IAI ISDB, ISPDBCR, IS Cast SSPDACR, ISDBCR, ISPDB Operating Manual

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ISDB Series Actuator

Operating Manual

Tenth 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. When using the product, refer to the necessary portions of the applicable operation manual by printing them out or displaying them on a PC.

After reading the Operating Manual, keep it in a convenient place so that whoever is handling this product can reference it quickly when necessary.

x This Operating Manual is original. x The product cannot be operated in any way unless expressly specified in this Operating Manual. IAI shall

assume no responsibility for the outcome of any operation not specified herein.

x Information contained in this Operating Manual is subject to change without notice for the purpose of product

improvement.

x If you have any question or comment regarding the content of this manual, please contact the IAI sales office

near you.

x Using or copying all or part of this Operating Manual without permission is prohibited. x The company names, names of products and trademarks of each company shown in the sentences are

registered trademarks.

[Important]

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 ....................................................................................................... 11

1.1 Components .........................................................................................................................................11

1.2 Related Operation Manuals for Each Controller Supported by This Product.......................................11

1.3 How to Read the Model Nameplate..................................................................................................... 12

1.4 How to Read the Model Number ......................................................................................................... 13

2. Specification .....................................................................................................................14

2.1 Maximum Speed .................................................................................................................................. 14

2.2 Acceleration/Deceleration, Payload Capacity and Rated Thrust......................................................... 16

2.3 Driving System/Position Detector........................................................................................................ 19

2.4 Positioning Preciseness....................................................................................................................... 20

2.5 Allowable Moment of the Actuator ....................................................................................................... 21

3. Life....................................................................................................................................23

3.1 How to Calculate Operation Life.......................................................................................................... 23

3.2 Operation Life ...................................................................................................................................... 24

4. Installation and Storage/Preservation Environment ..........................................................25

4.1 Installation Environment ...................................................................................................................... 25

4.2 Storage/Preservation Environment...................................................................................................... 25

5. Transport ..........................................................................................................................26

5.1 Handling a Single Axis ......................................................................................................................... 26

5.1.1 Handling a Package............................................................................................................. 26

5.1.2 Handling an Actuator after Unpacking ................................................................................. 26

5.2 Handling an Cartesian Robot (ICS)..................................................................................................... 28

5.2.1 Handling a Package............................................................................................................. 28

5.2.2 Handling an Actuator after Unpacking ................................................................................. 28

5.3 Handling an Actuator Assembled to a Mechanical System ................................................................. 29

6. Installation ........................................................................................................................30

6.1 Installation Orientations ....................................................................................................................... 30

6.2 Installing the Actuator .......................................................................................................................... 32

6.2.1 Installation Method............................................................................................................... 32

6.2.2 Preciseness of the Installation Surface ............................................................................... 36

6.3 Installing the Load on the Slider .......................................................................................................... 38

6.4 Using T-slots ........................................................................................................................................ 41

6.5 Suctioning for Clean Room Application ............................................................................................... 42

7. Connecting the Controller.................................................................................................43

7.1 Wiring................................................................................................................................................... 43

8. Operating Conditions........................................................................................................46

8.1 Duty Ratio during Continuous Operation............................................................................................. 46

9. Setting the Home Position ................................................................................................47

9.1 Home Return ....................................................................................................................................... 47

9.2 Factory-set Home Position .................................................................................................................. 47

9.3 Changing the Home Direction ............................................................................................................. 47

9.4 How to Use the Homing Mark Stickers................................................................................................ 48

9.5 Fine-tuning the Home Position ............................................................................................................ 49

9.5.1 X-SEL and SSEL Controllers............................................................................................... 49

9.5.2 ECON and SCON Controllers.............................................................................................. 52

9.6 Absolute Reset Method (Absolute Specification) ................................................................................ 55

10. Options .............................................................................................................................56

10.1 Brake.................................................................................................................................................... 56

10.2 Creep Sensor....................................................................................................................................... 56

10.3 Limit Switch.......................................................................................................................................... 57

10.4 Reversed-home Specification.............................................................................................................. 58

10.5 Cable Exit Direction ............................................................................................................................. 58

10.6 Guide with Ball Retention Mechanism................................................................................................. 58

10.7 Suction Joint on Opposite Side ........................................................................................................... 59

10.8 Master Axis/Slave Axis Specification for Synchronized Operation...................................................... 59

10.9 High-Precision Straightness Specification........................................................................................... 60

11. Motor/Encoder Cables......................................................................................................62

11.1 Standard............................................................................................................................................... 62

12. Maintenance/Inspection....................................................................................................64

12.1 Inspection Items and Intervals............................................................................................................. 64

12.2 Visual Inspection of the Machine Exterior ........................................................................................... 65

12.3 External Cleaning ................................................................................................................................ 66

12.4 Interior Check ...................................................................................................................................... 67

12.5 Grease Supply ..................................................................................................................................... 69

13. Replacement/Adjustment Procedure for Stainless Sheet .................................................72

13.1 Preparation .......................................................................................................................................... 72

13.2 Replacement/Adjustment Procedure................................................................................................... 73

14. Motor Replacement Procedures .......................................................................................76

14.1 Removing the Motor Unit..................................................................................................................... 77

14.2 Installing a New Motor ......................................................................................................................... 81

14.3 Correcting for Position Deviation......................................................................................................... 92

14.4 Operation Check after Replacing the Motor ........................................................................................ 92

15. Appendix ..........................................................................................................................93

15.1 External Dimensions............................................................................................................................ 93

15.1.1 ISDB, ISPDB-S .................................................................................................................... 93

15.1.2 ISDB, ISPDB-M ................................................................................................................... 94

