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inCAD Library

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  • Helpful application examples for mechanical engineers.

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No.000034 Vertical Transfer Unit
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2

Vertical transfer of workpiece using single axis actuator

Relevant category

Singe axis robot Slider type

Singe axis robot Slider type
Product name Single Axis Robot RSH3
Part number RSH310-C21A-N-F1-3-500
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria | Risk info. | Available sizes | Selection steps | Accuracy Info | Performance info. | Technical calculations

Selection criteria

Linear motion unit that satisfies load capacity, stroke, and motion speed requirements.

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Risk info.

Disconnection

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Available sizes

Single axis robot (RSH3, Slider type)

General specifications

Ball screw Motor Position detector Operating atmosphere
temp. · humidity 		Controller
power input
φ15
(C7 Rolled) 		AC Servo motor
100W 		Resolver 0〜40℃・35〜85%RH
(No condensation) 		AC100-115V
AC200-230V

Basic specifications

Lead
(mm) 		Stroke
(mm)
5 150-1050
(50Increment)
10
20

Dimensions · Mass

Dimensions · Mass Stroke
150 200 250 300 350 400 450 500 550 600
Overall length 518 568 618 668 718 768 818 868 918 968
Mass(kg) 4.7 5 5.3 5.6 5.9 6.2 6.6 6.9 7.2 7.5
Dimensions · Mass Stroke
650 700 750 800 850 900 950 1000 1050
Overall length 1018 1068 1118 1168 1218 1268 1318 1368 1418
Mass(kg) 7.8 8.1 8.4 8.7 9 9.3 9.7 10 10.3

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Selection steps

Single axis robot selection steps

Load capacity

↓

Stroke

↓

Cycle time or Max. Speed

↓

Detail confirmation

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Accuracy Info

Accuracy of Single Axis Robot

Repeatability: ±0.01mm

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Performance info.

Basic specifications

Lead
(mm) 		Max. load capacity Rated force
(N) 		Max. speed
(mm/sec) 		Rated
Life
Horizontal (kg)
5 80 339 300-105 10,000km
or more
10 60 169 600-210
20 30 84 1200-420

Max. speed(mm/sec)

Lead
(mm) 		Stroke
150-600 650 700 750 800 850 900 950 1000 1050
5 300 255 225 195 180 165 150 135 120 105
10 600 510 450 390 360 330 300 270 240 210
20 1200 1020 900 780 720 660 600 540 480 420

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Technical information

Convenient sizing software is available to use.

■ Single axis robot selection (WEB design support service)

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Linear guide

Linear guide
Product name Linear Guides - Heavy Load
Part number SX2R28-760
Features Compliant with the industry standard specifications.
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria | Available sizes | Selection steps | Accuracy Info | Performance info. | Technical calculations

Selection criteria

Suitable for linear guidance and as a load support.

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Available sizes

Linear guide (For heavy loads · Normal clearance, Standard grade · 2 blocks · Standard blocks)

Material Hardness Overall height Rail length
Carbon steel
(SCM etc. alloy steel) 		58HRC～ 24 160-1480
28 220-1960
33 220-1960

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Selection steps

Linear guide selection steps

Determine application conditions
(Mass of moving body, Feed rate, Motion pattern, Life)

↓

Interim selection of linear guide specifications
(Temporarily select block type, height,
rail length based on the application condition)

↓

Confirm basic safety
  • ● Load capacity
  • ● Life
  • ● Preload

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Accuracy Info

Preload and accuracy standards

(μm）

Tolerance of H ±100
Pair variation of H 20
Tolerance of W2 ±100
Pair variation
of W2 		H24・28 20
H33 30

(μm）

Rail length
-250 251-400 401-500 501-630 631-800 801-1000 1001-1250 1251-1600 1601-2000
Running parallelism 7 12 14 18 21 23 25 27 28.5

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Performance info.

