ISDB Series Actuator Operating Manual Seventh Edition ISDB, ISDBCR ISPDB, ISPDBCR IS Cast SSPDACR 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 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 Caution in Handling ..................................................................................................................8 Names of the Parts ...................................................................................................................9 1. Checking the Product ..........................................................
9. Setting the Home Position ................................................................................................46 9.1 9.2 9.3 9.4 9.5 9.6 Home Return ....................................................................................................................................... 46 Factory-set Home Position .................................................................................................................. 46 Changing the Home Direction ...................................
15. Appendix ..........................................................................................................................90 15.1 External Dimensions............................................................................................................................ 90 15.1.1 ISDB, ISPDB-S .................................................................................................................... 90 15.1.2 ISDB, ISPDB-M ............................................................
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. 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.
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 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.
Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and described in the Operation 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. Do not set speeds and accelerations/decelerations equal to or greater than the respective ratings. If the actuator is operated at a speed or acceleration/deceleration exceeding the allowable value, abnormal noise or vibration, failure, or shorter life may result. In the case of interpolated operation of combined axes, the speed and acceleration/deceleration settings should correspond to the minimum values among all combined axes. 2. Keep the load moment within the allowable value.
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. ISDB/ISPDB Front cover Side cover Stainless sheet Coupling cover Actuator cable Right side (R) Front side Motor side Rear cover Left side (L) Sheet cover plate Slider Motor cover Slider cover Grease nipple Side cover Front cover Motor cover Rear cover Plug screw Base Actuator cable 2.
3.
1. Checking the Product 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. Name 1 Actuator Model number Refer to “How to Read the Model Nameplate” and “How to Read the Model Number.
(2) XSEL-P/Q controllers 1. Checking the Product 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.
1.
2. Specification 2. Specification 2.1 Maximum Speed (1) ISDB, ISPDB, ISDBCR, ISPDBCR The maximum speed of the actuator is limited to prevent resonance of the ball screw shaft that may occur beyond a certain motor speed. Be sure to observe the applicable maximum speed shown in the table below.
(2) SSPDACR The maximum speed of the actuator is limited to prevent resonance of the ball screw shaft that may occur beyond a certain motor speed. Be sure to observe the applicable maximum speed shown in the table below. Size S M L 1200 1250 1300 1350 1400 1450 1500 220 200 190 440 410 380 880 820 760 770 670 770 670 1550 1340 1550 1340 - 580 580 1170 1170 - 520 520 1040 1040 Caution: (1) Do not set speeds and accelerations/decelerations equal to or greater than the respective ratings.
2.2 Acceleration/Deceleration, Payload Capacity and Rated Thrust (1) ISDB, ISPDB, ISDBCR, ISPDBCR Type Size Motor capacity Lead [mm] [W] 4 S 60 8 16 5 Guide with ball retention mechanism (RT) not used 2. Specification If the payload capacity is smaller than as specified, the acceleration/deceleration can be raised beyond the applicable level.
Type Size Motor capacity [W] Lead [mm] 4 60 8 16 5 Guide with ball retention mechanism (RT) used 100 10 20 30 M 5 200 10 20 30 MX 200 20 30 10 200 20 40 L 10 400 20 40 200 LX 400 20 40 20 40 Payload capacity by acceleration/deceleration [kg] Horizontal Vertical 0.2G 0.3G 0.4G 0.5G 0.6G 0.7G 0.8G 0.9G 1.
(2) SSPDACR 2. Specification Size S M L Type - - Guide with ball retention mechanism (RT) not used Guide with ball retention mechanism (RT) used Motor capacity [W] 200 400 750 750 0.4 0.4 0.4 0.4 0.4 0.4 0.4 0.4 0.4 0.4 0.4 0.4 Maximum acceleration/ deceleration [G] 0.7 0.6 1.2 1.2 1.2 1.2 0.7 0.6 1.2 1.2 1.2 1.2 25 1.2 50 1.2 25 1.2 50 1.2 Lead [mm] Payload capacity by acceleration/deceleration [kg] Horizontal Vertical 0.2G 0.3G 0.4G 0.5G 0.6G 0.7G 0.8G 0.9G 1.0G 1.1G 1.
2.3 Driving System/Position Detector The actuator is driven by the AC servo control method. (1) ISDB, ISPDB, ISDBCR, ISPDBCR Motor capacity [W] Type Ball screw specification Diameter ISD series 2. Specification Lead Encoder [mm] pulses*1 4 S 60 8 16 5 10 100 20 30 M 5 10 200 20 30 16384 20 MX 200 30 10 200 20 40 L 10 400 20 40 20 200 40 LX 20 400 40 *1 Number of pulses input to the controller.
