Linear Servo Actuator LSA Series Operating Manual Third Edition Small Type: H8SS, H8SM, H8HS, H8HM Flat Type: L15SS, S15SM IAI America, Inc.
Please Read Before Use Thank you for purchasing our product. This Operating 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 DVD that comes with the product contains Operating manuals for IAI products.
Table of Contents Safety Guide........................................................................................................... 1 Caution in Handling ................................................................................................ 8 International Standards Compliances..................................................................... 9 Names of the Parts............................................................................................... 10 1. 2.
. Maintenance and Inspection........................................................................... 48 6.1 6.2 6.3 6.4 Inspection Items and Schedule ......................................................................................... 48 Visually Inspecting the Exterior ......................................................................................... 48 Cleaning ............................................................................................................................
Safety Guide “Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read it 1before the operation of this product. Safety Precautions for Our Products The common safety precautions for the use of any of our robots in each operation. No.
No. 2 Operation Description Transportation 3 Storage and Preservation 4 Installation and Start 2 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.
No. 4 Operation Description Installation and Start Description (2) Cable Wiring Ɣ Use our company’s genuine cables for connecting between the actuator and controller, and for the teaching tool. Ɣ Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not coil it around. Do not insert it. Do not put any heavy thing on it. Failure to do so may cause a fire, electric shock or malfunction due to leakage or continuity error.
No. 4 5 4 Operation Description Installation and Start Teaching 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. Ɣ When the product is under operation or in the ready mode, take the safety measures (such as the installation of safety and protection fence) so that nobody can enter the area within the robot’s movable range.
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 Operation Description Maintenance and Inspection 10 Modification and Dismantle Disposal 11 Other 6 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.
Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and described in the Operating Manual for each model. Level Degree of Danger and Damage Symbol Danger This indicates an imminently hazardous situation which, if the product is not handled correctly, will result in death or serious injury.
Caution in Handling 1. Make sure to follow the usage condition, environment and specification range of the product. Operaton out of the guarantee could cause a drop in performance or malfunction of the product. 2. Back and forth operation in a short distance may cause wear of grease. 3. Make sure to attach the actuator properly by following this operating manual. If the actuators are moved back and forth continuously over a short distance of 30 mm or less, grease film may run out.
International Standards Compliances This actuator complies with the following overseas standard. Refer to Overseas Standard Compliance Manual (ME0287) for more detailed information.
Names of the Parts In this manual, the right-left directions of the actuator are indicated by viewing the actuator from its top and also from its home side, with the actuator placed horizontally. “Front” refers to the side opposite to one on which the actuator home is located. 1. Small Type H8SS, H8SM (Note 1), H8HS, H8HM (Note 1) Note 1 Multi-slider type: There are two sliders mounted.
Specifications Check 1.1 Checking the Product The standard configuration of this product is comprised of the following parts. See the component list for the details of the enclosed components. If you find any fault or missing parts, contact your local IAI distributor. 1.1.1 Parts No. 1 Name Actuator Model number Refer to “How to Read the Model Nameplate” and “How to Read the Model Number.
1. Specifications Check (3) No.
1.1.
1. Specifications Check 1.2 Specification 1.2.
1.2.2 Maximum acceleration/deceleration, Maximum load capacity and Rated thrust H8SS, H8SM H8HS, H8HM L15SS, L15SM Item Maximum acceleration/deceleration (Note 1) Maximum load capacity (Note 1) Rated thrust Maximum acceleration/deceleration (Note 1) Maximum load capacity (Note 1) Rated thrust Maximum acceleration/deceleration (Note 1) Maximum load capacity (Note 1) Rated thrust 1.
1. Specifications Check 1.2.3 No. of Encoder Pulses Type H8SS, H8SM H8HS, H8HM L15SS, L15SM 1.2.4 No. of Encoder Pulses 50000 50000 50000 Lead Length [mm] 50 50 50 Positioning Precision Type Item Specifications Positioning Repeatability ±0.005mm H8SS, H8SM Lost Motion 0.02mm or less Positioning Repeatability ±0.005mm H8HS, H8HM Lost Motion 0.02mm or less Positioning Repeatability ±0.005mm L15SS, L15SM Lost Motion 0.02mm or less The values shown above are the accuracy at the delivery from the factory.