15.1.3 ISDB, ISPDB-MX ................................................................................................................. 95

15.1.4 ISDB, ISPDB-L .................................................................................................................... 96

15.1.5 ISDB, ISPDB-LX .................................................................................................................. 97

15.1.6 ISDBCR, ISPDBCR-S.......................................................................................................... 98

15.1.7 ISDBCR, ISPDBCR-M ......................................................................................................... 99

15.1.8 ISDBCR, ISPDBCR-MX..................................................................................................... 100

15.1.9 ISDBCR, ISPDBCR-L ........................................................................................................ 101

15.1.10 ISDBCR, ISPDBCR-LX...................................................................................................... 102

15.1.11 SSPDACR-S...................................................................................................................... 103

15.1.12 SSPDACR-M ..................................................................................................................... 104

15.1.13 SSPDACR-L ...................................................................................................................... 105

16. Warranty.........................................................................................................................106

16.1 Warranty Period................................................................................................................................. 106

16.2 Scope of Warranty............................................................................................................................. 106

16.3 Honoring the Warranty....................................................................................................................... 106

16.4 Limited Liability .................................................................................................................................. 107

16.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications............ 107

16.6 Other Items Excluded from Warranty ................................................................................................ 107

Change History .....................................................................................................................108

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.

1 Model Selection Ɣ This product has not been planned and designed for the application where high

Operation

Description

level of safety is required, so the guarantee of the protection of human life is impossible. Accordingly, do not use it in any of the following applications.

1) Medical equipment used to maintain, control or otherwise affect human life or physical health.

2) Mechanisms and machinery designed for the purpose of moving or transporting people (For vehicle, railway facility or air navigation facility)

3) Important safety parts of machinery (Safety device, etc.)

Ɣ Do not use the product outside the specifications. Failure to do so may

considerably shorten the life of the product.

Ɣ Do not use it in any of the following environments.

1) Location where there is any inflammable gas, inflammable object or explosive

2) Place with potential exposure to radiation

3) Location with the ambient temperature or relative humidity exceeding the specification range

4) Location where radiant heat is added from direct sunlight or other large heat source

5) Location where condensation occurs due to abrupt temperature changes

6) Location where there is any corrosive gas (sulfuric acid or hydrochloric acid)

7) Location exposed to significant amount of dust, salt or iron powder

8) Location subject to direct vibration or impact

Ɣ For an actuator used in vertical orientation, select a model which is equipped with

a brake. If selecting a model with no brake, the moving part may drop when the power is turned OFF and may cause an accident such as an injury or damage on the work piece.

Description

No.

Operation

Description

2 Transportation 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.

Ɣ When in transportation, consider well about the positions to hold, weight and

weight balance and pay special attention to the carried object so it would not get hit or dropped.

Ɣ Transport it using an appropriate transportation measure.

The actuators available for transportation with a crane have eyebolts attached or there are tapped holes to attach bolts. Follow the instructions in the operation manual for each model.

Ɣ Do not step or sit on the package. Ɣ Do not put any heavy thing that can deform the package, on it. Ɣ When using a crane capable of 1t or more of weight, have an operator who has

qualifications for crane operation and sling work.

Ɣ When using a crane or equivalent equipments, make sure not to hang a load that

weighs more than the equipment’s capability limit.

Ɣ Use a hook that is suitable for the load. Consider the safety factor of the hook in

such factors as shear strength.

Ɣ Do not get on the load that is hung on a crane. Ɣ Do not leave a load hung up with a crane. Ɣ Do not stand under the load that is hung up with a crane.

3 Storage and

Preservation

Ɣ The storage and preservation environment conforms to the installation

environment. However, especially give consideration to the prevention of condensation.

Ɣ Store the products with a consideration not to fall them over or drop due to an act

of God such as earthquake.

4 Installation and

Start

(1) Installation of Robot Main Body and Controller, etc. Ɣ Make sure to securely hold and fix the product (including the work part). A fall, drop

or abnormal motion of the product may cause a damage or injury. Also, be equipped for a fall-over or drop due to an act of God such as earthquake.

Ɣ 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.

Ɣ When using the product in any of the places specified below, provide a sufficient

shield.

1) Location where electric noise is generated

2) Location where high electrical or magnetic field is present

3) Location with the mains or power lines passing nearby

4) Location where the product may come in contact with water, oil or chemical droplets

No.

Operation

Description

4 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.

Ɣ Perform the wiring for the product, after turning OFF the power to the unit, so that

there is no wiring error.

Ɣ When the direct current power (+24V) is connected, take the great care of the

directions of positive and negative poles. If the connection direction is not correct, it might cause a fire, product breakdown or malfunction.

Ɣ Connect the cable connector securely so that there is no disconnection or

looseness. Failure to do so may cause a fire, electric shock or malfunction of the product.

Ɣ Never cut and/or reconnect the cables supplied with the product for the purpose of

extending or shortening the cable length. Failure to do so may cause the product

to malfunction or cause fire. (3) Grounding Ɣ The grounding operation should be performed to prevent an electric shock or

electrostatic charge, enhance the noise-resistance ability and control the

unnecessary electromagnetic radiation. Ɣ For the ground terminal on the AC power cable of the controller and the grounding

plate in the control panel, make sure to use a twisted pair cable with wire thickness

0.5mm

(AWG20 or equivalent) or more for grounding work. For security grounding, it is necessary to select an appropriate wire thickness suitable for the load. Perform wiring that satisfies the specifications (electrical equipment technical standards).

Ɣ Perform Class D Grounding (former Class 3 Grounding with ground resistance

100: or below).

No.