2.4 Positioning Preciseness 2. Specification Item Positioning repeatability Backlash*1 *1 Initial value 20 ISD r0.01 mm 0.05 mm or less Functions ISPD r0.005 mm 0.02 mm or less SSPDACR r0.005 mm 0.
2.5 Allowable Load Moment of the Actuator (1) ISDB, ISPDB, ISDBCR, ISPDBCR Allowable load moment (Nxm) Ma Ma Mb Allowable load moment (Nxm) Mc Mb Mc Allowable overhang load (L) S 143.8 205.4 336.0 28.4 40.2 65.7 Ma direction: 450 Mb or Mc direction: 450 M 341.5 487.0 796.5 69.6 99.0 161.7 Ma direction: 600 Mb or Mc direction: 600 MX 341.5 487.0 796.5 69.6 99.0 161.7 Ma direction: 600 Mb or Mc direction: 600 L 560.2 800.1 1325.3 104.9 149.9 248.
(2) SSPDACR 2. Specification Size Static allowable load moment [Nxm] Dynamic allowable load moment [Nxm] Ma Mb Mc Ma Mb Mc S 190 190 530 36 36 98 M 470 470 1210 90 90 230 L 750 750 1850 138.8 138.8 334.
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%. In the case of general industrial machinery, however, you must know the specific life for the purpose of maintenance. 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. 4.1 Installation and Storage/Preservation Environment Installation Environment 4. Installation and Storage/Preservation Environment The actuator should be installed in a location other than those specified below. In general, the installation environment should be one in which an operator can work without protective gear. Also provide sufficient work space required for maintenance inspection.
5. Transport 5.1 5.1.1 Handling a Single Axis Handling a Package 5.1.2 Handling an Actuator after Unpacking (1) ISDB, ISPDB, ISDBCR, ISPDBCR x x x x x Do not transport the actuator by holding the cable or move it by pulling the cable. When transporting the actuator, hold its base. When transporting the actuator, be careful not to bump the actuator against anything. Do not apply excessive force on any part of the actuator.
(2) SSPDACR x Four eye bolts are installed, so use these bolts to transport the actuator. The SSPDACR, when unpacked, looks like the condition shown in the figure below. 5. Transport Motor cover M8 eye bolt x Do not hold the motor cover when transporting the SSPDACR. Doing so may damage the cover due to the weight of the actuator or the main unit may fall. x Do not transport the actuator by holding the cable, or move it by pulling the cable.
5.2 Handling an Cartesian Robot (ICS) Take note of the following points when transporting a set of axes that have been combined. 5.2.1 Handling a Package Before shipment, combined axes are packed in an outer frame nailed to the base made of square lumbers. Each slider is secured to prevent accidental movement during transport. Each actuator end is also secured to prevent oscillating due to external vibration. 5.2.
5.3 Handling an Actuator Assembled to a Mechanical System When transporting an actuator that has been assembled to a mechanical system, as the whole system, take note of the following points: 5. Transport x Secure the sliders to prevent sudden movement during transport. x If any end of the actuator is overhanging, secure it properly to avoid significant movement due to external vibration. x If the actuator assembly is transported without the ends being secured, do not apply an impact of 0.3 G or more.
6. Installation 6.1 Installation Orientations Actuators are subject to certain limitations regarding their installation orientations. If an actuator is installed in an orientation not allowed for that actuator, the stainless sheet may break or other problems may occur. {: Installable S L Sideway installation Ceiling mount installation U U X X U U X X X X U U X X X X 6.
6. Installation Caution: (1) When installing the actuator vertically, make sure the motor comes to the top. When the actuator is installed with the motor at the bottom, there shouldn’t be any problems during normal operations. If the actuator is not operated for an extended period of time, however, depending on the ambient environment (especially at high temperature) grease may separate and base oil may flow into the motor unit, causing problems on rare occasions.
6.2 6.2.1 Installing the Actuator Installation Method 31 6. Installation x Use the threaded holes on the back of the base to install the actuator. x ISDB and ISDBCR actuators of intermediate support type (MX/LX) are installed in the same way as the corresponding actuators without intermediate support. However, be careful not to remove or get caught by the wire rope for the intermediate support during installation.
