IAI America FS User Manual
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.
Table of Contents
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.
1
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
2
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
2
(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).
3
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.
4
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
5
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,
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 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.
6
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
7
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.
8
Names of the Parts
r
r
r
r
r
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
9
10
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
2
(Note 1)
3 In-House Made Seals 1 set
4 T-Nut
5 First Step Guide 1
Operation Manual
6
(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
1
1
table below
1
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
11
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.
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.
12
(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
13
1.1.4 How to read the model No.
(Note1
)
(Note1
)
[FS]
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
<Motor Type>
60 : 60W 200 : 200W
100 : 100W 400 : 400W
Identification for IAI use only
<Option>
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
<Cable Length>
N : No cable
S : 3m
M : 5m
XƑƑ : Specified Length (Example: X07=7m)
<Applicable Controller>
T1 : XSEL-J/K
T2 : SCON
SSEL
XSEL-P/Q
<Stroke>
[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
<Stroke>
[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.
14
1.2 Specification
[1] Max. speed
There is a limit in the maximum speed of the actuators.
Restriction on Speed (Unit: mm/s)
Type
SA
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
SA
MA 200 1 to 1750
Type
SA
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]
SA
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]
15
[3] Driving System and Position Detector
Type
SA
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]
60
100
Item Specification
Lost Motion 0.1mm or less
No. of Encoder
Pulses
16384 Timing belt
Drive System
16
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.
17
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
PE
U
V
W
Mechanical Side
1
2
3
4
1
U
2
V
3
W
4
PE
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
SD
VCC
GND
FG
BKBK+
Color
Black
Yellow
Blue
Orange
Green
Brown
Drain
Gray
Red
Wiring
0.15sq
(Solderless)
18
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
OT
RSV
-
-
A+
AB+
BZ+
Z-
SRD+
SRDBAT+
BAT-
VCC
GND
BKR-
BKR+
-
Signal
24VOUT
N
LS
CREEP
OT
RSV
No.
10
11
12
13
26
25
24
23
9
18
19
1
2
3
4
5
6
7
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
N
LS
OT
RSV
Color
Sky Blue
Pink
Light Green
Orange
Gray
1B/Sky Blue
Wiring
AWG24
(Solderless)
LS Side
Signal
No.
1
E24V
2
0V
3
LS
4
CREEP
5
OT
6
RSV
No.
Signal
1
BAT+
2
BAT-
3
SD
4
SD
5
VCC
6
GND
7
FG
8
BK-
9
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)
19
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.
20
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