Linear guide load rating (For heavy loads · Normal clearance · Standard grade)

Overall height Basic load rating Allowable static moment
C (Dynamic) kN C0 (Static) kN MA・MB
N・m 		Mc
N・m
24 8.6 14.2 69 98
28 12.5 21.3 155 232
33 20.2 34.5 275 393

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Technical calculations

Linear guide life calculations

●Life
When linear guides operate in linear motion while supporting loads, repeated stresses apply on the rolling elements (balls) and raceways (rails), eventually causing scale-like flaking due to material fatigue. The total run distance until this flaking appears is defined as linear guide's "Life".
●Rated life
Rated life is a total distance 90% of linear guides reach without flaking when a group of the same guides are run under the same condition. The rated life can be calculated with basic dynamic load rating and the load applied on the guides as follows.
When using linear guides, load calculations are initially needed. It is not easy to calculate the loads during linear motion due to vibrations and shocks, as well as load distribution on the guides. Furthermore, operating environment temperature has large effect on life. When these conditions are taken in consideration, the calculations would be as follows.
  • L: Rated life (km)
  • fH: Hardness factor (see Fig-1)
  • fT: Temperature factor (see Fig-2)
  • fC: Contact factor (see Table-1)
  • fW: Load factor (see Table-2)
  • C: Basic dynamic load rating (N)
  • P: Applicable load (N)
Hardness factor (fH)

In using linear guides, the shaft that balls contact must have sufficient hardness, If adequate hardness cannot be obtained, load rating decreases and life will be reduced as a result.
Please compensate the life rating with hardness factor.

Temperature factor (fT)

When the temperature of linear guides exceed 100℃, hardness of blocks and rails will be reduced, causing reduction of life. Please compensate the life rating with temperature factor.
* Please use linear guides within temperature shown on product pages.

Contact factor (fC)

Table-1. Contact factor

Number of blocks installed on one rail and contact factor fC

1 1.00
2 0.81
3 0.72
4 0.66
5 0.61

In general, it is common to use 2 or more blocks on 1 rail. In such case, load applicable on each block would not be uniform due to machining variations. As the result, allowable load rating on each block would vary depending on the number of blocks used per rail. Please compensate the life rating with contact factor shown on Table-1.

Load factor (fW)

Table-2. Load factor

Application condition fw
No external shocks or vibrations and
speed is low 15m/min or less 		1.0-1.5
No significant shocks or vibration and
med. speed 60m/min or less 		1.5-20
External shocks and vibrations exist
and the speed is high 60m/min or over 		2.0-3.5

When calculating loads applicable on linear guides, other than the weight of the object, inertial force due to motion speeds, moment loads, and variations of each over time must also be obtained accurately. However, accurate calculation would be difficult due to repeated starts and stops and various shocks and vibrations. Therefore, the Load Factors shown in Table-2 are used to simplify the life calculations.

Applicable load calculation method
When moment loads apply a block, use the following formula to convert the moment load to applicable load.
  • P: Applicable load (N)
  • F: Downward load (N)
  • C0: Static load rating (N)
  • MA: Allowable static moment - Pitching direction (N・m)
  • MC: Allowable static moment - Rolling direction (N・m)
  • Lp: Load point distance (m) in pitching direction
  • Lr: Load point distance (m) in rolling direction

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Cam follower

Cam follower
Product name Cam Followers - Hex Hole, No Seal, Crown Type
Part number CFUA12-30
* Orange colored cells in the table below indicate the part numbers used in this example.
Selection criteria | Available sizes | Accuracy Info | Performance info.

Selection criteria

Suitable for supporting linear transfer.

