IAI America FS User Manual

Download

FS Actuator

 



Operating Manual

Seventh Edition

Body width 40mm

Body width 52mm

Body width 75mm

FS-N

FS-W

FS-L

IAI America, Inc.

Please Read Before Use

Thank you for purchasing our product.

This Operation Manual describes all necessary information to operate this product safely such as the operation procedure, structure and maintenance procedure.

Before operation, read this manual carefully and fully understand it to operate this product safely. The CD or DVD that comes with the product contains operation manuals for IAI products. For a use of the products, print out or display on your personal computer the necessary pages of the applicable Operation Manuals.

After reading the Operation Manuals, be sure to keep them in a convenient place easily accessible to the personnel using this product.

[Important]

x This Operation Manual is original. x This product is not to be used for any other purpose from what is noted in this Operation Manual.

IAI shall not be liable whatsoever for any loss or damage arising from the result of using the product for any other purpose from what is noted in the manual.

x The information contained in this Operation Manual is subject to change without notice for the

purpose of production improvement.

x If you have any question or finding regarding the information contained in this Operation Manual,

contact our customer center or our sales office near you.

x Using or copying all or a part of this Operation Manual without permission is prohibited. x The company names, names of products and trademarks of our company shown in the

sentences are registered trademarks.

CE Marking



If a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provided separately.



Safety Guide············································································································1

Caution in Handling ·································································································8

Names of the Parts·································································································· 9

1. Specifications Check······················································································· 11

1.1 Product Check··································································································· 11

1.1.1 Parts··················································································································· 11

1.1.2 Operation Manuals related to this product, which are contained in the DVD.··· 12

1.1.3 How to read the model plate··············································································13

1.1.4 How to read the model No. ················································································ 14

1.2. Specification······································································································15

1.3. Option················································································································17

1.3.1 Reversed-home type ························································································· 17

1.4. Motor • Encoder Cables ····················································································18

1.4.1 Motor Cable (For XSEL-J/K/P/Q, SSEL and SCON) CB-X-MAƑƑƑ ····································································································· 18

1.4.2 Encoder Cable (For XSEL-J/K) CB-X-PAƑƑƑ ······································································································ 18

1.4.3 Limit Switch Cable (For XSEL-J/K) CB-X-LCƑƑƑ ······································································································ 19

1.4.4 Encoder Cable (For XSEL-P/Q, SSEL, SCON and LS equipped type connection) CB-X1-PLAƑƑƑ ·································································································· 19

2. Installation·······································································································20

2.1 Transportation ··································································································· 20

2.2 Installation and Storage • Preservation Environment ········································ 22

2.3 How to Install·····································································································23

2.3.1 Orientation of the Actuator Installation······························································· 23

2.3.2 Installation·········································································································· 24

3. Connection to the Controller ···········································································26

4. Setting the Home Position ·············································································· 30

5㧚 Maintenance Inspection·················································································· 32

5.1 Inspection Items and Inspection Schedule························································32

5.2 Visual inspection ······························································································· 32

5.3 Cleaning ············································································································ 32

5.4 Inside Visual Inspection ····················································································33

5.5 Internal Cleanup································································································33

5.6 Grease Supply ··································································································34

5.7 Driving Belt Replacement··················································································35

5.8 How to Replace the Deceleration Belt ······························································48

5.9 Motor Replacement···························································································54

6. External Dimensions ······················································································· 64

6.1 FS-11NM-60 (Single Slider), FS-12NM-60 (Double Slider)·······························64

6.2 FS-11NM-100 (Single Slider), FS-12NM-100 (Double Slider)···························65

6.3 FS-11NO-0 (Single Slider), FS-12NO-0 (Double Slider) ···································66

6.4 FS-11WM-100 (Single Slider), FS-12WM-100 (Double Slider) ·························67

6.5 FS-11WM-200 (Single Slider), FS-12WM-200 (Double Slider) ·························68

6.6 FS-11WO-0 (Single Slider), FS-12WO-0 (Double Slider)·································· 69

6.7 FS-11LM-400 (Single Slider), FS-12LM-400 (Double Slider) ····························70

6.8 FS-11HM-400 (Single Slider), FS-12HM-400 (Double Slider)···························71

6.9 FS-11LO-0 (Single Slider), FS-12LO-0 (Double Slider) ····································72

7. Life··················································································································73

8. Warranty ········································································································· 74

8.1 Warranty Period ································································································ 74

8.2 Scope of the Warranty·······················································································74

8.3 Honoring the Warranty ······················································································74

8.4 Limited Liability··································································································75

8.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications································································································ 75

8.6 Other Items Excluded from Warranty································································75

Change History······································································································76

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

Operation

Description

Selection

Description

Ɣ This product has not been planned and designed for the application where

high 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.

No.

2 Transportation Ɣ When carrying a heavy object, do the work with two or more persons or

3 Storage and

4 Installation

Operation

Description

Preservation

and Start

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. 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. (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

Description

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.

4 Installation

5 Teaching Ɣ When the work is carried out with 2 or more persons, make it clear who is

Operation

Description

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 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.

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

Description

fence, the movable range should be indicated.

No.

6 Trial Operation Ɣ When the work is carried out with 2 or more persons, make it clear who is

7 Automatic

Operation

Description

Operation

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.

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.

Description

No.

8 Maintenance

9 Modification

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

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

Operation

Description

and Inspection

and Dismantle

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. 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,

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

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

specified based at your own discretion.

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.

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.

Description

fence, the movable range should be indicated.

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 have the settings of speed and acceleration/deceleration exceeding the rated values.

An operation with speed and acceleration/deceleration beyond the allowable range may cause an abnormal noise, vibration, malfunction or shortened life. When having an interpolating operation for combined axes, set the smallest value among the combined axes for each of speed and acceleration/deceleration settings.

2. Set the allowable load moment within the allowable range.

Use the product with the applied load moment within the allowable range. An operation with the load beyond the allowable load moment may cause an abnormal noise, vibration, malfunction or shortened life. If it is extreme, flaking may occur on the guide.

3. Set the overhang length within the allowable range.

Have the overhang length of the load within the allowable range. The overhang length above the allowable range may cause vibration or abnormal noise.

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

If the actuator is operated back and forth repeatedly over a distance of 30 mm or less, the oil film created by the grease may be broken. It is recommended to have 5 rounds of back and forth operation in a distance more than 50mm after every 5,000 to 10,000 rounds of the short distance operation. Keep using the actuator with the grease worn out may cause malfunction. If it is extreme, flaking may occur on the guide.

5. Ensure use of the product in the specified conditions, environments and ranges.

Operation out of the specified conditions could cause a drop in performance or malfunction of the product.

Names of the Parts

In this manual, the right and left sides of the actuator are expressed in the way it is placed horizontally as shown in the figure below, and is looked at from the motor side.

[FS]



Right Side

Slide

Pulley Cove

Front

End Cove

[FS Guide Module]

      

Side Cover

      

Base

   

Side Cove

Base

Left Side

Motor Side

Motor Cove

Motor Bracket

Knob

Motor location shown above is for standard type.

Slider

End Cover



1. Specifications Check

1.1 Product Check

The standard configuration of this product is comprised of the following parts. See the component list for the details of the enclosed components. If you find any broken or missing parts, contact your local IAI distributor.

1.1.1 Parts

No. Part Name Model Quantity Remarks

Refer to “How to read the model

1 Main Body

Accessories

Motor • Encoder Cables

(Note 1)

3 In-House Made Seals 1 set

4 T-Nut

5 First Step Guide 1

Operation Manual

(CD/DVD)

7 Safety Guide 1

Note 1 The motor • encoder cables differ between the standard model and robot cable.

[Refer to 6 Motor • Encoder Cables.]

plate” and “How to read the model No.”.

See the

table below

Enclosed in FS

Quantity of T-nuts enclosed in FS series

Stroke NM, WM LM to 1000 5 10 to 1500 6 12 to 2000 7 14 to 2500 8 16 to 3000 9 18 to 3500 10 20 to 4000 11 22

1.1.2 Operation Manuals related to this product, which are contained in the DVD.

Shown below is a list of the operation manuals for the controllers related to this product which is recorded in Operation Manual (CD/DVD).

