Iai-america ISPDACR-ESD Manual do Utilizador Página 1

IS Series ActuatorOperating ManualDust-proof TypeISDISDA ISPDACleanroom TypeISDCRISPDCR ISDACR ISPDACRCleanroom Type, Antistatic SpecificationISDACR-E

2No.Operation Description Description 2 Transportation Ɣ When carrying a heavy object, do the work with two or more persons or utilize equipment such

9213. Appendix13.1.3 ISDA-M-200, ISPDA-M-200 4-M6, depth 18 2-8H7, depth 10 (tolerance for reamed hole pitch r0.02 mm) Cable joint connector *1 HomeA

9313. Appendix13.1.4 ISDA-MX-200, ISPDA-MX-200 4-M6, depth 18 2-8H7, depth 10 (tolerance for reamed hole pitch r0.02 mm) Cable joint connector *1 Hom

9413. Appendix13.1.5 ISDA-L-200, ISPDA-L-200 2-8H7, depth 10 (tolerance for reamed hole pitch r0.02 mm) Cable joint connector *1 HomeAAt least 100 or

9513. Appendix13.1.6 ISDA-L-400, ISPDA-L-400 2-8H7, depth 10 (tolerance for reamed hole pitch r0.02 mm) Cable joint connector *1 HomeAAt least 100 or

9613. Appendix13.1.7 ISDA-LX-200, ISPDA-LX-200 2-8H7, depth 10 (tolerance for reamed hole pitch r0.02 mm) Cable joint connector *1 HomeAAt least 100

9713. Appendix13.1.8 ISDA-LX-400, ISPDA-LX-400 2-8H7, depth 10 (tolerance for reamed hole pitch r0.02 mm) Cable joint connector *1 HomeAAt least 100

9813. Appendix13.1.9 ISDACR-S, ISPDACR-S 2-6H7, depth 10 (tolerance for reamed hole pitch r0.02 mm) Cable joint connector *1 HomeAAt least 100 or m

9913. Appendix13.1.10 ISDACR-M-100, ISPDACR-M-100 2-8H7, depth 10 (tolerance for reamed hole pitch r0.02 mm)Cable joint connector *1 HomeAAt least

10013. Appendix13.1.11 ISDACR-M-200, ISPDACR-M-200 2-8H7, depth 10 (tolerance for reamed hole pitch r0.02 mm)Cable joint connector *1 HomeAAt least

10113. Appendix13.1.12 ISDACR-MX-200, ISPDACR-MX-200 2-8H7, depth 10 (tolerance for reamed hole pitch r0.02 mm)Cable joint connector *1 HomeAAt least

3No.Operation Description Description (2) Cable Wiring Ɣ 8VHRXUFRPSDQ\¶VJHQXLQHFDEOHVIRUFRQQHFWLQJEHWZHHQWKHDFWXDWRUDQGFRQWUROOHUDQGIRU

10213. Appendix13.1.13 ISDACR-L, ISPDACR-L-200 2-8H7, depth 10 (tolerance for reamed hole pitch r0.02 mm)Cable joint connector *1 HomeAAt least 100

10313. Appendix13.1.14 ISDACR-L-400, ISPDACR-L-400 with brake (option) Weight (kg) 4-8H7, depth 102-8H7, depth 10 (tolerance for reamed hole pitch

10413. Appendix13.1.15 ISDACR-LX-200, ISPDACR-LX-200 Cable joint connector *1 At least 100 or more with brake (optional) 4-8H7, depth 102-8H7, depth

10513. Appendix13.1.16 ISDACR-LX-400, ISPDACR-LX-400 2-8H7, depth 10 (tolerance for reamed hole pitch r0.02 mm)Cable joint connector *1 HomeAAt lea

10613. Appendix13.1.17 ISDACR-W-600, ISPDACR-W-600 Cable joint connector *1 HomeAt least 100 or more Stroke Weight (kg) 4-M8, depth 24 m-M8, depth 25

10713. Appendix13.1.18 ISDACR-W-750, ISPDACR-W-750 Cable joint connector *1 HomeAt least 100 or more Stroke Weight (kg) 4-M8, depth 24 m-M8, depth 25

10813. Appendix13.1.19 ISDACR-WX-600, ISPDACR-WX-600 Cable joint connector *1 HomeAt least 100 or more Stroke Weight (kg) 4-M8, depth 24 m-M8, depth 2

10913. Appendix13.1.20 ISDACR-WX-750, ISPDACR-WX-750 Cable joint connector *1 HomeAt least 100 or more Stroke Weight (kg) 4-M8, depth 24 m-M8, depth 2

11013. Appendix13.1.21 ISDACR-ESD S (Small) Type (60 W) 2-6H7, depth 10 (tolerance for reamed hole pitch r0.02 mm) At least 100 or more Stroke Wei

11113. Appendix13.1.22 ISDACR-ESD M (Medium) Type (100 W/200 W) 2-8H7, depth 10 (tolerance for reamed hole pitch r0.02 mm)At least 100 or more Str

4No.Operation Description Description 4 Installation and Start (4) Safety Measures Ɣ When the work is carried out with 2 or more persons, make it cle

11213. Appendix13.1.23 ISDACR-ESD L (Large) Type (200 W/400 W) 2-8H7, depth 10 (tolerance for reamed hole pitch r0.02 mm)At least 100 or more Stro

11314. Warranty14. Warranty14.1 Warranty PeriodOne of the following periods, whichever is shorter:18 months after shipment from IAI12 months after del

11414. Warranty and Applications14.5 Conditions of Conformance with Applicable Standards/Regulations, Etc.,(1) If our product is combined

11515. Change History15. Change HistorynoisiveRfonoitpircseDetaDnoisiveRFirst editionSecond editionP. 9 Handling PrecautionsChanged “ …duty of 50%” to

Manual No.: ME3682-7A (January 2013)The information contained in this document is subject to change without notice for purposes ofproduct improvement.

5No.Operation Description Description 6 Trial Operation Ɣ When the work is carried out with 2 or more persons, make it clear who is to be the leader

6No.Operation Description Description 8 Maintenance and InspectionƔ When the work is carried out with 2 or more persons, make it clear who is to be t

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8Handling Precautions1. Do not set speeds and accelerations/decelerations equal to or greaterthan the respective ratings.Do not set speeds and acceler

96. Use your actuator at duties not exceeding the calculated reference duty.“Duty” indicates the utilization rate of an actuator (time during which th

107. Transport7.1 Handling a Single AxisTake note of the following points when transporting each actuator alone.7.1.1 Handling the Packed UnitUnless o

11Names of the Parts In this operating manual, the left and right sides are indicated by looking at the actuator from the motor end, with the actuator

122. Cleanroom Types ISDCR/ISPDCR/ISDACR/ISPDACR[Refer to 13.1, “External Dimensions” for details on the reference surface.] For details on the refer

133. Cleanroom Types ISPDCR-W/ISDACR-W/ISPDACR-W [Refer to 13.1, “External Dimensions” for details on the reference surface.] For details on the refe

141. Checking the Product1. Checking the ProductIf based on a standard configuration, this product consists of the items listed below.Caution: Check t

151. Checking the Product1.2.2 XSEL-P/Q controllers No. Name Control No. 1 Operation Manual for XSEL-P/Q Controller MJ01482 Operation Manual for XS

161. Checking the Product1.2.4 SCON controllers No. Name Control No. 1 Operation Manual for SCON Controller MJ0161 2 Operation Manual for PC Softwa

171. Checking the Product1.4 How to Read the Model1.4.1 Standard type ISDA/ISPDA series<Series>Standard accuracyISD, ISDAHigh accuracyISPDA<O