1.2.5 Allowable Load Moments of the Actuator Allowable Overhang Load Length (L) (Note 1) Ma direction: 300mm or less Mb, Mc direction: 300mm or less Ma direction: 525mm or less L15SS, L15SM 24.2 24.2 24.2 Mb, Mc direction: 525mm or less Note 1: The values for allowable overhang load length are those when the center of the gravity of the load is at 1/2 of the overhang length. H8SS, H8SM H8HS, H8HM 8.65 8.65 8.
1.3 Operating conditions 1. Specifications Check 1.3.1 Available Conditions for Operation When selecting a desired model of linear servo actuator (small type / flat type), you must ensure that the selected actuator satisfies the following two conditions. [Condition 1] The thrust required for acceleration must not exceed the maximum thrust of the linear servo actuator. [Condition 2] The thrust during continuous operation must not exceed the rated thrust of the linear servo actuator.
1.3.2 Availability Judgment for each Operational Condition [1] Condition 1 Judgment of Thrust Necessary for Acceleration Fa = (M + m) • a + Ft Here, M : Slider weight (kg) m : Slider payload (kg) a : Commanded acceleration (m/s2)* Ff : Traveling resistance (N) [Slider weight] Small type H8SS, H8SM : 1.5kg Small type H8HS, H8HM : 2.0kg Flat type L15SS, L15SM : 1.5kg *1G = 9.
[2] Condition 2 Judgment of Thrust for Continuous Operation 1. Specifications Check It is necessary that the continuous operational thrust Ft considering the load and duty is smaller than the rated thrust. Ft Fa ta td Ff tf t 㧩 Fa2㨯ta+Ff2㨯tf+Fd2㨯td t : Thrust required for acceleration (N) : Acceleration time (sec) : Deceleration time (sec) : Traveling resistance (N) : Moving time at constant speed (sec) : Operation time per cycle (sec) (t = ta + tf + td + 0.
1.3.3 Example for Judging Operation Availability by Operational Conditions The above operation pattern can be illustrated by the graph shown to the right. 1. Specifications Check [Operating conditions] • Applicable model : H8SS/H8SM type • Speed : 2.5m/s • Acceleration : 19.6m/s2 (The deceleration is assumed to be the same.) • Travel : 1.5m • Slider payload : 3kg • The actuator moves back and forth over a stroke of 1.5m. 1G = 9.
1. Specifications Check 2) Figure out the continuous operational thrust of Condition 2. Substitute the operation pattern above to the continuous operational thrust formula. Based on the examination result of maximum thrust, the specified acceleration is assumed as 14.7m/s2. Ft 㧩 Fa2㨯ta+Ff2㨯tf+Fd2㨯td t Here, Fa = 81.15N, Ff = 15N, Fd = 51.15N, ta = td = 0.17s, tf = 0.43s, t = 0.92s From the above, Ft is calculated as 42.49N.
1.4 Option Cable Track Attachment Orientations 2 to 6 (Model: CT2 to CT6) 1. Specifications Check 1.4.1 These are the attachment orientation indications with no cable track for user (option). The attachment orientation of cable track is either the four orientations in Standard Horizontal Orientation Mount or two orientations in Horizontally Oriented Wall Mount. Refer to the table below for the availability of Single Slider and Double Slider.
1. Specifications Check 1.4.2 Cable Track for User S Type Attachment Orientations 1 to 6 (Model: US1 to US6) These are the indications when attaching S Type User Cable Track to the standard cable track. Attachment orientation is also to be indicated. The attachment orientation of cable track is either the four orientations in Standard Horizontal Orientation Mount or two orientations in Horizontally Oriented Wall Mount. [Refer to “Attachment Orientation” in the “1.4.