Operation

Description

4 Installation and

Start

(4) Safety Measures Ɣ When the work is carried out with 2 or more persons, make it clear who is to be the

Description

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. When the robot under operation is touched, it may result in death or serious injury.

Ɣ Make sure to install the emergency stop circuit so that the unit can be stopped

immediately in an emergency during the unit operation.

Ɣ Take the safety measure not to start up the unit only with the power turning ON.

Failure to do so may start up the machine suddenly and cause an injury or damage to the product.

Ɣ Take the safety measure not to start up the machine only with the emergency stop

cancellation or recovery after the power failure. Failure to do so may result in an electric shock or injury due to unexpected power input.

Ɣ When the installation or adjustment operation is to be performed, give clear

warnings such as “Under Operation; Do not turn ON the power!” etc. Sudden power input may cause an electric shock or injury.

Ɣ Take the measure so that the work part is not dropped in power failure or

emergency stop.

Ɣ Wear protection gloves, goggle or safety shoes, as necessary, to secure safety. Ɣ Do not insert a finger or object in the openings in the product. Failure to do so may

cause an injury, electric shock, damage to the product or fire.

Ɣ When releasing the brake on a vertically oriented actuator, exercise precaution not

to pinch your hand or damage the work parts with the actuator dropped by gravity.

5 Teaching 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 teaching operation from outside the safety protection fence, if

possible. In the case that the operation is to be performed unavoidably inside the safety protection fence, prepare the “Stipulations for the Operation” and make sure that all the workers acknowledge and understand them well.

Ɣ When the operation is to be performed inside the safety protection fence, the

worker should have an emergency stop switch at hand with him so that the unit can be stopped any time in an emergency.

Ɣ When the operation is to be performed inside the safety protection fence, in

addition to the workers, arrange a watchman so that the machine can be stopped any time in an emergency. Also, keep watch on the operation so that any third person can not operate the switches carelessly.

Ɣ Place a sign “Under Operation” at the position easy to see. Ɣ When releasing the brake on a vertically oriented actuator, exercise precaution not

to pinch your hand or damage the work parts with the actuator dropped by gravity.

* Safety protection Fence : In the case that there is no safety protection fence, the

movable range should be indicated.

No.

Operation

Description

6 Trial Operation 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.

Ɣ 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.

Ɣ Make sure to perform the programmed operation check at the safety speed.

Failure to do so may result in an accident due to unexpected motion caused by a program error, etc.

Ɣ Do not touch the terminal block or any of the various setting switches in the power

ON mode. Failure to do so may result in an electric shock or malfunction.

7 Automatic

Operation

Ɣ Check before starting the automatic operation or rebooting after operation stop

that there is nobody in the safety protection fence.

Ɣ Before starting automatic operation, make sure that all peripheral equipment is in

an automatic-operation-ready state and there is no alarm indication.

Ɣ Make sure to operate automatic operation start from outside of the safety

protection fence.

Ɣ In the case that there is any abnormal heating, smoke, offensive smell, or

abnormal noise in the product, immediately stop the machine and turn OFF the power switch. Failure to do so may result in a fire or damage to the product.

Ɣ When a power failure occurs, turn OFF the power switch. Failure to do so may

cause an injury or damage to the product, due to a sudden motion of the product in the recovery operation from the power failure.

No.

Operation

Description

8 Maintenance

and Inspection

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

Description

ensure the safety of the workers.

Ɣ Perform the work out of the safety protection fence, if possible. In the case that the

operation is to be performed unavoidably inside the safety protection fence, prepare the “Stipulations for the Operation” and make sure that all the workers acknowledge and understand them well.

Ɣ When the work is to be performed inside the safety protection fence, basically turn

OFF the power switch.

Ɣ When the operation is to be performed inside the safety protection fence, the

worker should have an emergency stop switch at hand with him so that the unit can be stopped any time in an emergency.

Ɣ When the operation is to be performed inside the safety protection fence, in

Ɣ Place a sign “Under Operation” at the position easy to see. Ɣ For the grease for the guide or ball screw, use appropriate grease according to the

Operation Manual for each model.

Ɣ Do not perform the dielectric strength test. Failure to do so may result in a damage

to the product.

Ɣ When releasing the brake on a vertically oriented actuator, exercise precaution not

to pinch your hand or damage the work parts with the actuator dropped by gravity.

Ɣ The slider or rod may get misaligned OFF the stop position if the servo is turned

OFF. Be careful not to get injured or damaged due to an unnecessary operation.

Ɣ Pay attention not to lose the cover or untightened screws, and make sure to put

the product back to the original condition after maintenance and inspection works. Use in incomplete condition may cause damage to the product or an injury.

* Safety protection Fence : In the case that there is no safety protection fence, the

movable range should be indicated.

9 Modification and

Dismantle

Ɣ Do not modify, disassemble, assemble or use of maintenance parts not specified

based at your own discretion.

10 Disposal Ɣ When the product becomes no longer usable or necessary, dispose of it properly

as an industrial waste.

Ɣ When removing the actuator for disposal, pay attention to drop of components

when detaching screws.

Ɣ Do not put the product in a fire when disposing of it.

The product may burst or generate toxic gases.

11 Other Ɣ Do not come close to the product or the harnesses if you are a person who

requires a support of medical devices such as a pacemaker. Doing so may affect the performance of your medical device.

Ɣ See Overseas Specifications Compliance Manual to check whether complies if

necessary.

Ɣ For the handling of actuators and controllers, follow the dedicated operation

manual of each unit to ensure the safety.

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

Warning

Caution

Notice

This indicates an imminently hazardous situation which, if the product is not handled correctly, will result in death or serious injury.

