IS Series Actuator Operating Manual Dust-proof Type ISD ISDA ISPDA Cleanroom Type ISDCR ISPDCR ISDACR ISPDACR Cleanroom Type, Antistatic Specification ISDACR-ESD Seventh Edition
Please Read Before Use Thank you for purchasing our product. This Operation Manual explains the handling methods, structure and maintenance of this product, among others, providing the information you need to know to use the product safely. Before using the product, be sure to read this manual and fully understand the contents explained herein to ensure safe use of the product. The CD or DVD that comes with the product contains operation manuals for IAI products.
CE Marking If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provided separately.
Table of Contents Safety Guide................................................................................................................... . 1 Handling Precautions ...................................................................................................... 8 Names of the Parts ..........................................................................................................10 1. 2. 3. Standard Types ISD/ISDA/ISPDA ....................................................................
7. Setting the Home Position....................................................................................... 40 7.1 7.2 7.3 7.4 Home Return ............................................................................................................................. 40 Fine-tuning the Home Position .................................................................................................. 40 Changing the Home Direction ...........................................................................
13.1.4 13.1.5 13.1.6 13.1.7 13.1.8 13.1.9 13.1.10 13.1.11 13.1.12 13.1.13 13.1.14 13.1.15 13.1.16 13.1.17 13.1.18 13.1.19 13.1.20 13.1.21 13.1.22 13.1.23 ISDA-MX-200, ISPDA-MX-200 .................................................................................. 93 ISDA-L-200, ISPDA-L-200 ......................................................................................... 94 ISDA-L-400, ISPDA-L-400 .........................................................................................
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No. 2 2 Operation Description Transportation 3 Storage and Preservation 4 Installation and Start Description Ɣ When carrying a heavy object, do the work with two or more persons or utilize equipment such as crane. Ɣ When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.
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No. 4 4 Operation Description Installation and Start 7HDFKLQJ Description (4) Safety Measures Ɣ When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.
No. 6 7 Operation Description Trial Operation Automatic Operation Description Ɣ When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. Ɣ After the teaching or programming operation, perform the check operation one step by one step and then shift to the automatic operation.
No. 8 9 6 Operation Description Maintenance and Inspection 10 Modification and Dismantle Disposal 11 Other Description Ɣ When the work is carried out with 2 or more persons, make it clear who is to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers. Ɣ Perform the work out of the safety protection fence, if possible.
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Handling Precautions 1. Do not set speeds and accelerations/decelerations equal to or greater than the respective ratings. Do not set speeds and accelerations/decelerations equal to or greater than the respective ratings. Doing so may result in vibration, failure or shorter life. In synchronized operation of combined axes, adjust the speed and acceleration/deceleration to the maximum speed and minimum acceleration/deceleration among the combined axes, respectively.
6. Use your actuator at duties not exceeding the calculated reference duty. “Duty” indicates the utilization rate of an actuator (time during which the actuator operates in a cycle). Use your actuator at duties not exceeding the reference duty calculated as follows. If the actuator is used at duties exceeding the reference duty, the actuator may receive an overload or its motor may generate heat. In extreme cases, motor damage or other undesired result may follow.
7. Transport 7.1 Handling a Single Axis Take note of the following points when transporting each actuator alone. 7.1.1 Handling the Packed Unit Unless otherwise instructed, each actuator axis is packed individually and shipped. Do not bump or drop the package. The package is not specially designed to withstand the impact of dropping or bumping. The operator should not carry heavy shipping boxes by himself. (Transport the package using an appropriate transport means.
Names 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 placed horizontally, as shown in the figure below. 1. Standard Types ISD/ISDA/ISPDA Sheet stopper plate Side cover Actuator cable Right side Motor side Counter-motor side Left side Slider Motor cover Slider Front cover Rear cover Reference surface [Refer to 13.1, “External Dimensions” for details on the reference surface.
2. Cleanroom Types ISDCR/ISPDCR/ISDACR/ISPDACR Sheet stopper plate Side cover Actuator cable Right side Motor side Counter-motor side Left side Stainless sheet Slider Motor cover Vacuum coupler Oil feed cover Front cover Slider Rear cover Reference plane [Refer to 13.1, “External Dimensions” for details on the reference surface.] For details on the reference surfaces of ISDCR, ISPDCR series actuators, refer to General Catalog for Small Industrial Robots 2003 (back number).
3. Cleanroom Types ISPDCR-W/ISDACR-W/ISPDACR-W Sheet stopper plate Sheet stopper plate Slide cover Right side Counter-motor side Motor side Protective stainless steel Left side Actuator cable Slider Vacuum tube Slider Front cover Reference surface Rear cover [Refer to 13.1, “External Dimensions” for details on the reference surface.] For details on the reference surfaces of ISPDCR-W actuators, refer to General Catalog for Small Industrial Robots 2003 (back number).
1. Checking the Product 1. Checking the Product If based on a standard configuration, this product consists of the items listed below. Caution: Check the packed items against the packing specification. Should you find a wrong model or any missing item, please contact your IAI dealer or IAI. 1.1 Components No. 1 Name Actuator Remarks Refer to “How to Read the Model Nameplate” and “How to Read the Model.” Accessories 2 Quick Step Guide 3 Operation Manual (CD/DVD) 4 Safety Guide 1.
1.2.2 1.2.3 No. 1 2 3 4 5 6 7 8 Name Operation Manual for XSEL-P/Q Controller Operation Manual for XSEL-P/Q/PX/QX RC Gateway Function Operation Manual for PC Software IA-101-X-MW/IA-101-X-USBMW Operation Manual for Teaching Pendant SEL-T/TD/TG Operation Manual for Teaching Pendant IA-T-X/XD Operation Manual for DeviceNet Operation Manual for CC-Link Operation Manual for PROFIBUS Control No. MJ0148 MJ0188 MJ0154 MJ0183 MJ0160 MJ0124 MJ0123 MJ0153 1. Checking the Product No.
