IAI America LSA-L15SS User Manual

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Page 1

IAI America, Inc.

Linear Servo Actuator

LSA Series

Operating Manual

Third Edition

Small Type: Flat Type:

H8SS, H8SM, H8HS, H8HM L15SS, S15SM

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Please Read Before Use

Thank you for purchasing our product.

This Operating Manual explains the handling methods, structure and maintenance of this product, among others, providing the information you need to know to use the product safely.

Before using the product, be sure to read this manual and fully understand the contents explained herein to ensure safe use of the product. The DVD that comes with the product contains Operating manuals for IAI products. When using the product, refer to the necessary portions of the applicable instruction manual by printing them out or displaying them on a PC.

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

[Important]

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

contact our customer center or our sales office near you.

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

sentences are registered trademarks.

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Safety Guide........................................................................................................... 1

Caution in Handling ................................................................................................ 8

International Standards Compliances..................................................................... 9

Names of the Parts............................................................................................... 10

1. Small Type H8SS, H8SM, H8HS, H8HM ....................................................................... 10

2. Flat Type L15SS, L15SM................................................................................................ 10

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

1.1 Checking the Product.........................................................................................................11

1.1.1 Parts......................................................................................................................11

1.1.2 Operating Manuals for the Controllers Related to this Product ............................11

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

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

1.2 Specification ...................................................................................................................... 14

1.2.1 Speed................................................................................................................... 14

1.2.2 Maximum acceleration/deceleration, Maximum load capacity and Rated thrust. 15

1.2.3 No. of Encoder Pulses ......................................................................................... 16

1.2.4 Positioning Precision............................................................................................ 16

1.2.5 Allowable Load Moments of the Actuator ............................................................ 17

1.2.6 Duty Ratio in Continuous Operation .................................................................... 17

1.3 Operating conditions ......................................................................................................... 18

1.3.1 Available Conditions for Operation ...................................................................... 18

1.3.2 Availability Judgment for each Operational Condition ......................................... 19

1.3.3 Example for Judging Operation Availability by Operational Conditions............... 21

1.4 Option................................................................................................................................ 23

1.4.1 Cable Track Attachment Orientations 2 to 6 (Model: CT2 to CT6) ...................... 23

1.4.2 Cable Track for User S Type Attachment Orientations 1 to 6

(Model: US1 to US6)............................................................................................ 24

1.4.3 Cable Track for User M Type Attachment Orientations 1 to 6

(Model: UM1 to UM6)........................................................................................... 25

1.5 Motor • Encoder Cables .................................................................................................... 26

1.5.1 Motor • Encoder Cables for Linear Servo Actuator.............................................. 26

1.5.2 Cable in the bearer .............................................................................................. 28

2. Installation ...................................................................................................... 29

2.1 Transportation ................................................................................................................... 29

2.2 Installation and Storage • Preservation Environment........................................................ 31

2.3 How to Install..................................................................................................................... 32

2.3.1 Installation............................................................................................................ 32

2.3.2 Installation of Main Unit........................................................................................ 33

2.3.3 Attachment of Transported Object ....................................................................... 36

2.3.4 Installation Surface............................................................................................... 38

2.3.5 Mount of Connector Box and Others ................................................................... 39

3. Connecting with the Controller ....................................................................... 40

4. Operation........................................................................................................ 44

4.1 Home Return..................................................................................................................... 44

4.1.1 Principle of Home-Return Operation.................................................................... 44

4.1.2 Fine-tuning the Home Position............................................................................. 44

4.1.3 Changing the Home Direction.............................................................................. 44

5. Troubleshooting.............................................................................................. 45

5.1 Encoder Open Error (Error Code: D12) ............................................................................ 45

5.2 Driver Overload Error (Error Code: D0A).......................................................................... 46

5.3 Deviation Overflow Error (Error Code: C6B)..................................................................... 47

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6. Maintenance and Inspection........................................................................... 48

6.1 Inspection Items and Schedule......................................................................................... 48

6.2 Visually Inspecting the Exterior......................................................................................... 48

6.3 Cleaning ............................................................................................................................ 48

6.4 Interior Inspection.............................................................................................................. 49

6.4.1 Small Type H8SS, H8SM, H8HS, H8HM............................................................. 49

6.4.2 Flat Type L15SS, L15SM..................................................................................... 49

6.5 Procedures for Replacement and Adjustment of Stainless Steel Sheet ........................... 50

6.5.1 Replacement Procedure for Stainless Steel Sheet.............................................. 51

6.5.2 Adjusting the Stainless Steel Sheet Tension........................................................ 52

6.5.3 Operation Check .................................................................................................. 54

7. Life.................................................................................................................. 55

8. External Dimensions....................................................................................... 56

8.1 Small Type H8SS .............................................................................................................. 56

8.2 Small Type H8SM.............................................................................................................. 57

8.3 Small Type H8HS .............................................................................................................. 58

8.4 Small Type H8HM ............................................................................................................. 59

8.5 Flat Type L15SS................................................................................................................ 60

8.6 Flat Type L15SM ............................................................................................................... 61

9. Warranty......................................................................................................... 62

9.1 Warranty Period ................................................................................................................ 62

9.2 Scope of the Warranty....................................................................................................... 62

9.3 Honoring the Warranty...................................................................................................... 62

9.4 Limited Liability.................................................................................................................. 62

9.5 Conditions of Conformance with Applicable Standards/Regulations, Etc.,

and Applications ................................................................................................................ 63

9.6 Other Items Excluded from Warranty................................................................................ 63

Change History..................................................................................................... 64

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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 1before 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.

Operation

Description

1 Model

Selection

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.

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No.

Operation

Description

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

utilize equipment such as crane.

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

to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.

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

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

Ɣ Transport it using an appropriate transportation measure.

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

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

who has qualifications for crane operation and sling work.

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

load that weighs more than the equipment’s capability limit.

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

hook in such factors as shear strength.

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

3 Storage and

Preservation

Ɣ The storage and preservation environment conforms to the installation

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

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

to an act of God such as earthquake.

4 Installation

and Start

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

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

Ɣ Do not get on or put anything on the product. Failure to do so may cause

an accidental fall, injury or damage to the product due to a drop of anything, malfunction of the product, performance degradation, or shortening of its life.

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

sufficient shield.

1) Location where electric noise is generated

2) Location where high electrical or magnetic field is present

3) Location with the mains or power lines passing nearby

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

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No.

Operation

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.

4 Installation

and Start

(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).

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No.

Operation

Description

4 Installation

and Start

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

to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.

Ɣ When the product is under operation or in the ready mode, take the

safety measures (such as the installation of safety and protection fence) so that nobody can enter the area within the robot’s movable range. When the robot under operation is touched, it may result in death or serious injury.

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

stopped immediately in an emergency during the unit operation.

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

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

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

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

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

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

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

emergency stop.

Ɣ Wear protection gloves, goggle or safety shoes, as necessary, to secure

safety.

Ɣ Do not insert a finger or object in the openings in the product. Failure to

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

Ɣ When releasing the brake on a vertically oriented actuator, exercise

precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity.

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

to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.

Ɣ Perform the teaching operation from outside the safety protection fence,

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

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

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

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

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

Ɣ Place a sign “Under Operation” at the position easy to see. Ɣ When releasing the brake on a vertically oriented actuator, exercise

precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity.

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

the movable range should be indicated.

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No.

Operation

Description

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

to be the leader and who to be the follower(s) and communicate well with each other to ensure the safety of the workers.

Ɣ After the teaching or programming operation, perform the check

operation one step by one step and then shift to the automatic operation.

Ɣ When the check operation is to be performed inside the safety protection

fence, perform the check operation using the previously specified work procedure like the teaching operation.

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

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

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

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

7 Automatic

Operation

Ɣ Check before starting the automatic operation or rebooting after

operation stop that there is nobody in the safety protection fence.

Ɣ Before starting automatic operation, make sure that all peripheral

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

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

protection fence.

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

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

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

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

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No.

Operation

Description

8 Maintenance

and Inspection

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

to be the leader and who to be the follower(s) and communicate well with each other to 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 Operating Manual for each model.

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

a damage to the product.

Ɣ When releasing the brake on a vertically oriented actuator, exercise

precaution not to pinch your hand or damage the work parts with the actuator dropped by gravity.

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

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

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

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

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

fence, the movable range should be indicated.

9 Modification

and Dismantle

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

specified based at your own discretion.

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

properly as an industrial waste.

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

components when detaching screws.

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

The product may burst or generate toxic gases.

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

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

Ɣ See Overseas Specifications Compliance Manual to check whether

complies if necessary.

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

Operating manual of each unit to ensure the safety.

Page 13

Alert Indication

The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and described in the Operating Manual for each model.

Level Degree of Danger and Damage Symbol

Danger

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

Danger

Warning

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

Warning

Caution

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

Caution

Notice

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

Notice

Page 14

Caution in Handling

1. Make sure to follow the usage condition, environment and specification range of the product.

Operaton out of the guarantee could cause a drop in performance or malfunction of the product.

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

If the actuators are moved back and forth continuously over a short distance of 30 mm or less, grease film may run out. As a guide, move the actuators back and forth repeatedly for around 5 cycles over a distance of 50 mm or more after every 5,000 to 10,000 cycles. Keep using the actuators with the grease worn out may cause malfunction.