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Available sizes

Cam follower (Crowned with a hex socket)

Purpose Main body Nut
Material Seal Material Surface treatment
No Yes
General 52100 Bearing Steel ○ ○ 1045 Carbon Steel Black oxide
440C Stainless Steel ○ ○ 304 Stainless Steel -
Low particle generation - ○
Heavy load 52100 Bearing Steel - ○ 1045 Carbon Steel Black oxide
Stud DIA. Thread Outer race diameter Outer race width Overall length
φ8 M8x1.25 φ19 11 32
φ10 M10x1.25 φ22 12 36
φ26
φ12 M12x1.5 φ30 14 40
φ32
φ16 M16x1.5 φ35 18 52

Accuracy Info

Cam follower accuracies

Stud diameter tolerance: h7
Outer ring DIA. Tolerance: 0/-0.05
Outer race DIA. Tolerance: 0/0.12

Performance info.

Cam follower reference data

Stud DIA.
-Outer race diameter 		General
Basic dynamic
load rating C(kN) 		Basic static
load rating Cor(kN) 		Max allowable
load(kN) 		Track load capacity
(Crowned)(kN) 		Rotational speed limit (rpm)
With Seal Without Seal
8-19 4.17 4.65 4.73 1.37 14000 20000
10-22 5.33 6.78 5.81 1.67 11900 17000
10-26 2.06
12-30 7.87 9.79 9.37 2.45 9800 14000
12-32 2.74
16-35 12.00 18.30 17.30 3.14 7000 10000
Stud DIA.
-Outer race diameter 		Heavy load
Basic dynamic
load rating C(kN) 		Basic static
load rating Cor(kN) 		Max allowable
Load(kN) 		Track load capacity
(Crowned)(kN) 		Rotational speed limit (rpm)
With Seal
8-19 8.13 11.20 4.73 1.37 3480
10-22 9.42 14.30 5.81 1.67 2880
10-26 2.06
12-30 13.40 19.80 9.37 2.45 2320
12-32 2.74
16-35 20.60 37.60 17.30 3.14 1800

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IDEA NOTE Devising of workpiece guides

The surface of the workpiece guides will need to be both smooth and hard. Linear Shafts has both of these characteristics, and is fully configurable Misumi product.

IDEA NOTE Floating mechanism

The connection between robot and slide table is floating structure utilizing cam follower.