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6SHFL¿FDWLRQ 2. Specification (1) Maximum speed The maximum speed of the actuator is limited to prevent resonance of the ball screw shaft and also by the motor speed limit. Be sure to observe the applicable maximum speed shown in the table below. Strokes and maximum speed limits (Unit: mm/s) Motor Type capacity (W)) Lead (mm) Stroke (mm) Caution: Do not set speeds and accelerations/decelerations equal to or greater than the respective ratings.
(2) Acceleration and loading capacity Loading capacity Type Motor output (W) Lead (mm) Maximum Speed (mm/sec) Rated acceleration (G) at rated acceleration Loading capacity by acceleration (kg) Maximum acceleration 0.3G (G) 0.5G 0.6G 0.7G 0.8G 0.9G 1.0G S M M L L 60 100 16 800 8 400 4 200 20 1000 10 500 5 250 20 1000 10 500 20 1000 10 500 20 1000 40 2000 20 1000 10 500 50 2000 25 1250 200 200 400 600 W 750 0.3 0.3 0.3 0.3 0.15 0.3 0.3 0.3 0.3 0.15 0.
(3) Rated thrust Type 6SHFL¿FDWLRQ S Motor type (W) 60 100 M 200 MX L LX 200 200 Rated thrust (N) 4 254.8 8 127.4 16 63.7 5 340.1 10 169.5 20 84.3 10 340.1 20 169.5 20 169.5 10 340.1 20 169.5 400 20 340.1 200 20 169.5 400 20 340.
(4) Driving method Motor type (W) S 60 100 M 200 MX L LX 200 200 400 200 400 600 W 750 600 WX 750 Lead (mm) 4 8 16 5 10 20 10 20 20 10 20 20 20 20 10 20 40 25 50 20 40 25 50 Driving method ISD, ISDA, ISDCR, ISDACR Encoder pulses*1 ISPDA, ISPDCR, ISPDACR Ball screw 12 mm Rolled, C10 Rolled, C5 or equivalent Ball screw 16 mm Rolled, C10 Rolled, C5 or equivalent Ball screw 20 mm Rolled, C10 Rolled, C5 or equivalent 16384 Ball screw 25 mm Ball screw 20 mm Ball screw 25 mm Rolled, C10
6SHFL¿FDWLRQ (6) Loads applied to the actuator [Standard types ISD/ISDA/ISPDA and cleanroom types ISDCR/ISPDCR/ISDACR/ISPDACR (excluding ISPDCR-W/ISDACR-W/ISPDACR/W)] Allowable load moments and allowable overhung load lengths of each actuator are shown below. Make sure the applicable allowable values are not exceeded. Allowable load moment (Nm) Actuator Ma Mb Mc S 28.4 N-m (2.9 kgf-m) 40.2 N-m (4.1 kgf-m) 28.4 N-m (2.9 kgf-m) MxMX 69.6 N-m (7.1 kgf-m) 99.0 N-m (10.1 kgf-m) 161.7 N-m (16.
[Cleanroom types ISPDCR-W/ISDACR-W/ISPDACR-W] Allowable load moments and allowable overhung load lengths of each actuator are shown below. Make sure the applicable allowable values are not exceeded. Allowable load moment (Nm) Mb Mc 161.7 N-m (16.5 kgf-m) 356.7 N-m (36.4 kgf-m) 6SHFL¿FDWLRQ Ma 112.7 N-m (11.
6SHFL¿FDWLRQ Caution: Make sure the load installed on the actuator is not longer than the allowable overhung load length (L). If the load is longer than L, vibration may occur or the settling time may increase. If the allowable load moment is applied, not only the life of the guide will become shorter but vibration or longer settling time may also result. : If X and Y-axes are combined in a cantilever configuration, the base may deform.
3. Life Guide manufacturers indicate the life of a guide using a dynamic rated load when the provability of survival after 50 km of traveling is 90%. Considering their moving speed, utilization ratio, etc., however, industrial equipment must have their dynamic rated load defined based on a traveling distance of 5,000 km to 10,000 km. Also, the life of a guide has a sufficient allowance relative to a radial load, and receives the greatest impact by a moment load offset from the center of the guide.
4. Installation and Storage/Preservation Environment 4.1 Installation Environment 4. Installation and Storage/Preservation Environment The actuator should be installed in an environment meeting the following criteria: x x x x x x x x x x x x Avoid direct sunlight. The machine should not receive radiant heat from strong heat sources such as a furnace. The surrounding air temperature should be 0 to 40ºC. The relative humidity should be 85% or below and there should be no condensation.
5. Installation This chapter explains how to install your actuator on a mechanical system. 5.1 Installation Install the actuator as explained below, as a rule. Pay attention to these items when installing the actuator (except for custom-order models). Hanging from ceiling *1 Installation postures Horizontal Sideway Vertical Caution: 1. When the unit is installed vertically oriented, attempt to put the motor up unless there is a special reason.
5.2 Installing the Actuator 5. Installation Tapped mounting holes are provided on the back of the actuator base. Use these tapped holes to install the actuator. How each model should be installed is shown in a section view. Effective tap length Tap size Type S MxMX LxLX Applicable bolt Tap size M6 M8 M8 Effective tap length 17 mm 20 mm 20 mm Tightening torque Bolt seating surface is steel Bolt seating surface is aluminum M6 12.3 N-m (1.26 kgf-m) 5.4 N-m (0.55 kgf-m) M8 30.0 N-m (3.