3. Make sure to attach the actuator properly by following this operating manual.

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

Warning: Do not get closer than 30cm if you are a person who needs a support of a

medical device such as a pacemaker. This actuator uses high-performance rare-earth permanent magnets. Therefore an unexpected operation may be caused to a medical device especially when using such a device such as a pacemaker.

Caution:

• Do not attempt to get a magnetic card close to the product. Having a magnetic

storage medium close to the product may disable the medium by destroying data.

• Do not attempt to get a precision instrument such as an electric watch close to the

product. Doing so may cause a trouble to the instrument

Page 15

International Standards Compliances

This actuator complies with the following overseas standard. Refer to Overseas Standard Compliance Manual (ME0287) for more detailed information.

RoHS Directive CE Marking

c ¯

Page 16

Names of the Parts

In this manual, the right-left directions of the actuator are indicated by viewing the actuator from its top and also from its home side, with the actuator placed horizontally. “Front” refers to the side opposite to one on which the actuator home is located.

1. Small Type H8SS, H8SM

(Note 1)

, H8HS, H8HM

(Note 1)

Note 1 Multi-slider type: There are two sliders mounted.

Cable track

Stainless steel sheet

Slider cover

Side cover

Cable in the bearer

Right

Left

Slider

End cover

Home side



2. Flat Type L15SS, L15SM

(Note 1)

Note 1 Multi-slider type: There are two sliders mounted.

Cable in the bearer

Cable track

Right

Left

Home side

Slider

End cover

Linear guide



(Reference) In the above figure, the cables are facing up or the top side, while the home is located on the right side. The actuator is shipped with its home adjusted to the side specified by the customer. Accordingly, the home position on your actuator may be different from the direction shown in the figure.

Page 17

1. Specifications Check

1.1 Checking the Product

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 fault or missing parts, contact your local IAI distributor.

1.1.1 Parts

No. Name Model number Quantity Remarks

1 Actuator

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

Accessories

Motor • encoder cables

(Note1)

1set

3 First Step Guide 1

4 Operating Manual (DVD) 1

5 Safety Guide 1

Note1 [Refer to 1.5, “Motor • Encoder Cables.”]

1.1.2 Operating Manuals for the Controllers Related to this Product

(1) Manuals Related to XSEL-P/Q controllers

No. Name Control No.

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

(2) Manuals Related to SSEL controllers

No. Name Control No.

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

1. Specications Check

Page 18

1. Specications Check

(3) Manuals Related to SCON controllers

No. Name Control No.

1 Operating Manual for SCON Controller ME0161 2 Operating Manual for SCON-CA Controller ME0243 3 Operating Manual for PC Software RCM-101-MW/RCM-101-USB ME0155 4 Operating Manual for Teaching Pendant CON-T/TG ME0178 5 Operating Manual for Touch Panel Teaching Pendant CON-PT/PD/PG ME0227 6 Operating Manual for Touch Panel Teaching Pendant CON-PTA/PDA/PGA ME0295 7 Operating Manual for Simple Teaching Pendant RCM-E ME0174 8 Operating Manual for Data Setter RCM-P ME0175

9 Operating Manual for Touch Panel Display RCM-PM-01 ME0182 10 Operating Manual for DeviceNet ME0124 11 Operating Manual for CC-Link ME0123 12 Operating Manual for PROFIBUS-DP ME0153

1.1.3 How to Read the Model Nameplate

Model

Serial numbe

MODEL LSA-H8SS-I-200-50-T2-P-CT2

SERIAL No.600117640 MADE IN JAPAN

Page 19

1.1.4 How to Read the Model Number

LSA㧙H8SS㧙I㧙200㧙50㧙T2㧙P㧙CT2

㧙

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

model type.

Series

<Type>

Small Type H8SS:

width 80mm Single Slider

H8SM:

width 80mm Double Slider

H8HS:

width 80mm High-Thrust Single Slider

H8HM:

width 80mm High-Thrust Double

Slider Flat Type L15SS:

width 145mm Single Slider L15SM:

width 145mm Double Slider

I : Incremental

200: 200W

Identification for IAI use only

(Note1)

None:

Cable Track Attachment Orientation㧝 (Standard Equipment)

CT2 to 6㧦

Cable Track Attachment Orientations 2 to 6

US1 to 6㧦

Cable Track for User S type Attachment Orientations 1 to 6

UM1 to 6㧦

Cable Track for User M type Attachment Orientations 1 to 6

N : None P : 1m S : 3m M : 5m XƑƑ : Length Specification

T2 : SCON : SSEL : XSEL-P/Q

<Stroke> [Refer to 1.2 “Specifications”]

1. Specications Check

Page 20

1. Specications Check

1.2 Specification

1.2.1 Speed

[1] H8SS

Speed limits (Unit: mm/s)

Stroke [mm]

Motor

Type

Minimum

Speed

50 150 250 350 450 550 650 750 850

2500

950 1050 1150 1250 1350 1450 1550 1650 -

200 㧝

2500 -

[2] H8SM

Speed limits (Unit: mm/s)

Stroke [mm]

Motor

Type

Minimum

Speed

130 230 330 430 530 630 730

2500

830 930 1030 1130 1230 1330 1430

200 㧝

2500

[3] H8HS

Speed limits (Unit: mm/s)

Stroke [mm]

Motor

Type

Minimum

Speed

50 150 250 350 450 550 650 750

2500

850 950 1050 1150 1250 1350 1450 1550

200 㧝

2500

[4] H8HM

Speed limits (Unit: mm/s)

Stroke [mm]

Motor

Type

Minimum

Speed

130 230 330 430 530 630

2500

730 830 930 1030 1130 1230

200 㧝

2500

[5] L15SS

Speed limits (Unit: mm/s)

Stroke [mm]

Motor

Type

Minimum

Speed

150 250 350 450 550 650 750 850

2500

950 1050 1150 1250 1350 1450 1550 1650

200 㧝

2500

[6] L15SM

Speed limits (Unit: mm/s)

Stroke [mm]

Motor

Type

Minimum

Speed

50 150 250 350 450 550 650 750

2500

850 950 1050 1150 1250 1350 1450 -

200 㧝

2500 -

Page 21

1.2.2 Maximum acceleration/deceleration, Maximum load capacity and Rated thrust

Type Item Specifications

Maximum acceleration/deceleration

(Note 1)

Maximum load capacity

(Note 1)

5kg

H8SS, H8SM

Rated thrust 30N Maximum acceleration/deceleration

(Note 1)

Maximum load capacity

(Note 1)

8kg

H8HS, H8HM

Rated thrust 60N Maximum acceleration/deceleration

(Note 1)

Maximum load capacity

(Note 1)

5kg

L15SS, L15SM

Rated thrust 30N

Note 1 The available acceleration/deceleration and the load capacity may differ depending

on the operational conditions. [Refer to 1.3 “Operating conditions”]

1. Specications Check

Page 22

1. Specications Check

1.2.3 No. of Encoder Pulses

Type No. of Encoder Pulses Lead Length [mm]

H8SS, H8SM 50000 50 H8HS, H8HM 50000 50 L15SS, L15SM 50000 50

1.2.4 Positioning Precision

Type Item Specifications

Positioning Repeatability ±0.005mm

H8SS, H8SM

Lost Motion 0.02mm or less Positioning Repeatability ±0.005mm

H8HS, H8HM

Lost Motion 0.02mm or less Positioning Repeatability ±0.005mm

L15SS, L15SM

Lost Motion 0.02mm or less 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.

Page 23

1.2.5 Allowable Load Moments of the Actuator

Allowable Dynamic Load Moment

[N·m]

Type

Ma Mb Mc

Allowable Overhang

Load Length (L)

(Note 1)

H8SS, H8SM H8HS, H8HM

8.65 8.65 8.65

Ma direction: 300mm or less

Mb, Mc direction: 300mm or less

L15SS, L15SM 24.2 24.2 24.2

Ma direction: 525mm or less

Mb, Mc direction: 525mm or less

Note 1: The values for allowable overhang load length are those when the center of the gravity of

the load is at 1/2 of the overhang length.

L15SS, L15SM

Mb or Mc direction Ma direction

H8SS, H8SM

H8HS, H8HM

Mb or Mc direction Ma direction

Caution: Using the product above the allowable moment or overhang load length may cause

not only to generate abnormal noise or vibration, but also to shorten the product life remarkably.

1.2.6 Duty Ratio in Continuous Operation

The duty ratio may differ depending on the acceleration/deceleration and transported weight. [Refer to 1.3 “Operating conditions”]

1. Specications Check

Page 24

1. Specications Check

1.3 Operating conditions

1.3.1 Available Conditions for Operation

When selecting a desired model of linear servo actuator (small type / flat type), you must ensure that the selected actuator satisfies the following two conditions.

[Condition 1] The thrust required for acceleration

must not exceed the maximum thrust of the linear servo

actuator.

[Condition 2] The thrust during continuous operation

must not exceed the rated thrust of the linear servo actuator.

The above conditions are explained by using a trapezoid operation as an example.

Speed

Time

The above operation pattern can be expressed differently in a graph where the vertical axis represents thrust.

