

3. No control box requiredWith dispersively-arranged small COM controller drivers and multi-master system*, operation is achieved without the use of a control box. * A system controlled by mutually sending/receiving commands among all connected SEED Drivers, with no master unit defined

SEED

4. Simple operationSEED Editor (PC software) enables easy configuration. The scripts internally saved in SEED Driver allow for stand-alone control of the actuators.

SEED

1. Compact sizePicsel employs the LM guide to achieve high rigidity and high precision. Compact size with 25 mm width increases the arrangement and design flexibility. Stepping motor with encoder is also employed.

Picsel

[SEED connection] [Conventional unit connection]

Unit configuration without control box

Wire-saving

Driver

Motor:1

PLCController

Power cable

Encoder cable

Cable between controller and driver

Power supply cable

Control box

Driver

Motor:2

Driver

Motor:3

Driver

Motor:4

PCS9S/D PCS9RD PCS9SL/GP

SEED Driver

LM Guide (SRS9)

Timing belt

Sliding screw

2525

25Sliding screw

Powersupply

Powersupply

ID:1 ID:2 ID:3 ID:14

Daisy-chain connection(CAN Com.)

SEED Editor

2

SEED+Picsel Configuration

SEED+Picsel Connection Examples

SEED Editer

I/O connection with PLC

SEED Editor

・Rewriting scripts・Setting parameters・Editing functions

・Rewriting scripts・Setting parameters・Editing functions

After writing settings, stand-alone control is possible.

After writing settings, run the operation via the I/O interface.

USB CAN

11EH-DC jack

❷SW-HUB

❷SW-HUB

❹EH terminating connector

❽EH-EH 4P cable

❽EH-EH 4P cable

PLC

❶CAN-MS

❶CAN-MS

ID:01

ID:02

On PC

On PC

USB CAN

❾PH-PH 4P cable

❻IO16BOX

10EH-PH 4P cable

ID:01

ID:02

12EH cable (discrete)

❺PH terminating connector

Power supply

AC adapter24VDC, 3A max

Power supply

Switching power supply 24VDC, 3A max

3

Options -Model No. Coding

ID:01

ID:02

■SEED options

■SEED cables

Protocol conversion

SEED-SDK/SEED Editor

・SEED-MS3A (small protocol controller) converts to SEED commands.

・SEED-MS3A is used as a gateway.

Connectable to various protocols

USB CAN

❼Relay

・RS232C・RS485・UART・SPI

SEED-MS3A

❶CAN-MS

Other protocols

Load

・I2C・Bluetooth・ZigBee

Name SOPTOptions

❶CAN-MS

❷SW-HUB

❸4P-HUB

❹EH terminating connector

❺PH terminating connector

❻IO16BOX

❼Relay

SOPT

CMSUModel No.

: Protocol converter at USB-CAN

: Enables parallel connection up to 3 ports, with the power controlled via a switch.

: Enables parallel connection up to 4 ports.

: Terminating connector that supports PCS9S, PCS9D

: Terminating connector that supports PCS9RD, PCS9SL, PCS9GP

: Converts 16 input/16 output signals to CAN. A terminal-block-type I/O connector is also available.

: Small circuit board in 25mm×25mm

AB

: With USB cable: Without USB cable

: Connectors by J.S.T.MFG.: Connectors by Phoenix Contact: Connectors by Wago, Co. of Japan

CMSU

SWHB

4PHB

ETRM

PTRM

IO16

RLYS-A50

AOthers

ABC

Name

❽EH-EH 4P cable

❾PH-PH 4P cable

10EH-PH 4P cable

11EH-DC jack

12EH cable (discrete)

: Power supply/CAN COM cable that supports PCS9S, PCS9D

: Power supply/CAN COM cable that supports PCS9RD, PCS9SL, PCS9GP

: Power supply/CAN COM cable

: AC adapter connection cable

: EH cable (discrete on power side)

0100:100mm, 0200:200mm, 0300:300mm, 0400:400mm, 0500:500mm

0100:100mm, 0200:200mm, 0300:300mm, 0400:400mm, 0500:500mm

0100:100mm, 0200:200mm, 0300:300mm, 0400:400mm, 0500:500mm

0150:150mm0500:500mm, 1000:1000mm

SCBLOptions

SCBL

EE4P-AModel No.

