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Linear Servo Actuator
LSA Series
Large Type
Operating Manual
Third Edition
Large Types
LSA-W21SS, LSA-W21SM
LSA-W21HS, LSA-W21HM
IAI America, Inc.
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Precaution on Installation of Linear Servo Actuator
The linear servo actuator shall be installed according to the following table as a general rule. Please
exercise care at installation (except for specially ordered products).
: Can be installed
X: Cannot be installed
Model number
S6
Horizontal installation
of flat surface
Vertical installation Installation on side Ceiling mount
X
X
S8
S10
H8
L15
N10
N15
N19
W21
X
X
X
X X X
X X X
X X X
X X X
X X X
X
X
X
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Table of Contents
Safety Guide.......................................................................................... Pre-1
1. Foreword..................................................................................................1
2. Safety Precautions...................................................................................1
2.1 Basic Handling ................................................................................................................1
Maintenance and Inspection ........................................................................................... 1
2.2
2.3 Permanent Magnets........................................................................................................1
3. Warranty...................................................................................................2
3.1 Warranty Period...............................................................................................................2
3.2 Scope of Warranty........................................................................................................... 2
4. Name of Each Part...................................................................................3
5. Transportation and Handling....................................................................4
5.1 Handling the Actuator by Itself.........................................................................................4
5.1.1 Handling the Packed Actuator............................................................................4
5.1.2 Handling the Unpacked Actuator .......................................................................4
5.2 Handling the Actuator Assembly......................................................................................5
5.2.1 Condition of Shipment from IAI (Assembled).....................................................5
5.2.2 Handling after Assembly with Peripheral Equipment......................................... 5
6. Installation, Storage/Preservation Environment.......................................6
6.1 Operating Environment ................................................................................................... 6
6.2 Storage/Preservation Environment..................................................................................6
7. Installation................................................................................................7
7.1 Installing the Actuator......................................................................................................8
7.1.1 Affixing the Actuator on the Top Side of the Base.............................................. 8
7.1.2 Affixing the Actuator on the Bottom Side of the Base........................................ 9
7.2 Installation Surface........................................................................................................10
7.3 Tightening Screws......................................................................................................... 11
7.4 Installing a Connector Box Using T-slots....................................................................... 11
7.5 Installing a Load on the Slider.......................................................................................12
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8. Wiring of the Cables...............................................................................13
9. Precautions for Use................................................................................14
9.1 Actuator Load................................................................................................................14
9.2 Home Return.................................................................................................................15
9.2.1 Operating Principles of Home Return..............................................................15
9.2.2 Fine-tuning the Home Position.........................................................................15
9.2.3 Changing the Home Direction.......................................................................... 15
9.3 Stainless Sheet..............................................................................................................16
9.4 Slider Cover................................................................................................................... 16
10. Selection Conditions.............................................................................17
10.1 Selection Method...........................................................................................................18
10.2 Example ........................................................................................................................20
11. Maintenance and Inspection.................................................................22
11.1 Inspection Items and Schedule..................................................................................... 22
11.2 Visually Inspecting the Exterior..................................................................................... 22
11.3 Cleaning the Exterior.....................................................................................................22
11.4 Inspecting the Interior....................................................................................................23
11.5 Cleaning the Interior...................................................................................................... 23
11.6 Greasing the Guide....................................................................................................... 24
11.6.1 Applicable Grease............................................................................................24
11.6.2 How to Add Grease..........................................................................................25
12. Troubleshooting.................................................................................... 26
12.1 What to Do When You Suspect a Failure......................................................................26
13. Replacement/Adjustment of Stainless Sheet........................................29
13.1 Replacement Procedure for Stainless Sheet.................................................................30
13.2 Adjusting the Stainless Sheet Tension...........................................................................31
14. Linear Scale Cleaning Procedure.........................................................33
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15. Specifications .......................................................................................42
15.1 Actuator.........................................................................................................................42
15.2 Cable Wiring Diagram ...................................................................................................43
15.3 External Dimension Drawing......................................................................................... 44
15.3.1 W21SS............................................................................................................. 44
15.3.2 W21SM............................................................................................................46
15.3.3 W21HS ............................................................................................................ 48
15.3.4 W21HM............................................................................................................50
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Safety Guide
When designing and manufacturing a robot system, ensure safety by following the safety guides
provided below and taking the necessary measures.
Regulations and Standards Governing Industrial Robots
Safety measures on mechanical devices are generally classified into four categori es un der the
International Industrial Standard ISO/DIS 12100, “Safety of machinery,” as follows:
Safety measures Inherent safety design
Protective guards --- Safety fence, etc.
Additional safety measures --- Emergency stop device, etc.
Information on use --- Danger sign, warnings, operation manual
Based on this classification, various standards are established in a hierarchical manner under the
International Standards ISO/IEC. The safety standards that apply to industrial robots are as follows:
Type C standards (individual safety standards) ISO10218 (Manipulating industrial robots – Safety)
JIS B 8433
(Manipulating industrial robots – Safety)
Also, Japanese laws regulate the safety of industrial robots, as follows:
Industrial Safety and Health Law Article 59
Workers engaged in dangerous or harmful operations must receive special education.
Ordinance on Industrial Safety and Health
Article 36 --- Operations requiring special education
No. 31 (Teaching, etc.) --- Teaching and other similar work involving industrial robots
(exceptions apply)
No. 32 (Inspection, etc.) --- Inspection, repair, adjustment and similar work involving industrial
robots (exceptions apply)
Article 150 --- Measures to be taken by the user of an industrial robot
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Requirements for Industrial Robots under Ordinance on Industrial
Safety and Health
Work area Work condition Cutoff of drive source Measure Article
Outside
movement
range
Inside
movement
range
During
automatic
operation
During
teaching, etc.
During
inspection, etc.
Not cut off
Cut off (including
stopping of
operation)
Not cut off
Cut off
Not cut off (when
inspection, etc., must
be performed during
operation)
Signs for starting operation Article 104
Installation of railings,
enclosures, etc.
Sign, etc., indicating that work is
in progress
Preparation of work rules Article 150-3
Measures to enable immediate
stopping of operation
Sign, etc., indicating that work is
in progress
Provision of special education Article 36-31
Checkup, etc., before
commencement of work
To be performed after stopping
the operation
Sign, etc., indicating that work is
in progress
Preparation of work rules Article 150-5
Measures to enable immediate
stopping of operation
Sign, etc., indicating that work is
in progress
Provision of special education
(excluding cleaning and
lubrication)
Article 150-4
Article 150-3
Article 150-3
Article 150-3
Article 151
Article 150-5
Article 150-5
Article 150-5
Article 150-5
Article 36-32
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Applicable Models of IAI’s Industrial Robots
Machines meeting the following conditions are not classified as industrial robots according to Notice of
Ministry of Labor No. 51 and Notice of Ministry of Labor/Labor Standards Office Director (Ki-Hatsu No.