Applicable bolt M8 Tightening torque Bolt seating surface is steel Bolt seating surface is aluminum 31.3 N-m (3.19 kgf-m) 14 N-m (1.43 kgf-m) Bolt seating surface 5. Installation Seating surface Bolt Seating surface Caution: The tapped holes are closed at the end, so pay careful attention when selecting the bolt length. If inappropriate bolts are used, the tapped holes may be damaged or installation strength of the actuator may become insufficient, resulting in poor accuracy or unexpected accidents.
5.3 Installing the Slider 5. Installation x The slider has tapped holes, so affix the load using these holes. Affix the transferring load in the same manner as you would with the actuator. x Similarly when the slider is affixed and actuator is moved, install the slider using the tapped holes on the slider. x The slider has two reamed holes, so use these holes if repeatability is required after removal/re-installation. If fine adjustment of squareness, etc.
4-M6, depth 24 Applicable bolt M6 M8 5. Installation 4- 8H10, reamed, depth 10 4-M8 tapped, depth 24 Tightening torque Bolt seating surface is steel Bolt seating surface is aluminum 12.3 N-m (1.26 kgf-m) 5.4 N-m (0.55 kgf-m) 30.0 N-m (3.06 kgf-m) 11.5 N-m (1.17 kgf-m) About tightening screws Use high-tension bolts conforming to ISO 10.9 or higher. If a tapped hole is used, use a screw not longer than the engagement length. Note changed to 1.
5.4 Mounting Surface 5. Installation x The mounting frame should have sufficient rigidity to avoid generation of vibration. x The surface where the actuator will be mounted should be machined or be equally level, and the flatness between the actuator and the frame should be within 0.05 mm. x Provide enough space around the actuator so that maintenance work can be carried out. x The side and bottom of the actuator base provide reference planes for slider travel.
5.5 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 combined. (See the figure below.) If a wiring kit is combined, use these T-slots to install the kit. You can also use these T-slots freely for installing sensors, securing wires or for other purposes as necessary.
5.6 Suction for the Cleanroom Type IS actuators of cleanroom specification with protective stainless sheet can demonstrate their designed cleanliness of cleanroom class 10 (0.3 Pm) when air is suctioned from the suction joint. The table below lists reference suctioning rates for each model at different rated speeds. 5.6.1 Reference Suctioning Rates Model 5.
6. Connecting the Controller The controller wiring is explained using a single-axis actuator. 6.1 Wiring The actuator and controller are connected via the motor cable and encoder cable (genuine parts) using connectors. Motor cable Controller 6. Connecting the Controller Actuator Encoder cable Example of connection with XSEL Controller [For details on extension cables, refer to 9, “Motor/Encoder Cables.
When designing an application system using IAI actuators and controllers, incorrect wiring or connection of each cable may cause unexpected problems such as a disconnected cable or poor contact. The following explains examples of prohibited handling of cables. Read the information carefully to connect the cables properly. 6. Connecting the Controller x Do not let the cable flex at a single point. Steel band (piano wire) Bundle loosely. x Do not let the cable bend, kink or twist.
Cautions for use of a cable track The supplied cable is not a robot cable, so never store it in a cable track. 6. Connecting the Controller Always use a robot cable for motor/encoder cables. Bending radius r Make sure the bending radius of the cable track is at least the minimum bending radius of the cable. (Refer to 9, “Motor/Encoder Cables.” ) Do not lay signal lines together with circuit lines that create a strong electric field.
7. Setting the Home Position 7.1 Home Return The home return procedure for this actuator is explained below. Home return involves the operation explained below: [1] When a home return command is issued, the actuator moves in the direction set by the parameter for moving direction. [2] The software senses the mechanical end in the return operation. [3] The slider reverses its direction when this end is reached, after which the position where the Z-phase signal is detected becomes the reference point.
7.3 Changing the Home Direction If the home direction is changed after the actuator has been delivered, the home direction parameter must be changed, and the encoder’s Z-phase may also need to be adjusted on some models. Contact IAI. 7.
7.4 How to Use the Homing Mark Stickers Attach these stickers to the product, as necessary, to indicate the home direction of the actuator, etc. Sticker details Homing mark stickers x 1 sheet Mark sticker x 4 Graduation mark sticker x 4 7. Setting the Home Position (The graduations are provided for 10 mm at a 1-mm pitch.) • Remove each sticker from the backing paper when use. Notes 1. The back side is adhesive. 2. Remove dirt and oil from the attaching surface beforehand. 3.
8. Options 8.1 AQ Seal (Features) z The AQ seal is a lubrication unit that uses a lubricating member made of resin-solidified lubricating oil. z The AQ seal is a porous member containing a lot of lubricating oil, so lubricating oil oozes out to the surface by means of capillary phenomenon.
8.2 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 is cut off or servo turns off. If any axis is used vertically, an optional brake is required. Brakes of S, M and L types are installed outside the end cover on the counter-motor side, but brakes of W types are built into the actuator. 8.3 Reversed-home Specification 8. Options In the reversed-home specification, the home is located on the counter-motor side.
8.4 Guide with Ball Retention Mechanism (Structure) A spacer (retainer) is inserted between adjacent balls (steel balls) in the guide to reduce noise and achieve smooth operation. This specification is indicated by “RT” in the model number. Ball Ball [2] 8.5 Spacer (retainer) Smooth operation Wear caused by friction between balls decreases, oil no longer runs out due to contact, and lubricating oil collects at the retainers. Accordingly, operation becomes smooth.
