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.

Number of

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)

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)

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)

[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)

[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

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

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

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

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

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

[Installation of cable track 2 [16] on track mounting bracket 2 [15]]

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

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

[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

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.

[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

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

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

* 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

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

[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

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)

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

[16] Track mounting bracket 3

Secure the cables using wraps.

[15] Track mounting bracket 2

[14] Track support bracket

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

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

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.

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

[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

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)

[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

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

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.

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

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)

[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

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

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

* 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

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)

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

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.

* 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

IAI America NS User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual