THK SHS-LE Instruction Manual

1-2 About this manual --------------------------------------------------------------------- 1-1 1-3 Intended use --------------------------------------------------------------------------- 1-2 1-4 About product support ---------------------------------------------------------------- 1-2 1-5 Product and company information --------------------------------------------------- 1-2 2. Precautions on Use 2-1 2-1 Safety Related Warning Displays ---------------------------------------------------- 2-1 2-2 Transportation and Storage ---------------------------------------------------------- 2-1 2-3 Mounting and Installation ------------------------------------------------------------- 2-2 2-4 Operation ------------------------------------------------------------------------------ 2-2 2-5 Lubrication and Maintenance -------------------------------------------------------- 2-3 3. Marking on the Master Rail and Combined Use 3-1 4. About Product 4-1 4-1 System configuration ----------------------------------------------------------------- 4-1 4-2 Product Specifications ---------------------------------------------------------------- 4-2 5. Mounting 5-1 6. Permissible Error of the Mounting Surface 6-1 7. Cables and Wiring 7-1 7-1 Wiring ---------------------------------------------------------------------------------- 7-1 7-2 Minimum bending radius ------------------------------------------------------------- 7-2 8. Lubrication 8-1 9. Troubleshooting 9-1 10. Appendix 10-1 10-1 Resolution Check -------------------------------------------------------------------- 10-1 10-2 Effective Stroke ----------------------------------------------------------------------- 10-1 10-3 Standard Length and Maximum Length -------------------------------------------- 10-2

This document will explain any precautions involved with using the LM Guide with Linear Encoder SHS-LE (this product) as well as mounting and wiring method. 1-2 About this manual 1-2-1 Intended audience The person in charge of designing embedded systems of the product and installing, and maintaining the product, and the person who actually uses the product. 1-2-2 Using this manual This manual describes correct handling methods and precautions for the product. For the maximum performance and long life of the product, carefully read and understand this manual to safely and correctly use the product. If you use the printed version of this manual, be sure to keep it in the place that the audience can refer to it when needed. 1-2-3 Notice and attention ● Do not use or handle the product in the ways that are not described in this manual. ● Do not reproduce, reprint, or lend the whole contents or a part of this manual without permission. ● Please note that the description in this manual is subject to change without prior notice in the future, due to improvements of the product or other reasons. ● We have made all possible efforts to make the content of this manual accurate. However, if you find any mistake or uncertainty in this manual, please contact THK. ● Drawings throughout this manual are only intended as typical examples, and may differ from your product. ● Note that THK shall not be liable for any result incurred by applying this manual, regardless of the reason. ● This manual is also applied to custom products. However, the descriptions provided in the delivery specification drawings of that custom products take precedence over this manual. * Custom products represent the products that have different materials and specifications from those of the standard products on catalogs.

guiding or positioning with the feedback loop control system. ● This product must not be used for the devices or systems that are used under the situations that may be fatal to human life. ● Consult with THK beforehand when considering using this product for special applications such as in equipment or system for passenger vehicles, medical, aviation and space, nuclear power, electrical power or weapon, or in a place where there is a risk of explosion. ● This product is manufactured under the strict quality control, however, that does not mean that the product is free from failure. For applications to the equipment that may suffer serious accidents or loss from the failure of this product, install safety devices or backup devices that prevent such serious accidents or loss. ● Installation of this product is allowed only in a machinery or machinery partially completed. ● The equipment that this product is installed must satisfy to comply with related standards, regulations or laws. ● Follow regional or industrial laws when using this product. 1-4 About product support Consult with our sales fronts or IOT Innovation Division for inquiries regarding this product. 1-5 Product and company information Follow the latest information for this product or components to use. To find the latest product and company information, we recommend you to periodically access our website. ● Website URL: https://www.thk.com ● Technical support website URL: http://www.tech.thk.com/