9. 9.1 Motor/Encoder Cables Standard The same cables are used regardless of the actuator model. The applicable cables vary depending on the combined controller. Correspondence table of controllers and motor/encoder cables Controller LS Applicable cables [1] XSEL-J/K Without LS With LS [1], [2] [1], [2], [3] XSEL-P/Q Without LS With LS [1], [4] [1], [5] [1], [4] [1], [5] (Front vies) * *** indicates the cable length (L). Up to 30 m can be specified.
[3] Limit switch cable CB-X-LC*** (Front vies) (Front vies) * *** indicates the cable length (L). Up to 30 m can be specified. Example) 080 = 8 m [Minimum bending radius] Movable: 33 mm Fixed: 22 mm Actuator end Controller end Wiring Color Signal Signal Color Skyblue Skyblue Pink Pink Wiring Light green Light green Orange Gray Orange Gray 1B/skyblue 1B/skyblue Note) 1B indicates one black dot mark. [4] Encoder cable CB-X1-PA*** * *** indicates the cable length (L).
9.2 CE Specification (Option Indicated by “EU” in Model Number) The same cables are used regardless of the actuator model. The applicable cables vary depending on whether or not LSs are used. Correspondence table of controllers and motor/encoder cables Controller XSEL-P/Q, SSEL, SCON LS Without LS With LS Applicable cables [1], [2] [1], [3] [1] Motor cable CB-XEU-MA*** * *** indicates the cable length (L). Up to 30 m can be specified.
[3] Encoder cable with LS CB-XEU1-PLA*** * *** indicates the cable length (L). Up to 30 m can be specified.
10. Maintenance/Inspection 10.1 Inspection Items and Intervals Perform maintenance/inspection according to the following timetable. The operating time is assumed to be 8 hours a day. If the actuator is used continuously for 24 hours or the utilization rate is otherwise high, shorten the inspection intervals accordingly.
10.3 External Cleaning x Clean the exterior surfaces from time to time. x Wipe off dirt with a soft cloth. x Depending on the situation, base oil of grease may ooze out to the actuator surface. If oil has oozed out, wipe it off using a soft cloth, etc. x Do not spray compressed air on the actuator that might force dust into the crevices. x Do not use petroleum-based solvents as they damage plastic parts and painted surfaces.
10.5 Interior Check Turn off the power, remove the stainless sheet and visually inspect the interior. For the interior inspection, check the following items. Actuator Loosening of actuator mounting bolts, etc. Guide Lubrication condition, soiling Joint Lubrication condition, soiling Visually check the condition of the interior. Specifically, see if there is any dust or foreign object inside the actuator and also check the condition of lubrication.
10.6 Cleaning the interior x Wipe off dirt with a soft cloth. x If constituents of grease have separated and base oil has accumulated on both ends of the guide rail, wipe off the oil using a soft cloth, etc. If the accumulated oil is not wiped off, it may seep out to the exterior of the actuator. x Do not spray compressed air on the actuator that might force dust into the crevices. x Do not use petroleum-based solvents, neutral detergents or alcohol.
Grease Supply Method Grease nipples are provided on the end face of the slider, so add grease from these nipples. To add grease, turn up the stainless sheet. (For the method to turn up the stainless sheet, check “Interior Check.”) [1] [2] [3] Squirt grease using the grease gun from grease nipples. (Refer to the figure below for positions.) Squirt grease in from the other grease nipple in the same manner. (Add grease from both grease nipples.) Move the slider back and forth several times by hand.
10.7.2 ISDCR/ISPDCR/ISDACR/ISPDACR Applicable Grease Our guides use urea grease that offers excellent low-dust-raising property, stable torque characteristics, excellent lubrication performance, and rust-preventive effect similar to lithium grease. The following grease has been applied to the guides of your actuator prior to shipment from IAI. Kuroda-predision Co. Warning: Kuroda C grease If your actuator is of cleanroom type, use low-dust-raising grease. If standard grease is used, dust may be raised.
Guide (right) Motor end Motor end Guide (right) Guide (left) Guide (left) Guide (right) Motor end Motor end 10. Maintenance/Inspection Guide (right) Guide (left) [3] [4] [5] [6] [7] As a guide on how much grease should be squirted in, repeat a pumping action roughly twice, although the specific number varies depending on the size of the grease gun, etc. Move the slider back and forth several times by hand. Repeat the above lubrication process one more time.
10.7.3 ISPDCR-W/ISDACR-W/ISPDACR-W Applicable Grease Low-dust-raising urea grease is used. The following blends of grease are charged before shipment from IAI. Kuroda-predision Co. C grease Grease Supply Method Remove the two pan head machine screws on both sides of the slider cover to access a total of three grease nipples. Use these grease nipples to add grease.
11. Replacement/Adjustment Procedure for Stainless Sheet “What you need for replacement” x New stainless sheet x Clearance checking jig (A normal slider cover with holes) (This jig is available from IAI’s Sales Engineering Section. Contact the Sales Engineering Section when replacing the stainless sheet. You can also purchase the jig.) x Allen wrench set x Phillips screwdriver x Scale “Notes on tension of the stainless sheet” Deterioration/wear of the stainless sheet is affected by the tension.
“Procedure” (1) Remove the screws affixing the slider cover. After removing the slider cover [1] ISDCR/ISPDCR/ISDACR/ISPDACR (roller structure) Coil spring Coil spring Roller section Roller section Coil spring Coil spring Slider ISD/ISDA/ISPDA (slide structure) Sheet retainer plate Sheet retainer plate Slider Caution: Remove the slide cover slowly and gently. If the actuator is hung from the ceiling or installed vertically or sideways horizontally, put a plastic bag, etc.
(2) (3) (4) (5) Remove the motor cover. Remove the screws retainer the current stainless sheet and pull out the stainless sheet. Guide the new stainless sheet through the stainless sheet retainer plate. Affix the stainless sheet with the retainer plate and screws. Affix only the screws at the motor end, and keep the screws at the counter-motor end loose. Stainless sheet retainer plate 11.