This indicates a potentially hazardous situation which, if the product is not handled correctly, could result in death or serious injury.

This indicates a potentially hazardous situation which, if the product is not handled correctly, may result in minor injury or property damage.

This indicates lower possibility for the injury, but should be kept to use this product properly.

Danger

Warning

Caution

Notice

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.

If the actuator is operated under a load equal to or greater than the allowable load moment, abnormal noise or vibration, failure, or shorter life may result. In an extreme case, flaking may occur.

3. Keep the overhang length to within the allowable value.

If the overhang length is equal to or greater than the allowable value, vibration or abnormal noise may occur.

4. Back and forth operation in a short distance may cause wear of grease.

If the actuator is moved back and forth continuously over a short distance of 30 mm or less, grease film may run out. As a guide, move the actuator back and forth repeatedly for around 5 cycles over a distance of 50 mm or more after every 5,000 to 10,000 cycles.

5. A soiled, slacked or deformed stainless sheet can cause problems.

x If the stainless sheet is soiled by attachment of adhesive, coating material, etc., the stainless sheet may be

scratched, which may in turn generate dust to affect the required cleanliness or dirty the work part. In an extreme case, the slider may malfunction. Also exercise due caution that the stainless sheet is magnetically attracted to the side covers using magnets, so iron powder and other magnetic matters can attach to the stainless sheet easily. If the stainless sheet has become dirty, wipe the dirty areas using alcohol.

x Do not pinch or otherwise apply force to the stainless sheet. If the stainless sheet is used while being

deformed or slacked, the stainless sheet will break. If the stainless sheet has deformed, replace the stainless sheet. If the stainless sheet has slacked, remove the stainless sheet and then install it again. [Refer to 13, “Replacement/Adjustment Procedure for Stainless Sheet”]

5. Make sure to attach the actuator properly by following this operation manual.

Using the product with the actuator not being certainly retained or affixed may cause abnormal noise, vibration, malfunction or shorten the product life.

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

Side cover

Front cover

Right side (R)

Stainless sheet

Coupling cover

Actuator cable

Front side

Sheet cover plate

Front cover

2. ISDBCR/ISPDBCR

Left side (L)

Side cover

Right side (R)

Base

Slider

Slider cover

Stainless sheet

Motor side

Rear cover

Motor cover

Grease nipple

Motor cover

Rear cover

Plug screw

Actuator cable

Coupling cover

Actuator cable

Front side

Sheet cover plate

Front cover

Left side (L)

Side cover

Base

Slider

Air tube

Slider cover

Grease nipple

Air piping joint

Motor side

Rear cover

Motor cover

Rear cover

Actuator cable

3. SSPDACR

Front cover

Front side

Front cover

Sheet cover plate

Base

Right side

Left side

Slider

Stainless sheet

Grease nipple

Actuator cable

Motor side

Rear cover

Motor cover

Rear cover

1. Checking the Product

If based on a standard configuration, this product consists of the items listed below.

Caution: Check the packed items against the packing specification. Should you find a wrong model or any

missing item, please contact your IAI dealer or IAI.

1.1 Components

No. Name Model number Remarks

1 Actuator

Accessories

2 Motor/Encoder cables* 3 Home making seals 4 Quick Step Guide 5 Operation Manual (DVD) 6 Safety Guide

*1 The motor/encoder cables supplied vary depending on the controller used. [Refer to 11 “Motor/Encoder

Cables”.]

Refer to “How to Read the Model Nameplate” and “How to Read the Model Number.”

1.2 Related Operation Manuals for Each Controller Supported by This Product

1. Checking the Product

The table below lists the related operation manuals for each controller supported by this product, which are included in the Operation Manual DVD. (1) XSEL-J/K controllers

No. Name Control No.

1 Operation Manual for XSEL-J/K Controller ME0116 2 Operation Manual for PC Software IA-101-X-MW/IA-101-X-USBMW ME0154

4 Operation Manual for Teaching Pendant SEL-T/TD/TG ME0183 5 Operation Manual for Teaching Pendant IA-T-X/XD ME0160 6 Operation Manual for DeviceNet ME0124 7 Operation Manual for CC-Link ME0123 8 Operation Manual for PROFIBUS-DP ME0153

9 Operation Manual for X-SEL Ethernet ME0140 10 Operation Manual for Multi-point I/O Board ME0138 11 Operation Manual for Dedicated Multi-point I/O Board Terminal Block ME0139

Operation Manual for Touch Panel Teaching TB-01, TB-01D, TB-01DR Applicable for Program Controller

ᴾ

ME0325

(2) XSEL-P/Q, XSEL-R/S controllers

No. Name Control No.

1 Operation Manual for XSEL-P/Q Controller ME0148

2 Operation Manual for XSEL-R/S Controller ME0313

3 Operation Manual for XSEL-P/Q/PX/QX RC Gateway Function ME0188

4 Operation Manual for PC Software IA-101-X-MW/IA-101-X-USBMW ME0154

6 Operation Manual for Teaching Pendant SEL-T/TD/TG ME0183

7 Operation Manual for Teaching Pendant IA-T-X/XD ME0160

8 Operation Manual for DeviceNet ME0124

1. Checking the Product

9 Operation Manual for CC-Link ME0123 10 Operation Manual for PROFIBUS-DP ME0153

(3) SSEL controllers

No. Name Control No.

