Linear Servo Actuator LSA Series Shaft Type Operating Manual Third Edition LSA-S6, S8, S10 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. Specifications Check ....
. Maintenance and Inspection........................................................................... 47 6.1 6.2 6.3 6.4 6.5 6.6 Inspection Items and Schedule ......................................................................................... 47 Visually Inspecting the Exterior ......................................................................................... 47 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 � When carrying a heavy object, do the work with two or more persons or utilize equipment such as crane. � 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 � Use our company’s genuine cables for connecting between the actuator and controller, and for the teaching tool. � 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 � 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. � 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 � 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. � 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 � 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. � 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 This manual defines the right and left of the actuator by putting it horizontally as shown in the figures below and viewing it from the top and home side. Also the front side means the opposite of the home side. Side covers Cable Right Stainless sheet Left Drawings for Standard Type Slider cover Home side Slider Cover (Reference) In the above figure, the cables are facing top, while the home is located on the right side.
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 faulty or missing parts, contact your local IAI distributor. 1.1.1 Parts No. 1 Name Actuator Accessories Motor • encoder cables 2 (Note1) Model number Refer to “How to Read the Model Nameplate” and “How to Read the Model Number.
1. Specifications Check (3) Manuals Related to SCON Controllers No.
1.1.
1. Specifications Check 1.2 Specification 1.2.
[7] S10SS Speed limits (Unit: mm/s) Stroke [mm] Minimum Speed 90 180 270 360 450 540 200 � 1170 1260 1350 1440 1530 1620 630 720 810 900 990 1800 1890 1980 2070 1080 1.
1.2.2 Maximum acceleration/deceleration, Maximum load capacity and Rated thrust 1.
1.2.3 No. of Encoder Pulses 1.2.4 No. of Encoder Pulses 48000 60000 60000 90000 90000 Lead Length [mm] 48 60 60 90 90 1. Specifications Check Type S6SS, S6SM S8SS, S8SM S8HS, S8HM S10SS, S10SM S10HS, S10HM Positioning Precision Type Item Specifications Positioning Repeatability ±0.005mm S6SS, S6SM Lost Motion 0.02mm or less Positioning Repeatability ±0.005mm S8SS, S8SM Lost Motion 0.02mm or less Positioning Repeatability ±0.005mm S8HS, S8HM Lost Motion 0.02mm or less Positioning Repeatability ±0.
Allowable Load Moments of the Actuator Allowable Dynamic Load Moment [N·m] Ma Mb Mc Type Allowable Overhang Load Length (L) (Note 1) Ma direction: 300mm or less Mb, Mc direction: 300mm or less S8SS, S8SM Ma direction: 300mm or less 42.2 60.3 37.6 S8HS, S8HM Mb, Mc direction: 300mm or less S10SS, S10SM Ma direction: 300mm or less 57.4 81.9 60.
1.3 Operating conditions 1.3.1 Available Conditions for Operation 1. Specifications Check When selecting a desired model of shaft-type linear servo actuator, 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 shaft-type linear servo actuator. [Condition 2] The thrust during continuous operation must not exceed the rated thrust of the shaft-type linear servo actuator.
1.3.2 Availability Judgment for each Operational Condition [1] Condition 1 Judgment of Thrust Necessary for Acceleration 1. Specifications Check For the slider to accelerate according to a command, the thrust required for acceleration, or Fa, must be smaller than the maximum thrust of the shaft-type linear servo actuator. Fa = (M + m) • a + Ft Here, M : Slider weight (kg) m : Slider payload (kg) a : Commanded acceleration (m/s2)* Ff : Traveling resistance (N) *1G = 9.
[2] Condition 2 Judgment of Thrust for Continuous Operation Ft Fa ta td Ff tf t � Fa2�ta+Ff2�tf+Fd2�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 + 0.15) [Stabilization time tc] S6SS, S6SM : 0.15 sec S8SS, S8SM : 0.2 sec S8HS, S8HM : 0.2 sec S10SS, S10SM : 0.2 sec S10HS, S10HM : 0.
1. Specifications Check 1.3.3 Example for Judging Operation Availability by Operational Conditions [Operating conditions] • Applicable model : S8SS/S8SM type • Speed : 2.0m/s • Acceleration : 24.5m/s2 (The deceleration is assumed to be the same.) • Travel : 1.5m • Slider payload : 2kg • The actuator moves back and forth over a stroke of 1.5m. The above operation pattern can be illustrated by the graph shown to the right. 1G = 9.
Ft � Fa2�ta+Ff2�tf+Fd2�td t Here, Fa = 97.52N, Ff = 25N, Fd = 47.52N, ta = td = 0.10sec, tf = 0.65sec, t = 0.85sec From the above, Ft is calculated as 43.16N. Since this value exceeds the rated thrust 25N of the S8SS/S8SM, this actuator cannot be used in the aforementioned operation pattern. Let’s lower the duty and see what happens. Repeat the above calculation based on t = 2.6sec. Speed ta tf td Time t = 2.6 This time, Ft is calculated as 24.68N.
1. Specifications Check 1.4 Option 1.4.1 Cable Track Attachment Orientations 2 to 6 (Model: CT2 to CT6) 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.
1.4.2 Cable Track for User S Type Attachment Orientations 1 to 6 (Model: US1 to US6) Option Model US1 US2 US3 US4 US5 US6 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 S Type User Cable] 1. Specifications Check These are the indications when attaching S Type User Cable Track to the standard cable track.
1. Specifications Check 1.4.3 Cable Track for User M Type Attachment Orientations 1 to 6 (Model: UM1 to UM6) These are the indications when attaching M 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.
1.5 Motor • Encoder Cables 1.5.1 Motor • Encoder Cables for Linear Servo Actuator 1. Specifications Check [1] Motor Cable (Model : CB-X-MA���) ��� indicates the cable length (L) (Example: 080=8m), Max.30m L (10) (21) (20) 1 (18) (41) 4 (φ9) (16) 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-PA���) (41) (14) L (15) 14 1 26 13 (φ10) (13) 1 (25) (37) 1. Specifications Check ��� indicates the cable length (L) (Example: 080=8m), Max.30m 9 (Front View) Width Controller Side Electric Wire Color Signal Abbreviation E24V 0V White/Green White/Orange LS CREEP OT RSV A+ White/Blue AWG26 AWhite/Yellow 2 (0.
1.5.2 Cable in the bearer [1] Motor cable 1. Specifications Check 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 Signal Electric 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. Installation 2.1 Transportation 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. [1] Handling of the Actuator Unless otherwise specified, the actuator is shipped with 1 axis unit packaged separately. (1) Handling the Packed Unit � Do not damage or drop.
[2] Handling in the Assembled Condition 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.
2.2 Installation and Storage • Preservation Environment [1] Installation Environment 2. Installation The actuator should be installed in a location other than those specified below. Also provide sufficient work space required for maintenance inspection.
2.3 How to Install 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. 2. Installation 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 2. Installation Caution: 34 The stainless sheet is designed very thin (thickness: 0.1 mm) in order to ensure flexibility. Therefore, the stainless sheet is easily dented or scratched. When installing the stainless sheet, pay attention to the following points: 1. Do not press the sheet directly with hands. 2. 3. Be careful not to drop a tool or a work piece on the sheet and make a dent mark. Do not generate powder dust or iron powder around the stainless sheet.
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. The side surfaces and bottom surface of the base of the body have good parallelism to the guide. Utilize these surfaces when accuracy in the actuator drive is required.
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.
2.3.4 Installation Surface Reference surface Drawings for Standard Type Reference surface As shown above, each side surface of the base provides a reference surface used for alignment of slider travel. If you require higher traveling accuracy, therefore, install the actuator with reference to either side surface of the base. A When installing the actuator on the frame using the base reference surfaces, provide the necessary machining by following the drawing below. R0.
Mount of Connector Box and Others T-slots (M3) are provided on the side faces of the actuator for installation of a connector box or other external equipment. If you are using a wiring kit, install a connector box using these T-slots. T-slots can also be used for other purposes, such as installing sensors or securing cables. The T-slot dimensions are specified below. • Use of square nuts is recommended in T-slots, but hex nuts can also be used.
3. Connecting with the Controller Use the IAI dedicated connection cable for the connection of the actuator to the controller. Please consult with IAI if you require a different kind of cable than the one supplied. Dedicated cable (Connects controller and Actuator cable) Dedicated controller XSEL-P/Q, SSEL, SCON r=58mm or more (Movable Use) r=38mm or more (Fixed Use) Dedicated cables • Motor cable (Robot cable) CB-X-MA��� • Encoder cable CB-X3-PA��� ��� indicates the cable length.
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.
• Do not let the cable bend, kink or twist. 3. Connecting with the Controller • 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.