EE4P-A

PP4P-A

EP4P-A

EHDC-A

EHNN-A

**** (indicates cable length)Cable length

❸4P-HUB

❷SW-HUB

❽EH-EH 4P cable

❽EH-EH 4P cable

11EH-DC jack

For SEED-SDK and SEED-MS3A, contact THK.Note

Power supply

AC adapter24VDC, 3A max

4

SEED Editor

・Multi-axis operation can be easily set and executed.・14 axes are edited/monitored/controlled on the same window.・Up to 255 steps×8 scripts and 255 point data can be edited for each axis.

Main Window

Point Data Window

5

❶ Connect/disconnect CANConnects to/disconnects from SEED Driver.

❷ Switching axis (ID)Allows for switching the SEED Driver (up to 14 axes) connected in a daisy chain manner. The IDs where CAN connection is confirmed are indicated in light blue, and are activated when selected. The activated ID is marked with a blue underline, indicating that the axis can be controlled and the setting can be edited.

❸ Forced Outage/Release Forced OutageForced termination and its cancellation can be performed via the window. * A stop command is submitted via communication.

❹ Script operationAllows for selecting script number, as well as for writing, reading, executing, and pausing the script.

❺ Monitoring executed scriptsDisplays the number of executed scripts and the step number.

❻ Editing operation scriptsSimply selecting operation type and the parameters achieves multi-axis control up to 14 axes.255 steps × 8 scripts can be registered to each axis.Various controls, such as startup of the other axis scripts, point specification, as well as control with internal variables are available.

❼ Motor ON/Motor OFFTurns the motor ON/OFF.

❽ Monitoring motor statusDisplays the motor information of the active SEED Driver.

❾ Manual operationThe unit movement can be controlled by specifying a relative/absolute value or speed manually.

10 Monitoring I/ODisplays the I/O information of the active SEED Driver.

11 Editing and executing point dataMultiple axes can be edited/driven simultaneously. The reach time and the target absolute position can be specified up to 255 points for each axis. Operation via scripts is also available. The target absolute position can be specified via POS SET, a teaching function registering the current position as point data.

　 Various settings including motor parameters, error detection, etc.The user can set the motor parameters such as the maximum current and velocity, as well as the error detection parameters.

　 Switching languagesJapanese and English are available.

CAN-MS is required for using SEED Editor.Note 1

For the operation procedure of SEED Editor, refer to "SEED Editor Operation Manual".Note 2

Others

Others

6

Picsel Short slider type (Belt drive)

PCS9S

Model No.

130230330

Stroke[mm]

400

Maxspeed[mm/s]

12.73

Pulley pitchdiameter

[mm]

1(0.3G)

Max loadcapacity

[kg]

±0.1

Positioningrepeatability

[mm]

±0.1

Origin pos.repeatability

[mm]

12.5(1/16 step)

Min feed[μm]

231.1331.1431.1

L0[mm]

490600670

Weight[g]

225325425

L1[mm]

100200300

L2[mm]

150250350

L3[mm]

468

n[number]

130230330

Stroke[mm]

(2.9)

(56)(8.5)

□35

38

32

27

25

A-A cross section

2718

.3

(4.3

)

(8.6

)

(7.3

)

(4.3

)

(51)

(81.

5)

(11.

3)(4

6)(1

7.7)

(40) 30 Stroke

(1.6)

(Origin)

(Reamer pitch: 32±0.05)

1.5(Mech-stopper pos)

18

2-Ø3H7 depth 5

2 x n-M3 through, Ø5 counterbore depth as shown

2-Ø3H7 through

(30)

4.5

16

(n-1)×50=L345

50

L2504

20

20.5

3H7

(Slotte

d hole

thr

ough)

2-(R

)

4-M3 through

1.5(Mech-stopper pos)

(1.6)

(10)

A

A

(L0)

L1

From the opposite side

7

Picsel Long slider type (Belt drive)

PCS9D

Model No.