340):
(1) Single-axis robot with a motor wattage of 80 W or less
(2) Combined multi-axis robot whose X, Y and Z-axes are 300 mm or shorter and whose rotating
part, if any, has the maximum movement range of within 300 mm
rotating part
(3) Multi-joint robot whose movable radius and Z-axis are within 300 mm
Among the products featured in our catalogs, the following models are classified as industrial robots:
1. Single-axis ROBO Cylinders
RCS2/RCS2CR-SS8 and RCS3/RCS3CR/RCS3P/RCS3PCR whose stroke e xceeds 300 mm
2. Single-axis robots
The following models whose stroke exceeds 300 mm and whose motor capacity also exceeds 80 W:
ISA/ISPA, ISDA/ISPDA, ISWA/ISPWA, IF, FS, NS
3. Linear servo actuators
All models whose stroke exceeds 300 mm
4. Cartesian robots
Any robot that uses at least one axis corresponding to one of the models specified in 1 to 3
5. IX SCARA robots
All models whose arm length exceeds 300 mm
(All models excluding IX-NNN1205/1505/1805/2515, NNW2515 and NNC1 205/1505/1805/2515)
3
including the end of the
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Notes on Safety of Our Products
Common items you should note when performing each task on any IAI robot are explained below.
No. Task Note
1 Model
selection
2 Transportation When transporting the product, exercise due caution not to bump or drop the
3 Storage/
preservation
4 Installation/
startup
This product is not planned or designed for uses requiring high degrees of safety.
Accordingly, it cannot be used to sustain or support life and must not be used in
the following applications:
[1] Medical devices relating to maintenance, management, etc., of life or health
[2] Mechanisms or mechanical devices (vehicles, railway facilities, aircraft facilities,
etc.) intended to move or transport people
[3] Important safety parts in mechanical devices (safety devices, etc.)
Do not use this product in the following environments:
[1] Place subject to flammable gases, ignitable objects, flammables, explosives,
etc.
[2] Place that may be exposed to radiation
[3] Place where the ambient temperature or relative humidity exceeds the specified
range
[4] Place subject to direct sunlight or radiated heat from large heat sources
[5] Place subject to sudden temperature shift and condensation
[6] Place subject to corrosive gases (sulfuric acid, hydrochloric acid, etc.)
[7] Place subject to excessive dust, salt or iron powder
[8] Place where the product receives direct vibration or impact
Do not use this product outside the specified ranges. Doing so may significantly
shorten the life of the product or result in product failure or facility stoppage.
product.
Use appropriate means for transportation.
Do not step on the package.
Do not place on the package any heavy article that may deform the package.
When using a crane with a capacity of 1 ton or more, the crane must be operated
by personnel qualified to operate cranes and perform slinging operations.
When using a crane or other equipment, never use it to hoist any article exceeding
the rated load of the applicable crane, etc.
Use hoisting accessories suitable for the article to be hoisted. Select appropriate
hoisting accessories by making sure there is an ample allowance for safety in their
cutting load, etc.
Do not climb onto the article being hoisted.
Do not keep the article hoisted.
Do not stand under the hoisted article.
The storage/preservation environment should conform to the installation
environment. Among others, be careful not to cause condensation.
(1) Installing the robot, controller, etc.
Be sure to firmly secure and affix the product (including its work part).
If the product tips over, drops, malfunctions, etc., damage or injury may result.
Do not step on the product or place any article on top. The product may tip over or
the article may drop, resulting in injury, product damage, loss of/drop in product
performance, shorter life, etc.
If the product is used in any of the following places, provide sufficient shielding
measures:
[1] Place subject to electrical noise
[2] Place subject to a strong electric or magnetic field
[3] Place where power lines or drive lines are wired nearby
[4] Place subject to splashed water, oil or chemicals
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No. Task Note
4 Installation/
startup
(2) Wiring the cables
Use IAI’s genuine cables to connect the actuator and controller or connect a
teaching tool, etc.
Do not damage, forcibly bend, pull, loop round an object or pinch the cables or
place heavy articles on top. Current leak or poor electrical continuity may occur,
resulting in fire, electric shock or malfunction.
Wire the product correctly after turning off the power.
When wiring a DC power supply (+24 V), pay attention to the positive and negative
polarities.
Connecting the wires in wrong polarities may result in fire, product failure or
malfunction.
Securely connect the cables and connectors so that they will not be disconnected
or come loose. Failing to do so may result in fire, electric shock or product
malfunction.
Do not cut and reconnect the cables of the product to extend or shorten the cables.
Doing so may result in fire or product malfunction.
(3) Grounding
Be sure to provide class D (former class 3) grounding for the controller. Grounding
is required to prevent electric shock and electrostatic charges, improve noise
resistance and suppress unnecessary electro m agnetic radiation.
(4) Safety measures
Implement safety measures (such as installing safety fences, etc.) to prevent entry
into the movement range of the robot when the product is moving or can be
moved. Contacting the moving robot may result in death or serious injury.
Be sure to provide an emergency stop circuit so that the product can be stopped
immediately in case of emergency during operation.
Implement safety measures so that the product cannot be started only by turning
on the power. If the product starts suddenly, injury or product damage may result.
Implement safety measures so that the product will not start upon cancellation of
an emergency stop or recovery of power following a power outage. Failure to do so
may result in injury, equipment damage, etc.
Put up a sign saying “WORK IN PROGRESS. DO NOT TURN ON POWER,” etc.,
during installation, adjustment, etc. If the power is accidently turned on, electric
shock or injury may result.
Implement measures to prevent the work part, etc., from dropping due to a power
outage or emergency stop.
Ensure safety by wearing protective gloves, protective goggles and/or safety
shoes, as necessary.
Do not insert fingers and objects into openings in the product. Doing so may result
in injury, electric shock, product damage, fire, etc.
When releasing the brake of a vertically installed actuator, be careful not to pinch
your hand or damage the work part, etc., due to the slider dropping by its dead
weight.
5 Teaching Whenever possible, perform teaching from outside the safety fences. If teaching
must be performed inside the safety fences, prepare “work rules” and make sure
the operator understands the procedures thoroughly.
When working inside the safety fences, the operator should carry a handy
emergency stop switch so that the operation can be stopped any time when an
abnormality occurs.
When working inside the safety fences, appoint a safety watcher in addition to the
operator so that the operation can be stopped any time when an abnormality
occurs. The safety watcher must also make sure the switches are not operated
inadvertently by a third party.
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No. Task Note
5 Teaching Put up a sign saying “WORK IN PROGRESS” in a conspicuous location.
When releasing the brake of a vertically installed actuator, be careful not to pinch
your hand or damage the work part, etc., due to the slider dropping by its dead
weight.
* Safety fences --- Indicate the movement range if safety fences are not provided.
6 Confirmation
operation
After teaching or programming, carry out step-by-step confirmation operation
before switching to automatic operation.
When carrying out confirmation operation inside the safety fences, follow the
specified work procedure just like during teaching.
When confirming the program operation, use the safety speed. Failure to do so
may result in an unexpected movement due to programming errors, etc., causing
injury.
Do not touch the terminal blocks and various setting switches while the power is
supplied. Touching these parts may result in electric shock or malfunction.
7 Automatic
operation
Before commencing automatic operation, make sure no one is inside the safety
fences.
Before commencing automatic operation, make sure all related peripherals are
ready to operate in the auto mode and no abnormalities are displayed or indicated.
Be sure to start automatic operation from outside the safety fences.
If the product generated abnormal heat, smoke, odor or noise, stop the product
immediately and turn off the power switch. Failure to do so may result in fire or
product damage.
If a power outage occurred, turn off the power switch. Otherwise, the product may
move suddenly when the power is restored, resulting in injury or product damage.
8 Maintenance/
inspection
Whenever possible, work from outside the safety fences. If work must be
performed inside the safety fences, prepare “work rules” and make sure the
operator understands the procedures thoroughly.
When working inside the safety fences, turn off the power switch, as a rule.
When working inside the safety fences, the operator should carry a handy
emergency stop switch so that the operation can be stopped any time when an
abnormality occurs.