(7) Adjust the tension of the stainless sheet. [1] While looking in through the center opening in the clearance checking jig, move the loose side of the stainless sheet in the directions of arrows until the clearance between the top face of the stainless sheet and bottom face of the clearance checking jig corresponds to the specified interval. Move the stainless sheet in the directions of arrows to adjust its tension.
[3] Move the slider and check the tension of the stainless sheet over the entire stroke. Key point of check – 1 Check if the specified interval is ensured between the top face of the stainless sheet and top face of the slider over the entire stroke. Key point of check – 2: Confirm that the edges on the stainless sheet do not contact the slider at the positions of outer openings.
12. Motor Replacement Procedures (Note) Motors in the ISD, ISDCR and ISPDCR series cannot be replaced by customers. Should you require motor replacement on any of these actuators, please consult IAI. 12.1 Replacing the Motor of the Standard Type ISDA/ISPDA/ISDACR/ISPDACR Series * All photographs are those of the ISDACR. “What you need for replacement” x New motor (with a coupling on the motor shaft, as shown in the photograph on the right) Caution: Never remove this coupling.
(2) Removing the rear cover Remove the four bolts affixing the rear cover. Type IS(P)DA(CR)-S IS(P)DA(CR)-M IS(P)DA(CR)-L Nominal diameter M4 M5 M5 Length (mm) 12 12 15 Quantity 4 4 4 (3) Removing Wire/Cable Lines for the Motor Unit x Remove the ground wire affixed on the encoder cover (or base in the case of ISDA (CR)-S models). 12.
(4) Removing the coupling (on the ball screw side) Loosen the bolts affixing the coupling. Type IS(P)DA(CR)-S IS(P)DA(CR)-M IS(P)DA(CR)-L Nominal diameter M3 M3 M4 Length (mm) 10 10 12 Quantity 1x1 1x1 1x1 (5) Removing the motor Remove the bolts affixing the motor. Type IS(P)DA(CR)-S IS(P)DA(CR)-M IS(P)DA(CR)-L Nominal diameter M4 M5 M5 Length (mm) 10 12 12 Quantity 2 4 4 12.
12. 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 cover you have removed, and also connect them to the controller using relay cables (for motor cable and encoder cable). * If the actuator has a brake, also connect the brake wire connector.
(8) Positioning the slider Adjust the affixed position of the slider so that the motor can be installed. Use a scale, etc., to adjust the distance shown in the photograph below. x Standard home specification Motor bracket Slider 12.
x Reversed-home specification Front cover 12. Motor Replacement Procedures Slider (9) Positioning the motor x Turn on the controller power and use the PC software or teaching pendant to jog the actuator until the home position marked on the motor aligns with the slit in the coupling. * Jog the actuator at the minimum speed (1 mm/s). * 68 Keep the motor servo on.
(10) Installing the new motor unit x With the servo turned on, insert the coupling of the motor unit into the opening at the end of the ball screw shaft to affix the motor housing and motor unit. Caution: When installing the motor, pay attention to its orientation. Type IS(P)DA-S IS(P)DA-M IS(P)DA-L IS(P)DACR-S IS(P)DACR-M IS(P)DACR-L Nominal diameter M4 M5 M5 M4 M5 M5 Length (mm) 10 12 12 10 12 12 N-cm {kgm-cm} Torque Quantity 176 {18.
(11) Tightening the coupling x Loosely tighten the coupling bolt using an Allen wrench, and then turn off the servo and tighten the bolt to the specified torque. Type 12. Motor Replacement Procedures IS(P)DA(CR)-S IS(P)DA(CR)-M IS(P)DA(CR)-L 70 N-cm {kgm-cm} Nominal diameter M3 M3 M4 Length (mm) 10 10 12 Torque Quantity 150 {15.4} 150 {15.4} 250 {25.
(12) Installing the rear cover x Affix the ground wire using the cap screw. Type Nominal diameter M3 M2.6 M2.6 M3 IS(P)DA-S IS(P)DA-M IS(P)DA-L IS(P)DACR-S Length (mm) 5 8 8 5 N-cm {kgm-cm} Torque Quantity 83.0 {8.47} 34.5 {3.52} 34.5 {3.52} 88.7 {9.05} 1 1 1 1 ISDA (CR)-S ISDA (CR)-M, L x Store the wires below the motor so that the M connector and PG connector are no longer seen. 12.
(13) Installing the motor cover Affix the motor cover using two bolts. N-cm {kgm-cm} Type Nominal diameter ISDA-S ISDA-M ISDA-L ISDACR-S ISDACR-M ISDACR-L M4 M5 M5 M4 M5 M5 Length (mm) 12 20 25 12 20 25 Torque Quantity 114 {11.7} 222 {22.7} 222 {22.7} 137 {14.0} 267 {27.2} 267 {27.2} 2 2 2 2 2 2 Hook on the tab. 12.
12.2 Replacing the Motor of the ISDACR/ISPDACR Series “What you need for replacement” x New motor (with a coupling on the motor shaft, as shown in the photograph on the right) Caution: Never remove this coupling.
(3) Remove the rear cover. Use an Allen wrench of 4 mm across flats to remove the two hexagonal socket head bolts. The stainless sheet is turned up (4) Turn up the stainless sheet and position the slider so that the coupling affixing bolt comes directly above it. Use a scale to adjust the distance as shown in the photograph below. Caution: When turning up the stainless sheet, allow the slider end face to bend gradually to prevent folding lines.
x Standard home specification (home on the motor side) Slider Draw a countermark along the same line on the end face of the motor bracket. Adjust the distance between the inner end face of the motor bracket and end face of the slider so that the coupling affixing bolt comes directly above the slider.