(1) XSEL-J/K Controller

No.

1 XSEL-J/K Controller Operation Manual ME0116 2 PC software IA-101-X-MW/IA-101-X-USBMW Operation Manual ME0154 3 Teaching pendant SEL-T/TD/TG Operation Manual ME0183 4 Teaching pendant IA-T-X/XD Operation Manual ME0160 5 DeviceNet Operation Manual ME0124 6 CC-Link Operation Manual ME0123 7 PROFIBUS Operation Manual ME0153 8 XSEL Ethernet Operation Manual ME0140 9 Multi-Point I/O Board Operation Manual ME0138

10 Multi-Point I/O Board Dedicated Terminal Board Operation Manual ME0139

(2) XSEL-P/Q Controller

No.

1 XSEL-P/Q Controller Operation Manual ME0148 2 XSEL-P/Q/PX/QX RC Gateway Function Operation Manual ME0188 3 PC software IA-101-X-MW/IA-101-X-USBMW Operation Manual ME0154 4 Teaching pendant SEL-T/TD/TG Operation Manual ME0183 5 Teaching pendant IA-T-X/XD Operation Manual ME0160 6 DeviceNet Operation Manual ME0124 7 CC-Link Operation Manual ME0123 8 PROFIBUS Operation Manual ME0153

Name Manual No.

(3) SSEL Controller

No.

1 SSEL Controller Operation Manual ME0157 2 PC software IA-101-X-MW/IA-101-X-USBMW Operation Manual ME0154 3 Teaching pendant SEL-T/TD/TG Operation Manual ME0183 4 Teaching pendant IA-T-X/XD Operation Manual ME0160 5 DeviceNet Operation Manual ME0124 6 CC-Link Operation Manual ME0123 7 PROFIBUS Operation Manual ME0153

Name Manual No.

(4) SCON Controller

No.

1 SCON Controller Operation Manual ME0161 2 SCON-CA Controller Operation Manual ME0243 3 PC software RCM-101-MW/RCM-101-USB Operation Manual ME0155 4 Teaching pendant CON-T/TG Operation Manual ME0178 5 Touch panel teaching CON-PT/PD/PG Operation Manual ME0227 6 Simple teaching pendant RCM-E Operation Manual ME0174 7 Data setter RCM-P Operation Manual ME0175 8 Touch Panel Display RCM-PM-01 Operation Manual ME0182

9 DeviceNet Operation Manual ME0124 10 CC-Link Operation Manual ME0123 11 PROFIBUS Operation Manual ME0153

Name Manual No.

1.1.3 How to read the model plate

Model

Serial number

MODEL FS-11NM-I-60-200-T1-S-NM SERIAL No.800061910 A1

MADE IN JAPAN

1.1.4 How to read the model No.

(Note1

)

(Note1

)

[FS]

-11NM-I-60-200-T1-S-NM-**

Series Name



<Type>

11NM : Body width 40mm, Single Slider Type 12NM : Body width 40mm, Double Slider Type 11WM : Body width 52mm, Single Slider Type 12WM : Body width 52mm, Double Slider Type 11LM : Body width 75mm, High-Transportable Weight,

Single Slider Type

12LM : Body width 75mm, High-Transportable Weight,

Double Slider Type

11HM : Body width 75mm, High-speed,

Single Slider Type

12HM : Body width 75mm, High-speed,

Double Slider Type



<Encoder Type>

A : Absolute

I : Incremental

60 : 60W 200 : 200W

100 : 100W 400 : 400W

Identification for IAI use only

D1 : Stainless Steel Sheet Type

(Slider length 200mm) Corresponding to 12NM and 12WM only

D2 : Stainless Steel Sheet Type

(Slider length 300mm)

Corresponding to 12NM and 12WM only NM : Reversed-home type NQ : No motor equipped (motor cover equipped) R : Motor on the Other Side U : Motor Located on the Bottom

N : No cable S : 3m M : 5m XƑƑ : Specified Length (Example: X07=7m)

T1 : XSEL-J/K T2 : SCON

SSEL XSEL-P/Q

[Refer to 1.2 Specification]

Note 1 Identification for IAI use only: It may be displayed for IAI use. It is not a code to show

the model type.

[FS Guide Module]

FS-11NO-0-300-D1-**

Identification for IAI use only

Series Name



<Type>

11NO : Body width 40mm, Single Slider Type

12NO : Body width 40mm, Double Slider Type

11WO : Body width 52mm, Single Slider Type

12WO : Body width 52mm, Double Slider Type

11LO : Body width 75mm, Single Slider Type

12LO : Body width 75mm, Double Slider Type

<Option>

D1 : Stainless Steel Sheet Type

(Slider length 200mm) Corresponding to 12NO and 12WO only

D2 : Stainless Steel Sheet Type

(Slider length 300mm) Corresponding to 12NO and 12WO only



[Refer to 1.2 Specification]

<Motor Type>

No motor equipped

Note 1 Identification for IAI use only: It may be displayed for IAI use. It is not a code to show

the model type.

1.2 Specification

[1] Max. speed There is a limit in the maximum speed of the actuators.

Restriction on Speed (Unit: mm/s)

Type

MA 200 1 to 1750

Motor Type

[W]

60 1 to 1750

100 1 to 1750

200 300 400 500 600 700 800 900 1000 1100

Stroke [mm]

Type

MA 200 1 to 1750

Type

MA 200 1 to 1750

[2] Maximum acceleration and Transportable Weight When the transported weight is low, the acceleration/deceleration can be increased.

Type Motor Type [W] Acceleration/deceleration [G]

MA 200 0.3 20 85.7

Caution: Do not have the settings of acceleration/deceleration exceeding the rated values. It

Motor Type

[W]

60 1 to 1750

100 1 to 1750

Motor Type

[W]

60 -

100 -

60 0.3 5 25.8

100 0.3 10 43.0

may cause vibration, malfunction or shortened life.

1200 1300 1400 1500 1600 1700 1800 1900 2000

Stroke [mm]

2100 2200 2300 2400 2500

Stroke [mm]

Transportable

Weight [kg]

Rated Thrust [N]



[3] Driving System and Position Detector

Type

MA 200

[4] Positioning Accuracy

Positioning Repeatability ±0.08mm

The values shown above are the accuracy at the delivery from the factory. It does not include the consideration of time-dependent change as it is used.

Motor Type

[W]

100

Item Specification

Lost Motion 0.1mm or less

No. of Encoder

Pulses

16384 Timing belt

Drive System



1.3 Option

1.3.1 Reversed-home type

The home is set on the side opposite the motor. The model code is indicated with an NM.

1.4 Motor • Encoder Cables

1.4.1 Motor Cable (For XSEL-J/K/P/Q, SSEL and SCON) CB-X-MAƑƑƑ

(Front View)

Controller Side

Wiring Color Signal No.

Green

0.75sq White

Black

Red

U V

Mechanical Side

1 2 3 4

Red White Black

Green

WiringColorSignalNo.

0.75sq

(Solderless)

(Front View)

1.4.2 Encoder Cable (For XSEL-J/K) CB-X-PAƑƑƑ

(Front View) (Front View)

Controller Side Mechanical Side

Color No.

Wiring

0.15sq

(Solderless)

The shield is clamped to the hood

Blue

Orange

Black Yellow Green Brown

Gray Red

Signal

SD SD

BAT+

BATVCC GND

BK-

BK+

10 11 12 13 14 15

1 2 3 4 5 6 7 8 9

Ground wire and braided shield wires

No.

1 2 3 4 5 6 7 8 9

Signal

BAT+

BAT-

SD VCC GND

BKBK+

Color

Black

Yellow

Blue

Orange

Green Brown

Drain

Gray Red

Wiring

0.15sq

(Solderless)

1.4.3 Limit Switch Cable (For XSEL-J/K) CB-X-LCƑƑƑ

(Front View) (Front View)

Controller Side Mechanical Side

Wiring

Color

Sky Blue

Pink

Light Green

AWG24

Orange

Gray

1B/Sky Blue

Note) 1B indicates one black dot mark.

