[Installation of metal cover [11] on track mounting bracket [2]]
Thin-head bolt
Caution: Since the hexagonal holes in thin-head bolts are small,
the hexagonal holes may be damaged depending on the
tightening method. Exercise due caution when tightening
thin-head bolts.
[Installation of tie-mount on track mounting bracket [2]]
[Installation of tie-mount on guide rail [3]]
Hexagonal socket head button bolt
Hexagonal socket head bolt M3x3
Tightening torque
Tightening torque
Ground terminal
Connector joint for
ISPA M cable and
PG cable (LS cable)
Ground terminal
[5] Connector box
Connector joint for cable inside track
and controller-actuator cable
Make sure the numbers on the
connectors to be connected match.
[Installation of ground terminal on [1] XY bracket]
Hexagonal socket head bolt
Connector joint for
NS M cable and
PG cable (LS cable)
Tightening torque
Caution: Secure the wires to prevent the cables and connectors
Secure the cables using wraps.
from contacting each axis when the axis is moved over its
entire stroke.
When manually moving the actuator with brake, connect
the controller, supply the power, and then release the brake
release switch (by turning the switch to the RLS side).
* This assembly procedure applies to configuration direction 1. If other configuration direction such a s 2, 3 or 4 is used, the actuator and bracket directions vary. However, you can still use this assembly drawing as a reference.
A
Caution: Although each part has been chamfered to remove sharp edges, exercise due caution during the
assembly to prevent injury. If necessary, wear gloves or other protective gears.
Exercise due caution during the assembly to prevent pinching of hands and fingers.
X-axis Nut-rotation Type Cartesian Robot – High-precision 3-axis Specification,
Z Base Mount
ICSPA3-B1N (B2N) H (M) B3H (M)
Drawing No.
[Tools] Allen wrench, spanner wrench
In the case of configuration direction types 2 to 4,
the actuator and bracket directions are different.
Parallel pin (2 pcs)
Hexagonal socket head bolt M8x30
+ high-tension washer (4 sets)
[1] XY bracket
Parallel pin (1 pc or 2 pcs)
X-axis: NS
X-axis base, reamed-hole side
Note: To ensure squareness between the X-axis and Y-axis, insert one parallel pin.
Adjust the angle between the X-axis and Y-axis to the right angle, and then
mount the hexagonal bolts.
Hexagonal socket head bolt
M8x30
+ flat washer (4 sets)
Z-axis: ISPA
Y-axis: ISPA
[13] Track mounting plate
Hexagonal socket head bolt M4x8 (2 pcs)
[14] Track support bracket
Place the M4 hexagonal nut in
the T slot beforehand to secure
the tie-mount in position.
[1] XY bracket
X-axis: NS
Hexagonal socket head bolt M6x15 (2 pcs)
[17] Connector box 2
Hexagonal socket head bolt
M4x5 (2 pcs)
[15] Track mounting bracket 2
Z-axis: ISPA
[12] YZ plate
Y-axis: ISPA
[Installation of YZ plate [12] on Y-axis: ISPA]
Parallel pin
Hexagonal soc ke t
head bolt
Tightening torque
[Installation of track support bracket [14] on XY bracket [1]]
Hexagona l so c ke t he a d b o lt Tightening torque
[Installation of track mounting bracket 2 [15] on YZ plate [12]]
Hexagona l so c ke t he a d b o lt Tightening torque
[Installation of Z-axis: ISPA on YZ plate [12]]
Parallel pin
Hexagonal soc ke t
head bolt
Tightening torque
[Installation of track support metal [14] on track mounting plate [13]]
Hexagona l so c ke t he a d b o lt Tightening torque
[Installation of connector box 2 [17] on track mounting bracket 2 [15]]
Hexagona l so c ke t he a d b o lt Tightening torque
* This assembly procedure applies to configuration direction 1. If other configuration direction such a s 2, 3 or 4 is used, the actuator and bracket directions vary. However, you can still use this assembly drawing as a reference.
X-axis Nut-rotation Type Cartesian Robot – High-precision 3-axis Specification,
Z Base Mount
ICSPA3-B1N (B2N) H (M) B3H (M)
Drawing No.
Hexagonal
socket head
bolt M4x12
Hexagonal socket head bolt
M4x12
+ hexagonal nut (2 sets)
[16] Cable track 2
Hexagonal socket head bolt M4x8 (2 pcs)
[14] Track support bracket
[Installation of cable track 2 [16] on track support bracket [14]]
Hexagonal socket head bolt
Hexagonal socket head bolt
[Installation of cable track 2 [16] on track mounting bracket 2 [15]]
Hexagonal socket head bolt
Hexagonal socket head bolt
[15] Track mounting bracket 2
Z-axis: ISA, etc.