181. Checking the Product1.4.2 Cleanroom Type ISDACR/ISPDACR<Series>Standard accuracyISDCR, ISDACR High accuracyISPDCR, ISPDACR<Options>AQ

191. Checking the Product1.4.3 Cleanroom Type, Antistatic Specification ISDACR-EDS<Series>Standard accuracyISDACR<Encoder type>A: Absolute

206SHFL¿FDWLRQ2. Specification (1) Maximum speed The maximum speed of the actuator is limited to prevent resonance of the ball screw shaft and also

216SHFL¿FDWLRQ(2) Acceleration and loading capacity Loading capacity by acceleration (kg) Type Motor output (W) Lead (mm) Maximum Speed (mm/sec) R

Please Read Before UseThank you for purchasing our product.This Operation Manual explains the handling methods, structure and maintenance of this prod

226SHFL¿FDWLRQ(3) Rated thrust Type Motor type (W) Lead (mm) Rated thrust (N)4 254.8 8 127.4 S 60 16 63.7 5 340.1 10 169.5 10020 84.3 10 340.1 M

236SHFL¿FDWLRQ(4) Driving method Driving method Type Motor type (W) Lead (mm)Encoderpulses*1ISD, ISDA, ISDCR, ISDACR ISPDA, ISPDCR,ISPDACR48S 60 1

246SHFL¿FDWLRQ(6) Loads applied to the actuator [Standard types ISD/ISDA/ISPDA and cleanroom types ISDCR/ISPDCR/ISDACR/ISPDACR (excluding ISPDCR-W

256SHFL¿FDWLRQ[Cleanroom types ISPDCR-W/ISDACR-W/ISPDACR-W]Allowable load moments and allowable overhung load lengths of each actuator are shown be

266SHFL¿FDWLRQCaution: Make sure the load installed on the actuator is not longer than the allowable overhung load length (L). If the load is long

273. Life3. Life The “rated load” is one factor that relates to the traveling life. There are two types of “rated load,” namely “static rated load” an

284. Installation and Storage/Preservation Environment4. Installation and Storage/Preservation Environment 4.1 Installation Environment The actuator

295. Installation5. Installation This chapter explains how to install your actuator on a mechanical system. 5.1 Installation Install the actuator as e

305. Installation5.2 Installing the Actuator Tapped mounting holes are provided on the back of the actuator base. Use these tapped holes to install t

315. InstallationTightening torqueApplicable boltBolt seating surface is steel Bolt seating surface is aluminumM8 31.3 N-m (3.19 kgf-m) 14 N-m (1.43 k

CE MarkingIf a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provided separately.[Ap

325. Installation5.3 Installing the Slider x The slider has tapped holes, so affix the load using these holes. Affix the transferring load in the sa

335. InstallationTightening torqueApplicable boltBolt seating surface is steel Bolt seating surface is aluminumM6 12.3 N-m (1.26 kgf-m) 5.4 N-m (0.55

345. Installation5.4 Mounting Surface x The mounting frame should have sufficient rigidity to avoid generation of vibration. x The surface where the

355. Installation5.5 Using T-slots M4 T-slots are provided on the side face of the base for installing the connector box or other item that must be c

365. Installation5.6 Suction for the Cleanroom Type IS actuators of cleanroom specification with protective stainless sheet can demonstrate their des

376. Connecting the Controller6. Connecting the Controller The controller wiring is explained using a single-axis actuator. 6.1 Wiring The actuator a

386. Connecting the ControllerWhen designing an application system using IAI actuators and controllers, incorrect wiring or connection of each cable m

396. Connecting the ControllerCautions for use of a cable trackThe supplied cable is not a robot cable,so never store it in a cable track.Do not lay s

407. Setting the Home Position7. Setting the Home Position 7.1 Home Return The home return procedure for this actuator is explained below. Home retur