When working inside the safety fences, appoint a safety watcher in addition to the
operator so that the operation can be stopped any time when an abnormality
occurs. The safety watcher must also make sure the switches are not operated
inadvertently by a third party.
Put up a sign saying “WORK IN PROGRESS” in a conspicuous location.
Use appropriate grease for the guides and ball screws by checking the operation
manual for each model.
Do not perform a withstand voltage test. Conducting this test may result in product
damage.
When releasing the brake of a vertically installed actuator, be careful not to pinch
your hand or damage the work part, etc., due to the slider dropping by its dead
weight.
* Safety fences --- Indicate the movement range if safety fences are not provided.
9 Modification The customer must not modify or disassemble/assemble the product or use
maintenance parts not specified in the manual without first consulting IAI.
Any damage or loss resulting from the above actions will be excluded from the
scope of warranty.
10 Disposal When the product becomes no longer usable or necessary, dispose of it properly
as an industrial waste.
When disposing of the product, do not throw it into fire. The product may explode
or generate toxic gases.
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Indication of Cautionary Information
The operation manual for each model denotes safety guides under “Danger,” “Warning,” “Caution” and
“Note,” as specified below.
Level Degree of danger/loss Symbol
Warning
Danger
Caution
Note
Failure to observe the instruction will result in an imminent
danger leading to death or serious injury.
Failure to observe the instruction may result in death or
serious injury.
Failure to observe the instruction may result in injury or
property damage.
The user should take heed of this information to ensure the
proper use of the product, although failure to do so will not
result in injury.
Danger
Warning
Caution
Note
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1. Foreword
Thank you for purchasing an IAI product.
This operating manual describes the correct handling, structure, maintenance and other aspe cts of your
actuator.
Before using your actuator, be sure to read this operating manual and handle the actuator correctly. Keep
this manual with you so that you can reference applicable information whenever necessary.
For more complete information on operating the actuator, also peruse the operating manual for your
controller.
2. Safety Precautions
2.1 Basic Handling
You must assume that any handling or operation not specifically explained in this operating manual or
the controller operating manual cannot be performed, and do not perform any such handling or
operation.
Always use IAI’s genuine parts for wiring between the actuator and controller.
Entering the operation range of the machine while the machine is operating or receiving power may
create a dangerous situation and must be avoided at all cost.
2.2 Maintenance and Inspection
Be sure to turn off the controller power before performing maintenance or inspection.
Exercise due caution so that other operator will not turn on the power inadvertently while inspection is
still in progress.
Put up a plate or other sign that clearly states “WORK IN PROGRESS,” etc., in a conspicuous location.
If two or more operators work together to perform maintenance or inspection, the operators should
mutually watch out for each other’s safety. Particularly when turning on/off the power or moving the
axis, always call out before each action to ensure safety.
2.3 Permanent Magnets
This actuator uses high-performance rare-earth permanent magnets.
Accordingly, the actuator may cause malfunction in medical devices such as pacemakers.
Those who are wearing a pacemaker or any other medical device must not come within 30 cm of the
actuator.
(Note)
The information provided in this manual is subject to change without notice for the purpose of
modification and improvement.
This manual has been written with due attention to precision and completeness, but there may still be
inaccuracies and omissions. Should you find any error, or if you have any feedback, please contact
IAI’s Engineering Service Section or Sales Engineering Section.
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3. Warranty
3.1 Warranty Period
Warranty period shall be either of the following periods whichever ends first:
18 months after shipment from our factory
12 months after delivery to a specified location
2500 hours of operation time
3.2 Scope of Warranty
If a breakdown occurs within the period specified above and is due to the manufacturer's error, we will
repair the unit at no cost. However, the following items are not covered by this warranty.
Faded paint or other changes that occur naturally over time.
Consumable components that wear out with use.
Unit seems to be noisy or similar impressions that do not affect machinery performance.
Damage resulting from improper handling by the user or lack of proper maintenance.
Any alterations made by other than IAI or its representatives.
Breakdowns caused by using controllers made by other manufacturers.
Any damages caused by fire and other natural disasters or accidents.
The warranty pertains to the purchased product itself and does not cover any damages that might arise
from a breakdown of the supplied product.
Any repairs will be done at our factory. Even if the product is still covered under the warranty period, we
will assess a separate charge for sending technicians to the customer's site.
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4. Name of Each Part
The name of each part of the actuator is specified below.
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 In the above figure, the cables are facing top, while the home is located on the right side.
End cover
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.
Side covers
Stainless sheet
Cables
Slider
Right
Left
Home side
*1
Slider cover
End cover
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5. Transportation and Handling
5.1 Handling the Actuator by Itself
When transporting the actuator by itself, take note of the items specified below.
5.1.1 Handling the Packed Actuator
Unless otherwise specified, the actuator of single-axis configuration is packed individually.
When transporting or handling the packed actuator, exercise due caution not to hit the package against
other object or drop the package.
If the package is heavy, the operator must not attempt to carry the package alone.
When setting down the package, place it horizontally.
Do not step onto the package.
Do not place on the package any heavy object or other article with an area of concentrated mass that
may cause the package to deform.
5.1.2 Handling the Unpacked Actuator
When handling the unpacked actuator, hold it by the base.
Warning
Do not apply excessive force on any part of the actuator. When transporting the actuator, do not hold it by
the stainless sheet, cables, cable track or slider. In particular, never apply force on the stainless sheet.
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.
Handling precaution for the stainless sheet
The stainless sheet has a thickness of only 0.1 mm or so in order to provide flexibility. Because of this very
thin design, the stainless sheet easily gets dented and scratched. If the damaged stainless sheet is used
continuously, the sheet may eventually break.
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 sheet.
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5.2 Handling the Actuator Assembly
Pay attention to the following instructions when transporting an assembly of actuator axes.
5.2.1 Condition of Shipment from IAI (Assembled)
The actuators you have ordered are assembled at IAI, after which the assembly receives a shipping
inspection and is shipped in an outer frame with skids.
The assembly is packed with the sliders securely affixed so that they will not move unexpectedly during
transportation. In the case of a combined unit, the actuator ends are secured to prevent swinging due to
external vibration.
The package is not designed with special considerations for protection against impact due to dropping or
collision, so please handle the package with care. Also, do not place any heavy object on the outer
frame, as it is not strong enough to withstand loads.
When suspending the package using ropes, etc., pass the ropes from underneath the reinforcement
frames at the bottom of the skids. When lifting with a forklift, also place the forks underneath the skids.
Set down the package carefully so as not to apply impact to the assembly or cause it to bounce.
After unpacking, handle the actuator assembly correctly by observing the instructions given below.
5.2.2 Handling after Assembly with Peripheral Equipment
When transporting the actuators that have been assembled with peripheral equipment either at IAI or on
your site, observe the instructions given below.
Secure each slider to prevent unexpected movement during transportation.
If any actuator end is protruding, secure it to prevent swinging due to external vibration.
If the actuator ends are not secured, do not apply any impact force exceeding 0.3 G during
transportation.
When suspending the actuator-assembled peripheral equipment using ropes, etc., make sure the ropes
do not contact the actuators directly.
Pass the ropes over appropriate cushion materials, and make sure the loads from the ropes will be
received by the base of each actuator.
Secure the end of the Y-axis using a se parate rope to maintain the axis in a stable horizontal position.
At this time, be careful not to apply loads on the screw cover.
Be careful not to allow the brackets, covers and connector box of each actuator to receive loads.
Also protect the cables from pinching or excessive deformation.