100200300

Stroke[mm]

400

Maxspeed[mm/s]

12.73

Pulley pitchdiameter

[mm]

1(0.3G)

Max loadcapacity

[kg]

±0.1

Positioningrepeatability

[mm]

±0.1

Origin pos.repeatability

[mm]

12.5(1/16 step)

Min feed[μm]

231.1331.1431.1

L0[mm]

520730700

Weight[g]

225325425

L1[mm]

100200300

L2[mm]

150250350

L3[mm]

468

n[number]

100200300

Stroke[mm]

(2.9)

(56)(8.5)

□35

38

32

27

25

A-A cross section

2718

.3

(7.3

)

(4.3

)

(8.6

)

(4.3

)

(51)

(81.

5)

(11.

3)(4

6)(1

7.7)

(40) 60 Stroke

(1.6)

1.5(Origin)

(Reamer pitch: 32±0.05)

1.5(Mech-stopper pos)

18 18 18

2-Ø3H7 depth 5

2 x n-M3 through, Ø5 counterbore depth as shown

2-Ø3H7 through

(30)

4.5

16

(n-1)×50=L345

50

L2504

20

3H7

20.5

(Slotte

d hole

thr

ough)

2-(R

)

8-M3 through

(Mech-stopper pos)

(1.6)

(10)

A

A

(L0)

L1

From the opposite side

8

Picsel Rod Rod type (Sliding screw drive)

Stroke code: 050

Bottom mounting face dimensions

Stroke code: 100

18

3-φ3H7 through (eff depth 5)

6-M2.5 through (eff depth 5)43232

±0.02 ±0.02 43232

18

8-M2.5 through (eff depth 5)

4-φ3H7 through (eff depth 5)

4323232

4323232 ±0.02 ±0.02 ±0.02

25 (0.6)(0.6)

30.5

9.5

5.5

(1)

(25)

10M

AX

L 20.8

0.6

(1)

25(1) (1)

2510

35

7

15

Stroke

L16(53)(0.6)

7 4

9

2-M3 through

(L0)

Origin

PCS9RD

Model No.

50100

Stroke[mm]

80

Max speed[mm/s]

4

Lead[mm]

0.5(0.08G)

Max load capacity[kg]

±0.1

Positioning repeatability[mm]

±0.1

Origin pos. repeatability[mm]

1.25(1/16 step)

Min feed[μm]

155.6205.6

L0[mm]

86.2136.2

L2[mm]

81131

L1[mm]

260290

Weight[g]

50100

Stroke[mm]

9

Picsel Slider Slider type (Sliding screw drive)

Stroke code: 120

Stroke code: 080Stroke code: 040

Bottom mounting face dimensions

(eff depth 5.5)

(eff depth 5.5)

12.5 16 16 16 32 16 16 16

20.5 56 56 3-Ø3H7 through

8-M2.5 through

±0.02 ±0.02

(eff depth 5.5)

(eff depth 5.5)

8.5 16 16 32 16 16

16.5

6-M2.5 through

3-Ø3H7 through40 ±0.02 40 ±0.02

(eff depth 5.5)

(eff depth 5.5) 20.5 32 2-M2.5 through

3-Ø3H7 through12.5 24 24±0.02 ±0.02

PCS9SL

Model No.

4080120

Stroke[mm]

80

Max speed[mm/s]

4

Lead[mm]

1(0.08G)

Max load capacity[kg]

±0.1

Positioning repeatability[mm]

±0.1

Origin pos. repeatability[mm]

1.25(1/16 step)

Min feed[μm]

126.6166.6206.6

L0[mm]

185210235

Weight[g]

73113153

L1[mm]

4080120

Stroke[mm]

25(1

)(3

.5)

(29.