Time

Thrust

t : Operation time per cycle (sec) ta : Acceleration time (sec) tf : Moving time at constant speed (sec) td : Deceleration time (sec)

Fa : Thrust required for acceleration (N) Ff : Traveling resistance (N) Fd : Thrust required for deceleration (N)

Page 25

1.3.2 Availability Judgment for each Operational Condition

[1] Condition 1 Judgment of Thrust Necessary for Acceleration

For the slider to accelerate according to a command, the thrust required for acceleration, or Fa, must be smaller than the maximum thrust.

Fa = (M + m) • a + Ft

Here, M : Slider weight (kg) m : Slider payload (kg) a : Commanded acceleration (m/s

)* *1G = 9.8 m/s

Ff : Traveling resistance (N)

In the case of a linear servo actuator (small type / flat type), the traveling resistance is determined by the speed and empirically calculated as specified below.

[Traveling resistance] The table below lists the traveling resistance of each model.

Ff = 2V + 10 V: Slider speed (m/s)

(Achieved speed is used in a triangle wave operation.)

If the obtained Fa is smaller than the maximum thrust of the linear servo actuator (small type / flat type), condition 1 is satisfied.

Maximum thrust (N) H8SS, H8SM 90 H8HS, H8HM 180 L15SS, L15SM 90

[Slider weight] Small type H8SS, H8SM : 1.5kg Small type H8HS, H8HM : 2.0kg Flat type L15SS, L15SM : 1.5kg

1. Specications Check

Page 26

1. Specications Check

[2] Condition 2 Judgment of Thrust for Continuous Operation

It is necessary that the continuous operational thrust Ft considering the load and duty is smaller than the rated thrust.

Fa : Thrust required for acceleration (N) ta : Acceleration time (sec) td : Deceleration time (sec) Ff : Traveling resistance (N) tf : Moving time at constant speed (sec) t : Operation time per cycle (sec) (t = ta + tf + td + 0.15)

Here, Fd indicates the thrust required for deceleration and can be calculated as follows:

Fd = (M +m) • d – Ff

M : Slider weight (kg) m : Slider payload (kg) d : Commanded deceleration (m/s

)

Ff : Traveling resistance (N)

Condition 2 is satisfied if the continuous operational thrust Ft figured out as described above is smaller than the rated thrust.

Rated thrust (N) H8SS, H8SM 30 H8HS, H8HM 60 L15SS, L15SM 30

The actuator can be used in any operating conditions that satisfy both conditions 1 and 2 specified above. If either condition cannot be satisfied, take appropriate measures such as reducing the slider load, acceleration or duty.

㨯

ta+ F

㨯

tf+ F

㨯

t 㧩

[Slider weight] Small type H8SS, H8SM : 1.5kg Small type H8HS, H8HM : 2.0kg Flat type L15SS, L15SM : 1.5kg

Page 27

1.3.3 Example for Judging Operation Availability by Operational Conditions

[Operating conditions]

• Applicable model : H8SS/H8SM type

• Speed : 2.5m/s

• Acceleration : 19.6m/s

(The deceleration is

assumed to be the same.)

• Travel : 1.5m

• Slider payload : 3kg

• The actuator moves back and forth over a stroke of 1.5m.

The above operation pattern can be illustrated by the graph shown to the right.

Now, let’s start calculation according to “Selection Method.”

1) Figure out the maximum thrust of Condition 1. Apply the above operation pattern to the aforementioned equation of maximum thrust.

Fa = (M +m) •a + Ff

Here, M : Slider weight (1.5kg for the H8SS/H8SM) m : Slider load (kg) : 3kg in this example a : Commanded acceleration (m/s

) : 19.6m/s2 in this example

Ff : Traveling resistance (N) : 15N in this example

From above, Fa is calculated as follows: Fa = (4.5 × 19.6 + 15) ĺ 103.2N

The calculated value exceeds the maximum thrust 90N of the H8SS/H8SM.

Let’s lower the specified acceleration to 14.7m/s

. Fa changes as follows:

Fa = (4.5 × 14.7 + 15) ĺ 81.15N.

The calculated value is smaller than the maximum thrust 90N of the H8SS/H8SM.

1G = 9.8m/s

Speed

Time

ta tf td

1. Specications Check

Page 28

1. Specications Check

2) Figure out the continuous operational thrust of Condition 2. Substitute the operation pattern above to the continuous operational thrust formula. Based on the examination result of maximum thrust, the specified acceleration is assumed as

14.7m/s

Here, Fa = 81.15N, Ff = 15N, Fd = 51.15N, ta = td = 0.17s, tf = 0.43s, t = 0.92s

From the above, Ft is calculated as 42.49N.

Since this value exceeds the rated thrust 30N of the H8SS/H8SM, this actuator cannot be used in the aforementioned operation pattern. Let’s lower the duty and see what happens. Repeat the above calculation based on t = 2.0s.

Speed

Time

t = 2.0

This time, Ft is calculated as 28.82N. Accordingly, the actuator can be used in this operation pattern.

㨯

ta+ F

㨯

tf+ F

㨯

t 㧩

Page 29

1.4 Option

1.4.1 Cable Track Attachment Orientations 2 to 6 (Model: CT2 to CT6)

These are the attachment orientation indications with no cable track for user (option). The attachment orientation of cable track is either the four orientations in Standard Horizontal Orientation Mount or two orientations in Horizontally Oriented Wall Mount. Refer to the table below for the availability of Single Slider and Double Slider.

Option Model Attachment Orientation Single Slider Double Slider

None Attachment Orientation 1

{ {

CT2 Attachment Orientation 2

{

CT3 Attachment Orientation 3

{

CT4 Attachment Orientation 4

{

CT5 Attachment Orientation 5

{ {

CT6 Attachment Orientation 6

{

[Attachment Orientation]

Attachment Orientation 1

(Standard)

Attachment Orientation 2

(Opposite Type) CT2

Attachment Orientation 3

CT3 Single Slider is to be attached in the orientation shown in the figure below. Multi Slider is to be attached in the orientation shown in the figure below on both right and left sides.

It is the opposite type in the attachment to Attachment Orientation 1 (Standard).

It is the type with the home position on the opposite side from Attachment Orientation 1 (Standard).

Attachment Orientation 4

CT4

Attachment Orientation 5

(Standard Horizontally

Oriented Wall Mount) CT5

Attachment Orientation 6

(Opposite Type Horizontally

Oriented Wall Mount) CT6 It is the opposite type in the attachment to and also the home position on the opposite side from Attachment Orientation 1 (Standard).

Single Slider is to be attached in the orientation shown in the figure below. Multi Slider is to be attached in the orientation shown in the figure below on both right and left sides.

It is the opposite type in the attachment to Attachment Orientation 6 (Standard Horizontally Oriented Wall Mount).

1. Specications Check

Page 30

1. Specications Check

1.4.2 Cable Track for User S Type Attachment Orientations 1 to 6 (Model: US1 to US6)

These are the indications when attaching S Type User Cable Track to the standard cable track. Attachment orientation is also to be indicated. The attachment orientation of cable track is either the four orientations in Standard Horizontal Orientation Mount or two orientations in Horizontally Oriented Wall Mount. [Refer to “Attachment Orientation” in the “1.4.1 Cable Track Attachment Orientations 2 to 6 (Model: CT2 to CT6)”] Refer to the table below for the availability of Single Slider and Double Slider.

Option Model Attachment Orientation Single Slider Double Slider

US1 Attachment Orientation 1

{ {

US2 Attachment Orientation 2

{

US3 Attachment Orientation 3

{

US4 Attachment Orientation 4

{

US5 Attachment Orientation 5

{ {

US6 Attachment Orientation 6

{

[Dimensional Drawing for S Type User Cable]

Horizontal Type Horizontally Oriented

Wall Mount Type

Cable Track for user

Page 31

1.4.3 Cable Track for User M Type Attachment Orientations 1 to 6 (Model: UM1 to UM6)

These are the indications when attaching M Type User Cable Track to the standard cable track. Attachment orientation is also to be indicated. The attachment orientation of cable track is either the four orientations in Standard Horizontal Orientation Mount or two orientations in Horizontally Oriented Wall Mount. [Refer to “Attachment Orientation” in the “1.4.1 Cable Track Attachment Orientations 2 to 6 (Model: CT2 to CT6)”] Refer to the table below for the availability of Single Slider and Double Slider.

Option Model Attachment Orientation Single Slider Double Slider

UM1 Attachment Orientation 1

{ {

UM2 Attachment Orientation 2

{

UM3 Attachment Orientation 3

{

UM4 Attachment Orientation 4

{

UM5 Attachment Orientation 5

{ {

UM6 Attachment Orientation 6

{

[Dimensional Drawing for M Type User Cable]

Cable Track for user

Horizontal Type Horizontally Oriented

Wall Mount Type

1. Specications Check

Page 32

1. Specications Check

1.5 Motor • Encoder Cables

1.5.1 Motor • Encoder Cables for Linear Servo Actuator

[1] Motor Cable (Model : CB-X-MAƑƑƑ)

ƑƑƑ indicates the cable length (L) (Example: 080=8m), Max.30m

Green

Red White Black

U V

1 2 3 4

Red White Black

Green

U V

1 2 3 4

(18)

(41)

(16)

(φ9)

(20)

(10)

(21)

Controller Side Mechanical Side

(Front View)

[Bending Radius] When used under moving condition : 51mm When used in fixed condition : 34mm

(Front View)

Electric

Wire Color

Signal

Abbreviation

Pin No.