Depth of threaded hole z ISDB, ISPDB, ISDBCR, ISPDBCR The installation method is shown by a section view. B Base: Aluminum alloy (A6063SS-T6 or equivalent) with alumite treatment Pitch of threaded holes C Threaded hole diameter 6. Installation A Pitch of threaded Depth of holes A threaded hole B 70 mm 17 mm 90 mm 20 mm 120 mm 20 mm Type S M, MX L, LX Installation bolt M6 M8 Thread size C M6 M8 M8 Tightening torque Bolt seating surface is steel Bolt seating surface is aluminum 12.3 Nxm 5.
z SSPDACR The installation method is shown by a section view. Base: Cast iron, coated Threaded hole Thread size Depth of threaded hole S M6 9 mm M M8 12 mm L M8 16 mm 6. Installation Type (Note) The through holes are lidded for keep the cleanliness. It is not possible to attach with the screws applied from the actuator body side.
[Threaded hole] Installation bolt Tightening torque Bolt seating surface is steel Bolt seating surface is aluminum M6 12.3 Nxm 5.4 Nxm M8 30.0 Nxm 11.5 Nxm 6. Installation [When threaded holes are used] Bolt Seating surface Seating surface Warning: The threaded holes are not through, so exercise caution when selecting the bolt length.
6.2.2 Preciseness of the Installation Surface z ISDB, ISPDB, ISDBCR, ISDBCR Motor side Reference surface Base reference surface (side) Base reference surface (bottom) Quasi-reference surface Quasi-reference surface View from the front side View from the upper side x If the reference surface (side) of the base is used, provide a stopper part of the dimension shown below. Dimension of stopper part on reference surface Type Base reference surface (side) Dimension A 3 to 5 35 6.
z SSPDACR Motor side Slider reference surface (top) Slider reference surface (side) Right side as viewed from the motor Reference surface 6. Installation Reference surface (side) Right side as viewed from the motor Reference surface (bottom) Quasi-reference surface Quasi-reference surface View from the upper side x If the base reference surface (side) is used, provide a stopper part of the dimension shown below.
6.3 Installing the Load on the Slider z ISDB, ISPDB, ISDBCR, ISPDBCR Thread B Thread A Slider reference surface (top) Reamed hole C C 37 6. Installation x The slider has two types of threaded holes, so affix the load using these holes. The affixing method shall conform to the method for installing the actuator. x Similarly when the slider is affixed and actuator is moved, install the slider using these threaded holes on the slider. x The slider has two reamed holes.
Work Installation Dimensions 6.
z SSPDACR Seating surface Seating surface Seating surface Bolt Seating surface Bolt 6. Installation Bolt seating surface Applicable bolt (Note) Type Thread size Depth of threaded hole S M6 9 mm M M8 12 mm L M8 16 mm Tightening torque Bolt seating surface is steel Bolt seating surface is aluminum M6 12.3 Nxm 5.4 Nxm M8 30.0 Nxm 11.5 Nxm When two positioning holes are used, use a h7 or equivalent pin for the reference hole and g6 pin for the other hole.
6.4 Using T-slots M4 T-slots for installing the connector box, etc. are provided on the side face of the base, when configuring the orthogonal axes. (See the figure below.) You can also use these T-slots freely for installing sensors, securing wires or for other purposes as necessary. 6. Installation 7.3 4.3 Bolt 4.5 Distance from bolt end 1.
6.5 Suctioning for Clean Room Application Actuators designed for clean room application can demonstrate performance corresponding to cleanliness class 10 (0.1 Pm or more per 1 ft3) by suctioning air from the suction joint. The suction flow rate at the rated speed of each model is shown in the table below.
7. 7.1 Connecting the Controller Wiring The actuator and controller are connected via the motor cable and encoder cable (genuine parts) using connectors. Motor cable Controller / / 2) %1&' 4$ Actuator /1&' $- 62 .5 .5 2) 7. Connecting the Controller 219'4 (75' $- *156 Encoder cable Example of connection with XSEL Controller [For details on extension cables, refer to 11, “Motor/Encoder Cables.
When designing an application system, 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. x Do not cut and reconnect the cable for extension or shorten the cable. x Use a robot cable for any section where the cable will flex. [For the bending radius, refer to 11, “Motor/Encoder Cable.
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. 7. Connecting the Controller x Separate the I/O and communication lines from the power and drive lines. Do not wire them together in the same duct. Power line I/O lines (flat cable) Duct Follow the instructions below when using a cable track.
8. 8.1 Operating Conditions Duty Ratio during Continuous Operation Operate at duty ratios equal to or greater than the allowable value. “Duty ratio” refers to a utilization ratio indicating the percentage of the time during which the actuator is operating in one cycle. Caution: If an overload error occurs, increase the standstill time to lower the duty or decrease the acceleration/deceleration.
