IAI America NS User Manual

X-axis Nut-rotation Type Cartesian Robot
Assembly Procedures
First Edition
Thank you for purchasing an IAI product. Assemble your product correctly by referring to this Assembly Procedures.
NS (nut-rotation type actuator) + ISA configuration unit
No.
configured axes
2 axes 3 axes 3 axes 4 axes 6 axes 6 axes
Z-axis installation method
Z-axis base mount
Z-axis slider mount
Z-axis base mount
Z-axis slider mount
Model Drawing No.
X-axis Nut-rotation Type Cartesian Robot – High-precision 2-axis Specification
X-axis Nut-rotation Type Cartesian Robot – High-precision 3-axis Specification,
Z-axis Base Mount
X-axis Nut-rotation Type Cartesian Robot – High-precision 3-axis Specification,
Z-axis Slider Mount
[Model]
H: X-axis high-speed type M: X-axis medium-speed type
[1] XY configuration direction 1: Stroke 500 to 2200
2: Stroke 2250 to 3000
[1] XY configuration
directions
[Constituent axes]
Constituent axis
X-axis Y-axis
* in the above models indicates either A (absolute) or I (incremental).
Configuration
direction: 1
(Range of operation)
Configuration
direction: 3
(Y-axis installed
on opposite side)
(Range of operation)
Model
(stroke)
(stroke)
Configuration
direction: 2
(Reverse of 1)
(Range of operation)
Configuration
direction: 4
(Reverse of 3)
(Range of operation)
[Assembled parts]
[1] XY bracket
[4] Cable track [5] Connector box [6] Box cover
[7] Joint cover
[10] Cable guard [11] Metal cover
[2] Track mounting bracket
[8] Grommet with film
[3] Guide rail
[9] Controller-actuator
cable with cable fix cap
[Assembly Procedure] Drawing No.: GMM07-061
[Model]
H: Z-axis high-speed type M: Z-axis medium-speed type
H: X-axis high-speed type M: X-axis medium-speed type
[1] XY configuration direction 1: Stroke 500 to 2200
2: Stroke 2250 to 3000
[1] XY configuration directions
(stroke) (stroke)
(stroke)
Configuration
direction: 2
(Reverse of 1)
(Range of operation)
Configuration
direction: 4
(Reverse of 3)
(Range of operation)
Configuration
direction: 1
(Range of operation)
Configuration
direction: 3
(Y-axis installed on opposite side)
(Range of
[Constituent
axes]
Constituent axis
X-axis Y-axis Z-axis
* in the above models indicates either A (absolute) or I (incremental).
operation)
Model
[Assembled parts]
[12] YZ
[1] XY
bracket
[4] Cable
track 1
[7] Joint cover 1
[10] Cable
guard
[2] Track mounting
bracket 1
[5] Connector
box 1
[8] Grommet
with film
[11] Metal
cover
[3] Guide
rail
[6] Box
cover 1
[9] Controller­actuator cable
with cable
fix cap
mounting bracket 2
plate
[15] Track
[18] Box cover 2
[13] Track
mounting plate
[16] Cable
track 2
[19] Joint
cover 2
[Assembly Procedure] Drawing No.: GMM07-062
[14] Track
support bracket
[17] Connector
box
[20] Cable
fix cap
[Model]
M: Z-axis medium-speed type H: X-axis high-speed type
M: X-axis medium-speed type [1] XY configuration direction 1: Stroke 500 to 2200
2: Stroke 2250 to 3000
[1] XY configuration directions
(stroke)
(stroke)
(stroke)
Configuration
direction: 2
(Reverse of 1)
(Range of operation)
Configuration
direction: 4
(Reverse of 3)
(Range of operation)
Configuration
direction: 1
(Range of operation)
Configuration
direction: 3
(Y-axis installed on opposite side)
(Range of
[Constituent
axes]
Constituent axis
X-axis Y-axis Z-axis
* in the above models indicates either A (absolute) or I (incremental).