[17] Connector box 2
[18] Box cover 2
[8] Grommet with film
Hexagonal socket head bolt
M3x12 (8 pcs)
[1] XY bracket
[Installation of cable track 2 [16] on XY bracket [1]]
[Installation of box cover 2 [18] on connector box 2 [17]]
[19] Joint cover 2
Tightening torque
Tightening torque
Tightening torque
Tightening torque
Cable connector connection
[17] Connector
box 2
Connector joint for
ISPA M cable and
PG cable (LS cable)
[Installation of tie-mount in track mounting bracket 2 [15]]
[Installation of tie-mount on track support bracket [14]]
[Installation of tie-mount in T slot of XY bracket [1]]
[Installation of tie-mount on track mounting bracket 1 [2]]
Hexagonal socket head button bolt Tightening torque
Caution: Secure the wires to prevent the cables and connectors
from contacting each axis when the axis is moved over its
entire stroke.
When manually moving the actuator with brake, connect
the controller, supply the power, and then release the brake
release switch (by turning the switch to the RLS side).
A
Caution: Although each part has been chamfered to remove sharp edges, exercise due caution during the
assembly to prevent injury. If necessary, wear gloves or other protective gears.
Exercise due caution during the assembly to prevent pinching of hands and fingers.
X-axis Nut-rotation Type Cartesian Robot – High-precision 3-axis Specification,
Z Slider Mount
ICSPA3-B1N (B2N) H (M) S3H (M)
Drawing No.
[Tools] Allen wrench, spanner wrench
In the case of configuration direction types 2 to 4,
the actuator and bracket directions are different.
Parallel pin (2 pcs)
Hexagonal socket head bolt M8x30
+ high-tension washer (4 sets)
[1] XY bracket
Parallel pin (1 pc or 2 pcs)
X-axis: NS
X-axis base, reamed-hole side
Note: To ensure squareness between the X-axis and Y-axis, insert one parallel pin.
Adjust the angle between the X-axis and Y-axis to the right angle, and then
mount the hexagonal bolts.
Hexagonal socket head bolt M4x6
+ hexagonal nut (2 sets)
[5] Connector box 1
[Installation of X-axis: NS side of guide rail [3] in T-slot]
Flange socket (hexagonal socket head type)
[Installation of cable track 1 [4] on track mounting bracket 1 [2]]
[Installation of guide rail [3] for cable track 1 [4] in T-slot]
Hexagonal socket head bolt
Affixing positions of guide rail [3],
cable track 1 [4] and connector box [5]
[4] Cable track 1
[5] Connector box 1
with the end face of the base.
[3] Guide rail
lign the guide rail [3] surface
Tightening torque
Tightening torque
Hexagonal socket head bolt M4x8 (2 pcs)
[14] Track support bracket
[15] Track mounting bracket 2
Hexagonal socket head bolt M6x12
(2 pcs)
Z-axis: ISPA
X-axis: NS
Y-axis: ISPA
Parallel pin (2 pcs)
Y-axis: ISPA
[13] Track mounting plate
[16] Track mounting bracket 3
[12] YZ bracket
Z-axis: ISPA
Parallel pin (2 pcs)
Hexagonal bolt M8x35
+ flat washer (4 sets)
[12] YZ bracket
Hexagonal socket head bolt M8x40
(4 pcs)
[Installation of YZ bracket [12] on Y-axis: ISPA]
Parallel pin
Hexagonal soc ke t
head bolt
Tightening torque
Hexagonal socket head bolt M4x16
+ hexagonal nut (2 sets)
[1] XY bracket
Place the M4 hexagonal nut (1 pc) in the T slot
beforehand to secure the tie-mount in position.
[Installation of track support bracket [14] and track mount [13] on Y-axis: ISPA]
Hexagona l so c ke t he a d b o lt Tightening torque
[Installation of track support bracket [14] on XY bracket [1]]
Hexagona l so c ke t he a d b o lt Tightening torque
Hexagonal socket head bolt M8x15 (2 pcs)
Z-axis: ISPA
[Installation of Z-axis: ISPA on YZ bracket [12]]
Parallel pin
Hexagonal soc ke t
head bolt
Tightening torque
[Installation of track mounting bracket 2 [15] on YZ bracket [12]] [Installation of track mounting bracket 3 [16] on Z-axis: ISPA]
Hexagona l so c ke t he a d b o lt Tightening torque
Hexagona l so c ke t he a d b o lt Tightening torque
* This assembly procedure applies to configuration direction 1. If other configuration direction such a s 2, 3 or 4 is used, the actuator and bracket directions vary. However, you can still use this assembly drawing as a reference.
X-axis Nut-rotation Type Cartesian Robot – High-precision 3-axis Specification,
Z Slider Mount
ICSPA3-B1N (B2N) H (M) S3M
Drawing No.
Hexagonal socket head bolt M4x8
(2 pcs)
[4] Cable track 1
Hexagonal socket head bolt M4x12
+ hexagonal nut (2 sets)
Hexagonal socket head bolt M4x12
(2 pcs)
Y-axis: ISPA
[1] XY bracket
[Installation of cable track 1 [4] on track support bracket [14]]
Hexagonal socket head bolt
[Installation of cable track 1 [4] on XY bracket [1]]
Hexagonal socket head bolt
[Installation of cable track 1 [4] on track mounting bracket 2 [15]]
Hexagonal socket head bolt
[Installation of cable track 2 [17] on track mounting bracket 3 [16]]
Hexagonal socket head bolt
[Installation of cable track 2 [17] on track mounting bracket 2 [15]]
Hexagonal socket head bolt
Z-axis: ISPA
[17] Cable track 2
Hexagonal socket head bolt M4x8 (2 pcs)
[16] Track mounting bracket 3
Hexagonal socket head bolt M4x8 (2 pcs)
[15] Track mounting bracket 2
[14] Track support bracket
[Installation of connector box 2 [18] on Z-axis: ISPA]
Hexagonal socket head bolt
[Installation of box cover 2 [19] on connector box 2 [18]]
Hexagonal socket head bolt
[Installation of tie-mount on track support bracket [14]]
[Installation of tie-mount in T slot of Y-axis: ISPA]
Hexagonal socket head button bolt
Hexagonal socket head bolt M4x6
+ hexagonal nut (2 sets)
[19] Box cover 2
Hexagonal socket head bolt M3x12
(8 pcs)
[18] Connector box 2
[8] Grommet with film
Connector joint for
ISPA M cable and
PG cable (LS cable)
Tightening torque
Tightening torque
Tightening torque
[16] Track mounting bracket 3
Secure the cables using wraps.
Secure the cables
using wraps.
[15] Track mounting bracket 2
[14] Track support bracket
Secure the cables
using wraps.
Secure the cables
using wraps.
Z-axis cables
Z-axis: ISPA
Wire the cable in a manner
preventing contact with the Z-axis.
Secure the cables
using wraps.
Y-axis: ISPA
[1] XY bracket
X-axis, Y-axis cables
Secure the cables using wraps.
Caution: Secure the wires to prevent the cables and connectors
from contacting each axis when the axis is moved over its
entire stroke.
When manually moving the actuator with brake, connect
the controller, supply the power, and then release the brake
release switch (by turning the switch to the RLS side).
A
A
Caution: Although each part has been chamfered to remove sharp edges, exercise due caution during the
assembly to prevent injury. If necessary, wear gloves or other protective gears.
Exercise due caution during the assembly to prevent pinching of hands and fingers.
X-axis Nut-rotation Type Cartesian Robot – High-precision 4-axis Specification
ICSPA4-B3N1H (M)
Drawing No.
[Tools] Allen wrench, spanner wrench
Hexagonal socket head bolt M8x30
+ high-tension washer (4 sets)
(axes 3 and 4) are placed in tracks. Install each cable
correctly.
[Cable markings]
Y1-axis side (axes 1 and 2): 1-M, PG, (LS), 2-M, PG, (LS)
Y2-axis side (axes 3 and 4): 3-M, PG, (LS), 4-M, PG, (LS)
Y2-axis: ISPA
Hexagonal socket head bolt M4x10 (2 pcs)
Y1-axis: ISPA
Affixing positions of guide rail [4], cable track [5] and wiring box bracket [6]
[3] Track mounting bracket
[4] Guide rail
Hexagonal socket head bolt M4x10 (2 pcs)
X-axis: NS
Y2-axis: ISPA
Wiring box
In this assembly procedure, the controller-actuator cable is
taken out from the wiring box in the direction shown above.
The cable can also be taken out in the directions shown below.