1 Operation Manual for SSEL Controller ME0157

2 Operation Manual for PC Software IA-101-X-MW/IA-101-X-USBMW ME0154

4 Operation Manual for Teaching Pendant SEL-T/TD/TG ME0183

5 Operation Manual for Teaching Pendant IA-T-X/XD ME0160

6 Operation Manual for DeviceNet ME0124

7 Operation Manual for CC-Link ME0123

8 Operation Manual for PROFIBUS-DP ME0153

Operation Manual for Touch Panel Teaching TB-01, TB-01D, TB-01DR Applicable for Program Controller

ᴾ

ME0325

(4) SCON, MSCON controllers

No. Name Control No.

1 Operation Manual for SCON Controller ME0161

2 Operation Manual for SCON-CA Controller ME0155

3 Operation Manual for MSCON Controller ME0306

4 Operation Manual for PC Software RCM-101-MW/RCM-101-USB ME0243

6 Operation Manual for Teaching Pendant CON-T/TG ME0178

7 Operation Manual for Touch Panel Teaching Pendant CON-PT/PD/PG ME0227

8 Operation Manual for Simple Teaching Pendant RCM-E ME0174

9 Operation Manual for Data Setter RCM-P ME0175 10 Operation Manual for Touch Panel Display RCM-PM-01 ME0182 11 Operation Manual for DeviceNet ME0124 12 Operation Manual for CC-Link ME0123 13 Operation Manual for PROFIBUS-DP ME0153

Operation Manual for Touch Panel Teaching TB-01, TB-01D, TB-01DR Applicable for Position Controller

ᴾ

1.3 How to Read the Model Nameplate

Model numbe

Serial numbe

MODEL ISDBMA20020500T2MB

SERIAL No.100061911 MADE IN JAPAN

ME0324

1.4 How to Read the Model Number

ISDB - M - A - 200 - 20 - 500 – T2 - M - B - **

Simple dust-proof type Aluminum-based ISDB: Standard specification ISPDB: High-precision

specification Clean room type Aluminum-based ISDBCR: Standard specification ISPDBCR: High-precision

specification Iron-based SSPDACR: High-precision

specification

<Type>

S: Small type M: Medium type MX: Medium type with intermediate

support L: Large type LX: Large type with intermediate

support

A: Absolute I: Incremental

60: 60 W 100: 100 W 200: 200 W 400: 400 W

Identification for IAI use only

AQ : AQ seal (Standard equipment) B : Brake C : Creep sensor L : Limit switch LL : Limit switch, opposite side LM : Synchronized specification, master axis LLM : Synchronized specification

(sensor on opposite side, master axis) NM : Reversed-home specification RT : Guide with ball retention mechanism S : Synchronized specification, slave axis A1S : Cable exit from the left A1E : Cable exit from the back on the left A3S : Cable exit from the right A3E : Cable exit from the back on the right ST : High-precision straightness specification

(Note) Option only for High-Precision

Types (ISPDB, ISPDBCR and SSPDACR)

VR : Piping joint for suction

Opposite installation specification

N: No cable S: 3 m M: 5 m X: Length specification

1. Checking the Product

<Lead>

4: 4 mm 5: 5 mm 8: 8 mm 10: 10 mm 16: 16 mm 20: 20 mm 30: 30 mm 40: 40 mm

*1 This maybe displayed for the manufacturing reason.

(This is not to indicate the manufacturing model code.)

T1: XSEL-J/K T2: SCON

SSEL XSEL-P/Q/R/S

MSCON

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.

Strokes and maximum speed limits (Unit: mm/s)

2. Specification

Size

S 60

Size

MX 200

Size

Motor

capacity (W))

Motor

capacity (W))

100

200

Motor

capacity (W))

Motor

capacity (W))

200

400

Lead (mm)

100 150 200 250 300 350 400 450 500 550 600 650 700 750 800 850 900 950 1000 1050 1100

4 240 230 200 170 150 135 120      

8 480 460 400 345 305 270 240      

16 960 920 795 690 610 540 480      

Lead (mm)

100 150 200 250 300 350 400 450 500 550 600 650 700 750 800 850 900 950 1000 1050 1100

5 300 270 240 215 190 170 155 140 130 120 110

10 600 545 480 430 380 345 310 285 260 240 220

20 1200 1085 960 855 765 690 625 570 520 475 440

30 1800 1630 1440 1280 1150 1035 935 850 780 715 660

5 300 270 240 215 190 170 155 140 130 120 110

10 600 545 480 430 380 345 310 285 260 240 220

20 1200 1085 960 855 765 690 625 570 520 475 440

30 1800 1630 1440 1280 1150 1035 935 850 780 715 660

300

350

Stroke [mm]

400

500

450

550

600

700 750 800 850 900 950 1000 1050 1100 1150 1200 1250 1300

650

Lead

(mm)

800 900 1000 1100 1200 1300 1400 1500 1600

20 1200 1100 1000 950 800 700

30 1800 1650 1500 1425 1200 1050

Lead

100

150

200

250

(mm)

10 600 585 520 470 425 385 350 320 295 275 255 235 220 205

20 1200 1165 1045 940 850 770 705 645 595 545 505 470 440 410

40 1800 1700 1540 1410 1290 1185 1095 1015 940 875 815

10 600 585 520 470 425 385 350 320 295 275 255 235 220 205

20 1200 1165 1045 940 850 770 705 645 595 545 505 470 440 410

40 1800 1700 1540 1410 1290 1185 1095 1015 940 875 815

Stroke [mm]

Size

Motor

capacity (W))

200

400

Lead (mm)

1000 1100 1200 1300 1400 1500 1600

20 1200 1150 1000 950 830

40 1800 1660

20 1200 1150 1000 950 830

40 1800 1660

Stroke [mm]

(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.