1.4.3 Cable Track for User M Type Attachment Orientations 1 to 6 (Model: UM1 to UM6) Option Model UM1 UM2 UM3 UM4 UM5 UM6 Attachment Orientation Attachment Orientation 1 Attachment Orientation 2 Attachment Orientation 3 Attachment Orientation 4 Attachment Orientation 5 Attachment Orientation 6 Single Slider { { { { { { [Dimensional Drawing for M Type User Cable] 1. Specifications Check These are the indications when attaching M Type User Cable Track to the standard cable track.
1.5.1 Motor • Encoder Cables for Linear Servo Actuator [1] Motor Cable (Model : CB-X-MAƑƑƑ) ƑƑƑ indicates the cable length (L) (Example: 080=8m), Max.30m L 4 (20) (10) (21) (φ9) (16) 1 (18) (41) 1. Specifications Check 1.5 Motor • Encoder Cables 1 (Front View) Controller Side Electric Signal Pin Wire Color Abbreviation No. Green PE 1 AWG 19 Red U 2 (0.75mm2) White V 3 Black W 4 Width 4 (Front View) Mechanical Side Pin Signal Electric Width No.
[2] Encoder Cable (Model : CB-X3-PAƑƑƑ) ƑƑƑ indicates the cable length (L) (Example: 080=8m), Max.30m 1. Specifications Check (41) (14) L (15) 1 26 13 1 (25) (37) 14 (φ10) (13) 9 (Front View) Width Controller Side Electric Wire Color Signal Abbreviation E24V 0V White/Green LS White/Orange CREEP OT RSV A+ White/Blue AWG26 AWhite/Yellow 2 (0.
1. Specifications Check 1.5.2 Cable in the bearer [1] Motor cable Electric Signal Pin Wire Color Abbreviation No. Red U 1 AWG 20 White V 2 2 (0.5mm ) Black W 3 Green PE 4 Width Pin Electric Signal Width No. Abbreviation Wire Color Width 1 U Red AWG 20 2 V White (0.5mm2) 3 W Black 4 PE Green [2] Encoder cable Width Electric Signal Pin Wire Color Abbreviation No. 1B/Light blue 1R/Light blue 1B/Pink 1R/Pink AWG 26 (0.
2. Installation 2.1 Transportation 2. Installation Warning: This actuator uses high-performance rare-earth permanent magnets. Therefore, those who are wearing a pacemaker or any other medical device must not come within 30cm of the actuator. [1] Handling of the Actuator Unless otherwise specified, the actuator is shipped with 1 axis unit packaged separately. (1) Handling the Packed Unit y Do not damage or drop.
[2] Handling in the Assembled Condition 2. Installation This is the case when the product is delivered from our factory under a condition that it is assembled with other actuators. The combined axes are delivered in a package that the frame is nailed on the lumber base. The sliders are fixed so they would not accidently move. The actuators are also fixed so the tip of it would not shake due to the external vibration. (1) How to Handle the Package y Do not hit or drop the package.
2.2 Installation and Storage • Preservation Environment [1] Installation Environment The actuator should be installed in a location other than those specified below. Also provide sufficient work space required for maintenance inspection. If the actuator is used in any of the following locations, provide sufficient shielding measures: y Where noise generates due to static electricity, etc.
2.3 How to Install 2. Installation Warning: This actuator uses high-performance rare-earth permanent magnets. Therefore, those who are wearing a pacemaker or any other medical device must not come within 30 cm of the actuator. This chapter explains how to install the actuator on your mechanical system. 2.3.1 Installation Follow the information below when installing the actuator, as a rule. Do pay attention to these items (except with custom-order models).
2.3.2 Installation of Main Unit Caution: 1. Do not press the sheet directly with hands. 2. Be careful not to drop a tool or a work piece on the sheet and make a dent mark. 2. Installation The stainless steel sheet is designed very thin (thickness: 0.1 mm) in order to ensure flexibility. Therefore, the stainless steel sheet is easily dented or scratched. When installing the stainless steel sheet, pay attention to the following points: Dent 3.
The surface to mount the main unit should be a machined surface or a plane that possesses an equivalent accuracy and the flatness should be within 0.05mm/m. ٧Small Type H8SS, H8SM, H8HS, H8HM This actuator base has tapped mounting holes that can be used to affix the actuator from its back (take note that the tap size is different depending on the model: Refer to the figure below and “8. External Dimensions”.) There are also reamed holes for accepting positioning pins. 50 2.