  • TERMS AND CONDITIONS FOR USE OF CAD DATA
    Your access to the CAD data that MISUMI Corporation (hereinafter referred to as the Company) posts on this site (including 3D CAD data, intermediate 3D CAD data and 2D CAD data; hereinafter referred to as the Data) are of products manufactured and/or sold by the Company (hereinafter referred to as the Products) assumes that you have read and accepted these terms and conditions which govern your use of the Data. If you do not agree to these terms and conditions, you must stop using this website and the Data. You must not use the Data for any unlawful purpose or in any manner inconsistent with these terms and conditions.
    1. CAD Data
    The Data is prepared for assisting the Company's users in the CAD design process by providing dimensions and other Product information. In order to provide the best speed and stability working within this site, the Product drawings were simplified to reduce the size of the Data. For instance, some of the Products are shown without the oil groove shape, screws or spring shape. Also, please be aware that the tolerance, surface roughness and/or chamfer of the Data may vary from the actual Products.
    2. Disclaimer on Data
    While the Company has carefully prepared the Data, accuracy of the Data is not guaranteed and is subject to the variances as described above. The Company may also modify, add or delete the Data at any time without prior notice. The Company assumes no liability for any direct, indirect, consequential or special damages that you may claim resulted from your use of the Data or any changes to or deletions of the Data regardless of the reason. The Company provides no warranty as to the quality, accuracy, functionality, safety or reliability of the combination of Products and parts. Example applications and combinations of the Products are provided for illustrative purposes only.
    3. Copyright
    Copyrights to the content and the Data belong to the Company or the manufacturers of the Products. The said copyright is protected by the Copyright Act and international treaties. The use (including duplication, modification, uploading, posting, transmission, distribution, licensing, sales and publishing) of the Data except for the purpose to use the Data described above without prior approval of the Company is not allowed. The Data cannot be used for any purposes (including sales promotion) except for designing your machine. If you violate this provision or the laws or regulations, the Company may prohibit you from the use of the Data, the Company’s site and/or take legal action. So long as you comply with these terms and conditions, the Company grants to you a non-exclusive, non-transferable, revocable license to access and use the Data for the sole purpose of assisting you in designing machines that incorporate products.
    In case that the CAD data is found to have been to be used for any purpose other than mentioned above or against the related laws, MISUMI may take legal actions, including the one for blocking the involved user from using CAD data and from accessing to the MISUMI site.
    4. Disclaimer of Warranty
    ANY AND ALL CONTENT APPEARING ON THIS WEB SITE IS PROVIDED FOR INFORMATIONAL PURPOSES ONLY. THIS WEB SITE, ITS CONTENT AND ITS LINKS ARE PROVIDED ON AN "AS IS" AND "AS AVAILABLE" BASIS AND ARE USED ONLY AT YOUR SOLE RISK, TO THE FULLEST EXTENT PERMISSIBLE BY LAW. THE COMPANY DISCLAIMS ALL WARRANTIES, EXPRESS OR IMPLIED, OF ANY KIND, REGARDING THIS WEB SITE (INCLUDING ITS CONTENT, HARDWARE, SOFTWARE AND LINKS), INCLUDING AS TO FITNESS FOR A PARTICULAR PURPOSE, MERCHANTABILITY, TITLE, NON INFRINGEMENT, RESULTS, ACCURACY, COMPLETENESS, ACCESSIBILITY, COMPATIBILITY, SECURITY AND FREEDOM FROM COMPUTER VIRUS. THE COMPANY WILL NOT BE LIABLE FOR ANY DAMAGES OR LOSSES, INCLUDING DIRECT, INDIRECT, CONSEQUENTIAL, SPECIAL, INCIDENTAL OR PUNITIVE DAMAGES AND/OR LOST PROFITS, IN CONNECTION WITH USE OF THE INTERNET, THIS WEB SITE, ITS CONTENT OR ITS LINKS
    Further, the Company will not be liable to you for any failure or delay by the Company to provide access to the Data or any of its obligations under these terms and conditions where such failure or delay is the direct or indirect result of any circumstances beyond the Company's reasonable control (and the Company's obligations will be suspended for the duration of such circumstances).
    5. Policy of Third Parties
    You may be required to separately agree to third party's policies if you use third party software to create or browse the Data or use a third party’s CAD data. In this case, the Company does not assume any responsibility for defects of such CAD data or the software of the third party or violation of their rights. Understand them before use.

    CAD Download (Unit Assembly)

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    Click the Good IDEA! button when you find interesting design tips.


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    CAD Data Limitations

    1. Assembly data shows the assembly drawings in the concept design phase. The sole purpose of the data is to explain the structure and functionality of the assembly and is not considered nor to be used as a final design.
      You will need to edit the Data so that it meets your specific design conditions.
    2. Unit assembly Data consists of some sub-assemblies.
      It is configured so that each sub-assembly unit can be used as it is or edited.

      3. * The part in the frame is a sub-assembly unit.

    3. The Data for fabricated parts is based on easy-to-edit dimensions and shapes in sketches and histories.
    4. The Data including the third-part components are made by the Company.

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  • * Unit assembly Data consists of some sub-assemblies.
       It is configured so that each sub-assembly unit can be used as it is or edited.

Application Overview

Purpose

  • A workpiece is vertically elevated using a single axis actuator.

Target workpiece

  • Plastic plate
    W188 x D68 x t5

Design Specifications

Operating Conditions or Design Requirements

  • External dimensions: W400 x L900 x (H593)
  • Stroke(Left/Right)：500mm
  • Stroke(Up/Down)：200mm

Required Performance

  • Positioning accuracy
    Left/Right: ±0.2/500 mm
    Up/Down: ±0.2/200 mm

Selection Criteria for Main Components

  • A single axis robot is used for multi-point positioning capability and a long stroke.
  • A single axis robot is used since acceleration/deceleration and good positioning accuracy are needed.