[5] Cable track
[5] Cable track
[5] Cable track
Hexagonal socket head bolt M4x10
+ hexagonal nut (2 sets)
Hexagonal socket head bolt M4x10
+ hexagonal nut (2 sets)
[5] Cable track
[4] Guide rail
[3] Track mounting bracket
[3] Guide rail
ffix the wiring box bracket [6] using the holes on the outer side.
[Installation of wiring box bracket [6] in T slot on X-axis: NS side]
Hexagonal socket head bolt Tightening torque
[3] Guide rail
lign the guide rail [3] surface with the end face of the base.
[Installation of cable track [5] on track mounting bracket [3]]
[Installation of guide rail [4] for cable track [5] in T-slot]
Hexagonal socket head boltTightening torque
[Installation of guide rail [4] in T slot on X-axis: NS side]
Flange socket (hexagonal socket head type)
Tightening torque
X-axis Nut-rotation Type Cartesian Robot, High-precision 4-axis Specification
ICSPA4-B3N1H (M)
Drawing No.
Cable wiring diagram
[5] Cable track
Y1-axis: ISPA
[3] Track mounting bracket
Cable inside track
Installation of metal cover [11]
Connector connection of ISPA, NS cable and cable inside track
Detail view of A
X-axis: NS
Controller-actuator cable
[11] Metal cover
Connector joint for
ISPA M cable and
PG cable (LS cable)
Ground terminal
Hexagonal socket head bolt M3x3 (1 pc)
Hexagonal socket head boltTightening torque
Detail view of A
Installation of cable guard [10]
[3] Track mounting bracket
[Installation of cable guard [10]]
Connector joint for
NS M cable and
PG cable (LS cable)
[10] Cable guard
Caution: The cables for X-axis slider on Y1-axis side (axis 1),
Y1-axis (axis 2), X-axis slider on Y2-axis side (axis 3)
and Y2-axis (axis 4) are placed in tracks.
Install each cable correctly.
[Cable markings]
X-axis on Y1-axis side (axis 1): 1
Y1-axis (axis 2): 2
X-axis on Y2-axis side (axis 3): 3
Y2-axis (axis 4): 4
[Installation of metal cover [11] on track mounting bracket [3]]
Thin-head boltTightening torque
Hexagonal socket head boltTightening torque
[Installation of ground terminal]
Caution: Since the hexagonal holes in thin-head bolts are small,
the hexagonal holes may be damaged depending on the
tightening method. Exercise due caution when tightening
thin-head bolts.
* Assemble the Y2-axis side by referring
to the Y1-axis side.
Connector connection of cable inside cable track and controller-actuator cable
Connector joint for cable inside track
and controller-actuator cable
Make sure the numbers on the
connectors to be connected match.
[4] Guide rail
X-axis: NS
X-axis: NS
[Installation of wiring box cover [7] on wiring box bracket [6]]
Thin-head bolt
Caution: Since the hexagonal holes in thin-head bolts are small,
Tightening torque
the hexagonal holes may be damaged depending on the
tightening method. Exercise due caution when tightening
thin-head bolts.
* Assemble the Y2-axis side by referring
to the Y1-axis side.
[Installation of tie-mount on track mounting bracket [3]]
[Installation of tie-mount on guide rail [4]]
Hexagonal socket head button boltTightening torque
* Assemble the Y2-axis side by referring
to the Y1-axis side.
* Assemble the Y2-axis side by referring
to the Y1-axis side.
Caution: Secure the wires to prevent the cables and connectors
from contacting each axis when the axis is moved over its
entire stroke.
When manually moving the actuator with brake, connect
the controller, supply the power, and then release the brake
release switch (by turning the switch to the RLS side).
A
A
Caution: Although each part has been chamfered to remove sharp edges, exercise due caution during the
assembly to prevent injury. If necessary, wear gloves or other protective gears.
Exercise due caution during the assembly to prevent pinching of hands and fingers.
X-axis Nut-rotation Type Cartesian Robot – High-precision 6-axis Specification,
Z Base Mount
ICSPA6-B3N1H (M) B3H (M)
Drawing No.
[Tools] Allen wrench, spanner wrench
Hexagonal socket head bolt M8x30
+ high-tension washer (4 sets)
and 3) and Y2-axis side (axes 4, 5 and 6) are available.
Install each cable correctly.