٧Flat Type L15SS, L15SM The actuator base is equipped with T-shaped grooves at the back for installation. Use the T-shaped grooves on the base and the enclosed nuts for installation. Also, pay attention so the tip of a bolt would not touch the bottom of the T-shaped groove. There are also reamed holes for accepting positioning pins. 2. Installation 115 Widened slit for easy T-nut insertion Widened slit for easy T-nut insertion Reamed Hole [mm] I4H10, depth 6mm M5 9 3 17 9.
Attachment of Transported Object • There are tapped holes on the top surface of the slider. Affix the work part (transported object) here. • The procedure to affix a load on the slider shall conform to the actuator installation procedure. • There are two reamed holes on the top surface of the slider. Use these reamed holes if repeatability of attaching and detaching is required. Also, if small tuning such as perpendicularity is required, use one of the reamed holes for the tuning.
٧Flat Type L15SS, L15SM 8-M5, depth 5 REAMED HOLE PITCH ±0.02 2. Installation 145 105 2-φ 4H7, depth 6 22.5 20 45 22.5 45 45 20 175 Tapped Hole Size M5, depth 5 Mounting Bolt Nominal Bolt Diameter Tightening Torque M5 3.42N·m (0.35kgf·m) Reamed Hole I4H7, depth 6 About Tightening Screws • Use a hex socket head cap bolt for the attachment to the base. • It is recommended to use high-tensile bolts with ISO-10.9 or more.
Installation Surface • For the platform to install the actuator, ensure the structure that possesses enough stiffness to avoid vibration being generated. • Install the actuator on a machined surface or other flat surface of equivalent accuracy. The flatness of the installation surface must be 0.05 mm/m or less. • Provide sufficient space to allow for maintenance work. • The side and bottom surfaces of the actuator base provide datum surfaces used for alignment of slider travel.
2.3.5 Mount of Connector Box and Others • Use of square nuts is recommended in T-slots, but hex nuts can also be used. • When installing an object using T-slots, select bolts of an appropriate length so that the tip of the bolt will not contact the bottom of the T-slot. Small Type H8SS, H8SM, H8HS, H8HM Flat Type L15SS, L15SM 4.5 2.7 5.5 2 7.3 5.8 4.3 3.3 1.8 T-slot Dimensions Model T-slot Nut Diameter Small Type H8SS, H8SM, H8HS, H8HM M3 Flat Type M4 L15SS, L15SM 39 2.
3. Connecting with the Controller 3. Connecting with the Controller Use the IAI dedicated connection cable for the connection of the actuator to the controller. • If the dedicated connection cable cannot be secured, reduce the load on the cable by allowing it to deflect only by the weight of the cable or wire it in a self-standing cable hose, etc., having a large radius. • Do not cut and reconnect the dedicated connection cable for extension or shorten the cable.
Warning: For wiring, please follow the warnings stated below. When constructing a system as the machinery equipment, pay attention to the wiring and connection of each cable so they are conducted properly. Not following them may cause not only a malfunction such as cable breakage or connection failure, or an operation error, but also electric shock or electric leakage, or may even cause a fire. • Use dedicated cables of IAI indicated in this operating manual.
3. Connecting with the Controller • Do not let the cable bend, kink or twist. • Do not pull the cable with a strong force. • Pay attention not to concentrate the twisting force to one point on a cable. • Do not pinch, drop a heavy object onto or cut the cable. • When a cable is fastened to affix, make sure to have an appropriate force and do not tighten too much. Do not use spiral tube in any position where cables are bent frequently.
• PIO line, communication line, power and driving lines are to be put separately from each other and do not tie them together. Arrange so that such lines are independently routed in the duct. Duct I/O lines (flat cable) Follow the instructions below when using a cable track. • If there is an indication to the cable for the space factor in a cable track, refer to the wiring instruction given by the supplier when storing the cable in the cable track.