3. Connecting with the Controller • 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. Power line 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 Home return is performed in the sequence specified below. 4.1.2 Fine-tuning the Home Position The actuator is shipped with its motor travel after the actuator contacts the stopper until a Z phase signal is output pre-adjusted.
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) 5. Troubleshooting Encoder open error Connector wiring problem? Yes 1) The connector is not properly engaged.
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”. No 5. Troubleshooting 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? 5. Troubleshooting No 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 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 With the power supply turned OFF, turn up the stainless sheet and visually inspect the interior. Check the following items inside the actuator. Loosening of actuator mounting bolts, etc. Guide Lubrication condition, soiling Visually check the interior condition. Focus on entry of dust and other foreign matters and the lubrication condition. Even if grease has turned brown, the actuator is lubricated properly if its traveling surface is glossy.
6.6 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. [Notes] (1) Stainless sheet tension Improper tension of the stainless sheet can promote deterioration and wear of the sheet.
Replace the stainless steel sheet with the procedures from 6.6.1 to 6.6.3. Adjust the tension of the stainless steel sheet with the procedures in 6.6.2 and 6.6.3. 6.6.1 Replacement Procedure for Stainless Sheet Replace the degraded stainless steel sheet with a new one by following the steps described below. 1) Remove the right and left covers. To remove each cover, hold both ends and pull out the cover slowly. 6.
6.6.2 Adjusting the Stainless Sheet Tension 1) First, affix the stainless 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 sheet from the slider center toward both ends.) 2) Move the slider to a position near the stroke center, and unscrew the screws holding the stainless steel sheet with a 2.
4) Adjusting the Stainless Sheet Tension Adjust the stainless sheet in the direction of the arrow until the check lines on the side covers are offset from the check line on the stainless 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.) A 6.
6.6.3 Operation Check 1) Move the slider to check the tension of the stainless sheet. Move the slider to check the tension. Specifically, check if the stainless sheet is positioned uniformly on the right and left without presenting meandering or waving over the entire stroke range. If the stainless sheet is not uniformly positioned on the right and left or is waving, repeat the adjustment. 2) Securely tighten the thin-head screws that have been loosened with a 2.
7. Life 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.
8. External Dimensions 8.1 S6SS Standard Type Cables E 16 52 16 4-M3, depth 5 21 75 45 14 (Reamer pitch: ±0.02) 1.8 37 5.5 2.7 60 8 Detail view of G 3.3 5.8 8 *The slider goes up the ME in the home-return operation. Pay attention to interference to peripherals. ME : Mechanical end SE : Stroke end (max10) 6 15 6 30 4 +0.01 8.1.1 25 14 19 4-M4, depth 10 2-φ4H7, depth 8 25 L(st+286) Detail view of F 63 M3 T-slot (F) 15 24 65±0.
8.1.2 Horizontally Oriented Wall Mount Type (Standard)(Option) 35 A×100P A×100P (B) D 35 50 24 1 30 50 2-slot, depth 3 (G) 2-φ3H7, reamed depth 3 Cable track for user (S type) Cable 90 89 84 Cable track for user (M type) 51 91 4 3+0.01 0 C-M4, depth 10 st L(st+286) Cable Track for User Wiring Section Dimensions (S type) 56 25 5 HOME ME (*) M3 T-slot (F) 5.8 3.3 5.5 2.7 Detail view of F 43 (35) 4-M4, depth 10 2-φ4H7, depth 8 40 49 15 24 No.
8.1.3 Horizontally Oriented Wall Mount Type (Cable Track Opposite Type) (Option) 35 24 50 A×100P A×100P (B) D 35 50 30 1 C-M4, depth 10 Cable track for user (M type) Cable track for user (S type) 51 84 155 Detail view of G M3 T-slot (F) (35) 5 ME (*) 63 60 45 (Reamer pitch: ±0.02) 37 76.5 81.5 65±0.02 HOME 25 80 50 160 25 L(st+286) 5 SE st ME 8. External Dimensions 43 (35) 63 4-M4, depth 10 2-φ4H7, depth 8 14 19 14 19 Detail view of F 8 60 54 5.8 3.3 8 4 5.5 2.7 1.
8.2 S6SM Standard Type 4-M3, depth 5 16 8 8 37 45 1.8 65±0.02 3.3 5.8 (max10) 25 14 19 Detail view of F 15 24 M3 T-slot (F) ME 63 (35) 5 HOME L(st+486) st Distance 40 (Min. between Sliders) 160 60 14 Detail view of G 5.5 2.7 16 (Reamer pitch: ±0.02) *The slider goes up the ME in the home-return operation. Pay attention to interference to peripherals. ME : Mechanical end SE : Stroke end 52 75 6 15 6 21 3 4 +0.01 0 8.2.