[Cable markings]
Y1-axis side (axes 1, 2 and 3): 1-M, PG, (LS), 2-M, PG,
Y2-axis side (axes 4, 5 and 6): 4-M, PG, (LS), 5-M, PG,
(LS), 3-M, PG, (LS)
(LS), 6-M, PG, (LS)
Y2-axis: ISPA
Hexagonal socket head bolt M4x10 (2 pcs)
Y1-axis: ISPA
Affixing positions of guide rail [4], cable track [5] and wiring box bracket [6]
[3] Track mounting bracket
[4] Guide rail
Hexagonal socket head bolt M4x10 (2 pcs)
X-axis: NS
Y2-axis: ISPA
Wiring box
In this assembly procedure, the controller-actuator cable is
taken out from the wiring box in the direction shown above.
The cable can also be taken out in the directions shown below.
[5] Cable track
Hexagonal socket head bolt M4x10
+ hexagonal nut (2 sets)
Hexagonal socket head bolt M4x10
+ hexagonal nut (2 sets)
[5] Cable track
[4] Guide rail
[3] Track mounting bracket
[5] Cable track
[3] Guide rail
ffix the wiring box bracket [6] using the holes on the outer side.
[Installation of wiring box bracket [6] in T slot on X-axis: NS side]
Hexagonal socket head bolt Tightening torque
[5] Cable track
[3] Guide rail
lign the guide rail [3] surface with the end face of the base.
[Installation of cable track [5] on track mounting bracket [3]]
[Installation of guide rail [4] for cable track [5] in T-slot]
Hexagonal socket head boltTightening torque
[Installation of guide rail [4] in T slot on X-axis: NS side]
Flange socket (hexagonal socket head type)
Tightening torque
X-axis Nut-rotation Type Cartesian Robot – High-precision 6-axis Specification,
y
y
y
y
Z Base Mount
ICSPA6-B3N1H (M) B3H (M)
Drawing No.
X-axis: NS
Parallel pin (1 pc)
Y1-axis: ISPA
Hexagonal socket head bolt M4x16
+ hexagonal nut (2 sets)
Hexagonal socket head bolt M8x30
+ flat washer (4 sets)
Z1-axis: ISPA
Parallel pin (2 pcs)
[12] YZ plate
[Installation of YZ plate [12] on Y1-axis: ISPA]
Parallel pin
Hexagonal soc ke t
head bolt
Tightening torque
[Installation of track support bracket [14] on XY bracket [1]]
Hexagona l so c ke t he a d b o lt Tightening torque
Z1-axis: ISPA
Y1-axis: ISPA
[13] Track mounting plate
Hexagonal socket head bolt M4x8 (2 pcs)
[14] Track support bracket
Place the M4 hexagonal nut in
the T slot beforehand to secure
the tie-mount in position.
[1] XY bracket
X-axis: NS
Hexagonal socket head bolt M6x15 (2 pcs)
[17] Connector box 2
Hexagonal socket head bolt
M4x5 (2 pcs)
Hexagona l so c ke t he a d b o lt Tightening torque
[15] Track mounting bracket 2
Z1-axis: ISPA
[12] YZ plate
Y1-axis: ISPA
[Installation of track mounting bracket 2 [15] on YZ plate [12]]
[Installation of Z1-axis: ISPA on YZ plate [12]]
Parallel pin
Hexagonal soc ke t
head bolt
Tightening torque
[Installation of track support metal [14] on track mounting plate [13]]
Hexagona l so c ke t he a d b o lt Tightening torque
[Installation of connector box 2 [17] on track mounting bracket 2 [15]]
Hexagona l so c ke t he a d b o lt Tightening torque
* The direction is different on the Z2-axis side.
Assemble the parts b
referring to the Z1-axis side.
* The direction is different on the Z2-axis side.
Assemble the parts b
referring to the Z1-axis side.
* The direction is different on the Z2-axis side.
Assemble the parts b
referring to the Z1-axis side.
Hexagonal
socket head
bolt M4x12
Hexagonal socket head bolt
M4x12
+ hexagonal nut (2 sets)
[16] Cable track 2
Hexagonal socket head bolt M4x8 (2 pcs)
[14] Track support bracket
[Installation of cable track 2 [16] on track support bracket [14]]
Hexagonal socket head bolt
[15] Track mounting bracket 2
[1] XY bracket
[19] Joint cover 2
Z1-axis: ISA, etc.