4. Operation 4.1 Home Return 4.1.1 Principle of Home-Return Operation 4. Operation Home return is performed in the sequence specified below. 1) When a home return command is issued, the moving direction is determined from the specified parameter. 2) During home return, the mechanical end is detected via the software. 3) The actuator reverses upon contacting the mechanical end, after which it detects a Z phase signal and recognizes this position as the reference point.
5. Troubleshooting If the actuator has experienced an encoder open error, driver overload error, deviation overflow error or any other error, check the procedures explained below before concluding that the robot or controller is faulty. If the problem persists after the applicable measures have been taken, contact IAI with the detailed condition. 5.1 Encoder Open Error (Error Code: D12) Encoder open error 1) The connector is not properly engaged. 2) The pins are loose.
5.2 Driver Overload Error (Error Code: D0A) Driver overload error Yes High operation duty? Review the operating conditions by referring to 1.3,”Operating conditions”. 5. Troubleshooting No Yes Slider receiving any external force or resistance? Turn Off the power and move the slider by hand to check. No Actuator mechanism feels heavy. If you have a spare controller, swap it with the current controller and check the operation. Remove the external force or resistance.
5.3 Deviation Overflow Error (Error Code: C6B) Deviation overflow error High acceleration/ deceleration relative to the load capacity? Yes Reduce the acceleration/deceleration.ider contacting any peripheral equipment? No 5. Troubleshooting Yes Replace the motor cable. Broken motor cable? No Yes Connector wiring problem? 1) The connector is not properly engaged. 2) The pins are loose. 3) The connected axis numbers are wrong. (The motor and encoder connectors are installed in the wrong positions.
6. Maintenance and Inspection Warning: This actuator uses high-performance rare-earth permanent magnets. Do not get closer than 30cm if you are a person who needs a support of a medical device such as a pacemaker. 6.1 Inspection Items and Schedule 6. Maintenance and Inspection Perform maintenance and inspection at the intervals specified below. This schedule assumes that the actuator is operated eight hours a day.
6.4 Interior Inspection 6.4.1 Small Type H8SS, H8SM, H8HS, H8HM With the power supply turned OFF, turn up the stainless steel sheet and visually inspect the interior. Check the following items inside the actuator. Actuator Loosening of actuator mounting bolts, etc. Guide Lubrication condition, soiling, looseness Visually check the interior condition. Focus on entry of dust and other foreign matters and the lubrication condition.
6.5 Procedures for Replacement and Adjustment of Stainless Steel Sheet Described below explains how to replace and adjust the stainless steel sheet. Those parts such as screws taken off for replacement work are necessary when assembling the product back. It is recommended to prepare a storage box in advance to starting the work, so the taken off parts can be kept in it. 6.
Replace the stainless steel sheet with the procedures from 6.5.1 to 6.5.3. Adjust the tension of the stainless steel sheet with the procedures in 6.5.2 and 6.5.3. 6.5.1 Replacement Procedure for Stainless Steel Sheet Replace the degraded stainless steel sheet with a new one by following the steps described below. 1) Check a new stainless steel sheet to confi rm absence of scratches or soiling.
6.5.2 Adjusting the Stainless Steel Sheet Tension 1) First, affix the stainless steel sheet uniformly on the right and left in a manner free from meandering. (The stainless steel sheet is gripped on with the magnets. Detach the sheet in a manner of peeling it once from one edge. Also adjust the stainless steel sheet from the slider center toward both ends.
4) Adjusting the Stainless Steel Sheet Tension Adjust the stainless steel sheet in the direction of the arrow until the check lines on the side covers are offset from the check line on the stainless steel sheet by 0.5mm. (Refer to the enlarged view of A.) (The stainless steel sheet is gripped on with the magnets. Detach the sheet in a manner of peeling it once from one edge.) DETAIL A 6.
6.5.3 Operation Check 1) Move the slider to check the tension of the stainless steel sheet. Move the slider to check the tension. Specifically, check if the stainless steel sheet is positioned uniformly on the right and left without presenting meandering or waving over the entire stroke range. If the stainless steel sheet is not uniformly positioned on the right and left or is waving, repeat the adjustment. 6.
7. Life The product life is assumed to be 10,000km (reference) under the condition that it runs with maximum load capacity and maximum acceleration/deceleration. 7.