operation)
Model
[Assembled parts]
[1] XY
bracket
[4] Cable
track 1
[7] Joint cover 1
[10] Cable
guard
[2] Track mounting
bracket 1
[5] Connector
box 1
[8] Grommet
with film
[11] Metal
cover
[3] Guide
rail
[6] Box
cover 1
[9] Controller­actuator cable
with cable
fix cap
[12] YZ bracket
[15] Track
mounting bracket 2
[18] Connector
box 2
[13] Track
mounting plate
[16] Track
mounting bracket 3
[19] Box cover 2
[Assembly Procedure] Drawing No.: GMM07-063
[14] Track
support bracket
[17] Cable
track 2
[20] Joint
cover 2
X-axis Nut-rotation Type Cartesian Robot – High-precision 4-axis Specification
X-axis Nut-rotation Type Cartesian Robot – High-precision 6-axis Specification,
Z-axis Base Mount
X-axis Nut-rotation Type Cartesian Robot – High-precision 6-axis Specification,
Z-axis Slider Mount
[Model]
H: X-axis high-speed type M: X-axis medium-speed type
[1] XY configuration direction
[1] XY configuration directions
Configuration direction: 1
(Range of operation)
[Constituent axes]
Constituent axis
X-axis Y1-axis Y2-axis
* in the above models indicates either A (absolute) or I (incremental).
Model
(stroke) (stroke) (stroke)
[Assembled parts]
[1] XY bracket
[4] Guide rail [5] Cable track
[7] Wiring box cover [8] Grommet with film
[10] Cable guard [11] Metal cover
[2] XY bracket
[3] Track mounting bracket
[6] Wiring box bracket
[9] Controller-actuator
cable with cable fix cap
[Assembly Procedure] Drawing No.: GMM07-064
[Model]
H: Z-axis high-speed type M: Z-axis medium-speed type
H: X-axis high-speed type M: X-axis medium-speed type
[1] XY configuration direction
[1] XY configuration directions
Configuration direction: 1
(Range of operation)
[Constituent axes]
Constituent axis
X-axis Y1-axis Y2-axis Z1-axis Z2-axis
* in the above models indicates either A (absolute) or I (incremental).
Model
(stroke) (stroke) (stroke)
(stroke)
(stroke)
[Assembled parts]
[1] XY
bracket
[4] Guide
rail
[7] Wiring box cover
[10] Cable
guard
[2] XY
bracket
[5] Cable
track
[8] Grommet
with film
[11] Metal
cover
[3] Track mounting
bracket
[6] Wiring
box bracket
[9] Controller­actuator cable
with cable
fix cap
[12] YZ
plate
[15] Track
mounting bracket 2
[18] Box cover 2
[13] Track
mounting plate
[16] Cable
track 2
[19] Joint
cover 2
[Assembly Procedure] Drawing No.: GMM07-065
[14] Track
support bracket
[17] Connector
box 2
[Model]
M: Z-axis medium-speed type
H: X-axis high-speed type M: X-axis medium-speed type
[1] XY configuration direction
[1] XY configuration directions
Configuration direction: 1
(Range of operation)
[Constituent axes]
Constituent axis
X-axis Y1-axis Y2-axis Z1-axis Z2-axis
* in the above models indicates either A (absolute) or I (incremental).
Model
(stroke)
(stroke)
(stroke) (stroke) (stroke)
[Assembled parts]
track
cover
[3] Track
mounting bracket
[6] Wiring
box bracket
[9] Controller­actuator cable
with cable
fix cap
[12] YZ bracket
[15] Track
mounting bracket 2
[18] Connector
box 2
[13] Track
mounting plate
[16] Track
mounting bracket 3
[19] Box cover 2
[1] XY
bracket
[4] Guide
rail
[7] Wiring box cover
[10] Cable
guard
[2] XY
bracket
[5] Cable
[8] Grommet
with film
[11] Metal
[Assembly Procedure] Drawing No.: GMM07-066
[14] Track
support bracket
[17] Cable
track 2
[20] Joint
cover 2
Catalog No.