Stroke and maximum speed (or speed to reach) limits (Unit: mm/s)

Size

capacity

S 200

M 400

Motor

Lead [mm]

[W]

750 25

750 50

100 150 200 250 300 350 400 450 500 550 600 650 700 750 800 850 900 950 1000 1050 1100 1150 1200 1250 1300 1350 1400 1450 1500

10 600 540 480 430 380 340 310 280 260 240 220 200 - - - - - - - 20 1100 1090 970 880 770 690 630 570 520 480 440 400 - - - - - - - 30 1600 1450 1290 1160 1040 940 860 780 720 660 610 - - - - - - - 10 600 580 520 470 420 380 350 320 290 270 250 230 220 200 190 - - - 20 1100 1040 940 850 770 700 640 590 550 500 470 440 410 380 - - - 40 1600 1540 1410 1290 1180 1100 1010 940 880 820 760 - - - -

1080 1100 1060 900 770 670 580 520

620 880 1080 1100 1060 900 770 670 580 520

1080 1530 1600 1550 1340 1170 1040

620 880 1080 1250 1400 1530 1600 1550 1340 1170 1040

Stroke [mm]

Caution: (1) Do not set speeds and accelerations/decelerations equal to or greater than the respective ratings.

Doing so may result in vibration, failure or shorter life.

(2) In the case of interpolated operation of two or more orthogonal axes, make sure the command values

(settings) of speed and acceleration/deceleration do not exceed the smallest values of all speeds and accelerations/decelerations of the applicable axes. Even if any speed or acceleration/deceleration is set that exceeds the smallest speed or acceleration/deceleration among all applicable axes, the actual speed or acceleration/deceleration will be clamped to the smallest speed or acceleration/deceleration.

(3) If any acceleration/deceleration equal to or greater than the rated acceleration/deceleration is set, a

creep phenomenon or slipped coupling may occur.

2. Specification

2.2 Acceleration/Deceleration, Payload Capacity and Rated Thrust

If the payload capacity is smaller than as specified, the acceleration/deceleration can be raised beyond the applicable level.

(1) ISDB, ISPDB, ISDBCR, ISPDBCR

Type Size

2. Specification

Guide with ball retention mechanism (RT) not used

Motor capacity

[W]

S 60

100

200

MX 200

200

400

200

400

Lead [mm]

Rated

acceleration/

deceleration [G]

0.2 0.5 Horizontal 55 50 38 30 - - - - -

0.2 0.4 Vertical 14 13 12 - - - - - -

0.4 0.7 Horizontal 27 27 27 20 15 12 - - -

0.4 0.6 Vertical 6 6 6 5.5 5 - - - -

0.4 1.0 Horizontal 13 13 13 10.5 8.5 7 6 5.5 4.5

0.4 0.8 Vertical 3 3 3 2.8 2.5 2.3 2 - -

0.2 0.5 Horizontal 85 80 60 45 - - - - -

0.2 0.4 Vertical 20 17 15 - - - - - -

0.4 0.7 Horizontal 45 45 45 30 23 20 - - -

0.4 0.6 Vertical 10 10 10 8 7 - - - -

0.4 1.0 Horizontal 23 23 23 18 15 13 11 9 8

0.4 1.0 Vertical 4 4 4 3.8 3.5 3.3 3 2.8 2.5

0.4 1.0 Horizontal 15 15 15 11 9 7 6 5 4

0.4 1.0 Vertical 2 2 2 1.8 1.6 1.5 1.4 1.3 1.2

0.2 0.5 Horizontal 110 100 90 80 - - - - -

0.2 0.4 Vertical 40 34 30 - - - - - -

0.4 0.7 Horizontal 90 90 90 66 51 40 - - -

0.4 0.6 Vertical 20 20 20 17 15 - - - -

0.4 1.0 Horizontal 45 45 45 35 28 23 20 18 16

0.4 1.0 Vertical 10 10 10 8.5 7.5 7 6 5.5 5

0.4 1.0 Horizontal 30 30 30 24 20 17 15 13 12

0.4 1.0 Vertical 6 6 6 5.5 5 4.5 4 3.5 3

0.4 0.4 Horizontal 45 45 45 - - - - - -

- - Vertical - - - - - - - - -

0.4 0.4 Horizontal 30 30 30 - - - - - -

- - Vertical - - - - - - - - -

0.4 0.7 Horizontal 90 90 90 66 51 40 - - -

0.4 06 Vertical 20 20 20 16 14 - - - -

0.4 1.0 Horizontal 45 45 45 35 28 23 20 17 15

0.4 1.0 Vertical 9 9 9 8.5 7.5 7 6 5.5 5

0.4 1.0 Horizontal 15 15 15 12 10.5 9 8 7.5 7

0.4 1.0 Vertical 2.5 2.5 2.5 2.4 2.3 2.2 2.1 2 2

0.4 0.7 Horizontal 120 120 120 92 73 60 - - -

0.4 0.6 Vertical 40 40 40 35 30 - - - -

0.4 1.0 Horizontal 90 90 90 70 57 47 40 35 30

0.4 1.0 Vertical 20 20 20 17 15 14 12 11 10

0.4 1.0 Horizontal 40 40 40 32 27 23 21 19 17

0.4 1.0 Vertical 8 8 8 7.5 7 6.5 6 5.5 5

0.4 0.4 Horizontal 45 45 45 - - - - - -

- - Vertical - - - - - - - - -

0.4 0.4 Horizontal 15 15 15 - - - - - -

- - Vertical - - - - - - - - -

0.4 0.4 Horizontal 90 90 90 - - - - - -

- - Vertical - - - - - - - - -

0.4 0.4 Horizontal 40 40 40 - - - - - -

- - Vertical - - - - - - - - -

Maximum

acceleration/d

eceleration [G]

Horizontal

Vertical

Payload capacity by acceleration/deceleration [kg]

0.2G 0.3G 0.4G 0.5G 0.6G 0.7G 0.8G 0.9G 1.0G

Rated thrust

[N]

212.3

106.1

53.1

339.7

169.8

89.9

56.6

683.6

341.8

170.9

113.9

170.9

113.9

341.8

170.9

85.5

678.3

339.1

169.9

170.9

85.5

339.1

169.9

Caution: Even when the acceleration/deceleration is less than the rated acceleration/deceleration, the

payload capacity will not exceed the specified payload capacity at the rated acceleration/deceleration.

