Linear Servo Actuator LSA/LSAS Series Mid-size models Instruction Manual Fourth Edition LSA N10SS, N10SM, N15SS, N15SM N15HS, N15HM, N19SS, N19SM LSAS N10SS, N10SM, N15SS, N15SM N15HS, N15HM IAI America, Inc.
Please Read Before Use Thank you for purchasing our product. This Instruction Manual describes all necessary information to operate this product safely such as the operation procedure, structure and maintenance procedure. Before operation, read this manual carefully and fully understand it to operate this product safely. The enclosed CD in this product package includes the Instruction Manual for this product.
Precaution for Linear Servo Actuator Installation The methods to install the linear servo actuator is basically limited as shown in the following table. Please be careful when orienting the actuator.
Table of Contents Safety Guide ............................................................................................................. Pre-1 Handling Precautions ................................................................................................ Pre-7 1. Name of Each Part ...................................................................................................... 1 2. External Views .................................................................................................
9. Installation .................................................................................................................. . 30 9.1 Installing the Actuator .................................................................................................... 31 9.1.1 N10SS, N10SM................................................................................................ 31 9.1.2 N15SS, N15SM, N15HS, N15HM.................................................................... 32 9.1.3 N19SS, N19SM...
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 before 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. 4 Operation Description Installation and Start Pre-2 Precautions (1) Installation of Robot Main Body and Controller, etc. Make sure to securely hold and fix the product (including the work). A fall, drop or abnormal motion of the product may cause damage or injury. Do not get on or put anything on the product. Failure to do so may cause an accidental fall, injury or damage to the product due to a drop of anything, malfunction of the product, performance degradation, or shortening of its life.
No. 4 Operation Description Installation and Start 5 Teaching Precautions (4) Safety Measures 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. When the robot under operation is touched, it may result in death or serious injury.
No. 6 7 Operation Description Trial Operation Automatic Operation 8 Maintenance and Inspection 9 Pre-4 Modification Precautions After the teaching or programming operation, perform the check operation one step by one step and then shift to the automatic operation. When the check operation is to be performed inside the safety protection fence, perform the check operation using the previously specified work procedure like the teaching operation.
No. 10 Operation Description Disposal Precautions When the product becomes no longer usable or necessary, dispose of it properly as an industrial waste. Do not put the product in a fire when disposing of it. The product may burst or generate toxic gases.
Alert Indication The safety precautions are divided into “Danger” - “Warning” - “Caution” - “Notice” according to the warning level, as follows, and described in the Instruction Manual for each model. Level Danger Warning Caution Notice Degree of Danger and Damage This indicates an imminently hazardous situation which, if the product is not handled correctly, will result in death or serious injury.
Handling Precautions 1. Handling the Actuator by It self 1.1 Handling the Packed Actuator Unless otherwise specified, the actuator of single-axis configuration is packed individually. When transporting or handling the packed actuator, exercise due caution not to hit the package against other object or drop the package. If the package is heavy, the operator must not attempt to carry the package alone. When setting down the package, place it horizontally. Do not step onto the package.
2. Handling the Actuator Assembly Pay attention to the following instructions when transporting an assembly of actuator axes. 2.1 Condition of Shipment from IAI (Assembled) The actuators you have ordered are assembled at IAI, after which the assembly receives a shipping inspection and is shipped in an outer frame with the base of a squared log. The assembled actuator is packed with the sliders securely affixed so that they will not move unexpectedly during transportation.
3. Handling after Assembly with Peripheral Equipment Even when you transport the machine that has been assembled at your site, also handle the machine according to the precautions explained in 2.2, “Handling after Unpacking.
Pre-10
1. Name of Each Part The name of each part of the actuator is specified below. Side covers (QG FRYHU Stainless sheet Home side *1 Right Cables Slider Left Slider cover (QG FRYHU *1 In the above figure, the cables are facing top, while the home is located on the right side. The actuator is shipped with its home adjusted to the side specified by the customer. Accordingly, the home position on your actuator may be different from the direction shown in the figure.