8. External Dimensions Small Type H8SS 52 75 16 4-M3, depth 5 16.5 6 16 Cable E 60 8 Detail view of F (Reamer pitch: ±0.02) 75 8 5.8 3.3 21 (max27) 15 6 2.7 5.5 1.8 *The slider goes up the ME in the home-return operation. Pay attention to interference to peripherals. ME : Mechanical end SE : Stroke end 52 8.1 25 14 19 ME M3 T-slot (F) 15 24 48 (34) st 10 SE 4-M5, depth 10 2-φ4H7, depth 8 25 65±0.
8.2 Small Type H8SM 4-M3, depth 5 15 6 60 (Reamer pitch: ±0.02) 52 75 8 5.8 Detail view of F 65±0.02 80 50 25 14 19 ME 48 15 24 Cable track for user section dimensions (S type) 25 (Min. Distance 60between sliders) 160 10 HOME 4-M5, depth 10 2-φ4H7, depth 8 L(st+476) st st 160 HOME 48 10 ME (34) 14 19 86 (95) 100 97 (34) (max22) 16.5 6 16 21 52 75 8 3.3 *The slider goes up the ME in the home-return operation. Pay attention to interference to peripherals.
8.3 Small Type H8HS 4-M3, depth 5 16.5 6 16 21 52 75 60 52 8 75 5.8 (Reamer pitch: ±0.02) 8 3.3 *The slider goes up the ME in the home-return operation. Pay attention to interference to peripherals. ME : Mechanical end SE : Stroke end 16 Cable E Detail view of F 14 19 25 M3 T-slot (F) 15 24 98 (34) ME L(st+356) st 10 SE 15 6 2.7 5.5 1.8 65±0.
8.4 Small Type H8HM 21 60 8 8 52 75 5.8 3.3 *The slider goes up the ME in the home-return operation. Pay attention to interference to peripherals. ME : Mechanical end SE : Stroke end 4-M3, depth 5 16.5 6 16 65±0.02 Detail view of F 25 14 19 M3 T-slot (F) (34) 98 80 50 160 10 15 6 52 75 (Reamer pitch: ±0.02) 16 2.7 5.5 1.8 4-M5, depth 10 2-φ4H7, depth 8 25 L(st+676) 160 (Min.
8.5 Flat Type L15SS 4.5 2 (max50) Cable B 4.3 7.3 *The slider goes up the ME in the home-return operation. Pay attention to interference to peripherals. ME : Mechanical end SE : Stroke end 5 7 3 C C 3 145 105 Detail view of D 10.2 20.2 8-M5, depth 5 Heli-Coil insert 8 Detail: Base attachment 32.5 15 st 45 175 2-φ4H7, depth 6 22.5 45 20 175 SE 8 32.5 15 HOME 18.5 115 143 145 31 32 Datum surface 59.5 80 A 4-φ4H7, depth 6 80 59.5 17 M5 [Packaged T-nut] Material: S10C or equiv.
8.6 Flat Type L15SM 4.5 2 (max:35) Cable B Cable (131) (max:35) B 4.3 7.3 *The slider goes up the ME in the home-return operation. Pay attention to interference to peripherals. ME : Mechanical end SE : Stroke end 3 5 3 C C 7 145 105 (Reamer pitch: ±0.02) Detail view of D 10.2 20.2 8-M5, depth 5 Heli-Coil insert Detail: Base attachment (5 : 1) 8 ME HOME 32.5 15 25 (Min. Distance between sliders) 175 L (st+440) st st 22.5 22.5 45 45 45 175 2-φ4H7, depth 6 20 175 HOME 8 32.
9. 9.1 Warranty Warranty Period One of the following periods, whichever is shorter: y 18 months after shipment from IAI y 12 months after delivery to the specified location y 2,500 hours of operation 9.2 Scope of the Warranty 9. Warranty Our products are covered by warranty when all of the following conditions are met.
9.5 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.
Change History Revision Date Change History February 2013 64 Description of Revision Third edition Revised overall
Manual No.: ME3638-3A (March 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.