Width

Electric

Wire Color

Signal

Abbreviation

Pin No.

Width

AWG 19

(0.75mm

)

(Solderless)

AWG 19

(0.75mm

)

Page 33

[2] Encoder Cable (Model : CB-X3-PAƑƑƑ)

ƑƑƑ indicates the cable length (L) (Example: 080=8m), Max.30m

(41)

Controller Side

(37)

Mechanical Side

(Front View)

(25)

Ground wire and braided shield wires

AWG26

(0.12mm

)

(Solderless)

AWG26

(0.12mm

)

(Soldered)

White/Green

White/Orange

White/Blue

White/Yellow

White/Red

White/Black

White/Purple

White/Gray

Orange Green Purple

Gray

Red

Brack

Blue

Yellow

E24V

0V LS

CREEP

RSV

A+

A-

B+

B-

Z+

Z-

SRD+

SRD-

BAT

VCC

GND

BKR-

BKR+

10 11 12 13 26 25 24 23

9 18 19

8 14 15 16 17 20 21 22

White/Blue

White/Yellow

White/Red

White/Black

White/Purple

White/Gray

White/Orange

Ground

Orange Green Purple

Gray

Red

Black

White/Green

Blue

Yellow

A A B B Z Z

LS+

FG SD

BAT

LS-

1 2 3 4 5 6 7 8

9 10 11 12 13 14 15 16 17 18

The shield is clamped to the hood

[Bending Radius] When used under moving condition : 58mm When used in fixed condition : 38mm

Electric

Wire Color

Signal

Abbreviation

Pin No.

Width

Electric

Wire Color

Signal

Abbreviation

Pin No.

Width

(13)

(φ10)

(14)

(15)

(Front View)

VCC

GND

BK-

BK+

1. Specications Check

Page 34

1.5.2 Cable in the bearer

[1] Motor cable

Width

AWG 20

(0.5mm

)

Red U 1

White V 2

Black W 3 Green PE 4

1 U Red 2 V White 3 W Black 4 PE Green

AWG 20

(0.5mm

)

Electric

Wire Color

Signal

Abbreviation

Pin No.

Width

Electric

Wire Color

Signal

Abbreviation

Pin No.

Electric

Wire Color

Signal

Abbreviation

Pin No.

Width

Electric

Wire Color

Signal

Abbreviation

Pin No.

Width

[2] Encoder cable

AWG 26

(0.12mm

)

AWG 26

(0.12mm

)

1B/Light blue

1R/Light blue

1B/Pink

1R/Pink

1B/Light green

1R/Light green

1B/Orange

1R/Orange

1B/Gray

1R/Gray

Shield

EN_A

EN_/A

EN_B

EN_/B

EN_Z

EN_/Z

/SD

5V NC

GND

1 2 3 4 5 6 7 8

9 10 11 12

1 2 3 4 5 6 7 8

9 10 11 12 13 14 15 16 17 18

EN_A EN_/A EN_B EN_/B EN_Z EN_/Z

NC NC FG SD /SD NC NC

GND

NC NC NC

1B/Light blue

1R/Light blue

1B/Pink

1R/Pink

1B/Light green

1R/Light green

Shield

1B/Orange

1R/Orange

1B/Gray

1R/Gray

Electric

Wire Color

Signal

Abbreviation

Pin No.

Width

Electric

Wire Color

Signal

Abbreviation

Pin No.

Width

1. Specications Check

Page 35

2. Installation

2.1 Transportation

Warning: This actuator uses high-performance rare-earth permanent magnets. Therefore,

those who are wearing a pacemaker or any other medical device must not come within 30cm of the actuator.

[1] Handling of the Actuator

Unless otherwise specified, the actuator is shipped with 1 axis unit packaged separately.

(1) Handling the Packed Unit

y Do not damage or drop. The package is not applied with any special treatment that enables it

to resist an impact caused by a drop or crash.

y Transport a heavy package with at least more than two operators. Consider an appropriate

method for transportation.

y Keep the unit in a horizontal orientation when placing it on the ground or transporting. Follow

the instruction if there is any for the packaging condition.

y Do not step or sit on the package. y Do not put any load that may cause a deformation or breakage of the package.

(2) Handling the Actuator After Unpacking

y Do not carry the actuator by its motor unit or its cable or attempt to move it by pulling the

cable.

y Hold the base part or bracket part of the body when transporting the actuator main body. y Do not hit or drop the actuator during transportation. y Do not attempt to force any part of the actuator. Do not apply force especially on the stainless

steel sheet.

[Taboos in transportation]

Do not transport the actuator by holding its slider. Do not transport the actuator by holding its cables.

Do not transport the actuator by holding its cable track. Do not transport the actuator by holding its

stainless steel sheet.

2. Installation

Page 36

2. Installation

[2] Handling in the Assembled Condition

This is the case when the product is delivered from our factory under a condition that it is assembled with other actuators. The combined axes are delivered in a package that the frame is nailed on the lumber base. The sliders are fixed so they would not accidently move. The actuators are also fixed so the tip of it would not shake due to the external vibration.

(1) How to Handle the Package

y Do not hit or drop the package. No special treatment is conducted on this package to endure a

drop or impact on it.

y Do not attempt to carry a heavy package with only one worker. Also, have an appropriate

method for transportation.

y When hanging up with ropes, support on the reinforcement frame on the bottom of the lumber

base. When bringing up the package with a forklift, also support on the bottom of the lumber base.

y Handle with care when putting the package down to avoid impact or bounce. y Do not step on the package. y Do not put anything on the package that could deform or damage it.

(2) How to Handle after Unpackaged

y Fix the slider so they would not accidently move during transportation. y If the tip of an actuator is overhanging, have an appropriate way to fix it to avoid shake due to

the external vibration. In the transportation without the tip being fixed, do not apply any impact with 0.3G or more.

y When hanging up with ropes, have appropriate cushioning to avoid any deformation of the

actuator body. Also keep it in stable horizontal orientation. Make a fixture utilizing the attachment holes and the tapped holes on the actuator body if necessary.

y Do not attempt to apply load on the actuators or the connector box. Also pay attention not to

pinch cables and bend or deform them forcefully.

[3] Handling in Condition of being assembled in Machinery Equipment (System)

These are some caution notes for when transporting the actuator being assembled in the machinery equipment (system):

y Fix the actuator so it would not move during transportation. y If the tip of an actuator is overhanging, have an appropriate way to fix it to avoid shake due to

the external vibration. In the transportation without the tip being fixed, do not apply any impact with 0.3G or more.

y When hanging up the machinery equipment (system) with ropes, do not attempt to apply load

on the actuators or the connector box. Also pay attention not to pinch cables and bend or deform them forcefully.

Page 37

2.2 Installation and Storage • Preservation Environment

[1] Installation Environment

The actuator should be installed in a location other than those specified below. Also provide sufficient work space required for maintenance inspection.

y Where the actuator receives radiant heat from strong heat sources such as heat treatment

furnaces

y Where the ambient temperature exceeds the range of 0 to 40qC y Where the temperature changes rapidly and condensation occurs y Where the relative humidity exceeds 85% RH y Where the actuator receives direct sunlight y Where the actuator is exposed to corrosive or combustible gases y Where the ambient air contains a large amount of powder dust, salt or iron (at level

exceeding what is normally expected in an assembly plant)

y Where the actuator is subject to splashed water, oil (including oil mist or cutting fluid) or

chemical solutions

y Where the actuator receives impact or vibration

If the actuator is used in any of the following locations, provide sufficient shielding measures:

y Where noise generates due to static electricity, etc. y Where the actuator is subject to a strong electric or magnetic field y Where the actuator is subject to ultraviolet ray or radiation

[2] Storage • Preservation Environment

y 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.

y 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.

y 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.

y 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. Installation

Page 38

2. Installation

2.3 How to Install

Warning: This actuator uses high-performance rare-earth permanent magnets. Therefore,

those who are wearing a pacemaker or any other medical device must not come within 30 cm of the actuator.

This chapter explains how to install the actuator on your mechanical system.

2.3.1 Installation

Follow the information below when installing the actuator, as a rule. Do pay attention to these items (except with custom-order models).

{ : Possible u : Not possible

Type

Horizontal

installation

Vertical installation

Horizontally

Oriented Wall

Mount installation

Ceiling Mount

installation

H8SS, H8SM H8HS, H8HM

{

L15SS, L15SM

{

u u u

Installation Orientation

Horizontal Vertical

Horizontally Oriented Wall

Mount

Ceiling Mount

Page 39

2.3.2 Installation of Main Unit

Caution: The stainless steel sheet is designed very thin (thickness: 0.1 mm) in order to

ensure flexibility. Therefore, the stainless steel sheet is easily dented or scratched. When installing the stainless steel sheet, pay attention to the following points:

1. Do not press the sheet directly with hands.

2. Be careful not to drop a tool or a work piece on the sheet and make a dent mark.

Dent

3. Do not generate powder dust or iron powder around the stainless steel sheet. There are magnets attached on the side cover to grip the stainless steel sheet. Handle the product with special care so the magnets would not grip metal pieces and dusts. If dust/powder has generated, thoroughly remove attached dust/powder from the stainless steel sheet after the operation. If the actuator is operated with the stainless steel sheet carrying foreign particles, the particles may enter the slider and damage the sheet or cause the sheet to deform, lift or present other problems.