2. External Views 2. External Views (reamed, pitch r0.02) 2.1 N10SS 4-M6, depth 12 2-6H7, depth 10 L (stroke +260) Stroke C-M6, depth 12 2-10H7, depth 8 2-slot, depth 8 (H) (*1) The cable track may bulge and slightly exceed the dimension specified below. (*2) Optional and user cable tracks are supported only when the stroke is 2,000 mm or less.
Effective stroke 2.
2. External Views (reamed, pitch r0.02) 2.2 N10SM 4-M6, depth 12 25 (Minimum distance between sliders) L (stroke +460) Stroke Stroke 2-6H7, depth 10 25 (Minimum distance between sliders) G C-M6, depth 12 2-10H7, depth 8 2-slot, depth 8 (H) (*1) The cable track may bulge and slightly exceed the dimension specified below. (*2) Optional and user cable tracks are supported only when the stroke is 2,000 mm or less.
Effective stroke 2.
2.3 N15SS 2-6H7, depth 10 2. External Views (reamed, pitch r0.02) 4-M6, depth 12 L (stroke +260) Stroke G C-M6, depth 12 2-10H7, depth 8 2-slot, depth 8 (H) (*1) The cable track may bulge and slightly exceed the dimension specified below. (*2) Optional and user cable tracks are supported only when the stroke is 2,000 mm or less.
Effective stroke 2.
2. External Views (reamed, pitch r0.02) 2.4 N15SM 4-M6, depth 12 2-6H7, depth 10 L (stroke +260) Stroke 10 (Minimum distance between sliders) 10 (Minimum distance between sliders) Stroke G C-M6, depth 12 2-10H7, depth 8 2-slot, depth 8 (H) (*1) The cable track may bulge and slightly exceed the dimension specified below. (*2) Optional and user cable tracks are supported only when the stroke is 2,000 mm or less.
Effective stroke 2.
2.5 N15HS 2. External Views (reamed, pitch r0.02) 4-6H7, depth 10 4-M6, depth 12 L (stroke +310) Stroke G C-M6, depth 12 2-10H7, depth 8 2-slot, depth 8 (H) (*1) The cable track may bulge and slightly exceed the dimension specified below. (*2) Optional and user cable tracks are supported only when the stroke is 2,000 mm or less.
Effective stroke 2.
2. External Views (reamed, pitch r0.02) 2.6 N15HM 4-M6, depth 12 2-6H7, depth 10 L (stroke +260) Stroke Stroke (Minimum distance between sliders) (Minimum distance between sliders) G C-M6, depth 12 2-10H7, depth 8 2-slot, depth 8 (H) (*1) The cable track may bulge and slightly exceed the dimension specified below. (*2) Optional and user cable tracks are supported only when the stroke is 2,000 mm or less.
Effective stroke 2.
2.7 N19SS Cable 2-8H7, reamed, depth 10 2. External Views (reamed, pitch r0.
2.8 N19SM 2-8H7, reamed, depth 10 2. External Views (reamed, pitch r0.
3. Cable Drawings [1] Cable inside cable track (motor cable) 3. Cable Drawings (JST) Receptacle housing: SLP-04V Socket contact: BSF-21T-P1.4 Connector cover (JST) Receptacle housing: SLR-04VF Pin contact: BSM-21T-P1.
[3] Cable inside cable track for N19SS and N19SM (encoder cable) Wire Color (Taiyo Cabletec) EXT-2-SB/20276 5P×20AWG Outer diameter: 7.2 (JST) Receptacle housing: XMR-18V Pin contact: XBM-001T-P0.6 Retainer: XMS-09V Signal Signal Color 1B/Light blue 1B/Light blue 1R/Light blue 1R/Light blue 1B/Pink 1B/pink 1R/Pink 1R/pink 1B/Green 1B/Green 1R/Green 1R/Green 3. Cable Drawings (Hirose) Single brazed socket: DF13-12S-1.