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6. Installation, Storage/Preservation Environment
6.1 Operating Environment
The actuator should be set up in an environment, which meets the following criteria:
Avoid direct sunlight.
Avoid radiant heat from strong heat source s such as a furnace.
Ambient temperature should be 0 ~ 40C.
The humidity should be less than 85% and there should be no condensation.
Avoid exposure to corrosive or combustible gases.
The area should have very little dust and be suitable for normal assembly operat ions.
Avoid exposure to oil mist or fluids used in cutting.
Impact and vibration must not be transmitted.
Avoid extreme electromagnetic waves, ultraviolet rays and radiation.
This product is not intended to be used in a chemi cal environment.
In general, the environment should be one in which an operator can work without protective gear.
6.2 Storage/Preservation Environment
The storage/preservation environment should be similar to the operating environment. In addition, you
must take pre-cautions against condensation if the unit is to be stored for a long period of time. Unless
there are special instructions, we do not include moisture absorption agents when shipping the unit. If you
are storing the unit where condensation might occur, then you must treat the entire package or treat the
unit itself after it is unpacked to prevent condensation. The unit can withstand up to 60C during a short
storage/preservation interval but only up to 50C if the storage/preservation period is longer than one
month.
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7. Installation
Notes on Installation
[Stainless sheet]
The stainless sheet is designed very thin (thickness: 0.1 mm) in order to ensure flexibility. Therefore,
the stainless sheet is easily dented or scratched. Once dented or scratched, the stainle s s sheet may
break during use.
When installing the stainless sheet, pay attention to the following points. Also, be careful not to let a
tool or work part drop onto the actuator to dent the exterior of the actuator.
Do not press the sheet directly with hands.
Do not generate powder dust or iron powder around the stainless sheet.
If dust/powder has generated, thoroughly remove attached dust/powder from the stainless sheet after the
operation.
If the actuator is operated with the stainless 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.
Also, magnets are attached to the side covers to keep the stainless sheet in position. Since these
magnets attract metal debris, iron powder and other metal objects, due attention must be paid to the
surrounding environment.
Do not press the sheet directly with hands.
[Slider cover]
Do not apply force on the slider cover. It may cause interference and other damages.
Slider cover
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7.1 Installing the Actuator
Install the actuator on a machined surface or other flat surface of equivalent precision.
This linear actuator can be affixed on its top or bottom side.
Reamed holes for accepting positioning pins are provided at the back of the base.
7.1.1 Affixing the Actuator on the Top Side of the Base
The actuator base has through mou nting holes. Use these holes to install the actuator.
When installing the actuator, use M8 bolts of strength category 10.9 or above, together with the supplied
dedicated washers.
Reamed holes for accepting positioning pins are also provided at the back of the base.
Through mounting hole
9
Through mounting hole
Applicable bolt Remarks
M8 Use a dedicated washer.
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7.1.2 Affixing the Actuator on the Bottom Side of the Base
Tapped mounting holes are provided at the back of the actuator base. Use these tapped hol es to install
the actuator.
Tapped hole
Tap diameter Effective tap length
M8 20 mm
Tapped hole
Caution: Tapped holes are not through, so pay attention to the bolt length when selecting
bolts. Use of bolts of inappropriate length may damage the tapped holes or
reduce the mounting strength of the actuator, consequently leading to lower
precision or unexpected accident.
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7.2 Installation Surface
Ensure that the frame offers sufficient structural rigidity to prevent generation of vibration.
Install the actuator on a machined surface or other flat surface of equivalent precision. 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 reference surfaces used for alignment of
slider travel.
If you require higher traveling precision, install the actuator u sing th ese reference surfaces.
Reference surface
Reference surface
As shown above, each side surface of the base provides a reference surface used for alignment
of slider travel. If you require higher traveling precision, therefore, install the actuator with
reference to either side surface of the base.
When installing the actuator on the frame using the base reference surfaces, provide the necessary
machining by following the drawing below.
R0.3 or less
Dimension A (mm)
2 ~ 3.5
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7.3 Tightening Screws
Use hexagonal socket head bolts (male screws) for installing the base.
Use of high-tensile bolts of ISO strength category 10.9 or above is recommended.
Provide the following effective engagement length for the bolt and male screw.
When the male screw is made of steel Same as the nominal diameter
When the male screw is made of aluminum Twice the nominal diameter
The recommended tighten ing torques are as follows.
Screw nominal
diameter
Steel bolt bearing surface Aluminum bolt bearing surface
Tightening torque
M8
31.3 Nm (3.19 kgfm) 14 Nm (1.43 kgfm)
7.4 Installing a Connector Box Using T-slots
T-slots (M4) are provided on the side faces of the actuator for installation of a conne ctor 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 end of the bolt
will not contact the bottom of the T-slot.
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7.5 Installing a Load on the Slider
The slider has tapped holes that can be used to affix a load.
The procedure to affix a load on the slider shall conform to the actuator installation procedure.
Even when the slider is affixed to move the actuator body, the actuator is also installed u sin g the tapped
holes.
Two reamed holes are provided in the slider. Use these holes if the load must be installed/removed
repeatedly. To fine-tune the squareness, etc., use one of these reamed holes in the slider.
Keep the screw-in depth to 20 mm or less.
Do not screw in the bolts to a length exceeding the above value, as it will damage the side cover or other
part of the actuator.
Caution: When installing the load, do not let viscous substances such as adhesives and
paints attach to the stainless sheet or apply force only to a specific part of the
actuator to dent the affected part. They can lead to slider malfunction or sheet
damage.
Installation dimensions for LSA-W21SS/LSA-W21SM slider
Installation dimensions for LSA-W21HS/LSA-W21HM slider
4-M8, depth 20
6H7, depth 10
2-
8-M8, depth 20
6H7, depth 10
2-
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8. Wiring of the Cables
Unless otherwise specified, the actuator of single-axis configuration is shipped with a 3 or 5-meter singleaxis cable preassembled with the actuator. Plug the connector at the end of the cable into the controller
directly.
The single-axis cable has excellent flexibility, but it is not a robot cable. Therefore, avoid storing this
cable in a movable wiring duct having a small bending radius.
In applications where the single-axis cable cannot be affixed, prevent the cable from deflecting except by
the dead weight, or use a self-standing cable hose or wire the cable with a large bendin g radius to
reduce the load received by the cable.
Do not cut any of the cables to reduce its length or reconnect the cut cable with other cable to extend the
wiring length or for any other purpose.
Do not pull the cables or bend them excessively.
If you wish to change the cable, please consult IAI.
Controller connection diagram
This is a connection example with the XSEL controller. This actuator can also be connected to the
SSEL or SCON controller.
Control power
supply, drive
power supply
XSEL controller
Motor cable
Encoder cable
Linear actuator
Host system (PLC)
Teaching
pendant
PC software
<IA-101-X-MW>
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9. Precautions for Use
9.1 Actuator Load
Make sure the load specified in the “Specifications” section is not exceeded. In particular, pay attention to
the moment applied to the slider, allowable overhang length, and load.
Allowable load moment
Unit: Nm (kgfm)
Ma Mb Mc
LSA-W21SS, LSA-W21SM 128.7 (13.1) 128.7 (13.1) 128.7 (13.1)
LSA-W21HS, LSA-W21HM 275.2 (28.1) 275.2 (28.1) 275.2 (28.1)
Allowable overhang length
Unit: mm
Ma Mb Mc
LSA-W21SS, LSA-W21SM 500 mm or less 500 mm or less 500 mm or less
LSA-W21HS, LSA-W21HM 750 mm or less 750 mm or less 750 mm or less
* The above overhang length assumes that the center of gravity of the load is located at a point
corresponding to one-half the overhang length.