(5) Loosen the coupling (ball screw side). Use an Allen wrench of 4 mm across flats to loosen the hexagonal socket head bolt affixing the coupling. Mounting Bolt 12. Motor Replacement Procedures (6) Cut off the power and then unplug all extension cable connectors. (7) Remove the motor. x Use an Allen wrench of 5 mm across flats to remove the four hexagonal socket head bolts affixing the motor. 76 x Hold the motor with both hands and pull it out slowly.
(8) Plug the motor connector and encoder connector on the extension cables into the new motor. (9) Adjust the motor shaft position. Turn on the controller power and turn the motor in the jog mode using a PC or teaching pendant until the home countermark on the motor flange aligns with the position of the slit in the coupling. * Keep the jog speed at the lowest level (1 mm/s). Align the countermark on the motor flange with the slit in the coupling. 12.
(10) Install the new motor. With the servo turned on, press the motor coupling into the end of the ball screw shaft and affix the motor to the motor bracket. Caution: Be careful not to pinch the LS lead wires and brake lead wires. x Insert the bottom affixing bolts beforehand. x Use an Allen wrench of 5 mm across flats to tighten the hexagonal socket head bolts (M6 x 22 x 4 pcs). Insert the bolts beforehand. Cable side 12. Motor Replacement Procedures Tightening torque: 536 N-cm (54.
(14) Install the rear cover. Store the connectors in the space below the motor, and use an Allen wrench of 4 mm across flats to tighten the hexagonal socket head bolts (M5 x 15 x 2 pcs) by paying attention not to pinch the cables. Store the connectors in the space below the motor. Tightening torque 342 N-cm (34.9 kgf-cm) (15) Tighten the hexagonal socket head button bolts affixing the side cover and stainless sheet retainer plate using an Allen wrench of 2.5 mm across flats.
(17) Correcting the position deviation [1] Turn on the controller power. Next, use a PC software or teaching pendant to perform home return and confirm the home position. Repeat this several times to confirm that the actuator returns to the same home position every time. [2] Checking the position deviation The actuator may have moved slightly from the position assumed before replacing the motor.
12.3 How to Set the Home Preset and Home Return Offset Correct the position deviation by changing the parameter for home preset in the case of a XSEL or SSEL controller, or by changing the parameter for home return offset in the case of a SCON parameter. How to set these parameters is explained below. 12.3.1 XSEL and SSEL Controllers (1) Open the position edit screen. On the PC software screen, click the following screen.
(3) Open the parameter screen. Click this button to open the parameter edit screen. (4) Select the axis-specific parameter tab. Select Specific Axis. 12. Motor Replacement Procedures (5) In the axis-specific parameter tab, select No. 12, “Preset Home.” Select No. 12, “Preset Home.” (6) Change the setting of axis-specific parameter No. 12 (Preset Home). Add or subtract the value measured in (2) to/from the value currently input. The setting unit is 0.001 mm.
(7) Write the new data. Click the SEL button to write the data to the controller. (8) Transfer the data to the controller. (9) Click OK. 12. Motor Replacement Procedures (10) Write the data to the flash ROM. Select the Parameters check box.
(11) Restart the controller. 12. Motor Replacement Procedures Select Yes.
12.3.2 ECON and SCON Controllers (1) Open the position edit screen. On the PC software screen, click the following screen. , select a desired position number, and then click OK to display Click this button to open the position edit screen. The current value is displayed. Point number (2) Compare the current value and the value achieved by positioning the actuator to the selected position number. [1] Select the position. 85 12.
(3) Open the parameter screen. Click this button to open the parameter screen. 12. Motor Replacement Procedures (4) The user parameter screen appears. (5) Change user parameter No. 13 (Home Return Offset). * The setting unit is mm. Add or subtract the value measured in (2) to/from the value currently input. Example: When subtracting 0.5 mm Home offset = Current setting – 0.
(6) Write the new data. Click the controller transfer button, and then click OK. * After the data has been written, turn off the controller power. Click the controller transfer button. Click OK. 12.
12.3.3 P-Driver Controllers (1) Open the jog screen. Click the jog button on the PC software screen. Next, select the pulse mode. 12. Motor Replacement Procedures Jog button (2) Position the actuator to a desired position and compare the command pulse position and the position actually achieved, and write down the difference. Adjust the position by jogging the actuator or by turning off the servo and moving the actuator manually. Compare against this position.
(3) Open the parameter edit screen. Click this button to open the parameter screen. Click this button to open the parameter screen. (4) Change the setting of No. 13, “Home Offset.” * The setting unit is pulse. Add or subtract the value measured in (2) to/from the value currently input. Example: When subtracting 150 pulses Home offset = Current setting – 150 (5) Write the new data. Click the driver transfer button, click OK, and then click Yes. (The controller will restart.) 12.
13. Appendix Caution: For the external dimensions of ISD/ISDCR/ISPDCR actuators, refer to the catalogs of old products. You can download the catalogs of old products from IAI’s website. 13.1 13.1.1 External Dimensions ISDA-S, ISPDA-S 4-M6, depth 13 Cable joint connector *1 2-6H7, depth 10 (tolerance for reamed hole pitch r0.02 mm) Home A At least 100 or more 13.
13.1.2 ISDA-M-100, ISPDA-M-100 4-M8, depth 18 4-M6, depth 18 Cable joint connector *1 2-8H7, depth 10 (tolerance for reamed hole pitch r0.02 mm) Home A At least 100 or more 4-8H7, depth 10 E-M8, depth 20 with brake (option) Detail view of A 13. Appendix ME: Mechanical end SE: Stroke end Reference surface T slot diagram * The brake-equipped type is longer in 26mm and heavier in 0.6kg.