1.4.4 Encoder Cable

(For XSEL-P/Q, SSEL, SCON and LS equipped type connection) CB-X1-PLAƑƑƑ

Controller Side Mechanical Side

Wiring Color

AWG26

(Soldered)

White/Blue

White/Yellow

White/Red

White/Black

White/Purple

White/Gray

Orange

Green Purple

Gray

Red

Black

Blue

Yellow

The shield is clamped to the hood

Signal

E24V

0V LS

CREEP

RSV

A+ AB+ BZ+

Z-

SRD+

SRDBAT+ BAT-

VCC GND BKR-

BKR+

Signal

24VOUT

CREEP

RSV

No.

10 11 12 13 26 25 24 23

9 18 19

8 14 15 16 17 20 21 22

No.

6 5 4 3 2 1

Ground wire and braided shield wires

No.

1 2 3 4 5 6

Signal

24VOUT

CREEP

RSV

Color

Sky Blue

Pink

Light Green

Orange

Gray

1B/Sky Blue

Wiring

AWG24

(Solderless)

LS Side

Signal

No.

E24V

CREEP

RSV

No.

Signal

BAT+

BAT-

VCC

GND

BK-

BK+

(White/blue in cable color indicates the colors of line/insulator.)

Color

White/Blue

White/Yellow

White/Red

White/Black

White/Purple

White/Gray

Color

Purple

Gray

Orange

Green

Red Black Drain Blue

Yellow

Wiring

AWG26

(Solderless)

Wiring

AWG26

(Solderless)

(Front View)

2. Installation

2.1 Transportation

[1] Handling of the Robot Pay attention to the following when carrying an actuator by itself.

(1) Handling of the Packed Product Unless otherwise specified, the single axes at the delivery are packaged individually. Please concern the handling of the unit so you would not hit or drop it while carrying.

x An operator should never attempt to carry a heavy package on their own. x If the shipping box is to be left standing, it should be in a horizontal position. x Do not step or sit on the package. x Do not put any heavy thing that can deform the package, on it.

(2) Handling after Unpackaged Do not attempt to hold the motor unit or cable when carrying the actuator, or pull the cables to move the unit. Do not carry the actuator by holding the cable, or do not move it by pulling the cable. Make sure to hold the base area when handling the unpackaged actuator.

[2] Handling of Multi-Axes Type Pay attention to the following when carrying the robot with the axes being attached.

(1) Handling of the Packed Product If an order for the product was made with the axes attached, we would build the product in our factory, conduct the delivery inspection, affix on a wooden pallet and cover with the frames to deliver the product. If the actuator to be attached is a slider type, the slider is fixed in the package so it would not accidentally move. Also for the actuator of the combined unit, the end is fixed so it would not widely shake by the external vibration.

x The package is not applied with any special treatment that enables it to resist an impact

caused by a drop or crash. Handle it with care. Also, please note that the frame would not endure load on the top. Do not attempt to put load on it.

x When suspending the package using belts, pass the beltes from underneath the

reinforcement frames at the bottom of the base. When lifting with a forklift, also place the forks underneath the base.

x Handle with care not to apply shock when putting it down.

(2) Handling after Unpackaged After unpackaged, handle the product that axes were attached in IAI factory following the instructions below:

x Fix the sliders during transportation so they would not move accidently. x Appropriately fix the end of the actuators if it is overhanging so it would not widely shake with

external vibration. If the actuator assembly is transported without the ends being secured, do not apply an impact of 0.3G or more.

x In such cases as hanging the peripherals including the actuators with a belt, do not attempt to

attach the belt directly to the actuators and avoid the belt being touch the actuators.

x Apply appropriate shock-proof methods to the belt and set it so the base part receives the

load.

x For Y-axis, support the end with another belt to maintain the stable horizontal orientation. At

the same time, pay attention not to apply load to the screw cover.

x Do not attempt to apply load to the brackets, covers or connector box mounted on the main

body. Also, avoid the cables being pinched or caused an excessive deformation.

[3] Handling of the Robot Mounted on Mechanical Equipment (System) When peripheral devices were attached by the customer and the unit is to be carried, also follow the instructions described in [5.2.2 handling in unpackaged condition] for appropriate handling.

2.2 Installation and Storage • Preservation Environment

[1] Installation Environment Do not use this product in the following environments. It is generally the environment where a worker can work without any protection gear. Also make sure to keep enough work space necessary for maintenance.

x Location exposed to radiant heat from a huge heat source such as the heat treatment x Location where the surrounding air temperature exceeds the range of 0 to 40qC x Location where condensation occurs due to abrupt temperature changes x Location where relative humidity exceeds 85%RH x Location exposed to direct sunlight x Location exposed to corrosive gases or combustible gases x Location exposed to significant amount of dust, salt or iron powder (Outside of an ordinary

assembly plant)

x Location where water, oil (includes oil mist and cutting fluid) or a chemical is splashed x Location where the product main body receives vibration or hit impact

When using the product in any of the locations specified below, provide a sufficient shield.

x Place subject to electrostatic noise x Location where exposed to the influence of strong electric or magnetic field x Location where exposed to the influence of ultraviolet or radiant rays

[2] Storage • Preservation Environment

x The storage and preservation environment should comply with the same standards as those

for the installation environment. In particular, when the machine is to be stored for a long time, pay close attention to environmental conditions so that no dew condensation forms.

x Unless specially specified, moisture absorbency protection is not included in the package

when the machine is delivered. In the case that the machine is to be stored and preserved in an environment where dew condensation is anticipated, take the condensation preventive measures from outside of the entire package, or directly after opening the package.

x For storage and preservation temperature, the machine withstands temperatures up to 60qC

for a short time, but in the case of the storage and preservation period of 1 month or more, control the temperature to 50qC or less.

x Storage and preservation should be performed in the horizontal condition. In the case it is

stored in the packaged condition, follow the posture instruction if any displayed on the package.

2.3 How to Install

Shown below is how to install the actuators to the machinery equipment.

2.3.1 Posture of Actuator Installation

Shown below are the basic concepts for the product attachment. Pay special attention when deciding how to install the product (Except with custom-order models).

{: Available U

Horizontal

Installation

Installation posture

Horizontal Vertical Sideway

: Precautions observing strictly ×: Not available

{

Vertic al

Installation

× ×

Sideway

Installation

Ceiling mount Installation

Stainless Steel Sheet Type If is not D1/D2

{

Ceiling Mount

Stainless Steel Sheet Type In the case of D1/D2

2.3.2 Installation

[1] Installation of Main Unit

x There is a T-groove on the back of the base. When installing the body, utilize this T-groove

and hold the body with the T-nut enclosed with the actuator.

x The base has to have a structure with sufficient rigidity to prevent oscillation. x The surface where the actuator will be mounted should be a machined surface or that with an

accuracy equivalent to it, and the flatness should be 0.05mm or below.

Ensure a room for maintenance work.

(1) Mounting Procedure

x The bolts for mounting the actuator should be of a dimension suitable for the mounting holes

and slot.

x Use hexagonal bolts for the actuator mounting holes. x We recommend high strength bolts of ISO-10.9 or higher. x Make sure to have the effective length of screw engagement described below or more for the

tightening of a bolt and a female screw.

x When female screw is on steel ĺ thread length same as nominal diameter x When female screw is on aluminum ĺ thread length 2 times longer than nominal

diameter

x When attaching the base to a mounting table, use washers made for high strength bolt if the

bolts is M8 or larger or if the bearing surface is made of aluminum. A washer is not necessary for M6 or smaller bolts. Do not use a common spring washer.

x The recommended screw torque is given below.

Screw Nominal Diameter Tightening Torque

M6 7N•m [0.7kgf•m]

M8 26N•m [2.6kgf•m]

x Use the T-nuts provided by IAI. (Please see drawing below). x If you require more than the number included, additional nuts are available for purchase. x When mounting the actuator, select a bolt length so that the tip of the bolt does not touch the

bottom of the T-slot.

x If you are purchasing brackets with the actuator, please use the bolts, nuts and washers that

come with brackets.

Shape of T-nut

[2] Load Attachment

x There are M8 tapped holes prepared on the slider. Fix the work piece to be carried. x The way to affix follows the installation of the main unit. x There is a restriction on the moment and overhang load length when attaching a load to the

slider.