417. Setting the Home Position7.3 Changing the Home Direction If the home direction is changed after the actuator has been delivered, the home direct

Table of ContentsSafety Guide...Handli

427. Setting the Home Position7.4 How to Use the Homing Mark Stickers  Attach these stickers to the product, as necessary, to indicate the home dire

438. OptionsWith AQ seal No lubrication With AQ seal No lubrication Stopped after 1,800 km due to large wearNo problem was found after 15,000 kmStoppe

448. Options8.2 Brake The brake is a mechanism to retain the slider of a vertically installed actuator so that the slider will not drop when the power

458. Options8.4 Guide with Ball Retention Mechanism (Structure) A spacer (retainer) is inserted between adjacent balls (steel balls) in the guide to

469. Motor/Encoder Cables9. Motor/Encoder Cables 9.1 Standard The same cables are used regardless of the actuator model. The applicable cables vary de

479. Motor/Encoder Cables[3] Limit switch cable CB-X-LC*** [4] Encoder cable CB-X1-PA*** [5] Encoder cable with LS CB-X2-PLA*** (Front vies) Control

489. Motor/Encoder Cables9.2 CE Specification (Option Indicated by “EU” in Model Number) The same cables are used regardless of the actuator model. T

499. Motor/Encoder Cables[3] Encoder cable with LS CB-XEU1-PLA*** * *** indicates the cable length (L). Up to 30 m can be specified. Example) 080 =

5010. Maintenance/Inspection10. Maintenance/Inspection 10.1 Inspection Items and Intervals Perform maintenance/inspection according to the following

5110. Maintenance/Inspection10.3 External Cleaning x Clean the exterior surfaces from time to time. x Wipe off dirt with a soft cloth. x Depending

7. Setting the Home Position...7.1 Home Return ...

5210. Maintenance/Inspection10.5 Interior Check Turn off the power, remove the stainless sheet and visually inspect the interior. For the interior ins

5310. Maintenance/Inspection10.6 Cleaning the interior x Wipe off dirt with a soft cloth. x If constituents of grease have separated and base oil h

5410. Maintenance/InspectionGrease Supply MethodGrease nipples are provided on the end face of the slider, so add grease from these nipples. To add gr

5510. Maintenance/Inspection10.7.2 ISDCR/ISPDCR/ISDACR/ISPDACRApplicable GreaseOur guides use urea grease that offers excellent low-dust-raising prope

5610. Maintenance/InspectionMotor endGuide (right)Guide (left)Guide (right)Guide (left)Guide (right)Guide (left)Guide (left)Guide (right)Motor endMoto

5710. Maintenance/Inspection10.7.3 ISPDCR-W/ISDACR-W/ISPDACR-WApplicable GreaseLow-dust-raising urea grease is used.The following blends of grease are

5811. Replacement/Adjustment Procedure for Stainless Sheet11. Replacement/Adjustment Procedure for Stainless Sheet “What you need for replacement” x

5911. Replacement/Adjustment Procedure for Stainless Sheet“Procedure” (1) Remove the screws affixing the slider cover. After removing the slider cove

6011. Replacement/Adjustment Procedure for Stainless Sheet(2) Remove the motor cover. (3) Remove the screws retainer the current stainless sheet and

6111. Replacement/Adjustment Procedure for Stainless Sheet(7) Adjust the tension of the stainless sheet. [1] While looking in through the center ope

13.1.4 ISDA-MX-200, ISPDA-MX-200 ...13.1.5 ISDA-L-200, ISPDA-L-200 ...

6211. Replacement/Adjustment Procedure for Stainless Sheet[3] Move the slider and check the tension of the stainless sheet over the entire stroke. If

6312. Motor Replacement Procedures12. Motor Replacement Procedures (Note) Motors in the ISD, ISDCR and ISPDCR series cannot be replaced by customers

6412. Motor Replacement Procedures(2) Removing the rear cover Remove the four bolts affixing the rear cover. <List of rear cover affixing bolts>