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 2-axis Specification
ICSPA2-B1N (B2N) H (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.
Configuration
direction: 2
(Reverse of 1)
(Range of
Y-axis: ISPA
Hexagonal bolt M8x40 + high-tension washer (4 sets)
[Installation of X-axis: NS on XY bracket [1]]
Parallel pin Hexagonal bolt Tightening torque
[Installation of Y-axis: ISPA on XY bracket [1]]
Parallel pin
Hexagonal soc ke t
head bolt
operation)
Configuration
direction: 3
(Y-axis installed
on opposite side)
(Range of operation)
Configuration
direction: 4
(Reverse of 3)
(Range of operation)
Tightening torque
Install the grommet with film [8] onto the Y-axis actuator cable and guide the cable through the hole in the track mounting bracket [2].
Hexagonal socket head bolt M5x10 (2 pcs)
[1] XY bracket
X-axis: NS
[Installation of track mounting bracket [2] on XY bracket [1]]
Hexagonal socket head bolt
[Installation of X-axis: NS side of connector box [5] in T-slot]
Hexagonal socket head bolt
[2] Track mounting bracket
[4] Cable track
[8] Grommet with film
[8] Grommet with film
Tightening torque
Tightening torque
Hexagonal socket head bolt M4x10 (2 pcs)
[3] Guide rail
Hexagonal socket head bolt M4x10 + hexagonal nut (2 sets)
Flange socket (hexagonal socket head type) M4x10 + hexagonal nut (4 sets)
Hexagonal socket head bolt M4x6 + hexagonal nut (2 sets)
[5] Connector box
[Installation of X-axis: NS side of guide rail [3] in T-slot]
Flange socket (hexagonal socket head type)
[Installation of cable track [4] on track mounting bracket [2]]
[Installation of guide rail [3] for cable track [4] in T-slot]
Hexagonal socket head bolt
Affixing positions of guide rail [3], cable track [4] and connector box [5]
[4] Cable track
[5] Connector box
with the end face of the base.
[3] Guide rail
lign the guide rail [3] surface
Tightening torque
Tightening torque
Detail view of A
Tie-mount KR5G5 (by HellermannTyton) + hexagonal socket head button bolt M4x6 (1 set)
[2] Track mounting bracket
[5] Connector box
[3] Guide rail
Detail view of A Cable connector connection
Cable inside track
Place the X-axis cable and PG cable (LS cable) into the cable guard [10] and take them out from the top.
[2] Track mounting bracket
[10] Cable guard
Hexagonal socket head bolt M4x6 (2 pcs)
Caution: The cables for X-axis (axis 1) and Y-axis (axis 2) are
placed in tracks. Install each cable correctly. [Cable markings] X-axis (axis 1): 1 Y-axis (axis 2): 2
[Installation of box cover [6] on connector box [5]]
Hexagonal socket head bolt
[11] Metal cover
Thin-head bolt M3x12 (4 pcs)
Tightening torque
[6] Box cover
[7] Joint cover
[9] Controller-actuator cable with cable fix cap
[Installation of cable guard [10] on XY bracket [1]]
Hexagonal socket head bolt
Tightening torque
Tie-mount KR5G5 (by HellermannTyton) + hexagonal socket head button bolt M4x6 (1 set)
Cable inside track
Hexagonal socket head bolt M3x12 (8 pcs)
[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.