Type Size

S 60

MX 200

Guide with ball retention mechanism (RT) used

Motor

capacity [W]

100

200

400

200

400

Lead [mm]

Rated

acceleration/

deceleration [G]

0.2 0.5 Horizontal 55 50 38 30 - - - - -

0.2 0.4 Vertical 13.5 12.5 11.5 - - - - - -

0.4 0.7 Horizontal 27 27 27 20 15 12 - - -

0.4 0.6 Vertical 5.5 5.5 5.5 5.0 4.5 - - - -

0.4 1.0 Horizontal 13 13 13 10.5 8.5 7 6 5.5 4.5

0.4 0.8 Vertical 2.5 2.5 2.5 2.3 2.0 1.8 1.5 - -

0.2 0.5 Horizontal 85 80 60 45 - - - - -

0.2 0.4 Vertical 19.5 16.5 14.5 - - - - - -

0.4 0.7 Horizontal 45 45 45 30 23 20 - - -

0.4 0.6 Vertical 9.5 9.5 9.5 7.5 6.5 - - - -

0.4 1.0 Horizontal 23 23 23 18 15 13 11 9 8

0.4 1.0 Vertical 3.5 3.5 3.5 3.3 3.0 2.8 2.5 2.3 2.0

0.4 1.0 Horizontal 15 15 15 11 9 7 6 5 4

0.4 1.0 Vertical 1.5 1.5 1.5 1.3 1.1 1.0 0.9 0.8 0.7

0.2 0.5 Horizontal 110 100 90 80 - - - - -

0.2 0.4 Vertical 40 34 30 - - - - - -

0.4 0.7 Horizontal 90 90 90 66 51 40 - - -

0.4 0.6 Vertical 20 20 20 17 15 - - - -

0.4 1.0 Horizontal 45 45 45 35 28 23 20 18 16

0.4 1.0 Vertical 10 10 10 8.5 7.5 7 6 5.5 5

0.4 1.0 Horizontal 30 30 30 24 20 17 15 13 12

0.4 1.0 Vertical 6 6 6 5.5 5 4.5 4 3.5 3

0.4 0.4 Horizontal 45 45 45 - - - - - -

- - Vertical - - - - - - - - -

0.4 0.4 Horizontal 30 30 30 - - - - - -

- - Vertical - - - - - - - - -

0.4 0.7 Horizontal 90 90 90 66 51 40 - - -

0.4 06 Vertical 19 19 19 15 13 - - - -

0.4 1.0 Horizontal 45 45 45 35 28 23 20 17 15

0.4 1.0 Vertical 8 8 8 7.5 6.5 6 5 4.5 4

0.4 1.0 Horizontal 15 15 15 12 10.5 9 8 7.5 7

0.4 1.0 Vertical 1.5 1.5 1.5 1.4 1.3 1.2 1.1 1 1

0.4 0.7 Horizontal 120 120 120 92 73 60 - - -

0.4 0.6 Vertical 40 40 40 35 30 - - - -

0.4 1.0 Horizontal 90 90 90 70 57 47 40 35 30

0.4 1.0 Vertical 20 20 20 17 15 14 12 11 10

0.4 1.0 Horizontal 40 40 40 32 27 23 21 19 17

0.4 1.0 Vertical 8 8 8 7.5 7 6.5 6 5.5 5

0.4 0.4 Horizontal 45 45 45 - - - - - -

- - Vertical - - - - - - - - -

0.4 0.4 Horizontal 15 15 15 - - - - - -

- - Vertical - - - - - - - - -

0.4 0.4 Horizontal 90 90 90 - - - - - -

- - Vertical - - - - - - - - -

0.4 0.4 Horizontal 40 40 40 - - - - - -

- - Vertical - - - - - - - - -

Maximum

acceleration/d

eceleration

[G]

Horizontal

Vertical

Payload capacity by acceleration/deceleration [kg]

0.2G 0.3G 0.4G 0.5G 0.6G 0.7G 0.8G 0.9G 1.0G

Rated

thrust

[N]

212.3

106.1

53.1

339.7

169.8

84.9

56.6

683.6

341.8

170.9

113.9

170.9

113.9

341.8

170.9

85.5

678.3

339.1

169.9

170.9

85.5

339.1

169.9

2. Specification

Caution: Even when the acceleration/deceleration is less than the rated acceleration/deceleration, the

payload capacity will not exceed the specified payload capacity at the rated acceleration/deceleration.