13.1.3 ISDA-M-200, ISPDA-M-200 4-M8, depth 18 4-M6, depth 18 Cable joint connector *1 2-8H7, depth 10 (tolerance for reamed hole pitch r0.02 mm) Home A At least 100 or more 4-8H7, depth 10 E-M8, depth 20 13. Appendix with brake (option) Reference surface ME: Mechanical end SE: Stroke end Detail view of A T slot diagram * The brake-equipped type is longer in 26mm and heavier in 0.6kg.
13.1.4 ISDA-MX-200, ISPDA-MX-200 4-M6, depth 18 4-M8, depth 18 Cable joint connector *1 2-8H7, depth 10 (tolerance for reamed hole pitch r0.02 mm) Home A At least 100 or more 4-8H7, depth 10 E-M8, depth 20 with brake (option) ME: Mechanical end SE: Stroke end 13. Appendix Reference surface Detail view of A T slot diagram * The brake-equipped type is longer in 26mm and heavier in 0.6kg.
13.1.5 ISDA-L-200, ISPDA-L-200 8-M8, depth 20 Cable joint connector *1 2-8H7, depth 10 (tolerance for reamed hole pitch r0.02 mm) Home A At least 100 or more 4-8H7, depth 10 E-M8, depth 20 with brake (option) 13. Appendix ME: Mechanical end SE: Stroke end Reference surface Detail view of A T slot diagram * The brake-equipped type is longer in 24mm and heavier in 1.0kg.
13.1.6 ISDA-L-400, ISPDA-L-400 8-M8, depth 20 Cable joint connector *1 2-8H7, depth 10 (tolerance for reamed hole pitch r0.02 mm) Home A At least 100 or more 4-8H7, depth 10 E-M8, depth 20 with brake (option) ME: Mechanical end SE: Stroke end 13. Appendix Reference surface Detail view of A T slot diagram * The brake-equipped type is longer in 24mm and heavier in 1.0kg.
13.1.7 ISDA-LX-200, ISPDA-LX-200 8-M8, depth 20 Cable joint connector *1 2-8H7, depth 10 (tolerance for reamed hole pitch r0.02 mm) Home A At least 100 or more 4-8H7, depth 10 E-M8, depth 20 with brake (option) 13. Appendix ME: Mechanical end SE: Stroke end Reference surface Detail view of A T slot diagram * The brake-equipped type is longer in 24mm and heavier in 1.0kg.
13.1.8 ISDA-LX-400, ISPDA-LX-400 8-M8, depth 20 Cable joint connector *1 2-8H7, depth 10 (tolerance for reamed hole pitch r0.02 mm) Home A At least 100 or more 4-8H7, depth 10 E-M8, depth 20 with brake (option) ME: Mechanical end SE: Stroke end 13. Appendix Reference surface T slot diagram Detail view of A * The brake-equipped type is longer in 24mm and heavier in 1.0kg.
13.1.9 ISDACR-S, ISPDACR-S 4-M6, depth 13 Quick joint: KAL 12-U03 Cable joint connector *1 2-6H7, depth 10 (tolerance for reamed hole pitch r0.02 mm) Outer diameter of applicable tube: 12 (inner diameter 8) Home A Standard Opposite specification (option) At least 100 or more F-M6, depth 17 4-6H7, depth 10 13. Appendix with brake (option) ME: Mechanical end SE: Stroke end Reference surface Detail view of A * The brake-equipped type is longer in 50mm and heavier in 0.4kg.
13.1.10 ISDACR-M-100, ISPDACR-M-100 4-M6 depth 18 2-8H7, depth 10 (tolerance for reamed hole pitch r0.
13.1.11 ISDACR-M-200, ISPDACR-M-200 4-M8, depth 18 4-M6 depth 18 2-8H7, depth 10 (tolerance for reamed hole pitch r0.02 mm) Outer diameter of applicable tube: 12 (inner diameter 8) Cable joint connector *1 Quick joint: KAL 12-U03 Home A Standard Opposite specification (option) At least 100 or more 4-8H7, depth 10 E-M8, depth 20 with brake (option) SE: Stroke end ME: Mechanical end 13.
13.1.12 ISDACR-MX-200, ISPDACR-MX-200 4-M6 depth 18 4-M8, depth 18 Quick joint: KAL 12-U03 Quick joint: KAL 12-U03 Outer diameter of applicable tube: 12 (inner diameter 8) Cable joint connector *1 2-8H7, depth 10 (tolerance for reamed hole pitch r0.02 mm) Home Opposite specification (option) At least 40 or more Standard A E-M8, depth 20 4-8H7, depth 10 with brake (option) Detail view of A * The brake-equipped type is longer in 51.5mm and heavier in 0.7kg.
13.1.13 ISDACR-L, ISPDACR-L-200 8-M8, depth 20 2-8H7, depth 10 (tolerance for reamed hole pitch r0.02 mm) Cable joint connector *1 Outer diameter of applicable tube: 12 (inner diameter 8) Quick joint: KAL 12-U03 Home A Standard Opposite specification (option) At least 100 or more 4-8H7, depth 10 E-M8, depth 20 with brake (option) ME: Mechanical end SE: Stroke end 13.
13.1.14 ISDACR-L-400, ISPDACR-L-400 8-M8, depth 20 2-8H7, depth 10 (tolerance for reamed hole pitch r0.02 mm) Cable joint connector *1 Outer diameter of applicable tube: 12 (inner diameter 8) Quick joint: KAL 12-U03 Home A Standard Opposite specification (option) At least 100 or more 4-8H7, depth 10 E-M8, depth 20 with brake (option) ME: Mechanical end SE: Stroke end Reference surface * The brake-equipped type is longer in 49.5mm and heavier in 1.1kg.