9. 9.1 Setting the Home Position Home Return Home return involves the operation explained below: [1] When a home return command is issued, the actuator moves (in the direction set by the applicable parameter). [2] The software detects the mechanical end in the return operation. If option L (home limit switch) is installed, the mechanical end is detected by a sensor.
9.4 How to Use the Homing Mark Stickers The following stickers are supplied with the actuator. Use these stickers, as necessary, to mark the home position of the actuator, etc. Sticker details Homing mark stickers x 1 sheet Graduation mark sticker x 4 Mark sticker x 4 (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.
9.5 Fine-tuning the Home Position Correct the position deviation by changing the parameter for home preset in the case of a X-SEL 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. 9.5.1 X-SEL and SSEL Controllers (1) Open the position edit screen. On the PC software screen, click following screen.
(4) Select the axis-specific parameter tab. Select Specific Axis. (5) In the axis-specific parameter tab, select No. 12, “Preset Home.” 9. Setting the Home Position 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. Example: When subtracting 1 mm Current preset value = Current setting – 1000 (7) Write the new data.
(8) Transfer the data to the controller. 9. Setting the Home Position (9) Click OK. (10) Write the data to the flash ROM. Select the Parameters check box. (11) Restart the controller. Select Yes.
9.5.2 ECON and SCON Controllers (1) Open the position edit screen. On the PC software screen, click following screen. , select a desired position number, and then click OK to display the Click this button to open the position edit screen. Click the home return button to perform home return. Home return button The current value is displayed. 9. Setting the Home Position (2) Turn off the servo and move the slider to the home position by hand.
(3) Open the parameter screen. Click this button to open the parameter screen. 9. Setting the Home Position (4) The user parameter screen appears. (5) Change user parameter No. 22 (home 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. 9.
9.6 Absolute Reset Method (Absolute Specification) 9. Setting the Home Position If the battery has been replaced or encoder cable unplugged following an absolute encoder battery voltage error, etc., absolute reset must be performed. For the method to perform absolute reset, check 1.2, “Related Operation Manuals for Each Controller Supported by This Product” in the operation manual of your controller.
10. Options 10.1 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. 10.2 Creep Sensor This sensor is used to perform home return at high speed. Normally home return is implemented with the slider contacting the stopper at the stroke end on the motor side and then reversing its direction.
10.3 Limit Switch Normal home return operation uses the “stopper method” wherein the slider contacts the stopper and reverses, after which the Z-phase is detected and defined as the home. The home limit switch (L) is an option which is designed to perform this reversing operation using a proximity sensor, not a stopper. Use the home limit switch if you want to increase the reliability of home return by, for example, preventing a false detection of mechanical end due to contact with other device, etc.
10.4 Reversed-home Specification In the reversed-home specification, the home is located on the front side. This is indicated by “NM” in the model number. If you wish to change the home direction after the delivery, consult IAI because the moving direction parameter must be adjusted, as well as the encoder’s Z-phase on certain models. 10.
10.7 Suction Joint on Opposite Side This option is available for the clean room actuators including ISDBCR, ISPDBCR and SSPDACR. On these clean room actuators, the standard installation position of the suction joint is on the left side of the actuator as viewed from the motor. If you want to have this joint on the right side, specify the option model number “VR.” 10.
10.9 High-Precision Straightness Specification The high-precision straightness specification type is a precision actuator with high-level settings of parallelism and straightness, which is the base and slider travel accuracies. The models are expressed with ST. x Aluminum-based ISDB/ISDBCR/ISPDB/ISPDBCR Parallelism With no High-precision straightness 0.05 mm/m max. specification (However, the stroke less 500mm is 0.025mm uniformed.) With High-precision straightness 0.03 mm/m max.
(Reference) [Measurement Method] [1] Parallelism (horizontal) between the base reference surface and the slider (reference surface) Affix the base on the surface plate and, with the indicator on the slider contacting a surface running parallel with the two points at both edges of the base reference surface, move the slider over its entire stroke to perform measurement. Parallel plane: A plane parallel to the base reference surface (reference point of both ends) Reference point Reference point 10.
11. Motor/Encoder Cables 11.1 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] SSEL Without LS With LS [1], [5] [1], [4] SCON Without LS With LS [1], [5] [1], [4] Motor cable CB-X-MA*** * *** indicates the cable length (L).
[3] Limit switch cable CB-X-LC*** (Front view) (Front view) Actuator end Controller end [4] * *** 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 Wiring Color Signal Signal Color Skyblue Skyblue Pink Pink Light green Light green Orange Gray Orange Gray 1B/skyblue 1B/skyblue Wiring Note) 1B indicates one black dot mark. Encoder cable CB-X1-PA*** * *** indicates the cable length (L).