[17] Connector box 2
[18] Box cover 2
[8] Grommet with film
Hexagonal socket head bolt
M3x12 (8 pcs)
Tightening torque
Cable connector connection
[17] Connector
box 2
Connector joint for
ISPA M cable and
PG cable (LS cable)
[Installation of cable track 2 [16] on XY bracket [1]]
Hexagonal socket head bolt
Tightening torque
[Installation of cable track 2 [16] on track mounting bracket 2 [15]]
Hexagonal socket head bolt
Tightening torque
[Installation of box cover 2 [18] on connector box 2 [17]]
Hexagonal socket head bolt
Tightening torque
* The direction is different on the Z2-axis side.
Assemble the parts b
referring to the Z1-axis side.
X-axis Nut-rotation Type Cartesian Robot – High-precision 6-axis Specification,
Z Base Mount
ICSPA6-B3N1H (M) B3H (M)
Drawing No.
Cable wiring diagram
Z1-axis cable
[5] Cable track
Y1-axis: ISPA
[3] Track mounting bracket
Cable inside track
X-axis: NS
Controller-actuator cable
Installation of metal cover [11]
Detail view of A
[11] Metal cover
Detail view of A
Connector connection of ISPA, NS cable and cable inside track
Connector joint for
ISPA M cable and
PG cable (LS cable)
Ground terminal
Hexagonal socket head bolt M3x3 (1 pc)
Hexagonal socket head boltTightening torque
Installation of cable guard [10]
[3] Track mounting bracket
[Installation of cable guard [10]]
Connector joint for
NS M cable and
PG cable (LS cable)
[10] Cable guard
Caution: The cables for X-axis slider on Y1-axis side (axis 1),
Y1-axis (axis 2), Z1-axis (axis 3), X-axis slider on Y2-axis
side (axis 4), Y2-axis (axis 5) and Z2-axis (axis 6) are
placed in tracks.
Install each cable correctly.
[Cable markings]
X-axis slider on Y1-axis side (axis 1): 1
Y1-axis (axis 2): 2
Z1-axis (axis 3): 3
X-axis slider on Y2-axis side (axis 4): 4
Y2-axis (axis 5): 5
Z2-axis (axis 6): 6
[Installation of metal cover [11] on track mounting bracket [3]]
Thin-head boltTightening torque
Hexagonal socket head boltTightening torque
[Installation of ground terminal]
Caution: Since the hexagonal holes in thin-head bolts are small,
the hexagonal holes may be damaged depending on the
tightening method. Exercise due caution when tightening
thin-head bolts.
* Assemble the Y2-axis side by referring
to the Y1-axis side.
Connector connection of cable inside cable track and controller-actuator cable
Installation of wiring box cover [7]
[7] Wiring box
cover
[8] Grommet with film
Cable inside track
Thin-head bolt M3x4 (6 pcs)
Controller-actuator cable
Connector joint for cable inside track
and controller-actuator cable
Make sure the numbers on the
connectors to be connected match.
[Installation of wiring box cover [7] on wiring box bracket [6]]
Thin-head bolt
Tightening torque
Caution: Since the hexagonal holes in thin-head bolts are small,
the hexagonal holes may be damaged depending on the
tightening method. Exercise due caution when tightening
thin-head bolts.
* Assemble the Y2-axis side by referring
to the Y1-axis side.
X-axis Nut-rotation Type Cartesian Robot – High-precision 6-axis Specification,
[Installation of tie-mount on track mounting bracket [3]]
[Installation of tie-mount in T slot of guide rail [4]]
Hexagonal socket head button boltTightening torque
[4] Guide rail
X-axis: NS
* The direction is different on the Z2-axis side.
Assemble the parts b
referring to the Z1-axis side.
* Assemble the Y2-axis side by referring
to the Y1-axis side.
Z1-axis cables
X-axis, Y1-axis, Z1-axis cables
Secure the cables using wraps.
Secure the cables using wraps.
Secure the cables using wraps.
X-axis: NS
Secure the cables using wraps.
Caution: Secure the wires to prevent the cables and connectors
* The direction is different on the Z2-axis side.
Assemble the parts b
referring to the Z1-axis side.
* Assemble the Y2-axis side by referring
to the Y1-axis side.
from contacting each axis when the axis is moved over its
entire stroke.
When manually moving the actuator with brake, connect
the controller, supply the power, and then release the brake
release switch (by turning the switch to the RLS side).
A
A
Caution: Although each part has been chamfered to remove sharp edges, exercise due caution during the
assembly to prevent injury. If necessary, wear gloves or other protective gears.
Exercise due caution during the assembly to prevent pinching of hands and fingers.
X-axis Nut-rotation Type Cartesian Robot – High-precision 6-axis Specification,
Z Slider Mount
ICSPA6-B3N1H (M) S3M
Drawing No.