8.2.2 Horizontally Oriented Wall Mount Type (Option) 35 A×100P A×100P (B) D 35 50 24 1 30 50 2-slot, depth 3 (G) 2-φ3H7, reamed depth 3 Cable track for user (S type) 84 90 89 84 Cable track for user (M type) 51 (35) 5 ME (*) 160 80 50 160 5 HOME (35) ME (*) 63 43 M3 T-slot (F) 76.5 81.5 5.8 3.3 *The slider goes up the ME in the home-return operation. Pay attention to interference to peripherals.
8.3 S8SS Standard Type Cable E 16 52 75 16 4-M3, depth 5 6 (max15) 21 3.3 5.8 25 Detail view of F 59 (45) ME 14 19 M3 T-slot (F) 4-M5, depth 10 2-φ4H7, depth 8 25 5 st 160 HOME SE 5 59 (45) ME 86 91 100 97 43 14 19 40 49 32 35 74 80 Reference surface 35 50 A×100P A×100P (B) (D) 50 35 50 100 99 1 Cable Track for User Wiring Section Dimensions (M type) 8. External Dimensions 65±0.02 80 50 L(st+278) 15 24 Cable Track for User Wiring Section Dimensions (S type) 16.
Horizontally Oriented Wall Mount Type (Standard)(Option) A×100P 35 A×100P (B) (D) 35 50 11 34 50 50 2-slot, depth 5 (G) 2-φ4H7, reamed depth 5 Cable track for user (S type) Cable 100 99 84 Cable track for user (M type) 61 L(st+278) 25 5 HOME (45) ME (*) 59 4-M5, depth 10 2-φ4H7, depth 8 5.8 3.3 Detail view of F 43 86 M3 T-slot (F) 91 *The slider goes up the ME in the home-return operation. Pay attention to interference to peripherals.
8.3.3 35 34 P P (B) (D) 50 50 35 50 11 Horizontally Oriented Wall Mount Type (Cable Track Opposite Type) (Option) A×100 A×100 Cable track for user (Mtype) Cable track for user (S type) +0.012 0 61 Cable 100 99 84 91 4 5 2-φ4H7, reamed depth 5 2-slot, depth 5 (G) C-M5, depth 10 Detail view of G 5.5 2.7 43 86 91 65±0.
8.4 S8HS Standard Type E 4-M3, depth 5 14 19 M3 T-slot (F) 89 5 ME 60 65±0.02 80 50 L(st+338) st 25 4-M5, depth 10 2-φ4H7, depth 8 160 HOME SE 89 5 ME (45) 43 14 19 86 91 100 97 15 24 (45) 16.5 (Reamer pitch: ±0.02) 8 3.3 5.8 25 Detail view of F Cable Track for User Wiring Section Dimensions (S type) 16 52 1.8 75 5.5 2.7 52 75 8 Detail view of G *The slider goes up the ME in the home-return operation. Pay attention to interference to peripherals.
8.4.2 Horizontally Oriented Wall Mount Type (Standard)(Option) (B) A×100P 35 A×100P (D) 35 50 11 34 50 50 2-slot, depth 5 (G) 2-φ4H7, reamed depth 5 Cable track for user (S type) Cable 100 99 61 5 8. External Dimensions (45) 89 5 ME SE 25 st 80 50 160 25 5 HOME ME (*) (45) 89 L(st+338) M3 T-slot (F) 86 91 Detail view of G 1.8 5.5 2.7 5.8 3.3 74 80 60 65±0.02 (Reamer pitch: ±0.02) 52 8 75 8 4 175 91 84 Cable track for user (M type) 4 +0.
8.4.3 Horizontally Oriented Wall Mount Type (Cable Track Opposite Type) (Option) A×100 A×100 P 35 11 P (B) (D) 50 35 50 50 34 C-M5, depth 10 Cable track for user (M type) Cable track for user (S type) +0.012 0 61 Cable 100 99 84 91 4 5 2-φ4H7, reamed depth 5 2-slot, depth 5 (G) 8 (45) M3 T-slot (F) 89 5 ME (*) 65±0.02 HOME 25 80 50 160 25 L(st+338) st 5 SE ME (45) 89 4-M5, depth 10 2-φ4H7, depth 8 14 19 14 19 86 91 75 60 52 80 74 43 8.