Type

FS-11NM FS-11NO

FS-12NM FS-12NO

FS-11WM FS-11WO

FS-12WM FS-12WO

FS-11LM FS-11LO FS-11HM FS-12LM FS-12LO FS-12HM

Allowable Load

Moment [N•m]

Ma: 2.9 (0.3)

Fig. 1) Single Slider

Mb: 2.9 (0.3) Mc: 4.5 (0.46)

Fig. 2)

Double Slider

(when sliders are

joined together)

Ma: 20.5 (2.1) Mb: 18.6 (1.9) Mc: 9.1 (0.93) Ma: 4.4 (0.45)

Fig. 1) Single Slider

Mb: 3.9 (0.4) Mc: 5.8 (0.6)

Fig. 2)

Double Slider

(when sliders are

joined together)

Ma: 27.4 (2.8) Mb: 25.4 (2.6) Mc: 11.7 (1.2) Ma: 8.8 (0.9)

Fig. 1) Single Slider

Mb: 7.8 (0.8) Mc: 12.7 (1.3)

Fig. 2)

Double Slider

(when sliders are

joined together)

Ma: 51.9 (5.3) Mb: 47.0 (4.8) Mc: 25.4 (2.6)

Allowable dynamic moment directions

The allowable dynamic moment is the value assuming 20,000km. Use of the actuator above the moment specification could cause a drop of the life of the guide.

Moment Directions

Overhang Load Length [L]

Ma direction: 200 or less Mb, Mc direction: 200 or less

Ma direction: 500 or less Mb, Mc direction: 500 or less

Ma direction: 240 or less Mb, Mc direction: 240 or less

Ma direction: 600 or less Mb, Mc direction: 600 or less

Ma direction: 300 or less Mb, Mc direction: 300 or less

Ma direction: 750 or less Mb, Mc direction: 750 or less

Overhang Load Length

Use of the actuator with an overhang above the allowable range for each model could cause vibration or delay in the operation time. Make sure to use the actuator in the allowable range.

Single Slider (Fig. 1)

Double Slider (Fig. 2)

3. Connection to the Controller

For the controller, only the dedicated controller manufactured by our company can be used. Using other controllers may cause a problem such as burning the product, ignition or generating heat. Use the dedicated cable enclosed in the package when connecting the actuator and the controller.

In this section, describes how to lay out the wirings for the single axis use.

In the single axis use, unless otherwise specified, the actuator will be delivered with a single axis dedicated cable with 3m or 5m of its length enclosed in. Plug in the connector on the cable end directly to the controller.

x Although we use cable that is resistant to bending fatigue, it is not robot cable.

Please avoid housing the cable in a wire duct with a small bending radius (we recommend R90 or larger).

x In an application where the cable cannot be anchored, try to place the cable where it will sag only

under its own weight or use self-standing cable hose as large radius wire duct to limit the load on the cable.

x Do not cut the cable to lengthen, shorten, or reconnect it.

If you wish to alter the cable, please consult with IAI before doing so.

Warning: For wiring, please follow the warnings stated below. When constructing a system as

the machinery equipment, pay attention to the wiring and connection of each cable so they are conducted properly. Not following them may cause not only a malfunction such as cable breakage or connection failure, or an operation error, but also electric shock or electric leakage, or may even cause a fire.

z Use dedicated cables of IAI indicated in this operation manual. Contact us if you wish to have a

change to the specifications of the dedicated cables.

z Make sure to turn the power OFF in the process of power line or cable connection or

disconnection.

z Do not attempt to cut a dedicated cable with connectors on both ends to extend, shorten or

re-joint it.

z Hold the dedicated cable to avoid mechanical force being applied to the terminals and

connectors.

z Use a cable pipe or duct to have an appropriate protection when there is a possibility of

mechanical damage on a dedicated cable.

z In case a dedicated cable is to be used at a moving part, make sure to lay out the cable without

applying any force to pull the connector or extreme bend on the cable. Do not attempt to use the cable with a bending radius below the allowable value.

z Make certain that the connectors are plugged properly. Insufficient connection may cause an

operation error, thus it is extremely risky.

z Insufficient connection may cause an operation error, thus it is extremely risky.

z Pay attention to the cable layout so it would not hit peripherals during an operation. In case it

does, have an appropriate protection such as a cable track.

z When a cable is used hanging on the ceiling, prevent an environment that the cable swings

with acceleration or wind velocity.

z Make sure there is not too much friction inside the cable storage equipment.

z Do not apply radiated heat to power line or cables.

z Have a sufficient radius for bending to avoid stress being applied to one place.

Steel Strap (Piano Wire)

Tie them up softly.

z Do not let the cable bend, kink or twist.

z Do not pull the cable with a strong force.

z Do not let the cable receive a turning force at a single point.

z Do not pinch, drop a heavy object onto or cut the cable.

z When fixing the cable, provide a moderate slack and do not tension it too tight.

Do not use spiral tube in any position where cables are bent frequently.

z Separate the PIO line, communication line and power line from each other.

Arrange so that such lines are independently routed in the duct.

Power Line

I/O Line (Flat Cable, etc.)

Duct

z If using a cable track, make sure to use robot cables so the cables do not get twisted or

entangled inside the cable track or flexible tube, and also make the cables free to avoid the cables getting tied. (Make sure the cables do not get pulled when being bent.)

z The occupied volume rate for the cables, etc., inside the cable track should be 60% or less.

Cable Track

Cable

4. Setting the Home Position

[1] The Principle of the Homing Operation

The actuator performs homing in the following manner:

1) The moving direction is determined by the parameters set by the homing command.

2) It detects the mechanical end with the software in the home return operation.

The slider reverses direction when this end is reached and the place where the Z phase signal

is detected becomes the reference point.

4) The slider travels further by an offset amount defined by the parameters and this position

becomes home.

(* The number of motor revolutions after the actuator hits the stopper until the Z-phase signal is

generated is already adjusted before the shipment.)

[2] Attaching Alignment Marks

x Use this mark by means of affixing to the product as the guide for the origin direction of the actuator,

as occasion demands.

[Use Examples]

1) Affixing it as the guide for the homing direction of the actuator

Affix it on to the slider.

Affix it on to the home side of the base.

2) Affixing it as the guide of the slider positions after movement

Affix it on to the slider.

Affix it on to the slider positions after the movement.

3) Affixing it as the guide for the deviation check

Affix it on to the slider.

Affix it on to the base.

Affix two stickers each onto the slider and base while they are stopped at their origin positions.

5. Maintenance Inspection

5.1 Inspection Items and Inspection Schedule

Have maintenance inspections following the intervals below. The calculation is conducted under the condition that there are 8 working hours per day. Have inspections more frequently if the operation frequency is high for night and day continuous operation, etc.



At startup inspection 1 month after start of

operation 6 months after start of operation 1 year after start of operation Every 6 months thereafter Every 1 year since

*1 If the actuator is operated back and forth repeatedly over a distance of 30 mm or less, the oil film

Visual Inspection Internal Check

{

{{

{{{

{

{{ {



Grease supply



created by the grease may be broken. It is recommended to have 5 cycles of back and forth operation in a distance more than 50mm after every 5,000 to 10,000 rounds of the short distance operation. A layer of the grease will recover.

5.2 Visual inspection

For the visual inspection, check the appearance following items.

Main Body Looseness of attachment screws Cables Scratches, proper connection of connectors Overall Noise, vibration

5.3 Cleaning

x Please clean the external body on a regular basis.

x When cleaning, wipe with a soft cloth to remove dust and dirt. x The base oil of the grease may come out on the surface of the actuator in some cases. Wipe it

away with soft cloth.

x There is a risk of dust getting in from a clearance. Do not blow compressed air strongly to the body. x Do not apply petroleum solvent since it may damage the resin or painted surfaces. x When extremely dirty, wipe it off firmly with cloth that a neutral detergent or alcohol is applied on.