2. Installation

Page 40

2. Installation

The surface to mount the main unit should be a machined surface or a plane that possesses an equivalent accuracy and the flatness should be within 0.05mm/m.

The side surfaces and bottom surface of the base of the body have good parallelism to the guide. Utilize these surfaces when accuracy in the actuator drive is required.

٧Small Type H8SS, H8SM, H8HS, H8HM This actuator base has tapped mounting holes that can be used to affix the actuator from its back (take note that the tap size is different depending on the model: Refer to the figure below and “8. External Dimensions”.) There are also reamed holes for accepting positioning pins.

Tightening Torque

Tapped

Hole Size

Tapped Holes

Depth

In the case that steel is used for the bolt seating

surface:

In the case that aluminum is used for the

bolt seating

surface:

Pitch [mm]

Reamed Hole

[mm]

5mm or more

10mm or less

7.27N·m

(0.74kgf·m)

3.42N·m

(0.35kgf·m)

I4H7, depth 5

About Tightening Screws

• Use a hex socket head cap bolt for the attachment to the base.

• It is recommended to use high-tensile bolts with ISO-10.9 or more.

• Make sure to have the effective length of bolt engagement described below or more for the tightening of a bolt and a female screw.

When female screw is on steel ĺ Thread length same as nominal diameter

When female screw is on aluminum ĺ Thread length 1.8 times longer them nominal diameter

Caution: Pay special attention when selecting the bolt length. In case that an inappropriate

length of a bolt is applied, it may cause damage on the tapped holes or insufficiency in attachment strength, which may result in a drop in the operation accuracy or an unexpected accident.

Page 41

٧Flat Type L15SS, L15SM The actuator base is equipped with T-shaped grooves at the back for installation. Use the T-shaped grooves on the base and the enclosed nuts for installation. Also, pay attention so the tip of a bolt would not touch the bottom of the T-shaped groove. There are also reamed holes for accepting positioning pins.

115

Widened slit for easy T-nut insertion

Reamed Hole [mm]

I4H10, depth 6mm

[Packaged T-nut]

Maker Model No. Material Surface Treatment Weight

: SUS : SFB-008 : S10C or equiv. : Unichrome plating : Approx. 14g/pc

9.8

10.2

20.2

5 7

About Tightening Screws

• Use a hex socket head cap bolt for the attachment to the base.

• It is recommended to use high-tensile bolts with ISO-10.9 or more.

• Make sure to have the effective length of bolt engagement described below or more for the tightening of a bolt and a female screw.

When female screw is on steel ĺ Thread length same as nominal diameter

When female screw is on aluminum ĺ Thread length 1.8 times longer them nominal diameter

Caution: Pay special attention when selecting the bolt length. In case that an inappropriate

length of a bolt is applied, it may cause damage on the tapped holes or insufficiency in attachment strength, which may result in a drop in the operation accuracy or an unexpected accident.

2. Installation

Page 42

2. Installation

2.3.3 Attachment of Transported Object

• There are tapped holes on the top surface of the slider. Affix the work part (transported object) here.

• The procedure to affix a load on the slider shall conform to the actuator installation procedure.

• There are two reamed holes on the top surface of the slider. Use these reamed holes if repeatability of attaching and detaching is required. Also, if small tuning such as perpendicularity is required, use one of the reamed holes for the tuning.

• Refer to the following table for the screwed depth and reamed depth. Screwing further than indicated in the table may destroy the tapped hole or lower the reinforcement of the attachment of the work part, result in the drop of the accuracy or an unexpected accident.

٧Small Type H8SS, H8SM, H8HS, H8HM

REAMED HOLE

PITCH ±0.02

4-M5, depth 10

2-φ 4H7, depth 8

65±0.02

Mounting Bolt

Tapped Hole Size

Nominal Bolt Diameter Tightening Torque

Reamed Hole

M5, depth 10 M5 3.42N·m (0.35kgf·m)

I4H7, depth 8

About Tightening Screws

•

Use a hex socket head cap bolt for the attachment to the base.

• It is recommended to use high-tensile bolts with ISO-10.9 or more.

• Make sure to have the effective length of bolt engagement described below or more for the tightening of a bolt and a female screw.

When female screw is on steel ĺ Thread length same as nominal diameter

When female screw is on aluminum ĺ Thread length 1.8 times longer them nominal diameter

Caution: • Pay special attention when selecting the bolt length. In case that an inappropriate

length of a bolt is applied, it may cause damage on the tapped holes or insufficiency in attachment strength, which may result in a drop in the operation accuracy or an unexpected accident.

• When attaching a transported object, pay attention not to apply a viscous liquid such as glue or paint on the stainless steel sheet, or not to apply force on a spot, which could make a dent mark. Doing so may cause an operation error of the slider or damage on the sheet.

Page 43

٧Flat Type L15SS, L15SM

22.5 22.5

175

105

145

8-M5, depth 5

2-φ 4H7, depth 6

REAMED HOLE

PITCH ±0.02

Mounting Bolt

Tapped Hole Size

Nominal Bolt Diameter Tightening Torque

Reamed Hole

M5, depth 5 M5 3.42N·m (0.35kgf·m)

I4H7, depth 6

About Tightening Screws

•

Use a hex socket head cap bolt for the attachment to the base.

• It is recommended to use high-tensile bolts with ISO-10.9 or more.

• Make sure to have the effective length of bolt engagement described below or more for the

tightening of a bolt and a female screw.

When female screw is on steel ĺ Thread length same as nominal diameter

When female screw is on aluminum ĺ Thread length 1.8 times longer them nominal diameter

Caution: • Pay special attention when selecting the bolt length. In case that an inappropriate

length of a bolt is applied, it may cause damage on the tapped holes or insufficiency in attachment strength, which may result in a drop in the operation accuracy or an unexpected accident.

• When attaching a transported object, pay attention not to apply a viscous liquid

such as glue or paint on the stainless steel sheet, or not to apply force on a spot, which could make a dent mark. Doing so may cause an operation error of the slider or damage on the sheet.

2. Installation

Page 44

2. Installation

2.3.4 Installation Surface

• For the platform to install the actuator, ensure the structure that possesses enough stiffness to avoid vibration being generated.

• Install the actuator on a machined surface or other flat surface of equivalent accuracy. The flatness of the installation surface must be 0.05 mm/m or less.

• Provide sufficient space to allow for maintenance work.

• The side and bottom surfaces of the actuator base provide datum surfaces used for alignment of slider travel.

• If you require higher traveling accuracy, install the actuator using these datum surfaces.

Datum

surface

(Side of the base) (Side of the base) (Side of the base) (Side of the base)

Small Type H8SS, H8SM, H8HS, H8HM Flat Type L15SS, L15SM

Datum

surface

Datum

surface

Datum

surface

As shown above, each side surface of the base provides a datum surface used for alignment of slider travel. If you require higher traveling accuracy, therefore, install the actuator with reference to either side surface of the base.

When installing the actuator on the frame using the base datum surfaces, provide the necessary machining by following the drawing below.

Model Dimension A (mm)

Small Type

H8SS, H8SM, H8HS, H8HM

2 ~ 3.5 or less

Flat Type

L15SS, S15SM

2.5 ~ 4 or less

R0.3 or less

Page 45

2.3.5 Mount of Connector Box and Others

T-slots are provided on the side faces of the actuator for installation of a connector box or other external equipment. If you are using a wiring kit, install a connector box using these T-slots. T-slots can also be used for other purposes, such as installing sensors or securing cables. The T-slot dimensions are specified below.

• Use of square nuts is recommended in T-slots, but hex nuts can also be used.

• When installing an object using T-slots, select bolts of an appropriate length so that the tip of the bolt will not contact the bottom of the T-slot.

Small Type H8SS, H8SM, H8HS, H8HM

Flat Type L15SS, L15SM

2.7

5.5

1.8

4.5 2

3.3

5.8

4.3

7.3

T-slot Dimensions

Model T-slot Nut Diameter

Small Type H8SS, H8SM, H8HS, H8HM M3

Flat Type L15SS, L15SM M4

2. Installation

Page 46

3. Connecting with the Controller

Use the IAI dedicated connection cable for the connection of the actuator to the controller.

• If the dedicated connection cable cannot be secured, reduce the load on the cable by allowing it to deflect only by the weight of the cable or wire it in a self-standing cable hose, etc., having a large radius.

• Do not cut and reconnect the dedicated connection cable for extension or shorten the cable.

• Do not pull on the dedicated connection cable or bend it forcibly.

• The actuator cable coming out of the motor unit is not meant to be bent. Fix the cable so it would not be bent repeatedly.

Please consult with IAI if you require a different kind of cable than the one supplied.

Dedicated cable (Connects controller and Actuator cable)

r r

Dedicated Controller

XSEL-P/Q, SSEL, SCON

r = 58mm or more (Movable Use) r = 38mm or more (Fixed Use)

Dedicated cables

• Motor cable (Robot cable) CB-X-MAƑƑƑ

• Encoder cable CB-X3-PAƑƑƑ ƑƑƑ indicates the cable length. A desired length up to 30m can be specified. Example) 080 = 8m

Page 47

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.