Moment directions
Mc
Allowable overhang directions
Mb or Mc direction Ma direction
Mb
Ma
14
Caution: If an excessive load moment is applied, the guide will reach its life prematurely or
other undesirable effects will result. Using the actuator in a configuration where
the overhang length exceeds the allowable value may also increase vibration or
reduce the service life of the guide.
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9.2 Home Return
9.2.1 Operating Principles of Home Return
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] A home sensor signal is detected during home return.
[3] Upon detection of the home sensor signal, the actuator reverses and subsequently detects a Z-phase
signal to recognize 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.
9.2.2 Fine-tuning the Home Position
The actuator is shipped with its motor revolutions after the actuator detects a home sensor signal until a Zphase 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 detects a home sensor signal and reverses, until it stops
at the home position.
Model Reversing distance
LSA-W21SS, LSA-W21SM
LSA-W21HS, LSA-W21HM
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 1 mm, also adjust the soft stroke limits.
9.2.3 Changing the Home Direction
Changing the factory-set home direction after the delivery requires certain changes, such as changing the
moving direction parameter. Please consult IAI.
Approx. 7 mm
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.
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9.3 Stainless Sheet
The stainless sheet is held in position by the attraction forces of rubber magnets provided on the side
covers. If ambient air contains a lot of magnetic substances such as iron powder, these magnetic
substances may be attracted to the rubber magnets and enter the space between the stainless sheet and
magnets, thereby causing problems. Therefore, avoid using the actuator in an environment where the
actuator will come in contact with a high level of magnetic substances.
If viscous substances such as adhesives and paints attach to the stainless sheet, slider malfunction or
sheet damage may occur. Prevent viscous substances from contacting the actuator.
Take note that applying a force only to a specific part of the stainless sheet may cause the affected part
to deform and create various problems. Also, do not grip or hold the stainless sheet when installing or
transporting the actuator, as it may damage the sheet.
Be careful not to let a tool or work part drop onto the actuator to dent the exterior of the actuator.
Do not press the sheet directly with hands.
9.4 Slider Cover
Do not apply force on the slider cover. It may cause interference and other damages.
Slider cover
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10. Selection Conditions
When using a large linear servo actuator, you must ensure that the actuator satisfies the following two
conditions.
Condition [1]
Condition [2]
The above conditions are explained by using a trapezoid
operation as an example.
Speed
The above operation pattern can be expressed differently
in a graph where the vertical axis represents thrust.
Thrust
The thrust required for acceleration must not exceed the maximum thrust of the large
linear servo actuator.
The thrust during continuous operation must not exceed the rated thrust of the large
linear servo actuator.
t: Operation time per cycle
(sec)
ta: Acceleration time (sec)
tf: Moving time at constant
speed (sec)
td: Deceleration time (sec)
tc: Stabilization time
Time
Fa: Thrust required for
acceleration (N)
Ff: Traveling resistance (N)
Fd: Thrust required for
deceleration (N)
Time
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10.1 Selection Method
Condition [1]: Maximum thrust
For the slider to accelerate according to a command, the thrust required for acceleration, or Fa, must be
smaller than the maximum thrust of the large linear servo actuator.
Thrust Fa is calculated using the equation below:
Here,
M: Slider weight
m: Slider load (kg)
a: Comm and ed acceleration (m/s
2)
Ff: Traveling resistance (N)
In the case of a large linear servo actuator, the traveling resistance is determined by the speed and
empirically calculated as specified below.
[Traveling resistance of large linear servo actuator]
Ff = 20 V + 70 V: Slider speed (m/s)
If the obtained Fa is smaller than the maximum thrust of the large linear servo actuator, condition 1 is
satisfied.
Large linear servo actuator LSA-W21SS, LSA-W21SM Maximum thrust 600 N
Large linear servo actuator LSA-W21HS, LSA-W21HM Maximum thrust 1200 N
[Slider weight]
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Condition [2]: Thrust during continuous operation
Confirm that the thrust during continuous operation, or Ft, which also takes into consideration the load
and duty, is smaller than the rated thrust of the large linear actuator.
Here, Fd indicates the thrust required for deceleration and can be calculated as follows:
M: Slider weight
m: Slider load (kg)
d: Commanded deceleration (m/s
2)
Ff: Traveling resistance (N: as described earlier)
If the obtained thrust during continuous operation Ft is smaller than the rated thrust, the actuator can be
operated in the applicable conditions.
Large linear servo actuator LSA-W21SS, LSA-W21SM Rated thrust 200 N
Large linear servo actuator LSA-W21HS, LSA-W21HM Rated thrust 400 N
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.
[Slider weight]
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10.2 Example
Let’s select a motor by following the procedure in “Selection Method.”
Operating conditions
Applicable model: Large linear servo actuator LSA-W21SS, LSA-W21SM
Speed: 2.5 m/s
Acceleration: 29.4 m/s
assumed to be the same.)
Travel: 2.5 m
Slider load: 10 kg
The actuator moves back and forth over a stroke of 2.5 m.
The above operation pattern can be illustrated
by the graph shown to the right.
Now, let’s start calculation according to “Selection Method.”
Test condition [1], “maximum trust.”
Apply the above operation pattern to the aforementioned equation of maximum thrust.
Here,
M: Slider weight (10 kg for the large linear servo actuator LSA-W21SS/LSA-W21SM)
m: Slider load (kg) : 10 kg in this example
a: Comm and ed acceleration (m/s
Ff: Traveling resistance (N) : 120 N in this example
From above, Fa is calculated as follows:
Fa = (20 x 29.4 + 120) 708 N
The calculated value exceeds the maximum thrust
W21SS/LSA-W21SM.
Let’s lower the specified acceleration to 19.6 m/s
Fa = (20 x 19.6 + 120) 512 N.
The calculated value is smaller than the maximum thrust
W21SS/LSA-W21SM.
2
(The deceleration is
2
) : 29.4 m/s2 in this example
Speed
Time
600 N of the large linear servo actuator LSA-
2
. Fa changes as follows:
600 N of the large linear servo actuator LSA-
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Test condition [2], “thrust during continuous operation.”
Apply the above operation pattern to the aforementioned equation of thrust during continuous operation.
Based on the examination result of maximum thrust, the specified acceleration is assumed as 19.6 m/s
Here,
Fa = 512 N, Ff = 120 N, Fd = 272 N, ta = td = 0.127sec, tf = 0.873 sec, t = 1.277 sec (including
stabilization time tc of 0.15 sec)
From the above, Ft is calculated as 208.02 N.
Since this value exceeds the rated thrust 200 N of the large linear servo actuator LSA-W21SS/LSA-
W21SM, 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 = 1.5 sec (including stabilization time tc of 0.15 sec).
Speed
Time
This time, Ft is calculated as 191.9 N.
Accordingly, the actuator can be used in this operation pattern.
2
.
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11. Maintenance and Inspection
11.1 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 Greasing
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
11.2 Visually Inspecting the Exterior
Visually check the exterior of the following items.
Inspection location Check items Remarks
Actuator Loosening of actuator mounting bolts, etc.
Cables Scratches, connector engagement
Stainless sheet Scratches, loosening Refer to Chapter 13 in this manual.
Overall Noise, vibration
* As a guideline, the service life of the stainless sheet roughly corresponds to a traveled distance of
5,000 km.
However, the stainless 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.