12. Maintenance/Inspection 12.1 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.
Caution: If the actuator stroke is 400 mm or more, check the stainless sheet for slacking and position deviation every month. If any slack or other problem is found, adjust the stainless sheet. [For the adjustment procedure of the stainless sheet, refer to 13, “Replacement/Adjustment Procedure for Stainless Sheet.”] 12.3 External Cleaning 12. Maintenance/Inspection x Clean the exterior surfaces from time to time. x Wipe off dirt with a soft cloth.
12.4 Interior Check Turn off the power, remove the stainless sheet and visually inspect the interior. For the interior inspection, check the following items. Loosening of actuator mounting bolts, Actuator intrusion of dust and other foreign matters Guide Lubrication condition, soiling, wear, flaking Ball screw Lubrication condition, soiling Joint Lubrication condition, soiling Visually check the condition of the interior.
Warning: y Do not disassemble the front cover because the ball screw is supported by the front cover. If a proper adjustment of the front cover is lost, the shaft center may become offset and the traveling resistance may increase or life of each part may become shorter, or abnormal noises may generate. y An encoder is built into the encoder cover.
12.5 Adding Grease (1) 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. ISDB, ISPDB Grease applied prior to shipment Daphne Eponex Grease No.2 Daphne Eponex Grease No.
[Grease Nipple Positions] z ISDBCR, ISPDBCR Grease nipple cap Grease nipple Grease nipple for guide for ball screw Model Common to all models Nipple diameter [mm] 6.0 Caution: y Charging too much grease may increase the agitation resistance and cause the ball screw to generate heat easily or allow excess grease on the ball screw to scatter around and dirty the surroundings as the screw turns. Be sure to wipe off excess grease. y It is difficult to move actuators of short leads by hand.
13. Replacement/Adjustment Procedure for Stainless Sheet The following explains how to replace and adjust the stainless sheet. The screws and other parts that are removed to take out the old stainless sheet will be needed when the components are assembled again after to install the new sheet. To prevent missing parts, prepare a storage box, etc., and keep them in the box, etc. 13.
13.2 Replacement/Adjustment Procedure (1) Move the slider to the center of the actuator. (2) Turn off the controller power. (3) Remove the four affixing screws to take out the slider cover. After removing the slider cover Slider 13. Replacement/Adjustment Procedure for Stainless Sheet (4) Use an Allen wrench of 3 mm across flats to remove the two retainer screws on the left and right and take out the retainer plate and current stainless sheet.
(6) Adjust the tension of the stainless sheet. [1] Move the stainless sheet back and forth to adjust the sheet tension. If the actuator is of clean room type, push down the rollers until they contact the side cover. This is not necessary with a standard actuator because there are no rollers.
(8) After checking the tension of the stainless sheet and confirming absence of slacking, position deviation or other problems, tighten the two screws alternately. At the end, tighten them to a uniform torque to secure the stainless sheet. If the two screws are tightened non-uniformly, the sheet may meander or lift. If the tension still presents a problem, repeat the adjustment from step (5). Firmly tighten the screws on both sides to prevent the stainless sheet from moving.
14. Motor Replacement Procedures The following explains the procedure to replace the motor in the event of coil breakage, etc. Prepare a storage box, etc., and keep in this box, etc., all screws and other parts you have removed to replace the motor, because they will be needed during the reassembly.
14.1 Removing the Motor Unit (1) Removing the coupling cover Turn off the power supply to the controller, and then disconnect the motor cable and encoder cable. Remove the two screws used to secure the cover on the motor side using an Allen wrench of 2.5 mm across flats for ISDB, ISPDB, ISDBCR and ISPDBCR-S, or 3 mm across flats for all other models. The coupling will be visible. Cover Coupling Move the slider to a position where the coupling bolt can be loosened.
(2) Removing the rear cover [1] Remove the screws used to secure the cable mounting cover using an Allen wrench of 2 mm across flats. Rear cover Cable mounting cover [2] Remove the four bolts used to secure the rear cover using an Allen wrench of 2.5 mm across flats for ISDB, ISPDB, ISDBCR and ISPDBCR-S, or 3 mm across flats for all other models. Rear cover 14. Motor Replacement Procedures [3] Slide the cable affixing cover to remove it from the rear cover.
(3) Removing the cable mounting cover Remove the three bolts used to secure the cable mounting cover to the cable using an Allen wrench of 2.5 mm across flats. (Note) After the motor is replaced, the motor cables must be installed on the cable affixing cover. Before removing the affixing cover, mark the cables so that their installation positions can be checked later on. Cable mounting cover 14.