[5] Controller cable (encoder cable) : LSA Model: CB-X2-PA * indicates the cable length (L). Example) 080 = 8 m (41) (14) L (15) (13) 1 10 1 26 13 3.
4. Options 4.1 Cable track Installation Direction With single sliders of N10SS, N15SS, H15SS and H19SS types, you can specify an option corresponding to the desired direction in which the cable track is installed. [2] Reversed Option model: CT2 [3] Standard, with home on opposite side Option model: CT3 [4] Reversed with home on opposite side Option model: CT4 4. Options [1] Standard direction Option model: Not specified 4.
5. Checks after Unpacking After unpacking the actuator package, check the condition of the product as well as the items included in the package. 5.1 Included Items No. 1 Item Actuator Remarks Refer to “How to Read Model Nameplate” and “How to Read Model Name.” Accessories 5. Checks after Unpacking 2 3 4 Motor cable Encoder cable Instruction manual CB–X-MA CB–X2-PA 5.2 Instruction Manuals Relating to This Product No.
5.4 How to Read Model Name 5.4.1 LSA LSA N19SS I 300 144 T2 S CT2 N10SS N10SM N15SS N15SM N15HS N15HM N19SS N19SM I : Incremental : None N : 1m P : 3m S : 5m M ;ƑƑ : Specified Length 100 : 100W 200 : 200W 300 : 300W T2 : SCON, SSEL, XSEL-P/Q 5.4.
6. Specifications 6.1 N10SS, N10SM Model 6SHFL¿FDWLRQV Stroke Rated thrust Maximum thrust Maximum speed Maximum acceleration/deceleration Maximum loading capacity Positioning repeatability Unit /6$ 1 6 mm N N mm/sec G kgf 100 to 4100 54 162 2,500 3 15 (when used horizontally) 0.005 rmm Ma: 76.4 (7.7) N. m Load moment Mb: 46.3 (4.7) (kgfycm) Mc: 25.7 (2.6) Ma direction: 340 max. Overhang load length mm Mb/Mc directions: 340 max. (*1) The maximum speed may not be reached depending on the stroke.
6.3 N19SS, N19SM Model Unit Stroke mm Rated thrust Maximum thrust Maximum speed Maximum acceleration/deceleration Maximum loading capacity Positioning repeatability N N mm/sec G kgf rmm Load moment N. m (kgfycm) Overhang load length mm 0 66 0 60 144 to 2592 (in 144 steps) 72 to 2232 (in 144 steps) 100 300 2,500 3 30 0.005 Running life: 10,000 km Ma: 61.94 (6.32) Mb: 61.94 (6.32) Mc: 61.94 (6.32) Ma direction: 700 max. (*1) (*2) (*3) 6SHFL¿FDWLRQV Mb/Mc directions: 700 max.
7. Selection Conditions When using a mid-size linear servo actuator, you must ensure that the actuator satisfies the following two conditions. Condition [1] The thrust required for acceleration must not exceed the maximum thrust of the mid-size linear servo actuator. Condition [2] The thrust during continuous operation must be the rated thrust of the mid-size linear servo actuator. The above conditions are explained by using a trapezoid operation as an example. 7.
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8. Operating and Storage Environment 8.1 Operating Environment The actuator should be set up in an environment, which meets the following criteria: x Avoid direct sunlight. x Avoid radiant heat from strong heat sources such as a furnace. x Surrounding air temperature should be 0 to 40qC. x The humidity should be less than 85% and there should be no condensation. x Avoid exposure to corrosive or combustible gases. x The area should have very little dust and be suitable for normal assembly operations.
9. Installation Notes on Installation 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. Once dented or scratched, the stainless sheet may break during use. When installing the stainless sheet, pay attention to the following points. 9. Installation Do not press the sheet directly with hands. Do not generate powder dust or iron powder around the stainless sheet.