5.4 Inside Visual Inspection

Turn the power OFF, remove the side cover and do a visual check of the inside. Confirm the inside condition with visual check. Check to see if there is any dust or foreign objects inside the unit, and check the lubrication and condition of the timing belt.

x Even if the grease is a brown color, the lubrication is fine as long as the travelling surface appears

to be wet.

x Check to see if there is any damage to the timing belt such as cracks in the teeth or in the section

behind the teeth. (Note) The timing belt may generate a black powder. This is due to friction and is not unusual.

x The side cover can be removed with a hexagonal wrench.

If the grease is mixed with dust and dirty or has no shiny appearance, or if the grease has lost its efficacy due to prolonged use, clean the applicable area and then replenish the grease. After you finish inspection, tighten the mounting screws for side cover. The screw torque should be for a cross-recessed head machine screw.

5.5 Internal Cleanup

x When cleaning, wipe with a soft cloth to remove dust and dirt. x There is a risk of dust getting in from a clearance. Do not blow compressed air strongly to the body. x Do not use oil type solvent, neutral detergent or alcohol.

5.6 Grease Supply

[1] Applied Grease

The following grease is applied when the product is shipped out.

Idemitsu Kosan Co., Ltd. Daphne Eponex Grease No.2

Apart from above, there are equivalent sorts of grease sold in the market. For details contact a grease supplier, provide the grease name shown above and ask them to select an equivalent. Listed below are some equivalents for an example.

Showa Shell Sekiyu K. K. Alvania Grease No.2

Mobil Oil Mobilux 2

Warning: Do not attempt to apply fluorine grease. When mixed with lithium grease, not only

decrease the grease characteristics, but also may damage the actuator.

[2] How to apply grease



1) Remove the side cover.

2) With a grease gun, squirt grease into the grease nipple in the LM block to which the slider is attached. Insert enough grease so that some of it leaks out of the other side of the LM block.

3) Repeat this procedure for the other grease nipples on the LM block.

4) Move the slider back and forth several times by hand.

5) After this, wipe away the excess grease from the LM block.

6) Replace the side cover.



  

5.7 Driving Belt Replacement

[Items required for the Replacement]

x Replacement Driving Belt x Packing Tape x 8mm Spanner Wrench x Hexagon Wrench Set x Push-Pull Gauge and Square x Personal Computer or Teaching Pendant x Tension Gauge (Tension of 10kgf or more available) x Strong Thread (or Long Harness Belt)

[Replacement Operation Outline]

1) Loosen the tension adjusting bolt and replace the belt. Then, fasten the adjusting bolt until the specified tension value is reached.

2) Perform the homing operation. Loosen the deceleration belt, affix the slider at the point of 9mm from the mechanical end on the home side, affix the motor shaft at the alignment mark, and then adjust the deceleration belt to the specified tension.

3) Perform a home-return operation with using PC or a teaching pendant to check the amount of misalignment from the original home position. In case there is misalignment, adjust the position with Home-Return Offset X-SEL Controllers, use Home Preset

for E-Con, P-Driver and SCON Controllers. For SSEL Controllers and

for adjustment.

Mechanical end

Home Position

Approx. 1mm

Establish setting with Home-Return Offset (E-Con, P-Driver and SCON) or Home Preset (SSEL and X-SEL) in the parameter.

Z-phase ON position

Approx. 9mm

NM, WM type

At this position, the motor counter mark is aligned.



[Procedure]

1) Detach the pulley cover and check the direction of motor shaft rotation when moving the slider from the home position side to the mechanical end side. (the rotational direction differs depending on the motor attachment position, thus checking is necessary.)

Detach the pulley cover. (Use a hexagon wrench with the distance to the opposite side of 1.5mm

Confirm the motor shaft rotating direction.

2) Move the slider to a point where Z-phase to be the home turns ON. The point should be 9mm away from the mechanical end for both home standard type and home reversed type. Put marks on the mechanical end and the point of Z-phase.

Put a mark on the mechanical end where slider was pushed against.

9mm

Move the slider back away for 9mm from the mechanical end. Put another mark on this Z-phase point.

3) Detach the side covers on both sides. Remove the screws on the top and side. (Use a hexagon wrench with the distance to the opposite side of 1.5mm.)

4) Detach the end cover on the side opposite the motor. (Use a hexagon wrench with the distance to the opposite side of 2.5mm.)

5) Loosen the locknut to make the tension adjustment bolts free. (Use a spanner wrench of 8mm.)

Locknut

6) Loosen the tension adjustment bolt on the motor side. (Use a hexagon wrench with the distance to the opposite side of 4mm.)

Tension Adjustment Bolt

7) Detach the end cover on the motor side. (Use a hexagon wrench with the distance to the opposite side of 2.5mm.)

8) Loosen the pulley fixing screws on the driving belt side. (Use a hexagon wrench with the distance to the opposite side of 4mm.)

9) Remove the deceleration belt to make the pulley free.

Deceleration Belt

10) Detach the driving belt retainer plate. (Use M4-sized hex wrench for NM. Use M5-sized hex wrench for WM.)

11) Remove the driving belt.

Opposite Side of Motor

Motor Side

Pull out the driving belt in the direction shown with an arrow.

Tension Adjuster

Motor Side

Pull out the tension adjuster in the direction shown with an arrow.

Pull the driving belt on the top and the bottom in the direction shown with the arrows to take it out completely.

12) Attach the replacement driving belt.

Motor Side

Tension Adjuster

After putting the replacement driving belt through the tension adjuster, insert the belt on the top and the bottom in the direction shown with the arrows.

Opposite Side of Motor

1) Pull out the replacement driving belt at the bottom in the direction show with the arrow.

2) Insert the replacement driving belt on the top and the bottom in the direction shown with the arrows.

Insert the driving belt in the direction shown with the arrow.

To the next page

Motor Side

)

Tension Adjuster

Tension Adjustment Bolt

End Cover

Tension Adjuster

Using the tension adjustment bolt, attach the end cover to the tension adjuster.

Push in the tension adjuster completely in the direction shown with the arrow. (Use a hexagon wrench with the

distance to the opposite side of 4mm.

Attach the end cover. (Use a hexagon wrench with the

distance to the opposite side of

2.5mm.)

Pull the replacement driving belt to align it with the teeth on the attachment part.

Teeth on Attachment Part

(Note) Have the driving belt to make its ends adjusted in the center of the attachment

teeth part. Cut the driving belt if it is too long.

13) Attach the driving belt retainer plate. (Use M4-sized hex wrench for NM. Use M5-sized hex wrench for WM.)

14) Adjust the belt to the specified tension.

• Set the slider at the point 400mm from the center of the pulley.

• Set a push-pull gauge at the point 200mm from the center of the pulley. Adjust the tension of the belt with the tension adjustment bolt to make the clearance between the inside of the belt and the top surface of LM guide 0mm when applying the specified load.

Load Specifications

NM 3kgf

WM 7kgf

Push-pull Gauge

Tension Adjustment Bolt

Adjust the tension of the belt to make the clearance 0mm when applying the specified load.

200mm

400mm

15) Tighten the locknut to make the tension adjustment bolts fixed. (Use a spanner wrench of 8mm.)

Locknut

16) Make an adjustment to reconstruct the home position.

1. Attach the cover on one side with the marking and move the slider to a position where the Z-phase to be the home turns ON. It is the point 9mm away from the mechanical end for both standard home type and reversed home type.

9mm

2. On the motor side, it should be the position of the first alignment marks. Align the marks if they are misaligned.

Match the alignment marks.

3. Hang the deceleration belt while holding the pulleys so both of them would not move during the work.

Deceleration Belt

4. Put a robust rope in a ring shape (or a long cable band) around the motor cover, and pull it on a tension gauge. While it is pulled up with the specified tensile force, tighten the screws at four points. (Use a hexagon wrench with the distance to the opposite side of 4mm.) (Pay attention to the slider and motor shaft so they would not move while in the work.)

Specified Tensile Force

NM 5kgf

WM 10kgf

Pull up with specified tensile force.

17) Attach the slider cover on the other side. Tighten the fixing screws on the top and side surfaces. (Use a hexagon wrench with the distance to the opposite side of 1.5mm.)

18) Put the end cover on the opposite side of the motor. (Use a hexagon wrench with the distance to the opposite side of 2.5mm.)

19) Hang the hook on the bottom of the pulley cover to the corner catch, and tighten screws on the top. (Use a hexagon wrench with the distance to the opposite side of 1.5mm.)