X-axis base, reamed-hole side
[Tools] Allen wrench, spanner wrench
Hexagonal socket head bolt M8x30
+ high-tension washer (4 sets)
and 3) and Y2-axis side (axes 4, 5 and 6) are available.
Install each cable correctly.
[Cable markings]
Y1-axis side (axes 1, 2 and 3): 1-M, PG, (LS), 2-M, PG,
Y2-axis side (axes 4, 5 and 6): 4-M, PG, (LS), 5-M, PG,
(LS), 3-M, PG, (LS)
(LS), 6-M, PG, (LS)
Y2-axis: ISPA
Hexagonal socket head bolt M4x10 (2 pcs)
Y1-axis: ISPA
Affixing positions of guide rail [4], cable track [5] and wiring box bracket [6]
[3] Track mounting bracket
[4] Guide rail
Hexagonal socket head bolt M4x10 (2 pcs)
X-axis: NS
Y2-axis: ISPA
Wiring box
In this assembly procedure, the controller-actuator cable is
taken out from the wiring box in the direction shown above.
The cable can also be taken out in the directions shown below.
[5] Cable track
Hexagonal socket head bolt M4x10
+ hexagonal nut (2 sets)
Hexagonal socket head bolt M4x10
+ hexagonal nut (2 sets)
[5] Cable track
[4] Guide rail
[3] Track mounting bracket
Hexagonal socket head bolt Tightening torque
[5] Cable track
[3] Guide rail
ffix the wiring box bracket [6] using the holes on the outer side.
[Installation of wiring box bracket [6] in T slot on X-axis: NS side]
[5] Cable track
[3] Guide rail
lign the guide rail [3] surface with the end face of the base.
[Installation of cable track [5] on track mounting bracket [3]]
[Installation of guide rail [4] for cable track [5] in T-slot]
Hexagonal socket head boltTightening torque
[Installation of guide rail [4] in T slot on X-axis: NS side]
Flange socket (hexagonal socket head type)
Tightening torque
X-axis Nut-rotation Type Cartesian Robot – High-precision 6-axis Specification,
y
y
y
y
Z Slider Mount
ICSPA6-B3N1H (M) S3M
Drawing No.
Hexagonal socket head bolt M4x8 (2 pcs)
[15] Track mounting bracket 2
Hexagonal socket head bolt M6x12 (2 pcs)
[14] Track support bracket
Z1-axis: ISPA
X-axis: NS
Y1-axis: ISPA
Y1-axis: ISPA
Parallel pin (2 pcs)
Z1-axis: ISPA
Parallel pin (2 pcs)
[Installation of YZ bracket [12] on Y1-axis: ISPA]
Parallel pin
Hexagonal bolt
Tightening torque
Hexagonal bolt M8x35
+ flat washer (4 sets)
[12] YZ bracket
Hexagonal socket head bolt M8x40
(4 pcs)
[13] Track mounting plate
Hexagonal socket head bolt M4x16
+ hexagonal nut (2 sets)
[1] XY bracket
[Installation of track support bracket [14] and track mount [13] on Y1-axis: ISPA]
Hexagona l so c ke t he a d b o lt Tightening torque
[Installation of track support bracket [14] on XY bracket [1]]
Hexagona l so c ke t he a d b o lt Tightening torque
[12] YZ bracket
Place the M4 hexagonal nut (1 pc) in the T slot
beforehand to secure the tie-mount in position.
Hexagonal socket head bolt M8x15 (2 pcs)
[16] Track mounting bracket 3
Z1-axis: ISPA
[Installation of Z1-axis: ISPA on YZ bracket [12]]
Parallel pin
Hexagonal soc ke t
head bolt
Tightening torque
[Installation of track mounting bracket 2 [15] on YZ bracket [12]] [Installation of track mounting bracket 3 [16] on Z1-axis: ISPA]
Hexagona l so c ke t he a d b o lt Tightening torque
Hexagona l so c ke t he a d b o lt Tightening torque
* The direction is different on the Z2-axis side.
Assemble the parts b
referring to the Z1-axis side.
* The direction is different on the Z2-axis side.
Assemble the parts b
referring to the Z1-axis side.
* The direction is different on the Z2-axis side.
Assemble the parts b
referring to the Z1-axis side.