5)

4L1(53)(0.6)

(L 0)

5.5

26

250.6 0.6

(Dowe

l hole p

itch:

16±

0. 05

)

6 14

Origin

Stroke

3.5

1016

(25)

10M

AX

(1)

4-M3 through (eff depth 4)

2-Ø3H7 through (eff depth 4)

6

3.5

10

Picsel Gripper Gripper type (R/L sliding screw drive)

Bottom mounting face dimensions

Stroke code: 100

Stroke code: 060 Stroke code: 020

(eff depth 5.5)

(eff depth 5.5)

12.5 16 16 16 32 16 16 16

20.5 56 56 3-Ø3H7 through

8-M2.5 through

±0.02 ±0.02

(eff depth 5.5)

(eff depth 5.5)

8.5 16 16 32 16 16

16.5 40 40

6-M2.5 through

3-Ø3H7 through±0.02 ±0.02

(eff depth 5.5)

(eff depth 5.5)

20.5 32 2-M2.5 through

12.5 24±0.02 24±0.02 3-Ø3H7 through

25(3

.5)

(1)

(29.

5)

5.5

26

250.6 0.6

(Dowe

l hole p

itch:

16±0.

05)

R-screw L-screw

6

4-M3 through (eff depth 4)

6 14

Origin 3.5

10

16

(25)

10M

AX

(1)

2-Ø3H7 through (eff depth 4)

14Stroke/2Stroke/2 6

4L1(53)(0.6)

(L0 )

3.5

PCS9GP

Model No.

2060100

Stroke[mm]

80

Max speed[mm/s]

4

Lead[mm]

20

Max holding force[N]

±0.1

Positioning repeatability[mm]

±0.1

Origin pos. repeatability[mm]

1.25(1/16 step)

Min feed[μm]

126.6166.6206.6

L0[mm]

200225250

Weight[g]

73113153

L1[mm]

2060100

Stroke[mm]

11

Detailed Specifications of Options

Model Number Coding

S330

SEED Driver Model No.

S310: SEED-MC1A-S30for sliding screw drive

S330: SEED-MC3A-S30for belt drive

3

330

Stroke code

020: 20mm

330: 330mm

2

Refer to Table 1 List of Stroke Codes.

Table 1 List of Stroke Codes

Stroke code

PCS9S

PCS9D

PCS9RD

PCS9SL

PCS9GP

130:

100:

050:

040:

020:

130mm

100mm

50mm

40mm

20mm

230:

200:

100:

080:

060:

230mm

200mm

100mm

80mm

60mm

330:

300:

120:

100:

330mm

300mm

120mm

100mm

1

PCS9S

Model No.

PCS9S Belt drivenshort slider type

PCS9D Belt drivenlong slider type

PCS9RD Sliding screw driveRod type

PCS9SL Sliding screw driveSlider type

PCS9GP Sliding screw driveGripper type

:

:

:

:

:

■RelaySOPT-RLYS-A50

AC125V 3A DC30 5A

AWG #30-#20

Model No.

Contact rating

Recommended cable

■CAN-MSSOPT-CMSU-A

Supplied (1 m length)

USB connector: TYPE A

SOPT-CMSU-B

Not supplied

CAN-MS connector: Micro BPrepare a cable between CAN-MS and PC separately.

115200bps

Model No.

USB cable

Baud rate

Connector

■IO16BOXSOPT-IO16-A

Connectors by J.S.T.Mfg.

XAP-10V (by J.S.T.Mfg.)

XA-001 (by J.S.T.Mfg.)

AWG #22 / #20

Parallel IO output interface(Sink/Source)

Parallel IO input interface(shared by positive common/ negative common)

SOPT-IO16-B

Connectors by Phoenix Contact

-

-

AWG #30-#20

100mA max.

60V max.

SOPT-IO16-C

Connectors by Wago, Co. of Japan

-

-

AWG #28-#20

Model No.

Connector

Housing

Pin contact

Recommended cable

Interface

Output current

Applied voltage

3.3V

CPU

GND

Bidirectionalphotocoupler

CN3/CN41-4pin, 6-9pin

CN3/CN45pin, 10pin (common)

200Ω LED

PhotoMOS relay

CPU

GND

CN1/CN21-4pin、6-9pin

CN1/CN25pin,10pin (common)

■EH-DC JackSCBL-EHDC-A-0150

Ø5.5×2.1

24VDC, 3A max

Model No.