9.1 Installing the Actuator Install the actuator on a machined surface or other flat surface of equivalent accuracy. 9.1.1 N10SS, N10SM Mounting tapped holes are provided on the back of the base. Use these tapped holes for mounting the actuator. The effective depth of the screws for mounting the base is as shown below. Because the taps are blind holes, exercise due caution when selecting the bolt length.
9.1.2 N15SS, N15SM, N15HS, N15HM Mounting tapped holes are provided on the back of the base. Use these tapped holes for mounting the actuator. The effective depth of the screws for mounting the base is as shown below. Exercise due caution that the tip of the bolt does not stick out. If an inappropriate bolt is used, the tapped holes may be damaged and/or the mounting strength of the actuator may become insufficient, causing the degradation of precision and/or unexpected accidents.
9.1.3 N19SS, N19SM Mounting tapped holes are provided on the back of the base. Use these tapped holes for mounting the actuator. The effective depth of the screws for mounting the base is as shown below. Exercise due caution that the tip of the bolt does not stick out. If an inappropriate bolt is used, the tapped holes may be damaged and/or the mounting strength of the actuator may become insufficient, causing the degradation of precision and/or unexpected accidents.
9.2 Installation Surface x Ensure that the frame offers sufficient structural rigidity to prevent generation of vibration. x 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 or less. x Provide sufficient space to allow for maintenance work. x The side and bottom surfaces of the actuator base provide reference surfaces used for alignment of slider travel.
9.3 Installing a Load on the Slider x The slider has tapped holes that can be used to affix a load. The procedure to affix a load on the slider shall conform to the actuator installation procedure. 9.3.1 N10SS, N10SM x Four reamed holes are provided in the slider. Use these holes if the load must be installed/removed repeatedly. To fine-tune the squareness, etc., use one of these reamed holes in the slider. x Keep the screw-in depth to 12 mm or less.
9.3.3 N19SS, N19SM x Two reamed holes are provided in the slider. Use these holes if the load must be installed/removed repeatedly. To fine-tune the squareness, etc., use one of these reamed holes in the slider. x Keep the screw-in depth to 20 mm or less. If the screw is inserted exceeding this depth, it will damage the actuator, such as causing scratches on the side cover. 8-M8, depth 20 9.
9.4 Installing a Connector Box Using T-slots: N10SS, N10SM, N15SS, N15SM, N15HS, N15HM T-slots (for M4) are provided on the side faces on the main bodies of the N10SS, N10SM, N15SS, N15SM, N15HS and N15HM for installing external devices such as a connector box. Model T-groove size N10SS, N10SM M3 N15SS, N15SM, N15HS N15HM M4 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.
10. Connecting with the Controller Connect the connector at the end of the cable, to the controller. For the connection methods of the IO cable, controller power cable, PC connection cable, etc., refer to the instruction manuals for your controller and PC software. This is a connection example with the XSEL P/Q controller. This actuator can also be connected with the SSEL or SCON controller. XSEL P/Q controller Host system (PLC) Teaching pendant Motor cable Encoder cable 10.
When designing an application system using actuators and controllers, incorrect wiring or connection of each cable may cause unexpected problems such as a disconnected cable or poor contact, or even a runaway system. This section explains prohibited handling of cables. Read the information carefully to connect the cables properly. x Do not cut any of the cables to reduce its length or reconnect the cut cable with other cable to extend the wiring length or for any other purpose.
x When fixing the cable, provide a moderate slack and do not tension it too tight. Do not use a spiral tube where the cable flexes frequently. x Separate the I/O and communication lines from the power and drive lines. Do not guide them together in the duct. Power line Duct Signal lines (flat cable) 10. Connecting with the Controller x Pay attention to the following points when using the cable track. x Do not let the cable got tangled or kinked in a cable track or flexible tube.