8.5 S8SM Standard Type 16 52 75 16 4-M3, depth 5 4 5 +0.012 0 1.8 3.3 5.8 8 (max15) Detail view of F 25 14 19 M3 T-slot (F) HOME ME 59 (45) 5 20 (Min. Distance between Sliders) 160 75 5.5 2.7 52 Detail view of G 8 60 16.5 6 15 6 21 *The slider goes up the ME in the home-return operation. Pay attention to interference to peripherals. ME : Mechanical end SE : Stroke end (Reamer pitch: ±0.02) 8.5.1 65±0.
8.5.2 Horizontally Oriented Wall Mount Type (Option) (B) A×100P 35 A×100P 35 (D) 11 34 50 50 50 2-φ4H7, reamed depth 5 2-slot, depth 5 (G) Cable track for user (S type) 84 Cable track for user (M type) 61 5 Detail view of G HOME 20 (Min. Distance between Sliders) 160 25 HOME (45) ME (*) 59 M3 T-slot (F) 86 91 43 5.8 3.3 Detail view of F 4-M5, depth 10 2-φ4H7, depth 8 14 19 40 49 15 24 Cable Track for User Wiring Section Dimensions (S type) No.
8.6 S8HM Standard Type 4-M3, depth 5 8 8 1.8 52 (Reamer pitch: ±0.02) Detail view of G 5.5 2.7 16 60 16.5 4 *The slider goes up the ME in the home-return operation. Pay attention to interference to peripherals. ME : Mechanical end SE : Stroke end 52 75 6 15 6 21 +0.012 0 16 5 65±0.02 25 3.3 5.8 Detail view of F (45) 89 (Min. Distance 80between Sliders) HOME ME 160 5 75 8.6.
8.6.2 Horizontally Oriented Wall Mount Type (Option) (B) A×100P 35 A×100P (D) 35 11 34 50 50 50 2-slot, depth 5 (G) 2-φ4H7, reamed depth 5 Cable track for user (S type) 84 100 99 84 Cable track for user (M type) 61 Detail view of G (45) 160 st 25 st 80 50 160 25 L(st+578) 5.8 3.3 ME (*) (45) 89 M3 T-slot (F) 86 91 43 Detail view of F 4-M5, depth 10 2-φ4H7, depth 8 14 19 40 49 15 24 Cable Track for User Wiring Section Dimensions (S type) No.
8.7 S10SS Standard Type E Cable 16 52 75 16 4-M3, depth 5 4 5 +0.012 0 3.3 5.8 14 19 Detail view of F 25 M3 T-slot (F) 15 24 (55) 90 ME 5 st L(st+340) 16.5 80 1.8 10 5.5 2.7 70 Detail view of G (Reamer pitch: ±0.02) 10 21 6 15 6 *The slider goes up the ME in the home-return operation. Pay attention to interference to peripherals. ME : Mechanical end SE : Stroke end 97 8.7.1 65±0.
Horizontally Oriented Wall Mount Type (Option) A×150P 20 A×150P (B) (D) 20 54 100 31 70 100 2-slot, depth 5 (G) 2-φ4H7, reamed depth 5 Cable 120 119 81 5 90 5 ME SE 80 L(st+340) 85 50 160 25 5 HOME Cable Track for User Wiring Section Dimensions (S type) st 90 180 270 360 450 540 630 720 810 900 990 1080 1170 1260 1350 1440 1530 1620 1710 1800 1890 1980 2070 5.5 2.7 Detail view of F (55) ME (*) 90 106 111 4-M6, depth 10 2-φ4H7, depth 10 40 49 15 24 No.
8.7.3 Horizontally Oriented Wall Mount Type (Cable Track Opposite Type) (Option) A×150P 20 54 A×150P (B) (D) 100 20 100 70 31 C-M5, depth 10 Cable track for user (S type) +0.012 0 Cable track for user (M type) 81 Cable 120 119 84 10 Detail view of F 44 (55) 106 111 M3 T-slot (F) 5 ME (*) 90 97 80 70 100 93 (Reamer pitch: ±0.02) 8. External Dimensions 10 5.5 2.7 5.8 3.3 1.8 195 4 Detail view of G 91 4 5 2-φ4H7, reamed depth 5 2-slot, depth 5 (G) 65±0.