(2) SSPDACR

Size Type

S - 200

M - 400

2. Specification

Guide with ball

mechanism (RT)

Guide with ball

mechanism (RT)

Caution: Even when the acceleration/deceleration is less than the rated acceleration/deceleration, the

Payload capacity by acceleration/deceleration [kg]

retention

not used

retention

used

Motor

capacity

[W]

750

Lead [mm]

0.4 0.7 Horizontal 90 90 90 72 60 50 - - - - -

0.4 0.6 Vertical 12 12 12 10 8 - - - - - -

0.4 1.2 Horizontal 45 45 45 36 30 26 22.5 19.5 17 - -

0.4 1.2 Vertical 6 6 6 4.8 4 3.4 3 2.7 2.4 - -

0.4 1.2 Horizontal 30 30 30 24 20 17 15 13 12 11 10

0.4 1.2 Vertical 4 4 4 3.2 2.7 2.3 2 1.7 1.4 1.2 1

0.4 0.7 Horizontal 120 120 120 96 80 70 - - - - -

0.4 0.6 Vertical 25 25 25 20 16.5 - - - - - -

0.4 1.2 Horizontal 90 90 90 72 60 51 45 39 34 - -

0.4 1.2 Vertical 12 12 12 9.6 8 6.9 6 5.3 4.8 - -

0.4 1.2 Horizontal 45 45 45 36 30 25.5 22.5 19.5 17 15 13.5

0.4 1.2 Vertical 6 6 6 4.8 4 3.4 3 2.7 2.4 2.2 2

Maximum

acceleration/

deceleration [G]

25 1.2

50 1.2

25 1.2

50 1.2

Horizontal

Vertical

Horizontal - - 120 96 80 69 60 53 48 44 40

Vertical - - 25 20 17 14 13 11 10 9 8

Horizontal - - 60 48 40 34 30 27 24 22 20

Vertical - - 12 10 8 7 6 5 5 4 4

Horizontal - - 120 96 80 69 60 53 48 44 40

Vertical - - 23 18 15 12 11 9 8 7 6

Horizontal - - 60 48 40 34 30 27 24 22 20

Vertical - - 10 8 6 5 4 3 3 2 2

0.2G 0.3G 0.4G 0.5G 0.6G 0.7G 0.8G 0.9G 1.0G 1.1G 1.2G

payload capacity will not exceed the specified payload capacity at the rated acceleration/deceleration.

Rated thrust

[N]

341.8

170.9

113.9

678.3

339.1

169.6

510

255

510

255

2.3 Driving System/Position Detector

The actuator is driven by the AC servo control method.

(1) ISDB, ISPDB, ISDBCR, ISPDBCR

Size

Motor capacity

[W]

Lead [mm]

S 60

100

200

10 20 30

5 10 20 30

MX 200

20 30 10

200

400

20 40 10 20 40

200

400

20 40 20 40

*1 Number of pulses input to the controller.

Encoder

pulses

16384

Ball screw specification

Type Diameter ISD series ISPD series

Rolled

12 mm

16 mm

20 mm

C10

C5 or

equivalent

C5 or

equivalent

C5 or

equivalent

C5 or

equivalent

C5 or

equivalent

C5 or

equivalent

C5 or

equivalent

C5 or

equivalent

2. Specification

(2) SSPDACR

Size

Motor capacity

[W]

Lead [mm]

S 200

20 30 10

M 400

20 40

L 750

25 50

*1 Number of pulses input to the controller.

Encoder

pulses

16384

Ball screw specification

Type Diameter SSPDACR

Rolled

16 mm

20 mm

25 mm

C5 or

equivalent

C5 or

equivalent

C5 or

equivalent

2.4 Positioning Preciseness

Positioning repeatability

*1 Initial value

2. Specification

Item

ISD ISPD SSPDACR

Functions

r0.01 mm r0.005 mm r0.005 mm

Backlash*1 0.05 mm or less 0.02 mm or less 0.02 mm or less

2.5 Allowable Moment of the Actuator

(1) ISDB, ISPDB, ISDBCR, ISPDBCR

Size

Static allowable moment (Nxm) Dynamic allowable moment (Nxm)

Ma Ma Mb Mc Mb Mc

S 143.8 205.4 336.0 32.9 47.0 76.8

M 341.5 487.0 796.5 81.0 116.0 189.0

MX 341.5 487.0 796.5 81.0 116.0 189.0

L 560.2 800.1 1325.3 123.0 176.0 291.0

LX 560.2 800.1 1325.3 123.0 176.0 291.0

Mb direction

Mb or Mc direction

Direction of allowable overhang

Mc direction

Ma direction

Direction of moment

Allowable overhang

load length (L)

Ma direction: 450

Mb or Mc direction: 450

Ma direction: 600

Mb or Mc direction: 600

Ma direction: 600

Mb or Mc direction: 600

Ma direction: 750

Mb or Mc direction: 750

Ma direction: 750

Mb or Mc direction: 750

Ma direction

2. Specification

Reference position for moment calculation

L mm

Reference position

Size

S 42.5

[mm]

L [mm]

M 51.5

MX 51.5

L 61.5

LX 61.5

Caution: Make sure the load installed on the actuator is not longer than the allowable overhang load length

(L). If the load is longer than L, vibration may occur or the settling time may increase depending on the position of center of gravity position or weight of the work part. If a moment exceeding the allowable moment is applied, not only the life of the guide will become shorter but vibration or longer settling time may also result.

(2) SSPDACR

Size

S 190 190 530 43.4 43.4 116.0

M 470 470 1210 107.0 107.0 276.0

L 750 750 1850 162.0 162.0 391.0

2. Specification

Mc direction

Static allowable moment (Nxm) Dynamic allowable moment (Nxm)

Ma Mb Mc Ma Mb Mc

Mb direction

Ma direction

Direction of moment

Reference position

Mb or Mc direction

Direction of allowable overhang

Reference position for moment calculation

Ma direction

Allowable overhang

load length (L)

Ma direction: 450

Mb or Mc direction: 450

Ma direction: 600

Mb or Mc direction: 600

Ma direction: 750

Mb or Mc direction: 750

L [mm] S 50 M 58.5

L 65.5

Caution: Make sure the load installed on the actuator is not longer than the allowable overhang load length

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