Design Evaluation

Verification of main components

  • Select a robot that satisfies load capacity, stroke, and motion speed requirements.
  • Single axis robot selection calculations
    • X axis robot
      (1) Load capacity → Select from [Max load capacity] of Spec. List: 10kg (98N)
      (2) Stroke → Select from [Stroke] of Spec. list: 500mm
      (3) Cycle time → Select from [Cycle time graph] or [Max speed]: 1.2sec
      Temporarily select RSH310-C21A-N-F1-3-500
      (4) Detail confirmation
      Overhang: 111mm allowable at 20kg, actual overhang 68mm.
      Bending moment: 98N×0.068m=6.7N·m
      Selected model's allowable moment is 163N·m, and is sufficient for this application.
    • Z axis robot
      (1) Load capacity → Select from [Max load capacity] of Spec. List: 10kg (98N)
      (2) Stroke → Select from [Stroke] of Spec. list: 200mm
      (3) Max speed → Select from [Max speed] of spec. list: 80mm/sec
      Temporarily select RSDG306B-C1-N-3-200
      (4) Detail confirmation
      Max push force: 10 x 9.8 = 98N, the max allowable push force is 550N, therefore selected robot satisfies load requirements.

Other Design Consideration

  • Ensure the aluminum extrusion frame has sufficient rigidity to provide the necessary weight capacity.