11.3 Cleaning the Exterior
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.
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11.4 Inspecting the Interior
With the power supply turned off, turn up the stainless sheet and visually inspect the interior.
Check the following items inside the actuator.
Actuator Loosening of actuator mounting bolts, etc.
Guide Lubrication condition, soiling
Visually check the interior condition. What you should focus are 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.
If grease has become dirty due to entry of dust and no longer looks glossy, or if the amount of grease has
decreased over a long period of use, clean the respective parts and then add grease.
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 2.5 mm.
[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 checking the interior, do not forcibly bend or scratch the stainless sheet.
Do not pull the sheet, either, as it may change the initial installation condition.
If the installation condition changes, the sheet may become offset or reach its life
prematurely. If you have noticed any negative effect as a result of improper
handling of the sheet, please contact IAI’s Sales Engineering Section.
When working with the stainless sheet, wear gloves or take other appropriate
precautions to prevent cuts by the edges of the sheet.
11.5 Cleaning the Interior
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, neutral detergent or alcohol.
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11.6 Greasing the Guide
11.6.1 Applicable Grease
Lithium grease is applied to the guide before shipment.
IAI uses the greases specified below.
LSA-W21SS, LSA-W21SM AFB-LF Grease (THK)
LSA-W21HS, LSA-W21HM Albania EP Grease 2 (Showa Shell Sekiyu K.K.)
Other manufacturers are also offering greases equivalent to the above products. Inform your grease
supplier of the above products and have them select their product of equivalent properties.
For example, equivalence of the following products has been confirmed.
Showa Shell Sekiyu K.K. Albania Grease No. 2
Mobil Sekiyu K.K. Mobilux 2
Idemitsu Kosan Co., Ltd. Daphne Eponex Grease No. 2
Kyodo Yushi Co., Ltd. Multemp SRL
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11.6.2 How to Add Grease
Before adding grease, turn off the actuator power.
1) Remove the end cover to reveal the right and left grease nipples from which to add grease.
Grease nipple
2) Move the slider by hand until it contacts the mechanical end (on the side where the target grease
nipple is located).
3) Insert the grease gun into the grease nipple and add grease. Hold the slider with the other hand
when adding grease with the grease gun.
Refer to the table below to prepare a grease gun appropriate for the diameter of the grease nipple.
Model number Nipple diameter
LSA-W21SS, LSA-W21SM
LSA-W21HS, LSA-W21HM
6
4
4) Move the slider back and forth several times by hand.
5) Move the slider until it contacts the mechanical end on the opposite side.
6) Repeat steps 2) to 5) (add grease and move the slide manually between the ends) several times.
7) Install the end cover.
End cover
Warning: Do not use fluorine grease. If fluorine grease is mixed with lithium grease, the
designed lubrication performance of both greases will be lost and the machine
may also be damaged.
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12. Troubleshooting
12.1 What to Do When You Suspect a Failure
Even when an encoder open error (error code: D12), driver overload error (error code: D0A) or deviation
overflow error (error code: C6B) occurs, there may not be a physical breakdown. Before reque sting repair
of your robot or controller, follow the procedure below to check the location of failure/requiring repair.
If the problem persists after the applicable measures have been taken, contact IAI with the detailed
condition.
After Installation,
Operation Not Yet Started
Encoder open error
Connector wiring
problem?
NO
Loosen the mounting
bolts in the location where the
error occurred. Does the error
message disappear?
NO
If the problem has not yet been
resolved at this point, contact IAI.
YES
YES
Check the following:
[1] Are the connectors securely connected?
[2] Are the connector pins not loose?
[3] Are the axis numbers connected
correctly?
(Are the motor cable and encoder cable
not reversed?)
If the error message disappears after
tightening the bolts, the actuator may not
be parallel with the installation surface.
Install the actuator at a parallelism of 0.05
mm/m or less.
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After Start of
Operation
Encoder open error
Is there a broken cable?
YES
NO
Check if breakage occurred in the cable track or
at the extension cable.
[1] If you have an encoder cable in a
replacement cable track, try swapping the
encoder cables.
(In the case of a double-slider system, try
swapping the encoder cables in the left and
right cable tracks. If the location of the
encoder open error changes from the left to
right, or vice versa, the applicable cable is
broken.)
[2] If you have a replacement encoder extension
cable, try swapping the extension cables.
(In the case of a double-slider system, try
swapping the left and right encoder extension
cables. If the location of the encoder open
error changes from the left to right, or vice
versa, the applicable cable is broken.)
[Refer to “Cable Connection Locations’” on the
next page.]
Is the controller faulty?
YES
If you have a replacement controller, tray
swapping the controllers.
NO
Is dirt, etc., attached on the
linear scale?
NO
YES
Wipe the linear scale using a dry cloth and
alcohol.
[Refer to 14, “Linear Scale Cleaning
Procedure.”]
If the problem has not yet been
resolved at this point, contact IAI.
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Cable Connection Locations
The connection locations of cables on the LSA-W21 linear servo actuator are shown below.
Cable in the slider
Encoder cable/motor cable
in the cable track
Encoder extension cable
Motor extension cable
Location where the cable in the slider is connected
to the encoder cable/motor cable in the cable track
(The cables are connected in the case. Remove the
case cover to access the connection location.)
Projection Cutout
Projection
Location where the encoder cable/motor cable
in the cable track are connected to the encoder
extension cable/motor extension cable
Projection Projection Projection Projection
(Note) One side of each connector has a
cutout in the case of a male connector,
or a projection in the case of a female
connector. Insert the male connector
into the female connector after
confirming the connecting direction.
(Note) One side of each connector has a
projection in the case of both a male
connector and female connector. Insert
the male connector into the female
connector after confirming the
connecting direction.
Cutout
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13. Replacement/Adjustment of Stainless Sheet
[Required Items]
Replacement stainless sheet
Hex wrench set
Scale
Adhesive tape
[Notes]
1. Stainless sheet tension
Improper tension of the stainless sheet can promote deterioration and wear of the sheet.
If the stainless sheet is stretched too much to the extent that the clearance with the slider cover
exceeds the specified value of 1 mm, fatigue destruction may result.
On the other hand, excessive slacks cause the stainless sheet to contact the back of the slider cover.
2. Checking the clearance between the stainless sheet and the back of the slider cover
The slider cover need not be removed when replacing and adjusting the stainless sheet.
Simply remove the inspection cover located on one side of the slider cover, and you can adjust the
stainless sheet by directly measuring and checking the clearance between the stainless sheet and the
back of the slider cover.
[Name of each part]
Stainless-sheet retainer
plates
Slider cover Stainless sheet
Inspection cover
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13.1 Replacement Procedure for Stainless Sheet
1. Replacing the damaged stainless sheet with a new stainless sheet
[1] Check a new stainless sheet to confirm absence of scratches or soiling.
[2] Loosen the screws affixing the damaged stainless sheet and remove the sheet retainer plates.
[3] Connect the damaged stainless sheet and new stainless sheet using adhesive tape.
[4] Slowly pull the end of the damaged stainless sheet so that the sheet slides over the side cover.
* Be careful not to allow the stainless sheet to come off of the side cover and get attracted to the
permanent magnets in the base.
[5] Confirm that the new stainless sheet has been installed in the slider.
Slowly pull out the
sheet.
Connect using adhesive tape.
Connect the damaged stainless sheet and new stainless sheet using adhesive tape, and
then slowly pull out the damaged stainless sheet so that the new sheet takes its position.