11. Notes on Operation 11.1 Actuator Load 0DNH VXUH WKH ORDG VSHFLILHG LQ WKH ³6SHFLILFDWLRQV´ VHction is not exceeded. In particular, pay attention to the moment applied to the slider, allowable overhang length, and load.
11.2 Home Return 11.2.1 Incremental Specification (1) Operating Principles of Home Return Home return is performed in the sequence specified below. [1] [2] [3] [4] When a home return command is issued, the moving direction is determined from the specified parameter. A mechanical end is detected by software during home return. The actuator reverses upon detecting a mechanical end, and then recognizes the position where a phase Z signal is detected as the reference point.
11.2.2 Serial Encoder Pseudo Absolute Specification In the case of an actuator of the serial encoder pseudo absolute specification, when a home return command is issued the actuator moves by approx. 16 mm from the current slider position and checks the current position, after which the actuator can operate from that position. Unlike actuators of the incremental specification, home return does not require the actuator moving to its mechanical end.
11.3 Handling the Stainless Sheet The stainless sheets of the mid-size models N15SS, N15SM, N15HS, N15HM, M19SS and M19SM are held in position by the attraction forces of rubber magnets provided on the side covers. If ambient air contains a lot of magnetic substances such as iron powder, these magnetic substances may be attracted to the rubber magnets and enter the space between the stainless sheet and magnets, thereby causing problems.
12. Maintenance and Inspection 12.1 Inspection Items and Timings Perform maintenance and inspection at the intervals specified below. This schedule assumes that the actuator is operated eight hours a day. If the actuator is operated at a higher utilization, such as when the machine is used continuously day and night, reduce the inspection intervals accordingly.
12.4 Inspecting the Interior With the power supply turned off, turn up the stainless sheet and visually inspect the interior. Check the following items inside the actuator. Place of Inspection Actuator Guide Description of Inspection Remarks Loosening of actuator mounting bolts, etc. Lubrication condition, soiling, play If there is any abnormality, contact IAI. Visually check the interior condition. What you should focus are entry of dust and other foreign matters and the lubrication condition.
12.6 Greasing the Guide It is necessary to periodically grease the models N10SS, N10SM, N15SS, N15SM, N15HS and N15HM. Apply grease during the time of inspection. 12.6.1 Applicable Grease Lithium grease is applied to the guide before shipment. IAI uses the greases specified below. AFB-LF Grease (THK) Other manufacturers are also offering greases equivalent to the above products. Inform your grease supplier of the above products and have them select their product of equivalent properties.
12.6.2 How to Add Grease Before adding grease, turn off the actuator power. 1) Remove the end cover to reveal the right and left grease nipples from which to add grease. z N10SS, N10SM, N15SS, N15SM, N15HS, N15HM End cover Grease nipple 2) 12. Maintenance and Inspection 3) Move the slider by hand until it contacts the mechanical end (on the side where the target grease nipple is located). Insert the grease gun into the grease nipple and add grease.
13. Replacement/Adjustment of Stainless Sheet 13.1 N10SS, N10SM, N15SS, N15SM, N15HS, N15HM [Required Items] x Replacement stainless sheet x Hex wrench set x Scale x Adhesive tape [Notes] 1. Stainless sheet tension Improper tension of the stainless sheet can promote deterioration and wear of the sheet. If the tension of the stainless sheet is too taut and the clearance from the slider cover becomes greater than 1 mm, it may cause the stainless sheet to undergo fatigue failure.
13.1.1 Replacement Procedure for Stainless Sheet 1. Replacing the damaged stainless sheet with a new stainless sheet [1] Check a new stainless sheet to confirm absence of scratches or soiling. [2] Loosen the screws affixing the damaged stainless sheet and remove the sheet retainer plates. [3] Connect the damaged stainless sheet and new stainless sheet using adhesive tape. [4] Slowly pull the end of the damaged stainless sheet so that the sheet slides over the side cover.