8.8 S10HS Standard Type E 16 Cable 52 75 16 4-M3, depth 5 16.5 (Reamer pitch: ±0.02) 80 1.8 3.3 5.8 10 5.5 2.7 97 Detail view of G 70 *The slider goes up the ME in the home-return operation. Pay attention to interference to peripherals. ME : Mechanical end SE : Stroke end 10 21 6 156 4 5 +0.012 0 8.8.1 25 14 19 Detail view of F M3 T-slot (F) 15 24 (55) 112.5 ME st 5 SE L(st+385) 65±0.02 85 50 4-M6, depth 10 2-φ6H7, depth 10 25 160 HOME 5 112.
8.8.2 Horizontally Oriented Wall Mount Type (Standard) (Option) A×150P 42.5 A×150P (B) (D) 42.5 100 54 31 70 100 2-slot, depth 5 (G) 2-φ4H7, reamed depth 5 Cable track for user (S type) 120 119 5 81 Detail view of G 195 91 84 4 Cable Cable track for user (M type) 4 1.8 st L(st+385) Cable Track for User Wiring Section Dimensions (S type) 74 25 HOME 5.8 3.3 5 ME (*) (55) 106 111 112.5 4-M6, depth 10 2-φ6H7, depth 10 40 49 15 24 No.
8.8.3 Horizontally Oriented Wall Mount Type (Cable Track Opposite Type) (Option) A×150P 42.5 54 A×150P (B) (D) 100 42.5 100 70 31 C-M5, depth 10 10 ME (*) 112.5 5 HOME 65±0.02 25 85 50 160 25 L(st+385) st SE 5 ME (55) 112.5 4-M6, depth 10 2-φ6H7, depth 10 14 19 14 19 M3 T-slot (F) (55) 106 111 97 80 70 100 93 44 8. External Dimensions Detail view of F (Reamer pitch: ±0.02) 10 5.5 2.7 Cable 84 5.8 3.3 1.
8.9 S10SM Standard Type 4-M3, depth 5 16 52 75 16 25 14 19 Detail view of F 15 24 M3 T-slot (F) (Min. Distance (55) 90 ME 5 160 50 between Sliders) st L(st+550) st 97 80 70 (Reamer pitch: ±0.02) 1.8 3.3 5.8 5.5 2.7 16.5 Detail view of G 10 *The slider goes up the ME in the home-return operation. Pay attention to interference to peripherals. ME : Mechanical end SE : Stroke end 10 615 6 21 4 5 +0.012 0 8.9.1 65±0.
8.9.2 Horizontally Oriented Wall Mount Type (Option) A×150P 20 A×150P (B) (D) 20 54 100 31 70 100 2-slot, depth 5 (G) 2-φ4H7, reamed depth 5 Cable track for user (S type) 120 119 84 81 5 ME (*) 5 50 HOME 90 160 25 (Min. Distance between Sliders) st st L(st+550) 85 50 160 25 HOME 5.5 1.8 2.7 5.8 3.3 93 100 80 65±0.02 Detail view of G Detail view of F 5 ME (55) 106 111 90 44 8. External Dimensions (55) (Reamer pitch: ±0.
8.10 S10HM 8.10.1 Standard Type +0.012 0 4-M3, depth 5 16 52 75 16 80 16.5 1.8 25 M3 T-slot (F) Detail view of F 14 19 70 97 65±0.02 85 3.3 5.8 5.5 2.7 (Reamer pitch: ±0.02) Detail view of G 10 *The slider goes up the ME in the home-return operation. Pay attention to interference to peripherals. ME : Mechanical end SE : Stroke end 10 6156 21 4 5 15 24 (55) 112.5 ME 5 160 L(st+640) Distance 95 (Min. between Sliders) st st 50 25 4-M6, depth 10 2-φ6H7, depth 10 160 112.
8.10.2 Horizontally Oriented Wall Mount Type (Option) A×150P 42.5 A×150P (B) (D) 42.5 100 54 31 70 100 2-φ4H7, reamed depth 5 Cable track for user (S type) 120 119 84 81 5 91 4 84 Cable track for user (M type) +0.012 0 2-slot, depth 5 (G) C-M5, depth 10 195 Detail view of G (55) 5 95 HOME 112.5 (Min. Distance between Sliders) 160 25 st st L(st+640) 85 50 160 25 HOME 5 55 ME (*) 112.5 106 111 5.8 3.3 M3 T-slot (F) 14 19 14 19 No.
9. 9.1 Warranty 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 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 Description of Revision Revision Date Change History March 2013 82 Third edition Revised overall
Manual No.: ME3646-3A (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.