Explore Similar Application Examples

Page - / -

Part List

No. Part Name Sample Picture MISUMI Part Number
For Price and Days to ship click on Part No. 		Quantity
1 Single-Axis Robot RSH3 RSH310-C21A-N-F1-3-500 1
2 Linear Guides SX2R28-760 1
3 Cam Followers CFUH12-30 1
4 Dowel Pins MS10-20 4
5 Dowel Pins MS5-20 2
6 Single-Axis Robot RSDG3 RSDG306B-C1-N-3-200 1
7 Linear Shaft SFTF10-200-J8-M6 6
8 Extra Low Head Cap Screws CBSS6-16 6
9 Aluminum Extrusion HFS8-4080-895 2
10 Aluminum Extrusion HFS8-4080-320 2
11 Aluminum Extrusion HFS8-4080-820 1
12 Aluminum Extrusion HFS8-4080-500 4
13 Brackets for Aluminum Extrusion HFC8-4080-S 4
14 Brackets for Aluminum Extrusion HBKTS8 8
15 Nuts For Aluminum Extrusion HNTE8-8 48
16 Brackets For Aluminum Extrusion HBLTD8 8
17 Nuts For Aluminum Extrusion HNTE8-5 10
  • The part list above only contains MISUMI parts.
    Part list download (CSV) includes MISUMI and third party components used in this example.
  • TERMS AND CONDITIONS FOR USE OF CAD DATA
    Your access to the CAD data that MISUMI Corporation (hereinafter referred to as the Company) posts on this site (including 3D CAD data, intermediate 3D CAD data and 2D CAD data; hereinafter referred to as the Data) are of products manufactured and/or sold by the Company (hereinafter referred to as the Products) assumes that you have read and accepted these terms and conditions which govern your use of the Data. If you do not agree to these terms and conditions, you must stop using this website and the Data. You must not use the Data for any unlawful purpose or in any manner inconsistent with these terms and conditions.
    1. CAD Data
    The Data is prepared for assisting the Company's users in the CAD design process by providing dimensions and other Product information. In order to provide the best speed and stability working within this site, the Product drawings were simplified to reduce the size of the Data. For instance, some of the Products are shown without the oil groove shape, screws or spring shape. Also, please be aware that the tolerance, surface roughness and/or chamfer of the Data may vary from the actual Products.
    2. Disclaimer on Data
    While the Company has carefully prepared the Data, accuracy of the Data is not guaranteed and is subject to the variances as described above. The Company may also modify, add or delete the Data at any time without prior notice. The Company assumes no liability for any direct, indirect, consequential or special damages that you may claim resulted from your use of the Data or any changes to or deletions of the Data regardless of the reason. The Company provides no warranty as to the quality, accuracy, functionality, safety or reliability of the combination of Products and parts. Example applications and combinations of the Products are provided for illustrative purposes only.
    3. Copyright
    Copyrights to the content and the Data belong to the Company or the manufacturers of the Products. The said copyright is protected by the Copyright Act and international treaties. The use (including duplication, modification, uploading, posting, transmission, distribution, licensing, sales and publishing) of the Data except for the purpose to use the Data described above without prior approval of the Company is not allowed. The Data cannot be used for any purposes (including sales promotion) except for designing your machine. If you violate this provision or the laws or regulations, the Company may prohibit you from the use of the Data, the Company’s site and/or take legal action. So long as you comply with these terms and conditions, the Company grants to you a non-exclusive, non-transferable, revocable license to access and use the Data for the sole purpose of assisting you in designing machines that incorporate products.
    In case that the CAD data is found to have been to be used for any purpose other than mentioned above or against the related laws, MISUMI may take legal actions, including the one for blocking the involved user from using CAD data and from accessing to the MISUMI site.
    4. Disclaimer of Warranty
    ANY AND ALL CONTENT APPEARING ON THIS WEB SITE IS PROVIDED FOR INFORMATIONAL PURPOSES ONLY. THIS WEB SITE, ITS CONTENT AND ITS LINKS ARE PROVIDED ON AN "AS IS" AND "AS AVAILABLE" BASIS AND ARE USED ONLY AT YOUR SOLE RISK, TO THE FULLEST EXTENT PERMISSIBLE BY LAW. THE COMPANY DISCLAIMS ALL WARRANTIES, EXPRESS OR IMPLIED, OF ANY KIND, REGARDING THIS WEB SITE (INCLUDING ITS CONTENT, HARDWARE, SOFTWARE AND LINKS), INCLUDING AS TO FITNESS FOR A PARTICULAR PURPOSE, MERCHANTABILITY, TITLE, NON INFRINGEMENT, RESULTS, ACCURACY, COMPLETENESS, ACCESSIBILITY, COMPATIBILITY, SECURITY AND FREEDOM FROM COMPUTER VIRUS. THE COMPANY WILL NOT BE LIABLE FOR ANY DAMAGES OR LOSSES, INCLUDING DIRECT, INDIRECT, CONSEQUENTIAL, SPECIAL, INCIDENTAL OR PUNITIVE DAMAGES AND/OR LOST PROFITS, IN CONNECTION WITH USE OF THE INTERNET, THIS WEB SITE, ITS CONTENT OR ITS LINKS
    Further, the Company will not be liable to you for any failure or delay by the Company to provide access to the Data or any of its obligations under these terms and conditions where such failure or delay is the direct or indirect result of any circumstances beyond the Company's reasonable control (and the Company's obligations will be suspended for the duration of such circumstances).
    5. Policy of Third Parties
    You may be required to separately agree to third party's policies if you use third party software to create or browse the Data or use a third party’s CAD data. In this case, the Company does not assume any responsibility for defects of such CAD data or the software of the third party or violation of their rights. Understand them before use.

    CAD Download (Unit Assembly)

    CAD Download: File Format
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    Thank you for downloading the data.

    Click the Good IDEA! button when you find interesting design tips.


    This data is utilized in order to list more useful application examples in the future.

    Good IDEA!

    CAD Data Limitations

    1. Assembly data shows the assembly drawings in the concept design phase. The sole purpose of the data is to explain the structure and functionality of the assembly and is not considered nor to be used as a final design.
      You will need to edit the Data so that it meets your specific design conditions.
    2. Unit assembly Data consists of some sub-assemblies.
      It is configured so that each sub-assembly unit can be used as it is or edited.

      3. * The part in the frame is a sub-assembly unit.

    3. The Data for fabricated parts is based on easy-to-edit dimensions and shapes in sketches and histories.
    4. The Data including the third-part components are made by the Company.

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