Hang on corner catch.

20) Execute the home-return operation on the PC (PC software) or a teaching pendant. (for the absolute encoder, the absolute reset is required.) Check the amount of misalignment to the original home position. If there is a misalignment, fine-tune the home-return offset SCON Controllers. For P-Driver Controller, fine-tune the home-return offset Data No. 17. For SSEL Controller and X-SEL Controller, use Home Preset Parameter No. 12 for adjustment.

in Parameter No. 22 for E-Con and

in Position Control

in Each Axis

5.8 How to Replace the Deceleration Belt

[Items required for the Replacement]

x Replacement Driving Belt x

Hexagon Wrench Set

x Measure

x Personal Computer or Teaching Pendant x Tension Gauge (Tension of 10kgf or more available)

x Strong Thread (or Long Harness Belt)

[Replacement Operation Outline]

1) Loosen the pulley fixing screw on the driving belt side to take off the belt.

2) Perform the homing operation. Loosen the deceleration belt, affix the slider at the point of 9mm from the mechanical end on the home side, and then affix the motor shaft at the alignment mark.

3) Put the new replacement deceleration belt and tighten the pulley fixing screw on the driving belt side up to get the specified tension.

4) Perform a home-return operation with using PC or a teaching pendant to check the amount of misalignment from the original home position. In case there is misalignment, adjust the position with Home-Return Offset X-SEL Controllers, use Home Preset

Home Position

for E-Con, P-Driver and SCON Controllers. For SSEL Controllers and

for adjustment.

Mechanical end

Z-phase ON position

Approx. 1mm

At this position, the motor counter mark is aligned.

Establish setting with Home-Return Offset (E-Con, P-Driver and SCON) or Home Preset (SSEL and X-SEL) in the parameter.

Approx. 9mm

NM, WM type



[Procedure]

Detach the pulley cover. (Use a hexagon wrench with the distance to the opposite side of 1.5 mm.)

Confirm the motor shaft rotating direction.

Put a mark on the mechanical end where slider was pushed against.

9mm

Move the slider back away for 9mm from the mechanical end. Put another mark on this Z-phase point.

3) Loosen the pulley fixing screws on the driving belt side. (Use a hexagon wrench with the distance to the opposite side of 4mm.)

4) Remove the deceleration belt to make the pulley free.

Deceleration Belt

5) After attaching the new replacement deceleration belt, make an adjustment to reconstruct the home position.

9mm

2. On the motor side, it should be the position of the first alignment marks. Align the marks if they are misaligned.

Match the alignment marks.

3. Hang the deceleration belt while holding the pulleys so both of them would not move during the work.

Replacement Deceleration Belt

Specified Tensile Force

NM 5kgf

WM 10kgf

Pull up with specified tensile force.

6) Hang the hook on the bottom of the pulley cover to the corner catch, and tighten screws on the top. (Use a hexagon wrench with the distance to the opposite side of 1.5mm.)

Hang on corner catch.

7) Execute the home-return operation on the PC (PC software) or a teaching pendant. (for the absolute encoder, the absolute reset is required.) Check the amount of misalignment to the original home position. If there is a misalignment, fine-tune the home-return offset SCON Controllers. For P-Driver Controller, fine-tune the home-return offset No. 17. For SSEL Controller and X-SEL Controller, use Home Preset 12 for adjustment.

in Parameter No. 22 for E-Con and

in Position Control Data

in Each Axis Parameter No.

5.9 Motor Replacement

[Items required for the Replacement]

x Replacement Motor (Refer to the picture at right)

(Confirm that the counter mark is attached)

x Hexagon Wrench Set

x Phillips Screwdriver x Measure

x Personal Computer or Teaching Pendant x Tension Gauge (Tension of 10kgf or more available)

x Strong Thread (or Long Harness Belt)

[Replacement Operation Outline]

1) Loosen the pulley fixing screw on the driving belt side to detach the deceleration belt, and replace the motor.

2) Perform the homing operation. Loosen the deceleration belt, affix the slider at the point of 9mm from the mechanical end on the home side, and then affix the motor shaft at the alignment mark.

3) Put the deceleration belt and tighten the pulley fixing screw on the driving belt side up to get the specified tension.

for E-Con, P-Driver and SCON Controllers. For SSEL Controllers and

for adjustment.

Mechanical end

Home Position

Approx. 1mm

Establish setting with Home-Return Offset (E-Con, P-Driver and SCON) or Home Preset (SSEL and X-SEL) in the parameter.

Z-phase ON position

Approx. 9mm

NM, WM type

At this position, the motor counter mark is aligned.



[Procedure]

Detach the pulley cover. (Use a hexagon wrench with the distance to the opposite side of 1.5mm.)

Confirm the motor shaft rotating direction.

Put a mark on the mechanical end where slider was pushed against.

9mm

Move the slider back away for 9mm from the mechanical end. Put another mark on this Z-

hase point.

3) Loosen the pulley fixing screws on the driving belt side. (Use a hexagon wrench with the distance to the opposite side of 4mm.)

4) Remove the deceleration belt to make the pulley free.

Deceleration Belt

5) Detach the lid on the motor cover. (Use a hexagon wrench with the distance to the opposite side of 1.5mm.)

6) Unplug the motor cables and encoder cables on the motor side and actuator side.

7) Detach the FG cable. (Use a Phillips screwdriver.)

FG Joint Cable

8) Detach the motor cover. (Use a hexagon wrench with the distance to the opposite side of 2.5mm.)

9) Detach the motor. (Use a hexagon wrench with the distance to the opposite side of 2mm.) Check the position of the alignment marks before taking off the motor.

Check the position (angle) of the alignment marks.

10) Insert the replacement motor while matching the position (angle) of the alignment marks, and then attach the motor. (Use a hexagon wrench with the distance to the opposite side of 2mm.)

Check the position (angle) of the alignment marks.

Replacement Motor

11) Attach the motor cover. (Use a hexagon wrench with the distance to the opposite side of 2.5mm.)

Motor Cover

12) Attach the FG cable. (Use a Phillips screwdriver.)

13) Join the motor cables and encoder cables on the motor side and actuator side.

FG Joint Cable

14) Attach the lid on the motor cover. (Use a hexagon wrench with the distance to the opposite side of 1.5mm.)

15) After attaching the new replacement deceleration belt, make an adjustment to reconstruct the home position.

9mm

2. On the motor side, it should be the position of the first alignment marks. Align the marks if they are misaligned.

Match the alignment marks.

3. Hang the deceleration belt while holding the pulleys so both of them would not move during the work.

Replacement Deceleration Belt

Specified Tensile Force

NM 5kgf

WM 10kgf

Pull up with specified tensile force.

16) Hang the hook on the bottom of the pulley cover to the corner catch, and tighten screws on the top. (Use a hexagon wrench with the distance to the opposite side of 1.5mm.)

Hang on corner catch.

17) Execute the home-return operation on the PC (PC software) or a teaching pendant. (for the absolute encoder, the absolute reset is required.) Check the amount of misalignment to the original home position. If there is a misalignment, fine-tune the home-return offset SCON Controllers. For P-Driver Controller, fine-tune the home-return offset No. 17. For SSEL Controller and X-SEL Controller, use Home Preset 12 for adjustment.

in Parameter No. 22 for E-Con and

in Position Control Data

in Each Axis Parameter No.

6. External Dimensions

6.1 FS-11NM-60 (Single Slider), FS-12NM-60 (Double Slider)

11NM (Single Slider)

10 20 106020

M8, Depth 10

SE: Stroke end ME: Mechanical end

*1 The number in the brackets is the dimension for 12NM.