New stainless sheet
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13.2 Adjusting the Stainless Sheet Tension
[1] First, affix the stainless sheet uniformly on the right and left in a manner free from meandering.
(The stainless sheet is held in position by the attraction forces of magnets. Therefore, lift the sheet
from one end and then put it back in place toward the same end to achieve better result. Also
adjust the stainless sheet from the slider center toward both ends.)
[2] Move the slider to a position near the stroke center, and remove the stainless-sheet retainer plate
on either side.
[3] Adjusting the Stainless Sheet Tension
Remove the inspection cover located on one side of the slider cover to reveal the interior of the
slider.
Adjust the sheet in the axial direction uniformly on the right and left until the height of the apex of
the slider curve comes to 1.0 mm below the installation surface of the slider cover. In this position,
loosely tighten the mounting screws on the sheet retainer plate (hexagonal socket head button
bolt M4 x 10).
Move the slider to a position near the stroke center.
Remove the stainless-sheet retainer plate on either side.
Clearance = 1.0
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[4] Move the slider by hand over its full stroke and see the stainless sheet from above to confirm that
the specified dimensions on both sides of the stainless sheet are roughly uniform across the entire
length, as shown in the figure.
If not, the stainless sheet is skewed. Repeat the adjustment from step [1] to make sure the
stainless sheet extends straight.
These dimensions on both sides must be roughly
uniform.
[5] Securely tighten the stainless-sheet retainer bolts that have only been loosely tightened, and then
install the inspection cover on the side of the slider cover.
[6] After the sheet retainer plate has been securely tightened, move the slider over its full stroke by
hand to check if the dimensions on both sides of the stainless sheet change significantly or if a
sound of slider contact is heard. If any problem is found, repeat the adjustment from step [1].
Warning:
This actuator uses high-performance rare-earth permanent magnets. Accordingly, anyone
who is using a pacemaker or other medical device should not perform this work.
Do not bring a watch, mobile phone or any other electronic device susceptible to the
magnetic field closer to the actuator.
Wear gloves and exercise caution not to cut your hand by the stainless sheet during the
procedure.
Pay due attention not to let the permanent magnets attract iron powder or other magnetic
objects during the procedure.
Caution:
Always use IAI’s genuine stainless sheet.
If IAI’s genuine stainless sheet is not used, actuator breakdown may occur.
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14. Linear Scale Cleaning Procedure
[Required Items for Cleaning]
Allen wrenches (4 mm, 3 mm and 2.5 mm across flats)
Tweezers
Dry cloth
Industrial alcohol
Marker pen
[Procedure]
Warning:
This actuator uses high-performance rare-earth permanent magnets. Accordingly, anyone
who is using a pacemaker or other medical device should not perform this work.
Do not bring a watch, mobile phone or any other electronic device susceptible to the
magnetic field closer to the actuator.
Wear gloves and exercise caution not to cut your hand by the stainless sheet during the
procedure.
Pay due attention not to let the permanent magnets attract iron powder or other magnetic
objects during the procedure.
Caution:
The bolts you have removed will be required when reassembling the linear scale. Keep
them in a secure place by making sure you know which bolt came from where.
(1) Remove the stainless sheet.
[1] Use an Allen wrench of 3 mm across flats to remove the bolts securing the slider cover, and take
out the slider cover.
Slider cover
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[2] Remove the stainless sheet and clean the linear scale.
So that the original tension can be restored when the stainless sheet is installed again later on,
use a marker pen to draw marker lines near the stainless-sheet retainer plates at both ends.
Marker lines
[3] Use an Allen wrench of 2.5 mm across flats to remove the bolts securing the top stainless-sheet
retainer plate. Remove the bolts at both ends of the stainless-sheet retainer plate. Now the
stainless sheet can be removed.
Stainless-sheet retainer plate
[4] Pull out the stainless sheet from the slider to remove the sheet.
34
Caution:
The permanent magnets have very strong magnetic force, so if you are not careful, the
stainless sheet may be attracted to the magnet and become bent to the point where it can
no longer be used. Exercise caution.
Stainless sheet
Pull out.
Page 49
(2) Remove the side cover from the side where there is no cable track.
Side cover
[1] Use an Allen wrench of 2.5 mm across flats to remove the bolts securing the bottom stainless-
sheet retainer plate. Remove the bolts at both ends of the bottom stainless-sheet retainer plate.
Bottom stainless-sheet retainer plate
Side cover
Side cover
[2] Use an Allen wrench of 4 mm across flats to loosen all bolts securing the side cover. Even though
loose, the bolts are sill in the holes and cannot be taken out by hand. Use tweezers to take out the
bolts.
Use tweezers to
take out the bolts.
Side cover
35
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[3] Remove the side cover.
Side cover
Before removing the side cover
After removing the side cover
Once the side cover is removed, you should see the linear scale at the bottom.
Linear scale
(3) Take a small amount of alcohol in a dry cloth and wipe the linear scale with the cloth in gentle action
to remove any soiling.
36
Caution:
Do not wipe the linear scale with a strong force. Also, exercise caution not to scratch the
scale surface. If the surface is scratched, you may no longer get the correct readings.
Page 51
(4) Install the side cover to its original condition.
[1] Install the side cover you have removed earlier.
Before installing the side cover After installing the side cover
[2] Use an Allen wrench of 4 mm across flats to tighten the bolts and secure the side cover.
Tightening torque: 411 Ncm
(41.9 kgfcm)
[3] Use an Allen wrench of 2.5 mm across flats to tighten the bolts at both ends of the bottom
stainless-sheet retainer plate to secure the retainer plate.
Bottom stainless-sheet retainer plate
Side cover
37
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(5) Install the stainless sheet.
[1] Move the slider to near the center of the stroke, and insert the stainless sheet into the slider and
guide it through the slider, as shown in the figure.
Caution:
The permanent magnets have very strong magnetic force, so if you are not careful, the
stainless sheet may be attracted to the magnet and become bent to the point where it can
no longer be used. Exercise caution.
Stainless sheet
The slider should be
positioned near the
center of the stroke.
Stainless sheet Slider
Rollers Rollers
[2] Align the stainless sheet with the marker lines. Put the top stainless-sheet retainer plate over the
stainless sheet and tighten the bolts at one end using an Allen wrench of 2.5 mm across flats to
secure the stainless sheet at one end.
Marker line
Top stainless-sheet retainer plate
38
Page 53
[3] Pull the stainless sheet from the side not yet secured and align it with the marker lines in the same
manner. Loosely tighten the bolts on the top stainless-sheet retainer plate just enough to keep the
stainless sheet from moving.
Marker line
Top stainless-sheet retainer plate
Once the stainless sheet is installed as marked, the height of the warped part of the sheet in the
slider drops 1.0 mm from the installation surface of the slider cover to prevent contact with the
slider cover.
Clearance:
1.0 mm
39
Page 54
[4] Move the slider by hand over its full stroke and see the stainless sheet from above to confirm that
the specified dimensions on both sides of the stainless sheet are roughly uniform across the entire
length, as shown in the figure.
If these dimensions are not uniform across the entire length, the stainless sheet is bent. Remove
and install the stainless sheet again.
These dimensions on both sides must be
roughly uniform.
[5] Use an Allen wrench of 2.5 mm across flats to securely tighten the bolts that have been tightened
only loosely, to secure the stainless sheet.
Top stainless-sheet retainer plate
40
Page 55
[6] Put the slider cover over the slider and tighten the bolts using an Allen wrench of 3 mm across
flats to secure the slider cover.