2-1 Safety Related Warning Displays This manual uses the following safety related warning displays. Descriptions containing safety related warning displays are serious and must be followed. 2-2 Transportation and Storage ● This product is sealed in a plastic bag with anti-rust oil and then packaged in a card-board box. (Fig. 2-1) ● When storing this product, please keep it the THK packaging and store it horizontally without subjecting it to high temperatures and/or humidity. Also, do not store it in an environment where a magnetic field could occur. Fig. 2-1 Example of Packing ● After the product has been in storage for an extended period of time, lubricant inside may have deteriorated, so add new lubricant before use. Caution Warning Caution "A matter which, if mishandled, could result in physical injury or material damage." "Prohibited (never do this)" "Must (always do this)"

2-3 Mounting and Installation ● Do not attempt to apply external force on the linear scale, encoder holder or encoder head. ● Design the assembly with the scale not to have anything that could give influence partially to the magnetic field such as metal positioning pins. ● Avoid any use in an environment with strong external magnetic field such as a place near a magnet. It may cause a reading error of an encoder or damage on this product. Consult with our IOT Innovation Division in case of use in an environment with external magnetic field. ● Perform wiring properly following this manual (7-1 Wiring). ● The users are required to evaluate the performance, safety and EMC by them selves when an extension cable other than our standard types is used. Shielded cable is recommended in such kind of modification. ● Use protection gears before start working. ● Make sure there is nobody around you when you transfer a product with long dimension. ● As a countermeasure for noise from the power supply cable, separate the power supply cable from the cables on this product for wiring. ● Thoroughly remove anti-rust oil and feed lubricant before using the product. 2-4 Operation ● Do not operate the product when there is someone in the operation range or in a dangerous area. ● Do not operate the product in a range that exceeds the effective stroke. There is a concern that the encoder position data cannot be read. Especially when the product is used as the feedback control, the equipment may go out of control, which could cause critical damage, if operation is made in a range that exceeds the effective stroke. * See this manual (10-2 Effective Stroke) for the effective stroke. ● Ensure safety by means of installation of an appropriate mechanical stopper. ● Use a device applied with noise countermeasure for the power supply device. ● Use a higher-level device equipped with power storage feature for a countermeasure of power flicker. ● Set up parameters such as resolution properly. Especially when the product is used as the feedback control, the equipment may go out of control, which could cause critical damage, if setting of resolution is wrong. * See this manual (10-1 Resolution Check) for how to check the resolution. ● In order to avoid any serious accident in the first operation due to such as wrong wiring, set up the torque of the power source low, speed slow and stroke small. Caution Warning Warning

2-5 Lubrication and Maintenance ● Turn the driving power off in the devices assembled in the equipment before getting close to this product for greasing or maintenance purpose. ● In case the lubricant is found turned into black, wipe off excess lubricant and then grease up excessively so the lubricant inside the block can be replaced. ● When it is necessary to take off cables for cleaning or maintenance, follow this manual (7-1 Wiring) to set the cables back properly. ● When starting up the equipment after lubrication or maintenance, set up the torque of the power source low, speed slow and stroke small. ● Do not perform operation in a condition that the LM guide part does not work properly as there may be a case that the position data of the encoder cannot be read. ● Do not attempt to dismantle or modify this product without our permission. It may cause a trouble such as the encoder position not being able to read. ● Grease up this product in an appropriate frequency and way following the Instruction Manual of the LM Guide [No. 1030-T34667] (6-1 Lubrication Interval). ● Do not mix different lubricants. Mixing greases using the same type of thickening agent may still cause adverse interaction between the two greases if they use different additives, etc. ● When using the product in locations exposed to constant vibrations or in special environments such as clean rooms, vacuum and low/high temperature, use the grease appropriate for the specifi cation/environment. ● When lubricating the product having no grease nipple or oil hole, apply grease directly on the raceway and stroke the product several times to let the grease spread inside. ● The consistency of grease changes according to the temperature. Take note that the slide resistance of the LM Guide also changes as the consistency of grease changes. ● After lubrication, the slide resistance of the LM Guide may increase due to the agitation resistance of grease. Be sure to perform a break-in to let the grease spread fully, before operating the machine. ● Excess grease may scatter immediately after lubrication, so wipe off scattered grease as necessary. ● The properties of grease deteriorate and its lubrication performance drops over time, so grease must be checked and added properly according to the use frequency of the machine. ● Although the lubrication interval may vary according to use conditions and the service environment, lubrication should be performed approximately every 100 km in travel distance (three to six months). Set the fi nal lubrication interval/amount based on the actual machine. ● If the mounting orientation is other than horizontal use, the lubricant may not reach the raceway completely. For the mounting orientation and the lubrication, see General catalogue, respectively. ● When adopting oil lubrication, the lubricant may not be distributed throughout the LM block depending on the mounting orientation of the block. Contact with our IOT Innovation Division in advance for details. Caution Warning