• Use dedicated cables of IAI indicated in this operating manual. Contact us if you wish to have a change to the specifications of the dedicated cables.

• Make sure to turn the power off in the process of power line or cable connection or disconnection.

• Do not attempt to cut a dedicated cable with connectors on both ends to extend, shorten or re-joint it.

• Hold the dedicated cable to avoid mechanical force being applied to the terminals and connectors.

• Use a cable pipe or duct to have an appropriate protection when there is a possibility of mechanical damage on a dedicated cable.

• 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.

• Make certain that the connectors are plugged properly. Insufficient connection may cause an operation error, thus it is extremely risky.

• Do not lay out the cables to where the machine runs over them.

• 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.

• When a cable is used hanging on the ceiling, prevent an environment that the cable swings with acceleration or wind velocity.

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

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

• Have a sufficient radius for bending, and avoid a bend concentrating on one point.

Steel Strap (Piano Wire)

Tie them up softly.

3. Connecting with the Controller

Page 48

3. Connecting with the Controller

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

• Do not pull the cable with a strong force.

• Pay attention not to concentrate the twisting force to one point on a cable.

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

• When a cable is fastened to affix, make sure to have an appropriate force and do not tighten too much.

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

Page 49

• PIO line, communication line, power and driving lines are to be put separately from each other and do not tie them together. Arrange so that such lines are independently routed in the duct.

Follow the instructions below when using a cable track.

• If there is an indication to the cable for the space factor in a cable track, refer to the wiring instruction given by the supplier when storing the cable in the cable track.

• Avoid the cables to get twined or twisted in the cable track, and also to have the cables move freely and do not tie them up. (Avoid tension being applied when the cables are bent.) Do not pile up cables. It may cause faster abrasion of the sheaths or cable breakage.

Power line

I/O lines (flat cable)

Duct

3. Connecting with the Controller

Page 50

4. Operation

4.1 Home Return

4.1.1 Principle of Home-Return Operation

Home return is performed in the sequence specified below.

1) When a home return command is issued, the moving direction is determined from the specified parameter.

2) During home return, the mechanical end is detected via the software.

3) The actuator reverses upon contacting the mechanical end, after which it detects a Z phase signal and recognizes this position as the reference point.

4) The actuator moves further by the offset specified by the applicable parameter and recognizes the achieved position as the home.

4.1.2 Fine-tuning the Home Position

The actuator is shipped with its motor travel after the actuator contacts the stopper until a Z phase signal is output pre-adjusted. The table below lists the standard reversing distance for each model, where the reversing distance indicates the distance moved by the slider after it contacts the stopper and reverses, until it stops at the home position.

Model Reversing distance from mechanical stopper

Small type H8SS, H8SM, H8HS, H8HM

Approx. 10mm

Flat type L15SS, L15SM

Approx. 15mm

If the home return direction remains the same, changing the parameter based on this value allows you to fine-tune the home position of your actuator. Perform this fine-tuning by following the procedure below.

1) Perform home return to check the home.

2) Thereafter, move the actuator to a desired home. Check the difference and correct the parameter accordingly. The parameter accepts a positive value to set an offset in the moving direction of the actuator. (Negative values cannot be set.)

3) Increasing the offset reduces the moving range by the amount incremented. If you have specified an offset exceeding 1mm, also adjust the soft limits. [Refer to PC Software Instruction Manual for details of how to set up the parameters]

4.1.3 Changing the Home Direction

Changing the factory-set home direction after the delivery requires the moving direction parameter to be changed and the encoder readjusted. Please consult IAI.

Warning: The encoder not only detects position and home signals, but it also plays an

important role in the switching of AC-servo power phases. Since the AC-servo power phases have been adjusted precisely, never touch the encoder to change the home.

Page 51

5. Troubleshooting

If the actuator has experienced an encoder open error, driver overload error, deviation overflow error or any other error, check the procedures explained below before concluding that the robot or controller is faulty. If the problem persists after the applicable measures have been taken, contact IAI with the detailed condition.

5.1 Encoder Open Error (Error Code: D12)

Encoder open error

Connector wiring

problem?

Dust on the linear scale?

Broken cable?

Faulty controller?

If the problem has not yet been resolved at this point, contact IAI.

If you have a spare controller, swap it with the current controller and check the operation.

1) The connector is not properly engaged.

2) The pins are loose.

3) The connected axis numbers are wrong. (The motor and encoder connectors are installed in the wrong positions.)

Yes

Clean the linear scale using a dry cloth and alcohol.

Yes

Replace the broken cable.

Yes

Replace the controller.

Yes

5. Troubleshooting

Page 52

5. Troubleshooting

5.2 Driver Overload Error (Error Code: D0A)

Driver overload error

High operation duty?

Slider receiving any external

force or resistance?

Actuator mechanism

feels heavy.

Faulty controller?

If the problem has not yet been resolved at this point, contact IAI.

If you have a spare controller, swap it with the current controller and check the operation.

Review the operating conditions by referring to 1.3,”Operating conditions”.

Yes

Remove the external force or resistance.

Yes

Repair the actuator

Yes

Replace the controller.

Yes

Turn Off the power and move the slider by hand to check.

Page 53

5.3 Deviation Overflow Error (Error Code: C6B)

Deviation overflow error

High acceleration/

deceleration relative to the

load capacity?

Broken motor cable?

Faulty controller?

If the problem has not yet been resolved at this point, contact IAI.

If you have a spare controller, swap it with the current controller and check the operation.

Reduce the acceleration/deceleration.ider contacting any peripheral equipment?

Yes

Replace the motor cable.

Yes

Connector wiring problem?

Yes

Replace the controller.

Yes

Slider contacting any

peripheral equipment?

Remove the interference.

Yes

1) The connector is not properly engaged.

2) The pins are loose.

3) The connected axis numbers are wrong. (The motor and encoder connectors are installed in the wrong positions.)

5. Troubleshooting

Page 54

6. Maintenance and Inspection

Warning: This actuator uses high-performance rare-earth permanent magnets. Do not get

closer than 30cm if you are a person who needs a support of a medical device such as a pacemaker.

6.1 Inspection Items and Schedule

Perform maintenance and inspection at the intervals specified below. This schedule assumes that the actuator is operated eight hours a day. If the actuator is operated at a higher utilization, such as when the machine is used continuously day and night, reduce the inspection intervals accordingly.

Visual inspection of exterior Inspection of interior Start-up inspection

{

After 1 month of operation

{

After 6 months of operation

{ {

After 1 year of operation

{ {

Every 6 months thereafter

{

Every 1 year

{ {

6.2 Visually Inspecting the Exterior

Visually check the exterior of the following items.

Actuator Loosening of actuator mounting bolts, etc. Cables Scratches, connector engagement Stainless steel sheet Scratches, loosening Overall Noise, vibration

• Adjust the tension of the stainless steel sheet in case it is loosened. [Refer to 6.5.2 “Adjusting the Stainless Steel Sheet Tension” and 6.5.3 “Operation Check”.]

• As a guideline, the service life of the stainless steel sheet roughly corresponds to a traveled distance of 5,000 km. However, the stainless steel sheet may have to be replaced earlier depending on the use condition. To replace the sheet, you must either bring in the actuator to IAI or have IAI’s service personnel visit your site to perform replacement, as a rule.

6.3 Cleaning

• Clean the exterior surface as necessary.

• Wipe dirty areas using a soft cloth, etc.

• Do not blow highly compressed air onto the actuator, as it may cause dust to enter the actuator through gaps between parts.

• Do not use petroleum-based solvent as it damages resin and coated surfaces.

• To remove stubborn stains, take neutral detergent or alcohol into a soft cloth, etc., and wipe the area gently.

Page 55

6.4 Interior Inspection

6.4.1 Small Type H8SS, H8SM, H8HS, H8HM

With the power supply turned OFF, turn up the stainless steel sheet and visually inspect the interior. Check the following items inside the actuator.

Actuator

Loosening of actuator mounting bolts, etc.

Guide Lubrication condition, soiling, looseness

Visually check the interior condition. Focus on entry of dust and other foreign matters and the lubrication condition. Even if grease has turned brown, the actuator is lubricated properly if its traveling surface is glossy. Contact IAI if an abnormality is found on the guide part.

The procedure to check the interior is specified below:

1) Move the slider toward the home side.

2) Remove the screws securing the sheet using a hex wrench with a width across flats of 7mm.

3) Turn up the sheet and check the interior.

4) After the check, assemble the parts by following the same steps in the reverse order.

Caution:

• When peeling off the stainless steel sheet, be careful not to get pulled in the body by the strong magnetic force of the magnets inside. In case of getting pulled by the magnets inside, the stainless steel sheet may get damaged and may not be used any more. Contact IAI if the sheet is damaged.

• Do not attempt to change the mounting condition by pulling the sheet. Change in the mounting condition may give an impact to the alignment of the sheet or the life of it.

• When working with the stainless steel sheet, wear gloves or take other appropriate precautions to prevent cuts by the edges of the sheet.

6.4.2 Flat Type L15SS, L15SM

Turn the power off, and check the following items inside the actuator.

Actuator

Loosening of actuator mounting bolts, etc.