Configuration
direction: 2
(Reverse of 1)
(Range of
Y-axis: ISPA
Hexagonal bolt M8x40 + high-tension washer (4 sets)
[Installation of X-axis: NS on XY bracket [1]]
Parallel pin Hexagonal bolt Tightening torque
[Installation of Y-axis: ISPA on XY bracket [1]]
Parallel pin
Hexagonal soc ke t
head bolt
operation)
Configuration
direction: 3
(Y-axis installed
on opposite side)
(Range of operation)
Configuration
direction: 4
(Reverse of 3)
(Range of operation)
Tightening torque
Install the grommet with film [8] onto the Y-axis actuator cable and guide the cable through the hole in the track mounting bracket [2].
Hexagonal socket head bolt M5x10 (2 pcs)
[1] XY bracket
X-axis: NS
[Installation of track mounting bracket 1 [2] on XY bracket [1]]
Hexagonal socket head bolt
[Installation of X-axis: NS side of connector box 1 [5] in T-slot]
Hexagonal socket head bolt
[2] Track mounting bracket 1
[4] Cable track 1
[8] Grommet with film
[8] Grommet with film
Tightening torque
Tightening torque
Hexagonal socket head bolt M4x10 (2 pcs)
[3] Guide rail
Hexagonal socket head bolt M4x10 + hexagonal nut (2 sets)
Flange socket (hexagonal socket head type) M4x10 + hexagonal nut (4 sets)
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
[3] Guide rail
[5] Connector box 1
lign the guide rail [3] surface
with the end face of the base.
Tightening torque
Tightening torque
X-axis: NS
Parallel pin (1 pc)
Y-axis: ISPA
Hexagonal socket head bolt M4x16 + hexagonal nut (2 sets)
Hexagonal socket head bolt M8x25 + M8 dedicated washer (4 sets)
Z-axis: ISPA
Parallel pin (2 pcs)
[12] YZ plate
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)
Tie-mount KR5G5 (by HellermannTyton) + hexagonal socket head button bolt M4x6 (1 set)
Detail view of A
[10] Cable guard
Hexagonal socket head bolt M4x6 (2 pcs)
Caution: The cables for X-axis (axis 1), Y-axis (axis 2) and Z-axis
(axis 3) are placed in tracks. Install each cable correctly. [Cable markings] X-axis (axis 1): 1 Y-axis (axis 2): 2 Z-axis (axis 3): 3
[Installation of box cover 1 [6] on connector box 1 [5]]
Hexagonal socket head bolt
[Installation of cable guard [10] on XY bracket [1]]
Hexagonal socket head bolt
[2] Track mounting bracket 1
[11] Metal cover
Thin-head bolt M3x12 (4 pcs)
[6] Box cover 1
[7] Joint cover 1
[9] Controller-actuator cable with cable fix cap
Tightening torque
Tightening torque
[4] Cable track 1
[5] Connector box 1
[3] Guide rail
Tie-mount KR5G5 (by HellermannTyton) + hexagonal socket head button bolt M4x6 (1 set)
Cable inside track
Hexagonal socket head bolt M3x12 (8 pcs)
[Installation of metal cover [11] on track mounting bracket 1 [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 1 [2]]
[Installation of tie-mount in T slot of guide rail [3]]
Hexagonal socket head button bolt
Detail view of A
Cable inside track
Place the X-axis cable and PG cable (LS cable) into the cable guard [10] and take them out from the top.
Ground terminal
Hexagonal socket head bolt M3x3
Tightening torque
Tightening torque
Cable connector connection
[2] Track mounting bracket 1
Connector joint for ISPA M cable and PG cable (LS cable)
Ground terminal
[5] Connector box
[Installation of ground terminal on [1] XY bracket]
Hexagonal socket head bolt
Connector joint for NS M cable and PG cable (LS cable)
Connector joint for cable inside track and controller-actuator cable
Make sure the numbers on the connectors to be connected match.
Tightening torque
Tie-mount KR5G5 (by HellermannTyton) + hexagonal socket head button bolt M4x6 (2 sets)
[15] Track mounting bracket 2
Z-axis cables X-axis, Y-axis cables
Tie-mount KR5G5 (by HellermannTyton) + hexagonal socket head button bolt M4x6 + hexagonal nut (1 set)
Install in the T slot of the Y-axis.