Combined Use 3. Marking on the Master Rail and Combined Use See the Instruction Manual of the LM Guide [No. 1030-T34667] for Marking on the Master Rail and Combined Use regarding the LM guide. Note) This product is not applicable for use in joint.

4. About Product 4-1 System configuration This is a product that is capable of position measurement, linear guiding, and positioning with the feedback loop control system in the LM rail directions. Fig. 4-1 Names of individual parts ● The LM block is integrated with the encoder holder and encoder head. ● The encoder head reads the positions of N and S magnetic poles recorded in the scales equipped on the sides of the LM rail. The interpolated NS magnetic pole pitch data is output as the incremental A/B-phase differential outputs complied with EIA-422. Fig. 4-2 Example of System Construction

4. About Product 4-2 Product Specifications 4-2-1 Dimensions/Lineup ●Block type: C/LC Fig. 4-3 Block type C/LC Model No. Dimension [mm] Mass M W L W1 W2 W3 L1 L2 K H3 E e0 LM Block [kg] LM Rail [kg/m] SHS20C/LC 30 63 115 (134) 20 21.5 72 59 (78) 46 25.4 4.6 12 4.3 0.61 (0.76) 2.3 SHS25C/LC 36 70 129 (146) 23 23.5 76.3 71 (88) 47.5 30.2 5.8 12 4.5 0.89 (1.06) 3.2 SHS30C/LC 42 90 143 (168) 28 31 88.3 80 (105) 50 35 7 12 5.8 1.56 (1.88) 4.5 SHS35C/LC 48 100 162 (192) 34 33 96 93 (123) 54.5 40.5 7.5 12 6.5 2.18 (2.82) 6.2 SHS45C/LC 60 120 180 (214) 45 37.5 111.3 106 (140) 57 51.1 8.9 16 8 3.64 (4.59) 10.4 ●Block type: V/LV Fig. 4-4 Block type V/LV Model No. Dimension [mm] Mass M W L W1 W2 W3 L1 L2 K H3 E e0 LM Block [kg] LM Rail [kg/m] SHS20V/LV 30 44 115 (134) 20 12 62.5 59 (78) 46 25.4 4.6 12 4.3 0.5 (0.61) 2.3 SHS25V/LV 36 48 129 (146) 23 12.5 65.3 71 (88) 47.5 30.2 5.8 12 4.5 0.71 (0.84) 3.2 SHS30V/LV 42 60 143 (168) 28 16 73.3 80 (105) 50 35 7 12 5.8 1.16 (1.38) 4.5 SHS35V/LV 48 70 162 (192) 34 18 81 93 (123) 54.5 40.5 7.5 12 6.5 1.68 (2.12) 6.2 SHS45V/LV 60 86 180 (214) 45 20.5 94.3 106 (140) 57 51.1 8.9 16 8 2.94 (3.59) 10.4 *1 Values in brackets ( ) describe those for L Type *2 The diameter of the attachment holes and attachment hole pitch on the rail should be the same as those on SHS Type Cable dimensions [mm] Cable dimensions [mm]

4. About Product ●Block type: R/LR Fig. 4-5 Block type R/LR Model No. Dimension [mm] Mass M W L W1 W2 W3 L1 L2 K H3 E e0 LM Block [kg] LM Rail [kg/m] SHS25R/LR 40 48 129 (146) 23 12.5 65.3 71 (88) 47.5 34.2 5.8 12 4.5 0.83 (0.97) 3.2 SHS30R/LR 45 60 143 (168) 28 16 73.3 80 (105) 50 38 7 12 5.8 1.26 (1.58) 4.5 SHS35R/LR 55 70 162 (192) 34 18 81 93 (123) 54.5 47.5 7.5 12 6.5 2.08 (2.62) 6.2 SHS45R/LR 70 86 180 (214) 45 20.5 94.3 106 (140) 57 61.1 8.9 16 8 3.64 (4.59) 10.4 *1 Values in brackets ( ) describe those for L Type *2 The diameter of the attachment holes and attachment hole pitch on the rail should be the same as those on SHS Type Cable dimensions [mm]