Guide Lubrication condition, soiling, looseness

6. Maintenance and Inspection

Page 56

6. Maintenance and Inspection

6.5 Procedures for Replacement and Adjustment of Stainless Steel Sheet

Described below explains how to replace and adjust the stainless steel sheet. Those parts such as screws taken off for replacement work are necessary when assembling the product back. It is recommended to prepare a storage box in advance to starting the work, so the taken off parts can be kept in it.

[Required Items]

• Replacement stainless steel sheet

• Scale

• Box-end wrench (7mm)

• Adhesive tape

• Oil-based marker

• Tension gauge (having two forked hooks)

[Notes]

(1) Stainless steel sheet tension

Improper tension of the stainless steel sheet can promote deterioration and wear of the sheet. If the stainless steel sheet is too taut and the clearance from the slider cover becomes

exceeds 1mm, the stainless steel sheet may undergo fatigue failure. On the other hand, excessive slacks cause the stainless steel sheet to contact the back of the

slider cover.

(2) Checking the clearance between the stainless steel sheet and the back of the slider cover

The stainless steel sheet is replaced without removing the slider cover. Therefore, the clearance between the stainless steel sheet and the back of the slider cover cannot be measured or checked directly. The stainless steel sheet must be tensioned so that this clearance becomes 1mm.

[Name of each part]

Stainless steel sheet retainer plates

Stainless steel sheet

Slider cover

Slider cover affixing screws

Stainless steel sheet affixing screws

Page 57

Replace the stainless steel sheet with the procedures from 6.5.1 to 6.5.3. Adjust the tension of the stainless steel sheet with the procedures in 6.5.2 and 6.5.3.

6.5.1 Replacement Procedure for Stainless Steel Sheet

Replace the degraded stainless steel sheet with a new one by following the steps described below.

1) Check a new stainless steel sheet to confi rm absence of scratches or soiling.

2) Loosen the screws affixing the damaged stainless steel sheet with a 7mm-sized hex wrench, and remove the retainer plates.

3) Connect the damaged stainless steel sheet and new stainless steel sheet using adhesive tape.

4) Slowly pull out the damaged stainless steel sheet.

5) Confirm that the new stainless steel sheet has been installed in the slider.

Slowly pull out the sheet.

Connect using adhesive tape.

New stainless steel sheet

Connect the damaged stainless steel sheet and new stainless steel sheet using adhesive tape, and then slowly pull out the damaged stainless steel sheet so that the new sheet takes its position.

6. Maintenance and Inspection

Page 58

6. Maintenance and Inspection

6.5.2 Adjusting the Stainless Steel Sheet Tension

1) First, affix the stainless steel sheet uniformly on the right and left in a manner free from meandering. (The stainless steel sheet is gripped on with the magnets. Detach the sheet in a manner of peeling it once from one edge. Also adjust the stainless steel sheet from the slider center toward both ends.)

2) Move the slider to a position near the stroke center, and unscrew the screws holding the stainless steel sheet with a 7mm-sized hex wrench on one side and remove the retainer plate.

Move the slider to a position near the stroke center.

Remove the stainless steel sheet affixing screws on the front side.

3) Prepare for tension adjustment of the stainless steel sheet.

• As shown below, raise the stainless steel sheet by 1 to 2cm at the end where the screws were removed in step 2), and then by using a tension gauge, pull the sheet in the direction of the free end with a force of 2kg. (Use a tension gauge having two forked hooks at its tips and hook the gauge at two locations on the stainless steel sheet.)

• With the stainless steel sheet tensioned by a force of 2kg, allow the stainless steel sheet to be attracted to the magnets from the slider end toward the other end, and then remove the tension gauge. (Once attracted to the magnets, the stainless steel sheet will not move.)

• Use an oil-based marker and ruler to draw a straight check line that crosses over the side covers and stainless steel sheet. [Refer to the figure below.]

Raise the stainless steel sheet and pull

(to a height of 1 to 2cm at the end).

(Use a tension gauge.)

Draw a check line using an oil-based marker.

Page 59

4) Adjusting the Stainless Steel Sheet Tension Adjust the stainless steel sheet in the direction of the arrow until the check lines on the side covers are offset from the check line on the stainless steel sheet by 0.5mm. (Refer to the enlarged view of A.) (The stainless steel sheet is gripped on with the magnets. Detach the sheet in a manner of peeling it once from one edge.)

DETAIL A

DETAIL

Offset

Stainless steel sheet

Side covers

Move the stainless steel sheet in the direction of the arrow to fine-tune the sheet position until the check lines on the side covers are offset from the check line on the stainless steel sheet by

0.5mm.

Once this adjustment is complete, an approximately 1mm clearance has been achieved

between the top surface of the stainless steel sheet and the back of the slider cover at the center of the slider cover.

5) After the sheet has been positioned, loosely tighten the fixed screws removed earlier until the stainless steel sheet no longer moves.

Loosely tighten the fixed screws removed earlier just to hold the stainless steel sheet movement.

6. Maintenance and Inspection

Page 60

6.5.3 Operation Check

1) Move the slider to check the tension of the stainless steel sheet. Move the slider to check the tension. Specifically, check if the stainless steel sheet is positioned uniformly on the right and left without presenting meandering or waving over the entire stroke range. If the stainless steel sheet is not uniformly positioned on the right and left or is waving, repeat the adjustment.

2) Securely tighten the thin-head screws that have been loosened with a 7mm-sized hex wrench to affix the stainless steel sheet in position.

Alternately tighten the two fixed screws that have been temporarily tightened and finally tighten them with the even torque. If the tightness on the two nuts is uneven, the sheet may meander or lift up.

Tightening torque for fixed screws 359N•cm (36.7kgf•cm)

Move the slider to check once again if the stainless steel sheet is tensioned properly. Lastly,

remove the check lines using alcohol, etc.

6. Maintenance and Inspection

Page 61

7. Life

The product life is assumed to be 10,000km (reference) under the condition that it runs with maximum load capacity and maximum acceleration/deceleration.

7. Life

Page 62

8. External Dimensions

8.1 Small Type H8SS

Effective

Stroke

50 150 250 350 450 550 650 750 850

L 306 406 506 606 706 806 906 1006 1106

A 53 53 53 53 53 53 53 53 53

B 2 3 4 5 6 7 8 9 10

C 6 8 10 12 14 16 18 20 22

D 40 140 240 340 440 540 640 740 840

E 130 180 230 280 330 380 430 480 530

Weight (kg) 5.0 6.2 7.4 8.6 9.8 11.0 12.2 13.4 14.6

Effective

Stroke

950 1050 1150 1250 1350 1450 1550 1650

L 1206 1306 1406 1506 1606 1706 1803 1906

A 53 53 53 53 53 53 53 53

B 11 12 13 14 15 16 17 18

C 24 26 28 30 32 34 36 38

D 940 1040 1140 1240 1340 1440 1540 1640

E 580 630 680 730 780 830 880 930

Weight (kg) 15.8 17.0 18.2 19.4 20.6 21.8 23.0 24.2

(34) (34)

L(st+256)

48 st 160

80 D 80

E(max27)

16 52 16

16.5

2550

852

100

31 35 80

5.5

2.7

1.8

5.8

3.3

8060

140

100

165

15 24

Detail view of F

Cable track for user (M type)Cable track for user (S type)

Cable track for user

section dimensions (M type)

Cable track for user

section dimensions (S type)

*The slider goes up the ME in the home-return operation. Pay attention to interference to peripherals.

ME : Mechanical end SE : Stroke end

M3 T-slot

(F)

Datum surface

4-M5, depth 10 2-φ4H7, depth 8

4-M3, depth 5

65±0.02

HOME

C-M5, depth 10

4-φ4H7, depth 5

B×100

Cable

(Reamer pitch: ±0.02)

(95)

Page 63

8.2 Small Type H8SM

Effective

Stroke

130 230 330 430 530 630 730 830 930

L 606 706 806 906 1006 1106 1206 1306 1406

A 53 53 53 53 53 53 53 53 53

B 5 6 7 8 9 10 11 12 13

C 12 14 16 18 20 22 24 26 28

D 340 440 540 640 740 840 940 1040 1140

E 180 230 280 330 380 430 480 530 580

Weight (kg) 10.7 11.9 13.1 14.3 15.5 16.7 17.9 19.1 20.3

Effective

Stroke

1030 1130 1230 1330 1430

L 1506 1606 1706 1806 1906

A 53 53 53 53 53

B 14 15 16 17 18

C 30 32 34 36 38

D 1240 1340 1440 1540 1640

E 630 680 730 780 830

Weight (kg) 21.5 22.7 23.9 25.1 26.3

5.5

2.7

1.8

5.8

3.3

100

35 80

(max22)

16 52 16

2525 50

16.5

615

60 21

(max22)

48160

(34) (34)

L(st+476)

48 160

80 D 80

8528

E E

8060

140

100

165

15 24

Detail view of F

Cable track for user (M type)Cable track for user (S type)

Cable track for user

section dimensions (M type)

Cable track for user

section dimensions (S type)

*The slider goes up the ME in the home-return operation. Pay attention to interference to peripherals.