Secure the cables using wraps.
Secure the cables using wraps.
Secure the cables using wraps.
[14] Track support bracket
Secure the cables using wraps.
[1] XY bracket
[2] Track mounting bracket 1
Tie-mount KR5G5 (by HellermannTyton) + hexagonal socket head button bolt M4x6 (1 set)
[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.
Configuration
direction: 2
(Reverse of 1)
(Range of
Y-axis: ISPA
Hexagonal bolt M8x40 + high-tension washer (4 sets)
[Installation of X-axis: NS on XY bracket [1]]
Parallel pin Hexagonal bolt Tightening torque
[Installation of Y-axis: ISPA on XY bracket [1]]
Parallel pin
Hexagonal soc ke t
head bolt
operation)
Configuration
direction: 3
(Y-axis installed on opposite side)
(Range of operation)
Configuration
direction: 4
(Reverse of 3)
(Range of operation)
Tightening torque
Install the grommet with film [8] onto the Y-axis actuator cable and guide the cable through the hole in the track mounting bracket [2].
Hexagonal socket head bolt M5x10 (2 pcs)
[1] XY bracket
X-axis: NS
[Installation of track mounting bracket 1 [2] on XY bracket [1]]
Hexagonal socket head bolt
[Installation of X-axis: NS side of connector box 1 [5] in T-slot]
Hexagonal socket head bolt
[2] Track mounting bracket 1
[4] Cable track 1
[8] Grommet with film
[8] Grommet with film
Tightening torque
Tightening torque
Hexagonal socket head bolt M4x10 (2 pcs)
[3] Guide rail
Hexagonal socket head bolt M4x10 + hexagonal nut (2 sets)
Flange socket (hexagonal socket head type) M4x10 + hexagonal nut (4 sets)
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
Tightening torque
Tightening torque
Tightening torque
Tightening torque
Tightening torque
Tie-mount KR5G5 (by HellermannTyton) + hexagonal socket head button bolt M4x6 (1 set)
Detail view of A
[10] Cable guard
Hexagonal socket head bolt M4x6 (2 pcs)
Caution: The cables for X-axis (axis 1), Y-axis (axis 2) and Z-axis
(axis 3) are placed in tracks. Install each cable correctly. [Cable markings] X-axis (axis 1): 1 Y-axis (axis 2): 2 Z-axis (axis 3): 3
[Installation of box cover 1 [6] on connector box 1 [5]]
Hexagonal socket head bolt
[Installation of cable guard [10] on XY bracket [1]]
Hexagonal socket head bolt
[2] Track mounting bracket 1
[11] Metal cover
Thin-head bolt M3x12 (4 pcs)
[6] Box cover 1
[7] Joint cover 1
[9] Controller-actuator cable with cable fix cap
Tightening torque
Tightening torque
[4] Cable track 1
[5] Connector box 1
[3] Guide rail
Tie-mount KR5G5 (by HellermannTyton) + hexagonal socket head button bolt M4x6 (1 set)
Cable inside track
Hexagonal socket head bolt M3x12 (8 pcs)
[Installation of metal cover [11] on track mounting bracket 1 [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 1 [2]]
[Installation of tie-mount in T slot of guide rail [3]]
Hexagonal socket head button bolt
Detail view of A
Cable inside track
Place the X-axis cable and PG cable (LS cable) into the cable guard [10] and take them out from the top.
Ground terminal
Hexagonal socket head bolt M3x3
Tightening torque
Tightening torque
Cable connector connection
Connector joint for ISPA M cable and PG cable (LS cable)
Ground terminal
[5] Connector box
[Installation of ground terminal on [1] XY bracket]
Hexagonal socket head bolt
[2] Track mounting bracket 1
Connector joint for NS M cable and PG cable (LS cable)
Connector joint for cable inside track and controller-actuator cable
Make sure the numbers on the connectors to be connected match.