13.1.15 ISDACR-LX-200, ISPDACR-LX-200 2-8H7, depth 10 (tolerance for reamed hole pitch r0.02 mm) Quick joint: KAL 12-U03 8-M8, depth 20 Quick joint: KAL 12-U03 Outer diameter of applicable tube: 12 (inner diameter 8) Cable joint connector *1 Home A Standard At least 100 or more E-M8, depth 20 Opposite specification (option) 4-8H7, depth 10 with brake (optional) Reference surface 13.
13.1.16 ISDACR-LX-400, ISPDACR-LX-400 2-8H7, depth 10 (tolerance for reamed hole pitch r0.02 mm) Quick joint: KAL 12-U03 8-M8, depth 20 Outer diameter of applicable tube: 12 (inner diameter 8) Quick joint: KAL 12-U03 Cable joint connector *1 Home A Standard Opposite specification (option) At least 100 or more E-M8, depth 20 4-8H7, depth 10 with brake (option) Reference surface * The brake-equipped type is longer in 49.5mm and heavier in 1.1kg.
13.1.17 ISDACR-W-600, ISPDACR-W-600 Home Effective stroke 4-M6, depth 24 Outer diameter of applicable tube: 12 (inner diameter 8) 4-8H7, reamed, depth 10 L (stroke + 479) 2-8H7, reamed, depth 10 4-M8, depth 24 Cable joint connector *1 At least 100 or more 2-8H7, reamed, depth 10 13.
13.1.18 ISDACR-W-750, ISPDACR-W-750 Home Effective stroke 4-M6, depth 24 Outer diameter of applicable tube: 12 (inner diameter 8) 4-8H7, reamed, depth 10 L (stroke + 479) 2-8H7, reamed, depth 10 Cable joint connector *1 4-M8, depth 24 At least 100 or more 2-8H7, reamed, depth 10 m-M8, depth 25 13. Appendix SE: Stroke end ME: Mechanical end Reference surface Detail view of A Detail view of P * The appearance diameters are the same if equipped with brake. The weight increases in 0.
13.1.19 ISDACR-WX-600, ISPDACR-WX-600 * The external dimensions are the same for actuators with brake. With brake models, however, the weight will increase by 0.5 kg. Home Effective stroke 4-M6, depth 24 Outer diameter of applicable tube: 12 (inner diameter 8) 4-8H7, reamed, depth 10 4-M8, depth 24 L (stroke + 665) 2-8H7, reamed, depth 10 Cable joint connector *1 At least 100 or more 2-8H7, reamed, depth 10 m-M8, depth 25 13.
13.1.20 ISDACR-WX-750, ISPDACR-WX-750 Home * The external dimensions are the same for actuators with brake. Effective stroke 4-M6, depth 24 Outer diameter of applicable tube: 12 (inner diameter 8) 4-8H7, reamed, depth 10 4-M8, depth 24 L (stroke + 665) 2-8H7, reamed, depth 10 Cable joint connector *1 At least 100 or more 2-8H7, reamed, depth 10 m-M8, depth 25 Detail view of A Detail view of P * The appearance diameters are the same if equipped with brake.
13.1.21 ISDACR-ESD S (Small) Type (60 W) 4-M6, depth 13 2-6H7, depth 10 (tolerance for reamed hole pitch r0.02 mm) Quick joint: KAL 12-U03 Outer diameter of applicable tube: 12 (inner diameter 8) At least 100 or more F-M6, depth 20 13.
13.1.22 ISDACR-ESD M (Medium) Type (100 W/200 W) 4-M8, depth 18 4-M6, depth 18 2-8H7, depth 10 (tolerance for reamed hole pitch r0.02 mm) Outer diameter of applicable tube: 12 (inner diameter 8) Quick joint: KAL 12-U03 At least 100 or more 4-8H7, depth 10 E-M8, depth 20 13.
13.1.23 ISDACR-ESD L (Large) Type (200 W/400 W) 8-M8, depth 20 Outer diameter of applicable tube: 12 (inner diameter 8) 2-8H7, depth 10 (tolerance for reamed hole pitch r0.02 mm) Quick joint: KAL 12-U03 At least 100 or more 4-8H7, depth 10 13.
14. Warranty 14.1 Warranty Period One of the following periods, whichever is shorter: 18 months after shipment from IAI 12 months after delivery to the specified location 2,500 hours of operation 14.2 Scope of Warranty Our products are covered by warranty when all of the following conditions are met. Faulty products covered by warranty will be replaced or repaired free of charge: (1) The breakdown or problem in question pertains to our product as delivered by us or our authorized dealer.
14.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications (1) If our product is combined with another product or any system, device, etc., used by the customer, the customer must first check the applicable standards, regulations and/or rules. The customer is also responsible for confirming that such combination with our product conforms to the applicable standards, etc.
15. Change History Revision Date March 2010 Description of Revision First edition May 2010 Second edition P. 9 Handling Precautions Changed “ …duty of 50%” to “…duty of 50% or less.” Changed “…equal to or greater than 50%” to “…greater than 50%.” P. 39 Deleted 6.2, “Wiring Using Dedicated Self-supporting Cables (ICS Series).” P. 40 Changed to “Make sure the bending radius of the cable track is at least the minimum bending radius of the cable.” P.
Manual No.: ME3682-7A (January 2013) Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan TEL +81-54-364-5105 FAX +81-54-364-2589 website: www.iai-robot.co.jp/ Technical Support available in USA, Europe and China Head Office: 2690 W.