Hexagonal socket head bolt M4x8 (2 pcs)
[4] Cable track 1
Z1-axis: ISPA
[17] Cable track 2
Hexagonal socket head bolt M4x8 (2 pcs)
Hexagonal socket head bolt M4x12
+ hexagonal nut (2 sets)
Hexagonal socket head bolt M4x12 (2 pcs)
[16] Track mounting bracket 3
Hexagonal socket head bolt M4x8 (2 pcs)
[Installation of cable track 1 [4] on track support bracket [14]]
Hexagonal socket head bolt
Y1-axis: ISPA
[1] XY bracket
Tightening torque
[15] Track mounting bracket 2
[14] Track support bracket
[Installation of cable track 2 [17] on track mounting bracket 3 [16]]
Hexagonal socket head bolt
Tightening torque
Hexagonal socket head bolt
[Installation of cable track 1 [4] on XY bracket [1]]
Tightening torque
[Installation of cable track 2 [17] on track mounting bracket 2 [15]]
Hexagonal socket head bolt
Tightening torque
[Installation of cable track 1 [4] on track mounting bracket 2 [15]]
Hexagonal socket head bolt
Tightening torque
* The direction is different on the Z2-axis side.
Assemble the parts b
referring to the Z1-axis side.
X-axis Nut-rotation Type Cartesian Robot – High-precision 6-axis Specification,
Z Slider Mount
ICSPA6-B3N1H (M) S3H (M)
Drawing No.
Cable wiring diagram
[5] Cable track
Y1-axis: ISPA
[3] Track mounting bracket
Cable inside track
X-axis: NS
Controller-actuator cable
Installation of metal cover [11]
Detail view of A
[11] Metal cover
Detail view of A
Connector connection of ISPA, NS cable and cable inside track
Connector joint for
ISPA M cable and
PG cable (LS cable)
Ground terminal
Hexagonal socket head bolt M3x3 (1 pc)
Hexagonal socket head boltTightening torque
Installation of cable guard [10]
[3] Track mounting bracket
[Installation of cable guard [10]]
Connector joint for
NS M cable and
PG cable (LS cable)
[10] Cable guard
Caution: The cables for X-axis slider on Y1-axis side (axis 1),
Y1-axis (axis 2), Z1-axis (axis 3), X-axis slider on Y2-axis
side (axis 4), Y2-axis (axis 5) and Z2-axis (axis 6) are
placed in tracks.
Install each cable correctly.
[Cable markings]
X-axis slider on Y1-axis side (axis 1): 1
Y1-axis (axis 2): 2
Z1-axis (axis 3): 3
X-axis slider on Y2-axis side (axis 4): 4
Y2-axis (axis 5): 5
Z2-axis (axis 6): 6
[Installation of metal cover [11] on track mounting bracket [3]]
Thin-head boltTightening torque
Hexagonal socket head boltTightening torque
[Installation of ground terminal]
Caution: Since the hexagonal holes in thin-head bolts are small,
the hexagonal holes may be damaged depending on the
tightening method. Exercise due caution when tightening
thin-head bolts.
* Assemble the Y2-axis side by referring
to the Y1-axis side.
Connector connection of cable inside cable track and controller-actuator cable
Installation of wiring box cover [7]
[7] Wiring box
cover
[8] Grommet with film
Cable inside track
Thin-head bolt M3x4 (6 pcs)
Controller-actuator cable
Connector joint for cable inside track
and controller-actuator cable
Make sure the numbers on the
connectors to be connected match.
[Installation of wiring box cover [7] on wiring box bracket [6]]
Thin-head bolt
Tightening torque
Caution: Since the hexagonal holes in thin-head bolts are small,
the hexagonal holes may be damaged depending on the
tightening method. Exercise due caution when tightening
thin-head bolts.
* Assemble the Y2-axis side by referring
to the Y1-axis side.
X-axis Nut-rotation Type Cartesian Robot – High-precision 6-axis Specification,
y
y
Z Slider Mount
ICSPA6-B3N1H (M) S3M
Drawing No.
[Installation of tie-mount on track mounting bracket 2 [15]]
Hexagonal socket head button bolt Tightening torque
Wire the cable in a manner
preventing contact with the Z-axis.
Secure the cables
using wraps.
Y1-axis: ISPA
[1] XY bracket
* Assemble the Y2-axis side by referring
to the Y1-axis side.
Caution: Secure the wires to prevent the cables and connectors
from contacting each axis when the axis is moved over its
entire stroke.
When manually moving the actuator with brake, connect
the controller, supply the power, and then release the brake
release switch (by turning the switch to the RLS side).
X-axis: NS
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