Tightening torque
[16] Track mounting bracket 3
KR5G5 tie-mount (by HellermannTyton) + hexagonal socket head button bolt M4x4 (2 sets)
[Installation of tie-mount on track mounting bracket 3 [16]]
Hexagonal socket head button bolt
Tightening torque
Z-axis: ISPA
[20] Joint cover 2
Tie-mount KR5G5 (by HellermannTyton) + hexagonal socket head button bolt M4x4 (1 set)
[15] Track mounting bracket 2
[14] Track support bracket
Tie-mount KR5G5 (by HellermannTyton) + hexagonal socket head button bolt M4x6 (1 set)
Tie-mount KR5G5 (by HellermannTyton) + hexagonal socket head button bolt M4x6 (1 set)
Install in the T slot of the Y-axis.
[Installation of tie-mount on track mounting bracket 2 [15]]
Hexagonal socket head button bolt
KR5G5 tie-mount (by HellermannTyton) + hexagonal socket head button bolt M4x4 (2 sets)
Install on the back side.
[1] XY bracket
Tightening torque
Y-axis: ISPA
[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)
Assembly of Y1-axis side
Parallel pin (2 pcs)
Y1-axis: ISPA
Hexagonal bolt M8x40 + 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.
[Installation of X-axis: NS on XY bracket [1]]
Parallel pin Hexagonal bolt Tightening torque
[3] Track mounting bracket
Install the grommet with film [8] onto the Y-axis actuator cable and guide the cable through the hole in the track mounting bracket [2].
Hexagonal socket head bolt M5x10 (2 pcs)
[1] XY bracket
X-axis: NS
[Installation of Y1-axis: ISPA on XY bracket [1]]
Parallel pin
[Installation of track mounting bracket [2] on XY bracket [1]]
Hexagonal socket head bolt Tightening torque
[2] Track mounting bracket
[8] Grommet with film
Hexagonal socket
head bolt
Tightening torque
[1] XY bracket
X1-axis slider side (base, reamed-hole side)
[3] Track mounting bracket
X2-axis slider side (base, slotted-hole side)
* The direction is different on the
Y2-axis side. Assemble the parts by referring to the Y1-axis side.
Y1-axis: ISPA
X-axis: NS
Y2-axis: ISPA
[2] XY bracket
(different direction)
Flange socket (hexagonal socket head type) M4x10 + hexagonal nut (3 sets)
[4] Guide rail
[9] Controller-actuator cable with
cable fix cap (for axis 1 or 2)
Hexagonal socket head bolt M4x6 + hexagonal nut (2 sets)
[9] Controller-actuator cable with
[6] Wiring box bracket
cable fix cap (for axis 3 or 4)
Caution: The cables for Y1-axis side (axes 1 and 2) and Y2-axis side
Y1-axis: ISPA
X-axis: NS
[8] Grommet with film
[4] Guide rail
Flange socket (hexagonal socket head type) M4x10 + hexagonal nut (3 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 bolt Tightening 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 bolt Tightening 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 bolt Tightening torque
Hexagonal socket head bolt Tightening 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
[7] Wiring box
cover
Installation of wiring box cover [7]
[8] Grommet with film
Cable inside track
Thin-head bolt M3x4 (6 pcs)
Tie-mount KR5G5 (by HellermannTyton) + hexagonal socket head button bolt M4x6 (1 set)
[3] Track mounting bracket
Tie-mount KRG5 (by HellermannTyton) + hexagonal socket bolt M4x6 + hexagonal nut (1 set)
Secure the cables using wraps.
Secure the cables using wraps.
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 bolt Tightening 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)
Assembly of Y1-axis side
Parallel pin (2 pcs)
Y1-axis: ISPA
Hexagonal bolt M8x40 + 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.