4. About Product 4-2-2 Encoder Specifications ●Linear Encoder Basic Specifications Type Incremental magnetic encoder Resolution [μm]* 1/5/10 Accuracy Repeatability in One Direction ± Resolution or less Power supply [V] DC5V±5% Max. Current Consumption [mA] 50 or less Output Incremental A-B phase differential output EIA-422 line driver Standard compliance CE EMC directive (2014/30/EU) EN 61800.3:2004/AI!2012, EN 550112009/AI:2010, EN 610006-2:2005 Use and Storage Ambient Temperature 0 to 50°C (No freezing) Use and Storage Ambient Humidity 20 to 80%RH (No condensation) * It is the value after multiplying by 4. 4-2-3 Output Specifications ●The output signals from SHS-LE should be complied with EIA-422, A/B-phased, differential outputs and in the line driver format. ●The higher-level device (e.g. counter) that you prepare yourself should receive in the line receiver circuit. Fig. 4-6 Output Signal Fig. 4-7 Moving Direction and Output Signal Direction When moving in cable direction: Lead by A-phase (Encoder Positive Direction)

4. About Product 4-2-4 Extension cable Fig. 4-8 Specifications of Extension Cable ● Make sure to connect the connector hood as it works as the frame grounding (FG). ● Consult with our IOT Innovation Division when an extension cable is to be made by yourself. 4-2-5 Max. Response Speed Resolution [μm] 1 5 10 Maximum speed [m/s] 9.34 23.34 23.34 Shown above is the response speed of the encoder reading. The maximum speed of the LM guide gives an impact to many conditions such as lubricant condition and payload condition. Consult with our IOT Innovation Division for details. 4-2-6 General Specifications Temperature Min. – Max. In use 0 to 50°C No freezing or condensation Storage 0 to 50°C Humidity Use and Storage 20 to 80% External Vibration / Impact Encoder section : (BS EN 60068-2-6,7) (Vibration) frequency 55 to 2000Hz / max. acceleration 100m/s2 (Impact) Acceleration 500m/s2 / activating time 6ms LM Guide section : See the general catalog. External Strong Electromagnetic Field Nonexistent Extension cable: Bending Resistant ɸ6mm □□=03: 3m, 05: 5m, 10: 10m, 15: 15m L=□□m ◆Optional Extension Cable: KLE-□□

See the Instruction Manual of LM Guide [No. 1030-T34667] for permissible error of the mounting surface.

Wiring 7. Cables and Wiring 7-1 Wiring Fig. 7-1 Wiring Specifications * Because R04-P8M is a discontinued product it will be replaced with its next generation model ER04-P8M as the stock ends. There should be no change to appearance dimensions, pin assignments and communication configurations. * Make sure to connect the connector hood as it works as the frame grounding (FG). SHS-LE Optional Extension Cable: KLE-□□ Example) Counter, digital display, motor driver etc. To be Prepared by User Higher-level device

Wiring 7. Cables and Wiring 7-2 Minimum bending radius Handling of Encoder Cable The encoder cable is a bending resistant type with the minimum bending radius R36. Pay attention to the following points when installing. Note) If the installation is inappropriate, it may cause earlier line breakage. ●Cable Twist Cables should be wired straightly without any twist. Fixing or bending of cable while twisted may cause earlier line breakage. ●Fixation of Cable Do not attempt to fix a cable where it moves. Load will be concentrated at the fixed part, which may cause earlier line breakage. Fixing points should be as minimum as possible. Fig. 7-2 Fixation of Cable Cable condition shown with dotted lines in the figure above could cause earlier line breakage of a cable. Consider wiring in the way that the solid lines show.