(5) Removing the motor unit [1] Loosen the coupling tightening bolt. Caution: If the actuator is installed vertically, exercise due caution not to let the slider drop. Hold the slider (work part) from the outside to prevent it from dropping, and then loosen the coupling bolt. (2) Remove the bolts used to secure the motor using an Allen wrench of 4 mm across flats, and pull out the motor unit and coupling from the motor housing.
14.2 Installing a New Motor (1) New motor unit The new motor will be supplied together with the coupling installed as shown below. Slit Home mark 14. Motor Replacement Procedures Caution: The motor actuator cable exit direction varies depending on the actuator cable exit direction. The cable exit direction must be the same for the motor to be removed and new motor to be installed. If the cable exit direction is different on the installed motor, deviation of the home position will occur.
[2] Action to be taken upon error x With XSEL or SSEL controller, if the 7-segment display on the front face of the controller does not show “rdy” or “Ardy” but indicates an alarm after turning on the power, reset the alarm by checking the operation manual. If the problem cannot be resolved, contact IAI. The 7-segment display shows “Erg”: Cancel the emergency stop. The 7-segment display shows “ECA1”: Perform absolute reset.
Standard home specification [If a slider jig, etc. cannot be removed] Set this part based on table 1 on next page. The use of a block gauge is recommended also in this case. 14. Motor Replacement Procedures Reversed home specification Set this part based on table 1 on next page. The use of a block gauge is recommended also in this case.
(Table 1) Spacer Thickness by Model Standard home specification Type ISDB, ISPDB ISDBCR, ISPDBCR-S ISDB, ISPDB ISDBCR, ISPDBCR-M ISDB, ISPDB-MX ISDBCR, ISPDBCR-MX ISDB, ISPDB ISDBCR, ISPDBCR-L ISDB, ISPDB-LX ISDBCR, ISPDBCR-LX SSPDACR-S SSPDACR-M SSPDACR-L Lead 4 8 x 16 5 10 x 20 x 30 20 x 30 Adjust dimension to: (mm) Standard Equipped with a limit switch = Equipped with a home sensor 6 8 8 8 7 9 9 9 57 57 20 x 30 58 58 10 x 20 x 40 9 9 20 x 40 20 x 40 10 x 20 x 30 10 x 20 x 40 25 x 50 55 57 28.
(3) Aligning the motor position Apply power to the controller, and then run the motor with the jog control using the PC software or teaching pendant to align the home position marked on the motor and the slit in the coupling. (Jog at 1 mm per second (minimum speed).) * In certain situations such as when the controller is away from the motor, you can turn on the servo after aligning the coupling and slit positions by hand. Slit Slit position Home marl Home marl 14.
(4) Installing the motor temporarily [1] With the motor servo turned on, fit the motor unit’s coupling in the end of the ball screw shaft and fasten the motor housing and motor unit temporarily. (Tighten manually for this temporary purpose.) When fastening the motor and motor housing temporarily, be sure to place them next to each other with no gaps or play. If the cable exits from the right, install the motor as shown in the photograph below so that the motor cable is positioned on the left side.
Type ISDB, ISDBCR, ISPDB, ISPDBCR-S ISDB, ISDBCR, ISPDB, ISPDBCR, -M, MX, L, LX SSPDACR-S SSPDACR-M SSPDACR-L Bolt used M4 x 12 M5 x 15 M5 x 15 M5 x 15 M6 x 20 Four bolts used to secure the motor [2] [3] With the motor fastened temporarily, tighten the coupling bolts on the ball screw side. Turn off the power to the controller, disconnect all connectors (including the motor cable and encoder cable connectors), but this time tighten the bolts in place to the specified torque. 14.
(5) Centering and securing the motor unit Loosen the motor affixing screws you have tightened only loosely in an earlier step, move the slider back and forth by hand for three to four cycles (over as long an operation stroke as possible) and eventually move the slider to near the mechanical end on the motor side and find a position at which the motor vibration becomes the smallest. Affix the motor unit in the motor housing at this position.
(6) Installing the motor cover Tighten the two bolts to install the motor cover using an Allen wrench of 2.5 mm across flats for ISDB, ISPDB, ISDBCR and ISPDBCR-S, or 3 mm across flats for all other models. Two of these bolts are found below the motor at locations further back in the motor cover. Motor Motor cover Bolts affixing the motor cover 14. Motor Replacement Procedures (7) Installing the cable mounting cover Tighten the three bolts using an Allen wrench of 2.