ME : Mechanical end SE : Stroke end

Datum

surface

(95)

B×100

HOME

C-M5, depth 10

4-φ4H7, depth 5

HOME

4-M5, depth 10 2-φ4H7, depth 8

4-M3, depth 5

65±0.02

(Reamer pitch: ±0.02)

(Min. Distance between sliders)

8. External Dimensions

Page 64

8. External Dimensions

8.3 Small Type H8HS

Effective

Stroke

50 150 250 350 450 550 650 750 850 950 1050

L 406 506 606 706 806 906 1006 1106 1206 1306 1406

A 53 53 53 53 53 53 53 53 53 53 53

B 3 4 5 6 7 8 9 10 11 12 13

C 8 10 12 14 16 18 20 22 24 26 28

D 140 240 340 440 540 640 740 840 940 1040 1140

E 180 230 280 330 380 430 480 530 580 630 680

Weight (kg) 6.5 7.7 8.9 10.1 11.3 12.5 13.7 14.9 16.1 17.3 18.5

Effective

Stroke

1150 1250 1350 1450 1550

L 1506 1606 1706 1806 1906

A 53 53 53 53 53

B 14 15 16 17 18

C 30 32 34 36 38

D 1240 1340 1440 1540 1640

E 730 780 830 880 930

Weight (kg) 19.7 20.9 22.1 23.3 24.5

8060

140

100

165

15 24

100

35 80

16 52 16

2525 50

16.5

615

852

(34) (34)

L(st+356)

98 st 160

80 D 80

5.5

2.7

1.8

5.8

3.3

Detail view of F

Cable track for user (M type)Cable track for user (S type)

Cable track for user

section dimensions (M type)

Cable track for user

section dimensions (S type)

Datum surface

*The slider goes up the ME in the home-return operation. Pay attention to interference to peripherals.

ME : Mechanical end SE : Stroke end

M3 T-slot

(F)

B×100

HOME

C-M5, depth 10

4-φ4H7, depth 5

4-M5, depth 10 2-φ4H7, depth 8

4-M3, depth 5

65±0.02

Cable

(Reamer pitch: ±0.02)

(95)

Page 65

8.4 Small Type H8HM

Effective

Stroke

130 230 330 430 530 630 730 830 930

L 806 906 1006 1106 1206 1306 1406 1506 1606

A 53 53 53 53 53 53 53 53 53

B 7 8 9 10 11 12 13 14 15

C 16 18 20 22 24 26 28 30 32

D 540 640 740 840 940 1040 1140 1240 1340

E 180 230 280 330 380 430 480 530 580

Weight (kg) 13.8 15.0 16.2 17.4 18.6 19.8 21.0 22.2 23.4

Effective

Stroke

1030 1130 1230

L 1706 1806 1906

A 53 53 53

B 16 17 18

C 34 36 38

D 1440 1540 1640

E 630 680 730

Weight (kg) 24.6 25.8 27.0

98160

80 D 80

(34)

L(st+676)

98 160

615

8528

16 52 16

2525 50

16.5

E E

100

35 80

5.5

2.7

1.8

5.8

3.3

8060

140

100

165

15 24

Detail view of F

Cable track for user (M type)Cable track for user (S type)

Cable track for user

section dimensions (M type)

Cable track for user

section dimensions (S type)

*The slider goes up the ME in the home-return operation. Pay attention to interference to peripherals.

ME : Mechanical end SE : Stroke end

M3 T-slot

(F)

Datum

surface

B×100

C-M5, depth 10

4-φ4H7, depth 5

HOME

4-M5, depth 10 2-φ4H7, depth 8

4-M3, depth 5

65±0.02

(Reamer pitch: ±0.02)

160 (Min. Distance between sliders)

(95)

8. External Dimensions

Page 66

8. External Dimensions

8.5 Flat Type L15SS

Effective

Stroke

150 250 350 450 550 650 750 850

L 390 490 590 690 790 890 990 1090

A 111 211 311 411 511 611 711 811

B 179.5 229.5 279.5 329.5 379.5 429.5 479.5 529.5

C 8 10 12 14 16 18 20 22

Weight (kg) 6.5 7.9 9.3 10.6 12.0 13.4 14.8 16.2

Effective

Stroke

950 1050 1150 1250 1350 1450 1550 1650

L 1190 1290 1390 1490 1590 1690 1790 1890

A 911 1011 1111 1211 1311 1411 1511 1611

B 579.5 629.5 679.5 729.5 779.5 829.5 879.5 929.5

C 24 26 28 30 32 34 36 38

Weight (kg) 17.5 18.9 20.3 21.7 23.1 24.4 25.8 27.2

115

9.8

20.2

10.2

7.3

4.5 2

4.3

18.5

14331

85(*1)

32 145

44.5

A59.5 80 80 59.5

145

115

175

L(st+240)

32.5 175 15

32.5

145

(max50)

22.522.5 2020 4545

105

*The slider goes up the ME in the home-return operation. Pay attention to interference to peripherals.

ME : Mechanical end SE : Stroke end

Detail view of D

Detail: Base attachment

M4 T-slot

(D)

(*1) The cable track may bulge and

exceed the following dimentions slightly.

[Packaged T-nut] Material: S10C or equiv. Surface treatment: Unichrome plating Weight: Appox. 14g/pc Quantity: Refer to the row “C” in the table on the bottom

Datum

surface

Cable

8-M5, depth 5 Heli-Coil insert

2-φ4H7, depth 6

HOME

4-φ4H7, depth 6

Widened slit for easy T-nut insertion

Page 67

8.6 Flat Type L15SM

Effective

Stroke

50 150 250 350 450 550 650 750 850

L 490 590 690 750 890 990 1090 1190 1290

A 211 311 411 511 611 711 811 911 1011

B 179.5 229.5 279.5 329.5 379.5 429.5 479.5 529.5 579.5

C 10 12 14 16 18 20 22 24 26

Weight (kg) 10.0 11.4 12.8 14.2 15.6 17.0 18.4 19.8 21.2

Effective

Stroke

950 1050 1150 1250 1350 1450

L 1390 1490 1590 1690 1790 1890

A 1111 1211 1311 1411 1511 1611

B 629.5 679.5 729.5 779.5 829.5 879.5

C 28 30 32 34 36 38

Weight (kg) 22.6 24.0 25.4 26.8 28.3 29.7

st175

B(131)(max:35) B

115

9.8

20.2

10.2

7.3

4.5 2

4.3

18.5

14331

(*1)

32 145

44.5

A59.5 80 80 59.5

145

115

175

L (st+440)

32.5

175

32.5

145

22.522.5 2020

4545

105

M4 T-slot

(D)

*The slider goes up the ME in the home-return operation. Pay attention to interference to peripherals.

ME : Mechanical end SE : Stroke end

Detail view of D

8-M5, depth 5 Heli-Coil insert

4-φ4H7, depth 6

HOME

25 (Min. Distance between sliders)

2-φ4H7, depth 6

Cable

Widened slit for easy T-nut insertion

(Reamer pitch: ±0.02)

Detail: Base attachment

(5 : 1)

(*1) The cable track may bulge and

exceed the following dimentions slightly.

[Packaged T-nut] Material: S10C or equiv. Surface treatment: Unichrome plating Weight: Appox. 14g/pc Quantity: Refer to the row “C” in the table on the bottom

(max:35)

8. External Dimensions

Page 68

9. Warranty

9.1 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

9.2 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 instruction

manual and 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

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.

9.3 Honoring the Warranty

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

9.4 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.

Page 69

9.5 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 instruction manual.

9.6 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

9. Warranty

Page 70

Change History

Revision Date Description of Revision

February 2013 Third edition

Revised overall

Change History

Page 71

Page 72

Manual No.: ME3638-3A (March 2013)

13.03.000

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

TEL +81-54-364-5105 FAX +81-54-364-2589

website: www.iai-robot.co.jp/

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

TEL 06196-88950 FAX 06196-889524

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

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

website: www.iai-robot.com

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

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

Phairoj Kijja Tower 12th Floor, 400 Soi29, Bangna-Trad RD., Bangna, Bangkok 10260, Thailand

TEL/+66-2-361-4458 FAX/+66-2-361-4456

IAI America LSA-L15SS User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Please Read Before Use

Table of Contents

Safety Guide

Caution in Handling

International Standards Compliances

Names of the Parts

1. Specifications Check

1.1 Checking the Product

1.2 Specification

1.3 Operating conditions

1.4 Option

1.5 Motor • Encoder Cables

2.1 Transportation

2. Installation

2.2 Installation and Storage • Preservation Environment

2.3 How to Install

3. Connecting with the Controller

4. Operation

4.1 Home Return

5.1 Encoder Open Error (Error Code: D12)

5. Troubleshooting

5.2 Driver Overload Error (Error Code: D0A)

5.3 Deviation Overflow Error (Error Code: C6B)

6. Maintenance and Inspection

6.1 Inspection Items and Schedule

6.2 Visually Inspecting the Exterior

6.3 Cleaning

6.4 Interior Inspection

6.5 Procedures for Replacement and Adjustment of Stainless Steel Sheet

7. Life

8. External Dimensions

8.1 Small Type H8SS

8.2 Small Type H8SM

8.3 Small Type H8HS

8.4 Small Type H8HM

8.5 Flat Type L15SS

8.6 Flat Type L15SM

9. Warranty

9.1 Warranty Period

9.2 Scope of the Warranty

9.3 Honoring the Warranty

9.4 Limited Liability

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

9.6 Other Items Excluded from Warranty

Change History