Wiring 7. Cables and Wiring ●Cable length Too long cable length could cause looseness while too short may cause tension at the fixing point. This may cause earlier line breakage. Adjust a cable to an optimum length when used. Fig. 7-3 Cable length ●Cable Wiring In order to avoid interface of cables as much as possible, keep a space for cables to be laid in a row.

counted in higher-level device Power is not supplied to the encoder head Supply 5V DC power to the linear encoder. Make sure that there is no voltage drop when the cable length is extended. 4-2-2 Encoder Specifications Interface is not matched Confirm that the interface to receive signals is a line receiver circuit complied with EIA-422. 4-2-3 Output Specifications Wrong Wiring Check the pin assignments and lay them out correctly. 7-1 Wiring Cable connector is disconnected Check if the connection at connectors are performed properly. 7-1 Wiring Cable line breakage Check if there is any line breakage on a cable. Encoder head malfunction Consult with our IOT Innovation Divisions if replacement is necessary. Scale malfunction Consult with our IOT Innovation Divisions if replacement is necessary. Pulse count significantly differ to travel distance Scale Error Check the entire stroke on the scale surfaces with a magnet viewer sold in general. If there is an error in arrangement of magnets, it is necessary to have a replacement. Noise Check if there is any influence of noise caused by such as peripheral servomotor, and take a counteraction against noise such as electrical isolation and grounding if there is an influence. Gap error between scale and encoder head Check if there is any loosened or dropped screw on the encoder head or encoder holder. Cable Error Check if there is any line breakage on a cable. Contact error on cable connector Check if joint on connectors are connected properly.

Model number Resolution MES-EH-010 1μm MES-EH-050 5μm MES-EH-100 10μm 10-2 Effective Stroke The range of the allowable block activation is -15mm to each of the rail ends from the rail total length of this product. Use a type with the rail length that 30mm which is the total of 15mm on each end is added to the LM block activation range. Example (1) For SHS20LE01V+500L, because the rail length is 500mm and the block length is 115mm, the available activation range should be 500mm - 115mm - 15mm - 15mm = 355mm. Example (2) The LM guide rail on SHS201V1 necessary for 500mm of the available activation range should be 500mm + 115mm + 15mm + 15mm = 625L of the rail length. Fig. 10-3 e.g.) SHS20LE V Block Note) Do not attempt to activate the LM block on the SHS-LE rail above the available activation range described above. (It may cause reading error or peeling of linear scales.) Fig. 10-1 Encoder Head Model Number Fig. 10-2 Linear Scale on Rail End

● Standard Length and Maximum Length of the LM Rail Table10-1 shows the standard lengths and the maximum lengths of model SHS-LE variations. If the maximum length of the desired LM rail exceeds them, contact THK for details. (This product is not applicable for use in joint.) For special rail lengths, it is recommended to use a value corresponding to the G,g dimension from the table. As the G,g dimension increases, this portion becomes less stable, and the accuracy performance is severely impacted. Table 10-1 Standard Length and Maximum Length of the LM Rail for Model SHS-LE Unit: mm Model No. SHS20LE SHS25LE SHS30LE SHS35LE SHS45LE LM rail standard length (Lo) 220 220 280 280 570 280 280 360 360 675 340 340 440 440 780 400 400 520 520 885 460 460 600 600 990 520 520 680 680 1095 580 580 760 760 1200 640 640 840 840 1305 700 700 920 920 1410 760 760 1000 1000 1515 820 820 1080 1080 1620 940 940 1160 1160 1725 1000 1000 1240 1240 1830 1060 1060 1320 1320 1935 1120 1120 1400 1400 2040 1180 1180 1480 1480 2145 1240 1240 1560 1560 2250 1360 1300 1640 1640 2355 1480 1360 1720 1720 2460 1600 1420 1800 1800 2565 1720 1480 1880 1880 2670 1840 1540 1960 1960 2775 1960 1600 2040 2040 2880 2080 1720 2200 2200 2985 2200 1840 2360 2360 3090 1960 2520 2520 2080 2680 2680 2200 2840 2840 2320 3000 3000 2440 Standard pitch F 60 60 80 80 105 G.g 20 20 20 20 22.5 Max length 3000 3000 3000 3000 3090 Note 1) The maximum length varies with accuracy grades. Contact with our IOT Innovation Division for details.

Date of issue Instruction manual No. Details 2/2022 Version 1.0 First edition