13.1.2 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 sheet is held in position by the attraction forces of magnets. Therefore, lift the sheet from one end and then put it back in place toward the same end to achieve better result. Also adjust the stainless sheet from the slider center toward both ends.
[4] Move the slider over its full stroke by hand to confirm that the dimensions on both sides of the stainless sheet are roughly uniform, as shown below. If not, the stainless sheet is skewed. Repeat the adjustment from step [1] to make sure the stainless sheet extends straight. Dimensions on both sides of the stainless sheet must be roughly uniform.
13.2 N19SS, N19SM [Required Items] x Replacement stainless sheet x Clearance check jig (a regular slider cover with a hole) (This jig is available at our Sales Engineering Section. Inquire before replacement. It is also available for purchase.) x Hex wrench set x Phillips screwdriver x Scale [Notes of Stainless sheet tension] Improper tension of the stainless sheet can promote deterioration and wear of the sheet.
[Procedure] 1) Remove the mounting screws of the slider cover and remove the slider cover. When the slider cover is removed Coil spring Coil spring Roller section Roller section Coil spring Coil spring Slider 13. Replacement/Adjustment of Stainless Sheet Caution: Slowly and carefully remove the slider cover.
2) 3) 4) Remove the retainer screws of the old stainless sheet, and pull out the stainless sheet to remove it completely. Place the new stainless sheet through the stainless sheet retainer plates. Mount the stainless sheet in place with the retainer plates and the mounting screws. At this time, mount only the home position side, and loosen the side opposite to the home position side.
6) Adjust the tension of the stainless sheet. [1] While looking through the center opening of the clearance check jig, adjust by moving the stainless sheet on the loose side in the directions of the arrows, so that the clearance between the top face of the stainless sheet and the back face of the clearance check jig is within the designated range. Adjust the tension by moving the stainless sheet in the directions of the arrows. 13.
[3] Move the slider to check the tension of the stainless sheet over the entire stroke zone. .H\ &KHFN 3RLQW ± &KHFN WKDW WKH FOHDUDQFH EHWZHHQ WKH WRS VXUIDFH RI WKH VWDLQOess sheet and the top surface of the slider is within the designated range over the entire stroke zone. .
14. Troubleshooting 14.1 Action to Be Taken upon Occurrence of Error 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. 14.
14.3 Driver Overload Error (Error Code: D0A) Driver overload error High operation duty? Slider receiving any external force or resistance? Review the operating conditions by referring WR ³6HOHFWLRQ &RQGLWLRQV ´ Remove the external force or resistance. Turn off the power and move the slider by hand to check. If you have a spare controller, swap it with the current controller and check the operation. Actuator mechanism feels heavy. Repair the actuator Faulty controller? Replace the controller.
14.4 Deviation Overflow Error (Error Code: C6B) Deviation overflow error High acceleration/deceleration relative to the load capacity? Broken motor cable? Connector wiring problem? If you have a spare controller, swap it with the current controller and check the operation. Slider contacting any peripheral equipment? Faulty controller? 14. Troubleshooting If the problem has not yet been resolved at this point, contact IAI. 60 Reduce the acceleration/deceleration. Replace the motor cable.
15. Warranty The linear actuator you purchased has been delivered after passing the strict shipping tests conducted by IAI. The warranty information is provided below. (1) Warranty period The warranty period expires upon elapse of one of the following periods, whichever occurs first.
Change History Date revised Dec. 2008 Jan. 2009 Dec. 2010 62 Description of revision Version 2 Version 3 Version 4 Added N15SS, N15SM, N15HS and N15HM. Added N10SS and N10SM. P21 Added the model of LSAS to “5.4 How to Read Model Name” . P43 Added details of operation of the serial encoder pseudo absolute specification when a home return command is issued.
MEMO 63
Manual No.: ME3661-4A (December 2010) 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.