[Installation of X-axis: NS on XY bracket [1]]
Parallel pin Hexagonal bolt Tightening torque
[3] Track mounting bracket
Install the grommet with film [8] onto the Y-axis actuator cable and guide the cable through the hole in the track mounting bracket [3].
Hexagonal socket head bolt M5x10 (2 pcs)
[1] XY bracket
X-axis: NS
[Installation of Y1-axis: ISPA on XY bracket [1]]
Parallel pin
[Installation of track mounting bracket [3] on XY bracket [1]]
Hexagonal socket head bolt Tightening torque
[3] Track mounting bracket
[8] Grommet with film
Hexagonal socket
head bolt
Tightening torque
[1] XY bracket
X1-axis slider side (base, reamed-hole side)
[3] Track mounting bracket
X2-axis slider side (base, slotted-hole side)
* The direction is different on the
Y2-axis side. Assemble the parts by referring to the Y1-axis side.
Y1-axis: ISPA
X-axis: NS
Y2-axis: ISPA
[2] XY bracket
(different direction)
Flange socket (hexagonal socket head type) M4x10 + hexagonal nut (3 sets)
[4] Guide rail
[9] Controller-actuator cable with
cable fix cap (for axis 1, 2 or 3)
Hexagonal socket head bolt M4x6 + hexagonal nut (2 sets)
[9] Controller-actuator cable with
[6] Wiring box bracket
cable fix cap (for axis 4, 5 or 6)
Caution: The controller-actuator cables for Y1-axis side (axes 1, 2
Y1-axis: ISPA
X-axis: NS
[8] Grommet with film
[4] Guide rail
Flange socket (hexagonal socket head type) M4x10 + hexagonal nut (3 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 bolt Tightening 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 M8x25 + M8 dedicated washer (4 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 bolt Tightening 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 bolt Tightening torque
Hexagonal socket head bolt Tightening 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 Base Mount
ICSPA6-B3N1H (M) B3H (M)
Drawing No.
Z1-axis cables X-axis, Y1-axis cables
Tie-mount KR5G5 (by HellermannTyton) + hexagonal socket head button bolt M4x6 (2 sets)
[15] Track mounting bracket 2
Tie-mount KR5G5 (by HellermannTyton) + hexagonal socket head bolt M4x6 (1 set)
[3] Track mounting bracket
[14] Track support
bracket
[1] XY bracket
[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 Y1-axis: ISPA]
Hexagonal socket head button bolt Tightening torque
Tie-mount KR5G5 (by HellermannTyton) + hexagonal socket head button bolt M4x6
(1 set)
Install in the T slot of the Y-axis.
Tie-mount KR5G5 (by HellermannTyton) + hexagonal socket head bolt M4x6 + hexagonal nut (1 set)
[Installation of tie-mount on track mounting bracket [3]]
[Installation of tie-mount in T slot of guide rail [4]]
Hexagonal socket head button bolt Tightening 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)
Assembly of Y1-axis side
Parallel pin (2 pcs)
Y1-axis: ISPA
Hexagonal bolt M8x40 + high-tension washer (4 sets)
[1] XY bracket
Parallel pin (1 pc or 2 pcs)
X-axis: NS
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.
[Installation of X-axis: NS on XY bracket [1]]
Parallel pin Hexagonal bolt Tightening torque
[3] Track mounting bracket
Install the grommet with film [8] onto the Y-axis actuator cable and guide the cable through the hole in the track mounting bracket [3].
Hexagonal socket head bolt M5x10 (2 pcs)
[1] XY bracket
X-axis: NS
[Installation of Y1-axis: ISPA on XY bracket [1]]
Parallel pin
[Installation of track mounting bracket [3] on XY bracket [1]]
Hexagonal socket head bolt Tightening torque
[3] Track mounting bracket
[8] Grommet with film
Hexagonal socket
head bolt
Tightening torque
[1] XY bracket
X1-axis slider side (base, reamed-hole side)
[3] Track mounting bracket
X2-axis slider side (base, slotted-hole side)
* The direction is different on the
Y2-axis side. Assemble the parts by referring to the Y1-axis side.