DC jackspecification

AC adapter

12

SEED+Picsel Combination Unit

Application Examples

Picsel Clamper/Chuck

Gantry typei-Picsel 100/200

Cantilever type3-axis Picsel 100/200/300

Glue dispenser

・Simple supplementary operation (14 axes max.)・Combination of 255 points at each axis・Wide settings via scripts

Vacuum pick &place machine

・No air piping required・Suction pressure monitored

Compact multi-axismanufacturing unit

・Up to 14 axes can be freely combined.・Compact type・No control box required

Electric chuck hand

PCS-CLS25 PCS-CLV25 PCS-2F05

PCS-CLS25

PCS-CLV25

PCS−2F05

20

20

10

Stroke[mm]Model No.

10

10

5

Holdingforce[N]

0.25

0.25

1.00

Open/closetime[s]

±0.1

±0.1

±0.1

Positioningrepeatability

[mm]

Contact THK for combined units, Picsel Clamper/Chuck, and application examples.Note

Compact and lightweight. Completely new RT equipment with no control box.

13

Precautions on Use

●Safety Precautions・Be careful not to drop or strike this product. Doing so may cause injury to the user or damage the unit. If

the product is dropped or impacted, functionality may be reduced even if there is no surface damage.

・Do not rework or disassemble this product. Doing so may allow foreign materials to enter or lose product functionality. Reworking the driver will cause the risk of electric shock.

・Before performing installation, adjustment, verification, or services regarding the SEED+Picsel and the relevant connected equipment, make sure to remove all power plugs from the outlet and apply locking or safety plugs so that nobody else can turn on the power. When using this unit mounted vertically, take appropriate measures to ensure safety and prevent damage to the device caused by the slider falling.

・Since the SEED includes a communication system in its configuration, there is a risk that it cannot be forcefully stopped in case of system failure, etc. Make sure, therefore, to install a circuit to immediately stop the operation and shut down the power in case of an emergency.

・Driver and motor surfaces may become very hot. Whether the power is on or off, ensure that the driver and motor are sufficiently cooled before performing any work.

・Do not use the Picsel and the SEED Driver in any combination other than specified. Doing so may lead to loss of functionality.

・Read the manual carefully, understand the contents fully, and strictly follow the safety precautions.

●Environment・The power supply voltage is DC 24V. Use the product while using a noise filter and taking other measures

to prevent the effects of noise.

・Do not connect the ground line to an earth ground shared with a strong electric system.

・When performing wiring work, pay extra attention to the radiation noise from other equipment.

・Extreme environmental conditions can cause the SEED+Picsel to fall. The best place to use the product is as follows:

An indoor location and ambient temperatures from 5 to 35˚C, and humidity of 80%RH or below (no freezing or condensation).

A place free from corrosive gas and flammable gas.

A place free from dielectric powder (such as iron powder), dust, oil mist, cutting fluid, moisture, salt, and organic solvent.

A place free from any device generating strong noise.

A place free from direct sunlight and radiant heat.

A place free from strong electric and magnetic fields.

A place where vibration or impact is not transmitted to the unit.

A place that is easily accessible for service and cleaning purposes.

・Read the manual carefully, understand the contents fully, and strictly follow the instructions on installation and use environment.

●Storage・When storing the unit, enclose it in a package designated by THK and store it in a horizontal orientation

with the power off in a place without condensation while avoiding high temperature, low temperature and high humidity.

14

All rights reserved.

●LM Guide, SEED, and Picsel are registered trademarks of THK CO., LTD.●The actual products may differ from the pictures and photographs in this catalog.●Outward appearances and specifications are subject to change without notification for the purpose of improvement.●Although great care has been taken in the production of this catalog, THK will not take any responsibility for damage resulting from typographical errors or

omissions.●In exporting our products and technology, or selling them for the purpose of export, THK has a basic policy of observing laws relating to foreign exchange, trade

and other laws.For export of THK products as single items, please contact THK in advance.

CATALOG NO.394 ©THK CO., LTD. 201511010 E27 Printed in Japan

NORTH AMERICATHK America,Inc.

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Phone:+65-6884-5500THAILANDTHK RHYTHM(THAILAND) CO., LTD. LM System Division

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