(8) Installing the rear cover [1] Insert the cable affixing cover into the rear cover. Rear cover [2] Cable mounting cover Tighten the four bolts to install the rear cover using an Allen wrench of 2.5 mm across flats for ISDB, ISPDB, ISDBCR and ISPDBCR-S, or 3 mm across flats for all other models. Cable mounting cover Rear cover [3] Tighten the screws with an Allen wrench of 2 mm across flats to attach the screws for the cable mounting cover. 14.
(9) Installing the coupling cover Tighten the two screws to install the cover on the motor side using an Allen wrench of 2.5 mm across flats for ISDB, ISPDB, ISDBCR and ISPDBCR-S, or 3 mm across flats for all other models. Coupling 14.
14.3 Correcting for Position Deviation (1) Connect the motor cable and encoder cable and turn on the controller power. (2) Use the PC software or teaching pendant to perform homing and check the home position. Repeat homing several times to confirm that the actuator returns to the same position. (If the actuator is of absolute specification, perform an absolute reset.) (3) Check the amount of position deviation. The position may have changed slightly from where it was before the motor was replaced.
15. Appendix 15.1 External Dimensions 15.1.1 ISDB, ISPDB-S 10 2-6 H7, depth 10 4-M6, depth 19 5 45 10 Cable exit direction: Right Cable exit direction: Rear Cable exit direction: Left Ø6 6 0 ± 0 .0 2 60 7 .3 4.5 4 .3 1.5 45 86 90 70 Cable length Grease nipple for ball screw Grease nipple for guide (for supplying oil to the guide on the installation surface side) B (Same on the opposite side of grease nipples) Detail View A Stroke 154 A 5 HOME B S.E. 1 2 .5 5 4 M.E.
ISDB, ISPDB-M 15 25 4-M6, depth 18 15 25 60 80 4 .3 Cable exit direction: Right Cable exit direction: Rear Cable exit direction: Left 2-8 H7, depth 10 4-M8, depth 18 7 4.5 107 300 Cable length Detail View A Ø6 7 .3 1.5 120 90 70 60 8 0 ± 0. 02 15.1.2 Grease nipple for ball screw Grease nipple for guide (for supplying oil to the guide on the installation surface side) B (Same on the opposite side of grease nipples) 116 94 69 8 M.E. 5 Stroke 194 B S.E. 1 2 .
ISDB, ISPDB-MX 4-M6, depth 18 60 Cable exit direction: Right 155 15 25 2- 8 H7, depth 10 4-M8, depth 18 Cable exit direction: Rear Cable exit direction: Left 7 90 70 60 80 Ø6 7.3 4.5 4 .3 1.5 15 25 8 0 ±0.02 5.1.3 300 Cable length Grease nipple for ball screw Detail View A 2 .5 Reference surface Grease nipple for guide (for supplying oil to the guide on the installation surface side) B (Same on the opposite side of grease nipples) 116 94 69 56 M.E. 5 Stroke 194 HOME B S.E.
15.1.4 ISDB, ISPDB-L 15 30 2- 8 H7, depth 10 8-M8, depth 20 Cable exit direction: Right Cable exit direction: Rear Cable exit direction: Left 105 1 0 5 ± 0. 02 8 75 Ø6 7.3 4.5 4.3 1.5 122 150 120 90 75 15 30 300 Cable length Grease nipple for ball screw Detail View A Grease nipple for guide (for supplying oil to the guide on the installation surface side) B (Same on the opposite side of grease nipples) 143 121 93 19 5 1.5 M.E. Stroke 224 S.E. B HOME 5 5 M.E.
15.1.5 ISDB, ISPDB-LX 15 30 4.5 75 Cable exit direction: Right 15 30 2- 8 H7, depth 10 8-M8, depth 20 Cable exit direction: Rear Cable exit direction: Left 8 1.5 168 150 120 90 75 1 0 5 ± 0. 0 2 105 7 .3 4 .3 Ø6 300 Grease nipple for ball screw Cable length Grease nipple for guide (for supplying oil to the guide on the installation surface side) Detail View A B (Same on the opposite side of grease nipples) 143 121 93 65 5 M.E. Stroke 224 B S.E.
15.1.6 ISDBCR, ISPDBCR-S 10 45 45 10 2- 8 H7, depth 10 4-M6, depth 19 60 6 0 ± 0 .0 2 5 4.5 4 .3 7 .3 1.
15.1.7 4-M6, depth 18 4.5 15 25 107 120 90 70 60 15 25 60 Cable exit direction: Right Cable exit direction: Rear Cable exit direction: Left 2- 8 H7, depth 10 4-M8, depth 18 8 0 ± 0.02 80 7 .3 Ø6 4 .3 7 1.5 ISDBCR, ISPDBCR-M 300 Cable length Detail View A 116 94 69 8 M.E. 5 Stroke 194 5 B S.E. B (Same on the opposite side of grease nipples) Joint installation position: Standard 5 Joint installation position: Opposite side M.E. 38.5 22 66 94 6 9 .