Y1-axis: ISPA
X-axis: NS
Y2-axis: ISPA
[2] XY bracket
(different direction)
Flange socket (hexagonal socket head type) M4x10 + hexagonal nut (3 sets)
[4] Guide rail
[9] Controller-actuator cable with
cable fix cap (for axis 1, 2 or 3)
Hexagonal socket head bolt M4x6 + hexagonal nut (2 sets)
[9] Controller-actuator cable with
[6] Wiring box bracket
cable fix cap (for axis 4, 5 or 6)
Caution: The controller-actuator cables for Y1-axis side (axes 1, 2
Y1-axis: ISPA
X-axis: NS
[8] Grommet with film
[4] Guide rail
Flange socket (hexagonal socket head type) M4x10 + hexagonal nut (3 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 bolt Tightening 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 bolt Tightening 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 bolt Tightening torque
Hexagonal socket head bolt Tightening 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
Z1-axis cables
[16] Track mounting bracket 3
KR5G5 tie-mount (by HellermannTyton) + hexagonal socket head button bolt M4x4 (2 sets)
[Installation of tie-mount on track mounting bracket 3 [16]]
Hexagonal socket head button bolt
Tie-mount KR5G5 (by HellermannTyton) + hexagonal socket head button bolt M4x4 (1 set)
[15] Track mounting bracket 2
[14] Track support bracket
Tie-mount KR5G5 (by HellermannTyton) + hexagonal socket head button bolt M4x6 (1 set)
Tie-mount KR5G5 (by HellermannTyton) + hexagonal socket head button bolt M4x6 (1 set)
Install in the T slot of the Y-axis.
Z1-axis: ISPA
(by HellermannTyton)
Tightening torque
KR5G5 tie-mount (by HellermannTyton) + hexagonal socket head button bolt M4x4 (2 sets)
Install on the back side.
Y1-axis: ISPA
[1] XY bracket
[Installation of tie-mount on track support bracket [14]]
[Installation of tie-mount in T slot of Y1-axis: ISPA]
Hexagonal socket head button bolt
[Installation of connector box 2 [18] on Z1-axis: ISPA]
Hexagonal socket head bolt
[Installation of box cover 2 [19] on connector box 2 [18]]
Hexagonal socket head bolt
Tightening torque
Hexagonal socket head bolt M4x6 + hexagonal nut (2 sets)
[19] Box cover 2
[8] Grommet with film
[20] Joint cover 2
* The direction is different on the Z2-axis side.
Hexagonal socket head bolt M3x12 (8 pcs)
[18] Connector box 2
Connector joint for ISPA M cable and PG cable (LS cable)
Tightening torque
Tightening torque
Assemble the parts b
referring to the Z1-axis side.
Tie-mount KR5G5 (by HellermannTyton) + hexagonal socket head button bolt M4x6 (1 set)
[3] Track mounting bracket
[4] Guide rail
[Installation of tie-mount on track mounting bracket [3]]
[Installation of tie-mount in T slot of guide rail [4]]
Hexagonal socket head button bolt Tightening torque
* Assemble the Y2-axis side by referring
X-axis, Y1-axis cables
Tie-mount KRG5 (by HellermannTyton) + hexagonal socket bolt M4x6 + hexagonal nut (1 set)
to the Y1-axis side.
X-axis: NS
Z1-axis cables
X-axis, Y1-axis, Z1-axis cables
Secure the cables using wraps.
[16] Track mounting bracket 3
Z1-axis: ISPA
Secure the cables using wraps.
[15] Track mounting bracket 2
[14] Track support bracket
Secure the cables using wraps.
Secure the cables using wraps.
Secure the cables using wraps.
Secure the cables using wraps.
* The direction is different on the Z2-axis side.
Assemble the parts b
referring to the Z1-axis side.
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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