Slider cover
[7] Finally, move the slider by hand over its full stroke once again to confirm absence of bending and
warping of the stainless sheet.
Follow the same check method in (5) [4].
Also confirm that the slider is not making noise from contacting the stainless sheet.
If the two are contacting, you should hear loud rustling noise or cupping noise that generates
when the stainless sheet separates from the slider.
If any problem is found, remove and attach the stainless sheet again.
41
Page 56
15. Specifications
15.1 Actuator
Model number Unit LSA-W21SS, LSA-W21SM LSA-W21HS, LSA-W21HM
Stroke mm LSA-W21SS: 1050 ~ 4155
LSA-W21SS: 730 ~ 3835
Rated thrust N
Maximum thrust N
Maximum speed mm/sec
Maximum acceleration/
deceleration
Maximum payload
capacity
Positioning repeatability
Load moment Nm
G
kgf
mm
(kgfm)
60 (When used horizontally) 120 (When used horizontally)
200 400
600 1200
0.005
Ma: 128.7 (13.1) Ma: 275.2 (28.1)
Mb: 128.7 (13.1) Mb: 275.2 (28.1)
2500
LSA-W21HM: 895 ~ 4000
LSA-W21HM: 420 ~ 3525
3
(*1)
(*2)
(*2)
Mc: 128.7 (13.1) Mc: 275.2 (28.1)
Overhang load length mm
(*1) The maximum speed may not be reached depending on the stroke.
(*2) The specific value varies depending on the operating conditions.
Ma direction: 500 or less Ma direction: 750 or less
Mb, Mc direction: 500 or less Mb, Mc direction: 750 or less
42
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15.2 Cable Wiring Diagram
[1] Cable in the cable track (motor cable)
Wire Color Signal No.
AWG 16 or
equivalent
[2] Cable in the cable track (encoder cable)
Wire Color Signal No.
AWG 26 or
equivalent
Wire Color Signal No.
AWG 26 or
equivalent
(JST)
Plug housing: YLP-04V
Socket contact: SVF-41T-P0.5A
(Taiyo Electric Co., Ltd.)
300 V EXT-2/2517 4c x 16AWG
External diameter: 8.4
U
Red
White
Black
Green
(Taiyo Electric Wire & Cable Co., Ltd.)
PG/LS cable
EXT-2-SB/2D276 7P x 26AWG
External diameter: 8.2
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
2R/Light blue
2B/Pink
2R/Pink
PE
(Hirose Electric Co ., Ltd.)
Double brazed crimp socket: DF11-12DS-2C
Socket crimp terminal: DF11-2428SC
(Hirose Electric Co ., Ltd.)
Single crimp socket: DF3-3S-2C
Socket crimp terminal: DF3-2428SC
EN_A
EN_/A
EN_B
EN_/B
EN_Z
EN_/Z
SD
/SD
5V
-
NC
GND
FG
24V
0V
LS
V
W
1
2
3
4
1
2
3
4
5
6
7
8
9
10
11
12
1
2
3
(JST)
Receptacle housing: YLR-04VF
Pin contact: SYM-41T-P0.5A
No. Signal Color Wire
1
2
3
4
(JST)
Receptacle housing: XMR-18V
Pin contact: BXM-001T-P0.6
Retainer: XMS-09V
(JST)
Receptacle housing: XMR-06V
Pin contact: BXM-001T-P0.6
Retainer: XMS-06V
No. Signal Color Wire
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
No. Signal Color Wire
1
2
3
4
5
6
W
PE
EN_A
EN_/A
EN_B
EN_/B
EN_Z
EN_/Z
NC
NC
FG
SD
/SD
NC
NC
5V
GND
NC
NC
NC
24V
0V
LS
NC
NC
NC
U
Red
V
White
Black
Green
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
2R/Light blue
2B/Pink
2R/Pink
-
-
-
AWG 16 or
equivalent
AWG 26 or
equivalent
AWG 26 or
equivalent
43
Page 58
15.3 External Dimension Drawing
15.3.1 W21SS
r
:
h
c
i
p
t
0
.
)
2
0
(*1)
e
R
(
m
a
e
:
h
.
0
0
)
2
C-9, depth 13
of K
(2:1)
Detail view
9,
The cable track may bulge
and exceed the following
dimensions slightly.
K
F-M8,
8 H7, depth 5
depth 20
Slot, depth 5 (I)
, depth 10
e
R
(
p
m
a
r
e
i
t
c
6H7
4-M8, depth 20
(Refer to section J-J)
(1:1)
Section J-J
of I
(2:1)
Detail view
44
Page 59
No.
Stroke
45
Page 60
15.3.2 W21SM
of K
(2:1)
9,
Detail view
J-J
Section
of I
Detail view
(1:1)
(2:1)
(*1)
The cable track may bulge
and exceed the following
dimensions slightly.
K
, depth 10
R
(
m
a
e
r
e
:
h
c
i
p
t
.
0
0
)
2
6H7
(Minimum slider clearance)
4-M8, depth 20
C-9, depth 13
(Refer to section J-J)
F-M8,
depth 20
8 H7, depth 5
Slot, depth 5 (I)
46
Page 61
No.
Stroke
47
Page 62
15.3.3 W21HS
of K
(2:1)
Detail view
(*1)
The cable track may bulge
and exceed the following
dimensions slightly.
K
F-M8,
R
(
m
a
e
r
e
:
h
c
i
p
t
.
0
0
)
2
2-,6H7, depth 10
8-M8, depth 20
C-9, depth 13
(Refer to section J-J)
depth 20
8 H7, depth 5
Slot, depth 5 (I)
9,
J-J
(1:1)
Section
of I
(2:1)
Detail view
48
Page 63
No.
Stroke
49
Page 64
15.3.4 W21HM
of K
(2:1)
Detail view
(*1)
The cable track may bulge
and exceed the following
dimensions slightly.
K
R
(
m
a
e
r
e
:
h
c
i
p
t
.
0
0
)
2
2-,6H7, depth 10
40 (Minimum slider clearance)
8-M8, depth 20
C-9, depth 13
(Refer to section J-J)
F-M8,
depth 20
8 H7, depth 5
Slot, depth 5 (I)
9,
J-J
(1:1)
Section
of I
(2:1)
Detail view
50
Page 65
No.
Stroke
51
Page 66
Change History
Revision Date Description of Revision
September 2010
January 2011
First edition
Second edition
Page 31 Corrected the dimension of the clearance from 1.5 to 1.0 in
the drawing
Pages 7 and 16 Added the precaution; “Do not apply force on the slider
cover.”
Third edition
Removed “Safety Precautions.”
Preface-1 to 7: Added “Safety Guide.”
P. 6: Storage Environment Storage/Preservation Environment
P. 10: Within 0.05 mm Within 0.05 mm/m
P. 26 to 28: Change the content of 12.2, “Encoder Open Error” in 12,
“Troubleshooting.”
P. 33 to 41: Added 14, “Linear Scale Cleaning Procedure.”
52
Page 67
Page 68
Catalog No.: ME3645-3A
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
Atlanta Office: 1220 Kennestone Circle, Suite 108, Marietta, GA 30066
TEL (678) 354-9470 FAX (678) 354-9471
website: www.intelligentactuator.com
Ober der Röth 4, D-65824 Schwalbach am Taunus, Germany
TEL 06196-88950 FAX 06196-889524
IAI (Shanghai) Co., Ltd.
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
The information contained in this document is subject to change without notice for the purpose of product improvement.
Copyright 2011. Jan. IAI Corporation. All rights reserved.
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