ISDBCR, ISPDBCR-MX 4-M6, depth 18 155 60 15 25 2- 8 H7, depth 10 4-M8, depth 18 Cable exit direction: Right Cable exit direction: Rear Cable exit direction: Left 105 4 .3 6 4.5 120 90 70 60 Detail View A Ø6 7 .3 1.5 15 25 1 0 5 ± 0 .0 2 15.1.
15.1.9 ISDBCR, ISPDBCR-L 15 30 105 Ø6 300 Cable length Grease nipple for ball screw Detail View A 143 121 93 19 224 5 5 M.E. 40.5 Joint installation position: Standard Joint installation position: Opposite side 77 93 B HOME 22 74 140 150 22 B 32.5 117 200W 151 (200W BK type) 139 400W 173 (400W BK type) Screw for grounding wire connection (M4 x 2 locations) L 10 120 5 Stroke S.E.
15.1.10 ISDBCR, ISPDBCR-LX 4.5 75 15 30 2- 8 H7, depth 10 8-M8, depth 20 Cable exit direction: Right Cable exit direction: Rear Cable exit direction: Left 7 1.5 168 150 120 90 75 15 30 1 3 0 ±0.02 130 4 .3 7 .3 Ø6 Grease nipple for ball screw 300 Cable length Air tube joint Applicable tube outer diameter: 12 (Inner diameter: 5) (Plug with plug screw Rc 3/8 on the opposite side) Detail View A 149 144 116 67 Stroke 220 B S.E.
SSPDACR-S 2-φ6H7 depth 8 83 70 Quick tube joint (for suction) Applicable tube outer diameter: φ12 7.5 6-M6 depth 9 83 8.5 92 100 4 37.5 37.5 7.5 109.5 L 9.5 Stroke 5 S.E M.E 160 35 59 90 20 11 35 29.5 12 5 M.E Home 134 (With brake : 169) Cable exit from the left 6 65 75 4 1 8.5 Cable exit from the right 14 12 17.5 7.5 (32.5) Slider reference surface 90 55 ±0.02 17.5 6.5 Slider reference surface 6.5 ±0.02 15.1.
15.1.12 SSPDACR-M 2-φ8H7 depth 10 120 75 ±0.02 22.5 22.5 9 ±0.02 95 113 9 Slider reference surface Cable exit from the right Quick tube joint (for suction) Applicable tube outer diameter: φ12 6-M8 depth 12 8.5 10 133.5 L 6.5 Stroke 200 40 S.E 120 89 20 11 40 33.5 15 150 (With brake : 185) 5 M.E Home Cable exit from the left 8.5 75 90 4 12.5 113 50 1 8.5 15 5 M.E 50 18 (32.5) Slider reference surface 10 5 36.
SSPDACR-L 2-φ8H7 +0.015 depth 0 12 150 100 ±0.02 25 25 A desired cable exit direction can be selected. 138 120 9 ±0.02 Slider reference surface 9 15.1.13 Cable exit from the right 8.5 20 65 135 10 (300 to the cable joint connector) L: ST + 490 for standard type, ST + 527 for brake type 230 10 40 S.E M.E 98 150 20 32 40 20 31 10 174 for standard type, 211 for brake type M.E Home Screw M4 with preassembled washer (for FG, 2 locations) 110 155 140 (17) 7.
16. Warranty 16.1 Warranty Period One of the following periods, whichever is shorter: y 18 months after shipment from our company y 12 months after delivery to the specified location y 2,500 hours of operation 16.2 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.
16.4 Limited Liability (1) We shall assume no liability for any special damage, consequential loss or passive loss such as a loss of expected profit arising from or in connection with our product. (2) We shall not be liable for any program or control method created by the customer to operate our product or for the result of such program or control method. 16.5 Conditions of Conformance with Applicable Standards/Regulations, Etc.
Change History Revision Date July 2011 October 2011 November 2011 Description of Revision First edition Second edition A page for CE Marking added Third edition Contents changed in Safety Guide Caution notes added for when working with two or more persons SSPDACR-S and M added Pg. 37 The description “there is no rust-proof treatment conducted” was deleted since SSPDACR is treated with rust-proof process in standard. Fourth edition Pg. 31, 37 ISDB, ISPDB, ISDBCR and ISPDBCR Note changed to 1.
Manual No.: ME3712-7A (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.