6512. Motor Replacement Procedures(4) Removing the coupling (on the ball screw side) Loosen the bolts affixing the coupling. <List of coupling aff

6612. Motor Replacement Procedures(7) Wiring the new motor unit x Connect to the motor unit the motor cable and encoder cable attached to the motor

6712. Motor Replacement Procedures(8) Positioning the slider Adjust the affixed position of the slider so that the motor can be installed. Use a scal

6812. Motor Replacement Proceduresx Reversed-home specification (9) Positioning the motor x Turn on the controller power and use the PC software or

6912. Motor Replacement Procedures(10) Installing the new motor unit x With the servo turned on, insert the coupling of the motor unit into the openi

7012. Motor Replacement Procedures(11) Tightening the coupling x Loosely tighten the coupling bolt using an Allen wrench, and then turn off the serv

7112. Motor Replacement Procedures(12) Installing the rear cover x Affix the ground wire using the cap screw. <List of ground wires, affixing bolt

7212. Motor Replacement Procedures(13) Installing the motor cover Affix the motor cover using two bolts. <List of motor cover affixing bolts and ti

7312. Motor Replacement Procedures12.2 Replacing the Motor of the ISDACR/ISPDACR Series “What you need for replacement” x New motor (with a coupling

7412. Motor Replacement Procedures(3) Remove the rear cover. Use an Allen wrench of 4 mm across flats to remove the two hexagonal socket head bolts.

7512. Motor Replacement Proceduresx Standard home specification (home on the motor side) Type Distance between the inner end face of the motor bracke

7612. Motor Replacement Procedures(5) Loosen the coupling (ball screw side). Use an Allen wrench of 4 mm across flats to loosen the hexagonal socket

7712. Motor Replacement Procedures(8) Plug the motor connector and encoder connector on the extension cables into the new motor. (9) Adjust the moto

7812. Motor Replacement Procedures(10) Install the new motor. With the servo turned on, press the motor coupling into the end of the ball screw shaft

7912. Motor Replacement Procedures(14) Install the rear cover. Store the connectors in the space below the motor, and use an Allen wrench of 4 mm acro

8012. Motor Replacement Procedures(17) Correcting the position deviation [1] Turn on the controller power. Next, use a PC software or teaching pendan

8112. Motor Replacement Procedures12.3 How to Set the Home Preset and Home Return Offset Correct the position deviation by changing the parameter for

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8212. Motor Replacement Procedures(3) Open the parameter screen. (4) Select the axis-specific parameter tab. (5) In the axis-specific parameter tab

8312. Motor Replacement Procedures(7) Write the new data. (8) Transfer the data to the controller. (9) Click OK.(10) Write the data to the flash ROM

8412. Motor Replacement Procedures(11) Restart the controller. Select Yes.

8512. Motor Replacement Procedures12.3.2 ECON and SCON Controllers (1) Open the position edit screen. On the PC software screen, click , sele

8612. Motor Replacement Procedures(3) Open the parameter screen. (4) The user parameter screen appears. (5) Change user parameter No. 13 (Home Retu

8712. Motor Replacement Procedures(6) Write the new data. Click the controller transfer button, and then click OK.* After the data has been written,

8812. Motor Replacement Procedures12.3.3 P-Driver Controllers (1) Open the jog screen. Click the jog button on the PC software screen. Next,

8912. Motor Replacement Procedures(3) Open the parameter edit screen. Click this button to open the parameter screen. (4) Change the setting of No.

9013. Appendix13. Appendix Caution: For the external dimensions of ISD/ISDCR/ISPDCR actuators, refer to the catalogs of old products. You can downloa

9113. Appendix13.1.2 ISDA-M-100, ISPDA-M-100  Dimension, Mass and Maximum Speed by Stroke4-M6, depth 18 2-8H7, depth 10 (tolerance for reamed hole p