40 12

T-slot

60 (120 *1)

Home

(300)

12NM (Double Slider)

Free Slider

Cable Joint Connector

10 10

190

150

130

20.2

10.2 28

Driving Slider

M8, Depth 10

0.2

7 6

0.2

152

156

T-slot Dimension

FS-11NM-60 (Single Slider)

Stroke 300 400 500 600 700 800 900 1000

A 604 704 804 904 1004 1104 1204 1304

B 480 580 680 780 880 980 1080 1180

C 300 400 500 600 700 800 900 1000

D 360 460 560 660 760 860 960 1060

Weight

[kg]

5.0 5.4 5.8 6.2 6.6 7.0 7.4 7.8

FS-12NM-60 (Double Slider)

Stroke 300 400 500 600 700 800 900 1000

A 704 804 904 1004 1104 1204 1304 1404

B 580 680 780 880 980 1080 1180 1280

C 340 440 540 640 740 840 940 1040

D 460 560 660 760 860 960 1060 1160

Weight

[kg]

5.7 6.0 6.5 6.9 7.3 7.7 8.1 8.5

6.2 FS-11NM-100 (Single Slider), FS-12NM-100 (Double Slider)

11NM (Single Slider)

10 20 106020

M8, Depth 10

SE: Stroke end ME: Mechanical end

*1 The number in the brackets is the dimension for 12NM.

40 12

T-slot

60 (120 *1)

Home

12NM (Double Slider)

Free Slider

(300)

Cable Joint Connector

10 10

165

145

205

20.2

10.2

Driving Slider

M8, Depth 10

0.2

7 6

0.2

152

156

T-slot Dimension

FS-11NM-100 (Single Slider)

Stroke 300 400 500 600 700 800 900 1000

A 604 704 804 904 1004 1104 1204 1304

B 480 580 680 780 880 980 1080 1180

C 300 400 500 600 700 800 900 1000

D 360 460 560 660 760 860 960 1060

Weight

[kg]

5.0 5.4 5.8 6.2 6.6 7.0 7.4 7.8

FS-12NM-100 (Double Slider)

Stroke 300 400 500 600 700 800 900 1000

A 704 804 904 1004 1104 1204 1304 1404

B 580 680 780 880 980 1080 1180 1280

C 340 440 540 640 740 840 940 1040

D 460 560 660 760 860 960 1060 1160

Weight

[kg]

5.7 6.0 6.5 6.9 7.3 7.7 8.1 8.5

6.3 FS-11NO-0 (Single Slider), FS-12NO-0 (Double Slider)

11NO (Single Slider)

SE: Stroke end ME: Mechanical end

40 12

M8, Depth 10

*1 The number in the brackets is the dimension for 12NO.

T-slot

60 (120 *1)

Home

12NO (Double Slider)

10 10

Free Slider

20.2

10.2

0.2

Free Slider

M8, Depth 10

T-slot Dimension

FS-11NO-0 (Single Slider)

Stroke 300 400 500 600 700 800 900 1000

A 524 624 724 824 924 1024 1124 1224

B 508 608 708 808 908 1008 1108 1208

C 300 400 500 600 700 800 900 1000

D 360 460 560 660 760 860 960 1060

Weight

[kg]

2.4 2.8 3.2 3.6 4.1 4.4 4.8 5.2

FS-12NO-0 (Double Slider)

Stroke 300 400 500 600 700 800 900 1000

A 624 724 824 924 1024 1124 1224 1324

B 608 708 808 908 1008 1108 1208 1308

C 340 440 540 640 740 840 940 1040

D 460 560 660 760 860 960 1060 1160

Weight

[kg]

3.1 3.5 3.9 4.3 4.8 5.1 5.5 5.9

6.4 FS-11WM-100 (Single Slider), FS-12WM-100 (Double Slider)

11WM (Single Slider)

20 15

15 20

M8, Depth 14

SE: Stroke end ME: Mechanical end

*1 The number in the brackets is the dimension for 12WM.

845

103

52 12

100

T-slot

70 (140 *1)

Home

118

8110

12WM (Double Slider)

Free Slider Driving Slider

107

(300)

15 15

M8, Depth 14

205

160

71.5

134

Cable Joint Connector

20.2

10.2

195

4.5

±0.2

T-slot Dimension

FS-11WM-100 (Single Slider)

Stroke 300 400 600 800 1000 1500 2000 2500

A 661 761 961 1161 1361 1861 2361 2861

B 490 590 790 990 1190 1690 2190 2690

C 300 400 600 800 1000 1500 2000 2500

D 370 470 670 870 1070 1570 2070 2570

Weight

[kg]

8.7 9.3 10.5 11.7 12.9 15.9 18.9 21.9

FS-12WM-100 (Double Slider)

Stroke 300 400 500 600 700 800 900 1000

A 624 724 824 924 1024 1124 1224 1324

B 608 708 808 908 1008 1108 1208 1308

C 340 440 540 640 740 840 940 1040

D 460 560 660 760 860 960 1060 1160

Weight

[kg]

3.1 3.5 3.9 4.3 4.8 5.1 5.5 5.9

6.5 FS-11WM-200 (Single Slider), FS-12WM-200 (Double Slider)

11WM (Single Slider)

20 15

15 20

M8, Depth 14

SE: Stroke end ME: Mechanical end

*1 The number in the brackets is the dimension for 12WM.

845

103

52 12

100

T-slot

70 (140 *1)

Home

118

8110

12WM (Double Slider)

Free Slider Driving Slider

107

(300)

15 15

M8, Depth 14

205

160

71.5

134

Cable Joint Connector

20.2

10.2

T-slot Dimension

195

4.5

±0.2

FS-11WM-200 (Single Slider)

Stroke 300 400 600 800 1000 1500 2000 2500

A 661 761 961 1161 1361 1861 2361 2861

B 490 590 790 990 1190 1690 2190 2690

C 300 400 600 800 1000 1500 2000 2500

D 370 470 670 870 1070 1570 2070 2570

Weight

[kg]

9.8 10.4 11.6 12.8 14.0 17.0 20.0 23.0

FS-12WM-200 (Double Slider)

Stroke 300 400 600 800 1000 1500 2000 2500

A 761 861 1061 1261 1461 1961 2461 2961

B 590 690 890 1090 1290 1790 2290 2790

C 330 430 630 830 1030 1530 2030 2530

D 470 570 770 970 1170 1670 2170 2670

Weight

[kg]

11.0 11.6 12.8 14.0 15.2 18.2 21.2 24.2

6.6 FS-11WO-0 (Single Slider), FS-12WO-0 (Double Slider)

11WO (Single Slider)

20 15

15 20

SE: Stroke end ME: Mechanical end

100

103

M8, Depth 14

*1 The number in the brackets is the dimension for 12WO.

T-slot

70 (140 *1)

Home

12WO (Double Slider)

15 15

Free Slider

±0.2

20.2

±0.2

10.2

T-slot Dimension

M8, Depth 14

Free Slider

FS-11WO-0 (Single Slider)

Stroke300 400 600 800 1000 1500 2000 2500

A 551 651 851 1051 1251 1751 2251 2751

B 535 635 835 1035 1235 1735 2235 2735

C 300 400 600 800 1000 1500 2000 2500

D 370 470 670 870 1070 1570 2070 2570

Weight

[kg]

4.9 5.6 6.7 8.3 9.6 12.9 16.3 19.6



FS-12WO-0 (Double Slider)

Stroke300 400 600 800 1000 1500 2000 2500

A 651 751 951 1151 1351 1851 2351 2851

B 635 735 935 1135 1335 1835 2335 2835

C 330 430 630 830 1030 1530 2030 2530

D 470 570 770 970 1170 1670 2170 2670

Weight

[kg]

5.6 6.2 7.6 8.9 10.2 13.6 16.9 20.3



6.7 FS-11LM-400 (Single Slider), FS-12LM-400 (Double Slider)

75 25

1332135

40±0.3

10.2±0.3

20.2±0.3

T-slot Dimension

11LM (Single Slider)

15 15

2020

5-M8, Depth 12

*1 The number in the brackets is the dimension for 12LM.

54 B 150 1010

T-Slot

C: Storke

85 (170 *1)

120184 D

2020

160

12LM (Double Slider)

209.4

160

2020

10-M8, Depth 12

49.4

221

Free Slider Driving Slider

φ35

(300)

122.5 86.9

Cable Joint Connector

SE: Stroke end

ME: Mechanical end

243

FS-11LM-400 (Single Slider)

Stroke 1000 1500 2000 2500 3000

A 1549 2049 2549 3049 3549

B 1325 1825 2325 2825 3325

C 1000 1500 2000 2500 3000

D 1085 1585 2085 2585 3085

Weight [kg] 28 34 40 47 53

FS-12LM-400 (Double Slider)

Stroke 1000 1500 2000 2500 3000

A 1649 2149 2649 3149 3649

B 1425 1925 2425 2925 3425

C 1015 1515 2015 2515 3015

D 1185 1685 2185 2685 3185

Weight [kg] 31 37 43 49 56

6.8 FS-11HM-400 (Single Slider), FS-12HM-400 (Double Slider)

75 25

133 2

40±0.3

10.2±0.3

20.2±0.3

T-slot Dimension

135

11HM (Single Slider)

*1 The number in the brackets is the dimension for 12LM.

184

T-Slot

C: Storke

2020

5-M8, Depth 12

85 (170 *1)

120

160

150

12HM (Double Slider)

Free Slider Driving Slider

φ35

(300)

122.5 86.9

Cable Joint Connector

ME: Mechanical end

2020

10-M8, Depth 12

209.4

160

49.4

221

243

FS-11HM-400 (Single Slider)



Stroke

1000 1500 2000 2500 3000

A 1549 2049 2549 3049 3549

B 1325 1825 2325 2825 3325

C 1000 1500 2000 2500 3000

D 1085 1585 2085 2585 3085

Weight [kg]



28 34 40 47 53



FS-12HM-400 (Double Slider)



Stroke

A 1649 2149 2649 3149 3649

B 1425 1925 2425 2925 3425

C 1015 1515 2015 2515 3015

D 1185 1685 2185 2685 3185

Weight [kg]

1000 1500 2000 2500 3000



31 37 43 49 56

6.9 FS-11LO-0 (Single Slider), FS-12LO-0 (Double Slider)

135

133

40±0.3

T-slot Dimension

10.2±0.3

20.2±0.3

SE: Stroke end

184

T-Slot

ME: Mechanical end

FS-11LO-0 (Single Slider)

11LO (Single Slider)

5-M8, Depth 12

12LO (Double Slider)

Free Slider Free Slider

130

2020

10-M8, Depth 12



Stroke

1000 1500 2000 2500 3000

A 1403 1903 2403 2903 3403

B 1379 1879 2379 2879 3379

C 1000 1500 2000 2500 3000

D 1085 1585 2085 2585 3085

Weight [kg]



19 25 31 38 44

FS-12LO-0 (Double Slider)

Stroke



1000 1500 2000 2500 3000

A 1503 2003 2503 3003 3503

B 1479 1979 2479 2979 3479

C 1015 1515 2015 2525 3025

D 1185 1685 2185 2685 3185

Weight [kg]

22 28 34 40 46

7. Life

The product life is 20,000km (reference) when operating the actuator with the maximum allowable load moment.

8. Warranty

8.1 Warranty Period

One of the following periods, whichever is shorter:

y 18 months after shipment from IAI y 12 months after delivery to the specified location y 2,500 hours of operation

8.2 Scope of the 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. (2) The breakdown or problem in question occurred during the warranty period. (3) The breakdown or problem in question occurred while the product was in use for an appropriate

purpose under the conditions and environment of use specified in the

catalog. (4) The breakdown of problem in question was caused by a specification defect or problem, or by a

quality issue with our product.

Note that breakdowns due to any of the following reasons are excluded from the scope of warranty:

1) Anything other than our product

2) Modification or repair performed by a party other than us (unless we have approved such modification or repair)

3) Anything that could not be easily predicted with the level of science and technology available at the time of shipment from our company

4) A natural disaster, man-made disaster, incident or accident for which we are not liable

5) Natural fading of paint or other symptoms of aging

6) Wear, depletion or other expected result of use

7) Operation noise, vibration or other subjective sensation not affecting function or maintenance

operation manual and

Note that the warranty only covers our product as delivered and that any secondary loss arising from a breakdown of our product is excluded from the scope of warranty.

8.3 Honoring the Warranty

As a rule, the product must be brought to us for repair under warranty.

8.4 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.



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

(1) If our product is combined with another product or any system, device, etc., used by the customer,

the customer must first check the applicable standards, regulations and/or rules. The customer is also responsible for confirming that such combination with our product conforms to the applicable standards, etc. In such a case we will not be liable for the conformance of our product with the applicable standards, etc.

(2) Our product is for general industrial use. It is not intended or designed for the applications

specified below, which require a high level of safety. Accordingly, as a rule our product cannot be used in these applications. Contact us if you must use our product for any of these applications:

1) Medical equipment pertaining to maintenance or management of human life or health

2) A mechanism or mechanical equipment intended to move or transport people (such as a vehicle, railway facility or aviation facility)

3) Important safety parts of mechanical equipment (such as safety devices)

4) Equipment used to handle cultural assets, art or other irreplaceable items

(3) Contact us at the earliest opportunity if our product is to be used in any condition or environment

that differs from what is specified in the catalog or

operation manual.

8.6 Other Items Excluded from Warranty

The price of the product delivered to you does not include expenses associated with programming, the dispatch of engineers, etc. Accordingly, a separate fee will be charged in the following cases even during the warranty period:

1) Guidance for installation/adjustment and witnessing of test operation

2) Maintenance and inspection

3) Technical guidance and education on operating/wiring methods, etc.

4) Technical guidance and education on programming and other items related to programs

Change History

Revision Date Description of Revision

2012.01

2012.07

Sixth edition

Page 6 Note of available and not available added to attachment

posture

Seventh edition Whole construction revised and corrected

 

Manual No.: ME3607-7A (July 2012)

Head Office: 577-1 Obane Shimizu-KU Shizuoka City Shizuoka 424-0103, Japan

Atlanta Office: 1220 Kennestone Circle, Suite 108, Marietta, GA 30066

SHANGHAI JIAHUA BUSINESS CENTER A8-303, 808, Hongqiao Rd. Shanghai 200030, China

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. 237th Street, Torrance, CA 90505

TEL (310) 891-6015 FAX (310) 891-0815

Chicago Office: 1261 Hamilton Parkway, Itasca, IL 60143

TEL (630) 467-9900 FAX (630) 467-9912

TEL (678) 354-9470 FAX (678) 354-9471

website: www.intelligentactuator.com

Ober der Röth 4, D-65824 Schwalbach am Taunus, Germany

TEL 06196-88950 FAX 06196-889524

TEL 021-6448-4753 FAX 021-6448-3992

website: www.iai-robot.com

12.07.000

IAI America FS User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Please Read Before Use

CE Marking

Table of Contents

Safety Guide

Caution in Handling

Names of the Parts

1. Specifications Check

1.1 Product Check

1.2 Specification

1.3 Option

1.4 Motor • Encoder Cables

2. Installation

2.1 Transportation

2.2 Installation and Storage • Preservation Environment

2.3 How to Install

3. Connection to the Controller

4. Setting the Home Position

5. Maintenance Inspection

5.1 Inspection Items and Inspection Schedule

5.2 Visual inspection

5.3 Cleaning

5.4 Inside Visual Inspection

5.5 Internal Cleanup

5.6 Grease Supply

5.7 Driving Belt Replacement

5.8 How to Replace the Deceleration Belt

5.9 Motor Replacement

6. External Dimensions

6.1 FS-11NM-60 (Single Slider), FS-12NM-60 (Double Slider)

6.2 FS-11NM-100 (Single Slider), FS-12NM-100 (Double Slider)

6.3 FS-11NO-0 (Single Slider), FS-12NO-0 (Double Slider)

6.4 FS-11WM-100 (Single Slider), FS-12WM-100 (Double Slider)

6.5 FS-11WM-200 (Single Slider), FS-12WM-200 (Double Slider)

6.6 FS-11WO-0 (Single Slider), FS-12WO-0 (Double Slider)

6.7 FS-11LM-400 (Single Slider), FS-12LM-400 (Double Slider)

6.8 FS-11HM-400 (Single Slider), FS-12HM-400 (Double Slider)

6.9 FS-11LO-0 (Single Slider), FS-12LO-0 (Double Slider)

7. Life

8. Warranty

8.1 Warranty Period

8.2 Scope of the Warranty

8.3 Honoring the Warranty

8.4 Limited Liability

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

8.6 Other Items Excluded from Warranty

Change History